/SLAM-Hive/slam_hive_results/mapping_results/1346/999_ndt-loam+kitti_2011_09_30_drive_0028_synced_full.yamlbash: /opt/ros/kinetic/setup.bash: No such file or directory
... logging to /root/.ros/log/95539b20-2e41-11ef-be9f-0242ac110003/roslaunch-71a612f6785e-77.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/slamhive/dlo_lfa_ggo_kitti.launch
[1mstarted roslaunch server http://71a612f6785e:32905/[0m

SUMMARY
========

PARAMETERS
 * /global_graph_nodelet/accum_distance_thresh: 100.0
 * /global_graph_nodelet/calib_file: home/chenshoubin/...
 * /global_graph_nodelet/const_stddev_q: 0.1
 * /global_graph_nodelet/const_stddev_x: 0.5
 * /global_graph_nodelet/distance_thresh: 20.0
 * /global_graph_nodelet/enable_gps: False
 * /global_graph_nodelet/enable_imu_acceleration: False
 * /global_graph_nodelet/enable_imu_orientation: False
 * /global_graph_nodelet/fitness_score_thresh: 2.0
 * /global_graph_nodelet/floor_edge_robust_kernel: Huber
 * /global_graph_nodelet/floor_edge_stddev: 100.0
 * /global_graph_nodelet/g2o_solver_num_iterations: 1024
 * /global_graph_nodelet/g2o_solver_type: lm_var_cholmod
 * /global_graph_nodelet/gps_edge_robust_kernel: Huber
 * /global_graph_nodelet/gps_edge_robust_kernel_size: 1.0
 * /global_graph_nodelet/gps_edge_stddev_xy: 20.0
 * /global_graph_nodelet/gps_edge_stddev_z: 5.0
 * /global_graph_nodelet/graph_update_interval: 10.0
 * /global_graph_nodelet/img_topic: /kitti/left/image...
 * /global_graph_nodelet/imu_acceleration_edge_robust_kernel: Huber
 * /global_graph_nodelet/imu_acceleration_edge_stddev: 1.0
 * /global_graph_nodelet/imu_orientation_edge_robust_kernel: Huber
 * /global_graph_nodelet/imu_orientation_edge_stddev: 1.0
 * /global_graph_nodelet/keyframe_delta_angle: 0.17
 * /global_graph_nodelet/keyframe_delta_trans: 10.0
 * /global_graph_nodelet/loop_closure_edge_robust_kernel: Huber
 * /global_graph_nodelet/loop_closure_edge_robust_kernel_size: 1.0
 * /global_graph_nodelet/map_cloud_resolution: 0.5
 * /global_graph_nodelet/map_cloud_update_interval: 10.0
 * /global_graph_nodelet/map_frame_id: map
 * /global_graph_nodelet/max_keyframes_per_update: 20
 * /global_graph_nodelet/max_stddev_q: 0.2
 * /global_graph_nodelet/max_stddev_x: 5.0
 * /global_graph_nodelet/min_edge_interval: 50.0
 * /global_graph_nodelet/min_stddev_q: 0.05
 * /global_graph_nodelet/min_stddev_x: 0.1
 * /global_graph_nodelet/ndt_nn_search_method: DIRECT7
 * /global_graph_nodelet/ndt_num_threads: 8
 * /global_graph_nodelet/ndt_resolution: 1.0
 * /global_graph_nodelet/odom_frame_id: odom
 * /global_graph_nodelet/odom_topic: /aft_mapped_to_in...
 * /global_graph_nodelet/odometry_edge_robust_kernel: Huber
 * /global_graph_nodelet/odometry_edge_robust_kernel_size: 1.0
 * /global_graph_nodelet/registration_method: NDT_OMP
 * /global_graph_nodelet/use_const_inf_matrix: True
 * /global_graph_nodelet/var_gain_a: 20.0
 * /global_graph_nodelet/voc_path: /home/chenshoubin...
 * /kittiHelper/calib_file: home/chenshoubin/...
 * /kittiHelper/dataset_folder: /media/chenshoubi...
 * /kittiHelper/output_bag_file: /home/chenshoubin...
 * /kittiHelper/output_path: /home/chenshoubin...
 * /kittiHelper/publish_delay: 1
 * /kittiHelper/sequence_number: 4
 * /kittiHelper/to_bag: False
 * /mapping_line_resolution: 0.4
 * /mapping_plane_resolution: 0.8
 * /mapping_skip_frame: 1
 * /minimum_range: 5.0
 * /prefiltering_nodelet/base_link_frame: base_link
 * /prefiltering_nodelet/distance_far_thresh: 100.0
 * /prefiltering_nodelet/distance_near_thresh: 0.5
 * /prefiltering_nodelet/downsample_method: VOXELGRID
 * /prefiltering_nodelet/downsample_resolution: 0.1
 * /prefiltering_nodelet/outlier_removal_method: RADIUS
 * /prefiltering_nodelet/radius_min_neighbors: 5
 * /prefiltering_nodelet/radius_radius: 0.5
 * /prefiltering_nodelet/statistical_mean_k: 30
 * /prefiltering_nodelet/statistical_stddev: 1.2
 * /prefiltering_nodelet/use_angle_calibration: False
 * /prefiltering_nodelet/use_distance_filter: True
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /scan_line: 64
 * /scan_matching_odom_nodelet/calib_file: home/chenshoubin/...
 * /scan_matching_odom_nodelet/keyframe_delta_angle: 0.17
 * /scan_matching_odom_nodelet/keyframe_delta_time: 1.0
 * /scan_matching_odom_nodelet/keyframe_delta_trans: 10.0
 * /scan_matching_odom_nodelet/odom_file: /root/kitti_traj_...
 * /scan_matching_odom_nodelet/odom_frame_id: odom
 * /use_sim_time: True

NODES
  /
    alaserMapping (aloam_velodyne/alaserMapping)
    alaserOdometry (aloam_velodyne/alaserOdometry)
    ascanRegistration (aloam_velodyne/ascanRegistration)
    camera_init2odom_publisher (tf/static_transform_publisher)
    global_graph_nodelet (nodelet/nodelet)
    kittiHelper (aloam_velodyne/kittiHelper)
    lidar2base_publisher (tf/static_transform_publisher)
    map2odom_publisher (lv_slam/map2odom_publisher.py)
    prefiltering_nodelet (nodelet/nodelet)
    scan_matching_odom_nodelet (nodelet/nodelet)
    velodyne_nodelet_manager (nodelet/nodelet)

auto-starting new master
[1mprocess[master]: started with pid [106][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/dlo_lfa_ggo_kitti.launch http://localhost:11311
[1msetting /run_id to 95539b20-2e41-11ef-be9f-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [117][0m
started core service [/rosout]
[1mprocess[lidar2base_publisher-2]: started with pid [120][0m
[1mprocess[camera_init2odom_publisher-3]: started with pid [125][0m
[1mprocess[velodyne_nodelet_manager-4]: started with pid [131][0m
[0m[ INFO] [1718804472.780814997]: Initializing nodelet with 8 worker threads.[0m
[1mprocess[prefiltering_nodelet-5]: started with pid [137][0m
[1mprocess[scan_matching_odom_nodelet-6]: started with pid [153][0m
downsample: VOXELGRID 0.1
outlier_removal: RADIUS 0.5 - 2
calib_file= home/chenshoubin/slam_ws/src/lv_slam/config/kitti_calib/calib04-12.txt
odom_file= /root/kitti_traj_ggo.txt
--- reg_s2s,reg_s2k=pcl::NDT_OMP ---
--- initialize_params end! ---
[1mprocess[ascanRegistration-7]: started with pid [164][0m
scan line number 64 
[1mprocess[alaserOdometry-8]: started with pid [171][0m
Mapping 10 Hz 
[1mprocess[alaserMapping-9]: started with pid [177][0m
line resolution 0.400000 plane resolution 0.800000 
[1mprocess[kittiHelper-10]: started with pid [183][0m
calib_file= home/chenshoubin/slam_ws/src/lv_slam/config/kitti_calib/calib04-12.txt
eulerAngle= 0
-0
 01 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
[1mprocess[global_graph_nodelet-11]: started with pid [190][0m
/opt/ros/melodic/lib/python2.7/dist-packages/roslib/packages.py:470: UnicodeWarning: Unicode equal comparison failed to convert both arguments to Unicode - interpreting them as being unequal
  if resource_name in files:
construct solver: lm_var_cholmod
# Using CHOLMOD poseDim -1 landMarkDim -1 blockordering 1
done
registration: NDT_OMP DIRECT7 1 (8 threads)
[1mprocess[map2odom_publisher-12]: started with pid [201][0m
bash: /opt/ros/kinetic/setup.bash: No such file or directory
bash: /opt/ros/kinetic/setup.bash: No such file or directory
rosbag play /slamhive/dataset/kitti_2011_09_30_drive_0028_synced_full.bag  --clock 
### global_graph init done! 
[0m[ INFO] [1718804477.834254735]: Saving as ASCII PCD[0m
[0m[ INFO] [1718804477.837705015]: Listening for incoming data on topic /laser_cloud_surround[0m
[0m[ INFO] [1718804478.097957504]: 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: 0.00 
--------------------stamp1317357761.831731081
failed to find transform between base_link and velodyne
points size 81868 
prepare time 31.115589 
sort q time 7.327915 
seperate points time 14.589538 
scan registration time 51.410460 ms *************
1317357761.831731081 WriteOdom laser_odom_to_init
1317357761.831731081 WriteOdom aft_mapped_to_init_high_frec
Initialization finished 
publication time 9.828857 ms 
whole laserOdometry time 9.855402 ms 
 
map prepare time 1.691870 ms
map corner num 0  surf num 0 
--------------------stamp1317357761.935647964
points size 82933 
prepare time 12.907371 
sort q time 7.684983 
seperate points time 14.502278 
scan registration time 31.273914 ms *************
publication time 6.941106 ms 
whole laserOdometry time 6.953723 ms 
 
--------------------stamp1317357762.039568901
points size 84323 
prepare time 13.602753 
sort q time 4.685753 
seperate points time 9.517661 
scan registration time 26.254711 ms *************
publication time 7.211022 ms 
whole laserOdometry time 7.226140 ms 
 
-----t: 0.165199
OdomCount 1 & avg odom time 0.165199 ms ++++++++++++++++++++++
1317357761.935647964 WriteOdom laser_odom_to_init
1317357761.935647964 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
map prepare time 1.579261 ms
map corner num 2457  surf num 2525 
build tree time 0.814656 ms 
--------------------stamp1317357762.143488883-----t: 0.027919
OdomCount 2 & avg odom time 0.096559 ms ++++++++++++++++++++++
1317357762.039568901 WriteOdom laser_odom_to_init
1317357762.039568901 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.540502 ms 
points size 86053 
prepare time 14.866612 
sort q time 5.097692 
seperate points time 11.989111 
scan registration time 34.238537 ms *************
mapping solver time 25.185394 ms 
-----t: 0.0288617
OdomCount 3 & avg odom time 0.073993 ms ++++++++++++++++++++++
mapping data assosiation time 19.875637 ms 
mapping solver time 11.698786 ms 
mapping optimization time 81.797183 
add points time 0.354845 ms
filter time 0.803308 ms 
mapping pub time 1.860016 ms 
whole mapping time 86.440525 ms +++++
mappingCount 2 & avg mapping time 46.717792 ms ++++++++++++++++++++++
1317357761.935647964 WriteOdom aft_mapped_to_init
map prepare time 1.564271 ms
map corner num 3401  surf num 2881 
build tree time 0.908771 ms 
mapping data assosiation time 14.513511 ms 
--------------------stamp1317357762.247406959
mapping solver time 17.103274 ms 
points size 87075 
prepare time 10.472994 
sort q time 4.741081 
seperate points time 10.574910 
mapping data assosiation time 17.532601 ms 
scan registration time 27.271254 ms *************
mapping solver time 13.405294 ms 
mapping optimization time 64.384653 
add points time 0.370169 ms
filter time 0.875348 ms 
publication time 7.754182 ms 
whole laserOdometry time 7.824907 ms 
 
mapping pub time 2.025220 ms 
whole mapping time 69.265039 ms +++++
mappingCount 3 & avg mapping time 54.235292 ms ++++++++++++++++++++++
-----t: 0.0294758
OdomCount 4 & avg odom time 0.062864 ms ++++++++++++++++++++++
1317357762.247406959 WriteOdom laser_odom_to_init
1317357762.143488884 WriteOdom aft_mapped_to_init
1317357762.247406959 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.648355 ms
map corner num 4321  surf num 3224 
build tree time 1.308692 ms 
mapping data assosiation time 16.071012 ms 
mapping solver time 16.063413 ms 
mapping data assosiation time 15.528684 ms 
--------------------stamp1317357762.351346969
points size 89649 
prepare time 10.798909 
mapping solver time 14.870571 ms 
mapping optimization time 64.747150 
add points time 0.436398 ms
filter time 1.038173 ms 
mapping pub time 2.104311 ms 
whole mapping time 70.041310 ms +++++
mappingCount 4 & avg mapping time 58.188267 ms ++++++++++++++++++++++
1317357762.247406960 WriteOdom aft_mapped_to_init
sort q time 5.721221 
seperate points time 11.849329 
scan registration time 27.134185 ms *************
-----t: 0.0295994
OdomCount 5 & avg odom time 0.056211 ms ++++++++++++++++++++++
map prepare time 1.898828 ms
map corner num 5020  surf num 3409 
build tree time 1.115407 ms 
mapping data assosiation time 16.378082 ms 
mapping solver time 17.918768 ms 
--------------------stamp1317357762.455291032
points size 90579 
mapping data assosiation time 21.833228 ms 
prepare time 11.853578 
sort q time 5.401132 
seperate points time 11.140611 
mapping solver time 14.670273 ms 
mapping optimization time 73.098117 
add points time 0.397819 ms
filter time 0.939006 ms 
scan registration time 27.454925 ms *************
mapping pub time 2.255243 ms 
whole mapping time 78.644479 ms +++++
mappingCount 5 & avg mapping time 62.280317 ms ++++++++++++++++++++++
1317357762.351346970 WriteOdom aft_mapped_to_init
publication time 7.490350 ms 
whole laserOdometry time 7.503463 ms 
 
-----t: 0.0299093
OdomCount 6 & avg odom time 0.051827 ms ++++++++++++++++++++++
1317357762.455291032 WriteOdom laser_odom_to_init
1317357762.455291032 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.975365 ms
map corner num 5652  surf num 3621 
build tree time 1.259509 ms 
mapping data assosiation time 16.251781 ms 
mapping solver time 16.508332 ms 
--------------------stamp1317357762.559210062
mapping data assosiation time 17.429032 ms 
points size 90579 
prepare time 12.588688 
mapping solver time 17.538573 ms 
mapping optimization time 70.177937 
add points time 0.474179 ms
filter time 1.050753 ms 
[0m[ INFO] [1718804479.391128756, 1317357762.579040611]: Received 10072 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804479.391159545, 1317357762.579040611]: Data saved to 1317357762455291.pcd[0m
mapping pub time 2.227297 ms 
whole mapping time 75.965488 ms +++++
mappingCount 6 & avg mapping time 64.561691 ms ++++++++++++++++++++++
sort q time 5.420250 
seperate points time 11.380858 
1317357762.455291033 WriteOdom aft_mapped_to_init
scan registration time 28.415203 ms *************
publication time 8.407751 ms 
whole laserOdometry time 8.420265 ms 
 
-----t: 0.029565
OdomCount 7 & avg odom time 0.048647 ms ++++++++++++++++++++++
1317357762.559210062 WriteOdom laser_odom_to_init
1317357762.559210062 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.622059 ms
map corner num 6247  surf num 3825 
build tree time 1.813243 ms 
mapping data assosiation time 17.618748 ms 
mapping solver time 19.257081 ms 
--------------------stamp1317357762.663129091
points size 90849 
prepare time 12.349240 
mapping data assosiation time 19.224720 ms 
sort q time 6.009669 
seperate points time 11.802843 
scan registration time 28.214578 ms *************
mapping solver time 20.150694 ms 
-----t: 0.0285653
OdomCount 8 & avg odom time 0.046137 ms ++++++++++++++++++++++
1317357762.663129091 WriteOdom laser_odom_to_init
1317357762.663129091 WriteOdom aft_mapped_to_init_high_frec
publication time 7.022219 ms 
whole laserOdometry time 7.029851 ms 
 
map prepare time 1.728989 ms
map corner num 6839  surf num 4077 
build tree time 2.007471 ms 
mapping data assosiation time 17.233394 ms 
mapping solver time 16.823944 ms 
--------------------stamp1317357762.767049074
points size 90931 
prepare time 12.100785 
mapping solver time 13.646688 ms 
mapping optimization time 67.995679 
add points time 0.418696 ms
filter time 1.151004 ms 
mapping pub time 2.168146 ms 
whole mapping time 73.512703 ms +++++
mappingCount 8 & avg mapping time 68.094398 ms ++++++++++++++++++++++
1317357762.663129091 WriteOdom aft_mapped_to_init
sort q time 5.060680 
seperate points time 11.565558 
scan registration time 27.824638 ms *************
publication time 6.574443 ms 
whole laserOdometry time 6.589753 ms 
 
-----t: 0.0278092
OdomCount 9 & avg odom time 0.044100 ms ++++++++++++++++++++++
1317357762.767049074 WriteOdom laser_odom_to_init
1317357762.767049074 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.935515 ms
map corner num 7420  surf num 4320 
build tree time 1.678502 ms 
mapping data assosiation time 16.919781 ms 
mapping solver time 16.322049 ms 
mapping data assosiation time 17.091205 ms 
--------------------stamp1317357762.870966911
mapping solver time 14.477588 ms 
mapping optimization time 67.338347 
points size 90805 
add points time 0.442623 ms
filter time 1.241820 ms 
prepare time 13.236640 
mapping pub time 2.344882 ms 
whole mapping time 73.358982 ms +++++
mappingCount 9 & avg mapping time 68.679916 ms ++++++++++++++++++++++
1317357762.767049074 WriteOdom aft_mapped_to_init
sort q time 5.278485 
seperate points time 11.814178 
scan registration time 29.962681 ms *************
publication time 6.849149 ms 
whole laserOdometry time 6.864890 ms 
 
-----t: 0.0312626
OdomCount 10 & avg odom time 0.042817 ms ++++++++++++++++++++++
1317357762.870966911 WriteOdom laser_odom_to_init
1317357762.870966911 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.981579 ms
map corner num 7997  surf num 4528 
build tree time 1.834692 ms 
mapping data assosiation time 15.926672 ms 
mapping solver time 16.169875 ms 
--------------------stamp1317357762.974884986
points size 90460 
prepare time 12.795054 
mapping solver time 13.388796 ms 
mapping optimization time 64.868990 
add points time 0.428161 ms
filter time 0.957895 ms 
mapping pub time 2.026012 ms 
whole mapping time 70.318197 ms +++++
mappingCount 10 & avg mapping time 68.844206 ms ++++++++++++++++++++++
1317357762.870966911 WriteOdom aft_mapped_to_init
sort q time 4.733049 
seperate points time 10.911035 
scan registration time 28.609276 ms *************
publication time 7.714341 ms 
whole laserOdometry time 7.727709 ms 
 
-----t: 0.0383173
OdomCount 11 & avg odom time 0.042408 ms ++++++++++++++++++++++
1317357762.974884986 WriteOdom laser_odom_to_init
1317357762.974884986 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.823825 ms
map corner num 8523  surf num 4718 
build tree time 2.359834 ms 
mapping data assosiation time 17.169169 ms 
mapping solver time 20.715782 ms 
points size 87818 
prepare time 12.190914 
mapping data assosiation time 21.946753 ms 
sort q time 4.750475 
seperate points time 11.194899 
scan registration time 28.667825 ms *************
mapping solver time 19.710917 ms 
mapping optimization time 82.916639 
add points time 0.442761 ms
filter time 1.383281 ms 
[0m[ INFO] [1718804479.929319122, 1317357763.119437395]: Received 13971 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804479.929348840, 1317357763.119437395]: Data saved to 1317357762974884.pcd[0m
publication time 6.838580 ms 
whole laserOdometry time 6.850303 ms 
 
mapping pub time 2.515490 ms 
whole mapping time 89.139379 ms +++++
mappingCount 11 & avg mapping time 70.689760 ms ++++++++++++++++++++++
1317357762.974884987 WriteOdom aft_mapped_to_init
-----t: 0.0357886
OdomCount 12 & avg odom time 0.041856 ms ++++++++++++++++++++++
1317357763.078830003 WriteOdom laser_odom_to_init
1317357763.078830003 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.067558 ms
map corner num 9066  surf num 4905 
build tree time 2.339232 ms 
mapping data assosiation time 18.054242 ms 
mapping solver time 17.313270 ms 
--------------------stamp1317357763.182771921
mapping data assosiation time 21.188289 ms 
points size 84809 
prepare time 14.342613 
sort q time 4.624378 
seperate points time 11.294030 
mapping solver time 18.313502 ms 
mapping optimization time 78.388745 
add points time 0.537542 ms
scan registration time 30.769335 ms *************
filter time 1.480263 ms 
mapping pub time 2.068283 ms 
whole mapping time 84.611785 ms +++++
mappingCount 12 & avg mapping time 71.850292 ms ++++++++++++++++++++++
1317357763.078830004 WriteOdom aft_mapped_to_init
-----t: 0.0283915
OdomCount 13 & avg odom time 0.040820 ms ++++++++++++++++++++++
1317357763.182771921 WriteOdom laser_odom_to_init
1317357763.182771921 WriteOdom aft_mapped_to_init_high_frec
publication time 8.129282 ms 
whole laserOdometry time 8.145234 ms 
 
map prepare time 1.684393 ms
map corner num 9616  surf num 5103 
build tree time 1.961589 ms 
mapping data assosiation time 16.503309 ms 
mapping solver time 17.077771 ms 
--------------------stamp1317357763.286695957
points size 83607 
mapping data assosiation time 17.433416 ms 
prepare time 9.943019 
sort q time 4.619665 
seperate points time 9.486181 
add points time 0.447636 ms
filter time 1.301261 ms 
mapping pub time 2.248156 ms 
whole mapping time 75.766912 ms +++++
mappingCount 13 & avg mapping time 72.152112 ms ++++++++++++++++++++++
1317357763.182771921 WriteOdom aft_mapped_to_init
publication time 7.006209 ms 
whole laserOdometry time 7.018411 ms 
 
-----t: 0.030975
OdomCount 14 & avg odom time 0.040117 ms ++++++++++++++++++++++
1317357763.286695957 WriteOdom laser_odom_to_init
1317357763.286695957 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.051685 ms
map corner num 10147  surf num 5260 
mapping data assosiation time 16.691063 ms 
mapping solver time 20.725134 ms 
--------------------stamp1317357763.390639066
mapping data assosiation time 19.036730 ms 
points size 82328 
prepare time 13.606171 
mapping solver time 19.927617 ms 
sort q time 4.430264 
seperate points time 10.831125 
publication time 7.647621 ms 
whole laserOdometry time 7.661007 ms 
 
-----t: 0.0361884
OdomCount 15 & avg odom time 0.039855 ms ++++++++++++++++++++++
1317357763.390639066 WriteOdom laser_odom_to_init
1317357763.390639066 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.047143 ms
map corner num 10664  surf num 5438 
mapping data assosiation time 17.061879 ms 
mapping solver time 17.138377 ms 
--------------------stamp1317357763.494574069
points size 81765 
mapping data assosiation time 18.488809 ms 
prepare time 10.744580 
sort q time 4.389720 
seperate points time 9.183563 
scan registration time 23.701521 ms *************
mapping pub time 2.076846 ms 
whole mapping time 77.618270 ms +++++
mappingCount 15 & avg mapping time 73.434867 ms ++++++++++++++++++++++
1317357763.390639067 WriteOdom aft_mapped_to_init
publication time 7.736774 ms 
whole laserOdometry time 7.749364 ms 
 
-----t: 0.0294923
OdomCount 16 & avg odom time 0.039207 ms ++++++++++++++++++++++
1317357763.494574069 WriteOdom laser_odom_to_init
1317357763.494574069 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.997915 ms
map corner num 11146  surf num 5579 
mapping data assosiation time 16.715736 ms 
mapping solver time 17.652506 ms 
--------------------stamp1317357763.598541975
mapping data assosiation time 18.559746 ms 
prepare time 13.818040 
sort q time 4.240331 
seperate points time 10.533851 
mapping solver time 20.294823 ms 
mapping optimization time 76.541986 
add points time 0.506362 ms
filter time 1.529384 ms 
publication time 8.187187 ms 
whole laserOdometry time 8.200818 ms 
 
-----t: 0.0285914
OdomCount 17 & avg odom time 0.038583 ms ++++++++++++++++++++++
1317357763.598541975 WriteOdom laser_odom_to_init
1317357763.598541975 WriteOdom aft_mapped_to_init_high_frec
build tree time 2.769435 ms 
mapping data assosiation time 17.834208 ms 
mapping solver time 16.583039 ms 
--------------------stamp1317357763.702558040
points size 81236 
prepare time 10.545856 
mapping solver time 15.011905 ms 
mapping optimization time 71.780610 
add points time 0.437306 ms
sort q time 4.200984 
seperate points time 9.428769 
-----t: 0.0271442
OdomCount 18 & avg odom time 0.037948 ms ++++++++++++++++++++++
1317357763.702558040 WriteOdom laser_odom_to_init
1317357763.702558040 WriteOdom aft_mapped_to_init_high_frec
publication time 6.223343 ms 
whole laserOdometry time 6.236237 ms 
 
map prepare time 1.708921 ms
map corner num 12089  surf num 5864 
build tree time 2.739065 ms 
mapping data assosiation time 18.069598 ms 
mapping solver time 16.438645 ms 
mapping data assosiation time 17.068979 ms 
points size 80233 
mapping solver time 17.650417 ms 
mapping optimization time 72.954205 
add points time 0.457320 ms
filter time 1.793916 ms 
sort q time 4.501321 
seperate points time 10.350610 
scan registration time 28.036992 ms *************
publication time 7.064043 ms 
whole laserOdometry time 7.079318 ms 
 
1317357763.806549072 WriteOdom laser_odom_to_init
1317357763.806549072 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.053297 ms
map corner num 12559  surf num 5999 
mapping data assosiation time 15.975977 ms 
mapping solver time 17.065440 ms 
--------------------stamp1317357763.910563945
points size 78502 
mapping solver time 14.422060 ms 
mapping optimization time 69.964606 
add points time 0.471531 ms
filter time 1.757262 ms 
scan registration time 25.956273 ms *************
publication time 7.207795 ms 
whole laserOdometry time 7.249177 ms 
 
-----t: 0.0368931
OdomCount 20 & avg odom time 0.037625 ms ++++++++++++++++++++++
1317357763.910563945 WriteOdom laser_odom_to_init
1317357763.910563945 WriteOdom aft_mapped_to_init_high_frec
build tree time 2.918356 ms 
mapping data assosiation time 17.256151 ms 
mapping solver time 16.908088 ms 
--------------------stamp1317357764.014601945
points size 74971 
prepare time 8.069189 
mapping data assosiation time 19.972931 ms 
sort q time 4.068547 
seperate points time 9.212921 
scan registration time 20.780290 ms *************
mapping solver time 14.301678 ms 
mapping optimization time 72.309264 
add points time 0.461302 ms
filter time 1.636500 ms 
mapping pub time 1.823670 ms 
whole mapping time 78.674289 ms +++++
mappingCount 20 & avg mapping time 74.810321 ms ++++++++++++++++++++++
1317357763.910563946 WriteOdom aft_mapped_to_init
-----t: 0.0430136
OdomCount 21 & avg odom time 0.037881 ms ++++++++++++++++++++++
1317357764.014601945 WriteOdom laser_odom_to_init
1317357764.014601945 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.220803 ms
map corner num 13522  surf num 6269 
mapping data assosiation time 16.505719 ms 
mapping solver time 15.838541 ms 
--------------------stamp1317357764.118614912
points size 72440 
sort q time 3.896927 
seperate points time 9.364426 
scan registration time 22.857678 ms *************
mapping solver time 14.720329 ms 
mapping optimization time 69.827506 
add points time 0.444287 ms
filter time 1.747634 ms 
publication time 6.581843 ms 
whole laserOdometry time 6.594807 ms 
 
-----t: 0.02982
OdomCount 22 & avg odom time 0.037515 ms ++++++++++++++++++++++
1317357764.118614912 WriteOdom laser_odom_to_init
1317357764.118614912 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.887201 ms
map corner num 13983  surf num 6383 
build tree time 3.008606 ms 
mapping data assosiation time 17.895225 ms 
mapping solver time 15.676446 ms 
--------------------stamp1317357764.222655057
mapping data assosiation time 21.819130 ms 
points size 70906 
prepare time 12.142938 
mapping solver time 15.743514 ms 
sort q time 3.771448 
seperate points time 9.508911 
mapping optimization time 75.215132 
add points time 0.511945 ms
filter time 2.081170 ms 
scan registration time 25.892020 ms *************
publication time 7.319705 ms 
whole laserOdometry time 7.333969 ms 
 
-----t: 0.0274999
OdomCount 23 & avg odom time 0.037079 ms ++++++++++++++++++++++
map prepare time 1.714333 ms
map corner num 14459  surf num 6511 
build tree time 2.910421 ms 
mapping data assosiation time 15.121060 ms 
mapping solver time 15.247901 ms 
mapping data assosiation time 16.628827 ms 
--------------------stamp1317357764.326694965
points size 70109 
prepare time 8.492154 
mapping optimization time 68.270190 
add points time 0.492967 ms
filter time 1.833919 ms 
mapping pub time 1.638428 ms 
whole mapping time 74.000575 ms +++++
mappingCount 23 & avg mapping time 75.162514 ms ++++++++++++++++++++++
1317357764.222655058 WriteOdom aft_mapped_to_init
sort q time 4.762681 
seperate points time 9.609768 
scan registration time 21.183610 ms *************
publication time 6.285324 ms 
whole laserOdometry time 6.300131 ms 
 
-----t: 0.0267713
OdomCount 24 & avg odom time 0.036650 ms ++++++++++++++++++++++
map prepare time 1.736270 ms
map corner num 14885  surf num 6630 
build tree time 3.526467 ms 
mapping data assosiation time 20.632334 ms 
mapping solver time 18.411943 ms 
mapping data assosiation time 16.067786 ms 
--------------------stamp1317357764.430711030
points size 70066 
mapping solver time 14.834575 ms 
mapping optimization time 74.396150 
add points time 0.454004 ms
sort q time 3.611640 
seperate points time 7.640797 
filter time 1.875830 ms 
mapping pub time 1.636010 ms 
whole mapping time 80.149343 ms +++++
mappingCount 24 & avg mapping time 75.370515 ms ++++++++++++++++++++++
scan registration time 18.981454 ms *************
publication time 5.766615 ms 
whole laserOdometry time 5.780803 ms 
 
-----t: 0.0249254
OdomCount 25 & avg odom time 0.036181 ms ++++++++++++++++++++++
1317357764.430711030 WriteOdom laser_odom_to_init
1317357764.430711030 WriteOdom aft_mapped_to_init_high_frec
build tree time 4.191677 ms 
mapping data assosiation time 18.097675 ms 
mapping solver time 14.822938 ms 
mapping data assosiation time 15.820740 ms 
--------------------stamp1317357764.534748077
points size 71159 
prepare time 8.450394 
mapping solver time 12.207963 ms 
mapping optimization time 65.939471 
add points time 0.435247 ms
sort q time 3.762165 
seperate points time 8.583796 
scan registration time 20.867319 ms *************
publication time 6.651158 ms 
whole laserOdometry time 6.665283 ms 
 
-----t: 0.0256699
OdomCount 26 & avg odom time 0.035777 ms ++++++++++++++++++++++
1317357764.534748077 WriteOdom laser_odom_to_init
1317357764.534748077 WriteOdom aft_mapped_to_init_high_frec
build tree time 3.594772 ms 
mapping data assosiation time 17.289731 ms 
mapping solver time 19.538806 ms 
mapping data assosiation time 14.799474 ms 
points size 72975 
filter time 1.538296 ms 
[0m[ INFO] [1718804481.461729296, 1317357764.649744666]: Received 23246 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804481.461761688, 1317357764.649744666]: Data saved to 1317357764534748.pcd[0m
mapping pub time 2.068886 ms 
whole mapping time 74.539499 ms +++++
mappingCount 26 & avg mapping time 75.218695 ms ++++++++++++++++++++++
1317357764.534748077 WriteOdom aft_mapped_to_init
publication time 6.450074 ms 
whole laserOdometry time 6.461445 ms 
 
map prepare time 1.777435 ms
map corner num 16278  surf num 6968 
build tree time 3.272461 ms 
mapping data assosiation time 15.195561 ms 
mapping solver time 15.533269 ms 
mapping data assosiation time 14.771662 ms 
--------------------stamp1317357764.742799997
filter time 1.459035 ms 
sort q time 4.026629 
seperate points time 8.148160 
scan registration time 20.224355 ms *************
-----t: 0.0230443
OdomCount 28 & avg odom time 0.034950 ms ++++++++++++++++++++++
map prepare time 1.585032 ms
map corner num 16743  surf num 7089 
build tree time 3.803828 ms 
mapping data assosiation time 15.980403 ms 
mapping solver time 17.990059 ms 
mapping data assosiation time 14.759958 ms 
--------------------stamp1317357764.846813917
mapping solver time 16.169345 ms 
sort q time 4.228438 
seperate points time 8.701284 
-----t: 0.022729
OdomCount 29 & avg odom time 0.034529 ms ++++++++++++++++++++++
1317357764.846813917 WriteOdom laser_odom_to_init
1317357764.846813917 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.573805 ms
map corner num 17201  surf num 7203 
build tree time 3.544030 ms 
mapping data assosiation time 15.081266 ms 
mapping solver time 17.510268 ms 
mapping data assosiation time 15.387351 ms 
mapping solver time 12.536927 ms 
mapping optimization time 65.004862 
add points time 0.514081 ms
points size 83489 
filter time 1.948035 ms 
prepare time 14.742570 
mapping pub time 1.990878 ms 
whole mapping time 71.092158 ms +++++
mappingCount 29 & avg mapping time 74.792575 ms ++++++++++++++++++++++
1317357764.846813917 WriteOdom aft_mapped_to_init
sort q time 4.510894 
seperate points time 10.630095 
scan registration time 29.769456 ms *************
publication time 6.546538 ms 
whole laserOdometry time 6.563303 ms 
 
-----t: 0.0400003
OdomCount 30 & avg odom time 0.034711 ms ++++++++++++++++++++++
1317357764.950808048 WriteOdom laser_odom_to_init
1317357764.950808048 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.101284 ms
map corner num 17584  surf num 7298 
build tree time 3.487799 ms 
mapping data assosiation time 14.144706 ms 
mapping solver time 18.021378 ms 
--------------------stamp1317357765.054774999
points size 84994 
prepare time 11.188579 
sort q time 4.395321 
seperate points time 8.991675 
mapping solver time 16.707609 ms 
mapping optimization time 69.783810 
add points time 0.470091 ms
filter time 1.984430 ms 
publication time 6.881131 ms 
whole laserOdometry time 6.897243 ms 
 
-----t: 0.0400727
OdomCount 31 & avg odom time 0.034884 ms ++++++++++++++++++++++
map prepare time 1.931744 ms
map corner num 18030  surf num 7417 
build tree time 3.639970 ms 
mapping data assosiation time 14.684310 ms 
mapping solver time 15.168238 ms 
--------------------stamp1317357765.158716917
points size 85866 
mapping solver time 13.262251 ms 
mapping optimization time 63.427637 
add points time 0.421989 ms
scan registration time 27.820781 ms *************
-----t: 0.0269926
OdomCount 32 & avg odom time 0.034638 ms ++++++++++++++++++++++
publication time 5.668785 ms 
whole laserOdometry time 5.680800 ms 
 
map prepare time 1.785370 ms
map corner num 18493  surf num 7528 
mapping data assosiation time 14.814324 ms 
mapping solver time 15.133266 ms 
mapping data assosiation time 15.046658 ms 
--------------------stamp1317357765.262635946
points size 86958 
prepare time 12.388463 
filter time 2.194567 ms 
mapping pub time 2.062627 ms 
whole mapping time 76.783762 ms +++++
mappingCount 32 & avg mapping time 74.780486 ms ++++++++++++++++++++++
1317357765.158716917 WriteOdom aft_mapped_to_init
sort q time 5.022088 
seperate points time 11.187703 
publication time 5.690615 ms 
whole laserOdometry time 5.704330 ms 
 
-----t: 0.0282521
OdomCount 33 & avg odom time 0.034444 ms ++++++++++++++++++++++
1317357765.262635946 WriteOdom laser_odom_to_init
1317357765.262635946 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.659619 ms
map corner num 18939  surf num 7610 
build tree time 5.376988 ms 
mapping data assosiation time 15.944236 ms 
mapping solver time 19.661267 ms 
--------------------stamp1317357765.366508007
mapping data assosiation time 17.478335 ms 
points size 87533 
prepare time 9.428243 
sort q time 5.227374 
seperate points time 10.967406 
publication time 6.354118 ms 
whole laserOdometry time 6.370304 ms 
 
map prepare time 1.930060 ms
map corner num 19447  surf num 7727 
build tree time 3.860600 ms 
mapping data assosiation time 14.568031 ms 
mapping solver time 17.803890 ms 
--------------------stamp1317357765.470330953
points size 90752 
mapping solver time 16.667573 ms 
prepare time 12.784117 
mapping optimization time 69.488208 
add points time 0.519698 ms
sort q time 4.939397 
seperate points time 11.772003 
-----t: 0.0250277
OdomCount 35 & avg odom time 0.033947 ms ++++++++++++++++++++++
1317357765.470330953 WriteOdom laser_odom_to_init
1317357765.470330953 WriteOdom aft_mapped_to_init_high_frec
publication time 6.369433 ms 
whole laserOdometry time 6.384625 ms 
 
map prepare time 2.153393 ms
map corner num 19986  surf num 7972 
mapping data assosiation time 21.403210 ms 
--------------------stamp1317357765.574127912
points size 93142 
prepare time 15.818868 
mapping data assosiation time 19.568342 ms 
sort q time 4.848833 
seperate points time 10.943896 
scan registration time 31.721182 ms *************
mapping solver time 19.700380 ms 
mapping optimization time 86.619840 
mapping pub time 2.136906 ms 
whole mapping time 93.773354 ms +++++
mappingCount 35 & avg mapping time 75.611933 ms ++++++++++++++++++++++
-----t: 0.0264669
OdomCount 36 & avg odom time 0.033739 ms ++++++++++++++++++++++
1317357765.574127912 WriteOdom laser_odom_to_init
1317357765.574127912 WriteOdom aft_mapped_to_init_high_frec
publication time 8.461942 ms 
whole laserOdometry time 8.476051 ms 
 
map prepare time 1.830205 ms
map corner num 20595  surf num 8271 
build tree time 4.737287 ms 
mapping data assosiation time 17.967429 ms 
mapping solver time 18.307116 ms 
--------------------stamp1317357765.677880048
points size 92615 
mapping data assosiation time 19.374601 ms 
prepare time 15.617963 
sort q time 4.924563 
seperate points time 11.208522 
mapping solver time 21.438433 ms 
mapping optimization time 82.807500 
add points time 0.646760 ms
filter time 2.168572 ms 
[0m[ INFO] [1718804482.528809566, 1317357765.719979575]: Data saved to 1317357765574127.pcd[0m
publication time 7.875281 ms 
whole laserOdometry time 7.885976 ms 
 
-----t: 0.0279069
OdomCount 37 & avg odom time 0.033581 ms ++++++++++++++++++++++
1317357765.677880048 WriteOdom laser_odom_to_init
1317357765.677880048 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.174513 ms
map corner num 21194  surf num 8592 
build tree time 4.151006 ms 
mapping data assosiation time 17.116005 ms 
mapping solver time 19.941842 ms 
--------------------stamp1317357765.781652927
points size 93005 
mapping data assosiation time 22.876841 ms 
prepare time 13.338262 
scan registration time 31.240354 ms *************
mapping solver time 20.380285 ms 
mapping optimization time 85.383147 
add points time 0.508055 ms
-----t: 0.0285506
OdomCount 38 & avg odom time 0.033449 ms ++++++++++++++++++++++
1317357765.781652927 WriteOdom laser_odom_to_init
publication time 6.064689 ms 
whole laserOdometry time 6.073289 ms 
 
1317357765.781652927 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.961643 ms
map corner num 21770  surf num 8834 
build tree time 5.595918 ms 
mapping data assosiation time 19.237650 ms 
mapping solver time 19.133685 ms 
points size 93946 
prepare time 10.985585 
mapping data assosiation time 20.926359 ms 
sort q time 5.068732 
seperate points time 11.600640 
-----t: 0.0260251
OdomCount 39 & avg odom time 0.033259 ms ++++++++++++++++++++++
1317357765.885476112 WriteOdom laser_odom_to_init
1317357765.885476112 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.159008 ms 
whole mapping time 97.765318 ms +++++
mappingCount 38 & avg mapping time 77.030036 ms ++++++++++++++++++++++
1317357765.781652927 WriteOdom aft_mapped_to_init
map prepare time 2.083670 ms
map corner num 22378  surf num 9105 
build tree time 4.770309 ms 
mapping data assosiation time 22.539198 ms 
--------------------stamp1317357765.989300966
points size 93968 
sort q time 5.203358 
seperate points time 11.248360 
scan registration time 28.253275 ms *************
mapping data assosiation time 21.774158 ms 
-----t: 0.0293639
OdomCount 40 & avg odom time 0.033161 ms ++++++++++++++++++++++
mapping solver time 20.691646 ms 
mapping optimization time 93.099575 
add points time 0.472131 ms
filter time 2.159742 ms 
map prepare time 1.809366 ms
map corner num 22964  surf num 9374 
build tree time 4.546159 ms 
mapping data assosiation time 19.382038 ms 
--------------------stamp1317357766.093147039
mapping solver time 22.648953 ms 
points size 93522 
prepare time 9.761290 
sort q time 5.766883 
seperate points time 11.270684 
scan registration time 24.928522 ms *************
publication time 7.361684 ms 
whole laserOdometry time 7.375896 ms 
 
mapping solver time 22.132431 ms 
mapping optimization time 91.180030 
add points time 0.546606 ms
filter time 2.698005 ms 
map prepare time 2.022844 ms
map corner num 23539  surf num 9589 
build tree time 4.787596 ms 
mapping data assosiation time 17.619922 ms 
mapping solver time 17.977955 ms 
points size 93247 
mapping data assosiation time 21.931601 ms 
sort q time 5.759151 
seperate points time 12.138542 
scan registration time 29.406420 ms *************
mapping solver time 21.442125 ms 
[0m[ INFO] [1718804483.053683075, 1317357766.237888146]: Received 33893 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804483.053757169, 1317357766.237888146]: Data saved to 1317357766093147.pcd[0m
publication time 12.559275 ms 
whole laserOdometry time 12.594344 ms 
 
-----t: 0.046337
OdomCount 42 & avg odom time 0.033681 ms ++++++++++++++++++++++
1317357766.197015047 WriteOdom laser_odom_to_init
1317357766.197015047 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.178670 ms
map corner num 24081  surf num 9812 
build tree time 4.980333 ms 
mapping data assosiation time 17.646997 ms 
--------------------stamp1317357766.300884008
points size 90624 
prepare time 12.242675 
mapping solver time 25.972804 ms 
sort q time 5.305156 
seperate points time 11.817260 
mapping data assosiation time 22.741144 ms 
-----t: 0.0380791
OdomCount 43 & avg odom time 0.033784 ms ++++++++++++++++++++++
1317357766.300884008 WriteOdom laser_odom_to_init
1317357766.300884008 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.274827 ms 
mapping optimization time 92.787943 
add points time 0.518275 ms
filter time 2.360747 ms 
mapping pub time 2.096352 ms 
whole mapping time 99.995748 ms +++++
mappingCount 42 & avg mapping time 79.025994 ms ++++++++++++++++++++++
1317357766.197015047 WriteOdom aft_mapped_to_init
map prepare time 1.777191 ms
map corner num 24601  surf num 10000 
build tree time 4.851174 ms 
mapping data assosiation time 18.248302 ms 
--------------------stamp1317357766.404755115
points size 88517 
sort q time 5.771037 
seperate points time 10.864938 
scan registration time 30.407664 ms *************
publication time 5.544294 ms 
whole laserOdometry time 5.575175 ms 
 
-----t: 0.0290364
OdomCount 44 & avg odom time 0.033676 ms ++++++++++++++++++++++
1317357766.404755115 WriteOdom laser_odom_to_init
1317357766.404755115 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.497605 ms 
mapping optimization time 88.866553 
add points time 0.483780 ms
filter time 2.443048 ms 
mapping pub time 2.064128 ms 
whole mapping time 95.674489 ms +++++
mappingCount 43 & avg mapping time 79.413570 ms ++++++++++++++++++++++
1317357766.300884008 WriteOdom aft_mapped_to_init
build tree time 5.662746 ms 
mapping data assosiation time 16.881220 ms 
--------------------stamp1317357766.508626937
points size 87391 
prepare time 13.462153 
mapping data assosiation time 22.526875 ms 
sort q time 10.077039 
seperate points time 16.206164 
scan registration time 34.898003 ms *************
mapping solver time 16.120525 ms 
mapping optimization time 80.609094 
add points time 0.599976 ms
filter time 2.766718 ms 
-----t: 0.0311664
OdomCount 45 & avg odom time 0.033620 ms ++++++++++++++++++++++
mapping pub time 2.085388 ms 
whole mapping time 87.895307 ms +++++
mappingCount 44 & avg mapping time 79.606450 ms ++++++++++++++++++++++
1317357766.404755116 WriteOdom aft_mapped_to_init
1317357766.508626937 WriteOdom laser_odom_to_init
1317357766.508626937 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.882212 ms
map corner num 25547  surf num 10307 
build tree time 5.269277 ms 
mapping data assosiation time 16.141719 ms 
mapping solver time 15.947173 ms 
--------------------stamp1317357766.612523078
points size 85088 
prepare time 9.267683 
mapping data assosiation time 20.337470 ms 
sort q time 5.542524 
seperate points time 10.341902 
scan registration time 23.355365 ms *************
mapping solver time 14.398825 ms 
mapping optimization time 72.987815 
add points time 0.523335 ms
publication time 6.324873 ms 
whole laserOdometry time 6.342789 ms 
 
-----t: 0.0255094
OdomCount 46 & avg odom time 0.033444 ms ++++++++++++++++++++++
map prepare time 1.579250 ms
map corner num 25994  surf num 10454 
build tree time 5.989093 ms 
mapping data assosiation time 15.726336 ms 
mapping solver time 15.051044 ms 
mapping data assosiation time 16.352582 ms 
--------------------stamp1317357766.716417074
points size 83274 
prepare time 9.174661 
mapping solver time 15.281514 ms 
mapping optimization time 69.317321 
add points time 0.679736 ms
filter time 2.472373 ms 
[0m[ INFO] [1718804483.545461668, 1317357766.731050227]: Received 36970 data points in frame camera_init with the following fields: x y z intensity[0m
sort q time 5.411295 
seperate points time 10.487311 
mapping pub time 2.463829 ms 
whole mapping time 76.568483 ms +++++
mappingCount 46 & avg mapping time 79.538636 ms ++++++++++++++++++++++
1317357766.612523079 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718804483.546677430, 1317357766.731050227]: Data saved to 1317357766612523.pcd[0m
-----t: 0.025224
OdomCount 47 & avg odom time 0.033269 ms ++++++++++++++++++++++
publication time 8.096332 ms 
whole laserOdometry time 8.107477 ms 
 
map prepare time 2.192266 ms
map corner num 26404  surf num 10566 
build tree time 6.906212 ms 
mapping data assosiation time 19.413891 ms 
mapping solver time 18.720490 ms 
--------------------stamp1317357766.820334911
points size 81076 
mapping data assosiation time 19.472827 ms 
sort q time 4.838667 
seperate points time 9.808682 
scan registration time 22.731456 ms *************
mapping solver time 14.631033 ms 
mapping optimization time 80.138307 
add points time 0.522476 ms
filter time 3.027415 ms 
mapping pub time 1.997538 ms 
whole mapping time 87.972297 ms +++++
mappingCount 47 & avg mapping time 79.718142 ms ++++++++++++++++++++++
publication time 7.111035 ms 
whole laserOdometry time 7.123547 ms 
 
1317357766.716417074 WriteOdom aft_mapped_to_init
-----t: 0.0345558
OdomCount 48 & avg odom time 0.033296 ms ++++++++++++++++++++++
1317357766.820334911 WriteOdom laser_odom_to_init
1317357766.820334911 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.732618 ms
map corner num 26814  surf num 10654 
build tree time 5.925543 ms 
mapping data assosiation time 14.441904 ms 
mapping solver time 17.439170 ms 
--------------------stamp1317357766.924278020
mapping data assosiation time 16.185943 ms 
points size 78153 
prepare time 11.944088 
mapping solver time 15.730778 ms 
filter time 2.941827 ms 
mapping pub time 1.955682 ms 
whole mapping time 77.733695 ms +++++
mappingCount 48 & avg mapping time 79.676888 ms ++++++++++++++++++++++
1317357766.820334911 WriteOdom aft_mapped_to_init
scan registration time 28.311776 ms *************
publication time 5.525380 ms 
whole laserOdometry time 5.540148 ms 
 
-----t: 0.0354771
OdomCount 49 & avg odom time 0.033340 ms ++++++++++++++++++++++
1317357766.924278020 WriteOdom laser_odom_to_init
1317357766.924278020 WriteOdom aft_mapped_to_init_high_frec
build tree time 7.142152 ms 
mapping data assosiation time 16.813338 ms 
mapping solver time 15.910485 ms 
--------------------stamp1317357767.028222084
points size 77242 
sort q time 4.047822 
seperate points time 8.197193 
scan registration time 23.339009 ms *************
mapping solver time 13.953348 ms 
mapping optimization time 72.151308 
add points time 0.470951 ms
filter time 2.906905 ms 
publication time 5.643770 ms 
whole laserOdometry time 5.674768 ms 
 
-----t: 0.0278026
OdomCount 50 & avg odom time 0.033229 ms ++++++++++++++++++++++
1317357767.028222084 WriteOdom laser_odom_to_init
1317357767.028222084 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.711204 ms
map corner num 27519  surf num 10836 
mapping data assosiation time 13.648831 ms 
mapping solver time 15.450578 ms 
mapping data assosiation time 14.021735 ms 
--------------------stamp1317357767.132189989
mapping solver time 15.318217 ms 
mapping pub time 1.747415 ms 
whole mapping time 71.181047 ms +++++
mappingCount 50 & avg mapping time 79.503109 ms ++++++++++++++++++++++
1317357767.028222084 WriteOdom aft_mapped_to_init
prepare time 12.497368 
sort q time 3.624437 
seperate points time 7.812234 
scan registration time 23.353834 ms *************
publication time 5.430621 ms 
whole laserOdometry time 5.443555 ms 
 
-----t: 0.0318299
OdomCount 51 & avg odom time 0.033202 ms ++++++++++++++++++++++
build tree time 5.557086 ms 
mapping data assosiation time 14.067371 ms 
mapping solver time 13.924654 ms 
mapping data assosiation time 14.125056 ms 
--------------------stamp1317357767.236156940
points size 78864 
mapping solver time 17.463358 ms 
mapping optimization time 66.013165 
prepare time 11.501632 
filter time 2.808004 ms 
mapping pub time 3.687950 ms 
whole mapping time 74.890152 ms +++++
mappingCount 51 & avg mapping time 79.412883 ms ++++++++++++++++++++++
1317357767.132189989 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718804484.065230984, 1317357767.248242699]: Received 39264 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804484.065403856, 1317357767.248242699]: Data saved to 1317357767132189.pcd[0m
sort q time 4.637999 
seperate points time 10.137219 
scan registration time 24.578665 ms *************
publication time 4.948458 ms 
whole laserOdometry time 4.961127 ms 
 
-----t: 0.0409618
OdomCount 52 & avg odom time 0.033351 ms ++++++++++++++++++++++
1317357767.236156940 WriteOdom laser_odom_to_init
1317357767.236156940 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.995905 ms
map corner num 28224  surf num 11040 
build tree time 7.013108 ms 
mapping data assosiation time 14.459782 ms 
mapping solver time 14.341279 ms 
--------------------stamp1317357767.340122938
points size 79779 
sort q time 4.091876 
seperate points time 9.355985 
mapping solver time 14.054067 ms 
scan registration time 23.756605 ms *************
mapping optimization time 67.656874 
add points time 0.460845 ms
filter time 3.093936 ms 
-----t: 0.0238318
OdomCount 53 & avg odom time 0.033172 ms ++++++++++++++++++++++
map prepare time 1.528284 ms
map corner num 28590  surf num 11136 
build tree time 6.113129 ms 
mapping data assosiation time 15.324253 ms 
mapping solver time 14.735018 ms 
mapping data assosiation time 14.687181 ms 
--------------------stamp1317357767.444091081
mapping solver time 11.826675 ms 
mapping pub time 1.872634 ms 
whole mapping time 69.844910 ms +++++
mappingCount 53 & avg mapping time 79.151336 ms ++++++++++++++++++++++
1317357767.340122938 WriteOdom aft_mapped_to_init
points size 80882 
scan registration time 27.412196 ms *************
-----t: 0.0231301
OdomCount 54 & avg odom time 0.032986 ms ++++++++++++++++++++++
1317357767.444091081 WriteOdom laser_odom_to_init
1317357767.444091081 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.558697 ms
map corner num 28932  surf num 11220 
build tree time 6.445365 ms 
mapping data assosiation time 13.694956 ms 
mapping solver time 14.615406 ms 
--------------------stamp1317357767.548057079
points size 80951 
filter time 2.902730 ms 
mapping pub time 1.899226 ms 
whole mapping time 68.852625 ms +++++
mappingCount 54 & avg mapping time 78.960723 ms ++++++++++++++++++++++
1317357767.444091082 WriteOdom aft_mapped_to_init
sort q time 4.368873 
seperate points time 10.319551 
scan registration time 24.802838 ms *************
-----t: 0.023184
OdomCount 55 & avg odom time 0.032807 ms ++++++++++++++++++++++
1317357767.548057079 WriteOdom laser_odom_to_init
1317357767.548057079 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.703907 ms
map corner num 29260  surf num 11305 
build tree time 5.054616 ms 
mapping data assosiation time 14.450001 ms 
mapping solver time 14.259619 ms 
mapping data assosiation time 14.376067 ms 
--------------------stamp1317357767.652046918
filter time 2.738404 ms 
prepare time 11.374281 
sort q time 4.485575 
seperate points time 8.861377 
scan registration time 23.215010 ms *************
-----t: 0.0221962
OdomCount 56 & avg odom time 0.032618 ms ++++++++++++++++++++++
1317357767.652046918 WriteOdom aft_mapped_to_init_high_frec
1317357767.652046918 WriteOdom laser_odom_to_init
map prepare time 1.695335 ms
map corner num 29617  surf num 11402 
build tree time 5.529423 ms 
mapping data assosiation time 13.939003 ms 
mapping solver time 17.543772 ms 
mapping data assosiation time 13.882375 ms 
--------------------stamp1317357767.756036043
mapping solver time 15.722657 ms 
mapping optimization time 67.541345 
add points time 0.486830 ms
points size 82302 
filter time 2.385703 ms 
sort q time 4.601321 
seperate points time 10.633534 
scan registration time 26.676229 ms *************
-----t: 0.0220041
OdomCount 57 & avg odom time 0.032432 ms ++++++++++++++++++++++
1317357767.756036043 WriteOdom laser_odom_to_init
1317357767.756036043 WriteOdom aft_mapped_to_init_high_frec
publication time 7.337986 ms 
whole laserOdometry time 7.347034 ms 
 
build tree time 6.079207 ms 
mapping data assosiation time 15.273696 ms 
mapping solver time 14.265298 ms 
mapping data assosiation time 14.872367 ms 
--------------------stamp1317357767.860024929
filter time 3.487494 ms 
prepare time 9.829474 
sort q time 4.666968 
seperate points time 9.303667 
scan registration time 22.009739 ms *************
publication time 5.620921 ms 
whole laserOdometry time 5.643380 ms 
 
1317357767.860024929 WriteOdom laser_odom_to_init
1317357767.860024929 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.825770 ms
map corner num 30336  surf num 11619 
build tree time 6.377939 ms 
mapping data assosiation time 14.609186 ms 
mapping solver time 15.489432 ms 
mapping data assosiation time 17.124881 ms 
--------------------stamp1317357767.964040994
mapping solver time 12.250320 ms 
mapping optimization time 66.788587 
add points time 0.473422 ms
points size 83024 
filter time 2.852708 ms 
mapping pub time 2.179960 ms 
whole mapping time 74.193267 ms +++++
mappingCount 58 & avg mapping time 78.440833 ms ++++++++++++++++++++++
prepare time 12.711101 
1317357767.860024929 WriteOdom aft_mapped_to_init
sort q time 4.860786 
seperate points time 10.513275 
-----t: 0.0252303
OdomCount 59 & avg odom time 0.032200 ms ++++++++++++++++++++++
1317357767.964040994 WriteOdom laser_odom_to_init
1317357767.964040994 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.519725 ms
map corner num 30674  surf num 11743 
build tree time 6.128565 ms 
mapping data assosiation time 15.998722 ms 
mapping solver time 14.242497 ms 
mapping data assosiation time 14.850703 ms 
points size 82416 
mapping solver time 12.580370 ms 
mapping optimization time 64.749023 
add points time 0.517049 ms
filter time 3.178621 ms 
mapping pub time 1.992448 ms 
whole mapping time 72.022703 ms +++++
mappingCount 59 & avg mapping time 78.332160 ms ++++++++++++++++++++++
1317357767.964040995 WriteOdom aft_mapped_to_init
sort q time 5.205790 
seperate points time 9.940867 
publication time 4.718075 ms 
whole laserOdometry time 4.730336 ms 
 
map prepare time 1.584835 ms
map corner num 31040  surf num 11876 
build tree time 7.188216 ms 
mapping data assosiation time 15.169204 ms 
mapping solver time 17.659389 ms 
mapping data assosiation time 15.108970 ms 
points size 81860 
filter time 2.457534 ms 
mapping pub time 2.116046 ms 
whole mapping time 74.445540 ms +++++
mappingCount 60 & avg mapping time 78.267457 ms ++++++++++++++++++++++
1317357768.068082094 WriteOdom aft_mapped_to_init
sort q time 5.312852 
seperate points time 10.335862 
scan registration time 22.751468 ms *************
publication time 6.015222 ms 
whole laserOdometry time 6.029546 ms 
 
-----t: 0.0318857
OdomCount 61 & avg odom time 0.032099 ms ++++++++++++++++++++++
map prepare time 1.759287 ms
map corner num 31407  surf num 12042 
build tree time 6.083583 ms 
mapping data assosiation time 15.570286 ms 
mapping data assosiation time 15.958687 ms 
--------------------stamp1317357768.276232004
points size 82633 
prepare time 11.045676 
mapping solver time 20.151335 ms 
filter time 3.513684 ms 
scan registration time 26.297124 ms *************
mapping pub time 3.926665 ms 
whole mapping time 83.379667 ms +++++
mappingCount 61 & avg mapping time 78.351372 ms ++++++++++++++++++++++
1317357768.172146082 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718804485.114540820, 1317357768.301706664]: Received 43986 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804485.114579998, 1317357768.301706664]: Data saved to 1317357768172146.pcd[0m
-----t: 0.0264445
OdomCount 62 & avg odom time 0.032008 ms ++++++++++++++++++++++
publication time 6.790027 ms 
whole laserOdometry time 6.800346 ms 
 
map prepare time 1.774662 ms
map corner num 31808  surf num 12178 
build tree time 6.284784 ms 
mapping data assosiation time 15.040444 ms 
mapping solver time 15.835853 ms 
--------------------stamp1317357768.380319118
mapping data assosiation time 23.126448 ms 
prepare time 9.405501 
mapping solver time 12.213482 ms 
mapping optimization time 73.467772 
add points time 0.495800 ms
filter time 3.441528 ms 
sort q time 4.837456 
seperate points time 10.222216 
-----t: 0.0268049
OdomCount 63 & avg odom time 0.031925 ms ++++++++++++++++++++++
map prepare time 1.814488 ms
map corner num 32215  surf num 12323 
build tree time 6.344794 ms 
mapping data assosiation time 14.698997 ms 
mapping solver time 14.787687 ms 
--------------------stamp1317357768.484381914
points size 81828 
prepare time 9.302450 
filter time 2.879108 ms 
mapping pub time 1.889023 ms 
whole mapping time 71.071283 ms +++++
mappingCount 63 & avg mapping time 78.281413 ms ++++++++++++++++++++++
1317357768.380319118 WriteOdom aft_mapped_to_init
sort q time 4.697670 
seperate points time 10.296327 
-----t: 0.0259355
OdomCount 64 & avg odom time 0.031832 ms ++++++++++++++++++++++
1317357768.484381914 WriteOdom laser_odom_to_init
1317357768.484381914 WriteOdom aft_mapped_to_init_high_frec
publication time 5.900916 ms 
whole laserOdometry time 5.915208 ms 
 
map prepare time 1.763751 ms
map corner num 32587  surf num 12438 
build tree time 6.820516 ms 
mapping data assosiation time 13.770723 ms 
mapping solver time 17.791463 ms 
mapping data assosiation time 16.455157 ms 
points size 82110 
mapping solver time 18.303265 ms 
mapping optimization time 73.961720 
add points time 0.518056 ms
sort q time 4.343941 
seperate points time 9.496419 
filter time 3.633087 ms 
scan registration time 22.546090 ms *************
mapping pub time 1.972413 ms 
whole mapping time 81.906589 ms +++++
mappingCount 64 & avg mapping time 78.338115 ms ++++++++++++++++++++++
1317357768.484381914 WriteOdom aft_mapped_to_init
publication time 6.063286 ms 
whole laserOdometry time 6.077170 ms 
 
-----t: 0.0347381
OdomCount 65 & avg odom time 0.031876 ms ++++++++++++++++++++++
map prepare time 1.600963 ms
map corner num 32953  surf num 12527 
build tree time 8.208124 ms 
mapping data assosiation time 17.236529 ms 
mapping solver time 16.072012 ms 
--------------------stamp1317357768.692553997
points size 82726 
prepare time 9.047547 
mapping data assosiation time 21.061019 ms 
sort q time 5.027124 
seperate points time 10.805518 
scan registration time 23.812559 ms *************
filter time 3.414205 ms 
-----t: 0.0358597
OdomCount 66 & avg odom time 0.031937 ms ++++++++++++++++++++++
map prepare time 1.924080 ms
map corner num 33361  surf num 12635 
build tree time 6.987204 ms 
mapping data assosiation time 14.678308 ms 
mapping solver time 17.432281 ms 
points size 83729 
prepare time 8.820261 
sort q time 4.994956 
seperate points time 10.869567 
mapping solver time 20.042223 ms 
mapping optimization time 77.855351 
add points time 0.518243 ms
publication time 8.866547 ms 
whole laserOdometry time 8.879125 ms 
 
map prepare time 1.704397 ms
map corner num 33736  surf num 12739 
build tree time 7.110482 ms 
mapping data assosiation time 16.271036 ms 
mapping solver time 18.621486 ms 
--------------------stamp1317357768.900774955
points size 84805 
mapping solver time 13.628872 ms 
mapping optimization time 73.607656 
add points time 0.522212 ms
sort q time 4.874801 
seperate points time 10.739652 
filter time 3.535554 ms 
mapping pub time 2.024047 ms 
whole mapping time 81.520126 ms +++++
mappingCount 67 & avg mapping time 78.623701 ms ++++++++++++++++++++++
1317357768.796639919 WriteOdom aft_mapped_to_init
publication time 6.553402 ms 
whole laserOdometry time 6.581146 ms 
 
-----t: 0.028215
OdomCount 68 & avg odom time 0.031834 ms ++++++++++++++++++++++
1317357768.900774955 WriteOdom laser_odom_to_init
1317357768.900774955 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.930275 ms
map corner num 34093  surf num 12832 
build tree time 7.020728 ms 
mapping data assosiation time 18.089271 ms 
mapping solver time 18.980702 ms 
--------------------stamp1317357769.004909992
mapping data assosiation time 18.793867 ms 
points size 85213 
prepare time 9.104847 
sort q time 4.835473 
seperate points time 10.463672 
mapping optimization time 82.509659 
add points time 0.538109 ms
filter time 3.586261 ms 
mapping pub time 1.988223 ms 
whole mapping time 90.638688 ms +++++
mappingCount 68 & avg mapping time 78.800500 ms ++++++++++++++++++++++
1317357768.900774956 WriteOdom aft_mapped_to_init
publication time 6.839881 ms 
whole laserOdometry time 6.858704 ms 
 
-----t: 0.0282039
OdomCount 69 & avg odom time 0.031781 ms ++++++++++++++++++++++
1317357769.004909992 WriteOdom laser_odom_to_init
1317357769.004909992 WriteOdom aft_mapped_to_init_high_frec
build tree time 6.918637 ms 
mapping data assosiation time 15.662468 ms 
mapping solver time 15.379704 ms 
mapping data assosiation time 16.510538 ms 
prepare time 11.472575 
mapping solver time 17.928121 ms 
mapping optimization time 73.414201 
add points time 0.618986 ms
mapping pub time 2.010463 ms 
whole mapping time 81.807493 ms +++++
mappingCount 69 & avg mapping time 78.844145 ms ++++++++++++++++++++++
1317357769.004909992 WriteOdom aft_mapped_to_init
sort q time 4.589040 
seperate points time 10.999581 
scan registration time 26.748458 ms *************
publication time 6.137403 ms 
whole laserOdometry time 6.152977 ms 
 
-----t: 0.0289482
OdomCount 70 & avg odom time 0.031740 ms ++++++++++++++++++++++
1317357769.109019994 WriteOdom laser_odom_to_init
1317357769.109019994 WriteOdom aft_mapped_to_init_high_frec
build tree time 6.842397 ms 
mapping data assosiation time 15.931157 ms 
mapping solver time 15.388834 ms 
--------------------stamp1317357769.213151931
mapping data assosiation time 16.581939 ms 
prepare time 10.305511 
mapping solver time 13.404968 ms 
mapping optimization time 69.152392 
add points time 0.526739 ms
sort q time 4.655162 
seperate points time 9.515873 
publication time 7.131133 ms 
whole laserOdometry time 7.139227 ms 
 
-----t: 0.037841
OdomCount 71 & avg odom time 0.031826 ms ++++++++++++++++++++++
map prepare time 1.977679 ms
map corner num 35183  surf num 13150 
build tree time 6.797246 ms 
mapping data assosiation time 15.348145 ms 
mapping solver time 18.310951 ms 
--------------------stamp1317357769.317287921
points size 85578 
prepare time 9.500189 
sort q time 5.034436 
seperate points time 10.559887 
scan registration time 24.030169 ms *************
mapping solver time 14.484688 ms 
mapping optimization time 73.219341 
add points time 0.515510 ms
-----t: 0.0300608
OdomCount 72 & avg odom time 0.031802 ms ++++++++++++++++++++++
1317357769.317287921 WriteOdom laser_odom_to_init
1317357769.317287921 WriteOdom aft_mapped_to_init_high_frec
publication time 7.095145 ms 
whole laserOdometry time 7.104078 ms 
 
map prepare time 2.187553 ms
map corner num 35547  surf num 13263 
build tree time 6.933688 ms 
mapping data assosiation time 16.167092 ms 
mapping solver time 15.436097 ms 
--------------------stamp1317357769.421423912
mapping data assosiation time 18.448934 ms 
points size 87990 
prepare time 11.459987 
mapping solver time 13.254185 ms 
mapping optimization time 71.099747 
add points time 0.517933 ms
publication time 8.002927 ms 
whole laserOdometry time 8.014305 ms 
 
-----t: 0.0303943
OdomCount 73 & avg odom time 0.031783 ms ++++++++++++++++++++++
1317357769.421423912 WriteOdom laser_odom_to_init
1317357769.421423912 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.860390 ms
map corner num 35992  surf num 13436 
build tree time 8.303307 ms 
mapping data assosiation time 18.347360 ms 
mapping solver time 19.982072 ms 
points size 90191 
prepare time 9.281269 
mapping data assosiation time 19.914566 ms 
sort q time 5.230391 
seperate points time 11.544290 
mapping solver time 20.173209 ms 
mapping optimization time 87.729523 
add points time 0.685498 ms
1317357769.525608062 WriteOdom laser_odom_to_init
publication time 8.570750 ms 
whole laserOdometry time 8.583719 ms 
 
1317357769.525608062 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.213838 ms
map corner num 36440  surf num 13604 
build tree time 7.782283 ms 
mapping data assosiation time 16.459493 ms 
mapping solver time 19.956852 ms 
--------------------stamp1317357769.629813909
points size 92263 
sort q time 5.750873 
seperate points time 11.332927 
scan registration time 26.308960 ms *************
mapping solver time 19.644340 ms 
mapping optimization time 85.141286 
add points time 0.761716 ms
filter time 3.684239 ms 
-----t: 0.0331858
OdomCount 75 & avg odom time 0.031791 ms ++++++++++++++++++++++
1317357769.629813909 WriteOdom laser_odom_to_init
1317357769.629813909 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.193446 ms
map corner num 36756  surf num 13701 
build tree time 7.047895 ms 
mapping data assosiation time 16.209386 ms 
mapping solver time 18.693468 ms 
points size 93870 
prepare time 12.140054 
sort q time 5.336586 
seperate points time 11.994302 
scan registration time 28.780356 ms *************
mapping solver time 15.624425 ms 
mapping optimization time 77.166013 
add points time 0.544594 ms
mapping pub time 2.268796 ms 
whole mapping time 85.974664 ms +++++
mappingCount 75 & avg mapping time 79.431830 ms ++++++++++++++++++++++
1317357769.629813910 WriteOdom aft_mapped_to_init
publication time 6.956263 ms 
whole laserOdometry time 6.971881 ms 
 
build tree time 8.816304 ms 
mapping data assosiation time 15.968402 ms 
--------------------stamp1317357769.838277101
points size 95666 
mapping data assosiation time 21.347846 ms 
sort q time 5.187582 
seperate points time 11.724431 
mapping solver time 20.268918 ms 
mapping optimization time 86.019994 
filter time 3.902624 ms 
map prepare time 2.114884 ms
map corner num 37393  surf num 13891 
build tree time 6.696644 ms 
mapping data assosiation time 16.756329 ms 
mapping solver time 20.464774 ms 
points size 95520 
mapping data assosiation time 19.400196 ms 
scan registration time 34.889522 ms *************
mapping solver time 22.885502 ms 
mapping optimization time 88.005926 
add points time 0.829440 ms
filter time 4.444758 ms 
mapping pub time 2.211921 ms 
whole mapping time 97.669529 ms +++++
mappingCount 77 & avg mapping time 79.884380 ms ++++++++++++++++++++++
1317357769.838277102 WriteOdom aft_mapped_to_init
-----t: 0.0464459
OdomCount 78 & avg odom time 0.031914 ms ++++++++++++++++++++++
1317357769.942506074 WriteOdom laser_odom_to_init
1317357769.942506074 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.988848 ms
map corner num 37691  surf num 13975 
build tree time 8.717624 ms 
mapping data assosiation time 17.438225 ms 
--------------------stamp1317357770.046736001
points size 94905 
mapping solver time 22.127490 ms 
sort q time 5.514968 
seperate points time 10.855397 
scan registration time 27.180512 ms *************
mapping data assosiation time 20.931084 ms 
-----t: 0.0431515
OdomCount 79 & avg odom time 0.032056 ms ++++++++++++++++++++++
1317357770.046736001 WriteOdom laser_odom_to_init
1317357770.046736001 WriteOdom aft_mapped_to_init_high_frec
filter time 3.280070 ms 
mapping pub time 2.267651 ms 
whole mapping time 99.616994 ms +++++
mappingCount 78 & avg mapping time 80.137414 ms ++++++++++++++++++++++
1317357769.942506075 WriteOdom aft_mapped_to_init
build tree time 6.714926 ms 
mapping data assosiation time 16.608617 ms 
--------------------stamp1317357770.150990962
points size 94935 
mapping solver time 22.010385 ms 
prepare time 13.625380 
sort q time 5.338556 
seperate points time 12.017971 
scan registration time 31.891426 ms *************
publication time 8.585789 ms 
whole laserOdometry time 8.599966 ms 
 
add points time 0.530750 ms
filter time 3.330330 ms 
map prepare time 2.287164 ms
map corner num 38315  surf num 14176 
build tree time 6.985042 ms 
--------------------stamp1317357770.255248069
points size 94399 
sort q time 5.484583 
seperate points time 10.889062 
mapping data assosiation time 21.382587 ms 
publication time 7.443514 ms 
whole laserOdometry time 7.452455 ms 
 
mapping solver time 20.276086 ms 
mapping optimization time 89.655595 
add points time 0.615381 ms
filter time 3.977293 ms 
-----t: 0.0432993
OdomCount 81 & avg odom time 0.032225 ms ++++++++++++++++++++++
1317357770.255248069 WriteOdom laser_odom_to_init
1317357770.255248069 WriteOdom aft_mapped_to_init_high_frec
build tree time 7.815264 ms 
mapping data assosiation time 17.158964 ms 
--------------------stamp1317357770.359503030
mapping solver time 24.491429 ms 
prepare time 12.333654 
sort q time 6.981027 
seperate points time 14.214008 
publication time 7.143352 ms 
whole laserOdometry time 7.159402 ms 
 
1317357770.359503030 WriteOdom laser_odom_to_init
1317357770.359503030 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.576687 ms 
mapping optimization time 95.242327 
add points time 0.580656 ms
mapping pub time 4.102126 ms 
whole mapping time 105.483338 ms +++++
mappingCount 81 & avg mapping time 80.837723 ms ++++++++++++++++++++++
1317357770.255248070 WriteOdom aft_mapped_to_init
build tree time 9.712809 ms 
mapping data assosiation time 20.410766 ms 
--------------------stamp1317357770.463783025
points size 94153 
prepare time 12.493041 
sort q time 5.474766 
seperate points time 12.366222 
scan registration time 30.687692 ms *************
mapping data assosiation time 23.856497 ms 
publication time 9.083503 ms 
whole laserOdometry time 9.109027 ms 
 
-----t: 0.0500679
OdomCount 83 & avg odom time 0.032449 ms ++++++++++++++++++++++
filter time 3.456138 ms 
mapping pub time 2.098036 ms 
whole mapping time 111.198813 ms +++++
mappingCount 82 & avg mapping time 81.208015 ms ++++++++++++++++++++++
1317357770.359503031 WriteOdom aft_mapped_to_init
build tree time 7.968088 ms 
--------------------stamp1317357770.568058967
points size 92609 
sort q time 5.381741 
seperate points time 12.164930 
mapping solver time 24.777053 ms 
mapping data assosiation time 23.590023 ms 
publication time 11.626849 ms 
whole laserOdometry time 11.642118 ms 
 
-----t: 0.041389
OdomCount 84 & avg odom time 0.032555 ms ++++++++++++++++++++++
1317357770.568058967 WriteOdom laser_odom_to_init
1317357770.568058967 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.671030 ms 
mapping optimization time 99.113341 
add points time 0.650232 ms
filter time 3.005285 ms 
mapping pub time 2.107280 ms 
whole mapping time 107.306666 ms +++++
mappingCount 83 & avg mapping time 81.522488 ms ++++++++++++++++++++++
1317357770.463783026 WriteOdom aft_mapped_to_init
map prepare time 2.293598 ms
map corner num 39819  surf num 14735 
build tree time 7.129640 ms 
--------------------stamp1317357770.672360897
points size 92097 
prepare time 14.494652 
sort q time 5.103296 
seperate points time 12.196272 
mapping solver time 24.756716 ms 
scan registration time 31.591112 ms *************
publication time 9.984708 ms 
whole laserOdometry time 10.179096 ms 
 
mapping data assosiation time 22.134386 ms 
mapping solver time 13.789849 ms 
mapping optimization time 90.484307 
add points time 0.573959 ms
filter time 2.975567 ms 
mapping pub time 2.100753 ms 
whole mapping time 98.474818 ms +++++
mappingCount 84 & avg mapping time 81.724353 ms ++++++++++++++++++++++
map prepare time 2.255378 ms
map corner num 40157  surf num 14880 
--------------------stamp1317357770.776640892
points size 92222 
mapping solver time 23.497668 ms 
sort q time 5.104093 
seperate points time 12.237470 
publication time 8.753523 ms 
whole laserOdometry time 8.767572 ms 
 
mapping data assosiation time 22.054186 ms 
-----t: 0.0366537
OdomCount 86 & avg odom time 0.032743 ms ++++++++++++++++++++++
1317357770.776640892 WriteOdom laser_odom_to_init
1317357770.776640892 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 13.159368 ms 
mapping optimization time 88.567769 
add points time 0.602677 ms
filter time 3.278745 ms 
mapping pub time 2.130877 ms 
whole mapping time 96.897784 ms +++++
mappingCount 85 & avg mapping time 81.902897 ms ++++++++++++++++++++++
1317357770.672360897 WriteOdom aft_mapped_to_init
map prepare time 2.005073 ms
map corner num 40457  surf num 14990 
build tree time 7.323152 ms 
mapping data assosiation time 20.267926 ms 
points size 92330 
prepare time 13.155720 
sort q time 5.439882 
seperate points time 11.361764 
mapping data assosiation time 23.838005 ms 
-----t: 0.0354057
OdomCount 87 & avg odom time 0.032774 ms ++++++++++++++++++++++
publication time 10.959317 ms 
whole laserOdometry time 10.976949 ms 
 
1317357770.880894899 WriteOdom laser_odom_to_init
1317357770.880894899 WriteOdom aft_mapped_to_init_high_frec
add points time 0.634156 ms
filter time 3.276631 ms 
[0m[ INFO] [1718804487.756211756, 1317357770.946916096]: Received 55920 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804487.756238762, 1317357770.946916096]: Data saved to 1317357770776640.pcd[0m
mapping pub time 2.894128 ms 
whole mapping time 98.916741 ms +++++
mappingCount 86 & avg mapping time 82.100777 ms ++++++++++++++++++++++
1317357770.776640892 WriteOdom aft_mapped_to_init
map prepare time 2.223573 ms
map corner num 40800  surf num 15120 
build tree time 9.409540 ms 
mapping data assosiation time 21.089443 ms 
points size 92304 
prepare time 12.843532 
mapping solver time 23.150535 ms 
scan registration time 29.379772 ms *************
filter time 3.554330 ms 
mapping pub time 2.010484 ms 
whole mapping time 104.781774 ms +++++
mappingCount 87 & avg mapping time 82.361554 ms ++++++++++++++++++++++
build tree time 7.823022 ms 
mapping data assosiation time 19.560872 ms 
points size 92328 
mapping solver time 21.260906 ms 
sort q time 5.548617 
seperate points time 12.105049 
mapping data assosiation time 24.319950 ms 
publication time 8.227999 ms 
whole laserOdometry time 8.242994 ms 
 
-----t: 0.0420142
OdomCount 89 & avg odom time 0.032929 ms ++++++++++++++++++++++
mapping solver time 16.861283 ms 
mapping optimization time 90.880613 
add points time 0.619805 ms
filter time 3.300194 ms 
map prepare time 2.159836 ms
map corner num 41527  surf num 15434 
build tree time 7.637353 ms 
mapping data assosiation time 19.739399 ms 
--------------------stamp1317357771.193634033
points size 92366 
prepare time 13.853950 
sort q time 5.232703 
seperate points time 13.017324 
scan registration time 31.101214 ms *************
mapping data assosiation time 23.005796 ms 
mapping solver time 18.644180 ms 
mapping optimization time 90.773275 
add points time 0.666117 ms
-----t: 0.0476988
OdomCount 90 & avg odom time 0.033093 ms ++++++++++++++++++++++
1317357771.193634033 WriteOdom laser_odom_to_init
1317357771.193634033 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.366253 ms
map corner num 41885  surf num 15565 
build tree time 9.628717 ms 
mapping data assosiation time 18.567143 ms 
points size 92357 
prepare time 15.074216 
mapping solver time 20.487511 ms 
sort q time 4.965621 
seperate points time 11.727312 
mapping data assosiation time 23.839364 ms 
publication time 8.325969 ms 
whole laserOdometry time 8.340303 ms 
 
-----t: 0.040612
OdomCount 91 & avg odom time 0.033176 ms ++++++++++++++++++++++
filter time 3.708057 ms 
mapping pub time 2.193779 ms 
whole mapping time 99.453754 ms +++++
mappingCount 90 & avg mapping time 82.933809 ms ++++++++++++++++++++++
1317357771.193634033 WriteOdom aft_mapped_to_init
build tree time 10.021808 ms 
mapping data assosiation time 20.285148 ms 
points size 92237 
prepare time 15.327091 
sort q time 4.989052 
seperate points time 11.969727 
mapping data assosiation time 23.919197 ms 
publication time 8.038055 ms 
whole laserOdometry time 8.055155 ms 
 
-----t: 0.0380185
OdomCount 92 & avg odom time 0.033229 ms ++++++++++++++++++++++
mapping solver time 17.560052 ms 
mapping optimization time 93.801531 
add points time 0.584262 ms
[0m[ INFO] [1718804488.280152664, 1317357771.470629215]: Received 58442 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804488.280203634, 1317357771.470629215]: Data saved to 1317357771297842.pcd[0m
map prepare time 2.191250 ms
map corner num 42609  surf num 15833 
build tree time 7.832327 ms 
mapping data assosiation time 19.892353 ms 
--------------------stamp1317357771.506253957
points size 92168 
mapping solver time 21.677077 ms 
sort q time 5.569068 
seperate points time 11.847913 
scan registration time 29.938661 ms *************
publication time 9.392043 ms 
whole laserOdometry time 9.403979 ms 
 
-----t: 0.0444485
OdomCount 93 & avg odom time 0.033349 ms ++++++++++++++++++++++
1317357771.506253957 WriteOdom laser_odom_to_init
1317357771.506253957 WriteOdom aft_mapped_to_init_high_frec
filter time 3.200582 ms 
map prepare time 2.105954 ms
map corner num 42984  surf num 15962 
build tree time 9.624538 ms 
--------------------stamp1317357771.610436916
points size 91819 
sort q time 4.386417 
seperate points time 9.356623 
scan registration time 25.840676 ms *************
publication time 7.637944 ms 
whole laserOdometry time 7.652800 ms 
 
mapping data assosiation time 22.624584 ms 
-----t: 0.0436545
OdomCount 94 & avg odom time 0.033459 ms ++++++++++++++++++++++
1317357771.610436916 WriteOdom laser_odom_to_init
1317357771.610436916 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.296786 ms 
mapping optimization time 101.007461 
add points time 0.681232 ms
map prepare time 1.977073 ms
map corner num 43333  surf num 16113 
build tree time 9.085518 ms 
--------------------stamp1317357771.714620113
points size 91620 
prepare time 12.119053 
sort q time 5.205209 
seperate points time 11.583997 
scan registration time 28.440279 ms *************
mapping solver time 24.919775 ms 
publication time 9.948204 ms 
whole laserOdometry time 9.961549 ms 
 
mapping data assosiation time 23.603322 ms 
mapping solver time 15.239611 ms 
mapping optimization time 97.351969 
add points time 0.601003 ms
map prepare time 2.057189 ms
map corner num 43677  surf num 16247 
build tree time 8.422286 ms 
--------------------stamp1317357771.818825960
points size 91715 
mapping data assosiation time 22.981355 ms 
sort q time 5.164791 
seperate points time 11.667550 
scan registration time 28.974523 ms *************
mapping solver time 22.689109 ms 
publication time 10.911842 ms 
whole laserOdometry time 10.932119 ms 
 
mapping data assosiation time 21.841280 ms 
mapping solver time 15.049867 ms 
mapping optimization time 92.188584 
add points time 0.584526 ms
mapping pub time 2.028894 ms 
whole mapping time 100.244444 ms +++++
mappingCount 95 & avg mapping time 84.105195 ms ++++++++++++++++++++++
1317357771.714620113 WriteOdom aft_mapped_to_init
map prepare time 2.137184 ms
map corner num 44034  surf num 16394 
build tree time 8.979960 ms 
--------------------stamp1317357771.923011064
points size 91906 
prepare time 12.240032 
sort q time 4.935980 
seperate points time 11.506336 
mapping solver time 25.446837 ms 
publication time 7.882649 ms 
whole laserOdometry time 7.889153 ms 
 
-----t: 0.0403758
OdomCount 97 & avg odom time 0.033618 ms ++++++++++++++++++++++
mapping data assosiation time 22.603358 ms 
mapping solver time 15.022323 ms 
mapping optimization time 96.955365 
add points time 0.672130 ms
map prepare time 2.079015 ms
map corner num 44372  surf num 16533 
build tree time 9.604669 ms 
points size 92730 
sort q time 6.073118 
seperate points time 11.804861 
scan registration time 29.510588 ms *************
publication time 8.132007 ms 
whole laserOdometry time 8.145298 ms 
 
mapping solver time 31.047457 ms 
-----t: 0.0546717
OdomCount 98 & avg odom time 0.033832 ms ++++++++++++++++++++++
1317357772.027169942 WriteOdom laser_odom_to_init
1317357772.027169942 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.521788 ms 
mapping solver time 15.580671 ms 
filter time 3.546504 ms 
map prepare time 2.097497 ms
map corner num 44727  surf num 16657 
prepare time 10.122114 
build tree time 8.796028 ms 
sort q time 5.801976 
seperate points time 11.409128 
scan registration time 26.949259 ms *************
mapping data assosiation time 24.108435 ms 
publication time 11.077107 ms 
whole laserOdometry time 11.092057 ms 
 
-----t: 0.0390989
OdomCount 99 & avg odom time 0.033886 ms ++++++++++++++++++++++
1317357772.131328105 WriteOdom laser_odom_to_init
1317357772.131328105 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.360977 ms 
mapping data assosiation time 18.616977 ms 
mapping optimization time 93.348283 
filter time 3.362934 ms 
map prepare time 3.330007 ms
map corner num 45102  surf num 16782 
points size 94730 
build tree time 12.361586 ms 
sort q time 5.932859 
seperate points time 11.886101 
mapping data assosiation time 23.245725 ms 
publication time 7.467969 ms 
whole laserOdometry time 7.484251 ms 
 
-----t: 0.037493
OdomCount 100 & avg odom time 0.033922 ms ++++++++++++++++++++++
1317357772.235440015 WriteOdom laser_odom_to_init
1317357772.235440015 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.516866 ms 
mapping data assosiation time 18.965469 ms 
--------------------stamp1317357772.339500904
filter time 3.671108 ms 
prepare time 13.215590 
map prepare time 2.684845 ms
map corner num 45422  surf num 16903 
build tree time 11.053389 ms 
sort q time 6.091020 
seperate points time 11.992993 
mapping data assosiation time 23.400842 ms 
-----t: 0.0392071
OdomCount 101 & avg odom time 0.033974 ms ++++++++++++++++++++++
1317357772.339500904 WriteOdom aft_mapped_to_init_high_frec
1317357772.339500904 WriteOdom laser_odom_to_init
mapping solver time 20.250359 ms 
mapping data assosiation time 19.418434 ms 
--------------------stamp1317357772.443519115
mapping solver time 21.318835 ms 
mapping optimization time 96.596802 
add points time 0.695178 ms
map prepare time 2.004736 ms
map corner num 45755  surf num 17006 
sort q time 5.946429 
seperate points time 11.681139 
build tree time 8.582586 ms 
scan registration time 31.037304 ms *************
mapping data assosiation time 22.844180 ms 
-----t: 0.0443645
OdomCount 102 & avg odom time 0.034076 ms ++++++++++++++++++++++
mapping solver time 21.561037 ms 
mapping data assosiation time 17.769495 ms 
--------------------stamp1317357772.547439098
filter time 4.976256 ms 
mapping pub time 5.668352 ms 
whole mapping time 100.709185 ms +++++
mappingCount 101 & avg mapping time 85.484663 ms ++++++++++++++++++++++
1317357772.339500904 WriteOdom aft_mapped_to_init
sort q time 5.049393 
seperate points time 11.315239 
scan registration time 29.263478 ms *************
publication time 9.106957 ms 
whole laserOdometry time 9.315434 ms 
 
-----t: 0.0419448
OdomCount 103 & avg odom time 0.034152 ms ++++++++++++++++++++++
mapping solver time 19.902540 ms 
mapping data assosiation time 17.930996 ms 
mapping solver time 9.455548 ms 
filter time 4.865730 ms 
map prepare time 2.697921 ms
map corner num 46334  surf num 17124 
points size 92120 
prepare time 12.311571 
build tree time 11.675572 ms 
sort q time 8.579435 
seperate points time 23.036925 
scan registration time 41.608384 ms *************
mapping data assosiation time 22.336279 ms 
-----t: 0.044653
OdomCount 104 & avg odom time 0.034253 ms ++++++++++++++++++++++
1317357772.651329994 WriteOdom laser_odom_to_init
1317357772.651329994 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.950561 ms 
mapping data assosiation time 17.595847 ms 
mapping solver time 12.939076 ms 
mapping optimization time 84.443456 
add points time 0.581160 ms
--------------------stamp1317357772.755202054
points size 91305 
prepare time 13.852028 
build tree time 13.037540 ms 
sort q time 5.898616 
seperate points time 13.709119 
scan registration time 33.943793 ms *************
mapping data assosiation time 20.847685 ms 
-----t: 0.0298585
OdomCount 105 & avg odom time 0.034211 ms ++++++++++++++++++++++
publication time 6.154412 ms 
whole laserOdometry time 6.165718 ms 
 
mapping solver time 17.381854 ms 
mapping data assosiation time 16.889201 ms 
mapping solver time 12.128570 ms 
filter time 3.421060 ms 
mapping pub time 2.131115 ms 
whole mapping time 90.675814 ms +++++
mappingCount 104 & avg mapping time 85.664182 ms ++++++++++++++++++++++
1317357772.651329994 WriteOdom aft_mapped_to_init
map prepare time 1.933709 ms
map corner num 46956  surf num 17241 
build tree time 10.418338 ms 
points size 88902 
prepare time 15.167627 
mapping data assosiation time 21.566685 ms 
sort q time 5.126034 
seperate points time 11.913192 
scan registration time 32.359961 ms *************
mapping solver time 19.562958 ms 
publication time 6.829013 ms 
whole laserOdometry time 6.842198 ms 
 
1317357772.859025001 WriteOdom laser_odom_to_init
1317357772.859025001 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.174088 ms 
mapping solver time 12.416554 ms 
mapping optimization time 84.144876 
add points time 0.532113 ms
map prepare time 1.754466 ms
map corner num 47296  surf num 17311 
build tree time 8.657989 ms 
--------------------stamp1317357772.962822914
mapping data assosiation time 18.372559 ms 
points size 86877 
prepare time 13.864110 
sort q time 4.801064 
seperate points time 11.223920 
publication time 7.724845 ms 
whole laserOdometry time 7.749516 ms 
 
mapping data assosiation time 19.752281 ms 
-----t: 0.0371384
OdomCount 107 & avg odom time 0.034256 ms ++++++++++++++++++++++
1317357772.962822914 WriteOdom laser_odom_to_init
mapping solver time 17.783504 ms 
mapping optimization time 87.928539 
add points time 0.545478 ms
filter time 3.664397 ms 
mapping pub time 2.873249 ms 
whole mapping time 96.838070 ms +++++
mappingCount 106 & avg mapping time 85.830815 ms ++++++++++++++++++++++
map prepare time 1.861861 ms
map corner num 47590  surf num 17373 
build tree time 9.493312 ms 
--------------------stamp1317357773.066574096
points size 84399 
prepare time 19.988398 
mapping solver time 18.732956 ms 
sort q time 4.510233 
seperate points time 10.450677 
mapping data assosiation time 19.674721 ms 
publication time 7.433623 ms 
whole laserOdometry time 7.447697 ms 
 
-----t: 0.0388528
OdomCount 108 & avg odom time 0.034298 ms ++++++++++++++++++++++
1317357773.066574096 WriteOdom laser_odom_to_init
1317357773.066574096 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.332068 ms 
filter time 5.028600 ms 
mapping pub time 2.065504 ms 
whole mapping time 94.592243 ms +++++
mappingCount 107 & avg mapping time 85.912777 ms ++++++++++++++++++++++
1317357772.962822914 WriteOdom aft_mapped_to_init
build tree time 10.994577 ms 
--------------------stamp1317357773.170277118
points size 82554 
prepare time 10.820507 
mapping solver time 20.404692 ms 
sort q time 4.834691 
seperate points time 11.493201 
scan registration time 27.886857 ms *************
mapping data assosiation time 19.364181 ms 
publication time 7.970507 ms 
whole laserOdometry time 7.984863 ms 
 
mapping solver time 14.242397 ms 
mapping optimization time 82.023813 
add points time 0.553367 ms
map prepare time 1.974818 ms
map corner num 48223  surf num 17490 
build tree time 9.475118 ms 
mapping data assosiation time 14.457030 ms 
--------------------stamp1317357773.273956060
points size 81384 
prepare time 8.492912 
sort q time 4.814993 
seperate points time 9.794788 
mapping data assosiation time 18.492368 ms 
scan registration time 22.024268 ms *************
mapping solver time 14.712334 ms 
publication time 5.993761 ms 
whole laserOdometry time 6.007742 ms 
 
filter time 4.779552 ms 
mapping pub time 1.916035 ms 
whole mapping time 82.977477 ms +++++
mappingCount 109 & avg mapping time 85.937733 ms ++++++++++++++++++++++
1317357773.170277119 WriteOdom aft_mapped_to_init
map prepare time 1.880927 ms
map corner num 48527  surf num 17534 
build tree time 9.597108 ms 
mapping data assosiation time 14.431066 ms 
mapping solver time 16.883456 ms 
--------------------stamp1317357773.377633094
points size 80171 
prepare time 9.131693 
sort q time 5.052784 
seperate points time 9.501864 
filter time 4.618220 ms 
mapping pub time 1.982742 ms 
whole mapping time 84.890621 ms +++++
mappingCount 110 & avg mapping time 85.928266 ms ++++++++++++++++++++++
1317357773.273956060 WriteOdom aft_mapped_to_init
publication time 5.663977 ms 
whole laserOdometry time 5.679103 ms 
 
map prepare time 1.900635 ms
map corner num 48833  surf num 17586 
build tree time 9.855672 ms 
mapping data assosiation time 14.555503 ms 
mapping solver time 13.938515 ms 
mapping data assosiation time 16.238361 ms 
points size 78684 
filter time 3.243066 ms 
[0m[ INFO] [1718804490.309389771, 1317357773.497473194]: Received 66719 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804490.309420389, 1317357773.497473194]: Data saved to 1317357773377633.pcd[0m
sort q time 5.043618 
seperate points time 9.789876 
scan registration time 21.963447 ms *************
publication time 5.913824 ms 
whole laserOdometry time 5.928050 ms 
 
-----t: 0.027723
OdomCount 112 & avg odom time 0.034249 ms ++++++++++++++++++++++
1317357773.481311082 WriteOdom laser_odom_to_init
1317357773.481311082 WriteOdom aft_mapped_to_init_high_frec
build tree time 12.867625 ms 
mapping data assosiation time 15.656524 ms 
mapping solver time 18.246705 ms 
--------------------stamp1317357773.585012912
points size 77733 
prepare time 8.632805 
mapping data assosiation time 17.708904 ms 
sort q time 5.148886 
seperate points time 9.551142 
scan registration time 21.591766 ms *************
mapping solver time 29.142291 ms 
mapping optimization time 94.699944 
add points time 0.498615 ms
-----t: 0.0275151
OdomCount 113 & avg odom time 0.034190 ms ++++++++++++++++++++++
publication time 7.489537 ms 
whole laserOdometry time 7.500106 ms 
 
mapping pub time 1.946884 ms 
whole mapping time 105.473932 ms +++++
mappingCount 112 & avg mapping time 86.012911 ms ++++++++++++++++++++++
build tree time 9.876610 ms 
mapping data assosiation time 14.162707 ms 
mapping solver time 13.878882 ms 
--------------------stamp1317357773.688739061
points size 78178 
sort q time 4.430429 
seperate points time 9.377728 
filter time 4.850467 ms 
mapping pub time 1.808682 ms 
whole mapping time 80.872215 ms +++++
mappingCount 113 & avg mapping time 85.967453 ms ++++++++++++++++++++++
1317357773.585012913 WriteOdom aft_mapped_to_init
publication time 5.505329 ms 
whole laserOdometry time 5.519643 ms 
 
map prepare time 1.581455 ms
map corner num 49579  surf num 17726 
build tree time 10.092612 ms 
mapping data assosiation time 15.970353 ms 
mapping solver time 14.565151 ms 
mapping data assosiation time 14.172347 ms 
--------------------stamp1317357773.792490959
points size 78545 
prepare time 13.084673 
mapping solver time 18.878370 ms 
mapping optimization time 74.588896 
add points time 0.497085 ms
mapping pub time 1.948945 ms 
whole mapping time 83.348557 ms +++++
mappingCount 114 & avg mapping time 85.944580 ms ++++++++++++++++++++++
scan registration time 27.154815 ms *************
publication time 5.747073 ms 
whole laserOdometry time 5.763501 ms 
 
-----t: 0.0343545
OdomCount 115 & avg odom time 0.034112 ms ++++++++++++++++++++++
1317357773.792490959 WriteOdom laser_odom_to_init
1317357773.792490959 WriteOdom aft_mapped_to_init_high_frec
build tree time 9.743402 ms 
mapping data assosiation time 13.545915 ms 
mapping solver time 12.551466 ms 
--------------------stamp1317357773.896241903
points size 79795 
prepare time 8.902691 
mapping solver time 7.253754 ms 
mapping optimization time 58.610056 
filter time 3.955619 ms 
mapping pub time 1.738663 ms 
whole mapping time 67.004267 ms +++++
mappingCount 115 & avg mapping time 85.779919 ms ++++++++++++++++++++++
1317357773.792490959 WriteOdom aft_mapped_to_init
sort q time 4.595034 
seperate points time 9.130714 
publication time 5.109989 ms 
whole laserOdometry time 5.122627 ms 
 
-----t: 0.0347215
OdomCount 116 & avg odom time 0.034118 ms ++++++++++++++++++++++
map prepare time 1.981104 ms
map corner num 50092  surf num 17832 
build tree time 11.007681 ms 
mapping data assosiation time 14.457413 ms 
mapping solver time 13.661053 ms 
--------------------stamp1317357773.999944925
mapping data assosiation time 15.583123 ms 
points size 82141 
mapping solver time 11.740866 ms 
sort q time 4.472548 
seperate points time 10.437782 
filter time 4.807753 ms 
mapping pub time 2.986486 ms 
whole mapping time 77.697700 ms +++++
mappingCount 116 & avg mapping time 85.710306 ms ++++++++++++++++++++++
1317357773.896241903 WriteOdom aft_mapped_to_init
scan registration time 26.518341 ms *************
publication time 6.619779 ms 
whole laserOdometry time 6.636724 ms 
 
-----t: 0.026077
OdomCount 117 & avg odom time 0.034049 ms ++++++++++++++++++++++
1317357773.999944925 WriteOdom laser_odom_to_init
1317357773.999944925 WriteOdom aft_mapped_to_init_high_frec
build tree time 10.992735 ms 
mapping data assosiation time 16.053210 ms 
mapping solver time 14.882663 ms 
--------------------stamp1317357774.103625059
points size 83495 
prepare time 9.948608 
mapping solver time 16.779078 ms 
mapping optimization time 75.407700 
add points time 0.463416 ms
mapping pub time 1.985902 ms 
whole mapping time 84.826839 ms +++++
mappingCount 117 & avg mapping time 85.702782 ms ++++++++++++++++++++++
sort q time 12.565454 
seperate points time 19.082848 
1317357773.999944925 WriteOdom aft_mapped_to_init
scan registration time 33.727076 ms *************
publication time 5.038836 ms 
whole laserOdometry time 5.046255 ms 
 
map prepare time 1.701013 ms
map corner num 50680  surf num 18001 
build tree time 9.441292 ms 
mapping data assosiation time 13.688373 ms 
mapping solver time 14.469509 ms 
--------------------stamp1317357774.207304000
points size 83179 
mapping solver time 17.431116 ms 
filter time 4.567900 ms 
scan registration time 25.167594 ms *************
mapping pub time 1.921981 ms 
whole mapping time 80.234105 ms +++++
mappingCount 118 & avg mapping time 85.656483 ms ++++++++++++++++++++++
1317357774.103625059 WriteOdom aft_mapped_to_init
publication time 5.270368 ms 
whole laserOdometry time 5.289254 ms 
 
-----t: 0.0327799
OdomCount 119 & avg odom time 0.033976 ms ++++++++++++++++++++++
map prepare time 1.589309 ms
map corner num 51032  surf num 18096 
1317357774.207304000 WriteOdom laser_odom_to_init
1317357774.207304000 WriteOdom aft_mapped_to_init_high_frec
build tree time 12.361393 ms 
mapping data assosiation time 14.949774 ms 
mapping solver time 14.460438 ms 
--------------------stamp1317357774.311007976
points size 83092 
prepare time 11.642475 
mapping solver time 16.776721 ms 
mapping optimization time 75.584410 
add points time 0.500855 ms
sort q time 4.392752 
seperate points time 10.261720 
-----t: 0.0241974
OdomCount 120 & avg odom time 0.033895 ms ++++++++++++++++++++++
1317357774.311007976 WriteOdom laser_odom_to_init
1317357774.311007976 WriteOdom aft_mapped_to_init_high_frec
publication time 5.882735 ms 
whole laserOdometry time 5.894897 ms 
 
map prepare time 1.665021 ms
map corner num 51393  surf num 18186 
build tree time 11.332075 ms 
mapping data assosiation time 16.647821 ms 
mapping solver time 14.276800 ms 
--------------------stamp1317357774.414736032
points size 83306 
prepare time 8.984355 
sort q time 5.000415 
seperate points time 10.313355 
publication time 5.700048 ms 
whole laserOdometry time 5.713364 ms 
 
1317357774.414736032 WriteOdom laser_odom_to_init
1317357774.414736032 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.881074 ms
map corner num 51711  surf num 18250 
build tree time 10.053918 ms 
mapping data assosiation time 13.714186 ms 
mapping solver time 14.088786 ms 
mapping data assosiation time 15.244580 ms 
points size 84252 
mapping solver time 20.048507 ms 
mapping pub time 4.898005 ms 
whole mapping time 86.133402 ms +++++
mappingCount 121 & avg mapping time 85.634345 ms ++++++++++++++++++++++
publication time 4.983863 ms 
whole laserOdometry time 4.995147 ms 
 
-----t: 0.0328424
OdomCount 122 & avg odom time 0.033854 ms ++++++++++++++++++++++
1317357774.518460988 WriteOdom laser_odom_to_init
1317357774.518460988 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.867493 ms
map corner num 51964  surf num 18317 
build tree time 12.500434 ms 
mapping data assosiation time 15.210363 ms 
mapping solver time 13.881524 ms 
--------------------stamp1317357774.622211933
points size 85745 
prepare time 11.773264 
mapping data assosiation time 17.148801 ms 
sort q time 4.714587 
seperate points time 10.565922 
scan registration time 27.117674 ms *************
filter time 4.471210 ms 
-----t: 0.0255795
OdomCount 123 & avg odom time 0.033787 ms ++++++++++++++++++++++
1317357774.622211933 WriteOdom laser_odom_to_init
1317357774.622211933 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.264150 ms
map corner num 52247  surf num 18388 
build tree time 14.253462 ms 
mapping data assosiation time 17.550765 ms 
--------------------stamp1317357774.725963115
points size 86869 
filter time 3.930208 ms 
-----t: 0.0453602
OdomCount 124 & avg odom time 0.033880 ms ++++++++++++++++++++++
map prepare time 2.029739 ms
map corner num 52531  surf num 18466 
build tree time 12.890455 ms 
mapping data assosiation time 14.215184 ms 
--------------------stamp1317357774.829714059
mapping solver time 15.630620 ms 
prepare time 12.587690 
mapping data assosiation time 15.877482 ms 
sort q time 5.798553 
seperate points time 10.861577 
scan registration time 27.630472 ms *************
mapping solver time 17.309959 ms 
-----t: 0.0286446
OdomCount 125 & avg odom time 0.033838 ms ++++++++++++++++++++++
1317357774.829714059 WriteOdom laser_odom_to_init
mapping optimization time 76.878287 
1317357774.829714059 WriteOdom aft_mapped_to_init_high_frec
add points time 0.488292 ms
publication time 6.924092 ms 
whole laserOdometry time 6.938427 ms 
 
filter time 4.540286 ms 
mapping pub time 1.899508 ms 
whole mapping time 85.890493 ms +++++
mappingCount 124 & avg mapping time 85.779476 ms ++++++++++++++++++++++
1317357774.725963116 WriteOdom aft_mapped_to_init
build tree time 11.672305 ms 
mapping data assosiation time 13.620551 ms 
mapping solver time 14.349628 ms 
--------------------stamp1317357774.933489084
points size 90097 
prepare time 10.205255 
mapping solver time 15.979178 ms 
mapping optimization time 73.756329 
add points time 0.467644 ms
sort q time 4.966268 
seperate points time 10.749945 
publication time 6.922576 ms 
whole laserOdometry time 6.940371 ms 
 
-----t: 0.0353198
OdomCount 126 & avg odom time 0.033850 ms ++++++++++++++++++++++
1317357774.933489084 WriteOdom laser_odom_to_init
1317357774.933489084 WriteOdom aft_mapped_to_init_high_frec
build tree time 10.989788 ms 
mapping data assosiation time 14.517180 ms 
mapping solver time 14.329912 ms 
--------------------stamp1317357775.037261962
mapping data assosiation time 17.373909 ms 
scan registration time 26.144406 ms *************
filter time 5.074665 ms 
publication time 6.634030 ms 
whole laserOdometry time 6.648222 ms 
 
map prepare time 2.172063 ms
map corner num 53435  surf num 18686 
build tree time 10.366795 ms 
mapping data assosiation time 13.942914 ms 
mapping solver time 16.011364 ms 
--------------------stamp1317357775.141060113
points size 91610 
prepare time 11.004335 
mapping solver time 12.586636 ms 
filter time 5.131810 ms 
mapping pub time 2.122181 ms 
whole mapping time 78.596995 ms +++++
mappingCount 127 & avg mapping time 85.676211 ms ++++++++++++++++++++++
1317357775.037261963 WriteOdom aft_mapped_to_init
sort q time 5.214907 
seperate points time 12.420795 
-----t: 0.0268683
OdomCount 128 & avg odom time 0.033759 ms ++++++++++++++++++++++
1317357775.141060113 WriteOdom laser_odom_to_init
1317357775.141060113 WriteOdom aft_mapped_to_init_high_frec
publication time 8.355431 ms 
whole laserOdometry time 8.366309 ms 
 
build tree time 13.055852 ms 
mapping data assosiation time 15.696051 ms 
mapping solver time 18.089760 ms 
points size 91249 
mapping solver time 13.820201 ms 
mapping optimization time 78.634829 
sort q time 5.243672 
seperate points time 11.905706 
add points time 0.523333 ms
-----t: 0.0311808
OdomCount 129 & avg odom time 0.033739 ms ++++++++++++++++++++++
publication time 6.283900 ms 
whole laserOdometry time 6.300995 ms 
 
1317357775.244883060 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.107946 ms
map corner num 54089  surf num 18917 
build tree time 10.625117 ms 
mapping data assosiation time 15.148159 ms 
mapping solver time 14.805508 ms 
mapping data assosiation time 16.029927 ms 
prepare time 11.535357 
mapping solver time 13.138317 ms 
-----t: 0.0287494
OdomCount 130 & avg odom time 0.033700 ms ++++++++++++++++++++++
1317357775.348706960 WriteOdom laser_odom_to_init
publication time 6.912765 ms 
whole laserOdometry time 6.922038 ms 
 
1317357775.348706960 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.896740 ms
map corner num 54477  surf num 19038 
build tree time 11.681228 ms 
mapping data assosiation time 16.201897 ms 
mapping solver time 15.971631 ms 
--------------------stamp1317357775.452555894
points size 91596 
prepare time 9.607946 
mapping solver time 14.679942 ms 
mapping optimization time 77.669580 
add points time 0.605808 ms
sort q time 5.840166 
seperate points time 11.010414 
scan registration time 24.710174 ms *************
publication time 6.489651 ms 
whole laserOdometry time 6.500520 ms 
 
-----t: 0.0261733
OdomCount 131 & avg odom time 0.033643 ms ++++++++++++++++++++++
1317357775.452555894 WriteOdom laser_odom_to_init
1317357775.452555894 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.998496 ms
map corner num 54857  surf num 19162 
build tree time 12.148196 ms 
mapping data assosiation time 18.328313 ms 
mapping solver time 23.869442 ms 
--------------------stamp1317357775.556399106
points size 92384 
mapping data assosiation time 22.140468 ms 
sort q time 5.742574 
seperate points time 11.380348 
scan registration time 26.196725 ms *************
mapping solver time 16.939653 ms 
mapping optimization time 94.565525 
add points time 0.716891 ms
filter time 5.773899 ms 
-----t: 0.0342912
OdomCount 132 & avg odom time 0.033648 ms ++++++++++++++++++++++
1317357775.556399106 WriteOdom laser_odom_to_init
1317357775.556399106 WriteOdom aft_mapped_to_init_high_frec
build tree time 11.433394 ms 
mapping data assosiation time 17.501770 ms 
mapping solver time 19.429479 ms 
points size 92071 
prepare time 12.568754 
mapping data assosiation time 20.108887 ms 
sort q time 5.483824 
seperate points time 12.577959 
scan registration time 31.119408 ms *************
mapping solver time 19.603281 ms 
mapping optimization time 89.695662 
add points time 0.576584 ms
-----t: 0.0286065
OdomCount 133 & avg odom time 0.033610 ms ++++++++++++++++++++++
1317357775.660221099 WriteOdom laser_odom_to_init
1317357775.660221099 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.147947 ms
map corner num 55908  surf num 19552 
build tree time 10.399237 ms 
mapping data assosiation time 17.596189 ms 
mapping solver time 16.567318 ms 
--------------------stamp1317357775.764066934
points size 91699 
prepare time 13.435965 
mapping data assosiation time 22.867451 ms 
sort q time 5.220840 
seperate points time 11.993291 
mapping optimization time 84.048012 
add points time 0.660594 ms
filter time 5.911488 ms 
mapping pub time 2.110303 ms 
whole mapping time 94.935888 ms +++++
mappingCount 133 & avg mapping time 86.013950 ms ++++++++++++++++++++++
1317357775.660221100 WriteOdom aft_mapped_to_init
-----t: 0.054611
OdomCount 134 & avg odom time 0.033767 ms ++++++++++++++++++++++
1317357775.764066934 WriteOdom laser_odom_to_init
1317357775.764066934 WriteOdom aft_mapped_to_init_high_frec
build tree time 11.480688 ms 
--------------------stamp1317357775.867938041
points size 91599 
sort q time 4.668677 
seperate points time 9.616686 
mapping solver time 24.152490 ms 
scan registration time 29.102959 ms *************
publication time 7.463957 ms 
whole laserOdometry time 7.486255 ms 
 
-----t: 0.0320446
OdomCount 135 & avg odom time 0.033754 ms ++++++++++++++++++++++
1317357775.867938041 WriteOdom laser_odom_to_init
1317357775.867938041 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.257322 ms 
filter time 4.084315 ms 
mapping pub time 2.069519 ms 
whole mapping time 105.885802 ms +++++
mappingCount 134 & avg mapping time 86.162279 ms ++++++++++++++++++++++
1317357775.764066935 WriteOdom aft_mapped_to_init
build tree time 10.122834 ms 
--------------------stamp1317357775.971812009
prepare time 11.926945 
sort q time 5.065163 
seperate points time 11.520871 
mapping solver time 26.621129 ms 
publication time 10.318886 ms 
whole laserOdometry time 10.334749 ms 
 
mapping data assosiation time 23.235983 ms 
-----t: 0.0446063
OdomCount 136 & avg odom time 0.033834 ms ++++++++++++++++++++++
1317357775.971812009 WriteOdom laser_odom_to_init
1317357775.971812009 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.757231 ms 
mapping optimization time 105.412411 
add points time 0.614879 ms
mapping pub time 2.154488 ms 
whole mapping time 114.437649 ms +++++
mappingCount 135 & avg mapping time 86.371748 ms ++++++++++++++++++++++
1317357775.867938042 WriteOdom aft_mapped_to_init
map prepare time 2.220410 ms
map corner num 57537  surf num 20281 
--------------------stamp1317357776.075683116
points size 87335 
prepare time 10.294840 
sort q time 5.134215 
seperate points time 10.564002 
scan registration time 25.069676 ms *************
mapping data assosiation time 24.527065 ms 
publication time 6.108850 ms 
whole laserOdometry time 6.123289 ms 
 
mapping solver time 22.706020 ms 
mapping data assosiation time 21.445228 ms 
mapping solver time 13.654892 ms 
mapping optimization time 95.860832 
add points time 0.701033 ms
filter time 4.503038 ms 
map prepare time 2.149618 ms
map corner num 58046  surf num 20482 
--------------------stamp1317357776.179550886
build tree time 13.766411 ms 
sort q time 4.704853 
seperate points time 11.065606 
mapping data assosiation time 22.524576 ms 
publication time 7.474545 ms 
whole laserOdometry time 7.486762 ms 
 
-----t: 0.0423593
OdomCount 138 & avg odom time 0.033917 ms ++++++++++++++++++++++
1317357776.179550886 WriteOdom laser_odom_to_init
1317357776.179550886 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 12.810335 ms 
mapping optimization time 88.663603 
add points time 0.714450 ms
map prepare time 2.205995 ms
map corner num 58527  surf num 20672 
--------------------stamp1317357776.283446073
points size 83511 
prepare time 11.265259 
sort q time 4.644824 
seperate points time 11.117637 
publication time 10.241812 ms -----t: 0.0390896
OdomCount 139 & avg odom time 0.033955 ms ++++++++++++++++++++++
1317357776.283446073 WriteOdom laser_odom_to_init
1317357776.283446073 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.569196 ms 
mapping solver time 13.018036 ms 
filter time 4.382341 ms 
mapping pub time 2.080809 ms 
whole mapping time 102.015438 ms +++++
mappingCount 138 & avg mapping time 86.717689 ms ++++++++++++++++++++++
1317357776.179550886 WriteOdom aft_mapped_to_init
--------------------stamp1317357776.387341022
points size 81929 
sort q time 3.953244 
seperate points time 8.657097 
mapping data assosiation time 23.333385 ms 
publication time 8.197989 ms 
whole laserOdometry time 8.235236 ms 
 
-----t: 0.0286243
OdomCount 140 & avg odom time 0.033917 ms ++++++++++++++++++++++
mapping data assosiation time 18.310826 ms 
mapping solver time 13.846903 ms 
mapping optimization time 92.399860 
add points time 0.668544 ms
filter time 4.312184 ms 
map prepare time 1.936406 ms
map corner num 59366  surf num 20989 
--------------------stamp1317357776.491235017
points size 80703 
sort q time 5.561518 
seperate points time 10.151925 
scan registration time 22.498796 ms *************
publication time 7.196054 ms 
whole laserOdometry time 7.209692 ms 
 
-----t: 0.0302435
OdomCount 141 & avg odom time 0.033890 ms ++++++++++++++++++++++
1317357776.491235017 WriteOdom laser_odom_to_init
1317357776.491235017 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.514357 ms 
mapping data assosiation time 18.086815 ms 
mapping solver time 12.427563 ms 
mapping optimization time 92.564644 
add points time 0.699943 ms
map prepare time 1.813726 ms
map corner num 59781  surf num 21149 
--------------------stamp1317357776.595177888
points size 80930 
prepare time 8.861658 
sort q time 5.104563 
seperate points time 10.346870 
publication time 6.810286 ms 
whole laserOdometry time 6.825077 ms 
 
-----t: 0.0254878
OdomCount 142 & avg odom time 0.033831 ms ++++++++++++++++++++++
mapping solver time 25.264422 ms 
mapping data assosiation time 18.297986 ms 
mapping optimization time 94.177941 
add points time 0.714171 ms
filter time 4.230810 ms 
map prepare time 1.936551 ms
map corner num 60214  surf num 21277 
--------------------stamp1317357776.699121952
points size 81046 
sort q time 5.129273 
seperate points time 11.934232 
scan registration time 27.378357 ms *************
publication time 7.454372 ms 
whole laserOdometry time 7.467725 ms 
 
mapping solver time 22.833901 ms 
-----t: 0.0478173
OdomCount 143 & avg odom time 0.033929 ms ++++++++++++++++++++++
1317357776.699121952 WriteOdom laser_odom_to_init
1317357776.699121952 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.706881 ms 
mapping solver time 16.583699 ms 
mapping optimization time 96.014380 
add points time 0.698863 ms
filter time 5.598185 ms 
map prepare time 2.895433 ms
map corner num 60595  surf num 21404 
points size 80468 
prepare time 9.764842 
sort q time 4.465647 
seperate points time 9.946927 
publication time 7.583817 ms 
whole laserOdometry time 7.598266 ms 
 
mapping solver time 18.032515 ms 
-----t: 0.0523961
OdomCount 144 & avg odom time 0.034057 ms ++++++++++++++++++++++mapping data assosiation time 21.701736 ms 
mapping solver time 15.684662 ms 
filter time 6.530992 ms 
map prepare time 2.665846 ms
map corner num 60993  surf num 21522 
points size 80724 
build tree time 16.871895 ms 
sort q time 4.874717 
seperate points time 11.071416 
scan registration time 27.788528 ms *************
publication time 8.700696 ms 
whole laserOdometry time 8.714944 ms 
 
-----t: 0.0303596
OdomCount 145 & avg odom time 0.034032 ms ++++++++++++++++++++++
1317357776.906960010 WriteOdom laser_odom_to_init
1317357776.906960010 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.021330 ms 
mapping solver time 15.000122 ms 
--------------------stamp1317357777.010853052
map prepare time 2.230662 ms
map corner num 61386  surf num 21642 
build tree time 13.278619 ms 
sort q time 5.585478 
seperate points time 10.405847 
mapping data assosiation time 19.820343 ms 
-----t: 0.0336548
OdomCount 146 & avg odom time 0.034029 ms ++++++++++++++++++++++
publication time 6.952009 ms 
whole laserOdometry time 6.967104 ms 
 
mapping solver time 22.606324 ms 
mapping data assosiation time 18.499227 ms 
mapping solver time 15.929654 ms 
filter time 5.032519 ms 
map prepare time 2.593574 ms
map corner num 61751  surf num 21746 
points size 84880 
build tree time 16.423306 ms 
scan registration time 28.400810 ms *************
mapping data assosiation time 19.933121 ms 
-----t: 0.0392261
OdomCount 147 & avg odom time 0.034065 ms ++++++++++++++++++++++
1317357777.114747047 WriteOdom laser_odom_to_init
1317357777.114747047 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.807343 ms 
mapping data assosiation time 15.576149 ms 
mapping solver time 12.752915 ms 
mapping optimization time 82.315779 
add points time 0.579004 ms
mapping pub time 3.843168 ms 
whole mapping time 94.143786 ms +++++
mappingCount 146 & avg mapping time 87.575487 ms ++++++++++++++++++++++
--------------------stamp1317357777.218667984
points size 84314 
build tree time 16.730573 ms 
sort q time 4.895258 
seperate points time 11.095921 
scan registration time 27.195179 ms *************
mapping data assosiation time 18.189375 ms 
publication time 6.722115 ms 
whole laserOdometry time 6.734756 ms 
 
mapping solver time 18.374767 ms 
-----t: 0.0403628
OdomCount 148 & avg odom time 0.034107 ms ++++++++++++++++++++++
1317357777.218667984 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.104102 ms 
mapping solver time 11.125875 ms 
mapping optimization time 82.441006 
add points time 0.639683 ms
filter time 5.831237 ms 
mapping pub time 1.945376 ms 
whole mapping time 92.775600 ms +++++
mappingCount 147 & avg mapping time 87.610971 ms ++++++++++++++++++++++
--------------------stamp1317357777.322609901
points size 85736 
prepare time 13.538558 
mapping data assosiation time 17.857360 ms 
scan registration time 28.613520 ms *************
-----t: 0.0265825
OdomCount 149 & avg odom time 0.034057 ms ++++++++++++++++++++++
1317357777.322609901 WriteOdom laser_odom_to_init
1317357777.322609901 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.503347 ms 
publication time 11.548518 ms 
whole laserOdometry time 11.711730 ms 
 
mapping data assosiation time 19.163868 ms 
mapping solver time 11.355045 ms 
mapping optimization time 82.367712 
add points time 0.571688 ms
mapping pub time 1.839999 ms 
whole mapping time 91.611980 ms +++++
mappingCount 148 & avg mapping time 87.638032 ms ++++++++++++++++++++++
1317357777.218667984 WriteOdom aft_mapped_to_init
map prepare time 1.923259 ms
map corner num 62782  surf num 22035 
build tree time 12.848045 ms 
--------------------stamp1317357777.426552057
points size 87705 
mapping data assosiation time 16.621275 ms 
prepare time 9.714124 
mapping solver time 19.336702 ms 
sort q time 4.998939 
seperate points time 29.352289 
scan registration time 47.033925 ms *************
mapping data assosiation time 18.543201 ms 
mapping solver time 11.786939 ms 
mapping optimization time 79.958718 
add points time 0.506836 ms
publication time 5.296661 ms 
whole laserOdometry time 5.310874 ms 
 
1317357777.322609901 WriteOdom aft_mapped_to_init
map prepare time 1.828271 ms
map corner num 63156  surf num 22160 
build tree time 11.876865 ms 
mapping data assosiation time 15.934348 ms 
--------------------stamp1317357777.530471086
points size 87706 
sort q time 4.746276 
seperate points time 10.626604 
scan registration time 24.037825 ms *************
-----t: 0.0243955
OdomCount 151 & avg odom time 0.033961 ms ++++++++++++++++++++++
publication time 6.168386 ms 
whole laserOdometry time 6.183947 ms 
 
mapping solver time 13.587073 ms 
mapping optimization time 78.441801 
add points time 0.504211 ms
mapping pub time 1.873329 ms 
whole mapping time 87.363185 ms +++++
mappingCount 150 & avg mapping time 87.649784 ms ++++++++++++++++++++++
1317357777.426552057 WriteOdom aft_mapped_to_init
map prepare time 1.913237 ms
map corner num 63526  surf num 22262 
build tree time 11.555637 ms 
mapping data assosiation time 15.080959 ms 
mapping solver time 14.804040 ms 
--------------------stamp1317357777.634365081
points size 88865 
prepare time 9.640577 
sort q time 5.042424 
seperate points time 11.173448 
mapping optimization time 75.144114 
add points time 0.672325 ms
map prepare time 2.496204 ms
map corner num 63903  surf num 22387 
build tree time 18.033143 ms 
mapping data assosiation time 19.637264 ms 
mapping solver time 19.917731 ms 
points size 90479 
sort q time 4.877432 
seperate points time 11.330697 
mapping solver time 14.849126 ms 
mapping optimization time 94.398572 
add points time 0.970997 ms
mapping pub time 3.174757 ms 
whole mapping time 107.663411 ms +++++
mappingCount 152 & avg mapping time 87.785258 ms ++++++++++++++++++++++
-----t: 0.0600899
OdomCount 153 & avg odom time 0.034064 ms ++++++++++++++++++++++
map prepare time 2.132232 ms
map corner num 64274  surf num 22522 
build tree time 14.152838 ms 
--------------------stamp1317357777.842186927
points size 92345 
prepare time 11.978799 
mapping data assosiation time 29.709273 ms 
scan registration time 28.400371 ms *************
-----t: 0.0235726
OdomCount 154 & avg odom time 0.033995 ms ++++++++++++++++++++++
1317357777.842186927 WriteOdom laser_odom_to_init
1317357777.842186927 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.251238 ms 
mapping data assosiation time 15.576094 ms 
mapping solver time 12.352630 ms 
filter time 4.432529 ms 
mapping pub time 2.456257 ms 
whole mapping time 113.629270 ms +++++
mappingCount 153 & avg mapping time 87.954196 ms ++++++++++++++++++++++
1317357777.738261938 WriteOdom aft_mapped_to_init
--------------------stamp1317357777.946079969
build tree time 15.761454 ms 
sort q time 4.412514 
seperate points time 9.354095 
mapping data assosiation time 20.644501 ms 
publication time 6.522495 ms 
whole laserOdometry time 6.536654 ms 
 
mapping solver time 24.844235 ms 
-----t: 0.0515433
OdomCount 155 & avg odom time 0.034109 ms ++++++++++++++++++++++
1317357777.946079969 WriteOdom laser_odom_to_init
1317357777.946079969 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.109786 ms 
filter time 4.696385 ms 
map prepare time 2.091537 ms
map corner num 65088  surf num 22785 
points size 90581 
build tree time 17.757393 ms 
sort q time 5.208980 
seperate points time 10.287656 
scan registration time 25.951568 ms *************
mapping data assosiation time 20.837582 ms 
publication time 6.747381 ms 
whole laserOdometry time 6.766760 ms 
 
-----t: 0.0448421
OdomCount 156 & avg odom time 0.034177 ms ++++++++++++++++++++++
1317357778.049945116 WriteOdom laser_odom_to_init
1317357778.049945116 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.451864 ms 
--------------------stamp1317357778.153790950
add points time 0.767479 ms
points size 91104 
filter time 4.543335 ms 
map prepare time 2.149186 ms
map corner num 65526  surf num 22934 
sort q time 5.267365 
seperate points time 11.690938 
scan registration time 29.805393 ms *************
-----t: 0.0296659
OdomCount 157 & avg odom time 0.034149 ms ++++++++++++++++++++++
1317357778.153790950 WriteOdom laser_odom_to_init
1317357778.153790950 WriteOdom aft_mapped_to_init_high_frec
publication time 8.865472 ms 
whole laserOdometry time 8.875619 ms 
 
mapping solver time 16.212427 ms 
mapping data assosiation time 17.999467 ms 
mapping solver time 12.184514 ms 
filter time 5.190203 ms 
mapping pub time 5.510834 ms 
whole mapping time 97.074628 ms +++++
mappingCount 156 & avg mapping time 88.346220 ms ++++++++++++++++++++++
[0m[ INFO] [1718804495.075168795, 1317357778.260759486]: Received 89061 data points in frame camera_init with the following fields: x y z intensity[0m
sort q time 6.627974 
-----t: 0.0390837
OdomCount 158 & avg odom time 0.034180 ms ++++++++++++++++++++++
1317357778.257637977 WriteOdom laser_odom_to_init
1317357778.257637977 WriteOdom aft_mapped_to_init_high_frec
publication time 10.603147 ms 
whole laserOdometry time 10.623253 ms 
 
mapping solver time 18.348067 ms 
mapping data assosiation time 18.343626 ms 
mapping solver time 12.803929 ms 
filter time 5.444433 ms 
points size 92362 
map prepare time 2.150507 ms
map corner num 66386  surf num 23279 
prepare time 12.970555 
build tree time 16.952900 ms 
sort q time 5.075725 
seperate points time 12.061965 
mapping data assosiation time 21.944384 ms 
-----t: 0.0382593
OdomCount 159 & avg odom time 0.034206 ms ++++++++++++++++++++++
publication time 9.050916 ms 
whole laserOdometry time 9.063842 ms 
 
1317357778.361509084 WriteOdom laser_odom_to_init
1317357778.361509084 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.757548 ms 
mapping data assosiation time 17.345259 ms 
mapping solver time 13.143808 ms 
filter time 5.424122 ms 
map prepare time 2.397533 ms
map corner num 66839  surf num 23479 
sort q time 5.598320 
seperate points time 11.664185 
build tree time 15.827711 ms 
-----t: 0.0303555
OdomCount 160 & avg odom time 0.034182 ms ++++++++++++++++++++++
1317357778.465378999 WriteOdom laser_odom_to_init
1317357778.465378999 WriteOdom aft_mapped_to_init_high_frec
publication time 9.681033 ms 
whole laserOdometry time 9.689900 ms 
 
mapping data assosiation time 23.328292 ms 
mapping solver time 21.488204 ms 
mapping data assosiation time 16.895740 ms 
--------------------stamp1317357778.569228887
points size 93896 
map prepare time 2.231226 ms
map corner num 67335  surf num 23708 
sort q time 5.098773 
seperate points time 11.168809 
scan registration time 27.340759 ms *************
publication time 7.539032 ms 
whole laserOdometry time 7.553312 ms 
 
mapping data assosiation time 21.674559 ms 
mapping solver time 20.906718 ms 
mapping data assosiation time 18.721835 ms 
--------------------stamp1317357778.673074960
mapping solver time 17.925855 ms 
mapping optimization time 95.356171 
add points time 0.592490 ms
points size 92426 
map prepare time 2.211426 ms
map corner num 67770  surf num 23902 
sort q time 5.309784 
seperate points time 11.979872 
build tree time 16.876501 ms 
publication time 7.451883 ms 
whole laserOdometry time 7.467668 ms 
 
mapping data assosiation time 21.049949 ms 
mapping solver time 22.883872 ms 
mapping data assosiation time 19.519452 ms 
points size 91539 
prepare time 10.235341 
mapping solver time 24.657874 ms 
build tree time 15.352854 ms 
mapping data assosiation time 20.280753 ms 
mapping solver time 22.462900 ms 
--------------------stamp1317357778.880790948
points size 90775 
prepare time 10.418448 
mapping data assosiation time 22.721796 ms 
sort q time 5.725986 
seperate points time 11.278431 
mapping solver time 17.763014 ms 
build tree time 16.791254 ms 
--------------------stamp1317357778.984637022
points size 89386 
prepare time 12.197404 
sort q time 4.657661 
seperate points time 9.493976 
mapping solver time 31.137196 ms 
publication time 12.465299 ms 
whole laserOdometry time 12.479510 ms 
 
-----t: 0.0366847
OdomCount 165 & avg odom time 0.034251 ms ++++++++++++++++++++++
1317357778.984637022 WriteOdom laser_odom_to_init
1317357778.984637022 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.803100 ms 
mapping solver time 14.049259 ms 
mapping optimization time 127.174098 
add points time 0.591135 ms
filter time 4.555656 ms 
map prepare time 3.054674 ms
map corner num 69281  surf num 24504 
build tree time 16.644067 ms 
points size 89558 
mapping data assosiation time 20.210732 ms 
sort q time 5.085209 
seperate points time 10.007600 
scan registration time 24.801416 ms *************
publication time 8.962024 ms 
whole laserOdometry time 8.989379 ms 
 
-----t: 0.040993
OdomCount 166 & avg odom time 0.034291 ms ++++++++++++++++++++++
1317357779.088510036 WriteOdom laser_odom_to_init
1317357779.088510036 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.457914 ms 
mapping solver time 14.949399 ms 
mapping optimization time 102.108178 
add points time 0.597622 ms
mapping pub time 2.040026 ms 
whole mapping time 112.879758 ms +++++
mappingCount 164 & avg mapping time 89.507475 ms ++++++++++++++++++++++
1317357778.880790949 WriteOdom aft_mapped_to_init
points size 90252 
prepare time 9.607300 
build tree time 15.638038 ms 
sort q time 6.498020 
seperate points time 11.783948 
mapping data assosiation time 21.631718 ms 
-----t: 0.0307474
OdomCount 167 & avg odom time 0.034270 ms ++++++++++++++++++++++
mapping solver time 24.008938 ms 
mapping data assosiation time 16.189358 ms 
mapping solver time 15.939132 ms 
mapping optimization time 94.315285 
add points time 0.572129 ms
mapping pub time 2.143282 ms 
whole mapping time 104.610348 ms +++++
mappingCount 165 & avg mapping time 89.599029 ms ++++++++++++++++++++++
map prepare time 2.155547 ms
map corner num 70258  surf num 24876 
points size 90428 
build tree time 17.992016 ms 
sort q time 5.550700 
seperate points time 12.748338 
scan registration time 29.438749 ms *************
-----t: 0.0254601
OdomCount 168 & avg odom time 0.034217 ms ++++++++++++++++++++++
publication time 5.976888 ms 
whole laserOdometry time 5.992933 ms 
 
mapping solver time 22.345414 ms 
mapping data assosiation time 18.449832 ms 
mapping solver time 17.483188 ms 
filter time 4.897588 ms 
[0m[ INFO] [1718804496.216257958, 1317357779.401118819]: Received 95765 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804496.216310124, 1317357779.401118819]: Data saved to 1317357779192404.pcd[0m
prepare time 11.166830 
sort q time 5.337689 
seperate points time 11.131775 
scan registration time 26.158785 ms *************
build tree time 18.446423 ms 
publication time 6.685968 ms 
whole laserOdometry time 6.700499 ms 
 
mapping solver time 17.802375 ms 
mapping data assosiation time 17.178960 ms 
mapping solver time 12.214899 ms 
filter time 4.993376 ms 
map prepare time 2.139485 ms
map corner num 71199  surf num 25206 
points size 90749 
prepare time 12.756098 
build tree time 17.936037 ms 
scan registration time 30.211343 ms *************
mapping data assosiation time 19.158567 ms 
-----t: 0.0272932
OdomCount 170 & avg odom time 0.034147 ms ++++++++++++++++++++++
1317357779.504158973 WriteOdom laser_odom_to_init
1317357779.504158973 WriteOdom aft_mapped_to_init_high_frec
publication time 8.213292 ms 
whole laserOdometry time 8.237239 ms 
 
mapping solver time 16.959875 ms 
mapping data assosiation time 16.293164 ms 
mapping solver time 12.040316 ms 
mapping optimization time 83.338773 
add points time 0.557494 ms
mapping pub time 2.023846 ms 
whole mapping time 93.517758 ms +++++
mappingCount 168 & avg mapping time 89.801734 ms ++++++++++++++++++++++
--------------------stamp1317357779.608078002
points size 91262 
build tree time 16.760616 ms 
sort q time 5.448513 
seperate points time 11.620329 
scan registration time 26.799474 ms *************
mapping data assosiation time 20.519686 ms 
publication time 13.202442 ms 
whole laserOdometry time 13.310789 ms 
 
-----t: 0.0378958
OdomCount 171 & avg odom time 0.034169 ms ++++++++++++++++++++++
1317357779.608078002 WriteOdom laser_odom_to_init
1317357779.608078002 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.499547 ms 
mapping data assosiation time 17.646337 ms 
mapping solver time 12.155579 ms 
mapping optimization time 86.618351 
add points time 0.603349 ms
mapping pub time 2.056065 ms 
whole mapping time 97.224219 ms +++++
mappingCount 169 & avg mapping time 89.845669 ms ++++++++++++++++++++++
1317357779.504158974 WriteOdom aft_mapped_to_init
--------------------stamp1317357779.711996078
points size 92713 
build tree time 15.413163 ms 
prepare time 10.331032 
sort q time 6.681115 
seperate points time 11.910487 
publication time 8.152333 ms 
whole laserOdometry time 8.168670 ms 
 
-----t: 0.0272117
OdomCount 172 & avg odom time 0.034128 ms ++++++++++++++++++++++
mapping solver time 22.443368 ms 
mapping data assosiation time 15.984789 ms 
mapping solver time 11.652504 ms 
mapping optimization time 84.402283 
add points time 0.542918 ms
filter time 5.620690 ms 
map prepare time 1.980728 ms
map corner num 72355  surf num 25546 
--------------------stamp1317357779.815890073
points size 94876 
mapping data assosiation time 17.684218 ms 
sort q time 5.441649 
seperate points time 10.946035 
1317357779.815890073 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.780969 ms 
mapping solver time 12.135404 ms 
mapping optimization time 82.449039 
add points time 0.572120 ms
mapping pub time 4.900610 ms 
whole mapping time 95.395364 ms +++++
mappingCount 171 & avg mapping time 89.907194 ms ++++++++++++++++++++++
map prepare time 2.009106 ms
map corner num 72778  surf num 25652 
build tree time 15.262513 ms 
points size 95884 
prepare time 14.372786 
mapping data assosiation time 18.570062 ms 
sort q time 5.178648 
seperate points time 11.906728 
mapping solver time 23.425970 ms 
publication time 7.517333 ms 
whole laserOdometry time 7.543271 ms 
 
-----t: 0.0330535
OdomCount 174 & avg odom time 0.034067 ms ++++++++++++++++++++++
1317357779.919786930 WriteOdom laser_odom_to_init
mapping data assosiation time 18.115616 ms 
1317357779.919786930 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.442482 ms 
mapping optimization time 92.887895 
add points time 0.577713 ms
mapping pub time 2.083497 ms 
whole mapping time 102.635240 ms +++++
mappingCount 172 & avg mapping time 89.981207 ms ++++++++++++++++++++++
1317357779.815890074 WriteOdom aft_mapped_to_init
map prepare time 2.050239 ms
map corner num 73160  surf num 25785 
build tree time 14.151289 ms 
points size 95917 
mapping data assosiation time 20.303324 ms 
sort q time 5.993270 
seperate points time 12.528579 
scan registration time 30.734731 ms *************
mapping solver time 23.723390 ms 
publication time 8.736771 ms 
whole laserOdometry time 8.750993 ms 
 
-----t: 0.0347795
OdomCount 175 & avg odom time 0.034071 ms ++++++++++++++++++++++
mapping data assosiation time 19.168765 ms 
mapping solver time 15.878164 ms 
mapping optimization time 94.325106 
add points time 0.571182 ms
filter time 5.184112 ms 
map prepare time 2.053205 ms
map corner num 73553  surf num 25919 
--------------------stamp1317357780.127527952
points size 96511 
mapping data assosiation time 21.352843 ms 
prepare time 26.208061 
mapping solver time 25.784428 ms 
sort q time 12.824651 
seperate points time 28.365948 
publication time 7.135262 ms 
whole laserOdometry time 7.147442 ms 
 
mapping solver time 16.565007 ms 
mapping optimization time 101.382041 
add points time 0.718460 ms
mapping pub time 2.217875 ms 
whole mapping time 111.561485 ms +++++
mappingCount 174 & avg mapping time 90.188974 ms ++++++++++++++++++++++
map prepare time 2.924049 ms
map corner num 73967  surf num 26077 
points size 95991 
prepare time 11.293796 
build tree time 17.746479 ms 
scan registration time 26.931308 ms *************
mapping data assosiation time 18.859717 ms 
-----t: 0.0279699
OdomCount 177 & avg odom time 0.034084 ms ++++++++++++++++++++++
1317357780.231328010 WriteOdom laser_odom_to_init
1317357780.231328010 WriteOdom aft_mapped_to_init_high_frec
publication time 10.479624 ms 
whole laserOdometry time 10.493746 ms 
 
mapping solver time 21.443176 ms 
mapping data assosiation time 15.512459 ms 
mapping solver time 12.097615 ms 
filter time 6.061193 ms 
mapping pub time 2.301716 ms 
whole mapping time 98.714672 ms +++++
mappingCount 175 & avg mapping time 90.237718 ms ++++++++++++++++++++++
1317357780.127527952 WriteOdom aft_mapped_to_init
--------------------stamp1317357780.335100889
points size 95729 
prepare time 10.360150 
build tree time 16.453933 ms 
mapping data assosiation time 18.389784 ms 
sort q time 19.763533 
seperate points time 26.269676 
-----t: 0.0271092
OdomCount 178 & avg odom time 0.034045 ms ++++++++++++++++++++++
mapping solver time 18.406412 ms 
publication time 6.218063 ms 
whole laserOdometry time 6.231119 ms 
 
mapping data assosiation time 17.473244 ms 
mapping solver time 15.016299 ms 
filter time 5.099540 ms 
mapping pub time 3.476273 ms 
whole mapping time 98.357224 ms +++++
mappingCount 176 & avg mapping time 90.283875 ms ++++++++++++++++++++++
1317357780.231328011 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718804497.236776235, 1317357780.422727300]: Received 101072 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804497.236814322, 1317357780.422727300]: Data saved to 1317357780231328.pcd[0m
--------------------stamp1317357780.438875913
points size 95914 
sort q time 5.830021 
seperate points time 12.359486 
mapping data assosiation time 17.528582 ms 
scan registration time 27.230013 ms *************
mapping solver time 18.104134 ms 
-----t: 0.0317062
OdomCount 179 & avg odom time 0.034032 ms ++++++++++++++++++++++
1317357780.438875913 WriteOdom laser_odom_to_init
1317357780.438875913 WriteOdom aft_mapped_to_init_high_frec
publication time 10.652232 ms 
whole laserOdometry time 10.671549 ms 
 
mapping data assosiation time 18.249726 ms 
mapping solver time 10.860399 ms 
mapping optimization time 83.167694 
add points time 0.567155 ms
mapping pub time 2.382686 ms 
whole mapping time 93.610189 ms +++++
mappingCount 177 & avg mapping time 90.302692 ms ++++++++++++++++++++++
1317357780.335100889 WriteOdom aft_mapped_to_init
--------------------stamp1317357780.542627096
points size 95636 
prepare time 11.518025 
sort q time 5.870735 
seperate points time 11.957374 
mapping solver time 16.447790 ms 
-----t: 0.0321027
OdomCount 180 & avg odom time 0.034021 ms ++++++++++++++++++++++
mapping data assosiation time 16.697914 ms 
mapping solver time 10.473567 ms 
mapping optimization time 86.022235 
add points time 0.618246 ms
map prepare time 2.122801 ms
map corner num 72568  surf num 25070 
build tree time 14.829268 ms 
--------------------stamp1317357780.646378040
points size 95114 
mapping solver time 14.683130 ms 
sort q time 5.438087 
seperate points time 12.424082 
scan registration time 31.971160 ms *************
-----t: 0.0276194
OdomCount 181 & avg odom time 0.033986 ms ++++++++++++++++++++++
1317357780.646378040 WriteOdom laser_odom_to_init
1317357780.646378040 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.748448 ms 
mapping solver time 16.826294 ms 
mapping optimization time 83.491052 
add points time 0.558882 ms
filter time 5.261260 ms 
map prepare time 2.039260 ms
map corner num 72940  surf num 25239 
build tree time 15.766318 ms 
--------------------stamp1317357780.750152111
points size 94331 
prepare time 14.491673 
mapping solver time 18.239057 ms 
sort q time 5.511159 
seperate points time 12.622777 
scan registration time 32.435638 ms *************
mapping data assosiation time 18.339473 ms 
-----t: 0.0325747
OdomCount 182 & avg odom time 0.033978 ms ++++++++++++++++++++++
1317357780.750152111 WriteOdom laser_odom_to_init
1317357780.750152111 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 12.145933 ms 
filter time 6.025240 ms 
mapping pub time 2.317500 ms 
whole mapping time 93.707654 ms +++++
mappingCount 180 & avg mapping time 90.376100 ms ++++++++++++++++++++++
1317357780.646378040 WriteOdom aft_mapped_to_init
build tree time 14.489979 ms 
mapping data assosiation time 16.070483 ms 
points size 94363 
prepare time 10.048507 
sort q time 5.505289 
seperate points time 11.776069 
mapping data assosiation time 19.209243 ms 
publication time 8.460540 ms 
whole laserOdometry time 8.469104 ms 
 
mapping solver time 15.842254 ms 
mapping optimization time 87.372422 
add points time 0.585779 ms
filter time 4.931460 ms 
-----t: 0.0433547
OdomCount 183 & avg odom time 0.034029 ms ++++++++++++++++++++++
map prepare time 2.097042 ms
map corner num 73826  surf num 25678 
build tree time 14.963879 ms 
mapping data assosiation time 16.099439 ms 
--------------------stamp1317357780.957726955
points size 94037 
prepare time 14.769528 
mapping solver time 21.696228 ms 
sort q time 5.371900 
seperate points time 12.428701 
mapping data assosiation time 19.425859 ms 
-----t: 0.0336359
OdomCount 184 & avg odom time 0.034027 ms ++++++++++++++++++++++
filter time 4.947972 ms 
mapping pub time 5.798054 ms 
whole mapping time 106.218368 ms +++++
mappingCount 182 & avg mapping time 90.520908 ms ++++++++++++++++++++++
map prepare time 2.621013 ms
map corner num 74244  surf num 25852 
build tree time 17.090800 ms 
--------------------stamp1317357781.061526060
mapping data assosiation time 18.652734 ms 
prepare time 13.283091 
sort q time 5.417134 
seperate points time 12.627770 
mapping data assosiation time 20.479031 ms 
publication time 9.710669 ms 
whole laserOdometry time 9.737365 ms 
 
mapping solver time 19.876930 ms 
mapping optimization time 98.981018 
add points time 0.628715 ms
filter time 7.191090 ms 
-----t: 0.064395
OdomCount 185 & avg odom time 0.034191 ms ++++++++++++++++++++++
map prepare time 2.352520 ms
map corner num 74645  surf num 25986 
--------------------stamp1317357781.165297985
points size 95039 
mapping data assosiation time 20.126286 ms 
sort q time 5.655760 
seperate points time 13.079973 
mapping solver time 16.666538 ms 
publication time 7.411084 ms 
whole laserOdometry time 7.421835 ms 
 
-----t: 0.0469616
OdomCount 186 & avg odom time 0.034260 ms ++++++++++++++++++++++
1317357781.165297985 WriteOdom laser_odom_to_init
1317357781.165297985 WriteOdom aft_mapped_to_init_high_frec
filter time 5.812051 ms 
mapping pub time 2.180145 ms 
whole mapping time 94.924943 ms +++++
mappingCount 184 & avg mapping time 90.659948 ms ++++++++++++++++++++++
1317357781.061526060 WriteOdom aft_mapped_to_init
build tree time 15.926095 ms 
points size 95103 
mapping data assosiation time 18.421209 ms 
sort q time 5.888186 
seperate points time 11.376307 
scan registration time 26.436290 ms *************
mapping solver time 24.192013 ms 
-----t: 0.0303077
OdomCount 187 & avg odom time 0.034239 ms ++++++++++++++++++++++
1317357781.269072055 WriteOdom laser_odom_to_init
1317357781.269072055 WriteOdom aft_mapped_to_init_high_frec
publication time 8.681540 ms 
whole laserOdometry time 8.691417 ms 
 
mapping data assosiation time 18.376837 ms 
mapping solver time 15.555448 ms 
mapping optimization time 93.457610 
add points time 0.606914 ms
mapping pub time 2.124287 ms 
whole mapping time 104.407515 ms +++++
mappingCount 185 & avg mapping time 90.734353 ms ++++++++++++++++++++++
1317357781.165297985 WriteOdom aft_mapped_to_init
map prepare time 2.117627 ms
map corner num 75395  surf num 26216 
build tree time 16.342405 ms 
points size 95323 
prepare time 10.852845 
sort q time 5.489449 
seperate points time 11.862640 
mapping solver time 21.489529 ms 
-----t: 0.0273073
OdomCount 188 & avg odom time 0.034202 ms ++++++++++++++++++++++
mapping data assosiation time 18.748681 ms 
mapping solver time 11.729535 ms 
mapping optimization time 87.957632 
add points time 0.640664 ms
[0m[ INFO] [1718804498.261614474, 1317357781.447787110]: Received 102104 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804498.261656273, 1317357781.447787110]: Data saved to 1317357781269072.pcd[0m
mapping pub time 3.345457 ms 
whole mapping time 99.621136 ms +++++
mappingCount 186 & avg mapping time 90.782215 ms ++++++++++++++++++++++
1317357781.269072056 WriteOdom aft_mapped_to_init
build tree time 16.449073 ms 
points size 95586 
mapping data assosiation time 19.311080 ms 
sort q time 5.334909 
seperate points time 12.145114 
scan registration time 28.278408 ms *************
mapping solver time 23.433507 ms 
1317357781.476600885 WriteOdom laser_odom_to_init
1317357781.476600885 WriteOdom aft_mapped_to_init_high_frec
publication time 14.691606 ms 
whole laserOdometry time 14.704557 ms 
 
mapping data assosiation time 23.119944 ms 
mapping solver time 11.815638 ms 
mapping optimization time 95.121457 
add points time 0.591394 ms
mapping pub time 2.147719 ms 
whole mapping time 105.162828 ms +++++
mappingCount 187 & avg mapping time 90.859138 ms ++++++++++++++++++++++
1317357781.372848988 WriteOdom aft_mapped_to_init
map prepare time 2.210241 ms
map corner num 76128  surf num 26478 
--------------------stamp1317357781.580327033
prepare time 10.504772 
sort q time 5.407865 
seperate points time 11.026050 
mapping data assosiation time 19.912660 ms 
scan registration time 26.265118 ms *************
publication time 8.376423 ms 
whole laserOdometry time 8.390606 ms 
 
mapping solver time 23.986318 ms 
mapping data assosiation time 16.952990 ms 
mapping solver time 15.323107 ms 
mapping optimization time 95.515437 
add points time 0.592195 ms
filter time 5.312345 ms 
map prepare time 2.172701 ms
map corner num 76474  surf num 26579 
--------------------stamp1317357781.684029102
build tree time 20.245951 ms 
points size 96109 
prepare time 12.455376 
sort q time 6.255721 
seperate points time 11.729519 
mapping data assosiation time 17.895427 ms 
scan registration time 28.904319 ms *************
publication time 5.369010 ms 
whole laserOdometry time 5.383266 ms 
 
mapping solver time 22.354870 ms 
mapping data assosiation time 16.711023 ms 
-----t: 0.0479824
OdomCount 191 & avg odom time 0.034247 ms ++++++++++++++++++++++
mapping solver time 15.700174 ms 
filter time 5.086966 ms 
mapping pub time 2.311564 ms 
whole mapping time 103.979167 ms +++++
mappingCount 189 & avg mapping time 91.007833 ms ++++++++++++++++++++++
1317357781.580327034 WriteOdom aft_mapped_to_init
--------------------stamp1317357781.787755966
points size 94539 
build tree time 18.405429 ms 
sort q time 5.717155 
seperate points time 11.959415 
mapping data assosiation time 17.019290 ms 
scan registration time 28.292724 ms *************
publication time 7.180107 ms 
whole laserOdometry time 7.192621 ms 
 
mapping solver time 15.202888 ms 
-----t: 0.0281035
OdomCount 192 & avg odom time 0.034215 ms ++++++++++++++++++++++
mapping data assosiation time 15.274022 ms 
mapping solver time 11.047881 ms 
filter time 6.152623 ms 
mapping pub time 2.276918 ms 
whole mapping time 89.237761 ms +++++
mappingCount 190 & avg mapping time 90.998541 ms ++++++++++++++++++++++
1317357781.684029102 WriteOdom aft_mapped_to_init
build tree time 13.956657 ms 
--------------------stamp1317357781.891530990
points size 94909 
mapping data assosiation time 17.090294 ms 
prepare time 10.860887 
sort q time 5.817693 
seperate points time 11.459218 
publication time 6.828023 ms 
whole laserOdometry time 6.837785 ms 
 
mapping data assosiation time 15.657863 ms 
mapping solver time 14.403909 ms 
filter time 6.112779 ms 
[0m[ INFO] [1718804498.770401220, 1317357781.961150632]: Received 104347 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804498.770439566, 1317357781.961150632]: Data saved to 1317357781787755.pcd[0m
map prepare time 1.987796 ms
map corner num 77480  surf num 26867 
build tree time 15.712432 ms 
--------------------stamp1317357781.995304107
points size 95076 
mapping solver time 18.837639 ms 
sort q time 5.270435 
seperate points time 12.003749 
scan registration time 31.359021 ms *************
mapping solver time 17.465758 ms 
-----t: 0.0776885
OdomCount 194 & avg odom time 0.034521 ms ++++++++++++++++++++++
map prepare time 2.523639 ms
map corner num 77873  surf num 26969 
points size 96756 
prepare time 15.953195 
sort q time 5.486340 
seperate points time 12.488294 
scan registration time 33.277160 ms *************
mapping data assosiation time 17.116782 ms 
publication time 8.724102 ms 
whole laserOdometry time 8.741412 ms 
 
mapping solver time 18.945529 ms 
-----t: 0.0378329
OdomCount 195 & avg odom time 0.034538 ms ++++++++++++++++++++++
1317357782.099103927 WriteOdom laser_odom_to_init
1317357782.099103927 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.553784 ms 
mapping solver time 13.955667 ms 
filter time 5.611482 ms 
mapping pub time 2.238107 ms 
whole mapping time 96.718218 ms +++++
mappingCount 193 & avg mapping time 91.057602 ms ++++++++++++++++++++++
1317357781.995304108 WriteOdom aft_mapped_to_init
--------------------stamp1317357782.202903985
points size 97190 
build tree time 17.373715 ms 
prepare time 12.537680 
scan registration time 28.856887 ms *************
mapping data assosiation time 18.226870 ms 
-----t: 0.0452801
OdomCount 196 & avg odom time 0.034593 ms ++++++++++++++++++++++
publication time 9.722873 ms 
whole laserOdometry time 9.737455 ms 
 
mapping solver time 15.590678 ms 
--------------------stamp1317357782.306704044
filter time 7.969447 ms 
points size 97604 
scan registration time 28.113789 ms *************
publication time 8.547845 ms 
whole laserOdometry time 8.564056 ms 
 
mapping data assosiation time 22.181578 ms 
mapping solver time 18.921460 ms 
mapping data assosiation time 15.696696 ms 
mapping solver time 10.997064 ms 
filter time 5.980818 ms 
prepare time 10.547718 
map prepare time 2.423430 ms
map corner num 79152  surf num 27596 
sort q time 5.722025 
seperate points time 12.347985 
scan registration time 27.436648 ms *************
-----t: 0.030475
OdomCount 198 & avg odom time 0.034551 ms ++++++++++++++++++++++
mapping data assosiation time 15.900025 ms 
1317357782.410526990 WriteOdom laser_odom_to_init
1317357782.410526990 WriteOdom aft_mapped_to_init_high_frec
publication time 9.503329 ms 
whole laserOdometry time 9.511635 ms 
 
mapping solver time 19.052746 ms 
mapping data assosiation time 16.343569 ms 
mapping solver time 15.434990 ms 
filter time 5.990666 ms 
--------------------stamp1317357782.514348983
map prepare time 2.673298 ms
map corner num 79618  surf num 27721 
build tree time 16.554755 ms 
sort q time 5.800394 
seperate points time 13.068330 
mapping data assosiation time 19.426264 ms 
publication time 7.865178 ms 
whole laserOdometry time 7.891548 ms 
 
-----t: 0.0411753
OdomCount 199 & avg odom time 0.034584 ms ++++++++++++++++++++++
1317357782.514348983 WriteOdom laser_odom_to_init
1317357782.514348983 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 15.624833 ms 
mapping solver time 12.475438 ms 
mapping optimization time 84.887134 
add points time 0.575353 ms
--------------------stamp1317357782.618171930
mapping pub time 2.945897 ms 
whole mapping time 96.563221 ms +++++
mappingCount 197 & avg mapping time 91.308225 ms ++++++++++++++++++++++
1317357782.410526991 WriteOdom aft_mapped_to_init
points size 99055 
prepare time 14.916007 
build tree time 19.289896 ms 
scan registration time 32.622183 ms *************
mapping data assosiation time 18.899136 ms 
publication time 7.395425 ms 
whole laserOdometry time 7.411301 ms 
 
-----t: 0.0371584
OdomCount 200 & avg odom time 0.034597 ms ++++++++++++++++++++++
1317357782.618171930 WriteOdom laser_odom_to_init
1317357782.618171930 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.251559 ms 
mapping data assosiation time 14.889333 ms 
mapping solver time 14.247259 ms 
mapping optimization time 87.359902 
add points time 0.617865 ms
mapping pub time 2.223220 ms 
whole mapping time 98.433478 ms +++++
mappingCount 198 & avg mapping time 91.344236 ms ++++++++++++++++++++++
points size 100000 
build tree time 21.610657 ms 
sort q time 5.894020 
seperate points time 13.258142 
mapping data assosiation time 17.699474 ms 
mapping solver time 16.489337 ms 
mapping data assosiation time 14.332451 ms 
mapping solver time 11.566262 ms 
mapping optimization time 82.550801 
add points time 0.577981 ms
map prepare time 2.174111 ms
map corner num 80778  surf num 28070 
points size 100715 
prepare time 15.059054 
build tree time 22.307083 ms 
sort q time 6.697937 
seperate points time 14.832883 
scan registration time 35.863609 ms *************
mapping data assosiation time 19.477065 ms 
-----t: 0.0348573
OdomCount 202 & avg odom time 0.034594 ms ++++++++++++++++++++++
mapping data assosiation time 14.877131 ms 
mapping solver time 11.501846 ms 
filter time 5.055877 ms 
mapping pub time 2.254594 ms 
whole mapping time 93.553510 ms +++++
mappingCount 200 & avg mapping time 91.369951 ms ++++++++++++++++++++++
1317357782.721992970 WriteOdom aft_mapped_to_init
--------------------stamp1317357782.929615020
build tree time 19.024329 ms 
prepare time 14.185130 
mapping data assosiation time 19.318389 ms 
scan registration time 34.028535 ms *************
-----t: 0.0290205
OdomCount 203 & avg odom time 0.034566 ms ++++++++++++++++++++++
publication time 7.031235 ms 
whole laserOdometry time 7.045137 ms 
 
mapping data assosiation time 16.432403 ms 
mapping solver time 11.316450 ms 
filter time 5.213560 ms 
[0m[ INFO] [1718804499.827540776, 1317357783.018060168]: Received 109812 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804499.827583050, 1317357783.018060168]: Data saved to 1317357782825815.pcd[0m
map prepare time 2.350289 ms
map corner num 81540  surf num 28272 
--------------------stamp1317357783.033412933
points size 101320 
build tree time 20.314109 ms 
prepare time 13.944908 
mapping data assosiation time 26.890165 ms 
sort q time 30.087378 
seperate points time 38.997470 
-----t: 0.0504675
OdomCount 204 & avg odom time 0.034644 ms ++++++++++++++++++++++
1317357783.033412933 WriteOdom laser_odom_to_init
1317357783.033412933 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 39.532597 ms 
publication time 9.413399 ms 
whole laserOdometry time 9.427616 ms 
 
mapping data assosiation time 20.489624 ms 
--------------------stamp1317357783.137208938
points size 100799 
1317357782.929615021 WriteOdom aft_mapped_to_init
map prepare time 2.992407 ms
map corner num 81986  surf num 28406 
sort q time 5.781557 
seperate points time 13.473368 
scan registration time 33.285254 ms *************
publication time 8.387368 ms 
whole laserOdometry time 8.401915 ms 
 
mapping data assosiation time 18.877427 ms 
mapping solver time 23.753307 ms 
--------------------stamp1317357783.240984916
-----t: 0.0877742
OdomCount 205 & avg odom time 0.034904 ms ++++++++++++++++++++++
mapping data assosiation time 20.767938 ms 
points size 100272 
mapping solver time 20.674848 ms 
sort q time 5.865350 
seperate points time 13.209217 
filter time 7.229419 ms 
mapping pub time 2.235411 ms 
whole mapping time 121.573356 ms +++++
mappingCount 203 & avg mapping time 91.802571 ms ++++++++++++++++++++++
1317357783.033412933 WriteOdom aft_mapped_to_init
build tree time 17.267005 ms 
mapping data assosiation time 15.603048 ms 
--------------------stamp1317357783.344784975
points size 99571 
prepare time 14.424166 
sort q time 6.383668 
seperate points time 13.656169 
mapping solver time 23.618200 ms 
mapping optimization time 94.510088 
add points time 0.726173 ms
drop lidar frame in mapping for real time performance 
1317357783.344784975 WriteOdom laser_odom_to_init
1317357783.344784975 WriteOdom aft_mapped_to_init_high_frec
build tree time 17.756923 ms 
mapping data assosiation time 16.798656 ms 
--------------------stamp1317357783.448606967
mapping solver time 22.492720 ms 
prepare time 15.164600 
mapping data assosiation time 21.487740 ms 
sort q time 6.332906 
seperate points time 14.366626 
scan registration time 35.574634 ms *************
mapping solver time 19.539517 ms 
filter time 5.230071 ms 
mapping pub time 2.367977 ms 
whole mapping time 110.293669 ms +++++
mappingCount 205 & avg mapping time 91.962928 ms ++++++++++++++++++++++
build tree time 16.598402 ms 
mapping data assosiation time 17.015860 ms 
--------------------stamp1317357783.552406072
points size 93555 
prepare time 9.713504 
sort q time 4.760015 
seperate points time 10.254612 
mapping data assosiation time 22.005326 ms 
-----t: 0.0386982
OdomCount 209 & avg odom time 0.034967 ms ++++++++++++++++++++++
1317357783.552406072 WriteOdom laser_odom_to_init
1317357783.552406072 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.257712 ms 
mapping optimization time 104.056026 
add points time 0.595863 ms
mapping pub time 3.573319 ms 
whole mapping time 116.291712 ms +++++
mappingCount 206 & avg mapping time 92.081043 ms ++++++++++++++++++++++
build tree time 16.378906 ms 
--------------------stamp1317357783.656204938
points size 90873 
sort q time 5.351606 
seperate points time 12.227921 
scan registration time 29.173749 ms *************
-----t: 0.0337136
OdomCount 210 & avg odom time 0.034961 ms ++++++++++++++++++++++
1317357783.656204938 WriteOdom laser_odom_to_init
1317357783.656204938 WriteOdom aft_mapped_to_init_high_frec
publication time 15.500274 ms 
whole laserOdometry time 15.511552 ms 
 
mapping data assosiation time 20.298252 ms 
mapping solver time 12.759452 ms 
filter time 5.379751 ms 
mapping pub time 2.144997 ms 
whole mapping time 107.735725 ms +++++
mappingCount 207 & avg mapping time 92.156746 ms ++++++++++++++++++++++
1317357783.552406073 WriteOdom aft_mapped_to_init
build tree time 17.149487 ms 
points size 88576 
prepare time 14.076005 
sort q time 5.031071 
seperate points time 11.673207 
mapping solver time 25.855602 ms 
publication time 8.617840 ms 
whole laserOdometry time 8.632047 ms 
 
-----t: 0.0544157
OdomCount 211 & avg odom time 0.035054 ms ++++++++++++++++++++++
mapping solver time 22.151172 ms 
mapping optimization time 109.573546 
add points time 0.557700 ms
filter time 5.535487 ms 
map prepare time 2.188580 ms
map corner num 85283  surf num 29813 
points size 86808 
prepare time 13.804612 
sort q time 4.909404 
seperate points time 11.504225 
scan registration time 30.528792 ms *************
mapping data assosiation time 21.652705 ms 
publication time 8.204668 ms 
whole laserOdometry time 8.220871 ms 
 
mapping solver time 24.679465 ms 
mapping data assosiation time 18.191362 ms 
mapping solver time 12.972983 ms 
filter time 8.196421 ms 
mapping pub time 2.171642 ms 
whole mapping time 114.040204 ms +++++
mappingCount 209 & avg mapping time 92.395730 ms ++++++++++++++++++++++
1317357783.760004997 WriteOdom aft_mapped_to_init
points size 84052 
sort q time 5.318039 
seperate points time 10.043337 
scan registration time 24.945304 ms *************
build tree time 21.663467 ms 
publication time 6.937019 ms 
whole laserOdometry time 6.953684 ms 
 
mapping data assosiation time 19.782645 ms 
-----t: 0.0570261
OdomCount 213 & avg odom time 0.035177 ms ++++++++++++++++++++++
mapping solver time 23.456013 ms 
mapping data assosiation time 16.843760 ms 
--------------------stamp1317357784.071332931
points size 83088 
mapping solver time 20.481572 ms 
mapping optimization time 103.264840 
add points time 0.638351 ms
mapping pub time 2.168580 ms 
whole mapping time 116.914694 ms +++++
mappingCount 210 & avg mapping time 92.512520 ms ++++++++++++++++++++++
publication time 6.071938 ms 
whole laserOdometry time 6.086587 ms 
 
build tree time 19.518294 ms 
mapping data assosiation time 15.542445 ms 
mapping solver time 19.649522 ms 
--------------------stamp1317357784.175105094
points size 81544 
prepare time 10.785544 
add points time 0.685683 ms
sort q time 4.538908 
seperate points time 10.412542 
[0m[ INFO] [1718804501.015650618, 1317357784.203614353]: Received 116970 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804501.015696024, 1317357784.203614353]: Data saved to 1317357783967556.pcd[0m
publication time 6.025912 ms 
whole laserOdometry time 6.051388 ms 
 
mapping pub time 19.763985 ms 
whole mapping time 123.725158 ms +++++
mappingCount 211 & avg mapping time 92.660477 ms ++++++++++++++++++++++
1317357783.967556000 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0438905
OdomCount 215 & avg odom time 0.035173 ms ++++++++++++++++++++++
1317357784.175105094 WriteOdom laser_odom_to_init
1317357784.175105094 WriteOdom aft_mapped_to_init_high_frec
build tree time 24.885280 ms 
mapping data assosiation time 18.458262 ms 
points size 81174 
mapping solver time 24.200860 ms 
sort q time 5.221366 
seperate points time 10.096087 
scan registration time 23.637232 ms *************
mapping data assosiation time 19.153985 ms 
publication time 8.360844 ms 
whole laserOdometry time 8.381763 ms 
 
-----t: 0.0336416
OdomCount 216 & avg odom time 0.035166 ms ++++++++++++++++++++++
1317357784.278902053 WriteOdom laser_odom_to_init
1317357784.278902053 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.420000 ms 
mapping optimization time 107.135354 
add points time 0.575128 ms
filter time 8.578164 ms 
mapping pub time 2.197787 ms 
whole mapping time 122.088218 ms +++++
mappingCount 212 & avg mapping time 92.799311 ms ++++++++++++++++++++++
1317357784.071332932 WriteOdom aft_mapped_to_init
build tree time 22.949356 ms 
--------------------stamp1317357784.382725000
mapping data assosiation time 19.240691 ms 
points size 81361 
prepare time 11.501460 
sort q time 4.492840 
seperate points time 10.328422 
scan registration time 25.702837 ms *************
publication time 4.831768 ms 
whole laserOdometry time 4.843320 ms 
 
mapping data assosiation time 18.792988 ms 
mapping solver time 22.818965 ms 
filter time 8.479209 ms 
map prepare time 2.368245 ms
map corner num 87488  surf num 30467 
--------------------stamp1317357784.486524105
points size 81905 
sort q time 4.370130 
seperate points time 10.111829 
mapping data assosiation time 18.331817 ms 
publication time 8.201302 ms 1317357784.486524105 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.557462 ms 
mapping data assosiation time 18.412754 ms 
mapping solver time 23.496632 ms 
mapping optimization time 107.643178 
add points time 0.552792 ms
filter time 8.697479 ms 
map prepare time 2.896217 ms
map corner num 87875  surf num 30574 
prepare time 12.771715 
sort q time 4.850347 
seperate points time 9.690051 
mapping data assosiation time 15.850897 ms 
mapping solver time 20.410631 ms 
mapping data assosiation time 15.954400 ms 
mapping solver time 14.730847 ms 
filter time 6.256229 ms 
map prepare time 2.092474 ms
map corner num 88269  surf num 30665 
points size 84068 
prepare time 9.502272 
sort q time 4.563829 
seperate points time 9.731206 
scan registration time 23.033377 ms *************
publication time 8.341953 ms 
whole laserOdometry time 8.373059 ms 
 
-----t: 0.0333879
OdomCount 220 & avg odom time 0.035137 ms ++++++++++++++++++++++
1317357784.694147109 WriteOdom laser_odom_to_init
1317357784.694147109 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.196074 ms 
mapping data assosiation time 14.875502 ms 
mapping solver time 18.212724 ms 
--------------------stamp1317357784.797993898
[0m[ INFO] [1718804501.615404266, 1317357784.799146344]: Received 119441 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804501.615447233, 1317357784.799146344]: Data saved to 1317357784590323.pcd[0m
sort q time 4.655102 
seperate points time 10.313073 
scan registration time 25.084599 ms *************
-----t: 0.0217525
OdomCount 221 & avg odom time 0.035077 ms ++++++++++++++++++++++
build tree time 23.697446 ms 
1317357784.797993898 WriteOdom laser_odom_to_init
1317357784.797993898 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.062838 ms 
mapping solver time 24.154905 ms 
mapping data assosiation time 19.488126 ms 
--------------------stamp1317357784.901865959
points size 84756 
prepare time 10.465175 
mapping solver time 20.591862 ms 
mapping optimization time 108.061091 
add points time 0.595148 ms
filter time 8.946535 ms 
map prepare time 2.736616 ms
map corner num 89013  surf num 30966 
publication time 16.532896 ms 
whole laserOdometry time 16.544289 ms 
 
build tree time 23.856632 ms 
mapping data assosiation time 19.200683 ms 
mapping solver time 19.324249 ms 
--------------------stamp1317357785.005759954
points size 85410 
prepare time 10.497950 
mapping data assosiation time 19.787111 ms 
sort q time 4.673356 
seperate points time 10.046918 
mapping solver time 19.301127 ms 
filter time 8.241034 ms 
build tree time 22.213891 ms 
mapping data assosiation time 19.174524 ms 
--------------------stamp1317357785.109654903
points size 85930 
sort q time 5.016780 
seperate points time 11.080706 
mapping data assosiation time 19.240101 ms 
scan registration time 25.659865 ms *************
-----t: 0.0293306
OdomCount 224 & avg odom time 0.035095 ms ++++++++++++++++++++++
1317357785.109654903 WriteOdom laser_odom_to_init
mapping solver time 19.581274 ms 
mapping optimization time 101.017940 
add points time 0.554696 ms
filter time 24.509945 ms 
map prepare time 2.540165 ms
map corner num 89776  surf num 31259 
build tree time 24.767924 ms 
points size 83743 
mapping data assosiation time 19.109166 ms 
prepare time 18.798122 
sort q time 4.738750 
seperate points time 9.401930 
scan registration time 31.876435 ms *************
-----t: 0.0409608
OdomCount 225 & avg odom time 0.035121 ms ++++++++++++++++++++++
1317357785.213526010 WriteOdom laser_odom_to_init
1317357785.213526010 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.572924 ms 
mapping solver time 14.851109 ms 
filter time 5.649998 ms 
mapping pub time 1.941788 ms 
whole mapping time 112.241742 ms +++++
mappingCount 220 & avg mapping time 93.659079 ms ++++++++++++++++++++++
1317357785.109654903 WriteOdom aft_mapped_to_init
--------------------stamp1317357785.317420959
points size 82874 
prepare time 9.396504 
mapping data assosiation time 16.192911 ms 
scan registration time 23.696471 ms *************
-----t: 0.0336934
OdomCount 226 & avg odom time 0.035114 ms ++++++++++++++++++++++
publication time 10.521716 ms 
whole laserOdometry time 10.537037 ms 
 
mapping data assosiation time 15.397856 ms 
mapping solver time 15.120116 ms 
filter time 5.756182 ms 
[0m[ INFO] [1718804502.210940015, 1317357785.400859966]: Received 122175 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804502.210997516, 1317357785.400859966]: Data saved to 1317357785213526.pcd[0m
mapping pub time 7.635831 ms 
whole mapping time 104.775241 ms +++++
mappingCount 221 & avg mapping time 93.709401 ms ++++++++++++++++++++++
1317357785.213526011 WriteOdom aft_mapped_to_init
map prepare time 2.540907 ms
map corner num 90616  surf num 31559 
--------------------stamp1317357785.421313047
points size 82685 
build tree time 24.508748 ms 
prepare time 12.850762 
sort q time 4.479941 
seperate points time 10.446813 
publication time 6.654721 ms 
-----t: 0.0279717
whole laserOdometry time 8.004001 ms 
 
OdomCount 227 & avg odom time 0.035083 ms ++++++++++++++++++++++
1317357785.421313047 WriteOdom laser_odom_to_init
1317357785.421313047 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 14.980456 ms 
mapping solver time 14.702660 ms 
mapping optimization time 92.773224 
add points time 0.514468 ms
filter time 5.997756 ms 
mapping pub time 1.898893 ms 
whole mapping time 103.775202 ms +++++
mappingCount 222 & avg mapping time 93.754762 ms ++++++++++++++++++++++
--------------------stamp1317357785.525182962
points size 83395 
mapping data assosiation time 18.509572 ms 
sort q time 4.923488 
seperate points time 11.239414 
publication time 5.695707 ms 
whole laserOdometry time 5.710416 ms 
 
mapping solver time 20.536051 ms 
mapping data assosiation time 17.464527 ms 
-----t: 0.0363611
OdomCount 228 & avg odom time 0.035089 ms ++++++++++++++++++++++
1317357785.525182962 WriteOdom laser_odom_to_init
1317357785.525182962 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.849736 ms 
filter time 3.877232 ms 
mapping pub time 1.824928 ms 
whole mapping time 93.750659 ms +++++
mappingCount 223 & avg mapping time 93.754756 ms ++++++++++++++++++++++
1317357785.421313047 WriteOdom aft_mapped_to_init
build tree time 9.558362 ms 
--------------------stamp1317357785.629054069
mapping data assosiation time 17.670163 ms 
prepare time 13.269547 
sort q time 4.526552 
seperate points time 10.413903 
mapping data assosiation time 16.195742 ms 
mapping solver time 17.369487 ms 
mapping optimization time 84.545134 
add points time 0.612149 ms
map prepare time 1.877794 ms
map corner num 47742  surf num 17489 
build tree time 10.164302 ms 
mapping data assosiation time 16.671363 ms 
points size 82142 
prepare time 12.988240 
mapping solver time 25.952253 ms 
publication time 5.017880 ms 
whole laserOdometry time 5.030019 ms 
 
mapping solver time 20.914235 ms 
mapping optimization time 96.411921 
add points time 0.609520 ms
mapping pub time 1.997076 ms 
whole mapping time 105.116948 ms +++++
mappingCount 225 & avg mapping time 93.804804 ms ++++++++++++++++++++++
-----t: 0.0626459
OdomCount 230 & avg odom time 0.035208 ms ++++++++++++++++++++++
1317357785.629054070 WriteOdom aft_mapped_to_init
1317357785.732949018 WriteOdom laser_odom_to_init
1317357785.732949018 WriteOdom aft_mapped_to_init_high_frec
build tree time 10.391342 ms 
--------------------stamp1317357785.836868047
mapping data assosiation time 18.807668 ms 
points size 84500 
prepare time 10.732153 
sort q time 5.156810 
seperate points time 10.594126 
scan registration time 25.272935 ms *************
-----t: 0.0241405
OdomCount 231 & avg odom time 0.035160 ms ++++++++++++++++++++++
publication time 9.716432 ms 
whole laserOdometry time 9.732621 ms 
 
mapping solver time 11.887810 ms 
mapping optimization time 87.365430 
add points time 0.701522 ms
1317357785.732949018 WriteOdom aft_mapped_to_init
map prepare time 2.267718 ms
map corner num 48811  surf num 17985 
build tree time 9.024575 ms 
--------------------stamp1317357785.940813064
points size 87218 
prepare time 10.033180 
sort q time 5.364309 
seperate points time 12.458881 
mapping solver time 24.508210 ms 
scan registration time 26.413976 ms *************
publication time 7.981942 ms 
whole laserOdometry time 8.008824 ms 
 
-----t: 0.0509237
OdomCount 232 & avg odom time 0.035228 ms ++++++++++++++++++++++
1317357785.940813064 WriteOdom laser_odom_to_init
1317357785.940813064 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.353209 ms 
mapping pub time 2.035008 ms 
whole mapping time 103.501180 ms +++++
mappingCount 227 & avg mapping time 93.867344 ms ++++++++++++++++++++++
build tree time 9.528808 ms 
--------------------stamp1317357786.044755935
points size 88310 
prepare time 9.846839 
sort q time 5.271132 
seperate points time 11.060006 
mapping solver time 25.539229 ms 
publication time 6.136258 ms 
whole laserOdometry time 6.170870 ms 
 
mapping data assosiation time 21.487505 ms 
mapping solver time 22.374263 ms 
filter time 4.737547 ms 
mapping pub time 1.977319 ms 
whole mapping time 108.697002 ms +++++
mappingCount 228 & avg mapping time 93.932408 ms ++++++++++++++++++++++
1317357785.940813065 WriteOdom aft_mapped_to_init
build tree time 9.718455 ms 
--------------------stamp1317357786.148653984
points size 87602 
sort q time 4.857868 
seperate points time 9.789493 
scan registration time 24.245608 ms *************
-----t: 0.0217405
OdomCount 234 & avg odom time 0.035294 ms ++++++++++++++++++++++
1317357786.148653984 WriteOdom laser_odom_to_init
1317357786.148653984 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.502689 ms 
publication time 5.474094 ms 
whole laserOdometry time 5.487461 ms 
 
mapping data assosiation time 19.900962 ms 
mapping solver time 19.568425 ms 
filter time 5.292110 ms 
mapping pub time 2.033919 ms 
whole mapping time 106.688092 ms +++++
mappingCount 229 & avg mapping time 93.988129 ms ++++++++++++++++++++++
1317357786.044755936 WriteOdom aft_mapped_to_init
build tree time 10.807207 ms 
points size 84394 
prepare time 9.607299 
sort q time 5.101075 
seperate points time 10.698323 
-----t: 0.0251561
OdomCount 235 & avg odom time 0.035251 ms ++++++++++++++++++++++
1317357786.252547979 WriteOdom laser_odom_to_init
1317357786.252547979 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.535609 ms 
publication time 5.608374 ms 
whole laserOdometry time 5.622080 ms 
 
mapping data assosiation time 18.448485 ms 
mapping solver time 18.482968 ms 
mapping optimization time 91.035755 
add points time 0.622055 ms
filter time 3.827730 ms 
mapping pub time 2.050517 ms 
whole mapping time 99.338737 ms +++++
mappingCount 230 & avg mapping time 94.011415 ms ++++++++++++++++++++++
1317357786.148653984 WriteOdom aft_mapped_to_init
build tree time 9.893690 ms 
--------------------stamp1317357786.356437921
points size 81532 
sort q time 4.539386 
seperate points time 10.597159 
scan registration time 26.782930 ms *************
mapping data assosiation time 18.368067 ms 
-----t: 0.0359657
OdomCount 236 & avg odom time 0.035254 ms ++++++++++++++++++++++
1317357786.356437921 WriteOdom laser_odom_to_init
1317357786.356437921 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.390009 ms 
filter time 3.651072 ms 
[0m[ INFO] [1718804503.241588341, 1317357786.427750815]: Received 70040 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804503.241627916, 1317357786.427750815]: Data saved to 1317357786252547.pcd[0m
mapping pub time 2.729806 ms 
whole mapping time 95.100800 ms +++++
mappingCount 231 & avg mapping time 94.016152 ms ++++++++++++++++++++++
1317357786.252547979 WriteOdom aft_mapped_to_init
build tree time 10.314248 ms 
--------------------stamp1317357786.460309982
points size 79352 
sort q time 4.475398 
seperate points time 9.788285 
scan registration time 24.918573 ms *************
mapping solver time 27.045674 ms 
mapping data assosiation time 19.193949 ms 
mapping solver time 14.891365 ms 
mapping optimization time 93.096685 
add points time 0.565249 ms
filter time 3.895282 ms 
mapping pub time 2.047817 ms 
whole mapping time 102.010060 ms +++++
mappingCount 232 & avg mapping time 94.050624 ms ++++++++++++++++++++++
1317357786.356437922 WriteOdom aft_mapped_to_init
build tree time 9.991928 ms 
--------------------stamp1317357786.564181089
points size 78510 
prepare time 10.015496 
sort q time 4.727975 
seperate points time 9.416212 
publication time 5.197325 ms 
whole laserOdometry time 5.212135 ms 
 
mapping data assosiation time 19.068005 ms 
-----t: 0.0333743
OdomCount 238 & avg odom time 0.035211 ms ++++++++++++++++++++++
1317357786.564181089 WriteOdom laser_odom_to_init
1317357786.564181089 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.656042 ms 
mapping optimization time 82.075541 
add points time 0.590141 ms
map prepare time 1.568931 ms
map corner num 52088  surf num 19016 
build tree time 11.694793 ms 
mapping data assosiation time 15.456711 ms 
--------------------stamp1317357786.668050050
points size 76394 
mapping solver time 23.656551 ms 
sort q time 4.008790 
seperate points time 8.417689 
publication time 5.162858 ms 
whole laserOdometry time 5.178593 ms 
 
mapping data assosiation time 19.084619 ms 
mapping solver time 17.434410 ms 
mapping optimization time 88.372394 
add points time 0.698412 ms
map prepare time 1.620189 ms
map corner num 52445  surf num 19092 
build tree time 11.029236 ms 
mapping data assosiation time 15.757772 ms 
--------------------stamp1317357786.771943092
points size 70023 
sort q time 3.706037 
seperate points time 8.171985 
scan registration time 20.500957 ms *************
-----t: 0.0209855
OdomCount 240 & avg odom time 0.035103 ms ++++++++++++++++++++++
publication time 4.494857 ms 
whole laserOdometry time 4.508955 ms 
 
mapping solver time 18.986299 ms 
filter time 3.660780 ms 
mapping pub time 1.817575 ms 
whole mapping time 93.845614 ms +++++
mappingCount 235 & avg mapping time 94.043141 ms ++++++++++++++++++++++
1317357786.668050051 WriteOdom aft_mapped_to_init
build tree time 12.060807 ms 
mapping data assosiation time 13.424871 ms 
mapping solver time 18.529024 ms 
points size 63713 
prepare time 8.695211 
mapping data assosiation time 15.647894 ms 
mapping solver time 13.493260 ms 
mapping optimization time 74.145693 
add points time 0.563146 ms
publication time 3.925763 ms 
whole laserOdometry time 3.940352 ms 
 
-----t: 0.0192622
OdomCount 241 & avg odom time 0.035037 ms ++++++++++++++++++++++
1317357786.875859975 WriteOdom laser_odom_to_init
1317357786.875859975 WriteOdom aft_mapped_to_init_high_frec
filter time 5.206920 ms 
build tree time 13.952576 ms 
mapping data assosiation time 16.282682 ms 
mapping solver time 22.084792 ms 
--------------------stamp1317357786.979782104
points size 60096 
sort q time 3.441200 
seperate points time 7.020944 
mapping solver time 18.480084 ms 
mapping optimization time 88.380566 
add points time 0.696081 ms
-----t: 0.0307357
OdomCount 242 & avg odom time 0.035019 ms ++++++++++++++++++++++
1317357786.979782104 WriteOdom laser_odom_to_init
1317357786.979782104 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.863870 ms
map corner num 53338  surf num 19274 
build tree time 14.382307 ms 
mapping data assosiation time 15.787907 ms 
mapping solver time 21.610019 ms 
points size 58399 
prepare time 8.284353 
mapping data assosiation time 16.212812 ms 
sort q time 2.821986 
seperate points time 6.601011 
mapping solver time 14.326542 ms 
mapping optimization time 83.253758 
add points time 0.571883 ms
publication time 3.150272 ms 
whole laserOdometry time 3.156677 ms 
 
-----t: 0.0324127
OdomCount 243 & avg odom time 0.035009 ms ++++++++++++++++++++++
map prepare time 1.733386 ms
map corner num 53636  surf num 19332 
build tree time 14.655080 ms 
mapping data assosiation time 14.528666 ms 
mapping solver time 13.471553 ms 
--------------------stamp1317357787.187691926
prepare time 6.079480 
mapping solver time 11.732036 ms 
mapping optimization time 67.968934 
add points time 0.544396 ms
sort q time 3.574342 
seperate points time 7.196579 
scan registration time 15.205865 ms *************
1317357787.083724976 WriteOdom aft_mapped_to_init
publication time 3.981296 ms 
whole laserOdometry time 3.995152 ms 
 
-----t: 0.0282784
OdomCount 244 & avg odom time 0.034981 ms ++++++++++++++++++++++
map prepare time 1.653547 ms
map corner num 53940  surf num 19394 
mapping data assosiation time 17.524411 ms 
mapping solver time 23.313691 ms 
--------------------stamp1317357787.291682958
points size 59046 
sort q time 3.035448 
seperate points time 7.224756 
mapping solver time 20.231675 ms 
filter time 5.418821 ms 
mapping pub time 1.456367 ms 
whole mapping time 102.635456 ms +++++
mappingCount 240 & avg mapping time 93.974265 ms ++++++++++++++++++++++
1317357787.187691927 WriteOdom aft_mapped_to_init
-----t: 0.0333658
OdomCount 245 & avg odom time 0.034974 ms ++++++++++++++++++++++
1317357787.291682958 WriteOdom laser_odom_to_init
1317357787.291682958 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.513557 ms
map corner num 54237  surf num 19470 
mapping data assosiation time 13.796527 ms 
mapping solver time 19.007645 ms 
points size 61761 
prepare time 8.257829 
mapping data assosiation time 20.267546 ms 
sort q time 3.482380 
seperate points time 8.036409 
scan registration time 19.440902 ms *************
mapping solver time 18.892650 ms 
mapping optimization time 84.711911 

publication time 12.438937 ms 
whole laserOdometry time 12.452391 ms 
 
mapping pub time 6.202076 ms 
whole mapping time 98.590180 ms +++++
mappingCount 241 & avg mapping time 93.993441 ms ++++++++++++++++++++++
1317357787.291682959 WriteOdom aft_mapped_to_init
-----t: 0.0461339
OdomCount 246 & avg odom time 0.035020 ms ++++++++++++++++++++++
1317357787.395697116 WriteOdom laser_odom_to_init
1317357787.395697116 WriteOdom aft_mapped_to_init_high_frec
build tree time 12.456458 ms 
mapping data assosiation time 16.129076 ms 
--------------------stamp1317357787.499711036
mapping solver time 19.870719 ms 
points size 64580 
scan registration time 20.873184 ms *************
publication time 5.206699 ms 
whole laserOdometry time 5.232921 ms 
 
-----t: 0.028205
OdomCount 247 & avg odom time 0.034992 ms ++++++++++++++++++++++
1317357787.499711036 WriteOdom laser_odom_to_init
1317357787.499711036 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.433930 ms 
mapping optimization time 86.897013 
add points time 0.561116 ms
map prepare time 1.798472 ms
map corner num 55023  surf num 19775 
build tree time 10.483400 ms 
mapping data assosiation time 15.298345 ms 
mapping solver time 19.797191 ms 
points size 66265 
prepare time 10.753468 
scan registration time 23.723907 ms *************
mapping solver time 18.126066 ms 
filter time 4.915851 ms 
map prepare time 1.632510 ms
map corner num 55496  surf num 20010 
build tree time 12.111934 ms 
mapping data assosiation time 18.233467 ms 
mapping solver time 21.399964 ms 
points size 67554 
mapping data assosiation time 19.236812 ms 
scan registration time 23.613180 ms *************
mapping solver time 15.387228 ms 
mapping optimization time 87.533014 
-----t: 0.0194245
OdomCount 249 & avg odom time 0.034907 ms ++++++++++++++++++++++
1317357787.707838058 WriteOdom laser_odom_to_init
1317357787.707838058 WriteOdom aft_mapped_to_init_high_frec
add points time 0.701435 ms
publication time 5.725329 ms 
whole laserOdometry time 5.740621 ms 
 
map prepare time 1.667729 ms
map corner num 56001  surf num 20222 
build tree time 12.471119 ms 
mapping data assosiation time 18.017702 ms 
mapping solver time 23.600125 ms 
--------------------stamp1317357787.811949014
points size 69497 
mapping data assosiation time 18.634978 ms 
sort q time 3.613120 
seperate points time 8.371439 
mapping solver time 16.780168 ms 
mapping optimization time 90.517125 
-----t: 0.0193088
OdomCount 250 & avg odom time 0.034845 ms ++++++++++++++++++++++
1317357787.811949014 WriteOdom laser_odom_to_init
1317357787.811949014 WriteOdom aft_mapped_to_init_high_frec
add points time 0.659475 ms
publication time 5.902967 ms 
whole laserOdometry time 5.918113 ms 
 
map prepare time 1.847536 ms
map corner num 56510  surf num 20379 
build tree time 10.732059 ms 
mapping data assosiation time 17.269510 ms 
mapping solver time 21.301321 ms 
--------------------stamp1317357787.916058063
points size 71566 
prepare time 9.156764 
sort q time 3.896734 
seperate points time 8.946484 
mapping solver time 20.789674 ms 
mapping optimization time 90.209007 
add points time 0.653472 ms
[0m[ INFO] [1718804504.762347310, 1317357787.950113636]: Received 77547 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804504.762386255, 1317357787.950113636]: Data saved to 1317357787811949.pcd[0m
publication time 5.416693 ms 
whole laserOdometry time 5.426996 ms 
 
build tree time 11.595690 ms 
mapping data assosiation time 16.748885 ms 
--------------------stamp1317357788.020168066
points size 73202 
sort q time 3.722742 
seperate points time 8.964186 
scan registration time 24.421509 ms *************
mapping data assosiation time 22.458598 ms 
publication time 4.966135 ms 
whole laserOdometry time 4.976440 ms 
 
-----t: 0.029617
OdomCount 252 & avg odom time 0.034804 ms ++++++++++++++++++++++
1317357788.020168066 WriteOdom laser_odom_to_init
1317357788.020168066 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.401359 ms 
mapping optimization time 97.725137 
filter time 4.938917 ms 
mapping pub time 1.584504 ms 
whole mapping time 107.217579 ms +++++
mappingCount 247 & avg mapping time 94.103270 ms ++++++++++++++++++++++
1317357787.916058064 WriteOdom aft_mapped_to_init
build tree time 13.033254 ms 
mapping data assosiation time 20.122848 ms 
--------------------stamp1317357788.124279022
points size 73810 
prepare time 11.473143 
mapping solver time 24.946641 ms 
sort q time 3.753648 
seperate points time 9.153557 
publication time 6.016098 ms 
whole laserOdometry time 6.028140 ms 
 
mapping data assosiation time 24.172551 ms 
-----t: 0.0237258
OdomCount 253 & avg odom time 0.034760 ms ++++++++++++++++++++++
1317357788.124279022 WriteOdom laser_odom_to_init
1317357788.124279022 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.643562 ms 
filter time 4.357940 ms 
mapping pub time 1.656419 ms 
whole mapping time 107.634005 ms +++++
mappingCount 248 & avg mapping time 94.157846 ms ++++++++++++++++++++++
1317357788.020168066 WriteOdom aft_mapped_to_init
build tree time 11.502633 ms 
mapping data assosiation time 23.017387 ms 
--------------------stamp1317357788.228389978
points size 75142 
prepare time 9.689699 
sort q time 4.377658 
seperate points time 10.840141 
scan registration time 25.077114 ms *************
mapping solver time 31.050631 ms 
-----t: 0.0270501
OdomCount 254 & avg odom time 0.034730 ms ++++++++++++++++++++++
1317357788.228389978 WriteOdom laser_odom_to_init
1317357788.228389978 WriteOdom aft_mapped_to_init_high_frec
publication time 5.520955 ms 
whole laserOdometry time 5.538996 ms 
 
mapping solver time 19.068210 ms 
filter time 4.462912 ms 
mapping pub time 1.694724 ms 
whole mapping time 118.413053 ms +++++
mappingCount 249 & avg mapping time 94.255276 ms ++++++++++++++++++++++
1317357788.124279022 WriteOdom aft_mapped_to_init
build tree time 10.819535 ms 
--------------------stamp1317357788.332499980
points size 75372 
prepare time 11.618024 
sort q time 4.173249 
seperate points time 10.007212 
mapping solver time 27.088593 ms 
publication time 8.580574 ms 
whole laserOdometry time 8.595460 ms 
 
mapping data assosiation time 20.413028 ms 
mapping solver time 18.481279 ms 
filter time 4.031984 ms 
mapping pub time 1.794586 ms 
whole mapping time 106.125962 ms +++++
mappingCount 250 & avg mapping time 94.302827 ms ++++++++++++++++++++++
1317357788.228389978 WriteOdom aft_mapped_to_init
map prepare time 1.800993 ms
map corner num 59017  surf num 21227 
build tree time 12.928406 ms 
--------------------stamp1317357788.436585903
points size 75720 
sort q time 4.838868 
seperate points time 9.456274 
mapping solver time 23.744833 ms 
-----t: 0.0354848
OdomCount 256 & avg odom time 0.034691 ms ++++++++++++++++++++++
1317357788.436585903 WriteOdom laser_odom_to_init
1317357788.436585903 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.306283 ms 
mapping solver time 15.286545 ms 
mapping optimization time 96.411131 
add points time 0.875052 ms
map prepare time 2.063118 ms
map corner num 59466  surf num 21390 
build tree time 11.877311 ms 
points size 77297 
prepare time 11.774579 
mapping data assosiation time 23.888620 ms 
sort q time 4.216884 
seperate points time 9.966554 
-----t: 0.0314035
OdomCount 257 & avg odom time 0.034678 ms ++++++++++++++++++++++
mapping solver time 30.532252 ms 
mapping data assosiation time 18.605538 ms 
mapping solver time 19.233265 ms 
mapping optimization time 105.301780 
add points time 0.724405 ms
filter time 4.288878 ms 
mapping pub time 1.744326 ms 
whole mapping time 114.171386 ms +++++
mappingCount 252 & avg mapping time 94.429569 ms ++++++++++++++++++++++
1317357788.436585903 WriteOdom aft_mapped_to_init
--------------------stamp1317357788.644714117
build tree time 15.128786 ms 
sort q time 4.262157 
seperate points time 9.978700 
scan registration time 28.072617 ms *************
-----t: 0.0290511
OdomCount 258 & avg odom time 0.034657 ms ++++++++++++++++++++++
1317357788.644714117 WriteOdom laser_odom_to_init
1317357788.644714117 WriteOdom aft_mapped_to_init_high_frec
publication time 8.941149 ms 
whole laserOdometry time 9.042356 ms 
 
mapping solver time 27.600835 ms 
mapping data assosiation time 19.627405 ms 
mapping solver time 15.709367 ms 
filter time 5.502941 ms 
points size 77854 
sort q time 5.100959 
seperate points time 9.777251 
build tree time 15.771198 ms 
scan registration time 25.288221 ms *************
-----t: 0.0282734
OdomCount 259 & avg odom time 0.034632 ms ++++++++++++++++++++++
publication time 5.313417 ms 
whole laserOdometry time 5.322567 ms 
 
1317357788.748776912 WriteOdom laser_odom_to_init
1317357788.748776912 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.967830 ms 
mapping solver time 25.655335 ms 
mapping data assosiation time 19.881352 ms 
--------------------stamp1317357788.852840900
points size 78573 
prepare time 9.535240 
mapping solver time 25.523097 ms 
mapping optimization time 112.327973 
add points time 1.031443 ms
map prepare time 2.538906 ms
map corner num 60765  surf num 21838 
publication time 8.030905 ms 
whole laserOdometry time 8.049332 ms 
 
-----t: 0.0275118
OdomCount 260 & avg odom time 0.034604 ms ++++++++++++++++++++++
mapping data assosiation time 20.228972 ms 
mapping solver time 21.146223 ms 
--------------------stamp1317357788.956902027
mapping data assosiation time 23.236165 ms 
sort q time 5.152483 
seperate points time 9.593224 
mapping solver time 16.530801 ms 
mapping optimization time 97.588330 
add points time 0.768035 ms
scan registration time 25.936023 ms *************
1317357788.748776913 WriteOdom aft_mapped_to_init
1317357788.956902027 WriteOdom laser_odom_to_init
1317357788.956902027 WriteOdom aft_mapped_to_init_high_frec
build tree time 15.238164 ms 
mapping data assosiation time 20.560828 ms 
mapping solver time 25.436071 ms 
points size 80674 
prepare time 14.377173 
sort q time 4.738903 
seperate points time 10.981381 
scan registration time 32.706514 ms *************
-----t: 0.0263759
OdomCount 262 & avg odom time 0.034592 ms ++++++++++++++++++++++
1317357789.060966014 WriteOdom laser_odom_to_init
1317357789.060966014 WriteOdom aft_mapped_to_init_high_frec
publication time 7.270112 ms 
whole laserOdometry time 7.279197 ms 
 
filter time 5.924483 ms 
map prepare time 2.176826 ms
map corner num 61565  surf num 22096 
build tree time 13.277179 ms 
mapping data assosiation time 20.247183 ms 
--------------------stamp1317357789.165007114
points size 81719 
prepare time 12.540870 
mapping solver time 26.190417 ms 
sort q time 4.853655 
seperate points time 11.249628 
scan registration time 28.500038 ms *************
publication time 8.826394 ms 
whole laserOdometry time 8.840017 ms 
 
mapping data assosiation time 26.167323 ms 
mapping solver time 19.535897 ms 
mapping optimization time 106.779978 
add points time 0.803031 ms
map prepare time 2.328765 ms
map corner num 62011  surf num 22276 
build tree time 13.915688 ms 
points size 82231 
prepare time 15.634925 
sort q time 4.486584 
seperate points time 10.818816 
scan registration time 34.036187 ms *************
-----t: 0.0272825
OdomCount 264 & avg odom time 0.034670 ms ++++++++++++++++++++++
mapping solver time 59.232632 ms 
mapping data assosiation time 21.978110 ms 
points size 82838 
prepare time 11.203523 
sort q time 5.025460 
seperate points time 10.688514 
mapping pub time 1.895081 ms 
whole mapping time 161.145740 ms +++++
mappingCount 258 & avg mapping time 95.150586 ms ++++++++++++++++++++++
build tree time 13.347032 ms 
mapping data assosiation time 21.773521 ms 
mapping solver time 24.948617 ms 
--------------------stamp1317357789.477024078
points size 84022 
sort q time 4.301921 
seperate points time 9.060209 
publication time 6.579711 ms 
whole laserOdometry time 6.595411 ms 
 
mapping solver time 20.382073 ms 
mapping optimization time 109.717419 
add points time 0.833923 ms
drop lidar frame in mapping for real time performance 
map prepare time 2.643900 ms
map corner num 63143  surf num 22880 
-----t: 0.0411783
OdomCount 266 & avg odom time 0.034717 ms ++++++++++++++++++++++
1317357789.477024078 WriteOdom laser_odom_to_init
1317357789.477024078 WriteOdom aft_mapped_to_init_high_frec
build tree time 12.421875 ms 
--------------------stamp1317357789.580991029
points size 85585 
sort q time 5.565356 
seperate points time 10.451840 
mapping data assosiation time 25.966210 ms 
publication time 5.924452 ms 
whole laserOdometry time 5.939947 ms 
 
-----t: 0.0349317
OdomCount 267 & avg odom time 0.034717 ms ++++++++++++++++++++++
1317357789.580991029 WriteOdom laser_odom_to_init
1317357789.580991029 WriteOdom aft_mapped_to_init_high_frec
filter time 4.875002 ms 
map prepare time 2.431387 ms
map corner num 63698  surf num 23106 
build tree time 12.824790 ms 
--------------------stamp1317357789.684909105
points size 87543 
sort q time 4.875361 
seperate points time 11.324793 
scan registration time 29.496531 ms *************
-----t: 0.0313646
OdomCount 268 & avg odom time 0.034705 ms ++++++++++++++++++++++
mapping data assosiation time 24.003492 ms 
mapping solver time 17.147897 ms 
mapping optimization time 111.517269 
add points time 0.877799 ms
mapping pub time 7.768089 ms 
whole mapping time 128.702596 ms +++++
mappingCount 261 & avg mapping time 95.458412 ms ++++++++++++++++++++++
points size 88625 
sort q time 5.218294 
seperate points time 11.687556 
scan registration time 29.555287 ms *************
mapping data assosiation time 26.749017 ms 
publication time 8.293529 ms 
whole laserOdometry time 8.309232 ms 
 
-----t: 0.0466935
OdomCount 269 & avg odom time 0.034749 ms ++++++++++++++++++++++
1317357789.788779973 WriteOdom laser_odom_to_init
1317357789.788779973 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.493242 ms 
mapping data assosiation time 23.630787 ms 
--------------------stamp1317357789.892626047
points size 89075 
filter time 4.798708 ms 
scan registration time 27.327303 ms *************
build tree time 15.821508 ms 
-----t: 0.0469728
OdomCount 270 & avg odom time 0.034795 ms ++++++++++++++++++++++
mapping data assosiation time 26.424041 ms 
mapping solver time 28.283784 ms 
--------------------stamp1317357789.996402025
points size 89606 
mapping data assosiation time 24.811135 ms 
sort q time 5.015336 
seperate points time 11.563354 
scan registration time 30.588817 ms *************
mapping solver time 20.635410 ms 
publication time 8.060075 ms 
whole laserOdometry time 8.079738 ms 
 
map prepare time 2.316573 ms
map corner num 65343  surf num 23755 
build tree time 13.536827 ms 
mapping data assosiation time 20.589900 ms 
--------------------stamp1317357790.100080966
points size 90398 
mapping solver time 28.275108 ms 
sort q time 4.828401 
seperate points time 11.459199 
mapping data assosiation time 25.812313 ms 
-----t: 0.035795
OdomCount 272 & avg odom time 0.034801 ms ++++++++++++++++++++++
1317357790.100080966 WriteOdom laser_odom_to_init
1317357790.100080966 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.851243 ms 
mapping optimization time 109.453887 
add points time 0.793828 ms
mapping pub time 2.096519 ms 
whole mapping time 119.780381 ms +++++
mappingCount 264 & avg mapping time 95.827967 ms ++++++++++++++++++++++
1317357789.892626047 WriteOdom aft_mapped_to_init
map prepare time 2.277467 ms
map corner num 65883  surf num 23982 
build tree time 13.114216 ms 
--------------------stamp1317357790.203687906
mapping data assosiation time 23.352656 ms 
points size 91578 
sort q time 4.883216 
seperate points time 11.609803 
scan registration time 31.286416 ms *************
mapping solver time 33.166924 ms 
publication time 9.805475 ms 
whole laserOdometry time 9.839433 ms 
 
mapping data assosiation time 27.715332 ms 
-----t: 0.0645103
OdomCount 273 & avg odom time 0.034910 ms ++++++++++++++++++++++
mapping solver time 30.566490 ms 
filter time 5.985490 ms 
mapping pub time 2.174762 ms 
whole mapping time 140.901812 ms +++++
mappingCount 265 & avg mapping time 95.998074 ms ++++++++++++++++++++++
1317357790.100080967 WriteOdom aft_mapped_to_init
points size 93736 
sort q time 5.408502 
seperate points time 11.008428 
build tree time 16.011913 ms 
scan registration time 30.751189 ms *************
-----t: 0.0305962
OdomCount 274 & avg odom time 0.034894 ms ++++++++++++++++++++++
1317357790.307270050 WriteOdom laser_odom_to_init
1317357790.307270050 WriteOdom aft_mapped_to_init_high_frec
publication time 7.285825 ms 
whole laserOdometry time 7.303913 ms 
 
mapping solver time 28.734339 ms 
--------------------stamp1317357790.410876989
points size 94354 
prepare time 12.501729 
sort q time 5.194922 
seperate points time 11.449747 
filter time 5.806938 ms 
map prepare time 2.486566 ms
map corner num 67211  surf num 24614 
build tree time 15.797652 ms 
1317357790.410876989 WriteOdom laser_odom_to_init
1317357790.410876989 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357790.514530897
points size 94397 
mapping solver time 29.160005 ms 
prepare time 13.864501 
sort q time 5.370275 
seperate points time 12.635252 
mapping solver time 34.327060 ms 
-----t: 0.0563364
OdomCount 276 & avg odom time 0.035074 ms ++++++++++++++++++++++
mapping optimization time 137.347205 
1317357790.514530897 WriteOdom laser_odom_to_init
1317357790.514530897 WriteOdom aft_mapped_to_init_high_frec
add points time 0.734270 ms
map prepare time 2.452701 ms
map corner num 67755  surf num 24875 
--------------------stamp1317357790.618207931
points size 94537 
sort q time 5.468014 
seperate points time 12.000681 
publication time 8.513315 ms 
whole laserOdometry time 8.520513 ms 
 
-----t: 0.0465648
OdomCount 277 & avg odom time 0.035116 ms ++++++++++++++++++++++
mapping data assosiation time 31.012627 ms 
points size 94609 
prepare time 12.193176 
mapping solver time 32.296519 ms 
mapping optimization time 143.372575 
add points time 0.752269 ms
filter time 6.121523 ms 
-----t: 0.0425205
OdomCount 278 & avg odom time 0.035142 ms ++++++++++++++++++++++
1317357790.721911907 WriteOdom laser_odom_to_init
1317357790.721911907 WriteOdom aft_mapped_to_init_high_frec
publication time 9.606865 ms 
whole laserOdometry time 9.614426 ms 
 
build tree time 18.764471 ms 
mapping data assosiation time 30.085491 ms 
--------------------stamp1317357790.825639009
points size 94868 
sort q time 5.677289 
seperate points time 10.961622 
scan registration time 28.237476 ms *************
mapping data assosiation time 28.664380 ms 
mapping solver time 25.052353 ms 
mapping optimization time 128.900822 
add points time 0.747263 ms
drop lidar frame in mapping for real time performance 
map prepare time 2.708590 ms
map corner num 68871  surf num 25397 
build tree time 14.518634 ms 
--------------------stamp1317357790.929389953
points size 95420 
mapping data assosiation time 26.915005 ms 
sort q time 6.425468 
seperate points time 11.742740 
publication time 8.012891 ms 
whole laserOdometry time 8.029788 ms 
 
mapping solver time 31.938379 ms 
-----t: 0.0450628
OdomCount 280 & avg odom time 0.035262 ms ++++++++++++++++++++++
1317357790.929389953 WriteOdom laser_odom_to_init
1317357790.929389953 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.404715 ms 
mapping solver time 23.905519 ms 
filter time 6.441425 ms 
mapping pub time 2.216033 ms 
whole mapping time 137.766241 ms +++++
mappingCount 270 & avg mapping time 96.871698 ms ++++++++++++++++++++++
1317357790.721911907 WriteOdom aft_mapped_to_init
points size 95726 
prepare time 13.007378 
build tree time 16.986452 ms 
scan registration time 38.752558 ms *************
-----t: 0.0370167
OdomCount 281 & avg odom time 0.035268 ms ++++++++++++++++++++++
publication time 10.953582 ms 
whole laserOdometry time 10.971487 ms 
 
mapping data assosiation time 30.372025 ms 
mapping solver time 23.608053 ms 
--------------------stamp1317357791.136941909
mapping data assosiation time 25.961058 ms 
prepare time 13.819202 
mapping solver time 18.615367 ms 
sort q time 5.149576 
seperate points time 12.240796 
mapping optimization time 117.143881 
add points time 0.747537 ms
map prepare time 3.123528 ms
map corner num 69933  surf num 25822 
publication time 10.355844 ms 
whole laserOdometry time 10.369775 ms 
 
mapping data assosiation time 26.675649 ms 
--------------------stamp1317357791.240741014
points size 95590 
prepare time 14.646556 
mapping solver time 32.503606 ms 
scan registration time 32.537275 ms *************
mapping data assosiation time 30.367234 ms 
publication time 9.640765 ms 
whole laserOdometry time 9.654412 ms 
 
-----t: 0.055203
OdomCount 283 & avg odom time 0.035363 ms ++++++++++++++++++++++
mapping solver time 21.670815 ms 
mapping optimization time 130.196762 
add points time 0.738497 ms
1317357791.033166885 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.661836 ms
map corner num 70404  surf num 25981 
build tree time 13.470625 ms 
--------------------stamp1317357791.344538927
points size 95675 
mapping data assosiation time 29.895784 ms 
scan registration time 28.940354 ms *************
publication time 7.571617 ms 
whole laserOdometry time 7.587214 ms 
 
mapping solver time 31.599436 ms 
-----t: 0.0542487
OdomCount 284 & avg odom time 0.035430 ms ++++++++++++++++++++++
mapping data assosiation time 28.810196 ms 
mapping solver time 18.023740 ms 
points size 95929 
mapping pub time 2.224475 ms 
whole mapping time 153.290624 ms +++++
mappingCount 273 & avg mapping time 97.364989 ms ++++++++++++++++++++++
1317357791.136941910 WriteOdom aft_mapped_to_init
map prepare time 8.812099 msscan registration time 53.743585 ms *************
1317357791.448312044 WriteOdom laser_odom_to_init
1317357791.448312044 WriteOdom aft_mapped_to_init_high_frec
build tree time 22.429875 ms 
mapping data assosiation time 26.081648 ms 
points size 95868 
mapping solver time 36.393175 ms 
sort q time 8.885502 
seperate points time 32.468886 
scan registration time 62.431232 ms *************
mapping solver time 23.456171 ms 
mapping optimization time 142.326455 
add points time 0.950942 ms
mapping pub time 2.426406 ms 
whole mapping time 175.775929 ms +++++
mappingCount 274 & avg mapping time 97.651201 ms ++++++++++++++++++++++
map prepare time 4.116281 ms
map corner num 71327  surf num 26313 
points size 95964 
build tree time 20.667098 ms 
prepare time 25.162994 
-----t: 0.108849
OdomCount 286 & avg odom time 0.035739 ms ++++++++++++++++++++++
mapping data assosiation time 34.115977 ms 
sort q time 18.005478 
seperate points time 40.711037 
scan registration time 81.104959 ms *************
points size 95905 -----t: 0.092911
OdomCount 287 & avg odom time 0.035939 ms ++++++++++++++++++++++
sort q time 9.082949 
seperate points time 23.346548 
publication time 9.200200 ms 
whole laserOdometry time 9.217317 ms 
 
add points time 1.123215 ms
drop lidar frame in mapping for real time performance 
1317357791.759782075 WriteOdom laser_odom_to_init
1317357791.759782075 WriteOdom aft_mapped_to_init_high_frec
prepare time 25.123223 
sort q time 11.123736 
seperate points time 25.155512 
--------------------stamp1317357791.967559099
prepare time 18.211275 
mapping solver time 51.918162 ms 
sort q time 10.346957 
seperate points time 26.459191 
scan registration time 56.414915 ms *************
publication time 11.390494 ms 
whole laserOdometry time 11.410347 ms 
 
-----t: 0.0439922
OdomCount 290 & avg odom time 0.036327 ms ++++++++++++++++++++++
1317357791.967559099 WriteOdom laser_odom_to_init
1317357791.967559099 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 33.991261 ms 
mapping solver time 21.916171 ms 
filter time 6.349929 ms 
points size 93729 
map prepare time 3.121005 ms
map corner num 72154  surf num 26632 
prepare time 14.040722 
sort q time 5.069899 
seperate points time 12.008356 
publication time 10.551326 ms 
mapping data assosiation time 30.702039 ms 
mapping solver time 29.222295 ms 
--------------------stamp1317357792.175479888
points size 92677 
mapping data assosiation time 27.442983 ms 
sort q time 5.206138 
seperate points time 11.658187 
scan registration time 28.615158 ms *************
mapping solver time 29.823928 ms 
mapping optimization time 136.835931 
add points time 0.774867 ms
mapping pub time 2.142796 ms 
whole mapping time 150.175686 ms +++++
mappingCount 277 & avg mapping time 98.633209 ms ++++++++++++++++++++++
build tree time 14.654103 ms 
mapping data assosiation time 23.761479 ms 
points size 92199 
prepare time 12.553304 
sort q time 6.141557 
seperate points time 13.939243 
publication time 7.889906 ms 
whole laserOdometry time 7.911074 ms 
 
mapping data assosiation time 28.637424 ms 
mapping solver time 23.446314 ms 
filter time 6.094617 ms 
mapping pub time 2.240542 ms 
whole mapping time 139.953766 ms +++++
mappingCount 278 & avg mapping time 98.781869 ms ++++++++++++++++++++++
1317357792.071502924 WriteOdom aft_mapped_to_init
--------------------stamp1317357792.383557081
points size 91975 
prepare time 11.098200 
sort q time 5.600942 
seperate points time 10.846533 
publication time 7.945067 ms 
whole laserOdometry time 7.978687 ms 
 
-----t: 0.0355469
OdomCount 294 & avg odom time 0.036469 ms ++++++++++++++++++++++
mapping solver time 30.880768 ms 
mapping data assosiation time 23.739159 ms 
points size 91507 
sort q time 5.273307 
seperate points time 10.781160 
mapping solver time 30.248192 ms 
mapping optimization time 134.331016 
filter time 7.333114 ms 
map prepare time 3.156756 ms
map corner num 73541  surf num 27097 
publication time 8.173333 ms 
whole laserOdometry time 8.195008 ms 
 
-----t: 0.0348931
OdomCount 295 & avg odom time 0.036464 ms ++++++++++++++++++++++
1317357792.487668037 WriteOdom laser_odom_to_init
1317357792.487668037 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.072059 ms 
--------------------stamp1317357792.591800928
points size 90987 
prepare time 11.233275 
sort q time 6.126450 
seperate points time 11.679969 
mapping data assosiation time 28.490677 ms 
publication time 12.006419 ms 
whole laserOdometry time 12.034898 ms 
 
-----t: 0.0449719
OdomCount 296 & avg odom time 0.036493 ms ++++++++++++++++++++++
1317357792.591800928 WriteOdom laser_odom_to_init
1317357792.591800928 WriteOdom aft_mapped_to_init_high_frec
add points time 0.759257 ms
filter time 5.424935 ms 
map prepare time 2.461273 ms
map corner num 73989  surf num 27233 
build tree time 13.906846 ms 
--------------------stamp1317357792.695983886
points size 89143 
prepare time 11.405041 
mapping data assosiation time 28.509446 ms 
scan registration time 27.561264 ms *************
publication time 7.138946 ms 
whole laserOdometry time 7.154675 ms 
 
mapping solver time 33.477290 ms 
-----t: 0.0365285
OdomCount 297 & avg odom time 0.036493 ms ++++++++++++++++++++++
1317357792.695983886 WriteOdom laser_odom_to_init
1317357792.695983886 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.359648 ms 
mapping solver time 20.967137 ms 
--------------------stamp1317357792.800190925
points size 87961 
mapping pub time 9.245976 ms 
whole mapping time 138.047767 ms +++++
mappingCount 281 & avg mapping time 99.255313 ms ++++++++++++++++++++++
1317357792.487668037 WriteOdom aft_mapped_to_init
prepare time 13.836130 
map prepare time 3.213869 ms
map corner num 74417  surf num 27370 
sort q time 4.903341 
seperate points time 11.773867 
publication time 11.880543 ms 
whole laserOdometry time 11.896154 ms 
 mapping data assosiation time 29.605699 ms 
mapping solver time 27.829001 ms 
--------------------stamp1317357792.904373884
points size 86909 
sort q time 5.380765 
seperate points time 10.563160 
publication time 7.847150 ms 
whole laserOdometry time 7.861567 ms 
 
mapping solver time 26.340988 ms 
mapping optimization time 130.522575 
map prepare time 2.652401 ms
map corner num 74928  surf num 27551 
build tree time 15.020454 ms 
mapping data assosiation time 23.540817 ms 
points size 85637 
mapping solver time 29.832522 ms 
publication time 6.581261 ms 
whole laserOdometry time 6.611040 ms 
 
-----t: 0.0392851
OdomCount 300 & avg odom time 0.036530 ms ++++++++++++++++++++++
1317357793.008517026 WriteOdom laser_odom_to_init
1317357793.008517026 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.565632 ms 
mapping pub time 2.017956 ms 
whole mapping time 134.284273 ms +++++
mappingCount 283 & avg mapping time 99.536326 ms ++++++++++++++++++++++
1317357792.800190926 WriteOdom aft_mapped_to_init
--------------------stamp1317357793.112627983
points size 84545 
prepare time 11.300325 
sort q time 4.420430 
seperate points time 9.242821 
mapping data assosiation time 29.433294 ms 
publication time 7.876138 ms 
whole laserOdometry time 7.892459 ms 
 
-----t: 0.0312208
OdomCount 301 & avg odom time 0.036512 ms ++++++++++++++++++++++
1317357793.112627983 WriteOdom laser_odom_to_init
1317357793.112627983 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.569055 ms 
mapping data assosiation time 23.010575 ms 
--------------------stamp1317357793.216732025
mapping solver time 24.397668 ms 
filter time 8.063044 ms 
mapping pub time 2.035745 ms 
whole mapping time 139.579667 ms +++++
mappingCount 284 & avg mapping time 99.677384 ms ++++++++++++++++++++++
1317357793.008517027 WriteOdom aft_mapped_to_init
sort q time 4.839610 
seperate points time 10.582155 
publication time 7.626687 ms 
whole laserOdometry time 7.641847 ms 
 
mapping data assosiation time 25.513049 ms 
-----t: 0.0590873
OdomCount 302 & avg odom time 0.036587 ms ++++++++++++++++++++++
1317357793.216732025 WriteOdom laser_odom_to_init
1317357793.216732025 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.584607 ms 
--------------------stamp1317357793.320872068
prepare time 10.595703 
mapping data assosiation time 25.558551 ms 
sort q time 5.396516 
seperate points time 10.747052 
publication time 6.197081 ms 
whole laserOdometry time 6.215797 ms 
 
filter time 7.608700 ms 
map prepare time 2.287518 ms
map corner num 76540  surf num 28098 
build tree time 14.451382 ms 
mapping data assosiation time 22.696785 ms 
--------------------stamp1317357793.425004959
points size 85564 
prepare time 10.996145 
sort q time 5.077003 
seperate points time 10.893611 
mapping solver time 35.986470 ms 
publication time 7.455524 ms 
whole laserOdometry time 7.468269 ms 
 
-----t: 0.0344583
OdomCount 304 & avg odom time 0.036599 ms ++++++++++++++++++++++
mapping data assosiation time 28.364387 ms 
mapping solver time 23.896878 ms 
mapping optimization time 127.048203 
add points time 0.786595 ms
1317357793.216732025 WriteOdom aft_mapped_to_init
--------------------stamp1317357793.529159069
points size 85517 
build tree time 20.337921 ms 
sort q time 4.692450 
seperate points time 10.887386 
mapping data assosiation time 27.640956 ms 
-----t: 0.05211
OdomCount 305 & avg odom time 0.036650 ms ++++++++++++++++++++++
1317357793.529159069 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 38.985204 ms 
--------------------stamp1317357793.633389949
mapping data assosiation time 27.886152 ms 
sort q time 4.806411 
seperate points time 9.996686 
mapping solver time 25.859045 ms 
publication time 9.941102 ms 
whole laserOdometry time 9.955939 ms 
 
filter time 7.405514 ms 
-----t: 0.0352404
OdomCount 306 & avg odom time 0.036645 ms ++++++++++++++++++++++
1317357793.633389949 WriteOdom laser_odom_to_init
map prepare time 2.923195 ms
map corner num 77621  surf num 28438 
1317357793.633389949 WriteOdom aft_mapped_to_init_high_frec
build tree time 15.440683 ms 
mapping data assosiation time 20.819371 ms 
--------------------stamp1317357793.737646102
points size 85145 
sort q time 4.818744 
seperate points time 9.770414 
scan registration time 26.998798 ms *************
mapping data assosiation time 26.806140 ms 
publication time 8.847140 ms 
whole laserOdometry time 8.863998 ms 
 
mapping solver time 32.489793 ms 
filter time 7.452787 ms 
map prepare time 2.270114 ms
map corner num 78132  surf num 28614 
build tree time 16.810479 ms 
points size 84654 
prepare time 11.399022 
mapping data assosiation time 25.784634 ms 
publication time 7.171325 ms 
whole laserOdometry time 7.188080 ms 
 
mapping solver time 30.554067 ms 
mapping data assosiation time 22.307771 ms 
mapping solver time 26.178245 ms 
filter time 5.850376 ms 
points size 84764 
mapping pub time 1.940559 ms 
whole mapping time 134.989991 ms +++++
mappingCount 289 & avg mapping time 100.404074 ms ++++++++++++++++++++++
1317357793.737646103 WriteOdom aft_mapped_to_init
prepare time 11.087335 
sort q time 4.954264 
seperate points time 9.862155 
build tree time 20.257059 ms 
publication time 8.200981 ms 
whole laserOdometry time 8.215820 ms 
 
mapping data assosiation time 23.627212 ms 
mapping solver time 24.188017 ms 
mapping data assosiation time 20.560225 ms 
prepare time 10.872659 
sort q time 4.498891 
seperate points time 10.285163 
filter time 7.936288 ms 
map prepare time 2.779748 ms
map corner num 79194  surf num 28970 
-----t: 0.0270252
OdomCount 310 & avg odom time 0.036579 ms ++++++++++++++++++++++
1317357794.050302982 WriteOdom laser_odom_to_init
1317357794.050302982 WriteOdom aft_mapped_to_init_high_frec
publication time 12.286159 ms 
whole laserOdometry time 12.302634 ms 
 
build tree time 16.732274 ms 
mapping data assosiation time 20.149701 ms 
mapping solver time 24.724803 ms 
points size 84188 
mapping data assosiation time 23.969835 ms 
-----t: 0.0261119
OdomCount 311 & avg odom time 0.036545 ms ++++++++++++++++++++++
mapping solver time 24.193974 ms 
mapping optimization time 111.183485 
add points time 0.775161 ms
mapping pub time 3.113880 ms 
whole mapping time 124.964282 ms +++++
mappingCount 291 & avg mapping time 100.582535 ms ++++++++++++++++++++++
1317357793.946086884 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 15.312060 ms 
mapping data assosiation time 21.262559 ms 
points size 83999 
mapping solver time 29.344267 ms 
sort q time 4.751074 
seperate points time 11.224562 
scan registration time 27.988920 ms *************
-----t: 0.0425926
OdomCount 312 & avg odom time 0.036564 ms ++++++++++++++++++++++
1317357794.258655071 WriteOdom laser_odom_to_init
mapping solver time 17.690034 ms 
filter time 7.583063 ms 
map prepare time 2.245734 ms
map corner num 80224  surf num 29236 
build tree time 18.044023 ms 
points size 84057 
prepare time 11.444005 
mapping data assosiation time 23.906210 ms 
publication time 7.840120 ms 
whole laserOdometry time 7.854685 ms 
 
mapping solver time 27.537031 ms 
-----t: 0.0520488
OdomCount 313 & avg odom time 0.036614 ms ++++++++++++++++++++++
mapping solver time 20.640893 ms 
filter time 5.711368 ms 
map prepare time 2.758085 ms
map corner num 80863  surf num 29490 
points size 85554 
build tree time 17.613372 ms 
mapping data assosiation time 23.932286 ms 
-----t: 0.0331549
OdomCount 314 & avg odom time 0.036603 ms ++++++++++++++++++++++
1317357794.466927051 WriteOdom laser_odom_to_init
1317357794.466927051 WriteOdom aft_mapped_to_init_high_frec
publication time 9.765828 ms 
whole laserOdometry time 9.784007 ms 
 
mapping solver time 29.222065 ms 
mapping data assosiation time 21.695415 ms 
--------------------stamp1317357794.571038007
points size 86653 
mapping optimization time 115.919837 
filter time 6.429039 ms 
mapping pub time 1.872715 ms 
whole mapping time 127.899953 ms +++++
mappingCount 294 & avg mapping time 100.830452 ms ++++++++++++++++++++++
sort q time 5.126711 
seperate points time 11.187947 
1317357794.362814903 WriteOdom aft_mapped_to_init
scan registration time 25.731314 ms *************
publication time 7.411676 ms 
whole laserOdometry time 7.428513 ms 
 
mapping data assosiation time 20.818747 ms 
mapping solver time 25.951794 ms 
--------------------stamp1317357794.675122976
points size 87273 
sort q time 4.739772 
seperate points time 11.221570 
scan registration time 29.825527 ms *************
mapping solver time 18.556458 ms 
mapping optimization time 108.550324 
add points time 0.773291 ms
filter time 7.688113 ms 
map prepare time 2.904202 ms
map corner num 82017  surf num 29925 
-----t: 0.0303279
OdomCount 316 & avg odom time 0.036571 ms ++++++++++++++++++++++
1317357794.675122976 WriteOdom laser_odom_to_init
1317357794.675122976 WriteOdom aft_mapped_to_init_high_frec
build tree time 16.668113 ms 
mapping data assosiation time 19.812489 ms 
--------------------stamp1317357794.779186010
points size 89137 
prepare time 13.057560 
sort q time 4.936224 
seperate points time 10.821578 
publication time 7.453884 ms 
whole laserOdometry time 7.468925 ms 
 
mapping solver time 24.013993 ms 
filter time 5.840441 ms 
[0m[ INFO] [1718804511.653685936, 1317357794.837501754]: Received 112674 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804511.653728067, 1317357794.837501754]: Data saved to 1317357794571038.pcd[0m
mapping pub time 3.139083 ms 
whole mapping time 125.311660 ms +++++
mappingCount 296 & avg mapping time 100.985542 ms ++++++++++++++++++++++
1317357794.571038008 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 19.067650 ms 
--------------------stamp1317357794.883249044
mapping data assosiation time 24.137171 ms 
points size 90440 
prepare time 13.918898 
sort q time 5.051289 
seperate points time 11.837787 
scan registration time 31.099391 ms *************
mapping solver time 29.381017 ms 
publication time 10.714694 ms 
whole laserOdometry time 10.730737 ms 
 
-----t: 0.0359449
OdomCount 318 & avg odom time 0.036556 ms ++++++++++++++++++++++
mapping data assosiation time 23.887589 ms 
mapping solver time 21.111201 ms 
filter time 5.566080 ms 
--------------------stamp1317357794.987287044
points size 91741 
sort q time 5.153104 
seperate points time 12.030304 
publication time 9.983632 ms -----t: 0.0420999
OdomCount 319 & avg odom time 0.036574 ms ++++++++++++++++++++++
1317357794.987287044 WriteOdom laser_odom_to_init
1317357794.987287044 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.768634 ms 
--------------------stamp1317357795.091326951
mapping solver time 24.243928 ms 
mapping optimization time 117.807428 
points size 93343 
add points time 0.676107 ms
prepare time 13.590036 
map prepare time 2.917111 ms
map corner num 83821  surf num 30683 
sort q time 5.488887 
seperate points time 12.220544 
build tree time 20.667048 ms 
publication time 10.552522 ms 
whole laserOdometry time 10.567672 ms 
 
mapping data assosiation time 25.565302 ms 
-----t: 0.0752312
OdomCount 320 & avg odom time 0.036695 ms ++++++++++++++++++++++
mapping solver time 29.008919 ms 
points size 93189 
prepare time 9.788965 
sort q time 5.537972 
seperate points time 10.545003 
publication time 8.178591 ms 
whole laserOdometry time 8.193113 ms 
 
mapping solver time 25.918728 ms 
mapping optimization time 129.692586 
add points time 0.699646 ms
filter time 7.276929 ms 
map prepare time 3.129166 ms
map corner num 84409  surf num 30901 
build tree time 21.037038 ms 
-----t: 0.064809
OdomCount 321 & avg odom time 0.036782 ms ++++++++++++++++++++++
1317357795.195365905 WriteOdom laser_odom_to_init
1317357795.195365905 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357795.299416065
points size 93968 
prepare time 12.710216 
sort q time 5.313874 
seperate points time 12.142484 
mapping solver time 28.954898 ms 
publication time 10.184283 ms 
whole laserOdometry time 10.199615 ms 
 
mapping solver time 24.863827 ms 
mapping optimization time 122.558072 
add points time 0.681316 ms
mapping pub time 2.065894 ms 
whole mapping time 134.121418 ms +++++
mappingCount 300 & avg mapping time 101.429307 ms ++++++++++++++++++++++
1317357795.091326952 WriteOdom aft_mapped_to_init
--------------------stamp1317357795.403453111
points size 95355 
prepare time 11.405190 
sort q time 5.873893 
seperate points time 11.256110 
mapping data assosiation time 24.957366 ms 
publication time 10.174814 ms 
whole laserOdometry time 10.194262 ms 
 
mapping solver time 28.931546 ms 
mapping data assosiation time 21.406280 ms 
--------------------stamp1317357795.507457017
points size 96104 
mapping optimization time 127.685971 
sort q time 5.741526 
seperate points time 12.730425 
mapping pub time 12.770328 ms 
whole mapping time 152.010346 ms +++++
mappingCount 301 & avg mapping time 101.597378 ms ++++++++++++++++++++++
1317357795.299416065 WriteOdom aft_mapped_to_init
publication time 9.880286 ms 
whole laserOdometry time 9.893767 ms 
 
-----t: 0.0507325
OdomCount 324 & avg odom time 0.036868 ms ++++++++++++++++++++++
1317357795.507457017 WriteOdom laser_odom_to_init
1317357795.507457017 WriteOdom aft_mapped_to_init_high_frec
build tree time 20.234153 ms 
mapping data assosiation time 21.580187 ms 
--------------------stamp1317357795.611473083
points size 96582 
mapping solver time 28.384896 ms 
prepare time 12.776992 
sort q time 5.481290 
seperate points time 12.869575 
mapping data assosiation time 24.883629 ms 
-----t: 0.0735652
OdomCount 325 & avg odom time 0.036981 ms ++++++++++++++++++++++
1317357795.611473083 WriteOdom laser_odom_to_init
1317357795.611473083 WriteOdom aft_mapped_to_init_high_frec
filter time 12.332177 ms 
sort q time 5.622801 
seperate points time 13.175143 
publication time 8.285999 ms 
whole laserOdometry time 8.300413 ms 
 
mapping data assosiation time 25.881292 ms 
mapping solver time 27.626191 ms 
--------------------stamp1317357795.819428920
points size 96931 
sort q time 5.675400 
seperate points time 12.538273 
scan registration time 27.897156 ms *************
filter time 8.015238 ms 
publication time 9.796309 ms 
whole laserOdometry time 9.809537 ms 
 
1317357795.819428920 WriteOdom laser_odom_to_init
1317357795.819428920 WriteOdom aft_mapped_to_init_high_frec
build tree time 15.300542 ms 
mapping data assosiation time 20.669401 ms 
--------------------stamp1317357795.923394918
points size 95790 
sort q time 5.273086 
seperate points time 12.253289 
mapping data assosiation time 22.375755 ms 
scan registration time 30.946281 ms *************
mapping solver time 21.712953 ms 
publication time 9.442680 ms 
whole laserOdometry time 9.509310 ms 
 
mapping optimization time 107.403265 
-----t: 0.0321166
OdomCount 328 & avg odom time 0.037000 ms ++++++++++++++++++++++
1317357795.923394918 WriteOdom laser_odom_to_init
1317357795.923394918 WriteOdom aft_mapped_to_init_high_frec
add points time 0.961432 ms
drop lidar frame in mapping for real time performance 
map prepare time 2.344193 ms
map corner num 61181  surf num 22837 
build tree time 13.546011 ms 
mapping data assosiation time 20.356228 ms 
--------------------stamp1317357796.027363061
points size 94080 
mapping solver time 25.849443 ms 
sort q time 5.020350 
seperate points time 11.215906 
scan registration time 28.140273 ms *************
mapping data assosiation time 24.629870 ms 
-----t: 0.0328233
OdomCount 329 & avg odom time 0.036988 ms ++++++++++++++++++++++
1317357796.027363061 WriteOdom laser_odom_to_init
1317357796.027363061 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.822134 ms 
mapping optimization time 106.297621 
add points time 0.720862 ms
map prepare time 2.062878 ms
map corner num 61689  surf num 23009 
build tree time 12.284135 ms 
--------------------stamp1317357796.131330966
mapping data assosiation time 22.341854 ms 
points size 93535 
prepare time 12.581584 
sort q time 5.188838 
seperate points time 12.117657 
mapping solver time 28.109847 ms 
publication time 7.493287 ms 
whole laserOdometry time 7.508221 ms 
 
mapping data assosiation time 22.467628 ms 
mapping solver time 14.039730 ms 
filter time 4.510858 ms 
[0m[ INFO] [1718804513.021259428, 1317357796.208429764]: Received 85466 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804513.021299235, 1317357796.208429764]: Data saved to 1317357796027363.pcd[0m
mapping pub time 3.091693 ms 
whole mapping time 110.861073 ms +++++
mappingCount 306 & avg mapping time 102.073997 ms ++++++++++++++++++++++
1317357796.027363062 WriteOdom aft_mapped_to_init
build tree time 12.919189 ms 
points size 94741 
mapping data assosiation time 22.288648 ms 
sort q time 5.326087 
seperate points time 12.113423 
mapping solver time 27.721171 ms 
mapping data assosiation time 23.648333 ms 
mapping solver time 20.526425 ms 
filter time 5.038068 ms 
--------------------stamp1317357796.339225053
points size 95440 
build tree time 16.983656 ms 
sort q time 6.250159 
seperate points time 14.985657 
scan registration time 44.745502 ms *************
publication time 7.448137 ms 
whole laserOdometry time 7.463661 ms 
 
mapping solver time 33.497923 ms 
--------------------stamp1317357796.443192958
-----t: 0.101647
OdomCount 332 & avg odom time 0.037159 ms ++++++++++++++++++++++
mapping solver time 23.570632 ms 
mapping optimization time 133.427829 
sort q time 5.471500 
seperate points time 13.149426 
add points time 0.697834 ms
scan registration time 32.605201 ms *************
publication time 9.235554 ms 
whole laserOdometry time 9.253429 ms 
 
build tree time 15.909752 ms 
-----t: 0.0449928
OdomCount 333 & avg odom time 0.037182 ms ++++++++++++++++++++++
1317357796.443192958 WriteOdom laser_odom_to_init
1317357796.443192958 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.663004 ms 
--------------------stamp1317357796.547154903
points size 96503 
sort q time 5.994125 
seperate points time 11.855278 
mapping data assosiation time 23.406938 ms 
scan registration time 27.956275 ms *************
mapping optimization time 112.061809 
filter time 4.677838 ms 
map prepare time 2.226561 ms
map corner num 63709  surf num 23670 
build tree time 14.048285 ms 
mapping data assosiation time 19.626828 ms 
--------------------stamp1317357796.651119947
points size 96458 
prepare time 10.142785 
mapping solver time 27.296744 ms 
sort q time 5.622538 
seperate points time 12.142743 
publication time 7.186944 ms 
whole laserOdometry time 7.206434 ms 
 
-----t: 0.0313306
OdomCount 335 & avg odom time 0.037161 ms ++++++++++++++++++++++
1317357796.651119947 WriteOdom laser_odom_to_init
mapping data assosiation time 24.684023 ms 
1317357796.651119947 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.569937 ms 
mapping optimization time 101.419726 
add points time 0.694220 ms
map prepare time 2.087805 ms
map corner num 64188  surf num 23882 
build tree time 13.754997 ms 
--------------------stamp1317357796.755091905
points size 95172 
sort q time 6.134712 
seperate points time 11.424880 
scan registration time 27.756487 ms *************
mapping solver time 26.441867 ms 
publication time 6.637965 ms 
whole laserOdometry time 6.657618 ms 
 
mapping data assosiation time 24.043625 ms 
1317357796.755091905 WriteOdom laser_odom_to_init
1317357796.755091905 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.762246 ms 
mapping optimization time 106.650757 
add points time 0.635207 ms
mapping pub time 8.584583 ms 
whole mapping time 122.817105 ms +++++
mappingCount 311 & avg mapping time 102.424495 ms ++++++++++++++++++++++
--------------------stamp1317357796.859072923
build tree time 17.479302 ms 
sort q time 6.143405 
seperate points time 14.224544 
-----t: 0.0322826
OdomCount 337 & avg odom time 0.037176 ms ++++++++++++++++++++++
mapping solver time 24.264936 ms 
mapping data assosiation time 20.832916 ms 
mapping solver time 17.935391 ms 
filter time 5.674893 ms 
map prepare time 2.066774 ms
map corner num 65230  surf num 24388 
points size 93495 
prepare time 12.042677 
sort q time 4.838190 
seperate points time 10.927095 
build tree time 15.201180 ms 
scan registration time 27.582304 ms *************
publication time 7.408964 ms 
whole laserOdometry time 7.423705 ms 
 
-----t: 0.0494324
OdomCount 338 & avg odom time 0.037213 ms ++++++++++++++++++++++
1317357796.963066101 WriteOdom laser_odom_to_init
1317357796.963066101 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.976124 ms 
mapping data assosiation time 19.073108 ms 
--------------------stamp1317357797.067063093
points size 94022 
filter time 6.905170 ms 
sort q time 5.721700 
seperate points time 11.431526 
mapping pub time 2.281163 ms 
whole mapping time 120.215440 ms +++++
mappingCount 313 & avg mapping time 102.536568 ms ++++++++++++++++++++++
1317357796.859072924 WriteOdom aft_mapped_to_init
build tree time 15.748556 ms 
publication time 10.146344 ms 
whole laserOdometry time 10.160595 ms 
 
mapping data assosiation time 22.399949 ms 
-----t: 0.0546981
OdomCount 339 & avg odom time 0.037264 ms ++++++++++++++++++++++
1317357797.067063093 WriteOdom laser_odom_to_init
1317357797.067063093 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.099722 ms 
--------------------stamp1317357797.171072006
mapping data assosiation time 21.556646 ms 
prepare time 12.281084 
sort q time 4.988243 
seperate points time 11.352399 
mapping optimization time 107.173327 
add points time 0.767136 ms
mapping pub time 2.163119 ms 
whole mapping time 119.525961 ms +++++
mappingCount 314 & avg mapping time 102.590686 ms ++++++++++++++++++++++
1317357796.963066101 WriteOdom aft_mapped_to_init
publication time 6.960713 ms 
whole laserOdometry time 6.975127 ms 
 
build tree time 16.222004 ms 
-----t: 0.0567031
OdomCount 340 & avg odom time 0.037321 ms ++++++++++++++++++++++
mapping data assosiation time 19.893388 ms 
--------------------stamp1317357797.275054931
points size 96182 
sort q time 5.127594 
seperate points time 11.101073 
mapping data assosiation time 23.350982 ms 
publication time 6.548381 ms 
whole laserOdometry time 6.567758 ms 
 
filter time 5.647175 ms 
mapping pub time 2.087598 ms 
whole mapping time 119.207278 ms +++++
mappingCount 315 & avg mapping time 102.643449 ms ++++++++++++++++++++++
1317357797.067063093 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 13.473674 ms 
mapping data assosiation time 17.856755 ms 
--------------------stamp1317357797.379026889
points size 96075 
mapping solver time 27.463438 ms 
sort q time 5.794670 
seperate points time 12.466258 
publication time 7.408817 ms 
whole laserOdometry time 7.421929 ms 
 
mapping solver time 17.473194 ms 
filter time 5.974038 ms 
map prepare time 2.105250 ms
map corner num 66916  surf num 24957 
build tree time 14.436533 ms 
--------------------stamp1317357797.482997894
points size 95286 
prepare time 11.166049 
sort q time 5.681709 
seperate points time 11.008899 
mapping solver time 28.567579 ms 
publication time 10.608211 ms 
whole laserOdometry time 10.623004 ms 
 
mapping data assosiation time 23.706193 ms 
1317357797.482997894 WriteOdom laser_odom_to_init
1317357797.482997894 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.996014 ms 
mapping optimization time 110.105199 
add points time 0.685599 ms
filter time 6.700388 ms 
mapping pub time 2.273678 ms 
whole mapping time 121.916547 ms +++++
mappingCount 317 & avg mapping time 102.735854 ms ++++++++++++++++++++++
1317357797.379026890 WriteOdom aft_mapped_to_init
--------------------stamp1317357797.586985111
build tree time 18.251319 ms 
sort q time 5.054464 
seperate points time 13.414674 
scan registration time 32.543403 ms *************
publication time 8.538816 ms 
whole laserOdometry time 8.551955 ms 
 
