/SLAM-Hive/slam_hive_results/mapping_results/638/292_a-loam+kitti_2011_09_30_drive_0027_synced_full .yaml... logging to /root/.ros/log/ad2a947c-12af-11ef-ab74-0242ac110008/roslaunch-3263c23c3cb0-115.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/slamhive/aloam_velodyne_HDL_64.launch
[1mstarted roslaunch server http://3263c23c3cb0:43689/[0m

SUMMARY
========

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

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

auto-starting new master
[1mprocess[master]: started with pid [126][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/aloam_velodyne_HDL_64.launch http://localhost:11311
[1msetting /run_id to ad2a947c-12af-11ef-ab74-0242ac110008[0m
[1mprocess[rosout-1]: started with pid [139][0m
started core service [/rosout]
[1mprocess[ascanRegistration-2]: started with pid [150][0m
scan line number 64 
[1mprocess[alaserOdometry-3]: started with pid [157][0m
Mapping 10 Hz 
[1mprocess[alaserMapping-4]: started with pid [183][0m
line resolution 0.400000 plane resolution 0.800000 
rosbag play /slamhive/dataset/kitti_2011_09_30_drive_0027_synced_full.bag  --clock 
[0m[ INFO] [1715773130.527486923]: Saving as binary PCD[0m
[0m[ INFO] [1715773130.530793733]: Listening for incoming data on topic /laser_cloud_map[0m
[0m[ INFO] [1715773130.655034896]: Opening /slamhive/dataset/kitti_2011_09_30_drive_0027_synced_full.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1317357625.073881   Duration: 0.000000 / 115.547650   Delay: 398415505.84 
points size 90202 
sort q time 3.998982 
seperate points time 12.701030 
Initialization finished 
publication time 13.164411 ms 
whole laserOdometry time 13.202125 ms 
 
map prepare time 1.894106 ms
map corner num 0  surf num 0 
[33m[ WARN] [1715773131.583492790]: time Map corner and surf num are not enough[0m
add points time 0.244554 ms
filter time 0.591233 ms 
[0m[ INFO] [1715773131.585073746]: Received 5964 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715773131.585116091]: Data saved to 1317357625557813.pcd[0m
mapping pub time 2.737906 ms 
whole mapping time 5.689519 ms +++++
points size 90550 
prepare time 13.975518 
sort q time 4.503795 
seperate points time 10.745837 
scan registration time 29.319326 ms *************
data association time 12.613497 ms 
solver time 18.248541 ms 
data association time 12.648146 ms 
solver time 10.588907 ms 
publication time 8.848489 ms 
whole laserOdometry time 63.998637 ms 
 
points size 90903 
map prepare time 2.764286 ms
map corner num 2676  surf num 3288 
sort q time 5.060002 
seperate points time 11.917030 
scan registration time 32.591656 ms *************
mapping data assosiation time 22.715917 ms 
data association time 19.904322 ms 
mapping solver time 23.766373 ms 
solver time 23.022872 ms 
mapping data assosiation time 25.456322 ms 
mapping solver time 9.273868 ms 
mapping pub time 1.698214 ms 
whole mapping time 90.512296 ms +++++
solver time 6.134081 ms 
optimization twice time 73.182671 
publication time 7.596668 ms 
whole laserOdometry time 80.812934 ms 
 
prepare time 15.069537 
map prepare time 1.764148 ms
map corner num 3367  surf num 3453 
sort q time 4.805083 
seperate points time 11.366432 
scan registration time 30.537145 ms *************
mapping data assosiation time 23.952052 ms 
data association time 21.406785 ms 
mapping solver time 21.139462 ms 
solver time 17.139951 ms 
mapping data assosiation time 25.433683 ms 
data association time 22.641420 ms 
solver time 8.466948 ms 
optimization twice time 70.814701 
mapping solver time 15.818460 ms 
mapping pub time 1.533132 ms 
whole mapping time 94.146964 ms +++++
points size 91605 
publication time 9.354673 ms 
whole laserOdometry time 80.198188 ms 
 
prepare time 16.049758 
map prepare time 2.520849 ms
map corner num 3889  surf num 3595 
build tree time 1.650225 ms 
sort q time 5.648928 
seperate points time 12.882054 
scan registration time 33.022795 ms *************
mapping data assosiation time 23.235835 ms 
data association time 12.738799 ms 
mapping solver time 17.896442 ms 
solver time 11.837405 ms 
data association time 13.845745 ms 
mapping data assosiation time 21.629652 ms 
solver time 10.032917 ms 
optimization twice time 49.377023 
mapping solver time 12.553837 ms 
map prepare time 2.584443 ms
map corner num 4456  surf num 3799 
build tree time 1.890466 ms 
points size 92116 
prepare time 20.041888 
mapping data assosiation time 24.660624 ms 
scan registration time 38.242207 ms *************
mapping solver time 20.311009 ms 
data association time 14.322190 ms 
mapping data assosiation time 21.728731 ms 
solver time 11.841686 ms 
mapping solver time 12.044297 ms 
mapping optimization time 82.031082 
add points time 0.238268 ms
filter time 0.869582 ms 
mapping pub time 1.071848 ms 
whole mapping time 86.834470 ms +++++
data association time 13.672867 ms 
solver time 5.919850 ms 
publication time 9.458012 ms 
whole laserOdometry time 56.147773 ms 
 
map prepare time 2.439726 ms
map corner num 5052  surf num 4072 
points size 92593 
build tree time 2.142573 ms 
prepare time 15.867269 
sort q time 5.971229 
seperate points time 14.367520 
scan registration time 35.327279 ms *************
mapping data assosiation time 25.080439 ms 
mapping solver time 24.459276 ms 
data association time 19.991657 ms 
solver time 17.499198 ms 
mapping data assosiation time 25.884843 ms 
data association time 20.802082 ms 
solver time 8.875059 ms 
points size 93077 
optimization twice time 68.258496 
map prepare time 2.354414 ms
map corner num 5609  surf num 4302 
sort q time 5.386970 
seperate points time 12.784494 
build tree time 1.970341 ms 
scan registration time 32.880869 ms *************
mapping data assosiation time 22.513625 ms 
data association time 15.685851 ms 
solver time 15.624154 ms 
data association time 15.400553 ms 
mapping data assosiation time 21.962456 ms 
publication time 7.953588 ms 
whole laserOdometry time 67.556878 ms 
 
mapping solver time 14.376468 ms 
mapping optimization time 85.061004 
add points time 0.230156 ms
prepare time 17.066299 
map prepare time 2.371541 ms
map corner num 6134  surf num 4447 
build tree time 2.288205 ms 
sort q time 5.548057 
seperate points time 13.039801 
mapping data assosiation time 23.406064 ms 
data association time 18.047642 ms 
mapping solver time 19.521925 ms 
solver time 15.598924 ms 
mapping data assosiation time 24.942906 ms 
data association time 17.559565 ms 
solver time 9.853609 ms 
add points time 0.264095 ms
publication time 9.387390 ms 
whole laserOdometry time 71.313947 ms 
 
points size 94184 
map prepare time 2.571142 ms
map corner num 6542  surf num 4590 
prepare time 17.518163 
sort q time 5.644132 
seperate points time 13.086954 
scan registration time 34.975694 ms *************
mapping data assosiation time 23.369008 ms 
mapping solver time 25.442117 ms 
solver time 15.827335 ms 
mapping data assosiation time 25.222784 ms 
data association time 16.645162 ms 
mapping solver time 14.494146 ms 
optimization twice time 65.274445 
mapping pub time 1.493778 ms 
whole mapping time 98.501309 ms +++++
points size 94964 
prepare time 16.374566 
publication time 8.988419 ms 
whole laserOdometry time 74.289105 ms 
 
map prepare time 2.657664 ms
map corner num 7010  surf num 4754 
build tree time 2.635890 ms 
sort q time 6.913663 
seperate points time 15.953054 
mapping data assosiation time 26.367422 ms 
data association time 15.583776 ms 
mapping solver time 20.728456 ms 
solver time 12.055818 ms 
data association time 16.089066 ms 
mapping data assosiation time 24.985507 ms 
publication time 9.906009 ms 
whole laserOdometry time 64.878267 ms 
 
mapping pub time 1.418524 ms 
whole mapping time 96.698156 ms +++++
prepare time 18.383097 
build tree time 2.463041 ms 
sort q time 6.271076 
seperate points time 14.631489 
scan registration time 38.033175 ms *************
mapping data assosiation time 24.082836 ms 
data association time 17.282796 ms 
mapping solver time 15.846056 ms 
solver time 13.425544 ms 
mapping data assosiation time 23.344195 ms 
solver time 8.639172 ms 
mapping optimization time 80.959638 
points size 97426 
map prepare time 2.367217 ms
map corner num 7998  surf num 5069 
build tree time 3.033797 ms 
sort q time 5.658664 
seperate points time 13.038403 
scan registration time 36.186638 ms *************
mapping data assosiation time 23.790244 ms 
mapping solver time 18.226261 ms 
data association time 19.222197 ms 
solver time 11.923299 ms 
mapping data assosiation time 25.348483 ms 
data association time 15.781749 ms 
mapping optimization time 85.124302 
solver time 10.831239 ms 
publication time 9.486398 ms 
whole laserOdometry time 68.022290 ms 
 
prepare time 16.506842 
map prepare time 2.709615 ms
map corner num 8536  surf num 5288 
sort q time 6.248694 
seperate points time 14.423368 
scan registration time 35.964397 ms *************
mapping data assosiation time 22.827108 ms 
data association time 14.922181 ms 
mapping solver time 18.973208 ms 
solver time 12.284615 ms 
data association time 15.527490 ms 
mapping data assosiation time 22.085325 ms 
solver time 9.316088 ms 
mapping solver time 12.558641 ms 
mapping pub time 1.323543 ms 
whole mapping time 86.429457 ms +++++
map prepare time 2.870014 ms
map corner num 9052  surf num 5518 
points size 98929 
build tree time 3.539716 ms 
prepare time 18.565961 
sort q time 6.784118 
seperate points time 16.440814 
scan registration time 41.998051 ms *************
mapping data assosiation time 29.940613 ms 
mapping solver time 22.332527 ms 
data association time 17.879134 ms 
solver time 11.865655 ms 
mapping data assosiation time 24.962574 ms 
data association time 16.140379 ms 
filter time 1.680730 ms 
solver time 10.453029 ms 
optimization twice time 57.206375 
points size 99250 
publication time 10.663226 ms 
whole laserOdometry time 67.891221 ms 
 
map prepare time 2.889160 ms
map corner num 9608  surf num 5757 
build tree time 3.272728 ms 
scan registration time 39.986015 ms *************
mapping data assosiation time 23.695389 ms 
data association time 17.358532 ms 
solver time 13.109661 ms 
data association time 17.322198 ms 
solver time 6.914013 ms 
mapping data assosiation time 28.743098 ms 
publication time 10.059442 ms 
whole laserOdometry time 65.742829 ms 
 
points size 99327 
prepare time 23.263254 
mapping solver time 20.809550 ms 
mapping optimization time 99.575480 
add points time 0.279286 ms
filter time 1.870391 ms 
map prepare time 2.804380 ms
map corner num 10084  surf num 5922 
build tree time 3.765257 ms 
scan registration time 43.942532 ms *************
mapping data assosiation time 24.786915 ms 
data association time 25.846861 ms 
mapping solver time 20.632261 ms 
solver time 14.639741 ms 
data association time 23.020387 ms 
mapping data assosiation time 32.506333 ms 
points size 99392 
mapping optimization time 99.108318 
add points time 0.344648 ms
prepare time 27.979315 
filter time 2.357395 ms 
mapping pub time 1.718165 ms 
whole mapping time 106.411910 ms +++++
map prepare time 2.407641 ms
map corner num 10534  surf num 6103 
build tree time 4.739959 ms 
sort q time 9.206014 
seperate points time 19.400521 
scan registration time 54.447883 ms *************
mapping data assosiation time 24.560289 ms 
data association time 17.718383 ms 
mapping solver time 17.787988 ms 
solver time 12.637032 ms 
points size 99384 
prepare time 17.438034 
mapping data assosiation time 26.924221 ms 
optimization twice time 59.497354 
mapping solver time 14.037780 ms 
map prepare time 2.852574 ms
map corner num 10968  surf num 6244 
build tree time 3.784280 ms 
data association time 17.568232 ms 
mapping data assosiation time 26.523655 ms 
solver time 12.800345 ms 
mapping solver time 22.545355 ms 
solver time 10.271819 ms 
optimization twice time 60.777307 
points size 99544 
publication time 9.799598 ms 
whole laserOdometry time 70.603079 ms 
 
prepare time 17.890249 
mapping data assosiation time 27.492140 ms 
scan registration time 35.066934 ms *************
mapping solver time 14.496983 ms 
mapping pub time 1.404036 ms 
whole mapping time 103.347188 ms +++++
map prepare time 2.712609 ms
map corner num 11396  surf num 6429 
build tree time 4.085862 ms 
data association time 20.012754 ms 
solver time 9.336294 ms 
mapping data assosiation time 25.841229 ms 
data association time 18.248275 ms 
mapping solver time 17.965870 ms 
publication time 9.107498 ms 
whole laserOdometry time 68.151170 ms 
 
points size 99441 
prepare time 15.784543 
mapping solver time 7.997517 ms 
mapping pub time 1.363928 ms 
whole mapping time 89.312131 ms +++++
scan registration time 33.082188 ms *************
build tree time 3.605997 ms 
data association time 17.354376 ms 
solver time 13.218307 ms 
data association time 17.413272 ms 
solver time 8.846354 ms 
publication time 10.334738 ms 
whole laserOdometry time 68.129263 ms 
 
mapping data assosiation time 28.328872 ms 
prepare time 17.889115 
mapping solver time 15.559005 ms 
mapping optimization time 93.748216 
add points time 0.286595 ms
filter time 2.763960 ms 
map prepare time 2.834475 ms
map corner num 12301  surf num 6730 
scan registration time 38.567726 ms *************
build tree time 3.479884 ms 
mapping data assosiation time 30.188701 ms 
data association time 21.033389 ms 
solver time 15.577343 ms 
data association time 20.193110 ms 
prepare time 40.543511 
mapping solver time 16.233891 ms 
mapping optimization time 113.707530 
sort q time 6.404470 
seperate points time 16.889876 
mapping data assosiation time 29.458480 ms 
data association time 24.032149 ms 
mapping solver time 18.854605 ms 
solver time 13.158305 ms 
points size 99543 
data association time 19.207167 ms 
sort q time 5.942495 
seperate points time 14.528601 
mapping data assosiation time 25.537945 ms 
solver time 11.518444 ms 
optimization twice time 68.810407 
mapping solver time 15.056008 ms 
mapping optimization time 95.705469 
add points time 0.320783 ms
filter time 2.308487 ms 
mapping pub time 1.686430 ms 
whole mapping time 103.159284 ms +++++
publication time 14.300435 ms 
whole laserOdometry time 83.139115 ms 
 
map prepare time 2.806373 ms
map corner num 13122  surf num 7048 
build tree time 3.450372 ms 
data association time 15.839558 ms 
solver time 13.504219 ms 
mapping data assosiation time 25.367885 ms 
data association time 17.708682 ms 
mapping solver time 21.578357 ms 
prepare time 16.446578 
sort q time 6.171073 
seperate points time 15.529468 
mapping data assosiation time 27.607562 ms 
mapping solver time 14.701364 ms 
mapping optimization time 94.425696 
add points time 0.340899 ms
filter time 2.545002 ms 
mapping pub time 1.208003 ms 
whole mapping time 101.376595 ms +++++
build tree time 4.038841 ms 
solver time 14.984969 ms 
mapping data assosiation time 25.839192 ms 
solver time 12.089091 ms 
optimization twice time 62.204809 
mapping solver time 22.843313 ms 
points size 99503 
publication time 11.451002 ms 
whole laserOdometry time 73.675348 ms 
 
prepare time 17.628614 
sort q time 5.764686 
seperate points time 14.018845 
scan registration time 35.578658 ms *************
mapping data assosiation time 30.178896 ms 
data association time 17.040404 ms 
mapping solver time 12.697769 ms 
mapping optimization time 97.780815 
add points time 0.297086 ms
map prepare time 2.567221 ms
map corner num 13941  surf num 7355 
solver time 12.697694 ms 
data association time 18.097523 ms 
solver time 9.595447 ms 
publication time 10.401234 ms 
whole laserOdometry time 68.907286 ms 
 
points size 99538 
mapping solver time 23.706060 ms 
sort q time 6.783720 
seperate points time 15.945607 
mapping data assosiation time 28.384482 ms 
mapping solver time 12.799451 ms 
data association time 16.367767 ms 
mapping optimization time 100.199534 
add points time 0.303021 ms
filter time 1.938722 ms 
build tree time 4.498338 ms 
data association time 17.145000 ms 
mapping data assosiation time 26.544177 ms 
publication time 9.625474 ms 
whole laserOdometry time 68.414390 ms 
 
prepare time 16.498477 
mapping solver time 23.429080 ms 
sort q time 5.323267 
seperate points time 13.503188 
mapping data assosiation time 27.026277 ms 
data association time 18.015211 ms 
mapping solver time 15.687916 ms 
mapping optimization time 99.218262 
add points time 0.313241 ms
filter time 3.188509 ms 
mapping pub time 1.654327 ms 
whole mapping time 106.642796 ms +++++
solver time 16.809017 ms 
build tree time 4.541627 ms 
data association time 18.900317 ms 
mapping data assosiation time 29.052015 ms 
solver time 13.294142 ms 
optimization twice time 67.964926 
points size 99442 
mapping solver time 19.412890 ms 
sort q time 5.535727 
seperate points time 13.351636 
scan registration time 34.671883 ms *************
mapping data assosiation time 27.492648 ms 
data association time 18.844470 ms 
mapping optimization time 98.204615 
add points time 0.341868 ms
solver time 12.194376 ms 
filter time 2.532246 ms 
mapping pub time 1.743749 ms 
whole mapping time 106.179393 ms +++++
build tree time 4.784215 ms 
data association time 17.690532 ms 
solver time 8.409700 ms 
publication time 11.059732 ms 
whole laserOdometry time 69.073706 ms 
 
mapping data assosiation time 28.343101 ms 
points size 99421 
mapping solver time 17.581124 ms 
sort q time 5.717611 
seperate points time 13.664026 
mapping data assosiation time 25.919010 ms 
mapping optimization time 90.719730 
add points time 0.312379 ms
filter time 2.629134 ms 
mapping pub time 1.223110 ms 
whole mapping time 97.698479 ms +++++
solver time 12.329868 ms 
build tree time 4.233264 ms 
data association time 15.648965 ms 
solver time 9.463200 ms 
publication time 9.829919 ms 
whole laserOdometry time 66.163855 ms 
 
prepare time 15.956603 
mapping solver time 22.475581 ms 
sort q time 5.262318 
seperate points time 13.082673 
mapping data assosiation time 26.740415 ms 
data association time 17.147283 ms 
mapping solver time 14.010123 ms 
mapping optimization time 94.849339 
add points time 0.340693 ms
filter time 2.283464 ms 
mapping pub time 1.272310 ms 
whole mapping time 102.128472 ms +++++
solver time 12.729257 ms 
build tree time 4.953128 ms 
data association time 17.249502 ms 
solver time 8.793727 ms 
mapping data assosiation time 25.760605 ms 
points size 99176 
prepare time 16.427562 
mapping solver time 18.588237 ms 
sort q time 6.215269 
seperate points time 14.986879 
scan registration time 35.265929 ms *************
mapping data assosiation time 26.334957 ms 
mapping solver time 13.465637 ms 
mapping optimization time 90.742672 
add points time 0.314513 ms
data association time 17.933568 ms 
map prepare time 3.242137 ms
map corner num 16340  surf num 8328 
build tree time 5.096604 ms 
data association time 16.129547 ms 
mapping data assosiation time 25.683853 ms 
publication time 10.732500 ms 
whole laserOdometry time 67.733944 ms 
 
points size 98583 
sort q time 6.492653 
seperate points time 15.706682 
mapping data assosiation time 27.355145 ms 
data association time 15.973819 ms 
mapping solver time 15.293709 ms 
mapping optimization time 94.467404 
add points time 0.311783 ms
map prepare time 3.008083 ms
map corner num 16719  surf num 8436 
build tree time 5.614670 ms 
data association time 15.227639 ms 
solver time 9.064451 ms 
publication time 10.444797 ms 
whole laserOdometry time 61.475247 ms 
 
mapping data assosiation time 28.478541 ms 
points size 97816 
prepare time 16.327049 
sort q time 5.839014 
seperate points time 14.514494 
scan registration time 33.990474 ms *************
mapping data assosiation time 28.703834 ms 
data association time 18.715059 ms 
mapping solver time 14.733585 ms 
mapping optimization time 98.292917 
add points time 0.328709 ms
filter time 3.010814 ms 
map prepare time 3.805907 ms
map corner num 17110  surf num 8573 
build tree time 5.633816 ms 
solver time 5.893854 ms 
publication time 10.327008 ms 
whole laserOdometry time 65.758858 ms 
 
mapping data assosiation time 31.257052 ms 
points size 96708 
mapping solver time 20.518300 ms 
sort q time 6.093445 
seperate points time 14.714027 
mapping data assosiation time 28.020414 ms 
data association time 16.259473 ms 
mapping pub time 1.635076 ms 
whole mapping time 111.177185 ms +++++
map prepare time 3.456265 ms
map corner num 17490  surf num 8711 
build tree time 5.733476 ms 
data association time 22.726025 ms 
solver time 11.126041 ms 
optimization twice time 60.063425 
prepare time 17.680277 
mapping data assosiation time 34.868580 ms 
sort q time 5.801318 
seperate points time 14.614458 
scan registration time 36.053154 ms *************
mapping solver time 25.566540 ms 
data association time 29.996648 ms 
mapping data assosiation time 31.942645 ms 
solver time 18.095927 ms 
mapping optimization time 118.797672 
mapping pub time 1.893669 ms 
whole mapping time 127.550632 ms +++++
map prepare time 3.131620 ms
map corner num 17872  surf num 8882 
build tree time 6.370484 ms 
data association time 26.147909 ms 
prepare time 21.868863 
solver time 13.736218 ms 
publication time 12.749204 ms 
whole laserOdometry time 101.849715 ms 
 
[33m[ WARN] [1715773135.275351844]: odometry process over 100ms[0m
mapping data assosiation time 32.135185 ms 
mapping solver time 20.502365 ms 
data association time 23.122365 ms 
solver time 19.898459 ms 
mapping solver time 17.281043 ms 
points size 91321 
mapping optimization time 110.619534 
add points time 0.367193 ms
data association time 22.303666 ms 
map prepare time 2.984939 ms
map corner num 18236  surf num 9033 
optimization twice time 79.366215 
build tree time 6.326044 ms 
sort q time 5.239471 
seperate points time 14.049552 
publication time 13.248971 ms 
whole laserOdometry time 92.643180 ms 
 
mapping data assosiation time 33.860093 ms 
data association time 27.014602 ms 
mapping solver time 23.313133 ms 
solver time 20.962591 ms 
points size 88259 
mapping data assosiation time 31.762569 ms 
data association time 27.433495 ms 
sort q time 5.706138 
seperate points time 13.574743 
mapping solver time 18.067641 ms 
mapping optimization time 115.355330 
add points time 0.343950 ms
filter time 2.861395 ms 
publication time 9.903823 ms 
whole laserOdometry time 99.541813 ms 
 
mapping pub time 2.856095 ms 
whole mapping time 124.458162 ms +++++
map prepare time 3.150507 ms
map corner num 18647  surf num 9193 
build tree time 6.509646 ms 
data association time 25.748780 ms 
mapping data assosiation time 31.431731 ms 
solver time 21.797357 ms 
mapping solver time 27.633501 ms 
points size 85479 
data association time 24.380441 ms 
solver time 13.509293 ms 
scan registration time 32.287430 ms *************
publication time 11.039140 ms 
whole laserOdometry time 97.712324 ms 
 
mapping data assosiation time 32.122731 ms 
data association time 20.755864 ms 
mapping solver time 22.938492 ms 
filter time 2.954200 ms 
mapping pub time 1.568903 ms 
whole mapping time 130.775422 ms +++++
map prepare time 2.900942 ms
map corner num 19049  surf num 9349 
solver time 20.067730 ms 
build tree time 6.471111 ms 
data association time 22.864229 ms 
mapping data assosiation time 31.110940 ms 
solver time 17.770964 ms 
optimization twice time 82.481324 
scan registration time 29.177103 ms *************
publication time 10.303439 ms 
whole laserOdometry time 92.806873 ms 
 
mapping solver time 27.031931 ms 
data association time 22.473677 ms 
mapping data assosiation time 31.197101 ms 
solver time 20.864050 ms 
mapping solver time 23.578544 ms 
filter time 2.926133 ms 
data association time 20.399176 ms 
points size 79116 
prepare time 14.324790 
sort q time 3.771630 
seperate points time 9.552241 
mapping data assosiation time 29.410554 ms 
data association time 22.328161 ms 
solver time 14.163449 ms 
mapping data assosiation time 24.054712 ms 
data association time 14.611235 ms 
mapping solver time 19.268841 ms 
optimization twice time 63.134264 
publication time 8.888845 ms 
whole laserOdometry time 72.050786 ms 
 
map prepare time 2.820411 ms
map corner num 20036  surf num 9630 
sort q time 4.965967 
seperate points time 11.986291 
scan registration time 32.570870 ms *************
mapping data assosiation time 28.721791 ms 
data association time 22.417615 ms 
mapping solver time 25.787036 ms 
solver time 17.471767 ms 
mapping data assosiation time 29.809528 ms 
data association time 24.337704 ms 
solver time 12.750401 ms 
optimization twice time 78.211426 
points size 75450 
mapping solver time 21.966447 ms 
mapping optimization time 114.378025 
add points time 0.443405 ms
drop lidar frame in mapping for real time performance 
map prepare time 2.425970 ms
map corner num 20481  surf num 9772 
sort q time 4.428048 
seperate points time 11.101789 
build tree time 5.784728 ms 
scan registration time 28.371397 ms *************
data association time 13.542831 ms 
solver time 13.480049 ms 
mapping solver time 16.058377 ms 
data association time 13.437992 ms 
solver time 12.442257 ms 
publication time 6.450743 ms 
whole laserOdometry time 60.275356 ms 
 
mapping solver time 12.225446 ms 
mapping optimization time 84.254453 
add points time 0.340444 ms
filter time 3.350737 ms 
mapping pub time 1.767473 ms 
whole mapping time 92.203233 ms +++++
[0m[ INFO] [1715773136.080241444]: Received 30857 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715773136.080281741]: Data saved to 1317357629812196.pcd[0m
map prepare time 2.626675 ms
map corner num 20950  surf num 9907 
build tree time 5.576793 ms 
mapping data assosiation time 23.293937 ms 
points size 72301 
prepare time 14.326380 
mapping solver time 19.144407 ms 
sort q time 4.132624 
seperate points time 9.941719 
scan registration time 29.837013 ms *************
mapping data assosiation time 26.797456 ms 
data association time 22.811782 ms 
points size 66771 
mapping optimization time 100.586568 
add points time 0.394770 ms
filter time 3.080241 ms 
mapping pub time 1.274361 ms 
whole mapping time 108.053775 ms +++++
scan registration time 24.721038 ms *************
data association time 15.169727 ms 
solver time 8.497488 ms 
optimization twice time 67.647518 
publication time 6.640240 ms 
whole laserOdometry time 74.317532 ms 
 
map prepare time 2.437496 ms
map corner num 21478  surf num 10061 
build tree time 6.598383 ms 
data association time 15.571250 ms 
solver time 15.110589 ms 
mapping data assosiation time 22.803657 ms 
data association time 13.827373 ms 
mapping solver time 17.032571 ms 
solver time 10.553460 ms 
optimization twice time 55.756619 
publication time 6.385913 ms 
whole laserOdometry time 62.171557 ms 
 
mapping data assosiation time 24.355016 ms 
points size 62311 
prepare time 11.925654 
sort q time 3.164992 
seperate points time 7.790496 
mapping solver time 16.054865 ms 
mapping optimization time 88.116053 
add points time 0.371520 ms
scan registration time 22.699005 ms *************
mapping pub time 0.955335 ms 
whole mapping time 96.255063 ms +++++
map prepare time 1.841562 ms
map corner num 21950  surf num 10159 
data association time 12.678401 ms 
solver time 12.202065 ms 
data association time 13.315840 ms 
mapping solver time 15.716931 ms 
solver time 10.672640 ms 
optimization twice time 49.570014 
mapping data assosiation time 22.119924 ms 
points size 59236 
prepare time 10.368783 
sort q time 2.605391 
seperate points time 6.893101 
scan registration time 20.251968 ms *************
mapping solver time 16.760785 ms 
mapping optimization time 84.113785 
add points time 0.301719 ms
mapping pub time 1.061222 ms 
whole mapping time 90.295621 ms +++++
map prepare time 1.865849 ms
map corner num 22362  surf num 10242 
build tree time 7.202379 ms 
data association time 13.962477 ms 
solver time 13.920448 ms 
mapping data assosiation time 19.368280 ms 
data association time 13.325195 ms 
mapping solver time 14.772128 ms 
solver time 11.213609 ms 
optimization twice time 53.319458 
points size 56576 
mapping solver time 15.397975 ms 
mapping optimization time 77.181265 
add points time 0.293437 ms
prepare time 10.519978 
filter time 3.952775 ms 
mapping pub time 0.819260 ms 
whole mapping time 84.168256 ms +++++
scan registration time 20.840450 ms *************
build tree time 7.668177 ms 
mapping data assosiation time 19.241776 ms 
solver time 11.377049 ms 
data association time 12.072639 ms 
mapping data assosiation time 17.821884 ms 
publication time 5.092830 ms 
whole laserOdometry time 53.325289 ms 
 
mapping solver time 12.593668 ms 
mapping optimization time 72.898446 
add points time 0.475187 ms
filter time 3.069863 ms 
mapping pub time 0.950747 ms 
whole mapping time 79.232914 ms +++++
build tree time 7.240410 ms 
points size 54639 
prepare time 10.448915 
sort q time 2.873477 
seperate points time 7.181409 
scan registration time 20.064212 ms *************
mapping data assosiation time 19.465914 ms 
mapping solver time 15.126527 ms 
solver time 14.499904 ms 
mapping data assosiation time 19.808875 ms 
data association time 13.947437 ms 
mapping solver time 12.939613 ms 
mapping optimization time 75.836476 
add points time 0.310332 ms
filter time 2.751846 ms 
solver time 9.748767 ms 
optimization twice time 51.034432 
publication time 5.260235 ms 
whole laserOdometry time 56.334846 ms 
 
map prepare time 1.795464 ms
map corner num 23312  surf num 10420 
build tree time 5.802597 ms 
mapping data assosiation time 16.810618 ms 
mapping solver time 9.799955 ms 
points size 53857 
sort q time 2.558786 
seperate points time 6.445443 
mapping solver time 10.447800 ms 
mapping pub time 0.682313 ms 
whole mapping time 66.210810 ms +++++
data association time 13.864457 ms 
solver time 10.253494 ms 
data association time 11.130783 ms 
solver time 7.555040 ms 
publication time 4.805694 ms 
whole laserOdometry time 48.418758 ms 
 
map prepare time 1.473295 ms
map corner num 23614  surf num 10484 
build tree time 6.086700 ms 
points size 54453 
mapping solver time 13.991732 ms 
mapping data assosiation time 16.807702 ms 
data association time 11.353962 ms 
mapping solver time 10.300403 ms 
mapping optimization time 66.291994 
add points time 0.259136 ms
solver time 10.922495 ms 
filter time 2.679511 ms 
mapping pub time 0.686000 ms 
whole mapping time 71.429527 ms +++++
data association time 11.396059 ms 
solver time 8.712775 ms 
publication time 4.990849 ms 
whole laserOdometry time 48.268674 ms 
 
map prepare time 1.478138 ms
map corner num 23888  surf num 10538 
build tree time 6.995813 ms 
mapping data assosiation time 17.167637 ms 
points size 56319 
prepare time 10.240145 
mapping solver time 13.579109 ms 
sort q time 3.036904 
seperate points time 7.532647 
scan registration time 20.126618 ms *************
mapping data assosiation time 18.233160 ms 
data association time 12.267085 ms 
mapping solver time 8.918308 ms 
mapping optimization time 65.811146 
add points time 0.372473 ms
filter time 3.356345 ms 
mapping pub time 0.911614 ms 
whole mapping time 71.973506 ms +++++
solver time 11.867003 ms 
data association time 13.638409 ms 
solver time 8.561065 ms 
optimization twice time 47.292550 
publication time 5.617751 ms 
whole laserOdometry time 52.928168 ms 
 
build tree time 6.889583 ms 
mapping data assosiation time 15.105969 ms 
mapping solver time 14.926588 ms 
sort q time 2.724766 
seperate points time 6.883346 
mapping data assosiation time 18.209176 ms 
mapping solver time 10.106858 ms 
filter time 3.736614 ms 
mapping pub time 0.931666 ms 
whole mapping time 72.652036 ms +++++
solver time 11.529829 ms 
data association time 11.342935 ms 
solver time 7.950986 ms 
optimization twice time 43.336528 
publication time 4.861075 ms 
whole laserOdometry time 48.217177 ms 
 
build tree time 7.296511 ms 
mapping data assosiation time 17.806452 ms 
points size 62318 
prepare time 12.113935 
sort q time 3.560229 
seperate points time 9.244161 
mapping data assosiation time 18.233081 ms 
mapping solver time 9.291414 ms 
mapping pub time 0.698420 ms 
whole mapping time 75.132536 ms +++++
solver time 12.336578 ms 
data association time 11.988925 ms 
solver time 9.016799 ms 
optimization twice time 47.581300 
map prepare time 1.572254 ms
map corner num 24732  surf num 10756 
build tree time 6.667891 ms 
points size 63288 
prepare time 12.063362 
sort q time 3.527230 
seperate points time 8.562245 
mapping solver time 14.836725 ms 
scan registration time 23.331402 ms *************
mapping data assosiation time 15.095500 ms 
data association time 12.916022 ms 
mapping solver time 11.526395 ms 
mapping optimization time 66.915371 
add points time 0.292350 ms
filter time 3.113662 ms 
mapping pub time 1.068239 ms 
whole mapping time 73.012590 ms +++++
solver time 12.750104 ms 
data association time 12.854812 ms 
optimization twice time 48.618797 
publication time 5.317621 ms 
whole laserOdometry time 53.960271 ms 
 
map prepare time 1.823265 ms
map corner num 24997  surf num 10818 
build tree time 6.398836 ms 
mapping data assosiation time 15.959101 ms 
points size 65500 
prepare time 11.021825 
mapping solver time 12.161190 ms 
mapping data assosiation time 17.593319 ms 
data association time 13.605212 ms 
mapping solver time 9.980010 ms 
mapping optimization time 63.248110 
add points time 0.285744 ms
filter time 3.401432 ms 
mapping pub time 0.710684 ms 
whole mapping time 69.517497 ms +++++
solver time 12.875052 ms 
data association time 11.421576 ms 
solver time 7.486254 ms 
optimization twice time 46.199775 
publication time 4.508979 ms 
whole laserOdometry time 50.724918 ms 
 
map prepare time 2.212176 ms
map corner num 25217  surf num 10874 
build tree time 6.478947 ms 
mapping data assosiation time 15.831051 ms 
points size 67510 
mapping solver time 11.548350 ms 
mapping data assosiation time 15.960150 ms 
data association time 11.779104 ms 
mapping solver time 8.032679 ms 
mapping optimization time 58.884446 
add points time 0.392436 ms
filter time 3.305411 ms 
mapping pub time 1.054516 ms 
whole mapping time 65.923901 ms +++++
solver time 14.380175 ms 
data association time 13.838363 ms 
publication time 6.635402 ms 
whole laserOdometry time 56.239301 ms 
 
map prepare time 2.103748 ms
map corner num 25477  surf num 10958 
build tree time 7.042636 ms 
mapping data assosiation time 14.428484 ms 
points size 69674 
prepare time 11.624663 
mapping solver time 10.759688 ms 
sort q time 3.456157 
seperate points time 8.252575 
scan registration time 22.220943 ms *************
mapping data assosiation time 16.913586 ms 
data association time 12.702583 ms 
filter time 3.497662 ms 
mapping pub time 1.057944 ms 
whole mapping time 68.075744 ms +++++
solver time 11.712204 ms 
data association time 11.587031 ms 
solver time 8.492786 ms 
optimization twice time 45.266256 
publication time 5.861768 ms 
whole laserOdometry time 51.145513 ms 
 
build tree time 7.107230 ms 
mapping data assosiation time 15.170167 ms 
mapping solver time 11.411455 ms 
points size 72765 
prepare time 12.218391 
sort q time 4.642475 
seperate points time 10.630346 
mapping solver time 12.292711 ms 
mapping optimization time 62.189639 
add points time 0.274099 ms
filter time 2.978245 ms 
mapping pub time 0.836192 ms 
whole mapping time 68.159333 ms +++++
solver time 12.541414 ms 
data association time 11.669848 ms 
solver time 8.224968 ms 
optimization twice time 45.303795 
map prepare time 1.782348 ms
map corner num 26019  surf num 11133 
build tree time 8.052167 ms 
mapping data assosiation time 17.907120 ms 
points size 76336 
prepare time 13.796692 
mapping solver time 14.974843 ms 
sort q time 4.312804 
seperate points time 10.241357 
scan registration time 27.487046 ms *************
mapping data assosiation time 18.739721 ms 
data association time 14.237668 ms 
mapping solver time 11.359172 ms 
mapping pub time 0.949173 ms 
whole mapping time 78.210800 ms +++++
data association time 13.107317 ms 
solver time 10.614427 ms 
optimization twice time 51.650312 
map prepare time 1.833894 ms
map corner num 26274  surf num 11191 
build tree time 7.469860 ms 
points size 80217 
mapping data assosiation time 17.360441 ms 
sort q time 4.491664 
seperate points time 10.497992 
scan registration time 28.095417 ms *************
mapping solver time 16.176527 ms 
data association time 15.376091 ms 
mapping data assosiation time 18.988729 ms 
solver time 13.975596 ms 
mapping solver time 11.599017 ms 
mapping optimization time 72.636461 
add points time 0.274180 ms
filter time 3.273528 ms 
data association time 15.622054 ms 
solver time 10.846024 ms 
publication time 6.769027 ms 
whole laserOdometry time 63.634665 ms 
 
map prepare time 3.306687 ms
map corner num 26557  surf num 11265 
build tree time 8.305605 ms 
points size 83209 
sort q time 5.329302 
seperate points time 12.345320 
scan registration time 29.698742 ms *************
mapping solver time 15.040407 ms 
mapping data assosiation time 17.355080 ms 
data association time 14.397096 ms 
mapping solver time 14.130258 ms 
mapping optimization time 74.925861 
add points time 0.439858 ms
mapping pub time 1.392669 ms 
whole mapping time 83.469095 ms +++++
solver time 10.501298 ms 
optimization twice time 49.295163 
publication time 7.135830 ms 
whole laserOdometry time 56.453774 ms 
 
map prepare time 1.756097 ms
map corner num 26803  surf num 11328 
build tree time 8.460316 ms 
points size 85974 
prepare time 15.195519 
mapping data assosiation time 18.122628 ms 
sort q time 4.502149 
seperate points time 10.605715 
scan registration time 29.840002 ms *************
mapping solver time 12.136802 ms 
mapping data assosiation time 16.797443 ms 
data association time 13.911488 ms 
mapping solver time 8.899097 ms 
mapping optimization time 65.488651 
add points time 0.267855 ms
filter time 3.058884 ms 
solver time 13.553464 ms 
data association time 12.893007 ms 
solver time 9.819609 ms 
optimization twice time 51.087805 
map prepare time 1.838156 ms
map corner num 27069  surf num 11394 
build tree time 7.582733 ms 
mapping data assosiation time 18.368004 ms 
prepare time 16.025445 
mapping solver time 13.545262 ms 
sort q time 5.132576 
seperate points time 11.954156 
data association time 15.583702 ms 
mapping solver time 10.126594 ms 
solver time 13.602870 ms 
mapping optimization time 77.308527 
add points time 0.296142 ms
filter time 2.449791 ms 
mapping pub time 1.154289 ms 
whole mapping time 83.115779 ms +++++
data association time 15.258923 ms 
solver time 9.799260 ms 
optimization twice time 55.208956 
map prepare time 1.991907 ms
map corner num 27347  surf num 11459 
build tree time 8.547522 ms 
points size 83960 
prepare time 15.408657 
sort q time 5.156324 
seperate points time 12.590128 
mapping solver time 12.056198 ms 
data association time 16.614028 ms 
mapping data assosiation time 18.390022 ms 
mapping optimization time 68.496226 
add points time 0.559128 ms
solver time 16.529400 ms 
filter time 4.571561 ms 
mapping pub time 1.249906 ms 
whole mapping time 76.957874 ms +++++
data association time 15.873835 ms 
solver time 14.515745 ms 
optimization twice time 64.597250 
prepare time 16.833534 
map prepare time 2.291597 ms
map corner num 27621  surf num 11521 
build tree time 7.665351 ms 
mapping data assosiation time 18.723368 ms 
data association time 14.330755 ms 
mapping solver time 12.761329 ms 
data association time 12.665240 ms 
mapping data assosiation time 17.608218 ms 
solver time 9.866118 ms 
optimization twice time 49.269455 
mapping solver time 10.783277 ms 
mapping optimization time 68.448595 
add points time 0.275027 ms
publication time 6.920584 ms 
whole laserOdometry time 56.210072 ms 
 
map prepare time 1.578054 ms
map corner num 27864  surf num 11592 
build tree time 8.958647 ms 
points size 83563 
prepare time 13.775801 
mapping data assosiation time 17.651501 ms 
sort q time 4.968124 
seperate points time 11.206983 
mapping solver time 11.086702 ms 
mapping data assosiation time 16.852703 ms 
data association time 12.543406 ms 
mapping solver time 8.783890 ms 
filter time 3.693281 ms 
mapping pub time 1.328027 ms 
whole mapping time 71.274940 ms +++++
data association time 13.296182 ms 
solver time 13.296283 ms 
publication time 6.758853 ms 
whole laserOdometry time 63.174295 ms 
 
map prepare time 2.036938 ms
map corner num 28125  surf num 11677 
points size 85264 
sort q time 4.653151 
seperate points time 10.672160 
mapping data assosiation time 16.470368 ms 
scan registration time 29.651924 ms *************
mapping solver time 14.007181 ms 
data association time 14.120415 ms 
mapping data assosiation time 16.517157 ms 
mapping solver time 7.753099 ms 
mapping optimization time 63.830556 
add points time 0.271378 ms
solver time 15.433952 ms 
filter time 3.385096 ms 
data association time 14.021330 ms 
solver time 10.256249 ms 
publication time 7.206824 ms 
whole laserOdometry time 62.049411 ms 
 
map prepare time 2.305968 ms
map corner num 28404  surf num 11777 
build tree time 8.021302 ms 
points size 86545 
prepare time 14.130656 
mapping data assosiation time 17.416016 ms 
mapping solver time 14.479947 ms 
data association time 14.468160 ms 
mapping data assosiation time 18.238692 ms 
solver time 15.490636 ms 
filter time 3.017097 ms 
mapping pub time 1.335982 ms 
whole mapping time 76.184028 ms +++++
data association time 14.676954 ms 
solver time 12.043250 ms 
publication time 7.326231 ms 
whole laserOdometry time 65.016808 ms 
 
map prepare time 2.146770 ms
map corner num 28752  surf num 11894 
build tree time 8.628536 ms 
prepare time 17.268077 
mapping data assosiation time 18.891529 ms 
sort q time 5.067647 
seperate points time 12.213606 
mapping solver time 14.809280 ms 
data association time 15.581406 ms 
mapping data assosiation time 18.241705 ms 
solver time 13.634103 ms 
mapping solver time 13.125350 ms 
mapping optimization time 74.619372 
add points time 0.394497 ms
solver time 5.319405 ms 
optimization twice time 49.570862 
map prepare time 1.814075 ms
map corner num 29109  surf num 11992 
build tree time 8.562347 ms 
mapping data assosiation time 19.954879 ms 
prepare time 19.088793 
mapping solver time 17.852772 ms 
sort q time 4.973650 
seperate points time 12.198890 
mapping data assosiation time 21.082377 ms 
data association time 20.166678 ms 
filter time 4.033451 ms 
mapping pub time 1.412613 ms 
whole mapping time 89.502792 ms +++++
solver time 14.628990 ms 
data association time 15.876488 ms 
points size 89434 
prepare time 13.523593 
solver time 12.514528 ms 
optimization twice time 64.324506 
publication time 7.290294 ms 
whole laserOdometry time 71.640219 ms 
 
scan registration time 29.044499 ms *************
build tree time 8.975120 ms 
data association time 14.594204 ms 
mapping data assosiation time 19.238716 ms 
solver time 16.447559 ms 
mapping solver time 16.464109 ms 
data association time 19.207883 ms 
mapping data assosiation time 22.382680 ms 
publication time 11.254891 ms 
whole laserOdometry time 74.234841 ms 
 
mapping solver time 15.641697 ms 
mapping optimization time 84.031600 
add points time 0.463424 ms
filter time 4.059646 ms 
build tree time 10.389431 ms 
sort q time 6.105082 
seperate points time 18.720874 
data association time 18.036366 ms 
solver time 16.551833 ms 
mapping data assosiation time 20.705997 ms 
mapping solver time 9.145140 ms 
data association time 17.279239 ms 
mapping pub time 2.444132 ms 
whole mapping time 86.349198 ms +++++
solver time 16.455878 ms 
optimization twice time 69.426972 
points size 91350 
prepare time 19.322522 
publication time 10.317266 ms 
whole laserOdometry time 79.768909 ms 
 
sort q time 5.080682 
seperate points time 12.952945 
mapping data assosiation time 19.404330 ms 
data association time 13.683927 ms 
solver time 10.781980 ms 
mapping solver time 13.578373 ms 
data association time 14.346764 ms 
mapping data assosiation time 19.036267 ms 
solver time 9.030449 ms 
mapping solver time 11.950413 ms 
publication time 8.614901 ms 
whole laserOdometry time 57.386352 ms 
 
mapping optimization time 72.960422 
add points time 0.742555 ms
map prepare time 1.937758 ms
map corner num 30844  surf num 12641 
points size 91146 
build tree time 8.627741 ms 
sort q time 5.473590 
seperate points time 12.896051 
scan registration time 33.025161 ms *************
mapping data assosiation time 23.522880 ms 
mapping solver time 12.482337 ms 
data association time 17.345210 ms 
solver time 14.055712 ms 
mapping solver time 9.314028 ms 
mapping optimization time 76.981940 
add points time 0.392157 ms
data association time 14.916409 ms 
filter time 4.709373 ms 
mapping pub time 1.210638 ms 
whole mapping time 85.286307 ms +++++
solver time 10.381843 ms 
publication time 9.571702 ms 
whole laserOdometry time 67.289351 ms 
 
points size 89137 
prepare time 17.128580 
sort q time 4.468145 
seperate points time 10.844591 
mapping data assosiation time 20.676478 ms 
data association time 16.231738 ms 
mapping solver time 14.525496 ms 
solver time 9.530691 ms 
mapping data assosiation time 20.706174 ms 
solver time 9.176532 ms 
filter time 4.626380 ms 
map prepare time 2.677808 ms
map corner num 31767  surf num 12954 
build tree time 11.048404 ms 
points size 88350 
prepare time 19.540751 
mapping data assosiation time 24.434682 ms 
scan registration time 39.734719 ms *************
mapping solver time 17.725000 ms 
data association time 15.689393 ms 
mapping data assosiation time 20.379261 ms 
mapping solver time 9.388305 ms 
filter time 3.485053 ms 
mapping pub time 1.205778 ms 
whole mapping time 92.068783 ms +++++
data association time 16.614780 ms 
solver time 9.632072 ms 
publication time 8.273656 ms 
whole laserOdometry time 63.653702 ms 
 
points size 88230 
build tree time 9.451296 ms 
scan registration time 31.251746 ms *************
mapping data assosiation time 22.717148 ms 
data association time 17.230610 ms 
mapping solver time 14.855391 ms 
solver time 14.910681 ms 
mapping data assosiation time 20.161049 ms 
data association time 17.257673 ms 
mapping solver time 9.710761 ms 
mapping optimization time 78.058142 
filter time 4.132027 ms 
solver time 12.887059 ms 
publication time 8.918400 ms 
whole laserOdometry time 72.258359 ms 
 
map prepare time 1.892444 ms
map corner num 32518  surf num 13173 
points size 85936 
prepare time 15.955212 
build tree time 10.295323 ms 
sort q time 5.554195 
seperate points time 12.837795 
scan registration time 33.180091 ms *************
mapping data assosiation time 21.471598 ms 
mapping solver time 14.793659 ms 
data association time 15.541740 ms 
solver time 13.955550 ms 
mapping solver time 8.484394 ms 
data association time 16.453053 ms 
solver time 9.778833 ms 
optimization twice time 56.605639 
publication time 6.762645 ms 
whole laserOdometry time 63.388337 ms 
 
points size 85135 
prepare time 15.187904 
map prepare time 2.663080 ms
map corner num 32869  surf num 13267 
build tree time 10.737124 ms 
scan registration time 31.809476 ms *************
mapping data assosiation time 18.752732 ms 
data association time 13.269531 ms 
mapping solver time 14.121459 ms 
solver time 12.980969 ms 
mapping data assosiation time 20.119730 ms 
data association time 16.113786 ms 
mapping solver time 11.460538 ms 
mapping optimization time 76.536070 
add points time 0.632089 ms
solver time 10.878831 ms 
optimization twice time 54.236841 
publication time 9.790115 ms 
whole laserOdometry time 64.050257 ms 
 
map prepare time 2.939317 ms
map corner num 33212  surf num 13360 
points size 86299 
build tree time 11.015936 ms 
prepare time 19.009557 
sort q time 5.016387 
seperate points time 12.305003 
mapping data assosiation time 22.146215 ms 
mapping solver time 18.906072 ms 
data association time 18.678039 ms 
mapping data assosiation time 21.754074 ms 
mapping solver time 10.021222 ms 
filter time 4.804717 ms 
data association time 17.507472 ms 
solver time 9.588093 ms 
prepare time 14.520849 
publication time 6.899833 ms 
whole laserOdometry time 68.169195 ms 
 
sort q time 4.947076 
seperate points time 11.754156 
mapping data assosiation time 17.301608 ms 
data association time 15.100674 ms 
mapping solver time 12.198544 ms 
mapping data assosiation time 15.926910 ms 
mapping solver time 11.021758 ms 
filter time 4.234413 ms 
mapping pub time 1.064973 ms 
whole mapping time 73.352591 ms +++++
map prepare time 2.446634 ms
map corner num 33888  surf num 13502 
build tree time 9.414496 ms 
points size 86077 
prepare time 19.105941 
mapping data assosiation time 20.321936 ms 
sort q time 4.953769 
seperate points time 11.919719 
scan registration time 34.649063 ms *************
data association time 12.582399 ms 
mapping data assosiation time 15.903429 ms 
solver time 10.439937 ms 
mapping solver time 9.824966 ms 
mapping optimization time 72.205838 
add points time 0.458251 ms
filter time 4.582885 ms 
mapping pub time 2.771374 ms 
whole mapping time 82.519994 ms +++++
[0m[ INFO] [1715773140.206386489]: Received 47803 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715773140.206415418]: Data saved to 1317357634081001.pcd[0m
data association time 13.941119 ms 
solver time 7.833492 ms 
optimization twice time 45.594900 
map prepare time 1.774951 ms
map corner num 34214  surf num 13585 
build tree time 10.511538 ms 
points size 85884 
mapping data assosiation time 20.908734 ms 
sort q time 4.781197 
seperate points time 11.676193 
mapping solver time 17.888166 ms 
scan registration time 37.693651 ms *************
mapping data assosiation time 18.309053 ms 
data association time 14.656276 ms 
mapping solver time 11.096209 ms 
mapping optimization time 79.954046 
add points time 0.294439 ms
data association time 13.095965 ms 
solver time 9.824810 ms 
points size 85998 
map prepare time 2.741397 ms
map corner num 34514  surf num 13671 
prepare time 15.687815 
build tree time 10.127686 ms 
scan registration time 30.597026 ms *************
mapping data assosiation time 17.818142 ms 
data association time 14.654324 ms 
solver time 12.588006 ms 
mapping data assosiation time 17.320316 ms 
data association time 16.847506 ms 
filter time 5.029961 ms 
mapping pub time 1.415215 ms 
whole mapping time 80.525111 ms +++++
solver time 10.435931 ms 
optimization twice time 55.570198 
publication time 7.528248 ms 
whole laserOdometry time 63.115981 ms 
 
map prepare time 2.269153 ms
map corner num 34821  surf num 13740 
points size 86678 
sort q time 5.523932 
seperate points time 12.781998 
mapping solver time 13.401476 ms 
data association time 12.663108 ms 
mapping data assosiation time 17.340811 ms 
mapping solver time 11.510854 ms 
mapping optimization time 70.072703 
add points time 0.304679 ms
data association time 12.925456 ms 
filter time 4.542746 ms 
mapping pub time 1.150594 ms 
whole mapping time 78.388302 ms +++++
solver time 8.965564 ms 
optimization twice time 48.043051 
publication time 6.666362 ms 
whole laserOdometry time 54.728616 ms 
 
map prepare time 3.192766 ms
map corner num 35098  surf num 13786 
build tree time 9.304565 ms 
prepare time 15.055369 
mapping data assosiation time 17.525230 ms 
sort q time 5.477587 
seperate points time 12.583147 
mapping solver time 14.250449 ms 
data association time 13.246708 ms 
mapping data assosiation time 16.374656 ms 
mapping solver time 10.159989 ms 
filter time 3.627304 ms 
mapping pub time 1.098200 ms 
whole mapping time 76.961327 ms +++++
data association time 12.829361 ms 
solver time 9.671008 ms 
optimization twice time 48.632666 
publication time 7.286910 ms 
whole laserOdometry time 55.942525 ms 
 
map prepare time 2.337170 ms
map corner num 35386  surf num 13849 
build tree time 10.210674 ms 
points size 87553 
sort q time 5.023217 
seperate points time 11.648610 
mapping data assosiation time 17.032426 ms 
scan registration time 29.603330 ms *************
mapping solver time 11.042452 ms 
data association time 14.265034 ms 
solver time 11.150874 ms 
mapping solver time 8.102561 ms 
mapping optimization time 64.040293 
add points time 0.319915 ms
filter time 4.786791 ms 
mapping pub time 1.590366 ms 
whole mapping time 73.131508 ms +++++
data association time 16.131966 ms 
solver time 8.136680 ms 
optimization twice time 50.516429 
publication time 7.044136 ms 
whole laserOdometry time 57.585749 ms 
 
