/SLAM-Hive/slam_hive_results/mapping_results/643/297_ndt-loam-imu+kitti_2011_09_30_drive_0027_synced_full .yamlbash: /opt/ros/kinetic/setup.bash: No such file or directory
... logging to /root/.ros/log/549214a6-12b5-11ef-8672-0242ac110008/roslaunch-84db4683865b-90.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/slamhive/dlo_lfa_ggo_kitti.launch
[1mstarted roslaunch server http://84db4683865b:38011/[0m

SUMMARY
========

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

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

auto-starting new master
[1mprocess[master]: started with pid [105][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/dlo_lfa_ggo_kitti.launch http://localhost:11311
[1msetting /run_id to 549214a6-12b5-11ef-8672-0242ac110008[0m
[1mprocess[rosout-1]: started with pid [116][0m
started core service [/rosout]
[1mprocess[lidar2base_publisher-2]: started with pid [123][0m
[1mprocess[camera_init2odom_publisher-3]: started with pid [124][0m
[1mprocess[velodyne_nodelet_manager-4]: started with pid [130][0m
[0m[ INFO] [1715775553.122961384]: Initializing nodelet with 8 worker threads.[0m
[1mprocess[prefiltering_nodelet-5]: started with pid [136][0m
downsample: VOXELGRID 0.1
outlier_removal: RADIUS 0.5 - 2
[1mprocess[scan_matching_odom_nodelet-6]: started with pid [152][0m
calib_file= home/chenshoubin/slam_ws/src/lv_slam/config/kitti_calib/calib04-12.txt
odom_file= /root/kitti_traj_ggo.txt
--- reg_s2s,reg_s2k=pcl::NDT_OMP ---
--- initialize_params end! ---
[1mprocess[ascanRegistration-7]: started with pid [162][0m
scan line number 64 
[1mprocess[alaserOdometry-8]: started with pid [170][0m
Mapping 10 Hz 
[1mprocess[alaserMapping-9]: started with pid [176][0m
line resolution 0.400000 plane resolution 0.800000 
[1mprocess[kittiHelper-10]: started with pid [182][0m
calib_file= home/chenshoubin/slam_ws/src/lv_slam/config/kitti_calib/calib04-12.txt
eulerAngle= 0
-0
 01 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
[1mprocess[global_graph_nodelet-11]: started with pid [189][0m
/opt/ros/melodic/lib/python2.7/dist-packages/roslib/packages.py:470: UnicodeWarning: Unicode equal comparison failed to convert both arguments to Unicode - interpreting them as being unequal
  if resource_name in files:
construct solver: lm_var_cholmod
# Using CHOLMOD poseDim -1 landMarkDim -1 blockordering 1
done
registration: NDT_OMP DIRECT7 1 (8 threads)
[1mprocess[map2odom_publisher-12]: started with pid [195][0m
### global_graph init done! 
bash: /opt/ros/kinetic/setup.bash: No such file or directory
bash: /opt/ros/kinetic/setup.bash: No such file or directory
rosbag play /slamhive/dataset/kitti_2011_09_30_drive_0027_synced_full.bag  --clock 
[0m[ INFO] [1715775558.706059021]: Saving as ASCII PCD[0m
[0m[ INFO] [1715775558.711257894]: Listening for incoming data on topic /laser_cloud_surround[0m
[0m[ INFO] [1715775558.884292233]: 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: 0.00 
--------------------stamp1317357626.181180953
points size 92593 
sort q time 14.860138 
seperate points time 29.234600 
scan registration time 77.966627 ms *************
Initialization finished 
points size 93077 
map prepare time 3.311697 ms
map corner num 0  surf num 0 
[33m[ WARN] [1715775560.507967943, 1317357626.333524256]: time Map corner and surf num are not enough[0m
sort q time 7.931876 
seperate points time 18.089840 
mapping pub time 3.378486 ms 
whole mapping time 9.181919 ms +++++
mappingCount 1 & avg mapping time 9.189339 ms ++++++++++++++++++++++
1317357626.181180954 WriteOdom aft_mapped_to_init
scan registration time 55.054922 ms *************
publication time 17.472040 ms 
whole laserOdometry time 17.489627 ms 
 
--------------------stamp1317357626.388736963
points size 93653 
prepare time 17.423285 
sort q time 4.989162 
seperate points time 14.662258 
scan registration time 43.087897 ms *************
publication time 9.674561 ms 
whole laserOdometry time 9.946800 ms 
 
--------------------stamp1317357626.492463111
points size 94184 
prepare time 20.660412 
sort q time 6.581185 
seperate points time 14.148027 
scan registration time 44.537342 ms *************
publication time 18.155480 ms 
whole laserOdometry time 18.186594 ms 
 
--------------------stamp1317357626.596208095
points size 94964 
sort q time 4.866895 
seperate points time 11.255907 
publication time 11.201100 ms 
whole laserOdometry time 11.221602 ms 
 
mapping data assosiation time 23.283911 ms 
1317357626.388736963 WriteOdom laser_odom_to_init
1317357626.388736963 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.983816 ms 
--------------------stamp1317357626.699959039
-----t: 0.0334724
OdomCount 3 & avg odom time 0.125104 ms ++++++++++++++++++++++
points size 96129 
prepare time 19.280143 
sort q time 5.456576 
seperate points time 13.711173 
mapping data assosiation time 44.851077 ms 
-----t: 0.0364173
OdomCount 4 & avg odom time 0.102932 ms ++++++++++++++++++++++
1317357626.596208095 WriteOdom laser_odom_to_init
1317357626.596208095 WriteOdom aft_mapped_to_init_high_frec
scan registration time 47.032530 ms *************
mapping solver time 18.567572 ms 
map prepare time 2.367641 ms
map corner num 3429  surf num 3663 
publication time 20.184000 ms 
whole laserOdometry time 20.221370 ms 
 
-----t: 0.0409046
OdomCount 5 & avg odom time 0.090527 ms ++++++++++++++++++++++
1317357626.699959039 WriteOdom laser_odom_to_init
1317357626.699959039 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357626.803689956
points size 97426 
sort q time 4.743154 
seperate points time 10.557949 
scan registration time 35.882357 ms *************
publication time 13.137438 ms 
whole laserOdometry time 13.166070 ms 
 
mapping solver time 24.382913 ms 
mapping optimization time 95.816246 
add points time 0.524670 ms
filter time 1.058306 ms 
mapping pub time 2.318206 ms 
whole mapping time 102.157449 ms +++++
mappingCount 3 & avg mapping time 77.441953 ms ++++++++++++++++++++++
1317357626.596208096 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.364976 ms
map corner num 4505  surf num 4162 
-----t: 0.0686876
OdomCount 6 & avg odom time 0.086887 ms ++++++++++++++++++++++
1317357626.803689956 WriteOdom laser_odom_to_init
1317357626.803689956 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357626.907418012
prepare time 18.015104 
scan registration time 37.804085 ms *************
publication time 8.894449 ms 
whole laserOdometry time 8.922068 ms 
 
-----t: 0.0558215
OdomCount 7 & avg odom time 0.082449 ms ++++++++++++++++++++++
mapping optimization time 117.533145 
add points time 0.502268 ms
filter time 1.005762 ms 
mapping pub time 2.180989 ms 
whole mapping time 123.638407 ms +++++
mappingCount 4 & avg mapping time 88.991862 ms ++++++++++++++++++++++
1317357626.699959040 WriteOdom aft_mapped_to_init
build tree time 1.420695 ms 
--------------------stamp1317357627.011141061
prepare time 14.818602 
mapping data assosiation time 23.613028 ms 
sort q time 5.459842 
seperate points time 12.939009 
mapping solver time 34.886975 ms 
publication time 10.983836 ms 
whole laserOdometry time 11.080257 ms 
 
1317357627.011141061 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.457676 ms 
mapping solver time 18.330654 ms 
mapping pub time 2.670338 ms 
whole mapping time 114.594613 ms +++++
mappingCount 5 & avg mapping time 94.116831 ms ++++++++++++++++++++++
--------------------stamp1317357627.114850044
map prepare time 2.156491 ms
map corner num 6159  surf num 4879 
points size 99250 
prepare time 15.876770 
sort q time 5.952326 
seperate points time 13.652956 
mapping data assosiation time 25.145484 ms 
scan registration time 34.028630 ms *************
mapping solver time 27.920694 ms 
publication time 19.265774 ms 
whole laserOdometry time 19.281885 ms 
 
1317357627.114850044 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.000670 ms 
--------------------stamp1317357627.218528032
mapping solver time 20.002418 ms 
points size 99327 
build tree time 2.117977 ms 
sort q time 6.626503 
seperate points time 13.729382 
scan registration time 34.725278 ms *************
mapping data assosiation time 27.716392 ms 
publication time 8.906286 ms 
whole laserOdometry time 8.939635 ms 
 
mapping solver time 26.321491 ms 
mapping data assosiation time 21.232557 ms 
--------------------stamp1317357627.322200059
mapping solver time 18.608707 ms 
mapping optimization time 97.662396 
points size 99392 
add points time 0.511312 ms
map prepare time 2.178374 ms
map corner num 7336  surf num 5337 
sort q time 5.800124 
seperate points time 13.719166 
scan registration time 32.289812 ms *************
mapping data assosiation time 24.707820 ms 
publication time 8.277801 ms 
whole laserOdometry time 8.295342 ms 
 
mapping solver time 35.785218 ms 
-----t: 0.0617464
OdomCount 11 & avg odom time 0.070803 ms ++++++++++++++++++++++
--------------------stamp1317357627.425878047
points size 99384 
mapping solver time 22.886922 ms 
mapping optimization time 116.308788 
add points time 1.195128 ms
filter time 1.631140 ms 
sort q time 6.277282 
seperate points time 14.428398 
mapping pub time 2.905786 ms 
whole mapping time 124.434856 ms +++++
mappingCount 8 & avg mapping time 100.989849 ms ++++++++++++++++++++++
1317357627.218528032 WriteOdom aft_mapped_to_init
build tree time 11.155752 ms 
publication time 13.759021 ms 
whole laserOdometry time 13.791646 ms 
 
mapping data assosiation time 26.335358 ms 
--------------------stamp1317357627.529581069
points size 99544 
prepare time 11.824313 
sort q time 6.350010 
seperate points time 13.117845 
mapping data assosiation time 24.483448 ms 
mapping solver time 20.519645 ms 
publication time 10.003906 ms 
whole laserOdometry time 10.063042 ms 
 
mapping optimization time 109.652589 
add points time 0.631451 ms
filter time 1.523129 ms 
drop lidar frame in mapping for real time performance 
map prepare time 1.920007 ms
map corner num 8348  surf num 5686 
mapping data assosiation time 23.751667 ms 
--------------------stamp1317357627.633285045
mapping solver time 26.735099 ms 
points size 99441 
sort q time 6.355461 
seperate points time 12.457477 
scan registration time 30.793446 ms *************
mapping data assosiation time 24.262441 ms 
publication time 14.522476 ms 
whole laserOdometry time 14.669412 ms 
 
mapping solver time 20.726938 ms 
mapping optimization time 99.321272 
add points time 0.660432 ms
-----t: 0.0585752
OdomCount 14 & avg odom time 0.066192 ms ++++++++++++++++++++++
1317357627.633285045 WriteOdom laser_odom_to_init
1317357627.633285045 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.029694 ms
map corner num 8828  surf num 5866 
--------------------stamp1317357627.736964941
mapping data assosiation time 27.432057 ms 
prepare time 16.257212 
sort q time 5.965744 
seperate points time 14.653966 
scan registration time 40.824067 ms *************
mapping solver time 35.372912 ms 
-----t: 0.0490373
OdomCount 15 & avg odom time 0.065048 ms ++++++++++++++++++++++
1317357627.736964941 WriteOdom laser_odom_to_init
1317357627.736964941 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.447590 ms 
publication time 17.914417 ms 
whole laserOdometry time 17.928037 ms 
 
mapping solver time 20.756671 ms 
[0m[ INFO] [1715775562.008836030, 1317357627.834810661]: Received 15586 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775562.008894269, 1317357627.834810661]: Data saved to 1317357627633285.pcd[0m
map prepare time 2.833726 ms
map corner num 9472  surf num 6114 
prepare time 14.113173 
sort q time 4.951634 
seperate points time 10.974839 
mapping data assosiation time 27.250387 ms 
publication time 11.738992 ms 
whole laserOdometry time 11.759766 ms 
 
-----t: 0.04327
OdomCount 16 & avg odom time 0.063687 ms ++++++++++++++++++++++
1317357627.840643882 WriteOdom laser_odom_to_init
1317357627.840643882 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.534768 ms 
--------------------stamp1317357627.944298028
points size 99543 
prepare time 14.490860 
add points time 0.749192 ms
filter time 1.882693 ms 
build tree time 3.532190 ms 
publication time 9.460120 ms 
whole laserOdometry time 9.477200 ms 
 
-----t: 0.04651211317357627.944298028 WriteOdom laser_odom_to_init
1317357627.944298028 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.506816 ms 
--------------------stamp1317357628.047902107
points size 99504 
mapping data assosiation time 28.232021 ms 
sort q time 5.764094 
seperate points time 14.623822 
mapping optimization time 107.408656 
add points time 0.682144 ms
scan registration time 36.631658 ms *************
filter time 1.764322 ms 
mapping pub time 4.106352 ms 
whole mapping time 117.150462 ms +++++
mappingCount 13 & avg mapping time 107.274172 ms ++++++++++++++++++++++
1317357627.840643883 WriteOdom aft_mapped_to_init
map prepare time 2.698906 ms
map corner num 10423  surf num 6482 
build tree time 2.552878 ms 
publication time 14.758877 ms 
whole laserOdometry time 14.783744 ms 
 
-----t: 0.0510345
OdomCount 18 & avg odom time 0.062030 ms ++++++++++++++++++++++
1317357628.047902107 WriteOdom laser_odom_to_init
1317357628.047902107 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.357420 ms 
--------------------stamp1317357628.151511907
points size 99503 
prepare time 14.975308 
mapping solver time 37.680417 ms 
sort q time 6.831866 
seperate points time 17.212157 
scan registration time 36.866844 ms *************
mapping data assosiation time 27.680968 ms 
publication time 9.723258 ms 
whole laserOdometry time 9.739037 ms 
 
mapping solver time 23.135361 ms 
mapping optimization time 122.069697 
drop lidar frame in mapping for real time performance 
build tree time 2.432177 ms 
--------------------stamp1317357628.255143880
points size 99538 
mapping solver time 29.742750 ms 
sort q time 6.357079 
seperate points time 15.073045 
scan registration time 37.145946 ms *************
mapping data assosiation time 27.888849 ms 
-----t: 0.0442662
OdomCount 20 & avg odom time 0.060937 ms ++++++++++++++++++++++
publication time 15.912985 ms 
whole laserOdometry time 15.925598 ms 
 
1317357628.255143880 WriteOdom laser_odom_to_init
1317357628.255143880 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.762480 ms 
mapping optimization time 115.813851 
add points time 0.691991 ms
filter time 1.924240 ms 
1317357628.047902107 WriteOdom aft_mapped_to_init
map prepare time 3.238099 ms
map corner num 11361  surf num 6870 
points size 99425 
sort q time 6.639204 
seperate points time 14.055149 
mapping data assosiation time 29.524783 ms 
scan registration time 33.699540 ms *************
publication time 9.396199 ms 
whole laserOdometry time 9.415749 ms 
 
-----t: 0.0428697
OdomCount 21 & avg odom time 0.060076 ms ++++++++++++++++++++++
1317357628.358776092 WriteOdom laser_odom_to_init
1317357628.358776092 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.247789 ms 
mapping data assosiation time 23.386896 ms 
--------------------stamp1317357628.462433099
points size 99442 
mapping solver time 26.121549 ms 
filter time 1.655853 ms 
mapping pub time 2.571220 ms 
whole mapping time 129.024335 ms +++++
mappingCount 16 & avg mapping time 111.069778 ms ++++++++++++++++++++++
1317357628.255143881 WriteOdom aft_mapped_to_init
[0m[ INFO] [1715775562.659211599, 1317357628.489548478]: Received 19025 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775562.659259072, 1317357628.489548478]: Data saved to 1317357628255143.pcd[0m
map prepare time 2.237181 ms
map corner num 11930  surf num 7095 
build tree time 3.501979 ms 
sort q time 5.535553 
seperate points time 14.354471 
scan registration time 42.981528 ms *************
mapping data assosiation time 29.579786 ms 
-----t: 0.0536158
OdomCount 22 & avg odom time 0.059783 ms ++++++++++++++++++++++
1317357628.462433099 WriteOdom laser_odom_to_init
1317357628.462433099 WriteOdom aft_mapped_to_init_high_frecmapping solver time 28.854378 ms 
--------------------stamp1317357628.566107988
points size 99421 
sort q time 6.879334 
seperate points time 14.105041 
scan registration time 34.202161 ms *************
add points time 0.647940 ms
filter time 1.917221 ms 
publication time 16.287604 ms 
whole laserOdometry time 16.321575 ms 
 
-----t: 0.0624655
OdomCount 23 & avg odom time 0.059899 ms ++++++++++++++++++++++
1317357628.566107988 WriteOdom laser_odom_to_init
1317357628.566107988 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357628.669807910
mapping solver time 33.591581 ms 
points size 99307 
prepare time 25.309929 
sort q time 5.548515 
seperate points time 13.684971 
mapping data assosiation time 29.550425 ms 
scan registration time 44.905895 ms *************
publication time 12.027049 ms 
whole laserOdometry time 12.047635 ms 
 
mapping solver time 37.096096 ms 
mapping optimization time 136.898073 
add points time 0.620111 ms
filter time 2.336724 ms 
mapping pub time 2.404511 ms 
whole mapping time 144.291409 ms +++++
mappingCount 18 & avg mapping time 113.490813 ms ++++++++++++++++++++++
1317357628.462433100 WriteOdom aft_mapped_to_init
map prepare time 2.190358 ms
map corner num 12865  surf num 7471 
build tree time 3.250260 ms 
--------------------stamp1317357628.773535966
points size 99176 
sort q time 5.273981 
seperate points time 12.923075 
scan registration time 34.322694 ms *************
publication time 10.054879 ms 
whole laserOdometry time 10.084065 ms 
 
mapping solver time 36.786124 ms 
-----t: 0.0698642
OdomCount 25 & avg odom time 0.059811 ms ++++++++++++++++++++++
mapping data assosiation time 43.645229 ms 
--------------------stamp1317357628.877240896
points size 98583 
mapping solver time 26.614540 ms 
sort q time 6.073903 
seperate points time 12.505667 
map prepare time 2.795945 ms
map corner num 13343  surf num 7642 
scan registration time 34.091677 ms *************
publication time 10.970687 ms 
whole laserOdometry time 10.988824 ms 
 
mapping data assosiation time 26.868287 ms 
-----t: 0.0642168
OdomCount 26 & avg odom time 0.059981 ms ++++++++++++++++++++++
mapping solver time 29.666376 ms 
points size 97816 
prepare time 13.104878 
mapping data assosiation time 25.509553 ms 
sort q time 5.394496 
seperate points time 13.533614 
mapping solver time 21.378602 ms 
mapping optimization time 108.525352 
add points time 0.718233 ms
map prepare time 2.013390 ms
map corner num 13916  surf num 7873 
mapping data assosiation time 27.136415 ms 
--------------------stamp1317357629.084691047
points size 96708 
mapping data assosiation time 25.829624 ms 
sort q time 5.319639 
seperate points time 12.983692 
scan registration time 32.616872 ms *************
mapping solver time 20.030300 ms 
-----t: 0.045019
OdomCount 28 & avg odom time 0.058853 ms ++++++++++++++++++++++
1317357629.084691047 WriteOdom laser_odom_to_init
1317357629.084691047 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
map prepare time 2.650946 ms
map corner num 14361  surf num 8035 
--------------------stamp1317357629.188467025
points size 95423 
sort q time 5.385578 
seperate points time 11.349579 
mapping solver time 25.599798 ms 
scan registration time 28.052841 ms *************
publication time 8.682288 ms 
whole laserOdometry time 8.703745 ms 
 
1317357629.188467025 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.025261 ms 
mapping optimization time 98.217888 
add points time 0.729071 ms
map prepare time 2.072900 ms
map corner num 14756  surf num 8216 
build tree time 3.783597 ms 
--------------------stamp1317357629.292267084
mapping data assosiation time 26.868354 ms 
prepare time 14.026393 
sort q time 13.421135 
seperate points time 20.410359 
mapping solver time 41.410511 ms -----t: 0.0447018
OdomCount 30 & avg odom time 0.057981 ms ++++++++++++++++++++++
mapping data assosiation time 30.583474 ms 
mapping optimization time 131.214264 
mapping pub time 2.225506 ms 
whole mapping time 139.338841 ms +++++
mappingCount 23 & avg mapping time 116.257998 ms ++++++++++++++++++++++
1317357629.188467026 WriteOdom aft_mapped_to_init
points size 91321 
build tree time 3.563165 ms 
sort q time 5.200996 
seperate points time 25.578695 
-----t: 0.0446686
OdomCount 31 & avg odom time 0.057551 ms ++++++++++++++++++++++
1317357629.396107912 WriteOdom laser_odom_to_init
1317357629.396107912 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.199837 ms 
mapping data assosiation time 23.012776 ms 
--------------------stamp1317357629.500015974
mapping solver time 18.412597 ms 
points size 88259 
mapping pub time 2.116266 ms 
whole mapping time 106.517994 ms +++++
mappingCount 24 & avg mapping time 115.852406 ms ++++++++++++++++++++++
1317357629.292267084 WriteOdom aft_mapped_to_init
prepare time 12.545386 
map prepare time 2.767198 ms
map corner num 15809  surf num 8669 
sort q time 4.552319 
seperate points time 9.901378 
build tree time 19.745998 ms 
publication time 11.030216 ms 
whole laserOdometry time 11.107335 ms 
 
-----t: 0.0393363
OdomCount 32 & avg odom time 0.056982 ms ++++++++++++++++++++++
1317357629.500015974 WriteOdom laser_odom_to_init
mapping data assosiation time 29.662317 ms 
mapping solver time 29.522294 ms 
mapping data assosiation time 22.241311 ms 
mapping solver time 18.705487 ms 
mapping optimization time 121.250656 
add points time 0.551647 ms
filter time 1.830624 ms 
mapping pub time 2.085951 ms 
whole mapping time 128.538300 ms +++++
mappingCount 25 & avg mapping time 116.359956 ms ++++++++++++++++++++++
1317357629.396107912 WriteOdom aft_mapped_to_init
--------------------stamp1317357629.604012012
build tree time 4.974472 ms 
points size 85479 
sort q time 5.048061 
seperate points time 9.884746 
scan registration time 24.523173 ms *************
mapping data assosiation time 28.699123 ms 
--------------------stamp1317357629.708085060
mapping solver time 34.854657 ms 
-----t: 0.0486116
OdomCount 33 & avg odom time 0.056728 ms ++++++++++++++++++++++
1317357629.604012012 WriteOdom aft_mapped_to_init_high_frec
1317357629.604012012 WriteOdom laser_odom_to_init
prepare time 19.404507 
sort q time 4.893562 
seperate points time 11.653467 
scan registration time 35.064110 ms *************
mapping data assosiation time 37.182182 ms 
publication time 6.525806 ms 
whole laserOdometry time 6.562146 ms 
 
-----t: 0.0455639
OdomCount 34 & avg odom time 0.056400 ms ++++++++++++++++++++++
1317357629.708085060 WriteOdom aft_mapped_to_init_high_frec
1317357629.708085060 WriteOdom laser_odom_to_init
mapping solver time 36.519207 ms 
mapping optimization time 143.919322 
add points time 0.947949 ms
filter time 1.967428 ms 
[0m[ INFO] [1715775563.968676473, 1317357629.793519593]: Received 25702 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775563.968714237, 1317357629.793519593]: Data saved to 1317357629500015.pcd[0m
mapping pub time 2.259831 ms 
whole mapping time 151.620759 ms +++++
mappingCount 26 & avg mapping time 117.716364 ms ++++++++++++++++++++++
1317357629.500015974 WriteOdom aft_mapped_to_init
build tree time 3.689742 ms 
--------------------stamp1317357629.812196969
points size 79116 
prepare time 13.272436 
sort q time 4.387767 
seperate points time 9.705250 
publication time 7.904747 ms 
whole laserOdometry time 7.922666 ms 
 
mapping solver time 39.939655 ms 
-----t: 0.0442409
OdomCount 35 & avg odom time 0.056053 ms ++++++++++++++++++++++
1317357629.812196969 WriteOdom laser_odom_to_init
1317357629.812196969 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.120106 ms 
--------------------stamp1317357629.916337013
points size 77596 
mapping solver time 30.327838 ms 
mapping optimization time 129.203944 
add points time 0.583752 ms
filter time 1.932350 ms 
mapping pub time 2.203524 ms 
whole mapping time 136.112923 ms +++++
mappingCount 27 & avg mapping time 118.398004 ms ++++++++++++++++++++++
1317357629.604012012 WriteOdom aft_mapped_to_init
map prepare time 4.255296 ms
map corner num 17239  surf num 9068 
scan registration time 30.417662 ms *************
build tree time 4.582203 ms 
publication time 7.002991 ms 
whole laserOdometry time 9.555748 ms 
 
mapping data assosiation time 25.977600 ms 
-----t: 0.0657811
OdomCount 36 & avg odom time 0.056323 ms ++++++++++++++++++++++
mapping solver time 35.041329 ms 
--------------------stamp1317357630.020543098
points size 75450 
mapping data assosiation time 28.623301 ms 
publication time 7.153955 ms 
whole laserOdometry time 7.175682 ms 
 
mapping solver time 32.498921 ms 
mapping pub time 1.853609 ms 
whole mapping time 136.897257 ms +++++
mappingCount 28 & avg mapping time 119.058909 ms ++++++++++++++++++++++
-----t: 0.0464778
OdomCount 37 & avg odom time 0.056057 ms ++++++++++++++++++++++
1317357630.020543098 WriteOdom laser_odom_to_init
1317357630.020543098 WriteOdom aft_mapped_to_init_high_frec
build tree time 4.912583 ms 
mapping data assosiation time 23.746531 ms 
--------------------stamp1317357630.124814987
points size 72301 
sort q time 4.315803 
seperate points time 9.858039 
publication time 6.595184 ms 
whole laserOdometry time 6.611665 ms 
 
mapping data assosiation time 33.675002 ms 
-----t: 0.0472189
OdomCount 38 & avg odom time 0.055824 ms ++++++++++++++++++++++
1317357630.124814987 WriteOdom laser_odom_to_init
1317357630.124814987 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.953970 ms 
mapping optimization time 124.889344 
add points time 0.532656 ms
filter time 1.935007 ms 
map prepare time 1.552542 ms
map corner num 18444  surf num 9419 
build tree time 4.254791 ms 
--------------------stamp1317357630.229118108
points size 66771 
prepare time 9.531927 
sort q time 3.363121 
seperate points time 7.657714 
scan registration time 20.513204 ms *************
publication time 8.529047 ms 
whole laserOdometry time 8.552261 ms 
 
-----t: 0.027888
OdomCount 39 & avg odom time 0.055108 ms ++++++++++++++++++++++
mapping data assosiation time 18.955756 ms 
mapping solver time 21.921682 ms 
mapping optimization time 98.709910 
add points time 0.484827 ms
filter time 1.774330 ms 
mapping pub time 1.637424 ms 
whole mapping time 104.200084 ms +++++
mappingCount 30 & avg mapping time 118.968882 ms ++++++++++++++++++++++
1317357630.124814987 WriteOdom aft_mapped_to_init
build tree time 4.730130 ms 
--------------------stamp1317357630.333445072
mapping data assosiation time 19.330816 ms 
points size 62311 
prepare time 10.584641 
sort q time 3.693296 
seperate points time 7.875406 
scan registration time 21.378752 ms *************
mapping solver time 23.573920 ms 
-----t: 0.0318686
OdomCount 40 & avg odom time 0.054527 ms ++++++++++++++++++++++
1317357630.333445072 WriteOdom laser_odom_to_init
1317357630.333445072 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.108539 ms 
mapping solver time 21.924402 ms 
[0m[ INFO] [1715775564.584742329, 1317357630.414625659]: Received 29195 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775564.584777136, 1317357630.414625659]: Data saved to 1317357630229118.pcd[0m
mapping pub time 2.151486 ms 
whole mapping time 96.579571 ms +++++
mappingCount 31 & avg mapping time 118.246795 ms ++++++++++++++++++++++
1317357630.229118109 WriteOdom aft_mapped_to_init
map prepare time 1.802890 ms
map corner num 19535  surf num 9660 
build tree time 4.988206 ms 
--------------------stamp1317357630.437796115
mapping data assosiation time 19.573813 ms 
points size 59236 
sort q time 3.060663 
seperate points time 7.497482 
mapping solver time 25.243665 ms 
publication time 5.074704 ms 
whole laserOdometry time 5.101291 ms 
 
-----t: 0.0283025
OdomCount 41 & avg odom time 0.053887 ms ++++++++++++++++++++++
1317357630.437796115 WriteOdom laser_odom_to_init
1317357630.437796115 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.179111 ms 
mapping solver time 19.510227 ms 
mapping optimization time 94.662841 
add points time 0.425976 ms
filter time 1.804544 ms 
mapping pub time 1.436179 ms 
whole mapping time 100.191826 ms +++++
mappingCount 32 & avg mapping time 117.682664 ms ++++++++++++++++++++++
1317357630.333445072 WriteOdom aft_mapped_to_init
build tree time 5.188707 ms 
--------------------stamp1317357630.542146921
points size 56576 
prepare time 9.439439 
sort q time 2.752116 
seperate points time 6.580580 
mapping solver time 23.175076 ms 
publication time 5.182148 ms 
whole laserOdometry time 5.191609 ms 
 
mapping data assosiation time 19.882284 ms 
-----t: 0.029123
OdomCount 42 & avg odom time 0.053298 ms ++++++++++++++++++++++
1317357630.542146921 WriteOdom laser_odom_to_init
1317357630.542146921 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.531356 ms 
mapping optimization time 82.217425 
add points time 0.448912 ms
filter time 1.946026 ms 
mapping pub time 1.352239 ms 
whole mapping time 87.502742 ms +++++
mappingCount 33 & avg mapping time 116.768258 ms ++++++++++++++++++++++
1317357630.437796116 WriteOdom aft_mapped_to_init
map prepare time 1.417829 ms
map corner num 20257  surf num 9797 
build tree time 4.149937 ms 
mapping data assosiation time 16.272230 ms 
--------------------stamp1317357630.646497011
points size 54639 
prepare time 9.654120 
sort q time 3.154419 
seperate points time 6.862657 
publication time 5.271136 ms 
whole laserOdometry time 5.287183 ms 
 
mapping solver time 15.144664 ms 
mapping optimization time 73.342275 
add points time 0.427257 ms
-----t: 0.0253616
OdomCount 43 & avg odom time 0.052648 ms ++++++++++++++++++++++
1317357630.646497011 WriteOdom laser_odom_to_init
1317357630.646497011 WriteOdom aft_mapped_to_init_high_frec
filter time 2.189386 ms 
mapping pub time 1.338232 ms 
whole mapping time 78.760756 ms +++++
mappingCount 34 & avg mapping time 115.650577 ms ++++++++++++++++++++++
1317357630.542146921 WriteOdom aft_mapped_to_init
build tree time 4.351754 ms 
mapping data assosiation time 14.764967 ms 
mapping solver time 18.046430 ms 
mapping data assosiation time 15.642226 ms 
--------------------stamp1317357630.750824928
points size 53857 
mapping solver time 19.457154 ms 
mapping optimization time 73.267167 
add points time 0.441541 ms
filter time 2.698894 ms 
mapping pub time 1.286336 ms 
whole mapping time 79.144753 ms +++++
mappingCount 35 & avg mapping time 114.607807 ms ++++++++++++++++++++++
sort q time 3.197952 
seperate points time 6.452594 
1317357630.646497011 WriteOdom aft_mapped_to_init
scan registration time 18.871421 ms *************
publication time 4.962433 ms 
whole laserOdometry time 4.980445 ms 
 