-----t: 0.0577814
OdomCount 344 & avg odom time 0.037447 ms ++++++++++++++++++++++
--------------------stamp1317357797.690960884
points size 95405 
mapping solver time 23.243872 ms 
prepare time 30.017141 
mapping pub time 2.191478 ms 
whole mapping time 155.711825 ms +++++
mappingCount 318 & avg mapping time 102.902456 ms ++++++++++++++++++++++
1317357797.482997894 WriteOdom aft_mapped_to_init
map prepare time 2.803002 ms
map corner num 68003  surf num 25560 
-----t: 0.0414338
OdomCount 345 & avg odom time 0.037458 ms ++++++++++++++++++++++
scan registration time 63.970318 ms *************
build tree time 27.674546 ms 
mapping data assosiation time 24.365961 ms 
--------------------stamp1317357797.794898033
points size 96167 
prepare time 15.205444 
mapping solver time 29.265888 ms 
mapping data assosiation time 24.620160 ms 
publication time 9.487883 ms 
whole laserOdometry time 9.504768 ms 
 
-----t: 0.0471978
OdomCount 346 & avg odom time 0.037486 ms ++++++++++++++++++++++
1317357797.794898033 WriteOdom laser_odom_to_init
1317357797.794898033 WriteOdom aft_mapped_to_init_high_frec
filter time 5.642898 ms 
map prepare time 2.238196 ms
map corner num 68516  surf num 25804 
build tree time 13.315282 ms 
points size 95710 
mapping data assosiation time 22.578692 ms 
scan registration time 27.662208 ms *************
publication time 9.283442 ms 
whole laserOdometry time 9.296514 ms 
 
1317357797.898840904 WriteOdom laser_odom_to_init
1317357797.898840904 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.350959 ms 
mapping solver time 18.814401 ms 
filter time 5.105613 ms 
map prepare time 2.304258 ms
map corner num 68980  surf num 26017 
points size 95676 
prepare time 9.898742 
sort q time 5.692820 
seperate points time 12.166202 
mapping data assosiation time 24.381735 ms 
mapping solver time 25.360394 ms 
mapping data assosiation time 18.581850 ms 
mapping solver time 19.548480 ms 
filter time 5.323278 ms 
mapping pub time 8.060501 ms 
whole mapping time 122.885902 ms +++++
mappingCount 321 & avg mapping time 103.139160 ms ++++++++++++++++++++++
sort q time 5.423949 
seperate points time 12.618587 
build tree time 17.427095 ms 
publication time 12.212912 ms 
whole laserOdometry time 12.225986 ms 
 
mapping data assosiation time 25.830053 ms 
-----t: 0.0472248
OdomCount 349 & avg odom time 0.037504 ms ++++++++++++++++++++++
1317357798.106720924 WriteOdom laser_odom_to_init
1317357798.106720924 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.972154 ms 
--------------------stamp1317357798.210640907
points size 95541 
prepare time 13.779873 
mapping solver time 21.927574 ms 
mapping optimization time 109.685917 
filter time 6.781057 ms 
publication time 8.345460 ms 
whole laserOdometry time 8.359747 ms 
 
build tree time 17.852024 ms 
mapping data assosiation time 20.746316 ms 
--------------------stamp1317357798.314558982
points size 95702 
mapping data assosiation time 26.286029 ms 
sort q time 6.085063 
seperate points time 16.918420 
publication time 10.634609 ms 
whole laserOdometry time 10.644586 ms 
 
mapping solver time 27.466319 ms 
mapping optimization time 120.601663 
add points time 0.880241 ms
-----t: 0.0480753
OdomCount 351 & avg odom time 0.037545 ms ++++++++++++++++++++++
1317357798.314558982 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
build tree time 15.856412 ms 
--------------------stamp1317357798.418453931
points size 95716 
sort q time 5.815217 
seperate points time 11.243575 
mapping solver time 25.159894 ms 
publication time 7.708904 ms 
whole laserOdometry time 7.725190 ms 
 
mapping data assosiation time 26.837936 ms 
mapping solver time 17.136122 ms 
mapping optimization time 111.691144 
add points time 0.857176 ms
map prepare time 2.182428 ms
map corner num 71043  surf num 26835 
--------------------stamp1317357798.522350072
build tree time 16.157075 ms 
points size 95632 
prepare time 14.639897 
sort q time 5.212630 
seperate points time 10.996596 
scan registration time 30.371471 ms *************
mapping data assosiation time 25.614471 ms 
mapping solver time 27.169764 ms 
-----t: 0.0570042
OdomCount 353 & avg odom time 0.037605 ms ++++++++++++++++++++++
mapping optimization time 111.942332 
filter time 5.729008 ms 
map prepare time 2.459161 ms
map corner num 71666  surf num 27145 
sort q time 5.082884 
seperate points time 11.679724 
publication time 7.774930 ms 
whole laserOdometry time 7.789571 ms 
 
mapping data assosiation time 26.072142 ms 
mapping solver time 22.860764 ms 
mapping data assosiation time 20.920486 ms 
points size 95651 
prepare time 12.183302 
sort q time 5.523349 
seperate points time 11.087385 
filter time 7.430547 ms 
build tree time 16.160629 ms 
-----t: 0.0555674
OdomCount 355 & avg odom time 0.037650 ms ++++++++++++++++++++++
1317357798.730187892 WriteOdom laser_odom_to_init
1317357798.730187892 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.137618 ms 
points size 95905 
mapping data assosiation time 28.086815 ms 
sort q time 5.413381 
seperate points time 12.513045 
scan registration time 30.112376 ms *************
publication time 8.123314 ms 
whole laserOdometry time 8.136239 ms 
 
filter time 5.785857 ms 
mapping pub time 2.083502 ms 
whole mapping time 129.216788 ms +++++
mappingCount 327 & avg mapping time 103.555645 ms ++++++++++++++++++++++
build tree time 15.410484 ms 
-----t: 0.0778292
OdomCount 356 & avg odom time 0.037763 ms ++++++++++++++++++++++
mapping data assosiation time 27.125464 ms 
points size 96420 
sort q time 5.974495 
seperate points time 12.535147 
publication time 11.687945 ms 
whole laserOdometry time 11.703171 ms 
 
mapping data assosiation time 29.209950 ms 
mapping solver time 19.460738 ms 
filter time 5.427921 ms 
mapping pub time 2.151662 ms 
whole mapping time 140.334629 ms +++++
mappingCount 328 & avg mapping time 103.667789 ms ++++++++++++++++++++++
1317357798.730187893 WriteOdom aft_mapped_to_init
points size 97460 
prepare time 14.642978 
sort q time 6.586957 
seperate points time 15.148648 
mapping data assosiation time 28.999447 ms 
publication time 8.310964 ms 
whole laserOdometry time 8.340820 ms 
 
mapping solver time 27.255284 ms 
mapping data assosiation time 21.687831 ms 
--------------------stamp1317357799.145862102
points size 98626 
filter time 5.725766 ms 
sort q time 5.479203 
seperate points time 12.736280 
build tree time 15.794110 ms 
mapping data assosiation time 24.274374 ms 
mapping solver time 23.594705 ms 
--------------------stamp1317357799.249754905
points size 100021 
prepare time 12.259444 
mapping solver time 19.596900 ms 
filter time 5.714980 ms 
map prepare time 2.412977 ms
map corner num 73981  surf num 28130 
build tree time 17.012394 ms 
mapping data assosiation time 22.603621 ms 
--------------------stamp1317357799.353626012
points size 101216 
mapping solver time 29.843069 ms 
sort q time 6.553254 
seperate points time 15.678721 
mapping data assosiation time 28.945567 ms 
-----t: 0.0362411
OdomCount 361 & avg odom time 0.037776 ms ++++++++++++++++++++++
1317357799.353626012 WriteOdom laser_odom_to_init
1317357799.353626012 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.565454 ms 
filter time 6.009501 ms 
map prepare time 2.678702 ms
map corner num 74420  surf num 28348 
--------------------stamp1317357799.457499027
points size 102108 
sort q time 6.099901 
seperate points time 12.883482 
publication time 10.900167 ms 
whole laserOdometry time 10.978558 ms 
 
mapping solver time 31.567188 ms 
mapping data assosiation time 25.387338 ms 
--------------------stamp1317357799.561346054
points size 102750 
filter time 7.999068 ms 
prepare time 13.256901 
mapping pub time 2.771707 ms 
whole mapping time 139.995648 ms +++++
mappingCount 332 & avg mapping time 104.017492 ms ++++++++++++++++++++++
1317357799.353626013 WriteOdom aft_mapped_to_init
sort q time 6.710944 
seperate points time 13.671772 
scan registration time 31.136910 ms *************
build tree time 19.106726 ms 
publication time 9.452367 ms 
whole laserOdometry time 9.464640 ms 
 
mapping data assosiation time 28.734309 ms 
-----t: 0.0562745
OdomCount 363 & avg odom time 0.037841 ms ++++++++++++++++++++++
1317357799.561346054 WriteOdom laser_odom_to_init
mapping solver time 23.914979 ms 
--------------------stamp1317357799.665175914
points size 103030 
mapping data assosiation time 30.588531 ms 
sort q time 6.167141 
seperate points time 13.836337 
mapping solver time 23.407428 ms 
mapping optimization time 127.304989 
add points time 0.900649 ms
filter time 7.236184 ms 
mapping pub time 2.456280 ms 
whole mapping time 141.278866 ms +++++
mappingCount 333 & avg mapping time 104.129403 ms ++++++++++++++++++++++
1317357799.457499027 WriteOdom aft_mapped_to_init
build tree time 15.930336 ms 
mapping data assosiation time 22.277450 ms 
points size 103071 
prepare time 14.406766 
sort q time 6.382016 
seperate points time 13.552961 
mapping solver time 40.146686 ms 
publication time 7.322754 ms 
whole laserOdometry time 7.335747 ms 
 
mapping data assosiation time 28.326189 ms 
-----t: 0.055898
OdomCount 365 & avg odom time 0.037905 ms ++++++++++++++++++++++
mapping solver time 21.095287 ms 
filter time 5.548112 ms 
--------------------stamp1317357799.872764110
sort q time 7.613737 
seperate points time 15.763436 
mapping solver time 39.065917 ms 
--------------------stamp1317357799.976543903
points size 103062 
mapping data assosiation time 31.191100 ms 
sort q time 6.103628 
seperate points time 13.119756 
mapping solver time 23.647774 ms 
mapping optimization time 147.908253 
add points time 1.143811 ms
mapping pub time 2.395993 ms 
whole mapping time 162.589314 ms +++++
mappingCount 335 & avg mapping time 104.419426 ms ++++++++++++++++++++++
1317357799.768974066 WriteOdom aft_mapped_to_init
build tree time 16.706619 ms 
--------------------stamp1317357800.080296039
points size 103099 
prepare time 13.096885 
sort q time 6.624232 
seperate points time 13.648435 
mapping solver time 37.775709 ms 
publication time 9.613313 ms 
whole laserOdometry time 9.630515 ms 
 
-----t: 0.038657
OdomCount 368 & avg odom time 0.037979 ms ++++++++++++++++++++++
1317357800.080296039 WriteOdom laser_odom_to_init
1317357800.080296039 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.073692 ms 
mapping optimization time 130.595584 
add points time 0.963877 ms
--------------------stamp1317357800.184072017
points size 102996 
build tree time 20.873091 ms 
sort q time 6.300785 
seperate points time 15.167488 
scan registration time 36.458469 ms *************
mapping data assosiation time 29.497450 ms 
publication time 14.009244 ms 
-----t: 0.064114
OdomCount 369 & avg odom time 0.038050 ms ++++++++++++++++++++++
1317357800.184072017 WriteOdom laser_odom_to_init
1317357800.184072017 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 35.379014 ms 
--------------------stamp1317357800.287847042
points size 102934 
sort q time 6.747452 
seperate points time 13.449899 
mapping solver time 24.470266 ms 
filter time 7.531377 ms 
publication time 12.659674 ms 
whole laserOdometry time 12.673138 ms 
 
map prepare time 4.768045 ms
map corner num 76918  surf num 29523 
-----t: 0.0538996
OdomCount 370 & avg odom time 0.038093 ms ++++++++++++++++++++++
1317357800.287847042 WriteOdom laser_odom_to_init
1317357800.287847042 WriteOdom aft_mapped_to_init_high_frec
build tree time 17.499446 ms 
mapping data assosiation time 25.131303 ms 
points size 103001 
mapping solver time 32.642764 ms 
sort q time 5.974322 
seperate points time 14.643389 
scan registration time 36.091221 ms *************
mapping data assosiation time 30.242414 ms 
-----t: 0.047414
OdomCount 371 & avg odom time 0.038118 ms ++++++++++++++++++++++
1317357800.391616106 WriteOdom laser_odom_to_init
publication time 13.620284 ms 
whole laserOdometry time 13.632427 ms 
 
mapping solver time 27.242419 ms 
filter time 5.480351 ms 
map prepare time 2.536618 ms
map corner num 77314  surf num 29721 
points size 103064 
build tree time 21.434506 ms 
sort q time 7.705691 
seperate points time 18.077343 
scan registration time 37.089398 ms *************
mapping data assosiation time 41.998860 ms 
-----t: 0.0707958
OdomCount 372 & avg odom time 0.038206 ms ++++++++++++++++++++++
1317357800.495394945 WriteOdom laser_odom_to_init
1317357800.495394945 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357800.599143981
mapping data assosiation time 28.637325 ms 
sort q time 6.188520 
seperate points time 12.833272 
mapping solver time 21.187449 ms 
mapping optimization time 149.417929 
add points time 1.035543 ms
map prepare time 4.009794 ms
map corner num 77698  surf num 29878 
-----t: 0.0514187
OdomCount 373 & avg odom time 0.038241 ms ++++++++++++++++++++++
build tree time 17.692124 ms 
mapping data assosiation time 25.392506 ms 
points size 103237 
prepare time 12.802948 
sort q time 6.567111 
seperate points time 13.416166 
scan registration time 30.850864 ms *************
mapping solver time 36.924947 ms 
publication time 10.323373 ms 
whole laserOdometry time 10.331009 ms 
 
-----t: 0.0418208
OdomCount 374 & avg odom time 0.038251 ms ++++++++++++++++++++++
1317357800.702893018 WriteOdom laser_odom_to_init
1317357800.702893018 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.942718 ms 
filter time 5.731786 ms 
mapping pub time 2.333460 ms 
whole mapping time 142.028788 ms +++++
mappingCount 340 & avg mapping time 105.085889 ms ++++++++++++++++++++++
1317357800.495394945 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357800.806643009
points size 103192 
build tree time 17.114734 ms 
prepare time 18.228014 
sort q time 7.499555 
seperate points time 17.277492 
-----t: 0.0385716
OdomCount 375 & avg odom time 0.038251 ms ++++++++++++++++++++++
1317357800.806643009 WriteOdom laser_odom_to_init
1317357800.806643009 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.181145 ms 
mapping data assosiation time 23.606798 ms 
--------------------stamp1317357800.910392045
points size 103273 
prepare time 15.181007 
filter time 8.213164 ms 
sort q time 5.959884 
seperate points time 14.402751 
[0m[ INFO] [1718804517.755302058, 1317357800.942733206]: Received 108656 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804517.755353029, 1317357800.942733206]: Data saved to 1317357800599143.pcd[0m
scan registration time 36.881671 ms *************
map prepare time 2.623256 ms
map corner num 78466  surf num 30190 
-----t: 0.0410278
OdomCount 376 & avg odom time 0.038259 ms ++++++++++++++++++++++
build tree time 18.886619 ms 
publication time 15.566615 ms 
whole laserOdometry time 15.578536 ms 
 
mapping data assosiation time 25.104506 ms 
--------------------stamp1317357801.014142036
points size 103225 
mapping solver time 31.168941 ms 
sort q time 6.958993 
seperate points time 16.685433 
mapping data assosiation time 28.193663 ms 
publication time 11.552411 ms 
whole laserOdometry time 11.567174 ms 
 
-----t: 0.0489076
OdomCount 377 & avg odom time 0.038287 ms ++++++++++++++++++++++
1317357801.014142036 WriteOdom laser_odom_to_init
1317357801.014142036 WriteOdom aft_mapped_to_init_high_frec
filter time 8.288053 ms 
drop lidar frame in mapping for real time performance 
map prepare time 3.421994 ms
map corner num 78863  surf num 30348 
--------------------stamp1317357801.117892026
points size 103209 
sort q time 6.128932 
seperate points time 12.624890 
publication time 7.924802 ms 
whole laserOdometry time 7.937496 ms 
 
mapping data assosiation time 49.134768 ms 
-----t: 0.0533242
OdomCount 378 & avg odom time 0.038327 ms ++++++++++++++++++++++
1317357801.117892026 WriteOdom laser_odom_to_init
1317357801.117892026 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 38.915790 ms 
points size 103110 
prepare time 12.231440 
mapping data assosiation time 30.980891 ms 
mapping solver time 23.592452 ms 
mapping pub time 3.883854 ms 
whole mapping time 183.072807 ms +++++
mappingCount 343 & avg mapping time 105.569363 ms ++++++++++++++++++++++
build tree time 21.552973 ms 
--------------------stamp1317357801.325465917
points size 103130 
mapping data assosiation time 29.370123 ms 
sort q time 5.827249 
seperate points time 13.750802 
publication time 8.972906 ms 
whole laserOdometry time 9.014585 ms 
 
mapping data assosiation time 23.711611 ms 
mapping solver time 18.570544 ms 
--------------------stamp1317357801.429313898
points size 103065 
map prepare time 3.436496 ms
map corner num 79632  surf num 30693 
prepare time 13.172460 
scan registration time 30.833752 ms *************
publication time 9.120567 ms 
whole laserOdometry time 9.134460 ms 
 
mapping data assosiation time 28.961582 ms 
mapping solver time 30.509576 ms 
--------------------stamp1317357801.533207893
points size 102973 
prepare time 11.900170 
mapping data assosiation time 30.515859 ms 
sort q time 5.690995 
seperate points time 12.471879 
publication time 8.765610 ms 
whole laserOdometry time 8.779423 ms 
 
mapping solver time 30.805939 ms 
mapping optimization time 144.987676 
1317357801.325465918 WriteOdom aft_mapped_to_init
build tree time 15.350982 ms 
--------------------stamp1317357801.637125968
points size 102865 
sort q time 6.120768 
seperate points time 14.544259 
mapping solver time 33.667137 ms 
publication time 8.935670 ms 
whole laserOdometry time 8.954967 ms 
 
mapping data assosiation time 29.984578 ms 
mapping solver time 20.341790 ms 
filter time 5.447901 ms 
--------------------stamp1317357801.741045951
points size 102771 
build tree time 21.108712 ms 
sort q time 6.100452 
seperate points time 14.636628 
scan registration time 35.938951 ms *************
mapping data assosiation time 28.241893 ms 
-----t: 0.0486856
OdomCount 384 & avg odom time 0.038427 ms ++++++++++++++++++++++
1317357801.741045951 WriteOdom aft_mapped_to_init_high_frec
1317357801.741045951 WriteOdom laser_odom_to_init
mapping solver time 34.692086 ms 
--------------------stamp1317357801.844964981
points size 100562 
sort q time 5.850550 
seperate points time 13.186463 
mapping optimization time 144.195070 
add points time 0.854729 ms
publication time 12.718985 ms 
whole laserOdometry time 12.733138 ms 
 
drop lidar frame in mapping for real time performance 
build tree time 18.438284 ms 
--------------------stamp1317357801.948882102
points size 99219 
prepare time 13.978114 
sort q time 5.834339 
seperate points time 14.021996 
scan registration time 32.407363 ms *************
mapping solver time 32.187712 ms 
publication time 10.283896 ms 
whole laserOdometry time 10.300349 ms 
 
mapping data assosiation time 29.998477 ms 
-----t: 0.0600751mapping solver time 21.375389 ms 
mapping optimization time 128.619821 
add points time 0.836509 ms
mapping pub time 2.243119 ms 
whole mapping time 141.572590 ms +++++
mappingCount 348 & avg mapping time 106.191670 ms ++++++++++++++++++++++
points size 98308 
sort q time 6.755380 
seperate points time 14.222566 
mapping data assosiation time 27.971235 ms 
publication time 9.816662 ms 
whole laserOdometry time 9.828115 ms 
 
mapping solver time 35.266382 ms 
--------------------stamp1317357802.156769037
points size 98148 
sort q time 5.310241 
seperate points time 11.140150 
scan registration time 25.981131 ms *************
filter time 7.927201 ms 
map prepare time 4.250161 ms
map corner num 81997  surf num 31681 
build tree time 17.466549 ms 
mapping data assosiation time 22.028450 ms 
--------------------stamp1317357802.260688066
mapping solver time 26.782425 ms 
points size 98019 
prepare time 14.026515 
sort q time 6.017673 
seperate points time 12.555135 
scan registration time 30.681592 ms *************
-----t: 0.0352655mapping pub time 2.211752 ms 
whole mapping time 135.194453 ms +++++
mappingCount 350 & avg mapping time 106.399933 ms ++++++++++++++++++++++
build tree time 20.141380 ms 
points size 97644 
mapping data assosiation time 30.489417 ms 
publication time 7.957343 ms 
whole laserOdometry time 7.972182 ms 
 
-----t: 0.0333662
OdomCount 390 & avg odom time 0.038464 ms ++++++++++++++++++++++
1317357802.364604949 WriteOdom laser_odom_to_init
1317357802.364604949 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.623994 ms 
mapping data assosiation time 23.936686 ms 
mapping solver time 18.901071 ms 
filter time 9.126771 ms 
map prepare time 3.564017 ms
map corner num 82943  surf num 31987 
sort q time 6.283063 
seperate points time 12.610750 
build tree time 21.167347 ms 
publication time 9.855403 ms 
whole laserOdometry time 9.869580 ms 
 
mapping data assosiation time 27.199726 ms 
-----t: 0.0756684
OdomCount 391 & avg odom time 0.038559 ms ++++++++++++++++++++++
points size 93492 
mapping data assosiation time 28.020511 ms 
scan registration time 30.471486 ms *************
publication time 7.263581 ms 
whole laserOdometry time 7.294302 ms 
 
drop lidar frame in mapping for real time performance 
build tree time 18.548288 ms 
--------------------stamp1317357802.676481962
points size 90617 
sort q time 5.290249 
seperate points time 10.353284 
mapping solver time 30.717494 ms 
publication time 10.535928 ms 
whole laserOdometry time 10.551024 ms 
 
-----t: 0.0448145
OdomCount 393 & avg odom time 0.038584 ms ++++++++++++++++++++++
1317357802.676481962 WriteOdom laser_odom_to_init
1317357802.676481962 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.982413 ms 
mapping solver time 17.779091 ms 
mapping optimization time 121.672248 
add points time 0.794612 ms
map prepare time 2.381094 ms
map corner num 84025  surf num 32391 
prepare time 9.732129 
build tree time 23.193463 ms 
sort q time 5.414807 
seperate points time 11.382156 
publication time 6.313029 ms 
whole laserOdometry time 6.320302 ms 
 
mapping data assosiation time 25.217212 ms 
-----t: 0.0341508
OdomCount 394 & avg odom time 0.038573 ms ++++++++++++++++++++++
1317357802.780472993 WriteOdom laser_odom_to_init
1317357802.780472993 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.384345 ms 
mapping data assosiation time 20.442914 ms 
--------------------stamp1317357802.884464025
points size 85761 
filter time 7.760156 ms 
map prepare time 2.950399 ms
map corner num 84536  surf num 32567 
publication time 6.303502 ms 
whole laserOdometry time 6.317841 ms 
 
-----t: 0.0295689
OdomCount 395 & avg odom time 0.038550 ms ++++++++++++++++++++++
1317357802.884464025 WriteOdom laser_odom_to_init
1317357802.884464025 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.447999 ms 
mapping solver time 19.771615 ms 
mapping data assosiation time 22.474535 ms 
prepare time 14.748563 
sort q time 4.465467 
seperate points time 10.351799 
filter time 6.194369 ms 
mapping pub time 2.107760 ms 
whole mapping time 116.972805 ms +++++
mappingCount 355 & avg mapping time 106.818935 ms ++++++++++++++++++++++
1317357802.780472994 WriteOdom aft_mapped_to_init
publication time 6.924665 ms 
whole laserOdometry time 6.942796 ms 
 
build tree time 22.245532 ms 
mapping data assosiation time 19.624111 ms 
--------------------stamp1317357803.092396020
mapping solver time 23.248290 ms 
points size 82821 
sort q time 5.415979 
seperate points time 12.297947 
-----t: 0.0265004
OdomCount 397 & avg odom time 0.038494 ms ++++++++++++++++++++++
1317357803.092396020 WriteOdom laser_odom_to_init
1317357803.092396020 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.475769 ms 
filter time 5.684869 ms 
map prepare time 2.038684 ms
map corner num 85349  surf num 32799 
build tree time 16.715897 ms 
--------------------stamp1317357803.196362972
points size 82847 
sort q time 4.537489 
seperate points time 10.257962 
scan registration time 26.823687 ms *************
mapping solver time 24.594528 ms 
-----t: 0.0281468
OdomCount 398 & avg odom time 0.038468 ms ++++++++++++++++++++++
mapping solver time 15.498355 ms 
mapping optimization time 102.354681 
add points time 0.681528 ms
map prepare time 2.111493 ms
map corner num 85683  surf num 32888 
build tree time 17.690061 ms 
--------------------stamp1317357803.300304889
sort q time 4.559574 
seperate points time 10.473677 
-----t: 0.029924
OdomCount 399 & avg odom time 0.038447 ms ++++++++++++++++++++++
mapping data assosiation time 20.606560 ms 
mapping solver time 15.707415 ms 
mapping optimization time 103.342596 
add points time 0.719377 ms
map prepare time 2.141711 ms
map corner num 86096  surf num 33017 
--------------------stamp1317357803.404223918
points size 82166 
sort q time 4.853154 
seperate points time 10.446532 
publication time 8.883930 ms whole laserOdometry time 17.413833 ms 
 
mapping solver time 29.335084 ms 
-----t: 0.0528449
OdomCount 400 & avg odom time 0.038483 ms ++++++++++++++++++++++
1317357803.404223918 WriteOdom laser_odom_to_init
1317357803.404223918 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.848273 ms 
filter time 5.787744 ms 
map prepare time 3.180874 ms
map corner num 86476  surf num 33122 
sort q time 5.585747 
seperate points time 10.229822 
-----t: 0.0318173
OdomCount 401 & avg odom time 0.038466 ms ++++++++++++++++++++++
mapping solver time 23.655120 ms 
mapping data assosiation time 18.774306 ms 
--------------------stamp1317357803.612063884
points size 79683 
prepare time 10.486277 
mapping solver time 21.298475 ms 
mapping optimization time 109.201533 
add points time 0.812620 ms
mapping pub time 1.910780 ms 
whole mapping time 122.786834 ms +++++
mappingCount 360 & avg mapping time 106.985785 ms ++++++++++++++++++++++
1317357803.404223919 WriteOdom aft_mapped_to_init
scan registration time 23.573396 ms *************
publication time 7.618577 ms 
whole laserOdometry time 7.635873 ms 
 
-----t: 0.0298546
OdomCount 402 & avg odom time 0.038445 ms ++++++++++++++++++++++
mapping data assosiation time 17.279209 ms 
mapping solver time 21.747749 ms 
--------------------stamp1317357803.715982913
points size 80368 
mapping solver time 14.617451 ms 
mapping optimization time 93.471865 
add points time 0.704325 ms
mapping pub time 11.954896 ms 
whole mapping time 115.107810 ms +++++
mappingCount 361 & avg mapping time 107.008296 ms ++++++++++++++++++++++
1317357803.508145094 WriteOdom aft_mapped_to_init
map prepare time 2.216726 ms
map corner num 87219  surf num 33429 
build tree time 21.167679 ms 
mapping data assosiation time 17.665022 ms 
mapping solver time 20.656458 ms 
points size 83284 
prepare time 13.148031 
mapping data assosiation time 20.617382 ms 
sort q time 4.507649 
seperate points time 10.513241 
mapping solver time 17.220265 ms 
filter time 6.748158 ms 
mapping pub time 1.882084 ms 
whole mapping time 110.194687 ms +++++
mappingCount 362 & avg mapping time 107.017114 ms ++++++++++++++++++++++
publication time 9.200812 ms 
whole laserOdometry time 9.228465 ms 
 
-----t: 0.052954
OdomCount 404 & avg odom time 0.038507 ms ++++++++++++++++++++++
1317357803.819924116 WriteOdom laser_odom_to_init
1317357803.819924116 WriteOdom aft_mapped_to_init_high_frec
build tree time 21.439696 ms 
mapping data assosiation time 19.505009 ms 
--------------------stamp1317357803.923866987
points size 88038 
prepare time 10.913995 
sort q time 4.951195 
seperate points time 10.760777 
mapping solver time 16.524194 ms 
filter time 8.094232 ms 
-----t: 0.0454042
OdomCount 405 & avg odom time 0.038524 ms ++++++++++++++++++++++
build tree time 18.576350 ms 
mapping data assosiation time 16.872968 ms 
--------------------stamp1317357804.027786970
sort q time 5.278924 
seperate points time 10.995035 
publication time 6.666125 ms 
whole laserOdometry time 6.680732 ms 
 
-----t: 0.0316852
OdomCount 406 & avg odom time 0.038508 ms ++++++++++++++++++++++
1317357804.027786970 WriteOdom laser_odom_to_init
1317357804.027786970 WriteOdom aft_mapped_to_init_high_frec
filter time 6.634402 ms 
build tree time 19.464476 ms 
mapping data assosiation time 18.841110 ms 
points size 92422 
prepare time 17.195315 
mapping solver time 23.809831 ms 
sort q time 6.750685 
seperate points time 13.987454 
mapping data assosiation time 21.619454 ms 
publication time 8.344346 ms 
whole laserOdometry time 8.372858 ms 
 
mapping solver time 21.897493 ms 
filter time 7.697751 ms 
map prepare time 2.375096 ms
map corner num 88560  surf num 33950 
build tree time 19.596444 ms 
points size 93041 
sort q time 5.218289 
seperate points time 10.672134 
scan registration time 28.964125 ms *************
mapping solver time 26.883915 ms 
publication time 6.888939 ms 
whole laserOdometry time 6.903304 ms 
 
-----t: 0.0444756
OdomCount 408 & avg odom time 0.038560 ms ++++++++++++++++++++++
mapping data assosiation time 20.008195 ms 
mapping solver time 13.504367 ms 
mapping optimization time 99.991860 
add points time 0.699956 ms
mapping pub time 3.733054 ms 
whole mapping time 112.864315 ms +++++
mappingCount 366 & avg mapping time 107.082279 ms ++++++++++++++++++++++
--------------------stamp1317357804.339421033
points size 92566 
sort q time 5.596290 
seperate points time 11.931593 
scan registration time 28.177888 ms *************
mapping data assosiation time 21.005955 ms 
mapping data assosiation time 19.154562 ms 
mapping solver time 14.304467 ms 
filter time 6.060622 ms 
map prepare time 2.435595 ms
map corner num 89394  surf num 34252 
points size 93026 
build tree time 23.397083 ms 
sort q time 5.547191 
seperate points time 12.546724 
scan registration time 33.122129 ms *************
mapping data assosiation time 20.920621 ms 
mapping solver time 29.347582 ms 
-----t: 0.0790243
OdomCount 410 & avg odom time 0.038668 ms ++++++++++++++++++++++
--------------------stamp1317357804.547175884
points size 93138 
mapping solver time 22.802694 ms 
mapping optimization time 120.210683 
add points time 0.907803 ms
prepare time 16.009334 
mapping pub time 2.142315 ms 
whole mapping time 134.396232 ms +++++
mappingCount 368 & avg mapping time 107.164607 ms ++++++++++++++++++++++
scan registration time 34.864855 ms *************
-----t: 0.0369282
OdomCount 411 & avg odom time 0.038664 ms ++++++++++++++++++++++
1317357804.547175884 WriteOdom laser_odom_to_init
1317357804.547175884 WriteOdom aft_mapped_to_init_high_frec
publication time 9.315385 ms 
whole laserOdometry time 9.340694 ms 
 
mapping data assosiation time 18.355161 ms 
--------------------stamp1317357804.651024103
points size 94201 
mapping data assosiation time 22.141614 ms 
sort q time 7.682712 
seperate points time 15.260445 
scan registration time 37.787778 ms *************
mapping solver time 19.406328 ms 
mapping optimization time 117.203133 
add points time 0.914916 ms
filter time 8.120791 ms 
mapping pub time 2.386422 ms 
whole mapping time 131.243238 ms +++++
mappingCount 369 & avg mapping time 107.229910 ms ++++++++++++++++++++++
1317357804.443291903 WriteOdom aft_mapped_to_init
publication time 10.297423 ms 
whole laserOdometry time 10.308355 ms 
 
build tree time 21.382653 ms 
--------------------stamp1317357804.754833936
points size 93505 
mapping solver time 27.416432 ms 
sort q time 6.283052 
seperate points time 11.943519 
publication time 9.481289 ms 
mapping data assosiation time 23.547994 ms 
whole laserOdometry time 9.498833 ms 
 
-----t: 0.0428237
OdomCount 413 & avg odom time 0.038837 ms ++++++++++++++++++++++
mapping solver time 22.533685 ms 
mapping optimization time 118.631545 
add points time 0.755155 ms
mapping pub time 2.098143 ms 
whole mapping time 130.033893 ms +++++
mappingCount 370 & avg mapping time 107.291550 ms ++++++++++++++++++++++
1317357804.547175884 WriteOdom aft_mapped_to_init
map prepare time 2.417604 ms
map corner num 90860  surf num 34659 
--------------------stamp1317357804.858656883
points size 92347 
sort q time 4.874022 
seperate points time 11.572491 
mapping data assosiation time 24.093462 ms 
publication time 8.478533 ms 
whole laserOdometry time 8.494664 ms 
 
mapping solver time 31.079753 ms 
mapping data assosiation time 21.230871 ms 
--------------------stamp1317357804.962480068
points size 93856 
prepare time 11.561447 
filter time 7.608865 ms 
build tree time 22.339558 ms 
publication time 8.827611 ms 
whole laserOdometry time 8.845895 ms 
 
mapping solver time 19.393521 ms 
--------------------stamp1317357805.066301107
points size 95317 
mapping solver time 16.103767 ms 
sort q time 6.185134 
seperate points time 12.266710 
map prepare time 3.415278 ms
map corner num 92284  surf num 35166 
publication time 9.760300 ms 
whole laserOdometry time 9.774684 ms 
 
-----t: 0.0452807
build tree time 21.778041 ms 
OdomCount 416 & avg odom time 0.038831 ms ++++++++++++++++++++++
mapping solver time 20.227724 ms 
points size 94439 
prepare time 11.541502 
sort q time 5.721771 
seperate points time 11.598921 
publication time 8.030674 ms 
whole laserOdometry time 8.048051 ms 
 
filter time 7.191431 ms 
map prepare time 3.151896 ms
map corner num 92896  surf num 35317 
build tree time 20.303333 ms 
--------------------stamp1317357805.273850917
points size 93802 
mapping solver time 30.007056 ms 
sort q time 10.754731 
seperate points time 18.030650 
-----t: 0.0351308
OdomCount 418 & avg odom time 0.038850 ms ++++++++++++++++++++++
mapping data assosiation time 27.397951 ms 
mapping solver time 22.034245 ms 
filter time 6.543404 ms 
mapping pub time 2.243362 ms 
whole mapping time 135.905395 ms +++++
mappingCount 374 & avg mapping time 107.522196 ms ++++++++++++++++++++++
1317357805.066301107 WriteOdom aft_mapped_to_init
--------------------stamp1317357805.377603054
points size 92101 
build tree time 25.628310 ms 
sort q time 5.608933 
seperate points time 13.233855 
mapping data assosiation time 23.583730 ms 
publication time 8.972813 ms 
whole laserOdometry time 8.989621 ms 
 
mapping solver time 31.025126 ms 
-----t: 0.0634665
OdomCount 419 & avg odom time 0.038909 ms ++++++++++++++++++++++
1317357805.377603054 WriteOdom laser_odom_to_init
1317357805.377603054 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.213953 ms 
--------------------stamp1317357805.481379032
points size 89476 
prepare time 12.637430 
sort q time 4.850684 
seperate points time 11.714989 
map prepare time 2.331698 ms
map corner num 84065  surf num 30230 
publication time 10.904563 ms 
whole laserOdometry time 10.923182 ms 
 
1317357805.481379032 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.706484 ms 
--------------------stamp1317357805.585175991
points size 85254 
prepare time 10.745171 
sort q time 4.695619 
seperate points time 10.352951 
mapping data assosiation time 26.203879 ms 
publication time 7.991698 ms 
whole laserOdometry time 8.006508 ms 
 
-----t: 0.032627
OdomCount 421 & avg odom time 0.038911 ms ++++++++++++++++++++++
add points time 0.735049 ms
filter time 5.339779 ms 
map prepare time 2.323848 ms
map corner num 84668  surf num 30378 
build tree time 18.299350 ms 
--------------------stamp1317357805.688973903
mapping data assosiation time 23.643452 ms 
sort q time 4.904315 
seperate points time 10.383052 
mapping solver time 27.671792 ms 
publication time 7.942260 ms 
whole laserOdometry time 7.956038 ms 
 
mapping data assosiation time 25.848458 ms 
-----t: 0.0491851
OdomCount 422 & avg odom time 0.038935 ms ++++++++++++++++++++++
1317357805.688973903 WriteOdom laser_odom_to_init
1317357805.688973903 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.584599 ms 
filter time 6.302026 ms 
mapping pub time 2.027116 ms 
whole mapping time 129.867636 ms +++++
mappingCount 377 & avg mapping time 107.754614 ms ++++++++++++++++++++++
1317357805.481379032 WriteOdom aft_mapped_to_init
--------------------stamp1317357805.792748928
points size 84259 
sort q time 5.047779 
seperate points time 10.063999 
mapping data assosiation time 26.519162 ms 
publication time 8.887795 ms 
whole laserOdometry time 8.904350 ms 
 
mapping solver time 27.793653 ms 
-----t: 0.0604059
OdomCount 423 & avg odom time 0.038986 ms ++++++++++++++++++++++
1317357805.792748928 WriteOdom laser_odom_to_init
1317357805.792748928 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.915594 ms 
--------------------stamp1317357805.896548986
points size 87869 
mapping solver time 27.465559 ms 
filter time 8.748402 ms 
publication time 9.119858 ms 
whole laserOdometry time 9.134608 ms 
 
-----t: 0.042367
OdomCount 424 & avg odom time 0.038994 ms ++++++++++++++++++++++
1317357805.896548986 WriteOdom laser_odom_to_init
1317357805.896548986 WriteOdom aft_mapped_to_init_high_frec
build tree time 21.057450 ms 
mapping data assosiation time 19.928279 ms 
--------------------stamp1317357806.000346899
points size 88474 
prepare time 14.861356 
sort q time 5.293576 
seperate points time 12.398353 
scan registration time 33.150343 ms *************
map prepare time 2.659009 ms
map corner num 86251  surf num 30816 
build tree time 17.949928 ms 
mapping data assosiation time 18.755054 ms 
--------------------stamp1317357806.104120969
points size 90207 
sort q time 5.745970 
seperate points time 13.550573 
mapping data assosiation time 24.443162 ms 
mapping solver time 17.072059 ms 
mapping optimization time 104.990387 
add points time 0.758116 ms
map prepare time 2.261489 ms
map corner num 86683  surf num 30953 
build tree time 20.676210 ms 
--------------------stamp1317357806.207895994
points size 89555 
mapping solver time 25.336319 ms 
scan registration time 40.913123 ms *************
publication time 5.598177 ms 
whole laserOdometry time 5.610666 ms 
 
mapping data assosiation time 27.031688 ms 
-----t: 0.0612566
OdomCount 427 & avg odom time 0.039024 ms ++++++++++++++++++++++
1317357806.207895994 WriteOdom laser_odom_to_init
1317357806.207895994 WriteOdom aft_mapped_to_init_high_frec
filter time 6.763207 ms 
--------------------stamp1317357806.311671972
map prepare time 2.989088 ms
map corner num 87167  surf num 31064 
sort q time 6.496771 
seperate points time 13.679440 
publication time 5.791484 ms 
whole laserOdometry time 5.805923 ms 
 
-----t: 0.0338849
OdomCount 428 & avg odom time 0.039012 ms ++++++++++++++++++++++
1317357806.311671972 WriteOdom laser_odom_to_init
1317357806.311671972 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.583512 ms 
mapping data assosiation time 18.273079 ms 
points size 89021 
mapping optimization time 110.335653 
filter time 8.614862 ms 
mapping pub time 2.220826 ms 
whole mapping time 125.140355 ms +++++
mappingCount 382 & avg mapping time 108.047205 ms ++++++++++++++++++++++
1317357806.207895994 WriteOdom aft_mapped_to_init
-----t: 0.0363812
OdomCount 429 & avg odom time 0.039005 ms ++++++++++++++++++++++
1317357806.415471076 WriteOdom laser_odom_to_init
1317357806.415471076 WriteOdom aft_mapped_to_init_high_frec
build tree time 22.988265 ms 
publication time 8.178566 ms 
whole laserOdometry time 8.191805 ms 
 
mapping data assosiation time 21.992111 ms 
mapping solver time 20.556780 ms 
points size 89947 
sort q time 4.944732 
seperate points time 11.151449 
mapping solver time 16.785500 ms 
filter time 10.948524 ms 
mapping pub time 2.202165 ms 
whole mapping time 135.309526 ms +++++
mappingCount 383 & avg mapping time 108.118401 ms ++++++++++++++++++++++
1317357806.311671972 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 24.237395 ms 
--------------------stamp1317357806.623066902
prepare time 10.717582 
sort q time 4.788817 
seperate points time 11.340393 
mapping solver time 25.611793 ms 
-----t: 0.0322161
OdomCount 431 & avg odom time 0.038979 ms ++++++++++++++++++++++
1317357806.623066902 WriteOdom laser_odom_to_init
1317357806.623066902 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.027757 ms 
mapping solver time 15.962179 ms 
mapping optimization time 114.115544 
add points time 0.851685 ms
map prepare time 2.233258 ms
map corner num 88386  surf num 31352 
--------------------stamp1317357806.726866960
build tree time 19.949330 ms 
sort q time 5.384791 
seperate points time 12.312488 
publication time 7.200901 ms 
whole laserOdometry time 7.231365 ms 
 
mapping solver time 23.345040 ms 
mapping data assosiation time 18.307157 ms 
mapping solver time 19.494670 ms 
mapping optimization time 105.174262 
add points time 0.806771 ms
map prepare time 2.598354 ms
map corner num 88835  surf num 31489 
points size 95661 
build tree time 18.405630 ms 
sort q time 5.404634 
seperate points time 12.632823 
scan registration time 33.299618 ms *************
mapping data assosiation time 22.317989 ms 
publication time 9.350535 ms 
whole laserOdometry time 9.364060 ms 
 
-----t: 0.0460719
OdomCount 433 & avg odom time 0.038983 ms ++++++++++++++++++++++
mapping data assosiation time 18.628839 ms 
--------------------stamp1317357806.934416055
filter time 6.545103 ms 
map prepare time 3.054224 ms
map corner num 89252  surf num 31615 
build tree time 23.579787 ms 
publication time 8.791844 ms 
whole laserOdometry time 8.807731 ms 
 
mapping data assosiation time 21.919701 ms 
mapping solver time 19.847882 ms 
--------------------stamp1317357807.038191080
points size 98142 
mapping solver time 16.186120 ms 
sort q time 6.311428 
seperate points time 12.254624 
map prepare time 3.146706 ms
map corner num 89603  surf num 31729 
publication time 8.077481 ms 
whole laserOdometry time 8.091624 ms 
 
-----t: 0.0387264
OdomCount 435 & avg odom time 0.038986 ms ++++++++++++++++++++++
1317357807.038191080 WriteOdom laser_odom_to_init
1317357807.038191080 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.114629 ms 
mapping solver time 19.717791 ms 
--------------------stamp1317357807.141988992
points size 99459 
prepare time 13.336386 
mapping data assosiation time 21.320046 ms 
sort q time 5.787517 
seperate points time 12.868245 
scan registration time 31.792734 ms *************
mapping solver time 18.485351 ms 
mapping optimization time 101.727302 
add points time 0.724661 ms
filter time 8.502490 ms 
map prepare time 3.117187 ms
map corner num 89982  surf num 31856 
build tree time 20.405745 ms 
mapping data assosiation time 19.081474 ms 
--------------------stamp1317357807.245786905
mapping solver time 20.529776 ms 
sort q time 5.615628 
seperate points time 12.765303 
mapping solver time 19.137610 ms 
filter time 7.050460 ms 
map prepare time 2.301766 ms
map corner num 90387  surf num 31966 
build tree time 19.745302 ms 
--------------------stamp1317357807.349586963
points size 100140 
mapping solver time 21.795424 ms 
mapping data assosiation time 23.394598 ms 
mapping solver time 17.502589 ms 
filter time 6.388865 ms 
mapping pub time 2.366065 ms 
whole mapping time 115.369297 ms +++++
mappingCount 390 & avg mapping time 108.287745 ms ++++++++++++++++++++++
1317357807.141988993 WriteOdom aft_mapped_to_init
build tree time 18.683930 ms 
points size 100539 
prepare time 12.015745 
sort q time 6.515906 
seperate points time 12.347117 
scan registration time 29.739429 ms *************
mapping solver time 25.090632 ms 
publication time 7.789588 ms 
whole laserOdometry time 7.804129 ms 
 
mapping data assosiation time 20.071134 ms 
mapping solver time 17.154312 ms 
filter time 6.122035 ms 
map prepare time 3.402016 ms
map corner num 91219  surf num 32262 
points size 100122 
sort q time 6.128287 
seperate points time 11.877001 
mapping data assosiation time 23.889712 ms 
-----t: 0.039793
OdomCount 440 & avg odom time 0.038982 ms ++++++++++++++++++++++
1317357807.557183980 WriteOdom laser_odom_to_init
1317357807.557183980 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.446120 ms 
mapping data assosiation time 23.948830 ms 
--------------------stamp1317357807.660983085
mapping optimization time 115.346002 
add points time 0.695930 ms
points size 96496 
filter time 6.428424 ms 
prepare time 15.434930 
1317357807.453385115 WriteOdom aft_mapped_to_init
map prepare time 3.391592 ms
map corner num 91638  surf num 32389 
scan registration time 33.908132 ms *************
publication time 7.777077 ms 
whole laserOdometry time 7.790687 ms 
 
-----t: 0.0430634
OdomCount 441 & avg odom time 0.038991 ms ++++++++++++++++++++++
1317357807.660983085 WriteOdom laser_odom_to_init
1317357807.660983085 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.793976 ms 
points size 90668 
mapping data assosiation time 23.980223 ms 
mapping pub time 2.423544 ms 
whole mapping time 129.641222 ms +++++
mappingCount 393 & avg mapping time 108.429699 ms ++++++++++++++++++++++
publication time 7.007783 ms 
whole laserOdometry time 7.019227 ms 
 
-----t: 0.0602811
OdomCount 442 & avg odom time 0.039039 ms ++++++++++++++++++++++
1317357807.764781951 WriteOdom laser_odom_to_init
1317357807.764781951 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357807.868580102
points size 85537 
mapping solver time 22.554468 ms 
publication time 7.531361 ms 
whole laserOdometry time 7.547433 ms 
 
-----t: 0.0488302
OdomCount 443 & avg odom time 0.039062 ms ++++++++++++++++++++++
filter time 7.595934 ms 
map prepare time 2.381697 ms
map corner num 92493  surf num 32694 
build tree time 17.297700 ms 
points size 81798 
prepare time 10.838244 
sort q time 4.238815 
seperate points time 9.944584 
publication time 8.576253 ms 
whole laserOdometry time 8.591179 ms 
 
mapping data assosiation time 19.452369 ms 
mapping solver time 14.298284 ms 
mapping optimization time 98.545248 
add points time 0.583128 ms
map prepare time 2.077692 ms
map corner num 92885  surf num 32837 
--------------------stamp1317357808.076275110
points size 79149 
sort q time 3.972051 
seperate points time 8.422259 
mapping data assosiation time 21.324077 ms 
-----t: 0.0290605
OdomCount 445 & avg odom time 0.039025 ms ++++++++++++++++++++++
1317357808.076275110 WriteOdom laser_odom_to_init
1317357808.076275110 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.929903 ms 
mapping data assosiation time 17.423394 ms 
mapping solver time 18.917676 ms 
mapping optimization time 107.602697 
add points time 0.618300 ms
[0m[ INFO] [1718804524.995279981, 1317357808.180995393]: Received 126344 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804524.995333311, 1317357808.180995393]: Data saved to 1317357807972403.pcd[0m
points size 75057 
sort q time 3.995139 
seperate points time 9.161188 
build tree time 24.678132 ms 
publication time 6.070591 ms 
whole laserOdometry time 6.081925 ms 
 
-----t: 0.0306718
OdomCount 446 & avg odom time 0.039007 ms ++++++++++++++++++++++
mapping data assosiation time 22.102309 ms 
mapping solver time 29.374474 ms 
--------------------stamp1317357808.284015893
points size 72047 
publication time 5.933279 ms 
whole laserOdometry time 5.947700 ms 
 
-----t: 0.0478091
OdomCount 447 & avg odom time 0.039026 ms ++++++++++++++++++++++
mapping data assosiation time 17.408921 ms 
mapping solver time 25.227455 ms 
sort q time 4.804210 
seperate points time 10.949143 
publication time 6.450005 ms 
whole laserOdometry time 6.474684 ms 
 
filter time 6.713502 ms 
map prepare time 2.498260 ms
map corner num 75321  surf num 26844 
-----t: 0.0571126
OdomCount 448 & avg odom time 0.039067 ms ++++++++++++++++++++++
1317357808.387861967 WriteOdom laser_odom_to_init
build tree time 17.265166 ms 
mapping data assosiation time 18.636377 ms 
points size 71717 
prepare time 11.827722 
mapping solver time 24.817909 ms 
sort q time 4.757279 
seperate points time 9.731281 
mapping data assosiation time 21.741558 ms 
mapping solver time 21.406039 ms 
mapping optimization time 105.061651 
add points time 0.592627 ms
mapping pub time 1.648008 ms 
whole mapping time 116.565807 ms +++++
mappingCount 399 & avg mapping time 108.644105 ms ++++++++++++++++++++++
build tree time 15.645882 ms 
--------------------stamp1317357808.595555067
prepare time 10.241798 
sort q time 4.393797 
seperate points time 9.742175 
mapping solver time 24.648707 ms 
publication time 6.933979 ms 
whole laserOdometry time 6.950951 ms 
 
1317357808.595555067 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.516305 ms 
mapping solver time 18.448975 ms 
mapping optimization time 102.489837 
add points time 0.573708 ms
map prepare time 1.892818 ms
map corner num 76340  surf num 27225 
build tree time 14.577231 ms 
points size 82983 
mapping data assosiation time 19.305346 ms 
scan registration time 23.905747 ms *************
-----t: 0.0231279
OdomCount 451 & avg odom time 0.039012 ms ++++++++++++++++++++++
mapping data assosiation time 18.381800 ms 
mapping solver time 17.641969 ms 
filter time 5.145509 ms 
[0m[ INFO] [1718804525.591952971, 1317357808.781484529]: Received 104276 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804525.592012853, 1317357808.781484529]: Data saved to 1317357808595555.pcd[0m
map prepare time 1.889338 ms
map corner num 76858  surf num 27418 
--------------------stamp1317357808.803177118
points size 86486 
sort q time 4.873149 
seperate points time 10.076939 
mapping data assosiation time 21.112419 ms 
publication time 7.931873 ms 
whole laserOdometry time 7.943745 ms 
 
sort q time 5.248811 
seperate points time 12.155198 
mapping data assosiation time 21.970431 ms 
publication time 7.602276 ms 
whole laserOdometry time 7.616614 ms 
 
-----t: 0.0473886
OdomCount 453 & avg odom time 0.039013 ms ++++++++++++++++++++++
1317357808.906977891 WriteOdom laser_odom_to_init
1317357808.906977891 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.755347 ms 
--------------------stamp1317357809.010776042
add points time 0.623864 ms
filter time 7.639892 ms 
map prepare time 2.709472 ms
map corner num 77924  surf num 27786 
scan registration time 33.255564 ms *************
publication time 8.198156 ms 
whole laserOdometry time 8.235007 ms 
 
mapping data assosiation time 21.052484 ms 
mapping solver time 20.066727 ms 
mapping data assosiation time 16.442024 ms 
--------------------stamp1317357809.114550113
mapping solver time 15.331158 ms 
filter time 5.504928 ms 
mapping pub time 2.168546 ms 
whole mapping time 102.972751 ms +++++
mappingCount 404 & avg mapping time 108.681539 ms ++++++++++++++++++++++
1317357808.906977892 WriteOdom aft_mapped_to_init
build tree time 18.518560 ms 
sort q time 13.354679 
seperate points time 32.936973 
mapping data assosiation time 20.836178 ms 
publication time 7.660752 ms 
whole laserOdometry time 7.673053 ms 
 
mapping solver time 20.124184 ms 
mapping data assosiation time 19.104586 ms 
prepare time 12.787390 
filter time 6.296845 ms 
-----t: 0.0308262
OdomCount 456 & avg odom time 0.039012 ms ++++++++++++++++++++++
1317357809.218348979 WriteOdom laser_odom_to_init
1317357809.218348979 WriteOdom aft_mapped_to_init_high_frec
publication time 6.304583 ms 
whole laserOdometry time 6.322298 ms 
 
mapping data assosiation time 22.073886 ms 
mapping solver time 22.645738 ms 
--------------------stamp1317357809.322146892
points size 97001 
sort q time 5.404158 
seperate points time 10.723612 
filter time 7.484996 ms 
build tree time 16.408908 ms 
mapping data assosiation time 17.387203 ms 
--------------------stamp1317357809.425921916
points size 95984 
mapping data assosiation time 22.395388 ms 
publication time 7.107335 ms 
whole laserOdometry time 7.121799 ms 
 
filter time 5.942590 ms 
map prepare time 2.823454 ms
map corner num 79909  surf num 28444 
build tree time 16.231872 ms 
mapping data assosiation time 18.571162 ms 
points size 94474 
mapping solver time 26.246888 ms 
sort q time 5.237199 
seperate points time 11.757097 
mapping data assosiation time 22.639075 ms 
publication time 9.121934 ms 
whole laserOdometry time 9.136681 ms 
 
mapping optimization time 106.966927 
mapping pub time 2.135399 ms 
whole mapping time 118.706307 ms +++++
mappingCount 408 & avg mapping time 108.750117 ms ++++++++++++++++++++++
map prepare time 2.072004 ms
map corner num 80331  surf num 28566 
build tree time 16.140364 ms 
points size 93121 
mapping data assosiation time 20.639076 ms 
mapping solver time 21.370547 ms 
mapping data assosiation time 21.668856 ms 
mapping solver time 14.664754 ms 
mapping optimization time 95.701114 
add points time 0.624080 ms
map prepare time 1.981810 ms
map corner num 80745  surf num 28684 
--------------------stamp1317357809.737340927
points size 92244 
mapping data assosiation time 18.559191 ms 
scan registration time 27.808536 ms *************
-----t: 0.028327
OdomCount 461 & avg odom time 0.039012 ms ++++++++++++++++++++++
1317357809.737340927 WriteOdom laser_odom_to_init
1317357809.737340927 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.929264 ms 
publication time 8.134366 ms 
whole laserOdometry time 8.148850 ms 
 
mapping solver time 13.851237 ms 
mapping optimization time 90.109025 
add points time 0.583936 ms
map prepare time 2.129435 ms
map corner num 81140  surf num 28782 
--------------------stamp1317357809.841188907
points size 90459 
prepare time 10.007235 
sort q time 5.154311 
seperate points time 11.061888 
scan registration time 25.057995 ms *************
publication time 7.233025 ms 
whole laserOdometry time 7.265104 ms 
 
mapping solver time 22.861855 ms 
-----t: 0.0327743
OdomCount 462 & avg odom time 0.038998 ms ++++++++++++++++++++++
1317357809.841188907 WriteOdom laser_odom_to_init
1317357809.841188907 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.365572 ms 
mapping solver time 13.386803 ms 
filter time 5.273139 ms 
map prepare time 2.180192 ms
map corner num 81499  surf num 28912 
--------------------stamp1317357809.945010900
points size 88573 
mapping data assosiation time 20.891877 ms 
sort q time 5.245777 
seperate points time 11.378791 
publication time 8.012124 ms 
whole laserOdometry time 8.024984 ms 
 
mapping data assosiation time 19.655836 ms 
mapping solver time 16.436366 ms 
mapping pub time 2.019028 ms 
whole mapping time 108.706318 ms +++++
mappingCount 412 & avg mapping time 108.707231 ms ++++++++++++++++++++++
--------------------stamp1317357810.048831939
points size 87428 
sort q time 5.092299 
seperate points time 10.652955 
publication time 8.239491 ms 
whole laserOdometry time 8.252392 ms mapping solver time 28.265002 ms 
mapping data assosiation time 16.375379 ms 
mapping solver time 14.174538 ms 
mapping pub time 1.951328 ms 
whole mapping time 107.632464 ms +++++
mappingCount 413 & avg mapping time 108.704671 ms ++++++++++++++++++++++
points size 86277 
prepare time 9.656631 
sort q time 9.517773 
seperate points time 15.437524 
scan registration time 29.698961 ms *************
publication time 9.516911 ms 
whole laserOdometry time 9.529841 ms 
 
1317357810.152682065 WriteOdom laser_odom_to_init
1317357810.152682065 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.899293 ms 
mapping solver time 13.756823 ms 
filter time 5.524300 ms 
map prepare time 2.300270 ms
map corner num 82755  surf num 29261 
points size 85282 
prepare time 9.724498 
scan registration time 24.741313 ms *************
mapping data assosiation time 21.113328 ms 
mapping solver time 21.244806 ms 
mapping data assosiation time 16.989630 ms 
mapping solver time 18.593755 ms 
filter time 6.082576 ms 
points size 86126 
prepare time 11.522601 
scan registration time 27.267054 ms *************
-----t: 0.0299526
OdomCount 467 & avg odom time 0.039016 ms ++++++++++++++++++++++
publication time 16.962098 ms mapping data assosiation time 33.312829 ms 
mapping solver time 20.518703 ms 
--------------------stamp1317357810.464173078
points size 87933 
mapping solver time 18.750344 ms 
-----t: 0.0336303
OdomCount 468 & avg odom time 0.039005 ms ++++++++++++++++++++++
publication time 7.812692 ms 
whole laserOdometry time 7.922299 ms 
 
mapping data assosiation time 19.479073 ms 
points size 88373 
sort q time 5.695124 
seperate points time 11.844390 
publication time 6.522593 ms 
whole laserOdometry time 6.538174 ms 
 
filter time 6.563574 ms 
map prepare time 2.291224 ms
map corner num 83955  surf num 29605 
build tree time 16.096892 ms 
mapping data assosiation time 16.867812 ms 
--------------------stamp1317357810.671817064
points size 90003 
prepare time 12.090863 
mapping solver time 20.444612 ms 
sort q time 5.012012 
seperate points time 11.522760 
mapping data assosiation time 20.796587 ms 
publication time 7.999799 ms 
whole laserOdometry time 8.012751 ms 
 
-----t: 0.039432
OdomCount 470 & avg odom time 0.039007 ms ++++++++++++++++++++++
1317357810.671817064 WriteOdom laser_odom_to_init
1317357810.671817064 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.434348 ms 
mapping optimization time 93.750997 
add points time 0.617703 ms
map prepare time 2.238451 ms
map corner num 84379  surf num 29757 
build tree time 16.209242 ms 
mapping data assosiation time 18.938787 ms 
points size 89266 
sort q time 4.901215 
seperate points time 11.318695 
mapping solver time 29.068206 ms 
scan registration time 28.946834 ms *************
mapping data assosiation time 18.222058 ms 
mapping solver time 19.510872 ms 
mapping optimization time 103.179592 
add points time 0.613289 ms
map prepare time 2.242153 ms
map corner num 84920  surf num 29979 
build tree time 18.655976 ms 
points size 89343 
mapping data assosiation time 22.471882 ms 
sort q time 5.048810 
seperate points time 10.433801 
mapping solver time 22.442671 ms 
publication time 11.152486 ms 
whole laserOdometry time 11.171353 ms mapping data assosiation time 20.591381 ms 
mapping solver time 14.151586 ms 
filter time 5.777063 ms 
mapping pub time 2.142474 ms 
whole mapping time 110.273559 ms +++++
mappingCount 420 & avg mapping time 108.802246 ms ++++++++++++++++++++++
1317357810.775671005 WriteOdom aft_mapped_to_init
--------------------stamp1317357810.983335018
points size 86391 
prepare time 9.357866 
mapping data assosiation time 19.209680 ms 
mapping solver time 22.404534 ms 
publication time 6.580279 ms 
whole laserOdometry time 6.595671 ms 
 
mapping data assosiation time 19.947468 ms 
mapping solver time 13.802487 ms 
filter time 5.520327 ms 
[0m[ INFO] [1718804527.882132669, 1317357811.065344583]: Received 116094 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804527.882195827, 1317357811.065344583]: Data saved to 1317357810879517.pcd[0m
mapping pub time 14.010235 ms 
whole mapping time 117.124841 ms +++++
mappingCount 421 & avg mapping time 108.822035 ms ++++++++++++++++++++++
points size 82586 
build tree time 19.983685 ms 
sort q time 4.623875 
seperate points time 10.188621 
scan registration time 24.810617 ms *************
publication time 7.406615 ms 
whole laserOdometry time 7.419773 ms 
 
-----t: 0.0380029
OdomCount 474 & avg odom time 0.039039 ms ++++++++++++++++++++++
1317357811.087157011 WriteOdom laser_odom_to_init
1317357811.087157011 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.603540 ms 
mapping solver time 14.135753 ms 
filter time 5.692071 ms 
points size 79421 
build tree time 19.205956 ms 
sort q time 3.975358 
seperate points time 14.704350 
mapping data assosiation time 21.414090 ms 
mapping data assosiation time 17.229052 ms 
mapping solver time 14.342923 ms 
filter time 7.522503 ms 
mapping pub time 2.026952 ms 
whole mapping time 106.229812 ms +++++
mappingCount 423 & avg mapping time 108.809778 ms ++++++++++++++++++++++
1317357811.087157011 WriteOdom aft_mapped_to_init
points size 77237 
map prepare time 2.710327 ms
map corner num 86665  surf num 30540 
sort q time 4.431708 
seperate points time 10.409004 
publication time 6.140842 ms 
whole laserOdometry time 6.152596 ms 
 
mapping data assosiation time 21.837056 ms 
-----t: 0.0477918
OdomCount 476 & avg odom time 0.039047 ms ++++++++++++++++++++++
mapping solver time 21.574185 ms 
mapping data assosiation time 18.253662 ms 
--------------------stamp1317357811.398672103
points size 76584 
mapping pub time 1.850068 ms 
whole mapping time 112.650539 ms +++++
mappingCount 424 & avg mapping time 108.818867 ms ++++++++++++++++++++++
1317357811.190979004 WriteOdom aft_mapped_to_init
build tree time 17.991478 ms 
mapping data assosiation time 19.987703 ms 
mapping solver time 22.106395 ms 
mapping data assosiation time 17.305975 ms 
points size 75730 
prepare time 10.528494 
mapping solver time 15.633290 ms 
mapping optimization time 94.122693 
add points time 0.745227 ms
scan registration time 23.838039 ms *************
publication time 7.048316 ms 
mapping data assosiation time 19.324815 ms 
mapping solver time 23.151822 ms 
--------------------stamp1317357811.606247901
points size 75859 
mapping solver time 16.636860 ms 
scan registration time 25.523892 ms *************
[0m[ INFO] [1718804528.449681091, 1317357811.634958333]: Received 118774 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804528.449743481, 1317357811.634958333]: Data saved to 1317357811398672.pcd[0m
map prepare time 2.513422 ms
map corner num 87892  surf num 30882 
build tree time 19.010476 ms 
mapping data assosiation time 17.221298 ms 
mapping solver time 19.191156 ms 
--------------------stamp1317357811.710020065
points size 75376 
mapping data assosiation time 21.063744 ms 
prepare time 12.784612 
sort q time 4.865263 
seperate points time 10.036611 
filter time 5.965126 ms 
publication time 14.492220 ms 
whole laserOdometry time 14.501662 ms 
 
build tree time 18.103463 ms 
mapping data assosiation time 17.758144 ms 
-----t: 0.0855613
OdomCount 480 & avg odom time 0.039090 ms ++++++++++++++++++++++
--------------------stamp1317357811.813819885
points size 75082 
sort q time 3.733376 
seperate points time 8.487069 
-----t: 0.0298749
OdomCount 481 & avg odom time 0.039071 ms ++++++++++++++++++++++
filter time 6.678826 ms 
build tree time 18.071385 ms 
mapping data assosiation time 18.162411 ms 
--------------------stamp1317357811.917619943
points size 74481 
sort q time 4.179311 
seperate points time 8.905517 
scan registration time 23.495676 ms *************
mapping data assosiation time 21.088519 ms 
-----t: 0.0463684
OdomCount 482 & avg odom time 0.039086 ms ++++++++++++++++++++++
filter time 6.605606 ms 
map prepare time 2.265772 ms
map corner num 89162  surf num 31207 
build tree time 16.741026 ms 
--------------------stamp1317357812.021419048
mapping data assosiation time 19.256686 ms 
points size 74967 
prepare time 10.012896 
sort q time 3.927856 
seperate points time 8.352221 
mapping solver time 27.302441 ms 
-----t: 0.038034
OdomCount 483 & avg odom time 0.039084 ms ++++++++++++++++++++++
mapping solver time 14.815425 ms 
filter time 5.651909 ms 
mapping pub time 1.805001 ms 
whole mapping time 111.387433 ms +++++
mappingCount 430 & avg mapping time 108.865845 ms ++++++++++++++++++++++
1317357811.917619944 WriteOdom aft_mapped_to_init
map prepare time 2.045405 ms
map corner num 89658  surf num 31357 
build tree time 18.744812 ms 
points size 77411 
mapping data assosiation time 21.465091 ms 
publication time 5.864550 ms 
whole laserOdometry time 5.882289 ms 
 
mapping solver time 25.585665 ms 
-----t: 0.0369863
OdomCount 484 & avg odom time 0.039079 ms ++++++++++++++++++++++
1317357812.125289916 WriteOdom laser_odom_to_init
1317357812.125289916 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.673422 ms 
mapping solver time 14.266547 ms 
filter time 5.849868 ms 
map prepare time 2.012141 ms
map corner num 59092  surf num 20749 
--------------------stamp1317357812.229232072
points size 79498 
sort q time 4.232477 
-----t: 0.0452179
OdomCount 485 & avg odom time 0.039092 ms ++++++++++++++++++++++
mapping data assosiation time 20.624687 ms 
mapping solver time 14.716416 ms 
filter time 3.940317 ms 
mapping pub time 1.781941 ms 
whole mapping time 103.760559 ms +++++
mappingCount 432 & avg mapping time 108.863367 ms ++++++++++++++++++++++
1317357812.125289917 WriteOdom aft_mapped_to_init
map prepare time 1.882475 ms
map corner num 59442  surf num 20885 
--------------------stamp1317357812.333245038
prepare time 11.048311 
sort q time 4.502349 
seperate points time 9.728485 
publication time 6.194197 ms 
whole laserOdometry time 6.207504 ms 
 
-----t: 0.0362103
OdomCount 486 & avg odom time 0.039086 ms ++++++++++++++++++++++
mapping data assosiation time 20.057003 ms 
mapping solver time 20.508239 ms 
mapping pub time 1.946543 ms 
whole mapping time 115.464631 ms +++++
mappingCount 433 & avg mapping time 108.878624 ms ++++++++++++++++++++++
points size 82202 
build tree time 14.111346 ms 
scan registration time 30.197252 ms *************
mapping data assosiation time 24.431540 ms 
publication time 10.470115 ms 
whole laserOdometry time 10.486474 ms 
 
-----t: 0.08062
OdomCount 487 & avg odom time 0.039171 ms ++++++++++++++++++++++
points size 83465 mapping data assosiation time 26.160155 ms 
publication time 8.665856 ms 
whole laserOdometry time 8.678038 ms 
 
filter time 5.595722 ms 
1317357812.541516065 WriteOdom laser_odom_to_init
1317357812.541516065 WriteOdom aft_mapped_to_init_high_frec
build tree time 12.335462 ms 
--------------------stamp1317357812.645699024
points size 85149 
sort q time 5.324608 
seperate points time 10.309935 
publication time 5.619835 ms 
whole laserOdometry time 5.637454 ms 
 
mapping data assosiation time 23.903366 ms 
-----t: 0.0577142
OdomCount 489 & avg odom time 0.039214 ms ++++++++++++++++++++++
mapping solver time 29.061420 ms 
mapping pub time 1.782300 ms 
whole mapping time 124.472588 ms +++++
mappingCount 435 & avg mapping time 109.048046 ms ++++++++++++++++++++++
--------------------stamp1317357812.749932050
points size 86295 
sort q time 5.169550 
seperate points time 10.182810 
scan registration time 24.884010 ms *************
mapping data assosiation time 25.023702 ms 
publication time 7.577550 ms 
whole laserOdometry time 7.614083 ms 
 
-----t: 0.0278619
OdomCount 490 & avg odom time 0.039191 ms ++++++++++++++++++++++
1317357812.749932050 WriteOdom laser_odom_to_init
1317357812.749932050 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.137625 ms 
mapping data assosiation time 20.507931 ms 
mapping solver time 24.195657 ms 
filter time 6.821406 ms 
[0m[ INFO] [1718804529.670282601, 1317357812.852584958]: Received 82889 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804529.670340242, 1317357812.852584958]: Data saved to 1317357812645699.pcd[0m
mapping pub time 3.251832 ms 
whole mapping time 124.663034 ms +++++
mappingCount 436 & avg mapping time 109.083871 ms ++++++++++++++++++++++
points size 89241 
prepare time 11.849389 
sort q time 5.477417 
seperate points time 11.403269 
build tree time 15.208431 ms 
scan registration time 28.240218 ms *************
-----t: 0.03282
OdomCount 491 & avg odom time 0.039178 ms ++++++++++++++++++++++
mapping solver time 23.816084 ms 
mapping data assosiation time 20.132522 ms 
--------------------stamp1317357812.958512067
points size 89702 
filter time 6.010132 ms 
mapping pub time 2.005232 ms 
whole mapping time 116.946235 ms +++++
mappingCount 437 & avg mapping time 109.101884 ms ++++++++++++++++++++++
1317357812.749932051 WriteOdom aft_mapped_to_init
sort q time 5.223733 
seperate points time 11.679598 
map prepare time 2.631163 ms
map corner num 61864  surf num 21821 
build tree time 13.813982 ms 
publication time 9.722628 ms 
whole laserOdometry time 9.738180 ms 
 
mapping data assosiation time 23.782012 ms 
-----t: 0.0756474
OdomCount 492 & avg odom time 0.039252 ms ++++++++++++++++++++++
--------------------stamp1317357813.062792062
points size 89866 
sort q time 5.095866 
seperate points time 11.740932 
scan registration time 29.359565 ms *************
filter time 4.560465 ms 
build tree time 15.965959 ms 
-----t: 0.0519046
OdomCount 493 & avg odom time 0.039278 ms ++++++++++++++++++++++
1317357813.062792062 WriteOdom laser_odom_to_init
1317357813.062792062 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.471140 ms 
--------------------stamp1317357813.167021036
points size 89772 
sort q time 4.859962 
seperate points time 11.098941 
scan registration time 26.154496 ms *************
mapping data assosiation time 25.931958 ms 
mapping solver time 20.724506 ms 
filter time 6.200295 ms 
build tree time 12.029785 ms 
--------------------stamp1317357813.271224975
points size 90046 
mapping data assosiation time 24.826964 ms 
prepare time 11.545193 
sort q time 4.899046 
seperate points time 10.071770 
mapping solver time 31.680538 ms 
-----t: 0.0334153
OdomCount 495 & avg odom time 0.039254 ms ++++++++++++++++++++++
mapping data assosiation time 21.802661 ms 
mapping solver time 19.467850 ms 
mapping pub time 2.019479 ms 
whole mapping time 121.109181 ms +++++
mappingCount 440 & avg mapping time 109.204512 ms ++++++++++++++++++++++
1317357813.062792063 WriteOdom aft_mapped_to_init
map prepare time 2.232249 ms
map corner num 63337  surf num 22368 
--------------------stamp1317357813.375407934
points size 91804 
sort q time 6.170379 
seperate points time 11.370622 
scan registration time 26.059690 ms *************
mapping data assosiation time 32.580345 ms 
publication time 11.450585 ms 
whole laserOdometry time 11.465115 ms 
 
-----t: 0.0516911
OdomCount 496 & avg odom time 0.039279 ms ++++++++++++++++++++++
1317357813.375407934 WriteOdom laser_odom_to_init
1317357813.375407934 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.854575 ms 
mapping data assosiation time 20.705194 ms 
--------------------stamp1317357813.479496002
mapping solver time 22.113147 ms 
[0m[ INFO] [1718804530.305811296, 1317357813.488528984]: Received 86532 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804530.305863541, 1317357813.488528984]: Data saved to 1317357813271224.pcd[0m
map prepare time 2.188370 ms
map corner num 63949  surf num 22583 
publication time 8.212245 ms 
whole laserOdometry time 8.227066 ms 
 
-----t: 0.0417094
OdomCount 497 & avg odom time 0.039284 ms ++++++++++++++++++++++
mapping data assosiation time 20.239344 ms 
mapping solver time 25.772357 ms 
points size 94865 
prepare time 12.372709 
mapping data assosiation time 27.279906 ms 
scan registration time 29.161693 ms *************
mapping solver time 19.420379 ms 
mapping pub time 2.107400 ms 
whole mapping time 121.378044 ms +++++
mappingCount 442 & avg mapping time 109.317045 ms ++++++++++++++++++++++
1317357813.375407934 WriteOdom aft_mapped_to_init
publication time 10.508964 ms 
whole laserOdometry time 10.523618 ms 
 
map prepare time 2.989955 ms
map corner num 64467  surf num 22764 
build tree time 14.863388 ms 
mapping data assosiation time 20.747205 ms 
--------------------stamp1317357813.687383890
prepare time 14.514466 
sort q time 5.584110 
seperate points time 13.032248 
mapping data assosiation time 28.369117 ms 
mapping solver time 23.762197 ms 
mapping optimization time 120.113058 
add points time 0.741029 ms
1317357813.687383890 WriteOdom laser_odom_to_init
build tree time 14.638709 ms 
points size 98024 
mapping data assosiation time 26.187509 ms 
scan registration time 32.532448 ms *************
publication time 7.902343 ms 
whole laserOdometry time 7.919570 ms 
 
mapping solver time 28.593453 ms 
mapping data assosiation time 21.233616 ms 
mapping solver time 21.653350 ms 
--------------------stamp1317357813.894910097
map prepare time 3.134709 ms
map corner num 65349  surf num 23016 
points size 100753 
build tree time 17.197310 ms 
sort q time 6.053725 
seperate points time 12.445241 
scan registration time 30.776109 ms *************
publication time 10.319795 ms 
whole laserOdometry time 10.340943 ms -----t: 0.0364158
OdomCount 501 & avg odom time 0.039336 ms ++++++++++++++++++++++
1317357813.894910097 WriteOdom laser_odom_to_init
1317357813.894910097 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.438397 ms 
--------------------stamp1317357813.998589038
points size 103192 
prepare time 13.844803 
sort q time 6.086090 
seperate points time 13.580869 
mapping pub time 2.485989 ms 
whole mapping time 139.602746 ms +++++
mappingCount 445 & avg mapping time 109.468873 ms ++++++++++++++++++++++
1317357813.791182995 WriteOdom aft_mapped_to_init
publication time 8.112067 ms 
whole laserOdometry time 8.128205 ms 
 
-----t: 0.0390219
OdomCount 502 & avg odom time 0.039335 ms ++++++++++++++++++++++
mapping data assosiation time 22.385421 ms 
--------------------stamp1317357814.102243900
points size 103735 
prepare time 11.885113 
sort q time 5.691257 
seperate points time 12.805762 
publication time 7.645899 ms 
whole laserOdometry time 7.654776 ms 
 
mapping solver time 20.115557 ms 
mapping optimization time 106.639319 
add points time 0.780562 ms
-----t: 0.0388522
OdomCount 503 & avg odom time 0.039334 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
map prepare time 2.312170 ms
map corner num 66229  surf num 23344 
build tree time 16.040999 ms 
mapping data assosiation time 21.748731 ms 
points size 103967 
sort q time 6.057774 
seperate points time 13.894279 
mapping data assosiation time 24.950601 ms 
mapping solver time 27.988214 ms 
mapping optimization time 125.882755 
add points time 0.822664 ms
map prepare time 2.180793 ms
map corner num 66606  surf num 23442 
--------------------stamp1317357814.309600114
build tree time 13.561319 ms 
prepare time 15.867319 
sort q time 6.206354 
seperate points time 13.926852 
publication time 9.132959 ms 
whole laserOdometry time 9.144150 ms 
 
mapping data assosiation time 22.981037 ms 
--------------------stamp1317357814.413326978
points size 104206 
filter time 6.192017 ms 
build tree time 14.126291 ms 
-----t: 0.0442381
OdomCount 506 & avg odom time 0.039369 ms ++++++++++++++++++++++
publication time 7.738131 ms 
whole laserOdometry time 7.744561 ms 
 
mapping solver time 26.756600 ms 
--------------------stamp1317357814.517076969
points size 104286 
sort q time 7.530884 
seperate points time 15.437346 
mapping solver time 27.540983 ms 
mapping optimization time 116.540159 
add points time 0.801265 ms
filter time 6.478573 ms 
-----t: 0.0354699
OdomCount 507 & avg odom time 0.039362 ms ++++++++++++++++++++++
map prepare time 2.687490 ms
map corner num 67456  surf num 23735 
mapping data assosiation time 22.473197 ms 
--------------------stamp1317357814.620826959
mapping solver time 25.945683 ms 
sort q time 6.016631 
seperate points time 13.540578 
mapping data assosiation time 45.534353 ms 
publication time 11.352064 ms 
whole laserOdometry time 11.371107 ms 
 
-----t: 0.0708335
OdomCount 508 & avg odom time 0.039424 ms ++++++++++++++++++++++
add points time 0.812721 ms
filter time 5.646087 ms 
map prepare time 2.991556 ms
map corner num 67815  surf num 23846 
points size 104344 
build tree time 14.816162 ms 
sort q time 6.020084 
seperate points time 11.636751 
publication time 8.093306 ms 
whole laserOdometry time 8.111265 ms 
 
mapping data assosiation time 35.425252 ms 
-----t: 0.0487472
OdomCount 509 & avg odom time 0.039442 ms ++++++++++++++++++++++
1317357814.724554061 WriteOdom laser_odom_to_init
1317357814.724554061 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.989445 ms 
--------------------stamp1317357814.828279972
points size 104287 
prepare time 13.698654 
filter time 6.633094 ms 
publication time 8.267754 ms 
whole laserOdometry time 8.278895 ms 
 
-----t: 0.0488422
OdomCount 510 & avg odom time 0.039460 ms ++++++++++++++++++++++
mapping data assosiation time 23.256486 ms 
--------------------stamp1317357814.932008028
points size 104428 
sort q time 6.269701 
seperate points time 13.573691 
publication time 10.576016 ms 
whole laserOdometry time 10.591003 ms 
1317357814.932008028 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.353629 ms
map corner num 68647  surf num 24098 
build tree time 15.390557 ms 
--------------------stamp1317357815.035712003
mapping data assosiation time 25.581196 ms 
sort q time 6.206385 
seperate points time 14.093240 
mapping solver time 30.929318 ms 
publication time 11.564379 ms 
whole laserOdometry time 11.581578 ms 
 
mapping data assosiation time 25.352258 ms 
mapping solver time 18.436374 ms 
filter time 6.136537 ms 
map prepare time 2.312561 ms
map corner num 69070  surf num 24231 
points size 104449 
sort q time 6.077849 
seperate points time 13.902146 
mapping data assosiation time 25.584364 ms 
-----t: 0.0416837
OdomCount 513 & avg odom time 0.039479 ms ++++++++++++++++++++++
mapping solver time 28.469973 ms 
mapping data assosiation time 23.317683 ms 
--------------------stamp1317357815.243185997
points size 104309 
filter time 5.020821 ms 
map prepare time 3.107330 ms
map corner num 69563  surf num 24370 
build tree time 15.681123 ms 
mapping data assosiation time 23.865846 ms 
mapping solver time 22.101967 ms 
--------------------stamp1317357815.346915006
points size 104231 
sort q time 6.657038 
seperate points time 13.146377 
scan registration time 33.348594 ms *************
mapping solver time 20.754727 ms 
mapping optimization time 107.842195 
add points time 0.978181 ms
map prepare time 2.988979 ms
map corner num 70019  surf num 24510 
-----t: 0.0446819
OdomCount 515 & avg odom time 0.039494 ms ++++++++++++++++++++++
build tree time 16.887831 ms 
mapping data assosiation time 23.022630 ms 
--------------------stamp1317357815.450640916
points size 104132 
scan registration time 31.470885 ms *************
mapping data assosiation time 26.038588 ms 
publication time 8.491746 ms 
whole laserOdometry time 8.509865 ms 
 
-----t: 0.040052
OdomCount 516 & avg odom time 0.039495 ms ++++++++++++++++++++++
1317357815.450640916 WriteOdom laser_odom_to_init
1317357815.450640916 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718804532.336454887, 1317357815.527795821]: Received 95075 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804532.336505980, 1317357815.527795821]: Data saved to 1317357815243185.pcd[0m
map prepare time 2.261009 ms
map corner num 70440  surf num 24635 
build tree time 13.112819 ms 
--------------------stamp1317357815.554369926
points size 103995 
sort q time 5.840266 
seperate points time 13.453601 
mapping solver time 28.071826 ms 
-----t: 0.0520202
OdomCount 517 & avg odom time 0.039520 ms ++++++++++++++++++++++
mapping solver time 11.488078 ms 
filter time 4.967813 ms 
mapping pub time 2.378107 ms 
whole mapping time 112.226610 ms +++++
mappingCount 457 & avg mapping time 110.035843 ms ++++++++++++++++++++++
1317357815.346915007 WriteOdom aft_mapped_to_init
--------------------stamp1317357815.658119916
prepare time 12.765085 
mapping data assosiation time 25.136669 ms 
sort q time 12.869090 
seperate points time 20.223575 
scan registration time 39.275478 ms *************
publication time 8.929006 ms 
whole laserOdometry time 8.946040 ms 
 
-----t: 0.0559749
OdomCount 518 & avg odom time 0.039551 ms ++++++++++++++++++++++
mapping data assosiation time 21.942469 ms 
--------------------stamp1317357815.761892080
mapping solver time 17.868162 ms 
filter time 5.608944 ms 
mapping pub time 2.455289 ms 
whole mapping time 134.872203 ms +++++
mappingCount 458 & avg mapping time 110.090079 ms ++++++++++++++++++++++
1317357815.554369926 WriteOdom aft_mapped_to_init
sort q time 6.063519 
seperate points time 20.533204 
scan registration time 42.329590 ms *************
build tree time 17.857478 ms 
publication time 8.675650 ms 
whole laserOdometry time 8.689432 ms 
 
-----t: 0.0664534
OdomCount 519 & avg odom time 0.039603 ms ++++++++++++++++++++++
--------------------stamp1317357815.865668058
points size 103356 
prepare time 17.116163 
mapping solver time 25.879768 ms 
filter time 5.506280 ms 
build tree time 15.344587 ms 
--------------------stamp1317357815.969440937
points size 103383 
prepare time 14.846745 
sort q time 5.911058 
seperate points time 13.378307 
scan registration time 34.265801 ms *************
publication time 8.957645 ms 
whole laserOdometry time 8.973739 ms 
 
-----t: 0.0392687
OdomCount 521 & avg odom time 0.039601 ms ++++++++++++++++++++++
1317357815.969440937 WriteOdom laser_odom_to_init
1317357815.969440937 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.956790 ms 
mapping optimization time 116.227845 
add points time 0.733434 ms
map prepare time 2.263203 ms
map corner num 72144  surf num 25148 
--------------------stamp1317357816.073237895
build tree time 17.560448 ms 
points size 101853 
sort q time 6.769378 
seperate points time 15.491175 
-----t: 0.0374913
OdomCount 522 & avg odom time 0.039597 ms ++++++++++++++++++++++
publication time 10.175969 ms 
whole laserOdometry time 10.191961 ms 
 
mapping solver time 23.240933 ms 
mapping data assosiation time 22.036617 ms 
mapping solver time 16.379402 ms 
--------------------stamp1317357816.177038908
points size 99621 
sort q time 5.868179 
seperate points time 13.531709 
scan registration time 33.694616 ms *************
build tree time 17.170182 ms 
publication time 10.911471 ms 
whole laserOdometry time 10.976451 ms 
 
-----t: 0.0471335
OdomCount 523 & avg odom time 0.039612 ms ++++++++++++++++++++++
mapping solver time 23.287898 ms 
--------------------stamp1317357816.280862092
points size 98287 
mapping solver time 20.366633 ms 
filter time 6.956145 ms 
map prepare time 3.300098 ms
map corner num 73157  surf num 25441 
publication time 8.290770 ms 
whole laserOdometry time 8.313843 ms 
 
1317357816.280862092 WriteOdom aft_mapped_to_init_high_frec
build tree time 17.302090 ms 
mapping data assosiation time 22.136377 ms 
mapping solver time 21.414560 ms 
prepare time 17.597838 
mapping data assosiation time 28.206602 ms 
mapping solver time 19.805827 ms 
sort q time 15.461679 
seperate points time 40.531315 
build tree time 15.424378 ms 
mapping data assosiation time 20.634346 ms 
points size 97630 
prepare time 15.120678 
sort q time 5.773838 
seperate points time 13.287172 
scan registration time 35.278188 ms *************
-----t: 0.0479049
OdomCount 526 & avg odom time 0.039659 ms ++++++++++++++++++++++
mapping solver time 19.599199 ms 
mapping optimization time 111.563303 
add points time 0.748221 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357816.592305898
build tree time 16.173355 ms 
prepare time 12.310349 
sort q time 6.073706 
seperate points time 13.408568 
publication time 11.411115 ms 
whole laserOdometry time 11.426251 ms 
 
-----t: 0.0384545
OdomCount 527 & avg odom time 0.039657 ms ++++++++++++++++++++++
1317357816.592305898 WriteOdom laser_odom_to_init
1317357816.592305898 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.254614 ms 
mapping solver time 11.837670 ms 
mapping optimization time 103.269305 
add points time 0.758100 ms
map prepare time 2.954192 ms
map corner num 74526  surf num 25791 
points size 97760 
mapping data assosiation time 26.015303 ms 
sort q time 10.565898 
seperate points time 24.666437 
scan registration time 47.850049 ms *************
publication time 10.646896 ms 
whole laserOdometry time 10.661837 ms 
 
-----t: 0.0720332
OdomCount 528 & avg odom time 0.039718 ms ++++++++++++++++++++++
1317357816.696105003 WriteOdom laser_odom_to_init
1317357816.696105003 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.929273 ms 
points size 97882 
mapping solver time 19.083461 ms 
mapping optimization time 118.465889 
prepare time 12.603268 
add points time 0.862941 ms
[0m[ INFO] [1718804533.631838938, 1317357816.819522213]: Received 101060 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804533.631883092, 1317357816.819522213]: Data saved to 1317357816592305.pcd[0m
publication time 9.886134 ms 
whole laserOdometry time 9.920471 ms 
 
mapping data assosiation time 25.309680 ms 
mapping solver time 21.383650 ms 
points size 97261 
mapping data assosiation time 27.864831 ms 
scan registration time 31.282229 ms *************
mapping solver time 24.139458 ms 
publication time 8.789253 ms 
whole laserOdometry time 8.803314 ms 
 
filter time 6.291913 ms 
-----t: 0.046511
OdomCount 530 & avg odom time 0.039763 ms ++++++++++++++++++++++
1317357816.903677940 WriteOdom laser_odom_to_init
1317357816.903677940 WriteOdom aft_mapped_to_init_high_frec
build tree time 19.226029 ms 
mapping data assosiation time 22.407939 ms 
prepare time 13.409821 
publication time 10.883453 ms 
whole laserOdometry time 10.898058 ms 
 
mapping optimization time 113.362584 
add points time 0.708351 ms
-----t: 0.0552077
OdomCount 531 & avg odom time 0.039792 ms ++++++++++++++++++++++
1317357817.007476091 WriteOdom laser_odom_to_init
1317357817.007476091 WriteOdom aft_mapped_to_init_high_frec
filter time 5.890246 ms 
map prepare time 2.406367 ms
map corner num 75972  surf num 26320 
build tree time 15.855371 ms 
points size 92284 
prepare time 11.483329 
sort q time 5.238907 
seperate points time 11.947146 
publication time 7.811820 ms 
whole laserOdometry time 7.841071 ms 
 
mapping data assosiation time 21.724404 ms 
mapping solver time 17.396881 ms 
mapping optimization time 108.711376 
add points time 0.815788 ms
points size 90241 
sort q time 6.207206 
seperate points time 11.704622 
scan registration time 28.334291 ms *************
mapping data assosiation time 26.250496 ms 
publication time 10.074990 ms 
whole laserOdometry time 10.093190 ms 
 
mapping solver time 23.889204 ms 
mapping data assosiation time 22.225138 ms 
--------------------stamp1317357817.318850040
points size 88273 
filter time 5.379541 ms 
mapping pub time 2.147964 ms 
whole mapping time 118.892051 ms +++++
mappingCount 470 & avg mapping time 110.504608 ms ++++++++++++++++++++++
1317357817.111252069 WriteOdom aft_mapped_to_init
prepare time 13.437543 
sort q time 4.773026 
seperate points time 11.521142 
build tree time 19.633517 ms 
-----t: 0.0422267
OdomCount 534 & avg odom time 0.039781 ms ++++++++++++++++++++++
mapping solver time 21.662928 ms 
--------------------stamp1317357817.422648906
mapping data assosiation time 25.212767 ms 
points size 86907 
prepare time 12.839961 
sort q time 4.696461 
seperate points time 11.709258 
mapping solver time 18.528630 ms 
mapping optimization time 113.611295 
add points time 0.902436 ms
scan registration time 28.535408 ms *************
mapping pub time 13.471238 ms 
whole mapping time 137.402425 ms +++++
mappingCount 471 & avg mapping time 110.561726 ms ++++++++++++++++++++++
1317357817.215049982 WriteOdom aft_mapped_to_init
build tree time 14.814114 ms 
mapping data assosiation time 22.834074 ms 
--------------------stamp1317357817.526448011
points size 84560 
sort q time 5.339302 
seperate points time 11.571666 
mapping data assosiation time 26.221642 ms 
mapping solver time 18.170779 ms 
mapping pub time 1.932891 ms 
whole mapping time 120.563657 ms +++++
mappingCount 472 & avg mapping time 110.582942 ms ++++++++++++++++++++++
-----t: 0.0595996
OdomCount 536 & avg odom time 0.039812 ms ++++++++++++++++++++++
build tree time 16.760280 ms 
points size 81166 
mapping data assosiation time 24.651744 ms 
sort q time 4.533370 
seperate points time 11.389639 
publication time 8.334188 ms mapping data assosiation time 22.312028 ms 
mapping solver time 22.873370 ms 
filter time 6.906446 ms 
points size 77649 
sort q time 4.420312 
seperate points time 9.385719 
publication time 7.262346 ms 
whole laserOdometry time 7.276368 ms 
 
mapping data assosiation time 23.019112 ms 
mapping solver time 24.611261 ms 
1317357817.734093904 WriteOdom laser_odom_to_init
mapping data assosiation time 22.744199 ms 
--------------------stamp1317357817.837939023
points size 75819 
sort q time 4.343248 
seperate points time 9.827189 
filter time 7.483261 ms 
scan registration time 25.085901 ms *************
mapping pub time 2.013150 ms 
whole mapping time 125.282893 ms +++++
mappingCount 474 & avg mapping time 110.656274 ms ++++++++++++++++++++++
1317357817.630247116 WriteOdom aft_mapped_to_init
publication time 7.795670 ms 
whole laserOdometry time 7.807815 ms 
 
build tree time 17.318176 ms 
-----t: 0.0502089
OdomCount 539 & avg odom time 0.039875 ms ++++++++++++++++++++++
mapping data assosiation time 23.928872 ms 
mapping solver time 19.608563 ms 
--------------------stamp1317357817.941785097
prepare time 9.210062 
mapping data assosiation time 21.813381 ms 
mapping solver time 19.282908 ms 
mapping optimization time 103.217253 
add points time 0.746059 ms
map prepare time 2.863792 ms
map corner num 79427  surf num 27225 
publication time 7.735930 ms 
whole laserOdometry time 7.766936 ms 
 
mapping data assosiation time 21.985219 ms 
--------------------stamp1317357818.045680999
points size 74882 
sort q time 4.611445 
seperate points time 11.132277 
scan registration time 31.052421 ms *************
publication time 9.102992 ms 
whole laserOdometry time 9.121232 ms 
 
mapping solver time 16.942324 ms 
-----t: 0.0354832
OdomCount 541 & avg odom time 0.039869 ms ++++++++++++++++++++++
filter time 6.753152 ms 
map prepare time 2.959349 ms
map corner num 79908  surf num 27340 
build tree time 18.627314 ms 
--------------------stamp1317357818.149600982
scan registration time 22.709747 ms *************
mapping solver time 27.773565 ms 
-----t: 0.0336801
OdomCount 542 & avg odom time 0.039857 ms ++++++++++++++++++++++
1317357818.149600982 WriteOdom laser_odom_to_init
1317357818.149600982 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.732255 ms 
filter time 6.981341 ms 
--------------------stamp1317357818.253519058
prepare time 9.932306 
sort q time 4.378407 
seperate points time 9.367501 
publication time 6.219238 ms 
whole laserOdometry time 6.255525 ms 
 
mapping data assosiation time 20.884903 ms 
mapping solver time 18.160175 ms 
filter time 5.729745 ms 
points size 71835 
build tree time 18.442049 ms 
publication time 8.500939 ms 
whole laserOdometry time 8.513696 ms 
 
-----t: 0.0422301
OdomCount 544 & avg odom time 0.039860 ms ++++++++++++++++++++++
mapping data assosiation time 19.194026 ms 
mapping optimization time 101.832424 
mapping pub time 1.652779 ms 
whole mapping time 115.058831 ms +++++
mappingCount 479 & avg mapping time 110.742616 ms ++++++++++++++++++++++
1317357818.253519058 WriteOdom aft_mapped_to_init
points size 71148 
prepare time 10.247547 
map prepare time 2.199411 ms
map corner num 81399  surf num 27729 
sort q time 4.088871 
seperate points time 9.111526 
scan registration time 22.565306 ms *************
publication time 7.258869 ms 
whole laserOdometry time 7.276643 ms 
 
mapping solver time 17.081440 ms 
mapping data assosiation time 18.806778 ms 
--------------------stamp1317357818.565372943
points size 70662 
map prepare time 2.335793 ms
map corner num 81851  surf num 27865 
publication time 5.351473 ms 
whole laserOdometry time 5.368111 ms 
 
build tree time 20.278366 ms 
mapping solver time 22.120225 ms 
-----t: 0.0755007
OdomCount 546 & avg odom time 0.039910 ms ++++++++++++++++++++++
1317357818.565372943 WriteOdom laser_odom_to_init
1317357818.565372943 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357818.669388055
points size 67684 
sort q time 3.218347 
seperate points time 7.823148 
mapping pub time 9.591538 ms 
whole mapping time 125.188397 ms +++++
mappingCount 481 & avg mapping time 110.766649 ms ++++++++++++++++++++++
publication time 11.956313 ms 
whole laserOdometry time 11.972086 ms 
 
1317357818.669388055 WriteOdom laser_odom_to_init
1317357818.669388055 WriteOdom aft_mapped_to_init_high_frec
build tree time 20.201435 ms 
mapping data assosiation time 18.003183 ms 
--------------------stamp1317357818.773423910
prepare time 10.071732 
sort q time 3.123469 
seperate points time 7.807763 
publication time 6.031115 ms 
whole laserOdometry time 6.045683 ms 
 
mapping solver time 18.554534 ms 
mapping optimization time 98.980271 
add points time 0.851371 ms
-----t: 0.0647047
OdomCount 548 & avg odom time 0.039957 ms ++++++++++++++++++++++
build tree time 46.613675 ms 
points size 65610 
mapping data assosiation time 28.799188 ms 
sort q time 4.430416 
seperate points time 17.169620 
mapping solver time 30.201361 ms 
-----t: 0.0467255
OdomCount 549 & avg odom time 0.039969 ms ++++++++++++++++++++++
mapping solver time 21.773054 ms 
--------------------stamp1317357818.981599092
map prepare time 2.926722 ms
map corner num 83388  surf num 28316 
points size 68838 
prepare time 11.772448 
build tree time 21.931225 ms 
mapping data assosiation time 22.019113 ms 
-----t: 0.03395
OdomCount 550 & avg odom time 0.039958 ms ++++++++++++++++++++++
mapping solver time 25.658624 ms 
mapping data assosiation time 17.678017 ms 
--------------------stamp1317357819.085635900
points size 72704 
sort q time 4.086896 
seperate points time 8.956678 
publication time 6.019696 ms 
whole laserOdometry time 6.035523 ms 
 
mapping data assosiation time 18.951805 ms 
mapping solver time 19.727485 ms 
mapping data assosiation time 17.786561 ms 
points size 75047 
mapping solver time 20.428626 ms 
mapping optimization time 96.944640 
add points time 0.579565 ms
sort q time 4.686765 
seperate points time 9.316901 
scan registration time 23.629445 ms *************
filter time 6.778612 ms 
publication time 10.317537 ms 
whole laserOdometry time 10.344871 ms 
 
build tree time 18.414347 ms 
-----t: 0.049878
OdomCount 552 & avg odom time 0.039959 ms ++++++++++++++++++++++
mapping data assosiation time 20.446830 ms 
mapping solver time 21.620671 ms 
--------------------stamp1317357819.293595075
points size 77317 
prepare time 10.654741 
mapping data assosiation time 21.069822 ms 
scan registration time 24.153072 ms *************
publication time 7.615071 ms 
whole laserOdometry time 7.689442 ms map prepare time 2.751377 ms
map corner num 85307  surf num 28813 
build tree time 21.910750 ms 
-----t: 0.0555205
OdomCount 553 & avg odom time 0.039987 ms ++++++++++++++++++++++
1317357819.293595075 WriteOdom laser_odom_to_init
1317357819.293595075 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.436755 ms 
points size 78718 
sort q time 4.525411 
seperate points time 10.192260 
scan registration time 24.920442 ms *************
mapping data assosiation time 23.201594 ms 
-----t: 0.0392943
OdomCount 554 & avg odom time 0.039986 ms ++++++++++++++++++++++
1317357819.397537946 WriteOdom laser_odom_to_init
1317357819.397537946 WriteOdom aft_mapped_to_init_high_frec
filter time 8.443237 ms 
map prepare time 3.068384 ms
map corner num 85882  surf num 28977 
--------------------stamp1317357819.501456975
points size 82036 
prepare time 13.099046 
sort q time 4.324882 
seperate points time 10.647194 
mapping solver time 21.114354 ms 
mapping solver time 21.348613 ms 
mapping optimization time 113.770307 
add points time 0.615955 ms
mapping pub time 1.912517 ms 
whole mapping time 128.086739 ms +++++
mappingCount 488 & avg mapping time 110.980032 ms ++++++++++++++++++++++
points size 83526 
sort q time 5.721979 
seperate points time 10.969280 
-----t: 0.0292781
OdomCount 556 & avg odom time 0.039981 ms ++++++++++++++++++++++
publication time 6.888813 ms 
whole laserOdometry time 6.967702 ms 
 
1317357819.605400085 WriteOdom laser_odom_to_init
1317357819.605400085 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.690654 ms 
mapping solver time 19.782726 ms 
mapping data assosiation time 17.422967 ms 
mapping solver time 12.498384 ms 
filter time 5.886035 ms 
1317357819.501456976 WriteOdom aft_mapped_to_init
map prepare time 3.455657 ms
map corner num 87147  surf num 29320 
sort q time 4.737137 
seperate points time 11.158523 
mapping data assosiation time 21.733151 ms 
mapping solver time 24.881103 ms 
1317357819.709342002 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357819.813285112
points size 87203 
filter time 6.175239 ms 
scan registration time 31.070892 ms *************
build tree time 19.084638 ms 
-----t: 0.0474623
OdomCount 558 & avg odom time 0.040047 ms ++++++++++++++++++++++
1317357819.813285112 WriteOdom laser_odom_to_init
1317357819.813285112 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.333972 ms 
mapping solver time 23.406239 ms 
--------------------stamp1317357819.917227029
points size 88974 
sort q time 4.745724 
seperate points time 11.234334 
mapping solver time 19.078045 ms 
mapping optimization time 103.642494 
add points time 0.702107 ms
scan registration time 29.176019 ms *************
map prepare time 2.554421 ms
map corner num 88174  surf num 29563 
build tree time 22.179925 ms 
mapping data assosiation time 20.835046 ms 
--------------------stamp1317357820.021147012
points size 92010 
scan registration time 31.479202 ms *************
publication time 7.089633 ms 
whole laserOdometry time 7.103545 ms 
 
mapping solver time 27.007002 ms 
mapping optimization time 119.306995 
-----t: 0.0415335
OdomCount 560 & avg odom time 0.040039 ms ++++++++++++++++++++++
1317357820.021147012 WriteOdom laser_odom_to_init
1317357820.021147012 WriteOdom aft_mapped_to_init_high_frec
filter time 9.700265 ms 
mapping pub time 1.923427 ms 
whole mapping time 141.506229 ms +++++
mappingCount 492 & avg mapping time 111.073281 ms ++++++++++++++++++++++
1317357819.813285112 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 17.732847 ms 
--------------------stamp1317357820.125067949
points size 94156 
prepare time 14.649634 
mapping data assosiation time 23.154840 ms 
sort q time 5.354063 
seperate points time 12.662932 
publication time 9.937401 ms 
whole laserOdometry time 9.969484 ms 
 
-----t: 0.0663199
OdomCount 561 & avg odom time 0.040086 ms ++++++++++++++++++++++
1317357820.125067949 WriteOdom laser_odom_to_init
mapping solver time 20.881958 ms 
mapping optimization time 108.222949 
add points time 0.588862 ms
1317357820.125067949 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357820.228960990
points size 98105 
prepare time 14.681834 
mapping data assosiation time 22.060546 ms 
mapping solver time 25.074158 ms 
mapping data assosiation time 19.627865 ms 
--------------------stamp1317357820.332854986
points size 97018 
map prepare time 3.490293 ms
map corner num 89761  surf num 30046 
mapping data assosiation time 21.952903 ms 
-----t: 0.0518139
OdomCount 563 & avg odom time 0.040131 ms ++++++++++++++++++++++
1317357820.332854986 WriteOdom laser_odom_to_init
1317357820.332854986 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.513421 ms 
mapping data assosiation time 18.994208 ms 
points size 97092 
filter time 8.240378 ms 
mapping pub time 2.298950 ms 
whole mapping time 111.882175 ms +++++
mappingCount 495 & avg mapping time 111.116226 ms ++++++++++++++++++++++
1317357820.228960991 WriteOdom aft_mapped_to_init
sort q time 5.648635 
seperate points time 12.643836 
scan registration time 29.914023 ms *************
map prepare time 2.553666 ms
map corner num 59630  surf num 19806 
build tree time 13.194172 ms 
publication time 8.333516 ms 
whole laserOdometry time 8.355874 ms 
 
-----t: 0.0506314
OdomCount 564 & avg odom time 0.040150 ms ++++++++++++++++++++++
1317357820.436774015 WriteOdom laser_odom_to_init
1317357820.436774015 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.141830 ms 
mapping solver time 22.165240 ms 
--------------------stamp1317357820.540666103
points size 97324 
mapping solver time 18.458965 ms 
map prepare time 2.228311 ms
map corner num 60025  surf num 19899 
build tree time 12.597951 ms 
publication time 12.000722 ms 
whole laserOdometry time 12.012757 ms 
 
mapping data assosiation time 25.749225 ms 
mapping solver time 18.646339 ms 
--------------------stamp1317357820.644560098
prepare time 11.948000 
sort q time 5.443771 
seperate points time 12.593933 
filter time 5.171028 ms 
mapping pub time 2.288734 ms 
whole mapping time 106.192280 ms +++++
mappingCount 497 & avg mapping time 111.104376 ms ++++++++++++++++++++++
1317357820.436774015 WriteOdom aft_mapped_to_init
build tree time 13.705445 ms 
mapping data assosiation time 19.060591 ms 
mapping solver time 21.649677 ms 
points size 94295 
sort q time 5.449898 
seperate points time 10.847450 
publication time 6.658315 ms 
whole laserOdometry time 6.669650 ms 
 
add points time 0.697544 ms
mapping pub time 2.653517 ms 
whole mapping time 123.127302 ms +++++
mappingCount 498 & avg mapping time 111.128526 ms ++++++++++++++++++++++
1317357820.540666103 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.922815 ms
map corner num 60848  surf num 20066 
build tree time 15.249681 ms 
-----t: 0.0843255
OdomCount 567 & avg odom time 0.040253 ms ++++++++++++++++++++++
mapping data assosiation time 24.002870 ms 
points size 91356 
sort q time 5.112418 
seperate points time 12.596849 
publication time 8.104375 ms 
whole laserOdometry time 8.121600 ms 
 
-----t: 0.0495262
OdomCount 568 & avg odom time 0.040270 ms ++++++++++++++++++++++
filter time 6.188235 ms 
map prepare time 3.179244 ms
map corner num 61258  surf num 20172 
--------------------stamp1317357820.956149101
points size 88735 
sort q time 4.828176 
seperate points time 9.976460 
mapping solver time 28.161773 ms 
-----t: 0.0446096
OdomCount 569 & avg odom time 0.040277 ms ++++++++++++++++++++++
1317357820.956149101 WriteOdom laser_odom_to_init
1317357820.956149101 WriteOdom aft_mapped_to_init_high_frec
publication time 22.145281 ms 
whole laserOdometry time 22.160710 ms 
 
--------------------stamp1317357821.060020923
points size 85451 
filter time 7.000156 ms 
prepare time 14.484569 
mapping pub time 2.156639 ms 
whole mapping time 134.970104 ms +++++
mappingCount 500 & avg mapping time 111.202524 ms ++++++++++++++++++++++
1317357820.852303982 WriteOdom aft_mapped_to_init
build tree time 14.914721 ms 
publication time 7.475090 ms 
whole laserOdometry time 7.490128 ms 
 
mapping data assosiation time 24.748546 ms 
-----t: 0.0612355
OdomCount 570 & avg odom time 0.040314 ms ++++++++++++++++++++++
--------------------stamp1317357821.163893938
prepare time 9.942061 
sort q time 4.735261 
seperate points time 10.436897 
mapping solver time 27.596480 ms 
mapping optimization time 116.520562 
add points time 0.778901 ms
publication time 7.297642 ms 
whole laserOdometry time 7.313572 ms 
 
filter time 6.090002 ms 
1317357820.956149101 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0349182
OdomCount 571 & avg odom time 0.040305 ms ++++++++++++++++++++++
1317357821.163893938 WriteOdom laser_odom_to_init
1317357821.163893938 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.217646 ms
map corner num 62321  surf num 20506 
mapping data assosiation time 18.191695 ms 
--------------------stamp1317357821.267764091
prepare time 11.009887 
sort q time 4.411785 
seperate points time 10.277495 
scan registration time 25.519971 ms *************
mapping pub time 1.978042 ms 
whole mapping time 105.782725 ms +++++
mappingCount 502 & avg mapping time 111.250039 ms ++++++++++++++++++++++
-----t: 0.063756
OdomCount 572 & avg odom time 0.040346 ms ++++++++++++++++++++++
1317357821.267764091 WriteOdom laser_odom_to_init
1317357821.267764091 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.240459 ms
map corner num 62725  surf num 20647 
build tree time 12.169461 ms 
points size 75074 
sort q time 4.003435 
seperate points time 9.564561 
mapping solver time 25.879948 ms 
publication time 9.179916 ms 
whole laserOdometry time 9.200647 ms 
 
-----t: 0.04415
OdomCount 573 & avg odom time 0.040352 ms ++++++++++++++++++++++
mapping solver time 22.575331 ms 
mapping pub time 1.702099 ms 
whole mapping time 117.430959 ms +++++
mappingCount 503 & avg mapping time 111.262336 ms ++++++++++++++++++++++
points size 74303 
sort q time 3.982573 
seperate points time 9.024696 
mapping data assosiation time 23.079211 ms 
mapping solver time 21.608574 ms 
mapping solver time 17.316318 ms 
1317357821.371634960 WriteOdom aft_mapped_to_init
sort q time 3.722776 
seperate points time 8.080249 
publication time 6.459490 ms 
whole laserOdometry time 6.474242 ms 
 
-----t: 0.0602118
OdomCount 575 & avg odom time 0.040370 ms ++++++++++++++++++++++
mapping data assosiation time 19.400967 ms 
--------------------stamp1317357821.683271884
prepare time 10.280806 
mapping pub time 1.825591 ms 
whole mapping time 115.985416 ms +++++
mappingCount 505 & avg mapping time 111.269357 ms ++++++++++++++++++++++
1317357821.475506067 WriteOdom aft_mapped_to_init
sort q time 4.063188 
seperate points time 8.737031 
scan registration time 23.306201 ms *************
map prepare time 2.825324 ms
map corner num 64304  surf num 21124 
build tree time 15.443594 ms 
-----t: 0.0302795
OdomCount 576 & avg odom time 0.040353 ms ++++++++++++++++++++++
mapping data assosiation time 20.931425 ms 
mapping solver time 21.358157 ms 
mapping data assosiation time 19.602061 ms 
points size 73287 
mapping solver time 21.601444 ms 
scan registration time 23.526479 ms *************
filter time 5.853736 ms 
publication time 6.578507 ms 
whole laserOdometry time 6.593127 ms 
 
build tree time 14.054088 ms 
mapping data assosiation time 18.960927 ms 
mapping solver time 21.556269 ms 
--------------------stamp1317357821.891083002
-----t: 0.11062
filter time 5.820119 ms 
publication time 7.122351 ms 
-----t: 0.0493682
OdomCount 578 & avg odom time 0.040490 ms ++++++++++++++++++++++
1317357821.891083002 WriteOdom laser_odom_to_init
mapping solver time 20.226565 ms 
points size 73067 
mapping data assosiation time 23.347051 ms 
mapping solver time 21.512354 ms 
drop lidar frame in mapping for real time performance 
build tree time 13.114531 ms 
mapping data assosiation time 18.994220 ms 
--------------------stamp1317357822.098897933
prepare time 9.646583 
sort q time 4.073134 
seperate points time 8.421734 
publication time 5.777524 ms 
whole laserOdometry time 5.791685 ms 
 
mapping solver time 21.691612 ms 
mapping pub time 1.592215 ms 
whole mapping time 108.868904 ms +++++
mappingCount 509 & avg mapping time 111.264689 ms ++++++++++++++++++++++
build tree time 12.873124 ms 
mapping data assosiation time 16.990337 ms 
--------------------stamp1317357822.202816009
points size 79013 
sort q time 4.635109 
seperate points time 10.042862 
scan registration time 25.779500 ms *************
mapping data assosiation time 21.533553 ms 
publication time 6.549488 ms 
whole laserOdometry time 6.562254 ms 
 
mapping solver time 25.684706 ms 
mapping pub time 1.762178 ms 
whole mapping time 110.601712 ms +++++
mappingCount 510 & avg mapping time 111.263399 ms ++++++++++++++++++++++
map prepare time 2.209878 ms
map corner num 66614  surf num 21703 
build tree time 14.182129 ms 
--------------------stamp1317357822.306734085
points size 81274 
sort q time 4.676202 
seperate points time 9.276392 
mapping solver time 23.379314 ms 
publication time 5.912878 ms 
whole laserOdometry time 5.929387 ms 
 
-----t: 0.027678
OdomCount 582 & avg odom time 0.040461 ms ++++++++++++++++++++++
1317357822.306734085 WriteOdom laser_odom_to_init
1317357822.306734085 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.416467 ms 
[0m[ INFO] [1718804539.190301766, 1317357822.380585737]: Received 88843 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804539.190335613, 1317357822.380585737]: Data saved to 1317357822202816.pcd[0m
mapping pub time 3.025963 ms 
whole mapping time 103.447177 ms +++++
mappingCount 511 & avg mapping time 111.248112 ms ++++++++++++++++++++++
1317357822.202816010 WriteOdom aft_mapped_to_init
map prepare time 2.744120 ms
map corner num 67023  surf num 21820 
build tree time 17.341873 ms 
points size 83710 
prepare time 11.325527 
mapping solver time 26.092100 ms 
mapping data assosiation time 21.644687 ms 
mapping solver time 15.917409 ms 
mapping pub time 1.910977 ms 
whole mapping time 116.734103 ms +++++
mappingCount 512 & avg mapping time 111.258849 ms ++++++++++++++++++++++
1317357822.306734085 WriteOdom aft_mapped_to_init
map prepare time 2.599555 ms
map corner num 67439  surf num 21925 
points size 86667 
sort q time 4.904423 
seperate points time 11.152725 
mapping solver time 26.672241 ms 
mapping data assosiation time 22.012234 ms 
mapping solver time 16.681877 ms 
mapping pub time 2.337616 ms 
whole mapping time 119.317963 ms +++++
mappingCount 513 & avg mapping time 111.274570 ms ++++++++++++++++++++++
build tree time 17.509210 ms 
mapping data assosiation time 21.483556 ms 
-----t: 0.0398015
OdomCount 585 & avg odom time 0.040516 ms ++++++++++++++++++++++
mapping solver time 26.839055 ms 
mapping data assosiation time 17.891312 ms 
--------------------stamp1317357822.722335100
mapping solver time 16.666991 ms 
mapping optimization time 101.570653 
add points time 0.637282 ms
points size 93309 
prepare time 12.532341 
filter time 4.740304 ms 
sort q time 6.095892 
seperate points time 12.224255 
build tree time 16.085891 ms 
publication time 7.554433 ms 
whole laserOdometry time 7.567694 ms 
 
mapping data assosiation time 20.682435 ms 
mapping solver time 20.145020 ms 
mapping data assosiation time 17.126951 ms 
--------------------stamp1317357822.826208114
filter time 4.822457 ms 
sort q time 4.969099 
seperate points time 10.663379 
publication time 8.191643 ms 
whole laserOdometry time 8.207984 ms 
 
mapping solver time 20.684717 ms 
mapping data assosiation time 16.688900 ms 
--------------------stamp1317357822.930079936
points size 93923 
1317357822.722335100 WriteOdom aft_mapped_to_init
map prepare time 2.118276 ms
map corner num 68991  surf num 22311 
build tree time 17.318734 ms 
publication time 8.368902 ms 
whole laserOdometry time 8.382938 ms 
 
mapping data assosiation time 21.568205 ms 
mapping solver time 21.561049 ms 
mapping data assosiation time 17.987268 ms 
points size 95421 
filter time 6.385141 ms 
mapping pub time 2.221095 ms 
whole mapping time 111.929733 ms +++++
mappingCount 517 & avg mapping time 111.240286 ms ++++++++++++++++++++++
1317357822.826208115 WriteOdom aft_mapped_to_init
sort q time 5.691342 
seperate points time 12.905122 
map prepare time 2.752196 ms
map corner num 69425  surf num 22398 
build tree time 15.858508 ms 
-----t: 0.0401844
OdomCount 589 & avg odom time 0.040510 ms ++++++++++++++++++++++
1317357823.033925056 WriteOdom laser_odom_to_init
1317357823.033925056 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.735139 ms 
--------------------stamp1317357823.137748956
points size 95562 
map prepare time 3.001516 ms
map corner num 69849  surf num 22504 
sort q time 6.999397 
seperate points time 14.312629 
build tree time 17.490160 ms 
publication time 12.407662 ms 
whole laserOdometry time 12.421686 ms 
 
-----t: 0.0650191
OdomCount 590 & avg odom time 0.040551 ms ++++++++++++++++++++++
1317357823.137748956 WriteOdom laser_odom_to_init
1317357823.137748956 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.169436 ms 
mapping data assosiation time 20.079965 ms 
points size 94001 
mapping solver time 13.798417 ms 
mapping optimization time 97.386566 
add points time 0.656620 ms
filter time 5.147314 ms 
sort q time 4.872545 
seperate points time 11.605197 
mapping pub time 2.129192 ms 
whole mapping time 108.374099 ms +++++
mappingCount 519 & avg mapping time 111.211227 ms ++++++++++++++++++++++
1317357823.033925056 WriteOdom aft_mapped_to_init
publication time 9.008357 ms 
whole laserOdometry time 9.023365 ms 
 
-----t: 0.0439536
OdomCount 591 & avg odom time 0.040557 ms ++++++++++++++++++++++
mapping data assosiation time 17.869643 ms 
mapping solver time 17.677975 ms 
--------------------stamp1317357823.345441102
points size 92808 
mapping solver time 14.154948 ms 
map prepare time 2.882083 ms
map corner num 70546  surf num 22658 
build tree time 15.341004 ms 
-----t: 0.0361609
OdomCount 592 & avg odom time 0.040550 ms ++++++++++++++++++++++
mapping data assosiation time 20.594683 ms 
mapping solver time 18.298757 ms 
--------------------stamp1317357823.449261903
points size 90552 
prepare time 12.109736 
add points time 0.694506 ms

-----t: 0.0327868
OdomCount 593 & avg odom time 0.040537 ms ++++++++++++++++++++++
1317357823.449261903 WriteOdom laser_odom_to_init
mapping pub time 15.980035 ms 
whole mapping time 118.259774 ms +++++
mappingCount 521 & avg mapping time 111.200535 ms ++++++++++++++++++++++
build tree time 13.370990 ms 
mapping data assosiation time 17.075416 ms 
mapping solver time 16.723704 ms 
points size 89817 
sort q time 4.890395 
seperate points time 11.498817 
filter time 5.606451 ms 
map prepare time 1.961396 ms
map corner num 70280  surf num 22022 
build tree time 14.708860 ms 
mapping data assosiation time 16.325029 ms 
--------------------stamp1317357823.656863927
points size 89727 
mapping data assosiation time 22.072539 ms 
mapping solver time 19.746043 ms 
mapping pub time 1.971890 ms 
whole mapping time 103.614735 ms +++++
mappingCount 523 & avg mapping time 111.163232 ms ++++++++++++++++++++++
build tree time 13.950964 ms 
mapping data assosiation time 18.047307 ms 
--------------------stamp1317357823.760660886
points size 89686 
prepare time 13.361118 
sort q time 5.938360 
seperate points time 11.102851 
scan registration time 30.301060 ms *************
publication time 6.786894 ms 
whole laserOdometry time 6.801465 ms 
 
filter time 6.258390 ms 
-----t: 0.0492476
OdomCount 596 & avg odom time 0.040525 ms ++++++++++++++++++++++
map prepare time 2.219608 ms
map corner num 71075  surf num 22147 
build tree time 13.693162 ms 
mapping data assosiation time 16.122760 ms 
points size 90258 
mapping solver time 22.535579 ms 
mapping data assosiation time 20.613223 ms 
1317357823.864435911 WriteOdom laser_odom_to_init
1317357823.864435911 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.913346 ms 
mapping optimization time 88.801563 
add points time 0.525651 ms
map prepare time 2.000806 ms
map corner num 71418  surf num 22200 
build tree time 13.075371 ms 
mapping data assosiation time 15.759816 ms 
--------------------stamp1317357823.968235015
points size 90976 
sort q time 5.033750 
seperate points time 10.610463 
mapping data assosiation time 19.696017 ms 
publication time 8.053072 ms 
whole laserOdometry time 8.069922 ms 
 
mapping solver time 20.823129 ms 
[0m[ INFO] [1718804540.841831435, 1317357824.032823612]: Received 94044 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804540.841862338, 1317357824.032823612]: Data saved to 1317357823864435.pcd[0m
mapping pub time 3.017704 ms 
whole mapping time 103.284819 ms +++++
mappingCount 526 & avg mapping time 111.111064 ms ++++++++++++++++++++++
1317357823.864435911 WriteOdom aft_mapped_to_init
build tree time 13.644726 ms 
mapping data assosiation time 17.556039 ms 
points size 92735 
sort q time 5.479989 
seperate points time 12.310436 
scan registration time 28.475246 ms *************
publication time 7.237631 ms 
whole laserOdometry time 7.261107 ms 
 
mapping solver time 14.144121 ms 
mapping optimization time 84.669699 
add points time 0.576055 ms
filter time 6.375668 ms 
-----t: 0.0513107
OdomCount 599 & avg odom time 0.040537 ms ++++++++++++++++++++++
1317357824.072033882 WriteOdom laser_odom_to_init
1317357824.072033882 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.408283 ms
map corner num 72069  surf num 22336 
build tree time 14.281598 ms 
--------------------stamp1317357824.175807952
points size 92385 
mapping solver time 19.275507 ms 
mapping data assosiation time 23.542312 ms 
publication time 11.796890 ms 
whole laserOdometry time 11.813680 ms 
 
mapping solver time 16.627812 ms 
1317357824.175807952 WriteOdom aft_mapped_to_init_high_frecmapping optimization time 108.054930 
mapping pub time 2.212710 ms 
whole mapping time 119.085520 ms +++++
mappingCount 528 & avg mapping time 111.097456 ms ++++++++++++++++++++++
1317357824.072033882 WriteOdom aft_mapped_to_init
--------------------stamp1317357824.279583930
prepare time 12.302031 
mapping data assosiation time 19.924080 ms 
publication time 8.699428 ms 
whole laserOdometry time 8.712016 ms 
 
mapping data assosiation time 20.363857 ms 
mapping solver time 13.023578 ms 
filter time 4.500500 ms 
mapping pub time 2.240171 ms 
whole mapping time 97.316420 ms +++++
mappingCount 529 & avg mapping time 111.071414 ms ++++++++++++++++++++++
1317357824.175807953 WriteOdom aft_mapped_to_init
map prepare time 2.004980 ms
map corner num 72649  surf num 22437 
build tree time 16.388773 ms 
points size 88864 
mapping data assosiation time 18.397336 ms 
scan registration time 28.094967 ms *************
mapping solver time 22.969891 ms 
mapping data assosiation time 17.642233 ms 
mapping solver time 15.735669 ms 
mapping pub time 1.939441 ms 
whole mapping time 101.179553 ms +++++
mappingCount 530 & avg mapping time 111.052757 ms ++++++++++++++++++++++
build tree time 14.141075 ms 
points size 88355 
prepare time 15.207489 
mapping data assosiation time 21.551184 ms 
sort q time 4.916601 
seperate points time 11.532583 
mapping solver time 24.438630 ms 
publication time 6.908347 ms 
whole laserOdometry time 6.926007 ms 
 
mapping data assosiation time 19.384858 ms 
-----t: 0.0548707
OdomCount 603 & avg odom time 0.040543 ms ++++++++++++++++++++++
1317357824.487133026 WriteOdom laser_odom_to_init
mapping solver time 13.449542 ms 
[0m[ INFO] [1718804541.379966278, 1317357824.570734985]: Received 95744 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804541.379997633, 1317357824.570734985]: Data saved to 1317357824383359.pcd[0m
mapping pub time 3.208691 ms 
whole mapping time 105.001306 ms +++++
mappingCount 531 & avg mapping time 111.041366 ms ++++++++++++++++++++++
1317357824.383359909 WriteOdom aft_mapped_to_init
map prepare time 2.138992 ms
map corner num 73189  surf num 22555 
--------------------stamp1317357824.590907096
points size 88032 
mapping data assosiation time 21.238144 ms 
scan registration time 34.023720 ms *************
-----t: 0.0324989
OdomCount 604 & avg odom time 0.040530 ms ++++++++++++++++++++++
1317357824.590907096 WriteOdom laser_odom_to_init
1317357824.590907096 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.711871 ms 
mapping solver time 13.002207 ms 
mapping pub time 1.994096 ms 
whole mapping time 97.786158 ms +++++
mappingCount 532 & avg mapping time 111.016457 ms ++++++++++++++++++++++
build tree time 14.848089 ms 
points size 89119 
sort q time 4.930689 
seperate points time 11.675289 
mapping solver time 21.198811 ms 
publication time 10.918486 ms 
whole laserOdometry time 10.951230 ms 
 
mapping solver time 11.667830 ms 
mapping pub time 2.145220 ms 
whole mapping time 101.840906 ms +++++
mappingCount 533 & avg mapping time 110.999247 ms ++++++++++++++++++++++
build tree time 13.726886 ms 
points size 90674 
sort q time 4.936534 
seperate points time 11.472223 
mapping solver time 20.544617 ms 
publication time 12.512345 ms 
whole laserOdometry time 12.536168 ms 
 
mapping solver time 15.445022 ms 
-----t: 0.0809461
OdomCount 606 & avg odom time 0.040588 ms ++++++++++++++++++++++
points size 88386 
prepare time 11.611531 
build tree time 15.363646 ms 
scan registration time 27.301489 ms *************
mapping data assosiation time 19.404445 ms 
-----t: 0.0342209
OdomCount 607 & avg odom time 0.040577 ms ++++++++++++++++++++++
mapping data assosiation time 16.001188 ms 
mapping solver time 15.601322 ms 
mapping optimization time 89.541302 
add points time 0.705798 ms
--------------------stamp1317357825.006078958
points size 86851 
sort q time 5.065364 
seperate points time 10.106715 
mapping solver time 19.268254 ms 
-----t: 0.0459208
OdomCount 608 & avg odom time 0.040586 ms ++++++++++++++++++++++
mapping solver time 12.810881 ms 
mapping optimization time 88.563596 
add points time 0.566990 ms
--------------------stamp1317357825.109875917
points size 85006 
sort q time 4.799997 
seperate points time 10.313912 
publication time 5.746329 ms 
whole laserOdometry time 5.760927 ms 
 
-----t: 0.0340494
OdomCount 609 & avg odom time 0.040575 ms ++++++++++++++++++++++
1317357825.109875917 WriteOdom laser_odom_to_init
1317357825.109875917 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.095589 ms 
mapping data assosiation time 17.818064 ms 
mapping solver time 15.670803 ms 
mapping pub time 2.010546 ms 
whole mapping time 103.479927 ms +++++
mappingCount 537 & avg mapping time 110.923326 ms ++++++++++++++++++++++
--------------------stamp1317357825.213674068
points size 81422 
prepare time 11.122307 
build tree time 20.884144 ms 
mapping data assosiation time 19.923563 ms 
mapping solver time 22.311490 ms 
mapping data assosiation time 23.102697 ms 
-----t: 0.0755852
OdomCount 610 & avg odom time 0.040633 ms ++++++++++++++++++++++
add points time 0.640402 ms
prepare time 11.093423 
sort q time 5.082891 
seperate points time 9.829587 
publication time 4.953077 ms 
whole laserOdometry time 4.965545 ms 
 
mapping data assosiation time 20.004086 ms 
-----t: 0.0394929
OdomCount 611 & avg odom time 0.040631 ms ++++++++++++++++++++++
mapping solver time 24.123977 ms 
mapping data assosiation time 15.559102 ms 
--------------------stamp1317357825.421392917
points size 71835 
map prepare time 2.668962 ms
map corner num 75865  surf num 23240 
publication time 5.316540 ms 
whole laserOdometry time 5.329760 ms 
 
build tree time 18.597171 ms 
-----t: 0.0284137
OdomCount 612 & avg odom time 0.040611 ms ++++++++++++++++++++++
1317357825.421392917 WriteOdom laser_odom_to_init
1317357825.421392917 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.695432 ms 
mapping solver time 16.168334 ms 
mapping data assosiation time 17.418783 ms 
--------------------stamp1317357825.525262117
points size 68142 
filter time 7.317384 ms 
build tree time 16.326683 ms 
mapping data assosiation time 18.726212 ms 
mapping solver time 19.163156 ms 
mapping data assosiation time 17.348852 ms 
points size 66092 
filter time 6.443701 ms 
mapping pub time 13.687957 ms 
whole mapping time 110.111435 ms +++++
mappingCount 541 & avg mapping time 110.926707 ms ++++++++++++++++++++++
1317357825.421392918 WriteOdom aft_mapped_to_init
build tree time 17.227098 ms 
-----t: 0.0508385
OdomCount 614 & avg odom time 0.040641 ms ++++++++++++++++++++++
mapping solver time 18.415924 ms 
--------------------stamp1317357825.732959032
prepare time 10.702195 
sort q time 3.200518 
seperate points time 8.082541 
scan registration time 22.742504 ms *************
mapping solver time 20.546545 ms 
mapping optimization time 92.520611 
filter time 9.872245 ms 
1317357825.732959032 WriteOdom aft_mapped_to_init_high_frec
build tree time 10.617251 ms 
mapping data assosiation time 19.884535 ms 
mapping solver time 20.433071 ms 
--------------------stamp1317357825.836806058
sort q time 3.297250 
seperate points time 8.237378 
mapping optimization time 91.168713 
-----t: 0.0641089
OdomCount 616 & avg odom time 0.040662 ms ++++++++++++++++++++++
1317357825.836806058 WriteOdom laser_odom_to_init
1317357825.836806058 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.852365 ms
map corner num 49541  surf num 14484 
build tree time 9.146146 ms 
prepare time 8.529194 
scan registration time 20.216959 ms *************
publication time 5.368782 ms 
whole laserOdometry time 5.393716 ms 
 
mapping solver time 23.796926 ms 
mapping data assosiation time 17.130426 ms 
mapping solver time 17.984058 ms 
mapping optimization time 95.371401 
add points time 0.540999 ms
filter time 3.344379 ms 
mapping pub time 1.387199 ms 
whole mapping time 102.544760 ms +++++
mappingCount 544 & avg mapping time 110.887794 ms ++++++++++++++++++++++
1317357825.836806059 WriteOdom aft_mapped_to_init
build tree time 10.473998 ms 
points size 58852 
prepare time 8.187141 
publication time 5.028013 ms 
whole laserOdometry time 5.038555 ms 
 
mapping solver time 24.401268 ms 
mapping data assosiation time 20.366477 ms 
mapping solver time 17.099915 ms 
map prepare time 1.540795 ms
map corner num 50761  surf num 14846 
build tree time 11.634685 ms 
points size 56924 
sort q time 3.347926 
seperate points time 6.861423 
publication time 4.523369 ms 
whole laserOdometry time 4.536747 ms 
 
mapping solver time 26.283292 ms 
-----t: 0.0253156
OdomCount 619 & avg odom time 0.040631 ms ++++++++++++++++++++++
1317357826.148391962 WriteOdom laser_odom_to_init
1317357826.148391962 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.406497 ms 
mapping solver time 12.217509 ms 
map prepare time 1.712383 ms
map corner num 51261  surf num 14941 
build tree time 10.188619 ms 
--------------------stamp1317357826.252280950
scan registration time 16.287068 ms *************
mapping solver time 20.390656 ms 
mapping data assosiation time 20.628703 ms 
mapping solver time 19.605616 ms 
map prepare time 1.662625 ms
map corner num 51691  surf num 15068 
build tree time 11.207662 ms 
--------------------stamp1317357826.356200933
sort q time 2.663734 
seperate points time 5.914017 
mapping solver time 24.809286 ms 
-----t: 0.0261506
OdomCount 621 & avg odom time 0.040587 ms ++++++++++++++++++++++
1317357826.356200933 WriteOdom laser_odom_to_init
1317357826.356200933 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.427118 ms 
mapping optimization time 90.744029 
add points time 0.579382 ms
filter time 3.494360 ms 
build tree time 11.335896 ms 
mapping data assosiation time 16.046646 ms 
points size 56502 
prepare time 7.637779 
publication time 3.832569 ms 
whole laserOdometry time 3.845574 ms 
 
mapping data assosiation time 16.019648 ms 
-----t: 0.0322575
OdomCount 622 & avg odom time 0.040573 ms ++++++++++++++++++++++
1317357826.460171937 WriteOdom laser_odom_to_init
1317357826.460171937 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.756324 ms 
mapping optimization time 81.940566 
add points time 0.537573 ms
1317357826.356200933 WriteOdom aft_mapped_to_init
map prepare time 1.861540 ms
map corner num 52467  surf num 15212 
build tree time 9.944797 ms 
mapping data assosiation time 15.809167 ms 
mapping solver time 15.079709 ms 
points size 59121 
mapping data assosiation time 21.092572 ms 
sort q time 3.493186 
seperate points time 9.123498 
build tree time 9.859944 ms 
mapping data assosiation time 16.392365 ms 
mapping solver time 18.648031 ms 
--------------------stamp1317357826.668203115
sort q time 3.232477 
seperate points time 8.054721 
filter time 3.589319 ms 
-----t: 0.0388906
OdomCount 624 & avg odom time 0.040544 ms ++++++++++++++++++++++
build tree time 11.875608 ms 
mapping data assosiation time 18.218351 ms 
--------------------stamp1317357826.772239923
points size 61246 
prepare time 10.298707 
publication time 5.269504 ms 
whole laserOdometry time 5.284641 ms 
 
mapping solver time 18.896184 ms 
map prepare time 1.639040 msbuild tree time 12.356660 ms 
mapping data assosiation time 16.901093 ms 
mapping solver time 17.912528 ms 
mapping solver time 17.746251 ms 
mapping optimization time 86.312145 
publication time 5.682520 ms 
whole laserOdometry time 5.696466 ms 
 
add points time 0.919428 ms
-----t: 0.0446832
OdomCount 626 & avg odom time 0.040533 ms ++++++++++++++++++++++
build tree time 10.459029 ms 
mapping data assosiation time 15.081769 ms 
--------------------stamp1317357826.980293035
mapping solver time 20.458990 ms 
points size 60363 
sort q time 3.581728 
seperate points time 9.054297 
scan registration time 19.456422 ms *************
1317357826.980293035 WriteOdom aft_mapped_to_init_high_frec
publication time 5.024002 ms 
whole laserOdometry time 5.036570 ms 
 
mapping solver time 16.047301 ms 
mapping optimization time 81.443710 
add points time 0.611383 ms
build tree time 10.851310 ms 
mapping data assosiation time 15.200849 ms 
mapping solver time 16.859404 ms 
--------------------stamp1317357827.084307909
points size 60647 
sort q time 3.120561 
seperate points time 7.649347 
add points time 0.682937 ms
-----t: 0.031693
OdomCount 628 & avg odom time 0.040494 ms ++++++++++++++++++++++
1317357827.084307909 WriteOdom laser_odom_to_init
1317357827.084307909 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.570740 ms
map corner num 54834  surf num 15858 
build tree time 12.076562 ms 
mapping data assosiation time 15.179861 ms 
--------------------stamp1317357827.188301086
prepare time 8.701135 
sort q time 3.457271 
seperate points time 7.956977 
publication time 5.113180 ms 
whole laserOdometry time 5.126747 ms 
 
-----t: 0.0290303
OdomCount 629 & avg odom time 0.040476 ms ++++++++++++++++++++++
1317357827.188301086 WriteOdom laser_odom_to_init
1317357827.188301086 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.607081 ms
map corner num 55210  surf num 15969 
build tree time 12.380164 ms 
mapping data assosiation time 15.659515 ms 
mapping solver time 14.373841 ms 
--------------------stamp1317357827.292243003
mapping solver time 12.503707 ms 
scan registration time 20.044592 ms *************
filter time 4.603067 ms 
mapping pub time 1.422405 ms 
whole mapping time 80.753474 ms +++++
mappingCount 557 & avg mapping time 110.454575 ms ++++++++++++++++++++++
1317357827.188301086 WriteOdom aft_mapped_to_init
publication time 5.955347 ms 
whole laserOdometry time 5.969436 ms 
 
-----t: 0.0273392
OdomCount 630 & avg odom time 0.040455 ms ++++++++++++++++++++++
build tree time 11.285848 ms 
mapping solver time 21.615191 ms 
points size 64297 
sort q time 3.263801 
seperate points time 7.943375 
publication time 6.724926 ms 
whole laserOdometry time 6.735285 ms 
 
filter time 6.731194 ms 
mapping pub time 1.431671 ms 
whole mapping time 103.717853 ms +++++
mappingCount 558 & avg mapping time 110.442511 ms ++++++++++++++++++++++
1317357827.292243004 WriteOdom aft_mapped_to_init
-----t: 0.0500158
OdomCount 631 & avg odom time 0.040470 ms ++++++++++++++++++++++
build tree time 12.807166 ms 
mapping data assosiation time 16.524520 ms 
points size 65367 
prepare time 10.758869 
mapping data assosiation time 16.541153 ms 
publication time 5.636524 ms 
whole laserOdometry time 5.653266 ms 
 
mapping solver time 17.784608 ms 
map prepare time 1.622006 ms
map corner num 56340  surf num 16355 
build tree time 11.830164 ms 
mapping data assosiation time 16.305955 ms 
--------------------stamp1317357827.604022979
prepare time 9.223965 
sort q time 3.497241 
seperate points time 8.487958 
publication time 4.864709 ms 
whole laserOdometry time 4.878858 ms 
 
-----t: 0.032533
OdomCount 633 & avg odom time 0.040447 ms ++++++++++++++++++++++
1317357827.604022979 WriteOdom laser_odom_to_init
1317357827.604022979 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.647613 ms 
mapping optimization time 84.908350 
add points time 0.664031 ms
map prepare time 1.688451 ms
map corner num 56718  surf num 16529 
build tree time 10.379381 ms 
mapping data assosiation time 14.755757 ms 
mapping solver time 15.948355 ms 
points size 68805 
prepare time 13.397438 
mapping data assosiation time 19.919012 ms 
mapping solver time 16.661823 ms 
[0m[ INFO] [1718804544.558633476, 1317357827.749281696]: Received 73860 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804544.558708776, 1317357827.749281696]: Data saved to 1317357827604022.pcd[0m
mapping pub time 8.470439 ms 
whole mapping time 95.589746 ms +++++
mappingCount 561 & avg mapping time 110.361445 ms ++++++++++++++++++++++
1317357827.604022980 WriteOdom aft_mapped_to_init
build tree time 14.162701 ms 
mapping data assosiation time 19.171381 ms 
mapping solver time 17.690134 ms 
prepare time 9.885491 
sort q time 4.338408 
seperate points time 9.056500 
mapping solver time 17.837215 ms 
mapping pub time 1.629896 ms 
whole mapping time 100.472864 ms +++++
mappingCount 562 & avg mapping time 110.343857 ms ++++++++++++++++++++++
1317357827.707894087 WriteOdom aft_mapped_to_init
map prepare time 2.230256 ms
map corner num 57432  surf num 16970 
build tree time 14.009290 ms 
mapping data assosiation time 19.389389 ms 
--------------------stamp1317357827.915610074
points size 72835 
sort q time 4.342878 
seperate points time 8.883407 
publication time 5.870033 ms 
whole laserOdometry time 5.879633 ms 
 
filter time 6.292534 ms 
-----t: 0.0589724
OdomCount 636 & avg odom time 0.040436 ms ++++++++++++++++++++++
1317357827.915610074 WriteOdom laser_odom_to_init
1317357827.915610074 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.496479 ms
map corner num 57740  surf num 17132 
build tree time 14.908345 ms 
--------------------stamp1317357828.019412040
prepare time 11.399268 
mapping solver time 14.593084 ms 
mapping data assosiation time 19.294609 ms 
mapping solver time 14.867784 ms 
1317357827.915610075 WriteOdom aft_mapped_to_init
map prepare time 1.808141 ms
map corner num 58082  surf num 17308 
build tree time 10.682194 ms 
mapping data assosiation time 14.890915 ms 
--------------------stamp1317357828.123186111
prepare time 10.007575 
mapping data assosiation time 17.371475 ms 
mapping solver time 15.103332 ms 
-----t: 0.0426931
OdomCount 638 & avg odom time 0.040443 ms ++++++++++++++++++++++
1317357828.123186111 WriteOdom laser_odom_to_init
1317357828.123186111 WriteOdom aft_mapped_to_init_high_frec
publication time 5.679569 ms 
whole laserOdometry time 5.694726 ms 
 
build tree time 12.282116 ms 
mapping data assosiation time 16.216791 ms 
--------------------stamp1317357828.226934909
points size 72249 
sort q time 4.057878 
seperate points time 9.382531 
publication time 5.016078 ms 
whole laserOdometry time 5.044806 ms 
 
filter time 5.603492 ms 
-----t: 0.0444005
OdomCount 639 & avg odom time 0.040449 ms ++++++++++++++++++++++
1317357828.226934909 WriteOdom laser_odom_to_init
1317357828.226934909 WriteOdom aft_mapped_to_init_high_frec
build tree time 12.786674 ms 
mapping data assosiation time 18.940317 ms 
points size 72529 
prepare time 10.878774 
publication time 9.041341 ms 
whole laserOdometry time 9.055492 ms 
 
mapping data assosiation time 19.833532 ms 
-----t: 0.0517577
OdomCount 640 & avg odom time 0.040466 ms ++++++++++++++++++++++
1317357828.330686092 WriteOdom laser_odom_to_init
1317357828.330686092 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.669110 ms 
mapping optimization time 104.904298 
add points time 0.862273 ms
map prepare time 1.766651 ms
map corner num 59013  surf num 17953 
build tree time 11.753402 ms 
--------------------stamp1317357828.434437990
prepare time 9.866253 
mapping solver time 16.700114 ms 
mapping data assosiation time 17.534395 ms 
mapping solver time 13.789061 ms 
mapping optimization time 80.430466 
add points time 0.608380 ms
build tree time 14.335084 ms 
mapping data assosiation time 15.870136 ms 
points size 72128 
sort q time 4.316648 
seperate points time 9.290590 
scan registration time 23.000332 ms *************
-----t: 0.0270405
OdomCount 642 & avg odom time 0.040439 ms ++++++++++++++++++++++
1317357828.538187980 WriteOdom laser_odom_to_init
1317357828.538187980 WriteOdom aft_mapped_to_init_high_frec
publication time 6.941419 ms 
whole laserOdometry time 6.954471 ms 
 
mapping solver time 16.775434 ms 
mapping pub time 1.611015 ms 
whole mapping time 91.228443 ms +++++
mappingCount 569 & avg mapping time 110.157537 ms ++++++++++++++++++++++
build tree time 11.958851 ms 
mapping data assosiation time 17.050219 ms 
--------------------stamp1317357828.641961097
points size 70087 
prepare time 9.206413 
publication time 5.469426 ms 
whole laserOdometry time 5.485417 ms 
 
mapping solver time 16.004306 ms 
mapping optimization time 85.822794 
add points time 0.795679 ms
mapping data assosiation time 17.423159 ms 
mapping solver time 15.126140 ms 
--------------------stamp1317357828.745738029
prepare time 10.122099 
mapping data assosiation time 20.057663 ms 
scan registration time 25.938849 ms *************
[0m[ INFO] [1718804545.594728061, 1317357828.784012708]: Received 79513 data points in frame camera_init with the following fields: x y z intensity[0m
publication time 7.917953 ms 
whole laserOdometry time 7.952824 ms 
 
build tree time 11.967550 ms 
mapping data assosiation time 17.760982 ms 
--------------------stamp1317357828.849510908
prepare time 11.384911 
sort q time 3.453499 
seperate points time 8.443966 
publication time 6.632171 ms filter time 7.350906 ms 
-----t: 0.0533557
OdomCount 645 & avg odom time 0.040438 ms ++++++++++++++++++++++
build tree time 12.930799 ms 
--------------------stamp1317357828.953284978
sort q time 3.709986 
seperate points time 8.747676 
scan registration time 23.166017 ms *************
publication time 8.011939 ms 
whole laserOdometry time 8.043157 ms 
 
mapping solver time 15.638049 ms 
mapping optimization time 94.019945 
add points time 0.621341 ms
filter time 4.438435 ms 
mapping pub time 1.671631 ms 
whole mapping time 102.972256 ms +++++
mappingCount 573 & avg mapping time 110.082957 ms ++++++++++++++++++++++
1317357828.849510908 WriteOdom aft_mapped_to_init
build tree time 10.719099 ms 
--------------------stamp1317357829.057086944
points size 65580 
sort q time 3.446288 
seperate points time 8.564342 
publication time 5.526427 ms 
whole laserOdometry time 5.551894 ms 
 
mapping data assosiation time 18.396020 ms 
mapping solver time 15.547419 ms 
filter time 5.290633 ms 
build tree time 11.688973 ms 
mapping data assosiation time 17.462859 ms 
prepare time 8.750836 
sort q time 4.044947 
seperate points time 7.929819 
scan registration time 19.938319 ms *************
publication time 5.208295 ms 
whole laserOdometry time 5.222745 ms 
 
1317357829.160883903 WriteOdom laser_odom_to_init
1317357829.160883903 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.834076 ms 
mapping optimization time 92.031591 
map prepare time 1.921123 ms
map corner num 62042  surf num 20451 
build tree time 11.965765 ms 
mapping data assosiation time 18.918086 ms 
points size 65418 
sort q time 4.014660 
seperate points time 8.364235 
publication time 4.983996 ms 
whole laserOdometry time 4.998852 ms 
 
mapping data assosiation time 22.906809 ms 
mapping solver time 13.439469 ms 
mapping optimization time 89.862075 
add points time 0.677353 ms
filter time 4.423507 ms 
build tree time 12.590389 ms 
mapping data assosiation time 20.312502 ms 
points size 65709 
sort q time 3.609388 
seperate points time 9.214229 
mapping data assosiation time 24.679686 ms 
-----t: 0.0366367
OdomCount 650 & avg odom time 0.040398 ms ++++++++++++++++++++++
mapping pub time 1.467098 ms 
whole mapping time 103.472338 ms +++++
mappingCount 577 & avg mapping time 110.015739 ms ++++++++++++++++++++++
build tree time 13.667408 ms 
--------------------stamp1317357829.472255945
prepare time 11.059207 
sort q time 3.562734 
seperate points time 9.293556 
mapping solver time 29.519624 ms 
publication time 7.843216 ms 
whole laserOdometry time 7.871433 ms 
 
mapping data assosiation time 25.315161 ms 
mapping optimization time 113.770420 
filter time 7.334562 ms 
points size 67356 
sort q time 3.239037 
seperate points time 9.314984 
scan registration time 37.243310 ms *************
publication time 6.755221 ms 
whole laserOdometry time 6.770378 ms 
 
mapping solver time 22.196119 ms 
mapping data assosiation time 21.171384 ms 
--------------------stamp1317357829.679780960
points size 68091 
sort q time 3.553139 
seperate points time 8.501641 
scan registration time 21.126039 ms *************
publication time 6.741605 ms 
whole laserOdometry time 6.754392 ms 
 
-----t: 0.0291802
OdomCount 653 & avg odom time 0.040367 ms ++++++++++++++++++++++
1317357829.679780960 WriteOdom laser_odom_to_init
1317357829.679780960 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.595177 ms 
mapping solver time 23.047439 ms 
mapping data assosiation time 22.429511 ms 
points size 69000 
prepare time 9.812712 
mapping optimization time 107.893165 
add points time 0.866562 ms
sort q time 4.079009 
seperate points time 9.733254 
map prepare time 2.307050 ms
map corner num 64493  surf num 22465 
build tree time 14.893647 ms 
-----t: 0.0378604
OdomCount 654 & avg odom time 0.040363 ms ++++++++++++++++++++++
1317357829.783531904 WriteOdom laser_odom_to_init
1317357829.783531904 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.040479 ms 
mapping solver time 18.871257 ms 
--------------------stamp1317357829.887283086
prepare time 9.372657 
sort q time 4.137766 
seperate points time 8.658360 
mapping solver time 18.821331 ms 
[0m[ INFO] [1718804546.734712397, 1317357829.921782480]: Received 87926 data points in frame camera_init with the following fields: x y z intensity[0m
mapping pub time 9.285646 ms 
whole mapping time 118.882851 ms +++++
mappingCount 581 & avg mapping time 110.100719 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
map prepare time 2.903462 ms
map corner num 65044  surf num 22882 
publication time 20.094874 ms build tree time 15.264293 ms 
mapping data assosiation time 23.245234 ms 
--------------------stamp1317357829.991008996
mapping solver time 26.197653 ms 
prepare time 10.697592 
mapping data assosiation time 27.501431 ms 
-----t: 0.0335682
OdomCount 656 & avg odom time 0.040348 ms ++++++++++++++++++++++
1317357829.991008996 WriteOdom laser_odom_to_init
1317357829.991008996 WriteOdom aft_mapped_to_init_high_frec
add points time 1.294401 ms
mapping pub time 1.536958 ms 
whole mapping time 128.941097 ms +++++
mappingCount 582 & avg mapping time 110.133096 ms ++++++++++++++++++++++
1317357829.783531904 WriteOdom aft_mapped_to_init
map prepare time 2.068702 ms
map corner num 65561  surf num 23250 
build tree time 12.358574 ms 
--------------------stamp1317357830.094734907
prepare time 11.876769 
sort q time 3.778872 
seperate points time 9.695291 
publication time 8.452322 ms 
whole laserOdometry time 8.495656 ms 
 
mapping solver time 30.087578 ms 
-----t: 0.0395253
OdomCount 657 & avg odom time 0.040347 ms ++++++++++++++++++++++mapping data assosiation time 28.741240 ms 
mapping solver time 25.551319 ms 
--------------------stamp1317357830.198462009
points size 73185 
prepare time 12.689715 
publication time 7.507228 ms 
whole laserOdometry time 7.522640 ms 
 
-----t: 0.0465929
OdomCount 658 & avg odom time 0.040357 ms ++++++++++++++++++++++
mapping data assosiation time 22.854447 ms 
--------------------stamp1317357830.302213907
prepare time 11.245155 
sort q time 4.221483 
seperate points time 10.614950 
build tree time 15.329193 ms 
-----t: 0.0317848
OdomCount 659 & avg odom time 0.040344 ms ++++++++++++++++++++++
1317357830.302213907 WriteOdom laser_odom_to_init
1317357830.302213907 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.101640 ms 
mapping solver time 22.365589 ms 
--------------------stamp1317357830.405965089
points size 75077 
sort q time 4.556302 
seperate points time 10.304037 
mapping solver time 17.097602 ms 
mapping optimization time 110.450355 
scan registration time 25.416037 ms *************
add points time 1.280660 ms
publication time 9.934282 ms 
whole laserOdometry time 9.948275 ms 
 
-----t: 0.0336223
OdomCount 660 & avg odom time 0.040333 ms ++++++++++++++++++++++
mapping data assosiation time 24.765879 ms 
--------------------stamp1317357830.509721994
prepare time 9.573027 
sort q time 4.316184 
seperate points time 10.564020 
mapping data assosiation time 31.464533 ms publication time 18.286939 ms 
whole laserOdometry time 18.301587 ms 
 
mapping solver time 24.589479 ms filter time 5.976213 ms build tree time 15.414687 ms 
points size 77097 
sort q time 4.305052 
seperate points time 11.051299 
scan registration time 28.351866 ms *************
publication time 9.545647 ms 
whole laserOdometry time 9.564587 ms 
 
-----t: 0.0393029
OdomCount 662 & avg odom time 0.040341 ms ++++++++++++++++++++++
1317357830.613497018 WriteOdom laser_odom_to_init
1317357830.613497018 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.187907 ms 
mapping solver time 17.559396 ms 
filter time 7.784998 ms 
prepare time 12.194220 
sort q time 4.349358 
seperate points time 11.238425 
publication time 7.470259 ms 
whole laserOdometry time 7.500011 ms 
 
mapping data assosiation time 36.551937 ms 
-----t: 0.0636965
OdomCount 663 & avg odom time 0.040377 ms ++++++++++++++++++++++
1317357830.717237949 WriteOdom laser_odom_to_init
1317357830.717237949 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 33.326130 ms 
points size 78938 
mapping data assosiation time 29.692191 ms 
publication time 9.134684 ms 
whole laserOdometry time 9.148441 ms 
 
-----t: 0.0357296
OdomCount 664 & avg odom time 0.040370 ms ++++++++++++++++++++++
1317357830.820991039 WriteOdom laser_odom_to_init
1317357830.820991039 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.807186 ms 
mapping optimization time 147.399743 
add points time 0.877959 ms
filter time 7.089536 ms 
build tree time 15.023780 ms 
--------------------stamp1317357830.924767017
prepare time 9.976006 
sort q time 4.327990 
seperate points time 10.364005 
scan registration time 24.129803 ms *************
mapping solver time 36.936309 ms 
publication time 9.343052 ms 
whole laserOdometry time 9.365035 ms 
 
mapping data assosiation time 28.303434 ms 
mapping solver time 25.284328 ms 
mapping pub time 1.729608 ms 
whole mapping time 148.207015 ms +++++
mappingCount 589 & avg mapping time 110.449625 ms ++++++++++++++++++++++
sort q time 4.409564 
seperate points time 10.613434 
publication time 8.091341 ms 
whole laserOdometry time 8.118797 ms 
 
mapping data assosiation time 30.168400 ms 
mapping solver time 24.774124 ms 
--------------------stamp1317357831.132314920
prepare time 10.326374 
sort q time 4.183221 
seperate points time 10.322377 
filter time 7.987617 ms 
-----t: 0.0393832
OdomCount 667 & avg odom time 0.040352 ms ++++++++++++++++++++++
1317357831.132314920 WriteOdom laser_odom_to_init
1317357831.132314920 WriteOdom aft_mapped_to_init_high_frec
build tree time 15.647397 ms 
mapping data assosiation time 27.182351 ms 
--------------------stamp1317357831.236088037
points size 81841 
sort q time 4.663769 
seperate points time 10.857890 
scan registration time 26.532399 ms *************
mapping data assosiation time 32.340256 ms 
-----t: 0.0472542
OdomCount 668 & avg odom time 0.040362 ms ++++++++++++++++++++++
1317357831.236088037 WriteOdom laser_odom_to_init
1317357831.236088037 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.996591 ms 
mapping optimization time 123.169136 
add points time 0.939806 ms
map prepare time 2.399277 ms
map corner num 70640  surf num 26960 
build tree time 14.189000 ms 
--------------------stamp1317357831.339862108
prepare time 10.628487 
mapping data assosiation time 30.063479 ms 
publication time 9.609440 ms 
whole laserOdometry time 9.642863 ms 
 
-----t: 0.044492
OdomCount 669 & avg odom time 0.040368 ms ++++++++++++++++++++++
mapping data assosiation time 28.477231 ms 
--------------------stamp1317357831.443639039
prepare time 12.011306 
sort q time 4.931728 
seperate points time 11.961281 
publication time 14.360158 ms 
whole laserOdometry time 14.377320 ms -----t: 0.0428688
OdomCount 670 & avg odom time 0.040372 ms ++++++++++++++++++++++
mapping data assosiation time 32.774778 ms 
--------------------stamp1317357831.547415018
prepare time 10.718980 
sort q time 4.923557 
seperate points time 11.342488 
mapping data assosiation time 33.476290 ms 
mapping solver time 21.824820 ms 
filter time 5.777206 ms 
--------------------stamp1317357831.651165008
points size 84519 
sort q time 4.614643 
seperate points time 10.921606 
scan registration time 34.414600 ms *************
publication time 8.024190 ms 
whole laserOdometry time 8.060909 ms 
 
mapping solver time 39.563908 ms 
-----t: 0.0502351
OdomCount 672 & avg odom time 0.040405 ms ++++++++++++++++++++++
mapping data assosiation time 31.437242 ms 
--------------------stamp1317357831.754890918
points size 85525 
mapping solver time 28.050753 ms 
mapping optimization time 152.002543 
add points time 1.063152 ms
map prepare time 3.399096 ms
map corner num 72142  surf num 27920 
build tree time 18.332216 ms 
-----t: 0.0489985
OdomCount 673 & avg odom time 0.040417 ms ++++++++++++++++++++++
1317357831.754890918 WriteOdom laser_odom_to_init
1317357831.754890918 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.644436 ms 
--------------------stamp1317357831.858592987
prepare time 11.435830 
publication time 8.693850 ms 
whole laserOdometry time 8.709261 ms 
 
mapping data assosiation time 34.157102 ms 
mapping solver time 23.502176 ms 
filter time 6.159439 ms 
map prepare time 2.682741 ms
map corner num 72775  surf num 28320 
build tree time 16.307347 ms 
points size 88454 
prepare time 10.529282 
sort q time 4.831692 
seperate points time 10.760903 
mapping data assosiation time 36.147304 ms 
publication time 10.892253 ms 
whole laserOdometry time 10.908679 ms 
 
1317357831.962272882 WriteOdom laser_odom_to_init
1317357831.962272882 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 39.556034 ms 
mapping data assosiation time 29.362406 ms 
points size 90144 
sort q time 4.841480 
seperate points time 10.551253 
filter time 7.928294 ms 
map prepare time 4.502014 ms
map corner num 73313  surf num 28659 
build tree time 16.731015 ms 
-----t: 0.0665334
OdomCount 676 & avg odom time 0.040461 ms ++++++++++++++++++++++
mapping data assosiation time 30.266862 ms 
points size 91611 
prepare time 12.040021 
sort q time 5.127097 
seperate points time 11.153876 
publication time 14.659830 ms 
whole laserOdometry time 14.677553 ms 
 
-----t: 0.0530611
OdomCount 677 & avg odom time 0.040479 ms ++++++++++++++++++++++
mapping solver time 24.797018 ms 
mapping pub time 2.012306 ms 
whole mapping time 152.449838 ms +++++
mappingCount 597 & avg mapping time 111.001245 ms ++++++++++++++++++++++
--------------------stamp1317357832.273336887
prepare time 11.854797 
sort q time 6.177104 
seperate points time 13.618932 
publication time 11.963306 ms 
whole laserOdometry time 11.977549 ms 
 
-----t: 0.0471356
OdomCount 678 & avg odom time 0.040489 ms ++++++++++++++++++++++
mapping solver time 35.005030 ms 
--------------------stamp1317357832.377037048
points size 94996 
prepare time 14.820705 
mapping data assosiation time 32.947853 ms 
sort q time 5.343072 
seperate points time 13.465592 
mapping solver time 32.530792 ms 
mapping pub time 1.982018 ms 
whole mapping time 170.258410 ms +++++
mappingCount 598 & avg mapping time 111.100344 ms ++++++++++++++++++++++
build tree time 15.265837 ms 
--------------------stamp1317357832.480714082
prepare time 11.472013 
sort q time 6.166838 
seperate points time 23.226617 
mapping solver time 35.528681 ms 
publication time 12.453475 ms 
whole laserOdometry time 12.474160 ms 
 
mapping data assosiation time 30.724958 ms 
--------------------stamp1317357832.584368944
points size 96559 
mapping pub time 2.483339 ms 
whole mapping time 162.265306 ms +++++
mappingCount 599 & avg mapping time 111.185774 ms ++++++++++++++++++++++
scan registration time 31.260804 ms *************
build tree time 19.406209 ms 
-----t: 0.0529619
OdomCount 681 & avg odom time 0.040537 ms ++++++++++++++++++++++
1317357832.584368944 WriteOdom laser_odom_to_init
1317357832.584368944 WriteOdom aft_mapped_to_init_high_frec
points size 96790 
sort q time 5.346495 
seperate points time 12.883223 
mapping data assosiation time 32.835912 ms 
publication time 14.600596 ms 
whole laserOdometry time 14.615074 ms 
 
mapping solver time 29.809232 ms 
filter time 7.188714 ms 
map prepare time 3.781056 ms
map corner num 75587  surf num 30001 
--------------------stamp1317357832.791677951
points size 97170 
prepare time 12.509105 
scan registration time 29.360825 ms *************
mapping data assosiation time 37.134572 ms 
-----t: 0.0441194
OdomCount 683 & avg odom time 0.040543 ms ++++++++++++++++++++++
mapping solver time 38.733345 ms 
--------------------stamp1317357832.895330905
points size 97382 
sort q time 5.258754 
seperate points time 11.665110 
publication time 9.648874 ms 
whole laserOdometry time 9.661191 ms 
 
mapping solver time 43.994555 ms 
mapping optimization time 172.471222 
add points time 0.697813 ms
mapping pub time 14.906305 ms 
whole mapping time 199.480693 ms +++++
mappingCount 601 & avg mapping time 111.424550 ms ++++++++++++++++++++++
1317357832.584368944 WriteOdom aft_mapped_to_init
map prepare time 3.186974 ms
map corner num 76128  surf num 30301 
1317357832.895330905 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357832.999010086
points size 97384 
prepare time 13.848541 
sort q time 6.744694 
seperate points time 18.277923 
mapping data assosiation time 37.630904 ms 
scan registration time 36.448790 ms *************
publication time 10.797393 ms 
whole laserOdometry time 10.812332 ms 
 
mapping solver time 40.822648 ms 
--------------------stamp1317357833.102691888
--------------------stamp1317357833.206346988
points size 97402 
sort q time 6.163765 
seperate points time 13.332499 
mapping solver time 37.568840 ms 
publication time 20.846837 ms 
whole laserOdometry time 20.860295 ms 
 
mapping data assosiation time 35.678817 ms 
--------------------stamp1317357833.310000896
points size 97240 
prepare time 13.530334 
sort q time 5.495205 
seperate points time 13.725915 
map prepare time 3.051218 ms
map corner num 77400  surf num 31041 
publication time 9.209502 ms 
whole laserOdometry time 9.223623 ms 
 
mapping data assosiation time 33.484778 ms 
--------------------stamp1317357833.413703918
points size 95952 
sort q time 5.397028 
seperate points time 13.749803 
publication time 16.003078 ms 
whole laserOdometry time 16.062149 ms 
 
-----t: 0.0540267
OdomCount 689 & avg odom time 0.040736 ms ++++++++++++++++++++++
--------------------stamp1317357833.517457008
filter time 7.556721 ms 
map prepare time 3.888120 ms
map corner num 78027  surf num 31418 
build tree time 19.881232 ms 
publication time 11.006991 ms 
whole laserOdometry time 11.025475 ms 
 
-----t: 0.059518
OdomCount 690 & avg odom time 0.040763 ms ++++++++++++++++++++++
--------------------stamp1317357833.621232986
points size 94236 
prepare time 11.765340 
mapping solver time 38.693705 ms 
sort q time 5.337431 
seperate points time 13.136317 
publication time 9.832440 ms 
whole laserOdometry time 9.850523 ms 
 
mapping solver time 30.026302 ms 
filter time 5.587206 ms 
mapping pub time 2.175192 ms 
whole mapping time 178.455995 ms +++++
mappingCount 605 & avg mapping time 111.887757 ms ++++++++++++++++++++++
1317357833.310000896 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357833.725028991
build tree time 17.297963 ms 
sort q time 5.986463 
seperate points time 27.846612 
publication time 15.555880 ms 
whole laserOdometry time 15.572940 ms 
 
-----t: 0.070577
OdomCount 692 & avg odom time 0.040807 ms ++++++++++++++++++++++
1317357833.725028991 WriteOdom laser_odom_to_init
--------------------stamp1317357833.828852891
points size 94444 
prepare time 12.433647 
sort q time 5.561840 
seperate points time 12.372529 
publication time 9.740774 ms 
whole laserOdometry time 9.755321 ms 
 
filter time 7.736761 ms 
mapping pub time 3.479398 ms 
whole mapping time 178.122591 ms +++++
mappingCount 606 & avg mapping time 111.997067 ms ++++++++++++++++++++++
[0m[ INFO] [1718804550.704508202, 1317357833.884384757]: Received 111769 data points in frame camera_init with the following fields: x y z intensity[0m
1317357833.517457008 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718804550.705284699, 1317357833.884384757]: Data saved to 1317357833517457.pcd[0m
drop lidar frame in mapping for real time performance 
map prepare time 3.686284 ms
map corner num 79426  surf num 32343 
-----t: 0.0574673
OdomCount 693 & avg odom time 0.040831 ms ++++++++++++++++++++++
1317357833.828852891 WriteOdom laser_odom_to_init
1317357833.828852891 WriteOdom aft_mapped_to_init_high_frec
build tree time 19.427025 ms 
--------------------stamp1317357833.932698011
points size 95594 
mapping data assosiation time 36.057764 ms 
publication time 9.890275 ms 
whole laserOdometry time 9.905194 ms 
 
mapping solver time 39.520622 ms 
mapping data assosiation time 35.558113 ms 
points size 95926 
sort q time 4.992884 
seperate points time 12.570768 
filter time 7.678968 ms 
build tree time 15.754307 ms 
mapping data assosiation time 34.162780 ms 
points size 95796 
prepare time 11.174200 
scan registration time 29.057178 ms *************
mapping solver time 44.537578 ms 
publication time 11.395857 ms 
whole laserOdometry time 11.412622 ms 
 
mapping data assosiation time 36.368643 ms 
-----t: 0.0692376
OdomCount 696 & avg odom time 0.040918 ms ++++++++++++++++++++++
1317357834.140465021 WriteOdom laser_odom_to_init
1317357834.140465021 WriteOdom aft_mapped_to_init_high_frec
points size 95853 
filter time 8.825251 ms 
scan registration time 29.490009 ms *************
-----t: 0.0538782
OdomCount 697 & avg odom time 0.040937 ms ++++++++++++++++++++++
mapping data assosiation time 34.647043 ms 
--------------------stamp1317357834.348567008
points size 95866 
prepare time 13.698940 
mapping solver time 34.916849 ms 
sort q time 6.163231 
seperate points time 15.857194 
publication time 9.775370 ms 
whole laserOdometry time 9.793168 ms 
 
mapping data assosiation time 38.298191 ms 
mapping solver time 22.943589 ms 
mapping optimization time 154.580800 
add points time 0.753750 ms
map prepare time 3.137416 ms
map corner num 81677  surf num 33740 
--------------------stamp1317357834.452725887
points size 95982 
sort q time 6.144593 
seperate points time 13.200401 
publication time 9.992430 ms 
whole laserOdometry time 10.008287 ms 
 
-----t: 0.0415879
OdomCount 699 & avg odom time 0.040940 ms ++++++++++++++++++++++
mapping solver time 37.192204 ms 
--------------------stamp1317357834.556907892
points size 96516 
mapping data assosiation time 37.408415 ms 
publication time 9.747229 ms 
whole laserOdometry time 9.760789 ms 
 
-----t: 0.0374086
OdomCount 700 & avg odom time 0.040935 ms ++++++++++++++++++++++
mapping solver time 42.678018 ms 
mapping optimization time 178.938789 
filter time 6.253275 ms 
map prepare time 3.059096 ms
map corner num 82455  surf num 34177 
build tree time 16.941425 ms 
points size 96496 
prepare time 11.052101 
sort q time 6.063451 
seperate points time 13.310654 
publication time 10.242825 ms 
whole laserOdometry time 10.263212 ms 
 
-----t: 0.0428497
OdomCount 701 & avg odom time 0.040938 ms ++++++++++++++++++++++
1317357834.661089897 WriteOdom laser_odom_to_init
1317357834.661089897 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 40.330191 ms 
--------------------stamp1317357834.765252113
prepare time 12.072558 
sort q time 5.470890 
seperate points time 12.367823 
mapping optimization time 169.897180 
[0m[ INFO] [1718804551.629852393, 1317357834.812929345]: Received 117872 data points in frame camera_init with the following fields: x y z intensity[0m
build tree time 19.303602 ms 
--------------------stamp1317357834.869400024
points size 93509 
scan registration time 32.260739 ms *************
mapping solver time 40.224581 ms 
-----t: 0.062562
OdomCount 703 & avg odom time 0.040964 ms ++++++++++++++++++++++
1317357834.869400024 WriteOdom laser_odom_to_init
1317357834.869400024 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357834.973558902
prepare time 11.945414 
sort q time 5.819056 
seperate points time 12.908337 
map prepare time 3.621691 ms
map corner num 84055  surf num 35017 
build tree time 21.136195 ms 
-----t: 0.0549097
OdomCount 704 & avg odom time 0.040984 ms ++++++++++++++++++++++
mapping data assosiation time 30.251049 ms 
points size 93381 
mapping solver time 35.985886 ms 
publication time 9.666322 ms 
whole laserOdometry time 9.698092 ms 
 
mapping data assosiation time 34.741408 ms 
-----t: 0.0568762
OdomCount 705 & avg odom time 0.041006 ms ++++++++++++++++++++++
mapping solver time 30.254559 ms 
filter time 7.871330 ms 
points size 93569 
build tree time 21.022953 ms 
publication time 7.995866 ms 
whole laserOdometry time 8.013269 ms 
 
-----t: 0.0561958
OdomCount 706 & avg odom time 0.041028 ms ++++++++++++++++++++++
mapping solver time 37.581180 ms 
--------------------stamp1317357835.286113977
points size 93573 
mapping data assosiation time 31.803005 ms 
publication time 10.561625 ms 
whole laserOdometry time 10.579222 ms 
 
1317357835.286113977 WriteOdom laser_odom_to_init
map prepare time 2.921734 ms
map corner num 85487  surf num 35511 
build tree time 17.819179 ms 
--------------------stamp1317357835.390320062
prepare time 12.109651 
sort q time 5.579884 
seperate points time 12.795858 
mapping solver time 42.356872 ms 
mapping data assosiation time 28.662967 ms 
--------------------stamp1317357835.494528055
points size 95453 
sort q time 5.744127 
seperate points time 12.652931 
map prepare time 3.305869 ms
map corner num 86257  surf num 35791 
publication time 14.996383 ms 
whole laserOdometry time 15.011857 ms 
 
build tree time 20.997266 ms 
-----t: 0.076448
OdomCount 709 & avg odom time 0.041070 ms ++++++++++++++++++++++
--------------------stamp1317357835.598733901
points size 97084 
prepare time 12.610857 
sort q time 6.095959 
seperate points time 13.581449 
mapping solver time 42.944621 ms 
publication time 12.268070 ms 
whole laserOdometry time 12.299639 ms 
 
mapping data assosiation time 31.648368 ms 
--------------------stamp1317357835.702918052
points size 99436 
mapping pub time 4.016248 ms 
whole mapping time 182.218838 ms +++++
mappingCount 616 & avg mapping time 113.102936 ms ++++++++++++++++++++++
sort q time 5.994368 
seperate points time 14.849221 
build tree time 21.097355 ms 
publication time 11.891191 ms 
whole laserOdometry time 11.906654 ms 
 
mapping data assosiation time 33.169081 ms 
--------------------stamp1317357835.807075977
mapping solver time 41.751948 ms 
sort q time 6.591525 
seperate points time 12.955906 
mapping data assosiation time 35.030860 ms 
-----t: 0.062442
OdomCount 712 & avg odom time 0.041130 ms ++++++++++++++++++++++
mapping solver time 44.556138 ms 
mapping optimization time 178.817440 
mapping pub time 2.454711 ms 
whole mapping time 192.763137 ms +++++
mappingCount 617 & avg mapping time 113.232058 ms ++++++++++++++++++++++
build tree time 23.914082 ms 
publication time 10.578449 ms 
whole laserOdometry time 10.595593 ms 
 
mapping data assosiation time 35.312752 ms 
-----t: 0.0751626
OdomCount 713 & avg odom time 0.041177 ms ++++++++++++++++++++++
--------------------stamp1317357836.015299081
points size 100084 
sort q time 5.396237 
seperate points time 13.229807 
publication time 9.816764 ms 
whole laserOdometry time 9.829624 ms 
 
-----t: 0.0549836
OdomCount 714 & avg odom time 0.041197 ms ++++++++++++++++++++++
1317357836.015299081 WriteOdom laser_odom_to_init
1317357836.015299081 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 46.604820 ms 
filter time 9.929373 ms 
map prepare time 4.233199 ms
map corner num 88506  surf num 36425 
prepare time 11.944183 
sort q time 6.008852 
seperate points time 12.453491 
publication time 9.788724 ms 
whole laserOdometry time 9.803862 ms 
 
mapping data assosiation time 34.312276 ms 
-----t: 0.0574678
OdomCount 715 & avg odom time 0.041219 ms ++++++++++++++++++++++
mapping solver time 29.874137 ms 
--------------------stamp1317357836.223352909
points size 99657 
sort q time 5.612611 
seperate points time 12.218027 
publication time 10.431622 ms 
whole laserOdometry time 10.445927 ms 
 
mapping solver time 34.014983 ms 
mapping pub time 2.143653 ms 
whole mapping time 175.169907 ms +++++
mappingCount 619 & avg mapping time 113.465746 ms ++++++++++++++++++++++
build tree time 19.002400 ms 
points size 100212 
sort q time 5.441631 
seperate points time 11.682926 
publication time 12.772992 ms 
whole laserOdometry time 12.799860 ms 
 
mapping solver time 40.169622 ms 
mapping data assosiation time 30.426439 ms 
points size 101064 
mapping solver time 28.195674 ms 
filter time 9.479207 ms 
publication time 9.925560 ms 
whole laserOdometry time 9.939921 ms 
 
-----t: 0.0410193
OdomCount 718 & avg odom time 0.041215 ms ++++++++++++++++++++++
mapping data assosiation time 28.051706 ms 
--------------------stamp1317357836.535372972
points size 101204 
mapping solver time 37.816097 ms 
-----t: 0.0370255
OdomCount 719 & avg odom time 0.041209 ms ++++++++++++++++++++++
mapping data assosiation time 34.371280 ms 
mapping solver time 29.938175 ms 
filter time 8.385775 ms 
points size 100894 
scan registration time 34.409548 ms *************
publication time 12.639381 ms 
whole laserOdometry time 12.654034 ms 
 
mapping data assosiation time 34.406696 ms 
--------------------stamp1317357836.743375062
prepare time 12.940618 
sort q time 8.309858 
seperate points time 16.577172 
-----t: 0.0535376
OdomCount 721 & avg odom time 0.041259 ms ++++++++++++++++++++++
1317357836.743375062 WriteOdom laser_odom_to_init
1317357836.743375062 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.952334 ms 
filter time 7.209161 ms 
map prepare time 2.963356 ms
map corner num 91680  surf num 37467 
--------------------stamp1317357836.847368955
prepare time 12.321783 
sort q time 6.138622 
seperate points time 13.281411 
publication time 9.724987 ms 
whole laserOdometry time 9.732174 ms 
 
mapping data assosiation time 34.698029 ms 
-----t: 0.0525962
OdomCount 722 & avg odom time 0.041274 ms ++++++++++++++++++++++
mapping solver time 41.565762 ms 
--------------------stamp1317357836.951337099
prepare time 11.147739 
mapping data assosiation time 34.050802 ms 
publication time 10.794184 ms 
whole laserOdometry time 10.808572 ms 
 
filter time 7.935170 ms 
build tree time 18.458515 ms 
--------------------stamp1317357837.055325984
prepare time 13.833588 
mapping data assosiation time 34.450923 ms 
publication time 9.047411 ms 
whole laserOdometry time 9.061090 ms 
 
-----t: 0.0439813
OdomCount 724 & avg odom time 0.041280 ms ++++++++++++++++++++++
1317357837.055325984 WriteOdom laser_odom_to_init
1317357837.055325984 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 41.001503 ms 
mapping data assosiation time 27.866990 ms 
--------------------stamp1317357837.159317016
points size 95711 
prepare time 11.781770 
scan registration time 27.666559 ms *************
mapping pub time 2.414294 ms 
whole mapping time 167.158359 ms +++++
mappingCount 624 & avg mapping time 113.972469 ms ++++++++++++++++++++++
1317357836.847368956 WriteOdom aft_mapped_to_init
-----t: 0.0527669
OdomCount 725 & avg odom time 0.041295 ms ++++++++++++++++++++++
mapping data assosiation time 27.986133 ms 
--------------------stamp1317357837.263309001
points size 94360 
mapping solver time 37.697988 ms 
publication time 9.799176 ms 
whole laserOdometry time 9.821487 ms mapping data assosiation time 35.199821 ms 
-----t: 0.0455531
OdomCount 726 & avg odom time 0.041301 ms ++++++++++++++++++++++
1317357837.263309001 WriteOdom laser_odom_to_init
1317357837.263309001 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.299545 ms 
mapping optimization time 151.718150 
add points time 0.636962 ms
map prepare time 2.935316 ms
map corner num 94309  surf num 38361 
points size 94368 
build tree time 23.622018 ms 
mapping data assosiation time 35.302835 ms 
1317357837.367299079 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 34.961849 ms 
--------------------stamp1317357837.471266031
prepare time 11.483002 
sort q time 5.585577 
seperate points time 14.949181 
mapping solver time 31.101972 ms 
filter time 8.671106 ms 
map prepare time 3.645797 ms
map corner num 95075  surf num 38596 
build tree time 20.958094 ms 
--------------------stamp1317357837.575207948
points size 95119 
prepare time 14.606020 
scan registration time 30.851423 ms *************
publication time 8.693251 ms mapping solver time 39.103335 ms 
-----t: 0.0533512
OdomCount 729 & avg odom time 0.041319 ms ++++++++++++++++++++++
mapping data assosiation time 30.644741 ms 
--------------------stamp1317357837.679150104
prepare time 10.932863 
sort q time 5.717269 
seperate points time 13.076422 
map prepare time 3.970511 ms
map corner num 95974  surf num 38911 
publication time 10.223187 ms 
whole laserOdometry time 10.237236 ms 
 
1317357837.679150104 WriteOdom laser_odom_to_init
1317357837.679150104 WriteOdom aft_mapped_to_init_high_frec
build tree time 24.481487 ms 
mapping data assosiation time 30.770439 ms 
--------------------stamp1317357837.783140897
prepare time 12.866239 
mapping solver time 38.131459 ms 
publication time 9.983921 ms 
whole laserOdometry time 9.998262 ms 
 
mapping data assosiation time 33.777957 ms 
mapping solver time 21.944156 ms 
filter time 8.579163 ms 
points size 93921 
build tree time 22.241798 ms 
publication time 14.073753 ms 
whole laserOdometry time 14.093131 ms 
 
-----t: 0.0486785
OdomCount 732 & avg odom time 0.041333 ms ++++++++++++++++++++++
--------------------stamp1317357837.991075992
sort q time 5.301110 
seperate points time 13.057820 
publication time 12.974819 ms 
whole laserOdometry time 12.988864 ms 
 
filter time 8.530878 ms 
-----t: 0.0501945
OdomCount 733 & avg odom time 0.041345 ms ++++++++++++++++++++++
1317357837.991075992 WriteOdom laser_odom_to_init
1317357837.991075992 WriteOdom aft_mapped_to_init_high_frec
build tree time 27.195617 ms 
points size 92668 
sort q time 5.388186 
seperate points time 12.060859 
publication time 9.188775 ms 
whole laserOdometry time 9.207060 ms 
 
-----t: 0.0416518
OdomCount 734 & avg odom time 0.041345 ms ++++++++++++++++++++++
mapping data assosiation time 30.006770 ms 
--------------------stamp1317357838.198961973
points size 92448 
mapping solver time 23.777231 ms 
prepare time 14.698414 
mapping optimization time 149.993400 
add points time 0.843837 ms
mapping pub time 2.203874 ms 
whole mapping time 163.656575 ms +++++
mappingCount 630 & avg mapping time 114.500740 ms ++++++++++++++++++++++
publication time 11.503257 ms 
whole laserOdometry time 11.522275 ms 
 
-----t: 0.0588277
OdomCount 735 & avg odom time 0.041369 ms ++++++++++++++++++++++
mapping data assosiation time 35.046228 ms 
--------------------stamp1317357838.302877902
points size 92482 
mapping solver time 32.408585 ms 
publication time 10.239542 ms 
whole laserOdometry time 10.255354 ms 
 
1317357838.302877902 WriteOdom laser_odom_to_init
1317357838.302877902 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.026927 ms 
filter time 6.989542 ms 
--------------------stamp1317357838.406795978
prepare time 11.641660 
sort q time 5.916506 
seperate points time 13.841191 
publication time 8.268583 ms 
mapping data assosiation time 44.101907 ms 
-----t: 0.0702834
OdomCount 737 & avg odom time 0.041422 ms ++++++++++++++++++++++
points size 95063 
publication time 12.670222 ms 
whole laserOdometry time 12.684826 ms 
 
mapping solver time 28.874045 ms 
filter time 8.633559 ms 
--------------------stamp1317357838.614609003
points size 96535 
sort q time 6.534748 
seperate points time 16.393904 
mapping data assosiation time 37.207950 ms 
-----t: 0.042339
OdomCount 739 & avg odom time 0.041445 ms ++++++++++++++++++++++
1317357838.614609003 WriteOdom laser_odom_to_init
1317357838.614609003 WriteOdom aft_mapped_to_init_high_frec
publication time 13.010280 ms 
whole laserOdometry time 13.023005 ms 
 
mapping solver time 30.758009 ms 
--------------------stamp1317357838.718481063
prepare time 11.555348 
sort q time 6.691151 
seperate points time 14.668124 
mapping solver time 28.385971 ms 
filter time 10.019895 ms 
-----t: 0.0621188
OdomCount 740 & avg odom time 0.041473 ms ++++++++++++++++++++++
1317357838.718481063 WriteOdom laser_odom_to_init
1317357838.718481063 WriteOdom aft_mapped_to_init_high_frec
build tree time 24.820376 ms 
--------------------stamp1317357838.822328090
prepare time 12.982392 
sort q time 6.471649 
seperate points time 14.069754 
publication time 11.576963 ms 
whole laserOdometry time 11.594185 ms 
 
mapping data assosiation time 32.910864 ms 
--------------------stamp1317357838.926152944
points size 100467 
filter time 10.718326 ms 
scan registration time 29.279857 ms *************
publication time 10.768089 ms 
whole laserOdometry time 10.782521 ms 
 
-----t: 0.0523002
OdomCount 742 & avg odom time 0.041498 ms ++++++++++++++++++++++
mapping data assosiation time 33.524577 ms 
--------------------stamp1317357839.029927015
points size 100640 
mapping solver time 40.856164 ms 
scan registration time 34.757836 ms *************
-----t: 0.0383909
OdomCount 743 & avg odom time 0.041493 ms ++++++++++++++++++++++
1317357839.029927015 WriteOdom laser_odom_to_init
1317357839.029927015 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.240125 ms 
mapping optimization time 165.568640 
add points time 0.803621 ms
drop lidar frame in mapping for real time performance 
prepare time 12.653019 
sort q time 6.225870 
seperate points time 14.052106 
publication time 8.424451 ms 
whole laserOdometry time 8.439821 ms 
 
mapping data assosiation time 36.654640 ms 
--------------------stamp1317357839.237330913
points size 99971 
-----t: 0.0914307
OdomCount 744 & avg odom time 0.041561 ms ++++++++++++++++++++++
1317357839.133651971 WriteOdom laser_odom_to_init
prepare time 15.197937 
1317357839.133651971 WriteOdom aft_mapped_to_init_high_frec
sort q time 5.654072 
seperate points time 13.196609 
mapping data assosiation time 34.374168 ms 
mapping solver time 28.341434 ms 
mapping optimization time 173.433143 
add points time 0.722043 ms
[0m[ INFO] [1718804556.136188927, 1317357839.316901975]: Received 146794 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804556.136224438, 1317357839.316901975]: Data saved to 1317357838926152.pcd[0m--------------------stamp1317357839.340961933
build tree time 22.848010 ms 
points size 98544 
sort q time 5.582603 
seperate points time 12.598016 
mapping data assosiation time 36.901475 ms 
-----t: 0.0578717
OdomCount 746 & avg odom time 0.041600 ms ++++++++++++++++++++++
mapping solver time 44.248728 ms 
--------------------stamp1317357839.444617986
prepare time 12.138424 
sort q time 6.286112 
seperate points time 12.485314 
scan registration time 28.163448 ms *************
mapping data assosiation time 38.088466 ms 
publication time 11.781730 ms 
whole laserOdometry time 11.836057 ms 
 
-----t: 0.043633
OdomCount 747 & avg odom time 0.041603 ms ++++++++++++++++++++++
1317357839.444617986 WriteOdom laser_odom_to_init
1317357839.444617986 WriteOdom aft_mapped_to_init_high_frec
filter time 7.527833 ms 
map prepare time 2.995053 ms
map corner num 105106  surf num 43100 
--------------------stamp1317357839.548273086
points size 93368 
build tree time 25.337657 ms 
prepare time 13.107567 
sort q time 5.988183 
seperate points time 13.166889 
mapping data assosiation time 35.473222 ms 
-----t: 0.0647273
OdomCount 748 & avg odom time 0.041634 ms ++++++++++++++++++++++
1317357839.548273086 WriteOdom laser_odom_to_init
1317357839.548273086 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 38.505016 ms 
--------------------stamp1317357839.651904106
prepare time 11.122587 
sort q time 5.886904 
seperate points time 11.597623 
publication time 8.310165 ms 
whole laserOdometry time 8.322806 ms 
 
mapping solver time 38.006622 ms 
filter time 10.312104 ms 
-----t: 0.0612011
OdomCount 749 & avg odom time 0.041660 ms ++++++++++++++++++++++
points size 87420 
sort q time 4.695981 
seperate points time 11.003286 
mapping data assosiation time 33.269768 ms 
publication time 13.969691 ms 
whole laserOdometry time 13.986062 ms 
 
mapping solver time 33.729912 ms 
-----t: 0.0638421
OdomCount 750 & avg odom time 0.041689 ms ++++++++++++++++++++++
mapping data assosiation time 29.107471 ms 
points size 85328 
mapping solver time 27.574626 ms 
filter time 10.561939 ms 
publication time 9.250171 ms 
whole laserOdometry time 9.268787 ms 
 
build tree time 25.260281 ms 
mapping data assosiation time 25.296014 ms 
--------------------stamp1317357839.962937116
points size 83865 
mapping solver time 30.420605 ms 
publication time 9.417936 ms 
whole laserOdometry time 9.432735 ms 
 
mapping data assosiation time 32.167536 ms 
-----t: 0.0523625
OdomCount 752 & avg odom time 0.041699 ms ++++++++++++++++++++++
mapping optimization time 139.821870 
add points time 0.894756 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357840.066664934
prepare time 11.537608 
sort q time 5.740355 
seperate points time 12.112780 
mapping data assosiation time 31.415413 ms 
-----t: 0.0483895
OdomCount 753 & avg odom time 0.041708 ms ++++++++++++++++++++++
mapping solver time 44.130022 ms 
--------------------stamp1317357840.170368909
points size 85911 
mapping data assosiation time 33.866143 ms 
publication time 11.023416 ms 
whole laserOdometry time 11.046829 ms 
 
filter time 10.177090 ms 
map prepare time 2.737468 ms
map corner num 109057  surf num 44767 
--------------------stamp1317357840.274048089
points size 87011 
sort q time 5.332046 
seperate points time 13.565746 
publication time 9.267601 ms 
whole laserOdometry time 9.281015 ms -----t: 0.0453144
OdomCount 755 & avg odom time 0.041738 ms ++++++++++++++++++++++
mapping data assosiation time 26.143224 ms 
points size 89250 
mapping solver time 26.519858 ms 
filter time 11.172555 ms 
mapping pub time 2.076406 ms 
whole mapping time 155.112283 ms +++++
mappingCount 642 & avg mapping time 115.719784 ms ++++++++++++++++++++++
-----t: 0.0379977
OdomCount 756 & avg odom time 0.041733 ms ++++++++++++++++++++++
build tree time 28.506594 ms 
mapping data assosiation time 24.261495 ms 
points size 92059 
prepare time 11.752157 
sort q time 5.387553 
seperate points time 24.931531 
publication time 13.552882 ms 
whole laserOdometry time 13.573565 ms 
 
mapping solver time 25.935438 ms 
--------------------stamp1317357840.585206985
sort q time 5.751531 
seperate points time 13.085210 
scan registration time 29.173847 ms *************
mapping data assosiation time 28.865619 ms 
mapping solver time 26.641578 ms 
points size 96199 
mapping data assosiation time 29.299839 ms 
mapping solver time 18.457803 ms 
filter time 10.450857 ms 
-----t: 0.0509532
OdomCount 759 & avg odom time 0.041791 ms ++++++++++++++++++++++
build tree time 22.957622 ms 
--------------------stamp1317357840.792756080
prepare time 11.432569 
sort q time 6.811077 
seperate points time 13.377333 
mapping solver time 30.688575 ms 
publication time 11.672817 ms 
whole laserOdometry time 11.725791 ms 
 
mapping data assosiation time 30.930535 ms 
mapping solver time 21.493931 ms 
filter time 7.694463 ms 
points size 100520 
sort q time 6.990812 
seperate points time 13.632699 
publication time 10.368352 ms 
whole laserOdometry time 10.383607 ms 
 
mapping data assosiation time 30.496011 ms 
mapping solver time 24.915740 ms 
--------------------stamp1317357841.000349998
points size 101522 
mapping data assosiation time 26.318383 ms 
prepare time 12.524947 
sort q time 5.572616 
seperate points time 13.543129 
mapping solver time 25.711382 ms 
mapping optimization time 137.479475 
add points time 1.488972 ms
drop lidar frame in mapping for real time performance 
1317357841.000349998 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.844278 ms
map corner num 111282  surf num 44219 
build tree time 28.741955 ms 
--------------------stamp1317357841.104195117
points size 101534 
mapping data assosiation time 34.610145 ms 
scan registration time 32.977291 ms *************
publication time 9.496900 ms 
whole laserOdometry time 9.512995 ms 
 
-----t: 0.0496998
OdomCount 763 & avg odom time 0.041803 ms ++++++++++++++++++++++
1317357841.104195117 WriteOdom laser_odom_to_init
1317357841.104195117 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 33.750272 ms 
--------------------stamp1317357841.208066940
points size 101491 
prepare time 13.013153 
filter time 11.206647 ms 
mapping pub time 2.358095 ms 
whole mapping time 181.531327 ms +++++
mappingCount 647 & avg mapping time 116.077488 ms ++++++++++++++++++++++
1317357840.896552086 WriteOdom aft_mapped_to_init
scan registration time 45.550347 ms *************
publication time 10.349365 ms 
whole laserOdometry time 10.376537 ms 
 
-----t: 0.0736201
OdomCount 764 & avg odom time 0.041845 ms ++++++++++++++++++++++
1317357841.208066940 WriteOdom laser_odom_to_init
1317357841.208066940 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.988989 ms 
points size 101614 
sort q time 5.355687 
seperate points time 11.845714 
publication time 9.924357 ms 
whole laserOdometry time 9.940624 ms 
 
-----t: 0.0551717
OdomCount 765 & avg odom time 0.041862 ms ++++++++++++++++++++++
--------------------stamp1317357841.415884017
points size 101652 
drop lidar frame in mapping for real time performance 
map prepare time 4.444181 ms
map corner num 113337  surf num 45710 
sort q time 5.685732 
seperate points time 13.953616 
publication time 10.112350 ms 
whole laserOdometry time 10.121437 ms 
 
-----t: 0.0439575
OdomCount 766 & avg odom time 0.041865 ms ++++++++++++++++++++++
1317357841.415884017 WriteOdom laser_odom_to_init
1317357841.415884017 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 36.258356 ms 
points size 101953 
prepare time 11.752330 
sort q time 6.981430 
seperate points time 16.616820 
mapping solver time 36.006916 ms 
scan registration time 35.989020 ms *************
publication time 8.657156 ms 
whole laserOdometry time 8.681197 ms 
 
mapping data assosiation time 35.136966 ms 
-----t: 0.0645289
OdomCount 767 & avg odom time 0.041894 ms ++++++++++++++++++++++
mapping solver time 26.011068 ms 
filter time 7.845313 ms 
points size 101359 
sort q time 5.798996 
seperate points time 13.112933 
publication time 9.396353 ms 
whole laserOdometry time 9.415207 ms 
 
mapping data assosiation time 34.139851 ms 
--------------------stamp1317357841.727828979
points size 101554 
sort q time 5.611736 
seperate points time 13.901409 
publication time 11.740848 ms 
whole laserOdometry time 11.752212 ms 
 
-----t: 0.0390297
OdomCount 769 & avg odom time 0.041884 ms ++++++++++++++++++++++
1317357841.727828979 WriteOdom laser_odom_to_init
1317357841.727828979 WriteOdom aft_mapped_to_init_high_frec
filter time 10.917866 ms 
map prepare time 3.148023 ms
map corner num 115420  surf num 47110 
--------------------stamp1317357841.831867933
prepare time 13.155096 
sort q time 6.813561 
seperate points time 14.668994 
mapping data assosiation time 35.555570 ms 
-----t: 0.0377152
OdomCount 770 & avg odom time 0.041878 ms ++++++++++++++++++++++
mapping solver time 35.708036 ms 
--------------------stamp1317357841.935930967
points size 101419 
sort q time 5.687162 
seperate points time 13.910427 
-----t: 0.0361402
OdomCount 771 & avg odom time 0.041871 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
build tree time 24.823205 ms 
--------------------stamp1317357842.039968967
points size 101112 
mapping data assosiation time 35.951852 ms 
scan registration time 31.336475 ms *************
publication time 10.410175 ms 
whole laserOdometry time 10.425458 ms 
 
mapping data assosiation time 33.925324 ms 
--------------------stamp1317357842.143984079
prepare time 11.912712 
sort q time 5.931573 
seperate points time 14.038155 
map prepare time 4.593312 ms
map corner num 117825  surf num 48357 
publication time 21.329110 ms 
whole laserOdometry time 23.711180 ms 
 
--------------------stamp1317357842.248020887
scan registration time 33.404098 ms *************
publication time 12.919531 ms 
whole laserOdometry time 12.934902 ms 
 
mapping data assosiation time 40.581526 ms prepare time 15.795244 sort q time 8.640340 
seperate points time 17.346496 
scan registration time 58.150492 ms *************
add points time 1.962992 ms-----t: 0.0595741
OdomCount 775 & avg odom time 0.041997 ms ++++++++++++++++++++++
1317357842.352061033 WriteOdom laser_odom_to_init
1317357842.352061033 WriteOdom aft_mapped_to_init_high_frec
publication time 12.657841 ms 
whole laserOdometry time 12.675339 ms 
 
filter time 14.136300 ms 
map prepare time 3.084950 ms
map corner num 119027  surf num 48911 
points size 99849 
build tree time 30.086988 ms 
scan registration time 37.419372 ms *************
-----t: 0.0432
OdomCount 776 & avg odom time 0.041998 ms ++++++++++++++++++++++
1317357842.456108093 WriteOdom laser_odom_to_init
1317357842.456108093 WriteOdom aft_mapped_to_init_high_frec
publication time 13.461801 ms 
whole laserOdometry time 13.475014 ms 
 
mapping data assosiation time 41.224513 ms 
--------------------stamp1317357842.560169935
points size 98023 
sort q time 5.836986 
seperate points time 13.655585 
mapping data assosiation time 35.344592 ms 
publication time 10.362827 ms 
whole laserOdometry time 10.378973 ms 
 
mapping solver time 30.445333 ms 
filter time 8.440270 ms 
map prepare time 3.862590 ms
map corner num 120135  surf num 49398 
points size 97367 
sort q time 5.483639 
seperate points time 13.464681 
publication time 11.956433 ms 
whole laserOdometry time 11.985623 ms 
 
mapping solver time 30.796215 ms 
--------------------stamp1317357842.768215894
points size 96673 
mapping data assosiation time 37.618911 ms 
-----t: 0.0361935
OdomCount 779 & avg odom time 0.041995 ms ++++++++++++++++++++++
mapping solver time 31.036485 ms 
mapping optimization time 165.345285 
add points time 1.130052 ms
mapping pub time 2.276392 ms 
whole mapping time 181.537211 ms +++++
mappingCount 655 & avg mapping time 117.069229 ms ++++++++++++++++++++++
--------------------stamp1317357842.872231006
build tree time 26.401794 ms 
points size 95727 
sort q time 5.833525 
seperate points time 12.690485 
scan registration time 30.876290 ms *************
publication time 9.922782 ms 
whole laserOdometry time 9.939712 ms 
 
-----t: 0.0424192
OdomCount 780 & avg odom time 0.041995 ms ++++++++++++++++++++++
mapping data assosiation time 28.665860 ms 
points size 94813 
add points time 1.395758 ms
scan registration time 32.576866 ms *************
-----t: 0.0367626
OdomCount 781 & avg odom time 0.041989 ms ++++++++++++++++++++++
1317357842.976246118 WriteOdom laser_odom_to_init
1317357842.976246118 WriteOdom aft_mapped_to_init_high_frec
publication time 10.604511 ms 
whole laserOdometry time 10.623790 ms 
 
--------------------stamp1317357843.080262899
points size 92931 
sort q time 4.800984 
seperate points time 11.049807 
mapping solver time 33.733428 ms 
mapping data assosiation time 32.494728 ms 
mapping solver time 26.224775 ms 
--------------------stamp1317357843.184278964
map prepare time 3.087123 ms
map corner num 123830  surf num 51071 
sort q time 5.504210 
seperate points time 12.095270 
build tree time 31.271764 ms 
-----t: 0.0379488
OdomCount 783 & avg odom time 0.042007 ms ++++++++++++++++++++++
1317357843.184278964 WriteOdom laser_odom_to_init
1317357843.184278964 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.335160 ms 
mapping solver time 29.554806 ms 
prepare time 10.440759 
sort q time 5.001038 
seperate points time 12.133980 
publication time 10.316175 ms 
whole laserOdometry time 10.333404 ms 
 
mapping solver time 29.107270 ms 
filter time 9.174572 ms 
--------------------stamp1317357843.392308950
prepare time 12.965994 
sort q time 5.232312 
seperate points time 11.276712 
mapping data assosiation time 30.826606 ms 
-----t: 0.0603933
OdomCount 785 & avg odom time 0.042030 ms ++++++++++++++++++++++
mapping solver time 36.387894 ms 
--------------------stamp1317357843.496321916
prepare time 12.708427 
mapping optimization time 153.902233 
mapping pub time 2.207235 ms 
whole mapping time 171.580580 ms +++++
mappingCount 659 & avg mapping time 117.396303 ms ++++++++++++++++++++++
-----t: 0.0439708
OdomCount 786 & avg odom time 0.042033 ms ++++++++++++++++++++++
build tree time 28.537457 ms 
mapping data assosiation time 24.624659 ms 
points size 86951 
prepare time 10.848455 
scan registration time 25.914864 ms *************
publication time 8.090306 ms 
whole laserOdometry time 8.103428 ms 
 
mapping data assosiation time 29.665783 ms 
mapping solver time 21.834562 ms 
filter time 8.490850 ms 
--------------------stamp1317357843.704278945
build tree time 29.407919 ms 
sort q time 4.821910 
seperate points time 11.346923 
scan registration time 28.503311 ms *************
publication time 8.111349 ms 
whole laserOdometry time 8.126407 ms 
 
mapping solver time 25.092308 ms 
--------------------stamp1317357843.808247089
prepare time 12.534058 
sort q time 5.070955 
seperate points time 11.478875 
filter time 12.196527 ms 
mapping pub time 13.755988 ms 
whole mapping time 165.847236 ms +++++
mappingCount 661 & avg mapping time 117.524405 ms ++++++++++++++++++++++
build tree time 29.186544 ms 
--------------------stamp1317357843.912213087
mapping data assosiation time 27.760499 ms 
sort q time 6.398947 
seperate points time 13.127128 
mapping solver time 32.476063 ms 
-----t: 0.0436602
OdomCount 790 & avg odom time 0.042009 ms ++++++++++++++++++++++
mapping data assosiation time 26.348592 ms 
mapping solver time 21.125460 ms 
filter time 8.536998 ms 
points size 93796 
build tree time 33.156443 ms 
-----t: 0.0407635
OdomCount 791 & avg odom time 0.042007 ms ++++++++++++++++++++++
mapping data assosiation time 27.814176 ms 
mapping solver time 25.847270 ms 
--------------------stamp1317357844.120070934
points size 96805 
sort q time 5.830017 
seperate points time 13.271391 
scan registration time 33.821097 ms *************
mapping optimization time 142.944580 
filter time 12.888869 ms 
build tree time 28.214156 ms 
points size 100447 
sort q time 5.838761 
seperate points time 13.590074 
mapping solver time 29.679011 ms 
mapping data assosiation time 25.950059 ms 
mapping solver time 20.370687 ms 
filter time 11.291629 ms 
sort q time 5.947577 
seperate points time 13.597650 
build tree time 34.099916 ms 
publication time 10.978797 ms 
whole laserOdometry time 10.994543 ms 
 
-----t: 0.0588333
OdomCount 794 & avg odom time 0.042065 ms ++++++++++++++++++++++
points size 100985 
sort q time 6.500959 
seperate points time 13.454759 
publication time 11.906072 ms 
whole laserOdometry time 11.921789 ms 
 
-----t: 0.0518016
OdomCount 795 & avg odom time 0.042077 ms ++++++++++++++++++++++
map prepare time 3.211383 ms
map corner num 131353  surf num 53616 
--------------------stamp1317357844.535702943
points size 101156 
sort q time 5.537759 
seperate points time 12.788811 
mapping data assosiation time 28.354688 ms 
mapping solver time 22.770131 ms 
--------------------stamp1317357844.639596939
points size 101115 
prepare time 13.489058 

-----t: 0.0436869
OdomCount 797 & avg odom time 0.042078 ms ++++++++++++++++++++++
publication time 13.800318 ms 
whole laserOdometry time 13.813598 ms 
 
build tree time 32.805370 ms 
mapping data assosiation time 24.144490 ms 
--------------------stamp1317357844.743464946
points size 98410 
sort q time 7.301592 
seperate points time 14.229067 
scan registration time 33.838432 ms *************
-----t: 0.0376573
OdomCount 798 & avg odom time 0.042073 ms ++++++++++++++++++++++
1317357844.743464946 WriteOdom laser_odom_to_init
1317357844.743464946 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.012465 ms 
mapping optimization time 133.283382 
add points time 1.099084 ms
publication time 11.874921 ms 
whole laserOdometry time 11.890205 ms 
 
mapping pub time 2.278514 ms 
whole mapping time 149.496965 ms +++++
mappingCount 667 & avg mapping time 117.872306 ms ++++++++++++++++++++++
--------------------stamp1317357844.847337007
points size 96679 
sort q time 5.653562 
seperate points time 11.833777 
scan registration time 28.880550 ms *************
mapping data assosiation time 29.061420 ms 
publication time 10.651884 ms 
whole laserOdometry time 10.675814 ms 
 
mapping solver time 39.387751 ms 
mapping data assosiation time 24.845005 ms 
points size 95299 
sort q time 5.590420 
seperate points time 12.868290 
filter time 12.266381 ms 
scan registration time 31.784031 ms *************
mapping pub time 2.424880 ms 
whole mapping time 167.530992 ms +++++
mappingCount 668 & avg mapping time 117.946664 ms ++++++++++++++++++++++
1317357844.639596939 WriteOdom aft_mapped_to_init
publication time 9.727059 ms 
whole laserOdometry time 9.741707 ms 
 
-----t: 0.0465498
OdomCount 800 & avg odom time 0.042075 ms ++++++++++++++++++++++
mapping data assosiation time 24.069461 ms 
points size 93601 
mapping solver time 29.543646 ms 
scan registration time 30.183762 ms *************
publication time 11.158428 ms 
whole laserOdometry time 11.179830 ms 
 
-----t: 0.0475314
OdomCount 801 & avg odom time 0.042082 ms ++++++++++++++++++++++
1317357845.055079936 WriteOdom laser_odom_to_init
1317357845.055079936 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.333382 ms 
filter time 9.799632 ms 
map prepare time 3.635462 ms
map corner num 134534  surf num 54936 
--------------------stamp1317357845.158947944
prepare time 12.377634 
sort q time 5.468690 
seperate points time 12.440729 
publication time 9.138565 ms 
whole laserOdometry time 9.153972 ms 
 
-----t: 0.039616
OdomCount 802 & avg odom time 0.042079 ms ++++++++++++++++++++++
1317357845.158947944 WriteOdom laser_odom_to_init
1317357845.158947944 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.817253 ms 
mapping data assosiation time 24.521835 ms 
--------------------stamp1317357845.262816905
prepare time 13.263912 
1317357844.951210022 WriteOdom aft_mapped_to_init
publication time 8.622605 ms 
whole laserOdometry time 8.634364 ms 
 
-----t: 0.0386933
OdomCount 803 & avg odom time 0.042075 ms ++++++++++++++++++++++
1317357845.262816905 WriteOdom laser_odom_to_init
1317357845.262816905 WriteOdom aft_mapped_to_init_high_frec
build tree time 33.706550 ms 
mapping data assosiation time 22.724149 ms 
--------------------stamp1317357845.366686105
prepare time 12.520482 
sort q time 5.007343 
seperate points time 10.643504 
mapping data assosiation time 29.029557 ms 
mapping solver time 25.777782 ms 
filter time 9.722868 ms 
[0m[ INFO] [1718804562.260655939, 1317357845.447938648]: Received 191770 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804562.260707716, 1317357845.447938648]: Data saved to 1317357845158947.pcd[0m
--------------------stamp1317357845.470551967
points size 89782 
build tree time 35.345164 ms 
sort q time 5.613304 
seperate points time 11.303306 
mapping data assosiation time 27.399663 ms 
mapping solver time 34.733271 ms 
-----t: 0.0644513
OdomCount 805 & avg odom time 0.042113 ms ++++++++++++++++++++++
1317357845.470551967 WriteOdom laser_odom_to_init
1317357845.470551967 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357845.574450016
points size 90801 
scan registration time 27.846615 ms *************
filter time 13.992727 ms 
-----t: 0.0483164
OdomCount 806 & avg odom time 0.042121 ms ++++++++++++++++++++++
1317357845.574450016 WriteOdom laser_odom_to_init
1317357845.574450016 WriteOdom aft_mapped_to_init_high_frec
build tree time 37.952431 ms 
--------------------stamp1317357845.678375005
points size 92795 
prepare time 13.906508 
mapping data assosiation time 28.811934 ms 
scan registration time 31.081633 ms *************
mapping solver time 30.644154 ms 
-----t: 0.05519
OdomCount 807 & avg odom time 0.042137 ms ++++++++++++++++++++++
1317357845.678375005 WriteOdom laser_odom_to_init
1317357845.678375005 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.828150 ms 
mapping solver time 25.549683 ms 
points size 95314 
sort q time 6.541224 
seperate points time 14.365872 
map prepare time 26.578927 ms
map corner num 137874  surf num 56157 
publication time 11.241472 ms 
whole laserOdometry time 11.258229 ms 
 
build tree time 33.911120 ms 
mapping data assosiation time 22.011411 ms 
points size 97308 
prepare time 14.890360 
sort q time 5.814978 
seperate points time 26.262624 
mapping data assosiation time 26.214447 ms 
-----t: 0.046301
OdomCount 809 & avg odom time 0.042139 ms ++++++++++++++++++++++
1317357845.886209011 WriteOdom laser_odom_to_init
1317357845.886209011 WriteOdom aft_mapped_to_init_high_frec
filter time 9.982939 ms 
map prepare time 2.914341 ms
map corner num 138619  surf num 56335 
--------------------stamp1317357845.990129947
points size 99244 
sort q time 5.693045 
seperate points time 13.200830 
mapping data assosiation time 25.671668 ms 
mapping solver time 25.794466 ms 
-----t: 0.0658903
OdomCount 810 & avg odom time 0.042168 ms ++++++++++++++++++++++
mapping data assosiation time 25.131365 ms 
--------------------stamp1317357846.094026088
points size 98603 
filter time 11.900010 ms 
map prepare time 3.912327 ms
map corner num 139403  surf num 56615 
-----t: 0.0360591
OdomCount 811 & avg odom time 0.042161 ms ++++++++++++++++++++++
build tree time 34.169469 ms 
mapping data assosiation time 24.980101 ms 
points size 97070 
mapping solver time 25.726187 ms 
scan registration time 34.056347 ms *************
mapping data assosiation time 25.881189 ms 
publication time 9.567847 ms 
whole laserOdometry time 9.583763 ms 
 
-----t: 0.0608448
OdomCount 812 & avg odom time 0.042184 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317357846.301739931
points size 96018 
build tree time 33.144206 ms 
scan registration time 32.471461 ms *************
mapping data assosiation time 25.554972 ms 
mapping solver time 19.717412 ms 
mapping data assosiation time 24.857754 ms 
--------------------stamp1317357846.405567884
add points time 0.935287 ms
prepare time 15.249703 
sort q time 5.571471 
seperate points time 13.098796 
map prepare time 3.312154 ms
map corner num 103345  surf num 41296 
publication time 10.086873 ms 
whole laserOdometry time 10.101179 ms 
 
mapping data assosiation time 23.215184 ms 
--------------------stamp1317357846.509362936
points size 99477 
sort q time 5.840255 
seperate points time 13.457948 
filter time 10.084953 ms 
-----t: 0.072144
OdomCount 815 & avg odom time 0.042240 ms ++++++++++++++++++++++
1317357846.509362936 WriteOdom laser_odom_to_init
--------------------stamp1317357846.613136053
mapping data assosiation time 25.833593 ms 
publication time 9.866626 ms 
whole laserOdometry time 9.884926 ms 
 
mapping data assosiation time 22.384345 ms 
--------------------stamp1317357846.716891050
filter time 9.011241 ms 
sort q time 6.474685 
seperate points time 15.044979 
-----t: 0.0512855
OdomCount 817 & avg odom time 0.042246 ms ++++++++++++++++++++++
mapping solver time 19.847068 ms 
points size 101215 
sort q time 5.729028 
seperate points time 13.585517 
filter time 10.102812 ms 
-----t: 0.0428319
OdomCount 818 & avg odom time 0.042247 ms ++++++++++++++++++++++
1317357846.820642948 WriteOdom laser_odom_to_init
1317357846.820642948 WriteOdom aft_mapped_to_init_high_frec
build tree time 24.240568 ms 
mapping data assosiation time 22.134406 ms 
points size 101939 
sort q time 5.696093 
seperate points time 12.108454 
publication time 11.316958 ms 
whole laserOdometry time 11.373979 ms 
 
-----t: 0.0536044
OdomCount 819 & avg odom time 0.042261 ms ++++++++++++++++++++++
mapping solver time 18.359915 ms 
filter time 7.433661 ms 
--------------------stamp1317357847.028119087
points size 102153 
sort q time 6.048056 
seperate points time 13.222318 
build tree time 27.106377 ms 
publication time 10.024549 ms 
whole laserOdometry time 10.037395 ms 
 
mapping data assosiation time 27.029623 ms 
mapping solver time 20.451200 ms 
--------------------stamp1317357847.131867885
points size 102186 
prepare time 27.030730 
mapping solver time 18.645162 ms 
filter time 9.886447 ms 
publication time 10.057315 ms 
whole laserOdometry time 10.071158 ms 
 
mapping data assosiation time 23.094968 ms 
--------------------stamp1317357847.235620975
points size 101907 
mapping solver time 20.432099 ms 
mapping solver time 15.185978 ms 
filter time 9.677759 ms 
--------------------stamp1317357847.339348077
build tree time 22.952770 ms 
prepare time 18.580049 
sort q time 6.539736 
seperate points time 15.229653 
scan registration time 40.681524 ms *************
publication time 10.641050 ms 
whole laserOdometry time 10.654276 ms 
 
mapping data assosiation time 27.860526 ms 
--------------------stamp1317357847.443074941
points size 101447 
1317357847.131867886 WriteOdom aft_mapped_to_init
scan registration time 35.920132 ms *************
build tree time 27.269862 ms 
-----t: 0.0488039
OdomCount 824 & avg odom time 0.042326 ms ++++++++++++++++++++++
mapping data assosiation time 26.074337 ms 
mapping solver time 21.276524 ms 
prepare time 13.445387 
sort q time 6.838667 
seperate points time 13.032722 
mapping solver time 19.902811 ms 
filter time 9.257953 ms 
--------------------stamp1317357847.650572061
points size 98500 
prepare time 12.959562 
mapping data assosiation time 27.588093 ms 
sort q time 6.688160 
seperate points time 13.087392 
mapping solver time 32.352721 ms 
mapping data assosiation time 25.517216 ms 
mapping data assosiation time 27.286626 ms 
mapping solver time 27.724834 ms 
points size 97343 
mapping data assosiation time 29.877366 ms 
publication time 11.405316 ms 
whole laserOdometry time 11.453124 ms 
 
filter time 10.114129 ms 
build tree time 22.103236 ms 
--------------------stamp1317357847.961853027
points size 97284 
sort q time 5.596795 
seperate points time 13.760274 
mapping solver time 32.638106 ms 
publication time 8.833485 ms 
whole laserOdometry time 8.847364 ms 
 
-----t: 0.0508694
OdomCount 829 & avg odom time 0.042346 ms ++++++++++++++++++++++
mapping data assosiation time 29.271809 ms 
mapping solver time 21.352957 ms 
filter time 9.745598 ms 
sort q time 5.673115 
seperate points time 13.629966 
build tree time 27.580398 ms 
mapping data assosiation time 26.007828 ms 
-----t: 0.0740916
OdomCount 830 & avg odom time 0.042384 ms ++++++++++++++++++++++
--------------------stamp1317357848.169497013
prepare time 13.489334 
mapping data assosiation time 26.545204 ms 
scan registration time 46.404437 ms *************
mapping solver time 38.614930 ms 
filter time 10.634935 ms 
mapping pub time 2.170760 ms 
whole mapping time 169.749087 ms +++++
mappingCount 689 & avg mapping time 119.007239 ms ++++++++++++++++++++++
1317357847.961853027 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357848.273320913
build tree time 26.951036 ms 
sort q time 5.101724 
seperate points time 12.181553 
scan registration time 32.916888 ms *************
-----t: 0.0362906
OdomCount 832 & avg odom time 0.042394 ms ++++++++++++++++++++++
mapping data assosiation time 23.213104 ms 
--------------------stamp1317357848.377144098
points size 96438 
filter time 10.167947 ms 
-----t: 0.0349933
OdomCount 833 & avg odom time 0.042385 ms ++++++++++++++++++++++
mapping data assosiation time 22.029948 ms 
--------------------stamp1317357848.480967044
points size 98899 
prepare time 12.155805 
mapping data assosiation time 27.100550 ms 
publication time 11.146949 ms 
whole laserOdometry time 11.176091 ms 
 
-----t: 0.0370662
OdomCount 834 & avg odom time 0.042379 ms ++++++++++++++++++++++
mapping solver time 22.139131 ms 
1317357848.480967044 WriteOdom laser_odom_to_init
1317357848.480967044 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 127.391971 
add points time 0.859753 ms
mapping pub time 6.217400 ms 
whole mapping time 147.436945 ms +++++
mappingCount 691 & avg mapping time 119.087227 ms ++++++++++++++++++++++
[0m[ INFO] [1718804565.359339846, 1317357848.547001483]: Received 160994 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804565.359383528, 1317357848.547001483]: Data saved to 1317357848273320.pcd[0m
1317357848.273320913 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.696150 ms
map corner num 114894  surf num 46100 
build tree time 26.435364 ms 
points size 99850 
mapping data assosiation time 26.634551 ms 
scan registration time 34.099386 ms *************
mapping solver time 26.985081 ms 
publication time 14.742374 ms 
whole laserOdometry time 14.775603 ms 
 
mapping data assosiation time 27.438218 ms 
mapping solver time 15.959367 ms 
mapping pub time 2.492029 ms 
whole mapping time 139.181924 ms +++++
mappingCount 692 & avg mapping time 119.116284 ms ++++++++++++++++++++++
points size 98598 
prepare time 15.942191 
sort q time 6.850549 
seperate points time 14.805149 
scan registration time 36.094380 ms *************
-----t: 0.0451409
OdomCount 836 & avg odom time 0.042397 ms ++++++++++++++++++++++
--------------------stamp1317357848.792361021
points size 97499 
mapping solver time 34.471447 ms -----t: 0.0518425
OdomCount 837 & avg odom time 0.042408 ms ++++++++++++++++++++++
mapping solver time 20.488038 ms 
filter time 9.669868 ms 
sort q time 5.827929 
seperate points time 12.775041 
build tree time 29.745931 ms 
publication time 18.443601 ms 
whole laserOdometry time 18.457384 ms 
 
mapping data assosiation time 30.508732 ms 
mapping solver time 24.740145 ms 
points size 97485 
mapping data assosiation time 32.712418 ms 
sort q time 5.673378 
seperate points time 13.495719 
scan registration time 34.889855 ms *************
publication time 11.741642 ms 
whole laserOdometry time 11.757212 ms 
 
mapping solver time 33.577570 ms 
mapping optimization time 152.524728 
add points time 0.702826 ms
filter time 11.241673 ms 
map prepare time 2.804831 ms
map corner num 117187  surf num 46802 
--------------------stamp1317357849.103682041
points size 96328 
mapping data assosiation time 23.773489 ms 
publication time 8.527607 ms 
whole laserOdometry time 8.541450 ms 
 
-----t: 0.0506296
OdomCount 840 & avg odom time 0.042505 ms ++++++++++++++++++++++
mapping data assosiation time 24.986656 ms 
mapping solver time 15.289645 ms 
filter time 8.445385 ms 
points size 94727 
sort q time 5.450300 
seperate points time 12.708644 
build tree time 36.430896 ms 
-----t: 0.0398051
OdomCount 841 & avg odom time 0.042501 ms ++++++++++++++++++++++
mapping data assosiation time 26.816805 ms 
mapping solver time 24.463603 ms 
points size 92050 
mapping data assosiation time 23.864109 ms 
scan registration time 30.201968 ms *************
mapping solver time 23.562942 ms 
filter time 11.122588 ms 
map prepare time 4.008457 ms
map corner num 144676  surf num 54788 
build tree time 31.492959 ms 
points size 92469 
mapping data assosiation time 25.954262 ms 
-----t: 0.0390399
OdomCount 843 & avg odom time 0.042489 ms ++++++++++++++++++++++
publication time 8.910388 ms 
whole laserOdometry time 8.932054 ms 
 
mapping data assosiation time 24.203185 ms 
mapping solver time 21.672727 ms 
filter time 10.476852 ms 
prepare time 12.420574 
mapping pub time 2.593398 ms 
whole mapping time 159.143353 ms +++++
mappingCount 697 & avg mapping time 119.449101 ms ++++++++++++++++++++++
1317357849.207457066 WriteOdom aft_mapped_to_init
scan registration time 35.772812 ms *************
publication time 9.374769 ms 
whole laserOdometry time 9.389422 ms 
 
build tree time 46.583750 ms 
mapping data assosiation time 23.835191 ms 
--------------------stamp1317357849.622558116
prepare time 13.202118 
mapping data assosiation time 22.308763 ms 
publication time 16.231125 ms 
whole laserOdometry time 16.245330 ms 
 
mapping optimization time 148.051878 
filter time 9.791016 ms 
--------------------stamp1317357849.726334095
prepare time 12.005448 
sort q time 5.191592 
seperate points time 12.091710 
mapping data assosiation time 26.076994 ms 
publication time 15.108036 ms 
whole laserOdometry time 15.120108 ms 
 
-----t: 0.05193
OdomCount 846 & avg odom time 0.042538 ms ++++++++++++++++++++++
mapping solver time 30.536664 ms 
mapping data assosiation time 20.941804 ms 
--------------------stamp1317357849.830106019
add points time 0.846958 ms
filter time 10.797102 ms 
scan registration time 31.648086 ms *************
publication time 9.239490 ms 
whole laserOdometry time 9.254058 ms 
 
build tree time 38.487054 ms 
mapping data assosiation time 23.068112 ms 
--------------------stamp1317357849.933881998
prepare time 18.942431 
mapping data assosiation time 28.247985 ms 
-----t: 0.0450331
OdomCount 848 & avg odom time 0.042585 ms ++++++++++++++++++++++
filter time 9.589302 ms 
mapping pub time 2.237263 ms 
whole mapping time 157.112514 ms +++++
mappingCount 700 & avg mapping time 119.611180 ms ++++++++++++++++++++++
1317357849.726334095 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357850.037658929
prepare time 11.491921 
sort q time 5.655093 
seperate points time 11.390335 
mapping data assosiation time 24.009252 ms 
-----t: 0.0470269
OdomCount 849 & avg odom time 0.042591 ms ++++++++++++++++++++++
1317357850.037658929 WriteOdom laser_odom_to_init
publication time 10.944612 ms 
whole laserOdometry time 10.953423 ms 
 
1317357850.037658929 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.355809 ms 
--------------------stamp1317357850.141433000
mapping optimization time 131.060381 
filter time 11.326386 ms 
mapping pub time 22.450039 ms 
whole mapping time 168.597256 ms +++++
mappingCount 701 & avg mapping time 119.681065 ms ++++++++++++++++++++++
-----t: 0.0415995
OdomCount 850 & avg odom time 0.042589 ms ++++++++++++++++++++++
build tree time 33.065652 ms 
--------------------stamp1317357850.245208978
points size 98916 
mapping solver time 27.488045 ms 
mapping data assosiation time 27.293041 ms 
1317357850.245208978 WriteOdom laser_odom_to_init
1317357850.245208978 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.975564 ms 
mapping optimization time 139.165771 
add points time 0.681341 ms
drop lidar frame in mapping for real time performance 
points size 99327 
sort q time 5.606097 
seperate points time 13.177891 
publication time 9.510865 ms 
whole laserOdometry time 9.524435 ms 
 
mapping solver time 24.974665 ms 
-----t: 0.0843969
OdomCount 852 & avg odom time 0.042641 ms ++++++++++++++++++++++
prepare time 13.057953 
scan registration time 30.942271 ms *************
publication time 8.610734 ms 
whole laserOdometry time 8.621906 ms 
 
filter time 24.406889 ms 
-----t: 0.0658016
OdomCount 853 & avg odom time 0.042668 ms ++++++++++++++++++++++
--------------------stamp1317357850.556555986
prepare time 13.771529 
sort q time 6.395640 
seperate points time 13.547136 
mapping data assosiation time 26.958474 ms 
publication time 9.583408 ms 
whole laserOdometry time 9.595507 ms 
 
mapping solver time 31.388114 ms 
mapping data assosiation time 27.597549 ms 
points size 100333 
prepare time 12.750101 
scan registration time 32.441157 ms *************
filter time 15.052792 ms 
mapping pub time 5.541435 ms 
whole mapping time 193.412982 ms +++++
mappingCount 704 & avg mapping time 119.915045 ms ++++++++++++++++++++++
1317357850.348980904 WriteOdom aft_mapped_to_init
publication time 11.057401 ms 
whole laserOdometry time 11.081971 ms 
 
-----t: 0.0585739
OdomCount 855 & avg odom time 0.042721 ms ++++++++++++++++++++++
1317357850.660353899 WriteOdom laser_odom_to_init
1317357850.660353899 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357850.764153957
points size 100618 
sort q time 6.004024 
seperate points time 13.713277 
mapping data assosiation time 30.342431 ms 
1317357850.764153957 WriteOdom laser_odom_to_initmapping solver time 38.641954 ms 
mapping data assosiation time 23.142206 ms 
points size 100557 
prepare time 13.142809 
add points time 0.660038 ms
map prepare time 4.061541 ms
map corner num 151719  surf num 56685 
publication time 13.033532 ms 
whole laserOdometry time 13.048991 ms 
 
build tree time 37.496263 ms 
-----t: 0.0686709
OdomCount 857 & avg odom time 0.042745 ms ++++++++++++++++++++++
1317357850.867974042 WriteOdom laser_odom_to_init
1317357850.867974042 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357850.971795082
points size 100248 
mapping solver time 23.767803 ms 
mapping data assosiation time 24.387979 ms 
-----t: 0.0488296
OdomCount 858 & avg odom time 0.042752 ms ++++++++++++++++++++++
1317357850.971795082 WriteOdom laser_odom_to_init
1317357850.971795082 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.075731 ms 
filter time 12.018167 ms 
drop lidar frame in mapping for real time performance 
points size 100187 
sort q time 5.527420 
seperate points time 12.183223 
publication time 11.992566 ms 
whole laserOdometry time 12.005568 ms 
 
-----t: 0.0561521
OdomCount 859 & avg odom time 0.042768 ms ++++++++++++++++++++++
1317357851.075596094 WriteOdom laser_odom_to_init
1317357851.075596094 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.510167 ms 
points size 100313 
scan registration time 38.748784 ms *************
mapping optimization time 160.008348 
drop lidar frame in mapping for real time performance 
-----t: 0.0667594
OdomCount 860 & avg odom time 0.042795 ms ++++++++++++++++++++++
--------------------stamp1317357851.283220052
build tree time 40.858937 ms 
sort q time 5.471303 
seperate points time 12.890838 
scan registration time 34.454833 ms *************
mapping data assosiation time 27.387053 ms 
-----t: 0.0390663
publication time 9.773448 ms 
whole laserOdometry time 9.782118 ms 
 
OdomCount 861 & avg odom time 0.042791 ms ++++++++++++++++++++++
mapping solver time 29.634319 ms 
mapping data assosiation time 20.851250 ms 
--------------------stamp1317357851.387042045
prepare time 12.095082 
1317357851.075596094 WriteOdom aft_mapped_to_init
publication time 10.212166 ms 
whole laserOdometry time 10.223135 ms 
 
build tree time 34.642645 ms 
mapping data assosiation time 25.234974 ms 
--------------------stamp1317357851.490888118
prepare time 13.242758 
sort q time 5.500292 
seperate points time 13.136366 
mapping data assosiation time 35.078105 ms 
publication time 27.135613 ms 
whole laserOdometry time 27.147348 ms 
 
add points time 0.920749 ms
filter time 10.961811 ms 
mapping pub time 2.351168 ms 
whole mapping time 170.812895 ms +++++
mappingCount 709 & avg mapping time 120.267103 ms ++++++++++++++++++++++
1317357851.283220053 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 101530 
sort q time 6.082805 
seperate points time 13.631485 
publication time 9.775677 ms 
whole laserOdometry time 9.788836 ms 
 
mapping solver time 18.548495 ms 
mapping data assosiation time 20.224890 ms 
--------------------stamp1317357851.698628902
mapping solver time 19.237690 ms 
filter time 12.156476 ms 
mapping pub time 2.364680 ms 
whole mapping time 139.914336 ms +++++
mappingCount 710 & avg mapping time 120.294781 ms ++++++++++++++++++++++
1317357851.387042046 WriteOdom aft_mapped_to_init
sort q time 5.962479 
seperate points time 14.250758 
map prepare time 3.968317 ms
map corner num 155768  surf num 57959 
publication time 7.773213 ms 
whole laserOdometry time 7.783553 ms 
 
-----t: 0.0468674
OdomCount 865 & avg odom time 0.042797 ms ++++++++++++++++++++++
mapping data assosiation time 21.446572 ms 
--------------------stamp1317357851.802476882
points size 101630 
sort q time 7.222218 
seperate points time 13.119666 
publication time 7.049818 ms 
whole laserOdometry time 7.066220 ms 
 
filter time 10.023259 ms 
drop lidar frame in mapping for real time performance 
map prepare time 2.332837 ms
map corner num 74039  surf num 31912 
build tree time 16.767196 ms 
points size 101035 
sort q time 6.029078 
seperate points time 11.977595 
mapping solver time 20.912175 ms 
publication time 9.459090 ms 
whole laserOdometry time 9.472071 ms 
 
mapping data assosiation time 23.899492 ms 
mapping solver time 15.414197 ms 
filter time 7.316556 ms 
map prepare time 2.680153 ms
map corner num 74733  surf num 32111 
build tree time 18.732331 ms 
sort q time 9.155724 
seperate points time 16.374654 
publication time 10.342181 ms 
whole laserOdometry time 10.356915 ms 
 
mapping data assosiation time 20.253587 ms 
--------------------stamp1317357852.113945007
mapping solver time 19.584073 ms 
mapping pub time 2.380808 ms 
whole mapping time 127.639504 ms +++++
mappingCount 713 & avg mapping time 120.334377 ms ++++++++++++++++++++++
build tree time 18.496545 ms 
-----t: 0.0361818
OdomCount 869 & avg odom time 0.042829 ms ++++++++++++++++++++++
mapping data assosiation time 27.358954 ms 
mapping solver time 23.516406 ms 
--------------------stamp1317357852.217768907
prepare time 11.087516 
sort q time 5.258492 
seperate points time 12.878671 
mapping solver time 16.102189 ms 
map prepare time 3.342025 ms
map corner num 76286  surf num 32527 
mapping data assosiation time 22.500859 ms 
--------------------stamp1317357852.321589946
mapping solver time 25.823708 ms 
points size 88820 
prepare time 14.502389 
sort q time 5.793016 
seperate points time 13.628041 
-----t: 0.0387404
OdomCount 871 & avg odom time 0.042834 ms ++++++++++++++++++++++
filter time 5.618731 ms 
build tree time 17.450988 ms 
--------------------stamp1317357852.425386905
points size 84896 
sort q time 4.588984 
seperate points time 11.017318 
publication time 9.209866 ms 
whole laserOdometry time 9.221455 ms 
 
mapping data assosiation time 26.200591 ms 
-----t: 0.0631649
OdomCount 872 & avg odom time 0.042857 ms ++++++++++++++++++++++
1317357852.425386905 WriteOdom laser_odom_to_init
1317357852.425386905 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.894008 ms 
mapping pub time 3.482231 ms 
whole mapping time 131.896637 ms +++++
mappingCount 716 & avg mapping time 120.371507 ms ++++++++++++++++++++++

points size 81113 
build tree time 22.331257 ms 
[0m[ INFO] [1718804569.358477942, 1317357852.540985884]: Received 110427 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804569.358552112, 1317357852.540985884]: Data saved to 1317357852217768.pcd[0m
sort q time 4.875397 
seperate points time 11.534805 
scan registration time 28.762307 ms *************
mapping data assosiation time 25.376148 ms 
mapping solver time 23.328255 ms 
mapping data assosiation time 21.315494 ms 
--------------------stamp1317357852.633011102
add points time 1.138770 ms
mapping pub time 1.969276 ms 
whole mapping time 130.450967 ms +++++
mappingCount 717 & avg mapping time 120.385573 ms ++++++++++++++++++++++
publication time 9.180813 ms 
whole laserOdometry time 9.194170 ms 
 
mapping data assosiation time 19.999090 ms 
mapping solver time 18.770244 ms 
--------------------stamp1317357852.736810922
prepare time 11.648664 
sort q time 3.958683 
seperate points time 9.795343 
filter time 5.883677 ms 
build tree time 19.450971 ms 
-----t: 0.0628646
OdomCount 875 & avg odom time 0.042855 ms ++++++++++++++++++++++
1317357852.736810922 WriteOdom laser_odom_to_init
1317357852.736810922 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.463867 ms 
mapping solver time 23.217278 ms 
points size 73642 
mapping data assosiation time 26.270213 ms 
publication time 5.692121 ms 
whole laserOdometry time 5.708063 ms 
 
filter time 6.791937 ms 
-----t: 0.0534007
OdomCount 876 & avg odom time 0.042867 ms ++++++++++++++++++++++
1317357852.840585947 WriteOdom laser_odom_to_init
1317357852.840585947 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357852.944381952
scan registration time 26.302979 ms *************
mapping data assosiation time 21.785230 ms 
mapping optimization time 117.400547 
add points time 0.736061 ms
--------------------stamp1317357853.048204898
prepare time 10.283067 
sort q time 5.700065 
seperate points time 12.909124 
publication time 7.622658 ms 
whole laserOdometry time 7.636186 ms 
 
mapping solver time 30.990827 ms 
mapping data assosiation time 19.556369 ms 
mapping solver time 19.069420 ms 
filter time 6.183342 ms 
points size 85962 
mapping pub time 27.764155 ms 
whole mapping time 149.163671 ms +++++
mappingCount 721 & avg mapping time 120.432666 ms ++++++++++++++++++++++
1317357852.944381952 WriteOdom aft_mapped_to_init
sort q time 5.492295 
seperate points time 12.560113 
publication time 9.879243 ms 
whole laserOdometry time 9.907179 ms 
 
mapping data assosiation time 21.741999 ms 
mapping solver time 24.021986 ms 
points size 89905 
mapping data assosiation time 24.809725 ms 
publication time 8.980990 ms 
whole laserOdometry time 8.994678 ms 
 
mapping pub time 2.972262 ms 
whole mapping time 133.681276 ms +++++
mappingCount 722 & avg mapping time 120.451030 ms ++++++++++++++++++++++
build tree time 17.303295 ms 
mapping data assosiation time 22.427808 ms 
prepare time 11.988639 
sort q time 6.056936 
seperate points time 13.024135 
publication time 11.304823 ms 
whole laserOdometry time 11.328336 ms 
 mapping solver time 20.443578 ms 
map prepare time 2.360447 ms
map corner num 82723  surf num 34073 
--------------------stamp1317357853.463470935
prepare time 12.396199 
sort q time 5.496646 
seperate points time 12.802257 
publication time 8.886501 ms 
whole laserOdometry time 8.900689 ms 
 
mapping solver time 29.986042 ms 
-----t: 0.0679959
OdomCount 882 & avg odom time 0.042898 ms ++++++++++++++++++++++
--------------------stamp1317357853.567246913
mapping pub time 2.250442 ms 
whole mapping time 133.547633 ms +++++
mappingCount 724 & avg mapping time 120.480681 ms ++++++++++++++++++++++
sort q time 5.320107 
seperate points time 12.010126 
build tree time 21.866466 ms 
publication time 9.592310 ms 
whole laserOdometry time 9.605914 ms 
 
mapping data assosiation time 25.894839 ms 
mapping solver time 19.047899 ms 
--------------------stamp1317357853.671045064
points size 95743 
mapping solver time 15.102516 ms 
mapping pub time 2.539662 ms 
whole mapping time 117.745125 ms +++++
mappingCount 725 & avg mapping time 120.476920 ms ++++++++++++++++++++++
publication time 8.599478 ms 
whole laserOdometry time 8.627601 ms 
 
-----t: 0.0393688
OdomCount 884 & avg odom time 0.042882 ms ++++++++++++++++++++++
mapping data assosiation time 21.572207 ms 
mapping solver time 20.230330 ms 
points size 94485 
mapping data assosiation time 25.290378 ms 
scan registration time 30.252117 ms *************
add points time 0.801208 ms
mapping pub time 4.935438 ms 
whole mapping time 122.379500 ms +++++
mappingCount 726 & avg mapping time 120.479544 ms ++++++++++++++++++++++
-----t: 0.0544799
OdomCount 885 & avg odom time 0.042895 ms ++++++++++++++++++++++
build tree time 20.589197 ms 
--------------------stamp1317357853.878644943
prepare time 12.355970 
mapping solver time 23.392834 ms 
sort q time 5.155175 
seperate points time 12.032021 
scan registration time 28.945164 ms *************
mapping data assosiation time 26.414769 ms 
-----t: 0.049318
OdomCount 886 & avg odom time 0.042902 ms ++++++++++++++++++++++
filter time 7.265653 ms 
build tree time 17.301521 ms 
points size 92799 
mapping data assosiation time 26.842869 ms 
mapping solver time 24.059468 ms 
-----t: 0.0394266
OdomCount 887 & avg odom time 0.042898 ms ++++++++++++++++++++++
mapping data assosiation time 23.440337 ms 
mapping solver time 13.875885 ms 
mapping optimization time 106.780058 
add points time 0.662441 ms
map prepare time 2.686427 ms
map corner num 86544  surf num 35400 
points size 91333 
build tree time 22.380724 ms 
publication time 8.999999 ms 
whole laserOdometry time 9.014685 ms 
 
mapping data assosiation time 27.763423 ms 
mapping solver time 25.368124 ms 
mapping data assosiation time 23.082971 ms 
mapping solver time 15.748475 ms 
filter time 7.105765 ms 
mapping pub time 2.208098 ms 
whole mapping time 128.533624 ms +++++
mappingCount 729 & avg mapping time 120.497606 ms ++++++++++++++++++++++
1317357853.982467890 WriteOdom aft_mapped_to_init
scan registration time 31.258438 ms *************
build tree time 22.909477 ms 
mapping data assosiation time 23.533497 ms 
mapping solver time 23.146517 ms 
--------------------stamp1317357854.293888092
prepare time 10.646981 
mapping data assosiation time 24.130450 ms 
mapping solver time 24.352061 ms 
filter time 8.237617 ms 
build tree time 18.296683 ms 
mapping data assosiation time 22.469156 ms 
points size 88442 
mapping solver time 25.745750 ms 
sort q time 5.187686 
seperate points time 11.472168 
scan registration time 27.758640 ms *************
publication time 8.762090 ms 
whole laserOdometry time 8.778274 ms 
 
mapping solver time 20.863460 ms 
mapping optimization time 116.580071 
add points time 0.750411 ms
map prepare time 2.424368 ms
map corner num 88484  surf num 36265 
--------------------stamp1317357854.501483917
points size 88524 
prepare time 11.833193 
scan registration time 27.662395 ms *************
publication time 8.126860 ms 
whole laserOdometry time 8.142738 ms 
 
-----t: 0.0404132
OdomCount 892 & avg odom time 0.042874 ms ++++++++++++++++++++++
1317357854.501483917 WriteOdom laser_odom_to_init
1317357854.501483917 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.336407 ms 
mapping data assosiation time 20.431446 ms 
--------------------stamp1317357854.605282068
points size 89323 
filter time 6.340236 ms 
build tree time 20.157261 ms 
publication time 10.941653 ms 
whole laserOdometry time 10.967568 ms 
 
-----t: 0.0356454
OdomCount 893 & avg odom time 0.042866 ms ++++++++++++++++++++++
mapping data assosiation time 23.070817 ms 
mapping solver time 20.166287 ms 
--------------------stamp1317357854.709080934
prepare time 12.168010 
sort q time 5.930817 
seperate points time 11.608200 
filter time 8.420100 ms 
-----t: 0.0428164
OdomCount 894 & avg odom time 0.042866 ms ++++++++++++++++++++++
mapping data assosiation time 20.526463 ms 
--------------------stamp1317357854.812927007
prepare time 11.174806 
sort q time 5.595535 
seperate points time 11.443753 
publication time 8.071282 ms 
whole laserOdometry time 8.082777 ms 
 
filter time 8.011688 ms 
1317357854.812927007 WriteOdom laser_odom_to_init
1317357854.812927007 WriteOdom aft_mapped_to_init_high_frec
build tree time 21.259397 ms 
--------------------stamp1317357854.916771888
prepare time 12.262867 
sort q time 4.997577 
seperate points time 11.835058 
-----t: 0.034512
OdomCount 896 & avg odom time 0.042864 ms ++++++++++++++++++++++
1317357854.916771888 WriteOdom laser_odom_to_init
1317357854.916771888 WriteOdom aft_mapped_to_init_high_frec
publication time 13.101718 ms 
whole laserOdometry time 13.109936 ms 
 
mapping solver time 14.278043 ms 
filter time 6.276610 ms 
map prepare time 2.465084 ms
map corner num 91361  surf num 37262 
build tree time 19.089126 ms 
points size 91628 
prepare time 12.984131 
sort q time 6.440240 
seperate points time 15.356313 
mapping solver time 23.904196 ms 
1317357855.020572900 WriteOdom laser_odom_to_init
mapping optimization time 121.685674 
[0m[ INFO] [1718804571.943583462, 1317357855.130044022]: Received 129634 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804571.943644290, 1317357855.130044022]: Data saved to 1317357854916771.pcd[0m
sort q time 4.962914 
seperate points time 11.803753 
build tree time 24.783569 ms 
publication time 8.791983 ms 
whole laserOdometry time 8.806379 ms 
 
mapping data assosiation time 27.933686 ms 
mapping solver time 19.294067 ms 
--------------------stamp1317357855.228122949
points size 92470 
sort q time 5.163718 
seperate points time 11.258997 
filter time 7.554325 ms 
-----t: 0.0491459
OdomCount 899 & avg odom time 0.042881 ms ++++++++++++++++++++++
mapping data assosiation time 19.665390 ms 
--------------------stamp1317357855.331896066
points size 91792 
sort q time 5.686590 
seperate points time 13.819486 
mapping data assosiation time 29.033459 ms 
publication time 9.047740 ms 
whole laserOdometry time 9.059495 ms 
 
filter time 6.312930 ms 
--------------------stamp1317357855.435647010
prepare time 10.559282 
sort q time 5.125051 
seperate points time 11.545263 
publication time 8.257437 ms 
whole laserOdometry time 8.271962 ms 
 