map prepare time 2.524309 ms
map corner num 35671  surf num 13923 
build tree time 9.632345 ms 
mapping data assosiation time 16.972436 ms 
points size 89656 
prepare time 13.989740 
mapping solver time 11.945176 ms 
sort q time 5.164388 
seperate points time 11.661870 
mapping data assosiation time 15.423209 ms 
mapping solver time 10.348826 ms 
filter time 4.134050 ms 
data association time 13.695600 ms 
mapping pub time 1.350591 ms 
whole mapping time 73.545130 ms +++++
solver time 8.608390 ms 
data association time 14.002088 ms 
solver time 9.617887 ms 
publication time 7.207616 ms 
whole laserOdometry time 54.182899 ms 
 
map prepare time 1.900777 ms
map corner num 35950  surf num 13992 
points size 92409 
prepare time 15.688216 
sort q time 5.667998 
seperate points time 12.628573 
scan registration time 32.647603 ms *************
mapping data assosiation time 16.306463 ms 
mapping solver time 11.004421 ms 
data association time 15.228846 ms 
mapping data assosiation time 17.328877 ms 
solver time 12.413766 ms 
mapping solver time 8.480887 ms 
mapping optimization time 65.189700 
add points time 0.305484 ms
data association time 14.437149 ms 
solver time 9.357463 ms 
publication time 7.943616 ms 
whole laserOdometry time 60.495465 ms 
 
map prepare time 2.913906 ms
map corner num 36236  surf num 14070 
points size 93926 
sort q time 4.888153 
seperate points time 11.307518 
scan registration time 33.177598 ms *************
mapping solver time 10.227464 ms 
data association time 15.814341 ms 
mapping data assosiation time 17.446615 ms 
solver time 15.582494 ms 
filter time 4.517636 ms 
mapping pub time 1.198069 ms 
whole mapping time 76.796933 ms +++++
data association time 16.131561 ms 
solver time 9.847911 ms 
publication time 6.491248 ms 
whole laserOdometry time 64.683528 ms 
 
map prepare time 2.565045 ms
map corner num 36493  surf num 14157 
points size 95123 
prepare time 17.655890 
sort q time 6.040266 
seperate points time 14.315379 
scan registration time 37.406576 ms *************
mapping solver time 10.555676 ms 
data association time 16.031802 ms 
solver time 15.489128 ms 
mapping data assosiation time 23.231865 ms 
mapping solver time 8.004268 ms 
mapping optimization time 75.441106 
add points time 0.335782 ms
publication time 7.474199 ms 
whole laserOdometry time 63.327888 ms 
 
map prepare time 2.756103 ms
map corner num 36742  surf num 14243 
points size 95868 
prepare time 16.173506 
sort q time 5.914104 
seperate points time 13.192135 
scan registration time 33.624623 ms *************
mapping data assosiation time 19.428364 ms 
mapping solver time 16.627579 ms 
data association time 17.677885 ms 
mapping data assosiation time 24.209886 ms 
solver time 18.448595 ms 
mapping solver time 14.405902 ms 
data association time 18.335963 ms 
filter time 4.398570 ms 
mapping pub time 2.254430 ms 
whole mapping time 96.238198 ms +++++
solver time 15.071939 ms 
publication time 7.786202 ms 
whole laserOdometry time 78.260382 ms 
 
prepare time 17.426816 
map prepare time 2.935909 ms
map corner num 37000  surf num 14338 
sort q time 5.197448 
seperate points time 11.606800 
build tree time 12.627996 ms 
scan registration time 33.764426 ms *************
mapping data assosiation time 23.180513 ms 
data association time 14.527210 ms 
mapping solver time 15.707625 ms 
solver time 11.226284 ms 
data association time 13.807280 ms 
solver time 8.729488 ms 
mapping optimization time 78.674087 
mapping pub time 1.219817 ms 
whole mapping time 88.054752 ms +++++
points size 98927 
prepare time 17.369568 
build tree time 10.532790 ms 
sort q time 5.724625 
seperate points time 13.196004 
scan registration time 35.488215 ms *************
mapping solver time 12.982851 ms 
data association time 13.705447 ms 
mapping data assosiation time 17.088903 ms 
solver time 12.723165 ms 
mapping solver time 12.037320 ms 
mapping optimization time 73.255380 
add points time 0.406478 ms
data association time 14.118822 ms 
solver time 9.288543 ms 
publication time 7.232602 ms 
whole laserOdometry time 58.074657 ms 
 
map prepare time 1.970715 ms
map corner num 37605  surf num 14495 
points size 99204 
build tree time 10.350818 ms 
prepare time 16.813038 
sort q time 5.674547 
seperate points time 12.909166 
mapping solver time 13.496262 ms 
data association time 15.350819 ms 
mapping data assosiation time 17.464348 ms 
solver time 13.658043 ms 
mapping solver time 12.084777 ms 
mapping optimization time 71.759058 
add points time 0.322388 ms
data association time 16.418767 ms 
solver time 10.929394 ms 
publication time 8.713173 ms 
whole laserOdometry time 66.013388 ms 
 
map prepare time 2.125385 ms
map corner num 37931  surf num 14639 
points size 99332 
prepare time 16.533067 
build tree time 9.889903 ms 
sort q time 5.737077 
seperate points time 12.704772 
mapping data assosiation time 20.488561 ms 
mapping solver time 13.556436 ms 
data association time 20.252500 ms 
mapping data assosiation time 22.109980 ms 
solver time 17.684289 ms 
mapping solver time 12.506074 ms 
mapping optimization time 79.838734 
add points time 0.382113 ms
mapping pub time 1.798106 ms 
whole mapping time 88.926410 ms +++++
data association time 17.534257 ms 
solver time 8.783290 ms 
points size 99400 
map prepare time 2.527720 ms
map corner num 38275  surf num 14797 
sort q time 6.487834 
seperate points time 14.604711 
mapping data assosiation time 16.749591 ms 
data association time 14.150841 ms 
mapping solver time 13.232200 ms 
solver time 11.249908 ms 
data association time 13.963073 ms 
solver time 8.095763 ms 
filter time 4.206197 ms 
map prepare time 2.102465 ms
map corner num 38637  surf num 14929 
points size 99238 
build tree time 10.897287 ms 
prepare time 16.634880 
sort q time 6.105494 
seperate points time 13.451474 
mapping solver time 17.666924 ms 
data association time 22.834925 ms 
mapping data assosiation time 23.135863 ms 
solver time 18.559895 ms 
mapping solver time 12.245058 ms 
mapping optimization time 84.743077 
add points time 0.534169 ms
mapping pub time 1.824302 ms 
whole mapping time 93.996464 ms +++++
data association time 19.411767 ms 
solver time 8.626937 ms 
points size 98704 
publication time 8.382934 ms 
whole laserOdometry time 78.728414 ms 
 
map prepare time 3.302479 ms
map corner num 39045  surf num 15097 
sort q time 5.320832 
seperate points time 12.841189 
build tree time 11.593330 ms 
scan registration time 34.153856 ms *************
mapping data assosiation time 21.167341 ms 
data association time 14.769330 ms 
mapping solver time 11.721094 ms 
solver time 11.828024 ms 
mapping data assosiation time 19.786759 ms 
data association time 15.399921 ms 
solver time 9.372604 ms 
filter time 6.103044 ms 
map prepare time 3.110279 ms
map corner num 39434  surf num 15280 
prepare time 17.383137 
build tree time 12.360556 ms 
sort q time 6.161450 
seperate points time 13.908707 
mapping data assosiation time 24.295657 ms 
mapping solver time 15.760582 ms 
solver time 13.711092 ms 
mapping data assosiation time 22.005627 ms 
data association time 15.179228 ms 
mapping solver time 12.101035 ms 
filter time 4.564538 ms 
publication time 10.103664 ms 
whole laserOdometry time 69.827324 ms 
 
points size 94269 
build tree time 11.655607 ms 
sort q time 5.128215 
seperate points time 12.227802 
scan registration time 34.938543 ms *************
mapping data assosiation time 21.306733 ms 
data association time 15.170278 ms 
mapping solver time 15.142236 ms 
solver time 12.536509 ms 
mapping data assosiation time 20.392229 ms 
solver time 9.156082 ms 
filter time 6.092840 ms 
map prepare time 2.916256 ms
map corner num 40296  surf num 15585 
points size 89737 
build tree time 11.906367 ms 
sort q time 6.221247 
seperate points time 14.309890 
mapping data assosiation time 22.990343 ms 
data association time 16.203386 ms 
mapping solver time 16.304529 ms 
solver time 13.246896 ms 
mapping data assosiation time 20.417032 ms 
data association time 16.277285 ms 
mapping solver time 9.544143 ms 
mapping optimization time 82.421779 
add points time 0.417911 ms
mapping pub time 4.288273 ms 
whole mapping time 94.342079 ms +++++
publication time 9.624262 ms 
whole laserOdometry time 67.102190 ms 
 
points size 86986 
map prepare time 3.277667 ms
map corner num 40694  surf num 15761 
prepare time 16.123283 
build tree time 14.287916 ms 
data association time 16.689142 ms 
mapping data assosiation time 26.803656 ms 
solver time 14.387731 ms 
mapping solver time 21.372215 ms 
data association time 17.419532 ms 
solver time 10.748447 ms 
publication time 8.399924 ms 
whole laserOdometry time 68.659256 ms 
 
points size 84854 
prepare time 16.307633 
filter time 4.810828 ms 
map prepare time 2.764878 ms
map corner num 41089  surf num 15908 
scan registration time 31.620082 ms *************
build tree time 13.739458 ms 
data association time 16.290693 ms 
mapping data assosiation time 24.512359 ms 
solver time 13.567574 ms 
mapping solver time 20.818180 ms 
data association time 16.964910 ms 
solver time 11.082513 ms 
mapping data assosiation time 23.289142 ms 
publication time 9.172824 ms 
whole laserOdometry time 68.180247 ms 
 
points size 82094 
mapping solver time 15.352076 ms 
sort q time 5.304356 
seperate points time 12.570877 
scan registration time 32.636453 ms *************
filter time 6.268966 ms 
build tree time 12.260507 ms 
data association time 16.766580 ms 
solver time 12.082601 ms 
mapping solver time 15.834029 ms 
data association time 16.297445 ms 
solver time 9.193876 ms 
publication time 8.432450 ms 
whole laserOdometry time 63.856746 ms 
 
mapping data assosiation time 25.573445 ms 
points size 78825 
prepare time 18.111097 
filter time 4.825525 ms 
map prepare time 3.097497 ms
map corner num 41956  surf num 16234 
scan registration time 35.774330 ms *************
build tree time 13.728661 ms 
data association time 17.303978 ms 
mapping data assosiation time 22.687747 ms 
solver time 14.253189 ms 
mapping solver time 16.230476 ms 
data association time 15.055225 ms 
solver time 10.216663 ms 
mapping data assosiation time 21.520672 ms 
points size 75539 
prepare time 14.679546 
filter time 5.002626 ms 
build tree time 14.011806 ms 
data association time 16.787787 ms 
mapping data assosiation time 22.436392 ms 
mapping solver time 15.433715 ms 
data association time 15.585548 ms 
solver time 10.028942 ms 
publication time 6.988937 ms 
whole laserOdometry time 63.584168 ms 
 
points size 71739 
filter time 5.752547 ms 
map prepare time 2.833558 ms
map corner num 42875  surf num 16553 
scan registration time 26.936552 ms *************
build tree time 14.303107 ms 
data association time 16.612609 ms 
mapping data assosiation time 22.662843 ms 
solver time 12.322960 ms 
mapping solver time 16.357081 ms 
solver time 9.342662 ms 
publication time 7.365465 ms 
whole laserOdometry time 61.511540 ms 
 
points size 68114 
mapping solver time 13.040870 ms 
mapping optimization time 91.052157 
add points time 0.380629 ms
map prepare time 2.424980 ms
map corner num 43292  surf num 16675 
scan registration time 23.295794 ms *************
build tree time 10.805656 ms 
data association time 14.953845 ms 
mapping data assosiation time 21.503637 ms 
solver time 12.643162 ms 
data association time 14.564824 ms 
mapping solver time 16.046997 ms 
solver time 10.837836 ms 
optimization twice time 53.917216 
mapping data assosiation time 24.622272 ms 
mapping solver time 15.808698 ms 
mapping optimization time 90.095961 
add points time 0.403417 ms
sort q time 4.142860 
seperate points time 9.516890 
scan registration time 30.046783 ms *************
build tree time 13.035633 ms 
data association time 13.535638 ms 
mapping data assosiation time 19.670936 ms 
solver time 11.662659 ms 
data association time 13.426146 ms 
solver time 10.814829 ms 
optimization twice time 50.321405 
mapping data assosiation time 23.543464 ms 
mapping solver time 9.790380 ms 
filter time 4.175392 ms 
map prepare time 2.856106 ms
map corner num 44120  surf num 16881 
points size 65035 
prepare time 11.427873 
build tree time 11.420297 ms 
sort q time 3.291396 
seperate points time 8.176868 
mapping data assosiation time 22.525978 ms 
data association time 18.070165 ms 
mapping solver time 20.164037 ms 
solver time 17.760790 ms 
mapping data assosiation time 23.697606 ms 
data association time 19.118665 ms 
mapping solver time 13.452262 ms 
optimization twice time 68.879948 
publication time 6.225779 ms 
whole laserOdometry time 75.122627 ms 
 
map prepare time 1.972012 ms
map corner num 44492  surf num 16995 
build tree time 12.621723 ms 
sort q time 3.206747 
seperate points time 8.196496 
mapping data assosiation time 18.749436 ms 
data association time 12.881802 ms 
solver time 11.143052 ms 
mapping data assosiation time 19.500327 ms 
data association time 13.241723 ms 
mapping solver time 10.255956 ms 
mapping optimization time 74.990953 
add points time 0.337999 ms
publication time 5.608752 ms 
whole laserOdometry time 50.478176 ms 
 
map prepare time 1.980808 ms
map corner num 44838  surf num 17106 
build tree time 11.454491 ms 
points size 65919 
mapping data assosiation time 20.623744 ms 
mapping solver time 15.120808 ms 
data association time 13.938287 ms 
solver time 11.258474 ms 
mapping solver time 12.403930 ms 
mapping optimization time 78.757348 
add points time 0.393502 ms
solver time 10.247986 ms 
publication time 6.097385 ms 
whole laserOdometry time 56.502212 ms 
 
map prepare time 2.112036 ms
map corner num 45188  surf num 17210 
build tree time 13.810059 ms 
points size 68157 
sort q time 3.804851 
seperate points time 9.176812 
mapping data assosiation time 19.872572 ms 
scan registration time 24.207342 ms *************
mapping solver time 13.296433 ms 
data association time 11.353133 ms 
mapping data assosiation time 18.779040 ms 
solver time 12.643555 ms 
mapping solver time 12.575008 ms 
data association time 13.011645 ms 
filter time 4.783886 ms 
mapping pub time 0.824847 ms 
whole mapping time 87.590793 ms +++++
solver time 9.356942 ms 
optimization twice time 47.224630 
publication time 6.312223 ms 
whole laserOdometry time 53.553979 ms 
 
map prepare time 2.149282 ms
map corner num 45502  surf num 17306 
build tree time 11.580565 ms 
points size 70788 
prepare time 11.811070 
mapping data assosiation time 18.557837 ms 
sort q time 3.954468 
seperate points time 9.462443 
scan registration time 24.460439 ms *************
mapping solver time 15.004830 ms 
solver time 11.004666 ms 
mapping data assosiation time 18.070423 ms 
mapping solver time 11.165854 ms 
filter time 5.758550 ms 
mapping pub time 1.156959 ms 
whole mapping time 84.836859 ms +++++
solver time 9.415123 ms 
optimization twice time 48.579769 
publication time 7.334802 ms 
whole laserOdometry time 55.934574 ms 
 
map prepare time 2.201644 ms
map corner num 45831  surf num 17423 
build tree time 12.453701 ms 
points size 74523 
mapping data assosiation time 20.666780 ms 
sort q time 3.595905 
seperate points time 8.479837 
mapping solver time 16.280465 ms 
mapping data assosiation time 17.790347 ms 
mapping solver time 11.444006 ms 
mapping optimization time 79.635188 
add points time 0.361918 ms
data association time 14.474139 ms 
solver time 9.718117 ms 
optimization twice time 47.426459 
map prepare time 2.655454 ms
map corner num 46189  surf num 17574 
build tree time 12.184766 ms 
points size 76978 
prepare time 12.937475 
mapping data assosiation time 18.333180 ms 
sort q time 3.801950 
seperate points time 8.957459 
mapping solver time 19.426953 ms 
mapping data assosiation time 16.747509 ms 
data association time 12.077197 ms 
mapping solver time 11.637572 ms 
filter time 4.471749 ms 
mapping pub time 2.050974 ms 
whole mapping time 88.832150 ms +++++
data association time 16.493213 ms 
solver time 8.126980 ms 
optimization twice time 51.042175 
map prepare time 2.113588 ms
map corner num 46551  surf num 17698 
points size 78724 
build tree time 12.276296 ms 
prepare time 12.481694 
scan registration time 26.739093 ms *************
mapping data assosiation time 21.789754 ms 
mapping solver time 18.723553 ms 
solver time 17.581112 ms 
data association time 20.030352 ms 
mapping pub time 1.297596 ms 
whole mapping time 104.849032 ms +++++
publication time 6.294724 ms 
whole laserOdometry time 76.404847 ms 
 
prepare time 13.823983 
build tree time 13.146698 ms 
sort q time 3.793275 
seperate points time 9.159273 
scan registration time 26.443407 ms *************
mapping data assosiation time 21.966687 ms 
mapping solver time 18.844665 ms 
solver time 21.227377 ms 
mapping data assosiation time 23.301428 ms 
data association time 21.057338 ms 
mapping pub time 1.321207 ms 
whole mapping time 103.427769 ms +++++
solver time 11.781433 ms 
optimization twice time 76.140327 
publication time 7.773618 ms 
whole laserOdometry time 84.118471 ms 
 
points size 81867 
prepare time 24.699073 
sort q time 4.895166 
seperate points time 16.103980 
mapping data assosiation time 23.847715 ms 
data association time 22.589841 ms 
mapping solver time 18.888411 ms 
solver time 21.414908 ms 
mapping data assosiation time 23.715023 ms 
prepare time 14.218774 
data association time 21.526223 ms 
mapping solver time 18.951084 ms 
filter time 5.575269 ms 
mapping pub time 1.389756 ms 
whole mapping time 115.955715 ms +++++
publication time 6.001894 ms 
whole laserOdometry time 88.179179 ms 
 
map prepare time 2.325198 ms
map corner num 47695  surf num 18161 
data association time 13.935392 ms 
build tree time 15.155903 ms 
solver time 14.171050 ms 
mapping data assosiation time 22.146752 ms 
solver time 9.054402 ms 
publication time 7.151352 ms 
whole laserOdometry time 61.725326 ms 
 
points size 82805 
prepare time 20.045328 
mapping data assosiation time 25.642421 ms 
sort q time 5.169928 
seperate points time 12.308057 
mapping solver time 12.454292 ms 
mapping optimization time 93.273754 
add points time 0.476337 ms
map prepare time 2.055197 ms
map corner num 48084  surf num 18315 
data association time 14.358601 ms 
build tree time 12.934683 ms 
solver time 15.531516 ms 
mapping data assosiation time 19.896512 ms 
data association time 15.227034 ms 
mapping solver time 14.062747 ms 
solver time 9.829610 ms 
publication time 7.430250 ms 
whole laserOdometry time 63.317826 ms 
 
mapping data assosiation time 23.771944 ms 
points size 83198 
mapping solver time 16.120047 ms 
scan registration time 35.924677 ms *************
filter time 5.614616 ms 
map prepare time 2.840257 ms
map corner num 48419  surf num 18478 
build tree time 11.917041 ms 
data association time 13.882415 ms 
mapping data assosiation time 21.126556 ms 
data association time 13.858232 ms 
mapping solver time 13.624385 ms 
solver time 11.821042 ms 
mapping data assosiation time 24.310891 ms 
points size 83424 
mapping solver time 19.948300 ms 
sort q time 4.834527 
seperate points time 11.894555 
mapping optimization time 92.239052 
add points time 0.522692 ms
scan registration time 35.504970 ms *************
map prepare time 2.172873 ms
map corner num 48752  surf num 18644 
build tree time 13.024307 ms 
solver time 17.159996 ms 
data association time 15.358511 ms 
mapping solver time 15.435692 ms 
solver time 8.102259 ms 
publication time 7.629704 ms 
whole laserOdometry time 63.456698 ms 
 
points size 84414 
mapping solver time 11.423714 ms 
mapping optimization time 86.890493 
add points time 0.486822 ms
sort q time 4.038718 
seperate points time 9.729679 
scan registration time 30.635192 ms *************
map prepare time 2.580051 ms
map corner num 49123  surf num 18792 
data association time 15.852366 ms 
solver time 13.753375 ms 
mapping data assosiation time 20.170725 ms 
data association time 16.615573 ms 
mapping solver time 14.502683 ms 
solver time 8.912849 ms 
publication time 6.733652 ms 
whole laserOdometry time 62.858251 ms 
 
mapping data assosiation time 21.507030 ms 
points size 85183 
prepare time 14.381094 
filter time 5.829863 ms 
sort q time 4.413377 
seperate points time 10.372211 
mapping pub time 1.031796 ms 
whole mapping time 93.706758 ms +++++
build tree time 14.167765 ms 
data association time 15.055558 ms 
solver time 14.354349 ms 
mapping solver time 13.809103 ms 
data association time 14.201752 ms 
solver time 13.056033 ms 
optimization twice time 57.615737 
mapping solver time 12.503125 ms 
mapping optimization time 84.058223 
add points time 0.475927 ms
points size 86206 
map prepare time 2.040848 ms
map corner num 49824  surf num 19100 
sort q time 4.834419 
seperate points time 11.760919 
scan registration time 30.386023 ms *************
data association time 15.969485 ms 
mapping data assosiation time 22.189962 ms 
solver time 17.368270 ms 
data association time 15.633475 ms 
solver time 10.367787 ms 
publication time 9.211626 ms 
whole laserOdometry time 69.604070 ms 
 
mapping solver time 15.670864 ms 
points size 87653 
map prepare time 2.903367 ms
map corner num 50148  surf num 19268 
sort q time 5.350997 
seperate points time 12.207371 
scan registration time 36.544474 ms *************
data association time 16.996600 ms 
mapping data assosiation time 22.581821 ms 
solver time 12.893154 ms 
data association time 16.939697 ms 
mapping data assosiation time 23.623963 ms 
publication time 7.739784 ms 
whole laserOdometry time 67.011680 ms 
 
mapping solver time 15.000712 ms 
filter time 5.537698 ms 
mapping pub time 1.384160 ms 
whole mapping time 104.471241 ms +++++
sort q time 5.525611 
seperate points time 13.227372 
build tree time 15.721962 ms 
data association time 16.637845 ms 
mapping data assosiation time 23.082922 ms 
solver time 13.984309 ms 
mapping solver time 17.392266 ms 
data association time 16.869992 ms 
solver time 9.361550 ms 
mapping solver time 13.991058 ms 
points size 89715 
mapping optimization time 93.326029 
add points time 0.538805 ms
prepare time 17.000851 
map prepare time 2.651465 ms
map corner num 50837  surf num 19521 
sort q time 5.101788 
seperate points time 12.304306 
build tree time 14.910961 ms 
data association time 16.241571 ms 
mapping data assosiation time 23.062334 ms 
solver time 12.332702 ms 
mapping solver time 16.868492 ms 
data association time 16.597508 ms 
solver time 10.580759 ms 
mapping data assosiation time 24.241645 ms 
mapping solver time 12.130163 ms 
map prepare time 2.900949 ms
map corner num 51186  surf num 19660 
sort q time 5.177756 
seperate points time 12.593601 
build tree time 14.341957 ms 
mapping data assosiation time 21.434274 ms 
data association time 18.456646 ms 
solver time 13.075333 ms 
mapping solver time 16.977538 ms 
data association time 15.052004 ms 
mapping data assosiation time 21.095717 ms 
mapping solver time 10.838753 ms 
mapping optimization time 85.908385 
publication time 8.982038 ms 
whole laserOdometry time 65.853860 ms 
 
add points time 0.922630 ms
prepare time 17.918023 
sort q time 4.955407 
seperate points time 11.955961 
data association time 15.955112 ms 
mapping data assosiation time 21.392827 ms 
mapping solver time 12.274504 ms 
data association time 15.814432 ms 
mapping data assosiation time 22.533462 ms 
publication time 9.266943 ms 
whole laserOdometry time 65.554726 ms 
 
filter time 6.753640 ms 
mapping pub time 2.362521 ms 
whole mapping time 100.700565 ms +++++
points size 91730 
sort q time 5.460556 
seperate points time 12.806506 
build tree time 15.195338 ms 
scan registration time 33.790191 ms *************
mapping data assosiation time 21.936204 ms 
data association time 15.113834 ms 
mapping solver time 12.941809 ms 
data association time 14.127025 ms 
mapping data assosiation time 21.988255 ms 
solver time 7.996761 ms 
optimization twice time 50.137758 
publication time 8.332251 ms 
whole laserOdometry time 58.483025 ms 
 
filter time 5.100682 ms 
mapping pub time 1.096196 ms 
whole mapping time 96.083036 ms +++++
map prepare time 2.251667 ms
map corner num 52020  surf num 20015 
prepare time 17.188707 
build tree time 14.320813 ms 
sort q time 5.197501 
seperate points time 12.122039 
mapping data assosiation time 22.212859 ms 
data association time 16.059751 ms 
mapping solver time 15.993039 ms 
solver time 12.227886 ms 
data association time 15.104142 ms 
solver time 11.432608 ms 
publication time 9.202446 ms 
whole laserOdometry time 64.889760 ms 
 
map prepare time 2.940419 ms
map corner num 52317  surf num 20136 
points size 93945 
build tree time 16.155475 ms 
sort q time 6.332372 
seperate points time 14.826530 
mapping data assosiation time 22.001869 ms 
mapping solver time 15.546983 ms 
data association time 14.630802 ms 
solver time 14.787917 ms 
mapping data assosiation time 21.060216 ms 
mapping solver time 8.982670 ms 
mapping optimization time 84.794365 
add points time 0.540186 ms
solver time 12.702639 ms 
optimization twice time 61.359968 
points size 95026 
map prepare time 2.195168 ms
map corner num 52615  surf num 20270 
sort q time 5.162553 
seperate points time 12.509880 
scan registration time 32.668207 ms *************
data association time 13.229845 ms 
mapping data assosiation time 20.021968 ms 
solver time 11.978562 ms 
mapping solver time 14.874341 ms 
data association time 15.876794 ms 
solver time 9.024633 ms 
optimization twice time 51.094632 
mapping data assosiation time 19.193746 ms 
publication time 7.631821 ms 
whole laserOdometry time 58.750026 ms 
 
filter time 6.605294 ms 
mapping pub time 1.624560 ms 
whole mapping time 89.699434 ms +++++
points size 96205 
prepare time 19.337592 
build tree time 18.487928 ms 
sort q time 6.206463 
seperate points time 14.953059 
scan registration time 40.058365 ms *************
mapping data assosiation time 23.163348 ms 
data association time 14.552692 ms 
mapping solver time 14.756400 ms 
solver time 13.177333 ms 
data association time 13.397839 ms 
mapping data assosiation time 21.196249 ms 
solver time 8.826562 ms 
optimization twice time 50.936774 
publication time 8.769412 ms 
whole laserOdometry time 59.725374 ms 
 
mapping pub time 2.660055 ms 
whole mapping time 109.069811 ms +++++
points size 95644 
build tree time 18.263610 ms 
sort q time 5.985883 
seperate points time 14.989778 
scan registration time 48.452459 ms *************
mapping data assosiation time 24.191318 ms 
mapping solver time 12.408733 ms 
data association time 13.879544 ms 
solver time 11.376979 ms 
mapping data assosiation time 22.092436 ms 
data association time 13.721627 ms 
solver time 9.595266 ms 
optimization twice time 49.487982 
filter time 6.858661 ms 
mapping pub time 1.380561 ms 
whole mapping time 100.480222 ms +++++
publication time 8.416402 ms 
whole laserOdometry time 57.927145 ms 
 
prepare time 17.221421 
sort q time 5.918952 
seperate points time 14.397304 
build tree time 19.170386 ms 
data association time 18.325774 ms 
mapping data assosiation time 24.211720 ms 
solver time 12.591567 ms 
mapping solver time 18.433068 ms 
data association time 15.789369 ms 
solver time 12.922623 ms 
optimization twice time 60.522262 
mapping data assosiation time 25.652374 ms 
mapping pub time 1.555738 ms 
whole mapping time 115.337075 ms +++++
map prepare time 3.184972 ms
map corner num 53809  surf num 20689 
build tree time 15.385218 ms 
data association time 16.500218 ms 
mapping data assosiation time 21.103787 ms 
solver time 11.587945 ms 
mapping solver time 13.411533 ms 
data association time 16.019300 ms 
solver time 8.845994 ms 
mapping data assosiation time 22.690993 ms 
mapping optimization time 85.477436 
add points time 0.562389 ms
prepare time 17.221283 
filter time 5.300224 ms 
map prepare time 2.547526 ms
map corner num 54102  surf num 20775 
sort q time 5.203902 
seperate points time 12.123037 
build tree time 14.309966 ms 
data association time 15.910786 ms 
mapping data assosiation time 20.170340 ms 
solver time 13.183130 ms 
mapping solver time 13.721684 ms 
data association time 17.750949 ms 
solver time 9.102069 ms 
publication time 9.390231 ms 
whole laserOdometry time 66.191985 ms 
 
filter time 7.003846 ms 
mapping pub time 1.187704 ms 
whole mapping time 92.659660 ms +++++
points size 94936 
map prepare time 3.139196 ms
map corner num 54386  surf num 20861 
prepare time 17.348907 
sort q time 4.731947 
seperate points time 11.350070 
mapping data assosiation time 21.421098 ms 
data association time 16.447866 ms 
mapping solver time 14.198384 ms 
solver time 13.800189 ms 
mapping data assosiation time 21.388528 ms 
solver time 9.386072 ms 
filter time 6.639681 ms 
[0m[ INFO] [1715773146.486464851]: Received 75607 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715773146.486495982]: Data saved to 1317357640327117.pcd[0m
map prepare time 3.140992 ms
map corner num 54663  surf num 20940 
prepare time 19.209593 
build tree time 18.248124 ms 
scan registration time 38.014473 ms *************
mapping data assosiation time 21.965810 ms 
mapping solver time 11.955121 ms 
data association time 23.132135 ms 
mapping data assosiation time 21.149683 ms 
solver time 19.029107 ms 
mapping solver time 12.019936 ms 
filter time 6.993850 ms 
mapping pub time 1.589862 ms 
whole mapping time 98.792958 ms +++++
data association time 23.469831 ms 
sort q time 5.635907 
seperate points time 13.066706 
map prepare time 3.060750 ms
map corner num 51651  surf num 19237 
build tree time 16.984689 ms 
mapping data assosiation time 24.709954 ms 
solver time 19.195965 ms 
mapping solver time 17.212503 ms 
data association time 23.035206 ms 
mapping data assosiation time 21.506436 ms 
prepare time 21.118794 
solver time 13.884654 ms 
publication time 8.988630 ms 
whole laserOdometry time 92.904138 ms 
 
mapping solver time 17.036677 ms 
mapping optimization time 98.983592 
add points time 0.489368 ms
mapping pub time 1.260088 ms 
whole mapping time 108.903078 ms +++++
sort q time 7.199170 
seperate points time 17.883801 
build tree time 14.677235 ms 
data association time 14.544625 ms 
mapping data assosiation time 19.813471 ms 
solver time 12.898448 ms 
mapping solver time 14.511548 ms 
solver time 9.219592 ms 
publication time 9.214480 ms 
whole laserOdometry time 60.357420 ms 
 
prepare time 16.799002 
mapping solver time 12.827991 ms 
mapping optimization time 85.553881 
add points time 0.649096 ms
sort q time 4.998540 
seperate points time 11.801382 
mapping pub time 1.173558 ms 
whole mapping time 97.674526 ms +++++
map prepare time 2.925849 ms
map corner num 52252  surf num 19388 
build tree time 15.011609 ms 
data association time 15.416098 ms 
solver time 13.544556 ms 
mapping data assosiation time 21.438583 ms 
mapping solver time 11.771774 ms 
data association time 16.965787 ms 
solver time 12.623326 ms 
publication time 7.874997 ms 
whole laserOdometry time 67.338443 ms 
 
mapping data assosiation time 20.918265 ms 
prepare time 14.689552 
mapping solver time 12.814280 ms 
filter time 5.042985 ms 
mapping pub time 1.433594 ms 
whole mapping time 93.169228 ms +++++
sort q time 5.291269 
seperate points time 12.387629 
build tree time 15.955436 ms 
data association time 14.952666 ms 
solver time 14.080330 ms 
mapping data assosiation time 20.972112 ms 
mapping solver time 10.621604 ms 
solver time 11.202026 ms 
optimization twice time 54.364553 
publication time 8.139330 ms 
whole laserOdometry time 62.521145 ms 
 
mapping data assosiation time 20.526732 ms 
mapping solver time 9.917868 ms 
points size 84426 
map prepare time 3.108572 ms
map corner num 52839  surf num 19499 
sort q time 4.847177 
seperate points time 11.667690 
scan registration time 32.588479 ms *************
build tree time 13.854924 ms 
mapping data assosiation time 19.345079 ms 
data association time 14.563611 ms 
solver time 11.463164 ms 
data association time 14.217890 ms 
optimization twice time 49.434069 
mapping data assosiation time 20.545941 ms 
mapping solver time 12.188298 ms 
filter time 6.597550 ms 
mapping pub time 1.454434 ms 
whole mapping time 92.833036 ms +++++
map prepare time 2.886674 ms
map corner num 53186  surf num 19566 
points size 83176 
build tree time 17.025133 ms 
sort q time 4.663673 
seperate points time 11.175141 
scan registration time 29.359003 ms *************
mapping data assosiation time 21.992175 ms 
data association time 15.353370 ms 
solver time 12.520209 ms 
data association time 14.233551 ms 
mapping data assosiation time 18.107742 ms 
publication time 7.750704 ms 
whole laserOdometry time 58.944055 ms 
 
filter time 6.127730 ms 
points size 82121 
prepare time 14.157721 
sort q time 4.530643 
seperate points time 10.484114 
mapping data assosiation time 21.357789 ms 
data association time 14.454259 ms 
solver time 15.599392 ms 
mapping data assosiation time 20.833112 ms 
data association time 13.930315 ms 
mapping solver time 17.356688 ms 
mapping optimization time 91.023472 
add points time 0.516035 ms
solver time 11.204310 ms 
optimization twice time 56.064967 
map prepare time 2.533752 ms
map corner num 53837  surf num 19686 
points size 82457 
build tree time 15.952405 ms 
sort q time 3.988859 
seperate points time 9.411210 
mapping data assosiation time 19.467307 ms 
mapping solver time 12.795889 ms 
solver time 14.721355 ms 
mapping solver time 8.857559 ms 
filter time 5.374428 ms 
mapping pub time 1.321847 ms 
whole mapping time 88.005257 ms +++++
solver time 11.940249 ms 
publication time 8.302480 ms 
whole laserOdometry time 65.273842 ms 
 
map prepare time 2.190618 ms
map corner num 54150  surf num 19728 
points size 85560 
build tree time 13.867478 ms 
scan registration time 27.808185 ms *************
mapping data assosiation time 18.750848 ms 
data association time 12.849255 ms 
mapping solver time 13.484926 ms 
solver time 11.746091 ms 
data association time 13.456594 ms 
mapping data assosiation time 19.003365 ms 
solver time 9.412377 ms 
mapping solver time 12.305851 ms 
mapping optimization time 78.505591 
add points time 0.401289 ms
publication time 7.265769 ms 
whole laserOdometry time 55.584998 ms 
 
mapping pub time 1.584018 ms 
whole mapping time 90.080744 ms +++++
points size 87712 
build tree time 14.385487 ms 
prepare time 13.561411 
sort q time 4.219651 
seperate points time 9.897337 
scan registration time 27.290230 ms *************
mapping solver time 11.412669 ms 
data association time 13.152411 ms 
mapping data assosiation time 16.647535 ms 
solver time 11.644149 ms 
mapping solver time 8.507623 ms 
mapping optimization time 70.332345 
add points time 0.396620 ms
filter time 5.367008 ms 
mapping pub time 1.149011 ms 
whole mapping time 79.266344 ms +++++
solver time 8.339510 ms 
publication time 6.199181 ms 
whole laserOdometry time 55.048371 ms 
 
map prepare time 1.805765 ms
map corner num 54739  surf num 19830 
build tree time 14.122145 ms 
points size 89212 
sort q time 4.256345 
seperate points time 10.182646 
mapping solver time 12.164406 ms 
data association time 13.909302 ms 
mapping solver time 7.963871 ms 
filter time 6.370018 ms 
data association time 13.718505 ms 
solver time 8.342466 ms 
optimization twice time 48.576325 
map prepare time 1.984933 ms
map corner num 55028  surf num 19865 
points size 89696 
build tree time 18.315315 ms 
prepare time 17.935113 
sort q time 5.769228 
seperate points time 13.667305 
mapping data assosiation time 20.072863 ms 
scan registration time 36.702475 ms *************
mapping solver time 12.169223 ms 
data association time 13.481878 ms 
mapping data assosiation time 15.784359 ms 
solver time 12.428172 ms 
filter time 4.404457 ms 
mapping pub time 1.097987 ms 
whole mapping time 82.864910 ms +++++
solver time 8.338049 ms 
publication time 6.306043 ms 
whole laserOdometry time 55.541337 ms 
 
map prepare time 2.310135 ms
map corner num 55287  surf num 19906 
points size 90911 
build tree time 14.834431 ms 
sort q time 5.352342 
seperate points time 12.545900 
mapping data assosiation time 17.215676 ms 
scan registration time 32.602096 ms *************
mapping solver time 11.531495 ms 
data association time 12.880976 ms 
mapping data assosiation time 16.293358 ms 
solver time 12.047139 ms 
mapping optimization time 69.120517 
add points time 0.310069 ms
data association time 13.432393 ms 
filter time 6.103726 ms 
mapping pub time 1.166695 ms 
whole mapping time 79.054126 ms +++++
solver time 11.681159 ms 
publication time 7.451614 ms 
whole laserOdometry time 58.510359 ms 
 
build tree time 15.855098 ms 
prepare time 14.760776 
sort q time 4.905163 
seperate points time 11.217823 
mapping data assosiation time 16.650155 ms 
scan registration time 29.309614 ms *************
mapping solver time 10.116849 ms 
data association time 15.723556 ms 
mapping data assosiation time 15.236939 ms 
mapping solver time 9.258519 ms 
filter time 6.048631 ms 
data association time 15.254574 ms 
solver time 11.972796 ms 
publication time 7.617535 ms 
whole laserOdometry time 66.681163 ms 
 
points size 90264 
prepare time 13.908685 
build tree time 14.606426 ms 
sort q time 4.987465 
seperate points time 11.228915 
mapping solver time 9.405232 ms 
data association time 12.755206 ms 
mapping data assosiation time 15.218121 ms 
solver time 14.885042 ms 
mapping solver time 9.605492 ms 
mapping optimization time 64.394912 
add points time 0.273652 ms
filter time 7.275645 ms 
mapping pub time 1.142204 ms 
whole mapping time 75.837517 ms +++++
solver time 8.388419 ms 
optimization twice time 51.081194 
map prepare time 1.739881 ms
map corner num 56054  surf num 20106 
build tree time 14.514709 ms 
points size 89851 
mapping data assosiation time 16.118597 ms 
scan registration time 29.759534 ms *************
mapping solver time 10.944073 ms 
mapping data assosiation time 18.442114 ms 
data association time 21.274417 ms 
mapping solver time 9.986381 ms 
mapping optimization time 71.138949 
add points time 0.341608 ms
mapping pub time 1.077614 ms 
whole mapping time 79.812318 ms +++++
solver time 12.737708 ms 
data association time 12.971776 ms 
solver time 14.631066 ms 
optimization twice time 72.114976 
points size 90938 
publication time 7.140517 ms 
whole laserOdometry time 79.291989 ms 
 
prepare time 19.372336 
sort q time 6.369743 
seperate points time 14.387375 
scan registration time 38.278407 ms *************
mapping data assosiation time 16.154985 ms 
data association time 13.548229 ms 
mapping solver time 9.688142 ms 
solver time 15.093493 ms 
mapping solver time 10.604327 ms 
mapping optimization time 71.526735 
add points time 0.392244 ms
data association time 13.833054 ms 
mapping pub time 1.228248 ms 
whole mapping time 83.245586 ms +++++
solver time 12.762396 ms 
optimization twice time 56.165579 
points size 93591 
publication time 7.060553 ms 
whole laserOdometry time 63.255255 ms 
 
prepare time 16.083976 
sort q time 6.118923 
seperate points time 13.359475 
scan registration time 33.889676 ms *************
build tree time 16.377115 ms 
mapping data assosiation time 15.308423 ms 
data association time 13.441295 ms 
solver time 12.135200 ms 
mapping data assosiation time 14.738327 ms 
data association time 14.935088 ms 
mapping solver time 9.355027 ms 
mapping optimization time 67.945702 
add points time 0.326571 ms
mapping pub time 1.217459 ms 
whole mapping time 79.191396 ms +++++
map prepare time 2.726663 ms
map corner num 56822  surf num 20276 
points size 94532 
prepare time 19.488458 
sort q time 5.986954 
seperate points time 14.122351 
scan registration time 39.297097 ms *************
mapping solver time 12.757319 ms 
data association time 13.103785 ms 
mapping data assosiation time 16.086202 ms 
solver time 14.501583 ms 
mapping solver time 10.272651 ms 
mapping optimization time 77.165783 
add points time 0.333513 ms
data association time 16.630184 ms 
solver time 10.483247 ms 
publication time 8.451301 ms 
whole laserOdometry time 64.227026 ms 
 
points size 93514 
sort q time 5.827087 
seperate points time 13.944748 
scan registration time 36.106835 ms *************
build tree time 18.883077 ms 
mapping data assosiation time 18.906563 ms 
mapping solver time 15.804271 ms 
solver time 13.152484 ms 
data association time 15.786000 ms 
optimization twice time 56.568227 
publication time 9.842021 ms 
whole laserOdometry time 66.443343 ms 
 
map prepare time 2.587719 ms
map corner num 57398  surf num 20431 
sort q time 6.324688 
seperate points time 15.361845 
scan registration time 41.827519 ms *************
data association time 16.370742 ms 
mapping solver time 15.867349 ms 
solver time 12.818574 ms 
mapping data assosiation time 18.760971 ms 
data association time 14.342770 ms 
filter time 6.383238 ms 
publication time 8.062344 ms 
whole laserOdometry time 62.389202 ms 
 
mapping pub time 1.929801 ms 
whole mapping time 97.738114 ms +++++
sort q time 5.444255 
seperate points time 12.364919 
mapping data assosiation time 18.524955 ms 
solver time 11.722897 ms 
mapping solver time 16.734447 ms 
data association time 14.093400 ms 
mapping data assosiation time 16.807074 ms 
solver time 10.859581 ms 
optimization twice time 50.786660 
publication time 7.817262 ms 
whole laserOdometry time 58.624182 ms 
 
points size 93672 
build tree time 14.275884 ms 
sort q time 5.458625 
seperate points time 12.382198 
mapping data assosiation time 15.756177 ms 
scan registration time 34.882046 ms *************
mapping solver time 12.070307 ms 
mapping data assosiation time 14.333474 ms 
data association time 14.811351 ms 
mapping optimization time 67.397135 
add points time 0.390988 ms
solver time 14.135548 ms 
data association time 13.379590 ms 
solver time 9.918482 ms 
publication time 7.644829 ms 
whole laserOdometry time 60.740530 ms 
 
map prepare time 2.169295 ms
map corner num 58258  surf num 20662 
points size 93789 
build tree time 16.360638 ms 
scan registration time 29.518357 ms *************
mapping data assosiation time 16.864533 ms 
data association time 12.749545 ms 
mapping solver time 11.197939 ms 
solver time 14.861037 ms 
mapping data assosiation time 14.539858 ms 
mapping solver time 10.088046 ms 
mapping optimization time 69.876100 
data association time 15.417435 ms 
add points time 0.430072 ms
optimization twice time 52.890824 
publication time 6.182989 ms 
whole laserOdometry time 59.096062 ms 
 
build tree time 13.830020 ms 
mapping data assosiation time 14.860907 ms 
sort q time 4.717430 
seperate points time 10.726321 
scan registration time 27.790665 ms *************
mapping solver time 14.583328 ms 
data association time 15.706882 ms 
mapping data assosiation time 17.753069 ms 
solver time 16.422040 ms 
mapping solver time 11.309006 ms 
mapping optimization time 73.447572 
filter time 6.619632 ms 
mapping pub time 1.255819 ms 
whole mapping time 84.452165 ms +++++
data association time 14.665874 ms 
solver time 11.739939 ms 
publication time 6.537235 ms 
whole laserOdometry time 66.093104 ms 
 
map prepare time 1.907683 ms
map corner num 58837  surf num 20888 
points size 96325 
build tree time 15.359485 ms 
prepare time 15.546727 
sort q time 5.028487 
seperate points time 11.207728 
mapping solver time 12.978273 ms 
mapping data assosiation time 15.107902 ms 
solver time 12.890832 ms 
mapping solver time 10.250480 ms 
filter time 6.836580 ms 
solver time 10.139303 ms 
optimization twice time 54.140786 
publication time 6.514956 ms 
whole laserOdometry time 60.674727 ms 
 
map prepare time 2.222929 ms
map corner num 59127  surf num 20988 
points size 96888 
prepare time 14.940767 
sort q time 5.165770 
seperate points time 11.454043 
mapping data assosiation time 15.324982 ms 
scan registration time 30.611187 ms *************
mapping solver time 13.153123 ms 
data association time 12.353100 ms 
mapping data assosiation time 16.217544 ms 
solver time 11.789815 ms 
mapping solver time 11.470597 ms 
mapping optimization time 72.415735 
add points time 0.344423 ms
filter time 6.499935 ms 
mapping pub time 1.508686 ms 
whole mapping time 83.036000 ms +++++
data association time 13.813424 ms 
solver time 11.072597 ms 
publication time 6.539062 ms 
whole laserOdometry time 56.413260 ms 
 
map prepare time 3.319236 ms
map corner num 59416  surf num 21079 
points size 96798 
prepare time 15.757091 
sort q time 5.569548 
seperate points time 12.454075 
mapping solver time 16.589128 ms 
data association time 21.481556 ms 
mapping data assosiation time 20.256551 ms 
solver time 17.705790 ms 
mapping solver time 13.935414 ms 
mapping optimization time 84.158574 
add points time 0.388671 ms
filter time 6.887006 ms 
mapping pub time 1.738248 ms 
whole mapping time 96.536057 ms +++++
data association time 20.291306 ms 
solver time 11.892308 ms 
points size 95254 
map prepare time 3.480164 ms
map corner num 59729  surf num 21183 
sort q time 6.299189 
seperate points time 14.088751 
build tree time 16.752195 ms 
mapping data assosiation time 16.545978 ms 
mapping solver time 13.483852 ms 
solver time 12.715020 ms 
data association time 12.452907 ms 
solver time 11.572745 ms 
publication time 7.563017 ms 
whole laserOdometry time 58.428759 ms 
 
map prepare time 2.005221 ms
map corner num 60022  surf num 21282 
points size 95125 
prepare time 15.406971 
build tree time 15.124625 ms 
sort q time 4.923134 
seperate points time 11.647174 
mapping data assosiation time 17.719758 ms 
mapping solver time 11.625478 ms 
data association time 14.383146 ms 
solver time 12.066142 ms 
mapping data assosiation time 17.851952 ms 
mapping solver time 9.371817 ms 
mapping optimization time 72.662188 
add points time 0.353492 ms
data association time 14.231156 ms 
solver time 10.200298 ms 
map prepare time 2.930929 ms
map corner num 60321  surf num 21373 
points size 95354 
prepare time 16.004400 
sort q time 5.583075 
seperate points time 12.606457 
scan registration time 32.569674 ms *************
mapping data assosiation time 17.470193 ms 
mapping solver time 13.071985 ms 
data association time 17.081987 ms 
mapping solver time 11.058177 ms 
mapping optimization time 78.145352 
add points time 0.349203 ms
data association time 15.671430 ms 
solver time 10.526792 ms 
publication time 7.661131 ms 
whole laserOdometry time 63.840915 ms 
 
map prepare time 3.051304 ms
map corner num 60625  surf num 21492 
points size 95345 
build tree time 17.075285 ms 
sort q time 5.822201 
seperate points time 13.366176 
mapping data assosiation time 21.272323 ms 
mapping solver time 13.139820 ms 
data association time 14.676151 ms 
solver time 13.032571 ms 
mapping data assosiation time 20.408303 ms 
mapping optimization time 82.343882 
add points time 0.396834 ms
solver time 10.391119 ms 
publication time 8.108158 ms 
whole laserOdometry time 64.452303 ms 
 
map prepare time 3.366923 ms
map corner num 60960  surf num 21620 
sort q time 6.036805 
seperate points time 14.577410 
build tree time 21.597411 ms 
scan registration time 38.817892 ms *************
mapping data assosiation time 20.451871 ms 
data association time 23.224397 ms 
mapping solver time 17.066822 ms 
solver time 18.621032 ms 
mapping data assosiation time 20.904359 ms 
mapping solver time 15.781793 ms 
mapping optimization time 97.152827 
add points time 0.536720 ms
data association time 22.347127 ms 
points size 95821 
publication time 7.981125 ms 
whole laserOdometry time 85.176054 ms 
 
map prepare time 3.247773 ms
map corner num 61327  surf num 21765 
build tree time 17.051172 ms 
data association time 18.171410 ms 
solver time 10.137912 ms 
data association time 17.871098 ms 
mapping solver time 14.804396 ms 
solver time 11.269510 ms 
publication time 7.861415 ms 
whole laserOdometry time 66.506037 ms 
 
mapping data assosiation time 21.138684 ms 
prepare time 17.363130 
mapping solver time 9.308006 ms 
mapping optimization time 84.588709 
add points time 0.409139 ms
filter time 7.335953 ms 
scan registration time 35.008366 ms *************
map prepare time 3.077212 ms
map corner num 61713  surf num 21900 
build tree time 20.387856 ms 
data association time 16.750459 ms 
solver time 8.206108 ms 
mapping solver time 13.469235 ms 
data association time 15.105003 ms 
points size 94736 
mapping solver time 11.781134 ms 
mapping optimization time 84.285824 
add points time 0.480674 ms
map prepare time 2.757505 ms
map corner num 62136  surf num 22029 
sort q time 5.892563 
seperate points time 13.820782 
build tree time 17.723904 ms 
data association time 14.695711 ms 
mapping data assosiation time 18.955002 ms 
solver time 8.127946 ms 
mapping solver time 11.385418 ms 
data association time 15.984082 ms 
optimization twice time 49.888929 
mapping data assosiation time 21.346154 ms 
filter time 5.537419 ms 
map prepare time 3.255772 ms
map corner num 62615  surf num 22211 
sort q time 5.271603 
seperate points time 12.647729 
mapping data assosiation time 20.010819 ms 
data association time 14.870116 ms 
mapping solver time 11.550950 ms 
solver time 13.392040 ms 
mapping data assosiation time 19.277989 ms 
data association time 16.214890 ms 
optimization twice time 55.795587 
publication time 7.192912 ms 
whole laserOdometry time 63.009130 ms 
 
points size 87544 
sort q time 5.907339 
seperate points time 13.285916 
mapping data assosiation time 19.303590 ms 
mapping solver time 11.384539 ms 
data association time 13.404903 ms 
solver time 7.084058 ms 
optimization twice time 47.355717 
filter time 5.382215 ms 
map prepare time 3.316386 ms
map corner num 63471  surf num 22495 
points size 85536 
prepare time 14.100283 
sort q time 5.203895 
seperate points time 12.102390 
mapping data assosiation time 19.320672 ms 
mapping solver time 13.606298 ms 
data association time 14.873017 ms 
solver time 9.347459 ms 
data association time 15.060912 ms 
mapping solver time 12.891158 ms 
mapping optimization time 82.627693 
add points time 0.449837 ms
filter time 7.367751 ms 
solver time 9.801898 ms 
optimization twice time 49.946077 
[0m[ INFO] [1715773150.623620642]: Received 91616 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715773150.623650980]: Data saved to 1317357644479499.pcd[0m
map prepare time 3.525200 ms
map corner num 63941  surf num 22628 
points size 82982 
build tree time 17.880257 ms 
sort q time 4.994020 
seperate points time 11.543738 
scan registration time 29.883740 ms *************
mapping data assosiation time 20.278763 ms 
data association time 17.858280 ms 
mapping solver time 15.744366 ms 
solver time 14.392500 ms 
mapping data assosiation time 21.891512 ms 
data association time 15.162878 ms 
mapping solver time 13.875873 ms 
filter time 7.282118 ms 
map prepare time 2.404099 ms
map corner num 64369  surf num 22750 
prepare time 15.395181 
build tree time 18.674412 ms 
mapping data assosiation time 21.562968 ms 
data association time 15.625185 ms 
mapping solver time 15.451897 ms 
solver time 13.492430 ms 
mapping data assosiation time 20.805943 ms 
data association time 16.641463 ms 
solver time 9.386561 ms 
publication time 9.223349 ms 
whole laserOdometry time 65.121656 ms 
 
points size 77881 
build tree time 18.352877 ms 
sort q time 4.585010 
seperate points time 10.865943 
scan registration time 30.528648 ms *************
mapping data assosiation time 20.385705 ms 
data association time 14.830107 ms 
solver time 12.590831 ms 
mapping solver time 15.809833 ms 
data association time 14.477431 ms 
mapping data assosiation time 19.069279 ms 
publication time 7.635136 ms 
whole laserOdometry time 60.266433 ms 
 
mapping solver time 16.744513 ms 
filter time 8.442235 ms 
mapping pub time 1.298239 ms 
whole mapping time 104.416502 ms +++++
sort q time 3.687122 
seperate points time 9.175209 
scan registration time 26.334068 ms *************
data association time 16.254328 ms 
solver time 14.211718 ms 
mapping solver time 16.978359 ms 
data association time 17.210608 ms 
solver time 9.477735 ms 
publication time 6.941553 ms 
whole laserOdometry time 65.107031 ms 
 
mapping solver time 15.615352 ms 
points size 69985 
filter time 7.775802 ms 
mapping pub time 0.905270 ms 
whole mapping time 109.625345 ms +++++
prepare time 14.319912 
map prepare time 2.924435 ms
map corner num 65605  surf num 23082 
sort q time 3.980657 
seperate points time 9.838080 
build tree time 18.535886 ms 
data association time 14.952997 ms 
mapping data assosiation time 21.058883 ms 
solver time 13.091441 ms 
mapping solver time 18.783982 ms 
data association time 17.266523 ms 
solver time 10.480503 ms 
points size 70414 
prepare time 15.791846 
filter time 7.189756 ms 
scan registration time 30.135703 ms *************
map prepare time 2.991870 ms
map corner num 66067  surf num 23219 
build tree time 16.965636 ms 
data association time 14.132993 ms 
solver time 11.582201 ms 
mapping data assosiation time 19.914160 ms 
data association time 15.017136 ms 
mapping solver time 15.866125 ms 
publication time 6.718399 ms 
whole laserOdometry time 57.872690 ms 
 
mapping data assosiation time 23.692976 ms 
points size 70600 
mapping optimization time 99.216040 
add points time 0.617706 ms
map prepare time 3.926043 ms
map corner num 66542  surf num 23359 
data association time 22.973504 ms 
mapping solver time 29.445927 ms 
filter time 7.580398 ms 
data association time 23.834734 ms 
build tree time 19.802588 ms 
data association time 16.615140 ms 
mapping data assosiation time 25.539094 ms 
mapping solver time 19.916739 ms 
sort q time 3.996807 
seperate points time 10.138886 
mapping data assosiation time 26.798659 ms 
mapping solver time 22.195828 ms 
data association time 26.390364 ms 
map prepare time 2.685849 ms
map corner num 67570  surf num 23717 
points size 81776 
prepare time 14.288497 
build tree time 22.919650 ms 
data association time 16.642495 ms 
solver time 9.450833 ms 
publication time 8.797025 ms 
whole laserOdometry time 76.999223 ms 
 
data association time 17.335002 ms 
mapping data assosiation time 22.512862 ms 
data association time 16.218184 ms 
solver time 11.381933 ms 
publication time 9.111776 ms 
whole laserOdometry time 68.173351 ms 
 
map prepare time 2.648664 ms
map corner num 68091  surf num 23889 
prepare time 16.162094 
sort q time 4.356465 
seperate points time 10.428386 
build tree time 19.560454 ms 
scan registration time 30.945280 ms *************
data association time 15.739899 ms 
solver time 13.496950 ms 
mapping solver time 16.753330 ms 
data association time 18.254300 ms 
solver time 10.029918 ms 
publication time 8.711519 ms 
whole laserOdometry time 67.013141 ms 
 
mapping solver time 12.133493 ms 
mapping optimization time 95.343917 
add points time 0.783270 ms
mapping pub time 2.079077 ms 
whole mapping time 108.585377 ms +++++
points size 86920 
build tree time 19.231508 ms 
sort q time 5.157991 
seperate points time 12.462511 
scan registration time 38.006918 ms *************
mapping data assosiation time 23.536131 ms 
data association time 16.400038 ms 
mapping solver time 16.428485 ms 
solver time 13.330776 ms 
mapping data assosiation time 24.802497 ms 
data association time 29.174574 ms 
mapping pub time 1.667682 ms 
whole mapping time 118.254138 ms +++++
points size 89326 
prepare time 46.234224 
publication time 12.156748 ms 
whole laserOdometry time 118.701933 ms 
 