-----t: 0.020607
OdomCount 44 & avg odom time 0.051920 ms ++++++++++++++++++++++
1317357630.750824928 WriteOdom laser_odom_to_init
1317357630.750824928 WriteOdom aft_mapped_to_init_high_frec
build tree time 4.432023 ms 
mapping data assosiation time 16.350491 ms 
mapping solver time 19.088186 ms 
mapping data assosiation time 15.471965 ms 
--------------------stamp1317357630.855127096
points size 54453 
prepare time 9.518690 
mapping solver time 17.594995 ms 
mapping optimization time 73.807005 
add points time 0.425523 ms
filter time 1.954633 ms 
mapping pub time 1.869642 ms 
whole mapping time 79.828350 ms +++++
mappingCount 36 & avg mapping time 113.641867 ms ++++++++++++++++++++++
[0m[ INFO] [1715775565.040054365, 1317357630.869805205]: Received 31169 data points in frame camera_init with the following fields: x y z intensity[0m
1317357630.750824928 WriteOdom aft_mapped_to_init
[0m[ INFO] [1715775565.040253406, 1317357630.869805205]: Data saved to 1317357630750824.pcd[0m
publication time 4.836070 ms 
whole laserOdometry time 4.849226 ms 
 
-----t: 0.0417051
OdomCount 45 & avg odom time 0.051693 ms ++++++++++++++++++++++
1317357630.855127096 WriteOdom laser_odom_to_init
1317357630.855127096 WriteOdom aft_mapped_to_init_high_frec
build tree time 4.974643 ms 
mapping data assosiation time 17.314979 ms 
--------------------stamp1317357630.959429025
prepare time 14.675746 
sort q time 3.147178 
seperate points time 8.241600 
mapping data assosiation time 20.967697 ms 
scan registration time 27.809208 ms *************
mapping solver time 21.024521 ms 
mapping pub time 1.265196 ms 
whole mapping time 93.764516 ms +++++
mappingCount 37 & avg mapping time 113.104781 ms ++++++++++++++++++++++
1317357630.855127096 WriteOdom aft_mapped_to_init
-----t: 0.0373956
OdomCount 46 & avg odom time 0.051382 ms ++++++++++++++++++++++
1317357630.959429025 WriteOdom laser_odom_to_init
1317357630.959429025 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.562893 ms
map corner num 21511  surf num 10051 
mapping data assosiation time 15.910373 ms 
mapping solver time 19.297878 ms 
--------------------stamp1317357631.063733100
points size 59432 
mapping data assosiation time 18.694280 ms 
sort q time 3.182796 
seperate points time 7.845198 
scan registration time 23.410667 ms *************
mapping solver time 15.194167 ms 
mapping optimization time 74.229824 
add points time 0.380202 ms
filter time 2.236200 ms 
mapping pub time 1.382990 ms 
whole mapping time 79.848108 ms +++++
mappingCount 38 & avg mapping time 112.229780 ms ++++++++++++++++++++++
1317357630.959429026 WriteOdom aft_mapped_to_init
map prepare time 1.264171 ms
map corner num 21821  surf num 10152 
build tree time 5.402360 ms 
mapping data assosiation time 16.175028 ms 
mapping solver time 18.330495 ms 
mapping data assosiation time 16.171489 ms 
points size 62318 
prepare time 8.815938 
filter time 1.842289 ms 
sort q time 4.073757 
seperate points time 7.932205 
mapping pub time 1.518906 ms 
whole mapping time 79.707873 ms +++++
mappingCount 39 & avg mapping time 111.396010 ms ++++++++++++++++++++++
1317357631.063733101 WriteOdom aft_mapped_to_init
scan registration time 19.780331 ms *************
publication time 4.497006 ms 
whole laserOdometry time 4.511788 ms 
 
-----t: 0.0311987
OdomCount 48 & avg odom time 0.050407 ms ++++++++++++++++++++++
map prepare time 1.325701 ms
map corner num 22088  surf num 10210 
mapping data assosiation time 15.321648 ms 
mapping solver time 19.089743 ms 
--------------------stamp1317357631.272217035
mapping data assosiation time 16.133723 ms 
points size 63288 
prepare time 11.705287 
mapping solver time 13.339635 ms 
mapping optimization time 70.376565 
add points time 0.512777 ms
scan registration time 23.421583 ms *************
publication time 4.886918 ms 
whole laserOdometry time 4.898395 ms 
 
-----t: 0.0248638
OdomCount 49 & avg odom time 0.049885 ms ++++++++++++++++++++++
1317357631.272217035 WriteOdom laser_odom_to_init
1317357631.272217035 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.272354 ms
map corner num 22352  surf num 10269 
build tree time 6.297963 ms 
mapping data assosiation time 16.378890 ms 
mapping solver time 14.570196 ms 
mapping data assosiation time 15.078558 ms 
--------------------stamp1317357631.376422882
mapping solver time 14.348557 ms 
points size 65500 
mapping optimization time 67.742256 
add points time 0.820607 ms
prepare time 12.049135 
filter time 2.963800 ms 
sort q time 3.707418 
seperate points time 7.942991 
-----t: 0.0221626
OdomCount 50 & avg odom time 0.049331 ms ++++++++++++++++++++++
1317357631.376422882 WriteOdom laser_odom_to_init
1317357631.376422882 WriteOdom aft_mapped_to_init_high_frec
publication time 5.752998 ms 
whole laserOdometry time 5.766940 ms 
 
build tree time 5.041468 ms 
mapping data assosiation time 16.289578 ms 
mapping solver time 19.189557 ms 
--------------------stamp1317357631.480581998
points size 67510 
prepare time 9.895697 
mapping solver time 14.043076 ms 
mapping pub time 1.430408 ms 
whole mapping time 75.747592 ms +++++
mappingCount 42 & avg mapping time 108.856953 ms ++++++++++++++++++++++
1317357631.376422882 WriteOdom aft_mapped_to_init
sort q time 4.084625 
seperate points time 7.827674 
publication time 5.129404 ms 
whole laserOdometry time 5.141761 ms 
 
-----t: 0.0217976
OdomCount 51 & avg odom time 0.048791 ms ++++++++++++++++++++++
map prepare time 1.579669 ms
map corner num 22876  surf num 10419 
build tree time 5.240011 ms 
mapping data assosiation time 15.085823 ms 
mapping solver time 14.132942 ms 
mapping data assosiation time 14.303579 ms 
--------------------stamp1317357631.584742069
filter time 2.593792 ms 
prepare time 10.773488 
sort q time 3.620002 
seperate points time 8.476484 
scan registration time 21.969346 ms *************
-----t: 0.0292514
OdomCount 52 & avg odom time 0.048415 ms ++++++++++++++++++++++
1317357631.584742069 WriteOdom laser_odom_to_init
1317357631.584742069 WriteOdom aft_mapped_to_init_high_frec
build tree time 5.438330 ms 
mapping data assosiation time 15.029776 ms 
mapping solver time 14.457276 ms 
mapping data assosiation time 14.159548 ms 
--------------------stamp1317357631.688901901
mapping solver time 13.112472 ms 
mapping optimization time 63.060523 
add points time 0.451522 ms
filter time 1.952319 ms 
points size 72765 
mapping pub time 1.686117 ms 
whole mapping time 68.844830 ms +++++
mappingCount 44 & avg mapping time 107.023828 ms ++++++++++++++++++++++
sort q time 4.383208 
seperate points time 9.082854 
-----t: 0.0201378
OdomCount 53 & avg odom time 0.047882 ms ++++++++++++++++++++++
1317357631.688901901 WriteOdom laser_odom_to_init
1317357631.688901901 WriteOdom aft_mapped_to_init_high_frec
publication time 5.433076 ms 
whole laserOdometry time 5.445559 ms 
 
map prepare time 1.838752 ms
map corner num 23426  surf num 10588 
build tree time 5.579299 ms 
mapping data assosiation time 15.458185 ms 
mapping solver time 21.117148 ms 
mapping data assosiation time 15.723874 ms 
points size 76336 
prepare time 13.541687 
filter time 2.890303 ms 
mapping pub time 1.794713 ms 
whole mapping time 86.150239 ms +++++
mappingCount 45 & avg mapping time 106.560108 ms ++++++++++++++++++++++
1317357631.688901901 WriteOdom aft_mapped_to_init
publication time 4.631130 ms 
whole laserOdometry time 4.647122 ms 
 
-----t: 0.0339106
OdomCount 54 & avg odom time 0.047623 ms ++++++++++++++++++++++
1317357631.793035030 WriteOdom laser_odom_to_init
1317357631.793035030 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.642477 ms
map corner num 23686  surf num 10648 
build tree time 6.302734 ms 
mapping data assosiation time 15.192074 ms 
mapping solver time 17.920252 ms 
mapping data assosiation time 16.000099 ms 
points size 80217 
sort q time 3.979319 
seperate points time 8.290457 
filter time 2.232049 ms 
scan registration time 24.498213 ms *************
[0m[ INFO] [1715775566.095733718, 1317357631.914966819]: Received 34679 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775566.095784386, 1317357631.914966819]: Data saved to 1317357631793035.pcd[0m
mapping pub time 2.341466 ms 
whole mapping time 79.190796 ms +++++
mappingCount 46 & avg mapping time 105.965207 ms ++++++++++++++++++++++
1317357631.793035030 WriteOdom aft_mapped_to_init
-----t: 0.0377134
OdomCount 55 & avg odom time 0.047443 ms ++++++++++++++++++++++
map prepare time 1.939763 ms
map corner num 23960  surf num 10719 
build tree time 4.964345 ms 
mapping data assosiation time 15.864222 ms 
mapping solver time 20.578256 ms 
mapping data assosiation time 18.101367 ms 
points size 83209 
filter time 2.939093 ms 
mapping pub time 2.121585 ms 
whole mapping time 83.195441 ms +++++
mappingCount 47 & avg mapping time 105.480827 ms ++++++++++++++++++++++
1317357631.897147894 WriteOdom aft_mapped_to_init
sort q time 4.847042 
seperate points time 10.560346 
scan registration time 27.527594 ms *************
-----t: 0.0256343
OdomCount 56 & avg odom time 0.047053 ms ++++++++++++++++++++++
publication time 7.413982 ms 
whole laserOdometry time 7.420740 ms 
 
1317357632.001235961 WriteOdom laser_odom_to_init
build tree time 5.415872 ms 
mapping data assosiation time 16.598950 ms 
--------------------stamp1317357632.105297088
mapping solver time 19.919023 ms 
points size 85974 
mapping pub time 2.565903 ms 
whole mapping time 81.398870 ms +++++
mappingCount 48 & avg mapping time 104.979259 ms ++++++++++++++++++++++
1317357632.001235962 WriteOdom aft_mapped_to_init
-----t: 0.047646
OdomCount 57 & avg odom time 0.047064 ms ++++++++++++++++++++++
1317357632.105297088 WriteOdom laser_odom_to_init
1317357632.105297088 WriteOdom aft_mapped_to_init_high_frec
build tree time 7.078584 ms 
mapping data assosiation time 18.689300 ms 
mapping solver time 18.479261 ms 
points size 85206 
sort q time 4.611979 
seperate points time 9.457906 
mapping data assosiation time 13.059933 ms 
scan registration time 27.355975 ms *************
mapping solver time 14.117328 ms 
mapping pub time 2.115624 ms 
whole mapping time 79.945354 ms +++++
mappingCount 49 & avg mapping time 104.468479 ms ++++++++++++++++++++++
1317357632.105297089 WriteOdom aft_mapped_to_init
publication time 7.991343 ms 
whole laserOdometry time 8.013044 ms 
 
-----t: 0.0329394
OdomCount 58 & avg odom time 0.046820 ms ++++++++++++++++++++++
1317357632.209362030 WriteOdom laser_odom_to_init
1317357632.209362030 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.713628 ms
map corner num 24752  surf num 10937 
build tree time 5.588116 ms 
mapping data assosiation time 15.082949 ms 
mapping solver time 18.555117 ms 
mapping data assosiation time 15.109937 ms 
points size 83960 
mapping solver time 16.049465 ms 
mapping optimization time 71.411073 
add points time 0.494434 ms
filter time 3.174549 ms 
sort q time 4.687665 
seperate points time 11.121236 
scan registration time 27.722592 ms *************
publication time 6.007867 ms 
whole laserOdometry time 6.030161 ms 
 
map prepare time 1.435730 ms
map corner num 25018  surf num 11014 
build tree time 6.842905 ms 
mapping data assosiation time 15.601130 ms 
mapping solver time 18.295043 ms 
--------------------stamp1317357632.417412996
mapping data assosiation time 15.455983 ms 
points size 82777 
prepare time 12.688817 
mapping solver time 16.730310 ms 
[0m[ INFO] [1715775566.616640524, 1317357632.441449470]: Received 36346 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775566.616690161, 1317357632.441449470]: Data saved to 1317357632313397.pcd[0m
mapping pub time 2.998271 ms 
whole mapping time 81.541883 ms +++++
mappingCount 51 & avg mapping time 103.517421 ms ++++++++++++++++++++++
1317357632.313397884 WriteOdom aft_mapped_to_init
-----t: 0.0294748
OdomCount 60 & avg odom time 0.046159 ms ++++++++++++++++++++++
publication time 6.323794 ms 
whole laserOdometry time 6.335407 ms 
 
build tree time 5.040376 ms 
mapping data assosiation time 14.644816 ms 
mapping solver time 15.130224 ms 
mapping data assosiation time 14.501059 ms 
mapping solver time 11.843998 ms 
mapping optimization time 62.103383 
add points time 0.583327 ms
points size 83563 
filter time 2.718006 ms 
mapping pub time 1.939726 ms 
whole mapping time 69.052399 ms +++++
mappingCount 52 & avg mapping time 102.854713 ms ++++++++++++++++++++++
1317357632.417412996 WriteOdom aft_mapped_to_init
prepare time 15.504458 
sort q time 4.777156 
seperate points time 10.643057 
-----t: 0.0236265
OdomCount 61 & avg odom time 0.045789 ms ++++++++++++++++++++++
publication time 8.459576 ms 
whole laserOdometry time 8.500918 ms 
 
map prepare time 1.556600 ms
map corner num 25534  surf num 11187 
build tree time 5.601064 ms 
mapping data assosiation time 15.460277 ms 
mapping solver time 17.016612 ms 
mapping data assosiation time 16.285645 ms 
points size 85264 
prepare time 12.375867 
mapping solver time 13.042169 ms 
mapping pub time 2.039508 ms 
whole mapping time 75.073566 ms +++++
mappingCount 53 & avg mapping time 102.330630 ms ++++++++++++++++++++++
scan registration time 27.020403 ms *************
1317357632.521425962 WriteOdom aft_mapped_to_init
-----t: 0.0274271
OdomCount 62 & avg odom time 0.045493 ms ++++++++++++++++++++++
1317357632.625416040 WriteOdom laser_odom_to_init
1317357632.625416040 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.599841 ms
map corner num 25799  surf num 11270 
build tree time 6.542418 ms 
mapping data assosiation time 14.976389 ms 
mapping solver time 17.691107 ms 
--------------------stamp1317357632.729408025
mapping data assosiation time 16.291892 ms 
points size 86545 
prepare time 13.784668 
mapping solver time 17.775250 ms 
mapping optimization time 74.119571 
add points time 0.429749 ms
filter time 2.760043 ms 
sort q time 4.572257 
seperate points time 10.821425 
publication time 6.880863 ms 
whole laserOdometry time 6.906653 ms 
 
-----t: 0.0411829
OdomCount 63 & avg odom time 0.045425 ms ++++++++++++++++++++++
1317357632.729408025 WriteOdom laser_odom_to_init
1317357632.729408025 WriteOdom aft_mapped_to_init_high_frec
build tree time 6.060513 ms 
mapping data assosiation time 15.767677 ms 
mapping solver time 19.391976 ms 
--------------------stamp1317357632.833399057
mapping data assosiation time 18.596354 ms 
prepare time 15.514608 
sort q time 4.857978 
seperate points time 11.543173 
add points time 0.478426 ms
filter time 2.594464 ms 
mapping pub time 2.214711 ms 
whole mapping time 87.045922 ms +++++
mappingCount 55 & avg mapping time 101.668361 ms ++++++++++++++++++++++
1317357632.729408026 WriteOdom aft_mapped_to_init
publication time 6.669994 ms 
whole laserOdometry time 6.685120 ms 
 
map prepare time 1.851643 ms
map corner num 26533  surf num 11506 
build tree time 5.697616 ms 
mapping data assosiation time 16.196531 ms 
points size 88945 
sort q time 5.953928 
seperate points time 13.011255 
mapping solver time 13.637152 ms 
mapping optimization time 78.933900 
add points time 0.428001 ms
filter time 2.266623 ms 
-----t: 0.0315177
OdomCount 65 & avg odom time 0.045062 ms ++++++++++++++++++++++
1317357632.937366962 WriteOdom laser_odom_to_init
1317357632.937366962 WriteOdom aft_mapped_to_init_high_frec
publication time 8.606293 ms 
whole laserOdometry time 8.622527 ms 
 
map prepare time 1.672231 ms
map corner num 26936  surf num 11671 
build tree time 7.143720 ms 
mapping data assosiation time 20.087706 ms 
--------------------stamp1317357633.041333913
mapping solver time 17.465501 ms 
points size 89434 
prepare time 14.033788 
sort q time 9.059261 
seperate points time 15.444652 
add points time 0.498562 ms
filter time 3.264642 ms 
mapping pub time 2.028232 ms 
whole mapping time 88.552028 ms +++++
mappingCount 57 & avg mapping time 101.161681 ms ++++++++++++++++++++++
1317357632.937366962 WriteOdom aft_mapped_to_init
-----t: 0.0600199
OdomCount 66 & avg odom time 0.045289 ms ++++++++++++++++++++++
1317357633.041333913 WriteOdom laser_odom_to_init
1317357633.041333913 WriteOdom aft_mapped_to_init_high_frec
build tree time 6.242751 ms 
--------------------stamp1317357633.145301103
points size 90688 
mapping solver time 17.940520 ms 
sort q time 4.856120 
seperate points time 11.326249 
scan registration time 28.440524 ms *************
mapping data assosiation time 19.854162 ms 
publication time 11.169915 ms 
whole laserOdometry time 11.195919 ms 
 
-----t: 0.0332326
OdomCount 67 & avg odom time 0.045109 ms ++++++++++++++++++++++
1317357633.145301103 WriteOdom laser_odom_to_init
1317357633.145301103 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.787206 ms 
mapping optimization time 78.438326 
add points time 0.490601 ms
filter time 2.906885 ms 
map prepare time 2.019237 ms
map corner num 27848  surf num 12017 
build tree time 6.438447 ms 
mapping data assosiation time 18.663105 ms 
--------------------stamp1317357633.249265909
points size 91350 
prepare time 13.034559 
mapping data assosiation time 21.677124 ms 
scan registration time 28.369843 ms *************
mapping solver time 11.064917 ms 
mapping optimization time 77.549602 
add points time 0.486969 ms
filter time 3.214273 ms 
mapping pub time 2.262045 ms 
whole mapping time 85.584074 ms +++++
mappingCount 59 & avg mapping time 100.653292 ms ++++++++++++++++++++++
1317357633.145301104 WriteOdom aft_mapped_to_init
publication time 8.176246 ms 
whole laserOdometry time 8.197784 ms 
 
-----t: 0.0534592
OdomCount 68 & avg odom time 0.045232 ms ++++++++++++++++++++++
map prepare time 1.787234 ms
map corner num 28312  surf num 12219 
mapping data assosiation time 19.369521 ms 
points size 91146 
prepare time 13.494791 
mapping solver time 18.729986 ms 
sort q time 5.463108 
seperate points time 10.853065 
mapping data assosiation time 21.889054 ms 
publication time 10.320870 ms 
whole laserOdometry time 10.336309 ms 
 
mapping solver time 16.469450 ms 
filter time 3.422066 ms 
-----t: 0.0390031
OdomCount 69 & avg odom time 0.045141 ms ++++++++++++++++++++++
1317357633.353209018 WriteOdom laser_odom_to_init
1317357633.353209018 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.200539 ms 
whole mapping time 92.851424 ms +++++
mappingCount 60 & avg mapping time 100.523315 ms ++++++++++++++++++++++
1317357633.249265909 WriteOdom aft_mapped_to_init
map prepare time 2.408348 ms
map corner num 28795  surf num 12389 
build tree time 7.170031 ms 
mapping data assosiation time 19.319497 ms 
points size 89137 
prepare time 12.715328 
mapping solver time 23.561172 ms 
scan registration time 29.106739 ms *************
mapping data assosiation time 21.645134 ms 
-----t: 0.0377828
OdomCount 70 & avg odom time 0.045036 ms ++++++++++++++++++++++
publication time 16.305332 ms 
whole laserOdometry time 16.317651 ms 
 
mapping solver time 18.805414 ms 
filter time 2.762366 ms 
[0m[ INFO] [1715775567.697118815, 1317357633.525285109]: Received 41728 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775567.697217429, 1317357633.525285109]: Data saved to 1317357633353209.pcd[0m
map prepare time 2.329807 ms
map corner num 29214  surf num 12514 
build tree time 7.434366 ms 
mapping data assosiation time 20.079429 ms 
points size 88350 
mapping solver time 23.716758 ms 
mapping data assosiation time 21.898533 ms 
mapping solver time 19.496744 ms 
mapping pub time 2.145689 ms 
whole mapping time 102.154711 ms +++++
mappingCount 62 & avg mapping time 100.581571 ms ++++++++++++++++++++++
1317357633.457153082 WriteOdom aft_mapped_to_init
scan registration time 69.223160 ms *************
publication time 7.265036 ms 
whole laserOdometry time 7.277360 ms 
 
map prepare time 2.587483 ms
map corner num 29640  surf num 12625 
--------------------stamp1317357633.665087938
sort q time 4.952698 
seperate points time 16.594262 
scan registration time 35.167433 ms *************
mapping data assosiation time 29.946370 ms 
publication time 7.884512 ms 
whole laserOdometry time 7.906076 ms 
 
-----t: 0.047975
OdomCount 72 & avg odom time 0.045256 ms ++++++++++++++++++++++
mapping data assosiation time 17.899622 ms 
mapping solver time 13.655400 ms 
mapping pub time 2.462891 ms 
whole mapping time 108.303054 ms +++++
mappingCount 63 & avg mapping time 100.704223 ms ++++++++++++++++++++++
build tree time 7.528727 ms 
prepare time 16.777115 
sort q time 6.321066 
seperate points time 12.856643 
publication time 6.974792 ms 
whole laserOdometry time 7.004543 ms 
 
mapping solver time 25.291919 ms 
-----t: 0.0474978
OdomCount 73 & avg odom time 0.045287 ms ++++++++++++++++++++++
1317357633.769053936 WriteOdom laser_odom_to_init
1317357633.769053936 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.950540 ms 
mapping solver time 12.405888 ms 
--------------------stamp1317357633.873043060
map prepare time 2.495186 ms
map corner num 30368  surf num 12807 
build tree time 8.148346 ms 
prepare time 25.485682 
scan registration time 40.155767 ms *************
mapping solver time 18.519477 ms 
publication time 8.674164 ms 
whole laserOdometry time 8.687984 ms 
 
mapping data assosiation time 19.078419 ms 
mapping solver time 13.184549 ms 
filter time 2.632107 ms 
mapping pub time 2.084134 ms 
whole mapping time 87.943300 ms +++++
mappingCount 65 & avg mapping time 100.532856 ms ++++++++++++++++++++++
1317357633.769053936 WriteOdom aft_mapped_to_init
--------------------stamp1317357633.977032899
points size 86299 
mapping data assosiation time 18.117748 ms 
sort q time 5.364939 
seperate points time 10.733713 
scan registration time 31.571664 ms *************
mapping solver time 23.932064 ms 
publication time 10.030818 ms 
whole laserOdometry time 10.223104 ms 
 
mapping data assosiation time 17.213411 ms 
mapping solver time 24.967310 ms 
mapping optimization time 92.229616 
add points time 0.520024 ms
filter time 3.646931 ms 
[0m[ INFO] [1715775568.240833382, 1317357634.068343561]: Received 44034 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775568.240959628, 1317357634.068343561]: Data saved to 1317357633873043.pcd[0m
map prepare time 2.473554 ms
map corner num 31088  surf num 12946 
build tree time 7.874076 ms 
points size 86380 
sort q time 5.138342 
seperate points time 17.312496 
mapping data assosiation time 32.154229 ms 
publication time 5.993021 ms 
whole laserOdometry time 6.008114 ms 
 
mapping solver time 18.777348 ms 
-----t: 0.045879
OdomCount 76 & avg odom time 0.045024 ms ++++++++++++++++++++++
1317357634.081001043 WriteOdom laser_odom_to_init
1317357634.081001043 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 11.078342 ms 
mapping optimization time 89.691771 
add points time 0.611772 ms
map prepare time 1.607575 ms
map corner num 31442  surf num 13015 
build tree time 7.230523 ms 
--------------------stamp1317357634.184942960
points size 86077 
mapping data assosiation time 19.854535 ms 
prepare time 11.764436 
sort q time 5.390673 
seperate points time 10.326605 
mapping solver time 24.967356 ms 
-----t: 0.0327156
OdomCount 77 & avg odom time 0.044864 ms ++++++++++++++++++++++
1317357634.184942960 WriteOdom laser_odom_to_init
1317357634.184942960 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.901674 ms 
mapping solver time 15.803016 ms 
mapping optimization time 86.920414 
add points time 0.501120 ms
filter time 2.582581 ms 
map prepare time 1.665887 ms
map corner num 31756  surf num 13083 
build tree time 7.016096 ms 
--------------------stamp1317357634.288885116
mapping data assosiation time 18.267442 ms 
points size 85884 
prepare time 14.791860 
mapping solver time 19.823026 ms 
scan registration time 28.883087 ms *************
mapping data assosiation time 19.410837 ms 
publication time 14.212692 ms 
whole laserOdometry time 14.224077 ms 
 
mapping solver time 17.377351 ms 
mapping optimization time 82.808545 
add points time 0.513567 ms
filter time 2.479285 ms 
-----t: 0.0501381
OdomCount 78 & avg odom time 0.044931 ms ++++++++++++++++++++++
1317357634.288885116 WriteOdom laser_odom_to_init
1317357634.288885116 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.802141 ms
map corner num 32071  surf num 13169 
build tree time 7.059547 ms 
--------------------stamp1317357634.392851114
points size 85998 
mapping solver time 15.997233 ms 
mapping data assosiation time 16.777798 ms 
-----t: 0.0271738
OdomCount 79 & avg odom time 0.044707 ms ++++++++++++++++++++++
mapping solver time 15.464221 ms 
mapping optimization time 72.477293 
add points time 0.475569 ms
publication time 7.589231 ms 
whole laserOdometry time 7.603953 ms 
 
filter time 3.543182 ms 
map prepare time 1.806573 ms
map corner num 32375  surf num 13231 
build tree time 7.518512 ms 
mapping data assosiation time 16.528405 ms 
--------------------stamp1317357634.496819019
points size 86678 
mapping data assosiation time 17.800802 ms 
scan registration time 29.266943 ms *************
mapping solver time 17.529967 ms 
mapping optimization time 81.679215 
add points time 0.535220 ms
filter time 3.699496 ms 
[0m[ INFO] [1715775568.717639046, 1317357634.548853205]: Received 45941 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775568.717673574, 1317357634.548853205]: Data saved to 1317357634392851.pcd[0m
map prepare time 1.712550 ms
map corner num 32654  surf num 13287 
build tree time 7.966705 ms 
mapping data assosiation time 16.534041 ms 
mapping solver time 21.216780 ms 
points size 87275 
prepare time 14.948949 
mapping data assosiation time 18.315110 ms 
sort q time 4.977008 
seperate points time 11.625467 
scan registration time 31.174263 ms *************
filter time 4.148545 ms 
publication time 6.348789 ms 
whole laserOdometry time 6.361118 ms 
 
map prepare time 1.818478 ms
map corner num 32957  surf num 13341 
build tree time 6.437626 ms 
mapping data assosiation time 17.174107 ms 
--------------------stamp1317357634.704798936
mapping solver time 16.893137 ms 
points size 87553 
prepare time 13.008368 
mapping data assosiation time 20.289978 ms 
scan registration time 35.209132 ms *************
mapping solver time 18.098528 ms 
filter time 4.916555 ms 
-----t: 0.028257
OdomCount 82 & avg odom time 0.044397 ms ++++++++++++++++++++++
1317357634.704798936 WriteOdom laser_odom_to_init
1317357634.704798936 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 3.024387 ms 
whole mapping time 90.931657 ms +++++
mappingCount 73 & avg mapping time 99.677591 ms ++++++++++++++++++++++
1317357634.600810051 WriteOdom aft_mapped_to_init
map prepare time 1.653592 ms
map corner num 33220  surf num 13415 
build tree time 7.476013 ms 
mapping data assosiation time 16.888117 ms 
mapping solver time 15.632207 ms 
--------------------stamp1317357634.808743000
points size 89656 
prepare time 11.340938 
mapping data assosiation time 19.692023 ms 
sort q time 6.005379 
seperate points time 11.524209 
scan registration time 27.132300 ms *************
filter time 3.807208 ms 
mapping pub time 2.163864 ms 
whole mapping time 83.968794 ms +++++
mappingCount 74 & avg mapping time 99.465440 ms ++++++++++++++++++++++
1317357634.704798937 WriteOdom aft_mapped_to_init
-----t: 0.035327
OdomCount 83 & avg odom time 0.044288 ms ++++++++++++++++++++++
1317357634.808743000 WriteOdom laser_odom_to_init
1317357634.808743000 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.742724 ms
map corner num 33510  surf num 13501 
build tree time 7.053482 ms 
mapping data assosiation time 15.807190 ms 
mapping solver time 15.601453 ms 
--------------------stamp1317357634.912687063
mapping data assosiation time 16.843154 ms 
points size 92409 
prepare time 13.654888 
mapping solver time 14.077272 ms 
mapping optimization time 70.237442 
add points time 0.550811 ms
-----t: 0.0257179
OdomCount 84 & avg odom time 0.044067 ms ++++++++++++++++++++++
1317357634.912687063 WriteOdom laser_odom_to_init
1317357634.912687063 WriteOdom aft_mapped_to_init_high_frec
publication time 6.978347 ms 
whole laserOdometry time 6.996177 ms 
 
map prepare time 2.048635 ms
map corner num 33816  surf num 13587 
build tree time 7.753006 ms 
mapping data assosiation time 18.227787 ms 
mapping solver time 15.323592 ms 
--------------------stamp1317357635.016628980
mapping data assosiation time 18.403085 ms 
points size 93926 
prepare time 14.633633 
mapping solver time 17.427614 ms 
scan registration time 31.776228 ms *************
-----t: 0.0344933
OdomCount 85 & avg odom time 0.043954 ms ++++++++++++++++++++++
1317357635.016628980 WriteOdom laser_odom_to_init
1317357635.016628980 WriteOdom aft_mapped_to_init_high_frec
build tree time 7.658906 ms 
mapping data assosiation time 22.169124 ms 
points size 95123 
sort q time 6.135185 
seperate points time 17.583087 
-----t: 0.0396532
publication time 7.051335 ms 
whole laserOdometry time 7.221955 ms 
 