-----t: 0.0528945
OdomCount 901 & avg odom time 0.042881 ms ++++++++++++++++++++++
mapping data assosiation time 23.438589 ms 
--------------------stamp1317357855.539400100
mapping pub time 2.078731 ms 
whole mapping time 134.005025 ms +++++
mappingCount 739 & avg mapping time 120.648001 ms ++++++++++++++++++++++
sort q time 4.822050 
seperate points time 10.887526 
publication time 8.978801 ms 
whole laserOdometry time 8.993911 ms 
 
build tree time 25.081548 ms 
mapping data assosiation time 21.676585 ms 
-----t: 0.0644174
OdomCount 902 & avg odom time 0.042905 ms ++++++++++++++++++++++
--------------------stamp1317357855.643173933
prepare time 11.496578 
sort q time 5.102852 
seperate points time 11.365637 
map prepare time 2.613393 ms
map corner num 95104  surf num 38574 
publication time 8.011562 ms 
whole laserOdometry time 8.027292 ms 
 
-----t: 0.0480277
OdomCount 903 & avg odom time 0.042911 ms ++++++++++++++++++++++
mapping data assosiation time 21.502601 ms 
mapping solver time 22.984044 ms 
points size 82155 
sort q time 4.613348 
seperate points time 10.483377 
publication time 7.106414 ms 
whole laserOdometry time 7.124401 ms 
 
mapping solver time 20.414788 ms 
mapping optimization time 112.433607 
add points time 0.962238 ms
-----t: 0.0321174
OdomCount 904 & avg odom time 0.042899 ms ++++++++++++++++++++++
1317357855.746949911 WriteOdom laser_odom_to_init
1317357855.746949911 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 30.411839 ms 
whole mapping time 156.275666 ms +++++
mappingCount 741 & avg mapping time 120.695033 ms ++++++++++++++++++++++
1317357855.539400101 WriteOdom aft_mapped_to_init
--------------------stamp1317357855.850723981
points size 78580 
prepare time 10.382860 
mapping data assosiation time 22.609740 ms 
publication time 8.342824 ms 
whole laserOdometry time 8.368870 ms 
 
-----t: 0.0433752
OdomCount 905 & avg odom time 0.042900 ms ++++++++++++++++++++++
mapping data assosiation time 21.892085 ms 
mapping solver time 19.585168 ms 
mapping pub time 2.038205 ms 
whole mapping time 124.069672 ms +++++
mappingCount 742 & avg mapping time 120.699587 ms ++++++++++++++++++++++
sort q time 4.098525 
seperate points time 9.367083 
points size 73275 
mapping solver time 28.393706 ms 
sort q time 14.249671 
seperate points time 20.142495 
scan registration time 34.702945 ms *************
filter time 9.099342 ms 
-----t: 0.0302425
OdomCount 907 & avg odom time 0.042885 ms ++++++++++++++++++++++
1317357856.058345079 WriteOdom laser_odom_to_init
1317357856.058345079 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.063895 ms
map corner num 97183  surf num 39188 
build tree time 20.076476 ms 
mapping data assosiation time 21.744315 ms 
mapping solver time 16.823190 ms 
prepare time 9.682904 
mapping data assosiation time 23.227411 ms 
mapping solver time 15.840794 ms 
filter time 9.142804 ms 
mapping pub time 1.721186 ms 
whole mapping time 113.310638 ms +++++
mappingCount 744 & avg mapping time 120.708544 ms ++++++++++++++++++++++
1317357855.954521894 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0543401
OdomCount 908 & avg odom time 0.042897 ms ++++++++++++++++++++++
1317357856.162168025 WriteOdom laser_odom_to_init
1317357856.162168025 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.455056 ms 
--------------------stamp1317357856.265969038
prepare time 9.803996 
sort q time 4.470824 
seperate points time 10.040551 
mapping data assosiation time 23.452595 ms 
mapping solver time 20.232068 ms 
filter time 6.362686 ms 
build tree time 22.007880 ms 
--------------------stamp1317357856.369769096
mapping data assosiation time 21.344973 ms 
sort q time 5.028862 
seperate points time 10.499254 
mapping solver time 21.651577 ms 
publication time 7.131838 ms 
whole laserOdometry time 7.144739 ms 
 
mapping data assosiation time 20.095903 ms 
mapping solver time 16.765699 ms 
mapping optimization time 103.045852 
add points time 0.679989 ms
1317357856.265969038 WriteOdom aft_mapped_to_init
--------------------stamp1317357856.473566055
prepare time 10.909351 
sort q time 4.408169 
seperate points time 10.210022 
mapping data assosiation time 23.245430 ms 
mapping solver time 21.444214 ms 
-----t: 0.0576019
OdomCount 911 & avg odom time 0.042881 ms ++++++++++++++++++++++
mapping solver time 15.322554 ms 
filter time 10.171442 ms 
prepare time 11.339232 
sort q time 4.356035 
seperate points time 10.334789 
build tree time 27.831800 ms 
publication time 7.383257 ms 
whole laserOdometry time 7.395911 ms 
 
mapping data assosiation time 24.145149 ms 
mapping solver time 23.443407 ms 
--------------------stamp1317357856.681164979
prepare time 11.920704 
mapping solver time 19.138184 ms 
filter time 8.260652 ms 
mapping pub time 1.877800 ms 
whole mapping time 130.931339 ms +++++
mappingCount 748 & avg mapping time 120.722783 ms ++++++++++++++++++++++
1317357856.473566055 WriteOdom aft_mapped_to_init
publication time 7.450193 ms 
whole laserOdometry time 7.484281 ms 
 
-----t: 0.034052
OdomCount 913 & avg odom time 0.042866 ms ++++++++++++++++++++++
1317357856.681164979 WriteOdom laser_odom_to_init
1317357856.681164979 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.323940 ms 
mapping solver time 17.727998 ms 
prepare time 10.199371 
sort q time 4.615648 
seperate points time 10.561352 
mapping solver time 26.166086 ms 
filter time 10.892041 ms 
-----t: 0.0660893
OdomCount 914 & avg odom time 0.042892 ms ++++++++++++++++++++++
build tree time 22.736470 ms 
--------------------stamp1317357856.888715028
sort q time 4.157785 
seperate points time 8.453236 
publication time 7.590527 ms 
whole laserOdometry time 7.606174 ms 
 
mapping data assosiation time 21.243289 ms 
-----t: 0.0427899
OdomCount 915 & avg odom time 0.042891 ms ++++++++++++++++++++++
1317357856.888715028 WriteOdom laser_odom_to_init
1317357856.888715028 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.183350 ms 
mapping pub time 1.865061 ms 
whole mapping time 120.229213 ms +++++
mappingCount 750 & avg mapping time 120.735596 ms ++++++++++++++++++++++
--------------------stamp1317357856.992464065
sort q time 4.146241 
seperate points time 9.737782 
-----t: 0.0281142
OdomCount 916 & avg odom time 0.042875 ms ++++++++++++++++++++++
1317357856.992464065 WriteOdom laser_odom_to_init
1317357856.992464065 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.399922 ms 
mapping data assosiation time 20.745085 ms 
mapping solver time 20.787217 ms 
filter time 6.672038 ms 
map prepare time 3.132027 ms
map corner num 102490  surf num 40588 
sort q time 4.879781 
seperate points time 11.184471 
publication time 7.583142 ms 
whole laserOdometry time 7.638360 ms 
 
mapping solver time 18.055786 ms 
mapping data assosiation time 19.474163 ms 
points size 78023 
filter time 9.944284 ms 
sort q time 4.294800 
seperate points time 10.451194 
publication time 7.400666 ms 
whole laserOdometry time 7.412196 ms 
 
mapping data assosiation time 18.575533 ms 
mapping solver time 15.945945 ms 
--------------------stamp1317357857.303766012
prepare time 9.193084 
sort q time 4.175821 
seperate points time 9.849545 
mapping solver time 20.166354 ms 
filter time 9.418983 ms 
-----t: 0.0434839
OdomCount 919 & avg odom time 0.042864 ms ++++++++++++++++++++++
1317357857.303766012 WriteOdom laser_odom_to_init
1317357857.303766012 WriteOdom aft_mapped_to_init_high_frec
build tree time 23.569573 ms 
mapping data assosiation time 18.574003 ms 
points size 77662 
sort q time 4.268625 
seperate points time 9.954463 
-----t: 0.032826
OdomCount 920 & avg odom time 0.042853 ms ++++++++++++++++++++++
mapping solver time 31.442835 ms 
filter time 7.189351 ms 
mapping pub time 1.738185 ms 
whole mapping time 131.741946 ms +++++
mappingCount 754 & avg mapping time 120.759814 ms ++++++++++++++++++++++
1317357857.199991941 WriteOdom aft_mapped_to_init
map prepare time 2.016258 ms
map corner num 74177  surf num 28295 
build tree time 14.957712 ms 
--------------------stamp1317357857.511312007
prepare time 9.891131 
sort q time 4.866036 
seperate points time 10.520313 
-----t: 0.042522
OdomCount 921 & avg odom time 0.042853 ms ++++++++++++++++++++++
mapping data assosiation time 21.966671 ms 
1317357857.511312007 WriteOdom laser_odom_to_init
1317357857.511312007 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.314542 ms 
mapping pub time 1.750313 ms 
whole mapping time 112.154605 ms +++++
mappingCount 755 & avg mapping time 120.748423 ms ++++++++++++++++++++++
--------------------stamp1317357857.615112066
prepare time 12.277513 
mapping data assosiation time 21.833530 ms 
-----t: 0.0269924
OdomCount 922 & avg odom time 0.042836 ms ++++++++++++++++++++++
1317357857.615112066 WriteOdom laser_odom_to_init
publication time 7.188767 ms 
whole laserOdometry time 7.203830 ms mapping data assosiation time 20.696495 ms 
mapping solver time 16.799987 ms 
filter time 5.233480 ms 
1317357857.511312008 WriteOdom aft_mapped_to_init
build tree time 18.315718 ms 
sort q time 4.955488 
seperate points time 9.883847 
publication time 7.998627 ms 
whole laserOdometry time 8.012070 ms 
 
-----t: 0.036122
OdomCount 923 & avg odom time 0.042829 ms ++++++++++++++++++++++
mapping data assosiation time 18.421870 ms 
mapping solver time 18.963791 ms 
mapping pub time 1.923253 ms 
whole mapping time 111.858164 ms +++++
mappingCount 757 & avg mapping time 120.719519 ms ++++++++++++++++++++++
points size 91787 
sort q time 4.890067 
seperate points time 11.430311 
scan registration time 31.829935 ms *************
-----t: 0.0346099
OdomCount 924 & avg odom time 0.042820 ms ++++++++++++++++++++++
publication time 8.353459 ms 
whole laserOdometry time 8.364513 ms 
 
mapping data assosiation time 18.687073 ms 
mapping solver time 17.442335 ms 
filter time 7.739925 ms 
sort q time 6.229745 
seperate points time 11.663358 
mapping data assosiation time 21.480711 ms 
-----t: 0.0511622
OdomCount 925 & avg odom time 0.042829 ms ++++++++++++++++++++++
mapping data assosiation time 17.727234 ms 
--------------------stamp1317357858.030210018
filter time 5.233458 ms 
scan registration time 30.690846 ms *************
-----t: 0.029634
OdomCount 926 & avg odom time 0.042814 ms ++++++++++++++++++++++
mapping data assosiation time 20.977563 ms 
mapping solver time 17.954452 ms 
mapping data assosiation time 20.614153 ms 
mapping solver time 15.081216 ms 
mapping pub time 2.194026 ms 
whole mapping time 106.265152 ms +++++
mappingCount 760 & avg mapping time 120.672953 ms ++++++++++++++++++++++
scan registration time 28.937350 ms *************
build tree time 19.603157 ms 
-----t: 0.0322774
OdomCount 927 & avg odom time 0.042803 ms ++++++++++++++++++++++
1317357858.133963108 WriteOdom laser_odom_to_init
1317357858.133963108 WriteOdom aft_mapped_to_init_high_frec
publication time 6.918647 ms 
whole laserOdometry time 6.932643 ms 
 
mapping data assosiation time 21.344534 ms 
mapping solver time 17.441536 ms 
--------------------stamp1317357858.237689018
points size 96519 
mapping solver time 23.347563 ms 
[0m[ INFO] [1718804575.082793886, 1317357858.273923417]: Received 108226 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804575.082839988, 1317357858.273923417]: Data saved to 1317357858030210.pcd[0m
-----t: 0.0320049
OdomCount 928 & avg odom time 0.042791 ms ++++++++++++++++++++++
mapping pub time 24.246568 ms 
whole mapping time 138.911602 ms +++++
mappingCount 761 & avg mapping time 120.696929 ms ++++++++++++++++++++++
build tree time 16.460905 ms 
mapping data assosiation time 18.194607 ms 
--------------------stamp1317357858.341414928
points size 95120 
mapping solver time 26.082317 ms 
sort q time 5.157858 
seperate points time 11.583455 
mapping data assosiation time 21.472155 ms 
mapping solver time 11.373483 ms 
mapping optimization time 94.712624 
-----t: 0.0454166
OdomCount 929 & avg odom time 0.042794 ms ++++++++++++++++++++++
map prepare time 2.047384 ms
map corner num 78974  surf num 29959 
--------------------stamp1317357858.445164918
mapping data assosiation time 18.678586 ms 
prepare time 11.912552 
mapping solver time 19.956606 ms 
sort q time 12.745769 
seperate points time 19.244454 
scan registration time 36.141202 ms *************
publication time 9.050428 ms 
whole laserOdometry time 9.063276 ms 
 
filter time 5.523094 ms 
build tree time 16.688173 ms 
--------------------stamp1317357858.548914909
mapping data assosiation time 22.126418 ms 
prepare time 11.596474 
scan registration time 27.066222 ms *************
publication time 7.366607 ms 
whole laserOdometry time 7.378720 ms 
 
mapping data assosiation time 20.432024 ms 
-----t: 0.0500946
OdomCount 931 & avg odom time 0.042804 ms ++++++++++++++++++++++
filter time 6.338234 ms 
build tree time 15.027678 ms 
points size 91774 
mapping data assosiation time 23.837554 ms 
publication time 8.489557 ms 
whole laserOdometry time 8.506120 ms 
 
mapping data assosiation time 17.378959 ms 
mapping solver time 17.843703 ms 
mapping pub time 2.180613 ms 
whole mapping time 113.660967 ms +++++
mappingCount 765 & avg mapping time 120.639187 ms ++++++++++++++++++++++
--------------------stamp1317357858.756467103
points size 91160 
prepare time 13.887614 
mapping data assosiation time 21.587520 ms 
-----t: 0.0300727
OdomCount 933 & avg odom time 0.042774 ms ++++++++++++++++++++++
mapping data assosiation time 18.797239 ms 
mapping solver time 12.215632 ms 
[0m[ INFO] [1718804575.664329900, 1317357858.850877329]: Received 112460 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804575.664377178, 1317357858.850877329]: Data saved to 1317357858652692.pcd[0m
points size 91101 
sort q time 5.116160 
seperate points time 11.689885 
mapping data assosiation time 21.895014 ms 
mapping solver time 28.069841 ms 
-----t: 0.0696737
OdomCount 934 & avg odom time 0.042803 ms ++++++++++++++++++++++
mapping data assosiation time 27.173572 ms 
points size 89678 
mapping pub time 2.117612 ms 
whole mapping time 128.889240 ms +++++
mappingCount 767 & avg mapping time 120.634279 ms ++++++++++++++++++++++
build tree time 20.384500 ms -----t: 0.0438365
OdomCount 935 & avg odom time 0.042804 ms ++++++++++++++++++++++
mapping data assosiation time 26.909281 ms 
--------------------stamp1317357859.067838907
prepare time 12.598616 
sort q time 6.037284 
seperate points time 13.482820 
publication time 9.281740 ms 
whole laserOdometry time 9.296350 ms 
 
filter time 7.753416 ms 
build tree time 17.306792 ms 
--------------------stamp1317357859.171636104
prepare time 11.310987 
sort q time 4.992646 publication time 8.419010 ms 
whole laserOdometry time 8.433958 ms 
 
mapping data assosiation time 25.339304 ms 
mapping solver time 13.950029 ms 
mapping pub time 2.116162 ms 
whole mapping time 116.435598 ms +++++
mappingCount 769 & avg mapping time 120.656176 ms ++++++++++++++++++++++
--------------------stamp1317357859.275461912
points size 90257 
mapping data assosiation time 27.042180 ms 
mapping solver time 28.107507 ms 
mapping data assosiation time 22.912211 ms 
mapping solver time 13.940662 ms 
mapping optimization time 112.641760 
add points time 0.772616 ms
points size 91612 
sort q time 5.517920 
seperate points time 11.392103 
-----t: 0.0270095
OdomCount 939 & avg odom time 0.042778 ms ++++++++++++++++++++++
mapping solver time 19.685878 ms 
mapping data assosiation time 22.281668 ms 
--------------------stamp1317357859.483056068
mapping pub time 3.781233 ms 
whole mapping time 115.831840 ms +++++
mappingCount 771 & avg mapping time 120.653879 ms ++++++++++++++++++++++
sort q time 4.985891 
seperate points time 11.441138 
build tree time 20.779880 ms 
-----t: 0.0309574
OdomCount 940 & avg odom time 0.042766 ms ++++++++++++++++++++++
1317357859.483056068 WriteOdom laser_odom_to_init
1317357859.483056068 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.941837 ms 
mapping solver time 24.580330 ms 
--------------------stamp1317357859.586877107
points size 90650 
mapping data assosiation time 27.599226 ms 
filter time 8.400528 ms 
-----t: 0.0399386
OdomCount 941 & avg odom time 0.042763 ms ++++++++++++++++++++++
build tree time 22.842889 ms 
mapping data assosiation time 27.023267 ms 
points size 90534 
mapping solver time 25.261093 ms 
publication time 6.576858 ms 
whole laserOdometry time 6.591841 ms 
 
mapping solver time 18.365016 ms 
mapping optimization time 122.147483 
add points time 0.761382 ms
mapping pub time 2.279129 ms 
whole mapping time 136.900853 ms +++++
mappingCount 773 & avg mapping time 120.691652 ms ++++++++++++++++++++++
--------------------stamp1317357859.794501066
prepare time 11.961260 
sort q time 4.977645 
seperate points time 11.589217 
publication time 7.077266 ms 
whole laserOdometry time 7.156034 ms 
 
mapping solver time 24.780800 ms 
mapping data assosiation time 27.564482 ms 
--------------------stamp1317357859.898277997
prepare time 14.272816 
map prepare time 2.294460 ms
map corner num 86110  surf num 33767 
publication time 7.679325 ms 
whole laserOdometry time 7.711399 ms 
 
-----t: 0.0368549
OdomCount 944 & avg odom time 0.042756 ms ++++++++++++++++++++++
mapping data assosiation time 23.579480 ms 
mapping solver time 23.812511 ms 
--------------------stamp1317357860.002051115
points size 91405 
sort q time 5.131482 
seperate points time 12.139490 
mapping solver time 22.550301 ms 
mapping optimization time 116.402241 
add points time 0.772719 ms
-----t: 0.0440382
OdomCount 945 & avg odom time 0.042758 ms ++++++++++++++++++++++
1317357860.002051115 WriteOdom laser_odom_to_init
1317357860.002051115 WriteOdom aft_mapped_to_init_high_frec
build tree time 19.025412 ms 
mapping data assosiation time 21.425027 ms 
--------------------stamp1317357860.105846881
points size 92825 
sort q time 6.568869 
seperate points time 12.550219 
mapping data assosiation time 30.134606 ms 
mapping solver time 18.097313 ms 
[0m[ INFO] [1718804576.989332622, 1317357860.173644111]: Received 122273 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804576.989368240, 1317357860.173644111]: Data saved to 1317357859898277.pcd[0m
mapping pub time 5.027983 ms 
whole mapping time 127.965782 ms +++++
mappingCount 776 & avg mapping time 120.744590 ms ++++++++++++++++++++++
1317357859.898277998 WriteOdom aft_mapped_to_init
map prepare time 3.252847 ms
map corner num 87515  surf num 34758 
--------------------stamp1317357860.209645986
points size 93109 
prepare time 14.833009 
scan registration time 31.725579 ms *************
publication time 8.824736 ms 
whole laserOdometry time 8.851159 ms 
 
mapping solver time 32.020028 ms 
1317357860.209645986 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.716075 ms 
--------------------stamp1317357860.313395023
prepare time 12.369035 
sort q time 5.027018 
seperate points time 11.825613 
map prepare time 3.669568 ms
map corner num 88311  surf num 35328 
-----t: 0.0349024
OdomCount 948 & avg odom time 0.042757 ms ++++++++++++++++++++++
build tree time 24.809517 ms 
mapping data assosiation time 31.083227 ms 
--------------------stamp1317357860.417099952
prepare time 12.340327 
sort q time 5.383078 
seperate points time 12.234787 
publication time 9.691823 ms 
whole laserOdometry time 9.703743 ms 
 
-----t: 0.0416101
OdomCount 949 & avg odom time 0.042756 ms ++++++++++++++++++++++
1317357860.417099952 WriteOdom laser_odom_to_init
1317357860.417099952 WriteOdom aft_mapped_to_init_high_frec
filter time 9.128853 ms 
map prepare time 3.325759 ms
map corner num 88999  surf num 35679 
--------------------stamp1317357860.520806074
points size 94664 
prepare time 15.271312 
scan registration time 33.820164 ms *************
publication time 9.599835 ms 
whole laserOdometry time 9.623262 ms 
 
-----t: 0.0497234
OdomCount 950 & avg odom time 0.042764 ms ++++++++++++++++++++++
--------------------stamp1317357860.624531030
mapping solver time 17.634465 ms 
filter time 6.838625 ms 
mapping pub time 2.120128 ms 
whole mapping time 148.310767 ms +++++
mappingCount 779 & avg mapping time 120.865029 ms ++++++++++++++++++++++
1317357860.313395023 WriteOdom aft_mapped_to_init
map prepare time 2.633451 ms
map corner num 89693  surf num 36032 
-----t: 0.0324437
OdomCount 951 & avg odom time 0.042753 ms ++++++++++++++++++++++
mapping data assosiation time 27.074695 ms 
--------------------stamp1317357860.728281021
points size 96746 
mapping data assosiation time 26.346024 ms 
-----t: 0.0326023
OdomCount 952 & avg odom time 0.042742 ms ++++++++++++++++++++++
publication time 8.095123 ms 
whole laserOdometry time 8.110984 ms 
 
1317357860.728281021 WriteOdom laser_odom_to_init
1317357860.728281021 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.536601 ms 
mapping optimization time 133.533551 
add points time 0.858128 ms
mapping pub time 2.264546 ms 
whole mapping time 148.105397 ms +++++
mappingCount 780 & avg mapping time 120.899959 ms ++++++++++++++++++++++
build tree time 19.814669 ms 
points size 98209 
prepare time 13.077211 
sort q time 6.569638 
seperate points time 13.016744 
mapping solver time 26.552074 ms 
publication time 18.967213 ms 
whole laserOdometry time 18.985426 ms 
 
mapping data assosiation time 29.959012 ms 
mapping solver time 17.491005 ms 
filter time 6.671005 ms 
points size 98699 
sort q time 5.257177 
seperate points time 12.198057 
mapping pub time 42.399613 ms 
whole mapping time 178.387681 ms +++++
mappingCount 781 & avg mapping time 120.973590 ms ++++++++++++++++++++++
publication time 9.597648 ms 
whole laserOdometry time 9.612736 ms 
 
build tree time 25.537466 ms 
-----t: 0.0644633
OdomCount 954 & avg odom time 0.042758 ms ++++++++++++++++++++++
1317357860.935858964 WriteOdom laser_odom_to_init
1317357860.935858964 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357861.039701938
points size 99228 
prepare time 12.372884 
sort q time 6.736588 
seperate points time 12.982663 
scan registration time 31.538500 ms *************
publication time 12.561080 ms 
whole laserOdometry time 12.576164 ms 
 
-----t: 0.0524268
OdomCount 955 & avg odom time 0.042768 ms ++++++++++++++++++++++
mapping data assosiation time 34.982429 ms 
mapping solver time 24.986194 ms 
mapping pub time 2.141708 ms 
whole mapping time 172.073804 ms +++++
mappingCount 782 & avg mapping time 121.038939 ms ++++++++++++++++++++++
sort q time 5.458511 
seperate points time 12.756353 
build tree time 26.414039 ms 
publication time 9.536067 ms 
whole laserOdometry time 9.562786 ms 
 
-----t: 0.0418444
OdomCount 956 & avg odom time 0.042767 ms ++++++++++++++++++++++
1317357861.143572092 WriteOdom laser_odom_to_init
1317357861.143572092 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 44.622562 ms 
--------------------stamp1317357861.247467994
points size 100050 
sort q time 5.373203 
seperate points time 12.622974 
mapping data assosiation time 34.219202 ms 
mapping solver time 32.298479 ms 
mapping pub time 2.351814 ms 
whole mapping time 194.494364 ms +++++
mappingCount 783 & avg mapping time 121.132759 ms ++++++++++++++++++++++
points size 100745 
sort q time 5.818959 
seperate points time 13.150707 
build tree time 25.687934 ms 
scan registration time 34.945712 ms *************
publication time 8.031894 ms 
whole laserOdometry time 8.048364 ms 
 
mapping data assosiation time 41.625196 ms 
-----t: 0.0469208
OdomCount 958 & avg odom time 0.042770 ms ++++++++++++++++++++++
--------------------stamp1317357861.455327987
points size 100995 
sort q time 6.227157 
seperate points time 18.089014 
-----t: 0.0366816
OdomCount 959 & avg odom time 0.042763 ms ++++++++++++++++++++++
mapping solver time 21.592245 ms 
mapping optimization time 156.624505 
publication time 7.676581 ms 
whole laserOdometry time 7.690077 ms 
 
add points time 1.175092 ms
mapping pub time 3.689057 ms 
whole mapping time 172.991526 ms +++++
mappingCount 784 & avg mapping time 121.198909 ms ++++++++++++++++++++++
build tree time 19.650120 ms 
points size 101668 
mapping data assosiation time 33.728826 ms 
publication time 7.877882 ms 
whole laserOdometry time 7.895566 ms 
 
mapping solver time 34.332105 ms 
mapping data assosiation time 30.636256 ms 
--------------------stamp1317357861.663311004
points size 102155 
filter time 8.883872 ms 
build tree time 25.117870 ms 
-----t: 0.0583337
OdomCount 961 & avg odom time 0.042773 ms ++++++++++++++++++++++
1317357861.663311004 WriteOdom laser_odom_to_init
1317357861.663311004 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 32.903803 ms 
points size 102212 
sort q time 6.340093 
seperate points time 13.184023 
publication time 9.288100 ms 
whole laserOdometry time 9.303531 ms 
 
mapping data assosiation time 33.632321 ms 
mapping solver time 26.922192 ms 
mapping optimization time 161.256528 
add points time 0.943350 ms
drop lidar frame in mapping for real time performance 
sort q time 6.620401 
seperate points time 13.807522 
scan registration time 33.618841 ms *************
build tree time 25.760843 ms 
publication time 10.709025 ms 
whole laserOdometry time 10.723372 ms 
 
mapping data assosiation time 33.607785 ms 
mapping solver time 32.665476 ms 
points size 102773 
sort q time 6.539252 
seperate points time 12.458921 
mapping data assosiation time 37.076602 ms 
publication time 10.438558 ms 
whole laserOdometry time 10.450718 ms 
 
mapping solver time 36.370928 ms 
mapping pub time 2.206864 ms 
whole mapping time 181.987067 ms +++++
mappingCount 787 & avg mapping time 121.405744 ms ++++++++++++++++++++++
--------------------stamp1317357862.079849958
points size 102800 
sort q time 5.652622 
seperate points time 12.095046 
mapping data assosiation time 37.296502 ms 
publication time 12.332775 ms 
whole laserOdometry time 12.344495 ms 
 
-----t: 0.0598103
OdomCount 965 & avg odom time 0.042829 ms ++++++++++++++++++++++
1317357862.079849958 WriteOdom laser_odom_to_init
1317357862.079849958 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357862.184128046
points size 103105 
mapping data assosiation time 35.416082 ms 
publication time 8.026328 ms 
whole laserOdometry time 8.040421 ms 
 
-----t: 0.0460452
filter time 9.480279 ms 
OdomCount 966 & avg odom time 0.042832 ms ++++++++++++++++++++++
1317357862.184128046 WriteOdom laser_odom_to_init
1317357862.184128046 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.274084 ms 
whole mapping time 188.660731 ms +++++
mappingCount 788 & avg mapping time 121.491098 ms ++++++++++++++++++++++
1317357861.871459007 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.735497 ms
map corner num 98254  surf num 40489 
build tree time 18.964685 ms 
--------------------stamp1317357862.288455009
points size 103220 
prepare time 13.208607 
sort q time 6.040408 
seperate points time 12.758796 
publication time 8.136488 ms 
whole laserOdometry time 8.151066 ms 
 
-----t: 0.0417559
OdomCount 967 & avg odom time 0.042831 ms ++++++++++++++++++++++
mapping data assosiation time 30.458675 ms 
points size 103260 
add points time 0.776248 ms
-----t: 0.0439583
OdomCount 968 & avg odom time 0.042832 ms ++++++++++++++++++++++
build tree time 22.083165 ms 
mapping data assosiation time 34.729230 ms 
sort q time 5.919131 
seperate points time 12.872949 
mapping solver time 40.278247 ms 
-----t: 0.043986
OdomCount 969 & avg odom time 0.042833 ms ++++++++++++++++++++++
1317357862.497252941 WriteOdom laser_odom_to_init
1317357862.497252941 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.759165 ms 
--------------------stamp1317357862.601675987
mapping optimization time 165.373293 
filter time 10.177349 ms 
scan registration time 33.967607 ms *************
build tree time 25.848749 ms 
publication time 9.013686 ms 
whole laserOdometry time 9.028979 ms 
 
mapping data assosiation time 34.389217 ms 
--------------------stamp1317357862.706049919
points size 102951 
mapping solver time 38.989856 ms 
publication time 8.052092 ms 
whole laserOdometry time 8.070278 ms 
 
mapping data assosiation time 36.761933 ms 
mapping solver time 28.588457 ms 
mapping optimization time 167.462609 
add points time 0.855139 ms
1317357862.392828941 WriteOdom aft_mapped_to_init
sort q time 5.990349 
seperate points time 13.654543 
-----t: 0.0406667
OdomCount 972 & avg odom time 0.042846 ms ++++++++++++++++++++++
mapping data assosiation time 37.443070 ms 
--------------------stamp1317357862.914705038
prepare time 13.632093 
1317357862.914705038 WriteOdom laser_odom_to_init
mapping solver time 38.623849 ms 
filter time 7.326400 ms 
map prepare time 3.212563 ms
map corner num 102914  surf num 42881 
points size 102628 
build tree time 29.405833 ms 
publication time 10.771558 ms 
whole laserOdometry time 10.784593 ms 
 
mapping solver time 35.084480 ms 
points size 102876 
prepare time 21.936287 
sort q time 6.281566 
seperate points time 12.269079 
mapping data assosiation time 38.332493 ms 
mapping solver time 35.542005 ms 
publication time 20.218738 ms 
whole laserOdometry time 20.232791 ms 
 
filter time 10.202344 ms 
mapping pub time 2.351861 ms 
whole mapping time 196.623025 ms +++++
mappingCount 793 & avg mapping time 121.916357 ms ++++++++++++++++++++++
1317357862.810400963 WriteOdom aft_mapped_to_init
-----t: 0.072472
OdomCount 975 & avg odom time 0.042889 ms ++++++++++++++++++++++
1317357863.123166084 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
1317357863.123166084 WriteOdom aft_mapped_to_init_high_frec
points size 102849 
sort q time 7.117655 
seperate points time 16.168228 
mapping data assosiation time 40.326022 ms 
1317357863.227372884 WriteOdom laser_odom_to_init
mapping solver time 37.603966 ms 
--------------------stamp1317357863.331506013
prepare time 18.531809 
mapping data assosiation time 42.430564 ms 
-----t: 0.0368481
OdomCount 977 & avg odom time 0.042886 ms ++++++++++++++++++++++
1317357863.331506013 WriteOdom laser_odom_to_init
publication time 8.913822 ms 
whole laserOdometry time 8.927503 ms 
 
filter time 7.104217 ms 
map prepare time 3.125642 ms
map corner num 105250  surf num 43970 
--------------------stamp1317357863.435616016
points size 103752 
sort q time 6.110525 
seperate points time 13.879300 
mapping data assosiation time 43.298857 ms 
publication time 14.745534 ms 
whole laserOdometry time 18.302975 ms 
 
1317357863.435616016 WriteOdom laser_odom_to_init
1317357863.435616016 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357863.539654016
prepare time 14.848154 
sort q time 6.787859 
seperate points time 14.009374 
mapping data assosiation time 45.914438 ms 
-----t: 0.0533644
OdomCount 979 & avg odom time 0.042917 ms ++++++++++++++++++++++
1317357863.539654016 WriteOdom laser_odom_to_init
1317357863.539654016 WriteOdom aft_mapped_to_init_high_frec
add points time 0.835894 ms
filter time 8.334192 ms 
map prepare time 3.205706 ms
map corner num 106520  surf num 44529 
points size 103629 
build tree time 28.705192 ms 
publication time 9.464577 ms 
whole laserOdometry time 9.479730 ms 
 
mapping data assosiation time 40.325622 ms 
mapping solver time 30.340617 ms 
--------------------stamp1317357863.747520923
prepare time 12.567608 
sort q time 5.827050 
seperate points time 13.258486 
-----t: 0.0396021
OdomCount 981 & avg odom time 0.042914 ms ++++++++++++++++++++++
1317357863.747520923 WriteOdom laser_odom_to_init
1317357863.747520923 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.961997 ms 
mapping optimization time 179.569035 
add points time 0.865979 ms
[0m[ INFO] [1718804580.642110651, 1317357863.824842482]: Received 152863 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804580.642164661, 1317357863.824842482]: Data saved to 1317357863435616.pcd[0m
map prepare time 3.337168 ms
map corner num 107723  surf num 45140 
--------------------stamp1317357863.851391077
points size 102710 
sort q time 6.572730 
seperate points time 13.721516 
publication time 12.961756 ms 
whole laserOdometry time 13.035312 ms 
 
-----t: 0.0462202
OdomCount 982 & avg odom time 0.042917 ms ++++++++++++++++++++++
mapping solver time 37.847579 ms 
--------------------stamp1317357863.955212116
points size 102441 
sort q time 5.924854 
seperate points time 13.651604 
publication time 10.331506 ms 
whole laserOdometry time 10.347464 ms 
 
mapping solver time 27.637920 ms 
filter time 9.994076 ms 
map prepare time 3.909609 ms
map corner num 108896  surf num 45842 
--------------------stamp1317357864.059035062
points size 102365 
sort q time 6.030115 
seperate points time 14.115085 
scan registration time 33.842784 ms *************
publication time 8.913682 ms 
whole laserOdometry time 8.930488 ms 
 
-----t: 0.0563481
OdomCount 984 & avg odom time 0.042940 ms ++++++++++++++++++++++
mapping solver time 45.574624 ms 
--------------------stamp1317357864.162858009
points size 102418 
mapping data assosiation time 40.808346 ms 
sort q time 23.065138 
seperate points time 34.286866 
-----t: 0.0454229
OdomCount 985 & avg odom time 0.042943 ms ++++++++++++++++++++++
mapping optimization time 198.548449 
filter time 10.153322 ms 
map prepare time 3.090592 ms
map corner num 110119  surf num 46639 
--------------------stamp1317357864.266727924
prepare time 12.622013 
sort q time 8.030175 
seperate points time 14.176986 
publication time 8.553309 ms 
whole laserOdometry time 8.567518 ms 
 
mapping data assosiation time 42.151612 ms 
-----t: 0.0538761
OdomCount 986 & avg odom time 0.042954 ms ++++++++++++++++++++++
mapping solver time 44.405620 ms 
points size 102445 
sort q time 5.459764 
seperate points time 11.244413 
mapping data assosiation time 41.059108 ms 
-----t: 0.0420114
OdomCount 987 & avg odom time 0.042953 ms ++++++++++++++++++++++
1317357864.370623111 WriteOdom laser_odom_to_init
1317357864.370623111 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.160198 ms 
mapping optimization time 194.056108 
add points time 0.931454 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357864.474517107
points size 102598 
sort q time 6.076329 
seperate points time 13.797473 
-----t: 0.0385569
OdomCount 988 & avg odom time 0.042948 ms ++++++++++++++++++++++
mapping solver time 39.984775 ms 
points size 102952 
sort q time 5.658827 
seperate points time 13.329494 
publication time 9.748508 ms 
whole laserOdometry time 9.764679 ms 
 
mapping solver time 28.571567 ms 
filter time 8.686697 ms 
mapping pub time 2.427465 ms 
whole mapping time 196.482439 ms +++++
mappingCount 800 & avg mapping time 122.635672 ms ++++++++++++++++++++++
1317357864.266727924 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357864.682425975
build tree time 27.389143 ms 
sort q time 6.258701 
seperate points time 13.535348 
mapping data assosiation time 40.088725 ms 
publication time 13.341530 ms 
whole laserOdometry time 13.374185 ms 
 
-----t: 0.0553852
OdomCount 990 & avg odom time 0.042964 ms ++++++++++++++++++++++
mapping solver time 35.609286 ms 
--------------------stamp1317357864.786392927
points size 102952 
mapping data assosiation time 42.234684 ms 
sort q time 7.293359 
seperate points time 13.425276 
publication time 9.765857 ms 
whole laserOdometry time 9.781264 ms 
 
filter time 10.107408 ms 
mapping pub time 27.506160 ms 
whole mapping time 220.543600 ms +++++
mappingCount 801 & avg mapping time 122.757907 ms ++++++++++++++++++++++
points size 102762 
sort q time 5.208083 
seperate points time 12.186965 
build tree time 26.911764 ms 
publication time 12.974870 ms 
whole laserOdometry time 12.988548 ms 
 
mapping data assosiation time 43.009205 ms 
--------------------stamp1317357864.994374036
points size 102657 
sort q time 6.141477 
seperate points time 15.126231 
mapping data assosiation time 42.670971 ms 
-----t: 0.0554106
OdomCount 993 & avg odom time 0.042983 ms ++++++++++++++++++++++
mapping solver time 36.453345 ms 
filter time 8.408540 ms 
points size 102390 
prepare time 12.178973 
scan registration time 31.271372 ms *************
publication time 12.082050 ms 
whole laserOdometry time 12.094904 ms 
 
-----t: 0.057749
OdomCount 994 & avg odom time 0.042998 ms ++++++++++++++++++++++
--------------------stamp1317357865.202357053
mapping solver time 42.377747 ms 
sort q time 6.134861 
seperate points time 13.854616 
scan registration time 36.414042 ms *************
mapping data assosiation time 46.053008 ms 
publication time 21.493604 ms 
whole laserOdometry time 21.505354 ms 
 
-----t: 0.0685865
OdomCount 995 & avg odom time 0.043024 ms ++++++++++++++++++++++
mapping optimization time 194.737050 
filter time 9.328545 ms 
map prepare time 4.108821 ms
map corner num 79208  surf num 36992 
sort q time 6.188669 
seperate points time 14.211032 
-----t: 0.0457627
OdomCount 996 & avg odom time 0.043026 ms ++++++++++++++++++++++
1317357865.306324005 WriteOdom laser_odom_to_init
1317357865.306324005 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357865.410290002
prepare time 12.031627 
sort q time 5.871291 
seperate points time 13.458218 
publication time 9.710411 ms 
whole laserOdometry time 9.737674 ms 
 
mapping solver time 37.005210 ms 
filter time 7.440193 ms 
sort q time 5.899738 
seperate points time 12.587801 
build tree time 22.952807 ms 
-----t: 0.0415695
OdomCount 998 & avg odom time 0.043040 ms ++++++++++++++++++++++
mapping data assosiation time 39.772119 ms 
--------------------stamp1317357865.618206024
prepare time 13.857606 
sort q time 6.361044 
seperate points time 15.236998 
publication time 10.223176 ms 
whole laserOdometry time 10.239413 ms 
 
-----t: 0.058319
OdomCount 999 & avg odom time 0.043055 ms ++++++++++++++++++++++
mapping solver time 26.006508 ms 
--------------------stamp1317357865.722075939
points size 96849 
sort q time 4.664826 
seperate points time 10.297632 
-----t: 0.0531718
OdomCount 1000 & avg odom time 0.043065 ms ++++++++++++++++++++++
1317357865.722075939 WriteOdom laser_odom_to_init
1317357865.722075939 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 32.541084 ms 
points size 96638 
sort q time 5.193788 
seperate points time 12.255302 
scan registration time 29.289116 ms *************
mapping data assosiation time 41.537169 ms 
-----t: 0.0422388
OdomCount 1001 & avg odom time 0.043065 ms ++++++++++++++++++++++
1317357865.825870990 WriteOdom laser_odom_to_init
1317357865.825870990 WriteOdom aft_mapped_to_init_high_frec
add points time 0.855208 ms
[0m[ INFO] [1718804582.714585934, 1317357865.903437083]: Received 121849 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804582.714648863, 1317357865.903437083]: Data saved to 1317357865514256.pcd[0m
--------------------stamp1317357865.929621934
points size 95884 
sort q time 5.218106 
seperate points time 12.445550 
mapping data assosiation time 40.533937 ms 
publication time 9.963683 ms 
whole laserOdometry time 9.976306 ms 
 
mapping solver time 44.114904 ms 
-----t: 0.075561
OdomCount 1002 & avg odom time 0.043097 ms ++++++++++++++++++++++
--------------------stamp1317357866.033371925
points size 96211 
sort q time 5.301507 
seperate points time 11.896099 
publication time 11.705199 ms 
whole laserOdometry time 11.720452 ms 
 
1317357866.033371925 WriteOdom laser_odom_to_init
1317357866.033371925 WriteOdom aft_mapped_to_init_high_frec
filter time 7.669106 ms 
build tree time 17.670678 ms 
points size 96217 
sort q time 5.795225 
seperate points time 13.509621 
mapping data assosiation time 45.424417 ms 
-----t: 0.0415047
OdomCount 1004 & avg odom time 0.043092 ms ++++++++++++++++++++++
mapping solver time 39.534110 ms 
--------------------stamp1317357866.240845918
points size 95403 
sort q time 5.857102 
seperate points time 13.007544 
mapping solver time 34.698655 ms 
publication time 18.833387 ms 
whole laserOdometry time 18.855256 ms 
 
filter time 9.614890 ms 
mapping pub time 2.219238 ms 
whole mapping time 191.343985 ms +++++
mappingCount 808 & avg mapping time 123.426630 ms ++++++++++++++++++++++
1317357865.929621935 WriteOdom aft_mapped_to_init
build tree time 18.660523 ms 
--------------------stamp1317357866.344569921
prepare time 10.673756 
mapping data assosiation time 37.518674 ms 
publication time 9.427354 ms 
whole laserOdometry time 9.442463 ms 
 
mapping solver time 36.733259 ms 
mapping data assosiation time 35.519850 ms 
--------------------stamp1317357866.448251008
points size 94524 
mapping solver time 34.823576 ms 
filter time 9.464928 ms 
publication time 10.089399 ms 
whole laserOdometry time 10.106879 ms 
 
build tree time 23.329910 ms 
--------------------stamp1317357866.551909923
mapping data assosiation time 40.407867 ms 
sort q time 5.850183 
seperate points time 12.692292 
scan registration time 33.340640 ms *************
publication time 9.772617 ms 
whole laserOdometry time 9.787462 ms 
 
mapping solver time 55.449819 ms 
mapping data assosiation time 34.621713 ms 
points size 93727 
sort q time 5.169939 
seperate points time 11.198582 
filter time 7.365505 ms 
map prepare time 3.951641 ms
map corner num 87673  surf num 41470 
-----t: 0.0485799
OdomCount 1009 & avg odom time 0.043164 ms ++++++++++++++++++++++
--------------------stamp1317357866.759315013
points size 93354 
sort q time 4.946430 
seperate points time 12.587315 
scan registration time 31.560083 ms *************
mapping solver time 37.214304 ms 
-----t: 0.0383115
OdomCount 1010 & avg odom time 0.043159 ms ++++++++++++++++++++++
mapping data assosiation time 38.732531 ms 
mapping solver time 28.636138 ms 
filter time 8.983970 ms 
sort q time 5.614649 
seperate points time 13.596528 
publication time 9.485593 ms 
whole laserOdometry time 9.518993 ms 
 
mapping data assosiation time 36.597054 ms 
-----t: 0.0999225
OdomCount 1011 & avg odom time 0.043215 ms ++++++++++++++++++++++
sort q time 5.545542 
seperate points time 15.592447 
mapping data assosiation time 39.973284 ms 
mapping solver time 33.805482 ms 
mapping pub time 2.347345 ms 
whole mapping time 191.705625 ms +++++
mappingCount 812 & avg mapping time 123.754732 ms ++++++++++++++++++++++
sort q time 5.562724 
seperate points time 12.377926 
build tree time 24.773071 ms 
publication time 9.848798 ms 
whole laserOdometry time 9.863523 ms 
 
mapping data assosiation time 34.788291 ms 
mapping solver time 30.918367 ms 
points size 91522 
sort q time 5.758462 
seperate points time 13.535503 
scan registration time 31.081054 ms *************
publication time 10.498235 ms 
whole laserOdometry time 10.512147 ms 
 
1317357867.174123048 WriteOdom aft_mapped_to_init_high_frec
filter time 8.860705 ms 
mapping pub time 2.217468 ms 
whole mapping time 182.328620 ms +++++
mappingCount 813 & avg mapping time 123.826783 ms ++++++++++++++++++++++
1317357866.863018990 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357867.277801990
prepare time 11.303927 
mapping data assosiation time 38.636523 ms 
mapping solver time 32.369943 ms 
--------------------stamp1317357867.381481885
mapping data assosiation time 35.322513 ms 
sort q time 5.794368 
seperate points time 11.926395 
mapping solver time 29.154046 ms 
map prepare time 3.014002 ms
map corner num 92473  surf num 43634 
build tree time 21.426343 ms 
--------------------stamp1317357867.485184907
points size 91312 
sort q time 4.631572 
seperate points time 11.108853 
publication time 10.708057 ms 
whole laserOdometry time 10.728636 ms 
 
1317357867.485184907 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.941597 ms 
--------------------stamp1317357867.588936090
prepare time 12.388052 
map prepare time 3.665750 ms
map corner num 93769  surf num 44124 
sort q time 5.700638 
seperate points time 12.141150 
scan registration time 28.030737 ms *************
build tree time 24.701795 ms 
publication time 19.850825 ms 
whole laserOdometry time 19.869131 ms 
 
mapping data assosiation time 35.961857 ms 
-----t: 0.0863773
OdomCount 1018 & avg odom time 0.043239 ms ++++++++++++++++++++++
points size 92320 
sort q time 5.644526 
seperate points time 11.791121 
mapping data assosiation time 34.378410 ms 
-----t: 0.0599886
OdomCount 1019 & avg odom time 0.043255 ms ++++++++++++++++++++++
filter time 7.656332 ms 
--------------------stamp1317357867.796462059
prepare time 14.892889 
sort q time 5.805931 
seperate points time 12.061638 
mapping data assosiation time 34.689346 ms 
-----t: 0.0483339
OdomCount 1020 & avg odom time 0.043260 ms ++++++++++++++++++++++
mapping solver time 34.610637 ms 
--------------------stamp1317357867.900238990
points size 92145 
mapping data assosiation time 33.624742 ms 
publication time 10.893162 ms 
whole laserOdometry time 10.917860 ms 
 
filter time 9.417023 ms 
mapping pub time 2.149827 ms 
whole mapping time 186.437968 ms +++++
mappingCount 817 & avg mapping time 124.088800 ms ++++++++++++++++++++++
1317357867.588936090 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.971855 ms
map corner num 96211  surf num 44890 
--------------------stamp1317357868.003989934
points size 92265 
sort q time 5.449324 
seperate points time 12.288209 
-----t: 0.0453835
OdomCount 1022 & avg odom time 0.043262 ms ++++++++++++++++++++++
1317357868.003989934 WriteOdom laser_odom_to_init
1317357868.003989934 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.578148 ms 
mapping data assosiation time 29.154969 ms 
points size 92325 
add points time 1.274292 ms
filter time 9.769864 ms 
sort q time 7.084807 
seperate points time 31.349062 
build tree time 25.442399 ms 
publication time 15.188872 ms 
whole laserOdometry time 15.205450 ms 
 
mapping data assosiation time 30.406800 ms 
--------------------stamp1317357868.211586952
prepare time 11.180237 
mapping solver time 31.307929 ms 
scan registration time 27.981048 ms *************
mapping data assosiation time 33.212511 ms 
-----t: 0.0537033
OdomCount 1024 & avg odom time 0.043291 ms ++++++++++++++++++++++
mapping solver time 25.712053 ms 
filter time 9.038832 ms 
--------------------stamp1317357868.315361976
points size 94572 
prepare time 15.109995 
sort q time 5.221818 
seperate points time 13.500340 
mapping data assosiation time 32.097874 ms 
-----t: 0.0506994
OdomCount 1025 & avg odom time 0.043298 ms ++++++++++++++++++++++
mapping solver time 27.374697 ms 
--------------------stamp1317357868.419161081
points size 94720 
sort q time 6.275907 
seperate points time 12.816720 
filter time 10.326874 ms 
-----t: 0.0386701
OdomCount 1026 & avg odom time 0.043294 ms ++++++++++++++++++++++
build tree time 24.177867 ms 
--------------------stamp1317357868.522957086
points size 93522 
sort q time 5.790156 
seperate points time 13.045795 
scan registration time 28.928789 ms *************
publication time 15.621991 ms 
whole laserOdometry time 15.639854 ms 
 
mapping data assosiation time 32.385919 ms 
mapping solver time 23.251522 ms 
filter time 7.639854 ms 
points size 93021 
sort q time 6.451053 
seperate points time 15.376217 
publication time 12.243723 ms 
whole laserOdometry time 12.263093 ms 
 
mapping data assosiation time 27.705597 ms 
1317357868.626777887 WriteOdom aft_mapped_to_init_high_frec
points size 93013 
mapping solver time 33.236086 ms 
publication time 11.210080 ms 
whole laserOdometry time 11.235576 ms 
 
mapping data assosiation time 35.602944 ms 
-----t: 0.0569661
OdomCount 1029 & avg odom time 0.043341 ms ++++++++++++++++++++++
mapping solver time 25.739324 ms 
mapping pub time 3.599593 ms 
whole mapping time 163.934598 ms +++++
mappingCount 822 & avg mapping time 124.356607 ms ++++++++++++++++++++++
prepare time 12.107332 
sort q time 5.388869 
seperate points time 13.079132 
publication time 12.982816 ms 
whole laserOdometry time 12.996663 ms 
 
-----t: 0.0446758
OdomCount 1030 & avg odom time 0.043343 ms ++++++++++++++++++++++
1317357868.834424972 WriteOdom laser_odom_to_init
1317357868.834424972 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 35.716799 ms 
mapping solver time 28.533321 ms 
--------------------stamp1317357868.938273906
prepare time 11.343887 
sort q time 5.718599 
seperate points time 12.445366 
publication time 11.534593 ms 
whole laserOdometry time 11.549397 ms 
 
-----t: 0.0441057
OdomCount 1031 & avg odom time 0.043343 ms ++++++++++++++++++++++
mapping pub time 2.209896 ms 
whole mapping time 173.633769 ms +++++
mappingCount 823 & avg mapping time 124.416500 ms ++++++++++++++++++++++
map prepare time 4.329979 ms
map corner num 98534  surf num 43781 
--------------------stamp1317357869.042131900
points size 91928 
sort q time 5.693397 
seperate points time 11.618517 
mapping data assosiation time 35.629525 ms 
publication time 9.981365 ms 
whole laserOdometry time 9.998556 ms 
 
-----t: 0.0448498
OdomCount 1032 & avg odom time 0.043345 ms ++++++++++++++++++++++
--------------------stamp1317357869.145989894
prepare time 14.986517 
filter time 8.761174 ms 
publication time 12.183238 ms 
whole laserOdometry time 12.194366 ms 
 
build tree time 23.660118 ms 
-----t: 0.0696375
OdomCount 1033 & avg odom time 0.043370 ms ++++++++++++++++++++++
--------------------stamp1317357869.249811887
prepare time 12.872729 
scan registration time 30.597809 ms *************
-----t: 0.0432096
OdomCount 1034 & avg odom time 0.043370 ms ++++++++++++++++++++++
1317357869.249811887 WriteOdom laser_odom_to_init
1317357869.249811887 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.216400 ms 
publication time 17.915827 ms 
whole laserOdometry time 17.930262 ms 
 
mapping solver time 20.960031 ms 
filter time 8.812663 ms 
map prepare time 3.074258 ms
map corner num 101184  surf num 44829 
points size 92727 
build tree time 25.201414 ms 
publication time 9.588834 ms 
whole laserOdometry time 9.597463 ms 
 
mapping data assosiation time 34.761066 ms 
mapping solver time 27.226818 ms 
--------------------stamp1317357869.457505941
prepare time 10.562344 
mapping data assosiation time 30.752652 ms 
sort q time 5.877467 
seperate points time 12.270193 
filter time 11.289253 ms 
map prepare time 5.152327 ms
map corner num 102422  surf num 45171 
build tree time 26.328305 ms 
--------------------stamp1317357869.561327934
points size 90830 
sort q time 5.069928 
seperate points time 11.965172 
mapping solver time 24.890921 ms 
mapping data assosiation time 32.874013 ms 
-----t: 0.066774
OdomCount 1037 & avg odom time 0.043379 ms ++++++++++++++++++++++
add points time 0.974011 ms
filter time 8.533883 ms 
points size 90533 
sort q time 5.454970 
seperate points time 12.368536 
publication time 10.204526 ms 
whole laserOdometry time 10.230961 ms 
 
mapping data assosiation time 32.506623 ms 
mapping solver time 26.221701 ms 
--------------------stamp1317357869.768898010
prepare time 12.010992 
sort q time 4.783162 
seperate points time 11.699071 
mapping solver time 26.695113 ms 
filter time 10.412626 ms 
mapping pub time 2.206102 ms 
whole mapping time 163.900922 ms +++++
mappingCount 828 & avg mapping time 124.638695 ms ++++++++++++++++++++++
1317357869.457505941 WriteOdom aft_mapped_to_init
build tree time 24.524739 ms 
--------------------stamp1317357869.872700929
points size 87894 
mapping data assosiation time 29.837648 ms 
mapping solver time 31.339748 ms 
publication time 20.420204 ms 
whole laserOdometry time 20.437948 ms 
 
-----t: 0.0750665
OdomCount 1040 & avg odom time 0.043427 ms ++++++++++++++++++++++
mapping solver time 25.735485 ms 
prepare time 13.526358 
sort q time 5.098336 
seperate points time 11.739248 
publication time 8.184700 ms 
whole laserOdometry time 8.202523 ms 
 
mapping data assosiation time 26.063997 ms 
--------------------stamp1317357870.080318927
points size 85696 
prepare time 12.886854 
scan registration time 28.813487 ms *************
publication time 8.665697 ms 
whole laserOdometry time 8.681561 ms 
 
mapping solver time 27.838313 ms 
filter time 7.794188 ms 
--------------------stamp1317357870.184113979
points size 87150 
sort q time 5.683854 
seperate points time 14.213584 
publication time 8.884195 ms 
whole laserOdometry time 8.914859 ms 
 
-----t: 0.0614429
OdomCount 1043 & avg odom time 0.043427 ms ++++++++++++++++++++++
mapping data assosiation time 26.740485 ms 
mapping solver time 22.067717 ms 
points size 89938 
mapping data assosiation time 29.332085 ms 
mapping optimization time 131.920243 
add points time 0.933022 ms
map prepare time 3.346209 ms
map corner num 109479  surf num 48568 
build tree time 22.497081 ms 
--------------------stamp1317357870.495589017
prepare time 13.297788 
sort q time 4.955251 
seperate points time 12.365943 
mapping solver time 33.089062 ms 
publication time 28.218711 ms 
whole laserOdometry time 28.233148 ms 
 
mapping data assosiation time 33.102472 ms 
--------------------stamp1317357870.599437952
points size 91240 
map prepare time 3.858187 ms
map corner num 110661  surf num 49452 
publication time 10.270336 ms 
whole laserOdometry time 10.283967 ms 
 
build tree time 27.702069 ms 
mapping data assosiation time 32.857103 ms 
--------------------stamp1317357870.703272104
points size 91030 
sort q time 4.775373 
seperate points time 11.681542 
scan registration time 27.825274 ms *************
publication time 12.054857 ms 
whole laserOdometry time 12.068666 ms 
 
-----t: 0.0412688
OdomCount 1048 & avg odom time 0.043459 ms ++++++++++++++++++++++
filter time 12.529075 ms 
map prepare time 4.026360 ms
map corner num 111916  surf num 50431 
points size 90422 
sort q time 5.629195 
seperate points time 12.495351 
scan registration time 28.007778 ms *************
publication time 13.048350 ms 
whole laserOdometry time 13.076009 ms 
 
-----t: 0.0464947
OdomCount 1049 & avg odom time 0.043462 ms ++++++++++++++++++++++
1317357870.807105064 WriteOdom laser_odom_to_init
1317357870.807105064 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357870.910973072
points size 88633 
add points time 1.211186 ms
map prepare time 3.145610 ms
map corner num 113091  surf num 51175 
-----t: 0.0357831
OdomCount 1050 & avg odom time 0.043455 ms ++++++++++++++++++++++
1317357870.910973072 WriteOdom laser_odom_to_init
publication time 11.523790 ms 
whole laserOdometry time 11.540555 ms 
 
1317357870.910973072 WriteOdom aft_mapped_to_init_high_frec
build tree time 26.385172 ms 
--------------------stamp1317357871.014844894
points size 87837 
sort q time 4.846332 
seperate points time 11.849930 
publication time 10.123930 ms 
whole laserOdometry time 10.138211 ms 
 
mapping data assosiation time 32.281076 ms 
mapping solver time 20.588806 ms 
filter time 8.932552 ms 
map prepare time 3.016502 ms
map corner num 114349  surf num 52027 
points size 87522 
sort q time 4.710519 
seperate points time 12.089252 
-----t: 0.0334444
OdomCount 1052 & avg odom time 0.043437 ms ++++++++++++++++++++++
mapping data assosiation time 33.296463 ms 
--------------------stamp1317357871.222660064
prepare time 11.954149 
sort q time 13.290790 
seperate points time 21.712938 
-----t: 0.0408598
OdomCount 1053 & avg odom time 0.043434 ms ++++++++++++++++++++++
publication time 16.208114 ms 
whole laserOdometry time 16.221738 ms 
 
filter time 8.158347 ms 
map prepare time 3.169318 ms
map corner num 115471  surf num 52641 
--------------------stamp1317357871.326577901
build tree time 29.073391 ms 
sort q time 5.665592 
seperate points time 13.155969 
mapping data assosiation time 35.247567 ms 
-----t: 0.0424237
OdomCount 1054 & avg odom time 0.043433 ms ++++++++++++++++++++++
mapping solver time 31.209794 ms 
--------------------stamp1317357871.430495977
mapping data assosiation time 33.737549 ms 
points size 87393 
prepare time 14.195049 
sort q time 5.603780 
seperate points time 13.151010 
mapping solver time 22.372298 ms 
mapping optimization time 153.183120 
add points time 1.203850 ms
scan registration time 34.193678 ms *************
filter time 9.775554 ms 
mapping pub time 2.194726 ms 
whole mapping time 169.591581 ms +++++
mappingCount 838 & avg mapping time 125.080150 ms ++++++++++++++++++++++
1317357871.118741989 WriteOdom aft_mapped_to_init
publication time 22.734875 ms 
whole laserOdometry time 22.752610 ms 
 
build tree time 30.672215 ms 
--------------------stamp1317357871.534415006
points size 88034 
sort q time 5.030526 
seperate points time 12.623641 
mapping solver time 29.593331 ms 
publication time 11.547323 ms 
whole laserOdometry time 11.562700 ms 
 
mapping data assosiation time 36.215933 ms 
--------------------stamp1317357871.638335943
points size 89192 
prepare time 13.425813 
map prepare time 4.131815 ms
map corner num 117943  surf num 53935 
-----t: 0.0331137
OdomCount 1057 & avg odom time 0.043413 ms ++++++++++++++++++++++
1317357871.638335943 WriteOdom laser_odom_to_init
1317357871.638335943 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.497023 ms 
--------------------stamp1317357871.742232084
prepare time 10.737116 
sort q time 5.205918 
seperate points time 12.101036 
mapping data assosiation time 34.458625 ms 
publication time 10.060886 ms 
whole laserOdometry time 10.076671 ms 
 
mapping solver time 19.601066 ms 
-----t: 0.0421673
OdomCount 1058 & avg odom time 0.043412 ms ++++++++++++++++++++++
mapping optimization time 135.523394 
add points time 1.137817 ms
mapping pub time 1.972968 ms 
whole mapping time 152.877637 ms +++++
mappingCount 840 & avg mapping time 125.177217 ms ++++++++++++++++++++++
build tree time 26.759561 ms 
points size 90961 
prepare time 15.717553 
sort q time 6.150643 
seperate points time 15.295318 
scan registration time 35.783046 ms *************
mapping data assosiation time 37.725158 ms 
publication time 9.756083 ms 
whole laserOdometry time 9.786430 ms 
 
mapping solver time 30.280643 ms 
mapping data assosiation time 28.962032 ms 
points size 91387 
prepare time 10.822883 
mapping solver time 23.352504 ms 
scan registration time 27.482024 ms *************
[0m[ INFO] [1718804588.798439333, 1317357871.984995431]: Received 175242 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804588.798506400, 1317357871.984995431]: Data saved to 1317357871638335.pcd[0m
publication time 16.981278 ms 
whole laserOdometry time 17.065964 ms 1317357871.950042963 WriteOdom laser_odom_to_init
mapping pub time 47.269832 ms 
whole mapping time 212.730372 ms +++++
mappingCount 841 & avg mapping time 125.281327 ms ++++++++++++++++++++++
1317357871.638335943 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.794258 ms
map corner num 120295  surf num 54947 
--------------------stamp1317357872.053961992
prepare time 16.232747 
mapping data assosiation time 35.062729 ms 
sort q time 24.328598 
seperate points time 34.162059 
-----t: 0.0478934
OdomCount 1061 & avg odom time 0.043427 ms ++++++++++++++++++++++
publication time 12.407607 ms 
whole laserOdometry time 12.418781 ms 
 
--------------------stamp1317357872.157882928
prepare time 11.821300 
sort q time 5.675436 
seperate points time 12.849732 
filter time 11.004011 ms 
-----t: 0.0486013
OdomCount 1062 & avg odom time 0.043432 ms ++++++++++++++++++++++
1317357872.157882928 WriteOdom laser_odom_to_init
1317357872.157882928 WriteOdom aft_mapped_to_init_high_frec
build tree time 29.419578 ms 
--------------------stamp1317357872.261801958
points size 94357 
sort q time 5.299856 
seperate points time 13.402584 
publication time 17.617162 ms 
whole laserOdometry time 17.630348 ms -----t: 0.0566821
OdomCount 1063 & avg odom time 0.043444 ms ++++++++++++++++++++++
mapping solver time 22.530121 ms 
--------------------stamp1317357872.365719079
prepare time 13.181483 
build tree time 31.463889 ms 
-----t: 0.0485739
OdomCount 1064 & avg odom time 0.043449 ms ++++++++++++++++++++++
1317357872.365719079 WriteOdom laser_odom_to_init
--------------------stamp1317357872.469638109
points size 94222 
sort q time 5.601544 
seperate points time 12.595180 
scan registration time 31.051744 ms *************
mapping data assosiation time 33.706117 ms 
mapping solver time 28.104689 ms 
filter time 10.883134 ms 
--------------------stamp1317357872.573580026
points size 93782 
sort q time 5.758252 
seperate points time 12.029245 
scan registration time 26.806888 ms *************
mapping data assosiation time 35.850605 ms 
-----t: 0.0398043
OdomCount 1066 & avg odom time 0.043453 ms ++++++++++++++++++++++
mapping solver time 32.654072 ms 
mapping data assosiation time 29.181683 ms 
points size 93959 
prepare time 13.315472 
mapping solver time 19.465829 ms 
filter time 12.646285 ms 
mapping pub time 2.592065 ms 
whole mapping time 165.597487 ms +++++
mappingCount 845 & avg mapping time 125.482522 ms ++++++++++++++++++++++
sort q time 7.882811 
seperate points time 33.494605 
publication time 11.640426 ms 
whole laserOdometry time 11.736694 ms 
 
--------------------stamp1317357872.781465053
points size 93907 
sort q time 5.058993 
seperate points time 12.616895 
mapping solver time 30.119730 ms 
publication time 10.947752 ms 
whole laserOdometry time 10.999972 ms 
 
mapping data assosiation time 32.713080 ms 
-----t: 0.0686592
OdomCount 1068 & avg odom time 0.043499 ms ++++++++++++++++++++++
mapping solver time 23.324086 ms 
--------------------stamp1317357872.885432004
mapping pub time 9.771270 ms 
whole mapping time 182.355881 ms +++++
mappingCount 846 & avg mapping time 125.549755 ms ++++++++++++++++++++++
prepare time 12.932360 
1317357872.573580027 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718804589.708465152, 1317357872.893499173]: Received 184714 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804589.708507758, 1317357872.893499173]: Data saved to 1317357872573580.pcd[0m
drop lidar frame in mapping for real time performance 
sort q time 5.677333 
seperate points time 14.103114 
build tree time 30.232327 ms 
-----t: 0.0639934
OdomCount 1069 & avg odom time 0.043518 ms ++++++++++++++++++++++
--------------------stamp1317357872.989398956
prepare time 12.409901 
mapping solver time 31.742415 ms 
sort q time 5.159109 
seperate points time 12.930767 
mapping data assosiation time 32.729514 ms 
-----t: 0.0567496
OdomCount 1070 & avg odom time 0.043530 ms ++++++++++++++++++++++
filter time 8.931163 ms 
map prepare time 3.540982 ms
map corner num 128159  surf num 58216 
--------------------stamp1317357873.093364000
build tree time 30.570967 ms 
publication time 12.203917 ms 
whole laserOdometry time 12.222332 ms 
 
-----t: 0.045776
OdomCount 1071 & avg odom time 0.043532 ms ++++++++++++++++++++++
mapping solver time 24.305222 ms 
--------------------stamp1317357873.197308063
prepare time 13.301388 
sort q time 5.137390 
seperate points time 13.046317 
filter time 12.293429 ms 
build tree time 30.417037 ms 
points size 88999 
mapping data assosiation time 34.239527 ms 
-----t: 0.0423113
OdomCount 1073 & avg odom time 0.043540 ms ++++++++++++++++++++++
mapping data assosiation time 30.941551 ms 
--------------------stamp1317357873.405215978
prepare time 12.461651 
sort q time 4.626037 
seperate points time 11.486622 
mapping pub time 2.217645 ms 
whole mapping time 190.159084 ms +++++
mappingCount 849 & avg mapping time 125.735072 ms ++++++++++++++++++++++
publication time 14.282493 ms 
whole laserOdometry time 14.295124 ms 
 
build tree time 32.104234 ms 
--------------------stamp1317357873.509182929
points size 88395 
sort q time 4.713427 
seperate points time 12.285394 
mapping solver time 31.180784 ms 
publication time 13.195066 ms 
whole laserOdometry time 13.210814 ms 
 
mapping data assosiation time 36.009015 ms 
mapping solver time 22.741479 ms 
--------------------stamp1317357873.613126993
1317357873.197308064 WriteOdom aft_mapped_to_init
sort q time 4.764166 
seperate points time 11.932311 
build tree time 35.990097 ms 
publication time 10.468099 ms 
whole laserOdometry time 10.485579 ms 
 
-----t: 0.0358187
OdomCount 1076 & avg odom time 0.043527 ms ++++++++++++++++++++++
1317357873.613126993 WriteOdom laser_odom_to_init
1317357873.613126993 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 32.445164 ms 
--------------------stamp1317357873.717068910
points size 85816 
sort q time 4.374121 
seperate points time 9.913443 
mapping data assosiation time 34.382787 ms 
-----t: 0.0366444
OdomCount 1077 & avg odom time 0.043521 ms ++++++++++++++++++++++
1317357873.717068910 WriteOdom laser_odom_to_init
1317357873.717068910 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 160.098989 
filter time 9.688013 ms 
map prepare time 3.213781 ms
map corner num 133095  surf num 59987 
--------------------stamp1317357873.821008920
build tree time 33.460385 ms 
sort q time 5.053593 
seperate points time 11.962849 
scan registration time 26.661604 ms *************
publication time 8.659574 ms 
whole laserOdometry time 8.672009 ms 
 
-----t: 0.0483457
OdomCount 1078 & avg odom time 0.043525 ms ++++++++++++++++++++++
mapping solver time 28.671072 ms 
--------------------stamp1317357873.924952030
mapping data assosiation time 31.385439 ms 
sort q time 4.784095 
seperate points time 12.239416 
mapping solver time 29.797502 ms 
1317357873.613126993 WriteOdom aft_mapped_to_init
-----t: 0.0650505
OdomCount 1079 & avg odom time 0.043545 ms ++++++++++++++++++++++
build tree time 34.337939 ms 
--------------------stamp1317357874.028898954
points size 86864 
sort q time 5.723178 
seperate points time 14.334306 
publication time 12.691877 ms 
whole laserOdometry time 12.700402 ms 
 
-----t: 0.0478405
OdomCount 1080 & avg odom time 0.043549 ms ++++++++++++++++++++++
1317357874.028898954 WriteOdom laser_odom_to_init
1317357874.028898954 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357874.132841110
mapping solver time 26.729578 ms 
points size 89741 
mapping optimization time 163.739650 
add points time 1.433284 ms
prepare time 14.150142 
sort q time 5.358093 
seperate points time 16.306994 
map prepare time 3.958225 ms
map corner num 135429  surf num 61130 
scan registration time 35.134693 ms *************
publication time 19.853142 ms 
whole laserOdometry time 19.863252 ms 
 
-----t: 0.0606127
build tree time 49.619309 ms 
OdomCount 1081 & avg odom time 0.043565 ms ++++++++++++++++++++++
--------------------stamp1317357874.236784934
points size 91064 
mapping data assosiation time 32.878760 ms 
publication time 9.942598 ms 
whole laserOdometry time 9.960048 ms 
 
-----t: 0.0570087
OdomCount 1082 & avg odom time 0.043577 ms ++++++++++++++++++++++
1317357874.236784934 WriteOdom laser_odom_to_init
1317357874.236784934 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.655520 ms 
points size 93883 
mapping solver time 27.464922 ms 
mapping optimization time 181.080255 
map prepare time 3.834829 ms
map corner num 136554  surf num 61829 
-----t: 0.0509896
OdomCount 1083 & avg odom time 0.043584 ms ++++++++++++++++++++++
1317357874.340703964 WriteOdom laser_odom_to_init
1317357874.340703964 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357874.444622993
points size 95952 
sort q time 5.203965 
seperate points time 13.097040 
-----t: 0.0357281
OdomCount 1084 & avg odom time 0.043577 ms ++++++++++++++++++++++
mapping data assosiation time 34.788402 ms 
mapping solver time 18.390580 ms 
mapping optimization time 146.533890 
add points time 1.177679 ms
drop lidar frame in mapping for real time performance 
points size 96914 
prepare time 11.824856 
scan registration time 28.987004 ms *************
build tree time 38.410178 ms 
publication time 14.644856 ms mapping data assosiation time 33.955764 ms 
mapping solver time 28.387488 ms 
points size 95332 
sort q time 4.926579 
seperate points time 12.323736 
scan registration time 28.812463 ms *************
mapping data assosiation time 37.231290 ms 
publication time 9.583918 ms 
whole laserOdometry time 9.598345 ms 
 
filter time 9.850545 ms 
drop lidar frame in mapping for real time performance 
map prepare time 3.513399 ms
map corner num 138607  surf num 63159 
--------------------stamp1317357874.756428003
prepare time 11.909681 
sort q time 5.206871 
seperate points time 13.073340 
publication time 11.272471 ms 
whole laserOdometry time 11.285846 ms 
 
-----t: 0.0506817
OdomCount 1087 & avg odom time 0.043572 ms ++++++++++++++++++++++
1317357874.756428003 WriteOdom laser_odom_to_init
1317357874.756428003 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 33.631800 ms 
--------------------stamp1317357874.860343933
points size 95671 
mapping data assosiation time 35.890870 ms 
scan registration time 30.515798 ms *************
publication time 10.772287 ms 
whole laserOdometry time 10.785800 ms 
 
mapping solver time 32.393239 ms 
mapping optimization time 172.982649 
1317357874.548566103 WriteOdom aft_mapped_to_init
--------------------stamp1317357874.964297056
points size 96334 
sort q time 5.159602 
seperate points time 11.685929 
mapping data assosiation time 38.367200 ms 
-----t: 0.057061
OdomCount 1089 & avg odom time 0.043609 ms ++++++++++++++++++++++
1317357874.964297056 WriteOdom laser_odom_to_init
1317357874.964297056 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357875.068239927
points size 98126 
prepare time 14.166961 
add points time 1.218952 ms
filter time 14.350404 ms 
--------------------stamp1317357875.172173023
points size 99856 
sort q time 5.759151 
seperate points time 13.472865 
publication time 11.308276 ms 
whole laserOdometry time 11.322218 ms 
 
1317357875.172173023 WriteOdom laser_odom_to_init
1317357875.172173023 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.503419 ms 
points size 100902 
sort q time 5.613864 
seperate points time 13.974600 
publication time 10.213368 ms 
whole laserOdometry time 10.227780 ms 
 
-----t: 0.0464494
OdomCount 1092 & avg odom time 0.043627 ms ++++++++++++++++++++++
mapping solver time 33.629216 ms 
filter time 11.132871 ms 
points size 101149 
build tree time 31.879444 ms 
sort q time 6.208507 
seperate points time 14.510854 
publication time 8.034355 ms 
whole laserOdometry time 8.050487 ms 
 
mapping data assosiation time 40.960073 ms 
-----t: 0.0612616
OdomCount 1093 & avg odom time 0.043643 ms ++++++++++++++++++++++
mapping solver time 30.959040 ms 
--------------------stamp1317357875.484025955
points size 101112 
sort q time 6.148292 
seperate points time 13.809709 
publication time 10.586572 ms 
whole laserOdometry time 10.602044 ms 
 
mapping pub time 2.252892 ms 
whole mapping time 191.348041 ms +++++
mappingCount 860 & avg mapping time 126.552954 ms ++++++++++++++++++++++
--------------------stamp1317357875.587991952
points size 101106 
prepare time 12.529843 
scan registration time 29.772598 ms *************
mapping data assosiation time 44.113359 ms 
-----t: 0.0542137
OdomCount 1095 & avg odom time 0.043651 ms ++++++++++++++++++++++
mapping solver time 38.149793 ms 
--------------------stamp1317357875.691956996
points size 101300 
mapping data assosiation time 40.476460 ms 
sort q time 7.435230 
seperate points time 16.899935 
mapping solver time 28.776719 ms 
OdomCount 1096 & avg odom time 0.043656 ms ++++++++++++++++++++++
[0m[ INFO] [1718804592.576035777, 1317357875.767102869]: Received 170297 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804592.576076658, 1317357875.767102869]: Data saved to 1317357875380059.pcd[0m
points size 101553 
map prepare time 5.514996 ms
map corner num 113844  surf num 56453 
build tree time 31.191437 ms 
1317357875.795898914 WriteOdom laser_odom_to_init
1317357875.795898914 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 36.879651 ms 
--------------------stamp1317357875.899820089
points size 101467 
sort q time 5.766959 
seperate points time 13.884426 
publication time 9.896873 ms 
whole laserOdometry time 9.912608 ms 
 
-----t: 0.0533626
OdomCount 1098 & avg odom time 0.043666 ms ++++++++++++++++++++++
mapping solver time 23.518108 ms 
filter time 11.931971 ms 
sort q time 6.941997 
seperate points time 13.779628 
build tree time 30.426540 ms 
publication time 11.153724 ms 
whole laserOdometry time 11.169173 ms 
 
-----t: 0.0616304
OdomCount 1099 & avg odom time 0.043682 ms ++++++++++++++++++++++
mapping data assosiation time 42.384344 ms 
--------------------stamp1317357876.107707023
points size 101302 
mapping solver time 36.504363 ms 
publication time 10.681544 ms 
whole laserOdometry time 10.695390 ms 
 
mapping data assosiation time 43.271551 ms 
mapping solver time 26.744131 ms 
filter time 9.393272 ms 
build tree time 30.766016 ms 
publication time 12.659367 ms 
whole laserOdometry time 12.676416 ms 
 
--------------------stamp1317357876.315592050
prepare time 14.155480 
mapping solver time 37.444568 ms 
sort q time 5.682199 
seperate points time 13.757490 
publication time 11.944694 ms 
whole laserOdometry time 11.963277 ms 
 
mapping data assosiation time 44.615505 ms 
mapping solver time 24.332587 ms 
points size 101623 
map prepare time 4.929900 ms
map corner num 109682  surf num 51242 
sort q time 5.860092 
seperate points time 13.920902 
build tree time 29.457499 ms 
publication time 12.697629 ms 
whole laserOdometry time 12.723197 ms 
 
mapping data assosiation time 38.899763 ms 
--------------------stamp1317357876.523475885
points size 101398 
sort q time 5.668669 
seperate points time 14.099217 
-----t: 0.0376101
OdomCount 1104 & avg odom time 0.043692 ms ++++++++++++++++++++++
mapping data assosiation time 43.107951 ms 
--------------------stamp1317357876.627418994
points size 100007 
filter time 12.877063 ms 
map prepare time 4.154942 ms
map corner num 110928  surf num 51993 
publication time 9.945855 ms 
whole laserOdometry time 10.016340 ms 
 
--------------------stamp1317357876.731420040
mapping data assosiation time 42.274089 ms 
points size 100098 
sort q time 7.205697 
seperate points time 13.798292 
mapping solver time 46.614317 ms 
mapping data assosiation time 39.801466 ms 
--------------------stamp1317357876.835386991
points size 100515 
mapping optimization time 197.872563 
scan registration time 29.714167 ms *************
drop lidar frame in mapping for real time performance 
map prepare time 4.537234 ms
map corner num 112235  surf num 52717 
publication time 16.368309 ms 
whole laserOdometry time 16.383464 ms 
 
build tree time 29.238633 ms 
--------------------stamp1317357876.939321041
points size 100772 
sort q time 5.519701 
seperate points time 12.697824 
publication time 11.913550 ms 
whole laserOdometry time 11.927916 ms 
 
-----t: 0.0730685
OdomCount 1108 & avg odom time 0.043707 ms ++++++++++++++++++++++
--------------------stamp1317357877.043289899
points size 100739 
sort q time 6.087832 
seperate points time 14.742720 
filter time 12.179789 ms 
-----t: 0.0560146
OdomCount 1109 & avg odom time 0.043718 ms ++++++++++++++++++++++
build tree time 28.495594 ms 
points size 100894 
sort q time 6.366092 
seperate points time 13.553890 
publication time 10.827518 ms 
whole laserOdometry time 10.842518 ms 
 
mapping solver time 42.048489 ms 
-----t: 0.0525698
OdomCount 1110 & avg odom time 0.043726 ms ++++++++++++++++++++++
1317357877.147255897 WriteOdom laser_odom_to_init
1317357877.147255897 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357877.251220941
prepare time 11.438699 
sort q time 5.848306 
seperate points time 14.081602 
scan registration time 30.472052 ms *************
mapping optimization time 197.487736 
add points time 1.490086 ms
-----t: 0.0539129
OdomCount 1111 & avg odom time 0.043736 ms ++++++++++++++++++++++
--------------------stamp1317357877.355187892
points size 101038 
sort q time 6.013057 
seperate points time 14.644660 
mapping data assosiation time 44.184193 ms 
-----t: 0.0633704
OdomCount 1112 & avg odom time 0.043753 ms ++++++++++++++++++++++
mapping solver time 52.692480 ms 
points size 101236 
sort q time 5.665220 
seperate points time 14.128454 
mapping data assosiation time 47.146614 ms 
publication time 12.670106 ms 
whole laserOdometry time 12.744049 ms 
 
mapping solver time 39.536786 ms 
filter time 10.703844 ms 
map prepare time 4.931039 ms
map corner num 115778  surf num 54960 
scan registration time 27.183171 ms *************
publication time 9.948617 ms 
whole laserOdometry time 9.980251 ms 
 
-----t: 0.0543626
OdomCount 1114 & avg odom time 0.043758 ms ++++++++++++++++++++++
mapping data assosiation time 47.252943 ms 
points size 101385 
sort q time 5.812362 
seperate points time 13.018782 
publication time 8.754360 ms 
whole laserOdometry time 8.771058 ms 
 
-----t: 0.0409127
OdomCount 1115 & avg odom time 0.043756 ms ++++++++++++++++++++++
mapping data assosiation time 50.696179 ms 
mapping solver time 27.127862 ms 
--------------------stamp1317357877.771125078
map prepare time 3.937321 ms
map corner num 116931  surf num 55691 
sort q time 5.693192 
seperate points time 13.127676 
publication time 9.087536 ms 
whole laserOdometry time 9.103455 ms 
 
mapping data assosiation time 41.397035 ms 
--------------------stamp1317357877.875117063
points size 101419 
sort q time 5.602165 
seperate points time 12.626792 
publication time 9.842519 ms 
whole laserOdometry time 9.858518 ms 
 
mapping data assosiation time 43.720878 ms 
--------------------stamp1317357877.979106903
points size 102591 
filter time 13.759009 ms 
scan registration time 33.120518 ms *************
publication time 12.285778 ms 
whole laserOdometry time 12.302974 ms 
 
build tree time 31.398454 ms 
1317357877.979106903 WriteOdom laser_odom_to_init
--------------------stamp1317357878.083122968
prepare time 12.422285 
sort q time 6.042910 
seperate points time 12.127739 
mapping solver time 43.712199 ms 
-----t: 0.0755024
OdomCount 1119 & avg odom time 0.043800 ms ++++++++++++++++++++++
1317357878.083122968 WriteOdom laser_odom_to_init
1317357878.083122968 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 48.299421 ms 
points size 102732 
sort q time 5.617006 
seperate points time 12.615252 
filter time 13.708286 ms 
publication time 11.931465 ms 
whole laserOdometry time 11.944695 ms 
 
map prepare time 4.290151 ms
map corner num 119145  surf num 56881 
-----t: 0.0595461
OdomCount 1120 & avg odom time 0.043814 ms ++++++++++++++++++++++
build tree time 34.545168 ms 
--------------------stamp1317357878.291080951
prepare time 13.315675 
sort q time 5.790130 
seperate points time 13.550621 
publication time 10.947072 ms 
whole laserOdometry time 10.958323 ms 
 
-----t: 0.0638315
OdomCount 1121 & avg odom time 0.043832 ms ++++++++++++++++++++++
1317357878.291080951 WriteOdom laser_odom_to_init
1317357878.291080951 WriteOdom aft_mapped_to_init_high_frec
points size 102735 
sort q time 5.929416 
seperate points time 38.041867 
mapping solver time 35.481231 ms 
mapping pub time 2.288881 ms 
whole mapping time 250.283072 ms +++++
mappingCount 873 & avg mapping time 127.979771 ms ++++++++++++++++++++++
1317357877.979106903 WriteOdom aft_mapped_to_init
points size 102707 
sort q time 5.834196 
seperate points time 14.998819 
mapping data assosiation time 42.810873 ms 
--------------------stamp1317357878.603029966
prepare time 11.786269 
sort q time 5.615564 
seperate points time 13.183818 
-----t: 0.0396527
OdomCount 1124 & avg odom time 0.043862 ms ++++++++++++++++++++++
publication time 12.635249 ms 
whole laserOdometry time 12.680436 ms 
 
1317357878.603029966 WriteOdom laser_odom_to_init
1317357878.603029966 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 44.299073 ms 
mapping solver time 30.385240 ms 
--------------------stamp1317357878.707020998
map prepare time 3.400189 ms
map corner num 121131  surf num 57865 
sort q time 6.739377 
seperate points time 13.515807 
build tree time 31.175142 ms 
-----t: 0.0420554
OdomCount 1125 & avg odom time 0.043860 ms ++++++++++++++++++++++
mapping data assosiation time 46.633419 ms 
--------------------stamp1317357878.811011075
points size 102389 
prepare time 26.848709 
mapping solver time 56.527345 ms 
-----t: 0.0395155
OdomCount 1126 & avg odom time 0.043857 ms ++++++++++++++++++++++
publication time 8.490299 ms 
whole laserOdometry time 8.506673 ms 
 
mapping data assosiation time 43.974247 ms 
--------------------stamp1317357878.914978027
points size 102329 
prepare time 15.852815 
mapping solver time 49.026059 ms 
filter time 12.955245 ms 
-----t: 0.0525554
OdomCount 1127 & avg odom time 0.043864 ms ++++++++++++++++++++++
build tree time 30.801860 ms 
--------------------stamp1317357879.018944978
points size 102240 
sort q time 5.757594 
seperate points time 13.772067 publication time 9.764083 ms 
whole laserOdometry time 9.780771 ms 
 
-----t: 0.0479394
OdomCount 1128 & avg odom time 0.043868 ms ++++++++++++++++++++++
mapping solver time 44.994677 ms 
--------------------stamp1317357879.122934103
prepare time 12.251249 
scan registration time 30.835871 ms *************
publication time 8.465221 ms 
whole laserOdometry time 8.478998 ms 
 
scan registration time 35.360282 ms *************
publication time 12.532156 ms 
whole laserOdometry time 12.545043 ms 
 
-----t: 0.0611653
OdomCount 1130 & avg odom time 0.043891 ms ++++++++++++++++++++++
--------------------stamp1317357879.330890893
points size 102135 
sort q time 6.963981 
seperate points time 13.040382 
scan registration time 49.777697 ms *************
-----t: 0.0710804
OdomCount 1131 & avg odom time 0.043915 ms ++++++++++++++++++++++
mapping solver time 41.589714 ms 
sort q time 5.747770 
seperate points time 12.547943 drop lidar frame in mapping for real time performance 
publication time 11.201217 ms 
whole laserOdometry time 11.215553 ms 
 
-----t: 0.0569533
OdomCount 1132 & avg odom time 0.043926 ms ++++++++++++++++++++++
build tree time 44.971108 ms 
--------------------stamp1317357879.538875102
prepare time 14.542970 
mapping data assosiation time 49.113233 ms 
publication time 11.673638 ms 
whole laserOdometry time 11.687214 ms 
 
mapping solver time 51.249676 ms 
--------------------stamp1317357879.642842054
sort q time 5.842618 
seperate points time 13.391739 
publication time 8.068972 ms 
whole laserOdometry time 8.082811 ms 
 
-----t: 0.0465613
OdomCount 1134 & avg odom time 0.043934 ms ++++++++++++++++++++++
mapping solver time 38.441543 ms 
filter time 11.811435 ms 
mapping pub time 2.377003 ms 
whole mapping time 257.868629 ms +++++
mappingCount 878 & avg mapping time 128.646371 ms ++++++++++++++++++++++
1317357879.226923943 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357879.746833086
points size 101860 
prepare time 14.057496 
scan registration time 35.438487 ms *************
publication time 17.146806 ms 
whole laserOdometry time 17.268670 ms 
 --------------------stamp1317357879.850824117
points size 101695 
sort q time 6.464898 
seperate points time 15.294073 
publication time 9.682138 ms 
whole laserOdometry time 9.696549 ms 
 
mapping data assosiation time 48.416487 ms 
mapping solver time 30.971196 ms 
filter time 11.112551 ms 
sort q time 7.401552 
seperate points time 13.647947 
publication time 10.352842 ms 
whole laserOdometry time 10.368244 ms 
 
-----t: 0.0415309
OdomCount 1137 & avg odom time 0.043936 ms ++++++++++++++++++++++
mapping data assosiation time 40.186529 ms 
--------------------stamp1317357880.058706998
prepare time 12.421059 
sort q time 6.444821 
seperate points time 12.387190 
mapping solver time 46.333087 ms 
publication time 10.583717 ms 
whole laserOdometry time 10.603099 ms 
 
-----t: 0.0529547
OdomCount 1138 & avg odom time 0.043944 ms ++++++++++++++++++++++
1317357880.058706998 WriteOdom laser_odom_to_init
1317357880.058706998 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357880.162650108
points size 101216 
sort q time 6.000726 
seperate points time 14.194829 
map prepare time 3.864304 ms
map corner num 126124  surf num 60106 
publication time 9.858814 ms 
whole laserOdometry time 9.874973 ms 
 
1317357880.162650108 WriteOdom laser_odom_to_init
1317357880.162650108 WriteOdom aft_mapped_to_init_high_frec
build tree time 32.720127 ms 
points size 100788 
mapping data assosiation time 41.693581 ms 
prepare time 15.804231 
sort q time 5.791955 
seperate points time 13.378710 
scan registration time 36.064139 ms *************
publication time 9.249933 ms 
whole laserOdometry time 9.264732 ms 
 
mapping solver time 55.747901 ms 
1317357880.266566991 WriteOdom laser_odom_to_init
--------------------stamp1317357880.370485067
points size 98913 
sort q time 6.742606 
seperate points time 12.647410 
publication time 8.742091 ms 
whole laserOdometry time 8.757410 ms 
 
mapping solver time 50.241683 ms 
filter time 10.431298 ms 
--------------------stamp1317357880.474406003
1317357879.954765081 WriteOdom aft_mapped_to_init
sort q time 5.967942 
seperate points time 13.326405 
-----t: 0.0673774
OdomCount 1142 & avg odom time 0.043991 ms ++++++++++++++++++++++
points size 96300 
sort q time 5.754191 
seperate points time 15.326211 
publication time 11.463275 ms -----t: 0.0747231
OdomCount 1143 & avg odom time 0.044018 ms ++++++++++++++++++++++
points size 95343 
prepare time 12.653897 
publication time 10.693222 ms 
whole laserOdometry time 10.718239 ms 
 
mapping solver time 48.936119 ms 
filter time 10.037944 ms 
--------------------stamp1317357880.786067962
prepare time 12.262743 
sort q time 5.122903 
seperate points time 12.091916 
publication time 12.322953 ms 
whole laserOdometry time 12.384166 ms 
mapping data assosiation time 45.447881 ms 
--------------------stamp1317357880.889894962
points size 95318 
prepare time 14.266732 
sort q time 5.432106 
seperate points time 12.927966 
publication time 9.605360 ms 
whole laserOdometry time 10.631566 ms 
 
mapping data assosiation time 46.206644 ms 
--------------------stamp1317357880.993665933
prepare time 10.784531 
mapping optimization time 229.800823 
filter time 16.362259 ms 
map prepare time 4.782836 ms
map corner num 128321  surf num 60961 
-----t: 0.0529261
OdomCount 1147 & avg odom time 0.044031 ms ++++++++++++++++++++++
build tree time 32.302269 ms 
--------------------stamp1317357881.097392082
points size 95021 
sort q time 5.750356 
seperate points time 11.289001 
publication time 9.210323 ms 
whole laserOdometry time 9.243209 ms 
 
-----t: 0.0579711
OdomCount 1148 & avg odom time 0.044044 ms ++++++++++++++++++++++
1317357881.097392082 WriteOdom laser_odom_to_init
1317357881.097392082 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 57.598916 ms 
--------------------stamp1317357881.201128005
points size 95623 
sort q time 4.970366 
seperate points time 10.265427 
publication time 9.759989 ms 
whole laserOdometry time 9.793661 ms 
 
-----t: 0.0512435
OdomCount 1149 & avg odom time 0.044050 ms ++++++++++++++++++++++
mapping solver time 52.707358 ms 
mapping optimization time 236.362427 
add points time 1.192331 ms
filter time 15.535720 ms 
map prepare time 5.629767 ms
map corner num 129149  surf num 61346 
prepare time 13.063515 
sort q time 5.683245 
seperate points time 13.066238 
build tree time 39.753621 ms 
-----t: 0.0521265
OdomCount 1150 & avg odom time 0.044057 ms ++++++++++++++++++++++
mapping data assosiation time 52.006903 ms 
--------------------stamp1317357881.408498048
prepare time 11.467627 
sort q time 5.732821 
seperate points time 13.194109 
mapping solver time 60.261537 ms 
mapping data assosiation time 43.372213 ms 
points size 99716 
sort q time 5.905478 
seperate points time 13.831423 
mapping solver time 52.519954 ms 
-----t: 0.0470325
OdomCount 1152 & avg odom time 0.044068 ms ++++++++++++++++++++++
map prepare time 3.257587 ms
map corner num 129991  surf num 61715 
build tree time 28.110434 ms 
points size 99952 
prepare time 12.923189 
scan registration time 31.579100 ms *************
mapping data assosiation time 47.384772 ms 
-----t: 0.0366343
OdomCount 1153 & avg odom time 0.044061 ms ++++++++++++++++++++++
1317357881.615783929 WriteOdom laser_odom_to_init
1317357881.615783929 WriteOdom aft_mapped_to_init_high_frec
publication time 9.213332 ms 
whole laserOdometry time 9.230283 ms 
 
mapping solver time 53.572591 ms 
points size 100187 
sort q time 6.213876 
seperate points time 13.571516 
mapping data assosiation time 47.881581 ms 
publication time 11.773444 ms 
whole laserOdometry time 11.791146 ms 
 
1317357881.719414949 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 58.332069 ms 
points size 100197 
drop lidar frame in mapping for real time performance 
publication time 11.662583 ms 
whole laserOdometry time 11.693860 ms 
 
-----t: 0.0631358
OdomCount 1155 & avg odom time 0.044099 ms ++++++++++++++++++++++
--------------------stamp1317357881.926676034
points size 100309 
sort q time 5.553210 
seperate points time 13.674660 
scan registration time 51.213384 ms *************
publication time 7.138621 ms 
whole laserOdometry time 7.149859 ms 
 
--------------------stamp1317357882.030329942
points size 100650 
sort q time 5.468360 
seperate points time 12.423875 
publication time 8.491373 ms 
whole laserOdometry time 8.508666 ms 
 
-----t: 0.0461413
OdomCount 1157 & avg odom time 0.044099 ms ++++++++++++++++++++++
filter time 10.101886 ms 
map prepare time 3.557934 ms
map corner num 131974  surf num 62668 
--------------------stamp1317357882.134010076
points size 100805 
sort q time 5.772399 
seperate points time 13.614837 
mapping data assosiation time 48.862418 ms 
-----t: 0.054139
OdomCount 1158 & avg odom time 0.044108 ms ++++++++++++++++++++++
--------------------stamp1317357882.237714052
mapping solver time 49.097460 ms 
points size 100901 
sort q time 5.892159 
seperate points time 14.032940 
mapping data assosiation time 51.462165 ms 
--------------------stamp1317357882.341464996
prepare time 12.928076 
filter time 11.223885 ms 
scan registration time 52.234339 ms *************
build tree time 34.495997 ms 
1317357882.341464996 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357882.445240974
prepare time 11.119811 
sort q time 5.803741 
seperate points time 13.923880 
publication time 9.237636 ms 
whole laserOdometry time 9.253372 ms 
 
mapping solver time 57.027801 ms 
--------------------stamp1317357882.549038887
points size 101140 
sort q time 5.830162 
seperate points time 14.028162 
scan registration time 31.806772 ms *************
publication time 8.456493 ms 
whole laserOdometry time 8.474962 ms 
 
-----t: 0.0519561
OdomCount 1162 & avg odom time 0.044144 ms ++++++++++++++++++++++
1317357882.549038887 WriteOdom laser_odom_to_init
1317357882.549038887 WriteOdom aft_mapped_to_init_high_frec
filter time 12.102564 ms 
map prepare time 3.400079 ms
map corner num 134235  surf num 63927 
--------------------stamp1317357882.652834892
points size 101078 
sort q time 6.454645 
seperate points time 12.803061 
scan registration time 27.767435 ms *************
publication time 10.577877 ms 
whole laserOdometry time 10.595534 ms 
 
mapping data assosiation time 49.673337 ms 
-----t: 0.0686661
OdomCount 1163 & avg odom time 0.044165 ms ++++++++++++++++++++++
1317357882.652834892 WriteOdom laser_odom_to_init
1317357882.652834892 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357882.756611108
points size 101083 
mapping solver time 69.532953 ms 
publication time 11.988545 ms 
whole laserOdometry time 12.006173 ms 
 
mapping data assosiation time 50.147748 ms 
-----t: 0.0667919
OdomCount 1164 & avg odom time 0.044184 ms ++++++++++++++++++++++
1317357882.756611108 WriteOdom laser_odom_to_init
1317357882.756611108 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 33.240625 ms 
points size 101074 
mapping optimization time 238.146147 
add points time 1.214095 ms
prepare time 12.400922 
filter time 15.104952 ms 
publication time 9.729861 ms 
whole laserOdometry time 9.746043 ms 
 
build tree time 35.812484 ms 
--------------------stamp1317357882.964210033
mapping data assosiation time 40.910982 ms 
sort q time 6.154300 
seperate points time 12.557726 
publication time 9.822421 ms 
whole laserOdometry time 9.838644 ms 
 
mapping solver time 54.438561 ms 
--------------------stamp1317357883.068006992
points size 100962 
sort q time 5.025986 
seperate points time 11.950968 
publication time 8.103053 ms 
whole laserOdometry time 8.118845 ms 
 
filter time 10.490066 ms 
map prepare time 3.422778 ms
map corner num 136548  surf num 65247 
--------------------stamp1317357883.171828031
points size 100906 
prepare time 13.011506 
build tree time 36.619202 ms 
publication time 13.498991 ms 
whole laserOdometry time 13.527934 ms 
 
--------------------stamp1317357883.275651931
mapping solver time 47.659501 ms 
sort q time 5.937927 
seperate points time 14.641675 
publication time 10.002421 ms 
whole laserOdometry time 10.015923 ms 
 
-----t: 0.0516375
OdomCount 1169 & avg odom time 0.044215 ms ++++++++++++++++++++++
1317357883.275651931 WriteOdom laser_odom_to_init
1317357883.275651931 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357883.379475116
points size 99390 
prepare time 14.319193 
sort q time 6.827095 
seperate points time 15.616525 
publication time 9.762146 ms 
whole laserOdometry time 9.775510 ms 
 
-----t: 0.0651739
OdomCount 1170 & avg odom time 0.044233 ms ++++++++++++++++++++++
--------------------stamp1317357883.483297109
mapping data assosiation time 46.506443 ms 
sort q time 5.444746 
seperate points time 11.322038 
publication time 9.200397 ms 
whole laserOdometry time 9.212290 ms 
 
mapping solver time 55.773681 ms 
--------------------stamp1317357883.587121009
mapping data assosiation time 41.172693 ms 
sort q time 5.755714 
seperate points time 13.365339 
publication time 7.441287 ms 
whole laserOdometry time 7.457386 ms 
 
filter time 13.902087 ms 
-----t: 0.0554297
OdomCount 1172 & avg odom time 0.044254 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
1317357883.587121009 WriteOdom laser_odom_to_init
1317357883.587121009 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.352197 ms
map corner num 138747  surf num 66368 
--------------------stamp1317357883.690968990
points size 98517 
sort q time 5.857787 
seperate points time 14.011562 
scan registration time 31.207244 ms *************
publication time 9.288963 ms 
whole laserOdometry time 9.360720 ms 
mapping solver time 40.016457 ms 
--------------------stamp1317357883.794866085
prepare time 13.808970 
sort q time 6.248382 
seperate points time 12.479590 
publication time 9.597931 ms 
whole laserOdometry time 9.630979 ms 
 
-----t: 0.0498331
OdomCount 1174 & avg odom time 0.044270 ms ++++++++++++++++++++++
mapping pub time 2.173868 ms 
whole mapping time 211.837085 ms +++++
mappingCount 894 & avg mapping time 130.923588 ms ++++++++++++++++++++++
--------------------stamp1317357883.898807048
prepare time 12.710941 
sort q time 5.590822 
seperate points time 13.301258 
-----t: 0.0418106
OdomCount 1175 & avg odom time 0.044268 ms ++++++++++++++++++++++
mapping solver time 41.444294 ms 
points size 96162 
sort q time 5.477590 
seperate points time 12.557540 
publication time 8.218803 ms 
whole laserOdometry time 8.492602 ms 
 
mapping data assosiation time 45.741600 ms 
-----t: 0.0619221
OdomCount 1176 & avg odom time 0.044283 ms ++++++++++++++++++++++
1317357884.002820968 WriteOdom laser_odom_to_init
1317357884.002820968 WriteOdom aft_mapped_to_init_high_frec
filter time 11.566944 ms 
map prepare time 4.022999 ms
map corner num 140882  surf num 67492 
sort q time 6.452262 
seperate points time 12.318267 
build tree time 39.296904 ms 
publication time 13.972433 ms 
whole laserOdometry time 13.989945 ms 
 
mapping data assosiation time 41.558658 ms 
--------------------stamp1317357884.210995912
points size 96444 
sort q time 6.163232 
seperate points time 11.970200 
publication time 8.947085 ms 
whole laserOdometry time 8.960948 ms 
 
mapping data assosiation time 52.052798 ms 
-----t: 0.0802902
OdomCount 1178 & avg odom time 0.044313 ms ++++++++++++++++++++++
--------------------stamp1317357884.315202951
points size 96701 
sort q time 5.527372 
seperate points time 12.936578 
filter time 11.495965 ms 
map prepare time 4.328864 ms
map corner num 141948  surf num 68086 
build tree time 38.833404 ms 
points size 97605 
prepare time 12.144232 
sort q time 7.103957 
seperate points time 13.939129 
publication time 8.729429 ms 
whole laserOdometry time 8.744494 ms 
 
mapping solver time 44.973511 ms 
points size 96820 
prepare time 17.673411 
sort q time 6.618508 
seperate points time 15.384669 
mapping data assosiation time 51.601271 ms 
publication time 10.455799 ms 
whole laserOdometry time 10.471468 ms 
 
mapping solver time 48.252189 ms 
mapping optimization time 238.944438 
filter time 13.854559 ms 
prepare time 15.518633 
sort q time 5.600679 
seperate points time 13.113396 
scan registration time 35.008597 ms *************
publication time 10.667512 ms 
whole laserOdometry time 10.680360 ms 
 
-----t: 0.0493877
OdomCount 1182 & avg odom time 0.044357 ms ++++++++++++++++++++++
mapping data assosiation time 39.739365 ms 
points size 91573 
sort q time 4.983516 
seperate points time 11.693089 
scan registration time 30.666611 ms *************
mapping data assosiation time 49.300066 ms 
points size 90414 
prepare time 13.061566 
sort q time 6.176521 
seperate points time 20.327376 
mapping optimization time 250.661764 
publication time 10.985554 ms 
whole laserOdometry time 11.016390 ms 
 
-----t: 0.179492
OdomCount 1183 & avg odom time 0.044472 ms ++++++++++++++++++++++
1317357884.732650995 WriteOdom laser_odom_to_init
1317357884.732650995 WriteOdom aft_mapped_to_init_high_frec
points size 88269 
build tree time 46.636879 ms 
publication time 11.581167 ms 
whole laserOdometry time 11.596041 ms 
 
mapping data assosiation time 44.444318 ms 
-----t: 0.0979782
OdomCount 1184 & avg odom time 0.044517 ms ++++++++++++++++++++++
1317357884.837099075 WriteOdom laser_odom_to_init
1317357884.837099075 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357885.045989990
mapping solver time 52.243992 ms 
publication time 9.504560 ms 
whole laserOdometry time 9.561939 ms 
 
mapping data assosiation time 42.985455 ms 
-----t: 0.0493146
OdomCount 1186 & avg odom time 0.044524 ms ++++++++++++++++++++++
1317357885.045989990 WriteOdom laser_odom_to_init
1317357885.045989990 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357885.150413990
points size 86256 
filter time 11.361568 ms 
sort q time 4.898640 
seperate points time 11.203202 
publication time 10.902423 ms 
whole laserOdometry time 10.922795 ms 
 
build tree time 33.190654 ms 
-----t: 0.0719575
OdomCount 1187 & avg odom time 0.044547 ms ++++++++++++++++++++++
1317357885.150413990 WriteOdom laser_odom_to_init
1317357885.150413990 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357885.254765033
points size 87278 
sort q time 4.899978 
seperate points time 12.789321 
publication time 8.245004 ms 
whole laserOdometry time 8.262956 ms 
 
-----t: 0.0606316
OdomCount 1188 & avg odom time 0.044561 ms ++++++++++++++++++++++
mapping data assosiation time 43.695481 ms 
points size 88325 
sort q time 5.643761 
seperate points time 11.267640 
scan registration time 30.935053 ms *************
publication time 9.694687 ms 
whole laserOdometry time 9.712020 ms 
 
1317357884.941544056 WriteOdom aft_mapped_to_init
build tree time 33.076678 ms 
points size 88612 
sort q time 6.062165 
seperate points time 11.700426 
publication time 8.590177 ms 
whole laserOdometry time 8.604226 ms 
 
mapping solver time 53.330053 ms 
points size 90589 
sort q time 6.081163 
seperate points time 12.171263 
mapping data assosiation time 45.849615 ms 
mapping solver time 42.923265 ms 
filter time 11.098477 ms 
points size 94593 
sort q time 5.588326 
seperate points time 12.563330 
drop lidar frame in mapping for real time performance 
-----t: 0.0387528
OdomCount 1192 & avg odom time 0.044540 ms ++++++++++++++++++++++
publication time 10.857885 ms 
whole laserOdometry time 10.876110 ms 
 
build tree time 39.761927 ms 
--------------------stamp1317357885.775752067
prepare time 12.341429 
sort q time 5.448697 
seperate points time 30.311570 
mapping solver time 59.282018 ms 
--------------------stamp1317357885.879837989
mapping data assosiation time 47.998484 ms 
publication time 12.166869 ms 
whole laserOdometry time 12.182755 ms 
 
-----t: 0.0370513
OdomCount 1194 & avg odom time 0.044597 ms ++++++++++++++++++++++
1317357885.879837989 WriteOdom laser_odom_to_init
1317357885.879837989 WriteOdom aft_mapped_to_init_high_frec
filter time 12.399216 ms 
mapping pub time 2.072120 ms 
whole mapping time 258.951729 ms +++++
mappingCount 902 & avg mapping time 132.062299 ms ++++++++++++++++++++++
1317357885.463296890 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357885.983899116
prepare time 11.657147 
sort q time 5.584937 
seperate points time 12.521446 
build tree time 40.938197 ms 
publication time 9.573159 ms 
whole laserOdometry time 9.581640 ms 
 
-----t: 0.0473473
OdomCount 1195 & avg odom time 0.044599 ms ++++++++++++++++++++++
1317357885.983899116 WriteOdom laser_odom_to_init
1317357885.983899116 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357886.087964057
prepare time 13.636204 
sort q time 5.842100 
seperate points time 14.054125 
publication time 14.117055 ms 
whole laserOdometry time 14.197678 ms 
mapping data assosiation time 48.412887 ms 
--------------------stamp1317357886.192003965
prepare time 12.488890 
1317357885.671641111 WriteOdom aft_mapped_to_init
publication time 10.456534 ms 
whole laserOdometry time 10.472062 ms 
 
build tree time 41.918542 ms 
--------------------stamp1317357886.296015977
points size 102662 
sort q time 6.423924 
seperate points time 12.252342 
publication time 8.588778 ms 
whole laserOdometry time 8.602668 ms 
 
mapping solver time 57.665228 ms 
-----t: 0.0566045
OdomCount 1198 & avg odom time 0.044616 ms ++++++++++++++++++++++
--------------------stamp1317357886.400031089
points size 103813 
sort q time 6.661755 
seperate points time 13.649957 
publication time 9.434967 ms 
whole laserOdometry time 9.447321 ms 
 
mapping solver time 58.531863 ms 
-----t: 0.064341
OdomCount 1199 & avg odom time 0.044632 ms ++++++++++++++++++++++
filter time 13.322953 ms 
--------------------stamp1317357886.503998994
points size 103646 
sort q time 6.925447 
seperate points time 14.012630 
build tree time 45.378697 ms 
-----t: 0.04119
OdomCount 1200 & avg odom time 0.044630 ms ++++++++++++++++++++++
mapping data assosiation time 47.400931 ms 
--------------------stamp1317357886.607916116
points size 103877 
prepare time 13.286899 
sort q time 6.431702 
seperate points time 14.584605 
publication time 11.079946 ms 
whole laserOdometry time 11.147353 ms 
 mapping data assosiation time 44.161774 ms 
--------------------stamp1317357886.711836099
points size 103834 
sort q time 5.786353 
seperate points time 13.093976 
filter time 12.246996 ms 
publication time 15.468718 ms 
whole laserOdometry time 15.493386 ms 
 
build tree time 36.202068 ms 
--------------------stamp1317357886.815754890
points size 104190 
sort q time 7.108583 
seperate points time 13.410080 
-----t: 0.0489405
OdomCount 1203 & avg odom time 0.044623 ms ++++++++++++++++++++++
mapping solver time 53.123312 ms 
points size 104133 
mapping data assosiation time 51.853127 ms 
scan registration time 65.128955 ms *************
publication time 11.637820 ms 
whole laserOdometry time 11.668111 ms 
 
--------------------stamp1317357887.023565053
prepare time 15.589124 
filter time 17.475772 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
publication time 16.759648 ms 
whole laserOdometry time 16.777988 ms 
 
-----t: 0.049674
OdomCount 1205 & avg odom time 0.044653 ms ++++++++++++++++++++++
1317357887.023565053 WriteOdom laser_odom_to_init
1317357887.023565053 WriteOdom aft_mapped_to_init_high_frec
build tree time 38.632962 ms 
--------------------stamp1317357887.127460956
prepare time 12.854433 
sort q time 6.467724 
seperate points time 13.818962 
publication time 9.854368 ms 
whole laserOdometry time 9.868714 ms 
 
mapping solver time 50.662554 ms 
--------------------stamp1317357887.231406927
points size 103681 
mapping data assosiation time 46.692288 ms 
sort q time 6.157159 
seperate points time 13.928998 
publication time 12.956829 ms 
whole laserOdometry time 12.975478 ms 
 
mapping solver time 44.745743 ms 
filter time 11.749984 ms 
--------------------stamp1317357887.335375070
prepare time 13.623397 
sort q time 6.721043 
seperate points time 13.136233 
publication time 10.856259 ms 
whole laserOdometry time 10.887341 ms 
 
-----t: 0.0626233
OdomCount 1208 & avg odom time 0.044670 ms ++++++++++++++++++++++
mapping data assosiation time 50.370040 ms 
--------------------stamp1317357887.439341068
prepare time 12.457355 
sort q time 6.951223 
seperate points time 14.177998 
publication time 19.885845 ms 
whole laserOdometry time 19.901723 ms mapping data assosiation time 46.037551 ms 
--------------------stamp1317357887.543282985
points size 104163 
mapping solver time 48.968538 ms 
publication time 10.588395 ms 
-----t: 0.050147
OdomCount 1210 & avg odom time 0.044674 ms ++++++++++++++++++++++
build tree time 41.517101 ms 
--------------------stamp1317357887.647226095
points size 104407 
prepare time 13.679059 
sort q time 5.756088 
seperate points time 13.610507 
mapping data assosiation time 51.524954 ms 
-----t: 0.0454095
OdomCount 1211 & avg odom time 0.044674 ms ++++++++++++++++++++++
mapping solver time 48.286675 ms 
--------------------stamp1317357887.751193046
points size 104526 
sort q time 7.060750 
seperate points time 14.176921 
publication time 12.301793 ms 
whole laserOdometry time 12.312083 ms 
 
-----t: 0.0409648
OdomCount 1212 & avg odom time 0.044671 ms ++++++++++++++++++++++
1317357887.751193046 WriteOdom laser_odom_to_init
1317357887.751193046 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 50.359944 ms 
--------------------stamp1317357887.855159997
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
sort q time 6.079067 
seperate points time 14.815671 
scan registration time 36.142437 ms *************
1317357887.855159997 WriteOdom laser_odom_to_init
1317357887.855159997 WriteOdom aft_mapped_to_init_high_frec
build tree time 50.469216 ms 
publication time 10.726492 ms 
whole laserOdometry time 10.742968 ms 
 
--------------------stamp1317357887.959101915
points size 103885 
mapping solver time 42.001854 ms 
-----t: 0.0379037
OdomCount 1214 & avg odom time 0.044668 ms ++++++++++++++++++++++
1317357887.959101915 WriteOdom laser_odom_to_init
1317357887.959101915 WriteOdom aft_mapped_to_init_high_frec
publication time 10.817737 ms 
whole laserOdometry time 10.831623 ms 
 
mapping data assosiation time 41.923045 ms 
--------------------stamp1317357888.063044071
points size 103477 
sort q time 5.746688 
seperate points time 14.009332 
-----t: 0.0345115
OdomCount 1215 & avg odom time 0.044659 ms ++++++++++++++++++++++
map prepare time 3.555725 ms
map corner num 128236  surf num 66940 
build tree time 32.986501 ms 
--------------------stamp1317357888.167035102
points size 103420 
prepare time 13.923698 
scan registration time 30.783397 ms *************
publication time 9.558756 ms 
whole laserOdometry time 9.586008 ms 
 
mapping solver time 48.598844 ms 
--------------------stamp1317357888.271050930
points size 103372 
mapping data assosiation time 43.409879 ms 
publication time 10.076452 ms 
whole laserOdometry time 10.093182 ms 
 
filter time 15.300141 ms 
map prepare time 4.316275 ms
map corner num 129432  surf num 67497 
-----t: 0.0800004
OdomCount 1217 & avg odom time 0.044684 ms ++++++++++++++++++++++
--------------------stamp1317357888.375065088
points size 103282 
sort q time 5.729787 
seperate points time 13.116445 
publication time 8.874569 ms 
whole laserOdometry time 8.896355 ms 
 
mapping data assosiation time 45.231713 ms 
-----t: 0.0607723
OdomCount 1218 & avg odom time 0.044697 ms ++++++++++++++++++++++
--------------------stamp1317357888.479054927
points size 103496 
prepare time 12.657500 
sort q time 5.845941 
seperate points time 13.260028 
mapping data assosiation time 47.085152 ms 
-----t: 0.0465782
OdomCount 1219 & avg odom time 0.044699 ms ++++++++++++++++++++++
mapping solver time 27.953085 ms 
filter time 12.106642 ms 
--------------------stamp1317357888.583043098
points size 103017 
sort q time 5.961049 
seperate points time 14.074814 
scan registration time 35.518516 ms *************
-----t: 0.0414846
OdomCount 1220 & avg odom time 0.044696 ms ++++++++++++++++++++++
mapping data assosiation time 50.136464 ms 
--------------------stamp1317357888.687035083
points size 102793 
prepare time 14.800415 
mapping solver time 40.640523 ms 
1317357888.687035083 WriteOdom laser_odom_to_init
1317357888.687035083 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 46.737968 ms 
--------------------stamp1317357888.791027069
mapping solver time 35.818539 ms 
sort q time 5.872779 
seperate points time 14.532794 
map prepare time 3.701971 ms
map corner num 131794  surf num 68672 
publication time 10.769788 ms 
whole laserOdometry time 10.783571 ms 
 
-----t: 0.0479179
OdomCount 1222 & avg odom time 0.044698 ms ++++++++++++++++++++++
build tree time 36.450023 ms 
--------------------stamp1317357888.895018100
mapping data assosiation time 39.455272 ms 
sort q time 6.165502 
seperate points time 14.558729 
publication time 11.276839 ms 
whole laserOdometry time 11.292916 ms 
 
mapping solver time 53.773512 ms 
--------------------stamp1317357888.998984098
points size 100982 
prepare time 16.706285 
scan registration time 35.576141 ms *************
mapping solver time 43.103383 ms 
filter time 18.295813 ms 
map prepare time 3.668621 ms
map corner num 132904  surf num 69204 
--------------------stamp1317357889.102927923
points size 100957 
build tree time 47.407443 ms 
sort q time 6.194433 
seperate points time 14.485330 
publication time 13.526178 ms 
whole laserOdometry time 13.547407 ms 
 
mapping data assosiation time 47.874479 ms 
--------------------stamp1317357889.206868886
points size 101518 
prepare time 14.781647 
sort q time 5.763235 
seperate points time 14.385240 
mapping data assosiation time 42.860163 ms 
mapping solver time 42.389645 ms 
--------------------stamp1317357889.310811042
prepare time 11.833224 
sort q time 5.204499 
seperate points time 12.740507 
scan registration time 29.225599 ms *************
publication time 11.381943 ms 
whole laserOdometry time 11.393503 ms 
 
build tree time 35.187089 ms 
-----t: 0.0534066
OdomCount 1227 & avg odom time 0.044712 ms ++++++++++++++++++++++
mapping data assosiation time 37.360645 ms 
--------------------stamp1317357889.414753913
points size 98010 
sort q time 5.693343 
seperate points time 11.762425 
1317357889.414753913 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 41.695210 ms 
--------------------stamp1317357889.518697977
points size 96936 
prepare time 13.462883 
1317357889.102927923 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 59.746430 ms 
points size 96039 
sort q time 5.682683 
seperate points time 13.479230 
scan registration time 39.660515 ms *************
mapping data assosiation time 64.907514 ms 
-----t: 0.0511494
OdomCount 1230 & avg odom time 0.044721 ms ++++++++++++++++++++++
1317357889.622591972 WriteOdom laser_odom_to_init
1317357889.622591972 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 43.930375 ms 
prepare time 14.941137 
sort q time 6.548451 
seperate points time 15.077452 
publication time 17.083814 ms 
whole laserOdometry time 17.098441 ms 
 
mapping data assosiation time 84.229917 ms 
--------------------stamp1317357889.830384016
points size 94045 
mapping solver time 36.092697 ms 
sort q time 5.630618 
seperate points time 15.283270 
filter time 19.546675 ms 
drop lidar frame in mapping for real time performance map prepare time 7.907419 ms
map corner num 136253  surf num 70766 build tree time 35.131364 ms 
points size 92152 
sort q time 5.350894 
seperate points time 12.775695 
mapping data assosiation time 44.119046 ms 
publication time 10.641493 ms 
whole laserOdometry time 10.671042 ms 
 
-----t: 0.0615885
OdomCount 1233 & avg odom time 0.044752 ms ++++++++++++++++++++++
mapping solver time 50.964469 ms 
--------------------stamp1317357890.038099050
points size 92284 
sort q time 5.473236 
seperate points time 11.885067 
mapping data assosiation time 44.276473 ms 
publication time 13.945009 ms 
whole laserOdometry time 13.959924 ms 
 
mapping solver time 43.054030 ms 
filter time 18.042569 ms 
map prepare time 5.853583 ms
map corner num 137417  surf num 71239 
points size 93338 
build tree time 45.043599 ms 
sort q time 7.715950 
seperate points time 20.284993 
scan registration time 55.459975 ms *************
publication time 13.719141 ms 
whole laserOdometry time 13.733477 ms 
 
-----t: 0.078244
OdomCount 1235 & avg odom time 0.044824 ms ++++++++++++++++++++++
--------------------stamp1317357890.245675086
points size 93384 
prepare time 13.076623 
sort q time 5.183867 
seperate points time 10.960305 
publication time 10.107994 ms 
whole laserOdometry time 10.136254 ms 
 
-----t: 0.0562002
OdomCount 1236 & avg odom time 0.044833 ms ++++++++++++++++++++++
1317357890.245675086 WriteOdom laser_odom_to_init
1317357890.245675086 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 40.360015 ms 
--------------------stamp1317357890.349450111
points size 94763 
mapping solver time 29.323432 ms 
mapping optimization time 220.900387 
add points time 1.414500 ms
filter time 18.075797 ms 
publication time 13.207929 ms 
whole laserOdometry time 13.224368 ms 
 
build tree time 37.524994 ms 
--------------------stamp1317357890.453223943
prepare time 10.970689 
mapping data assosiation time 37.928893 ms 
scan registration time 31.748734 ms *************
-----t: 0.0539349
OdomCount 1238 & avg odom time 0.044843 ms ++++++++++++++++++++++
1317357890.453223943 WriteOdom laser_odom_to_init
1317357890.453223943 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 50.728208 ms 
--------------------stamp1317357890.556973934
prepare time 11.200458 
sort q time 5.694511 
seperate points time 12.802078 
mapping solver time 36.662786 ms 
publication time 11.409956 ms 
whole laserOdometry time 11.431896 ms 
 
-----t: 0.0402504
OdomCount 1239 & avg odom time 0.044839 ms ++++++++++++++++++++++
1317357890.556973934 WriteOdom laser_odom_to_init
mapping pub time 2.253585 ms 
whole mapping time 228.587737 ms +++++
mappingCount 920 & avg mapping time 134.463919 ms ++++++++++++++++++++++
--------------------stamp1317357890.660722970
prepare time 11.539155 
scan registration time 30.204834 ms *************
mapping data assosiation time 44.080501 ms 
1317357890.660722970 WriteOdom laser_odom_to_initmapping solver time 38.927638 ms 
--------------------stamp1317357890.764472007
prepare time 13.065915 
mapping data assosiation time 41.186726 ms 
scan registration time 33.621608 ms *************
publication time 10.511384 ms 
-----t: 0.0447205
OdomCount 1241 & avg odom time 0.044835 ms ++++++++++++++++++++++
1317357890.764472007 WriteOdom laser_odom_to_init
1317357890.764472007 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 43.353383 ms 
mapping optimization time 201.834438 
add points time 1.214890 ms
filter time 12.330810 ms 
--------------------stamp1317357890.868199110
prepare time 13.552830 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357890.971927881
-----t: 0.118297
OdomCount 1242 & avg odom time 0.044894 ms ++++++++++++++++++++++
sort q time 15.736791 
seperate points time 32.288170 
mapping data assosiation time 79.818026 ms 
-----t: 0.066559
OdomCount 1243 & avg odom time 0.044912 ms ++++++++++++++++++++++
1317357890.971927881 WriteOdom laser_odom_to_init
sort q time 6.507374 
seperate points time 15.999863 
publication time 18.289152 ms 
whole laserOdometry time 18.305353 ms 
 
mapping data assosiation time 107.780065 ms 
publication time 10.870422 ms 
whole laserOdometry time 10.889328 ms 
 
mapping solver time 78.656304 ms 
-----t: 0.106033
OdomCount 1245 & avg odom time 0.044970 ms ++++++++++++++++++++++
1317357891.179404973 WriteOdom laser_odom_to_init
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 
-----t: 0.0474809
OdomCount 1246 & avg odom time 0.044972 ms ++++++++++++++++++++++
prepare time 12.968620 
scan registration time 33.835920 ms *************
mapping data assosiation time 56.361361 ms 
publication time 23.173341 ms 
whole laserOdometry time 23.197117 ms 
 
--------------------stamp1317357891.490660905
sort q time 5.757062 
seperate points time 14.202530 
publication time 9.696684 ms 
whole laserOdometry time 9.713499 ms 
 
points size 94587 
map prepare time 5.207531 ms
map corner num 144011  surf num 74487 
publication time 13.390942 ms 
whole laserOdometry time 13.405848 ms 
 
-----t: 0.0431514
OdomCount 1249 & avg odom time 0.045010 ms ++++++++++++++++++++++
1317357891.594388961 WriteOdom laser_odom_to_init
build tree time 48.666572 ms 
--------------------stamp1317357891.698137044
prepare time 14.077411 
mapping data assosiation time 47.197704 ms 
sort q time 5.902579 
seperate points time 14.781162 
scan registration time 34.316017 ms *************
publication time 16.609633 ms 
whole laserOdometry time 16.626059 ms 
 
-----t: 0.0580898
OdomCount 1250 & avg odom time 0.045020 ms ++++++++++++++++++++++
1317357891.698137044 WriteOdom laser_odom_to_init
--------------------stamp1317357891.801909923
scan registration time 27.804456 ms *************
publication time 10.431293 ms 
whole laserOdometry time 10.448246 ms 
 
mapping optimization time 243.609909 
filter time 11.939172 ms 
points size 92578 
sort q time 6.728566 
seperate points time 14.338649 
-----t: 0.0394287
OdomCount 1252 & avg odom time 0.045013 ms ++++++++++++++++++++++
mapping data assosiation time 45.330881 ms 
--------------------stamp1317357892.009462118
publication time 11.939378 ms 
whole laserOdometry time 11.964820 ms 
 
publication time 15.942886 ms 
whole laserOdometry time 16.234129 ms 
 
mapping data assosiation time 41.358697 ms 
points size 94352 
mapping solver time 43.558224 ms 
sort q time 5.345967 
seperate points time 15.650706 
publication time 12.378123 ms 
whole laserOdometry time 12.397431 ms 
 
1317357892.217036008 WriteOdom laser_odom_to_init
1317357892.217036008 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 42.688419 ms 
--------------------stamp1317357892.320858001
filter time 15.367865 ms 
map prepare time 4.140717 ms
map corner num 148472  surf num 76669 
build tree time 44.293926 ms 
-----t: 0.0807844
OdomCount 1256 & avg odom time 0.045055 ms ++++++++++++++++++++++--------------------stamp1317357892.424679040
prepare time 15.169960 
mapping solver time 40.694704 ms 
1317357892.424679040 WriteOdom laser_odom_to_init
points size 94292 
mapping solver time 26.874976 ms 
filter time 16.154289 ms 
publication time 11.444337 ms 
whole laserOdometry time 11.459256 ms 
 
-----t: 0.063206
OdomCount 1258 & avg odom time 0.045073 ms ++++++++++++++++++++++
--------------------stamp1317357892.632328033
prepare time 15.089189 
scan registration time 32.909605 ms *************
publication time 10.696766 ms 
whole laserOdometry time 10.711154 ms 
 
-----t: 0.0526724
OdomCount 1259 & avg odom time 0.045079 ms ++++++++++++++++++++++
mapping solver time 60.747572 ms 
points size 96538 
mapping data assosiation time 43.243712 ms 
publication time 13.725861 ms 
whole laserOdometry time 13.736287 ms 
 
-----t: 0.0617026
OdomCount 1260 & avg odom time 0.045092 ms ++++++++++++++++++++++
1317357892.736149072 WriteOdom laser_odom_to_init
1317357892.736149072 WriteOdom aft_mapped_to_init_high_frec
map prepare time 4.163383 ms
map corner num 151178  surf num 77811 
--------------------stamp1317357892.839976072
points size 96304 
build tree time 39.564508 ms 
publication time 27.256836 ms 
whole laserOdometry time 27.269278 ms 
 
mapping data assosiation time 44.292212 ms 
--------------------stamp1317357892.943797111
prepare time 12.413594 
mapping data assosiation time 40.819199 ms 
mapping solver time 29.228165 ms 
filter time 12.648932 ms 
points size 95451 
sort q time 5.486663 
seperate points time 12.609211 
build tree time 45.309169 ms 
publication time 10.309163 ms 
whole laserOdometry time 10.324489 ms 
 
mapping data assosiation time 43.429604 ms 
--------------------stamp1317357893.151413917
prepare time 14.426639 
sort q time 5.678030 
seperate points time 14.408001 
-----t: 0.0409748
OdomCount 1264 & avg odom time 0.045151 ms ++++++++++++++++++++++
1317357893.151413917 WriteOdom laser_odom_to_init
1317357893.151413917 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 38.361581 ms 
--------------------stamp1317357893.255213022
filter time 12.727393 ms 
build tree time 46.918132 ms 
--------------------stamp1317357893.359010934
scan registration time 32.672778 ms *************
publication time 11.049643 ms 
whole laserOdometry time 11.085971 ms 
 
mapping data assosiation time 35.287740 ms 
points size 93449 
mapping solver time 29.875235 ms 
scan registration time 36.302384 ms *************
[0m[ INFO] [1718804610.326946129, 1317357893.510404973]: Received 234877 data points in frame camera_init with the following fields: x y z intensity[0m
-----t: 0.0510062
OdomCount 1267 & avg odom time 0.045153 ms ++++++++++++++++++++++
points size 93126 
publication time 11.111429 ms 
whole laserOdometry time 11.125264 ms 
 
mapping data assosiation time 55.462898 ms 
points size 92531 
sort q time 5.658522 
seperate points time 13.072997 
publication time 8.845414 ms 
whole laserOdometry time 8.861618 ms 
 
-----t: 0.0569216
OdomCount 1269 & avg odom time 0.045167 ms ++++++++++++++++++++++
points size 92406 
mapping optimization time 254.132271 
add points time 1.452557 ms
sort q time 7.427652 
seperate points time 16.218640 
mapping pub time 5.307418 ms 
whole mapping time 309.378944 ms +++++
mappingCount 932 & avg mapping time 136.141867 ms ++++++++++++++++++++++build tree time 28.883482 ms 
points size 92264 
1317357893.774324893 WriteOdom laser_odom_to_init
1317357893.774324893 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 56.112207 ms --------------------stamp1317357893.981972932
sort q time 11.792159 
seperate points time 26.235599 
mapping solver time 30.749167 ms 
mapping pub time 2.402039 ms 
whole mapping time 253.025708 ms +++++
mappingCount 933 & avg mapping time 136.267148 ms ++++++++++++++++++++++
1317357893.462810040 WriteOdom aft_mapped_to_init
points size 90579 
sort q time 4.537518 
seperate points time 11.791009 
build tree time 26.952097 ms 
mapping data assosiation time 41.417177 ms 
1317357894.085793972 WriteOdom aft_mapped_to_init_high_frecpoints size 92554 
sort q time 4.658278 
seperate points time 22.239541 
scan registration time 55.443314 ms *************
publication time 11.260592 ms 
whole laserOdometry time 11.276285 ms 
 
-----t: 0.0704871
OdomCount 1274 & avg odom time 0.045315 ms ++++++++++++++++++++++
mapping data assosiation time 51.670708 ms 
points size 92387 
mapping solver time 36.199335 ms 
filter time 12.398533 ms 
map prepare time 3.790986 ms
map corner num 85834  surf num 48265 
publication time 10.328528 ms 
whole laserOdometry time 10.346006 ms 
 
--------------------stamp1317357894.397214889
prepare time 12.264651 
sort q time 6.495858 
seperate points time 24.081716 
publication time 9.762230 ms 
whole laserOdometry time 9.786074 ms 
 
-----t: 0.059881
OdomCount 1276 & avg odom time 0.045333 ms ++++++++++++++++++++++
mapping solver time 61.140520 ms 
--------------------stamp1317357894.501039028
prepare time 12.769108 
sort q time 5.473665 
seperate points time 15.910101 
mapping solver time 32.372826 ms 
filter time 10.617166 ms 
build tree time 23.484032 ms 
points size 94199 
mapping data assosiation time 37.578425 ms 
publication time 12.133714 ms 
whole laserOdometry time 12.151486 ms 
 
-----t: 0.0527344mapping data assosiation time 32.805996 ms 
--------------------stamp1317357894.708621978
prepare time 14.491901 
sort q time 5.493876 
seperate points time 14.445244 
mapping pub time 24.281054 ms 
whole mapping time 193.529150 ms +++++
mappingCount 936 & avg mapping time 136.528272 ms ++++++++++++++++++++++
-----t: 0.0504691
OdomCount 1279 & avg odom time 0.045339 ms ++++++++++++++++++++++
build tree time 31.559288 ms 
prepare time 13.778456 
sort q time 12.733161 
seperate points time 22.107390 
mapping solver time 37.871899 ms 
--------------------stamp1317357894.916138887
-----t: 0.108298
OdomCount 1280 & avg odom time 0.045388 ms ++++++++++++++++++++++
publication time 8.606795 ms 
whole laserOdometry time 8.618435 ms 
 
add points time 1.166196 ms
mapping pub time 2.347792 ms 
whole mapping time 216.961930 ms +++++
mappingCount 937 & avg mapping time 136.614118 ms ++++++++++++++++++++++
--------------------stamp1317357895.019936084
points size 98749 
sort q time 5.296170 
seperate points time 11.892370 
publication time 14.138075 ms 
whole laserOdometry time 14.167467 ms 
 
-----t: 0.0470841
OdomCount 1282 & avg odom time 0.045411 ms ++++++++++++++++++++++
1317357895.019936084 WriteOdom laser_odom_to_init
1317357895.019936084 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357895.123711109
mapping solver time 25.369070 ms 
filter time 12.324092 ms 
map prepare time 7.242070 ms
map corner num 88333  surf num 48669 
-----t: 0.0491227
OdomCount 1283 & avg odom time 0.045414 ms ++++++++++++++++++++++
build tree time 26.839639 ms 
--------------------stamp1317357895.227483987
prepare time 12.411195 
sort q time 5.333287 
seperate points time 13.074949 
mapping solver time 34.249529 ms 
-----t: 0.0376324
OdomCount 1284 & avg odom time 0.045408 ms ++++++++++++++++++++++
1317357895.227483987 WriteOdom laser_odom_to_init
1317357895.227483987 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.539173 ms 
mapping solver time 21.267034 ms 
points size 98717 
map prepare time 3.682460 ms
map corner num 89553  surf num 49292 
sort q time 5.967471 
seperate points time 14.154111 
build tree time 25.493889 ms 
mapping data assosiation time 32.879208 ms 
--------------------stamp1317357895.434986114
prepare time 11.163482 
sort q time 6.190167 
seperate points time 14.339661 
mapping solver time 29.274094 ms 
-----t: 0.0556956
OdomCount 1286 & avg odom time 0.045412 ms ++++++++++++++++++++++
points size 99250 
build tree time 34.904051 ms 
publication time 15.777680 ms 
whole laserOdometry time 15.811263 ms 
 
mapping data assosiation time 41.843772 ms 
--------------------stamp1317357895.642465114
prepare time 11.216347 
scan registration time 31.476564 ms *************
mapping data assosiation time 40.382875 ms 
publication time 13.510625 ms 
whole laserOdometry time 13.531167 ms 
 
mapping solver time 24.990164 ms 
filter time 10.738421 ms 
[0m[ INFO] [1718804612.541710235, 1317357895.723890000]: Received 142503 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804612.542046070, 1317357895.733953336]: Data saved to 1317357895331235.pcd[0m
-----t: 0.0745688
OdomCount 1288 & avg odom time 0.045436 ms ++++++++++++++++++++++
1317357895.642465114 WriteOdom laser_odom_to_init
--------------------stamp1317357895.746190071
points size 95026 
sort q time 5.685804 
seperate points time 13.070175 
publication time 11.627492 ms 
whole laserOdometry time 11.645239 ms 
 
build tree time 31.122180 ms 
--------------------stamp1317357895.849941015
points size 94134 
sort q time 5.192791 
seperate points time 12.680332 
publication time 13.071750 ms 
whole laserOdometry time 13.105597 ms 
 
mapping data assosiation time 37.938208 ms 
--------------------stamp1317357895.953716039
points size 93845 
1317357895.849941015 WriteOdom laser_odom_to_init
sort q time 4.958628 
seperate points time 28.916982 
publication time 15.387654 ms 
whole laserOdometry time 15.401245 ms 
 
-----t: 0.0474853
OdomCount 1291 & avg odom time 0.045504 ms ++++++++++++++++++++++
1317357895.953716039 WriteOdom laser_odom_to_init
1317357895.953716039 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 39.619567 ms 
--------------------stamp1317357896.057490110
prepare time 11.133636 
sort q time 5.242262 
seperate points time 12.844225 
publication time 9.198605 ms 
whole laserOdometry time 9.212865 ms 
 
-----t: 0.0429265
OdomCount 1292 & avg odom time 0.045502 ms ++++++++++++++++++++++
mapping solver time 30.430964 ms 
mapping optimization time 168.624123 
add points time 0.694057 ms
drop lidar frame in mapping for real time performance 
prepare time 12.174854 
sort q time 5.374065 
seperate points time 12.988731 
-----t: 0.0381016
OdomCount 1293 & avg odom time 0.045496 ms ++++++++++++++++++++++
mapping data assosiation time 34.951505 ms 
mapping solver time 28.182270 ms 
points size 96231 
sort q time 5.378664 
seperate points time 13.621406 
publication time 9.776578 ms 
whole laserOdometry time 9.792408 ms 
 
mapping optimization time 161.728265 
add points time 0.780426 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357896.368865013
sort q time 5.691162 
seperate points time 13.466893 
mapping data assosiation time 38.473071 ms 
mapping solver time 32.679856 ms 
--------------------stamp1317357896.472666025
points size 99806 
sort q time 5.439563 
seperate points time 13.776270 
scan registration time 31.894073 ms *************
mapping solver time 34.947555 ms 
filter time 10.308161 ms 
map prepare time 5.492399 ms
map corner num 96930  surf num 52860 
build tree time 25.703936 ms 
points size 99985 
mapping data assosiation time 37.753207 ms 
scan registration time 31.110280 ms *************
publication time 10.992407 ms 
whole laserOdometry time 11.013843 ms 
 
-----t: 0.0526546
OdomCount 1297 & avg odom time 0.045494 ms ++++++++++++++++++++++
mapping data assosiation time 34.097372 ms 
--------------------stamp1317357896.680237054
mapping optimization time 158.407424 
[0m[ INFO] [1718804613.513250693, 1317357896.702874643]: Received 151521 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804613.513289467, 1317357896.702874643]: Data saved to 1317357896368865.pcd[0m
1317357896.368865013 WriteOdom aft_mapped_to_init
sort q time 5.949482 
seperate points time 14.288623 
publication time 14.511869 ms 
whole laserOdometry time 14.535751 ms 
 
-----t: 0.0544624
OdomCount 1298 & avg odom time 0.045501 ms ++++++++++++++++++++++
mapping data assosiation time 35.403761 ms 
points size 99443 
sort q time 5.710336 
seperate points time 13.489897 
publication time 8.440551 ms 
whole laserOdometry time 8.452509 ms 
 
-----t: 0.052546
OdomCount 1299 & avg odom time 0.045506 ms ++++++++++++++++++++++
mapping solver time 32.315074 ms 
mapping pub time 2.311547 ms 
whole mapping time 185.428403 ms +++++
mappingCount 947 & avg mapping time 137.145830 ms ++++++++++++++++++++++
sort q time 5.134195 
seperate points time 12.362734 
build tree time 28.173004 ms 
-----t: 0.0476006
OdomCount 1300 & avg odom time 0.045508 ms ++++++++++++++++++++++
--------------------stamp1317357896.991489887
mapping solver time 41.121481 ms 
sort q time 5.851387 
seperate points time 13.976624 
publication time 27.840393 ms 
whole laserOdometry time 27.871007 ms 
 
-----t: 0.0772903
OdomCount 1301 & avg odom time 0.045532 ms ++++++++++++++++++++++
prepare time 13.130370 
mapping pub time 3.442594 ms 
whole mapping time 212.783709 ms +++++
mappingCount 948 & avg mapping time 137.225630 ms ++++++++++++++++++++++
1317357896.680237055 WriteOdom aft_mapped_to_init
publication time 13.552821 ms 
whole laserOdometry time 13.566763 ms 
 
build tree time 31.909488 ms 
--------------------stamp1317357897.198892116
prepare time 13.526934 
sort q time 5.793306 
seperate points time 13.487822 
publication time 9.729773 ms 
whole laserOdometry time 9.742761 ms 
 
mapping data assosiation time 36.142125 ms 
mapping solver time 22.177836 ms 
filter time 8.833134 ms 
mapping pub time 2.431182 ms 
whole mapping time 180.704668 ms +++++
mappingCount 949 & avg mapping time 137.271456 ms ++++++++++++++++++++++
1317357896.887763977 WriteOdom aft_mapped_to_init
points size 101232 
drop lidar frame in mapping for real time performance 
prepare time 10.684380 
sort q time 6.371293 
seperate points time 13.317106 
build tree time 26.276030 ms 
publication time 11.965379 ms 
whole laserOdometry time 11.998597 ms 
 -----t: 0.0474601
OdomCount 1304 & avg odom time 0.045530 ms ++++++++++++++++++++++
mapping data assosiation time 39.273710 ms 
mapping solver time 31.461490 ms 
prepare time 15.950587 
sort q time 5.616386 
seperate points time 14.059754 
scan registration time 35.912694 ms *************
publication time 8.136741 ms 
whole laserOdometry time 8.149470 ms 
 
mapping solver time 29.281417 ms 
filter time 7.632549 ms 
map prepare time 3.021962 ms
map corner num 102456  surf num 55733 
--------------------stamp1317357897.510148048
points size 100967 
build tree time 32.891608 ms 
scan registration time 34.657912 ms *************
publication time 12.464210 ms 
whole laserOdometry time 12.480362 ms 
 
mapping data assosiation time 44.007857 ms 
-----t: 0.0555744
OdomCount 1306 & avg odom time 0.045542 ms ++++++++++++++++++++++
1317357897.510148048 WriteOdom laser_odom_to_init
1317357897.510148048 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357897.613919973
points size 101074 
sort q time 8.657017 
seperate points time 29.865551 
mapping data assosiation time 51.846853 ms 
mapping solver time 27.786062 ms 
filter time 9.730343 ms 
map prepare time 4.347186 ms
map corner num 103594  surf num 56459 
prepare time 14.874613 
sort q time 5.963217 
seperate points time 14.478148 
scan registration time 34.363814 ms *************
build tree time 31.041201 ms 
publication time 15.596331 ms 
whole laserOdometry time 15.609190 ms 
 
-----t: 0.0648672
OdomCount 1308 & avg odom time 0.045560 ms ++++++++++++++++++++++
1317357897.717698097 WriteOdom laser_odom_to_init
1317357897.717698097 WriteOdom aft_mapped_to_init_high_frec
points size 101642 
scan registration time 27.852620 ms *************
publication time 10.508379 ms 
whole laserOdometry time 10.522244 ms 
 mapping optimization time 183.985778 
filter time 8.865899 ms 
build tree time 26.945252 ms 
publication time 11.139880 ms 
whole laserOdometry time 11.158278 ms 
 
-----t: 0.04631
OdomCount 1310 & avg odom time 0.045560 ms ++++++++++++++++++++++
--------------------stamp1317357898.029020071
points size 100280 
scan registration time 30.516944 ms *************
mapping data assosiation time 44.593566 ms 
-----t: 0.0608939
OdomCount 1311 & avg odom time 0.045572 ms ++++++++++++++++++++++
mapping solver time 34.103800 ms 
mapping optimization time 192.284479 
add points time 1.036078 ms
1317357897.717698097 WriteOdom aft_mapped_to_init
points size 99463 
sort q time 5.619950 
seperate points time 14.155725 
build tree time 26.978559 ms 
scan registration time 37.060639 ms *************
publication time 12.312865 ms 
whole laserOdometry time 12.346520 ms 
 
--------------------stamp1317357898.236596107
prepare time 11.855554 
-----t: 0.100858
OdomCount 1312 & avg odom time 0.045614 ms ++++++++++++++++++++++
1317357898.132795095 WriteOdom laser_odom_to_init
1317357898.132795095 WriteOdom aft_mapped_to_init_high_frec
sort q time 6.122453 
seperate points time 19.643975 
-----t: 0.0383852
OdomCount 1313 & avg odom time 0.045608 ms ++++++++++++++++++++++
1317357898.236596107 WriteOdom laser_odom_to_init
1317357898.236596107 WriteOdom aft_mapped_to_init_high_frec
publication time 13.177636 ms 
whole laserOdometry time 13.197743 ms 
 
mapping data assosiation time 42.120939 ms 
mapping solver time 31.428303 ms 
filter time 11.527019 ms 
points size 97981 
mapping pub time 2.485882 ms 
whole mapping time 215.222991 ms +++++
mappingCount 954 & avg mapping time 137.625558 ms ++++++++++++++++++++++
prepare time 10.297323 
1317357897.925245047 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
sort q time 6.902024 
seperate points time 33.163435 
publication time 10.145674 ms 
whole laserOdometry time 10.160419 ms 
 
mapping data assosiation time 38.125829 ms 
--------------------stamp1317357898.444166898
prepare time 11.037487 
sort q time 6.593365 
seperate points time 12.906781 
publication time 9.430886 ms 
whole laserOdometry time 9.451300 ms 
 
mapping data assosiation time 40.143647 ms 
mapping solver time 30.090271 ms 
filter time 12.541846 ms 
points size 97203 
mapping pub time 2.378093 ms 
whole mapping time 205.822644 ms +++++
mappingCount 955 & avg mapping time 137.696974 ms ++++++++++++++++++++++
1317357898.132795095 WriteOdom aft_mapped_to_init
prepare time 12.660511 
drop lidar frame in mapping for real time performance 
scan registration time 29.010080 ms *************
publication time 7.912603 ms 
whole laserOdometry time 7.924921 ms 
 
build tree time 30.785289 ms 
mapping data assosiation time 35.192873 ms 
--------------------stamp1317357898.651741027
prepare time 12.621378 
sort q time 6.423773 
seperate points time 13.195069 
publication time 9.059956 ms 
whole laserOdometry time 9.077316 ms 
 
-----t: 0.0411381
OdomCount 1317 & avg odom time 0.045621 ms ++++++++++++++++++++++
1317357898.651741027 WriteOdom laser_odom_to_init
1317357898.651741027 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 39.920373 ms 
mapping solver time 23.672285 ms 
filter time 8.119594 ms 
--------------------stamp1317357898.755538940
points size 97993 
build tree time 15.987483 ms 
scan registration time 28.467447 ms *************
publication time 9.514784 ms 
whole laserOdometry time 9.532833 ms 
 
mapping data assosiation time 38.773917 ms 
-----t: 0.0721202
OdomCount 1318 & avg odom time 0.045641 ms ++++++++++++++++++++++
--------------------stamp1317357898.859339952
points size 97702 
prepare time 9.983780 
scan registration time 28.142973 ms *************
mapping optimization time 157.550077 
build tree time 17.578293 ms 
--------------------stamp1317357898.963160991
prepare time 15.408400 
mapping data assosiation time 44.131312 ms 
publication time 10.800715 ms 
whole laserOdometry time 10.831021 ms 
 
mapping solver time 46.387699 ms 
--------------------stamp1317357899.066958904
points size 96723 
mapping solver time 34.111869 ms 
mapping optimization time 181.312629 
add points time 0.989188 ms
filter time 7.588269 ms 
publication time 29.274816 ms 
whole laserOdometry time 29.289794 ms 
 
build tree time 18.265428 ms 
--------------------stamp1317357899.170757055
-----t: 0.12055
OdomCount 1321 & avg odom time 0.045736 ms ++++++++++++++++++++++
mapping solver time 37.256629 ms 
publication time 15.062150 ms 
whole laserOdometry time 15.075028 ms 
 
-----t: 0.0516065
OdomCount 1322 & avg odom time 0.045741 ms ++++++++++++++++++++++
1317357899.170757055 WriteOdom laser_odom_to_init
1317357899.170757055 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357899.274557113
prepare time 12.454952 
sort q time 5.469849 
seperate points time 13.343999 
filter time 7.437774 ms 
-----t: 0.0415077
OdomCount 1323 & avg odom time 0.045738 ms ++++++++++++++++++++++
build tree time 19.065355 ms 
--------------------stamp1317357899.378356933
sort q time 5.687666 
seperate points time 12.177577 
mapping solver time 47.868180 ms 
-----t: 0.0564195
OdomCount 1324 & avg odom time 0.045746 ms ++++++++++++++++++++++
mapping data assosiation time 42.490592 ms 
--------------------stamp1317357899.482177972
points size 96947 
sort q time 5.367498 
seperate points time 12.211801 
filter time 6.625242 ms 
publication time 10.344752 ms 
whole laserOdometry time 10.413838 ms 
 
points size 95582 
prepare time 15.401117 
scan registration time 35.240004 ms *************
publication time 18.367842 ms 
whole laserOdometry time 18.380079 ms 
 
mapping data assosiation time 40.704037 ms 
--------------------stamp1317357899.689870119
filter time 8.968854 ms 
prepare time 32.076567 
sort q time 7.406658 
seperate points time 22.791596 
mapping pub time 55.551026 ms 
whole mapping time 236.448430 ms +++++
mappingCount 961 & avg mapping time 138.069242 ms ++++++++++++++++++++++
publication time 11.074524 ms 
whole laserOdometry time 11.092396 ms 
 
points size 92442 
sort q time 7.512332 
seperate points time 16.232677 
scan registration time 49.377702 ms *************
-----t: 0.117308
OdomCount 1327 & avg odom time 0.045809 ms ++++++++++++++++++++++
points size 91653 
scan registration time 52.593622 ms *************
-----t: 0.0374884
OdomCount 1329 & avg odom time 0.045819 ms ++++++++++++++++++++++
mapping data assosiation time 103.518340 ms 
points size 91057 
sort q time 5.925954 
seperate points time 12.012773 
map prepare time 4.016010 ms
map corner num 65754  surf num 37139 
build tree time 17.642931 ms 
--------------------stamp1317357900.105114936
sort q time 5.921175 
seperate points time 12.247029 
mapping solver time 49.718691 ms 
publication time 10.492149 ms 
whole laserOdometry time 10.503178 ms 
 
-----t: 0.0648581
OdomCount 1331 & avg odom time 0.045842 ms ++++++++++++++++++++++
1317357900.105114936 WriteOdom laser_odom_to_init
1317357900.105114936 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357900.208961963
prepare time 11.696084 
sort q time 5.607410 
seperate points time 12.457472 
scan registration time 29.228239 ms *************
mapping solver time 39.368007 ms 
mapping optimization time 187.794602 
add points time 0.981760 ms
publication time 16.196171 ms 
whole laserOdometry time 16.208693 ms 
 
--------------------stamp1317357900.312809944
prepare time 12.476181 
sort q time 5.096724 
seperate points time 11.995987 
scan registration time 29.581297 ms *************
mapping solver time 43.069894 ms 
-----t: 0.0453895
OdomCount 1333 & avg odom time 0.045846 ms ++++++++++++++++++++++
mapping data assosiation time 36.681351 ms 
points size 94153 
filter time 5.891457 ms 
publication time 8.572360 ms 
whole laserOdometry time 8.593109 ms 
 
-----t: 0.0481802
OdomCount 1334 & avg odom time 0.045848 ms ++++++++++++++++++++++
mapping data assosiation time 37.294163 ms 
--------------------stamp1317357900.520454883
prepare time 13.718729 
sort q time 5.211754 
seperate points time 12.272809 
publication time 10.939146 ms 
whole laserOdometry time 10.973721 ms 
 
mapping data assosiation time 40.346435 ms 
--------------------stamp1317357900.624253988
points size 95920 
mapping pub time 2.594045 ms 
whole mapping time 197.614956 ms +++++
mappingCount 965 & avg mapping time 138.394070 ms ++++++++++++++++++++++
build tree time 19.400404 ms 
-----t: 0.0385312
OdomCount 1336 & avg odom time 0.045841 ms ++++++++++++++++++++++
mapping data assosiation time 37.307703 ms 
--------------------stamp1317357900.728053092
prepare time 11.493147 
mapping solver time 46.791498 ms 
sort q time 5.699145 
seperate points time 27.934497 
scan registration time 50.980065 ms *************
-----t: 0.0483606
OdomCount 1337 & avg odom time 0.045843 ms ++++++++++++++++++++++
1317357900.728053092 WriteOdom laser_odom_to_initmapping solver time 36.725802 ms 
points size 98258 
sort q time 5.205442 
seperate points time 12.882200 
build tree time 20.543939 ms 
publication time 16.142064 ms 
whole laserOdometry time 16.156919 ms 
 
mapping data assosiation time 51.824503 ms 
--------------------stamp1317357900.935676097
prepare time 11.527674 
sort q time 5.846754 
seperate points time 13.935083 
mapping solver time 46.050567 ms 
publication time 14.341197 ms 
whole laserOdometry time 14.353795 ms 
 
-----t: 0.051109
OdomCount 1339 & avg odom time 0.045847 ms ++++++++++++++++++++++
mapping data assosiation time 42.497738 ms 
--------------------stamp1317357901.039521932
points size 99641 
filter time 8.868815 ms 
mapping pub time 2.371424 ms 
whole mapping time 217.041545 ms +++++
mappingCount 967 & avg mapping time 138.541080 ms ++++++++++++++++++++++
1317357900.624253988 WriteOdom aft_mapped_to_init
sort q time 5.766830 
seperate points time 14.536022 
drop lidar frame in mapping for real time performance 
map prepare time 4.434615 ms
map corner num 71735  surf num 39963 
scan registration time 33.906087 ms *************
build tree time 19.320411 ms 
mapping data assosiation time 41.057591 ms 
--------------------stamp1317357901.143343925
points size 100054 
sort q time 5.500485 
seperate points time 15.173831 
publication time 11.671740 ms 
whole laserOdometry time 11.703044 ms 
 
mapping data assosiation time 41.262524 ms 
--------------------stamp1317357901.247191905
prepare time 12.369917 
filter time 7.793358 ms 
build tree time 17.376196 ms 
mapping data assosiation time 40.256551 ms 
--------------------stamp1317357901.351037025
points size 101906 
sort q time 5.650936 
seperate points time 13.527587 
publication time 9.741389 ms 
whole laserOdometry time 9.756661 ms 
 
-----t: 0.0571849
OdomCount 1343 & avg odom time 0.045851 ms ++++++++++++++++++++++
mapping data assosiation time 40.498443 ms 
--------------------stamp1317357901.454883098
points size 101727 
mapping optimization time 192.947443 
filter time 9.358976 ms 
map prepare time 4.110533 ms
map corner num 74088  surf num 41093 
publication time 10.587997 ms 
whole laserOdometry time 10.606042 ms 
 
build tree time 22.569204 ms 
-----t: 0.0648483
OdomCount 1344 & avg odom time 0.045865 ms ++++++++++++++++++++++
1317357901.454883098 WriteOdom laser_odom_to_init
1317357901.454883098 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357901.558779001
points size 100698 
sort q time 5.553892 
seperate points time 13.924397 
publication time 10.172103 ms 
whole laserOdometry time 10.201466 ms 
 
-----t: 0.0506034
OdomCount 1345 & avg odom time 0.045869 ms ++++++++++++++++++++++
mapping data assosiation time 37.841398 ms 
--------------------stamp1317357901.662673950
prepare time 13.141082 
mapping optimization time 190.975826 
add points time 0.860727 ms
scan registration time 43.246068 ms *************
-----t: 0.0428398
OdomCount 1346 & avg odom time 0.045867 ms ++++++++++++++++++++++
build tree time 20.781588 ms 
--------------------stamp1317357901.766567945
points size 99699 
prepare time 14.093407 
scan registration time 33.160895 ms *************
publication time 10.937410 ms 
whole laserOdometry time 10.958548 ms 
 
mapping data assosiation time 40.221126 ms 
points size 99428 
sort q time 5.482247 
seperate points time 13.965344 
-----t: 0.0749528
OdomCount 1348 & avg odom time 0.045887 ms ++++++++++++++++++++++
1317357901.870460987 WriteOdom laser_odom_to_init
1317357901.870460987 WriteOdom aft_mapped_to_init_high_frec
points size 99271 
mapping data assosiation time 49.410744 ms 
publication time 10.510527 ms 
whole laserOdometry time 10.522912 ms 
 
mapping solver time 39.798391 ms 
--------------------stamp1317357902.078274011
points size 99406 
sort q time 5.741642 
seperate points time 14.515703 
mapping solver time 40.669630 ms 
mapping optimization time 197.568425 
drop lidar frame in mapping for real time performance 
build tree time 17.402388 ms 
--------------------stamp1317357902.182169914
points size 99590 
mapping data assosiation time 43.514226 ms 
publication time 11.291858 ms 
whole laserOdometry time 11.308388 ms 
 
-----t: 0.0522119
OdomCount 1351 & avg odom time 0.045892 ms ++++++++++++++++++++++
1317357902.182169914 WriteOdom laser_odom_to_init
1317357902.182169914 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357902.286065101
mapping data assosiation time 41.568692 ms 
publication time 12.569642 ms 
whole laserOdometry time 12.585823 ms 
 
mapping solver time 46.584914 ms 
filter time 9.628027 ms 
mapping pub time 2.776587 ms 
whole mapping time 225.624786 ms +++++
mappingCount 973 & avg mapping time 139.008089 ms ++++++++++++++++++++++
1317357901.974354982 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357902.389983892
points size 100548 
sort q time 5.491308 
seperate points time 12.791122 
publication time 14.772065 ms 
whole laserOdometry time 14.790675 ms 
 
-----t: 0.0568951
OdomCount 1353 & avg odom time 0.045926 ms ++++++++++++++++++++++
mapping solver time 36.095955 ms 
--------------------stamp1317357902.493902921
points size 101014 
sort q time 6.387422 
seperate points time 13.851076 
publication time 11.894789 ms 
whole laserOdometry time 11.919264 ms 
 
mapping solver time 32.621356 ms 
mapping pub time 2.230862 ms 
whole mapping time 208.581917 ms +++++
mappingCount 974 & avg mapping time 139.079523 ms ++++++++++++++++++++++
1317357902.182169914 WriteOdom aft_mapped_to_init
--------------------stamp1317357902.597820997
points size 101276 
scan registration time 32.755068 ms *************
publication time 18.599348 ms 
whole laserOdometry time 18.614557 ms 
 
mapping solver time 42.101277 ms 
--------------------stamp1317357902.701765060
sort q time 6.092196 
seperate points time 19.060978 
mapping data assosiation time 46.695639 ms 
-----t: 0.050763
OdomCount 1356 & avg odom time 0.045944 ms ++++++++++++++++++++++
mapping solver time 32.873940 ms 
filter time 7.348144 ms 
map prepare time 5.459328 ms
map corner num 81435  surf num 45086 
sort q time 5.882001 
seperate points time 13.305297 
publication time 12.232215 ms 
whole laserOdometry time 12.260747 ms 
 
-----t: 0.0553608
OdomCount 1357 & avg odom time 0.045951 ms ++++++++++++++++++++++
mapping data assosiation time 54.384123 ms 
points size 101272 
sort q time 5.802569 
seperate points time 13.821520 
publication time 11.766514 ms 
whole laserOdometry time 11.810271 ms 
 
mapping data assosiation time 45.368052 ms 
--------------------stamp1317357903.013546943
prepare time 15.754313 
sort q time 5.741982 
seperate points time 13.159748 
mapping pub time 6.723125 ms 
whole mapping time 249.010308 ms +++++
mappingCount 976 & avg mapping time 139.273241 ms ++++++++++++++++++++++
1317357902.597820997 WriteOdom aft_mapped_to_init
publication time 19.393232 ms 
whole laserOdometry time 19.404427 ms 
 
--------------------stamp1317357903.117464065
prepare time 12.374286 
scan registration time 31.735867 ms *************
mapping solver time 48.508093 ms 
-----t: 0.0529155
OdomCount 1360 & avg odom time 0.045960 ms ++++++++++++++++++++++
1317357903.117464065 WriteOdom laser_odom_to_init
1317357903.117464065 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 43.531970 ms 
points size 100798 
sort q time 5.902133 
seperate points time 13.918384 
filter time 6.548319 ms 
publication time 16.122234 ms 
whole laserOdometry time 16.139647 ms 
 
build tree time 23.129343 ms 
--------------------stamp1317357903.325300931
mapping data assosiation time 44.353139 ms 
scan registration time 29.089881 ms *************
publication time 8.760321 ms 
whole laserOdometry time 8.793534 ms 
 
-----t: 0.0580659
OdomCount 1362 & avg odom time 0.045979 ms ++++++++++++++++++++++
mapping data assosiation time 40.960591 ms 
points size 100334 
mapping solver time 30.406444 ms 
filter time 8.007605 ms 
publication time 10.178750 ms 
whole laserOdometry time 10.198767 ms 
 
build tree time 22.268404 ms 
mapping data assosiation time 35.303171 ms 
points size 100143 
sort q time 6.145664 
seperate points time 14.855531 
mapping solver time 46.773924 ms 
publication time 12.931984 ms 
whole laserOdometry time 12.952225 ms 
 
-----t: 0.0591517
OdomCount 1364 & avg odom time 0.045998 ms ++++++++++++++++++++++
1317357903.533138036 WriteOdom laser_odom_to_init
1317357903.533138036 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 51.565610 ms 
points size 99988 
mapping optimization time 189.594198 
filter time 9.787034 ms 
-----t: 0.050016
OdomCount 1365 & avg odom time 0.046001 ms ++++++++++++++++++++++
--------------------stamp1317357903.740904092
points size 100395 
prepare time 15.677630 
sort q time 5.786167 
seperate points time 14.722201 
mapping solver time 52.407024 ms 
publication time 28.763236 ms 
whole laserOdometry time 28.782859 ms 
 
mapping data assosiation time 42.561892 ms 
prepare time 16.011190 
sort q time 6.631691 
seperate points time 13.670900 
mapping optimization time 207.174906 
add points time 1.113945 ms
-----t: 0.0666812
OdomCount 1367 & avg odom time 0.046028 ms ++++++++++++++++++++++
--------------------stamp1317357903.948621034
prepare time 12.496785 
mapping data assosiation time 39.314837 ms 
publication time 9.856508 ms 
whole laserOdometry time 9.873663 ms 
 
mapping data assosiation time 39.413671 ms 
points size 99810 
mapping solver time 29.560867 ms 
filter time 9.810406 ms 
publication time 12.824037 ms 
whole laserOdometry time 12.849281 ms 
 
mapping pub time 57.714227 ms 
whole mapping time 243.555483 ms +++++
mappingCount 981 & avg mapping time 139.664680 ms ++++++++++++++++++++++
points size 99456 
prepare time 15.434831 
sort q time 5.965797 
seperate points time 14.823599 
scan registration time 36.796233 ms *************
mapping data assosiation time 42.722060 ms 
-----t: 0.0774955
OdomCount 1370 & avg odom time 0.046056 ms ++++++++++++++++++++++
1317357904.156266927 WriteOdom laser_odom_to_init
1317357904.156266927 WriteOdom aft_mapped_to_init_high_frec
points size 99288 
sort q time 6.927862 
seperate points time 17.282475 
mapping data assosiation time 43.937965 ms 
mapping solver time 32.331068 ms 
--------------------stamp1317357904.363941907
map prepare time 4.430718 ms
map corner num 84636  surf num 45186 
points size 99617 
sort q time 5.344512 
seperate points time 13.163825 
publication time 12.307010 ms 
whole laserOdometry time 12.322830 ms 
 
-----t: 0.0518142
OdomCount 1372 & avg odom time 0.046063 ms ++++++++++++++++++++++
mapping data assosiation time 40.108815 ms 
1317357904.363941907 WriteOdom laser_odom_to_init
1317357904.363941907 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.560914 ms 
points size 99759 
prepare time 15.429143 
sort q time 15.578402 
seperate points time 24.632785 
mapping data assosiation time 52.264388 ms 
mapping solver time 33.677082 ms 
mapping optimization time 186.289362 
add points time 0.741283 ms
map prepare time 3.629773 ms
map corner num 85775  surf num 45602 
points size 99666 
build tree time 23.121583 ms 
publication time 7.786205 ms 
whole laserOdometry time 7.802176 ms 
 
mapping data assosiation time 38.674901 ms 
-----t: 0.0596923
OdomCount 1374 & avg odom time 0.046081 ms ++++++++++++++++++++++
mapping solver time 31.739823 ms 
points size 100370 
sort q time 5.944636 
seperate points time 12.309170 
publication time 9.503804 ms 
whole laserOdometry time 9.521995 ms 
 
-----t: 0.0427613
OdomCount 1375 & avg odom time 0.046079 ms ++++++++++++++++++++++
filter time 7.963196 ms 
build tree time 18.218625 ms 
--------------------stamp1317357904.779249906
prepare time 14.910050 
mapping data assosiation time 37.629752 ms 
sort q time 6.356768 
seperate points time 14.293455 
-----t: 0.0496292
OdomCount 1376 & avg odom time 0.046082 ms ++++++++++++++++++++++
--------------------stamp1317357904.883050918
points size 101165 
sort q time 5.666767 
seperate points time 14.014132 
add points time 1.019622 ms
mapping pub time 2.384617 ms 
whole mapping time 186.542192 ms +++++
mappingCount 985 & avg mapping time 139.882767 ms ++++++++++++++++++++++
build tree time 16.299341 ms 
--------------------stamp1317357904.986824989
points size 99802 
prepare time 15.298646 
sort q time 5.499344 
seperate points time 13.695675 
mapping solver time 38.849745 ms 
publication time 7.261384 ms 
whole laserOdometry time 7.276648 ms 
 
-----t: 0.0440664
OdomCount 1378 & avg odom time 0.046078 ms ++++++++++++++++++++++
mapping solver time 26.507514 ms 
[0m[ INFO] [1718804621.910401901, 1317357905.099095608]: Received 97647 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804621.910449064, 1317357905.099095608]: Data saved to 1317357904779249.pcd[0m
sort q time 6.273442 
seperate points time 13.263629 
publication time 8.786167 ms 
whole laserOdometry time 8.815040 ms 
 
mapping data assosiation time 34.031340 ms 
-----t: 0.0660049
OdomCount 1379 & avg odom time 0.046093 ms ++++++++++++++++++++++
--------------------stamp1317357905.194374084
points size 99217 
sort q time 5.846238 
seperate points time 13.773609 
publication time 9.684424 ms 
whole laserOdometry time 9.703970 ms 
 
mapping solver time 60.191972 ms 
filter time 8.497191 ms 
sort q time 5.985583 
seperate points time 13.729065 
scan registration time 32.671576 ms *************
publication time 9.840059 ms 
whole laserOdometry time 9.853492 ms 
 
mapping data assosiation time 36.711563 ms 
-----t: 0.0800506
OdomCount 1381 & avg odom time 0.046117 ms ++++++++++++++++++++++
points size 99398 
sort q time 5.596070 
seperate points time 12.447537 
mapping data assosiation time 44.115597 ms 
mapping solver time 29.751693 ms 
mapping pub time 2.389752 ms 
whole mapping time 181.349823 ms +++++
mappingCount 988 & avg mapping time 140.010818 ms ++++++++++++++++++++++
build tree time 15.134906 ms 
sort q time 6.155440 
seperate points time 13.841247 
mapping data assosiation time 34.526857 ms 
-----t: 0.0553067
OdomCount 1383 & avg odom time 0.046122 ms ++++++++++++++++++++++
mapping data assosiation time 30.869114 ms 
--------------------stamp1317357905.609405994
prepare time 12.018221 
mapping solver time 22.751688 ms 
mapping pub time 2.450026 ms 
whole mapping time 149.262020 ms +++++
mappingCount 989 & avg mapping time 140.020176 ms ++++++++++++++++++++++
publication time 9.001741 ms 
whole laserOdometry time 9.018995 ms 
 
-----t: 0.0415445
OdomCount 1384 & avg odom time 0.046119 ms ++++++++++++++++++++++
1317357905.609405994 WriteOdom laser_odom_to_init
1317357905.609405994 WriteOdom aft_mapped_to_init_high_frec
build tree time 17.902854 ms 
--------------------stamp1317357905.713129997
points size 101895 
sort q time 6.908301 
seperate points time 14.941711 
mapping data assosiation time 31.959977 ms 
mapping solver time 27.223342 ms 
mapping optimization time 139.112882 
add points time 0.979143 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357905.816854000
points size 101934 
sort q time 5.955688 
seperate points time 15.085682 
publication time 9.843502 ms 
whole laserOdometry time 9.860677 ms 
 
mapping solver time 36.794680 ms 
--------------------stamp1317357905.920603036
points size 102529 
sort q time 5.724039 
seperate points time 14.077733 
mapping solver time 32.073115 ms 
[0m[ INFO] [1718804622.784208292, 1317357905.971816243]: Received 104788 data points in frame camera_init with the following fields: x y z intensity[0m
build tree time 15.451378 ms 
--------------------stamp1317357906.024357080
points size 102711 
sort q time 6.100223 
seperate points time 14.957713 
publication time 9.654202 ms 
whole laserOdometry time 9.669217 ms 
 
mapping data assosiation time 34.173241 ms 
mapping solver time 19.175856 ms 
mapping pub time 2.285252 ms 
whole mapping time 145.147014 ms +++++
mappingCount 992 & avg mapping time 140.071252 ms ++++++++++++++++++++++
--------------------stamp1317357906.128108978
build tree time 22.215262 ms 
sort q time 5.891729 
seperate points time 13.825727 
mapping data assosiation time 44.736394 ms 
publication time 12.665984 ms 
whole laserOdometry time 12.728355 ms 
 
-----t: 0.0689671
OdomCount 1389 & avg odom time 0.046139 ms ++++++++++++++++++++++
points size 103338 
sort q time 5.915562 
seperate points time 13.022365 
mapping data assosiation time 41.183524 ms 
publication time 10.372925 ms 
whole laserOdometry time 10.386289 ms 
 
mapping solver time 24.256775 ms 
filter time 6.785295 ms 
map prepare time 2.771446 ms
map corner num 70751  surf num 37127 
--------------------stamp1317357906.335658073
points size 103386 
sort q time 5.881083 
seperate points time 14.209634 
publication time 10.998892 ms 
whole laserOdometry time 11.013575 ms 
 
mapping solver time 30.116999 ms 
mapping data assosiation time 30.798862 ms 
--------------------stamp1317357906.439434051
prepare time 12.701396 
filter time 6.272323 ms 
publication time 9.488781 ms 
whole laserOdometry time 9.507890 ms 
 
mapping data assosiation time 32.901474 ms 
--------------------stamp1317357906.543206930
points size 103309 
sort q time 5.667476 
seperate points time 13.716746 
mapping data assosiation time 37.169331 ms 
publication time 11.345021 ms 
whole laserOdometry time 11.353253 ms 
 
mapping solver time 32.995530 ms 
filter time 6.652834 ms 
map prepare time 3.898239 ms
map corner num 73033  surf num 38256 
prepare time 13.254538 
scan registration time 31.663787 ms *************
publication time 9.572894 ms 
whole laserOdometry time 9.588717 ms 
 
mapping data assosiation time 37.559113 ms 
-----t: 0.0435807
OdomCount 1394 & avg odom time 0.046147 ms ++++++++++++++++++++++
mapping solver time 34.314561 ms 
--------------------stamp1317357906.750757932
points size 103026 
sort q time 5.914987 
seperate points time 13.110690 
publication time 8.264208 ms 
whole laserOdometry time 8.293842 ms 
 
filter time 7.946129 ms 
map prepare time 2.958801 ms
map corner num 74028  surf num 38778 
build tree time 16.304353 ms 
--------------------stamp1317357906.854557037
points size 103008 
mapping data assosiation time 37.983744 ms 
publication time 8.369480 ms 
whole laserOdometry time 8.381481 ms 
 
mapping solver time 40.706797 ms 
mapping data assosiation time 32.801908 ms 
--------------------stamp1317357907.062197923
points size 101160 
sort q time 6.090835 
seperate points time 13.811524 
publication time 12.297747 ms 
whole laserOdometry time 12.309968 ms 
 
mapping data assosiation time 32.911253 ms 
mapping solver time 27.941994 ms 
--------------------stamp1317357907.165997028
points size 100576 
prepare time 14.815724 
publication time 12.359056 ms 
whole laserOdometry time 12.379488 ms 
 
-----t: 0.0562192
OdomCount 1399 & avg odom time 0.046162 ms ++++++++++++++++++++++
--------------------stamp1317357907.269797086
points size 99525 
sort q time 4.787852 
seperate points time 11.095903 
publication time 13.077351 ms 
whole laserOdometry time 13.091057 ms 
 
-----t: 0.0528743
OdomCount 1400 & avg odom time 0.046167 ms ++++++++++++++++++++++
filter time 7.351159 ms 
map prepare time 2.877707 ms
map corner num 77340  surf num 40525 
--------------------stamp1317357907.373621940
points size 98788 
mapping data assosiation time 38.114163 ms 
publication time 9.332307 ms 
whole laserOdometry time 9.349731 ms 
 
mapping solver time 37.794801 ms 
--------------------stamp1317357907.477444887
prepare time 12.174850 
mapping data assosiation time 34.791214 ms 
scan registration time 30.137177 ms *************
add points time 0.788391 ms
drop lidar frame in mapping for real time performance 
build tree time 16.903282 ms 
--------------------stamp1317357907.581268072
points size 99439 
sort q time 5.471604 
seperate points time 13.846588 
publication time 20.917107 ms 
whole laserOdometry time 20.935143 ms 
 
mapping data assosiation time 39.890463 ms 
--------------------stamp1317357907.685112953
mapping solver time 31.212681 ms 
mapping optimization time 155.201627 
add points time 0.963107 ms
sort q time 5.883410 
seperate points time 15.442343 
-----t: 0.0471744
OdomCount 1404 & avg odom time 0.046154 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
build tree time 19.920544 ms 
points size 99601 
mapping data assosiation time 43.806777 ms 
sort q time 7.495068 
seperate points time 17.414733 
publication time 15.386657 ms 
whole laserOdometry time 15.418232 ms 
 
-----t: 0.0643551
OdomCount 1405 & avg odom time 0.046167 ms ++++++++++++++++++++++
--------------------stamp1317357907.892779111
prepare time 12.330670 
sort q time 5.776664 
seperate points time 14.236085 
mapping solver time 42.746611 ms 
-----t: 0.0563465
OdomCount 1406 & avg odom time 0.046174 ms ++++++++++++++++++++++
--------------------stamp1317357907.996581077
prepare time 13.826895 
scan registration time 39.925541 ms *************
mapping data assosiation time 42.625426 ms 
mapping solver time 50.012180 ms 
--------------------stamp1317357908.100357055
prepare time 11.287904 
scan registration time 29.738550 ms *************
mapping data assosiation time 43.919851 ms 
publication time 16.479465 ms 
whole laserOdometry time 16.493799 ms 
 
mapping solver time 32.669225 ms 
mapping optimization time 190.789435 
add points time 0.783025 ms
filter time 6.264595 ms 
-----t: 0.0598039
OdomCount 1408 & avg odom time 0.046202 ms ++++++++++++++++++++++
1317357908.100357055 WriteOdom laser_odom_to_init
1317357908.100357055 WriteOdom aft_mapped_to_init_high_frec
build tree time 18.116224 ms 
points size 102620 
sort q time 6.545049 
seperate points time 15.087361 
publication time 12.312837 ms 
whole laserOdometry time 12.332334 ms 
 
mapping solver time 38.857265 ms 
-----t: 0.0820007
OdomCount 1409 & avg odom time 0.046228 ms ++++++++++++++++++++++
points size 102289 
mapping data assosiation time 43.654687 ms 
sort q time 6.286490 
seperate points time 14.050197 
mapping solver time 37.942192 ms 
publication time 10.559707 ms 
whole laserOdometry time 10.576056 ms 
 
mapping optimization time 186.062618 
add points time 0.929080 ms
map prepare time 3.265561 ms
map corner num 83471  surf num 44141 
build tree time 21.594167 ms 
points size 101644 
sort q time 5.607255 
seperate points time 13.998177 
publication time 10.164400 ms 
whole laserOdometry time 10.192522 ms 
 
-----t: 0.0408729
OdomCount 1411 & avg odom time 0.046219 ms ++++++++++++++++++++++
1317357908.411680936 WriteOdom laser_odom_to_init
1317357908.411680936 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357908.515431880
points size 98683 
sort q time 5.514041 
seperate points time 14.033050 
filter time 8.395654 ms 
-----t: 0.0369881
OdomCount 1412 & avg odom time 0.046212 ms ++++++++++++++++++++++
1317357908.515431880 WriteOdom laser_odom_to_init
build tree time 22.479178 ms 
--------------------stamp1317357908.619184970
prepare time 10.181799 
sort q time 5.140260 
seperate points time 11.619761 
mapping solver time 40.315156 ms 
-----t: 0.0662698
OdomCount 1413 & avg odom time 0.046227 ms ++++++++++++++++++++++
mapping data assosiation time 39.983235 ms 
--------------------stamp1317357908.722935914
mapping solver time 24.094494 ms 
filter time 7.361502 ms 
map prepare time 4.077812 ms
map corner num 86082  surf num 45894 
build tree time 24.576236 ms 
publication time 10.394057 ms 
whole laserOdometry time 10.427030 ms 
 
1317357908.722935914 WriteOdom laser_odom_to_init
1317357908.722935914 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 36.456296 ms 
--------------------stamp1317357908.826661109
prepare time 12.104003 
sort q time 5.541006 
seperate points time 12.909462 
publication time 9.447174 ms 
whole laserOdometry time 9.460983 ms 
 
mapping data assosiation time 43.170345 ms 
--------------------stamp1317357908.930386066
mapping solver time 39.097191 ms 
filter time 9.383223 ms 
mapping pub time 10.890919 ms 
whole mapping time 221.006932 ms +++++
mappingCount 1007 & avg mapping time 140.766980 ms ++++++++++++++++++++++
1317357908.515431881 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
scan registration time 46.338128 ms *************
map prepare time 7.409367 ms
map corner num 87253  surf num 46528 
build tree time 23.243312 ms 
publication time 13.995738 ms 
whole laserOdometry time 14.015103 ms 
 
--------------------stamp1317357909.034137010
mapping data assosiation time 43.653219 ms 
sort q time 5.432809 
seperate points time 15.568706 
scan registration time 52.287305 ms *************
mapping solver time 51.125265 ms 
-----t: 0.0632924
OdomCount 1417 & avg odom time 0.046283 ms ++++++++++++++++++++++
mapping data assosiation time 38.066166 ms 
points size 91495 
mapping solver time 35.046432 ms 
scan registration time 44.033539 ms *************
map prepare time 3.758806 ms
map corner num 88526  surf num 47193 
publication time 10.576656 ms 
whole laserOdometry time 10.592557 ms 
 
build tree time 24.808775 ms 
--------------------stamp1317357909.241640090
points size 94876 
sort q time 5.176140 
seperate points time 13.951535 
-----t: 0.0407763
OdomCount 1419 & avg odom time 0.046286 ms ++++++++++++++++++++++
1317357909.241640090 WriteOdom laser_odom_to_init
1317357909.241640090 WriteOdom aft_mapped_to_init_high_frec
publication time 10.475793 ms 
whole laserOdometry time 11.751107 ms 
 
mapping solver time 43.848778 ms 
mapping data assosiation time 35.071773 ms 
points size 94931 
sort q time 5.151135 
seperate points time 13.319667 
mapping pub time 2.189077 ms 
whole mapping time 202.414406 ms +++++
mappingCount 1009 & avg mapping time 140.900959 ms ++++++++++++++++++++++
-----t: 0.0480726
OdomCount 1420 & avg odom time 0.046288 ms ++++++++++++++++++++++
build tree time 24.898841 ms 
--------------------stamp1317357909.449191093
prepare time 11.034184 
sort q time 5.825883 
seperate points time 13.297956 
-----t: 0.0345919
OdomCount 1421 & avg odom time 0.046279 ms ++++++++++++++++++++++
mapping solver time 46.410192 ms 
mapping data assosiation time 32.805528 ms 
--------------------stamp1317357909.552941083
points size 95536 
mapping solver time 33.777065 ms 
filter time 10.073205 ms 
map prepare time 4.377344 ms
map corner num 91106  surf num 48393 
publication time 9.602985 ms 
whole laserOdometry time 9.619578 ms 
 
build tree time 24.109662 ms 
--------------------stamp1317357909.656666994
points size 96852 
sort q time 5.988109 
seperate points time 13.620263 
mapping solver time 36.025995 ms 
-----t: 0.0373707
OdomCount 1423 & avg odom time 0.046267 ms ++++++++++++++++++++++
mapping data assosiation time 36.911143 ms 
--------------------stamp1317357909.760392904
points size 98483 
map prepare time 3.396403 ms
map corner num 92397  surf num 49099 
scan registration time 34.547396 ms *************
build tree time 25.966988 ms 
1317357909.760392904 WriteOdom laser_odom_to_init
mapping data assosiation time 36.763834 ms 
--------------------stamp1317357909.864098072prepare time 11.120997 
mapping solver time 33.435377 ms 
publication time 9.009098 ms 
whole laserOdometry time 9.019802 ms 
 
mapping solver time 27.394919 ms 
--------------------stamp1317357909.967799901
prepare time 10.955115 
sort q time 7.686322 
seperate points time 14.178914 
publication time 8.368087 ms 
whole laserOdometry time 8.381747 ms 
 
mapping data assosiation time 44.573528 ms 
--------------------stamp1317357910.071527004
prepare time 13.424879 
sort q time 6.208213 
seperate points time 15.546540 
mapping solver time 27.631501 ms 
publication time 36.638905 ms 
whole laserOdometry time 36.657082 ms 
 
--------------------stamp1317357910.175254106
points size 102966 
sort q time 7.309048 
seperate points time 14.917307 
scan registration time 55.717315 ms *************
publication time 9.973662 ms 
whole laserOdometry time 9.989132 ms 
 
--------------------stamp1317357910.278978109
points size 103162 
sort q time 7.297350 
seperate points time 16.151800 
mapping solver time 29.867415 ms 
drop lidar frame in mapping for real time performance 
points size 103312 
map prepare time 3.952723 ms
map corner num 65619  surf num 35136 
sort q time 6.131013 
seperate points time 14.528244 
build tree time 16.997242 ms 
publication time 12.147489 ms 
whole laserOdometry time 12.163539 ms 
 
-----t: 0.0487578
OdomCount 1430 & avg odom time 0.046372 ms ++++++++++++++++++++++
--------------------stamp1317357910.486442089
prepare time 13.286701 
mapping solver time 41.604278 ms 
publication time 14.567332 ms 
whole laserOdometry time 14.613188 ms 
 
mapping data assosiation time 44.713417 ms 
--------------------stamp1317357910.590193986
points size 104198 
map prepare time 3.976337 ms
map corner num 65995  surf num 35033 
build tree time 19.199724 ms 
-----t: 0.0480421
OdomCount 1432 & avg odom time 0.046385 ms ++++++++++++++++++++++
mapping data assosiation time 40.597918 ms 
--------------------stamp1317357910.693928003
prepare time 12.484690 
sort q time 5.473477 
seperate points time 13.021350 
publication time 9.535704 ms 
whole laserOdometry time 9.575265 ms 
 
mapping data assosiation time 43.999851 ms 
mapping optimization time 172.527350 
--------------------stamp1317357910.798357009
prepare time 11.497407 
sort q time 5.825913 
seperate points time 13.871129 
scan registration time 31.909510 ms *************
publication time 16.961381 ms 
whole laserOdometry time 16.974440 ms 
 
-----t: 0.0668322
OdomCount 1434 & avg odom time 0.046399 ms ++++++++++++++++++++++
1317357910.798357009 WriteOdom laser_odom_to_init
1317357910.798357009 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357910.902136087
points size 102998 
mapping data assosiation time 44.817278 ms 
-----t: 0.0594226
OdomCount 1435 & avg odom time 0.046408 ms ++++++++++++++++++++++
filter time 5.713333 ms 
--------------------stamp1317357911.005229949
points size 103076 
sort q time 6.212085 
seperate points time 15.371258 
publication time 9.823675 ms 
whole laserOdometry time 9.837865 ms 
 
-----t: 0.0521028
OdomCount 1436 & avg odom time 0.046412 ms ++++++++++++++++++++++
mapping solver time 40.933302 ms 
points size 102957 
prepare time 12.110425 
sort q time 7.096838 
seperate points time 13.667686 
mapping data assosiation time 43.163998 ms 
-----t: 0.041968
OdomCount 1437 & avg odom time 0.046409 ms ++++++++++++++++++++++
mapping solver time 35.383733 ms 
filter time 6.021879 ms 
map prepare time 3.073256 ms
map corner num 69830  surf num 36820 
--------------------stamp1317357911.212730884
points size 102708 
sort q time 5.747303 
seperate points time 14.011573 
mapping data assosiation time 40.419610 ms 
publication time 9.404422 ms 
whole laserOdometry time 9.421637 ms 
 
-----t: 0.0401691
OdomCount 1438 & avg odom time 0.046405 ms ++++++++++++++++++++++
1317357911.212730884 WriteOdom aft_mapped_to_init_high_frec
1317357911.212730884 WriteOdom laser_odom_to_init
mapping solver time 36.274320 ms 
--------------------stamp1317357911.316478013
mapping data assosiation time 35.475598 ms 
sort q time 5.858466 
seperate points time 14.174470 
mapping solver time 30.084180 ms 
mapping optimization time 160.472671 
add points time 0.785028 ms
build tree time 16.652740 ms 
--------------------stamp1317357911.420231103
points size 103013 
sort q time 6.620784 
seperate points time 13.209056 
mapping solver time 37.584161 ms 
mapping data assosiation time 33.372765 ms 
--------------------stamp1317357911.523998975
mapping optimization time 156.620836 
mapping pub time 2.439938 ms 
whole mapping time 171.055239 ms +++++
mappingCount 1020 & avg mapping time 141.459495 ms ++++++++++++++++++++++
sort q time 5.605264 
seperate points time 26.303897 
publication time 11.567597 ms 
whole laserOdometry time 11.578821 ms 
 
-----t: 0.0511395
OdomCount 1441 & avg odom time 0.046404 ms ++++++++++++++++++++++
1317357911.523998975 WriteOdom laser_odom_to_init
1317357911.523998975 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 41.999239 ms 
--------------------stamp1317357911.627747058
points size 104121 
mapping solver time 39.256230 ms 
sort q time 5.899804 
seperate points time 14.604724 
scan registration time 35.575328 ms *************
-----t: 0.0397
OdomCount 1442 & avg odom time 0.046399 ms ++++++++++++++++++++++
mapping data assosiation time 38.100868 ms 
mapping solver time 22.279035 ms 
mapping optimization time 164.739114 
add points time 0.842969 ms
points size 102659 
sort q time 6.680536 
seperate points time 16.360400 
scan registration time 42.690731 ms *************
mapping pub time 55.119749 ms 
whole mapping time 231.189912 ms +++++
mappingCount 1021 & avg mapping time 141.547382 ms ++++++++++++++++++++++
1317357911.316478014 WriteOdom aft_mapped_to_init
--------------------stamp1317357911.835330009
points size 102217 
sort q time 6.443932 
seperate points time 15.491054 
scan registration time 45.435558 ms *************
publication time 10.195573 ms 
whole laserOdometry time 10.208978 ms 
 
--------------------stamp1317357911.939114093
points size 102116 
sort q time 5.664871 
seperate points time 14.150113 
mapping optimization time 191.687820 
drop lidar frame in mapping for real time performance 
build tree time 16.584529 ms 
--------------------stamp1317357912.042882919
points size 101904 
sort q time 16.424126 
scan registration time 114.441325 ms *************
mapping solver time 109.404430 ms 
points size 101801 
prepare time 35.666271 
-----t: 0.15695
OdomCount 1446 & avg odom time 0.046505 ms ++++++++++++++++++++++
1317357912.042882919 WriteOdom laser_odom_to_initsort q time 8.194698 
seperate points time 49.070378 
mapping data assosiation time 88.692467 ms 
publication time 39.793920 ms 
whole laserOdometry time 39.813523 ms 
 
prepare time 89.637843 
sort q time 21.035784 
seperate points time 56.187972 
filter time 35.175228 ms 
-----t: 0.0819557
OdomCount 1448 & avg odom time 0.046592 ms ++++++++++++++++++++++
scan registration time 40.169311 ms *************
points size 102607 
prepare time 19.781581 
sort q time 6.040260 
seperate points time 14.587705 
publication time 13.225139 ms 
whole laserOdometry time 13.244426 ms 
 
--------------------stamp1317357912.561614990
mapping solver time 46.323553 ms 
publication time 10.680179 ms 
whole laserOdometry time 10.695715 ms 
 
-----t: 0.0478888
OdomCount 1451 & avg odom time 0.046619 ms ++++++++++++++++++++++
mapping solver time 32.311044 ms 
filter time 9.138020 ms 
map prepare time 4.256301 ms
map corner num 76627  surf num 40056 
sort q time 5.695747 
seperate points time 13.450497 
publication time 9.358196 ms 
whole laserOdometry time 9.373636 ms 
 
mapping data assosiation time 35.284300 ms 
mapping solver time 30.201707 ms 
points size 96973 
sort q time 6.468671 
seperate points time 15.890869 
mapping data assosiation time 45.157403 ms 
scan registration time 41.203978 ms *************
publication time 9.501151 ms 
whole laserOdometry time 9.512891 ms 
 
add points time 0.850990 ms
filter time 6.583130 ms 
map prepare time 3.032485 ms
map corner num 78008  surf num 40970 
build tree time 17.219008 ms 
points size 96691 
prepare time 17.659390 
sort q time 6.507862 
seperate points time 16.091152 
scan registration time 38.942151 ms *************
mapping data assosiation time 45.201486 ms 
-----t: 0.0379365
OdomCount 1454 & avg odom time 0.046612 ms ++++++++++++++++++++++
mapping solver time 42.448508 ms 
--------------------stamp1317357912.976654052
points size 93905 
mapping data assosiation time 41.765963 ms 
scan registration time 34.329611 ms *************
-----t: 0.0362508
OdomCount 1455 & avg odom time 0.046605 ms ++++++++++++++++++++++
1317357912.976654052 WriteOdom laser_odom_to_init
1317357912.976654052 WriteOdom aft_mapped_to_init_high_frec
publication time 8.902831 ms 
whole laserOdometry time 8.919464 ms 
 
filter time 6.353484 ms 
map prepare time 2.878589 ms
map corner num 79598  surf num 41969 
build tree time 17.954010 ms 
points size 93596 
prepare time 17.263528 
sort q time 6.234195 
seperate points time 15.607355 
-----t: 0.0382018
OdomCount 1456 & avg odom time 0.046599 ms ++++++++++++++++++++++
mapping solver time 36.062361 ms 
--------------------stamp1317357913.184175014
prepare time 11.358614 
sort q time 6.507528 
seperate points time 13.486822 
filter time 8.481316 ms 
mapping pub time 2.213810 ms 
whole mapping time 174.101011 ms +++++
mappingCount 1027 & avg mapping time 142.096646 ms ++++++++++++++++++++++
1317357912.872888088 WriteOdom aft_mapped_to_init
map prepare time 2.849774 ms
map corner num 80943  surf num 42712 
publication time 22.143118 ms 
whole laserOdometry time 22.157056 ms 
 
-----t: 0.0641655
OdomCount 1457 & avg odom time 0.046611 ms ++++++++++++++++++++++
1317357913.184175014 WriteOdom laser_odom_to_init
--------------------stamp1317357913.287913084
points size 96894 
prepare time 13.496178 
scan registration time 31.435535 ms *************
mapping solver time 42.980280 ms 
publication time 12.231658 ms 
whole laserOdometry time 12.246188 ms 
 
-----t: 0.054205
OdomCount 1458 & avg odom time 0.046617 ms ++++++++++++++++++++++
mapping data assosiation time 38.611736 ms 
--------------------stamp1317357913.391645908
prepare time 11.357172 
sort q time 5.801224 
seperate points time 13.516908 
publication time 10.820353 ms 
whole laserOdometry time 10.837130 ms 
 
-----t: 0.0540626
OdomCount 1459 & avg odom time 0.046622 ms ++++++++++++++++++++++
1317357913.391645908 WriteOdom aft_mapped_to_init_high_frec
1317357913.391645908 WriteOdom laser_odom_to_init
mapping data assosiation time 33.453928 ms 
--------------------stamp1317357913.495374917
points size 92380 
sort q time 5.310127 
seperate points time 13.381390 
publication time 13.765098 ms 
whole laserOdometry time 13.781103 ms 
 
-----t: 0.0545588
OdomCount 1460 & avg odom time 0.046627 ms ++++++++++++++++++++++
1317357913.495374917 WriteOdom laser_odom_to_init
1317357913.495374917 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 39.978195 ms 
--------------------stamp1317357913.599117040
points size 86510 
map prepare time 2.877811 ms
map corner num 83214  surf num 43920 
publication time 8.106552 ms 
whole laserOdometry time 8.123222 ms 
 
-----t: 0.0387934
OdomCount 1461 & avg odom time 0.046622 ms ++++++++++++++++++++++
mapping data assosiation time 33.361054 ms 
--------------------stamp1317357913.702852010
prepare time 10.515238 
sort q time 4.733898 
seperate points time 11.095423 
mapping data assosiation time 36.414092 ms 
-----t: 0.0336107
OdomCount 1462 & avg odom time 0.046613 ms ++++++++++++++++++++++
1317357913.702852010 WriteOdom laser_odom_to_init
1317357913.702852010 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.025860 ms 
mapping optimization time 151.055938 
add points time 0.900872 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357913.806579113
points size 79191 
prepare time 15.572265 
mapping data assosiation time 35.938777 ms 
publication time 8.862985 ms 
whole laserOdometry time 8.879808 ms 
 
mapping solver time 38.388220 ms 
--------------------stamp1317357913.910379886
mapping data assosiation time 32.953738 ms 
sort q time 4.585311 
seperate points time 10.465160 
publication time 7.525352 ms 
whole laserOdometry time 7.541330 ms 
 
filter time 7.778884 ms 
build tree time 18.517310 ms 
--------------------stamp1317357914.014189958
sort q time 3.907308 
seperate points time 9.558729 
publication time 7.352783 ms 
whole laserOdometry time 7.369085 ms 
 
mapping data assosiation time 32.566025 ms 
--------------------stamp1317357914.117963075
points size 79645 
sort q time 4.348607 
seperate points time 11.141132 
build tree time 23.601191 ms 
publication time 13.422242 ms 
whole laserOdometry time 13.439214 ms 
 
mapping data assosiation time 29.676823 ms 
--------------------stamp1317357914.221703052
sort q time 4.848294 
seperate points time 9.830423 
mapping data assosiation time 32.144276 ms 
publication time 9.556328 ms 
whole laserOdometry time 9.574874 ms 
 
-----t: 0.0389406
OdomCount 1467 & avg odom time 0.046575 ms ++++++++++++++++++++++
mapping solver time 29.203187 ms 
filter time 7.457109 ms 
build tree time 19.007281 ms 
points size 90524 
prepare time 13.867540 
sort q time 5.327212 
seperate points time 11.675925 
publication time 8.354915 ms 
whole laserOdometry time 8.370535 ms 
 
mapping solver time 34.024309 ms 
mapping data assosiation time 27.682218 ms 
--------------------stamp1317357914.429179906
points size 93381 
prepare time 11.973307 
filter time 9.559379 ms 
publication time 7.650260 ms 
whole laserOdometry time 7.667158 ms 
 
build tree time 21.969300 ms 
mapping data assosiation time 26.777791 ms 
--------------------stamp1317357914.532905101
points size 97359 
sort q time 5.690195 
seperate points time 12.640516 
publication time 9.090005 ms 
whole laserOdometry time 9.103468 ms 
 
mapping data assosiation time 31.634678 ms 
mapping solver time 30.679622 ms 
mapping optimization time 143.868618 
add points time 1.201309 ms
map prepare time 2.843729 ms
map corner num 89899  surf num 46631 
points size 98988 
scan registration time 30.947095 ms *************
mapping data assosiation time 31.424760 ms 
publication time 8.544917 ms 
whole laserOdometry time 8.558593 ms 
 
-----t: 0.0416146
OdomCount 1471 & avg odom time 0.046564 ms ++++++++++++++++++++++
1317357914.636643886 WriteOdom laser_odom_to_init
1317357914.636643886 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.780437 ms 
--------------------stamp1317357914.740406990
points size 99516 
sort q time 5.494072 
seperate points time 12.830708 
filter time 7.404790 ms 
publication time 10.357769 ms 
whole laserOdometry time 10.376161 ms 
 
build tree time 22.584298 ms 
--------------------stamp1317357914.844156980
mapping data assosiation time 32.340294 ms 
sort q time 5.555489 
seperate points time 13.127095 
scan registration time 34.910234 ms *************
mapping solver time 41.605357 ms 
mapping data assosiation time 30.135363 ms 
--------------------stamp1317357914.947882890
prepare time 14.013805 
map prepare time 3.071025 ms
map corner num 92065  surf num 47538 
scan registration time 36.719268 ms *************
build tree time 25.663416 ms 
mapping data assosiation time 37.693790 ms 
--------------------stamp1317357915.051634073
-----t: 0.10172
OdomCount 1474 & avg odom time 0.046595 ms ++++++++++++++++++++++
sort q time 6.102234 
seperate points time 18.950169 
mapping data assosiation time 36.020610 ms 
-----t: 0.0421784
OdomCount 1475 & avg odom time 0.046592 ms ++++++++++++++++++++++
mapping solver time 24.385698 ms 
filter time 7.777071 ms 
--------------------stamp1317357915.155407905
prepare time 12.980399 
sort q time 6.255100 
seperate points time 13.199299 
publication time 8.555042 ms 
whole laserOdometry time 8.570737 ms 
 
-----t: 0.0505762
OdomCount 1476 & avg odom time 0.046595 ms ++++++++++++++++++++++
mapping solver time 34.266626 ms 
--------------------stamp1317357915.259181976
prepare time 12.579373 
sort q time 5.602480 
seperate points time 11.793853 
mapping solver time 32.089705 ms 
mapping pub time 2.398601 ms 
whole mapping time 177.782095 ms +++++
mappingCount 1039 & avg mapping time 142.444336 ms ++++++++++++++++++++++
build tree time 14.861374 ms 
--------------------stamp1317357915.362957954
points size 101679 
sort q time 6.771602 
seperate points time 13.735541 
publication time 8.311962 ms 
whole laserOdometry time 8.327629 ms 
 
-----t: 0.0411726
OdomCount 1478 & avg odom time 0.046597 ms ++++++++++++++++++++++
mapping solver time 59.555902 ms 
mapping data assosiation time 28.048435 ms 
points size 101378 
mapping solver time 26.777365 ms 
filter time 7.909737 ms 
scan registration time 35.804750 ms *************
mapping pub time 2.981699 ms 
whole mapping time 176.131464 ms +++++
mappingCount 1040 & avg mapping time 142.476733 ms ++++++++++++++++++++++
1317357915.155407906 WriteOdom aft_mapped_to_init
build tree time 19.217117 ms 
mapping data assosiation time 31.895980 ms 
--------------------stamp1317357915.570483922
points size 101178 
prepare time 14.233854 
sort q time 6.072315 
seperate points time 13.991702 
publication time 10.045669 ms 
whole laserOdometry time 10.078515 ms 
 
-----t: 0.0675479
OdomCount 1480 & avg odom time 0.046606 ms ++++++++++++++++++++++
filter time 6.078059 ms 
--------------------stamp1317357915.674235105
points size 101025 
sort q time 5.348697 
seperate points time 13.516041 
map prepare time 3.750280 ms
map corner num 64599  surf num 34315 
publication time 11.572194 ms 
whole laserOdometry time 11.592981 ms 
 
-----t: 0.0525694
OdomCount 1481 & avg odom time 0.046610 ms ++++++++++++++++++++++
mapping data assosiation time 30.036555 ms 
--------------------stamp1317357915.777986049
prepare time 13.235236 
sort q time 6.300910 
seperate points time 13.701955 
mapping data assosiation time 39.345589 ms 
mapping solver time 17.135154 ms 
-----t: 0.0716098
OdomCount 1482 & avg odom time 0.046627 ms ++++++++++++++++++++++
--------------------stamp1317357915.881712913
points size 101454 
sort q time 6.750549 
seperate points time 16.549086 publication time 9.895613 ms 
whole laserOdometry time 9.909797 ms 
 
-----t: 0.0797621
OdomCount 1483 & avg odom time 0.046649 ms ++++++++++++++++++++++
--------------------stamp1317357915.985461950
points size 101968 
prepare time 16.390580 
sort q time 6.831771 
seperate points time 16.664806 
publication time 9.165180 ms 
whole laserOdometry time 9.232059 ms 
 scan registration time 30.292950 ms *************
-----t: 0.0393702
OdomCount 1485 & avg odom time 0.046645 ms ++++++++++++++++++++++
mapping solver time 35.656099 ms 
mapping data assosiation time 29.371022 ms 
--------------------stamp1317357916.192961931
points size 102992 
add points time 1.159093 ms
scan registration time 32.958262 ms *************
build tree time 19.172510 ms 
mapping data assosiation time 31.263760 ms 
--------------------stamp1317357916.296737909
points size 101639 
mapping solver time 30.810864 ms 
prepare time 12.728913 
sort q time 6.030234 
seperate points time 14.257424 
mapping data assosiation time 33.671911 ms 
publication time 10.020176 ms 
whole laserOdometry time 10.043382 ms 
 
-----t: 0.0583883
OdomCount 1487 & avg odom time 0.046655 ms ++++++++++++++++++++++
filter time 7.710845 ms 
--------------------stamp1317357916.400511980
points size 101458 
sort q time 5.835177 
seperate points time 13.677481 
mapping data assosiation time 33.054203 ms 
publication time 11.582351 ms 
whole laserOdometry time 11.601902 ms 
 
mapping solver time 31.808461 ms 
--------------------stamp1317357916.504287958
prepare time 13.431641 
sort q time 6.627015 
seperate points time 13.076844 
filter time 9.974935 ms 
-----t: 0.0496549
OdomCount 1489 & avg odom time 0.046661 ms ++++++++++++++++++++++
build tree time 20.149844 ms 
--------------------stamp1317357916.608110904
points size 101054 
sort q time 5.986068 mapping solver time 37.994745 ms 
publication time 14.613083 ms 
whole laserOdometry time 14.625972 ms 
 
mapping data assosiation time 35.271932 ms 
-----t: 0.0833393
OdomCount 1490 & avg odom time 0.046685 ms ++++++++++++++++++++++
mapping solver time 29.427070 ms 
points size 101070 
sort q time 6.502091 
seperate points time 14.579565 
map prepare time 18.379256 ms
map corner num 70374  surf num 36729 
-----t: 0.0551218
OdomCount 1491 & avg odom time 0.046691 ms ++++++++++++++++++++++
1317357916.711982011 WriteOdom laser_odom_to_init
1317357916.711982011 WriteOdom aft_mapped_to_init_high_frec
points size 101188 
sort q time 5.831569 
seperate points time 13.154735 
mapping solver time 34.594241 ms 
-----t: 0.0485718
OdomCount 1492 & avg odom time 0.046692 ms ++++++++++++++++++++++
mapping data assosiation time 34.551061 ms 
--------------------stamp1317357916.919820070
mapping solver time 30.935478 ms 
filter time 7.810583 ms 
scan registration time 33.330510 ms *************
build tree time 19.910377 ms 
-----t: 0.0428212
OdomCount 1493 & avg odom time 0.046690 ms ++++++++++++++++++++++
1317357916.919820070 WriteOdom laser_odom_to_init
1317357916.919820070 WriteOdom aft_mapped_to_init_high_frec
publication time 11.113937 ms 
whole laserOdometry time 11.136264 ms 
 
mapping data assosiation time 36.605691 ms 
--------------------stamp1317357917.023833990
mapping solver time 30.059953 ms 
sort q time 7.583043 
seperate points time 13.834543 
publication time 9.424879 ms 
whole laserOdometry time 9.457455 ms 
 
mapping solver time 19.180629 ms 
-----t: 0.0684245
OdomCount 1494 & avg odom time 0.046704 ms ++++++++++++++++++++++
--------------------stamp1317357917.127921104
points size 101664 
prepare time 12.708208 
sort q time 6.606788 
seperate points time 12.668955 
scan registration time 31.805650 ms *************
publication time 9.246140 ms 
whole laserOdometry time 9.258914 ms 
 
-----t: 0.0520748
OdomCount 1495 & avg odom time 0.046708 ms ++++++++++++++++++++++
mapping solver time 39.593378 ms 
--------------------stamp1317357917.232080936
mapping data assosiation time 30.767249 ms 
sort q time 6.132195 
seperate points time 13.076391 
mapping solver time 33.702784 ms 
mapping pub time 2.309902 ms 
whole mapping time 178.921492 ms +++++
mappingCount 1050 & avg mapping time 142.791900 ms ++++++++++++++++++++++
build tree time 18.695877 ms 
--------------------stamp1317357917.336281061
points size 100849 
sort q time 5.678558 
seperate points time 11.576350 
publication time 9.742143 ms 
whole laserOdometry time 9.757826 ms 
 
mapping solver time 54.624475 ms 
mapping data assosiation time 33.080852 ms 
points size 100194 
mapping solver time 36.972859 ms 
filter time 8.537847 ms 
map prepare time 4.079596 ms
map corner num 74729  surf num 38574 
1317357917.127921104 WriteOdom aft_mapped_to_init
-----t: 0.0459813
OdomCount 1498 & avg odom time 0.046728 ms ++++++++++++++++++++++
build tree time 26.684546 ms 
--------------------stamp1317357917.544723033
prepare time 14.830922 
sort q time 6.477458 
seperate points time 14.003690 
mapping solver time 47.299409 ms 
--------------------stamp1317357917.649003028
points size 98323 
prepare time 12.594630 
mapping solver time 46.461276 ms 
publication time 9.518347 ms 
whole laserOdometry time 9.533350 ms 
 
mapping optimization time 207.797792 
add points time 0.959049 ms
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 3.625085 ms
map corner num 75935  surf num 39199 
build tree time 17.134844 ms 
--------------------stamp1317357917.753283977
points size 97576 
mapping data assosiation time 40.904470 ms 
publication time 9.997637 ms 
whole laserOdometry time 10.015348 ms 
 
mapping solver time 40.842126 ms 
-----t: 0.0587662
OdomCount 1501 & avg odom time 0.046741 ms ++++++++++++++++++++++
--------------------stamp1317357917.857559919
points size 97361 
prepare time 13.315585 
sort q time 5.083019 
seperate points time 15.215690 
filter time 8.792085 ms 
map prepare time 3.425069 ms
map corner num 77018  surf num 39735 
-----t: 0.0576633
OdomCount 1502 & avg odom time 0.046749 ms ++++++++++++++++++++++
--------------------stamp1317357917.961884975
prepare time 11.837133 
sort q time 5.520463 
seperate points time 11.713051 
scan registration time 28.161492 ms *************
mapping solver time 44.806203 ms 
-----t: 0.0541003
OdomCount 1503 & avg odom time 0.046754 ms ++++++++++++++++++++++
mapping data assosiation time 35.414707 ms 
points size 96953 
sort q time 5.156280 
seperate points time 12.081990 
filter time 9.142437 ms 
1317357918.066212892 WriteOdom aft_mapped_to_init_high_frec
build tree time 18.933612 ms 
mapping data assosiation time 35.057241 ms 
points size 97455 
sort q time 6.076697 
seperate points time 13.120175 
mapping solver time 45.219737 ms 
-----t: 0.0446728
OdomCount 1505 & avg odom time 0.046748 ms ++++++++++++++++++++++
mapping data assosiation time 36.073252 ms 
--------------------stamp1317357918.274889945
prepare time 11.791828 
drop lidar frame in mapping for real time performance 
publication time 9.960560 ms 
whole laserOdometry time 9.979597 ms 
 
build tree time 20.729758 ms 
-----t: 0.0591102
OdomCount 1506 & avg odom time 0.046756 ms ++++++++++++++++++++++
mapping data assosiation time 37.399224 ms 
--------------------stamp1317357918.379199028
points size 98686 
scan registration time 30.055756 ms *************
publication time 13.113736 ms 
whole laserOdometry time 13.128430 ms 
 
-----t: 0.0600463
OdomCount 1507 & avg odom time 0.046765 ms ++++++++++++++++++++++
mapping solver time 29.422644 ms 
mapping optimization time 167.118387 
add points time 0.790980 ms
--------------------stamp1317357918.483431100
prepare time 11.464725 
build tree time 23.285758 ms 
sort q time 5.455189 
seperate points time 13.016340 
publication time 10.090050 ms 
whole laserOdometry time 10.114305 ms 
 
-----t: 0.0608082
OdomCount 1508 & avg odom time 0.046774 ms ++++++++++++++++++++++
1317357918.483431100 WriteOdom laser_odom_to_init
1317357918.483431100 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357918.587654113
prepare time 12.083942 
sort q time 15.359934 
seperate points time 25.693092 
scan registration time 53.152723 ms *************
-----t: 0.0498021
OdomCount 1509 & avg odom time 0.046776 ms ++++++++++++++++++++++
mapping solver time 34.806640 ms 
mapping optimization time 181.838200 
add points time 0.953969 ms
publication time 15.048074 ms 
whole laserOdometry time 15.056810 ms 
 
map prepare time 3.053230 ms
map corner num 81636  surf num 42743 
points size 99499 
sort q time 5.758049 
seperate points time 14.368331 
publication time 11.212580 ms 
whole laserOdometry time 11.226566 ms 
 
mapping data assosiation time 43.372004 ms 
-----t: 0.0611747
OdomCount 1510 & avg odom time 0.046786 ms ++++++++++++++++++++++
mapping solver time 45.355516 ms 
points size 99892 
sort q time 6.186290 
seperate points time 13.626999 
mapping data assosiation time 45.771656 ms 
scan registration time 41.793208 ms *************
publication time 11.677438 ms 
whole laserOdometry time 11.688914 ms 
 
mapping solver time 37.843448 ms 
filter time 11.917562 ms 
points size 100172 
build tree time 24.320820 ms 
publication time 9.395084 ms 
whole laserOdometry time 9.427452 ms 
 
-----t: 0.0447801
OdomCount 1512 & avg odom time 0.046799 ms ++++++++++++++++++++++
--------------------stamp1317357919.004309892
points size 100464 
sort q time 5.507504 
seperate points time 13.308610 
mapping data assosiation time 42.421296 ms 
-----t: 0.0409359
OdomCount 1513 & avg odom time 0.046796 ms ++++++++++++++++++++++
mapping solver time 26.326537 ms 
filter time 9.036289 ms 
mapping pub time 2.512226 ms 
whole mapping time 194.262021 ms +++++
mappingCount 1059 & avg mapping time 143.256711 ms ++++++++++++++++++++++
points size 100926 
sort q time 6.301693 
seperate points time 12.409188 
publication time 8.623681 ms 
whole laserOdometry time 8.638862 ms 
 
-----t: 0.0514143
OdomCount 1514 & avg odom time 0.046799 ms ++++++++++++++++++++++
mapping solver time 39.526108 ms 
--------------------stamp1317357919.212460041
points size 102323 
sort q time 6.121203 
seperate points time 11.884969 
publication time 10.814999 ms 
whole laserOdometry time 10.829593 ms 
 
-----t: 0.0552634
OdomCount 1515 & avg odom time 0.046804 ms ++++++++++++++++++++++
filter time 6.973032 ms 
map prepare time 3.212967 ms
map corner num 84791  surf num 45200 
--------------------stamp1317357919.316521883
prepare time 12.672976 
sort q time 5.987709 
seperate points time 13.499943 
mapping data assosiation time 46.819984 ms 
-----t: 0.0395354
OdomCount 1516 & avg odom time 0.046799 ms ++++++++++++++++++++++
mapping solver time 36.402952 ms 
--------------------stamp1317357919.420558929
points size 102466 
mapping data assosiation time 42.833355 ms 
sort q time 5.628216 
seperate points time 13.433552 
publication time 9.988315 ms 
whole laserOdometry time 10.025211 ms 
 
mapping optimization time 189.877692 
add points time 0.914647 ms
--------------------stamp1317357919.524571895
points size 102532 
drop lidar frame in mapping for real time performance 
build tree time 25.078039 ms 
1317357919.524571895 WriteOdom laser_odom_to_init
1317357919.524571895 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 40.509568 ms 
--------------------stamp1317357919.628571033
points size 102605 
mapping solver time 34.842305 ms 
publication time 9.198434 ms 
whole laserOdometry time 9.209720 ms 
 
mapping data assosiation time 45.721574 ms 
-----t: 0.0647688
OdomCount 1519 & avg odom time 0.046814 ms ++++++++++++++++++++++
1317357919.628571033 WriteOdom laser_odom_to_init
1317357919.628571033 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357919.732542037
points size 102669 
prepare time 22.060015 
sort q time 5.897677 
seperate points time 15.173306 
-----t: 0.0415064
OdomCount 1520 & avg odom time 0.046811 ms ++++++++++++++++++++++
mapping data assosiation time 40.855302 ms 
points size 102704 
sort q time 6.698045 
seperate points time 13.608142 
mapping solver time 45.335425 ms 
mapping data assosiation time 42.727505 ms 
--------------------stamp1317357919.940383911
prepare time 12.032777 
sort q time 5.820992 
seperate points time 14.050120 
drop lidar frame in mapping for real time performance 
-----t: 0.0445119
OdomCount 1522 & avg odom time 0.046814 ms ++++++++++++++++++++++
1317357919.940383911 WriteOdom laser_odom_to_init
1317357919.940383911 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357920.044308900
prepare time 12.455989 
sort q time 6.699039 
seperate points time 14.241045 
mapping solver time 45.401125 ms 
1317357920.044308900 WriteOdom laser_odom_to_init
1317357920.044308900 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 37.760810 ms 
--------------------stamp1317357920.148180007
points size 103669 
sort q time 6.160723 
seperate points time 13.750667 
map prepare time 3.354340 ms
map corner num 89124  surf num 48381 
publication time 11.343217 ms 
whole laserOdometry time 11.364069 ms 
 
-----t: 0.0507399
OdomCount 1524 & avg odom time 0.046817 ms ++++++++++++++++++++++
--------------------stamp1317357920.251995086
points size 103679 
sort q time 5.571038 
seperate points time 13.820743 
mapping solver time 45.374820 ms 
mapping data assosiation time 41.445412 ms 
--------------------stamp1317357920.355820894
points size 103612 
sort q time 6.284787 
seperate points time 15.255646 
publication time 10.496588 ms 
whole laserOdometry time 10.515055 ms 
 
-----t: 0.0642056
OdomCount 1526 & avg odom time 0.046828 ms ++++++++++++++++++++++
--------------------stamp1317357920.459600925
prepare time 11.419167 
sort q time 6.490002 
seperate points time 13.201252 
mapping solver time 36.493237 ms 
-----t: 0.0636356
OdomCount 1527 & avg odom time 0.046839 ms ++++++++++++++++++++++
mapping data assosiation time 60.305984 ms 
prepare time 13.381972 
mapping solver time 37.226540 ms 
mapping optimization time 201.679526 
sort q time 5.986877 
seperate points time 23.312622 
add points time 1.005373 ms
[0m[ INFO] [1718804637.427690264, 1317357920.611177324]: Received 141004 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804637.427730138, 1317357920.611177324]: Data saved to 1317357920148180.pcd[0m
mapping pub time 5.288725 ms 
whole mapping time 223.585788 ms +++++
mappingCount 1066 & avg mapping time 143.722955 ms ++++++++++++++++++++++
build tree time 21.848220 ms 
--------------------stamp1317357920.666933059
points size 104050 
prepare time 18.679284 
sort q time 6.031383 
seperate points time 14.282301 
publication time 11.727548 ms 
whole laserOdometry time 11.736515 ms 
 
--------------------stamp1317357920.770612955
mapping data assosiation time 44.832394 ms 
points size 103570 
prepare time 19.633594 
-----t: 0.12019
OdomCount 1529 & avg odom time 0.046887 ms ++++++++++++++++++++++
scan registration time 40.108708 ms *************
mapping solver time 35.808751 ms 
filter time 10.729418 ms 
map prepare time 3.860687 ms
map corner num 92347  surf num 50400 
-----t: 0.0592292
OdomCount 1530 & avg odom time 0.046895 ms ++++++++++++++++++++++
points size 103008 
sort q time 6.621274 
seperate points time 13.072202 
--------------------stamp1317357920.978020906
points size 102575 
sort q time 6.127458 
seperate points time 22.903763 
mapping data assosiation time 44.115917 ms 
-----t: 0.0419419
OdomCount 1532 & avg odom time 0.046891 ms ++++++++++++++++++++++
mapping solver time 39.436309 ms 
points size 101616 
map prepare time 4.154136 ms
map corner num 93496  surf num 51046 
sort q time 5.920450 
seperate points time 14.147232 
publication time 9.184828 ms 
whole laserOdometry time 9.246825 ms 
 
-----t: 0.0478301
mapping data assosiation time 33.065658 ms 
--------------------stamp1317357921.185442924
prepare time 14.311415 
mapping solver time 41.992932 ms 
publication time 8.521241 ms 
whole laserOdometry time 8.534250 ms 
 
-----t: 0.0383489
OdomCount 1534 & avg odom time 0.046886 ms ++++++++++++++++++++++
1317357921.185442924 WriteOdom laser_odom_to_init
1317357921.185442924 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 32.491229 ms 
filter time 8.378343 ms 
build tree time 28.180137 ms 
-----t: 0.0404673
OdomCount 1535 & avg odom time 0.046882 ms ++++++++++++++++++++++
1317357921.289122104 WriteOdom laser_odom_to_init
1317357921.289122104 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 35.529860 ms 
--------------------stamp1317357921.392775058
mapping solver time 38.316404 ms 
prepare time 12.616364 
sort q time 5.324687 
seperate points time 12.493454 
publication time 10.976663 ms 
whole laserOdometry time 11.055474 ms 
 
mapping solver time 30.983461 ms 
filter time 9.663156 ms 
mapping pub time 2.368156 ms 
whole mapping time 188.876424 ms +++++
mappingCount 1070 & avg mapping time 143.987058 ms ++++++++++++++++++++++
1317357921.081715107 WriteOdom aft_mapped_to_init
prepare time 12.464797 
build tree time 24.796237 ms 
publication time 11.838770 ms 
whole laserOdometry time 11.860093 ms 
 
-----t: 0.0501258
OdomCount 1537 & avg odom time 0.046902 ms ++++++++++++++++++++++
mapping solver time 36.449215 ms 
points size 96019 
sort q time 6.426223 
seperate points time 15.329633 
-----t: 0.0375254
OdomCount 1538 & avg odom time 0.046896 ms ++++++++++++++++++++++
mapping solver time 31.562149 ms 
mapping optimization time 172.881425 
add points time 0.899570 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357921.703849077
prepare time 11.496386 
sort q time 5.440874 
seperate points time 11.532763 
publication time 10.782324 ms 
whole laserOdometry time 10.803236 ms 
 
-----t: 0.0525134
OdomCount 1539 & avg odom time 0.046900 ms ++++++++++++++++++++++
mapping solver time 35.505609 ms 
--------------------stamp1317357921.807575941
prepare time 14.489081 
mapping data assosiation time 38.578769 ms 
publication time 13.220282 ms 
whole laserOdometry time 13.237514 ms 
 
filter time 9.884834 ms 
-----t: 0.0770288
OdomCount 1540 & avg odom time 0.046919 ms ++++++++++++++++++++++
build tree time 25.291423 ms 
prepare time 14.209412 
sort q time 7.438314 
mapping solver time 37.166299 ms 
-----t: 0.0633255
OdomCount 1541 & avg odom time 0.046930 ms ++++++++++++++++++++++
1317357921.911298036 WriteOdom laser_odom_to_init
1317357921.911298036 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357922.015014886
points size 95322 
sort q time 8.973486 
seperate points time 14.762106 
mapping solver time 36.023654 ms 
mapping pub time 2.105057 ms 
whole mapping time 198.335781 ms +++++
mappingCount 1073 & avg mapping time 144.130977 ms ++++++++++++++++++++++
build tree time 22.054111 ms 
--------------------stamp1317357922.118742942
sort q time 5.144631 
seperate points time 13.968932 
mapping data assosiation time 37.945591 ms 
scan registration time 32.203065 ms *************
mapping solver time 34.580510 ms 
mapping data assosiation time 33.004830 ms 
points size 92563 
mapping solver time 23.868868 ms 
filter time 11.396397 ms 
map prepare time 3.923085 ms
map corner num 100527  surf num 53701 
-----t: 0.041244
OdomCount 1544 & avg odom time 0.046927 ms ++++++++++++++++++++++
build tree time 26.451101 ms 
mapping data assosiation time 30.869636 ms 
points size 91672 
sort q time 5.992822 
seperate points time 11.727615 
publication time 8.380604 ms 
whole laserOdometry time 8.398035 ms 
 
-----t: 0.0419489
OdomCount 1545 & avg odom time 0.046923 ms ++++++++++++++++++++++
mapping solver time 20.839739 ms 
filter time 8.025144 ms 
points size 90258 
prepare time 10.984938 
scan registration time 26.913724 ms *************
-----t: 0.0405358
OdomCount 1546 & avg odom time 0.046919 ms ++++++++++++++++++++++
mapping data assosiation time 35.873391 ms 
mapping solver time 28.309001 ms 
--------------------stamp1317357922.533946037
points size 89176 
prepare time 22.836486 
mapping data assosiation time 35.822101 ms 
-----t: 0.0385837
OdomCount 1547 & avg odom time 0.046914 ms ++++++++++++++++++++++
publication time 10.186170 ms 
whole laserOdometry time 10.200655 ms 
 
1317357922.222523928 WriteOdom aft_mapped_to_init
build tree time 25.781782 ms 
points size 88574 
sort q time 4.980128 
seperate points time 12.077819 
publication time 11.316546 ms 
whole laserOdometry time 11.329742 ms 
 
mapping solver time 28.544700 ms 
mapping data assosiation time 29.743566 ms 
--------------------stamp1317357922.741590023
mapping solver time 21.721600 ms 
mapping optimization time 142.023407 
points size 87860 
add points time 1.043748 ms
filter time 10.167478 ms 
scan registration time 32.114930 ms *************
publication time 9.614005 ms 
whole laserOdometry time 9.626782 ms 
 
build tree time 28.083204 ms 
1317357922.741590023 WriteOdom laser_odom_to_init
1317357922.741590023 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 35.990312 ms 
--------------------stamp1317357922.845412015
mapping solver time 29.496801 ms 
publication time 10.339049 ms 
whole laserOdometry time 10.364484 ms 
 
-----t: 0.0547091
OdomCount 1550 & avg odom time 0.046923 ms ++++++++++++++++++++++
mapping solver time 29.301331 ms 
mapping optimization time 158.554416 
add points time 1.105847 ms
drop lidar frame in mapping for real time performance 
points size 87988 
publication time 10.696256 ms 
whole laserOdometry time 10.711100 ms 
 
1317357922.949234962 WriteOdom laser_odom_to_init
mapping solver time 29.890360 ms 
--------------------stamp1317357923.053059101
prepare time 14.541330 
sort q time 5.959472 
seperate points time 15.798351 
mapping solver time 26.603973 ms 
filter time 11.985387 ms 
-----t: 0.0641776
OdomCount 1552 & avg odom time 0.046931 ms ++++++++++++++++++++++
1317357923.053059101 WriteOdom laser_odom_to_init
1317357923.053059101 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357923.156883001
prepare time 12.591358 
sort q time 4.659033 
seperate points time 10.652756 
mapping data assosiation time 35.070167 ms 
publication time 11.709965 ms 
whole laserOdometry time 11.734963 ms 
 
mapping solver time 29.682054 ms 
mapping data assosiation time 27.911385 ms 
points size 81239 
mapping solver time 22.035344 ms 
publication time 12.767688 ms 
whole laserOdometry time 12.780044 ms build tree time 26.794621 ms 
mapping data assosiation time 28.385194 ms 
points size 78011 
sort q time 4.359786 
seperate points time 10.643149 
publication time 8.979432 ms 
whole laserOdometry time 9.005277 ms 
 
mapping data assosiation time 32.612626 ms 
mapping solver time 19.620919 ms 
filter time 8.455902 ms 
--------------------stamp1317357923.468303918
prepare time 12.289743 
scan registration time 36.013048 ms *************
map prepare time 3.896819 ms
map corner num 74228  surf num 38492 
publication time 24.902524 ms 
whole laserOdometry time 24.927679 ms 
 
-----t: 0.0642623
OdomCount 1556 & avg odom time 0.046928 ms ++++++++++++++++++++++
--------------------stamp1317357923.572129964
sort q time 3.832606 
seperate points time 8.229190 
publication time 8.572730 ms 
whole laserOdometry time 8.584986 ms 
 
-----t: 0.0347543
OdomCount 1557 & avg odom time 0.046920 ms ++++++++++++++++++++++
1317357923.572129964 WriteOdom laser_odom_to_init
1317357923.572129964 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.717019 ms 
filter time 7.003712 ms 
mapping pub time 1.893520 ms 
whole mapping time 148.363916 ms +++++
mappingCount 1082 & avg mapping time 144.368320 ms ++++++++++++++++++++++
1317357923.260704994 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.442318 ms
map corner num 75080  surf num 38751 
points size 66137 
sort q time 3.767674 
seperate points time 8.633765 
publication time 7.298574 ms 
whole laserOdometry time 7.311712 ms 
 
-----t: 0.0332222
OdomCount 1558 & avg odom time 0.046911 ms ++++++++++++++++++++++
mapping solver time 28.027889 ms 
mapping data assosiation time 27.671170 ms 
points size 65334 
prepare time 7.979076 
filter time 7.190217 ms 
map prepare time 3.155706 ms
map corner num 75954  surf num 39019 
publication time 11.204493 ms 
whole laserOdometry time 11.216778 ms 
 
-----t: 0.0443684
OdomCount 1559 & avg odom time 0.046910 ms ++++++++++++++++++++++
mapping data assosiation time 24.180295 ms 
--------------------stamp1317357923.883527040
sort q time 3.840597 
seperate points time 7.852393 
publication time 8.562127 ms 
whole laserOdometry time 8.581624 ms 
 
-----t: 0.0411565
OdomCount 1560 & avg odom time 0.046906 ms ++++++++++++++++++++++
1317357923.883527040 WriteOdom laser_odom_to_init
1317357923.883527040 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.363533 ms 
mapping optimization time 122.345954 
add points time 0.926971 ms
mapping pub time 1.550573 ms 
whole mapping time 135.068357 ms +++++
mappingCount 1084 & avg mapping time 144.361527 ms ++++++++++++++++++++++
build tree time 19.651795 ms 
--------------------stamp1317357923.987302064
scan registration time 22.426810 ms *************
publication time 6.421999 ms 
whole laserOdometry time 6.438831 ms 
 
mapping data assosiation time 25.150522 ms 
mapping solver time 17.628748 ms 
filter time 6.935413 ms 
points size 74591 
sort q time 4.507864 
seperate points time 9.666192 
publication time 8.956548 ms 
whole laserOdometry time 8.974782 ms 
 
-----t: 0.0292972
OdomCount 1562 & avg odom time 0.046885 ms ++++++++++++++++++++++
mapping solver time 24.598581 ms 
--------------------stamp1317357924.194849967
prepare time 9.821657 
sort q time 4.439655 
seperate points time 10.005875 
filter time 9.727385 ms 
-----t: 0.0330916
OdomCount 1563 & avg odom time 0.046877 ms ++++++++++++++++++++++
build tree time 18.816693 ms 
mapping data assosiation time 24.616565 ms 
--------------------stamp1317357924.298649072
points size 81795 
mapping solver time 28.063328 ms 
prepare time 13.349596 
sort q time 5.270456 
seperate points time 12.646214 
mapping data assosiation time 30.190953 ms 
-----t: 0.0425473
OdomCount 1564 & avg odom time 0.046874 ms ++++++++++++++++++++++
mapping optimization time 125.391284 
drop lidar frame in mapping for real time performance 
build tree time 19.214056 ms 
points size 84784 
mapping data assosiation time 29.308987 ms 
sort q time 4.994935 
seperate points time 10.435000 
publication time 7.684569 ms 
whole laserOdometry time 7.696805 ms 
 
mapping solver time 31.345032 ms 
-----t: 0.0464483
OdomCount 1565 & avg odom time 0.046874 ms ++++++++++++++++++++++
1317357924.402472019 WriteOdom laser_odom_to_init
1317357924.402472019 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.995202 ms 
mapping solver time 19.922693 ms 
1317357924.194849968 WriteOdom aft_mapped_to_init
prepare time 11.969702 
map prepare time 2.883670 ms
map corner num 80101  surf num 39982 
scan registration time 32.152561 ms *************
build tree time 24.340151 ms 
mapping data assosiation time 32.142798 ms 
-----t: 0.0542072
OdomCount 1566 & avg odom time 0.046878 ms ++++++++++++++++++++++
1317357924.506295919 WriteOdom laser_odom_to_init
1317357924.506295919 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.159188 ms 
points size 88288 
sort q time 5.170156 
seperate points time 12.104189 
-----t: 0.0312076
OdomCount 1567 & avg odom time 0.046868 ms ++++++++++++++++++++++
filter time 7.524074 ms 
build tree time 17.380876 ms 
--------------------stamp1317357924.713964939
prepare time 14.113223 
sort q time 4.771870 
seperate points time 11.661771 
mapping solver time 29.421120 ms 
-----t: 0.0324059
OdomCount 1568 & avg odom time 0.046859 ms ++++++++++++++++++++++
mapping data assosiation time 28.308065 ms 
mapping solver time 20.542906 ms 
--------------------stamp1317357924.817812919
points size 88834 
scan registration time 34.157145 ms *************
mapping data assosiation time 29.378748 ms 
-----t: 0.0601547
OdomCount 1569 & avg odom time 0.046867 ms ++++++++++++++++++++++
mapping solver time 29.258715 ms 
--------------------stamp1317357924.921658039
prepare time 12.544198 
scan registration time 27.734146 ms *************
mapping solver time 28.916962 ms 
publication time 8.437194 ms 
whole laserOdometry time 8.453831 ms 
 
map prepare time 3.550084 ms
map corner num 82561  surf num 40654 
1317357924.921658039 WriteOdom laser_odom_to_init
1317357924.921658039 WriteOdom aft_mapped_to_init_high_frec
build tree time 20.189549 ms 
--------------------stamp1317357925.025552034
prepare time 11.400880 
sort q time 5.272684 
seperate points time 12.165064 
-----t: 0.0493917
OdomCount 1571 & avg odom time 0.046875 ms ++++++++++++++++++++++
mapping solver time 21.446041 ms 
filter time 6.675724 ms 
--------------------stamp1317357925.129471063
build tree time 21.224087 ms 
publication time 20.312340 ms 
whole laserOdometry time 20.327415 ms 
 
-----t: 0.0685168
OdomCount 1572 & avg odom time 0.046889 ms ++++++++++++++++++++++
mapping solver time 51.199201 ms 
points size 88962 
sort q time 5.116126 
seperate points time 11.380779 
publication time 11.148420 ms 
whole laserOdometry time 11.162883 ms 
 
1317357925.233412981 WriteOdom laser_odom_to_init
1317357925.233412981 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
build tree time 19.146560 ms 
--------------------stamp1317357925.337378978
points size 88950 
mapping data assosiation time 35.157496 ms 
scan registration time 34.999942 ms *************
publication time 10.334914 ms 
whole laserOdometry time 10.366293 ms 
 
mapping data assosiation time 26.695267 ms 
--------------------stamp1317357925.441370964
prepare time 10.890985 
sort q time 5.277606 map prepare time 3.010239 ms
map corner num 84859  surf num 41200 
publication time 15.478761 ms 
whole laserOdometry time 15.492913 ms 
 
mapping data assosiation time 31.272710 ms 
--------------------stamp1317357925.545409917
points size 91001 
sort q time 5.390503 
seperate points time 12.797311 
publication time 10.554958 ms 
whole laserOdometry time 10.588076 ms 
 
mapping solver time 27.943539 ms 
filter time 7.432303 ms 
mapping pub time 2.018372 ms 
whole mapping time 163.889677 ms +++++
mappingCount 1095 & avg mapping time 144.428113 ms ++++++++++++++++++++++
1317357925.337378979 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 92516 
build tree time 26.867351 ms 
scan registration time 38.087081 ms *************
mapping data assosiation time 37.742258 ms 
points size 95048 mapping data assosiation time 35.166354 ms 
mapping solver time 21.792508 ms 
filter time 9.877612 ms 
-----t: 0.0553889
OdomCount 1578 & avg odom time 0.046891 ms ++++++++++++++++++++++
1317357925.753536939 WriteOdom laser_odom_to_init
1317357925.753536939 WriteOdom aft_mapped_to_init_high_frec
map prepare time 4.012403 ms
map corner num 86428  surf num 41645 
publication time 17.319170 ms 
whole laserOdometry time 17.364150 ms 
--------------------stamp1317357925.857623100prepare time 15.494262 
publication time 9.600867 ms 
-----t: 0.0631208
OdomCount 1579 & avg odom time 0.046902 ms ++++++++++++++++++++++
mapping data assosiation time 31.493617 ms 
points size 101361 
mapping optimization time 168.103720 
mapping pub time 2.469740 ms 
whole mapping time 184.280868 ms +++++
mappingCount 1097 & avg mapping time 144.495622 ms ++++++++++++++++++++++
build tree time 24.195413 ms 
-----t: 0.0842177
OdomCount 1580 & avg odom time 0.046925 ms ++++++++++++++++++++++
points size 103879 
sort q time 5.938133 
seperate points time 13.795630 
publication time 9.323281 ms --------------------stamp1317357926.170001983
points size 104126 
mapping solver time 70.105762 ms 
sort q time 46.931049 
seperate points time 70.884592 
--------------------stamp1317357926.274138927
map prepare time 4.180622 ms
map corner num 88050  surf num 42130 
-----t: 0.116974publication time 13.833815 ms 
whole laserOdometry time 13.846985 ms 
 
-----t: 0.0604083
OdomCount 1583 & avg odom time 0.046978 ms ++++++++++++++++++++++
mapping solver time 38.575311 ms 
sort q time 7.507160 publication time 10.499800 ms 
whole laserOdometry time 10.512912 ms 
 
filter time 8.667553 ms 
mapping pub time 2.628291 ms 
whole mapping time 186.037553 ms +++++
mappingCount 1099 & avg mapping time 144.644933 ms ++++++++++++++++++++++
1317357925.961733103 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
points size 104048 
sort q time 7.882611 
seperate points time 14.143715 
publication time 8.670448 ms 
whole laserOdometry time 8.687870 ms 
 
mapping data assosiation time 40.950527 ms 
-----t: 0.0638032
OdomCount 1585 & avg odom time 0.046995 ms ++++++++++++++++++++++
mapping solver time 35.474266 ms 
--------------------stamp1317357926.586615085
prepare time 15.691511 mapping data assosiation time 36.413645 ms 
mapping solver time 35.127017 ms 
filter time 10.501369 ms 
-----t: 0.0775592
OdomCount 1586 & avg odom time 0.047014 ms ++++++++++++++++++++++
points size 103851 
sort q time 5.975373 
seperate points time 13.838958 
publication time 9.559466 ms 
whole laserOdometry time 9.572193 ms mapping solver time 37.501086 ms 
--------------------stamp1317357926.794929981
points size 103863 
sort q time 5.679593 
seperate points time 11.502038 
mapping solver time 38.560666 ms 
-----t: 0.0411516
OdomCount 1588 & avg odom time 0.047008 ms ++++++++++++++++++++++
mapping pub time 47.540277 ms 
whole mapping time 229.974163 ms +++++
mappingCount 1101 & avg mapping time 144.764367 ms ++++++++++++++++++++++
points size 103901 
sort q time 6.126702 
seperate points time 14.157526 
publication time 15.024177 ms mapping solver time 31.585384 ms 
points size 103970 
mapping data assosiation time 34.915766 ms 
publication time 10.742978 ms 
whole laserOdometry time 10.758020 ms 
 
mapping solver time 30.917216 ms 
mapping optimization time 156.853794 
add points time 0.974813 ms
drop lidar frame in mapping for real time performance 
build tree time 20.720052 ms 
points size 104056 
mapping data assosiation time 30.492556 ms 
publication time 10.451143 ms 
whole laserOdometry time 10.510077 ms 
 
mapping solver time 38.243501 ms 
-----t: 0.0579196
OdomCount 1591 & avg odom time 0.047023 ms ++++++++++++++++++++++
mapping data assosiation time 30.339052 ms 
--------------------stamp1317357927.211663007
points size 103988 
add points time 1.156201 ms
mapping pub time 2.504975 ms 
whole mapping time 166.185556 ms +++++
mappingCount 1103 & avg mapping time 144.809210 ms ++++++++++++++++++++++
publication time 10.538017 ms 
whole laserOdometry time 10.551990 ms 
 
build tree time 40.542818 ms 
--------------------stamp1317357927.315917015
points size 103808 
mapping data assosiation time 45.144912 ms 
sort q time 6.079964 
seperate points time 13.958087 
publication time 11.008567 ms 
whole laserOdometry time 11.022715 ms 
 
mapping solver time 50.846934 ms 
mapping data assosiation time 27.975118 ms 
points size 103366 
sort q time 5.729609 
seperate points time 13.090234 
filter time 10.403418 ms 
-----t: 0.0474352
OdomCount 1594 & avg odom time 0.047033 ms ++++++++++++++++++++++
build tree time 21.147129 ms 
mapping data assosiation time 28.096209 ms 
points size 103226 
sort q time 6.419581 
seperate points time 12.983331 
mapping data assosiation time 32.724759 ms 
mapping solver time 34.075145 ms 
1317357927.211663008 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.334623 ms
map corner num 92717  surf num 43165 
points size 103040 
sort q time 6.390725 
seperate points time 13.830838 
publication time 9.296458 ms 
whole laserOdometry time 9.313884 ms 
 
mapping solver time 24.935642 ms 
--------------------stamp1317357927.732626914
prepare time 14.819123 
mapping data assosiation time 31.884275 ms 
scan registration time 33.616083 ms *************
mapping solver time 21.512829 ms 
mapping optimization time 132.186287 
add points time 1.262473 ms
filter time 10.356202 ms 
[0m[ INFO] [1718804644.607980802, 1317357927.794204181]: Received 136962 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804644.608032558, 1317357927.794204181]: Data saved to 1317357927420147.pcd[0m
map prepare time 3.460355 ms
map corner num 93470  surf num 43492 
-----t: 0.0679657
OdomCount 1597 & avg odom time 0.047051 ms ++++++++++++++++++++++
build tree time 24.046217 ms 
points size 102205 
sort q time 5.779322 
seperate points time 21.397160 
mapping solver time 32.526462 ms 
publication time 10.838473 ms 
whole laserOdometry time 10.850684 ms 
 
-----t: 0.0554465
OdomCount 1598 & avg odom time 0.047056 ms ++++++++++++++++++++++
mapping data assosiation time 31.015328 ms 
mapping solver time 20.276530 ms 
map prepare time 3.492455 ms
map corner num 94176  surf num 43782 
build tree time 26.624835 ms 
-----t: 0.0619065
OdomCount 1599 & avg odom time 0.047066 ms ++++++++++++++++++++++
--------------------stamp1317357928.044807910
points size 102170 
prepare time 15.963874 
mapping solver time 36.243202 ms 
scan registration time 34.887446 ms *************
publication time 13.018287 ms 
whole laserOdometry time 13.033693 ms 
 
-----t: 0.0686542
OdomCount 1600 & avg odom time 0.047079 ms ++++++++++++++++++++++
1317357928.044807910 WriteOdom laser_odom_to_init
1317357928.044807910 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.743199 ms 
mapping optimization time 168.767718 
add points time 0.998898 ms
map prepare time 4.568582 ms
map corner num 94888  surf num 44089 
prepare time 12.825246 
sort q time 10.404748 
seperate points time 18.733005 
publication time 8.759098 ms 
whole laserOdometry time 8.773316 ms 
 