[33m[ WARN] [1715773151.949115591]: odometry process over 100ms[0m
map prepare time 2.680921 ms
map corner num 69164  surf num 24234 
sort q time 7.223627 
seperate points time 21.643431 
data association time 14.482252 ms 
mapping data assosiation time 19.984999 ms 
solver time 12.091201 ms 
mapping solver time 16.242769 ms 
solver time 11.718430 ms 
prepare time 27.763876 
sort q time 5.386999 
seperate points time 13.102802 
map prepare time 3.182908 ms
map corner num 69669  surf num 24413 
build tree time 19.514172 ms 
data association time 17.399089 ms 
points size 92695 
solver time 13.001837 ms 
sort q time 5.513857 
seperate points time 12.910833 
mapping solver time 12.853088 ms 
data association time 16.459956 ms 
solver time 13.071812 ms 
publication time 7.873766 ms 
whole laserOdometry time 68.614969 ms 
 
mapping data assosiation time 22.210404 ms 
mapping solver time 10.297460 ms 
data association time 17.426174 ms 
filter time 8.375049 ms 
mapping pub time 1.374539 ms 
whole mapping time 103.490129 ms +++++
solver time 13.418556 ms 
data association time 17.763665 ms 
points size 94287 
prepare time 15.802083 
mapping data assosiation time 22.798663 ms 
mapping solver time 16.172633 ms 
data association time 17.171729 ms 
mapping data assosiation time 21.271667 ms 
solver time 16.120082 ms 
mapping solver time 15.328895 ms 
filter time 9.340834 ms 
solver time 15.319209 ms 
optimization twice time 69.151327 
points size 93205 
mapping data assosiation time 23.661432 ms 
sort q time 5.220171 
seperate points time 12.211523 
scan registration time 40.120618 ms *************
mapping solver time 16.161957 ms 
data association time 15.908100 ms 
solver time 14.822997 ms 
mapping optimization time 107.833529 
add points time 0.827511 ms
map prepare time 3.332887 ms
map corner num 71156  surf num 25004 
points size 92533 
publication time 8.695105 ms 
whole laserOdometry time 81.397258 ms 
 
scan registration time 40.130579 ms *************
mapping data assosiation time 23.373975 ms 
mapping solver time 14.872353 ms 
solver time 12.194413 ms 
mapping data assosiation time 22.149970 ms 
data association time 18.218601 ms 
solver time 11.101215 ms 
optimization twice time 59.329205 
filter time 8.933213 ms 
mapping pub time 1.449942 ms 
whole mapping time 112.233080 ms +++++
prepare time 19.722358 
sort q time 5.623766 
seperate points time 13.094252 
scan registration time 37.054805 ms *************
data association time 14.760268 ms 
solver time 12.347892 ms 
mapping solver time 15.547481 ms 
data association time 15.820871 ms 
mapping data assosiation time 20.072854 ms 
publication time 8.728456 ms 
whole laserOdometry time 62.665823 ms 
 
mapping solver time 10.872478 ms 
mapping optimization time 97.083541 
points size 88395 
add points time 0.517125 ms
filter time 7.858344 ms 
map prepare time 3.591312 ms
map corner num 71985  surf num 25303 
sort q time 5.296045 
seperate points time 12.774458 
build tree time 22.057283 ms 
solver time 11.740174 ms 
mapping data assosiation time 20.354041 ms 
data association time 14.682629 ms 
solver time 8.912022 ms 
publication time 8.137961 ms 
whole laserOdometry time 59.392089 ms 
 
mapping data assosiation time 22.890344 ms 
points size 85505 
mapping solver time 11.570060 ms 
sort q time 5.474756 
seperate points time 12.683508 
filter time 8.076091 ms 
mapping pub time 1.500930 ms 
whole mapping time 107.916047 ms +++++
scan registration time 33.321296 ms *************
build tree time 19.312674 ms 
data association time 15.212072 ms 
solver time 12.037655 ms 
mapping data assosiation time 21.452732 ms 
data association time 14.646188 ms 
mapping solver time 16.566312 ms 
publication time 7.569212 ms 
whole laserOdometry time 61.298641 ms 
 
mapping data assosiation time 22.047813 ms 
points size 84098 
filter time 7.464166 ms 
mapping pub time 1.194333 ms 
whole mapping time 106.892713 ms +++++
sort q time 5.128972 
seperate points time 12.442764 
build tree time 21.064131 ms 
data association time 19.287994 ms 
solver time 16.264396 ms 
mapping solver time 13.239674 ms 
data association time 15.113532 ms 
mapping data assosiation time 18.451937 ms 
points size 82676 
publication time 8.132657 ms 
whole laserOdometry time 73.845670 ms 
 
mapping solver time 13.939022 ms 
mapping optimization time 86.553057 
scan registration time 33.412552 ms *************
mapping pub time 9.144733 ms 
whole mapping time 110.895055 ms +++++
[0m[ INFO] [1715773152.967647571]: Received 103932 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715773152.967714141]: Data saved to 1317357646764800.pcd[0mdata association time 21.890290 ms 
build tree time 22.897545 ms 
solver time 26.534963 ms 
mapping solver time 18.200067 ms 
points size 82147 
mapping data assosiation time 22.334732 ms 
mapping optimization time 99.451267 
solver time 19.763553 ms 
add points time 0.450145 ms
mapping pub time 1.942387 ms 
whole mapping time 113.293895 ms +++++
publication time 13.199588 ms 
whole laserOdometry time 121.516798 ms 
 
[33m[ WARN] [1715773153.079897635]: odometry process over 100ms[0m
data association time 27.043443 ms 
prepare time 15.121039 
sort q time 4.549052 
seperate points time 10.985947 
mapping solver time 16.670456 ms 
solver time 14.117789 ms 
optimization twice time 99.262507 
publication time 11.437503 ms 
whole laserOdometry time 110.724028 ms 
 
[33m[ WARN] [1715773153.195627041]: odometry process over 100ms[0m
mapping solver time 10.612321 ms 
mapping optimization time 116.941701 
add points time 0.816058 ms
map prepare time 3.258474 ms
map corner num 73860  surf num 25840 
points size 82835 
sort q time 4.534235 
seperate points time 11.168704 
scan registration time 33.676415 ms *************
mapping solver time 11.422041 ms 
solver time 12.585099 ms 
optimization twice time 78.250022 
mapping data assosiation time 20.585134 ms 
mapping solver time 10.601199 ms 
filter time 8.785439 ms 
solver time 19.532073 ms 
data association time 20.436107 ms 
prepare time 15.876121 
solver time 15.825862 ms 
optimization twice time 78.478961 
publication time 8.514834 ms 
whole laserOdometry time 87.015595 ms 
 
mapping solver time 12.680131 ms 
sort q time 5.614157 
seperate points time 13.120050 
mapping data assosiation time 19.843727 ms 
mapping solver time 9.019374 ms 
mapping optimization time 84.424529 
add points time 0.553794 ms
map prepare time 2.598734 ms
map corner num 74471  surf num 25992 
data association time 15.005192 ms 
build tree time 22.445740 ms 
solver time 13.019870 ms 
optimization twice time 57.763247 
prepare time 14.511369 
sort q time 4.297445 
seperate points time 10.111400 
mapping data assosiation time 17.918173 ms 
mapping solver time 8.882323 ms 
filter time 7.417793 ms 
map prepare time 2.313833 ms
map corner num 74784  surf num 26070 
data association time 13.546047 ms 
solver time 12.178179 ms 
optimization twice time 54.591962 
build tree time 23.465893 ms 
mapping data assosiation time 19.105727 ms 
points size 84811 
prepare time 14.891513 
mapping solver time 14.002155 ms 
scan registration time 30.111765 ms *************
mapping data assosiation time 21.177297 ms 
data association time 15.695067 ms 
mapping solver time 14.026617 ms 
mapping optimization time 92.925479 
add points time 0.426101 ms
filter time 8.856405 ms 
data association time 15.442606 ms 
build tree time 21.379568 ms 
solver time 13.048020 ms 
optimization twice time 58.262201 
publication time 10.087470 ms 
whole laserOdometry time 68.375434 ms 
 
points size 83686 
mapping data assosiation time 21.693906 ms 
prepare time 15.879559 
sort q time 5.183354 
seperate points time 12.253699 
data association time 13.575636 ms 
mapping solver time 11.829730 ms 
mapping optimization time 91.338503 
add points time 0.660335 ms
solver time 14.676495 ms 
map prepare time 2.922155 ms
map corner num 75504  surf num 26276 
publication time 7.229366 ms 
whole laserOdometry time 62.333704 ms 
 
build tree time 24.529198 ms 
mapping data assosiation time 20.540688 ms 
points size 83702 
prepare time 16.505503 
sort q time 4.415441 
seperate points time 10.640861 
mapping data assosiation time 19.332971 ms 
mapping solver time 12.292453 ms 
filter time 7.988765 ms 
data association time 16.258337 ms 
solver time 10.982092 ms 
optimization twice time 55.401329 
build tree time 22.255966 ms 
publication time 9.005978 ms 
whole laserOdometry time 64.457269 ms 
 
points size 84114 
mapping data assosiation time 19.460087 ms 
prepare time 14.329957 
mapping solver time 14.389246 ms 
sort q time 5.189814 
seperate points time 12.221070 
scan registration time 30.780172 ms *************
mapping data assosiation time 20.353745 ms 
data association time 15.305850 ms 
mapping solver time 13.077851 ms 
mapping optimization time 90.696879 
add points time 0.662925 ms
filter time 8.317503 ms 
mapping pub time 1.398826 ms 
whole mapping time 104.344931 ms +++++
data association time 16.626637 ms 
solver time 9.721802 ms 
publication time 6.324144 ms 
whole laserOdometry time 59.382018 ms 
 
points size 84300 
prepare time 20.382041 
sort q time 4.763786 
seperate points time 12.061592 
mapping data assosiation time 18.949422 ms 
data association time 16.518889 ms 
solver time 13.575158 ms 
map prepare time 3.640127 ms
map corner num 76534  surf num 26613 
data association time 15.636112 ms 
solver time 13.421850 ms 
optimization twice time 60.254883 
build tree time 25.198677 ms 
publication time 7.727373 ms 
whole laserOdometry time 68.128326 ms 
 
mapping data assosiation time 24.297661 ms 
points size 85305 
mapping solver time 15.448576 ms 
sort q time 5.426449 
seperate points time 13.204824 
mapping data assosiation time 21.481471 ms 
mapping solver time 7.833338 ms 
mapping optimization time 95.388998 
add points time 0.618846 ms
filter time 7.608531 ms 
map prepare time 4.041913 ms
map corner num 76938  surf num 26746 
solver time 14.089684 ms 
points size 86786 
prepare time 17.755776 
build tree time 26.052580 ms 
sort q time 5.334713 
seperate points time 13.194982 
solver time 10.887606 ms 
optimization twice time 56.268096 
scan registration time 35.964750 ms *************
mapping data assosiation time 21.692111 ms 
data association time 14.829401 ms 
solver time 9.447764 ms 
mapping data assosiation time 19.416300 ms 
solver time 5.872583 ms 
publication time 7.616844 ms 
whole laserOdometry time 53.285610 ms 
 
drop lidar frame in mapping for real time performance 
points size 87654 
prepare time 18.169902 
sort q time 5.497251 
seperate points time 13.698300 
scan registration time 37.172950 ms *************
mapping data assosiation time 22.651431 ms 
data association time 15.381998 ms 
mapping solver time 14.014595 ms 
solver time 12.824389 ms 
mapping data assosiation time 23.932050 ms 
solver time 12.442957 ms 
publication time 10.139616 ms 
whole laserOdometry time 69.260739 ms 
 
points size 86548 
sort q time 4.834102 
seperate points time 12.887938 
scan registration time 40.569354 ms *************
build tree time 21.904295 ms 
mapping data assosiation time 21.869942 ms 
data association time 23.979339 ms 
mapping solver time 15.325974 ms 
solver time 22.475131 ms 
mapping data assosiation time 24.013483 ms 
data association time 22.663807 ms 
mapping solver time 28.755086 ms 
mapping optimization time 113.153198 
add points time 0.510277 ms
mapping pub time 1.824531 ms 
whole mapping time 127.509376 ms +++++
points size 86223 
sort q time 5.309904 
seperate points time 16.024865 
build tree time 25.148095 ms 
data association time 19.356315 ms 
mapping data assosiation time 23.389819 ms 
solver time 13.002761 ms 
prepare time 16.216838 
mapping solver time 16.572722 ms 
sort q time 5.109148 
seperate points time 12.376464 
mapping data assosiation time 22.772947 ms 
mapping solver time 19.905923 ms 
filter time 8.734042 ms 
map prepare time 3.476477 ms
map corner num 78940  surf num 27424 
data association time 16.647246 ms 
solver time 9.856902 ms 
publication time 8.506105 ms 
whole laserOdometry time 70.858510 ms 
 
sort q time 5.014570 
seperate points time 12.587317 
mapping solver time 17.350728 ms 
data association time 26.298677 ms 
mapping solver time 13.717256 ms 
mapping optimization time 103.531368 
add points time 0.559689 ms
solver time 18.415250 ms 
filter time 9.300239 ms 
mapping pub time 1.458385 ms 
whole mapping time 118.384062 ms +++++
data association time 22.572963 ms 
solver time 14.802382 ms 
optimization twice time 83.170043 
build tree time 25.449149 ms 
points size 83564 
sort q time 4.732393 
seperate points time 11.041337 
mapping solver time 15.962057 ms 
data association time 17.282077 ms 
mapping data assosiation time 21.667895 ms 
solver time 13.004308 ms 
mapping solver time 10.402443 ms 
mapping optimization time 100.026692 
add points time 0.494256 ms
filter time 9.209448 ms 
mapping pub time 1.744644 ms 
whole mapping time 114.796988 ms +++++
data association time 18.409457 ms 
solver time 14.185132 ms 
prepare time 17.512793 
scan registration time 33.684004 ms *************
mapping data assosiation time 21.715902 ms 
data association time 15.570735 ms 
solver time 12.382278 ms 
mapping data assosiation time 21.485907 ms 
mapping solver time 13.850321 ms 
filter time 8.568235 ms 
mapping pub time 1.318194 ms 
whole mapping time 111.720026 ms +++++
points size 79660 
publication time 9.817228 ms 
whole laserOdometry time 68.786540 ms 
 
sort q time 4.461366 
seperate points time 10.666299 
scan registration time 32.083817 ms *************
mapping data assosiation time 18.317901 ms 
data association time 15.496949 ms 
mapping solver time 13.805243 ms 
data association time 14.859855 ms 
mapping data assosiation time 20.292575 ms 
solver time 10.535224 ms 
optimization twice time 54.612793 
mapping solver time 10.296025 ms 
mapping optimization time 87.921415 
add points time 0.530979 ms
publication time 8.458163 ms 
whole laserOdometry time 63.092296 ms 
 
points size 77097 
build tree time 24.375398 ms 
sort q time 4.541154 
seperate points time 10.980836 
scan registration time 28.196016 ms *************
mapping data assosiation time 21.873962 ms 
data association time 16.036951 ms 
mapping solver time 15.241788 ms 
solver time 12.908439 ms 
data association time 16.542025 ms 
mapping solver time 12.884504 ms 
solver time 12.539709 ms 
optimization twice time 59.187235 
prepare time 16.188974 
sort q time 4.323981 
seperate points time 11.019670 
mapping pub time 26.326006 ms 
whole mapping time 134.653318 ms +++++
map prepare time 2.657107 ms
map corner num 81061  surf num 28110 
solver time 13.087337 ms 
build tree time 26.616053 ms 
data association time 17.072746 ms 
solver time 10.358213 ms 
optimization twice time 57.874830 
mapping data assosiation time 21.165548 ms 
mapping solver time 17.526967 ms 
points size 73823 
prepare time 14.015128 
mapping data assosiation time 21.203444 ms 
mapping solver time 16.017479 ms 
mapping optimization time 103.576958 
add points time 0.539030 ms
map prepare time 2.396976 ms
map corner num 81484  surf num 28230 
solver time 12.406787 ms 
build tree time 22.613727 ms 
data association time 16.410311 ms 
mapping data assosiation time 19.445598 ms 
points size 73147 
sort q time 3.729110 
seperate points time 8.951541 
scan registration time 28.302885 ms *************
mapping solver time 10.605814 ms 
mapping optimization time 86.495079 
add points time 0.579959 ms
mapping pub time 1.217758 ms 
whole mapping time 100.523209 ms +++++
data association time 15.404135 ms 
solver time 10.452386 ms 
mapping data assosiation time 20.147289 ms 
prepare time 13.740465 
sort q time 3.161113 
seperate points time 7.844546 
mapping solver time 15.408727 ms 
mapping data assosiation time 21.075198 ms 
data association time 20.424289 ms 
filter time 8.578066 ms 
mapping pub time 0.957305 ms 
whole mapping time 116.849474 ms +++++
solver time 15.840568 ms 
map prepare time 2.402337 ms
map corner num 82146  surf num 28387 
data association time 14.682389 ms 
solver time 9.109720 ms 
publication time 7.067237 ms 
whole laserOdometry time 68.114224 ms 
 
points size 68201 
sort q time 4.005037 
seperate points time 9.650185 
data association time 15.373986 ms 
mapping data assosiation time 18.891019 ms 
mapping solver time 10.638056 ms 
filter time 8.856073 ms 
data association time 15.004702 ms 
solver time 12.048408 ms 
build tree time 21.845110 ms 
mapping data assosiation time 21.874029 ms 
points size 67014 
mapping solver time 14.726208 ms 
mapping data assosiation time 18.059544 ms 
mapping solver time 11.138860 ms 
solver time 12.549422 ms 
filter time 9.417726 ms 
map prepare time 2.690213 ms
map corner num 82851  surf num 28556 
data association time 14.754191 ms 
solver time 9.227104 ms 
publication time 6.306202 ms 
whole laserOdometry time 58.556667 ms 
 
points size 68379 
sort q time 3.865501 
seperate points time 10.041565 
scan registration time 30.801993 ms *************
mapping data assosiation time 18.465279 ms 
mapping solver time 12.217259 ms 
mapping optimization time 96.560875 
add points time 0.675561 ms
solver time 15.000006 ms 
map prepare time 3.222032 ms
map corner num 83222  surf num 28631 
build tree time 26.630795 ms 
points size 69762 
sort q time 4.388176 
seperate points time 10.401817 
data association time 14.547015 ms 
mapping data assosiation time 17.004605 ms 
mapping solver time 9.588600 ms 
mapping optimization time 89.291795 
add points time 0.580160 ms
solver time 15.732116 ms 
mapping pub time 1.858040 ms 
whole mapping time 103.397714 ms +++++
data association time 13.677233 ms 
solver time 11.776505 ms 
publication time 5.997704 ms 
whole laserOdometry time 62.818830 ms 
 
points size 71841 
prepare time 12.912387 
sort q time 4.100663 
seperate points time 9.498481 
data association time 12.724600 ms 
mapping data assosiation time 16.243640 ms 
solver time 13.195111 ms 
filter time 7.991058 ms 
solver time 8.684809 ms 
optimization twice time 49.911057 
build tree time 22.130373 ms 
mapping data assosiation time 15.021333 ms 
prepare time 12.213334 
mapping solver time 9.647968 ms 
sort q time 3.889500 
seperate points time 9.531476 
mapping data assosiation time 15.078434 ms 
mapping solver time 9.616626 ms 
filter time 7.580553 ms 
data association time 14.796987 ms 
mapping pub time 1.084173 ms 
whole mapping time 83.844531 ms +++++
map prepare time 2.789203 ms
map corner num 81274  surf num 26671 
solver time 12.473713 ms 
data association time 13.077143 ms 
build tree time 21.311059 ms 
solver time 8.054369 ms 
publication time 6.007639 ms 
whole laserOdometry time 55.328402 ms 
 
mapping data assosiation time 14.911288 ms 
mapping solver time 12.288166 ms 
points size 77402 
mapping data assosiation time 15.867591 ms 
sort q time 3.904169 
seperate points time 9.209953 
mapping solver time 9.647602 ms 
mapping optimization time 75.063151 
add points time 0.600530 ms
scan registration time 26.927036 ms *************
filter time 7.311077 ms 
mapping pub time 2.328676 ms 
whole mapping time 88.147579 ms +++++
data association time 13.578317 ms 
build tree time 21.086596 ms 
data association time 12.117796 ms 
mapping data assosiation time 15.164608 ms 
mapping solver time 11.478813 ms 
publication time 6.584761 ms 
whole laserOdometry time 53.263089 ms 
 
mapping data assosiation time 15.847131 ms 
mapping solver time 8.569088 ms 
prepare time 13.848419 
filter time 8.507056 ms 
sort q time 4.992015 
seperate points time 11.584143 
build tree time 22.756339 ms 
data association time 13.162075 ms 
mapping data assosiation time 15.403335 ms 
solver time 11.119955 ms 
mapping solver time 11.324972 ms 
data association time 13.254682 ms 
solver time 9.081933 ms 
publication time 6.392230 ms 
whole laserOdometry time 54.208975 ms 
 
mapping solver time 10.284405 ms 
filter time 8.884676 ms 
prepare time 15.653896 
sort q time 4.769468 
seperate points time 15.655071 
mapping data assosiation time 18.618461 ms 
data association time 19.028138 ms 
mapping solver time 9.962195 ms 
solver time 11.374112 ms 
mapping data assosiation time 16.843637 ms 
mapping solver time 8.252512 ms 
mapping optimization time 78.635391 
add points time 1.060791 ms
filter time 10.003200 ms 
map prepare time 2.767630 ms
map corner num 82612  surf num 27153 
points size 80536 
build tree time 26.686021 ms 
sort q time 4.723766 
seperate points time 11.665284 
scan registration time 34.462675 ms *************
mapping solver time 12.988574 ms 
mapping data assosiation time 19.758210 ms 
mapping solver time 12.289447 ms 
data association time 19.597182 ms 
filter time 10.281604 ms 
points size 79465 
solver time 13.761771 ms 
optimization twice time 70.737812 
sort q time 4.359862 
seperate points time 11.292008 
map prepare time 2.848069 ms
map corner num 83002  surf num 27291 
scan registration time 30.902973 ms *************
data association time 14.468124 ms 
solver time 15.560812 ms 
mapping data assosiation time 16.425907 ms 
data association time 14.282775 ms 
solver time 12.584548 ms 
publication time 6.885661 ms 
whole laserOdometry time 64.852693 ms 
 
mapping solver time 11.908841 ms 
mapping optimization time 80.374924 
add points time 0.669359 ms
filter time 8.949799 ms 
map prepare time 3.087217 ms
map corner num 83384  surf num 27432 
sort q time 4.624691 
seperate points time 11.151016 
scan registration time 33.771894 ms *************
build tree time 24.533288 ms 
data association time 14.580401 ms 
mapping data assosiation time 15.831391 ms 
mapping solver time 12.120755 ms 
data association time 15.472589 ms 
mapping solver time 11.377829 ms 
publication time 6.683698 ms 
whole laserOdometry time 65.842866 ms 
 
prepare time 13.652946 
filter time 8.114598 ms 
sort q time 4.719755 
seperate points time 12.106854 
build tree time 28.584009 ms 
data association time 20.850598 ms 
mapping data assosiation time 21.568498 ms 
solver time 18.900555 ms 
mapping solver time 17.051242 ms 
data association time 20.748845 ms 
solver time 14.499930 ms 
mapping data assosiation time 21.017596 ms 
optimization twice time 76.175247 
mapping solver time 15.374590 ms 
points size 76824 
map prepare time 2.809391 ms
map corner num 84179  surf num 27661 
sort q time 4.456802 
seperate points time 11.106502 
scan registration time 33.026718 ms *************
build tree time 26.013679 ms 
data association time 15.152809 ms 
mapping data assosiation time 18.042438 ms 
solver time 16.367432 ms 
data association time 15.086680 ms 
solver time 10.007966 ms 
publication time 6.988186 ms 
whole laserOdometry time 64.558667 ms 
 
prepare time 18.164905 
mapping solver time 15.085917 ms 
filter time 10.025839 ms 
data association time 15.662006 ms 
solver time 13.008906 ms 
build tree time 25.116340 ms 
data association time 15.099864 ms 
mapping data assosiation time 18.660363 ms 
publication time 6.223681 ms 
whole laserOdometry time 60.517754 ms 
 
mapping data assosiation time 19.692592 ms 
points size 77649 
mapping optimization time 92.360446 
add points time 0.566522 ms
filter time 8.743337 ms 
mapping pub time 1.291629 ms 
whole mapping time 105.902089 ms +++++
sort q time 4.360300 
seperate points time 11.008639 
scan registration time 32.118442 ms *************
build tree time 25.520902 ms 
solver time 14.851293 ms 
mapping data assosiation time 21.474968 ms 
data association time 16.458463 ms 
mapping solver time 20.183037 ms 
prepare time 18.044077 
publication time 7.722785 ms 
whole laserOdometry time 77.450142 ms 
 
mapping solver time 11.918729 ms 
mapping optimization time 102.083140 
add points time 0.725646 ms
filter time 8.802350 ms 
data association time 15.211826 ms 
map prepare time 3.550797 ms
map corner num 85358  surf num 27998 
data association time 20.706109 ms 
solver time 13.083006 ms 
publication time 8.122235 ms 
whole laserOdometry time 74.953157 ms 
 
points size 82686 
mapping data assosiation time 21.329207 ms 
prepare time 17.910573 
mapping solver time 16.516402 ms 
sort q time 5.036876 
seperate points time 12.027798 
mapping data assosiation time 21.590276 ms 
mapping solver time 12.836320 ms 
data association time 21.048745 ms 
filter time 9.439855 ms 
solver time 17.260273 ms 
map prepare time 3.613158 ms
map corner num 85796  surf num 28115 
build tree time 24.250061 ms 
solver time 12.292070 ms 
optimization twice time 72.436739 
prepare time 19.977068 
sort q time 6.439227 
seperate points time 15.747877 
mapping solver time 15.268115 ms 
data association time 23.304081 ms 
mapping solver time 14.784439 ms 
mapping optimization time 100.587354 
add points time 0.541292 ms
filter time 8.959820 ms 
mapping pub time 1.248825 ms 
whole mapping time 115.002496 ms +++++
points size 87169 
data association time 21.844504 ms 
sort q time 5.508413 
seperate points time 12.794716 
solver time 18.117955 ms 
optimization twice time 84.719959 
publication time 11.679482 ms 
whole laserOdometry time 96.425203 ms 
 
mapping solver time 16.417503 ms 
data association time 23.673882 ms 
mapping data assosiation time 23.280903 ms 
solver time 18.447023 ms 
mapping solver time 15.679488 ms 
filter time 8.984771 ms 
prepare time 14.881914 
solver time 16.406951 ms 
scan registration time 34.802873 ms *************
build tree time 29.226083 ms 
mapping data assosiation time 23.236872 ms 
mapping solver time 11.661075 ms 
data association time 16.243891 ms 
solver time 9.476513 ms 
publication time 7.823876 ms 
whole laserOdometry time 72.946330 ms 
 
map prepare time 2.929936 ms
map corner num 87156  surf num 28480 
prepare time 24.445906 
sort q time 5.169313 
seperate points time 12.186558 
mapping data assosiation time 21.694266 ms 
mapping solver time 15.735847 ms 
data association time 15.348156 ms 
mapping data assosiation time 21.866241 ms 
mapping solver time 12.617932 ms 
prepare time 18.883276 
filter time 9.638580 ms 
sort q time 6.251887 
seperate points time 14.845626 
build tree time 24.878566 ms 
data association time 16.518513 ms 
mapping data assosiation time 20.783649 ms 
mapping solver time 13.596290 ms 
data association time 16.592421 ms 
solver time 10.611380 ms 
publication time 8.412480 ms 
whole laserOdometry time 66.976604 ms 
 
mapping solver time 12.521878 ms 
prepare time 20.263538 
map prepare time 3.232813 ms
map corner num 87944  surf num 28697 
sort q time 4.842403 
seperate points time 12.019539 
build tree time 24.258626 ms 
solver time 11.140570 ms 
mapping solver time 12.135011 ms 
solver time 9.737946 ms 
optimization twice time 51.171248 
mapping solver time 7.785211 ms 
prepare time 15.991546 
map prepare time 2.553621 ms
map corner num 88289  surf num 28766 
sort q time 5.439416 
seperate points time 12.750674 
build tree time 23.727768 ms 
data association time 14.108430 ms 
mapping data assosiation time 18.738853 ms 
mapping solver time 10.846925 ms 
solver time 8.055220 ms 
mapping data assosiation time 18.782000 ms 
points size 91769 
prepare time 15.716582 
mapping solver time 11.359614 ms 
mapping optimization time 84.439301 
add points time 0.588462 ms
filter time 7.471772 ms 
scan registration time 32.283264 ms *************
build tree time 28.983692 ms 
solver time 15.657710 ms 
data association time 14.226092 ms 
mapping solver time 13.914588 ms 
publication time 9.083951 ms 
whole laserOdometry time 73.757118 ms 
 
mapping data assosiation time 18.548773 ms 
points size 91842 
mapping solver time 11.785220 ms 
sort q time 5.454745 
seperate points time 12.612933 
filter time 9.216570 ms 
map prepare time 3.140116 ms
map corner num 88998  surf num 28924 
data association time 15.329784 ms 
build tree time 26.334282 ms 
solver time 16.792814 ms 
mapping data assosiation time 19.692266 ms 
data association time 15.435186 ms 
mapping solver time 13.714810 ms 
publication time 8.104762 ms 
whole laserOdometry time 68.815467 ms 
 
points size 91235 
mapping data assosiation time 20.242696 ms 
prepare time 15.541715 
mapping solver time 11.362009 ms 
scan registration time 33.112028 ms *************
filter time 8.896119 ms 
mapping pub time 3.301975 ms 
whole mapping time 108.321577 ms +++++
data association time 13.262571 ms 
build tree time 24.575317 ms 
solver time 14.846570 ms 
mapping data assosiation time 17.195419 ms 
data association time 14.599572 ms 
mapping solver time 13.703529 ms 
publication time 8.617272 ms 
whole laserOdometry time 67.042596 ms 
 
mapping solver time 12.839917 ms 
mapping optimization time 89.309709 
add points time 0.494134 ms
sort q time 4.883042 
seperate points time 11.183046 
map prepare time 2.189580 ms
map corner num 89717  surf num 29126 
data association time 15.599435 ms 
solver time 11.959992 ms 
build tree time 25.294512 ms 
data association time 13.836503 ms 
solver time 9.211719 ms 
mapping solver time 13.138925 ms 
points size 89050 
mapping solver time 10.491364 ms 
mapping optimization time 84.273542 
add points time 0.682137 ms
sort q time 5.436222 
seperate points time 12.215533 
mapping pub time 1.204232 ms 
whole mapping time 97.587113 ms +++++
map prepare time 3.539580 ms
map corner num 90018  surf num 29186 
data association time 18.150753 ms 
build tree time 28.396624 ms 
mapping data assosiation time 20.718174 ms 
mapping solver time 12.323545 ms 
publication time 8.814652 ms 
whole laserOdometry time 76.502236 ms 
 
points size 86736 
mapping solver time 11.110527 ms 
mapping optimization time 93.745662 
add points time 0.539932 ms
filter time 10.122841 ms 
mapping pub time 1.348841 ms 
whole mapping time 109.353121 ms +++++
map prepare time 2.255666 ms
map corner num 90281  surf num 29223 
data association time 14.661446 ms 
build tree time 23.799637 ms 
solver time 14.184032 ms 
data association time 12.908920 ms 
solver time 8.668314 ms 
mapping solver time 12.146805 ms 
points size 86331 
mapping optimization time 83.189635 
add points time 0.556981 ms
sort q time 5.494503 
seperate points time 12.583704 
map prepare time 2.421178 ms
map corner num 90541  surf num 29283 
data association time 12.800340 ms 
solver time 10.866581 ms 
data association time 13.840819 ms 
mapping data assosiation time 17.002583 ms 
solver time 12.573397 ms 
mapping solver time 9.697893 ms 
optimization twice time 50.993375 
mapping data assosiation time 18.455173 ms 
points size 86829 
prepare time 14.555251 
mapping solver time 10.754488 ms 
filter time 8.884109 ms 
build tree time 25.221806 ms 
solver time 12.197011 ms 
mapping data assosiation time 16.320579 ms 
mapping solver time 9.844097 ms 
data association time 16.775510 ms 
solver time 12.993222 ms 
publication time 8.585591 ms 
whole laserOdometry time 66.165309 ms 
 
mapping solver time 9.482232 ms 
mapping optimization time 79.715673 
add points time 0.565702 ms
points size 87594 
mapping pub time 1.510886 ms 
whole mapping time 94.428393 ms +++++
sort q time 5.432114 
seperate points time 13.327942 
scan registration time 33.488647 ms *************
build tree time 29.031617 ms 
solver time 13.798319 ms 
mapping data assosiation time 16.530203 ms 
mapping solver time 11.660573 ms 
solver time 12.048789 ms 
publication time 6.699593 ms 
whole laserOdometry time 63.890653 ms 
 
add points time 0.560035 ms
filter time 8.956850 ms 
mapping pub time 1.110689 ms 
whole mapping time 97.657569 ms +++++
prepare time 16.171242 
map prepare time 2.326974 ms
map corner num 91329  surf num 29428 
sort q time 5.271785 
seperate points time 12.501336 
build tree time 25.937484 ms 
data association time 13.238003 ms 
mapping data assosiation time 16.912203 ms 
solver time 12.919170 ms 
mapping solver time 9.130685 ms 
data association time 14.757071 ms 
mapping data assosiation time 16.710780 ms 
mapping solver time 8.634519 ms 
filter time 10.564776 ms 
map prepare time 3.159431 ms
map corner num 91645  surf num 29494 
points size 89903 
prepare time 15.090303 
sort q time 5.008927 
seperate points time 11.179413 
build tree time 25.500530 ms 
mapping data assosiation time 16.000792 ms 
data association time 14.895515 ms 
mapping solver time 12.670982 ms 
mapping data assosiation time 18.548619 ms 
mapping solver time 10.542300 ms 
publication time 7.684225 ms 
whole laserOdometry time 66.139042 ms 
 
filter time 8.760076 ms 
map prepare time 2.983110 ms
map corner num 91968  surf num 29565 
points size 91217 
prepare time 18.992391 
sort q time 5.177054 
seperate points time 12.409667 
mapping data assosiation time 15.525061 ms 
data association time 17.494935 ms 
mapping solver time 10.174367 ms 
solver time 13.703001 ms 
mapping data assosiation time 17.497334 ms 
data association time 13.726223 ms 
mapping solver time 5.019464 ms 
mapping optimization time 79.010007 
add points time 0.523285 ms
filter time 10.304674 ms 
publication time 8.606131 ms 
whole laserOdometry time 67.582325 ms 
 
points size 92214 
map prepare time 3.181611 ms
map corner num 92241  surf num 29631 
prepare time 16.973790 
scan registration time 34.680655 ms *************
build tree time 30.149287 ms 
data association time 14.601627 ms 
mapping solver time 11.641421 ms 
solver time 13.397670 ms 
data association time 15.184357 ms 
mapping solver time 7.785851 ms 
publication time 7.394786 ms 
whole laserOdometry time 60.588032 ms 
 
map prepare time 3.052302 ms
map corner num 92531  surf num 29713 
points size 91852 
sort q time 5.331287 
seperate points time 12.865579 
scan registration time 37.119105 ms *************
mapping data assosiation time 17.618478 ms 
data association time 16.440991 ms 
solver time 8.427114 ms 
mapping solver time 10.480601 ms 
data association time 13.421920 ms 
solver time 8.288003 ms 
publication time 7.239644 ms 
whole laserOdometry time 54.571061 ms 
 
filter time 8.950345 ms 
map prepare time 2.944201 ms
map corner num 92794  surf num 29758 
points size 91820 
prepare time 19.073957 
sort q time 5.306879 
seperate points time 12.694939 
mapping data assosiation time 16.639127 ms 
data association time 13.964071 ms 
mapping solver time 11.043650 ms 
solver time 12.854465 ms 
mapping data assosiation time 18.414567 ms 
data association time 14.351797 ms 
solver time 9.579278 ms 
filter time 8.783863 ms 
map prepare time 2.762549 ms
map corner num 93099  surf num 29839 
points size 93360 
prepare time 15.448254 
sort q time 5.388268 
seperate points time 12.277980 
build tree time 26.187278 ms 
mapping data assosiation time 18.121282 ms 
mapping solver time 10.535099 ms 
solver time 13.028562 ms 
mapping data assosiation time 18.749192 ms 
mapping solver time 9.944689 ms 
filter time 10.058265 ms 
map prepare time 2.941457 ms
map corner num 93458  surf num 29934 
sort q time 4.610192 
seperate points time 10.662051 
scan registration time 30.766791 ms *************
build tree time 26.586856 ms 
data association time 13.445707 ms 
mapping data assosiation time 18.530222 ms 
solver time 8.943624 ms 
mapping solver time 13.568125 ms 
solver time 8.721752 ms 
publication time 7.073066 ms 
whole laserOdometry time 54.573884 ms 
 
mapping solver time 8.289788 ms 
filter time 10.460589 ms 
mapping pub time 3.330873 ms 
whole mapping time 103.243447 ms +++++
prepare time 18.445145 
sort q time 5.546998 
seperate points time 13.152621 
scan registration time 36.319768 ms *************
build tree time 30.284012 ms 
data association time 14.920043 ms 
mapping data assosiation time 17.784558 ms 
mapping solver time 11.179806 ms 
data association time 13.850295 ms 
solver time 8.775336 ms 
optimization twice time 47.617388 
mapping solver time 9.401331 ms 
filter time 11.274639 ms 
mapping pub time 1.214541 ms 
whole mapping time 104.330035 ms +++++
points size 91499 
sort q time 4.656897 
seperate points time 10.853987 
build tree time 28.711710 ms 
data association time 16.322205 ms 
mapping data assosiation time 18.900828 ms 
mapping solver time 10.942250 ms 
data association time 14.598799 ms 
optimization twice time 47.256233 
mapping data assosiation time 19.598817 ms 
mapping solver time 10.881340 ms 
filter time 9.371295 ms 
map prepare time 3.356076 ms
map corner num 94463  surf num 30172 
prepare time 18.838112 
sort q time 5.537366 
seperate points time 13.266367 
build tree time 31.272152 ms 
data association time 17.289916 ms 
mapping data assosiation time 19.193862 ms 
solver time 14.013384 ms 
mapping solver time 10.089734 ms 
data association time 14.967166 ms 
solver time 10.192594 ms 
publication time 7.518653 ms 
whole laserOdometry time 64.889659 ms 
 
filter time 10.358519 ms 
points size 92277 
mapping pub time 1.410244 ms 
whole mapping time 103.237377 ms +++++
prepare time 16.363692 
sort q time 5.355335 
seperate points time 12.729955 
build tree time 28.211473 ms 
solver time 11.836457 ms 
mapping data assosiation time 22.140162 ms 
data association time 16.270825 ms 
mapping solver time 18.522159 ms 
publication time 6.683696 ms 
whole laserOdometry time 60.185917 ms 
 
mapping data assosiation time 19.092449 ms 
points size 91667 
filter time 8.659988 ms 
map prepare time 3.784276 ms
map corner num 95007  surf num 30314 
scan registration time 30.774760 ms *************
data association time 15.133263 ms 
build tree time 26.645950 ms 
solver time 13.012571 ms 
mapping data assosiation time 17.440586 ms 
mapping solver time 10.424242 ms 
publication time 7.736403 ms 
whole laserOdometry time 61.845998 ms 
 
mapping data assosiation time 19.239877 ms 
points size 89628 
mapping solver time 14.878992 ms 
mapping optimization time 89.928292 
add points time 0.470645 ms
prepare time 18.617195 
filter time 9.510403 ms 
mapping pub time 2.931857 ms 
whole mapping time 106.701368 ms +++++
scan registration time 36.837683 ms *************
build tree time 23.692649 ms 
solver time 11.277741 ms 
mapping solver time 12.338368 ms 
data association time 15.829201 ms 
solver time 11.355535 ms 
optimization twice time 53.960965 
publication time 7.738448 ms 
whole laserOdometry time 61.723151 ms 
 
mapping optimization time 88.744439 
add points time 0.544849 ms
filter time 9.708217 ms 
mapping pub time 1.387371 ms 
whole mapping time 103.696717 ms +++++
map prepare time 3.152687 ms
map corner num 95547  surf num 30437 
sort q time 5.203942 
seperate points time 13.173430 
scan registration time 36.970174 ms *************
build tree time 33.561575 ms 
data association time 19.456356 ms 
mapping data assosiation time 18.964690 ms 
mapping solver time 13.880198 ms 
points size 90893 
publication time 6.989602 ms 
whole laserOdometry time 71.085576 ms 
 
sort q time 5.415295 
seperate points time 12.771224 
filter time 11.177716 ms 
mapping pub time 1.355298 ms 
whole mapping time 111.460008 ms +++++
map prepare time 2.758373 ms
map corner num 95831  surf num 30530 
data association time 17.035801 ms 
build tree time 26.392127 ms 
data association time 22.203324 ms 
solver time 18.759128 ms 
points size 90351 
sort q time 5.840794 
seperate points time 13.751806 
scan registration time 35.796543 ms *************
mapping data assosiation time 19.696679 ms 
mapping solver time 12.351906 ms 
filter time 9.906625 ms 
mapping pub time 1.727039 ms 
whole mapping time 125.989282 ms +++++
data association time 18.125682 ms 
solver time 14.463637 ms 
build tree time 24.391094 ms 
data association time 15.409676 ms 
solver time 13.952801 ms 
points size 89341 
mapping solver time 14.223796 ms 
sort q time 5.065730 
seperate points time 11.897977 
scan registration time 32.959542 ms *************
mapping data assosiation time 18.871660 ms 
mapping solver time 9.913280 ms 
filter time 9.608989 ms 
solver time 14.113969 ms 
data association time 17.472369 ms 
solver time 10.321746 ms 
mapping data assosiation time 19.928431 ms 
points size 88824 
mapping solver time 14.448499 ms 
mapping data assosiation time 20.642188 ms 
mapping solver time 13.854673 ms 
mapping pub time 2.720052 ms 
whole mapping time 114.329062 ms +++++
map prepare time 3.032895 ms
map corner num 96939  surf num 30931 
solver time 16.995294 ms 
data association time 21.580639 ms 
build tree time 32.363208 ms 
prepare time 15.431984 
publication time 9.717196 ms 
whole laserOdometry time 84.580348 ms 
 
mapping data assosiation time 19.528080 ms 
scan registration time 32.809739 ms *************
mapping solver time 13.539475 ms 
data association time 13.955743 ms 
mapping solver time 9.550245 ms 
mapping optimization time 94.224603 
add points time 0.424586 ms
filter time 10.001601 ms 
mapping pub time 1.026362 ms 
whole mapping time 108.775126 ms +++++
solver time 8.771025 ms 
build tree time 26.021989 ms 
points size 88484 
mapping data assosiation time 18.349269 ms 
sort q time 4.726425 
seperate points time 10.872444 
scan registration time 29.667250 ms *************
mapping solver time 12.500278 ms 
data association time 13.992961 ms 
mapping solver time 8.023609 ms 
mapping optimization time 84.042276 
add points time 0.377966 ms
solver time 13.356404 ms 
filter time 8.550503 ms 
mapping pub time 1.099955 ms 
whole mapping time 97.579720 ms +++++
map prepare time 3.067789 ms
map corner num 97786  surf num 31284 
data association time 14.517867 ms 
solver time 8.594877 ms 
publication time 6.249727 ms 
whole laserOdometry time 57.722963 ms 
 
build tree time 28.985448 ms 
prepare time 14.061488 
mapping data assosiation time 18.820146 ms 
sort q time 4.419843 
seperate points time 10.230502 
scan registration time 28.234691 ms *************
mapping solver time 11.476002 ms 
data association time 13.949342 ms 
mapping solver time 8.022192 ms 
solver time 12.299887 ms 
mapping optimization time 85.624066 
add points time 0.426957 ms
filter time 7.412987 ms 
map prepare time 3.574774 ms
map corner num 98210  surf num 31454 
data association time 15.034822 ms 
solver time 9.420310 ms 
optimization twice time 51.674148 
build tree time 25.908934 ms 
points size 88971 
sort q time 5.218475 
seperate points time 12.595655 
mapping data assosiation time 18.051908 ms 
mapping solver time 10.992353 ms 
filter time 8.590434 ms 
data association time 14.156218 ms 
solver time 8.335871 ms 
publication time 7.528520 ms 
whole laserOdometry time 57.928548 ms 
 
build tree time 29.255918 ms 
points size 90311 
prepare time 19.781466 
mapping data assosiation time 22.121868 ms 
sort q time 5.665189 
seperate points time 13.448425 
scan registration time 38.277621 ms *************
mapping data assosiation time 15.781797 ms 
mapping solver time 8.084288 ms 
mapping optimization time 89.734930 
add points time 0.519360 ms
mapping pub time 12.916442 ms 
whole mapping time 115.643114 ms +++++
[0m[ INFO] [1715773161.630920535]: Received 140959 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715773161.630991532]: Data saved to 1317357655390367.pcd[0m
map prepare time 3.562578 ms
map corner num 99019  surf num 31754 
data association time 16.091335 ms 
points size 91995 
build tree time 44.101247 ms 
scan registration time 42.037668 ms *************mapping data assosiation time 20.964497 ms 
mapping solver time 13.928327 ms 
data association time 20.859615 ms 
solver time 14.757893 ms 
mapping solver time 11.270556 ms 
points size 94287 
sort q time 5.286894 
seperate points time 12.183114 
build tree time 30.630043 ms 
data association time 18.476215 ms 
mapping data assosiation time 18.456290 ms 
solver time 12.125770 ms 
mapping solver time 14.681798 ms 
solver time 8.662157 ms 
publication time 10.015367 ms 
whole laserOdometry time 68.769974 ms 
 
mapping solver time 11.969985 ms 
prepare time 17.316644 
sort q time 6.660556 
seperate points time 15.028651 
scan registration time 37.337000 ms *************
build tree time 28.480655 ms 
data association time 15.093303 ms 
mapping data assosiation time 18.662907 ms 
solver time 13.193618 ms 
mapping solver time 12.676217 ms 
data association time 14.990877 ms 
optimization twice time 53.855381 
publication time 7.737782 ms 
whole laserOdometry time 61.617417 ms 
 
mapping optimization time 91.668070 
add points time 0.449049 ms
map prepare time 2.549832 ms
map corner num 99932  surf num 32027 
sort q time 6.240005 
seperate points time 14.747685 
build tree time 26.823082 ms 
data association time 14.850351 ms 
mapping data assosiation time 18.167363 ms 
mapping solver time 14.950305 ms 
solver time 9.646429 ms 
publication time 7.288417 ms 
whole laserOdometry time 57.576764 ms 
 
points size 96794 
filter time 8.390488 ms 
mapping pub time 1.559423 ms 
whole mapping time 105.040731 ms +++++
map prepare time 2.909818 ms
map corner num 100279  surf num 32159 
data association time 12.044245 ms 
build tree time 27.259367 ms 
solver time 11.534640 ms 
mapping data assosiation time 19.261110 ms 
data association time 13.810893 ms 
mapping solver time 13.576647 ms 
publication time 9.311620 ms 
whole laserOdometry time 57.663799 ms 
 
mapping data assosiation time 20.307704 ms 
points size 96923 
prepare time 15.530832 
filter time 9.822935 ms 
scan registration time 33.397959 ms *************
map prepare time 2.652133 ms
map corner num 100592  surf num 32264 
data association time 18.875278 ms 
build tree time 33.669910 ms 
mapping data assosiation time 20.921657 ms 
mapping solver time 14.988448 ms 
publication time 7.127441 ms 
whole laserOdometry time 75.436199 ms 
 
points size 97228 
mapping data assosiation time 18.546906 ms 
mapping solver time 12.084944 ms 
sort q time 11.489562 
seperate points time 19.514681 
scan registration time 40.103860 ms *************
filter time 7.998762 ms 
mapping pub time 1.366200 ms 
whole mapping time 113.712517 ms +++++
data association time 12.989268 ms 
build tree time 24.297265 ms 
solver time 11.168909 ms 
mapping data assosiation time 15.691822 ms 
mapping solver time 9.824329 ms 
publication time 7.541578 ms 
whole laserOdometry time 53.895882 ms 
 
mapping data assosiation time 18.944031 ms 
prepare time 16.667057 
mapping optimization time 80.975372 
add points time 0.398908 ms
sort q time 5.810580 
seperate points time 13.056633 
map prepare time 3.011097 ms
map corner num 101255  surf num 32491 
data association time 13.288757 ms 
solver time 13.072373 ms 
data association time 12.886124 ms 
mapping data assosiation time 17.880364 ms 
publication time 6.731246 ms 
whole laserOdometry time 55.637998 ms 
 
points size 98471 
mapping data assosiation time 16.892441 ms 
prepare time 15.962054 
mapping solver time 7.687619 ms 
mapping optimization time 85.361365 
add points time 0.420664 ms
sort q time 6.689944 
seperate points time 14.793475 
mapping pub time 1.310386 ms 
whole mapping time 98.129125 ms +++++
scan registration time 36.175917 ms *************
map prepare time 2.644687 ms
map corner num 101628  surf num 32619 
data association time 11.943730 ms 
build tree time 28.250803 ms 
solver time 12.852012 ms 
mapping data assosiation time 16.826591 ms 
data association time 11.586004 ms 
solver time 9.606968 ms 
publication time 7.001337 ms 
whole laserOdometry time 53.938851 ms 
 
mapping data assosiation time 19.397747 ms 
prepare time 17.174594 
mapping solver time 11.987921 ms 
sort q time 6.646896 
seperate points time 15.621809 
map prepare time 3.362074 ms
map corner num 101968  surf num 32717 
data association time 14.773189 ms 
build tree time 28.748337 ms 
solver time 14.275149 ms 
mapping data assosiation time 21.454422 ms 
optimization twice time 56.265141 
mapping solver time 18.072671 ms 
points size 99513 
prepare time 23.480735 
sort q time 6.503195 
seperate points time 15.004641 
scan registration time 43.210844 ms *************
mapping solver time 15.120174 ms 
mapping optimization time 109.060808 
add points time 0.926294 ms
filter time 12.997342 ms 
mapping pub time 4.291797 ms 
whole mapping time 130.730479 ms +++++
solver time 11.728361 ms 
build tree time 32.082582 ms 
solver time 8.210023 ms 
mapping data assosiation time 18.974619 ms 
publication time 7.945369 ms 
whole laserOdometry time 65.058490 ms 
 
mapping solver time 14.330385 ms 
mapping data assosiation time 19.459346 ms 
mapping optimization time 99.036689 
add points time 0.468884 ms
solver time 10.983858 ms 
filter time 10.484800 ms 
mapping pub time 1.226648 ms 
whole mapping time 115.481872 ms +++++
solver time 9.017624 ms 
publication time 8.980359 ms 
whole laserOdometry time 59.133581 ms 
 
build tree time 32.256937 ms 
prepare time 17.712218 
mapping data assosiation time 21.570414 ms 
sort q time 5.746766 
seperate points time 13.137406 
scan registration time 37.793221 ms *************
mapping solver time 17.393137 ms 
data association time 14.975924 ms 
mapping data assosiation time 18.554308 ms 
solver time 11.491775 ms 
mapping solver time 10.599989 ms 
filter time 8.800318 ms 
map prepare time 3.007374 ms
map corner num 103046  surf num 33112 
optimization twice time 51.775940 
publication time 7.523645 ms 
whole laserOdometry time 59.320364 ms 
 
points size 99339 
build tree time 27.821791 ms 
sort q time 5.949212 
seperate points time 13.396549 
scan registration time 35.022640 ms *************
mapping solver time 13.622675 ms 
data association time 14.020843 ms 
mapping data assosiation time 18.046970 ms 
solver time 12.166866 ms 
mapping solver time 11.302539 ms 
filter time 10.268360 ms 
points size 99136 
build tree time 29.190224 ms 
sort q time 6.816464 
seperate points time 15.304334 
mapping data assosiation time 20.338594 ms 
data association time 13.503097 ms 
mapping solver time 12.853703 ms 
solver time 14.589677 ms 
mapping data assosiation time 19.835741 ms 
data association time 14.794404 ms 
mapping solver time 12.719537 ms 
optimization twice time 55.772262 
publication time 8.731287 ms 
whole laserOdometry time 64.523319 ms 
 