OdomCount 86 & avg odom time 0.043904 ms ++++++++++++++++++++++
mapping data assosiation time 27.337849 ms 
mapping solver time 12.124932 ms 
mapping pub time 2.536026 ms 
whole mapping time 128.594661 ms +++++
mappingCount 77 & avg mapping time 99.410525 ms ++++++++++++++++++++++
1317357635.016628981 WriteOdom aft_mapped_to_init
--------------------stamp1317357635.224513053
build tree time 10.255605 ms 
prepare time 14.198804 
sort q time 6.086183 
seperate points time 12.652333 
mapping data assosiation time 21.784090 ms 
scan registration time 31.753266 ms *************
mapping solver time 21.647000 ms 
publication time 6.980950 ms 
whole laserOdometry time 6.999285 ms 
 
mapping data assosiation time 21.401564 ms 
mapping solver time 30.824715 ms 
--------------------stamp1317357635.328455924
mapping pub time 5.507750 ms 
whole mapping time 119.307935 ms +++++
mappingCount 78 & avg mapping time 99.665699 ms ++++++++++++++++++++++
1317357635.120570898 WriteOdom aft_mapped_to_init
prepare time 14.655430 
-----t: 0.118066
OdomCount 87 & avg odom time 0.044757 ms ++++++++++++++++++++++
scan registration time 42.508726 ms *************
build tree time 14.211687 ms 
publication time 10.722796 ms 
whole laserOdometry time 10.738196 ms 
 
mapping data assosiation time 30.964112 ms 
--------------------stamp1317357635.432399988
mapping solver time 30.850205 ms 
points size 98927 
prepare time 25.610675 
mapping data assosiation time 23.516661 ms 
scan registration time 45.763370 ms *************
mapping solver time 22.666129 ms 
mapping pub time 2.714716 ms 
whole mapping time 134.468201 ms +++++
mappingCount 79 & avg mapping time 100.106335 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
map prepare time 2.720009 ms
map corner num 34858  surf num 13922 
build tree time 9.164001 ms 
--------------------stamp1317357635.536318063
mapping data assosiation time 21.163552 ms 
points size 99204 
prepare time 19.086243 
sort q time 6.061860 
seperate points time 11.903235 
mapping solver time 33.469888 ms 
-----t: 0.0357812
OdomCount 90 & avg odom time 0.044694 ms ++++++++++++++++++++++
publication time 9.149166 ms 
whole laserOdometry time 9.164455 ms 
 
mapping data assosiation time 19.477940 ms 
mapping solver time 17.257348 ms 
mapping optimization time 101.646181 
add points time 0.459062 ms
map prepare time 1.815987 ms
map corner num 35176  surf num 14011 
build tree time 9.304787 ms 
points size 99332 
sort q time 5.732317 
seperate points time 12.914740 
-----t: 0.0322057
OdomCount 91 & avg odom time 0.044557 ms ++++++++++++++++++++++
1317357635.640235900 WriteOdom laser_odom_to_init
1317357635.640235900 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.630185 ms 
mapping solver time 13.089352 ms 
mapping optimization time 84.492918 
add points time 0.462617 ms
publication time 6.536749 ms 
whole laserOdometry time 6.553924 ms 
 
filter time 3.624433 ms 
map prepare time 2.004416 ms
map corner num 35597  surf num 14208 
build tree time 7.410955 ms 
--------------------stamp1317357635.744179964
points size 99400 
mapping solver time 20.496370 ms 
sort q time 5.603344 
seperate points time 12.406048 
mapping data assosiation time 21.507901 ms 
-----t: 0.0424714
OdomCount 92 & avg odom time 0.044534 ms ++++++++++++++++++++++
1317357635.744179964 WriteOdom laser_odom_to_init
1317357635.744179964 WriteOdom aft_mapped_to_init_high_frec
publication time 16.761017 ms 
whole laserOdometry time 16.775011 ms 
 
filter time 4.651135 ms 
map prepare time 1.767626 ms
map corner num 35994  surf num 14365 
build tree time 7.968526 ms 
mapping data assosiation time 18.820949 ms 
--------------------stamp1317357635.848206996
points size 99238 
sort q time 5.903762 
seperate points time 12.963214 
scan registration time 31.531914 ms *************
-----t: 0.0339489
OdomCount 93 & avg odom time 0.044420 ms ++++++++++++++++++++++
1317357635.848206996 WriteOdom laser_odom_to_init
1317357635.848206996 WriteOdom aft_mapped_to_init_high_frec
publication time 8.653241 ms 
whole laserOdometry time 8.672599 ms 
 
mapping optimization time 86.171421 
add points time 0.544580 ms
filter time 3.619572 ms 
mapping pub time 2.375960 ms 
whole mapping time 94.571862 ms +++++
mappingCount 83 & avg mapping time 100.054454 ms ++++++++++++++++++++++
1317357635.744179964 WriteOdom aft_mapped_to_init
mapping data assosiation time 17.198488 ms 
--------------------stamp1317357635.952124118
points size 98704 
prepare time 13.240228 
mapping solver time 25.908660 ms 
sort q time 6.490795 
seperate points time 12.832192 
scan registration time 33.335548 ms *************
mapping data assosiation time 20.760127 ms 
-----t: 0.0361859
OdomCount 94 & avg odom time 0.044333 ms ++++++++++++++++++++++
1317357635.952124118 WriteOdom laser_odom_to_init
1317357635.952124118 WriteOdom aft_mapped_to_init_high_frec
publication time 9.436320 ms 
whole laserOdometry time 9.446453 ms 
 
mapping solver time 20.367948 ms 
mapping optimization time 92.419847 
add points time 0.551538 ms
map prepare time 2.268304 ms
map corner num 36835  surf num 14711 
build tree time 8.198836 ms 
mapping data assosiation time 19.888928 ms 
points size 97012 
prepare time 12.877374 
mapping solver time 22.882439 ms 
sort q time 18.492224 
seperate points time 25.744810 
scan registration time 43.811108 ms *************
publication time 7.156855 ms 
whole laserOdometry time 7.170671 ms 
 
filter time 3.568342 ms 
map prepare time 2.087561 ms
map corner num 37267  surf num 14886 
mapping data assosiation time 17.516999 ms 
prepare time 13.825063 
mapping solver time 18.779133 ms 
sort q time 5.300014 
seperate points time 11.994940 
mapping data assosiation time 20.775200 ms 
publication time 8.264835 ms 
whole laserOdometry time 8.277643 ms 
 
-----t: 0.0446282
OdomCount 96 & avg odom time 0.044337 ms ++++++++++++++++++++++
mapping pub time 7.737687 ms 
whole mapping time 95.224007 ms +++++
mappingCount 86 & avg mapping time 100.056888 ms ++++++++++++++++++++++
1317357636.055958033 WriteOdom aft_mapped_to_init
map prepare time 2.456528 ms
map corner num 37695  surf num 15029 
build tree time 8.890954 ms 
mapping data assosiation time 18.410683 ms 
points size 89737 
prepare time 13.240695 
mapping solver time 22.333533 ms 
sort q time 5.416252 
seperate points time 12.687573 
mapping data assosiation time 24.380756 ms 
publication time 7.738302 ms 
whole laserOdometry time 7.751979 ms 
 
filter time 3.925461 ms 
mapping pub time 2.275401 ms 
whole mapping time 100.250692 ms +++++
mappingCount 87 & avg mapping time 100.059191 ms ++++++++++++++++++++++
1317357636.159878969 WriteOdom aft_mapped_to_init
-----t: 0.0576329
OdomCount 97 & avg odom time 0.044474 ms ++++++++++++++++++++++
1317357636.263797044 WriteOdom laser_odom_to_init
1317357636.263797044 WriteOdom aft_mapped_to_init_high_frec
build tree time 8.246612 ms 
--------------------stamp1317357636.367714881
points size 86986 
prepare time 13.839078 
mapping solver time 21.318820 ms 
sort q time 5.091760 
seperate points time 11.035709 
scan registration time 42.434004 ms *************
mapping data assosiation time 21.059790 ms 
-----t: 0.0439394
OdomCount 98 & avg odom time 0.044468 ms ++++++++++++++++++++++
mapping solver time 21.241459 ms 
mapping optimization time 92.807705 
add points time 0.534252 ms
filter time 3.513375 ms 
build tree time 8.118739 ms 
mapping data assosiation time 18.050764 ms 
points size 84854 
prepare time 13.186962 
mapping solver time 24.729806 ms 
sort q time 4.873788 
seperate points time 10.785823 
publication time 6.512652 ms 
whole laserOdometry time 6.534600 ms 
 
mapping data assosiation time 20.868118 ms 
mapping solver time 16.338195 ms 
mapping optimization time 89.260524 
add points time 0.541317 ms
map prepare time 2.056966 ms
map corner num 38911  surf num 15525 
build tree time 8.270716 ms 
mapping data assosiation time 17.133693 ms 
points size 82094 
prepare time 11.736650 
mapping solver time 24.255918 ms 
sort q time 4.721199 
seperate points time 10.343182 
mapping data assosiation time 22.471412 ms 
-----t: 0.0332548
OdomCount 100 & avg odom time 0.044392 ms ++++++++++++++++++++++
1317357636.575603008 WriteOdom laser_odom_to_init
1317357636.575603008 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.251402 ms 
mapping pub time 2.005808 ms 
whole mapping time 101.750160 ms +++++
mappingCount 90 & avg mapping time 100.072188 ms ++++++++++++++++++++++
1317357636.471659899 WriteOdom aft_mapped_to_init
map prepare time 1.849576 ms
map corner num 39379  surf num 15700 
build tree time 8.467319 ms 
mapping data assosiation time 20.113878 ms 
points size 78825 
mapping solver time 24.641229 ms 
sort q time 4.198829 
seperate points time 9.869086 
scan registration time 26.541730 ms *************
mapping data assosiation time 22.113140 ms 
publication time 13.471676 ms 
whole laserOdometry time 13.486614 ms 
 
-----t: 0.0418742
OdomCount 101 & avg odom time 0.044367 ms ++++++++++++++++++++++
1317357636.679543972 WriteOdom laser_odom_to_init
1317357636.679543972 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.310213 ms 
filter time 3.251615 ms 
mapping pub time 2.701707 ms 
whole mapping time 107.217139 ms +++++
mappingCount 91 & avg mapping time 100.150787 ms ++++++++++++++++++++++
[0m[ INFO] [1715775570.924858345, 1317357636.754627363]: Received 55727 data points in frame camera_init with the following fields: x y z intensity[0m
1317357636.575603008 WriteOdom aft_mapped_to_init
[0m[ INFO] [1715775570.925021846, 1317357636.754627363]: Data saved to 1317357636575603.pcd[0m
build tree time 9.228046 ms 
--------------------stamp1317357636.783487081
mapping data assosiation time 23.101150 ms 
points size 75539 
prepare time 12.750105 
sort q time 5.136566 
seperate points time 9.920229 
scan registration time 26.162731 ms *************
mapping solver time 27.441024 ms 
mapping data assosiation time 20.009853 ms 
mapping solver time 15.306606 ms 
mapping optimization time 96.631331 
add points time 0.676647 ms
1317357636.679543972 WriteOdom aft_mapped_to_init
-----t: 0.0745404
OdomCount 102 & avg odom time 0.044663 ms ++++++++++++++++++++++
map prepare time 2.444463 ms
map corner num 40340  surf num 16014 
--------------------stamp1317357636.887406110
points size 71739 
sort q time 3.852753 
seperate points time 9.347491 
mapping data assosiation time 25.168291 ms 
-----t: 0.029939
OdomCount 103 & avg odom time 0.044520 ms ++++++++++++++++++++++
1317357636.887406110 WriteOdom laser_odom_to_init
1317357636.887406110 WriteOdom aft_mapped_to_init_high_frec

mapping data assosiation time 23.929457 ms 
mapping solver time 15.012182 ms 
filter time 3.243027 ms 
map prepare time 1.769274 ms
map corner num 40784  surf num 16152 
points size 68114 
sort q time 6.692965 
seperate points time 23.070503 
mapping data assosiation time 26.571976 ms 
scan registration time 48.081671 ms *************
-----t: 0.0369751
OdomCount 104 & avg odom time 0.044448 ms ++++++++++++++++++++++
mapping solver time 23.200065 ms 
mapping data assosiation time 19.139900 ms 
mapping solver time 14.324042 ms 
mapping optimization time 94.708736 
add points time 0.628431 ms
map prepare time 1.896308 ms
map corner num 41203  surf num 16272 
points size 66531 
build tree time 9.443764 ms 
prepare time 10.367789 
-----t: 0.0338921
OdomCount 105 & avg odom time 0.044347 ms ++++++++++++++++++++++
1317357637.095316886 WriteOdom laser_odom_to_init
1317357637.095316886 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.724709 ms 
mapping solver time 15.807246 ms 
mapping pub time 1.567958 ms 
whole mapping time 105.046379 ms +++++
mappingCount 95 & avg mapping time 100.352665 ms ++++++++++++++++++++++
--------------------stamp1317357637.199282884
points size 65035 
scan registration time 21.410593 ms *************
publication time 5.579422 ms 
whole laserOdometry time 5.590314 ms 
 
mapping solver time 23.739370 ms 
mapping data assosiation time 16.899871 ms 
mapping solver time 14.186044 ms 
mapping optimization time 84.665781 
add points time 0.529407 ms
map prepare time 1.632730 ms
map corner num 41959  surf num 16470 
--------------------stamp1317357637.303272962
points size 65215 
prepare time 9.772331 
sort q time 4.242957 
seperate points time 10.591535 
mapping data assosiation time 20.829614 ms 
scan registration time 24.848246 ms *************
publication time 8.611097 ms 
whole laserOdometry time 8.625749 ms 
 
mapping solver time 21.521472 ms 
-----t: 0.0323654
OdomCount 107 & avg odom time 0.044042 ms ++++++++++++++++++++++
1317357637.303272962 WriteOdom laser_odom_to_init
1317357637.303272962 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.828221 ms 
mapping solver time 13.317498 ms 
filter time 3.216244 ms 
mapping pub time 1.503931 ms 
whole mapping time 91.180225 ms +++++
mappingCount 97 & avg mapping time 100.179665 ms ++++++++++++++++++++++
1317357637.199282885 WriteOdom aft_mapped_to_init
map prepare time 1.566591 ms
map corner num 42295  surf num 16575 
build tree time 9.459060 ms 
mapping data assosiation time 17.286610 ms 
points size 65919 
prepare time 8.874800 
sort q time 3.803859 
seperate points time 7.805587 
scan registration time 19.752116 ms *************
publication time 12.819242 ms 
whole laserOdometry time 12.828687 ms 
 
mapping data assosiation time 22.912899 ms 
1317357637.407310962 WriteOdom laser_odom_to_init
1317357637.407310962 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.359718 ms 
mapping optimization time 96.742613 
add points time 0.636752 ms
1317357637.303272963 WriteOdom aft_mapped_to_init
map prepare time 1.567368 ms
map corner num 42626  surf num 16680 
build tree time 9.508261 ms 
--------------------stamp1317357637.511373996
points size 68157 
sort q time 3.630570 
seperate points time 8.279020 
scan registration time 22.476435 ms *************
mapping solver time 23.667798 ms 
mapping data assosiation time 19.594405 ms 
mapping solver time 14.066815 ms 
filter time 3.296303 ms 
mapping pub time 1.659466 ms 
whole mapping time 94.213719 ms +++++
mappingCount 99 & avg mapping time 100.157055 ms ++++++++++++++++++++++
1317357637.407310963 WriteOdom aft_mapped_to_init
build tree time 11.377841 ms 
--------------------stamp1317357637.615437984
mapping data assosiation time 17.298038 ms 
prepare time 10.011042 
sort q time 4.425963 
seperate points time 8.480197 
scan registration time 21.701656 ms *************
mapping solver time 23.289412 ms 
-----t: 0.0281721
OdomCount 110 & avg odom time 0.043687 ms ++++++++++++++++++++++
mapping data assosiation time 20.524499 ms 
mapping solver time 20.734724 ms 
mapping optimization time 94.293479 
add points time 0.494605 ms
map prepare time 1.587676 ms
map corner num 43319  surf num 16902 
build tree time 9.819041 ms 
mapping data assosiation time 17.805883 ms 
--------------------stamp1317357637.719525098
points size 74523 
mapping solver time 26.313700 ms 
scan registration time 26.506370 ms *************
publication time 5.076020 ms 
whole laserOdometry time 5.089365 ms 
 
mapping data assosiation time 19.692791 ms 
-----t: 0.035197
OdomCount 111 & avg odom time 0.043610 ms ++++++++++++++++++++++
mapping solver time 22.836592 ms 
filter time 3.751725 ms 
[0m[ INFO] [1715775571.968795143, 1317357637.798050825]: Received 60714 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775571.968837258, 1317357637.798050825]: Data saved to 1317357637615437.pcd[0m
mapping pub time 3.880458 ms 
whole mapping time 107.549825 ms +++++
mappingCount 101 & avg mapping time 100.242185 ms ++++++++++++++++++++++
build tree time 10.681461 ms 
--------------------stamp1317357637.823659896
mapping data assosiation time 18.798988 ms 
points size 76978 
prepare time 9.208410 
sort q time 4.626235 
seperate points time 9.253367 
mapping solver time 25.419829 ms 
-----t: 0.0274207
OdomCount 112 & avg odom time 0.043466 ms ++++++++++++++++++++++
1317357637.823659896 WriteOdom laser_odom_to_init
1317357637.823659896 WriteOdom aft_mapped_to_init_high_frec
publication time 9.544678 ms 
whole laserOdometry time 9.561749 ms 
 
mapping data assosiation time 19.726190 ms 
mapping solver time 13.024060 ms 
mapping optimization time 88.619894 
add points time 0.523480 ms
filter time 3.384983 ms 
mapping pub time 1.716953 ms 
whole mapping time 96.018840 ms +++++
mappingCount 102 & avg mapping time 100.200803 ms ++++++++++++++++++++++
1317357637.719525099 WriteOdom aft_mapped_to_init
build tree time 9.287592 ms 
mapping data assosiation time 18.713976 ms 
points size 78724 
sort q time 5.190861 
seperate points time 9.621315 
mapping solver time 24.167417 ms 
scan registration time 24.790224 ms *************
mapping data assosiation time 20.272589 ms 
publication time 8.593186 ms 
whole laserOdometry time 8.605716 ms 
 
-----t: 0.0302574
OdomCount 113 & avg odom time 0.043349 ms ++++++++++++++++++++++
1317357637.927818059 WriteOdom laser_odom_to_init
1317357637.927818059 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.345037 ms 
mapping optimization time 92.851681 
add points time 0.574057 ms
map prepare time 1.783899 ms
map corner num 44455  surf num 17321 
build tree time 8.406222 ms 
mapping data assosiation time 17.717874 ms 
points size 80448 
mapping solver time 25.020026 ms 
sort q time 5.592104 
seperate points time 10.853028 
scan registration time 31.674128 ms *************
mapping data assosiation time 22.567415 ms 
publication time 9.903406 ms 
whole laserOdometry time 9.923318 ms 
 
mapping solver time 21.871641 ms 
filter time 3.483288 ms 
mapping pub time 2.070796 ms 
whole mapping time 104.745482 ms +++++
mappingCount 104 & avg mapping time 100.246368 ms ++++++++++++++++++++++
1317357637.927818060 WriteOdom aft_mapped_to_init
build tree time 9.618836 ms 
--------------------stamp1317357638.136228084
points size 81867 
prepare time 15.594179 
mapping solver time 22.924920 ms 
mapping data assosiation time 21.616450 ms 
publication time 15.055765 ms 
whole laserOdometry time 15.073466 ms 
 
mapping solver time 22.695897 ms 
filter time 3.350381 ms 
mapping pub time 1.911774 ms 
whole mapping time 107.019429 ms +++++
mappingCount 105 & avg mapping time 100.310909 ms ++++++++++++++++++++++
1317357638.032000065 WriteOdom aft_mapped_to_init
build tree time 10.474533 ms 
--------------------stamp1317357638.240505933
points size 82502 
mapping data assosiation time 20.466589 ms 
prepare time 11.342423 
sort q time 6.654914 
seperate points time 12.108456 
scan registration time 28.481020 ms *************
mapping solver time 23.818402 ms 
publication time 5.973105 ms 
whole laserOdometry time 5.990656 ms 
 
-----t: 0.0236029
OdomCount 116 & avg odom time 0.042961 ms ++++++++++++++++++++++
1317357638.240505933 WriteOdom laser_odom_to_init
1317357638.240505933 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.786214 ms 
mapping solver time 20.508696 ms 
filter time 3.789489 ms 
mapping pub time 2.631362 ms 
whole mapping time 106.347352 ms +++++
mappingCount 106 & avg mapping time 100.367894 ms ++++++++++++++++++++++
1317357638.136228085 WriteOdom aft_mapped_to_init
[0m[ INFO] [1715775572.496453717, 1317357638.326452461]: Received 63394 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775572.496487947, 1317357638.326452461]: Data saved to 1317357638136228.pcd[0m
build tree time 9.328957 ms 
--------------------stamp1317357638.344835042
points size 82805 
mapping data assosiation time 19.185142 ms 
prepare time 14.146741 
sort q time 4.246694 
seperate points time 9.828249 
scan registration time 28.917053 ms *************
publication time 8.103074 ms 
whole laserOdometry time 8.120766 ms 
 
mapping data assosiation time 19.712592 ms 
-----t: 0.0443711
OdomCount 117 & avg odom time 0.042973 ms ++++++++++++++++++++++
1317357638.344835042 WriteOdom laser_odom_to_init
mapping solver time 19.534233 ms 
filter time 5.176183 ms 
mapping pub time 2.171291 ms 
whole mapping time 101.216679 ms +++++
mappingCount 107 & avg mapping time 100.375991 ms ++++++++++++++++++++++
build tree time 12.814895 ms 
points size 83198 
mapping data assosiation time 22.474608 ms 
publication time 9.158321 ms 
whole laserOdometry time 9.183726 ms 
 
mapping solver time 25.742745 ms 
-----t: 0.0529836
OdomCount 118 & avg odom time 0.043058 ms ++++++++++++++++++++++
mapping data assosiation time 22.303313 ms 
1317357638.449209928 WriteOdom laser_odom_to_init
1317357638.449209928 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.152016 ms 
mapping optimization time 110.696705 
add points time 0.596940 ms
mapping pub time 2.151951 ms 
whole mapping time 121.193210 ms +++++
mappingCount 108 & avg mapping time 100.568783 ms ++++++++++++++++++++++
points size 83424 
sort q time 4.657665 
seperate points time 10.602062 
scan registration time 29.523701 ms *************
mapping data assosiation time 25.090905 ms 
publication time 7.179117 ms 
whole laserOdometry time 7.192445 ms 
 
-----t: 0.0374438
OdomCount 119 & avg odom time 0.043011 ms ++++++++++++++++++++++
mapping solver time 23.679626 ms 
mapping data assosiation time 18.962016 ms 
--------------------stamp1317357638.658031940
filter time 3.860259 ms 
mapping pub time 2.030409 ms 
whole mapping time 111.291145 ms +++++
mappingCount 109 & avg mapping time 100.667190 ms ++++++++++++++++++++++
1317357638.449209929 WriteOdom aft_mapped_to_init
points size 84414 
build tree time 11.919572 ms 
sort q time 4.870994 
seperate points time 10.069941 
publication time 7.516534 ms 
whole laserOdometry time 7.531690 ms 
 
-----t: 0.0297227
OdomCount 120 & avg odom time 0.042900 ms ++++++++++++++++++++++
1317357638.658031940 WriteOdom laser_odom_to_init
1317357638.658031940 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.985828 ms 
mapping solver time 20.228846 ms 
mapping data assosiation time 18.226327 ms 
mapping solver time 16.768053 ms 
filter time 4.079623 ms 
map prepare time 1.938092 ms
map corner num 47045  surf num 18389 
points size 85183 
prepare time 12.904093 
build tree time 12.228109 ms 
scan registration time 27.676302 ms *************
publication time 6.005269 ms 
whole laserOdometry time 6.022187 ms 
 
mapping data assosiation time 22.576298 ms 
mapping solver time 21.892853 ms 
mapping data assosiation time 22.841585 ms 
--------------------stamp1317357638.866925954
mapping solver time 20.154344 ms 
points size 86206 
map prepare time 2.745246 ms
map corner num 47429  surf num 18534 
sort q time 5.117401 
seperate points time 11.105468 
scan registration time 28.193877 ms *************
build tree time 12.708208 ms 
publication time 7.916903 ms 
whole laserOdometry time 7.949342 ms 
 
mapping data assosiation time 22.715682 ms 
-----t: 0.0411388
OdomCount 122 & avg odom time 0.042786 ms ++++++++++++++++++++++
--------------------stamp1317357638.971370935
mapping data assosiation time 24.597205 ms 
points size 87653 
mapping solver time 22.978443 ms 
scan registration time 44.203634 ms *************
publication time 11.113487 ms 
whole laserOdometry time 11.135921 ms 
 
mapping data assosiation time 27.300569 ms 
-----t: 0.0637482
OdomCount 123 & avg odom time 0.042956 ms ++++++++++++++++++++++
1317357638.971370935 WriteOdom laser_odom_to_init
mapping solver time 28.827317 ms 
--------------------stamp1317357639.075793981
sort q time 6.476519 
seperate points time 12.432076 
mapping data assosiation time 38.369391 ms 
scan registration time 44.722061 ms *************
mapping solver time 21.191416 ms 
filter time 4.985306 ms 
-----t: 0.0358443
OdomCount 124 & avg odom time 0.042899 ms ++++++++++++++++++++++
1317357639.075793981 WriteOdom laser_odom_to_init
1317357639.075793981 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.214982 ms 
whole mapping time 142.895427 ms +++++
mappingCount 113 & avg mapping time 101.315544 ms ++++++++++++++++++++++
1317357638.866925955 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 11.711052 ms 
--------------------stamp1317357639.180195093
prepare time 14.217094 
sort q time 5.231300 
seperate points time 11.389703 
mapping solver time 25.638742 ms 
publication time 9.525153 ms 
whole laserOdometry time 9.544419 ms 
 
-----t: 0.0623223
OdomCount 125 & avg odom time 0.043054 ms ++++++++++++++++++++++
add points time 0.629313 ms
filter time 6.668853 ms 
--------------------stamp1317357639.284570932
points size 90446 
prepare time 15.958587 
sort q time 5.610245 
seperate points time 10.943535 
publication time 6.768140 ms 
whole laserOdometry time 6.782737 ms 
 
mapping solver time 28.911149 ms 
-----t: 0.0523295
OdomCount 126 & avg odom time 0.043128 ms ++++++++++++++++++++++
1317357639.284570932 WriteOdom laser_odom_to_init
1317357639.284570932 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.989796 ms 
--------------------stamp1317357639.388895034
filter time 5.318417 ms 
map prepare time 3.685565 ms
map corner num 48983  surf num 19103 
sort q time 5.330347 
seperate points time 11.467278 
publication time 8.682528 ms 
whole laserOdometry time 8.699876 ms 
 
mapping data assosiation time 21.420702 ms 
-----t: 0.047892
OdomCount 127 & avg odom time 0.043165 ms ++++++++++++++++++++++
1317357639.388895034 WriteOdom laser_odom_to_init
1317357639.388895034 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.901834 ms 
mapping solver time 13.572476 ms 
filter time 5.171822 ms 
mapping pub time 4.177194 ms 
whole mapping time 102.402785 ms +++++
mappingCount 116 & avg mapping time 101.665849 ms ++++++++++++++++++++++
1317357639.284570932 WriteOdom aft_mapped_to_init
[0m[ INFO] [1715775573.678159256, 1317357639.501884716]: Received 68510 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775573.678218153, 1317357639.501884716]: Data saved to 1317357639284570.pcd[0m
build tree time 11.879029 ms 
mapping data assosiation time 21.051730 ms 
-----t: 0.039918
OdomCount 128 & avg odom time 0.043140 ms ++++++++++++++++++++++
mapping solver time 19.364011 ms 
mapping data assosiation time 21.718952 ms 
--------------------stamp1317357639.597428083
prepare time 17.162321 
filter time 5.434597 ms 
mapping pub time 2.038841 ms 
whole mapping time 106.652278 ms +++++
mappingCount 117 & avg mapping time 101.708510 ms ++++++++++++++++++++++
1317357639.388895035 WriteOdom aft_mapped_to_init
sort q time 5.678829 
seperate points time 11.768226 
build tree time 12.873644 ms 
publication time 10.572100 ms 
whole laserOdometry time 10.588743 ms 
 
mapping data assosiation time 23.710276 ms 
-----t: 0.0441751
OdomCount 129 & avg odom time 0.043148 ms ++++++++++++++++++++++
mapping solver time 19.022223 ms 
mapping data assosiation time 19.972985 ms 
--------------------stamp1317357639.701683998
points size 93945 
mapping solver time 16.547733 ms 
mapping optimization time 93.280761 
add points time 0.685341 ms
prepare time 13.616442 
mapping pub time 2.388812 ms 
whole mapping time 105.218396 ms +++++
mappingCount 118 & avg mapping time 101.738301 ms ++++++++++++++++++++++
1317357639.493172884 WriteOdom aft_mapped_to_init
map prepare time 2.522114 ms
map corner num 49876  surf num 19485 
build tree time 12.687316 ms 
publication time 7.662810 ms 
mapping data assosiation time 23.350146 ms 
-----t: 0.044559
OdomCount 130 & avg odom time 0.043159 ms ++++++++++++++++++++++
1317357639.701683998 WriteOdom laser_odom_to_init
1317357639.701683998 WriteOdom aft_mapped_to_init_high_frec
whole laserOdometry time 19.954978 ms 
 
mapping solver time 19.299592 ms 
mapping data assosiation time 19.921373 ms 
points size 95026 
filter time 4.035908 ms 
mapping pub time 2.075045 ms 
whole mapping time 100.508555 ms +++++
mappingCount 119 & avg mapping time 101.728006 ms ++++++++++++++++++++++
1317357639.597428083 WriteOdom aft_mapped_to_init
scan registration time 30.705087 ms *************
build tree time 12.057854 ms 
publication time 12.203954 ms 
whole laserOdometry time 12.220978 ms 
 
-----t: 0.0431298
OdomCount 131 & avg odom time 0.043158 ms ++++++++++++++++++++++
1317357639.805939912 WriteOdom laser_odom_to_init
1317357639.805939912 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.638117 ms 
mapping solver time 22.401954 ms 
--------------------stamp1317357639.910196065
points size 96204 
mapping solver time 15.350115 ms 
mapping optimization time 94.924275 
add points time 0.639712 ms
sort q time 5.612235 
seperate points time 12.873978 
build tree time 11.035393 ms 
publication time 9.807952 ms 
whole laserOdometry time 9.820190 ms 
 
-----t: 0.0384283
OdomCount 132 & avg odom time 0.043123 ms ++++++++++++++++++++++
1317357639.910196065 WriteOdom laser_odom_to_init
1317357639.910196065 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.564658 ms 
mapping solver time 22.105206 ms 
mapping data assosiation time 20.192721 ms 
--------------------stamp1317357640.014450073
points size 95644 
mapping solver time 18.065711 ms 
mapping optimization time 95.030798 
add points time 0.827825 ms
mapping pub time 6.614754 ms 
whole mapping time 110.643104 ms +++++
mappingCount 121 & avg mapping time 101.828974 ms ++++++++++++++++++++++
map prepare time 2.976046 ms
map corner num 50714  surf num 19813 
publication time 8.638214 ms 
whole laserOdometry time 8.651597 ms 
 
mapping data assosiation time 21.256697 ms 
mapping solver time 19.765576 ms 
--------------------stamp1317357640.118701934
mapping data assosiation time 21.508546 ms 
points size 95899 
mapping solver time 16.950880 ms 
filter time 4.570828 ms 
mapping pub time 2.582262 ms 
whole mapping time 105.813783 ms +++++
mappingCount 122 & avg mapping time 101.861709 ms ++++++++++++++++++++++
1317357639.910196066 WriteOdom aft_mapped_to_init
sort q time 5.548811 
seperate points time 12.975315 
build tree time 13.137420 ms 
publication time 12.357821 ms 
whole laserOdometry time 12.369595 ms 
 
mapping data assosiation time 21.250064 ms 
-----t: 0.0693145
OdomCount 134 & avg odom time 0.043395 ms ++++++++++++++++++++++
1317357640.118701934 WriteOdom laser_odom_to_init
1317357640.118701934 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.275064 ms 
--------------------stamp1317357640.222933053
points size 95884 
mapping data assosiation time 25.183103 ms 
mapping solver time 17.756521 ms 
mapping optimization time 101.860240 
add points time 0.628817 ms
scan registration time 52.564102 ms *************
-----t: 0.0448994
OdomCount 135 & avg odom time 0.043406 ms ++++++++++++++++++++++
1317357640.222933053 WriteOdom laser_odom_to_init
1317357640.222933053 WriteOdom aft_mapped_to_init_high_frec
build tree time 13.374719 ms 
publication time 6.132406 ms 
whole laserOdometry time 6.143331 ms 
 
mapping data assosiation time 20.175288 ms 
--------------------stamp1317357640.327117919
points size 95894 
mapping data assosiation time 22.195835 ms 
mapping solver time 17.938754 ms 
mapping optimization time 96.253204 
add points time 0.816065 ms
drop lidar frame in mapping for real time performance 
-----t: 0.0512144
OdomCount 136 & avg odom time 0.043464 ms ++++++++++++++++++++++
1317357640.327117919 WriteOdom laser_odom_to_init
1317357640.327117919 WriteOdom aft_mapped_to_init_high_frec
build tree time 12.110577 ms 
mapping data assosiation time 21.517428 ms 
points size 94936 
prepare time 13.679699 
sort q time 5.801796 
seperate points time 11.597951 
scan registration time 29.510898 ms *************
mapping data assosiation time 23.048034 ms 
publication time 7.585783 ms 
whole laserOdometry time 7.598093 ms 
 
mapping solver time 15.581099 ms 
mapping optimization time 95.660564 
add points time 0.723326 ms
-----t: 0.0569359
OdomCount 137 & avg odom time 0.043562 ms ++++++++++++++++++++++
1317357640.431231021 WriteOdom laser_odom_to_init
1317357640.431231021 WriteOdom aft_mapped_to_init_high_frec
build tree time 14.652359 ms 
--------------------stamp1317357640.535243034
mapping data assosiation time 21.935046 ms 
points size 94165 
prepare time 17.135732 
mapping solver time 22.351568 ms 
sort q time 5.617296 
seperate points time 17.045637 
mapping data assosiation time 24.398520 ms 
-----t: 0.0423563
OdomCount 138 & avg odom time 0.043553 ms ++++++++++++++++++++++
1317357640.535243034 WriteOdom laser_odom_to_init
1317357640.535243034 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 100.812061 
add points time 0.661242 ms
filter time 4.296768 ms 
map prepare time 2.876196 ms
map corner num 52257  surf num 20332 
build tree time 14.444086 ms 
--------------------stamp1317357640.639185905
points size 92750 
sort q time 8.337088 
seperate points time 15.535729 
scan registration time 39.222519 ms *************
publication time 7.530143 ms 
whole laserOdometry time 7.615179 ms 
 