-----t: 0.0527634
--------------------stamp1317357928.252701044
points size 98691 
sort q time 5.435641 
seperate points time 12.648780 
publication time 9.040959 ms 
whole laserOdometry time 9.055713 ms 
 
mapping solver time 21.383793 ms 
mapping optimization time 159.370407 
add points time 1.032251 ms
mapping pub time 2.476996 ms 
whole mapping time 176.479335 ms +++++
mappingCount 1109 & avg mapping time 144.982708 ms ++++++++++++++++++++++
build tree time 19.377932 ms 
--------------------stamp1317357928.356591939
points size 97296 
sort q time 5.933915 
seperate points time 11.685538 
publication time 9.813534 ms 
whole laserOdometry time 9.844680 ms 
 
mapping solver time 40.299841 ms 
-----t: 0.0566315
OdomCount 1603 & avg odom time 0.047089 ms ++++++++++++++++++++++
mapping data assosiation time 29.042844 ms 
points size 96224 
mapping solver time 33.662134 ms 
map prepare time 3.146844 ms
map corner num 96212  surf num 44599 
build tree time 26.193208 ms 
mapping data assosiation time 25.747877 ms 
points size 94276 
sort q time 5.629564 
seperate points time 11.646349 
publication time 7.652144 ms 
whole laserOdometry time 7.665788 ms 
 
mapping data assosiation time 33.290734 ms 
-----t: 0.0498775
OdomCount 1605 & avg odom time 0.047087 ms ++++++++++++++++++++++
1317357928.564266920 WriteOdom laser_odom_to_init
1317357928.564266920 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.224753 ms 
mapping optimization time 151.203567 
add points time 1.018218 ms
drop lidar frame in mapping for real time performance 
sort q time 5.153629 
seperate points time 11.773394 
scan registration time 31.471764 ms *************
build tree time 26.298600 ms 
-----t: 0.0406466
OdomCount 1606 & avg odom time 0.047083 ms ++++++++++++++++++++++
mapping data assosiation time 32.036797 ms 
mapping solver time 27.509046 ms 
--------------------stamp1317357928.771835088
points size 92352 
mapping data assosiation time 32.065964 ms 
publication time 10.025200 ms 
whole laserOdometry time 10.044158 ms 
 
filter time 10.020253 ms 
build tree time 22.220971 ms 
--------------------stamp1317357928.875586032
prepare time 12.862502 
sort q time 5.863624 
seperate points time 12.032982 
publication time 12.505666 ms 
whole laserOdometry time 12.519029 ms 
 
mapping data assosiation time 27.491979 ms 
--------------------stamp1317357928.979337930
mapping optimization time 148.959973 
filter time 9.594439 ms 
scan registration time 32.898671 ms *************
build tree time 23.010691 ms 
1317357928.979337930 WriteOdom laser_odom_to_init
1317357928.979337930 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.634378 ms 
--------------------stamp1317357929.083065986
points size 90592 
sort q time 5.114472 
seperate points time 12.029122 
mapping data assosiation time 30.435170 ms 
publication time 6.875959 ms 
whole laserOdometry time 6.891917 ms 
 
-----t: 0.0458028
OdomCount 1610 & avg odom time 0.047086 ms ++++++++++++++++++++++
filter time 8.189773 ms 
map prepare time 2.699123 ms
map corner num 99132  surf num 45654 
--------------------stamp1317357929.186768054
prepare time 12.682986 
sort q time 5.564576 
seperate points time 11.735568 
publication time 8.420496 ms 
whole laserOdometry time 8.436525 ms 
 
-----t: 0.0431337
OdomCount 1611 & avg odom time 0.047083 ms ++++++++++++++++++++++
mapping solver time 29.948630 ms 
mapping data assosiation time 23.981260 ms 
--------------------stamp1317357929.290468931
prepare time 10.897043 
sort q time 5.422792 
seperate points time 11.589134 
publication time 7.312759 ms 
whole laserOdometry time 7.330676 ms 
 
1317357929.290468931 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.080239 ms 
--------------------stamp1317357929.394124984
points size 92286 
sort q time 5.036543 
seperate points time 12.133231 
publication time 8.714018 ms 
whole laserOdometry time 8.814176 ms 
 
-----t: 0.0356925
OdomCount 1613 & avg odom time 0.047070 ms ++++++++++++++++++++++
mapping solver time 32.011406 ms 
filter time 8.004672 ms 
map prepare time 2.854817 ms
map corner num 100823  surf num 46222 
--------------------stamp1317357929.497755050
points size 94054 
sort q time 5.116086 
seperate points time 12.219026 
publication time 8.359834 ms 
whole laserOdometry time 8.380109 ms mapping solver time 32.884534 ms 
mapping data assosiation time 28.866785 ms 
--------------------stamp1317357929.601408004
mapping solver time 31.271125 ms 
sort q time 5.514928 
seperate points time 12.814038 
map prepare time 6.026252 ms
map corner num 101622  surf num 46454 
publication time 10.402891 ms 
whole laserOdometry time 10.417992 ms 
 
-----t: 0.0593981
OdomCount 1615 & avg odom time 0.047108 ms ++++++++++++++++++++++
--------------------stamp1317357929.705064058
points size 98280 
sort q time 5.744308 
seperate points time 13.433850 
publication time 11.270444 ms 
whole laserOdometry time 11.285349 ms 
 
-----t: 0.0617866
OdomCount 1616 & avg odom time 0.047117 ms ++++++++++++++++++++++
mapping solver time 30.948087 ms 
mapping optimization time 146.174747 
mapping pub time 2.173930 ms 
whole mapping time 164.336573 ms +++++
mappingCount 1118 & avg mapping time 145.128314 ms ++++++++++++++++++++++
sort q time 5.891208 
seperate points time 13.112122 
publication time 7.684299 ms 
whole laserOdometry time 7.717573 ms 
 
mapping data assosiation time 27.678103 ms 
mapping solver time 31.146934 ms 
points size 100330 
sort q time 5.555860 
seperate points time 12.695792 
mapping data assosiation time 36.007517 ms 
scan registration time 31.103445 ms *************
-----t: 0.0386279
OdomCount 1618 & avg odom time 0.047117 ms ++++++++++++++++++++++
1317357929.912424087 WriteOdom laser_odom_to_init
1317357929.912424087 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 34.590777 ms 
mapping optimization time 156.239256 
add points time 0.867171 ms
mapping pub time 2.159594 ms 
whole mapping time 170.184687 ms +++++
mappingCount 1119 & avg mapping time 145.150708 ms ++++++++++++++++++++++
--------------------stamp1317357930.016149997
prepare time 12.512486 
sort q time 5.746566 
seperate points time 12.990088 
-----t: 0.0401081
OdomCount 1619 & avg odom time 0.047113 ms ++++++++++++++++++++++
mapping solver time 31.778050 ms 
mapping data assosiation time 23.181662 ms 
--------------------stamp1317357930.119853019
prepare time 14.508399 
map prepare time 2.798032 ms
map corner num 103929  surf num 47107 
-----t: 0.034909
OdomCount 1620 & avg odom time 0.047105 ms ++++++++++++++++++++++
mapping data assosiation time 22.283824 ms 
--------------------stamp1317357930.223556041
prepare time 14.252603 
sort q time 5.975572 
seperate points time 12.146806 
-----t: 0.0340043
OdomCount 1621 & avg odom time 0.047097 ms ++++++++++++++++++++++
publication time 7.563346 ms 
whole laserOdometry time 7.569696 ms 
 
1317357930.223556041 WriteOdom laser_odom_to_init
mapping solver time 27.077059 ms 
1317357930.223556041 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 126.932425 
add points time 0.908689 ms
--------------------stamp1317357930.327281951
prepare time 13.749286 
sort q time 4.909780 
seperate points time 11.505856 
build tree time 29.772529 ms 
publication time 9.100203 ms 
whole laserOdometry time 9.113683 ms 
 
mapping data assosiation time 28.947780 ms 
mapping solver time 21.517441 ms 
--------------------stamp1317357930.431009054
prepare time 12.878639 
sort q time 4.721834 
seperate points time 11.152865 
map prepare time 4.621431 ms
map corner num 105105  surf num 47393 
-----t: 0.0461943
OdomCount 1623 & avg odom time 0.047095 ms ++++++++++++++++++++++
build tree time 25.543062 ms 
mapping data assosiation time 18.891861 ms 
--------------------stamp1317357930.534737110
mapping solver time 22.382913 ms 
sort q time 5.005396 
seperate points time 11.512499 
-----t: 0.0404056
OdomCount 1624 & avg odom time 0.047090 ms ++++++++++++++++++++++
publication time 31.513730 ms 
whole laserOdometry time 31.525873 ms 
 
1317357930.327281952 WriteOdom aft_mapped_to_init
--------------------stamp1317357930.638438940
prepare time 12.312416 
build tree time 31.450665 ms 
mapping data assosiation time 24.605743 ms 
mapping solver time 25.429716 ms 
-----t: 0.0713016
OdomCount 1625 & avg odom time 0.047105 ms ++++++++++++++++++++++
--------------------stamp1317357930.742141008
prepare time 14.975227 
sort q time 5.249426 
seperate points time 12.100411 
mapping data assosiation time 23.074476 ms 
-----t: 0.0762991
OdomCount 1626 & avg odom time 0.047123 ms ++++++++++++++++++++++
--------------------stamp1317357930.845866918
prepare time 12.699878 
sort q time 4.575086 
seperate points time 10.422591 
filter time 7.669101 ms 
publication time 9.190621 ms 
whole laserOdometry time 9.204922 ms 
 
mapping pub time 2.093134 ms 
whole mapping time 128.359494 ms +++++
mappingCount 1125 & avg mapping time 145.163587 ms ++++++++++++++++++++++
1317357930.638438940 WriteOdom aft_mapped_to_initbuild tree time 27.337580 ms 
mapping data assosiation time 18.837719 ms 
points size 83023 
mapping solver time 23.408954 ms 
mapping data assosiation time 20.629804 ms 
mapping solver time 15.915988 ms 
mapping optimization time 107.320303 
add points time 0.666042 ms
map prepare time 2.904598 ms
map corner num 140493  surf num 65592 
--------------------stamp1317357931.053297996
build tree time 34.408298 ms 
sort q time 4.663908 
seperate points time 10.845305 
-----t: 0.0325161
OdomCount 1629 & avg odom time 0.047098 ms ++++++++++++++++++++++
1317357931.053297996 WriteOdom laser_odom_to_init
1317357931.053297996 WriteOdom aft_mapped_to_init_high_frec
publication time 6.787538 ms 
whole laserOdometry time 6.800978 ms 
 
mapping solver time 31.465836 ms 
mapping data assosiation time 17.638753 ms 
mapping solver time 18.437016 ms 
filter time 10.421743 ms 
sort q time 10.832406 
seperate points time 15.756635 
scan registration time 44.213735 ms *************
-----t: 0.0404654
OdomCount 1630 & avg odom time 0.047094 ms ++++++++++++++++++++++
mapping data assosiation time 19.701751 ms 
mapping solver time 19.448369 ms 
--------------------stamp1317357931.260699987
prepare time 13.733369 
mapping optimization time 116.569582 
filter time 13.280013 ms 
-----t: 0.0448297
OdomCount 1631 & avg odom time 0.047092 ms ++++++++++++++++++++++
build tree time 33.437503 ms 
--------------------stamp1317357931.364403963
points size 83378 
sort q time 4.483661 
seperate points time 10.701309 
mapping data assosiation time 21.092932 ms 
mapping solver time 22.204171 ms 
filter time 12.345001 ms 
mapping solver time 32.342360 ms 
mapping data assosiation time 17.223850 ms 
points size 88025 
sort q time 5.313518 
seperate points time 11.333329 
mapping pub time 1.972407 ms 
whole mapping time 154.791498 ms +++++
mappingCount 1130 & avg mapping time 145.133708 ms ++++++++++++++++++++++
1317357931.364403963 WriteOdom aft_mapped_to_init
scan registration time 26.701113 ms *************
map prepare time 2.941582 ms
map corner num 142383  surf num 66054 
publication time 6.334996 ms 
whole laserOdometry time 6.348127 ms 
 
build tree time 34.694360 ms 
mapping data assosiation time 16.975362 ms 
--------------------stamp1317357931.675539016
prepare time 12.089349 
sort q time 5.252441 
seperate points time 11.094246 
filter time 11.133076 ms 
map prepare time 2.642279 ms
map corner num 142809  surf num 66175 
build tree time 33.420939 ms 
points size 90801 
mapping data assosiation time 23.752202 ms 
scan registration time 34.675384 ms *************
publication time 9.956238 ms 
whole laserOdometry time 9.990418 ms 
 
-----t: 0.0505855
OdomCount 1636 & avg odom time 0.047073 ms ++++++++++++++++++++++
mapping solver time 13.596312 ms 
filter time 11.704027 ms 
map prepare time 4.143480 ms
map corner num 143224  surf num 66290 
sort q time 5.057739 
seperate points time 10.886360 
publication time 7.258417 ms 
whole laserOdometry time 7.276021 ms 
 
-----t: 0.0409971
OdomCount 1637 & avg odom time 0.047070 ms ++++++++++++++++++++++
mapping data assosiation time 21.115583 ms 
mapping solver time 24.179942 ms 
--------------------stamp1317357931.986673116
mapping data assosiation time 21.832265 ms 
prepare time 12.246917 
filter time 13.470727 ms 
mapping pub time 2.020898 ms 
whole mapping time 145.514146 ms +++++
mappingCount 1133 & avg mapping time 145.126646 ms ++++++++++++++++++++++
1317357931.779241085 WriteOdom aft_mapped_to_init
build tree time 40.782437 ms 
--------------------stamp1317357932.090399026
points size 92163 
scan registration time 28.417475 ms *************
mapping solver time 26.272256 ms 
publication time 9.412195 ms 
whole laserOdometry time 9.431332 ms 
 
-----t: 0.0628524
OdomCount 1639 & avg odom time 0.047078 ms ++++++++++++++++++++++
filter time 10.801525 ms 
--------------------stamp1317357932.194098949
points size 91968 
build tree time 41.102181 ms 
scan registration time 58.618898 ms *************
publication time 8.374503 ms 
whole laserOdometry time 8.388032 ms 
 
mapping solver time 23.039106 ms 
mapping data assosiation time 18.142228 ms 
points size 91576 
prepare time 11.914528 
mapping solver time 14.876877 ms 
mapping optimization time 119.734523 
add points time 0.939668 ms
scan registration time 27.449437 ms *************
map prepare time 3.573541 ms
map corner num 144500  surf num 66584 
-----t: 0.045548
OdomCount 1641 & avg odom time 0.047077 ms ++++++++++++++++++++++
build tree time 37.449545 ms 
mapping data assosiation time 18.546366 ms 
points size 92142 
sort q time 4.957564 
seperate points time 11.341104 
publication time 6.556485 ms 
whole laserOdometry time 6.569357 ms 
 
filter time 10.870803 ms 
map prepare time 3.805537 ms
map corner num 145039  surf num 66734 
--------------------stamp1317357932.505207061
prepare time 11.633058 
sort q time 5.734200 
seperate points time 12.354145 
publication time 8.675459 ms 
whole laserOdometry time 8.691165 ms 
 
-----t: 0.0477278
OdomCount 1643 & avg odom time 0.047069 ms ++++++++++++++++++++++
1317357932.505207061 WriteOdom laser_odom_to_init
1317357932.505207061 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.182681 ms 
mapping solver time 17.433223 ms 
--------------------stamp1317357932.608957052
map prepare time 2.899425 ms
map corner num 145491  surf num 66847 
points size 88809 
prepare time 15.282445 
sort q time 5.061860 
seperate points time 11.973746 
scan registration time 40.468144 ms *************
build tree time 39.549102 ms 
publication time 7.567036 ms 
whole laserOdometry time 7.578307 ms 
 
mapping data assosiation time 19.282991 ms 
mapping solver time 22.432304 ms 
--------------------stamp1317357932.712735891
mapping data assosiation time 21.822510 ms 
sort q time 4.550717 
seperate points time 11.041242 
map prepare time 4.054683 ms
map corner num 145976  surf num 66991 
build tree time 35.318755 ms 
--------------------stamp1317357932.816510915
prepare time 12.776439 
mapping solver time 18.715271 ms 
mapping data assosiation time 21.296514 ms 
mapping solver time 17.795028 ms 
filter time 9.681111 ms 
map prepare time 2.854572 ms
map corner num 146408  surf num 67107 
--------------------stamp1317357932.920283079
prepare time 10.914068 
sort q time 5.021829 
seperate points time 10.614057 
publication time 7.679573 ms 
whole laserOdometry time 7.693967 ms 
 
-----t: 0.0360138
OdomCount 1647 & avg odom time 0.047047 ms ++++++++++++++++++++++
mapping data assosiation time 17.772572 ms 
mapping solver time 13.411107 ms 
filter time 10.330228 ms 
map prepare time 3.372811 ms
map corner num 146828  surf num 67213 
prepare time 12.539998 
sort q time 4.741251 
seperate points time 10.163768 
scan registration time 27.955085 ms *************
build tree time 40.572145 ms 
-----t: 0.0357907
OdomCount 1648 & avg odom time 0.047041 ms ++++++++++++++++++++++
1317357933.024058103 WriteOdom laser_odom_to_init
1317357933.024058103 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.398338 ms 
mapping solver time 21.718245 ms 
--------------------stamp1317357933.127856016
prepare time 10.354618 
sort q time 5.198685 
seperate points time 10.874118 
scan registration time 26.178308 ms *************
mapping solver time 20.669858 ms 
mapping optimization time 126.611684 
add points time 0.983840 ms
filter time 14.646000 ms 
mapping pub time 43.784871 ms 
whole mapping time 189.457155 ms +++++
mappingCount 1141 & avg mapping time 145.129568 ms ++++++++++++++++++++++
1317357932.920283079 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.782802 ms
map corner num 147324  surf num 67351 
--------------------stamp1317357933.231678962
points size 88261 
build tree time 40.489560 ms 
mapping data assosiation time 22.157406 ms 
mapping solver time 18.425031 ms 
mapping data assosiation time 18.324340 ms 
--------------------stamp1317357933.335478067
points size 88945 
1317357933.024058104 WriteOdom aft_mapped_to_init
scan registration time 31.162705 ms *************
-----t: 0.0348891
OdomCount 1651 & avg odom time 0.047022 ms ++++++++++++++++++++++
build tree time 41.605716 ms 
mapping data assosiation time 19.256471 ms 
--------------------stamp1317357933.439276933
points size 88205 
sort q time 4.880440 
seperate points time 11.619176 
publication time 8.284142 ms 
whole laserOdometry time 8.294908 ms 
 
filter time 9.377248 ms 
--------------------stamp1317357933.543100118
points size 84781 
sort q time 5.773490 
seperate points time 12.089199 
publication time 7.611947 ms 
whole laserOdometry time 7.627020 ms 
 
mapping solver time 26.026831 ms 
-----t: 0.042165
OdomCount 1653 & avg odom time 0.047017 ms ++++++++++++++++++++++
mapping solver time 18.115409 ms 
filter time 10.687672 ms 
sort q time 4.393184 
seperate points time 10.837147 
publication time 7.965577 ms 
whole laserOdometry time 7.997311 ms 
 
-----t: 0.0352272
OdomCount 1654 & avg odom time 0.047010 ms ++++++++++++++++++++++
mapping data assosiation time 19.641543 ms 
mapping solver time 18.221785 ms 
--------------------stamp1317357933.750745058
sort q time 4.406946 
seperate points time 10.355652 
filter time 13.544072 ms 
mapping pub time 2.000625 ms 
whole mapping time 135.018499 ms +++++
mappingCount 1145 & avg mapping time 145.118390 ms ++++++++++++++++++++++
1317357933.543100119 WriteOdom aft_mapped_to_init
map prepare time 3.023549 ms
map corner num 149294  surf num 67821 
build tree time 38.619047 ms 
--------------------stamp1317357933.854569911
prepare time 11.555955 
sort q time 4.448155 
seperate points time 9.662098 
mapping solver time 19.062364 ms 
scan registration time 24.749515 ms *************
mapping data assosiation time 22.316312 ms 
publication time 7.916730 ms 
whole laserOdometry time 7.930542 ms 
 
filter time 12.252045 ms 
map prepare time 2.749961 ms
map corner num 149681  surf num 67908 
--------------------stamp1317357933.958417892
points size 85972 
build tree time 38.812879 ms 
mapping data assosiation time 20.874861 ms 
mapping solver time 20.784687 ms 
1317357933.958417892 WriteOdom laser_odom_to_init
mapping data assosiation time 21.307454 ms 
mapping solver time 13.442927 ms 
filter time 13.491868 ms 
sort q time 4.452510 
seperate points time 9.395332 
publication time 8.740761 ms 
whole laserOdometry time 8.757776 ms 
 
-----t: 0.0430121
OdomCount 1658 & avg odom time 0.047014 ms ++++++++++++++++++++++
mapping data assosiation time 18.989153 ms 
mapping solver time 16.868957 ms 
points size 86027 
sort q time 4.844831 
seperate points time 11.823485 
mapping solver time 23.016958 ms 
publication time 7.997572 ms 
whole laserOdometry time 8.012779 ms 
 
drop lidar frame in mapping for real time performance 
-----t: 0.0525129
OdomCount 1659 & avg odom time 0.047017 ms ++++++++++++++++++++++
build tree time 35.700395 ms 
--------------------stamp1317357934.270028114
prepare time 10.989510 
mapping data assosiation time 20.840750 ms 
publication time 7.052828 ms 
whole laserOdometry time 7.063620 ms 
 
mapping data assosiation time 22.052782 ms 
mapping solver time 14.731631 ms 
filter time 11.710382 ms 
--------------------stamp1317357934.373872995
sort q time 5.591335 
seperate points time 10.744328 
publication time 5.936681 ms 
whole laserOdometry time 5.950271 ms 
 
mapping solver time 19.012141 ms 
mapping data assosiation time 17.293535 ms 
mapping solver time 13.313571 ms 
filter time 10.740924 ms 
sort q time 4.413467 
seperate points time 9.195451 
-----t: 0.035951
OdomCount 1662 & avg odom time 0.047001 ms ++++++++++++++++++++++
1317357934.477720022 WriteOdom laser_odom_to_init
1317357934.477720022 WriteOdom aft_mapped_to_init_high_frec
build tree time 41.902783 ms 
mapping data assosiation time 18.170219 ms 
mapping solver time 16.829546 ms 
--------------------stamp1317357934.581592082
prepare time 10.694754 
mapping solver time 14.439863 ms 
mapping optimization time 112.780778 
add points time 0.696370 ms
sort q time 4.404139 
seperate points time 10.295535 
filter time 14.133503 ms 
map prepare time 3.439152 ms
map corner num 151815  surf num 68462 
mapping data assosiation time 17.621816 ms 
prepare time 10.171126 
sort q time 5.504200 
seperate points time 10.438263 
mapping data assosiation time 20.891976 ms 
publication time 10.407531 ms 
whole laserOdometry time 10.419957 ms 
 
mapping solver time 20.143172 ms 
filter time 10.045737 ms 
--------------------stamp1317357934.789263963
points size 83964 
sort q time 4.464565 
seperate points time 10.461156 
mapping data assosiation time 22.030981 ms 
publication time 9.744603 ms 
whole laserOdometry time 9.762496 ms 
 
mapping data assosiation time 17.695854 ms 
mapping solver time 17.278870 ms 
--------------------stamp1317357934.893085002
sort q time 5.004119 
seperate points time 10.074627 
publication time 15.070341 ms 
whole laserOdometry time 15.114385 ms 
 
mapping data assosiation time 24.189610 ms 
mapping solver time 18.665851 ms 
--------------------stamp1317357934.996906995
mapping data assosiation time 21.742701 ms 
sort q time 5.247371 
seperate points time 11.954022 
filter time 13.785971 ms 
map prepare time 3.439737 ms
map corner num 153258  surf num 68840 
-----t: 0.0435881
OdomCount 1667 & avg odom time 0.046992 ms ++++++++++++++++++++++
1317357934.996906995 WriteOdom laser_odom_to_init
1317357934.996906995 WriteOdom aft_mapped_to_init_high_frec
build tree time 34.210478 ms 
--------------------stamp1317357935.100707054
prepare time 10.618779 
sort q time 5.278377 
seperate points time 10.966335 
publication time 7.430696 ms 
whole laserOdometry time 7.455151 ms 
 
mapping solver time 14.037137 ms 
filter time 12.759644 ms 
--------------------stamp1317357935.204482078
prepare time 11.354781 
sort q time 4.953864 
seperate points time 11.526917 
publication time 10.835180 ms 
whole laserOdometry time 10.846576 ms 
 
mapping solver time 18.996568 ms 
mapping data assosiation time 20.933948 ms 
--------------------stamp1317357935.308254957
prepare time 12.088451 
mapping pub time 4.955782 ms 
whole mapping time 148.217469 ms +++++
mappingCount 1156 & avg mapping time 145.045144 ms ++++++++++++++++++++++
[0m[ INFO] [1718804652.152337531, 1317357935.336375611]: Received 223687 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804652.152375283, 1317357935.336375611]: Data saved to 1317357935100707.pcd[0m
-----t: 0.0354786
OdomCount 1670 & avg odom time 0.046976 ms ++++++++++++++++++++++
build tree time 37.665022 ms 
mapping data assosiation time 21.114097 ms 
--------------------stamp1317357935.412005901
prepare time 13.215302 
sort q time 5.219163 
seperate points time 11.943868 
mapping solver time 15.110577 ms 
filter time 11.988730 ms 
build tree time 38.390330 ms 
points size 92786 
prepare time 15.303128 
mapping data assosiation time 25.193123 ms 
sort q time 5.190888 
seperate points time 12.218111 
publication time 7.714450 ms 
whole laserOdometry time 7.726398 ms 
 
-----t: 0.0459154
OdomCount 1672 & avg odom time 0.046972 ms ++++++++++++++++++++++
mapping solver time 13.398544 ms 
filter time 10.351394 ms 
sort q time 5.574081 
seperate points time 12.744342 
scan registration time 29.849697 ms *************
build tree time 53.067454 ms 
publication time 19.055006 ms 
whole laserOdometry time 19.069898 ms 
 
-----t: 0.0581618
OdomCount 1673 & avg odom time 0.046979 ms ++++++++++++++++++++++
mapping solver time 23.955970 ms 
points size 92022 
sort q time 11.893102 
seperate points time 18.614355 
publication time 10.151732 ms 
whole laserOdometry time 10.165439 ms 
 
map prepare time 3.153222 ms
map corner num 156244  surf num 69906 
--------------------stamp1317357935.827033042
build tree time 41.980263 ms 
sort q time 6.023515 
seperate points time 14.006075 
publication time 8.224133 ms 
whole laserOdometry time 8.255415 ms 
 
mapping data assosiation time 20.758415 ms 
mapping solver time 14.159286 ms 
filter time 10.802550 ms 
prepare time 16.039927 
sort q time 5.037500 
seperate points time 11.938333 
scan registration time 32.443051 ms *************
publication time 7.844690 ms 
whole laserOdometry time 7.867985 ms 
 
-----t: 0.057866
OdomCount 1676 & avg odom time 0.046974 ms ++++++++++++++++++++++
mapping solver time 23.208722 ms 
points size 87637 
mapping data assosiation time 23.628300 ms 
sort q time 4.915057 
seperate points time 21.051127 
publication time 6.480386 ms 
whole laserOdometry time 6.492866 ms 
 
-----t: 0.0581846
OdomCount 1677 & avg odom time 0.046981 ms ++++++++++++++++++++++
mapping pub time 38.081692 ms 
whole mapping time 190.316130 ms +++++
mappingCount 1161 & avg mapping time 145.095220 ms ++++++++++++++++++++++
1317357935.827033043 WriteOdom aft_mapped_to_init
points size 85614 
prepare time 13.327387 
build tree time 44.653689 ms 
-----t: 0.034449
OdomCount 1678 & avg odom time 0.046974 ms ++++++++++++++++++++++
mapping data assosiation time 24.928020 ms 
mapping solver time 28.338477 ms 
--------------------stamp1317357936.242157936
points size 84616 
sort q time 4.480012 
seperate points time 10.611223 
mapping optimization time 143.058851 
filter time 12.555650 ms 
-----t: 0.0444695
OdomCount 1679 & avg odom time 0.046972 ms ++++++++++++++++++++++
build tree time 35.371141 ms 
--------------------stamp1317357936.345978975
points size 82132 
mapping data assosiation time 24.109685 ms 
mapping solver time 23.861991 ms 
publication time 8.391672 ms 
whole laserOdometry time 8.455677 ms 
 
mapping solver time 17.475170 ms 
filter time 10.701713 ms 
--------------------stamp1317357936.449826002
sort q time 4.169547 
seperate points time 9.470073 
publication time 8.241670 ms 
mapping data assosiation time 24.991830 ms 
mapping solver time 18.858749 ms 
mapping data assosiation time 19.857019 ms 
mapping solver time 16.711952 ms 
sort q time 4.514880 
seperate points time 10.710354 
publication time 6.429050 ms 
whole laserOdometry time 6.447862 ms 
 
-----t: 0.0363065
OdomCount 1682 & avg odom time 0.046947 ms ++++++++++++++++++++++
1317357936.553672075 WriteOdom laser_odom_to_init
1317357936.553672075 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.925808 ms 
mapping solver time 18.189537 ms 
points size 80619 
mapping data assosiation time 21.963223 ms 
mapping solver time 15.919167 ms 
-----t: 0.034231
OdomCount 1683 & avg odom time 0.046939 ms ++++++++++++++++++++++
build tree time 29.041029 ms 
--------------------stamp1317357936.761270999
mapping solver time 19.974871 ms 
-----t: 0.0301344
OdomCount 1684 & avg odom time 0.046929 ms ++++++++++++++++++++++
mapping solver time 15.337213 ms 
filter time 9.919370 ms 
map prepare time 2.442690 ms
map corner num 139384  surf num 55041 
--------------------stamp1317357936.865093946
build tree time 34.578226 ms 
prepare time 13.122646 
sort q time 4.495519 
seperate points time 10.472237 
scan registration time 28.803562 ms *************
publication time 7.894765 ms 
whole laserOdometry time 7.911179 ms 
 
mapping data assosiation time 17.458375 ms 
mapping solver time 16.957983 ms 
filter time 9.238581 ms 
prepare time 10.504210 
sort q time 4.426785 
seperate points time 8.871067 
build tree time 36.329114 ms 
-----t: 0.0428878
OdomCount 1686 & avg odom time 0.046927 ms ++++++++++++++++++++++
1317357936.968893051 WriteOdom laser_odom_to_init
1317357936.968893051 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.148835 ms 
mapping solver time 16.411020 ms 
mapping data assosiation time 18.104596 ms 
mapping solver time 14.734359 ms 
filter time 11.535134 ms 
-----t: 0.027146
OdomCount 1687 & avg odom time 0.046915 ms ++++++++++++++++++++++
build tree time 34.326048 ms 
mapping data assosiation time 17.161590 ms 
mapping solver time 17.016664 ms 
points size 68798 
sort q time 3.721821 
seperate points time 8.863712 
-----t: 0.0283743
OdomCount 1688 & avg odom time 0.046904 ms ++++++++++++++++++++++
build tree time 28.879643 ms 
mapping data assosiation time 18.201812 ms 
--------------------stamp1317357937.280383110
mapping solver time 18.719865 ms 
mapping data assosiation time 20.424052 ms 
-----t: 0.0323983
OdomCount 1689 & avg odom time 0.046895 ms ++++++++++++++++++++++
add points time 0.635773 ms
filter time 10.007980 ms 
map prepare time 2.337796 ms
map corner num 141078  surf num 55509 
build tree time 33.179851 ms 
points size 62376 
mapping data assosiation time 20.326887 ms 
sort q time 3.471799 
seperate points time 8.523430 
mapping data assosiation time 19.958226 ms 
mapping optimization time 109.193694 
filter time 10.555697 ms 
--------------------stamp1317357937.488076925
sort q time 3.361197 
seperate points time 8.347377 
publication time 7.837833 ms 
whole laserOdometry time 7.853337 ms 
 
-----t: 0.0369722
OdomCount 1691 & avg odom time 0.046890 ms ++++++++++++++++++++++
mapping solver time 20.442525 ms 
mapping data assosiation time 16.324918 ms 
mapping solver time 15.519652 ms 
filter time 9.713766 ms 
sort q time 3.811015 
seperate points time 8.265851 
publication time 6.164257 ms 
whole laserOdometry time 6.179676 ms 
 
-----t: 0.0267321
OdomCount 1692 & avg odom time 0.046878 ms ++++++++++++++++++++++
mapping data assosiation time 15.713332 ms 
mapping solver time 17.463354 ms 
mapping data assosiation time 17.955218 ms 
points size 69264 
sort q time 4.352845 
seperate points time 9.169345 
publication time 9.280578 ms build tree time 43.336969 ms mapping data assosiation time 24.773710 ms 
points size 71459 
sort q time 4.121565 
seperate points time 9.908797 
publication time 6.576946 ms 
whole laserOdometry time 6.590282 ms 
 
mapping solver time 17.828563 ms 
filter time 10.287581 ms 
--------------------stamp1317357937.903537034
prepare time 11.840102 
mapping data assosiation time 19.191337 ms 
publication time 13.030551 ms 
whole laserOdometry time 13.040864 ms 
 
-----t: 0.037859
OdomCount 1695 & avg odom time 0.046872 ms ++++++++++++++++++++++
mapping solver time 16.740438 ms 
filter time 9.974127 ms 
--------------------stamp1317357938.007409095
points size 74827 
sort q time 4.075292 
seperate points time 10.005242 
publication time 6.674186 ms 
whole laserOdometry time 6.700941 ms 
 
mapping data assosiation time 20.491626 ms 
mapping solver time 19.462476 ms 
mapping data assosiation time 19.190931 ms 
--------------------stamp1317357938.111279010
points size 77484 
prepare time 12.490439 
publication time 7.919029 ms 
whole laserOdometry time 7.931826 ms 
 
build tree time 34.736208 ms 
mapping data assosiation time 17.552922 ms 
mapping solver time 16.944577 ms 
--------------------stamp1317357938.215173006
mapping data assosiation time 19.954013 ms 
sort q time 5.089918 
seperate points time 10.739602 
mapping solver time 21.945823 ms 
mapping optimization time 112.143244 
add points time 0.726981 ms
drop lidar frame in mapping for real time performance 
map prepare time 3.157469 ms
map corner num 144352  surf num 56381 
build tree time 30.980452 ms 
--------------------stamp1317357938.319068908
points size 83258 
sort q time 4.548005 
seperate points time 10.825019 
publication time 6.990117 ms 
whole laserOdometry time 7.004791 ms 
 
mapping solver time 18.121377 ms 
filter time 9.181714 ms 
--------------------stamp1317357938.422962903
prepare time 12.496874 
sort q time 4.722964 
seperate points time 11.098211 
mapping data assosiation time 24.906485 ms 
mapping solver time 19.537442 ms 
mapping data assosiation time 18.939966 ms 
mapping solver time 14.981005 ms 
points size 89171 
prepare time 13.384147 
filter time 17.459598 ms 
scan registration time 30.427699 ms *************
publication time 9.223543 ms 
whole laserOdometry time 9.247280 ms 
 
-----t: 0.0432666
OdomCount 1701 & avg odom time 0.046857 ms ++++++++++++++++++++++
1317357938.526881933 WriteOdom laser_odom_to_init
1317357938.526881933 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.511516 ms 
--------------------stamp1317357938.630822896
points size 93109 
sort q time 5.220040 
seperate points time 12.280892 
scan registration time 31.529318 ms *************
mapping solver time 14.530323 ms 
filter time 14.666628 ms 
build tree time 39.511033 ms 
points size 96909 
sort q time 5.503308 
seperate points time 12.815864 
mapping solver time 26.006510 ms 
publication time 7.928428 ms 
whole laserOdometry time 7.942133 ms 
 
mapping data assosiation time 20.473587 ms 
mapping solver time 17.153875 ms 
mapping optimization time 135.286642 
add points time 0.662471 ms
points size 98117 
[0m[ INFO] [1718804655.659851028, 1317357938.846958212]: Received 248144 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804655.659911035, 1317357938.846958212]: Data saved to 1317357938526881.pcd[0m
sort q time 5.318508 
seperate points time 12.794449 
mapping pub time 40.658485 ms 
whole mapping time 192.186731 ms +++++
mappingCount 1181 & avg mapping time 144.932882 ms ++++++++++++++++++++++
1317357938.526881933 WriteOdom aft_mapped_to_init
publication time 16.350871 ms build tree time 43.683507 ms 
--------------------stamp1317357938.942676067
prepare time 12.012067 
scan registration time 30.233497 ms *************
-----t: 0.0392874mapping solver time 18.907235 ms 
filter time 13.232497 ms 
map prepare time 2.979044 ms
map corner num 177543  surf num 71218 
points size 96873 
sort q time 5.547310 
seperate points time 13.127945 
build tree time 45.500468 ms 
publication time 9.102139 ms 
whole laserOdometry time 9.127316 ms 
 
mapping data assosiation time 22.061103 ms 
mapping solver time 24.070624 ms 
--------------------stamp1317357939.150585889
prepare time 11.010626 
sort q time 5.553095 
seperate points time 12.419521 
filter time 16.302534 ms 
map prepare time 6.066976 ms
map corner num 177913  surf num 71315 
build tree time 37.412349 ms 
--------------------stamp1317357939.254580020
prepare time 18.124872 
sort q time 11.018777 
seperate points time 18.768836 
-----t: 0.0366255
OdomCount 1708 & avg odom time 0.046837 ms ++++++++++++++++++++++
mapping data assosiation time 20.327991 ms 
mapping solver time 18.350132 ms 
filter time 11.819941 ms 
points size 95087 
sort q time 5.405652 
seperate points time 12.756707 
publication time 8.126016 ms 
whole laserOdometry time 8.139510 ms 
 
-----t: 0.0531312
OdomCount 1709 & avg odom time 0.046841 ms ++++++++++++++++++++++
mapping data assosiation time 21.985834 ms 
mapping solver time 21.637349 ms 
points size 94464 
sort q time 5.488047 
seperate points time 13.082550 
mapping solver time 17.893178 ms 
publication time 9.758198 ms 
whole laserOdometry time 9.783726 ms 
 
filter time 14.861835 ms 
mapping pub time 2.166671 ms 
whole mapping time 158.542800 ms +++++
mappingCount 1185 & avg mapping time 144.975421 ms ++++++++++++++++++++++
1317357939.150585890 WriteOdom aft_mapped_to_init
--------------------stamp1317357939.566570997
prepare time 10.940020 
sort q time 5.295381 
seperate points time 12.192897 
publication time 7.312643 ms 
whole laserOdometry time 7.325458 ms 
 
mapping data assosiation time 19.295505 ms 
mapping solver time 16.842077 ms 
mapping optimization time 129.378764 
add points time 0.700486 ms
mapping pub time 7.771552 ms 
whole mapping time 153.059835 ms +++++
mappingCount 1186 & avg mapping time 144.982252 ms ++++++++++++++++++++++
sort q time 4.992678 
seperate points time 11.895735 
publication time 8.915864 ms 
whole laserOdometry time 8.928128 ms 
 
mapping data assosiation time 18.330728 ms 
mapping solver time 17.496424 ms 
points size 92013 
sort q time 5.854645 
seperate points time 12.147652 
add points time 0.803840 ms
filter time 15.661794 ms 
-----t: 0.0712198
OdomCount 1713 & avg odom time 0.046841 ms ++++++++++++++++++++++
1317357939.774482011 WriteOdom laser_odom_to_init
1317357939.774482011 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357939.878398895
points size 90932 
sort q time 6.098671 
seperate points time 12.562454 
mapping solver time 21.868858 ms 
publication time 7.691448 ms 
whole laserOdometry time 7.705461 ms 
 
-----t: 0.0334239
OdomCount 1714 & avg odom time 0.046833 ms ++++++++++++++++++++++
-----t: 0.043518
OdomCount 1715 & avg odom time 0.046831 ms ++++++++++++++++++++++
1317357939.982299089 WriteOdom laser_odom_to_init
1317357939.982299089 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.006239 ms 
--------------------stamp1317357940.086170911
mapping solver time 28.270510 ms 
prepare time 10.492190 
scan registration time 26.584389 ms *************
publication time 7.514964 ms 
whole laserOdometry time 7.527205 ms 
 
mapping solver time 17.356337 ms 
-----t: 0.0487584
OdomCount 1716 & avg odom time 0.046832 ms ++++++++++++++++++++++
1317357940.086170911 WriteOdom laser_odom_to_init
1317357940.086170911 WriteOdom aft_mapped_to_init_high_frec
filter time 16.813010 ms 
--------------------stamp1317357940.190040111
points size 89618 
sort q time 4.844769 
seperate points time 11.665752 
build tree time 52.922562 ms 
scan registration time 30.612770 ms *************
mapping data assosiation time 22.528995 ms 
mapping solver time 28.279576 ms 
mapping data assosiation time 22.534405 ms 
points size 93920 
mapping solver time 23.554122 ms 
filter time 17.293892 ms 
map prepare time 5.271958 ms
map corner num 181059  surf num 72085 
1317357940.293910980 WriteOdom laser_odom_to_init
1317357940.293910980 WriteOdom aft_mapped_to_init_high_frec
build tree time 52.662498 ms 
points size 96308 
sort q time 5.604643 
seperate points time 12.447753 
publication time 8.194458 ms 
whole laserOdometry time 8.209322 ms 
 
mapping solver time 28.727868 ms 
mapping data assosiation time 17.756428 ms 
mapping solver time 17.418027 ms 
filter time 11.566068 ms 
map prepare time 4.430300 ms
map corner num 181576  surf num 72192 
prepare time 15.793984 
sort q time 5.243816 
seperate points time 38.694655 
publication time 10.893644 ms 
whole laserOdometry time 10.906270 ms 
 
--------------------stamp1317357940.605477094
prepare time 12.283147 
sort q time 6.170462 
seperate points time 14.125759 
mapping optimization time 135.009793 
-----t: 0.039072
OdomCount 1721 & avg odom time 0.046825 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317357940.709343910
points size 92395 
mapping data assosiation time 20.823631 ms 
sort q time 5.103112 
seperate points time 11.899061 
mapping solver time 21.284764 ms 
1317357940.709343910 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.351254 ms 
mapping solver time 18.745947 ms 
--------------------stamp1317357940.813213109
sort q time 5.101187 
seperate points time 17.245099 
publication time 7.558449 ms 
whole laserOdometry time 7.586827 ms 
 
build tree time 56.180380 ms 
mapping data assosiation time 18.718104 ms 
-----t: 0.0634769
OdomCount 1723 & avg odom time 0.046830 ms ++++++++++++++++++++++
--------------------stamp1317357940.917083978
points size 84302 
prepare time 13.646955 
scan registration time 30.618353 ms *************
mapping solver time 32.709051 ms 
filter time 12.537156 ms 
map prepare time 2.821554 ms
map corner num 182929  surf num 72563 
points size 80863 
build tree time 45.920072 ms 
sort q time 12.415476 
seperate points time 18.624568 
publication time 6.382488 ms 
whole laserOdometry time 6.408848 ms 
 
mapping data assosiation time 16.569280 ms 
mapping solver time 16.396862 ms 
points size 78595 
sort q time 4.476889 
seperate points time 10.782172 
publication time 18.571765 ms 
whole laserOdometry time 18.584404 ms 
 
-----t: 0.0482199
OdomCount 1726 & avg odom time 0.046829 ms ++++++++++++++++++++++
1317357941.124874114 WriteOdom laser_odom_to_init
1317357941.124874114 WriteOdom aft_mapped_to_init_high_frec
build tree time 49.328728 ms 
mapping data assosiation time 15.437803 ms 
mapping solver time 19.898818 ms 
prepare time 10.549906 
sort q time 4.571179 
seperate points time 9.562532 
mapping data assosiation time 21.136445 ms 
scan registration time 24.841992 ms *************
add points time 0.651582 ms
-----t: 0.0375444
OdomCount 1727 & avg odom time 0.046823 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317357941.332638025
prepare time 11.547752 
sort q time 4.329310 
seperate points time 9.651696 
publication time 7.299736 ms 
whole laserOdometry time 7.313431 ms 
 
-----t: 0.0432519
OdomCount 1728 & avg odom time 0.046821 ms ++++++++++++++++++++++
mapping solver time 10.770544 ms 
filter time 11.208784 ms 
mapping pub time 1.825219 ms 
whole mapping time 125.610686 ms +++++
mappingCount 1197 & avg mapping time 145.079819 ms ++++++++++++++++++++++
1317357941.124874115 WriteOdom aft_mapped_to_init
map prepare time 2.707781 ms
map corner num 184096  surf num 72906 
--------------------stamp1317357941.436533927
prepare time 10.199006 
sort q time 4.424558 
seperate points time 9.711229 
publication time 4.745326 ms 
whole laserOdometry time 4.759834 ms 
 
1317357941.436533927 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.833904 ms 
mapping solver time 15.795467 ms 
mapping data assosiation time 19.145512 ms 
--------------------stamp1317357941.540380001
prepare time 11.534934 
sort q time 4.253354 
seperate points time 9.696183 
map prepare time 3.517845 ms
map corner num 184610  surf num 73036 
publication time 12.194813 ms 
whole laserOdometry time 12.209010 ms 
 
mapping data assosiation time 16.302030 ms 
mapping solver time 19.609411 ms 
points size 76465 
prepare time 12.523314 
scan registration time 26.745932 ms *************
publication time 6.698888 ms 
whole laserOdometry time 6.712781 ms 
 
filter time 13.980927 ms 
mapping pub time 1.601240 ms 
whole mapping time 146.763316 ms +++++
mappingCount 1199 & avg mapping time 145.076398 ms ++++++++++++++++++++++
1317357941.436533928 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.645905 ms
map corner num 185028  surf num 73145 
--------------------stamp1317357941.748073101
prepare time 12.508299 
sort q time 4.169149 
seperate points time 9.786400 
mapping solver time 18.908421 ms 
1317357941.748073101 WriteOdom laser_odom_to_init
1317357941.748073101 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.508356 ms 
filter time 11.367452 ms 
--------------------stamp1317357941.851870059
sort q time 4.214516 
seperate points time 9.917012 
build tree time 49.366325 ms 
mapping data assosiation time 18.447821 ms 
mapping solver time 21.351130 ms 
mapping data assosiation time 20.420247 ms 
prepare time 13.774542 
sort q time 4.137338 
seperate points time 10.030084 
mapping solver time 20.986050 ms 
mapping optimization time 131.654941 
add points time 0.828449 ms
scan registration time 27.859340 ms *************
filter time 15.936686 ms 
-----t: 0.0459603
OdomCount 1734 & avg odom time 0.046809 ms ++++++++++++++++++++++
mapping pub time 41.886930 ms 
whole mapping time 193.206103 ms +++++
mappingCount 1201 & avg mapping time 145.107379 ms ++++++++++++++++++++++
1317357941.748073101 WriteOdom aft_mapped_to_init
--------------------stamp1317357942.059421062
sort q time 4.345236 
seperate points time 9.649448 
publication time 10.186308 ms 
whole laserOdometry time 10.197646 ms 
 
-----t: 0.0432479
OdomCount 1735 & avg odom time 0.046807 ms ++++++++++++++++++++++
1317357942.059421062 WriteOdom laser_odom_to_init
1317357942.059421062 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.490758 ms 
mapping data assosiation time 15.623871 ms 
mapping optimization time 114.317355 
points size 80256 
map prepare time 3.506478 ms
map corner num 186218  surf num 73436 
publication time 6.832667 ms 
whole laserOdometry time 6.848073 ms 
 
-----t: 0.0567939
OdomCount 1736 & avg odom time 0.046812 ms ++++++++++++++++++++++
build tree time 61.325430 ms 
mapping data assosiation time 17.818364 ms 
points size 80606 
sort q time 4.830169 
seperate points time 11.510902 
mapping data assosiation time 24.052279 ms 
-----t: 0.0413488
OdomCount 1737 & avg odom time 0.046809 ms ++++++++++++++++++++++
mapping solver time 21.077775 ms 
mapping pub time 1.714118 ms 
whole mapping time 168.131096 ms +++++
mappingCount 1203 & avg mapping time 145.116815 ms ++++++++++++++++++++++
[0m[ INFO] [1718804659.170570136, 1317357942.354461189]: Received 259229 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804659.170623224, 1317357942.354461189]: Data saved to 1317357941748073.pcd[0m
--------------------stamp1317357942.370721101
prepare time 11.060931 
sort q time 4.426754 
seperate points time 10.162582 
publication time 9.561841 ms 
whole laserOdometry time 9.578449 ms 
 
mapping solver time 18.290071 ms 
mapping data assosiation time 17.823625 ms 
--------------------stamp1317357942.474541902
points size 82056 
sort q time 4.731643 
seperate points time 11.195481 
map prepare time 4.180614 ms
map corner num 187078  surf num 73668 
-----t: 0.0472128
OdomCount 1739 & avg odom time 0.046805 ms ++++++++++++++++++++++
build tree time 48.426687 ms 
mapping data assosiation time 17.670155 ms 
points size 85514 
prepare time 12.694670 
scan registration time 31.702347 ms *************
mapping data assosiation time 23.389649 ms 
publication time 10.032456 ms 
whole laserOdometry time 10.048212 ms 
 
filter time 12.907944 ms 
--------------------stamp1317357942.682166099
prepare time 12.198477 
sort q time 4.880867 
seperate points time 10.900477 
publication time 6.330560 ms 
whole laserOdometry time 6.343371 ms 
 
-----t: 0.047145
OdomCount 1741 & avg odom time 0.046813 ms ++++++++++++++++++++++
mapping solver time 23.766385 ms 
mapping data assosiation time 16.341072 ms 
--------------------stamp1317357942.785965919
mapping solver time 21.195596 ms 
prepare time 27.748430 
map prepare time 5.334322 ms
map corner num 188072  surf num 73985 
scan registration time 60.044477 ms *************
publication time 5.547711 ms 
whole laserOdometry time 5.561273 ms 
 
build tree time 49.406431 ms 
mapping data assosiation time 19.709671 ms 
sort q time 5.155653 
seperate points time 11.317091 
publication time 7.883437 ms 
whole laserOdometry time 7.896795 ms 
 
mapping solver time 17.096370 ms 
filter time 11.386610 ms 
--------------------stamp1317357942.993540048
sort q time 5.158210 
seperate points time 11.202048 
build tree time 53.384724 ms 
-----t: 0.0367314
OdomCount 1744 & avg odom time 0.046800 ms ++++++++++++++++++++++
1317357942.993540048 WriteOdom laser_odom_to_init
1317357942.993540048 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.397370 ms 
mapping solver time 19.862765 ms 
--------------------stamp1317357943.097340106
prepare time 13.454755 
mapping solver time 21.144737 ms 
publication time 7.611143 ms 
whole laserOdometry time 7.631161 ms 
 
-----t: 0.0488154
OdomCount 1745 & avg odom time 0.046801 ms ++++++++++++++++++++++
build tree time 42.639605 ms 
points size 86980 
sort q time 4.710773 
seperate points time 10.606125 
mapping solver time 20.482879 ms 
publication time 8.214627 ms 
whole laserOdometry time 8.229784 ms 
 
mapping data assosiation time 22.624078 ms 
-----t: 0.0521749
OdomCount 1746 & avg odom time 0.046804 ms ++++++++++++++++++++++
1317357943.201138019 WriteOdom laser_odom_to_init
1317357943.201138019 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.402812 ms 
filter time 11.820723 ms 
--------------------stamp1317357943.304936885
prepare time 11.554191 
sort q time 5.257958 
seperate points time 11.527787 
scan registration time 27.425232 ms *************
build tree time 53.294397 ms 
mapping data assosiation time 20.841856 ms 
mapping solver time 16.522259 ms 
--------------------stamp1317357943.408760070
points size 88917 
mapping solver time 21.325289 ms 
sort q time 8.544456 
seperate points time 24.742521 
-----t: 0.037832
OdomCount 1748 & avg odom time 0.046794 ms ++++++++++++++++++++++
publication time 11.736249 ms 
whole laserOdometry time 11.768763 ms 
 
--------------------stamp1317357943.512607097
prepare time 13.717996 
sort q time 5.221092 
seperate points time 12.123840 
mapping solver time 23.915329 ms 
mapping data assosiation time 20.722590 ms 
mapping solver time 8.825158 ms 
filter time 11.327815 ms 
map prepare time 3.152458 ms
map corner num 190696  surf num 74781 
points size 91103 
prepare time 14.411715 
sort q time 5.497018 
seperate points time 12.820121 
build tree time 53.658672 ms 
mapping data assosiation time 20.336580 ms 
mapping solver time 16.409088 ms 
--------------------stamp1317357943.720347881
points size 91699 
add points time 0.766124 ms
scan registration time 31.355875 ms *************
1317357943.408760071 WriteOdom aft_mapped_to_init
publication time 9.439585 ms 
whole laserOdometry time 9.450651 ms 
 
-----t: 0.0620965
OdomCount 1751 & avg odom time 0.046795 ms ++++++++++++++++++++++
build tree time 49.872366 ms 
points size 91297 
sort q time 5.360834 
seperate points time 12.427548 
scan registration time 29.870519 ms *************
publication time 13.420844 ms 
whole laserOdometry time 13.448819 ms 
 
mapping solver time 14.333416 ms 
filter time 11.675060 ms 
--------------------stamp1317357943.928088903
points size 91974 
prepare time 14.403071 
scan registration time 32.081902 ms *************
publication time 12.368327 ms 
whole laserOdometry time 12.381655 ms 
 
mapping data assosiation time 22.617594 ms 
mapping solver time 17.301864 ms 
--------------------stamp1317357944.031981945
points size 94033 
mapping solver time 16.621069 ms 
publication time 15.846482 ms 
whole laserOdometry time 15.860560 ms 
 
points size 94126 
sort q time 5.861555 
seperate points time 13.892380 
mapping data assosiation time 25.798530 ms 
publication time 11.673481 ms 
whole laserOdometry time 11.742904 ms 
 
-----t: 0.0528826
OdomCount 1755 & avg odom time 0.046800 ms ++++++++++++++++++++++
mapping data assosiation time 25.820495 ms 
points size 93688 
sort q time 6.145371 
seperate points time 14.435406 
drop lidar frame in mapping for real time performance 
publication time 10.209209 ms 
whole laserOdometry time 10.241445 ms 
 
-----t: 0.0605509
OdomCount 1756 & avg odom time 0.046808 ms ++++++++++++++++++++++
1317357944.239845037 WriteOdom laser_odom_to_init
--------------------stamp1317357944.343787908
build tree time 56.343612 ms 
points size 93193 
mapping data assosiation time 26.566916 ms 
sort q time 14.515172 
seperate points time 31.116997 
mapping data assosiation time 26.212309 ms 
mapping solver time 13.885088 ms 
--------------------stamp1317357944.447731018
prepare time 13.086772 
sort q time 6.625952 
seperate points time 13.085616 
publication time 9.489807 ms 
whole laserOdometry time 9.505724 ms 
 
-----t: 0.0450445
OdomCount 1758 & avg odom time 0.046808 ms ++++++++++++++++++++++
1317357944.447731018 WriteOdom laser_odom_to_init
1317357944.447731018 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.092014 ms 
--------------------stamp1317357944.551721096
prepare time 11.075927 
sort q time 5.490601 
seperate points time 12.936979 
publication time 9.563154 ms 
whole laserOdometry time 9.576863 ms 
 
1317357944.551721096 WriteOdom laser_odom_to_init
1317357944.551721096 WriteOdom aft_mapped_to_init_high_frec
filter time 11.586839 ms 
drop lidar frame in mapping for real time performance 
map prepare time 4.300520 ms
map corner num 194789  surf num 76311 
--------------------stamp1317357944.655689001
prepare time 12.501764 
sort q time 5.172277 
seperate points time 11.719417 
-----t: 0.0379168
OdomCount 1760 & avg odom time 0.046800 ms ++++++++++++++++++++++
mapping data assosiation time 25.368698 ms 
mapping solver time 21.181374 ms 
points size 92484 
mapping data assosiation time 25.763867 ms 
scan registration time 34.738606 ms *************
mapping solver time 16.721190 ms 
mapping optimization time 158.754324 
add points time 0.748594 ms
filter time 14.903206 ms 
map prepare time 4.437226 ms
map corner num 195658  surf num 76619 
publication time 11.226117 ms 
whole laserOdometry time 11.234954 ms 
 
--------------------stamp1317357944.863598108
points size 92597 
scan registration time 37.957902 ms *************
publication time 17.211441 ms 
whole laserOdometry time 17.226218 ms 
 
mapping data assosiation time 23.353947 ms 
--------------------stamp1317357944.967564105
prepare time 12.324775 
mapping pub time 2.270616 ms 
whole mapping time 170.278101 ms +++++
mappingCount 1219 & avg mapping time 145.347166 ms ++++++++++++++++++++++
-----t: 0.0399672
OdomCount 1763 & avg odom time 0.046800 ms ++++++++++++++++++++++
build tree time 51.630145 ms 
[0m[ INFO] [1718804661.878095191, 1317357945.060567993]: Received 269844 data points in frame camera_init with the following fields: x y z intensity[0m
points size 91203 
sort q time 5.230078 
seperate points time 11.477363 
publication time 8.694543 ms 
whole laserOdometry time 8.710637 ms 
 
-----t: 0.0469408
OdomCount 1764 & avg odom time 0.046801 ms ++++++++++++++++++++++
filter time 13.586940 ms 
map prepare time 3.296438 ms
map corner num 197082  surf num 77123 
points size 90909 
sort q time 5.111627 
seperate points time 12.150680 
mapping data assosiation time 24.455681 ms 
mapping solver time 19.657712 ms 
mapping data assosiation time 18.474875 ms 
points size 90065 
mapping solver time 16.411477 ms 
sort q time 5.185146 
seperate points time 12.189756 
publication time 11.582303 ms 
whole laserOdometry time 11.628102 ms 
 
-----t: 0.0540698
OdomCount 1766 & avg odom time 0.046803 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
map prepare time 3.417155 ms
map corner num 197735  surf num 77313 
--------------------stamp1317357945.383407115
prepare time 10.868156 
scan registration time 28.064574 ms *************
publication time 9.723740 ms 
whole laserOdometry time 9.739792 ms 
 
mapping solver time 21.926221 ms 
mapping data assosiation time 18.862799 ms 
--------------------stamp1317357945.487349987
prepare time 11.546766 
sort q time 5.652644 
seperate points time 12.213431 
mapping pub time 13.650955 ms 
whole mapping time 178.903841 ms +++++
mappingCount 1222 & avg mapping time 145.428454 ms ++++++++++++++++++++++
-----t: 0.0448972
OdomCount 1768 & avg odom time 0.046798 ms ++++++++++++++++++++++
1317357945.487349987 WriteOdom laser_odom_to_init
1317357945.487349987 WriteOdom aft_mapped_to_init_high_frec
build tree time 47.011227 ms 
prepare time 11.248239 
sort q time 5.512977 
seperate points time 12.623119 
publication time 8.240025 ms 
whole laserOdometry time 8.269629 ms 
 
mapping solver time 27.373775 ms 
-----t: 0.0550856
OdomCount 1769 & avg odom time 0.046803 ms ++++++++++++++++++++++
mapping solver time 13.183883 ms 
filter time 12.064096 ms 
map prepare time 5.442871 ms
map corner num 200401  surf num 82447 
sort q time 5.758552 
seperate points time 11.946177 
publication time 8.439274 ms 
whole laserOdometry time 8.455917 ms 
 
build tree time 59.073273 ms 
mapping data assosiation time 18.251208 ms 
mapping solver time 18.708264 ms 
points size 91129 
mapping data assosiation time 23.652582 ms 
mapping solver time 17.915546 ms 
mapping optimization time 139.073272 
add points time 0.571796 ms
publication time 12.061109 ms 
whole laserOdometry time 12.081440 ms 
 
mapping pub time 2.166688 ms 
whole mapping time 167.254698 ms +++++
mappingCount 1224 & avg mapping time 145.453804 ms ++++++++++++++++++++++
1317357945.591291904 WriteOdom aft_mapped_to_init
-----t: 0.0536888
OdomCount 1771 & avg odom time 0.046801 ms ++++++++++++++++++++++
--------------------stamp1317357945.902998924
points size 94329 
scan registration time 33.799968 ms *************
publication time 7.122787 ms 
whole laserOdometry time 7.144940 ms 
 
mapping data assosiation time 18.485839 ms 
mapping solver time 13.195457 ms 
points size 96880 
[0m[ INFO] [1718804662.857236972, 1317357946.045344600]: Received 275048 data points in frame camera_init with the following fields: x y z intensity[0m
build tree time 43.433497 ms 
mapping data assosiation time 21.756133 ms 
mapping solver time 17.410661 ms 
points size 98611 
sort q time 5.885767 
seperate points time 13.786398 
mapping solver time 23.447255 ms 
publication time 9.007872 ms 
whole laserOdometry time 9.024591 ms 
 
map prepare time 2.720264 ms
map corner num 143990  surf num 58363 
build tree time 34.369772 ms 
mapping data assosiation time 32.849240 ms 
mapping solver time 31.232698 ms 
-----t: 0.064908
OdomCount 1775 & avg odom time 0.046807 ms ++++++++++++++++++++++
--------------------stamp1317357946.318289995
filter time 10.358807 ms 
sort q time 6.402970 
seperate points time 14.475889 
publication time 9.405015 ms 
whole laserOdometry time 9.418152 ms 
 
build tree time 43.353183 ms 
mapping data assosiation time 25.256342 ms 
--------------------stamp1317357946.422091007
points size 98092 
sort q time 5.671879 
seperate points time 13.417842 
mapping data assosiation time 26.217687 ms 
-----t: 0.040303
OdomCount 1777 & avg odom time 0.046810 ms ++++++++++++++++++++++
mapping solver time 25.828381 ms 
filter time 14.352942 ms 
mapping pub time 2.514015 ms 
whole mapping time 172.559586 ms +++++
mappingCount 1228 & avg mapping time 145.498853 ms ++++++++++++++++++++++
1317357946.214467049 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357946.525866031
points size 98414 
build tree time 43.349316 ms 
publication time 8.840562 ms 
whole laserOdometry time 8.852008 ms 
 
-----t: 0.0534136
OdomCount 1778 & avg odom time 0.046814 ms ++++++++++++++++++++++
mapping solver time 29.296355 ms 
--------------------stamp1317357946.629642009
prepare time 11.560649 
sort q time 6.610858 
seperate points time 15.325284 
mapping solver time 18.416855 ms 
filter time 15.263571 ms 
build tree time 41.785957 ms 
points size 98903 
sort q time 5.546014 
seperate points time 12.829135 
mapping solver time 22.980718 ms 
mapping data assosiation time 25.056103 ms 
mapping solver time 17.380729 ms 
mapping optimization time 132.779108 
add points time 0.787594 ms
mapping pub time 2.578425 ms 
whole mapping time 154.605097 ms +++++
mappingCount 1230 & avg mapping time 145.522733 ms ++++++++++++++++++++++
points size 98913 
sort q time 6.206253 
seperate points time 13.575400 
build tree time 44.461488 ms 
-----t: 0.0364769
OdomCount 1781 & avg odom time 0.046809 ms ++++++++++++++++++++++
1317357946.837188959 WriteOdom laser_odom_to_init
publication time 11.483326 ms 
whole laserOdometry time 11.500457 ms 
 
mapping data assosiation time 26.027092 ms 
mapping solver time 23.616964 ms 
points size 99159 
mapping data assosiation time 25.120446 ms 
scan registration time 32.772155 ms *************
add points time 0.960715 ms
publication time 9.598446 ms 
whole laserOdometry time 9.610512 ms 
 
map prepare time 4.137182 ms
map corner num 146191  surf num 59319 
-----t: 0.054178
OdomCount 1782 & avg odom time 0.046813 ms ++++++++++++++++++++++
--------------------stamp1317357947.044761896
prepare time 13.079446 
[0m[ INFO] [1718804663.878837441, 1317357947.064145000]: Received 205510 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804663.878954469, 1317357947.064145000]: Data saved to 1317357946629642.pcd[0m
sort q time 6.208450 
seperate points time 15.208679 
publication time 8.737210 ms 
whole laserOdometry time 8.753055 ms 
 
mapping data assosiation time 45.006230 ms 
mapping solver time 23.558798 ms 
--------------------stamp1317357947.148560047
points size 95672 
mapping solver time 15.575693 ms 
filter time 11.953419 ms 
-----t: 0.0392501
OdomCount 1784 & avg odom time 0.046812 ms ++++++++++++++++++++++
publication time 9.345095 ms 
whole laserOdometry time 9.357623 ms 
 
mapping data assosiation time 19.763057 ms 
points size 94096 
sort q time 6.151093 
seperate points time 14.459456 
mapping data assosiation time 28.806791 ms 
mapping solver time 17.998049 ms 
filter time 9.661093 ms 
map prepare time 2.811249 ms
map corner num 147390  surf num 59884 
--------------------stamp1317357947.356108903
points size 92463 
prepare time 14.293094 
sort q time 7.098180 
seperate points time 15.309822 
publication time 10.686658 ms -----t: 0.0559128
OdomCount 1786 & avg odom time 0.046817 ms ++++++++++++++++++++++
mapping data assosiation time 21.938076 ms 
points size 91120 
mapping pub time 3.085782 ms 
whole mapping time 158.560558 ms +++++
mappingCount 1234 & avg mapping time 145.573505 ms ++++++++++++++++++++++
publication time 13.679891 ms 
whole laserOdometry time 13.697876 ms 
 
build tree time 43.024323 ms 
--------------------stamp1317357947.563637018
points size 89651 
sort q time 5.001714 
seperate points time 12.436625 
publication time 8.421228 ms 
whole laserOdometry time 8.437128 ms 
 
mapping data assosiation time 30.112147 ms 
mapping solver time 26.584585 ms 
--------------------stamp1317357947.667365074
drop lidar frame in mapping for real time performance 
prepare time 12.263678 
map prepare time 4.033053 ms
map corner num 148782  surf num 60348 
publication time 8.263384 ms 
whole laserOdometry time 8.278400 ms 
 
-----t: 0.0502434
OdomCount 1789 & avg odom time 0.046821 ms ++++++++++++++++++++++
mapping data assosiation time 28.667556 ms 
--------------------stamp1317357947.771090030
prepare time 12.989239 
sort q time 5.309817 
-----t: 0.0415921
OdomCount 1790 & avg odom time 0.046818 ms ++++++++++++++++++++++
1317357947.771090030 WriteOdom laser_odom_to_initmapping solver time 23.623628 ms 
filter time 9.260620 ms 
map prepare time 3.773082 ms
map corner num 149397  surf num 60617 
--------------------stamp1317357947.874814033
points size 89963 
build tree time 43.564658 ms 
sort q time 6.728263 
seperate points time 26.339519 
scan registration time 53.600894 ms *************
mapping data assosiation time 29.307032 ms 
publication time 18.272316 ms 
whole laserOdometry time 18.291868 ms 
 
--------------------stamp1317357947.978518009
points size 90734 
mapping data assosiation time 29.686934 ms 
publication time 10.226722 ms 
whole laserOdometry time 10.239464 ms 
 
-----t: 0.0443918
OdomCount 1792 & avg odom time 0.046832 ms ++++++++++++++++++++++
1317357947.978518009 WriteOdom laser_odom_to_init
1317357947.978518009 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.883137 ms
map corner num 150174  surf num 61019 
--------------------stamp1317357948.082196950
prepare time 12.445144 
sort q time 5.227182 
seperate points time 11.357650 
mapping data assosiation time 29.978575 ms 
1317357948.082196950 WriteOdom laser_odom_to_init
1317357948.082196950 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 34.414906 ms 
--------------------stamp1317357948.185852050
mapping data assosiation time 29.377914 ms 
prepare time 14.878940 
scan registration time 31.318425 ms *************
filter time 15.485811 ms 
--------------------stamp1317357948.289484024
points size 95898 
sort q time 6.599898 
seperate points time 12.758113 
publication time 11.917502 ms 
whole laserOdometry time 11.935909 ms 
 
mapping data assosiation time 30.286231 ms 
points size 98191 
mapping solver time 36.441644 ms 
mapping optimization time 179.023043 
add points time 0.900583 ms
publication time 10.081039 ms 
whole laserOdometry time 10.105099 ms 
 
-----t: 0.0646228
OdomCount 1796 & avg odom time 0.046846 ms ++++++++++++++++++++++
--------------------stamp1317357948.496696949
points size 100873 
sort q time 6.268931 
seperate points time 13.754326 
publication time 11.234784 ms 
whole laserOdometry time 11.266584 ms 
 
mapping solver time 38.318780 ms 
--------------------stamp1317357948.600352048
prepare time 12.710890 
sort q time 6.103123 
seperate points time 13.906093 
scan registration time 30.772324 ms *************
mapping solver time 29.420145 ms 
mapping optimization time 175.992631 
add points time 0.872562 ms
filter time 15.388211 ms 
map prepare time 4.683492 ms
map corner num 152463  surf num 62113 
build tree time 40.917091 ms 
prepare time 14.493832 
sort q time 6.974611 
seperate points time 14.526829 
-----t: 0.0413778
OdomCount 1799 & avg odom time 0.046851 ms ++++++++++++++++++++++
mapping data assosiation time 24.333802 ms 
--------------------stamp1317357948.807660102
points size 102440 
[0m[ INFO] [1718804665.643090629, 1317357948.834702091]: Received 215525 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804665.643189325, 1317357948.834702091]: Data saved to 1317357948393090.pcd[0m
publication time 11.654523 ms 
whole laserOdometry time 11.673751 ms 
 
-----t: 0.0533235
OdomCount 1800 & avg odom time 0.046855 ms ++++++++++++++++++++++
--------------------stamp1317357948.911365985
points size 103029 
sort q time 7.291857 
seperate points time 16.772291 
publication time 10.238083 ms 
whole laserOdometry time 10.253049 ms 
 
mapping data assosiation time 26.177941 ms 
points size 103615 
sort q time 6.447554 
seperate points time 15.011986 
publication time 14.242592 ms 
whole laserOdometry time 14.254267 ms 
 
-----t: 0.0480788
OdomCount 1802 & avg odom time 0.046863 ms ++++++++++++++++++++++
1317357949.015068054 WriteOdom laser_odom_to_init
1317357949.015068054 WriteOdom aft_mapped_to_init_high_frec
build tree time 41.376974 ms 
--------------------stamp1317357949.118771076
prepare time 12.054215 
sort q time 7.833179 
seperate points time 14.954583 
mapping solver time 36.716662 ms 
publication time 13.710746 ms 
whole laserOdometry time 13.728354 ms 
 
--------------------stamp1317357949.222520112
prepare time 13.373499 
map prepare time 4.529719 ms
map corner num 154747  surf num 63080 
publication time 9.943240 ms 
whole laserOdometry time 9.956927 ms 
 
-----t: 0.0585915
OdomCount 1804 & avg odom time 0.046878 ms ++++++++++++++++++++++
1317357949.222520112 WriteOdom laser_odom_to_init
1317357949.222520112 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357949.326270103
points size 103636 
prepare time 12.885104 
mapping data assosiation time 33.102349 ms 
mapping solver time 32.515137 ms 
-----t: 0.0657868
OdomCount 1805 & avg odom time 0.046889 ms ++++++++++++++++++++++
--------------------stamp1317357949.430011034
prepare time 12.429578 
drop lidar frame in mapping for real time performance 
publication time 10.298351 ms 
whole laserOdometry time 10.313576 ms 
 
build tree time 44.482147 ms 
--------------------stamp1317357949.533739089
prepare time 12.956980 
scan registration time 39.241494 ms *************
-----t: 0.0485923
OdomCount 1807 & avg odom time 0.046899 ms ++++++++++++++++++++++
1317357949.533739089 WriteOdom laser_odom_to_init
1317357949.533739089 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.557744 ms 
filter time 10.208706 ms 
map prepare time 4.018288 ms
map corner num 156260  surf num 63889 
sort q time 5.751375 
seperate points time 13.986136 
build tree time 43.762640 ms 
mapping data assosiation time 29.373257 ms 
--------------------stamp1317357949.741225957
points size 103731 
sort q time 6.240264 
seperate points time 13.633214 
mapping data assosiation time 34.000617 ms 
1317357949.741225957 WriteOdom laser_odom_to_init
filter time 12.355104 ms 
points size 103831 
sort q time 6.954191 
seperate points time 14.295721 
build tree time 44.816166 ms 
publication time 8.241016 ms 
whole laserOdometry time 8.252044 ms 
 
mapping data assosiation time 31.884947 ms 
-----t: 0.0829463
OdomCount 1810 & avg odom time 0.046922 ms ++++++++++++++++++++++
points size 103925 
mapping data assosiation time 35.558093 ms 
publication time 11.940148 ms 
whole laserOdometry time 11.982803 ms 
 
filter time 10.339533 ms 
map prepare time 3.259691 ms
map corner num 157666  surf num 64553 
points size 104010 
prepare time 17.506801 
build tree time 41.469734 ms 
scan registration time 54.322647 ms *************
-----t: 0.0615987
OdomCount 1812 & avg odom time 0.046937 ms ++++++++++++++++++++++
--------------------stamp1317357950.156229019
points size 103992 
sort q time 6.447567 
seperate points time 15.102351 
publication time 10.748190 ms 
whole laserOdometry time 10.758148 ms 
 
-----t: 0.0677437
OdomCount 1813 & avg odom time 0.046948 ms ++++++++++++++++++++++
1317357950.156229019 WriteOdom laser_odom_to_init
1317357950.156229019 WriteOdom aft_mapped_to_init_high_frec
filter time 10.680654 ms 
map prepare time 5.004906 ms
map corner num 158334  surf num 64870 
points size 103976 
sort q time 6.443606 
seperate points time 14.877440 
build tree time 49.448755 ms 
publication time 11.487278 ms 
whole laserOdometry time 11.520639 ms 
 
mapping data assosiation time 37.265372 ms 
--------------------stamp1317357950.363730907
points size 104020 
mapping solver time 38.899562 ms 
publication time 15.435148 ms 
whole laserOdometry time 15.450912 ms 
 
-----t: 0.0746911
OdomCount 1815 & avg odom time 0.046972 ms ++++++++++++++++++++++
--------------------stamp1317357950.467458009
mapping pub time 2.744419 ms 
whole mapping time 218.930015 ms +++++
mappingCount 1249 & avg mapping time 146.179995 ms ++++++++++++++++++++++
1317357950.052500963 WriteOdom aft_mapped_to_init
points size 103923 
drop lidar frame in mapping for real time performance 
prepare time 25.203146 
map prepare time 10.281179 ms
map corner num 158992  surf num 65132 
sort q time 8.399791 
seperate points time 35.736298 
points size 103991 
mapping data assosiation time 46.217770 ms 
sort q time 18.239986 
seperate points time 27.552304 
-----t: 0.0563484
OdomCount 1817 & avg odom time 0.047010 ms ++++++++++++++++++++++
--------------------stamp1317357950.674936056
points size 104049 
sort q time 6.472588 
seperate points time 14.698438 
add points time 1.283485 ms
filter time 15.450150 ms 
mapping pub time 2.526729 ms 
whole mapping time 251.437322 ms +++++
mappingCount 1250 & avg mapping time 146.264205 ms ++++++++++++++++++++++
1317357950.259979963 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 3.352182 ms
map corner num 159639  surf num 65404 
1317357950.674936056 WriteOdom laser_odom_to_init--------------------stamp1317357950.778733015
prepare time 13.197011 
mapping data assosiation time 35.412696 ms 
-----t: 0.0483622
OdomCount 1819 & avg odom time 0.047022 ms ++++++++++++++++++++++
mapping solver time 31.396789 ms 
mapping data assosiation time 28.350576 ms 
points size 104033 
sort q time 6.771683 
seperate points time 13.732328 
mapping pub time 7.804168 ms 
whole mapping time 179.803641 ms +++++
mappingCount 1251 & avg mapping time 146.291019 ms ++++++++++++++++++++++
publication time 15.207978 ms 
whole laserOdometry time 15.222109 ms 
 
build tree time 37.514238 ms 
--------------------stamp1317357950.986474990
points size 104223 
sort q time 5.800057 
seperate points time 13.368958 
publication time 9.912085 ms 
whole laserOdometry time 9.925530 ms 
 
-----t: 0.0575678
OdomCount 1821 & avg odom time 0.047028 ms ++++++++++++++++++++++
1317357950.986474990 WriteOdom laser_odom_to_init
1317357950.986474990 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.742633 ms 
mapping solver time 23.149497 ms 
drop lidar frame in mapping for real time performance 
publication time 11.146497 ms 
whole laserOdometry time 11.238909 ms 
 
-----t: 0.0613529
OdomCount 1822 & avg odom time 0.047036 ms ++++++++++++++++++++++
--------------------stamp1317357951.194360971
prepare time 14.855311 
mapping solver time 33.728527 ms 
scan registration time 60.992534 ms *************
publication time 9.991407 ms 
whole laserOdometry time 10.004085 ms 
 
--------------------stamp1317357951.298304080
points size 104303 
map prepare time 4.245341 ms
map corner num 161640  surf num 66261 
sort q time 6.157169 
seperate points time 14.465813 
scan registration time 36.063097 ms *************
publication time 10.098002 ms 
whole laserOdometry time 10.112610 ms 
 
-----t: 0.0500055
OdomCount 1824 & avg odom time 0.047051 ms ++++++++++++++++++++++
1317357951.298304080 WriteOdom laser_odom_to_init
1317357951.298304080 WriteOdom aft_mapped_to_init_high_frec
build tree time 44.068424 ms 
--------------------stamp1317357951.402296066
points size 104371 
sort q time 6.941782 
seperate points time 14.508877 
mapping solver time 39.268689 ms 
publication time 8.571110 ms 
whole laserOdometry time 8.585690 ms 
 
-----t: 0.0497612
OdomCount 1825 & avg odom time 0.047053 ms ++++++++++++++++++++++
mapping data assosiation time 40.332511 ms 
--------------------stamp1317357951.506283998
points size 102713 
add points time 1.079824 ms
prepare time 31.315015 
drop lidar frame in mapping for real time performance 
publication time 9.803404 ms build tree time 47.772712 ms 
points size 101383 
sort q time 5.918265 
seperate points time 12.080248 
mapping data assosiation time 34.756136 ms 
scan registration time 29.077994 ms *************
mapping solver time 39.839470 ms 
mapping data assosiation time 34.238438 ms 
points size 100837 
sort q time 5.764456 
seperate points time 13.464957 
filter time 14.906406 ms 
map prepare time 3.813009 ms
map corner num 162979  surf num 66833 
1317357951.298304081 WriteOdom aft_mapped_to_init
build tree time 36.451657 ms 
--------------------stamp1317357951.818305969
points size 99972 
sort q time 5.958069 
seperate points time 12.744420 
scan registration time 30.549704 ms *************
publication time 8.326888 ms 
whole laserOdometry time 8.343714 ms 
 
-----t: 0.0376975
OdomCount 1829 & avg odom time 0.047055 ms ++++++++++++++++++++++
1317357951.818305969 WriteOdom laser_odom_to_init
1317357951.818305969 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.245871 ms 
mapping data assosiation time 25.905600 ms 
mapping solver time 23.908381 ms 
points size 100308 
mapping pub time 7.015806 ms 
whole mapping time 179.698964 ms +++++
mappingCount 1256 & avg mapping time 146.510619 ms ++++++++++++++++++++++
publication time 9.085154 ms -----t: 0.0425073
OdomCount 1830 & avg odom time 0.047053 ms ++++++++++++++++++++++
1317357951.922367095 WriteOdom laser_odom_to_init
1317357951.922367095 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.352535 ms 
prepare time 14.885552 
sort q time 6.398777 
seperate points time 13.986893 
mapping solver time 37.424201 ms 
scan registration time 32.887752 ms *************
publication time 10.844234 ms 
whole laserOdometry time 10.869044 ms 
 
-----t: 0.0667963
OdomCount 1831 & avg odom time 0.047064 ms ++++++++++++++++++++++
--------------------stamp1317357952.130589008
points size 101096 
sort q time 5.987351 
seperate points time 14.391649 
build tree time 44.045779 ms 
publication time 19.131926 ms 
whole laserOdometry time 19.159505 ms 
 
mapping data assosiation time 29.105808 ms 
--------------------stamp1317357952.234724044
points size 101116 
sort q time 6.791529 
seperate points time 16.440502 
mapping data assosiation time 31.075575 ms 
publication time 11.015242 ms 
whole laserOdometry time 11.030032 ms 
 
mapping solver time 28.970381 ms 
filter time 13.459251 ms 
map prepare time 3.140281 ms
map corner num 164932  surf num 67473 
points size 100875 
build tree time 46.504277 ms 
publication time 7.274779 ms 
whole laserOdometry time 7.286949 ms 
 
mapping solver time 28.798144 ms 
points size 100972 
sort q time 5.560212 
seperate points time 13.297504 
-----t: 0.0385243
OdomCount 1835 & avg odom time 0.047077 ms ++++++++++++++++++++++
filter time 11.432089 ms 
map prepare time 3.204980 ms
map corner num 165611  surf num 67701 
--------------------stamp1317357952.547152996
points size 100596 
build tree time 41.958089 ms 
mapping data assosiation time 29.560828 ms 
publication time 9.819441 ms 
whole laserOdometry time 9.833516 ms 
 
mapping solver time 31.519040 ms 
--------------------stamp1317357952.651335954
prepare time 20.455491 
sort q time 5.614444 
seperate points time 13.543184 
filter time 13.330604 ms 
-----t: 0.0539334
OdomCount 1837 & avg odom time 0.047079 ms ++++++++++++++++++++++
1317357952.651335954 WriteOdom laser_odom_to_init
1317357952.651335954 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357952.755542039
points size 98964 
sort q time 5.292545 
seperate points time 12.858286 
publication time 9.175698 ms 
whole laserOdometry time 9.190293 ms 
 
mapping solver time 33.792866 ms 
-----t: 0.0609952
OdomCount 1838 & avg odom time 0.047087 ms ++++++++++++++++++++++
mapping data assosiation time 28.020967 ms 
--------------------stamp1317357952.859747886
points size 98657 
filter time 11.038545 ms 
-----t: 0.0385032
OdomCount 1839 & avg odom time 0.047082 ms ++++++++++++++++++++++
mapping pub time 46.548192 ms 
whole mapping time 217.370815 ms +++++
mappingCount 1261 & avg mapping time 146.698571 ms ++++++++++++++++++++++
--------------------stamp1317357952.964001893
points size 99765 
sort q time 6.059522 
seperate points time 13.500519 
mapping data assosiation time 29.239896 ms 
mapping solver time 34.280795 ms 
-----t: 0.0799332
OdomCount 1840 & avg odom time 0.047100 ms ++++++++++++++++++++++
1317357952.964001893 WriteOdom laser_odom_to_init
1317357952.964001893 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.389756 ms 
points size 99969 
prepare time 13.390260 
sort q time 6.455435 
seperate points time 14.359754 
scan registration time 33.173334 ms *************
1317357952.651335955 WriteOdom aft_mapped_to_init
map prepare time 3.566277 ms
map corner num 167527  surf num 68251 
build tree time 42.740341 ms 
points size 99888 
-----t: 0.105623
OdomCount 1841 & avg odom time 0.047132 ms ++++++++++++++++++++++
1317357953.068281888 WriteOdom laser_odom_to_init
1317357953.068281888 WriteOdom aft_mapped_to_init_high_frec
scan registration time 42.790491 ms *************
mapping solver time 34.408530 ms 
-----t: 0.0467803
OdomCount 1842 & avg odom time 0.047131 ms ++++++++++++++++++++++
1317357953.172537088 WriteOdom laser_odom_to_init
1317357953.172537088 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.245977 ms 
--------------------stamp1317357953.276767969
prepare time 12.060111 
drop lidar frame in mapping for real time performance 
publication time 11.057238 ms 
whole laserOdometry time 11.071019 ms 
 
build tree time 42.259497 ms 
-----t: 0.0584548
OdomCount 1843 & avg odom time 0.047138 ms ++++++++++++++++++++++
1317357953.276767969 WriteOdom aft_mapped_to_init_high_frec
1317357953.276767969 WriteOdom laser_odom_to_init
mapping data assosiation time 24.928128 ms 
--------------------stamp1317357953.380975961
points size 100252 
sort q time 5.466434 
seperate points time 13.536274 
mapping data assosiation time 28.972630 ms 
mapping solver time 25.170626 ms 
mapping optimization time 152.491710 
add points time 0.823223 ms
mapping pub time 2.333280 ms 
whole mapping time 170.025451 ms +++++
mappingCount 1264 & avg mapping time 146.771765 ms ++++++++++++++++++++++
--------------------stamp1317357953.485181093
prepare time 13.765718 
build tree time 44.400721 ms 
sort q time 15.038240 
seperate points time 22.668084 
scan registration time 42.033951 ms *************
publication time 8.660762 ms 
whole laserOdometry time 8.675462 ms 
 
mapping data assosiation time 31.239769 ms 
-----t: 0.0630717
OdomCount 1845 & avg odom time 0.047143 ms ++++++++++++++++++++++
mapping solver time 30.005893 ms 
points size 100317 
prepare time 11.466984 
scan registration time 30.317416 ms *************
publication time 9.073413 ms 
whole laserOdometry time 9.080805 ms 
 
mapping solver time 27.466391 ms 
mapping optimization time 160.816812 
add points time 0.902517 ms
filter time 14.007051 ms 
map prepare time 3.121055 ms
map corner num 169913  surf num 68944 
--------------------stamp1317357953.693496942
points size 101110 
sort q time 6.745231 
seperate points time 15.794986 
mapping data assosiation time 30.743036 ms 
-----t: 0.0386938
OdomCount 1847 & avg odom time 0.047136 ms ++++++++++++++++++++++
1317357953.693496942 WriteOdom laser_odom_to_init
1317357953.693496942 WriteOdom aft_mapped_to_init_high_frec
publication time 8.540492 ms 
whole laserOdometry time 8.554092 ms 
 
mapping data assosiation time 24.103398 ms 
--------------------stamp1317357953.797609090
points size 101289 
mapping solver time 28.106118 ms 
prepare time 15.421282 
mapping optimization time 153.691772 
sort q time 5.774374 
seperate points time 13.784139 
[0m[ INFO] [1718804670.649022693, 1317357953.829347657]: Received 239821 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804670.649126993, 1317357953.829347657]: Data saved to 1317357953485181.pcd[0mpublication time 12.338297 ms 
whole laserOdometry time 12.349838 ms 
 
build tree time 49.439743 ms 
points size 102070 
mapping data assosiation time 30.705289 ms 
sort q time 5.746220 
seperate points time 13.857346 
publication time 8.807540 ms 
whole laserOdometry time 8.821433 ms 
 
mapping data assosiation time 29.598769 ms 
mapping solver time 19.766787 ms 
--------------------stamp1317357954.005733966
points size 102662 
sort q time 5.666322 
seperate points time 12.897127 
publication time 8.601430 ms 
whole laserOdometry time 8.615288 ms 
 
build tree time 48.747699 ms 
--------------------stamp1317357954.109750986
points size 103382 
sort q time 5.745952 
seperate points time 14.075278 
mapping solver time 32.550409 ms 
mapping data assosiation time 29.896935 ms 
mapping solver time 26.230669 ms 
--------------------stamp1317357954.213768959
prepare time 13.145879 
map prepare time 4.449304 ms
map corner num 172056  surf num 69710 
sort q time 6.874133 
seperate points time 14.497990 
publication time 9.480405 ms 
whole laserOdometry time 9.502331 ms 
 
-----t: 0.0470507
OdomCount 1852 & avg odom time 0.047178 ms ++++++++++++++++++++++
mapping data assosiation time 28.437768 ms 
--------------------stamp1317357954.317759990
points size 103509 
sort q time 6.064808 
seperate points time 14.624482 
scan registration time 36.306842 ms *************
mapping solver time 25.729330 ms 
mapping optimization time 164.158058 
filter time 15.414086 ms 
--------------------stamp1317357954.421724081
points size 103968 
sort q time 6.124903 
seperate points time 14.628683 
build tree time 45.505472 ms 
-----t: 0.0600067
mapping data assosiation time 30.470823 ms 
OdomCount 1854 & avg odom time 0.047194 ms ++++++++++++++++++++++
1317357954.421724081 WriteOdom laser_odom_to_init
1317357954.421724081 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.706234 ms 
points size 104049 
mapping data assosiation time 28.149064 ms 
publication time 8.206138 ms 
whole laserOdometry time 8.219207 ms 
 
-----t: 0.043737
OdomCount 1855 & avg odom time 0.047192 ms ++++++++++++++++++++++
1317357954.525690078 WriteOdom laser_odom_to_init
1317357954.525690078 WriteOdom aft_mapped_to_init_high_frec
filter time 13.773629 ms 
map prepare time 3.323534 ms
map corner num 173584  surf num 70406 
--------------------stamp1317357954.629631042
points size 104154 
sort q time 6.129812 
seperate points time 14.595019 
-----t: 0.0380176
OdomCount 1856 & avg odom time 0.047187 ms ++++++++++++++++++++++
mapping solver time 30.451647 ms 
mapping data assosiation time 24.382907 ms 
points size 104264 
add points time 1.058432 ms
sort q time 6.089419 
seperate points time 14.155476 
scan registration time 37.472618 ms *************
filter time 16.678678 ms 
points size 103573 build tree time 119.939983 ms mapping data assosiation time 44.247176 ms 
sort q time 5.461463 
mapping solver time 34.928839 ms -----t: 0.0576482
OdomCount 1859 & avg odom time 0.047230 ms ++++++++++++++++++++++
1317357954.941315889 WriteOdom laser_odom_to_init
1317357954.941315889 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.723358 ms 
mapping solver time 16.448062 ms 
points size 102350 
drop lidar frame in mapping for real time performance 
-----t: 0.0516478
OdomCount 1860 & avg odom time 0.047232 ms ++++++++++++++++++++++
build tree time 67.591245 ms 
mapping data assosiation time 37.422447 ms 
publication time 9.067065 ms 
whole laserOdometry time 9.082667 ms 
 
-----t: 0.052816
OdomCount 1861 & avg odom time 0.047235 ms ++++++++++++++++++++++
1317357955.149055957 WriteOdom laser_odom_to_init
1317357955.149055957 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 176.769219 
points size 100905 
map prepare time 3.969052 ms
map corner num 175814  surf num 71378 
publication time 9.336482 ms 
build tree time 47.057148 ms 
--------------------stamp1317357955.356797933
mapping data assosiation time 66.312598 ms 
points size 100157 
-----t: 0.163277
OdomCount 1862 & avg odom time 0.047298 ms ++++++++++++++++++++++
mapping data assosiation time 28.879874 ms 
publication time 10.547203 ms 
whole laserOdometry time 10.563652 ms 
 
points size 99582 
prepare time 14.525411 
mapping solver time 28.128992 ms 
mapping optimization time 204.111224 
add points time 1.170524 ms
sort q time 6.323419 scan registration time 42.919315 ms *************
map prepare time 5.276668 ms
map corner num 176580  surf num 71765 
publication time 12.914451 ms 
whole laserOdometry time 12.932457 ms 
 
1317357955.356797933 WriteOdom laser_odom_to_init--------------------stamp1317357955.564564943
prepare time 16.635853 
sort q time 6.144434 
seperate points time 18.693293 
-----t: 0.0407163
OdomCount 1865 & avg odom time 0.047327 ms ++++++++++++++++++++++
publication time 26.831389 ms 
whole laserOdometry time 26.851917 ms 
 
-----t: 0.0733858
OdomCount 1866 & avg odom time 0.047341 ms ++++++++++++++++++++++
--------------------stamp1317357955.772332906prepare time 12.551244 
mapping data assosiation time 33.278785 ms 
mapping solver time 33.269323 ms 
sort q time 49.185894 
seperate points time 60.078761 
mapping data assosiation time 33.487535 ms 
1317357955.772332906 WriteOdom laser_odom_to_init
--------------------stamp1317357955.876178026
points size 99769 
sort q time 6.503629 
seperate points time 14.170330 
mapping pub time 10.657054 ms 
whole mapping time 202.836197 ms +++++
mappingCount 1276 & avg mapping time 147.285453 ms ++++++++++++++++++++++
-----t: 0.0565449
OdomCount 1868 & avg odom time 0.047365 ms ++++++++++++++++++++++
--------------------stamp1317357955.980026006
points size 98722 
mapping solver time 26.710929 ms 
-----t: 0.0378304
OdomCount 1869 & avg odom time 0.047360 ms ++++++++++++++++++++++
mapping solver time 19.795149 ms 
filter time 9.552713 ms 
map prepare time 3.491561 ms
map corner num 89502  surf num 34443 
points size 98183 
build tree time 25.405842 ms 
mapping data assosiation time 28.078940 ms 
mapping solver time 27.472388 ms --------------------stamp1317357956.187717914
prepare time 14.772557 
sort q time 6.214435 
seperate points time 14.108365 
filter time 9.406627 ms 
build tree time 19.363592 ms 
mapping data assosiation time 24.643836 ms 
points size 97736 
mapping solver time 23.743280 ms 
scan registration time 32.083063 ms *************mapping data assosiation time 29.241623 ms 
publication time 12.706259 ms 
whole laserOdometry time 12.951816 ms 
 
mapping solver time 21.174379 ms 
filter time 7.652867 ms 
--------------------stamp1317357956.395339012
prepare time 12.230218 
sort q time 6.118923 
seperate points time 11.927193 
publication time 8.749276 ms 
whole laserOdometry time 8.763945 ms 
 
mapping data assosiation time 25.171056 ms 
--------------------stamp1317357956.499161005
points size 96872 
sort q time 5.285312 
seperate points time 12.578143 
publication time 10.150890 ms 
whole laserOdometry time 10.181754 ms 
 
-----t: 0.0487526
OdomCount 1874 & avg odom time 0.047387 ms ++++++++++++++++++++++
mapping data assosiation time 22.721150 ms 
--------------------stamp1317357956.602961063
prepare time 11.642367 
sort q time 5.435641 
seperate points time 12.453796 
publication time 8.815804 ms 
whole laserOdometry time 8.841428 ms 
 
mapping optimization time 125.329224 
[0m[ INFO] [1718804673.500706126, 1317357956.691820462]: Received 127667 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804673.500749535, 1317357956.691820462]: Data saved to 1317357956395339.pcd[0m
--------------------stamp1317357956.706758975
prepare time 12.127676 
sort q time 6.017284 
seperate points time 12.890335 
publication time 8.871076 ms 
whole laserOdometry time 8.882967 ms 
 
mapping data assosiation time 25.485850 ms 
-----t: 0.0554123
OdomCount 1876 & avg odom time 0.047397 ms ++++++++++++++++++++++
mapping data assosiation time 24.469810 ms 
prepare time 11.393339 
sort q time 5.635254 
seperate points time 12.589564 
map prepare time 3.395677 ms
map corner num 92929  surf num 35573 
-----t: 0.0402612
OdomCount 1877 & avg odom time 0.047393 ms ++++++++++++++++++++++
mapping data assosiation time 26.538878 ms 
points size 96829 
sort q time 16.288216 
seperate points time 23.544497 
-----t: 0.0467266mapping solver time 29.325227 ms 
filter time 6.364705 ms --------------------stamp1317357957.018059015
prepare time 11.612583 
scan registration time 30.445930 ms *************
publication time 8.826603 ms 
whole laserOdometry time 8.857591 ms 
 
mapping solver time 27.979179 ms 
-----t: 0.0570813
OdomCount 1879 & avg odom time 0.047398 ms ++++++++++++++++++++++
1317357957.018059015 WriteOdom laser_odom_to_init
1317357957.018059015 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.949957 ms 
--------------------stamp1317357957.121762037
prepare time 11.276160 
sort q time 5.328537 
seperate points time 12.539244 
-----t: 0.0372814
OdomCount 1880 & avg odom time 0.047392 ms ++++++++++++++++++++++
build tree time 25.930366 ms 
mapping data assosiation time 24.582954 ms 
--------------------stamp1317357957.225486040
mapping solver time 29.994354 ms 
sort q time 5.724729 
seperate points time 12.685720 
mapping data assosiation time 29.675547 ms 
publication time 13.557879 ms 
whole laserOdometry time 13.573981 ms 
 
mapping solver time 24.798176 ms 
filter time 7.693393 ms 
build tree time 18.312473 ms 
points size 98284 
mapping data assosiation time 28.314773 ms 
mapping solver time 30.334060 ms 
mapping data assosiation time 26.166556 ms 
--------------------stamp1317357957.432893991
filter time 7.813385 ms 
sort q time 6.631931 
seperate points time 12.920066 
build tree time 24.778337 ms 
-----t: 0.0548843
OdomCount 1883 & avg odom time 0.047389 ms ++++++++++++++++++++++
mapping data assosiation time 28.445832 ms 
--------------------stamp1317357957.536597967
points size 98852 
sort q time 5.914614 
seperate points time 14.294141 
mapping data assosiation time 29.094040 ms 
scan registration time 34.582383 ms *************
mapping solver time 29.862445 ms 
filter time 8.570135 ms 
build tree time 20.882431 ms 
points size 99451 
mapping data assosiation time 29.523628 ms 
publication time 9.042926 ms 
whole laserOdometry time 9.055790 ms 
 
mapping solver time 35.987134 ms 
mapping data assosiation time 32.707229 ms 
points size 100179 
mapping solver time 30.755484 ms 
filter time 9.689942 ms 
publication time 13.502116 ms 
whole laserOdometry time 13.515422 ms 
 
1317357957.743958950 WriteOdom laser_odom_to_init
1317357957.743958950 WriteOdom aft_mapped_to_init_high_frec
build tree time 28.167407 ms 
--------------------stamp1317357957.847608089
points size 101070 
sort q time 5.834413 
seperate points time 13.252206 
mapping solver time 37.645473 ms 
-----t: 0.0522203
OdomCount 1887 & avg odom time 0.047399 ms ++++++++++++++++++++++
mapping solver time 28.188576 ms 
filter time 10.100716 ms 
sort q time 5.942832 
seperate points time 11.934751 
build tree time 25.485818 ms 
publication time 11.051269 ms 
whole laserOdometry time 11.065574 ms 
 
-----t: 0.0491922
OdomCount 1888 & avg odom time 0.047400 ms ++++++++++++++++++++++
mapping data assosiation time 31.349158 ms 
--------------------stamp1317357958.054943084
points size 102575 
sort q time 5.249448 
seperate points time 12.069033 
mapping data assosiation time 33.443240 ms 
publication time 9.511018 ms 
whole laserOdometry time 9.526227 ms 
 
filter time 9.402039 ms 
build tree time 22.079903 ms 
points size 102459 
sort q time 5.647215 
seperate points time 14.535891 
publication time 9.041737 ms 
whole laserOdometry time 9.059210 ms 
 
-----t: 0.0488451
OdomCount 1890 & avg odom time 0.047406 ms ++++++++++++++++++++++
1317357958.158623933 WriteOdom laser_odom_to_init
1317357958.158623933 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.606015 ms 
mapping data assosiation time 27.493670 ms 
points size 102471 
sort q time 6.180436 
seperate points time 12.077490 
filter time 9.649820 ms 
-----t: 0.0434232
OdomCount 1891 & avg odom time 0.047404 ms ++++++++++++++++++++++
build tree time 21.390123 ms 
mapping data assosiation time 27.086625 ms 
points size 102578 
sort q time 5.719063 
seperate points time 13.276901 
publication time 12.504818 ms 
whole laserOdometry time 12.521632 ms 
 
mapping data assosiation time 37.468054 ms 
-----t: 0.0741113
OdomCount 1892 & avg odom time 0.047418 ms ++++++++++++++++++++++
--------------------stamp1317357958.469728946
prepare time 13.030276 
sort q time 6.160991 
seperate points time 12.832180 
scan registration time 32.746927 ms *************
publication time 10.743352 ms 
whole laserOdometry time 10.773384 ms 
 
mapping data assosiation time 32.227745 ms 
-----t: 0.062827
OdomCount 1893 & avg odom time 0.047426 ms ++++++++++++++++++++++
1317357958.469728946 WriteOdom laser_odom_to_init
1317357958.469728946 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357958.573456048
mapping solver time 38.526418 ms 
sort q time 6.079290 
seperate points time 13.470903 
mapping data assosiation time 30.664831 ms 
-----t: 0.0462264
OdomCount 1894 & avg odom time 0.047426 ms ++++++++++++++++++++++
1317357958.573456048 WriteOdom laser_odom_to_init
1317357958.573456048 WriteOdom aft_mapped_to_init_high_frec
filter time 7.154585 ms 
--------------------stamp1317357958.677182912
points size 102727 
sort q time 5.695540 
seperate points time 13.626670 
publication time 10.073624 ms 
whole laserOdometry time 10.229842 ms 
 
mapping solver time 29.505285 ms 
mapping data assosiation time 29.341635 ms 
points size 102703 
mapping solver time 29.746171 ms 
filter time 9.319007 ms 
publication time 10.334468 ms 
whole laserOdometry time 10.779138 ms 
 
mapping data assosiation time 26.245503 ms 
points size 102788 
prepare time 16.436698 
mapping solver time 33.298440 ms 
scan registration time 37.094125 ms *************
publication time 9.694524 ms 
whole laserOdometry time 9.756642 ms 
 
-----t: 0.0554634
OdomCount 1897 & avg odom time 0.047433 ms ++++++++++++++++++++++
mapping solver time 26.774295 ms 
filter time 7.520369 ms 
map prepare time 3.085266 ms
map corner num 102317  surf num 39419 
points size 102912 
prepare time 11.699282 
publication time 26.796031 ms 
whole laserOdometry time 26.809172 ms 
 
mapping solver time 46.511074 ms 
prepare time 15.388827 
sort q time 6.466912 
seperate points time 14.248902 
mapping data assosiation time 46.925366 ms 
-----t: 0.0429547
OdomCount 1899 & avg odom time 0.047452 ms ++++++++++++++++++++++
mapping solver time 31.095468 ms 
filter time 7.446590 ms 
map prepare time 2.964203 ms
map corner num 102963  surf num 39686 
--------------------stamp1317357959.195746898
points size 102737 
scan registration time 38.021047 ms *************
mapping data assosiation time 31.307520 ms 
-----t: 0.0586663
OdomCount 1900 & avg odom time 0.047458 ms ++++++++++++++++++++++
1317357959.195746898 WriteOdom laser_odom_to_init
mapping solver time 36.241199 ms 
--------------------stamp1317357959.299424886
points size 102853 
sort q time 5.974416 
seperate points time 14.131819 
filter time 9.471637 ms 
publication time 11.799128 ms 
whole laserOdometry time 11.814810 ms 
 
map prepare time 4.293031 ms
map corner num 103661  surf num 39986 
-----t: 0.0633098
OdomCount 1901 & avg odom time 0.047466 ms ++++++++++++++++++++++
1317357959.299424886 WriteOdom laser_odom_to_init
1317357959.299424886 WriteOdom aft_mapped_to_init_high_frec
build tree time 26.415803 ms 
--------------------stamp1317357959.403103113
mapping data assosiation time 29.845615 ms 
sort q time 5.133443 
seperate points time 11.828354 
mapping solver time 38.311311 ms 
1317357959.403103113 WriteOdom laser_odom_to_init
1317357959.403103113 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.000829 ms 
--------------------stamp1317357959.506782054
points size 102737 
drop lidar frame in mapping for real time performance 
scan registration time 35.706517 ms *************
publication time 10.097431 ms 
whole laserOdometry time 10.111919 ms 
 
-----t: 0.0523552
OdomCount 1903 & avg odom time 0.047468 ms ++++++++++++++++++++++
mapping data assosiation time 26.300869 ms 
--------------------stamp1317357959.610510110
points size 102709 
sort q time 6.226341 
seperate points time 13.227731 
mapping data assosiation time 33.405536 ms 
publication time 9.609264 ms 
whole laserOdometry time 9.638734 ms 
 
-----t: 0.0482723
OdomCount 1904 & avg odom time 0.047468 ms ++++++++++++++++++++++
1317357959.610510110 WriteOdom laser_odom_to_init
1317357959.610510110 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.915419 ms 
mapping optimization time 144.311957 
add points time 0.928349 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357959.714282989
points size 102395 
sort q time 7.060605 
seperate points time 16.401457 
publication time 9.692776 ms 
whole laserOdometry time 9.721295 ms 
 
-----t: 0.0555628
OdomCount 1905 & avg odom time 0.047473 ms ++++++++++++++++++++++
1317357959.714282989 WriteOdom laser_odom_to_init
1317357959.714282989 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.525943 ms 
points size 102241 
mapping solver time 33.342528 ms 
mapping pub time 2.219658 ms 
whole mapping time 169.144026 ms +++++
mappingCount 1300 & avg mapping time 147.541473 ms ++++++++++++++++++++++
-----t: 0.0427414
OdomCount 1906 & avg odom time 0.047470 ms ++++++++++++++++++++++
1317357959.818056106 WriteOdom laser_odom_to_init
1317357959.818056106 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.322598 ms 
points size 102097 
sort q time 5.897981 
seperate points time 13.192365 
publication time 8.502631 ms 
whole laserOdometry time 8.521113 ms 
 
mapping data assosiation time 30.928950 ms 
mapping solver time 24.646601 ms 
filter time 9.127502 ms 
points size 102110 
sort q time 6.657168 
seperate points time 16.055421 
mapping pub time 68.252397 ms 
whole mapping time 225.012146 ms +++++
mappingCount 1301 & avg mapping time 147.601023 ms ++++++++++++++++++++++
-----t: 0.0666584
OdomCount 1908 & avg odom time 0.047477 ms ++++++++++++++++++++++
1317357960.025726079 WriteOdom laser_odom_to_init
1317357960.025726079 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357960.129668951
points size 102092 
mapping data assosiation time 31.444078 ms 
sort q time 5.975205 
seperate points time 14.436556 
scan registration time 38.914067 ms *************
publication time 12.997257 ms 
whole laserOdometry time 13.064015 ms 
 
mapping data assosiation time 29.961255 ms 
--------------------stamp1317357960.233661890
mapping pub time 2.362487 ms 
whole mapping time 155.018142 ms +++++
mappingCount 1302 & avg mapping time 147.606726 ms ++++++++++++++++++++++
1317357959.818056107 WriteOdom aft_mapped_to_init
prepare time 14.656636 
drop lidar frame in mapping for real time performance 
map prepare time 3.411594 ms
map corner num 106864  surf num 41232 
scan registration time 32.666781 ms *************
-----t: 0.0466889
OdomCount 1910 & avg odom time 0.047487 ms ++++++++++++++++++++++
--------------------stamp1317357960.337702989
points size 101442 
sort q time 6.475187 
seperate points time 13.625368 
publication time 15.750716 ms 
whole laserOdometry time 15.767100 ms 
 
filter time 10.163396 ms 
--------------------stamp1317357960.441787958
points size 101022 
sort q time 6.138520 
seperate points time 13.372359 
publication time 10.380359 ms 
whole laserOdometry time 10.399336 ms 
 
-----t: 0.0479423mapping solver time 36.085651 ms 
--------------------stamp1317357960.545945882
prepare time 12.629322 
sort q time 5.994256 
seperate points time 15.264176 
mapping solver time 42.394662 ms 
-----t: 0.0439265
OdomCount 1913 & avg odom time 0.047492 ms ++++++++++++++++++++++
build tree time 21.735821 ms 
--------------------stamp1317357960.650177001
prepare time 12.647742 
sort q time 6.103538 
seperate points time 11.732107 
scan registration time 29.021865 ms *************
publication time 14.129198 ms 
whole laserOdometry time 14.152521 ms 
 
mapping data assosiation time 30.134911 ms 
mapping solver time 26.503138 ms 
--------------------stamp1317357960.754456043
prepare time 14.279711 
sort q time 4.973495 
seperate points time 11.394591 
publication time 6.982792 ms 
whole laserOdometry time 6.998965 ms 
 
mapping data assosiation time 25.816269 ms 
mapping solver time 24.296238 ms 
--------------------stamp1317357960.858758926
points size 92313 
mapping data assosiation time 25.088442 ms 
prepare time 11.510483 
scan registration time 27.539106 ms *************
mapping solver time 32.272116 ms 
filter time 10.340495 ms 
map prepare time 2.906366 ms
map corner num 109766  surf num 42366 
build tree time 22.848900 ms 
--------------------stamp1317357960.963094949
points size 90753 
sort q time 4.923859 
seperate points time 11.513195 
mapping solver time 32.007953 ms 
-----t: 0.0394937
OdomCount 1917 & avg odom time 0.047480 ms ++++++++++++++++++++++
mapping data assosiation time 30.469171 ms 
mapping solver time 25.731241 ms 
filter time 8.910016 ms 
map prepare time 3.663895 ms
map corner num 110474  surf num 42568 
sort q time 4.986613 
seperate points time 11.707159 
build tree time 28.156553 ms 
publication time 8.993715 ms 
whole laserOdometry time 9.004788 ms 
 
-----t: 0.0424028
OdomCount 1918 & avg odom time 0.047477 ms ++++++++++++++++++++++
1317357961.067445993 WriteOdom laser_odom_to_init
1317357961.067445993 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.219557 ms 
mapping solver time 24.452005 ms 
points size 89714 
sort q time 5.566290 
seperate points time 11.612144 
mapping optimization time 138.099828 
add points time 0.950716 ms
build tree time 30.001566 ms 
points size 90489 
mapping data assosiation time 33.104251 ms 
publication time 9.675015 ms 
-----t: 0.0411819
OdomCount 1920 & avg odom time 0.047494 ms ++++++++++++++++++++++
mapping data assosiation time 26.851696 ms 
mapping solver time 21.996648 ms 
points size 90049 
filter time 9.563181 ms 
prepare time 11.206003 
sort q time 5.599409 
seperate points time 12.188837 
build tree time 27.379320 ms 
1317357961.380369901 WriteOdom laser_odom_to_init
1317357961.380369901 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357961.484622955
prepare time 10.959876 
mapping data assosiation time 26.432243 ms 
sort q time 13.330192 
seperate points time 19.644040 
scan registration time 35.536106 ms *************
publication time 9.116036 ms 
whole laserOdometry time 9.137138 ms 
 
drop lidar frame in mapping for real time performance 
map prepare time 2.723142 ms
map corner num 112604  surf num 43156 
build tree time 23.804643 ms 
--------------------stamp1317357961.588829040
points size 89036 
sort q time 4.829743 
seperate points time 13.782597 
1317357961.588829040 WriteOdom laser_odom_to_init
publication time 9.104105 ms 
whole laserOdometry time 9.111271 ms 
 
mapping solver time 29.940578 ms 
filter time 10.503059 ms 
points size 89716 
sort q time 5.571490 
seperate points time 11.884021 
build tree time 32.095601 ms 
-----t: 0.042368
OdomCount 1924 & avg odom time 0.047477 ms ++++++++++++++++++++++
mapping solver time 28.365484 ms 
--------------------stamp1317357961.797219038
prepare time 11.927857 
sort q time 5.167089 
seperate points time 11.592478 
publication time 8.995746 ms 
whole laserOdometry time 9.024760 ms 
 
filter time 11.060091 ms 
-----t: 0.0322927
OdomCount 1925 & avg odom time 0.047469 ms ++++++++++++++++++++++
1317357961.797219038 WriteOdom laser_odom_to_init
1317357961.797219038 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.066349 ms 
whole mapping time 150.750506 ms +++++
mappingCount 1312 & avg mapping time 147.679314 ms ++++++++++++++++++++++
1317357961.588829041 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 31.932926 ms 
--------------------stamp1317357961.901352882
prepare time 10.884001 
sort q time 5.185412 
seperate points time 10.916596 
-----t: 0.035902
OdomCount 1926 & avg odom time 0.047463 ms ++++++++++++++++++++++
mapping solver time 19.538264 ms 
filter time 8.287440 ms 
--------------------stamp1317357962.005464076
build tree time 26.359310 ms 
sort q time 4.772677 
seperate points time 11.149064 
1317357962.005464076 WriteOdom laser_odom_to_init
1317357962.005464076 WriteOdom aft_mapped_to_init_high_frec
publication time 8.322350 ms 
whole laserOdometry time 8.333684 ms 
 
mapping data assosiation time 18.142018 ms 
mapping solver time 17.589556 ms 
mapping pub time 2.003086 ms 
whole mapping time 126.504120 ms +++++
mappingCount 1314 & avg mapping time 147.657097 ms ++++++++++++++++++++++
sort q time 4.717638 
seperate points time 10.815149 
build tree time 28.113490 ms 
-----t: 0.0413694mapping solver time 16.959487 ms 
mapping data assosiation time 18.160061 ms 
--------------------stamp1317357962.213660001
prepare time 12.781172 
sort q time 4.533399 
seperate points time 10.753163 
publication time 9.000704 ms 
whole laserOdometry time 9.017905 ms 
 
build tree time 33.517748 ms 
mapping data assosiation time 19.464450 ms 
mapping solver time 17.615248 ms 
--------------------stamp1317357962.317723989
mapping data assosiation time 22.575999 ms 
sort q time 4.864962 
seperate points time 10.947300 
filter time 8.102004 ms 
build tree time 30.293253 ms 
mapping data assosiation time 20.473908 ms 
points size 88148 
sort q time 5.493161 
seperate points time 12.345924 
scan registration time 29.334564 ms *************
mapping data assosiation time 20.792831 ms 
publication time 7.477414 ms 
whole laserOdometry time 7.492463 ms 
 
mapping solver time 21.713613 ms 
filter time 10.568481 ms 
build tree time 27.605047 ms 
points size 88808 
prepare time 13.313889 
sort q time 9.445431 
seperate points time 16.076684 
publication time 7.681386 ms 
whole laserOdometry time 7.693951 ms 
 
1317357962.525778055 WriteOdom laser_odom_to_init
1317357962.525778055 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.881847 ms 
filter time 9.924377 ms 
--------------------stamp1317357962.629769086
prepare time 11.540296 
sort q time 5.371933 
seperate points time 11.988481 
publication time 8.982059 ms 
whole laserOdometry time 8.994612 ms 
 
-----t: 0.0483149
OdomCount 1933 & avg odom time 0.047433 ms ++++++++++++++++++++++
mapping data assosiation time 19.632089 ms 
--------------------stamp1317357962.733736038
prepare time 12.098298 
sort q time 6.236933 
seperate points time 11.896085 
publication time 10.999273 ms 
whole laserOdometry time 11.009822 ms 
 
build tree time 32.795470 ms 
mapping data assosiation time 20.097143 ms 
mapping solver time 20.477875 ms 
--------------------stamp1317357962.837680101
prepare time 11.874336 
sort q time 4.930044 
seperate points time 11.454177 
scan registration time 27.790042 ms *************
mapping solver time 19.554721 ms 
mapping optimization time 112.600786 
add points time 0.607436 ms
map prepare time 3.257958 ms
map corner num 117100  surf num 44107 
publication time 12.516164 ms 
whole laserOdometry time 12.534239 ms 
 
mapping data assosiation time 16.628473 ms 
--------------------stamp1317357962.941597938
mapping solver time 17.951982 ms 
sort q time 4.817073 
seperate points time 11.688373 
mapping solver time 15.867983 ms 
mapping optimization time 101.521654 
filter time 9.574487 ms 
[0m[ INFO] [1718804679.813135715, 1317357962.991895693]: Received 161673 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804679.813191357, 1317357962.991895693]: Data saved to 1317357962733736.pcd[0m
--------------------stamp1317357963.045492887
prepare time 12.694581 
scan registration time 30.586481 ms *************
publication time 8.170337 ms 
whole laserOdometry time 8.180360 ms 
 
-----t: 0.0387539
OdomCount 1937 & avg odom time 0.047419 ms ++++++++++++++++++++++
1317357963.045492887 WriteOdom laser_odom_to_init
1317357963.045492887 WriteOdom aft_mapped_to_init_high_frec
build tree time 40.996837 ms 
mapping solver time 22.939832 ms 
points size 94196 
mapping data assosiation time 25.532367 ms 
prepare time 43.470840 
mapping solver time 24.877091 ms 
filter time 16.177015 ms 
--------------------stamp1317357963.253210067
prepare time 11.485948 
build tree time 46.623892 ms 
mapping data assosiation time 19.673985 ms 
publication time 8.758095 ms 
whole laserOdometry time 8.768497 ms 
 
mapping solver time 23.748813 ms 
-----t: 0.0716037
OdomCount 1939 & avg odom time 0.047427 ms ++++++++++++++++++++++
--------------------stamp1317357963.357057094
prepare time 15.781601 
filter time 21.672705 ms 
map prepare time 7.902539 ms
map corner num 191890  surf num 72362 
-----t: 0.0466372
OdomCount 1940 & avg odom time 0.047426 ms ++++++++++++++++++++++
build tree time 45.423486 ms 
--------------------stamp1317357963.460926055
prepare time 13.310684 
scan registration time 30.652611 ms *************
publication time 12.813689 ms 
whole laserOdometry time 12.828467 ms -----t: 0.0501595
OdomCount 1941 & avg odom time 0.047428 ms ++++++++++++++++++++++
mapping optimization time 126.766999 
filter time 12.382413 ms 
mapping pub time 2.107715 ms 
whole mapping time 149.826434 ms +++++
mappingCount 1324 & avg mapping time 147.604469 ms ++++++++++++++++++++++
1317357963.149363041 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357963.564798116
points size 95890 
sort q time 5.403656 
seperate points time 11.990571 
publication time 6.642602 ms 
whole laserOdometry time 6.665540 ms 
 
-----t: 0.0314679
OdomCount 1942 & avg odom time 0.047419 ms ++++++++++++++++++++++
1317357963.564798116 WriteOdom laser_odom_to_init
1317357963.564798116 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.388567 ms 
mapping solver time 20.534539 ms 
mapping data assosiation time 17.943820 ms 
--------------------stamp1317357963.668669939
mapping solver time 19.082246 ms 
sort q time 5.401226 
seperate points time 11.914558 
map prepare time 3.969383 ms
map corner num 193026  surf num 72765 
publication time 10.294648 ms 
whole laserOdometry time 10.329398 ms 
 
-----t: 0.0477809
OdomCount 1943 & avg odom time 0.047419 ms ++++++++++++++++++++++
build tree time 46.140904 ms 
mapping data assosiation time 18.640172 ms 
points size 92182 
mapping solver time 23.995076 ms 
publication time 10.310967 ms 
whole laserOdometry time 10.333003 ms 
 
mapping data assosiation time 24.652808 ms 
1317357963.772515058 WriteOdom laser_odom_to_init
1317357963.772515058 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.615188 ms 
mapping optimization time 133.138585 
add points time 0.827389 ms
filter time 12.601854 ms 
map prepare time 3.052705 ms
map corner num 193736  surf num 73090 
--------------------stamp1317357963.876362085
prepare time 11.701197 
sort q time 6.155570 
seperate points time 11.420558 
build tree time 58.837798 ms 
mapping data assosiation time 25.287046 ms 
mapping solver time 22.030735 ms 
--------------------stamp1317357963.980232954
points size 89319 
sort q time 5.606285 
seperate points time 10.874471 
mapping solver time 21.916583 ms 
filter time 16.597632 ms 
mapping pub time 2.257629 ms 
whole mapping time 176.608653 ms +++++
mappingCount 1327 & avg mapping time 147.634970 ms ++++++++++++++++++++++
1317357963.668669939 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.050973
OdomCount 1946 & avg odom time 0.047419 ms ++++++++++++++++++++++
1317357963.980232954 WriteOdom laser_odom_to_init
1317357963.980232954 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357964.084104061
prepare time 11.117770 
sort q time 5.009528 
seperate points time 10.625373 
publication time 7.803956 ms 
whole laserOdometry time 7.818120 ms 
 
-----t: 0.0367025
OdomCount 1947 & avg odom time 0.047413 ms ++++++++++++++++++++++
mapping data assosiation time 18.193273 ms 
mapping solver time 16.844164 ms 
--------------------stamp1317357964.187973976
prepare time 11.747592 
sort q time 5.253614 
seperate points time 11.706417 
publication time 9.038410 ms 
whole laserOdometry time 9.052496 ms 
 
-----t: 0.0478395
OdomCount 1948 & avg odom time 0.047414 ms ++++++++++++++++++++++
1317357964.187973976 WriteOdom laser_odom_to_init
1317357964.187973976 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.079869 ms 
build tree time 40.133443 ms 
prepare time 11.857103 
sort q time 5.167544 
seperate points time 12.041853 
publication time 8.793072 ms 
whole laserOdometry time 8.818759 ms 
 
mapping solver time 24.817877 ms 
mapping data assosiation time 19.405572 ms 
mapping solver time 16.714890 ms 
filter time 11.274973 ms 
--------------------stamp1317357964.499587059
prepare time 11.792236 
sort q time 6.275656 
seperate points time 12.411200 
publication time 8.651497 ms 
whole laserOdometry time 8.667997 ms 
 
mapping solver time 17.316912 ms 
mapping data assosiation time 18.784295 ms 
--------------------stamp1317357964.603457927
prepare time 14.288495 
1317357964.395716906 WriteOdom aft_mapped_to_init
1317357964.603457927 WriteOdom laser_odom_to_init
build tree time 48.981068 ms 
--------------------stamp1317357964.707329034
prepare time 12.428670 
sort q time 6.155374 
seperate points time 13.075156 
[0m[ INFO] [1718804681.555008291, 1317357964.743904894]: Received 225040 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804681.555036771, 1317357964.743904894]: Data saved to 1317357964395716.pcd[0m
publication time 14.466983 ms 
whole laserOdometry time 14.481280 ms 
 
mapping solver time 19.899454 ms 
filter time 11.826880 ms 
--------------------stamp1317357964.811249017
build tree time 36.143149 ms 
mapping data assosiation time 21.798747 ms 
publication time 14.799488 ms 
whole laserOdometry time 14.811935 ms 
 
mapping solver time 25.879647 ms 
mapping data assosiation time 18.688854 ms 
--------------------stamp1317357964.915215015
prepare time 11.642890 
publication time 7.380039 ms 
whole laserOdometry time 7.393836 ms 
 
-----t: 0.0500898
OdomCount 1955 & avg odom time 0.047395 ms ++++++++++++++++++++++
mapping data assosiation time 18.466888 ms 
--------------------stamp1317357965.019181966
points size 94038 
mapping data assosiation time 20.015838 ms 
mapping solver time 18.421470 ms 
filter time 11.651149 ms 
-----t: 0.0517165
OdomCount 1956 & avg odom time 0.047397 ms ++++++++++++++++++++++
build tree time 37.066388 ms 
points size 92690 
sort q time 5.394537 
seperate points time 12.188646 
mapping solver time 25.812288 ms 
1317357965.123147010 WriteOdom laser_odom_to_init
mapping solver time 12.854244 ms 
filter time 10.347108 ms 
--------------------stamp1317357965.227113962
prepare time 12.370445 
sort q time 5.533842 
seperate points time 11.747490 
build tree time 43.324298 ms 
publication time 7.323589 ms 
whole laserOdometry time 7.335307 ms 
 
mapping data assosiation time 29.075626 ms 
mapping solver time 21.035860 ms 
--------------------stamp1317357965.331083059
prepare time 12.967938 
mapping solver time 18.412415 ms 
mapping optimization time 129.471431 
add points time 0.671052 ms
scan registration time 30.730540 ms *************
mapping pub time 5.692600 ms 
whole mapping time 156.895873 ms +++++
mappingCount 1336 & avg mapping time 147.623810 ms ++++++++++++++++++++++
build tree time 40.643254 ms 
points size 80644 
sort q time 4.221397 
seperate points time 10.989481 
publication time 7.062780 ms 
whole laserOdometry time 7.079309 ms 
 
mapping data assosiation time 22.226995 ms 
[0m[ INFO] [1718804682.320679641, 1317357965.509896045]: Received 228181 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804682.320711670, 1317357965.509896045]: Data saved to 1317357965123147.pcd[0m
filter time 21.440864 ms 
-----t: 0.0982288
OdomCount 1960 & avg odom time 0.047411 ms ++++++++++++++++++++++
sort q time 4.051454 
seperate points time 9.829163 
publication time 7.953880 ms 
whole laserOdometry time 7.972669 ms 
 
-----t: 0.0354288
OdomCount 1961 & avg odom time 0.047405 ms ++++++++++++++++++++++
1317357965.539015054 WriteOdom laser_odom_to_init
1317357965.539015054 WriteOdom aft_mapped_to_init_high_frec
build tree time 45.734046 ms 
mapping data assosiation time 18.275059 ms 
mapping solver time 15.389604 ms 
--------------------stamp1317357965.643007040
prepare time 11.508920 
mapping optimization time 114.126375 
filter time 14.202881 ms 
build tree time 36.043656 ms 
mapping data assosiation time 17.214438 ms 
points size 76592 
sort q time 4.019366 
seperate points time 17.721217 
scan registration time 32.787506 ms *************
mapping data assosiation time 21.491345 ms 
-----t: 0.0452137
OdomCount 1963 & avg odom time 0.047396 ms ++++++++++++++++++++++
publication time 6.098432 ms 
whole laserOdometry time 6.109135 ms 
 
--------------------stamp1317357965.851036071
points size 74474 
sort q time 4.051798 
seperate points time 9.929912 
publication time 8.182901 ms 
whole laserOdometry time 8.196998 ms 
 
mapping data assosiation time 16.856991 ms 
mapping solver time 13.261093 ms 
mapping optimization time 112.689356 
add points time 0.659659 ms
1317357965.643007040 WriteOdom aft_mapped_to_init
prepare time 11.572610 
sort q time 3.741538 
seperate points time 8.948112 
scan registration time 24.905529 ms *************
publication time 6.862572 ms 
whole laserOdometry time 6.876485 ms 
 
-----t: 0.0420124
OdomCount 1965 & avg odom time 0.047389 ms ++++++++++++++++++++++
mapping solver time 16.021970 ms 
mapping data assosiation time 18.805824 ms 
points size 73883 
sort q time 4.308425 
seperate points time 9.530182 
scan registration time 23.832310 ms *************
-----t: 0.0417473
OdomCount 1966 & avg odom time 0.047387 ms ++++++++++++++++++++++
mapping pub time 58.759447 ms 
whole mapping time 191.273415 ms +++++
mappingCount 1341 & avg mapping time 147.638883 ms ++++++++++++++++++++++
1317357965.851036072 WriteOdom aft_mapped_to_init
--------------------stamp1317357966.163079977
prepare time 10.663736 
build tree time 40.763935 ms 
-----t: 0.0248809
OdomCount 1967 & avg odom time 0.047375 ms ++++++++++++++++++++++
scan registration time 38.323802 ms *************
publication time 5.012201 ms 
whole laserOdometry time 5.024652 ms 
 
mapping solver time 20.467219 ms 
[0m[ INFO] [1718804683.051755203, 1317357966.238064528]: Received 230821 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804683.051791829, 1317357966.238064528]: Data saved to 1317357965851036.pcd[0m
--------------------stamp1317357966.267095088
filter time 13.653505 ms 
publication time 7.994480 ms 
whole laserOdometry time 8.059433 ms 
build tree time 44.936099 ms 
mapping data assosiation time 17.288526 ms 
--------------------stamp1317357966.371085882
publication time 7.192380 ms 
whole laserOdometry time 7.214069 ms 
 
-----t: 0.0243224
OdomCount 1969 & avg odom time 0.047353 ms ++++++++++++++++++++++
1317357966.371085882 WriteOdom laser_odom_to_init
1317357966.371085882 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.820999 ms 
mapping optimization time 122.960891 
filter time 12.622199 ms 
mapping pub time 1.585457 ms 
whole mapping time 140.894230 ms +++++
mappingCount 1343 & avg mapping time 147.627051 ms ++++++++++++++++++++++
1317357966.163079977 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.507863 ms
map corner num 171108  surf num 60800 
build tree time 35.604506 ms 
--------------------stamp1317357966.475075960
mapping data assosiation time 16.649182 ms 
publication time 7.486131 ms 
whole laserOdometry time 7.500697 ms 
 
mapping data assosiation time 20.637507 ms 
mapping solver time 15.597955 ms 
mapping optimization time 113.707789 
add points time 0.766412 ms
map prepare time 2.600393 ms
map corner num 171503  surf num 60919 
--------------------stamp1317357966.579067945
sort q time 3.461232 
seperate points time 7.643746 
publication time 6.390112 ms 
whole laserOdometry time 6.405640 ms 
 
mapping data assosiation time 18.348017 ms 
mapping solver time 20.466477 ms 
mapping data assosiation time 16.716561 ms 
mapping solver time 11.680766 ms 
filter time 12.650537 ms 
publication time 7.215649 ms 
whole laserOdometry time 7.230934 ms 
 
-----t: 0.0390841
OdomCount 1972 & avg odom time 0.047331 ms ++++++++++++++++++++++
build tree time 49.716238 ms 
mapping data assosiation time 17.291726 ms 
mapping solver time 17.825040 ms 
sort q time 3.633429 
seperate points time 8.161774 
publication time 7.330380 ms 
whole laserOdometry time 7.348922 ms 
 
filter time 12.257878 ms 
map prepare time 2.534998 ms
map corner num 172577  surf num 61238 
build tree time 35.623648 ms 
scan registration time 15.317354 ms *************
publication time 6.325544 ms 
whole laserOdometry time 6.359191 ms 
 
-----t: 0.0381345
OdomCount 1974 & avg odom time 0.047318 ms ++++++++++++++++++++++
mapping solver time 12.468555 ms 
[0m[ INFO] [1718804683.780147466, 1317357966.970425815]: Received 233815 data points in frame camera_init with the following fields: x y z intensity[0m
filter time 10.690154 ms 
[0m[ INFO] [1718804683.780185338, 1317357966.970425815]: Data saved to 1317357966579067.pcd[0m
points size 69879 
sort q time 4.086771 
seperate points time 9.474041 
mapping data assosiation time 20.549954 ms 
publication time 15.947523 ms 
whole laserOdometry time 15.960369 ms 
 
mapping solver time 21.935988 ms 
mapping data assosiation time 14.986238 ms 
mapping solver time 19.363304 ms 
points size 70666 
sort q time 4.268107 
seperate points time 29.857562 
publication time 5.997634 ms 
whole laserOdometry time 6.011405 ms 
 
build tree time 45.793627 ms 
mapping data assosiation time 15.751507 ms 
mapping solver time 19.188183 ms 
points size 71753 
mapping data assosiation time 19.978432 ms 
mapping solver time 21.010478 ms 
mapping optimization time 122.750214 
add points time 0.712868 ms
drop lidar frame in mapping for real time performance 
build tree time 37.154109 ms 
points size 73585 
sort q time 4.243702 
seperate points time 10.466107 
-----t: 0.0370793
OdomCount 1978 & avg odom time 0.047292 ms ++++++++++++++++++++++
1317357967.307265996 WriteOdom laser_odom_to_init
1317357967.307265996 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.515943 ms 
filter time 12.803547 ms 
--------------------stamp1317357967.411303997
prepare time 12.072271 
sort q time 4.557459 
seperate points time 11.237195 
build tree time 47.933957 ms 
mapping data assosiation time 18.595222 ms 
mapping solver time 18.294013 ms 
mapping data assosiation time 15.978584 ms 
--------------------stamp1317357967.515317916
prepare time 12.759389 
sort q time 4.799655 
seperate points time 11.383509 
mapping pub time 4.924947 ms 
whole mapping time 142.944449 ms +++++
mappingCount 1351 & avg mapping time 147.567793 ms ++++++++++++++++++++++
scan registration time 30.247366 ms *************
1317357967.307265997 WriteOdom aft_mapped_to_init
map prepare time 3.432894 ms
map corner num 175006  surf num 61926 
publication time 9.806046 ms 
whole laserOdometry time 9.819731 ms 
 
-----t: 0.0625282
OdomCount 1980 & avg odom time 0.047293 ms ++++++++++++++++++++++
--------------------stamp1317357967.619307041
prepare time 16.228541 
sort q time 5.345516 
seperate points time 13.226595 
publication time 6.700469 ms 
whole laserOdometry time 6.710491 ms 
 
mapping data assosiation time 19.687436 ms 
--------------------stamp1317357967.723248958
prepare time 12.183663 
sort q time 4.690022 
seperate points time 11.360334 
-----t: 0.0384566
OdomCount 1982 & avg odom time 0.047283 ms ++++++++++++++++++++++
build tree time 42.239068 ms 
mapping data assosiation time 20.328091 ms 
--------------------stamp1317357967.827193021
points size 79379 
sort q time 5.486474 
seperate points time 13.200404 
mapping solver time 14.510091 ms 
filter time 14.637250 ms 
mapping pub time 1.820037 ms 
whole mapping time 142.005934 ms +++++
mappingCount 1353 & avg mapping time 147.602363 ms ++++++++++++++++++++++
1317357967.515317917 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.733839 ms
map corner num 175787  surf num 62163 
--------------------stamp1317357967.931137084
points size 79675 
mapping data assosiation time 21.029915 ms 
scan registration time 30.148009 ms *************
publication time 10.173700 ms 
whole laserOdometry time 10.190456 ms 
 
mapping solver time 15.626439 ms 
filter time 12.812777 ms 
points size 81425 
prepare time 13.106602 
scan registration time 30.614362 ms *************
build tree time 53.819195 ms 
-----t: 0.0550037
OdomCount 1985 & avg odom time 0.047283 ms ++++++++++++++++++++++
mapping solver time 19.203936 ms 
--------------------stamp1317357968.139023065
prepare time 12.216581 
sort q time 4.808878 
seperate points time 11.494842 
filter time 17.107018 ms 
build tree time 38.953226 ms 
--------------------stamp1317357968.242940902
points size 82866 
prepare time 11.903216 
mapping data assosiation time 23.482357 ms 
sort q time 5.365906 
seperate points time 16.075035 
publication time 9.418532 ms 
whole laserOdometry time 9.435189 ms 
 
-----t: 0.0490344
OdomCount 1987 & avg odom time 0.047281 ms ++++++++++++++++++++++
filter time 10.757115 ms 
--------------------stamp1317357968.346882104
points size 84386 
scan registration time 34.078335 ms *************
publication time 7.841299 ms 
whole laserOdometry time 7.848476 ms 
 
-----t: 0.0415931
OdomCount 1988 & avg odom time 0.047279 ms ++++++++++++++++++++++
1317357968.346882104 WriteOdom laser_odom_to_init
1317357968.346882104 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.835147 ms 
mapping data assosiation time 15.708165 ms 
--------------------stamp1317357968.450824975
points size 84136 
sort q time 4.878029 
seperate points time 11.827722 
map prepare time 3.921456 ms
map corner num 177488  surf num 62701 
publication time 6.871698 ms 
whole laserOdometry time 6.887719 ms 
 
build tree time 44.703770 ms 
mapping data assosiation time 16.945037 ms 
points size 82785 
mapping solver time 23.848338 ms 
sort q time 4.924607 
seperate points time 11.728509 
scan registration time 30.289238 ms *************
publication time 9.375202 ms 
whole laserOdometry time 9.387110 ms 
 
mapping solver time 19.569831 ms 
filter time 11.438802 ms 
--------------------stamp1317357968.658710956
build tree time 41.901383 ms 
sort q time 4.453667 
seperate points time 10.629950 
publication time 9.493150 ms 
whole laserOdometry time 9.508863 ms 
 
mapping solver time 22.724891 ms 
mapping data assosiation time 17.259282 ms 
mapping solver time 13.451382 ms 
points size 81142 
sort q time 5.217826 
seperate points time 11.288640 
-----t: 0.0279518
OdomCount 1992 & avg odom time 0.047250 ms ++++++++++++++++++++++
build tree time 47.515150 ms 
mapping data assosiation time 18.250145 ms 
mapping solver time 17.153638 ms 
points size 82121 
prepare time 11.282058 
publication time 7.772436 ms 
whole laserOdometry time 7.855510 ms 
 
-----t: 0.0362256
OdomCount 1993 & avg odom time 0.047245 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
build tree time 38.695474 ms 
prepare time 10.008064 
sort q time 4.746854 
seperate points time 10.406609 
mapping solver time 21.179489 ms 
-----t: 0.0461886
OdomCount 1994 & avg odom time 0.047244 ms ++++++++++++++++++++++
mapping solver time 14.311135 ms 
filter time 11.489463 ms 
--------------------stamp1317357969.074626922
sort q time 5.084478 
seperate points time 10.463461 
publication time 10.161195 ms 
whole laserOdometry time 10.185648 ms 
build tree time 37.400461 ms 
points size 88857 
prepare time 10.746021 
mapping data assosiation time 19.155543 ms 
mapping solver time 23.335636 ms 
publication time 7.603669 ms 
whole laserOdometry time 7.619408 ms 
 
mapping solver time 17.875807 ms 
mapping optimization time 120.769092 
add points time 0.658695 ms
map prepare time 2.761499 ms
map corner num 179728  surf num 63301 
points size 89918 
sort q time 5.076128 
seperate points time 12.018506 
publication time 7.826987 ms 
whole laserOdometry time 7.841082 ms 
 
1317357969.282632112 WriteOdom laser_odom_to_init
mapping solver time 19.861615 ms 
mapping data assosiation time 19.533228 ms 
points size 90279 
sort q time 5.633543 
seperate points time 12.633626 
-----t: 0.0503957
OdomCount 1998 & avg odom time 0.047246 ms ++++++++++++++++++++++
build tree time 46.847395 ms 
mapping data assosiation time 16.543749 ms 
points size 90477 
mapping solver time 24.197357 ms 
scan registration time 31.450872 ms *************
publication time 8.218120 ms 
whole laserOdometry time 8.230584 ms 
 
-----t: 0.0480416
OdomCount 1999 & avg odom time 0.047246 ms ++++++++++++++++++++++
filter time 11.939072 ms 
--------------------stamp1317357969.594580888
points size 90565 
build tree time 45.841411 ms 
-----t: 0.035912
OdomCount 2000 & avg odom time 0.047240 ms ++++++++++++++++++++++
mapping solver time 19.636572 ms 
mapping data assosiation time 19.652095 ms 
--------------------stamp1317357969.698548078
prepare time 14.178749 
sort q time 26.308796 
seperate points time 33.748990 
publication time 8.297436 ms 
whole laserOdometry time 8.309508 ms 
 
mapping data assosiation time 19.127528 ms 
points size 91657 
scan registration time 56.704679 ms *************
mapping solver time 21.765275 ms 
filter time 12.610212 ms 
--------------------stamp1317357969.906481981
prepare time 12.429948 
sort q time 7.161498 
seperate points time 14.317402 
build tree time 47.999196 ms 
mapping data assosiation time 25.001173 ms 
mapping solver time 22.207002 ms 
-----t: 0.0745022
OdomCount 2003 & avg odom time 0.047280 ms ++++++++++++++++++++++
1317357969.906481981 WriteOdom laser_odom_to_init
1317357969.906481981 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.691191 ms 
sort q time 5.534189 
seperate points time 12.079257 
mapping solver time 17.608296 ms 
mapping optimization time 136.539714 
filter time 17.354345 ms 
-----t: 0.0501058
OdomCount 2004 & avg odom time 0.047281 ms ++++++++++++++++++++++
1317357970.010425090 WriteOdom laser_odom_to_init
1317357970.010425090 WriteOdom aft_mapped_to_init_high_frec
build tree time 45.975141 ms 
points size 94725 
sort q time 6.028407 
seperate points time 13.209432 
mapping solver time 24.718132 ms 
-----t: 0.0501816
OdomCount 2005 & avg odom time 0.047283 ms ++++++++++++++++++++++
1317357970.114368915 WriteOdom laser_odom_to_init
1317357970.114368915 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.976410 ms 
filter time 11.049456 ms 
points size 95152 
prepare time 12.177717 
scan registration time 33.898760 ms *************
build tree time 51.785508 ms 
-----t: 0.0480779
OdomCount 2006 & avg odom time 0.047283 ms ++++++++++++++++++++++
1317357970.218337059 WriteOdom laser_odom_to_init
mapping data assosiation time 29.288602 ms 
mapping solver time 18.348378 ms 
points size 95639 
sort q time 5.776276 
seperate points time 11.978010 
publication time 9.919991 ms 
whole laserOdometry time 9.936228 ms 
 
1317357970.322326898 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357970.426315069
points size 96339 
sort q time 5.452782 
seperate points time 12.474394 
publication time 8.956828 ms 
whole laserOdometry time 8.970685 ms 
 
mapping solver time 26.179967 ms 
mapping data assosiation time 23.787566 ms 
--------------------stamp1317357970.530257940
points size 97747 
sort q time 9.649098 
seperate points time 36.885321 
-----t: 0.0557003
OdomCount 2009 & avg odom time 0.047287 ms ++++++++++++++++++++++
build tree time 54.659899 ms 
points size 98705 
scan registration time 35.602691 ms *************
publication time 8.464654 ms 
whole laserOdometry time 8.497513 ms 
 
mapping data assosiation time 20.372040 ms 
mapping solver time 18.888854 ms 
points size 99006 
drop lidar frame in mapping for real time performance 
sort q time 10.815209 
seperate points time 27.740677 scan registration time 57.420334 ms *************
build tree time 50.043045 ms 
mapping data assosiation time 21.078992 ms 
points size 98981 
sort q time 6.060620 
seperate points time 13.048826 
publication time 9.546251 ms 
whole laserOdometry time 9.558872 ms 
 
-----t: 0.0498612
OdomCount 2012 & avg odom time 0.047284 ms ++++++++++++++++++++++
1317357970.842112064 WriteOdom laser_odom_to_init
1317357970.842112064 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.946538 ms 
filter time 10.913598 ms 
points size 99243 
sort q time 6.963866 
seperate points time 14.385348 
publication time 9.866450 ms 
whole laserOdometry time 9.882554 ms 
 
-----t: 0.0517774
OdomCount 2013 & avg odom time 0.047286 ms ++++++++++++++++++++++
mapping data assosiation time 21.671959 ms 
mapping solver time 17.449205 ms 
points size 98511 
sort q time 5.603786 
seperate points time 11.910138 
scan registration time 32.222406 ms *************
publication time 11.624891 ms 
whole laserOdometry time 11.638210 ms 
 
map prepare time 3.990741 ms
map corner num 184835  surf num 64632 
--------------------stamp1317357971.153867959
prepare time 11.802927 
sort q time 6.057780 
seperate points time 13.831355 
scan registration time 31.059497 ms *************
mapping data assosiation time 24.086188 ms 
publication time 11.775789 ms 
whole laserOdometry time 11.793399 ms mapping data assosiation time 19.066144 ms 
mapping solver time 18.003734 ms 
points size 96937 
sort q time 6.049349 
seperate points time 13.822871 
publication time 10.520466 ms 
whole laserOdometry time 10.540752 ms 
 
build tree time 52.878826 ms 
mapping data assosiation time 18.045163 ms 
--------------------stamp1317357971.361704111
prepare time 13.881255 
sort q time 6.042013 
seperate points time 13.800023 
mapping solver time 26.555377 ms 
mapping optimization time 142.525724 
add points time 0.893381 ms
-----t: 0.0614173
OdomCount 2017 & avg odom time 0.047297 ms ++++++++++++++++++++++
1317357971.361704111 WriteOdom laser_odom_to_init
1317357971.361704111 WriteOdom aft_mapped_to_init_high_frec
filter time 17.519276 ms 
mapping pub time 2.468426 ms 
whole mapping time 167.577972 ms +++++
mappingCount 1375 & avg mapping time 147.781351 ms ++++++++++++++++++++++
1317357971.153867960 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357971.465600013
build tree time 27.930242 ms 
sort q time 5.571161 
seperate points time 12.596722 
mapping solver time 21.241892 ms 
mapping data assosiation time 34.055748 ms 
--------------------stamp1317357971.569494009
points size 93165 
mapping pub time 16.178638 ms 
whole mapping time 159.509164 ms +++++
mappingCount 1376 & avg mapping time 147.789931 ms ++++++++++++++++++++++
publication time 6.871378 ms 
whole laserOdometry time 6.888641 ms 
 
-----t: 0.0510857
OdomCount 2019 & avg odom time 0.047305 ms ++++++++++++++++++++++mapping data assosiation time 19.865841 ms 
points size 91175 
prepare time 14.304439 
mapping solver time 25.232819 ms 
mapping data assosiation time 26.429720 ms 
scan registration time 45.034100 ms *************
mapping solver time 20.987473 ms 
-----t: 0.061878
OdomCount 2020 & avg odom time 0.047312 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317357971.777283906
prepare time 13.499533 
scan registration time 32.150178 ms *************
publication time 9.007395 ms 
whole laserOdometry time 9.019421 ms 
 
mapping data assosiation time 25.604819 ms 
-----t: 0.0638325
OdomCount 2021 & avg odom time 0.047320 ms ++++++++++++++++++++++
1317357971.777283906 WriteOdom laser_odom_to_init
--------------------stamp1317357971.881203889
mapping solver time 20.965061 ms 
mapping optimization time 141.297847 
add points time 0.813538 ms
prepare time 21.806813 
scan registration time 40.674129 ms *************
map prepare time 8.507878 ms
map corner num 128692  surf num 42797 
-----t: 0.0538149
OdomCount 2022 & avg odom time 0.047324 ms ++++++++++++++++++++++
build tree time 46.195275 ms 
sort q time 5.071252 
seperate points time 13.923923 
-----t: 0.0375926
OdomCount 2023 & avg odom time 0.047319 ms ++++++++++++++++++++++
mapping data assosiation time 17.494929 ms 
mapping solver time 18.006789 ms 
filter time 9.155835 ms 
prepare time 13.565663 
sort q time 5.269346 
seperate points time 12.189224 
build tree time 30.070921 ms 
publication time 14.548102 ms 
whole laserOdometry time 14.561288 ms 
 
mapping data assosiation time 22.217315 ms 
-----t: 0.048472
OdomCount 2024 & avg odom time 0.047319 ms ++++++++++++++++++++++
1317357972.089063882 WriteOdom laser_odom_to_init
1317357972.089063882 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.330230 ms 
mapping data assosiation time 19.943682 ms 
points size 93053 
sort q time 5.439455 
seperate points time 12.561637 
scan registration time 33.532357 ms *************
map prepare time 3.800743 ms
map corner num 190387  surf num 63617 
1317357972.193006038 WriteOdom laser_odom_to_initbuild tree time 51.041580 ms 
--------------------stamp1317357972.296924114
prepare time 13.594033 
scan registration time 32.905677 ms *************
publication time 6.863905 ms 
whole laserOdometry time 6.877549 ms 
 
-----t: 0.0483806
OdomCount 2026 & avg odom time 0.047312 ms ++++++++++++++++++++++
mapping optimization time 138.216755 
filter time 11.938513 ms 
--------------------stamp1317357972.400844097
points size 94366 
sort q time 5.334683 
seperate points time 12.790620 
publication time 6.305732 ms 
whole laserOdometry time 6.318023 ms 
 
-----t: 0.0576212
OdomCount 2027 & avg odom time 0.047318 ms ++++++++++++++++++++++
build tree time 47.389153 ms 
points size 93567 
sort q time 5.222468 
seperate points time 11.730630 
mapping solver time 23.873375 ms 
-----t: 0.0404263
OdomCount 2028 & avg odom time 0.047314 ms ++++++++++++++++++++++
mapping solver time 17.368812 ms 
filter time 15.281368 ms 
--------------------stamp1317357972.608728885
points size 88774 
sort q time 5.266901 
seperate points time 12.010767 
build tree time 49.261942 ms 
-----t: 0.0320826
OdomCount 2029 & avg odom time 0.047307 ms ++++++++++++++++++++++
mapping data assosiation time 21.026659 ms 
mapping solver time 19.631010 ms 
--------------------stamp1317357972.712647914
points size 87098 
mapping solver time 15.676474 ms 
sort q time 4.983484 
seperate points time 22.151463 
-----t: 0.0339607
OdomCount 2030 & avg odom time 0.047300 ms ++++++++++++++++++++++
publication time 11.832363 ms 
whole laserOdometry time 11.844007 ms 
 
build tree time 44.898600 ms 
--------------------stamp1317357972.816589117
sort q time 4.571896 
seperate points time 10.508660 
-----t: 0.0357077
OdomCount 2031 & avg odom time 0.047294 ms ++++++++++++++++++++++
mapping solver time 13.402015 ms 
filter time 11.643324 ms 
--------------------stamp1317357972.920531988
prepare time 11.114688 
scan registration time 24.343521 ms *************
build tree time 61.522180 ms 
-----t: 0.0402572
OdomCount 2032 & avg odom time 0.047291 ms ++++++++++++++++++++++
mapping data assosiation time 30.439846 ms 
mapping solver time 21.883912 ms 
--------------------stamp1317357973.024476051
points size 82122 
sort q time 4.341272 
seperate points time 10.373005 
publication time 7.944078 ms 
whole laserOdometry time 7.962381 ms 
 
map prepare time 3.484174 ms
map corner num 192681  surf num 64273 
--------------------stamp1317357973.128443956
prepare time 10.318974 
sort q time 5.194416 
seperate points time 10.003522 
mapping solver time 21.385558 ms 
1317357973.128443956 WriteOdom aft_mapped_to_init_high_frecmapping data assosiation time 21.338577 ms 
mapping solver time 22.063661 ms 
--------------------stamp1317357973.232410907
mapping pub time 5.684236 ms 
whole mapping time 167.681633 ms +++++
mappingCount 1386 & avg mapping time 147.877968 ms ++++++++++++++++++++++
sort q time 4.558065 
seperate points time 10.396595 
publication time 7.993918 ms 
build tree time 52.183250 ms 
mapping data assosiation time 19.994125 ms 
--------------------stamp1317357973.336376905
sort q time 4.270240 
seperate points time 9.876641 
mapping data assosiation time 22.624259 ms 
publication time 9.777655 ms 
whole laserOdometry time 9.804857 ms 
 
mapping solver time 21.936275 ms 
mapping optimization time 141.753802 
add points time 0.613564 ms
filter time 12.252607 ms 
[0m[ INFO] [1718804690.236559866, 1317357973.426175033]: Received 257558 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804690.236589419, 1317357973.426175033]: Data saved to 1317357972920531.pcd[0m
--------------------stamp1317357973.440342903
build tree time 44.905247 ms 
mapping data assosiation time 25.199296 ms 
sort q time 4.370427 
seperate points time 32.965800 
-----t: 0.0412361
OdomCount 2037 & avg odom time 0.047262 ms ++++++++++++++++++++++
1317357973.440342903 WriteOdom laser_odom_to_init
publication time 6.053759 ms 
whole laserOdometry time 6.066035 ms 
 
mapping data assosiation time 23.235976 ms 
--------------------stamp1317357973.544308900
prepare time 13.091930 
filter time 17.994504 ms 
sort q time 5.141572 
seperate points time 12.446049 
publication time 8.063527 ms 
whole laserOdometry time 8.079562 ms 
 
-----t: 0.0512256
OdomCount 2038 & avg odom time 0.047264 ms ++++++++++++++++++++++
build tree time 54.352722 ms 
--------------------stamp1317357973.648277044
prepare time 12.075577 
sort q time 4.224560 
seperate points time 10.041834 
publication time 5.991255 ms 
whole laserOdometry time 6.001868 ms 
 
1317357973.648277044 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.120010 ms 
filter time 11.647275 ms 
--------------------stamp1317357973.752243995
sort q time 5.247869 
seperate points time 10.093776 
build tree time 44.850680 ms 
publication time 8.859483 ms 
whole laserOdometry time 8.874333 ms 
 
mapping data assosiation time 23.651518 ms 
-----t: 0.055847
OdomCount 2040 & avg odom time 0.047263 ms ++++++++++++++++++++++
mapping data assosiation time 17.930013 ms 
--------------------stamp1317357973.856209993
prepare time 12.814581 
sort q time 4.515071 
seperate points time 10.773758 
publication time 7.238185 ms 
whole laserOdometry time 7.251352 ms 
 
build tree time 47.575611 ms 
mapping data assosiation time 17.901010 ms 
--------------------stamp1317357973.960175991
prepare time 13.068264 
sort q time 4.539165 
seperate points time 10.871544 
publication time 9.282014 ms 
whole laserOdometry time 9.295631 ms 
 
-----t: 0.036121
OdomCount 2042 & avg odom time 0.047252 ms ++++++++++++++++++++++
1317357973.960175991 WriteOdom laser_odom_to_init
1317357973.960175991 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.022709 ms 
mapping optimization time 130.307396 
add points time 0.664843 ms
1317357973.752243996 WriteOdom aft_mapped_to_init
--------------------stamp1317357974.064143896
build tree time 43.975861 ms 
sort q time 5.037509 
seperate points time 16.708016 
mapping data assosiation time 22.937982 ms 
publication time 8.066934 ms 
whole laserOdometry time 8.083298 ms 
 
mapping solver time 26.842813 ms 
mapping data assosiation time 18.614674 ms 
--------------------stamp1317357974.168112039
prepare time 13.177340 
sort q time 4.660854 
seperate points time 11.201190 
publication time 8.112925 ms 
whole laserOdometry time 8.124114 ms 
 
-----t: 0.0563964
OdomCount 2044 & avg odom time 0.047261 ms ++++++++++++++++++++++
1317357974.168112039 WriteOdom laser_odom_to_init
1317357974.168112039 WriteOdom aft_mapped_to_init_high_frec
build tree time 47.379597 ms 
mapping data assosiation time 17.863289 ms 
--------------------stamp1317357974.272078990
prepare time 13.154908 
sort q time 5.396704 
seperate points time 12.554083 
[0m[ INFO] [1718804691.123568360, 1317357974.304885013]: Received 260858 data points in frame camera_init with the following fields: x y z intensity[0m
mapping solver time 22.652017 ms 
mapping pub time 1.904727 ms 
whole mapping time 156.616237 ms +++++
mappingCount 1393 & avg mapping time 147.915233 ms ++++++++++++++++++++++
--------------------stamp1317357974.376023054
prepare time 12.619066 
build tree time 47.949363 ms 
-----t: 0.0310415
OdomCount 2046 & avg odom time 0.047250 ms ++++++++++++++++++++++
mapping solver time 18.091617 ms 
mapping data assosiation time 19.381785 ms 
--------------------stamp1317357974.479963064
prepare time 13.049936 
sort q time 4.634299 
seperate points time 10.942946 
publication time 7.840476 ms 
whole laserOdometry time 7.854019 ms 
 
-----t: 0.0344379
OdomCount 2047 & avg odom time 0.047243 ms ++++++++++++++++++++++
1317357974.479963064 WriteOdom laser_odom_to_init
1317357974.479963064 WriteOdom aft_mapped_to_init_high_frec
build tree time 45.633969 ms 
mapping data assosiation time 20.382452 ms 
points size 86170 
mapping solver time 26.779017 ms 
scan registration time 29.746782 ms *************
publication time 10.240658 ms 
whole laserOdometry time 10.256287 ms 
 
mapping data assosiation time 24.989811 ms 
mapping solver time 20.676396 ms 
filter time 11.566390 ms 
--------------------stamp1317357974.687870979
prepare time 11.861355 
sort q time 9.390914 
seperate points time 15.923475 
scan registration time 33.281435 ms *************
build tree time 51.813185 ms 
-----t: 0.0377166
OdomCount 2049 & avg odom time 0.047235 ms ++++++++++++++++++++++
1317357974.687870979 WriteOdom laser_odom_to_init
1317357974.687870979 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.650762 ms 
publication time 8.525436 ms 
whole laserOdometry time 8.535760 ms 
 
mapping solver time 20.275680 ms 
mapping data assosiation time 18.395648 ms 
--------------------stamp1317357974.791815042
prepare time 11.943787 
mapping pub time 6.256391 ms 
whole mapping time 148.565110 ms +++++
mappingCount 1396 & avg mapping time 147.928655 ms ++++++++++++++++++++++
publication time 10.232523 ms 
whole laserOdometry time 10.246341 ms 
 
-----t: 0.0448635
OdomCount 2050 & avg odom time 0.047233 ms ++++++++++++++++++++++
build tree time 52.308593 ms 
mapping data assosiation time 19.212355 ms 
prepare time 12.171262 
mapping solver time 24.628495 ms 
mapping data assosiation time 23.731406 ms 
mapping solver time 19.808704 ms 
filter time 13.924121 ms 
--------------------stamp1317357974.999749898
prepare time 11.323050 
sort q time 5.829035 
seperate points time 12.585466 
publication time 8.797629 ms 
whole laserOdometry time 8.814759 ms 
 
mapping solver time 18.377256 ms 
mapping data assosiation time 19.011261 ms 
--------------------stamp1317357975.103717088
prepare time 12.619046 
sort q time 5.014411 
seperate points time 12.054087 
publication time 8.219902 ms 
whole laserOdometry time 8.236116 ms 
 
[0m[ INFO] [1718804691.977205427, 1317357975.161693261]: Received 263915 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804691.977244189, 1317357975.161693261]: Data saved to 1317357974479963.pcd[0m
build tree time 47.138526 ms 
mapping data assosiation time 19.944720 ms 
--------------------stamp1317357975.207681894
points size 89410 
sort q time 5.084050 
seperate points time 10.313441 
mapping data assosiation time 21.896777 ms 
publication time 7.987276 ms 
whole laserOdometry time 7.999483 ms 
 
filter time 12.911102 ms 
map prepare time 3.124148 ms
map corner num 199251  surf num 66503 
--------------------stamp1317357975.311650037
points size 90078 
sort q time 4.809026 
seperate points time 10.997066 
publication time 8.130770 ms 
whole laserOdometry time 8.143997 ms 
 
-----t: 0.0407451
OdomCount 2055 & avg odom time 0.047216 ms ++++++++++++++++++++++
mapping solver time 20.165994 ms 
mapping data assosiation time 19.328922 ms 
--------------------stamp1317357975.415616989
prepare time 11.591055 
sort q time 5.597610 
seperate points time 12.485518 
map prepare time 3.806347 ms
map corner num 199649  surf num 66601 
scan registration time 30.392849 ms *************
1317357975.415616989 WriteOdom aft_mapped_to_init_high_frec
publication time 12.871009 ms 
whole laserOdometry time 12.879717 ms 
 
build tree time 46.431253 ms 
mapping data assosiation time 20.411536 ms 
--------------------stamp1317357975.519608020
mapping solver time 22.140250 ms 
points size 95650 
sort q time 5.286971 
seperate points time 12.516564 
mapping solver time 16.758003 ms 
-----t: 0.050533
OdomCount 2057 & avg odom time 0.047211 ms ++++++++++++++++++++++
1317357975.519608020 WriteOdom laser_odom_to_init
1317357975.519608020 WriteOdom aft_mapped_to_init_high_frec
filter time 17.129402 ms 
--------------------stamp1317357975.623599052
points size 97419 
sort q time 5.298354 
seperate points time 12.758091 
mapping pub time 63.769957 ms 
whole mapping time 216.074446 ms +++++
mappingCount 1401 & avg mapping time 147.991322 ms ++++++++++++++++++++++
1317357975.311650038 WriteOdom aft_mapped_to_init
scan registration time 33.302640 ms *************
drop lidar frame in mapping for real time performance 
map prepare time 3.292818 ms
map corner num 200121  surf num 66720 
publication time 8.387246 ms 
whole laserOdometry time 8.398062 ms 
 
build tree time 45.391846 ms 
mapping data assosiation time 19.470533 ms 
points size 98289 
prepare time 13.211018 
mapping solver time 24.051863 ms 
sort q time 5.498614 
seperate points time 12.591826 
mapping data assosiation time 22.844044 ms 
-----t: 0.0473675
OdomCount 2059 & avg odom time 0.047209 ms ++++++++++++++++++++++
1317357975.727564096 WriteOdom laser_odom_to_init
1317357975.727564096 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.528940 ms 
mapping optimization time 134.373906 
filter time 15.465227 ms 
--------------------stamp1317357975.831506967
points size 99009 
prepare time 11.981725 
scan registration time 32.050535 ms *************
-----t: 0.0373173
OdomCount 2060 & avg odom time 0.047204 ms ++++++++++++++++++++++
mapping solver time 23.954673 ms 
--------------------stamp1317357975.935426950
points size 99122 
mapping solver time 18.771532 ms 
filter time 17.350885 ms 
[0m[ INFO] [1718804692.832606057, 1317357976.018259106]: Received 266841 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804692.832650861, 1317357976.018259106]: Data saved to 1317357975311650.pcd[0m
--------------------stamp1317357976.039370059
points size 100056 
sort q time 5.733687 
seperate points time 13.448386 
publication time 10.942056 ms 
whole laserOdometry time 10.956728 ms 
 
1317357976.039370059 WriteOdom laser_odom_to_init
mapping solver time 21.544856 ms 
filter time 12.781674 ms 
--------------------stamp1317357976.143312931
prepare time 16.433636 
sort q time 6.156707 
seperate points time 14.058488 
scan registration time 36.234644 ms *************
publication time 8.635198 ms 
whole laserOdometry time 8.648686 ms 
 
-----t: 0.0470572
OdomCount 2063 & avg odom time 0.047198 ms ++++++++++++++++++++++
mapping solver time 21.968715 ms 
points size 101043 
mapping data assosiation time 21.039098 ms 
prepare time 13.008453 
filter time 17.280345 ms 
-----t: 0.0553962
OdomCount 2064 & avg odom time 0.047202 ms ++++++++++++++++++++++
build tree time 44.453420 ms 
points size 100112 
sort q time 10.999146 
seperate points time 18.522253 
mapping solver time 29.414064 ms 
publication time 10.061894 ms 
whole laserOdometry time 10.076619 ms 
 
mapping data assosiation time 21.626245 ms 
mapping solver time 18.953337 ms 
filter time 12.277037 ms 
map prepare time 3.405922 ms
map corner num 202061  surf num 67310 
sort q time 5.544746 
seperate points time 13.126637 
1317357976.455066919 WriteOdom aft_mapped_to_init_high_frec
build tree time 54.777310 ms 
mapping data assosiation time 19.816568 ms 
--------------------stamp1317357976.558986902
prepare time 11.904469 
sort q time 5.619951 
seperate points time 12.126627 
mapping solver time 18.156164 ms 
-----t: 0.0409064
OdomCount 2067 & avg odom time 0.047195 ms ++++++++++++++++++++++
map prepare time 4.094769 ms
map corner num 202413  surf num 67395 
--------------------stamp1317357976.662906885
prepare time 12.417760 
sort q time 5.330908 
seperate points time 11.638969 
publication time 7.172829 ms 
whole laserOdometry time 7.189099 ms 
 
-----t: 0.0369905
OdomCount 2068 & avg odom time 0.047190 ms ++++++++++++++++++++++
mapping data assosiation time 19.650188 ms 
mapping solver time 20.137424 ms 
points size 93501 
map prepare time 3.719862 ms
map corner num 202830  surf num 67586 
scan registration time 32.154225 ms *************
publication time 8.012165 ms 
whole laserOdometry time 8.026167 ms 
 
1317357976.766824960 WriteOdom laser_odom_to_init
1317357976.766824960 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.808455 ms 
--------------------stamp1317357976.870742082
points size 93312 
sort q time 5.633606 
seperate points time 12.579671 
publication time 7.884254 ms 
whole laserOdometry time 7.900116 ms 
 
filter time 16.909958 ms 
-----t: 0.0654493
OdomCount 2070 & avg odom time 0.047195 ms ++++++++++++++++++++++
1317357976.870742082 WriteOdom laser_odom_to_init
1317357976.870742082 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718804693.777000238, 1317357976.967942809]: Received 269371 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804693.777051842, 1317357976.967942809]: Data saved to 1317357976143312.pcd[0m
points size 92534 
scan registration time 30.729744 ms *************
mapping data assosiation time 23.751223 ms 
publication time 12.300639 ms 
whole laserOdometry time 12.325529 ms 
 
-----t: 0.0497496
OdomCount 2071 & avg odom time 0.047196 ms ++++++++++++++++++++++
1317357976.974690914 WriteOdom laser_odom_to_init
1317357976.974690914 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357977.078681945
prepare time 14.235669 
sort q time 5.180980 
seperate points time 11.496452 
map prepare time 3.917769 ms
map corner num 203733  surf num 67947 
scan registration time 30.333120 ms *************
publication time 6.332951 ms 
whole laserOdometry time 6.348462 ms 
 
-----t: 0.0602727
OdomCount 2072 & avg odom time 0.047202 ms ++++++++++++++++++++++
1317357977.078681945 WriteOdom laser_odom_to_init
1317357977.078681945 WriteOdom aft_mapped_to_init_high_frec
build tree time 51.030565 ms 
mapping data assosiation time 17.832399 ms 
points size 93837 
sort q time 5.390313 
seperate points time 12.445289 
mapping data assosiation time 23.142735 ms 
mapping solver time 23.104937 ms 
filter time 13.784891 ms 
map prepare time 3.098836 ms
map corner num 204149  surf num 68121 
--------------------stamp1317357977.286634922
points size 94849 
sort q time 5.433188 
seperate points time 12.654715 
build tree time 52.701614 ms 
mapping data assosiation time 21.040618 ms 
-----t: 0.0497442
OdomCount 2074 & avg odom time 0.047207 ms ++++++++++++++++++++++
1317357977.286634922 WriteOdom laser_odom_to_init
1317357977.286634922 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.762934 ms 
mapping data assosiation time 20.809724 ms 
points size 93573 
sort q time 5.336147 
seperate points time 12.342862 
-----t: 0.0440957
OdomCount 2075 & avg odom time 0.047206 ms ++++++++++++++++++++++
build tree time 45.371442 ms 
mapping data assosiation time 19.503888 ms 
prepare time 13.821882 
mapping solver time 25.610021 ms 
publication time 11.542572 ms 
whole laserOdometry time 11.556143 ms 
 
mapping data assosiation time 23.511250 ms 
mapping solver time 19.056440 ms 
filter time 13.939058 ms 
--------------------stamp1317357977.598510026
points size 95754 
sort q time 5.643897 
seperate points time 12.114646 
build tree time 55.767290 ms 
publication time 9.128564 ms 
whole laserOdometry time 9.139105 ms 
 
mapping data assosiation time 22.277519 ms 
mapping solver time 18.329524 ms 
--------------------stamp1317357977.702452898
prepare time 11.709286 
-----t: 0.0541219
OdomCount 2078 & avg odom time 0.047207 ms ++++++++++++++++++++++
1317357977.702452898 WriteOdom laser_odom_to_init
--------------------stamp1317357977.806396961
mapping data assosiation time 20.837787 ms 
sort q time 5.467900 
seperate points time 12.932931 
scan registration time 35.054833 ms *************
publication time 8.860525 ms 
whole laserOdometry time 8.875159 ms 
 
mapping data assosiation time 21.978918 ms 
mapping solver time 17.410173 ms 
--------------------stamp1317357977.910341024
points size 100085 
sort q time 6.296684 
seperate points time 15.513025 
build tree time 49.688508 ms 
publication time 7.542960 ms 
whole laserOdometry time 7.553158 ms 
 
mapping data assosiation time 19.787472 ms 
--------------------stamp1317357978.014306068
prepare time 13.621817 
sort q time 6.008207 
seperate points time 12.856214 
publication time 9.712738 ms 
whole laserOdometry time 9.754841 ms 
 
filter time 15.395823 ms 
map prepare time 3.517457 ms
map corner num 206502  surf num 69522 
--------------------stamp1317357978.118271112
points size 101585 
build tree time 46.769845 ms 
mapping data assosiation time 26.649770 ms 
publication time 9.341604 ms 
whole laserOdometry time 9.351103 ms 
 
-----t: 0.0464011
OdomCount 2082 & avg odom time 0.047198 ms ++++++++++++++++++++++
1317357978.118271112 WriteOdom laser_odom_to_init
1317357978.118271112 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.200368 ms 
mapping data assosiation time 25.134150 ms 
points size 100929 
map prepare time 4.032189 ms
map corner num 206960  surf num 69797 
publication time 8.861995 ms 
whole laserOdometry time 8.876968 ms 
 
build tree time 61.589714 ms 
points size 100250 
mapping data assosiation time 32.685115 ms 
mapping solver time 32.018072 ms 
mapping data assosiation time 24.315397 ms 
--------------------stamp1317357978.430437088
prepare time 11.947505 
mapping pub time 2.415739 ms 
whole mapping time 196.218043 ms +++++
mappingCount 1418 & avg mapping time 148.160052 ms ++++++++++++++++++++++
publication time 9.496371 ms 
whole laserOdometry time 9.525506 ms 
 
build tree time 50.667828 ms 
--------------------stamp1317357978.534570932
prepare time 14.858671 
mapping solver time 28.636197 ms 
sort q time 6.437747 
seperate points time 25.787899 
scan registration time 71.554659 ms *************
filter time 15.005697 ms 
--------------------stamp1317357978.638705015
points size 98879 
sort q time 6.724479 
seperate points time 21.663086 
scan registration time 48.155315 ms *************
publication time 7.084925 ms 
whole laserOdometry time 7.101302 ms 
 
mapping data assosiation time 24.441955 ms 
mapping solver time 24.765850 ms 
points size 98645 
mapping data assosiation time 26.642784 ms 
mapping solver time 29.641484 ms 
mapping optimization time 163.761208 
publication time 13.949452 ms 
whole laserOdometry time 13.963731 ms 
 
add points time 1.206497 ms
mapping pub time 2.223830 ms 
whole mapping time 187.643087 ms +++++
mappingCount 1420 & avg mapping time 148.203556 ms ++++++++++++++++++++++
--------------------stamp1317357978.846926927
points size 98628 
build tree time 53.035189 ms 
-----t: 0.0415131
OdomCount 2089 & avg odom time 0.047218 ms ++++++++++++++++++++++
mapping solver time 32.229715 ms 
--------------------stamp1317357978.951014041
points size 99227 
sort q time 5.070744 
seperate points time 11.569828 
mapping solver time 26.829898 ms 
publication time 9.521347 ms 
whole laserOdometry time 9.534985 ms 
 
mapping optimization time 173.143081 
add points time 1.044933 ms
filter time 19.372814 ms 
1317357978.951014041 WriteOdom laser_odom_to_init
1317357978.951014041 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357979.055104970
prepare time 12.690734 
sort q time 6.002380 
seperate points time 21.520106 
mapping pub time 94.913486 ms 
whole mapping time 292.082664 ms +++++
mappingCount 1421 & avg mapping time 148.304812 ms ++++++++++++++++++++++
-----t: 0.0608687
OdomCount 2091 & avg odom time 0.047231 ms ++++++++++++++++++++++
--------------------stamp1317357979.159224033
points size 102718 
prepare time 20.888830 
build tree time 62.501800 ms 
sort q time 5.175423 
seperate points time 14.343480 
scan registration time 44.290549 ms *************
-----t: 0.0607211
OdomCount 2092 & avg odom time 0.047237 ms ++++++++++++++++++++++
mapping solver time 31.726803 ms 
points size 103850 
mapping data assosiation time 27.969386 ms 
scan registration time 32.612316 ms *************
mapping solver time 32.333345 ms 
filter time 18.418241 ms 
map prepare time 3.956755 ms
map corner num 128843  surf num 43665 
--------------------stamp1317357979.367505073
points size 103518 
sort q time 5.167888 
seperate points time 12.580896 
publication time 12.618881 ms 
whole laserOdometry time 12.632097 ms 
 
mapping solver time 27.179828 ms 
-----t: 0.0708538
OdomCount 2094 & avg odom time 0.047251 ms ++++++++++++++++++++++
1317357979.367505073 WriteOdom laser_odom_to_init
1317357979.367505073 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357979.471664905
points size 103408 
mapping solver time 24.984880 ms 
mapping pub time 8.763959 ms 
whole mapping time 172.088943 ms +++++
mappingCount 1423 & avg mapping time 148.375580 ms ++++++++++++++++++++++
build tree time 32.231001 ms 
--------------------stamp1317357979.680124998
prepare time 13.434613 
mapping optimization time 174.717783 
filter time 13.007112 ms 
publication time 10.836209 ms 
whole laserOdometry time 10.854463 ms 
 
-----t: 0.0446377
OdomCount 2097 & avg odom time 0.047267 ms ++++++++++++++++++++++
build tree time 32.142050 ms 
--------------------stamp1317357979.784379005
prepare time 12.551883 
sort q time 6.205447 
seperate points time 14.371650 
[0m[ INFO] [1718804696.637907512, 1317357979.820292480]: Received 280672 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804696.638033036, 1317357979.820292480]: Data saved to 1317357978638705.pcd[0m
mapping solver time 36.811762 ms 
publication time 11.779757 ms 
whole laserOdometry time 11.790091 ms 
 
-----t: 0.0525837
OdomCount 2098 & avg odom time 0.047270 ms ++++++++++++++++++++++
mapping data assosiation time 33.375124 ms 
--------------------stamp1317357979.888609886
points size 103158 
drop lidar frame in mapping for real time performance 
publication time 10.974658 ms 
whole laserOdometry time 11.003995 ms 
 
-----t: 0.0543669
OdomCount 2099 & avg odom time 0.047273 ms ++++++++++++++++++++++
1317357979.888609886 WriteOdom laser_odom_to_init
1317357979.888609886 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.819676 ms 
--------------------stamp1317357979.992818117
prepare time 12.033058 
sort q time 5.727434 
seperate points time 11.788630 
publication time 9.641201 ms 
whole laserOdometry time 9.654575 ms 
 
mapping data assosiation time 31.933847 ms 
mapping solver time 31.494658 ms 
filter time 9.968108 ms 
map prepare time 4.588395 ms
map corner num 132524  surf num 46209 
sort q time 5.807381 
seperate points time 14.974097 
scan registration time 36.252066 ms *************
build tree time 34.224736 ms 
publication time 10.207531 ms 
whole laserOdometry time 10.235407 ms 
 
mapping data assosiation time 36.332614 ms 
--------------------stamp1317357980.201253890
points size 103141 
sort q time 21.836260 
seperate points time 29.033103 
publication time 10.844028 ms 
whole laserOdometry time 11.857994 ms 
 
-----t: 0.0534389
OdomCount 2102 & avg odom time 0.047283 ms ++++++++++++++++++++++
1317357980.201253890 WriteOdom laser_odom_to_init
1317357980.201253890 WriteOdom aft_mapped_to_init_high_frec
filter time 8.924565 ms 
map prepare time 3.110306 ms
map corner num 133515  surf num 46867 
--------------------stamp1317357980.305389881
points size 102853 
build tree time 36.596428 ms 
publication time 7.910404 ms 
whole laserOdometry time 7.928804 ms 
 
mapping data assosiation time 40.009651 ms 
mapping solver time 31.711949 ms 
points size 102768 
sort q time 6.334057 
seperate points time 13.597606 
publication time 11.688605 ms 
whole laserOdometry time 11.705548 ms 
 
mapping optimization time 178.765882 
filter time 12.775874 ms 
-----t: 0.0723215
OdomCount 2104 & avg odom time 0.047299 ms ++++++++++++++++++++++
points size 102877 
sort q time 6.886382 
seperate points time 13.989170 
mapping data assosiation time 40.649608 ms 
mapping solver time 40.250970 ms 
prepare time 14.599599 
sort q time 6.228464 
seperate points time 13.616196 
publication time 11.063942 ms 
whole laserOdometry time 11.078386 ms 
 
1317357980.617697954 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.392872 ms 
mapping optimization time 198.322699 
add points time 0.902282 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357980.721736907
points size 103147 
sort q time 5.896801 
seperate points time 14.665744 
[0m[ INFO] [1718804697.591335974, 1317357980.781306977]: Received 178733 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804697.591413057, 1317357980.781306977]: Data saved to 1317357979680124.pcd[0m
mapping data assosiation time 39.700957 ms 
mapping solver time 28.743971 ms 
points size 102932 
prepare time 14.845055 
mapping data assosiation time 42.031880 ms 
publication time 13.498379 ms 
whole laserOdometry time 13.515001 ms filter time 11.524872 ms 
1317357980.825774908 WriteOdom laser_odom_to_init
points size 102510 
build tree time 33.553212 ms 
publication time 9.642763 ms 
whole laserOdometry time 9.688675 ms 
 
-----t: 0.0611601
OdomCount 2109 & avg odom time 0.047325 ms ++++++++++++++++++++++
--------------------stamp1317357981.033900976
mapping solver time 39.426319 ms 
sort q time 5.694904 
seperate points time 13.516058 
mapping data assosiation time 38.596089 ms 
-----t: 0.0447019
OdomCount 2110 & avg odom time 0.047324 ms ++++++++++++++++++++++
mapping solver time 39.265458 ms 
filter time 10.504417 ms 
map prepare time 4.453470 ms
map corner num 137225  surf num 49036 
points size 102908 
sort q time 5.813523 
seperate points time 14.489170 
publication time 7.434849 ms 
whole laserOdometry time 7.457017 ms 
 
-----t: 0.0539417
OdomCount 2111 & avg odom time 0.047327 ms ++++++++++++++++++++++
1317357981.137989044 WriteOdom laser_odom_to_init
1317357981.137989044 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357981.242124080
points size 103473 
sort q time 6.478191 
seperate points time 21.881946 
scan registration time 41.474139 ms *************
mapping data assosiation time 39.278734 ms 
-----t: 0.0541127
OdomCount 2112 & avg odom time 0.047330 ms ++++++++++++++++++++++
publication time 19.965429 ms 
whole laserOdometry time 19.979998 ms 
 
mapping solver time 32.432493 ms 
filter time 10.458923 ms 
prepare time 13.906010 
[0m[ INFO] [1718804698.185863375, 1317357981.375153486]: Received 186261 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804698.186037022, 1317357981.375153486]: Data saved to 1317357980721736.pcd[0m
publication time 13.869273 ms -----t: 0.0654517
OdomCount 2113 & avg odom time 0.047339 ms ++++++++++++++++++++++
--------------------stamp1317357981.450345993
points size 103657 
sort q time 5.721691 
seperate points time 13.652962 
publication time 10.021657 ms 
whole laserOdometry time 10.036298 ms 
 
1317357981.450345993 WriteOdom laser_odom_to_init
1317357981.450345993 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 40.582192 ms 
filter time 11.196335 ms 
map prepare time 4.356855 ms
map corner num 139038  surf num 49816 
scan registration time 32.566468 ms *************
build tree time 36.375983 ms 
mapping data assosiation time 35.519571 ms 
--------------------stamp1317357981.658516883
points size 103748 
mapping solver time 41.793697 ms 
sort q time 9.146036 
seperate points time 16.722278 
scan registration time 37.377752 ms *************
publication time 17.698575 ms 
whole laserOdometry time 17.714659 ms 
 
--------------------stamp1317357981.762557029
prepare time 15.482246 
filter time 12.714645 ms 
build tree time 36.186362 ms 
-----t: 0.0695416
OdomCount 2117 & avg odom time 0.047353 ms ++++++++++++++++++++++
mapping data assosiation time 37.877658 ms 
points size 103650 
publication time 14.138071 ms 
whole laserOdometry time 14.146885 ms 
 
mapping data assosiation time 38.354150 ms 
sort q time 5.581093 
seperate points time 13.190966 
drop lidar frame in mapping for real time performance 
publication time 14.668132 ms -----t: 0.0563258
OdomCount 2119 & avg odom time 0.047390 ms ++++++++++++++++++++++
points size 103721 
prepare time 13.827644 
sort q time 5.597611 
seperate points time 11.833991 
publication time 8.813455 ms 
whole laserOdometry time 8.830248 ms 
 
mapping solver time 51.149153 ms 
--------------------stamp1317357982.178138017
points size 103706 
sort q time 5.329207 
seperate points time 11.330737 
mapping solver time 33.720295 ms 
filter time 12.556048 ms 
mapping pub time 5.713861 ms 
whole mapping time 226.152049 ms +++++
mappingCount 1436 & avg mapping time 148.898865 ms ++++++++++++++++++++++
[0m[ INFO] [1718804699.054334133, 1317357982.240407435]: Received 192665 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804699.054465795, 1317357982.240407435]: Data saved to 1317357981762557.pcd[0m
1317357981.762557030 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357982.281863927
prepare time 13.825969 
sort q time 6.446337 
seperate points time 13.427983 
mapping data assosiation time 45.446546 ms 
-----t: 0.065574
OdomCount 2122 & avg odom time 0.047409 ms ++++++++++++++++++++++
--------------------stamp1317357982.385565042
points size 103942 
sort q time 6.099590 
seperate points time 14.059133 
publication time 12.910583 ms 
whole laserOdometry time 12.925254 ms 
 
mapping solver time 39.731471 ms 
filter time 10.104049 ms 
prepare time 19.322470 
build tree time 36.742707 ms 
mapping data assosiation time 44.936284 ms 
-----t: 0.0704447
OdomCount 2124 & avg odom time 0.047423 ms ++++++++++++++++++++++
points size 103910 
sort q time 21.035292 
seperate points time 29.816299 
scan registration time 51.306225 ms *************
mapping data assosiation time 34.437637 ms 
publication time 10.379322 ms 
whole laserOdometry time 10.390471 ms 
 
mapping solver time 37.451948 ms 
mapping optimization time 196.086647 
add points time 0.750673 ms
drop lidar frame in mapping for real time performance 
sort q time 10.433483 
seperate points time 18.823742 
publication time 9.891432 ms 
whole laserOdometry time 9.910178 ms 
 
mapping data assosiation time 33.019327 ms 
-----t: 0.0619755
OdomCount 2126 & avg odom time 0.047430 ms ++++++++++++++++++++++
1317357982.696602106 WriteOdom laser_odom_to_init
1317357982.696602106 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357982.800256967
prepare time 13.173302 
sort q time 5.710511 
seperate points time 12.175219 
publication time 12.313295 ms 
whole laserOdometry time 12.324060 ms 
 
-----t: 0.0626761
OdomCount 2127 & avg odom time 0.047437 ms ++++++++++++++++++++++
mapping solver time 32.935485 ms 
mapping pub time 2.302884 ms 
whole mapping time 197.664137 ms +++++
mappingCount 1439 & avg mapping time 149.038983 ms ++++++++++++++++++++++
prepare time 12.355680 
sort q time 6.215288 
seperate points time 14.566725 
publication time 11.518220 ms 
whole laserOdometry time 11.546477 ms 
 
mapping data assosiation time 34.678543 ms 
--------------------stamp1317357983.007587909
points size 103801 
sort q time 5.937036 
seperate points time 13.644576 
publication time 9.741687 ms 
whole laserOdometry time 9.756436 ms 
 
-----t: 0.0485852
OdomCount 2129 & avg odom time 0.047445 ms ++++++++++++++++++++++
1317357983.007587909 WriteOdom laser_odom_to_init
1317357983.007587909 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.929519 ms 
filter time 9.805866 ms 
--------------------stamp1317357983.111242055
points size 103884 
prepare time 15.809492 
sort q time 5.713315 
seperate points time 13.396023 
publication time 9.741389 ms 
whole laserOdometry time 9.756730 ms 
 
-----t: 0.056083
OdomCount 2130 & avg odom time 0.047449 ms ++++++++++++++++++++++
1317357983.111242055 WriteOdom laser_odom_to_init
1317357983.111242055 WriteOdom aft_mapped_to_init_high_frec
points size 104096 
sort q time 6.355105 
seperate points time 12.550430 
scan registration time 29.552141 ms *************
publication time 10.144651 ms 
whole laserOdometry time 10.156249 ms 
 
mapping data assosiation time 39.045398 ms 
mapping solver time 37.321655 ms 
mapping optimization time 192.836473 
add points time 0.724723 ms
[0m[ INFO] [1718804700.136051781, 1317357983.322030295]: Received 199539 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804700.136115634, 1317357983.322030295]: Data saved to 1317357982903912.pcd[0m
sort q time 6.151829 
seperate points time 13.662597 
publication time 12.481026 ms 
whole laserOdometry time 12.499931 ms 
 
-----t: 0.0474711
OdomCount 2132 & avg odom time 0.047448 ms ++++++++++++++++++++++
--------------------stamp1317357983.422183990
points size 104803 
sort q time 6.519284 
seperate points time 13.574559 
mapping data assosiation time 38.746329 ms 
-----t: 0.0488932
OdomCount 2133 & avg odom time 0.047448 ms ++++++++++++++++++++++
mapping solver time 39.325130 ms 
--------------------stamp1317357983.525863885
prepare time 12.255063 
sort q time 6.854086 
seperate points time 14.031211 
mapping solver time 36.823129 ms 
filter time 14.101497 ms 
--------------------stamp1317357983.629589080
points size 104981 
sort q time 5.564931 
seperate points time 13.052503 
scan registration time 34.305592 ms *************
mapping data assosiation time 38.333254 ms 
publication time 15.828797 ms 
whole laserOdometry time 15.840828 ms 
 
mapping solver time 34.284547 ms 
--------------------stamp1317357983.733314990
prepare time 13.237203 
mapping data assosiation time 33.541813 ms 
scan registration time 37.077918 ms *************
mapping solver time 37.077906 ms 
mapping optimization time 182.499169 
add points time 0.822123 ms
publication time 8.529010 ms 
whole laserOdometry time 8.543280 ms 
 
-----t: 0.0622154
OdomCount 2136 & avg odom time 0.047456 ms ++++++++++++++++++++++
--------------------stamp1317357983.837042093
prepare time 12.611907 
scan registration time 32.137077 ms *************
mapping data assosiation time 38.201521 ms 
-----t: 0.0522899
OdomCount 2137 & avg odom time 0.047459 ms ++++++++++++++++++++++
1317357983.837042093 WriteOdom laser_odom_to_init
1317357983.837042093 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 41.510199 ms 
--------------------stamp1317357983.940769910
points size 104427 
mapping data assosiation time 36.643688 ms 
mapping solver time 34.581587 ms 
filter time 14.189793 ms 
--------------------stamp1317357984.044519901
points size 104443 
sort q time 6.445850 
seperate points time 13.175255 
mapping data assosiation time 37.130935 ms 
publication time 11.143428 ms 
whole laserOdometry time 11.161605 ms 
 
-----t: 0.0556737
OdomCount 2139 & avg odom time 0.047468 ms ++++++++++++++++++++++
mapping solver time 40.059287 ms 
--------------------stamp1317357984.148271083
points size 104399 
mapping data assosiation time 34.196565 ms 
publication time 11.131838 ms 
whole laserOdometry time 11.152454 ms 
 
filter time 12.083866 ms 
map prepare time 4.663261 ms
map corner num 151062  surf num 54004 
--------------------stamp1317357984.252023935
build tree time 36.339728 ms 
sort q time 5.800167 
seperate points time 13.758467 
mapping data assosiation time 35.457619 ms 
publication time 18.815128 ms 
whole laserOdometry time 18.832690 ms 
 
mapping solver time 41.414325 ms 
--------------------stamp1317357984.355798959
points size 104323 
mapping data assosiation time 35.329485 ms 
sort q time 7.158084 
seperate points time 14.168481 
scan registration time 38.338721 ms *************
mapping solver time 28.513026 ms 
1317357984.355798959 WriteOdom laser_odom_to_init
[0m[ INFO] [1718804701.236482253, 1317357984.420504317]: Received 206501 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804701.236526089, 1317357984.420504317]: Data saved to 1317357984044519.pcd[0m
--------------------stamp1317357984.459597110
points size 104330 
build tree time 34.508602 ms 
sort q time 6.075171 
seperate points time 13.713003 
mapping data assosiation time 39.451030 ms 
-----t: 0.0599643
OdomCount 2143 & avg odom time 0.047471 ms ++++++++++++++++++++++
mapping solver time 44.119173 ms 
--------------------stamp1317357984.563419103
points size 104435 
mapping data assosiation time 34.999326 ms 
map prepare time 8.067081 ms
map corner num 153201  surf num 54695 
points size 104662 
build tree time 36.605003 ms 
sort q time 14.308995 
seperate points time 21.895096 
scan registration time 40.590982 ms *************
publication time 13.395184 ms 
whole laserOdometry time 13.412281 ms 
 
-----t: 0.0673224
OdomCount 2145 & avg odom time 0.047484 ms ++++++++++++++++++++++
--------------------stamp1317357984.771065950
prepare time 12.845848 
mapping data assosiation time 37.911022 ms 
-----t: 0.0488367
OdomCount 2146 & avg odom time 0.047485 ms ++++++++++++++++++++++
mapping solver time 34.871153 ms 
mapping optimization time 200.713273 
add points time 0.885265 ms
drop lidar frame in mapping for real time performance 
points size 104086 
build tree time 36.920508 ms 
publication time 15.360567 ms 
whole laserOdometry time 15.374401 ms 
 
--------------------stamp1317357984.978712081
mapping solver time 37.769218 ms 
sort q time 6.090981 
seperate points time 14.428562 
mapping data assosiation time 36.536225 ms 
publication time 14.885593 ms 
whole laserOdometry time 14.900830 ms 
 
-----t: 0.0643658
OdomCount 2148 & avg odom time 0.047500 ms ++++++++++++++++++++++
filter time 13.412005 ms 
points size 102927 
sort q time 5.882054 
seperate points time 14.667941 
build tree time 42.755441 ms 
-----t: 0.0524465
OdomCount 2149 & avg odom time 0.047502 ms ++++++++++++++++++++++
mapping data assosiation time 50.750476 ms 
points size 102535 
prepare time 12.826599 
scan registration time 31.224498 ms *************
publication time 11.341732 ms 
whole laserOdometry time 11.371001 ms 
 
mapping data assosiation time 34.176056 ms 
mapping solver time 23.179160 ms 
--------------------stamp1317357985.290182113
points size 102012 
sort q time 5.858136 
seperate points time 13.309368 
build tree time 37.319616 ms 
1317357985.290182113 WriteOdom laser_odom_to_init
1317357985.290182113 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.122234 ms 
--------------------stamp1317357985.394005060
prepare time 13.092046 
sort q time 5.644774 
seperate points time 13.206060 
mapping data assosiation time 38.277422 ms 
mapping solver time 33.143897 ms 
mapping optimization time 177.242725 
add points time 0.828036 ms
[0m[ INFO] [1718804702.303609142, 1317357985.487737730]: Received 213528 data points in frame camera_init with the following fields: x y z intensity[0m
points size 101165 
sort q time 6.381129 
seperate points time 13.872233 
publication time 12.262451 ms 
whole laserOdometry time 12.329812 ms 
 
build tree time 65.700805 ms 
--------------------stamp1317357985.601624011
prepare time 11.563075 
sort q time 5.968404 
seperate points time 13.491820 
scan registration time 31.008208 ms *************
-----t: 0.056961
mapping solver time 65.304187 ms 
OdomCount 2154 & avg odom time 0.047504 ms ++++++++++++++++++++++
--------------------stamp1317357985.705423116
mapping data assosiation time 40.630603 ms 
sort q time 13.206768 
seperate points time 20.970455 
scan registration time 47.253618 ms *************
drop lidar frame in mapping for real time performance 
publication time 17.910746 ms 
whole laserOdometry time 17.926509 ms 
 
--------------------stamp1317357985.809245109
points size 99129 
build tree time 46.380136 ms 
prepare time 12.218638 
scan registration time 29.817898 ms *************
-----t: 0.0401979
OdomCount 2156 & avg odom time 0.047503 ms ++++++++++++++++++++++
mapping data assosiation time 56.262933 ms 
mapping solver time 30.234698 ms 
points size 98238 
sort q time 5.532590 
seperate points time 12.794598 
publication time 12.531927 ms 
whole laserOdometry time 12.545471 ms 
 
mapping solver time 32.450637 ms 
-----t: 0.0623416
OdomCount 2157 & avg odom time 0.047510 ms ++++++++++++++++++++++
map prepare time 3.298136 ms
map corner num 159349  surf num 56985 
--------------------stamp1317357986.016844987
points size 98214 
build tree time 38.239281 ms 
scan registration time 34.172951 ms *************
mapping data assosiation time 35.621598 ms 
-----t: 0.0592893
OdomCount 2158 & avg odom time 0.047515 ms ++++++++++++++++++++++
mapping solver time 32.495892 ms 
--------------------stamp1317357986.120692014
prepare time 12.457956 
mapping data assosiation time 36.375543 ms 
publication time 11.033312 ms 
whole laserOdometry time 11.048253 ms 
 
-----t: 0.0468054
OdomCount 2159 & avg odom time 0.047515 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
points size 97857 
sort q time 5.662665 
seperate points time 20.197169 
scan registration time 45.888543 ms *************
-----t: 0.0424014
OdomCount 2160 & avg odom time 0.047513 ms ++++++++++++++++++++++
mapping solver time 31.174608 ms 
--------------------stamp1317357986.328429937
points size 97538 
sort q time 5.685575 
seperate points time 13.177384 
mapping solver time 33.566704 ms 
mapping pub time 2.291707 ms 
whole mapping time 193.005253 ms +++++
mappingCount 1455 & avg mapping time 149.763213 ms ++++++++++++++++++++++
build tree time 33.403597 ms 
points size 97246 
sort q time 5.303460 
seperate points time 12.638469 
publication time 8.786993 ms 
whole laserOdometry time 8.802686 ms 
 
mapping solver time 38.320183 ms 
mapping data assosiation time 29.557778 ms 
points size 96887 
sort q time 5.275172 
seperate points time 12.662455 
filter time 14.813359 ms 
map prepare time 4.235608 ms
map corner num 162509  surf num 58071 
-----t: 0.0669543
OdomCount 2163 & avg odom time 0.047521 ms ++++++++++++++++++++++
1317357986.536195993 WriteOdom laser_odom_to_init
1317357986.536195993 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357986.640090942
prepare time 11.636671 
mapping data assosiation time 34.123694 ms 
scan registration time 31.030870 ms *************
publication time 10.538325 ms -----t: 0.0795615--------------------stamp1317357986.744010925
mapping data assosiation time 49.173535 ms sort q time 5.441991 publication time 12.225753 ms 
whole laserOdometry time 12.288812 ms 
 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357986.848023891
prepare time 13.898142 
sort q time 6.777945 
seperate points time 14.939234 
scan registration time 36.370304 ms *************
publication time 15.872693 ms 
whole laserOdometry time 15.887068 ms 
 
-----t: 0.0791555
OdomCount 2166 & avg odom time 0.047555 ms ++++++++++++++++++++++
1317357986.848023891 WriteOdom laser_odom_to_init
--------------------stamp1317357986.952086925
prepare time 16.029835 
sort q time 10.958311 
seperate points time 18.080142 
scan registration time 46.888116 ms *************
mapping data assosiation time 55.791730 ms 
mapping solver time 22.520292 ms 
filter time 10.664965 ms 
map prepare time 3.132581 ms
map corner num 123395  surf num 45203 
points size 97260 
sort q time 5.795421 
seperate points time 11.481250 
publication time 8.173660 ms 
whole laserOdometry time 8.185523 ms 
 
mapping data assosiation time 34.992205 ms 
1317357987.056197881 WriteOdom laser_odom_to_init
1317357987.056197881 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.042340 ms 
points size 97860 
mapping data assosiation time 37.361764 ms 
publication time 11.151938 ms 
whole laserOdometry time 11.168640 ms 
 
-----t: 0.0583678
OdomCount 2169 & avg odom time 0.047567 ms ++++++++++++++++++++++
map prepare time 2.980584 ms
map corner num 124429  surf num 45484 
--------------------stamp1317357987.264538049
points size 97784 
sort q time 6.513319 
seperate points time 15.080206 
scan registration time 38.377542 ms *************
mapping data assosiation time 36.824112 ms 
-----t: 0.04332
OdomCount 2170 & avg odom time 0.047565 ms ++++++++++++++++++++++
mapping solver time 35.582191 ms 
--------------------stamp1317357987.368768930
points size 98085 
sort q time 5.387780 
seperate points time 12.585823 
mapping solver time 40.996961 ms 
-----t: 0.0381499
OdomCount 2171 & avg odom time 0.047561 ms ++++++++++++++++++++++
1317357987.368768930 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
build tree time 27.593948 ms 
points size 98386 
mapping data assosiation time 32.940472 ms 
publication time 8.832341 ms 
whole laserOdometry time 8.846486 ms 
 
mapping data assosiation time 27.735386 ms 
--------------------stamp1317357987.577423095
points size 99120 
mapping solver time 37.618248 ms 
scan registration time 33.882648 ms *************
-----t: 0.0429944
OdomCount 2173 & avg odom time 0.047555 ms ++++++++++++++++++++++
--------------------stamp1317357987.681797981
points size 100554 
map prepare time 3.901940 ms
map corner num 126539  surf num 46171 
sort q time 5.986858 
seperate points time 13.868225 
build tree time 30.207992 ms 
publication time 19.826529 ms 
whole laserOdometry time 19.844278 ms 
 
--------------------stamp1317357987.786171913
prepare time 15.824436 
publication time 10.806858 ms 
whole laserOdometry time 10.820177 ms 
 
-----t: 0.0583249
OdomCount 2175 & avg odom time 0.047594 ms ++++++++++++++++++++++
add points time 8.826818 ms
filter time 13.125708 ms 
scan registration time 34.344506 ms *************
publication time 11.173762 ms 
whole laserOdometry time 11.202193 ms 
 
build tree time 34.163681 ms 
mapping data assosiation time 29.283601 ms 
points size 101558 
sort q time 6.173921 
seperate points time 13.169710 
publication time 11.317087 ms 
whole laserOdometry time 11.330793 ms 
 
-----t: 0.0466355
OdomCount 2177 & avg odom time 0.047596 ms ++++++++++++++++++++++
1317357987.994777917 WriteOdom laser_odom_to_init
1317357987.994777917 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.555308 ms 
filter time 11.181537 ms 
mapping pub time 2.329627 ms 
whole mapping time 188.492205 ms +++++
mappingCount 1463 & avg mapping time 150.102165 ms ++++++++++++++++++++++
1317357987.681797981 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 101713 
sort q time 5.922586 
seperate points time 13.886881 
build tree time 32.128581 ms 
-----t: 0.0658072
OdomCount 2178 & avg odom time 0.047604 ms ++++++++++++++++++++++
--------------------stamp1317357988.203269004
prepare time 12.023162 
sort q time 6.026695 
seperate points time 13.992188 
publication time 9.624109 ms 
whole laserOdometry time 9.639332 ms 
 
-----t: 0.0583224
OdomCount 2179 & avg odom time 0.047609 ms ++++++++++++++++++++++
1317357988.203269004 WriteOdom laser_odom_to_init
1317357988.203269004 WriteOdom aft_mapped_to_init_high_frec
filter time 8.876485 ms 
map prepare time 3.301376 ms
map corner num 129479  surf num 47134 
points size 102157 
build tree time 31.058327 ms 
sort q time 5.760925 
seperate points time 13.413552 
scan registration time 35.655879 ms *************
publication time 11.426180 ms 
whole laserOdometry time 11.442709 ms 
 
mapping solver time 28.944164 ms 
--------------------stamp1317357988.411603927
mapping data assosiation time 34.065403 ms 
sort q time 6.943845 
seperate points time 15.465405 
mapping solver time 25.743176 ms 
publication time 9.900884 ms 
whole laserOdometry time 9.929020 ms 
 
map prepare time 3.381234 ms
map corner num 130374  surf num 47468 
build tree time 27.076440 ms 
prepare time 12.217235 
sort q time 6.524021 
seperate points time 13.788722 
publication time 9.207788 ms 
whole laserOdometry time 9.225246 ms 
 
-----t: 0.0470754
OdomCount 2182 & avg odom time 0.047609 ms ++++++++++++++++++++++
1317357988.515769958 WriteOdom laser_odom_to_init
1317357988.515769958 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.818825 ms 
--------------------stamp1317357988.619927883
points size 101944 
mapping solver time 29.788032 ms 
filter time 11.463730 ms 
map prepare time 4.104029 ms
map corner num 131288  surf num 47840 
-----t: 0.0611274
OdomCount 2183 & avg odom time 0.047615 ms ++++++++++++++++++++++
--------------------stamp1317357988.724078893
points size 101618 
scan registration time 36.093738 ms *************
mapping solver time 42.367490 ms 
publication time 14.563354 ms 
whole laserOdometry time 14.576481 ms 
 
-----t: 0.0595132
OdomCount 2184 & avg odom time 0.047620 ms ++++++++++++++++++++++
--------------------stamp1317357988.828213930
prepare time 14.021749 
mapping pub time 2.686303 ms 
whole mapping time 197.345999 ms +++++
mappingCount 1467 & avg mapping time 150.200333 ms ++++++++++++++++++++++
scan registration time 35.892376 ms *************
1317357988.515769958 WriteOdom aft_mapped_to_init
publication time 13.099784 ms 
whole laserOdometry time 13.111265 ms 
 
-----t: 0.0694019
OdomCount 2185 & avg odom time 0.047630 ms ++++++++++++++++++++++
--------------------stamp1317357988.932326078
prepare time 17.315833 
scan registration time 38.312883 ms *************
mapping optimization time 208.218330 
filter time 14.840816 ms 
-----t: 0.0570917
OdomCount 2187 & avg odom time 0.047657 ms ++++++++++++++++++++++
--------------------stamp1317357989.140474081
points size 98718 
sort q time 5.323651 
seperate points time 11.079084 
mapping data assosiation time 38.488337 ms 
-----t: 0.0460136
OdomCount 2188 & avg odom time 0.047656 ms ++++++++++++++++++++++
mapping solver time 42.030521 ms 
--------------------stamp1317357989.244488954
points size 97412 
prepare time 14.855296 
sort q time 6.421439 
seperate points time 14.959482 
mapping solver time 35.831349 ms 
publication time 12.001292 ms 
whole laserOdometry time 12.071762 ms 
 
1317357989.244488954 WriteOdom laser_odom_to_init
1317357989.244488954 WriteOdom aft_mapped_to_init_high_frec
build tree time 28.610183 ms 
points size 96472 
sort q time 6.115169 
seperate points time 12.217450 
publication time 9.095011 ms 
whole laserOdometry time 9.114140 ms 
 
-----t: 0.0485491
OdomCount 2190 & avg odom time 0.047658 ms ++++++++++++++++++++++
mapping data assosiation time 26.323115 ms 
--------------------stamp1317357989.452353954
points size 95303 
sort q time 5.284924 
seperate points time 11.238477 
map prepare time 3.621704 ms
map corner num 134570  surf num 49009 
publication time 7.673717 ms 
whole laserOdometry time 7.691835 ms 
 
build tree time 36.712890 ms 
-----t: 0.0573282
OdomCount 2191 & avg odom time 0.047662 ms ++++++++++++++++++++++
1317357989.452353954 WriteOdom laser_odom_to_init
1317357989.452353954 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.387536 ms 
points size 94226 
prepare time 11.899700 
scan registration time 29.960154 ms *************
publication time 8.368151 ms 
whole laserOdometry time 8.384942 ms 
 
mapping data assosiation time 32.688544 ms 
mapping solver time 31.433885 ms 
points size 94419 
mapping pub time 5.062706 ms 
whole mapping time 195.620111 ms +++++
mappingCount 1471 & avg mapping time 150.339537 ms ++++++++++++++++++++++
1317357989.348434925 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
[0m[ INFO] [1718804706.494037782, 1317357989.681197273]: Received 184731 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804706.494163441, 1317357989.681197273]: Data saved to 1317357989348434.pcd[0m
publication time 8.056571 ms 
whole laserOdometry time 8.070033 ms 
 
-----t: 0.0389861
OdomCount 2193 & avg odom time 0.047655 ms ++++++++++++++++++++++
1317357989.660047054 WriteOdom laser_odom_to_init
build tree time 38.759043 ms 
mapping data assosiation time 34.280869 ms 
points size 96261 
sort q time 6.176950 
seperate points time 13.038528 
publication time 9.602487 ms 
whole laserOdometry time 9.620548 ms 
 
mapping data assosiation time 36.386365 ms 
--------------------stamp1317357989.867667913
points size 97943 
mapping optimization time 187.777409 
add points time 1.129290 ms
prepare time 11.597585 
scan registration time 31.874966 ms *************
publication time 10.480136 ms 
whole laserOdometry time 10.489875 ms 
 
-----t: 0.0550053
OdomCount 2195 & avg odom time 0.047658 ms ++++++++++++++++++++++
--------------------stamp1317357989.971442937
prepare time 11.457933 
scan registration time 28.249168 ms *************
mapping solver time 41.419785 ms 
publication time 22.811286 ms 
whole laserOdometry time 22.954437 ms 
 
mapping data assosiation time 35.973666 ms 
--------------------stamp1317357990.075193881
points size 99440 
filter time 14.120403 ms 
mapping pub time 2.420385 ms 
whole mapping time 210.154674 ms +++++
mappingCount 1473 & avg mapping time 150.420417 ms ++++++++++++++++++++++
1317357989.660047054 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
sort q time 15.454371 
seperate points time 23.042105 
map prepare time 4.069038 ms
map corner num 136870  surf num 49922 
-----t: 0.0435221
OdomCount 2197 & avg odom time 0.047661 ms ++++++++++++++++++++++
build tree time 41.732264 ms 
--------------------stamp1317357990.178919076
prepare time 12.261917 
sort q time 8.456836 
seperate points time 15.539558 
publication time 8.948201 ms 
whole laserOdometry time 8.961022 ms 
 
-----t: 0.0570701
OdomCount 2198 & avg odom time 0.047665 ms ++++++++++++++++++++++
mapping data assosiation time 29.763771 ms 
--------------------stamp1317357990.282622098
add points time 0.934099 ms
filter time 9.913580 ms 
map prepare time 3.890486 ms
map corner num 137627  surf num 50264 
scan registration time 38.420466 ms *************
publication time 8.782210 ms 
whole laserOdometry time 8.795767 ms 
 
build tree time 35.407674 ms 
mapping data assosiation time 30.212142 ms 
-----t: 0.0951215
OdomCount 2199 & avg odom time 0.047687 ms ++++++++++++++++++++++
prepare time 20.375374 
sort q time 7.526986 
seperate points time 19.854308 
publication time 8.303968 ms 
whole laserOdometry time 8.325555 ms 
 
mapping solver time 25.374415 ms 
mapping optimization time 165.596796 
add points time 0.948964 ms
drop lidar frame in mapping for real time performance 
prepare time 12.302525 
sort q time 5.751032 
seperate points time 13.157161 
build tree time 37.616159 ms 
publication time 10.982757 ms 
whole laserOdometry time 11.001277 ms 
 
mapping data assosiation time 33.739585 ms 
-----t: 0.0749703
OdomCount 2201 & avg odom time 0.047696 ms ++++++++++++++++++++++
1317357990.490052938 WriteOdom laser_odom_to_init
--------------------stamp1317357990.593779087
points size 101483 
sort q time 6.609568 
seperate points time 14.390865 
mapping data assosiation time 34.911530 ms 
publication time 9.480153 ms 
whole laserOdometry time 9.515981 ms 
 
1317357990.593779087 WriteOdom laser_odom_to_init
1317357990.593779087 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 4.655485 ms 
whole mapping time 181.672576 ms +++++
mappingCount 1476 & avg mapping time 150.493407 ms ++++++++++++++++++++++
[0m[ INFO] [1718804707.485099911, 1317357990.667231352]: Received 190079 data points in frame camera_init with the following fields: x y z intensity[0m
1317357990.282622099 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718804707.485159054, 1317357990.667231352]: Data saved to 1317357990282622.pcd[0m
drop lidar frame in mapping for real time performance 
map prepare time 2.880038 ms
map corner num 139125  surf num 50954 
--------------------stamp1317357990.697482109
points size 100562 
sort q time 6.642722 
seperate points time 15.493893 
mapping data assosiation time 30.812530 ms 
mapping solver time 32.828292 ms 
mapping data assosiation time 22.732207 ms 
points size 98857 
mapping solver time 25.801811 ms 
filter time 12.322982 ms 
publication time 10.633726 ms 
whole laserOdometry time 10.661328 ms 
 
-----t: 0.0579649
OdomCount 2204 & avg odom time 0.047705 ms ++++++++++++++++++++++
build tree time 38.858077 ms 
--------------------stamp1317357990.904885053
prepare time 14.102935 
sort q time 10.212224 
seperate points time 18.740167 
publication time 10.226076 ms 
whole laserOdometry time 10.236665 ms 
 
-----t: 0.0563122
OdomCount 2205 & avg odom time 0.047709 ms ++++++++++++++++++++++
mapping data assosiation time 32.915159 ms 
mapping solver time 23.054139 ms 
prepare time 18.706324 
build tree time 46.588125 ms 
publication time 23.729862 ms 
whole laserOdometry time 23.745162 ms 
 
--------------------stamp1317357991.112243890
points size 90934 
mapping solver time 37.272447 ms 
publication time 9.000825 ms 
whole laserOdometry time 9.012015 ms 
 
mapping data assosiation time 31.247015 ms 
mapping solver time 20.477729 ms 
filter time 9.144054 ms 
--------------------stamp1317357991.215946912
prepare time 12.122774 
sort q time 5.565283 
seperate points time 12.588330 
publication time 10.474036 ms mapping data assosiation time 29.069809 ms 
mapping solver time 22.874267 ms 
--------------------stamp1317357991.319672107
mapping data assosiation time 22.713823 ms 
prepare time 12.215296 
sort q time 5.508443 
seperate points time 12.483068 
scan registration time 29.225668 ms *************
filter time 14.278276 ms 
mapping pub time 2.412278 ms 
whole mapping time 149.978622 ms +++++
mappingCount 1480 & avg mapping time 150.539831 ms ++++++++++++++++++++++
-----t: 0.0383745
OdomCount 2209 & avg odom time 0.047714 ms ++++++++++++++++++++++
build tree time 34.272063 ms 
mapping data assosiation time 18.858782 ms 
points size 89032 
mapping solver time 26.741580 ms 
scan registration time 26.977542 ms *************
publication time 8.733608 ms 
whole laserOdometry time 8.749509 ms 
 
mapping solver time 20.741291 ms 
filter time 9.447333 ms 
--------------------stamp1317357991.527224063
points size 89068 
sort q time 5.119479 
seperate points time 11.796856 
-----t: 0.0361636
OdomCount 2211 & avg odom time 0.047702 ms ++++++++++++++++++++++
mapping pub time 89.113740 ms 
whole mapping time 231.528396 ms +++++
mappingCount 1481 & avg mapping time 150.594518 ms ++++++++++++++++++++++
build tree time 30.903653 ms 
points size 88621 
mapping data assosiation time 27.514341 ms 
sort q time 5.420352 
seperate points time 11.824851 
-----t: 0.0342701
OdomCount 2212 & avg odom time 0.047696 ms ++++++++++++++++++++++
mapping data assosiation time 21.078772 ms 
mapping solver time 14.934768 ms 
filter time 9.724152 ms 
points size 87757 
sort q time 5.272077 
seperate points time 12.185299 
build tree time 37.772486 ms 
1317357991.734795093 WriteOdom laser_odom_to_init
1317357991.734795093 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.655475 ms 
points size 87322 
sort q time 5.047785 
seperate points time 11.651227 
mapping solver time 24.918198 ms 
mapping optimization time 142.883752 
filter time 14.603460 ms 
build tree time 30.015716 ms 
points size 87026 
sort q time 5.165666 
seperate points time 11.872689 
mapping solver time 28.103080 ms 
-----t: 0.04289
OdomCount 2215 & avg odom time 0.047696 ms ++++++++++++++++++++++
mapping data assosiation time 22.523335 ms 
mapping solver time 17.369894 ms 
filter time 11.167467 ms 
points size 87366 
sort q time 5.722734 
seperate points time 11.641995 
publication time 7.296251 ms 
whole laserOdometry time 7.321306 ms 
 
-----t: 0.0559431
mapping solver time 28.818527 ms 
mapping data assosiation time 25.327413 ms 
sort q time 5.384099 
seperate points time 12.046914 
scan registration time 31.433454 ms *************
mapping solver time 25.455684 ms 
1317357992.149995088 WriteOdom laser_odom_to_init
1317357992.149995088 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.248807 ms 
whole mapping time 175.154212 ms +++++
mappingCount 1485 & avg mapping time 150.606070 ms ++++++++++++++++++++++
points size 89643 
sort q time 6.511079 
seperate points time 12.859142 
publication time 6.570056 ms 
whole laserOdometry time 6.587526 ms 
 
mapping solver time 27.889190 ms 
mapping data assosiation time 18.528279 ms 
mapping solver time 13.327946 ms 
--------------------stamp1317357992.357614994
points size 89996 
sort q time 4.808064 
seperate points time 11.306585 
publication time 8.711606 ms 
whole laserOdometry time 8.764722 ms 
 
-----t: 0.0348751
OdomCount 2219 & avg odom time 0.047686 ms ++++++++++++++++++++++
1317357992.357614994 WriteOdom laser_odom_to_init
1317357992.357614994 WriteOdom aft_mapped_to_init_high_frec
build tree time 38.411742 ms 
mapping data assosiation time 18.441834 ms 
mapping solver time 22.823350 ms 
points size 90756 
sort q time 5.732623 
seperate points time 12.987305 
mapping solver time 24.182705 ms 
publication time 11.352219 ms 
whole laserOdometry time 11.361764 ms 
 
drop lidar frame in mapping for real time performance 
map prepare time 2.620145 ms
map corner num 146298  surf num 53407 
--------------------stamp1317357992.565258979
points size 92108 
mapping data assosiation time 22.501180 ms 
sort q time 6.331704 
seperate points time 12.622597 
scan registration time 28.878208 ms *************
publication time 9.189597 ms 
whole laserOdometry time 9.284489 ms 
 
mapping data assosiation time 20.279400 ms 
mapping solver time 17.298297 ms 
filter time 10.327009 ms 
points size 94127 
sort q time 5.387048 
seperate points time 11.745120 
build tree time 38.974788 ms 
publication time 9.176332 ms 
whole laserOdometry time 9.203476 ms 
 
mapping data assosiation time 23.002200 ms 
mapping solver time 22.219576 ms 
--------------------stamp1317357992.772880077
mapping data assosiation time 20.989123 ms 
mapping solver time 17.149302 ms 
filter time 14.605705 ms 
-----t: 0.0463478
OdomCount 2223 & avg odom time 0.047670 ms ++++++++++++++++++++++
1317357992.772880077 WriteOdom laser_odom_to_init
1317357992.772880077 WriteOdom aft_mapped_to_init_high_frec
build tree time 38.932848 ms 
--------------------stamp1317357992.876681089
points size 92575 
prepare time 11.274329 
sort q time 5.633143 
seperate points time 10.635870 
publication time 10.058082 ms 
whole laserOdometry time 10.068730 ms 
 
mapping solver time 17.178566 ms 
filter time 13.882158 ms 
--------------------stamp1317357992.980478048
prepare time 11.758322 
build tree time 37.870972 ms 
sort q time 6.214740 
seperate points time 12.658198 
scan registration time 30.737161 ms *************
mapping data assosiation time 23.897790 ms 
1317357992.980478048 WriteOdom laser_odom_to_initmapping solver time 24.430996 ms 
mapping data assosiation time 20.786905 ms 
--------------------stamp1317357993.084252119
prepare time 13.220414 

[0m[ INFO] [1718804709.917388092, 1317357993.100927599]: Received 203393 data points in frame camera_init with the following fields: x y z intensity[0m
publication time 8.690961 ms build tree time 43.153828 ms 
--------------------stamp1317357993.188052892
points size 90119 
sort q time 4.988931 
seperate points time 11.355019 
mapping solver time 32.635621 ms 
publication time 7.445483 ms 
whole laserOdometry time 7.457742 ms 
 
mapping data assosiation time 25.289212 ms 
-----t: 0.0516946
OdomCount 2227 & avg odom time 0.047691 ms ++++++++++++++++++++++
1317357993.188052892 WriteOdom laser_odom_to_init
1317357993.188052892 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.505465 ms 
--------------------stamp1317357993.291851997
points size 88784 
sort q time 4.881063 
seperate points time 9.882615 
publication time 8.098587 ms 
whole laserOdometry time 8.112807 ms 
 
build tree time 44.082119 ms 
mapping data assosiation time 21.577061 ms 
--------------------stamp1317357993.395652055
points size 90086 
prepare time 13.845113 
scan registration time 30.195434 ms *************
publication time 8.440293 ms 
whole laserOdometry time 8.454908 ms 
 
filter time 11.858239 ms 
--------------------stamp1317357993.499474048
points size 93679 
mapping data assosiation time 22.416560 ms 
sort q time 5.404943 
seperate points time 11.704395 
scan registration time 28.716198 ms *************
publication time 10.694822 ms 
whole laserOdometry time 10.708740 ms 
 
-----t: 0.0469409
OdomCount 2230 & avg odom time 0.047684 ms ++++++++++++++++++++++
mapping solver time 20.099759 ms 
filter time 10.599892 ms 
map prepare time 3.736081 ms
map corner num 151331  surf num 55228 
sort q time 6.309072 
seperate points time 11.915490 
build tree time 40.813329 ms 
publication time 16.306416 ms 
whole laserOdometry time 16.319290 ms 
 
mapping data assosiation time 20.380068 ms 
mapping solver time 23.094656 ms 
--------------------stamp1317357993.707142114
mapping data assosiation time 20.991227 ms 
sort q time 5.480121 
seperate points time 11.600665 
-----t: 0.0306965
OdomCount 2232 & avg odom time 0.047670 ms ++++++++++++++++++++++
filter time 13.185462 ms 
1317357993.707142114 WriteOdom laser_odom_to_init
1317357993.707142114 WriteOdom aft_mapped_to_init_high_frec
publication time 9.647756 ms 
whole laserOdometry time 9.664255 ms 
 
mapping pub time 2.257366 ms 
whole mapping time 150.275754 ms +++++
mappingCount 1495 & avg mapping time 150.607757 ms ++++++++++++++++++++++
1317357993.499474049 WriteOdom aft_mapped_to_init
build tree time 33.991820 ms 
--------------------stamp1317357993.810987949
prepare time 12.680526 
sort q time 5.105699 
seperate points time 11.938537 
publication time 8.814747 ms 
whole laserOdometry time 8.950797 ms 
 
-----t: 0.0507175
OdomCount 2233 & avg odom time 0.047671 ms ++++++++++++++++++++++
1317357993.810987949 WriteOdom laser_odom_to_init
1317357993.810987949 WriteOdom aft_mapped_to_init_high_frec
filter time 9.524033 ms 
mapping pub time 5.001971 ms 
[0m[ INFO] [1718804710.709266090, 1317357993.897596060]: Received 208327 data points in frame camera_init with the following fields: x y z intensity[0m
whole mapping time 142.324221 ms +++++
mappingCount 1496 & avg mapping time 150.602226 ms ++++++++++++++++++++++
[0m[ INFO] [1718804710.709306999, 1317357993.897596060]: Data saved to 1317357993603296.pcd[0m
1317357993.603296041 WriteOdom aft_mapped_to_init
--------------------stamp1317357993.914833068
points size 94374 
sort q time 6.460763 
seperate points time 11.783953 
scan registration time 37.917456 ms *************
mapping data assosiation time 22.487972 ms 
-----t: 0.0559508
OdomCount 2234 & avg odom time 0.047675 ms ++++++++++++++++++++++
mapping solver time 27.546714 ms 
mapping data assosiation time 19.659471 ms 
points size 92739 
mapping solver time 25.397354 ms 
filter time 13.943262 ms 
-----t: 0.0499572
OdomCount 2235 & avg odom time 0.047676 ms ++++++++++++++++++++++
build tree time 35.669484 ms 
mapping data assosiation time 18.886794 ms 
points size 91404 
mapping solver time 29.855134 ms 
sort q time 5.325882 
seperate points time 13.112888 
-----t: 0.0345429
OdomCount 2236 & avg odom time 0.047670 ms ++++++++++++++++++++++
mapping solver time 18.791757 ms 
filter time 9.573567 ms 
--------------------stamp1317357994.226423025
points size 91101 
sort q time 5.295381 
seperate points time 11.740301 
publication time 10.075667 ms -----t: 0.0386104
OdomCount 2237 & avg odom time 0.047666 ms ++++++++++++++++++++++
1317357994.226423025 WriteOdom laser_odom_to_init
mapping solver time 25.281847 ms 
mapping data assosiation time 21.031821 ms 
points size 92225 
add points time 0.919599 ms
scan registration time 31.026036 ms *************
mapping pub time 2.274839 ms 
whole mapping time 153.591139 ms +++++
mappingCount 1499 & avg mapping time 150.603995 ms ++++++++++++++++++++++
1317357994.018703938 WriteOdom aft_mapped_to_init
publication time 12.424569 ms 
whole laserOdometry time 12.451167 ms 
 
-----t: 0.0451777
OdomCount 2238 & avg odom time 0.047665 ms ++++++++++++++++++++++
1317357994.330271959 WriteOdom laser_odom_to_init
1317357994.330271959 WriteOdom aft_mapped_to_init_high_frec
build tree time 38.988261 ms 
mapping data assosiation time 20.649910 ms 
points size 94398 
sort q time 5.466850 
seperate points time 12.705117 
publication time 9.341799 ms 
whole laserOdometry time 9.353471 ms 
 
-----t: 0.0431538
OdomCount 2239 & avg odom time 0.047663 ms ++++++++++++++++++++++
1317357994.434118032 WriteOdom laser_odom_to_initfilter time 11.170564 ms 
--------------------stamp1317357994.537964105
prepare time 13.827193 
sort q time 5.335663 
seperate points time 12.355192 
mapping data assosiation time 22.653167 ms 
-----t: 0.0402471
OdomCount 2240 & avg odom time 0.047660 ms ++++++++++++++++++++++
mapping data assosiation time 18.391335 ms 
mapping solver time 14.239783 ms 
--------------------stamp1317357994.641810894
prepare time 13.790336 
sort q time 5.306213 
seperate points time 12.636727 
-----t: 0.0340743
OdomCount 2241 & avg odom time 0.047654 ms ++++++++++++++++++++++
mapping pub time 86.806796 ms 
whole mapping time 217.535497 ms +++++
mappingCount 1501 & avg mapping time 150.647980 ms ++++++++++++++++++++++
--------------------stamp1317357994.745659112
prepare time 12.507330 
sort q time 5.981194 
seperate points time 11.548561 
publication time 8.212628 ms 
whole laserOdometry time 8.229890 ms 
 
mapping data assosiation time 23.183762 ms 
-----t: 0.0798032
OdomCount 2242 & avg odom time 0.047668 ms ++++++++++++++++++++++
--------------------stamp1317357994.849483013
points size 92550 
mapping solver time 24.695249 ms 
mapping optimization time 139.689708 
sort q time 4.953692 
seperate points time 11.962701 
add points time 0.829637 ms
scan registration time 31.811709 ms *************
map prepare time 4.203450 ms
map corner num 156214  surf num 56818 
-----t: 0.0740988
OdomCount 2243 & avg odom time 0.047680 ms ++++++++++++++++++++++
points size 90849 
mapping data assosiation time 23.554998 ms 
scan registration time 42.030626 ms *************
publication time 9.459106 ms 
whole laserOdometry time 9.472928 ms 
 
mapping solver time 18.361584 ms 
filter time 10.253835 ms 
prepare time 12.519085 
sort q time 5.692506 
seperate points time 11.988805 
publication time 8.145432 ms 
whole laserOdometry time 8.177248 ms 
 
build tree time 50.695559 ms 
-----t: 0.0415484
OdomCount 2245 & avg odom time 0.047681 ms ++++++++++++++++++++++
1317357995.057028055 WriteOdom laser_odom_to_init
1317357995.057028055 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.779565 ms 
mapping solver time 23.223339 ms 
points size 91765 
mapping data assosiation time 24.349777 ms 
sort q time 5.656967 
seperate points time 12.120677 
scan registration time 30.038050 ms *************
publication time 15.640996 ms 
whole laserOdometry time 15.658604 ms 
 
-----t: 0.0713502
OdomCount 2246 & avg odom time 0.047692 ms ++++++++++++++++++++++
points size 93584 
prepare time 12.965244 
build tree time 38.146485 ms 
mapping data assosiation time 22.306419 ms 
-----t: 0.0605861
OdomCount 2247 & avg odom time 0.047697 ms ++++++++++++++++++++++
--------------------stamp1317357995.368424892
points size 93481 
sort q time 5.038769 
seperate points time 11.994607 
publication time 8.557829 ms 
whole laserOdometry time 8.572939 ms 
 
map prepare time 3.181058 ms
map corner num 114483  surf num 39990 
-----t: 0.0635428
OdomCount 2248 & avg odom time 0.047704 ms ++++++++++++++++++++++
--------------------stamp1317357995.472198963
points size 93078 
sort q time 5.259420 
seperate points time 11.466292 
-----t: 0.0305209
OdomCount 2249 & avg odom time 0.047697 ms ++++++++++++++++++++++
1317357995.472198963 WriteOdom laser_odom_to_init
1317357995.472198963 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.853612 ms 
mapping optimization time 120.742336 
add points time 0.671665 ms
map prepare time 2.472069 ms
map corner num 115069  surf num 40255 
--------------------stamp1317357995.575949907
prepare time 12.617817 
sort q time 5.961100 
seperate points time 13.457324 
scan registration time 31.978234 ms *************
publication time 7.691250 ms 
whole laserOdometry time 7.704874 ms 
 
mapping solver time 26.348191 ms 
mapping data assosiation time 21.837130 ms 
--------------------stamp1317357995.679749011
filter time 7.422369 ms 
sort q time 5.740269 
seperate points time 12.029027 
publication time 11.383012 ms 
whole laserOdometry time 11.398242 ms 
 
mapping data assosiation time 19.871791 ms 
mapping solver time 18.344031 ms 
--------------------stamp1317357995.783548116
mapping data assosiation time 22.329636 ms 
points size 88812 
filter time 16.341252 ms 
publication time 6.462570 ms 
whole laserOdometry time 6.473290 ms 
 
build tree time 38.950546 ms 
points size 88613 
mapping data assosiation time 25.333622 ms 
publication time 8.356319 ms 
whole laserOdometry time 8.365908 ms 
 
mapping data assosiation time 20.691966 ms 
mapping solver time 13.447571 ms 
filter time 10.402867 ms 
points size 90446 
sort q time 4.985760 
seperate points time 11.798489 
publication time 9.106141 ms 
whole laserOdometry time 9.119956 ms 
 
build tree time 46.608043 ms 
mapping data assosiation time 21.967997 ms 
mapping solver time 18.744905 ms 
--------------------stamp1317357996.094919919
points size 94798 
sort q time 5.363003 
seperate points time 10.754400 
filter time 15.042232 ms 
build tree time 33.781346 ms 
mapping data assosiation time 18.170383 ms 
points size 96362 
mapping solver time 26.946799 ms 
sort q time 5.253897 
seperate points time 12.359050 
mapping data assosiation time 21.750643 ms 
publication time 8.018008 ms 
whole laserOdometry time 8.032527 ms 
 
mapping solver time 19.223759 ms 
mapping optimization time 121.180928 
add points time 0.714820 ms
mapping pub time 4.909172 ms 
whole mapping time 142.019725 ms +++++
mappingCount 1511 & avg mapping time 150.658057 ms ++++++++++++++++++++++
--------------------stamp1317357996.302470922
prepare time 12.416306 
sort q time 5.632499 
seperate points time 13.690224 
publication time 7.172359 ms 
whole laserOdometry time 7.185953 ms 
 
mapping data assosiation time 22.676861 ms 
1317357996.302470922 WriteOdom laser_odom_to_initmapping solver time 27.845454 ms 
--------------------stamp1317357996.406269073
prepare time 12.008216 
add points time 0.702930 ms
map prepare time 2.823024 ms
map corner num 172941  surf num 59167 
-----t: 0.0592749
OdomCount 2258 & avg odom time 0.047701 ms ++++++++++++++++++++++
build tree time 42.594702 ms 
--------------------stamp1317357996.510092020
-----t: 0.0329971
OdomCount 2259 & avg odom time 0.047694 ms ++++++++++++++++++++++
mapping solver time 14.782696 ms 
mapping optimization time 122.210590 
add points time 0.647650 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357996.613914966
points size 91282 
sort q time 5.028994 
seperate points time 11.720141 
mapping data assosiation time 21.771424 ms 
mapping solver time 20.989996 ms 
mapping data assosiation time 19.620979 ms 
mapping solver time 15.161832 ms 
points size 90752 
map prepare time 4.228038 ms
map corner num 173903  surf num 59443 
scan registration time 32.291610 ms *************
-----t: 0.0334701
OdomCount 2261 & avg odom time 0.047681 ms ++++++++++++++++++++++
build tree time 43.186612 ms 
mapping data assosiation time 19.205205 ms 
mapping solver time 19.234368 ms 
prepare time 10.785859 
mapping data assosiation time 22.942641 ms 
publication time 8.790675 ms 
whole laserOdometry time 8.814708 ms 
 
-----t: 0.0423787
OdomCount 2262 & avg odom time 0.047678 ms ++++++++++++++++++++++
1317357996.821629047 WriteOdom laser_odom_to_init
1317357996.821629047 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357996.925498962
points size 91094 
mapping data assosiation time 23.955984 ms 
publication time 7.051049 ms 
whole laserOdometry time 7.064202 ms 
 
mapping solver time 27.818556 ms 
mapping data assosiation time 18.681927 ms 
mapping solver time 17.944243 ms 
--------------------stamp1317357997.029397964
prepare time 14.241591 
sort q time 5.090892 
seperate points time 11.466243 
publication time 8.017215 ms 
whole laserOdometry time 8.025237 ms 
 build tree time 45.412571 ms 
mapping data assosiation time 20.113855 ms 
mapping solver time 18.417721 ms 
points size 92672 
mapping data assosiation time 21.368204 ms 
scan registration time 28.450351 ms *************
filter time 10.999755 ms 
publication time 13.036646 ms 
whole laserOdometry time 13.061261 ms 
 
build tree time 37.804927 ms 
--------------------stamp1317357997.237236976
prepare time 12.715368 
sort q time 5.797429 
seperate points time 12.471138 
publication time 9.771646 ms mapping solver time 19.029715 ms 
filter time 10.530255 ms 
--------------------stamp1317357997.341156005
sort q time 5.771233 
seperate points time 11.755979 
scan registration time 35.183353 ms *************
mapping data assosiation time 23.443019 ms 
mapping solver time 23.632098 ms 
points size 100433 
mapping solver time 23.951972 ms 
mapping pub time 2.163268 ms 
whole mapping time 170.546820 ms +++++
mappingCount 1519 & avg mapping time 150.651158 ms ++++++++++++++++++++++
publication time 6.850591 ms 
whole laserOdometry time 6.864250 ms 
 
--------------------stamp1317357997.549038887
prepare time 13.492923 
mapping data assosiation time 22.233094 ms 
sort q time 12.715435 
seperate points time 20.233447 
mapping solver time 29.972011 ms 
-----t: 0.0510177
OdomCount 2269 & avg odom time 0.047673 ms ++++++++++++++++++++++
mapping data assosiation time 26.404508 ms 
mapping solver time 21.065519 ms 
prepare time 11.890516 
sort q time 13.345309 
seperate points time 19.915638 
-----t: 0.0326346
OdomCount 2270 & avg odom time 0.047667 ms ++++++++++++++++++++++
mapping data assosiation time 19.551821 ms 
--------------------stamp1317357997.756926059
points size 101202 
prepare time 14.590368 
mapping data assosiation time 42.597042 ms 
-----t: 0.0468731
OdomCount 2271 & avg odom time 0.047667 ms ++++++++++++++++++++++
filter time 11.701898 ms 
--------------------stamp1317357997.860843896
prepare time 16.369235 
sort q time 5.558695 
seperate points time 13.094714 
publication time 10.218245 ms 
whole laserOdometry time 10.230133 ms 
 
-----t: 0.0593216
OdomCount 2272 & avg odom time 0.047672 ms ++++++++++++++++++++++
build tree time 39.177868 ms 
sort q time 5.732707 
seperate points time 12.941376 
publication time 8.919910 ms 
whole laserOdometry time 8.955917 ms 
 
mapping data assosiation time 19.436453 ms 
mapping solver time 19.699829 ms 
points size 100498 
map prepare time 4.580963 ms
map corner num 178288  surf num 60631 
publication time 11.628008 ms 
whole laserOdometry time 11.646100 ms 
 
build tree time 46.051441 ms 
mapping data assosiation time 19.954498 ms 
--------------------stamp1317357998.172627925
prepare time 12.759007 
sort q time 5.793883 
seperate points time 12.774353 
mapping solver time 16.330880 ms 
mapping pub time 2.336932 ms 
whole mapping time 151.005507 ms +++++
mappingCount 1523 & avg mapping time 150.730656 ms ++++++++++++++++++++++
1317357997.964762926 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.836233 ms
map corner num 178970  surf num 60788 
--------------------stamp1317357998.276596069
points size 99787 
mapping data assosiation time 24.283885 ms 
sort q time 6.015208 
seperate points time 28.778358 
1317357998.276596069 WriteOdom aft_mapped_to_init_high_frec
publication time 7.165259 ms 
whole laserOdometry time 7.178485 ms 
 
mapping solver time 14.585010 ms 
points size 99500 
map prepare time 4.880984 ms
map corner num 179475  surf num 60877 
publication time 9.118792 ms 
whole laserOdometry time 9.132043 ms 
 
-----t: 0.04245
OdomCount 2277 & avg odom time 0.047665 ms ++++++++++++++++++++++
1317357998.380541086 WriteOdom laser_odom_to_init
1317357998.380541086 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.698679 ms 
--------------------stamp1317357998.484469890
points size 100003 
prepare time 14.514865 
mapping solver time 15.964120 ms 
scan registration time 55.288011 ms *************
--------------------stamp1317357998.588387966
build tree time 42.101612 ms 
sort q time 5.631445 
seperate points time 12.640114 
publication time 9.792662 ms 
whole laserOdometry time 9.810336 ms 
 
mapping data assosiation time 20.064782 ms 
mapping solver time 13.976178 ms 
filter time 10.987860 ms 
drop lidar frame in mapping for real time performance 
sort q time 5.847038 
seperate points time 13.598876 
publication time 9.359070 ms 
whole laserOdometry time 9.373887 ms 
 
-----t: 0.0568877
OdomCount 2280 & avg odom time 0.047663 ms ++++++++++++++++++++++
1317357998.692279100 WriteOdom laser_odom_to_init
1317357998.692279100 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.472451 ms 
points size 100430 
sort q time 5.769301 
seperate points time 13.690952 
mapping solver time 23.110158 ms 
filter time 13.475637 ms 
--------------------stamp1317357998.900072097
build tree time 46.522263 ms 
mapping data assosiation time 24.473963 ms 
mapping solver time 25.854206 ms 
mapping data assosiation time 24.113363 ms 
--------------------stamp1317357999.003982067
points size 97521 
filter time 16.595875 ms 
mapping pub time 2.369389 ms 
whole mapping time 165.114878 ms +++++
mappingCount 1528 & avg mapping time 150.746563 ms ++++++++++++++++++++++
1317357998.692279100 WriteOdom aft_mapped_to_init
sort q time 5.129360 
seperate points time 12.171001 
publication time 8.666866 ms 
whole laserOdometry time 8.680334 ms 
 
-----t: 0.0505854
OdomCount 2283 & avg odom time 0.047665 ms ++++++++++++++++++++++
1317357999.003982067 WriteOdom laser_odom_to_init
1317357999.003982067 WriteOdom aft_mapped_to_init_high_frec
build tree time 50.676641 ms 
--------------------stamp1317357999.107862949
mapping data assosiation time 22.127550 ms 
prepare time 12.356834 
mapping solver time 23.751455 ms 
scan registration time 40.924457 ms *************
mapping solver time 18.457060 ms 
-----t: 0.0604373
OdomCount 2284 & avg odom time 0.047671 ms ++++++++++++++++++++++
map prepare time 3.265431 ms
map corner num 182024  surf num 61444 
--------------------stamp1317357999.211775064
points size 94804 
sort q time 5.337039 
seperate points time 12.559369 
-----t: 0.0364876
OdomCount 2285 & avg odom time 0.047666 ms ++++++++++++++++++++++
mapping solver time 24.265739 ms 
mapping data assosiation time 18.705069 ms 
--------------------stamp1317357999.315721035
prepare time 13.108008 
sort q time 5.156714 
seperate points time 12.465098 
map prepare time 4.596326 ms
map corner num 182499  surf num 61560 
-----t: 0.0593191
OdomCount 2286 & avg odom time 0.047671 ms ++++++++++++++++++++++
build tree time 42.824237 ms 
mapping data assosiation time 18.075830 ms 
points size 88522 
mapping solver time 25.166106 ms 
mapping data assosiation time 22.772807 ms 
mapping solver time 16.928845 ms 
filter time 11.424896 ms 
1317357999.211775064 WriteOdom aft_mapped_to_init
points size 86859 
sort q time 6.846268 
seperate points time 13.327431 
build tree time 61.187247 ms 
mapping data assosiation time 22.498694 ms 
mapping solver time 21.566420 ms 
--------------------stamp1317357999.627513885
prepare time 11.149492 
mapping solver time 17.660115 ms 
filter time 13.589915 ms 
publication time 8.230443 ms 
whole laserOdometry time 8.240367 ms 
 
build tree time 38.955664 ms 
--------------------stamp1317357999.731446027
sort q time 4.879358 
seperate points time 11.156040 
mapping data assosiation time 19.938958 ms 
-----t: 0.042032
OdomCount 2290 & avg odom time 0.047667 ms ++++++++++++++++++++++
filter time 12.420138 ms 
mapping pub time 2.129257 ms 
whole mapping time 135.273401 ms +++++
mappingCount 1533 & avg mapping time 150.754823 ms ++++++++++++++++++++++
1317357999.523581982 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.783401 ms
map corner num 184018  surf num 61926 
--------------------stamp1317357999.835388898
prepare time 10.957657 
sort q time 4.588430 
seperate points time 11.115424 
mapping data assosiation time 20.718551 ms 
mapping solver time 20.131226 ms 
-----t: 0.0487967
OdomCount 2291 & avg odom time 0.047667 ms ++++++++++++++++++++++
1317357999.835388898 WriteOdom laser_odom_to_init
1317357999.835388898 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.616857 ms 
mapping solver time 14.724750 ms 
filter time 12.043509 ms 
sort q time 5.726999 
seperate points time 16.970798 
publication time 9.222859 ms 
whole laserOdometry time 9.240157 ms 
 
mapping data assosiation time 19.243326 ms 
mapping solver time 17.609895 ms 
--------------------stamp1317358000.043250083
points size 85175 
sort q time 4.369902 
seperate points time 10.612638 
add points time 0.786418 ms
filter time 14.306450 ms 
build tree time 38.075994 ms 
--------------------stamp1317358000.147166967
mapping data assosiation time 20.123672 ms 
sort q time 5.366343 
seperate points time 10.737892 
mapping solver time 23.382915 ms 
mapping data assosiation time 20.527936 ms 
-----t: 0.052345
OdomCount 2294 & avg odom time 0.047661 ms ++++++++++++++++++++++
mapping solver time 21.687167 ms 
filter time 11.879140 ms 
map prepare time 3.507107 ms
map corner num 185479  surf num 62278 
points size 82980 
sort q time 4.313117 
seperate points time 10.321127 
build tree time 41.858506 ms 
-----t: 0.0441073
OdomCount 2295 & avg odom time 0.047659 ms ++++++++++++++++++++++
mapping solver time 22.638453 ms 
mapping data assosiation time 20.590190 ms 
sort q time 5.165674 
seperate points time 10.213421 
[0m[ INFO] [1718804717.185466306, 1317358000.368915828]: Received 247757 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804717.185532969, 1317358000.368915828]: Data saved to 1317357999939320.pcd[0m
mapping solver time 23.491437 ms 
mapping optimization time 129.782849 
add points time 0.754252 ms
scan registration time 25.192609 ms *************
publication time 7.797304 ms 
whole laserOdometry time 7.828603 ms 
 
-----t: 0.0396361
OdomCount 2296 & avg odom time 0.047656 ms ++++++++++++++++++++++
build tree time 40.204165 ms 
--------------------stamp1317358000.458959102
points size 81368 
sort q time 4.621137 
seperate points time 10.962276 
publication time 7.913662 ms 
whole laserOdometry time 7.926873 ms 
 
mapping solver time 19.543620 ms 
filter time 10.894763 ms 
--------------------stamp1317358000.562901973
prepare time 11.722577 
sort q time 5.486521 
seperate points time 11.378350 
publication time 7.939194 ms 
whole laserOdometry time 7.950245 ms 
 
-----t: 0.0402381
OdomCount 2298 & avg odom time 0.047649 ms ++++++++++++++++++++++
mapping solver time 18.255144 ms 
mapping data assosiation time 20.385939 ms 
--------------------stamp1317358000.666807889
prepare time 12.463573 
map prepare time 3.532061 ms
map corner num 187165  surf num 62690 
scan registration time 37.504734 ms *************
-----t: 0.0351849
OdomCount 2299 & avg odom time 0.047644 ms ++++++++++++++++++++++
build tree time 46.417731 ms 
mapping data assosiation time 17.333409 ms 
--------------------stamp1317358000.770751953
points size 88924 
sort q time 4.990990 
seperate points time 12.132135 
publication time 6.841372 ms 
whole laserOdometry time 6.854603 ms 
 