points size 99272 
prepare time 17.753462 
sort q time 6.653965 
seperate points time 14.683721 
scan registration time 37.430233 ms *************
build tree time 30.521738 ms 
mapping data assosiation time 18.985972 ms 
solver time 12.075990 ms 
mapping solver time 16.314601 ms 
data association time 15.137361 ms 
mapping data assosiation time 23.311025 ms 
publication time 7.614826 ms 
whole laserOdometry time 59.109102 ms 
 
mapping solver time 15.611977 ms 
mapping optimization time 106.290754 
add points time 0.586935 ms
points size 99734 
filter time 10.689808 ms 
mapping pub time 2.788398 ms 
whole mapping time 124.837014 ms +++++
drop lidar frame in mapping for real time performance 
sort q time 6.717256 
seperate points time 15.231068 
build tree time 28.560412 ms 
solver time 14.366882 ms 
mapping solver time 13.760260 ms 
solver time 10.626680 ms 
publication time 8.356621 ms 
whole laserOdometry time 67.840956 ms 
 
points size 100218 
mapping solver time 12.116475 ms 
mapping optimization time 102.079774 
add points time 0.450371 ms
sort q time 5.527679 
seperate points time 12.628553 
filter time 9.551398 ms 
mapping pub time 1.209950 ms 
whole mapping time 116.245902 ms +++++
data association time 13.162784 ms 
solver time 13.838198 ms 
build tree time 26.853378 ms 
data association time 14.853702 ms 
mapping data assosiation time 21.728013 ms 
publication time 8.291085 ms 
whole laserOdometry time 59.389214 ms 
 
mapping solver time 15.555922 ms 
points size 100451 
prepare time 16.215228 
mapping data assosiation time 21.559835 ms 
sort q time 5.137806 
seperate points time 11.741808 
mapping solver time 13.791976 ms 
filter time 8.425962 ms 
map prepare time 2.637411 ms
map corner num 105048  surf num 34017 
data association time 16.376894 ms 
solver time 11.739932 ms 
data association time 14.338015 ms 
build tree time 29.431223 ms 
publication time 8.500549 ms 
whole laserOdometry time 62.417459 ms 
 
mapping data assosiation time 25.121710 ms 
points size 100640 
mapping solver time 17.629856 ms 
sort q time 5.427820 
seperate points time 12.820133 
mapping data assosiation time 27.570252 ms 
mapping solver time 16.916051 ms 
mapping optimization time 118.135377 
add points time 0.467806 ms
data association time 19.686200 ms 
map prepare time 3.083724 ms
map corner num 105556  surf num 34279 
data association time 16.184462 ms 
solver time 11.838363 ms 
prepare time 16.879925 
sort q time 5.680134 
seperate points time 13.539055 
mapping solver time 17.759348 ms 
data association time 15.234746 ms 
solver time 11.998715 ms 
mapping data assosiation time 26.956989 ms 
solver time 8.035312 ms 
optimization twice time 50.193492 
filter time 12.232104 ms 
mapping pub time 1.557575 ms 
whole mapping time 138.288300 ms +++++
drop lidar frame in mapping for real time performance 
points size 100875 
map prepare time 3.515295 ms
map corner num 106028  surf num 34553 
prepare time 16.794998 
sort q time 5.881995 
seperate points time 15.889478 
build tree time 29.584258 ms 
data association time 13.382225 ms 
mapping data assosiation time 24.288205 ms 
solver time 10.616860 ms 
mapping solver time 15.813255 ms 
solver time 8.471599 ms 
publication time 9.054817 ms 
whole laserOdometry time 56.684295 ms 
 
points size 100919 
mapping solver time 11.451557 ms 
mapping optimization time 105.537867 
add points time 0.553750 ms
sort q time 5.167830 
seperate points time 11.815563 
sort q time 7.247168 
seperate points time 16.136240 
scan registration time 41.317356 ms *************
mapping data assosiation time 29.489746 ms 
data association time 15.027538 ms 
mapping solver time 18.654756 ms 
mapping optimization time 128.631455 
add points time 0.716293 ms
mapping pub time 1.232737 ms 
whole mapping time 146.518492 ms +++++
data association time 18.051540 ms 
points size 100857 
publication time 10.016217 ms 
whole laserOdometry time 83.230295 ms 
 
sort q time 7.382402 
seperate points time 18.272798 
mapping data assosiation time 31.127190 ms 
data association time 14.497179 ms 
solver time 11.302150 ms 
data association time 15.610608 ms 
optimization twice time 54.232303 
publication time 10.221983 ms 
whole laserOdometry time 64.471374 ms 
 
map prepare time 3.453518 ms
map corner num 107641  surf num 35531 
sort q time 6.174956 
seperate points time 14.009048 
build tree time 32.098520 ms 
data association time 23.160327 ms 
solver time 17.779737 ms 
mapping data assosiation time 31.687095 ms 
data association time 21.844079 ms 
points size 100913 
prepare time 17.497435 
solver time 12.774442 ms 
optimization twice time 76.650451 
publication time 11.642888 ms 
whole laserOdometry time 88.311427 ms 
 
mapping solver time 19.379846 ms 
filter time 11.368665 ms 
mapping pub time 1.652125 ms 
whole mapping time 156.627797 ms +++++
data association time 22.166918 ms 
build tree time 36.371228 ms 
solver time 11.527379 ms 
optimization twice time 72.396883 
points size 101168 
publication time 11.392381 ms 
whole laserOdometry time 83.838967 ms 
 
sort q time 6.450325 
seperate points time 14.905136 
mapping data assosiation time 29.825995 ms 
mapping solver time 17.757988 ms 
data association time 17.083659 ms 
solver time 14.554402 ms 
mapping data assosiation time 27.018407 ms 
data association time 18.920710 ms 
solver time 9.935712 ms 
optimization twice time 61.369186 
publication time 10.735625 ms 
whole laserOdometry time 72.129187 ms 
 
map prepare time 4.419192 ms
map corner num 108609  surf num 36066 
prepare time 17.792367 
sort q time 6.003718 
seperate points time 13.841270 
scan registration time 37.390038 ms *************
build tree time 32.852545 ms 
data association time 18.263305 ms 
solver time 9.831980 ms 
mapping data assosiation time 30.535105 ms 
mapping solver time 20.124978 ms 
publication time 11.035234 ms 
whole laserOdometry time 67.338972 ms 
 
points size 101572 
prepare time 17.230020 
mapping data assosiation time 33.701871 ms 
mapping optimization time 136.433819 
add points time 0.648361 ms
filter time 11.659694 ms 
data association time 19.117454 ms 
mapping pub time 2.910474 ms 
whole mapping time 156.137194 ms +++++
drop lidar frame in mapping for real time performance 
solver time 13.535168 ms 
data association time 17.674617 ms 
build tree time 31.902148 ms 
points size 101665 
mapping data assosiation time 34.449864 ms 
scan registration time 40.664677 ms *************
mapping solver time 19.976063 ms 
data association time 19.763334 ms 
solver time 11.053513 ms 
mapping solver time 12.450336 ms 
filter time 10.035303 ms 
mapping pub time 1.291547 ms 
whole mapping time 144.762021 ms +++++
solver time 11.179943 ms 
optimization twice time 60.471295 
map prepare time 3.930697 ms
map corner num 109591  surf num 36540 
prepare time 17.846988 
sort q time 6.133164 
seperate points time 14.905927 
scan registration time 37.317594 ms *************
data association time 16.983173 ms 
mapping data assosiation time 28.618783 ms 
data association time 15.706121 ms 
solver time 14.177887 ms 
points size 101585 
prepare time 19.969340 
mapping data assosiation time 31.832286 ms 
sort q time 5.592006 
seperate points time 14.900304 
filter time 12.645431 ms 
mapping pub time 1.903213 ms 
whole mapping time 150.676466 ms +++++
drop lidar frame in mapping for real time performance 
data association time 20.893844 ms 
solver time 13.781998 ms 
build tree time 34.489089 ms 
data association time 17.942278 ms 
solver time 10.369641 ms 
prepare time 17.566746 
mapping data assosiation time 29.243750 ms 
publication time 10.873417 ms 
whole laserOdometry time 74.745220 ms 
 
sort q time 5.974715 
seperate points time 15.158572 
mapping solver time 21.792677 ms 
data association time 18.915659 ms 
solver time 13.020142 ms 
mapping solver time 17.612841 ms 
mapping optimization time 132.601703 
add points time 0.606587 ms
filter time 12.104645 ms 
map prepare time 4.595300 ms
map corner num 110537  surf num 36976 
publication time 11.696542 ms 
whole laserOdometry time 74.191209 ms 
 
sort q time 6.317801 
seperate points time 15.057555 
mapping data assosiation time 28.145573 ms 
data association time 17.598769 ms 
solver time 17.389956 ms 
mapping solver time 22.264646 ms 
data association time 20.279709 ms 
solver time 13.107081 ms 
publication time 9.630150 ms 
whole laserOdometry time 79.009972 ms 
 
sort q time 5.531690 
seperate points time 14.029860 
mapping solver time 16.528927 ms 
mapping optimization time 131.580223 
add points time 0.572328 ms
scan registration time 34.011823 ms *************
filter time 10.441431 ms 
map prepare time 3.748287 ms
map corner num 110994  surf num 37169 
data association time 16.786913 ms 
solver time 12.763372 ms 
build tree time 29.900210 ms 
data association time 17.486152 ms 
solver time 12.088730 ms 
publication time 9.919044 ms 
whole laserOdometry time 70.051029 ms 
 
prepare time 18.384365 
mapping solver time 21.124900 ms 
scan registration time 37.001989 ms *************
mapping data assosiation time 29.667910 ms 
data association time 16.604052 ms 
solver time 13.955118 ms 
filter time 10.631838 ms 
map prepare time 3.219985 ms
map corner num 111376  surf num 37346 
solver time 10.614763 ms 
publication time 10.548210 ms 
whole laserOdometry time 71.200164 ms 
 
points size 100533 
build tree time 31.080227 ms 
sort q time 6.069942 
seperate points time 14.526200 
scan registration time 35.390449 ms *************
mapping data assosiation time 30.189234 ms 
data association time 17.259668 ms 
solver time 12.233885 ms 
mapping solver time 19.656002 ms 
data association time 18.715702 ms 
solver time 10.326866 ms 
publication time 10.517028 ms 
whole laserOdometry time 70.077926 ms 
 
points size 100374 
mapping solver time 24.052687 ms 
filter time 11.212638 ms 
sort q time 5.452875 
seperate points time 13.283679 
mapping pub time 1.414505 ms 
whole mapping time 155.342677 ms +++++
drop lidar frame in mapping for real time performance 
scan registration time 42.359911 ms *************
data association time 16.982356 ms 
build tree time 29.223771 ms 
solver time 13.840481 ms 
solver time 13.937974 ms 
prepare time 19.051490 
mapping solver time 24.947710 ms 
sort q time 6.421331 
seperate points time 15.762050 
mapping data assosiation time 31.917003 ms 
solver time 11.817336 ms 
mapping solver time 19.329506 ms 
filter time 9.161965 ms 
map prepare time 4.288248 ms
map corner num 112231  surf num 37686 
optimization twice time 61.894107 
publication time 11.944789 ms 
whole laserOdometry time 73.884461 ms 
 
points size 100327 
build tree time 33.881831 ms 
scan registration time 36.083660 ms *************
mapping data assosiation time 30.757740 ms 
data association time 17.714220 ms 
solver time 12.169467 ms 
mapping solver time 25.577516 ms 
data association time 18.810828 ms 
solver time 9.985842 ms 
publication time 10.531904 ms 
whole laserOdometry time 70.092992 ms 
 
sort q time 5.473251 
seperate points time 13.550171 
mapping solver time 21.854189 ms 
mapping optimization time 147.461623 
add points time 0.713311 ms
filter time 11.333636 ms 
mapping pub time 1.756617 ms 
whole mapping time 165.630982 ms +++++
drop lidar frame in mapping for real time performance 
data association time 19.616206 ms 
solver time 13.016803 ms 
build tree time 28.674715 ms 
data association time 17.832377 ms 
solver time 9.385879 ms 
publication time 10.416347 ms 
whole laserOdometry time 71.100731 ms 
 
prepare time 17.580829 
scan registration time 35.080971 ms *************
mapping solver time 22.102181 ms 
data association time 15.304778 ms 
mapping data assosiation time 30.774423 ms 
mapping solver time 17.030332 ms 
filter time 8.528918 ms 
publication time 10.928187 ms 
whole laserOdometry time 66.501213 ms 
 
points size 100460 
build tree time 31.124759 ms 
sort q time 5.107827 
seperate points time 12.706618 
scan registration time 34.030383 ms *************
data association time 15.689610 ms 
mapping data assosiation time 32.774734 ms 
data association time 16.377436 ms 
solver time 9.676993 ms 
publication time 11.958757 ms 
whole laserOdometry time 68.004030 ms 
 
points size 100339 
sort q time 5.105943 
seperate points time 12.433587 
add points time 0.789354 ms
filter time 13.513742 ms 
map prepare time 4.291465 ms
map corner num 113646  surf num 38123 
solver time 10.976338 ms 
data association time 22.718852 ms 
build tree time 38.838038 ms 
solver time 11.155933 ms 
optimization twice time 66.074356 
points size 99938 
sort q time 5.897894 
seperate points time 14.550336 
mapping solver time 23.981986 ms 
data association time 18.758953 ms 
mapping data assosiation time 31.090867 ms 
data association time 16.893970 ms 
solver time 10.159531 ms 
mapping optimization time 149.934849 
prepare time 20.675873 
map prepare time 4.766088 ms
map corner num 114097  surf num 38235 
scan registration time 42.432227 ms *************
build tree time 33.843376 ms 
data association time 16.524994 ms 
solver time 12.624999 ms 
data association time 16.741551 ms 
solver time 10.736369 ms 
optimization twice time 57.340043 
publication time 10.846256 ms 
whole laserOdometry time 68.214669 ms 
 
points size 99921 
prepare time 20.003400 
sort q time 6.374886 
seperate points time 16.448738 
mapping data assosiation time 32.922603 ms 
solver time 11.809934 ms 
mapping solver time 18.593670 ms 
filter time 10.168124 ms 
map prepare time 3.546908 ms
map corner num 114595  surf num 38353 
publication time 10.454123 ms 
whole laserOdometry time 66.704885 ms 
 
points size 100009 
build tree time 40.161844 ms 
scan registration time 42.348650 ms *************
mapping data assosiation time 32.958667 ms 
solver time 12.665073 ms 
mapping solver time 18.327462 ms 
data association time 15.882767 ms 
solver time 8.760518 ms 
publication time 9.805236 ms 
whole laserOdometry time 64.456134 ms 
 
mapping data assosiation time 36.694036 ms 
sort q time 5.985166 
seperate points time 15.183982 
scan registration time 42.008350 ms *************
mapping solver time 24.503013 ms 
filter time 8.579963 ms 
map prepare time 3.547318 ms
map corner num 115122  surf num 38471 
data association time 15.868904 ms 
solver time 12.262374 ms 
data association time 17.110135 ms 
solver time 11.807064 ms 
mapping data assosiation time 35.142891 ms 
sort q time 6.001588 
seperate points time 15.244413 
data association time 16.597702 ms 
mapping data assosiation time 31.666555 ms 
solver time 15.138364 ms 
data association time 15.025407 ms 
map prepare time 4.195422 ms
map corner num 115539  surf num 38563 
solver time 16.788136 ms 
prepare time 20.002762 
build tree time 30.760635 ms 
sort q time 5.059322 
seperate points time 12.784439 
mapping data assosiation time 27.225949 ms 
solver time 14.354301 ms 
mapping solver time 21.659111 ms 
data association time 14.499212 ms 
solver time 9.022239 ms 
publication time 10.097157 ms 
whole laserOdometry time 65.459028 ms 
 
points size 101693 
scan registration time 43.097709 ms *************
mapping pub time 12.630420 ms 
whole mapping time 161.766203 ms +++++
data association time 16.950995 ms 
solver time 18.541887 ms 
publication time 11.108520 ms 
whole laserOdometry time 72.306264 ms 
 
points size 101574 
mapping data assosiation time 33.459266 ms 
sort q time 6.011037 
seperate points time 13.013302 
data association time 15.162630 ms 
mapping data assosiation time 28.873846 ms 
solver time 14.775142 ms 
mapping solver time 16.817905 ms 
filter time 12.327100 ms 
mapping pub time 1.796393 ms 
whole mapping time 155.456674 ms +++++
solver time 12.645629 ms 
optimization twice time 61.103240 
prepare time 20.130460 
publication time 11.174282 ms 
whole laserOdometry time 72.303081 ms 
 
sort q time 6.058125 
seperate points time 14.786696 
scan registration time 40.647055 ms *************
build tree time 36.284367 ms 
data association time 15.247318 ms 
mapping data assosiation time 27.441232 ms 
solver time 14.087020 ms 
mapping solver time 19.806594 ms 
solver time 11.990495 ms 
optimization twice time 58.193216 
mapping data assosiation time 29.839861 ms 
sort q time 5.122591 
seperate points time 12.121520 
scan registration time 36.149005 ms *************
filter time 10.653991 ms 
mapping pub time 1.616028 ms 
whole mapping time 149.058605 ms +++++
drop lidar frame in mapping for real time performance 
data association time 24.607477 ms 
solver time 15.777483 ms 
points size 102083 
publication time 9.604555 ms 
whole laserOdometry time 80.831866 ms 
 
scan registration time 41.291414 ms *************
mapping solver time 22.798269 ms 
data association time 14.101169 ms 
solver time 15.542089 ms 
mapping solver time 18.142893 ms 
mapping optimization time 132.505314 
add points time 0.426441 ms
map prepare time 4.712881 ms
map corner num 117440  surf num 39053 
optimization twice time 66.212637 
points size 102130 
sort q time 5.812886 
seperate points time 14.205146 
scan registration time 36.911618 ms *************
mapping data assosiation time 26.377783 ms 
solver time 13.680449 ms 
mapping solver time 17.996176 ms 
solver time 8.394969 ms 
publication time 9.514509 ms 
whole laserOdometry time 60.220568 ms 
 
mapping data assosiation time 29.556122 ms 
sort q time 4.815156 
seperate points time 11.270652 
mapping solver time 17.590339 ms 
mapping optimization time 131.745799 
add points time 0.429389 ms
scan registration time 35.219780 ms *************
filter time 11.232118 ms 
map prepare time 3.379818 ms
map corner num 118034  surf num 39234 
data association time 14.311579 ms 
solver time 13.085289 ms 
build tree time 30.316595 ms 
data association time 15.299710 ms 
optimization twice time 53.292622 
publication time 9.090980 ms 
whole laserOdometry time 62.401183 ms 
 
points size 102123 
prepare time 17.670092 
sort q time 4.772790 
seperate points time 11.270230 
mapping data assosiation time 26.290088 ms 
solver time 11.129600 ms 
mapping solver time 17.548857 ms 
data association time 15.498460 ms 
solver time 8.840448 ms 
publication time 8.998225 ms 
whole laserOdometry time 59.893682 ms 
 
points size 102053 
prepare time 15.677509 
sort q time 6.199061 
seperate points time 14.069769 
scan registration time 35.078800 ms *************
mapping data assosiation time 26.592054 ms 
data association time 14.149338 ms 
mapping solver time 17.902883 ms 
solver time 11.850944 ms 
data association time 15.395409 ms 
solver time 8.802290 ms 
publication time 9.228456 ms 
whole laserOdometry time 60.225475 ms 
 
points size 102156 
drop lidar frame in mapping for real time performance 
map prepare time 4.098938 ms
map corner num 119036  surf num 39509 
sort q time 5.439363 
seperate points time 13.239138 
data association time 14.120012 ms 
build tree time 38.840665 ms 
solver time 12.489038 ms 
data association time 14.216839 ms 
solver time 9.341820 ms 
mapping solver time 16.631478 ms 
points size 101516 
prepare time 15.550766 
mapping data assosiation time 26.233445 ms 
scan registration time 34.727312 ms *************
mapping solver time 15.254742 ms 
mapping optimization time 125.167809 
add points time 0.450348 ms
data association time 15.224952 ms 
map prepare time 3.345704 ms
map corner num 119497  surf num 39645 
solver time 11.828643 ms 
data association time 14.061581 ms 
solver time 8.745275 ms 
optimization twice time 50.842659 
build tree time 32.394745 ms 
points size 101492 
sort q time 6.276946 
seperate points time 15.534005 
mapping solver time 24.443820 ms 
data association time 14.923553 ms 
mapping data assosiation time 27.286033 ms 
mapping solver time 17.319957 ms 
filter time 13.064201 ms 
points size 101447 
prepare time 19.632556 
sort q time 6.285128 
seperate points time 14.295132 
scan registration time 39.609113 ms *************
mapping data assosiation time 24.825198 ms 
mapping solver time 17.769403 ms 
data association time 17.261084 ms 
solver time 12.968453 ms 
optimization twice time 61.782580 
mapping data assosiation time 28.204114 ms 
prepare time 22.753881 
mapping optimization time 125.578404 
add points time 0.488907 ms
scan registration time 45.579194 ms *************
mapping pub time 2.700442 ms 
whole mapping time 145.164192 ms +++++
data association time 16.045017 ms 
solver time 12.162402 ms 
data association time 14.974560 ms 
solver time 11.664357 ms 
optimization twice time 55.880662 
mapping data assosiation time 28.216298 ms 
prepare time 20.490203 
mapping solver time 20.614894 ms 
scan registration time 39.056732 ms *************
mapping data assosiation time 29.047018 ms 
solver time 12.361696 ms 
mapping solver time 16.158833 ms 
mapping optimization time 129.895484 
add points time 0.418443 ms
filter time 11.144166 ms 
map prepare time 4.240909 ms
map corner num 120960  surf num 39976 
publication time 9.775813 ms 
whole laserOdometry time 63.647146 ms 
 
points size 101028 
build tree time 35.894227 ms 
sort q time 5.577809 
seperate points time 13.103804 
mapping data assosiation time 28.779829 ms 
mapping solver time 16.509480 ms 
data association time 15.028780 ms 
solver time 10.373471 ms 
publication time 9.735690 ms 
whole laserOdometry time 61.811146 ms 
 
points size 100978 
add points time 0.498296 ms
filter time 14.332414 ms 
scan registration time 38.472732 ms *************
map prepare time 4.785515 ms
map corner num 121478  surf num 40124 
data association time 14.642643 ms 
build tree time 34.083867 ms 
data association time 15.027541 ms 
solver time 10.359014 ms 
publication time 10.032589 ms 
whole laserOdometry time 61.491402 ms 
 
points size 100949 
mapping solver time 18.899833 ms 
prepare time 17.103816 
sort q time 5.479705 
seperate points time 12.855895 
mapping data assosiation time 25.396987 ms 
data association time 14.903960 ms 
mapping solver time 14.766392 ms 
mapping optimization time 120.787737 
add points time 0.409220 ms
filter time 12.370845 ms 
map prepare time 3.453535 ms
map corner num 121875  surf num 40200 
data association time 14.832660 ms 
solver time 9.514553 ms 
publication time 9.860501 ms 
whole laserOdometry time 60.060828 ms 
 
build tree time 32.814713 ms 
points size 101050 
mapping data assosiation time 26.252227 ms 
sort q time 6.704283 
seperate points time 15.944685 
mapping data assosiation time 25.498001 ms 
data association time 24.441435 ms 
mapping solver time 14.834496 ms 
filter time 12.741753 ms 
data association time 21.548195 ms 
prepare time 20.771371 
publication time 10.237780 ms 
whole laserOdometry time 82.508778 ms 
 
sort q time 6.247023 
seperate points time 15.288751 
scan registration time 41.410077 ms *************
data association time 13.195115 ms 
mapping data assosiation time 22.930748 ms 
mapping solver time 18.709517 ms 
data association time 15.658926 ms 
solver time 8.914298 ms 
publication time 10.053323 ms 
whole laserOdometry time 61.032561 ms 
 
mapping data assosiation time 29.800849 ms 
mapping solver time 16.164368 ms 
mapping optimization time 125.950715 
add points time 0.655294 ms
scan registration time 39.753851 ms *************
filter time 11.945997 ms 
mapping pub time 1.649687 ms 
whole mapping time 144.002473 ms +++++
drop lidar frame in mapping for real time performance 
data association time 19.286423 ms 
data association time 17.642381 ms 
solver time 12.362601 ms 
publication time 12.300791 ms 
whole laserOdometry time 76.813135 ms 
 
mapping solver time 19.381144 ms 
scan registration time 42.337461 ms *************
mapping data assosiation time 28.702730 ms 
data association time 25.457843 ms 
mapping solver time 18.140655 ms 
mapping optimization time 134.873471 
add points time 0.470935 ms
solver time 15.721109 ms 
points size 101208 
solver time 11.963197 ms 
sort q time 6.245266 
seperate points time 15.880316 
mapping data assosiation time 31.848402 ms 
data association time 27.084311 ms 
mapping solver time 23.691451 ms 
data association time 25.402158 ms 
solver time 13.052226 ms 
sort q time 5.699429 
seperate points time 13.164347 
mapping optimization time 144.323737 
add points time 1.226604 ms
filter time 11.363281 ms 
map prepare time 3.727463 ms
map corner num 103030  surf num 33600 
data association time 23.064353 ms 
solver time 15.186008 ms 
build tree time 32.493851 ms 
optimization twice time 65.095841 
publication time 8.313697 ms 
whole laserOdometry time 73.430345 ms 
 
sort q time 5.152605 
seperate points time 12.027220 
mapping data assosiation time 28.617319 ms 
solver time 12.626528 ms 
filter time 11.319284 ms 
map prepare time 4.916998 ms
map corner num 103585  surf num 33838 
solver time 12.376750 ms 
points size 100143 
optimization twice time 73.985988 
prepare time 16.965888 
publication time 12.191365 ms 
whole laserOdometry time 86.197718 ms 
 
build tree time 33.469395 ms 
mapping data assosiation time 29.908089 ms 
data association time 24.433440 ms 
mapping solver time 19.564626 ms 
solver time 17.088286 ms 
points size 99866 
solver time 12.473624 ms 
scan registration time 32.851348 ms *************
filter time 12.739539 ms 
map prepare time 4.137513 ms
map corner num 104346  surf num 34114 
data association time 24.043392 ms 
solver time 15.231184 ms 
build tree time 36.248280 ms 
data association time 24.981565 ms 
points size 97968 
mapping data assosiation time 31.430521 ms 
solver time 13.589454 ms 
optimization twice time 78.904978 
prepare time 15.877342 
publication time 11.042498 ms 
whole laserOdometry time 89.968235 ms 
 
sort q time 6.681952 
seperate points time 15.573995 
mapping solver time 21.043844 ms 
scan registration time 36.807072 ms *************
mapping data assosiation time 30.853390 ms 
data association time 24.477902 ms 
solver time 12.537338 ms 
mapping solver time 21.083794 ms 
mapping optimization time 142.568110 
add points time 0.731886 ms
filter time 11.299575 ms 
map prepare time 4.303650 ms
map corner num 104997  surf num 34311 
points size 97007 
publication time 11.229865 ms 
whole laserOdometry time 85.079961 ms 
 
build tree time 34.633410 ms 
data association time 25.534244 ms 
mapping data assosiation time 32.461791 ms 
solver time 16.402467 ms 
mapping solver time 24.296465 ms 
data association time 23.856005 ms 
points size 96197 
solver time 13.781024 ms 
mapping data assosiation time 31.839199 ms 
sort q time 6.216226 
seperate points time 14.636156 
publication time 12.033392 ms 
whole laserOdometry time 92.787177 ms 
 
mapping solver time 16.270286 ms 
filter time 11.753648 ms 
data association time 24.161698 ms 
mapping pub time 17.582356 ms 
whole mapping time 176.352858 ms +++++
solver time 17.102798 ms 
data association time 22.670176 ms 
points size 95548 
publication time 10.584217 ms 
whole laserOdometry time 87.698319 ms 
 
scan registration time 36.879454 ms *************
mapping solver time 16.201129 ms 
data association time 25.052480 ms 
mapping data assosiation time 31.212989 ms 
solver time 15.851226 ms 
mapping solver time 15.321354 ms 
filter time 11.302016 ms 
mapping pub time 1.432126 ms 
whole mapping time 141.221150 ms +++++
data association time 25.078038 ms 
map prepare time 3.132702 ms
map corner num 106310  surf num 34744 
points size 95342 
solver time 11.882257 ms 
sort q time 5.133113 
seperate points time 12.201678 
publication time 13.220059 ms 
whole laserOdometry time 92.096157 ms 
 
build tree time 30.704738 ms 
data association time 21.657076 ms 
mapping data assosiation time 27.757950 ms 
solver time 15.703532 ms 
mapping solver time 18.426613 ms 
data association time 21.919974 ms 
solver time 11.922119 ms 
publication time 9.017112 ms 
whole laserOdometry time 81.230932 ms 
 
mapping solver time 15.311066 ms 
filter time 13.982738 ms 
data association time 16.175410 ms 
solver time 12.141094 ms 
mapping data assosiation time 27.872660 ms 
points size 95756 
publication time 7.920796 ms 
whole laserOdometry time 70.110973 ms 
 
sort q time 5.795269 
seperate points time 13.454224 
mapping data assosiation time 29.602333 ms 
mapping solver time 10.742445 ms 
mapping optimization time 114.490049 
add points time 0.513370 ms
data association time 16.451061 ms 
mapping pub time 1.437590 ms 
whole mapping time 131.080191 ms +++++
data association time 15.061634 ms 
solver time 9.212685 ms 
publication time 8.262119 ms 
whole laserOdometry time 58.845260 ms 
 
points size 95894 
sort q time 5.092364 
seperate points time 11.932696 
mapping solver time 17.822834 ms 
data association time 15.232536 ms 
solver time 9.222073 ms 
mapping data assosiation time 27.280429 ms 
data association time 15.143116 ms 
solver time 9.328197 ms 
publication time 8.516434 ms 
whole laserOdometry time 58.405431 ms 
 
map prepare time 4.079746 ms
map corner num 108371  surf num 35308 
prepare time 15.682980 
sort q time 5.779804 
seperate points time 13.981498 
scan registration time 35.265799 ms *************
data association time 15.852565 ms 
solver time 9.126950 ms 
data association time 16.084917 ms 
mapping solver time 19.983621 ms 
solver time 10.769210 ms 
optimization twice time 52.736484 
publication time 9.251276 ms 
whole laserOdometry time 62.005801 ms 
 
mapping data assosiation time 27.562054 ms 
mapping solver time 16.203559 ms 
scan registration time 39.152553 ms *************
mapping pub time 6.133924 ms 
whole mapping time 149.106343 ms +++++
data association time 18.916738 ms 
solver time 10.328753 ms 
build tree time 29.811167 ms 
data association time 14.504030 ms 
solver time 8.369624 ms 
mapping data assosiation time 25.764574 ms 
prepare time 17.218875 
mapping solver time 19.440382 ms 
sort q time 5.808286 
seperate points time 13.845063 
scan registration time 36.199865 ms *************
mapping data assosiation time 26.790169 ms 
data association time 16.500147 ms 
mapping solver time 14.716918 ms 
mapping optimization time 118.086038 
add points time 0.513241 ms
filter time 10.969648 ms 
map prepare time 3.549801 ms
map corner num 109669  surf num 35726 
solver time 10.995473 ms 
publication time 10.148039 ms 
whole laserOdometry time 61.661454 ms 
 
sort q time 5.263840 
seperate points time 12.672835 
mapping data assosiation time 28.807745 ms 
mapping solver time 17.233153 ms 
solver time 8.385769 ms 
data association time 14.487694 ms 
mapping data assosiation time 25.862368 ms 
mapping solver time 11.465105 ms 
filter time 11.726747 ms 
sort q time 5.747801 
seperate points time 13.342741 
build tree time 29.992794 ms 
data association time 14.405266 ms 
solver time 8.161477 ms 
mapping data assosiation time 26.392274 ms 
data association time 15.301221 ms 
solver time 6.301026 ms 
optimization twice time 45.013079 
mapping solver time 16.524415 ms 
points size 88170 
prepare time 14.353215 
mapping data assosiation time 27.493247 ms 
mapping solver time 10.741736 ms 
sort q time 4.356295 
seperate points time 10.515916 
filter time 12.451579 ms 
data association time 16.267542 ms 
solver time 10.614476 ms 
data association time 15.488461 ms 
publication time 12.195878 ms 
whole laserOdometry time 62.233645 ms 
 
points size 85110 
mapping solver time 16.029629 ms 
sort q time 5.472788 
seperate points time 13.665154 
mapping solver time 15.430714 ms 
mapping optimization time 126.889302 
add points time 0.560224 ms
data association time 15.673437 ms 
filter time 11.974326 ms 
mapping pub time 1.123408 ms 
whole mapping time 143.462000 ms +++++
data association time 15.525344 ms 
solver time 7.820055 ms 
build tree time 32.998237 ms 
sort q time 4.442142 
seperate points time 11.430255 
scan registration time 30.541008 ms *************
mapping data assosiation time 27.864240 ms 
data association time 15.177114 ms 
mapping solver time 18.217816 ms 
solver time 11.711646 ms 
data association time 14.753683 ms 
mapping data assosiation time 23.740588 ms 
publication time 7.870647 ms 
whole laserOdometry time 57.293734 ms 
 
filter time 10.680447 ms 
points size 80407 
mapping pub time 3.033919 ms 
whole mapping time 138.579008 ms +++++
prepare time 13.480971 
drop lidar frame in mapping for real time performance 
sort q time 5.227873 
seperate points time 12.469684 
data association time 14.222847 ms 
build tree time 33.527547 ms 
data association time 15.057135 ms 
mapping data assosiation time 28.150627 ms 
solver time 6.926529 ms 
optimization twice time 46.471500 
mapping solver time 17.767465 ms 
points size 80687 
mapping data assosiation time 26.360954 ms 
scan registration time 28.200470 ms *************
mapping solver time 13.880385 ms 
mapping optimization time 121.412307 
add points time 0.762419 ms
mapping pub time 1.201734 ms 
whole mapping time 138.389676 ms +++++
data association time 18.039047 ms 
solver time 10.476423 ms 
data association time 16.535978 ms 
build tree time 34.887482 ms 
publication time 8.504004 ms 
whole laserOdometry time 60.464848 ms 
 
mapping data assosiation time 26.957085 ms 
points size 84852 
prepare time 15.643619 
sort q time 5.329094 
seperate points time 12.633931 
data association time 13.985315 ms 
mapping data assosiation time 26.892293 ms 
mapping solver time 12.342280 ms 
mapping optimization time 122.702301 
add points time 0.564448 ms
data association time 15.236145 ms 
filter time 10.972517 ms 
publication time 8.552485 ms 
whole laserOdometry time 57.681487 ms 
 
points size 88637 
prepare time 14.308363 
sort q time 5.142869 
seperate points time 12.704856 
scan registration time 31.320546 ms *************
mapping data assosiation time 24.947480 ms 
data association time 13.296648 ms 
solver time 8.590557 ms 
data association time 16.182803 ms 
solver time 9.407323 ms 
mapping solver time 13.280291 ms 
points size 93049 
map prepare time 3.988160 ms
map corner num 114883  surf num 37497 
sort q time 5.677308 
seperate points time 13.825049 
data association time 13.322241 ms 
solver time 10.293466 ms 
data association time 15.972907 ms 
solver time 7.315031 ms 
optimization twice time 47.908874 
points size 96776 
mapping data assosiation time 25.268429 ms 
prepare time 16.590656 
mapping solver time 10.471262 ms 
scan registration time 34.654273 ms *************
filter time 13.063426 ms 
mapping pub time 1.378716 ms 
whole mapping time 128.194603 ms +++++
data association time 16.794885 ms 
solver time 10.866487 ms 
build tree time 32.319136 ms 
data association time 17.703302 ms 
solver time 9.310930 ms 
publication time 10.113342 ms 
whole laserOdometry time 65.792773 ms 
 
points size 99479 
prepare time 17.806052 
mapping solver time 16.290709 ms 
sort q time 6.083919 
seperate points time 13.916345 
mapping data assosiation time 28.073203 ms 
data association time 15.292715 ms 
solver time 12.228565 ms 
map prepare time 3.235328 ms
map corner num 116462  surf num 38236 
data association time 15.722972 ms 
solver time 9.391929 ms 
publication time 9.025092 ms 
whole laserOdometry time 62.683456 ms 
 
build tree time 34.542362 ms 
points size 100704 
prepare time 16.853889 
sort q time 4.861916 
seperate points time 11.427116 
mapping solver time 13.837346 ms 
data association time 16.621454 ms 
solver time 10.518290 ms 
mapping data assosiation time 24.766178 ms 
data association time 18.638591 ms 
add points time 0.735859 ms
solver time 10.586860 ms 
optimization twice time 57.267929 
drop lidar frame in mapping for real time performance 
points size 99930 
sort q time 6.429276 
seperate points time 14.778647 
build tree time 35.180741 ms 
data association time 15.719444 ms 
mapping data assosiation time 27.878540 ms 
mapping solver time 13.904661 ms 
data association time 14.774253 ms 
solver time 11.295033 ms 
publication time 9.671982 ms 
whole laserOdometry time 66.119366 ms 
 
prepare time 17.394175 
mapping optimization time 118.284892 
add points time 0.713020 ms
scan registration time 36.496145 ms *************
data association time 15.565735 ms 
solver time 11.705324 ms 
data association time 15.115885 ms 
solver time 9.317146 ms 
publication time 9.983815 ms 
whole laserOdometry time 62.714321 ms 
 
points size 99390 
sort q time 4.604208 
seperate points time 10.719125 
scan registration time 32.614495 ms *************
mapping data assosiation time 26.570449 ms 
mapping solver time 19.566115 ms 
mapping optimization time 121.057648 
add points time 0.798922 ms
data association time 23.106671 ms 
filter time 13.087032 ms 
map prepare time 3.511080 ms
map corner num 118334  surf num 39168 
data association time 17.857033 ms 
publication time 9.860545 ms 
whole laserOdometry time 73.133823 ms 
 
sort q time 6.093772 
seperate points time 14.306075 
mapping data assosiation time 29.779003 ms 
mapping solver time 13.966284 ms 
solver time 13.092136 ms 
mapping data assosiation time 25.453592 ms 
data association time 16.616750 ms 
solver time 9.298106 ms 
publication time 8.672327 ms 
whole laserOdometry time 65.483383 ms 
 
map prepare time 3.075753 ms
map corner num 118941  surf num 39403 
points size 100245 
prepare time 16.976510 
sort q time 5.989202 
seperate points time 14.103392 
scan registration time 36.520211 ms *************
build tree time 34.420561 ms 
data association time 14.753289 ms 
solver time 12.681262 ms 
mapping data assosiation time 28.929615 ms 
mapping solver time 15.907158 ms 
data association time 18.589900 ms 
solver time 15.046059 ms 
publication time 9.557101 ms 
whole laserOdometry time 71.526558 ms 
 
prepare time 20.342467 
mapping solver time 15.378590 ms 
scan registration time 42.457627 ms *************
data association time 16.328327 ms 
map prepare time 3.787139 ms
map corner num 119525  surf num 39674 
solver time 21.186793 ms 
data association time 21.717110 ms 
build tree time 37.975596 ms 
prepare time 21.035871 
mapping data assosiation time 29.647130 ms 
sort q time 9.498907 
seperate points time 21.494924 
mapping solver time 23.137689 ms 
data association time 18.083038 ms 
solver time 12.466023 ms 
data association time 17.905333 ms 
filter time 11.497150 ms 
points size 101546 
scan registration time 64.879143 ms *************
data association time 16.607242 ms 
mapping data assosiation time 31.371386 ms 
mapping solver time 19.544795 ms 
solver time 10.302811 ms 
optimization twice time 53.049338 
points size 101325 
mapping data assosiation time 29.918668 ms 
sort q time 5.223090 
seperate points time 12.573150 
mapping solver time 14.919746 ms 
filter time 11.424066 ms 
mapping pub time 1.785674 ms 
whole mapping time 159.098374 ms +++++
drop lidar frame in mapping for real time performance 
data association time 21.692420 ms 
solver time 19.589594 ms 
prepare time 20.833585 
sort q time 6.007400 
seperate points time 13.980369 
mapping data assosiation time 29.344839 ms 
publication time 12.268633 ms 
whole laserOdometry time 87.206535 ms 
 
mapping solver time 17.889721 ms 
solver time 13.508381 ms 
data association time 16.675060 ms 
publication time 10.099159 ms 
whole laserOdometry time 71.218751 ms 
 
points size 98230 
filter time 10.596707 ms 
scan registration time 48.094358 ms *************
build tree time 40.786365 ms 
data association time 15.221015 ms 
points size 97530 
sort q time 5.441180 
seperate points time 12.704555 
data association time 23.922057 ms 
mapping data assosiation time 32.475821 ms 
solver time 17.049012 ms 
filter time 12.999420 ms 
solver time 12.185839 ms 
points size 96852 
optimization twice time 75.911079 
prepare time 17.446013 
sort q time 5.984139 
seperate points time 14.260096 
scan registration time 36.351021 ms *************
data association time 24.882873 ms 
mapping data assosiation time 32.289884 ms 
solver time 14.484871 ms 
mapping solver time 23.923298 ms 
data association time 23.113080 ms 
points size 96677 
mapping data assosiation time 31.718297 ms 
scan registration time 36.562843 ms *************
mapping solver time 14.097793 ms 
mapping optimization time 142.720741 
add points time 0.579998 ms
filter time 13.773333 ms 
map prepare time 5.068109 ms
map corner num 122653  surf num 40921 
solver time 12.677028 ms 
data association time 14.295172 ms 
solver time 8.215554 ms 
publication time 8.725714 ms 
whole laserOdometry time 63.444684 ms 
 
points size 96747 
prepare time 17.176602 
sort q time 5.159680 
seperate points time 12.149294 
mapping solver time 20.285950 ms 
data association time 15.018154 ms 
solver time 12.441827 ms 
mapping data assosiation time 28.669320 ms 
data association time 17.244105 ms 
solver time 10.015965 ms 
publication time 11.068473 ms 
whole laserOdometry time 66.784886 ms 
 
drop lidar frame in mapping for real time performance 
map prepare time 4.893356 ms
map corner num 123241  surf num 41080 
prepare time 18.282956 
sort q time 6.070839 
seperate points time 13.854626 
scan registration time 37.242642 ms *************
data association time 15.251170 ms 
solver time 10.582456 ms 
data association time 15.967876 ms 
solver time 11.660843 ms 
prepare time 16.818277 
mapping data assosiation time 32.396128 ms 
mapping solver time 14.799417 ms 
mapping optimization time 134.441767 
add points time 0.709467 ms
mapping pub time 1.365533 ms 
whole mapping time 154.473690 ms +++++
solver time 12.617194 ms 
data association time 18.444727 ms 
solver time 10.411455 ms 
publication time 10.351996 ms 
whole laserOdometry time 69.001478 ms 
 
prepare time 18.668338 
sort q time 4.596438 
seperate points time 10.669964 
mapping solver time 21.123085 ms 
data association time 15.328459 ms 
solver time 12.688134 ms 
mapping data assosiation time 29.714927 ms 
data association time 14.151202 ms 
mapping solver time 19.426263 ms 
filter time 14.728979 ms 
map prepare time 4.517056 ms
map corner num 124568  surf num 41570 
sort q time 5.771034 
seperate points time 14.011584 
scan registration time 40.153656 ms *************
build tree time 38.616333 ms 
data association time 17.114143 ms 
solver time 10.261858 ms 
mapping data assosiation time 31.055976 ms 
optimization twice time 54.599218 
publication time 8.998875 ms 
whole laserOdometry time 63.623752 ms 
 
prepare time 20.828874 
sort q time 6.682771 
seperate points time 15.946885 
mapping data assosiation time 32.875703 ms 
mapping solver time 18.475651 ms 
mapping optimization time 148.376511 
add points time 0.532270 ms
data association time 14.390416 ms 
solver time 8.823532 ms 
map prepare time 4.058540 ms
map corner num 125166  surf num 41746 
data association time 15.035314 ms 
optimization twice time 49.389881 
publication time 9.689460 ms 
whole laserOdometry time 59.120910 ms 
 
points size 100733 
build tree time 41.501963 ms 
sort q time 6.655433 
seperate points time 16.018920 
mapping data assosiation time 30.371370 ms 
data association time 15.301836 ms 
mapping solver time 20.377760 ms 
data association time 16.558404 ms 
solver time 8.748649 ms 
publication time 9.074193 ms 
whole laserOdometry time 62.085043 ms 
 
prepare time 20.822884 
mapping optimization time 148.146084 
add points time 0.595513 ms
scan registration time 40.705838 ms *************
map prepare time 3.707606 ms
map corner num 125810  surf num 41952 
data association time 14.970351 ms 
solver time 13.238564 ms 
data association time 16.186738 ms 
solver time 10.850072 ms 
optimization twice time 56.100404 
mapping data assosiation time 29.654049 ms 
points size 101751 
mapping solver time 22.902939 ms 
sort q time 6.405827 
seperate points time 15.504331 
mapping data assosiation time 28.298718 ms 
data association time 13.863537 ms 
solver time 9.076046 ms 
filter time 13.047022 ms 
map prepare time 4.192217 ms
map corner num 126426  surf num 42159 
solver time 8.071906 ms 
publication time 9.519232 ms 
whole laserOdometry time 57.699778 ms 
 
points size 101871 
build tree time 44.644381 ms 
mapping data assosiation time 29.422241 ms 
solver time 11.885289 ms 
mapping solver time 16.992210 ms 
data association time 17.364690 ms 
solver time 10.042628 ms 
publication time 9.318085 ms 
whole laserOdometry time 65.313141 ms 
 
prepare time 21.235979 
mapping solver time 23.031183 ms 
sort q time 6.360183 
seperate points time 15.425828 
filter time 14.062629 ms 
mapping pub time 1.291188 ms 
whole mapping time 163.505737 ms +++++
drop lidar frame in mapping for real time performance 
data association time 15.584110 ms 
solver time 10.101463 ms 
build tree time 35.750998 ms 
optimization twice time 48.869587 
publication time 8.835510 ms 
whole laserOdometry time 57.729480 ms 
 
points size 101994 
mapping solver time 24.022183 ms 
scan registration time 45.522978 ms *************
data association time 15.482764 ms 
solver time 12.311027 ms 
mapping solver time 15.039106 ms 
filter time 12.615227 ms 
map prepare time 4.284720 ms
map corner num 127743  surf num 42579 
points size 102049 
prepare time 20.957749 
sort q time 6.140555 
seperate points time 14.784405 
scan registration time 41.550611 ms *************
data association time 14.922072 ms 
solver time 13.509886 ms 
data association time 16.475442 ms 
mapping solver time 23.932976 ms 
solver time 10.797345 ms 
optimization twice time 56.631296 
points size 101832 
mapping data assosiation time 35.359960 ms 
mapping solver time 20.323704 ms 
filter time 12.675743 ms 
mapping pub time 1.970641 ms 
whole mapping time 178.510210 ms +++++
data association time 18.453744 ms 
drop lidar frame in mapping for real time performance 
solver time 14.022900 ms 
data association time 17.345221 ms 
solver time 12.228347 ms 
prepare time 23.293061 sort q time 6.320848 
seperate points time 14.803217 
scan registration time 43.906510 ms *************
mapping data assosiation time 27.951346 ms 
mapping solver time 14.983772 ms 
data association time 13.926824 ms 
solver time 11.563677 ms 
mapping data assosiation time 27.372415 ms 
solver time 8.518194 ms 
points size 101412 
prepare time 21.704761 
map prepare time 3.997137 ms
map corner num 129329  surf num 43279 
sort q time 5.997544 
seperate points time 15.936638 
build tree time 39.533320 ms 
solver time 11.876906 ms 
mapping data assosiation time 29.762041 ms 
solver time 10.698058 ms 
publication time 11.363345 ms 
whole laserOdometry time 69.256312 ms 
 
sort q time 6.278629 
seperate points time 16.174565 
mapping data assosiation time 33.007717 ms 
mapping solver time 16.180263 ms 
solver time 13.044885 ms 
data association time 17.862911 ms 
solver time 12.257249 ms 
points size 101007 
sort q time 4.936697 
seperate points time 11.927772 
mapping data assosiation time 30.613441 ms 
solver time 13.478694 ms 
mapping solver time 21.439841 ms 
data association time 18.153261 ms 
solver time 10.709901 ms 
publication time 12.629256 ms 
whole laserOdometry time 71.533928 ms 
 
mapping data assosiation time 36.142666 ms 
prepare time 21.988670 
filter time 13.469235 ms map prepare time 5.408634 ms
map corner num 131093  surf num 44067 
data association time 16.082223 ms 
solver time 11.610584 ms 
build tree time 40.367206 ms 
data association time 16.802836 ms 
solver time 12.795156 ms 
publication time 11.036278 ms 
whole laserOdometry time 69.348929 ms 
 
sort q time 5.917068 
seperate points time 15.013460 
data association time 13.181518 ms 
solver time 10.370300 ms 
mapping data assosiation time 31.014506 ms 
mapping optimization time 141.297531 
solver time 8.966272 ms 
map prepare time 5.288753 ms
map corner num 131827  surf num 44358 
points size 97525 
prepare time 19.640967 
sort q time 5.916784 
seperate points time 14.880996 
scan registration time 38.725569 ms *************
build tree time 43.780985 ms 
data association time 16.517097 ms 
solver time 10.816694 ms 
mapping data assosiation time 31.041565 ms 
data association time 17.999812 ms 
solver time 12.474569 ms 
optimization twice time 58.913852 
points size 96497 
mapping data assosiation time 34.837196 ms 
sort q time 6.331874 
seperate points time 15.303231 
mapping solver time 20.356117 ms 
data association time 17.510372 ms 
drop lidar frame in mapping for real time performance 
map prepare time 4.834072 ms
map corner num 132611  surf num 44717 
solver time 14.303381 ms 
data association time 15.172617 ms 
solver time 13.053471 ms 
publication time 9.146846 ms 
whole laserOdometry time 70.054810 ms 
 
sort q time 5.294657 
seperate points time 13.075125 
scan registration time 33.036729 ms *************
mapping data assosiation time 33.967524 ms 
data association time 15.049518 ms 
solver time 12.531410 ms 
data association time 14.809978 ms 
solver time 9.670504 ms 
optimization twice time 52.910943 
mapping data assosiation time 33.473347 ms 
points size 94889 
mapping optimization time 148.352148 
sort q time 5.320127 
seperate points time 12.817517 
mapping pub time 16.726364 ms 
whole mapping time 184.444178 ms +++++
map prepare time 4.032124 ms
map corner num 133329  surf num 45000 
[0m[ INFO] [1715773176.245444606]: Received 216007 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715773176.245477892]: Data saved to 1317357669830629.pcd[0m
solver time 15.848971 ms 
data association time 21.127071 ms 
build tree time 41.077998 ms 
optimization twice time 65.502381 
publication time 10.585334 ms 
whole laserOdometry time 76.106388 ms 
 
points size 94410 
mapping data assosiation time 34.718808 ms 
scan registration time 39.473850 ms *************
mapping solver time 23.604136 ms 
data association time 23.870533 ms 
solver time 11.525283 ms 
mapping data assosiation time 32.679689 ms 
mapping solver time 14.011020 ms 
solver time 11.850900 ms 
filter time 14.165839 ms 
publication time 10.355713 ms 
whole laserOdometry time 82.915440 ms 
 
scan registration time 36.349267 ms *************
build tree time 38.586525 ms 
data association time 16.441462 ms 
data association time 15.010866 ms 
solver time 9.241367 ms 
publication time 10.018429 ms 
whole laserOdometry time 61.531507 ms 
 
prepare time 16.202803 
sort q time 4.872367 
seperate points time 11.559280 
mapping solver time 13.574045 ms 
solver time 8.947129 ms 
filter time 14.855187 ms 
data association time 15.524710 ms 
solver time 8.343165 ms 
optimization twice time 48.168411 
points size 91568 
mapping data assosiation time 34.528940 ms 
sort q time 5.749562 
seperate points time 13.767349 
mapping solver time 24.273511 ms 
data association time 14.116549 ms 
solver time 11.605365 ms 
data association time 14.110413 ms 
mapping data assosiation time 33.223013 ms 
publication time 8.597298 ms 
whole laserOdometry time 60.415000 ms 
 
mapping solver time 23.775536 ms 
mapping optimization time 145.977132 
add points time 1.058709 ms
filter time 11.332239 ms 
map prepare time 3.775227 ms
map corner num 99517  surf num 34345 
build tree time 28.803540 ms 
solver time 8.874868 ms 
data association time 14.416541 ms 
mapping data assosiation time 33.324934 ms 
publication time 9.704070 ms 
whole laserOdometry time 57.525272 ms 
 
mapping solver time 24.445140 ms 
points size 91921 
prepare time 19.134969 
sort q time 6.085951 
seperate points time 14.955342 
mapping data assosiation time 35.079886 ms 
data association time 14.296036 ms 
mapping solver time 13.975241 ms 
mapping optimization time 137.858166 
add points time 0.611322 ms
filter time 10.446951 ms 
map prepare time 4.270882 ms
map corner num 100257  surf num 34671 
data association time 14.830994 ms 
solver time 9.757988 ms 
publication time 9.180267 ms 
whole laserOdometry time 61.724145 ms 
 
build tree time 28.894762 ms 
points size 92376 
sort q time 6.073076 
seperate points time 14.558993 
mapping data assosiation time 37.620898 ms 
data association time 13.919179 ms 
solver time 12.048063 ms 
data association time 16.547652 ms 
solver time 10.624792 ms 
publication time 9.663870 ms 
whole laserOdometry time 63.667052 ms 
 
filter time 9.675876 ms 
data association time 14.184517 ms 
solver time 11.356916 ms 
data association time 16.226122 ms 
mapping data assosiation time 30.717478 ms 
optimization twice time 57.520981 
publication time 10.510868 ms 
whole laserOdometry time 68.060248 ms 
 
points size 94700 
sort q time 6.011174 
seperate points time 14.171345 
mapping solver time 21.230085 ms 
solver time 8.598567 ms 
map prepare time 3.393929 ms
map corner num 101589  surf num 35206 
data association time 14.859767 ms 
solver time 8.755734 ms 
publication time 10.377406 ms 
whole laserOdometry time 59.863259 ms 
 
points size 95590 
scan registration time 48.770395 ms *************
data association time 22.852098 ms 
data association time 16.555707 ms 
build tree time 31.587764 ms 
solver time 15.658235 ms 
data association time 23.084320 ms 
solver time 11.414927 ms 
optimization twice time 67.808137 
prepare time 22.821638 
publication time 11.515064 ms 
whole laserOdometry time 79.353573 ms 
 
scan registration time 46.203259 ms *************
data association time 13.679902 ms 
mapping data assosiation time 30.505405 ms 
solver time 12.432509 ms 
mapping solver time 19.510194 ms 
optimization twice time 53.011060 
filter time 12.462791 ms 
points size 95960 
mapping pub time 1.401552 ms 
whole mapping time 175.381998 ms +++++
sort q time 5.275033 
seperate points time 12.592147 
build tree time 31.842614 ms 
data association time 19.722431 ms 
mapping data assosiation time 33.464472 ms 
solver time 16.787895 ms 
mapping solver time 26.034149 ms 
publication time 12.619235 ms 
whole laserOdometry time 79.171781 ms 
 
sort q time 6.476204 
seperate points time 15.144186 
mapping data assosiation time 37.153002 ms 
data association time 16.712416 ms 
mapping solver time 20.366475 ms 
solver time 12.489673 ms 
map prepare time 4.746245 ms
map corner num 103398  surf num 35852 
data association time 19.071070 ms 
solver time 12.276870 ms 
optimization twice time 61.526609 
prepare time 20.882937 
sort q time 5.437556 
seperate points time 12.332719 
mapping data assosiation time 37.801214 ms 
data association time 18.138523 ms 
solver time 15.694156 ms 
data association time 19.270136 ms 
solver time 13.414734 ms 
optimization twice time 67.510917 
points size 97436 
sort q time 8.973516 
seperate points time 16.890368 
mapping solver time 33.338725 ms filter time 17.165251 ms solver time 33.908102 ms 
data association time 21.576922 ms 
solver time 17.518595 ms 
publication time 9.664247 ms 
whole laserOdometry time 121.131553 ms 
 