-----t: 0.057862mapping data assosiation time 24.725381 ms 
--------------------stamp1317357640.743058919
mapping solver time 23.957446 ms 
mapping optimization time 127.666275 
add points time 1.180809 ms
mapping pub time 2.444604 ms 
whole mapping time 140.123448 ms +++++
mappingCount 127 & avg mapping time 102.422273 ms ++++++++++++++++++++++
1317357640.535243034 WriteOdom aft_mapped_to_init
prepare time 20.323896 
map prepare time 2.701292 ms
map corner num 52563  surf num 20411 
publication time 7.511326 ms 
whole laserOdometry time 7.523924 ms 
 
mapping data assosiation time 23.554085 ms 
-----t: 0.0561618
OdomCount 140 & avg odom time 0.043746 ms ++++++++++++++++++++++
mapping solver time 16.894157 ms 
--------------------stamp1317357640.846807956
points size 88521 
prepare time 11.475400 
mapping solver time 17.198415 ms 
mapping optimization time 97.143921 
add points time 0.667527 ms
sort q time 5.819720 
seperate points time 11.054620 
map prepare time 2.583649 ms
map corner num 52900  surf num 20494 
publication time 7.731086 ms 
whole laserOdometry time 7.749192 ms 
 
build tree time 12.546515 ms 
-----t: 0.0440771
OdomCount 141 & avg odom time 0.043748 ms ++++++++++++++++++++++
mapping solver time 16.408229 ms 
mapping data assosiation time 19.073816 ms 
--------------------stamp1317357640.950510025
points size 86866 
filter time 4.558270 ms 
mapping pub time 2.248589 ms 
whole mapping time 99.144728 ms +++++
mappingCount 129 & avg mapping time 102.444751 ms ++++++++++++++++++++++
1317357640.743058920 WriteOdom aft_mapped_to_init
scan registration time 28.122392 ms *************
build tree time 12.496233 ms 
-----t: 0.0350838
OdomCount 142 & avg odom time 0.043687 ms ++++++++++++++++++++++
mapping data assosiation time 20.186344 ms 
mapping solver time 17.582321 ms 
mapping data assosiation time 19.909129 ms 
points size 84426 
filter time 5.240272 ms 
map prepare time 2.785398 ms
map corner num 50589  surf num 18969 
scan registration time 30.246854 ms *************
build tree time 11.142987 ms 
-----t: 0.0362109
OdomCount 143 & avg odom time 0.043635 ms ++++++++++++++++++++++
1317357641.054214000 WriteOdom laser_odom_to_init
1317357641.054214000 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.907193 ms 
mapping solver time 19.114134 ms 
mapping data assosiation time 19.453444 ms 
points size 83176 
filter time 4.029704 ms 
1317357640.950510025 WriteOdom aft_mapped_to_init
[0m[ INFO] [1715775575.353508054, 1317357641.181019867]: Received 69950 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775575.353709646, 1317357641.181019867]: Data saved to 1317357640950510.pcd[0m
sort q time 4.827159 
seperate points time 10.897716 
map prepare time 3.024505 ms
map corner num 50917  surf num 19033 
scan registration time 28.440529 ms *************
build tree time 13.145323 ms 
-----t: 0.037706
OdomCount 144 & avg odom time 0.043594 ms ++++++++++++++++++++++
1317357641.157891988 WriteOdom laser_odom_to_init
1317357641.157891988 WriteOdom aft_mapped_to_init_high_frec
publication time 11.233729 ms 
whole laserOdometry time 11.246547 ms 
 
mapping solver time 27.066585 ms 
--------------------stamp1317357641.261594057
mapping data assosiation time 22.464651 ms 
points size 82121 
prepare time 12.029072 
sort q time 4.972239 
seperate points time 10.486551 
filter time 5.549427 ms 
map prepare time 2.618591 ms
map corner num 51223  surf num 19084 
-----t: 0.0378707
OdomCount 145 & avg odom time 0.043554 ms ++++++++++++++++++++++
1317357641.261594057 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.328211 ms 
mapping solver time 25.914845 ms 
sort q time 8.435778 
seperate points time 24.456663 
filter time 6.424600 ms 
map prepare time 4.726710 ms
map corner num 51523  surf num 19151 
build tree time 12.586735 ms 
mapping data assosiation time 15.817787 ms 
mapping solver time 16.174683 ms 
--------------------stamp1317357641.469000101
mapping data assosiation time 17.710214 ms 
prepare time 11.224781 
mapping solver time 14.194463 ms 
mapping optimization time 77.559837 
add points time 0.619681 ms
sort q time 4.725296 
seperate points time 10.893905 
map prepare time 1.931751 ms
map corner num 51855  surf num 19199 
build tree time 12.112084 ms 
publication time 6.739548 ms 
whole laserOdometry time 6.753773 ms 
 
-----t: 0.0457159
OdomCount 147 & avg odom time 0.043690 ms ++++++++++++++++++++++
1317357641.469000101 WriteOdom laser_odom_to_init
1317357641.469000101 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.299041 ms 
mapping solver time 18.579825 ms 
points size 87712 
mapping data assosiation time 22.484306 ms 
sort q time 7.269592 
seperate points time 14.864613 
add points time 0.927254 ms
scan registration time 38.794687 ms *************
filter time 4.783198 ms 
mapping pub time 1.852906 ms 
whole mapping time 98.198759 ms +++++
mappingCount 135 & avg mapping time 102.602391 ms ++++++++++++++++++++++
publication time 7.610142 ms 
whole laserOdometry time 7.619353 ms 
 
build tree time 13.011129 ms 
mapping data assosiation time 18.075988 ms 
mapping solver time 20.293966 ms 
points size 89212 
prepare time 17.339160 
mapping data assosiation time 20.512231 ms 
sort q time 5.614380 
seperate points time 12.880516 
mapping solver time 19.765249 ms 
mapping optimization time 92.767937 
add points time 0.520889 ms
-----t: 0.035539
OdomCount 149 & avg odom time 0.043600 ms ++++++++++++++++++++++
1317357641.676500082 WriteOdom laser_odom_to_init
1317357641.676500082 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 8.497117 ms 
whole mapping time 107.853311 ms +++++
mappingCount 136 & avg mapping time 102.641033 ms ++++++++++++++++++++++
build tree time 12.907229 ms 
mapping data assosiation time 16.868465 ms 
mapping solver time 17.512271 ms 
--------------------stamp1317357641.780297994
mapping data assosiation time 19.219580 ms 
prepare time 21.160076 
mapping solver time 14.474285 ms 
mapping optimization time 82.099321 
add points time 0.590221 ms
scan registration time 39.488154 ms *************
-----t: 0.0510658
OdomCount 150 & avg odom time 0.043650 ms ++++++++++++++++++++++
map prepare time 1.942259 ms
map corner num 52768  surf num 19335 
build tree time 11.301920 ms 
mapping data assosiation time 16.029831 ms 
points size 90911 
mapping data assosiation time 15.929164 ms 
scan registration time 38.530438 ms *************
mapping solver time 12.715694 ms 
mapping optimization time 74.060642 
add points time 0.535693 ms
1317357641.780297995 WriteOdom aft_mapped_to_init
publication time 6.122889 ms 
whole laserOdometry time 6.135852 ms 
 
-----t: 0.0529108
OdomCount 151 & avg odom time 0.043711 ms ++++++++++++++++++++++
1317357641.884073019 WriteOdom laser_odom_to_init
1317357641.884073019 WriteOdom aft_mapped_to_init_high_frec
build tree time 11.579874 ms 
mapping data assosiation time 16.978498 ms 
--------------------stamp1317357641.987870931
mapping solver time 15.841749 ms 
prepare time 12.966596 
mapping data assosiation time 16.607375 ms 
sort q time 5.101878 
seperate points time 11.427946 
mapping solver time 15.185662 ms 
filter time 4.144069 ms 
-----t: 0.0289592
OdomCount 152 & avg odom time 0.043614 ms ++++++++++++++++++++++
1317357641.987870931 WriteOdom laser_odom_to_init
1317357641.987870931 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.396625 ms 
whole mapping time 86.780188 ms +++++
mappingCount 139 & avg mapping time 102.313117 ms ++++++++++++++++++++++
1317357641.884073019 WriteOdom aft_mapped_to_init
publication time 6.270418 ms 
whole laserOdometry time 6.282081 ms 
 
map prepare time 1.618976 ms
map corner num 53393  surf num 19456 
build tree time 12.866256 ms 
mapping data assosiation time 16.518408 ms 
--------------------stamp1317357642.091671943
mapping solver time 17.250181 ms 
points size 90264 
mapping data assosiation time 16.857827 ms 
sort q time 4.910054 
seperate points time 11.270318 
scan registration time 33.347806 ms *************
mapping pub time 2.355440 ms 
whole mapping time 89.858205 ms +++++
mappingCount 140 & avg mapping time 102.224197 ms ++++++++++++++++++++++
map prepare time 1.988773 ms
map corner num 53658  surf num 19540 
build tree time 13.008684 ms 
points size 89851 
prepare time 15.007347 
mapping data assosiation time 26.097368 ms 
mapping solver time 12.369863 ms 
mapping optimization time 87.361197 
add points time 0.479399 ms
1317357642.195446968 WriteOdom laser_odom_to_init
1317357642.195446968 WriteOdom aft_mapped_to_init_high_frec
points size 90938 
publication time 19.867961 ms 
whole laserOdometry time 19.880789 ms 
 
mapping solver time 64.225579 ms 
--------------------stamp1317357642.402971982
prepare time 19.309541 
filter time 7.763920 ms 
-----t: 0.124639
OdomCount 155 & avg odom time 0.044283 ms ++++++++++++++++++++++
build tree time 17.937549 ms 
points size 94532 
mapping solver time 18.748625 ms 
-----t: 0.0710054
OdomCount 156 & avg odom time 0.044454 ms ++++++++++++++++++++++
publication time 11.499381 ms filter time 4.346639 ms 
-----t: 0.0410993
OdomCount 157 & avg odom time 0.044433 ms ++++++++++++++++++++++
1317357642.506722927 WriteOdom laser_odom_to_init
1317357642.506722927 WriteOdom aft_mapped_to_init_high_frec
points size 93514 
build tree time 17.116994 ms 
prepare time 17.114808 
mapping data assosiation time 18.007146 ms 
sort q time 5.277017 
seperate points time 12.342087 
publication time 6.593274 ms 
whole laserOdometry time 6.606248 ms 
 
mapping data assosiation time 17.613848 ms 
-----t: 0.0641863
OdomCount 158 & avg odom time 0.044558 ms ++++++++++++++++++++++
1317357642.610496997 WriteOdom laser_odom_to_init
1317357642.610496997 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.240619 ms 
mapping optimization time 89.241793 
add points time 0.478775 ms
map prepare time 2.033844 ms
map corner num 54781  surf num 19838 
--------------------stamp1317357642.714294910
build tree time 15.460308 ms 
points size 93589 
sort q time 5.803775 
seperate points time 13.101673 
scan registration time 35.335083 ms *************
publication time 5.583277 ms 
whole laserOdometry time 5.597541 ms 
 
-----t: 0.0303443
OdomCount 159 & avg odom time 0.044468 ms ++++++++++++++++++++++
1317357642.714294910 WriteOdom laser_odom_to_init
1317357642.714294910 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.383470 ms 
mapping data assosiation time 14.995300 ms 
mapping solver time 15.580212 ms 
filter time 5.346269 ms 
mapping pub time 2.259182 ms 
whole mapping time 100.084493 ms +++++
mappingCount 145 & avg mapping time 102.631914 ms ++++++++++++++++++++++
1317357642.610496998 WriteOdom aft_mapped_to_init
build tree time 13.686056 ms 
mapping data assosiation time 15.657647 ms 
--------------------stamp1317357642.818104028
mapping solver time 15.287015 ms 
sort q time 5.099975 
seperate points time 10.911261 
mapping data assosiation time 16.321395 ms 
scan registration time 28.359754 ms *************
publication time 6.991435 ms 
whole laserOdometry time 7.008347 ms 
 
filter time 4.480210 ms 
map prepare time 1.808685 ms
map corner num 55406  surf num 19996 
build tree time 11.548640 ms 
mapping data assosiation time 14.285889 ms 
mapping solver time 14.410511 ms 
mapping data assosiation time 15.625863 ms 
points size 93672 
mapping solver time 12.361222 ms 
mapping optimization time 69.146720 
add points time 0.668960 ms
prepare time 15.966117 
filter time 4.446108 ms 
mapping pub time 2.223334 ms 
whole mapping time 78.353140 ms +++++
mappingCount 147 & avg mapping time 102.381281 ms ++++++++++++++++++++++
1317357642.818104029 WriteOdom aft_mapped_to_init
sort q time 13.918665 
seperate points time 19.836147 
publication time 8.593951 ms 
whole laserOdometry time 8.612890 ms 
 
map prepare time 2.119609 ms
map corner num 55702  surf num 20082 
build tree time 10.712296 ms 
mapping data assosiation time 14.101659 ms 
--------------------stamp1317357643.025693893
mapping solver time 15.181889 ms 
points size 93788 
mapping data assosiation time 16.371091 ms 
sort q time 13.537884 
seperate points time 20.298169 
mapping solver time 16.290964 ms 
mapping optimization time 73.554562 
add points time 0.535798 ms
mapping pub time 2.313616 ms 
whole mapping time 84.152476 ms +++++
mappingCount 148 & avg mapping time 102.258132 ms ++++++++++++++++++++++
publication time 6.501415 ms 
whole laserOdometry time 6.514579 ms 
 
map prepare time 1.747236 ms
map corner num 56004  surf num 20172 
build tree time 10.639761 ms 
--------------------stamp1317357643.129491090
points size 94473 
mapping solver time 16.403586 ms 
sort q time 6.485249 
seperate points time 11.917449 
scan registration time 29.896775 ms *************
publication time 7.978952 ms 
whole laserOdometry time 8.001016 ms 
 
mapping solver time 15.644800 ms 
filter time 5.234319 ms 
1317357643.129491090 WriteOdom laser_odom_to_init
1317357643.129491090 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.409232 ms 
whole mapping time 85.127578 ms +++++
mappingCount 149 & avg mapping time 102.143279 ms ++++++++++++++++++++++
1317357643.025693893 WriteOdom aft_mapped_to_init
build tree time 13.891570 ms 
mapping data assosiation time 16.628784 ms 
--------------------stamp1317357643.233314990
points size 96325 
prepare time 16.484675 
sort q time 8.323133 
seperate points time 16.403670 
mapping data assosiation time 20.095109 ms 
scan registration time 39.934592 ms *************
mapping solver time 12.266650 ms 
mapping optimization time 83.907874 
add points time 0.749351 ms
publication time 5.509348 ms 
whole laserOdometry time 5.516749 ms 
 
map prepare time 1.853307 ms
map corner num 56618  surf num 20399 
build tree time 12.864123 ms 
mapping data assosiation time 16.631735 ms 
points size 96888 
mapping solver time 21.345045 ms 
sort q time 6.444063 
seperate points time 12.637777 
mapping data assosiation time 18.046966 ms 
publication time 6.837243 ms 
whole laserOdometry time 6.858434 ms 
 
-----t: 0.0329421
OdomCount 165 & avg odom time 0.044189 ms ++++++++++++++++++++++
1317357643.337137937 WriteOdom laser_odom_to_init
1317357643.337137937 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.164985 ms 
mapping optimization time 86.864922 
add points time 0.494381 ms
mapping pub time 3.709272 ms 
whole mapping time 97.024714 ms +++++
mappingCount 151 & avg mapping time 102.057601 ms ++++++++++++++++++++++
1317357643.233314991 WriteOdom aft_mapped_to_init
[0m[ INFO] [1715775577.573550233, 1317357643.396541835]: Received 77404 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775577.573626556, 1317357643.396541835]: Data saved to 1317357643233314.pcd[0m
map prepare time 1.867631 ms
map corner num 56916  surf num 20488 
build tree time 12.211718 ms 
mapping data assosiation time 16.870006 ms 
mapping solver time 16.251320 ms 
--------------------stamp1317357643.440960884
mapping data assosiation time 19.026529 ms 
points size 96798 
prepare time 16.129805 
sort q time 5.619034 
seperate points time 12.841499 
filter time 5.683212 ms 
mapping pub time 2.310992 ms 
whole mapping time 90.146971 ms +++++
mappingCount 152 & avg mapping time 101.979266 ms ++++++++++++++++++++++
scan registration time 33.434135 ms *************
1317357643.337137938 WriteOdom aft_mapped_to_init
-----t: 0.0330061
OdomCount 166 & avg odom time 0.044121 ms ++++++++++++++++++++++
map prepare time 1.828547 ms
map corner num 57227  surf num 20592 
build tree time 12.299824 ms 
points size 95254 
prepare time 17.428379 
mapping data assosiation time 18.896917 ms 
sort q time 5.512484 
seperate points time 14.943164 
scan registration time 38.714893 ms *************
mapping solver time 22.478430 ms 
publication time 9.656839 ms 
whole laserOdometry time 9.671122 ms 
 
mapping data assosiation time 19.989572 ms 
-----t: 0.0645985
OdomCount 167 & avg odom time 0.044244 ms ++++++++++++++++++++++
1317357643.544806957 WriteOdom laser_odom_to_init
1317357643.544806957 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 13.742894 ms 
mapping optimization time 88.344730 
add points time 0.546137 ms
filter time 5.509876 ms 
map prepare time 2.414423 ms
map corner num 57521  surf num 20691 
prepare time 13.436439 
sort q time 5.105114 
seperate points time 11.087660 
publication time 6.728333 ms 
whole laserOdometry time 6.742413 ms 
 
mapping solver time 26.720621 ms 
-----t: 0.058177
OdomCount 168 & avg odom time 0.044327 ms ++++++++++++++++++++++
mapping data assosiation time 27.558592 ms 
mapping solver time 18.094475 ms 
mapping pub time 2.172895 ms 
whole mapping time 115.497517 ms +++++
mappingCount 154 & avg mapping time 102.045332 ms ++++++++++++++++++++++
prepare time 15.312893 
build tree time 15.998689 ms 
mapping data assosiation time 17.716059 ms 
1317357643.752523899 WriteOdom laser_odom_to_init
1317357643.752523899 WriteOdom aft_mapped_to_init_high_frec
publication time 11.476200 ms 
whole laserOdometry time 11.498084 ms 
 
mapping solver time 19.003041 ms 
mapping data assosiation time 15.657415 ms 
mapping solver time 16.128347 ms 
filter time 5.197379 ms 
mapping pub time 2.310889 ms 
whole mapping time 95.681147 ms +++++
mappingCount 155 & avg mapping time 102.004314 ms ++++++++++++++++++++++
1317357643.648679018 WriteOdom aft_mapped_to_init
map prepare time 1.939725 ms
map corner num 58171  surf num 20904 
build tree time 13.447283 ms 
points size 95345 
sort q time 6.671426 
seperate points time 12.555591 
mapping solver time 20.746747 ms 
publication time 7.626601 ms 
whole laserOdometry time 7.638110 ms 
 
mapping data assosiation time 18.398038 ms 
mapping solver time 16.484047 ms 
mapping pub time 3.236132 ms 
whole mapping time 99.191548 ms +++++
mappingCount 156 & avg mapping time 101.986319 ms ++++++++++++++++++++++
[0m[ INFO] [1715775578.130529084, 1317357643.951442623]: Received 79514 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775578.130574138, 1317357643.951442623]: Data saved to 1317357643752523.pcd[0m
1317357643.752523899 WriteOdom aft_mapped_to_init
map prepare time 2.436303 ms
map corner num 58476  surf num 21038 
build tree time 15.155676 ms 
prepare time 17.789510 
mapping data assosiation time 19.489440 ms 
scan registration time 37.389453 ms *************
mapping solver time 20.285750 ms 
publication time 9.032790 ms 
whole laserOdometry time 9.044787 ms 
 
mapping data assosiation time 20.659367 ms 
1317357643.960217952 WriteOdom laser_odom_to_init
1317357643.960217952 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.138606 ms 
filter time 4.225455 ms 
mapping pub time 2.150771 ms 
whole mapping time 104.175614 ms +++++
mappingCount 157 & avg mapping time 102.000296 ms ++++++++++++++++++++++
1317357643.856369019 WriteOdom aft_mapped_to_init
prepare time 14.085404 
build tree time 15.552249 ms 
mapping data assosiation time 17.710044 ms 
sort q time 5.712898 
seperate points time 21.669236 
mapping solver time 17.674189 ms 
mapping data assosiation time 18.689661 ms 
-----t: 0.0539521
OdomCount 172 & avg odom time 0.044337 ms ++++++++++++++++++++++
mapping solver time 13.071434 ms 
mapping optimization time 83.733050 
add points time 0.573818 ms
map prepare time 3.154666 ms
map corner num 59278  surf num 21308 
points size 96283 
prepare time 27.498171 
mapping data assosiation time 19.542690 ms 
scan registration time 58.311548 ms *************
mapping data assosiation time 17.516551 ms 
publication time 7.196126 ms 
whole laserOdometry time 7.216979 ms 
 
mapping solver time 12.566102 ms 
mapping optimization time 88.000594 
add points time 0.574040 ms
filter time 5.822808 ms 
mapping pub time 2.256972 ms 
whole mapping time 99.868801 ms +++++
mappingCount 159 & avg mapping time 101.931880 ms ++++++++++++++++++++++
1317357644.064038992 WriteOdom aft_mapped_to_init
map prepare time 2.196456 ms
map corner num 59720  surf num 21440 
--------------------stamp1317357644.271755933
build tree time 12.382115 ms 
points size 94736 
mapping data assosiation time 19.486496 ms 
sort q time 5.354627 
seperate points time 12.275315 
mapping solver time 17.769622 ms 
publication time 11.066154 ms 
whole laserOdometry time 11.082332 ms 
 
mapping data assosiation time 20.188314 ms 
-----t: 0.040015
OdomCount 174 & avg odom time 0.044333 ms ++++++++++++++++++++++
1317357644.271755933 WriteOdom laser_odom_to_init
1317357644.271755933 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 12.747712 ms 
filter time 4.093907 ms 
mapping pub time 2.242997 ms 
whole mapping time 92.642574 ms +++++
mappingCount 160 & avg mapping time 101.873845 ms ++++++++++++++++++++++
1317357644.167886019 WriteOdom aft_mapped_to_init
--------------------stamp1317357644.375627040
build tree time 13.959718 ms 
points size 90880 
sort q time 5.538234 
seperate points time 11.801456 
mapping data assosiation time 22.367597 ms 
scan registration time 32.397159 ms *************
publication time 6.980943 ms 
whole laserOdometry time 7.025281 ms 
 
-----t: 0.0433698
OdomCount 175 & avg odom time 0.044327 ms ++++++++++++++++++++++
1317357644.375627040 WriteOdom laser_odom_to_init
1317357644.375627040 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.407839 ms 
mapping solver time 11.686639 ms 
mapping optimization time 91.207216 
add points time 0.620528 ms
[0m[ INFO] [1715775578.642768848, 1317357644.470164364]: Received 82391 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775578.642797870, 1317357644.470164364]: Data saved to 1317357644271755.pcd[0m
map prepare time 2.515183 ms
map corner num 60625  surf num 21766 
points size 87544 
sort q time 5.025438 
seperate points time 11.324736 
scan registration time 29.247993 ms *************
-----t: 0.0336065
OdomCount 176 & avg odom time 0.044267 ms ++++++++++++++++++++++
mapping data assosiation time 17.843505 ms 
mapping solver time 12.836499 ms 
mapping optimization time 83.197186 
add points time 0.581318 ms
filter time 4.396056 ms 
mapping pub time 2.035397 ms 
whole mapping time 92.775989 ms +++++
mappingCount 162 & avg mapping time 101.839767 ms ++++++++++++++++++++++
1317357644.375627041 WriteOdom aft_mapped_to_init
--------------------stamp1317357644.583345890
points size 85536 
mapping data assosiation time 20.251350 ms 
sort q time 11.092763 
seperate points time 17.311080 
-----t: 0.0374501
OdomCount 177 & avg odom time 0.044228 ms ++++++++++++++++++++++
1317357644.583345890 WriteOdom laser_odom_to_init
1317357644.583345890 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.273141 ms 
mapping solver time 13.230725 ms 
mapping optimization time 89.987792 
add points time 0.612928 ms
map prepare time 2.077398 ms
map corner num 61512  surf num 22018 
--------------------stamp1317357644.687192916
points size 82982 
mapping data assosiation time 19.589238 ms 
scan registration time 27.119051 ms *************
publication time 6.750886 ms mapping solver time 30.798349 ms 
mapping data assosiation time 18.233066 ms 
mapping solver time 12.362556 ms 
filter time 4.402386 ms 
mapping pub time 1.867437 ms 
whole mapping time 103.321336 ms +++++
mappingCount 164 & avg mapping time 101.833376 ms ++++++++++++++++++++++
1317357644.583345890 WriteOdom aft_mapped_to_init
--------------------stamp1317357644.791038990
points size 80574 
mapping data assosiation time 19.650451 ms 
sort q time 4.479194 
seperate points time 10.350450 
publication time 6.769474 ms 
whole laserOdometry time 6.785077 ms 
 
mapping solver time 20.007384 ms 
-----t: 0.0369796
OdomCount 179 & avg odom time 0.044109 ms ++++++++++++++++++++++
1317357644.791038990 WriteOdom laser_odom_to_init
1317357644.791038990 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.994446 ms 
mapping solver time 14.041360 ms 
filter time 4.546271 ms 
map prepare time 2.248277 ms
map corner num 62397  surf num 22248 
points size 77881 
mapping data assosiation time 22.193569 ms 
sort q time 4.795416 
seperate points time 10.627186 
mapping data assosiation time 22.203131 ms 
-----t: 0.0596534
OdomCount 180 & avg odom time 0.044195 ms ++++++++++++++++++++++
mapping solver time 19.617557 ms 
--------------------stamp1317357644.998682975
points size 73147 
[0m[ INFO] [1715775579.184953983, 1317357645.015320262]: Received 85165 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775579.185003414, 1317357645.015320262]: Data saved to 1317357644791038.pcd[0m
prepare time 14.512988 
scan registration time 29.853045 ms *************
publication time 7.820719 ms 
whole laserOdometry time 7.836782 ms 
 
mapping solver time 34.916151 ms 
points size 69985 
prepare time 14.316196 
sort q time 4.679487 
seperate points time 13.900692 
publication time 8.589111 ms 
whole laserOdometry time 8.604362 ms 
 
-----t: 0.0479334
OdomCount 182 & avg odom time 0.044329 ms ++++++++++++++++++++++
filter time 7.319611 ms 
map prepare time 2.787468 ms
map corner num 63194  surf num 22478 
--------------------stamp1317357645.206353902
build tree time 18.036001 ms 
sort q time 3.786940 
seperate points time 10.529273 
mapping data assosiation time 25.625176 ms 

 
mapping solver time 60.116645 ms 
--------------------stamp1317357645.310199975
points size 70600 
mapping data assosiation time 22.721450 ms 
sort q time 3.998069 
seperate points time 12.270366 
scan registration time 34.328456 ms *************
mapping solver time 27.812135 ms 
filter time 6.579480 ms 
publication time 8.171971 ms 
whole laserOdometry time 8.182190 ms 
 
mapping pub time 1.815251 ms 
whole mapping time 167.513678 ms +++++
mappingCount 168 & avg mapping time 102.827672 ms ++++++++++++++++++++++
1317357644.998682976 WriteOdom aft_mapped_to_init
build tree time 14.884097 ms 
-----t: 0.0454629
OdomCount 184 & avg odom time 0.044410 ms ++++++++++++++++++++++
mapping data assosiation time 21.106426 ms 
--------------------stamp1317357645.414048910
points size 72898 
prepare time 11.071632 
mapping solver time 24.809648 ms 
scan registration time 24.140714 ms *************
mapping data assosiation time 24.102175 ms 
mapping solver time 19.582488 ms 
mapping optimization time 105.726912 
add points time 1.027274 ms
-----t: 0.0445678
OdomCount 185 & avg odom time 0.044411 ms ++++++++++++++++++++++
map prepare time 2.522477 ms
map corner num 64289  surf num 22831 
build tree time 14.141996 ms 
mapping data assosiation time 19.113779 ms 
points size 77243 
mapping solver time 23.639295 ms 
sort q time 4.609233 
seperate points time 10.007889 
publication time 10.270303 ms 
whole laserOdometry time 10.285363 ms 
 
mapping data assosiation time 29.080605 ms 
1317357645.517921924 WriteOdom laser_odom_to_init
1317357645.517921924 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.177683 ms 
mapping optimization time 107.889889 
add points time 0.797071 ms
map prepare time 2.059343 ms
map corner num 64988  surf num 23138 
build tree time 12.460066 ms 
points size 81776 
prepare time 14.896279 
sort q time 3.961582 
seperate points time 9.550309 
mapping solver time 19.898935 ms 
publication time 7.211207 ms 
whole laserOdometry time 7.226273 ms 
 
-----t: 0.0442599
OdomCount 187 & avg odom time 0.044386 ms ++++++++++++++++++++++
1317357645.621814966 WriteOdom laser_odom_to_init
1317357645.621814966 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.745002 ms 
mapping solver time 14.115953 ms 
filter time 4.654267 ms 
map prepare time 1.964964 ms
map corner num 65533  surf num 23308 
--------------------stamp1317357645.725730895
points size 84629 
sort q time 4.563023 
seperate points time 10.904389 
mapping solver time 22.819372 ms 
publication time 6.696603 ms 
whole laserOdometry time 6.705612 ms 
 
-----t: 0.0346508
OdomCount 188 & avg odom time 0.044334 ms ++++++++++++++++++++++
1317357645.725730895 WriteOdom laser_odom_to_init
mapping data assosiation time 24.458469 ms 
mapping solver time 17.517068 ms 
mapping optimization time 100.835227 
add points time 0.682019 ms
map prepare time 2.063871 ms
map corner num 66031  surf num 23451 
points size 86920 
sort q time 5.139188 
seperate points time 13.082641 
publication time 7.583468 ms 
whole laserOdometry time 7.595999 ms 
 