-----t: 0.0455868
OdomCount 2300 & avg odom time 0.047643 ms ++++++++++++++++++++++
map prepare time 2.977077 ms
map corner num 187682  surf num 62807 
--------------------stamp1317358000.874670028
points size 89145 
build tree time 42.455645 ms 
prepare time 13.921678 
mapping data assosiation time 21.164377 ms 
sort q time 14.056026 
seperate points time 21.067149 
-----t: 0.0471848
OdomCount 2301 & avg odom time 0.047643 ms ++++++++++++++++++++++
1317358000.874670028 WriteOdom laser_odom_to_init
1317358000.874670028 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.940772 ms 
filter time 13.715556 ms 
prepare time 12.883711 
sort q time 4.844061 
seperate points time 11.125445 
publication time 10.470463 ms 
whole laserOdometry time 10.488603 ms 
 
mapping pub time 90.206106 ms 
whole mapping time 228.485576 ms +++++
mappingCount 1541 & avg mapping time 150.779386 ms ++++++++++++++++++++++
--------------------stamp1317358001.082484960
points size 87527 
sort q time 5.781956 
seperate points time 12.535007 
build tree time 47.519012 ms 
mapping data assosiation time 22.168946 ms 
mapping solver time 24.106496 ms 
--------------------stamp1317358001.186393022
points size 85328 
prepare time 10.959904 
scan registration time 26.443870 ms *************
filter time 14.441418 ms 
publication time 8.608707 ms 
whole laserOdometry time 8.623867 ms 
 
build tree time 44.504430 ms 
--------------------stamp1317358001.290321111
prepare time 10.990766 
scan registration time 25.935153 ms *************
publication time 7.685958 ms 
whole laserOdometry time 7.699362 ms 
 
-----t: 0.047806
OdomCount 2305 & avg odom time 0.047641 ms ++++++++++++++++++++++
mapping solver time 17.367750 ms 
filter time 10.992395 ms 
points size 81938 
sort q time 4.724868 
seperate points time 10.905812 
build tree time 47.337436 ms 
mapping data assosiation time 20.279007 ms 
mapping solver time 20.076523 ms 
--------------------stamp1317358001.498106002
prepare time 10.428465 
sort q time 4.719158 
seperate points time 11.106937 
filter time 16.365858 ms 
-----t: 0.0538688
OdomCount 2307 & avg odom time 0.047641 ms ++++++++++++++++++++++
build tree time 44.446204 ms 
--------------------stamp1317358001.602036952
prepare time 10.449268 
sort q time 5.023363 
seperate points time 11.268231 
mapping data assosiation time 20.716689 ms 
-----t: 0.0414339
OdomCount 2308 & avg odom time 0.047638 ms ++++++++++++++++++++++mapping solver time 38.710907 ms 
filter time 15.167257 ms 
points size 82595 
sort q time 4.855558 
seperate points time 10.841463 
publication time 8.842511 ms 
whole laserOdometry time 8.855864 ms 
 
-----t: 0.0396273
OdomCount 2309 & avg odom time 0.047634 ms ++++++++++++++++++++++
mapping data assosiation time 20.242364 ms 
--------------------stamp1317358001.809894084
points size 82495 
mapping data assosiation time 24.425024 ms 
mapping solver time 16.195045 ms 
mapping optimization time 133.285796 
add points time 0.729778 ms
scan registration time 50.990998 ms *************
1317358001.809894084 WriteOdom laser_odom_to_init
1317358001.809894084 WriteOdom aft_mapped_to_init_high_frec
1317358001.498106003 WriteOdom aft_mapped_to_init
publication time 9.380360 ms 
whole laserOdometry time 9.392956 ms 
 
map prepare time 4.633266 ms
map corner num 190827  surf num 63691 
--------------------stamp1317358001.913846015
prepare time 12.237615 
sort q time 4.470440 
seperate points time 10.662105 
-----t: 0.0368304
OdomCount 2311 & avg odom time 0.047629 ms ++++++++++++++++++++++
1317358001.913846015 WriteOdom laser_odom_to_init
1317358001.913846015 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.176698 ms 
publication time 15.678129 ms 
whole laserOdometry time 15.691094 ms 
 
mapping data assosiation time 23.058704 ms 
mapping solver time 16.972096 ms 
--------------------stamp1317358002.017776012
points size 76326 
sort q time 4.305831 
seperate points time 10.290267 
publication time 12.184362 ms 
whole laserOdometry time 12.201955 ms 
 
-----t: 0.0364667
OdomCount 2312 & avg odom time 0.047624 ms ++++++++++++++++++++++
1317358002.017776012 WriteOdom laser_odom_to_init
1317358002.017776012 WriteOdom aft_mapped_to_init_high_frec
build tree time 55.690445 ms 
mapping data assosiation time 19.278264 ms 
--------------------stamp1317358002.121731996
mapping solver time 23.415277 ms 
scan registration time 24.559947 ms *************
mapping data assosiation time 21.988679 ms 
publication time 7.749020 ms 
whole laserOdometry time 7.761570 ms 
 
add points time 0.694568 ms
filter time 14.233545 ms 
--------------------stamp1317358002.225687980
build tree time 41.623684 ms 
mapping data assosiation time 21.522520 ms 
-----t: 0.0392916
OdomCount 2314 & avg odom time 0.047617 ms ++++++++++++++++++++++
mapping data assosiation time 17.534333 ms 
mapping solver time 19.102709 ms 
filter time 15.584525 ms 
sort q time 4.418527 
seperate points time 10.618445 
publication time 9.798669 ms 
whole laserOdometry time 9.812307 ms 
 
mapping data assosiation time 17.377482 ms 
--------------------stamp1317358002.433593034
prepare time 11.643436 
mapping data assosiation time 20.429483 ms 
mapping solver time 21.081630 ms 
mapping pub time 2.224016 ms 
whole mapping time 156.062595 ms +++++
mappingCount 1550 & avg mapping time 150.812781 ms ++++++++++++++++++++++
1317358002.225687981 WriteOdom aft_mapped_to_init
--------------------stamp1317358002.537585020
sort q time 4.058818 
seperate points time 9.716626 
publication time 7.141397 ms 
whole laserOdometry time 7.154147 ms 
 
mapping data assosiation time 16.271802 ms 
mapping solver time 14.481276 ms 
filter time 13.601224 ms 
map prepare time 4.621497 ms
map corner num 193279  surf num 64438 
sort q time 4.301326 
seperate points time 9.196431 
publication time 6.905188 ms 
whole laserOdometry time 6.918584 ms 
 
build tree time 47.784940 ms 
mapping data assosiation time 17.860481 ms 
mapping solver time 17.392192 ms 
--------------------stamp1317358002.745573043
prepare time 9.948999 
sort q time 4.614009 
seperate points time 9.713792 
map prepare time 3.838736 ms
map corner num 193819  surf num 64586 
build tree time 42.170200 ms 
--------------------stamp1317358002.849554061
mapping data assosiation time 20.863540 ms 
sort q time 4.434572 
seperate points time 9.571614 
scan registration time 23.701501 ms *************
-----t: 0.0293326
OdomCount 2320 & avg odom time 0.047591 ms ++++++++++++++++++++++
mapping solver time 17.012732 ms 
filter time 11.729593 ms 
--------------------stamp1317358002.953556060
publication time 9.359391 ms 
whole laserOdometry time 9.373325 ms 
 
1317358002.953556060 WriteOdom laser_odom_to_init
1317358002.953556060 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.442914 ms 
mapping data assosiation time 17.969694 ms 
mapping solver time 13.679330 ms 
sort q time 4.190907 
seperate points time 9.573037 
publication time 8.548121 ms 
whole laserOdometry time 8.561245 ms 
 
1317358003.057569026 WriteOdom aft_mapped_to_init_high_frec
build tree time 48.816395 ms 
mapping data assosiation time 17.824688 ms 
points size 76466 
sort q time 5.164823 
seperate points time 9.729090 
publication time 7.323589 ms 
whole laserOdometry time 7.337368 ms 
 
-----t: 0.0395998
OdomCount 2323 & avg odom time 0.047575 ms ++++++++++++++++++++++
1317358003.161576986 WriteOdom laser_odom_to_init
1317358003.161576986 WriteOdom aft_mapped_to_init_high_frec
filter time 12.786183 ms 
mapping pub time 1.676894 ms 
whole mapping time 151.043097 ms +++++
mappingCount 1555 & avg mapping time 150.795294 ms ++++++++++++++++++++++
1317358002.953556061 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.061506 ms
map corner num 219710  surf num 72430 
--------------------stamp1317358003.265603065
prepare time 9.988281 
scan registration time 21.558907 ms *************
publication time 8.390932 ms 
whole laserOdometry time 8.405543 ms 
 
-----t: 0.0391856
OdomCount 2324 & avg odom time 0.047571 ms ++++++++++++++++++++++
mapping solver time 18.477262 ms 
mapping data assosiation time 16.863882 ms 
mapping solver time 12.936838 ms 
points size 76692 
mapping pub time 8.040556 ms 
whole mapping time 153.956735 ms +++++
publication time 6.179845 ms 
whole laserOdometry time 6.190692 ms 
 
-----t: 0.0451779
OdomCount 2325 & avg odom time 0.047570 ms ++++++++++++++++++++++1317358003.369621992 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.860610 ms 
points size 78782 
sort q time 4.372079 mapping data assosiation time 21.187678 ms 
mapping solver time 20.074651 ms 
filter time 12.761832 ms 
--------------------stamp1317358003.577652931
points size 80486 
build tree time 50.220251 ms 
publication time 6.254273 ms 
whole laserOdometry time 6.266269 ms 
 
mapping solver time 18.393121 ms 
mapping data assosiation time 17.057485 ms 
mapping solver time 11.881713 ms 
--------------------stamp1317358003.681715011
prepare time 10.883941 
sort q time 4.550756 
seperate points time 10.000563 
publication time 8.975890 ms 
whole laserOdometry time 8.988407 ms 
 
-----t: 0.0308307
OdomCount 2328 & avg odom time 0.047551 ms ++++++++++++++++++++++
1317358003.681715011 WriteOdom laser_odom_to_init
1317358003.681715011 WriteOdom aft_mapped_to_init_high_frec
build tree time 55.837946 ms 
mapping data assosiation time 20.796831 ms 
--------------------stamp1317358003.785784959
prepare time 12.502136 
mapping data assosiation time 20.388518 ms 
sort q time 4.532596 
seperate points time 10.661865 
scan registration time 29.748127 ms *************
publication time 5.362444 ms 
whole laserOdometry time 5.374694 ms 
 
-----t: 0.0502825
OdomCount 2329 & avg odom time 0.047553 ms ++++++++++++++++++++++
--------------------stamp1317358003.889826059
points size 80960 
sort q time 4.565706 
seperate points time 11.017488 
build tree time 52.915292 ms 
publication time 8.935343 ms 
whole laserOdometry time 8.951795 ms 
 
mapping solver time 17.276973 ms 
mapping data assosiation time 18.681909 ms 
mapping solver time 13.764717 ms 
points size 81855 
sort q time 4.246027 
seperate points time 10.040803 
publication time 8.774350 ms 
whole laserOdometry time 8.788771 ms 
 
build tree time 51.034485 ms 
mapping data assosiation time 17.217145 ms 
--------------------stamp1317358004.097943067
points size 82685 
mapping data assosiation time 22.187371 ms 
-----t: 0.0284454
OdomCount 2332 & avg odom time 0.047529 ms ++++++++++++++++++++++
sort q time 4.896474 
seperate points time 11.322450 
publication time 5.760669 ms 
whole laserOdometry time 5.778827 ms 
 
mapping pub time 116.976637 ms 
whole mapping time 267.028272 ms +++++
mappingCount 1561 & avg mapping time 150.872224 ms ++++++++++++++++++++++
--------------------stamp1317358004.306030988
sort q time 5.096092 
seperate points time 10.023245 
scan registration time 24.281327 ms *************
publication time 10.645140 ms 
whole laserOdometry time 10.681594 ms 
 
mapping solver time 18.199335 ms 
mapping data assosiation time 17.382932 ms 
--------------------stamp1317358004.410068988
prepare time 13.386584 
scan registration time 30.981166 ms *************
map prepare time 3.271718 ms
map corner num 222600  surf num 73139 
-----t: 0.0475101
OdomCount 2335 & avg odom time 0.047523 ms ++++++++++++++++++++++
build tree time 47.091770 ms 
--------------------stamp1317358004.514096021
sort q time 4.932354 
seperate points time 10.010572 
publication time 5.926674 ms 
whole laserOdometry time 5.946005 ms 
 
mapping data assosiation time 20.810986 ms 
-----t: 0.0523408
OdomCount 2336 & avg odom time 0.047525 ms ++++++++++++++++++++++
filter time 15.401402 ms 
--------------------stamp1317358004.618113040
points size 88488 
sort q time 5.019214 
seperate points time 11.662546 
scan registration time 29.795769 ms *************
publication time 7.738551 ms 
whole laserOdometry time 7.766854 ms 
 
-----t: 0.0410003
OdomCount 2337 & avg odom time 0.047522 ms ++++++++++++++++++++++
1317358004.618113040 WriteOdom laser_odom_to_init
1317358004.618113040 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.844043 ms 
mapping data assosiation time 17.062631 ms 
points size 91494 
[0m[ INFO] [1718804721.557405192, 1317358004.742983687]: Received 295317 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804721.557447122, 1317358004.742983687]: Data saved to 1317358003889826.pcd[0m
map prepare time 3.060853 ms
map corner num 223414  surf num 73392 
-----t: 0.0423717
OdomCount 2338 & avg odom time 0.047520 ms ++++++++++++++++++++++
build tree time 47.528923 ms 
--------------------stamp1317358004.826211929
prepare time 11.320668 
sort q time 5.322003 
seperate points time 11.371131 
publication time 8.685172 ms 
whole laserOdometry time 8.695632 ms 
 
-----t: 0.0350358
OdomCount 2339 & avg odom time 0.047514 ms ++++++++++++++++++++++
1317358004.826211929 WriteOdom laser_odom_to_init
1317358004.826211929 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.113576 ms 
mapping solver time 17.041514 ms 
mapping optimization time 132.617413 
add points time 0.489406 ms
filter time 14.326166 ms 
--------------------stamp1317358004.930248975
prepare time 11.475071 
build tree time 54.147523 ms 
publication time 18.788682 ms 
whole laserOdometry time 18.803782 ms 
 
mapping solver time 21.334304 ms 
mapping data assosiation time 17.067723 ms 
mapping solver time 14.546802 ms 
sort q time 5.802811 
seperate points time 12.416081 
mapping pub time 7.150916 ms 
whole mapping time 159.477482 ms +++++
mappingCount 1566 & avg mapping time 150.893654 ms ++++++++++++++++++++++
1317358004.722162962 WriteOdom aft_mapped_to_init
map prepare time 3.011218 ms
map corner num 142349  surf num 46160 
publication time 11.527084 ms 
whole laserOdometry time 11.560428 ms 
 
build tree time 31.189391 ms 
mapping data assosiation time 19.309788 ms 
points size 89462 
prepare time 12.034627 
mapping solver time 20.726134 ms 
mapping data assosiation time 21.434229 ms 
mapping solver time 14.653401 ms 
filter time 10.776348 ms 
build tree time 29.026324 ms 
points size 89022 
sort q time 5.075607 
seperate points time 11.772202 
publication time 11.178027 ms 
whole laserOdometry time 11.193130 ms 
 
mapping solver time 13.955513 ms 
filter time 10.581274 ms 
--------------------stamp1317358005.346379995
prepare time 13.017484 
sort q time 5.484007 
seperate points time 13.118337 
publication time 6.659116 ms 
whole laserOdometry time 6.670549 ms 
 
mapping solver time 26.093191 ms 
mapping data assosiation time 20.620348 ms 
mapping solver time 13.794479 ms 
points size 88805 
scan registration time 28.296715 ms *************
publication time 9.429323 ms 
whole laserOdometry time 9.462962 ms 
 
mapping data assosiation time 18.199566 ms 
mapping solver time 19.041917 ms 
--------------------stamp1317358005.554400920
points size 87711 
sort q time 6.005326 
seperate points time 12.614209 
map prepare time 3.086429 ms
map corner num 143835  surf num 46611 
build tree time 29.953091 ms 
mapping data assosiation time 17.461518 ms 
--------------------stamp1317358005.658401012
prepare time 12.750606 
sort q time 5.404128 
seperate points time 12.772047 
publication time 7.874068 ms 
whole laserOdometry time 7.907917 ms 
 
filter time 10.335951 ms 
map prepare time 2.758983 ms
map corner num 144098  surf num 46691 
build tree time 30.192444 ms 
points size 83357 
mapping data assosiation time 20.341348 ms 
scan registration time 28.127273 ms *************
mapping solver time 21.273056 ms 
mapping data assosiation time 20.709447 ms 
mapping solver time 16.464020 ms 
mapping optimization time 109.911606 
add points time 0.667588 ms
--------------------stamp1317358005.866394996
points size 80999 
-----t: 0.105112
OdomCount 2348 & avg odom time 0.047513 ms ++++++++++++++++++++++
1317358005.762392044 WriteOdom laser_odom_to_init
prepare time 14.897274 
1317358005.762392044 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.466296 ms
map corner num 144399  surf num 46779 
-----t: 0.0463312
OdomCount 2349 & avg odom time 0.047513 ms ++++++++++++++++++++++
build tree time 43.574163 ms 
mapping data assosiation time 16.253118 ms 
points size 78240 
sort q time 4.067034 
seperate points time 9.630285 
mapping solver time 37.645540 ms 
-----t: 0.0355212
OdomCount 2350 & avg odom time 0.047507 ms ++++++++++++++++++++++
mapping solver time 13.729792 ms 
filter time 9.545028 ms 
points size 75944 
build tree time 37.751750 ms 
sort q time 4.249833 
seperate points time 9.999202 
mapping data assosiation time 20.359097 ms 
mapping solver time 18.625914 ms 
-----t: 0.0504568
OdomCount 2351 & avg odom time 0.047509 ms ++++++++++++++++++++++
mapping solver time 13.216498 ms 
filter time 11.291551 ms 
prepare time 12.443526 
sort q time 4.349970 
seperate points time 10.507946 
publication time 7.123786 ms 
whole laserOdometry time 7.136917 ms 
 
mapping data assosiation time 17.735107 ms 
mapping solver time 19.958499 ms 
mapping data assosiation time 16.114424 ms 
points size 74177 
sort q time 3.902430 
seperate points time 9.420663 
map prepare time 2.321894 ms
map corner num 145385  surf num 47139 
-----t: 0.0380579
OdomCount 2353 & avg odom time 0.047499 ms ++++++++++++++++++++++
1317358006.282453060 WriteOdom laser_odom_to_init
1317358006.282453060 WriteOdom aft_mapped_to_init_high_frec
build tree time 33.312810 ms 
mapping data assosiation time 16.890683 ms 
--------------------stamp1317358006.386475086
mapping solver time 19.171554 ms 
mapping data assosiation time 21.827416 ms 
mapping optimization time 106.705702 
filter time 11.622987 ms 
-----t: 0.0534804
OdomCount 2354 & avg odom time 0.047502 ms ++++++++++++++++++++++
build tree time 33.303139 ms 
--------------------stamp1317358006.490519046
sort q time 4.059630 
seperate points time 9.266993 
publication time 6.469435 ms 
whole laserOdometry time 6.495315 ms 
 
mapping solver time 16.948823 ms 
filter time 9.301978 ms 
mapping pub time 1.777375 ms 
whole mapping time 124.599870 ms +++++
mappingCount 1577 & avg mapping time 150.742381 ms ++++++++++++++++++++++
1317358006.282453060 WriteOdom aft_mapped_to_init
map prepare time 2.364792 ms
map corner num 146038  surf num 47393 
points size 73268 
sort q time 4.223464 
seperate points time 9.440618 
publication time 11.586788 ms 
whole laserOdometry time 11.603193 ms 
 
-----t: 0.0333346
OdomCount 2356 & avg odom time 0.047491 ms ++++++++++++++++++++++
mapping data assosiation time 15.933586 ms 
mapping solver time 11.920623 ms 
filter time 11.194371 ms 
--------------------stamp1317358006.698599100
sort q time 3.820497 
seperate points time 9.159802 
scan registration time 24.338322 ms *************
build tree time 39.600387 ms 
1317358006.698599100 WriteOdom laser_odom_to_init
1317358006.698599100 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.193095 ms 
mapping data assosiation time 16.922567 ms 
mapping solver time 11.703025 ms 
filter time 8.877658 ms 
points size 74332 
sort q time 3.953959 
seperate points time 9.451757 
publication time 6.614548 ms 
whole laserOdometry time 6.632052 ms 
 
mapping data assosiation time 15.873962 ms 
mapping solver time 15.573957 ms 
mapping data assosiation time 15.625827 ms 
--------------------stamp1317358006.906636953
points size 72982 
prepare time 11.994712 
publication time 4.999502 ms 
whole laserOdometry time 5.012194 ms 
 
-----t: 0.043407
OdomCount 2359 & avg odom time 0.047472 ms ++++++++++++++++++++++
1317358006.906636953 WriteOdom laser_odom_to_init
1317358006.906636953 WriteOdom aft_mapped_to_init_high_frec
build tree time 33.708687 ms 
mapping data assosiation time 20.376053 ms 
mapping solver time 18.374950 ms 
mapping data assosiation time 19.810128 ms 
sort q time 4.418690 
seperate points time 9.430645 
mapping solver time 33.462828 ms 
filter time 11.893296 ms 
--------------------stamp1317358007.114715099
prepare time 9.828606 
scan registration time 22.130720 ms *************
-----t: 0.0261452
OdomCount 2361 & avg odom time 0.047457 ms ++++++++++++++++++++++
1317358007.114715099 WriteOdom laser_odom_to_init
1317358007.114715099 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 93.666834 ms 
whole mapping time 236.243540 ms +++++
mappingCount 1581 & avg mapping time 150.733291 ms ++++++++++++++++++++++
1317358006.802638054 WriteOdom aft_mapped_to_init
build tree time 31.805652 ms 
--------------------stamp1317358007.218741893
sort q time 4.041139 
seperate points time 9.164101 
publication time 6.241299 ms 
whole laserOdometry time 6.269890 ms 
 
1317358007.218741893 WriteOdom laser_odom_to_init
1317358007.218741893 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.197672 ms 
filter time 9.386187 ms 
--------------------stamp1317358007.322768926
points size 74482 
sort q time 4.140894 
seperate points time 9.728630 
publication time 5.084098 ms 
whole laserOdometry time 5.094259 ms 
 
1317358007.322768926 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.428477 ms 
mapping solver time 17.449687 ms 
filter time 10.945022 ms 
points size 77072 
scan registration time 18.854597 ms *************
build tree time 39.302198 ms 
-----t: 0.0383479
OdomCount 2364 & avg odom time 0.047440 ms ++++++++++++++++++++++
mapping solver time 20.014522 ms 
mapping data assosiation time 16.683580 ms 
--------------------stamp1317358007.530855894
prepare time 10.242474 
sort q time 4.796180 
seperate points time 9.486539 
-----t: 0.0416592
OdomCount 2365 & avg odom time 0.047437 ms ++++++++++++++++++++++
1317358007.530855894 WriteOdom laser_odom_to_init
1317358007.530855894 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.177297 ms 
mapping solver time 16.239549 ms 
points size 75903 
sort q time 4.101131 
seperate points time 9.613991 
publication time 6.145584 ms 
filter time 13.152940 ms 
whole laserOdometry time 6.159943 ms 
 
1317358007.634869098 WriteOdom laser_odom_to_init
build tree time 31.277106 ms 
mapping data assosiation time 18.540893 ms 
--------------------stamp1317358007.738847970
prepare time 10.471387 
sort q time 4.949172 
seperate points time 9.377179 
scan registration time 23.807049 ms *************
publication time 6.146311 ms 
whole laserOdometry time 6.284221 ms 
 
-----t: 0.040653
OdomCount 2367 & avg odom time 0.047429 ms ++++++++++++++++++++++
1317358007.738847970 WriteOdom laser_odom_to_init
build tree time 27.833749 ms 
--------------------stamp1317358007.842839002
prepare time 11.658713 
sort q time 4.527139 
seperate points time 9.740360 
scan registration time 24.834953 ms *************
-----t: 0.0329774
OdomCount 2368 & avg odom time 0.047423 ms ++++++++++++++++++++++
1317358007.842839002 WriteOdom laser_odom_to_init
1317358007.842839002 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 13.276289 ms 
mapping pub time 1.621660 ms 
whole mapping time 123.038695 ms +++++
mappingCount 1587 & avg mapping time 150.635353 ms ++++++++++++++++++++++
1317358007.738847971 WriteOdom aft_mapped_to_init
map prepare time 2.584468 ms
map corner num 149688  surf num 48803 
--------------------stamp1317358007.946839094
prepare time 19.359136 scan registration time 62.465309 ms *************
mapping data assosiation time 20.114393 ms 
--------------------stamp1317358008.050828933
filter time 10.934135 ms 
-----t: 0.0284
OdomCount 2370 & avg odom time 0.047409 ms ++++++++++++++++++++++
1317358008.050828933 WriteOdom laser_odom_to_init
1317358008.050828933 WriteOdom aft_mapped_to_init_high_frec
build tree time 35.698722 ms 
mapping data assosiation time 19.225803 ms 
mapping solver time 17.868034 ms 
points size 76696 
sort q time 4.069097 
seperate points time 8.808989 
mapping solver time 17.164416 ms 
filter time 12.678168 ms 
build tree time 32.509126 ms 
--------------------stamp1317358008.258860111
sort q time 5.169037 
seperate points time 9.636612 
publication time 7.955281 ms 
whole laserOdometry time 7.969094 ms 
 
-----t: 0.0476277
OdomCount 2372 & avg odom time 0.047401 ms ++++++++++++++++++++++
filter time 10.423991 ms 
--------------------stamp1317358008.362863063
build tree time 35.642856 ms 
mapping data assosiation time 21.628145 ms 
-----t: 0.0358683
OdomCount 2373 & avg odom time 0.047396 ms ++++++++++++++++++++++
mapping solver time 24.211917 ms 
mapping data assosiation time 17.715220 ms 
mapping solver time 18.820774 ms 
points size 78609 
map prepare time 2.562222 ms
map corner num 151140  surf num 49318 
publication time 6.490919 ms build tree time 39.028315 ms 
mapping data assosiation time 18.993490 ms 
mapping solver time 17.322020 ms 
points size 81151 
sort q time 4.592625 
seperate points time 10.288998 
publication time 6.985169 ms 
whole laserOdometry time 6.997590 ms 
 
filter time 12.662511 ms 
mapping pub time 2.090298 ms 
whole mapping time 129.776944 ms +++++
mappingCount 1592 & avg mapping time 150.587674 ms ++++++++++++++++++++++
1317358008.362863064 WriteOdom aft_mapped_to_init
build tree time 30.433221 ms 
mapping data assosiation time 18.322735 ms 
points size 83264 
sort q time 4.510397 
seperate points time 10.616489 
mapping data assosiation time 22.281333 ms 
-----t: 0.0402802
OdomCount 2376 & avg odom time 0.047388 ms ++++++++++++++++++++++
filter time 10.609554 ms 
build tree time 29.096837 ms 
points size 84444 
prepare time 9.827770 
sort q time 5.283868 
seperate points time 28.343286 
-----t: 0.039542
OdomCount 2377 & avg odom time 0.047385 ms ++++++++++++++++++++++
mapping solver time 14.192898 ms 
filter time 9.573414 ms 
--------------------stamp1317358008.882946014
prepare time 12.885820 
sort q time 4.599605 
seperate points time 10.864168 
publication time 8.377151 ms 
whole laserOdometry time 8.390849 ms 
 
-----t: 0.0391072
OdomCount 2378 & avg odom time 0.047381 ms ++++++++++++++++++++++
mapping solver time 20.428923 ms 
mapping data assosiation time 20.228705 ms 
--------------------stamp1317358008.986937999
filter time 10.868874 ms 
publication time 8.302824 ms 
whole laserOdometry time 8.315932 ms 
 
build tree time 36.407039 ms 
mapping data assosiation time 23.257763 ms 
--------------------stamp1317358009.090923070
points size 87334 
sort q time 4.861855 
seperate points time 11.046792 
mapping data assosiation time 22.265217 ms 
scan registration time 29.208026 ms *************
publication time 12.264002 ms 
whole laserOdometry time 12.275504 ms 
 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358009.194937944
prepare time 11.471611 
mapping data assosiation time 21.895756 ms 
sort q time 5.178566 
seperate points time 11.450600 
publication time 9.837243 ms 
whole laserOdometry time 9.861048 ms 
 
-----t: 0.0497525
OdomCount 2381 & avg odom time 0.047375 ms ++++++++++++++++++++++
mapping solver time 16.148472 ms 
filter time 11.930825 ms 
map prepare time 4.369815 ms
map corner num 153942  surf num 50254 
sort q time 5.004814 
seperate points time 11.919782 
build tree time 40.056012 ms 
mapping data assosiation time 23.088766 ms 
mapping solver time 21.414303 ms 
--------------------stamp1317358009.403002023
mapping data assosiation time 22.015702 ms 
sort q time 5.575240 
seperate points time 12.193081 
publication time 7.720274 ms 
whole laserOdometry time 7.745598 ms 
 
-----t: 0.0480004
OdomCount 2383 & avg odom time 0.047370 ms ++++++++++++++++++++++
1317358009.403002023 WriteOdom laser_odom_to_init
1317358009.403002023 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 9.634743 ms build tree time 33.713985 ms 
prepare time 11.949777 
sort q time 5.953501 
seperate points time 11.466752 
publication time 9.254863 ms 
whole laserOdometry time 9.286333 ms 
 
-----t: 0.0503961
OdomCount 2384 & avg odom time 0.047372 ms ++++++++++++++++++++++
mapping data assosiation time 23.499238 ms 
mapping solver time 16.033348 ms 
--------------------stamp1317358009.611102104
prepare time 14.234620 
sort q time 5.065436 
seperate points time 11.949233 
build tree time 38.104351 ms 
publication time 8.989067 ms 
whole laserOdometry time 9.003472 ms 
 
mapping data assosiation time 24.915723 ms 
mapping solver time 26.088194 ms 
points size 96188 
mapping data assosiation time 25.054907 ms 
sort q time 16.853924 
seperate points time 23.794587 
-----t: 0.0412927
map prepare time 3.383357 ms
map corner num 155768  surf num 50910 
build tree time 34.850917 ms 
points size 97602 
mapping data assosiation time 24.423973 ms 
sort q time 13.060245 
seperate points time 27.049063 
mapping solver time 23.559535 ms 
-----t: 0.0487871
OdomCount 2387 & avg odom time 0.047367 ms ++++++++++++++++++++++
1317358009.819299936 WriteOdom laser_odom_to_init
1317358009.819299936 WriteOdom aft_mapped_to_init_high_frec
publication time 12.604817 ms 
whole laserOdometry time 12.622248 ms 
 
mapping solver time 16.356194 ms 
filter time 9.867253 ms 
points size 98881 
sort q time 5.901075 
seperate points time 12.466395 
-----t: 0.0409937
OdomCount 2388 & avg odom time 0.047364 ms ++++++++++++++++++++++
mapping pub time 99.495830 ms 
whole mapping time 241.969738 ms +++++
mappingCount 1601 & avg mapping time 150.606417 ms ++++++++++++++++++++++
points size 100788 
sort q time 6.110599 
seperate points time 13.785855 
scan registration time 32.848979 ms *************
build tree time 37.709832 ms 
mapping data assosiation time 38.374813 ms 
publication time 21.889865 ms 
whole laserOdometry time 21.918603 ms 
 
1317358010.027523040 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.228392 ms 
sort q time 6.100499 
seperate points time 12.934395 
publication time 9.487859 ms 
whole laserOdometry time 9.517508 ms 
 
filter time 12.919839 ms 
map prepare time 3.526945 ms
map corner num 156924  surf num 51289 
--------------------stamp1317358010.235814094
points size 101927 
build tree time 39.022360 ms 
scan registration time 36.836172 ms *************
mapping data assosiation time 30.518567 ms 
-----t: 0.0511319
OdomCount 2391 & avg odom time 0.047382 ms ++++++++++++++++++++++
1317358010.235814094 WriteOdom laser_odom_to_init
1317358010.235814094 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 33.028633 ms 
--------------------stamp1317358010.339999914
prepare time 11.875344 
sort q time 6.128430 
seperate points time 13.604514 
filter time 13.333430 ms 
-----t: 0.0521786
OdomCount 2392 & avg odom time 0.047384 ms ++++++++++++++++++++++
build tree time 35.799440 ms 
--------------------stamp1317358010.444183111
points size 102332 
sort q time 5.988076 
seperate points time 15.191020 
mapping solver time 31.637230 ms 
-----t: 0.0486086
OdomCount 2393 & avg odom time 0.047385 ms ++++++++++++++++++++++
mapping data assosiation time 28.408520 ms 
--------------------stamp1317358010.548389911
mapping solver time 31.984483 ms 
filter time 12.234306 ms 
sort q time 6.015369 
seperate points time 30.149193 
build tree time 39.273720 ms 
mapping data assosiation time 29.479216 ms 
points size 102757 
sort q time 5.941173 
seperate points time 13.944834 
publication time 8.972056 ms 
whole laserOdometry time 8.988918 ms 
 
mapping solver time 22.856624 ms 
filter time 12.064889 ms 
prepare time 12.276441 
sort q time 5.822726 
seperate points time 13.243905 
build tree time 40.053415 ms 
mapping data assosiation time 27.284737 ms 
--------------------stamp1317358010.860937118
points size 102888 
sort q time 6.966544 
seperate points time 16.066266 
-----t: 0.0400244
OdomCount 2397 & avg odom time 0.047381 ms ++++++++++++++++++++++
1317358010.860937118 WriteOdom laser_odom_to_init
1317358010.860937118 WriteOdom aft_mapped_to_init_high_frec
publication time 9.488545 ms 
whole laserOdometry time 9.540833 ms 
 
filter time 12.119538 ms 
map prepare time 3.818679 ms
map corner num 159926  surf num 52585 
--------------------stamp1317358010.965073108
prepare time 12.132647 
build tree time 38.855647 ms 
publication time 10.667022 ms 
whole laserOdometry time 10.678776 ms 
 
mapping solver time 31.786850 ms 
--------------------stamp1317358011.069158077
prepare time 12.560383 
sort q time 6.057214 
seperate points time 13.546369 
mapping solver time 30.216644 ms 
filter time 13.073063 ms 
publication time 16.350115 ms 
whole laserOdometry time 16.358546 ms 
 
--------------------stamp1317358011.173223018
points size 103167 
sort q time 6.408767 
seperate points time 14.057971 
publication time 10.287274 ms 
whole laserOdometry time 10.320058 ms 
 
mapping data assosiation time 25.350391 ms 
--------------------stamp1317358011.277309894
mapping solver time 21.523616 ms 
filter time 14.520198 ms 
sort q time 5.959249 
seperate points time 13.910763 
mapping pub time 2.437926 ms 
whole mapping time 171.553510 ms +++++
mappingCount 1608 & avg mapping time 150.739605 ms ++++++++++++++++++++++
1317358010.965073109 WriteOdom aft_mapped_to_init
scan registration time 36.064023 ms *************
publication time 10.730698 ms 
whole laserOdometry time 10.746112 ms 
 
build tree time 39.594045 ms 
--------------------stamp1317358011.381396055
prepare time 13.242298 
sort q time 5.551521 
seperate points time 12.276901 
publication time 11.326917 ms 
whole laserOdometry time 11.362362 ms 
 
mapping data assosiation time 33.030529 ms 
-----t: 0.0635772
OdomCount 2402 & avg odom time 0.047388 ms ++++++++++++++++++++++
mapping optimization time 153.373826 
--------------------stamp1317358011.485456943
points size 103290 
sort q time 6.060377 
seperate points time 14.284922 
build tree time 41.440972 ms 
publication time 14.195724 ms 
whole laserOdometry time 14.210541 ms 
 
-----t: 0.0610219
OdomCount 2403 & avg odom time 0.047394 ms ++++++++++++++++++++++
--------------------stamp1317358011.589543104
prepare time 11.919613 
sort q time 6.052223 
seperate points time 13.655036 
publication time 10.895690 ms 
whole laserOdometry time 10.913545 ms 
 
filter time 11.420658 ms 
map prepare time 3.541192 ms
map corner num 162420  surf num 53658 
--------------------stamp1317358011.693679094
prepare time 14.197085 
sort q time 5.801641 
seperate points time 13.267820 
publication time 8.876034 ms 
whole laserOdometry time 8.891288 ms 
 
mapping solver time 33.078094 ms 
mapping data assosiation time 28.175252 ms 
points size 103868 
mapping solver time 21.683134 ms 
scan registration time 31.088481 ms *************
map prepare time 4.145931 ms
map corner num 162975  surf num 53827 
-----t: 0.0466176
OdomCount 2406 & avg odom time 0.047391 ms ++++++++++++++++++++++
publication time 13.424924 ms 
whole laserOdometry time 13.436571 ms 
 
build tree time 44.702213 ms 
--------------------stamp1317358011.901949882
points size 104017 
sort q time 5.657278 
seperate points time 17.271094 
scan registration time 43.790205 ms *************
publication time 11.117113 ms 
whole laserOdometry time 11.130911 ms 
 
mapping data assosiation time 32.303297 ms 
--------------------stamp1317358012.006105899
prepare time 11.982419 
scan registration time 31.812617 ms *************
filter time 15.142527 ms 
mapping pub time 2.526084 ms 
whole mapping time 200.444225 ms +++++
mappingCount 1612 & avg mapping time 150.811392 ms ++++++++++++++++++++++
1317358011.693679094 WriteOdom aft_mapped_to_init
publication time 9.960591 ms 
whole laserOdometry time 9.974597 ms 
 
build tree time 44.889507 ms 
--------------------stamp1317358012.110264062
sort q time 5.797491 
seperate points time 13.574376 
scan registration time 36.345082 ms *************
publication time 23.744923 ms 
whole laserOdometry time 23.763673 ms 
 
mapping solver time 75.788016 ms 
--------------------stamp1317358012.214422941
points size 104084 
mapping data assosiation time 38.263160 ms 
publication time 9.142479 ms 
whole laserOdometry time 9.152532 ms 
 
mapping optimization time 227.504152 
filter time 14.710516 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 4.104781 ms
map corner num 164001  surf num 54180 
-----t: 0.0637897
OdomCount 2410 & avg odom time 0.047408 ms ++++++++++++++++++++++
--------------------stamp1317358012.318583011
points size 103793 
build tree time 42.976924 ms 
mapping data assosiation time 31.082056 ms 
mapping solver time 32.461760 ms 
-----t: 0.0746901
OdomCount 2411 & avg odom time 0.047419 ms ++++++++++++++++++++++
1317358012.318583011 WriteOdom laser_odom_to_init
1317358012.318583011 WriteOdom aft_mapped_to_init_high_frec
points size 103792 
sort q time 6.492210 
seperate points time 14.971177 
filter time 17.477089 ms 
mapping pub time 2.586537 ms 
whole mapping time 190.929360 ms +++++
mappingCount 1614 & avg mapping time 150.897681 ms ++++++++++++++++++++++
1317358012.006105900 WriteOdom aft_mapped_to_init
-----t: 0.0665357
OdomCount 2412 & avg odom time 0.047427 ms ++++++++++++++++++++++
1317358012.422740936 WriteOdom laser_odom_to_init
1317358012.422740936 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358012.526922941
points size 103763 
sort q time 6.662102 
seperate points time 15.385207 
mapping data assosiation time 38.174097 ms 
-----t: 0.0748288
OdomCount 2413 & avg odom time 0.047438 ms ++++++++++++++++++++++
--------------------stamp1317358012.631130933
points size 103706 
mapping data assosiation time 39.557517 ms 
sort q time 10.457816 
seperate points time 30.902196 
mapping solver time 33.256312 ms 
mapping pub time 2.477388 ms 
whole mapping time 232.243812 ms +++++
mappingCount 1615 & avg mapping time 150.948053 ms ++++++++++++++++++++++
--------------------stamp1317358012.735336065
points size 103768 
sort q time 7.794533 
seperate points time 14.710672 
publication time 10.407504 ms 
whole laserOdometry time 10.458619 ms 
 
mapping data assosiation time 34.444667 ms 
-----t: 0.0610747
OdomCount 2415 & avg odom time 0.047450 ms ++++++++++++++++++++++
1317358012.735336065 WriteOdom laser_odom_to_init
1317358012.735336065 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358012.839565992
points size 103790 
mapping data assosiation time 32.627084 ms 
scan registration time 37.786271 ms *************
-----t: 0.0474356
OdomCount 2416 & avg odom time 0.047450 ms ++++++++++++++++++++++
mapping solver time 34.400854 ms 
filter time 10.564370 ms 
-----t: 0.0559866
OdomCount 2417 & avg odom time 0.047453 ms ++++++++++++++++++++++
mapping solver time 31.964390 ms 
points size 103671 
sort q time 9.744255 
seperate points time 16.680189 
publication time 17.170804 ms 
whole laserOdometry time 17.186477 ms 
 
filter time 14.321244 ms 
--------------------stamp1317358013.152211904
points size 103709 
sort q time 6.253978 
seperate points time 14.076951 
publication time 11.403594 ms 
whole laserOdometry time 11.416203 ms 
 
mapping data assosiation time 35.921886 ms 
-----t: 0.0681916
OdomCount 2419 & avg odom time 0.047467 ms ++++++++++++++++++++++
--------------------stamp1317358013.256417036
points size 103773 
sort q time 7.149666 
seperate points time 13.851775 
scan registration time 35.327213 ms *************
publication time 12.493468 ms 
whole laserOdometry time 12.510905 ms 
 
-----t: 0.06036
OdomCount 2420 & avg odom time 0.047473 ms ++++++++++++++++++++++
1317358013.256417036 WriteOdom laser_odom_to_init
1317358013.256417036 WriteOdom aft_mapped_to_init_high_frec
add points time 1.114948 ms
--------------------stamp1317358013.360625028
map prepare time 3.455390 ms
map corner num 166825  surf num 55180 
build tree time 49.043818 ms 
-----t: 0.0637685
OdomCount 2421 & avg odom time 0.047479 ms ++++++++++++++++++++++
mapping data assosiation time 33.636979 ms 
--------------------stamp1317358013.464807987
mapping solver time 34.513785 ms 
sort q time 9.394353 
seperate points time 18.185131 
mapping data assosiation time 35.709047 ms 
mapping solver time 33.349244 ms 
filter time 12.241343 ms 
sort q time 6.392263 
seperate points time 12.582490 
publication time 12.744314 ms 
whole laserOdometry time 12.757411 ms 
 
-----t: 0.0663886
OdomCount 2423 & avg odom time 0.047496 ms ++++++++++++++++++++++
mapping data assosiation time 34.570119 ms 
--------------------stamp1317358013.673074960
prepare time 13.479131 
mapping solver time 36.300526 ms 
sort q time 7.066370 
seperate points time 14.417216 
scan registration time 33.953877 ms *************
publication time 8.228979 ms 
whole laserOdometry time 8.243075 ms 
 
mapping solver time 25.330825 ms 
filter time 13.316494 ms 
map prepare time 5.524651 ms
map corner num 168008  surf num 55554 
prepare time 16.529623 
sort q time 6.407039 
seperate points time 14.789550 
build tree time 49.387882 ms 
-----t: 0.0558472
OdomCount 2425 & avg odom time 0.047510 ms ++++++++++++++++++++++
mapping data assosiation time 34.211739 ms 
points size 104389 
mapping solver time 40.058308 ms 
scan registration time 38.714233 ms *************
mapping data assosiation time 38.204510 ms 
mapping solver time 26.826766 ms 
--------------------stamp1317358013.985096931
prepare time 15.227187 
sort q time 6.311658 
seperate points time 13.376222 
publication time 10.961042 ms 
whole laserOdometry time 10.976121 ms 
 
-----t: 0.061377
OdomCount 2427 & avg odom time 0.047517 ms ++++++++++++++++++++++
--------------------stamp1317358014.089015960
map prepare time 4.011681 ms
map corner num 168608  surf num 55719 
prepare time 13.458411 
sort q time 6.830838 
seperate points time 14.381989 
scan registration time 33.422586 ms *************
publication time 10.952948 ms 
whole laserOdometry time 10.966865 ms 
 
build tree time 47.225084 ms 
-----t: 0.0674625
OdomCount 2428 & avg odom time 0.047525 ms ++++++++++++++++++++++
--------------------stamp1317358014.192910909
points size 103798 
mapping solver time 39.537873 ms 
publication time 12.244007 ms 
whole laserOdometry time 12.264342 ms 
 
-----t: 0.0732311
OdomCount 2429 & avg odom time 0.047536 ms ++++++++++++++++++++++
--------------------stamp1317358014.296760082
sort q time 8.236959 
seperate points time 17.018254 
filter time 25.212903 ms 
map prepare time 11.836747 ms--------------------stamp1317358014.400583028
points size 104088 
sort q time 7.270902 
seperate points time 16.663408 
mapping data assosiation time 35.404793 ms 
-----t: 0.0737561
OdomCount 2431 & avg odom time 0.047556 ms ++++++++++++++++++++++
--------------------stamp1317358014.504405975
prepare time 12.119332 
mapping data assosiation time 35.102249 ms 
mapping solver time 25.311546 ms 
publication time 12.089636 ms 
whole laserOdometry time 12.119540 ms 
 
-----t: 0.0643509
OdomCount 2432 & avg odom time 0.047563 ms ++++++++++++++++++++++
--------------------stamp1317358014.608228921
points size 103937 
build tree time 48.079126 ms 
sort q time 5.854137 
seperate points time 13.545859 
mapping data assosiation time 35.983747 ms 
mapping solver time 40.647547 ms 
points size 103878 
mapping data assosiation time 34.034859 ms 
mapping solver time 25.611930 ms -----t: 0.0533943
OdomCount 2434 & avg odom time 0.047566 ms ++++++++++++++++++++++drop lidar frame in mapping for real time performance --------------------stamp1317358014.815850019
points size 103737 
sort q time 6.086095 
seperate points time 14.105605 
publication time 11.250120 ms 
whole laserOdometry time 11.261513 ms 
 
-----t: 0.0484131
OdomCount 2435 & avg odom time 0.047567 ms ++++++++++++++++++++++
1317358014.815850019 WriteOdom laser_odom_to_init
1317358014.815850019 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.042791 ms 
points size 103590 
mapping data assosiation time 30.692478 ms 
publication time 9.382920 ms 
whole laserOdometry time 9.397034 ms 
 
-----t: 0.0400193
OdomCount 2436 & avg odom time 0.047564 ms ++++++++++++++++++++++
filter time 14.287421 ms 
map prepare time 3.197314 ms
map corner num 171120  surf num 56582 
--------------------stamp1317358015.023324966
points size 103401 
sort q time 5.771649 
seperate points time 13.304810 
mapping data assosiation time 31.587079 ms 
publication time 13.286290 ms 
whole laserOdometry time 13.301075 ms 
 
-----t: 0.0678186
OdomCount 2437 & avg odom time 0.047572 ms ++++++++++++++++++++++
--------------------stamp1317358015.127027988
mapping data assosiation time 28.266472 ms 
points size 103027 
prepare time 12.837522 
scan registration time 32.518831 ms *************
publication time 9.365363 ms 
whole laserOdometry time 9.391740 ms 
 
-----t: 0.0535578
OdomCount 2438 & avg odom time 0.047574 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317358015.230707883
points size 102810 
sort q time 6.305129 
seperate points time 15.323135 
publication time 11.055918 ms 
whole laserOdometry time 11.184850 ms 
 
mapping data assosiation time 32.882928 ms 
-----t: 0.0662102
OdomCount 2439 & avg odom time 0.047582 ms ++++++++++++++++++++++
--------------------stamp1317358015.334362030
mapping data assosiation time 27.097616 ms 
prepare time 13.953246 
scan registration time 36.061919 ms *************
filter time 19.360128 ms 
-----t: 0.0828208
OdomCount 2440 & avg odom time 0.047596 ms ++++++++++++++++++++++
points size 102713 
sort q time 6.229409 
seperate points time 14.345896 
mapping data assosiation time 32.933071 ms 
publication time 15.134252 ms 
whole laserOdometry time 15.162691 ms 
 
mapping solver time 36.484727 ms 
--------------------stamp1317358015.541697025
sort q time 6.951632 
seperate points time 16.243502 
mapping solver time 37.357400 ms 
publication time 11.503295 ms 
whole laserOdometry time 11.520143 ms 
 
mapping pub time 8.420694 ms 
whole mapping time 215.793952 ms +++++
mappingCount 1628 & avg mapping time 151.496443 ms ++++++++++++++++++++++
--------------------stamp1317358015.645375967
prepare time 13.891395 
sort q time 7.322436 
seperate points time 15.708058 
publication time 10.143304 ms 
whole laserOdometry time 10.159011 ms 
 
mapping data assosiation time 32.618103 ms 
-----t: 0.0654967
OdomCount 2443 & avg odom time 0.047605 ms ++++++++++++++++++++++
--------------------stamp1317358015.749077081
points size 102235 
sort q time 6.389775 
seperate points time 15.297179 
mapping solver time 37.599107 ms 
-----t: 0.0520767
OdomCount 2444 & avg odom time 0.047607 ms ++++++++++++++++++++++
--------------------stamp1317358015.852828979
prepare time 12.502598 
sort q time 6.912244 
seperate points time 16.099520 
-----t: 0.0434818
OdomCount 2445 & avg odom time 0.047605 ms ++++++++++++++++++++++
mapping data assosiation time 25.075638 ms 
points size 101855 
filter time 12.667160 ms 
publication time 20.045693 ms 
whole laserOdometry time 20.061297 ms 
 
-----t: 0.0595976
OdomCount 2446 & avg odom time 0.047610 ms ++++++++++++++++++++++
mapping data assosiation time 25.804015 ms 
points size 101461 
sort q time 5.996755 
seperate points time 14.134537 
-----t: 0.03737
OdomCount 2447 & avg odom time 0.047606 ms ++++++++++++++++++++++
publication time 10.016233 ms 
whole laserOdometry time 10.026620 ms 
 
mapping data assosiation time 30.159215 ms 
mapping solver time 25.172939 ms 
mapping optimization time 151.741226 
add points time 0.978148 ms
mapping pub time 5.945999 ms 
whole mapping time 173.090953 ms +++++
mappingCount 1631 & avg mapping time 151.546864 ms ++++++++++++++++++++++
points size 100177 
sort q time 5.629063 
seperate points time 13.547114 
publication time 12.601205 ms 
whole laserOdometry time 12.629410 ms 
 
mapping data assosiation time 35.120507 ms 
--------------------stamp1317358016.267857074
points size 98600 
sort q time 5.898748 
seperate points time 12.629564 
mapping data assosiation time 29.560094 ms 
mapping solver time 22.371648 ms 
mapping pub time 2.446624 ms 
whole mapping time 184.309791 ms +++++
mappingCount 1632 & avg mapping time 151.566941 ms ++++++++++++++++++++++
--------------------stamp1317358016.371654987
prepare time 14.225663 
sort q time 6.475840 
seperate points time 14.474813 
publication time 11.528925 ms 
whole laserOdometry time 11.543882 ms 
 
--------------------stamp1317358016.475430965
mapping data assosiation time 31.245024 ms 
mapping optimization time 157.870528 
scan registration time 68.455243 ms *************
publication time 9.374208 ms 
whole laserOdometry time 9.387659 ms 
 
build tree time 35.780795 ms 
points size 94775 
mapping data assosiation time 27.331689 ms 
mapping solver time 28.361848 ms 
-----t: 0.0525443
OdomCount 2452 & avg odom time 0.047625 ms ++++++++++++++++++++++
1317358016.579231023 WriteOdom laser_odom_to_initmapping data assosiation time 32.321257 ms 
mapping solver time 15.126995 ms 
points size 94234 
mapping pub time 2.341684 ms 
whole mapping time 164.936164 ms +++++
mappingCount 1634 & avg mapping time 151.593269 ms ++++++++++++++++++++++
scan registration time 30.683720 ms *************
publication time 8.255560 ms 
whole laserOdometry time 8.272139 ms 
 
build tree time 39.638512 ms 
-----t: 0.0664607
OdomCount 2453 & avg odom time 0.047633 ms ++++++++++++++++++++++
mapping data assosiation time 27.593109 ms 
--------------------stamp1317358016.786946058
points size 92223 
mapping solver time 31.708497 ms 
sort q time 5.619101 
seperate points time 12.208406 
mapping data assosiation time 30.747812 ms 
-----t: 0.0488373
OdomCount 2454 & avg odom time 0.047633 ms ++++++++++++++++++++++
mapping solver time 25.514567 ms 
mapping optimization time 156.474871 
add points time 1.039191 ms
mapping pub time 2.128051 ms 
whole mapping time 175.081646 ms +++++
mappingCount 1635 & avg mapping time 151.607637 ms ++++++++++++++++++++++
--------------------stamp1317358016.890815019
points size 90777 
sort q time 5.252097 
seperate points time 12.653653 
publication time 11.914112 ms 
whole laserOdometry time 11.975226 ms 
 
mapping data assosiation time 31.480657 ms 
mapping solver time 25.189190 ms 
--------------------stamp1317358016.994683980
mapping data assosiation time 27.128737 ms 
sort q time 6.327045 
seperate points time 12.861848 
add points time 1.353719 ms
filter time 16.687628 ms 
map prepare time 3.442105 ms
map corner num 155959  surf num 53123 
build tree time 31.849960 ms 
points size 87505 
sort q time 6.457837 
seperate points time 12.007437 
publication time 7.812723 ms 
whole laserOdometry time 7.836698 ms 
 
-----t: 0.0529303
OdomCount 2457 & avg odom time 0.047632 ms ++++++++++++++++++++++
mapping data assosiation time 27.441177 ms 
mapping solver time 23.606792 ms 
points size 86475 
filter time 16.569884 ms 
sort q time 5.567206 
seperate points time 15.846332 
publication time 8.952878 ms 
whole laserOdometry time 8.984282 ms 
 
-----t: 0.0532354
OdomCount 2458 & avg odom time 0.047635 ms ++++++++++++++++++++++
build tree time 59.173061 ms 
--------------------stamp1317358017.306489944
prepare time 12.470937 
sort q time 6.084065 
seperate points time 13.006817 
publication time 7.083411 ms 
whole laserOdometry time 7.092319 ms 
 
mapping data assosiation time 44.354659 ms 
mapping optimization time 171.310495 
points size 88481 
map prepare time 4.627132 ms
scan registration time 35.632728 ms *************
publication time 10.696520 ms 
whole laserOdometry time 10.712154 ms 
 
-----t: 0.0571085
OdomCount 2460 & avg odom time 0.047644 ms ++++++++++++++++++++++
1317358017.410432100 WriteOdom laser_odom_to_init
1317358017.410432100 WriteOdom aft_mapped_to_init_high_frec
build tree time 62.762246 ms 
points size 89901 
mapping solver time 24.021152 ms 
-----t: 0.0424615
OdomCount 2461 & avg odom time 0.047642 ms ++++++++++++++++++++++
1317358017.514373064 WriteOdom laser_odom_to_init
1317358017.514373064 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.976057 ms 
--------------------stamp1317358017.618315935
points size 90590 
sort q time 5.676371 
seperate points time 12.711565 
publication time 11.934611 ms 
whole laserOdometry time 11.949800 ms 
 
build tree time 59.299344 ms 
mapping data assosiation time 22.569691 ms 
points size 91901 
mapping solver time 31.152336 ms 
-----t: 0.0518928
OdomCount 2463 & avg odom time 0.047641 ms ++++++++++++++++++++++
mapping solver time 21.773182 ms 
mapping optimization time 166.448956 
add points time 0.974440 ms
filter time 14.993816 ms 
map prepare time 6.174219 ms
map corner num 233883  surf num 79405 
prepare time 14.480986 
sort q time 5.592789 
seperate points time 13.161253 
-----t: 0.0350415
OdomCount 2464 & avg odom time 0.047636 ms ++++++++++++++++++++++
build tree time 62.473149 ms 
mapping data assosiation time 21.918834 ms 
--------------------stamp1317358017.930149078
prepare time 13.019193 
sort q time 5.760107 
seperate points time 12.251968 
mapping solver time 15.445048 ms 
filter time 18.606138 ms 
--------------------stamp1317358018.034116029
points size 96420 
sort q time 6.252006 
seperate points time 25.204093 
mapping pub time 98.692961 ms 
whole mapping time 274.857968 ms +++++
mappingCount 1641 & avg mapping time 151.787063 ms ++++++++++++++++++++++
--------------------stamp1317358018.138081073
prepare time 11.931468 
sort q time 5.291251 
seperate points time 12.753532 
publication time 8.747779 ms 
whole laserOdometry time 8.758185 ms 
 
-----t: 0.0554597
OdomCount 2467 & avg odom time 0.047645 ms ++++++++++++++++++++++
mapping solver time 25.698700 ms 
mapping data assosiation time 22.987293 ms 
points size 92542 
mapping solver time 24.416495 ms 
mapping optimization time 158.523699 
add points time 0.931596 ms
sort q time 11.625449 
seperate points time 25.985788 
publication time 9.842283 ms 
whole laserOdometry time 9.856576 ms 
 
-----t: 0.0800456
OdomCount 2468 & avg odom time 0.047658 ms ++++++++++++++++++++++
--------------------stamp1317358018.346040964
prepare time 11.105737 
sort q time 5.477535 
seperate points time 11.545033 
publication time 8.123384 ms 
whole laserOdometry time 8.137954 ms 
 
mapping data assosiation time 25.765086 ms 
-----t: 0.0750315
OdomCount 2469 & avg odom time 0.047670 ms ++++++++++++++++++++++
mapping solver time 20.293507 ms 
points size 92400 
drop lidar frame in mapping for real time performance 
sort q time 5.230124 
seperate points time 22.318991 
publication time 10.866140 ms 
whole laserOdometry time 10.880335 ms 
 
points size 93404 
mapping solver time 29.832598 ms 
publication time 7.774389 ms 
whole laserOdometry time 7.790763 ms 
 
mapping data assosiation time 27.870246 ms 
mapping solver time 24.790352 ms 
--------------------stamp1317358018.657963991
sort q time 5.327891 
seperate points time 12.721088 
-----t: 0.036501
OdomCount 2472 & avg odom time 0.047670 ms ++++++++++++++++++++++
build tree time 58.607259 ms 
mapping data assosiation time 22.643980 ms 
--------------------stamp1317358018.761905908
points size 95065 
sort q time 5.937227 
seperate points time 12.522441 
mapping data assosiation time 26.060186 ms 
scan registration time 36.292998 ms *************
1317358018.761905908 WriteOdom laser_odom_to_init
1317358018.761905908 WriteOdom aft_mapped_to_init_high_frec
filter time 17.003528 ms 
--------------------stamp1317358018.865848064
points size 96183 
prepare time 11.547412 
scan registration time 30.562197 ms *************
publication time 11.683871 ms 
whole laserOdometry time 11.694571 ms 
 
mapping data assosiation time 25.095887 ms 
mapping solver time 21.026203 ms 
--------------------stamp1317358018.969840049
mapping data assosiation time 23.451262 ms 
sort q time 5.728512 
seperate points time 13.311549 
publication time 10.057057 ms 
whole laserOdometry time 10.077688 ms 
 
drop lidar frame in mapping for real time performance 
[0m[ INFO] [1718804735.860171044, 1317358019.044736417]: Received 318578 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804735.860208771, 1317358019.044736417]: Data saved to 1317358018657963.pcd[0m
points size 98988 
build tree time 53.256195 ms 
sort q time 6.477343 
seperate points time 13.273338 
mapping data assosiation time 25.833004 ms 
-----t: 0.0388032
OdomCount 2476 & avg odom time 0.047673 ms ++++++++++++++++++++++
mapping solver time 23.266748 ms 
mapping data assosiation time 20.539193 ms 
--------------------stamp1317358019.177820920
points size 99761 
filter time 21.494606 ms 
map prepare time 4.297127 ms
map corner num 238658  surf num 80802 
sort q time 6.694421 
seperate points time 19.483710 
publication time 9.433922 ms 
whole laserOdometry time 9.448707 ms 
 
-----t: 0.0836622
OdomCount 2477 & avg odom time 0.047688 ms ++++++++++++++++++++++
prepare time 12.131098 
scan registration time 29.356820 ms *************
mapping solver time 21.629387 ms 
mapping data assosiation time 28.622312 ms 
mapping solver time 21.972269 ms 
points size 97771 
drop lidar frame in mapping for real time performance 
publication time 8.553429 ms 
whole laserOdometry time 8.636026 ms 
 
-----t: 0.0604247
OdomCount 2479 & avg odom time 0.047691 ms ++++++++++++++++++++++
build tree time 67.092076 ms 
--------------------stamp1317358019.489837884
prepare time 11.616064 
sort q time 5.623164 
seperate points time 22.460816 
mapping solver time 29.213346 ms 
-----t: 0.0419906
OdomCount 2480 & avg odom time 0.047688 ms ++++++++++++++++++++++
mapping data assosiation time 27.941772 ms 
mapping solver time 21.890317 ms 
points size 96043 
filter time 22.852803 ms 
drop lidar frame in mapping for real time performance 
sort q time 5.733023 
seperate points time 12.962493 
map prepare time 4.479681 ms
map corner num 239737  surf num 81095 
publication time 11.514995 ms 
whole laserOdometry time 11.540186 ms 
 
-----t: 0.0519784
OdomCount 2481 & avg odom time 0.047690 ms ++++++++++++++++++++++
1317358019.593828916 WriteOdom laser_odom_to_init
1317358019.593828916 WriteOdom aft_mapped_to_init_high_frec
build tree time 66.319181 ms 
--------------------stamp1317358019.697822093
prepare time 12.943154 
sort q time 5.041575 
seperate points time 11.436232 
mapping solver time 26.070446 ms 
-----t: 0.03792
OdomCount 2482 & avg odom time 0.047686 ms ++++++++++++++++++++++
1317358019.697822093 WriteOdom laser_odom_to_init
1317358019.697822093 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.921671 ms 
mapping solver time 21.898955 ms 
mapping optimization time 170.332977 
add points time 0.980725 ms
points size 94856 
drop lidar frame in mapping for real time performance 
publication time 8.783403 ms 
whole laserOdometry time 8.798117 ms 
 
build tree time 66.883853 ms 
--------------------stamp1317358019.905805110
prepare time 11.012785 
sort q time 5.660378 
seperate points time 12.740391 
mapping solver time 23.226187 ms -----t: 0.0473324
OdomCount 2484 & avg odom time 0.047682 ms ++++++++++++++++++++++
1317358019.905805110 WriteOdom laser_odom_to_init
1317358019.905805110 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.143136 ms 
mapping solver time 22.833351 ms 
mapping optimization time 169.653927 
add points time 0.912341 ms
--------------------stamp1317358020.009793996
points size 94699 
drop lidar frame in mapping for real time performance 
scan registration time 31.138891 ms *************
publication time 11.301070 ms 
whole laserOdometry time 11.315350 ms 
 
build tree time 67.848269 ms 
--------------------stamp1317358020.113782882
points size 94815 
prepare time 14.729727 
mapping data assosiation time 28.011892 ms 
scan registration time 30.405104 ms *************
mapping solver time 22.018505 ms 
publication time 10.061510 ms 
whole laserOdometry time 10.077213 ms 
 
-----t: 0.0419875
OdomCount 2486 & avg odom time 0.047680 ms ++++++++++++++++++++++
1317358020.113782882 WriteOdom laser_odom_to_init
1317358020.113782882 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.859493 ms 
mapping solver time 22.391529 ms 
--------------------stamp1317358020.217775106
drop lidar frame in mapping for real time performance 
sort q time 6.592462 
seperate points time 13.936408 
publication time 9.331997 ms 
whole laserOdometry time 9.346588 ms 
 
-----t: 0.0510598
OdomCount 2487 & avg odom time 0.047681 ms ++++++++++++++++++++++
1317358020.217775106 WriteOdom laser_odom_to_init
1317358020.217775106 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.253161 ms 
points size 95261 
sort q time 5.722389 
seperate points time 18.833746 
mapping data assosiation time 26.216800 ms 
mapping solver time 16.178233 ms 
publication time 10.758096 ms 
whole laserOdometry time 10.768079 ms 
 
mapping optimization time 146.103144 
-----t: 0.0444888
OdomCount 2488 & avg odom time 0.047680 ms ++++++++++++++++++++++
add points time 1.165862 ms
filter time 20.136606 ms 
map prepare time 3.495375 ms
map corner num 241455  surf num 81429 
--------------------stamp1317358020.425757884
points size 95351 
sort q time 5.149557 
seperate points time 10.574660 
-----t: 0.0552707
mapping solver time 18.333854 ms 
mapping data assosiation time 28.859264 ms 
prepare time 18.358719 
filter time 21.684206 ms 
-----t: 0.0575695
--------------------stamp1317358020.633858919
prepare time 11.495502 
sort q time 5.634612 
seperate points time 12.113193 
publication time 11.782511 ms 
whole laserOdometry time 11.832481 ms 
 
-----t: 0.061516
OdomCount 2491 & avg odom time 0.047693 ms ++++++++++++++++++++++
1317358020.633858919 WriteOdom laser_odom_to_init
1317358020.633858919 WriteOdom aft_mapped_to_init_high_frecmapping solver time 29.351730 ms 
points size 96682 
sort q time 5.590851 
seperate points time 12.776830 
mapping solver time 21.764717 ms 
filter time 20.832143 ms 
-----t: 0.0659083
OdomCount 2492 & avg odom time 0.047700 ms ++++++++++++++++++++++
--------------------stamp1317358020.841959953
prepare time 12.295953 
sort q time 5.584215 
seperate points time 12.766170 
mapping data assosiation time 25.640650 ms 
mapping solver time 17.860461 ms 
--------------------stamp1317358020.945998907
prepare time 14.133531 
sort q time 5.584614 
seperate points time 13.112598 
filter time 18.445371 ms 
map prepare time 4.375824 ms
map corner num 242679  surf num 81711 
-----t: 0.0589158
OdomCount 2494 & avg odom time 0.047708 ms ++++++++++++++++++++++
--------------------stamp1317358021.050040006
points size 98743 
sort q time 5.576580 
seperate points time 13.149112 
mapping data assosiation time 27.626261 ms 
publication time 9.421482 ms 
whole laserOdometry time 9.433299 ms 
 
mapping solver time 22.464181 ms 
mapping data assosiation time 25.565409 ms 
--------------------stamp1317358021.154079914
prepare time 13.401227 
sort q time 5.738178 
seperate points time 12.422517 
map prepare time 4.903258 ms
map corner num 243168  surf num 81885 
publication time 9.951422 ms 
whole laserOdometry time 9.966785 ms 
 
-----t: 0.0531594
OdomCount 2496 & avg odom time 0.047712 ms ++++++++++++++++++++++
build tree time 61.713574 ms 
points size 100414 
mapping data assosiation time 28.970459 ms 
sort q time 6.010626 
seperate points time 14.010811 
scan registration time 34.263658 ms *************
mapping solver time 29.567133 ms 
publication time 9.718365 ms 
whole laserOdometry time 9.752076 ms 
 
-----t: 0.0665118
OdomCount 2497 & avg odom time 0.047720 ms ++++++++++++++++++++++
add points time 1.355779 ms
prepare time 14.775690 
filter time 22.590770 ms 
publication time 11.818717 ms 
whole laserOdometry time 11.887038 ms 
 
--------------------stamp1317358021.466073989
points size 101007 
mapping data assosiation time 28.278786 ms 
publication time 9.528679 ms 
whole laserOdometry time 9.542212 ms 
 
-----t: 0.0608467
OdomCount 2499 & avg odom time 0.047724 ms ++++++++++++++++++++++
mapping data assosiation time 29.493993 ms 
mapping solver time 14.886982 ms 
points size 100869 
map prepare time 3.889494 ms
map corner num 244001  surf num 82088 
sort q time 5.874649 
seperate points time 14.272018 
scan registration time 34.769471 ms *************
publication time 9.572919 ms 
whole laserOdometry time 9.598239 ms 
 
-----t: 0.045231
OdomCount 2500 & avg odom time 0.047723 ms ++++++++++++++++++++++
1317358021.570039033 WriteOdom laser_odom_to_init
1317358021.570039033 WriteOdom aft_mapped_to_init_high_frec
build tree time 58.233386 ms 
mapping data assosiation time 27.038262 ms 
sort q time 5.905265 
seperate points time 14.104197 
publication time 13.816815 ms 
whole laserOdometry time 13.832379 ms 
 
mapping data assosiation time 27.596330 ms 
mapping solver time 16.573380 ms 
filter time 16.458172 ms 
map prepare time 3.909591 ms
map corner num 244431  surf num 82192 
sort q time 5.790144 
seperate points time 14.168684 
publication time 10.453710 ms 
whole laserOdometry time 10.466030 ms 
 
-----t: 0.0479911
OdomCount 2502 & avg odom time 0.047722 ms ++++++++++++++++++++++
1317358021.777899980 WriteOdom laser_odom_to_init
1317358021.777899980 WriteOdom aft_mapped_to_init_high_frec
build tree time 60.268706 ms 
mapping data assosiation time 25.392061 ms 
--------------------stamp1317358021.881827116
points size 100855 
sort q time 5.850876 
seperate points time 14.277739 
mapping data assosiation time 31.804241 ms 
publication time 18.368543 ms 
whole laserOdometry time 18.396573 ms 
 
filter time 16.369077 ms 
--------------------stamp1317358021.985744953
sort q time 7.363691 
seperate points time 15.487024 
publication time 17.898546 ms 
whole laserOdometry time 17.914668 ms 
 
mapping pub time 100.759513 ms 
whole mapping time 289.839890 ms +++++
mappingCount 1661 & avg mapping time 152.314095 ms ++++++++++++++++++++++
map prepare time 4.706036 ms
map corner num 244867  surf num 82326 
--------------------stamp1317358022.089679956
points size 101108 
sort q time 5.206279 
seperate points time 12.643098 
scan registration time 29.712626 ms *************
build tree time 58.226816 ms 
-----t: 0.0528229
OdomCount 2505 & avg odom time 0.047727 ms ++++++++++++++++++++++
mapping solver time 20.037420 ms 
points size 101320 
mapping data assosiation time 28.701754 ms 
mapping solver time 23.529452 ms -----t: 0.0455808
OdomCount 2506 & avg odom time 0.047726 ms ++++++++++++++++++++++
1317358022.193623065 WriteOdom laser_odom_to_init
1317358022.193623065 WriteOdom aft_mapped_to_init_high_frec
map prepare time 4.918988 ms
map corner num 245352  surf num 82453 
--------------------stamp1317358022.297564983
points size 101756 
sort q time 5.637896 
seperate points time 14.022249 
scan registration time 35.170940 ms *************
[0m[ INFO] [1718804739.148635181, 1317358022.322047366]: Received 327193 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804739.148713366, 1317358022.322047366]: Data saved to 1317358021570039.pcd[0m
publication time 9.469209 ms 
whole laserOdometry time 9.485892 ms 
 
-----t: 0.0466385
OdomCount 2507 & avg odom time 0.047726 ms ++++++++++++++++++++++
mapping data assosiation time 34.415575 ms 
--------------------stamp1317358022.401506900
prepare time 13.433357 
sort q time 7.061608 
seperate points time 14.630294 
mapping data assosiation time 33.448159 ms 
publication time 11.588804 ms 
whole laserOdometry time 11.605387 ms 
 
mapping solver time 26.322454 ms 
filter time 23.460352 ms 
--------------------stamp1317358022.505428075
points size 102107 
sort q time 6.211085 
seperate points time 15.016189 
publication time 10.540813 ms 
whole laserOdometry time 10.556744 ms 
 
build tree time 70.273627 ms 
-----t: 0.0769514
OdomCount 2509 & avg odom time 0.047742 ms ++++++++++++++++++++++
points size 102258 
sort q time 5.942281 
seperate points time 14.470061 
-----t: 0.048341
OdomCount 2510 & avg odom time 0.047743 ms ++++++++++++++++++++++
mapping solver time 21.178114 ms 
--------------------stamp1317358022.713289976
points size 102588 
map prepare time 4.839281 ms
map corner num 246458  surf num 83020 
scan registration time 31.521183 ms *************
publication time 10.697945 ms 
whole laserOdometry time 10.719306 ms 
 
-----t: 0.0510937
OdomCount 2511 & avg odom time 0.047744 ms ++++++++++++++++++++++
build tree time 73.043315 ms 
--------------------stamp1317358022.817234992
points size 102781 
prepare time 20.005060 
mapping data assosiation time 33.594583 ms 
--------------------stamp1317358022.921178102
publication time 11.454578 ms 
whole laserOdometry time 11.480132 ms 
 
add points time 1.267584 ms
filter time 22.900204 ms 
sort q time 15.485202 
seperate points time 30.785402 
publication time 10.427848 ms 
whole laserOdometry time 10.440905 ms 
 
--------------------stamp1317358023.025144100
prepare time 14.323154 
sort q time 6.153426 
seperate points time 14.319797 
mapping data assosiation time 30.916657 ms 
-----t: 0.0499237
OdomCount 2514 & avg odom time 0.047765 ms ++++++++++++++++++++++
mapping data assosiation time 29.129540 ms 
points size 103106 
mapping optimization time 168.601092 
scan registration time 33.097970 ms *************
mapping pub time 7.411098 ms 
whole mapping time 200.058460 ms +++++
mappingCount 1666 & avg mapping time 152.509364 ms ++++++++++++++++++++++
1317358022.713289976 WriteOdom aft_mapped_to_init
-----t: 0.0538281
OdomCount 2515 & avg odom time 0.047768 ms ++++++++++++++++++++++
--------------------stamp1317358023.233102083
build tree time 61.476568 ms 
sort q time 10.842902 
seperate points time 18.283984 
mapping data assosiation time 34.610769 ms 
publication time 17.145409 ms 
whole laserOdometry time 17.160507 ms 
 
1317358023.233102083 WriteOdom laser_odom_to_init
1317358023.233102083 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 39.182747 ms 
points size 103054 
scan registration time 36.359190 ms *************
filter time 22.164909 ms 
--------------------stamp1317358023.441059112
prepare time 15.843767 
build tree time 73.736802 ms 
mapping data assosiation time 35.525691 ms 
-----t: 0.0788322
OdomCount 2518 & avg odom time 0.047786 ms ++++++++++++++++++++++
mapping solver time 26.995448 ms 
sort q time 6.790548 
seperate points time 12.914969 
[0m[ INFO] [1718804740.387496881, 1317358023.570985897]: Received 330949 data points in frame camera_init with the following fields: x y z intensity[0m
scan registration time 32.966081 ms *************
[0m[ INFO] [1718804740.387659427, 1317358023.570985897]: Data saved to 1317358022713289.pcd[0m
mapping data assosiation time 30.105616 ms 
mapping solver time 21.504585 ms 
-----t: 0.0604409
OdomCount 2519 & avg odom time 0.047791 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317358023.649085998
points size 102938 
sort q time 5.259984 
seperate points time 11.841538 
publication time 7.956392 ms 
whole laserOdometry time 7.991332 ms 
 
-----t: 0.0467914
OdomCount 2520 & avg odom time 0.047791 ms ++++++++++++++++++++++
mapping data assosiation time 29.575741 ms 
--------------------stamp1317358023.753124952
points size 102801 
sort q time 6.681587 
seperate points time 13.479476 
mapping data assosiation time 33.454530 ms 
filter time 18.231799 ms 
--------------------stamp1317358023.857141017
points size 102563 
sort q time 5.810516 
seperate points time 13.738717 
build tree time 59.959877 ms 
publication time 9.892715 ms 
whole laserOdometry time 9.907258 ms 
 
mapping data assosiation time 32.967885 ms 
-----t: 0.0653678
OdomCount 2522 & avg odom time 0.047804 ms ++++++++++++++++++++++
1317358023.857141017 WriteOdom laser_odom_to_init
1317358023.857141017 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358023.961183071
points size 102514 
prepare time 17.649068 
sort q time 6.993933 
seperate points time 16.001828 
publication time 10.082022 ms 
whole laserOdometry time 10.095383 ms 
 
-----t: 0.0595145
OdomCount 2523 & avg odom time 0.047809 ms ++++++++++++++++++++++
map prepare time 3.730699 ms
map corner num 249492  surf num 84258 
--------------------stamp1317358024.065244913
points size 102377 
sort q time 5.883595 
seperate points time 13.657638 
build tree time 63.232207 ms 
publication time 9.334552 ms 
whole laserOdometry time 9.349538 ms 
 
-----t: 0.0431966
OdomCount 2524 & avg odom time 0.047807 ms ++++++++++++++++++++++
1317358024.065244913 WriteOdom laser_odom_to_init
1317358024.065244913 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.858036 ms 
--------------------stamp1317358024.169305086
points size 101803 
sort q time 6.927373 
seperate points time 15.751628 
-----t: 0.0437135
OdomCount 2525 & avg odom time 0.047805 ms ++++++++++++++++++++++
1317358024.169305086 WriteOdom laser_odom_to_init
publication time 11.171932 ms 
whole laserOdometry time 11.183120 ms 
 
1317358024.169305086 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.420949 ms 
filter time 16.436917 ms 
map prepare time 4.044031 ms
map corner num 249924  surf num 84424 
points size 100102 
sort q time 5.673803 
seperate points time 13.139381 
-----t: 0.0409454
OdomCount 2526 & avg odom time 0.047802 ms ++++++++++++++++++++++
mapping data assosiation time 28.237427 ms 
--------------------stamp1317358024.377454042
points size 99325 
sort q time 6.459416 
seperate points time 15.002508 
mapping data assosiation time 32.885328 ms 
mapping solver time 22.925881 ms 
filter time 17.807801 ms 
map prepare time 3.902597 ms
map corner num 250374  surf num 84574 
points size 98395 
sort q time 5.337067 
seperate points time 12.440840 
publication time 12.555343 ms 
whole laserOdometry time 12.587476 ms 
 
build tree time 68.443918 ms 
-----t: 0.078011
OdomCount 2528 & avg odom time 0.047812 ms ++++++++++++++++++++++
--------------------stamp1317358024.585675001
prepare time 13.996856 
sort q time 5.775399 
seperate points time 13.363780 
publication time 10.372165 ms 
whole laserOdometry time 10.385609 ms 
 
-----t: 0.0612344
OdomCount 2529 & avg odom time 0.047817 ms ++++++++++++++++++++++
filter time 16.841944 ms 
map prepare time 6.136791 ms
map corner num 250853  surf num 84742 
prepare time 14.443985 
sort q time 5.479088 
seperate points time 12.996418 
publication time 10.725408 ms 
whole laserOdometry time 10.740552 ms 
 
-----t: 0.0520027
OdomCount 2530 & avg odom time 0.047818 ms ++++++++++++++++++++++
mapping data assosiation time 27.228961 ms 
points size 96186 
mapping solver time 24.810214 ms 
publication time 10.296670 ms 
whole laserOdometry time 10.307130 ms 
 
mapping data assosiation time 30.953412 ms 
-----t: 0.0428872
OdomCount 2531 & avg odom time 0.047817 ms ++++++++++++++++++++++
1317358024.793919086 WriteOdom laser_odom_to_init
filter time 15.493725 ms 
map prepare time 3.604705 ms
map corner num 251306  surf num 84882 
--------------------stamp1317358024.898006916
prepare time 13.019291 
sort q time 14.057870 
seperate points time 21.448008 
scan registration time 51.047716 ms *************
publication time 9.238292 ms 
whole laserOdometry time 9.278105 ms 
 
-----t: 0.0719756
OdomCount 2532 & avg odom time 0.047826 ms ++++++++++++++++++++++
--------------------stamp1317358025.002070903
points size 94977 
sort q time 5.374444 
seperate points time 12.394703 
publication time 9.645473 ms 
whole laserOdometry time 9.659957 ms 
 
mapping data assosiation time 32.892058 ms 
mapping solver time 23.974471 ms 
--------------------stamp1317358025.106107950
drop lidar frame in mapping for real time performance 
sort q time 5.692160 
seperate points time 11.080282 
publication time 7.609467 ms 
whole laserOdometry time 7.623898 ms 
 
-----t: 0.0549922
OdomCount 2534 & avg odom time 0.047832 ms ++++++++++++++++++++++
1317358025.106107950 WriteOdom laser_odom_to_init
1317358025.106107950 WriteOdom aft_mapped_to_init_high_frec
build tree time 68.331633 ms 
--------------------stamp1317358025.210123062
sort q time 5.611111 
seperate points time 10.817808 
mapping solver time 24.557166 ms 
-----t: 0.0358899
OdomCount 2535 & avg odom time 0.047827 ms ++++++++++++++++++++++
mapping data assosiation time 30.616356 ms 
mapping solver time 19.095654 ms 
--------------------stamp1317358025.314064979
drop lidar frame in mapping for real time performance 
scan registration time 32.996913 ms *************
publication time 10.007060 ms 
whole laserOdometry time 10.017959 ms 
 
-----t: 0.0463918
OdomCount 2536 & avg odom time 0.047827 ms ++++++++++++++++++++++
build tree time 62.003873 ms 
--------------------stamp1317358025.417983055
prepare time 17.263419 
scan registration time 34.163210 ms *************
publication time 8.573522 ms 
whole laserOdometry time 8.591373 ms 
 
mapping solver time 17.270415 ms 
-----t: 0.0789785
OdomCount 2537 & avg odom time 0.047839 ms ++++++++++++++++++++++
map prepare time 11.331191 ms
map corner num 252587  surf num 85240 
sort q time 5.761475 
seperate points time 13.050047 
publication time 7.913606 ms 
whole laserOdometry time 7.928292 ms 
 
-----t: 0.0472882
OdomCount 2538 & avg odom time 0.047839 ms ++++++++++++++++++++++
build tree time 69.752528 ms 
--------------------stamp1317358025.625727891
prepare time 12.175379 
sort q time 5.652384 
seperate points time 10.900112 
publication time 8.607603 ms 
whole laserOdometry time 8.621934 ms 
 
mapping data assosiation time 29.930970 ms 
-----t: 0.0513478
OdomCount 2539 & avg odom time 0.047840 ms ++++++++++++++++++++++
mapping solver time 20.787599 ms 
mapping optimization time 173.771892 
add points time 1.204775 ms
filter time 16.908133 ms 
map prepare time 5.945889 ms
map corner num 253097  surf num 85388 
points size 94208 
prepare time 39.304833 
sort q time 5.413152 
seperate points time 12.617893 
scan registration time 68.775909 ms *************
build tree time 77.954156 ms 
publication time 7.413920 ms 
whole laserOdometry time 7.425317 ms 
 
--------------------stamp1317358025.833444118
prepare time 10.840201 
sort q time 4.989309 
seperate points time 10.847980 
scan registration time 25.857900 ms *************
publication time 8.956027 ms 
whole laserOdometry time 8.968699 ms 
 
-----t: 0.0499599
mapping data assosiation time 26.362104 ms 
mapping solver time 20.032009 ms 
--------------------stamp1317358025.937315940
prepare time 12.592470 
publication time 9.101745 ms 
whole laserOdometry time 9.115562 ms 
 
build tree time 65.245423 ms 
mapping data assosiation time 25.209331 ms 
points size 96966 
mapping solver time 25.934994 ms 
mapping data assosiation time 30.970007 ms 
-----t: 0.0552219
OdomCount 2543 & avg odom time 0.047847 ms ++++++++++++++++++++++
filter time 16.118796 ms 
--------------------stamp1317358026.145103931
points size 98042 
sort q time 5.430591 
seperate points time 12.666623 
scan registration time 34.650890 ms *************
-----t: 0.0384642
OdomCount 2544 & avg odom time 0.047843 ms ++++++++++++++++++++++
mapping data assosiation time 25.317528 ms 
--------------------stamp1317358026.248975992
mapping solver time 23.079588 ms 
sort q time 5.387973 
seperate points time 12.852699 
publication time 9.482388 ms 
whole laserOdometry time 9.495967 ms 
 
-----t: 0.0646382
OdomCount 2545 & avg odom time 0.047850 ms ++++++++++++++++++++++
points size 100240 
sort q time 6.912719 
seperate points time 17.922101 
-----t: 0.0432597
OdomCount 2546 & avg odom time 0.047848 ms ++++++++++++++++++++++
mapping pub time 99.671536 ms 
whole mapping time 293.050171 ms +++++
mappingCount 1681 & avg mapping time 153.059737 ms ++++++++++++++++++++++
--------------------stamp1317358026.456718921
points size 101565 
sort q time 6.260245 
seperate points time 20.977732 
-----t: 0.0369795
OdomCount 2547 & avg odom time 0.047844 ms ++++++++++++++++++++++
publication time 12.586824 ms 
whole laserOdometry time 12.611953 ms 
 
mapping solver time 20.804407 ms 
points size 102355 
sort q time 5.950336 
seperate points time 13.671737 
add points time 1.540587 ms
publication time 13.150581 ms 
whole laserOdometry time 13.166647 ms 
 
filter time 17.253486 ms 
--------------------stamp1317358026.664483070
points size 102822 
sort q time 5.894503 
seperate points time 13.695304 
scan registration time 35.865750 ms *************
-----t: 0.0498153
OdomCount 2549 & avg odom time 0.047847 ms ++++++++++++++++++++++
mapping solver time 23.945812 ms 
--------------------stamp1317358026.768377065
points size 103020 
sort q time 5.860292 
seperate points time 13.583261 
map prepare time 6.701852 ms
map corner num 328204  surf num 113369 
-----t: 0.0470561
OdomCount 2550 & avg odom time 0.047847 ms ++++++++++++++++++++++
[0m[ INFO] [1718804743.649841501, 1317358026.834472318]: Data saved to 1317358025937315.pcd[0m
--------------------stamp1317358026.872247934
points size 103262 
sort q time 5.947385 
seperate points time 13.399469 
build tree time 97.896131 ms 
mapping data assosiation time 30.688849 ms 
mapping solver time 29.425806 ms 
prepare time 12.396115 
sort q time 5.986047 
seperate points time 11.736120 
publication time 10.112990 ms 
whole laserOdometry time 10.126128 ms 
 
add points time 1.213793 ms
filter time 32.160846 ms 
mapping pub time 2.410388 ms 
whole mapping time 256.615612 ms +++++
mappingCount 1684 & avg mapping time 153.160012 ms ++++++++++++++++++++++
--------------------stamp1317358027.079989910
prepare time 15.870757 
sort q time 5.961974 
seperate points time 18.939429 
publication time 11.331908 ms 
whole laserOdometry time 11.360517 ms 
 
build tree time 89.134889 ms 
--------------------stamp1317358027.183834075
mapping data assosiation time 30.068669 ms 
sort q time 6.105771 
seperate points time 13.597310 
mapping solver time 22.820865 ms 
scan registration time 34.259388 ms *************
publication time 9.913297 ms 
whole laserOdometry time 9.926312 ms 
 
mapping data assosiation time 30.268524 ms 
-----t: 0.0539723
OdomCount 2554 & avg odom time 0.047850 ms ++++++++++++++++++++++
mapping solver time 22.750494 ms 
--------------------stamp1317358027.287658929
points size 102811 
map prepare time 4.984885 ms
map corner num 295834  surf num 108936 
sort q time 5.853600 
seperate points time 13.465536 
publication time 10.680729 ms 
whole laserOdometry time 10.690456 ms 
 
-----t: 0.0440495
OdomCount 2555 & avg odom time 0.047849 ms ++++++++++++++++++++++
1317358027.287658929 WriteOdom laser_odom_to_init
1317358027.287658929 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358027.391482114
prepare time 13.708515 
sort q time 6.197526 
seperate points time 13.216202 
publication time 11.088567 ms 
whole laserOdometry time 11.097520 ms 
 
-----t: 0.0473387
OdomCount 2556 & avg odom time 0.047849 ms ++++++++++++++++++++++
mapping data assosiation time 26.880291 ms 
--------------------stamp1317358027.495304107
points size 102614 
sort q time 5.858282 
seperate points time 14.275182 
publication time 7.829420 ms 
whole laserOdometry time 7.841186 ms 
 
map prepare time 4.880778 ms
map corner num 296463  surf num 109178 
--------------------stamp1317358027.599126100
points size 102877 
sort q time 5.816763 
seperate points time 13.519960 
publication time 7.366191 ms 
whole laserOdometry time 7.379445 ms 
 
mapping data assosiation time 29.484045 ms 
mapping solver time 26.569261 ms 
--------------------stamp1317358027.702949047
points size 102854 
prepare time 14.689440 
sort q time 6.176501 
seperate points time 14.707768 
publication time 10.423896 ms 
filter time 25.971040 ms 
-----t: 0.0676512
OdomCount 2559 & avg odom time 0.047871 ms ++++++++++++++++++++++
--------------------stamp1317358027.806771993
points size 102891 
sort q time 5.744132 
seperate points time 13.568381 
build tree time 80.978117 ms 
publication time 10.945313 ms 
whole laserOdometry time 11.021439 ms 
 
mapping data assosiation time 26.447574 ms 
--------------------stamp1317358027.910621881
points size 102984 
sort q time 6.241749 
seperate points time 13.660138 
scan registration time 30.050685 ms *************
mapping data assosiation time 29.886945 ms 
mapping solver time 22.422677 ms 
publication time 22.015670 ms 
whole laserOdometry time 22.027726 ms 
 
filter time 20.499503 ms 
map prepare time 4.121233 ms
map corner num 297597  surf num 109499 
[0m[ INFO] [1718804744.821845963, 1317358028.005300764]: Received 405641 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804744.821895597, 1317358028.005300764]: Data saved to 1317358027079989.pcd[0m
points size 103209 
sort q time 5.719366 
seperate points time 12.813173 
publication time 7.926926 ms 
whole laserOdometry time 7.940638 ms 
 
build tree time 81.245455 ms 
mapping data assosiation time 23.793689 ms 
--------------------stamp1317358028.118386983
sort q time 6.288645 
seperate points time 12.586197 
mapping data assosiation time 28.647331 ms 
publication time 11.253324 ms 
whole laserOdometry time 11.264382 ms 
 
-----t: 0.0711221
OdomCount 2563 & avg odom time 0.047876 ms ++++++++++++++++++++++
points size 103434 
sort q time 7.404062 
seperate points time 16.562548 
publication time 11.033369 ms 
whole laserOdometry time 11.050232 ms 
 
build tree time 86.538801 ms 
--------------------stamp1317358028.326247930
prepare time 13.765944 
sort q time 5.672174 
seperate points time 13.483190 
-----t: 0.0582234
OdomCount 2565 & avg odom time 0.047887 ms ++++++++++++++++++++++
mapping solver time 21.214564 ms 
mapping optimization time 198.429761 
add points time 0.965267 ms
filter time 20.422127 ms 
sort q time 6.009194 
seperate points time 14.192306 
publication time 10.124204 ms 
whole laserOdometry time 10.141020 ms 
 
build tree time 75.207548 ms 
--------------------stamp1317358028.534131050
mapping data assosiation time 25.733529 ms 
mapping solver time 27.280962 ms 
publication time 10.612672 ms 
whole laserOdometry time 10.625907 ms 
 
mapping solver time 18.374599 ms 
--------------------stamp1317358028.638073921
mapping pub time 8.137918 ms 
whole mapping time 211.912954 ms +++++
mappingCount 1691 & avg mapping time 153.451922 ms ++++++++++++++++++++++
sort q time 6.130266 
seperate points time 14.406951 
publication time 10.312606 ms 
whole laserOdometry time 10.343781 ms 
 
-----t: 0.0455062
OdomCount 2568 & avg odom time 0.047888 ms ++++++++++++++++++++++
1317358028.638073921 WriteOdom laser_odom_to_init
build tree time 73.848837 ms 
points size 102902 
mapping data assosiation time 27.952679 ms 
sort q time 6.306998 
seperate points time 13.613671 
scan registration time 29.241842 ms *************
mapping solver time 22.919154 ms 
publication time 9.390841 ms 
whole laserOdometry time 9.406332 ms 
 
-----t: 0.0551865
OdomCount 2569 & avg odom time 0.047891 ms ++++++++++++++++++++++
mapping data assosiation time 29.655741 ms 
1317358028.742016077 WriteOdom laser_odom_to_init
1317358028.742016077 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.512169 ms 
points size 103238 
drop lidar frame in mapping for real time performance 
scan registration time 31.570746 ms *************
publication time 14.893852 ms 
whole laserOdometry time 14.909310 ms 
 
-----t: 0.0511158
OdomCount 2570 & avg odom time 0.047892 ms ++++++++++++++++++++++
1317358028.845959901 WriteOdom laser_odom_to_init
1317358028.845959901 WriteOdom aft_mapped_to_init_high_frec
build tree time 77.579194 ms 
points size 103472 
mapping data assosiation time 28.358788 ms 
sort q time 5.835609 
seperate points time 14.073464 
scan registration time 32.219032 ms *************
mapping solver time 22.651174 ms 
publication time 10.528306 ms 
whole laserOdometry time 10.537099 ms 
 
publication time 11.940300 ms 
whole laserOdometry time 11.954865 ms 
 
--------------------stamp1317358029.157886028
points size 103586 
mapping solver time 28.686310 ms 
publication time 10.386296 ms 
whole laserOdometry time 10.402964 ms 
 
--------------------stamp1317358029.261877059
prepare time 13.815063 
-----t: 0.104189
OdomCount 2573 & avg odom time 0.047917 ms ++++++++++++++++++++++
1317358029.157886028 WriteOdom laser_odom_to_init
1317358029.157886028 WriteOdom aft_mapped_to_init_high_frec
filter time 35.193145 ms 
scan registration time 53.871932 ms *************
mapping pub time 13.028904 ms 
whole mapping time 240.172127 ms +++++
mappingCount 1694 & avg mapping time 153.567990 ms ++++++++++++++++++++++
[0m[ INFO] [1718804746.129269313, 1317358029.314179640]: Received 409132 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804746.129324177, 1317358029.314179640]: Data saved to 1317358028222305.pcd[0m
1317358028.845959902 WriteOdom aft_mapped_to_init
--------------------stamp1317358029.365866899
points size 103725 
sort q time 6.032218 
seperate points time 14.111568 
build tree time 92.385883 ms 
mapping data assosiation time 33.332130 ms 
points size 103803 
sort q time 6.605440 
seperate points time 17.421419 
mapping data assosiation time 31.297884 ms 
publication time 10.926485 ms 
whole laserOdometry time 10.939022 ms 
 
-----t: 0.0518781
OdomCount 2576 & avg odom time 0.047936 ms ++++++++++++++++++++++
filter time 22.952111 ms 
map prepare time 4.226007 ms
map corner num 301076  surf num 110592 
points size 103949 
sort q time 5.932552 
seperate points time 14.189020 
publication time 9.355149 ms 
whole laserOdometry time 9.368871 ms 
 
build tree time 81.097271 ms 
mapping data assosiation time 23.934049 ms 
points size 104001 
mapping solver time 26.553229 ms 
mapping data assosiation time 30.372995 ms 
mapping solver time 24.478712 ms 
filter time 19.640616 ms 
points size 104052 
scan registration time 38.084850 ms *************
publication time 13.872949 ms 
whole laserOdometry time 13.887818 ms 
 
-----t: 0.0567776
OdomCount 2579 & avg odom time 0.047943 ms ++++++++++++++++++++++
--------------------stamp1317358029.885725021
points size 104039 
mapping data assosiation time 32.934763 ms 
publication time 9.792283 ms 
whole laserOdometry time 9.806468 ms 
 
1317358029.885725021 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.654870 ms 
points size 104204 
add points time 1.141403 ms
filter time 23.749342 ms 
publication time 9.536745 ms 
whole laserOdometry time 9.547478 ms 
 
--------------------stamp1317358030.093631982
prepare time 13.236691 
build tree time 76.634782 ms 
sort q time 6.683541 
seperate points time 26.499733 
-----t: 0.0414489
OdomCount 2582 & avg odom time 0.047943 ms ++++++++++++++++++++++
publication time 10.029636 ms 
whole laserOdometry time 10.040966 ms 
 
mapping solver time 25.497818 ms 
--------------------stamp1317358030.197576045
prepare time 13.590277 
sort q time 8.611775 
seperate points time 16.126792 
scan registration time 34.352466 ms *************
publication time 8.201421 ms 
whole laserOdometry time 8.211777 ms 
 
filter time 27.532678 ms 
map prepare time 4.369451 ms
map corner num 302444  surf num 111126 
--------------------stamp1317358030.301496028
points size 104379 
sort q time 6.575274 
seperate points time 13.390340 
publication time 8.278921 ms 
whole laserOdometry time 8.290562 ms 
 
mapping data assosiation time 25.791608 ms 
--------------------stamp1317358030.405438899
prepare time 12.185480 
sort q time 6.878195 
seperate points time 14.429309 
publication time 14.100138 ms 
whole laserOdometry time 14.113695 ms 
 
mapping solver time 23.056465 ms 
filter time 22.592538 ms 
map prepare time 4.234166 ms
map corner num 302947  surf num 111356 
prepare time 16.227903 
sort q time 7.472719 
seperate points time 35.609879 
-----t: 0.0507237
OdomCount 2586 & avg odom time 0.047950 ms ++++++++++++++++++++++
build tree time 97.488833 ms 
points size 104511 
mapping data assosiation time 32.570583 ms 
publication time 10.209967 ms 
whole laserOdometry time 10.222958 ms 
 
mapping data assosiation time 27.039269 ms 
mapping solver time 22.564464 ms 
points size 104328 
filter time 28.890289 ms 
publication time 8.559458 ms 
whole laserOdometry time 8.605574 ms 
 
-----t: 0.0588759
OdomCount 2588 & avg odom time 0.047952 ms ++++++++++++++++++++++
1317358030.717266082 WriteOdom laser_odom_to_init
1317358030.717266082 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358030.821208000
points size 104410 
sort q time 7.842768 
seperate points time 13.816973 
mapping data assosiation time 33.544903 ms 

mapping solver time 27.670139 ms 
mapping data assosiation time 26.187188 ms 
points size 104408 
prepare time 13.508375 
sort q time 5.931565 
seperate points time 13.330673 
filter time 26.787102 ms 
-----t: 0.0499831
OdomCount 2590 & avg odom time 0.047957 ms ++++++++++++++++++++++
1317358030.925158023 WriteOdom laser_odom_to_init
1317358030.925158023 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358031.029126882
points size 104456 
sort q time 5.424825 
seperate points time 12.168405 
scan registration time 33.523240 ms *************
map prepare time 5.302471 ms
map corner num 304037  surf num 111698 
-----t: 0.0494279
OdomCount 2591 & avg odom time 0.047958 ms ++++++++++++++++++++++
--------------------stamp1317358031.133112907
points size 104298 
prepare time 14.822297 
scan registration time 35.047070 ms *************
publication time 9.963148 ms 
whole laserOdometry time 9.976816 ms 
 
-----t: 0.0513459
OdomCount 2592 & avg odom time 0.047959 ms ++++++++++++++++++++++
mapping solver time 34.159023 ms 
--------------------stamp1317358031.237086057
points size 104147 
sort q time 5.914884 
seperate points time 13.713917 
mapping solver time 24.837241 ms 
-----t: 0.0514911
OdomCount 2593 & avg odom time 0.047960 ms ++++++++++++++++++++++
map prepare time 4.930136 ms
map corner num 304622  surf num 111952 
points size 104050 
sort q time 6.185116 
seperate points time 13.596883 
build tree time 91.776000 ms 
-----t: 0.0654241
OdomCount 2594 & avg odom time 0.047967 ms ++++++++++++++++++++++
mapping data assosiation time 37.458091 ms 
sort q time 6.436316 
seperate points time 13.430566 
mapping solver time 45.081025 ms 
-----t: 0.0450021
OdomCount 2595 & avg odom time 0.047966 ms ++++++++++++++++++++++
1317358031.444938898 WriteOdom laser_odom_to_init
mapping data assosiation time 38.102704 ms 
--------------------stamp1317358031.548857927
mapping solver time 19.718612 ms 
sort q time 7.159591 
seperate points time 14.216149 
mapping pub time 2.458702 ms 
whole mapping time 270.806852 ms +++++
mappingCount 1703 & avg mapping time 154.070315 ms ++++++++++++++++++++++
publication time 10.325395 ms 
whole laserOdometry time 10.344094 ms 
 
--------------------stamp1317358031.652776002
prepare time 12.502476 
build tree time 74.740303 ms 
mapping data assosiation time 30.729416 ms 
-----t: 0.044823
OdomCount 2597 & avg odom time 0.047964 ms ++++++++++++++++++++++
1317358031.652776002 WriteOdom laser_odom_to_init
1317358031.652776002 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.677208 ms 
--------------------stamp1317358031.756692886
points size 104095 
sort q time 6.600042 
seperate points time 13.805809 
publication time 10.188346 ms 
whole laserOdometry time 10.204578 ms 
 
map prepare time 4.780082 ms
map corner num 305836  surf num 112503 
-----t: 0.0577275
OdomCount 2598 & avg odom time 0.047967 ms ++++++++++++++++++++++
1317358031.756692886 WriteOdom laser_odom_to_init
1317358031.756692886 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358031.860615015
points size 104138 
sort q time 6.240015 
seperate points time 14.581140 
build tree time 77.402274 ms 
publication time 11.577856 ms 
whole laserOdometry time 11.589617 ms 
 
-----t: 0.0619982
OdomCount 2599 & avg odom time 0.047973 ms ++++++++++++++++++++++
1317358031.860615015 WriteOdom laser_odom_to_init
1317358031.860615015 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358031.964534997
points size 104026 
sort q time 6.138799 
seperate points time 14.124704 
-----t: 0.0453826
OdomCount 2600 & avg odom time 0.047972 ms ++++++++++++++++++++++
1317358031.964534997 WriteOdom laser_odom_to_init
1317358031.964534997 WriteOdom aft_mapped_to_init_high_frec
publication time 15.833612 ms 
whole laserOdometry time 15.845965 ms 
 
[0m[ INFO] [1718804748.863955802, 1317358032.055015053]: Received 415735 data points in frame camera_init with the following fields: x y z intensity[0m
mapping pub time 2.436348 ms 
whole mapping time 239.156697 ms +++++
mappingCount 1705 & avg mapping time 154.166248 ms ++++++++++++++++++++++
points size 104003 
scan registration time 48.166813 ms *************
-----t: 0.0453077
OdomCount 2601 & avg odom time 0.047971 ms ++++++++++++++++++++++
build tree time 78.095764 ms 
--------------------stamp1317358032.172394037
points size 104039 
mapping data assosiation time 33.891297 ms 
prepare time 15.929062 
publication time 11.585134 ms 
whole laserOdometry time 11.601566 ms 
 
-----t: 0.0576118
OdomCount 2602 & avg odom time 0.047974 ms ++++++++++++++++++++++
mapping data assosiation time 35.914366 ms 
--------------------stamp1317358032.276360988points size 103974 
scan registration time 41.811440 ms *************
mapping pub time 10.318634 ms 
whole mapping time 268.035489 ms +++++
mappingCount 1706 & avg mapping time 154.232996 ms ++++++++++++++++++++++
1317358031.860615015 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0628224
OdomCount 2603 & avg odom time 0.047980 ms ++++++++++++++++++++++
--------------------stamp1317358032.380326986
prepare time 16.470051 
sort q time 6.618255 
seperate points time 15.351009 scan registration time 47.187026 ms *************
-----t: 0.0506698
OdomCount 2604 & avg odom time 0.047981 ms ++++++++++++++++++++++
1317358032.380326986 WriteOdom laser_odom_to_init
1317358032.380326986 WriteOdom aft_mapped_to_init_high_frec
publication time 13.383246 ms 
whole laserOdometry time 13.411631 ms 
 
--------------------stamp1317358032.484268903
prepare time 24.087392 
scan registration time 52.893768 ms *************
mapping data assosiation time 54.363956 ms 
mapping solver time 30.644547 ms 
prepare time 41.059358 
-----t: 0.146961
OdomCount 2605 & avg odom time 0.048019 ms ++++++++++++++++++++++
mapping pub time 8.226268 ms 
whole mapping time 367.208401 ms +++++
mappingCount 1707 & avg mapping time 154.357766 ms ++++++++++++++++++++++
scan registration time 127.210155 ms *************
[33m[ WARN] [1718804749.530858227, 1317358032.710684605]: scan registration process over 100ms[0mpublication time 11.636504 ms 
whole laserOdometry time 11.654582 ms 
 
points size 103968 
prepare time 43.460911 
sort q time 15.710159 
seperate points time 27.381375 
publication time 19.724155 ms 
whole laserOdometry time 19.741451 ms 
 
points size 103850 
mapping data assosiation time 65.536801 ms 
sort q time 8.504930 
seperate points time 24.159718 
points size 103797 
mapping solver time 34.801022 ms 
prepare time 14.305413 
publication time 8.831681 ms 
whole laserOdometry time 8.840966 ms 
 
publication time 8.163995 ms 
whole laserOdometry time 8.179373 ms 
 
-----t: 0.0679339
OdomCount 2608 & avg odom time 0.048082 ms ++++++++++++++++++++++
1317358032.796147108 WriteOdom laser_odom_to_init
1317358032.796147108 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358033.004080057
prepare time 11.683846 
mapping pub time 10.216479 ms 
whole mapping time 314.862933 ms +++++
mappingCount 1708 & avg mapping time 154.451741 ms ++++++++++++++++++++++
publication time 12.329814 ms 
whole laserOdometry time 12.355415 ms 
 
--------------------stamp1317358033.108046054
points size 103459 
sort q time 5.675337 
seperate points time 13.136639 
-----t: 0.0810128
OdomCount 2610 & avg odom time 0.048111 ms ++++++++++++++++++++++
1317358033.004080057 WriteOdom laser_odom_to_init
1317358033.004080057 WriteOdom aft_mapped_to_init_high_frec
build tree time 133.936699 ms 
-----t: 0.0467549
OdomCount 2611 & avg odom time 0.048110 ms ++++++++++++++++++++++
points size 103236 
sort q time 5.857985 
seperate points time 13.703737 
mapping solver time 39.428931 ms 
mapping data assosiation time 34.129291 ms 
--------------------stamp1317358033.315983057
prepare time 12.264752 
scan registration time 31.783593 ms *************
publication time 13.475378 ms 
whole laserOdometry time 13.490019 ms 
 
1317358032.588212967 WriteOdom aft_mapped_to_init
--------------------stamp1317358033.419972896
points size 102814 
sort q time 6.707769 
seperate points time 12.676973 
build tree time 75.321544 ms 
-----t: 0.0470311
OdomCount 2614 & avg odom time 0.048111 ms ++++++++++++++++++++++
mapping data assosiation time 37.243176 ms 
--------------------stamp1317358033.523962020
points size 101689 
sort q time 13.022669 
seperate points time 25.678936 
scan registration time 55.362296 ms *************
publication time 10.446126 ms 
whole laserOdometry time 10.459264 ms 
 
--------------------stamp1317358033.627926111
points size 100976 
sort q time 5.901215 
seperate points time 13.782145 
[0m[ INFO] [1718804750.486931985, 1317358033.671764121]: Received 420104 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804750.487062126, 1317358033.671764121]: Data saved to 1317358031860615.pcd[0m
-----t: 0.0410913
OdomCount 2616 & avg odom time 0.048114 ms ++++++++++++++++++++++
1317358033.627926111 WriteOdom laser_odom_to_init
1317358033.627926111 WriteOdom aft_mapped_to_init_high_frec
build tree time 79.726330 ms 
--------------------stamp1317358033.731918096
prepare time 12.974563 
sort q time 5.844202 
seperate points time 12.391347 
publication time 7.675830 ms 
whole laserOdometry time 7.692094 ms 
 
-----t: 0.0637837
OdomCount 2617 & avg odom time 0.048120 ms ++++++++++++++++++++++
1317358033.731918096 WriteOdom laser_odom_to_init
1317358033.731918096 WriteOdom aft_mapped_to_init_high_frec
points size 95455 
prepare time 11.832409 
scan registration time 30.897642 ms *************
publication time 9.964886 ms 
whole laserOdometry time 9.979673 ms 
 
filter time 26.455736 ms 
map prepare time 5.155050 ms
map corner num 310365  surf num 114283 
--------------------stamp1317358033.939949035
points size 92920 
sort q time 5.791376 
seperate points time 12.480856 
publication time 9.625953 ms 
whole laserOdometry time 9.687357 ms 
 
-----t: 0.0568633
OdomCount 2619 & avg odom time 0.048140 ms ++++++++++++++++++++++
mapping data assosiation time 29.749935 ms 
points size 90936 
mapping solver time 35.956052 ms 
publication time 9.395240 ms 
whole laserOdometry time 9.421724 ms 
 
mapping data assosiation time 40.762598 ms 
-----t: 0.0490906
OdomCount 2620 & avg odom time 0.048141 ms ++++++++++++++++++++++
1317358034.043986082 WriteOdom laser_odom_to_init
1317358034.043986082 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.149634 ms 
--------------------stamp1317358034.148072004
prepare time 11.180656 
sort q time 5.388123 
seperate points time 11.445095 
publication time 11.306410 ms 
whole laserOdometry time 11.318195 ms 
 
-----t: 0.041933
OdomCount 2621 & avg odom time 0.048138 ms ++++++++++++++++++++++
1317358034.148072004 WriteOdom laser_odom_to_init
1317358034.148072004 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358034.252182960
sort q time 4.928287 
seperate points time 10.917563 
publication time 10.200185 ms 
whole laserOdometry time 10.213464 ms 
 
mapping solver time 37.364544 ms 
mapping data assosiation time 26.938811 ms 
points size 84881 
mapping solver time 30.477994 ms 
publication time 8.224994 ms 
whole laserOdometry time 8.257272 ms 
 
map prepare time 4.382346 ms
map corner num 311854  surf num 114774 
--------------------stamp1317358034.460406064
points size 81956 
sort q time 4.766706 
seperate points time 11.087482 
-----t: 0.0482473
OdomCount 2624 & avg odom time 0.048135 ms ++++++++++++++++++++++
1317358034.460406064 WriteOdom laser_odom_to_init
1317358034.460406064 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.365610 ms 
points size 79925 
sort q time 4.973289 
seperate points time 10.742208 
mapping data assosiation time 44.576385 ms 
mapping solver time 28.358085 ms 
mapping optimization time 215.533705 
add points time 1.221875 ms
filter time 19.846907 ms 
map prepare time 3.857893 ms
map corner num 312518  surf num 114927 
points size 80145 
sort q time 4.534242 
seperate points time 10.080926 
publication time 7.934594 ms 
whole laserOdometry time 7.967064 ms 
 
build tree time 82.160089 ms 
mapping data assosiation time 24.758202 ms 
points size 81917 
sort q time 4.662045 
seperate points time 11.138629 
publication time 9.597890 ms 
whole laserOdometry time 9.839209 ms 
 
mapping solver time 22.361454 ms 
--------------------stamp1317358034.876897096
prepare time 12.747420 
sort q time 5.024991 
seperate points time 11.411580 
publication time 8.342690 ms 
whole laserOdometry time 8.376370 ms 
 
-----t: 0.0514078
OdomCount 2628 & avg odom time 0.048129 ms ++++++++++++++++++++++
build tree time 86.586140 ms 
points size 85223 
sort q time 4.122502 
seperate points time 8.899427 
publication time 14.635393 ms 
whole laserOdometry time 14.651018 ms 
 
mapping data assosiation time 31.149316 ms 
--------------------stamp1317358035.084997892
prepare time 14.388391 
sort q time 5.559680 
seperate points time 12.077724 
filter time 29.441080 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
-----t: 0.0583656
OdomCount 2630 & avg odom time 0.048135 ms ++++++++++++++++++++++
--------------------stamp1317358035.188941001
prepare time 11.740123 
sort q time 18.440279 
seperate points time 25.765016 
-----t: 0.0385515
OdomCount 2631 & avg odom time 0.048132 ms ++++++++++++++++++++++
publication time 10.977655 ms 
whole laserOdometry time 10.988300 ms 
 
mapping solver time 18.960796 ms 
--------------------stamp1317358035.292834997
points size 89007 
prepare time 15.851916 
scan registration time 34.290817 ms *************
publication time 9.921223 ms 
whole laserOdometry time 9.940405 ms 
 
filter time 26.715740 ms 
map prepare time 4.164756 ms
map corner num 314730  surf num 115389 
--------------------stamp1317358035.396657943
points size 90979 
scan registration time 31.514558 ms *************
publication time 8.333659 ms 
whole laserOdometry time 8.355281 ms 
 
build tree time 88.594740 ms 
-----t: 0.07077
OdomCount 2633 & avg odom time 0.048139 ms ++++++++++++++++++++++
1317358035.396657943 WriteOdom laser_odom_to_init
1317358035.396657943 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358035.500410079
points size 92840 
sort q time 11.944092 
seperate points time 19.391407 
mapping data assosiation time 38.816300 ms 
-----t: 0.0506534
OdomCount 2634 & avg odom time 0.048140 ms ++++++++++++++++++++++
mapping solver time 27.430793 ms 
--------------------stamp1317358035.604134082
publication time 6.943361 ms 
whole laserOdometry time 6.976479 ms 
 
-----t: 0.0545454
OdomCount 2635 & avg odom time 0.048142 ms ++++++++++++++++++++++
1317358035.604134082 WriteOdom laser_odom_to_init
1317358035.604134082 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358035.707860946
points size 95693 
scan registration time 32.933605 ms *************
mapping data assosiation time 31.973093 ms 
mapping solver time 28.397382 ms 
--------------------stamp1317358035.811567068
points size 95703 
sort q time 6.359916 
seperate points time 13.175243 
mapping solver time 26.063048 ms 
-----t: 0.0492785
OdomCount 2637 & avg odom time 0.048139 ms ++++++++++++++++++++++
filter time 28.330362 ms 
map prepare time 4.102315 ms
map corner num 316102  surf num 115651 
--------------------stamp1317358035.915245056
prepare time 12.284574 
scan registration time 30.362611 ms *************
publication time 10.408418 ms 
whole laserOdometry time 10.423427 ms 
 

mapping data assosiation time 23.449311 ms 
--------------------stamp1317358036.018945932
points size 95782 
sort q time 5.465261 
seperate points time 11.152990 
mapping data assosiation time 29.156885 ms 
publication time 17.863704 ms 
whole laserOdometry time 17.877746 ms 
 
--------------------stamp1317358036.122672080
prepare time 13.944382 
sort q time 5.857546 
seperate points time 13.246599 
publication time 10.419450 ms 
whole laserOdometry time 10.451040 ms 
 
build tree time 84.629085 ms 
points size 95933 
prepare time 11.149063 
mapping solver time 35.205625 ms 
-----t: 0.0600594
OdomCount 2641 & avg odom time 0.048147 ms ++++++++++++++++++++++
mapping solver time 16.558675 ms 
points size 96611 
filter time 25.365723 ms 
publication time 13.989938 ms 
whole laserOdometry time 14.007130 ms 
 
1317358036.330199003 WriteOdom laser_odom_to_init
--------------------stamp1317358036.433991909
prepare time 13.458902 
map prepare time 6.010906 ms
map corner num 341853  surf num 129064 
publication time 8.890926 ms 
whole laserOdometry time 8.929431 ms 
 
--------------------stamp1317358036.537817001
points size 98050 
sort q time 6.192643 
seperate points time 14.400452 
mapping data assosiation time 29.813800 ms 
-----t: 0.0474797
OdomCount 2644 & avg odom time 0.048147 ms ++++++++++++++++++++++
mapping solver time 29.605419 ms 
mapping data assosiation time 21.660288 ms 
points size 99616 
add points time 1.080336 ms
scan registration time 32.941367 ms *************
filter time 34.257043 ms 
--------------------stamp1317358036.745467901
prepare time 11.933758 
sort q time 6.279113 
seperate points time 13.558713 
publication time 9.186324 ms 
whole laserOdometry time 9.197805 ms 
 
-----t: 0.0579108
OdomCount 2646 & avg odom time 0.048150 ms ++++++++++++++++++++++
mapping solver time 20.899455 ms 
points size 99960 
mapping data assosiation time 25.821837 ms 
mapping solver time 23.730403 ms 
1317358036.849288940 WriteOdom laser_odom_to_init
1317358036.849288940 WriteOdom aft_mapped_to_init_high_frec
filter time 26.949318 ms 
mapping pub time 2.153795 ms 
whole mapping time 225.968304 ms +++++
mappingCount 1723 & avg mapping time 155.343982 ms ++++++++++++++++++++++
1317358036.433991909 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358036.953136920
points size 99624 
prepare time 15.969816 
sort q time 6.005523 
seperate points time 14.663742 
publication time 10.848578 ms 
whole laserOdometry time 10.861370 ms 
 
build tree time 97.299898 ms 
mapping data assosiation time 23.054677 ms 
points size 100347 
mapping solver time 24.232655 ms 
sort q time 6.245822 
seperate points time 14.853177 
scan registration time 34.185823 ms *************
publication time 9.936498 ms 
whole laserOdometry time 9.950132 ms 
 
mapping solver time 23.437309 ms 
filter time 25.096891 ms 
map prepare time 5.701803 ms
map corner num 344294  surf num 129587 
sort q time 6.480922 
seperate points time 15.511204 
scan registration time 36.917499 ms *************
-----t: 0.0535224
OdomCount 2650 & avg odom time 0.048158 ms ++++++++++++++++++++++
--------------------stamp1317358037.264693021
points size 103085 
sort q time 6.439145 
seperate points time 15.791606 
publication time 10.004137 ms 
whole laserOdometry time 10.019129 ms 
 
-----t: 0.049169
OdomCount 2651 & avg odom time 0.048159 ms ++++++++++++++++++++++
mapping data assosiation time 23.129096 ms 
--------------------stamp1317358037.368570089
points size 103224 
prepare time 33.592274 
mapping pub time 2.524724 ms 
whole mapping time 248.261258 ms +++++
mappingCount 1725 & avg mapping time 155.442525 ms ++++++++++++++++++++++
1317358036.953136921 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
scan registration time 67.378002 ms *************
publication time 10.007983 ms 
whole laserOdometry time 10.021965 ms 
 
--------------------stamp1317358037.472466945
points size 103086 
scan registration time 34.251857 ms *************
build tree time 99.630049 ms 
1317358037.472466945 WriteOdom laser_odom_to_init
1317358037.472466945 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 37.226719 ms 
--------------------stamp1317358037.576384067
points size 103052 
sort q time 6.421206 
seperate points time 15.483425 
mapping solver time 22.235969 ms 
filter time 27.466194 ms 
1317358037.160847902 WriteOdom aft_mapped_to_init
points size 103111 
sort q time 8.272313 
seperate points time 20.455231 
-----t: 0.0449626
OdomCount 2655 & avg odom time 0.048165 ms ++++++++++++++++++++++
scan registration time 69.737844 ms *************
publication time 9.855771 ms 
whole laserOdometry time 9.869336 ms 
 
--------------------stamp1317358037.784270048
points size 102770 
sort q time 11.393861 
seperate points time 21.240424 
publication time 7.848326 ms 
whole laserOdometry time 7.861729 ms 
 
-----t: 0.0665204
OdomCount 2656 & avg odom time 0.048172 ms ++++++++++++++++++++++
points size 102467 
sort q time 6.186768 
seperate points time 14.115918 
mapping solver time 18.611062 ms 
mapping optimization time 242.194343 
scan registration time 36.945431 ms *************
add points time 2.419927 ms
publication time 10.886529 ms 
filter time 40.664198 ms 
map prepare time 6.073725 ms
map corner num 347103  surf num 130627 
points size 102153 
sort q time 7.138934 
seperate points time 17.899442 
publication time 10.848491 ms 
whole laserOdometry time 10.864102 ms 
 
-----t: 0.059292
OdomCount 2658 & avg odom time 0.048186 ms ++++++++++++++++++++++
--------------------stamp1317358038.095978975
prepare time 13.152985 
mapping data assosiation time 27.902364 ms 
publication time 8.304882 ms 
whole laserOdometry time 8.321573 ms 
 
1317358038.095978975 WriteOdom laser_odom_to_init
1317358038.095978975 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358038.199898004
-----t: 0.048099
OdomCount 2660 & avg odom time 0.048191 ms ++++++++++++++++++++++
--------------------stamp1317358038.303838014
prepare time 12.144338 
build tree time 95.971443 ms 
-----t: 0.0448177
OdomCount 2661 & avg odom time 0.048190 ms ++++++++++++++++++++++
mapping solver time 22.765467 ms 
points size 101955 
mapping solver time 25.634199 ms 
filter time 26.577170 ms 
--------------------stamp1317358038.511770009
points size 101850 
sort q time 6.071395 
seperate points time 14.253683 
publication time 15.004117 ms 
whole laserOdometry time 15.013990 ms 
 
build tree time 100.130701 ms 
--------------------stamp1317358038.615739107
points size 101449 
sort q time 6.305700 
seperate points time 12.911977 
publication time 13.481213 ms 
whole laserOdometry time 13.496758 ms 
 
mapping data assosiation time 32.226777 ms 
-----t: 0.0674249
OdomCount 2664 & avg odom time 0.048209 ms ++++++++++++++++++++++
points size 101211 
filter time 29.171530 ms 
publication time 12.423345 ms 
whole laserOdometry time 12.440626 ms 
 
points size 100239 
sort q time 6.131705 
seperate points time 13.994383 
publication time 11.219304 ms 
whole laserOdometry time 11.248363 ms 
 
mapping solver time 27.610231 ms 
mapping data assosiation time 25.737957 ms 
sort q time 7.242867 
seperate points time 13.421140 
publication time 11.753989 ms 
whole laserOdometry time 11.767447 ms 
 
-----t: 0.0737586
OdomCount 2667 & avg odom time 0.048220 ms ++++++++++++++++++++++
points size 97909 
sort q time 5.993198 
seperate points time 13.579905 
build tree time 88.974590 ms 
mapping data assosiation time 28.040685 ms 
--------------------stamp1317358039.135454893
prepare time 12.108306 
sort q time 6.094417 
seperate points time 11.880226 
publication time 8.613140 ms 
whole laserOdometry time 8.629429 ms 
 
-----t: 0.0579466
OdomCount 2669 & avg odom time 0.048223 ms ++++++++++++++++++++++
-----t: 0.054115
OdomCount 2670 & avg odom time 0.048225 ms ++++++++++++++++++++++
--------------------stamp1317358039.343291044
prepare time 13.429393 
sort q time 6.014534 
seperate points time 13.593066 
mapping data assosiation time 32.270215 ms 
mapping solver time 22.999377 ms 
--------------------stamp1317358039.447211027
filter time 24.665506 ms 
map prepare time 6.157123 ms
map corner num 299072  surf num 125026 
scan registration time 37.101900 ms *************
publication time 10.635844 ms 
whole laserOdometry time 10.652918 ms 
 
-----t: 0.0559177
OdomCount 2672 & avg odom time 0.048230 ms ++++++++++++++++++++++
1317358039.447211027 WriteOdom laser_odom_to_init
1317358039.447211027 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358039.551130056
points size 99609 
publication time 14.367633 ms 
whole laserOdometry time 14.379794 ms 
 
mapping data assosiation time 42.414684 ms 
-----t: 0.050807
OdomCount 2673 & avg odom time 0.048231 ms ++++++++++++++++++++++
1317358039.551130056 WriteOdom laser_odom_to_init
1317358039.551130056 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.894359 ms 
--------------------stamp1317358039.655049085
prepare time 12.105078 
sort q time 6.232884 
seperate points time 13.872854 
mapping solver time 30.474595 ms 
mapping optimization time 235.637959 
add points time 1.113094 ms
filter time 32.352059 ms 
map prepare time 4.958531 ms
map corner num 299837  surf num 125520 
points size 99601 
sort q time 6.041988 
seperate points time 13.084360 
publication time 12.813652 ms 
whole laserOdometry time 12.844814 ms 
 
1317358039.758991956 WriteOdom laser_odom_to_init
1317358039.758991956 WriteOdom aft_mapped_to_init_high_frec
build tree time 92.438550 ms 
--------------------stamp1317358039.862956047
mapping data assosiation time 32.787409 ms 
points size 98778 
sort q time 8.155358 
seperate points time 17.291703 
publication time 11.489428 ms 
whole laserOdometry time 11.520345 ms 
 
mapping solver time 19.228446 ms 
points size 96870 
filter time 28.647159 ms 
sort q time 5.440398 
seperate points time 12.565202 
publication time 8.976627 ms 
whole laserOdometry time 9.010643 ms 
 
-----t: 0.0599375
OdomCount 2677 & avg odom time 0.048241 ms ++++++++++++++++++++++
1317358039.966923952 WriteOdom laser_odom_to_init
1317358039.966923952 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358040.070867061
prepare time 11.536806 
sort q time 5.793899 
seperate points time 12.092344 
mapping data assosiation time 31.909280 ms 
-----t: 0.0540068
OdomCount 2678 & avg odom time 0.048244 ms ++++++++++++++++++++++
1317358040.070867061 WriteOdom laser_odom_to_init
1317358040.070867061 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.048027 ms 
mapping data assosiation time 28.826838 ms 
points size 92658 
sort q time 5.494324 
seperate points time 10.727090 
publication time 9.282358 ms 
whole laserOdometry time 9.294359 ms 
 
1317358039.758991957 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 5.742922 ms
map corner num 301337  surf num 126656 
--------------------stamp1317358040.278752088
points size 90866 
sort q time 11.113113 
seperate points time 17.947837 
-----t: 0.0407311
OdomCount 2680 & avg odom time 0.048245 ms ++++++++++++++++++++++
mapping data assosiation time 30.946163 ms 
mapping solver time 24.177496 ms 
points size 90063 
sort q time 5.858155 
seperate points time 13.640572 
filter time 20.207155 ms 
--------------------stamp1317358040.486613035
points size 89486 
sort q time 4.851685 
seperate points time 21.298779 
build tree time 87.853371 ms 
--------------------stamp1317358040.590579032
mapping solver time 28.827627 ms 
publication time 8.115266 ms 
whole laserOdometry time 8.123937 ms 
 
mapping data assosiation time 38.221562 ms 
mapping solver time 24.456013 ms 
points size 89363 
prepare time 11.108791 
filter time 21.728061 ms 
mapping pub time 2.020676 ms 
whole mapping time 249.139409 ms +++++
mappingCount 1738 & avg mapping time 156.155272 ms ++++++++++++++++++++++
1317358040.278752089 WriteOdom aft_mapped_to_init
publication time 10.828030 ms 
whole laserOdometry time 10.844938 ms 
 
-----t: 0.0557728
OdomCount 2684 & avg odom time 0.048266 ms ++++++++++++++++++++++
--------------------stamp1317358040.798511981
prepare time 12.866803 
sort q time 4.930185 
seperate points time 11.400753 
mapping data assosiation time 34.938578 ms 
-----t: 0.0429823
OdomCount 2685 & avg odom time 0.048264 ms ++++++++++++++++++++++
1317358040.798511981 WriteOdom laser_odom_to_init
1317358040.798511981 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.517716 ms 
mapping data assosiation time 31.840503 ms 
prepare time 11.299308 
mapping solver time 23.864298 ms 
mapping optimization time 205.538401 
sort q time 5.560162 
seperate points time 12.557864 
add points time 1.190446 ms
publication time 8.637759 ms 
whole laserOdometry time 8.654000 ms 
 
filter time 28.178125 ms 
-----t: 0.0407771
OdomCount 2686 & avg odom time 0.048261 ms ++++++++++++++++++++++
mapping pub time 2.095295 ms 
whole mapping time 242.264741 ms +++++
mappingCount 1739 & avg mapping time 156.204792 ms ++++++++++++++++++++++
1317358040.902503013 WriteOdom laser_odom_to_init
1317358040.486613035 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358041.006493091
prepare time 11.603004 
sort q time 5.442571 
seperate points time 12.356841 
publication time 9.566641 ms 
whole laserOdometry time 9.593678 ms 
 
-----t: 0.0414139
OdomCount 2687 & avg odom time 0.048259 ms ++++++++++++++++++++++
1317358041.006493091 WriteOdom laser_odom_to_init
1317358041.006493091 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.496784 ms 
--------------------stamp1317358041.110483884
prepare time 13.407365 
sort q time 5.323764 
seperate points time 12.580652 
publication time 12.842845 ms 
whole laserOdometry time 12.855790 ms 
 
-----t: 0.0610018
OdomCount 2688 & avg odom time 0.048263 ms ++++++++++++++++++++++
map prepare time 4.514466 ms
map corner num 304534  surf num 128657 
--------------------stamp1317358041.214476108
prepare time 11.659865 
sort q time 5.929731 
seperate points time 11.913159 
publication time 8.401862 ms 
whole laserOdometry time 8.418904 ms 
 
mapping data assosiation time 30.645304 ms 
--------------------stamp1317358041.318466901
prepare time 13.194423 
sort q time 5.123777 
seperate points time 12.352728 
scan registration time 29.764681 ms *************
mapping solver time 39.438520 ms 
publication time 7.734517 ms 
whole laserOdometry time 7.749127 ms 
 
1317358041.318466901 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 35.495528 ms 
mapping solver time 20.910289 ms 
points size 93842 
publication time 10.241085 ms 
whole laserOdometry time 13.668668 ms 
 
-----t: 0.0546392
OdomCount 2691 & avg odom time 0.048268 ms ++++++++++++++++++++++
1317358041.422458887 WriteOdom laser_odom_to_init
1317358041.422458887 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358041.526426076
prepare time 13.569068 
sort q time 5.475906 
seperate points time 13.550182 
scan registration time 31.909314 ms *************
-----t: 0.0413638
OdomCount 2692 & avg odom time 0.048265 ms ++++++++++++++++++++++
--------------------stamp1317358041.630367994
points size 96940 
sort q time 5.396439 
seperate points time 17.700803 
scan registration time 42.028733 ms *************
publication time 9.305962 ms 
whole laserOdometry time 9.318454 ms 
 
mapping solver time 31.609119 ms 
--------------------stamp1317358041.734309911
points size 98592 
sort q time 5.483481 
seperate points time 13.324927 
publication time 10.041581 ms 
whole laserOdometry time 10.053472 ms 
 
-----t: 0.053242
OdomCount 2694 & avg odom time 0.048267 ms ++++++++++++++++++++++
map prepare time 5.208271 ms
map corner num 306236  surf num 129618 
--------------------stamp1317358041.838253021
prepare time 14.108375 
sort q time 5.674459 
seperate points time 13.865770 
publication time 9.913890 ms 
whole laserOdometry time 9.928454 ms 
 
-----t: 0.0542417
OdomCount 2695 & avg odom time 0.048270 ms ++++++++++++++++++++++
1317358041.838253021 WriteOdom laser_odom_to_init
1317358041.838253021 WriteOdom aft_mapped_to_init_high_frec
points size 100774 
sort q time 6.471991 
seperate points time 15.609043 
-----t: 0.0535315
OdomCount 2696 & avg odom time 0.048271 ms ++++++++++++++++++++++
mapping data assosiation time 46.273747 ms 
--------------------stamp1317358042.046070098
prepare time 12.351416 
sort q time 6.069057 
seperate points time 13.984567 
publication time 8.726108 ms 
whole laserOdometry time 8.741109 ms 
 
1317358042.046070098 WriteOdom aft_mapped_to_init_high_frec--------------------stamp1317358042.149920940
prepare time 13.961367 
sort q time 6.771119 
seperate points time 14.094019 
build tree time 76.953360 ms 
-----t: 0.060731
OdomCount 2698 & avg odom time 0.048276 ms ++++++++++++++++++++++
mapping solver time 31.048776 ms 
sort q time 8.178855 
seperate points time 14.876353 
publication time 11.295178 ms 
whole laserOdometry time 11.311684 ms 
 
add points time 1.616970 ms
--------------------stamp1317358042.357558965
points size 102244 
sort q time 7.177777 
seperate points time 15.644371 
-----t: 0.0510602
OdomCount 2700 & avg odom time 0.048281 ms ++++++++++++++++++++++
1317358042.357558965 WriteOdom laser_odom_to_init
1317358042.357558965 WriteOdom aft_mapped_to_init_high_frec
build tree time 86.450547 ms 
points size 102187 
scan registration time 34.938804 ms *************
publication time 12.319627 ms 
whole laserOdometry time 12.346327 ms 
 
mapping solver time 34.646264 ms 
--------------------stamp1317358042.565135002
prepare time 11.988291 
sort q time 7.093908 
seperate points time 13.692872 
mapping solver time 36.360343 ms 
-----t: 0.0575409
OdomCount 2702 & avg odom time 0.048284 ms ++++++++++++++++++++++
1317358042.565135002 WriteOdom laser_odom_to_init
1317358042.565135002 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.387286 ms 
whole mapping time 272.546502 ms +++++
mappingCount 1745 & avg mapping time 156.621167 ms ++++++++++++++++++++++
1317358042.149920940 WriteOdom aft_mapped_to_init
--------------------stamp1317358042.668932914
points size 102083 
sort q time 5.941889 
seperate points time 14.460566 
publication time 9.702740 ms 
whole laserOdometry time 9.714270 ms 
 
-----t: 0.049081
OdomCount 2703 & avg odom time 0.048285 ms ++++++++++++++++++++++
build tree time 100.814395 ms 
--------------------stamp1317358042.772751092
points size 102063 
sort q time 5.815372 publication time 11.144234 ms mapping data assosiation time 36.854160 ms 
points size 102122 
sort q time 5.914866 
seperate points time 14.396184 
scan registration time 34.104731 ms *************
mapping solver time 41.371238 ms 
mapping optimization time 268.532012 
add points time 1.616090 ms
filter time 24.822045 ms 
mapping pub time 11.455925 ms 
whole mapping time 311.220922 ms +++++
mappingCount 1746 & avg mapping time 156.709714 ms ++++++++++++++++++++++
--------------------stamp1317358042.980328083
prepare time 11.815593 
sort q time 5.877624 
seperate points time 12.220129 
scan registration time 28.222979 ms *************
publication time 9.818596 ms 
whole laserOdometry time 9.834669 ms 
 
-----t: 0.0611076
OdomCount 2706 & avg odom time 0.048294 ms ++++++++++++++++++++++
mapping data assosiation time 41.394872 ms 
points size 102127 
sort q time 5.625041 
seperate points time 13.779113 
publication time 9.760672 ms 
whole laserOdometry time 9.774300 ms 
 
-----t: 0.048797
OdomCount 2707 & avg odom time 0.048294 ms ++++++++++++++++++++++
mapping data assosiation time 42.547855 ms 
--------------------stamp1317358043.187850952
points size 102126 
sort q time 5.794000 
seperate points time 12.958260 
drop lidar frame in mapping for real time performance 
-----t: 0.0595943
OdomCount 2708 & avg odom time 0.048298 ms ++++++++++++++++++++++
--------------------stamp1317358043.291579008
points size 102254 
build tree time 79.139647 ms 
publication time 12.001847 ms 
whole laserOdometry time 12.017938 ms 
 
mapping data assosiation time 43.990420 ms 
-----t: 0.0559375
OdomCount 2709 & avg odom time 0.048301 ms ++++++++++++++++++++++
1317358043.291579008 WriteOdom laser_odom_to_init
1317358043.291579008 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358043.395304918
points size 102383 
mapping data assosiation time 41.744333 ms 
-----t: 0.055381
OdomCount 2710 & avg odom time 0.048304 ms ++++++++++++++++++++++
--------------------stamp1317358043.499054908
prepare time 13.298289 
map prepare time 5.979425 ms
map corner num 311845  surf num 132894 
publication time 12.473985 ms 
whole laserOdometry time 12.493108 ms 
 
-----t: 0.0613796
OdomCount 2711 & avg odom time 0.048308 ms ++++++++++++++++++++++
--------------------stamp1317358043.602804899
points size 102504 
sort q time 6.721535 
seperate points time 16.645665 
mapping data assosiation time 45.774225 ms publication time 15.367262 ms 
whole laserOdometry time 15.378146 ms 
 
-----t: 0.0618098
OdomCount 2712 & avg odom time 0.048313 ms ++++++++++++++++++++++
1317358043.602804899 WriteOdom laser_odom_to_init
1317358043.602804899 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 38.380814 ms 
points size 102310 
sort q time 7.040590 publication time 13.064219 ms 
whole laserOdometry time 13.079972 ms 
 
1317358043.706510066 WriteOdom laser_odom_to_init--------------------stamp1317358043.810214042
map prepare time 6.581318 ms
map corner num 312684  surf num 133329 
sort q time 6.070352 
seperate points time 15.058863 
publication time 12.743147 ms 
whole laserOdometry time 12.758117 ms 
 
-----t: 0.0606085
OdomCount 2714 & avg odom time 0.048322 ms ++++++++++++++++++++++
1317358043.810214042 WriteOdom laser_odom_to_init
1317358043.810214042 WriteOdom aft_mapped_to_init_high_frec
build tree time 85.724644 ms 
points size 102620 
sort q time 5.781716 
seperate points time 14.100703 
publication time 12.530143 ms 
whole laserOdometry time 12.545539 ms 
 
mapping data assosiation time 70.504851 ms 
-----t: 0.0548047
OdomCount 2715 & avg odom time 0.048325 ms ++++++++++++++++++++++
1317358043.913943052 WriteOdom laser_odom_to_init
1317358043.913943052 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718804760.806990219, 1317358043.990042523]: Received 441820 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804760.807036036, 1317358043.990042523]: Data saved to 1317358042357558.pcd[0m
mapping solver time 30.697428 ms 
points size 102612 
sort q time 6.852046 
seperate points time 16.001134 
scan registration time 42.863693 ms *************
mapping solver time 36.281940 ms 
--------------------stamp1317358044.121395111
points size 102708 
map prepare time 6.496548 msscan registration time 42.564441 ms *************
publication time 9.718734 ms 
whole laserOdometry time 9.733331 ms 
 
-----t: 0.0662572
OdomCount 2717 & avg odom time 0.048341 ms ++++++++++++++++++++++
--------------------stamp1317358044.225120067
points size 102617 
build tree time 92.187172 ms 
sort q time 9.612263 
seperate points time 24.173222 
scan registration time 56.293477 ms *************
mapping data assosiation time 51.928254 ms 
-----t: 0.0721042
OdomCount 2718 & avg odom time 0.048349 ms ++++++++++++++++++++++
--------------------stamp1317358044.328846931
points size 102611 
sort q time 6.656981 
seperate points time 15.631823 
publication time 11.444261 ms 
whole laserOdometry time 11.461900 ms 
 
mapping data assosiation time 50.635557 ms 
mapping solver time 28.976696 ms 
points size 102606 
filter time 25.690503 ms 
1317358043.810214043 WriteOdom aft_mapped_to_init
publication time 13.280878 ms 
whole laserOdometry time 13.297130 ms 
 
-----t: 0.0492547
OdomCount 2720 & avg odom time 0.048350 ms ++++++++++++++++++++++
--------------------stamp1317358044.536324977
points size 102526 
prepare time 15.825420 
scan registration time 35.554920 ms *************
publication time 13.058270 ms 
whole laserOdometry time 13.122627 ms 
mapping data assosiation time 49.750379 ms 
-----t: 0.0680974
OdomCount 2721 & avg odom time 0.048357 ms ++++++++++++++++++++++
1317358044.536324977 WriteOdom laser_odom_to_init
1317358044.536324977 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358044.640125036
points size 102601 
sort q time 5.314789 
seperate points time 11.742356 
mapping data assosiation time 50.474766 ms 
publication time 22.101583 ms 
whole laserOdometry time 22.114241 ms 
 
-----t: 0.0664358
OdomCount 2722 & avg odom time 0.048364 ms ++++++++++++++++++++++
1317358044.640125036 WriteOdom laser_odom_to_init
1317358044.640125036 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 273.333871 
sort q time 5.611346 
seperate points time 13.112410 
filter time 30.794225 ms 
map prepare time 6.086830 ms
map corner num 315449  surf num 134848 
-----t: 0.044815
OdomCount 2723 & avg odom time 0.048362 ms ++++++++++++++++++++++
1317358044.743949890 WriteOdom laser_odom_to_init
1317358044.743949890 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358044.847820043
points size 102729 
sort q time 5.623507 
seperate points time 13.454179 
publication time 12.398197 ms 
whole laserOdometry time 12.425154 ms 
 
-----t: 0.0492323
OdomCount 2724 & avg odom time 0.048363 ms ++++++++++++++++++++++
1317358044.847820043 WriteOdom laser_odom_to_init
1317358044.847820043 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358044.951785087
prepare time 12.147186 
sort q time 13.400659 
seperate points time 21.633007 
publication time 11.173825 ms 
whole laserOdometry time 11.188545 ms 
 
-----t: 0.0605066
OdomCount 2725 & avg odom time 0.048367 ms ++++++++++++++++++++++
mapping solver time 31.378431 ms 
points size 102899 
filter time 24.691949 ms 
scan registration time 35.061007 ms *************
publication time 10.760472 ms 
whole laserOdometry time 10.776514 ms 
 
-----t: 0.0551372
OdomCount 2726 & avg odom time 0.048369 ms ++++++++++++++++++++++
--------------------stamp1317358045.159862995
prepare time 12.526978 
sort q time 5.853220 
seperate points time 11.777088 
publication time 12.653525 ms 
-----t: 0.0618135
OdomCount 2727 & avg odom time 0.048374 ms ++++++++++++++++++++++
1317358045.159862995 WriteOdom laser_odom_to_init
mapping solver time 41.920871 ms 
points size 103092 
sort q time 6.392978 mapping data assosiation time 51.904775 ms 
-----t: 0.0633727
OdomCount 2728 & avg odom time 0.048380 ms ++++++++++++++++++++++
1317358045.263976097 WriteOdom laser_odom_to_init
1317358045.263976097 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 43.110658 ms 
points size 103194 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
publication time 10.879225 ms 
whole laserOdometry time 10.900647 ms 
 
-----t: 0.0470816
OdomCount 2729 & avg odom time 0.048379 ms ++++++++++++++++++++++
1317358045.368108987 WriteOdom laser_odom_to_init
1317358045.368108987 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358045.472218036
points size 102989 
sort q time 6.058218 
seperate points time 13.396123 
publication time 12.886693 ms 
whole laserOdometry time 12.900750 ms 
 
-----t: 0.0667507
OdomCount 2730 & avg odom time 0.048386 ms ++++++++++++++++++++++
mapping solver time 37.877220 ms 
points size 102741 
sort q time 5.705925 
seperate points time 14.350013 
mapping data assosiation time 48.708463 ms 
publication time 16.650852 ms 
whole laserOdometry time 16.665539 ms 
 
mapping solver time 42.227565 ms 
mapping optimization time 268.177513 
add points time 1.673450 ms
points size 102397 
mapping pub time 2.536872 ms 
whole mapping time 302.751247 ms +++++
mappingCount 1755 & avg mapping time 157.454645 ms ++++++++++++++++++++++
1317358045.055799007 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 6.012346 ms
map corner num 318366  surf num 136299 
publication time 14.937507 ms 
whole laserOdometry time 14.949123 ms 
 
-----t: 0.0852679
OdomCount 2732 & avg odom time 0.048401 ms ++++++++++++++++++++++
prepare time 19.008040 
sort q time 9.232774 
seperate points time 19.600510 
-----t: 0.0470721
OdomCount 2733 & avg odom time 0.048400 ms ++++++++++++++++++++++
mapping solver time 40.229920 ms 
points size 100323 
sort q time 5.668213 
seperate points time 13.603797 
mapping data assosiation time 45.176920 ms 
publication time 10.461923 ms 
whole laserOdometry time 10.474620 ms 
 
-----t: 0.0582313
OdomCount 2734 & avg odom time 0.048404 ms ++++++++++++++++++++++
--------------------stamp1317358045.992147922
prepare time 12.612184 
sort q time 6.205726 
seperate points time 13.675958 
publication time 12.072154 ms 
whole laserOdometry time 12.098620 ms 
 
-----t: 0.0596484
OdomCount 2735 & avg odom time 0.048408 ms ++++++++++++++++++++++
--------------------stamp1317358046.096115112
points size 98809 
sort q time 6.219371 
seperate points time 15.047069 
publication time 10.124043 ms 
whole laserOdometry time 10.135639 ms 
 
mapping solver time 36.278360 ms 
--------------------stamp1317358046.200081110
prepare time 11.590665 
mapping data assosiation time 48.215776 ms 
publication time 8.999453 ms 
whole laserOdometry time 9.014429 ms 
 
-----t: 0.0676583
OdomCount 2737 & avg odom time 0.048414 ms ++++++++++++++++++++++
mapping pub time 2.589900 ms 
whole mapping time 299.668838 ms +++++
mappingCount 1757 & avg mapping time 157.620752 ms ++++++++++++++++++++++
sort q time 5.383236 
seperate points time 12.494495 
publication time 10.197516 ms 
whole laserOdometry time 10.212769 ms 
 
1317358046.304047107 WriteOdom laser_odom_to_init
1317358046.304047107 WriteOdom aft_mapped_to_init_high_frec
build tree time 86.018770 ms 
points size 94355 
sort q time 5.317288 
seperate points time 13.133345 
mapping data assosiation time 47.090957 ms 
-----t: 0.0441951
OdomCount 2739 & avg odom time 0.048410 ms ++++++++++++++++++++++
mapping solver time 36.047068 ms 
--------------------stamp1317358046.512053012
points size 93510 
sort q time 5.223455 
seperate points time 13.140377 
mapping solver time 32.865655 ms 
mapping optimization time 245.879652 
publication time 11.278933 ms 
whole laserOdometry time 11.297303 ms 
 
add points time 2.118973 ms
filter time 27.155316 ms 
map prepare time 4.743232 ms
map corner num 321667  surf num 137796 
--------------------stamp1317358046.616092920
points size 93112 
sort q time 5.490568 
seperate points time 11.433492 
scan registration time 30.531608 ms *************
publication time 11.251253 ms 
whole laserOdometry time 11.265878 ms 
 
build tree time 91.589559 ms 
--------------------stamp1317358046.720202922
prepare time 13.186793 
mapping data assosiation time 43.060591 ms 
publication time 9.857010 ms 
whole laserOdometry time 9.867353 ms 
 
mapping solver time 39.185861 ms 
-----t: 0.0546384
OdomCount 2742 & avg odom time 0.048415 ms ++++++++++++++++++++++
mapping data assosiation time 38.445360 ms 
points size 91237 
sort q time 5.082472 
seperate points time 11.838057 
publication time 10.208958 ms 
whole laserOdometry time 10.232203 ms 
 
filter time 31.222168 ms 
map prepare time 5.007862 ms
map corner num 322749  surf num 138230 
--------------------stamp1317358046.928544044
prepare time 15.216726 
sort q time 5.298188 
seperate points time 12.404856 
publication time 11.241182 ms 
whole laserOdometry time 11.270915 ms 
 
1317358046.928544044 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 37.723283 ms 
--------------------stamp1317358047.032752037
prepare time 10.889619 
sort q time 5.189775 
seperate points time 11.467484 
-----t: 0.0469535
OdomCount 2745 & avg odom time 0.048413 ms ++++++++++++++++++++++
mapping data assosiation time 42.626247 ms 
--------------------stamp1317358047.136910915
prepare time 11.903688 
sort q time 5.921319 
seperate points time 15.555913 
map prepare time 6.337220 ms
map corner num 323814  surf num 138656 
--------------------stamp1317358047.241043090
points size 90481 
prepare time 13.194415 
scan registration time 29.346388 ms *************
publication time 10.336761 ms 
whole laserOdometry time 10.408750 ms mapping data assosiation time 44.011481 ms 
mapping solver time 33.648207 ms 
prepare time 11.716591 
sort q time 4.961010 
seperate points time 11.666243 
mapping data assosiation time 44.590416 ms 
mapping solver time 36.089011 ms 
--------------------stamp1317358047.449245929
prepare time 16.013125 
publication time 17.041026 ms 
whole laserOdometry time 17.059527 ms 
 
--------------------stamp1317358047.553353071
points size 91833 
map prepare time 5.570679 ms
map corner num 324928  surf num 139068 
-----t: 0.0414384
OdomCount 2750 & avg odom time 0.048402 ms ++++++++++++++++++++++
--------------------stamp1317358047.657464027
build tree time 89.883911 ms 
sort q time 4.977293 
seperate points time 12.160613 
publication time 9.210309 ms 
whole laserOdometry time 9.223356 ms 
 
mapping data assosiation time 46.059329 ms 
-----t: 0.0640158
OdomCount 2751 & avg odom time 0.048408 ms ++++++++++++++++++++++
mapping solver time 38.191762 ms 
points size 92011 
sort q time 5.197683 
seperate points time 12.492110 
publication time 10.085879 ms 
whole laserOdometry time 10.100804 ms 
 
-----t: 0.0655341
OdomCount 2752 & avg odom time 0.048414 ms ++++++++++++++++++++++
--------------------stamp1317358047.865663051
prepare time 11.870841 
sort q time 5.368657 
seperate points time 12.312179 
publication time 9.529079 ms 
whole laserOdometry time 9.566169 ms 
 
-----t: 0.0511821
OdomCount 2753 & avg odom time 0.048415 ms ++++++++++++++++++++++
build tree time 87.175932 ms 
points size 92707 
sort q time 4.978856 
seperate points time 11.224375 
mapping data assosiation time 45.904447 ms 
-----t: 0.0472185
OdomCount 2754 & avg odom time 0.048414 ms ++++++++++++++++++++++
mapping solver time 38.029086 ms 
--------------------stamp1317358048.073832988
prepare time 10.943406 
mapping data assosiation time 40.410202 ms 
publication time 11.448409 ms 
whole laserOdometry time 11.553773 ms 
 
-----t: 0.0558464
OdomCount 2755 & avg odom time 0.048417 ms ++++++++++++++++++++++
filter time 26.439381 ms 
map prepare time 5.005439 ms
map corner num 327088  surf num 139815 
--------------------stamp1317358048.177896022
prepare time 14.061358 
sort q time 5.516140 
seperate points time 13.099191 
publication time 9.751182 ms 
whole laserOdometry time 9.764161 ms 
 
build tree time 91.575579 ms 
points size 95982 
sort q time 7.198813 
seperate points time 15.509483 
publication time 18.707235 ms 
whole laserOdometry time 18.721553 ms 
 
mapping data assosiation time 44.834460 ms publication time 16.105532 ms 
whole laserOdometry time 16.120193 ms 
 
-----t: 0.0546637
OdomCount 2758 & avg odom time 0.048427 ms ++++++++++++++++++++++
--------------------stamp1317358048.489964962
map prepare time 5.154274 ms
map corner num 328164  surf num 140189 
sort q time 6.148176 
seperate points time 12.133191 
publication time 8.258024 ms 
whole laserOdometry time 8.276198 ms 
 
-----t: 0.0424402
OdomCount 2759 & avg odom time 0.048425 ms ++++++++++++++++++++++
1317358048.489964962 WriteOdom laser_odom_to_init
--------------------stamp1317358048.593981027
prepare time 13.180815 
sort q time 15.164729 
seperate points time 23.040756 
mapping data assosiation time 43.723926 ms 
-----t: 0.0544705
OdomCount 2760 & avg odom time 0.048427 ms ++++++++++++++++++++++mapping solver time 44.162957 ms 
--------------------stamp1317358048.697995901
sort q time 5.736065 
seperate points time 12.872453 
mapping data assosiation time 54.071036 ms 
publication time 11.828814 ms 
whole laserOdometry time 11.893039 ms 
 
mapping solver time 33.617473 ms 
filter time 21.658954 ms 
points size 99095 
sort q time 5.905888 
seperate points time 11.772435 
publication time 12.910460 ms 
-----t: 0.0562935
OdomCount 2762 & avg odom time 0.048431 ms ++++++++++++++++++++++
--------------------stamp1317358048.906049013
prepare time 12.162043 
sort q time 6.085649 
seperate points time 13.324820 
publication time 12.079602 ms 
whole laserOdometry time 12.094238 ms 
 
mapping data assosiation time 46.003069 ms 
-----t: 0.0558833
OdomCount 2763 & avg odom time 0.048434 ms ++++++++++++++++++++++
1317358048.906049013 WriteOdom laser_odom_to_init
1317358048.906049013 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 34.356280 ms 
--------------------stamp1317358049.010087013
sort q time 5.685219 
seperate points time 12.558821 
mapping data assosiation time 43.513341 ms 
scan registration time 27.696755 ms *************
publication time 12.383999 ms 
whole laserOdometry time 12.397722 ms 
 
filter time 20.964445 ms 
1317358048.489964962 WriteOdom aft_mapped_to_init
points size 99624 
sort q time 6.882741 
seperate points time 14.127145 
publication time 9.851033 ms 
whole laserOdometry time 9.868657 ms 
 
-----t: 0.0478054
OdomCount 2765 & avg odom time 0.048432 ms ++++++++++++++++++++++
build tree time 90.682237 ms 
--------------------stamp1317358049.218163967
prepare time 10.475341 
sort q time 6.170735 
seperate points time 13.035263 
publication time 10.579793 ms 
-----t: 0.0498199
OdomCount 2766 & avg odom time 0.048433 ms ++++++++++++++++++++++
--------------------stamp1317358049.322155952
sort q time 6.894230 
seperate points time 13.400151 
mapping solver time 36.287129 ms 
publication time 12.583123 ms 
whole laserOdometry time 12.595522 ms 
 
filter time 26.833321 ms 
map prepare time 4.901695 ms
map corner num 331391  surf num 141347 
--------------------stamp1317358049.426121950
prepare time 11.224759 
scan registration time 29.599544 ms *************
publication time 10.392425 ms 
whole laserOdometry time 10.402784 ms 
 
build tree time 90.596647 ms 
--------------------stamp1317358049.530090093
mapping data assosiation time 40.878892 ms 
sort q time 6.506216 
seperate points time 14.836815 
publication time 10.557177 ms 
whole laserOdometry time 10.574008 ms 
 
mapping solver time 61.100676 ms 
--------------------stamp1317358049.634057044
sort q time 5.987782 
seperate points time 12.582028 
publication time 10.787000 ms 
whole laserOdometry time 10.803709 ms 
 
-----t: 0.0689183
OdomCount 2770 & avg odom time 0.048445 ms ++++++++++++++++++++++
filter time 34.800759 ms 
mapping pub time 2.304066 ms 
whole mapping time 323.820070 ms +++++
mappingCount 1768 & avg mapping time 158.555518 ms ++++++++++++++++++++++
1317358049.114125967 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
points size 101879 
prepare time 12.155586 
sort q time 6.202207 
seperate points time 29.951346 
publication time 8.791954 ms 
whole laserOdometry time 8.805496 ms 
 
-----t: 0.0630458
OdomCount 2771 & avg odom time 0.048451 ms ++++++++++++++++++++++
build tree time 100.169389 ms 
points size 101956 
sort q time 6.027904 
seperate points time 14.781991 
publication time 13.584925 ms 
whole laserOdometry time 13.617788 ms 
 
-----t: 0.0543471
OdomCount 2772 & avg odom time 0.048453 ms ++++++++++++++++++++++
mapping solver time 42.257368 ms 
--------------------stamp1317358049.945884943
points size 100409 
sort q time 5.803157 
seperate points time 14.278372 
publication time 11.504522 ms 
whole laserOdometry time 11.524345 ms 
 
-----t: 0.0454919
OdomCount 2773 & avg odom time 0.048452 ms ++++++++++++++++++++++
1317358049.945884943 WriteOdom laser_odom_to_init
1317358049.945884943 WriteOdom aft_mapped_to_init_high_frec
filter time 22.622214 ms 
map prepare time 4.963051 ms
map corner num 333709  surf num 142254 
prepare time 11.387310 
sort q time 5.763494 
seperate points time 13.651623 
publication time 11.713677 ms 
whole laserOdometry time 11.730454 ms 
 
build tree time 89.996300 ms 
--------------------stamp1317358050.153744935
points size 100556 
mapping data assosiation time 44.135131 ms 
publication time 12.327421 ms 
whole laserOdometry time 12.339494 ms 
 
mapping solver time 47.934901 ms 
--------------------stamp1317358050.257711887
prepare time 12.314621 
sort q time 5.743981 
seperate points time 13.225713 
mapping solver time 33.177750 ms 
-----t: 0.0471357
OdomCount 2776 & avg odom time 0.048456 ms ++++++++++++++++++++++
filter time 29.925770 ms 
map prepare time 4.985403 ms
map corner num 334849  surf num 142695 
--------------------stamp1317358050.361702919
points size 101147 
sort q time 6.061921 
seperate points time 14.048504 
publication time 16.278142 ms 
whole laserOdometry time 16.291881 ms 
 
--------------------stamp1317358050.465694904
scan registration time 31.450223 ms *************
publication time 10.023659 ms 
whole laserOdometry time 10.042858 ms 
 
points size 102041 
sort q time 6.044804 
seperate points time 12.409419 
publication time 9.543807 ms 
whole laserOdometry time 9.560980 ms 
 
-----t: 0.0386431
OdomCount 2779 & avg odom time 0.048469 ms ++++++++++++++++++++++
filter time 22.968740 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
points size 103783 
sort q time 6.335712 
seperate points time 13.726695 
publication time 10.472565 ms 
whole laserOdometry time 10.483388 ms 
 
1317358050.673697948 WriteOdom laser_odom_to_init
1317358050.673697948 WriteOdom aft_mapped_to_init_high_frec
build tree time 82.284552 ms 
--------------------stamp1317358050.777714014
prepare time 12.641120 
sort q time 5.881610 
seperate points time 14.818060 
publication time 10.772666 ms 
whole laserOdometry time 10.786743 ms 
 
mapping solver time 40.778893 ms 
--------------------stamp1317358050.881728887
mapping data assosiation time 40.867147 ms 
sort q time 5.743401 
seperate points time 14.396008 
scan registration time 35.836962 ms *************
add points time 1.911627 ms
-----t: 0.0575335
OdomCount 2782 & avg odom time 0.048471 ms ++++++++++++++++++++++
1317358050.881728887 WriteOdom laser_odom_to_init
1317358050.881728887 WriteOdom aft_mapped_to_init_high_frec
map prepare time 4.514536 ms
map corner num 284285  surf num 136308 
--------------------stamp1317358050.985765933
points size 103133 
sort q time 5.984267 
seperate points time 14.672552 
publication time 10.301642 ms 
whole laserOdometry time 10.313536 ms 
 
build tree time 88.675381 ms 
--------------------stamp1317358051.089806079
mapping data assosiation time 39.835229 ms 
sort q time 5.714312 
seperate points time 14.086245 
mapping solver time 41.139966 ms 
publication time 21.173532 ms 
whole laserOdometry time 21.202145 ms 
 
[0m[ INFO] [1718804767.988308853, 1317358051.174030814]: Received 479068 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804767.988365961, 1317358051.174030814]: Data saved to 1317358050049802.pcd[0m
mapping data assosiation time 45.671980 ms 
points size 101719 
sort q time 5.794427 
seperate points time 14.181384 
scan registration time 34.143155 ms *************
mapping solver time 38.337280 ms 
mapping optimization time 256.211557 
add points time 1.471699 ms
-----t: 0.0427602
OdomCount 2785 & avg odom time 0.048473 ms ++++++++++++++++++++++
1317358051.193845987 WriteOdom laser_odom_to_init
1317358051.193845987 WriteOdom aft_mapped_to_init_high_frec
filter time 24.315486 ms 
publication time 12.391092 ms 
whole laserOdometry time 12.404796 ms 
 
mapping pub time 2.415886 ms 
whole mapping time 288.981999 ms +++++
mappingCount 1773 & avg mapping time 158.963733 ms ++++++++++++++++++++++
1317358050.673697948 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358051.297908067
points size 101913 
sort q time 15.031893 
seperate points time 24.980836 
-----t: 0.0404309
OdomCount 2786 & avg odom time 0.048471 ms ++++++++++++++++++++++
1317358051.297908067 WriteOdom laser_odom_to_init
publication time 11.606308 ms 
whole laserOdometry time 11.618127 ms 
 
mapping data assosiation time 41.813790 ms 
--------------------stamp1317358051.401993989
points size 101665 
sort q time 5.583828 
seperate points time 13.890433 
publication time 9.221066 ms 
whole laserOdometry time 9.301955 ms 
 
mapping solver time 34.454770 ms 
points size 101850 
filter time 24.101216 ms 
publication time 10.591360 ms 
whole laserOdometry time 10.616987 ms 
 
-----t: 0.0480156
OdomCount 2788 & avg odom time 0.048469 ms ++++++++++++++++++++++
1317358051.506104946 WriteOdom laser_odom_to_init
1317358051.506104946 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358051.610215902
build tree time 81.786108 ms 
sort q time 5.847012 
seperate points time 14.311410 
scan registration time 35.369930 ms *************
mapping data assosiation time 47.957616 ms 
-----t: 0.0685178
OdomCount 2789 & avg odom time 0.048476 ms ++++++++++++++++++++++
1317358051.610215902 WriteOdom laser_odom_to_init
1317358051.610215902 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 42.034236 ms 
points size 101433 
prepare time 15.812209 
mapping data assosiation time 43.272378 ms 
mapping solver time 43.096394 ms 
add points time 1.742054 ms
points size 101588 
filter time 37.152992 ms 
publication time 9.616684 ms 
whole laserOdometry time 9.648374 ms 
 
1317358051.818366050 WriteOdom laser_odom_to_init
1317358051.818366050 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358051.922415971
prepare time 13.365394 
sort q time 6.529405 
seperate points time 14.166666 
scan registration time 32.332404 ms *************
build tree time 96.228156 ms 
publication time 9.901430 ms 
whole laserOdometry time 9.915478 ms 
 
mapping data assosiation time 48.901743 ms 
--------------------stamp1317358052.026407957
points size 100086 
scan registration time 34.981316 ms *************
publication time 8.614387 ms 
whole laserOdometry time 8.629852 ms 
 
mapping data assosiation time 49.878883 ms 
--------------------stamp1317358052.130364894
points size 99798 
mapping optimization time 292.321764 
scan registration time 34.242522 ms *************
filter time 30.972118 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 
--------------------stamp1317358052.234282016
prepare time 12.115171 
sort q time 5.762158 
seperate points time 13.881520 
-----t: 0.0410866
OdomCount 2795 & avg odom time 0.048483 ms ++++++++++++++++++++++
build tree time 103.619987 ms 
--------------------stamp1317358052.338151931
prepare time 13.707897 
sort q time 5.812208 
seperate points time 14.210589 
mapping solver time 42.575665 ms 
-----t: 0.0633789
OdomCount 2796 & avg odom time 0.048488 ms ++++++++++++++++++++++
1317358052.338151931 WriteOdom laser_odom_to_init
1317358052.338151931 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 43.651615 ms 
points size 97655 
sort q time 6.277048 
seperate points time 15.307609 
publication time 9.941857 ms 
whole laserOdometry time 9.954907 ms 
 
filter time 29.648222 ms 
mapping pub time 2.640989 ms 
whole mapping time 322.021671 ms +++++
mappingCount 1777 & avg mapping time 159.307693 ms ++++++++++++++++++++++
1317358051.818366051 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358052.545821905
sort q time 14.923656 
seperate points time 23.177323 
publication time 11.007556 ms 
whole laserOdometry time 11.023456 ms 
 
build tree time 111.951165 ms 
points size 95218 
sort q time 5.195895 
seperate points time 13.681568 
publication time 10.315452 ms 
whole laserOdometry time 10.326949 ms 
 
mapping solver time 36.377964 ms 
points size 93192 
[0m[ INFO] [1718804769.588266015, 1317358052.778079495]: Received 428805 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804769.588318574, 1317358052.778079495]: Data saved to 1317358051506104.pcd[0m
mapping data assosiation time 44.817570 ms 
publication time 13.334290 ms 
whole laserOdometry time 13.347502 ms 
 
-----t: 0.0497268
OdomCount 2800 & avg odom time 0.048497 ms ++++++++++++++++++++++
1317358052.753418922 WriteOdom laser_odom_to_init
1317358052.753418922 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 40.863660 ms 
--------------------stamp1317358052.857218027
map prepare time 5.905985 ms
map corner num 284190  surf num 133954 
sort q time 5.343084 
seperate points time 13.686513 
publication time 11.982069 ms 
whole laserOdometry time 11.997070 ms 
 
OdomCount 2801 & avg odom time 0.048497 ms ++++++++++++++++++++++
build tree time 81.064057 ms 
points size 92123 
sort q time 5.853995 
seperate points time 11.852855 
publication time 10.248344 ms 
whole laserOdometry time 10.279117 ms 
 
-----t: 0.0505377
OdomCount 2802 & avg odom time 0.048498 ms ++++++++++++++++++++++
--------------------stamp1317358053.064769983
points size 92128 
prepare time 11.843115 
publication time 7.508371 ms 
whole laserOdometry time 7.540708 ms 
 
mapping solver time 44.554980 ms 
filter time 19.257847 ms 
map prepare time 4.422619 ms
map corner num 285586  surf num 134570 
--------------------stamp1317358053.168543100
points size 92349 
sort q time 5.309930 
seperate points time 13.336233 
publication time 8.921721 ms 
whole laserOdometry time 8.935811 ms 
 
-----t: 0.0474595
OdomCount 2804 & avg odom time 0.048495 ms ++++++++++++++++++++++
--------------------stamp1317358053.272291898
prepare time 11.752263 
sort q time 5.590119 
seperate points time 13.205322 
scan registration time 28.966539 ms *************
publication time 12.955098 ms 
whole laserOdometry time 12.970783 ms 
 
--------------------stamp1317358053.376066923
prepare time 11.715549 
mapping data assosiation time 47.080568 ms 
sort q time 5.306809 
seperate points time 27.084212 
mapping solver time 46.139581 ms 
filter time 31.065842 ms 
map prepare time 6.806271 ms
map corner num 287029  surf num 135163 
sort q time 5.807833 
seperate points time 13.178920 
publication time 8.283032 ms 
whole laserOdometry time 8.352234 ms 
 
-----t: 0.0616582
OdomCount 2807 & avg odom time 0.048498 ms ++++++++++++++++++++++
build tree time 89.273100 ms 
points size 95568 
sort q time 5.819928 
seperate points time 14.957001 
publication time 10.087725 ms 
whole laserOdometry time 10.128188 ms 
 
mapping solver time 45.223907 ms 
--------------------stamp1317358053.687465906
points size 96031 
mapping data assosiation time 44.757127 ms 
publication time 9.490750 ms 
whole laserOdometry time 9.508133 ms 
 
-----t: 0.0425194
OdomCount 2809 & avg odom time 0.048498 ms ++++++++++++++++++++++
1317358053.687465906 WriteOdom laser_odom_to_init
1317358053.687465906 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 38.570747 ms 
mapping optimization time 263.237018 
add points time 1.845538 ms
filter time 30.570268 ms 
points size 95321 
sort q time 5.198824 
seperate points time 18.245749 
scan registration time 52.730568 ms *************
publication time 10.097577 ms 
whole laserOdometry time 10.113272 ms 
 
mapping pub time 119.669189 ms 
whole mapping time 422.226377 ms +++++
mappingCount 1781 & avg mapping time 159.719894 ms ++++++++++++++++++++++
prepare time 19.543120 
-----t: 0.119546
OdomCount 2810 & avg odom time 0.048523 ms ++++++++++++++++++++++
1317358053.791239976 WriteOdom laser_odom_to_init
1317358053.791239976 WriteOdom aft_mapped_to_init_high_frec
sort q time 7.862682 
seperate points time 16.449541 
publication time 7.957848 ms 
whole laserOdometry time 7.977610 ms 
 
-----t: 0.0528252
OdomCount 2811 & avg odom time 0.048525 ms ++++++++++++++++++++++
points size 95089 
sort q time 5.332602 
seperate points time 12.383869 
publication time 13.368822 ms 
whole laserOdometry time 13.380388 ms 
 
-----t: 0.0546478
OdomCount 2812 & avg odom time 0.048527 ms ++++++++++++++++++++++
mapping solver time 43.225506 ms 
points size 96085 
sort q time 5.397759 
seperate points time 13.334324 
-----t: 0.0395888
OdomCount 2813 & avg odom time 0.048524 ms ++++++++++++++++++++++
1317358054.102663993 WriteOdom laser_odom_to_init
publication time 10.133972 ms 
whole laserOdometry time 10.143195 ms 
 
1317358054.102663993 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 41.798536 ms 
filter time 21.369104 ms 
points size 94818 
sort q time 6.857932 
seperate points time 14.638309 
publication time 10.551527 ms 
whole laserOdometry time 10.567707 ms 
 
-----t: 0.0485563
OdomCount 2814 & avg odom time 0.048524 ms ++++++++++++++++++++++
1317358054.206461906 WriteOdom laser_odom_to_init
1317358054.206461906 WriteOdom aft_mapped_to_init_high_frec
build tree time 89.528356 ms 
points size 92060 
sort q time 5.729630 
seperate points time 12.752730 
mapping data assosiation time 43.484939 ms 
publication time 12.477042 ms 
whole laserOdometry time 12.484235 ms 
 
-----t: 0.0568765
OdomCount 2815 & avg odom time 0.048527 ms ++++++++++++++++++++++
--------------------stamp1317358054.414052963
prepare time 14.284567 
sort q time 5.715789 
seperate points time 13.361520 
mapping solver time 35.458190 ms 
mapping optimization time 246.691624 
add points time 1.582126 ms
publication time 9.681677 ms 
whole laserOdometry time 9.694331 ms 
 
map prepare time 4.549934 ms
map corner num 291493  surf num 137069 
--------------------stamp1317358054.517875909
prepare time 13.904252 
sort q time 5.211816 
seperate points time 13.389989 
publication time 11.166377 ms 
whole laserOdometry time 11.200166 ms 
 
-----t: 0.0478944
OdomCount 2817 & avg odom time 0.048525 ms ++++++++++++++++++++++
--------------------stamp1317358054.621675968
points size 90807 
sort q time 5.157974 
seperate points time 13.009989 
mapping solver time 43.101321 ms 
mapping data assosiation time 50.432106 ms 
points size 91181 
publication time 10.372275 ms 
whole laserOdometry time 10.387072 ms 
 
filter time 30.514060 ms 
mapping pub time 2.454476 ms 
whole mapping time 290.184265 ms +++++
mappingCount 1784 & avg mapping time 159.944289 ms ++++++++++++++++++++++
1317358054.206461906 WriteOdom aft_mapped_to_init
--------------------stamp1317358054.829251050
points size 90172 
sort q time 5.317847 
seperate points time 13.289039 
publication time 11.407297 ms 
whole laserOdometry time 11.426185 ms 
 
-----t: 0.0645234
OdomCount 2820 & avg odom time 0.048532 ms ++++++++++++++++++++++
--------------------stamp1317358054.933073997
prepare time 14.009961 
sort q time 5.407425 
seperate points time 13.409983 
mapping solver time 43.273218 ms 
-----t: 0.0508489
OdomCount 2821 & avg odom time 0.048533 ms ++++++++++++++++++++++
mapping data assosiation time 37.996142 ms 
--------------------stamp1317358055.036895990
mapping optimization time 247.922691 
sort q time 6.958556 
seperate points time 15.806646 
mapping pub time 2.437874 ms 
whole mapping time 288.631957 ms +++++
mappingCount 1785 & avg mapping time 160.016385 ms ++++++++++++++++++++++
publication time 18.388706 ms 
whole laserOdometry time 18.404029 ms 
 
--------------------stamp1317358055.140717029
prepare time 13.424142 
sort q time 5.709578 
seperate points time 14.090560 
publication time 11.308774 ms 
whole laserOdometry time 11.322611 ms 
 
mapping data assosiation time 40.551545 ms 
--------------------stamp1317358055.244539022
prepare time 13.914558 
sort q time 5.789681 
seperate points time 15.390412 mapping data assosiation time 43.548318 ms 
-----t: 0.052383
OdomCount 2824 & avg odom time 0.048533 ms ++++++++++++++++++++++
mapping solver time 38.667467 ms 
--------------------stamp1317358055.348362922
prepare time 13.046589 
scan registration time 33.402011 ms *************
publication time 13.357303 ms 
whole laserOdometry time 13.370679 ms 
 
-----t: 0.0574515
OdomCount 2825 & avg odom time 0.048537 ms ++++++++++++++++++++++
--------------------stamp1317358055.452187061
build tree time 89.772782 ms 
sort q time 5.463484 
seperate points time 13.957965 
publication time 13.183924 ms 
whole laserOdometry time 13.196570 ms 
 
mapping solver time 36.811442 ms 
points size 93227 
prepare time 21.861490 
mapping data assosiation time 39.634718 ms 
-----t: 0.0423314
OdomCount 2827 & avg odom time 0.048533 ms ++++++++++++++++++++++
scan registration time 68.426502 ms *************
publication time 8.683302 ms 
whole laserOdometry time 8.696263 ms 
 
mapping pub time 1.949651 ms 
whole mapping time 286.228770 ms +++++
mappingCount 1787 & avg mapping time 160.154689 ms ++++++++++++++++++++++
[0m[ INFO] [1718804772.480378239, 1317358055.669806598]: Received 434659 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804772.480412050, 1317358055.669806598]: Data saved to 1317358054829251.pcd[0m
sort q time 5.908665 
seperate points time 14.603963 
publication time 10.941825 ms 
whole laserOdometry time 10.973675 ms 
 
-----t: 0.0510379
OdomCount 2828 & avg odom time 0.048534 ms ++++++++++++++++++++++
build tree time 82.935968 ms 
points size 95558 
mapping data assosiation time 36.755897 ms 
sort q time 10.965775 
seperate points time 20.088870 
scan registration time 44.555281 ms *************
mapping solver time 42.583650 ms 
publication time 13.339938 ms 
whole laserOdometry time 13.380324 ms 
 
-----t: 0.0753965
OdomCount 2829 & avg odom time 0.048543 ms ++++++++++++++++++++++
--------------------stamp1317358055.867477893
points size 95448 
mapping solver time 34.255251 ms 
publication time 12.861043 ms 
whole laserOdometry time 12.879671 ms 
 
map prepare time 5.358888 ms
map corner num 298482  surf num 140296 
points size 95449 
sort q time 6.145088 
seperate points time 13.766274 
publication time 15.617253 ms 
whole laserOdometry time 15.647322 ms 
 
--------------------stamp1317358056.075098991
prepare time 21.569461 
sort q time 6.489481 
seperate points time 15.474562 
-----t: 0.0418376
OdomCount 2832 & avg odom time 0.048566 ms ++++++++++++++++++++++
1317358056.075098991 WriteOdom laser_odom_to_init
1317358056.075098991 WriteOdom aft_mapped_to_init_high_frec
publication time 13.611168 ms 
whole laserOdometry time 13.624338 ms 
 
mapping solver time 38.934016 ms 
points size 95546 
sort q time 6.558829 
seperate points time 13.381106 
publication time 13.410697 ms 
whole laserOdometry time 13.425866 ms 
 
mapping solver time 34.769181 ms 
filter time 20.425262 ms 
points size 95588 
sort q time 5.953957 
seperate points time 14.761637 
publication time 15.076798 ms 
whole laserOdometry time 15.097219 ms 
 
build tree time 88.087298 ms 
--------------------stamp1317358056.386542081
prepare time 12.018882 
sort q time 5.409903 
seperate points time 12.763320 
mapping solver time 40.830137 ms 
--------------------stamp1317358056.490340948
prepare time 13.022685 
sort q time 5.549066 
seperate points time 25.696052 
publication time 13.287605 ms 
whole laserOdometry time 13.301826 ms 
 
map prepare time 5.777656 ms
map corner num 286398  surf num 144878 
--------------------stamp1317358056.594139099
prepare time 11.381902 
sort q time 5.277521 
seperate points time 12.147067 
publication time 10.691129 ms 
whole laserOdometry time 10.708298 ms 
 
build tree time 87.926994 ms 
-----t: 0.0689062
OdomCount 2837 & avg odom time 0.048584 ms ++++++++++++++++++++++
--------------------stamp1317358056.697915077
prepare time 13.252646 
scan registration time 31.784961 ms *************
publication time 12.078109 ms 
whole laserOdometry time 12.094800 ms 
 
-----t: 0.0514235
OdomCount 2838 & avg odom time 0.048585 ms ++++++++++++++++++++++
sort q time 29.682669 
seperate points time 50.869764 
mapping pub time 15.137762 ms 
whole mapping time 318.004599 ms +++++
mappingCount 1791 & avg mapping time 160.479260 ms ++++++++++++++++++++++
--------------------stamp1317358056.905415058
points size 92341 
sort q time 5.095788 
seperate points time 13.012998 
publication time 11.640640 ms 
whole laserOdometry time 11.651095 ms 
 
build tree time 100.694270 ms 
--------------------stamp1317358057.009169101
prepare time 11.601882 
sort q time 5.257295 
seperate points time 12.617522 
publication time 10.351548 ms 
whole laserOdometry time 10.370121 ms 
 
-----t: 0.054034
OdomCount 2841 & avg odom time 0.048600 ms ++++++++++++++++++++++
mapping data assosiation time 38.028009 ms 
sort q time 5.672604 
seperate points time 12.613397 
scan registration time 28.209620 ms *************
mapping solver time 38.655897 ms 
mapping optimization time 261.821116 
add points time 2.074354 ms
filter time 29.357954 ms 
map prepare time 4.539003 ms
map corner num 289616  surf num 146865 
--------------------stamp1317358057.216670036
sort q time 5.381268 
seperate points time 12.974881 
build tree time 78.327439 ms 
1317358057.216670036 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358057.320417881
prepare time 12.031102 
sort q time 14.536763 
seperate points time 22.883269 
publication time 9.052723 ms 
whole laserOdometry time 9.071898 ms 
 
-----t: 0.060491
OdomCount 2844 & avg odom time 0.048604 ms ++++++++++++++++++++++
--------------------stamp1317358057.424170970
mapping solver time 30.550243 ms 
filter time 25.850118 ms 
mapping pub time 2.208583 ms 
whole mapping time 272.484656 ms +++++
mappingCount 1793 & avg mapping time 160.621023 ms ++++++++++++++++++++++
1317358056.801666021 WriteOdom aft_mapped_to_init
-----t: 0.0551848
OdomCount 2845 & avg odom time 0.048606 ms ++++++++++++++++++++++
1317358057.424170970 WriteOdom laser_odom_to_init
1317358057.424170970 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358057.527921915
points size 96168 
sort q time 5.509340 
seperate points time 13.663159 
scan registration time 31.207772 ms *************
publication time 11.731448 ms 
whole laserOdometry time 11.761078 ms 
 
mapping data assosiation time 40.406339 ms 
--------------------stamp1317358057.631648063
prepare time 12.399804 
sort q time 5.539701 
seperate points time 13.085400 
mapping data assosiation time 45.194944 ms 
-----t: 0.0524542
OdomCount 2847 & avg odom time 0.048607 ms ++++++++++++++++++++++
filter time 19.954780 ms 
map prepare time 6.430902 ms
map corner num 292852  surf num 148731 
sort q time 4.958731 
seperate points time 11.475043 
publication time 8.435107 ms 
whole laserOdometry time 8.457124 ms 
 
1317358057.735421895 WriteOdom laser_odom_to_init
1317358057.735421895 WriteOdom aft_mapped_to_init_high_frec
build tree time 81.038057 ms 
--------------------stamp1317358057.839220046
prepare time 13.041484 
sort q time 5.901081 
seperate points time 14.009705 
scan registration time 31.872046 ms *************
publication time 15.126675 ms 
whole laserOdometry time 15.145098 ms 
 
--------------------stamp1317358057.943043947
prepare time 11.641881 
mapping solver time 22.098132 ms 
publication time 11.074131 ms 
whole laserOdometry time 11.087488 ms 
 
filter time 28.693952 ms 
mapping pub time 2.276489 ms 
whole mapping time 267.368649 ms +++++
mappingCount 1795 & avg mapping time 160.735161 ms ++++++++++++++++++++++
1317358057.424170971 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
-----t: 0.043637
OdomCount 2850 & avg odom time 0.048602 ms ++++++++++++++++++++++
--------------------stamp1317358058.046891927
points size 101118 
sort q time 5.780012 
seperate points time 14.270528 
scan registration time 32.073175 ms *************
-----t: 0.0484112
OdomCount 2851 & avg odom time 0.048602 ms ++++++++++++++++++++++
1317358058.046891927 WriteOdom laser_odom_to_init
mapping data assosiation time 38.121963 ms 
--------------------stamp1317358058.150712966
points size 98825 
sort q time 6.631840 
seperate points time 16.295633 
publication time 12.327794 ms 
whole laserOdometry time 12.468845 ms 
 
-----t: 0.0531547
OdomCount 2852 & avg odom time 0.048603 ms ++++++++++++++++++++++
mapping solver time 23.007600 ms 
mapping optimization time 224.848803 
add points time 1.405370 ms
--------------------stamp1317358058.254535913
points size 97131 
map prepare time 6.235630 ms
map corner num 295957  surf num 150483 
scan registration time 33.211492 ms *************
publication time 11.322893 ms 
whole laserOdometry time 11.339575 ms 
 
-----t: 0.0566445
OdomCount 2853 & avg odom time 0.048606 ms ++++++++++++++++++++++
--------------------stamp1317358058.358335018
sort q time 6.215138 
seperate points time 13.034734 
mapping data assosiation time 45.614957 ms 
mapping solver time 36.553266 ms 
--------------------stamp1317358058.462133884
points size 95551 
mapping data assosiation time 43.863740 ms 
mapping solver time 32.908430 ms 
1317358058.462133884 WriteOdom laser_odom_to_init
filter time 22.110923 ms 
map prepare time 4.542606 ms
map corner num 297585  surf num 151469 
[0m[ INFO] [1718804775.378810541, 1317358058.563576106]: Received 446440 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804775.378846549, 1317358058.563576106]: Data saved to 1317358057735421.pcd[0m
points size 93599 
sort q time 5.380311 
seperate points time 13.538257 
scan registration time 32.031264 ms *************
publication time 11.188072 ms 
whole laserOdometry time 11.206354 ms 
 
-----t: 0.0457469
OdomCount 2856 & avg odom time 0.048603 ms ++++++++++++++++++++++
build tree time 83.651502 ms 
--------------------stamp1317358058.669756889
sort q time 5.268168 
seperate points time 12.753700 
publication time 11.315573 ms 
whole laserOdometry time 11.329961 ms 
 
mapping data assosiation time 36.527513 ms 
--------------------stamp1317358058.773554086
points size 92304 
mapping solver time 39.285414 ms 
publication time 11.275700 ms 
whole laserOdometry time 11.290371 ms 
 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358058.877352952
prepare time 12.359263 
sort q time 5.326926 
seperate points time 13.399398 
scan registration time 30.806560 ms *************
publication time 10.999921 ms 
whole laserOdometry time 11.014315 ms 
 
mapping data assosiation time 52.347275 ms 
points size 92856 
sort q time 5.760357 
seperate points time 13.667819 
-----t: 0.045284
OdomCount 2860 & avg odom time 0.048596 ms ++++++++++++++++++++++
mapping data assosiation time 43.009158 ms 
--------------------stamp1317358059.084902048
prepare time 12.756524 
filter time 26.356876 ms 
-----t: 0.0508552
OdomCount 2861 & avg odom time 0.048597 ms ++++++++++++++++++++++
--------------------stamp1317358059.188677072
prepare time 11.974886 
scan registration time 28.797619 ms *************
publication time 11.501339 ms 
whole laserOdometry time 11.515518 ms 
 
mapping data assosiation time 48.970658 ms 
--------------------stamp1317358059.292475938
prepare time 14.054995 
sort q time 5.160723 
seperate points time 12.531549 
mapping data assosiation time 44.491692 ms 
mapping solver time 33.701457 ms 
--------------------stamp1317358059.396297931
points size 89652 
sort q time 5.233377 
seperate points time 12.443921 
publication time 9.341473 ms 
whole laserOdometry time 9.352070 ms 
 
build tree time 71.994197 ms 
--------------------stamp1317358059.500097036
mapping data assosiation time 43.163449 ms 
sort q time 7.147717 
seperate points time 14.208647 
-----t: 0.0397592
OdomCount 2865 & avg odom time 0.048596 ms ++++++++++++++++++++++
mapping solver time 41.315915 ms 
mapping data assosiation time 36.606002 ms 
--------------------stamp1317358059.603897094
prepare time 12.757403 
sort q time 5.161624 
seperate points time 12.402765 
publication time 13.113979 ms 
whole laserOdometry time 13.127682 ms 
 
--------------------stamp1317358059.707695007
prepare time 12.747926 
sort q time 5.498394 
seperate points time 12.642006 
publication time 10.614244 ms 
whole laserOdometry time 10.628014 ms 
 
-----t: 0.0511425
OdomCount 2867 & avg odom time 0.048595 ms ++++++++++++++++++++++
--------------------stamp1317358059.811492919
points size 94353 
sort q time 5.331038 
seperate points time 12.566701 
-----t: 0.0362286
OdomCount 2868 & avg odom time 0.048591 ms ++++++++++++++++++++++
mapping data assosiation time 37.817208 ms 
--------------------stamp1317358059.915316104
prepare time 13.705666 
sort q time 5.307890 
seperate points time 11.630992 
[0m[ INFO] [1718804776.770680785, 1317358059.958635174]: Received 397643 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804776.770785352, 1317358059.958635174]: Data saved to 1317358059084902.pcd[0m
-----t: 0.0562814
OdomCount 2869 & avg odom time 0.048594 ms ++++++++++++++++++++++
--------------------stamp1317358060.019115924
prepare time 13.353950 
sort q time 6.509035 
seperate points time 13.745468 
drop lidar frame in mapping for real time performance 
publication time 12.428448 ms 
whole laserOdometry time 12.448146 ms 
 
points size 101006 
sort q time 5.676239 
seperate points time 12.994177 
mapping data assosiation time 37.616932 ms 
-----t: 0.0549063
OdomCount 2871 & avg odom time 0.048596 ms ++++++++++++++++++++++
1317358060.122915029 WriteOdom laser_odom_to_init
1317358060.122915029 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358060.226736068
points size 101330 
mapping data assosiation time 40.723822 ms 
publication time 10.234037 ms 
whole laserOdometry time 10.247248 ms 
 
-----t: 0.0606111
OdomCount 2872 & avg odom time 0.048600 ms ++++++++++++++++++++++
1317358060.226736068 WriteOdom laser_odom_to_init
1317358060.226736068 WriteOdom aft_mapped_to_init_high_frec
map prepare time 4.555204 ms
map corner num 271987  surf num 130123 
--------------------stamp1317358060.330534934
sort q time 6.907458 
seperate points time 14.696732 
-----t: 0.0382293
OdomCount 2873 & avg odom time 0.048596 ms ++++++++++++++++++++++
1317358060.330534934 WriteOdom laser_odom_to_init
1317358060.330534934 WriteOdom aft_mapped_to_init_high_frec
publication time 12.669180 ms 
whole laserOdometry time 12.676527 ms 
 
mapping data assosiation time 37.007595 ms 
points size 102345 
mapping solver time 33.965276 ms 
-----t: 0.0434731
OdomCount 2874 & avg odom time 0.048595 ms ++++++++++++++++++++++
mapping data assosiation time 43.987715 ms 
mapping solver time 23.627381 ms 
points size 102337 
1317358060.019115925 WriteOdom aft_mapped_to_init
scan registration time 38.731112 ms *************
-----t: 0.0507494
OdomCount 2875 & avg odom time 0.048595 ms ++++++++++++++++++++++
--------------------stamp1317358060.641907930
prepare time 13.514704 
sort q time 5.821031 
seperate points time 14.222744 
mapping data assosiation time 43.533091 ms 
mapping solver time 34.013512 ms 
--------------------stamp1317358060.745707988
prepare time 12.536837 
sort q time 7.366668 
seperate points time 14.116557 
mapping solver time 25.529698 ms 
-----t: 0.0481585
OdomCount 2877 & avg odom time 0.048595 ms ++++++++++++++++++++++
mapping pub time 2.338630 ms 
whole mapping time 261.074132 ms +++++
mappingCount 1805 & avg mapping time 161.394484 ms ++++++++++++++++++++++
--------------------stamp1317358060.849505901
points size 102766 
sort q time 5.790302 
seperate points time 13.567766 
-----t: 0.0399604
OdomCount 2878 & avg odom time 0.048592 ms ++++++++++++++++++++++
mapping data assosiation time 39.139845 ms 
points size 103392 
sort q time 6.150809 
seperate points time 14.057056 
publication time 11.267226 ms 
whole laserOdometry time 11.279014 ms 
 
-----t: 0.0550461
OdomCount 2879 & avg odom time 0.048595 ms ++++++++++++++++++++++
1317358060.953305959 WriteOdom laser_odom_to_init
1317358060.953305959 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 43.023474 ms 
--------------------stamp1317358061.057104110
points size 103885 
scan registration time 41.698666 ms *************
mapping pub time 8.099527 ms 
whole mapping time 283.554319 ms +++++
mappingCount 1806 & avg mapping time 161.462127 ms ++++++++++++++++++++++
map prepare time 21.291405 ms
map corner num 276021  surf num 132570 
--------------------stamp1317358061.160902023
sort q time 6.391041 
seperate points time 16.338554 
build tree time 84.909138 ms 
-----t: 0.0508936
OdomCount 2881 & avg odom time 0.048613 ms ++++++++++++++++++++++
mapping data assosiation time 43.343152 ms 
--------------------stamp1317358061.264723062
points size 102763 
sort q time 5.932095 
seperate points time 13.993650 
publication time 11.056956 ms 1317358061.264723062 WriteOdom laser_odom_to_init
1317358061.264723062 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 45.991766 ms 
--------------------stamp1317358061.368545055
prepare time 15.031877 
filter time 24.106729 ms 
-----t: 0.0534308
OdomCount 2883 & avg odom time 0.048614 ms ++++++++++++++++++++++
--------------------stamp1317358061.472371101
prepare time 11.661185 
sort q time 6.390319 
seperate points time 14.005234 
scan registration time 29.618307 ms *************
publication time 10.287470 ms 
whole laserOdometry time 10.300773 ms 
 

-----t: 0.0676469
OdomCount 2884 & avg odom time 0.048621 ms ++++++++++++++++++++++
--------------------stamp1317358061.576193094
mapping solver time 53.475564 ms 
sort q time 6.858288 
seperate points time 19.653621 
publication time 12.149098 ms 
whole laserOdometry time 12.169795 ms 
 
-----t: 0.0811951
OdomCount 2885 & avg odom time 0.048632 ms ++++++++++++++++++++++
--------------------stamp1317358061.680015087
prepare time 18.639731 
map prepare time 5.550779 ms
map corner num 278837  surf num 134564 
sort q time 5.843482 
seperate points time 14.904466 
scan registration time 39.941655 ms *************
publication time 13.112594 ms 
whole laserOdometry time 13.126702 ms 
 
-----t: 0.056455
OdomCount 2886 & avg odom time 0.048635 ms ++++++++++++++++++++++
--------------------stamp1317358061.783838033
sort q time 6.041009 
seperate points time 14.167442 
publication time 14.123298 ms 
whole laserOdometry time 14.137719 ms 
 
-----t: 0.0497143
OdomCount 2887 & avg odom time 0.048635 ms ++++++++++++++++++++++
mapping solver time 41.058108 ms 
--------------------stamp1317358061.887659072
prepare time 14.630603 
sort q time 5.684828 
seperate points time 13.473330 
mapping data assosiation time 49.259878 ms 
publication time 16.559751 ms 
whole laserOdometry time 16.573218 ms 
 
mapping solver time 45.395416 ms 
--------------------stamp1317358061.991485118
prepare time 13.287546 
publication time 14.232180 ms 
whole laserOdometry time 14.249413 ms 
 
-----t: 0.0575743
OdomCount 2889 & avg odom time 0.048642 ms ++++++++++++++++++++++
build tree time 69.348689 ms 
points size 103947 
sort q time 6.123756 
seperate points time 12.667843 
mapping data assosiation time 48.425041 ms 
publication time 11.126314 ms -----t: 0.0593194
OdomCount 2890 & avg odom time 0.048646 ms ++++++++++++++++++++++
mapping solver time 46.720524 ms 
--------------------stamp1317358062.199131011
prepare time 12.534983 
sort q time 6.812718 
seperate points time 14.018739 
publication time 13.506199 ms 
whole laserOdometry time 13.518368 ms 
 
mapping solver time 39.558573 ms 
filter time 19.292399 ms 
map prepare time 4.932184 ms
map corner num 271903  surf num 133767 
points size 103886 
sort q time 6.316301 
seperate points time 13.849598 
publication time 16.041724 ms 
whole laserOdometry time 16.055721 ms 
 
build tree time 76.981894 ms 
-----t: 0.0860874
OdomCount 2892 & avg odom time 0.048662 ms ++++++++++++++++++++++
prepare time 17.482760 
mapping solver time 55.697719 ms 
-----t: 0.0800007
OdomCount 2893 & avg odom time 0.048673 ms ++++++++++++++++++++++
points size 103679 
mapping data assosiation time 50.150897 ms 
scan registration time 41.923017 ms *************
publication time 10.529511 ms 
whole laserOdometry time 10.545674 ms 
 
mapping solver time 42.635572 ms 
filter time 19.665911 ms 
map prepare time 5.937588 ms
map corner num 273475  surf num 134804 
scan registration time 32.247362 ms *************
publication time 12.943654 ms 
whole laserOdometry time 12.957899 ms 
 
build tree time 78.179063 ms 
--------------------stamp1317358062.718580007
prepare time 18.887885 
mapping data assosiation time 52.362859 ms 
publication time 14.230739 ms 
whole laserOdometry time 14.250939 ms 
 
-----t: 0.065315
OdomCount 2896 & avg odom time 0.048677 ms ++++++++++++++++++++++
1317358062.718580007 WriteOdom laser_odom_to_init
--------------------stamp1317358062.822521924
prepare time 15.123877 
sort q time 6.128560 
seperate points time 15.141169 
mapping data assosiation time 48.402404 ms 
scan registration time 35.180138 ms *************
-----t: 0.0486816
OdomCount 2897 & avg odom time 0.048677 ms ++++++++++++++++++++++
mapping optimization time 272.491211 
add points time 2.009149 ms
filter time 19.632909 ms 
map prepare time 6.327899 ms
map corner num 275051  surf num 135686 
prepare time 14.306817 
sort q time 5.986899 
seperate points time 14.949636 
publication time 10.992964 ms 
whole laserOdometry time 11.004108 ms 
 
-----t: 0.0547895
OdomCount 2898 & avg odom time 0.048679 ms ++++++++++++++++++++++
--------------------stamp1317358063.030431032
prepare time 12.014930 
sort q time 6.028762 
seperate points time 24.236406 
publication time 12.128108 ms 
whole laserOdometry time 12.146295 ms 
 
--------------------stamp1317358063.134351015
sort q time 6.644778 
seperate points time 13.390927 
mapping solver time 46.162572 ms 
filter time 25.836595 ms 
map prepare time 6.027266 ms
map corner num 276562  surf num 136561 
points size 102883 
-----t: 0.118351
OdomCount 2900 & avg odom time 0.048706 ms ++++++++++++++++++++++
1317358063.134351015 WriteOdom laser_odom_to_init
1317358063.134351015 WriteOdom aft_mapped_to_init_high_frec
sort q time 6.199251 
seperate points time 24.550695 
scan registration time 69.397607 ms *************
publication time 10.991812 ms 
whole laserOdometry time 11.003883 ms 
 
points size 102310 
sort q time 6.872344 
seperate points time 16.303302 
publication time 10.679520 ms 
whole laserOdometry time 10.693624 ms 
 
-----t: 0.0448365
OdomCount 2902 & avg odom time 0.048715 ms ++++++++++++++++++++++
mapping solver time 56.875696 ms 
points size 101879 
sort q time 5.689420 
seperate points time 13.301947 
mapping data assosiation time 52.171600 ms 
-----t: 0.0534581
OdomCount 2903 & avg odom time 0.048717 ms ++++++++++++++++++++++
1317358063.446192979 WriteOdom laser_odom_to_init
1317358063.446192979 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 39.141582 ms 
mapping optimization time 293.822842 
add points time 1.822216 ms
filter time 20.585402 ms 
map prepare time 6.153260 ms
map corner num 278099  surf num 137371 
sort q time 6.568568 
seperate points time 15.640351 publication time 13.918503 ms 
whole laserOdometry time 13.949453 ms 
 
build tree time 74.683182 ms 
--------------------stamp1317358063.654109954
points size 101404 
prepare time 14.314759 
scan registration time 32.416761 ms *************
publication time 20.504690 ms 
whole laserOdometry time 20.518294 ms 
 
-----t: 0.0628636
OdomCount 2905 & avg odom time 0.048724 ms ++++++++++++++++++++++
--------------------stamp1317358063.758076906
points size 101451 
sort q time 5.765461 
seperate points time 13.556372 
publication time 11.290648 ms 
whole laserOdometry time 11.327903 ms 
 
mapping solver time 47.850899 ms 
--------------------stamp1317358063.862045049
points size 101706 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
sort q time 6.202984 
seperate points time 15.317275 
-----t: 0.0478509
OdomCount 2907 & avg odom time 0.048725 ms ++++++++++++++++++++++
--------------------stamp1317358063.966012954
prepare time 12.262635 
scan registration time 32.107555 ms *************
publication time 8.554284 ms 
whole laserOdometry time 8.601507 ms 
 
--------------------stamp1317358064.070003032
points size 101852 
sort q time 5.658916 
seperate points time 12.903712 
mapping data assosiation time 48.722631 ms 
publication time 11.504912 ms 
whole laserOdometry time 11.518719 ms 
 
mapping solver time 36.995746 ms 
--------------------stamp1317358064.173991918
filter time 20.881745 ms 
points size 101663 
prepare time 18.803336 
mapping pub time 10.063694 ms 
whole mapping time 307.386112 ms +++++
mappingCount 1816 & avg mapping time 162.250569 ms ++++++++++++++++++++++
1317358063.550159931 WriteOdom aft_mapped_to_init
sort q time 6.838890 
seperate points time 13.790239 
publication time 10.185973 ms 
whole laserOdometry time 10.209932 ms 
 
-----t: 0.0761359
OdomCount 2910 & avg odom time 0.048732 ms ++++++++++++++++++++++
build tree time 77.479810 ms 
sort q time 5.837621 
seperate points time 13.765786 
mapping data assosiation time 45.802506 ms 
-----t: 0.0516278
OdomCount 2911 & avg odom time 0.048733 ms ++++++++++++++++++++++
mapping solver time 33.516836 ms 
--------------------stamp1317358064.381952047
points size 101142 
mapping data assosiation time 45.542420 ms 
scan registration time 58.641440 ms *************
publication time 8.906398 ms 
whole laserOdometry time 8.922895 ms 
 
filter time 21.326186 ms 
map prepare time 4.537391 ms
map corner num 282278  surf num 139333 
points size 101196 
prepare time 16.193757 
sort q time 6.864005 
seperate points time 18.905934 
publication time 11.162503 ms 
whole laserOdometry time 11.177407 ms 
 
build tree time 104.748379 ms 
points size 101217 
sort q time 5.641191 
seperate points time 13.472216 
mapping data assosiation time 48.210850 ms 
-----t: 0.0468841
OdomCount 2914 & avg odom time 0.048732 ms ++++++++++++++++++++++
1317358064.589834928 WriteOdom laser_odom_to_init
1317358064.589834928 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 40.318591 ms 
--------------------stamp1317358064.693732023
prepare time 14.777302 
mapping data assosiation time 46.070642 ms 
mapping solver time 33.713998 ms 
1317358064.693732023 WriteOdom laser_odom_to_init
1317358064.693732023 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.272796 ms 
whole mapping time 308.479966 ms +++++
mappingCount 1818 & avg mapping time 162.393409 ms ++++++++++++++++++++++
--------------------stamp1317358064.797626972
prepare time 11.727498 
sort q time 5.947489 
seperate points time 13.436152 
publication time 11.047879 ms 
whole laserOdometry time 11.060857 ms 
 
build tree time 82.333789 ms 
--------------------stamp1317358064.901521921
points size 101587 
sort q time 6.057137 
seperate points time 13.986927 
publication time 10.658580 ms 
whole laserOdometry time 10.670905 ms 
 
-----t: 0.0402728
OdomCount 2917 & avg odom time 0.048728 ms ++++++++++++++++++++++
--------------------stamp1317358065.005414962
prepare time 12.827911 
sort q time 5.993791 
seperate points time 14.050512 
publication time 9.264212 ms 
whole laserOdometry time 9.277586 ms 
 
-----t: 0.0479899
OdomCount 2918 & avg odom time 0.048727 ms ++++++++++++++++++++++
filter time 20.694093 ms 
map prepare time 4.559823 ms
map corner num 284770  surf num 140466 
points size 101527 
sort q time 5.509997 
seperate points time 12.995318 
publication time 13.975301 ms build tree time 82.104458 ms 
--------------------stamp1317358065.213156938
prepare time 12.633359 
sort q time 5.875482 
seperate points time 14.570085 
publication time 10.656503 ms 
whole laserOdometry time 10.677213 ms 
 
mapping solver time 53.473261 ms 
-----t: 0.0728801
OdomCount 2920 & avg odom time 0.048736 ms ++++++++++++++++++++++
--------------------stamp1317358065.316956043
points size 101585 
mapping data assosiation time 47.817304 ms 
sort q time 6.217288 
seperate points time 15.434822 
publication time 11.588665 ms 
whole laserOdometry time 11.609925 ms 
 
mapping optimization time 279.227319 
filter time 20.786562 ms 
map prepare time 5.163806 ms
map corner num 285931  surf num 141019 
scan registration time 35.730293 ms *************
--------------------stamp1317358065.524408102
build tree time 129.478648 ms 
scan registration time 32.877859 ms *************
publication time 9.048870 ms 
whole laserOdometry time 9.061333 ms 
 
-----t: 0.0499511
OdomCount 2923 & avg odom time 0.048744 ms ++++++++++++++++++++++
--------------------stamp1317358065.628062963
prepare time 11.333895 
sort q time 7.292539 
seperate points time 13.841914 
publication time 8.916554 ms 
whole laserOdometry time 8.926818 ms 
 
-----t: 0.0423403
OdomCount 2924 & avg odom time 0.048742 ms ++++++++++++++++++++++
1317358065.628062963 WriteOdom laser_odom_to_init
1317358065.628062963 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 46.438032 ms 
mapping solver time 26.763927 ms 
--------------------stamp1317358065.731717109
[0m[ INFO] [1718804782.565202689, 1317358065.752417850]: Received 428677 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804782.565249262, 1317358065.752417850]: Data saved to 1317358065109308.pcd[0m
-----t: 0.050498
OdomCount 2925 & avg odom time 0.048743 ms ++++++++++++++++++++++
--------------------stamp1317358065.835421085
mapping pub time 112.080018 ms 
whole mapping time 440.836457 ms +++++
mappingCount 1821 & avg mapping time 162.708395 ms ++++++++++++++++++++++
scan registration time 29.942494 ms *************
1317358065.835421085 WriteOdom laser_odom_to_init
1317358065.835421085 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358065.939126014
prepare time 12.349931 
sort q time 5.635695 
seperate points time 14.596078 
mapping data assosiation time 44.815711 ms 
publication time 12.864612 ms 
whole laserOdometry time 12.885064 ms 
 
-----t: 0.0554937
OdomCount 2927 & avg odom time 0.048744 ms ++++++++++++++++++++++
mapping solver time 50.768392 ms 
points size 101244 
sort q time 6.056592 
seperate points time 13.262117 
mapping data assosiation time 45.870114 ms 
publication time 10.974610 ms 
whole laserOdometry time 10.985180 ms 
 
-----t: 0.0737471
OdomCount 2928 & avg odom time 0.048752 ms ++++++++++++++++++++++
mapping optimization time 281.230225 
points size 101194 
sort q time 7.842159 
seperate points time 16.236142 
publication time 8.936686 ms 
whole laserOdometry time 8.952957 ms 
 
--------------------stamp1317358066.250185012
points size 101268 
sort q time 6.699602 
seperate points time 16.400705 
mapping data assosiation time 47.319374 ms 
publication time 11.092719 ms 
whole laserOdometry time 11.107548 ms 
 
mapping solver time 49.363817 ms 
points size 101238 
sort q time 5.994774 
seperate points time 14.319807 
publication time 11.951248 ms 
whole laserOdometry time 11.964357 ms 
 
--------------------stamp1317358066.457591056
prepare time 15.801548 
sort q time 6.370071 
seperate points time 16.692522 
filter time 27.221643 ms 
-----t: 0.0568154
OdomCount 2932 & avg odom time 0.048757 ms ++++++++++++++++++++++
publication time 13.839827 ms 
whole laserOdometry time 13.851386 ms 
 
--------------------stamp1317358066.561305046
points size 101350 
sort q time 5.462046 
seperate points time 12.236967 
publication time 12.237490 ms 
whole laserOdometry time 12.250515 ms 
 
-----t: 0.0569108
OdomCount 2933 & avg odom time 0.048760 ms ++++++++++++++++++++++
--------------------stamp1317358066.665004968
prepare time 12.062526 
mapping solver time 46.136513 ms 
scan registration time 31.033305 ms *************
publication time 9.305333 ms 
whole laserOdometry time 9.318590 ms 
 
mapping data assosiation time 48.060465 ms 
--------------------stamp1317358066.768719911
add points time 2.072262 ms
sort q time 5.690246 
seperate points time 13.977451 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
points size 101297 
build tree time 75.749644 ms 
publication time 10.441096 ms mapping data assosiation time 45.066872 ms 
--------------------stamp1317358066.976129055
mapping solver time 48.017390 ms 
sort q time 6.721310 
seperate points time 13.168881 
publication time 9.791858 ms 
whole laserOdometry time 9.807600 ms 
 
mapping data assosiation time 47.479276 ms 
-----t: 0.0602444
OdomCount 2937 & avg odom time 0.048772 ms ++++++++++++++++++++++
--------------------stamp1317358067.079855918
--------------------stamp1317358067.183581113
prepare time 12.436837 
sort q time 5.833054 
seperate points time 13.199141 
publication time 9.958320 ms 
whole laserOdometry time 9.977059 ms 
 
-----t: 0.0436441
OdomCount 2939 & avg odom time 0.048776 ms ++++++++++++++++++++++
1317358067.183581113 WriteOdom laser_odom_to_init
1317358067.183581113 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 45.300490 ms 
--------------------stamp1317358067.287333011
prepare time 12.472028 
sort q time 5.491262 
seperate points time 12.700326 
publication time 11.122472 ms 
whole laserOdometry time 11.154855 ms 
 
mapping solver time 36.174258 ms 
prepare time 11.155180 
sort q time 5.571888 
seperate points time 12.595718 
mapping pub time 8.585002 ms 
whole mapping time 309.129550 ms +++++
mappingCount 1826 & avg mapping time 163.117155 ms ++++++++++++++++++++++
-----t: 0.0659054
OdomCount 2941 & avg odom time 0.048782 ms ++++++++++++++++++++++
--------------------stamp1317358067.494982004
prepare time 12.767564 
sort q time 6.051040 
seperate points time 14.327824 
--------------------stamp1317358067.598850965
points size 101006 
sort q time 14.540520 
seperate points time 25.786818 
publication time 9.398936 ms 
whole laserOdometry time 9.413416 ms 
 
-----t: 0.0563622
OdomCount 2943 & avg odom time 0.048804 ms ++++++++++++++++++++++
--------------------stamp1317358067.702765941
points size 101104 
prepare time 14.909299 
scan registration time 34.488147 ms *************
publication time 9.644440 ms 
whole laserOdometry time 9.659257 ms 
 
map prepare time 5.598006 ms
map corner num 294507  surf num 145351 
--------------------stamp1317358067.806734085
prepare time 11.328199 
sort q time 5.974850 
seperate points time 14.038519 
publication time 14.166124 ms 
whole laserOdometry time 14.179782 ms 
 
build tree time 91.068735 ms 
-----t: 0.0686529
OdomCount 2945 & avg odom time 0.048815 ms ++++++++++++++++++++++
mapping data assosiation time 44.432545 ms 
--------------------stamp1317358067.910723924
sort q time 6.160231 
seperate points time 13.814820 
publication time 13.946766 ms 
whole laserOdometry time 13.958247 ms 
 
mapping data assosiation time 40.252637 ms 
points size 101321 
prepare time 13.482030 
mapping solver time 40.508810 ms 
scan registration time 54.965557 ms *************
mapping pub time 2.336989 ms 
whole mapping time 314.252479 ms +++++
mappingCount 1828 & avg mapping time 163.292680 ms ++++++++++++++++++++++
1317358067.391134024 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 5.841294 ms
map corner num 295733  surf num 146018 
-----t: 0.0585539
OdomCount 2947 & avg odom time 0.048816 ms ++++++++++++++++++++++
1317358068.014763116 WriteOdom laser_odom_to_init
1317358068.014763116 WriteOdom aft_mapped_to_init_high_frec
publication time 11.479521 ms 
whole laserOdometry time 11.493637 ms 
 
--------------------stamp1317358068.118803024
points size 101117 
sort q time 5.754435 
seperate points time 12.773816 
scan registration time 31.347002 ms *************
build tree time 76.092315 ms 
mapping data assosiation time 41.686587 ms 
--------------------stamp1317358068.222794055
prepare time 12.173377 
sort q time 6.138020 
seperate points time 13.124737 
mapping solver time 50.084190 ms 
publication time 12.669601 ms 
whole laserOdometry time 12.694343 ms 
 
-----t: 0.0591235
OdomCount 2949 & avg odom time 0.048828 ms ++++++++++++++++++++++
--------------------stamp1317358068.326785087
points size 100865 
sort q time 6.003333 
seperate points time 13.413771 
filter time 22.055236 ms 
map prepare time 5.970788 ms
map corner num 296994  surf num 146635 
-----t: 0.0858148
OdomCount 2950 & avg odom time 0.048841 ms ++++++++++++++++++++++
points size 100608 
prepare time 15.031336 
sort q time 6.325659 
seperate points time 15.772885 
mapping data assosiation time 44.902013 ms 
--------------------stamp1317358068.534887075
prepare time 15.780931 
sort q time 6.416965 
seperate points time 16.043651 
-----t: 0.0393219
OdomCount 2952 & avg odom time 0.048841 ms ++++++++++++++++++++++
mapping data assosiation time 44.580231 ms 
mapping solver time 34.650803 ms 
prepare time 11.697652 
sort q time 6.589340 
seperate points time 13.209316 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
points size 101066 
sort q time 5.553397 
seperate points time 13.602145 
publication time 10.865444 ms 
whole laserOdometry time 10.880504 ms 
 
mapping data assosiation time 49.074306 ms 
--------------------stamp1317358068.847172975
points size 101142 
sort q time 5.765981 
seperate points time 13.810812 
publication time 10.466467 ms 
whole laserOdometry time 10.529605 ms 
 
1317358068.847172975 WriteOdom laser_odom_to_init
1317358068.847172975 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358068.951281070
points size 100804 
add points time 1.653540 ms
sort q time 5.895879 
seperate points time 14.415102 
filter time 22.731284 ms 
1317358068.326785088 WriteOdom aft_mapped_to_init
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 
[0m[ INFO] [1718804785.821653703, 1317358069.005447163]: Received 446802 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804785.821840826, 1317358069.005447163]: Data saved to 1317358068326785.pcd[0m
map prepare time 5.633555 ms
map corner num 299154  surf num 147648 
--------------------stamp1317358069.055344104
points size 100698 
sort q time 5.877276 
seperate points time 13.991871 
publication time 10.766191 ms 
whole laserOdometry time 10.783187 ms 
 
mapping data assosiation time 43.389103 ms 
-----t: 0.0647164
OdomCount 2957 & avg odom time 0.048858 ms ++++++++++++++++++++++
1317358069.055344104 WriteOdom laser_odom_to_init
1317358069.055344104 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358069.159404993
points size 100379 
sort q time 5.755838 
seperate points time 14.168928 
publication time 11.233267 ms 
whole laserOdometry time 11.251087 ms 
 
mapping data assosiation time 48.742967 ms 
mapping solver time 34.916921 ms 
prepare time 13.630352 
sort q time 5.627018 
seperate points time 13.762122 
map prepare time 5.591831 ms
map corner num 300346  surf num 148162 
-----t: 0.0458052
OdomCount 2959 & avg odom time 0.048854 ms ++++++++++++++++++++++
--------------------stamp1317358069.367508888
prepare time 13.522636 
sort q time 6.236277 
seperate points time 14.422997 
-----t: 0.0417613
OdomCount 2960 & avg odom time 0.048852 ms ++++++++++++++++++++++
mapping data assosiation time 54.271455 ms 
--------------------stamp1317358069.471616029
prepare time 12.686259 
sort q time 5.450182 
seperate points time 13.360046 
mapping data assosiation time 42.286865 ms 
mapping solver time 25.933117 ms 
filter time 21.444618 ms 
prepare time 13.406267 
sort q time 5.582741 
seperate points time 13.480138 
publication time 10.255471 ms 
whole laserOdometry time 10.271548 ms 
 
build tree time 52.084606 ms 
mapping data assosiation time 35.608460 ms 
--------------------stamp1317358069.679817914
points size 100037 
prepare time 18.132179 
scan registration time 37.456384 ms *************
publication time 10.327481 ms 
whole laserOdometry time 10.347556 ms 
 
-----t: 0.0603008
OdomCount 2963 & avg odom time 0.048876 ms ++++++++++++++++++++++
--------------------stamp1317358069.783977031
prepare time 15.819256 
scan registration time 35.786507 ms *************
mapping solver time 43.746248 ms 
filter time 25.205993 ms 
--------------------stamp1317358069.888135910
points size 101284 
sort q time 5.337358 
seperate points time 13.218829 
build tree time 59.899824 ms 
-----t: 0.0618144
OdomCount 2965 & avg odom time 0.048886 ms ++++++++++++++++++++++
mapping data assosiation time 41.321462 ms 
--------------------stamp1317358069.992291927
points size 101718 
mapping solver time 43.021323 ms 
sort q time 5.868202 
seperate points time 27.174990 
-----t: 0.0516129
OdomCount 2966 & avg odom time 0.048887 ms ++++++++++++++++++++++
mapping data assosiation time 47.958571 ms 
--------------------stamp1317358070.096448898
prepare time 14.057034 
sort q time 5.717585 
seperate points time 14.171842 
scan registration time 33.126202 ms *************
publication time 8.683143 ms 
whole laserOdometry time 8.694775 ms 
 
-----t: 0.0480082
OdomCount 2967 & avg odom time 0.048886 ms ++++++++++++++++++++++
--------------------stamp1317358070.200609922
points size 101592 
prepare time 17.873758 
scan registration time 39.876830 ms *************
-----t: 0.0408315
OdomCount 2968 & avg odom time 0.048884 ms ++++++++++++++++++++++
mapping solver time 36.905672 ms 
--------------------stamp1317358070.304790973
points size 101353 
mapping data assosiation time 37.760900 ms 
sort q time 5.607313 
seperate points time 13.088581 
publication time 10.492321 ms 
whole laserOdometry time 10.517326 ms 
 
add points time 1.462763 ms
-----t: 0.0656215
OdomCount 2969 & avg odom time 0.048889 ms ++++++++++++++++++++++
filter time 16.269797 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
[0m[ INFO] [1718804787.213732867, 1317358070.403186287]: Received 314268 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804787.213804899, 1317358070.403186287]: Data saved to 1317358069888135.pcd[0m
points size 101038 
sort q time 5.806678 
seperate points time 13.435760 
-----t: 0.0485113
OdomCount 2970 & avg odom time 0.048889 ms ++++++++++++++++++++++
publication time 10.004177 ms 
whole laserOdometry time 10.020374 ms 
 
mapping data assosiation time 38.739336 ms 
--------------------stamp1317358070.513151884
prepare time 14.320023 
mapping solver time 44.545301 ms 
sort q time 6.551139 
seperate points time 32.348139 
-----t: 0.0473259
OdomCount 2971 & avg odom time 0.048889 ms ++++++++++++++++++++++
--------------------stamp1317358070.617358922
points size 100619 
sort q time 5.731308 
seperate points time 13.395940 
publication time 10.227618 ms 
whole laserOdometry time 10.244233 ms 
 
-----t: 0.0779177
OdomCount 2972 & avg odom time 0.048898 ms ++++++++++++++++++++++
--------------------stamp1317358070.721546888
points size 100328 
prepare time 16.696663 
scan registration time 36.546470 ms *************
publication time 11.495498 ms 
whole laserOdometry time 11.507382 ms 
 
-----t: 0.0622083
OdomCount 2973 & avg odom time 0.048903 ms ++++++++++++++++++++++
1317358070.721546888 WriteOdom laser_odom_to_init
1317358070.721546888 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 32.514372 ms 
points size 98539 
prepare time 11.566522 
scan registration time 30.836296 ms *************
publication time 12.280080 ms 
whole laserOdometry time 12.291540 ms 
 
-----t: 0.0700575
OdomCount 2974 & avg odom time 0.048910 ms ++++++++++++++++++++++
--------------------stamp1317358070.929816961
prepare time 12.502125 
publication time 7.190587 ms 
whole laserOdometry time 7.204593 ms 
 
mapping data assosiation time 36.593354 ms 
mapping solver time 32.692980 ms 
--------------------stamp1317358071.033927917
points size 96375 
sort q time 5.331565 
seperate points time 11.796746 
scan registration time 32.359088 ms *************
mapping solver time 32.984602 ms 
mapping optimization time 195.469275 
add points time 1.475308 ms
-----t: 0.035096
OdomCount 2976 & avg odom time 0.048903 ms ++++++++++++++++++++++
1317358071.033927917 WriteOdom laser_odom_to_init
1317358071.033927917 WriteOdom aft_mapped_to_init_high_frec
filter time 20.024954 ms 
--------------------stamp1317358071.137990951
points size 95586 
sort q time 5.407468 
seperate points time 12.902252 
mapping data assosiation time 39.805493 ms 
--------------------stamp1317358071.242026090
prepare time 12.219897 
sort q time 5.587493 
seperate points time 13.152823 
mapping data assosiation time 36.941827 ms 
-----t: 0.0484786
OdomCount 2978 & avg odom time 0.048906 ms ++++++++++++++++++++++
mapping solver time 34.555500 ms 
mapping optimization time 207.226284 
add points time 1.401236 ms
filter time 14.587887 ms 
map prepare time 4.638451 ms
map corner num 215378  surf num 104276 
sort q time 6.659101 -----t: 0.0370176
OdomCount 2979 & avg odom time 0.048902 ms ++++++++++++++++++++++
1317358071.346040964 WriteOdom laser_odom_to_init
1317358071.346040964 WriteOdom aft_mapped_to_init_high_frec
build tree time 61.699228 ms 
mapping data assosiation time 28.189234 ms 
--------------------stamp1317358071.450035095
prepare time 11.485621 
sort q time 5.434693 
seperate points time 12.686203 
publication time 8.599096 ms 
whole laserOdometry time 8.613050 ms 
 
-----t: 0.0501298
OdomCount 2980 & avg odom time 0.048903 ms ++++++++++++++++++++++
mapping solver time 21.447199 ms 
--------------------stamp1317358071.554003000
prepare time 13.450534 
scan registration time 31.134820 ms *************
publication time 9.110396 ms 
whole laserOdometry time 9.125046 ms 
 
-----t: 0.0661941
OdomCount 2981 & avg odom time 0.048908 ms ++++++++++++++++++++++
1317358071.554003000 WriteOdom laser_odom_to_init
1317358071.554003000 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358071.657969951
prepare time 12.271836 
sort q time 5.774264 
seperate points time 13.866255 
publication time 9.781628 ms 
whole laserOdometry time 9.797305 ms 
 
mapping data assosiation time 28.973502 ms 
--------------------stamp1317358071.761934995
prepare time 13.785434 
mapping solver time 28.478912 ms 
sort q time 5.849293 
seperate points time 13.106632 
mapping data assosiation time 37.776325 ms 
-----t: 0.0619211
OdomCount 2983 & avg odom time 0.048914 ms ++++++++++++++++++++++
1317358071.761934995 WriteOdom laser_odom_to_init
1317358071.761934995 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358071.865901947
points size 93551 
filter time 27.856166 ms 
map prepare time 5.161102 ms
map corner num 217180  surf num 104940 
publication time 12.081565 ms 
whole laserOdometry time 12.097637 ms 
 
-----t: 0.0448362
OdomCount 2984 & avg odom time 0.048913 ms ++++++++++++++++++++++
--------------------stamp1317358071.969846010
prepare time 13.950941 
sort q time 5.802260 
seperate points time 13.044922 
publication time 13.129644 ms 
whole laserOdometry time 13.141129 ms 
 
mapping solver time 36.099318 ms 
--------------------stamp1317358072.073787927
prepare time 12.736680 
sort q time 5.964277 
seperate points time 14.707585 
publication time 9.465390 ms 
whole laserOdometry time 9.480233 ms 
 
-----t: 0.0464158
OdomCount 2986 & avg odom time 0.048910 ms ++++++++++++++++++++++
filter time 15.129926 ms 
map prepare time 4.197437 ms
map corner num 218146  surf num 105268 
points size 94668 
sort q time 5.813720 
seperate points time 13.911612 
build tree time 62.611104 ms 
mapping data assosiation time 32.940679 ms 
points size 95005 
sort q time 5.651161 
seperate points time 12.713154 
publication time 8.817761 ms 
whole laserOdometry time 8.856580 ms 
 
mapping data assosiation time 38.897724 ms 
mapping solver time 27.380142 ms 
filter time 15.193241 ms 
points size 96992 
sort q time 9.227590 
seperate points time 17.280627 
publication time 8.918177 ms 
whole laserOdometry time 8.934851 ms 
 
build tree time 66.085515 ms 
-----t: 0.0769421
OdomCount 2989 & avg odom time 0.048916 ms ++++++++++++++++++++++
prepare time 16.001057 
sort q time 5.779023 
seperate points time 14.157521 
-----t: 0.0461505
OdomCount 2990 & avg odom time 0.048915 ms ++++++++++++++++++++++
mapping data assosiation time 39.191514 ms 
mapping solver time 20.667888 ms 
points size 99860 
map prepare time 4.530225 ms
map corner num 213938  surf num 103591 
publication time 9.163180 ms 
whole laserOdometry time 9.176739 ms 
 
build tree time 58.161815 ms 
--------------------stamp1317358072.697324991
prepare time 11.416303 
sort q time 6.327804 
seperate points time 12.406168 
publication time 8.973369 ms 
whole laserOdometry time 8.989434 ms 
 
mapping solver time 45.223067 ms 
-----t: 0.0770077
OdomCount 2992 & avg odom time 0.048921 ms ++++++++++++++++++++++
--------------------stamp1317358072.801244020
prepare time 11.518896 
sort q time 7.613962 
seperate points time 13.741167 
publication time 8.978136 ms 
whole laserOdometry time 8.993793 ms 
 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358072.905163049
points size 101758 
sort q time 6.419412 
seperate points time 15.216092 
publication time 9.946917 ms 
whole laserOdometry time 9.968704 ms 
 
mapping solver time 33.265353 ms 
--------------------stamp1317358073.009082078
mapping data assosiation time 34.718535 ms 
sort q time 6.049818 
seperate points time 13.993190 
scan registration time 30.337837 ms *************
-----t: 0.0421243
OdomCount 2995 & avg odom time 0.048917 ms ++++++++++++++++++++++
1317358073.009082078 WriteOdom laser_odom_to_init
publication time 10.319796 ms 
whole laserOdometry time 10.328740 ms 
 
mapping solver time 35.203666 ms 
1317358073.009082078 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 201.034937 
add points time 0.937463 ms
filter time 19.883675 ms 
--------------------stamp1317358073.112999916
points size 101464 
prepare time 14.000911 
scan registration time 33.592246 ms *************
build tree time 68.309222 ms 
mapping data assosiation time 33.823828 ms 
--------------------stamp1317358073.216943025
points size 101374 
mapping solver time 36.175780 ms 
publication time 8.373373 ms 
whole laserOdometry time 8.385060 ms 
 
-----t: 0.0506987
OdomCount 2997 & avg odom time 0.048917 ms ++++++++++++++++++++++
mapping solver time 23.799939 ms 
filter time 14.821070 ms 
map prepare time 5.201431 ms
map corner num 216559  surf num 104683 
sort q time 6.322114 
seperate points time 14.838576 
publication time 10.332756 ms 
whole laserOdometry time 10.343764 ms 
 
-----t: 0.0512428
OdomCount 2998 & avg odom time 0.048918 ms ++++++++++++++++++++++
1317358073.320887088 WriteOdom laser_odom_to_init
1317358073.320887088 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358073.424803972
prepare time 11.305562 
sort q time 6.080897 
seperate points time 14.349414 
publication time 9.905083 ms 
whole laserOdometry time 9.919319 ms 
 
mapping data assosiation time 37.519155 ms 
--------------------stamp1317358073.528723001
points size 101102 
filter time 18.996317 ms 
publication time 9.601665 ms build tree time 57.740718 ms 
points size 100809 
mapping data assosiation time 30.539215 ms 
publication time 10.601938 ms 
whole laserOdometry time 10.614274 ms 
 
mapping solver time 44.404301 ms 
mapping data assosiation time 28.712019 ms 
points size 100171 
sort q time 6.886690 
seperate points time 14.304624 
publication time 8.998372 ms 
whole laserOdometry time 9.017030 ms 
 
--------------------stamp1317358073.840553045
points size 99498 
sort q time 6.288223 
seperate points time 13.896330 
publication time 11.743035 ms 
whole laserOdometry time 11.757596 ms 
 
mapping solver time 30.676585 ms 
prepare time 15.118336 
mapping data assosiation time 53.325642 ms 
publication time 11.508673 ms 
whole laserOdometry time 11.527824 ms 
 
-----t: 0.103516
OdomCount 3004 & avg odom time 0.048960 ms ++++++++++++++++++++++
points size 98516 
1317358073.944519042 WriteOdom laser_odom_to_init
1317358073.944519042 WriteOdom aft_mapped_to_init_high_frec
prepare time 18.891900 
scan registration time 40.171400 ms *************
drop lidar frame in mapping for real time performance publication time 16.522916 ms 
whole laserOdometry time 16.539659 ms 
 
-----t: 0.0688743
OdomCount 3005 & avg odom time 0.048967 ms ++++++++++++++++++++++
--------------------stamp1317358074.152499914
prepare time 15.901626 
sort q time 5.896050 
seperate points time 13.737730 
scan registration time 36.643127 ms *************
-----t: 0.0657021
OdomCount 3006 & avg odom time 0.048972 ms ++++++++++++++++++++++
--------------------stamp1317358074.256587028
mapping solver time 30.471543 ms 
sort q time 5.692410 
seperate points time 13.262907 
mapping data assosiation time 36.837214 ms 
-----t: 0.0454748
OdomCount 3007 & avg odom time 0.048971 ms ++++++++++++++++++++++
mapping solver time 29.172613 ms 
mapping optimization time 221.447942 
add points time 1.146129 ms
filter time 15.371376 ms 
points size 98294 
sort q time 6.992642 
seperate points time 15.232960 
publication time 9.326175 ms 
whole laserOdometry time 9.340047 ms 
 
-----t: 0.0593624
OdomCount 3008 & avg odom time 0.048975 ms ++++++++++++++++++++++
mapping data assosiation time 34.899227 ms 
points size 98669 
sort q time 6.095101 
seperate points time 13.968522 
mapping solver time 37.065837 ms 
scan registration time 35.287371 ms *************
-----t: 0.0415805
OdomCount 3009 & avg odom time 0.048972 ms ++++++++++++++++++++++
mapping data assosiation time 35.423788 ms 
mapping solver time 20.808794 ms 
--------------------stamp1317358074.569206953
filter time 20.911612 ms 
sort q time 5.611792 
seperate points time 12.899584 
publication time 10.342333 ms -----t: 0.0710477
OdomCount 3010 & avg odom time 0.048979 ms ++++++++++++++++++++++
1317358074.569206953 WriteOdom laser_odom_to_init
build tree time 68.619930 ms 
1317358074.569206953 WriteOdom aft_mapped_to_init_high_frec
points size 99346 
prepare time 12.566455 
scan registration time 33.410908 ms *************
publication time 10.798861 ms 
whole laserOdometry time 10.809771 ms 
 
mapping solver time 47.055001 ms 
1317358074.673507928 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.987364 ms 
points size 99705 
mapping solver time 31.415605 ms 
mapping pub time 2.694331 ms 
whole mapping time 246.411714 ms +++++
mappingCount 1854 & avg mapping time 164.597551 ms ++++++++++++++++++++++
--------------------stamp1317358074.882258892
points size 99717 
sort q time 6.160032 
seperate points time 13.705011 
mapping data assosiation time 36.528526 ms 
-----t: 0.059975
OdomCount 3013 & avg odom time 0.049006 ms ++++++++++++++++++++++
mapping solver time 42.585080 ms 
points size 99785 
sort q time 6.010982 
seperate points time 13.215185 
scan registration time 31.232441 ms *************
mapping data assosiation time 35.935236 ms 
publication time 12.276150 ms 
whole laserOdometry time 12.381426 ms 
 
mapping solver time 44.381480 ms 
filter time 17.442345 ms 
prepare time 15.625760 
scan registration time 35.979705 ms *************
publication time 14.692913 ms 
whole laserOdometry time 14.708348 ms 
 
build tree time 69.069421 ms 
mapping data assosiation time 27.866535 ms 
points size 100488 
sort q time 5.741021 
seperate points time 13.344919 
publication time 11.794022 ms 
whole laserOdometry time 11.809303 ms 
 
mapping data assosiation time 34.158909 ms 
mapping solver time 26.656392 ms 
points size 100817 
mapping pub time 8.125955 ms 
whole mapping time 236.005746 ms +++++
mappingCount 1856 & avg mapping time 164.680858 ms ++++++++++++++++++++++
scan registration time 35.003225 ms *************
publication time 10.264778 ms 
whole laserOdometry time 10.279064 ms 
 
-----t: 0.0550241
OdomCount 3017 & avg odom time 0.049011 ms ++++++++++++++++++++++
build tree time 62.114350 ms 
--------------------stamp1317358075.404131889
prepare time 13.511069 
sort q time 6.577373 
seperate points time 13.081700 
publication time 9.967496 ms 
whole laserOdometry time 9.980799 ms 
 
mapping data assosiation time 30.593738 ms 
points size 100783 
sort q time 7.982834 
seperate points time 15.665573 
-----t: 0.048202
OdomCount 3019 & avg odom time 0.049014 ms ++++++++++++++++++++++
--------------------stamp1317358075.612760066
prepare time 14.328741 
sort q time 6.041081 
seperate points time 13.600200 
publication time 14.318939 ms 
whole laserOdometry time 14.353219 ms 
 
mapping solver time 35.680034 ms 
points size 101384 
mapping data assosiation time 35.401952 ms 
sort q time 6.039571 
seperate points time 13.874661 
scan registration time 35.822055 ms *************
publication time 12.474814 ms 
whole laserOdometry time 12.490496 ms 
 
-----t: 0.0556471
OdomCount 3021 & avg odom time 0.049018 ms ++++++++++++++++++++++
filter time 20.214321 ms 
map prepare time 4.114427 ms
map corner num 226223  surf num 108405 
--------------------stamp1317358075.821269035
points size 101332 
sort q time 6.284594 
seperate points time 14.400617 
publication time 8.430755 ms 
whole laserOdometry time 8.448053 ms 
 
-----t: 0.0679917
OdomCount 3022 & avg odom time 0.049024 ms ++++++++++++++++++++++
1317358075.821269035 WriteOdom laser_odom_to_init
1317358075.821269035 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 44.831390 ms 
points size 101252 
sort q time 6.409009 
seperate points time 14.499634 
scan registration time 43.510471 ms *************
mapping solver time 46.964210 ms 
publication time 11.037940 ms 
whole laserOdometry time 11.054797 ms 
 
-----t: 0.0526129
OdomCount 3023 & avg odom time 0.049025 ms ++++++++++++++++++++++
1317358075.925452947 WriteOdom laser_odom_to_init
1317358075.925452947 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358076.029637098
points size 101311 
sort q time 6.406133 
seperate points time 15.277807 
mapping pub time 2.813588 ms 
whole mapping time 263.404164 ms +++++
mappingCount 1859 & avg mapping time 164.813652 ms ++++++++++++++++++++++
1317358075.508457899 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358076.133796930
points size 101291 
prepare time 26.748320 
sort q time 9.563478 
seperate points time 19.076119 
publication time 8.318532 ms 
whole laserOdometry time 8.334023 ms 
 
1317358076.133796930 WriteOdom laser_odom_to_init
points size 101368 
sort q time 6.163469 
seperate points time 14.612663 
publication time 9.320650 ms 
whole laserOdometry time 9.333963 ms 
 
mapping solver time 55.580767 ms 
-----t: 0.0599009
OdomCount 3026 & avg odom time 0.049058 ms ++++++++++++++++++++++
mapping data assosiation time 35.230266 ms 
points size 101401 
sort q time 6.271542 
seperate points time 14.299156 
map prepare time 4.303240 ms
map corner num 228013  surf num 109026 
-----t: 0.0752242
OdomCount 3027 & avg odom time 0.049067 ms ++++++++++++++++++++++
--------------------stamp1317358076.445913076
points size 101178 
build tree time 65.483701 ms 
publication time 9.575720 ms 
whole laserOdometry time 9.586255 ms 
 
--------------------stamp1317358076.549853086
points size 101092 
sort q time 5.694600 
seperate points time 12.219005 
scan registration time 30.147677 ms *************
mapping data assosiation time 34.019521 ms 
-----t: 0.0371424
OdomCount 3029 & avg odom time 0.049062 ms ++++++++++++++++++++++
mapping solver time 27.366823 ms 
mapping optimization time 203.657568 
add points time 0.860755 ms
filter time 15.311450 ms 
[0m[ INFO] [1718804793.449242620, 1317358076.631697878]: Received 338128 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804793.449320033, 1317358076.631697878]: Data saved to 1317358076029637.pcd[0m
--------------------stamp1317358076.653749942
points size 101086 
sort q time 5.485532 
seperate points time 11.887287 
publication time 7.490644 ms 
whole laserOdometry time 7.507993 ms 
 
-----t: 0.0711872
OdomCount 3030 & avg odom time 0.049069 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 
points size 101192 
sort q time 6.427121 
seperate points time 12.424303 
publication time 11.994671 ms 
whole laserOdometry time 12.026903 ms 
build tree time 72.079380 ms 
1317358076.757646083 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358076.861563920
prepare time 14.769159 
sort q time 6.622993 
seperate points time 21.975759 
publication time 10.780938 ms 
whole laserOdometry time 10.801114 ms 
 
mapping data assosiation time 37.236316 ms 
--------------------stamp1317358076.965481996
mapping optimization time 219.599361 
filter time 19.705889 ms 
1317358076.341922045 WriteOdom aft_mapped_to_init
-----t: 0.0504568
OdomCount 3033 & avg odom time 0.049073 ms ++++++++++++++++++++++
build tree time 56.118637 ms 
--------------------stamp1317358077.069400072
points size 100848 
sort q time 5.553339 
seperate points time 11.322315 
mapping data assosiation time 34.117626 ms 
scan registration time 29.515011 ms *************
-----t: 0.0412266
OdomCount 3034 & avg odom time 0.049071 ms ++++++++++++++++++++++
mapping solver time 41.566566 ms 
mapping data assosiation time 28.930489 ms 
points size 100946 
sort q time 5.633489 
seperate points time 13.097898 
scan registration time 34.073193 ms *************
mapping solver time 44.169072 ms 
mapping optimization time 206.969007 
add points time 0.925293 ms
-----t: 0.0406495
OdomCount 3035 & avg odom time 0.049068 ms ++++++++++++++++++++++
map prepare time 4.173097 ms
map corner num 230638  surf num 110120 
--------------------stamp1317358077.277264118
points size 100985 
sort q time 5.887061 
seperate points time 13.514612 
build tree time 68.256275 ms 
scan registration time 34.977168 ms *************
publication time 12.489160 ms 
whole laserOdometry time 12.502486 ms 
 
-----t: 0.0565977
OdomCount 3036 & avg odom time 0.049070 ms ++++++++++++++++++++++
--------------------stamp1317358077.381231069
points size 101105 
sort q time 6.099145 
seperate points time 11.776630 
publication time 7.791298 ms 
whole laserOdometry time 7.807640 ms 
 
mapping data assosiation time 57.843954 ms 
mapping solver time 23.547012 ms 
--------------------stamp1317358077.485196113
map prepare time 4.107002 ms
map corner num 231404  surf num 110406 
prepare time 15.207709 
publication time 6.630137 ms 
whole laserOdometry time 6.645006 ms 
 
-----t: 0.0467028
OdomCount 3038 & avg odom time 0.049071 ms ++++++++++++++++++++++
build tree time 65.663350 ms 
--------------------stamp1317358077.589184045
points size 101191 
sort q time 5.692852 
seperate points time 12.425948 
mapping solver time 37.123056 ms 
-----t: 0.0492606
OdomCount 3039 & avg odom time 0.049071 ms ++++++++++++++++++++++
mapping data assosiation time 31.774759 ms 
mapping solver time 21.745931 ms 
points size 101055 
filter time 21.421650 ms 
publication time 8.412617 ms 
whole laserOdometry time 8.427410 ms 
 
-----t: 0.0413081
OdomCount 3040 & avg odom time 0.049068 ms ++++++++++++++++++++++
build tree time 56.397367 ms 
--------------------stamp1317358077.797117948
points size 100951 
prepare time 12.951117 
scan registration time 34.296723 ms *************
publication time 9.785661 ms 
whole laserOdometry time 9.801425 ms 
 
mapping solver time 43.820991 ms 
-----t: 0.0543742
OdomCount 3041 & avg odom time 0.049070 ms ++++++++++++++++++++++
1317358077.797117948 WriteOdom laser_odom_to_init
1317358077.797117948 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.340809 ms 
--------------------stamp1317358077.901036977
points size 101026 
sort q time 6.289058 
seperate points time 13.364750 
[0m[ INFO] [1718804794.759936092, 1317358077.941847441]: Received 343592 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804794.759982216, 1317358077.941847441]: Data saved to 1317358077485196.pcd[0m
mapping pub time 10.627755 ms 
whole mapping time 229.310865 ms +++++
mappingCount 1866 & avg mapping time 165.190305 ms ++++++++++++++++++++++
1317358077.485196114 WriteOdom aft_mapped_to_init
-----t: 0.0592401
OdomCount 3042 & avg odom time 0.049073 ms ++++++++++++++++++++++
1317358077.901036977 WriteOdom laser_odom_to_init
1317358077.901036977 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358078.004956007
points size 100989 
build tree time 71.902355 ms 
publication time 9.026889 ms 
whole laserOdometry time 9.041181 ms 
 
mapping data assosiation time 37.313767 ms 
--------------------stamp1317358078.108875036
points size 100746 
sort q time 6.793626 
seperate points time 15.669762 
mapping data assosiation time 38.067359 ms 
publication time 14.655618 ms 
whole laserOdometry time 14.669471 ms 
 
-----t: 0.0518312
OdomCount 3044 & avg odom time 0.049073 ms ++++++++++++++++++++++
1317358078.108875036 WriteOdom laser_odom_to_init
1317358078.108875036 WriteOdom aft_mapped_to_init_high_frec
filter time 16.240714 ms 
sort q time 5.747446 
seperate points time 13.858530 
publication time 9.053148 ms 
whole laserOdometry time 9.066238 ms 
 