[33m[ WARN] [1715773178.029863981]: odometry process over 100ms[0m
mapping solver time 27.118855 ms 
data association time 24.125051 ms 
solver time 18.325213 ms 
points size 98739 
mapping data assosiation time 37.051188 ms 
scan registration time 37.138609 ms *************
solver time 14.795358 ms 
publication time 9.023563 ms 
whole laserOdometry time 86.698537 ms 
 
filter time 10.478812 ms 
mapping pub time 1.688778 ms 
whole mapping time 189.954639 ms +++++
drop lidar frame in mapping for real time performance 
data association time 16.170602 ms 
map prepare time 3.599801 ms
map corner num 104724  surf num 36356 
solver time 14.685473 ms 
data association time 17.529981 ms 
solver time 9.478351 ms 
sort q time 5.285946 
seperate points time 12.204625 
mapping solver time 20.296649 ms 
data association time 18.526542 ms 
solver time 14.612713 ms 
mapping data assosiation time 31.479389 ms 
data association time 17.067677 ms 
solver time 12.229029 ms 
prepare time 20.538970 
drop lidar frame in mapping for real time performance 
scan registration time 42.154588 ms *************
build tree time 33.885578 ms 
data association time 24.089299 ms 
solver time 22.061158 ms 
points size 101347 
prepare time 20.225606 
mapping solver time 29.869071 ms 
sort q time 5.440843 
seperate points time 14.041081 
solver time 16.955764 ms 
optimization twice time 87.830346 
publication time 11.883732 ms 
whole laserOdometry time 99.736737 ms 
 
mapping data assosiation time 39.147134 ms 
data association time 27.759644 ms 
mapping solver time 25.574542 ms 
mapping optimization time 169.035729 
add points time 0.668132 ms
solver time 15.913086 ms 
optimization twice time 82.341919 
sort q time 6.314555 
seperate points time 14.609261 
data association time 17.079007 ms 
mapping data assosiation time 32.450353 ms 
data association time 16.625823 ms 
solver time 11.637877 ms 
prepare time 16.463727 
sort q time 6.082446 
seperate points time 14.490256 
mapping data assosiation time 33.330685 ms 
scan registration time 36.899800 ms *************
mapping solver time 23.072471 ms 
filter time 11.335852 ms 
data association time 16.827359 ms 
solver time 12.459641 ms 
publication time 9.103977 ms 
whole laserOdometry time 73.766831 ms 
 
sort q time 7.001659 
seperate points time 16.812538 
scan registration time 46.193993 ms *************
mapping solver time 22.563618 ms 
solver time 14.727209 ms 
mapping data assosiation time 33.571450 ms 
points size 102215 
mapping solver time 22.289970 ms 
sort q time 5.868520 
seperate points time 14.214300 
map prepare time 3.688761 ms
map corner num 108010  surf num 37740 
data association time 14.685671 ms 
build tree time 28.662038 ms 
solver time 14.576214 ms 
data association time 17.262591 ms 
mapping data assosiation time 33.956866 ms 
solver time 13.586792 ms 
optimization twice time 61.048811 
publication time 9.852623 ms 
whole laserOdometry time 70.924616 ms 
 
mapping solver time 25.620075 ms 
sort q time 7.292951 
seperate points time 18.083290 
mapping data assosiation time 40.984165 ms 
mapping solver time 32.974305 ms 
mapping optimization time 164.671158 
add points time 0.749154 ms
data association time 24.749247 ms 
solver time 15.512155 ms 
publication time 12.052407 ms 
whole laserOdometry time 100.329365 ms 
 
[33m[ WARN] [1715773179.039143689]: odometry process over 100ms[0m
build tree time 41.071443 ms 
data association time 25.290543 ms 
solver time 21.874509 ms 
mapping data assosiation time 41.063343 ms 
prepare time 19.516074 
sort q time 6.794662 
seperate points time 15.704740 
publication time 11.313649 ms 
whole laserOdometry time 93.523293 ms 
 
scan registration time 41.780021 ms *************
data association time 15.922146 ms 
mapping data assosiation time 37.761119 ms 
solver time 15.840903 ms 
mapping solver time 24.134123 ms 
data association time 17.029275 ms 
mapping pub time 1.306918 ms 
whole mapping time 195.747855 ms +++++
points size 103167 
prepare time 17.571231 
sort q time 6.563956 
seperate points time 15.453671 
scan registration time 38.469342 ms *************
data association time 16.988533 ms 
solver time 14.572707 ms 
data association time 15.722606 ms 
mapping solver time 24.204072 ms 
solver time 12.494001 ms 
optimization twice time 60.652824 
publication time 10.811284 ms 
whole laserOdometry time 71.486915 ms 
 
mapping data assosiation time 33.439530 ms 
points size 102256 
prepare time 15.932595 
add points time 0.605741 ms
sort q time 6.142521 
seperate points time 14.603075 
scan registration time 35.407798 ms *************
filter time 12.880972 ms 
map prepare time 3.296692 ms
map corner num 110756  surf num 38860 
data association time 16.351582 ms 
points size 101659 
data association time 19.077430 ms 
solver time 9.493612 ms 
publication time 14.744572 ms 
whole laserOdometry time 75.556345 ms 
 
mapping solver time 32.583718 ms 
solver time 15.647281 ms 
data association time 19.093343 ms 
solver time 12.759155 ms 
optimization twice time 70.191274 
points size 100987 
publication time 14.362182 ms 
whole laserOdometry time 84.577890 ms 
 
sort q time 11.085903 
seperate points time 21.982299 
mapping solver time 28.672029 ms 
mapping optimization time 189.982532 
add points time 0.641917 ms
filter time 10.563488 ms 
map prepare time 4.165252 ms
map corner num 111732  surf num 39264 
data association time 22.674824 ms 
solver time 11.888020 ms 
data association time 17.806463 ms 
points size 100874 
publication time 11.410588 ms 
whole laserOdometry time 75.479029 ms 
 
scan registration time 36.430499 ms *************
mapping data assosiation time 42.373445 ms 
data association time 18.114085 ms 
solver time 17.001903 ms 
solver time 20.217185 ms 
publication time 22.384007 ms 
whole laserOdometry time 101.707546 ms 
 
[33m[ WARN] [1715773179.754660113]: odometry process over 100ms[0m
scan registration time 44.367638 ms *************
data association time 26.956541 ms 
[0m[ INFO] [1715773179.806445201]: Received 237772 data points in frame /camera_init with the following fields: x y z intensity[0m
data association time 28.661834 ms 
points size 100678 
publication time 15.468810 ms 
whole laserOdometry time 98.806442 ms 
 
scan registration time 51.165226 ms *************
mapping data assosiation time 51.358408 ms 
data association time 30.961656 ms 
solver time 17.030831 ms 
prepare time 19.990647 
sort q time 6.339501 
seperate points time 15.809598 
solver time 11.385139 ms 
optimization twice time 87.249020 
publication time 15.181106 ms 
whole laserOdometry time 102.453835 ms 
 
[33m[ WARN] [1715773179.990921018]: odometry process over 100ms[0m
data association time 19.357882 ms 
mapping solver time 33.484328 ms 
filter time 14.599570 ms 
data association time 18.664015 ms 
solver time 13.199548 ms 
scan registration time 39.401381 ms *************
build tree time 36.319499 ms 
data association time 17.585901 ms 
solver time 12.205012 ms 
mapping data assosiation time 37.105571 ms 
data association time 18.275169 ms 
solver time 10.154261 ms 
optimization twice time 59.035488 
prepare time 19.472409 
sort q time 6.061967 
seperate points time 15.838260 
mapping data assosiation time 39.613459 ms 
data association time 17.419579 ms 
solver time 13.804552 ms 
map prepare time 4.336114 ms
map corner num 114699  surf num 40823 
solver time 15.225107 ms 
points size 100383 
build tree time 37.044979 ms 
prepare time 19.581299 
publication time 13.660637 ms 
whole laserOdometry time 80.964100 ms 
 
sort q time 5.883134 
seperate points time 15.438806 
mapping data assosiation time 40.623121 ms 
solver time 14.123937 ms 
mapping solver time 26.548840 ms 
data association time 23.000428 ms 
solver time 12.630063 ms 
prepare time 19.740786 
mapping data assosiation time 44.564479 ms 
sort q time 7.814105 
seperate points time 18.993582 
mapping solver time 23.109673 ms 
mapping optimization time 174.412296 
add points time 0.663817 ms
mapping pub time 1.325356 ms 
whole mapping time 193.469791 ms +++++
solver time 11.298895 ms 
data association time 19.337382 ms 
build tree time 33.067489 ms 
points size 100442 
sort q time 6.915686 
seperate points time 17.900661 
scan registration time 44.113446 ms *************
mapping solver time 24.642673 ms 
solver time 15.996008 ms 
data association time 20.456375 ms 
points size 100312 
publication time 10.387609 ms 
whole laserOdometry time 81.677607 ms 
 
mapping solver time 26.700087 ms 
filter time 10.969215 ms 
data association time 17.751432 ms 
solver time 13.141483 ms 
build tree time 31.465477 ms 
data association time 20.426936 ms 
solver time 9.324228 ms 
optimization twice time 61.876023 
mapping data assosiation time 45.015470 ms 
sort q time 6.202343 
seperate points time 15.465559 
mapping solver time 30.672103 ms 
data association time 25.677926 ms 
solver time 14.233728 ms 
data association time 20.168965 ms 
solver time 9.280376 ms 
points size 99800 
mapping pub time 2.935624 ms 
whole mapping time 195.030612 ms +++++
sort q time 6.229264 
seperate points time 15.154744 
build tree time 40.615851 ms 
solver time 18.316711 ms 
prepare time 18.092269 
mapping data assosiation time 43.488706 ms 
data association time 29.563131 ms 
solver time 13.031874 ms 
optimization twice time 90.011623 
data association time 32.101899 ms 
mapping data assosiation time 45.767297 ms 
points size 98212 
mapping solver time 25.956863 ms 
mapping optimization time 190.210037 
sort q time 5.906362 
seperate points time 14.397451 
add points time 0.695281 ms
scan registration time 38.444374 ms *************
mapping pub time 1.732173 ms 
whole mapping time 210.463111 ms +++++
solver time 16.758516 ms 
publication time 12.017229 ms 
whole laserOdometry time 110.520477 ms 
 
[33m[ WARN] [1715773181.038858268]: odometry process over 100ms[0m
build tree time 46.533576 ms 
points size 96808 
sort q time 6.163260 
seperate points time 15.282486 
mapping data assosiation time 43.152718 ms 
scan registration time 38.117643 ms *************
solver time 16.868000 ms 
optimization twice time 90.903453 
mapping solver time 31.232237 ms 
publication time 12.103643 ms 
whole laserOdometry time 103.028641 ms 
 
[33m[ WARN] [1715773181.146545024]: odometry process over 100ms[0m
data association time 26.626330 ms 
points size 96333 
mapping data assosiation time 43.650020 ms 
prepare time 16.459161 
solver time 21.064200 ms 
scan registration time 34.627105 ms *************
mapping solver time 25.677309 ms 
data association time 23.142924 ms 
mapping pub time 1.673838 ms 
whole mapping time 214.178913 ms +++++
solver time 16.435042 ms 
publication time 11.639545 ms 
whole laserOdometry time 100.034309 ms 
 
[33m[ WARN] [1715773181.249134348]: odometry process over 100ms[0m
build tree time 42.569827 ms 
points size 96040 
prepare time 15.764556 
sort q time 4.750089 
seperate points time 11.442964 
mapping data assosiation time 41.452791 ms 
data association time 27.822881 ms 
mapping solver time 24.786957 ms 
solver time 16.608257 ms 
optimization twice time 94.509230 
publication time 13.048992 ms 
whole laserOdometry time 107.587164 ms 
 
[33m[ WARN] [1715773181.359465568]: odometry process over 100ms[0m
mapping data assosiation time 42.821756 ms 
points size 95842 
solver time 19.979911 ms 
sort q time 5.066175 
seperate points time 12.109288 
scan registration time 32.889835 ms *************
mapping pub time 1.899580 ms 
whole mapping time 200.204669 ms +++++
solver time 15.387244 ms 
publication time 12.073717 ms 
whole laserOdometry time 98.311943 ms 
 
build tree time 43.405467 ms 
data association time 23.464778 ms 
points size 95088 
prepare time 16.370590 
solver time 21.915532 ms 
data association time 23.494238 ms 
mapping solver time 29.617300 ms 
publication time 12.729307 ms 
whole laserOdometry time 99.526340 ms 
 
mapping data assosiation time 41.537957 ms 
points size 94290 
prepare time 16.322307 
mapping solver time 25.491740 ms 
mapping optimization time 182.267100 
add points time 0.691652 ms
filter time 13.184622 ms 
map prepare time 4.480321 ms
map corner num 120413  surf num 43590 
solver time 16.764027 ms 
optimization twice time 86.896027 
build tree time 45.003374 ms 
points size 93526 
solver time 21.564438 ms 
sort q time 5.330469 
seperate points time 12.549288 
data association time 23.607945 ms 
mapping solver time 28.780862 ms 
solver time 16.701851 ms 
optimization twice time 85.917252 
publication time 12.470388 ms 
whole laserOdometry time 98.411342 ms 
 
data association time 23.702151 ms 
solver time 13.585013 ms 
prepare time 19.050721 
map prepare time 4.126994 ms
map corner num 121151  surf num 43906 
publication time 11.006235 ms 
whole laserOdometry time 81.036065 ms 
 
data association time 21.068018 ms 
build tree time 35.327858 ms 
solver time 16.868960 ms 
data association time 15.619960 ms 
points size 91832 
publication time 9.576752 ms 
whole laserOdometry time 76.360161 ms 
 
sort q time 5.321982 
seperate points time 13.552696 
mapping solver time 26.101046 ms 
data association time 23.088757 ms 
mapping data assosiation time 30.951844 ms 
solver time 18.987563 ms 
filter time 14.630710 ms 
map prepare time 4.234975 ms
map corner num 121917  surf num 44237 
solver time 15.814124 ms 
optimization twice time 81.984728 
sort q time 5.209700 
seperate points time 12.953283 
build tree time 40.225232 ms 
solver time 11.419836 ms 
mapping data assosiation time 28.452137 ms 
solver time 8.574407 ms 
mapping solver time 20.868515 ms 
publication time 9.776544 ms 
whole laserOdometry time 62.056690 ms 
 
prepare time 20.729878 
mapping data assosiation time 37.799933 ms 
scan registration time 39.816939 ms *************
mapping solver time 24.487619 ms 
filter time 12.382901 ms 
solver time 17.451310 ms 
data association time 15.666764 ms 
solver time 13.970522 ms 
publication time 9.624747 ms 
whole laserOdometry time 74.142032 ms 
 
prepare time 19.928023 
sort q time 5.675742 
seperate points time 14.470712 
scan registration time 40.392586 ms *************
data association time 16.400969 ms 
mapping solver time 19.301959 ms 
solver time 13.485662 ms 
data association time 17.617227 ms 
solver time 9.784378 ms 
publication time 7.911244 ms 
whole laserOdometry time 66.148586 ms 
 
prepare time 16.560139 
mapping solver time 15.492738 ms 
mapping optimization time 144.600580 
add points time 0.604462 ms
filter time 12.657557 ms 
map prepare time 5.060970 ms
map corner num 123259  surf num 44698 
data association time 18.324452 ms 
solver time 12.351381 ms 
data association time 16.920421 ms 
solver time 12.071922 ms 
publication time 8.541243 ms 
whole laserOdometry time 69.082074 ms 
 
sort q time 5.191463 
seperate points time 12.535106 
data association time 14.744093 ms 
mapping data assosiation time 28.589214 ms 
mapping solver time 15.061966 ms 
mapping optimization time 135.372155 
add points time 0.757444 ms
filter time 12.556351 ms 
publication time 7.441884 ms 
whole laserOdometry time 59.929856 ms 
 
prepare time 14.221390 
build tree time 32.920046 ms 
sort q time 4.841363 
seperate points time 11.977987 
mapping data assosiation time 29.471680 ms 
data association time 16.004178 ms 
solver time 14.028238 ms 
data association time 15.839202 ms 
mapping data assosiation time 26.079474 ms 
solver time 11.630254 ms 
optimization twice time 58.386613 
points size 85518 
map prepare time 2.913187 ms
map corner num 124626  surf num 45077 
sort q time 4.810851 
seperate points time 11.640669 
scan registration time 32.299121 ms *************
build tree time 35.128920 ms 
solver time 11.455865 ms 
mapping data assosiation time 25.766683 ms 
solver time 9.464588 ms 
publication time 8.725115 ms 
whole laserOdometry time 61.404918 ms 
 
prepare time 14.732635 
mapping data assosiation time 28.623774 ms 
mapping solver time 11.379000 ms 
filter time 13.725789 ms 
mapping pub time 1.501821 ms 
whole mapping time 132.510928 ms +++++
map prepare time 3.763012 ms
map corner num 125171  surf num 45229 
solver time 14.718262 ms 
build tree time 43.017215 ms 
data association time 23.320959 ms 
solver time 13.374943 ms 
points size 84310 
mapping data assosiation time 32.480341 ms 
scan registration time 32.353250 ms *************
mapping solver time 22.051519 ms 
data association time 19.513753 ms 
solver time 12.413212 ms 
mapping data assosiation time 28.900545 ms 
data association time 16.900140 ms 
solver time 9.451784 ms 
mapping pub time 1.707003 ms 
whole mapping time 163.529717 ms +++++
points size 83386 
sort q time 4.533674 
seperate points time 11.062011 
build tree time 38.007588 ms 
data association time 19.325307 ms 
solver time 14.944937 ms 
data association time 18.458474 ms 
mapping solver time 20.613632 ms 
publication time 9.161542 ms 
whole laserOdometry time 73.577887 ms 
 
prepare time 16.180482 
mapping data assosiation time 29.270528 ms 
scan registration time 33.912475 ms *************
mapping optimization time 138.720077 
data association time 16.578752 ms 
map prepare time 3.726079 ms
map corner num 126354  surf num 45472 
data association time 19.106310 ms 
solver time 14.504735 ms 
publication time 9.578688 ms 
whole laserOdometry time 74.321150 ms 
 
sort q time 4.419266 
seperate points time 10.703824 
data association time 16.970491 ms 
mapping solver time 18.487106 ms 
data association time 16.388449 ms 
mapping data assosiation time 28.594579 ms 
mapping solver time 17.874073 ms 
points size 80777 
map prepare time 4.555936 ms
map corner num 126945  surf num 45625 
sort q time 4.811104 
seperate points time 12.042845 
data association time 14.751122 ms 
solver time 12.283522 ms 
mapping data assosiation time 25.976232 ms 
solver time 8.223786 ms 
publication time 9.370399 ms 
whole laserOdometry time 60.483606 ms 
 
points size 80319 
mapping data assosiation time 26.643365 ms 
sort q time 4.227175 
seperate points time 10.200712 
scan registration time 28.593781 ms *************
mapping solver time 15.042364 ms 
filter time 12.923335 ms 
data association time 16.811943 ms 
map prepare time 3.599606 ms
map corner num 127465  surf num 45740 
data association time 16.843339 ms 
solver time 13.137179 ms 
publication time 9.464671 ms 
whole laserOdometry time 74.564952 ms 
 
points size 83119 
prepare time 15.539269 
sort q time 4.636183 
seperate points time 11.218913 
mapping solver time 17.595882 ms 
data association time 15.414628 ms 
solver time 12.322904 ms 
mapping data assosiation time 27.803863 ms 
data association time 15.960433 ms 
solver time 10.847208 ms 
publication time 9.889719 ms 
whole laserOdometry time 65.394538 ms 
 
points size 85524 
sort q time 5.499576 
seperate points time 14.429405 
mapping data assosiation time 24.630860 ms 
data association time 20.068365 ms 
solver time 13.068565 ms 
data association time 16.186001 ms 
publication time 7.710674 ms 
whole laserOdometry time 66.483713 ms 
 
scan registration time 32.489292 ms *************
map prepare time 3.533957 ms
map corner num 128689  surf num 46068 
data association time 19.479429 ms 
solver time 12.463795 ms 
build tree time 36.112982 ms 
solver time 9.846520 ms 
publication time 9.509873 ms 
whole laserOdometry time 70.552038 ms 
 
points size 88401 
scan registration time 35.723783 ms *************
mapping data assosiation time 26.339536 ms 
data association time 18.732529 ms 
mapping solver time 14.108293 ms 
mapping optimization time 124.144081 
add points time 0.485183 ms
solver time 14.388697 ms 
data association time 18.735434 ms 
solver time 10.278881 ms 
prepare time 15.549343 
sort q time 5.680593 
seperate points time 14.204901 
mapping data assosiation time 29.144369 ms 
data association time 20.921577 ms 
mapping solver time 18.907275 ms 
mapping data assosiation time 29.663194 ms 
data association time 34.969928 ms 
filter time 14.388766 ms 
publication time 24.032452 ms 
whole laserOdometry time 109.574038 ms 
 
[33m[ WARN] [1715773184.029008762]: odometry process over 100ms[0m
data association time 18.288380 ms 
build tree time 38.579356 ms 
data association time 14.975592 ms 
solver time 9.036111 ms 
publication time 9.744593 ms 
whole laserOdometry time 65.417681 ms 
 
sort q time 5.485510 
seperate points time 13.094527 
mapping data assosiation time 26.894534 ms 
data association time 26.626182 ms 
solver time 13.694045 ms 
map prepare time 3.125497 ms
map corner num 130333  surf num 46479 
data association time 15.604665 ms 
solver time 9.027968 ms 
points size 88536 
sort q time 4.623069 
seperate points time 11.195455 
mapping data assosiation time 25.885206 ms 
mapping solver time 16.565906 ms 
data association time 16.365583 ms 
solver time 9.808491 ms 
mapping solver time 14.491047 ms 
prepare time 15.833904 
mapping pub time 1.243140 ms 
whole mapping time 142.111831 ms +++++
scan registration time 32.092263 ms *************
data association time 24.405448 ms 
build tree time 46.239294 ms 
solver time 20.060957 ms 
mapping data assosiation time 28.179284 ms 
points size 87903 
solver time 16.860017 ms 
sort q time 5.687494 
seperate points time 13.262947 
mapping data assosiation time 27.977185 ms 
mapping solver time 16.630618 ms 
mapping optimization time 142.200468 
add points time 0.505133 ms
data association time 23.581774 ms 
filter time 13.872945 ms 
data association time 18.127597 ms 
solver time 16.297520 ms 
publication time 9.755982 ms 
whole laserOdometry time 85.250546 ms 
 
scan registration time 33.381179 ms *************
mapping solver time 15.846549 ms 
solver time 13.017356 ms 
mapping data assosiation time 24.072159 ms 
data association time 17.164856 ms 
solver time 10.737817 ms 
filter time 13.625893 ms 
sort q time 4.912893 
seperate points time 12.221792 
build tree time 38.935114 ms 
data association time 16.522305 ms 
solver time 14.581242 ms 
data association time 16.499052 ms 
solver time 10.566800 ms 
optimization twice time 59.116267 
mapping data assosiation time 24.627749 ms 
prepare time 15.980574 
mapping solver time 12.462849 ms 
mapping optimization time 115.964715 
add points time 0.521612 ms
sort q time 4.967684 
seperate points time 11.785942 
map prepare time 4.040667 ms
map corner num 168566  surf num 58603 
data association time 15.925409 ms 
solver time 13.975308 ms 
data association time 16.307723 ms 
solver time 8.761214 ms 
optimization twice time 56.242024 
mapping data assosiation time 23.322853 ms 
points size 90891 
mapping solver time 15.016928 ms 
sort q time 5.740202 
seperate points time 14.130526 
mapping data assosiation time 24.708116 ms 
data association time 14.935912 ms 
add points time 0.605528 ms
solver time 12.230696 ms 
filter time 15.398836 ms 
mapping pub time 4.154858 ms 
whole mapping time 152.607880 ms +++++
solver time 10.225119 ms 
publication time 7.871203 ms 
whole laserOdometry time 62.244056 ms 
 
prepare time 14.971056 
sort q time 4.817769 
seperate points time 11.432164 
build tree time 50.632602 ms 
data association time 16.241983 ms 
mapping data assosiation time 24.294885 ms 
mapping solver time 15.875126 ms 
data association time 16.632969 ms 
solver time 11.862476 ms 
optimization twice time 60.288340 
mapping solver time 12.693566 ms 
prepare time 15.798158 
filter time 14.853326 ms 
map prepare time 4.075706 ms
map corner num 169651  surf num 58926 
sort q time 6.344495 
seperate points time 14.935252 
scan registration time 35.440730 ms *************
data association time 15.779316 ms 
solver time 13.182106 ms 
build tree time 50.819888 ms 
data association time 15.419131 ms 
solver time 13.514563 ms 
mapping data assosiation time 25.374926 ms 
mapping solver time 14.581832 ms 
sort q time 6.357595 
seperate points time 14.980927 
mapping data assosiation time 22.723430 ms 
data association time 15.572687 ms 
solver time 12.733643 ms 
filter time 20.917985 ms 
mapping pub time 1.763808 ms 
whole mapping time 155.642240 ms +++++
data association time 17.022337 ms 
map prepare time 3.466330 ms
map corner num 170198  surf num 59100 
points size 96530 
prepare time 18.659539 
sort q time 5.136586 
seperate points time 12.355579 
mapping data assosiation time 23.709179 ms 
mapping solver time 15.559154 ms 
solver time 16.538308 ms 
data association time 17.126766 ms 
mapping data assosiation time 27.226682 ms 
publication time 10.406893 ms 
whole laserOdometry time 72.521339 ms 
 
prepare time 26.299990 
filter time 19.939428 ms 
sort q time 5.329965 
seperate points time 14.579146 
data association time 26.958960 ms 
solver time 16.396503 ms 
points size 96277 
data association time 26.525716 ms 
sort q time 6.064418 
seperate points time 14.695204 
solver time 15.139775 ms 
optimization twice time 86.539131 
mapping data assosiation time 29.722535 ms 
mapping solver time 23.867470 ms 
data association time 23.291798 ms 
solver time 12.575699 ms 
mapping solver time 14.878311 ms 
prepare time 17.275626 
filter time 17.587012 ms 
map prepare time 5.479858 ms
map corner num 155377  surf num 53455 
data association time 17.781813 ms 
solver time 11.318161 ms 
build tree time 42.980339 ms 
data association time 16.724310 ms 
solver time 9.155748 ms 
publication time 9.640934 ms 
whole laserOdometry time 65.466174 ms 
 
mapping solver time 20.840770 ms 
sort q time 7.415931 
seperate points time 17.201991 
mapping solver time 18.556491 ms 
mapping optimization time 135.069608 
add points time 0.607278 ms
data association time 23.666236 ms 
drop lidar frame in mapping for real time performance 
points size 101192 
prepare time 17.018483 
data association time 23.862885 ms 
solver time 11.264726 ms 
scan registration time 36.816284 ms *************
data association time 24.011125 ms 
solver time 13.328393 ms 
mapping solver time 18.250924 ms 
solver time 10.089319 ms 
points size 101201 
mapping solver time 11.105453 ms 
sort q time 6.390558 
seperate points time 14.614247 
map prepare time 3.804216 ms
map corner num 156468  surf num 53734 
data association time 16.376762 ms 
solver time 11.303142 ms 
data association time 15.052133 ms 
optimization twice time 54.863220 
mapping data assosiation time 23.499974 ms 
prepare time 16.593990 
mapping solver time 18.127626 ms 
scan registration time 35.247086 ms *************
mapping data assosiation time 22.691737 ms 
data association time 15.052959 ms 
solver time 12.481408 ms 
map prepare time 3.462389 ms
map corner num 156977  surf num 53903 
data association time 16.293481 ms 
solver time 11.559723 ms 
optimization twice time 56.392605 
build tree time 48.103904 ms 
sort q time 5.472017 
seperate points time 13.098847 
mapping solver time 17.327716 ms 
data association time 16.878785 ms 
solver time 9.029502 ms 
data association time 13.897901 ms 
solver time 10.167350 ms 
filter time 15.391714 ms 
sort q time 4.948214 
seperate points time 11.840586 
points size 100743 
mapping data assosiation time 24.852458 ms 
mapping solver time 13.927802 ms 
filter time 15.930362 ms 
mapping pub time 1.439751 ms 
whole mapping time 147.834512 ms +++++
data association time 17.477682 ms 
map prepare time 3.618418 ms
map corner num 157984  surf num 54214 
solver time 15.997814 ms 
data association time 15.988156 ms 
solver time 17.158725 ms 
sort q time 5.379906 
seperate points time 12.832023 
mapping data assosiation time 23.862063 ms 
mapping solver time 19.749565 ms 
solver time 12.402496 ms 
data association time 15.452521 ms 
solver time 10.797467 ms 
filter time 18.159254 ms 
prepare time 19.351048 
drop lidar frame in mapping for real time performance 
[0m[ INFO] [1715773186.520139717]: Received 272955 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715773186.520184902]: Data saved to 1317357680224355.pcd[0m
data association time 16.509764 ms 
solver time 19.913314 ms 
build tree time 50.493822 ms 
data association time 23.741796 ms 
solver time 17.985595 ms 
optimization twice time 79.293364 
prepare time 54.293833 
mapping solver time 14.954580 ms 
filter time 16.772778 ms 
data association time 19.740292 ms 
solver time 16.950666 ms 
data association time 16.117095 ms 
build tree time 55.411411 ms solver time 10.448903 ms 
solver time 14.583249 ms 
optimization twice time 60.880950 
scan registration time 47.318606 ms *************filter time 16.067913 ms 
data association time 22.912429 ms 
data association time 18.292514 ms 
optimization twice time 68.804399 
sort q time 7.938594 
seperate points time 17.813111 
mapping data assosiation time 29.994956 ms 
mapping solver time 19.729515 ms 
data association time 22.788313 ms 
solver time 11.967698 ms 
mapping solver time 9.806556 ms 
points size 100255 
map prepare time 4.269765 ms
map corner num 160143  surf num 54812 
sort q time 6.175437 
seperate points time 18.514502 
data association time 14.375056 ms 
build tree time 53.457271 ms 
data association time 15.949772 ms 
solver time 14.167538 ms 
optimization twice time 59.224190 
sort q time 5.406916 
seperate points time 12.997841 
mapping solver time 13.949099 ms 
data association time 14.806809 ms 
map prepare time 3.110109 ms
map corner num 160646  surf num 54947 
data association time 14.493858 ms 
solver time 16.196826 ms 
build tree time 46.073246 ms 
sort q time 5.011501 
seperate points time 12.215508 
mapping data assosiation time 24.792906 ms 
data association time 16.333813 ms 
solver time 13.625887 ms 
mapping data assosiation time 22.852074 ms 
data association time 17.809060 ms 
mapping solver time 14.560310 ms 
points size 95274 
publication time 14.357004 ms 
whole laserOdometry time 76.075205 ms 
 
sort q time 4.830036 
seperate points time 12.827146 
scan registration time 36.466613 ms *************
data association time 14.211092 ms 
solver time 11.840768 ms 
data association time 16.455603 ms 
mapping data assosiation time 21.183889 ms 
publication time 10.268272 ms 
whole laserOdometry time 66.244458 ms 
 
mapping solver time 16.370377 ms 
points size 93877 
sort q time 5.536960 
seperate points time 12.695975 
mapping solver time 12.672483 ms 
data association time 18.776545 ms 
map prepare time 3.846149 ms
map corner num 161592  surf num 55241 
solver time 13.393448 ms 
solver time 8.835684 ms 
publication time 9.634638 ms 
whole laserOdometry time 65.204968 ms 
 
points size 90421 
build tree time 49.933080 ms 
prepare time 19.604335 
sort q time 6.005002 
seperate points time 14.644572 
scan registration time 39.932331 ms *************
mapping solver time 15.509734 ms 
data association time 14.173304 ms 
solver time 16.019089 ms 
mapping data assosiation time 21.920269 ms 
mapping solver time 12.310620 ms 
solver time 12.467355 ms 
publication time 11.621954 ms 
whole laserOdometry time 74.218079 ms 
 
prepare time 19.485818 
sort q time 5.130524 
seperate points time 13.259658 
scan registration time 37.502919 ms *************
build tree time 49.170203 ms 
solver time 14.169652 ms 
data association time 15.001025 ms 
solver time 12.294014 ms 
points size 88325 
sort q time 4.832749 
seperate points time 12.033005 filter time 17.123273 ms 
map prepare time 5.569374 ms
map corner num 162688  surf num 55647 
solver time 17.141669 ms 
data association time 15.627054 ms 
solver time 13.920374 ms 
optimization twice time 63.516109 
points size 87733 
mapping data assosiation time 22.390847 ms 
scan registration time 27.490582 ms *************
mapping solver time 18.992879 ms 
mapping data assosiation time 25.504177 ms 
mapping solver time 17.001683 ms 
solver time 10.358721 ms 
drop lidar frame in mapping for real time performance 
sort q time 4.664311 
seperate points time 11.641061 
solver time 12.720821 ms 
build tree time 45.939978 ms 
data association time 23.595111 ms 
solver time 11.293611 ms 
optimization twice time 65.066899 
mapping solver time 15.664076 ms 
prepare time 14.217798 
sort q time 4.756799 
seperate points time 11.200491 
mapping solver time 16.314856 ms 
filter time 13.222817 ms 
data association time 14.466599 ms 
mapping pub time 3.416279 ms 
whole mapping time 151.394779 ms +++++
map prepare time 3.815651 ms
map corner num 164022  surf num 56127 
data association time 13.476489 ms 
solver time 8.980423 ms 
optimization twice time 51.311154 
publication time 9.597385 ms 
whole laserOdometry time 60.934457 ms 
 
mapping data assosiation time 26.542128 ms 
scan registration time 39.569291 ms *************
data association time 15.168552 ms 
solver time 12.007494 ms 
mapping solver time 17.075281 ms 
data association time 19.432766 ms 
prepare time 18.635631 
map prepare time 4.164518 ms
map corner num 164899  surf num 56413 
scan registration time 36.490438 ms *************
data association time 14.887694 ms 
solver time 10.587899 ms 
build tree time 48.074663 ms 
data association time 13.775550 ms 
solver time 9.222590 ms 
mapping data assosiation time 24.219298 ms 
points size 86255 
mapping solver time 17.010649 ms 
prepare time 14.632774 
sort q time 4.376136 
seperate points time 10.745243 
mapping data assosiation time 24.463002 ms 
mapping solver time 15.915041 ms 
solver time 13.460211 ms 
filter time 19.643784 ms 
mapping pub time 1.078681 ms 
whole mapping time 156.370341 ms +++++
drop lidar frame in mapping for real time performance 
data association time 15.903844 ms 
solver time 8.963921 ms 
publication time 9.351545 ms 
whole laserOdometry time 67.006815 ms 
 
points size 88987 
sort q time 5.077628 
seperate points time 12.098404 
mapping data assosiation time 24.235815 ms 
data association time 15.084086 ms 
mapping solver time 17.823868 ms 
solver time 13.966789 ms 
data association time 14.342770 ms 
mapping data assosiation time 25.674629 ms 
mapping solver time 14.878281 ms 
prepare time 16.533401 
drop lidar frame in mapping for real time performance 
data association time 16.137013 ms 
solver time 15.821201 ms 
data association time 18.802469 ms 
mapping data assosiation time 25.673127 ms 
mapping solver time 21.423430 ms 
points size 85838 
prepare time 15.409713 
sort q time 4.712081 
seperate points time 10.968931 
mapping data assosiation time 28.038565 ms 
data association time 16.941974 ms 
solver time 16.235532 ms 
map prepare time 3.877357 ms
map corner num 167340  surf num 57235 
data association time 18.512377 ms 
solver time 15.935992 ms 
points size 83499 
sort q time 5.150568 
seperate points time 12.736934 
solver time 19.374341 ms 
data association time 22.454161 ms 
solver time 13.651716 ms 
mapping solver time 20.003249 ms 
sort q time 4.894863 
seperate points time 12.841332 
mapping optimization time 161.005062 
add points time 0.796036 ms
scan registration time 36.037044 ms *************
mapping pub time 4.833207 ms 
whole mapping time 186.782933 ms +++++
data association time 19.388387 ms 
data association time 17.935395 ms 
build tree time 52.089829 ms 
points size 84198 
solver time 11.904818 ms 
optimization twice time 64.433566 
prepare time 15.510460 
sort q time 5.490391 
seperate points time 14.784570 
mapping data assosiation time 32.618608 ms 
mapping solver time 14.896955 ms 
data association time 21.085604 ms 
mapping data assosiation time 27.772570 ms 
mapping solver time 15.985478 ms 
data association time 21.269825 ms 
solver time 14.507075 ms 
data association time 20.250065 ms 
mapping data assosiation time 27.834335 ms 
sort q time 5.198898 
seperate points time 12.791182 
mapping data assosiation time 24.689164 ms 
mapping solver time 18.298471 ms 
filter time 17.621468 ms 
solver time 13.665424 ms 
points size 84549 
sort q time 4.963647 
seperate points time 12.716214 
build tree time 60.252672 ms 
data association time 21.207911 ms 
mapping data assosiation time 27.801586 ms 
mapping solver time 21.368970 ms 
points size 85684 
publication time 9.212530 ms 
whole laserOdometry time 76.246541 ms 
 
scan registration time 40.203620 ms *************
mapping solver time 17.474956 ms 
mapping optimization time 158.843096 
add points time 0.935742 ms
filter time 17.781755 ms 
mapping pub time 1.528819 ms 
whole mapping time 184.501406 ms +++++
drop lidar frame in mapping for real time performance 
data association time 25.045568 ms 
map prepare time 4.371012 ms
map corner num 170707  surf num 58227 
solver time 18.834041 ms 
data association time 23.272484 ms 
solver time 11.343683 ms 
optimization twice time 79.587950 
publication time 10.551595 ms 
whole laserOdometry time 90.166790 ms 
 
sort q time 5.830164 
seperate points time 14.009423 
mapping data assosiation time 28.155387 ms 
data association time 16.682987 ms 
solver time 13.768769 ms 
mapping data assosiation time 26.769540 ms 
points size 90163 
publication time 9.152238 ms 
whole laserOdometry time 71.006346 ms 
 
sort q time 8.377962 
seperate points time 17.759560 
map prepare time 5.853814 ms
map corner num 171634  surf num 58519 
data association time 25.370970 ms 
solver time 18.445509 ms 
build tree time 59.826738 ms 
points size 91430 
prepare time 16.108563 
data association time 26.323565 ms 
sort q time 5.506588 
seperate points time 13.116858 
publication time 11.063401 ms 
whole laserOdometry time 100.843388 ms 
 
[33m[ WARN] [1715773189.756926772]: odometry process over 100ms[0m
mapping solver time 24.890023 ms 
data association time 24.657132 ms 
mapping data assosiation time 29.495495 ms 
mapping solver time 18.281617 ms 
mapping optimization time 164.243146 
add points time 0.810954 ms
data association time 22.175300 ms 
solver time 11.604083 ms 
publication time 11.644323 ms 
whole laserOdometry time 88.892937 ms 
 
mapping pub time 17.750773 ms 
whole mapping time 206.282932 ms +++++
drop lidar frame in mapping for real time performance 
sort q time 5.540146 
seperate points time 14.543780 
map prepare time 4.319455 ms
map corner num 172493  surf num 58811 
scan registration time 37.314910 ms *************
data association time 24.134334 ms 
build tree time 55.602643 ms 
points size 94565 
mapping data assosiation time 30.758271 ms 
data association time 23.919296 ms 
mapping solver time 23.265404 ms 
solver time 13.035017 ms 
optimization twice time 84.565119 
publication time 12.058776 ms 
whole laserOdometry time 96.645143 ms 
 
mapping data assosiation time 31.080124 ms 
data association time 24.686478 ms 
mapping solver time 24.288412 ms 
points size 97158 
map prepare time 5.649699 ms
map corner num 173376  surf num 59135 
data association time 23.653823 ms 
publication time 11.252050 ms 
whole laserOdometry time 90.808948 ms 
 
data association time 22.566964 ms 
build tree time 62.211880 ms 
points size 97720 
mapping data assosiation time 29.706143 ms 
scan registration time 32.906004 ms *************
mapping solver time 23.546104 ms 
mapping data assosiation time 31.827359 ms 
data association time 28.817185 ms 
solver time 16.775580 ms 
points size 97871 
filter time 17.075602 ms 
prepare time 26.247344 
mapping pub time 2.079880 ms 
whole mapping time 199.291898 ms +++++
data association time 26.766957 ms 
drop lidar frame in mapping for real time performance 
solver time 20.541915 ms 
sort q time 7.404582 
seperate points time 34.586048 
scan registration time 77.414685 ms *************
build tree time 60.559953 ms 
data association time 27.577722 ms 
points size 98726 
prepare time 37.206772 
sort q time 8.243238 
seperate points time 17.090393 
mapping data assosiation time 31.188710 ms 
publication time 14.475574 ms 
whole laserOdometry time 116.461276 ms 
 
[33m[ WARN] [1715773190.425169155]: odometry process over 100ms[0m
mapping solver time 33.602304 ms 
mapping optimization time 186.181254 
add points time 0.717537 ms
filter time 18.685228 ms 
mapping pub time 1.800944 ms 
whole mapping time 213.295777 ms +++++
drop lidar frame in mapping for real time performance 
scan registration time 49.162591 ms *************
data association time 27.195517 ms 
solver time 11.820462 ms 
publication time 11.154483 ms 
whole laserOdometry time 100.601141 ms 
 
[33m[ WARN] [1715773190.528872541]: odometry process over 100ms[0m
build tree time 66.463624 ms 
points size 102307 
data association time 28.899272 ms 
sort q time 6.481673 
seperate points time 15.174045 
mapping data assosiation time 29.208292 ms 
mapping solver time 23.452617 ms 
data association time 26.179850 ms 
solver time 13.215219 ms 
mapping data assosiation time 29.098437 ms 
mapping solver time 25.577558 ms 
data association time 27.248622 ms 
filter time 18.562312 ms 
mapping pub time 1.778003 ms 
whole mapping time 206.341751 ms +++++
solver time 12.840648 ms 
drop lidar frame in mapping for real time performance 
scan registration time 45.199575 ms *************
data association time 28.276849 ms 
solver time 12.355827 ms 
optimization twice time 82.012595 
build tree time 60.453571 ms 
points size 100137 
mapping data assosiation time 27.899827 ms 
scan registration time 41.318244 ms *************
data association time 26.302726 ms 
solver time 12.299793 ms 
publication time 10.841523 ms 
whole laserOdometry time 89.049060 ms 
 
data association time 25.543053 ms 
map prepare time 3.902302 ms
map corner num 176468  surf num 60164 
prepare time 16.735944 
sort q time 5.727181 
seperate points time 14.029660 
solver time 8.120251 ms 
publication time 10.664036 ms 
whole laserOdometry time 83.419616 ms 
 
data association time 17.169227 ms 
solver time 9.694653 ms 
data association time 16.694071 ms 
mapping solver time 16.651551 ms 
publication time 9.803905 ms 
whole laserOdometry time 64.714824 ms 
 
sort q time 5.547440 
seperate points time 13.178491 
mapping data assosiation time 25.046191 ms 
scan registration time 33.673938 ms *************
mapping solver time 17.287569 ms 
data association time 17.705583 ms 
filter time 15.183798 ms 
mapping pub time 1.320020 ms 
whole mapping time 160.628775 ms +++++
drop lidar frame in mapping for real time performance 
solver time 12.154923 ms 
solver time 9.118717 ms 
publication time 8.692548 ms 
whole laserOdometry time 64.169476 ms 
 
prepare time 16.318805 
sort q time 6.056493 
seperate points time 14.399552 
scan registration time 35.088797 ms *************
data association time 18.913402 ms 
mapping data assosiation time 26.771628 ms 
solver time 9.994270 ms 
publication time 10.345653 ms 
whole laserOdometry time 74.904187 ms 
 
filter time 18.626380 ms 
sort q time 5.497107 
seperate points time 13.890387 
data association time 17.242199 ms 
solver time 12.359964 ms 
build tree time 51.806621 ms 
data association time 18.913221 ms 
optimization twice time 60.346137 
points size 90813 
sort q time 4.770086 
seperate points time 11.506050 
mapping data assosiation time 23.866478 ms 
data association time 16.153848 ms 
solver time 7.887744 ms 
filter time 14.294390 ms 
solver time 5.592974 ms 
publication time 9.314867 ms 
whole laserOdometry time 55.742503 ms 
 
points size 89251 
sort q time 5.022840 
seperate points time 11.527320 
data association time 17.433176 ms 
solver time 13.563608 ms 
mapping solver time 18.404742 ms 
data association time 16.677111 ms 
solver time 9.464039 ms 
publication time 9.220945 ms 
whole laserOdometry time 67.286272 ms 
 
mapping data assosiation time 26.577885 ms 
mapping solver time 15.905417 ms 
mapping optimization time 142.023944 
add points time 0.435075 ms
points size 88055 
prepare time 15.657659 
sort q time 4.453914 
seperate points time 11.027956 
map prepare time 4.800496 ms
map corner num 179637  surf num 61377 
data association time 15.462831 ms 
solver time 10.212264 ms 
data association time 14.890173 ms 
solver time 8.976660 ms 
build tree time 53.814127 ms 
points size 84111 
prepare time 15.628295 
sort q time 5.356176 
seperate points time 12.619503 
data association time 14.804193 ms 
solver time 9.259668 ms 
mapping solver time 10.715258 ms 
data association time 16.918778 ms 
filter time 18.029040 ms 
map prepare time 4.153919 ms
map corner num 121387  surf num 42661 
points size 82821 
sort q time 4.724883 
seperate points time 11.357956 
mapping data assosiation time 21.287300 ms 
solver time 12.390313 ms 
data association time 17.368872 ms 
solver time 10.286554 ms 
mapping solver time 13.835493 ms 
points size 80378 
filter time 11.044882 ms 
mapping pub time 1.188126 ms 
whole mapping time 128.627224 ms +++++
drop lidar frame in mapping for real time performance 
prepare time 13.805986 
map prepare time 2.935067 ms
map corner num 122193  surf num 43026 
sort q time 4.249677 
seperate points time 10.265270 
build tree time 32.228825 ms 
solver time 10.834268 ms 
data association time 14.635502 ms 
solver time 8.906935 ms 
publication time 8.182827 ms 
whole laserOdometry time 57.923377 ms 
 
mapping data assosiation time 22.974536 ms 
mapping solver time 13.330740 ms 
mapping optimization time 105.594421 
add points time 0.514824 ms
sort q time 3.900010 
seperate points time 9.537171 
scan registration time 27.025100 ms *************
filter time 14.157124 ms 
data association time 17.228443 ms 
solver time 14.454736 ms 
build tree time 41.263213 ms 
solver time 10.085716 ms 
publication time 8.317275 ms 
whole laserOdometry time 66.369889 ms 
 
points size 80364 
mapping solver time 16.286705 ms 
sort q time 5.836147 
seperate points time 12.526146 
mapping data assosiation time 22.171421 ms 
data association time 14.326290 ms 
mapping solver time 12.563289 ms 
mapping optimization time 119.161816 
add points time 0.483531 ms
filter time 12.483939 ms 
data association time 18.247376 ms 
solver time 14.309008 ms 
publication time 7.370321 ms 
whole laserOdometry time 67.529133 ms 
 
sort q time 4.215691 
seperate points time 9.724615 
scan registration time 27.633965 ms *************
mapping data assosiation time 21.779929 ms 
mapping solver time 14.421036 ms 
data association time 14.022707 ms 
solver time 10.350723 ms 
mapping data assosiation time 20.886731 ms 
data association time 18.376102 ms 
solver time 10.651565 ms 
map prepare time 4.188378 ms
map corner num 123963  surf num 43516 
points size 80805 
sort q time 4.094704 
seperate points time 9.769601 
build tree time 42.997232 ms 
data association time 16.735398 ms 
mapping data assosiation time 22.930415 ms 
data association time 13.360615 ms 
mapping solver time 18.412959 ms 
publication time 7.230754 ms 
whole laserOdometry time 59.950033 ms 
 
mapping data assosiation time 23.242470 ms 
points size 81035 
mapping solver time 15.756642 ms 
mapping optimization time 124.703430 
prepare time 14.406978 
add points time 0.492586 ms
sort q time 4.648224 
filter time 12.459990 ms 
data association time 15.031703 ms 
solver time 13.505148 ms 
data association time 14.305565 ms 
mapping data assosiation time 16.998472 ms 
publication time 7.076845 ms 
whole laserOdometry time 59.607949 ms 
 
points size 83111 
sort q time 4.298565 
seperate points time 11.177713 
filter time 12.415101 ms 
solver time 12.581863 ms 
data association time 19.399018 ms 
build tree time 39.221725 ms 
points size 84158 
publication time 8.923886 ms 
whole laserOdometry time 69.833198 ms 
 
sort q time 4.425685 
seperate points time 10.571653 
mapping solver time 15.275451 ms 
data association time 14.502755 ms 
mapping data assosiation time 18.702872 ms 
mapping solver time 10.971929 ms 
data association time 14.841979 ms 
solver time 9.686175 ms 
map prepare time 2.363672 ms
map corner num 125489  surf num 43940 
publication time 7.332092 ms 
whole laserOdometry time 59.650295 ms 
 
points size 80738 
build tree time 35.289207 ms 
prepare time 11.409912 
sort q time 4.801470 
seperate points time 11.281576 
mapping solver time 12.765018 ms 
solver time 8.317084 ms 
data association time 15.685234 ms 
mapping solver time 13.277394 ms 
filter time 11.241050 ms 
points size 78046 
sort q time 4.304493 
seperate points time 10.050030 
build tree time 35.583318 ms 
data association time 13.268364 ms 
solver time 11.416293 ms 
mapping solver time 11.896956 ms 
solver time 8.889834 ms 
publication time 7.316317 ms 
whole laserOdometry time 54.995734 ms 
 
mapping solver time 8.844490 ms 
filter time 11.448941 ms 
points size 75702 
sort q time 5.107868 
seperate points time 12.003711 
build tree time 36.936332 ms 
data association time 12.677312 ms 
mapping data assosiation time 18.856673 ms 
solver time 11.399864 ms 
mapping solver time 12.402894 ms 
solver time 13.011020 ms 
publication time 6.888473 ms 
whole laserOdometry time 58.565191 ms 
 
mapping solver time 12.090662 ms 
points size 74481 
sort q time 3.983814 
seperate points time 9.483348 
[0m[ INFO] [1715773192.963904691]: Received 309614 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715773192.963941953]: Data saved to 1317357686769555.pcd[0m
data association time 15.750232 ms 
solver time 12.608606 ms 
data association time 15.210557 ms 
solver time 10.705413 ms 
mapping solver time 14.253201 ms 
mapping data assosiation time 19.990159 ms 
mapping solver time 8.092258 ms 
sort q time 4.085324 
seperate points time 9.460908 
scan registration time 29.669268 ms *************
map prepare time 3.787533 ms
map corner num 127628  surf num 44823 
data association time 19.064494 ms 
solver time 15.295370 ms 
data association time 18.774413 ms 
solver time 11.660610 ms 
points size 67928 
sort q time 3.412273 
seperate points time 8.111056 
mapping data assosiation time 19.466156 ms 
mapping solver time 12.258824 ms 
filter time 12.543798 ms 
mapping pub time 0.938072 ms 
whole mapping time 120.238868 ms +++++
map prepare time 2.778738 ms
map corner num 128128  surf num 44994 
solver time 11.706419 ms 
data association time 18.403560 ms 
solver time 7.977520 ms 
publication time 6.109128 ms 
whole laserOdometry time 63.763593 ms 
 
points size 68757 
sort q time 2.991349 
seperate points time 7.243705 
data association time 19.978387 ms 
mapping data assosiation time 20.313512 ms 
filter time 13.381840 ms 
solver time 7.709602 ms 
publication time 6.163028 ms 
whole laserOdometry time 65.482337 ms 
 
points size 72564 
sort q time 3.686110 
seperate points time 8.666093 
mapping data assosiation time 16.478064 ms 
mapping solver time 11.746211 ms 
solver time 10.679008 ms 
mapping data assosiation time 14.790394 ms 
filter time 13.163216 ms 
points size 77429 
build tree time 36.664825 ms 
mapping data assosiation time 17.832329 ms 
data association time 19.879939 ms 
solver time 13.046431 ms 
mapping data assosiation time 18.921751 ms 
data association time 19.816736 ms 
mapping solver time 12.991498 ms 
mapping optimization time 103.348607 
add points time 0.365249 ms
mapping pub time 3.097279 ms 
whole mapping time 122.438036 ms +++++
points size 82949 
sort q time 3.821855 
seperate points time 8.859521 
build tree time 33.704560 ms 
mapping data assosiation time 19.824087 ms 
mapping solver time 16.240278 ms 
mapping data assosiation time 20.085137 ms 
mapping optimization time 104.665421 
add points time 0.660086 ms
publication time 10.182638 ms 
whole laserOdometry time 83.666444 ms 
 
sort q time 5.513410 
seperate points time 14.618907 
data association time 23.542362 ms 
solver time 22.464860 ms 
data association time 14.989430 ms 
solver time 10.109567 ms 
publication time 8.935081 ms 
whole laserOdometry time 80.953386 ms 
 
scan registration time 39.254138 ms *************
mapping solver time 16.091016 ms 
mapping optimization time 129.047556 
add points time 0.455923 ms
mapping pub time 1.098923 ms 
whole mapping time 146.530663 ms +++++
solver time 13.440631 ms 
build tree time 39.255150 ms 
prepare time 20.825031 
sort q time 5.523633 
seperate points time 13.585475 
scan registration time 39.929804 ms *************
mapping solver time 14.688520 ms 
mapping data assosiation time 18.097246 ms 
mapping solver time 11.644709 ms 
filter time 11.420944 ms 
solver time 9.144872 ms 
points size 83199 
sort q time 4.548751 
seperate points time 10.763737 
mapping data assosiation time 19.578666 ms 
solver time 14.787599 ms 
data association time 22.697351 ms 
filter time 14.196417 ms 
points size 83691 
sort q time 4.971999 
seperate points time 11.938216 
build tree time 41.611436 ms 
data association time 14.063265 ms 
solver time 15.097815 ms 
mapping solver time 14.117364 ms 
data association time 13.058832 ms 
solver time 8.976700 ms 
publication time 7.393706 ms 
whole laserOdometry time 59.560675 ms 
 