-----t: 0.0405081
OdomCount 189 & avg odom time 0.044314 ms ++++++++++++++++++++++
1317357645.829624891 WriteOdom laser_odom_to_init
mapping solver time 26.867047 ms 
mapping data assosiation time 19.273454 ms 
mapping solver time 18.280758 ms 
mapping optimization time 105.556765 
add points time 0.708774 ms
filter time 4.740406 ms 
mapping pub time 1.934066 ms 
whole mapping time 115.065849 ms +++++
mappingCount 173 & avg mapping time 103.113446 ms ++++++++++++++++++++++
1317357645.725730896 WriteOdom aft_mapped_to_init
points size 89326 
sort q time 14.305480 
seperate points time 21.532503 
mapping data assosiation time 21.718040 ms 
-----t: 0.0361022
OdomCount 190 & avg odom time 0.044271 ms ++++++++++++++++++++++
mapping solver time 25.254305 ms 
mapping solver time 18.518098 ms 
filter time 8.488368 ms 
map prepare time 3.054850 ms
map corner num 67054  surf num 23776 
build tree time 17.884197 ms 
publication time 9.646162 ms 
whole laserOdometry time 9.662596 ms 
 
mapping data assosiation time 32.472644 ms 
--------------------stamp1317357646.141361951
-----t: 0.074458
OdomCount 191 & avg odom time 0.044429 ms ++++++++++++++++++++++
points size 92695 
1317357646.037441968 WriteOdom laser_odom_to_init
1317357646.037441968 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.957595 ms 
sort q time 8.391535 
seperate points time 14.510441 
mapping solver time 43.531190 ms 
publication time 17.180647 ms 
whole laserOdometry time 17.192036 ms 
 
mapping optimization time 145.511961 
add points time 1.015690 ms
-----t: 0.0568657
OdomCount 192 & avg odom time 0.044493 ms ++++++++++++++++++++++
1317357646.141361951 WriteOdom laser_odom_to_init
1317357646.141361951 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
map prepare time 2.424867 ms
map corner num 67564  surf num 23969 
build tree time 16.578190 ms 
points size 94287 
prepare time 13.669355 
mapping data assosiation time 20.480308 ms 
scan registration time 32.778544 ms *************
mapping solver time 23.255923 ms 
publication time 8.353720 ms 
whole laserOdometry time 8.368760 ms 
 
mapping data assosiation time 22.161637 ms 
mapping solver time 13.311035 ms 
mapping optimization time 97.038839 
add points time 0.700717 ms
mapping pub time 3.849769 ms 
whole mapping time 109.245380 ms +++++
mappingCount 176 & avg mapping time 103.562330 ms ++++++++++++++++++++++
1317357646.037441969 WriteOdom aft_mapped_to_init
[0m[ INFO] [1715775580.506449748, 1317357646.335289898]: Received 92222 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775580.506494929, 1317357646.335289898]: Data saved to 1317357646037441.pcd[0m
build tree time 15.384176 ms 
prepare time 11.817651 
mapping data assosiation time 20.721529 ms 
sort q time 6.676748 
seperate points time 12.679079 
publication time 8.342713 ms 
whole laserOdometry time 8.356552 ms 
 
-----t: 0.0434469
OdomCount 194 & avg odom time 0.044495 ms ++++++++++++++++++++++
mapping solver time 16.911464 ms 
mapping optimization time 95.343106 
add points time 0.782435 ms
map prepare time 2.221262 ms
map corner num 68614  surf num 24366 
--------------------stamp1317357646.453114986
points size 92533 
sort q time 6.546363 
seperate points time 12.772044 
scan registration time 30.603603 ms *************
publication time 6.578018 ms 
whole laserOdometry time 6.593951 ms 
 
-----t: 0.0453499
mapping solver time 23.191706 ms 
OdomCount 195 & avg odom time 0.044500 ms ++++++++++++++++++++++
mapping data assosiation time 16.943087 ms 
mapping solver time 12.999575 ms 
filter time 4.682968 ms 
points size 91282 
build tree time 17.384768 ms 
sort q time 5.260593 
seperate points time 11.974412 
publication time 7.691939 ms 
whole laserOdometry time 7.700572 ms 
 
-----t: 0.0380849
OdomCount 196 & avg odom time 0.044467 ms ++++++++++++++++++++++
mapping solver time 21.443301 ms 
mapping data assosiation time 18.567863 ms 
points size 88395 
mapping solver time 15.525426 ms 
mapping optimization time 113.814961 
prepare time 13.770662 
add points time 1.020958 ms
sort q time 5.310909 
seperate points time 11.828356 
publication time 8.738160 ms 
whole laserOdometry time 8.758898 ms 
 
mapping data assosiation time 19.340348 ms 
mapping solver time 18.675536 ms 
--------------------stamp1317357646.764800071
points size 85505 
mapping solver time 19.382354 ms 
mapping optimization time 94.623059 
add points time 0.710874 ms
map prepare time 3.674968 ms
map corner num 69864  surf num 24744 
publication time 10.809054 ms 
whole laserOdometry time 10.819538 ms 
 
-----t: 0.0325378
OdomCount 198 & avg odom time 0.044349 ms ++++++++++++++++++++++
1317357646.764800071 WriteOdom laser_odom_to_init
1317357646.764800071 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 15.737674 ms 
mapping solver time 17.477169 ms 
--------------------stamp1317357646.868693113
points size 84098 
prepare time 17.152077 
filter time 6.796804 ms 
sort q time 4.618723 
seperate points time 11.180895 
-----t: 0.0340796
OdomCount 199 & avg odom time 0.044297 ms ++++++++++++++++++++++
build tree time 13.804465 ms 
publication time 11.809533 ms 
whole laserOdometry time 11.821518 ms 
 
mapping data assosiation time 16.918851 ms 
mapping solver time 20.600469 ms 
--------------------stamp1317357646.972611904
mapping data assosiation time 17.313897 ms 
prepare time 12.250263 
mapping solver time 13.509357 ms 
mapping optimization time 83.154352 
add points time 0.611094 ms
sort q time 5.154880 
seperate points time 10.988103 
mapping pub time 2.434033 ms 
whole mapping time 95.405302 ms +++++
mappingCount 182 & avg mapping time 103.731838 ms ++++++++++++++++++++++
1317357646.764800072 WriteOdom aft_mapped_to_init
publication time 9.902307 ms 
whole laserOdometry time 9.919065 ms 
 
build tree time 19.038136 ms 
mapping data assosiation time 16.145428 ms 
mapping solver time 19.425080 ms 
--------------------stamp1317357647.076530933
mapping data assosiation time 17.926581 ms 
points size 82147 
prepare time 13.388288 
mapping solver time 12.807794 ms 
mapping optimization time 86.312439 
add points time 0.589299 ms
sort q time 5.120767 
seperate points time 10.275921 
map prepare time 2.272387 ms
map corner num 70904  surf num 25003 
publication time 6.674532 ms 
whole laserOdometry time 6.712335 ms 
 
mapping data assosiation time 17.260757 ms 
-----t: 0.057181
OdomCount 201 & avg odom time 0.044335 ms ++++++++++++++++++++++
1317357647.076530933 WriteOdom laser_odom_to_init
1317357647.076530933 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.814496 ms 
--------------------stamp1317357647.180474042
points size 82371 
prepare time 14.901129 
sort q time 4.815861 
seperate points time 11.270754 
map prepare time 2.410316 ms
map corner num 71215  surf num 25071 
build tree time 17.948279 ms 
-----t: 0.0401597
OdomCount 202 & avg odom time 0.044314 ms ++++++++++++++++++++++
1317357647.180474042 WriteOdom laser_odom_to_init
1317357647.180474042 WriteOdom aft_mapped_to_init_high_frec
publication time 7.152100 ms 
whole laserOdometry time 7.169019 ms 
 
mapping data assosiation time 16.287224 ms 
mapping solver time 18.068999 ms 
mapping data assosiation time 14.798589 ms 
points size 82835 
prepare time 15.136250 
sort q time 4.766321 
seperate points time 10.886640 
filter time 6.864700 ms 
mapping pub time 2.367791 ms 
whole mapping time 101.143565 ms +++++
mappingCount 185 & avg mapping time 103.679176 ms ++++++++++++++++++++++
1317357647.076530933 WriteOdom aft_mapped_to_init
scan registration time 30.626721 ms *************
publication time 7.053801 ms 
whole laserOdometry time 7.071647 ms 
 
-----t: 0.0374222
OdomCount 203 & avg odom time 0.044280 ms ++++++++++++++++++++++
mapping data assosiation time 16.022910 ms 
mapping solver time 22.499544 ms 
--------------------stamp1317357647.388335943
mapping data assosiation time 20.370803 ms 
prepare time 13.607937 
mapping solver time 19.062470 ms 
mapping optimization time 98.007109 
add points time 0.829124 ms
sort q time 5.526271 
seperate points time 11.896144 
[0m[ INFO] [1715775581.604409360, 1317357647.428405459]: Received 97029 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775581.604458674, 1317357647.428405459]: Data saved to 1317357647180474.pcd[0m
map prepare time 2.551759 ms
map corner num 71830  surf num 25199 
-----t: 0.0420667
OdomCount 204 & avg odom time 0.044270 ms ++++++++++++++++++++++
build tree time 18.374953 ms 
mapping data assosiation time 17.918576 ms 
mapping solver time 16.323614 ms 
points size 84654 
mapping data assosiation time 17.449372 ms 
sort q time 5.037571 
seperate points time 10.713677 
mapping solver time 14.910872 ms 
mapping optimization time 86.086778 
add points time 0.771952 ms
scan registration time 30.646314 ms *************
1317357647.284416914 WriteOdom aft_mapped_to_init
map prepare time 2.632593 ms
map corner num 72151  surf num 25276 
publication time 13.460830 ms 
whole laserOdometry time 13.475367 ms 
 
mapping data assosiation time 17.911880 ms 
mapping solver time 21.029761 ms 
mapping data assosiation time 19.325895 ms 
points size 84811 
mapping solver time 23.988208 ms 
mapping optimization time 100.823003 
add points time 0.788235 ms
filter time 10.157121 ms 
sort q time 14.741186 map prepare time 4.687366 ms
map corner num 72517  surf num 25360 
-----t: 0.0533083
OdomCount 206 & avg odom time 0.044316 ms ++++++++++++++++++++++
1317357647.596198081 WriteOdom laser_odom_to_init
1317357647.596198081 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357647.700089931
prepare time 14.494469 
sort q time 4.796178 
seperate points time 13.663961 
-----t: 0.0296379
OdomCount 207 & avg odom time 0.044245 ms ++++++++++++++++++++++
mapping data assosiation time 19.916794 ms 
mapping solver time 21.854167 ms 
mapping optimization time 129.859877 
add points time 0.700772 ms
drop lidar frame in mapping for real time performance 
points size 83702 
prepare time 12.681182 
sort q time 4.482201 
seperate points time 10.469606 
scan registration time 29.349779 ms *************
publication time 22.852615 ms 
whole laserOdometry time 22.870782 ms 
 
mapping solver time 27.759214 ms 
--------------------stamp1317357647.907928943
points size 84114 
filter time 6.517918 ms 
map prepare time 2.471395 ms
map corner num 73210  surf num 25591 
scan registration time 36.587688 ms *************
publication time 6.693164 ms 
whole laserOdometry time 6.706369 ms 
 
mapping data assosiation time 18.525249 ms 
mapping data assosiation time 15.444150 ms 
--------------------stamp1317357648.011847972
points size 84300 
mapping solver time 18.050628 ms 
mapping optimization time 90.169489 
prepare time 13.201336 
add points time 0.896628 ms
mapping pub time 3.418487 ms 
whole mapping time 103.864093 ms +++++
mappingCount 191 & avg mapping time 104.124421 ms ++++++++++++++++++++++
[0m[ INFO] [1715775582.218521714, 1317357648.049400434]: Received 99406 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775582.218575253, 1317357648.049400434]: Data saved to 1317357647804008.pcd[0m
publication time 8.158104 ms 
whole laserOdometry time 8.173424 ms 
 
build tree time 20.048697 ms 
-----t: 0.0464747
OdomCount 210 & avg odom time 0.044291 ms ++++++++++++++++++++++
1317357648.011847972 WriteOdom laser_odom_to_init
1317357648.011847972 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.790520 ms 
--------------------stamp1317357648.115745067
points size 85305 
prepare time 19.463490 
filter time 7.005871 ms 
build tree time 18.420919 ms 
mapping data assosiation time 22.445220 ms 
-----t: 0.0720022
OdomCount 211 & avg odom time 0.044423 ms ++++++++++++++++++++++
mapping solver time 16.952168 ms 
mapping data assosiation time 25.543310 ms 
sort q time 5.733330 
seperate points time 12.515762 
filter time 7.070290 ms 
mapping pub time 2.217528 ms 
whole mapping time 118.157164 ms +++++
mappingCount 193 & avg mapping time 104.257673 ms ++++++++++++++++++++++
1317357648.011847973 WriteOdom aft_mapped_to_init
-----t: 0.043356
OdomCount 212 & avg odom time 0.044418 ms ++++++++++++++++++++++
1317357648.219639062 WriteOdom laser_odom_to_init
1317357648.219639062 WriteOdom aft_mapped_to_init_high_frec
publication time 7.538862 ms 
whole laserOdometry time 7.554641 ms 
 
build tree time 16.370631 ms 
mapping data assosiation time 18.560232 ms 
--------------------stamp1317357648.323558092
points size 87654 
mapping solver time 19.330207 ms 
prepare time 14.417240 
sort q time 5.834002 
seperate points time 12.646210 
scan registration time 37.027911 ms *************
-----t: 0.0379713
OdomCount 213 & avg odom time 0.044387 ms ++++++++++++++++++++++
1317357648.323558092 WriteOdom laser_odom_to_init
1317357648.323558092 WriteOdom aft_mapped_to_init_high_frec
filter time 5.874139 ms 
mapping pub time 2.418929 ms 
whole mapping time 115.698515 ms +++++
mappingCount 194 & avg mapping time 104.316667 ms ++++++++++++++++++++++
1317357648.115745068 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 15.926929 ms 
--------------------stamp1317357648.427500009
mapping data assosiation time 19.573910 ms 
sort q time 4.773000 
seperate points time 11.749593 
publication time 7.557412 ms 
whole laserOdometry time 7.596891 ms 
 
-----t: 0.0479162
OdomCount 214 & avg odom time 0.044404 ms ++++++++++++++++++++++
1317357648.427500009 WriteOdom laser_odom_to_init
1317357648.427500009 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.101191 ms 
mapping optimization time 96.329348 
add points time 0.653666 ms
mapping pub time 2.065904 ms 
whole mapping time 108.549412 ms +++++
mappingCount 195 & avg mapping time 104.338389 ms ++++++++++++++++++++++
build tree time 15.483283 ms 
--------------------stamp1317357648.531441926
points size 86223 
sort q time 8.567896 
seperate points time 14.842938 
scan registration time 38.307965 ms *************
mapping solver time 27.333456 ms 
publication time 7.985852 ms 
whole laserOdometry time 8.000968 ms 
 
mapping data assosiation time 20.969267 ms 
mapping solver time 16.114001 ms 
mapping optimization time 102.677663 
add points time 0.684907 ms
mapping pub time 5.108608 ms 
whole mapping time 117.496391 ms +++++
mappingCount 196 & avg mapping time 104.405630 ms ++++++++++++++++++++++
1317357648.427500010 WriteOdom aft_mapped_to_init
[0m[ INFO] [1715775582.797639119, 1317357648.624978892]: Received 102809 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775582.797669362, 1317357648.624978892]: Data saved to 1317357648427500.pcd[0m
--------------------stamp1317357648.635360956
build tree time 18.026952 ms 
sort q time 4.997149 
seperate points time 10.131084 
scan registration time 30.245676 ms *************
-----t: 0.0406482
OdomCount 216 & avg odom time 0.044313 ms ++++++++++++++++++++++
1317357648.635360956 WriteOdom laser_odom_to_init
1317357648.635360956 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.140591 ms 
mapping data assosiation time 19.584383 ms 
mapping solver time 18.309598 ms 
filter time 7.951245 ms 
mapping pub time 2.158052 ms 
whole mapping time 119.103214 ms +++++
mappingCount 197 & avg mapping time 104.480274 ms ++++++++++++++++++++++
1317357648.531441927 WriteOdom aft_mapped_to_init
sort q time 4.713638 
seperate points time 10.955159 
build tree time 20.039659 ms 
publication time 10.545800 ms 
whole laserOdometry time 10.560016 ms 
 
mapping data assosiation time 22.120064 ms 
mapping solver time 21.543378 ms 
mapping data assosiation time 19.049800 ms 
points size 83564 
prepare time 12.406437 
mapping solver time 23.425438 ms 
mapping optimization time 107.309131 
add points time 0.731883 ms
1317357648.635360956 WriteOdom aft_mapped_to_init
scan registration time 29.993404 ms *************
map prepare time 3.070179 ms
map corner num 77196  surf num 26968 
publication time 7.621699 ms 
whole laserOdometry time 7.648460 ms 
 
build tree time 18.675608 ms 
-----t: 0.0451054
OdomCount 218 & avg odom time 0.044270 ms ++++++++++++++++++++++
1317357648.843174934 WriteOdom laser_odom_to_init
1317357648.843174934 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.507504 ms 
mapping solver time 20.968129 ms 
--------------------stamp1317357648.947071075
points size 82685 
sort q time 4.770028 
seperate points time 10.846294 
mapping solver time 21.706683 ms 
mapping optimization time 107.105295 
add points time 0.656022 ms
map prepare time 2.076249 ms
map corner num 77610  surf num 27086 
build tree time 16.362302 ms 
mapping data assosiation time 17.645556 ms 
--------------------stamp1317357649.050988912
points size 79659 
sort q time 4.627803 
seperate points time 10.086144 
mapping data assosiation time 20.425295 ms 
scan registration time 23.838039 ms *************
mapping solver time 16.211369 ms 
filter time 6.323381 ms 
map prepare time 2.243416 ms
map corner num 77999  surf num 27197 
build tree time 15.574787 ms 
mapping data assosiation time 18.496443 ms 
--------------------stamp1317357649.154906034
points size 77097 
prepare time 11.895251 
sort q time 4.408993 
seperate points time 9.092632 
publication time 5.894371 ms 
whole laserOdometry time 5.908389 ms 
 
mapping solver time 21.293374 ms 
filter time 7.170725 ms 
-----t: 0.0417525
OdomCount 221 & avg odom time 0.044138 ms ++++++++++++++++++++++
1317357649.154906034 WriteOdom laser_odom_to_init
1317357649.154906034 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1715775583.388068855, 1317357649.216847999]: Received 105647 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775583.388108291, 1317357649.216847999]: Data saved to 1317357648947071.pcd[0m
build tree time 15.235714 ms 
mapping data assosiation time 16.900814 ms 
points size 75449 
mapping solver time 24.787929 ms 
publication time 7.005245 ms 
whole laserOdometry time 7.017024 ms 
 
-----t: 0.0370902
OdomCount 222 & avg odom time 0.044106 ms ++++++++++++++++++++++
1317357649.258825063 WriteOdom laser_odom_to_init
1317357649.258825063 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 13.561562 ms 
mapping optimization time 90.904703 
add points time 0.723227 ms
map prepare time 1.858377 ms
map corner num 78810  surf num 27425 
build tree time 16.909715 ms 
mapping data assosiation time 16.282553 ms 
points size 73823 
prepare time 13.207925 
sort q time 4.186654 
seperate points time 10.061952 
mapping data assosiation time 20.089842 ms 
publication time 8.916711 ms 
whole laserOdometry time 8.929267 ms 
 
mapping solver time 18.982719 ms 
filter time 7.921003 ms 
-----t: 0.0610227
OdomCount 223 & avg odom time 0.044182 ms ++++++++++++++++++++++
map prepare time 2.183354 ms
map corner num 76878  surf num 25516 
--------------------stamp1317357649.466713905
points size 73147 
mapping data assosiation time 24.637002 ms 
sort q time 4.853974 
seperate points time 11.744400 
publication time 5.867687 ms 
whole laserOdometry time 5.878318 ms 
 
mapping solver time 27.494564 ms 
-----t: 0.043699
OdomCount 224 & avg odom time 0.044180 ms ++++++++++++++++++++++
mapping data assosiation time 19.429872 ms 
mapping solver time 19.056798 ms 
filter time 7.613121 ms 
points size 71285 
prepare time 13.310544 
map prepare time 2.968606 ms
map corner num 77212  surf num 25587 
sort q time 4.284096 
seperate points time 11.531163 
scan registration time 27.873507 ms *************
build tree time 21.244341 ms 
-----t: 0.0347981
OdomCount 225 & avg odom time 0.044138 ms ++++++++++++++++++++++
1317357649.570657014 WriteOdom laser_odom_to_init
1317357649.570657014 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.947037 ms 
mapping solver time 14.440980 ms 
mapping data assosiation time 15.980570 ms 
mapping solver time 11.564874 ms 
--------------------stamp1317357649.674596071
points size 68201 
prepare time 11.468272 
sort q time 3.714462 
seperate points time 9.026576 
publication time 5.558391 ms 
whole laserOdometry time 5.573226 ms 
 
-----t: 0.0266432
OdomCount 226 & avg odom time 0.044061 ms ++++++++++++++++++++++
1317357649.674596071 WriteOdom laser_odom_to_init
1317357649.674596071 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.555488 ms 
mapping solver time 16.537921 ms 
mapping data assosiation time 19.397775 ms 
mapping solver time 12.565440 ms 
mapping optimization time 86.781836 
[0m[ INFO] [1715775583.951922815, 1317357649.772885322]: Received 103710 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775583.952059171, 1317357649.772885322]: Data saved to 1317357649570657.pcd[0m
--------------------stamp1317357649.778539896
map prepare time 2.590812 ms
map corner num 77939  surf num 25771 
sort q time 4.634685 
seperate points time 9.941282 
build tree time 19.904630 ms 
scan registration time 23.633962 ms *************
publication time 13.082978 ms 
whole laserOdometry time 13.098445 ms 
 
mapping data assosiation time 31.552812 ms 
-----t: 0.0265693
OdomCount 227 & avg odom time 0.043984 ms ++++++++++++++++++++++
1317357649.778539896 WriteOdom laser_odom_to_init
1317357649.778539896 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.263427 ms 
mapping data assosiation time 16.651130 ms 
--------------------stamp1317357649.882482051
points size 68379 
filter time 7.527538 ms 
sort q time 4.037628 
seperate points time 8.095733 
mapping pub time 1.811935 ms 
whole mapping time 121.010819 ms +++++
mappingCount 207 & avg mapping time 104.792615 ms ++++++++++++++++++++++
1317357649.674596071 WriteOdom aft_mapped_to_init
map prepare time 2.223346 ms
map corner num 78338  surf num 25857 
scan registration time 35.292119 ms *************
build tree time 19.085028 ms 
publication time 8.329848 ms 
whole laserOdometry time 8.346354 ms 
 
mapping data assosiation time 24.199271 ms 
-----t: 0.0498451
OdomCount 228 & avg odom time 0.044009 ms ++++++++++++++++++++++
1317357649.882482051 WriteOdom laser_odom_to_init
1317357649.882482051 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.238034 ms 
mapping data assosiation time 14.842335 ms 
points size 69762 
filter time 7.571339 ms 
map prepare time 2.557308 ms
map corner num 78707  surf num 25948 
publication time 6.775550 ms 
whole laserOdometry time 6.791635 ms 
 
build tree time 22.508647 ms 
mapping data assosiation time 17.164102 ms 
-----t: 0.055524
OdomCount 229 & avg odom time 0.044060 ms ++++++++++++++++++++++
1317357649.986401081 WriteOdom laser_odom_to_init
1317357649.986401081 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.539553 ms 
mapping data assosiation time 14.670806 ms 
mapping solver time 12.312835 ms 
filter time 6.455465 ms 
scan registration time 24.179015 ms *************
publication time 6.185600 ms 
whole laserOdometry time 6.201307 ms 
 
mapping data assosiation time 15.185939 ms 
-----t: 0.0430818
OdomCount 230 & avg odom time 0.044055 ms ++++++++++++++++++++++
1317357650.090320110 WriteOdom laser_odom_to_init
1317357650.090320110 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.610661 ms 
mapping data assosiation time 15.191586 ms 
--------------------stamp1317357650.194226980
points size 73952 
sort q time 4.935784 
seperate points time 9.613152 
scan registration time 30.682079 ms *************
mapping data assosiation time 22.275162 ms 
-----t: 0.0457347
OdomCount 231 & avg odom time 0.044063 ms ++++++++++++++++++++++
mapping solver time 19.567708 ms 
mapping data assosiation time 16.480986 ms 
--------------------stamp1317357650.298096895
mapping solver time 16.828352 ms 
mapping optimization time 93.882470 
add points time 0.688192 ms
points size 77402 
[0m[ INFO] [1715775584.489966953, 1317357650.312812501]: Received 105906 data points in frame camera_init with the following fields: x y z intensity[0m
build tree time 20.583109 ms 
-----t: 0.0335794
OdomCount 232 & avg odom time 0.044018 ms ++++++++++++++++++++++
1317357650.298096895 WriteOdom laser_odom_to_init
1317357650.298096895 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.247142 ms 
mapping solver time 14.770352 ms 
mapping data assosiation time 16.456046 ms 
mapping solver time 12.491242 ms 
filter time 6.457101 ms 
build tree time 17.556298 ms 
publication time 12.999536 ms 
whole laserOdometry time 13.014582 ms 
 
-----t: 0.0461648
OdomCount 233 & avg odom time 0.044027 ms ++++++++++++++++++++++
mapping data assosiation time 15.092861 ms 
mapping solver time 9.986372 ms 
filter time 6.555085 ms 
map prepare time 2.883335 ms
map corner num 80381  surf num 26436 
points size 80806 
prepare time 13.495215 
sort q time 4.630748 
seperate points time 11.019513 
mapping data assosiation time 16.248252 ms 
publication time 16.624819 ms 
whole laserOdometry time 16.639043 ms 
 
mapping solver time 19.048246 ms 
-----t: 0.0461427
OdomCount 234 & avg odom time 0.044036 ms ++++++++++++++++++++++
mapping data assosiation time 16.600930 ms 
mapping solver time 14.516903 ms 
--------------------stamp1317357650.609700918
map prepare time 2.533997 ms
map corner num 80750  surf num 26581 
points size 80536 
sort q time 5.023354 
seperate points time 11.189085 
publication time 9.742717 ms 
whole laserOdometry time 9.755263 ms 
 
-----t: 0.030701
OdomCount 235 & avg odom time 0.043979 ms ++++++++++++++++++++++
1317357650.609700918 WriteOdom laser_odom_to_init
1317357650.609700918 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.310667 ms 
mapping data assosiation time 15.179136 ms 
mapping solver time 13.329236 ms 
filter time 5.688281 ms 
--------------------stamp1317357650.713570117
map prepare time 2.689975 ms
map corner num 81167  surf num 26742 
prepare time 11.525041 
sort q time 4.726595 
seperate points time 9.551832 
build tree time 20.790882 ms 
scan registration time 24.880777 ms *************
publication time 6.117560 ms 
whole laserOdometry time 6.134879 ms 
 
mapping data assosiation time 18.214393 ms 
-----t: 0.0278374
OdomCount 236 & avg odom time 0.043911 ms ++++++++++++++++++++++
1317357650.713570117 WriteOdom laser_odom_to_init
1317357650.713570117 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.876529 ms 
mapping data assosiation time 15.154617 ms 
mapping solver time 14.920325 ms 
mapping optimization time 87.853948 
add points time 0.651269 ms
filter time 5.496071 ms 
map prepare time 2.297279 ms
map corner num 81550  surf num 26880 
points size 77815 
build tree time 19.826027 ms 
sort q time 4.946087 
seperate points time 10.084548 
scan registration time 23.933644 ms *************
mapping data assosiation time 17.911479 ms 
publication time 6.806920 ms 
whole laserOdometry time 6.822067 ms 
 
mapping solver time 18.055774 ms 
mapping data assosiation time 17.671250 ms 
-----t: 0.0610997
OdomCount 237 & avg odom time 0.043983 ms ++++++++++++++++++++++
1317357650.817440986 WriteOdom laser_odom_to_init
1317357650.817440986 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.003239 ms 
filter time 5.966974 ms 
map prepare time 2.753805 ms
map corner num 81945  surf num 27002 
points size 76813 
sort q time 5.348859 
seperate points time 11.322148 
mapping data assosiation time 16.063222 ms 
mapping solver time 20.347132 ms 
publication time 8.496825 ms 
whole laserOdometry time 8.509136 ms 
 
mapping data assosiation time 16.468586 ms 
-----t: 0.0528021
OdomCount 238 & avg odom time 0.044020 ms ++++++++++++++++++++++
1317357650.921310901 WriteOdom laser_odom_to_init
1317357650.921310901 WriteOdom aft_mapped_to_init_high_frec
filter time 5.962946 ms 
map prepare time 2.833808 ms
map corner num 82333  surf num 27116 
points size 76824 
build tree time 22.634750 ms 
scan registration time 32.060759 ms *************
publication time 7.070590 ms 
whole laserOdometry time 7.090567 ms 
 
mapping solver time 22.215035 ms 
mapping data assosiation time 19.071825 ms 
-----t: 0.074971
OdomCount 239 & avg odom time 0.044150 ms ++++++++++++++++++++++
mapping solver time 16.125074 ms 
filter time 5.951315 ms 
1317357650.921310902 WriteOdom aft_mapped_to_init
sort q time 6.736152 
seperate points time 18.268924 
build tree time 19.251577 ms 
scan registration time 36.614266 ms *************
mapping data assosiation time 17.592136 ms 
mapping solver time 21.149328 ms 
-----t: 0.0598481
OdomCount 240 & avg odom time 0.044215 ms ++++++++++++++++++++++
1317357651.129102945 WriteOdom laser_odom_to_init
1317357651.129102945 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.053193 ms 
--------------------stamp1317357651.232971906
mapping solver time 16.905858 ms 
mapping optimization time 92.138879 
add points time 1.039531 ms
prepare time 12.543473 
filter time 9.363489 ms 
mapping pub time 1.789856 ms 
whole mapping time 108.593672 ms +++++
mappingCount 220 & avg mapping time 104.570440 ms ++++++++++++++++++++++
1317357651.025207043 WriteOdom aft_mapped_to_init
map prepare time 2.759247 ms
map corner num 83052  surf num 27312 
build tree time 22.061450 ms 
mapping data assosiation time 19.681046 ms 
-----t: 0.0487273
OdomCount 241 & avg odom time 0.044234 ms ++++++++++++++++++++++
1317357651.232971906 WriteOdom laser_odom_to_init
1317357651.232971906 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.389197 ms 
--------------------stamp1317357651.336841106
points size 79776 
[0m[ INFO] [1715775585.527107303, 1317357651.352313120]: Received 110896 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775585.527196089, 1317357651.352313120]: Data saved to 1317357651129102.pcd[0m
scan registration time 30.515018 ms *************
publication time 7.562050 ms 
whole laserOdometry time 7.609079 ms 
 
build tree time 28.043862 ms 
-----t: 0.0573926
OdomCount 242 & avg odom time 0.044288 ms ++++++++++++++++++++++
1317357651.336841106 WriteOdom laser_odom_to_init
1317357651.336841106 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.020490 ms 
mapping solver time 21.635624 ms 
prepare time 13.949949 
sort q time 4.903161 
seperate points time 11.573867 
scan registration time 31.176629 ms *************
publication time 8.506688 ms 
whole laserOdometry time 8.514950 ms 
 
mapping optimization time 126.233500 
add points time 1.157262 ms
-----t: 0.0454979
OdomCount 243 & avg odom time 0.044293 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
map prepare time 2.399069 ms
map corner num 83929  surf num 27554 
build tree time 19.714077 ms 
mapping data assosiation time 20.731484 ms 
sort q time 6.012064 
seperate points time 14.199478 
mapping data assosiation time 23.538667 ms 
publication time 12.692574 ms 
whole laserOdometry time 12.716511 ms 
 
-----t: 0.0338796
OdomCount 244 & avg odom time 0.044251 ms ++++++++++++++++++++++
mapping solver time 18.834930 ms 
mapping optimization time 106.495105 
add points time 0.965150 ms
mapping pub time 1.827095 ms 
whole mapping time 117.695359 ms +++++
mappingCount 223 & avg mapping time 104.850685 ms ++++++++++++++++++++++
1317357651.336841106 WriteOdom aft_mapped_to_init
--------------------stamp1317357651.648618936
build tree time 23.263204 ms 
sort q time 5.722998 
seperate points time 13.499554 
scan registration time 37.027206 ms *************
-----t: 0.0331299
OdomCount 245 & avg odom time 0.044205 ms ++++++++++++++++++++++
mapping data assosiation time 16.956111 ms 
mapping solver time 16.865809 ms 
filter time 5.817542 ms 
--------------------stamp1317357651.752573013
points size 89302 
build tree time 20.630459 ms 
sort q time 4.887086 
seperate points time 10.532717 
scan registration time 27.062132 ms *************
mapping data assosiation time 19.051585 ms 
publication time 8.386019 ms 
whole laserOdometry time 8.403951 ms 
 
-----t: 0.0308602
OdomCount 246 & avg odom time 0.044151 ms ++++++++++++++++++++++
1317357651.752573013 WriteOdom laser_odom_to_init
1317357651.752573013 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.012569 ms 
mapping data assosiation time 19.572479 ms 
mapping solver time 14.834271 ms 
filter time 6.219143 ms 
map prepare time 3.936742 ms
map corner num 85296  surf num 27987 
points size 90344 
prepare time 14.412052 
build tree time 20.839842 ms 
sort q time 5.034729 
seperate points time 11.818912 
mapping data assosiation time 24.135939 ms 
publication time 8.568442 ms 
whole laserOdometry time 8.598102 ms 
 