-----t: 0.0492453
OdomCount 3045 & avg odom time 0.049073 ms ++++++++++++++++++++++
1317358078.212769985 WriteOdom laser_odom_to_init
1317358078.212769985 WriteOdom aft_mapped_to_init_high_frec
build tree time 102.337217 ms 
points size 99528 
mapping data assosiation time 35.158169 ms 
sort q time 5.519402 
seperate points time 26.185900 
-----t: 0.0437143
OdomCount 3046 & avg odom time 0.049071 ms ++++++++++++++++++++++
publication time 12.909293 ms 
whole laserOdometry time 12.924448 ms 
 
mapping data assosiation time 28.153769 ms 
points size 98893 
mapping solver time 25.449272 ms 
sort q time 5.405512 
seperate points time 21.785885 
scan registration time 40.832248 ms *************
-----t: 0.0530875
OdomCount 3047 & avg odom time 0.049072 ms ++++++++++++++++++++++
--------------------stamp1317358078.524430036
prepare time 12.997643 
sort q time 5.351472 
seperate points time 13.062022 
publication time 14.670094 ms 
whole laserOdometry time 14.683442 ms 
 
mapping solver time 28.380850 ms 
points size 98049 
scan registration time 31.023841 ms *************
publication time 8.978346 ms 
whole laserOdometry time 8.991399 ms 
 
mapping solver time 26.668325 ms 
filter time 15.425769 ms 
map prepare time 3.797455 ms
map corner num 234606  surf num 111468 
--------------------stamp1317358078.732171058
prepare time 11.473593 
sort q time 5.582101 
seperate points time 13.215260 
build tree time 66.334919 ms 
mapping data assosiation time 29.611164 ms 
--------------------stamp1317358078.836016893
prepare time 13.072556 
sort q time 5.261141 
seperate points time 12.877078 
publication time 9.019258 ms 
whole laserOdometry time 9.033678 ms 
 
-----t: 0.0486506
OdomCount 3051 & avg odom time 0.049069 ms ++++++++++++++++++++++
mapping solver time 26.294216 ms 
filter time 15.773718 ms 
--------------------stamp1317358078.939819097
points size 95463 
sort q time 6.683425 
seperate points time 15.376442 
publication time 12.011835 ms 
whole laserOdometry time 12.025092 ms 
 
-----t: 0.0562826
OdomCount 3052 & avg odom time 0.049072 ms ++++++++++++++++++++++
mapping data assosiation time 29.285233 ms 
--------------------stamp1317358079.043596982
points size 94506 
mapping solver time 38.021903 ms 
publication time 7.783709 ms 
whole laserOdometry time 7.802949 ms 
 
-----t: 0.0490558
OdomCount 3053 & avg odom time 0.049072 ms ++++++++++++++++++++++
mapping solver time 30.272206 ms 
mapping optimization time 198.665831 
add points time 1.085114 ms
filter time 17.747223 ms 
map prepare time 4.887409 ms
map corner num 235782  surf num 111882 
publication time 7.361773 ms 
whole laserOdometry time 7.373065 ms 
 
-----t: 0.0470878
OdomCount 3054 & avg odom time 0.049071 ms ++++++++++++++++++++++
build tree time 72.159771 ms 
points size 92816 
sort q time 5.459570 
seperate points time 13.231179 
-----t: 0.0464809
OdomCount 3055 & avg odom time 0.049070 ms ++++++++++++++++++++++
--------------------stamp1317358079.354989051
mapping data assosiation time 37.371718 ms 
prepare time 11.152597 
sort q time 5.139043 
seperate points time 12.149409 
publication time 7.447942 ms 
whole laserOdometry time 7.461617 ms 
 
map prepare time 4.728575 ms
map corner num 236411  surf num 112151 
--------------------stamp1317358079.458811998
points size 91622 
sort q time 5.074471 
seperate points time 11.568436 
-----t: 0.0353352
OdomCount 3057 & avg odom time 0.049064 ms ++++++++++++++++++++++
mapping data assosiation time 36.995270 ms 
points size 91046 
sort q time 5.372433 
seperate points time 11.380578 
mapping data assosiation time 36.046933 ms 
publication time 6.626221 ms 
whole laserOdometry time 6.635144 ms 
 
mapping solver time 31.336257 ms 
filter time 15.460355 ms 
map prepare time 4.063886 ms
map corner num 236972  surf num 112329 
points size 90876 
sort q time 5.051812 
seperate points time 11.893239 
publication time 8.737004 ms 
whole laserOdometry time 8.749670 ms 
 
build tree time 62.184018 ms 
mapping data assosiation time 36.868337 ms 
points size 90634 
sort q time 5.681907 
seperate points time 11.721462 
mapping solver time 44.583736 ms 
publication time 11.562015 ms 
whole laserOdometry time 11.577380 ms 
 
-----t: 0.0486934
OdomCount 3060 & avg odom time 0.049061 ms ++++++++++++++++++++++
mapping data assosiation time 35.559846 ms 
--------------------stamp1317358079.874080896
sort q time 5.138751 
seperate points time 11.471878 
scan registration time 28.704693 ms *************
map prepare time 5.289784 ms
map corner num 237559  surf num 112518 
-----t: 0.0457116
OdomCount 3061 & avg odom time 0.049060 ms ++++++++++++++++++++++
1317358079.874080896 WriteOdom laser_odom_to_init
1317358079.874080896 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358079.977854013
prepare time 13.414451 
sort q time 4.799548 
seperate points time 23.669296 
scan registration time 51.081681 ms *************
publication time 7.679547 ms 
whole laserOdometry time 7.711051 ms 
 
mapping solver time 36.890056 ms 
--------------------stamp1317358080.081603050
prepare time 11.767922 
mapping data assosiation time 36.337041 ms 
publication time 8.206804 ms 
whole laserOdometry time 8.221074 ms 
 
-----t: 0.0553861
OdomCount 3063 & avg odom time 0.049064 ms ++++++++++++++++++++++
mapping pub time 2.139950 ms 
whole mapping time 246.496685 ms +++++
mappingCount 1875 & avg mapping time 165.560600 ms ++++++++++++++++++++++
--------------------stamp1317358080.185355901
points size 89859 
prepare time 13.456791 
publication time 8.098629 ms 
whole laserOdometry time 8.161866 ms 
 
-----t: 0.042082
OdomCount 3064 & avg odom time 0.049062 ms ++++++++++++++++++++++
1317358080.185355901 WriteOdom laser_odom_to_init
1317358080.185355901 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.220639 ms 
--------------------stamp1317358080.289083003
prepare time 12.800661 
sort q time 5.194213 
seperate points time 11.737378 
mapping solver time 34.365335 ms 
--------------------stamp1317358080.392808914
prepare time 11.439376 
sort q time 8.383333 
seperate points time 15.144892 
publication time 7.921473 ms 
whole laserOdometry time 7.937564 ms 
 
-----t: 0.0435926
OdomCount 3066 & avg odom time 0.049063 ms ++++++++++++++++++++++
--------------------stamp1317358080.496583938
prepare time 12.777231 
sort q time 5.217428 
seperate points time 11.250343 
mapping data assosiation time 34.561405 ms 
-----t: 0.0470152
OdomCount 3067 & avg odom time 0.049062 ms ++++++++++++++++++++++
1317358080.496583938 WriteOdom laser_odom_to_init
mapping solver time 42.709083 ms 
--------------------stamp1317358080.600359916
prepare time 10.723896 
sort q time 6.148005 
seperate points time 12.004498 
publication time 7.150797 ms 
whole laserOdometry time 7.161331 ms 
 
mapping solver time 37.470708 ms 
filter time 24.957066 ms 
mapping pub time 2.187546 ms 
whole mapping time 272.423359 ms +++++
mappingCount 1877 & avg mapping time 165.659664 ms ++++++++++++++++++++++
1317358080.185355902 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358080.704159021
prepare time 11.577468 
sort q time 5.056982 
seperate points time 10.508860 
publication time 8.172704 ms 
whole laserOdometry time 8.199278 ms 
 
-----t: 0.0385162
OdomCount 3069 & avg odom time 0.049057 ms ++++++++++++++++++++++
1317358080.704159021 WriteOdom laser_odom_to_init
1317358080.704159021 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 33.143184 ms 
points size 83837 
sort q time 4.948562 
seperate points time 10.725142 
publication time 9.097792 ms 
whole laserOdometry time 9.109212 ms 
 
mapping solver time 27.248796 ms 
--------------------stamp1317358080.911756038
points size 83437 
sort q time 4.713331 
seperate points time 11.319849 
build tree time 32.398630 ms 
publication time 21.968286 ms 
whole laserOdometry time 22.002382 ms 
 
mapping data assosiation time 28.803253 ms 
--------------------stamp1317358081.015553951
prepare time 12.061001 
sort q time 4.550886 
seperate points time 10.795700 
mapping data assosiation time 32.248338 ms 
publication time 8.616706 ms 
whole laserOdometry time 8.640925 ms 
 
mapping solver time 28.221302 ms 
filter time 8.883179 ms 
--------------------stamp1317358081.119353055
prepare time 12.870106 
sort q time 4.543608 
seperate points time 10.687497 
publication time 8.510339 ms 
whole laserOdometry time 8.522158 ms 
 
mapping solver time 27.033171 ms 
mapping data assosiation time 27.231219 ms 
--------------------stamp1317358081.223202943
prepare time 12.759529 
sort q time 4.534932 
seperate points time 10.807839 
publication time 6.352752 ms 
whole laserOdometry time 6.364628 ms 
 
build tree time 30.344288 ms 
mapping data assosiation time 25.505496 ms 
--------------------stamp1317358081.327075004
mapping solver time 36.395252 ms 
prepare time 15.854051 
scan registration time 32.232430 ms *************
publication time 6.975657 ms 
whole laserOdometry time 6.991176 ms 
 
-----t: 0.0552082
OdomCount 3075 & avg odom time 0.049049 ms ++++++++++++++++++++++
mapping solver time 28.972747 ms 
filter time 8.692735 ms 
points size 81180 
sort q time 4.515757 
seperate points time 10.850591 
-----t: 0.0315695
OdomCount 3076 & avg odom time 0.049043 ms ++++++++++++++++++++++
--------------------stamp1317358081.534818887
prepare time 11.010031 
sort q time 4.905852 
seperate points time 10.044525 
-----t: 0.0405672
OdomCount 3077 & avg odom time 0.049041 ms ++++++++++++++++++++++
mapping solver time 28.161921 ms 
points size 81269 
scan registration time 25.715876 ms *************
mapping solver time 22.526703 ms 
publication time 6.712435 ms 
whole laserOdometry time 6.720277 ms 
 
filter time 10.499281 ms 
build tree time 26.474542 ms 
--------------------stamp1317358081.742647886
points size 81793 
sort q time 4.437193 
seperate points time 10.353253 
publication time 6.342997 ms 
whole laserOdometry time 6.354473 ms 
 
mapping data assosiation time 26.814552 ms 
-----t: 0.059033
OdomCount 3079 & avg odom time 0.049040 ms ++++++++++++++++++++++
1317358081.742647886 WriteOdom laser_odom_to_init
1317358081.742647886 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.813636 ms 
filter time 11.384068 ms 
sort q time 4.397955 
seperate points time 10.060361 
build tree time 33.536570 ms 
mapping data assosiation time 25.590673 ms 
mapping solver time 27.991964 ms 
prepare time 10.443843 
sort q time 4.329841 
seperate points time 10.308109 
publication time 5.206899 ms 
whole laserOdometry time 5.238685 ms 
 
mapping solver time 26.003537 ms 
filter time 8.889690 ms 
mapping pub time 1.844619 ms 
whole mapping time 158.675334 ms +++++
mappingCount 1884 & avg mapping time 165.742117 ms ++++++++++++++++++++++
1317358081.742647886 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.579305 ms
map corner num 117391  surf num 58048 
build tree time 27.711010 ms 
points size 82966 
mapping data assosiation time 27.580962 ms 
publication time 7.965711 ms 
whole laserOdometry time 7.980204 ms 
 
mapping solver time 30.429759 ms 
mapping data assosiation time 25.244833 ms 
add points time 0.964597 ms
filter time 12.159685 ms 
sort q time 4.964896 
seperate points time 10.182526 
publication time 6.314967 ms 
whole laserOdometry time 6.332002 ms 
 
mapping data assosiation time 22.209428 ms 
mapping solver time 25.060419 ms 
points size 82705 
mapping data assosiation time 28.046329 ms 
publication time 5.876744 ms 
whole laserOdometry time 5.892875 ms 
 
-----t: 0.0318465
OdomCount 3084 & avg odom time 0.049015 ms ++++++++++++++++++++++
1317358082.262481927 WriteOdom laser_odom_to_init
1317358082.262481927 WriteOdom aft_mapped_to_init_high_frec
filter time 9.552507 ms 
map prepare time 2.659246 ms
map corner num 118226  surf num 58269 
build tree time 29.369866 ms 
points size 82550 
sort q time 4.740037 
seperate points time 11.228776 
mapping solver time 29.468776 ms 
mapping optimization time 136.557352 
points size 83051 
sort q time 4.531578 
seperate points time 10.881283 
publication time 7.731579 ms 
whole laserOdometry time 7.747157 ms 
 
-----t: 0.0479261
OdomCount 3086 & avg odom time 0.049012 ms ++++++++++++++++++++++
mapping data assosiation time 24.698732 ms 
mapping solver time 24.347050 ms 
points size 81944 
prepare time 14.010132 
scan registration time 31.792399 ms *************
publication time 7.313953 ms 
whole laserOdometry time 7.326963 ms 
 
filter time 10.449639 ms 
build tree time 24.834323 ms 
points size 80590 
mapping data assosiation time 27.821766 ms 
publication time 6.912151 ms 
whole laserOdometry time 6.926501 ms 
 
mapping solver time 31.868957 ms 
-----t: 0.0543042
OdomCount 3088 & avg odom time 0.049012 ms ++++++++++++++++++++++
mapping solver time 19.984627 ms 
filter time 11.589713 ms 
sort q time 4.382513 
seperate points time 10.207445 
-----t: 0.0338682
OdomCount 3089 & avg odom time 0.049007 ms ++++++++++++++++++++++
mapping data assosiation time 22.876945 ms 
mapping solver time 23.993345 ms 
points size 76873 
mapping data assosiation time 26.953170 ms 
-----t: 0.0282764
OdomCount 3090 & avg odom time 0.049000 ms ++++++++++++++++++++++
filter time 10.832626 ms 
build tree time 25.970605 ms 
--------------------stamp1317358082.990226984
mapping data assosiation time 25.160371 ms 
sort q time 3.999146 
seperate points time 9.506477 
mapping solver time 26.380217 ms 
-----t: 0.025392
OdomCount 3091 & avg odom time 0.048992 ms ++++++++++++++++++++++
1317358082.990226984 WriteOdom laser_odom_to_init
1317358082.990226984 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.281245 ms 
mapping solver time 16.794647 ms 
filter time 8.844799 ms 
--------------------stamp1317358083.094145059
prepare time 11.611909 
sort q time 4.241235 
seperate points time 10.081838 
publication time 6.209485 ms 
whole laserOdometry time 6.222774 ms 
 
-----t: 0.0399866
OdomCount 3092 & avg odom time 0.048990 ms ++++++++++++++++++++++
mapping solver time 23.930294 ms 
mapping data assosiation time 20.311302 ms 
--------------------stamp1317358083.198039054
prepare time 12.207035 
sort q time 4.300890 
seperate points time 10.387244 
publication time 6.977131 ms 
whole laserOdometry time 6.990254 ms 
 
build tree time 31.706941 ms 
mapping data assosiation time 21.809570 ms 
--------------------stamp1317358083.301911115
points size 77688 
sort q time 4.207942 
seperate points time 10.096517 
publication time 6.895056 ms 
whole laserOdometry time 6.910762 ms 
 
-----t: 0.0350945
OdomCount 3094 & avg odom time 0.048987 ms ++++++++++++++++++++++
add points time 1.130154 ms
filter time 9.283458 ms 
build tree time 29.030957 ms 
points size 77955 
mapping data assosiation time 23.475920 ms 
publication time 7.236035 ms 
whole laserOdometry time 7.248594 ms 
 
mapping data assosiation time 18.972190 ms 
mapping solver time 15.080978 ms 
filter time 8.919018 ms 
points size 79895 
sort q time 4.429569 
seperate points time 10.565855 
publication time 6.805330 ms 
whole laserOdometry time 6.818190 ms 
 
mapping data assosiation time 24.456713 ms 
mapping solver time 24.185252 ms 
mapping data assosiation time 20.656848 ms 
points size 81807 
mapping solver time 22.417454 ms 
filter time 11.429057 ms 
-----t: 0.0582696build tree time 36.902614 ms 
mapping data assosiation time 20.308884 ms 
points size 82103 
prepare time 11.343747 
mapping solver time 31.500679 ms 
-----t: 0.0342928
OdomCount 3098 & avg odom time 0.048976 ms ++++++++++++++++++++++
1317358083.716840028 WriteOdom laser_odom_to_init
1317358083.716840028 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.527992 ms 
filter time 11.169953 ms 
points size 82271 
sort q time 4.538476 
seperate points time 9.228954 
build tree time 34.120284 ms 
mapping data assosiation time 25.452169 ms 
-----t: 0.0659447
OdomCount 3099 & avg odom time 0.048981 ms ++++++++++++++++++++++
1317358083.820473909 WriteOdom laser_odom_to_init
1317358083.820473909 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.628330 ms 
--------------------stamp1317358083.924151897
prepare time 12.035452 
sort q time 4.339794 
seperate points time 10.496695 
mapping solver time 29.576444 ms 
mapping optimization time 142.095018 
publication time 7.979959 ms 
whole laserOdometry time 7.988465 ms 
 
add points time 1.326617 ms
map prepare time 3.231025 ms
map corner num 122210  surf num 59098 
sort q time 4.966215 
seperate points time 27.434150 
-----t: 0.0419504
OdomCount 3101 & avg odom time 0.048979 ms ++++++++++++++++++++++
mapping solver time 18.969350 ms 
mapping optimization time 129.477270 
add points time 0.835210 ms
--------------------stamp1317358084.131724119
points size 82929 
sort q time 4.558129 
seperate points time 11.049855 
publication time 6.591315 ms 
whole laserOdometry time 6.624106 ms 
 
mapping data assosiation time 24.932717 ms 
-----t: 0.0514302
OdomCount 3102 & avg odom time 0.048980 ms ++++++++++++++++++++++
mapping solver time 25.174667 ms 
--------------------stamp1317358084.235594034
prepare time 12.749013 
sort q time 4.729150 
seperate points time 11.211619 
filter time 12.431335 ms 
mapping pub time 1.857921 ms 
whole mapping time 153.246284 ms +++++
mappingCount 1899 & avg mapping time 165.607532 ms ++++++++++++++++++++++
1317358084.027900934 WriteOdom aft_mapped_to_init
map prepare time 2.814691 ms
map corner num 124804  surf num 60904 
build tree time 34.150364 ms 
-----t: 0.0831068
OdomCount 3103 & avg odom time 0.048991 ms ++++++++++++++++++++++
prepare time 13.839831 
sort q time 4.883537 publication time 8.264749 ms 
whole laserOdometry time 8.283185 ms 
 
mapping data assosiation time 32.521089 ms 
mapping solver time 21.105795 ms 
filter time 9.423410 ms 
prepare time 11.707132 
sort q time 5.093562 
seperate points time 11.627135 
build tree time 37.249585 ms 
mapping data assosiation time 23.442167 ms 
mapping solver time 27.018255 ms 
--------------------stamp1317358084.547614097
points size 89275 
sort q time 4.929871 
seperate points time 11.967644 
mapping solver time 24.747157 ms 
mapping optimization time 143.590729 
add points time 0.843479 ms
publication time 8.633968 ms 
whole laserOdometry time 8.663935 ms 
 
[0m[ INFO] [1718804801.425569173, 1317358084.609791115]: Received 186628 data points in frame camera_init with the following fields: x y z intensity[0m
--------------------stamp1317358084.651724100
points size 90578 
sort q time 5.862460 
seperate points time 13.593393 
mapping pub time 92.475048 ms 
whole mapping time 253.414962 ms +++++
mappingCount 1901 & avg mapping time 165.651093 ms ++++++++++++++++++++++
build tree time 27.912064 ms 
mapping data assosiation time 19.884733 ms 
points size 91445 
prepare time 12.925872 
mapping data assosiation time 22.595641 ms 
mapping solver time 22.657873 ms 
mapping optimization time 119.331409 
add points time 0.966109 ms
filter time 12.693969 ms 
mapping pub time 2.060538 ms 
whole mapping time 138.635857 ms +++++
mappingCount 1902 & avg mapping time 165.636893 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317358084.859992980
prepare time 12.322165 
sort q time 4.749702 
seperate points time 11.397557 
mapping data assosiation time 24.509385 ms 
-----t: 0.0395613
OdomCount 3109 & avg odom time 0.048993 ms ++++++++++++++++++++++
mapping data assosiation time 20.198590 ms 
--------------------stamp1317358084.964104890
prepare time 11.427889 
1317358084.651724100 WriteOdom aft_mapped_to_init
publication time 9.238013 ms 
whole laserOdometry time 9.257477 ms 
 
build tree time 33.169787 ms 
mapping data assosiation time 18.724370 ms 
mapping solver time 21.527481 ms 
points size 94314 
mapping data assosiation time 25.074560 ms 
sort q time 5.172500 
seperate points time 11.673301 
scan registration time 30.119349 ms *************
mapping solver time 26.994279 ms 
filter time 10.140077 ms 
-----t: 0.0751157
OdomCount 3111 & avg odom time 0.048998 ms ++++++++++++++++++++++
--------------------stamp1317358085.172255039
points size 94890 
sort q time 5.190831 
seperate points time 12.217644 
mapping solver time 25.007487 ms 
publication time 9.869735 ms 
whole laserOdometry time 9.885787 ms 
 
-----t: 0.0392472
OdomCount 3112 & avg odom time 0.048995 ms ++++++++++++++++++++++
mapping data assosiation time 24.434221 ms 
mapping solver time 22.361907 ms 
--------------------stamp1317358085.276292085
prepare time 12.474761 
sort q time 6.703269 
seperate points time 12.356308 
build tree time 33.133219 ms 
-----t: 0.0456677
OdomCount 3113 & avg odom time 0.048994 ms ++++++++++++++++++++++
mapping solver time 22.652648 ms 
--------------------stamp1317358085.380306005
mapping data assosiation time 24.937827 ms 
sort q time 5.301368 
seperate points time 11.875216 
filter time 12.554399 ms 
publication time 28.059396 ms 
whole laserOdometry time 28.070134 ms 
 
build tree time 27.760930 ms 
--------------------stamp1317358085.484297990
prepare time 13.408911 
sort q time 4.856232 
seperate points time 11.528387 
publication time 9.138490 ms 
whole laserOdometry time 9.153055 ms 
 
mapping data assosiation time 30.291322 ms 
-----t: 0.04679
OdomCount 3115 & avg odom time 0.048989 ms ++++++++++++++++++++++
1317358085.484297990 WriteOdom laser_odom_to_init
mapping solver time 19.518180 ms 
filter time 9.061855 ms 
--------------------stamp1317358085.588239908
sort q time 5.129893 
seperate points time 11.664152 
publication time 10.011427 ms 
whole laserOdometry time 10.048737 ms 
 mapping solver time 23.419114 ms 
mapping data assosiation time 20.142005 ms 
points size 91035 
sort q time 5.079899 
seperate points time 11.605840 
map prepare time 3.568674 ms
map corner num 128585  surf num 61993 
-----t: 0.0425493
OdomCount 3117 & avg odom time 0.048983 ms ++++++++++++++++++++++
build tree time 31.733929 ms 
mapping data assosiation time 18.194168 ms 
--------------------stamp1317358085.796053886
points size 92451 
mapping solver time 27.317303 ms 
mapping data assosiation time 23.071150 ms 
sort q time 5.454104 
seperate points time 20.764889 
scan registration time 43.017919 ms *************
mapping solver time 21.104301 ms 
filter time 12.088837 ms 
--------------------stamp1317358085.899947881
points size 92963 
sort q time 6.123637 
seperate points time 14.764542 
mapping solver time 20.795202 ms 
-----t: 0.0377457
OdomCount 3119 & avg odom time 0.048984 ms ++++++++++++++++++++++
1317358085.899947881 WriteOdom laser_odom_to_init
1317358085.899947881 WriteOdom aft_mapped_to_init_high_frec
publication time 10.121087 ms 
whole laserOdometry time 10.136066 ms 
 
mapping data assosiation time 20.386796 ms 
mapping solver time 17.636909 ms 
filter time 9.310787 ms 
points size 93979 
sort q time 5.177941 
seperate points time 12.457116 
build tree time 38.107237 ms 
mapping data assosiation time 24.080459 ms 
mapping solver time 24.303321 ms 
points size 93030 
sort q time 4.882144 
seperate points time 11.792792 
mapping solver time 22.183595 ms 
filter time 15.290117 ms 
mapping pub time 4.474553 ms 
whole mapping time 158.215868 ms +++++
mappingCount 1911 & avg mapping time 165.538704 ms ++++++++++++++++++++++
1317358085.899947882 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
[0m[ INFO] [1718804802.979653160, 1317358086.169379052]: Received 192125 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804802.979688557, 1317358086.169379052]: Data saved to 1317358085899947.pcd[0m
build tree time 30.116245 ms 
points size 91615 
sort q time 5.092540 
seperate points time 12.025240 
mapping solver time 29.166889 ms 
-----t: 0.0616858
OdomCount 3122 & avg odom time 0.048979 ms ++++++++++++++++++++++
mapping solver time 20.342093 ms 
--------------------stamp1317358086.315506935
sort q time 5.021585 
seperate points time 10.664857 
publication time 7.648081 ms 
whole laserOdometry time 7.661920 ms 
 
-----t: 0.0549385
OdomCount 3123 & avg odom time 0.048981 ms ++++++++++++++++++++++
mapping solver time 25.423846 ms 
points size 90123 
sort q time 5.126740 
seperate points time 14.230299 
mapping solver time 23.210277 ms 
mapping optimization time 139.814138 
add points time 0.740052 ms
mapping pub time 2.113853 ms 
whole mapping time 157.588511 ms +++++
mappingCount 1913 & avg mapping time 165.525723 ms ++++++++++++++++++++++
build tree time 29.187618 ms 
points size 90428 
sort q time 4.930126 
seperate points time 11.184456 
publication time 10.296900 ms 
whole laserOdometry time 10.310872 ms 
 
-----t: 0.0474315
OdomCount 3125 & avg odom time 0.048983 ms ++++++++++++++++++++++
filter time 11.876764 ms 
points size 93142 sort q time 6.276368 -----t: 0.0401429
OdomCount 3126 & avg odom time 0.048980 ms ++++++++++++++++++++++
mapping data assosiation time 23.720336 ms 
mapping solver time 20.177311 ms 
points size 92539 
mapping data assosiation time 25.180338 ms 
publication time 6.687541 ms 
whole laserOdometry time 6.703888 ms 
 
filter time 11.270209 ms 
build tree time 30.847189 ms 
--------------------stamp1317358086.834882974
prepare time 11.338196 
sort q time 4.689793 
seperate points time 10.829968 
publication time 8.908332 ms 
whole laserOdometry time 8.923288 ms 
 
-----t: 0.0350145
OdomCount 3128 & avg odom time 0.048971 ms ++++++++++++++++++++++
mapping data assosiation time 21.737756 ms 
mapping solver time 18.235418 ms 
mapping optimization time 126.254549 
add points time 0.786275 ms
map prepare time 3.790473 ms
map corner num 131741  surf num 62842 
sort q time 5.673305 
seperate points time 11.856204 
build tree time 38.330260 ms 
1317358086.938728094 WriteOdom laser_odom_to_init
1317358086.938728094 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.798864 ms 
mapping solver time 27.514881 ms 
points size 90134 
mapping data assosiation time 24.527746 ms 
mapping solver time 17.134895 ms 
publication time 9.887990 ms 
whole laserOdometry time 9.903220 ms 
 
build tree time 27.952980 ms 
--------------------stamp1317358087.146471977
prepare time 11.522586 
mapping solver time 19.843787 ms 
mapping data assosiation time 23.600821 ms 
publication time 9.853928 ms 
whole laserOdometry time 9.861843 ms 
 
filter time 18.499664 ms 
--------------------stamp1317358087.250366926
points size 91252 
mapping data assosiation time 31.469236 ms 
mapping solver time 30.204788 ms 
mapping data assosiation time 20.158881 ms 
points size 92343 
mapping solver time 24.415809 ms 
filter time 12.928448 ms 
build tree time 36.237286 ms 
mapping data assosiation time 18.546688 ms 
points size 92859 
mapping solver time 29.396002 ms 
mapping data assosiation time 22.902041 ms 
mapping solver time 17.269217 ms 
mapping optimization time 125.522879 
add points time 0.941347 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317358087.562073945
prepare time 11.425290 
sort q time 5.783628 
seperate points time 11.949148 
mapping data assosiation time 23.036383 ms 
1317358087.562073945 WriteOdom laser_odom_to_init
1317358087.562073945 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 12.597460 ms 
--------------------stamp1317358087.665967941
prepare time 15.146112 
sort q time 5.186859 
seperate points time 12.809070 
-----t: 0.0350427
OdomCount 3136 & avg odom time 0.048964 ms ++++++++++++++++++++++
mapping pub time 90.817143 ms 
whole mapping time 216.589849 ms +++++
mappingCount 1921 & avg mapping time 165.489995 ms ++++++++++++++++++++++
--------------------stamp1317358087.769839048
prepare time 15.068142 
mapping data assosiation time 23.706838 ms 
1317358087.769839048 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.475200 ms 
mapping solver time 13.914645 ms 
filter time 10.221341 ms 
publication time 9.289162 ms 
whole laserOdometry time 9.302677 ms 
 
-----t: 0.0350918
OdomCount 3138 & avg odom time 0.048960 ms ++++++++++++++++++++++
1317358087.873734951 WriteOdom laser_odom_to_init
1317358087.873734951 WriteOdom aft_mapped_to_init_high_frec
build tree time 36.648497 ms 
mapping data assosiation time 17.493117 ms 
mapping solver time 21.697411 ms 
prepare time 11.939344 
sort q time 5.262313 
seperate points time 11.527692 
publication time 9.513258 ms 
whole laserOdometry time 9.530040 ms 
 
mapping solver time 22.674934 ms 
mapping pub time 1.970888 ms 
whole mapping time 141.055591 ms +++++
mappingCount 1923 & avg mapping time 165.461081 ms ++++++++++++++++++++++
build tree time 33.208726 ms 
points size 89953 
sort q time 5.198424 
seperate points time 11.724220 
mapping solver time 20.163979 ms 
publication time 13.094160 ms 
whole laserOdometry time 13.105230 ms 
 
mapping data assosiation time 22.372182 ms 
mapping solver time 13.393152 ms 
mapping optimization time 111.935729 
add points time 0.740675 ms
map prepare time 2.856064 ms
map corner num 135273  surf num 64396 
--------------------stamp1317358088.185467004
prepare time 11.628968 
sort q time 4.502138 
seperate points time 9.895144 
publication time 8.683877 ms 
whole laserOdometry time 8.695138 ms 
 
-----t: 0.0383306
OdomCount 3141 & avg odom time 0.048952 ms ++++++++++++++++++++++
1317358088.185467004 WriteOdom laser_odom_to_init
1317358088.185467004 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.072269 ms 
--------------------stamp1317358088.289408922
points size 86611 
mapping solver time 21.430287 ms 
sort q time 4.791304 
seperate points time 24.609182 
-----t: 0.0358627
OdomCount 3142 & avg odom time 0.048948 ms ++++++++++++++++++++++
1317358088.289408922 WriteOdom laser_odom_to_init
1317358088.289408922 WriteOdom aft_mapped_to_init_high_frec
publication time 7.992389 ms 
whole laserOdometry time 8.005988 ms 
 
build tree time 31.033218 ms 
--------------------stamp1317358088.393352031
prepare time 10.581102 
sort q time 4.534657 
seperate points time 9.757247 
publication time 7.362807 ms 
whole laserOdometry time 7.380875 ms 
 
mapping data assosiation time 25.412451 ms 
-----t: 0.0472792
OdomCount 3143 & avg odom time 0.048947 ms ++++++++++++++++++++++
filter time 10.257506 ms 
map prepare time 3.479663 ms
map corner num 136423  surf num 65070 
--------------------stamp1317358088.497318983
prepare time 11.543360 
build tree time 36.018244 ms 
mapping data assosiation time 22.685576 ms 
mapping solver time 21.728294 ms 
mapping data assosiation time 22.614267 ms 
--------------------stamp1317358088.601309061
prepare time 11.102518 
publication time 11.107342 ms 
whole laserOdometry time 11.127572 ms 
 
mapping data assosiation time 18.981690 ms 
mapping solver time 27.017138 ms 
sort q time 5.513287 
seperate points time 11.815856 
publication time 9.599325 ms 
whole laserOdometry time 9.611107 ms 
 
1317358088.705300092 WriteOdom aft_mapped_to_init_high_frec
filter time 11.743339 ms 
--------------------stamp1317358088.809288978
prepare time 10.137789 
sort q time 4.065746 
seperate points time 24.221524 
scan registration time 38.063529 ms *************
-----t: 0.0417246
OdomCount 3147 & avg odom time 0.048940 ms ++++++++++++++++++++++
1317358088.809288978 WriteOdom laser_odom_to_init
1317358088.809288978 WriteOdom aft_mapped_to_init_high_frec
publication time 9.913577 ms 
whole laserOdometry time 9.929603 ms 
 
mapping data assosiation time 20.293712 ms 
--------------------stamp1317358088.913280010
prepare time 10.121213 
scan registration time 22.678758 ms *************
map prepare time 3.223278 ms
map corner num 138075  surf num 65892 
-----t: 0.038494
OdomCount 3148 & avg odom time 0.048937 ms ++++++++++++++++++++++
build tree time 33.721134 ms 
mapping data assosiation time 18.329436 ms 
mapping solver time 17.927574 ms 
points size 71482 
sort q time 3.844953 
seperate points time 9.402146 
mapping solver time 16.427907 ms 
mapping optimization time 110.574853 
add points time 0.957203 ms
publication time 7.450835 ms 
whole laserOdometry time 7.458537 ms 
 
drop lidar frame in mapping for real time performance 
map prepare time 2.704495 ms
map corner num 138563  surf num 66079 
build tree time 30.100708 ms 
--------------------stamp1317358089.121216058
sort q time 2.922878 
seperate points time 6.626606 
publication time 4.671409 ms 
whole laserOdometry time 4.687314 ms 
 
mapping data assosiation time 21.463419 ms 
mapping solver time 13.243152 ms 
filter time 9.198885 ms 
--------------------stamp1317358089.225183963
prepare time 9.927870 
sort q time 4.761017 
seperate points time 9.122962 
mapping data assosiation time 20.294920 ms 
mapping solver time 19.447628 ms 
mapping data assosiation time 18.235569 ms 
mapping solver time 12.515498 ms 
filter time 9.585663 ms 
--------------------stamp1317358089.329123973
points size 69185 
prepare time 11.978799 
build tree time 36.642082 ms 
mapping data assosiation time 17.592530 ms 
mapping solver time 18.821102 ms 
mapping data assosiation time 16.868177 ms 
mapping solver time 15.638959 ms 
filter time 10.803584 ms 
sort q time 3.716135 
seperate points time 8.998419 
publication time 5.589288 ms 
whole laserOdometry time 5.604010 ms 
 
-----t: 0.0394007
mapping data assosiation time 17.473311 ms 
mapping solver time 20.255268 ms 
--------------------stamp1317358089.537009000
prepare time 10.788887 
mapping optimization time 115.309261 
filter time 13.408525 ms 
build tree time 31.175470 ms 
mapping data assosiation time 17.375917 ms 
points size 63686 
mapping solver time 23.073854 ms 
publication time 6.629781 ms 
whole laserOdometry time 6.645001 ms -----t: 0.0285842
OdomCount 3155 & avg odom time 0.048916 ms ++++++++++++++++++++++
1317358089.640952110 WriteOdom laser_odom_to_init
1317358089.640952110 WriteOdom aft_mapped_to_init_high_frec
filter time 9.661829 ms 
build tree time 30.086445 ms 
sort q time 3.001434 
seperate points time 6.446862 
publication time 4.797663 ms 
whole laserOdometry time 4.810404 ms 
 
mapping data assosiation time 18.920167 ms 
mapping solver time 18.848799 ms 
filter time 9.975514 ms 
map prepare time 2.256870 ms
map corner num 140590  surf num 66643 
--------------------stamp1317358089.848886013
sort q time 3.189893 
seperate points time 7.873367 
-----t: 0.0287255
OdomCount 3157 & avg odom time 0.048910 ms ++++++++++++++++++++++
mapping solver time 17.139543 ms 
mapping data assosiation time 16.655737 ms 
mapping solver time 14.764252 ms 
filter time 10.771051 ms 
points size 60873 
publication time 4.869136 ms 
whole laserOdometry time 4.878980 ms 
 
build tree time 36.840362 ms 
mapping data assosiation time 16.545872 ms 
mapping solver time 16.588541 ms 
mapping data assosiation time 16.747538 ms 
mapping solver time 14.169900 ms 
filter time 9.812526 ms 
publication time 5.981686 ms 
whole laserOdometry time 5.995583 ms 
 
build tree time 36.728978 ms 
-----t: 0.0471929
OdomCount 3159 & avg odom time 0.048907 ms ++++++++++++++++++++++
1317358090.056869029 WriteOdom laser_odom_to_init
1317358090.056869029 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.242880 ms 
mapping solver time 16.441605 ms 
--------------------stamp1317358090.160811901
sort q time 3.206689 
seperate points time 7.467000 
filter time 11.474276 ms 
-----t: 0.03295
OdomCount 3160 & avg odom time 0.048902 ms ++++++++++++++++++++++
1317358090.160811901 WriteOdom laser_odom_to_init
build tree time 35.679878 ms 
mapping data assosiation time 17.479717 ms 
--------------------stamp1317358090.264755010
sort q time 3.699908 
seperate points time 7.585027 
mapping data assosiation time 18.177869 ms 
mapping solver time 9.553211 ms 
filter time 12.512912 ms 
build tree time 32.570393 ms 
--------------------stamp1317358090.368721008
sort q time 4.122963 
seperate points time 8.369575 
publication time 5.779776 ms 
whole laserOdometry time 5.850630 ms 
 
mapping data assosiation time 18.505302 ms 
mapping optimization time 110.369592 
add points time 0.689449 ms
--------------------stamp1317358090.472665071
sort q time 3.263688 
seperate points time 7.374199 
publication time 5.377079 ms 
whole laserOdometry time 5.386799 ms 
 
-----t: 0.0442766
OdomCount 3163 & avg odom time 0.048893 ms ++++++++++++++++++++++
1317358090.472665071 WriteOdom laser_odom_to_init
1317358090.472665071 WriteOdom aft_mapped_to_init_high_frec
1317358090.264755011 WriteOdom aft_mapped_to_init
--------------------stamp1317358090.576591968
build tree time 40.872124 ms 
mapping data assosiation time 18.213905 ms 
-----t: 0.0286716
OdomCount 3164 & avg odom time 0.048886 ms ++++++++++++++++++++++
mapping data assosiation time 16.118119 ms 
mapping solver time 11.767296 ms 
filter time 9.588230 ms 
--------------------stamp1317358090.680509090
sort q time 3.454972 
seperate points time 8.411094 
build tree time 37.113886 ms 
mapping data assosiation time 19.120096 ms 
mapping solver time 17.663793 ms 
mapping data assosiation time 16.650116 ms 
mapping solver time 13.172472 ms 
points size 66230 
scan registration time 17.674735 ms *************
-----t: 0.0445747
OdomCount 3166 & avg odom time 0.048879 ms ++++++++++++++++++++++
build tree time 69.367622 ms 
mapping data assosiation time 16.305482 ms 
points size 68788 
sort q time 3.695048 
seperate points time 8.973508 
-----t: 0.0343263
OdomCount 3167 & avg odom time 0.048874 ms ++++++++++++++++++++++
1317358090.888314008 WriteOdom laser_odom_to_init
filter time 12.777259 ms 
--------------------stamp1317358090.992207050
sort q time 4.108006 
seperate points time 8.402252 
mapping data assosiation time 16.656631 ms 
mapping solver time 12.127700 ms 
filter time 12.003648 ms 
--------------------stamp1317358091.096101999
sort q time 4.361553 
seperate points time 9.337255 
build tree time 42.251157 ms 
-----t: 0.0270757
OdomCount 3169 & avg odom time 0.048864 ms ++++++++++++++++++++++
mapping solver time 19.156953 ms 
mapping data assosiation time 15.795100 ms 
mapping solver time 16.301451 ms 
filter time 10.845928 ms 
points size 75535 
map prepare time 3.560368 ms
map corner num 143712  surf num 67580 
sort q time 4.587820 
seperate points time 10.396015 
scan registration time 23.772606 ms *************
-----t: 0.0299082
OdomCount 3170 & avg odom time 0.048858 ms ++++++++++++++++++++++
build tree time 40.586550 ms 
mapping data assosiation time 15.741130 ms 
mapping solver time 19.358859 ms 
points size 78421 
sort q time 4.434588 
seperate points time 10.438881 
publication time 7.354122 ms 
whole laserOdometry time 7.383401 ms 
 -----t: 0.0476
OdomCount 3171 & avg odom time 0.048857 ms ++++++++++++++++++++++
build tree time 34.319300 ms 
mapping data assosiation time 16.556041 ms 
prepare time 11.744587 
scan registration time 26.700871 ms *************
mapping data assosiation time 20.859633 ms 
-----t: 0.0408054
OdomCount 3172 & avg odom time 0.048855 ms ++++++++++++++++++++++
filter time 10.704318 ms 
--------------------stamp1317358091.511754989
sort q time 3.391457 
seperate points time 7.394715 
mapping data assosiation time 17.570050 ms 
publication time 6.867106 ms 
whole laserOdometry time 6.881423 ms 
 
mapping solver time 25.035564 ms 
mapping data assosiation time 15.666754 ms 
mapping solver time 16.466681 ms 
filter time 9.543198 ms 
points size 73053 
sort q time 4.344535 
seperate points time 9.309435 
publication time 4.784070 ms 
whole laserOdometry time 4.799137 ms 
 
mapping data assosiation time 16.691693 ms 
mapping solver time 19.346479 ms 
mapping data assosiation time 15.549695 ms 
--------------------stamp1317358091.719593048
mapping optimization time 109.920059 
sort q time 4.030725 
seperate points time 8.912611 
publication time 16.065260 ms 
whole laserOdometry time 16.076911 ms 
 
1317358091.719593048 WriteOdom laser_odom_to_init
1317358091.719593048 WriteOdom aft_mapped_to_init_high_frec
build tree time 43.366994 ms 
mapping data assosiation time 16.203061 ms 
--------------------stamp1317358091.823513031
scan registration time 20.716945 ms *************
publication time 6.398696 ms 
whole laserOdometry time 6.411822 ms 
 
filter time 9.939056 ms 
build tree time 30.993681 ms 
points size 71070 
sort q time 4.103275 
seperate points time 8.175616 
mapping solver time 21.711117 ms 
mapping data assosiation time 16.944541 ms 
-----t: 0.047442
OdomCount 3177 & avg odom time 0.048838 ms ++++++++++++++++++++++
1317358091.927432060 WriteOdom laser_odom_to_init
filter time 10.653919 ms 
--------------------stamp1317358092.031374931
build tree time 35.553237 ms 
mapping data assosiation time 18.833532 ms 
mapping solver time 21.679374 ms 
mapping data assosiation time 15.918071 ms 
mapping solver time 14.797472 ms 
filter time 12.997798 ms 
prepare time 11.361445 
sort q time 4.076715 
seperate points time 9.308562 
publication time 6.035668 ms 
whole laserOdometry time 6.047733 ms 
 
build tree time 37.553880 ms 
mapping data assosiation time 17.096998 ms 
1317358092.135340929 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.805886 ms 
mapping data assosiation time 15.498791 ms 
points size 71986 
filter time 10.510871 ms 
scan registration time 35.320593 ms *************
publication time 7.627812 ms 
whole laserOdometry time 7.641544 ms build tree time 37.879376 ms 
mapping data assosiation time 15.811199 ms 
mapping solver time 18.690815 ms 
points size 71893 
sort q time 4.013127 
seperate points time 9.485848 
mapping solver time 17.431008 ms 
mapping optimization time 109.140460 
add points time 0.714643 ms
drop lidar frame in mapping for real time performance 
build tree time 35.886739 ms 
--------------------stamp1317358092.447192907
sort q time 3.574781 
seperate points time 8.175647 
publication time 6.100051 ms 
whole laserOdometry time 6.113390 ms 
 
mapping solver time 14.435731 ms 
filter time 12.815782 ms 
map prepare time 4.034551 ms
map corner num 146882  surf num 68431 
--------------------stamp1317358092.551160097
build tree time 39.475754 ms 
mapping data assosiation time 20.741687 ms 
mapping solver time 26.543743 ms 
mapping data assosiation time 18.106889 ms 
mapping solver time 11.760652 ms 
filter time 12.993696 ms 
sort q time 10.462812 
seperate points time 24.169600 
build tree time 44.588570 ms 
-----t: 0.0464707
OdomCount 3184 & avg odom time 0.048823 ms ++++++++++++++++++++++
mapping data assosiation time 18.856661 ms 
mapping solver time 15.879999 ms 
--------------------stamp1317358092.759049892
sort q time 3.077323 
seperate points time 6.339342 
filter time 14.943439 ms 
-----t: 0.0298648
OdomCount 3185 & avg odom time 0.048817 ms ++++++++++++++++++++++
mapping data assosiation time 20.130440 ms 
publication time 10.481333 ms 
whole laserOdometry time 10.508578 ms 
 
drop lidar frame in mapping for real time performance 
build tree time 39.767633 ms 
sort q time 3.472021 publication time 6.789792 ms 
whole laserOdometry time 6.802273 ms 
 
mapping solver time 26.163164 ms 
-----t: 0.033229
OdomCount 3187 & avg odom time 0.048811 ms ++++++++++++++++++++++
mapping solver time 20.276665 ms 
filter time 12.478881 ms 
points size 54991 
publication time 4.534047 ms 
whole laserOdometry time 4.547413 ms 
 
build tree time 40.381755 ms 
-----t: 0.0413161
mapping solver time 19.698140 ms 
mapping data assosiation time 15.117955 ms 
points size 57205 
filter time 11.296453 ms 
-----t: 0.0352226
OdomCount 3189 & avg odom time 0.048805 ms ++++++++++++++++++++++
[0m[ INFO] [1718804810.069664310, 1317358093.259979903]: Received 217194 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804810.069713670, 1317358093.259979903]: Data saved to 1317358092966955.pcd[0m
--------------------stamp1317358093.278783082
points size 59728 
prepare time 7.112719 
map prepare time 2.855371 ms
map corner num 148397  surf num 68797 
publication time 5.431096 ms 
whole laserOdometry time 5.443521 ms 
 
-----t: 0.0427705
OdomCount 3190 & avg odom time 0.048803 ms ++++++++++++++++++++++build tree time 41.600247 ms 
mapping data assosiation time 14.217152 ms 
mapping solver time 15.435177 ms 
points size 62995 
mapping solver time 13.037869 ms 
filter time 14.712735 ms 
-----t: 0.0271715
OdomCount 3191 & avg odom time 0.048796 ms ++++++++++++++++++++++
mapping pub time 1.472755 ms 
1317358093.382725954 WriteOdom laser_odom_to_init
whole mapping time 123.338796 ms +++++
mappingCount 1962 & avg mapping time 164.877750 ms ++++++++++++++++++++++
1317358093.382725954 WriteOdom aft_mapped_to_init_high_frec
1317358093.070898056 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.155927 ms
map corner num 148731  surf num 68868 
build tree time 36.803213 ms 
mapping data assosiation time 16.744011 ms 
prepare time 10.759885 
publication time 6.852097 ms 
whole laserOdometry time 6.868805 ms 
 
mapping solver time 12.757506 ms 
filter time 10.127424 ms 
--------------------stamp1317358093.590610980
sort q time 3.663342 
seperate points time 7.394050 
publication time 11.186935 ms 
whole laserOdometry time 11.204122 ms 
 
mapping solver time 19.775825 ms 
mapping solver time 12.705375 ms 
filter time 12.086379 ms 
--------------------stamp1317358093.694554090
sort q time 3.774554 
seperate points time 7.977097 
build tree time 41.864844 ms 
publication time 17.232025 ms 
whole laserOdometry time 17.242262 ms 
 
mapping solver time 19.112778 ms 
mapping data assosiation time 16.316351 ms 
points size 69733 
sort q time 4.483419 
seperate points time 11.010799 
publication time 8.832011 ms 
whole laserOdometry time 8.849076 ms 
 
-----t: 0.0412382
OdomCount 3195 & avg odom time 0.048783 ms ++++++++++++++++++++++
1317358093.798496007 WriteOdom laser_odom_to_init
mapping data assosiation time 15.808989 ms 
mapping solver time 19.824276 ms 
points size 72115 
scan registration time 23.011400 ms *************
mapping solver time 20.868052 ms 
filter time 12.064104 ms 
map prepare time 2.745325 ms
map corner num 150455  surf num 69415 
build tree time 38.668636 ms 
points size 73783 
sort q time 4.682020 
seperate points time 10.242632 
mapping solver time 25.050479 ms 
-----t: 0.0373167
OdomCount 3197 & avg odom time 0.048775 ms ++++++++++++++++++++++
1317358094.006382942 WriteOdom laser_odom_to_init
1317358094.006382942 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.727674 ms 
filter time 10.206804 ms 
--------------------stamp1317358094.110301971
sort q time 3.880826 
seperate points time 8.247671 
publication time 8.670802 ms 
whole laserOdometry time 8.687401 ms 
 
-----t: 0.0509004
OdomCount 3198 & avg odom time 0.048776 ms ++++++++++++++++++++++
mapping solver time 15.088003 ms 
map prepare time 1.893496 ms
map corner num 74272  surf num 29634 
points size 72758 
build tree time 21.492735 ms 
mapping data assosiation time 20.992333 ms 
1317358094.214242935 WriteOdom laser_odom_to_init
mapping solver time 23.541043 ms 
mapping data assosiation time 16.219706 ms 
mapping solver time 11.868021 ms 
filter time 5.421034 ms 
points size 73416 
build tree time 17.966714 ms 
mapping data assosiation time 22.921271 ms 
publication time 9.483787 ms 
whole laserOdometry time 9.495844 ms 
 
mapping solver time 27.434442 ms 
mapping data assosiation time 21.610063 ms 
--------------------stamp1317358094.422106027
filter time 6.302498 ms 
sort q time 4.788946 
publication time 7.905950 ms mapping solver time 19.581550 ms 
--------------------stamp1317358094.526022911
sort q time 4.600593 
seperate points time 9.296624 
filter time 16.133585 ms 
drop lidar frame in mapping for real time performance 
-----t: 0.0677426
OdomCount 3202 & avg odom time 0.048785 ms ++++++++++++++++++++++
1317358094.526022911 WriteOdom laser_odom_to_init
1317358094.526022911 WriteOdom aft_mapped_to_init_high_frec
build tree time 38.991810 ms 
points size 74158 
sort q time 4.452266 
seperate points time 9.382136 
mapping solver time 26.360368 ms 
publication time 8.117312 ms 
whole laserOdometry time 8.130868 ms 
 
mapping data assosiation time 22.018169 ms 
mapping solver time 20.192355 ms 
--------------------stamp1317358094.733861923
build tree time 20.848622 ms 
sort q time 4.254865 
seperate points time 17.498214 
-----t: 0.0361773
OdomCount 3204 & avg odom time 0.048786 ms ++++++++++++++++++++++
mapping data assosiation time 17.153760 ms 
mapping solver time 19.236179 ms 
1317358094.629942894 WriteOdom aft_mapped_to_init
points size 72062 
prepare time 11.143024 
scan registration time 24.101119 ms *************
publication time 8.379581 ms 
whole laserOdometry time 8.396852 ms 
 
mapping solver time 20.161962 ms 
mapping data assosiation time 19.200105 ms 
--------------------stamp1317358094.941699028
1317358094.733861923 WriteOdom aft_mapped_to_init
scan registration time 25.612895 ms *************
publication time 14.459313 ms 
whole laserOdometry time 14.472822 ms 
 
mapping solver time 23.007911 ms 
-----t: 0.0731173
OdomCount 3206 & avg odom time 0.048790 ms ++++++++++++++++++++++
--------------------stamp1317358095.045639991
filter time 5.925398 ms 
map prepare time 2.812034 ms
map corner num 77232  surf num 30502 
build tree time 20.649608 ms 
scan registration time 58.215377 ms *************
publication time 7.752782 ms 
whole laserOdometry time 7.782164 ms 
 
--------------------stamp1317358095.149584054
prepare time 10.011223 
sort q time 4.203211 
seperate points time 9.371716 
1317358094.941699028 WriteOdom aft_mapped_to_init
build tree time 19.569322 ms 
mapping data assosiation time 16.976896 ms 
mapping solver time 19.851615 ms 
--------------------stamp1317358095.253503084
prepare time 11.495067 
scan registration time 24.203939 ms *************
publication time 7.764240 ms 
whole laserOdometry time 7.778911 ms 
 
build tree time 21.703874 ms 
mapping data assosiation time 18.131397 ms 
--------------------stamp1317358095.357420921
prepare time 11.356518 
mapping solver time 16.727250 ms 
-----t: 0.0396334
OdomCount 3210 & avg odom time 0.048794 ms ++++++++++++++++++++++
build tree time 17.057606 ms 
mapping data assosiation time 16.737053 ms 
points size 69675 
sort q time 3.909788 
seperate points time 9.410087 
mapping solver time 24.610661 ms 
scan registration time 24.492664 ms *************
publication time 6.945252 ms 
whole laserOdometry time 6.960234 ms 
 
mapping solver time 20.439825 ms 
1317358095.461338996 WriteOdom laser_odom_to_init
1317358095.357420921 WriteOdom aft_mapped_to_init
1317358095.461338996 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358095.565282106
sort q time 3.610207 
seperate points time 7.778100 
publication time 7.408982 ms 
whole laserOdometry time 7.425567 ms 
 
mapping data assosiation time 17.525406 ms 
mapping solver time 18.226365 ms 
map prepare time 1.815514 ms
map corner num 79010  surf num 30950 
--------------------stamp1317358095.669250965
sort q time 3.473135 
seperate points time 7.467704 
mapping data assosiation time 19.529696 ms 
-----t: 0.0361863
OdomCount 3213 & avg odom time 0.048795 ms ++++++++++++++++++++++
mapping data assosiation time 16.452957 ms 
mapping solver time 16.590790 ms 
[0m[ INFO] [1718804812.571585236, 1317358095.759007632]: Received 110337 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804812.571646971, 1317358095.759007632]: Data saved to 1317358095565282.pcd[0m
--------------------stamp1317358095.773195981
sort q time 3.896656 
seperate points time 8.583963 
publication time 7.353936 ms 
whole laserOdometry time 7.385013 ms 
 
-----t: 0.0498199
OdomCount 3214 & avg odom time 0.048796 ms ++++++++++++++++++++++
mapping pub time 109.646645 ms 
whole mapping time 214.195507 ms +++++
mappingCount 1981 & avg mapping time 164.495443 ms ++++++++++++++++++++++
points size 67358 
sort q time 3.867840 
seperate points time 9.800673 
scan registration time 19.773323 ms *************
publication time 6.780574 ms 
whole laserOdometry time 6.793937 ms 
 
-----t: 0.0345711
OdomCount 3215 & avg odom time 0.048791 ms ++++++++++++++++++++++
mapping solver time 23.793559 ms 
mapping data assosiation time 17.779446 ms 
mapping solver time 11.231321 ms 
1317358095.669250965 WriteOdom aft_mapped_to_init
points size 66257 
sort q time 3.939751 
seperate points time 9.358023 
mapping data assosiation time 19.991254 ms 
-----t: 0.0430329
OdomCount 3216 & avg odom time 0.048789 ms ++++++++++++++++++++++
mapping data assosiation time 15.396606 ms 
mapping solver time 14.961114 ms 
mapping pub time 1.614835 ms 
whole mapping time 104.890110 ms +++++
mappingCount 1983 & avg mapping time 164.435224 ms ++++++++++++++++++++++
points size 65991 
sort q time 3.840700 
seperate points time 8.943578 
scan registration time 19.033955 ms *************
mapping data assosiation time 18.847564 ms 
-----t: 0.0415835
OdomCount 3217 & avg odom time 0.048787 ms ++++++++++++++++++++++
mapping data assosiation time 15.710212 ms 
mapping solver time 15.419260 ms 
mapping pub time 1.974119 ms 
whole mapping time 105.361548 ms +++++
mappingCount 1984 & avg mapping time 164.405452 ms ++++++++++++++++++++++
sort q time 3.417559 
seperate points time 8.875976 
-----t: 0.0260653
OdomCount 3218 & avg odom time 0.048780 ms ++++++++++++++++++++++
mapping solver time 18.207501 ms 
mapping data assosiation time 16.701796 ms 
mapping solver time 11.963505 ms 
mapping pub time 1.581299 ms 
whole mapping time 103.216964 ms +++++
mappingCount 1985 & avg mapping time 164.374629 ms ++++++++++++++++++++++
sort q time 3.464529 
seperate points time 7.193272 
publication time 5.587417 ms 
whole laserOdometry time 5.600806 ms 
 
-----t: 0.0291454
OdomCount 3219 & avg odom time 0.048774 ms ++++++++++++++++++++++
mapping solver time 18.575612 ms 
mapping data assosiation time 16.714579 ms 
mapping optimization time 92.438569 
mapping pub time 3.611651 ms 
whole mapping time 105.519726 ms +++++
mappingCount 1986 & avg mapping time 164.344997 ms ++++++++++++++++++++++
sort q time 3.325435 
seperate points time 7.907973 
build tree time 20.830242 ms 
mapping data assosiation time 21.196198 ms 
-----t: 0.0364473
OdomCount 3220 & avg odom time 0.048770 ms ++++++++++++++++++++++
1317358096.396992921 WriteOdom laser_odom_to_init
1317358096.396992921 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.393751 ms 
mapping data assosiation time 16.018975 ms 
mapping solver time 11.611744 ms 
map prepare time 1.871186 ms
map corner num 81331  surf num 31633 
publication time 6.129724 ms 
whole laserOdometry time 6.142984 ms 
 
-----t: 0.0390087
OdomCount 3221 & avg odom time 0.048767 ms ++++++++++++++++++++++
mapping data assosiation time 20.432057 ms 
mapping solver time 17.331858 ms 
mapping data assosiation time 15.242670 ms 
mapping solver time 11.576705 ms 
points size 58370 
scan registration time 15.943478 ms *************
build tree time 22.494659 ms 
mapping data assosiation time 19.556283 ms 
mapping solver time 19.523378 ms 
mapping data assosiation time 18.620530 ms 
mapping solver time 11.826123 ms 
points size 58504 
publication time 4.694877 ms 
whole laserOdometry time 4.709088 ms 
 
mapping data assosiation time 18.312665 ms 
-----t: 0.0428567
OdomCount 3223 & avg odom time 0.048762 ms ++++++++++++++++++++++
mapping solver time 24.663795 ms 
mapping data assosiation time 16.007201 ms 
--------------------stamp1317358096.812906980
mapping pub time 1.345631 ms 
whole mapping time 108.833176 ms +++++
mappingCount 1990 & avg mapping time 164.223017 ms ++++++++++++++++++++++
1317358096.604902029 WriteOdom aft_mapped_to_init
sort q time 3.145762 
seperate points time 6.667009 
scan registration time 15.228678 ms *************
build tree time 20.956924 ms 
mapping solver time 16.482427 ms 
mapping data assosiation time 18.863278 ms 
--------------------stamp1317358096.916920900
sort q time 3.604756 
seperate points time 7.495144 
publication time 5.620766 ms 
whole laserOdometry time 5.634024 ms 
 
build tree time 22.787758 ms 
-----t: 0.0440317
OdomCount 3225 & avg odom time 0.048758 ms ++++++++++++++++++++++
mapping solver time 21.327817 ms 
--------------------stamp1317358097.020910978
sort q time 4.229815 
seperate points time 8.150849 
publication time 6.063177 ms 
whole laserOdometry time 6.081972 ms 
 
map prepare time 2.584121 ms
map corner num 82905  surf num 32094 
-----t: 0.0358142
OdomCount 3226 & avg odom time 0.048754 ms ++++++++++++++++++++++
build tree time 24.977243 ms 
mapping data assosiation time 21.159695 ms 
--------------------stamp1317358097.124877929
sort q time 3.805528 
seperate points time 9.113961 
scan registration time 19.536982 ms *************
mapping data assosiation time 21.448725 ms 
-----t: 0.0689283
OdomCount 3227 & avg odom time 0.048761 ms ++++++++++++++++++++++
points size 73876 
sort q time 5.202663 
seperate points time 10.064089 
mapping data assosiation time 22.109685 ms 
mapping solver time 22.606737 ms 
mapping data assosiation time 20.705176 ms 
mapping solver time 14.789647 ms 
1317358097.124877930 WriteOdom aft_mapped_to_init
sort q time 4.516130 
seperate points time 9.028227 
publication time 5.941550 ms 
whole laserOdometry time 5.954281 ms 
 
mapping solver time 17.455325 ms 
mapping data assosiation time 15.780330 ms 
mapping solver time 12.519765 ms 
mapping pub time 2.006051 ms 
whole mapping time 101.737903 ms +++++
mappingCount 1995 & avg mapping time 164.095551 ms ++++++++++++++++++++++
sort q time 5.450122 
seperate points time 10.075538 
publication time 6.013896 ms 
whole laserOdometry time 6.026525 ms 
 
mapping data assosiation time 20.121833 ms 
mapping solver time 17.823356 ms 
mapping data assosiation time 16.673759 ms 
mapping solver time 13.009422 ms 
[0m[ INFO] [1718804814.355627927, 1317358097.545839966]: Received 116864 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804814.355682767, 1317358097.545839966]: Data saved to 1317358097332865.pcd[0m
sort q time 4.888907 
seperate points time 9.634369 
publication time 5.912859 ms 
whole laserOdometry time 5.927927 ms 
 
mapping data assosiation time 24.146556 ms 
-----t: 0.0539507
OdomCount 3231 & avg odom time 0.048751 ms ++++++++++++++++++++++
mapping data assosiation time 19.543788 ms 
--------------------stamp1317358097.644881963
filter time 6.171252 ms 
sort q time 4.784180 
seperate points time 11.205200 
publication time 9.107193 ms 
whole laserOdometry time 9.123222 ms 
 
-----t: 0.0405487
mapping data assosiation time 21.663879 ms 
mapping solver time 16.942738 ms 
mapping data assosiation time 19.106712 ms 
prepare time 10.280430 
scan registration time 23.708218 ms *************
publication time 8.978017 ms 
whole laserOdometry time 9.005897 ms 
 
build tree time 26.231808 ms 
-----t: 0.0597228
OdomCount 3233 & avg odom time 0.048752 ms ++++++++++++++++++++++
mapping solver time 16.784974 ms 
points size 83460 
sort q time 5.156574 
seperate points time 10.251678 
mapping solver time 21.986810 ms 
mapping pub time 2.145953 ms 
whole mapping time 123.251901 ms +++++
mappingCount 1999 & avg mapping time 163.993959 ms ++++++++++++++++++++++
-----t: 0.0564853
OdomCount 3234 & avg odom time 0.048754 ms ++++++++++++++++++++++
mapping data assosiation time 18.620072 ms 
points size 83984 
mapping solver time 28.138706 ms 
mapping data assosiation time 23.348399 ms 
mapping solver time 21.969726 ms 
mapping optimization time 114.791494 
add points time 0.663518 ms
filter time 5.459664 ms 
build tree time 16.816024 ms 
points size 84561 
sort q time 4.866635 
seperate points time 10.651686 
publication time 9.588096 ms 
whole laserOdometry time 9.603037 ms 
 
mapping data assosiation time 21.278045 ms 
mapping solver time 13.186569 ms 
[0m[ INFO] [1718804814.947683960, 1317358098.136769012]: Received 118965 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804814.947753488, 1317358098.136769012]: Data saved to 1317358097956899.pcd[0m
--------------------stamp1317358098.164859056
points size 85714 
sort q time 4.640332 
seperate points time 11.298902 
publication time 9.640788 ms 
whole laserOdometry time 9.655129 ms -----t: 0.0522015
OdomCount 3237 & avg odom time 0.048746 ms ++++++++++++++++++++++
1317358098.164859056 WriteOdom laser_odom_to_init
1317358098.164859056 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358098.268851041
points size 86313 
mapping data assosiation time 21.384600 ms 
mapping solver time 22.976775 ms 
mapping data assosiation time 26.507900 ms 
mapping solver time 12.417775 ms 
mapping optimization time 105.679735 
add points time 0.626669 ms
filter time 5.733187 ms 
--------------------stamp1317358098.372817993
points size 86869 
sort q time 5.622190 
seperate points time 13.487314 
mapping data assosiation time 23.360012 ms 
mapping solver time 23.587594 ms 
-----t: 0.050324
OdomCount 3239 & avg odom time 0.048743 ms ++++++++++++++++++++++
mapping data assosiation time 18.471608 ms 
mapping solver time 13.735524 ms 
mapping pub time 2.191303 ms 
whole mapping time 118.277579 ms +++++
mappingCount 2003 & avg mapping time 163.950785 ms ++++++++++++++++++++++
1317358098.268851042 WriteOdom aft_mapped_to_init
map prepare time 3.005480 ms
map corner num 86500  surf num 33319 
sort q time 5.141985 
seperate points time 10.216296 
publication time 6.502193 ms 
whole laserOdometry time 6.513616 ms 
 
-----t: 0.0510983
OdomCount 3240 & avg odom time 0.048743 ms ++++++++++++++++++++++
mapping solver time 21.856647 ms 
mapping data assosiation time 18.931411 ms 
mapping solver time 15.283093 ms 
map prepare time 2.773825 ms
map corner num 86798  surf num 33416 
publication time 7.165734 ms 
whole laserOdometry time 7.182341 ms 
 
-----t: 0.0388515
OdomCount 3241 & avg odom time 0.048740 ms ++++++++++++++++++++++
1317358098.580724954 WriteOdom laser_odom_to_init
1317358098.580724954 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.573945 ms 
mapping solver time 17.765677 ms 
--------------------stamp1317358098.684643983
mapping data assosiation time 20.197648 ms 
points size 86802 
prepare time 11.347839 
filter time 8.357406 ms 
-----t: 0.0410888
OdomCount 3242 & avg odom time 0.048738 ms ++++++++++++++++++++++
build tree time 22.231244 ms 
mapping data assosiation time 19.593622 ms 
--------------------stamp1317358098.788515090
mapping data assosiation time 20.101150 ms 
mapping solver time 17.638189 ms 
mapping optimization time 102.271228 
add points time 0.822571 ms
-----t: 0.0467162
OdomCount 3243 & avg odom time 0.048737 ms ++++++++++++++++++++++
build tree time 22.817735 ms 
mapping data assosiation time 19.388310 ms 
points size 86742 
mapping solver time 30.664218 ms 
-----t: 0.0507422
OdomCount 3244 & avg odom time 0.048738 ms ++++++++++++++++++++++
mapping solver time 19.568884 ms 
map prepare time 2.080630 ms
map corner num 87655  surf num 33649 
--------------------stamp1317358098.996088981
points size 86853 
mapping data assosiation time 24.393942 ms 
publication time 9.638374 ms 
whole laserOdometry time 9.652137 ms 
 
mapping data assosiation time 19.490839 ms 
--------------------stamp1317358099.099865913
mapping pub time 2.060513 ms 
whole mapping time 133.709812 ms +++++
mappingCount 2008 & avg mapping time 163.850169 ms ++++++++++++++++++++++
prepare time 13.107939 
1317358098.892313957 WriteOdom aft_mapped_to_init
map prepare time 3.374621 ms
map corner num 87976  surf num 33754 
build tree time 24.796116 ms 
publication time 7.922935 ms 
whole laserOdometry time 7.932378 ms 
 
mapping data assosiation time 22.439928 ms 
mapping solver time 25.154452 ms 
--------------------stamp1317358099.203617095
mapping data assosiation time 21.318445 ms 
sort q time 5.013193 
seperate points time 12.034133 
filter time 9.213997 ms 
-----t: 0.0380046
OdomCount 3247 & avg odom time 0.048732 ms ++++++++++++++++++++++
build tree time 22.577717 ms 
--------------------stamp1317358099.307318925
prepare time 14.687460 
mapping solver time 32.768564 ms 
publication time 6.893608 ms 
whole laserOdometry time 6.909213 ms 
 
mapping solver time 22.110752 ms 
mapping pub time 2.155344 ms 
whole mapping time 143.193694 ms +++++
mappingCount 2010 & avg mapping time 163.825512 ms ++++++++++++++++++++++
--------------------stamp1317358099.411021947
prepare time 12.851295 
sort q time 5.689415 
seperate points time 11.964447 
-----t: 0.036069
OdomCount 3249 & avg odom time 0.048732 ms ++++++++++++++++++++++
mapping solver time 29.389566 ms 
mapping data assosiation time 19.802858 ms 
mapping solver time 19.076002 ms 
[0m[ INFO] [1718804816.335387360, 1317358099.527623005]: Received 122998 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804816.335429372, 1317358099.527623005]: Data saved to 1317358099203617.pcd[0m
sort q time 6.119980 
seperate points time 11.531319 
scan registration time 27.442295 ms *************
mapping data assosiation time 20.989081 ms 
mapping solver time 26.501162 ms 
--------------------stamp1317358099.618423938
prepare time 11.181776 
sort q time 6.379832 
seperate points time 11.828071 
filter time 7.152577 ms 
build tree time 20.161291 ms 
mapping data assosiation time 21.027419 ms 
--------------------stamp1317358099.722103118
prepare time 11.605803 
sort q time 5.370300 
seperate points time 11.768960 
publication time 8.925600 ms 
whole laserOdometry time 8.941904 ms 
 
mapping optimization time 126.206603 
map prepare time 2.430791 ms
map corner num 89618  surf num 34429 
--------------------stamp1317358099.825855016
prepare time 12.186997 
sort q time 5.744233 
seperate points time 12.556222 
publication time 8.974947 ms 
whole laserOdometry time 8.988642 ms 
 
-----t: 0.0448554
OdomCount 3253 & avg odom time 0.048732 ms ++++++++++++++++++++++
mapping data assosiation time 23.639344 ms 
--------------------stamp1317358099.929630994
prepare time 11.173668 
sort q time 5.690514 
seperate points time 12.892152 
publication time 10.619694 ms 
whole laserOdometry time 10.643090 ms 
 
-----t: 0.0435249
OdomCount 3254 & avg odom time 0.048731 ms ++++++++++++++++++++++
mapping data assosiation time 23.662752 ms 
mapping solver time 18.846708 ms 
--------------------stamp1317358100.033381938
points size 89023 
mapping solver time 16.599706 ms 
filter time 8.502912 ms 
publication time 11.796739 ms 
whole laserOdometry time 11.815094 ms 
 
build tree time 22.744824 ms 
mapping data assosiation time 20.368664 ms 
mapping solver time 20.093322 ms 
points size 89108 
mapping data assosiation time 23.182384 ms 
publication time 7.838764 ms 
whole laserOdometry time 7.846656 ms 
 
filter time 8.514030 ms 
-----t: 0.0518561
OdomCount 3256 & avg odom time 0.048730 ms ++++++++++++++++++++++
build tree time 21.502328 ms 
--------------------stamp1317358100.240787029
prepare time 13.930170 
sort q time 5.286347 
seperate points time 13.101795 
publication time 9.836842 ms 
whole laserOdometry time 9.849175 ms 
 
mapping solver time 20.857548 ms 
mapping pub time 1.916689 ms 
whole mapping time 133.838244 ms +++++
mappingCount 2017 & avg mapping time 163.713731 ms ++++++++++++++++++++++
points size 89434 
sort q time 5.465865 
seperate points time 12.789960 
mapping data assosiation time 27.617958 ms 
publication time 20.149943 ms 
whole laserOdometry time 20.161267 ms 
 
mapping data assosiation time 21.535594 ms 
points size 89320 
filter time 8.993133 ms 
publication time 8.416694 ms 
whole laserOdometry time 8.433384 ms 
 
-----t: 0.0585294
OdomCount 3259 & avg odom time 0.048731 ms ++++++++++++++++++++++
--------------------stamp1317358100.551968097
prepare time 13.704984 
sort q time 5.628783 
seperate points time 11.531848 
mapping solver time 19.650248 ms 
filter time 10.430215 ms 
build tree time 23.044043 ms 
--------------------stamp1317358100.655694961
points size 88780 
sort q time 4.964406 
seperate points time 12.181601 
mapping solver time 29.007466 ms 
mapping data assosiation time 23.753957 ms 
mapping solver time 15.672849 ms 
mapping pub time 1.946932 ms 
whole mapping time 131.003376 ms +++++
mappingCount 2020 & avg mapping time 163.673082 ms ++++++++++++++++++++++
points size 87752 
build tree time 26.317290 ms 
sort q time 5.042844 
seperate points time 12.374055 
scan registration time 29.375262 ms *************
-----t: 0.0338552
OdomCount 3262 & avg odom time 0.048727 ms ++++++++++++++++++++++
mapping solver time 20.630052 ms 
mapping data assosiation time 21.099071 ms 
--------------------stamp1317358100.863195896
points size 86990 
[0m[ INFO] [1718804817.695540627, 1317358100.885220007]: Received 128341 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804817.695588107, 1317358100.885220007]: Data saved to 1317358100655694.pcd[0m
publication time 9.816329 ms 
whole laserOdometry time 9.835176 ms 
 
1317358100.863195896 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358100.967015981
points size 86375 
prepare time 14.276231 
sort q time 6.193321 
seperate points time 11.693202 
publication time 8.535567 ms 
whole laserOdometry time 8.549511 ms 
 
-----t: 0.0534287
OdomCount 3264 & avg odom time 0.048730 ms ++++++++++++++++++++++
mapping solver time 20.548396 ms 
prepare time 13.494109 
mapping data assosiation time 26.165175 ms 
mapping solver time 20.131233 ms 
mapping pub time 2.143640 ms 
whole mapping time 136.861136 ms +++++
mappingCount 2022 & avg mapping time 163.697072 ms ++++++++++++++++++++++
build tree time 19.692724 ms 
--------------------stamp1317358101.174808025
points size 84753 
sort q time 4.630762 
seperate points time 11.108186 
mapping solver time 34.144404 ms 
-----t: 0.040944
OdomCount 3266 & avg odom time 0.048726 ms ++++++++++++++++++++++
mapping data assosiation time 27.971943 ms 
mapping solver time 25.384453 ms 
--------------------stamp1317358101.278727054
map prepare time 3.185779 ms
map corner num 93280  surf num 36033 
sort q time 5.614456 
seperate points time 10.978375 
build tree time 26.641304 ms 
publication time 9.555903 ms 
whole laserOdometry time 9.576854 ms 
 
mapping data assosiation time 25.430406 ms 
mapping solver time 24.279101 ms 
--------------------stamp1317358101.382669925
points size 83564 
sort q time 5.299108 
seperate points time 12.282674 
publication time 8.108029 ms 
whole laserOdometry time 8.120183 ms 
 
-----t: 0.0588838
OdomCount 3268 & avg odom time 0.048730 ms ++++++++++++++++++++++
--------------------stamp1317358101.486635923
prepare time 10.524815 
scan registration time 25.035103 ms *************
mapping data assosiation time 26.175292 ms 
-----t: 0.0429642
OdomCount 3269 & avg odom time 0.048728 ms ++++++++++++++++++++++
1317358101.486635923 WriteOdom laser_odom_to_init
1317358101.486635923 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.183083 ms 
mapping optimization time 120.358406 
add points time 0.746373 ms
mapping pub time 1.869560 ms 
whole mapping time 133.020412 ms +++++
mappingCount 2025 & avg mapping time 163.661045 ms ++++++++++++++++++++++
build tree time 19.308675 ms 
--------------------stamp1317358101.590603113
points size 82623 
sort q time 4.416959 
seperate points time 10.520524 
mapping solver time 25.453163 ms 
mapping data assosiation time 25.156773 ms 
mapping solver time 15.970459 ms 
mapping optimization time 112.395614 
add points time 0.801288 ms
map prepare time 2.466465 ms
map corner num 94270  surf num 36360 
points size 82287 
build tree time 28.217222 ms 
mapping data assosiation time 24.545574 ms 
publication time 8.195705 ms 
whole laserOdometry time 8.209870 ms 
 
mapping solver time 25.259371 ms 
mapping data assosiation time 21.450530 ms 
--------------------stamp1317358101.798537015
points size 81928 
map prepare time 3.146948 ms
map corner num 94610  surf num 36468 
publication time 8.884002 ms 
whole laserOdometry time 8.915463 ms 
 
-----t: 0.0550544
OdomCount 3272 & avg odom time 0.048728 ms ++++++++++++++++++++++
mapping solver time 22.541581 ms 
points size 81721 
mapping data assosiation time 23.341222 ms 
mapping solver time 17.155601 ms 
filter time 10.333719 ms -----t: 0.0503742
OdomCount 3273 & avg odom time 0.048728 ms ++++++++++++++++++++++
build tree time 26.719794 ms 
--------------------stamp1317358102.006445884
prepare time 13.239058 
scan registration time 28.689275 ms *************mapping data assosiation time 21.906722 ms 
mapping solver time 16.987993 ms 
filter time 8.831565 ms 
build tree time 19.037251 ms 
points size 81586 
sort q time 4.768424 
seperate points time 10.316811 
mapping solver time 21.715804 ms 
-----t: 0.037069
OdomCount 3275 & avg odom time 0.048725 ms ++++++++++++++++++++++
mapping solver time 12.961046 ms 
mapping optimization time 97.837521 
add points time 0.668241 ms
--------------------stamp1317358102.214283943
prepare time 10.763787 
sort q time 4.183913 
seperate points time 9.807687 
publication time 8.695171 ms 
whole laserOdometry time 8.709484 ms 
 
mapping data assosiation time 17.804080 ms 
mapping solver time 12.929062 ms 
filter time 6.883528 ms 
map prepare time 2.136195 ms
map corner num 95649  surf num 36790 
--------------------stamp1317358102.318178892
prepare time 10.270056 
sort q time 5.810114 
seperate points time 10.894609 
mapping data assosiation time 21.762425 ms 
publication time 8.848556 ms 
whole laserOdometry time 8.863025 ms 
 
mapping solver time 22.232759 ms 
1317358102.318178892 WriteOdom laser_odom_to_init
1317358102.318178892 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 11.847327 ms 
map prepare time 2.900193 ms
map corner num 95910  surf num 36862 
prepare time 12.030758 
sort q time 6.068934 
seperate points time 11.261453 
publication time 7.103993 ms 
whole laserOdometry time 7.117158 ms 
 
mapping data assosiation time 21.003811 ms 
-----t: 0.0596818
OdomCount 3278 & avg odom time 0.048725 ms ++++++++++++++++++++++
mapping data assosiation time 18.866860 ms 
mapping optimization time 102.050664 
mapping pub time 1.956271 ms 
whole mapping time 117.994395 ms +++++
mappingCount 2033 & avg mapping time 163.489820 ms ++++++++++++++++++++++
sort q time 4.664991 
seperate points time 11.140224 
publication time 9.364368 ms 
whole laserOdometry time 9.380121 ms 
 
-----t: 0.0485636
OdomCount 3279 & avg odom time 0.048725 ms ++++++++++++++++++++++
mapping solver time 18.200696 ms 
--------------------stamp1317358102.629909992
prepare time 11.896789 
sort q time 4.950003 
seperate points time 10.957244 
publication time 8.922380 ms 
whole laserOdometry time 8.948777 ms 
 
-----t: 0.0436063
OdomCount 3280 & avg odom time 0.048723 ms ++++++++++++++++++++++
mapping solver time 17.249873 ms 
points size 78496 
sort q time 4.473998 
seperate points time 10.322249 
mapping solver time 15.995668 ms 
publication time 11.108503 ms 
whole laserOdometry time 11.123816 ms 
 
build tree time 19.035783 ms 
mapping data assosiation time 18.174231 ms 
--------------------stamp1317358102.837892055
mapping solver time 24.897104 ms 
scan registration time 24.203841 ms *************
publication time 6.306179 ms 
whole laserOdometry time 6.322426 ms 
 
-----t: 0.0348025
OdomCount 3282 & avg odom time 0.048715 ms ++++++++++++++++++++++
1317358102.837892055 WriteOdom laser_odom_to_init
1317358102.837892055 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.493655 ms 
mapping optimization time 100.216261 
add points time 0.716778 ms
map prepare time 2.024520 ms
map corner num 96998  surf num 37190 
build tree time 20.727434 ms 
mapping data assosiation time 17.424701 ms 
sort q time 4.430631 
seperate points time 9.218306 
publication time 9.109422 ms 
whole laserOdometry time 9.124906 ms 
 
mapping solver time 20.747614 ms 
build tree time 20.325766 ms 
prepare time 11.708393 
scan registration time 26.604284 ms *************
mapping solver time 21.464927 ms 
mapping data assosiation time 17.720690 ms 
-----t: 0.0571947
OdomCount 3284 & avg odom time 0.048719 ms ++++++++++++++++++++++
filter time 7.544743 ms 
--------------------stamp1317358103.150558948
prepare time 12.026979 
build tree time 24.008543 ms 
sort q time 4.147725 
seperate points time 9.652757 
publication time 8.145109 ms 
whole laserOdometry time 8.159878 ms 
 
-----t: 0.0379823
OdomCount 3285 & avg odom time 0.048716 ms ++++++++++++++++++++++
mapping data assosiation time 16.243972 ms 
mapping solver time 14.782411 ms 
filter time 7.482822 ms 
points size 75422 
prepare time 10.428507 
build tree time 31.272772 ms 
-----t: 0.0466747
OdomCount 3286 & avg odom time 0.048715 ms ++++++++++++++++++++++
mapping solver time 20.621467 ms 
mapping data assosiation time 17.272949 ms 
--------------------stamp1317358103.359091997
filter time 7.032651 ms 
scan registration time 26.523735 ms *************
publication time 6.779319 ms 
whole laserOdometry time 6.794337 ms 
 
mapping data assosiation time 15.627552 ms 
mapping solver time 14.517144 ms 
mapping data assosiation time 15.400539 ms 
--------------------stamp1317358103.463325023
sort q time 4.164530 
seperate points time 9.833161 
publication time 7.955288 ms 
whole laserOdometry time 7.968391 ms 
 
-----t: 0.0718264
OdomCount 3288 & avg odom time 0.048717 ms ++++++++++++++++++++++
--------------------stamp1317358103.567532062
sort q time 4.626567 
seperate points time 9.356954 
publication time 7.498468 ms 
whole laserOdometry time 7.736545 ms mapping pub time 132.544729 ms 
whole mapping time 250.015434 ms +++++
mappingCount 2041 & avg mapping time 163.372817 ms ++++++++++++++++++++++
build tree time 27.991477 ms 
--------------------stamp1317358103.671737909
mapping solver time 18.482967 ms 
mapping data assosiation time 19.084165 ms 
-----t: 0.0370664
OdomCount 3290 & avg odom time 0.048711 ms ++++++++++++++++++++++
mapping solver time 23.938031 ms 
filter time 9.532805 ms 
--------------------stamp1317358103.775968074
prepare time 12.993434 
mapping data assosiation time 18.046342 ms 
mapping solver time 23.473813 ms 
publication time 9.403776 ms 
whole laserOdometry time 9.419479 ms 
 
mapping optimization time 108.184271 
add points time 0.549719 ms
map prepare time 2.785472 ms
map corner num 99073  surf num 37691 
prepare time 12.188644 
mapping data assosiation time 20.223339 ms 
mapping solver time 23.587125 ms 
mapping data assosiation time 18.210488 ms 
--------------------stamp1317358103.984406948
filter time 6.547325 ms 
scan registration time 23.638812 ms *************
publication time 7.700479 ms 
whole laserOdometry time 7.715146 ms 
 
mapping data assosiation time 16.569226 ms 
mapping solver time 14.428698 ms 
mapping data assosiation time 14.346158 ms 
mapping solver time 11.393678 ms 
mapping pub time 2.001352 ms 
whole mapping time 98.566411 ms +++++
mappingCount 2045 & avg mapping time 163.280564 ms ++++++++++++++++++++++
sort q time 5.142824 
seperate points time 10.057252 
build tree time 25.408811 ms 
-----t: 0.0399506
OdomCount 3294 & avg odom time 0.048707 ms ++++++++++++++++++++++
mapping solver time 16.796312 ms 
mapping data assosiation time 12.892693 ms 
--------------------stamp1317358104.192795991
prepare time 12.725753 
mapping pub time 4.143522 ms 
whole mapping time 104.652193 ms +++++
mappingCount 2046 & avg mapping time 163.251911 ms ++++++++++++++++++++++
1317358103.984406948 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718804821.017258297, 1317358104.198365419]: Received 137691 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804821.017310736, 1317358104.198365419]: Data saved to 1317358103984406.pcd[0m
publication time 6.125460 ms 
whole laserOdometry time 6.159188 ms 
 
-----t: 0.030066
OdomCount 3295 & avg odom time 0.048701 ms ++++++++++++++++++++++
mapping solver time 14.058885 ms 
mapping data assosiation time 12.498726 ms 
mapping solver time 11.139655 ms 
points size 75808 
sort q time 4.492170 
seperate points time 10.138366 
build tree time 26.972203 ms 
mapping data assosiation time 18.538759 ms 
mapping solver time 15.452163 ms 
mapping data assosiation time 15.546893 ms 
mapping solver time 10.335563 ms 
mapping pub time 2.061177 ms 
whole mapping time 100.082171 ms +++++
mappingCount 2048 & avg mapping time 163.187118 ms ++++++++++++++++++++++
scan registration time 26.099608 ms *************
mapping data assosiation time 17.421435 ms 
mapping solver time 16.119991 ms 
mapping data assosiation time 13.524352 ms 
mapping solver time 12.902279 ms 
mapping pub time 2.358323 ms 
whole mapping time 100.096920 ms +++++
mappingCount 2049 & avg mapping time 163.156329 ms ++++++++++++++++++++++
prepare time 12.980604 
sort q time 4.376283 
seperate points time 10.497779 
publication time 11.972482 ms 
whole laserOdometry time 11.986137 ms 
 
-----t: 0.0364768
OdomCount 3298 & avg odom time 0.048694 ms ++++++++++++++++++++++
mapping data assosiation time 17.386762 ms 
1317358104.505198955 WriteOdom laser_odom_to_init
1317358104.505198955 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.016763 ms 
mapping data assosiation time 17.838554 ms 
--------------------stamp1317358104.609286069
points size 74810 
sort q time 4.421799 
seperate points time 10.453003 
publication time 7.906711 ms 
whole laserOdometry time 7.919673 ms 
 
-----t: 0.0333844
OdomCount 3299 & avg odom time 0.048689 ms ++++++++++++++++++++++
mapping data assosiation time 15.855775 ms 
mapping solver time 15.461343 ms 
mapping data assosiation time 16.451746 ms 
mapping solver time 13.210680 ms 
[0m[ INFO] [1718804821.541088451, 1317358104.724639396]: Received 139205 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804821.541129124, 1317358104.724639396]: Data saved to 1317358104505198.pcd[0m
publication time 5.959491 ms 
whole laserOdometry time 5.987041 ms 
 
-----t: 0.0456561
OdomCount 3300 & avg odom time 0.048688 ms ++++++++++++++++++++++
mapping solver time 16.839826 ms 
mapping data assosiation time 16.283501 ms 
points size 73144 
prepare time 11.742838 
mapping solver time 18.795490 ms 
map prepare time 2.704378 ms
map corner num 101288  surf num 38248 
publication time 7.202190 ms 
whole laserOdometry time 7.229731 ms 
 
1317358104.817411899 WriteOdom laser_odom_to_init
1317358104.817411899 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.988506 ms 
mapping solver time 18.022568 ms 
points size 71660 
mapping solver time 14.467447 ms 
mapping optimization time 102.591039 
add points time 0.689687 ms
sort q time 4.325242 
seperate points time 18.459322 
publication time 7.124664 ms 
whole laserOdometry time 7.137729 ms 
 
build tree time 28.484234 ms 
-----t: 0.076051
OdomCount 3302 & avg odom time 0.048698 ms ++++++++++++++++++++++
1317358104.921449899 WriteOdom laser_odom_to_init
1317358104.921449899 WriteOdom aft_mapped_to_init_high_frecpoints size 71943 
sort q time 4.101096 
seperate points time 9.313973 
publication time 5.251109 ms 
whole laserOdometry time 5.265318 ms 
 
mapping solver time 21.682537 ms 
filter time 9.060427 ms 
build tree time 21.258680 ms 
mapping data assosiation time 14.734813 ms 
prepare time 12.195360 
scan registration time 24.967575 ms *************
mapping data assosiation time 19.364096 ms 
-----t: 0.0335741
OdomCount 3304 & avg odom time 0.048690 ms ++++++++++++++++++++++
1317358105.129529953 WriteOdom laser_odom_to_init
1317358105.129529953 WriteOdom aft_mapped_to_init_high_frec
filter time 6.779067 ms 
build tree time 20.589211 ms 
--------------------stamp1317358105.233519077
prepare time 10.839089 
sort q time 4.474571 
seperate points time 9.126709 
publication time 5.035256 ms 
whole laserOdometry time 5.062007 ms 
 
mapping solver time 15.371004 ms 
mapping optimization time 95.156285 
add points time 0.522350 ms
filter time 7.370924 ms 
build tree time 21.548424 ms 
points size 71319 
scan registration time 27.142085 ms *************
mapping solver time 16.911733 ms 
1317358105.233519077 WriteOdom aft_mapped_to_init
build tree time 22.211109 ms 
prepare time 12.351537 
mapping data assosiation time 16.815673 ms 
sort q time 4.055385 
seperate points time 9.646968 
mapping solver time 20.646265 ms 
mapping data assosiation time 18.921171 ms 
mapping solver time 15.872449 ms 
mapping pub time 1.642406 ms 
whole mapping time 107.296763 ms +++++
mappingCount 2058 & avg mapping time 162.926887 ms ++++++++++++++++++++++
1317358105.337507963 WriteOdom aft_mapped_to_init
--------------------stamp1317358105.545466899
points size 70715 
scan registration time 23.538380 ms *************
publication time 19.983489 ms 
whole laserOdometry time 20.000895 ms 
 
mapping data assosiation time 19.380713 ms 
mapping solver time 13.692997 ms 
1317358105.441499949 WriteOdom aft_mapped_to_init
points size 69840 
build tree time 29.260788 ms 
sort q time 23.277283 
seperate points time 28.440184 
-----t: 0.0305317
OdomCount 3309 & avg odom time 0.048667 ms ++++++++++++++++++++++
mapping solver time 20.665728 ms 
mapping data assosiation time 14.369475 ms 
mapping solver time 15.419707 ms 
--------------------stamp1317358105.753350973
points size 69594 
prepare time 12.723688 
build tree time 26.877758 ms 
publication time 8.177472 ms 
whole laserOdometry time 8.200358 ms 
 
-----t: 0.0485313
OdomCount 3310 & avg odom time 0.048667 ms ++++++++++++++++++++++
mapping data assosiation time 14.151192 ms 
mapping solver time 15.788008 ms 
filter time 9.898599 ms 
sort q time 4.127236 
seperate points time 9.347789 
publication time 5.855090 ms 
whole laserOdometry time 5.887770 ms 
 
--------------------stamp1317358105.961308956
mapping pub time 121.600064 ms 
whole mapping time 230.606372 ms +++++
mappingCount 2061 & avg mapping time 162.911070 ms ++++++++++++++++++++++
sort q time 4.176535 
seperate points time 25.983851 
publication time 5.281595 ms 
whole laserOdometry time 5.291709 ms 
 
mapping data assosiation time 13.739782 ms 
mapping solver time 14.898737 ms 
mapping data assosiation time 14.525300 ms 
points size 72077 
sort q time 4.476990 
seperate points time 8.886884 
publication time 6.893426 ms 
whole laserOdometry time 6.907609 ms 
 
-----t: 0.0365164
OdomCount 3313 & avg odom time 0.048652 ms ++++++++++++++++++++++
1317358106.065321922 WriteOdom laser_odom_to_init
1317358106.065321922 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 13.472707 ms 
mapping solver time 16.928290 ms 
mapping data assosiation time 13.491890 ms 
mapping solver time 12.301027 ms 
mapping pub time 1.797179 ms 
whole mapping time 99.340227 ms +++++
mappingCount 2063 & avg mapping time 162.848518 ms ++++++++++++++++++++++
1317358105.961308956 WriteOdom aft_mapped_to_init
sort q time 4.070531 
seperate points time 9.299269 
-----t: 0.0329242
OdomCount 3314 & avg odom time 0.048647 ms ++++++++++++++++++++++
mapping data assosiation time 14.662899 ms 
mapping solver time 14.665890 ms 
mapping data assosiation time 13.354525 ms 
mapping solver time 12.178609 ms 
map prepare time 2.441912 ms
map corner num 104355  surf num 39113 
-----t: 0.025863
OdomCount 3315 & avg odom time 0.048640 ms ++++++++++++++++++++++
1317358106.273330926 WriteOdom laser_odom_to_init
publication time 4.926155 ms 
whole laserOdometry time 4.936962 ms 
 
1317358106.273330926 WriteOdom aft_mapped_to_init_high_frec
build tree time 29.003407 ms 
mapping solver time 15.233556 ms 
mapping data assosiation time 13.316821 ms 
mapping solver time 15.109250 ms 
mapping pub time 1.608408 ms 
whole mapping time 100.929387 ms +++++
mappingCount 2065 & avg mapping time 162.785840 ms ++++++++++++++++++++++
scan registration time 23.028534 ms *************
-----t: 0.0233422
OdomCount 3316 & avg odom time 0.048632 ms ++++++++++++++++++++++
mapping data assosiation time 14.314764 ms 
mapping solver time 14.411895 ms 
mapping data assosiation time 15.290161 ms 
mapping solver time 12.062819 ms 
mapping pub time 4.794320 ms 
whole mapping time 100.466327 ms +++++
mappingCount 2066 & avg mapping time 162.755679 ms ++++++++++++++++++++++
1317358106.273330927 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718804823.299479183, 1317358106.484386513]: Received 144227 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804823.299528707, 1317358106.484386513]: Data saved to 1317358106273330.pcd[0m
sort q time 4.924387 
seperate points time 10.258007 
scan registration time 25.606624 ms *************
build tree time 27.934650 ms mapping data assosiation time 13.666667 ms 
mapping solver time 17.568360 ms 
mapping data assosiation time 13.410908 ms 
mapping solver time 10.288392 ms 
points size 69084 
sort q time 4.461441 
seperate points time 10.342510 
scan registration time 20.384287 ms *************
publication time 4.792774 ms 
whole laserOdometry time 4.810711 ms 
 
-----t: 0.0244666
OdomCount 3318 & avg odom time 0.048618 ms ++++++++++++++++++++++
mapping solver time 14.350448 ms 
mapping data assosiation time 12.643787 ms 
mapping solver time 9.550740 ms 
mapping pub time 1.584235 ms 
whole mapping time 94.555917 ms +++++
mappingCount 2068 & avg mapping time 162.691373 ms ++++++++++++++++++++++
sort q time 3.524744 
seperate points time 7.413203 
publication time 9.349148 ms 
whole laserOdometry time 9.366224 ms 
 
1317358106.689342975 WriteOdom laser_odom_to_init
mapping solver time 17.438306 ms 
mapping data assosiation time 13.667428 ms 
mapping solver time 10.527068 ms 
mapping optimization time 82.876724 
add points time 0.510995 ms
--------------------stamp1317358106.793333053
sort q time 3.886239 
seperate points time 7.645954 
publication time 5.291611 ms 
mapping solver time 15.718159 ms 
mapping data assosiation time 15.184056 ms 
mapping solver time 12.571093 ms 
filter time 9.025762 ms 
--------------------stamp1317358106.897347927
sort q time 3.927375 
seperate points time 8.161026 
publication time 6.020502 ms 
whole laserOdometry time 6.033827 ms 
 
mapping solver time 15.625727 ms 
mapping data assosiation time 13.269138 ms 
mapping solver time 10.553289 ms 
filter time 7.697260 ms 
--------------------stamp1317358107.001360893
sort q time 3.974148 
seperate points time 8.024619 
publication time 5.698853 ms 
whole laserOdometry time 5.712876 ms 
 
-----t: 0.0328447
OdomCount 3322 & avg odom time 0.048596 ms ++++++++++++++++++++++
mapping data assosiation time 14.487904 ms 
mapping solver time 15.903202 ms 
filter time 9.441097 ms 
points size 67824 
scan registration time 17.625488 ms *************
mapping data assosiation time 15.624800 ms 
1317358107.105376005 WriteOdom laser_odom_to_init
mapping data assosiation time 14.286904 ms 
mapping solver time 14.644571 ms 
mapping optimization time 93.050728 
add points time 0.529225 ms
points size 65423 
sort q time 3.547922 
seperate points time 8.698640 
publication time 6.286223 ms 
whole laserOdometry time 6.302200 ms 
 
mapping data assosiation time 17.127781 ms 
mapping solver time 15.138558 ms 
mapping data assosiation time 12.829709 ms 
mapping solver time 12.699761 ms 
filter time 9.428102 ms 
points size 61922 
sort q time 3.410466 
seperate points time 8.353496 
scan registration time 17.548323 ms *************
build tree time 28.699553 ms 
mapping data assosiation time 16.236359 ms 
-----t: 0.0316874
OdomCount 3325 & avg odom time 0.048581 ms ++++++++++++++++++++++
mapping solver time 17.756567 ms 
mapping data assosiation time 12.717672 ms 
mapping solver time 10.139701 ms 
filter time 7.075453 ms 
--------------------stamp1317358107.417398929
sort q time 3.193086 
seperate points time 7.680614 
publication time 4.926942 ms 
whole laserOdometry time 4.951662 ms 
 
mapping solver time 15.547949 ms 
mapping data assosiation time 11.310561 ms 
mapping solver time 13.270553 ms 
filter time 7.157616 ms 
--------------------stamp1317358107.521388053
sort q time 3.506028 
seperate points time 8.398268 
-----t: 0.0222294
OdomCount 3327 & avg odom time 0.048566 ms ++++++++++++++++++++++
mapping data assosiation time 12.826493 ms 
mapping solver time 13.021785 ms 
map prepare time 1.387660 ms
map corner num 73534  surf num 25135 
map prepare time 1.852020 ms
map corner num 73786  surf num 25247 
build tree time 17.123466 ms 
mapping data assosiation time 16.661729 ms 
--------------------stamp1317358107.729393959
mapping data assosiation time 16.017193 ms 
mapping solver time 15.323429 ms 
map prepare time 1.794976 ms
map corner num 74093  surf num 25342 
build tree time 18.547060 ms 
mapping data assosiation time 12.463156 ms 
--------------------stamp1317358107.833360910
mapping data assosiation time 15.270094 ms 
publication time 5.002152 ms 
whole laserOdometry time 5.014696 ms 
 
add points time 0.608545 ms
build tree time 15.134539 ms 
mapping data assosiation time 12.574646 ms 
mapping solver time 15.982196 ms 
--------------------stamp1317358107.937350988
sort q time 3.608526 
seperate points time 7.159036 
filter time 7.643287 ms 
-----t: 0.0336406
OdomCount 3331 & avg odom time 0.048543 ms ++++++++++++++++++++++
[0m[ INFO] [1718804824.815209977, 1317358107.999212973]: Received 100193 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804824.815237417, 1317358107.999212973]: Data saved to 1317358107833360.pcd[0m
--------------------stamp1317358108.041341066
scan registration time 21.921723 ms *************
-----t: 0.0250043
OdomCount 3332 & avg odom time 0.048536 ms ++++++++++++++++++++++
build tree time 19.164398 ms 
mapping data assosiation time 13.131458 ms 
mapping solver time 16.562347 ms 
mapping data assosiation time 13.911771 ms 
points size 62447 
filter time 6.910026 ms 
mapping pub time 1.514038 ms 
whole mapping time 93.506761 ms +++++
mappingCount 2082 & avg mapping time 162.296737 ms ++++++++++++++++++++++
1317358107.937350988 WriteOdom aft_mapped_to_init
map prepare time 1.891485 ms
map corner num 74958  surf num 25650 
publication time 6.104171 ms 
whole laserOdometry time 6.124903 ms 
 
build tree time 20.342841 ms 
mapping data assosiation time 15.056824 ms 
mapping solver time 16.669888 ms 
mapping data assosiation time 13.016116 ms 
mapping solver time 10.594108 ms 
prepare time 7.270188 
build tree time 19.506666 ms 
publication time 5.541343 ms 
whole laserOdometry time 5.555312 ms 
 
-----t: 0.0248085
OdomCount 3334 & avg odom time 0.048525 ms ++++++++++++++++++++++
1317358108.249274015 WriteOdom laser_odom_to_init
mapping data assosiation time 16.271484 ms 
1317358108.249274015 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 11.696650 ms 
mapping solver time 13.573909 ms 
mapping optimization time 77.035528 
add points time 0.679495 ms
--------------------stamp1317358108.353266954
build tree time 18.770654 ms 
mapping data assosiation time 15.320523 ms 
-----t: 0.029512
OdomCount 3335 & avg odom time 0.048519 ms ++++++++++++++++++++++
mapping data assosiation time 12.829656 ms 
mapping optimization time 75.873082 
add points time 0.594836 ms
filter time 5.188235 ms 
mapping pub time 1.432180 ms 
whole mapping time 85.038266 ms +++++
mappingCount 2085 & avg mapping time 162.187742 ms ++++++++++++++++++++++
1317358108.249274015 WriteOdom aft_mapped_to_init
build tree time 14.437542 ms 
--------------------stamp1317358108.457257032
sort q time 3.659645 
seperate points time 7.480188 
-----t: 0.0211567
OdomCount 3336 & avg odom time 0.048511 ms ++++++++++++++++++++++
publication time 6.746119 ms 
whole laserOdometry time 6.772722 ms 
 
mapping solver time 15.084287 ms 
map prepare time 1.641563 ms
map corner num 76097  surf num 26039 
build tree time 15.843048 ms 
mapping data assosiation time 12.701748 ms 
points size 64192 
scan registration time 16.968946 ms *************
mapping data assosiation time 16.288014 ms 
filter time 7.075150 ms 
mapping pub time 1.607245 ms 
whole mapping time 94.404598 ms +++++
mappingCount 2087 & avg mapping time 162.120704 ms ++++++++++++++++++++++
1317358108.457257032 WriteOdom aft_mapped_to_init
1317358108.561249017 WriteOdom laser_odom_to_init
build tree time 16.316901 ms 
--------------------stamp1317358108.665239095
sort q time 3.265282 
seperate points time 6.840576 
mapping solver time 19.868259 ms 
-----t: 0.024965
OdomCount 3338 & avg odom time 0.048506 ms ++++++++++++++++++++++
1317358108.665239095 WriteOdom laser_odom_to_init
1317358108.665239095 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.677633 ms 
filter time 5.099654 ms 
build tree time 15.062213 ms 
mapping data assosiation time 14.617101 ms 
points size 64273 
mapping data assosiation time 17.949372 ms 
build tree time 16.256344 ms 
mapping data assosiation time 13.160197 ms 
--------------------stamp1317358108.873195886
sort q time 3.182674 
seperate points time 6.674893 
mapping solver time 18.949230 ms 
build tree time 15.175930 ms 
mapping data assosiation time 14.813640 ms 
mapping solver time 14.045521 ms 
prepare time 8.173316 
mapping solver time 14.253529 ms 
mapping optimization time 77.033714 
[0m[ INFO] [1718804825.826846509, 1317358109.017909056]: Received 104441 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804825.826892738, 1317358109.017909056]: Data saved to 1317358108873195.pcd[0m
build tree time 17.459196 ms 
mapping data assosiation time 15.830743 ms 
mapping solver time 18.820966 ms 
points size 64091 
sort q time 3.338395 
seperate points time 8.207782 
mapping solver time 19.764453 ms 
-----t: 0.0347964
OdomCount 3342 & avg odom time 0.048484 ms ++++++++++++++++++++++
mapping data assosiation time 14.672462 ms 
mapping solver time 16.044226 ms 
points size 64068 
mapping solver time 14.754759 ms 
mapping optimization time 80.521734 
add points time 0.778234 ms
publication time 7.705717 ms 
whole laserOdometry time 7.714686 ms 
 
map prepare time 2.074934 ms
map corner num 78562  surf num 26784 
build tree time 16.099019 ms 
mapping data assosiation time 14.304924 ms 
--------------------stamp1317358109.289114952
sort q time 3.566880 
seperate points time 7.825457 
-----t: 0.0269484
OdomCount 3344 & avg odom time 0.048475 ms ++++++++++++++++++++++
filter time 6.543528 ms 
build tree time 17.237985 ms 
mapping data assosiation time 14.573570 ms 
--------------------stamp1317358109.393105983
sort q time 3.931409 
seperate points time 7.782092 

whole laserOdometry time 6.813016 ms 
 
mapping pub time 1.809788 ms 
whole mapping time 97.781078 ms +++++
mappingCount 2095 & avg mapping time 161.867954 ms ++++++++++++++++++++++
mapping data assosiation time 13.509909 ms 
mapping solver time 14.803840 ms 
points size 65911 
prepare time 7.227252 
mapping data assosiation time 18.641700 ms 
sort q time 3.334418 
seperate points time 7.182975 
mapping solver time 15.110305 ms 
mapping pub time 3.906825 ms 
whole mapping time 92.568827 ms +++++
mappingCount 2096 & avg mapping time 161.834893 ms ++++++++++++++++++++++
map prepare time 1.750608 ms
map corner num 79554  surf num 27048 
build tree time 17.262509 ms 
mapping data assosiation time 16.097779 ms 
mapping solver time 16.181447 ms 
prepare time 7.930892 
sort q time 3.766442 
seperate points time 8.479821 
scan registration time 18.973997 ms *************
mapping solver time 16.274085 ms 
mapping pub time 1.696204 ms 
whole mapping time 95.853235 ms +++++
mappingCount 2097 & avg mapping time 161.803432 ms ++++++++++++++++++++++
1317358109.497092962 WriteOdom aft_mapped_to_init
-----t: 0.030116
OdomCount 3347 & avg odom time 0.048458 ms ++++++++++++++++++++++
1317358109.601109981 WriteOdom laser_odom_to_init
1317358109.601109981 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.947674 ms
map corner num 79894  surf num 27138 
build tree time 19.465669 ms 
mapping solver time 11.289697 ms 
--------------------stamp1317358109.705123901
sort q time 3.443465 
seperate points time 8.446142 
mapping pub time 1.645645 ms 
whole mapping time 87.139855 ms +++++
mappingCount 2098 & avg mapping time 161.767850 ms ++++++++++++++++++++++
1317358109.601109982 WriteOdom aft_mapped_to_init
publication time 6.232744 ms 
whole laserOdometry time 6.244407 ms 
 
build tree time 16.603725 ms 
mapping data assosiation time 17.781351 ms 
mapping solver time 21.122640 ms 
mapping data assosiation time 21.582200 ms 
publication time 6.619102 ms 
whole laserOdometry time 6.632249 ms 
 
filter time 8.336756 ms 
-----t: 0.0460964
OdomCount 3349 & avg odom time 0.048451 ms ++++++++++++++++++++++
build tree time 16.693422 ms 
points size 67454 
publication time 5.695214 ms 
whole laserOdometry time 5.712072 ms 
 
mapping data assosiation time 16.548158 ms 
mapping solver time 14.853534 ms 
mapping pub time 1.474658 ms 
whole mapping time 98.500380 ms +++++
mappingCount 2100 & avg mapping time 161.717885 ms ++++++++++++++++++++++
build tree time 15.086967 ms 
--------------------stamp1317358110.017117023
sort q time 4.002131 
seperate points time 8.079683 
publication time 11.698437 ms 
whole laserOdometry time 11.714402 ms 
 
mapping solver time 12.253193 ms 
[0m[ INFO] [1718804826.888875492, 1317358110.079131998]: Received 108695 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804826.888931231, 1317358110.079131998]: Data saved to 1317358109913103.pcd[0m
--------------------stamp1317358110.121130943
scan registration time 19.223510 ms *************
publication time 7.002522 ms 
whole laserOdometry time 7.030074 ms 
 
mapping pub time 103.255183 ms 
whole mapping time 191.503176 ms +++++
mappingCount 2101 & avg mapping time 161.732064 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
build tree time 19.706174 ms 
mapping data assosiation time 14.687695 ms 
points size 70987 
sort q time 4.117612 
seperate points time 8.691183 
mapping data assosiation time 18.969021 ms 
mapping optimization time 89.056141 
-----t: 0.0444559
OdomCount 3353 & avg odom time 0.048438 ms ++++++++++++++++++++++
build tree time 17.306530 ms 
mapping data assosiation time 18.201997 ms 
points size 73032 
sort q time 4.379034 
seperate points time 9.181723 
mapping solver time 21.543212 ms 
publication time 6.438104 ms 
whole laserOdometry time 6.452744 ms 
 
mapping data assosiation time 21.242500 ms 
mapping solver time 21.367219 ms 
map prepare time 2.008799 ms
map corner num 81841  surf num 27720 
build tree time 19.827533 ms 
points size 75077 
sort q time 4.315323 
seperate points time 10.016041 
-----t: 0.0323583
OdomCount 3355 & avg odom time 0.048433 ms ++++++++++++++++++++++
mapping solver time 12.924571 ms 
1317358110.329210043 WriteOdom aft_mapped_to_init
--------------------stamp1317358110.537240028
mapping data assosiation time 18.776951 ms 
sort q time 4.044307 
seperate points time 9.853532 
mapping solver time 21.273428 ms 
-----t: 0.0374891
OdomCount 3356 & avg odom time 0.048430 ms ++++++++++++++++++++++
mapping solver time 14.170499 ms 
map prepare time 1.922570 ms
map corner num 82439  surf num 27917 
build tree time 16.726703 ms 
points size 78575 
sort q time 4.921304 
seperate points time 9.599398 
mapping solver time 20.101946 ms 
-----t: 0.0300887
OdomCount 3357 & avg odom time 0.048424 ms ++++++++++++++++++++++
mapping solver time 13.368306 ms 
[0m[ INFO] [1718804827.525064747, 1317358110.710848822]: Received 110756 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804827.525105228, 1317358110.710848822]: Data saved to 1317358110537240.pcd[0m
build tree time 17.234375 ms 
points size 80031 
sort q time 4.487717 
seperate points time 10.537207 
-----t: 0.0342297
OdomCount 3358 & avg odom time 0.048420 ms ++++++++++++++++++++++
mapping solver time 16.431721 ms 
map prepare time 1.948193 ms
map corner num 83032  surf num 28095 
--------------------stamp1317358110.849235057
points size 81162 
mapping data assosiation time 22.169012 ms 
scan registration time 36.732515 ms *************
-----t: 0.0359379
OdomCount 3359 & avg odom time 0.048416 ms ++++++++++++++++++++++
publication time 6.340811 ms 
whole laserOdometry time 6.353836 ms 
 
mapping solver time 13.107449 ms 
mapping pub time 1.766484 ms 
whole mapping time 110.870744 ms +++++
mappingCount 2108 & avg mapping time 161.547766 ms ++++++++++++++++++++++
--------------------stamp1317358110.953250885
prepare time 10.874099 
sort q time 5.778254 
seperate points time 11.277607 
mapping data assosiation time 22.546525 ms 
mapping solver time 22.974265 ms 
publication time 14.469146 ms mapping data assosiation time 21.210416 ms 
mapping solver time 17.055270 ms 
--------------------stamp1317358111.057240962
points size 83264 
sort q time 4.994311 
seperate points time 11.584559 
-----t: 0.0305162
OdomCount 3361 & avg odom time 0.048423 ms ++++++++++++++++++++++
mapping data assosiation time 16.886931 ms 
--------------------stamp1317358111.161228895
points size 84403 
map prepare time 2.616003 ms
map corner num 83864  surf num 28383 
scan registration time 30.068431 ms *************
-----t: 0.0366533
OdomCount 3362 & avg odom time 0.048419 ms ++++++++++++++++++++++
1317358111.161228895 WriteOdom laser_odom_to_init
1317358111.161228895 WriteOdom aft_mapped_to_init_high_frec
publication time 8.092435 ms 
whole laserOdometry time 8.108593 ms 
 
mapping solver time 18.039348 ms 
mapping data assosiation time 17.938785 ms 
points size 85345 
filter time 5.879101 ms 
scan registration time 31.452484 ms *************
build tree time 22.798142 ms 
-----t: 0.0517369
OdomCount 3363 & avg odom time 0.048420 ms ++++++++++++++++++++++
mapping solver time 20.523551 ms 
mapping data assosiation time 19.967365 ms 
sort q time 5.243189 
seperate points time 12.212808 
mapping pub time 2.562878 ms 
whole mapping time 119.793461 ms +++++
mappingCount 2112 & avg mapping time 161.456438 ms ++++++++++++++++++++++
map prepare time 6.573039 ms
map corner num 84359  surf num 28546 
-----t: 0.0488143
OdomCount 3364 & avg odom time 0.048420 ms ++++++++++++++++++++++
build tree time 25.275025 ms 
mapping data assosiation time 17.040344 ms 
--------------------stamp1317358111.473133087
prepare time 12.589781 
sort q time 5.185316 
seperate points time 12.208280 
mapping solver time 18.854560 ms 
map prepare time 3.047017 ms
map corner num 84593  surf num 28616 
build tree time 19.248251 ms 
--------------------stamp1317358111.577049970
prepare time 14.482773 
mapping solver time 24.868410 ms 
sort q time 5.177537 
seperate points time 12.230498 
publication time 11.864684 ms 
whole laserOdometry time 11.883156 ms 
 
mapping solver time 16.394013 ms 
mapping pub time 1.975233 ms 
whole mapping time 119.701314 ms +++++
mappingCount 2114 & avg mapping time 161.419141 ms ++++++++++++++++++++++
--------------------stamp1317358111.680974960
points size 89245 
prepare time 15.891375 
sort q time 5.444600 
seperate points time 12.864236 
scan registration time 34.879869 ms *************
mapping solver time 25.461145 ms 
mapping data assosiation time 20.450431 ms 
mapping solver time 14.885376 ms 
mapping pub time 1.894176 ms 
whole mapping time 115.178210 ms +++++
mappingCount 2115 & avg mapping time 161.397280 ms ++++++++++++++++++++++
points size 89733 
sort q time 5.433289 
seperate points time 13.024785 
mapping data assosiation time 23.245075 ms 
-----t: 0.035529
OdomCount 3368 & avg odom time 0.048413 ms ++++++++++++++++++++++
1317358111.784919023 WriteOdom laser_odom_to_init
1317358111.784919023 WriteOdom aft_mapped_to_init_high_frec
publication time 13.868546 ms 
whole laserOdometry time 13.882811 ms 
 
mapping data assosiation time 20.054648 ms 
mapping optimization time 107.490953 
add points time 0.803603 ms
points size 90483 
build tree time 24.413673 ms 
scan registration time 42.522887 ms *************
mapping data assosiation time 24.615250 ms 
publication time 9.697996 ms 
whole laserOdometry time 9.711173 ms 
 
mapping solver time 25.777431 ms 
--------------------stamp1317358111.992796897
mapping data assosiation time 22.583217 ms 
sort q time 5.542721 
seperate points time 13.006383 
map prepare time 3.207063 ms
map corner num 85582  surf num 28918 
-----t: 0.0548694
OdomCount 3370 & avg odom time 0.048418 ms ++++++++++++++++++++++
1317358111.992796897 WriteOdom laser_odom_to_init
mapping data assosiation time 19.703393 ms 
--------------------stamp1317358112.096740961
points size 91770 
mapping data assosiation time 24.960231 ms 
mapping solver time 18.519828 ms 
drop lidar frame in mapping for real time performance 
map prepare time 2.944778 ms
map corner num 85789  surf num 28973 
build tree time 19.957998 ms 
--------------------stamp1317358112.200659990
mapping solver time 25.977735 ms 
scan registration time 44.949645 ms *************
mapping data assosiation time 24.918470 ms 
mapping solver time 17.676887 ms 
mapping optimization time 110.478250 
add points time 0.694241 ms
--------------------stamp1317358112.304578065
points size 93589 
prepare time 12.007557 
scan registration time 27.944251 ms *************
publication time 8.822854 ms 
whole laserOdometry time 8.839731 ms 
 
-----t: 0.0497981
OdomCount 3373 & avg odom time 0.048417 ms ++++++++++++++++++++++
mapping solver time 14.464044 ms 
mapping pub time 2.085199 ms 
whole mapping time 118.336991 ms +++++
mappingCount 2120 & avg mapping time 161.306864 ms ++++++++++++++++++++++
points size 95091 
build tree time 21.567365 ms 
mapping data assosiation time 25.102000 ms 
mapping solver time 22.687255 ms 
mapping data assosiation time 19.904082 ms 
--------------------stamp1317358112.512423992
prepare time 14.209069 
sort q time 5.454795 
seperate points time 13.011533 
publication time 10.437168 ms 
whole laserOdometry time 10.469271 ms 
 
--------------------stamp1317358112.616336107
prepare time 12.019222 
sort q time 5.421370 
seperate points time 11.945772 
mapping pub time 127.525908 ms 
whole mapping time 249.495388 ms +++++
mappingCount 2121 & avg mapping time 161.348445 ms ++++++++++++++++++++++
publication time 11.447523 ms 
whole laserOdometry time 11.463944 ms 
 
build tree time 23.511693 ms 
mapping data assosiation time 20.656518 ms 
--------------------stamp1317358112.720231056
mapping solver time 23.252632 ms 
sort q time 6.036741 
seperate points time 13.379555 
mapping solver time 21.072105 ms 
filter time 7.620627 ms 
build tree time 16.666949 ms 
--------------------stamp1317358112.824101924
mapping data assosiation time 22.981109 ms 
prepare time 12.121865 
publication time 9.981493 ms 
whole laserOdometry time 9.993281 ms 
 
-----t: 0.0593451filter time 7.030860 ms 
--------------------stamp1317358112.927994012
points size 95576 
sort q time 5.434869 
seperate points time 11.140368 
mapping data assosiation time 27.966562 ms 
publication time 10.797083 ms 
whole laserOdometry time 10.806551 ms 
 
-----t: 0.0442332
OdomCount 3379 & avg odom time 0.048415 ms ++++++++++++++++++++++
1317358112.927994012 WriteOdom laser_odom_to_init
mapping data assosiation time 20.643608 ms 
mapping solver time 15.067169 ms 
filter time 6.332977 ms 
sort q time 5.433678 
seperate points time 11.734533 
build tree time 22.487693 ms 
1317358113.031888961 WriteOdom laser_odom_to_init
1317358113.031888961 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.051822 ms 
--------------------stamp1317358113.135785102
points size 94854 
filter time 8.161087 ms 
publication time 8.495234 ms 
whole laserOdometry time 8.509866 ms 
 
mapping data assosiation time 19.814721 ms 
mapping solver time 20.984740 ms 
points size 93243 
mapping data assosiation time 23.277621 ms 
sort q time 5.065840 
seperate points time 12.635827 
mapping solver time 19.787049 ms 
mapping optimization time 106.120448 
add points time 0.767066 ms
drop lidar frame in mapping for real time performance 
build tree time 17.804370 ms 
mapping data assosiation time 20.236827 ms 
points size 91365 
sort q time 5.165095 
seperate points time 12.812650 
publication time 15.630007 ms 
whole laserOdometry time 15.645590 ms 
 
-----t: 0.0495998
OdomCount 3383 & avg odom time 0.048406 ms ++++++++++++++++++++++
mapping pub time 2.698983 ms 
whole mapping time 131.073796 ms +++++
mappingCount 2127 & avg mapping time 161.246992 ms ++++++++++++++++++++++
--------------------stamp1317358113.447494983
points size 89833 
sort q time 4.937018 
seperate points time 12.282667 
publication time 9.256928 ms 
whole laserOdometry time 9.266440 ms 
 
-----t: 0.0445411
OdomCount 3384 & avg odom time 0.048405 ms ++++++++++++++++++++++
mapping solver time 31.938670 ms 
mapping data assosiation time 22.029109 ms 
--------------------stamp1317358113.551389932
prepare time 12.323239 
map prepare time 3.193999 ms
map corner num 89407  surf num 30780 
build tree time 27.626730 ms 
mapping data assosiation time 23.683675 ms 
mapping solver time 20.512917 ms 
points size 87214 
prepare time 10.471294 
scan registration time 27.252157 ms *************
mapping solver time 20.272353 ms 
-----t: 0.0353728
OdomCount 3386 & avg odom time 0.048400 ms ++++++++++++++++++++++
build tree time 19.942999 ms 
mapping data assosiation time 22.390521 ms 
points size 86398 
mapping solver time 24.235308 ms 
publication time 9.528164 ms 
whole laserOdometry time 9.546544 ms 
 
-----t: 0.0466303
OdomCount 3387 & avg odom time 0.048399 ms ++++++++++++++++++++++
mapping solver time 18.337471 ms 
mapping pub time 2.084229 ms 
whole mapping time 129.049442 ms +++++
mappingCount 2130 & avg mapping time 161.209303 ms ++++++++++++++++++++++
--------------------stamp1317358113.863095998
prepare time 10.096977 
sort q time 4.862256 
seperate points time 11.395689 
publication time 9.716919 ms 
whole laserOdometry time 9.734942 ms 
 
mapping solver time 30.372529 ms 
mapping data assosiation time 20.149603 ms 
mapping solver time 14.942034 ms 
mapping pub time 3.593038 ms 
whole mapping time 124.028042 ms +++++
mappingCount 2131 & avg mapping time 161.191857 ms ++++++++++++++++++++++
prepare time 16.687797 
sort q time 5.488287 
seperate points time 19.053648 
mapping data assosiation time 24.681540 ms 
-----t: 0.043835
OdomCount 3389 & avg odom time 0.048394 ms ++++++++++++++++++++++
mapping solver time 25.432506 ms 
--------------------stamp1317358114.070956945
prepare time 10.638741 
mapping solver time 20.307887 ms 
mapping pub time 2.102028 ms 
whole mapping time 138.225504 ms +++++
mappingCount 2132 & avg mapping time 161.181087 ms ++++++++++++++++++++++
-----t: 0.0350389
OdomCount 3390 & avg odom time 0.048390 ms ++++++++++++++++++++++
build tree time 26.126185 ms 
mapping data assosiation time 25.453748 ms 
--------------------stamp1317358114.174876928
mapping solver time 25.737725 ms 
scan registration time 24.038179 ms *************
publication time 7.277468 ms 
whole laserOdometry time 7.306272 ms 
 
mapping data assosiation time 25.686872 ms 
mapping solver time 23.046093 ms 
drop lidar frame in mapping for real time performance 
build tree time 21.644221 ms 
points size 78950 
sort q time 4.213279 
seperate points time 10.619967 
publication time 10.598297 ms 
whole laserOdometry time 10.619128 ms 
 
mapping solver time 16.502090 ms 
filter time 8.503119 ms 
--------------------stamp1317358114.382786035
sort q time 3.353552 
seperate points time 7.972371 
publication time 6.373270 ms 
whole laserOdometry time 6.384750 ms 
 
mapping solver time 18.648429 ms 
-----t: 0.0412671
OdomCount 3393 & avg odom time 0.048387 ms ++++++++++++++++++++++
1317358114.382786035 WriteOdom laser_odom_to_init
1317358114.382786035 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.208214 ms 
mapping solver time 14.387711 ms 
filter time 5.839837 ms 
points size 74806 
sort q time 3.901936 
seperate points time 8.335986 
publication time 5.046396 ms 
whole laserOdometry time 5.058848 ms 
 
-----t: 0.044174
OdomCount 3394 & avg odom time 0.048386 ms ++++++++++++++++++++++
mapping data assosiation time 17.927677 ms 
mapping solver time 17.816833 ms 
points size 74606 
scan registration time 24.872233 ms *************
-----t: 0.031486
OdomCount 3395 & avg odom time 0.048381 ms ++++++++++++++++++++++
mapping data assosiation time 22.249203 ms 
mapping solver time 19.809549 ms 
mapping data assosiation time 18.748778 ms 
points size 73420 
prepare time 11.884788 
mapping solver time 17.310312 ms 
mapping optimization time 102.370001 
add points time 0.816543 ms
map prepare time 2.703054 ms
map corner num 92922  surf num 32024 
scan registration time 38.435820 ms *************
build tree time 30.413775 ms 
mapping data assosiation time 21.195034 ms 
mapping solver time 18.263820 ms 
points size 71675 
scan registration time 19.596855 ms *************
publication time 7.420347 ms 
whole laserOdometry time 7.434156 ms 
 
filter time 7.178487 ms 
mapping pub time 1.655270 ms 
whole mapping time 123.178702 ms +++++
mappingCount 2138 & avg mapping time 161.068244 ms ++++++++++++++++++++++
1317358114.590696096 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.031769
OdomCount 3397 & avg odom time 0.048376 ms ++++++++++++++++++++++
1317358114.798608064 WriteOdom laser_odom_to_init
1317358114.798608064 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.314859 ms
map corner num 93219  surf num 32084 
build tree time 20.066802 ms 
mapping data assosiation time 17.184160 ms 
--------------------stamp1317358114.902573108
prepare time 12.775783 
sort q time 4.549994 
seperate points time 10.946296 
mapping data assosiation time 22.253301 ms 
mapping solver time 15.991471 ms 
-----t: 0.0389489
OdomCount 3398 & avg odom time 0.048373 ms ++++++++++++++++++++++
1317358114.902573108 WriteOdom laser_odom_to_init
1317358114.902573108 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.755543 ms
map corner num 93511  surf num 32142 
build tree time 25.539364 ms 
mapping data assosiation time 15.471504 ms 
points size 71742 
mapping solver time 23.224530 ms 
publication time 9.248983 ms 
whole laserOdometry time 9.266491 ms 
 
mapping solver time 14.451589 ms 
mapping pub time 1.700214 ms 
whole mapping time 114.473354 ms +++++
mappingCount 2140 & avg mapping time 161.020889 ms ++++++++++++++++++++++
build tree time 19.345784 ms 
mapping data assosiation time 18.676909 ms 
mapping solver time 21.112546 ms 
publication time 5.344011 ms 
whole laserOdometry time 5.379557 ms 
 
mapping solver time 12.933080 ms 
[0m[ INFO] [1718804831.991647661, 1317358115.178251875]: Received 126411 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804831.991679489, 1317358115.178251875]: Data saved to 1317358115006539.pcd[0m
--------------------stamp1317358115.214497089
sort q time 4.039093 
seperate points time 9.480305 
-----t: 0.0249532
OdomCount 3401 & avg odom time 0.048354 ms ++++++++++++++++++++++
publication time 16.841209 ms 
whole laserOdometry time 16.854526 ms 
 
mapping pub time 103.613036 ms 
whole mapping time 205.538362 ms +++++
mappingCount 2141 & avg mapping time 161.041684 ms ++++++++++++++++++++++
build tree time 21.448322 ms 
--------------------stamp1317358115.318485975
sort q time 3.414939 
seperate points time 7.348481 
publication time 7.151399 ms 
whole laserOdometry time 7.181010 ms 
 
mapping solver time 12.834435 ms 
mapping pub time 1.581734 ms 
whole mapping time 98.727151 ms +++++
mappingCount 2142 & avg mapping time 161.012593 ms ++++++++++++++++++++++
build tree time 20.814433 ms 
--------------------stamp1317358115.422452926
sort q time 3.891186 
seperate points time 7.873466 
publication time 7.121231 ms 
whole laserOdometry time 7.135070 ms 
 
mapping solver time 15.862820 ms 
mapping optimization time 88.717395 
add points time 0.629734 ms
-----t: 0.0407673
OdomCount 3403 & avg odom time 0.048346 ms ++++++++++++++++++++++
1317358115.422452926 WriteOdom laser_odom_to_init
1317358115.422452926 WriteOdom aft_mapped_to_init_high_frec
filter time 7.033258 ms 
mapping pub time 1.565122 ms 
whole mapping time 100.420508 ms +++++
mappingCount 2143 & avg mapping time 160.984322 ms ++++++++++++++++++++++
build tree time 20.237334 ms 
--------------------stamp1317358115.526396989
mapping data assosiation time 17.227743 ms 
points size 68640 
sort q time 9.037280 
seperate points time 14.693426 
scan registration time 30.599632 ms *************
mapping data assosiation time 16.678575 ms 
mapping solver time 13.571552 ms 
1317358115.422452927 WriteOdom aft_mapped_to_init
build tree time 20.526737 ms 
mapping data assosiation time 13.454063 ms 
points size 67594 
sort q time 3.425595 
seperate points time 8.198982 
publication time 4.907786 ms 
whole laserOdometry time 4.923617 ms 
 
filter time 6.988539 ms 
mapping pub time 1.601220 ms 
whole mapping time 96.589330 ms +++++
mappingCount 2145 & avg mapping time 160.925556 ms ++++++++++++++++++++++
1317358115.526396990 WriteOdom aft_mapped_to_init
map prepare time 1.798814 ms
map corner num 95170  surf num 32555 
build tree time 19.937374 ms 
mapping data assosiation time 12.959856 ms 
--------------------stamp1317358115.734304904
sort q time 4.069206 
seperate points time 8.370688 
mapping solver time 13.805846 ms 
filter time 7.151689 ms 
mapping pub time 3.086913 ms 
whole mapping time 92.045141 ms +++++
mappingCount 2146 & avg mapping time 160.893461 ms ++++++++++++++++++++++
1317358115.630337954 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718804832.588336448, 1317358115.773986338]: Received 128047 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804832.588384903, 1317358115.773986338]: Data saved to 1317358115630337.pcd[0m
build tree time 20.173683 ms 
mapping data assosiation time 13.776693 ms 
mapping solver time 14.893062 ms 
points size 68617 
scan registration time 18.789984 ms *************
mapping solver time 12.208603 ms 
mapping optimization time 77.034484 
add points time 0.669945 ms
-----t: 0.0371956
OdomCount 3407 & avg odom time 0.048322 ms ++++++++++++++++++++++
build tree time 19.227058 ms 
mapping data assosiation time 13.163140 ms 
mapping solver time 15.084103 ms 
mapping data assosiation time 15.273707 ms 
--------------------stamp1317358116.046204090
prepare time 9.530134 
scan registration time 21.650590 ms *************
publication time 28.219895 ms 
whole laserOdometry time 28.248667 ms 
 
map prepare time 2.085709 ms
map corner num 96151  surf num 32785 
build tree time 27.586830 ms 
prepare time 10.119546 
scan registration time 22.320567 ms *************
mapping data assosiation time 15.238966 ms 
mapping solver time 11.589192 ms 
mapping optimization time 84.489744 
add points time 0.622014 ms
filter time 6.217219 ms 
build tree time 19.091412 ms 
mapping data assosiation time 12.450336 ms 
points size 71561 
sort q time 4.134053 
seperate points time 8.829192 
-----t: 0.0209602
OdomCount 3411 & avg odom time 0.048305 ms ++++++++++++++++++++++
mapping solver time 15.627050 ms 
filter time 6.466595 ms 
build tree time 20.146231 ms 
mapping data assosiation time 12.398402 ms 
--------------------stamp1317358116.358179092
mapping data assosiation time 14.992835 ms 
sort q time 4.230651 
seperate points time 9.140628 
mapping pub time 1.651323 ms 
whole mapping time 87.614418 ms +++++
mappingCount 2152 & avg mapping time 160.702978 ms ++++++++++++++++++++++
-----t: 0.037188
OdomCount 3412 & avg odom time 0.048302 ms ++++++++++++++++++++++
build tree time 18.671514 ms 
mapping data assosiation time 13.150833 ms 
mapping solver time 13.351952 ms 
mapping data assosiation time 14.967030 ms 
scan registration time 22.446827 ms *************
filter time 8.844690 ms 
-----t: 0.0330521
OdomCount 3413 & avg odom time 0.048297 ms ++++++++++++++++++++++
build tree time 23.605882 ms 
mapping data assosiation time 13.382810 ms 
--------------------stamp1317358116.566184043
points size 73581 
sort q time 4.228148 
seperate points time 9.880171 
-----t: 0.0266265
OdomCount 3414 & avg odom time 0.048291 ms ++++++++++++++++++++++
filter time 7.614484 ms 
1317358116.566184043 WriteOdom laser_odom_to_init
1317358116.566184043 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 1.678859 ms 
whole mapping time 93.875343 ms +++++
mappingCount 2154 & avg mapping time 160.637555 ms ++++++++++++++++++++++
1317358116.462193966 WriteOdom aft_mapped_to_init
build tree time 19.702312 ms 
mapping data assosiation time 12.683311 ms 
mapping solver time 13.801200 ms 
mapping data assosiation time 14.674414 ms 
mapping solver time 13.596740 ms 
filter time 8.500872 ms 
map prepare time 1.762332 ms
map corner num 97424  surf num 33193 
build tree time 22.026572 ms 
mapping data assosiation time 11.882523 ms 
mapping solver time 12.419295 ms 
--------------------stamp1317358116.774116992
points size 78464 
sort q time 4.709423 
seperate points time 8.962136 
1317358116.774116992 WriteOdom laser_odom_to_init
1317358116.774116992 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.847909 ms
map corner num 97656  surf num 33248 
build tree time 22.512586 ms 
mapping data assosiation time 12.132156 ms 
mapping solver time 13.288999 ms 
points size 82350 
filter time 8.681828 ms 
1317358116.878084897 WriteOdom laser_odom_to_init
1317358116.878084897 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.817923 ms
map corner num 97859  surf num 33302 
build tree time 20.519306 ms 
mapping data assosiation time 13.194130 ms 
--------------------stamp1317358116.982050895
prepare time 13.508426 
mapping data assosiation time 15.295396 ms 
mapping solver time 12.924569 ms 
mapping optimization time 79.606583 
add points time 0.664158 ms
-----t: 0.0454533
OdomCount 3418 & avg odom time 0.048271 ms ++++++++++++++++++++++
build tree time 21.446827 ms 
--------------------stamp1317358117.086018085
prepare time 11.483369 
sort q time 4.922344 
seperate points time 10.571194 
publication time 5.230790 ms 
whole laserOdometry time 5.242583 ms 
 
mapping data assosiation time 36.409627 ms 
mapping solver time 10.664086 ms 
map prepare time 1.818644 ms
map corner num 98292  surf num 33417 
build tree time 20.060794 ms 
mapping data assosiation time 14.284640 ms 
points size 91748 
sort q time 4.909391 
seperate points time 10.654901 
mapping data assosiation time 15.359407 ms 
mapping solver time 11.030670 ms 
mapping pub time 2.013867 ms 
whole mapping time 88.205436 ms +++++
mappingCount 2160 & avg mapping time 160.451281 ms ++++++++++++++++++++++
build tree time 19.180343 ms 
mapping data assosiation time 12.817021 ms 
mapping solver time 15.028193 ms 
mapping data assosiation time 15.924286 ms 
-----t: 0.0282362
OdomCount 3421 & avg odom time 0.048258 ms ++++++++++++++++++++++
[0m[ INFO] [1718804834.155624334, 1317358117.347535073]: Received 132328 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804834.155666484, 1317358117.347535073]: Data saved to 1317358117189982.pcd[0m
--------------------stamp1317358117.397917032
prepare time 14.131566 
sort q time 5.433669 
seperate points time 12.006832 
publication time 6.058754 ms 
whole laserOdometry time 6.071882 ms 
 
mapping pub time 115.489081 ms 
whole mapping time 205.761435 ms +++++
mappingCount 2161 & avg mapping time 160.472249 ms ++++++++++++++++++++++
build tree time 21.460589 ms 
mapping data assosiation time 14.469793 ms 
points size 94552 
sort q time 5.548219 
seperate points time 12.341205 
mapping solver time 12.698338 ms 
mapping pub time 2.173316 ms 
whole mapping time 96.359949 ms +++++
mappingCount 2162 & avg mapping time 160.442596 ms ++++++++++++++++++++++
map prepare time 1.921288 ms
map corner num 98968  surf num 33646 
build tree time 23.376248 ms 
--------------------stamp1317358117.605777978
points size 94520 
mapping solver time 21.148244 ms 
mapping data assosiation time 14.893003 ms 
mapping solver time 15.764635 ms 
mapping pub time 2.168567 ms 
whole mapping time 103.426015 ms +++++
mappingCount 2163 & avg mapping time 160.416239 ms ++++++++++++++++++++++
mapping data assosiation time 12.205477 ms 
points size 92963 
sort q time 5.278434 
seperate points time 11.891385 
-----t: 0.0273521
OdomCount 3425 & avg odom time 0.048247 ms ++++++++++++++++++++++
publication time 5.354898 ms 
whole laserOdometry time 5.372949 ms 
 
map prepare time 1.886260 ms
map corner num 99651  surf num 33854 
build tree time 20.477028 ms 
mapping data assosiation time 14.786789 ms 
--------------------stamp1317358117.813620090
prepare time 11.784466 
sort q time 11.321379 
seperate points time 16.960679 
build tree time 20.377591 ms 
mapping data assosiation time 12.283036 ms 
--------------------stamp1317358117.917515993
mapping solver time 16.733653 ms 
points size 87683 
sort q time 4.691776 
seperate points time 10.757141 
-----t: 0.0220528
OdomCount 3427 & avg odom time 0.048235 ms ++++++++++++++++++++++
map prepare time 1.959757 ms
map corner num 100279  surf num 34014 
build tree time 19.740158 ms 
mapping data assosiation time 12.140371 ms 
mapping solver time 12.369798 ms 
mapping data assosiation time 13.894611 ms 
mapping solver time 11.321386 ms 
mapping pub time 2.168622 ms 
whole mapping time 84.704874 ms +++++
mappingCount 2167 & avg mapping time 160.290076 ms ++++++++++++++++++++++
map prepare time 1.726294 ms
map corner num 100540  surf num 34086 
build tree time 22.707086 ms 
mapping data assosiation time 12.624122 ms 
mapping solver time 13.134841 ms 
mapping data assosiation time 15.297387 ms 
points size 82453 
prepare time 11.120658 
filter time 9.752842 ms 
-----t: 0.0308803
OdomCount 3429 & avg odom time 0.048224 ms ++++++++++++++++++++++
build tree time 24.627913 ms 
mapping data assosiation time 14.546594 ms 
--------------------stamp1317358118.229193925
prepare time 13.171494 
sort q time 4.922046 
seperate points time 11.285470 
publication time 6.445336 ms 
whole laserOdometry time 6.482124 ms 
 
build tree time 15.288564 ms 
mapping data assosiation time 15.159187 ms 
mapping solver time 18.785393 ms 
points size 76389 
sort q time 4.171896 
seperate points time 9.629400 
-----t: 0.0278619
OdomCount 3431 & avg odom time 0.048213 ms ++++++++++++++++++++++
mapping data assosiation time 12.927031 ms 
mapping solver time 16.340646 ms 
mapping data assosiation time 13.435133 ms 
points size 72124 
sort q time 4.077612 
seperate points time 8.054762 
publication time 4.934063 ms 
whole laserOdometry time 4.951529 ms 
 
map prepare time 1.928965 ms
map corner num 60218  surf num 19416 
build tree time 18.647078 ms 
mapping data assosiation time 14.556869 ms 
mapping solver time 17.200360 ms 
points size 68253 
scan registration time 17.792233 ms *************
-----t: 0.0341955
OdomCount 3433 & avg odom time 0.048203 ms ++++++++++++++++++++++
1317358118.541116952 WriteOdom laser_odom_to_init
1317358118.541116952 WriteOdom aft_mapped_to_init_high_frec
build tree time 12.735592 ms 
mapping data assosiation time 13.848403 ms 
mapping solver time 14.907550 ms 
--------------------stamp1317358118.645107030
sort q time 3.292492 
seperate points time 7.046127 
scan registration time 15.639906 ms *************
-----t: 0.0292969
OdomCount 3434 & avg odom time 0.048197 ms ++++++++++++++++++++++
build tree time 11.768053 ms 
mapping data assosiation time 12.748043 ms 
--------------------stamp1317358118.749123096
mapping solver time 14.196329 ms 
publication time 4.824041 ms 
whole laserOdometry time 4.832656 ms 
 
-----t: 0.0210832
OdomCount 3435 & avg odom time 0.048189 ms ++++++++++++++++++++++
1317358118.749123096 WriteOdom laser_odom_to_init
1317358118.749123096 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.682409 ms
map corner num 61080  surf num 19647 
mapping data assosiation time 12.831521 ms 
mapping solver time 13.495164 ms 
mapping data assosiation time 12.877928 ms 
--------------------stamp1317358118.853163003
1317358118.749123096 WriteOdom aft_mapped_to_init
publication time 5.387598 ms 
whole laserOdometry time 5.398774 ms 
 
build tree time 12.605247 ms 
mapping data assosiation time 14.237301 ms 
mapping solver time 14.809323 ms 
mapping data assosiation time 14.485773 ms 
mapping solver time 14.187412 ms 
mapping optimization time 71.307815 
add points time 0.772077 ms
points size 63840 
prepare time 7.928886 
filter time 6.946048 ms 
-----t: 0.0280451
OdomCount 3437 & avg odom time 0.048176 ms ++++++++++++++++++++++
build tree time 12.067062 ms 
mapping data assosiation time 13.979255 ms 
mapping solver time 19.336825 ms 
--------------------stamp1317358119.061266899
sort q time 3.863768 
seperate points time 7.350755 
filter time 6.128400 ms 
map prepare time 1.807823 ms
map corner num 62063  surf num 19981 
build tree time 13.768188 ms 
mapping data assosiation time 14.613267 ms 
mapping solver time 15.415941 ms 
mapping data assosiation time 16.042411 ms 
mapping solver time 13.962933 ms 
sort q time 13.159270 
seperate points time 18.225550 
scan registration time 34.994482 ms *************
publication time 3.925139 ms 
whole laserOdometry time 3.956243 ms 
 
build tree time 12.104074 ms 
mapping data assosiation time 14.145431 ms 
mapping solver time 15.683715 ms 
points size 61645 
publication time 5.100582 ms 
whole laserOdometry time 5.113146 ms 
 
filter time 6.540512 ms 
build tree time 11.713963 ms 
mapping data assosiation time 14.987890 ms 
mapping solver time 15.587706 ms 
mapping data assosiation time 14.279805 ms 
mapping solver time 15.253597 ms 
filter time 7.294924 ms 
-----t: 0.0199351
OdomCount 3441 & avg odom time 0.048146 ms ++++++++++++++++++++++
build tree time 13.386504 ms 
mapping data assosiation time 15.275836 ms 
mapping solver time 15.345074 ms 
mapping data assosiation time 13.920731 ms 
--------------------stamp1317358119.477446079
[0m[ INFO] [1718804836.298598778, 1317358119.482423945]: Received 83536 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804836.298652979, 1317358119.482423945]: Data saved to 1317358119373383.pcd[0m
sort q time 3.664557 
seperate points time 7.836570 
scan registration time 15.839265 ms *************
publication time 5.380741 ms 
whole laserOdometry time 5.396890 ms 
 
-----t: 0.0531068
OdomCount 3442 & avg odom time 0.048147 ms ++++++++++++++++++++++
1317358119.477446079 WriteOdom laser_odom_to_init
1317358119.477446079 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358119.581510066
sort q time 3.474332 
seperate points time 7.478165 
scan registration time 15.896927 ms *************
publication time 5.877567 ms 
whole laserOdometry time 5.891526 ms 
 
mapping data assosiation time 17.535480 ms 
mapping solver time 24.386059 ms 
mapping data assosiation time 18.239703 ms 
sort q time 3.487705 
seperate points time 7.456582 
publication time 4.864573 ms 
mapping data assosiation time 18.216790 ms 
mapping solver time 23.912828 ms 
--------------------stamp1317358119.789633035
sort q time 4.044032 
seperate points time 8.329724 
mapping optimization time 96.839948 
add points time 0.574592 ms
filter time 4.577164 ms 
build tree time 14.809984 ms 
mapping data assosiation time 14.015847 ms 
mapping solver time 14.333496 ms 
mapping data assosiation time 13.786612 ms 
--------------------stamp1317358119.893699884
mapping pub time 1.569321 ms 
whole mapping time 81.037097 ms +++++
mappingCount 2184 & avg mapping time 159.782072 ms ++++++++++++++++++++++
publication time 4.915130 ms 
whole laserOdometry time 4.930655 ms 
 
mapping data assosiation time 14.067241 ms 
mapping solver time 17.274630 ms 
mapping data assosiation time 14.271524 ms 
mapping solver time 15.050436 ms 
mapping pub time 1.626674 ms 
whole mapping time 85.867462 ms +++++
mappingCount 2185 & avg mapping time 159.748248 ms ++++++++++++++++++++++
points size 66224 
scan registration time 18.374037 ms *************
mapping data assosiation time 17.094092 ms 
mapping solver time 17.326477 ms 
mapping data assosiation time 14.833598 ms 
mapping solver time 12.825840 ms 
map prepare time 1.583638 ms
map corner num 62966  surf num 19956 
--------------------stamp1317358120.101824045
sort q time 3.981808 
seperate points time 9.576790 
mapping solver time 11.176199 ms 
publication time 17.943445 ms mapping solver time 11.433663 ms 
mapping optimization time 74.962403 
add points time 0.550683 ms
filter time 4.623937 ms 
mapping pub time 1.461296 ms 
whole mapping time 83.226487 ms +++++
mappingCount 2187 & avg mapping time 159.681803 ms ++++++++++++++++++++++
1317358119.997764111 WriteOdom aft_mapped_to_init
build tree time 13.140309 ms 
mapping data assosiation time 15.751979 ms 
mapping solver time 15.688971 ms mapping data assosiation time 17.430239 ms 
-----t: 0.0222742
OdomCount 3449 & avg odom time 0.048103 ms ++++++++++++++++++++++
publication time 5.217597 ms 
whole laserOdometry time 5.242837 ms 
 
1317358120.205862998 WriteOdom laser_odom_to_init
1317358120.205862998 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.533443 ms
map corner num 63414  surf num 20084 
build tree time 15.929156 ms 
mapping data assosiation time 16.381142 ms 
--------------------stamp1317358120.309905052
mapping data assosiation time 16.805239 ms 
mapping solver time 16.928047 ms 
sort q time 3.637974 
seperate points time 36.161891 
publication time 4.360627 ms 
whole laserOdometry time 4.374712 ms 
 
build tree time 12.980570 ms 
mapping data assosiation time 13.671815 ms 
--------------------stamp1317358120.413943052
sort q time 3.746964 
seperate points time 7.920543 
-----t: 0.0199886
OdomCount 3451 & avg odom time 0.048091 ms ++++++++++++++++++++++
1317358120.413943052 WriteOdom laser_odom_to_init
1317358120.413943052 WriteOdom aft_mapped_to_init_high_frec
publication time 4.757677 ms 
whole laserOdometry time 4.766399 ms 
 
mapping solver time 12.654906 ms 
mapping optimization time 71.680783 
map prepare time 1.501042 ms
map corner num 63844  surf num 20231 
build tree time 12.765798 ms 
mapping data assosiation time 14.357342 ms 
mapping solver time 14.486589 ms 
mapping data assosiation time 14.004397 ms 
points size 62729 
prepare time 7.900310 
mapping solver time 13.744443 ms 
mapping optimization time 70.298465 
add points time 0.683726 ms
publication time 4.279458 ms 
whole laserOdometry time 4.295872 ms 
 
-----t: 0.0468631
OdomCount 3452 & avg odom time 0.048091 ms ++++++++++++++++++++++
1317358120.517977952 WriteOdom laser_odom_to_init
build tree time 16.802727 ms 
mapping data assosiation time 16.092160 ms 
--------------------stamp1317358120.621990919
sort q time 3.877614 
seperate points time 7.899903 
publication time 5.382608 ms 
whole laserOdometry time 5.391344 ms 
 
-----t: 0.0314855
OdomCount 3453 & avg odom time 0.048086 ms ++++++++++++++++++++++
1317358120.621990919 WriteOdom laser_odom_to_init
1317358120.621990919 WriteOdom aft_mapped_to_init_high_frec
filter time 6.400994 ms 
mapping pub time 1.455235 ms 
whole mapping time 92.339748 ms +++++
mappingCount 2192 & avg mapping time 159.515603 ms ++++++++++++++++++++++
1317358120.517977953 WriteOdom aft_mapped_to_init
build tree time 14.941569 ms 
mapping data assosiation time 12.681266 ms 
mapping solver time 15.315153 ms 
--------------------stamp1317358120.725982904
sort q time 3.259845 
seperate points time 7.790618 
scan registration time 18.618964 ms *************
mapping solver time 16.906052 ms 
mapping optimization time 75.284492 
add points time 0.513032 ms
-----t: 0.0271989map prepare time 5.512034 ms
map corner num 64519  surf num 20436 
build tree time 13.265851 ms 
mapping data assosiation time 12.931009 ms 
mapping solver time 13.891284 ms 
--------------------stamp1317358120.829998016
sort q time 3.276414 
seperate points time 7.859386 
mapping pub time 1.433875 ms 
whole mapping time 86.892617 ms +++++
mappingCount 2194 & avg mapping time 159.447915 ms ++++++++++++++++++++++
build tree time 12.268310 ms 
mapping data assosiation time 12.625855 ms 
mapping solver time 13.116536 ms 
mapping data assosiation time 12.795927 ms 
mapping solver time 14.205579 ms 
sort q time 3.182896 
seperate points time 7.391369 
-----t: 0.0196501
OdomCount 3456 & avg odom time 0.048064 ms ++++++++++++++++++++++
build tree time 12.638664 ms 
mapping data assosiation time 13.750108 ms 
mapping solver time 14.584850 ms 
mapping data assosiation time 13.155818 ms 
--------------------stamp1317358121.037977933
[0m[ INFO] [1718804837.860075700, 1317358121.042134141]: Received 85865 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804837.860135287, 1317358121.042134141]: Data saved to 1317358120933986.pcd[0m
mapping pub time 2.714602 ms 
whole mapping time 81.940525 ms +++++
mappingCount 2196 & avg mapping time 159.374125 ms ++++++++++++++++++++++
1317358120.933986902 WriteOdom aft_mapped_to_init
publication time 3.898103 ms 
whole laserOdometry time 3.911487 ms 
 
-----t: 0.0309119
OdomCount 3457 & avg odom time 0.048059 ms ++++++++++++++++++++++
build tree time 14.596673 ms 
mapping data assosiation time 14.130288 ms 
mapping solver time 14.113732 ms 
mapping data assosiation time 15.485317 ms 
mapping solver time 12.551885 ms 
-----t: 0.0219497
OdomCount 3458 & avg odom time 0.048052 ms ++++++++++++++++++++++
map prepare time 1.508870 ms
map corner num 65517  surf num 20700 
build tree time 13.625405 ms 
mapping data assosiation time 14.051643 ms 
mapping solver time 13.751150 ms 
mapping data assosiation time 13.350296 ms 
mapping solver time 14.553388 ms 
sort q time 4.449008 
seperate points time 8.938641 
publication time 4.988195 ms 
whole laserOdometry time 5.002465 ms 
 
build tree time 12.771660 ms 
mapping data assosiation time 12.761563 ms 
mapping solver time 15.641216 ms 
mapping data assosiation time 14.795237 ms 
points size 73805 
scan registration time 19.268669 ms *************
-----t: 0.0200438
OdomCount 3460 & avg odom time 0.048036 ms ++++++++++++++++++++++
build tree time 12.689225 ms 
mapping data assosiation time 13.800062 ms 
mapping solver time 14.809386 ms 
mapping data assosiation time 14.411282 ms 
--------------------stamp1317358121.453917980
prepare time 10.403809 
sort q time 3.977347 
seperate points time 9.412466 
-----t: 0.0201398
OdomCount 3461 & avg odom time 0.048028 ms ++++++++++++++++++++++
map prepare time 1.891880 ms
map corner num 66348  surf num 20984 
build tree time 14.548457 ms 
mapping data assosiation time 16.656668 ms 
mapping solver time 16.076525 ms 
--------------------stamp1317358121.557907104
prepare time 10.498570 
add points time 0.652753 ms
[0m[ INFO] [1718804838.403631310, 1317358121.586164147]: Received 87794 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804838.403702291, 1317358121.586164147]: Data saved to 1317358121453917.pcd[0m
--------------------stamp1317358121.661900043
sort q time 5.184911 
seperate points time 10.241773 
publication time 7.046913 ms 
whole laserOdometry time 7.059957 ms 
 
build tree time 14.362944 ms 
-----t: 0.0393632
OdomCount 3463 & avg odom time 0.048019 ms ++++++++++++++++++++++
1317358121.661900043 WriteOdom laser_odom_to_init
1317358121.661900043 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.550567 ms 
mapping data assosiation time 17.929470 ms 
points size 83131 
filter time 5.526492 ms 
mapping pub time 1.805544 ms 
whole mapping time 98.147275 ms +++++
mappingCount 2202 & avg mapping time 159.217163 ms ++++++++++++++++++++++
1317358121.557907104 WriteOdom aft_mapped_to_init
sort q time 4.735197 
seperate points time 10.722268 
map prepare time 2.309866 ms
map corner num 67029  surf num 21256 
scan registration time 28.859715 ms *************
build tree time 16.464560 ms 
mapping data assosiation time 16.538843 ms 
-----t: 0.046365
OdomCount 3464 & avg odom time 0.048019 ms ++++++++++++++++++++++
1317358121.765892028 WriteOdom laser_odom_to_init
1317358121.765892028 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 15.884096 ms 
--------------------stamp1317358121.869905948
filter time 6.149551 ms 
scan registration time 26.828544 ms *************
-----t: 0.0263482
OdomCount 3465 & avg odom time 0.048012 ms ++++++++++++++++++++++
mapping data assosiation time 18.909977 ms 
mapping data assosiation time 15.154100 ms 
add points time 0.584689 ms
points size 84619 
prepare time 12.879054 
publication time 6.611430 ms 
whole laserOdometry time 6.629764 ms 
 
mapping solver time 17.458200 ms 
mapping data assosiation time 15.801428 ms 
mapping solver time 13.160206 ms 
map prepare time 2.189641 ms
map corner num 68084  surf num 21704 
sort q time 4.822512 
seperate points time 9.699796 
mapping data assosiation time 19.853914 ms 
publication time 7.100068 ms 
whole laserOdometry time 7.115799 ms 
 
mapping solver time 20.197098 ms 
1317358122.077908039 WriteOdom laser_odom_to_init
1317358122.077908039 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.299348 ms 
mapping solver time 16.875991 ms 
map prepare time 3.212924 ms
map corner num 68500  surf num 21871 
prepare time 11.605317 
sort q time 5.085934 
seperate points time 10.956491 mapping data assosiation time 20.543567 ms 
-----t: 0.0356808
OdomCount 3468 & avg odom time 0.048004 ms ++++++++++++++++++++++
1317358122.181900978 WriteOdom laser_odom_to_init
1317358122.181900978 WriteOdom aft_mapped_to_init_high_frec
publication time 15.087343 ms 
whole laserOdometry time 15.100509 ms 
 
mapping solver time 19.845934 ms 
mapping data assosiation time 17.949557 ms 
mapping solver time 13.694905 ms 
mapping optimization time 90.597625 
add points time 0.614797 ms
filter time 4.772230 ms 
points size 85988 
scan registration time 29.505737 ms *************
publication time 8.692207 ms 
whole laserOdometry time 8.704098 ms 
 
mapping data assosiation time 24.729441 ms 
mapping solver time 16.068337 ms 
points size 86242 
sort q time 5.471638 
seperate points time 12.998848 
build tree time 15.399424 ms 
mapping data assosiation time 22.623278 ms 
mapping solver time 20.063923 ms 
mapping data assosiation time 19.011382 ms 
--------------------stamp1317358122.494062900
prepare time 11.736679 
sort q time 4.715568 
seperate points time 10.966826 
mapping data assosiation time 21.766758 ms 
mapping solver time 19.412998 ms 
mapping data assosiation time 18.511107 ms 
--------------------stamp1317358122.598150968
prepare time 10.745969 
map prepare time 2.140747 ms
map corner num 70232  surf num 22754 
build tree time 14.810950 ms 
mapping data assosiation time 20.070418 ms 
mapping solver time 23.721336 ms 
--------------------stamp1317358122.702240943
prepare time 13.612707 
add points time 0.740349 ms
1317358122.494062901 WriteOdom aft_mapped_to_init
mapping data assosiation time 22.337318 ms 
-----t: 0.0839885
OdomCount 3473 & avg odom time 0.047999 ms ++++++++++++++++++++++
1317358122.702240943 WriteOdom laser_odom_to_init
1317358122.702240943 WriteOdom aft_mapped_to_init_high_frec
points size 89721 
sort q time 5.118155 
seperate points time 11.924409 
publication time 9.230064 ms 
whole laserOdometry time 9.250324 ms 
 
mapping pub time 1.988586 ms 
whole mapping time 134.339815 ms +++++
mappingCount 2212 & avg mapping time 158.977489 ms ++++++++++++++++++++++
build tree time 14.896505 ms 
--------------------stamp1317358122.910413026
points size 90635 
sort q time 4.585183 
seperate points time 9.912164 
mapping solver time 30.134181 ms 
publication time 6.710685 ms 
whole laserOdometry time 6.728036 ms 
 
-----t: 0.046368
OdomCount 3475 & avg odom time 0.047999 ms ++++++++++++++++++++++mapping solver time 22.072169 ms 
map prepare time 2.108813 ms
map corner num 71396  surf num 23250 
build tree time 17.842506 ms 
points size 91356 
sort q time 6.145126 
seperate points time 14.102275 
publication time 8.515179 ms 
whole laserOdometry time 8.530452 ms 
 
mapping data assosiation time 19.427075 ms 
mapping solver time 17.371523 ms 
mapping pub time 2.205881 ms 
whole mapping time 123.628793 ms +++++
mappingCount 2214 & avg mapping time 158.946549 ms ++++++++++++++++++++++
sort q time 5.150054 
seperate points time 12.038826 
-----t: 0.0333877
OdomCount 3477 & avg odom time 0.047994 ms ++++++++++++++++++++++
publication time 12.007577 ms 
whole laserOdometry time 12.030853 ms 
 
mapping solver time 20.287037 ms 
mapping data assosiation time 19.906261 ms 
points size 92663 
prepare time 14.739683 
mapping solver time 21.063855 ms 
mapping optimization time 105.594648 
add points time 0.751825 ms
sort q time 5.320030 
seperate points time 12.425463 
1317358123.014475107 WriteOdom aft_mapped_to_init
map prepare time 3.383554 ms
map corner num 72181  surf num 23632 
scan registration time 32.383393 ms *************
-----t: 0.0348436
OdomCount 3478 & avg odom time 0.047990 ms ++++++++++++++++++++++
1317358123.222552061 WriteOdom laser_odom_to_init
1317358123.222552061 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.124240 ms 
mapping solver time 20.134948 ms 
--------------------stamp1317358123.326615095
points size 93637 
sort q time 5.029942 
seperate points time 11.908287 
scan registration time 35.017837 ms *************
mapping solver time 20.408678 ms 
mapping optimization time 108.328023 
add points time 0.663333 ms
map prepare time 4.205475 ms
map corner num 72531  surf num 23803 
build tree time 15.651831 ms 
mapping data assosiation time 20.413941 ms 
--------------------stamp1317358123.430653095
prepare time 11.308331 
scan registration time 26.314490 ms *************
mapping data assosiation time 23.966536 ms 
mapping solver time 19.327726 ms 
mapping pub time 2.053075 ms 
whole mapping time 122.269636 ms +++++
mappingCount 2217 & avg mapping time 158.895465 ms ++++++++++++++++++++++
build tree time 13.963630 ms 
--------------------stamp1317358123.534691095
prepare time 12.352977 
sort q time 5.367091 
seperate points time 12.387842 
-----t: 0.0377988mapping solver time 16.970281 ms 
mapping pub time 2.081260 ms 
whole mapping time 118.052961 ms +++++
mappingCount 2218 & avg mapping time 158.877053 ms ++++++++++++++++++++++
build tree time 14.279299 ms 
sort q time 5.261669 
seperate points time 12.091990 
mapping data assosiation time 25.858936 ms 
mapping solver time 27.541935 ms 
mapping data assosiation time 22.593612 ms 
mapping solver time 15.990188 ms 
--------------------stamp1317358123.742747068
prepare time 12.489730 
scan registration time 27.086746 ms *************
mapping data assosiation time 26.523469 ms 
-----t: 0.0511474
OdomCount 3483 & avg odom time 0.047983 ms ++++++++++++++++++++++
1317358123.742747068 WriteOdom laser_odom_to_init
1317358123.742747068 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.831044 ms 
--------------------stamp1317358123.846735954
points size 93015 
map prepare time 3.065638 ms
map corner num 74037  surf num 24476 
scan registration time 32.334488 ms *************
publication time 8.302052 ms 
whole laserOdometry time 8.334528 ms 
 
mapping data assosiation time 23.542000 ms 
mapping solver time 21.312962 ms 
--------------------stamp1317358123.950701951
points size 91126 
sort q time 5.093321 
seperate points time 11.575165 
[0m[ INFO] [1718804840.800532605, 1317358123.988089303]: Received 98963 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804840.800588279, 1317358123.988089303]: Data saved to 1317358123742747.pcd[0m
--------------------stamp1317358124.054668903
points size 90196 
sort q time 5.747222 
seperate points time 13.335729 
mapping pub time 116.821997 ms 
whole mapping time 237.732332 ms +++++
mappingCount 2221 & avg mapping time 158.877001 ms ++++++++++++++++++++++
build tree time 15.500250 ms 
mapping data assosiation time 20.657429 ms 
--------------------stamp1317358124.158633947
mapping solver time 23.202490 ms 
sort q time 4.507052 
seperate points time 10.345146 
mapping data assosiation time 25.737112 ms 
publication time 7.847247 ms 
whole laserOdometry time 7.863276 ms 
 
add points time 0.759441 ms
drop lidar frame in mapping for real time performance 
build tree time 15.984047 ms 
--------------------stamp1317358124.262603044
prepare time 12.512446 
sort q time 4.895923 
seperate points time 10.474327 
mapping solver time 32.071556 ms 
-----t: 0.0376964
OdomCount 3488 & avg odom time 0.047969 ms ++++++++++++++++++++++
mapping solver time 20.505481 ms 
mapping pub time 1.982704 ms 
whole mapping time 128.681679 ms +++++
mappingCount 2223 & avg mapping time 158.845252 ms ++++++++++++++++++++++
--------------------stamp1317358124.366571903
prepare time 11.537600 
sort q time 4.545508 
seperate points time 10.521981 
mapping data assosiation time 24.027751 ms 
1317358124.366571903 WriteOdom aft_mapped_to_init_high_frecmapping solver time 28.874151 ms 
mapping data assosiation time 23.831497 ms 
--------------------stamp1317358124.470513105
filter time 7.594361 ms 
scan registration time 30.122180 ms *************
build tree time 19.026187 ms 
-----t: 0.035775
OdomCount 3490 & avg odom time 0.047961 ms ++++++++++++++++++++++
mapping data assosiation time 22.456262 ms 
mapping solver time 23.505761 ms 
--------------------stamp1317358124.574409008
mapping data assosiation time 23.826707 ms 
sort q time 4.406781 
seperate points time 9.733705 
publication time 7.167279 ms 
whole laserOdometry time 7.180341 ms 
 
-----t: 0.0312844
OdomCount 3491 & avg odom time 0.047957 ms ++++++++++++++++++++++
1317358124.574409008 WriteOdom laser_odom_to_init
1317358124.574409008 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.326290 ms 
mapping solver time 18.337408 ms 
points size 79971 
sort q time 4.402203 
seperate points time 10.421248 
scan registration time 29.311858 ms *************
1317358124.470513105 WriteOdom aft_mapped_to_init
build tree time 15.446972 ms 
mapping data assosiation time 19.997945 ms 
--------------------stamp1317358124.782125949
prepare time 10.727962 
scan registration time 23.324280 ms *************
mapping solver time 23.403147 ms 
1317358124.678282022 WriteOdom aft_mapped_to_init
-----t: 0.0538585
OdomCount 3493 & avg odom time 0.047954 ms ++++++++++++++++++++++
1317358124.782125949 WriteOdom laser_odom_to_init
1317358124.782125949 WriteOdom aft_mapped_to_init_high_frec
build tree time 15.366200 ms 
--------------------stamp1317358124.885946989
prepare time 11.106642 
sort q time 5.137886 
seperate points time 10.594508 
publication time 5.730528 ms 
whole laserOdometry time 5.743481 ms 
 
-----t: 0.0461109
OdomCount 3494 & avg odom time 0.047953 ms ++++++++++++++++++++++
map prepare time 1.939001 ms
map corner num 76829  surf num 25383 
build tree time 15.102377 ms 
--------------------stamp1317358124.989744901
sort q time 4.856701 
seperate points time 9.502298 
scan registration time 23.376927 ms *************
mapping solver time 24.599471 ms 
-----t: 0.0271548
OdomCount 3495 & avg odom time 0.047947 ms ++++++++++++++++++++++
publication time 6.994883 ms 
whole laserOdometry time 7.007811 ms 
 
mapping solver time 13.763571 ms 
mapping pub time 1.818230 ms 
whole mapping time 105.684790 ms +++++
mappingCount 2229 & avg mapping time 158.728522 ms ++++++++++++++++++++++
build tree time 14.829479 ms 
--------------------stamp1317358125.093544960
prepare time 13.250146 
sort q time 4.403739 
seperate points time 10.296696 
publication time 5.030121 ms 
whole laserOdometry time 5.044497 ms 
 
mapping solver time 17.275689 ms 
mapping pub time 2.033220 ms 
whole mapping time 111.205994 ms +++++
mappingCount 2230 & avg mapping time 158.707213 ms ++++++++++++++++++++++
--------------------stamp1317358125.197345972
points size 79799 
sort q time 4.339575 
seperate points time 10.105408 
publication time 5.719296 ms 
whole laserOdometry time 5.736807 ms 
 
-----t: 0.0383489
OdomCount 3497 & avg odom time 0.047942 ms ++++++++++++++++++++++
1317358125.197345972 WriteOdom laser_odom_to_init
1317358125.197345972 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.534598 ms 
mapping optimization time 110.769721 
mapping pub time 4.481726 ms 
whole mapping time 124.547848 ms +++++
mappingCount 2231 & avg mapping time 158.691905 ms ++++++++++++++++++++++
prepare time 13.652899 
sort q time 19.074770 
seperate points time 25.402686 
scan registration time 58.045148 ms *************
publication time 6.528162 ms 
whole laserOdometry time 6.538976 ms 
 
mapping data assosiation time 19.477718 ms 
mapping solver time 12.538952 ms 
map prepare time 1.843801 ms
map corner num 78284  surf num 25875 
sort q time 4.203135 
seperate points time 9.591705 
-----t: 0.0273731
OdomCount 3499 & avg odom time 0.047933 ms ++++++++++++++++++++++
mapping solver time 15.464598 ms 
mapping data assosiation time 15.598132 ms 
mapping solver time 10.696858 ms 
mapping optimization time 78.875790 
add points time 0.599181 ms
filter time 5.179050 ms 
points size 72557 
build tree time 26.197530 ms 
mapping data assosiation time 19.759015 ms 
scan registration time 52.134806 ms *************
publication time 5.450435 ms 
whole laserOdometry time 5.460721 ms 
 
mapping data assosiation time 16.969325 ms 
mapping solver time 15.131657 ms 
mapping pub time 2.063922 ms 
whole mapping time 109.908207 ms +++++
mappingCount 2234 & avg mapping time 158.614349 ms ++++++++++++++++++++++
prepare time 9.878164 
publication time 5.177227 ms 
whole laserOdometry time 5.203195 ms 
 
mapping data assosiation time 15.259276 ms 
mapping solver time 16.597222 ms 
mapping data assosiation time 14.749021 ms 
mapping solver time 13.929510 ms 
prepare time 7.382528 
scan registration time 17.363784 ms *************
build tree time 20.050294 ms 
mapping data assosiation time 15.735693 ms 
mapping solver time 13.918470 ms 
mapping data assosiation time 15.274885 ms 
mapping solver time 11.661965 ms 
map prepare time 1.821691 ms
map corner num 79594  surf num 26298 
sort q time 4.186754 
seperate points time 7.729357 
publication time 6.599270 ms 
whole laserOdometry time 6.609803 ms 
 
-----t: 0.0329282
OdomCount 3503 & avg odom time 0.047912 ms ++++++++++++++++++++++
mapping data assosiation time 13.282828 ms 
mapping solver time 10.889443 ms 
filter time 10.328044 ms 
--------------------stamp1317358125.925158977
sort q time 3.350477 
seperate points time 10.054580 
-----t: 0.022583
OdomCount 3504 & avg odom time 0.047905 ms ++++++++++++++++++++++
mapping data assosiation time 14.201367 ms 
mapping solver time 12.430512 ms 
map prepare time 1.473994 ms
map corner num 80194  surf num 26474 
build tree time 14.854384 ms 
points size 61086 
mapping solver time 18.129546 ms 
mapping data assosiation time 15.714307 ms 
-----t: 0.0239574
OdomCount 3505 & avg odom time 0.047898 ms ++++++++++++++++++++++
filter time 5.961140 ms 
build tree time 14.599427 ms 
mapping data assosiation time 12.650376 ms 
--------------------stamp1317358126.133405923
sort q time 3.322457 
seperate points time 6.760537 
publication time 4.576757 ms 
whole laserOdometry time 4.588454 ms 
 
filter time 6.147311 ms 
build tree time 15.119073 ms 
mapping data assosiation time 11.492486 ms 
mapping solver time 16.778929 ms 
mapping data assosiation time 13.460919 ms 
points size 61062 
filter time 7.384736 ms 
publication time 4.333615 ms 
whole laserOdometry time 4.351402 ms 
 
1317358126.237562894 WriteOdom laser_odom_to_init
1317358126.237562894 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358126.341744899
sort q time 3.150166 
seperate points time 7.235124 
publication time 5.638054 ms 
whole laserOdometry time 5.665594 ms 
 
1317358126.341744899 WriteOdom laser_odom_to_init
mapping data assosiation time 14.691989 ms 
mapping solver time 16.708210 ms 
mapping data assosiation time 14.200015 ms 
mapping solver time 14.433518 ms 
map prepare time 2.044890 ms
map corner num 81284  surf num 26822 
publication time 4.129389 ms 
whole laserOdometry time 4.145055 ms 
 
-----t: 0.0184613
OdomCount 3509 & avg odom time 0.047870 ms ++++++++++++++++++++++
mapping data assosiation time 14.404933 ms 
mapping solver time 13.943429 ms 
mapping data assosiation time 13.866720 ms 
mapping solver time 14.614314 ms 
prepare time 9.359777 
publication time 6.340471 ms 
whole laserOdometry time 6.352537 ms 
 
-----t: 0.0352486
OdomCount 3510 & avg odom time 0.047866 ms ++++++++++++++++++++++
1317358126.550045967 WriteOdom laser_odom_to_init
1317358126.550045967 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 14.184363 ms 
filter time 6.389444 ms 
--------------------stamp1317358126.654150009
sort q time 2.833372 
seperate points time 5.667438 
-----t: 0.0165851
OdomCount 3511 & avg odom time 0.047857 ms ++++++++++++++++++++++
mapping data assosiation time 13.145539 ms 
mapping solver time 12.915329 ms 
mapping pub time 1.238393 ms 
whole mapping time 86.940640 ms +++++
mappingCount 2245 & avg mapping time 158.325434 ms ++++++++++++++++++++++
build tree time 16.759356 ms 
--------------------stamp1317358126.758235931
sort q time 2.156126 
seperate points time 4.776537 
mapping solver time 20.774797 ms 
mapping data assosiation time 14.990271 ms 
mapping solver time 10.492556 ms 
[0m[ INFO] [1718804843.626847187, 1317358126.811687469]: Received 109494 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804843.626892122, 1317358126.811687469]: Data saved to 1317358126654150.pcd[0m
build tree time 18.354877 ms 
mapping data assosiation time 15.151544 ms 
points size 47825 
publication time 3.279050 ms 
whole laserOdometry time 3.294081 ms 
 
mapping solver time 10.894605 ms 
-----t: 0.0457433
OdomCount 3513 & avg odom time 0.047851 ms ++++++++++++++++++++++
build tree time 16.734595 ms 
mapping data assosiation time 12.471939 ms 
--------------------stamp1317358126.966341018
sort q time 2.289429 
seperate points time 4.986155 
mapping data assosiation time 15.929408 ms 
mapping solver time 14.373386 ms 
-----t: 0.0373565
OdomCount 3514 & avg odom time 0.047848 ms ++++++++++++++++++++++
build tree time 21.586657 ms 
mapping data assosiation time 16.352546 ms 
points size 47409 
mapping data assosiation time 16.239962 ms 
1317358127.070332050 WriteOdom laser_odom_to_init
1317358127.070332050 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.207706 ms 
mapping optimization time 92.592568 
add points time 0.588272 ms
map prepare time 2.032374 ms
map corner num 83433  surf num 27415 
build tree time 21.660261 ms 
mapping data assosiation time 13.166919 ms 
--------------------stamp1317358127.174298048
sort q time 2.801038 
seperate points time 7.214706 
-----t: 0.016891
OdomCount 3516 & avg odom time 0.047834 ms ++++++++++++++++++++++
1317358127.174298048 WriteOdom laser_odom_to_init
1317358127.174298048 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 10.587274 ms 
mapping optimization time 76.545375 
add points time 0.562145 ms
build tree time 15.387749 ms 
mapping data assosiation time 12.146159 ms 
mapping solver time 14.450791 ms 
mapping data assosiation time 11.812172 ms 
add points time 0.720717 ms
points size 46254 
publication time 3.644398 ms 
whole laserOdometry time 3.658323 ms 
 
build tree time 19.517437 ms 
mapping data assosiation time 12.944320 ms 
mapping solver time 12.830833 ms 
mapping data assosiation time 13.719258 ms 
points size 42902 
filter time 6.646545 ms 
publication time 3.339894 ms 
whole laserOdometry time 3.352443 ms 
 
build tree time 19.516244 ms 
mapping data assosiation time 13.223414 ms 
mapping solver time 15.876982 ms 
mapping data assosiation time 13.381606 ms 
points size 41749 
filter time 5.481891 ms 
mapping pub time 1.016269 ms 
whole mapping time 88.222169 ms +++++
mappingCount 2253 & avg mapping time 158.077137 ms ++++++++++++++++++++++
1317358127.382134914 WriteOdom aft_mapped_to_init
publication time 3.501373 ms 
whole laserOdometry time 3.517247 ms 
 
build tree time 19.110550 ms 
mapping data assosiation time 13.569139 ms 
mapping solver time 13.081374 ms 
mapping data assosiation time 12.482473 ms 
--------------------stamp1317358127.589850902
filter time 5.665916 ms 
publication time 4.312287 ms 
whole laserOdometry time 4.323509 ms 
 
map prepare time 1.586635 ms
map corner num 84925  surf num 27845 
build tree time 16.326056 ms 
mapping data assosiation time 12.769524 ms 
mapping solver time 16.118519 ms 
mapping data assosiation time 12.776277 ms 
--------------------stamp1317358127.693696975
filter time 8.212748 ms 
-----t: 0.0150512
OdomCount 3521 & avg odom time 0.047788 ms ++++++++++++++++++++++
build tree time 16.385174 ms 
mapping data assosiation time 11.436578 ms 
mapping solver time 15.713331 ms 
mapping data assosiation time 12.698225 ms 
--------------------stamp1317358127.797569036
mapping pub time 3.112037 ms 
whole mapping time 83.422656 ms +++++
mappingCount 2256 & avg mapping time 157.977226 ms ++++++++++++++++++++++
publication time 4.604358 ms 
whole laserOdometry time 4.617431 ms 
 
build tree time 16.787304 ms 
mapping data assosiation time 11.389149 ms 
mapping solver time 16.148058 ms 
mapping data assosiation time 13.935364 ms 
mapping solver time 11.555985 ms 
scan registration time 16.604512 ms *************
publication time 4.604060 ms 
whole laserOdometry time 4.614802 ms 
 
-----t: 0.0262351
OdomCount 3523 & avg odom time 0.047774 ms ++++++++++++++++++++++
build tree time 17.610239 ms 
mapping data assosiation time 13.956119 ms 
mapping solver time 16.460820 ms 
mapping data assosiation time 14.205760 ms 
mapping solver time 18.382815 ms 
map prepare time 1.699076 ms
map corner num 86030  surf num 28197 
build tree time 17.600455 ms 
mapping data assosiation time 12.849199 ms 
mapping solver time 15.253462 ms 
mapping data assosiation time 12.446508 ms 
mapping solver time 9.857472 ms 
sort q time 3.861213 
seperate points time 7.457514 
publication time 4.686375 ms 
whole laserOdometry time 4.701351 ms build tree time 16.966561 ms 
mapping data assosiation time 12.138644 ms 
mapping solver time 16.495160 ms 
mapping data assosiation time 14.018422 ms 
points size 63839 
filter time 6.052150 ms 
scan registration time 16.625407 ms *************
publication time 4.721931 ms 
whole laserOdometry time 4.740252 ms 
 
build tree time 16.560372 ms 
mapping data assosiation time 11.342524 ms 
mapping solver time 14.247042 ms 
mapping data assosiation time 11.311220 ms 
mapping solver time 12.242773 ms 
points size 68128 
sort q time 3.757214 
seperate points time 9.718566 
scan registration time 23.095510 ms *************
-----t: 0.0262142
OdomCount 3527 & avg odom time 0.047745 ms ++++++++++++++++++++++
--------------------stamp1317358128.420743942
mapping pub time 110.717517 ms 
whole mapping time 188.151825 ms +++++
mappingCount 2261 & avg mapping time 157.859356 ms ++++++++++++++++++++++
build tree time 21.834802 ms 
1317358128.420743942 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.202193 ms 
mapping data assosiation time 12.414209 ms 
mapping solver time 12.116797 ms 
--------------------stamp1317358128.524614095
prepare time 10.437706 
scan registration time 22.525517 ms *************
build tree time 22.543545 ms 
mapping solver time 13.858863 ms 
mapping data assosiation time 12.919382 ms 
mapping solver time 10.205774 ms 
mapping optimization time 76.000944 
add points time 0.585811 ms
filter time 5.616235 ms 
--------------------stamp1317358128.628485918
sort q time 4.098053 
seperate points time 8.774554 
publication time 5.289021 ms 
whole laserOdometry time 5.304356 ms 
 
mapping optimization time 88.943121 
1317358128.524614096 WriteOdom aft_mapped_to_init
--------------------stamp1317358128.732357025
sort q time 3.658968 
seperate points time 8.278170 
-----t: 0.0231714
OdomCount 3531 & avg odom time 0.047724 ms ++++++++++++++++++++++
mapping data assosiation time 14.198387 ms 
mapping solver time 9.686706 ms 
mapping optimization time 77.737735 
add points time 0.608088 ms
build tree time 17.424792 ms 
--------------------stamp1317358128.836227893
sort q time 3.427450 
seperate points time 7.296045 
mapping data assosiation time 16.816573 ms 
1317358128.836227893 WriteOdom laser_odom_to_init
1317358128.836227893 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 12.083841 ms 
mapping optimization time 78.757887 
add points time 0.656514 ms
map prepare time 1.780947 ms
map corner num 88647  surf num 29156 
build tree time 17.789939 ms 
mapping data assosiation time 15.609305 ms 
points size 63641 
publication time 6.164577 ms 
whole laserOdometry time 6.175992 ms 
 
add points time 0.651065 ms
build tree time 17.560997 ms 
mapping data assosiation time 15.825943 ms 
--------------------stamp1317358129.043968915
sort q time 3.325372 
seperate points time 7.150681 
publication time 10.515368 ms 
whole laserOdometry time 10.531725 ms 
 
map prepare time 2.109704 ms
map corner num 61545  surf num 21134 
build tree time 13.091170 ms 
mapping data assosiation time 13.982465 ms 
mapping solver time 16.786068 ms 
mapping data assosiation time 15.736599 ms 
mapping solver time 14.419572 ms 
map prepare time 1.998864 ms
map corner num 61938  surf num 21272 
build tree time 12.556629 ms 
mapping data assosiation time 14.007816 ms 
mapping solver time 19.676100 ms 
mapping data assosiation time 15.723851 ms 
sort q time 3.215036 
seperate points time 7.006349 
filter time 6.153087 ms 
build tree time 12.625414 ms 
mapping data assosiation time 15.983807 ms 
mapping solver time 18.332007 ms 
mapping data assosiation time 14.496221 ms 
sort q time 3.393710 
seperate points time 7.040249 
mapping pub time 2.467254 ms 
whole mapping time 96.358351 ms +++++
mappingCount 2271 & avg mapping time 157.570104 ms ++++++++++++++++++++++
-----t: 0.039841
OdomCount 3537 & avg odom time 0.047697 ms ++++++++++++++++++++++
build tree time 17.301220 ms 
mapping data assosiation time 16.224620 ms 
--------------------stamp1317358129.459621906
sort q time 3.098249 
seperate points time 7.388817 
-----t: 0.0283706
OdomCount 3538 & avg odom time 0.047691 ms ++++++++++++++++++++++
1317358129.459621906 WriteOdom laser_odom_to_init
1317358129.459621906 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.514216 ms 
mapping optimization time 91.519472 
add points time 0.669849 ms
filter time 5.632801 ms 
mapping pub time 1.356002 ms 
whole mapping time 101.226244 ms +++++
mappingCount 2272 & avg mapping time 157.545307 ms ++++++++++++++++++++++
1317358129.355704069 WriteOdom aft_mapped_to_init
build tree time 15.838169 ms 
mapping data assosiation time 15.980421 ms 
--------------------stamp1317358129.563564062
sort q time 2.574873 
seperate points time 5.990741 
mapping data assosiation time 17.775051 ms 
-----t: 0.0226866
OdomCount 3539 & avg odom time 0.047684 ms ++++++++++++++++++++++
build tree time 14.303359 ms 
mapping data assosiation time 14.528475 ms 
mapping solver time 15.042709 ms 
--------------------stamp1317358129.667505979
sort q time 2.839042 
seperate points time 5.979085 
publication time 5.992832 ms 
whole laserOdometry time 6.004905 ms 
 
1317358129.667505979 WriteOdom laser_odom_to_init
1317358129.667505979 WriteOdom aft_mapped_to_init_high_frec
build tree time 13.625943 ms 
mapping data assosiation time 16.663696 ms 
mapping solver time 19.862710 ms 
--------------------stamp1317358129.771425008
sort q time 2.841844 
seperate points time 6.026487 
-----t: 0.0201046
OdomCount 3541 & avg odom time 0.047668 ms ++++++++++++++++++++++
build tree time 14.766650 ms 
mapping data assosiation time 14.456826 ms 
mapping solver time 18.938572 ms 
--------------------stamp1317358129.875368118
sort q time 3.349708 
seperate points time 7.013586 
publication time 5.186295 ms 
whole laserOdometry time 5.205309 ms 
 
sort q time 3.274592 
seperate points time 7.997207 
mapping solver time 19.767612 ms 
-----t: 0.0336631
OdomCount 3543 & avg odom time 0.047659 ms ++++++++++++++++++++++
build tree time 15.602428 ms 
mapping data assosiation time 15.222405 ms 
mapping solver time 18.373194 ms 
points size 59810 
scan registration time 19.940630 ms *************
mapping solver time 14.272369 ms 
map prepare time 1.785471 ms
map corner num 65156  surf num 22292 
build tree time 14.210104 ms 
mapping data assosiation time 15.446500 ms 
mapping solver time 18.610352 ms 
--------------------stamp1317358130.187244892
sort q time 3.510228 
seperate points time 7.460950 
scan registration time 15.866857 ms *************
filter time 6.398298 ms 
-----t: 0.0263579
OdomCount 3545 & avg odom time 0.047648 ms ++++++++++++++++++++++
mapping pub time 1.382166 ms 
whole mapping time 96.020705 ms +++++
mappingCount 2279 & avg mapping time 157.356632 ms ++++++++++++++++++++++
1317358130.083302021 WriteOdom aft_mapped_to_init
1317358130.187244892 WriteOdom laser_odom_to_init
1317358130.187244892 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.954975 ms
map corner num 65494  surf num 22418 
build tree time 12.956474 ms 
mapping data assosiation time 13.633984 ms 
mapping solver time 14.263475 ms 
mapping data assosiation time 14.477953 ms 
points size 61935 
mapping solver time 19.930236 ms 
publication time 5.296878 ms 
whole laserOdometry time 5.310172 ms 
 
1317358130.291188955 WriteOdom laser_odom_to_init
1317358130.291188955 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.874265 ms
map corner num 65841  surf num 22559 
build tree time 12.977651 ms 
mapping data assosiation time 14.139878 ms 
mapping solver time 19.470331 ms 
mapping data assosiation time 16.724068 ms 
mapping solver time 14.346140 ms 
[0m[ INFO] [1718804847.236789568, 1317358130.420158584]: Received 88890 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804847.236845752, 1317358130.420158584]: Data saved to 1317358130291188.pcd[0m
publication time 4.031742 ms 
whole laserOdometry time 4.051577 ms 
 
--------------------stamp1317358130.499047040
sort q time 3.340263 
seperate points time 8.569703 
scan registration time 19.818492 ms *************
build tree time 17.656235 ms 
mapping solver time 18.017088 ms 
mapping data assosiation time 15.079904 ms 
mapping solver time 16.761877 ms 
map prepare time 2.186513 ms
map corner num 66538  surf num 22853 
build tree time 15.471187 ms 
mapping data assosiation time 14.916003 ms 
mapping solver time 14.613750 ms 
mapping data assosiation time 15.520787 ms 
mapping optimization time 74.646313 
map prepare time 1.701447 ms
map corner num 66874  surf num 22994 
sort q time 3.297503 
seperate points time 8.158839 
publication time 5.533333 ms 
whole laserOdometry time 5.566486 ms 
 
-----t: 0.0295705
OdomCount 3550 & avg odom time 0.047624 ms ++++++++++++++++++++++
mapping solver time 25.225851 ms 
mapping data assosiation time 15.857987 ms 
mapping solver time 16.910695 ms 
map prepare time 2.092627 ms
map corner num 67236  surf num 23151 
scan registration time 18.292299 ms *************
-----t: 0.0231069
OdomCount 3551 & avg odom time 0.047617 ms ++++++++++++++++++++++
mapping solver time 18.451921 ms 
mapping data assosiation time 14.749773 ms 
mapping solver time 18.100376 ms 
map prepare time 2.338796 ms
map corner num 67617  surf num 23328 
sort q time 3.867746 
seperate points time 8.617297 
mapping data assosiation time 18.868036 ms 
publication time 12.248453 ms mapping solver time 23.681112 ms 
mapping data assosiation time 17.577863 ms 
mapping solver time 15.279419 ms 
--------------------stamp1317358131.018785953
mapping pub time 3.804131 ms 
whole mapping time 106.839303 ms +++++
mappingCount 2286 & avg mapping time 157.208639 ms ++++++++++++++++++++++
sort q time 3.931982 
seperate points time 8.065573 
mapping data assosiation time 18.926140 ms 
1317358131.018785953 WriteOdom laser_odom_to_init
mapping solver time 24.212462 ms 
mapping data assosiation time 15.399949 ms 
mapping solver time 17.470190 ms 
1317358130.914819002 WriteOdom aft_mapped_to_init
sort q time 3.667139 
seperate points time 8.923163 
publication time 6.819962 ms mapping solver time 19.962195 ms 
mapping data assosiation time 18.272819 ms 
mapping solver time 17.622562 ms 
points size 67734 
mapping pub time 1.603319 ms 
whole mapping time 105.455986 ms +++++
mappingCount 2288 & avg mapping time 157.162476 ms ++++++++++++++++++++++
prepare time 7.231101 
build tree time 15.301373 ms 
mapping data assosiation time 19.722895 ms 
mapping solver time 23.323771 ms 
mapping data assosiation time 15.165457 ms 
mapping solver time 12.277015 ms 
map prepare time 2.139766 ms
map corner num 69439  surf num 24235 
sort q time 3.789556 
seperate points time 7.913683 
publication time 6.534792 ms 
whole laserOdometry time 6.551934 ms 
 
mapping solver time 17.782788 ms 
mapping data assosiation time 16.265501 ms 
mapping solver time 13.587466 ms 
map prepare time 1.771896 ms
map corner num 69944  surf num 24476 
points size 70287 
scan registration time 16.972077 ms *************
publication time 6.336242 ms 
whole laserOdometry time 6.352579 ms 
 
-----t: 0.0285155
OdomCount 3557 & avg odom time 0.047597 ms ++++++++++++++++++++++
mapping solver time 19.141934 ms 
mapping data assosiation time 16.791837 ms 
mapping solver time 12.719154 ms 
[0m[ INFO] [1718804848.333294585, 1317358131.516731353]: Received 95239 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804848.333350787, 1317358131.516731353]: Data saved to 1317358131330755.pcd[0m
--------------------stamp1317358131.538763999
prepare time 12.551268 
sort q time 4.964875 
seperate points time 9.263569 
-----t: 0.0326968
OdomCount 3558 & avg odom time 0.047593 ms ++++++++++++++++++++++
1317358131.538763999 WriteOdom laser_odom_to_init
1317358131.538763999 WriteOdom aft_mapped_to_init_high_frec
publication time 6.252040 ms 
whole laserOdometry time 6.265706 ms 
 
mapping solver time 21.337092 ms 
mapping data assosiation time 18.927470 ms 
mapping solver time 9.119865 ms 
map prepare time 2.061472 ms
map corner num 71004  surf num 24979 
build tree time 13.899067 ms 
mapping data assosiation time 20.320259 ms 
sort q time 5.417905 
seperate points time 9.663844 
-----t: 0.0404915
OdomCount 3559 & avg odom time 0.047591 ms ++++++++++++++++++++++
mapping solver time 13.538143 ms 
mapping pub time 1.605502 ms 
whole mapping time 99.992511 ms +++++
mappingCount 2293 & avg mapping time 157.030170 ms ++++++++++++++++++++++
--------------------stamp1317358131.746790885
prepare time 12.462474 
scan registration time 27.105355 ms *************
mapping solver time 27.047510 ms 
mapping data assosiation time 21.671386 ms 
mapping solver time 18.346799 ms 
mapping pub time 1.655887 ms 
whole mapping time 120.652250 ms +++++
mappingCount 2294 & avg mapping time 157.014313 ms ++++++++++++++++++++++
points size 76867 
build tree time 15.612923 ms 
publication time 7.407174 ms 
whole laserOdometry time 7.418662 ms 
 
mapping solver time 19.508245 ms 
mapping data assosiation time 18.712087 ms 
mapping solver time 14.383797 ms 
map prepare time 2.621814 ms
map corner num 72751  surf num 25771 
sort q time 5.164585 
seperate points time 9.871667 
publication time 6.439719 ms 
whole laserOdometry time 6.459182 ms 
 
-----t: 0.0416953
OdomCount 3562 & avg odom time 0.047580 ms ++++++++++++++++++++++
mapping solver time 26.589344 ms 
mapping data assosiation time 19.403027 ms 
--------------------stamp1317358132.058958053
filter time 5.378652 ms 
scan registration time 24.990093 ms *************
build tree time 18.272347 ms 
-----t: 0.0454529
OdomCount 3563 & avg odom time 0.047580 ms ++++++++++++++++++++++
mapping solver time 22.384314 ms 
--------------------stamp1317358132.163069009
prepare time 12.551417 
sort q time 4.249020 
seperate points time 10.043757 
mapping pub time 1.815240 ms 
whole mapping time 119.771001 ms +++++
mappingCount 2297 & avg mapping time 156.958445 ms ++++++++++++++++++++++
build tree time 16.612943 ms 
mapping data assosiation time 21.699768 ms 
--------------------stamp1317358132.267230033
prepare time 12.005103 
scan registration time 27.108075 ms *************
publication time 8.051191 ms 
whole laserOdometry time 8.065694 ms 
 
-----t: 0.0390602
OdomCount 3565 & avg odom time 0.047575 ms ++++++++++++++++++++++
map prepare time 2.620022 ms
map corner num 67614  surf num 23571 
build tree time 15.964012 ms 
mapping data assosiation time 21.791672 ms 
points size 82740 
sort q time 4.606274 
seperate points time 10.473788 
publication time 8.025353 ms 
whole laserOdometry time 8.040567 ms 
 
mapping solver time 16.880451 ms 
mapping optimization time 104.781575 
add points time 0.775893 ms
filter time 4.828143 ms 
build tree time 14.147864 ms 
--------------------stamp1317358132.475544929
prepare time 11.799694 
sort q time 5.036906 
seperate points time 10.841609 
mapping solver time 25.580448 ms 
-----t: 0.0475365
OdomCount 3567 & avg odom time 0.047571 ms ++++++++++++++++++++++
1317358132.475544929 WriteOdom laser_odom_to_init
1317358132.475544929 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.327178 ms 
mapping solver time 17.905662 ms 
mapping pub time 1.813413 ms 
whole mapping time 120.138723 ms +++++
mappingCount 2300 & avg mapping time 156.910325 ms ++++++++++++++++++++++
--------------------stamp1317358132.579703092
prepare time 10.835373 
sort q time 4.472544 
seperate points time 10.678639 
publication time 12.742879 ms 
whole laserOdometry time 12.757471 ms 
 
mapping solver time 27.194795 ms 
mapping data assosiation time 20.787574 ms 
mapping solver time 18.826975 ms 
[0m[ INFO] [1718804849.496397686, 1317358132.678351900]: Received 93214 data points in frame camera_init with the following fields: x y z intensity[0mprepare time 14.041061 
sort q time 4.729592 
seperate points time 11.385751 
publication time 8.059991 ms 
whole laserOdometry time 8.071025 ms 
 
-----t: 0.054106
OdomCount 3569 & avg odom time 0.047570 ms ++++++++++++++++++++++
--------------------stamp1317358132.788094043
points size 86062 
prepare time 12.478464 
scan registration time 28.636352 ms *************
-----t: 0.0667036
OdomCount 3570 & avg odom time 0.047575 ms ++++++++++++++++++++++
1317358132.788094043 WriteOdom laser_odom_to_init
1317358132.788094043 WriteOdom aft_mapped_to_init_high_frec
points size 86794 
mapping solver time 21.400919 ms 
map prepare time 3.067161 ms
map corner num 69523  surf num 24373 
publication time 14.331112 ms 
whole laserOdometry time 14.349712 ms 
 
mapping data assosiation time 27.694826 ms 
points size 87332 
scan registration time 31.037604 ms *************
mapping data assosiation time 29.078608 ms 
mapping solver time 20.567218 ms 
mapping pub time 2.013407 ms 
whole mapping time 135.633070 ms +++++
mappingCount 2303 & avg mapping time 156.924321 ms ++++++++++++++++++++++
1317358132.788094044 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.484931 ms
map corner num 70095  surf num 24601 
build tree time 18.640018 ms 
prepare time 10.729841 
sort q time 6.010759 
seperate points time 11.736387 
publication time 10.166433 ms 
whole laserOdometry time 10.182757 ms 
 
-----t: 0.0538772
OdomCount 3573 & avg odom time 0.047577 ms ++++++++++++++++++++++
mapping data assosiation time 23.148726 ms 
mapping solver time 18.776394 ms 
mapping pub time 2.244099 ms 
whole mapping time 129.956464 ms +++++
mappingCount 2304 & avg mapping time 156.912618 ms ++++++++++++++++++++++
build tree time 16.084593 ms 
publication time 9.102324 ms 
whole laserOdometry time 9.117800 ms 
 
-----t: 0.0381065
OdomCount 3574 & avg odom time 0.047574 ms ++++++++++++++++++++++
mapping solver time 26.328569 ms 
mapping data assosiation time 23.504515 ms 
points size 89967 
add points time 0.867016 ms
map prepare time 3.399951 ms
map corner num 71116  surf num 24978 
publication time 10.683318 ms 
whole laserOdometry time 10.699389 ms 
 
mapping data assosiation time 24.482244 ms 
--------------------stamp1317358133.413260936
prepare time 11.955380 
sort q time 5.677839 
seperate points time 11.354287 
mapping data assosiation time 29.397827 ms 
mapping solver time 28.258564 ms 
[0m[ INFO] [1718804850.298818724, 1317358133.486953098]: Received 96817 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804850.298859360, 1317358133.486953098]: Data saved to 1317358133204919.pcd[0m
build tree time 14.503023 ms 
points size 91669 
sort q time 5.454541 
seperate points time 12.675407 
publication time 7.967052 ms 
whole laserOdometry time 7.990709 ms 
 
-----t: 0.0498524
OdomCount 3577 & avg odom time 0.047568 ms ++++++++++++++++++++++
mapping data assosiation time 25.407534 ms 
mapping solver time 19.925861 ms 
1317358133.309101105 WriteOdom aft_mapped_to_init
sort q time 5.019569 
seperate points time 11.936351 
-----t: 0.0387285
OdomCount 3578 & avg odom time 0.047566 ms ++++++++++++++++++++++
mapping data assosiation time 39.735282 ms 
mapping solver time 25.294853 ms 
--------------------stamp1317358133.725716114
prepare time 13.878000 
sort q time 5.765605 
seperate points time 12.277180 
scan registration time 31.410601 ms *************
filter time 7.076762 ms 
-----t: 0.0476637
OdomCount 3579 & avg odom time 0.047566 ms ++++++++++++++++++++++
build tree time 16.634734 ms 
mapping data assosiation time 25.627788 ms 
points size 94661 
mapping solver time 27.469152 ms 
publication time 11.229461 ms 
whole laserOdometry time 11.246584 ms 
 
-----t: 0.0513757
OdomCount 3580 & avg odom time 0.047567 ms ++++++++++++++++++++++
1317358133.829849958 WriteOdom laser_odom_to_init
1317358133.829849958 WriteOdom aft_mapped_to_init_high_frec
add points time 0.878687 ms
mapping pub time 2.105568 ms 
whole mapping time 137.685458 ms +++++
mappingCount 2309 & avg mapping time 156.874204 ms ++++++++++++++++++++++
--------------------stamp1317358133.933984041
sort q time 5.251752 
seperate points time 10.596220 
publication time 7.394267 ms 
whole laserOdometry time 7.427255 ms 
 
mapping solver time 33.284112 ms 
mapping data assosiation time 23.479940 ms 
--------------------stamp1317358134.038094997
points size 98684 
map prepare time 2.506786 ms
map corner num 73709  surf num 26055 
build tree time 18.383899 ms 
-----t: 0.0452902
OdomCount 3582 & avg odom time 0.047564 ms ++++++++++++++++++++++
mapping data assosiation time 28.914396 ms 
mapping solver time 32.225347 ms 
prepare time 12.719013 
sort q time 5.929257 
seperate points time 14.136354 
publication time 9.811610 ms 
whole laserOdometry time 9.824175 ms 
 
mapping solver time 33.181419 ms 
drop lidar frame in mapping for real time performance 
build tree time 14.649533 ms 
--------------------stamp1317358134.246290922
prepare time 11.640990 
sort q time 5.938436 
seperate points time 12.823314 
publication time 13.621540 ms 
whole laserOdometry time 13.634652 ms 
 
mapping solver time 39.181257 ms 
mapping data assosiation time 29.306433 ms 
--------------------stamp1317358134.350353956
points size 100282 
filter time 6.371358 ms 
scan registration time 33.690321 ms *************
publication time 9.735813 ms 
whole laserOdometry time 9.761349 ms 
 
-----t: 0.0590817
OdomCount 3585 & avg odom time 0.047568 ms ++++++++++++++++++++++
--------------------stamp1317358134.454392910
mapping solver time 35.535763 ms 
sort q time 6.340210 
seperate points time 12.179195 
mapping data assosiation time 30.831452 ms 
mapping solver time 25.173719 ms 
mapping pub time 2.384237 ms 
whole mapping time 158.181437 ms +++++
mappingCount 2313 & avg mapping time 156.865722 ms ++++++++++++++++++++++
build tree time 14.772545 ms 
points size 100139 
sort q time 5.736193 
seperate points time 12.447058 
publication time 9.042353 ms 
whole laserOdometry time 9.059075 ms 
 
mapping solver time 32.783700 ms 
mapping data assosiation time 27.530364 ms 
--------------------stamp1317358134.662396907
prepare time 12.869606 
map prepare time 2.828932 ms
map corner num 75612  surf num 26850 
build tree time 20.657469 ms 
mapping data assosiation time 26.462767 ms 
mapping solver time 27.102627 ms 
points size 99842 
prepare time 12.983904 
scan registration time 31.515215 ms *************
mapping solver time 22.974000 ms 
mapping pub time 2.329175 ms 
whole mapping time 142.133902 ms +++++
mappingCount 2315 & avg mapping time 156.854252 ms ++++++++++++++++++++++
build tree time 16.023328 ms 
--------------------stamp1317358134.870282888
points size 99535 
sort q time 5.564617 
seperate points time 12.676047 
mapping solver time 34.400670 ms 
-----t: 0.0434561
OdomCount 3590 & avg odom time 0.047569 ms ++++++++++++++++++++++
mapping data assosiation time 28.349649 ms 
--------------------stamp1317358134.974083900
filter time 15.674113 ms 
sort q time 6.868474 
seperate points time 14.991796 
build tree time 22.189693 ms 
mapping data assosiation time 33.147470 ms 
-----t: 0.0580439
OdomCount 3591 & avg odom time 0.047571 ms ++++++++++++++++++++++
1317358134.974083900 WriteOdom laser_odom_to_init
1317358134.974083900 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358135.077740907
points size 99113 
sort q time 6.511046 
seperate points time 14.124083 
mapping data assosiation time 31.572668 ms 
publication time 17.563749 ms 
whole laserOdometry time 17.594280 ms 
 
mapping optimization time 153.610135 
add points time 0.979035 ms
filter time 6.519646 ms 
--------------------stamp1317358135.181345939
sort q time 5.875875 
seperate points time 11.498541 
scan registration time 30.352436 ms *************
mapping data assosiation time 31.633006 ms 
-----t: 0.0565386
OdomCount 3593 & avg odom time 0.047576 ms ++++++++++++++++++++++
mapping data assosiation time 26.017980 ms 
points size 100006 
prepare time 14.490329 
mapping solver time 24.264122 ms 
filter time 8.026888 ms 
publication time 9.706225 ms 
whole laserOdometry time 9.732636 ms 
 
-----t: 0.0508048
OdomCount 3594 & avg odom time 0.047577 ms ++++++++++++++++++++++
mapping data assosiation time 28.018720 ms 
--------------------stamp1317358135.388581991
sort q time 5.674813 
seperate points time 13.132840 
publication time 10.213099 ms 
whole laserOdometry time 10.281662 ms 
 
-----t: 0.0566601
OdomCount 3595 & avg odom time 0.047579 ms ++++++++++++++++++++++
mapping solver time 31.425973 ms 
mapping pub time 2.276201 ms 
whole mapping time 168.198383 ms +++++
mappingCount 2319 & avg mapping time 156.863451 ms ++++++++++++++++++++++
points size 100230 
sort q time 6.244184 
seperate points time 12.242882 
publication time 9.617449 ms 
whole laserOdometry time 9.636541 ms 
 
mapping solver time 43.183720 ms 
--------------------stamp1317358135.595844030
points size 100615 
sort q time 6.060874 
seperate points time 14.649595 
publication time 7.481414 ms 
whole laserOdometry time 7.499730 ms 
 
filter time 7.456941 ms 
build tree time 15.167254 ms 
--------------------stamp1317358135.699498891
mapping data assosiation time 26.674888 ms 
sort q time 5.536865 
seperate points time 12.748634 
publication time 9.307772 ms 
whole laserOdometry time 9.346527 ms 
 
mapping data assosiation time 27.506871 ms 
--------------------stamp1317358135.803103923
filter time 5.922677 ms 
sort q time 5.605437 
seperate points time 13.314462 
publication time 10.456857 ms 
whole laserOdometry time 10.471502 ms 
 
-----t: 0.0520164
OdomCount 3599 & avg odom time 0.047588 ms ++++++++++++++++++++++
1317358135.803103923 WriteOdom laser_odom_to_init
1317358135.803103923 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358135.906711101
points size 101841 
drop lidar frame in mapping for real time performance 
build tree time 19.315485 ms 
scan registration time 57.042686 ms *************
publication time 9.044848 ms 
whole laserOdometry time 9.057967 ms 
 
--------------------stamp1317358136.010343074
prepare time 15.301528 
scan registration time 38.438747 ms *************
publication time 9.702790 ms 
whole laserOdometry time 9.718242 ms 
 
1317358136.010343074 WriteOdom laser_odom_to_init
1317358136.010343074 WriteOdom aft_mapped_to_init_high_frec
add points time 1.792554 ms
mapping pub time 2.446008 ms 
whole mapping time 169.386387 ms +++++
mappingCount 2322 & avg mapping time 156.921786 ms ++++++++++++++++++++++
--------------------stamp1317358136.113975048
points size 102744 
sort q time 6.765165 
seperate points time 15.640345 
mapping data assosiation time 33.356032 ms 
-----t: 0.0493059
OdomCount 3602 & avg odom time 0.047589 ms ++++++++++++++++++++++
mapping solver time 36.396669 ms 
--------------------stamp1317358136.217603921
prepare time 12.370056 
sort q time 7.140769 
seperate points time 13.249826 
mapping solver time 38.306533 ms 
mapping pub time 2.514293 ms 
whole mapping time 175.622738 ms +++++
mappingCount 2323 & avg mapping time 156.929840 ms ++++++++++++++++++++++
build tree time 18.459860 ms 
--------------------stamp1317358136.321259021
points size 102860 
sort q time 5.226803 
seperate points time 11.764702 
mapping solver time 34.233510 ms 
-----t: 0.0421522
OdomCount 3604 & avg odom time 0.047590 ms ++++++++++++++++++++++
mapping data assosiation time 31.311296 ms 
mapping solver time 26.588168 ms 
mapping pub time 2.341528 ms 
whole mapping time 155.269388 ms +++++
mappingCount 2324 & avg mapping time 156.929133 ms ++++++++++++++++++++++
sort q time 6.140998 
seperate points time 11.686859 
publication time 7.845637 ms 
whole laserOdometry time 7.860024 ms 
 
-----t: 0.0434508
OdomCount 3605 & avg odom time 0.047589 ms ++++++++++++++++++++++
mapping data assosiation time 30.082122 ms 
mapping solver time 31.455554 ms 
points size 102873 
sort q time 5.529379 
seperate points time 12.908338 
publication time 10.727076 ms 
whole laserOdometry time 10.751465 ms 
 
filter time 6.732071 ms 
build tree time 15.700720 ms 
points size 102985 
sort q time 5.959503 
seperate points time 11.720605 
publication time 9.658600 ms 
whole laserOdometry time 9.671746 ms 
 
-----t: 0.05342
OdomCount 3607 & avg odom time 0.047591 ms ++++++++++++++++++++++
mapping data assosiation time 29.296939 ms 
--------------------stamp1317358136.736212968
add points time 1.172964 ms
filter time 8.827816 ms 
scan registration time 32.628230 ms *************
build tree time 21.140506 ms 
-----t: 0.0567936
OdomCount 3608 & avg odom time 0.047594 ms ++++++++++++++++++++++
--------------------stamp1317358136.839987039
prepare time 13.362320 
sort q time 5.834118 
seperate points time 13.572186 
mapping data assosiation time 33.236546 ms 
publication time 14.540898 ms 
whole laserOdometry time 14.551886 ms 
 
-----t: 0.0514987filter time 6.522526 ms 
--------------------stamp1317358136.943763017
prepare time 12.003105 
sort q time 5.745541 
seperate points time 13.436325 
publication time 12.034309 ms 
-----t: 0.068169
OdomCount 3610 & avg odom time 0.047600 ms ++++++++++++++++++++++
mapping solver time 25.496236 ms 
scan registration time 54.304219 ms *************
build tree time 22.335042 ms 
publication time 16.786731 ms 
whole laserOdometry time 16.800470 ms 
 
points size 103150 
sort q time 6.775994 
seperate points time 13.660283 
publication time 11.950614 ms 
whole laserOdometry time 11.965042 ms 
 
mapping solver time 19.827187 ms 
filter time 6.278340 ms 
--------------------stamp1317358137.255085945
points size 103054 
sort q time 5.576997 
seperate points time 13.086780 
mapping data assosiation time 31.519436 ms 
-----t: 0.0430799
OdomCount 3613 & avg odom time 0.047606 ms ++++++++++++++++++++++
mapping solver time 28.922675 ms 
--------------------stamp1317358137.358865976
mapping data assosiation time 25.890640 ms 
points size 103023 
mapping solver time 22.168851 ms 
map prepare time 3.610803 ms
map corner num 84125  surf num 30817 
-----t: 0.0472204
OdomCount 3614 & avg odom time 0.047606 ms ++++++++++++++++++++++
mapping data assosiation time 26.923708 ms 
--------------------stamp1317358137.462640047
points size 102992 
scan registration time 33.223617 ms *************
publication time 8.984301 ms 
whole laserOdometry time 9.019376 ms 
 
-----t: 0.0567273
OdomCount 3615 & avg odom time 0.047609 ms ++++++++++++++++++++++
1317358137.462640047 WriteOdom laser_odom_to_init
1317358137.462640047 WriteOdom aft_mapped_to_init_high_frec
filter time 6.192082 ms 
map prepare time 2.885576 ms
map corner num 84559  surf num 30995 
points size 102859 
sort q time 5.906509 
seperate points time 13.412137 
mapping data assosiation time 33.419079 ms 
publication time 12.818150 ms 
whole laserOdometry time 12.840808 ms 
 
mapping solver time 34.655330 ms 
--------------------stamp1317358137.670236110
sort q time 5.709498 
seperate points time 12.791782 
mapping solver time 14.071267 ms 
mapping optimization time 134.581027 
add points time 1.236669 ms
scan registration time 30.238129 ms *************
filter time 8.285398 ms 
publication time 11.890946 ms 
whole laserOdometry time 11.903944 ms 
 
mapping data assosiation time 25.423291 ms 
--------------------stamp1317358137.774153947
prepare time 13.240584 
sort q time 6.080180 
seperate points time 14.231790 
publication time 7.583682 ms 
whole laserOdometry time 7.597621 ms 
 
mapping data assosiation time 45.416311 ms 
-----t: 0.0646423
OdomCount 3618 & avg odom time 0.047613 ms ++++++++++++++++++++++
filter time 6.760293 ms 
map prepare time 4.684379 ms
map corner num 85506  surf num 31323 
prepare time 15.017095 
build tree time 23.529112 ms 
publication time 10.722320 ms 
whole laserOdometry time 10.767543 ms 
 
mapping data assosiation time 33.819093 ms 
-----t: 0.058147
OdomCount 3619 & avg odom time 0.047616 ms ++++++++++++++++++++++
1317358137.878168106 WriteOdom laser_odom_to_init
1317358137.878168106 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 34.818458 ms 
--------------------stamp1317358137.982278108
prepare time 13.679158 
sort q time 6.292482 
seperate points time 13.242694 
publication time 8.368444 ms 
whole laserOdometry time 8.388020 ms 
 
1317358137.982278108 WriteOdom laser_odom_to_init
1317358137.982278108 WriteOdom aft_mapped_to_init_high_frec
filter time 6.337100 ms 
mapping pub time 2.278851 ms 
whole mapping time 172.575770 ms +++++
mappingCount 2334 & avg mapping time 156.935087 ms ++++++++++++++++++++++
1317358137.670236111 WriteOdom aft_mapped_to_init
build tree time 17.114077 ms 
--------------------stamp1317358138.086438894
mapping data assosiation time 32.304131 ms 
scan registration time 30.500735 ms *************
publication time 8.515640 ms 
whole laserOdometry time 8.528812 ms 
 
mapping solver time 35.433917 ms 
mapping data assosiation time 28.465918 ms 
--------------------stamp1317358138.190623044
mapping solver time 32.948229 ms 
mapping pub time 2.541324 ms 
whole mapping time 162.447652 ms +++++
mappingCount 2335 & avg mapping time 156.937451 ms ++++++++++++++++++++++
1317358137.878168106 WriteOdom aft_mapped_to_init
build tree time 24.822083 ms 
publication time 10.141112 ms 
whole laserOdometry time 10.155251 ms 
 
-----t: 0.0588668
OdomCount 3622 & avg odom time 0.047618 ms ++++++++++++++++++++++
mapping data assosiation time 35.975228 ms 
--------------------stamp1317358138.294804096
prepare time 15.130986 
sort q time 5.517123 
seperate points time 13.551557 
-----t: 0.037769
OdomCount 3623 & avg odom time 0.047615 ms ++++++++++++++++++++++
mapping solver time 32.260660 ms 
filter time 8.358741 ms 
map prepare time 3.964864 ms
map corner num 86950  surf num 31896 
sort q time 5.967896 
seperate points time 13.204699 
publication time 9.874761 ms 
whole laserOdometry time 9.884483 ms 
 
mapping data assosiation time 33.257714 ms 
mapping solver time 33.885655 ms 
points size 100514 
mapping data assosiation time 32.127695 ms 
publication time 10.773522 ms 
whole laserOdometry time 10.804025 ms 
 
-----t: 0.0620549
OdomCount 3625 & avg odom time 0.047621 ms ++++++++++++++++++++++
--------------------stamp1317358138.607640027
points size 100088 
sort q time 5.412053 
seperate points time 12.556805 
publication time 9.983160 ms 
whole laserOdometry time 10.001577 ms 
 
mapping solver time 38.578908 ms 
-----t: 0.070961
OdomCount 3626 & avg odom time 0.047628 ms ++++++++++++++++++++++
--------------------stamp1317358138.711919069
prepare time 12.161252 
--------------------stamp1317358138.816245079
prepare time 11.385686 
sort q time 5.779201 
seperate points time 11.784869 
mapping solver time 33.680937 ms 
publication time 14.978660 ms 
whole laserOdometry time 14.995958 ms 
 
-----t: 0.0522745
OdomCount 3628 & avg odom time 0.047633 ms ++++++++++++++++++++++
mapping data assosiation time 31.332847 ms 
mapping solver time 24.671239 ms 
mapping pub time 2.231783 ms 
whole mapping time 156.535625 ms +++++
mappingCount 2339 & avg mapping time 156.968299 ms ++++++++++++++++++++++
sort q time 5.335403 
seperate points time 12.452306 
-----t: 0.0362648
OdomCount 3629 & avg odom time 0.047630 ms ++++++++++++++++++++++
mapping solver time 33.361367 ms 
--------------------stamp1317358139.025139093
prepare time 11.807375 
mapping data assosiation time 33.508669 ms 
publication time 8.495897 ms 
whole laserOdometry time 8.511246 ms 
 
mapping optimization time 155.583104 
mapping pub time 2.217579 ms 
whole mapping time 167.773680 ms +++++
mappingCount 2340 & avg mapping time 156.972919 ms ++++++++++++++++++++++
build tree time 17.439908 ms 
points size 98854 
mapping data assosiation time 30.695163 ms 
publication time 27.854880 ms 
whole laserOdometry time 27.873691 ms 
 
mapping data assosiation time 26.959409 ms 
--------------------stamp1317358139.234154939
mapping solver time 35.606252 ms 
prepare time 18.547972 
mapping optimization time 150.285056 
add points time 1.015253 ms
scan registration time 37.719206 ms *************
publication time 10.318747 ms 
whole laserOdometry time 10.336348 ms 
 
-----t: 0.066724
OdomCount 3632 & avg odom time 0.047634 ms ++++++++++++++++++++++
--------------------stamp1317358139.338649034
points size 97041 
sort q time 5.358730 
seperate points time 12.541437 
drop lidar frame in mapping for real time performance 
build tree time 18.953845 ms 
-----t: 0.0667361
OdomCount 3633 & avg odom time 0.047639 ms ++++++++++++++++++++++
1317358139.338649034 WriteOdom laser_odom_to_init
1317358139.338649034 WriteOdom aft_mapped_to_init_high_frec
points size 95882 
sort q time 5.576663 
seperate points time 11.965310 
publication time 8.144032 ms 
whole laserOdometry time 8.158736 ms 
 
mapping solver time 24.926223 ms 
filter time 6.296652 ms 
--------------------stamp1317358139.547348976
points size 95104 
sort q time 5.508036 
seperate points time 12.646039 
publication time 8.987850 ms 
whole laserOdometry time 9.000752 ms 
 
-----t: 0.0644558
OdomCount 3635 & avg odom time 0.047642 ms ++++++++++++++++++++++
--------------------stamp1317358139.651649951
points size 94110 
mapping solver time 24.313665 ms 
mapping optimization time 135.698727 
add points time 0.897641 ms
publication time 8.486245 ms 
whole laserOdometry time 8.496637 ms 
 
build tree time 19.699909 ms 
-----t: 0.0592375
OdomCount 3636 & avg odom time 0.047645 ms ++++++++++++++++++++++
mapping data assosiation time 24.619475 ms 
--------------------stamp1317358139.755882024
prepare time 14.191683 
sort q time 5.036107 
seperate points time 11.242972 
mapping data assosiation time 26.608473 ms 
publication time 8.300162 ms 
whole laserOdometry time 8.315964 ms 
 
-----t: 0.0473148
OdomCount 3637 & avg odom time 0.047645 ms ++++++++++++++++++++++
filter time 7.761530 ms 
build tree time 17.569841 ms 
points size 90885 
sort q time 4.959823 
seperate points time 11.739038 
publication time 8.230070 ms 
whole laserOdometry time 8.244678 ms 
 
-----t: 0.046564
OdomCount 3638 & avg odom time 0.047645 ms ++++++++++++++++++++++
1317358139.860064983 WriteOdom laser_odom_to_init
1317358139.860064983 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.456517 ms 
--------------------stamp1317358139.964198112
points size 89134 
sort q time 4.734630 
seperate points time 11.472195 
build tree time 20.579515 ms 
publication time 12.722176 ms 
whole laserOdometry time 12.738654 ms 
 
mapping data assosiation time 31.632816 ms 
mapping solver time 25.389811 ms 
--------------------stamp1317358140.068309068
points size 87913 
sort q time 4.659850 
seperate points time 11.063983 
publication time 7.446665 ms 
whole laserOdometry time 7.460782 ms 
 
filter time 8.025678 ms 
build tree time 17.628731 ms 
--------------------stamp1317358140.172395944
prepare time 11.588346 
sort q time 5.699746 
seperate points time 11.091406 
mapping solver time 34.451402 ms 
-----t: 0.0438131
OdomCount 3641 & avg odom time 0.047638 ms ++++++++++++++++++++++
1317358140.172395944 WriteOdom laser_odom_to_init
1317358140.172395944 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.317571 ms 
mapping solver time 22.623693 ms 
mapping pub time 2.174057 ms 
whole mapping time 139.865882 ms +++++
mappingCount 2347 & avg mapping time 156.996467 ms ++++++++++++++++++++++
points size 84891 
build tree time 21.847870 ms 
sort q time 4.720851 
seperate points time 10.966033 
scan registration time 30.298989 ms *************
publication time 7.584366 ms -----t: 0.047368
OdomCount 3642 & avg odom time 0.047638 ms ++++++++++++++++++++++
1317358140.276459932 WriteOdom laser_odom_to_init
1317358140.276459932 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.612204 ms 
mapping data assosiation time 23.031823 ms 
points size 84107 
sort q time 4.576458 
seperate points time 10.640659 
map prepare time 3.091395 ms
map corner num 92133  surf num 33530 
publication time 8.572361 ms 
whole laserOdometry time 8.582226 ms 
 
-----t: 0.0353885
OdomCount 3643 & avg odom time 0.047635 ms ++++++++++++++++++++++
1317358140.380497932 WriteOdom laser_odom_to_init
1317358140.380497932 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.243778 ms 
--------------------stamp1317358140.484513998
prepare time 10.652629 
sort q time 5.105105 
seperate points time 10.808488 
publication time 6.719077 ms 
whole laserOdometry time 6.756078 ms 
 
1317358140.484513998 WriteOdom aft_mapped_to_init_high_frec
filter time 9.895295 ms 
build tree time 17.505228 ms 
--------------------stamp1317358140.588529109
points size 82904 
sort q time 4.443645 
seperate points time 10.383285 
-----t: 0.0269214
OdomCount 3645 & avg odom time 0.047625 ms ++++++++++++++++++++++
publication time 5.802463 ms 
whole laserOdometry time 5.816369 ms 
 
mapping data assosiation time 23.793738 ms 
mapping solver time 21.048143 ms 
filter time 7.152738 ms 
points size 80945 
sort q time 4.812602 
seperate points time 10.347459 
publication time 6.325746 ms 
whole laserOdometry time 6.341121 ms 
 
mapping data assosiation time 25.666285 ms 
-----t: 0.0622901
OdomCount 3646 & avg odom time 0.047629 ms ++++++++++++++++++++++
--------------------stamp1317358140.796462059
prepare time 10.526223 
sort q time 4.242500 
seperate points time 9.324983 
mapping solver time 25.861481 ms 
filter time 9.032131 ms 
mapping pub time 4.022842 ms 
whole mapping time 147.631765 ms +++++
mappingCount 2351 & avg mapping time 156.968483 ms ++++++++++++++++++++++
1317358140.588529110 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.582435 ms
map corner num 93210  surf num 33796 
build tree time 22.666851 ms 
mapping data assosiation time 21.994825 ms 
points size 78399 
prepare time 10.920732 
publication time 7.242470 ms 
whole laserOdometry time 7.255562 ms 
 
mapping solver time 20.101166 ms 
filter time 6.423379 ms 
--------------------stamp1317358141.004252910
build tree time 19.314559 ms 
prepare time 10.574338 
sort q time 4.149650 
seperate points time 9.641357 
mapping data assosiation time 23.669719 ms 
scan registration time 25.265714 ms *************
mapping solver time 29.593284 ms 
-----t: 0.0519586
OdomCount 3649 & avg odom time 0.047625 ms ++++++++++++++++++++++
mapping data assosiation time 22.776819 ms 
mapping solver time 20.389585 ms 
points size 78595 
sort q time 4.383324 
seperate points time 10.305566 
publication time 8.145579 ms 
whole laserOdometry time 8.178701 ms 
 
mapping solver time 17.797699 ms 
mapping data assosiation time 20.127066 ms 
mapping solver time 14.832609 ms 
map prepare time 2.808829 ms
map corner num 94304  surf num 34013 
publication time 5.091037 ms 
whole laserOdometry time 5.107975 ms 
 
-----t: 0.0421654
OdomCount 3651 & avg odom time 0.047619 ms ++++++++++++++++++++++
mapping data assosiation time 33.641928 ms 
mapping solver time 20.054123 ms 
points size 79623 
mapping data assosiation time 25.508450 ms 
mapping solver time 26.630763 ms 
drop lidar frame in mapping for real time performance 
build tree time 18.253480 ms 
mapping data assosiation time 17.728199 ms 
points size 79964 
sort q time 4.613346 
seperate points time 10.305528 
mapping data assosiation time 23.205436 ms 
mapping solver time 19.748398 ms 
[0m[ INFO] [1718804858.299940344, 1317358141.486445824]: Received 129060 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804858.299978048, 1317358141.486445824]: Data saved to 1317358141211971.pcd[0m
build tree time 21.825161 ms 
points size 78483 
prepare time 13.082964 
mapping data assosiation time 23.122027 ms 
publication time 6.156022 ms 
whole laserOdometry time 6.169779 ms 
 
mapping data assosiation time 19.460451 ms 
mapping solver time 18.204156 ms 
mapping pub time 1.829504 ms 
whole mapping time 121.431444 ms +++++
mappingCount 2357 & avg mapping time 156.891419 ms ++++++++++++++++++++++
--------------------stamp1317358141.627763986
points size 75470 
sort q time 4.092276 
seperate points time 9.822982 
scan registration time 28.585926 ms *************
-----t: 0.0362256
OdomCount 3655 & avg odom time 0.047604 ms ++++++++++++++++++++++
mapping data assosiation time 17.325024 ms 
mapping solver time 16.568935 ms 
filter time 7.521472 ms 
points size 73943 
build tree time 22.836525 ms 
sort q time 4.091846 
seperate points time 9.652607 
publication time 5.521691 ms 
whole laserOdometry time 5.577314 ms 
 
mapping solver time 17.784360 ms 
mapping data assosiation time 20.207160 ms 
mapping solver time 13.254059 ms 
map prepare time 2.545850 ms
map corner num 95786  surf num 34374 
sort q time 4.041840 
seperate points time 9.614974 
publication time 4.854756 ms 
whole laserOdometry time 4.866456 ms 
 
-----t: 0.0435656
OdomCount 3657 & avg odom time 0.047600 ms ++++++++++++++++++++++
mapping data assosiation time 18.597855 ms 
--------------------stamp1317358141.939759969
mapping pub time 1.750624 ms 
whole mapping time 114.125219 ms +++++
mappingCount 2360 & avg mapping time 156.832658 ms ++++++++++++++++++++++
-----t: 0.0248284
OdomCount 3658 & avg odom time 0.047594 ms ++++++++++++++++++++++
mapping data assosiation time 16.853910 ms 
mapping solver time 17.423856 ms 
mapping data assosiation time 18.324501 ms 
--------------------stamp1317358142.043751001
prepare time 9.413717 
[0m[ INFO] [1718804858.875406119, 1317358142.061395940]: Received 130861 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804858.875486152, 1317358142.061395940]: Data saved to 1317358141835768.pcd[0m
scan registration time 22.863401 ms *************
publication time 6.320199 ms 
whole laserOdometry time 6.342267 ms 
 
-----t: 0.0437788
OdomCount 3659 & avg odom time 0.047593 ms ++++++++++++++++++++++
--------------------stamp1317358142.147717952
sort q time 3.602764 
seperate points time 7.820120 
publication time 6.094132 ms 
whole laserOdometry time 6.113243 ms 
 
-----t: 0.0290075
OdomCount 3660 & avg odom time 0.047588 ms ++++++++++++++++++++++
build tree time 22.487504 ms 
mapping data assosiation time 16.702869 ms 
mapping solver time 20.361512 ms 
--------------------stamp1317358142.251661062
sort q time 3.468984 
seperate points time 7.330611 
mapping solver time 20.359249 ms 
mapping optimization time 100.580584 
add points time 0.968046 ms
drop lidar frame in mapping for real time performance 
build tree time 20.792515 ms 
mapping data assosiation time 17.401394 ms 
mapping solver time 20.694557 ms 
sort q time 3.349721 
seperate points time 7.124645 
publication time 6.821162 ms 
whole laserOdometry time 6.844070 ms 
 
mapping solver time 21.017600 ms 
mapping optimization time 103.874421 
mapping pub time 1.484825 ms 
whole mapping time 116.299292 ms +++++
mappingCount 2363 & avg mapping time 156.824121 ms ++++++++++++++++++++++
build tree time 23.555414 ms 
mapping data assosiation time 17.645540 ms 
points size 68163 
scan registration time 17.335237 ms *************
publication time 5.965810 ms 
whole laserOdometry time 5.979555 ms 
 
-----t: 0.043721
OdomCount 3663 & avg odom time 0.047576 ms ++++++++++++++++++++++
filter time 7.777815 ms 
build tree time 19.437830 ms 
points size 71519 
scan registration time 18.174301 ms *************
publication time 8.066200 ms 
whole laserOdometry time 8.082516 ms 
 
-----t: 0.0366925
OdomCount 3664 & avg odom time 0.047573 ms ++++++++++++++++++++++
mapping solver time 17.703235 ms 
mapping pub time 1.592931 ms 
whole mapping time 114.905734 ms +++++
mappingCount 2365 & avg mapping time 156.790085 ms ++++++++++++++++++++++
--------------------stamp1317358142.667262077
sort q time 3.764359 
seperate points time 8.728351 
-----t: 0.0211891
OdomCount 3665 & avg odom time 0.047566 ms ++++++++++++++++++++++
1317358142.667262077 WriteOdom laser_odom_to_init
1317358142.667262077 WriteOdom aft_mapped_to_init_high_frec
publication time 5.357902 ms 
whole laserOdometry time 5.372797 ms 
 
mapping solver time 17.204855 ms 
mapping data assosiation time 19.878384 ms 
mapping solver time 12.146650 ms 
mapping optimization time 93.612540 
add points time 0.796547 ms
filter time 7.375570 ms 
--------------------stamp1317358142.771133899
sort q time 3.845937 
seperate points time 9.126208 
publication time 7.432468 ms 
whole laserOdometry time 7.446664 ms 
 
-----t: 0.0483511
OdomCount 3666 & avg odom time 0.047566 ms ++++++++++++++++++++++
mapping solver time 16.669332 ms 
mapping pub time 1.681316 ms 
whole mapping time 112.456006 ms +++++
mappingCount 2367 & avg mapping time 156.750568 ms ++++++++++++++++++++++
points size 79068 
sort q time 5.056605 
seperate points time 9.527225 
publication time 6.319064 ms 
whole laserOdometry time 6.331663 ms 
 
-----t: 0.0428847
OdomCount 3667 & avg odom time 0.047565 ms ++++++++++++++++++++++
mapping solver time 20.439663 ms 
mapping data assosiation time 18.267010 ms 
mapping solver time 13.750376 ms 
mapping pub time 1.700781 ms 
whole mapping time 113.257157 ms +++++
mappingCount 2368 & avg mapping time 156.732207 ms ++++++++++++++++++++++
sort q time 4.650993 
seperate points time 10.189240 
build tree time 29.360246 ms 
mapping data assosiation time 22.173875 ms 
mapping solver time 18.353537 ms 
--------------------stamp1317358143.082726955
points size 89610 
prepare time 12.549441 
sort q time 4.810427 
seperate points time 10.872547 
publication time 7.339960 ms 
whole laserOdometry time 7.352886 ms 
 
-----t: 0.0395548
OdomCount 3669 & avg odom time 0.047560 ms ++++++++++++++++++++++
mapping data assosiation time 16.736486 ms 
mapping solver time 24.318134 ms 
points size 91308 
mapping data assosiation time 20.353363 ms 
-----t: 0.0274541
OdomCount 3670 & avg odom time 0.047554 ms ++++++++++++++++++++++
filter time 8.853116 ms 
mapping data assosiation time 16.272684 ms 
points size 93998 
mapping solver time 26.468669 ms 
-----t: 0.0279483
OdomCount 3671 & avg odom time 0.047549 ms ++++++++++++++++++++++
mapping data assosiation time 31.791406 ms 
mapping solver time 21.697956 ms 
[0m[ INFO] [1718804860.191708502, 1317358143.356882756]: Received 138093 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804860.191739602, 1317358143.356882756]: Data saved to 1317358143082726.pcd[0m
points size 93562 
scan registration time 40.108654 ms *************
publication time 6.293470 ms 
whole laserOdometry time 6.314112 ms 
 
-----t: 0.0694003
OdomCount 3672 & avg odom time 0.047555 ms ++++++++++++++++++++++
1317358143.394310951 WriteOdom laser_odom_to_init
1317358143.394310951 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.447140 ms 
points size 92553 
filter time 8.254292 ms 
-----t: 0.0288976
OdomCount 3673 & avg odom time 0.047550 ms ++++++++++++++++++++++
mapping data assosiation time 16.592657 ms 
mapping solver time 20.148283 ms 
--------------------stamp1317358143.602076053
prepare time 11.365758 
sort q time 5.104206 
seperate points time 11.214837 
publication time 7.861639 ms 
whole laserOdometry time 7.885165 ms 
 
mapping data assosiation time 17.018529 ms 
mapping solver time 18.447978 ms 
--------------------stamp1317358143.705969095
prepare time 14.544159 
sort q time 5.408895 
seperate points time 12.409258 
mapping pub time 2.044422 ms 
whole mapping time 112.764980 ms +++++
mappingCount 2374 & avg mapping time 156.649043 ms ++++++++++++++++++++++
1317358143.498183012 WriteOdom aft_mapped_to_init
-----t: 0.047453
OdomCount 3675 & avg odom time 0.047547 ms ++++++++++++++++++++++
mapping data assosiation time 16.805961 ms 
mapping solver time 18.077407 ms 
points size 92665 
sort q time 5.492040 
seperate points time 11.514978 
filter time 7.414417 ms 
-----t: 0.0346879
OdomCount 3676 & avg odom time 0.047543 ms ++++++++++++++++++++++
1317358143.809864997 WriteOdom laser_odom_to_init
1317358143.809864997 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 15.983551 ms 
mapping solver time 15.885093 ms 
--------------------stamp1317358143.913759946
points size 93352 
mapping solver time 14.610778 ms 
mapping optimization time 80.873205 
add points time 0.999562 ms
sort q time 5.141222 
seperate points time 11.351050 
[0m[ INFO] [1718804860.769050886, 1317358143.952537453]: Data saved to 1317358143705969.pcd[0m
mapping data assosiation time 21.765107 ms 
--------------------stamp1317358144.017654895
points size 94454 
mapping data assosiation time 20.062378 ms 
filter time 6.255407 ms 
-----t: 0.0492711mapping data assosiation time 16.533848 ms 
points size 93160 
mapping solver time 26.621895 ms 
sort q time 5.342308 
seperate points time 12.335658 
scan registration time 32.284546 ms *************
-----t: 0.0364126
OdomCount 3679 & avg odom time 0.047550 ms ++++++++++++++++++++++
1317358144.121540069 WriteOdom laser_odom_to_init
1317358144.121540069 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.225369 ms 
mapping optimization time 103.920659 
add points time 0.794351 ms
map prepare time 2.154506 ms
map corner num 79959  surf num 29270 
build tree time 16.799305 ms 
--------------------stamp1317358144.225409030
prepare time 13.546600 
sort q time 5.340627 
seperate points time 12.284837 
publication time 6.836132 ms 
whole laserOdometry time 6.849758 ms 
 
mapping solver time 16.797879 ms 
mapping pub time 2.313317 ms 
whole mapping time 111.647834 ms +++++
mappingCount 2379 & avg mapping time 156.549717 ms ++++++++++++++++++++++
build tree time 17.495671 ms 
prepare time 12.393287 
sort q time 5.617958 
seperate points time 12.462717 
mapping solver time 24.630837 ms 
publication time 9.732612 ms 
whole laserOdometry time 9.745591 ms 
 
mapping solver time 15.374532 ms 
mapping optimization time 94.183024 
add points time 0.756418 ms
build tree time 15.369062 ms 
prepare time 11.886233 
sort q time 5.337152 
seperate points time 11.925424 
-----t: 0.0279016
OdomCount 3682 & avg odom time 0.047536 ms ++++++++++++++++++++++
mapping data assosiation time 20.150716 ms 
mapping solver time 15.869393 ms 
[0m[ INFO] [1718804861.330479120, 1317358144.512791181]: Received 110465 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804861.330533903, 1317358144.512791181]: Data saved to 1317358144329314.pcd[0m
--------------------stamp1317358144.537106037
prepare time 12.650881 
scan registration time 29.724403 ms *************
-----t: 0.0381576mapping pub time 116.627758 ms 
whole mapping time 220.225143 ms +++++
mappingCount 2381 & avg mapping time 156.554837 ms ++++++++++++++++++++++
points size 97326 
sort q time 5.961020 
seperate points time 11.625661 
mapping data assosiation time 18.707196 ms 
publication time 8.568026 ms 
whole laserOdometry time 8.588291 ms 
 
mapping data assosiation time 15.919919 ms 
mapping solver time 11.816769 ms 
mapping pub time 2.176325 ms 
whole mapping time 100.852860 ms +++++
mappingCount 2382 & avg mapping time 156.531454 ms ++++++++++++++++++++++
points size 97790 
sort q time 5.265615 
seperate points time 12.287429 
scan registration time 32.811388 ms *************
mapping data assosiation time 19.849003 ms 
-----t: 0.0347114
OdomCount 3685 & avg odom time 0.047528 ms ++++++++++++++++++++++
1317358144.744822978 WriteOdom laser_odom_to_init
1317358144.744822978 WriteOdom aft_mapped_to_init_high_frec
publication time 6.795010 ms 
whole laserOdometry time 6.808145 ms 
 
mapping data assosiation time 21.015292 ms 
mapping solver time 16.313586 ms 
mapping pub time 2.359716 ms 
whole mapping time 116.236083 ms +++++
mappingCount 2383 & avg mapping time 156.514546 ms ++++++++++++++++++++++
sort q time 5.567584 
seperate points time 12.844388 
mapping data assosiation time 17.155124 ms 
mapping solver time 21.038526 ms 
mapping data assosiation time 15.909773 ms 
mapping solver time 16.771093 ms 
points size 100351 
filter time 8.582634 ms 
mapping pub time 2.387477 ms 
whole mapping time 106.375587 ms +++++
mappingCount 2384 & avg mapping time 156.493517 ms ++++++++++++++++++++++
prepare time 13.045643 
1317358144.744822979 WriteOdom aft_mapped_to_init
sort q time 6.342338 
seperate points time 12.433882 
build tree time 21.457904 ms 
mapping data assosiation time 18.734493 ms 
-----t: 0.0464497
OdomCount 3687 & avg odom time 0.047525 ms ++++++++++++++++++++++
1317358144.952609062 WriteOdom laser_odom_to_init
1317358144.952609062 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.988196 ms 
mapping data assosiation time 15.758710 ms 
mapping solver time 14.648424 ms 
filter time 8.466390 ms 
scan registration time 36.534676 ms *************
publication time 7.132724 ms 
whole laserOdometry time 7.147446 ms 
 
1317358145.056480884 WriteOdom laser_odom_to_init
1317358145.056480884 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.096421 ms 
mapping data assosiation time 15.701883 ms 
--------------------stamp1317358145.160353899
filter time 6.121673 ms 
[0m[ INFO] [1718804861.985978860, 1317358145.170245343]: Received 112603 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804861.986020728, 1317358145.170245343]: Data saved to 1317358144952609.pcd[0m
mapping pub time 4.722159 ms 
whole mapping time 99.245608 ms +++++
mappingCount 2386 & avg mapping time 156.449017 ms ++++++++++++++++++++++
1317358144.952609062 WriteOdom aft_mapped_to_init
build tree time 20.352781 ms 
-----t: 0.044872
OdomCount 3689 & avg odom time 0.047525 ms ++++++++++++++++++++++
mapping solver time 16.220105 ms 
mapping data assosiation time 17.517242 ms 
--------------------stamp1317358145.264223098
points size 93535 
map prepare time 2.807520 ms
map corner num 83096  surf num 29930 
build tree time 21.354477 ms 
mapping data assosiation time 19.574493 ms 
mapping solver time 20.168551 ms 
mapping data assosiation time 17.953762 ms 
points size 93531 
scan registration time 29.581234 ms *************
map prepare time 2.754790 ms
map corner num 83532  surf num 30044 
publication time 8.854540 ms 
whole laserOdometry time 8.880829 ms 
 
mapping data assosiation time 18.412428 ms 
mapping solver time 20.659959 ms 
--------------------stamp1317358145.472012042
prepare time 14.012243 
sort q time 5.378937 
seperate points time 11.553386 
1317358145.264223099 WriteOdom aft_mapped_to_init
mapping data assosiation time 22.410700 ms 
1317358145.472012042 WriteOdom aft_mapped_to_init_high_frec
sort q time 6.598279 
seperate points time 11.856313 
drop lidar frame in mapping for real time performance 
build tree time 18.393591 ms 
mapping data assosiation time 19.897857 ms 
points size 91639 
sort q time 5.071260 
seperate points time 11.523234 
mapping data assosiation time 21.728977 ms 
publication time 9.111142 ms 
whole laserOdometry time 9.132245 ms 
 
mapping solver time 20.391955 ms 
mapping pub time 3.756598 ms 
whole mapping time 121.626604 ms +++++
mappingCount 2391 & avg mapping time 156.358404 ms ++++++++++++++++++++++
build tree time 19.269929 ms 
points size 91911 
mapping data assosiation time 25.435910 ms 
scan registration time 37.192145 ms *************
publication time 7.805198 ms 
whole laserOdometry time 7.819318 ms 
 
mapping data assosiation time 23.017585 ms 
mapping solver time 20.281803 ms 
mapping pub time 2.251827 ms 
whole mapping time 124.417940 ms +++++
mappingCount 2392 & avg mapping time 156.345053 ms ++++++++++++++++++++++
points size 93493 
sort q time 5.844141 
seperate points time 12.031165 
publication time 8.764961 ms 
whole laserOdometry time 8.777835 ms 
 