mapping solver time 11.854161 ms 
filter time 13.411106 ms 
data association time 12.831486 ms 
solver time 9.642044 ms 
data association time 16.397631 ms 
mapping data assosiation time 16.083310 ms 
mapping solver time 12.195103 ms 
publication time 7.005376 ms 
whole laserOdometry time 56.331210 ms 
 
mapping data assosiation time 16.577885 ms 
points size 82124 
sort q time 4.513123 
seperate points time 10.669222 
map prepare time 2.910889 ms
map corner num 131463  surf num 46145 
data association time 13.680519 ms 
solver time 9.506714 ms 
data association time 14.788040 ms 
publication time 8.160901 ms 
whole laserOdometry time 53.264249 ms 
 
points size 80468 
prepare time 13.481634 
mapping solver time 13.884953 ms 
sort q time 4.793883 
seperate points time 11.027189 
mapping solver time 10.373654 ms 
filter time 13.807240 ms 
mapping pub time 1.287436 ms 
whole mapping time 121.392595 ms +++++
solver time 9.649937 ms 
map prepare time 2.638635 ms
map corner num 131883  surf num 46311 
data association time 15.389974 ms 
solver time 9.140303 ms 
build tree time 40.805988 ms 
points size 79742 
mapping data assosiation time 19.435092 ms 
sort q time 4.969228 
seperate points time 11.816398 
data association time 16.139274 ms 
mapping data assosiation time 22.096362 ms 
filter time 13.743414 ms 
solver time 12.371858 ms 
optimization twice time 62.807577 
prepare time 14.457250 
build tree time 42.037194 ms 
scan registration time 33.305771 ms *************
mapping data assosiation time 21.461180 ms 
mapping solver time 16.757565 ms 
solver time 18.348035 ms 
data association time 21.169314 ms 
points size 80548 
filter time 13.480716 ms 
prepare time 14.252995 
mapping pub time 1.481018 ms 
whole mapping time 132.326927 ms +++++
sort q time 4.743143 
seperate points time 11.887813 
publication time 8.365300 ms 
whole laserOdometry time 83.539633 ms 
 
scan registration time 31.228293 ms *************
data association time 20.883198 ms 
solver time 17.991517 ms 
mapping data assosiation time 22.318904 ms 
data association time 20.611922 ms 
solver time 12.389561 ms 
sort q time 4.281394 
seperate points time 10.288637 
filter time 11.995106 ms 
mapping pub time 2.814586 ms 
whole mapping time 134.209005 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 2.755630 ms
map corner num 133259  surf num 46899 
solver time 13.106513 ms 
data association time 14.543295 ms 
build tree time 34.768336 ms 
publication time 6.376486 ms 
whole laserOdometry time 61.286370 ms 
 
mapping data assosiation time 20.246511 ms 
mapping solver time 11.811793 ms 
prepare time 13.700253 
mapping data assosiation time 18.932992 ms 
mapping solver time 12.046763 ms 
mapping pub time 1.053133 ms 
whole mapping time 116.839570 ms +++++
data association time 15.313963 ms 
map prepare time 3.479080 ms
map corner num 133799  surf num 47126 
solver time 12.643844 ms 
data association time 13.675399 ms 
solver time 8.153056 ms 
publication time 6.756083 ms 
whole laserOdometry time 57.527023 ms 
 
mapping data assosiation time 20.348281 ms 
prepare time 15.522787 
sort q time 4.260763 
seperate points time 10.342111 
mapping data assosiation time 19.371006 ms 
mapping solver time 10.693662 ms 
data association time 13.743285 ms 
filter time 12.500564 ms 
data association time 12.855285 ms 
solver time 9.135278 ms 
build tree time 37.220796 ms 
points size 82294 
prepare time 14.647147 
sort q time 5.178051 
seperate points time 12.223416 
mapping solver time 14.103834 ms 
solver time 11.134450 ms 
data association time 13.651537 ms 
solver time 11.099371 ms 
map prepare time 3.785971 ms
map corner num 134987  surf num 47577 
points size 81040 
prepare time 13.489492 
sort q time 3.692916 
seperate points time 8.770615 
build tree time 38.488522 ms 
data association time 15.342772 ms 
mapping data assosiation time 19.233750 ms 
solver time 13.854223 ms 
data association time 13.965159 ms 
mapping data assosiation time 19.376088 ms 
solver time 11.321132 ms 
optimization twice time 55.439775 
publication time 6.106728 ms 
whole laserOdometry time 61.564001 ms 
 
filter time 12.388431 ms 
sort q time 4.576340 
seperate points time 10.734125 
data association time 14.547446 ms 
build tree time 38.240292 ms 
mapping data assosiation time 21.626770 ms 
solver time 11.185139 ms 
mapping data assosiation time 19.875794 ms 
prepare time 14.638758 
add points time 0.547010 ms
filter time 13.985007 ms 
data association time 15.633474 ms 
solver time 15.101140 ms 
data association time 14.654861 ms 
solver time 15.409564 ms 
publication time 8.470818 ms 
whole laserOdometry time 70.341033 ms 
 
points size 83627 
mapping data assosiation time 23.166173 ms 
mapping solver time 19.957273 ms 
data association time 16.968253 ms 
solver time 10.019912 ms 
mapping solver time 15.937856 ms 
solver time 9.046956 ms 
points size 85814 
prepare time 14.106821 
sort q time 5.119313 
seperate points time 11.974478 
build tree time 46.423744 ms 
data association time 14.562302 ms 
solver time 12.954443 ms 
data association time 16.417889 ms 
mapping solver time 19.020333 ms 
publication time 6.888083 ms 
whole laserOdometry time 60.868332 ms 
 
mapping data assosiation time 23.229630 ms 
points size 87534 
sort q time 5.329376 
seperate points time 12.528463 
mapping pub time 1.333382 ms 
whole mapping time 147.427961 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.340295 ms
map corner num 137037  surf num 48404 
data association time 14.554222 ms 
solver time 11.507515 ms 
data association time 14.859030 ms 
solver time 8.341146 ms 
optimization twice time 50.093255 
build tree time 46.453980 ms 
mapping data assosiation time 23.283973 ms 
sort q time 5.281729 
seperate points time 12.321533 
data association time 13.930029 ms 
mapping data assosiation time 23.050137 ms 
mapping solver time 19.174149 ms 
solver time 9.932229 ms 
points size 86161 
build tree time 42.601289 ms 
sort q time 5.430650 
seperate points time 12.774826 
scan registration time 30.599289 ms *************
mapping data assosiation time 19.228074 ms 
data association time 15.200425 ms 
solver time 11.603918 ms 
mapping data assosiation time 19.174469 ms 
data association time 15.340550 ms 
mapping solver time 13.365834 ms 
filter time 13.576431 ms 
prepare time 15.799573 
sort q time 5.087682 
seperate points time 12.318446 
data association time 14.884852 ms 
solver time 15.959333 ms 
data association time 15.329810 ms 
mapping solver time 18.436017 ms 
optimization twice time 57.540025 
mapping data assosiation time 23.487468 ms 
prepare time 19.206187 
mapping solver time 14.167714 ms 
sort q time 5.470577 
seperate points time 12.521310 
filter time 15.043468 ms 
data association time 21.575962 ms 
build tree time 34.936953 ms 
mapping data assosiation time 22.655451 ms 
prepare time 15.373927 
sort q time 4.499013 
seperate points time 10.447759 
publication time 8.358428 ms 
whole laserOdometry time 80.683487 ms 
 
mapping solver time 13.120456 ms 
solver time 8.814670 ms 
map prepare time 3.990235 ms
map corner num 139092  surf num 49361 
data association time 14.923827 ms 
solver time 8.861587 ms 
optimization twice time 49.545925 
build tree time 38.886523 ms 
prepare time 17.967911 
mapping data assosiation time 19.624662 ms 
mapping solver time 14.399794 ms 
data association time 14.873594 ms 
solver time 9.487771 ms 
add points time 0.425978 ms
filter time 12.821147 ms 
publication time 5.934906 ms 
whole laserOdometry time 57.315603 ms 
 
points size 92015 
sort q time 4.315262 
seperate points time 10.071484 
mapping data assosiation time 19.758932 ms 
data association time 14.860654 ms 
data association time 15.122401 ms 
mapping data assosiation time 21.744459 ms 
publication time 7.907974 ms 
whole laserOdometry time 60.788635 ms 
 
filter time 14.191047 ms 
sort q time 6.381648 
seperate points time 14.843449 
build tree time 41.455554 ms 
solver time 12.714907 ms 
mapping data assosiation time 22.974567 ms 
data association time 19.441571 ms 
mapping solver time 18.576272 ms 
solver time 14.849526 ms 
optimization twice time 63.206507 
mapping data assosiation time 26.105016 ms 
sort q time 7.441067 
seperate points time 15.155465 
map prepare time 3.916534 ms
map corner num 140423  surf num 49854 
data association time 19.215850 ms 
solver time 13.440981 ms 
data association time 16.955935 ms 
solver time 10.274124 ms 
sort q time 5.912915 
seperate points time 13.705451 
mapping solver time 15.706739 ms 
data association time 15.387740 ms 
solver time 13.667246 ms 
filter time 12.569249 ms 
optimization twice time 57.831433 
publication time 7.777232 ms 
whole laserOdometry time 65.631877 ms 
 
points size 89340 
build tree time 44.259576 ms 
mapping data assosiation time 20.026356 ms 
mapping solver time 15.528291 ms 
data association time 16.230323 ms 
solver time 10.641160 ms 
filter time 12.261760 ms 
sort q time 4.137220 
seperate points time 9.560157 
scan registration time 28.419785 ms *************
data association time 13.322546 ms 
solver time 11.404566 ms 
mapping data assosiation time 19.901456 ms 
solver time 9.712351 ms 
mapping data assosiation time 18.275088 ms 
prepare time 16.924112 
sort q time 4.988303 
seperate points time 11.816519 
map prepare time 3.286083 ms
map corner num 78546  surf num 27473 
data association time 12.796718 ms 
build tree time 22.441194 ms 
data association time 14.605643 ms 
mapping data assosiation time 18.304229 ms 
publication time 6.690042 ms 
whole laserOdometry time 53.888230 ms 
 
points size 88897 
sort q time 4.665129 
seperate points time 10.679393 
filter time 8.967271 ms 
mapping pub time 1.081384 ms 
whole mapping time 106.189992 ms +++++
map prepare time 2.177582 ms
map corner num 79003  surf num 27624 
solver time 11.101698 ms 
build tree time 21.487061 ms 
data association time 13.696413 ms 
solver time 9.187476 ms 
mapping solver time 14.450328 ms 
points size 88301 
mapping solver time 10.526434 ms 
mapping optimization time 83.850286 
add points time 0.469065 ms
sort q time 4.294437 
seperate points time 10.339352 
scan registration time 29.424517 ms *************
filter time 8.072680 ms 
data association time 12.777132 ms 
build tree time 21.836062 ms 
data association time 12.522309 ms 
publication time 6.935293 ms 
whole laserOdometry time 52.438015 ms 
 
mapping data assosiation time 16.665822 ms 
mapping solver time 11.104227 ms 
mapping optimization time 86.023913 
add points time 0.527594 ms
sort q time 4.268139 
seperate points time 9.718564 
scan registration time 27.813390 ms *************
map prepare time 2.138339 ms
map corner num 79802  surf num 27861 
data association time 11.305742 ms 
build tree time 22.288598 ms 
data association time 12.083522 ms 
mapping data assosiation time 16.665407 ms 
mapping solver time 12.402675 ms 
mapping data assosiation time 16.803854 ms 
mapping solver time 11.051439 ms 
filter time 8.305401 ms 
scan registration time 29.241775 ms *************
build tree time 21.911958 ms 
data association time 12.731422 ms 
solver time 12.933681 ms 
mapping solver time 10.477327 ms 
solver time 7.485706 ms 
mapping solver time 11.400296 ms 
filter time 7.845725 ms 
sort q time 4.115082 
seperate points time 9.381119 
scan registration time 27.645919 ms *************
data association time 15.549249 ms 
solver time 11.687462 ms 
data association time 12.079250 ms 
solver time 8.386158 ms 
publication time 6.389716 ms 
whole laserOdometry time 54.968947 ms 
 
mapping solver time 8.783449 ms 
mapping optimization time 76.495855 
add points time 0.378793 ms
points size 88423 
prepare time 14.600273 
sort q time 4.753353 
seperate points time 10.750984 
mapping data assosiation time 16.367498 ms 
mapping solver time 12.918327 ms 
data association time 14.378998 ms 
mapping data assosiation time 16.403235 ms 
mapping solver time 9.758587 ms 
filter time 8.510071 ms 
optimization twice time 49.563579 
map prepare time 2.199769 ms
map corner num 81315  surf num 28399 
points size 88766 
build tree time 21.502427 ms 
mapping data assosiation time 16.381566 ms 
data association time 12.483393 ms 
solver time 12.473285 ms 
data association time 14.929025 ms 
mapping solver time 10.444805 ms 
mapping optimization time 77.253974 
add points time 0.497816 ms
publication time 6.881597 ms 
whole laserOdometry time 55.548216 ms 
 
mapping pub time 18.840570 ms 
whole mapping time 107.009953 ms +++++
map prepare time 3.434882 ms
map corner num 81646  surf num 28521 
build tree time 20.707043 ms 
mapping data assosiation time 18.297448 ms 
data association time 14.990604 ms 
mapping solver time 11.291189 ms 
mapping data assosiation time 19.087820 ms 
mapping solver time 10.493875 ms 
mapping pub time 1.424849 ms 
whole mapping time 94.004297 ms +++++
map prepare time 3.278680 ms
map corner num 82029  surf num 28629 
sort q time 4.463683 
seperate points time 10.453487 
data association time 15.203375 ms 
solver time 11.843237 ms 
data association time 14.350274 ms 
solver time 10.041333 ms 
filter time 9.861610 ms 
points size 91182 
sort q time 5.279599 
seperate points time 12.491201 
mapping data assosiation time 19.335926 ms 
mapping solver time 13.557399 ms 
solver time 23.758076 ms 
data association time 14.361538 ms 
solver time 9.981481 ms 
map prepare time 3.553385 ms
map corner num 82791  surf num 28894 
sort q time 4.632344 
seperate points time 10.928084 
build tree time 25.516571 ms 
data association time 23.256073 ms 
mapping data assosiation time 23.147658 ms 
solver time 16.277266 ms 
data association time 23.106612 ms 
points size 92334 
publication time 8.077010 ms 
whole laserOdometry time 84.267066 ms 
 
scan registration time 33.839960 ms *************
build tree time 27.021041 ms 
data association time 25.047131 ms 
mapping data assosiation time 25.107952 ms 
mapping solver time 26.964551 ms 
data association time 26.511739 ms 
solver time 13.083509 ms 
publication time 11.072529 ms 
whole laserOdometry time 94.601003 ms 
 
mapping solver time 14.005607 ms 
filter time 8.955752 ms 
mapping pub time 2.638403 ms 
whole mapping time 136.760956 ms +++++
solver time 17.883831 ms 
build tree time 28.068029 ms 
data association time 23.538773 ms 
solver time 12.928508 ms 
sort q time 6.088652 
seperate points time 13.525576 
mapping data assosiation time 24.793958 ms 
data association time 23.694053 ms 
solver time 11.965047 ms 
data association time 22.546141 ms 
solver time 11.188945 ms 
publication time 9.860163 ms 
whole laserOdometry time 80.139217 ms 
 
scan registration time 32.531344 ms *************
mapping solver time 12.943525 ms 
data association time 21.740421 ms 
solver time 15.428924 ms 
mapping solver time 9.950462 ms 
mapping optimization time 99.681210 
add points time 0.421101 ms
filter time 8.156576 ms 
data association time 21.840411 ms 
solver time 11.694183 ms 
sort q time 6.403721 
seperate points time 14.563653 
scan registration time 35.555529 ms *************
mapping data assosiation time 41.542143 ms 
mapping solver time 14.415581 ms 
data association time 19.172722 ms 
solver time 10.690253 ms 
optimization twice time 56.127683 
mapping solver time 13.101796 ms 
mapping optimization time 120.652191 
add points time 0.539898 ms
map prepare time 2.987237 ms
map corner num 84698  surf num 29702 
sort q time 5.780130 
seperate points time 13.722946 
mapping data assosiation time 20.593941 ms 
solver time 10.848632 ms 
data association time 15.370527 ms 
points size 94479 
filter time 7.610721 ms 
build tree time 25.972271 ms 
data association time 23.570596 ms 
mapping data assosiation time 27.043401 ms 
mapping solver time 23.769553 ms 
data association time 22.323055 ms 
publication time 10.423487 ms 
whole laserOdometry time 87.930073 ms 
 
mapping solver time 12.016999 ms 
mapping optimization time 117.203610 
add points time 0.524061 ms
mapping pub time 2.183370 ms 
whole mapping time 132.763566 ms +++++
solver time 10.777027 ms 
data association time 28.039124 ms 
publication time 8.831839 ms 
whole laserOdometry time 75.894727 ms 
 
mapping solver time 24.542526 ms 
mapping data assosiation time 23.448127 ms 
mapping solver time 10.551088 ms 
filter time 8.234145 ms 
data association time 16.286465 ms 
optimization twice time 49.273341 
publication time 7.898584 ms 
whole laserOdometry time 57.191031 ms 
 
points size 95275 
mapping data assosiation time 22.996049 ms 
mapping solver time 15.734000 ms 
data association time 14.389607 ms 
mapping data assosiation time 26.794199 ms 
data association time 16.675874 ms 
filter time 8.115838 ms 
points size 95435 
build tree time 26.813201 ms 
sort q time 6.005386 
seperate points time 14.324108 
mapping data assosiation time 25.953944 ms 
data association time 14.782898 ms 
solver time 8.855504 ms 
data association time 15.088823 ms 
publication time 8.087887 ms 
whole laserOdometry time 55.893776 ms 
 
filter time 8.567585 ms 
mapping pub time 1.141267 ms 
whole mapping time 122.371403 ms +++++
points size 95636 
map prepare time 3.256794 ms
map corner num 86579  surf num 30447 
sort q time 5.651081 
seperate points time 12.709635 
build tree time 24.184837 ms 
data association time 16.398262 ms 
solver time 11.840348 ms 
mapping solver time 18.350658 ms 
solver time 5.688957 ms 
publication time 9.519040 ms 
whole laserOdometry time 59.317666 ms 
 
points size 95753 
filter time 7.761142 ms 
data association time 15.368762 ms 
solver time 12.081593 ms 
mapping data assosiation time 25.297704 ms 
data association time 15.923631 ms 
publication time 7.988018 ms 
whole laserOdometry time 58.805893 ms 
 
points size 95964 
mapping data assosiation time 24.207534 ms 
scan registration time 32.700394 ms *************
filter time 9.166204 ms 
solver time 10.799963 ms 
build tree time 23.672160 ms 
data association time 15.533962 ms 
solver time 8.010916 ms 
optimization twice time 53.568867 
points size 96097 
prepare time 19.095581 
sort q time 9.388916 
seperate points time 18.469220 
mapping data assosiation time 28.463974 ms 
data association time 14.295489 ms 
solver time 8.607150 ms 
data association time 15.188138 ms 
solver time 9.155000 ms 
points size 96258 
mapping data assosiation time 31.485722 ms 
sort q time 5.999506 
seperate points time 14.293566 
mapping solver time 23.488378 ms 
data association time 14.445202 ms 
solver time 8.839420 ms 
mapping solver time 12.186971 ms 
filter time 6.782624 ms 
publication time 9.405260 ms 
whole laserOdometry time 55.036288 ms 
 
points size 96322 
build tree time 30.408487 ms 
sort q time 6.246490 
seperate points time 14.629706 
mapping data assosiation time 26.367639 ms 
solver time 10.656324 ms 
data association time 14.523151 ms 
optimization twice time 47.480372 
mapping data assosiation time 25.679769 ms 
mapping solver time 18.060632 ms 
prepare time 19.137733 
map prepare time 3.444854 ms
map corner num 88593  surf num 31243 
scan registration time 38.143403 ms *************
build tree time 24.978155 ms 
data association time 16.339219 ms 
solver time 11.607367 ms 
data association time 15.348356 ms 
publication time 9.338878 ms 
whole laserOdometry time 59.985657 ms 
 
points size 96446 
mapping data assosiation time 26.394072 ms 
sort q time 5.324751 
seperate points time 12.361750 
scan registration time 33.518069 ms *************
mapping solver time 14.233529 ms 
mapping optimization time 109.692532 
add points time 0.664778 ms
filter time 8.447904 ms 
data association time 19.233633 ms 
solver time 10.881695 ms 
solver time 5.192642 ms 
mapping data assosiation time 28.652280 ms 
points size 96491 
prepare time 17.739002 
scan registration time 37.182317 ms *************
mapping data assosiation time 26.403641 ms 
solver time 8.692799 ms 
filter time 6.948034 ms 
solver time 6.647895 ms 
points size 96466 
scan registration time 31.605808 ms *************
mapping data assosiation time 27.896786 ms 
data association time 17.910958 ms 
solver time 10.623485 ms 
data association time 17.156276 ms 
publication time 9.284387 ms 
whole laserOdometry time 62.794309 ms 
 
filter time 9.657325 ms 
prepare time 19.148562 
sort q time 5.701947 
seperate points time 13.781438 
data association time 14.582324 ms 
mapping solver time 18.679428 ms 
points size 96035 
mapping solver time 17.711525 ms 
scan registration time 45.816982 ms *************
build tree time 21.869817 ms 
data association time 23.120164 ms 
solver time 11.337543 ms 
mapping data assosiation time 26.246159 ms 
data association time 23.334279 ms 
points size 95581 
publication time 9.507350 ms 
whole laserOdometry time 76.177949 ms 
 
mapping data assosiation time 27.301703 ms 
data association time 16.091373 ms 
add points time 0.577425 ms
solver time 9.488914 ms 
data association time 16.182635 ms 
solver time 5.809328 ms 
optimization twice time 48.454045 
publication time 8.536325 ms 
whole laserOdometry time 57.011028 ms 
 
points size 95345 
sort q time 4.566443 
seperate points time 10.749895 
mapping solver time 19.204715 ms 
mapping data assosiation time 27.921327 ms 
mapping pub time 1.725452 ms 
whole mapping time 135.516466 ms +++++
solver time 8.063806 ms 
build tree time 42.306041 ms 
sort q time 7.666488 
seperate points time 16.053498 
data association time 23.709004 ms 
points size 95050 
data association time 78.142686 ms 
points size 95224 
mapping solver time 20.950975 ms 
filter time 24.583017 ms 


publication time 9.674467 ms 
whole laserOdometry time 129.671108 ms 
 
[33m[ WARN] [1715773201.274091028]: odometry process over 100ms[0m
mapping data assosiation time 33.149017 ms 
data association time 24.306530 ms 
mapping solver time 18.872020 ms 
mapping data assosiation time 26.115523 ms 
solver time 7.819389 ms 
optimization twice time 67.587924 
publication time 9.844993 ms 
whole laserOdometry time 77.460653 ms 
 
map prepare time 3.202789 ms
map corner num 90363  surf num 31849 
data association time 23.747682 ms 
build tree time 24.826088 ms 
solver time 11.702923 ms 
data association time 22.831400 ms 
publication time 10.382368 ms 
whole laserOdometry time 77.602306 ms 
 
points size 95641 
prepare time 15.648645 
data association time 23.037428 ms 
scan registration time 36.171249 ms *************
mapping solver time 17.782768 ms 
filter time 9.014308 ms 
mapping pub time 1.430722 ms 
whole mapping time 149.190263 ms +++++
solver time 6.731014 ms 
optimization twice time 78.513330 
map prepare time 3.816601 ms
map corner num 90501  surf num 31916 
data association time 14.742678 ms 
solver time 11.569185 ms 
points size 95506 
data association time 23.892607 ms 
mapping solver time 19.594875 ms 
data association time 14.833560 ms 
mapping solver time 12.951942 ms 
filter time 9.424613 ms 
points size 95248 
prepare time 15.383658 
sort q time 5.669505 
seperate points time 12.936447 
mapping data assosiation time 26.042036 ms 
data association time 14.865419 ms 
mapping solver time 16.973314 ms 
data association time 14.184244 ms 
solver time 6.245137 ms 
publication time 8.975598 ms 
whole laserOdometry time 53.821776 ms 
 
filter time 9.219092 ms 
sort q time 5.286699 
seperate points time 12.072625 
build tree time 24.510041 ms 
data association time 15.077096 ms 
mapping data assosiation time 27.347439 ms 
data association time 15.154631 ms 
optimization twice time 47.622489 
points size 95146 
mapping data assosiation time 26.646210 ms 
prepare time 16.195178 
sort q time 5.448575 
seperate points time 13.050117 
mapping pub time 3.724312 ms 
whole mapping time 134.501023 ms +++++
data association time 15.615435 ms 
build tree time 23.043510 ms 
data association time 16.167128 ms 
solver time 6.248926 ms 
optimization twice time 45.211635 
mapping solver time 14.455882 ms 
prepare time 16.759859 
sort q time 4.455633 
seperate points time 10.314373 
mapping solver time 8.910321 ms 
mapping optimization time 98.956473 
add points time 0.661609 ms
data association time 16.550561 ms 
solver time 7.129371 ms 
data association time 17.593690 ms 
publication time 7.439963 ms 
whole laserOdometry time 56.298304 ms 
 
points size 95636 
sort q time 4.479907 
seperate points time 10.301140 
mapping data assosiation time 25.203612 ms 
mapping solver time 13.267658 ms 
mapping optimization time 108.405111 
add points time 0.545228 ms
data association time 15.068480 ms 
map prepare time 2.924262 ms
map corner num 91080  surf num 32179 
data association time 15.720732 ms 
publication time 7.876461 ms 
whole laserOdometry time 48.702927 ms 
 
prepare time 14.875975 
sort q time 4.309519 
seperate points time 10.035771 
mapping solver time 18.550916 ms 
data association time 16.281009 ms 
mapping data assosiation time 24.352666 ms 
data association time 15.753015 ms 
mapping solver time 12.939906 ms 
mapping optimization time 107.285894 
mapping pub time 1.098022 ms 
whole mapping time 119.740670 ms +++++
points size 95932 
sort q time 4.369647 
seperate points time 10.195911 
mapping data assosiation time 24.037965 ms 
mapping solver time 13.330536 ms 
solver time 9.895226 ms 
mapping data assosiation time 30.657966 ms 
solver time 7.948167 ms 
filter time 11.203395 ms 
prepare time 19.077163 
sort q time 5.596219 
seperate points time 13.506063 
data association time 15.127257 ms 
mapping data assosiation time 25.570769 ms 
mapping solver time 15.748303 ms 
solver time 6.515238 ms 
publication time 8.947458 ms 
whole laserOdometry time 57.243331 ms 
 
points size 96155 
filter time 8.863666 ms 
data association time 15.208093 ms 
build tree time 24.956326 ms 
data association time 15.808324 ms 
optimization twice time 46.214460 
publication time 9.004185 ms 
whole laserOdometry time 55.245019 ms 
 
mapping solver time 19.802750 ms 
points size 96272 
sort q time 5.563406 
seperate points time 13.060105 
mapping solver time 14.645487 ms 
filter time 10.067966 ms 
data association time 15.574156 ms 
publication time 7.830255 ms 
whole laserOdometry time 58.244948 ms 
 
points size 96424 
sort q time 5.434813 
seperate points time 12.491604 
mapping solver time 20.463831 ms 
data association time 16.143880 ms 
mapping data assosiation time 26.036744 ms 
data association time 13.932215 ms 
filter time 8.409362 ms 
points size 96250 
build tree time 25.006354 ms 
mapping data assosiation time 25.676780 ms 
solver time 8.438349 ms 
mapping solver time 21.289331 ms 
solver time 6.142012 ms 
publication time 7.264752 ms 
whole laserOdometry time 54.190922 ms 
 
mapping solver time 10.388594 ms 
filter time 10.232611 ms 
scan registration time 31.194093 ms *************
build tree time 22.355004 ms 
data association time 15.439687 ms 
solver time 8.795368 ms 
mapping data assosiation time 26.088217 ms 
data association time 14.957795 ms 
mapping solver time 18.307509 ms 
points size 95847 
sort q time 5.470541 
seperate points time 13.015445 
mapping solver time 14.418030 ms 
scan registration time 34.469013 ms *************
mapping optimization time 113.365948 
add points time 0.565967 ms
mapping pub time 1.255387 ms 
whole mapping time 129.125234 ms +++++
data association time 16.104419 ms 
solver time 9.057984 ms 
build tree time 26.710344 ms 
solver time 5.152034 ms 
publication time 8.365042 ms 
whole laserOdometry time 56.240775 ms 
 
mapping data assosiation time 27.718419 ms 
points size 95732 
mapping solver time 21.611354 ms 
scan registration time 35.013942 ms *************
mapping data assosiation time 24.618148 ms 
data association time 15.125990 ms 
solver time 8.109970 ms 
mapping pub time 9.609440 ms 
whole mapping time 139.017344 ms +++++
solver time 5.980311 ms 
publication time 8.195645 ms 
whole laserOdometry time 53.990327 ms 
 
build tree time 26.308874 ms 
sort q time 4.466776 
seperate points time 10.092315 
mapping data assosiation time 26.685170 ms 
mapping solver time 19.017522 ms 
solver time 11.678177 ms 
data association time 23.323423 ms 
publication time 9.977045 ms 
whole laserOdometry time 77.217308 ms 
 
points size 95445 
build tree time 30.458136 ms 
data association time 23.070385 ms 
solver time 12.043638 ms 
mapping solver time 21.185524 ms 
data association time 23.455250 ms 
solver time 7.833953 ms 
scan registration time 31.287067 ms *************
filter time 9.664182 ms 
solver time 5.651627 ms 
data association time 15.355317 ms 
publication time 7.884034 ms 
whole laserOdometry time 52.699705 ms 
 
mapping data assosiation time 27.354892 ms 
prepare time 15.374794 
mapping solver time 21.203229 ms 
mapping data assosiation time 26.278422 ms 
data association time 23.004859 ms 
solver time 11.754272 ms 
map prepare time 2.926647 ms
map corner num 92131  surf num 32587 
data association time 23.310957 ms 
solver time 12.440101 ms 
sort q time 4.882080 
seperate points time 11.499288 
mapping solver time 14.283522 ms 
solver time 8.554541 ms 
data association time 14.821555 ms 
publication time 7.362132 ms 
whole laserOdometry time 54.032386 ms 
 
filter time 10.282844 ms 
points size 92323 
prepare time 15.524569 
scan registration time 32.639617 ms *************
build tree time 26.064950 ms 
data association time 17.571280 ms 
mapping data assosiation time 29.340714 ms 
mapping solver time 19.531811 ms 
data association time 15.483768 ms 
publication time 7.678434 ms 
whole laserOdometry time 59.208109 ms 
 
mapping data assosiation time 29.314122 ms 
solver time 5.741944 ms 
points size 95137 
prepare time 19.009203 
mapping solver time 26.150415 ms 
sort q time 6.025538 
seperate points time 14.710731 
scan registration time 39.747351 ms *************
mapping data assosiation time 29.865839 ms 
mapping solver time 14.755265 ms 
mapping optimization time 123.240597 
add points time 0.496268 ms
data association time 21.772005 ms 
map prepare time 2.709151 ms
map corner num 92407  surf num 32688 
data association time 16.481402 ms 
build tree time 26.380032 ms 
points size 95536 
mapping data assosiation time 31.792086 ms 
scan registration time 41.675047 ms *************
mapping solver time 19.817584 ms 
data association time 23.022137 ms 
mapping data assosiation time 28.243315 ms 
mapping solver time 16.446518 ms 
solver time 8.339158 ms 
optimization twice time 63.323510 
filter time 10.298626 ms 
mapping pub time 1.580893 ms 
whole mapping time 140.425760 ms +++++
sort q time 5.667007 
seperate points time 13.388881 
build tree time 29.625407 ms 
mapping data assosiation time 26.437678 ms 
solver time 11.644324 ms 
data association time 22.597574 ms 
solver time 11.456881 ms 
mapping data assosiation time 30.951448 ms 
prepare time 20.825798 
publication time 9.711064 ms 
whole laserOdometry time 80.095170 ms 
 
mapping solver time 13.496286 ms 
sort q time 5.589638 
seperate points time 13.692210 
map prepare time 3.023693 ms
map corner num 92562  surf num 32739 
data association time 16.386560 ms 
solver time 8.369071 ms 
build tree time 27.292327 ms 
data association time 15.483394 ms 
mapping data assosiation time 27.602721 ms 
points size 95847 
mapping solver time 27.190354 ms 
sort q time 6.163594 
seperate points time 14.533142 
mapping data assosiation time 27.640161 ms 
data association time 17.201221 ms 
solver time 10.721847 ms 
data association time 18.440977 ms 
build tree time 28.922753 ms 
sort q time 6.250932 
seperate points time 14.571327 
data association time 16.122726 ms 
solver time 7.950292 ms 
data association time 14.508754 ms 
solver time 5.419185 ms 
optimization twice time 44.792876 
mapping data assosiation time 27.487116 ms 
mapping solver time 17.335951 ms 
points size 96180 
map prepare time 3.683389 ms
map corner num 92713  surf num 32783 
sort q time 5.607247 
seperate points time 13.521399 
build tree time 28.233611 ms 
data association time 16.477605 ms 
mapping data assosiation time 32.260745 ms 
optimization twice time 47.226121 
points size 96202 
mapping data assosiation time 25.315817 ms 
scan registration time 32.122410 ms *************
filter time 7.771865 ms 
data association time 15.228874 ms 
solver time 8.859560 ms 
build tree time 24.576244 ms 
solver time 5.707882 ms 
publication time 8.421488 ms 
whole laserOdometry time 54.412112 ms 
 
mapping data assosiation time 26.656647 ms 
points size 96322 
prepare time 15.477313 
mapping solver time 19.818133 ms 
sort q time 5.764902 
seperate points time 13.218230 
mapping data assosiation time 26.762057 ms 
mapping solver time 18.432863 ms 
mapping optimization time 118.311917 
add points time 0.630424 ms
data association time 23.741918 ms 
mapping pub time 1.510470 ms 
whole mapping time 134.165850 ms +++++
data association time 20.683784 ms 
build tree time 26.052796 ms 
points size 96370 
mapping data assosiation time 28.339442 ms 
mapping solver time 15.422946 ms 
solver time 7.500714 ms 
data association time 15.058517 ms 
solver time 6.277432 ms 
publication time 9.199178 ms 
whole laserOdometry time 53.787043 ms 
 
map prepare time 3.836115 ms
map corner num 92930  surf num 32845 
points size 96405 
prepare time 18.820322 
build tree time 31.234843 ms 
sort q time 5.646524 
seperate points time 13.560240 
scan registration time 38.645618 ms *************
data association time 14.806780 ms 
solver time 9.074890 ms 
mapping solver time 15.668112 ms 
data association time 15.513829 ms 
solver time 6.235327 ms 
optimization twice time 46.449788 
publication time 6.990238 ms 
whole laserOdometry time 53.461082 ms 
 
mapping data assosiation time 29.729685 ms 
points size 96432 
filter time 9.659102 ms 
mapping pub time 1.615633 ms 
whole mapping time 136.758999 ms +++++
sort q time 5.579071 
seperate points time 13.627826 
map prepare time 3.483083 ms
map corner num 92998  surf num 32860 
data association time 15.483989 ms 
data association time 14.741262 ms 
mapping data assosiation time 27.269486 ms 
mapping solver time 24.722336 ms 
prepare time 19.849455 
sort q time 6.289141 
seperate points time 15.165139 
scan registration time 41.226833 ms *************
mapping solver time 16.809331 ms 
solver time 9.086081 ms 
map prepare time 3.736419 ms
map corner num 93072  surf num 32884 
solver time 5.374865 ms 
publication time 8.144368 ms 
whole laserOdometry time 54.880786 ms 
 
build tree time 29.031038 ms 
points size 96481 
mapping data assosiation time 29.630540 ms 
mapping solver time 14.352295 ms 
data association time 16.213689 ms 
mapping data assosiation time 26.432753 ms 
data association time 15.046529 ms 
add points time 0.573566 ms
filter time 10.720271 ms 
points size 96403 
sort q time 5.528975 
seperate points time 12.788771 
data association time 19.856347 ms 
mapping solver time 20.113831 ms 
solver time 7.266512 ms 
publication time 9.154954 ms 
whole laserOdometry time 63.681864 ms 
 
mapping data assosiation time 28.486048 ms 
mapping solver time 14.807026 ms 
scan registration time 34.889974 ms *************
data association time 16.177674 ms 
solver time 8.091027 ms 
data association time 15.691443 ms 
solver time 6.013878 ms 
publication time 9.942792 ms 
whole laserOdometry time 56.753358 ms 
 
mapping solver time 21.718759 ms 
sort q time 5.129504 
seperate points time 11.703300 
mapping data assosiation time 29.350096 ms 
data association time 16.194792 ms 
solver time 9.022511 ms 
data association time 15.114957 ms 
publication time 7.730731 ms 
whole laserOdometry time 56.325429 ms 
 
points size 96548 
sort q time 5.900907 
seperate points time 13.638649 
data association time 14.876066 ms 
mapping data assosiation time 25.198293 ms 
mapping solver time 16.290626 ms 
solver time 5.272209 ms 
map prepare time 3.489608 ms
map corner num 93329  surf num 32944 
points size 96626 
build tree time 27.012737 ms 
sort q time 4.678951 
seperate points time 11.024774 
mapping data assosiation time 28.086289 ms 
solver time 8.108600 ms 
data association time 15.589405 ms 
solver time 6.892496 ms 
mapping data assosiation time 27.053669 ms 
publication time 8.828544 ms 
whole laserOdometry time 55.545698 ms 
 
filter time 10.205545 ms 
prepare time 20.094414 
[0m[ INFO] [1715773205.949600491]: Received 350305 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715773205.949645541]: Data saved to 1317357699661672.pcd[0m
build tree time 26.969800 ms 
data association time 18.169508 ms 
mapping data assosiation time 28.759942 ms 
data association time 17.320497 ms 
publication time 8.068171 ms 
whole laserOdometry time 60.655959 ms 
 
prepare time 16.711553 
sort q time 5.286674 
seperate points time 12.413652 
mapping optimization time 114.534949 
filter time 10.703893 ms 
solver time 11.822330 ms 
data association time 15.398876 ms 
solver time 8.477575 ms 
mapping data assosiation time 25.771589 ms 
prepare time 15.278944 
sort q time 5.453523 
seperate points time 12.563314 
scan registration time 32.776484 ms *************
mapping data assosiation time 30.603986 ms 
data association time 25.345862 ms 
mapping solver time 20.095227 ms 
filter time 10.242407 ms 
data association time 23.692684 ms 
points size 96471 
sort q time 5.197830 
seperate points time 12.344489 
mapping data assosiation time 27.264675 ms 
data association time 14.908035 ms 
data association time 14.658449 ms 
publication time 9.028960 ms 
whole laserOdometry time 54.109955 ms 
 
filter time 7.549670 ms 
sort q time 5.692253 
seperate points time 12.905903 
build tree time 25.575109 ms 
data association time 16.311057 ms 
solver time 8.662929 ms 
data association time 16.292621 ms 
mapping solver time 19.470579 ms 
points size 96481 
mapping solver time 13.997546 ms 
mapping optimization time 116.444811 
add points time 0.490818 ms
sort q time 5.759793 
seperate points time 14.367796 
scan registration time 34.230133 ms *************
map prepare time 3.895771 ms
map corner num 93605  surf num 33025 
data association time 16.383427 ms 
solver time 12.774897 ms 
data association time 22.548303 ms 
mapping data assosiation time 27.484676 ms 
publication time 10.750745 ms 
whole laserOdometry time 75.283751 ms 
 
sort q time 5.842247 
seperate points time 13.550309 
mapping data assosiation time 26.793127 ms 
mapping solver time 14.652336 ms 
filter time 8.991779 ms 
data association time 20.425867 ms 
build tree time 26.413953 ms 
sort q time 5.439094 
seperate points time 12.763318 
mapping solver time 19.477661 ms 
solver time 11.083842 ms 
mapping data assosiation time 27.440448 ms 
mapping solver time 14.411040 ms 
filter time 10.370350 ms 
publication time 9.756053 ms 
whole laserOdometry time 66.577126 ms 
 
mapping pub time 1.837199 ms 
whole mapping time 133.299490 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 2.964259 ms
map corner num 93759  surf num 33073 
points size 96573 
sort q time 4.449175 
seperate points time 10.534246 
data association time 15.087042 ms 
solver time 13.214676 ms 
mapping solver time 19.051774 ms 
publication time 8.062725 ms 
whole laserOdometry time 61.535625 ms 
 
mapping data assosiation time 28.443531 ms 
mapping solver time 15.078691 ms 
filter time 9.166040 ms 
data association time 15.782852 ms 
data association time 16.205671 ms 
solver time 10.391244 ms 
mapping solver time 19.999624 ms 
sort q time 5.332096 
seperate points time 12.039995 
mapping solver time 13.843269 ms 
filter time 9.364210 ms 
solver time 11.037436 ms 
data association time 15.574312 ms 
publication time 9.646913 ms 
whole laserOdometry time 61.863763 ms 
 
points size 96725 
scan registration time 38.000176 ms *************
data association time 21.573570 ms 
mapping solver time 13.328474 ms 
data association time 17.168706 ms 
map prepare time 4.095822 ms
map corner num 94018  surf num 33169 
points size 96845 
sort q time 5.616480 
seperate points time 13.450046 
mapping data assosiation time 25.635087 ms 
data association time 15.273161 ms 
mapping solver time 17.287897 ms 
data association time 15.854312 ms 
mapping data assosiation time 28.382980 ms 
points size 96970 
prepare time 19.855911 
sort q time 5.616827 
seperate points time 13.751704 
filter time 10.089826 ms 
mapping pub time 3.480855 ms 
whole mapping time 143.486415 ms +++++
scan registration time 40.186165 ms *************
drop lidar frame in mapping for real time performance 
data association time 14.721675 ms 
build tree time 25.785162 ms 
data association time 14.398768 ms 
mapping data assosiation time 26.164102 ms 
points size 97166 
sort q time 6.310937 
seperate points time 15.229246 
mapping data assosiation time 30.803066 ms 
mapping solver time 19.212769 ms 
data association time 23.853853 ms 
map prepare time 3.408764 ms
map corner num 94243  surf num 33273 
points size 97374 
solver time 12.379514 ms 
optimization twice time 77.476851 
sort q time 6.701180 
seperate points time 15.433172 
publication time 12.026284 ms 
whole laserOdometry time 89.532901 ms 
 
scan registration time 40.711082 ms *************
data association time 16.428508 ms 
mapping solver time 27.841547 ms 
data association time 20.418298 ms 
solver time 9.590095 ms 
mapping data assosiation time 32.404497 ms 
optimization twice time 59.508374 
prepare time 20.286287 
sort q time 5.631522 
seperate points time 14.139478 
map prepare time 4.242990 ms
map corner num 94397  surf num 33351 
data association time 14.961178 ms 
build tree time 24.936886 ms 
data association time 15.737788 ms 
mapping data assosiation time 26.477293 ms 
publication time 9.905733 ms 
whole laserOdometry time 61.678189 ms 
 
points size 98002 
sort q time 6.174758 
seperate points time 15.060065 
mapping data assosiation time 29.614588 ms 
data association time 16.777976 ms 
solver time 11.662793 ms 
map prepare time 2.779931 ms
map corner num 94599  surf num 33435 
data association time 15.803593 ms 
optimization twice time 53.298189 
build tree time 27.588473 ms 
points size 98531 
sort q time 6.573427 
seperate points time 15.840604 
mapping solver time 23.081411 ms 
data association time 15.772971 ms 
solver time 11.728751 ms 
mapping data assosiation time 27.737177 ms 
data association time 18.154308 ms 
solver time 9.435848 ms 
publication time 9.525901 ms 
whole laserOdometry time 65.665052 ms 
 
sort q time 5.745240 
seperate points time 13.977597 
build tree time 26.632420 ms 
data association time 15.766858 ms 
solver time 8.872780 ms 
mapping data assosiation time 26.514912 ms 
solver time 5.479445 ms 
publication time 9.923096 ms 
whole laserOdometry time 56.026037 ms 
 
points size 100065 
prepare time 15.693943 
sort q time 6.769778 
seperate points time 15.565462 
mapping solver time 14.808050 ms 
filter time 9.134462 ms 
data association time 16.467476 ms 
solver time 13.652497 ms 
build tree time 26.402579 ms 
data association time 21.219355 ms 
solver time 10.452014 ms 
optimization twice time 62.805333 
mapping data assosiation time 29.473207 ms 
sort q time 5.050357 
seperate points time 12.228706 
data association time 15.436942 ms 
mapping data assosiation time 28.107448 ms 
mapping solver time 18.738814 ms 
solver time 9.139930 ms 
points size 101891 
sort q time 5.686053 
seperate points time 13.702837 
scan registration time 33.770096 ms *************
mapping data assosiation time 27.817132 ms 
solver time 11.483637 ms 
data association time 19.226811 ms 
solver time 9.361319 ms 
publication time 10.359896 ms 
whole laserOdometry time 68.152881 ms 
 
points size 102431 
filter time 10.532670 ms 
data association time 16.785614 ms 
solver time 11.826088 ms 
data association time 16.419948 ms 
mapping data assosiation time 29.738810 ms 
publication time 9.035213 ms 
whole laserOdometry time 63.778739 ms 
 
mapping solver time 24.178602 ms 
sort q time 5.297483 
seperate points time 12.867294 
mapping data assosiation time 28.607374 ms 
mapping solver time 18.763228 ms 
data association time 25.439792 ms 
map prepare time 3.411076 ms
map corner num 95829  surf num 33997 
data association time 16.812250 ms 
solver time 9.797953 ms 
mapping data assosiation time 29.633030 ms 
sort q time 5.504353 
seperate points time 13.768294 
scan registration time 35.186529 ms *************
mapping solver time 24.923424 ms 
solver time 10.413308 ms 
publication time 10.250726 ms 
whole laserOdometry time 64.514140 ms 
 
filter time 10.340333 ms 
sort q time 6.773959 
seperate points time 16.906080 
build tree time 30.211076 ms 
data association time 28.716135 ms 
points size 102104 
mapping solver time 30.665077 ms 
prepare time 16.513246 
sort q time 6.080424 
seperate points time 14.361700 
scan registration time 35.404842 ms *************
solver time 13.573035 ms 
optimization twice time 87.213708 
publication time 12.351867 ms 
whole laserOdometry time 99.586343 ms 
 
mapping solver time 14.413059 ms 
filter time 9.424407 ms 
mapping pub time 10.873798 ms 
whole mapping time 171.097443 ms +++++
solver time 9.195143 ms 
points size 101987 
sort q time 5.888076 
seperate points time 14.975233 
mapping data assosiation time 29.681379 ms 
data association time 16.465670 ms 
mapping solver time 25.461105 ms 
data association time 15.539658 ms 
solver time 10.906185 ms 
publication time 10.112409 ms 
whole laserOdometry time 66.416905 ms 
 
prepare time 21.100418 
filter time 9.837441 ms 
data association time 15.992363 ms 
build tree time 25.920359 ms 
data association time 16.327895 ms 
solver time 12.482767 ms 
points size 101995 
sort q time 5.724646 
seperate points time 13.798264 
mapping data assosiation time 29.203661 ms 
mapping solver time 12.773689 ms 
solver time 11.427949 ms 
data association time 19.766692 ms 
solver time 11.104825 ms 
publication time 9.812387 ms 
whole laserOdometry time 69.817063 ms 
 
prepare time 19.503235 
mapping data assosiation time 28.798859 ms 
mapping solver time 21.572200 ms 
solver time 14.149716 ms 
mapping data assosiation time 30.984894 ms 
data association time 18.241865 ms 
mapping solver time 19.446010 ms 
filter time 10.658210 ms 
sort q time 5.354558 
seperate points time 13.439490 
build tree time 27.659224 ms 
data association time 18.798075 ms 
mapping data assosiation time 30.693142 ms 
mapping solver time 20.969384 ms 
optimization twice time 61.822964 
points size 101986 
mapping data assosiation time 30.763525 ms 
sort q time 6.106823 
seperate points time 15.156067 
mapping solver time 19.493881 ms 
data association time 17.373023 ms 
solver time 11.643795 ms 
data association time 16.051595 ms 
publication time 8.888078 ms 
whole laserOdometry time 62.565610 ms 
 
points size 101906 
sort q time 6.142549 
seperate points time 15.379717 
scan registration time 39.505021 ms *************
mapping solver time 20.736975 ms 
data association time 17.993112 ms 
mapping data assosiation time 28.274188 ms 
mapping solver time 17.209911 ms 
solver time 8.928220 ms 
publication time 10.806154 ms 
whole laserOdometry time 67.987365 ms 
 
points size 101957 
build tree time 25.226343 ms 
sort q time 6.547204 
seperate points time 16.194795 
mapping data assosiation time 32.888389 ms 
solver time 14.457263 ms 
data association time 17.366702 ms 
mapping data assosiation time 30.039972 ms 
points size 101871 
filter time 8.030498 ms 
scan registration time 54.110895 ms *************
build tree time 24.660931 ms 
data association time 25.148914 ms 
solver time 15.440766 ms 
prepare time 17.611781 
data association time 24.761691 ms 
scan registration time 37.260490 ms *************
publication time 10.392716 ms 
whole laserOdometry time 88.624638 ms 
 
mapping solver time 14.013717 ms 
mapping optimization time 118.603633 
add points time 0.567610 ms
map prepare time 3.262188 ms
map corner num 99042  surf num 35638 
build tree time 29.502687 ms 
solver time 11.387234 ms 
sort q time 6.771101 
seperate points time 16.051463 
mapping solver time 21.473467 ms 
solver time 10.712399 ms 
mapping data assosiation time 28.701468 ms 
solver time 9.160387 ms 
mapping solver time 21.798946 ms 
prepare time 19.873575 
map prepare time 3.757747 ms
map corner num 99402  surf num 35762 
scan registration time 40.781454 ms *************
build tree time 28.850835 ms 
solver time 10.972258 ms 
mapping data assosiation time 27.048873 ms 
data association time 16.861505 ms 
publication time 8.718780 ms 
whole laserOdometry time 63.376510 ms 
 
mapping solver time 23.776370 ms 
prepare time 21.788814 
sort q time 6.756595 
seperate points time 16.967014 
mapping solver time 13.728778 ms 
filter time 11.167114 ms 
data association time 15.362462 ms 
solver time 9.005235 ms 
publication time 9.125417 ms 
whole laserOdometry time 63.313765 ms 
 
prepare time 17.381177 
mapping data assosiation time 29.364677 ms 
scan registration time 37.261135 ms *************
mapping solver time 22.028176 ms 
data association time 16.128061 ms 
solver time 11.459322 ms 
data association time 14.965891 ms 
mapping solver time 13.162278 ms 
mapping optimization time 121.422527 
add points time 0.589602 ms
filter time 10.871390 ms 
points size 101052 
sort q time 6.166895 
seperate points time 13.622593 
data association time 16.875613 ms 
solver time 11.206519 ms 
mapping solver time 22.454757 ms 
data association time 20.245505 ms 
solver time 8.559023 ms 
points size 100682 
prepare time 17.165516 
sort q time 5.910913 
seperate points time 13.635683 
scan registration time 35.548300 ms *************
filter time 9.778201 ms 
mapping pub time 1.254636 ms 
whole mapping time 137.108329 ms +++++
drop lidar frame in mapping for real time performance 
data association time 19.751149 ms 
build tree time 26.086260 ms 
data association time 16.777719 ms 
mapping data assosiation time 28.114182 ms 
publication time 8.816946 ms 
whole laserOdometry time 66.339874 ms 
 
prepare time 17.594974 
sort q time 6.055372 
seperate points time 14.047686 
mapping data assosiation time 27.469313 ms 
mapping solver time 16.082254 ms 
mapping optimization time 120.321877 
add points time 0.573919 ms
data association time 15.215984 ms 
mapping pub time 1.477125 ms 
whole mapping time 136.646762 ms +++++
data association time 15.082505 ms 
optimization twice time 53.826211 
points size 99143 
sort q time 5.621315 
seperate points time 12.671549 
mapping solver time 18.976356 ms 
solver time 15.667750 ms 
mapping solver time 19.332011 ms 
publication time 10.104219 ms 
whole laserOdometry time 76.872846 ms 
 
sort q time 6.365691 
seperate points time 15.090010 
build tree time 29.806777 ms 
data association time 16.787232 ms 
solver time 14.173123 ms 
mapping solver time 15.017638 ms 
data association time 15.424164 ms 
publication time 7.901376 ms 
whole laserOdometry time 64.130030 ms 
 
mapping data assosiation time 30.218971 ms 
prepare time 17.797414 
mapping solver time 16.185995 ms 
sort q time 6.180358 
seperate points time 14.092603 
filter time 11.024505 ms 
mapping pub time 1.255867 ms 
whole mapping time 136.054874 ms +++++
map prepare time 2.678665 ms
map corner num 101985  surf num 36907 
data association time 16.031888 ms 
solver time 13.602945 ms 
data association time 14.828125 ms 
solver time 10.653494 ms 
points size 95008 
prepare time 15.725404 
mapping solver time 19.080751 ms 
sort q time 5.728311 
seperate points time 13.141332 
mapping data assosiation time 28.005955 ms 
mapping solver time 20.143490 ms 
filter time 10.842802 ms 
solver time 8.336473 ms 
points size 92160 
sort q time 4.786516 
seperate points time 11.047544 
mapping data assosiation time 27.738382 ms 
data association time 15.119005 ms 
solver time 14.067905 ms 
mapping data assosiation time 23.328919 ms 
solver time 9.326089 ms 
data association time 13.654151 ms 
mapping solver time 16.003980 ms 
mapping data assosiation time 25.404175 ms 
points size 89369 
mapping solver time 17.192883 ms 
filter time 12.531898 ms 
data association time 17.579132 ms 
solver time 13.731928 ms 
data association time 16.172519 ms 
solver time 10.814841 ms 
points size 87970 
sort q time 4.220288 
seperate points time 9.913182 
mapping data assosiation time 24.047343 ms 
data association time 16.668060 ms 
filter time 9.358816 ms 
data association time 16.099398 ms 
solver time 10.957010 ms 
publication time 8.120175 ms 
whole laserOdometry time 66.067587 ms 
 
points size 85690 
sort q time 4.450219 
seperate points time 10.560600 
mapping solver time 18.107936 ms 
data association time 13.457255 ms 
mapping data assosiation time 20.755961 ms 
mapping solver time 15.818778 ms 
filter time 10.772614 ms 
publication time 6.841780 ms 
whole laserOdometry time 57.685265 ms 
 