-----t: 0.056435
OdomCount 247 & avg odom time 0.044201 ms ++++++++++++++++++++++
1317357651.856518983 WriteOdom laser_odom_to_init
1317357651.856518983 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.933692 ms 
mapping data assosiation time 17.788653 ms 
--------------------stamp1317357651.960427045
points size 91623 
filter time 5.903626 ms 
prepare time 16.419938 
mapping pub time 5.212020 ms 
whole mapping time 119.416760 ms +++++
mappingCount 226 & avg mapping time 104.953304 ms ++++++++++++++++++++++
1317357651.752573013 WriteOdom aft_mapped_to_init
sort q time 4.644698 
seperate points time 11.009177 
build tree time 22.476656 ms 
publication time 8.111630 ms 
whole laserOdometry time 8.129353 ms 
 
-----t: 0.0462239
OdomCount 248 & avg odom time 0.044209 ms ++++++++++++++++++++++
mapping solver time 15.724448 ms 
--------------------stamp1317357652.064343929
mapping solver time 13.311016 ms 
points size 92357 
mapping optimization time 90.972679 
add points time 0.707613 ms
prepare time 14.612373 
filter time 6.182213 ms 
mapping pub time 2.530204 ms 
whole mapping time 103.334042 ms +++++
mappingCount 227 & avg mapping time 104.946202 ms ++++++++++++++++++++++
1317357651.856518984 WriteOdom aft_mapped_to_init
scan registration time 33.590835 ms *************
build tree time 21.200039 ms 
-----t: 0.0431757
OdomCount 249 & avg odom time 0.044205 ms ++++++++++++++++++++++
mapping solver time 15.079182 ms 
mapping data assosiation time 18.200108 ms 
--------------------stamp1317357652.168289899
mapping pub time 2.231226 ms 
whole mapping time 106.760723 ms +++++
mappingCount 228 & avg mapping time 104.954176 ms ++++++++++++++++++++++
prepare time 20.192245 
sort q time 8.209880 
seperate points time 17.276947 
build tree time 25.401493 ms 
mapping data assosiation time 19.731301 ms 
publication time 14.834469 ms 
whole laserOdometry time 14.844551 ms 
 
mapping solver time 18.405339 ms 
prepare time 13.955969 
sort q time 5.983510 
seperate points time 15.859045 
map prepare time 3.255155 ms
map corner num 86676  surf num 28308 
build tree time 26.693715 ms 
-----t: 0.0707321
OdomCount 251 & avg odom time 0.044438 ms ++++++++++++++++++++++
1317357652.272257089 WriteOdom laser_odom_to_init
1317357652.272257089 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357652.376224040
mapping solver time 17.251510 ms 
points size 91842 
prepare time 14.986433 
mapping solver time 13.235802 ms 
mapping optimization time 97.362999 
-----t: 0.0343391
OdomCount 252 & avg odom time 0.044397 ms ++++++++++++++++++++++
1317357652.376224040 WriteOdom laser_odom_to_init
1317357652.376224040 WriteOdom aft_mapped_to_init_high_frec
filter time 8.801448 ms 
mapping pub time 2.331677 ms 
whole mapping time 112.777605 ms +++++
mappingCount 230 & avg mapping time 105.033317 ms ++++++++++++++++++++++
1317357652.168289900 WriteOdom aft_mapped_to_init
build tree time 18.695527 ms 
mapping data assosiation time 17.361202 ms 
prepare time 16.640392 
scan registration time 33.748261 ms *************
publication time 8.967488 ms 
whole laserOdometry time 8.997575 ms 
 
mapping solver time 18.916446 ms 
mapping optimization time 105.036079 
add points time 0.789768 ms
filter time 8.573980 ms 
drop lidar frame in mapping for real time performance 
[0m[ INFO] [1715775586.735752416, 1317357652.562714384]: Received 115927 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775586.735797854, 1317357652.562714384]: Data saved to 1317357652272257.pcd[0m
--------------------stamp1317357652.584155082
points size 90517 
prepare time 21.252233 
scan registration time 41.971433 ms *************
publication time 11.059202 ms 
whole laserOdometry time 11.089139 ms 
 
mapping solver time 14.960138 ms 
filter time 8.587338 ms 
map prepare time 2.973383 ms
map corner num 87811  surf num 28582 
points size 89050 
build tree time 25.314699 ms 
sort q time 6.059968 
seperate points time 12.411039 
mapping data assosiation time 20.954701 ms 
publication time 10.795281 ms 
whole laserOdometry time 10.814938 ms 
 
-----t: 0.0566483
OdomCount 255 & avg odom time 0.044655 ms ++++++++++++++++++++++
mapping solver time 12.122339 ms 
filter time 7.171892 ms 
scan registration time 30.505228 ms *************
build tree time 20.583037 ms 
publication time 7.598462 ms 
whole laserOdometry time 7.613035 ms 
 
mapping data assosiation time 18.864532 ms 
mapping solver time 15.876190 ms 
-----t: 0.0637661
OdomCount 256 & avg odom time 0.044729 ms ++++++++++++++++++++++
mapping solver time 11.709346 ms 
filter time 8.824257 ms 
mapping pub time 2.337451 ms 
whole mapping time 99.966719 ms +++++
mappingCount 234 & avg mapping time 105.188533 ms ++++++++++++++++++++++
1317357652.688122034 WriteOdom aft_mapped_to_init
points size 86331 
map prepare time 2.965270 ms
map corner num 88435  surf num 28710 
prepare time 15.641836 
sort q time 5.328521 
seperate points time 13.501968 
build tree time 23.703688 ms 
mapping solver time 22.966532 ms 
add points time 0.782780 ms
1317357652.792088985 WriteOdom aft_mapped_to_init
prepare time 33.335379 
sort q time 5.096137 
seperate points time 11.687697 
publication time 9.396596 ms 
whole laserOdometry time 9.427008 ms 
 
build tree time 53.781925 ms 
--------------------stamp1317357653.103939056
mapping data assosiation time 28.542365 ms 
points size 87594 
prepare time 25.479766 
mapping solver time 27.848087 ms 
mapping data assosiation time 21.662409 ms 
mapping solver time 18.518051 ms 
filter time 9.002354 ms 
mapping pub time 11.651391 ms 
whole mapping time 175.995717 ms +++++
mappingCount 236 & avg mapping time 105.548698 ms ++++++++++++++++++++++
[0m[ INFO] [1715775587.380670474, 1317357653.203898782]: Received 117816 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775587.380747999, 1317357653.203898782]: Data saved to 1317357652896032.pcd[0m
map prepare time 10.962361 ms
map corner num 88993  surf num 28823 
sort q time 8.021311 
seperate points time 15.845845 
build tree time 32.566469 ms 
1317357653.103939056 WriteOdom laser_odom_to_init
1317357653.103939056 WriteOdom aft_mapped_to_init_high_frec
publication time 12.629022 ms 
whole laserOdometry time 12.642149 ms 
 
mapping solver time 24.446247 ms 
-----t: 0.050086
OdomCount 260 & avg odom time 0.045132 ms ++++++++++++++++++++++
mapping data assosiation time 18.193331 ms 
points size 89903 
filter time 7.434915 ms 
map prepare time 2.675774 ms
map corner num 89289  surf num 28875 
sort q time 5.309496 
seperate points time 13.158255 
scan registration time 56.311654 ms *************
publication time 9.514374 ms 
whole laserOdometry time 9.531024 ms 
 
-----t: 0.0623658
OdomCount 261 & avg odom time 0.045198 ms ++++++++++++++++++++++
1317357653.311803102 WriteOdom laser_odom_to_init
1317357653.311803102 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.694967 ms 
mapping solver time 19.201432 ms 
points size 91217 
sort q time 5.599164 
seperate points time 11.773890 
mapping solver time 26.326426 ms filter time 7.597473 ms 
publication time 8.496249 ms 
whole laserOdometry time 8.508149 ms 
 
build tree time 22.188958 ms 
mapping data assosiation time 16.394118 ms 
points size 92214 
mapping solver time 19.675735 ms 
sort q time 5.093391 
seperate points time 11.191826 
mapping data assosiation time 17.449254 ms 
mapping solver time 13.311465 ms 
filter time 8.194547 ms map prepare time 2.351477 ms
map corner num 90045  surf num 29033 
build tree time 24.067071 ms 
--------------------stamp1317357653.623601913
mapping data assosiation time 20.536454 ms 
points size 91852 
scan registration time 31.613075 ms *************
mapping solver time 29.562842 ms 
mapping data assosiation time 17.513673 ms 
-----t: 0.039185
OdomCount 264 & avg odom time 0.045169 ms ++++++++++++++++++++++
1317357653.623601913 WriteOdom laser_odom_to_init
1317357653.623601913 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.141003 ms 
filter time 6.771228 ms 
map prepare time 2.106712 ms
map corner num 90431  surf num 29124 
--------------------stamp1317357653.727524042
build tree time 21.963610 ms 
sort q time 5.090669 
seperate points time 11.511532 
mapping data assosiation time 18.789787 ms 
scan registration time 30.320950 ms *************
mapping solver time 15.649795 ms 
publication time 10.104366 ms 
whole laserOdometry time 10.120462 ms 
 
mapping data assosiation time 18.613087 ms 
mapping solver time 14.954108 ms 
mapping optimization time 91.200421 
add points time 0.942666 ms
[0m[ INFO] [1715775587.990379920, 1317357653.813265906]: Received 119996 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775587.990428523, 1317357653.813265906]: Data saved to 1317357653623601.pcd[0m
1317357653.623601913 WriteOdom aft_mapped_to_init
points size 93360 
prepare time 19.702020 
mapping data assosiation time 20.286146 ms 
mapping solver time 17.872402 ms 
sort q time 19.116343 
seperate points time 27.720243 
publication time 6.170751 ms 
whole laserOdometry time 6.196047 ms 
 
mapping solver time 12.216996 ms 
mapping optimization time 94.277920 
add points time 0.675322 ms
mapping pub time 2.109399 ms 
whole mapping time 109.737256 ms +++++
mappingCount 242 & avg mapping time 105.842975 ms ++++++++++++++++++++++
1317357653.727524042 WriteOdom aft_mapped_to_init
map prepare time 2.604439 ms
map corner num 91158  surf num 29313 
build tree time 35.004388 ms 
scan registration time 34.617677 ms *************
mapping data assosiation time 24.797542 ms 
publication time 10.886450 ms 
whole laserOdometry time 10.902473 ms 
 
mapping solver time 18.952812 ms 
-----t: 0.0686159
OdomCount 267 & avg odom time 0.045225 ms ++++++++++++++++++++++
1317357653.935426950 WriteOdom laser_odom_to_init
1317357653.935426950 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357654.039335966
mapping data assosiation time 18.751132 ms 
prepare time 13.478921 
add points time 0.695715 ms
map prepare time 3.553188 ms
map corner num 91531  surf num 29390 
publication time 9.855272 ms 
whole laserOdometry time 9.870396 ms 
 
build tree time 28.155194 ms 
-----t: 0.0532789
OdomCount 268 & avg odom time 0.045255 ms ++++++++++++++++++++++
mapping data assosiation time 19.689829 ms 
--------------------stamp1317357654.143246889
mapping solver time 17.541276 ms 
points size 91499 
mapping data assosiation time 18.892384 ms 
scan registration time 30.422560 ms *************
mapping optimization time 103.286995 
filter time 7.232815 ms 
map prepare time 2.569047 ms
map corner num 91863  surf num 29471 
build tree time 19.313593 ms 
mapping data assosiation time 22.877594 ms 
mapping solver time 18.621000 ms 
points size 92282 
prepare time 14.431624 
sort q time 5.355056 
seperate points time 11.980367 
mapping data assosiation time 17.180111 ms 
scan registration time 31.258762 ms *************
mapping solver time 13.653465 ms 
mapping optimization time 92.575253 
add points time 0.702955 ms
map prepare time 2.217448 ms
map corner num 92234  surf num 29553 
build tree time 21.489706 ms 
--------------------stamp1317357654.351093053
points size 92277 
prepare time 14.949702 
sort q time 5.605044 
seperate points time 12.456689 
publication time 8.189895 ms 
whole laserOdometry time 8.204323 ms 
 
mapping solver time 20.075587 ms 
mapping optimization time 97.730279 
add points time 1.199906 ms
-----t: 0.0515233
OdomCount 271 & avg odom time 0.045254 ms ++++++++++++++++++++++
1317357654.351093053 WriteOdom laser_odom_to_init
1317357654.351093053 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 6.596884 ms 
whole mapping time 115.930059 ms +++++
mappingCount 246 & avg mapping time 106.039662 ms ++++++++++++++++++++++
1317357654.247164011 WriteOdom aft_mapped_to_init
map prepare time 3.051319 ms
map corner num 92635  surf num 29655 
--------------------stamp1317357654.455037117
points size 91667 
mapping data assosiation time 19.037637 ms 
sort q time 6.331664 
seperate points time 12.185506 
scan registration time 31.329495 ms *************
publication time 6.083458 ms 
whole laserOdometry time 6.097859 ms 
 
-----t: 0.0432218
OdomCount 272 & avg odom time 0.045246 ms ++++++++++++++++++++++
1317357654.455037117 WriteOdom laser_odom_to_init
1317357654.455037117 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.979932 ms 
mapping solver time 14.869430 ms 
filter time 6.362018 ms 
mapping pub time 2.120491 ms 
whole mapping time 115.158122 ms +++++
mappingCount 247 & avg mapping time 106.076601 ms ++++++++++++++++++++++
1317357654.351093054 WriteOdom aft_mapped_to_init
--------------------stamp1317357654.558971881
points size 89628 
build tree time 20.566978 ms 
prepare time 12.228552 
sort q time 5.730916 
seperate points time 11.248844 
mapping solver time 15.638827 ms 
mapping data assosiation time 17.832739 ms 
-----t: 0.0506109
OdomCount 273 & avg odom time 0.045266 ms ++++++++++++++++++++++
1317357654.558971881 WriteOdom laser_odom_to_init
1317357654.558971881 WriteOdom aft_mapped_to_init_high_frec
filter time 8.009467 ms 
map prepare time 2.083938 ms
map corner num 93260  surf num 29790 
--------------------stamp1317357654.662914991
points size 89420 
prepare time 11.832519 
sort q time 5.988914 
seperate points time 12.154372 
publication time 7.804632 ms 
whole laserOdometry time 7.830632 ms 
 
-----t: 0.0340021
OdomCount 274 & avg odom time 0.045225 ms ++++++++++++++++++++++
mapping data assosiation time 17.227415 ms 
mapping solver time 15.848502 ms 
mapping optimization time 98.462292 
add points time 0.642137 ms
--------------------stamp1317357654.766855955
points size 90893 
build tree time 20.630178 ms 
mapping data assosiation time 20.410365 ms 
mapping solver time 25.080942 ms 
mapping data assosiation time 15.938004 ms 
mapping solver time 15.678121 ms 
points size 90351 
map prepare time 2.737298 ms
map corner num 93959  surf num 29940 
sort q time 5.535741 
seperate points time 14.154372 
scan registration time 31.976755 ms *************
-----t: 0.0292343
OdomCount 276 & avg odom time 0.045195 ms ++++++++++++++++++++++
1317357654.870774030 WriteOdom laser_odom_to_init
1317357654.870774030 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.279411 ms 
mapping solver time 18.795501 ms 
mapping data assosiation time 17.676610 ms 
--------------------stamp1317357654.974693059
add points time 0.777297 ms
points size 89341 
mapping pub time 5.308205 ms 
whole mapping time 111.759494 ms +++++
mappingCount 251 & avg mapping time 106.138281 ms ++++++++++++++++++++++
map prepare time 3.030527 ms
map corner num 94369  surf num 30082 
scan registration time 38.028448 ms *************
[0m[ INFO] [1715775589.193983500, 1317357655.023194108]: Received 124451 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775589.194018267, 1317357655.023194108]: Data saved to 1317357654766855.pcd[0m
build tree time 25.938297 ms 
mapping data assosiation time 19.742887 ms 
mapping solver time 23.694513 ms 
-----t: 0.0904828
OdomCount 277 & avg odom time 0.045358 ms ++++++++++++++++++++++
1317357654.974693059 WriteOdom laser_odom_to_init
1317357654.974693059 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.942713 ms 
mapping solver time 16.800998 ms 
mapping optimization time 107.982303 
add points time 0.606950 ms
sort q time 6.187462 
seperate points time 12.009306 
scan registration time 38.497748 ms *************
filter time 6.056286 ms 
mapping pub time 2.114521 ms 
whole mapping time 119.853612 ms +++++
mappingCount 252 & avg mapping time 106.192724 ms ++++++++++++++++++++++
publication time 12.070957 ms 
whole laserOdometry time 12.089566 ms 
 
-----t: 0.0450693
OdomCount 278 & avg odom time 0.045357 ms ++++++++++++++++++++++
1317357655.078613042 WriteOdom laser_odom_to_init
1317357655.078613042 WriteOdom aft_mapped_to_init_high_frec
build tree time 25.741669 ms 
mapping data assosiation time 19.321557 ms 
--------------------stamp1317357655.182531118
points size 88474 
prepare time 14.088568 
scan registration time 32.720880 ms *************
filter time 6.395616 ms 
-----t: 0.039305
OdomCount 279 & avg odom time 0.045336 ms ++++++++++++++++++++++
build tree time 21.139848 ms 
mapping data assosiation time 17.314669 ms 
--------------------stamp1317357655.286451101
mapping solver time 17.046199 ms 
points size 88484 
sort q time 5.839338 
seperate points time 11.849943 
mapping data assosiation time 18.662777 ms 
scan registration time 30.829188 ms *************
mapping solver time 17.127380 ms 
filter time 8.429718 ms 
map prepare time 2.254178 ms
map corner num 95634  surf num 30563 
build tree time 20.393227 ms 
mapping data assosiation time 18.044678 ms 
--------------------stamp1317357655.390367984
points size 88534 
prepare time 12.654378 
mapping solver time 20.047932 ms 
sort q time 4.883052 
seperate points time 9.806522 
scan registration time 26.400173 ms *************
publication time 7.351570 ms 
whole laserOdometry time 7.362873 ms 
 
mapping solver time 17.910043 ms 
mapping optimization time 97.232936 
add points time 0.611089 ms
-----t: 0.0558669
OdomCount 281 & avg odom time 0.045340 ms ++++++++++++++++++++++
map prepare time 2.798556 ms
map corner num 96191  surf num 30799 
build tree time 20.584903 ms 
--------------------stamp1317357655.494287014
points size 88971 
sort q time 5.461523 
seperate points time 11.507020 
scan registration time 30.513954 ms *************
mapping solver time 19.816303 ms 
publication time 9.741100 ms 
whole laserOdometry time 9.759256 ms 
 
mapping data assosiation time 19.730356 ms 
mapping solver time 12.990911 ms 
mapping optimization time 95.965449 
add points time 0.587379 ms
mapping pub time 4.163214 ms 
whole mapping time 110.189836 ms +++++
mappingCount 256 & avg mapping time 106.223397 ms ++++++++++++++++++++++
1317357655.390367985 WriteOdom aft_mapped_to_init
[0m[ INFO] [1715775589.747547806, 1317357655.578803421]: Received 127558 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775589.747609975, 1317357655.578803421]: Data saved to 1317357655390367.pcd[0m
map prepare time 2.954040 ms
map corner num 96623  surf num 30935 
--------------------stamp1317357655.598207950
build tree time 27.137901 ms 
prepare time 18.068101 
mapping data assosiation time 20.696740 ms 
scan registration time 38.766936 ms *************
mapping solver time 19.660498 ms 
publication time 5.837035 ms 
whole laserOdometry time 5.854217 ms 
 
mapping data assosiation time 18.584794 ms 
mapping solver time 13.754959 ms 
filter time 7.719587 ms 
--------------------stamp1317357655.702125072
mapping data assosiation time 20.316611 ms 
mapping solver time 20.022566 ms 
publication time 12.748975 ms 
whole laserOdometry time 12.762683 ms 
 
mapping data assosiation time 19.930405 ms 
mapping solver time 14.638810 ms 
--------------------stamp1317357655.806020021
points size 94287 
sort q time 5.618723 
seperate points time 11.258389 
scan registration time 30.399918 ms *************
publication time 9.156476 ms 
whole laserOdometry time 9.169087 ms 
 
-----t: 0.034013
OdomCount 285 & avg odom time 0.045277 ms ++++++++++++++++++++++
1317357655.806020021 WriteOdom laser_odom_to_init
1317357655.806020021 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.317117 ms 
mapping data assosiation time 16.578916 ms 
--------------------stamp1317357655.909917116
points size 96122 
filter time 9.980561 ms 
mapping pub time 2.292205 ms 
whole mapping time 110.869247 ms +++++
mappingCount 259 & avg mapping time 106.322282 ms ++++++++++++++++++++++
1317357655.702125072 WriteOdom aft_mapped_to_init
prepare time 17.626565 
sort q time 6.094346 
seperate points time 25.497686 
scan registration time 49.515674 ms *************
publication time 10.482307 ms 
whole laserOdometry time 10.498428 ms 
 
-----t: 0.0506008
OdomCount 286 & avg odom time 0.045296 ms ++++++++++++++++++++++
1317357655.909917116 WriteOdom laser_odom_to_init
1317357655.909917116 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.729781 ms 
--------------------stamp1317357656.013809919
points size 96623 
mapping solver time 14.177293 ms 
mapping optimization time 101.234853 
add points time 0.680205 ms
mapping pub time 2.254880 ms 
whole mapping time 116.605591 ms +++++
mappingCount 260 & avg mapping time 106.361849 ms ++++++++++++++++++++++
1317357655.806020021 WriteOdom aft_mapped_to_init
scan registration time 37.960960 ms *************
map prepare time 3.266622 ms
map corner num 97983  surf num 31290 
build tree time 29.060855 ms 
-----t: 0.0500776
OdomCount 287 & avg odom time 0.045312 ms ++++++++++++++++++++++
publication time 6.753970 ms 
whole laserOdometry time 6.761279 ms 
 
1317357656.013809919 WriteOdom laser_odom_to_init
1317357656.013809919 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.624609 ms 
--------------------stamp1317357656.117703914
mapping solver time 19.670165 ms 
points size 96794 
prepare time 18.952051 
mapping data assosiation time 18.450593 ms 
scan registration time 36.523357 ms *************
-----t: 0.0282416
OdomCount 288 & avg odom time 0.045253 ms ++++++++++++++++++++++
[0m[ INFO] [1715775590.347730978, 1317357656.171510169]: Received 129664 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775590.347767588, 1317357656.171510169]: Data saved to 1317357655909917.pcd[0m
map prepare time 2.117753 ms
map corner num 98283  surf num 31381 
build tree time 22.218140 ms 
points size 96923 
mapping data assosiation time 29.939338 ms 
scan registration time 60.664127 ms *************
filter time 10.256716 ms 
publication time 8.438421 ms 
whole laserOdometry time 8.454472 ms 
 
map prepare time 3.556456 ms
map corner num 98614  surf num 31464 
points size 97228 
build tree time 27.793513 ms 
sort q time 8.110036 
seperate points time 17.389796 
publication time 8.162709 ms 
whole laserOdometry time 8.177900 ms 
 
mapping data assosiation time 48.180482 ms 
-----t: 0.0488534
OdomCount 290 & avg odom time 0.045309 ms ++++++++++++++++++++++
mapping solver time 15.322241 ms 
--------------------stamp1317357656.429265975
mapping solver time 12.896995 ms 
filter time 6.799768 ms 
map prepare time 2.369590 ms
map corner num 99031  surf num 31623 
sort q time 6.297019 
seperate points time 12.108891 
scan registration time 34.519881 ms *************
publication time 7.086587 ms 
whole laserOdometry time 7.098046 ms 
 
build tree time 35.005177 ms 
-----t: 0.0526084
OdomCount 291 & avg odom time 0.045334 ms ++++++++++++++++++++++
mapping data assosiation time 15.585182 ms 
mapping solver time 14.262128 ms 
points size 98471 
prepare time 14.710855 
add points time 3.243357 ms
filter time 9.519385 ms 
map prepare time 18.556281 ms
map corner num 99427  surf num 31761 
build tree time 23.353050 ms 
mapping data assosiation time 17.218305 ms 
--------------------stamp1317357656.636960029
mapping solver time 19.197845 ms 
points size 99108 
prepare time 16.776972 
mapping data assosiation time 20.389347 ms 
sort q time 6.609385 
seperate points time 15.236019 
scan registration time 37.083267 ms *************
-----t: 0.035623
OdomCount 293 & avg odom time 0.045313 ms ++++++++++++++++++++++
mapping solver time 13.802344 ms 
1317357656.636960029 WriteOdom laser_odom_to_init
1317357656.636960029 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 95.045767 
filter time 8.644759 ms 
map prepare time 2.609658 ms
map corner num 99771  surf num 31867 
build tree time 20.332506 ms 
--------------------stamp1317357656.740782022
points size 99513 
mapping solver time 21.757606 ms 
sort q time 5.467256 
seperate points time 12.448831 
mapping data assosiation time 19.974429 ms 
publication time 6.691364 ms 
whole laserOdometry time 6.706580 ms 
 
filter time 8.239442 ms 
[0m[ INFO] [1715775590.985696741, 1317357656.816132235]: Received 132143 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775590.985738400, 1317357656.816132235]: Data saved to 1317357656533112.pcd[0m
--------------------stamp1317357656.844614982
points size 99645 
mapping solver time 19.007850 ms 
sort q time 5.979692 
seperate points time 24.037392 
mapping data assosiation time 22.491700 ms 
mapping solver time 21.457652 ms 
mapping optimization time 107.309006 
1317357656.844614982 WriteOdom aft_mapped_to_init_high_frec
filter time 9.887879 ms 
mapping pub time 3.793536 ms 
whole mapping time 124.896588 ms +++++
mappingCount 267 & avg mapping time 106.793884 ms ++++++++++++++++++++++
1317357656.740782022 WriteOdom aft_mapped_to_init
map prepare time 3.137296 ms
map corner num 100588  surf num 32194 
build tree time 46.401676 ms 
mapping data assosiation time 68.611293 ms 
--------------------stamp1317357657.052181005
1317357656.948414087 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 45.565654 ms 
scan registration time 42.551303 ms *************
mapping data assosiation time 27.102095 ms 
publication time 10.885786 ms 
whole laserOdometry time 10.901124 ms 
 
-----t: 0.0499196
OdomCount 297 & avg odom time 0.045502 ms ++++++++++++++++++++++
1317357657.052181005 WriteOdom laser_odom_to_init
1317357657.052181005 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.974685 ms 
mapping pub time 3.138456 ms 
whole mapping time 230.921587 ms +++++
mappingCount 268 & avg mapping time 107.257058 ms ++++++++++++++++++++++
1317357656.844614983 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.098713 ms
map corner num 101003  surf num 32347 
scan registration time 39.360635 ms *************
build tree time 24.934467 ms 
publication time 16.615088 ms 
whole laserOdometry time 16.626730 ms 
 
-----t: 0.044973
OdomCount 298 & avg odom time 0.045500 ms ++++++++++++++++++++++
1317357657.155909061 WriteOdom laser_odom_to_init
1317357657.155909061 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.496948 ms 
points size 99272 
sort q time 6.228255 
seperate points time 13.567062 
filter time 13.343550 ms 
map prepare time 2.609178 ms
map corner num 101407  surf num 32515 
-----t: 0.0487225
OdomCount 299 & avg odom time 0.045511 ms ++++++++++++++++++++++
1317357657.259608983 WriteOdom laser_odom_to_init
1317357657.259608983 WriteOdom aft_mapped_to_init_high_frec
build tree time 22.791486 ms 
mapping data assosiation time 20.017168 ms 
points size 99734 
sort q time 5.752926 
seperate points time 12.899096 
mapping data assosiation time 22.140221 ms 
-----t: 0.0357111
OdomCount 300 & avg odom time 0.045479 ms ++++++++++++++++++++++
mapping solver time 19.318473 ms 
mapping optimization time 108.866280 
add points time 0.718387 ms
mapping pub time 2.398921 ms 
whole mapping time 121.839523 ms +++++
mappingCount 270 & avg mapping time 107.399442 ms ++++++++++++++++++++++
build tree time 20.324947 ms 
points size 100218 
mapping data assosiation time 23.579229 ms 
sort q time 6.463569 
seperate points time 12.859720 
publication time 10.305356 ms 
whole laserOdometry time 10.336411 ms 
 
mapping data assosiation time 25.194601 ms 
-----t: 0.0810804
OdomCount 301 & avg odom time 0.045597 ms ++++++++++++++++++++++
--------------------stamp1317357657.570672035
points size 100451 
sort q time 6.404818 
seperate points time 15.280158 
scan registration time 44.429279 ms *************
[0m[ INFO] [1715775591.793478275, 1317357657.620588443]: Received 135606 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775591.793627602, 1317357657.620588443]: Data saved to 1317357657363312.pcd[0m
publication time 15.693240 ms 
whole laserOdometry time 15.724947 ms 
 
-----t: 0.0620919
OdomCount 302 & avg odom time 0.045651 ms ++++++++++++++++++++++
build tree time 26.158832 ms 
--------------------stamp1317357657.674375057
points size 100640 
sort q time 8.369301 
seperate points time 29.303004 
mapping data assosiation time 30.204328 ms 
-----t: 0.0810671
OdomCount 303 & avg odom time 0.045768 ms ++++++++++++++++++++++
points size 100730 
publication time 37.082051 ms 
whole laserOdometry time 37.105432 ms 
 
mapping pub time 4.826206 ms 
whole mapping time 170.361423 ms +++++
mappingCount 272 & avg mapping time 107.931215 ms ++++++++++++++++++++++
sort q time 7.012845 
seperate points time 15.872847 
build tree time 37.208316 ms 
--------------------stamp1317357657.881850004
points size 100875 
prepare time 21.019025 
sort q time 6.094914 
seperate points time 14.415806 
1317357657.778100013 WriteOdom laser_odom_to_init
1317357657.778100013 WriteOdom aft_mapped_to_init_high_frec
publication time 8.460192 ms 
whole laserOdometry time 8.474841 ms 
 
mapping data assosiation time 33.117418 ms 
points size 100919 
mapping solver time 38.424231 ms 
mapping pub time 2.598438 ms 
whole mapping time 223.076649 ms +++++
mappingCount 273 & avg mapping time 108.353008 ms ++++++++++++++++++++++
publication time 11.001182 ms 
whole laserOdometry time 11.017791 ms 
 
--------------------stamp1317357658.089329004
points size 100808 
1317357657.985600948 WriteOdom laser_odom_to_init
mapping solver time 31.162297 ms 
publication time 12.005754 ms 
whole laserOdometry time 12.015371 ms 
 
mapping data assosiation time 29.845343 ms 
1317357658.089329004 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.930511 ms 
mapping optimization time 145.879403 
add points time 0.769440 ms
--------------------stamp1317357658.193032979
points size 100857 
build tree time 29.633073 ms 
scan registration time 48.715230 ms *************
mapping data assosiation time 30.725092 ms 
--------------------stamp1317357658.296710014
-----t: 0.0759324
OdomCount 308 & avg odom time 0.046341 ms ++++++++++++++++++++++
prepare time 19.089038 
mapping data assosiation time 29.104374 ms 
scan registration time 39.011708 ms *************
mapping solver time 19.023928 ms 
publication time 11.073882 ms 
whole laserOdometry time 11.089566 ms 
 
filter time 10.365898 ms 
build tree time 25.606431 ms 
points size 100913 
prepare time 18.177665 
sort q time 5.495873 
seperate points time 14.427076 
mapping solver time 32.515631 ms 
-----t: 0.0589519
OdomCount 310 & avg odom time 0.046459 ms ++++++++++++++++++++++
1317357658.400413990 WriteOdom laser_odom_to_init
1317357658.400413990 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.021559 ms 
--------------------stamp1317357658.504142045
points size 101168 
prepare time 13.670304 
filter time 8.095729 ms 
map prepare time 3.425914 ms
map corner num 105326  surf num 34753 
[0m[ INFO] [1715775592.704417505, 1317357658.531171597]: Received 140079 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775592.704470405, 1317357658.531171597]: Data saved to 1317357658193032.pcd[0m
build tree time 22.681462 ms 
publication time 10.249397 ms 
whole laserOdometry time 10.262748 ms 
 
mapping data assosiation time 29.315333 ms 
--------------------stamp1317357658.607841968
points size 101308 
prepare time 18.254573 
sort q time 6.764468 
seperate points time 15.561948 
mapping data assosiation time 31.395443 ms 
scan registration time 41.323092 ms *************
mapping solver time 23.782914 ms 
filter time 7.058835 ms 
map prepare time 3.134810 ms
map corner num 105945  surf num 35090 
build tree time 28.124100 ms 
prepare time 14.889147 
sort q time 6.023941 
seperate points time 17.012345 
mapping solver time 31.530492 ms 
publication time 15.432654 ms 
whole laserOdometry time 15.448205 ms 
 