-----t: 0.0424278
OdomCount 3696 & avg odom time 0.047521 ms ++++++++++++++++++++++
mapping solver time 22.318231 ms 
mapping data assosiation time 18.138072 ms 
mapping solver time 22.017150 ms 
filter time 8.497677 ms 
sort q time 5.573465 
seperate points time 12.951294 
build tree time 21.767359 ms 
-----t: 0.0477652
OdomCount 3697 & avg odom time 0.047521 ms ++++++++++++++++++++++
mapping data assosiation time 26.045352 ms 
mapping solver time 23.826218 ms 
points size 93930 
mapping data assosiation time 23.849464 ms 
mapping solver time 17.627920 ms 
mapping optimization time 114.356205 
add points time 0.839164 ms
publication time 8.181729 ms 
whole laserOdometry time 8.195055 ms 
 
build tree time 16.844583 ms 
mapping data assosiation time 17.328154 ms 
--------------------stamp1317358146.199157953
mapping data assosiation time 20.187161 ms 
mapping solver time 16.100046 ms 
filter time 6.159101 ms 
map prepare time 2.493567 ms
map corner num 87499  surf num 31640 
build tree time 20.507863 ms 
mapping data assosiation time 18.612850 ms 
points size 93570 
mapping solver time 22.095463 ms 
mapping data assosiation time 20.563779 ms 
-----t: 0.0310258
OdomCount 3700 & avg odom time 0.047509 ms ++++++++++++++++++++++
mapping solver time 18.449298 ms 
mapping optimization time 101.190089 
[0m[ INFO] [1718804863.178757915, 1317358146.365881522]: Received 119884 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804863.178810895, 1317358146.365881522]: Data saved to 1317358146199157.pcd[0m
build tree time 18.339157 ms 
--------------------stamp1317358146.406970977
prepare time 13.610573 
mapping solver time 20.388008 ms 
mapping data assosiation time 20.723365 ms 
publication time 9.256891 ms 
whole laserOdometry time 9.270973 ms 
 
-----t: 0.0393399
OdomCount 3701 & avg odom time 0.047506 ms ++++++++++++++++++++++
1317358146.406970977 WriteOdom laser_odom_to_init
1317358146.406970977 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.205468 ms
map corner num 88598  surf num 31925 
build tree time 17.618773 ms 
mapping data assosiation time 19.255529 ms 
sort q time 5.023457 
seperate points time 11.794844 
publication time 7.124577 ms 
whole laserOdometry time 7.135580 ms 
 
mapping solver time 14.424109 ms 
mapping pub time 2.234904 ms 
whole mapping time 106.570484 ms +++++
mappingCount 2398 & avg mapping time 156.237368 ms ++++++++++++++++++++++
build tree time 19.001273 ms 
points size 91362 
sort q time 5.233308 
seperate points time 11.939516 
publication time 8.597886 ms 
whole laserOdometry time 8.676445 ms 
 
mapping data assosiation time 19.636916 ms 
mapping solver time 17.288085 ms 
mapping pub time 2.174064 ms 
whole mapping time 111.810727 ms +++++
mappingCount 2399 & avg mapping time 156.218851 ms ++++++++++++++++++++++
--------------------stamp1317358146.718750953
points size 89173 
sort q time 4.976252 
seperate points time 11.492284 
mapping solver time 21.744654 ms 
mapping data assosiation time 18.051446 ms 
mapping solver time 12.600441 ms 
mapping pub time 2.209543 ms 
whole mapping time 107.287723 ms +++++
mappingCount 2400 & avg mapping time 156.198465 ms ++++++++++++++++++++++
--------------------stamp1317358146.822741985
points size 89073 
sort q time 5.970809 
seperate points time 13.697798 -----t: 0.0296403
OdomCount 3705 & avg odom time 0.047493 ms ++++++++++++++++++++++
mapping data assosiation time 17.716450 ms 
mapping solver time 12.949618 ms 
[0m[ INFO] [1718804863.727105849, 1317358146.911659618]: Received 123145 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804863.727167096, 1317358146.911659618]: Data saved to 1317358146718750.pcd[0m
points size 88362 
sort q time 4.901052 
seperate points time 11.583036 
publication time 7.449719 ms 
whole laserOdometry time 7.463664 ms 
 
mapping pub time 113.501950 ms 
whole mapping time 216.256769 ms +++++
mappingCount 2401 & avg mapping time 156.223480 ms ++++++++++++++++++++++
points size 87835 
sort q time 4.621707 
seperate points time 10.275806 
mapping data assosiation time 21.113644 ms 
-----t: 0.0443987
OdomCount 3707 & avg odom time 0.047490 ms ++++++++++++++++++++++
1317358147.030724048 WriteOdom laser_odom_to_init
1317358147.030724048 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.600501 ms 
mapping data assosiation time 22.082439 ms 
--------------------stamp1317358147.134738922
prepare time 11.279284 
map prepare time 2.880051 ms
map corner num 91036  surf num 32752 
publication time 6.483175 ms 
whole laserOdometry time 6.497524 ms 
 
-----t: 0.0401843
OdomCount 3708 & avg odom time 0.047488 ms ++++++++++++++++++++++
1317358147.134738922 WriteOdom laser_odom_to_init
1317358147.134738922 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.784902 ms 
--------------------stamp1317358147.238754034
mapping data assosiation time 21.860082 ms 
sort q time 4.837560 
seperate points time 11.089231 
mapping pub time 2.145594 ms 
whole mapping time 128.572698 ms +++++
mappingCount 2403 & avg mapping time 156.197342 ms ++++++++++++++++++++++
build tree time 24.638033 ms 
mapping data assosiation time 18.135595 ms 
--------------------stamp1317358147.342791080
sort q time 6.169894 
seperate points time 11.226425 
mapping solver time 14.268664 ms 
map prepare time 2.206406 ms
map corner num 92142  surf num 33234 
build tree time 19.155762 ms 
mapping data assosiation time 17.021269 ms 
--------------------stamp1317358147.446855068
prepare time 13.308789 
sort q time 5.217810 
seperate points time 11.267669 
-----t: 0.0285488
OdomCount 3711 & avg odom time 0.047476 ms ++++++++++++++++++++++
filter time 6.720614 ms 
build tree time 23.862459 ms 
--------------------stamp1317358147.550940990
points size 86096 
sort q time 5.352631 
seperate points time 11.267859 
publication time 8.144765 ms 
whole laserOdometry time 8.217427 ms 
 
mapping data assosiation time 21.859031 ms 
mapping solver time 18.620918 ms 
[0m[ INFO] [1718804864.445208931, 1317358147.631107488]: Received 127232 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804864.445254719, 1317358147.631107488]: Data saved to 1317358147446855.pcd[0m
--------------------stamp1317358147.655075073
prepare time 12.937411 
mapping data assosiation time 24.403450 ms 
sort q time 8.558234 
seperate points time 15.241757 
mapping solver time 26.930752 ms 
publication time 7.810609 ms 
whole laserOdometry time 7.837931 ms 
 
--------------------stamp1317358147.759234905
prepare time 12.692497 
sort q time 4.974081 
seperate points time 11.677742 
-----t: 0.0376489
OdomCount 3714 & avg odom time 0.047473 ms ++++++++++++++++++++++
1317358147.759234905 WriteOdom laser_odom_to_init
1317358147.759234905 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.156923 ms 
mapping solver time 20.405139 ms 
points size 86477 
sort q time 4.903485 
seperate points time 11.492566 
filter time 9.345702 ms 
build tree time 16.557705 ms 
mapping data assosiation time 20.150046 ms 
--------------------stamp1317358147.967549085
prepare time 11.227940 
sort q time 5.276860 
seperate points time 11.123833 
mapping data assosiation time 24.455107 ms 
publication time 13.697798 ms 
whole laserOdometry time 13.712487 ms 
 
-----t: 0.0467447
OdomCount 3716 & avg odom time 0.047468 ms ++++++++++++++++++++++
map prepare time 2.447064 ms
map corner num 87684  surf num 30914 
build tree time 16.430668 ms 
--------------------stamp1317358148.071732997
points size 88397 
sort q time 4.973556 
seperate points time 9.762252 
publication time 7.631263 ms 
whole laserOdometry time 7.645286 ms 
 
mapping data assosiation time 24.296301 ms 
mapping solver time 20.690653 ms 
filter time 6.058441 ms 
mapping pub time 1.977558 ms 
whole mapping time 117.729476 ms +++++
mappingCount 2410 & avg mapping time 156.099117 ms ++++++++++++++++++++++
1317358147.863390923 WriteOdom aft_mapped_to_init
--------------------stamp1317358148.175939083
prepare time 13.449456 
sort q time 5.458143 
seperate points time 11.696437 
-----t: 0.0330018
OdomCount 3718 & avg odom time 0.047463 ms ++++++++++++++++++++++
1317358148.175939083 WriteOdom laser_odom_to_init
1317358148.175939083 WriteOdom aft_mapped_to_init_high_frec
publication time 6.555075 ms 
whole laserOdometry time 6.563828 ms 
 
mapping data assosiation time 19.170856 ms 
mapping solver time 21.729480 ms 
[0m[ INFO] [1718804865.096059812, 1317358148.286670706]: Received 120194 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804865.096097566, 1317358148.286670706]: Data saved to 1317358148071732.pcd[0m
sort q time 5.020950 
seperate points time 11.670145 
publication time 6.984300 ms 
whole laserOdometry time 6.997514 ms 
 
1317358148.280170917 WriteOdom laser_odom_to_init
1317358148.280170917 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.784317 ms 
--------------------stamp1317358148.384428024
mapping data assosiation time 25.555863 ms 
sort q time 5.057689 filter time 5.984793 ms 
build tree time 19.360848 ms 
mapping data assosiation time 20.586207 ms 
points size 92059 
mapping solver time 29.031406 ms 
publication time 8.421493 ms 
whole laserOdometry time 8.447322 ms 
 
mapping data assosiation time 26.832744 ms 
-----t: 0.0393904
OdomCount 3721 & avg odom time 0.047456 ms ++++++++++++++++++++++
1317358148.488657951 WriteOdom laser_odom_to_init
1317358148.488657951 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.022589 ms 
filter time 6.586142 ms 
build tree time 18.430753 ms 
points size 92504 
mapping data assosiation time 25.165247 ms 
publication time 7.271683 ms 
whole laserOdometry time 7.284526 ms 
 
1317358148.592889070 WriteOdom laser_odom_to_initmapping data assosiation time 20.918774 ms 
mapping solver time 15.264078 ms 
filter time 7.062806 ms 
points size 93124 
sort q time 5.240048 
seperate points time 10.497878 
build tree time 20.340184 ms 
scan registration time 29.132980 ms *************
mapping data assosiation time 25.614938 ms 
mapping solver time 25.397465 ms 
mapping data assosiation time 21.293773 ms 
points size 93611 
sort q time 5.234147 
seperate points time 10.514936 
publication time 8.118350 ms 
whole laserOdometry time 8.132425 ms 
 
build tree time 23.396902 ms 
mapping data assosiation time 24.770375 ms 
--------------------stamp1317358148.905603885
prepare time 12.307313 
sort q time 5.316804 
seperate points time 12.121223 
publication time 7.691014 ms 
whole laserOdometry time 7.712334 ms 
 
mapping solver time 18.484222 ms 
mapping optimization time 119.843014 
add points time 0.866701 ms
build tree time 24.623615 ms 
--------------------stamp1317358149.009856939
points size 94539 
sort q time 6.680932 
seperate points time 12.193200 -----t: 0.0355188
OdomCount 3726 & avg odom time 0.047447 ms ++++++++++++++++++++++
mapping data assosiation time 26.988677 ms 
mapping solver time 25.735666 ms 
--------------------stamp1317358149.114089012
prepare time 14.602051 
sort q time 5.510059 
seperate points time 28.364673 
build tree time 52.898367 ms 
mapping data assosiation time 23.464567 ms 
--------------------stamp1317358149.218297004
mapping solver time 31.253918 ms 
sort q time 6.230495 
seperate points time 14.424964 
mapping solver time 23.120056 ms 
mapping pub time 2.103235 ms 
whole mapping time 174.513569 ms +++++
mappingCount 2418 & avg mapping time 156.044485 ms ++++++++++++++++++++++
build tree time 18.234758 ms 
points size 95672 
sort q time 5.722743 
seperate points time 13.464509 
mapping solver time 30.094793 ms 
-----t: 0.0581025
OdomCount 3729 & avg odom time 0.047450 ms ++++++++++++++++++++++
mapping data assosiation time 26.192296 ms 
mapping solver time 22.357529 ms 
mapping pub time 2.342476 ms 
whole mapping time 141.772583 ms +++++
mappingCount 2419 & avg mapping time 156.038587 ms ++++++++++++++++++++++
sort q time 5.270923 
seperate points time 12.038515 
scan registration time 31.673857 ms *************
publication time 19.237853 ms 
whole laserOdometry time 19.268814 ms 
 
mapping solver time 25.350417 ms 
--------------------stamp1317358149.530675888
prepare time 13.358421 
sort q time 5.177850 
seperate points time 12.115709 
-----t: 0.0360733
OdomCount 3731 & avg odom time 0.047446 ms ++++++++++++++++++++++
mapping pub time 2.273780 ms 
whole mapping time 138.376436 ms +++++
mappingCount 2420 & avg mapping time 156.031290 ms ++++++++++++++++++++++
1317358149.322478056 WriteOdom aft_mapped_to_init
1317358149.530675888 WriteOdom laser_odom_to_init
build tree time 20.011283 ms 
mapping data assosiation time 24.640517 ms 
points size 97933 
mapping solver time 30.310224 ms 
-----t: 0.0331908
OdomCount 3732 & avg odom time 0.047442 ms ++++++++++++++++++++++
1317358149.634763956 WriteOdom laser_odom_to_init
mapping solver time 21.028046 ms 
filter time 8.734099 ms 
--------------------stamp1317358149.738826036
points size 98176 
sort q time 5.775209 
seperate points time 13.644770 
publication time 8.526762 ms 
whole laserOdometry time 8.541480 ms 
 
-----t: 0.0696061
OdomCount 3733 & avg odom time 0.047448 ms ++++++++++++++++++++++
--------------------stamp1317358149.842890024
prepare time 14.049805 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
scan registration time 33.025117 ms *************
build tree time 25.479115 ms 
publication time 15.302148 ms 
whole laserOdometry time 15.314040 ms 
 
1317358149.842890024 WriteOdom laser_odom_to_init
1317358149.842890024 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.185710 ms 
--------------------stamp1317358149.946930885
mapping solver time 34.143271 ms 
sort q time 5.618423 
seperate points time 13.038221 
mapping data assosiation time 27.883407 ms 
mapping solver time 20.474546 ms 
mapping optimization time 137.717364 
add points time 0.945783 ms
-----t: 0.0549971
OdomCount 3735 & avg odom time 0.047451 ms ++++++++++++++++++++++
map prepare time 3.460352 ms
map corner num 93794  surf num 33308 
--------------------stamp1317358150.050944089
points size 97779 
sort q time 5.351449 
seperate points time 12.986453 
publication time 8.128087 ms 
whole laserOdometry time 8.142857 ms 
 
mapping solver time 34.575832 ms 
mapping data assosiation time 27.992786 ms 
--------------------stamp1317358150.154910087
points size 97880 
filter time 9.091548 ms 
publication time 8.853122 ms 
whole laserOdometry time 8.936788 ms 
 
--------------------stamp1317358150.258827924
prepare time 11.554790 
mapping data assosiation time 25.186826 ms 
sort q time 21.147223 
seperate points time 27.999753 
filter time 7.902826 ms 
publication time 11.763781 ms 
whole laserOdometry time 11.780001 ms 
 
build tree time 21.723134 ms 
--------------------stamp1317358150.362747907
points size 98635 
mapping solver time 22.330991 ms 
publication time 7.355863 ms 
whole laserOdometry time 7.381312 ms 
 
mapping solver time 19.553037 ms 
filter time 7.830873 ms 
--------------------stamp1317358150.466640949
prepare time 11.427890 
sort q time 6.363367 
seperate points time 13.319141 
mapping data assosiation time 36.508450 ms 
mapping solver time 24.813495 ms 
mapping data assosiation time 23.861235 ms 
--------------------stamp1317358150.570511102
filter time 6.513703 ms 
sort q time 6.233226 
seperate points time 15.026055 
-----t: 0.0403433
OdomCount 3741 & avg odom time 0.047453 ms ++++++++++++++++++++++
mapping data assosiation time 27.431576 ms 
--------------------stamp1317358150.674381017
prepare time 15.381998 
mapping data assosiation time 26.608755 ms 
mapping solver time 20.190084 ms 
filter time 7.876423 ms 
mapping pub time 2.214940 ms 
whole mapping time 145.356020 ms +++++
mappingCount 2427 & avg mapping time 156.049795 ms ++++++++++++++++++++++
1317358150.466640949 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.362946 ms
map corner num 95914  surf num 34372 
build tree time 20.841733 ms 
--------------------stamp1317358150.778228044
points size 99987 
sort q time 5.508223 
seperate points time 13.172081 
publication time 8.202014 ms 
whole laserOdometry time 8.213859 ms 
 
mapping data assosiation time 22.970528 ms 
mapping solver time 19.544217 ms 
filter time 9.817364 ms 
map prepare time 3.565059 ms
map corner num 96294  surf num 34536 
points size 94610 
build tree time 26.453014 ms 
sort q time 5.691720 
seperate points time 24.482475 
scan registration time 44.880715 ms *************
mapping data assosiation time 26.784352 ms 
publication time 7.251588 ms 
whole laserOdometry time 7.264158 ms 
 
mapping solver time 31.876898 ms 
--------------------stamp1317358150.985898971
prepare time 11.429537 
sort q time 6.367062 
seperate points time 12.086806 
publication time 8.109845 ms 
whole laserOdometry time 8.124990 ms 
 
mapping pub time 2.397740 ms 
whole mapping time 157.697417 ms +++++
mappingCount 2429 & avg mapping time 156.042303 ms ++++++++++++++++++++++
1317358150.778228045 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0504272
OdomCount 3745 & avg odom time 0.047450 ms ++++++++++++++++++++++
build tree time 22.416144 ms 
mapping data assosiation time 21.482425 ms 
points size 93239 
mapping solver time 28.047688 ms 
sort q time 5.450921 
seperate points time 12.807113 
mapping data assosiation time 26.785292 ms 
-----t: 0.0551579
OdomCount 3746 & avg odom time 0.047452 ms ++++++++++++++++++++++
filter time 7.111484 ms 
--------------------stamp1317358151.193710088
build tree time 21.191453 ms 
sort q time 4.976538 
seperate points time 11.426598 
publication time 10.635547 ms 
whole laserOdometry time 10.663497 ms 
 
mapping data assosiation time 22.617214 ms 
mapping optimization time 109.252635 
[0m[ INFO] [1718804868.114158623, 1317358151.301861119]: Received 132725 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804868.114212215, 1317358151.301861119]: Data saved to 1317358151089793.pcd[0m
sort q time 5.531486 
seperate points time 11.458689 
build tree time 24.317988 ms 
-----t: 0.0355827
OdomCount 3748 & avg odom time 0.047446 ms ++++++++++++++++++++++
1317358151.297629117 WriteOdom laser_odom_to_init
1317358151.297629117 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.560972 ms 
--------------------stamp1317358151.401525974
prepare time 13.810893 
add points time 0.971934 ms
map prepare time 3.473309 ms
map corner num 105531  surf num 38560 
-----t: 0.0395369
OdomCount 3749 & avg odom time 0.047444 ms ++++++++++++++++++++++
build tree time 25.509104 ms 
mapping data assosiation time 27.556495 ms 
prepare time 13.419375 
sort q time 5.089581 
seperate points time 12.233132 
publication time 8.290979 ms 
whole laserOdometry time 8.304681 ms 
 
1317358151.505397081 WriteOdom laser_odom_to_init
1317358151.505397081 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.535022 ms 
mapping pub time 2.238984 ms 
whole mapping time 158.706255 ms +++++
mappingCount 2433 & avg mapping time 156.014940 ms ++++++++++++++++++++++
points size 93923 
build tree time 28.911877 ms 
publication time 10.240855 ms 
whole laserOdometry time 10.385114 ms -----t: 0.0483831
OdomCount 3751 & avg odom time 0.047444 ms ++++++++++++++++++++++
mapping solver time 26.131673 ms 
--------------------stamp1317358151.713210105
points size 95195 
mapping solver time 25.464797 ms 
1317358151.401525974 WriteOdom aft_mapped_to_init
build tree time 25.332996 ms 
mapping data assosiation time 26.381686 ms 
points size 97023 
mapping solver time 32.176587 ms 
mapping data assosiation time 28.139170 ms 
-----t: 0.0550098
OdomCount 3753 & avg odom time 0.047445 ms ++++++++++++++++++++++
mapping pub time 2.428083 ms 
whole mapping time 155.857906 ms +++++
mappingCount 2435 & avg mapping time 156.012991 ms ++++++++++++++++++++++
points size 98217 
prepare time 14.173827 
scan registration time 33.299692 ms *************
-----t: 0.0365111
OdomCount 3754 & avg odom time 0.047442 ms ++++++++++++++++++++++
mapping solver time 19.072855 ms 
mapping data assosiation time 23.586854 ms 
points size 97995 
mapping solver time 20.124293 ms 
scan registration time 31.063368 ms *************
-----t: 0.0353036
OdomCount 3755 & avg odom time 0.047439 ms ++++++++++++++++++++++
build tree time 26.002617 ms 
mapping data assosiation time 20.851727 ms 
--------------------stamp1317358152.128740072
points size 98006 
sort q time 7.304237 
seperate points time 15.963854 
mapping solver time 20.658534 ms 
mapping optimization time 118.291040 
add points time 0.878912 ms
publication time 10.425531 ms 
whole laserOdometry time 10.438447 ms 
 
--------------------stamp1317358152.232563018
prepare time 13.582346 
sort q time 6.117978 
seperate points time 11.834249 
publication time 9.029224 ms 
whole laserOdometry time 9.044100 ms 
 
mapping solver time 29.517982 ms 
-----t: 0.0546822
OdomCount 3757 & avg odom time 0.047442 ms ++++++++++++++++++++++
mapping data assosiation time 29.189919 ms 
--------------------stamp1317358152.336364984
filter time 7.389198 ms 
sort q time 5.612780 
seperate points time 13.297114 
build tree time 29.710640 ms 
-----t: 0.0424998
OdomCount 3758 & avg odom time 0.047440 ms ++++++++++++++++++++++
mapping data assosiation time 28.440758 ms 
--------------------stamp1317358152.440114974
prepare time 12.678115 
mapping data assosiation time 26.564290 ms 
-----t: 0.0369493
OdomCount 3759 & avg odom time 0.047437 ms ++++++++++++++++++++++
filter time 7.692261 ms 
map prepare time 2.585895 ms
map corner num 108991  surf num 40211 
build tree time 30.032984 ms 
prepare time 14.440651 
mapping data assosiation time 26.057521 ms 
publication time 6.507719 ms 
whole laserOdometry time 6.526682 ms 
 
mapping data assosiation time 24.488236 ms 
mapping solver time 15.446473 ms 
mapping optimization time 118.859675 
add points time 0.686118 ms
--------------------stamp1317358152.647495031
points size 98298 
1317358152.543816089 WriteOdom laser_odom_to_init
1317358152.543816089 WriteOdom aft_mapped_to_init_high_frec
scan registration time 45.560792 ms *************
-----t: 0.033427
OdomCount 3761 & avg odom time 0.047430 ms ++++++++++++++++++++++
build tree time 34.834622 ms 
mapping data assosiation time 28.439170 ms 
points size 97900 
sort q time 5.451462 
seperate points time 12.705193 
mapping data assosiation time 29.132787 ms 
mapping solver time 20.968546 ms 
filter time 11.259921 ms 
--------------------stamp1317358152.854804992
prepare time 12.616750 
sort q time 5.758849 
seperate points time 15.216411 
scan registration time 32.216866 ms *************
1317358152.854804992 WriteOdom laser_odom_to_init
--------------------stamp1317358152.958482027
mapping pub time 171.270162 ms 
whole mapping time 330.550410 ms +++++
mappingCount 2441 & avg mapping time 156.057622 ms ++++++++++++++++++++++
build tree time 49.739937 ms 
sort q time 15.619052 
seperate points time 131.557080 scan registration time 180.003559 ms *************
[33m[ WARN] [1718804869.950921866, 1317358153.141172606]: scan registration process over 100ms[0m
mapping solver time 40.771074 ms 
points size 95376 
prepare time 60.253322 
mapping optimization time 191.273189 
add points time 1.068782 ms

--------------------stamp1317358153.165863037
build tree time 42.735633 ms 
sort q time 10.432817 
seperate points time 39.234449 
points size 90683 
publication time 14.439493 ms 
whole laserOdometry time 14.454393 ms 
 
scan registration time 40.646500 ms *************
publication time 17.933723 ms 
whole laserOdometry time 17.949709 ms 
 
mapping data assosiation time 67.262782 ms 
publication time 13.097039 ms 
whole laserOdometry time 13.106728 ms 
 
points size 83004 
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 
-----t: 0.133294
OdomCount 3767 & avg odom time 0.047536 ms ++++++++++++++++++++++
1317358153.269589900 WriteOdom laser_odom_to_init
build tree time 36.585398 ms 
points size 81814 
prepare time 16.972587 
mapping data assosiation time 40.541085 ms 
-----t: 0.0344565
OdomCount 3769 & avg odom time 0.047532 ms ++++++++++++++++++++++
-----t: 0.0299389
OdomCount 3770 & avg odom time 0.047527 ms ++++++++++++++++++++++
--------------------stamp1317358153.684567928
prepare time 10.209942 
sort q time 4.885141 
seperate points time 10.669682 
publication time 8.899320 ms 
whole laserOdometry time 8.908669 ms 
 
mapping data assosiation time 22.385536 ms 
mapping solver time 23.735583 ms 
points size 83160 
mapping data assosiation time 26.917828 ms 
publication time 7.977115 ms 
whole laserOdometry time 7.989375 ms 
 
filter time 6.467348 ms 
build tree time 16.411017 ms 
mapping data assosiation time 22.258790 ms 
points size 85300 
mapping solver time 22.150163 ms 
sort q time 5.367157 
seperate points time 10.399451 
mapping data assosiation time 25.975942 ms 
mapping optimization time 113.744685 
map prepare time 2.625435 ms
map corner num 83059  surf num 31911 
--------------------stamp1317358153.995944976
mapping data assosiation time 27.500115 ms 
mapping solver time 29.283287 ms 
-----t: 0.0641051
OdomCount 3774 & avg odom time 0.047530 ms ++++++++++++++++++++++
--------------------stamp1317358154.099766969
points size 89124 
--------------------stamp1317358154.203589916
points size 91903 
sort q time 6.243397 
seperate points time 14.861313 
publication time 10.889597 ms 
whole laserOdometry time 10.916134 ms 
 
1317358154.203589916 WriteOdom aft_mapped_to_init_high_frec1317358153.995944977 WriteOdom aft_mapped_to_init
--------------------stamp1317358154.307436943
sort q time 5.578068 
seperate points time 11.212728 
mapping solver time 25.064638 ms 
-----t: 0.051263
OdomCount 3777 & avg odom time 0.047538 ms ++++++++++++++++++++++
mapping solver time 20.361297 ms 
mapping pub time 2.003833 ms 
whole mapping time 131.871640 ms +++++
mappingCount 2449 & avg mapping time 156.109101 ms ++++++++++++++++++++++
sort q time 5.367723 
seperate points time 12.846086 
publication time 9.869839 ms 
whole laserOdometry time 9.889214 ms 
 
mapping solver time 19.757836 ms 
--------------------stamp1317358154.515091896
mapping solver time 17.186242 ms 
mapping pub time 2.405479 ms 
whole mapping time 126.120552 ms +++++
mappingCount 2450 & avg mapping time 156.096864 ms ++++++++++++++++++++++
1317358154.307436943 WriteOdom aft_mapped_to_init
-----t: 0.0334321
OdomCount 3779 & avg odom time 0.047532 ms ++++++++++++++++++++++
publication time 11.221471 ms 
whole laserOdometry time 11.235568 ms 
 
mapping data assosiation time 22.788511 ms 
mapping solver time 23.047471 ms 
points size 93956 
mapping data assosiation time 26.144582 ms 
mapping solver time 21.746466 ms 
[0m[ INFO] [1718804871.486083407, 1317358154.670404357]: Received 120080 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804871.486118246, 1317358154.670404357]: Data saved to 1317358154411283.pcd[0m
--------------------stamp1317358154.722728013
prepare time 14.249020 
mapping solver time 23.676303 ms 
publication time 9.280611 ms 
whole laserOdometry time 9.295345 ms 
 
1317358154.722728013 WriteOdom laser_odom_to_init
filter time 6.305120 ms 
--------------------stamp1317358154.826571941
sort q time 4.812228 
seperate points time 11.308591 
publication time 8.925552 ms 
whole laserOdometry time 8.958903 ms 
 
-----t: 0.0419587
OdomCount 3782 & avg odom time 0.047526 ms ++++++++++++++++++++++
1317358154.826571941 WriteOdom laser_odom_to_init
1317358154.826571941 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.418297 ms 
mapping solver time 18.389767 ms 
--------------------stamp1317358154.930418968
sort q time 5.609975 
seperate points time 11.869924 
publication time 10.609334 ms 
whole laserOdometry time 10.627795 ms 
 
mapping solver time 21.765085 ms 
mapping data assosiation time 21.472120 ms 
prepare time 12.521165 
filter time 8.505283 ms 
sort q time 4.535020 
seperate points time 10.340189 
-----t: 0.0267934
OdomCount 3784 & avg odom time 0.047520 ms ++++++++++++++++++++++
build tree time 20.240813 ms 
mapping data assosiation time 18.907368 ms 
mapping solver time 17.857566 ms 
--------------------stamp1317358155.138137102
prepare time 10.301547 
sort q time 4.581707 
seperate points time 10.262601 
filter time 8.589336 ms 
mapping pub time 1.956639 ms 
whole mapping time 110.163355 ms +++++
mappingCount 2455 & avg mapping time 156.029509 ms ++++++++++++++++++++++
1317358154.930418968 WriteOdom aft_mapped_to_init
publication time 7.678826 ms 
whole laserOdometry time 7.688921 ms 
 
mapping data assosiation time 19.591900 ms 
mapping solver time 19.053787 ms 
prepare time 10.097456 
publication time 7.677846 ms 
whole laserOdometry time 7.695965 ms 
 
mapping solver time 22.157818 ms 
[0m[ INFO] [1718804872.109284209, 1317358155.300995381]: Received 124984 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804872.109339067, 1317358155.300995381]: Data saved to 1317358155034266.pcd[0m
build tree time 20.423040 ms 
mapping data assosiation time 20.231024 ms 
--------------------stamp1317358155.345951080
mapping solver time 19.640347 ms 
sort q time 4.485235 
seperate points time 8.847349 
mapping data assosiation time 27.133164 ms 
-----t: 0.0489682
OdomCount 3787 & avg odom time 0.047513 ms ++++++++++++++++++++++
filter time 6.382604 ms 
build tree time 23.009129 ms 
sort q time 4.075110 
seperate points time 9.417711 
publication time 8.793639 ms 
whole laserOdometry time 8.806845 ms 
 
-----t: 0.0413267
OdomCount 3788 & avg odom time 0.047511 ms ++++++++++++++++++++++
mapping solver time 17.859188 ms 
mapping pub time 1.651292 ms 
whole mapping time 122.475926 ms +++++
mappingCount 2458 & avg mapping time 155.988177 ms ++++++++++++++++++++++
points size 71259 
sort q time 3.609254 
seperate points time 8.866673 
build tree time 23.472328 ms 
publication time 6.927932 ms 
whole laserOdometry time 6.940852 ms 
 -----t: 0.0352012
OdomCount 3789 & avg odom time 0.047508 ms ++++++++++++++++++++++
mapping solver time 18.838811 ms 
mapping data assosiation time 19.580187 ms 
mapping solver time 13.168837 ms 
1317358155.449843884 WriteOdom aft_mapped_to_init
sort q time 4.423417 
seperate points time 9.686605 
build tree time 25.255751 ms 
publication time 6.745669 ms 
whole laserOdometry time 6.761662 ms 
 
-----t: 0.0280405
OdomCount 3790 & avg odom time 0.047503 ms ++++++++++++++++++++++
1317358155.657634019 WriteOdom laser_odom_to_init
1317358155.657634019 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.977273 ms 
mapping solver time 17.169401 ms 
mapping data assosiation time 19.395482 ms 
mapping solver time 13.985097 ms 
map prepare time 2.910839 ms
map corner num 93754  surf num 36505 
build tree time 23.943195 ms 
-----t: 0.0303533
OdomCount 3791 & avg odom time 0.047498 ms ++++++++++++++++++++++
publication time 8.958106 ms 
whole laserOdometry time 8.974285 ms 
 
1317358155.761528968 WriteOdom laser_odom_to_init
1317358155.761528968 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.125024 ms 
mapping solver time 17.646960 ms 
mapping data assosiation time 20.451669 ms 
prepare time 11.582166 
sort q time 4.591765 
seperate points time 10.204164 
[0m[ INFO] [1718804872.709817940, 1317358155.898662055]: Received 131661 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804872.709894484, 1317358155.898662055]: Data saved to 1317358155657634.pcd[0m
publication time 8.827186 ms 
whole laserOdometry time 8.841072 ms 
 
-----t: 0.0561244
OdomCount 3792 & avg odom time 0.047501 ms ++++++++++++++++++++++
--------------------stamp1317358155.969414949
prepare time 12.484523 
sort q time 4.433758 
seperate points time 22.283633 
drop lidar frame in mapping for real time performance 
-----t: 0.0446171
OdomCount 3793 & avg odom time 0.047500 ms ++++++++++++++++++++++
publication time 7.626395 ms 
whole laserOdometry time 7.696013 ms 
 
1317358155.969414949 WriteOdom laser_odom_to_init
build tree time 31.948959 ms 
--------------------stamp1317358156.073334932
prepare time 10.019792 
sort q time 4.450211 
seperate points time 9.731273 
publication time 7.077620 ms 
whole laserOdometry time 7.091630 ms 
 
1317358156.073334932 WriteOdom laser_odom_to_init
1317358156.073334932 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 44.866629 ms 
--------------------stamp1317358156.177252054
mapping pub time 2.254885 ms 
whole mapping time 177.956002 ms +++++
mappingCount 2462 & avg mapping time 155.994540 ms ++++++++++++++++++++++
sort q time 4.455863 
seperate points time 10.985194 
build tree time 24.272960 ms 
-----t: 0.0343756
OdomCount 3795 & avg odom time 0.047493 ms ++++++++++++++++++++++
1317358156.177252054 WriteOdom laser_odom_to_init
1317358156.177252054 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.297575 ms 
mapping solver time 27.347606 ms 
points size 87872 
mapping data assosiation time 26.233865 ms 
publication time 8.626296 ms 
whole laserOdometry time 8.656491 ms 
 
add points time 0.845243 ms
filter time 9.432403 ms 
-----t: 0.0583741
OdomCount 3796 & avg odom time 0.047495 ms ++++++++++++++++++++++build tree time 22.300665 ms 
--------------------stamp1317358156.385114908
prepare time 12.718269 
sort q time 5.607450 
seperate points time 11.677144 
mapping solver time 29.693687 ms 
mapping data assosiation time 26.587053 ms 
mapping solver time 22.530963 ms 
mapping pub time 2.431022 ms 
whole mapping time 143.910266 ms +++++
mappingCount 2464 & avg mapping time 155.985557 ms ++++++++++++++++++++++
sort q time 8.542675 
seperate points time 14.810010 
publication time 8.363073 ms 
whole laserOdometry time 8.380845 ms 
 
mapping solver time 25.595637 ms 
--------------------stamp1317358156.592978954
points size 90639 
prepare time 13.061167 
mapping solver time 27.071553 ms 
filter time 9.664029 ms 
build tree time 19.868272 ms 
mapping data assosiation time 22.830593 ms 
points size 91243 
mapping solver time 27.046666 ms 
publication time 8.333305 ms 
whole laserOdometry time 8.351957 ms 
 
mapping solver time 17.309739 ms 
[0m[ INFO] [1718804873.584992596, 1317358156.770719762]: Received 138749 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804873.585026916, 1317358156.770719762]: Data saved to 1317358156489058.pcd[0m
--------------------stamp1317358156.800765037
prepare time 14.359267 
scan registration time 31.958666 ms *************
mapping data assosiation time 32.835632 ms 
-----t: 0.0385299
OdomCount 3801 & avg odom time 0.047479 ms ++++++++++++++++++++++
mapping solver time 34.731286 ms 
mapping data assosiation time 26.289057 ms 
points size 94028 
mapping solver time 26.854087 ms 
mapping optimization time 145.616275 
add points time 0.966518 ms
-----t: 0.041855
OdomCount 3802 & avg odom time 0.047477 ms ++++++++++++++++++++++
mapping data assosiation time 27.801988 ms 
--------------------stamp1317358157.008578062
points size 96045 
sort q time 5.562808 
seperate points time 12.852169 
mapping data assosiation time 31.731447 ms 
1317358157.008578062 WriteOdom laser_odom_to_init
1317358157.008578062 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.586648 ms 
filter time 7.229660 ms 
--------------------stamp1317358157.112449884
prepare time 14.226642 
sort q time 5.507333 
seperate points time 12.887011 
publication time 10.407191 ms 
whole laserOdometry time 10.420693 ms 
 
mapping solver time 29.858820 ms 
-----t: 0.0768787
OdomCount 3804 & avg odom time 0.047482 ms ++++++++++++++++++++++
--------------------stamp1317358157.216298103
prepare time 11.380213 
add points time 1.132489 ms
map prepare time 3.711184 ms
map corner num 102137  surf num 40465 
-----t: 0.0544736
OdomCount 3805 & avg odom time 0.047484 ms ++++++++++++++++++++++
1317358157.216298103 WriteOdom laser_odom_to_init
1317358157.216298103 WriteOdom aft_mapped_to_init_high_frec
build tree time 27.619146 ms 
mapping data assosiation time 27.124658 ms 
points size 93550 
mapping solver time 33.914957 ms 
-----t: 0.034916
OdomCount 3806 & avg odom time 0.047481 ms ++++++++++++++++++++++
mapping data assosiation time 31.675697 ms 
mapping solver time 24.969179 ms 
mapping optimization time 146.839913 
add points time 1.002722 ms
map prepare time 2.867575 ms
map corner num 103015  surf num 40866 
points size 93900 
build tree time 26.640425 ms 
-----t: 0.0321622
OdomCount 3807 & avg odom time 0.047477 ms ++++++++++++++++++++++
mapping data assosiation time 33.439038 ms 
mapping solver time 27.610803 ms 
--------------------stamp1317358157.527837038
prepare time 11.209330 
sort q time 5.377179 
seperate points time 12.128715 
filter time 8.763661 ms 
build tree time 21.610385 ms 
mapping data assosiation time 26.665587 ms 
prepare time 11.242980 
sort q time 5.204185 
seperate points time 12.340056 
mapping solver time 39.755022 ms 
-----t: 0.0366818
OdomCount 3809 & avg odom time 0.047470 ms ++++++++++++++++++++++
1317358157.631680965 WriteOdom laser_odom_to_init
1317358157.631680965 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.575563 ms 
mapping solver time 25.572759 ms 
--------------------stamp1317358157.735505104
sort q time 5.050096 
seperate points time 11.588407 
scan registration time 28.375133 ms *************
publication time 9.450642 ms 
whole laserOdometry time 9.490532 ms 
 
mapping data assosiation time 38.536416 ms 
-----t: 0.0664793
OdomCount 3810 & avg odom time 0.047475 ms ++++++++++++++++++++++
1317358157.735505104 WriteOdom laser_odom_to_init
1317358157.735505104 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358157.839306116
prepare time 13.070270 
sort q time 5.059548 
seperate points time 11.927105 
mapping data assosiation time 32.387916 ms 
-----t: 0.0472747
OdomCount 3811 & avg odom time 0.047475 ms ++++++++++++++++++++++
filter time 7.894689 ms 
build tree time 21.766950 ms 
points size 91285 
prepare time 14.322477 
scan registration time 32.442911 ms *************
publication time 8.139295 ms 
whole laserOdometry time 8.157106 ms 
 
mapping data assosiation time 29.190060 ms 
--------------------stamp1317358158.046902894
prepare time 11.172317 
add points time 1.027935 ms
filter time 10.420751 ms 
publication time 9.509611 ms 
whole laserOdometry time 9.528255 ms 
 
-----t: 0.0482055
OdomCount 3813 & avg odom time 0.047478 ms ++++++++++++++++++++++
mapping data assosiation time 23.875355 ms 
--------------------stamp1317358158.150677919
prepare time 12.099009 
sort q time 5.705153 
seperate points time 10.888583 
publication time 8.696361 ms 
whole laserOdometry time 8.718627 ms 
 
mapping solver time 28.013552 ms 
mapping optimization time 142.268139 
add points time 1.045872 ms
--------------------stamp1317358158.254427909
points size 95147 
build tree time 31.542833 ms 
scan registration time 33.245930 ms *************
mapping data assosiation time 28.822955 ms 
-----t: 0.0446347
OdomCount 3815 & avg odom time 0.047484 ms ++++++++++++++++++++++
mapping solver time 24.092636 ms 
mapping data assosiation time 25.420830 ms 
points size 96037 
mapping solver time 24.062713 ms 
filter time 10.470944 ms 
mapping pub time 3.976442 ms 
whole mapping time 154.365427 ms +++++
mappingCount 2476 & avg mapping time 155.986112 ms ++++++++++++++++++++++
1317358158.046902895 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718804875.208611572, 1317358158.397030936]: Received 150463 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804875.208686971, 1317358158.397030936]: Data saved to 1317358158046902.pcd[0m
-----t: 0.0428499
OdomCount 3816 & avg odom time 0.047483 ms ++++++++++++++++++++++
mapping data assosiation time 23.210231 ms 
--------------------stamp1317358158.461930036
prepare time 12.518403 
sort q time 5.706441 
seperate points time 12.675400 
-----t: 0.0389782
OdomCount 3817 & avg odom time 0.047481 ms ++++++++++++++++++++++
mapping solver time 26.985945 ms 
filter time 7.440759 ms 
--------------------stamp1317358158.565656900
points size 99932 
sort q time 5.465524 
seperate points time 12.973878 
mapping data assosiation time 27.781439 ms 
publication time 11.632530 ms 
whole laserOdometry time 11.642864 ms 
 
mapping solver time 33.821480 ms 
--------------------stamp1317358158.669382095
prepare time 14.040386 
sort q time 5.672963 
seperate points time 13.131319 
filter time 9.339899 ms 
build tree time 24.142847 ms 
mapping data assosiation time 25.926101 ms 
points size 97492 
sort q time 5.504063 
seperate points time 13.248603 
publication time 7.609909 ms 
whole laserOdometry time 7.621189 ms 
 
-----t: 0.0417291
OdomCount 3820 & avg odom time 0.047473 ms ++++++++++++++++++++++
1317358158.773133039 WriteOdom laser_odom_to_init
1317358158.773133039 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.469774 ms 
mapping solver time 25.065049 ms 
filter time 7.324352 ms 
points size 96541 
build tree time 25.316639 ms 
-----t: 0.0306258
OdomCount 3821 & avg odom time 0.047469 ms ++++++++++++++++++++++
mapping solver time 24.315449 ms 
--------------------stamp1317358158.980685949
prepare time 10.926981 
scan registration time 27.819190 ms *************
publication time 9.333242 ms 
whole laserOdometry time 9.347182 ms 
 
filter time 10.083559 ms 
-----t: 0.0511758
OdomCount 3822 & avg odom time 0.047470 ms ++++++++++++++++++++++
build tree time 28.233901 ms 
--------------------stamp1317358159.084484100
points size 90857 
mapping data assosiation time 29.383355 ms 
prepare time 12.290668 
publication time 7.244968 ms 
whole laserOdometry time 7.262624 ms 
 
-----t: 0.0443213
OdomCount 3823 & avg odom time 0.047469 ms ++++++++++++++++++++++
mapping data assosiation time 27.285688 ms 
mapping solver time 23.463728 ms 
filter time 10.309448 ms 
sort q time 4.831889 
seperate points time 11.371481 
1317358159.188282012 WriteOdom laser_odom_to_init
--------------------stamp1317358159.292079925
points size 87691 
map prepare time 3.420809 ms
map corner num 111976  surf num 44310 
publication time 8.777057 ms 
whole laserOdometry time 8.788002 ms 
 
mapping data assosiation time 25.131011 ms 
mapping solver time 22.659405 ms 
points size 86670 
prepare time 29.848473 
scan registration time 61.223072 ms *************
map prepare time 3.220327 mspublication time 9.010444 ms 
whole laserOdometry time 9.020924 ms 
 
build tree time 25.740689 ms 
prepare time 18.101006 
-----t: 0.0417861
mapping data assosiation time 24.942705 ms 
--------------------stamp1317358159.603473901
prepare time 10.923491 
map prepare time 3.380271 ms
map corner num 113778  surf num 45158 
publication time 7.739922 ms -----t: 0.0403125
OdomCount 3828 & avg odom time 0.047463 ms ++++++++++++++++++++++
mapping data assosiation time 27.337176 ms 
mapping solver time 18.556684 ms 
points size 83327 
sort q time 4.497655 
seperate points time 10.717185 
publication time 7.032497 ms 
whole laserOdometry time 7.048327 ms 
 
mapping pub time 2.055399 ms 
whole mapping time 145.551141 ms +++++
mappingCount 2484 & avg mapping time 156.026474 ms ++++++++++++++++++++++
build tree time 24.836444 ms 
--------------------stamp1317358159.811115026
mapping data assosiation time 30.946728 ms 
scan registration time 27.469527 ms *************
-----t: 0.0291021
OdomCount 3830 & avg odom time 0.047454 ms ++++++++++++++++++++++
mapping data assosiation time 23.462692 ms 
mapping solver time 22.294815 ms 
filter time 8.415004 ms 
sort q time 5.943217 
seperate points time 11.187127 
build tree time 28.262336 ms 
mapping data assosiation time 26.010551 ms 
mapping solver time 22.927481 ms 
--------------------stamp1317358160.018812894
prepare time 13.332646 
sort q time 5.131197 
seperate points time 11.442143 
mapping solver time 28.504363 ms 
filter time 11.305303 ms 
build tree time 24.035702 ms 
--------------------stamp1317358160.122684955
prepare time 13.578774 
mapping solver time 28.929397 ms 
-----t: 0.0472664
OdomCount 3833 & avg odom time 0.047449 ms ++++++++++++++++++++++
mapping solver time 23.622830 ms 
filter time 11.348829 ms 
scan registration time 28.838727 ms *************
publication time 9.023437 ms 
whole laserOdometry time 9.037746 ms 
 
mapping data assosiation time 28.376142 ms 
--------------------stamp1317358160.330472946
points size 94191 
sort q time 5.906810 
seperate points time 19.303448 
-----t: 0.0469394
OdomCount 3835 & avg odom time 0.047447 ms ++++++++++++++++++++++
mapping solver time 29.526638 ms 
mapping pub time 2.093883 ms 
whole mapping time 186.635577 ms +++++
mappingCount 2488 & avg mapping time 156.034772 ms ++++++++++++++++++++++
--------------------stamp1317358160.434349060
prepare time 14.617655 
sort q time 5.090586 
seperate points time 12.181074 
publication time 12.498044 ms 
whole laserOdometry time 12.508517 ms 
 
1317358160.434349060 WriteOdom laser_odom_to_init
1317358160.434349060 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.030451 ms 
points size 93731 
scan registration time 28.349802 ms *************
publication time 7.661222 ms 
whole laserOdometry time 7.674773 ms 
 
filter time 11.522548 ms 
build tree time 26.168628 ms 
points size 94054 
mapping data assosiation time 29.057846 ms 
publication time 8.157911 ms 
whole laserOdometry time 8.193353 ms 
 
mapping solver time 37.086116 ms 
mapping data assosiation time 25.676935 ms 
--------------------stamp1317358160.745910882
points size 93853 
map prepare time 3.670222 ms
map corner num 79822  surf num 34336 
build tree time 20.142316 ms 
-----t: 0.0397677
OdomCount 3839 & avg odom time 0.047440 ms ++++++++++++++++++++++
1317358160.745910882 WriteOdom laser_odom_to_init
mapping data assosiation time 29.989285 ms 
mapping solver time 30.283555 ms 
points size 93621 
sort q time 6.082425 
seperate points time 15.249985 
mapping solver time 30.149992 ms 
drop lidar frame in mapping for real time performance 
build tree time 17.449911 ms 
points size 94107 
mapping data assosiation time 35.775574 ms 
publication time 9.756416 ms 
whole laserOdometry time 9.769270 ms 
 
mapping data assosiation time 29.593828 ms 
points size 94080 
filter time 8.680737 ms 
sort q time 15.965080 
seperate points time 23.223595 
build tree time 20.076043 ms 
publication time 15.925822 ms 
whole laserOdometry time 15.937605 ms 
 
1317358161.057427883 WriteOdom laser_odom_to_init
1317358161.057427883 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.179048 ms 
prepare time 13.657984 
mapping data assosiation time 34.161659 ms 
scan registration time 55.684804 ms *************
filter time 8.938781 ms 
build tree time 17.234141 ms 
--------------------stamp1317358161.265094041
mapping data assosiation time 33.428973 ms 
sort q time 8.452839 
seperate points time 16.262310 
-----t: 0.0551452
OdomCount 3844 & avg odom time 0.047442 ms ++++++++++++++++++++++
publication time 10.588085 ms 
whole laserOdometry time 10.598023 ms 
 
--------------------stamp1317358161.368918895
prepare time 14.253745 
sort q time 5.476649 
seperate points time 13.323773 
mapping pub time 2.206846 ms 
whole mapping time 174.493532 ms +++++
mappingCount 2494 & avg mapping time 156.050363 ms ++++++++++++++++++++++
publication time 11.895313 ms 
whole laserOdometry time 11.911847 ms 
 
build tree time 21.173486 ms 
mapping data assosiation time 26.699292 ms 
points size 98768 
mapping solver time 31.297076 ms 
publication time 11.682110 ms 
whole laserOdometry time 11.702610 ms 
 
mapping data assosiation time 33.588913 ms 
mapping solver time 27.007386 ms 
mapping pub time 2.232031 ms 
whole mapping time 156.314392 ms +++++
mappingCount 2495 & avg mapping time 156.050471 ms ++++++++++++++++++++++
points size 99113 
build tree time 21.069633 ms 
publication time 9.183385 ms 
whole laserOdometry time 9.198013 ms 
 
mapping solver time 27.026938 ms 
--------------------stamp1317358161.680335998
points size 99641 
sort q time 5.385520 
seperate points time 13.469137 
filter time 8.258549 ms 
publication time 10.957636 ms 
whole laserOdometry time 10.970525 ms 
 
build tree time 17.699128 ms 
mapping data assosiation time 26.617435 ms 
points size 98665 
sort q time 5.443871 
seperate points time 13.338896 
publication time 7.677212 ms 
whole laserOdometry time 7.693164 ms 
 
-----t: 0.0601605
OdomCount 3849 & avg odom time 0.047433 ms ++++++++++++++++++++++
1317358161.784136056 WriteOdom laser_odom_to_init
1317358161.784136056 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358161.887937068
filter time 6.686994 ms 
map prepare time 4.123449 ms
map corner num 86138  surf num 37518 
sort q time 5.614952 
seperate points time 13.995119 
build tree time 24.351393 ms 
mapping data assosiation time 32.990594 ms 
-----t: 0.0735163
OdomCount 3850 & avg odom time 0.047440 ms ++++++++++++++++++++++
--------------------stamp1317358161.991733074
points size 97517 
mapping data assosiation time 34.101879 ms 
sort q time 16.537819 
seperate points time 24.593148 
publication time 9.426839 ms 
whole laserOdometry time 9.454779 ms 
 
filter time 8.016872 ms 
build tree time 18.238678 ms 
points size 96412 
sort q time 6.393198 
seperate points time 14.940904 
-----t: 0.036615
OdomCount 3852 & avg odom time 0.047437 ms ++++++++++++++++++++++
mapping solver time 28.608701 ms 
mapping data assosiation time 28.326709 ms 
points size 96173 
mapping solver time 30.332561 ms 
mapping pub time 2.569032 ms 
whole mapping time 160.783816 ms +++++
mappingCount 2499 & avg mapping time 156.060981 ms ++++++++++++++++++++++
publication time 9.084860 ms 
whole laserOdometry time 9.101895 ms 
 
build tree time 24.490014 ms 
mapping data assosiation time 31.820767 ms 
points size 94827 
sort q time 5.313739 
seperate points time 12.512516 
mapping solver time 37.492489 ms 
-----t: 0.0352561
OdomCount 3854 & avg odom time 0.047436 ms ++++++++++++++++++++++
mapping solver time 26.806268 ms 
filter time 8.107980 ms 
-----t: 0.035439
OdomCount 3855 & avg odom time 0.047433 ms ++++++++++++++++++++++
mapping solver time 28.227049 ms 
points size 94134 
sort q time 4.715679 
seperate points time 11.285275 
-----t: 0.0317075
OdomCount 3856 & avg odom time 0.047429 ms ++++++++++++++++++++++
1317358162.510730028 WriteOdom laser_odom_to_init
1317358162.510730028 WriteOdom aft_mapped_to_init_high_frec
filter time 6.574075 ms 
--------------------stamp1317358162.614552974
points size 92761 
publication time 9.344872 ms 
whole laserOdometry time 9.355274 ms 
 
mapping pub time 113.628172 ms 
whole mapping time 276.540653 ms +++++
mappingCount 2501 & avg mapping time 156.115268 ms ++++++++++++++++++++++
build tree time 19.433772 ms 
points size 90720 
mapping data assosiation time 30.975121 ms 
sort q time 5.221176 
seperate points time 12.102149 
scan registration time 31.955599 ms *************
publication time 11.260226 ms -----t: 0.0512254
OdomCount 3858 & avg odom time 0.047429 ms ++++++++++++++++++++++
mapping data assosiation time 29.734070 ms 
--------------------stamp1317358162.822247028
add points time 1.230626 ms
mapping pub time 2.195559 ms 
whole mapping time 152.811020 ms +++++
mappingCount 2502 & avg mapping time 156.113948 ms ++++++++++++++++++++++
publication time 8.604250 ms 
whole laserOdometry time 8.617661 ms 
 
-----t: 0.050123
OdomCount 3859 & avg odom time 0.047430 ms ++++++++++++++++++++++
--------------------stamp1317358162.926069021
prepare time 12.718825 
scan registration time 29.490572 ms *************
mapping data assosiation time 29.385689 ms 
1317358162.926069021 WriteOdom laser_odom_to_init
1317358162.926069021 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 132.881436 
add points time 0.982716 ms
publication time 10.800531 ms 
whole laserOdometry time 10.816592 ms 
 
build tree time 18.191247 ms 
--------------------stamp1317358163.029891967
sort q time 4.898598 
seperate points time 11.512982 
publication time 8.368469 ms 
whole laserOdometry time 8.397088 ms 
 
mapping data assosiation time 25.369623 ms 
mapping solver time 23.239148 ms 
1317358162.822247028 WriteOdom aft_mapped_to_init
sort q time 5.587902 
seperate points time 10.750535 
publication time 5.849435 ms 
whole laserOdometry time 5.864135 ms 
 
mapping data assosiation time 27.825048 ms 
mapping solver time 22.901349 ms 
--------------------stamp1317358163.237559080
prepare time 11.164076 
mapping solver time 20.111635 ms 
filter time 9.345323 ms 
-----t: 0.0376326
OdomCount 3863 & avg odom time 0.047418 ms ++++++++++++++++++++++
build tree time 22.148040 ms 
mapping data assosiation time 24.778261 ms 
--------------------stamp1317358163.341407060
points size 88682 
prepare time 13.904468 
mapping solver time 30.636822 ms 
scan registration time 30.538718 ms *************
publication time 9.936831 ms 
whole laserOdometry time 9.952154 ms 
 
mapping solver time 18.828795 ms 
filter time 7.093872 ms 
--------------------stamp1317358163.445252895
prepare time 13.925326 
sort q time 5.002199 
seperate points time 11.739700 
-----t: 0.0334249
OdomCount 3865 & avg odom time 0.047411 ms ++++++++++++++++++++++
mapping solver time 29.572984 ms 
mapping data assosiation time 26.540130 ms 
--------------------stamp1317358163.549098968
filter time 6.880003 ms 
sort q time 5.948885 
seperate points time 11.512196 
build tree time 24.283790 ms 
mapping solver time 21.582333 ms 
mapping optimization time 123.243745 
add points time 0.927659 ms
publication time 6.128051 ms 
whole laserOdometry time 6.143196 ms 
 
build tree time 20.514566 ms 
mapping data assosiation time 23.508015 ms 
points size 88082 
mapping solver time 26.124972 ms 
publication time 7.779695 ms 
whole laserOdometry time 7.794217 ms 
 
mapping data assosiation time 27.629254 ms 
mapping solver time 21.482832 ms 
-----t: 0.0619027
OdomCount 3868 & avg odom time 0.047411 ms ++++++++++++++++++++++
1317358163.756746053 WriteOdom laser_odom_to_init
1317358163.756746053 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358163.860543966
prepare time 9.658292 
-----t: 0.0331724
OdomCount 3869 & avg odom time 0.047408 ms ++++++++++++++++++++++
mapping solver time 22.847359 ms 
mapping data assosiation time 24.346032 ms 
points size 82094 
prepare time 10.674229 
filter time 9.578640 ms 
-----t: 0.0296569
OdomCount 3870 & avg odom time 0.047403 ms ++++++++++++++++++++++
build tree time 19.263148 ms 
mapping data assosiation time 23.866146 ms 
--------------------stamp1317358164.068144083
sort q time 4.400811 
seperate points time 10.283790 
publication time 7.556161 ms 
whole laserOdometry time 7.570661 ms 
 
mapping solver time 22.661119 ms 
filter time 6.426180 ms 
build tree time 15.980378 ms 
--------------------stamp1317358164.171916007
sort q time 4.384183 
seperate points time 9.976464 
mapping solver time 29.566503 ms 
mapping data assosiation time 23.730391 ms 
mapping solver time 16.451101 ms 
mapping pub time 1.970694 ms 
whole mapping time 122.326497 ms +++++
mappingCount 2512 & avg mapping time 156.044904 ms ++++++++++++++++++++++
--------------------stamp1317358164.275716066
points size 81701 
sort q time 4.548321 
seperate points time 10.763743 
publication time 7.812576 ms 
whole laserOdometry time 7.829033 ms 
 
1317358164.275716066 WriteOdom laser_odom_to_init
1317358164.275716066 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.003221 ms 
mapping solver time 19.870059 ms 
map prepare time 2.442216 ms
map corner num 85275  surf num 36121 
sort q time 4.517591 
seperate points time 10.774664 
publication time 7.156659 ms 
whole laserOdometry time 7.172609 ms 
 
mapping data assosiation time 24.854511 ms 
mapping solver time 19.188325 ms 
mapping data assosiation time 20.005688 ms 
points size 79907 
sort q time 4.925095 
seperate points time 10.340315 
build tree time 19.690385 ms 
-----t: 0.0552851
OdomCount 3875 & avg odom time 0.047389 ms ++++++++++++++++++++++
--------------------stamp1317358164.587063074
prepare time 12.074446 
scan registration time 24.862947 ms *************
publication time 8.753155 ms 
whole laserOdometry time 8.767499 ms 
 
mapping solver time 24.042917 ms 
1317358164.587063074 WriteOdom laser_odom_to_init
1317358164.587063074 WriteOdom aft_mapped_to_init_high_frec
build tree time 18.519565 ms 
--------------------stamp1317358164.690862894
prepare time 10.624395 
sort q time 4.960821 
seperate points time 11.112535 
publication time 7.541098 ms 
whole laserOdometry time 7.554809 ms 
 
mapping solver time 19.879494 ms 
mapping optimization time 111.179888 
add points time 0.901656 ms
map prepare time 2.368325 ms
map corner num 87390  surf num 36923 
--------------------stamp1317358164.794684886
prepare time 11.182998 
sort q time 4.607742 
seperate points time 10.423646 
publication time 8.516181 ms 
whole laserOdometry time 8.908729 ms 
 
mapping data assosiation time 22.159245 ms 
mapping solver time 21.262683 ms 
mapping pub time 1.820014 ms 
whole mapping time 128.683195 ms +++++
mappingCount 2517 & avg mapping time 155.988543 ms ++++++++++++++++++++++
sort q time 5.471046 
seperate points time 11.360946 
scan registration time 27.226187 ms *************
build tree time 21.938529 ms 
mapping data assosiation time 25.155122 ms 
-----t: 0.0543749
OdomCount 3879 & avg odom time 0.047385 ms ++++++++++++++++++++++
mapping solver time 27.010763 ms 
--------------------stamp1317358165.002305984
prepare time 11.459260 
sort q time 5.597440 
seperate points time 12.248523 
filter time 8.673479 ms 
build tree time 21.525790 ms 
mapping data assosiation time 21.251371 ms 
--------------------stamp1317358165.106105089
sort q time 4.954874 
seperate points time 11.238989 
-----t: 0.0303766
OdomCount 3881 & avg odom time 0.047379 ms ++++++++++++++++++++++
filter time 6.278583 ms 
mapping pub time 2.109801 ms 
whole mapping time 118.682927 ms +++++
mappingCount 2519 & avg mapping time 155.966459 ms ++++++++++++++++++++++
1317358164.898508072 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.521088 ms
map corner num 89569  surf num 37812 
build tree time 18.236895 ms 
--------------------stamp1317358165.209902048
points size 88547 
mapping solver time 21.753233 ms 
-----t: 0.0422732
OdomCount 3882 & avg odom time 0.047378 ms ++++++++++++++++++++++
filter time 6.861711 ms 
mapping pub time 2.081800 ms 
whole mapping time 117.773100 ms +++++
mappingCount 2520 & avg mapping time 155.951304 ms ++++++++++++++++++++++
1317358165.002305984 WriteOdom aft_mapped_to_init
build tree time 18.830970 ms 
prepare time 11.335778 
sort q time 5.556311 
seperate points time 11.237073 publication time 6.955851 ms 
whole laserOdometry time 6.970778 ms 
 
mapping data assosiation time 23.731246 ms 
mapping solver time 19.827325 ms 
[0m[ INFO] [1718804882.232912532, 1317358165.417046881]: Received 129703 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804882.232994370, 1317358165.417046881]: Data saved to 1317358165209902.pcd[0m
sort q time 5.330731 
seperate points time 11.271749 -----t: 0.0273202
OdomCount 3884 & avg odom time 0.047369 ms ++++++++++++++++++++++
--------------------stamp1317358165.521275043
points size 88907 
sort q time 4.443333 
seperate points time 9.613412 
build tree time 20.623488 ms 
publication time 16.281445 ms 
whole laserOdometry time 16.295632 ms 
 
-----t: 0.0429266
OdomCount 3885 & avg odom time 0.047368 ms ++++++++++++++++++++++
mapping solver time 24.372532 ms 
--------------------stamp1317358165.625029087
prepare time 11.910887 
mapping data assosiation time 25.753475 ms 
scan registration time 27.108380 ms *************
add points time 1.152215 ms
publication time 12.873458 ms 
whole laserOdometry time 12.892012 ms 
 
-----t: 0.0512079
OdomCount 3886 & avg odom time 0.047369 ms ++++++++++++++++++++++
build tree time 22.686987 ms 
mapping data assosiation time 21.626590 ms 
points size 89769 
mapping solver time 24.990182 ms 
sort q time 4.950218 
seperate points time 11.773712 
scan registration time 30.989302 ms *************
publication time 10.336913 ms 
whole laserOdometry time 10.384765 ms 
 
-----t: 0.0436505
OdomCount 3887 & avg odom time 0.047368 ms ++++++++++++++++++++++
1317358165.728779077 WriteOdom laser_odom_to_init
1317358165.728779077 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 117.024249 
filter time 7.797193 ms 
map prepare time 2.540595 ms
map corner num 92776  surf num 39196 
--------------------stamp1317358165.832552909
prepare time 11.827264 
sort q time 6.201478 
seperate points time 12.062206 
scan registration time 29.378350 ms *************
mapping data assosiation time 26.471571 ms 
-----t: 0.0376926
OdomCount 3888 & avg odom time 0.047366 ms ++++++++++++++++++++++
mapping data assosiation time 22.914495 ms 
--------------------stamp1317358165.936326980
prepare time 11.186051 
map prepare time 3.224632 ms
map corner num 93494  surf num 39514 
build tree time 24.996697 ms 
mapping data assosiation time 24.125809 ms 
mapping solver time 25.697917 ms 
points size 93373 
mapping data assosiation time 27.608255 ms 
-----t: 0.0373551
OdomCount 3890 & avg odom time 0.047360 ms ++++++++++++++++++++++
1317358166.040102958 WriteOdom laser_odom_to_init
1317358166.040102958 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.082866 ms 
whole mapping time 152.239232 ms +++++
mappingCount 2525 & avg mapping time 155.963346 ms ++++++++++++++++++++++
build tree time 20.498810 ms 
points size 94567 
mapping data assosiation time 27.774172 ms 
sort q time 5.150225 
seperate points time 26.947767 
publication time 12.426767 ms 
whole laserOdometry time 12.445890 ms 
 
mapping data assosiation time 26.780122 ms 
mapping solver time 22.188745 ms 
filter time 9.848085 ms 
map prepare time 3.882719 ms
map corner num 95133  surf num 40203 
scan registration time 34.019712 ms *************
publication time 8.914483 ms 
whole laserOdometry time 8.930780 ms 
 
mapping data assosiation time 27.404686 ms 
mapping solver time 22.836789 ms 
points size 90672 
mapping data assosiation time 31.384581 ms 
scan registration time 35.578191 ms *************
publication time 7.514065 ms 
whole laserOdometry time 7.526674 ms 
 
map prepare time 3.047585 ms
map corner num 95894  surf num 40575 
build tree time 20.186155 ms 
--------------------stamp1317358166.455275058
points size 90612 
sort q time 5.033884 
seperate points time 12.401008 
publication time 7.646007 ms 
whole laserOdometry time 7.656572 ms 
 
-----t: 0.0498764
OdomCount 3894 & avg odom time 0.047358 ms ++++++++++++++++++++++
mapping solver time 17.646035 ms 
filter time 6.510132 ms 
--------------------stamp1317358166.559073925
points size 92202 
build tree time 28.138354 ms 
mapping solver time 30.043332 ms 
publication time 11.000713 ms 
whole laserOdometry time 11.015352 ms 
 
1317358166.559073925 WriteOdom laser_odom_to_init
sort q time 5.494649 
seperate points time 13.755953 
mapping solver time 42.190575 ms 
filter time 9.971042 ms 
build tree time 20.349756 ms 
points size 92998 
mapping data assosiation time 25.708625 ms 
publication time 6.839588 ms 
whole laserOdometry time 6.854456 ms 
 
mapping solver time 29.024326 ms 
-----t: 0.0345347
OdomCount 3897 & avg odom time 0.047366 ms ++++++++++++++++++++++
1317358166.766671895 WriteOdom laser_odom_to_init
1317358166.766671895 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.268395 ms 
mapping solver time 17.010838 ms 
mapping pub time 2.054783 ms 
whole mapping time 130.861564 ms +++++
mappingCount 2530 & avg mapping time 155.949657 ms ++++++++++++++++++++++
points size 93645 
sort q time 5.541293 
seperate points time 12.200305 
publication time 15.081358 ms 
whole laserOdometry time 15.096385 ms 
 
mapping solver time 28.955384 ms 
--------------------stamp1317358166.974363088
prepare time 12.320220 
sort q time 5.241420 
seperate points time 11.689294 
scan registration time 29.263175 ms *************
mapping solver time 28.258201 ms 
mapping optimization time 133.349841 
add points time 1.079004 ms
1317358166.766671896 WriteOdom aft_mapped_to_init-----t: 0.0502772
OdomCount 3899 & avg odom time 0.047364 ms ++++++++++++++++++++++
1317358166.974363088 WriteOdom laser_odom_to_init
mapping data assosiation time 22.332785 ms 
points size 96178 
sort q time 5.517141 
seperate points time 12.622035 
publication time 15.422721 ms 
whole laserOdometry time 15.434264 ms 
 
mapping solver time 24.132684 ms 
filter time 6.870844 ms 
--------------------stamp1317358167.182033061
build tree time 22.620419 ms 
scan registration time 28.785936 ms *************
mapping data assosiation time 31.704396 ms 
1317358167.182033061 WriteOdom laser_odom_to_init
1317358167.182033061 WriteOdom aft_mapped_to_init_high_frec
publication time 8.841747 ms 
whole laserOdometry time 8.851408 ms 
 
mapping solver time 26.572914 ms 
mapping data assosiation time 25.919306 ms 
points size 93689 
scan registration time 32.143733 ms *************
publication time 9.083024 ms 
whole laserOdometry time 9.092966 ms 
 
mapping data assosiation time 24.042866 ms 
points size 92543 
sort q time 5.684735 
seperate points time 12.115140 
publication time 7.668995 ms 
whole laserOdometry time 7.691905 ms 
 
-----t: 0.0471385
OdomCount 3903 & avg odom time 0.047360 ms ++++++++++++++++++++++
filter time 7.198173 ms 
mapping pub time 2.201666 ms 
whole mapping time 138.354395 ms +++++
mappingCount 2534 & avg mapping time 155.935959 ms ++++++++++++++++++++++
1317358167.182033062 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358167.493549108
build tree time 22.768157 ms 
prepare time 10.522188 
sort q time 4.912166 
seperate points time 11.074990 
publication time 8.296638 ms 
whole laserOdometry time 8.313154 ms 
 
-----t: 0.0448537
OdomCount 3904 & avg odom time 0.047359 ms ++++++++++++++++++++++
1317358167.493549108 WriteOdom laser_odom_to_init
1317358167.493549108 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.271679 ms 
mapping data assosiation time 26.428142 ms 
--------------------stamp1317358167.597373008
prepare time 12.031187 
sort q time 5.193699 
seperate points time 11.885652 
publication time 8.052197 ms 
whole laserOdometry time 8.068304 ms 
 
mapping data assosiation time 25.635675 ms 
mapping solver time 26.682400 ms 
points size 88164 
sort q time 4.706195 
seperate points time 11.318368 
publication time 8.207728 ms 
whole laserOdometry time 8.217314 ms 
 
mapping optimization time 134.950016 
add points time 0.795361 ms
build tree time 20.903702 ms 
--------------------stamp1317358167.805067062
points size 87436 
prepare time 12.595832 
scan registration time 28.647498 ms *************
mapping solver time 25.920045 ms 
publication time 7.684398 ms 
whole laserOdometry time 7.699736 ms 
 
-----t: 0.0445821
OdomCount 3907 & avg odom time 0.047352 ms ++++++++++++++++++++++
mapping solver time 18.699351 ms 
filter time 6.955013 ms 
build tree time 16.545603 ms 
mapping data assosiation time 23.291809 ms 
mapping solver time 25.040172 ms 
--------------------stamp1317358167.908937931
prepare time 11.438680 
scan registration time 27.594588 ms *************
mapping solver time 28.263392 ms 
mapping optimization time 122.073928 
add points time 0.936194 ms
-----t: 0.0453201
OdomCount 3908 & avg odom time 0.047351 ms ++++++++++++++++++++++
publication time 11.103616 ms 
whole laserOdometry time 11.118152 ms 
 
mapping data assosiation time 23.915482 ms 
--------------------stamp1317358168.116703033
prepare time 12.514997 
sort q time 4.802506 
seperate points time 11.392170 
publication time 7.295672 ms 
whole laserOdometry time 7.307360 ms 
 
-----t: 0.0507485
OdomCount 3910 & avg odom time 0.047349 ms ++++++++++++++++++++++
mapping optimization time 131.706561 
mapping pub time 1.981412 ms 
whole mapping time 144.024468 ms +++++
mappingCount 2539 & avg mapping time 155.907124 ms ++++++++++++++++++++++
--------------------stamp1317358168.220571994
sort q time 5.088637 
seperate points time 10.047380 
-----t: 0.0274064
OdomCount 3911 & avg odom time 0.047344 ms ++++++++++++++++++++++
mapping solver time 29.673166 ms 
mapping data assosiation time 23.079553 ms 
mapping solver time 16.546350 ms 
mapping pub time 2.064989 ms 
whole mapping time 127.013210 ms +++++
mappingCount 2540 & avg mapping time 155.895750 ms ++++++++++++++++++++++
sort q time 4.674452 
seperate points time 10.187963 
publication time 7.239089 ms 
whole laserOdometry time 7.251707 ms 
 
mapping data assosiation time 27.557298 ms 
mapping solver time 21.692131 ms 
--------------------stamp1317358168.428316116
prepare time 10.283973 
sort q time 4.396130 
seperate points time 10.835225 
mapping solver time 20.264936 ms 
mapping optimization time 116.961239 
add points time 1.228289 ms
scan registration time 24.802766 ms *************
--------------------stamp1317358168.532162904
sort q time 4.421815 
seperate points time 8.822933 
publication time 16.355458 ms 
whole laserOdometry time 16.366546 ms 
 
map prepare time 2.782798 ms
map corner num 83424  surf num 36555 
mapping data assosiation time 26.229423 ms 
points size 70978 
sort q time 3.579230 
seperate points time 8.922881 
publication time 6.571430 ms 
whole laserOdometry time 6.586478 ms 
 
-----t: 0.0584564
OdomCount 3915 & avg odom time 0.047344 ms ++++++++++++++++++++++
filter time 6.591969 ms 
mapping pub time 1.791722 ms 
whole mapping time 145.380550 ms +++++
mappingCount 2542 & avg mapping time 155.925813 ms ++++++++++++++++++++++
1317358168.324443102 WriteOdom aft_mapped_to_init
--------------------stamp1317358168.739815950
build tree time 17.747236 ms 
sort q time 4.085214 
seperate points time 9.554354 
-----t: 0.041583
OdomCount 3916 & avg odom time 0.047342 ms ++++++++++++++++++++++
points size 78644 
mapping solver time 29.057405 ms 
filter time 8.048808 ms 
-----t: 0.031129
OdomCount 3917 & avg odom time 0.047338 ms ++++++++++++++++++++++
build tree time 19.657946 ms 
mapping data assosiation time 24.715011 ms 
--------------------stamp1317358168.947520017
sort q time 4.657784 
seperate points time 10.998172 
publication time 7.770206 ms 
whole laserOdometry time 7.783845 ms 
 
mapping solver time 18.456726 ms 
mapping pub time 1.617405 ms 
whole mapping time 132.908068 ms +++++
mappingCount 2544 & avg mapping time 155.915351 ms ++++++++++++++++++++++
build tree time 16.504750 ms 
--------------------stamp1317358169.051392078
prepare time 11.177486 
sort q time 4.699489 
seperate points time 11.580550 
-----t: 0.0287501
OdomCount 3919 & avg odom time 0.047329 ms ++++++++++++++++++++++
mapping data assosiation time 28.876530 ms 
mapping solver time 18.720985 ms 
filter time 6.285366 ms 
map prepare time 2.587719 ms
map corner num 87215  surf num 37976 
points size 90314 
build tree time 22.248859 ms 
publication time 9.265423 ms 
whole laserOdometry time 9.280988 ms 
 
-----t: 0.0304202
OdomCount 3920 & avg odom time 0.047324 ms ++++++++++++++++++++++
1317358169.155262947 WriteOdom laser_odom_to_init
1317358169.155262947 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.523196 ms 
mapping data assosiation time 23.531947 ms 
points size 93555 
[0m[ INFO] [1718804886.094948485, 1317358169.284083287]: Received 126459 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804886.094993381, 1317358169.284083287]: Data saved to 1317358169051392.pcd[0m
publication time 8.438597 ms 
whole laserOdometry time 8.451650 ms 
 
-----t: 0.0511049
OdomCount 3921 & avg odom time 0.047325 ms ++++++++++++++++++++++
mapping solver time 24.275530 ms 
points size 97720 
sort q time 5.494070 
seperate points time 13.499281 
mapping solver time 23.095068 ms 
mapping pub time 2.107740 ms 
whole mapping time 141.010003 ms +++++
mappingCount 2547 & avg mapping time 155.891297 ms ++++++++++++++++++++++
map prepare time 2.974686 ms
map corner num 88801  surf num 38669 
build tree time 20.513732 ms 
--------------------stamp1317358169.466852903
prepare time 13.152749 
sort q time 4.888610 
seperate points time 11.094299 
scan registration time 27.933649 ms *************
mapping data assosiation time 28.756726 ms 
-----t: 0.0740808
OdomCount 3923 & avg odom time 0.047328 ms ++++++++++++++++++++++
filter time 7.677972 ms 
sort q time 5.389856 
seperate points time 12.147142 
-----t: 0.0475055
OdomCount 3924 & avg odom time 0.047328 ms ++++++++++++++++++++++
mapping solver time 31.991837 ms 
--------------------stamp1317358169.674576997
points size 96000 
sort q time 5.564711 
seperate points time 13.666794 
mapping solver time 27.921690 ms 
mapping pub time 2.242731 ms 
whole mapping time 154.775801 ms +++++
mappingCount 2549 & avg mapping time 155.891214 ms ++++++++++++++++++++++
build tree time 17.997573 ms 
--------------------stamp1317358169.778424024
points size 94685 
sort q time 13.441607 
seperate points time 20.729997 
-----t: 0.0349637
OdomCount 3926 & avg odom time 0.047323 ms ++++++++++++++++++++++
publication time 14.590866 ms 
whole laserOdometry time 14.603659 ms 
 
mapping data assosiation time 28.564399 ms 
mapping solver time 17.628422 ms 
mapping pub time 2.899032 ms 
whole mapping time 140.113822 ms +++++
mappingCount 2550 & avg mapping time 155.885028 ms ++++++++++++++++++++++
prepare time 15.245146 
sort q time 5.429281 
seperate points time 13.049752 
-----t: 0.0332602
OdomCount 3927 & avg odom time 0.047319 ms ++++++++++++++++++++++
1317358169.882241010 WriteOdom laser_odom_to_init
1317358169.882241010 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.434012 ms 
mapping solver time 24.801473 ms 
--------------------stamp1317358169.986062049
points size 92338 
sort q time 5.184258 
seperate points time 12.754522 
scan registration time 33.631230 ms *************
mapping optimization time 146.401441 
[0m[ INFO] [1718804886.863572557, 1317358170.051497738]: Received 131583 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804886.863608548, 1317358170.051497738]: Data saved to 1317358169778424.pcd[0m
build tree time 17.715916 ms 
--------------------stamp1317358170.089885950
prepare time 12.857524 
sort q time 5.071156 
seperate points time 11.688717 
mapping solver time 32.059561 ms 
-----t: 0.0441901
OdomCount 3929 & avg odom time 0.047315 ms ++++++++++++++++++++++
1317358170.089885950 WriteOdom laser_odom_to_init
1317358170.089885950 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.735139 ms 
mapping solver time 19.758101 ms 
points size 87254 
mapping pub time 2.055080 ms 
whole mapping time 146.083466 ms +++++
mappingCount 2552 & avg mapping time 155.883930 ms ++++++++++++++++++++++
1317358169.882241011 WriteOdom aft_mapped_to_init
prepare time 13.548059 
map prepare time 2.926774 ms
map corner num 61462  surf num 26813 
publication time 18.698431 ms 
whole laserOdometry time 18.716538 ms 
 
1317358170.193708896 WriteOdom laser_odom_to_init
1317358170.193708896 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.350952 ms 
--------------------stamp1317358170.297530889
prepare time 12.713045 
sort q time 4.478817 
seperate points time 11.006020 
mapping solver time 30.424961 ms 
drop lidar frame in mapping for real time performance 
build tree time 13.725166 ms 
mapping data assosiation time 27.580170 ms 
prepare time 10.747560 
sort q time 4.910031 
seperate points time 11.194921 
publication time 8.321839 ms 
whole laserOdometry time 8.337902 ms 
 
1317358170.401328086 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.650600 ms 
mapping optimization time 130.926913 
add points time 1.046450 ms
filter time 4.936068 ms 
points size 87560 
sort q time 5.255221 
seperate points time 12.828907 
mapping data assosiation time 34.654779 ms 
-----t: 0.0652463
OdomCount 3933 & avg odom time 0.047316 ms ++++++++++++++++++++++
mapping data assosiation time 25.795062 ms 
points size 88986 
sort q time 5.039242 
seperate points time 10.589440 
filter time 6.787314 ms 
-----t: 0.0447588
OdomCount 3934 & avg odom time 0.047315 ms ++++++++++++++++++++++
mapping data assosiation time 26.003583 ms 
--------------------stamp1317358170.712774991
mapping solver time 27.110622 ms 
points size 90284 
prepare time 14.116526 
sort q time 4.867563 
seperate points time 12.100803 
mapping data assosiation time 31.650601 ms 
publication time 11.943637 ms 
whole laserOdometry time 11.957855 ms 
 
mapping optimization time 124.729136 
[0m[ INFO] [1718804887.605133357, 1317358170.794866313]: Received 92640 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804887.605182579, 1317358170.794866313]: Data saved to 1317358170505129.pcd[0m
build tree time 12.653833 ms 
--------------------stamp1317358170.816572904
mapping data assosiation time 32.034322 ms 
points size 90037 
sort q time 21.756994 
seperate points time 29.750780 
publication time 13.209169 ms 
whole laserOdometry time 13.278580 ms 
 
--------------------stamp1317358170.920371055
mapping optimization time 140.718579 
map prepare time 3.137004 ms
map corner num 65160  surf num 28501 
build tree time 17.618501 ms 
mapping data assosiation time 30.997718 ms 
--------------------stamp1317358171.024168968
prepare time 11.556524 
sort q time 4.895607 
seperate points time 11.294557 
mapping data assosiation time 32.326443 ms 
-----t: 0.0391754
OdomCount 3938 & avg odom time 0.047313 ms ++++++++++++++++++++++
mapping solver time 29.773618 ms 
mapping pub time 2.260200 ms 
whole mapping time 161.747381 ms +++++
mappingCount 2558 & avg mapping time 155.869622 ms ++++++++++++++++++++++
--------------------stamp1317358171.127943992
prepare time 11.691581 
sort q time 5.696058 
seperate points time 10.862924 
-----t: 0.0339274
OdomCount 3939 & avg odom time 0.047309 ms ++++++++++++++++++++++
mapping solver time 28.719131 ms 
mapping data assosiation time 28.943319 ms 
points size 90079 
mapping solver time 24.363065 ms 
map prepare time 3.222496 ms
map corner num 66660  surf num 29328 
build tree time 16.575124 ms 
mapping data assosiation time 25.845444 ms 
mapping solver time 25.850773 ms 
prepare time 11.241772 
sort q time 4.713722 
seperate points time 11.163548 
publication time 9.055999 ms 
whole laserOdometry time 9.073038 ms 
 
mapping solver time 23.912060 ms 
drop lidar frame in mapping for real time performance 
build tree time 14.280508 ms 
--------------------stamp1317358171.439271926
sort q time 5.467227 
seperate points time 10.803865 
mapping solver time 33.029494 ms 
mapping data assosiation time 30.454171 ms 
mapping solver time 26.268182 ms 
points size 84326 
sort q time 4.856502 
seperate points time 11.026299 
publication time 12.264257 ms 
whole laserOdometry time 12.288811 ms 
 
--------------------stamp1317358171.646750926
prepare time 13.607857 
map prepare time 3.383838 ms
map corner num 68147  surf num 30265 
build tree time 15.262130 ms 
mapping solver time 24.984811 ms 
points size 81137 
sort q time 4.652073 
seperate points time 10.573194 
mapping solver time 24.381130 ms 
mapping optimization time 131.922132 
add points time 0.986920 ms
1317358171.750502109 WriteOdom laser_odom_to_init
1317358171.750502109 WriteOdom aft_mapped_to_init_high_frecbuild tree time 13.736061 ms 
points size 81886 
sort q time 4.785402 
seperate points time 10.533626 
publication time 7.714759 ms 
whole laserOdometry time 7.731583 ms 
 
mapping data assosiation time 26.426920 ms 
mapping solver time 23.675222 ms 
mapping pub time 1.848259 ms 
whole mapping time 143.392732 ms +++++
mappingCount 2563 & avg mapping time 155.893426 ms ++++++++++++++++++++++
sort q time 4.201699 
seperate points time 10.208883 
publication time 7.540871 ms 
whole laserOdometry time 7.573832 ms 
 
mapping data assosiation time 29.361127 ms 
mapping solver time 28.673959 ms 
--------------------stamp1317358172.061702966
mapping data assosiation time 28.246261 ms 
scan registration time 26.772441 ms *************
publication time 8.223440 ms 
whole laserOdometry time 8.238057 ms 
 
filter time 5.226063 ms 
mapping pub time 1.923670 ms 
whole mapping time 151.836938 ms +++++
mappingCount 2564 & avg mapping time 155.891845 ms ++++++++++++++++++++++
1317358171.854249001 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.332911 ms
map corner num 70839  surf num 31689 
build tree time 15.303438 ms 
mapping data assosiation time 28.656645 ms 
sort q time 4.511909 
seperate points time 10.200038 
mapping solver time 36.695660 ms 
-----t: 0.0309097
OdomCount 3949 & avg odom time 0.047279 ms ++++++++++++++++++++++
1317358172.165406942 WriteOdom laser_odom_to_init
1317358172.165406942 WriteOdom aft_mapped_to_init_high_frec
publication time 8.617165 ms 
whole laserOdometry time 8.629529 ms 
 
mapping data assosiation time 29.431710 ms 
mapping solver time 18.273920 ms 
mapping pub time 1.941219 ms 
whole mapping time 141.684946 ms +++++
mappingCount 2565 & avg mapping time 155.886313 ms ++++++++++++++++++++++
points size 89073 
sort q time 5.015492 
seperate points time 12.241199 
publication time 7.809908 ms 
whole laserOdometry time 7.826507 ms 
 
mapping solver time 31.092344 ms 
--------------------stamp1317358172.372765064
prepare time 11.437051 
sort q time 6.038547 
seperate points time 12.216587 
publication time 7.869836 ms 
whole laserOdometry time 7.879060 ms 
 
mapping solver time 36.659307 ms 
-----t: 0.0305964
OdomCount 3951 & avg odom time 0.047270 ms ++++++++++++++++++++++
1317358172.372765064 WriteOdom laser_odom_to_init
mapping optimization time 149.641043 
1317358172.372765064 WriteOdom aft_mapped_to_init_high_frec
add points time 1.120866 ms
build tree time 15.652507 ms 
mapping data assosiation time 27.973554 ms 
prepare time 12.052988 
sort q time 5.277079 
seperate points time 12.074388 
mapping solver time 36.362370 ms 
-----t: 0.0398954
OdomCount 3952 & avg odom time 0.047269 ms ++++++++++++++++++++++
mapping data assosiation time 32.915809 ms 
mapping solver time 20.693192 ms 
1317358172.269084930 WriteOdom aft_mapped_to_init
points size 92991 
build tree time 16.598619 ms 
publication time 9.062608 ms 
whole laserOdometry time 9.091552 ms 
 
mapping solver time 31.498384 ms 
--------------------stamp1317358172.683871984
prepare time 13.459431 
sort q time 5.899894 
seperate points time 12.009386 
scan registration time 29.734540 ms *************
mapping solver time 31.968369 ms 
mapping optimization time 148.331851 
add points time 1.110423 ms
1317358172.476466894 WriteOdom aft_mapped_to_init
-----t: 0.0620042
OdomCount 3954 & avg odom time 0.047271 ms ++++++++++++++++++++++
--------------------stamp1317358172.787600040
prepare time 11.754311 
sort q time 5.454749 
seperate points time 11.775924 
publication time 11.439516 ms 
whole laserOdometry time 11.461955 ms 
 
1317358172.787600040 WriteOdom laser_odom_to_init
1317358172.787600040 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.843805 ms 
--------------------stamp1317358172.891302108
points size 95550 
map prepare time 2.932517 ms
map corner num 75089  surf num 34019 
build tree time 21.310220 ms 
mapping data assosiation time 37.483979 ms 
--------------------stamp1317358172.994978904
prepare time 12.543442 
sort q time 5.075948 
seperate points time 12.015779 
mapping data assosiation time 36.087485 ms 
-----t: 0.0368001
OdomCount 3957 & avg odom time 0.047263 ms ++++++++++++++++++++++
mapping solver time 30.900354 ms 
filter time 5.932793 ms 
--------------------stamp1317358173.098656892
points size 98270 
sort q time 5.945575 
seperate points time 13.072559 
scan registration time 28.910921 ms *************
-----t: 0.0526033
OdomCount 3958 & avg odom time 0.047264 ms ++++++++++++++++++++++
mapping solver time 33.848833 ms 
1317358173.098656892 WriteOdom laser_odom_to_init
1317358173.098656892 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358173.202358961
prepare time 14.860039 
mapping solver time 22.231706 ms 
[0m[ INFO] [1718804890.057512293, 1317358173.242627193]: Received 111550 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804890.057574580, 1317358173.242627193]: Data saved to 1317358172891302.pcd[0m
publication time 11.067100 ms 
whole laserOdometry time 11.085945 ms 
 
build tree time 21.490019 ms 
mapping data assosiation time 27.461422 ms 
points size 99017 
prepare time 15.419645 
publication time 10.487878 ms 
whole laserOdometry time 10.503469 ms 
 
-----t: 0.0534798
OdomCount 3960 & avg odom time 0.047263 ms ++++++++++++++++++++++
1317358173.306087017 WriteOdom laser_odom_to_init
1317358173.306087017 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 38.814390 ms 
mapping solver time 26.961856 ms 
mapping pub time 3.182825 ms 
prepare time 14.670643 
sort q time 5.876328 
seperate points time 14.474609 
publication time 10.242677 ms 
whole laserOdometry time 10.259415 ms 
 
-----t: 0.0544161
OdomCount 3961 & avg odom time 0.047264 ms ++++++++++++++++++++++
mapping solver time 29.252942 ms 
points size 99698 
mapping data assosiation time 36.131043 ms 
-----t: 0.037438
OdomCount 3962 & avg odom time 0.047262 ms ++++++++++++++++++++++
mapping pub time 2.394391 ms 
whole mapping time 169.041516 ms +++++
mappingCount 2573 & avg mapping time 155.908219 ms ++++++++++++++++++++++
build tree time 16.095915 ms 
points size 99969 
mapping data assosiation time 35.202710 ms 
publication time 8.679378 ms 
whole laserOdometry time 8.694133 ms 
 
mapping solver time 38.787048 ms 
mapping data assosiation time 31.801721 ms 
points size 99837 
sort q time 5.443591 
seperate points time 13.562635 
build tree time 22.444056 ms 
--------------------stamp1317358173.824961900
prepare time 11.723843 
sort q time 5.501270 
seperate points time 13.130748 
mapping solver time 36.747831 ms 
-----t: 0.0408293
OdomCount 3965 & avg odom time 0.047259 ms ++++++++++++++++++++++
mapping data assosiation time 33.829512 ms 
mapping solver time 22.575303 ms 
filter time 9.353116 ms 
points size 97022 
mapping pub time 2.362303 ms 
whole mapping time 168.326418 ms +++++
mappingCount 2575 & avg mapping time 155.919840 ms ++++++++++++++++++++++
1317358173.617317915 WriteOdom aft_mapped_to_init
prepare time 12.104014 
drop lidar frame in mapping for real time performance 
sort q time 5.640169 
seperate points time 12.852220 
build tree time 20.678134 ms 
publication time 9.730656 ms 
whole laserOdometry time 9.748976 ms 
 
-----t: 0.0462853
OdomCount 3966 & avg odom time 0.047259 ms ++++++++++++++++++++++
mapping data assosiation time 36.193903 ms 
--------------------stamp1317358174.032633066
prepare time 12.074435 
sort q time 5.585811 
seperate points time 13.049939 
scan registration time 29.323503 ms *************
-----t: 0.0443082
OdomCount 3967 & avg odom time 0.047258 ms ++++++++++++++++++++++
mapping solver time 33.071284 ms 
filter time 6.648805 ms 
--------------------stamp1317358174.136502981
prepare time 11.557646 
sort q time 5.730793 
seperate points time 12.905476 
mapping data assosiation time 37.788827 ms 
mapping solver time 41.029362 ms 
--------------------stamp1317358174.240374088
prepare time 12.312262 
mapping data assosiation time 35.857931 ms 
publication time 9.170207 ms 
whole laserOdometry time 9.188785 ms 
 
mapping solver time 37.406551 ms 
mapping pub time 2.227225 ms 
whole mapping time 188.849310 ms +++++
mappingCount 2577 & avg mapping time 155.942989 ms ++++++++++++++++++++++
--------------------stamp1317358174.344296932
prepare time 13.747433 
sort q time 6.425344 
seperate points time 13.652672 
mapping data assosiation time 39.814243 ms 
mapping solver time 38.168740 ms 
--------------------stamp1317358174.448262929
mapping data assosiation time 33.223078 ms 
prepare time 11.964646 
sort q time 5.250666 
seperate points time 12.881402 
filter time 9.251901 ms 
-----t: 0.0409936
OdomCount 3971 & avg odom time 0.047260 ms ++++++++++++++++++++++
build tree time 20.949956 ms 
--------------------stamp1317358174.552273988
points size 96977 
sort q time 5.337420 
seperate points time 13.260082 
mapping solver time 43.483773 ms 
mapping data assosiation time 32.410600 ms 
--------------------stamp1317358174.656311988
points size 98012 
filter time 6.369615 ms 
mapping pub time 2.249067 ms 
whole mapping time 177.683754 ms +++++
mappingCount 2579 & avg mapping time 155.959955 ms ++++++++++++++++++++++
1317358174.344296932 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
sort q time 6.509815 
seperate points time 12.895149 
build tree time 20.583093 ms 
publication time 19.215334 ms 
whole laserOdometry time 19.233958 ms 
 
-----t: 0.0420237
OdomCount 3973 & avg odom time 0.047256 ms ++++++++++++++++++++++
1317358174.656311988 WriteOdom laser_odom_to_init
1317358174.656311988 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 33.844871 ms 
--------------------stamp1317358174.760349988
prepare time 12.991486 
sort q time 6.817751 
seperate points time 13.780829 
publication time 8.086779 ms 
whole laserOdometry time 8.101363 ms 
 
mapping solver time 31.441274 ms 
mapping pub time 2.200137 ms 
whole mapping time 183.618676 ms +++++
mappingCount 2580 & avg mapping time 155.970677 ms ++++++++++++++++++++++
--------------------stamp1317358174.864413022
points size 100401 
build tree time 22.150784 ms 
publication time 10.995989 ms 
whole laserOdometry time 11.015273 ms 
 
mapping data assosiation time 39.790859 ms 
mapping solver time 39.585872 ms 
points size 101103 
sort q time 5.575141 
seperate points time 13.403361 
publication time 10.104233 ms 
whole laserOdometry time 10.121600 ms 
 
-----t: 0.04081
OdomCount 3976 & avg odom time 0.047250 ms ++++++++++++++++++++++
1317358174.968498945 WriteOdom laser_odom_to_init
1317358174.968498945 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 48.557415 ms 
filter time 7.500813 ms 
points size 100489 
sort q time 5.977272 
seperate points time 12.383531 
publication time 7.080632 ms 
whole laserOdometry time 7.092210 ms 
 
-----t: 0.0613512
OdomCount 3977 & avg odom time 0.047253 ms ++++++++++++++++++++++
--------------------stamp1317358175.176721096
prepare time 13.175857 
scan registration time 30.883711 ms *************
mapping pub time 142.534922 ms 
whole mapping time 345.093392 ms +++++
mappingCount 2581 & avg mapping time 156.043954 ms ++++++++++++++++++++++
1317358174.656311989 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 4.090715 ms
map corner num 75389  surf num 35176 
publication time 9.948215 ms 
whole laserOdometry time 9.963248 ms 
 
-----t: 0.0803744
OdomCount 3978 & avg odom time 0.047262 ms ++++++++++++++++++++++points size 98121 
sort q time 5.723114 
seperate points time 13.065020 
publication time 10.083209 ms 
whole laserOdometry time 10.095569 ms 
 
-----t: 0.0649336
OdomCount 3979 & avg odom time 0.047266 ms ++++++++++++++++++++++
mapping data assosiation time 38.534062 ms 
points size 96879 
sort q time 5.353167 
seperate points time 12.655820 
mapping solver time 54.013782 ms 
mapping pub time 2.809211 ms 
whole mapping time 239.076578 ms +++++
mappingCount 2582 & avg mapping time 156.076114 ms ++++++++++++++++++++++
1317358174.864413023 WriteOdom aft_mapped_to_init
publication time 7.488377 ms 
whole laserOdometry time 7.495735 ms 
 
-----t: 0.0622414
OdomCount 3980 & avg odom time 0.047270 ms ++++++++++++++++++++++
build tree time 19.864820 ms 
points size 95213 
sort q time 5.564079 
seperate points time 11.793029 
mapping data assosiation time 36.891115 ms 
scan registration time 27.528989 ms *************
publication time 15.320606 ms 
whole laserOdometry time 15.335939 ms 
 
mapping solver time 50.698929 ms 
--------------------stamp1317358175.593431949
points size 94145 
sort q time 5.076806 
seperate points time 12.110690 
mapping solver time 45.774345 ms 
filter time 8.381741 ms 
map prepare time 2.719735 ms
map corner num 77419  surf num 36130 
build tree time 17.862129 ms 
--------------------stamp1317358175.697614908
points size 93439 
mapping data assosiation time 36.055219 ms 
sort q time 5.264818 
seperate points time 12.360763 
scan registration time 31.394675 ms *************
publication time 8.370845 ms 
whole laserOdometry time 8.388800 ms 
 
-----t: 0.0420976
OdomCount 3983 & avg odom time 0.047271 ms ++++++++++++++++++++++
1317358175.697614908 WriteOdom laser_odom_to_init
1317358175.697614908 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 37.248588 ms 
--------------------stamp1317358175.801769971
points size 92743 
sort q time 5.959740 
seperate points time 11.442463 
filter time 8.400189 ms 
build tree time 20.551143 ms 
--------------------stamp1317358175.905904054
points size 92435 
sort q time 6.185743 
seperate points time 12.207030 
publication time 8.927405 ms 
whole laserOdometry time 8.947748 ms 
 
mapping solver time 44.645500 ms 
mapping data assosiation time 33.594601 ms 
--------------------stamp1317358176.010062932
prepare time 11.819144 
sort q time 5.139632 
seperate points time 12.710105 
filter time 8.579805 ms 
build tree time 17.044868 ms 
mapping data assosiation time 31.936052 ms 
points size 89964 
sort q time 4.904485 
seperate points time 11.719081 
mapping solver time 47.624694 ms 
mapping data assosiation time 33.912065 ms 
--------------------stamp1317358176.218354940
filter time 6.622150 ms 
scan registration time 29.586937 ms *************
build tree time 21.502199 ms 
publication time 29.215317 ms 
whole laserOdometry time 29.229524 ms 
 
mapping data assosiation time 42.577751 ms 
mapping data assosiation time 38.018781 ms 
-----t: 0.0533669
OdomCount 3989 & avg odom time 0.047276 ms ++++++++++++++++++++++
mapping optimization time 173.265977 
1317358176.010062933 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.298952 ms
map corner num 81768  surf num 38705 
points size 90556 
scan registration time 32.034280 ms *************
publication time 9.637168 ms 
whole laserOdometry time 9.650439 ms 
 
1317358176.426565885 WriteOdom laser_odom_to_init
1317358176.426565885 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358176.530622005
prepare time 11.801154 
scan registration time 29.891322 ms *************
publication time 9.719291 ms -----t: 0.0607481
OdomCount 3991 & avg odom time 0.047280 ms ++++++++++++++++++++++
--------------------stamp1317358176.634685039
prepare time 10.748569 
sort q time 5.374413 
seperate points time 12.245706 
filter time 6.382532 ms 
-----t: 0.0365522
OdomCount 3992 & avg odom time 0.047277 ms ++++++++++++++++++++++
1317358176.634685039 WriteOdom laser_odom_to_init
1317358176.634685039 WriteOdom aft_mapped_to_init_high_frec
build tree time 21.616395 ms 
mapping data assosiation time 35.411823 ms 
points size 92067 
sort q time 5.092829 
seperate points time 11.667661 
publication time 8.872178 ms 
whole laserOdometry time 8.898355 ms 
 
mapping solver time 48.816570 ms 
mapping data assosiation time 34.177569 ms 
--------------------stamp1317358176.842782974
points size 92375 
filter time 8.472232 ms 
drop lidar frame in mapping for real time performance 
-----t: 0.0341851
OdomCount 3994 & avg odom time 0.047272 ms ++++++++++++++++++++++
build tree time 23.476097 ms 
mapping data assosiation time 34.228344 ms 
points size 92871 
sort q time 5.960575 
seperate points time 12.392699 
publication time 8.838575 ms 
whole laserOdometry time 8.854643 ms 
 
-----t: 0.0406303
OdomCount 3995 & avg odom time 0.047270 ms ++++++++++++++++++++++
mapping data assosiation time 37.506227 ms 
--------------------stamp1317358177.050787925
points size 93895 
drop lidar frame in mapping for real time performance 
scan registration time 33.021998 ms *************
build tree time 20.418129 ms 
-----t: 0.0686667
OdomCount 3996 & avg odom time 0.047275 ms ++++++++++++++++++++++
--------------------stamp1317358177.154752969
points size 95012 
prepare time 12.247386 
scan registration time 29.478649 ms *************
publication time 11.186632 ms 
whole laserOdometry time 11.205630 ms 
 
mapping solver time 25.400296 ms 
filter time 7.703040 ms 
sort q time 5.499558 
seperate points time 13.587070 
publication time 10.471594 ms 
whole laserOdometry time 10.487552 ms 
 
mapping data assosiation time 38.349241 ms 
--------------------stamp1317358177.362616062
points size 98468 
sort q time 5.687973 
seperate points time 13.325410 
mapping data assosiation time 37.910045 ms 
publication time 16.177621 ms 
-----t: 0.0640587
OdomCount 3999 & avg odom time 0.047278 ms ++++++++++++++++++++++
filter time 6.921685 ms 
points size 98844 
build tree time 24.363217 ms 
publication time 10.587194 ms 
whole laserOdometry time 11.014050 ms 
 
mapping solver time 34.981131 ms 
points size 98770 
sort q time 5.876400 
seperate points time 13.033718 
-----t: 0.0376744
OdomCount 4001 & avg odom time 0.047273 ms ++++++++++++++++++++++
mapping solver time 29.663970 ms 
mapping pub time 2.224570 ms 
whole mapping time 191.358593 ms +++++
mappingCount 2593 & avg mapping time 156.249012 ms ++++++++++++++++++++++
--------------------stamp1317358177.674278974
sort q time 5.234470 
seperate points time 12.766846 
mapping data assosiation time 35.658982 ms 
1317358177.674278974 WriteOdom laser_odom_to_init
1317358177.674278974 WriteOdom aft_mapped_to_init_high_frec
publication time 10.467602 ms 
whole laserOdometry time 10.475703 ms 
 
mapping solver time 37.505916 ms 
--------------------stamp1317358177.778100013
mapping data assosiation time 38.072483 ms 
publication time 8.948319 ms 
whole laserOdometry time 8.971694 ms 
 
-----t: 0.0484773
OdomCount 4003 & avg odom time 0.047272 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
build tree time 20.268188 ms 
--------------------stamp1317358177.881922960
prepare time 14.280228 
sort q time 5.971682 
seperate points time 12.415931 
-----t: 0.0335023
OdomCount 4004 & avg odom time 0.047268 ms ++++++++++++++++++++++
mapping solver time 48.492443 ms 
mapping data assosiation time 31.596733 ms 
points size 86796 
sort q time 4.377622 
seperate points time 10.186274 
publication time 7.649495 ms 
whole laserOdometry time 7.664274 ms 
 
1317358177.985718965 WriteOdom laser_odom_to_init
1317358177.985718965 WriteOdom aft_mapped_to_init_high_frec
build tree time 18.934264 ms 
--------------------stamp1317358178.089490890
sort q time 4.379377 
seperate points time 9.829565 
mapping solver time 43.507288 ms 
-----t: 0.0435264
OdomCount 4006 & avg odom time 0.047266 ms ++++++++++++++++++++++
mapping data assosiation time 33.838732 ms 
--------------------stamp1317358178.193268060
prepare time 9.805513 
filter time 8.827000 ms 
publication time 7.520511 ms 
whole laserOdometry time 7.539460 ms 
 
build tree time 25.056785 ms 
mapping data assosiation time 37.096357 ms 
--------------------stamp1317358178.297044038
sort q time 3.932220 
seperate points time 9.672825 
publication time 8.513292 ms 
whole laserOdometry time 8.531260 ms 
 
-----t: 0.0379077
OdomCount 4008 & avg odom time 0.047264 ms ++++++++++++++++++++++
1317358178.297044038 WriteOdom laser_odom_to_init
mapping data assosiation time 36.948795 ms 
mapping solver time 19.370264 ms 
filter time 10.130000 ms 
points size 76886 
sort q time 4.377162 
seperate points time 10.278073 
publication time 6.757013 ms 
whole laserOdometry time 6.771779 ms 
 
-----t: 0.0338844
OdomCount 4009 & avg odom time 0.047261 ms ++++++++++++++++++++++
mapping data assosiation time 35.498550 ms 
--------------------stamp1317358178.504569053
scan registration time 25.313142 ms *************
-----t: 0.0324373
OdomCount 4010 & avg odom time 0.047257 ms ++++++++++++++++++++++
mapping solver time 36.467695 ms 
mapping optimization time 183.587221 
add points time 0.779358 ms
map prepare time 2.544606 ms
map corner num 70908  surf num 34027 
prepare time 9.809362 
scan registration time 23.661112 ms *************
-----t: 0.0295638
OdomCount 4011 & avg odom time 0.047253 ms ++++++++++++++++++++++
1317358178.608294010 WriteOdom laser_odom_to_init
1317358178.608294010 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 39.096440 ms 
mapping solver time 32.533134 ms 
--------------------stamp1317358178.712021112
sort q time 4.272544 
seperate points time 9.538119 
mapping solver time 31.725773 ms 
drop lidar frame in mapping for real time performance 
build tree time 16.671011 ms 
mapping data assosiation time 25.463296 ms 
--------------------stamp1317358178.815773010
prepare time 12.085324 
scan registration time 26.280308 ms *************
publication time 7.534729 ms 
whole laserOdometry time 7.548533 ms 
 
mapping solver time 29.034700 ms 
mapping pub time 1.753025 ms 
whole mapping time 152.322228 ms +++++
mappingCount 2600 & avg mapping time 156.304802 ms ++++++++++++++++++++++
prepare time 12.031258 
sort q time 4.399133 
seperate points time 11.106908 
-----t: 0.0282838
OdomCount 4014 & avg odom time 0.047239 ms ++++++++++++++++++++++
mapping data assosiation time 31.574065 ms 
mapping solver time 31.760785 ms 
--------------------stamp1317358179.023322105
mapping data assosiation time 26.849626 ms 
sort q time 5.027002 
seperate points time 11.183622 
publication time 9.558358 ms 
whole laserOdometry time 9.578126 ms 
 
[0m[ INFO] [1718804895.888573539, 1317358179.073077392]: Received 109129 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804895.888637434, 1317358179.073077392]: Data saved to 1317358178815773.pcd[0m
--------------------stamp1317358179.127094030
prepare time 12.476636 
sort q time 6.297675 
seperate points time 11.891303 
publication time 8.008206 ms 
whole laserOdometry time 8.025464 ms 
 
mapping pub time 118.861343 ms 
whole mapping time 269.204744 ms +++++
mappingCount 2601 & avg mapping time 156.348210 ms ++++++++++++++++++++++
build tree time 16.946797 ms 
points size 84827 
mapping data assosiation time 35.223585 ms 
prepare time 17.259644 
scan registration time 36.587652 ms *************
mapping solver time 46.102350 ms 
1317358179.230871915 WriteOdom laser_odom_to_init
1317358179.230871915 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.546429 ms 
points size 83799 
sort q time 5.024061 
seperate points time 12.407611 
build tree time 20.678751 ms 
mapping data assosiation time 27.312983 ms 
--------------------stamp1317358179.438467979
mapping solver time 26.347113 ms 
sort q time 4.715414 
seperate points time 10.620830 
-----t: 0.0310433
OdomCount 4019 & avg odom time 0.047235 ms ++++++++++++++++++++++
mapping solver time 27.516697 ms 
filter time 5.937297 ms 
build tree time 15.041565 ms 
--------------------stamp1317358179.542243003
prepare time 10.374857 
mapping data assosiation time 31.326166 ms 
sort q time 23.258892 
seperate points time 29.701678 
mapping solver time 35.102962 ms 
publication time 8.932715 ms 
whole laserOdometry time 8.948518 ms 
 
mapping data assosiation time 28.312814 ms 
mapping solver time 17.388681 ms 
filter time 6.952924 ms 
prepare time 12.584794 
sort q time 4.907057 
seperate points time 11.415757 
publication time 7.456520 ms 
whole laserOdometry time 7.471387 ms 
 
mapping data assosiation time 27.462783 ms 
mapping solver time 27.976879 ms 
--------------------stamp1317358179.749815940
prepare time 10.260001 
sort q time 5.051522 
seperate points time 11.753262 
sort q time 4.916426 
seperate points time 10.266538 
-----t: 0.0284283
OdomCount 4023 & avg odom time 0.047215 ms ++++++++++++++++++++++
mapping data assosiation time 28.166631 ms 
mapping solver time 16.411010 ms 
filter time 6.232619 ms 
build tree time 18.615949 ms 
--------------------stamp1317358179.957391023
points size 83379 
prepare time 27.468440 
mapping data assosiation time 30.716896 ms 
scan registration time 51.739852 ms *************
mapping data assosiation time 26.581971 ms 
--------------------stamp1317358180.061192035
filter time 8.991943 ms 
sort q time 5.000468 
seperate points time 12.083718 
build tree time 20.585282 ms 
mapping data assosiation time 29.115853 ms 
1317358180.061192035 WriteOdom laser_odom_to_init
1317358180.061192035 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358180.165014028
sort q time 4.878160 
seperate points time 10.486777 
publication time 9.021544 ms 
whole laserOdometry time 9.034998 ms 
 
filter time 6.928362 ms 
build tree time 19.446788 ms 
--------------------stamp1317358180.268886089
sort q time 4.954977 
seperate points time 11.889447 
publication time 7.194275 ms 
whole laserOdometry time 7.211775 ms 
 
mapping data assosiation time 26.107342 ms 
mapping solver time 23.733714 ms 
points size 90285 
sort q time 4.952297 
seperate points time 11.539745 
publication time 8.335352 ms 
whole laserOdometry time 8.351484 ms 
 
1317358180.372802972 WriteOdom laser_odom_to_init
1317358180.372802972 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.397792 ms 
mapping solver time 30.971675 ms 
points size 91694 
sort q time 6.481541 
seperate points time 12.530650 
-----t: 0.0450957
OdomCount 4029 & avg odom time 0.047214 ms ++++++++++++++++++++++
filter time 7.077736 ms 
build tree time 16.405056 ms 
points size 93428 
mapping data assosiation time 33.883936 ms 
-----t: 0.0319456
OdomCount 4030 & avg odom time 0.047210 ms ++++++++++++++++++++++
mapping solver time 36.346019 ms 
mapping data assosiation time 26.738194 ms 
--------------------stamp1317358180.684945106
mapping solver time 29.693077 ms 
filter time 8.780124 ms 
publication time 9.427792 ms 
whole laserOdometry time 9.441267 ms 
 
build tree time 23.557583 ms 
-----t: 0.0623938
OdomCount 4031 & avg odom time 0.047214 ms ++++++++++++++++++++++
mapping data assosiation time 34.865036 ms 
--------------------stamp1317358180.789103031
prepare time 12.207743 
sort q time 5.613632 
seperate points time 13.080957 
-----t: 0.0331144
OdomCount 4032 & avg odom time 0.047210 ms ++++++++++++++++++++++
mapping data assosiation time 35.891342 ms 
mapping solver time 30.399288 ms 
--------------------stamp1317358180.893357992
prepare time 11.927666 
sort q time 5.912486 
seperate points time 13.252109 
scan registration time 30.069511 ms *************
mapping data assosiation time 33.567664 ms 
-----t: 0.0786715
OdomCount 4033 & avg odom time 0.047218 ms ++++++++++++++++++++++
points size 97808 
prepare time 23.444763 
scan registration time 43.647850 ms *************
publication time 8.677382 ms 
whole laserOdometry time 8.695509 ms 
 
-----t: 0.078877
OdomCount 4034 & avg odom time 0.047226 ms ++++++++++++++++++++++
mapping optimization time 193.308310 
filter time 7.721762 ms 
sort q time 5.504700 
seperate points time 12.990950 
publication time 9.169446 ms 
whole laserOdometry time 9.190651 ms 
 
mapping data assosiation time 33.222296 ms 
--------------------stamp1317358181.206242084
mapping solver time 35.067530 ms 
sort q time 5.627227 
seperate points time 13.253747 
mapping data assosiation time 43.074553 ms 
-----t: 0.0614815
OdomCount 4036 & avg odom time 0.047230 ms ++++++++++++++++++++++
mapping solver time 38.113179 ms 
mapping pub time 2.138244 ms 
whole mapping time 189.469844 ms +++++
mappingCount 2614 & avg mapping time 156.368169 ms ++++++++++++++++++++++
points size 100737 
sort q time 6.063512 
seperate points time 14.182087 
-----t: 0.069455mapping solver time 41.666007 ms 
points size 100848 
prepare time 16.035734 
sort q time 6.894196 
seperate points time 16.834633 
publication time 9.447325 ms 
whole laserOdometry time 9.469004 ms 
 
mapping solver time 32.987325 ms 
filter time 8.143836 ms 
--------------------stamp1317358181.519124031
points size 100992 
prepare time 12.225935 
build tree time 21.854716 ms 
scan registration time 31.331883 ms *************
publication time 11.114454 ms 
whole laserOdometry time 11.128974 ms 
 
-----t: 0.0518803
OdomCount 4039 & avg odom time 0.047236 ms ++++++++++++++++++++++
--------------------stamp1317358181.623429059
mapping data assosiation time 32.636873 ms 
sort q time 5.588275 
seperate points time 12.169051 
mapping solver time 40.675419 ms 
mapping optimization time 169.136338 
add points time 0.813273 ms
-----t: 0.0379637
OdomCount 4040 & avg odom time 0.047233 ms ++++++++++++++++++++++
1317358181.623429059 WriteOdom laser_odom_to_init
publication time 10.317470 ms 
whole laserOdometry time 10.478560 ms 
 
1317358181.623429059 WriteOdom aft_mapped_to_init_high_frec
build tree time 22.756122 ms 
points size 101510 
prepare time 15.089449 
publication time 8.929914 ms 
whole laserOdometry time 8.946649 ms 
 
mapping solver time 47.411417 ms --------------------stamp1317358181.832011938
prepare time 12.383415 
sort q time 5.512827 
seperate points time 13.634100 
publication time 10.496360 ms 
whole laserOdometry time 10.520989 ms 
 
filter time 6.667601 ms 
-----t: 0.0605804
OdomCount 4042 & avg odom time 0.047237 ms ++++++++++++++++++++++
1317358181.832011938 WriteOdom laser_odom_to_init
1317358181.832011938 WriteOdom aft_mapped_to_init_high_frec
build tree time 20.691363 ms 
--------------------stamp1317358181.936266899
prepare time 13.959406 
sort q time 5.956436 
seperate points time 14.342818 
publication time 8.251481 ms 
whole laserOdometry time 8.265626 ms 
 
mapping solver time 42.762707 ms 
-----t: 0.0643432
OdomCount 4043 & avg odom time 0.047241 ms ++++++++++++++++++++++
mapping data assosiation time 30.689541 ms 
points size 101572 
mapping solver time 31.735478 ms 
map prepare time 3.745187 ms
map corner num 88503  surf num 45753 
-----t: 0.0541812
OdomCount 4044 & avg odom time 0.047243 ms ++++++++++++++++++++++
mapping data assosiation time 29.322756 ms 
points size 101367 
sort q time 5.749716 
seperate points time 13.370293 
-----t: 0.0354717
OdomCount 4045 & avg odom time 0.047240 ms ++++++++++++++++++++++
mapping data assosiation time 32.988134 ms 
mapping solver time 26.919016 ms 
--------------------stamp1317358182.248883008
map prepare time 2.947421 ms
map corner num 89443  surf num 46273 
scan registration time 30.810362 ms *************
publication time 9.734514 ms 
whole laserOdometry time 9.749405 ms 
 
-----t: 0.0489268
OdomCount 4046 & avg odom time 0.047240 ms ++++++++++++++++++++++
mapping data assosiation time 34.169456 ms 
--------------------stamp1317358182.353018999
points size 101508 
sort q time 5.414204 
seperate points time 12.758299 
publication time 8.191073 ms 
whole laserOdometry time 8.222428 ms 
 
-----t: 0.0485605
OdomCount 4047 & avg odom time 0.047240 ms ++++++++++++++++++++++
mapping solver time 33.846707 ms 
filter time 6.681806 ms 
map prepare time 2.901789 ms
map corner num 90278  surf num 46719 
--------------------stamp1317358182.457130908
build tree time 20.650592 ms 
sort q time 5.615951 
seperate points time 13.186652 
-----t: 0.0357578
OdomCount 4048 & avg odom time 0.047238 ms ++++++++++++++++++++++
1317358182.457130908 WriteOdom laser_odom_to_init
publication time 8.425843 ms 
whole laserOdometry time 8.434287 ms 
 
1317358182.457130908 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.752328 ms 
--------------------stamp1317358182.561242103
sort q time 6.109763 
seperate points time 12.217451 
mapping solver time 33.283184 ms 
mapping optimization time 159.069075 
add points time 0.792406 ms
--------------------stamp1317358182.665328025
points size 101262 
sort q time 6.779046 
seperate points time 13.489934 
publication time 9.522857 ms 
whole laserOdometry time 9.535126 ms 
 
mapping pub time 115.200227 ms 
whole mapping time 287.572987 ms +++++
mappingCount 2621 & avg mapping time 156.483343 ms ++++++++++++++++++++++
1317358182.248883009 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 3.543011 ms
map corner num 91187  surf num 47221 
-----t: 0.0639853
OdomCount 4050 & avg odom time 0.047240 ms ++++++++++++++++++++++
--------------------stamp1317358182.769391059
prepare time 12.619079 
sort q time 6.002971 
seperate points time 14.341248 
publication time 8.073361 ms 
whole laserOdometry time 8.100749 ms 
 
mapping solver time 35.294999 ms 
1317358182.769391059 WriteOdom laser_odom_to_init
mapping data assosiation time 32.738429 ms 
--------------------stamp1317358182.873431921
add points time 0.978122 ms
sort q time 5.917967 
seperate points time 13.486378 
publication time 9.404660 ms 
whole laserOdometry time 9.416521 ms 
 
-----t: 0.0543596
OdomCount 4052 & avg odom time 0.047244 ms ++++++++++++++++++++++
mapping data assosiation time 32.771583 ms 
--------------------stamp1317358182.977472066
mapping solver time 37.677268 ms 
publication time 12.914303 ms 
whole laserOdometry time 12.930066 ms 
 
mapping solver time 28.109465 ms 
filter time 7.394487 ms 
points size 100552 
build tree time 23.907582 ms 
sort q time 5.590099 
seperate points time 13.736830 
publication time 16.287925 ms 
whole laserOdometry time 16.306017 ms 
 
-----t: 0.0665571
OdomCount 4054 & avg odom time 0.047248 ms ++++++++++++++++++++++
1317358183.081484079 WriteOdom laser_odom_to_init
1317358183.081484079 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 44.949447 ms 
sort q time 5.147050 
seperate points time 10.972792 
scan registration time 42.296519 ms *************
publication time 9.546886 ms 
whole laserOdometry time 9.565471 ms 
 
-----t: 0.0536312
OdomCount 4055 & avg odom time 0.047250 ms ++++++++++++++++++++++
1317358183.185451030 WriteOdom laser_odom_to_init
1317358183.185451030 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.692951 ms 
filter time 10.417049 ms 
map prepare time 3.743258 ms
map corner num 93910  surf num 48794 
points size 100208 
prepare time 15.860372 
sort q time 5.644744 
seperate points time 13.070801 
publication time 7.988078 ms 
whole laserOdometry time 8.013543 ms 
 
mapping solver time 30.584531 ms 
--------------------stamp1317358183.393285036
points size 99930 
sort q time 5.586239 
seperate points time 12.871431 
mapping solver time 31.873566 ms 
publication time 20.022791 ms 
whole laserOdometry time 20.033885 ms 
 
map prepare time 2.919946 ms
map corner num 94776  surf num 49237 
--------------------stamp1317358183.497107982
build tree time 34.152755 ms 
sort q time 10.893441 
seperate points time 24.156762 
mapping data assosiation time 40.774666 ms 
mapping solver time 37.406338 ms 
--------------------stamp1317358183.600860118
points size 99423 
mapping data assosiation time 31.277277 ms 
publication time 8.376608 ms 
whole laserOdometry time 8.391834 ms 
 
1317358183.600860118 WriteOdom laser_odom_to_init
1317358183.600860118 WriteOdom aft_mapped_to_init_high_frecdrop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
build tree time 23.002238 ms 
points size 99110 
mapping data assosiation time 34.166484 ms 
publication time 11.352021 ms 
whole laserOdometry time 11.381302 ms 
 
mapping solver time 38.772169 ms 
mapping data assosiation time 34.318284 ms 
--------------------stamp1317358183.808178901
mapping solver time 31.220834 ms 
sort q time 6.214921 
seperate points time 12.413875 
publication time 7.241554 ms 
whole laserOdometry time 7.257969 ms 
 
-----t: 0.0614542
OdomCount 4061 & avg odom time 0.047252 ms ++++++++++++++++++++++
1317358183.808178901 WriteOdom laser_odom_to_init
1317358183.808178901 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 32.937568 ms 
points size 98355 
scan registration time 35.395913 ms *************
publication time 8.272006 ms 
whole laserOdometry time 8.285835 ms 
 
mapping data assosiation time 35.816032 ms 
mapping solver time 35.709377 ms 
filter time 8.930226 ms 
mapping pub time 2.360166 ms 
whole mapping time 184.788385 ms +++++
mappingCount 2628 & avg mapping time 156.557517 ms ++++++++++++++++++++++
1317358183.704545975 WriteOdom aft_mapped_to_init
points size 97565 
drop lidar frame in mapping for real time performance 
prepare time 11.025699 
sort q time 6.205247 
seperate points time 13.352356 
build tree time 29.190556 ms 
-----t: 0.0470899
OdomCount 4063 & avg odom time 0.047255 ms ++++++++++++++++++++++
1317358184.015501976 WriteOdom laser_odom_to_init
1317358184.015501976 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358184.119182109
points size 95688 
sort q time 5.179211 
seperate points time 12.326105 
scan registration time 31.996807 ms *************
publication time 6.664196 ms 
whole laserOdometry time 6.674281 ms 
 
-----t: 0.0406053
OdomCount 4064 & avg odom time 0.047254 ms ++++++++++++++++++++++
1317358184.119182109 WriteOdom laser_odom_to_init
1317358184.119182109 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.234157 ms 
mapping solver time 29.017477 ms 
filter time 8.480343 ms 
sort q time 6.059491 
seperate points time 13.419591 
build tree time 27.266497 ms 
mapping data assosiation time 33.521420 ms 
--------------------stamp1317358184.326540946
points size 93619 
sort q time 9.428043 
seperate points time 16.373125 
mapping data assosiation time 36.781479 ms 
mapping solver time 33.542830 ms 
mapping optimization time 169.158967 
add points time 0.761279 ms
map prepare time 3.041321 ms
map corner num 99255  surf num 51669 
--------------------stamp1317358184.430242061
points size 93271 
build tree time 28.789996 ms 
publication time 8.898846 ms 
whole laserOdometry time 8.917745 ms 
 
1317358184.430242061 WriteOdom laser_odom_to_init
1317358184.430242061 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 37.444014 ms 
mapping solver time 37.614392 ms 
--------------------stamp1317358184.533946037
prepare time 12.508335 
sort q time 5.573185 
seperate points time 12.311170 
-----t: 0.0324771
OdomCount 4068 & avg odom time 0.047245 ms ++++++++++++++++++++++
mapping optimization time 176.097685 
filter time 7.755609 ms 
map prepare time 2.831525 ms
map corner num 100177  surf num 52104 
--------------------stamp1317358184.637650012
prepare time 14.021744 
sort q time 5.306926 
seperate points time 12.979311 
mapping data assosiation time 35.604387 ms 
publication time 7.862203 ms 
whole laserOdometry time 7.876593 ms 
 
-----t: 0.0495326
OdomCount 4069 & avg odom time 0.047246 ms ++++++++++++++++++++++
mapping solver time 33.150613 ms 
--------------------stamp1317358184.741398096
prepare time 11.651786 
sort q time 5.914358 
seperate points time 11.430322 
map prepare time 2.912408 ms
map corner num 101013  surf num 52486 
publication time 14.106112 ms 
whole laserOdometry time 14.121882 ms 
 
mapping data assosiation time 32.227540 ms 
sort q time 6.826230 
seperate points time 12.697935 
publication time 14.587786 ms 
whole laserOdometry time 14.612659 ms 
 
mapping data assosiation time 31.585914 ms 
mapping solver time 23.513430 ms 
mapping optimization time 154.048825 
add points time 0.769230 ms
filter time 7.346270 ms 
prepare time 11.544666 
sort q time 5.034519 
seperate points time 11.984652 
publication time 14.119435 ms 
whole laserOdometry time 14.139968 ms 
 
-----t: 0.0453806
OdomCount 4072 & avg odom time 0.047247 ms ++++++++++++++++++++++
1317358184.948949098 WriteOdom laser_odom_to_init
1317358184.948949098 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358185.052747964
prepare time 12.887624 
sort q time 5.267903 
seperate points time 11.723563 
mapping data assosiation time 35.214484 ms 
publication time 9.241395 ms 
whole laserOdometry time 9.259570 ms 
 
mapping solver time 26.827249 ms 
mapping optimization time 164.060403 
add points time 0.797043 ms
map prepare time 2.733392 ms
map corner num 102615  surf num 53266 
--------------------stamp1317358185.156570911
prepare time 11.586632 
sort q time 5.370182 
seperate points time 10.793404 
publication time 7.717477 ms 
whole laserOdometry time 7.730998 ms 
 
mapping solver time 36.871284 ms 
--------------------stamp1317358185.260416984
points size 87961 
mapping data assosiation time 33.311877 ms 
publication time 8.463053 ms 
whole laserOdometry time 8.494528 ms 
 
mapping solver time 38.341222 ms 
filter time 8.580330 ms 
build tree time 26.847925 ms 
points size 87789 
sort q time 4.830965 
seperate points time 10.956932 
-----t: 0.0334539
OdomCount 4076 & avg odom time 0.047237 ms ++++++++++++++++++++++
publication time 9.167664 ms 
1317358185.364286899 WriteOdom laser_odom_to_init
whole laserOdometry time 10.375759 ms 
 
1317358185.364286899 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 40.644332 ms 
mapping data assosiation time 28.108368 ms 
points size 88209 
sort q time 4.809074 
seperate points time 10.765201 
publication time 7.642755 ms 
whole laserOdometry time 7.661341 ms 
 
-----t: 0.0498411
OdomCount 4077 & avg odom time 0.047238 ms ++++++++++++++++++++++
--------------------stamp1317358185.572102069
prepare time 13.197314 
sort q time 6.100853 
seperate points time 12.854087 
mapping data assosiation time 76.809916 ms 
publication time 19.552108 ms 
whole laserOdometry time 19.565003 ms 
 
-----t: 0.0525204
OdomCount 4078 & avg odom time 0.047239 ms ++++++++++++++++++++++
mapping solver time 34.903536 ms 
--------------------stamp1317358185.676022052
prepare time 10.761584 
sort q time 5.129282 
seperate points time 11.392323 
mapping solver time 29.262733 ms 
filter time 11.687169 ms 
build tree time 22.309832 ms 
points size 87135 
sort q time 4.871253 
seperate points time 12.250943 
publication time 10.207155 ms 
whole laserOdometry time 10.225564 ms 
 
-----t: 0.0524077
OdomCount 4080 & avg odom time 0.047241 ms ++++++++++++++++++++++
mapping data assosiation time 31.671136 ms 
points size 86164 
sort q time 5.163158 
seperate points time 12.221928 
mapping pub time 2.278922 ms 
whole mapping time 185.636430 ms +++++
mappingCount 2638 & avg mapping time 156.669996 ms ++++++++++++++++++++++
1317358185.572102070 WriteOdom aft_mapped_to_init
publication time 9.446095 ms 
whole laserOdometry time 9.459054 ms 
 
-----t: 0.0540433
OdomCount 4081 & avg odom time 0.047243 ms ++++++++++++++++++++++
build tree time 27.953425 ms 
--------------------stamp1317358185.987920999
points size 86005 
mapping data assosiation time 36.808117 ms 
sort q time 5.062316 
seperate points time 11.999712 
publication time 10.552435 ms 
whole laserOdometry time 10.568767 ms 
 
mapping solver time 40.470101 ms 
-----t: 0.0487978
OdomCount 4082 & avg odom time 0.047243 ms ++++++++++++++++++++++
1317358185.987920999 WriteOdom laser_odom_to_init
1317358185.987920999 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 32.302154 ms 
points size 84045 
mapping solver time 28.898131 ms 
filter time 12.353324 ms 
-----t: 0.0405939
OdomCount 4083 & avg odom time 0.047242 ms ++++++++++++++++++++++
1317358186.091932058 WriteOdom laser_odom_to_init
1317358186.091932058 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.948247 ms 
prepare time 10.398352 
scan registration time 24.747831 ms *************
mapping solver time 38.275020 ms 
mapping data assosiation time 30.374432 ms 
mapping solver time 22.353761 ms 
filter time 7.972312 ms 
points size 81749 
sort q time 4.348620 
seperate points time 10.717005 
publication time 7.221538 ms 
whole laserOdometry time 7.235160 ms 
 
mapping data assosiation time 33.445403 ms 
mapping solver time 36.001031 ms 
--------------------stamp1317358186.403930902
points size 81007 
sort q time 4.324821 
seperate points time 10.366861 
publication time 7.611709 ms 
whole laserOdometry time 7.625703 ms 
 
1317358186.403930902 WriteOdom laser_odom_to_init
1317358186.403930902 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358186.507946968
prepare time 12.759423 
scan registration time 49.756384 ms *************
-----t: 0.0769719
OdomCount 4087 & avg odom time 0.047238 ms ++++++++++++++++++++++
1317358186.507946968 WriteOdom laser_odom_to_init
1317358186.507946968 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358186.611963987
points size 80170 
sort q time 5.350743 
seperate points time 12.264643 
build tree time 37.573203 ms 
-----t: 0.0546555
OdomCount 4088 & avg odom time 0.047240 ms ++++++++++++++++++++++
mapping data assosiation time 42.811196 ms 
--------------------stamp1317358186.716028928
prepare time 12.973679 
mapping solver time 42.505766 ms 
scan registration time 52.116408 ms *************
-----t: 0.0620547
OdomCount 4089 & avg odom time 0.047243 ms ++++++++++++++++++++++
mapping solver time 22.911687 ms 
points size 80390 
sort q time 4.650000 
seperate points time 11.110072 
build tree time 30.245175 ms 
publication time 10.149952 ms 
whole laserOdometry time 10.165439 ms 
 
-----t: 0.0671961
OdomCount 4090 & avg odom time 0.047248 ms ++++++++++++++++++++++
points size 81734 
sort q time 4.777095 
seperate points time 11.023025 
mapping data assosiation time 35.704624 ms 
-----t: 0.0512391
OdomCount 4091 & avg odom time 0.047249 ms ++++++++++++++++++++++
mapping solver time 34.847838 ms 
filter time 7.887755 ms 
points size 82110 
sort q time 4.615300 
seperate points time 10.740854 
publication time 8.825222 ms 
whole laserOdometry time 8.840913 ms 
 
mapping data assosiation time 33.656133 ms 
--------------------stamp1317358187.131725072
sort q time 4.497541 
seperate points time 10.348010 
mapping data assosiation time 35.948500 ms 
mapping solver time 24.725987 ms 
filter time 10.525229 ms 
--------------------stamp1317358187.235667943
build tree time 25.083566 ms 
sort q time 4.579345 
seperate points time 10.927754 
-----t: 0.0312462
OdomCount 4094 & avg odom time 0.047239 ms ++++++++++++++++++++++
mapping solver time 39.974348 ms 
points size 85520 
prepare time 9.860354 
publication time 8.179388 ms 
whole laserOdometry time 8.210065 ms 
 
filter time 8.195715 ms 
mapping pub time 1.815871 ms 
whole mapping time 186.376453 ms +++++
mappingCount 2645 & avg mapping time 156.800335 ms ++++++++++++++++++++++
1317358187.027780056 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.986643 ms
map corner num 111441  surf num 57213 
build tree time 27.636686 ms 
--------------------stamp1317358187.443504095
prepare time 10.920863 
publication time 6.391436 ms 
whole laserOdometry time 6.411452 ms 
 
1317358187.443504095 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.070739 ms 
--------------------stamp1317358187.547446966
filter time 9.573825 ms 
build tree time 21.320280 ms 
mapping data assosiation time 34.227781 ms 
--------------------stamp1317358187.651391029
prepare time 13.804114 
sort q time 11.761849 
seperate points time 19.584000 
-----t: 0.0441546
OdomCount 4098 & avg odom time 0.047231 ms ++++++++++++++++++++++
publication time 15.498176 ms 
whole laserOdometry time 15.511773 ms 
 
mapping pub time 2.056275 ms 
whole mapping time 179.586184 ms +++++
mappingCount 2647 & avg mapping time 156.815358 ms ++++++++++++++++++++++
1317358187.443504095 WriteOdom aft_mapped_to_init
points size 90851 
sort q time 5.618995 
seperate points time 12.923734 
build tree time 27.346803 ms 
scan registration time 30.055123 ms *************
publication time 10.615057 ms 
whole laserOdometry time 10.624846 ms 
 
-----t: 0.0603644
OdomCount 4099 & avg odom time 0.047234 ms ++++++++++++++++++++++
--------------------stamp1317358187.859225988
prepare time 12.141687 
sort q time 5.543418 
seperate points time 11.479025 
mapping data assosiation time 38.687622 ms 
mapping solver time 31.429046 ms 
mapping pub time 2.056872 ms 
whole mapping time 189.553031 ms +++++
mappingCount 2648 & avg mapping time 156.827727 ms ++++++++++++++++++++++
--------------------stamp1317358187.963144063
prepare time 14.039381 
sort q time 18.553511 
seperate points time 25.897637 
publication time 9.221619 ms 
whole laserOdometry time 9.234264 ms 
 
mapping solver time 40.343870 ms 
--------------------stamp1317358188.067061901
mapping data assosiation time 34.119672 ms 
sort q time 5.186566 
seperate points time 24.744505 
-----t: 0.0433613
OdomCount 4102 & avg odom time 0.047238 ms ++++++++++++++++++++++
build tree time 16.225029 ms 
points size 89765 
sort q time 5.767045 
seperate points time 11.062107 
publication time 8.737289 ms 
whole laserOdometry time 8.752036 ms 
 
mapping solver time 43.898011 ms 
mapping data assosiation time 30.195611 ms 
--------------------stamp1317358188.274926900
prepare time 11.349655 
sort q time 5.040800 
seperate points time 10.577032 
mapping pub time 2.151066 ms 
whole mapping time 175.130606 ms +++++
mappingCount 2650 & avg mapping time 156.844164 ms ++++++++++++++++++++++
-----t: 0.0338146
OdomCount 4104 & avg odom time 0.047233 ms ++++++++++++++++++++++
build tree time 20.923174 ms 
mapping data assosiation time 31.619674 ms 
points size 86058 
sort q time 4.828919 
seperate points time 10.970173 
-----t: 0.0296083
OdomCount 4105 & avg odom time 0.047228 ms ++++++++++++++++++++++
mapping data assosiation time 34.846318 ms 
mapping solver time 24.024912 ms 
mapping pub time 5.217445 ms 
whole mapping time 176.074908 ms +++++
mappingCount 2651 & avg mapping time 156.851421 ms ++++++++++++++++++++++
sort q time 4.975467 
seperate points time 10.607795 
-----t: 0.0340402
OdomCount 4106 & avg odom time 0.047225 ms ++++++++++++++++++++++
mapping data assosiation time 38.437011 ms 
--------------------stamp1317358188.586971998
prepare time 11.324253 
sort q time 5.884351 
seperate points time 11.640800 
publication time 10.578985 ms -----t: 0.0428343
OdomCount 4107 & avg odom time 0.047224 ms ++++++++++++++++++++++
mapping solver time 29.853714 ms 
filter time 9.534434 ms 
mapping pub time 2.115255 ms 
whole mapping time 187.481043 ms +++++
mappingCount 2652 & avg mapping time 156.862977 ms ++++++++++++++++++++++
1317358188.274926901 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358188.691031932
prepare time 12.857377 
sort q time 5.650412 
seperate points time 12.030559 
publication time 7.730980 ms 
whole laserOdometry time 7.745313 ms 
 
mapping data assosiation time 39.524649 ms 
mapping solver time 39.984987 ms 
points size 87030 
sort q time 5.175010 
seperate points time 12.207837 
publication time 10.443779 ms 
whole laserOdometry time 10.467499 ms 
 
mapping solver time 30.970743 ms 
filter time 9.362225 ms 
build tree time 24.128929 ms 
--------------------stamp1317358188.899179935
mapping data assosiation time 35.291026 ms 
publication time 8.161933 ms 
whole laserOdometry time 8.180000 ms 
 
-----t: 0.0489981
OdomCount 4110 & avg odom time 0.047228 ms ++++++++++++++++++++++
--------------------stamp1317358189.003266096
points size 89015 
sort q time 4.886796 
seperate points time 11.580084 
mapping solver time 26.650511 ms 
mapping optimization time 168.069058 
add points time 0.842203 ms
build tree time 18.659522 ms 
mapping data assosiation time 27.176434 ms 
--------------------stamp1317358189.107331037
prepare time 14.119659 
sort q time 5.105129 
seperate points time 12.056348 
-----t: 0.0344276
OdomCount 4112 & avg odom time 0.047222 ms ++++++++++++++++++++++
--------------------stamp1317358189.211393117
filter time 7.045923 ms 
publication time 8.207572 ms 
whole laserOdometry time 8.224180 ms 
 
mapping data assosiation time 32.427729 ms 
points size 92461 
sort q time 7.608639 
seperate points time 14.220396 
mapping data assosiation time 33.223896 ms 
-----t: 0.0427863
OdomCount 4114 & avg odom time 0.047218 ms ++++++++++++++++++++++
mapping solver time 31.049343 ms 
filter time 7.168047 ms 
map prepare time 3.584538 ms
map corner num 84892  surf num 43781 
--------------------stamp1317358189.419445037
build tree time 25.849343 ms 
points size 95831 
sort q time 5.728244 
seperate points time 13.283751 
publication time 9.832238 ms 
whole laserOdometry time 9.850381 ms 
 
filter time 10.152434 ms 
mapping pub time 2.201313 ms 
whole mapping time 203.087450 ms +++++
mappingCount 2657 & avg mapping time 156.913113 ms ++++++++++++++++++++++
1317358189.211393118 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358189.627404928
prepare time 12.037545 
sort q time 6.511880 
seperate points time 13.961037 
mapping data assosiation time 39.446706 ms 
-----t: 0.0502096
OdomCount 4117 & avg odom time 0.047224 ms ++++++++++++++++++++++
mapping solver time 39.152569 ms 
--------------------stamp1317358189.731370925
prepare time 11.583391 
sort q time 6.598066 
seperate points time 13.887646 
mapping solver time 31.100720 ms 
mapping optimization time 175.359914 
add points time 0.842784 ms
build tree time 27.253009 ms 
-----t: 0.0826106
OdomCount 4118 & avg odom time 0.047232 ms ++++++++++++++++++++++
1317358189.731370925 WriteOdom laser_odom_to_init
1317358189.731370925 WriteOdom aft_mapped_to_init_high_frec
points size 101366 
sort q time 6.683772 
seperate points time 16.181102 
publication time 10.329715 ms 
whole laserOdometry time 10.348945 ms 
 
-----t: 0.0520889
OdomCount 4119 & avg odom time 0.047234 ms ++++++++++++++++++++++
1317358189.835339069 WriteOdom laser_odom_to_init
mapping data assosiation time 27.725414 ms 
points size 101316 
add points time 0.851104 ms
sort q time 5.907550 
seperate points time 13.781388 
publication time 11.088489 ms 
whole laserOdometry time 11.105627 ms 
 
--------------------stamp1317358190.043200969
prepare time 13.287844 
sort q time 6.885880 
seperate points time 13.025430 
publication time 8.978095 ms 
whole laserOdometry time 8.993111 ms 
 
1317358190.043200969 WriteOdom laser_odom_to_init
1317358190.043200969 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.424937 ms 
points size 96796 
filter time 7.300191 ms 
publication time 8.188643 ms 
whole laserOdometry time 8.204797 ms 
 
1317358190.147140979 WriteOdom laser_odom_to_init
mapping data assosiation time 33.984363 ms 
--------------------stamp1317358190.251107931
points size 93949 
prepare time 11.989407 
publication time 10.834662 ms 
whole laserOdometry time 10.845563 ms 
 
-----t: 0.0358078
OdomCount 4123 & avg odom time 0.047228 ms ++++++++++++++++++++++
1317358190.251107931 WriteOdom laser_odom_to_init
1317358190.251107931 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.465274 ms 
mapping optimization time 148.224859 
add points time 0.859858 ms
points size 91565 
sort q time 6.394621 
seperate points time 13.111210 
publication time 8.586717 ms 
whole laserOdometry time 8.601761 ms 
 
--------------------stamp1317358190.459115028
prepare time 14.486102 
sort q time 4.776786 
seperate points time 11.844623 
build tree time 25.853194 ms 
publication time 7.606109 ms 
whole laserOdometry time 7.621169 ms 
 
mapping data assosiation time 43.028908 ms 
--------------------stamp1317358190.563127994
prepare time 11.075603 
sort q time 5.253462 
seperate points time 12.047532 
scan registration time 31.690722 ms *************
mapping solver time 44.799859 ms 
publication time 8.720122 ms 
whole laserOdometry time 8.732844 ms 
 
mapping data assosiation time 33.669716 ms 
mapping solver time 28.381054 ms 
mapping optimization time 178.374330 
add points time 0.690111 ms
filter time 6.878505 ms 
points size 81425 
sort q time 4.709805 
seperate points time 9.982921 
build tree time 22.236459 ms 
scan registration time 24.899336 ms *************
publication time 8.623138 ms 
whole laserOdometry time 8.636490 ms 
 
mapping solver time 25.551388 ms 
--------------------stamp1317358190.771111965
prepare time 10.619469 
sort q time 5.239362 
seperate points time 10.273845 
mapping solver time 31.403741 ms 
filter time 8.656881 ms 
build tree time 18.604067 ms 
--------------------stamp1317358190.875124931
prepare time 11.335390 
sort q time 5.247126 
seperate points time 10.015338 
mapping solver time 30.428715 ms 
1317358190.875124931 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.086645 ms 
mapping solver time 23.850701 ms 
filter time 7.018404 ms 
prepare time 10.838463 
scan registration time 24.634625 ms *************
publication time 13.136674 ms 
whole laserOdometry time 13.164820 ms 
 
mapping solver time 24.643748 ms 
--------------------stamp1317358191.083275079
mapping data assosiation time 30.800768 ms 
sort q time 4.627426 
seperate points time 10.467248 
scan registration time 25.552675 ms *************
mapping solver time 22.612997 ms 
mapping pub time 1.844719 ms 
whole mapping time 152.916500 ms +++++
mappingCount 2665 & avg mapping time 157.006766 ms ++++++++++++++++++++++
build tree time 20.691489 ms 
--------------------stamp1317358191.187433958
prepare time 10.817021 
sort q time 4.894431 
seperate points time 11.537001 
mapping solver time 35.061596 ms 
mapping data assosiation time 30.094537 ms 
mapping solver time 27.849451 ms 
filter time 7.790017 ms 
1317358190.979162931 WriteOdom aft_mapped_to_init
build tree time 25.638649 ms 
publication time 16.527226 ms 
whole laserOdometry time 16.698387 ms 
 
mapping data assosiation time 37.599474 ms 
--------------------stamp1317358191.395751953
mapping solver time 36.567110 ms 
sort q time 5.610958 
seperate points time 12.964760 
mapping solver time 32.543297 ms 
filter time 7.314120 ms 
--------------------stamp1317358191.499910116
build tree time 25.589865 ms 
points size 93796 
prepare time 13.906975 
scan registration time 32.530711 ms *************
mapping data assosiation time 36.713739 ms 
publication time 12.935572 ms 
whole laserOdometry time 12.953578 ms 
 
mapping solver time 38.953487 ms 
--------------------stamp1317358191.604046106
points size 96571 
mapping data assosiation time 38.190970 ms 
sort q time 5.666760 
seperate points time 13.876854 
scan registration time 31.599739 ms *************
publication time 10.695449 ms 
whole laserOdometry time 10.728196 ms 
 
1317358191.604046106 WriteOdom laser_odom_to_init
1317358191.604046106 WriteOdom aft_mapped_to_init_high_frec
filter time 10.932774 ms 
mapping pub time 2.194924 ms 
whole mapping time 191.494923 ms +++++
mappingCount 2668 & avg mapping time 157.031389 ms ++++++++++++++++++++++
1317358191.291591883 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.066283 ms
map corner num 95844  surf num 49193 
build tree time 23.010156 ms 
points size 96517 
sort q time 5.775794 
seperate points time 14.154431 
publication time 10.908762 ms 
whole laserOdometry time 10.931026 ms 
 
-----t: 0.0728039
OdomCount 4137 & avg odom time 0.047224 ms ++++++++++++++++++++++
--------------------stamp1317358191.812242031
prepare time 11.323043 
sort q time 5.443076 
seperate points time 11.869882 
publication time 10.199827 ms 
whole laserOdometry time 10.216171 ms 
 
filter time 8.730789 ms 
-----t: 0.0469859
OdomCount 4138 & avg odom time 0.047224 ms ++++++++++++++++++++++
1317358191.812242031 WriteOdom laser_odom_to_init
1317358191.812242031 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.193614 ms 
whole mapping time 199.594652 ms +++++
mappingCount 2669 & avg mapping time 157.047338 ms ++++++++++++++++++++++
1317358191.499910116 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358191.916302919
prepare time 12.668192 
sort q time 5.436133 
seperate points time 13.294088 
publication time 8.177093 ms 
whole laserOdometry time 8.189979 ms 
 
mapping solver time 36.994338 ms 
prepare time 14.017278 
sort q time 14.884902 
seperate points time 22.486631 
-----t: 0.0377128
OdomCount 4140 & avg odom time 0.047219 ms ++++++++++++++++++++++
mapping solver time 33.285348 ms 
filter time 7.881758 ms 
map prepare time 3.126847 ms
map corner num 98300  surf num 50468 
--------------------stamp1317358192.124408006
build tree time 23.800773 ms 
publication time 8.633340 ms 
whole laserOdometry time 8.650431 ms 
 
-----t: 0.0397947
OdomCount 4141 & avg odom time 0.047217 ms ++++++++++++++++++++++
1317358192.124408006 WriteOdom laser_odom_to_init
1317358192.124408006 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 34.984401 ms 
--------------------stamp1317358192.228420972
prepare time 14.150110 
sort q time 5.745735 
seperate points time 12.842055 
publication time 9.579498 ms 
whole laserOdometry time 9.614831 ms 
 
filter time 7.787017 ms 
build tree time 22.208570 ms 
points size 100074 
sort q time 5.557143 
seperate points time 13.010991 
scan registration time 30.566113 ms *************
mapping data assosiation time 36.652239 ms 
publication time 7.839961 ms 
whole laserOdometry time 7.859280 ms 
 
-----t: 0.0542655
OdomCount 4143 & avg odom time 0.047219 ms ++++++++++++++++++++++
mapping data assosiation time 31.583370 ms 
points size 101440 
mapping optimization time 151.918513 
mapping pub time 2.261735 ms 
whole mapping time 168.040298 ms +++++
mappingCount 2672 & avg mapping time 157.087766 ms ++++++++++++++++++++++
1317358192.124408007 WriteOdom aft_mapped_to_init
publication time 11.229033 ms 
whole laserOdometry time 11.246719 ms 
 
-----t: 0.0780729
points size 101728 
sort q time 6.152734 
seperate points time 14.764970 
publication time 13.950638 ms 
whole laserOdometry time 13.969336 ms 
 
mapping solver time 22.105559 ms 
filter time 10.629262 ms 
sort q time 5.896758 
seperate points time 14.551292 
build tree time 27.535853 ms 
publication time 11.394480 ms 
whole laserOdometry time 11.409156 ms 
 
mapping data assosiation time 34.004090 ms 
--------------------stamp1317358192.748039960
points size 101422 
sort q time 5.577380 
seperate points time 12.674600 
scan registration time 31.812150 ms *************
publication time 8.891670 ms 
whole laserOdometry time 8.910841 ms 
 
mapping solver time 30.053783 ms 
filter time 7.776630 ms 
points size 101642 
build tree time 26.677851 ms 
-----t: 0.0358854
OdomCount 4148 & avg odom time 0.047225 ms ++++++++++++++++++++++
mapping solver time 33.244811 ms 
points size 101911 
sort q time 5.547854 
seperate points time 13.653246 
publication time 9.172994 ms 
whole laserOdometry time 9.188369 ms 
 
mapping solver time 38.538641 ms 
filter time 8.189646 ms 
--------------------stamp1317358193.059290885
points size 102123 
sort q time 5.612406 
seperate points time 13.977763 
mapping data assosiation time 36.000637 ms 
-----t: 0.041679
OdomCount 4150 & avg odom time 0.047226 ms ++++++++++++++++++++++
mapping solver time 37.497156 ms 
--------------------stamp1317358193.163042068
mapping data assosiation time 31.440630 ms 
sort q time 5.963109 
seperate points time 12.674953 
mapping solver time 34.708147 ms 
[0m[ INFO] [1718804910.040140234, 1317358193.229034214]: Received 158175 data points in frame camera_init with the following fields: x y z intensity[0m-----t: 0.0641608
OdomCount 4151 & avg odom time 0.047230 ms ++++++++++++++++++++++
build tree time 30.213673 ms 
points size 102373 
sort q time 5.867795 
seperate points time 13.640485 
-----t: 0.040047
OdomCount 4152 & avg odom time 0.047228 ms ++++++++++++++++++++++
mapping solver time 42.661119 ms 
--------------------stamp1317358193.370568990
sort q time 5.920527 
seperate points time 13.494218 
mapping solver time 46.481329 ms 
publication time 10.432084 ms 
whole laserOdometry time 10.441265 ms 
 
mapping optimization time 199.699744 
add points time 1.890427 ms
-----t: 0.0553567
OdomCount 4153 & avg odom time 0.047230 ms ++++++++++++++++++++++
1317358193.370568990 WriteOdom laser_odom_to_init
1317358193.370568990 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.227658 ms
map corner num 105827  surf num 53967 
--------------------stamp1317358193.474319934
points size 102518 
mapping data assosiation time 34.917285 ms 
publication time 9.273240 ms 
whole laserOdometry time 9.287932 ms 
 
--------------------stamp1317358193.578093051
points size 102220 
mapping solver time 22.347908 ms 
filter time 8.968194 ms 
publication time 10.050630 ms 
whole laserOdometry time 10.066390 ms 
 
build tree time 27.884717 ms 
-----t: 0.0532716
OdomCount 4155 & avg odom time 0.047249 ms ++++++++++++++++++++++
--------------------stamp1317358193.681893110
mapping data assosiation time 38.541649 ms 
sort q time 6.092591 
seperate points time 13.573978 
-----t: 0.0381963
OdomCount 4156 & avg odom time 0.047247 ms ++++++++++++++++++++++
mapping data assosiation time 32.694153 ms 
--------------------stamp1317358193.785691976
points size 101665 
filter time 11.523133 ms 
publication time 11.775175 ms 
whole laserOdometry time 11.812635 ms 
 
build tree time 28.965563 ms 
--------------------stamp1317358193.889466047
prepare time 11.261851 
sort q time 5.712374 
seperate points time 13.058672 
mapping solver time 37.822537 ms 
mapping data assosiation time 35.614201 ms 
mapping solver time 22.180477 ms 
mapping optimization time 161.142587 
add points time 0.844288 ms
--------------------stamp1317358193.993266105
prepare time 13.322121 
sort q time 6.374008 
seperate points time 14.417047 
-----t: 0.0518446
OdomCount 4159 & avg odom time 0.047244 ms ++++++++++++++++++++++
mapping data assosiation time 56.902122 ms 
--------------------stamp1317358194.097090005
prepare time 12.169959 
sort q time 5.912260 
seperate points time 13.584255 
scan registration time 30.781003 ms *************
-----t: 0.0387141
OdomCount 4160 & avg odom time 0.047242 ms ++++++++++++++++++++++
mapping solver time 28.870289 ms 
prepare time 10.369492 
sort q time 6.214503 
seperate points time 15.325811 
publication time 9.157708 ms 
whole laserOdometry time 9.192019 ms 
 
-----t: 0.0624612
OdomCount 4161 & avg odom time 0.047246 ms ++++++++++++++++++++++
--------------------stamp1317358194.304661035
sort q time 5.657558 
seperate points time 11.892632 
publication time 10.763117 ms 
mapping pub time 160.691634 ms 
whole mapping time 376.218113 ms +++++
mappingCount 2681 & avg mapping time 157.265821 ms ++++++++++++++++++++++
1317358193.785691977 WriteOdom aft_mapped_to_init
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 2.948044 ms
map corner num 109803  surf num 56259 
--------------------stamp1317358194.408437013
prepare time 14.011746 
sort q time 5.359235 
seperate points time 12.819212 
mapping data assosiation time 37.691775 ms 
publication time 8.885103 ms 
whole laserOdometry time 8.908727 ms 
 
mapping solver time 38.089674 ms 
--------------------stamp1317358194.512188911
mapping data assosiation time 33.138089 ms 
scan registration time 31.877205 ms *************
-----t: 0.0468802
OdomCount 4164 & avg odom time 0.047243 ms ++++++++++++++++++++++
mapping pub time 2.415485 ms 
whole mapping time 192.633063 ms +++++
mappingCount 2682 & avg mapping time 157.279010 ms ++++++++++++++++++++++
--------------------stamp1317358194.615915060
prepare time 12.423324 
sort q time 5.070981 
seperate points time 11.584462 
publication time 11.071289 ms 
whole laserOdometry time 11.084271 ms 
 
mapping solver time 39.932925 ms 
-----t: 0.0597198
OdomCount 4165 & avg odom time 0.047246 ms ++++++++++++++++++++++
1317358194.615915060 WriteOdom laser_odom_to_init
1317358194.615915060 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358194.719618082
prepare time 12.180724 
sort q time 5.671879 
seperate points time 11.564495 
mapping solver time 34.274346 ms 
mapping optimization time 166.998337 
1317358194.408437014 WriteOdom aft_mapped_to_init
build tree time 25.960969 ms 
--------------------stamp1317358194.823344945
prepare time 11.394841 
sort q time 5.251501 
seperate points time 12.355307 
-----t: 0.0370652
OdomCount 4167 & avg odom time 0.047245 ms ++++++++++++++++++++++
mapping data assosiation time 29.931252 ms 
mapping solver time 21.089758 ms 
points size 94479 
filter time 12.911975 ms 
sort q time 5.401747 
seperate points time 12.889324 
-----t: 0.0345536
OdomCount 4168 & avg odom time 0.047241 ms ++++++++++++++++++++++
mapping data assosiation time 28.955091 ms 
--------------------stamp1317358195.030821084
prepare time 11.837307 
sort q time 5.014892 
seperate points time 11.753620 
publication time 8.405024 ms 
whole laserOdometry time 8.418917 ms 
 
mapping solver time 28.106262 ms 
mapping optimization time 161.852654 
add points time 1.214904 ms
--------------------stamp1317358195.134572982
points size 92756 
sort q time 5.680793 
seperate points time 12.493479 
publication time 8.759602 ms 
whole laserOdometry time 8.782787 ms 
 
mapping data assosiation time 29.791197 ms 
mapping solver time 31.800225 ms 
points size 92373 
prepare time 12.139617 
scan registration time 29.163633 ms *************
publication time 9.586385 ms 
whole laserOdometry time 9.623002 ms 
 
-----t: 0.0360808
OdomCount 4171 & avg odom time 0.047234 ms ++++++++++++++++++++++
1317358195.238347053 WriteOdom laser_odom_to_init
1317358195.238347053 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.391676 ms 
filter time 8.498352 ms 
map prepare time 3.031193 ms
map corner num 114973  surf num 59195 
--------------------stamp1317358195.342119932
prepare time 13.268057 
sort q time 4.947923 
seperate points time 11.377209 
mapping data assosiation time 34.653048 ms 
mapping solver time 39.586268 ms 
--------------------stamp1317358195.445919036
prepare time 13.494802 
sort q time 4.986362 
seperate points time 25.053736 
-----t: 0.0425587
OdomCount 4173 & avg odom time 0.047240 ms ++++++++++++++++++++++
filter time 13.280891 ms 
map prepare time 4.308258 ms
map corner num 116051  surf num 59733 
--------------------stamp1317358195.549742937
prepare time 13.792186 
sort q time 5.472743 
seperate points time 12.373901 
mapping data assosiation time 33.871661 ms 
publication time 14.398136 ms 
whole laserOdometry time 14.412082 ms 
 
mapping solver time 35.905134 ms 
mapping data assosiation time 27.265591 ms 
points size 94083 
sort q time 5.677160 
seperate points time 12.156465 
filter time 11.436240 ms 
publication time 17.026212 ms 
whole laserOdometry time 17.040440 ms 
 
-----t: 0.0589311
OdomCount 4175 & avg odom time 0.047245 ms ++++++++++++++++++++++
1317358195.653541088 WriteOdom laser_odom_to_init
1317358195.653541088 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358195.757339954
points size 95849 
mapping solver time 35.182969 ms 
scan registration time 63.652640 ms *************
mapping data assosiation time 34.310722 ms 
--------------------stamp1317358195.861186027
prepare time 12.615055 
sort q time 5.114312 
seperate points time 12.152874 
scan registration time 37.714994 ms *************
-----t: 0.0455968
OdomCount 4177 & avg odom time 0.047246 ms ++++++++++++++++++++++
build tree time 32.023557 ms 
mapping data assosiation time 26.122301 ms 
points size 96004 
mapping solver time 33.534315 ms 
-----t: 0.0374959
OdomCount 4178 & avg odom time 0.047243 ms ++++++++++++++++++++++
1317358195.965032100 WriteOdom laser_odom_to_init
1317358195.965032100 WriteOdom aft_mapped_to_init_high_frec
publication time 13.668319 ms 
whole laserOdometry time 13.684643 ms 
 
mapping data assosiation time 34.702090 ms 
mapping solver time 25.193013 ms 
--------------------stamp1317358196.068902015
map prepare time 4.224311 ms
map corner num 119019  surf num 60838 
sort q time 5.375472 
seperate points time 12.011240 
-----t: 0.036517
OdomCount 4179 & avg odom time 0.047241 ms ++++++++++++++++++++++
mapping data assosiation time 30.411481 ms 
--------------------stamp1317358196.172797918
mapping solver time 35.813932 ms 
scan registration time 37.302869 ms *************
mapping data assosiation time 34.512455 ms 
publication time 10.989892 ms 
whole laserOdometry time 11.024282 ms 
 
add points time 1.147731 ms
filter time 8.817413 ms 
map prepare time 2.923303 ms
map corner num 119949  surf num 61145 
points size 94835 
build tree time 33.536688 ms 
publication time 9.470119 ms 
whole laserOdometry time 9.486586 ms 
 
mapping data assosiation time 31.323549 ms 
mapping solver time 31.876682 ms 
--------------------stamp1317358196.380660057
prepare time 14.155553 
sort q time 6.087558 
seperate points time 19.780273 -----t: 0.040561
OdomCount 4182 & avg odom time 0.047241 ms ++++++++++++++++++++++
1317358196.380660057 WriteOdom laser_odom_to_init
1317358196.380660057 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.232145 ms
map corner num 120907  surf num 61428 
--------------------stamp1317358196.484602928
points size 92763 
sort q time 7.018956 
seperate points time 15.396280 
-----t: 0.0367133
OdomCount 4183 & avg odom time 0.047238 ms ++++++++++++++++++++++
publication time 10.738762 ms 
whole laserOdometry time 10.958162 ms 
 
mapping data assosiation time 26.876449 ms 
mapping solver time 16.519419 ms 
filter time 9.899888 ms 
sort q time 5.076332 
seperate points time 12.168550 
build tree time 35.316288 ms 
-----t: 0.0468204
OdomCount 4184 & avg odom time 0.047238 ms ++++++++++++++++++++++
mapping data assosiation time 30.304730 ms 
--------------------stamp1317358196.692536115
prepare time 11.343903 
scan registration time 24.508362 ms *************
mapping data assosiation time 30.203312 ms 
publication time 14.884364 ms 
whole laserOdometry time 14.910089 ms 
 
filter time 13.214016 ms 
map prepare time 4.692226 ms
map corner num 122692  surf num 62071 
--------------------stamp1317358196.796525955
points size 88039 
sort q time 5.112546 
seperate points time 12.344156 
mapping data assosiation time 33.379938 ms 
-----t: 0.0656594
OdomCount 4186 & avg odom time 0.047244 ms ++++++++++++++++++++++
--------------------stamp1317358196.900518894
mapping data assosiation time 27.787880 ms 
sort q time 5.256613 
seperate points time 12.417495 
scan registration time 31.847574 ms *************
add points time 1.061032 ms
filter time 12.347642 ms 
build tree time 23.913689 ms 
points size 89681 
mapping data assosiation time 30.723805 ms 
scan registration time 34.946686 ms *************
-----t: 0.0359223
OdomCount 4188 & avg odom time 0.047243 ms ++++++++++++++++++++++
mapping data assosiation time 25.399673 ms 
mapping solver time 21.312504 ms 
filter time 11.938973 ms 
map prepare time 3.914076 ms
map corner num 111072  surf num 48856 
build tree time 27.872028 ms 
1317358197.108477115 WriteOdom laser_odom_to_init
mapping data assosiation time 26.852670 ms 
--------------------stamp1317358197.212393045
sort q time 4.943694 
seperate points time 11.616006 
publication time 12.025466 ms 
whole laserOdometry time 12.040323 ms 
 
-----t: 0.0446676filter time 9.157986 ms 
build tree time 22.916490 ms 
points size 90158 
mapping data assosiation time 30.661159 ms 
sort q time 5.461039 
seperate points time 14.025624 
mapping solver time 24.326156 ms 
-----t: 0.0516954
OdomCount 4191 & avg odom time 0.047243 ms ++++++++++++++++++++++
mapping data assosiation time 28.174620 ms 
mapping solver time 15.621478 ms 
filter time 7.582206 ms 
prepare time 13.454585 
sort q time 5.277152 
seperate points time 11.912174 
build tree time 33.609580 ms 
mapping data assosiation time 29.132370 ms 
mapping solver time 22.565013 ms 
--------------------stamp1317358197.524030923
mapping data assosiation time 30.712459 ms 
sort q time 5.124043 
seperate points time 12.364960 
filter time 11.604194 ms 
1317358197.524030923 WriteOdom laser_odom_to_init
build tree time 22.925662 ms 
--------------------stamp1317358197.627902030
points size 91765 
sort q time 4.884659 
seperate points time 11.988571 
publication time 10.794269 ms 
whole laserOdometry time 10.809763 ms 
 
mapping solver time 18.265228 ms 
filter time 8.442864 ms 
mapping pub time 2.101749 ms 
whole mapping time 133.700356 ms +++++
mappingCount 2700 & avg mapping time 157.374599 ms ++++++++++++++++++++++
1317358197.420160055 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.924019 ms
map corner num 114253  surf num 49700 
points size 92497 
build tree time 26.527025 ms 
scan registration time 37.978221 ms *************
publication time 13.940281 ms 
whole laserOdometry time 13.957530 ms 
 
-----t: 0.0551742
OdomCount 4195 & avg odom time 0.047245 ms ++++++++++++++++++++++
mapping solver time 32.083096 ms 
mapping data assosiation time 22.221744 ms 
points size 93975 
sort q time 5.431346 
seperate points time 11.247821 
publication time 9.728254 ms 
whole laserOdometry time 9.742282 ms 
 
--------------------stamp1317358197.939560890
mapping pub time 111.268491 ms 
whole mapping time 253.167064 ms +++++
mappingCount 2701 & avg mapping time 157.410066 ms ++++++++++++++++++++++
-----t: 0.0617279
OdomCount 4197 & avg odom time 0.047247 ms ++++++++++++++++++++++
mapping data assosiation time 24.006609 ms 
--------------------stamp1317358198.043454885
prepare time 11.189802 
sort q time 5.735067 
seperate points time 13.012041 
publication time 11.092897 ms 
mapping data assosiation time 28.090478 ms 
mapping solver time 20.191573 ms 
mapping pub time 2.179369 ms 
whole mapping time 150.758767 ms +++++
mappingCount 2702 & avg mapping time 157.407605 ms ++++++++++++++++++++++
--------------------stamp1317358198.147373914
prepare time 11.414235 
build tree time 29.069826 ms 
publication time 9.819217 ms 
-----t: 0.045544
OdomCount 4199 & avg odom time 0.047246 ms ++++++++++++++++++++++
mapping solver time 27.957751 ms 
--------------------stamp1317358198.251295089
sort q time 6.005793 
seperate points time 21.902113 
filter time 11.069645 ms 
publication time 14.538343 ms 
whole laserOdometry time 14.553564 ms 
 
build tree time 33.950286 ms 
points size 95678 
mapping data assosiation time 25.970399 ms 
publication time 10.196422 ms 
whole laserOdometry time 10.211075 ms 
 
mapping data assosiation time 25.957360 ms 
mapping solver time 19.030956 ms 
filter time 7.694851 ms 
map prepare time 4.633808 ms
map corner num 117409  surf num 50643 
sort q time 5.353186 
seperate points time 12.547298 
publication time 11.230322 ms 
whole laserOdometry time 11.244913 ms 
 
-----t: 0.0373038
OdomCount 4202 & avg odom time 0.047249 ms ++++++++++++++++++++++
mapping data assosiation time 25.959683 ms 
mapping solver time 20.754570 ms 
--------------------stamp1317358198.563122034
mapping data assosiation time 24.915539 ms 
sort q time 5.663458 
seperate points time 13.427750 
filter time 10.946713 ms 
build tree time 30.779575 ms 
--------------------stamp1317358198.667089939
prepare time 13.223368 
sort q time 6.207304 
seperate points time 13.648697 
publication time 7.813658 ms 
whole laserOdometry time 7.828468 ms 
 
-----t: 0.0665648
OdomCount 4204 & avg odom time 0.047253 ms ++++++++++++++++++++++
1317358198.667089939 WriteOdom laser_odom_to_init
1317358198.667089939 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.575342 ms 
mapping optimization time 134.146203 
add points time 0.934991 ms
drop lidar frame in mapping for real time performance 
points size 98247 
sort q time 4.653704 
seperate points time 10.780558 
mapping data assosiation time 25.657314 ms 
mapping solver time 23.641285 ms 
mapping data assosiation time 25.397062 ms 
points size 97196 
sort q time 5.490534 
seperate points time 12.657748 
publication time 10.060389 ms 
whole laserOdometry time 10.073632 ms 
 
build tree time 32.774886 ms 
mapping data assosiation time 24.646596 ms 
--------------------stamp1317358198.978941917
points size 93738 
prepare time 12.553548 
mapping data assosiation time 26.996076 ms 
publication time 11.024735 ms 
whole laserOdometry time 11.037967 ms 
 
-----t: 0.049418
OdomCount 4207 & avg odom time 0.047256 ms ++++++++++++++++++++++
filter time 9.237241 ms 
--------------------stamp1317358199.082909107
points size 90768 
sort q time 5.177169 
seperate points time 12.421420 
mapping data assosiation time 26.621859 ms 
mapping data assosiation time 26.632610 ms 
points size 89032 
mapping solver time 23.568120 ms 
filter time 9.054986 ms 
publication time 12.386313 ms 
whole laserOdometry time 12.399066 ms 
 
build tree time 28.425787 ms 
mapping data assosiation time 24.045278 ms 
mapping solver time 18.174328 ms 
points size 88143 
sort q time 4.874919 
seperate points time 11.515316 
mapping optimization time 115.782823 
mapping pub time 2.145463 ms 
whole mapping time 132.166017 ms +++++
mappingCount 2710 & avg mapping time 157.381325 ms ++++++++++++++++++++++
1317358199.082909107 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 30.705306 ms 
mapping data assosiation time 20.293753 ms 
mapping solver time 17.909931 ms 
mapping data assosiation time 20.122469 ms 
mapping solver time 19.992878 ms 
mapping optimization time 110.283760 
add points time 0.853121 ms
filter time 8.171389 ms 
[0m[ INFO] [1718804916.293337779, 1317358199.385795635]: Received 174531 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804916.293406467, 1317358199.385795635]: Data saved to 1317358199186898.pcd[0m
mapping pub time 4.028985 ms 
whole mapping time 126.860770 ms +++++
mappingCount 2711 & avg mapping time 157.370068 ms ++++++++++++++++++++++
1317358199.186898947 WriteOdom aft_mapped_to_init
points size 87043 
prepare time 13.304625 
sort q time 4.943051 
seperate points time 11.776537 
--------------------stamp1317358199.498919963
prepare time 13.341671 
-----t: 0.054701
OdomCount 4211 & avg odom time 0.047260 ms ++++++++++++++++++++++
publication time 8.696470 ms 
whole laserOdometry time 8.709118 ms 
 
build tree time 34.021374 ms 
mapping data assosiation time 25.025478 ms 
--------------------stamp1317358199.602907896
prepare time 11.577589 
sort q time 5.114600 
seperate points time 11.504982 
publication time 11.789527 ms 
whole laserOdometry time 11.801927 ms 
 
mapping solver time 20.577604 ms filter time 10.093428 ms 
points size 85593 
sort q time 4.663263 
seperate points time 10.978199 
publication time 10.129057 ms 
whole laserOdometry time 10.141550 ms 
 
-----t: 0.0439171
OdomCount 4214 & avg odom time 0.047256 ms ++++++++++++++++++++++
mapping solver time 23.545798 ms 
mapping data assosiation time 23.414349 ms 
mapping solver time 13.553365 ms 
points size 84226 
map prepare time 3.842950 ms
map corner num 123603  surf num 52434 
publication time 8.428720 ms 
whole laserOdometry time 8.442428 ms 
 
-----t: 0.0632969
OdomCount 4215 & avg odom time 0.047260 ms ++++++++++++++++++++++
points size 83833 
prepare time 13.954786 
sort q time 14.355326 
seperate points time 24.151740 
filter time 8.592856 ms 
build tree time 25.598243 ms 
points size 84747 
sort q time 4.718997 
seperate points time 11.324076 
mapping solver time 22.380697 ms 
1317358200.018922090 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.114691 ms 
mapping solver time 13.316875 ms 
filter time 8.244244 ms 
--------------------stamp1317358200.122910976
points size 86993 
sort q time 4.636488 
seperate points time 11.323198 
mapping data assosiation time 24.162148 ms 
1317358200.122910976 WriteOdom laser_odom_to_init
1317358200.122910976 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.325747 ms 
mapping data assosiation time 20.651563 ms 
mapping solver time 13.300594 ms 
--------------------stamp1317358200.226877927
map prepare time 4.115669 ms
map corner num 125726  surf num 53112 
sort q time 4.993791 
seperate points time 12.013244 
mapping data assosiation time 24.218417 ms 
mapping solver time 17.952132 ms 
mapping data assosiation time 23.150154 ms 
prepare time 51.991395 
sort q time 4.811232 
seperate points time 19.347397 
scan registration time 96.115801 ms *************
scan registration time 29.473922 ms *************
publication time 15.887453 ms 
whole laserOdometry time 15.901207 ms 
 
mapping solver time 25.900127 ms 
mapping pub time 1.938358 ms 
whole mapping time 163.035413 ms +++++
mappingCount 2718 & avg mapping time 157.318661 ms ++++++++++++++++++++++
--------------------stamp1317358200.538779973
prepare time 14.318556 
build tree time 36.825487 ms 
publication time 11.727688 ms 
whole laserOdometry time 11.744357 ms 
 
mapping solver time 16.861732 ms 
mapping data assosiation time 21.689267 ms 
filter time 10.676058 ms 
publication time 10.429487 ms 
whole laserOdometry time 10.443266 ms 
 
build tree time 33.177659 ms 
mapping data assosiation time 21.282152 ms 
mapping solver time 20.955208 ms 
points size 90137 
mapping data assosiation time 26.380016 ms 
mapping solver time 16.016167 ms 
mapping pub time 2.057710 ms 
whole mapping time 134.818891 ms +++++
mappingCount 2720 & avg mapping time 157.303235 ms ++++++++++++++++++++++
--------------------stamp1317358200.850559949
sort q time 5.206285 
seperate points time 10.516378 
publication time 7.732434 ms 
whole laserOdometry time 7.751522 ms 
 
mapping data assosiation time 23.025280 ms 
mapping solver time 18.288218 ms 
[0m[ INFO] [1718804917.770020579, 1317358200.946573021]: Data saved to 1317358200642721.pcd[0m
--------------------stamp1317358200.954477071
sort q time 6.988515 
seperate points time 31.202700 
publication time 7.631547 ms 
whole laserOdometry time 7.645640 ms 
 
--------------------stamp1317358201.058373928
sort q time 5.737087 
seperate points time 11.359624 
mapping pub time 148.378683 ms 
whole mapping time 279.066635 ms +++++
mappingCount 2721 & avg mapping time 157.347987 ms ++++++++++++++++++++++
1317358200.642721891 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
publication time 10.085983 ms 
whole laserOdometry time 10.105007 ms 
 
-----t: 0.0483835
OdomCount 4227 & avg odom time 0.047264 ms ++++++++++++++++++++++
build tree time 28.686979 ms 
mapping data assosiation time 20.034907 ms 
prepare time 11.343852 
sort q time 4.645142 
seperate points time 10.855663 
-----t: 0.0556641
OdomCount 4228 & avg odom time 0.047266 ms ++++++++++++++++++++++
filter time 8.931075 ms 
--------------------stamp1317358201.266185998
points size 86784 
scan registration time 33.303500 ms *************
build tree time 54.738318 ms 
mapping data assosiation time 22.612779 ms 
mapping solver time 16.622305 ms 
--------------------stamp1317358201.370104074
mapping data assosiation time 21.074958 ms 
mapping solver time 20.609190 ms 
-----t: 0.0407952
OdomCount 4230 & avg odom time 0.047266 ms ++++++++++++++++++++++
build tree time 32.099364 ms 
mapping data assosiation time 17.628159 ms 
--------------------stamp1317358201.474025011
prepare time 12.869926 
sort q time 4.827577 
seperate points time 11.078554 
scan registration time 28.872889 ms *************
mapping data assosiation time 22.263824 ms 
publication time 8.740884 ms 
whole laserOdometry time 8.755108 ms 
 
-----t: 0.0401219
OdomCount 4231 & avg odom time 0.047264 ms ++++++++++++++++++++++
1317358201.474025011 WriteOdom laser_odom_to_init
1317358201.474025011 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.010137 ms 
mapping optimization time 120.006985 
filter time 15.184188 ms 
points size 83773 
sort q time 5.281579 
seperate points time 11.255742 
publication time 9.450220 ms 
whole laserOdometry time 9.466829 ms 
 mapping data assosiation time 18.526901 ms 
mapping solver time 14.525308 ms 
filter time 8.606260 ms 
map prepare time 2.698492 ms
map corner num 131596  surf num 55047 
points size 84355 
sort q time 4.819872 
seperate points time 11.266215 
-----t: 0.0302874
OdomCount 4233 & avg odom time 0.047256 ms ++++++++++++++++++++++
mapping data assosiation time 19.081900 ms 
mapping solver time 15.201562 ms 
mapping data assosiation time 17.879263 ms 
mapping solver time 16.060391 ms 
prepare time 11.682020 
sort q time 5.032205 
seperate points time 12.619831 
publication time 7.865902 ms 
whole laserOdometry time 7.944955 ms 
 
mapping data assosiation time 18.048239 ms 
mapping solver time 18.114281 ms 
points size 84576 
sort q time 4.698704 
seperate points time 11.220922 
add points time 0.767015 ms
filter time 10.933771 ms 
build tree time 34.420330 ms 
mapping data assosiation time 18.672112 ms 
mapping solver time 18.257380 ms 
mapping data assosiation time 20.756244 ms 
-----t: 0.0393341
OdomCount 4236 & avg odom time 0.047259 ms ++++++++++++++++++++++
filter time 9.214873 ms 
--------------------stamp1317358202.097892045
prepare time 12.461931 
mapping solver time 18.183155 ms 
-----t: 0.0444541
OdomCount 4237 & avg odom time 0.047258 ms ++++++++++++++++++++++
mapping solver time 12.745486 ms 
filter time 11.124112 ms 
--------------------stamp1317358202.201886892
prepare time 12.954178 
build tree time 34.511767 ms 
sort q time 5.146837 
seperate points time 16.965929 
publication time 6.733464 ms 
mapping data assosiation time 20.488833 ms 
whole laserOdometry time 6.749157 ms 
 
mapping solver time 18.967687 ms 
mapping data assosiation time 19.700803 ms 
mapping solver time 15.350731 ms 
filter time 11.505509 ms 
sort q time 9.413399 
seperate points time 16.079211 
-----t: 0.0335618
OdomCount 4239 & avg odom time 0.047254 ms ++++++++++++++++++++++
mapping data assosiation time 18.682410 ms 
mapping solver time 17.286016 ms 
--------------------stamp1317358202.409869909
mapping solver time 17.086897 ms 
filter time 12.823700 ms 
build tree time 29.022986 ms 
mapping data assosiation time 17.659581 ms 
points size 87057 
mapping data assosiation time 21.347557 ms 
--------------------stamp1317358202.617877006
mapping data assosiation time 20.838850 ms 
mapping solver time 24.462472 ms 
mapping data assosiation time 18.783528 ms 
mapping solver time 14.817501 ms 
filter time 9.743213 ms 
points size 87939 
sort q time 5.255053 
seperate points time 11.561883 
build tree time 34.004940 ms 
publication time 7.015913 ms 
whole laserOdometry time 7.028718 ms 
 
-----t: 0.05243
OdomCount 4243 & avg odom time 0.047254 ms ++++++++++++++++++++++
mapping data assosiation time 16.479594 ms 
--------------------stamp1317358202.825758934
mapping solver time 15.448462 ms 
mapping optimization time 108.200653 
add points time 0.896062 ms
map prepare time 3.458472 ms
map corner num 136558  surf num 56421 
publication time 10.271703 ms 
whole laserOdometry time 10.283562 ms 
 
mapping data assosiation time 18.184656 ms 
mapping solver time 18.006528 ms 
points size 89069 
sort q time 5.409321 
seperate points time 11.657716 
filter time 12.574849 ms 
mapping pub time 2.064365 ms 
whole mapping time 127.663028 ms +++++
mappingCount 2735 & avg mapping time 157.213931 ms ++++++++++++++++++++++
1317358202.721817017 WriteOdom aft_mapped_to_init
-----t: 0.057569
OdomCount 4245 & avg odom time 0.047255 ms ++++++++++++++++++++++
build tree time 34.403597 ms 
mapping data assosiation time 17.923604 ms 
points size 89073 
sort q time 4.831851 
seperate points time 11.571237 
scan registration time 30.218990 ms *************
-----t: 0.036304
OdomCount 4246 & avg odom time 0.047252 ms ++++++++++++++++++++++
1317358203.033644914 WriteOdom laser_odom_to_init
1317358203.033644914 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.565626 ms 
mapping optimization time 110.954202 
add points time 0.726383 ms
mapping pub time 4.466995 ms 
whole mapping time 130.328020 ms +++++
mappingCount 2736 & avg mapping time 157.204110 ms ++++++++++++++++++++++
--------------------stamp1317358203.137612104
prepare time 11.516393 
sort q time 5.321398 
seperate points time 10.971384 
publication time 7.512092 ms 
whole laserOdometry time 7.530509 ms 
 
-----t: 0.0487739
OdomCount 4247 & avg odom time 0.047253 ms ++++++++++++++++++++++
mapping data assosiation time 20.702313 ms 
mapping solver time 16.340617 ms 
filter time 9.090574 ms 
points size 90020 
build tree time 19.397132 ms 
mapping data assosiation time 24.200644 ms 
mapping solver time 17.155580 ms 
mapping data assosiation time 18.897220 ms 
mapping solver time 11.393465 ms 
mapping pub time 2.336529 ms 
whole mapping time 106.558032 ms +++++
mappingCount 2738 & avg mapping time 157.176236 ms ++++++++++++++++++++++
1317358203.137612104 WriteOdom aft_mapped_to_init
sort q time 4.906881 
seperate points time 11.795096 
publication time 8.651215 ms 
whole laserOdometry time 8.665291 ms 
 
mapping data assosiation time 36.771031 ms 
mapping solver time 20.230399 ms 
--------------------stamp1317358203.449438095
prepare time 11.954013 
sort q time 5.677252 
seperate points time 13.497678 
publication time 9.004293 ms 
whole laserOdometry time 9.016346 ms 
 
-----t: 0.0445678
OdomCount 4250 & avg odom time 0.047248 ms ++++++++++++++++++++++
mapping data assosiation time 20.601547 ms 
--------------------stamp1317358203.553335905
mapping data assosiation time 25.073331 ms 
mapping solver time 21.808647 ms 
drop lidar frame in mapping for real time performance 
build tree time 18.860615 ms 
mapping data assosiation time 18.429393 ms 
points size 94413 
scan registration time 30.267639 ms *************
-----t: 0.030193
OdomCount 4252 & avg odom time 0.047242 ms ++++++++++++++++++++++
mapping solver time 13.676940 ms 
[0m[ INFO] [1718804920.551792996, 1317358203.743119998]: Received 123264 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804920.551840362, 1317358203.743119998]: Data saved to 1317358203449438.pcd[0m
--------------------stamp1317358203.761120080
prepare time 12.338738 
sort q time 5.415380 
seperate points time 12.789470 
scan registration time 36.402290 ms *************
publication time 9.746251 ms 
whole laserOdometry time 9.774408 ms 
 
mapping pub time 131.274529 ms 
whole mapping time 240.733897 ms +++++
mappingCount 2741 & avg mapping time 157.189655 ms ++++++++++++++++++++++
points size 95779 
sort q time 5.529858 
seperate points time 13.051954 
-----t: 0.0360678
OdomCount 4254 & avg odom time 0.047240 ms ++++++++++++++++++++++
mapping solver time 23.579395 ms 
mapping data assosiation time 22.147988 ms 
--------------------stamp1317358203.968910932
points size 93470 
sort q time 5.318952 
seperate points time 12.854608 
publication time 10.676963 ms 
whole laserOdometry time 10.695036 ms 
 
-----t: 0.0521184
OdomCount 4255 & avg odom time 0.047241 ms ++++++++++++++++++++++mapping solver time 22.155185 ms 
points size 93911 
sort q time 5.265067 
seperate points time 12.481837 
add points time 0.883898 ms
publication time 10.460796 ms 
whole laserOdometry time 10.475298 ms 
 
-----t: 0.0396507
OdomCount 4256 & avg odom time 0.047240 ms ++++++++++++++++++++++
1317358204.072783946 WriteOdom laser_odom_to_init
1317358204.072783946 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.008604 ms
map corner num 90078  surf num 35507 
build tree time 19.371418 ms 
mapping data assosiation time 19.422053 ms 
--------------------stamp1317358204.176655054
points size 93679 
sort q time 5.302713 
seperate points time 12.285420 
mapping data assosiation time 25.779229 ms 
mapping solver time 21.088818 ms 
1317358204.176655054 WriteOdom aft_mapped_to_init_high_frec
filter time 10.252140 ms 
build tree time 22.194458 ms 
points size 93894 
mapping solver time 28.972344 ms 
publication time 8.865389 ms 
whole laserOdometry time 8.879068 ms 
 
--------------------stamp1317358204.384392976
mapping pub time 2.284792 ms 
whole mapping time 148.601761 ms +++++
mappingCount 2745 & avg mapping time 157.153243 ms ++++++++++++++++++++++
scan registration time 30.065692 ms *************
build tree time 23.030672 ms 
publication time 11.071398 ms 
whole laserOdometry time 11.089820 ms 
 
mapping data assosiation time 23.382468 ms 
mapping solver time 19.891941 ms 
mapping data assosiation time 18.806151 ms 
mapping solver time 12.860365 ms 
points size 94563 
sort q time 5.348145 
seperate points time 12.846232 
scan registration time 33.160508 ms *************
publication time 12.193444 ms 
whole laserOdometry time 12.211923 ms 
 
--------------------stamp1317358204.592089891
points size 93104 
prepare time 14.385126 
mapping data assosiation time 25.911741 ms 
scan registration time 35.412806 ms *************
publication time 9.558973 ms 
whole laserOdometry time 9.572954 ms 
 
--------------------stamp1317358204.695960044
prepare time 14.031711 
sort q time 5.429406 
seperate points time 12.699310 
mapping data assosiation time 29.043250 ms 
-----t: 0.0461279
OdomCount 4262 & avg odom time 0.047231 ms ++++++++++++++++++++++
filter time 8.989278 ms 
build tree time 17.965508 ms 
--------------------stamp1317358204.799832105
mapping data assosiation time 21.020219 ms 
sort q time 4.676955 
seperate points time 11.229605 
mapping data assosiation time 24.209817 ms 
publication time 10.540953 ms 
whole laserOdometry time 10.561179 ms 
 
-----t: 0.0409018
OdomCount 4263 & avg odom time 0.047230 ms ++++++++++++++++++++++
1317358204.799832105 WriteOdom laser_odom_to_init
1317358204.799832105 WriteOdom aft_mapped_to_init_high_frec
filter time 6.411792 ms 
mapping pub time 2.070571 ms 
whole mapping time 115.634701 ms +++++
mappingCount 2749 & avg mapping time 157.101425 ms ++++++++++++++++++++++
1317358204.695960045 WriteOdom aft_mapped_to_init
map prepare time 2.492895 ms
map corner num 94430  surf num 37000 
points size 88803 
sort q time 5.315943 
seperate points time 18.807687 
publication time 8.155484 ms 
whole laserOdometry time 8.171279 ms 
 
mapping solver time 23.395764 ms 
mapping data assosiation time 19.285626 ms 
mapping solver time 19.362146 ms 
mapping optimization time 111.300875 
add points time 0.793147 ms
points size 88690 
sort q time 5.397561 
seperate points time 10.583483 
publication time 7.616363 ms 
whole laserOdometry time 7.634315 ms 
 
mapping data assosiation time 22.298130 ms 
1317358205.007574081 WriteOdom laser_odom_to_init
mapping solver time 23.467677 ms 
mapping data assosiation time 20.405075 ms 
mapping solver time 18.018678 ms 
[0m[ INFO] [1718804921.971060944, 1317358205.160681946]: Received 133155 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804921.971099578, 1317358205.160681946]: Data saved to 1317358204903702.pcd[0m
sort q time 4.995924 
seperate points time 11.458068 
build tree time 26.316500 ms 
publication time 12.299450 ms 
whole laserOdometry time 12.313143 ms 
 
mapping data assosiation time 23.760542 ms 
points size 89621 
mapping solver time 26.257523 ms 
sort q time 4.902307 
seperate points time 11.473258 
scan registration time 29.648549 ms *************
publication time 12.413193 ms 
whole laserOdometry time 12.431099 ms 
 
mapping data assosiation time 39.433825 ms 
mapping solver time 20.898637 ms 
filter time 9.719884 ms 
points size 89908 
sort q time 5.098095 
seperate points time 11.869273 
publication time 10.905649 ms 
whole laserOdometry time 10.925903 ms 
 
--------------------stamp1317358205.423223972
add points time 0.905756 ms
sort q time 5.147145 
seperate points time 11.532479 
publication time 9.169431 ms 
whole laserOdometry time 9.183991 ms 
 
-----t: 0.0549258
OdomCount 4269 & avg odom time 0.047223 ms ++++++++++++++++++++++
mapping solver time 18.634232 ms 
--------------------stamp1317358205.527143001
points size 90874 
sort q time 4.656056 
seperate points time 10.947598 
mapping solver time 25.978858 ms 
drop lidar frame in mapping for real time performance 
build tree time 24.310100 ms 
--------------------stamp1317358205.631061077
mapping data assosiation time 23.072873 ms 
sort q time 5.027510 
seperate points time 11.164335 
publication time 9.269133 ms 
whole laserOdometry time 9.284584 ms 
 
mapping solver time 15.277362 ms 
filter time 6.577173 ms 
build tree time 19.782088 ms 
--------------------stamp1317358205.734956026
points size 91281 
sort q time 4.887680 
seperate points time 11.744273 
scan registration time 31.715364 ms *************
mapping solver time 22.141442 ms 
sort q time 5.652865 
seperate points time 12.938977 
mapping solver time 20.894439 ms 
-----t: 0.0459406
OdomCount 4273 & avg odom time 0.047216 ms ++++++++++++++++++++++
mapping data assosiation time 22.460170 ms 
mapping solver time 10.545125 ms 
mapping pub time 2.093387 ms 
whole mapping time 115.945033 ms +++++
mappingCount 2757 & avg mapping time 157.018772 ms ++++++++++++++++++++++
sort q time 5.338056 
seperate points time 12.597989 
build tree time 27.151304 ms 
-----t: 0.0431016
OdomCount 4274 & avg odom time 0.047215 ms ++++++++++++++++++++++
1317358205.942770004 WriteOdom laser_odom_to_init
mapping data assosiation time 27.293806 ms 
mapping solver time 18.009175 ms 
--------------------stamp1317358206.046665906
mapping data assosiation time 25.219997 ms 
points size 93873 
mapping solver time 19.206327 ms 
mapping pub time 2.329064 ms 
whole mapping time 135.207873 ms +++++
mappingCount 2758 & avg mapping time 157.010866 ms ++++++++++++++++++++++
1317358205.838850975 WriteOdom aft_mapped_to_init
publication time 13.377769 ms 
whole laserOdometry time 13.391873 ms 
 
-----t: 0.0870462
OdomCount 4275 & avg odom time 0.047224 ms ++++++++++++++++++++++
mapping solver time 24.353809 ms 
sort q time 7.056363 
seperate points time 17.538392 
-----t: 0.049017
OdomCount 4276 & avg odom time 0.047225 ms ++++++++++++++++++++++
filter time 8.098884 ms 
--------------------stamp1317358206.254405975
points size 94755 
sort q time 6.037365 
seperate points time 15.074938 
publication time 15.322822 ms 
whole laserOdometry time 15.341373 ms 
 
-----t: 0.0559212
OdomCount 4277 & avg odom time 0.047227 ms ++++++++++++++++++++++
mapping data assosiation time 24.671740 ms 
points size 93461 
map prepare time 2.653258 ms
map corner num 101558  surf num 41887 
publication time 9.923398 ms 
whole laserOdometry time 9.943839 ms 
 
mapping data assosiation time 21.321082 ms 
mapping solver time 21.016336 ms 
points size 92677 
mapping data assosiation time 26.056406 ms 
mapping solver time 20.070956 ms 
[0m[ INFO] [1718804923.334596877, 1317358206.521638945]: Received 144556 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804923.334643314, 1317358206.521638945]: Data saved to 1317358206254405.pcd[0m
--------------------stamp1317358206.565994977
sort q time 4.987722 
seperate points time 10.396366 
publication time 14.056037 ms 
whole laserOdometry time 14.069393 ms 
 
mapping pub time 125.286218 ms 
whole mapping time 255.703912 ms +++++
mappingCount 2761 & avg mapping time 157.036137 ms ++++++++++++++++++++++
build tree time 23.265098 ms 
mapping data assosiation time 22.649483 ms 
publication time 9.131247 ms 
whole laserOdometry time 9.144494 ms 
 
mapping data assosiation time 21.658832 ms 
mapping solver time 15.314476 ms 
filter time 7.436047 ms 
mapping pub time 2.091472 ms 
whole mapping time 120.233828 ms +++++
mappingCount 2762 & avg mapping time 157.022813 ms ++++++++++++++++++++++
1317358206.358278036 WriteOdom aft_mapped_to_init
points size 86696 
prepare time 12.985825 
publication time 9.328917 ms 
whole laserOdometry time 9.346914 ms 
 
mapping solver time 21.440472 ms 
--------------------stamp1317358206.877510070
prepare time 11.019804 
scan registration time 25.414777 ms *************
mapping pub time 2.233052 ms 
whole mapping time 145.983086 ms +++++
mappingCount 2763 & avg mapping time 157.018820 ms ++++++++++++++++++++++
publication time 8.801599 ms 
whole laserOdometry time 8.823208 ms 
 
build tree time 28.946661 ms 
mapping data assosiation time 23.654292 ms 
--------------------stamp1317358206.981357097
points size 85068 
mapping solver time 22.048697 ms 
prepare time 13.565688 
mapping data assosiation time 24.570206 ms 
publication time 18.746826 ms 
whole laserOdometry time 18.760865 ms 
 
filter time 8.128957 ms 
build tree time 25.531336 ms 
prepare time 12.434585 
mapping data assosiation time 22.341120 ms 
mapping solver time 20.111110 ms 
mapping data assosiation time 21.959687 ms 
mapping solver time 13.568953 ms 
filter time 7.755700 ms 
-----t: 0.0834678
OdomCount 4285 & avg odom time 0.047221 ms ++++++++++++++++++++++
points size 82185 
prepare time 14.843156 
mapping data assosiation time 21.432249 ms 
-----t: 0.0491645
OdomCount 4286 & avg odom time 0.047221 ms ++++++++++++++++++++++
mapping data assosiation time 19.751803 ms 
points size 82483 
sort q time 4.983635 
seperate points time 12.944141 
publication time 7.297593 ms 
whole laserOdometry time 7.311273 ms 
 
1317358207.292850017 WriteOdom laser_odom_to_init
1317358207.292850017 WriteOdom aft_mapped_to_init_high_frec
build tree time 35.705349 ms 
mapping data assosiation time 20.359981 ms 
mapping solver time 17.095107 ms 
mapping data assosiation time 23.103652 ms 
points size 84651 
filter time 10.108471 ms 
scan registration time 47.382872 ms *************
build tree time 28.405311 ms 
mapping data assosiation time 20.662620 ms 
points size 87948 
mapping solver time 22.252510 ms 
publication time 9.349758 ms 
whole laserOdometry time 9.363537 ms 
 
mapping optimization time 122.721431 
add points time 0.773364 ms
build tree time 23.145071 ms 
mapping data assosiation time 24.963674 ms 
-----t: 0.0325928
OdomCount 4290 & avg odom time 0.047216 ms ++++++++++++++++++++++
mapping data assosiation time 19.518946 ms 
mapping solver time 12.667496 ms 
filter time 7.063996 ms 
mapping pub time 1.886019 ms 
whole mapping time 115.366685 ms +++++
mappingCount 2769 & avg mapping time 156.955707 ms ++++++++++++++++++++++
1317358207.396696091 WriteOdom aft_mapped_to_init
map prepare time 2.502153 ms
map corner num 107843  surf num 44346 
points size 95211 
sort q time 6.167293 
seperate points time 14.342366 
mapping solver time 30.494916 ms 
mapping data assosiation time 20.109393 ms 
--------------------stamp1317358207.812060117
points size 94109 
map prepare time 2.598516 ms
map corner num 108676  surf num 44634 
publication time 8.642018 ms 
whole laserOdometry time 8.657134 ms 
 
-----t: 0.0427975
OdomCount 4292 & avg odom time 0.047213 ms ++++++++++++++++++++++
mapping data assosiation time 21.582499 ms 
mapping solver time 17.558307 ms 
--------------------stamp1317358207.915859937
points size 92437 
mapping solver time 14.329601 ms 
mapping pub time 4.165387 ms 
whole mapping time 119.898324 ms +++++
mappingCount 2771 & avg mapping time 156.934499 ms ++++++++++++++++++++++
publication time 14.112122 ms 
whole laserOdometry time 14.127565 ms 
 
--------------------stamp1317358208.019658088
points size 91407 
sort q time 5.395607 
seperate points time 12.483637 
publication time 9.703456 ms 
whole laserOdometry time 9.715098 ms 
 
mapping solver time 16.526892 ms 
filter time 7.391140 ms 
map prepare time 2.742804 ms
map corner num 110038  surf num 45099 
--------------------stamp1317358208.123455047
points size 90835 
sort q time 5.262054 
seperate points time 12.556239 
publication time 8.772005 ms 
whole laserOdometry time 8.788055 ms 
 
mapping solver time 26.636305 ms 
mapping data assosiation time 22.501035 ms 
--------------------stamp1317358208.227256059
points size 88906 
sort q time 4.955438 
seperate points time 11.769393 
-----t: 0.0355312
build tree time 31.582803 ms 
OdomCount 4296 & avg odom time 0.047210 ms ++++++++++++++++++++++
1317358208.227256059 WriteOdom laser_odom_to_init
1317358208.227256059 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.885196 ms 
mapping solver time 20.685890 ms 
--------------------stamp1317358208.331078052
mapping data assosiation time 24.353726 ms 
scan registration time 28.448613 ms *************
filter time 10.727300 ms 
-----t: 0.0559335
OdomCount 4297 & avg odom time 0.047212 ms ++++++++++++++++++++++
build tree time 33.017592 ms 
--------------------stamp1317358208.434876918
prepare time 11.269241 
sort q time 5.087032 
seperate points time 11.173807 
publication time 10.541896 ms 
whole laserOdometry time 10.585210 ms 
 
mapping solver time 13.298671 ms 
filter time 9.791600 ms 
build tree time 14.692613 ms 
--------------------stamp1317358208.538698911
prepare time 11.714381 
sort q time 4.723924 
seperate points time 10.889360 
-----t: 0.0303128
OdomCount 4299 & avg odom time 0.047204 ms ++++++++++++++++++++++
mapping solver time 13.888931 ms 
[0m[ INFO] [1718804925.436701547, 1317358208.628501349]: Received 86034 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804925.436739290, 1317358208.628501349]: Data saved to 1317358208434876.pcd[0m
build tree time 12.176508 ms 
--------------------stamp1317358208.642545938
prepare time 11.737016 
sort q time 4.882100 
seperate points time 10.945356 
mapping solver time 23.887882 ms 
scan registration time 27.949671 ms *************
-----t: 0.0357095
OdomCount 4300 & avg odom time 0.047202 ms ++++++++++++++++++++++
mapping solver time 20.527217 ms 
map prepare time 2.121788 ms
map corner num 61294  surf num 25903 
build tree time 14.196412 ms 
points size 89470 
mapping data assosiation time 21.667455 ms 
prepare time 11.744802 
mapping solver time 25.271126 ms 
mapping data assosiation time 23.455987 ms 
--------------------stamp1317358208.850261926
prepare time 13.085396 
sort q time 8.962162 
seperate points time 17.437126 
-----t: 0.0650004
OdomCount 4302 & avg odom time 0.047206 ms ++++++++++++++++++++++
1317358208.850261926 WriteOdom laser_odom_to_init
1317358208.850261926 WriteOdom aft_mapped_to_init_high_frec
points size 92842 
sort q time 5.603926 
seperate points time 13.698249 
filter time 7.086350 ms 
build tree time 14.904584 ms 
mapping data assosiation time 19.486491 ms 
mapping solver time 18.698644 ms 
sort q time 5.157250 
seperate points time 12.349699 
publication time 8.508309 ms 
whole laserOdometry time 8.522606 ms 
 
filter time 5.388240 ms 
build tree time 12.192912 ms 
--------------------stamp1317358209.161778926
prepare time 13.226003 
mapping solver time 23.031991 ms 
sort q time 5.108365 
seperate points time 10.505174 
scan registration time 28.833716 ms *************
mapping data assosiation time 26.479002 ms 
-----t: 0.057078
OdomCount 4305 & avg odom time 0.047204 ms ++++++++++++++++++++++
filter time 5.461361 ms 
--------------------stamp1317358209.265625953
points size 97044 
sort q time 5.118545 
seperate points time 12.085139 
publication time 11.362353 ms 
whole laserOdometry time 11.378486 ms 
 
--------------------stamp1317358209.369448900
points size 96729 
sort q time 6.103345 
seperate points time 14.125637 
-----t: 0.0430228
OdomCount 4307 & avg odom time 0.047203 ms ++++++++++++++++++++++
mapping solver time 23.387759 ms 
--------------------stamp1317358209.473268985
prepare time 12.178570 
sort q time 5.929535 
seperate points time 13.288951 
filter time 7.220395 ms 
-----t: 0.0446298
OdomCount 4308 & avg odom time 0.047203 ms ++++++++++++++++++++++
1317358209.473268985 WriteOdom laser_odom_to_init
1317358209.473268985 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.127149 ms 
--------------------stamp1317358209.577091932
prepare time 23.216666 
mapping solver time 19.290003 ms 
map prepare time 3.598362 ms
map corner num 66378  surf num 27976 
build tree time 13.481330 ms 
--------------------stamp1317358209.680917978
prepare time 12.226585 
sort q time 4.966862 
seperate points time 12.040689 
-----t: 0.0360728
OdomCount 4310 & avg odom time 0.047199 ms ++++++++++++++++++++++
mapping solver time 14.845670 ms 
mapping pub time 2.226337 ms 
whole mapping time 116.498653 ms +++++
mappingCount 2784 & avg mapping time 156.836160 ms ++++++++++++++++++++++
1317358209.473268986 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.582297 ms
map corner num 67283  surf num 28328 
build tree time 13.683270 ms 
--------------------stamp1317358209.784746885
points size 92399 
sort q time 4.976779 
seperate points time 12.187296 
-----t: 0.0334253
OdomCount 4311 & avg odom time 0.047196 ms ++++++++++++++++++++++
mapping data assosiation time 28.679646 ms 
mapping solver time 19.047090 ms 
mapping optimization time 111.190221 
add points time 0.888264 ms
filter time 5.440117 ms 
mapping pub time 2.214623 ms 
whole mapping time 122.365754 ms +++++
mappingCount 2785 & avg mapping time 156.823784 ms ++++++++++++++++++++++
1317358209.577091932 WriteOdom aft_mapped_to_init
map prepare time 2.591709 ms
map corner num 68146  surf num 28592 
build tree time 13.890775 ms 
mapping data assosiation time 21.370695 ms 
mapping solver time 18.346401 ms 
--------------------stamp1317358209.888566970
prepare time 11.623527 
sort q time 5.174322 
seperate points time 11.626484 
filter time 5.442948 ms 
mapping pub time 3.341369 ms 
whole mapping time 105.024414 ms +++++
mappingCount 2786 & avg mapping time 156.805194 ms ++++++++++++++++++++++
1317358209.784746885 WriteOdom aft_mapped_to_init
scan registration time 28.530239 ms *************
[0m[ INFO] [1718804926.818291399, 1317358209.987271988]: Received 98109 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804926.818330495, 1317358209.987271988]: Data saved to 1317358209784746.pcd[0m
points size 87864 
sort q time 4.795551 
seperate points time 10.865606 
publication time 10.189575 ms 
whole laserOdometry time 10.204003 ms 
 
-----t: 0.0342423
OdomCount 4313 & avg odom time 0.047195 ms ++++++++++++++++++++++
--------------------stamp1317358210.096205949
prepare time 13.418269 
sort q time 5.190050 
seperate points time 12.020012 
publication time 14.031872 ms 
whole laserOdometry time 14.066437 ms 
 
-----t: 0.051695
OdomCount 4314 & avg odom time 0.047196 ms ++++++++++++++++++++++
mapping solver time 20.604950 ms 
drop lidar frame in mapping for real time performance 
map prepare time 2.463227 ms
map corner num 69988  surf num 29214 
build tree time 14.043507 ms 
mapping data assosiation time 20.614001 ms 
points size 88912 
sort q time 5.284208 
seperate points time 12.814131 
mapping data assosiation time 28.261252 ms 
mapping optimization time 107.392351 
map prepare time 3.081111 ms
map corner num 70868  surf num 29517 
sort q time 5.544176 
seperate points time 13.596099 
publication time 14.160949 ms 
whole laserOdometry time 14.176991 ms 
 
1317358210.303803920 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.332611 ms 
--------------------stamp1317358210.407624959
prepare time 11.731065 
sort q time 6.539914 
seperate points time 11.990993 
map prepare time 3.358892 ms
map corner num 71766  surf num 29765 
build tree time 19.302695 ms 
mapping data assosiation time 21.421341 ms 
--------------------stamp1317358210.511449098
prepare time 12.229768 
sort q time 5.117658 
seperate points time 12.223709 
publication time 9.581632 ms 
whole laserOdometry time 9.598021 ms 
 
-----t: 0.0464605
OdomCount 4318 & avg odom time 0.047196 ms ++++++++++++++++++++++
build tree time 17.529590 ms 
--------------------stamp1317358210.615250110
prepare time 11.966294 
mapping solver time 24.268445 ms 
publication time 8.723318 ms 
whole laserOdometry time 8.743458 ms 
 
mapping solver time 15.817951 ms 
[0m[ INFO] [1718804927.512794776, 1317358210.699122626]: Received 103466 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804927.512832596, 1317358210.699122626]: Data saved to 1317358210407624.pcd[0m
build tree time 15.500477 ms 
--------------------stamp1317358210.719023942
prepare time 13.448941 
sort q time 5.651174 
seperate points time 12.217244 
publication time 10.011882 ms 
whole laserOdometry time 10.053667 ms 
 
1317358210.719023942 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.808669 ms 
mapping optimization time 115.314482 
add points time 0.864276 ms
filter time 5.911738 ms 
mapping pub time 2.030217 ms 
whole mapping time 126.904361 ms +++++
mappingCount 2792 & avg mapping time 156.742713 ms ++++++++++++++++++++++
1317358210.615250111 WriteOdom aft_mapped_to_init
map prepare time 2.538529 ms
map corner num 74221  surf num 30365 
build tree time 19.186590 ms 
sort q time 5.567909 
seperate points time 13.908185 
mapping data assosiation time 28.203497 ms 
publication time 10.023084 ms 
whole laserOdometry time 10.035882 ms 
 
-----t: 0.0617857
OdomCount 4321 & avg odom time 0.047197 ms ++++++++++++++++++++++
points size 93210 
mapping pub time 2.258686 ms 
whole mapping time 129.787256 ms +++++
mappingCount 2793 & avg mapping time 156.733064 ms ++++++++++++++++++++++
build tree time 21.820692 ms 
-----t: 0.0624964
OdomCount 4322 & avg odom time 0.047201 ms ++++++++++++++++++++++
--------------------stamp1317358211.030349969
prepare time 15.658356 
sort q time 6.318771 
seperate points time 15.976443 
-----t: 0.0463449
OdomCount 4323 & avg odom time 0.047201 ms ++++++++++++++++++++++
mapping solver time 14.736854 ms 
mapping pub time 2.297433 ms 
whole mapping time 172.084422 ms +++++
mappingCount 2794 & avg mapping time 156.738559 ms ++++++++++++++++++++++
1317358210.822798014 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.134199 ms
map corner num 75790  surf num 30824 
points size 92818 
sort q time 5.345914 
seperate points time 12.104466 
mapping data assosiation time 27.809336 ms 
-----t: 0.0507571
OdomCount 4324 & avg odom time 0.047201 ms ++++++++++++++++++++++
mapping data assosiation time 22.745608 ms 
--------------------stamp1317358211.237898111
mapping solver time 23.863831 ms 
filter time 8.083481 ms 
scan registration time 30.765176 ms *************
build tree time 18.381485 ms 
publication time 16.098565 ms points size 90521 
sort q time 5.094100 
seperate points time 13.069464 
mapping data assosiation time 27.417559 ms 
mapping solver time 23.606921 ms 
[0m[ INFO] [1718804928.235577300, 1317358211.422972762]: Received 108717 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804928.235609452, 1317358211.422972762]: Data saved to 1317358211134123.pcd[0m
--------------------stamp1317358211.445496082
points size 90158 
mapping data assosiation time 27.614678 ms 
publication time 9.985650 ms 
whole laserOdometry time 9.998058 ms 
 
mapping data assosiation time 32.155997 ms 
prepare time 11.300499 
sort q time 5.706163 
seperate points time 12.505899 
publication time 10.156136 ms 
whole laserOdometry time 10.171792 ms 
 
mapping data assosiation time 27.905960 ms 
--------------------stamp1317358211.653119087
points size 90999 
sort q time 5.391764 
seperate points time 12.608309 
publication time 10.872709 ms 
whole laserOdometry time 10.890763 ms 
 
filter time 9.007386 ms 
-----t: 0.0699734
OdomCount 4329 & avg odom time 0.047212 ms ++++++++++++++++++++++
build tree time 24.964763 ms 
prepare time 12.027672 
mapping data assosiation time 28.423295 ms 
mapping solver time 26.905904 ms 
mapping data assosiation time 28.165434 ms 
mapping solver time 13.393008 ms 
mapping pub time 2.202446 ms 
whole mapping time 137.817911 ms +++++
mappingCount 2799 & avg mapping time 156.715206 ms ++++++++++++++++++++++
sort q time 5.059216 
seperate points time 12.215341 
publication time 10.210446 ms 
whole laserOdometry time 10.231478 ms 
 
1317358211.860810041 WriteOdom laser_odom_to_init
mapping solver time 22.189386 ms 
--------------------stamp1317358211.964704036
sort q time 4.951604 
seperate points time 11.342961 
mapping pub time 2.070675 ms 
whole mapping time 128.880174 ms +++++
mappingCount 2800 & avg mapping time 156.705267 ms ++++++++++++++++++++++
1317358211.756942034 WriteOdom aft_mapped_to_init
map prepare time 2.909768 ms
map corner num 80562  surf num 32524 
-----t: 0.030422
OdomCount 4332 & avg odom time 0.047206 ms ++++++++++++++++++++++
build tree time 21.264630 ms 
mapping data assosiation time 22.609942 ms 
--------------------stamp1317358212.068624973
prepare time 11.239138 
sort q time 4.872212 
seperate points time 11.548334 
publication time 7.561406 ms 
whole laserOdometry time 7.576396 ms 
 
-----t: 0.0371362
OdomCount 4333 & avg odom time 0.047203 ms ++++++++++++++++++++++
1317358212.068624973 WriteOdom laser_odom_to_init
1317358212.068624973 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 124.293571 
--------------------stamp1317358212.172565937
points size 86443 
sort q time 4.805737 
seperate points time 11.620702 
scan registration time 30.686444 ms *************
publication time 10.782104 ms 
whole laserOdometry time 10.827906 ms 
 
mapping pub time 130.174595 ms 
whole mapping time 263.940631 ms +++++
mappingCount 2801 & avg mapping time 156.743553 ms ++++++++++++++++++++++
--------------------stamp1317358212.276484012
prepare time 13.681904 
scan registration time 32.556105 ms *************
publication time 11.117256 ms 
whole laserOdometry time 11.132026 ms 
 
mapping solver time 28.292353 ms 
mapping data assosiation time 24.673231 ms 
points size 82873 
sort q time 4.900453 
seperate points time 11.781514 
-----t: 0.0399742
OdomCount 4336 & avg odom time 0.047202 ms ++++++++++++++++++++++
mapping data assosiation time 18.468630 ms 
mapping solver time 19.739168 ms 
points size 80564 
scan registration time 29.427041 ms *************
mapping solver time 22.507348 ms 
1317358212.276484013 WriteOdom aft_mapped_to_init
build tree time 20.091035 ms 
mapping data assosiation time 20.463455 ms 
prepare time 9.928854 
scan registration time 23.405061 ms *************
publication time 7.806472 ms 
whole laserOdometry time 7.823881 ms 
 
mapping solver time 16.515641 ms 
mapping pub time 1.887278 ms 
whole mapping time 112.761205 ms +++++
mappingCount 2804 & avg mapping time 156.711275 ms ++++++++++++++++++++++
build tree time 16.639848 ms 
--------------------stamp1317358212.691921949
points size 79051 
sort q time 4.307715 
seperate points time 10.311189 
-----t: 0.027506
OdomCount 4339 & avg odom time 0.047191 ms ++++++++++++++++++++++
mapping solver time 17.401686 ms 
map prepare time 2.299919 ms
map corner num 84228  surf num 33728 
build tree time 18.538076 ms 
mapping data assosiation time 23.098158 ms 
sort q time 4.097092 
seperate points time 9.761731 
scan registration time 24.427362 ms *************
-----t: 0.0278199
OdomCount 4340 & avg odom time 0.047187 ms ++++++++++++++++++++++
mapping data assosiation time 20.527463 ms 
mapping solver time 14.637663 ms 
[0m[ INFO] [1718804929.702332400, 1317358212.886839858]: Received 119011 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804929.702359443, 1317358212.886839858]: Data saved to 1317358212691921.pcd[0m
points size 81822 
sort q time 5.159170 
seperate points time 10.718843 
mapping data assosiation time 23.655077 ms 
-----t: 0.0404072
OdomCount 4341 & avg odom time 0.047185 ms ++++++++++++++++++++++
mapping data assosiation time 18.710414 ms 
mapping solver time 15.499931 ms 
map prepare time 2.357660 ms
map corner num 85744  surf num 34273 
sort q time 4.855812 
seperate points time 11.300122 
publication time 10.584233 ms 
whole laserOdometry time 10.598881 ms 
 
mapping data assosiation time 23.906214 ms 
mapping solver time 16.622503 ms 
mapping data assosiation time 19.377289 ms 
--------------------stamp1317358213.107193946
filter time 8.745118 ms 
mapping pub time 2.197316 ms 
whole mapping time 117.041461 ms +++++
mappingCount 2808 & avg mapping time 156.652523 ms ++++++++++++++++++++++
1317358212.899518967 WriteOdom aft_mapped_to_init
build tree time 23.961223 ms 
mapping data assosiation time 37.663048 ms 
-----t: 0.0841235
OdomCount 4343 & avg odom time 0.047190 ms ++++++++++++++++++++++
prepare time 12.647890 
mapping solver time 33.874521 ms 
mapping data assosiation time 28.019398 ms 
publication time 11.310017 ms 
whole laserOdometry time 11.323307 ms 
 
drop lidar frame in mapping for real time performance 
build tree time 19.536386 ms 
points size 88477 
sort q time 5.466228 
seperate points time 12.697482 
mapping solver time 26.051580 ms 
mapping solver time 18.734919 ms 
map prepare time 2.836309 ms
map corner num 87583  surf num 34895 
prepare time 10.873952 
build tree time 22.436836 ms 
mapping data assosiation time 23.968615 ms 
mapping solver time 21.078197 ms 
mapping data assosiation time 21.513164 ms 
--------------------stamp1317358213.522861957
filter time 5.966718 ms 
sort q time 5.030027 
seperate points time 11.534024 
build tree time 22.983612 ms 
-----t: 0.0431749
OdomCount 4347 & avg odom time 0.047194 ms ++++++++++++++++++++++
mapping solver time 16.493467 ms 
mapping data assosiation time 18.431462 ms 
mapping solver time 17.175671 ms 
mapping optimization time 99.797227 
add points time 0.733517 ms
filter time 7.731015 ms 
mapping pub time 2.190690 ms 
whole mapping time 113.722146 ms +++++
mappingCount 2812 & avg mapping time 156.613553 ms ++++++++++++++++++++++
1317358213.418898106 WriteOdom aft_mapped_to_init
map prepare time 2.447188 ms
map corner num 64611  surf num 25859 
build tree time 16.518637 ms 
points size 86630 
sort q time 4.951064 
mapping solver time 25.909543 ms 
mapping data assosiation time 24.199624 ms 
mapping solver time 20.410402 ms 
map prepare time 3.473201 msbuild tree time 19.536272 ms 
mapping data assosiation time 20.357185 ms 
mapping solver time 16.084061 ms 
points size 86326 
sort q time 5.104867 
seperate points time 12.167964 
filter time 6.617040 ms map prepare time 3.644941 ms
map corner num 65730  surf num 26216 
build tree time 19.043878 ms 
--------------------stamp1317358213.938752889
prepare time 11.203427 
mapping solver time 22.880339 ms 
scan registration time 44.005844 ms *************
mapping data assosiation time 23.938641 ms 
publication time 13.766002 ms 
whole laserOdometry time 13.778654 ms 
 
filter time 6.524128 ms 
--------------------stamp1317358214.042742967
prepare time 10.994793 
sort q time 4.944201 
seperate points time 11.035711 
publication time 7.387138 ms 
whole laserOdometry time 7.404599 ms 
 
-----t: 0.032003
OdomCount 4352 & avg odom time 0.047182 ms ++++++++++++++++++++++
mapping data assosiation time 18.573935 ms 
mapping optimization time 100.950455 
map prepare time 2.945047 ms
map corner num 67013  surf num 26596 
points size 81585 
sort q time 4.693106 
seperate points time 10.583701 
mapping data assosiation time 24.203309 ms 
mapping solver time 23.061590 ms 
mapping data assosiation time 23.366079 ms 
--------------------stamp1317358214.250677108
filter time 7.309722 ms 
publication time 9.165781 ms 
whole laserOdometry time 9.179107 ms 
 
build tree time 19.386406 ms 
mapping data assosiation time 26.739172 ms 
mapping solver time 26.453161 ms 
points size 81239 
mapping data assosiation time 24.777963 ms 
mapping solver time 17.768585 ms 
map prepare time 3.203550 ms
map corner num 68310  surf num 27005 
-----t: 0.0689418
OdomCount 4355 & avg odom time 0.047183 ms ++++++++++++++++++++++
mapping data assosiation time 24.818705 ms 
points size 82886 
sort q time 5.030205 
seperate points time 10.220545 
mapping data assosiation time 24.785554 ms 
add points time 0.854142 ms
map prepare time 2.375985 ms
map corner num 68978  surf num 27225 
build tree time 13.557942 ms 
--------------------stamp1317358214.562483072
prepare time 10.392646 
sort q time 4.903376 
seperate points time 11.342579 
mapping data assosiation time 22.856638 ms 
-----t: 0.0397941
OdomCount 4357 & avg odom time 0.047179 ms ++++++++++++++++++++++
1317358214.562483072 WriteOdom laser_odom_to_init
1317358214.562483072 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.909202 ms 
map prepare time 2.375226 ms
map corner num 69756  surf num 27633 
build tree time 15.530546 ms 
points size 86479 
sort q time 4.762690 
seperate points time 11.092462 
-----t: 0.0316202
OdomCount 4358 & avg odom time 0.047175 ms ++++++++++++++++++++++
mapping data assosiation time 20.617092 ms 
mapping solver time 15.766439 ms 
[0m[ INFO] [1718804931.590786866, 1317358214.781834054]: Received 98618 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804931.590889787, 1317358214.781834054]: Data saved to 1317358214562483.pcd[0m
points size 86462 
sort q time 5.429423 
seperate points time 10.641775 
publication time 11.154970 ms 
whole laserOdometry time 11.171894 ms 
 
-----t: 0.0396796
OdomCount 4359 & avg odom time 0.047174 ms ++++++++++++++++++++++
--------------------stamp1317358214.874263048
prepare time 11.341803 
sort q time 14.262487 
seperate points time 20.200953 
publication time 9.480083 ms mapping pub time 187.694535 ms 
whole mapping time 304.712710 ms +++++
mappingCount 2821 & avg mapping time 156.565982 ms ++++++++++++++++++++++
build tree time 14.758029 ms 
points size 84645 
sort q time 5.225368 
seperate points time 11.508162 
mapping solver time 24.838843 ms 
publication time 12.246856 ms 
whole laserOdometry time 12.260796 ms 
 
mapping data assosiation time 28.125876 ms 
-----t: 0.0594674
OdomCount 4361 & avg odom time 0.047177 ms ++++++++++++++++++++++
filter time 5.125823 ms 
mapping data assosiation time 19.715899 ms 
--------------------stamp1317358215.186067104
points size 85062 
sort q time 4.861467 
seperate points time 11.032096 
publication time 8.925733 ms 
whole laserOdometry time 8.943138 ms 
 
mapping data assosiation time 29.541281 ms 
mapping solver time 28.471977 ms 
mapping data assosiation time 24.061693 ms 
mapping solver time 19.166430 ms 
mapping optimization time 119.396749 
add points time 0.871280 ms
filter time 5.693174 ms 
mapping pub time 1.849733 ms 
whole mapping time 130.409939 ms +++++
mappingCount 2824 & avg mapping time 156.532894 ms ++++++++++++++++++++++
1317358215.082146883 WriteOdom aft_mapped_to_init
map prepare time 2.353922 ms
map corner num 73210  surf num 29260 
build tree time 13.767933 ms 
points size 85392 
mapping solver time 20.962883 ms 
points size 85814 
sort q time 5.030512 
seperate points time 11.444963 
filter time 6.685394 ms 
mapping data assosiation time 21.795316 ms 
points size 84159 
sort q time 5.866069 
seperate points time 12.125729 
mapping data assosiation time 27.628477 ms 
publication time 13.943395 ms 
whole laserOdometry time 13.972640 ms 
 
mapping optimization time 113.182034 
[0m[ INFO] [1718804932.395089288, 1317358215.584090872]: Received 104456 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804932.395117031, 1317358215.584090872]: Data saved to 1317358215290011.pcd[0m
build tree time 16.451260 ms 
mapping data assosiation time 22.290234 ms 
points size 83978 
sort q time 6.001182 
seperate points time 11.310234 
publication time 7.866382 ms 
whole laserOdometry time 7.880535 ms 
 
-----t: 0.0469385
OdomCount 4367 & avg odom time 0.047181 ms ++++++++++++++++++++++
mapping solver time 26.172676 ms 
mapping optimization time 119.101132 
add points time 0.890451 ms
points size 84478 
build tree time 21.326158 ms 
publication time 9.993114 ms 
whole laserOdometry time 10.008286 ms 
 
mapping solver time 24.677210 ms 
--------------------stamp1317358215.809747934
sort q time 5.323232 
seperate points time 10.373830 
mapping pub time 2.150017 ms 
whole mapping time 137.289951 ms +++++
mappingCount 2828 & avg mapping time 156.491456 ms ++++++++++++++++++++++
build tree time 17.223660 ms 
mapping data assosiation time 19.079622 ms 
mapping solver time 17.059908 ms 
points size 80643 
sort q time 5.171449 
seperate points time 10.000678 
publication time 9.157259 ms 
whole laserOdometry time 9.192376 ms 
 
filter time 7.897189 ms 
build tree time 15.626909 ms 
--------------------stamp1317358216.017563104
prepare time 13.033973 
sort q time 4.191928 
seperate points time 10.323563 
publication time 7.196274 ms 
whole laserOdometry time 7.215769 ms 
 
mapping solver time 16.770204 ms 
map prepare time 2.116659 ms
map corner num 77359  surf num 30741 
build tree time 16.146798 ms 
--------------------stamp1317358216.121479034
prepare time 12.896698 
mapping solver time 23.332027 ms 
publication time 8.241331 ms 
whole laserOdometry time 8.256984 ms 
 
mapping solver time 15.288712 ms 
[0m[ INFO] [1718804933.015669266, 1317358216.203320626]: Received 109189 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804933.015713004, 1317358216.203320626]: Data saved to 1317358216017563.pcd[0m
build tree time 16.361683 ms 
points size 82146 
scan registration time 24.584863 ms *************
mapping solver time 20.634665 ms 
mapping data assosiation time 21.503361 ms 
mapping solver time 11.629364 ms 
map prepare time 2.270099 ms
map corner num 78716  surf num 31327 
build tree time 15.978316 ms 
prepare time 12.802402 
scan registration time 27.719521 ms *************
mapping solver time 23.797482 ms 
-----t: 0.0534452
OdomCount 4374 & avg odom time 0.047165 ms ++++++++++++++++++++++
mapping solver time 14.409410 ms 
map prepare time 2.171427 ms
map corner num 79335  surf num 31594 
build tree time 21.153793 ms 
mapping data assosiation time 23.968895 ms 
mapping solver time 23.116389 ms 
-----t: 0.0632774
OdomCount 4375 & avg odom time 0.047169 ms ++++++++++++++++++++++
mapping solver time 11.739435 ms 
prepare time 13.048739 
sort q time 4.710690 
seperate points time 11.352580 
publication time 8.861574 ms 
whole laserOdometry time 8.876053 ms 
 
mapping solver time 19.325559 ms 
mapping data assosiation time 16.828692 ms 
--------------------stamp1317358216.641119956
points size 79716 
scan registration time 27.463621 ms *************
-----t: 0.0278122
OdomCount 4377 & avg odom time 0.047164 ms ++++++++++++++++++++++
mapping data assosiation time 19.879495 ms 
mapping solver time 17.678429 ms 
mapping data assosiation time 18.077363 ms 
--------------------stamp1317358216.745038986
points size 80318 
filter time 8.118541 ms 
mapping pub time 3.210915 ms 
whole mapping time 113.276548 ms +++++
mappingCount 2836 & avg mapping time 156.365755 ms ++++++++++++++++++++++
sort q time 4.403295 
seperate points time 10.488947 
1317358216.537201881 WriteOdom aft_mapped_to_init
-----t: 0.0334787
OdomCount 4378 & avg odom time 0.047160 ms ++++++++++++++++++++++
mapping data assosiation time 18.028650 ms 
mapping solver time 16.725507 ms 
--------------------stamp1317358216.848958015
prepare time 12.348557 
sort q time 5.022223 
seperate points time 11.686107 
build tree time 20.978077 ms 
mapping data assosiation time 20.996358 ms 
mapping solver time 16.391485 ms 
points size 81215 
mapping solver time 13.216155 ms 
map prepare time 2.909996 ms
map corner num 81949  surf num 32498 
build tree time 21.229613 ms 
mapping data assosiation time 18.627660 ms 
mapping solver time 13.435873 ms 
--------------------stamp1317358217.056796073
prepare time 12.253744 
mapping solver time 18.464417 ms 
mapping pub time 2.064085 ms 
whole mapping time 104.497962 ms +++++
mappingCount 2839 & avg mapping time 156.311090 ms ++++++++++++++++++++++
-----t: 0.0369143
OdomCount 4381 & avg odom time 0.047158 ms ++++++++++++++++++++++
mapping data assosiation time 17.074116 ms 
mapping solver time 15.641270 ms 
points size 81851 
sort q time 4.427615 
seperate points time 10.181750 
filter time 5.543367 ms 
-----t: 0.0255059
OdomCount 4382 & avg odom time 0.047154 ms ++++++++++++++++++++++
1317358217.160715103 WriteOdom laser_odom_to_init
mapping pub time 1.829673 ms 
whole mapping time 106.426328 ms +++++
mappingCount 2840 & avg mapping time 156.293528 ms ++++++++++++++++++++++
1317358216.952877998 WriteOdom aft_mapped_to_init
publication time 6.996771 ms 
whole laserOdometry time 7.014956 ms 
 
1317358217.160715103 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.155246 ms
map corner num 82963  surf num 32838 
build tree time 18.582869 ms 
mapping data assosiation time 18.228553 ms 
mapping solver time 15.094551 ms 
points size 81591 
sort q time 4.431842 
seperate points time 10.877033 
[0m[ INFO] [1718804934.117808586, 1317358217.300137178]: Received 116529 data points in frame camera_init with the following fields: x y z intensity[0m
publication time 9.688566 ms 
whole laserOdometry time 9.705674 ms 
 
1317358217.264611959 WriteOdom laser_odom_to_init
1317358217.264611959 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358217.368482112
sort q time 6.446777 
seperate points time 13.719218 
publication time 10.887331 ms 
whole laserOdometry time 10.902755 ms 
 
-----t: 0.0592883
OdomCount 4384 & avg odom time 0.047159 ms ++++++++++++++++++++++
prepare time 14.961000 
build tree time 23.018514 ms 
publication time 21.571000 ms 
whole laserOdometry time 21.584996 ms 
 
mapping solver time 15.672252 ms 
--------------------stamp1317358217.576246976
prepare time 12.103290 
mapping solver time 21.942243 ms 
map prepare time 3.119203 ms
map corner num 84033  surf num 33198 
-----t: 0.0513826
OdomCount 4386 & avg odom time 0.047159 ms ++++++++++++++++++++++
build tree time 25.868503 ms 
mapping data assosiation time 20.528985 ms 
mapping solver time 17.578107 ms 
points size 86956 
sort q time 5.176633 
seperate points time 11.510104 
map prepare time 3.327322 ms
map corner num 84857  surf num 33567 
mapping data assosiation time 17.476558 ms 
--------------------stamp1317358217.784013986
points size 88789 
mapping data assosiation time 23.197551 ms 
mapping solver time 21.224789 ms 
mapping optimization time 100.365101 
add points time 0.791112 ms
-----t: 0.0332978
OdomCount 4388 & avg odom time 0.047154 ms ++++++++++++++++++++++
1317358217.784013986 WriteOdom laser_odom_to_init
1317358217.784013986 WriteOdom aft_mapped_to_init_high_frec
publication time 9.782760 ms 
whole laserOdometry time 9.800945 ms 
 
filter time 8.080271 ms 
build tree time 16.107222 ms 
mapping data assosiation time 17.106149 ms 
--------------------stamp1317358217.887883901
points size 89458 
mapping data assosiation time 20.442700 ms 
mapping solver time 13.874183 ms 
publication time 8.569205 ms 
whole laserOdometry time 8.576484 ms 
 
map prepare time 2.727154 ms
map corner num 86399  surf num 34209 
build tree time 17.008916 ms 
--------------------stamp1317358217.991755962
mapping data assosiation time 20.869299 ms 
points size 89448 
sort q time 5.461192 
seperate points time 11.916802 
scan registration time 29.685384 ms *************
publication time 9.742913 ms 
whole laserOdometry time 9.760179 ms 
 
mapping solver time 15.805581 ms 
[0m[ INFO] [1718804934.888455900, 1317358218.078961290]: Received 121941 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804934.888509259, 1317358218.078961290]: Data saved to 1317358217887883.pcd[0m
--------------------stamp1317358218.095627069
scan registration time 26.734906 ms *************
publication time 9.199741 ms 
whole laserOdometry time 9.212408 ms 
 
1317358218.095627069 WriteOdom laser_odom_to_init
mapping data assosiation time 21.668280 ms 
mapping solver time 17.504639 ms 
map prepare time 2.672541 ms
map corner num 88153  surf num 34960 
sort q time 4.593771 
seperate points time 10.984267 
publication time 9.406369 ms 
whole laserOdometry time 9.421400 ms 
 
mapping solver time 20.781497 ms 
mapping data assosiation time 20.065295 ms 
--------------------stamp1317358218.303318977
add points time 0.886577 ms
1317358218.095627069 WriteOdom aft_mapped_to_init
publication time 9.778081 ms 
whole laserOdometry time 9.793991 ms 
 
mapping data assosiation time 23.147075 ms 
mapping solver time 20.728514 ms 
--------------------stamp1317358218.407162904
prepare time 10.894877 
sort q time 5.185361 
seperate points time 11.438176 
mapping solver time 26.070267 ms 
mapping pub time 2.177816 ms 
whole mapping time 132.498920 ms +++++
mappingCount 2849 & avg mapping time 156.232276 ms ++++++++++++++++++++++
build tree time 19.658620 ms 
mapping data assosiation time 21.188084 ms 
points size 88736 
sort q time 5.270558 
seperate points time 11.631487 
scan registration time 28.820154 ms *************
mapping data assosiation time 25.583334 ms 
mapping solver time 19.988228 ms 
mapping pub time 1.898765 ms 
whole mapping time 124.999655 ms +++++
mappingCount 2850 & avg mapping time 156.221318 ms ++++++++++++++++++++++
1317358218.303318977 WriteOdom aft_mapped_to_init
map prepare time 2.305829 ms
map corner num 90306  surf num 35748 
build tree time 16.927440 ms 
points size 88834 
sort q time 4.873499 
seperate points time 11.256483 
mapping solver time 25.519098 ms 
mapping data assosiation time 23.182670 ms 
mapping solver time 12.822591 ms 
[0m[ INFO] [1718804935.518627973, 1317358218.705258258]: Received 127314 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804935.518674177, 1317358218.705258258]: Data saved to 1317358218510986.pcd[0m
--------------------stamp1317358218.718585968
prepare time 11.914277 
sort q time 5.683034 
seperate points time 13.043851 
publication time 9.432092 ms 
whole laserOdometry time 9.447826 ms 
 
mapping solver time 19.717737 ms 
mapping data assosiation time 22.308148 ms 
mapping solver time 17.325662 ms 
mapping pub time 2.087366 ms 
whole mapping time 121.931258 ms +++++
mappingCount 2852 & avg mapping time 156.195135 ms ++++++++++++++++++++++
1317358218.614785910 WriteOdom aft_mapped_to_init
scan registration time 32.592500 ms *************
publication time 8.832739 ms 
whole laserOdometry time 8.847484 ms 
 
-----t: 0.0528521
OdomCount 4398 & avg odom time 0.047138 ms ++++++++++++++++++++++
mapping solver time 19.695637 ms 
mapping data assosiation time 21.492012 ms 
points size 93799 
mapping pub time 1.953684 ms 
whole mapping time 124.209145 ms +++++
mappingCount 2853 & avg mapping time 156.183927 ms ++++++++++++++++++++++
build tree time 13.821965 ms 
-----t: 0.0460779
OdomCount 4399 & avg odom time 0.047137 ms ++++++++++++++++++++++
mapping solver time 18.361900 ms 
--------------------stamp1317358219.030004978
prepare time 13.147933 
mapping optimization time 100.527317 
scan registration time 37.906709 ms *************
publication time 9.781374 ms 
whole laserOdometry time 9.800180 ms 
 
mapping data assosiation time 22.987990 ms 
--------------------stamp1317358219.133805036
prepare time 13.709703 
sort q time 5.154586 
seperate points time 12.021518 
-----t: 0.0309483
OdomCount 4401 & avg odom time 0.047133 ms ++++++++++++++++++++++
mapping solver time 22.173864 ms 
drop lidar frame in mapping for real time performance 
build tree time 11.909228 ms 
mapping data assosiation time 20.903929 ms 
mapping solver time 18.727141 ms 
prepare time 11.399781 
sort q time 5.487459 
seperate points time 11.990511 
mapping solver time 17.221755 ms 
-----t: 0.0460961
OdomCount 4402 & avg odom time 0.047133 ms ++++++++++++++++++++++
1317358219.237602949 WriteOdom laser_odom_to_init
1317358219.237602949 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.602384 ms
map corner num 63278  surf num 24607 
build tree time 12.786843 ms 
--------------------stamp1317358219.341402053
prepare time 12.872765 
sort q time 5.038765 
seperate points time 11.036390 
scan registration time 29.721733 ms *************
-----t: 0.0735056
OdomCount 4403 & avg odom time 0.047139 ms ++++++++++++++++++++++
1317358219.341402053 WriteOdom laser_odom_to_init
1317358219.341402053 WriteOdom aft_mapped_to_init_high_frec
filter time 6.605403 ms 
1317358219.445202112 WriteOdom laser_odom_to_init
mapping data assosiation time 22.255826 ms 
prepare time 13.614397 
filter time 7.502467 ms map prepare time 5.062363 ms
map corner num 65110  surf num 25333 
build tree time 16.471698 ms 
-----t: 0.043192
OdomCount 4405 & avg odom time 0.047139 ms ++++++++++++++++++++++
1317358219.549000978 WriteOdom laser_odom_to_init
1317358219.549000978 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.104617 ms 
mapping solver time 24.131219 ms 
points size 90373 
sort q time 5.345796 
seperate points time 10.993736 
publication time 8.983867 ms 
whole laserOdometry time 9.013481 ms 
 
filter time 4.880933 ms 
-----t: 0.0554668
OdomCount 4406 & avg odom time 0.047141 ms ++++++++++++++++++++++
1317358219.652775049 WriteOdom laser_odom_to_init
build tree time 16.000204 ms 
--------------------stamp1317358219.756525039
points size 90602 
sort q time 5.169605 
seperate points time 10.588536 
mapping solver time 36.571387 ms 
1317358219.756525039 WriteOdom laser_odom_to_init
mapping solver time 19.973706 ms 
1317358219.549000978 WriteOdom aft_mapped_to_init
points size 91148 
sort q time 5.780300 
seperate points time 13.813677 
mapping data assosiation time 27.340312 ms 
mapping solver time 25.607301 ms 
mapping data assosiation time 21.966674 ms 
--------------------stamp1317358219.964013099
mapping solver time 22.574182 ms 
sort q time 6.231782 
seperate points time 14.320488 
publication time 9.710766 ms 
whole laserOdometry time 9.730088 ms 
 
-----t: 0.0484004
OdomCount 4409 & avg odom time 0.047137 ms ++++++++++++++++++++++
1317358219.964013099 WriteOdom laser_odom_to_init
--------------------stamp1317358220.067776918
sort q time 5.558191 
seperate points time 12.578510 
scan registration time 32.012852 ms *************
-----t: 0.0439621
OdomCount 4410 & avg odom time 0.047137 ms ++++++++++++++++++++++
mapping pub time 179.391889 ms 
whole mapping time 307.931802 ms +++++
mappingCount 2861 & avg mapping time 156.162821 ms ++++++++++++++++++++++
points size 97573 
scan registration time 33.678721 ms *************
publication time 9.606897 ms 
whole laserOdometry time 9.622712 ms 
 
mapping solver time 24.964693 ms 
mapping data assosiation time 22.834801 ms 
mapping solver time 9.886776 ms 
1317358219.860263109 WriteOdom aft_mapped_to_init
build tree time 19.278444 ms 
publication time 8.430449 ms 
whole laserOdometry time 8.444328 ms 
 
-----t: 0.0471917
OdomCount 4412 & avg odom time 0.047135 ms ++++++++++++++++++++++
mapping solver time 26.321990 ms 
--------------------stamp1317358220.379098892
points size 96494 
sort q time 5.494574 
seperate points time 13.260340 
filter time 6.655661 ms 
publication time 10.583402 ms 
whole laserOdometry time 10.618170 ms 
 