points size 85401 
sort q time 4.978061 
seperate points time 11.884901 
scan registration time 29.923333 ms *************
data association time 14.100814 ms 
mapping solver time 15.912875 ms 
data association time 14.691106 ms 
solver time 8.415456 ms 
filter time 11.136466 ms 
mapping pub time 13.337744 ms 
whole mapping time 131.646470 ms +++++
[0m[ INFO] [1715773211.654843857]: Received 366502 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715773211.654887133]: Data saved to 1317357705376777.pcd[0m
scan registration time 33.463886 ms *************
build tree time 29.682154 ms 
solver time 11.975994 ms 
data association time 15.413694 ms 
mapping solver time 14.983081 ms 
solver time 10.587155 ms 
optimization twice time 53.654860 
publication time 9.924387 ms 
whole laserOdometry time 63.609910 ms 
 
mapping data assosiation time 27.560528 ms 
mapping solver time 16.728897 ms 
mapping pub time 1.547440 ms 
whole mapping time 130.575474 ms +++++
scan registration time 35.588258 ms *************
build tree time 29.959576 ms 
solver time 14.335532 ms 
mapping data assosiation time 23.301073 ms 
data association time 17.318018 ms 
mapping solver time 16.304701 ms 
publication time 8.123703 ms 
whole laserOdometry time 71.978538 ms 
 
mapping solver time 13.804948 ms 
filter time 11.249446 ms 
data association time 13.705641 ms 
build tree time 29.455028 ms 
publication time 8.681212 ms 
whole laserOdometry time 66.373815 ms 
 
points size 85368 
sort q time 5.037537 
seperate points time 11.416677 
data association time 15.218048 ms 
mapping data assosiation time 24.176919 ms 
mapping optimization time 113.513188 
filter time 10.715088 ms 
solver time 9.428565 ms 
build tree time 28.119686 ms 
points size 86236 
prepare time 17.439938 
sort q time 4.997537 
seperate points time 12.147060 
scan registration time 35.529604 ms *************
mapping data assosiation time 25.403783 ms 
mapping solver time 17.844636 ms 
solver time 12.291327 ms 
mapping data assosiation time 23.918166 ms 
solver time 8.863992 ms 
publication time 9.203198 ms 
whole laserOdometry time 61.589212 ms 
 
drop lidar frame in mapping for real time performance 
points size 88016 
map prepare time 3.416900 ms
map corner num 106975  surf num 38835 
prepare time 15.655260 
sort q time 5.031114 
seperate points time 12.062550 
build tree time 29.986732 ms 
data association time 20.763816 ms 
solver time 15.561046 ms 
data association time 19.769966 ms 
solver time 9.156745 ms 
mapping solver time 12.248144 ms 
mapping optimization time 107.072079 
add points time 0.678984 ms
prepare time 17.919544 
mapping pub time 2.741283 ms 
whole mapping time 126.055163 ms +++++
data association time 14.181448 ms 
solver time 11.323323 ms 
data association time 16.453579 ms 
mapping data assosiation time 24.220900 ms 
solver time 10.596991 ms 
optimization twice time 53.486394 
publication time 8.562337 ms 
whole laserOdometry time 62.135824 ms 
 
mapping solver time 25.098225 ms 
points size 88922 
sort q time 5.203316 
seperate points time 12.300254 
mapping solver time 13.961417 ms 
mapping optimization time 130.851089 
add points time 0.551552 ms
filter time 13.173442 ms 
data association time 14.377630 ms 
solver time 11.017961 ms 
prepare time 15.160556 
sort q time 4.813659 
seperate points time 11.440841 
scan registration time 30.858138 ms *************
data association time 16.413095 ms 
solver time 13.015983 ms 
data association time 13.896825 ms 
mapping solver time 10.949819 ms 
solver time 9.035883 ms 
optimization twice time 53.315041 
mapping optimization time 107.930336 
add points time 0.660432 ms
publication time 7.287191 ms 
whole laserOdometry time 60.620782 ms 
 
map prepare time 3.825534 ms
map corner num 128025  surf num 46326 
points size 90963 
sort q time 4.877564 
seperate points time 11.490097 
build tree time 39.221686 ms 
data association time 15.733361 ms 
solver time 13.391911 ms 
data association time 13.075778 ms 
solver time 8.751339 ms 
mapping data assosiation time 21.340878 ms 
mapping solver time 10.550251 ms 
filter time 14.755749 ms 
sort q time 4.738660 
seperate points time 10.714476 
data association time 14.875592 ms 
solver time 11.356079 ms 
data association time 16.644643 ms 
mapping data assosiation time 31.354752 ms 
publication time 10.777819 ms 
whole laserOdometry time 75.641408 ms 
 
mapping solver time 19.716874 ms 
points size 91967 
mapping data assosiation time 24.719898 ms 
scan registration time 50.681474 ms *************
filter time 13.799803 ms 
data association time 21.278851 ms 
solver time 15.639741 ms 
data association time 15.974374 ms 
solver time 10.661990 ms 
publication time 6.884992 ms 
whole laserOdometry time 71.352765 ms 
 
sort q time 5.915975 
seperate points time 14.117668 
scan registration time 37.808729 ms *************
mapping solver time 10.264236 ms 
data association time 13.143292 ms 
mapping data assosiation time 19.377396 ms 
mapping solver time 10.288679 ms 
data association time 14.971286 ms 
solver time 9.858871 ms 
publication time 14.561633 ms 
whole laserOdometry time 67.565363 ms 
 
sort q time 5.768136 
seperate points time 12.997308 
data association time 13.356024 ms 
solver time 11.824440 ms 
mapping data assosiation time 19.016833 ms 
publication time 7.473990 ms 
whole laserOdometry time 54.783325 ms 
 
points size 88923 
prepare time 15.820463 
filter time 13.079904 ms 
mapping pub time 1.077758 ms 
whole mapping time 125.214393 ms +++++
drop lidar frame in mapping for real time performance 
sort q time 5.036358 
seperate points time 11.531023 
data association time 13.491872 ms 
build tree time 40.463752 ms 
data association time 13.689842 ms 
solver time 9.769262 ms 
mapping solver time 15.508463 ms 
points size 87289 
mapping solver time 7.864526 ms 
filter time 14.669771 ms 
mapping pub time 1.115787 ms 
whole mapping time 126.003457 ms +++++
map prepare time 3.078371 ms
map corner num 129930  surf num 46803 
data association time 13.787853 ms 
solver time 12.397438 ms 
data association time 17.923293 ms 
solver time 7.887893 ms 
publication time 7.484367 ms 
whole laserOdometry time 60.448414 ms 
 
mapping data assosiation time 20.693766 ms 
points size 83689 
mapping solver time 21.470210 ms 
sort q time 5.256805 
seperate points time 12.787250 
mapping data assosiation time 22.007196 ms 
data association time 13.622987 ms 
mapping solver time 12.018720 ms 
mapping optimization time 115.239815 
add points time 0.350449 ms
filter time 13.422526 ms 
data association time 13.747890 ms 
solver time 9.326109 ms 
build tree time 38.602307 ms 
points size 81031 
prepare time 17.624984 
sort q time 5.198304 
seperate points time 12.846614 
scan registration time 34.725319 ms *************
mapping data assosiation time 24.399547 ms 
mapping solver time 13.604427 ms 
mapping data assosiation time 20.292794 ms 
mapping solver time 12.031368 ms 
mapping optimization time 109.736264 
add points time 0.471659 ms
data association time 15.961592 ms 
optimization twice time 52.919892 
points size 81978 
sort q time 4.763855 
seperate points time 11.403870 
build tree time 43.878273 ms 
data association time 12.926706 ms 
solver time 11.821415 ms 
mapping solver time 11.811225 ms 
data association time 13.308655 ms 
solver time 7.630010 ms 
mapping solver time 10.049408 ms 
filter time 14.457730 ms 
prepare time 18.965680 
scan registration time 35.429270 ms *************
data association time 13.726559 ms 
solver time 10.861769 ms 
mapping data assosiation time 17.547716 ms 
mapping solver time 14.049507 ms 
publication time 6.695086 ms 
whole laserOdometry time 54.937633 ms 
 
mapping data assosiation time 22.788098 ms 
points size 90298 
mapping solver time 16.687393 ms 
sort q time 5.298314 
seperate points time 12.541230 
filter time 14.608918 ms 
data association time 14.236924 ms 
solver time 10.935476 ms 
build tree time 35.511643 ms 
solver time 10.054585 ms 
mapping data assosiation time 22.569198 ms 
mapping solver time 19.118228 ms 
sort q time 5.040849 
seperate points time 11.809628 
mapping solver time 13.277323 ms 
data association time 15.236784 ms 
filter time 11.062941 ms 
mapping pub time 1.250012 ms 
whole mapping time 131.738896 ms +++++
data association time 13.190445 ms 
optimization twice time 51.390591 
points size 85497 
prepare time 16.283301 
mapping data assosiation time 19.598829 ms 
mapping solver time 14.189840 ms 
data association time 13.241876 ms 
mapping data assosiation time 15.945450 ms 
mapping solver time 11.540485 ms 
data association time 13.484625 ms 
mapping pub time 1.523542 ms 
whole mapping time 116.049954 ms +++++
publication time 7.110983 ms 
whole laserOdometry time 57.234484 ms 
 
points size 85663 
build tree time 37.620434 ms 
mapping data assosiation time 19.968935 ms 
data association time 13.697904 ms 
solver time 12.003996 ms 
mapping data assosiation time 20.233178 ms 
data association time 13.565354 ms 
publication time 6.080989 ms 
whole laserOdometry time 55.138696 ms 
 
filter time 13.510199 ms 
points size 86923 
sort q time 4.799568 
seperate points time 11.037314 
build tree time 37.790173 ms 
data association time 13.378523 ms 
solver time 8.957647 ms 
data association time 13.948663 ms 
solver time 8.845132 ms 
mapping data assosiation time 19.742707 ms 
mapping solver time 14.701002 ms 
points size 86127 
mapping pub time 11.820128 ms 
whole mapping time 133.230336 ms +++++
[0m[ INFO] [1715773214.277988358]: Received 378269 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715773214.278076468]: Data saved to 1317357707980144.pcd[0m
data association time 19.675248 ms 
solver time 15.158667 ms 
mapping data assosiation time 21.852772 ms 
prepare time 14.320795 
solver time 13.543218 ms 
optimization twice time 78.419804 
mapping solver time 20.387288 ms 
data association time 20.310627 ms 
solver time 12.411327 ms 
filter time 13.640972 ms 
data association time 19.813245 ms 
solver time 8.231610 ms 
points size 83993 
build tree time 42.017425 ms 
mapping data assosiation time 19.741103 ms 
mapping solver time 14.964832 ms 
solver time 13.201593 ms 
mapping data assosiation time 19.348339 ms 
solver time 8.377636 ms 
optimization twice time 50.093804 
filter time 14.854830 ms 
prepare time 14.524979 
sort q time 5.171636 
seperate points time 11.793646 
scan registration time 30.224518 ms *************
build tree time 39.097577 ms 
solver time 13.071422 ms 
data association time 14.811045 ms 
solver time 10.332646 ms 
mapping data assosiation time 21.013923 ms 
prepare time 15.185870 
sort q time 4.493188 
seperate points time 10.762009 
data association time 12.888756 ms 
solver time 13.141744 ms 
data association time 15.771591 ms 
mapping data assosiation time 18.624771 ms 
mapping solver time 16.275881 ms 
points size 88062 
mapping data assosiation time 17.947011 ms 
scan registration time 31.093511 ms *************
mapping pub time 1.515731 ms 
whole mapping time 121.758919 ms +++++
map prepare time 3.704614 ms
map corner num 134723  surf num 48110 
solver time 15.246894 ms 
build tree time 46.605442 ms 
scan registration time 36.294102 ms *************
mapping data assosiation time 19.481106 ms 
data association time 15.466860 ms 
solver time 13.821661 ms 
map prepare time 2.768896 ms
map corner num 135113  surf num 48236 
publication time 9.330010 ms 
whole laserOdometry time 64.560626 ms 
 
build tree time 39.718155 ms 
mapping data assosiation time 20.981751 ms 
mapping solver time 16.249729 ms 
mapping data assosiation time 18.665476 ms 
solver time 9.104413 ms 
publication time 8.739847 ms 
whole laserOdometry time 59.500959 ms 
 
map prepare time 3.168586 ms
map corner num 135547  surf num 48346 
sort q time 4.696289 
seperate points time 11.128209 
scan registration time 29.503195 ms *************
build tree time 38.014230 ms 
solver time 11.944206 ms 
mapping data assosiation time 19.652445 ms 
mapping solver time 14.828856 ms 
publication time 6.352173 ms 
whole laserOdometry time 59.096922 ms 
 
points size 88528 
sort q time 4.376840 
seperate points time 10.402946 
data association time 14.139964 ms 
solver time 12.709472 ms 
data association time 16.053782 ms 
solver time 10.953288 ms 
points size 90495 
mapping solver time 8.464349 ms 
filter time 15.151410 ms 
mapping pub time 1.684423 ms 
whole mapping time 115.078806 ms +++++
map prepare time 3.365005 ms
map corner num 136359  surf num 48634 
data association time 20.506292 ms 
solver time 15.009877 ms 
build tree time 46.929860 ms 
mapping data assosiation time 21.111975 ms 
mapping solver time 12.290448 ms 
scan registration time 32.936553 ms *************
mapping data assosiation time 16.940352 ms 
mapping solver time 11.727144 ms 
data association time 18.491015 ms 
map prepare time 3.199322 ms
map corner num 136712  surf num 48779 
data association time 18.445139 ms 
solver time 11.808053 ms 
prepare time 18.244795 
sort q time 4.431716 
seperate points time 9.972396 
data association time 20.526146 ms 
solver time 13.819878 ms 
mapping data assosiation time 21.522561 ms 
add points time 0.481492 ms
solver time 8.430289 ms 
points size 93216 
sort q time 4.600923 
seperate points time 10.773916 
scan registration time 29.770274 ms *************
mapping data assosiation time 19.960796 ms 
mapping solver time 11.630347 ms 
solver time 11.458136 ms 
mapping data assosiation time 17.216697 ms 
mapping solver time 8.964346 ms 
publication time 6.981508 ms 
whole laserOdometry time 57.652460 ms 
 
mapping pub time 1.128788 ms 
whole mapping time 114.446057 ms +++++
sort q time 4.725288 
seperate points time 10.973361 
build tree time 41.389669 ms 
data association time 20.718389 ms 
mapping data assosiation time 22.078784 ms 
solver time 18.120517 ms 
mapping solver time 16.053304 ms 
solver time 9.413448 ms 
prepare time 16.937202 
sort q time 4.805427 
seperate points time 11.362116 
map prepare time 3.276007 ms
map corner num 137762  surf num 49077 
data association time 13.813771 ms 
solver time 13.759616 ms 
build tree time 39.235433 ms 
data association time 15.302174 ms 
solver time 10.501244 ms 
optimization twice time 54.375988 
points size 90760 
mapping solver time 34.049518 ms 
sort q time 5.060503 
seperate points time 11.386461 
mapping data assosiation time 22.295900 ms 
data association time 15.384084 ms 
solver time 12.051495 ms 
mapping pub time 1.265605 ms 
whole mapping time 147.431848 ms +++++
data association time 14.603708 ms 
solver time 8.970741 ms 
points size 90446 
prepare time 15.326940 
scan registration time 29.894495 ms *************
mapping data assosiation time 20.198857 ms 
data association time 13.640886 ms 
solver time 12.751605 ms 
mapping data assosiation time 18.664074 ms 
data association time 12.861616 ms 
solver time 12.177032 ms 
filter time 13.681602 ms 
points size 92193 
sort q time 4.178183 
seperate points time 9.582122 
build tree time 38.263987 ms 
mapping data assosiation time 17.785625 ms 
solver time 11.188210 ms 
data association time 13.538299 ms 
solver time 8.200972 ms 
optimization twice time 47.432094 
mapping data assosiation time 18.905655 ms 
mapping optimization time 105.925602 
points size 93659 
sort q time 5.107976 
seperate points time 11.654259 
build tree time 45.110414 ms 
solver time 13.134018 ms 
mapping data assosiation time 23.014964 ms 
data association time 22.170924 ms 
solver time 10.079732 ms 
prepare time 17.830822 
mapping data assosiation time 20.689079 ms 
mapping solver time 11.878973 ms 
filter time 14.963990 ms 
data association time 21.611467 ms 
solver time 15.559261 ms 
data association time 21.010180 ms 
points size 96770 
publication time 9.237567 ms 
whole laserOdometry time 82.443071 ms 
 
scan registration time 36.822422 ms *************
mapping solver time 14.706732 ms 
mapping data assosiation time 23.445053 ms 
data association time 23.484443 ms 
solver time 13.069037 ms 
filter time 14.584814 ms 
solver time 11.992321 ms 
optimization twice time 69.675549 
points size 97210 
sort q time 5.652560 
seperate points time 12.927843 
build tree time 41.365172 ms 
data association time 15.856880 ms 
solver time 10.723608 ms 
data association time 13.993883 ms 
publication time 7.474294 ms 
whole laserOdometry time 57.827260 ms 
 
filter time 11.777670 ms 
sort q time 5.523276 
seperate points time 12.701868 
data association time 13.076074 ms 
solver time 11.179770 ms 
mapping data assosiation time 18.770904 ms 
solver time 8.844819 ms 
mapping data assosiation time 19.904383 ms 
mapping optimization time 98.435612 
filter time 14.768819 ms 
data association time 14.937544 ms 
build tree time 38.218012 ms 
data association time 14.873336 ms 
solver time 6.443679 ms 
optimization twice time 50.350962 
mapping data assosiation time 20.959916 ms 
mapping solver time 13.197313 ms 
points size 96392 
sort q time 5.054027 
seperate points time 12.048416 
filter time 11.718059 ms 
mapping pub time 17.470360 ms 
whole mapping time 134.697800 ms +++++
[0m[ INFO] [1715773216.906001175]: Received 388893 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715773216.906047350]: Data saved to 1317357710681596.pcd[0m
solver time 10.936681 ms 
data association time 13.631916 ms 
publication time 8.926393 ms 
whole laserOdometry time 57.791689 ms 
 
points size 96117 
mapping data assosiation time 22.818172 ms 
mapping solver time 12.712528 ms 
mapping data assosiation time 21.454248 ms 
mapping solver time 15.522985 ms 
mapping optimization time 118.244900 
add points time 0.438234 ms
filter time 14.027921 ms 
solver time 12.972207 ms 
optimization twice time 62.981110 
sort q time 5.431935 
seperate points time 12.555383 
build tree time 41.762258 ms 
data association time 13.573648 ms 
mapping solver time 15.727040 ms 
solver time 6.743708 ms 
mapping data assosiation time 21.153736 ms 
mapping solver time 14.040219 ms 
prepare time 15.315445 
sort q time 5.002780 
seperate points time 11.836349 
scan registration time 31.404870 ms *************
data association time 14.769067 ms 
build tree time 39.064747 ms 
data association time 14.441464 ms 
solver time 9.763922 ms 
points size 87594 
sort q time 4.280327 
seperate points time 10.255787 
scan registration time 28.831532 ms *************
mapping solver time 13.295770 ms 
mapping optimization time 107.582151 
add points time 0.399259 ms
filter time 12.679549 ms 
mapping pub time 1.666871 ms 
whole mapping time 125.019974 ms +++++
map prepare time 3.254015 ms
map corner num 135992  surf num 46250 
solver time 11.304292 ms 
data association time 19.916762 ms 
solver time 12.365716 ms 
publication time 8.643692 ms 
whole laserOdometry time 73.905197 ms 
 
sort q time 5.561448 
seperate points time 12.565757 
mapping data assosiation time 17.953112 ms 
mapping solver time 10.511498 ms 
filter time 12.245324 ms 
solver time 6.231259 ms 
points size 87214 
sort q time 5.193817 
seperate points time 11.936962 
mapping data assosiation time 20.080020 ms 
mapping solver time 15.856268 ms 
solver time 13.513871 ms 
mapping data assosiation time 22.185019 ms 
mapping solver time 11.715943 ms 
solver time 11.524500 ms 
points size 86716 
sort q time 4.951841 
seperate points time 11.331011 
build tree time 41.760996 ms 
data association time 21.142298 ms 
mapping data assosiation time 21.819175 ms 
mapping solver time 16.652895 ms 
data association time 20.907683 ms 
solver time 11.263773 ms 
points size 86691 
sort q time 5.427336 
seperate points time 12.410619 
data association time 14.359585 ms 
build tree time 39.656381 ms 
publication time 5.861358 ms 
whole laserOdometry time 50.750943 ms 
 
mapping solver time 13.567709 ms 
sort q time 4.301913 
seperate points time 10.230601 
mapping solver time 13.851608 ms 
data association time 14.980784 ms 
solver time 9.178457 ms 
data association time 13.305956 ms 
solver time 9.572533 ms 
mapping data assosiation time 21.971272 ms 
sort q time 4.856380 
seperate points time 11.649954 
mapping data assosiation time 19.162879 ms 
mapping solver time 11.527137 ms 
filter time 13.180436 ms 
solver time 10.031210 ms 
points size 85488 
prepare time 16.925014 
build tree time 46.123379 ms 
mapping data assosiation time 23.888669 ms 
data association time 25.409538 ms 
solver time 14.494915 ms 
data association time 17.767489 ms 
filter time 16.144671 ms 
mapping pub time 1.046407 ms 
whole mapping time 144.253816 ms +++++
drop lidar frame in mapping for real time performance 
sort q time 5.528976 
seperate points time 12.816669 
data association time 13.207834 ms 
solver time 9.080419 ms 
mapping data assosiation time 18.222100 ms 
solver time 5.718300 ms 
points size 87601 
sort q time 4.464597 
seperate points time 10.230427 
filter time 13.152312 ms 
data association time 15.034827 ms 
solver time 11.387404 ms 
data association time 12.462534 ms 
build tree time 39.828040 ms 
mapping data assosiation time 20.453552 ms 
points size 88511 
prepare time 15.635548 
sort q time 4.879723 
seperate points time 11.705160 
scan registration time 31.790479 ms *************
mapping data assosiation time 19.654465 ms 
data association time 14.627670 ms 
solver time 11.261048 ms 
map prepare time 2.531547 ms
map corner num 139263  surf num 47255 
data association time 15.044979 ms 
optimization twice time 51.103753 
points size 89891 
sort q time 4.474097 
seperate points time 10.389046 
mapping solver time 12.624579 ms 
data association time 12.673242 ms 
solver time 10.873027 ms 
mapping solver time 9.418516 ms 
solver time 10.614642 ms 
map prepare time 4.063169 ms
map corner num 139655  surf num 47363 
points size 89689 
prepare time 15.960288 
sort q time 4.566006 
seperate points time 10.917878 
mapping data assosiation time 18.874893 ms 
mapping solver time 15.290211 ms 
data association time 15.035490 ms 
solver time 11.235655 ms 
filter time 13.791300 ms 
sort q time 4.377729 
seperate points time 10.347928 
scan registration time 29.758004 ms *************
data association time 12.172409 ms 
build tree time 36.756572 ms 
solver time 9.206273 ms 
mapping data assosiation time 18.755829 ms 
mapping solver time 13.796160 ms 
solver time 10.425828 ms 
optimization twice time 46.464108 
mapping data assosiation time 20.211395 ms 
points size 88040 
mapping solver time 9.897308 ms 
mapping optimization time 100.831120 
add points time 0.480918 ms
prepare time 14.921658 
filter time 14.515362 ms 
data association time 12.429558 ms 
solver time 12.817118 ms 
data association time 15.696370 ms 
solver time 10.526818 ms 
mapping solver time 16.466797 ms 
points size 87384 
mapping data assosiation time 17.681158 ms 
mapping solver time 13.365973 ms 
filter time 11.658831 ms 
map prepare time 4.428956 ms
map corner num 140766  surf num 47622 
solver time 13.159016 ms 
data association time 14.278845 ms 
solver time 9.467163 ms 
points size 85131 
sort q time 5.258800 
seperate points time 11.709984 
mapping solver time 14.068355 ms 
scan registration time 30.014790 ms *************
mapping data assosiation time 18.800229 ms 
mapping solver time 12.397024 ms 
filter time 12.390757 ms 
mapping pub time 1.205410 ms 
whole mapping time 125.916084 ms +++++
map prepare time 3.427098 ms
map corner num 141083  surf num 47701 
publication time 7.254117 ms 
whole laserOdometry time 55.516047 ms 
 
points size 82258 
build tree time 40.851781 ms 
scan registration time 26.124802 ms *************
mapping data assosiation time 19.145350 ms 
mapping solver time 17.469340 ms 
solver time 14.785283 ms 
data association time 14.577363 ms 
mapping solver time 12.313174 ms 
filter time 14.502092 ms 
sort q time 5.300659 
seperate points time 12.326679 
build tree time 39.616865 ms 
solver time 8.101183 ms 
data association time 12.495039 ms 
optimization twice time 45.202775 
mapping data assosiation time 18.246133 ms 
mapping solver time 11.048399 ms 
filter time 11.741893 ms 
data association time 19.192610 ms 
solver time 14.768477 ms 
build tree time 46.788667 ms 
data association time 21.134867 ms 
solver time 12.699410 ms 
publication time 7.170074 ms 
whole laserOdometry time 76.144813 ms 
 
sort q time 4.060565 
seperate points time 9.411508 
mapping solver time 16.416436 ms 
mapping optimization time 124.868667 
add points time 0.579085 ms
data association time 19.570875 ms 
solver time 11.734192 ms 
map prepare time 3.150600 ms
map corner num 142136  surf num 48020 
data association time 19.985046 ms 
solver time 12.083614 ms 
publication time 7.397814 ms 
whole laserOdometry time 71.910788 ms 
 
points size 83838 
sort q time 4.733510 
seperate points time 11.041039 
mapping solver time 11.115126 ms 
data association time 14.321222 ms 
mapping data assosiation time 17.207551 ms 
data association time 13.485603 ms 
solver time 9.478922 ms 
mapping pub time 19.452948 ms 
whole mapping time 140.861881 ms +++++
points size 84979 
sort q time 4.102800 
seperate points time 9.589957 
build tree time 38.870352 ms 
solver time 8.944911 ms 
mapping data assosiation time 18.638588 ms 
mapping solver time 14.487307 ms 
mapping data assosiation time 18.547908 ms 
mapping optimization time 101.829148 
prepare time 14.720370 
sort q time 5.218244 
seperate points time 12.171505 
scan registration time 30.441001 ms *************
data association time 12.918401 ms 
build tree time 36.474340 ms 
data association time 12.683603 ms 
optimization twice time 48.371403 
mapping solver time 15.196317 ms 
mapping data assosiation time 17.537979 ms 
mapping solver time 14.037708 ms 
filter time 16.024344 ms 
data association time 13.441853 ms 
solver time 13.471541 ms 
data association time 13.009415 ms 
solver time 9.193824 ms 
mapping data assosiation time 19.520192 ms 
points size 84259 
sort q time 3.874604 
seperate points time 8.974064 
mapping data assosiation time 19.841184 ms 
mapping solver time 13.080313 ms 
filter time 13.557075 ms 
data association time 19.401019 ms 
solver time 11.997597 ms 
points size 83773 
sort q time 4.742695 
seperate points time 10.935330 
data association time 13.450481 ms 
mapping data assosiation time 18.509492 ms 
mapping solver time 12.308524 ms 
mapping optimization time 104.432038 
add points time 0.339552 ms
solver time 9.702627 ms 
points size 83822 
build tree time 39.876598 ms 
scan registration time 30.721617 ms *************
mapping data assosiation time 22.444284 ms 
data association time 22.176866 ms 
mapping solver time 14.285143 ms 
solver time 12.321785 ms 
publication time 10.176921 ms 
whole laserOdometry time 75.580687 ms 
 
sort q time 4.877740 
seperate points time 11.749769 
build tree time 42.098330 ms 
solver time 14.857845 ms 
data association time 15.337638 ms 
mapping solver time 14.560169 ms 
publication time 7.080985 ms 
whole laserOdometry time 60.895223 ms 
 
points size 84009 
sort q time 4.641612 
seperate points time 10.648184 
scan registration time 28.355654 ms *************
filter time 12.925379 ms 
mapping pub time 1.094802 ms 
whole mapping time 122.851690 ms +++++
data association time 16.849613 ms 
solver time 12.884699 ms 
data association time 14.331206 ms 
solver time 10.463024 ms 
mapping solver time 19.212619 ms 
prepare time 18.502458 
mapping data assosiation time 21.032876 ms 
mapping solver time 13.838028 ms 
filter time 12.474565 ms 
data association time 11.933348 ms 
solver time 9.201917 ms 
build tree time 38.984947 ms 
points size 83815 
sort q time 4.575006 
seperate points time 10.785784 
data association time 14.440972 ms 
solver time 10.585616 ms 
data association time 14.345865 ms 
mapping pub time 1.037041 ms 
whole mapping time 123.860295 ms +++++
publication time 6.252404 ms 
whole laserOdometry time 55.838441 ms 
 
points size 84092 
sort q time 4.364906 
seperate points time 10.348550 
mapping data assosiation time 18.689568 ms 
mapping solver time 15.612478 ms 
data association time 19.515981 ms 
solver time 14.233887 ms 
data association time 20.264015 ms 
solver time 11.970461 ms 
map prepare time 3.109834 ms
map corner num 145867  surf num 49018 
sort q time 4.240183 
seperate points time 9.821779 
build tree time 39.630681 ms 
data association time 13.728374 ms 
mapping data assosiation time 17.535657 ms 
mapping solver time 11.469638 ms 
publication time 5.650566 ms 
whole laserOdometry time 47.703478 ms 
 
mapping data assosiation time 18.618704 ms 
mapping optimization time 97.504184 
points size 86645 
sort q time 5.027936 
seperate points time 11.883589 
data association time 11.826335 ms 
build tree time 37.638635 ms 
mapping data assosiation time 18.810486 ms 
solver time 9.062269 ms 
mapping data assosiation time 18.234459 ms 
mapping solver time 10.872490 ms 
scan registration time 30.591783 ms *************
map prepare time 2.686758 ms
map corner num 146501  surf num 49272 
data association time 12.550920 ms 
solver time 10.343089 ms 
data association time 12.472238 ms 
solver time 11.311032 ms 
optimization twice time 47.695190 
mapping data assosiation time 19.432220 ms 
mapping solver time 15.286101 ms 
sort q time 5.072877 
seperate points time 11.664507 
mapping solver time 11.081624 ms 
data association time 13.558408 ms 
map prepare time 2.755755 ms
map corner num 146934  surf num 49442 
data association time 13.787851 ms 
solver time 9.190585 ms 
publication time 7.261140 ms 
whole laserOdometry time 56.833395 ms 
 
build tree time 45.332723 ms 
points size 86152 
mapping data assosiation time 19.088739 ms 
mapping solver time 18.427975 ms 
data association time 12.403226 ms 
solver time 10.610730 ms 
mapping solver time 11.413334 ms 
mapping optimization time 113.210542 
add points time 0.351801 ms
filter time 14.854191 ms 
publication time 6.282202 ms 
whole laserOdometry time 58.665362 ms 
 
points size 85610 
sort q time 4.947071 
seperate points time 11.805003 
scan registration time 33.057661 ms *************
data association time 13.153980 ms 
solver time 12.620621 ms 
data association time 14.101409 ms 
mapping data assosiation time 17.505203 ms 
publication time 6.177130 ms 
whole laserOdometry time 55.829230 ms 
 
filter time 13.287295 ms 
mapping pub time 1.439431 ms 
whole mapping time 126.184916 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.188257 ms
map corner num 147652  surf num 49666 
sort q time 4.873694 
seperate points time 11.582738 
build tree time 41.804054 ms 
solver time 10.917043 ms 
data association time 15.601468 ms 
publication time 5.529326 ms 
whole laserOdometry time 54.197924 ms 
 
mapping data assosiation time 18.098181 ms 
points size 87488 
sort q time 4.403656 
seperate points time 10.630789 
map prepare time 3.485217 ms
map corner num 148015  surf num 49790 
data association time 12.117984 ms 
solver time 10.198354 ms 
build tree time 49.342434 ms 
mapping data assosiation time 18.670878 ms 
mapping solver time 13.856670 ms 
mapping data assosiation time 18.277534 ms 
data association time 13.915688 ms 
solver time 11.757418 ms 
mapping pub time 1.252214 ms 
whole mapping time 133.889687 ms +++++
solver time 7.903013 ms 
points size 89610 
sort q time 4.899742 
seperate points time 11.445920 
mapping solver time 12.933162 ms 
data association time 15.248737 ms 
solver time 8.110874 ms 
mapping data assosiation time 18.723057 ms 
data association time 13.665890 ms 
solver time 8.828606 ms 
map prepare time 3.782348 ms
map corner num 148873  surf num 50177 
points size 91605 
sort q time 4.788380 
seperate points time 11.002685 
mapping data assosiation time 20.101764 ms 
mapping solver time 12.977770 ms 
data association time 12.912822 ms 
solver time 8.971049 ms 
publication time 7.652489 ms 
whole laserOdometry time 57.021232 ms 
 
filter time 14.365906 ms 
sort q time 4.806625 
seperate points time 10.870432 
scan registration time 31.034774 ms *************
data association time 13.886221 ms 
mapping solver time 14.275875 ms 
solver time 8.702636 ms 
mapping solver time 13.365501 ms 
points size 94430 
filter time 7.838740 ms 
mapping pub time 1.148076 ms 
whole mapping time 107.593197 ms +++++
prepare time 16.059505 
map prepare time 3.040268 ms
map corner num 89004  surf num 31351 
scan registration time 31.370221 ms *************
build tree time 24.847104 ms 
data association time 13.609289 ms 
solver time 8.994042 ms 
mapping data assosiation time 19.625132 ms 
mapping solver time 13.001276 ms 
solver time 5.997473 ms 
optimization twice time 44.444058 
mapping solver time 10.338857 ms 
points size 96158 
mapping pub time 11.108705 ms 
whole mapping time 112.853795 ms +++++
[0m[ INFO] [1715773222.062510457]: Received 409191 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715773222.062550139]: Data saved to 1317357715874385.pcd[0m
build tree time 29.472490 ms 
data association time 22.117199 ms 
solver time 13.525571 ms 
mapping data assosiation time 24.703030 ms 
data association time 22.359178 ms 
solver time 13.317677 ms 
publication time 11.042904 ms 
whole laserOdometry time 83.532816 ms 
 
sort q time 5.370768 
seperate points time 14.506014 
filter time 9.627567 ms 
mapping pub time 1.611646 ms 
whole mapping time 125.376557 ms +++++
map prepare time 3.026956 ms
map corner num 89976  surf num 31697 
solver time 14.683685 ms 
data association time 25.770957 ms 
points size 95570 
mapping solver time 16.856435 ms 
mapping data assosiation time 22.291168 ms 
data association time 17.802519 ms 
solver time 11.092564 ms 
data association time 17.081872 ms 
solver time 10.709700 ms 
points size 94701 
mapping data assosiation time 23.549613 ms 
data association time 16.135578 ms 
mapping solver time 10.599476 ms 
filter time 8.801104 ms 
publication time 7.236744 ms 
whole laserOdometry time 57.055094 ms 
 
points size 94915 
prepare time 15.424894 
build tree time 26.091689 ms 
sort q time 5.893668 
seperate points time 13.298400 
mapping data assosiation time 22.974115 ms 
mapping solver time 15.724399 ms 
data association time 22.085069 ms 
solver time 15.503189 ms 
mapping solver time 10.824442 ms 
filter time 9.484977 ms 
solver time 11.514636 ms 
publication time 9.154710 ms 
whole laserOdometry time 87.757850 ms 
 
build tree time 30.042918 ms 
mapping data assosiation time 22.115497 ms 
data association time 22.907337 ms 
solver time 15.536630 ms 
mapping data assosiation time 21.199401 ms 
data association time 22.128606 ms 
solver time 11.586986 ms 
map prepare time 4.628218 ms
map corner num 91799  surf num 32481 
scan registration time 36.281214 ms *************
build tree time 24.110136 ms 
data association time 21.856629 ms 
mapping data assosiation time 22.191070 ms 
solver time 15.689846 ms 
mapping solver time 15.040932 ms 
data association time 22.085745 ms 
solver time 11.379696 ms 
mapping optimization time 99.050393 
drop lidar frame in mapping for real time performance 
data association time 22.475890 ms 
solver time 20.908150 ms 
mapping data assosiation time 22.738390 ms 
data association time 25.031525 ms 
solver time 16.093995 ms 
publication time 10.612232 ms 
whole laserOdometry time 96.171754 ms 
 
scan registration time 47.962223 ms *************
mapping solver time 13.397917 ms 
mapping optimization time 120.056635 
add points time 0.653673 ms
map prepare time 2.679843 ms
map corner num 92767  surf num 32884 
solver time 10.912215 ms 
solver time 8.086283 ms 
sort q time 6.558072 
seperate points time 16.170558 
mapping solver time 20.020121 ms 
scan registration time 37.814151 ms *************
mapping data assosiation time 29.909807 ms 
mapping solver time 15.063279 ms 
mapping pub time 1.274188 ms 
whole mapping time 132.385947 ms +++++
solver time 8.565096 ms 
build tree time 27.775257 ms 
scan registration time 33.057202 ms *************
mapping data assosiation time 22.170833 ms 
mapping solver time 16.135221 ms 
solver time 11.297000 ms 
mapping solver time 11.902964 ms 
filter time 10.751587 ms 
prepare time 20.105046 
build tree time 26.211698 ms 
sort q time 5.883801 
seperate points time 13.879087 
scan registration time 38.293837 ms *************
mapping data assosiation time 22.916081 ms 
solver time 13.940289 ms 
data association time 21.991501 ms 
publication time 9.302257 ms 
whole laserOdometry time 67.519699 ms 
 
prepare time 18.339342 
map prepare time 3.843355 ms
map corner num 94187  surf num 33363 
build tree time 24.662869 ms 
solver time 10.795883 ms 
mapping data assosiation time 22.717927 ms 
data association time 13.378856 ms 
mapping solver time 18.320352 ms 
points size 98896 
mapping solver time 11.654212 ms 
filter time 8.781761 ms 
mapping pub time 1.219011 ms 
whole mapping time 116.171409 ms +++++
map prepare time 3.622859 ms
map corner num 94659  surf num 33557 
mapping solver time 11.083825 ms 
filter time 9.449407 ms 
solver time 10.353242 ms 
build tree time 25.579099 ms 
solver time 8.696864 ms 
publication time 7.011643 ms 
whole laserOdometry time 55.550405 ms 
 
points size 96746 
sort q time 4.972682 
seperate points time 11.664598 
mapping data assosiation time 20.967227 ms 
mapping solver time 11.792567 ms 
filter time 9.842760 ms 
solver time 14.266660 ms 
data association time 14.035317 ms 
publication time 7.039067 ms 
whole laserOdometry time 60.001138 ms 
 
mapping data assosiation time 20.903383 ms 
mapping solver time 16.778327 ms 
mapping data assosiation time 20.839063 ms 
solver time 11.663120 ms 
filter time 9.599095 ms 
solver time 8.129794 ms 
build tree time 27.396656 ms 
sort q time 5.692194 
seperate points time 12.843166 
mapping solver time 17.375131 ms 
solver time 10.740866 ms 
mapping data assosiation time 21.474392 ms 
mapping solver time 10.652844 ms 
mapping optimization time 101.097990 
add points time 0.389094 ms
solver time 8.633438 ms 
optimization twice time 52.862034 
publication time 7.536350 ms 
whole laserOdometry time 60.418239 ms 
 
points size 93630 
build tree time 27.221770 ms 
scan registration time 30.393663 ms *************
mapping data assosiation time 22.364734 ms 
solver time 11.503369 ms 
mapping solver time 16.552320 ms 
data association time 14.573381 ms 
mapping data assosiation time 21.461580 ms 
publication time 7.049107 ms 
whole laserOdometry time 57.289815 ms 
 
filter time 7.588301 ms 
points size 92587 
sort q time 4.709821 
seperate points time 11.139985 
mapping data assosiation time 20.325074 ms 
solver time 10.970306 ms 
mapping solver time 21.406527 ms 
solver time 8.711990 ms 
mapping solver time 11.105915 ms 
prepare time 15.981471 
sort q time 4.205384 
seperate points time 10.042669 
build tree time 27.178065 ms 
data association time 14.557082 ms 
solver time 11.937810 ms 
mapping data assosiation time 22.673115 ms 
solver time 8.576940 ms 
mapping data assosiation time 20.951800 ms 
points size 91820 
mapping solver time 14.598538 ms 
sort q time 5.861527 
seperate points time 13.251874 
map prepare time 2.655861 ms
map corner num 98068  surf num 34659 
data association time 15.340533 ms 
build tree time 26.632133 ms 
mapping data assosiation time 27.508390 ms 
optimization twice time 62.510426 
points size 92240 
mapping data assosiation time 28.127479 ms 
mapping solver time 17.317336 ms 
filter time 10.512425 ms 
data association time 12.747780 ms 
solver time 8.579191 ms 
points size 92995 
mapping data assosiation time 24.210564 ms 
sort q time 5.326004 
seperate points time 12.639858 
scan registration time 31.688938 ms *************
data association time 12.923044 ms 
solver time 11.640715 ms 
mapping data assosiation time 22.517487 ms 
data association time 13.709503 ms 
optimization twice time 48.427042 
mapping pub time 14.081573 ms 
whole mapping time 137.490594 ms +++++
points size 93630 
sort q time 5.540380 
seperate points time 12.671598 
mapping data assosiation time 25.150093 ms 
mapping solver time 20.319555 ms 
solver time 9.725946 ms 
publication time 10.145861 ms 
whole laserOdometry time 62.328124 ms 
 
points size 94324 
mapping solver time 16.730132 ms 
filter time 9.823342 ms 
data association time 14.918431 ms 
build tree time 26.184111 ms 
solver time 12.774099 ms 
mapping data assosiation time 25.525686 ms 
solver time 10.071752 ms 
points size 94858 
sort q time 4.915030 
seperate points time 11.717846 
mapping solver time 16.266114 ms 
filter time 10.551067 ms 
data association time 15.419210 ms 
solver time 8.584795 ms 
publication time 8.664212 ms 
whole laserOdometry time 59.908741 ms 
 
points size 95193 
prepare time 17.964766 
mapping data assosiation time 28.099354 ms 
sort q time 5.050317 
seperate points time 12.238139 
mapping solver time 20.881970 ms 
data association time 17.065792 ms 
solver time 13.090709 ms 
mapping solver time 13.607733 ms 
filter time 10.042598 ms 
publication time 8.368257 ms 
whole laserOdometry time 70.439802 ms 
 
points size 95892 
build tree time 34.431901 ms 
sort q time 5.788703 
seperate points time 14.384246 
mapping data assosiation time 26.812766 ms 
solver time 14.114426 ms 
data association time 14.832269 ms 
solver time 11.294309 ms 
publication time 10.556439 ms 
whole laserOdometry time 65.390572 ms 
 
prepare time 18.479870 
mapping solver time 18.612998 ms 
mapping optimization time 130.023727 
add points time 0.575748 ms
filter time 10.288661 ms 
data association time 13.366203 ms 
solver time 14.744865 ms 
mapping data assosiation time 25.438786 ms 
solver time 10.109656 ms 
prepare time 19.108113 
sort q time 5.576909 
seperate points time 13.485199 
data association time 14.765338 ms 
filter time 10.745200 ms 
data association time 16.509254 ms 
solver time 13.379925 ms 
publication time 10.365732 ms 
whole laserOdometry time 73.197673 ms 
 
mapping data assosiation time 26.200068 ms 
mapping solver time 21.291592 ms 
data association time 24.344204 ms 
mapping data assosiation time 29.481723 ms 
solver time 15.150677 ms 
mapping solver time 24.371704 ms 
prepare time 15.720782 
map prepare time 3.069257 ms
map corner num 103073  surf num 36480 
build tree time 32.257188 ms 
data association time 25.483861 ms 
solver time 17.560176 ms 
points size 99528 
data association time 25.361411 ms 
solver time 12.465197 ms 
optimization twice time 82.069057 
sort q time 6.147721 
seperate points time 14.226789 
mapping data assosiation time 34.164951 ms 
data association time 26.504078 ms 
mapping solver time 22.940355 ms 
filter time 10.822016 ms 
data association time 24.907970 ms 
solver time 11.096051 ms 
sort q time 6.097205 
seperate points time 14.428901 
mapping data assosiation time 28.593220 ms 
data association time 24.317602 ms 
solver time 15.439298 ms 
mapping data assosiation time 26.482253 ms 
data association time 24.163549 ms 
prepare time 17.559208 
sort q time 5.820093 
seperate points time 14.471835 
build tree time 37.846539 ms 
data association time 24.404411 ms 
solver time 15.508704 ms 
mapping data assosiation time 28.939491 ms 
data association time 24.065166 ms 
points size 100448 
publication time 10.602972 ms 
whole laserOdometry time 87.345951 ms 
 
mapping data assosiation time 31.693082 ms 
mapping solver time 14.294346 ms 
filter time 14.411529 ms 
data association time 19.204661 ms 
solver time 10.369954 ms 
publication time 10.207595 ms 
whole laserOdometry time 84.477292 ms 
 
sort q time 5.857463 
seperate points time 14.698985 
mapping data assosiation time 29.260608 ms 
data association time 16.124482 ms 
mapping solver time 16.429879 ms 
solver time 14.128199 ms 
data association time 17.229333 ms 
solver time 11.585172 ms 
publication time 8.618667 ms 
whole laserOdometry time 68.667010 ms 
 
filter time 13.932948 ms 
prepare time 16.718436 
map prepare time 3.152177 ms
map corner num 137651  surf num 48636 
scan registration time 35.276230 ms *************
data association time 24.667870 ms 
build tree time 46.855751 ms 
solver time 16.333782 ms 
data association time 28.413470 ms 
points size 100493 
mapping solver time 29.810205 ms 
mapping data assosiation time 34.133308 ms 
solver time 16.486674 ms 
mapping optimization time 172.262470 
filter time 14.312267 ms 
mapping pub time 1.837967 ms 
whole mapping time 192.415656 ms +++++
publication time 10.907412 ms 
whole laserOdometry time 94.533026 ms 
 
build tree time 42.381250 ms 
data association time 16.111688 ms 
solver time 11.130721 ms 
mapping data assosiation time 29.143993 ms 
solver time 8.025826 ms 
mapping solver time 21.176942 ms 
points size 99733 
sort q time 5.460540 
seperate points time 13.432450 
mapping data assosiation time 28.568217 ms 
scan registration time 33.984809 ms *************
mapping solver time 21.026044 ms 
mapping optimization time 145.192498 
add points time 0.727875 ms
filter time 14.315339 ms 
solver time 19.160254 ms 
data association time 25.383148 ms 
prepare time 19.113222 publication time 12.150290 ms 
whole laserOdometry time 96.189126 ms 
 
sort q time 6.478832 
seperate points time 16.193635 
scan registration time 40.344274 ms *************
mapping solver time 26.906458 ms 
data association time 22.606175 ms 
solver time 22.001675 ms 
mapping data assosiation time 33.651926 ms 
data association time 19.730878 ms 
mapping solver time 18.577437 ms 
publication time 8.713558 ms 
whole laserOdometry time 87.116416 ms 
 
data association time 16.871478 ms 
solver time 15.890103 ms 
build tree time 38.295785 ms 
solver time 10.224840 ms 
prepare time 13.828932 
sort q time 6.284488 
seperate points time 15.263497 
mapping solver time 24.574920 ms 
data association time 17.483815 ms 
solver time 11.284383 ms 
mapping data assosiation time 29.359906 ms 
data association time 15.969174 ms 
mapping solver time 18.356738 ms 
solver time 8.582485 ms 
optimization twice time 54.312791 
mapping optimization time 142.166572 
add points time 0.710908 ms
mapping pub time 1.702271 ms 
whole mapping time 162.039247 ms +++++
points size 97617 
sort q time 5.715106 
seperate points time 13.555337 
build tree time 36.550701 ms 
data association time 15.141022 ms 
solver time 13.576494 ms 
mapping data assosiation time 27.964149 ms 
data association time 17.294603 ms 
solver time 8.650201 ms 
publication time 8.801409 ms 
whole laserOdometry time 64.374725 ms 
 
points size 97206 
sort q time 4.965144 
seperate points time 12.087829 
filter time 13.418754 ms 
solver time 14.673696 ms 
data association time 15.485676 ms 
solver time 9.178322 ms 
points size 96819 
sort q time 5.205904 
seperate points time 11.940072 
mapping solver time 25.106545 ms 
data association time 26.029239 ms 
solver time 12.759573 ms 
data association time 16.591626 ms 
mapping optimization time 143.193915 
publication time 8.981253 ms 
whole laserOdometry time 79.018908 ms 
 
map prepare time 3.621712 ms
map corner num 141159  surf num 50163 
sort q time 6.140560 
seperate points time 14.329350 
data association time 16.331530 ms 
solver time 13.664181 ms 
mapping data assosiation time 25.990537 ms 
optimization twice time 55.554602 
points size 96280 
sort q time 5.072554 
seperate points time 11.953424 
mapping data assosiation time 29.520394 ms 
scan registration time 33.834081 ms *************
mapping solver time 14.136815 ms 
data association time 16.554447 ms 
map prepare time 3.200230 ms
map corner num 141628  surf num 50327 
data association time 16.173433 ms 
solver time 13.155747 ms 
points size 95719 
sort q time 4.428072 
seperate points time 10.604568 
mapping solver time 20.414229 ms 
solver time 13.115680 ms 
mapping data assosiation time 27.269416 ms 
solver time 8.383385 ms 
filter time 12.993047 ms 
prepare time 15.400817 
sort q time 5.212714 
seperate points time 11.780008 
build tree time 43.203272 ms 
data association time 15.466219 ms 
mapping data assosiation time 25.972136 ms 
solver time 9.227323 ms 
publication time 9.182913 ms 
whole laserOdometry time 60.487497 ms 
 
points size 95164 
mapping data assosiation time 30.046230 ms 
sort q time 5.874975 
seperate points time 14.070800 
mapping solver time 20.749112 ms 
mapping optimization time 143.487009 
add points time 0.641597 ms
map prepare time 4.128071 ms
map corner num 142705  surf num 50674 
data association time 17.001720 ms 
solver time 10.139459 ms 
points size 93582 
sort q time 4.420241 
seperate points time 10.392701 
mapping solver time 16.685757 ms 
solver time 10.629330 ms 
mapping data assosiation time 25.926160 ms 
solver time 8.487630 ms 
filter time 14.921282 ms 
prepare time 16.087054 
sort q time 5.978165 
seperate points time 14.733594 
data association time 15.342595 ms 
solver time 12.988032 ms 
data association time 15.067546 ms 
solver time 8.655440 ms 
points size 88146 
sort q time 5.099238 
seperate points time 11.693654 
mapping solver time 15.629158 ms 
data association time 22.400928 ms 
map prepare time 4.052363 ms
map corner num 143768  surf num 50892 
solver time 8.236734 ms 
publication time 9.355066 ms 
whole laserOdometry time 75.774639 ms 
 
sort q time 4.032811 
seperate points time 9.787880 
mapping solver time 13.493728 ms 
data association time 21.669219 ms 
mapping data assosiation time 24.771155 ms 
mapping solver time 16.591114 ms 
filter time 11.598546 ms 
solver time 13.379102 ms 
sort q time 4.782680 
seperate points time 11.312228 
build tree time 41.006888 ms 
solver time 13.550394 ms 
mapping data assosiation time 24.655219 ms 
data association time 17.267583 ms 
solver time 8.683693 ms 
mapping data assosiation time 23.653274 ms 
mapping solver time 12.360222 ms 
scan registration time 28.287243 ms *************
map prepare time 5.008802 ms
map corner num 144738  surf num 51062 
data association time 15.304762 ms 
solver time 11.658334 ms 
data association time 14.203431 ms 
solver time 8.440230 ms 
mapping data assosiation time 22.669337 ms 
prepare time 13.249014 
sort q time 4.661544 
seperate points time 11.193324 
mapping data assosiation time 24.582173 ms 
mapping solver time 10.027780 ms 
filter time 14.034390 ms 
solver time 9.118417 ms 
optimization twice time 53.851807 
publication time 6.765256 ms 
whole laserOdometry time 60.642526 ms 
 
points size 76559 
sort q time 4.216836 
seperate points time 10.107135 
mapping data assosiation time 23.886003 ms 
mapping solver time 16.158123 ms 
data association time 13.019571 ms 
publication time 6.296009 ms 
whole laserOdometry time 56.727855 ms 
 
filter time 14.703424 ms 
sort q time 3.917036 
seperate points time 9.550927 
data association time 11.871640 ms 
solver time 12.786993 ms 
mapping data assosiation time 20.922771 ms 
mapping solver time 14.290265 ms 
mapping data assosiation time 24.819650 ms 
points size 71726 
filter time 14.294371 ms 
scan registration time 52.200880 ms *************
data association time 25.555826 ms 
solver time 12.082668 ms 
data association time 13.719956 ms 
mapping data assosiation time 23.479297 ms 
sort q time 4.143949 
seperate points time 10.260218 
data association time 12.472775 ms 
solver time 12.553195 ms 
mapping solver time 12.768675 ms 
mapping optimization time 118.744986 
add points time 0.526884 ms
data association time 12.454684 ms 
map prepare time 3.345764 ms
map corner num 146446  surf num 51384 
points size 72849 
build tree time 41.270454 ms 
mapping data assosiation time 24.604373 ms 
data association time 12.968950 ms 
solver time 11.860905 ms 
data association time 12.596800 ms 
solver time 9.194573 ms 
publication time 7.363657 ms 
whole laserOdometry time 54.860276 ms 
 
filter time 18.042097 ms 
prepare time 15.597678 
sort q time 4.204064 
seperate points time 10.409897 
data association time 12.065154 ms 
build tree time 42.919950 ms 
mapping data assosiation time 20.331585 ms 
solver time 9.557981 ms 
optimization twice time 49.050383 
mapping solver time 15.834517 ms 
mapping data assosiation time 21.716799 ms 
mapping solver time 12.782856 ms 
scan registration time 30.938614 ms *************
map prepare time 4.213571 ms
map corner num 147140  surf num 51501 
solver time 13.772282 ms 
build tree time 46.467888 ms 
solver time 9.540652 ms 
points size 79944 
mapping solver time 16.743123 ms 
mapping data assosiation time 20.543877 ms 
data association time 13.370158 ms 
solver time 13.523914 ms 
filter time 14.753752 ms 
mapping pub time 3.071721 ms 
whole mapping time 143.747028 ms +++++
data association time 14.720811 ms 
publication time 6.673128 ms 
whole laserOdometry time 58.255892 ms 
 
points size 82325 
prepare time 13.958407 
mapping data assosiation time 21.745300 ms 
mapping solver time 18.081277 ms 
data association time 21.183056 ms 
solver time 13.541173 ms 
mapping data assosiation time 23.431164 ms 
data association time 21.729966 ms 
solver time 11.019129 ms 
optimization twice time 68.595157 
filter time 13.168176 ms 
points size 84129 
mapping pub time 0.966629 ms 
whole mapping time 140.385691 ms +++++
publication time 7.381246 ms 
whole laserOdometry time 76.004110 ms 
 