--------------------stamp1317357658.815319061
points size 101665 
mapping solver time 21.650271 ms 
prepare time 35.505236 
filter time 10.192667 ms 
mapping pub time 2.406550 ms 
whole mapping time 169.578700 ms +++++
mappingCount 278 & avg mapping time 109.292895 ms ++++++++++++++++++++++
1317357658.504142046 WriteOdom aft_mapped_to_init
sort q time 9.529310 
seperate points time 21.173845 
build tree time 28.757000 ms 
publication time 10.785657 ms 
whole laserOdometry time 10.802164 ms 
 
-----t: 0.076084
OdomCount 314 & avg odom time 0.046702 ms ++++++++++++++++++++++
1317357658.815319061 WriteOdom laser_odom_to_init
1317357658.815319061 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357658.919064044
points size 101745 
prepare time 16.089628 
sort q time 6.830580 
seperate points time 14.105571 
mapping solver time 29.826794 ms 
scan registration time 35.868150 ms *************
publication time 11.282503 ms 
whole laserOdometry time 11.296788 ms 
 
mapping data assosiation time 30.989697 ms 
-----t: 0.0722443
OdomCount 315 & avg odom time 0.046783 ms ++++++++++++++++++++++
mapping solver time 28.780368 ms 
mapping optimization time 152.476978 
add points time 0.792727 ms
--------------------stamp1317357659.022815942
map prepare time 2.544894 ms
map corner num 61874  surf num 21953 
build tree time 16.122763 ms 
scan registration time 37.049283 ms *************
publication time 9.734379 ms 
whole laserOdometry time 9.766513 ms 
 
-----t: 0.0524733
OdomCount 316 & avg odom time 0.046801 ms ++++++++++++++++++++++
mapping solver time 38.709945 ms 
points size 101402 
mapping data assosiation time 30.464094 ms 
sort q time 6.545860 
seperate points time 13.453750 
scan registration time 32.193518 ms *************
mapping solver time 28.816327 ms 
mapping optimization time 146.775514 
publication time 11.321809 ms 
whole laserOdometry time 11.330738 ms 
 
add points time 0.971120 ms
map prepare time 2.901015 ms
map corner num 62383  surf num 22227 
build tree time 13.693049 ms 
--------------------stamp1317357659.230227947
mapping data assosiation time 29.846647 ms 
points size 101261 
sort q time 5.831042 
seperate points time 14.018067 
scan registration time 35.487800 ms *************
publication time 11.816319 ms 
whole laserOdometry time 11.824775 ms 
 
-----t: 0.0445079
OdomCount 318 & avg odom time 0.046814 ms ++++++++++++++++++++++
1317357659.230227947 WriteOdom laser_odom_to_init
1317357659.230227947 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.295762 ms 
mapping solver time 23.457053 ms 
--------------------stamp1317357659.333857059
mapping pub time 12.611849 ms 
whole mapping time 152.729268 ms +++++
mappingCount 281 & avg mapping time 109.849203 ms ++++++++++++++++++++++
map prepare time 3.503328 ms
map corner num 62851  surf num 22469 
points size 100967 
build tree time 15.757185 ms 
sort q time 5.802583 
seperate points time 14.230409 
publication time 9.351933 ms 
whole laserOdometry time 9.366145 ms 
 
mapping data assosiation time 32.276944 ms 
-----t: 0.0772981
OdomCount 319 & avg odom time 0.046909 ms ++++++++++++++++++++++
points size 100793 
sort q time 5.667054 
seperate points time 11.741123 
publication time 11.543847 ms 
whole laserOdometry time 11.555142 ms 
 
mapping solver time 35.014243 ms 
filter time 5.151267 ms 
-----t: 0.0681938
OdomCount 320 & avg odom time 0.046976 ms ++++++++++++++++++++++
build tree time 14.553576 ms 
--------------------stamp1317357659.541191101
points size 100533 
mapping data assosiation time 35.816194 ms 
sort q time 7.150621 
seperate points time 16.444429 
scan registration time 40.416154 ms *************
publication time 10.026142 ms 
whole laserOdometry time 10.054190 ms 
 
mapping solver time 51.946157 ms 
--------------------stamp1317357659.644867897
-----t: 0.0847645
OdomCount 321 & avg odom time 0.047094 ms ++++++++++++++++++++++
sort q time 6.019778 
seperate points time 14.019103 
filter time 7.017134 ms 
publication time 10.912027 ms 
whole laserOdometry time 10.926003 ms 
 
build tree time 16.104270 ms 
-----t: 0.0580304
OdomCount 322 & avg odom time 0.047128 ms ++++++++++++++++++++++
--------------------stamp1317357659.748548984
points size 100242 
prepare time 19.982553 
sort q time 6.074631 
seperate points time 15.259630 
scan registration time 44.813648 ms *************
publication time 12.927964 ms 
whole laserOdometry time 12.936949 ms 
 
mapping data assosiation time 32.707774 ms 
--------------------stamp1317357659.852230072
points size 100327 
mapping solver time 35.741001 ms 
prepare time 14.625310 
mapping optimization time 163.836862 
add points time 0.939859 ms
mapping pub time 2.363158 ms 
whole mapping time 178.232678 ms +++++
mappingCount 284 & avg mapping time 110.518194 ms ++++++++++++++++++++++
map prepare time 3.836633 ms
map corner num 64297  surf num 23055 
build tree time 15.685605 ms 
publication time 8.341316 ms 
whole laserOdometry time 8.357031 ms 
 
mapping data assosiation time 34.305462 ms 
--------------------stamp1317357659.955909013
points size 100288 
mapping solver time 40.233723 ms 
sort q time 6.681660 
seperate points time 14.026456 
publication time 10.940861 ms 
whole laserOdometry time 10.957930 ms 
 
mapping solver time 38.033556 ms 
filter time 5.534848 ms 
map prepare time 2.783798 ms
map corner num 64805  surf num 23226 
points size 100368 
prepare time 14.423122 
sort q time 6.246160 
seperate points time 13.872960 
publication time 9.685305 ms 
whole laserOdometry time 9.720670 ms 
 
mapping data assosiation time 36.363529 ms 
-----t: 0.0579183
OdomCount 326 & avg odom time 0.047417 ms ++++++++++++++++++++++
mapping solver time 39.347565 ms 
prepare time 12.693474 
mapping data assosiation time 32.351382 ms 
publication time 12.782107 ms 
whole laserOdometry time 12.797774 ms 
 
mapping solver time 35.640295 ms 
mapping optimization time 159.417581 
add points time 0.940993 ms
filter time 8.988811 ms 
drop lidar frame in mapping for real time performance 
map prepare time 3.386844 ms
map corner num 65336  surf num 23366 
1317357660.163358926 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357660.267134904
build tree time 23.311514 ms 
sort q time 5.741866 
seperate points time 13.311059 
mapping data assosiation time 41.890415 ms 
publication time 7.467604 ms 
whole laserOdometry time 7.486568 ms 
 
mapping data assosiation time 47.081292 ms 
points size 99938 
mapping solver time 37.497260 ms 
mapping pub time 2.872478 ms 
whole mapping time 206.763538 ms +++++
mappingCount 287 & avg mapping time 111.324235 ms ++++++++++++++++++++++
--------------------stamp1317357660.474714994
prepare time 13.576211 
build tree time 35.848674 ms 
publication time 12.349852 ms 
whole laserOdometry time 12.366417 ms 
 
1317357660.370909929 WriteOdom laser_odom_to_init
1317357660.370909929 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 64.116843 ms 
--------------------stamp1317357660.578536033points size 99921 
mapping solver time 48.863830 ms 
publication time 14.482990 ms 
whole laserOdometry time 14.500456 ms 
 
mapping data assosiation time 42.184767 ms 
mapping solver time 22.969395 ms 
filter time 6.849865 ms 
map prepare time 2.904915 ms
map corner num 66396  surf num 23667 
build tree time 16.685890 ms 
sort q time 6.403039 
seperate points time 14.142904 
scan registration time 33.930348 ms *************
mapping data assosiation time 32.529566 ms 
mapping solver time 29.758467 ms 
-----t: 0.0845135
OdomCount 332 & avg odom time 0.048165 ms ++++++++++++++++++++++
points size 100262 
sort q time 6.068438 
seperate points time 14.876687 
scan registration time 39.759389 ms *************
filter time 5.842303 ms 
map prepare time 3.169116 ms
map corner num 66845  surf num 23770 
publication time 8.986537 ms 
whole laserOdometry time 9.001511 ms 
 
--------------------stamp1317357660.890144109
mapping data assosiation time 27.383045 ms 
sort q time 6.711397 
seperate points time 13.789107 
mapping solver time 35.539654 ms 
publication time 9.543600 ms 
whole laserOdometry time 9.562560 ms 
 
-----t: 0.0514924
OdomCount 334 & avg odom time 0.048209 ms ++++++++++++++++++++++
mapping data assosiation time 31.839086 ms 
mapping solver time 24.941146 ms 
filter time 7.309307 ms 
points size 101868 
sort q time 5.973330 
seperate points time 13.547303 
publication time 9.006313 ms 
whole laserOdometry time 9.017204 ms 
 
-----t: 0.0572888
OdomCount 335 & avg odom time 0.048236 ms ++++++++++++++++++++++
mapping solver time 25.542483 ms 
--------------------stamp1317357661.098076105
points size 101693 
sort q time 6.421830 
seperate points time 13.493920 
mapping solver time 21.787917 ms 
filter time 6.890449 ms 
publication time 15.053675 ms 
whole laserOdometry time 15.070547 ms 
 
-----t: 0.0682661
OdomCount 336 & avg odom time 0.048295 ms ++++++++++++++++++++++
--------------------stamp1317357661.202140092
mapping data assosiation time 31.377645 ms 
sort q time 5.842027 
seperate points time 13.043015 
scan registration time 32.822687 ms *************
mapping solver time 39.661978 ms 
mapping data assosiation time 29.633588 ms 
-----t: 0.0693984
OdomCount 337 & avg odom time 0.048358 ms ++++++++++++++++++++++
1317357661.202140092 WriteOdom laser_odom_to_init
1317357661.202140092 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.319901 ms 
mapping optimization time 156.782155 
add points time 0.813501 ms
points size 101475 
sort q time 12.268068 
seperate points time 20.899281 
build tree time 26.932795 ms 
scan registration time 62.607673 ms *************
mapping data assosiation time 29.564890 ms 
--------------------stamp1317357661.410456895-----t: 0.0923049
OdomCount 338 & avg odom time 0.048488 ms ++++++++++++++++++++++
prepare time 28.188618 
mapping data assosiation time 32.288851 ms sort q time 10.496971 
seperate points time 40.354774 
mapping solver time 30.597772 ms 
mapping optimization time 172.897517 
add points time 0.903076 ms
mapping pub time 2.839356 ms 
whole mapping time 192.701981 ms +++++
mappingCount 293 & avg mapping time 112.615649 ms ++++++++++++++++++++++
-----t: 0.0681577
OdomCount 339 & avg odom time 0.048546 ms ++++++++++++++++++++++
1317357661.410456895 WriteOdom laser_odom_to_init
1317357661.410456895 WriteOdom aft_mapped_to_init_high_frec
points size 102083 
sort q time 5.869347 
seperate points time 14.171581 
build tree time 25.343280 ms 
scan registration time 35.804763 ms *************
publication time 7.407581 ms 
whole laserOdometry time 7.424881 ms 
 
mapping data assosiation time 30.015018 ms 
-----t: 0.0482025
OdomCount 340 & avg odom time 0.048545 ms ++++++++++++++++++++++
--------------------stamp1317357661.618967056
points size 102130 
mapping data assosiation time 26.806430 ms 
sort q time 6.449784 
seperate points time 13.598165 
scan registration time 39.927477 ms *************
mapping solver time 30.343094 ms 
mapping optimization time 142.414472 
add points time 0.724707 ms
drop lidar frame in mapping for real time performance 
-----t: 0.058928
OdomCount 341 & avg odom time 0.048575 ms ++++++++++++++++++++++
build tree time 26.047892 ms 
--------------------stamp1317357661.723268032
points size 102215 
mapping data assosiation time 28.864996 ms 
sort q time 5.914559 
seperate points time 14.828315 
mapping solver time 29.808300 ms 
-----t: 0.0419359
OdomCount 342 & avg odom time 0.048556 ms ++++++++++++++++++++++
mapping data assosiation time 26.801487 ms 
--------------------stamp1317357661.827548980
points size 102123 
map prepare time 3.477740 ms
map corner num 115107  surf num 38297 
sort q time 6.817999 
seperate points time 15.394182 
build tree time 28.130407 ms 
-----t: 0.0451361
OdomCount 343 & avg odom time 0.048546 ms ++++++++++++++++++++++
1317357661.827548980 WriteOdom laser_odom_to_init
1317357661.827548980 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.693807 ms 
mapping solver time 26.294970 ms 
points size 102053 
mapping data assosiation time 27.579553 ms 
scan registration time 34.524910 ms *************
-----t: 0.0442925
OdomCount 344 & avg odom time 0.048534 ms ++++++++++++++++++++++
1317357661.931804895 WriteOdom laser_odom_to_init
mapping solver time 33.019401 ms 
1317357661.931804895 WriteOdom aft_mapped_to_init_high_frec
publication time 14.663048 ms 
whole laserOdometry time 14.676271 ms 
 
mapping optimization time 143.400800 
add points time 0.985639 ms
filter time 8.657387 ms 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357662.036082983
points size 102156 
build tree time 40.151941 ms 
sort q time 7.228442 
seperate points time 15.818962 
publication time 18.054682 ms 
whole laserOdometry time 18.075684 ms 
 
mapping data assosiation time 55.553386 ms 
--------------------stamp1317357662.140336036
mapping solver time 31.339968 ms 
prepare time 14.669115 
sort q time 9.715591 
seperate points time 17.573491 
mapping solver time 33.097593 ms 
filter time 8.272402 ms 
map prepare time 2.608232 ms
map corner num 116170  surf num 38579 
--------------------stamp1317357662.244541883
build tree time 28.340461 ms 
mapping data assosiation time 25.678390 ms 
publication time 11.393617 ms 
whole laserOdometry time 11.408728 ms 
 
mapping solver time 28.994099 ms 
-----t: 0.0530025
OdomCount 347 & avg odom time 0.048583 ms ++++++++++++++++++++++
mapping data assosiation time 25.495868 ms 
--------------------stamp1317357662.348748922
prepare time 15.314731 
filter time 10.716104 ms 
publication time 15.113192 ms 
whole laserOdometry time 15.126490 ms 
 
--------------------stamp1317357662.452956914
points size 101274 
scan registration time 58.507749 ms *************
1317357662.452956914 WriteOdom laser_odom_to_init
1317357662.452956914 WriteOdom aft_mapped_to_init_high_frec
points size 101054 
prepare time 27.945568 
mapping data assosiation time 63.740797 ms 
mapping solver time 30.105020 ms 

mapping pub time 3.060291 ms 
whole mapping time 261.649085 ms +++++
mappingCount 299 & avg mapping time 114.039235 ms ++++++++++++++++++++++
1317357662.244541883 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357662.661304950
points size 101028 
build tree time 33.567911 ms 
-----t: 0.0944627
OdomCount 350 & avg odom time 0.048909 ms ++++++++++++++++++++++
sort q time 6.740100 
seperate points time 17.300487 
mapping solver time 26.193256 ms 
mapping data assosiation time 31.163334 ms 
sort q time 7.717715 
seperate points time 16.703041 map prepare time 5.644591 ms
map corner num 117876  surf num 38993 
publication time 10.742026 ms 
whole laserOdometry time 10.774103 ms 
 
-----t: 0.0738634
OdomCount 352 & avg odom time 0.049081 ms ++++++++++++++++++++++
points size 100949 
prepare time 17.057800 
scan registration time 37.567601 ms *************
mapping data assosiation time 36.687443 ms 
publication time 12.195432 ms 
whole laserOdometry time 12.211260 ms 
 
-----t: 0.0508444
OdomCount 353 & avg odom time 0.049086 ms ++++++++++++++++++++++
1317357662.869590997 WriteOdom laser_odom_to_init
1317357662.869590997 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357662.973701000
points size 101050 
mapping data assosiation time 29.713786 ms 
prepare time 17.337107 
sort q time 7.528975 
seperate points time 15.478861 
mapping solver time 45.235820 ms 
filter time 17.674931 ms 
[0m[ INFO] [1715775597.239848579, 1317357663.065800015]: Received 157520 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775597.239901196, 1317357663.065800015]: Data saved to 1317357662557141.pcd[0m
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
points size 101386 
build tree time 34.956305 ms 
scan registration time 49.140853 ms *************
publication time 8.042862 ms 
whole laserOdometry time 8.059286 ms 
 
mapping solver time 32.928942 ms 
points size 101418 
mapping data assosiation time 31.891355 ms 
sort q time 9.978429 
seperate points time 19.207718 
scan registration time 43.409840 ms *************
mapping solver time 34.249215 ms 
-----t: 0.0547473
OdomCount 356 & avg odom time 0.049178 ms ++++++++++++++++++++++
map prepare time 2.917850 ms
map corner num 118966  surf num 39235 
build tree time 28.735664 ms 
sort q time 6.725298 
seperate points time 15.867110 
publication time 7.535865 ms 
whole laserOdometry time 7.547096 ms 
 
mapping solver time 28.136027 ms 
mapping data assosiation time 27.644600 ms 
--------------------stamp1317357663.390018939
prepare time 12.651473 
mapping solver time 26.276702 ms 
mapping optimization time 141.479520 
add points time 0.688521 ms
sort q time 6.031155 
seperate points time 14.059319 
map prepare time 3.660270 ms
map corner num 119610  surf num 39402 
publication time 10.307949 ms 
whole laserOdometry time 10.323857 ms 
 
-----t: 0.0530412
OdomCount 358 & avg odom time 0.049177 ms ++++++++++++++++++++++
1317357663.390018939 WriteOdom laser_odom_to_init
1317357663.390018939 WriteOdom aft_mapped_to_init_high_frec
build tree time 36.015749 ms 
mapping data assosiation time 28.235829 ms 
points size 100955 
mapping solver time 26.111773 ms 
scan registration time 35.528791 ms *************
mapping data assosiation time 27.984287 ms 
publication time 13.648836 ms 
whole laserOdometry time 13.661456 ms 
 
-----t: 0.0428232
OdomCount 359 & avg odom time 0.049159 ms ++++++++++++++++++++++
1317357663.494039058 WriteOdom laser_odom_to_init
1317357663.494039058 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.523706 ms 
mapping pub time 2.437906 ms 
whole mapping time 163.838367 ms +++++
mappingCount 304 & avg mapping time 115.213756 ms ++++++++++++++++++++++
map prepare time 5.076793 ms
map corner num 120349  surf num 39724 
points size 100412 
prepare time 16.546736 
build tree time 32.362434 ms 
publication time 11.007822 ms 
whole laserOdometry time 11.027524 ms 
 
-----t: 0.0541125
OdomCount 360 & avg odom time 0.049173 ms ++++++++++++++++++++++
mapping solver time 20.964691 ms 
mapping data assosiation time 24.972168 ms 
mapping solver time 20.747045 ms 
points size 100143 
map prepare time 2.967944 ms
map corner num 121072  surf num 39958 
sort q time 5.706837 
seperate points time 13.490114 
build tree time 28.152547 ms 
publication time 14.392340 ms 
whole laserOdometry time 14.416348 ms 
 
-----t: 0.0577109
OdomCount 361 & avg odom time 0.049197 ms ++++++++++++++++++++++
prepare time 13.389571 
mapping solver time 22.918383 ms 
sort q time 6.438459 
seperate points time 13.844170 
scan registration time 31.433910 ms *************
mapping data assosiation time 29.321078 ms 
publication time 11.255205 ms 
whole laserOdometry time 11.271965 ms 
 
mapping solver time 18.841356 ms 
filter time 8.282154 ms 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357663.910000085
points size 97968 
mapping data assosiation time 28.296149 ms 
publication time 8.459515 ms 
whole laserOdometry time 8.472814 ms 
 
mapping data assosiation time 27.169597 ms 
--------------------stamp1317357664.013991117
mapping solver time 17.133134 ms 
mapping optimization time 130.447110 
prepare time 16.029816 
map prepare time 3.090151 ms
map corner num 122543  surf num 40445 
scan registration time 37.269573 ms *************
publication time 9.356804 ms 
whole laserOdometry time 9.375413 ms 
 
-----t: 0.0490453
OdomCount 364 & avg odom time 0.049196 ms ++++++++++++++++++++++
1317357664.013991117 WriteOdom laser_odom_to_init
1317357664.013991117 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.136213 ms 
points size 96197 
mapping solver time 34.540961 ms 
mapping data assosiation time 29.926511 ms 
mapping solver time 21.274796 ms 
-----t: 0.0648407
OdomCount 365 & avg odom time 0.049239 ms ++++++++++++++++++++++
1317357664.117983102 WriteOdom laser_odom_to_init
1317357664.117983102 WriteOdom aft_mapped_to_init_high_frec
filter time 11.791844 ms 
mapping pub time 2.319672 ms 
whole mapping time 170.849974 ms +++++
mappingCount 308 & avg mapping time 115.698797 ms ++++++++++++++++++++++
1317357663.910000086 WriteOdom aft_mapped_to_init
map prepare time 4.129837 ms
map corner num 123248  surf num 40703 
points size 95548 
scan registration time 27.678920 ms *************
mapping data assosiation time 28.759595 ms 
-----t: 0.0507093
OdomCount 366 & avg odom time 0.049243 ms ++++++++++++++++++++++
mapping solver time 27.921958 ms 
--------------------stamp1317357664.325870037
points size 95342 
sort q time 5.765715 
seperate points time 12.003332 
mapping solver time 22.309263 ms 
filter time 12.402293 ms 
publication time 16.475431 ms 
whole laserOdometry time 16.490936 ms 
 
mapping pub time 2.625269 ms 
whole mapping time 165.252015 ms +++++
mappingCount 309 & avg mapping time 115.859179 ms ++++++++++++++++++++++
1317357664.013991117 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 29.187992 ms 
--------------------stamp1317357664.429836034
points size 95486 
sort q time 6.233336 
seperate points time 13.428931 
scan registration time 34.799426 ms *************
mapping solver time 30.424401 ms 
publication time 10.944022 ms 
whole laserOdometry time 10.959460 ms 
 
-----t: 0.0457458
OdomCount 368 & avg odom time 0.049228 ms ++++++++++++++++++++++
mapping data assosiation time 27.388919 ms 
mapping solver time 20.995068 ms 
filter time 7.328927 ms 
mapping pub time 2.284817 ms 
whole mapping time 152.589727 ms +++++
mappingCount 310 & avg mapping time 115.977684 ms ++++++++++++++++++++++
1317357664.221926928 WriteOdom aft_mapped_to_init
points size 95756 
build tree time 29.553822 ms 
mapping data assosiation time 30.920030 ms 
-----t: 0.0562792
OdomCount 369 & avg odom time 0.049247 ms ++++++++++++++++++++++
1317357664.533778905 WriteOdom laser_odom_to_init
1317357664.533778905 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357664.637700080
points size 95894 
sort q time 5.634251 
seperate points time 11.692032 
mapping solver time 22.781625 ms 
mapping pub time 4.517362 ms 
whole mapping time 148.486100 ms +++++
mappingCount 311 & avg mapping time 116.082230 ms ++++++++++++++++++++++
-----t: 0.0508281
OdomCount 370 & avg odom time 0.049251 ms ++++++++++++++++++++++
build tree time 25.131327 ms 
mapping data assosiation time 24.659622 ms 
points size 96443 
prepare time 15.026449 
mapping solver time 23.210516 ms 
sort q time 6.087302 
seperate points time 12.722809 
mapping data assosiation time 26.910031 ms 
publication time 11.800218 ms 
whole laserOdometry time 11.814034 ms 
 
mapping solver time 43.389138 ms 
-----t: 0.0801327
OdomCount 371 & avg odom time 0.049334 ms ++++++++++++++++++++++
points size 96741 
filter time 19.908619 ms 
sort q time 6.144238 
seperate points time 13.678144 
map prepare time 7.327287 ms
map corner num 106337  surf num 34435 
publication time 9.206424 ms 
whole laserOdometry time 9.229510 ms 
 
-----t: 0.0661602
OdomCount 372 & avg odom time 0.049380 ms ++++++++++++++++++++++
1317357664.845535993 WriteOdom laser_odom_to_init
1317357664.845535993 WriteOdom aft_mapped_to_init_high_frec
build tree time 51.905768 ms 
--------------------stamp1317357664.949454069
mapping data assosiation time 26.513094 ms 
points size 93184 
mapping solver time 25.320274 ms 
sort q time 22.500412 
seperate points time 29.011776 
mapping data assosiation time 27.412523 ms 
mapping solver time 23.000174 ms 
filter time 7.503524 ms 
--------------------stamp1317357665.053396940
points size 91549 
build tree time 25.884935 ms 
sort q time 5.429089 
seperate points time 12.616624 
scan registration time 39.805659 ms *************
mapping data assosiation time 26.241083 ms 
mapping solver time 20.273913 ms 
mapping solver time 19.998540 ms 
--------------------stamp1317357665.157341003
map prepare time 3.268501 ms
map corner num 107753  surf num 34911 
points size 89939 
prepare time 19.094370 
scan registration time 35.158223 ms *************
publication time 8.975313 ms 
whole laserOdometry time 8.991291 ms 
 
-----t: 0.0387964
OdomCount 375 & avg odom time 0.049329 ms ++++++++++++++++++++++
mapping data assosiation time 26.687018 ms 
--------------------stamp1317357665.261296033
points size 88170 
sort q time 4.943776 
seperate points time 17.711390 
mapping data assosiation time 27.377553 ms 
-----t: 0.0340396
OdomCount 376 & avg odom time 0.049288 ms ++++++++++++++++++++++
1317357665.261296033 WriteOdom laser_odom_to_init
1317357665.261296033 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.743939 ms 
mapping optimization time 124.349425 
add points time 0.821240 ms
filter time 9.067411 ms 
map prepare time 2.795044 ms
map corner num 108783  surf num 35310 
build tree time 25.039932 ms 
--------------------stamp1317357665.365237951
points size 85110 
sort q time 5.882073 
seperate points time 11.556900 
mapping solver time 25.136128 ms 
-----t: 0.037819
OdomCount 377 & avg odom time 0.049258 ms ++++++++++++++++++++++
1317357665.365237951 WriteOdom laser_odom_to_init
1317357665.365237951 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.261358 ms 
mapping solver time 18.049655 ms 
filter time 7.783254 ms 
map prepare time 2.525405 ms
map corner num 109577  surf num 35527 
--------------------stamp1317357665.469132900
prepare time 9.665026 
sort q time 5.317303 
seperate points time 10.874834 
mapping data assosiation time 27.263592 ms 
publication time 6.645093 ms 
whole laserOdometry time 6.659597 ms 
 
mapping solver time 36.823173 ms 
--------------------stamp1317357665.573007106
points size 80407 
sort q time 16.842110 
seperate points time 22.629976 
mapping solver time 27.756439 ms 
scan registration time 40.255588 ms *************
mapping optimization time 141.643862 
add points time 0.907871 ms
filter time 12.387454 ms 
-----t: 0.0476725
OdomCount 379 & avg odom time 0.049272 ms ++++++++++++++++++++++
1317357665.573007106 WriteOdom laser_odom_to_init
1317357665.573007106 WriteOdom aft_mapped_to_init_high_frec
build tree time 23.280835 ms 
mapping data assosiation time 23.107315 ms 
points size 80687 
prepare time 13.399073 
publication time 5.925473 ms 
whole laserOdometry time 5.936180 ms 
 
mapping data assosiation time 35.712137 ms 
1317357665.676891088 WriteOdom laser_odom_to_init
1317357665.676891088 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357665.780783891
mapping solver time 25.765612 ms 
mapping optimization time 155.598740 
add points time 0.762713 ms
points size 84852 
prepare time 15.968196 
drop lidar frame in mapping for real time performance 
publication time 9.612979 ms 
whole laserOdometry time 9.632985 ms 
 
-----t: 0.054246
OdomCount 381 & avg odom time 0.049292 ms ++++++++++++++++++++++
1317357665.780783891 WriteOdom laser_odom_to_init
1317357665.780783891 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.921465 ms 
--------------------stamp1317357665.884651899
mapping solver time 27.201578 ms 
prepare time 16.211717 
sort q time 4.929715 
seperate points time 11.752558 
mapping data assosiation time 26.803746 ms 
publication time 8.705355 ms 
whole laserOdometry time 8.729076 ms 
 
-----t: 0.0491805
OdomCount 382 & avg odom time 0.049292 ms ++++++++++++++++++++++
1317357665.884651899 WriteOdom laser_odom_to_init
1317357665.884651899 WriteOdom aft_mapped_to_init_high_frec
filter time 10.923716 ms 
map prepare time 3.188031 ms
map corner num 111867  surf num 36261 
--------------------stamp1317357665.988547086
points size 93049 
sort q time 5.451032 
seperate points time 11.168055 
publication time 8.124909 ms 
whole laserOdometry time 8.145755 ms 
 
mapping solver time 24.710134 ms 
-----t: 0.0408539
OdomCount 383 & avg odom time 0.049270 ms ++++++++++++++++++++++
1317357665.988547086 WriteOdom laser_odom_to_init
1317357665.988547086 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.063237 ms 
mapping solver time 15.162878 ms 
filter time 8.303329 ms 
map prepare time 2.765563 ms
map corner num 112763  surf num 36700 
prepare time 13.892810 
build tree time 25.978650 ms 
scan registration time 42.430294 ms *************
-----t: 0.0425281
OdomCount 384 & avg odom time 0.049252 ms ++++++++++++++++++++++
1317357666.092478036 WriteOdom laser_odom_to_init
mapping data assosiation time 28.155053 ms 
publication time 8.097548 ms 
whole laserOdometry time 8.116762 ms 
 
1317357666.092478036 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.723122 ms 
--------------------stamp1317357666.196412086
points size 99479 
prepare time 15.492048 
mapping solver time 19.122619 ms 
mapping optimization time 120.131702 
add points time 1.010562 ms
scan registration time 35.264270 ms *************
mapping pub time 13.913282 ms 
whole mapping time 149.325950 ms +++++
mappingCount 321 & avg mapping time 117.205317 ms ++++++++++++++++++++++
publication time 13.377326 ms 
whole laserOdometry time 13.390804 ms 
 
-----t: 0.0739944
OdomCount 385 & avg odom time 0.049316 ms ++++++++++++++++++++++
--------------------stamp1317357666.300342082
points size 100704 
mapping solver time 25.374281 ms 
scan registration time 48.088615 ms *************
-----t: 0.0465469
OdomCount 386 & avg odom time 0.049309 ms ++++++++++++++++++++++
1317357666.300342082 WriteOdom laser_odom_to_init
1317357666.300342082 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.192197 ms 
filter time 9.022469 ms 
map prepare time 3.584737 ms
map corner num 114251  surf num 37442 
--------------------stamp1317357666.404247999
prepare time 13.497588 
sort q time 6.206172 
seperate points time 13.504111 
mapping data assosiation time 25.771921 ms 
publication time 10.404740 ms 
whole laserOdometry time 10.419781 ms 
 