-----t: 0.0419667
OdomCount 4413 & avg odom time 0.047134 ms ++++++++++++++++++++++
build tree time 15.628083 ms 
mapping data assosiation time 24.158379 ms 
--------------------stamp1317358220.482873916
mapping solver time 21.132190 ms 
prepare time 12.221468 
scan registration time 31.536161 ms *************
mapping solver time 19.921706 ms 
1317358220.482873916 WriteOdom laser_odom_to_init
build tree time 14.185369 ms 
--------------------stamp1317358220.586673974
mapping data assosiation time 25.442346 ms 
sort q time 5.933519 
seperate points time 12.813958 
mapping solver time 31.547690 ms 
publication time 17.983313 ms 
whole laserOdometry time 18.000666 ms 
 
mapping data assosiation time 24.984666 ms 
mapping solver time 19.400923 ms 
mapping pub time 2.130327 ms 
whole mapping time 128.077975 ms +++++
mappingCount 2865 & avg mapping time 156.120694 ms ++++++++++++++++++++++
1317358220.379098892 WriteOdom aft_mapped_to_init
map prepare time 2.386819 ms
map corner num 71185  surf num 27476 
build tree time 13.183923 ms 
mapping data assosiation time 20.846824 ms 
mapping solver time 21.463454 ms 
points size 95832 
prepare time 14.333162 
scan registration time 33.089799 ms *************
-----t: 0.0327324
OdomCount 4416 & avg odom time 0.047131 ms ++++++++++++++++++++++
1317358220.690498113 WriteOdom laser_odom_to_init
1317358220.690498113 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.360371 ms 
publication time 12.577541 ms 
whole laserOdometry time 12.589630 ms 
 
mapping optimization time 108.006332 
add points time 0.864764 ms
filter time 4.742395 ms 
points size 91684 
sort q time 6.370868 
seperate points time 11.750392 
mapping data assosiation time 27.764226 ms 
publication time 7.972661 ms 
whole laserOdometry time 7.986996 ms 
 
mapping solver time 27.498284 ms 
mapping data assosiation time 21.098468 ms 
points size 89633 
sort q time 4.866246 
seperate points time 11.608899 
mapping solver time 40.129597 ms 
mapping pub time 2.193236 ms 
whole mapping time 148.626658 ms +++++
mappingCount 2867 & avg mapping time 156.105236 ms ++++++++++++++++++++++
publication time 16.886845 ms 
whole laserOdometry time 16.914125 ms 
 
build tree time 17.427889 ms 
mapping data assosiation time 22.382558 ms 
mapping solver time 22.647233 ms 
points size 88590 
mapping data assosiation time 28.719619 ms 
scan registration time 34.488436 ms *************
mapping solver time 22.316341 ms 
1317358220.794318914 WriteOdom aft_mapped_to_init
map prepare time 2.803281 ms
map corner num 73531  surf num 28293 
--------------------stamp1317358221.105737924
points size 87045 
sort q time 5.743882 
seperate points time 14.073594 
mapping solver time 23.153481 ms 
mapping data assosiation time 21.826612 ms 
mapping optimization time 109.122258 
drop lidar frame in mapping for real time performance 
sort q time 5.142787 
seperate points time 10.141150 
publication time 7.628363 ms 
whole laserOdometry time 7.655187 ms 
 
mapping solver time 23.366159 ms 
mapping data assosiation time 22.922399 ms 
points size 80882 
mapping optimization time 112.302378 
mapping pub time 1.984748 ms 
whole mapping time 124.949112 ms +++++
mappingCount 2870 & avg mapping time 156.072463 ms ++++++++++++++++++++++
publication time 8.377358 ms 
whole laserOdometry time 8.390497 ms 
 
mapping data assosiation time 24.188328 ms 
mapping solver time 23.214940 ms 
points size 77103 
mapping data assosiation time 24.380881 ms 
mapping solver time 22.717669 ms 
[0m[ INFO] [1718804938.286381920, 1317358221.478046851]: Received 105125 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804938.286411494, 1317358221.478046851]: Data saved to 1317358221209537.pcd[0m
build tree time 16.971008 ms 
mapping data assosiation time 23.148634 ms 
points size 75112 
mapping solver time 25.185752 ms 
sort q time 4.272666 
seperate points time 11.879330 
scan registration time 40.896656 ms *************
mapping data assosiation time 24.233964 ms 
publication time 8.019861 ms 
whole laserOdometry time 8.036178 ms 
 
filter time 6.269199 ms 
points size 75805 
sort q time 4.056557 
seperate points time 9.797592 
scan registration time 36.416069 ms *************
mapping solver time 27.654356 ms 
publication time 18.128685 ms 
whole laserOdometry time 18.142921 ms 
 
mapping data assosiation time 25.435075 ms 
mapping solver time 17.968464 ms 
mapping optimization time 118.847185 
add points time 0.825102 ms
filter time 5.647332 ms 
mapping pub time 1.621183 ms 
whole mapping time 129.336814 ms +++++
mappingCount 2873 & avg mapping time 156.042805 ms ++++++++++++++++++++++
1317358221.520909071 WriteOdom aft_mapped_to_init
points size 76561 
prepare time 10.706629 
scan registration time 25.578324 ms *************
mapping data assosiation time 25.044204 ms 
publication time 13.633999 ms 
whole laserOdometry time 13.650816 ms 
 
mapping data assosiation time 21.364579 ms 
mapping solver time 12.378038 ms 
1317358221.624707937 WriteOdom aft_mapped_to_init
sort q time 4.244751 
seperate points time 9.796782 
1317358221.832355976 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.372730 ms 
mapping data assosiation time 20.308290 ms 
--------------------stamp1317358221.936188936
prepare time 10.643667 
sort q time 4.609807 
seperate points time 10.733980 
build tree time 19.767459 ms 
mapping data assosiation time 21.307687 ms 
mapping solver time 20.749036 ms 
--------------------stamp1317358222.040010929
prepare time 13.690332 
scan registration time 28.010723 ms *************
mapping pub time 5.275913 ms 
whole mapping time 119.148191 ms +++++
mappingCount 2876 & avg mapping time 155.998111 ms ++++++++++++++++++++++
1317358221.832355976 WriteOdom aft_mapped_to_init
-----t: 0.0437372
OdomCount 4429 & avg odom time 0.047110 ms ++++++++++++++++++++++
mapping data assosiation time 22.925389 ms 
--------------------stamp1317358222.143799066
sort q time 4.557352 
seperate points time 10.997966 
publication time 8.059542 ms 
whole laserOdometry time 8.074903 ms 
 
mapping solver time 20.124521 ms 
mapping pub time 1.743089 ms 
whole mapping time 126.262777 ms +++++
mappingCount 2877 & avg mapping time 155.987777 ms ++++++++++++++++++++++
build tree time 17.517394 ms 
mapping data assosiation time 20.441508 ms 
points size 85443 
mapping solver time 26.621637 ms 
sort q time 4.795751 
seperate points time 11.549650 
scan registration time 31.739120 ms *************
-----t: 0.0479141
OdomCount 4431 & avg odom time 0.047109 ms ++++++++++++++++++++++
filter time 5.228318 ms 
build tree time 17.194051 ms 
points size 91581 
sort q time 5.306283 
seperate points time 12.947104 
mapping solver time 25.200113 ms 
publication time 15.264621 ms 
whole laserOdometry time 15.291647 ms 
 
mapping solver time 16.351588 ms 
map prepare time 2.365999 ms
map corner num 82192  surf num 30999 
prepare time 13.502067 
sort q time 5.746502 
seperate points time 13.672929 
mapping data assosiation time 23.102376 ms 
mapping solver time 23.053047 ms 
mapping data assosiation time 20.662153 ms 
--------------------stamp1317358222.558948993
filter time 8.337786 ms 
sort q time 5.456902 
seperate points time 13.006552 
build tree time 22.035465 ms 
publication time 8.882906 ms 
whole laserOdometry time 8.894149 ms 
 
mapping data assosiation time 22.054235 ms 
mapping solver time 17.228369 ms 
mapping data assosiation time 19.303226 ms 
points size 94514 
mapping solver time 24.136595 ms 
-----t: 0.0348685
OdomCount 4435 & avg odom time 0.047101 ms ++++++++++++++++++++++
--------------------stamp1317358222.766545057
points size 90065 
sort q time 5.877840 
seperate points time 14.230213 
mapping pub time 136.185554 ms 
whole mapping time 254.319061 ms +++++
mappingCount 2881 & avg mapping time 155.984584 ms ++++++++++++++++++++++
1317358222.455178976 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 3.471281 ms
map corner num 83544  surf num 31396 
build tree time 19.605677 ms 
-----t: 0.0761927
OdomCount 4436 & avg odom time 0.047107 ms ++++++++++++++++++++++
1317358222.766545057 WriteOdom laser_odom_to_init
1317358222.766545057 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.733532 ms 
sort q time 4.662193 
seperate points time 11.679128 
scan registration time 29.062277 ms *************
mapping solver time 25.255286 ms 
mapping data assosiation time 24.259875 ms 
publication time 28.354353 ms 
whole laserOdometry time 28.366803 ms 
 
filter time 5.875110 ms 
mapping pub time 2.206708 ms 
whole mapping time 126.144902 ms +++++
mappingCount 2882 & avg mapping time 155.974232 ms ++++++++++++++++++++++
1317358222.558948994 WriteOdom aft_mapped_to_init
map prepare time 2.315596 ms
map corner num 84143  surf num 31571 
points size 81443 
build tree time 21.798548 ms 
prepare time 13.311148 
mapping data assosiation time 24.913841 ms 
publication time 8.101246 ms 
whole laserOdometry time 8.125393 ms 
 
mapping data assosiation time 20.290896 ms 
mapping solver time 17.184057 ms 
filter time 8.993234 ms 
sort q time 4.375560 
seperate points time 10.473104 
-----t: 0.0284249
OdomCount 4439 & avg odom time 0.047099 ms ++++++++++++++++++++++
mapping data assosiation time 22.148731 ms 
mapping solver time 21.542197 ms 
mapping data assosiation time 21.184943 ms 
prepare time 10.338062 
sort q time 4.468908 
seperate points time 9.949891 
filter time 7.975765 ms 
publication time 13.879171 ms 
whole laserOdometry time 13.892413 ms 
 
build tree time 18.434962 ms 
mapping data assosiation time 20.063563 ms 
mapping solver time 20.120964 ms 
points size 77091 
sort q time 4.238196 
seperate points time 8.790342 
mapping data assosiation time 24.987147 ms 
scan registration time 23.227142 ms *************
publication time 7.833125 ms 
whole laserOdometry time 7.850120 ms 
 
filter time 7.953063 ms 
build tree time 17.438451 ms 
mapping data assosiation time 20.576368 ms 
points size 77355 
sort q time 4.159417 
seperate points time 8.797260 
mapping data assosiation time 23.878240 ms 
mapping solver time 24.694514 ms 
build tree time 18.362406 ms 
points size 77734 
sort q time 9.403552 
seperate points time 15.178474 
mapping solver time 19.367661 ms 
mapping pub time 1.681861 ms 
whole mapping time 120.304525 ms +++++
mappingCount 2887 & avg mapping time 155.917632 ms ++++++++++++++++++++++
points size 78014 
sort q time 4.569755 
seperate points time 10.316432 
mapping data assosiation time 22.895547 ms 
publication time 15.029245 ms 
whole laserOdometry time 15.043551 ms 
 
mapping data assosiation time 20.520928 ms 
mapping solver time 16.622743 ms 
map prepare time 2.026347 ms
map corner num 61774  surf num 24801 
points size 79120 
sort q time 5.052320 
seperate points time 12.421128 
publication time 8.253174 ms 
whole laserOdometry time 8.266411 ms 
 
1317358223.700951099 WriteOdom laser_odom_to_init
1317358223.700951099 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.878922 ms 
map prepare time 2.192786 ms
map corner num 62434  surf num 24942 
scan registration time 31.845890 ms *************
publication time 8.550038 ms 
whole laserOdometry time 8.600130 ms 
 
mapping solver time 18.516856 ms 
mapping data assosiation time 20.698848 ms 
points size 82606 
filter time 6.318877 ms 
build tree time 16.215530 ms 
mapping data assosiation time 19.532084 ms 
mapping solver time 15.926384 ms 
mapping data assosiation time 20.488290 ms 
prepare time 11.135406 
sort q time 5.196796 
seperate points time 10.602999 
publication time 7.945618 ms 
whole laserOdometry time 7.974188 ms 
 
mapping data assosiation time 19.432394 ms 
mapping solver time 20.777725 ms 
--------------------stamp1317358224.116409063
sort q time 5.036519 
seperate points time 10.343447 
filter time 6.551420 ms 
mapping pub time 2.056368 ms 
whole mapping time 112.846564 ms +++++
mappingCount 2892 & avg mapping time 155.843350 ms ++++++++++++++++++++++
1317358223.908643961 WriteOdom aft_mapped_to_init
map prepare time 2.766086 ms
map corner num 64142  surf num 25490 
build tree time 15.292833 ms 
mapping data assosiation time 19.312308 ms 
mapping solver time 16.461343 ms 
sort q time 4.760181 
seperate points time 10.357766 
mapping solver time 15.434446 ms 
mapping optimization time 91.620069 
add points time 0.782621 ms
build tree time 16.460188 ms 
mapping data assosiation time 21.118223 ms 
mapping solver time 18.680814 ms 
points size 83924 
mapping solver time 20.723693 ms 
-----t: 0.0365063
OdomCount 4451 & avg odom time 0.047076 ms ++++++++++++++++++++++
build tree time 13.442665 ms 
mapping data assosiation time 18.929838 ms 
points size 84130 
mapping solver time 25.973420 ms 
scan registration time 29.752007 ms *************
mapping data assosiation time 26.056551 ms 
-----t: 0.0464583
OdomCount 4452 & avg odom time 0.047076 ms ++++++++++++++++++++++
1317358224.427998065 WriteOdom laser_odom_to_init
1317358224.427998065 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 1.866749 ms 
whole mapping time 113.426703 ms +++++
mappingCount 2895 & avg mapping time 155.795788 ms ++++++++++++++++++++++
build tree time 15.181887 ms 
--------------------stamp1317358224.531821966
mapping data assosiation time 22.345180 ms 
sort q time 4.595976 
seperate points time 10.674329 
mapping solver time 26.096308 ms 
-----t: 0.0337448
OdomCount 4453 & avg odom time 0.047073 ms ++++++++++++++++++++++
1317358224.531821966 WriteOdom laser_odom_to_init
publication time 10.171346 ms 
whole laserOdometry time 10.232462 ms 
 
1317358224.531821966 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.856353 ms 
mapping solver time 17.507921 ms 
[0m[ INFO] [1718804941.430911738, 1317358224.616819848]: Received 93384 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804941.430958126, 1317358224.616819848]: Data saved to 1317358224427998.pcd[0m
mapping pub time 2.814135 ms 
whole mapping time 115.820724 ms +++++
mappingCount 2896 & avg mapping time 155.781986 ms ++++++++++++++++++++++
1317358224.427998066 WriteOdom aft_mapped_to_init
map prepare time 2.236765 ms
map corner num 66795  surf num 26589 
--------------------stamp1317358224.635597944
sort q time 4.206178 
seperate points time 9.297305 
publication time 8.899156 ms 
whole laserOdometry time 8.911280 ms 
 
mapping solver time 26.051566 ms 
-----t: 0.0354913
OdomCount 4454 & avg odom time 0.047071 ms ++++++++++++++++++++++
1317358224.635597944 WriteOdom laser_odom_to_init
1317358224.635597944 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.093694 ms 
mapping solver time 12.388499 ms 
map prepare time 2.351113 ms
map corner num 67493  surf num 26811 
points size 81159 
sort q time 5.154586 
seperate points time 12.555959 
mapping data assosiation time 23.891335 ms 
publication time 8.213087 ms 
whole laserOdometry time 8.228504 ms 
 
mapping solver time 22.943784 ms 
-----t: 0.0558974
OdomCount 4455 & avg odom time 0.047073 ms ++++++++++++++++++++++
mapping data assosiation time 22.957067 ms 
mapping solver time 16.898033 ms 
mapping pub time 1.932689 ms 
whole mapping time 118.742715 ms +++++
mappingCount 2898 & avg mapping time 155.753490 ms ++++++++++++++++++++++
sort q time 4.518358 
seperate points time 10.907055 
publication time 11.181295 ms 
whole laserOdometry time 11.212234 ms 
 
mapping solver time 21.872983 ms 
mapping data assosiation time 22.576063 ms 
--------------------stamp1317358224.946727991
filter time 5.507172 ms 
scan registration time 27.607755 ms *************
publication time 8.125779 ms 
whole laserOdometry time 8.141955 ms 
 
build tree time 19.223752 ms 
mapping data assosiation time 22.785884 ms 
mapping solver time 17.361968 ms 
--------------------stamp1317358225.050407886
prepare time 10.865057 
scan registration time 25.462167 ms *************
publication time 9.015481 ms 
whole laserOdometry time 9.033239 ms 
 
build tree time 18.970230 ms 
mapping data assosiation time 22.388846 ms 
--------------------stamp1317358225.154061079
points size 83473 
sort q time 4.675985 
seperate points time 11.486183 
mapping solver time 19.123278 ms 
mapping optimization time 110.681380 
-----t: 0.0308264
OdomCount 4459 & avg odom time 0.047062 ms ++++++++++++++++++++++
1317358225.154061079 WriteOdom laser_odom_to_init
1317358225.154061079 WriteOdom aft_mapped_to_init_high_frec
add points time 0.891718 ms
--------------------stamp1317358225.257667064
sort q time 4.681255 
seperate points time 10.609699 
publication time 8.550204 ms 
whole laserOdometry time 8.564185 ms 
 
--------------------stamp1317358225.361272096
prepare time 12.249268 
sort q time 4.943882 
seperate points time 12.253479 
mapping pub time 194.507419 ms 
whole mapping time 315.437442 ms +++++
mappingCount 2901 & avg mapping time 155.780088 ms ++++++++++++++++++++++
build tree time 19.154166 ms 
mapping data assosiation time 25.528720 ms 
--------------------stamp1317358225.464926004
points size 91598 
sort q time 7.567204 
seperate points time 13.701464 
publication time 9.125102 ms 
whole laserOdometry time 9.139884 ms 
 
mapping solver time 26.741011 ms 
mapping optimization time 128.055007 
1317358225.464926004 WriteOdom laser_odom_to_init
--------------------stamp1317358225.568603992
points size 94573 
mapping data assosiation time 29.314441 ms 
scan registration time 53.368280 ms *************
publication time 8.276876 ms 
whole laserOdometry time 8.289528 ms 
 
mapping data assosiation time 24.596245 ms 
--------------------stamp1317358225.672308921
prepare time 13.929807 
sort q time 5.919544 
seperate points time 13.289965 
build tree time 19.101299 ms 
1317358225.672308921 WriteOdom laser_odom_to_init
mapping data assosiation time 24.244201 ms 
mapping solver time 21.160027 ms 
--------------------stamp1317358225.776036024
points size 101978 
sort q time 5.608427 
seperate points time 13.129506 
map prepare time 2.451595 ms
map corner num 73359  surf num 29356 
build tree time 17.149965 ms 
mapping data assosiation time 34.073370 ms 
--------------------stamp1317358225.879760980
prepare time 14.848371 
mapping data assosiation time 30.375576 ms 
-----t: 0.043963
OdomCount 4466 & avg odom time 0.047070 ms ++++++++++++++++++++++
add points time 0.930456 ms
drop lidar frame in mapping for real time performance 
map prepare time 2.667152 ms
map corner num 74218  surf num 29673 
build tree time 14.954427 ms 
--------------------stamp1317358225.983513116
mapping data assosiation time 26.244194 ms 
sort q time 6.393620 
seperate points time 14.004821 
publication time 9.239739 ms 
whole laserOdometry time 9.252395 ms 
 
-----t: 0.0449601
OdomCount 4467 & avg odom time 0.047070 ms ++++++++++++++++++++++
mapping solver time 18.966426 ms 
mapping optimization time 114.431099 
add points time 0.876648 ms
filter time 5.939576 ms 
[0m[ INFO] [1718804942.918732038, 1317358226.085503081]: Received 104938 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804942.918767453, 1317358226.085503081]: Data saved to 1317358225776036.pcd[0m
mapping pub time 3.482317 ms 
whole mapping time 127.448614 ms +++++
mappingCount 2906 & avg mapping time 155.749346 ms ++++++++++++++++++++++
1317358225.776036024 WriteOdom aft_mapped_to_init
map prepare time 3.552632 ms
map corner num 74998  surf num 29940 
build tree time 20.960565 ms 
--------------------stamp1317358226.087289094
prepare time 12.980108 
sort q time 5.595612 
seperate points time 12.210374 
scan registration time 28.815470 ms *************
mapping solver time 26.666514 ms 
mapping data assosiation time 30.946171 ms 
points size 102386 mapping pub time 2.471352 ms 
whole mapping time 145.242375 ms +++++
mappingCount 2907 & avg mapping time 155.745738 ms ++++++++++++++++++++++
scan registration time 61.476689 ms *************
build tree time 20.063672 ms 
publication time 14.185175 ms 
whole laserOdometry time 14.206619 ms 
 
-----t: 0.0548466
OdomCount 4469 & avg odom time 0.047077 ms ++++++++++++++++++++++
points size 102344 
sort q time 5.891056 
seperate points time 13.585038 
publication time 9.879543 ms 
whole laserOdometry time 9.895450 ms 
 
mapping data assosiation time 29.745848 ms 
mapping solver time 22.987482 ms 
mapping optimization time 140.024320 
add points time 0.889152 ms
filter time 5.492696 ms 
mapping pub time 2.315070 ms 
whole mapping time 152.343720 ms +++++
mappingCount 2908 & avg mapping time 155.744569 ms ++++++++++++++++++++++
1317358226.087289095 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358226.398684024
prepare time 16.211801 
sort q time 6.744287 
seperate points time 15.573668 
mapping data assosiation time 29.644644 ms 
publication time 9.254901 ms 
whole laserOdometry time 9.268285 ms 
 
mapping solver time 21.865244 ms 
--------------------stamp1317358226.502532005
points size 101458 
prepare time 16.328928 
sort q time 5.757185 
seperate points time 13.541944 
filter time 6.334306 ms 
-----t: 0.0475252
OdomCount 4472 & avg odom time 0.047076 ms ++++++++++++++++++++++
1317358226.502532005 WriteOdom laser_odom_to_init
1317358226.502532005 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358226.606451988
prepare time 16.902482 
sort q time 5.791969 
seperate points time 13.382927 
publication time 10.321831 ms 
whole laserOdometry time 10.338494 ms 
 
-----t: 0.0490672
OdomCount 4473 & avg odom time 0.047077 ms ++++++++++++++++++++++
1317358226.606451988 WriteOdom laser_odom_to_init
1317358226.606451988 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.761331 ms 
mapping pub time 2.775970 ms 
whole mapping time 150.284500 ms +++++
mappingCount 2910 & avg mapping time 155.739962 ms ++++++++++++++++++++++
sort q time 5.251983 
seperate points time 10.951116 
publication time 10.104925 ms 
whole laserOdometry time 10.133159 ms 
 
-----t: 0.0511571
OdomCount 4474 & avg odom time 0.047078 ms ++++++++++++++++++++++
mapping solver time 27.918525 ms 
--------------------stamp1317358226.814408063
prepare time 13.202060 
sort q time 5.074795 
seperate points time 11.552764 
filter time 8.069772 ms 
build tree time 19.302692 ms 
mapping data assosiation time 24.050120 ms 
points size 95567 
mapping solver time 32.257575 ms 
publication time 8.618001 ms 
whole laserOdometry time 8.635422 ms 
 
mapping solver time 23.296683 ms 
mapping pub time 2.232373 ms 
whole mapping time 144.564107 ms +++++
mappingCount 2912 & avg mapping time 155.732247 ms ++++++++++++++++++++++
--------------------stamp1317358227.022507905
build tree time 21.287380 ms 
sort q time 12.673226 
seperate points time 18.826145 
publication time 9.352567 ms 
whole laserOdometry time 9.367569 ms 
 
1317358227.022507905 WriteOdom laser_odom_to_init
1317358227.022507905 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.841306 ms 
mapping data assosiation time 25.573969 ms 
points size 93686 
mapping solver time 25.142320 ms 
scan registration time 29.564925 ms *************
mapping pub time 2.575387 ms 
whole mapping time 145.814101 ms +++++
mappingCount 2913 & avg mapping time 155.728845 ms ++++++++++++++++++++++
1317358226.814408064 WriteOdom aft_mapped_to_init
map prepare time 3.594865 ms
map corner num 81373  surf num 31925 
build tree time 21.298503 ms 
mapping data assosiation time 25.636242 ms 
--------------------stamp1317358227.230777978
prepare time 13.280573 
sort q time 5.254150 
seperate points time 12.000240 
mapping data assosiation time 29.377356 ms 
-----t: 0.0421681
OdomCount 4479 & avg odom time 0.047075 ms ++++++++++++++++++++++
filter time 5.976725 ms 
build tree time 17.649581 ms 
points size 92544 
mapping data assosiation time 27.916497 ms 
publication time 9.117107 ms 
whole laserOdometry time 9.131427 ms 
 
mapping data assosiation time 26.157071 ms 
--------------------stamp1317358227.439120054
prepare time 12.503960 
sort q time 5.379511 
seperate points time 13.031276 
build tree time 22.022977 ms 
-----t: 0.0452326
OdomCount 4481 & avg odom time 0.047073 ms ++++++++++++++++++++++
mapping solver time 22.790956 ms 
--------------------stamp1317358227.543350934
prepare time 11.656145 
scan registration time 28.436975 ms *************
mapping solver time 21.306161 ms 
publication time 8.527411 ms 
whole laserOdometry time 8.537903 ms 
 
mapping optimization time 128.445828 
add points time 0.964558 ms
map prepare time 3.360177 ms
map corner num 84042  surf num 32731 
build tree time 22.233977 ms 
--------------------stamp1317358227.647629022
prepare time 13.922230 
sort q time 5.914903 
seperate points time 15.554190 
mapping solver time 32.896214 ms 
mapping data assosiation time 29.411813 ms 
mapping solver time 24.848690 ms 
mapping optimization time 143.355924 
add points time 0.892130 ms
filter time 6.348630 ms 
mapping pub time 2.058293 ms 
whole mapping time 156.065025 ms +++++
mappingCount 2917 & avg mapping time 155.718166 ms ++++++++++++++++++++++
1317358227.439120054 WriteOdom aft_mapped_to_init
map prepare time 2.545088 ms
map corner num 84835  surf num 32950 
--------------------stamp1317358227.751955986
points size 89493 
sort q time 5.144966 
seperate points time 12.156181 
mapping data assosiation time 31.418333 ms 
-----t: 0.056579
OdomCount 4484 & avg odom time 0.047091 ms ++++++++++++++++++++++
1317358227.751955986 WriteOdom laser_odom_to_init
1317358227.751955986 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 34.281692 ms 
mapping data assosiation time 25.756303 ms 
points size 89841 
mapping solver time 29.972977 ms 
mapping optimization time 145.009990 
add points time 0.922121 ms
sort q time 5.365854 
seperate points time 12.455936 
filter time 8.068832 ms 
publication time 11.831268 ms 
whole laserOdometry time 12.168043 ms 
 
scan registration time 39.152397 ms *************
publication time 9.971281 ms 
whole laserOdometry time 9.988121 ms 
 
-----t: 0.0478542
OdomCount 4486 & avg odom time 0.047098 ms ++++++++++++++++++++++
1317358227.960728883 WriteOdom laser_odom_to_init
1317358227.960728883 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358228.065128087
sort q time 5.013833 
seperate points time 11.709454 
publication time 9.444364 ms 
whole laserOdometry time 9.459293 ms 
 
mapping pub time 1.959657 ms 
whole mapping time 198.339491 ms +++++
mappingCount 2919 & avg mapping time 155.733908 ms ++++++++++++++++++++++
build tree time 17.868664 ms 
--------------------stamp1317358228.169503927
prepare time 11.993415 
sort q time 6.058013 
seperate points time 11.676274 
mapping solver time 37.486871 ms 
-----t: 0.0395817
OdomCount 4488 & avg odom time 0.047094 ms ++++++++++++++++++++++
mapping data assosiation time 32.089776 ms 
mapping solver time 29.052556 ms 
mapping pub time 2.044523 ms 
whole mapping time 158.028370 ms +++++
mappingCount 2920 & avg mapping time 155.734696 ms ++++++++++++++++++++++
sort q time 6.284390 
seperate points time 12.029151 
build tree time 21.854286 ms 
publication time 9.025528 ms 
whole laserOdometry time 9.053073 ms 
 
-----t: 0.0466019
OdomCount 4489 & avg odom time 0.047094 ms ++++++++++++++++++++++
mapping solver time 28.816254 ms 
points size 96329 
sort q time 5.982361 
seperate points time 12.365587 
publication time 8.698547 ms 
whole laserOdometry time 8.712875 ms 
 
mapping solver time 36.174410 ms 
[0m[ INFO] [1718804945.268437944, 1317358228.454382464]: Received 122758 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804945.268477093, 1317358228.454382464]: Data saved to 1317358228169503.pcd[0m
--------------------stamp1317358228.482604980
sort q time 6.010345 
seperate points time 12.357504 
publication time 10.135290 ms 
whole laserOdometry time 10.150379 ms 
 
-----t: 0.0660335
OdomCount 4491 & avg odom time 0.047098 ms ++++++++++++++++++++++
1317358228.482604980 WriteOdom laser_odom_to_init
1317358228.482604980 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358228.586954116
prepare time 11.832566 
sort q time 6.737807 
seperate points time 13.539747 
publication time 16.635781 ms 
whole laserOdometry time 16.650652 ms 
 
-----t: 0.0598967
OdomCount 4492 & avg odom time 0.047101 ms ++++++++++++++++++++++
1317358228.586954116 WriteOdom laser_odom_to_init
1317358228.586954116 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.525398 ms 
--------------------stamp1317358228.691278934
prepare time 13.265461 
sort q time 6.033672 
seperate points time 13.960189 
mapping data assosiation time 29.639544 ms 
-----t: 0.0480048
OdomCount 4493 & avg odom time 0.047101 ms ++++++++++++++++++++++
mapping solver time 24.655848 ms 
mapping pub time 2.292125 ms 
whole mapping time 154.384220 ms +++++
mappingCount 2922 & avg mapping time 155.796167 ms ++++++++++++++++++++++
--------------------stamp1317358228.795582056
prepare time 12.200486 
sort q time 5.951138 
seperate points time 13.711056 
mapping data assosiation time 34.044948 ms 
publication time 9.693007 ms 
whole laserOdometry time 9.710816 ms 
 
mapping solver time 33.260218 ms 
mapping data assosiation time 26.287413 ms 
--------------------stamp1317358228.899887084
prepare time 12.034478 
sort q time 7.017186 
seperate points time 13.765018 
mapping pub time 2.321135 ms 
whole mapping time 158.308004 ms +++++
mappingCount 2923 & avg mapping time 155.797031 ms ++++++++++++++++++++++
publication time 10.046156 ms 
whole laserOdometry time 10.065589 ms 
 
1317358228.899887084 WriteOdom laser_odom_to_init
1317358228.899887084 WriteOdom aft_mapped_to_init_high_frec
build tree time 22.249795 ms 
mapping data assosiation time 25.816119 ms 
--------------------stamp1317358229.004164934
points size 103058 
sort q time 6.543117 
seperate points time 13.244631 
mapping data assosiation time 33.750995 ms 
publication time 9.583475 ms 
whole laserOdometry time 9.600981 ms 
 
mapping solver time 27.192659 ms 
mapping pub time 2.233766 ms 
whole mapping time 150.157031 ms +++++
mappingCount 2924 & avg mapping time 155.795103 ms ++++++++++++++++++++++
--------------------stamp1317358229.108395099
points size 103244 
sort q time 5.672582 
seperate points time 14.097592 
mapping data assosiation time 32.609548 ms 
publication time 8.910730 ms 
whole laserOdometry time 8.928603 ms 
 
mapping solver time 26.302750 ms 
mapping data assosiation time 28.585586 ms 
points size 103129 
filter time 8.798506 ms 
sort q time 5.568735 
seperate points time 13.453955 
mapping pub time 2.471464 ms 
whole mapping time 145.015756 ms +++++
mappingCount 2925 & avg mapping time 155.791420 ms ++++++++++++++++++++++
1317358228.899887085 WriteOdom aft_mapped_to_init
scan registration time 31.184422 ms *************
map prepare time 3.513635 ms
map corner num 91861  surf num 35880 
-----t: 0.0402333
OdomCount 4498 & avg odom time 0.047101 ms ++++++++++++++++++++++
1317358229.212601900 WriteOdom laser_odom_to_init
1317358229.212601900 WriteOdom aft_mapped_to_init_high_frec
build tree time 23.575783 ms 
mapping data assosiation time 28.311875 ms 
--------------------stamp1317358229.316785097
points size 102968 
sort q time 5.802986 
seperate points time 14.501192 
publication time 9.816069 ms 
whole laserOdometry time 9.834376 ms 
 
-----t: 0.048582
OdomCount 4499 & avg odom time 0.047101 ms ++++++++++++++++++++++
map prepare time 2.909755 ms
map corner num 92645  surf num 36166 
build tree time 19.396297 ms 
points size 103002 
mapping data assosiation time 34.459659 ms 
publication time 11.544387 ms 
whole laserOdometry time 11.565851 ms 
 
-----t: 0.0601949
OdomCount 4500 & avg odom time 0.047104 ms ++++++++++++++++++++++
mapping data assosiation time 28.006242 ms 
--------------------stamp1317358229.525032043
mapping solver time 26.976048 ms 
filter time 9.159696 ms 
build tree time 23.972458 ms 
mapping data assosiation time 27.201939 ms 
--------------------stamp1317358229.629139900
points size 102996 
sort q time 16.426035 
seperate points time 24.553237 
scan registration time 56.975699 ms *************
mapping optimization time 139.633165 
drop lidar frame in mapping for real time performance 
-----t: 0.0896909
OdomCount 4502 & avg odom time 0.047114 ms ++++++++++++++++++++++
1317358229.629139900 WriteOdom laser_odom_to_init
1317358229.629139900 WriteOdom aft_mapped_to_init_high_frec
build tree time 30.582652 ms 
points size 102923 
mapping data assosiation time 38.469310 ms 
mapping solver time 41.982661 ms 
-----t: 0.0644776
OdomCount 4503 & avg odom time 0.047118 ms ++++++++++++++++++++++
1317358229.733252048 WriteOdom laser_odom_to_init
1317358229.733252048 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358229.837388038
prepare time 15.068093 
sort q time 6.813111 
seperate points time 14.987387 
filter time 7.753657 ms 
-----t: 0.0617588
OdomCount 4504 & avg odom time 0.047121 ms ++++++++++++++++++++++
1317358229.837388038 WriteOdom laser_odom_to_init
1317358229.837388038 WriteOdom aft_mapped_to_init_high_frec
build tree time 24.865065 ms 
mapping data assosiation time 25.574134 ms 
prepare time 11.614026 
sort q time 5.761421 
seperate points time 13.621071 
-----t: 0.0451277
OdomCount 4505 & avg odom time 0.047121 ms ++++++++++++++++++++++
--------------------stamp1317358230.045609951
filter time 7.493600 ms 
sort q time 6.184495 
seperate points time 14.678751 
build tree time 25.904083 ms 
-----t: 0.055149
OdomCount 4506 & avg odom time 0.047123 ms ++++++++++++++++++++++
mapping data assosiation time 45.866159 ms 
--------------------stamp1317358230.149672985
prepare time 14.105372 
mapping solver time 34.104465 ms 
scan registration time 35.706468 ms *************
mapping data assosiation time 34.754676 ms 
-----t: 0.0488693
OdomCount 4507 & avg odom time 0.047123 ms ++++++++++++++++++++++
mapping solver time 27.834877 ms 
filter time 6.922741 ms 
map prepare time 4.761127 ms
map corner num 96363  surf num 37488 
prepare time 16.125846 
sort q time 6.016229 
seperate points time 14.936317 
build tree time 28.397334 ms 
scan registration time 36.629950 ms *************
publication time 9.209621 ms 
whole laserOdometry time 9.222846 ms 
 
-----t: 0.0700825
OdomCount 4508 & avg odom time 0.047128 ms ++++++++++++++++++++++
--------------------stamp1317358230.357700109
points size 102646 
sort q time 5.751501 
seperate points time 14.134284 
filter time 9.336860 ms 
-----t: 0.0624174
OdomCount 4509 & avg odom time 0.047132 ms ++++++++++++++++++++++
--------------------stamp1317358230.461667060
prepare time 12.451527 
sort q time 5.924054 
seperate points time 14.003788 
mapping solver time 29.033887 ms 
publication time 12.658832 ms 
whole laserOdometry time 12.675190 ms 
 
mapping data assosiation time 35.864247 ms 
mapping solver time 23.503675 ms 
filter time 10.920186 ms 
mapping solver time 24.279392 ms 
--------------------stamp1317358230.669553995
mapping data assosiation time 33.353555 ms 
scan registration time 37.725028 ms *************
filter time 10.489765 ms 
-----t: 0.0695271
OdomCount 4512 & avg odom time 0.047142 ms ++++++++++++++++++++++
1317358230.669553995 WriteOdom laser_odom_to_init
1317358230.669553995 WriteOdom aft_mapped_to_init_high_frec
build tree time 23.121087 ms 
points size 102489 
sort q time 7.292475 
seperate points time 23.332629 
publication time 11.406559 ms 
whole laserOdometry time 11.421298 ms 
 
mapping solver time 17.965424 ms 
mapping optimization time 136.308523 
add points time 0.944326 ms
filter time 6.535051 ms 
mapping pub time 2.408002 ms 
whole mapping time 150.022048 ms +++++
mappingCount 2935 & avg mapping time 155.813880 ms ++++++++++++++++++++++
1317358230.565609932 WriteOdom aft_mapped_to_init
map prepare time 2.887108 ms
map corner num 96499  surf num 43011 
--------------------stamp1317358230.877389907
points size 102491 
sort q time 6.295300 
seperate points time 14.443051 
publication time 10.321369 ms 
whole laserOdometry time 10.338536 ms 
 
mapping solver time 28.478652 ms 
--------------------stamp1317358230.981286048
1317358230.877389907 WriteOdom laser_odom_to_init
1317358230.877389907 WriteOdom aft_mapped_to_init_high_frec
sort q time 5.200623 
seperate points time 13.070302 
mapping solver time 21.311783 ms 
filter time 10.213077 ms 
-----t: 0.0605923
OdomCount 4515 & avg odom time 0.047154 ms ++++++++++++++++++++++
1317358230.981286048 WriteOdom laser_odom_to_init
1317358230.981286048 WriteOdom aft_mapped_to_init_high_frec
build tree time 21.159174 ms 
--------------------stamp1317358231.085228919
prepare time 14.531627 
sort q time 6.268495 
seperate points time 12.969399 
mapping solver time 26.908752 ms 
publication time 11.587280 ms 
whole laserOdometry time 11.599927 ms 
 
mapping data assosiation time 33.879144 ms 
mapping solver time 19.454861 ms 
mapping pub time 2.304413 ms 
whole mapping time 148.269488 ms +++++
mappingCount 2937 & avg mapping time 155.811052 ms ++++++++++++++++++++++
sort q time 7.778116 
seperate points time 14.736063 
build tree time 27.273434 ms 
mapping data assosiation time 33.286835 ms 
-----t: 0.071994
OdomCount 4517 & avg odom time 0.047164 ms ++++++++++++++++++++++
1317358231.189171075 WriteOdom laser_odom_to_init
1317358231.189171075 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.963477 ms 
points size 102536 
prepare time 26.182769 
mapping data assosiation time 34.720935 ms 
-----t: 0.0427437
OdomCount 4518 & avg odom time 0.047163 ms ++++++++++++++++++++++
filter time 13.695665 ms 
--------------------stamp1317358231.397032022
prepare time 13.174044 
sort q time 18.448660 
seperate points time 26.781408 
-----t: 0.0560057
OdomCount 4519 & avg odom time 0.047165 ms ++++++++++++++++++++++
--------------------stamp1317358231.501024007
points size 103075 
sort q time 6.083745 
seperate points time 14.887430 
filter time 10.424645 ms 
-----t: 0.0623961
OdomCount 4520 & avg odom time 0.047168 ms ++++++++++++++++++++++
--------------------stamp1317358231.605037927
points size 103015 
prepare time 13.017237 
mapping data assosiation time 31.201356 ms 
mapping solver time 28.987536 ms 
-----t: 0.0431211
OdomCount 4521 & avg odom time 0.047168 ms ++++++++++++++++++++++
mapping data assosiation time 30.617582 ms 
mapping solver time 23.059896 ms 
filter time 8.009553 ms 
prepare time 15.924995 
sort q time 5.727920 
seperate points time 14.357918 
publication time 10.729539 ms 
whole laserOdometry time 10.744180 ms 
 
-----t: 0.0480441
OdomCount 4522 & avg odom time 0.047168 ms ++++++++++++++++++++++
1317358231.709100961 WriteOdom laser_odom_to_init
1317358231.709100961 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.061338 ms 
--------------------stamp1317358231.813213109
points size 103170 
mapping data assosiation time 33.878420 ms 
mapping solver time 21.937949 ms 
publication time 19.931116 ms 
whole laserOdometry time 19.950623 ms 
 
-----t: 0.0669966
OdomCount 4523 & avg odom time 0.047172 ms ++++++++++++++++++++++
1317358231.813213109 WriteOdom laser_odom_to_init
1317358231.813213109 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358231.917346954
points size 103305 
scan registration time 36.002954 ms *************
publication time 13.939013 ms 
whole laserOdometry time 14.042110 ms 
 
-----t: 0.075765
OdomCount 4524 & avg odom time 0.047178 ms ++++++++++++++++++++++
points size 103340 
prepare time 16.482988 
mapping pub time 183.150959 ms 
whole mapping time 341.929594 ms +++++
mappingCount 2941 & avg mapping time 155.889286 ms ++++++++++++++++++++++
1317358231.501024008 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
sort q time 13.066532 
seperate points time 22.240957 
build tree time 41.023237 ms 
publication time 12.387053 ms 
whole laserOdometry time 12.406647 ms 
 
-----t: 0.08069
OdomCount 4525 & avg odom time 0.047186 ms ++++++++++++++++++++++

mapping solver time 80.667038 ms 
publication time 13.748208 ms 
mapping solver time 29.622105 ms 
mapping optimization time 248.970752 
add points time 1.133586 ms
-----t: 0.0704451
OdomCount 4527 & avg odom time 0.047201 ms ++++++++++++++++++++++
1317358232.229800939 WriteOdom laser_odom_to_init
1317358232.229800939 WriteOdom aft_mapped_to_init_high_frec
filter time 14.106241 ms 
mapping pub time 2.331438 ms 
whole mapping time 271.723687 ms +++++
mappingCount 2942 & avg mapping time 155.928703 ms ++++++++++++++++++++++
1317358231.709100962 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 3.984025 ms
map corner num 101454  surf num 44924 
build tree time 28.097371 ms 
mapping data assosiation time 28.344270 ms 
--------------------stamp1317358232.333909988
points size 103451 
prepare time 15.984402 
sort q time 5.764301 
seperate points time 14.029447 
scan registration time 34.921363 ms *************
mapping data assosiation time 34.416830 ms 
-----t: 0.0513653
OdomCount 4528 & avg odom time 0.047202 ms ++++++++++++++++++++++
1317358232.333909988 WriteOdom laser_odom_to_init
1317358232.333909988 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.159417 ms 
mapping optimization time 147.007846 
add points time 1.041553 ms
filter time 8.747778 ms 
mapping pub time 2.267588 ms 
whole mapping time 163.104435 ms +++++
mappingCount 2943 & avg mapping time 155.931147 ms ++++++++++++++++++++++
1317358232.021503925 WriteOdom aft_mapped_to_init
--------------------stamp1317358232.437994956
points size 103396 
prepare time 53.613430 
sort q time 14.301757 
seperate points time 32.654650 
scan registration time 94.401887 ms *************
-----t: 0.0917632
OdomCount 4529 & avg odom time 0.047212 ms ++++++++++++++++++++++
1317358232.437994956 WriteOdom laser_odom_to_init
1317358232.437994956 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358232.542057037
points size 103384 
prepare time 53.608900 
sort q time 19.496149 
seperate points time 39.122260 
scan registration time 101.077380 ms *************
[33m[ WARN] [1718804950.182131433, 1317358232.434919767]: scan registration process over 100ms[0m
-----t: 0.0973567
OdomCount 4530 & avg odom time 0.047223 ms ++++++++++++++++++++++
1317358232.542057037 WriteOdom laser_odom_to_init
1317358232.542057037 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358232.646121025
failed to find transform between base_link and velodyne
points size 103463 
prepare time 37.044217 
sort q time 8.095380 
seperate points time 17.337429 
scan registration time 58.855454 ms *************
--------------------stamp1317358232.750184059
points size 103431 
prepare time 26.096636 
sort q time 7.836656 
seperate points time 17.082274 
scan registration time 48.812514 ms *************
--------------------stamp1317358232.854247093
points size 103416 
prepare time 40.691501 
sort q time 8.886473 
seperate points time 17.753163 
scan registration time 63.235385 ms *************
--------------------stamp1317358232.958285093
points size 103205 
prepare time 35.445727 
sort q time 7.442989 
seperate points time 16.120615 
scan registration time 55.991746 ms *************
--------------------stamp1317358233.062275886
points size 103020 
prepare time 39.868948 
sort q time 7.540864 
seperate points time 15.490524 
scan registration time 59.655629 ms *************
--------------------stamp1317358233.166220903
points size 102911 
prepare time 37.627330 
sort q time 6.368561 
seperate points time 14.579043 
scan registration time 56.422079 ms *************
--------------------stamp1317358233.270139932
points size 102912 
prepare time 36.538341 
sort q time 9.438302 
seperate points time 17.493060 
scan registration time 57.905202 ms *************
--------------------stamp1317358233.374010086
points size 102699 
prepare time 31.411428 
sort q time 6.362175 
seperate points time 15.050828 
scan registration time 51.840834 ms *************
--------------------stamp1317358233.477807998
points size 102542 
prepare time 13.721761 
sort q time 6.499618 
seperate points time 12.957380 
scan registration time 30.355068 ms *************
--------------------stamp1317358233.581558942
points size 102437 
prepare time 42.090379 
sort q time 8.467801 
seperate points time 16.881884 
scan registration time 62.853316 ms *************
--------------------stamp1317358233.685286045
points size 102488 
prepare time 13.314529 
sort q time 5.980684 
seperate points time 13.280998 
scan registration time 30.335581 ms *************
--------------------stamp1317358233.789014101
points size 102339 
prepare time 14.056623 
sort q time 5.681944 
seperate points time 12.136820 
scan registration time 29.825425 ms *************
--------------------stamp1317358233.892751932
points size 101458 
prepare time 13.173368 
sort q time 6.038250 
seperate points time 12.459507 
scan registration time 29.199530 ms *************
--------------------stamp1317358233.996454000
points size 98736 
prepare time 12.867822 
sort q time 7.698364 
seperate points time 13.958700 
scan registration time 30.566062 ms *************
--------------------stamp1317358234.100122928
points size 97443 
prepare time 12.850168 
sort q time 6.550570 
seperate points time 12.778331 
scan registration time 29.492168 ms *************
--------------------stamp1317358234.203800916
points size 96518 
prepare time 12.905424 
sort q time 5.713758 
seperate points time 11.705686 
scan registration time 28.248296 ms *************
--------------------stamp1317358234.307455062
points size 95146 
prepare time 12.753660 
sort q time 6.779611 
seperate points time 12.684061 
scan registration time 29.741801 ms *************
--------------------stamp1317358234.411084890
points size 91586 
prepare time 11.676942 
sort q time 5.930175 
seperate points time 11.776977 
scan registration time 27.055350 ms *************
--------------------stamp1317358234.514692068
points size 88105 
prepare time 13.557854 
sort q time 6.826372 
seperate points time 12.654876 
scan registration time 29.526163 ms *************
--------------------stamp1317358234.618300914
points size 85487 
prepare time 10.968782 
sort q time 6.089163 
seperate points time 11.681569 
scan registration time 25.690670 ms *************
--------------------stamp1317358234.721955060
points size 83352 
prepare time 11.822680 
sort q time 4.692023 
seperate points time 9.838350 
scan registration time 25.749272 ms *************
--------------------stamp1317358234.825633049
points size 80800 
prepare time 11.992808 
sort q time 3.844091 
seperate points time 8.676718 
scan registration time 25.314816 ms *************
--------------------stamp1317358234.929311037
points size 79181 
prepare time 11.209972 
sort q time 4.350499 
seperate points time 9.705667 
scan registration time 24.060365 ms *************
--------------------stamp1317358235.033014059
points size 78104 
prepare time 12.380726 
sort q time 5.960541 
seperate points time 12.174301 
prepare time 8.623264 
sort q time 4.692911 
seperate points time 11.981721 
scan registration time 23.625899 ms *************
--------------------stamp1317358235.240468978
sort q time 4.718577 
seperate points time 12.427850 
scan registration time 35.490673 ms *************
--------------------stamp1317358235.344196081
prepare time 17.967355 sort q time 3.990116 
seperate points time 21.420786 

sort q time 4.972755 
seperate points time 11.554609 
sort q time 3.694215 points size 74762 
mapping data assosiation time 57.555869 ms 
sort q time 5.707957 
seperate points time 30.197415 
scan registration time 51.219441 ms *************
--------------------stamp1317358235.863140106
prepare time 24.160060 
sort q time 4.985161 
seperate points time 21.741188 
publication time 10.080253 ms 
whole laserOdometry time 10.097105 ms 
 
sort q time 4.406544 
seperate points time 11.610866 
scan registration time 38.298466 ms *************
--------------------stamp1317358236.070880889
publication time 10.558282 ms 
whole laserOdometry time 10.576017 ms 
 
prepare time 24.676901 
sort q time 4.222100 
seperate points time 24.128774 
prepare time 18.002638 
filter time 19.675212 ms 
points size 78104 
publication time 10.124365 ms 
whole laserOdometry time 10.158513 ms 
 
publication time 28.838594 ms 
whole laserOdometry time 28.854852 ms 
 
sort q time 19.577370 
seperate points time 37.793214 
mapping data assosiation time 41.432365 ms 
publication time 12.573333 ms 
whole laserOdometry time 12.588648 ms 
 
points size 79954 
scan registration time 55.598623 ms *************mapping data assosiation time 45.393572 ms 
publication time 34.153288 ms 
whole laserOdometry time 34.172098 ms mapping solver time 62.085368 ms 
filter time 35.421742 ms 
-----t: 0.109502
OdomCount 4538 & avg odom time 0.047310 ms ++++++++++++++++++++++
publication time 12.150758 ms 
whole laserOdometry time 12.178130 ms 
 
points size 77393 
sort q time 4.862679 points size 77146 
publication time 8.234920 ms 
whole laserOdometry time 8.273158 ms 
 
points size 77181 
prepare time 14.388805 
publication time 13.710856 ms 
whole laserOdometry time 13.747085 ms 
 
publication time 7.500476 ms 
whole laserOdometry time 7.513455 ms 
 
sort q time 5.370954 
seperate points time 12.918217 
scan registration time 37.461760 ms *************
--------------------stamp1317358237.317473888
points size 76414 
sort q time 4.651758 
seperate points time 11.792535 
-----t: 0.0771116
OdomCount 4541 & avg odom time 0.047327 ms ++++++++++++++++++++++
publication time 12.091618 ms 
whole laserOdometry time 12.103894 ms 
 
sort q time 4.360699 
seperate points time 10.913620 
-----t: 0.0598525
OdomCount 4542 & avg odom time 0.047330 ms ++++++++++++++++++++++
prepare time 13.474329 
scan registration time 37.369120 ms *************
-----t: 0.0570063
OdomCount 4543 & avg odom time 0.047332 ms ++++++++++++++++++++++
publication time 9.239830 ms 
whole laserOdometry time 9.256035 ms 
 
scan registration time 22.337065 ms *************
--------------------stamp1317358237.940485954
points size 63758 
sort q time 3.599609 
seperate points time 9.100271 
scan registration time 20.268609 ms *************
sort q time 3.391104 publication time 13.443394 ms 
whole laserOdometry time 13.461390 ms 
 
points size 60189 
-----t: 0.0761707
OdomCount 4545 & avg odom time 0.047343 ms ++++++++++++++++++++++
prepare time 11.322209 
1317358234.100122928 WriteOdom laser_odom_to_init
1317358234.100122928 WriteOdom aft_mapped_to_init_high_frec
publication time 8.071274 ms 
whole laserOdometry time 8.087301 ms 
 
points size 61798 
points size 63209 
sort q time 3.742748 
seperate points time 8.391147 
publication time 6.716471 ms 
whole laserOdometry time 6.732547 ms 
 
-----t: 0.0443971
OdomCount 4547 & avg odom time 0.047342 ms ++++++++++++++++++++++
1317358234.307455062 WriteOdom laser_odom_to_init
1317358234.307455062 WriteOdom aft_mapped_to_init_high_frec
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 
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 
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 
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 
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 
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 
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 
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 
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 
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 
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 
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 
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 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 3.773337 ms
map corner num 103792  surf num 45869 
points size 62678 
prepare time 28.973530 
sort q time 3.157093 
seperate points time 16.739637 
-----t: 0.0568883
OdomCount 4549 & avg odom time 0.047342 ms ++++++++++++++++++++++
mapping solver time 35.515893 ms 
points size 61806 
sort q time 3.138241 
seperate points time 11.066038 
mapping data assosiation time 43.384565 ms 
1317358234.721955060 WriteOdom aft_mapped_to_init_high_frec
1317358234.721955060 WriteOdom laser_odom_to_init
mapping pub time 6.711765 ms 
whole mapping time 208.822134 ms +++++
mappingCount 2946 & avg mapping time 156.074728 ms ++++++++++++++++++++++
1317358234.307455063 WriteOdom aft_mapped_to_init
points size 60634 
-----t: 0.0613103
OdomCount 4552 & avg odom time 0.047347 ms ++++++++++++++++++++++
publication time 16.702043 ms 
whole laserOdometry time 16.723145 ms 
 
-----t: 0.0450682
OdomCount 4553 & avg odom time 0.047346 ms ++++++++++++++++++++++
points size 60890 
prepare time 19.457399 
publication time 6.098520 ms 
whole laserOdometry time 6.109263 ms 
 
-----t: 0.0299954
OdomCount 4556 & avg odom time 0.047339 ms ++++++++++++++++++++++
1317358235.240468978 WriteOdom laser_odom_to_init
1317358235.240468978 WriteOdom aft_mapped_to_init_high_frec
points size 63033 
-----t: 0.0320066
OdomCount 4557 & avg odom time 0.047336 ms ++++++++++++++++++++++
sort q time 3.746815 
seperate points time 9.121782 
1317358235.344196081 WriteOdom laser_odom_to_init
1317358235.344196081 WriteOdom aft_mapped_to_init_high_frec
scan registration time 19.417901 ms *************
publication time 9.088869 ms 
whole laserOdometry time 9.101656 ms 
 
1317358235.447922945 WriteOdom laser_odom_to_init
1317358235.447922945 WriteOdom aft_mapped_to_init_high_frec
-----t: 0.0288867
OdomCount 4559 & avg odom time 0.047328 ms ++++++++++++++++++++++
-----t: 0.0298055
OdomCount 4560 & avg odom time 0.047324 ms ++++++++++++++++++++++
points size 66611 sort q time 6.135674 -----t: 0.0430856
OdomCount 4561 & avg odom time 0.047323 ms ++++++++++++++++++++++
-----t: 0.0299929
OdomCount 4562 & avg odom time 0.047319 ms ++++++++++++++++++++++
-----t: 0.0444948
OdomCount 4563 & avg odom time 0.047319 ms ++++++++++++++++++++++
--------------------stamp1317358239.290756940
prepare time 12.724858 
scan registration time 25.376429 ms *************
publication time 10.786264 ms 
whole laserOdometry time 10.801171 ms 
 
--------------------stamp1317358239.394649982
prepare time 11.580853 
sort q time 3.678715 
seperate points time 8.818245 
publication time 8.334124 ms 
whole laserOdometry time 8.347490 ms 
 
-----t: 0.0343879
OdomCount 4566 & avg odom time 0.047317 ms ++++++++++++++++++++++
-----t: 0.0333248
OdomCount 4567 & avg odom time 0.047313 ms ++++++++++++++++++++++
points size 70856 
sort q time 4.851514 
seperate points time 9.271256 
publication time 6.088896 ms 
whole laserOdometry time 6.114810 ms 
 
-----t: 0.0342121
OdomCount 4569 & avg odom time 0.047308 ms ++++++++++++++++++++++
-----t: 0.0338534
OdomCount 4570 & avg odom time 0.047305 ms ++++++++++++++++++++++
1317358236.694107055 WriteOdom laser_odom_to_init
1317358236.694107055 WriteOdom aft_mapped_to_init_high_frec
points size 73561 sort q time 4.026588 
seperate points time 9.329759 
publication time 6.245900 ms 
whole laserOdometry time 6.258319 ms 
 
-----t: 0.0575666
OdomCount 4571 & avg odom time 0.047307 ms ++++++++++++++++++++++
-----t: 0.0328113
OdomCount 4572 & avg odom time 0.047304 ms ++++++++++++++++++++++
--------------------stamp1317358239.706335067
prepare time 13.801132 
sort q time 4.289202 
seperate points time 10.163471 
1317358237.005790948 WriteOdom laser_odom_to_init
--------------------stamp1317358239.810276031
prepare time 14.640955 
sort q time 4.502193 
seperate points time 11.177357 -----t: 0.0343433
OdomCount 4575 & avg odom time 0.047308 ms ++++++++++++++++++++++
-----t: 0.035982
OdomCount 4576 & avg odom time 0.047305 ms ++++++++++++++++++++++
points size 74102 
sort q time 4.262981 
seperate points time 9.408655 
publication time 6.430887 ms 
whole laserOdometry time 6.450315 ms 
 
-----t: 0.0287106
OdomCount 4580 & avg odom time 0.047291 ms ++++++++++++++++++++++
points size 76515 
publication time 6.461702 ms 
whole laserOdometry time 6.475157 ms 
 
-----t: 0.0729024
OdomCount 4581 & avg odom time 0.047297 ms ++++++++++++++++++++++
-----t: 0.0253286
OdomCount 4582 & avg odom time 0.047292 ms ++++++++++++++++++++++
points size 78188 
sort q time 4.516060 
seperate points time 10.349228 
publication time 6.691642 ms 
whole laserOdometry time 6.705453 ms 
 
-----t: 0.0316789
OdomCount 4584 & avg odom time 0.047285 ms ++++++++++++++++++++++
-----t: 0.0231514
OdomCount 4585 & avg odom time 0.047279 ms ++++++++++++++++++++++
--------------------stamp1317358240.226144075
sort q time 3.858861 
seperate points time 8.655310 
publication time 6.602703 ms 
whole laserOdometry time 6.616563 ms 
 
1317358238.563442945 WriteOdom laser_odom_to_init
-----t: 0.0346434
OdomCount 4589 & avg odom time 0.047263 ms ++++++++++++++++++++++
map prepare time 3.856043 ms
map corner num 142395  surf num 53281 
points size 79475 
sort q time 4.664238 
seperate points time 11.140934 
build tree time 51.636122 ms 
-----t: 0.0512243
OdomCount 4591 & avg odom time 0.047260 ms ++++++++++++++++++++++
mapping solver time 11.709798 ms 
mapping data assosiation time 17.540120 ms 
--------------------stamp1317358240.433981895
prepare time 14.166822 
filter time 9.947672 ms 
publication time 7.881485 ms 
whole laserOdometry time 7.915082 ms 
 
-----t: 0.0332053
OdomCount 4594 & avg odom time 0.047253 ms ++++++++++++++++++++++
1317358239.186837911 WriteOdom laser_odom_to_init
--------------------stamp1317358240.537851095
prepare time 14.124593 
sort q time 4.223326 
seperate points time 10.616334 
publication time 7.157428 ms 
whole laserOdometry time 7.185009 ms 
 
-----t: 0.0228871
OdomCount 4598 & avg odom time 0.047234 ms ++++++++++++++++++++++
-----t: 0.0280278
OdomCount 4599 & avg odom time 0.047229 ms ++++++++++++++++++++++
1317358239.706335067 WriteOdom laser_odom_to_init
1317358239.706335067 WriteOdom aft_mapped_to_init_high_frec
points size 75172 
sort q time 4.258842 
seperate points time 9.917346 
publication time 7.524305 ms 
whole laserOdometry time 7.537767 ms 
 
1317358239.810276031 WriteOdom laser_odom_to_init
--------------------stamp1317358240.745641946
prepare time 17.745914 
1317358240.018256902 WriteOdom aft_mapped_to_init_high_frec
publication time 6.852445 ms 
whole laserOdometry time 6.868602 ms 
 
-----t: 0.0560568
OdomCount 4603 & avg odom time 0.047231 ms ++++++++++++++++++++++
prepare time 10.599233 
scan registration time 23.500445 ms *************
publication time 6.270345 ms 
whole laserOdometry time 6.287411 ms 
 
-----t: 0.0244917
OdomCount 4605 & avg odom time 0.047225 ms ++++++++++++++++++++++
-----t: 0.0250603
OdomCount 4606 & avg odom time 0.047220 ms ++++++++++++++++++++++
--------------------stamp1317358240.953408956
points size 73861 
build tree time 38.682264 ms 
sort q time 3.835573 
seperate points time 9.465206 
mapping solver time 13.689684 ms 
mapping data assosiation time 19.963528 ms 
filter time 8.739557 ms 
-----t: 0.0237915
OdomCount 4610 & avg odom time 0.047203 ms ++++++++++++++++++++++
1317358240.849514007 WriteOdom laser_odom_to_init
1317358240.849514007 WriteOdom aft_mapped_to_init_high_frec
prepare time 12.777952 
sort q time 3.900871 
seperate points time 11.590348 
map prepare time 3.130947 ms
map corner num 145483  surf num 55250 
-----t: 0.0233209
OdomCount 4612 & avg odom time 0.047198 ms ++++++++++++++++++++++
build tree time 37.709602 ms 
--------------------stamp1317358241.161197900
sort q time 5.327158 
seperate points time 10.019976 
-----t: 0.0286221
OdomCount 4613 & avg odom time 0.047194 ms ++++++++++++++++++++++
mapping optimization time 107.475471 
filter time 11.230779 ms 
build tree time 30.144367 ms 
points size 79550 
sort q time 4.359304 
seperate points time 10.017749 
mapping solver time 22.915929 ms 
-----t: 0.040999
OdomCount 4614 & avg odom time 0.047193 ms ++++++++++++++++++++++
mapping solver time 15.750476 ms 
filter time 9.892744 ms 
points size 78919 
sort q time 4.487170 
seperate points time 9.936297 
publication time 8.210889 ms 
whole laserOdometry time 8.224886 ms 
 
-----t: 0.0386718
OdomCount 4615 & avg odom time 0.047191 ms ++++++++++++++++++++++
1317358241.368984937 WriteOdom laser_odom_to_init
1317358241.368984937 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.972782 ms 
mapping solver time 18.736376 ms 
--------------------stamp1317358241.472929000
prepare time 10.670235 
sort q time 4.264334 
seperate points time 9.401841 
publication time 8.282874 ms 
whole laserOdometry time 8.302790 ms 
 
map prepare time 2.975335 ms
map corner num 149474  surf num 56908 
build tree time 34.460481 ms 
--------------------stamp1317358241.576874017
mapping data assosiation time 22.098881 ms 
sort q time 3.792065 
seperate points time 8.486267 
mapping solver time 25.852362 ms 
publication time 13.076690 ms 
whole laserOdometry time 13.090772 ms 
 
mapping solver time 17.422258 ms 
filter time 10.108785 ms 
--------------------stamp1317358241.680767059
prepare time 10.472655 
sort q time 4.728730 
seperate points time 10.210349 
publication time 9.334362 ms 
whole laserOdometry time 9.347821 ms 
 
mapping solver time 20.747616 ms 
mapping data assosiation time 19.416852 ms 
--------------------stamp1317358241.784661054
prepare time 13.096745 
sort q time 5.084938 
seperate points time 10.820031 
publication time 9.862845 ms 
whole laserOdometry time 9.878305 ms 
 
-----t: 0.0451763
OdomCount 4619 & avg odom time 0.047183 ms ++++++++++++++++++++++
build tree time 40.515720 ms 
--------------------stamp1317358241.888556957
sort q time 4.833036 
seperate points time 10.467776 
publication time 8.280684 ms 
whole laserOdometry time 8.292009 ms 
 
mapping optimization time 126.268785 
1317358241.888556957 WriteOdom laser_odom_to_init
1317358241.888556957 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358241.992453098
sort q time 4.100770 
seperate points time 10.040364 
mapping solver time 21.679692 ms 
publication time 10.555094 ms 
whole laserOdometry time 10.570026 ms 
 
mapping data assosiation time 21.799171 ms 
-----t: 0.0680602
OdomCount 4621 & avg odom time 0.047187 ms ++++++++++++++++++++++
filter time 11.549754 ms 
sort q time 4.017189 
seperate points time 8.733415 
publication time 7.406204 ms 
whole laserOdometry time 7.422022 ms 
 
mapping data assosiation time 16.787428 ms 
mapping solver time 20.712289 ms 
--------------------stamp1317358242.200308084
sort q time 4.157494 
seperate points time 9.003366 
filter time 13.383654 ms 
[0m[ INFO] [1718804959.066991708, 1317358242.256602086]: Received 212241 data points in frame camera_init with the following fields: x y z intensity[0m
-----t: 0.0780695
OdomCount 4623 & avg odom time 0.047189 ms ++++++++++++++++++++++
mapping data assosiation time 17.281358 ms 
sort q time 3.695280 
seperate points time 7.678070 
mapping data assosiation time 20.948270 ms 
-----t: 0.0404166
OdomCount 4624 & avg odom time 0.047188 ms ++++++++++++++++++++++
filter time 10.680090 ms 
--------------------stamp1317358242.408246040
scan registration time 21.059182 ms *************
build tree time 42.270244 ms 
mapping data assosiation time 20.240295 ms 
publication time 6.313606 ms 
mapping solver time 21.684869 ms 
mapping data assosiation time 17.852315 ms 
mapping solver time 20.961307 ms 
filter time 14.428562 ms 
mapping pub time 1.576023 ms 
whole mapping time 144.950380 ms +++++
mappingCount 2958 & avg mapping time 156.000333 ms ++++++++++++++++++++++
1317358242.304279089 WriteOdom aft_mapped_to_init
publication time 8.036696 ms 
whole laserOdometry time 8.046775 ms 
 
build tree time 42.374405 ms 
mapping data assosiation time 16.898388 ms 
mapping solver time 20.851976 ms 
prepare time 9.036719 
publication time 6.337385 ms 
whole laserOdometry time 6.351347 ms 
 
filter time 15.498645 ms 
-----t: 0.0531169
OdomCount 4627 & avg odom time 0.047183 ms ++++++++++++++++++++++
--------------------stamp1317358242.720150947
sort q time 3.498532 
seperate points time 8.679442 
mapping data assosiation time 20.775305 ms 
mapping solver time 30.223970 ms 
publication time 17.265925 ms 
whole laserOdometry time 17.280295 ms 
 
mapping solver time 21.959185 ms 
--------------------stamp1317358242.824115991
map prepare time 3.607733 ms
map corner num 177801  surf num 65371 
publication time 6.381092 ms 
whole laserOdometry time 6.399152 ms 
 
-----t: 0.0267546
OdomCount 4629 & avg odom time 0.047180 ms ++++++++++++++++++++++
1317358242.824115991 WriteOdom laser_odom_to_init
1317358242.824115991 WriteOdom aft_mapped_to_init_high_frec
build tree time 51.419165 ms 
mapping data assosiation time 20.631258 ms 
--------------------stamp1317358242.928056001
sort q time 2.654277 
seperate points time 6.193179 
publication time 7.768958 ms 
whole laserOdometry time 7.790841 ms 
 
mapping solver time 23.798192 ms 
mapping optimization time 136.439319 
filter time 14.423087 ms 
--------------------stamp1317358243.031979084
sort q time 3.498735 
seperate points time 8.181709 
scan registration time 17.946572 ms *************
publication time 5.911852 ms 
whole laserOdometry time 5.925849 ms 
 
1317358243.031979084 WriteOdom laser_odom_to_init
1317358243.031979084 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358243.135899066
sort q time 3.576096 
seperate points time 7.769052 
mapping pub time 198.749143 ms 
whole mapping time 354.167295 ms +++++
mappingCount 2961 & avg mapping time 156.063560 ms ++++++++++++++++++++++
build tree time 40.269246 ms 
mapping data assosiation time 18.300114 ms 
sort q time 3.621027 
seperate points time 7.327803 
publication time 7.443973 ms 
whole laserOdometry time 7.458839 ms 
 
mapping solver time 18.676886 ms 
mapping optimization time 122.354548 
add points time 0.808429 ms
map prepare time 2.455438 ms
map corner num 178986  surf num 65697 
--------------------stamp1317358243.343729019
sort q time 3.983297 
seperate points time 7.699199 
publication time 5.386990 ms 
whole laserOdometry time 5.401929 ms 
 
mapping solver time 17.129022 ms 
-----t: 0.0435915
OdomCount 4634 & avg odom time 0.047171 ms ++++++++++++++++++++++
1317358243.343729019 WriteOdom laser_odom_to_init
1317358243.343729019 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358243.447673082
sort q time 3.919784 
seperate points time 7.667083 
filter time 12.990976 ms 
mapping pub time 1.471428 ms 
whole mapping time 146.712775 ms +++++
mappingCount 2963 & avg mapping time 156.055380 ms ++++++++++++++++++++++
publication time 6.475244 ms 
whole laserOdometry time 6.488070 ms 
 
build tree time 46.167236 ms 
mapping data assosiation time 15.831829 ms 
prepare time 8.276050 
mapping solver time 32.867150 ms 
mapping data assosiation time 18.756265 ms 
1317358243.551615953 WriteOdom laser_odom_to_init
1317358243.551615953 WriteOdom aft_mapped_to_init_high_frec
-----t: 0.0282858
OdomCount 4637 & avg odom time 0.047163 ms ++++++++++++++++++++++
mapping solver time 14.675727 ms 
mapping data assosiation time 16.045205 ms 
mapping solver time 10.396293 ms 
filter time 11.099685 ms 
points size 61730 
sort q time 3.268653 
seperate points time 10.116714 
-----t: 0.0408467
OdomCount 4638 & avg odom time 0.047162 ms ++++++++++++++++++++++
1317358243.759500026 WriteOdom laser_odom_to_init
1317358243.759500026 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.210728 ms 
mapping solver time 16.881549 ms 
--------------------stamp1317358243.863444089
sort q time 3.454186 
seperate points time 7.280120 
scan registration time 16.429788 ms *************
filter time 12.068598 ms 
-----t: 0.0478437
OdomCount 4639 & avg odom time 0.047162 ms ++++++++++++++++++++++
build tree time 38.870837 ms 
mapping data assosiation time 15.269065 ms 
--------------------stamp1317358243.967410087
mapping solver time 18.332261 ms 
scan registration time 15.036049 ms *************
publication time 8.674683 ms 
whole laserOdometry time 8.685901 ms 
 
filter time 12.638031 ms 
build tree time 41.757909 ms 
sort q time 3.343439 
seperate points time 6.693302 
mapping solver time 22.093376 ms 
mapping data assosiation time 19.000004 ms 
mapping optimization time 120.423359 
mapping pub time 1.463757 ms 
whole mapping time 140.274279 ms +++++
mappingCount 2968 & avg mapping time 156.019465 ms ++++++++++++++++++++++
--------------------stamp1317358244.175322055
sort q time 2.832056 
seperate points time 5.965020 
publication time 6.566483 ms build tree time 56.602955 ms 
mapping data assosiation time 15.081553 ms 
mapping solver time 17.948807 ms 
mapping data assosiation time 16.646860 ms 
prepare time 7.249021 
filter time 18.909759 ms 
-----t: 0.0447006
OdomCount 4643 & avg odom time 0.047155 ms ++++++++++++++++++++++
build tree time 49.861120 ms 
mapping data assosiation time 15.762567 ms 
mapping solver time 24.951562 ms 
mapping data assosiation time 18.909332 ms 
mapping solver time 16.221800 ms 
filter time 12.881244 ms 
--------------------stamp1317358244.487148046
build tree time 51.614238 ms 
mapping data assosiation time 18.535801 ms 
publication time 17.842229 ms 
whole laserOdometry time 17.854513 ms 
 
mapping data assosiation time 16.165259 ms 
--------------------stamp1317358244.591089010
sort q time 2.793915 
seperate points time 6.120749 
mapping pub time 5.749049 ms 
whole mapping time 156.059117 ms +++++
mappingCount 2971 & avg mapping time 156.013484 ms ++++++++++++++++++++++
build tree time 50.509736 ms 
mapping data assosiation time 16.077873 ms 
sort q time 3.083667 
seperate points time 6.562494 
publication time 6.766220 ms mapping solver time 15.250019 ms 
filter time 13.041644 ms 
--------------------stamp1317358244.798880100
sort q time 3.268660 
seperate points time 8.083974 
publication time 6.996314 ms 
whole laserOdometry time 7.007125 ms 
 
mapping data assosiation time 20.881238 ms 
mapping solver time 18.522994 ms 
mapping data assosiation time 23.707897 ms -----t: 0.0867375
OdomCount 4648 & avg odom time 0.047147 ms ++++++++++++++++++++++
points size 63724 
sort q time 3.695569 
seperate points time 12.921777 
publication time 6.148768 ms 
whole laserOdometry time 6.163799 ms 
 
build tree time 52.652273 ms 
mapping data assosiation time 17.290711 ms 
--------------------stamp1317358245.006716966
sort q time 3.359704 
seperate points time 8.406684 
mapping solver time 20.052678 ms 
-----t: 0.0403716
OdomCount 4650 & avg odom time 0.047143 ms ++++++++++++++++++++++
filter time 25.277014 ms 
--------------------stamp1317358245.110658884
sort q time 3.633347 
seperate points time 8.624867 
publication time 6.335814 ms 
whole laserOdometry time 6.349096 ms 
 
mapping data assosiation time 19.549703 ms 
mapping solver time 20.123570 ms 
mapping data assosiation time 18.359015 ms 
mapping solver time 15.459890 ms 
prepare time 8.751855 
scan registration time 20.492682 ms *************
publication time 6.073129 ms 
whole laserOdometry time 6.119465 ms 
 
-----t: 0.0410221
OdomCount 4652 & avg odom time 0.047140 ms ++++++++++++++++++++++
build tree time 54.851429 ms 
mapping data assosiation time 16.627376 ms 
mapping solver time 15.173397 ms 
points size 69818 
scan registration time 19.273135 ms *************
-----t: 0.0294799
OdomCount 4653 & avg odom time 0.047137 ms ++++++++++++++++++++++
map prepare time 2.928745 ms
map corner num 219765  surf num 78593 
--------------------stamp1317358245.422489881
prepare time 10.843834 
sort q time 3.889843 
seperate points time 9.472415 
publication time 9.307989 ms 
whole laserOdometry time 9.322162 ms 
 
-----t: 0.0477827
mapping solver time 22.091388 ms 
mapping data assosiation time 17.822136 ms 
mapping solver time 14.579889 ms 
filter time 19.782090 ms 
publication time 6.791101 ms 
whole laserOdometry time 6.803800 ms 
 
-----t: 0.043991
OdomCount 4655 & avg odom time 0.047136 ms ++++++++++++++++++++++
build tree time 52.578712 ms 
mapping data assosiation time 17.215848 ms 
points size 76281 
sort q time 4.011714 
seperate points time 9.793963 
mapping data assosiation time 21.024064 ms 
-----t: 0.0370086
OdomCount 4656 & avg odom time 0.047134 ms ++++++++++++++++++++++
filter time 15.262421 ms 
--------------------stamp1317358245.734247922
sort q time 4.071020 
seperate points time 8.693683 
publication time 8.012106 ms 
whole laserOdometry time 8.028141 ms 
 
1317358245.734247922 WriteOdom laser_odom_to_init
mapping data assosiation time 17.883553 ms 
mapping solver time 13.206548 ms 
--------------------stamp1317358245.838165998
map prepare time 4.715758 ms
map corner num 221521  surf num 79092 
scan registration time 34.561657 ms *************
publication time 7.561954 ms 
whole laserOdometry time 7.579040 ms 
 
build tree time 66.354090 ms 
--------------------stamp1317358245.942061901
sort q time 4.507961 
seperate points time 10.471495 
-----t: 0.0421259
OdomCount 4659 & avg odom time 0.047129 ms ++++++++++++++++++++++
1317358245.942061901 WriteOdom laser_odom_to_init
1317358245.942061901 WriteOdom aft_mapped_to_init_high_frec
filter time 15.040076 ms 
mapping pub time 1.805437 ms 
whole mapping time 168.662450 ms +++++
mappingCount 2980 & avg mapping time 156.008199 ms ++++++++++++++++++++++
1317358245.734247923 WriteOdom aft_mapped_to_init
--------------------stamp1317358246.045932054
sort q time 5.121202 
seperate points time 11.460730 
build tree time 57.389766 ms 
mapping data assosiation time 26.525626 ms 
-----t: 0.080271
OdomCount 4660 & avg odom time 0.047137 ms ++++++++++++++++++++++
points size 76490 
sort q time 4.045839 
seperate points time 9.599537 
mapping data assosiation time 27.024697 ms 
scan registration time 25.349859 ms *************
filter time 18.798824 ms 
-----t: 0.0584783
OdomCount 4661 & avg odom time 0.047139 ms ++++++++++++++++++++++--------------------stamp1317358246.253673076
sort q time 4.566175 
seperate points time 10.937618 
publication time 7.321368 ms 
whole laserOdometry time 7.336767 ms 
 
--------------------stamp1317358246.357542991
1317358246.253673076 WriteOdom aft_mapped_to_init_high_frec
sort q time 4.815261 -----t: 0.0392086
OdomCount 4663 & avg odom time 0.047150 ms ++++++++++++++++++++++
map prepare time 3.223135 ms
map corner num 222654  surf num 79536 
--------------------stamp1317358246.461437940
prepare time 10.770445 
sort q time 5.313744 
seperate points time 9.835845 
publication time 6.911573 ms 
whole laserOdometry time 6.941138 ms 
 
mapping solver time 24.838764 ms 
mapping data assosiation time 18.517821 ms 
points size 78267 
sort q time 4.477562 
seperate points time 10.194215 
map prepare time 3.605181 ms
map corner num 223365  surf num 79871 
-----t: 0.0368233
OdomCount 4665 & avg odom time 0.047151 ms ++++++++++++++++++++++
1317358246.565357923 WriteOdom laser_odom_to_init
1317358246.565357923 WriteOdom aft_mapped_to_init_high_frec
build tree time 50.927295 ms 
--------------------stamp1317358246.669251918
points size 78836 
sort q time 4.127224 
seperate points time 9.953224 
publication time 6.836539 ms 
whole laserOdometry time 6.849315 ms 
 
-----t: 0.0445491
mapping solver time 20.009624 ms 
filter time 13.568720 ms 
mapping pub time 1.725327 ms 
whole mapping time 156.985882 ms +++++
mappingCount 2983 & avg mapping time 156.092640 ms ++++++++++++++++++++++
1317358246.461437941 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.109734 ms
map corner num 224292  surf num 80506 
points size 80889 
sort q time 4.715113 
seperate points time 10.245110 
publication time 7.283920 ms 
whole laserOdometry time 7.294825 ms 
 
mapping data assosiation time 21.471353 ms 
mapping solver time 20.247050 ms 
--------------------stamp1317358246.877019882
prepare time 13.785242 
sort q time 4.428238 
seperate points time 10.932823 
map prepare time 4.174159 ms
map corner num 225096  surf num 80869 
-----t: 0.0534743
OdomCount 4668 & avg odom time 0.047158 ms ++++++++++++++++++++++
build tree time 66.051229 ms 
mapping data assosiation time 26.156637 ms 
mapping solver time 24.000462 ms 
mapping data assosiation time 26.553825 ms 
add points time 1.946965 ms
--------------------stamp1317358247.084784030
points size 89093 
map prepare time 5.549374 ms
map corner num 226167  surf num 81352 
sort q time 7.985736 
seperate points time 20.899971 
scan registration time 63.425139 ms *************
publication time 8.669979 ms 
whole laserOdometry time 8.683759 ms 
 
build tree time 62.206992 ms 
points size 87882 
sort q time 5.728436 
seperate points time 11.690844 
publication time 8.912937 ms 
whole laserOdometry time 8.925364 ms 
 
mapping solver time 32.265536 ms 
mapping data assosiation time 22.399908 ms 
mapping solver time 19.512098 ms 
prepare time 13.646045 
sort q time 5.873381 
seperate points time 13.114062 
map prepare time 4.552836 ms
map corner num 227124  surf num 81755 
-----t: 0.0393383
OdomCount 4672 & avg odom time 0.047166 ms ++++++++++++++++++++++
build tree time 63.454032 ms 
points size 84340 
sort q time 8.468652 
seperate points time 15.050988 
scan registration time 30.579522 ms *************
publication time 7.985438 ms 
whole laserOdometry time 8.015134 ms 
 
-----t: 0.0446865
OdomCount 4673 & avg odom time 0.047166 ms ++++++++++++++++++++++
1317358247.396469116 WriteOdom laser_odom_to_init
1317358247.396469116 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.505527 ms 
points size 84457 
map prepare time 5.173243 ms
map corner num 228019  surf num 82142 
publication time 9.130094 ms 
whole laserOdometry time 9.144352 ms 
 
-----t: 0.0627628
OdomCount 4674 & avg odom time 0.047169 ms ++++++++++++++++++++++
--------------------stamp1317358247.604304075
prepare time 11.608197 
sort q time 5.136133 
seperate points time 10.966594 
mapping data assosiation time 23.930944 ms 
mapping solver time 17.275665 ms 
mapping pub time 2.003230 ms 
whole mapping time 178.935612 ms +++++
mappingCount 2988 & avg mapping time 156.141334 ms ++++++++++++++++++++++
--------------------stamp1317358247.708223104
sort q time 4.824883 
seperate points time 10.979078 
publication time 7.983607 ms 
whole laserOdometry time 7.992247 ms 
 
-----t: 0.0467726
OdomCount 4676 & avg odom time 0.047168 ms ++++++++++++++++++++++
1317358247.708223104 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.722132 ms 
--------------------stamp1317358247.812139987
prepare time 11.333195 
sort q time 5.290442 
seperate points time 11.171251 
publication time 10.483821 ms 
whole laserOdometry time 10.508747 ms 
 
filter time 15.482098 ms 
--------------------stamp1317358247.916081905
prepare time 14.549829 
sort q time 4.994497 
seperate points time 11.807290 
-----t: 0.0346382
OdomCount 4678 & avg odom time 0.047163 ms ++++++++++++++++++++++
mapping solver time 21.526408 ms 
--------------------stamp1317358248.020047903
prepare time 11.700501 
sort q time 4.823118 
seperate points time 11.070274 
add points time 0.971492 ms
1317358247.708223104 WriteOdom aft_mapped_to_init
-----t: 0.0546792
OdomCount 4679 & avg odom time 0.047165 ms ++++++++++++++++++++++
build tree time 53.710899 ms 
prepare time 11.509118 
scan registration time 28.270081 ms *************
mapping solver time 36.798691 ms 
-----t: 0.0462954
OdomCount 4680 & avg odom time 0.047165 ms ++++++++++++++++++++++
1317358248.123990058 WriteOdom laser_odom_to_init
1317358248.123990058 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.236673 ms 
--------------------stamp1317358248.227910995
mapping solver time 19.746521 ms 
points size 83044 
mapping optimization time 168.443324 
add points time 1.370382 ms
scan registration time 32.882985 ms *************
map prepare time 5.139052 ms
map corner num 231829  surf num 83547 
--------------------stamp1317358248.331784963
prepare time 12.728543 
sort q time 4.729685 
seperate points time 10.976253 
scan registration time 27.910423 ms *************
mapping data assosiation time 27.815394 ms 
publication time 10.365468 ms 
whole laserOdometry time 10.450875 ms 
 
[0m[ INFO] [1718804965.230567181, 1317358248.421480756]: Received 315376 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804965.230606645, 1317358248.421480756]: Data saved to 1317358247916081.pcd[0m
--------------------stamp1317358248.435632944
1317358248.331784963 WriteOdom laser_odom_to_init
filter time 18.283754 ms 
-----t: 0.0435064
OdomCount 4683 & avg odom time 0.047177 ms ++++++++++++++++++++++
--------------------stamp1317358248.539526939
prepare time 11.327794 
mapping data assosiation time 27.479955 ms 
publication time 11.335004 ms 
whole laserOdometry time 11.347594 ms 
 
mapping solver time 30.819024 ms 
mapping data assosiation time 25.000651 ms 
--------------------stamp1317358248.643445014
prepare time 10.687682 
sort q time 4.509418 
seperate points time 10.883534 
filter time 20.535756 ms 
-----t: 0.0433473
OdomCount 4685 & avg odom time 0.047177 ms ++++++++++++++++++++++
build tree time 54.506188 ms 
points size 78592 
prepare time 11.355384 
publication time 8.902836 ms 
whole laserOdometry time 8.930190 ms 
 
mapping solver time 33.577524 ms 
mapping data assosiation time 29.143445 ms 
--------------------stamp1317358248.851331949
prepare time 10.492196 
scan registration time 24.130588 ms *************
mapping pub time 1.878601 ms 
whole mapping time 218.141350 ms +++++
mappingCount 2994 & avg mapping time 156.225831 ms ++++++++++++++++++++++
--------------------stamp1317358248.955275058
prepare time 10.502989 
sort q time 4.375408 
seperate points time 10.025418 
mapping data assosiation time 30.191799 ms 
-----t: 0.0522128
OdomCount 4688 & avg odom time 0.047177 ms ++++++++++++++++++++++
mapping solver time 36.854635 ms 
mapping data assosiation time 23.972503 ms 
filter time 23.358450 ms 
1317358249.059215068 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358249.163156986
prepare time 11.780284 
scan registration time 27.243557 ms *************
publication time 6.913758 ms 
whole laserOdometry time 6.927924 ms 
 
mapping data assosiation time 28.456368 ms 
mapping solver time 29.486913 ms 
--------------------stamp1317358249.267124891
points size 74996 
publication time 8.106436 ms 
whole laserOdometry time 8.120430 ms 
 
mapping solver time 46.457133 ms 
filter time 14.718338 ms 
map prepare time 3.416143 ms
map corner num 236576  surf num 85667 
--------------------stamp1317358249.371068000
scan registration time 27.803637 ms *************
publication time 14.922814 ms 
whole laserOdometry time 14.935994 ms 
 
mapping data assosiation time 22.100522 ms 
--------------------stamp1317358249.475011110
prepare time 10.268059 
sort q time 4.193997 
seperate points time 8.989009 
publication time 11.647456 ms 
whole laserOdometry time 11.659262 ms 
 
mapping solver time 28.506502 ms 
filter time 15.369411 ms 
--------------------stamp1317358249.578970909
sort q time 3.188832 
seperate points time 7.330688 
build tree time 51.950123 ms 
mapping data assosiation time 27.158029 ms 
mapping solver time 28.456467 ms 
--------------------stamp1317358249.682913064
mapping data assosiation time 26.522498 ms 
sort q time 3.887697 
seperate points time 9.373320 
mapping solver time 33.898935 ms 
-----t: 0.0455031
OdomCount 4695 & avg odom time 0.047177 ms ++++++++++++++++++++++
map prepare time 3.869450 ms
map corner num 223445  surf num 82397 
--------------------stamp1317358249.786861896
prepare time 11.648553 
scan registration time 25.174341 ms *************
publication time 8.346937 ms 
whole laserOdometry time 8.366217 ms 
 
mapping solver time 32.896523 ms 
--------------------stamp1317358249.890829086
sort q time 3.773093 
seperate points time 8.938154 
filter time 16.910684 ms 
--------------------stamp1317358249.994796991
sort q time 3.599422 
seperate points time 8.023789 
publication time 6.092702 ms 
whole laserOdometry time 6.106893 ms 
 
mapping solver time 29.251419 ms 
mapping data assosiation time 23.224856 ms 
--------------------stamp1317358250.098763942
sort q time 3.675171 
seperate points time 8.021196 
build tree time 52.411051 ms 
mapping data assosiation time 18.534421 ms 
--------------------stamp1317358250.202730894
mapping solver time 27.727842 ms 
sort q time 3.680449 
seperate points time 8.990339 
scan registration time 24.823968 ms *************
mapping data assosiation time 24.015159 ms 
mapping solver time 25.294554 ms 
filter time 14.107387 ms 
--------------------stamp1317358250.306674003
sort q time 3.825918 
seperate points time 7.665989 
publication time 5.276408 ms 
whole laserOdometry time 5.292633 ms 
 
1317358250.306674003 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718804967.182609487, 1317358250.366829650]: Received 308783 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804967.182639541, 1317358250.366829650]: Data saved to 1317358249994796.pcd[0m
--------------------stamp1317358250.410590887
sort q time 4.155128 
seperate points time 8.481514 
publication time 5.865186 ms 
whole laserOdometry time 5.877874 ms 
 
mapping pub time 187.983471 ms 
whole mapping time 356.063819 ms +++++
mappingCount 3001 & avg mapping time 156.381740 ms ++++++++++++++++++++++
--------------------stamp1317358250.514509916
prepare time 11.643560 
sort q time 3.603280 
seperate points time 15.154543 
build tree time 70.808046 ms 
-----t: 0.041381
OdomCount 4703 & avg odom time 0.047161 ms ++++++++++++++++++++++
mapping data assosiation time 23.195304 ms 
mapping solver time 28.507798 ms 
--------------------stamp1317358250.618452072
sort q time 3.770262 
seperate points time 7.642883 
publication time 5.951753 ms 
whole laserOdometry time 5.965799 ms 
 
mapping optimization time 175.497871 
filter time 20.433660 ms 
--------------------stamp1317358250.722394943
prepare time 11.432324 
scan registration time 22.970799 ms *************
build tree time 63.880813 ms 
-----t: 0.0274932
OdomCount 4705 & avg odom time 0.047154 ms ++++++++++++++++++++++
mapping solver time 21.198858 ms 
mapping data assosiation time 19.132988 ms 
--------------------stamp1317358250.826338052
mapping solver time 22.472141 ms 
mapping optimization time 149.759006 
publication time 12.337311 ms 
whole laserOdometry time 12.349379 ms 
 
-----t: 0.0319519
OdomCount 4706 & avg odom time 0.047151 ms ++++++++++++++++++++++
build tree time 55.827323 ms 
points size 65536 
sort q time 3.370598 
seperate points time 8.240181 
mapping solver time 22.071382 ms 
publication time 7.940288 ms 
whole laserOdometry time 7.954143 ms 
 
mapping data assosiation time 20.590901 ms 
mapping solver time 15.206530 ms 
filter time 13.406232 ms 
--------------------stamp1317358251.034224987
sort q time 3.423922 
seperate points time 8.411988 
publication time 8.846413 ms 
whole laserOdometry time 8.991312 ms 
 
-----t: 0.0408682
OdomCount 4708 & avg odom time 0.047146 ms ++++++++++++++++++++++
mapping data assosiation time 19.465680 ms 
mapping solver time 19.840107 ms 
--------------------stamp1317358251.138190984
mapping data assosiation time 19.884222 ms 
points size 64415 
prepare time 8.043864 
scan registration time 19.017955 ms *************
publication time 5.460402 ms 
whole laserOdometry time 5.473101 ms 
 
map prepare time 3.634418 ms
map corner num 228186  surf num 84052 
-----t: 0.0457347
OdomCount 4709 & avg odom time 0.047145 ms ++++++++++++++++++++++
1317358251.138190984 WriteOdom laser_odom_to_init
1317358251.138190984 WriteOdom aft_mapped_to_init_high_frec
build tree time 56.514107 ms 
mapping data assosiation time 21.300595 ms 
publication time 7.749659 ms 
whole laserOdometry time 7.760887 ms 
 
1317358251.242156982 WriteOdom laser_odom_to_init
1317358251.242156982 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.505994 ms 
--------------------stamp1317358251.346122980
[0m[ INFO] [1718804968.172068833, 1317358251.355063285]: Received 313155 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804968.172124493, 1317358251.355063285]: Data saved to 1317358251034224.pcd[0m
publication time 7.901702 ms 
whole laserOdometry time 7.916180 ms 
 
-----t: 0.0338953
OdomCount 4711 & avg odom time 0.047140 ms ++++++++++++++++++++++
build tree time 58.884963 ms 
mapping data assosiation time 18.385942 ms 
--------------------stamp1317358251.450088977
mapping solver time 24.163989 ms 
sort q time 3.647231 
seperate points time 14.927999 
publication time 6.423330 ms 
whole laserOdometry time 6.460059 ms 
 
1317358251.450088977 WriteOdom laser_odom_to_init
filter time 13.748547 ms 
--------------------stamp1317358251.554056882
sort q time 3.368090 
seperate points time 8.375381 
build tree time 56.600043 ms 
mapping data assosiation time 18.628973 ms 
mapping solver time 15.637004 ms 
mapping data assosiation time 19.851209 ms 
mapping solver time 8.380605 ms 
filter time 13.446483 ms 
sort q time 3.322226 
seperate points time 7.641314 
publication time 6.873590 ms -----t: 0.0389529
build tree time 63.916036 ms 
mapping data assosiation time 16.036182 ms 
--------------------stamp1317358251.761941909
sort q time 3.551145 
seperate points time 7.736531 
mapping data assosiation time 20.019559 ms 
mapping solver time 18.872755 ms 
-----t: 0.0478022
drop lidar frame in mapping for real time performance 
--------------------stamp1317358251.865907907
sort q time 3.394873 
seperate points time 8.518602 
build tree time 61.742529 ms 
1317358251.865907907 WriteOdom laser_odom_to_init
1317358251.865907907 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.144615 ms 
mapping data assosiation time 19.002697 ms 
prepare time 9.084049 
scan registration time 20.593095 ms *************
map prepare time 3.816910 ms
map corner num 231409  surf num 85150 
-----t: 0.0371101
OdomCount 4717 & avg odom time 0.047127 ms ++++++++++++++++++++++
build tree time 50.667410 ms 
--------------------stamp1317358252.073848009
prepare time 10.881146 
scan registration time 22.481060 ms *************
publication time 7.101414 ms 
whole laserOdometry time 7.129856 ms 
 
mapping solver time 12.254147 ms 
filter time 13.904045 ms 
map prepare time 3.016408 ms
map corner num 232105  surf num 85368 
--------------------stamp1317358252.177789926
sort q time 3.544811 
seperate points time 8.179377 
publication time 5.827751 ms 
whole laserOdometry time 5.853304 ms 
build tree time 61.704814 ms 
mapping data assosiation time 20.638759 ms 
-----t: 0.0644114
OdomCount 4719 & avg odom time 0.047128 ms ++++++++++++++++++++++
mapping solver time 21.660426 ms 
mapping data assosiation time 17.471339 ms 
points size 59804 
sort q time 3.214858 
seperate points time 8.114120 
publication time 6.074113 ms 
whole laserOdometry time 6.089123 ms 
 
drop lidar frame in mapping for real time performance 
-----t: 0.0353473
OdomCount 4720 & avg odom time 0.047125 ms ++++++++++++++++++++++
build tree time 55.231253 ms 
sort q time 3.290177 
seperate points time 6.646288 
publication time 8.107900 ms 
whole laserOdometry time 8.121224 ms 
 
mapping solver time 24.749344 ms 
mapping data assosiation time 17.283173 ms 
mapping solver time 20.031541 ms 
filter time 13.253987 ms 
points size 52756 
publication time 8.218901 ms 
whole laserOdometry time 8.234286 ms 
 
build tree time 59.608223 ms 
-----t: 0.0430675
OdomCount 4722 & avg odom time 0.047119 ms ++++++++++++++++++++++
mapping data assosiation time 20.069640 ms 
mapping solver time 19.448581 ms 
points size 49072 
publication time 7.215406 ms 
whole laserOdometry time 7.242326 ms 
 
filter time 13.878050 ms 
--------------------stamp1317358252.697639942
mapping data assosiation time 19.365899 ms 
-----t: 0.0290438
OdomCount 4724 & avg odom time 0.047110 ms ++++++++++++++++++++++
mapping data assosiation time 16.819575 ms 
mapping solver time 15.039598 ms 
filter time 13.477983 ms 
--------------------stamp1317358252.801609992
publication time 3.886882 ms 
whole laserOdometry time 3.900376 ms 
 
-----t: 0.022521
OdomCount 4725 & avg odom time 0.047105 ms ++++++++++++++++++++++
build tree time 53.244810 ms 
mapping data assosiation time 16.011203 ms 
mapping solver time 17.789672 ms 
mapping data assosiation time 16.948508 ms 
points size 37578 
scan registration time 29.111517 ms *************
-----t: 0.0177676
OdomCount 4726 & avg odom time 0.047099 ms ++++++++++++++++++++++
1317358252.905601024 WriteOdom laser_odom_to_init
1317358252.905601024 WriteOdom aft_mapped_to_init_high_frec
build tree time 47.147450 ms 
--------------------stamp1317358253.009593009
sort q time 1.863354 
seperate points time 4.958174 
publication time 6.097105 ms 
whole laserOdometry time 6.109422 ms 
 
mapping data assosiation time 16.248047 ms 
mapping solver time 10.816570 ms 
mapping pub time 0.835626 ms 
whole mapping time 124.635368 ms +++++
mappingCount 3017 & avg mapping time 156.402385 ms ++++++++++++++++++++++
1317358252.801609993 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.466537 ms
map corner num 219833  surf num 77642 
--------------------stamp1317358253.113560914
sort q time 1.921317 
seperate points time 4.982470 
publication time 4.302876 ms 
whole laserOdometry time 4.313014 ms 
 
-----t: 0.0267365
OdomCount 4728 & avg odom time 0.047088 ms ++++++++++++++++++++++
1317358253.113560914 WriteOdom laser_odom_to_init
1317358253.113560914 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 14.450253 ms 
mapping solver time 11.336730 ms 
filter time 15.501532 ms 
--------------------stamp1317358253.217525959
sort q time 2.127922 
seperate points time 5.928233 
publication time 4.936115 ms 
whole laserOdometry time 4.947660 ms 
 
build tree time 54.639743 ms 
mapping data assosiation time 15.649556 ms 
mapping data assosiation time 16.924171 ms 
points size 46886 
publication time 8.468676 ms 
whole laserOdometry time 8.494674 ms 
 
-----t: 0.0356259
OdomCount 4730 & avg odom time 0.047079 ms ++++++++++++++++++++++
1317358253.321511030 WriteOdom laser_odom_to_init
1317358253.321511030 WriteOdom aft_mapped_to_init_high_frec
build tree time 50.330620 ms 
points size 50384 
publication time 5.782458 ms 
whole laserOdometry time 5.799614 ms 
 
mapping data assosiation time 14.090119 ms 
mapping solver time 17.332456 ms 
filter time 13.104986 ms 
--------------------stamp1317358253.529423952
sort q time 2.923039 -----t: 0.0188349
OdomCount 4732 & avg odom time 0.047067 ms ++++++++++++++++++++++
build tree time 60.418583 ms 
mapping data assosiation time 14.104126 ms 
mapping solver time 20.075037 ms 
mapping data assosiation time 16.583846 ms 
points size 55916 
filter time 13.589477 ms 
-----t: 0.0388203
OdomCount 4733 & avg odom time 0.047065 ms ++++++++++++++++++++++
1317358253.633392095 WriteOdom laser_odom_to_init
1317358253.633392095 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358253.737360000
sort q time 3.200722 
seperate points time 7.303318 
publication time 6.686923 ms 
whole laserOdometry time 6.737321 ms 
 
-----t: 0.0367476
OdomCount 4734 & avg odom time 0.047063 ms ++++++++++++++++++++++
mapping pub time 176.587040 ms 
whole mapping time 323.344269 ms +++++
mappingCount 3021 & avg mapping time 156.444312 ms ++++++++++++++++++++++
--------------------stamp1317358253.841326951
sort q time 3.593986 
seperate points time 7.188187 
scan registration time 15.447864 ms *************
-----t: 0.0300486
OdomCount 4735 & avg odom time 0.047059 ms ++++++++++++++++++++++
mapping data assosiation time 16.329560 ms 
mapping solver time 20.606201 ms 
mapping data assosiation time 15.803041 ms 
mapping solver time 13.519084 ms 
publication time 4.615937 ms 
whole laserOdometry time 4.626487 ms 
 
-----t: 0.0259969
OdomCount 4736 & avg odom time 0.047055 ms ++++++++++++++++++++++
build tree time 49.484339 ms 
--------------------stamp1317358254.049283981
sort q time 3.353976 
seperate points time 8.207589 
scan registration time 18.467428 ms *************
mapping data assosiation time 17.557439 ms 
mapping solver time 19.237710 ms 
filter time 12.971196 ms 
mapping pub time 1.401960 ms 
whole mapping time 146.859038 ms +++++
mappingCount 3023 & avg mapping time 156.437481 ms ++++++++++++++++++++++
1317358253.841326952 WriteOdom aft_mapped_to_init
map prepare time 2.875721 ms
map corner num 222631  surf num 78582 
--------------------stamp1317358254.153254032
sort q time 3.372573 
seperate points time 8.332253 
publication time 8.454660 ms 
whole laserOdometry time 8.470887 ms 
 
-----t: 0.0233193
OdomCount 4738 & avg odom time 0.047046 ms ++++++++++++++++++++++
1317358254.153254032 WriteOdom laser_odom_to_init
1317358254.153254032 WriteOdom aft_mapped_to_init_high_frec
build tree time 69.270448 ms 
mapping data assosiation time 17.620829 ms 
mapping solver time 20.831541 ms 
--------------------stamp1317358254.257199048
mapping solver time 14.898102 ms 
publication time 6.199524 ms 
whole laserOdometry time 6.209836 ms 
 
-----t: 0.0388819
OdomCount 4739 & avg odom time 0.047044 ms ++++++++++++++++++++++
build tree time 51.097488 ms 
--------------------stamp1317358254.361160993
sort q time 3.645747 
seperate points time 8.537488 
mapping data assosiation time 17.447213 ms 
mapping solver time 16.416992 ms 
filter time 12.914053 ms 
--------------------stamp1317358254.465125083
sort q time 3.797144 
seperate points time 7.695030 
build tree time 55.358727 ms 
mapping data assosiation time 19.838564 ms 
mapping solver time 20.639980 ms 
-----t: 0.0737367
OdomCount 4741 & avg odom time 0.047045 ms ++++++++++++++++++++++
mapping solver time 15.454399 ms 
prepare time 7.015319 
sort q time 4.131063 
seperate points time 8.175597 
mapping pub time 7.711911 ms 
whole mapping time 162.595258 ms +++++
mappingCount 3026 & avg mapping time 156.437961 ms ++++++++++++++++++++++
-----t: 0.048739
OdomCount 4742 & avg odom time 0.047046 ms ++++++++++++++++++++++
build tree time 53.881090 ms 
mapping data assosiation time 16.597282 ms 
sort q time 4.085709 
seperate points time 8.514283 
publication time 6.230424 ms 
whole laserOdometry time 6.244412 ms 
 
-----t: 0.0298546
OdomCount 4743 & avg odom time 0.047042 ms ++++++++++++++++++++++
mapping solver time 17.374766 ms 
filter time 13.416604 ms 
--------------------stamp1317358254.777025938
sort q time 3.610650 
seperate points time 8.790653 
publication time 7.728585 ms 
whole laserOdometry time 7.741631 ms 
 
mapping data assosiation time 18.273404 ms 
mapping solver time 22.202944 ms 
mapping data assosiation time 19.309256 ms 
points size 67469 
scan registration time 20.677084 ms *************
map prepare time 3.719646 ms
map corner num 226037  surf num 80015 
build tree time 51.104307 ms 
--------------------stamp1317358254.985008001
sort q time 3.506640 
seperate points time 7.406743 
scan registration time 15.726153 ms *************
mapping data assosiation time 19.107984 ms 
mapping solver time 14.514129 ms 
filter time 15.816317 ms 
[0m[ INFO] [1718804971.904715405, 1317358255.087815629]: Received 303713 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804971.904765089, 1317358255.087815629]: Data saved to 1317358254257199.pcd[0m
--------------------stamp1317358255.088974952
sort q time 4.241167 
seperate points time 8.598253 
build tree time 58.417449 ms 
mapping data assosiation time 20.455173 ms 
mapping solver time 23.298373 ms 
mapping data assosiation time 18.165825 ms 
points size 70074 
sort q time 3.731485 
seperate points time 9.194535 
publication time 11.327078 ms 
whole laserOdometry time 11.338669 ms 
 
-----t: 0.068277
OdomCount 4748 & avg odom time 0.047037 ms ++++++++++++++++++++++
--------------------stamp1317358255.296909093
sort q time 4.023973 
seperate points time 9.364142 
mapping data assosiation time 21.584914 ms 
publication time 9.525281 ms 
whole laserOdometry time 9.541013 ms 
 
mapping solver time 26.127441 ms 
-----t: 0.0619403
OdomCount 4749 & avg odom time 0.047040 ms ++++++++++++++++++++++
mapping solver time 14.697749 ms 
sort q time 4.045280 
seperate points time 10.113248 
filter time 34.617843 ms 
-----t: 0.0386971
OdomCount 4750 & avg odom time 0.047039 ms ++++++++++++++++++++++
--------------------stamp1317358255.504817008
mapping data assosiation time 23.804716 ms 
mapping solver time 33.592982 ms 
-----t: 0.0689423
OdomCount 4751 & avg odom time 0.047043 ms ++++++++++++++++++++++
1317358255.504817008 WriteOdom laser_odom_to_init
1317358255.504817008 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358255.608758926
prepare time 12.185294 
map prepare time 4.864231 ms
map corner num 229173  surf num 81456 
-----t: 0.0480945
OdomCount 4752 & avg odom time 0.047043 ms ++++++++++++++++++++++
build tree time 57.195780 ms 
--------------------stamp1317358255.712726116
sort q time 5.188262 
seperate points time 9.778914 
mapping solver time 30.631356 ms 
-----t: 0.0437481
OdomCount 4753 & avg odom time 0.047043 ms ++++++++++++++++++++++
mapping solver time 17.186846 ms 
filter time 13.337382 ms 
prepare time 11.651626 
scan registration time 26.122077 ms *************
publication time 9.107291 ms 
whole laserOdometry time 9.118973 ms 
 
build tree time 57.759716 ms 
mapping data assosiation time 23.637191 ms 
mapping solver time 25.908826 ms 
points size 79797 
sort q time 4.246333 
seperate points time 10.332695 
publication time 8.631276 ms 
whole laserOdometry time 8.648138 ms 
 
mapping solver time 30.987103 ms 
[0m[ INFO] [1718804972.820272827, 1317358256.003548575]: Received 309426 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804972.820308251, 1317358256.003548575]: Data saved to 1317358255088974.pcd[0m
--------------------stamp1317358256.024532079
points size 80476 
prepare time 12.898901 
build tree time 56.673960 ms 
publication time 9.675320 ms 
whole laserOdometry time 9.700154 ms 
 
mapping data assosiation time 23.839639 ms 
--------------------stamp1317358256.128427982
prepare time 12.890784 
sort q time 4.216729 
seperate points time 10.440007 
publication time 8.315740 ms 
whole laserOdometry time 8.329293 ms 
 
mapping optimization time 171.542158 
filter time 23.855332 ms 
--------------------stamp1317358256.232346057
prepare time 13.714048 
scan registration time 29.978152 ms *************
build tree time 64.905084 ms 
-----t: 0.0465071
OdomCount 4758 & avg odom time 0.047042 ms ++++++++++++++++++++++
1317358256.232346057 WriteOdom laser_odom_to_init
mapping data assosiation time 24.856951 ms 
mapping solver time 25.677641 ms 
points size 84098 
prepare time 11.917319 
publication time 9.044108 ms 
whole laserOdometry time 9.072029 ms 
 
-----t: 0.04713
OdomCount 4759 & avg odom time 0.047042 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317358256.440182924
prepare time 14.103673 
sort q time 4.729001 
seperate points time 12.142134 
-----t: 0.0327247
OdomCount 4760 & avg odom time 0.047039 ms ++++++++++++++++++++++
publication time 16.882542 ms 
whole laserOdometry time 16.896507 ms 
 
mapping solver time 21.310629 ms 
mapping data assosiation time 21.686712 ms 
points size 84338 
sort q time 4.803434 
seperate points time 11.471728 
filter time 20.374710 ms 
publication time 6.950690 ms 
whole laserOdometry time 6.964646 ms 
 
-----t: 0.0725026
OdomCount 4761 & avg odom time 0.047044 ms ++++++++++++++++++++++
--------------------stamp1317358256.647973060
prepare time 11.640840 
build tree time 59.263699 ms 
mapping data assosiation time 22.604972 ms 
publication time 11.404316 ms 
whole laserOdometry time 11.419356 ms 
 
1317358256.647973060 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.190223 ms 
--------------------stamp1317358256.751821041
prepare time 12.930300 
sort q time 4.550234 
seperate points time 10.513977 
map prepare time 4.221132 ms
map corner num 233777  surf num 83515 
build tree time 53.486261 ms 
mapping data assosiation time 22.313197 ms 
sort q time 4.469438 
seperate points time 9.844652 
publication time 10.729854 ms 
whole laserOdometry time 10.741722 ms 
 
-----t: 0.0406536
OdomCount 4764 & avg odom time 0.047049 ms ++++++++++++++++++++++
mapping solver time 19.855433 ms 
filter time 15.911282 ms 
points size 79334 
sort q time 4.348673 
seperate points time 10.200530 
publication time 9.131271 ms 
whole laserOdometry time 9.160871 ms 
 
mapping data assosiation time 16.780548 ms 
mapping solver time 22.875800 ms 
points size 78626 
mapping data assosiation time 21.704988 ms 
publication time 7.510489 ms 
whole laserOdometry time 7.520886 ms 
 
filter time 18.870110 ms 
--------------------stamp1317358257.167253017
points size 78069 
sort q time 4.457555 
seperate points time 10.547595 
publication time 7.574276 ms 
whole laserOdometry time 7.590343 ms 
 
mapping solver time 27.434229 ms 
mapping data assosiation time 21.549746 ms 
points size 78319 
prepare time 11.994090 
publication time 6.594569 ms 
whole laserOdometry time 6.628465 ms 
 
-----t: 0.068573
OdomCount 4768 & avg odom time 0.047048 ms ++++++++++++++++++++++
--------------------stamp1317358257.375067949
prepare time 13.845414 
sort q time 20.921650 
seperate points time 26.979065 
publication time 6.979927 ms 
whole laserOdometry time 6.991041 ms 
 
--------------------stamp1317358257.478986978
prepare time 13.143421 
1317358257.478986978 WriteOdom laser_odom_to_init
--------------------stamp1317358257.582906961
prepare time 12.762703 
build tree time 77.657906 ms 
publication time 11.232823 ms mapping solver time 20.585104 ms 
-----t: 0.0640261
OdomCount 4771 & avg odom time 0.047048 ms ++++++++++++++++++++++
--------------------stamp1317358257.686825037
sort q time 4.451831 
seperate points time 9.667393 
scan registration time 23.410453 ms *************
publication time 7.145790 ms 
whole laserOdometry time 7.156700 ms 
 
--------------------stamp1317358257.790741920
prepare time 12.457297 
sort q time 8.630050 
seperate points time 13.911915 
publication time 7.406853 ms 
whole laserOdometry time 7.434531 ms 
 
-----t: 0.0316451
OdomCount 4773 & avg odom time 0.047041 ms ++++++++++++++++++++++
1317358257.790741920 WriteOdom laser_odom_to_init
1317358257.790741920 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.682352 ms 
mapping solver time 15.856104 ms 
--------------------stamp1317358257.894637107
points size 73213 
map prepare time 4.170478 ms
map corner num 251972  surf num 89463 
publication time 7.646188 ms 
whole laserOdometry time 7.659629 ms -----t: 0.0385685
OdomCount 4774 & avg odom time 0.047039 ms ++++++++++++++++++++++
build tree time 64.878452 ms 
--------------------stamp1317358257.998507976
points size 71965 
mapping solver time 22.072980 ms 
sort q time 9.086493 
seperate points time 19.257150 publication time 5.903054 ms 
whole laserOdometry time 5.928987 ms 
 
filter time 22.906809 ms 
--------------------stamp1317358258.102379083
sort q time 3.912178 
seperate points time 9.104797 
scan registration time 20.631095 ms *************
1317358258.102379083 WriteOdom laser_odom_to_init
build tree time 73.034759 ms 
mapping data assosiation time 19.672039 ms 
--------------------stamp1317358258.206250905
sort q time 3.826128 
seperate points time 9.218242 
mapping solver time 19.979855 ms 
1317358257.894637108 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358258.310120105
sort q time 4.378654 
seperate points time 9.769444 
publication time 15.843565 ms 
whole laserOdometry time 15.856254 ms 
 
mapping solver time 23.546131 ms 
--------------------stamp1317358258.414015054
points size 71355 
publication time 6.493779 ms 
whole laserOdometry time 6.505442 ms 
 
drop lidar frame in mapping for real time performance 
-----t: 0.0714167
OdomCount 4779 & avg odom time 0.047041 ms ++++++++++++++++++++++
prepare time 11.514192 
build tree time 72.592650 ms 
-----t: 0.0331248
OdomCount 4780 & avg odom time 0.047039 ms ++++++++++++++++++++++
mapping solver time 24.618439 ms 
mapping data assosiation time 19.609828 ms 
--------------------stamp1317358258.621851921
prepare time 10.148937 
scan registration time 22.712537 ms *************
map prepare time 3.945546 ms
map corner num 254096  surf num 90142 
-----t: 0.0631077
OdomCount 4781 & avg odom time 0.047042 ms ++++++++++++++++++++++
1317358258.621851921 WriteOdom laser_odom_to_init
1317358258.621851921 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358258.725771903
build tree time 74.118219 ms 
mapping data assosiation time 19.396688 ms 
mapping solver time 23.880992 ms 
mapping solver time 19.752102 ms 
mapping optimization time 157.261082 
add points time 0.666931 ms
filter time 21.678089 ms 
mapping pub time 1.687530 ms 
whole mapping time 185.309283 ms +++++
mappingCount 3048 & avg mapping time 156.680324 ms ++++++++++++++++++++++
1317358258.517935038 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.115216 ms
map corner num 254710  surf num 90382 
--------------------stamp1317358258.829689979
prepare time 11.480766 
mapping data assosiation time 19.852419 ms 
publication time 7.104669 ms 
whole laserOdometry time 7.117532 ms 
 
-----t: 0.0371517
OdomCount 4783 & avg odom time 0.047040 ms ++++++++++++++++++++++
1317358258.829689979 WriteOdom laser_odom_to_init
1317358258.829689979 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.132668 ms 
mapping data assosiation time 19.092780 ms 
mapping solver time 16.581030 ms 
mapping optimization time 134.225829 
add points time 0.672227 ms
filter time 14.885237 ms 
mapping pub time 1.541158 ms 
whole mapping time 154.488360 ms +++++
mappingCount 3049 & avg mapping time 156.679607 ms ++++++++++++++++++++++
1317358258.621851921 WriteOdom aft_mapped_to_init
map prepare time 3.081431 ms
map corner num 255242  surf num 90535 
--------------------stamp1317358258.933609008
points size 66421 
prepare time 9.386825 
points size 64486 
scan registration time 23.629206 ms *************
publication time 7.533456 ms 
whole laserOdometry time 7.544936 ms 
 
mapping data assosiation time 19.636706 ms 
[0m[ INFO] [1718804975.920600736, 1317358259.106533760]: Received 343561 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804975.920638489, 1317358259.106533760]: Data saved to 1317358258102379.pcd[0m
-----t: 0.0283366
OdomCount 4785 & avg odom time 0.047037 ms ++++++++++++++++++++++
--------------------stamp1317358259.141400098
sort q time 4.199674 
seperate points time 8.288905 
publication time 8.625924 ms 
whole laserOdometry time 8.640099 ms 
 
1317358259.141400098 WriteOdom laser_odom_to_init
--------------------stamp1317358259.245318889
sort q time 3.278518 
seperate points time 7.388691 
publication time 6.933179 ms 
whole laserOdometry time 6.948059 ms 
 
mapping solver time 22.540147 ms 
mapping data assosiation time 17.145260 ms 
mapping solver time 16.601716 ms 
filter time 15.565900 ms 
map prepare time 4.882342 ms
map corner num 256533  surf num 90948 
sort q time 3.898957 
seperate points time 7.656773 
publication time 6.611220 ms 
whole laserOdometry time 6.626257 ms 
 
build tree time 67.458611 ms 
mapping data assosiation time 17.742057 ms 
--------------------stamp1317358259.453155040
mapping data assosiation time 18.612768 ms 
publication time 9.773223 ms 
whole laserOdometry time 9.791849 ms 
 
mapping solver time 22.030469 ms 
1317358259.453155040 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
--------------------stamp1317358259.557074069
sort q time 3.765258 
seperate points time 7.255449 
publication time 5.747443 ms 
whole laserOdometry time 5.759682 ms 
 
-----t: 0.0292813
OdomCount 4790 & avg odom time 0.047023 ms ++++++++++++++++++++++
1317358259.557074069 WriteOdom laser_odom_to_init
1317358259.557074069 WriteOdom aft_mapped_to_init_high_frec
build tree time 72.095366 ms 
mapping data assosiation time 20.553165 ms 
mapping solver time 22.933404 ms 
mapping data assosiation time 18.007050 ms 
scan registration time 17.504928 ms *************
filter time 18.690618 ms 
build tree time 60.007184 ms 
mapping data assosiation time 18.980217 ms 
publication time 8.793782 ms 
whole laserOdometry time 8.806849 ms 
 
mapping solver time 19.468635 ms 
mapping optimization time 143.065959 
add points time 0.623361 ms
mapping pub time 1.326373 ms 
whole mapping time 168.667169 ms +++++
mappingCount 3054 & avg mapping time 156.709780 ms ++++++++++++++++++++++
1317358259.557074070 WriteOdom aft_mapped_to_init
-----t: 0.064814
OdomCount 4793 & avg odom time 0.047023 ms ++++++++++++++++++++++

 mapping solver time 12.584865 ms 
-----t: 0.0632298
OdomCount 4794 & avg odom time 0.047027 ms ++++++++++++++++++++++
--------------------stamp1317358260.076836109sort q time 4.109715 
seperate points time 8.301182 
publication time 15.113007 ms 
whole laserOdometry time 15.124803 ms 
 
mapping data assosiation time 19.827710 ms 
mapping solver time 23.948698 ms 
mapping data assosiation time 19.571758 ms 
mapping solver time 16.717334 ms 
mapping optimization time 147.629919 
add points time 0.637623 ms
filter time 17.485580 ms 
map prepare time 4.437392 ms
map corner num 259836  surf num 92032 
[0m[ INFO] [1718804977.087160418, 1317358260.275004149]: Received 351868 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804977.087219398, 1317358260.275004149]: Data saved to 1317358259868901.pcd[0m
publication time 9.700342 ms 
whole laserOdometry time 9.989064 ms 
 
points size 70369 
prepare time 14.731975 
-----t: 0.09634mapping data assosiation time 21.402768 ms 
scan registration time 21.775598 ms *************
-----t: 0.0720484
OdomCount 4797 & avg odom time 0.047040 ms ++++++++++++++++++++++
mapping solver time 22.424443 ms filter time 21.338627 ms 
mapping pub time 1.451728 ms 
whole mapping time 236.100495 ms +++++
mappingCount 3057 & avg mapping time 156.750567 ms ++++++++++++++++++++++
1317358260.076836109 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 3.272864 ms
map corner num 260643  surf num 92345 
points size 70254 
sort q time 4.502366 
seperate points time 10.229485 
publication time 8.614441 ms 
whole laserOdometry time 8.630423 ms 
 
build tree time 102.518889 ms 
-----t: 0.0918166
OdomCount 4799 & avg odom time 0.047048 ms ++++++++++++++++++++++
1317358260.492655038 WriteOdom laser_odom_to_init
1317358260.492655038 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.526434 ms 
points size 71173 sort q time 3.780796 mapping data assosiation time 22.288160 ms 1317358260.596613883 WriteOdom laser_odom_to_initadd points time 1.038783 ms
points size 72419 
sort q time 3.924701 
seperate points time 9.782162 
publication time 7.480754 ms 
whole laserOdometry time 7.493154 ms 
 
-----t: 0.0659275
OdomCount 4801 & avg odom time 0.047051 ms ++++++++++++++++++++++
--------------------stamp1317358260.804532051
sort q time 3.024068 
seperate points time 7.497095 
mapping data assosiation time 22.579250 ms 
-----t: 0.0361617
OdomCount 4802 & avg odom time 0.047049 ms ++++++++++++++++++++++
mapping data assosiation time 18.204418 ms 
mapping solver time 16.981134 ms 
mapping optimization time 158.336170 
add points time 0.765686 ms
filter time 19.005109 ms 
mapping pub time 1.635999 ms 
whole mapping time 183.520905 ms +++++
mappingCount 3059 & avg mapping time 156.790698 ms ++++++++++++++++++++++
1317358260.492655039 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.518157 ms
map corner num 262033  surf num 93029 
points size 68785 
sort q time 3.532707 
seperate points time 9.044890 
publication time 6.971475 ms 
whole laserOdometry time 6.983516 ms 
 
-----t: 0.0544673
OdomCount 4803 & avg odom time 0.047051 ms ++++++++++++++++++++++
sort q time 9.558056 
seperate points time 15.295514 
mapping solver time 21.459150 ms 
publication time 6.733573 ms 
whole laserOdometry time 6.747333 ms 
 
mapping solver time 18.856437 ms 
filter time 20.565492 ms 
mapping solver time 21.073033 ms 
points size 66194 
sort q time 3.728525 
seperate points time 9.090316 
publication time 7.358292 ms -----t: 0.0401784
OdomCount 4806 & avg odom time 0.047053 ms ++++++++++++++++++++++
--------------------stamp1317358261.324265956
prepare time 11.385980 
publication time 7.684346 ms 
whole laserOdometry time 7.700429 ms 
 
-----t: 0.077133
OdomCount 4807 & avg odom time 0.047060 ms ++++++++++++++++++++++
1317358261.324265956 WriteOdom laser_odom_to_init
1317358261.324265956 WriteOdom aft_mapped_to_init_high_frec
points size 66570 
sort q time 4.174649 
seperate points time 21.675700 
--------------------stamp1317358261.532248020
build tree time 57.211129 ms mapping data assosiation time 18.791332 ms 
mapping solver time 20.728711 ms 
mapping data assosiation time 16.706343 ms 
mapping optimization time 131.324255 
add points time 0.708305 ms
drop lidar frame in mapping for real time performance 
sort q time 3.314787 
seperate points time 7.410310 
publication time 7.962372 ms 
whole laserOdometry time 7.994916 ms 
 
-----t: 0.0438325
OdomCount 4810 & avg odom time 0.047056 ms ++++++++++++++++++++++
1317358261.636287927 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.415988 ms 
mapping data assosiation time 18.452461 ms 
points size 65096 
filter time 17.688487 ms 
--------------------stamp1317358261.844461917sort q time 3.578209 
seperate points time 7.415666 
publication time 14.688987 ms 
whole laserOdometry time 14.702967 ms 
 
mapping data assosiation time 19.477976 ms 
mapping solver time 21.372230 ms 
--------------------stamp1317358261.948525905
mapping solver time 15.549055 ms 
scan registration time 29.870431 ms *************publication time 13.400337 ms 
whole laserOdometry time 13.412666 ms 
 
--------------------stamp1317358262.052635908
build tree time 68.255232 ms 
publication time 5.307520 ms 
whole laserOdometry time 5.321539 ms 
 
-----t: 0.033674
OdomCount 4814 & avg odom time 0.047045 ms ++++++++++++++++++++++
mapping data assosiation time 21.010038 ms 
mapping solver time 15.630066 ms 
filter time 21.536713 ms 
mapping pub time 1.575672 ms 
whole mapping time 176.088377 ms +++++
mappingCount 3065 & avg mapping time 156.882049 ms ++++++++++++++++++++++
1317358261.740375042 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 67248 
sort q time 3.542353 
seperate points time 8.607198 
publication time 6.727702 ms 
whole laserOdometry time 6.741984 ms 
 
-----t: 0.0372782
OdomCount 4815 & avg odom time 0.047043 ms ++++++++++++++++++++++
build tree time 67.536007 ms 
mapping data assosiation time 21.601820 ms 
points size 68650 
mapping solver time 25.909611 ms 
scan registration time 35.022883 ms *************
publication time 9.693467 ms 
whole laserOdometry time 9.704190 ms 
 
filter time 21.698184 ms 
map prepare time 3.161574 ms
map corner num 234730  surf num 87340 
prepare time 11.810135 
scan registration time 26.407163 ms *************
build tree time 64.126838 ms 
1317358262.365017890 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.560724 ms 
--------------------stamp1317358262.469151020
prepare time 11.563317 
mapping solver time 21.924266 ms 
scan registration time 45.254710 ms *************
map prepare time 4.065565 ms
map corner num 235472  surf num 87704 
-----t: 0.0573388
OdomCount 4818 & avg odom time 0.047044 ms ++++++++++++++++++++++
--------------------stamp1317358262.573236942
build tree time 62.731224 ms 
mapping data assosiation time 25.796647 ms 
mapping solver time 22.950076 ms 
mapping data assosiation time 18.153689 ms 
--------------------stamp1317358262.677323102
prepare time 12.050392 
filter time 21.145856 ms 
publication time 6.425188 ms 
whole laserOdometry time 6.454160 ms 
 
-----t: 0.041175
OdomCount 4820 & avg odom time 0.047039 ms ++++++++++++++++++++++
build tree time 60.423882 ms 
points size 75688 
scan registration time 26.274593 ms *************
mapping solver time 27.863851 ms 
mapping data assosiation time 22.199263 ms 
mapping solver time 17.595915 ms 
filter time 14.671635 ms 
--------------------stamp1317358262.885497093
map prepare time 3.894262 ms
map corner num 236847  surf num 88300 
points size 75970 
sort q time 4.207827 
seperate points time 8.908054 
-----t: 0.0318757
OdomCount 4822 & avg odom time 0.047034 ms ++++++++++++++++++++++
mapping data assosiation time 18.106735 ms 
mapping solver time 18.054947 ms 
points size 77074 
sort q time 4.688153 
seperate points time 11.335923 
mapping solver time 24.908452 ms 
mapping optimization time 150.813255 
add points time 0.871944 ms
filter time 19.499870 ms 
--------------------stamp1317358263.093599081
sort q time 4.202297 
seperate points time 8.952948 
publication time 9.764568 ms 
whole laserOdometry time 9.783746 ms 
 
-----t: 0.0657874
OdomCount 4824 & avg odom time 0.047038 ms ++++++++++++++++++++++
1317358263.093599081 WriteOdom laser_odom_to_init
1317358263.093599081 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.281653 ms 
points size 80387 
sort q time 5.889859 
seperate points time 11.760670 
scan registration time 27.097380 ms *************
1317358263.197570085 WriteOdom aft_mapped_to_init_high_frec
build tree time 56.431120 ms 
--------------------stamp1317358263.301513910
sort q time 4.921092 
seperate points time 9.860394 
-----t: 0.0394067
OdomCount 4826 & avg odom time 0.047036 ms ++++++++++++++++++++++
mapping solver time 14.432727 ms 
prepare time 11.332413 
map prepare time 4.569103 ms
map corner num 239388  surf num 89614 
publication time 9.969115 ms 
whole laserOdometry time 9.981152 ms 
 
-----t: 0.0580142
OdomCount 4827 & avg odom time 0.047038 ms ++++++++++++++++++++++
build tree time 66.324392 ms 
--------------------stamp1317358263.509322881
sort q time 5.212353 
seperate points time 11.695558 
mapping solver time 32.003296 ms 
-----t: 0.0477865
OdomCount 4828 & avg odom time 0.047038 ms ++++++++++++++++++++++
1317358263.509322881 WriteOdom laser_odom_to_init
1317358263.509322881 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.765628 ms 
--------------------stamp1317358263.613181114
prepare time 13.549874 
scan registration time 30.116568 ms *************
publication time 8.105646 ms 
whole laserOdometry time 8.147986 ms 
 
-----t: 0.0477676
OdomCount 4829 & avg odom time 0.047038 ms ++++++++++++++++++++++
build tree time 67.590188 ms 
mapping data assosiation time 20.916113 ms 
points size 86529 
prepare time 13.543485 
scan registration time 32.637931 ms *************
mapping solver time 37.389601 ms 
-----t: 0.0484888
OdomCount 4830 & avg odom time 0.047039 ms ++++++++++++++++++++++
--------------------stamp1317358263.820813894
filter time 22.827594 ms 
publication time 8.025663 ms 
whole laserOdometry time 8.038481 ms 
 
build tree time 66.013157 ms 
prepare time 15.941347 
sort q time 5.903532 
seperate points time 14.375510 
publication time 10.572010 ms 
whole laserOdometry time 10.588213 ms 
 
mapping data assosiation time 23.304291 ms 
--------------------stamp1317358264.028363943
mapping optimization time 194.484152 
sort q time 5.340134 
seperate points time 13.134706 
filter time 23.825685 ms 
-----t: 0.0556283
OdomCount 4833 & avg odom time 0.047047 ms ++++++++++++++++++++++
--------------------stamp1317358264.132113933
points size 94426 
sort q time 5.565265 
seperate points time 13.138374 
publication time 8.989673 ms 
whole laserOdometry time 9.023196 ms 
 
mapping solver time 39.125189 ms 
-----t: 0.0640097
OdomCount 4834 & avg odom time 0.047050 ms ++++++++++++++++++++++
mapping data assosiation time 28.007789 ms 
points size 95259 
mapping solver time 25.471948 ms 
scan registration time 34.370035 ms *************
mapping pub time 9.642268 ms 
whole mapping time 221.705660 ms +++++
mappingCount 3076 & avg mapping time 157.005707 ms ++++++++++++++++++++++
1317358264.235863924 WriteOdom laser_odom_to_init
1317358264.235863924 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358264.339590072
prepare time 13.071341 
build tree time 63.561628 ms 
mapping data assosiation time 31.096686 ms 
-----t: 0.0619821
OdomCount 4836 & avg odom time 0.047055 ms ++++++++++++++++++++++
mapping solver time 33.094336 ms 
--------------------stamp1317358264.443293094
points size 97811 
sort q time 6.160571 
seperate points time 15.647537 
scan registration time 43.530657 ms *************
publication time 10.459927 ms 
whole laserOdometry time 10.479795 ms 
 
mapping pub time 2.198042 ms 
whole mapping time 225.709950 ms +++++
mappingCount 3077 & avg mapping time 157.028038 ms ++++++++++++++++++++++
--------------------stamp1317358264.546972990
prepare time 13.931650 
sort q time 7.503969 
publication time 10.862697 ms 
whole laserOdometry time 10.893648 ms 
 
mapping data assosiation time 31.721471 ms 
-----t: 0.0712976
OdomCount 4838 & avg odom time 0.047061 ms ++++++++++++++++++++++
--------------------stamp1317358264.650625944
points size 99971 
sort q time 11.000450 
seperate points time 29.215675 
scan registration time 95.208898 ms *************
points size 100430 
sort q time 6.312795 
seperate points time 14.495293 
filter time 26.932057 ms 
publication time 13.135871 ms 
whole laserOdometry time 13.151960 ms 
 
build tree time 59.651474 ms 
points size 100644 
mapping data assosiation time 28.693371 ms 
scan registration time 42.914951 ms *************
mapping data assosiation time 28.498850 ms 
points size 100975 
mapping solver time 28.310106 ms 
filter time 23.667723 ms 
-----t: 0.0563806
OdomCount 4842 & avg odom time 0.047072 ms ++++++++++++++++++++++
--------------------stamp1317358265.065291881
prepare time 12.422751 
sort q time 6.841701 
seperate points time 14.146526 
mapping data assosiation time 33.220511 ms 
publication time 12.214775 ms 
whole laserOdometry time 12.230652 ms 
 
mapping solver time 39.916156 ms 
mapping data assosiation time 26.716800 ms 
points size 101477 
mapping solver time 27.721987 ms 
filter time 24.137496 ms 
publication time 22.835740 ms 
whole laserOdometry time 22.850826 ms 
 
points size 101613 
sort q time 6.616922 
seperate points time 13.951804 
build tree time 69.966476 ms 
publication time 17.322499 ms 
mapping data assosiation time 33.555535 ms 
--------------------stamp1317358265.376499891
points size 102023 
sort q time 6.937003 
seperate points time 16.373098 
-----t: 0.0547931
OdomCount 4846 & avg odom time 0.047079 ms ++++++++++++++++++++++
filter time 16.351381 ms 
points size 102615 
scan registration time 61.614893 ms *************
publication time 13.831600 ms 
whole laserOdometry time 13.848482 ms 
 
--------------------stamp1317358265.584049940
prepare time 16.041343 
sort q time 6.381662 
seperate points time 13.155684 
publication time 10.090817 ms 
whole laserOdometry time 10.104478 ms 
 
--------------------stamp1317358265.687849044
-----t: 0.0864303
OdomCount 4848 & avg odom time 0.047094 ms ++++++++++++++++++++++
sort q time 7.720471 
seperate points time 17.046278 
publication time 11.484563 ms 
whole laserOdometry time 11.502313 ms 
 
build tree time 69.967911 ms 
points size 100901 
scan registration time 35.387963 ms *************
mapping solver time 34.022330 ms 
mapping data assosiation time 31.408245 ms 
points size 100346 
add points time 1.379430 ms
map prepare time 4.918683 ms
map corner num 246857  surf num 93503 
-----t: 0.0799842
OdomCount 4851 & avg odom time 0.047103 ms ++++++++++++++++++++++
points size 99834 
sort q time 6.300826 
seperate points time 13.484038 
[0m[ INFO] [1718804982.870550467, 1317358266.054219005]: Received 339335 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804982.870600774, 1317358266.054219005]: Data saved to 1317358264961591.pcd[0m
mapping data assosiation time 37.459303 ms 
--------------------stamp1317358266.102921962
prepare time 11.778716 
sort q time 6.518023 
seperate points time 13.624021 
mapping data assosiation time 33.620288 ms 
publication time 12.944307 ms 
whole laserOdometry time 12.962972 ms 
 
mapping solver time 29.982362 ms 
filter time 18.545276 ms 
points size 99119 
sort q time 7.345249 
seperate points time 13.479911 
publication time 9.935207 ms 
whole laserOdometry time 9.951422 ms 
 
build tree time 75.174775 ms 
mapping data assosiation time 29.510000 ms 
prepare time 13.136504 
sort q time 6.094998 
seperate points time 14.118224 
publication time 9.703715 ms 
whole laserOdometry time 9.716840 ms 
 
mapping solver time 22.121192 ms 
filter time 15.561685 ms 
points size 98190 
sort q time 6.546387 
seperate points time 14.962918 
publication time 21.920337 ms 
whole laserOdometry time 21.935107 ms 
 
--------------------stamp1317358266.518023967
prepare time 12.760978 
sort q time 6.466428 
seperate points time 14.697901 
mapping solver time 37.063134 ms 
-----t: 0.0513432
OdomCount 4857 & avg odom time 0.047111 ms ++++++++++++++++++++++
1317358266.518023967 WriteOdom laser_odom_to_init
1317358266.518023967 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358266.621773958
prepare time 13.028413 
sort q time 5.986386 
seperate points time 12.477241 
publication time 8.303980 ms 
whole laserOdometry time 8.319764 ms 
 
-----t: 0.0574725
OdomCount 4858 & avg odom time 0.047113 ms ++++++++++++++++++++++
build tree time 66.880532 ms 
points size 97538 
mapping data assosiation time 32.981779 ms 
publication time 10.760904 ms 
whole laserOdometry time 10.774842 ms 
 
-----t: 0.0549983
OdomCount 4859 & avg odom time 0.047114 ms ++++++++++++++++++++++
1317358266.725500106 WriteOdom laser_odom_to_init
1317358266.725500106 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 39.924850 ms 
--------------------stamp1317358266.829251050
mapping solver time 22.619660 ms 
filter time 22.312068 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
1317358266.829251050 WriteOdom aft_mapped_to_init_high_frec
map prepare time 6.087552 ms
map corner num 249861  surf num 95107 
--------------------stamp1317358266.933027029
prepare time 14.100194 
sort q time 5.780853 
seperate points time 13.418593 
publication time 13.209337 ms 
whole laserOdometry time 13.223224 ms 
 
mapping solver time 27.557080 ms 
--------------------stamp1317358267.036801099
prepare time 11.782466 
sort q time 5.876141 
seperate points time 12.291672 
publication time 9.342024 ms 
whole laserOdometry time 9.356346 ms 
 
-----t: 0.0421604
OdomCount 4862 & avg odom time 0.047113 ms ++++++++++++++++++++++
filter time 18.146589 ms 
map prepare time 3.918007 ms
map corner num 250543  surf num 95418 
--------------------stamp1317358267.140551090
points size 96169 
sort q time 5.690379 
seperate points time 12.511528 
publication time 10.063669 ms 
whole laserOdometry time 10.095982 ms 
 
-----t: 0.0562533
OdomCount 4863 & avg odom time 0.047115 ms ++++++++++++++++++++++
mapping solver time 27.459240 ms 
points size 93507 
mapping data assosiation time 27.901005 ms 
publication time 8.471189 ms 
whole laserOdometry time 8.489550 ms 
 
filter time 17.097043 ms 
-----t: 0.0684767
OdomCount 4864 & avg odom time 0.047119 ms ++++++++++++++++++++++
1317358267.244302034 WriteOdom laser_odom_to_init
1317358267.244302034 WriteOdom aft_mapped_to_init_high_frec
points size 91519 
sort q time 5.039769 
seperate points time 11.875020 
build tree time 68.908819 ms 
mapping data assosiation time 29.094800 ms 
--------------------stamp1317358267.451778888
prepare time 11.589137 
mapping data assosiation time 31.350741 ms 
mapping solver time 24.851301 ms 
filter time 16.463994 ms 
--------------------stamp1317358267.555505990
points size 89103 
sort q time 5.895868 
seperate points time 11.301466 
publication time 7.743347 ms 
whole laserOdometry time 7.754711 ms 
 
build tree time 66.944377 ms 
-----t: 0.0590339
OdomCount 4867 & avg odom time 0.047120 ms ++++++++++++++++++++++
--------------------stamp1317358267.659256935
mapping solver time 29.258869 ms 
sort q time 4.945239 
seperate points time 11.757563 
mapping data assosiation time 29.594268 ms 
publication time 11.775665 ms 
whole laserOdometry time 11.787370 ms 
 
-----t: 0.0612569
OdomCount 4868 & avg odom time 0.047123 ms ++++++++++++++++++++++
mapping pub time 2.129385 ms 
whole mapping time 203.910901 ms +++++
mappingCount 3090 & avg mapping time 157.395599 ms ++++++++++++++++++++++
--------------------stamp1317358267.763031959
points size 86722 
scan registration time 34.648408 ms *************
publication time 9.979427 ms 
whole laserOdometry time 9.993517 ms 
 
-----t: 0.051977
OdomCount 4869 & avg odom time 0.047124 ms ++++++++++++++++++++++
mapping data assosiation time 27.698762 ms 
points size 85618 
sort q time 4.751072 
seperate points time 12.209084 
publication time 8.055986 ms 
whole laserOdometry time 8.084183 ms 
 
mapping solver time 27.225992 ms 
--------------------stamp1317358267.970702886
1317358267.555505991 WriteOdom aft_mapped_to_init
scan registration time 28.929102 ms *************
publication time 8.660610 ms 
whole laserOdometry time 8.672691 ms 
 
-----t: 0.0673596
OdomCount 4871 & avg odom time 0.047127 ms ++++++++++++++++++++++
--------------------stamp1317358268.074620962
prepare time 15.163072 
sort q time 4.451135 
seperate points time 10.781828 
mapping solver time 34.468462 ms 
mapping data assosiation time 26.979902 ms 
mapping solver time 22.805702 ms 
points size 81586 
sort q time 4.470440 
seperate points time 9.365401 
publication time 8.768066 ms 
whole laserOdometry time 8.782958 ms 
 
[0m[ INFO] [1718804985.060040747, 1317358268.248488936]: Received 350243 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804985.060160870, 1317358268.248488936]: Data saved to 1317358267555505.pcd[0m
-----t: 0.0481914
OdomCount 4873 & avg odom time 0.047130 ms ++++++++++++++++++++++
1317358268.178560972 WriteOdom laser_odom_to_init
1317358268.178560972 WriteOdom aft_mapped_to_init_high_frec
build tree time 68.169004 ms 
points size 82776 
sort q time 4.854904 
seperate points time 9.711190 
mapping solver time 32.629282 ms 
mapping data assosiation time 24.344046 ms 
mapping solver time 22.646337 ms 
points size 82443 
filter time 24.222230 ms 
map prepare time 3.913165 ms
map corner num 254882  surf num 97345 
publication time 8.646541 ms 
whole laserOdometry time 8.655205 ms 
 
build tree time 67.092401 ms 
points size 82199 
sort q time 4.722935 
seperate points time 22.861502 
publication time 7.090447 ms 
whole laserOdometry time 7.121227 ms 
 
mapping data assosiation time 26.471547 ms 
--------------------stamp1317358268.595056056
mapping solver time 31.657771 ms 
mapping optimization time 187.564992 
prepare time 15.410600 
add points time 1.230549 ms
scan registration time 34.329119 ms *************
map prepare time 4.885962 ms
map corner num 255594  surf num 97571 
-----t: 0.0569271
OdomCount 4877 & avg odom time 0.047144 ms ++++++++++++++++++++++
--------------------stamp1317358268.699335098
points size 81647 
sort q time 5.636892 
seperate points time 13.975794 
scan registration time 33.942734 ms *************
publication time 9.123300 ms 
whole laserOdometry time 9.135805 ms 
 
mapping solver time 29.365707 ms 
--------------------stamp1317358268.803637027
prepare time 10.570452 
mapping solver time 28.359510 ms 
publication time 6.517907 ms 
whole laserOdometry time 6.536555 ms 
 
map prepare time 4.707952 ms
map corner num 256379  surf num 97834 
-----t: 0.0377919
OdomCount 4879 & avg odom time 0.047145 ms ++++++++++++++++++++++
1317358268.803637027 WriteOdom laser_odom_to_init
1317358268.803637027 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358268.907962083
sort q time 4.469611 
seperate points time 10.062782 
mapping data assosiation time 24.831553 ms 
mapping solver time 33.757227 ms 
mapping data assosiation time 22.593280 ms 
--------------------stamp1317358269.012336015
sort q time 4.317579 
seperate points time 9.333544 
mapping pub time 6.744799 ms 
whole mapping time 199.557507 ms +++++
mappingCount 3096 & avg mapping time 157.506280 ms ++++++++++++++++++++++
-----t: 0.063572
OdomCount 4881 & avg odom time 0.047152 ms ++++++++++++++++++++++
--------------------stamp1317358269.116710901
prepare time 10.640966 
sort q time 4.664703 
seperate points time 10.837971 
publication time 7.525474 ms 
whole laserOdometry time 7.551858 ms 
 
mapping solver time 27.403975 ms 
mapping data assosiation time 20.928266 ms 
-----t: 0.0640698
OdomCount 4882 & avg odom time 0.047155 ms ++++++++++++++++++++++
1317358269.116710901 WriteOdom laser_odom_to_init
1317358269.116710901 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.455246 ms 
mapping optimization time 163.730791 
add points time 0.856268 ms
filter time 16.768760 ms 
sort q time 4.805245 
scan registration time 47.166688 ms *************
publication time 6.134388 ms 
whole laserOdometry time 6.145117 ms 
 
build tree time 66.948178 ms 
mapping data assosiation time 22.036616 ms 
sort q time 4.875696 
seperate points time 10.662397 
publication time 19.188053 ms 
whole laserOdometry time 19.214530 ms 
 
-----t: 0.0482526
OdomCount 4884 & avg odom time 0.047152 ms ++++++++++++++++++++++
add points time 0.816737 ms
filter time 16.989563 ms 
mapping pub time 1.947106 ms 
whole mapping time 184.730917 ms +++++
mappingCount 3098 & avg mapping time 157.524857 ms ++++++++++++++++++++++
1317358269.012336016 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.398371 ms
map corner num 258456  surf num 98421 
--------------------stamp1317358269.429596900
sort q time 5.212480 
seperate points time 10.122653 
build tree time 70.972339 ms 
mapping data assosiation time 23.513868 ms 
points size 87922 
sort q time 5.384515 
seperate points time 11.447697 
mapping data assosiation time 23.731457 ms 
1317358269.533802986 WriteOdom aft_mapped_to_init_high_frecfilter time 15.650005 ms 
--------------------stamp1317358269.638009071
prepare time 12.121917 
scan registration time 25.750192 ms *************
publication time 12.063491 ms 
whole laserOdometry time 16.572703 ms 
 
build tree time 67.052864 ms 
mapping data assosiation time 21.514547 ms 
mapping solver time 22.182806 ms 
points size 89652 
sort q time 5.043736 
seperate points time 11.806271 
mapping solver time 28.367667 ms 
publication time 11.817773 ms 
whole laserOdometry time 11.837496 ms 
 
mapping pub time 1.894199 ms 
whole mapping time 191.487941 ms +++++
mappingCount 3100 & avg mapping time 157.546708 ms ++++++++++++++++++++++
1317358269.429596901 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.536070 ms
map corner num 259592  surf num 98663 
--------------------stamp1317358269.846302032
sort q time 4.327285 
seperate points time 9.766430 
build tree time 62.596083 ms 
publication time 24.532203 ms 
whole laserOdometry time 24.546243 ms 
 
-----t: 0.0539184
OdomCount 4889 & avg odom time 0.047155 ms ++++++++++++++++++++++
mapping solver time 29.053253 ms 
--------------------stamp1317358269.950436115
prepare time 10.767814 
sort q time 4.830985 
seperate points time 10.959102 
mapping optimization time 168.236673 
-----t: 0.0397513
OdomCount 4890 & avg odom time 0.047154 ms ++++++++++++++++++++++
--------------------stamp1317358270.054522991
points size 89998 
sort q time 4.837446 
seperate points time 11.439614 
publication time 8.713392 ms points size 88870 
sort q time 5.639004 
seperate points time 12.546961 
scan registration time 32.349131 ms *************
publication time 9.397901 ms 
whole laserOdometry time 9.428783 ms 
 
mapping pub time 227.733490 ms 
whole mapping time 422.309701 ms +++++
mappingCount 3101 & avg mapping time 157.632090 ms ++++++++++++++++++++++
--------------------stamp1317358270.262602090
points size 88593 
sort q time 4.742849 
seperate points time 11.356734 
publication time 8.831479 ms 
whole laserOdometry time 8.896031 ms 
 
build tree time 78.255242 ms 
mapping data assosiation time 20.398928 ms 
--------------------stamp1317358270.366617918
sort q time 4.851305 
seperate points time 11.193750 
-----t: 0.033182
OdomCount 4894 & avg odom time 0.047149 ms ++++++++++++++++++++++
publication time 16.329119 ms 
whole laserOdometry time 16.367661 ms 
 
filter time 17.395955 ms 
--------------------stamp1317358270.470609903
prepare time 12.132858 
sort q time 5.011452 
seperate points time 10.110403 
publication time 7.986220 ms 
whole laserOdometry time 8.001188 ms 
 
-----t: 0.0495951
OdomCount 4895 & avg odom time 0.047150 ms ++++++++++++++++++++++
1317358270.470609903 WriteOdom laser_odom_to_init
[0m[ INFO] [1718804987.370203323, 1317358270.560681228]: Received 358974 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804987.370253792, 1317358270.560681228]: Data saved to 1317358269638009.pcd[0m
--------------------stamp1317358270.574600934
mapping solver time 28.172049 ms 
publication time 6.412162 ms 
whole laserOdometry time 6.425415 ms 
 
-----t: 0.0441016
OdomCount 4896 & avg odom time 0.047149 ms ++++++++++++++++++++++
mapping solver time 30.689565 ms 
filter time 24.248693 ms 
mapping pub time 2.353351 ms 
whole mapping time 230.740255 ms +++++
mappingCount 3103 & avg mapping time 157.670560 ms ++++++++++++++++++++++
1317358270.262602091 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 83637 
prepare time 10.178396 
scan registration time 25.425196 ms *************
publication time 12.467688 ms 
whole laserOdometry time 12.480711 ms 
 
build tree time 76.802385 ms 
mapping data assosiation time 25.415914 ms 
points size 78498 
sort q time 4.145491 
seperate points time 9.744610 
publication time 8.820873 ms 
whole laserOdometry time 8.836572 ms 
 
mapping solver time 17.747481 ms 
filter time 24.634179 ms 
points size 77424 
sort q time 4.444715 
seperate points time 9.711045 
publication time 7.075678 ms 
whole laserOdometry time 7.089758 ms 
 
-----t: 0.0416557
OdomCount 4899 & avg odom time 0.047150 ms ++++++++++++++++++++++
1317358270.886497020 WriteOdom laser_odom_to_init
1317358270.886497020 WriteOdom aft_mapped_to_init_high_frec
build tree time 76.752163 ms 
--------------------stamp1317358270.990466117
prepare time 10.151055 
scan registration time 23.649994 ms *************
publication time 7.280130 ms 
whole laserOdometry time 7.293513 ms 
 
-----t: 0.0447481
OdomCount 4900 & avg odom time 0.047150 ms ++++++++++++++++++++++
mapping solver time 18.340154 ms 
--------------------stamp1317358271.094433069
map prepare time 4.447117 ms
map corner num 263060  surf num 99332 
scan registration time 23.646991 ms *************
publication time 10.447765 ms 
whole laserOdometry time 10.461681 ms 
 
-----t: 0.0363921
OdomCount 4901 & avg odom time 0.047148 ms ++++++++++++++++++++++
1317358271.094433069 WriteOdom laser_odom_to_init
1317358271.094433069 WriteOdom aft_mapped_to_init_high_frec
build tree time 76.194186 ms 
--------------------stamp1317358271.198373079
sort q time 3.919439 
seperate points time 9.561678 
publication time 9.186225 ms 
whole laserOdometry time 9.198502 ms 
 
mapping solver time 14.914424 ms 
filter time 18.216968 ms 
map prepare time 4.028433 ms
map corner num 263821  surf num 99472 
points size 71482 
sort q time 3.916478 
seperate points time 9.211135 
publication time 9.612809 ms 
whole laserOdometry time 9.630251 ms 
 
-----t: 0.0339933
OdomCount 4903 & avg odom time 0.047143 ms ++++++++++++++++++++++
1317358271.302318096 WriteOdom laser_odom_to_init
1317358271.302318096 WriteOdom aft_mapped_to_init_high_frec
build tree time 70.086747 ms 
mapping data assosiation time 20.889639 ms 
--------------------stamp1317358271.406260967
prepare time 11.509943 
scan registration time 25.171616 ms *************
scan registration time 27.202710 ms *************
-----t: 0.0444506
OdomCount 4905 & avg odom time 0.047139 ms ++++++++++++++++++++++
1317358271.510179042 WriteOdom laser_odom_to_init
1317358271.510179042 WriteOdom aft_mapped_to_init_high_frec
build tree time 87.077760 ms 
mapping data assosiation time 20.662814 ms 
points size 76353 
mapping solver time 27.790574 ms 
publication time 7.121084 ms 
whole laserOdometry time 7.131080 ms 
 
-----t: 0.0419696
OdomCount 4906 & avg odom time 0.047138 ms ++++++++++++++++++++++
mapping solver time 21.630572 ms 
filter time 16.448097 ms 
--------------------stamp1317358271.718017101
points size 80205 
sort q time 4.169160 
seperate points time 10.188213 
publication time 7.726700 ms 
whole laserOdometry time 7.741224 ms 
 
-----t: 0.0425919
OdomCount 4907 & avg odom time 0.047137 ms ++++++++++++++++++++++
1317358271.718017101 WriteOdom laser_odom_to_init
1317358271.718017101 WriteOdom aft_mapped_to_init_high_frec
build tree time 67.945881 ms 
mapping solver time 23.788876 ms 
sort q time 5.174930 
seperate points time 9.988124 
publication time 9.204420 ms 
whole laserOdometry time 9.214417 ms 
 
-----t: 0.043326
OdomCount 4908 & avg odom time 0.047136 ms ++++++++++++++++++++++
filter time 19.427910 ms 
--------------------stamp1317358271.925854921
sort q time 4.726868 
seperate points time 10.902359 
build tree time 68.428900 ms 
-----t: 0.0468997
OdomCount 4909 & avg odom time 0.047136 ms ++++++++++++++++++++++
mapping solver time 24.771894 ms 
points size 86811 
sort q time 4.888668 
seperate points time 11.471672 
add points time 1.164265 ms
-----t: 0.0394053
OdomCount 4910 & avg odom time 0.047135 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317358272.133692026
prepare time 13.288449 
sort q time 10.436270 
seperate points time 17.145495 
scan registration time 34.966894 ms *************
-----t: 0.0323513
OdomCount 4911 & avg odom time 0.047132 ms ++++++++++++++++++++++
1317358272.133692026 WriteOdom laser_odom_to_init
1317358272.133692026 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.333743 ms 
mapping solver time 26.387704 ms 
mapping data assosiation time 18.990388 ms 
mapping solver time 19.151634 ms 
mapping optimization time 152.173526 
add points time 0.980124 ms
filter time 16.042849 ms 
publication time 7.236284 ms 
whole laserOdometry time 7.245957 ms 
 
--------------------stamp1317358272.341456890
prepare time 14.266620 
mapping data assosiation time 26.206737 ms 
publication time 8.211993 ms 
whole laserOdometry time 8.227319 ms 
 
-----t: 0.0323908
OdomCount 4913 & avg odom time 0.047129 ms ++++++++++++++++++++++
mapping data assosiation time 22.597152 ms 
points size 88152 
sort q time 4.954065 
seperate points time 11.506265 
map prepare time 4.169241 ms
map corner num 249089  surf num 94734 
1317358272.445327997 WriteOdom laser_odom_to_init
1317358272.445327997 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358272.549175977
points size 85609 
sort q time 5.463408 
seperate points time 12.960974 
scan registration time 47.312008 ms *************
mapping solver time 30.525902 ms 
mapping data assosiation time 21.066487 ms 
--------------------stamp1317358272.652997970
sort q time 4.765102 
seperate points time 10.280248 
map prepare time 4.390117 ms
map corner num 249710  surf num 94891 
-----t: 0.0425549build tree time 57.674012 ms 
--------------------stamp1317358272.756843090
mapping data assosiation time 23.175569 ms 
sort q time 4.528800 scan registration time 37.666034 ms *************
-----t: 0.0346996
OdomCount 4917 & avg odom time 0.047124 ms ++++++++++++++++++++++
1317358272.756843090 WriteOdom laser_odom_to_init
1317358272.756843090 WriteOdom aft_mapped_to_init_high_frec
publication time 5.696825 ms 
whole laserOdometry time 5.709472 ms 
 
mapping solver time 14.512285 ms 
--------------------stamp1317358272.860691070
drop lidar frame in mapping for real time performance 
scan registration time 26.668907 ms *************
[0m[ INFO] [1718804989.715673744, 1317358272.898021169]: Received 342885 data points in frame camera_init with the following fields: x y z intensity[0m
publication time 6.831787 ms 
whole laserOdometry time 6.849722 ms 
 
build tree time 63.456036 ms 
--------------------stamp1317358272.964490890
mapping data assosiation time 22.634886 ms 
prepare time 10.539395 
sort q time 4.580321 
seperate points time 10.692735 
publication time 9.253449 ms 
whole laserOdometry time 9.283630 ms 
 
mapping solver time 14.625596 ms 
filter time 18.472680 ms 
--------------------stamp1317358273.068288087
sort q time 5.012299 
seperate points time 9.776306 
scan registration time 24.091434 ms *************
-----t: 0.0333844
OdomCount 4920 & avg odom time 0.047117 ms ++++++++++++++++++++++
mapping data assosiation time 19.981391 ms 
mapping solver time 22.230929 ms 
points size 81589 
mapping data assosiation time 24.369795 ms 
sort q time 5.290588 
seperate points time 10.096003 
mapping solver time 22.150434 ms 
filter time 22.405669 ms 
map prepare time 3.626370 ms
map corner num 251813  surf num 95335 
--------------------stamp1317358273.275886058
sort q time 4.687104 
seperate points time 9.670397 
publication time 7.089955 ms 
whole laserOdometry time 7.102938 ms 
 
1317358273.275886058 WriteOdom laser_odom_to_init
1317358273.275886058 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.831159 ms 
mapping data assosiation time 21.491835 ms 
points size 81277 
sort q time 4.176929 
seperate points time 9.728082 
publication time 6.788120 ms 
whole laserOdometry time 6.834731 ms 
 
--------------------stamp1317358273.483505964
prepare time 13.384483 
sort q time 4.803851 
seperate points time 11.009005 
publication time 9.873650 ms -----t: 0.0762957
OdomCount 4924 & avg odom time 0.047120 ms ++++++++++++++++++++++
points size 81623 

scan registration time 86.210004 ms *************
publication time 43.735282 ms 
whole laserOdometry time 43.758327 ms 
 
sort q time 32.323536 
seperate points time 48.968580 
filter time 94.618851 ms 
--------------------stamp1317358273.794930934

whole mapping time 407.372498 ms +++++
mappingCount 3118 & avg mapping time 157.915606 ms ++++++++++++++++++++++
1317358273.275886059 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance -----t: 0.0734803
OdomCount 4927 & avg odom time 0.047146 ms ++++++++++++++++++++++
scan registration time 92.308948 ms *************
prepare time 24.568263 
sort q time 4.069121 
seperate points time 17.520686 publication time 16.507361 ms 
-----t: 0.0835371
OdomCount 4928 & avg odom time 0.047153 ms ++++++++++++++++++++++
sort q time 7.774466 
seperate points time 13.682611 
publication time 6.648285 ms 
whole laserOdometry time 6.661377 ms 
 
mapping solver time 26.944465 ms 
mapping data assosiation time 21.162103 ms 
points size 72440 
mapping solver time 23.474190 ms 
publication time 6.198249 ms 
whole laserOdometry time 6.211083 ms 
 
filter time 19.884785 ms 
mapping pub time 1.873928 ms 
whole mapping time 294.508031 ms +++++
mappingCount 3119 & avg mapping time 157.959401 ms ++++++++++++++++++++++
-----t: 0.0346365
OdomCount 4930 & avg odom time 0.047146 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 
--------------------stamp1317358274.210100889
build tree time 61.049430 ms 
publication time 6.129191 ms 
whole laserOdometry time 6.142169 ms 
 
-----t: 0.0455225
OdomCount 4931 & avg odom time 0.047146 ms ++++++++++++++++++++++
mapping data assosiation time 21.480994 ms 
--------------------stamp1317358274.313924074
sort q time 3.735099 
seperate points time 7.922838 
filter time 22.482155 ms 
-----t: 0.0389342
OdomCount 4932 & avg odom time 0.047144 ms ++++++++++++++++++++++
1317358274.313924074 WriteOdom laser_odom_to_init
1317358274.313924074 WriteOdom aft_mapped_to_init_high_frec
build tree time 63.587817 ms 
prepare time 9.413168 
mapping data assosiation time 26.296060 ms 
publication time 6.025422 ms 
whole laserOdometry time 6.040825 ms 
 
mapping solver time 29.708127 ms 
-----t: 0.0412305
OdomCount 4933 & avg odom time 0.047143 ms ++++++++++++++++++++++
1317358274.417721986 WriteOdom laser_odom_to_init
mapping data assosiation time 21.007580 ms 
mapping solver time 18.984884 ms 
--------------------stamp1317358274.521495103
points size 81443 
sort q time 4.813814 
seperate points time 11.995807 
scan registration time 32.743234 ms *************
--------------------stamp1317358274.625267982
sort q time 4.155631 
seperate points time 9.392010 
publication time 6.403360 ms 
whole laserOdometry time 6.417361 ms 
 
mapping pub time 192.870589 ms 
whole mapping time 380.507513 ms +++++
mappingCount 3121 & avg mapping time 158.039631 ms ++++++++++++++++++++++
points size 82541 
sort q time 4.640802 
seperate points time 9.435921 
publication time 6.997814 ms 
whole laserOdometry time 7.009282 ms 
 
build tree time 63.125427 ms mapping data assosiation time 20.089701 ms 
mapping solver time 23.373461 ms 
points size 84358 
prepare time 23.777342 
sort q time 5.360355 
seperate points time 14.678481 
publication time 5.992297 ms 
whole laserOdometry time 6.003226 ms 
 
filter time 20.040497 ms 
--------------------stamp1317358274.936523914
prepare time 12.960090 
sort q time 4.518792 
seperate points time 10.646528 
build tree time 60.665685 ms 
-----t: 0.0427504
OdomCount 4938 & avg odom time 0.047138 ms ++++++++++++++++++++++
mapping solver time 22.283975 ms 
mapping data assosiation time 19.691739 ms 
sort q time 5.244548 
seperate points time 10.795324 
publication time 8.222769 ms 
whole laserOdometry time 8.241068 ms 
 
map prepare time 3.529293 ms
map corner num 248736  surf num 89915 
--------------------stamp1317358275.144027948
prepare time 12.626515 
scan registration time 27.211359 ms *************publication time 12.808094 ms 
whole laserOdometry time 12.823938 ms 
 
[0m[ INFO] [1718804992.030585169, 1317358275.216882862]: Received 336806 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804992.030637481, 1317358275.216882862]: Data saved to 1317358274210100.pcd[0m
mapping data assosiation time 23.665182 ms 
--------------------stamp1317358275.247756958
map prepare time 3.984833 ms
map corner num 249430  surf num 90094 
build tree time 59.005653 ms 
--------------------stamp1317358275.351476907
sort q time 5.181334 
seperate points time 10.598293 
mapping solver time 26.267860 ms 
mapping data assosiation time 22.507857 ms 
mapping solver time 19.344220 ms 
filter time 15.920573 ms 
mapping pub time 1.948449 ms 
whole mapping time 174.488126 ms +++++
mappingCount 3125 & avg mapping time 158.067396 ms ++++++++++++++++++++++
1317358275.144027948 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.288639 ms
map corner num 250127  surf num 90242 
points size 84636 
sort q time 4.944134 
seperate points time 10.821101 
publication time 14.737219 ms 
whole laserOdometry time 14.750489 ms 
mapping data assosiation time 25.134256 ms 
points size 83315 
sort q time 5.026122 
seperate points time 9.862767 
publication time 6.594561 ms 
whole laserOdometry time 6.608828 ms 
 
mapping data assosiation time 24.705239 ms 
filter time 25.261472 ms 
map prepare time 4.147965 mspoints size 83567 
sort q time 4.645568 
seperate points time 10.550671 
publication time 7.379986 ms 
whole laserOdometry time 7.390029 ms 
 
build tree time 71.659675 ms 
mapping data assosiation time 26.983409 ms 
points size 82450 
sort q time 5.241161 
seperate points time 10.371011 
publication time 8.838712 ms 
whole laserOdometry time 8.849369 ms 
 
-----t: 0.0389404
OdomCount 4946 & avg odom time 0.047132 ms ++++++++++++++++++++++mapping solver time 32.218522 ms 
filter time 16.473700 ms 
points size 82858 
sort q time 4.592808 
seperate points time 10.982662 
publication time 7.285998 ms 
whole laserOdometry time 7.297333 ms 
 
-----t: 0.0396844
OdomCount 4947 & avg odom time 0.047131 ms ++++++++++++++++++++++
build tree time 76.591253 ms 
--------------------stamp1317358275.973691940
prepare time 12.318151 
sort q time 4.511994 
seperate points time 10.645321 
publication time 9.123342 ms 
whole laserOdometry time 9.160159 ms 
 
mapping solver time 19.395296 ms 
mapping optimization time 176.111295 
add points time 1.017888 ms
filter time 16.474184 ms 
mapping pub time 1.804142 ms 
whole mapping time 200.940263 ms +++++
mappingCount 3128 & avg mapping time 158.112993 ms ++++++++++++++++++++++
1317358275.662585974 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.135408 ms
map corner num 252040  surf num 90698 
--------------------stamp1317358276.077394962
sort q time 4.633227 
seperate points time 10.672814 
build tree time 58.154972 ms 
mapping data assosiation time 23.694918 ms 
--------------------stamp1317358276.181097984
sort q time 4.850108 
seperate points time 11.131911 
publication time 8.452282 ms 
whole laserOdometry time 8.465274 ms 
 
-----t: 0.0354532
OdomCount 4950 & avg odom time 0.047128 ms ++++++++++++++++++++++
1317358276.181097984 WriteOdom laser_odom_to_init
add points time 1.103000 ms
filter time 17.061558 ms 
--------------------stamp1317358276.284800052
prepare time 13.997723 
sort q time 5.185876 
seperate points time 11.271432 
publication time 7.901938 ms 
whole laserOdometry time 7.938286 ms 
 
mapping data assosiation time 26.443439 ms 
mapping solver time 23.158884 ms 
mapping data assosiation time 19.805943 ms 
points size 89082 
prepare time 11.979214 
sort q time 14.032971 
seperate points time 22.928442 
map prepare time 4.500915 ms
map corner num 253232  surf num 91034 
--------------------stamp1317358276.492208003
publication time 8.002407 ms 
whole laserOdometry time 8.016827 ms 
 
--------------------stamp1317358276.595911026
mapping solver time 25.766044 ms 
points size 93015 
sort q time 5.421921 
seperate points time 11.704604 
publication time 7.488582 ms 
whole laserOdometry time 7.499809 ms 
 
filter time 16.708902 ms 
--------------------stamp1317358276.699635982
points size 95051 
sort q time 5.382922 
seperate points time 12.527064 
build tree time 65.641958 ms 
publication time 7.443949 ms 
whole laserOdometry time 7.451339 ms 
 
mapping data assosiation time 25.507183 ms 
mapping solver time 21.321637 ms 
--------------------stamp1317358276.803385972
prepare time 12.113450 
sort q time 5.510521 
seperate points time 12.417585 
scan registration time 39.021617 ms *************
map prepare time 4.564887 ms
map corner num 254262  surf num 91236 
publication time 12.160807 ms 
whole laserOdometry time 12.177775 ms 
 
--------------------stamp1317358276.907186031
points size 94346 
sort q time 5.035969 
seperate points time 12.190137 
publication time 7.883367 ms 
whole laserOdometry time 7.896424 ms 
 
mapping data assosiation time 22.825725 ms 
--------------------stamp1317358277.011032104
filter time 17.131470 ms 
publication time 9.771771 ms 
whole laserOdometry time 9.800980 ms 
 build tree time 60.015176 ms 
points size 94629 
sort q time 5.012973 
seperate points time 11.568052 
publication time 7.590774 ms 
whole laserOdometry time 7.607647 ms 
 
mapping solver time 25.146580 ms 
mapping data assosiation time 28.729994 ms 
mapping solver time 18.491927 ms 
points size 94910 
map prepare time 4.695755 ms
map corner num 255366  surf num 91556 
publication time 7.897088 ms 
whole laserOdometry time 7.910898 ms 
 
-----t: 0.0656625
OdomCount 4960 & avg odom time 0.047144 ms ++++++++++++++++++++++
build tree time 72.109110 ms 
prepare time 12.152504 
mapping data assosiation time 28.964227 ms 
scan registration time 30.021489 ms *************
mapping solver time 25.922097 ms 
mapping data assosiation time 31.069333 ms 
--------------------stamp1317358277.426635026
add points time 1.278810 ms
sort q time 6.601798 
seperate points time 13.870572 
drop lidar frame in mapping for real time performance 
1317358277.426635026 WriteOdom laser_odom_to_init
--------------------stamp1317358277.530529975
prepare time 13.996581 
sort q time 6.173091 
seperate points time 13.469391 
mapping solver time 29.358047 ms 
-----t: 0.0755276
OdomCount 4963 & avg odom time 0.047149 ms ++++++++++++++++++++++
1317358277.530529975 WriteOdom laser_odom_to_init
1317358277.530529975 WriteOdom aft_mapped_to_init_high_frec
points size 101659 
prepare time 12.992306 
add points time 1.202278 ms
filter time 23.436454 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
points size 102919 
sort q time 5.941791 
seperate points time 13.490513 
mapping data assosiation time 30.622799 ms 
publication time 16.555134 ms 
whole laserOdometry time 16.572019 ms 
 
--------------------stamp1317358277.842263936
points size 102789 
sort q time 5.626764 
seperate points time 13.149490 
mapping data assosiation time 32.922227 ms 
-----t: 0.0426834
OdomCount 4966 & avg odom time 0.047153 ms ++++++++++++++++++++++
mapping solver time 30.649941 ms 
filter time 16.652625 ms 
map prepare time 3.491562 ms
map corner num 217511  surf num 75339 
points size 102638 
sort q time 5.815174 
seperate points time 13.282974 
build tree time 53.780842 ms 
publication time 12.310925 ms 
whole laserOdometry time 12.324165 ms 
 
mapping data assosiation time 30.311604 ms 
mapping solver time 26.798275 ms 
points size 102277 
mapping data assosiation time 32.848434 ms 
publication time 10.854251 ms 
whole laserOdometry time 10.869512 ms 
 
filter time 16.201918 ms 
-----t: 0.0839945
OdomCount 4968 & avg odom time 0.047161 ms ++++++++++++++++++++++
--------------------stamp1317358278.154189109
points size 101963 
sort q time 6.154400 
seperate points time 14.106498 
publication time 8.759963 ms 
whole laserOdometry time 8.773731 ms 
 
mapping data assosiation time 32.055767 ms 
--------------------stamp1317358278.258177995
points size 101529 
sort q time 6.092516 
seperate points time 13.774960 
mapping data assosiation time 31.320575 ms 
-----t: 0.0566114
OdomCount 4970 & avg odom time 0.047166 ms ++++++++++++++++++++++
mapping solver time 37.230899 ms 
filter time 16.918404 ms 
--------------------stamp1317358278.362190961
prepare time 15.361140 
sort q time 5.819734 
seperate points time 13.481421 
publication time 8.091780 ms 
-----t: 0.0495353
OdomCount 4971 & avg odom time 0.047166 ms ++++++++++++++++++++++
mapping data assosiation time 31.560569 ms 
--------------------stamp1317358278.466181039
points size 97400 
sort q time 5.506813 
seperate points time 12.853757 
mapping data assosiation time 34.255181 ms 
publication time 13.751484 ms 
whole laserOdometry time 13.767006 ms 
 
mapping solver time 29.304898 ms 
mapping pub time 2.761016 ms 
whole mapping time 207.799623 ms +++++
mappingCount 3140 & avg mapping time 158.292425 ms ++++++++++++++++++++++
prepare time 15.101895 
sort q time 5.548610 
seperate points time 14.377706 
build tree time 76.934692 ms 
prepare time 15.401809 
mapping data assosiation time 45.574749 ms 
sort q time 5.400727 
seperate points time 12.672741 
publication time 9.237512 ms 
whole laserOdometry time 9.265241 ms 
 
1317358278.674113988 WriteOdom laser_odom_to_init
1317358278.674113988 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.447868 ms 
points size 92810 
add points time 1.607479 ms
filter time 21.566698 ms 
publication time 14.281640 ms 
whole laserOdometry time 14.297621 ms 
 
points size 90166 
scan registration time 32.398866 ms *************
publication time 9.738870 ms 
whole laserOdometry time 9.755966 ms 
 
-----t: 0.0566143
OdomCount 4976 & avg odom time 0.047177 ms ++++++++++++++++++++++
--------------------stamp1317358278.986017942
prepare time 10.831092 
sort q time 4.643649 
seperate points time 10.129099 
publication time 7.019442 ms 
whole laserOdometry time 7.030771 ms 
 
map prepare time 4.453006 ms
map corner num 220648  surf num 76675 
-----t: 0.0405883
OdomCount 4977 & avg odom time 0.047175 ms ++++++++++++++++++++++
1317358278.986017942 WriteOdom laser_odom_to_init
1317358278.986017942 WriteOdom aft_mapped_to_init_high_frec
build tree time 47.974015 ms 
sort q time 5.146099 
seperate points time 10.459109 
mapping data assosiation time 31.155677 ms 
publication time 7.742981 ms 
whole laserOdometry time 7.758667 ms 
 
mapping solver time 32.074263 ms 
mapping data assosiation time 27.353744 ms 
points size 87653 
mapping solver time 28.442809 ms 
filter time 22.013873 ms 
-----t: 0.0445988
OdomCount 4979 & avg odom time 0.047176 ms ++++++++++++++++++++++
1317358279.193974971 WriteOdom laser_odom_to_init
build tree time 49.056692 ms 
--------------------stamp1317358279.297967910
mapping data assosiation time 27.270583 ms 
scan registration time 27.549472 ms *************
mapping solver time 28.931498 ms 
-----t: 0.0569993
OdomCount 4980 & avg odom time 0.047178 ms ++++++++++++++++++++++
--------------------stamp1317358279.401910066
mapping solver time 24.347672 ms 
prepare time 10.989453 
sort q time 4.688442 
seperate points time 10.750223 
map prepare time 4.964010 ms
map corner num 222446  surf num 77509 
-----t: 0.0406716
OdomCount 4981 & avg odom time 0.047177 ms ++++++++++++++++++++++
build tree time 54.709360 ms 
points size 84516 
scan registration time 25.131328 ms *************
publication time 7.723466 ms 
whole laserOdometry time 7.752632 ms 
 
1317358279.505826950 WriteOdom laser_odom_to_init
mapping data assosiation time 26.924178 ms 
mapping solver time 20.569958 ms 
points size 81669 
map prepare time 4.287456 ms
map corner num 223304  surf num 77754 
publication time 7.067864 ms 
-----t: 0.053291
OdomCount 4983 & avg odom time 0.047177 ms ++++++++++++++++++++++
build tree time 56.370465 ms 
--------------------stamp1317358279.713568925
points size 78737 
sort q time 4.275535 
seperate points time 10.408852 
publication time 9.881697 ms 
whole laserOdometry time 9.900390 ms 
 
-----t: 0.0534674
OdomCount 4984 & avg odom time 0.047178 ms ++++++++++++++++++++++
mapping solver time 24.697585 ms 
filter time 15.144296 ms 
points size 76999 
sort q time 4.365478 
seperate points time 9.921536 
publication time 9.464510 ms 
whole laserOdometry time 9.488353 ms 
 
-----t: 0.0453106
OdomCount 4985 & avg odom time 0.047178 ms ++++++++++++++++++++++
build tree time 74.326217 ms 
mapping data assosiation time 23.345741 ms 
points size 74853 
mapping solver time 30.538746 ms 
publication time 6.826650 ms 
whole laserOdometry time 6.838731 ms 
 
-----t: 0.058545
OdomCount 4986 & avg odom time 0.047180 ms ++++++++++++++++++++++
filter time 15.909463 ms 
map prepare time 5.632016 ms
map corner num 224683  surf num 78122 
scan registration time 41.026011 ms *************
publication time 8.019686 ms 
whole laserOdometry time 8.031845 ms 
 
-----t: 0.0643207
OdomCount 4987 & avg odom time 0.047184 ms ++++++++++++++++++++++
--------------------stamp1317358280.128982067
mapping solver time 26.657810 ms 
mapping data assosiation time 26.140989 ms 
publication time 9.646991 ms 
whole laserOdometry time 9.659698 ms 
 
mapping optimization time 166.890024 
-----t: 0.0667763
OdomCount 4988 & avg odom time 0.047187 ms ++++++++++++++++++++++
1317358280.128982067 WriteOdom laser_odom_to_init
1317358280.128982067 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 1.721124 ms 
whole mapping time 194.350374 ms +++++
mappingCount 3147 & avg mapping time 158.459467 ms ++++++++++++++++++++++
1317358279.817415953 WriteOdom aft_mapped_to_init
--------------------stamp1317358280.232826948
sort q time 3.806134 
seperate points time 8.263825 
scan registration time 36.662858 ms *************
publication time 6.426699 ms 
-----t: 0.0507433
OdomCount 4989 & avg odom time 0.047188 ms ++++++++++++++++++++++
mapping data assosiation time 23.393286 ms 
[0m[ INFO] [1718804997.145392594, 1317358280.333363988]: Received 302805 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804997.145444980, 1317358280.333363988]: Data saved to 1317358279609721.pcd[0m
mapping solver time 22.372515 ms 
points size 76326 
sort q time 4.406228 mapping solver time 23.049106 ms 
-----t: 0.0435036
OdomCount 4990 & avg odom time 0.047187 ms ++++++++++++++++++++++
map prepare time 3.103471 ms
map corner num 225934  surf num 78390 
--------------------stamp1317358280.440496921
prepare time 11.881140 
scan registration time 25.008742 ms *************
mapping data assosiation time 24.359035 ms 
publication time 8.637985 ms 
whole laserOdometry time 8.651171 ms 
 
mapping solver time 26.050617 ms 
mapping data assosiation time 24.951908 ms 
--------------------stamp1317358280.544343948
prepare time 11.277870 
scan registration time 25.032253 ms *************
map prepare time 6.668770 ms
map corner num 226523  surf num 78523 
build tree time 51.456143 ms 
points size 67110 
sort q time 3.734637 
seperate points time 9.017389 
publication time 4.561540 ms 
whole laserOdometry time 4.573034 ms 
 
mapping data assosiation time 20.041149 ms 
mapping solver time 15.738034 ms 
filter time 21.142859 ms 
points size 64859 
sort q time 3.923683 
seperate points time 9.338179 
scan registration time 25.894519 ms *************
publication time 4.595772 ms 
whole laserOdometry time 4.609445 ms 
 
-----t: 0.052103
OdomCount 4994 & avg odom time 0.047182 ms ++++++++++++++++++++++
mapping data assosiation time 19.824116 ms 
--------------------stamp1317358280.855838060
sort q time 3.478909 
seperate points time 7.894334 
publication time 8.614321 ms mapping data assosiation time 45.924899 ms 
mapping solver time 15.813991 ms 
filter time 16.405329 ms 
map prepare time 2.845572 ms
map corner num 187455  surf num 62492 
sort q time 3.638929 
seperate points time 7.585604 
publication time 5.543456 ms 
whole laserOdometry time 5.557738 ms 
 
mapping data assosiation time 16.323030 ms 
mapping solver time 19.292893 ms 
mapping data assosiation time 18.131615 ms 
points size 62090 
sort q time 4.013546 
seperate points time 7.561829 
publication time 5.674530 ms 
whole laserOdometry time 5.691144 ms 
 
map prepare time 3.089209 ms
map corner num 187990  surf num 62639 
build tree time 40.894406 ms 
mapping data assosiation time 18.394424 ms 
--------------------stamp1317358281.167352914
mapping solver time 23.101460 ms 
publication time 7.771633 ms 
whole laserOdometry time 7.797509 ms 
 
mapping data assosiation time 21.407042 ms 
add points time 0.827044 ms
filter time 12.574296 ms 
[0m[ INFO] [1718804998.072466684, 1317358281.254876058]: Received 306379 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804998.072522358, 1317358281.254876058]: Data saved to 1317358280544343.pcd[0m
--------------------stamp1317358281.271199941
prepare time 11.161548 
scan registration time 22.527207 ms *************
publication time 7.281506 ms 
whole laserOdometry time 7.292326 ms 
 
-----t: 0.0341843
OdomCount 4999 & avg odom time 0.047166 ms ++++++++++++++++++++++
mapping data assosiation time 17.134169 ms 
mapping solver time 15.848000 ms 
filter time 11.885749 ms 
prepare time 9.892675 
scan registration time 22.155969 ms *************
publication time 12.215618 ms 
whole laserOdometry time 12.231659 ms 
 
mapping data assosiation time 17.008607 ms 
mapping solver time 19.731885 ms 
--------------------stamp1317358281.478915929
mapping solver time 15.053172 ms 
filter time 16.705784 ms 
build tree time 41.875181 ms 
mapping data assosiation time 19.611073 ms 
sort q time 3.923546 
seperate points time 8.550155 
publication time 16.516629 ms 
whole laserOdometry time 16.530457 ms 
 
mapping solver time 13.661338 ms 
filter time 12.104308 ms 
--------------------stamp1317358281.686657905
sort q time 3.698824 
seperate points time 8.120076 
scan registration time 18.190425 ms *************
build tree time 43.765114 ms 
mapping data assosiation time 21.335494 ms 
-----t: 0.0439529
OdomCount 5003 & avg odom time 0.047155 ms ++++++++++++++++++++++
1317358281.686657905 WriteOdom laser_odom_to_init
mapping solver time 21.755228 ms 
1317358281.686657905 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.862312 ms 
--------------------stamp1317358281.790529012
sort q time 4.263683 
seperate points time 9.204195 
map prepare time 2.945918 ms
map corner num 190995  surf num 63462 
-----t: 0.0372593
OdomCount 5004 & avg odom time 0.047153 ms ++++++++++++++++++++++
build tree time 44.382350 ms 
mapping data assosiation time 17.153459 ms 
points size 66094 
sort q time 3.661702 
seperate points time 7.974066 
mapping data assosiation time 20.623500 ms 
-----t: 0.0360941
OdomCount 5005 & avg odom time 0.047151 ms ++++++++++++++++++++++
filter time 13.188303 ms 
--------------------stamp1317358281.998267889
build tree time 42.126901 ms 
mapping data assosiation time 21.198038 ms 
mapping solver time 24.551866 ms 
mapping data assosiation time 16.893399 ms 
mapping solver time 16.645093 ms 
filter time 11.676445 ms 
points size 68653 
sort q time 3.693375 
seperate points time 9.146554 
publication time 5.424124 ms 
whole laserOdometry time 5.435798 ms 
 
-----t: 0.0472913
OdomCount 5007 & avg odom time 0.047148 ms ++++++++++++++++++++++
[0m[ INFO] [1718804999.000957864, 1317358282.189347528]: Received 253762 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718804999.001010008, 1317358282.189347528]: Data saved to 1317358281375045.pcd[0m
points size 66210 
scan registration time 25.171226 ms *************
-----t: 0.028246
OdomCount 5008 & avg odom time 0.047145 ms ++++++++++++++++++++++
mapping pub time 1.472116 ms 
whole mapping time 151.079475 ms +++++
mappingCount 3160 & avg mapping time 158.443037 ms ++++++++++++++++++++++
build tree time 39.987876 ms 
points size 65686 
scan registration time 17.111586 ms *************
publication time 6.997008 ms 
whole laserOdometry time 7.010050 ms 
 
-----t: 0.0285736
OdomCount 5009 & avg odom time 0.047141 ms ++++++++++++++++++++++
mapping data assosiation time 18.602113 ms 
mapping solver time 12.285190 ms 
filter time 12.397658 ms 
points size 66033 
sort q time 3.941278 
seperate points time 8.152449 
publication time 4.990412 ms 
whole laserOdometry time 5.003926 ms 
 
-----t: 0.0441624
OdomCount 5010 & avg odom time 0.047140 ms ++++++++++++++++++++++
--------------------stamp1317358282.517672061
sort q time 3.749837 
seperate points time 8.005180 
-----t: 0.0302074
OdomCount 5011 & avg odom time 0.047137 ms ++++++++++++++++++++++
map prepare time 2.667565 ms
map corner num 193392  surf num 64047 
build tree time 41.924538 ms 
--------------------stamp1317358282.621542930
points size 70688 
mapping data assosiation time 19.066965 ms 
prepare time 11.176803 
scan registration time 25.995389 ms *************
-----t: 0.0267875
OdomCount 5012 & avg odom time 0.047133 ms ++++++++++++++++++++++
mapping data assosiation time 25.848337 ms 
mapping solver time 13.467088 ms 
filter time 14.125121 ms 
points size 73931 
sort q time 5.397785 
seperate points time 11.611656 
publication time 7.557914 ms 
whole laserOdometry time 7.570104 ms 
 
mapping data assosiation time 19.009057 ms 
--------------------stamp1317358282.829282999
mapping solver time 23.924835 ms 
sort q time 4.333518 
seperate points time 28.088256 
--------------------stamp1317358282.933155059
mapping data assosiation time 17.481251 ms 
publication time 7.955083 ms 
whole laserOdometry time 7.971250 ms 
 
mapping data assosiation time 18.324454 ms 
mapping solver time 16.133438 ms 
filter time 11.882459 ms 
--------------------stamp1317358283.037050008
sort q time 4.287426 
seperate points time 9.468632 
scan registration time 25.015984 ms *************
-----t: 0.0298468
OdomCount 5016 & avg odom time 0.047122 ms ++++++++++++++++++++++
mapping data assosiation time 17.831192 ms 
mapping solver time 20.934938 ms 
--------------------stamp1317358283.140945911
sort q time 4.449482 
seperate points time 8.892406 
publication time 7.250032 ms 
whole laserOdometry time 7.264395 ms 
 
map prepare time 3.537342 ms
map corner num 195856  surf num 64704 
-----t: 0.0486965
OdomCount 5017 & avg odom time 0.047122 ms ++++++++++++++++++++++
build tree time 43.316440 ms 
points size 75905 
scan registration time 23.432117 ms *************
1317358283.244839906 WriteOdom laser_odom_to_init
mapping solver time 17.361047 ms 
filter time 11.701226 ms 
--------------------stamp1317358283.348758935
sort q time 4.130439 
seperate points time 9.284468 
-----t: 0.035091
OdomCount 5019 & avg odom time 0.047119 ms ++++++++++++++++++++++
mapping data assosiation time 17.627589 ms 
mapping solver time 16.254565 ms 
mapping data assosiation time 17.208062 ms 
--------------------stamp1317358283.452652931
sort q time 4.595376 
seperate points time 8.976231 
publication time 6.554743 ms 
whole laserOdometry time 6.571353 ms 
 
-----t: 0.0444603
OdomCount 5020 & avg odom time 0.047119 ms ++++++++++++++++++++++
build tree time 47.658068 ms 
mapping data assosiation time 18.956674 ms 
points size 75343 
sort q time 4.530945 
seperate points time 9.048977 
publication time 6.953205 ms 
whole laserOdometry time 6.967090 ms 
 
mapping solver time 18.541303 ms 
filter time 11.641867 ms 
mapping pub time 1.690132 ms 
whole mapping time 150.659616 ms +++++
mappingCount 3168 & avg mapping time 158.474204 ms ++++++++++++++++++++++
1317358283.348758936 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.823989 ms
map corner num 197693  surf num 65205 
points size 74879 
sort q time 4.273870 
seperate points time 9.068096 
publication time 6.473781 ms 
whole laserOdometry time 6.486430 ms 
 
mapping solver time 15.511179 ms 
[0m[ INFO] [1718805000.557139192, 1317358283.746045287]: Received 261333 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805000.557177697, 1317358283.746045287]: Data saved to 1317358283037050.pcd[0m
mapping solver time 12.442148 ms 
points size 72248 
sort q time 4.904691 
seperate points time 9.561819 
map prepare time 3.974267 ms
map corner num 198200  surf num 65341 
scan registration time 25.827556 ms *************
publication time 7.528201 ms 
whole laserOdometry time 7.549654 ms 
 
build tree time 45.918047 ms 
mapping data assosiation time 16.712741 ms 
mapping solver time 22.417593 ms 
sort q time 4.250568 
seperate points time 8.914150 
mapping solver time 18.679160 ms 
filter time 14.508947 ms 
-----t: 0.054507
OdomCount 5024 & avg odom time 0.047113 ms ++++++++++++++++++++++
1317358283.868279933 WriteOdom laser_odom_to_init
1317358283.868279933 WriteOdom aft_mapped_to_init_high_frec
build tree time 42.560488 ms 
points size 73211 
sort q time 3.987871 
seperate points time 8.893635 
mapping solver time 23.558625 ms 
mapping data assosiation time 19.983229 ms 
mapping solver time 17.078172 ms 
mapping optimization time 123.762292 
add points time 0.900650 ms
mapping pub time 4.822628 ms 
whole mapping time 147.392327 ms +++++
mappingCount 3171 & avg mapping time 158.459768 ms ++++++++++++++++++++++
points size 73048 
sort q time 4.366028 
seperate points time 8.556175 
scan registration time 21.296153 ms *************
-----t: 0.0318368
OdomCount 5026 & avg odom time 0.047106 ms ++++++++++++++++++++++
mapping data assosiation time 16.936209 ms 
mapping solver time 19.860094 ms 
points size 71531 
scan registration time 18.120698 ms *************
publication time 6.118720 ms 
whole laserOdometry time 6.133340 ms 
 
filter time 15.617148 ms 
-----t: 0.051906
OdomCount 5027 & avg odom time 0.047107 ms ++++++++++++++++++++++
build tree time 42.723948 ms 
points size 73585 
prepare time 7.692442 
mapping data assosiation time 20.826826 ms 
publication time 7.441655 ms 
whole laserOdometry time 7.458059 ms 
 
mapping data assosiation time 17.019786 ms 
mapping solver time 17.090895 ms 
filter time 12.983709 ms 
map prepare time 2.553888 ms
map corner num 145272  surf num 48688 
points size 72248 
sort q time 3.847550 
seperate points time 9.153634 
publication time 7.282805 ms 
whole laserOdometry time 7.296178 ms 
 
mapping solver time 16.334758 ms 
mapping data assosiation time 15.763932 ms 
mapping solver time 16.386172 ms 
points size 72260 
sort q time 4.001069 
seperate points time 9.863495 
-----t: 0.0300046
OdomCount 5030 & avg odom time 0.047101 ms ++++++++++++++++++++++
1317358284.491624116 WriteOdom laser_odom_to_init
1317358284.491624116 WriteOdom aft_mapped_to_init_high_frec
publication time 8.559460 ms 
whole laserOdometry time 8.584690 ms 
 
[0m[ INFO] [1718805001.352158768, 1317358284.539398282]: Received 265099 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805001.352222059, 1317358284.539398282]: Data saved to 1317358283764384.pcd[0m
mapping data assosiation time 16.043013 ms 
mapping solver time 16.645418 ms 
--------------------stamp1317358284.595566034
mapping solver time 12.948360 ms 
filter time 12.387252 ms 
publication time 9.043181 ms 
whole laserOdometry time 9.111575 ms 
 
mapping data assosiation time 17.202907 ms 
points size 70418 
prepare time 11.611969 
mapping solver time 19.411246 ms 
scan registration time 43.234126 ms *************
mapping solver time 21.931369 ms 
filter time 10.777477 ms 
--------------------stamp1317358284.803430080
sort q time 3.783520 
seperate points time 9.255160 
publication time 11.243530 ms 
whole laserOdometry time 11.258642 ms 
 
1317358284.803430080 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 11.747311 ms 
mapping pub time 1.602113 ms 
whole mapping time 122.176473 ms +++++
mappingCount 3177 & avg mapping time 158.416015 ms ++++++++++++++++++++++
--------------------stamp1317358284.907372951
prepare time 12.273346 
mapping data assosiation time 36.528567 ms 
publication time 12.748489 ms 
whole laserOdometry time 12.765571 ms 
 
-----t: 0.0731068
OdomCount 5034 & avg odom time 0.047100 ms ++++++++++++++++++++++
--------------------stamp1317358285.011338949
sort q time 4.060369 
seperate points time 9.536053 
filter time 19.207112 ms 
--------------------stamp1317358285.115304946
prepare time 9.784082 
scan registration time 22.195600 ms *************
publication time 5.413661 ms 
whole laserOdometry time 5.427420 ms 
 
-----t: 0.0365183
OdomCount 5036 & avg odom time 0.047098 ms ++++++++++++++++++++++
mapping data assosiation time 16.578777 ms 
mapping solver time 12.593224 ms 
filter time 9.664588 ms 
prepare time 10.196347 
scan registration time 22.189269 ms *************
publication time 7.132381 ms 
whole laserOdometry time 7.148013 ms 
 
-----t: 0.0470345
OdomCount 5037 & avg odom time 0.047098 ms ++++++++++++++++++++++
1317358285.219247102 WriteOdom laser_odom_to_init
1317358285.219247102 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.774318 ms 
mapping data assosiation time 16.050196 ms 
points size 72455 
sort q time 4.028258 
seperate points time 8.750480 
publication time 6.898029 ms 
whole laserOdometry time 6.911849 ms 
 
build tree time 39.817817 ms 
mapping data assosiation time 17.261562 ms 
mapping solver time 16.866029 ms 
[0m[ INFO] [1718805002.260724439, 1317358285.447523598]: Received 195906 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805002.260755675, 1317358285.447523598]: Data saved to 1317358284491624.pcd[0m
publication time 7.822082 ms 
whole laserOdometry time 7.848555 ms 
 
filter time 11.732472 ms 
--------------------stamp1317358285.531053066
sort q time 3.875711 
seperate points time 9.339013 
publication time 8.767921 ms 
whole laserOdometry time 8.783493 ms 
 
-----t: 0.0442078
OdomCount 5040 & avg odom time 0.047092 ms ++++++++++++++++++++++
--------------------stamp1317358285.634994983
sort q time 4.104297 
seperate points time 8.292234 
publication time 6.606709 ms 
whole laserOdometry time 6.621292 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 
build tree time 35.401771 ms 
mapping data assosiation time 16.860893 ms 
mapping solver time 31.112633 ms 
scan registration time 28.648779 ms *************
filter time 13.145571 ms 
-----t: 0.0680595
OdomCount 5042 & avg odom time 0.047094 ms ++++++++++++++++++++++
1317358285.738936901 WriteOdom laser_odom_to_init
1317358285.738936901 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.035124 ms 
whole mapping time 153.288077 ms +++++
mappingCount 3182 & avg mapping time 158.459357 ms ++++++++++++++++++++++
1317358285.323191881 WriteOdom aft_mapped_to_init
map prepare time 3.544985 ms
map corner num 150061  surf num 50210 
prepare time 9.388785 
sort q time 3.897382 
seperate points time 9.760433 
build tree time 48.864970 ms 
-----t: 0.0382403
OdomCount 5043 & avg odom time 0.047092 ms ++++++++++++++++++++++
1317358285.842856884 WriteOdom laser_odom_to_init
1317358285.842856884 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.545841 ms 
--------------------stamp1317358285.946774959
sort q time 3.210004 
seperate points time 7.551256 
publication time 6.281820 ms 
whole laserOdometry time 6.300609 ms 
 
1317358285.946774959 WriteOdom aft_mapped_to_init_high_frec
build tree time 36.217154 ms 
mapping data assosiation time 19.187280 ms 
mapping solver time 18.319586 ms 
--------------------stamp1317358286.050693035
sort q time 3.342070 
seperate points time 9.128813 
[0m[ INFO] [1718805002.931582661, 1317358286.118982453]: Received 199440 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805002.931659221, 1317358286.118982453]: Data saved to 1317358285219247.pcd[0m
--------------------stamp1317358286.154611110
build tree time 35.598225 ms 
publication time 7.351903 ms 
whole laserOdometry time 7.364356 ms 
 
mapping data assosiation time 36.386938 ms 
mapping solver time 21.780603 ms 
mapping data assosiation time 17.498700 ms 
--------------------stamp1317358286.258506059
filter time 13.146504 ms 
1317358286.258506059 WriteOdom laser_odom_to_init
mapping data assosiation time 17.584382 ms 
--------------------stamp1317358286.362402915
sort q time 3.839030 
seperate points time 9.414487 
publication time 9.712998 ms 
whole laserOdometry time 9.726601 ms 
 
filter time 12.009028 ms 
build tree time 30.863378 ms 
points size 71234 
sort q time 3.995455 
seperate points time 8.713740 
mapping solver time 28.499884 ms 
mapping data assosiation time 21.765499 ms 
mapping solver time 16.834092 ms 
filter time 9.219121 ms 
points size 72126 
sort q time 4.114102 
seperate points time 10.158501 
build tree time 42.919764 ms 
publication time 9.653719 ms 
whole laserOdometry time 9.674046 ms 
 
-----t: 0.0444277
OdomCount 5050 & avg odom time 0.047077 ms ++++++++++++++++++++++
1317358286.570264101 WriteOdom laser_odom_to_init
1317358286.570264101 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.798889 ms 
--------------------stamp1317358286.674160003
sort q time 4.030017 
seperate points time 8.647555 
filter time 13.737424 ms 
-----t: 0.0493252
OdomCount 5051 & avg odom time 0.047078 ms ++++++++++++++++++++++
build tree time 37.011494 ms 
[0m[ INFO] [1718805003.573926225, 1317358286.759957275]: Received 204109 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805003.573984272, 1317358286.759957275]: Data saved to 1317358286154611.pcd[0m
mapping data assosiation time 20.363199 ms 
points size 76306 
mapping solver time 27.445665 ms 
-----t: 0.0352904
OdomCount 5052 & avg odom time 0.047075 ms ++++++++++++++++++++++
mapping solver time 21.788791 ms 
filter time 10.267296 ms 
--------------------stamp1317358286.882041931
prepare time 13.111924 
sort q time 4.625906 
seperate points time 11.055464 
mapping data assosiation time 25.394006 ms 
publication time 30.481080 ms 
whole laserOdometry time 30.495818 ms 
 
mapping data assosiation time 20.154602 ms 
points size 78780 
sort q time 4.295405 
seperate points time 10.769212 
publication time 10.206536 ms 
build tree time 43.100522 ms 
mapping data assosiation time 25.030922 ms 
points size 79596 
sort q time 9.218416 
seperate points time 17.349500 
mapping data assosiation time 27.204074 ms 
publication time 18.228885 ms 
whole laserOdometry time 18.243405 ms 
 
mapping solver time 31.124738 ms 
--------------------stamp1317358287.193896055
map prepare time 3.063565 ms
map corner num 156388  surf num 53093 
sort q time 4.218549 
seperate points time 9.877401 
publication time 9.437509 ms 
whole laserOdometry time 9.466594 ms 
 
mapping data assosiation time 20.864414 ms 
mapping solver time 14.892945 ms 
--------------------stamp1317358287.297863006
mapping solver time 12.305330 ms 
1317358286.985985041 WriteOdom aft_mapped_to_init
-----t: 0.0463165
OdomCount 5057 & avg odom time 0.047072 ms ++++++++++++++++++++++
1317358287.297863006 WriteOdom laser_odom_to_init
1317358287.297863006 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358287.401851892
mapping data assosiation time 23.442771 ms 
[0m[ INFO] [1718805004.243446221, 1317358287.433418084]: Received 209481 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805004.243480226, 1317358287.433418084]: Data saved to 1317358286882041.pcd[0m
mapping solver time 34.547035 ms 
mapping solver time 16.653954 ms 
filter time 9.570300 ms 
mapping pub time 1.813518 ms 
whole mapping time 162.199261 ms +++++
mappingCount 3193 & avg mapping time 158.425602 ms ++++++++++++++++++++++
1317358287.193896055 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.859530 ms
map corner num 157832  surf num 53959 
points size 76067 
sort q time 4.344673 
seperate points time 9.552370 
build tree time 45.095749 ms 
-----t: 0.0418181
OdomCount 5059 & avg odom time 0.047070 ms ++++++++++++++++++++++
mapping solver time 22.042597 ms 
--------------------stamp1317358287.609930992
prepare time 13.417879 
scan registration time 27.340274 ms *************
mapping solver time 22.339252 ms 
mapping optimization time 141.146469 
add points time 0.868474 ms
publication time 9.406895 ms 
whole laserOdometry time 9.421911 ms 
 
build tree time 37.173887 ms 
--------------------stamp1317358287.713993072
prepare time 12.089968 
scan registration time 26.553264 ms *************
publication time 10.305026 ms 
whole laserOdometry time 10.322571 ms 
 
mapping data assosiation time 24.446428 ms 
mapping solver time 21.926469 ms 
--------------------stamp1317358287.818080902
sort q time 4.696444 
seperate points time 9.457984 
publication time 9.546833 ms 
whole laserOdometry time 9.634370 ms mapping data assosiation time 23.647459 ms 
mapping solver time 25.881707 ms 
points size 81954 
sort q time 4.680359 
seperate points time 10.596680 
publication time 7.048019 ms 
whole laserOdometry time 7.069203 ms -----t: 0.0344349
OdomCount 5063 & avg odom time 0.047065 ms ++++++++++++++++++++++
filter time 9.318623 ms 
map prepare time 3.058099 ms
map corner num 159878  surf num 55225 
--------------------stamp1317358288.026256084
build tree time 40.734338 ms 
sort q time 5.176119 
seperate points time 10.904906 
mapping data assosiation time 27.652454 ms 
publication time 11.616583 ms 
whole laserOdometry time 11.631631 ms 
 
mapping solver time 30.605439 ms 
mapping data assosiation time 23.564187 ms 
points size 86656 
add points time 0.964053 ms
mapping pub time 1.791023 ms 
whole mapping time 166.500815 ms +++++
mappingCount 3197 & avg mapping time 158.430654 ms ++++++++++++++++++++++
publication time 9.370517 ms 
whole laserOdometry time 9.389057 ms 
 
-----t: 0.050153
OdomCount 5065 & avg odom time 0.047063 ms ++++++++++++++++++++++
build tree time 40.853027 ms 
mapping data assosiation time 23.555788 ms 
points size 88292 
sort q time 4.923450 
seperate points time 10.916469 
mapping solver time 27.766899 ms 
scan registration time 26.684574 ms *************
mapping data assosiation time 27.941388 ms 
publication time 21.833196 ms 
whole laserOdometry time 21.844957 ms 
 
filter time 9.822674 ms 
--------------------stamp1317358288.338466882
sort q time 5.224132 
seperate points time 10.469411 
publication time 8.402901 ms 
whole laserOdometry time 8.415959 ms 
 
-----t: 0.0548423
OdomCount 5067 & avg odom time 0.047063 ms ++++++++++++++++++++++
mapping solver time 25.406015 ms 
--------------------stamp1317358288.442504882
prepare time 11.890935 
sort q time 5.423442 
seperate points time 12.077180 
mapping pub time 2.130493 ms 
whole mapping time 160.504272 ms +++++
mappingCount 3199 & avg mapping time 158.430430 ms ++++++++++++++++++++++
publication time 11.665090 ms 
whole laserOdometry time 11.704411 ms 
 
build tree time 37.388506 ms 
--------------------stamp1317358288.546518087
prepare time 11.302161 
sort q time 6.039392 
seperate points time 24.745618 
-----t: 0.0406692
OdomCount 5069 & avg odom time 0.047062 ms ++++++++++++++++++++++
mapping data assosiation time 26.726235 ms 
mapping solver time 17.398897 ms 
filter time 10.166599 ms 
points size 95938 
build tree time 41.978368 ms 
scan registration time 61.113711 ms *************
publication time 11.396525 ms 
whole laserOdometry time 11.424921 ms 
 
mapping solver time 23.129537 ms 
points size 97001 
sort q time 5.867410 
seperate points time 12.458005 
publication time 10.663560 ms 
whole laserOdometry time 10.681099 ms 
 
scan registration time 40.138706 ms *************
-----t: 0.0492448
OdomCount 5072 & avg odom time 0.047061 ms ++++++++++++++++++++++
1317358288.858418941 WriteOdom laser_odom_to_init
1317358288.858418941 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358288.962312936
points size 97344 
sort q time 8.367110 
seperate points time 16.064737 
publication time 14.108333 ms 
whole laserOdometry time 14.122420 ms 
 
build tree time 38.793286 ms 
--------------------stamp1317358289.066205978
prepare time 13.024394 
sort q time 6.154016 
seperate points time 12.766901 
mapping solver time 28.773224 ms 
mapping data assosiation time 29.916562 ms 
mapping solver time 22.080062 ms 
filter time 13.015417 ms 
publication time 14.712533 ms 
whole laserOdometry time 14.731379 ms 
 
1317358289.170125961 WriteOdom laser_odom_to_init
mapping data assosiation time 39.309493 ms 
points size 98627 
mapping solver time 28.619602 ms 
sort q time 5.839613 
seperate points time 13.633542 
publication time 8.474171 ms 
whole laserOdometry time 8.487552 ms 
 
mapping solver time 21.528462 ms 
filter time 12.893366 ms 
points size 98957 
sort q time 6.365829 
seperate points time 13.247295 
build tree time 38.331019 ms 
publication time 8.783017 ms 
whole laserOdometry time 8.795578 ms 
 
mapping data assosiation time 30.466478 ms 
--------------------stamp1317358289.481836080
prepare time 13.321378 
sort q time 5.544253 
seperate points time 17.993218 
publication time 8.254790 ms 
whole laserOdometry time 8.292289 ms 
 
mapping solver time 21.795976 ms 
filter time 12.699066 ms 
map prepare time 3.857047 ms
map corner num 133880  surf num 49315 
points size 99664 
sort q time 5.513787 
seperate points time 11.059885 
publication time 9.055490 ms 
whole laserOdometry time 9.071354 ms 
 
mapping solver time 28.510012 ms 
mapping data assosiation time 25.289487 ms 
points size 99628 
mapping solver time 25.834348 ms 
filter time 10.880292 ms 
-----t: 0.0374029
OdomCount 5080 & avg odom time 0.047063 ms ++++++++++++++++++++++
build tree time 31.453505 ms 
--------------------stamp1317358289.793663024
prepare time 13.295569 
scan registration time 31.138741 ms *************
mapping solver time 29.996316 ms 
-----t: 0.0397893
OdomCount 5081 & avg odom time 0.047061 ms ++++++++++++++++++++++
mapping data assosiation time 29.033093 ms 
mapping solver time 17.177142 ms 
filter time 8.557853 ms 
map prepare time 2.841769 ms
map corner num 135539  surf num 50349 
points size 99764 
scan registration time 34.048901 ms *************
publication time 8.952399 ms 
whole laserOdometry time 8.976464 ms 
 
-----t: 0.0461273
OdomCount 5082 & avg odom time 0.047061 ms ++++++++++++++++++++++
mapping solver time 26.636918 ms 
--------------------stamp1317358290.001596927
sort q time 5.639209 
seperate points time 12.522273 
filter time 12.031796 ms 
build tree time 29.024279 ms 
--------------------stamp1317358290.105591058
prepare time 14.927175 
mapping solver time 33.560218 ms 
-----t: 0.0534591
OdomCount 5084 & avg odom time 0.047060 ms ++++++++++++++++++++++
1317358290.105591058 WriteOdom laser_odom_to_init
1317358290.105591058 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.699771 ms 
filter time 9.791924 ms 
sort q time 5.879106 
seperate points time 13.736428 
1317358290.209606885 WriteOdom laser_odom_to_init
mapping data assosiation time 28.732464 ms 
mapping solver time 26.488886 ms 
points size 100393 
scan registration time 32.719723 ms *************
mapping data assosiation time 32.292134 ms 
publication time 17.776279 ms 
whole laserOdometry time 17.793055 ms 
 
map prepare time 3.283281 ms
map corner num 137775  surf num 51739 
--------------------stamp1317358290.417632102
points size 100337 
sort q time 6.652098 
seperate points time 15.356233 
mapping data assosiation time 36.269002 ms 
-----t: 0.0564808
OdomCount 5087 & avg odom time 0.047063 ms ++++++++++++++++++++++
1317358290.417632102 WriteOdom laser_odom_to_init
--------------------stamp1317358290.521670103
prepare time 13.489598 
sort q time 5.447644 
seperate points time 12.150778 
filter time 12.591237 ms 
-----t: 0.0406699
OdomCount 5088 & avg odom time 0.047062 ms ++++++++++++++++++++++
build tree time 31.006143 ms 
--------------------stamp1317358290.625734090
mapping data assosiation time 31.678815 ms 
sort q time 6.435546 
seperate points time 13.900817 
-----t: 0.0337554
OdomCount 5089 & avg odom time 0.047059 ms ++++++++++++++++++++++
mapping solver time 46.747704 ms 
mapping data assosiation time 27.579894 ms 
--------------------stamp1317358290.729798078
points size 100959 
prepare time 15.141351 
filter time 10.030617 ms 
[0m[ INFO] [1718805007.570021052, 1317358290.750334650]: Received 192083 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805007.570095630, 1317358290.750334650]: Data saved to 1317358290417632.pcd[0m
mapping pub time 5.374719 ms 
whole mapping time 181.929748 ms +++++
mappingCount 3211 & avg mapping time 158.535911 ms ++++++++++++++++++++++
1317358290.417632103 WriteOdom aft_mapped_to_init
scan registration time 35.094370 ms *************
build tree time 36.258410 ms 
-----t: 0.0513933
OdomCount 5090 & avg odom time 0.047060 ms ++++++++++++++++++++++
1317358290.729798078 WriteOdom laser_odom_to_init
1317358290.729798078 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 33.252739 ms 
--------------------stamp1317358290.833884000
mapping solver time 36.011707 ms 
sort q time 6.621588 
seperate points time 15.252854 
mapping data assosiation time 36.228279 ms 
publication time 9.063177 ms 
whole laserOdometry time 9.082048 ms 
 
-----t: 0.0603289
OdomCount 5091 & avg odom time 0.047062 ms ++++++++++++++++++++++
1317358290.833884000 WriteOdom laser_odom_to_init
mapping pub time 2.774503 ms 
whole mapping time 199.990578 ms +++++
mappingCount 3212 & avg mapping time 158.548820 ms ++++++++++++++++++++++
scan registration time 36.896160 ms *************
publication time 8.199796 ms 
whole laserOdometry time 8.220709 ms 
 
build tree time 35.930300 ms 
mapping data assosiation time 31.105822 ms 
points size 101550 
sort q time 9.784243 
seperate points time 17.730953 
publication time 9.277893 ms 
whole laserOdometry time 9.291353 ms 
 
mapping data assosiation time 33.176134 ms 
mapping solver time 21.325650 ms 
mapping pub time 2.788373 ms 
whole mapping time 184.546910 ms +++++
mappingCount 3213 & avg mapping time 158.556913 ms ++++++++++++++++++++++
1317358290.729798079 WriteOdom aft_mapped_to_init
prepare time 14.778320 
sort q time 6.421427 
seperate points time 12.816635 
build tree time 39.304998 ms 
-----t: 0.0459853
OdomCount 5094 & avg odom time 0.047063 ms ++++++++++++++++++++++
mapping data assosiation time 33.540266 ms 
--------------------stamp1317358291.250421047
points size 102082 
scan registration time 37.396655 ms *************
mapping data assosiation time 38.770774 ms 
mapping optimization time 190.258792 
mappingCount 3214 & avg mapping time 158.573244 ms ++++++++++++++++++++++
points size 102340 
sort q time 6.551813 
seperate points time 14.541734 
-----t: 0.048208
OdomCount 5096 & avg odom time 0.047070 ms ++++++++++++++++++++++
mapping data assosiation time 34.046186 ms 
--------------------stamp1317358291.458811044
points size 102503 
sort q time 5.984429 
seperate points time 11.805704 
publication time 13.009988 ms 
whole laserOdometry time 13.025758 ms 
 
-----t: 0.0651245
OdomCount 5097 & avg odom time 0.047074 ms ++++++++++++++++++++++
mapping solver time 35.234346 ms 
mapping optimization time 188.854741 
add points time 0.705389 ms
map prepare time 5.270301 ms
map corner num 142705  surf num 54384 
sort q time 5.872858 
seperate points time 13.405850 
build tree time 39.772267 ms 
-----t: 0.0498488
OdomCount 5098 & avg odom time 0.047074 ms ++++++++++++++++++++++
mapping data assosiation time 37.667335 ms 
--------------------stamp1317358291.667033910
points size 102422 
sort q time 5.641892 
seperate points time 13.003418 
publication time 9.844124 ms 
whole laserOdometry time 9.863306 ms 
 
1317358291.667033910 WriteOdom laser_odom_to_init
--------------------stamp1317358291.771073102
prepare time 14.911386 
filter time 14.391912 ms 
mapping pub time 5.102127 ms 
whole mapping time 221.976880 ms +++++
mappingCount 3216 & avg mapping time 158.607647 ms ++++++++++++++++++++++
1317358291.354626894 WriteOdom aft_mapped_to_init
publication time 9.563182 ms 
whole laserOdometry time 9.592208 ms 
 
-----t: 0.0591231
OdomCount 5100 & avg odom time 0.047078 ms ++++++++++++++++++++++
1317358291.771073102 WriteOdom laser_odom_to_init
1317358291.771073102 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 35.082934 ms 
mapping solver time 38.176244 ms 
points size 102562 
sort q time 5.965190 
seperate points time 13.727228 
publication time 11.742390 ms 
whole laserOdometry time 11.756631 ms 
 
mapping solver time 36.354179 ms 
-----t: 0.0937112
OdomCount 5101 & avg odom time 0.047087 ms ++++++++++++++++++++++
build tree time 38.306161 ms 
--------------------stamp1317358292.082878112
-----t: 0.0626808
OdomCount 5102 & avg odom time 0.047090 ms ++++++++++++++++++++++
sort q time 7.047531 
seperate points time 16.465332 
publication time 8.727070 ms 
whole laserOdometry time 8.740989 ms 
 
-----t: 0.0550192
OdomCount 5103 & avg odom time 0.047091 ms ++++++++++++++++++++++
mapping data assosiation time 33.332700 ms 
points size 102231 
mapping solver time 30.103818 ms 
filter time 13.753192 ms 
publication time 9.401068 ms 
whole laserOdometry time 9.413885 ms 
 
-----t: 0.0624901
OdomCount 5104 & avg odom time 0.047094 ms ++++++++++++++++++++++
1317358292.186675071 WriteOdom laser_odom_to_init
1317358292.186675071 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358292.290448904
points size 102253 
mapping data assosiation time 37.753986 ms 
scan registration time 34.792213 ms *************
publication time 10.354129 ms 
whole laserOdometry time 10.371601 ms 
 
mapping solver time 47.836643 ms 
--------------------stamp1317358292.394248962
prepare time 12.107131 
sort q time 6.317077 
seperate points time 13.897022 
mapping optimization time 198.561101 
filter time 12.331058 ms 
-----t: 0.0644051
OdomCount 5106 & avg odom time 0.047099 ms ++++++++++++++++++++++
build tree time 33.760309 ms 
points size 102379 
sort q time 5.973766 
seperate points time 11.945984 
publication time 9.183974 ms 
whole laserOdometry time 9.194860 ms 
 
-----t: 0.0499954
OdomCount 5107 & avg odom time 0.047099 ms ++++++++++++++++++++++
mapping solver time 47.708503 ms 
--------------------stamp1317358292.601943016
mapping data assosiation time 32.590829 ms 
sort q time 6.119755 
seperate points time 12.756609 
publication time 8.065192 ms 
whole laserOdometry time 8.082240 ms 
 
-----t: 0.0415101
OdomCount 5108 & avg odom time 0.047098 ms ++++++++++++++++++++++
1317358292.601943016 WriteOdom laser_odom_to_init
filter time 11.614357 ms 
mapping pub time 2.255947 ms 
whole mapping time 213.391896 ms +++++
mappingCount 3220 & avg mapping time 158.676505 ms ++++++++++++++++++++++
1317358292.186675072 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 30.304842 ms 
points size 102366 
sort q time 6.811250 
seperate points time 15.610551 
-----t: 0.0391611
OdomCount 5109 & avg odom time 0.047097 ms ++++++++++++++++++++++
mapping solver time 45.590598 ms 
--------------------stamp1317358292.809659957
points size 102289 
sort q time 5.844583 
seperate points time 13.510937 
-----t: 0.0368228
OdomCount 5110 & avg odom time 0.047095 ms ++++++++++++++++++++++
filter time 10.741713 ms 
--------------------stamp1317358292.913531064
prepare time 16.870303 
sort q time 6.738612 
seperate points time 15.273592 
publication time 9.504151 ms 
whole laserOdometry time 9.516616 ms 
 
-----t: 0.0637467
OdomCount 5111 & avg odom time 0.047098 ms ++++++++++++++++++++++
--------------------stamp1317358293.017426013
prepare time 16.067948 
sort q time 6.729320 
seperate points time 15.400437 
publication time 10.080540 ms 
whole laserOdometry time 10.121278 ms 
 
mapping pub time 205.846602 ms 
whole mapping time 416.796970 ms +++++
mappingCount 3221 & avg mapping time 158.756643 ms ++++++++++++++++++++++
--------------------stamp1317358293.121320009
prepare time 11.143680 
sort q time 6.122383 
seperate points time 13.277349 
scan registration time 31.157677 ms *************
-----t: 0.0527078
OdomCount 5113 & avg odom time 0.047098 ms ++++++++++++++++++++++
--------------------stamp1317358293.225214004
prepare time 13.674049 
sort q time 5.751751 
seperate points time 13.293292 
scan registration time 33.610787 ms *************
publication time 10.618121 ms 
whole laserOdometry time 10.647217 ms 
 
mapping data assosiation time 52.626440 ms 
mapping solver time 24.853409 ms 
filter time 9.796889 ms 
map prepare time 4.469972 ms
map corner num 147540  surf num 56504 
scan registration time 34.712600 ms *************
build tree time 43.523742 ms 
mapping data assosiation time 36.248555 ms 
--------------------stamp1317358293.433100938
points size 100351 
prepare time 16.297573 
sort q time 6.609287 
seperate points time 14.127603 
publication time 8.414023 ms 
whole laserOdometry time 8.425556 ms 
 
--------------------stamp1317358293.537041902prepare time 12.386430 
mapping solver time 22.209601 ms 
filter time 11.952869 ms 
map prepare time 3.866964 ms
map corner num 148011  surf num 56662 
-----t: 0.059499
OdomCount 5117 & avg odom time 0.047108 ms ++++++++++++++++++++++
build tree time 38.185699 ms 
--------------------stamp1317358293.641007900
prepare time 12.173058 
sort q time 5.443666 
seperate points time 12.146282 
publication time 9.598503 ms 
whole laserOdometry time 9.612213 ms 
 
-----t: 0.040889
OdomCount 5118 & avg odom time 0.047107 ms ++++++++++++++++++++++
mapping data assosiation time 31.127112 ms 
prepare time 11.259513 
sort q time 6.300479 
seperate points time 12.457679 
filter time 13.656761 ms 
-----t: 0.042166
OdomCount 5119 & avg odom time 0.047106 ms ++++++++++++++++++++++
build tree time 39.489302 ms 
--------------------stamp1317358293.848989009
points size 96158 
mapping data assosiation time 36.206914 ms 
-----t: 0.0368055
OdomCount 5120 & avg odom time 0.047104 ms ++++++++++++++++++++++
mapping solver time 41.019384 ms 
mapping data assosiation time 31.416275 ms 
points size 97411 
mapping solver time 30.053703 ms 
filter time 14.539024 ms 
publication time 13.958992 ms 
whole laserOdometry time 13.970975 ms 
 
-----t: 0.0556875
OdomCount 5121 & avg odom time 0.047106 ms ++++++++++++++++++++++
1317358293.952980995 WriteOdom laser_odom_to_init
1317358293.952980995 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358294.056997060
points size 98940 
sort q time 5.561326 
seperate points time 13.070240 
-----t: 0.03696
OdomCount 5122 & avg odom time 0.047104 ms ++++++++++++++++++++++
mapping solver time 39.815939 ms 
mapping data assosiation time 31.227226 ms 
--------------------stamp1317358294.161010980
points size 101111 
add points time 0.825484 ms
sort q time 6.679485 
seperate points time 13.145536 
scan registration time 31.529050 ms *************
map prepare time 3.605244 ms
map corner num 148714  surf num 56831 
publication time 10.721130 ms 
whole laserOdometry time 10.741566 ms 
 
-----t: 0.0569103
OdomCount 5123 & avg odom time 0.047106 ms ++++++++++++++++++++++
build tree time 36.198507 ms 
--------------------stamp1317358294.265048980
points size 101664 
sort q time 5.618195 
seperate points time 13.045882 
publication time 10.089447 ms mapping data assosiation time 32.065238 ms 
points size 101844 
mapping solver time 30.749969 ms 
filter time 12.204025 ms 
publication time 10.852934 ms 
whole laserOdometry time 10.866979 ms 
 
build tree time 34.239624 ms 
--------------------stamp1317358294.473177909
prepare time 12.888476 
sort q time 6.211629 
seperate points time 12.498519 
publication time 9.070200 ms 
whole laserOdometry time 9.161896 ms 
 
-----t: 0.05933
OdomCount 5126 & avg odom time 0.047108 ms ++++++++++++++++++++++
1317358294.473177909 WriteOdom laser_odom_to_init
1317358294.473177909 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 35.856137 ms 
--------------------stamp1317358294.577238082
points size 102274 
mapping optimization time 185.642306 
scan registration time 35.134453 ms *************
map prepare time 4.588128 ms
map corner num 149278  surf num 57001 
publication time 15.677365 ms 
whole laserOdometry time 15.707895 ms 
 
-----t: 0.0654432
OdomCount 5127 & avg odom time 0.047111 ms ++++++++++++++++++++++
--------------------stamp1317358294.681324005
points size 102479 
sort q time 5.834448 
seperate points time 13.558437 
publication time 9.146078 ms 
whole laserOdometry time 9.174420 ms 
 
mapping solver time 52.630392 ms 
mapping data assosiation time 31.832285 ms 
points size 102592 
mapping solver time 32.417439 ms 
sort q time 5.967518 
seperate points time 13.947892 
filter time 12.870133 ms 
map prepare time 15.225290 ms
map corner num 149553  surf num 57090 
--------------------stamp1317358294.889619112
points size 102673 
sort q time 6.927466 
seperate points time 15.893591 
publication time 9.140062 ms 
whole laserOdometry time 9.153960 ms 
 
mapping solver time 39.501972 ms 
--------------------stamp1317358294.993776082
sort q time 5.843347 
seperate points time 11.730264 
mapping solver time 33.635049 ms 
filter time 11.859934 ms 
build tree time 32.071414 ms 
--------------------stamp1317358295.097960948
points size 102790 
sort q time 5.771429 
seperate points time 11.614474 
publication time 10.986335 ms 
whole laserOdometry time 11.010049 ms 
 
mapping solver time 48.089674 ms 
--------------------stamp1317358295.202191114
prepare time 12.811432 
sort q time 6.852085 
seperate points time 12.685035 
mapping data assosiation time 53.046466 ms 
-----t: 0.0495499
OdomCount 5133 & avg odom time 0.047110 ms ++++++++++++++++++++++
mapping solver time 36.607294 ms 
filter time 9.844840 ms 
map prepare time 3.170738 ms
map corner num 150174  surf num 57271 
--------------------stamp1317358295.306421041
points size 102986 
build tree time 38.592685 ms 
publication time 11.357693 ms 
whole laserOdometry time 11.371309 ms 
 
--------------------stamp1317358295.410605907
prepare time 14.699020 
sort q time 5.917132 
seperate points time 13.652348 
publication time 8.608501 ms 
whole laserOdometry time 8.622721 ms 
 
-----t: 0.049438
OdomCount 5135 & avg odom time 0.047111 ms ++++++++++++++++++++++
mapping solver time 33.469039 ms 
prepare time 18.303702 
publication time 11.523667 ms 
whole laserOdometry time 11.538892 ms 
 
--------------------stamp1317358295.618972063
points size 102993 
sort q time 5.247334 
seperate points time 11.055694 
mapping solver time 53.454105 ms 
--------------------stamp1317358295.723104953
prepare time 13.492225 
sort q time 5.951008 
seperate points time 13.531643 
publication time 7.147070 ms 
whole laserOdometry time 7.162600 ms 
 
filter time 14.824151 ms 
map prepare time 4.303124 ms
map corner num 151018  surf num 57485 
--------------------stamp1317358295.827191114
points size 102901 
prepare time 13.960103 
build tree time 42.295401 ms 
scan registration time 35.155634 ms *************
publication time 7.946614 ms 
whole laserOdometry time 7.960846 ms 
 
-----t: 0.0646917
OdomCount 5139 & avg odom time 0.047116 ms ++++++++++++++++++++++
1317358295.827191114 WriteOdom laser_odom_to_init
1317358295.827191114 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 38.982917 ms 
--------------------stamp1317358295.931231975
points size 102784 
mapping data assosiation time 36.742066 ms 
publication time 6.911479 ms 
whole laserOdometry time 6.924688 ms 
 
mapping solver time 32.434115 ms 
filter time 13.288875 ms 
--------------------stamp1317358296.035223007
build tree time 36.628380 ms 
sort q time 5.758872 
seperate points time 13.256642 
publication time 8.911559 ms 
whole laserOdometry time 8.929731 ms 
 
--------------------stamp1317358296.139236927
prepare time 12.399894 
sort q time 5.740317 
seperate points time 13.219895 
mapping data assosiation time 38.458415 ms 
-----t: 0.039453
OdomCount 5142 & avg odom time 0.047115 ms ++++++++++++++++++++++
mapping solver time 28.996649 ms 
filter time 10.278060 ms 
--------------------stamp1317358296.243321895
points size 103050 
sort q time 5.883378 
seperate points time 13.516533 
mapping data assosiation time 36.941844 ms 
--------------------stamp1317358296.347433090
mapping solver time 46.553059 ms 
scan registration time 31.777375 ms *************
mapping data assosiation time 39.472134 ms 
-----t: 0.0635722
OdomCount 5144 & avg odom time 0.047116 ms ++++++++++++++++++++++
mapping solver time 40.029481 ms 
--------------------stamp1317358296.451543092
map prepare time 3.740227 ms
map corner num 152432  surf num 57901 
prepare time 14.496371 
sort q time 6.066424 
seperate points time 13.967501 
build tree time 38.213473 ms 
-----t: 0.0653919
OdomCount 5145 & avg odom time 0.047120 ms ++++++++++++++++++++++
--------------------stamp1317358296.555676937
sort q time 5.997918 
seperate points time 13.694165 
publication time 9.000960 ms 
whole laserOdometry time 9.015143 ms 
 
-----t: 0.0577957
OdomCount 5146 & avg odom time 0.047122 ms ++++++++++++++++++++++
1317358296.555676937 WriteOdom laser_odom_to_init
1317358296.555676937 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 38.269916 ms 
--------------------stamp1317358296.659858942
prepare time 14.928617 
mapping solver time 44.670202 ms 
mapping optimization time 213.900791 
add points time 0.921008 ms
mapping pub time 2.429675 ms 
whole mapping time 234.869699 ms +++++
mappingCount 3237 & avg mapping time 159.073627 ms ++++++++++++++++++++++
publication time 11.274704 ms 
whole laserOdometry time 11.289891 ms 
 
build tree time 36.208316 ms 
--------------------stamp1317358296.764044046
mapping data assosiation time 36.176564 ms 
sort q time 10.385151 
seperate points time 18.539095 
-----t: 0.0445883
OdomCount 5148 & avg odom time 0.047121 ms ++++++++++++++++++++++
mapping solver time 54.502469 ms 
--------------------stamp1317358296.868226051
prepare time 28.996076 
sort q time 5.640264 
seperate points time 12.827112 
scan registration time 48.200659 ms *************
mapping solver time 47.448572 ms 
mapping optimization time 213.206176 
add points time 0.947677 ms
filter time 15.230881 ms 
--------------------stamp1317358296.972409963
build tree time 38.765673 ms 
sort q time 7.128911 
seperate points time 13.235178 
-----t: 0.0731162
OdomCount 5150 & avg odom time 0.047125 ms ++++++++++++++++++++++
--------------------stamp1317358297.076545953
sort q time 6.390317 
seperate points time 12.422869 
-----t: 0.0505693
OdomCount 5151 & avg odom time 0.047125 ms ++++++++++++++++++++++
mapping solver time 43.244570 ms 
filter time 10.319321 ms 
build tree time 31.141741 ms 
points size 102885 
sort q time 5.813173 
seperate points time 13.560150 
-----t: 0.0390779
OdomCount 5152 & avg odom time 0.047124 ms ++++++++++++++++++++++
1317358297.180632114 WriteOdom laser_odom_to_init
mapping solver time 43.115267 ms 
--------------------stamp1317358297.284668922
prepare time 11.666477 
sort q time 6.397677 
seperate points time 13.449806 
filter time 14.812471 ms 
--------------------stamp1317358297.388683080
prepare time 13.123577 
sort q time 6.936955 
seperate points time 12.849977 
scan registration time 31.119877 ms *************
mapping data assosiation time 43.907516 ms 
mapping solver time 42.988970 ms 
--------------------stamp1317358297.492650985
points size 102821 
mapping data assosiation time 35.780266 ms 
publication time 8.265777 ms 
whole laserOdometry time 8.280426 ms 
 
filter time 10.854468 ms 
--------------------stamp1317358297.596546888
prepare time 14.403978 
sort q time 7.534293 
seperate points time 15.798653 
scan registration time 46.884999 ms *************
prepare time 16.443510 
sort q time 6.121115 
seperate points time 15.318604 
scan registration time 38.231948 ms *************
publication time 8.724136 ms 
whole laserOdometry time 8.741269 ms 
 
mapping pub time 210.163476 ms 
whole mapping time 419.724375 ms +++++
mappingCount 3241 & avg mapping time 159.211646 ms ++++++++++++++++++++++
-----t: 0.0509308
OdomCount 5157 & avg odom time 0.047131 ms ++++++++++++++++++++++
1317358297.700417995 WriteOdom laser_odom_to_init
1317358297.700417995 WriteOdom aft_mapped_to_init_high_frec
build tree time 36.724631 ms 
points size 102018 
sort q time 6.228132 
seperate points time 12.065915 
publication time 9.205322 ms 
whole laserOdometry time 9.219885 ms 
 
-----t: 0.0411218
OdomCount 5158 & avg odom time 0.047130 ms ++++++++++++++++++++++
mapping solver time 38.972689 ms 
scan registration time 40.419788 ms *************
publication time 10.855031 ms 
whole laserOdometry time 10.873076 ms 
 
-----t: 0.043062
OdomCount 5159 & avg odom time 0.047129 ms ++++++++++++++++++++++
mapping solver time 27.772653 ms 
filter time 13.183715 ms 
map prepare time 8.810385 ms
map corner num 156101  surf num 59230 
sort q time 5.855814 
seperate points time 13.395621 
build tree time 45.553754 ms 
mapping data assosiation time 32.591445 ms 
--------------------stamp1317358298.115921020
points size 101832 
mapping solver time 44.006855 ms 
publication time 7.302171 ms 
whole laserOdometry time 7.325026 ms 
 
-----t: 0.0481881
OdomCount 5161 & avg odom time 0.047129 ms ++++++++++++++++++++++
mapping solver time 35.048813 ms 
filter time 13.100805 ms 
map prepare time 7.597372 ms
map corner num 94412  surf num 40058 
publication time 8.628877 ms 
whole laserOdometry time 8.644188 ms 
 
mapping data assosiation time 36.869081 ms 
--------------------stamp1317358298.323713064
points size 99870 
sort q time 5.631795 
seperate points time 12.602000 
-----t: 0.0348403
OdomCount 5163 & avg odom time 0.047132 ms ++++++++++++++++++++++
mapping data assosiation time 36.530973 ms 
mapping solver time 30.336494 ms 
filter time 8.037270 ms 
sort q time 6.360901 
seperate points time 12.060189 
build tree time 25.176827 ms 
-----t: 0.0592423
OdomCount 5164 & avg odom time 0.047134 ms ++++++++++++++++++++++
--------------------stamp1317358298.531403064
prepare time 12.668647 
sort q time 5.643513 
seperate points time 12.980290 
publication time 9.482948 ms 
whole laserOdometry time 9.497516 ms 
 
-----t: 0.0645702
OdomCount 5165 & avg odom time 0.047138 ms ++++++++++++++++++++++
filter time 7.059202 ms 
--------------------stamp1317358298.635179042
points size 99310 
build tree time 23.321146 ms 
scan registration time 32.636816 ms *************
publication time 7.442735 ms 
whole laserOdometry time 7.455549 ms 
 
-----t: 0.0477556
OdomCount 5166 & avg odom time 0.047138 ms ++++++++++++++++++++++
mapping solver time 39.623849 ms 
points size 99282 
sort q time 5.378926 
seperate points time 12.352319 
-----t: 0.0358397
OdomCount 5167 & avg odom time 0.047135 ms ++++++++++++++++++++++
mapping optimization time 165.394174 
filter time 7.049770 ms 
map prepare time 2.895094 ms
map corner num 123805  surf num 47874 
--------------------stamp1317358298.842622041
prepare time 14.287401 
sort q time 5.513252 
seperate points time 12.839971 
mapping data assosiation time 37.552366 ms 
mapping solver time 38.790406 ms 
--------------------stamp1317358298.946312904
build tree time 32.668620 ms 
points size 99085 
sort q time 5.736673 
seperate points time 13.223773 
mapping data assosiation time 54.769761 ms 
points size 100613 
sort q time 11.820801 
seperate points time 19.404928 
-----t: 0.0366385
OdomCount 5171 & avg odom time 0.047135 ms ++++++++++++++++++++++
publication time 8.705389 ms 
whole laserOdometry time 8.712324 ms 
 
1317358299.153722047 WriteOdom laser_odom_to_init
1317358299.153722047 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 209.851144 
add points time 0.702793 ms
map prepare time 2.919205 ms
map corner num 125586  surf num 48414 
--------------------stamp1317358299.257446050
points size 100342 
sort q time 5.849156 
seperate points time 12.553660 
1317358299.257446050 WriteOdom laser_odom_to_init
1317358299.257446050 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 41.606567 ms 
points size 98782 
sort q time 6.736647 
seperate points time 12.961167 
scan registration time 47.184024 ms *************
-----t: 0.0497757
OdomCount 5173 & avg odom time 0.047134 ms ++++++++++++++++++++++
filter time 9.008558 ms 
--------------------stamp1317358299.464971065
prepare time 13.665477 
sort q time 6.309394 
seperate points time 12.964784 
publication time 8.477781 ms 
whole laserOdometry time 8.499421 ms 
 
mapping solver time 35.987437 ms 
--------------------stamp1317358299.568769931
points size 98551 
sort q time 5.480910 
seperate points time 12.757904 
mapping solver time 33.922671 ms 
filter time 9.130198 ms 
--------------------stamp1317358299.672569036
points size 98243 
sort q time 5.482854 
seperate points time 10.995969 
mapping data assosiation time 35.562561 ms 
-----t: 0.0501885
OdomCount 5176 & avg odom time 0.047132 ms ++++++++++++++++++++++
1317358299.672569036 WriteOdom laser_odom_to_init
1317358299.672569036 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 41.725947 ms 
mapping solver time 25.735187 ms 
filter time 9.007563 ms 
[0m[ INFO] [1718805016.642497612, 1317358299.829819553]: Received 177631 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805016.642551705, 1317358299.829819553]: Data saved to 1317358299464971.pcd[0m
mapping pub time 4.673487 ms 
whole mapping time 182.196676 ms +++++
mappingCount 3251 & avg mapping time 159.339989 ms ++++++++++++++++++++++
1317358299.464971066 WriteOdom aft_mapped_to_init
build tree time 28.249864 ms 

Done.
mapping data assosiation time 31.397917 ms 
mapping solver time 31.315599 ms 
mapping data assosiation time 29.350509 ms 
mapping solver time 29.019622 ms 
mapping optimization time 152.028972 
add points time 0.735543 ms
filter time 8.933295 ms 
mapping pub time 2.422817 ms 
whole mapping time 167.021124 ms +++++
mappingCount 3252 & avg mapping time 159.342356 ms ++++++++++++++++++++++
1317358299.672569036 WriteOdom aft_mapped_to_init
killing:
 * /alaserMapping
 * /alaserOdometry
 * /ascanRegistration
 * /camera_init2odom_publisher
 * /global_graph_nodelet
 * /kittiHelper
 * /lidar2base_publisher
 * /map2odom_publisher
 * /pointcloud_to_pcd_1718804477813546493
 * /prefiltering_nodelet
 * /rosout
 * /scan_matching_odom_nodelet
 * /velodyne_nodelet_manager
[33m[ WARN] [1718805017.961643104, 1317358299.890333199]: Shutdown request received.[0m
[33m[ WARN] [1718805017.961698770, 1317358299.890333199]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718805017.985360836, 1317358299.890333199]: Shutdown request received.[0m
[33m[ WARN] [1718805017.986335955, 1317358299.890333199]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718805018.005774209, 1317358299.890333199]: Shutdown request received.[0m
[33m[ WARN] [1718805018.005823046, 1317358299.890333199]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718805018.022530509, 1317358299.890333199]: Shutdown request received.[0m
[33m[ WARN] [1718805018.023570003, 1317358299.890333199]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718805018.039981617, 1317358299.890333199]: Shutdown request received. Reason: [user request][0m
[33m[ WARN] [1718805018.056906085, 1317358299.890333199]: Shutdown request received.[0m
[33m[ WARN] [1718805018.057812614, 1317358299.890333199]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718805018.076249925, 1317358299.890333199]: Shutdown request received.[0m
[33m[ WARN] [1718805018.077095262, 1317358299.890333199]: Reason given for shutdown: [user request][0m
terminate called without an active exception
[1m[camera_init2odom_publisher-3] process has finished cleanly
log file: /root/.ros/log/95539b20-2e41-11ef-be9f-0242ac110003/camera_init2odom_publisher-3*.log[0m
[1m[ascanRegistration-7] process has finished cleanly
log file: /root/.ros/log/95539b20-2e41-11ef-be9f-0242ac110003/ascanRegistration-7*.log[0m
[1m[alaserOdometry-8] process has finished cleanly
log file: /root/.ros/log/95539b20-2e41-11ef-be9f-0242ac110003/alaserOdometry-8*.log[0m
[33m[ WARN] [1718805018.203572286, 1317358299.890333199]: Shutdown request received.[0m
[33m[ WARN] [1718805018.203617741, 1317358299.890333199]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718805018.222726710, 1317358299.890333199]: Shutdown request received. Reason: [user request][0m
[33m[ WARN] [1718805018.241067745, 1317358299.890333199]: Shutdown request received.[0m
[33m[ WARN] [1718805018.241129625, 1317358299.890333199]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718805018.259970597, 1317358299.890333199]: Shutdown request received. Reason: [user request][0m
[33m[ WARN] [1718805018.284934045, 1317358299.890333199]: Shutdown request received.[0m
[33m[ WARN] [1718805018.285021283, 1317358299.890333199]: Reason given for shutdown: [user request][0m
killed
[1m[lidar2base_publisher-2] process has finished cleanly
log file: /root/.ros/log/95539b20-2e41-11ef-be9f-0242ac110003/lidar2base_publisher-2*.log[0m
[1m[map2odom_publisher-12] process has finished cleanly
log file: /root/.ros/log/95539b20-2e41-11ef-be9f-0242ac110003/map2odom_publisher-12*.log[0m
[1m[kittiHelper-10] process has finished cleanly
log file: /root/.ros/log/95539b20-2e41-11ef-be9f-0242ac110003/kittiHelper-10*.log[0m
[1m[global_graph_nodelet-11] process has finished cleanly
log file: /root/.ros/log/95539b20-2e41-11ef-be9f-0242ac110003/global_graph_nodelet-11*.log[0m
[31m[alaserMapping-9] process has died [pid 177, exit code -6, cmd /home/chenshoubin/slam_ws/devel/lib/aloam_velodyne/alaserMapping /velodyne_points:=/points_raw /gpsimu_driver/imu_data:=/gpsimu_driver/imu_data __name:=alaserMapping __log:=/root/.ros/log/95539b20-2e41-11ef-be9f-0242ac110003/alaserMapping-9.log].
log file: /root/.ros/log/95539b20-2e41-11ef-be9f-0242ac110003/alaserMapping-9*.log[0m
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/95539b20-2e41-11ef-be9f-0242ac110003/rosout-1*.log[0m
[1m[prefiltering_nodelet-5] process has finished cleanly
log file: /root/.ros/log/95539b20-2e41-11ef-be9f-0242ac110003/prefiltering_nodelet-5*.log[0m
[1m[scan_matching_odom_nodelet-6] process has finished cleanly
log file: /root/.ros/log/95539b20-2e41-11ef-be9f-0242ac110003/scan_matching_odom_nodelet-6*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [344][0m
[1m[velodyne_nodelet_manager-4] process has finished cleanly
log file: /root/.ros/log/95539b20-2e41-11ef-be9f-0242ac110003/velodyne_nodelet_manager-4*.log[0m