prepare time 14.754110 
map prepare time 3.515945 ms
map corner num 147971  surf num 51662 
scan registration time 29.191858 ms *************
data association time 14.753401 ms 
build tree time 42.340739 ms 
solver time 9.130904 ms 
data association time 14.062629 ms 
publication time 7.883829 ms 
whole laserOdometry time 53.107236 ms 
 
mapping solver time 14.465096 ms 
mapping data assosiation time 16.653779 ms 
prepare time 14.597596 
mapping solver time 11.051870 ms 
mapping optimization time 105.097532 
add points time 0.504438 ms
scan registration time 30.147931 ms *************
data association time 21.588504 ms 
solver time 15.722881 ms 
build tree time 41.842035 ms 
data association time 21.146761 ms 
optimization twice time 70.937709 
prepare time 15.556063 
sort q time 4.468041 
seperate points time 10.661766 
mapping solver time 11.107352 ms 
filter time 15.585057 ms 
mapping pub time 1.475984 ms 
whole mapping time 130.450591 ms +++++
solver time 11.082647 ms 
data association time 21.728999 ms 
solver time 11.705062 ms 
publication time 9.646156 ms 
whole laserOdometry time 77.855186 ms 
 
sort q time 4.605354 
seperate points time 11.420574 
mapping data assosiation time 23.810082 ms 
data association time 23.694510 ms 
filter time 15.592591 ms 
points size 90715 
scan registration time 34.560991 ms *************
solver time 11.947430 ms 
build tree time 54.111921 ms 
data association time 23.487722 ms 
mapping data assosiation time 23.080739 ms 
mapping solver time 17.585663 ms 
points size 91825 
solver time 13.872287 ms 
optimization twice time 75.176221 
mapping data assosiation time 22.823693 ms 
mapping solver time 13.954015 ms 
mapping optimization time 132.812756 
add points time 0.555062 ms
filter time 15.420047 ms 
map prepare time 4.043747 ms
map corner num 149611  surf num 52025 
solver time 11.752537 ms 
data association time 22.141955 ms 
solver time 11.778095 ms 
prepare time 16.086727 
mapping data assosiation time 19.036605 ms 
mapping solver time 15.231130 ms 
data association time 25.208930 ms 
solver time 12.166811 ms 
data association time 15.781248 ms 
publication time 8.223104 ms 
whole laserOdometry time 68.557206 ms 
 
points size 95884 
sort q time 5.049619 
seperate points time 11.868842 
scan registration time 32.877263 ms *************
data association time 24.907256 ms 
mapping data assosiation time 23.241888 ms 
solver time 17.454519 ms 
mapping solver time 19.403810 ms 
data association time 25.027739 ms 
solver time 13.261669 ms 
publication time 9.851340 ms 
whole laserOdometry time 91.625798 ms 
 
filter time 12.771400 ms 
data association time 14.048260 ms 
solver time 11.094248 ms 
build tree time 41.300292 ms 
solver time 7.996031 ms 
publication time 7.884592 ms 
whole laserOdometry time 57.111867 ms 
 
mapping solver time 12.853214 ms 
sort q time 5.481642 
seperate points time 13.182881 
mapping data assosiation time 20.288939 ms 
scan registration time 33.660921 ms *************
filter time 13.186473 ms 
solver time 8.322001 ms 
data association time 14.790977 ms 
solver time 9.232679 ms 
publication time 7.957214 ms 
whole laserOdometry time 57.644734 ms 
 
points size 99652 
sort q time 5.614120 
seperate points time 13.361114 
mapping data assosiation time 21.521000 ms 
mapping solver time 11.909560 ms 
mapping optimization time 110.906998 
add points time 0.595620 ms
map prepare time 3.314888 ms
map corner num 151348  surf num 52419 
data association time 20.443149 ms 
solver time 10.702714 ms 
prepare time 17.438131 
sort q time 6.372736 
seperate points time 14.846064 
mapping data assosiation time 21.522003 ms 
mapping solver time 13.007400 ms 
mapping data assosiation time 19.604751 ms 
data association time 15.000436 ms 
solver time 8.715816 ms 
filter time 14.079257 ms 
points size 99824 
[0m[ INFO] [1715773230.476618800]: Received 448746 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715773230.476650272]: Data saved to 1317357724190172.pcd[0m
data association time 14.610135 ms 
data association time 15.263922 ms 
mapping solver time 12.368082 ms 
points size 99512 
prepare time 16.967483 
mapping data assosiation time 24.502077 ms 
mapping solver time 14.042866 ms 
sort q time 5.691807 
seperate points time 15.092940 
mapping optimization time 112.969473 
filter time 15.383438 ms 
data association time 26.406970 ms 
solver time 12.968570 ms 
data association time 18.599071 ms 
solver time 8.283758 ms 
mapping data assosiation time 21.663947 ms 
sort q time 6.192278 
seperate points time 16.313748 
mapping data assosiation time 21.263573 ms 
mapping solver time 11.302700 ms 
filter time 11.674880 ms 
data association time 19.237829 ms 
optimization twice time 65.105922 
prepare time 19.113880 
sort q time 4.756493 
seperate points time 11.217893 
mapping data assosiation time 19.702511 ms 
solver time 9.199309 ms 
data association time 16.841548 ms 
solver time 10.552822 ms 
publication time 9.736008 ms 
whole laserOdometry time 62.476154 ms 
 
prepare time 17.438610 
data association time 20.128552 ms 
solver time 12.760237 ms 
publication time 9.865742 ms 
whole laserOdometry time 82.804167 ms 
 
mapping solver time 10.724108 ms 
data association time 16.063961 ms 
solver time 12.677711 ms 
data association time 15.333380 ms 
solver time 10.292585 ms 
build tree time 44.028414 ms 
prepare time 16.735360 
sort q time 5.274075 
seperate points time 12.326743 
mapping solver time 15.995517 ms 
data association time 16.961685 ms 
mapping data assosiation time 23.821763 ms 
mapping solver time 8.404793 ms 
data association time 15.682936 ms 
map prepare time 3.317949 ms
map corner num 153714  surf num 53096 
points size 94396 
sort q time 4.749243 
seperate points time 11.465420 
build tree time 45.220313 ms 
data association time 17.557308 ms 
solver time 10.564421 ms 
mapping solver time 11.755561 ms 
solver time 10.141790 ms 
mapping solver time 11.858231 ms 
prepare time 17.612126 
map prepare time 4.370304 ms
map corner num 154079  surf num 53189 
data association time 21.818488 ms 
solver time 12.034436 ms 
mapping data assosiation time 21.223454 ms 
mapping solver time 13.282003 ms 
prepare time 16.108997 
sort q time 5.038888 
seperate points time 12.096265 
filter time 14.561752 ms 
data association time 23.460948 ms 
solver time 15.950906 ms 
build tree time 43.658722 ms 
solver time 12.003643 ms 
mapping solver time 13.985936 ms 
mapping data assosiation time 20.163556 ms 
mapping solver time 10.408705 ms 
mapping optimization time 109.275709 
add points time 0.435610 ms
data association time 21.374732 ms 
solver time 16.265736 ms 
map prepare time 3.439885 ms
map corner num 154726  surf num 53282 
data association time 21.633024 ms 
solver time 12.868471 ms 
optimization twice time 73.105260 
sort q time 5.154820 
seperate points time 11.900457 
mapping data assosiation time 34.878957 ms 
mapping solver time 11.562470 ms 
data association time 16.458726 ms 
solver time 10.055104 ms 
publication time 9.405741 ms 
whole laserOdometry time 64.117886 ms 
 
filter time 17.035339 ms 
sort q time 4.958987 
seperate points time 11.508095 
build tree time 41.802333 ms 
solver time 11.207878 ms 
mapping data assosiation time 19.128914 ms 
data association time 14.039634 ms 
publication time 6.788038 ms 
whole laserOdometry time 56.132969 ms 
 
mapping data assosiation time 19.031363 ms 
mapping solver time 7.981346 ms 
mapping optimization time 100.895100 
add points time 0.583576 ms
mapping pub time 3.471952 ms 
whole mapping time 123.427872 ms +++++
data association time 14.760543 ms 
solver time 11.665171 ms 
data association time 16.289476 ms 
solver time 10.509974 ms 
mapping data assosiation time 20.375891 ms 
points size 87950 
sort q time 5.129029 
seperate points time 11.950880 
mapping solver time 10.601571 ms 
mapping optimization time 105.231442 
add points time 0.518534 ms
filter time 15.766197 ms 
solver time 12.089594 ms 
data association time 13.593028 ms 
solver time 8.896553 ms 
optimization twice time 51.894990 
build tree time 43.818580 ms 
prepare time 15.842835 
sort q time 4.974319 
seperate points time 11.588112 
mapping solver time 12.448278 ms 
data association time 14.086286 ms 
solver time 8.966623 ms 
mapping solver time 10.547459 ms 
mapping optimization time 102.749844 
add points time 0.474690 ms
data association time 14.194198 ms 
optimization twice time 48.616271 
publication time 7.074331 ms 
whole laserOdometry time 55.709552 ms 
 
points size 87528 
build tree time 42.442475 ms 
sort q time 4.989557 
seperate points time 11.525832 
scan registration time 29.883904 ms *************
mapping data assosiation time 19.534757 ms 
mapping solver time 12.069457 ms 
mapping data assosiation time 17.848451 ms 
add points time 0.450543 ms
filter time 13.376356 ms 
points size 87348 
sort q time 4.466224 
seperate points time 10.767896 
build tree time 41.887822 ms 
data association time 14.256980 ms 
mapping data assosiation time 16.812213 ms 
solver time 12.176727 ms 
data association time 14.184214 ms 
solver time 9.036670 ms 
mapping solver time 10.465404 ms 
points size 86402 
sort q time 4.947754 
seperate points time 12.125109 
scan registration time 30.688415 ms *************
data association time 13.845998 ms 
solver time 13.903396 ms 
data association time 15.608504 ms 
solver time 9.818294 ms 
mapping data assosiation time 18.231086 ms 
mapping solver time 9.386910 ms 
sort q time 4.652383 
seperate points time 10.694945 
filter time 16.387494 ms 
data association time 17.967139 ms 
solver time 11.533544 ms 
data association time 16.239010 ms 
optimization twice time 53.202631 
mapping data assosiation time 18.550427 ms 
points size 85900 
sort q time 5.466991 
seperate points time 12.892972 
mapping data assosiation time 17.053005 ms 
scan registration time 34.234790 ms *************
filter time 15.962009 ms 
mapping pub time 1.562934 ms 
whole mapping time 123.547570 ms +++++
data association time 20.936638 ms 
map prepare time 3.499297 ms
map corner num 156608  surf num 53562 
solver time 15.862811 ms 
data association time 20.866112 ms 
points size 86283 
sort q time 6.325544 
seperate points time 14.279269 
data association time 16.424981 ms 
solver time 12.982904 ms 
data association time 18.676533 ms 
map prepare time 4.737797 ms
map corner num 156818  surf num 53590 
optimization twice time 59.969379 
points size 86587 
sort q time 4.003536 
seperate points time 9.698703 
build tree time 46.387786 ms 
solver time 8.560569 ms 
mapping solver time 9.952661 ms 
solver time 7.855649 ms 
mapping solver time 12.258161 ms 
prepare time 15.616102 
sort q time 4.778650 
seperate points time 11.712282 
scan registration time 32.012219 ms *************
data association time 13.259088 ms 
solver time 11.041389 ms 
data association time 13.998301 ms 
solver time 9.043214 ms 
mapping solver time 11.509404 ms 
mapping data assosiation time 18.863005 ms 
add points time 0.517268 ms
sort q time 4.256368 
seperate points time 10.398410 
mapping pub time 1.164047 ms 
whole mapping time 116.367508 ms +++++
map prepare time 3.331220 ms
map corner num 157182  surf num 53640 
data association time 17.919961 ms 
solver time 9.937040 ms 
data association time 18.222886 ms 
solver time 9.747640 ms 
points size 87224 
sort q time 4.752787 
seperate points time 11.376447 
mapping solver time 9.753869 ms 
data association time 14.873027 ms 
solver time 14.753640 ms 
map prepare time 3.812249 ms
map corner num 157424  surf num 53678 
solver time 8.052722 ms 
points size 88312 
build tree time 51.228120 ms 
scan registration time 40.919515 ms *************
mapping data assosiation time 20.525191 ms 
mapping solver time 11.050970 ms 
mapping data assosiation time 19.070731 ms 
mapping solver time 10.877780 ms 
filter time 17.869470 ms 
publication time 7.702252 ms 
whole laserOdometry time 71.308511 ms 
 
prepare time 19.930818 
data association time 14.957606 ms 
solver time 11.523998 ms 
mapping data assosiation time 16.542615 ms 
data association time 13.674867 ms 
solver time 9.347402 ms 
mapping data assosiation time 18.810750 ms 
points size 90226 
filter time 14.745695 ms 
data association time 20.747800 ms 
solver time 14.930331 ms 
mapping data assosiation time 20.620530 ms 
prepare time 15.288653 
publication time 8.692134 ms 
whole laserOdometry time 81.287132 ms 
 
mapping data assosiation time 19.126822 ms 
mapping solver time 12.553288 ms 
mapping optimization time 120.095179 
add points time 0.550376 ms
filter time 15.188747 ms 
data association time 14.463383 ms 
points size 90873 
sort q time 4.381117 
seperate points time 10.358599 
mapping solver time 11.244001 ms 
data association time 14.331901 ms 
solver time 11.575735 ms 
data association time 16.245920 ms 
map prepare time 3.252176 ms
map corner num 158248  surf num 53770 
publication time 9.037610 ms 
whole laserOdometry time 63.140673 ms 
 
points size 91854 
sort q time 4.539292 
seperate points time 10.420645 
mapping data assosiation time 21.194814 ms 
data association time 18.672864 ms 
data association time 17.034820 ms 
solver time 10.091877 ms 
points size 90753 
mapping pub time 3.187257 ms 
whole mapping time 140.356224 ms +++++
scan registration time 32.084802 ms *************
data association time 21.611456 ms 
solver time 15.864694 ms 
mapping data assosiation time 18.210436 ms 
mapping solver time 10.932699 ms 
solver time 11.901012 ms 
publication time 8.632539 ms 
whole laserOdometry time 80.618285 ms 
 
scan registration time 32.239260 ms *************
map prepare time 2.978348 ms
map corner num 183001  surf num 60778 
data association time 21.870163 ms 
solver time 11.899584 ms 
build tree time 50.453161 ms 
solver time 12.044716 ms 
prepare time 14.258690 
mapping solver time 12.277136 ms 
sort q time 5.144770 
seperate points time 12.599187 
scan registration time 31.692797 ms *************
mapping data assosiation time 18.654306 ms 
mapping solver time 9.151986 ms 
solver time 11.914933 ms 
filter time 15.471571 ms 
mapping pub time 1.078454 ms 
whole mapping time 131.712153 ms +++++
data association time 15.418928 ms 
solver time 9.761447 ms 
publication time 7.870545 ms 
whole laserOdometry time 60.965967 ms 
 
points size 90816 
build tree time 51.740076 ms 
sort q time 6.253088 
seperate points time 14.332403 
mapping data assosiation time 18.985664 ms 
data association time 14.010225 ms 
solver time 11.075159 ms 
mapping data assosiation time 19.825061 ms 
mapping solver time 11.368810 ms 
publication time 6.659665 ms 
whole laserOdometry time 58.691205 ms 
 
drop lidar frame in mapping for real time performance 
points size 90331 
sort q time 5.399531 
seperate points time 12.938348 
build tree time 53.035100 ms 
data association time 22.181535 ms 
solver time 11.822092 ms 
mapping data assosiation time 19.795229 ms 
mapping solver time 13.285120 ms 
data association time 22.186455 ms 
solver time 11.861224 ms 
mapping solver time 13.563173 ms 
mapping optimization time 120.313024 
add points time 0.564070 ms
mapping pub time 1.733729 ms 
whole mapping time 145.602349 ms +++++
map prepare time 3.887130 ms
map corner num 184010  surf num 61076 
data association time 23.277666 ms 
solver time 11.347651 ms 
data association time 15.243801 ms 
solver time 8.898972 ms 
mapping data assosiation time 21.733578 ms 
data association time 23.486928 ms 
solver time 16.007784 ms 
mapping pub time 4.934224 ms 
whole mapping time 155.628048 ms +++++
data association time 23.857783 ms 
prepare time 17.778406 
publication time 9.210329 ms 
whole laserOdometry time 85.497251 ms 
 
build tree time 59.052776 ms 
solver time 7.715281 ms 
mapping data assosiation time 18.302345 ms 
data association time 14.923572 ms 
publication time 7.392880 ms 
whole laserOdometry time 55.346872 ms 
 
mapping data assosiation time 20.017844 ms 
mapping solver time 10.374732 ms 
sort q time 5.971758 
seperate points time 14.259340 
filter time 16.389510 ms 
mapping pub time 1.258337 ms 
whole mapping time 142.458263 ms +++++
drop lidar frame in mapping for real time performance 
scan registration time 34.708065 ms *************
data association time 16.109153 ms 
solver time 11.633935 ms 
data association time 16.435394 ms 
solver time 8.729599 ms 
mapping data assosiation time 20.924336 ms 
points size 90547 
sort q time 4.450501 
seperate points time 10.613134 
scan registration time 29.900183 ms *************
data association time 15.742663 ms 
mapping solver time 13.080371 ms 
mapping optimization time 116.356582 
add points time 0.673481 ms
mapping pub time 1.394118 ms 
whole mapping time 142.075287 ms +++++
data association time 18.623018 ms 
solver time 11.137306 ms 
points size 90189 
prepare time 16.819876 
sort q time 5.048078 
seperate points time 12.353254 
mapping data assosiation time 19.951428 ms 
data association time 15.322952 ms 
solver time 11.798894 ms 
mapping data assosiation time 18.833117 ms 
mapping solver time 8.626689 ms 
publication time 9.191747 ms 
whole laserOdometry time 60.358242 ms 
 
filter time 19.033811 ms 
map prepare time 3.897423 ms
map corner num 185177  surf num 61378 
sort q time 4.563778 
seperate points time 10.635155 
data association time 16.382832 ms 
solver time 8.560203 ms 
data association time 14.098847 ms 
mapping data assosiation time 20.144065 ms 
mapping solver time 11.865345 ms 
points size 88115 
mapping solver time 9.082384 ms 
filter time 16.649941 ms 
solver time 8.773148 ms 
data association time 15.521602 ms 
solver time 9.317584 ms 
publication time 8.659573 ms 
whole laserOdometry time 61.202229 ms 
 
points size 87368 
prepare time 14.600709 
sort q time 4.191730 
seperate points time 10.204037 
data association time 15.700527 ms 
mapping data assosiation time 18.478489 ms 
data association time 15.494733 ms 
map prepare time 3.428186 ms
map corner num 185772  surf num 61550 
publication time 7.855661 ms 
whole laserOdometry time 61.657164 ms 
 
points size 86890 
sort q time 4.825779 
seperate points time 11.156489 
scan registration time 30.018539 ms *************
data association time 16.699239 ms 
solver time 10.795097 ms 
data association time 17.316900 ms 
mapping data assosiation time 18.838185 ms 
solver time 8.924428 ms 
optimization twice time 54.687901 
points size 85400 
filter time 16.928236 ms 
sort q time 5.194581 
seperate points time 11.925080 
data association time 15.212651 ms 
build tree time 48.930281 ms 
mapping data assosiation time 18.784089 ms 
solver time 9.286951 ms 
optimization twice time 47.619435 
publication time 8.438058 ms 
whole laserOdometry time 56.075690 ms 
 
points size 84625 
mapping solver time 9.399718 ms 
filter time 16.460953 ms 
data association time 15.403748 ms 
solver time 11.700596 ms 
data association time 15.628677 ms 
solver time 8.989888 ms 
optimization twice time 52.725636 
points size 84220 
sort q time 4.751053 
seperate points time 11.406409 
scan registration time 29.875518 ms *************
mapping solver time 13.593090 ms 
data association time 16.607911 ms 
mapping data assosiation time 20.927707 ms 
solver time 10.106594 ms 
data association time 14.116683 ms 
solver time 9.345261 ms 
optimization twice time 51.115468 
map prepare time 3.770786 ms
map corner num 186708  surf num 61852 
points size 83809 
sort q time 4.014062 
seperate points time 9.819884 
build tree time 55.417358 ms 
data association time 13.529696 ms 
solver time 12.165780 ms 
data association time 14.477628 ms 
solver time 8.061074 ms 
mapping solver time 11.824055 ms 
points size 83491 
drop lidar frame in mapping for real time performance 
data association time 16.052976 ms 
solver time 18.083897 ms 
build tree time 54.353935 ms 
data association time 20.010598 ms 
solver time 11.913872 ms 
points size 83120 
sort q time 4.591812 
seperate points time 10.590635 
mapping data assosiation time 23.205714 ms 
mapping solver time 12.900920 ms 
solver time 12.544840 ms 
data association time 14.459656 ms 
solver time 8.549782 ms 
mapping pub time 26.199376 ms 
whole mapping time 180.454213 ms +++++
[0m[ INFO] [1715773235.966032827]: Received 462807 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715773235.966079502]: Data saved to 1317357729596062.pcd[0m
sort q time 4.834816 
seperate points time 11.696820 
data association time 15.870462 ms 
solver time 11.713918 ms 
mapping data assosiation time 19.890490 ms 
data association time 14.457466 ms 
publication time 7.347447 ms 
whole laserOdometry time 58.990664 ms 
 
points size 83238 
mapping solver time 10.423512 ms 
filter time 18.728644 ms 
data association time 15.196572 ms 
solver time 12.644446 ms 
data association time 15.877385 ms 
solver time 11.830367 ms 
build tree time 54.397041 ms 
points size 83744 
sort q time 4.239268 
seperate points time 10.175032 
mapping solver time 13.514889 ms 
data association time 15.367402 ms 
mapping data assosiation time 21.093137 ms 
mapping solver time 11.059478 ms 
data association time 14.639028 ms 
map prepare time 3.088686 ms
map corner num 188032  surf num 62345 
points size 83764 
sort q time 3.875765 
seperate points time 9.349708 
build tree time 53.547821 ms 
data association time 16.734152 ms 
solver time 13.102549 ms 
data association time 14.946647 ms 
solver time 12.029754 ms 
publication time 8.349027 ms 
whole laserOdometry time 66.101776 ms 
 
points size 83196 
filter time 18.032303 ms 
sort q time 5.091488 
seperate points time 11.758825 
data association time 13.697758 ms 
solver time 8.863658 ms 
data association time 14.009644 ms 
solver time 9.527087 ms 
publication time 7.838667 ms 
whole laserOdometry time 54.938229 ms 
 
mapping solver time 13.171912 ms 
sort q time 4.407575 
seperate points time 10.401857 
mapping solver time 10.622911 ms 
data association time 14.988034 ms 
map prepare time 3.185024 ms
map corner num 188639  surf num 62524 
data association time 14.248730 ms 
solver time 8.357469 ms 
optimization twice time 51.291106 
points size 82376 
sort q time 4.244951 
seperate points time 10.004027 
scan registration time 28.191982 ms *************
mapping solver time 13.634063 ms 
data association time 13.706895 ms 
mapping data assosiation time 19.300277 ms 
data association time 13.674341 ms 
solver time 9.945695 ms 
filter time 18.937026 ms 
map prepare time 4.083437 ms
map corner num 188921  surf num 62585 
points size 82216 
prepare time 13.589471 
scan registration time 28.231845 ms *************
data association time 13.835959 ms 
solver time 12.634574 ms 
mapping data assosiation time 19.257064 ms 
solver time 6.564201 ms 
publication time 7.471818 ms 
whole laserOdometry time 56.120520 ms 
 
mapping data assosiation time 21.650754 ms 
points size 81839 
prepare time 13.419553 
sort q time 4.222730 
seperate points time 9.944654 
filter time 18.125939 ms 
mapping pub time 1.430925 ms 
whole mapping time 143.792980 ms +++++
map prepare time 3.676505 ms
map corner num 189109  surf num 62625 
data association time 22.391493 ms 
solver time 11.561168 ms 
solver time 16.101893 ms 
points size 81478 
mapping data assosiation time 23.125107 ms 
mapping solver time 14.863465 ms 
data association time 13.698203 ms 
solver time 11.007227 ms 
data association time 17.034301 ms 
map prepare time 3.191234 ms
map corner num 189310  surf num 62662 
points size 81205 
sort q time 4.487947 
seperate points time 11.073283 
scan registration time 31.414567 ms *************
build tree time 59.025048 ms 
data association time 21.707973 ms 
solver time 13.287457 ms 
mapping solver time 16.571630 ms 
solver time 9.044737 ms 
points size 80926 
mapping solver time 9.426156 ms 
filter time 21.263664 ms 
mapping pub time 1.535784 ms 
whole mapping time 159.151724 ms +++++
drop lidar frame in mapping for real time performance 
data association time 20.832681 ms 
solver time 11.604635 ms 
data association time 20.070898 ms 
solver time 11.555570 ms 
publication time 9.015339 ms 
whole laserOdometry time 74.165404 ms 
 
sort q time 5.264540 
seperate points time 12.036486 
mapping solver time 12.796280 ms 
data association time 22.387127 ms 
mapping data assosiation time 22.813081 ms 
mapping solver time 10.978013 ms 
data association time 19.979265 ms 
filter time 19.687315 ms 
publication time 7.576713 ms 
whole laserOdometry time 72.348228 ms 
 
prepare time 13.894491 
sort q time 4.198006 
seperate points time 9.816276 
data association time 20.293316 ms 
build tree time 57.488627 ms 
solver time 12.826450 ms 
mapping data assosiation time 22.731571 ms 
data association time 21.777238 ms 
mapping solver time 18.458290 ms 
publication time 8.629524 ms 
whole laserOdometry time 77.761001 ms 
 
mapping data assosiation time 20.503195 ms 
sort q time 3.878650 
seperate points time 9.196460 
scan registration time 25.968550 ms *************
mapping solver time 10.621270 ms 
mapping optimization time 131.039393 
add points time 0.756522 ms
data association time 12.409680 ms 
map prepare time 3.452769 ms
map corner num 189727  surf num 62733 
data association time 13.374668 ms 
publication time 7.173667 ms 
whole laserOdometry time 50.173436 ms 
 
build tree time 53.909995 ms 
sort q time 4.192792 
seperate points time 9.720221 
mapping solver time 14.443217 ms 
data association time 21.445768 ms 
mapping data assosiation time 22.614879 ms 
mapping solver time 9.666267 ms 
data association time 13.942811 ms 
solver time 8.122493 ms 
points size 79173 
sort q time 3.894446 
seperate points time 9.005653 
build tree time 50.370598 ms 
solver time 10.909249 ms 
mapping data assosiation time 18.878288 ms 
mapping solver time 9.990655 ms 
solver time 8.678777 ms 
optimization twice time 46.334301 
mapping solver time 6.837667 ms 
points size 78552 
sort q time 4.098722 
seperate points time 9.930307 
scan registration time 26.478709 ms *************
data association time 13.708925 ms 
solver time 10.789456 ms 
build tree time 49.253950 ms 
solver time 7.833582 ms 
mapping solver time 9.693498 ms 
mapping data assosiation time 18.752742 ms 
points size 78306 
prepare time 12.994185 
filter time 20.029411 ms 
solver time 15.319550 ms 
data association time 17.385548 ms 
solver time 9.090533 ms 
build tree time 55.728757 ms 
points size 78196 
sort q time 4.289027 
seperate points time 10.174372 
data association time 11.632937 ms 
mapping solver time 9.505319 ms 
data association time 13.064068 ms 
solver time 11.195540 ms 
points size 78120 
prepare time 13.497533 
sort q time 4.301014 
seperate points time 9.938858 
build tree time 53.187597 ms 
data association time 13.091501 ms 
mapping data assosiation time 18.653560 ms 
mapping solver time 11.243930 ms 
solver time 8.987402 ms 
mapping solver time 9.529252 ms 
points size 78328 
sort q time 3.968659 
seperate points time 9.320082 
data association time 12.321716 ms 
solver time 9.356337 ms 
data association time 12.717353 ms 
build tree time 50.669349 ms 
publication time 6.293637 ms 
whole laserOdometry time 51.260040 ms 
 
mapping solver time 12.454094 ms 
points size 78861 
mapping data assosiation time 19.332163 ms 
scan registration time 25.925465 ms *************
filter time 17.579553 ms 
solver time 11.018124 ms 
data association time 13.633454 ms 
solver time 8.050561 ms 
build tree time 48.705588 ms 
points size 78965 
prepare time 12.698676 
mapping data assosiation time 19.781332 ms 
mapping solver time 12.106119 ms 
mapping data assosiation time 21.913963 ms 
data association time 21.059046 ms 
mapping solver time 14.379245 ms 
data association time 12.296695 ms 
solver time 9.337599 ms 
optimization twice time 57.354234 
points size 79256 
sort q time 3.640556 
seperate points time 8.538172 
build tree time 50.352677 ms 
data association time 12.256731 ms 
solver time 11.111583 ms 
data association time 12.536580 ms 
solver time 8.329409 ms 
mapping solver time 10.453902 ms 
filter time 15.247684 ms 
points size 79912 
prepare time 13.191461 
scan registration time 24.465895 ms *************
data association time 11.922556 ms 
solver time 10.565553 ms 
data association time 12.472690 ms 
solver time 8.282877 ms 
mapping solver time 11.569769 ms 
mapping data assosiation time 19.773531 ms 
points size 80755 
sort q time 3.903338 
seperate points time 9.391018 
filter time 19.257877 ms 
data association time 15.341365 ms 
solver time 10.994802 ms 
data association time 12.202481 ms 
solver time 8.305331 ms 
build tree time 50.114182 ms 
mapping data assosiation time 18.085051 ms 
mapping solver time 11.471631 ms 
scan registration time 25.688132 ms *************
mapping data assosiation time 20.844995 ms 
mapping solver time 11.585225 ms 
filter time 17.208669 ms 
publication time 6.596014 ms 
whole laserOdometry time 52.399116 ms 
 
mapping pub time 36.072585 ms 
whole mapping time 170.582347 ms +++++
points size 82330 
sort q time 4.814429 
seperate points time 11.104897 
scan registration time 29.766915 ms *************
data association time 12.129872 ms 
solver time 11.435192 ms 
data association time 13.462843 ms 
solver time 9.854771 ms 
optimization twice time 47.803074 
points size 82566 
sort q time 6.652667 
seperate points time 13.742823 
data association time 13.674220 ms 
filter time 19.042436 ms 
map prepare time 3.698863 ms
map corner num 191353  surf num 63071 
data association time 13.270964 ms 
solver time 9.503362 ms 
optimization twice time 53.177498 
sort q time 4.096417 
seperate points time 9.317684 
build tree time 64.837580 ms 
solver time 8.021435 ms 
data association time 15.088179 ms 
publication time 5.760396 ms 
whole laserOdometry time 51.241756 ms 
 
mapping data assosiation time 22.328654 ms 
points size 83166 
sort q time 4.144508 
seperate points time 9.863877 
scan registration time 28.121592 ms *************
filter time 19.023787 ms 
data association time 13.512916 ms 
solver time 8.892655 ms 
data association time 12.895460 ms 
solver time 8.723804 ms 
publication time 6.440277 ms 
whole laserOdometry time 51.498614 ms 
 
build tree time 61.588014 ms 
points size 83374 
sort q time 4.330595 
seperate points time 10.202189 
mapping data assosiation time 18.218570 ms 
mapping solver time 10.295346 ms 
filter time 16.755656 ms 
publication time 8.486157 ms 
whole laserOdometry time 72.115304 ms 
 
points size 83412 
sort q time 4.299481 
seperate points time 9.771519 
data association time 11.984944 ms 
mapping solver time 10.711534 ms 
solver time 7.747440 ms 
mapping solver time 7.914751 ms 
filter time 17.888458 ms 
sort q time 4.215072 
seperate points time 9.732910 
data association time 12.691674 ms 
solver time 10.388214 ms 
data association time 14.620019 ms 
publication time 6.000621 ms 
whole laserOdometry time 51.292093 ms 
 
mapping data assosiation time 17.588627 ms 
mapping solver time 11.087590 ms 
scan registration time 27.565999 ms *************
filter time 19.492291 ms 
data association time 13.648569 ms 
solver time 9.941652 ms 
data association time 13.232434 ms 
publication time 7.117386 ms 
whole laserOdometry time 50.580363 ms 
 
build tree time 54.917435 ms 
points size 83166 
sort q time 4.616461 
seperate points time 10.434404 
mapping data assosiation time 21.027811 ms 
data association time 21.366640 ms 
mapping solver time 10.768914 ms 
mapping optimization time 117.915588 
add points time 0.648203 ms
filter time 18.865805 ms 
data association time 19.404565 ms 
solver time 7.886192 ms 
publication time 7.971352 ms 
whole laserOdometry time 69.739514 ms 
 
points size 83300 
sort q time 4.939407 
seperate points time 11.380562 
build tree time 57.826057 ms 
mapping data assosiation time 22.495208 ms 
data association time 21.802089 ms 
mapping solver time 14.499133 ms 
mapping data assosiation time 21.992559 ms 
mapping solver time 14.827216 ms 
mapping optimization time 132.827494 
points size 83290 
solver time 12.632641 ms 
add points time 0.666053 ms
optimization twice time 73.083809 
prepare time 14.030253 
sort q time 4.419416 
seperate points time 10.293098 
map prepare time 3.427425 ms
map corner num 192078  surf num 63210 
data association time 15.151758 ms data association time 14.423536 ms 
publication time 7.207795 ms 
whole laserOdometry time 59.191502 ms 
 
mapping data assosiation time 20.093485 ms 
mapping solver time 11.384196 ms 
mapping data assosiation time 21.404276 ms 
mapping solver time 10.670250 ms 
mapping optimization time 124.563665 
add points time 0.662400 ms
data association time 20.180045 ms 
solver time 13.440805 ms 
map prepare time 3.646567 ms
map corner num 192176  surf num 63224 
solver time 7.889084 ms 
publication time 6.543743 ms 
whole laserOdometry time 62.220744 ms 
 
points size 83902 
build tree time 54.618101 ms 
sort q time 4.813515 
seperate points time 11.377340 
data association time 12.262228 ms 
solver time 11.919512 ms 
data association time 13.404079 ms 
mapping data assosiation time 20.907190 ms 
mapping solver time 11.455722 ms 
filter time 15.686765 ms 
sort q time 4.777621 
seperate points time 11.416324 
data association time 12.065005 ms 
build tree time 54.008171 ms 
data association time 14.684500 ms 
solver time 8.714422 ms 
points size 84983 
sort q time 4.386407 
seperate points time 10.011312 
filter time 18.639502 ms 
map prepare time 3.897901 ms
map corner num 192407  surf num 63262 
solver time 13.918997 ms 
data association time 15.322168 ms 
solver time 9.052205 ms 
publication time 7.955560 ms 
whole laserOdometry time 68.128557 ms 
 
build tree time 58.148288 ms 
points size 85510 
mapping data assosiation time 23.203844 ms 
mapping solver time 14.252925 ms 
data association time 12.565201 ms 
solver time 9.607463 ms 
mapping solver time 11.023447 ms 
solver time 8.728892 ms 
filter time 17.881546 ms 
points size 85817 
sort q time 3.872728 
seperate points time 8.965614 
scan registration time 26.941944 ms *************
data association time 19.035933 ms 
solver time 15.988833 ms 
mapping data assosiation time 21.716120 ms 
mapping solver time 12.467216 ms 
mapping data assosiation time 20.388129 ms 
mapping solver time 12.896940 ms 
mapping optimization time 127.478364 
add points time 0.448274 ms
sort q time 4.740606 
seperate points time 11.106541 
scan registration time 27.831414 ms *************
filter time 17.181194 ms 
data association time 12.386527 ms 
solver time 11.646195 ms 
data association time 14.272262 ms 
solver time 9.188155 ms 
optimization twice time 48.553731 
points size 86584 
mapping solver time 12.062165 ms 
mapping data assosiation time 22.699035 ms 
mapping solver time 10.976775 ms 
filter time 19.117587 ms 
data association time 20.776932 ms 
solver time 11.921229 ms 
prepare time 15.550424 
sort q time 4.979761 
seperate points time 11.679683 
build tree time 60.890299 ms 
mapping data assosiation time 17.217912 ms 
mapping solver time 10.049724 ms 
data association time 13.079550 ms 
mapping data assosiation time 18.022857 ms 
mapping solver time 10.796725 ms 
points size 87504 
map prepare time 2.951779 ms
map corner num 192854  surf num 63311 
sort q time 4.636839 
seperate points time 10.968569 
data association time 13.784631 ms 
solver time 10.350360 ms 
data association time 15.599490 ms 
publication time 6.507102 ms 
whole laserOdometry time 54.160402 ms 
 
mapping solver time 14.794356 ms 
points size 88182 
prepare time 20.703366 
mapping solver time 13.479019 ms 
filter time 19.356969 ms 
data association time 14.215738 ms 
publication time 7.618656 ms 
whole laserOdometry time 65.366827 ms 
 
prepare time 17.220109 
build tree time 58.708470 ms 
sort q time 5.573207 
seperate points time 13.057921 
scan registration time 34.461636 ms *************
mapping data assosiation time 20.204941 ms 
data association time 13.985822 ms 
solver time 11.819415 ms 
data association time 13.796979 ms 
mapping data assosiation time 19.465220 ms 
mapping solver time 13.300027 ms 
points size 89858 
map prepare time 3.286109 ms
map corner num 193095  surf num 63360 
scan registration time 31.478649 ms *************
data association time 12.842471 ms 
solver time 10.303168 ms 
build tree time 52.669249 ms 
solver time 10.329668 ms 
mapping solver time 14.927062 ms 
points size 89470 
mapping data assosiation time 23.663317 ms 
sort q time 5.614124 
seperate points time 13.678393 
scan registration time 37.932964 ms *************
data association time 14.932639 ms 
filter time 19.926996 ms 
mapping pub time 1.082678 ms 
whole mapping time 150.652163 ms +++++
map prepare time 3.016825 ms
map corner num 193218  surf num 63377 
data association time 14.793082 ms 
publication time 7.592675 ms 
whole laserOdometry time 60.263704 ms 
 
points size 89404 
sort q time 5.596819 
seperate points time 13.626316 
mapping data assosiation time 22.163064 ms 
mapping solver time 11.781217 ms 
solver time 13.107635 ms 
data association time 15.985989 ms 
solver time 10.114749 ms 
filter time 18.414043 ms 
prepare time 18.437968 
sort q time 5.281214 
seperate points time 12.413961 
data association time 13.753317 ms 
solver time 12.809947 ms 
data association time 15.448621 ms 
solver time 8.236045 ms 
publication time 8.152487 ms 
whole laserOdometry time 59.446812 ms 
 
points size 89970 
mapping data assosiation time 25.137711 ms 
sort q time 5.600415 
seperate points time 13.446538 
data association time 13.804400 ms 
map prepare time 3.476201 ms
map corner num 193540  surf num 63425 
data association time 15.464361 ms 
solver time 9.377088 ms 
points size 90632 
build tree time 62.233530 ms 
sort q time 5.656003 
seperate points time 13.712270 
mapping data assosiation time 23.732034 ms 
mapping solver time 13.473826 ms 
solver time 11.444264 ms 
mapping data assosiation time 22.007261 ms 
solver time 8.167138 ms 
points size 91220 
filter time 21.212236 ms 
sort q time 5.637896 
seperate points time 14.133936 
mapping pub time 38.971042 ms 
whole mapping time 202.291450 ms +++++
[0m[ INFO] [1715773241.954067424]: Received 470538 data points in frame /camera_init with the following fields: x y z intensity[0m
data association time 16.052371 ms 
solver time 10.454686 ms 
points size 92086 
sort q time 5.838783 
seperate points time 14.284771 
mapping solver time 13.124464 ms 
data association time 21.381897 ms 
mapping data assosiation time 25.490655 ms 
mapping solver time 14.046016 ms 
data association time 21.949761 ms 
prepare time 19.715951 
map prepare time 3.951830 ms
map corner num 193855  surf num 63496 
scan registration time 38.069800 ms *************
data association time 15.607902 ms 
solver time 12.083782 ms 
data association time 15.121190 ms 
build tree time 58.647109 ms 
mapping data assosiation time 26.398963 ms 
prepare time 20.332454 
mapping solver time 21.390178 ms 
sort q time 5.634274 
seperate points time 13.515099 
mapping data assosiation time 27.391969 ms 
data association time 23.659141 ms 
solver time 18.902853 ms 
map prepare time 4.212668 ms
map corner num 194050  surf num 63540 
points size 95701 
solver time 11.596572 ms 
publication time 9.950578 ms 
whole laserOdometry time 88.565778 ms 
 
data association time 22.616269 ms 
build tree time 67.399140 ms 
solver time 19.577426 ms 
mapping data assosiation time 27.669004 ms 
points size 96346 
scan registration time 35.451413 ms *************
mapping solver time 12.208149 ms 
solver time 14.040680 ms 
map prepare time 3.486234 ms
map corner num 194233  surf num 63576 
data association time 20.838796 ms 
solver time 12.777665 ms 
publication time 9.253198 ms 
whole laserOdometry time 74.430402 ms 
 
sort q time 5.680896 
seperate points time 13.581140 
data association time 15.160410 ms 
solver time 13.771672 ms 
mapping solver time 15.484305 ms 
data association time 15.667126 ms 
solver time 13.035958 ms 
publication time 8.938058 ms 
whole laserOdometry time 67.492674 ms 
 
prepare time 19.860874 
mapping optimization time 150.897984 
scan registration time 38.397061 ms *************
filter time 19.723986 ms 
data association time 15.169174 ms 
solver time 12.390871 ms 
data association time 20.137780 ms 
optimization twice time 57.583536 
publication time 8.818707 ms 
whole laserOdometry time 66.431623 ms 
 
points size 96662 
prepare time 20.447866 
mapping data assosiation time 29.754871 ms 
mapping solver time 16.426672 ms 
data association time 16.633692 ms 
solver time 15.084125 ms 
mapping solver time 15.215471 ms 
solver time 10.110721 ms 
mapping pub time 5.272504 ms 
whole mapping time 171.229997 ms +++++
sort q time 5.474147 
seperate points time 12.585087 
data association time 15.535795 ms 
solver time 15.033243 ms 
data association time 15.127969 ms 
solver time 12.604782 ms 
publication time 10.666481 ms 
whole laserOdometry time 70.072100 ms 
 
sort q time 4.366122 
seperate points time 10.291862 
mapping data assosiation time 25.405078 ms 
data association time 16.782688 ms 
solver time 16.057207 ms 
filter time 16.123598 ms 
mapping pub time 1.511827 ms 
whole mapping time 164.096614 ms +++++
map prepare time 3.768592 ms
map corner num 194860  surf num 63699 
data association time 17.817885 ms 
publication time 11.066838 ms 
whole laserOdometry time 73.191644 ms 
 

sort q time 5.484545 
seperate points time 13.154856 
data association time 16.882398 ms 
solver time 14.696137 ms 
solver time 9.100266 ms 
sort q time 5.966727 
seperate points time 14.344064 
map prepare time 4.018329 ms
map corner num 195067  surf num 63755 
data association time 34.637008 ms 
solver time 13.722109 ms 
data association time 23.950739 ms 
optimization twice time 82.774752 
data association time 15.714387 ms 
solver time 13.267211 ms 
build tree time 57.786673 ms 
data association time 19.136814 ms 
solver time 11.218082 ms 
publication time 10.981341 ms 
whole laserOdometry time 71.443133 ms 
 
sort q time 6.781597 
seperate points time 16.016282 
mapping solver time 16.282349 ms 
data association time 16.613223 ms 
mapping data assosiation time 26.197855 ms 
mapping solver time 14.681937 ms 
data association time 17.703192 ms 
filter time 18.087875 ms 
points size 94601 
sort q time 5.450223 
seperate points time 12.937308 
data association time 15.248830 ms 
build tree time 52.334950 ms 
data association time 16.077072 ms 
solver time 11.287739 ms 
publication time 10.677285 ms 
whole laserOdometry time 66.833596 ms 
 
points size 93305 
mapping data assosiation time 27.032034 ms 
add points time 0.966106 ms
filter time 17.369269 ms 
data association time 16.618425 ms 
solver time 13.967041 ms 
data association time 15.768389 ms 
solver time 11.359239 ms 
points size 92232 
sort q time 4.533593 
seperate points time 11.265848 
mapping data assosiation time 27.571121 ms 
mapping solver time 15.221366 ms 
solver time 14.558461 ms 
mapping data assosiation time 27.287861 ms 
data association time 15.184541 ms 
mapping solver time 14.383863 ms 
publication time 9.653226 ms 
whole laserOdometry time 70.217989 ms 
 
prepare time 14.721934 
map prepare time 4.544737 ms
map corner num 195833  surf num 63907 
scan registration time 32.697687 ms *************
data association time 15.269820 ms 
solver time 14.988192 ms 
build tree time 56.421017 ms 
data association time 16.700086 ms 
solver time 11.662557 ms 
publication time 10.125223 ms 
whole laserOdometry time 69.677776 ms 
 
points size 90819 
mapping solver time 16.128841 ms 
scan registration time 31.896374 ms *************
mapping data assosiation time 27.322413 ms 
solver time 11.438790 ms 
data association time 15.453519 ms 
map prepare time 3.456215 ms
map corner num 196100  surf num 63994 
publication time 8.330843 ms 
whole laserOdometry time 63.621966 ms 
 
points size 90059 
prepare time 15.934016 
sort q time 4.678670 
seperate points time 11.323136 
build tree time 55.759509 ms 
data association time 16.807752 ms 
solver time 13.670040 ms 
data association time 19.458082 ms 
solver time 11.298834 ms 
publication time 10.391326 ms 
whole laserOdometry time 72.656663 ms 
 
points size 89180 
mapping data assosiation time 33.111676 ms 
prepare time 20.785171 
sort q time 5.034982 
seperate points time 12.619397 
filter time 17.441175 ms 
mapping pub time 1.024084 ms 
whole mapping time 181.003964 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.353902 ms
map corner num 196385  surf num 64138 
data association time 16.589452 ms 
solver time 12.889047 ms 
data association time 15.436415 ms 
solver time 8.273852 ms 
publication time 9.351428 ms 
whole laserOdometry time 63.496317 ms 
 
points size 87752 
sort q time 5.692536 
seperate points time 14.034330 
scan registration time 38.287268 ms *************
data association time 15.864837 ms 
mapping solver time 17.687304 ms 
data association time 15.156832 ms 
solver time 9.555576 ms 
publication time 8.923246 ms 
whole laserOdometry time 62.672139 ms 
 
prepare time 14.202462 
filter time 18.712152 ms 
data association time 15.902033 ms 
solver time 11.805217 ms 
build tree time 50.045036 ms 
solver time 9.534367 ms 
optimization twice time 54.601899 
mapping data assosiation time 28.983207 ms 
prepare time 16.778934 
sort q time 5.102496 
seperate points time 12.195067 
mapping data assosiation time 27.218386 ms 
solver time 12.295141 ms 
data association time 17.492270 ms 
filter time 17.501275 ms 
mapping pub time 4.115019 ms 
whole mapping time 167.971503 ms +++++
publication time 8.892335 ms 
whole laserOdometry time 65.844108 ms 
 
points size 85498 
sort q time 4.158174 
seperate points time 10.347771 
build tree time 53.932966 ms 
data association time 16.289349 ms 
solver time 11.653562 ms 
data association time 17.811182 ms 
solver time 8.758100 ms 
publication time 9.880573 ms 
whole laserOdometry time 65.465000 ms 
 
points size 85115 
prepare time 19.893027 
sort q time 5.046597 
seperate points time 12.573090 
mapping solver time 18.198918 ms 
data association time 15.775269 ms 
solver time 11.976806 ms 
data association time 15.829804 ms 
solver time 9.257494 ms 
publication time 10.695579 ms 
whole laserOdometry time 64.426429 ms 
 
prepare time 14.919641 
build tree time 55.810818 ms 
scan registration time 29.438263 ms *************
mapping data assosiation time 27.185597 ms 
mapping solver time 15.233805 ms 
data association time 17.380646 ms 
publication time 7.796781 ms 
whole laserOdometry time 64.550536 ms 
 
points size 85085 
map prepare time 3.840117 ms
map corner num 197320  surf num 64447 
data association time 16.958933 ms 
build tree time 58.802406 ms 
solver time 9.109573 ms 
publication time 9.075375 ms 
whole laserOdometry time 64.727750 ms 
 
mapping data assosiation time 28.627649 ms 
mapping solver time 17.733996 ms 
mapping data assosiation time 27.738311 ms 
data association time 15.115794 ms 
add points time 0.899502 ms
data association time 16.155166 ms 
filter time 16.348045 ms 
mapping pub time 1.137008 ms 
whole mapping time 170.729166 ms +++++
publication time 9.193976 ms 
whole laserOdometry time 64.115882 ms 
 
prepare time 16.530024 
sort q time 6.404418 
seperate points time 15.122511 
build tree time 62.147516 ms 
data association time 26.620380 ms 
solver time 14.372353 ms 
mapping solver time 19.925682 ms 
points size 85288 
solver time 13.268496 ms 
scan registration time 30.017770 ms *************
mapping solver time 17.764128 ms 
data association time 23.176433 ms 
filter time 19.792792 ms 
solver time 16.373998 ms 
data association time 23.478108 ms 
points size 85513 
sort q time 4.556080 
seperate points time 11.405373 
build tree time 69.711941 ms 
data association time 28.111251 ms 
mapping data assosiation time 32.579431 ms 
mapping solver time 21.000908 ms 
points size 85515 
sort q time 3.992246 
seperate points time 9.596326 
publication time 10.359050 ms 
whole laserOdometry time 96.846319 ms 
 
mapping solver time 16.358171 ms 
data association time 23.658710 ms 
solver time 18.593096 ms 
mapping pub time 41.377489 ms 
whole mapping time 240.282552 ms +++++
drop lidar frame in mapping for real time performance 
data association time 28.659167 ms 
points size 85497 
map prepare time 5.002965 ms
map corner num 197840  surf num 64573 
[0m[ INFO] [1715773245.539134097]: Received 475760 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715773245.539165965]: Data saved to 1317357739055453.pcd[0m
sort q time 5.250907 
seperate points time 13.334983 
data association time 15.677339 ms 
solver time 10.671870 ms 
data association time 15.772921 ms 
publication time 9.179246 ms 
whole laserOdometry time 58.534363 ms 
 
points size 85475 
sort q time 4.936434 
seperate points time 11.632288 
mapping data assosiation time 29.606388 ms 
mapping solver time 13.174522 ms 
filter time 18.425321 ms 
publication time 7.713951 ms 
whole laserOdometry time 57.192278 ms 
 
points size 85453 
sort q time 4.265245 
seperate points time 10.405835 
mapping data assosiation time 31.889084 ms 
solver time 12.751153 ms 
data association time 26.229463 ms 
points size 85348 
mapping data assosiation time 32.283637 ms 
prepare time 15.424063 
mapping solver time 13.214905 ms 
filter time 18.532571 ms 
data association time 23.955274 ms 
solver time 11.679004 ms 
data association time 24.003110 ms 
optimization twice time 68.336984 
publication time 9.733127 ms 
whole laserOdometry time 78.114191 ms 
 
sort q time 4.693526 
seperate points time 11.463853 
mapping data assosiation time 27.211488 ms 
solver time 8.284858 ms 
data association time 15.383817 ms 
mapping data assosiation time 29.035053 ms 
mapping solver time 12.654357 ms 
points size 85345 
filter time 19.294608 ms 
data association time 14.395282 ms 
solver time 10.959279 ms 
build tree time 54.734261 ms 
optimization twice time 52.089729 
mapping data assosiation time 30.464873 ms 
mapping solver time 17.478091 ms 
mapping data assosiation time 29.806636 ms 
mapping solver time 14.110592 ms 
mapping optimization time 148.058592 
add points time 0.700609 ms
solver time 12.228249 ms 
filter time 22.203873 ms 
solver time 8.306728 ms 
publication time 10.307503 ms 
whole laserOdometry time 79.461610 ms 
 
sort q time 4.660315 
seperate points time 11.403086 
build tree time 58.436532 ms 
data association time 23.416184 ms 
solver time 12.010701 ms 
mapping data assosiation time 27.308092 ms 
mapping solver time 12.620201 ms 
publication time 9.817895 ms 
whole laserOdometry time 77.918516 ms 
 
mapping data assosiation time 29.431395 ms 
sort q time 4.584610 
seperate points time 10.832230 
mapping optimization time 144.297229 
data association time 23.484576 ms 
data association time 23.599713 ms 
publication time 9.982942 ms 
whole laserOdometry time 74.786225 ms 
 
build tree time 57.678634 ms 
mapping data assosiation time 27.456976 ms 
mapping solver time 14.189323 ms 
mapping data assosiation time 26.189725 ms 
mapping solver time 12.745697 ms 
mapping optimization time 139.807286 
add points time 0.745216 ms

Done.
filter time 16.695815 ms 
mapping pub time 1.102672 ms 
whole mapping time 162.813584 ms +++++
map prepare time 4.223932 ms
map corner num 198410  surf num 64699 
build tree time 52.694842 ms 
mapping data assosiation time 24.551224 ms 
mapping solver time 11.950412 ms 
mapping data assosiation time 26.247172 ms 
mapping solver time 12.490614 ms 
mapping optimization time 129.477495 
add points time 0.850925 ms
filter time 17.970129 ms 
mapping pub time 1.040910 ms 
whole mapping time 153.610789 ms +++++
killing:
 * /alaserMapping
 * /alaserOdometry
 * /ascanRegistration
 * /pointcloud_to_pcd_1715773130514570807
 * /rosout
[33m[ WARN] [1715773247.267161093]: Shutdown request received.[0m
[33m[ WARN] [1715773247.267190630]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1715773247.267675012]: Shutdown request received.[0m
[33m[ WARN] [1715773247.267702366]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1715773247.268228259]: Shutdown request received.[0m
[33m[ WARN] [1715773247.268269689]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1715773247.268725408]: Shutdown request received.[0m
[33m[ WARN] [1715773247.268985145]: Reason given for shutdown: [user request][0m
killed
[1m[ascanRegistration-2] process has finished cleanly
log file: /root/.ros/log/ad2a947c-12af-11ef-ab74-0242ac110008/ascanRegistration-2*.log[0m
terminate called without an active exception
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/ad2a947c-12af-11ef-ab74-0242ac110008/rosout-1*.log[0m
[1m[alaserOdometry-3] process has finished cleanly
log file: /root/.ros/log/ad2a947c-12af-11ef-ab74-0242ac110008/alaserOdometry-3*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [578][0m
[31m[alaserMapping-4] process has died [pid 183, exit code -6, cmd /root/catkin_ws/devel/lib/aloam_velodyne/alaserMapping __name:=alaserMapping __log:=/root/.ros/log/ad2a947c-12af-11ef-ab74-0242ac110008/alaserMapping-4.log].
log file: /root/.ros/log/ad2a947c-12af-11ef-ab74-0242ac110008/alaserMapping-4*.log[0m