-----t: 0.0410499
OdomCount 387 & avg odom time 0.049288 ms ++++++++++++++++++++++
mapping solver time 21.247540 ms 
mapping data assosiation time 22.592469 ms 
points size 99197 
prepare time 14.040007 
filter time 10.934204 ms 
mapping pub time 2.668000 ms 
whole mapping time 139.433620 ms +++++
mappingCount 323 & avg mapping time 117.383281 ms ++++++++++++++++++++++
1317357666.196412086 WriteOdom aft_mapped_to_init
sort q time 5.608003 
seperate points time 37.132208 
-----t: 0.0486309
OdomCount 388 & avg odom time 0.049286 ms ++++++++++++++++++++++
publication time 16.847498 ms 
whole laserOdometry time 16.858709 ms 
 
mapping data assosiation time 33.592539 ms 
--------------------stamp1317357666.612072944
points size 99390 
sort q time 5.793736 
seperate points time 11.466364 
scan registration time 32.910126 ms *************
mapping data assosiation time 31.607034 ms 
publication time 16.721805 ms 
whole laserOdometry time 16.750018 ms 
 
filter time 8.495811 ms 
map prepare time 2.923614 ms
map corner num 115516  surf num 38065 
--------------------stamp1317357666.715965986
points size 99723 
build tree time 34.114826 ms 
sort q time 5.886185 
seperate points time 12.387623 
publication time 7.653534 ms 
whole laserOdometry time 7.670877 ms 
 
mapping data assosiation time 31.347396 ms 
-----t: 0.0391507
OdomCount 390 & avg odom time 0.049255 ms ++++++++++++++++++++++
1317357666.715965986 WriteOdom laser_odom_to_init
1317357666.715965986 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.791626 ms 
mapping data assosiation time 23.113424 ms 
--------------------stamp1317357666.819827079
points size 100245 
filter time 11.536181 ms 
scan registration time 35.389887 ms *************
map prepare time 4.092764 ms
map corner num 116143  surf num 38314 
build tree time 29.750538 ms 
mapping data assosiation time 24.881896 ms 
--------------------stamp1317357666.923708915
points size 101164 
scan registration time 47.963157 ms *************
mapping data assosiation time 58.186162 ms 
-----t: 0.0812825
OdomCount 392 & avg odom time 0.049345 ms ++++++++++++++++++++++
filter time 8.719643 ms 
map prepare time 3.294219 ms
map corner num 116936  surf num 38625 
scan registration time 35.305570 ms *************
build tree time 29.931959 ms 
publication time 9.353946 ms 
whole laserOdometry time 9.374344 ms 
 
mapping data assosiation time 26.737795 ms 
mapping solver time 22.114368 ms 
points size 101546 
mapping data assosiation time 30.726064 ms 
sort q time 6.063663 
seperate points time 13.881852 
mapping solver time 26.542900 ms 
filter time 10.871451 ms 
mapping pub time 2.445477 ms 
whole mapping time 155.381523 ms +++++
mappingCount 327 & avg mapping time 117.917596 ms ++++++++++++++++++++++
1317357666.819827080 WriteOdom aft_mapped_to_init
-----t: 0.0548167
OdomCount 394 & avg odom time 0.049347 ms ++++++++++++++++++++++
1317357667.131380081 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
1317357667.131380081 WriteOdom aft_mapped_to_init_high_frec
build tree time 24.704267 ms 
--------------------stamp1317357667.235181093
points size 101325 
mapping data assosiation time 29.366648 ms 
prepare time 27.293923 
scan registration time 46.805624 ms *************
publication time 7.011105 ms 
whole laserOdometry time 7.021927 ms 
 
mapping data assosiation time 24.567363 ms 
--------------------stamp1317357667.338977098
mapping solver time 29.335895 ms 
points size 99574 
mapping optimization time 142.107360 
add points time 1.019706 ms
mapping pub time 2.373277 ms 
whole mapping time 159.499388 ms +++++
mappingCount 328 & avg mapping time 118.044391 ms ++++++++++++++++++++++
1317357667.027554989 WriteOdom aft_mapped_to_init
sort q time 5.608632 
seperate points time 12.097641 
-----t: 0.0405669
OdomCount 396 & avg odom time 0.049327 ms ++++++++++++++++++++++
mapping data assosiation time 23.105536 ms 
--------------------stamp1317357667.442773103
points size 98230 
sort q time 5.828845 
seperate points time 13.275334 
publication time 7.765187 ms 
whole laserOdometry time 7.776424 ms 
 
mapping solver time 19.963471 ms 
mapping optimization time 126.441042 
add points time 0.906928 ms
filter time 10.839744 ms 
map prepare time 2.653678 ms
map corner num 118919  surf num 39469 
build tree time 25.177176 ms 
points size 97530 
mapping data assosiation time 30.038114 ms 
sort q time 5.912950 
seperate points time 13.658700 
publication time 7.328697 ms 
whole laserOdometry time 7.344392 ms 
 
-----t: 0.0605652
OdomCount 398 & avg odom time 0.049359 ms ++++++++++++++++++++++
mapping solver time 22.305432 ms 
points size 96852 
map prepare time 3.676506 ms
map corner num 119505  surf num 39720 
publication time 8.640926 ms 
whole laserOdometry time 8.655495 ms 
 
build tree time 29.688188 ms 
mapping data assosiation time 27.161976 ms 
--------------------stamp1317357667.754208087
points size 96677 
mapping data assosiation time 30.493179 ms 
sort q time 6.308856 
seperate points time 14.701523 
-----t: 0.0401307
OdomCount 400 & avg odom time 0.049311 ms ++++++++++++++++++++++
1317357667.754208087 WriteOdom laser_odom_to_init
1317357667.754208087 WriteOdom aft_mapped_to_init_high_frec
publication time 6.690105 ms 
whole laserOdometry time 6.703656 ms 
 
mapping solver time 26.363794 ms 
mapping optimization time 146.642211 
add points time 0.788982 ms
filter time 8.111305 ms 
drop lidar frame in mapping for real time performance 
map prepare time 3.413511 ms
map corner num 120178  surf num 39931 
--------------------stamp1317357667.857999086
build tree time 27.340223 ms 
points size 96747 
mapping data assosiation time 29.209899 ms 
sort q time 6.361736 
seperate points time 14.821350 
mapping solver time 25.595280 ms 
mapping data assosiation time 25.715232 ms 
--------------------stamp1317357667.961797952
points size 97134 
map prepare time 4.030761 ms
map corner num 120750  surf num 40164 
sort q time 8.651000 
seperate points time 23.647629 
publication time 10.765674 ms 
whole laserOdometry time 10.792198 ms 
 
mapping data assosiation time 29.600609 ms 
--------------------stamp1317357668.065577030
mapping solver time 25.812834 ms 
sort q time 6.066531 
seperate points time 12.312449 
publication time 7.900733 ms 
whole laserOdometry time 7.914749 ms 
 
-----t: 0.046601
OdomCount 403 & avg odom time 0.049312 ms ++++++++++++++++++++++
mapping solver time 27.432103 ms 
mapping optimization time 155.989874 
add points time 0.752515 ms
mapping pub time 2.116329 ms 
whole mapping time 171.792514 ms +++++
mappingCount 333 & avg mapping time 118.619814 ms ++++++++++++++++++++++
--------------------stamp1317357668.169337987
points size 97238 
sort q time 5.578200 
seperate points time 13.038947 
scan registration time 34.718397 ms *************
publication time 5.978963 ms 
whole laserOdometry time 5.989969 ms 
 
mapping solver time 28.075927 ms 
--------------------stamp1317357668.273108005
points size 98140 
mapping solver time 20.802190 ms 
mapping optimization time 134.422359 
add points time 0.786753 ms
publication time 8.807152 ms 
whole laserOdometry time 8.833725 ms 
 
build tree time 31.438053 ms 
--------------------stamp1317357668.376913070
points size 99506 
sort q time 6.410732 
seperate points time 12.970062 
publication time 6.457239 ms 
whole laserOdometry time 6.473613 ms 
 
mapping data assosiation time 29.211467 ms 
mapping optimization time 143.687190 
add points time 0.810752 ms
mapping pub time 2.340007 ms 
whole mapping time 158.337182 ms +++++
mappingCount 335 & avg mapping time 118.834600 ms ++++++++++++++++++++++
map prepare time 2.870623 ms
map corner num 122636  surf num 40848 
points size 100733 
prepare time 14.760693 
sort q time 5.941845 
seperate points time 12.682963 
scan registration time 32.496325 ms *************
mapping data assosiation time 29.152848 ms 
mapping solver time 24.686372 ms 
--------------------stamp1317357668.584549903
points size 101707 
mapping solver time 18.883191 ms 
filter time 12.054981 ms 
[0m[ INFO] [1715775602.806317416, 1317357668.629535869]: Data saved to 1317357668273108.pcd[0m
-----t: 0.0436845
OdomCount 408 & avg odom time 0.049346 ms ++++++++++++++++++++++
build tree time 28.953209 ms 
--------------------stamp1317357668.688371896
mapping data assosiation time 26.134569 ms 
sort q time 6.171286 
seperate points time 12.972025 
publication time 10.130060 ms 
whole laserOdometry time 10.141685 ms 
 
-----t: 0.0435195
OdomCount 409 & avg odom time 0.049332 ms ++++++++++++++++++++++
mapping solver time 19.060943 ms 
mapping optimization time 133.538285 
add points time 0.869004 ms
mapping pub time 2.446411 ms 
whole mapping time 151.678119 ms +++++
mappingCount 337 & avg mapping time 119.040058 ms ++++++++++++++++++++++
--------------------stamp1317357668.792191982
points size 101871 
build tree time 31.791322 ms 
scan registration time 40.342151 ms *************
publication time 12.453706 ms 
whole laserOdometry time 12.469661 ms 
 
-----t: 0.0584502
OdomCount 410 & avg odom time 0.049354 ms ++++++++++++++++++++++
mapping solver time 28.055712 ms 
points size 101914 
prepare time 13.424213 
sort q time 6.725165 
seperate points time 14.774640 
mapping solver time 21.272291 ms 
filter time 9.573249 ms 
map prepare time 3.388548 ms
map corner num 124423  surf num 41461 
-----t: 0.0611189
OdomCount 411 & avg odom time 0.049383 ms ++++++++++++++++++++++
1317357668.896014928 WriteOdom laser_odom_to_init
1317357668.896014928 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357668.999838113
mapping data assosiation time 28.528090 ms 
sort q time 6.335402 
seperate points time 13.566013 
-----t: 0.0484408
OdomCount 412 & avg odom time 0.049381 ms ++++++++++++++++++++++
--------------------stamp1317357669.103688001
points size 102049 
filter time 8.525973 ms 
mapping pub time 2.505188 ms 
whole mapping time 171.597876 ms +++++
mappingCount 339 & avg mapping time 119.319507 ms ++++++++++++++++++++++
1317357668.792191982 WriteOdom aft_mapped_to_init
sort q time 9.984986 
seperate points time 19.221504 
publication time 14.229343 ms 
whole laserOdometry time 14.249418 ms 
 
1317357669.103688001 WriteOdom laser_odom_to_init
1317357669.103688001 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357669.207535028
points size 101832 
sort q time 6.761034 
seperate points time 21.002468 
publication time 9.344882 ms 
whole laserOdometry time 9.358001 ms 
 
-----t: 0.0520592
OdomCount 414 & avg odom time 0.049420 ms ++++++++++++++++++++++
1317357669.207535028 WriteOdom laser_odom_to_init
1317357669.207535028 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.140242 ms 
mapping solver time 23.771558 ms 
points size 101521 
filter time 13.229214 ms 
prepare time 14.853988 
mapping pub time 2.761543 ms 
whole mapping time 198.388388 ms +++++
mappingCount 340 & avg mapping time 119.552076 ms ++++++++++++++++++++++
1317357668.999838114 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
sort q time 6.645869 
seperate points time 15.632666 
scan registration time 41.089428 ms *************
build tree time 30.552490 ms 
-----t: 0.0465663
OdomCount 415 & avg odom time 0.049413 ms ++++++++++++++++++++++
mapping data assosiation time 27.050514 ms 
--------------------stamp1317357669.415214061
points size 101412 
sort q time 5.944627 
seperate points time 13.046611 
scan registration time 32.423320 ms *************
mapping data assosiation time 29.377264 ms 
mapping solver time 21.826200 ms 
filter time 9.233153 ms 
[0m[ INFO] [1715775603.662453215, 1317357669.480059782]: Received 169022 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775603.662493492, 1317357669.480059782]: Data saved to 1317357669103688.pcd[0m
mapping pub time 13.173436 ms 
whole mapping time 164.616045 ms +++++
mappingCount 341 & avg mapping time 119.684241 ms ++++++++++++++++++++++
1317357669.103688002 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 27.608622 ms 
--------------------stamp1317357669.519049882
points size 101035 
mapping data assosiation time 32.634297 ms 
publication time 13.227148 ms 
whole laserOdometry time 13.244188 ms 
 
-----t: 0.0547515
OdomCount 417 & avg odom time 0.049411 ms ++++++++++++++++++++++
--------------------stamp1317357669.622889041
mapping data assosiation time 31.910524 ms 
mapping solver time 22.816716 ms 
mapping pub time 2.399567 ms 
whole mapping time 170.246811 ms +++++
mappingCount 342 & avg mapping time 119.832092 ms ++++++++++++++++++++++
-----t: 0.0408863
OdomCount 418 & avg odom time 0.049391 ms ++++++++++++++++++++++
1317357669.622889041 WriteOdom laser_odom_to_init
1317357669.622889041 WriteOdom aft_mapped_to_init_high_frec
publication time 10.539823 ms 
whole laserOdometry time 10.554089 ms 
 
build tree time 26.906203 ms 
--------------------stamp1317357669.726758956
points size 100572 
sort q time 5.866750 
seperate points time 14.161422 
publication time 9.794762 ms 
whole laserOdometry time 9.808268 ms 
 
-----t: 0.0434082
OdomCount 419 & avg odom time 0.049376 ms ++++++++++++++++++++++
mapping data assosiation time 30.690498 ms 
mapping solver time 24.770240 ms 
filter time 9.327976 ms 
map prepare time 4.363691 ms
map corner num 128490  surf num 43059 
sort q time 6.055868 
seperate points time 12.757530 
build tree time 32.962932 ms 
publication time 11.469388 ms -----t: 0.045985
OdomCount 420 & avg odom time 0.049368 ms ++++++++++++++++++++++
mapping solver time 25.503752 ms 
--------------------stamp1317357669.934472084
points size 97525 
mapping data assosiation time 30.662863 ms 
sort q time 5.899956 
seperate points time 11.539573 
mapping solver time 14.184821 ms 
filter time 10.875851 ms 
mapping pub time 2.537687 ms 
whole mapping time 157.047899 ms +++++
mappingCount 344 & avg mapping time 120.058288 ms ++++++++++++++++++++++
1317357669.622889042 WriteOdom aft_mapped_to_init
publication time 25.148938 ms 
whole laserOdometry time 25.167359 ms 
 
build tree time 33.061484 ms 
--------------------stamp1317357670.038300991
points size 96497 
mapping data assosiation time 30.829735 ms 
scan registration time 37.636390 ms *************
mapping solver time 37.534680 ms 
-----t: 0.0531697
OdomCount 422 & avg odom time 0.049387 ms ++++++++++++++++++++++
1317357670.038300991 WriteOdom laser_odom_to_init
1317357670.038300991 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.305238 ms 
--------------------stamp1317357670.142119884
points size 95537 
prepare time 13.775346 
sort q time 5.549642 
seperate points time 17.935276 
filter time 11.768512 ms 
publication time 9.094560 ms 
whole laserOdometry time 9.112642 ms 
 
-----t: 0.0537459
OdomCount 423 & avg odom time 0.049397 ms ++++++++++++++++++++++
1317357670.142119884 WriteOdom laser_odom_to_init
1317357670.142119884 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.969490 ms 
--------------------stamp1317357670.245935916
points size 94889 
mapping solver time 27.884211 ms 
scan registration time 31.670135 ms *************
publication time 7.626422 ms 
whole laserOdometry time 7.645505 ms 
 
mapping data assosiation time 33.354294 ms 
-----t: 0.0366847
OdomCount 424 & avg odom time 0.049367 ms ++++++++++++++++++++++
mapping solver time 28.716502 ms 
filter time 9.454377 ms 
mapping pub time 4.813699 ms 
whole mapping time 173.447012 ms +++++
mappingCount 346 & avg mapping time 120.395221 ms ++++++++++++++++++++++
1317357669.934472084 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
[0m[ INFO] [1715775604.529545176, 1317357670.347516658]: Received 174888 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775604.529590562, 1317357670.347516658]: Data saved to 1317357669934472.pcd[0m
map prepare time 2.951263 ms
map corner num 130813  surf num 44075 
--------------------stamp1317357670.349769115
points size 94410 
build tree time 33.414424 ms 
scan registration time 34.663265 ms *************
publication time 11.030883 ms 
whole laserOdometry time 14.622802 ms 
 
points size 93288 
mapping solver time 39.879488 ms 
sort q time 5.733011 
seperate points time 12.338199 
publication time 12.162239 ms 
whole laserOdometry time 12.176470 ms 
 
mapping solver time 26.841043 ms 
filter time 9.284189 ms 
map prepare time 3.405363 ms
map corner num 131561  surf num 44422 
prepare time 14.654841 
sort q time 5.220166 
seperate points time 12.372440 
build tree time 31.233576 ms 
publication time 10.220006 ms 
whole laserOdometry time 10.238220 ms 
 
-----t: 0.0523077
OdomCount 427 & avg odom time 0.049370 ms ++++++++++++++++++++++
points size 91568 
mapping solver time 44.894130 ms 
sort q time 6.027071 
seperate points time 26.747707 
mapping data assosiation time 37.475257 ms 
-----t: 0.0661599
OdomCount 428 & avg odom time 0.049409 ms ++++++++++++++++++++++
mapping optimization time 187.857444 
add points time 1.040396 ms
filter time 12.388870 ms 
map prepare time 3.861007 ms
map corner num 132344  surf num 44887 
prepare time 18.798497 
scan registration time 37.370768 ms *************
build tree time 37.245056 ms 
-----t: 0.0433712
OdomCount 429 & avg odom time 0.049395 ms ++++++++++++++++++++++
1317357670.765079975 WriteOdom laser_odom_to_init
1317357670.765079975 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.563299 ms 
--------------------stamp1317357670.868940114
points size 91921 
sort q time 5.542362 
seperate points time 12.985333 
mapping data assosiation time 37.757370 ms 
publication time 10.440357 ms 
whole laserOdometry time 10.451738 ms 
 
-----t: 0.0467802
OdomCount 430 & avg odom time 0.049389 ms ++++++++++++++++++++++
1317357670.868940114 WriteOdom laser_odom_to_init
1317357670.868940114 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.785758 ms 
filter time 10.924159 ms 
map prepare time 3.126558 ms
map corner num 133091  surf num 45186 
points size 92376 
prepare time 18.403126 
sort q time 6.038379 
seperate points time 12.649391 
publication time 9.589503 ms 
whole laserOdometry time 9.602427 ms 
 
-----t: 0.061706
OdomCount 431 & avg odom time 0.049417 ms ++++++++++++++++++++++
1317357670.972799062 WriteOdom laser_odom_to_init
1317357670.972799062 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357671.076641082
points size 93113 
sort q time 12.647210 
seperate points time 23.581130 
mapping data assosiation time 40.942354 ms 
publication time 10.228089 ms 
whole laserOdometry time 10.248582 ms 
 
-----t: 0.053097
OdomCount 432 & avg odom time 0.049426 ms ++++++++++++++++++++++
1317357670.765079975 WriteOdom aft_mapped_to_init
sort q time 5.962265 
seperate points time 13.318326 
scan registration time 45.276440 ms *************
mapping data assosiation time 45.540983 ms 
publication time 9.521592 ms 
whole laserOdometry time 9.536152 ms 
 
-----t: 0.0655537
OdomCount 433 & avg odom time 0.049463 ms ++++++++++++++++++++++
mapping solver time 35.534997 ms 
points size 95590 
sort q time 7.984384 
seperate points time 14.895597 
mapping solver time 25.453625 ms 
mapping pub time 4.302564 ms 
whole mapping time 188.988454 ms +++++
[0m[ INFO] [1715775605.527156994, 1317357671.354592887]: Received 124768 data points in frame camera_init with the following fields: x y z intensity[0m
mappingCount 351 & avg mapping time 121.490894 ms ++++++++++++++++++++++
[0m[ INFO] [1715775605.527194401, 1317357671.354592887]: Data saved to 1317357670972799.pcd[0m
build tree time 20.084540 ms 
points size 96053 
prepare time 16.418227 
mapping data assosiation time 33.208711 ms 
scan registration time 33.704455 ms *************
publication time 8.007075 ms 
whole laserOdometry time 8.033863 ms 
 
mapping data assosiation time 29.212172 ms 
--------------------stamp1317357671.492152929
mapping solver time 20.971488 ms 
mapping pub time 2.266145 ms 
whole mapping time 150.363331 ms +++++
mappingCount 352 & avg mapping time 121.572935 ms ++++++++++++++++++++++
map prepare time 3.354583 ms
map corner num 93374  surf num 32382 
sort q time 5.552430 
seperate points time 13.183953 
build tree time 22.159520 ms 
publication time 13.065038 ms 
whole laserOdometry time 13.078695 ms 
 
-----t: 0.0649723
OdomCount 436 & avg odom time 0.049456 ms ++++++++++++++++++++++
points size 95960 
prepare time 16.998438 
mapping solver time 44.467617 ms 
publication time 11.402441 ms 
whole laserOdometry time 11.416978 ms 
 
mapping data assosiation time 38.544818 ms 
-----t: 0.0602589
OdomCount 437 & avg odom time 0.049480 ms ++++++++++++++++++++++
mapping solver time 39.204311 ms 
points size 96368 
prepare time 19.662371 
drop lidar frame in mapping for real time performance 
map prepare time 9.405390 ms
map corner num 94082  surf num 32661 
publication time 8.887225 ms 
whole laserOdometry time 8.902335 ms 
 
1317357671.699886083 WriteOdom aft_mapped_to_init_high_frec
build tree time 53.279123 ms 
mapping data assosiation time 35.476570 ms 
mapping solver time 31.839506 ms 
prepare time 16.327255 
sort q time 5.831568 
seperate points time 13.272666 
scan registration time 35.636076 ms *************
mapping data assosiation time 37.330347 ms 
points size 97436 
mapping solver time 28.609550 ms 
filter time 11.623852 ms 
sort q time 9.249655 
seperate points time 19.742312 
mapping pub time 3.334103 ms 
whole mapping time 216.409323 ms +++++
mappingCount 354 & avg mapping time 122.125292 ms ++++++++++++++++++++++
1317357671.492152929 WriteOdom aft_mapped_to_init
publication time 10.081989 ms 
whole laserOdometry time 10.096347 ms 
 
build tree time 26.914589 ms 
--------------------stamp1317357672.011282920
-----t: 0.0550369
OdomCount 440 & avg odom time 0.049618 ms ++++++++++++++++++++++
prepare time 23.050390 
sort q time 5.577281 
seperate points time 12.511322 
publication time 10.309413 ms 
whole laserOdometry time 10.326126 ms 
 
-----t: 0.0636873
OdomCount 441 & avg odom time 0.049649 ms ++++++++++++++++++++++
mapping data assosiation time 34.106214 ms 
--------------------stamp1317357672.115036010
prepare time 24.217565 
sort q time 14.034635 
seperate points time 21.840644 
scan registration time 53.953652 ms *************
publication time 7.588018 ms 
whole laserOdometry time 7.602380 ms 
 
-----t: 0.0657047
OdomCount 442 & avg odom time 0.049686 ms ++++++++++++++++++++++
mapping data assosiation time 34.057943 ms 
points size 99741 
mapping solver time 40.642198 ms 
sort q time 7.135867 
seperate points time 24.763331 
publication time 8.984102 ms 
whole laserOdometry time 9.001712 ms 
 
-----t: 0.0650642
OdomCount 443 & avg odom time 0.049720 ms ++++++++++++++++++++++
--------------------stamp1317357672.322495937
points size 100327 
drop lidar frame in mapping for real time performance 
map prepare time 3.728668 ms
map corner num 96164  surf num 33447 
sort q time 24.303951 
seperate points time 58.240454 
scan registration time 100.676037 ms *************
[33m[ WARN] [1715775606.597196077, 1317357672.417021650]: scan registration process over 100ms[0m
--------------------stamp1317357672.426191091
sort q time 7.359307 
seperate points time 16.070139 
publication time 8.870648 ms sort q time 21.146624 
seperate points time 62.967664 
mapping data assosiation time 108.502860 ms 
scan registration time 140.365717 ms *************
[33m[ WARN] [1715775606.847475827, 1317357672.678374183]: scan registration process over 100ms[0m
points size 101774 
prepare time 50.820319 
sort q time 13.514791 mapping solver time 97.575782 ms 
points size 102014 
prepare time 33.861744 
filter time 45.105111 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
scan registration time 70.825256 ms *************
points size 102215 
publication time 16.364340 ms 
whole laserOdometry time 16.397226 ms build tree time 40.490380 ms 
sort q time 5.738286 
seperate points time 13.408355 
-----t: 0.0668031
OdomCount 447 & avg odom time 0.050487 ms ++++++++++++++++++++++
mapping data assosiation time 47.059390 ms 
--------------------stamp1317357672.944425106
sort q time 5.772924 
seperate points time 15.151872 
-----t: 0.069746
OdomCount 448 & avg odom time 0.050530 ms ++++++++++++++++++++++
publication time 18.444593 ms 
whole laserOdometry time 18.459443 ms 
 
mapping data assosiation time 39.579155 ms 
--------------------stamp1317357673.048089027
prepare time 14.242156 
mapping optimization time 238.539538 
1317357672.322495937 WriteOdom aft_mapped_to_init
build tree time 26.549484 ms 
-----t: 0.0818336
OdomCount 450 & avg odom time 0.050659 ms ++++++++++++++++++++++
--------------------stamp1317357673.151742935
points size 103004 
prepare time 22.980176 
mapping data assosiation time 50.111136 ms 
sort q time 12.810348 
seperate points time 27.909960 
-----t: 0.0750522
OdomCount 451 & avg odom time 0.050713 ms ++++++++++++++++++++++
publication time 27.453243 ms 
whole laserOdometry time 27.482262 ms 
 
prepare time 23.968773 
-----t: 0.0639599
OdomCount 452 & avg odom time 0.050743 ms ++++++++++++++++++++++
1317357673.151742935 WriteOdom laser_odom_to_init
scan registration time 45.785414 ms *************
mapping solver time 48.271092 ms 
mapping optimization time 211.002033 
add points time 1.054150 ms
publication time 12.803334 ms 
whole laserOdometry time 12.820162 ms 
 
filter time 10.000743 ms 
mapping pub time 2.551468 ms 
whole mapping time 228.361060 ms +++++
mappingCount 359 & avg mapping time 124.213161 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 3.671326 ms
map corner num 99038  surf num 34797 
--------------------stamp1317357673.359148979
1317357673.255419969 WriteOdom aft_mapped_to_init_high_frec
points size 102256 
sort q time 7.297649 
seperate points time 17.909406 
mapping data assosiation time 40.693332 ms 
publication time 11.905026 ms 
whole laserOdometry time 11.914855 ms 
 
-----t: 0.0602914
OdomCount 454 & avg odom time 0.050803 ms ++++++++++++++++++++++
mapping solver time 42.485976 ms 
points size 101659 
sort q time 6.807452 
seperate points time 16.114725 
publication time 10.196997 ms 
whole laserOdometry time 10.208622 ms 
 
-----t: 0.0574599
OdomCount 455 & avg odom time 0.050818 ms ++++++++++++++++++++++
filter time 8.034088 ms 
map prepare time 3.253130 ms
map corner num 100248  surf num 35397 
--------------------stamp1317357673.566577911
points size 100987 
build tree time 25.755349 ms 
prepare time 16.250443 
scan registration time 38.393881 ms *************
publication time 11.137095 ms 
whole laserOdometry time 11.149324 ms 
 
mapping data assosiation time 43.172991 ms 
-----t: 0.0618768
OdomCount 456 & avg odom time 0.050842 ms ++++++++++++++++++++++
--------------------stamp1317357673.670280933
mapping data assosiation time 42.626422 ms 
mapping solver time 34.370233 ms 
-----t: 0.060013
OdomCount 457 & avg odom time 0.050862 ms ++++++++++++++++++++++
mapping pub time 12.446099 ms 
whole mapping time 214.247678 ms +++++
mappingCount 361 & avg mapping time 124.693995 ms ++++++++++++++++++++++
points size 100699 
build tree time 25.254513 ms 
sort q time 8.178240 
seperate points time 33.955978 
mapping data assosiation time 47.724453 ms 
-----t: 0.0797211
OdomCount 458 & avg odom time 0.050925 ms ++++++++++++++++++++++
points size 100678 
sort q time 5.154861 
seperate points time 11.529396 
mapping data assosiation time 38.118886 ms 
mapping solver time 34.185092 ms 
filter time 9.250610 ms 
--------------------stamp1317357673.981556892
points size 100615 
build tree time 27.197577 ms 
publication time 16.958592 ms 
whole laserOdometry time 16.987208 ms 
 
-----t: 0.0601464
OdomCount 460 & avg odom time 0.051017 ms ++++++++++++++++++++++
1317357673.981556892 WriteOdom laser_odom_to_init
1317357673.981556892 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 37.284725 ms 
--------------------stamp1317357674.085378885
points size 100413 
sort q time 5.813521 
seperate points time 14.505701 
publication time 11.276867 ms 
whole laserOdometry time 11.291477 ms 
 
filter time 9.463717 ms 
mapping pub time 2.387020 ms 
whole mapping time 188.295250 ms +++++
mappingCount 363 & avg mapping time 125.076529 ms ++++++++++++++++++++++
1317357673.774007082 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 24.479773 ms 
points size 100380 
scan registration time 34.651771 ms *************
publication time 10.806527 ms 
whole laserOdometry time 10.822234 ms 
 
-----t: 0.0574147
OdomCount 462 & avg odom time 0.051029 ms ++++++++++++++++++++++
mapping solver time 39.248424 ms 
--------------------stamp1317357674.292978048
points size 100383 
mapping data assosiation time 38.041720 ms 
sort q time 5.990728 
seperate points time 14.191464 
scan registration time 33.370715 ms *************
mapping solver time 35.226153 ms 
drop lidar frame in mapping for real time performance 
-----t: 0.0701055
OdomCount 463 & avg odom time 0.051070 ms ++++++++++++++++++++++
build tree time 24.046924 ms 
points size 100434 
sort q time 6.003939 
seperate points time 14.172752 
publication time 10.846962 ms 
whole laserOdometry time 10.882706 ms 
 
mapping solver time 37.054343 ms 
mapping data assosiation time 36.861426 ms 
prepare time 15.298601 
sort q time 5.574970 
seperate points time 13.957482 
scan registration time 34.153654 ms *************
mapping solver time 40.599426 ms 
filter time 9.232683 ms 
map prepare time 3.781728 ms
map corner num 105746  surf num 38452 
build tree time 24.142838 ms 
-----t: 0.0769801
OdomCount 466 & avg odom time 0.051134 ms ++++++++++++++++++++++
--------------------stamp1317357674.708240032
points size 100068 
mapping solver time 25.225020 ms 
mapping optimization time 168.015109 
add points time 1.220853 ms
[0m[ INFO] [1715775608.923222972, 1317357674.746274029]: Received 145556 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775608.923263515, 1317357674.746274029]: Data saved to 1317357674396773.pcd[0m
map prepare time 4.190243 ms
map corner num 106643  surf num 38913 
scan registration time 66.829506 ms *************
publication time 13.067993 ms 
whole laserOdometry time 13.085509 ms 
 
--------------------stamp1317357674.812084913
points size 99800 
mapping data assosiation time 38.095990 ms 
sort q time 8.678470 
seperate points time 18.070925 
publication time 8.748173 ms 
whole laserOdometry time 8.761760 ms 
 
-----t: 0.0503684
OdomCount 468 & avg odom time 0.051247 ms ++++++++++++++++++++++
--------------------stamp1317357674.915935039
points size 99801 
sort q time 6.533862 
seperate points time 12.946333 
mapping solver time 34.300795 ms 
mapping optimization time 195.097702 
add points time 1.186201 ms
filter time 10.566717 ms 
--------------------stamp1317357675.019830942
-----t: 0.0983916
OdomCount 469 & avg odom time 0.051347 ms ++++++++++++++++++++++
points size 98212 
sort q time 6.641368 
seperate points time 18.550881 
scan registration time 62.982386 ms *************
publication time 20.157210 ms 
whole laserOdometry time 20.170781 ms 
 
--------------------stamp1317357675.123771905
points size 96808 
sort q time 25.440844 
seperate points time 35.884051 
publication time 11.229966 ms 
whole laserOdometry time 11.250693 ms 
 
points size 96333 
-----t: 0.111073
OdomCount 471 & avg odom time 0.051600 ms ++++++++++++++++++++++
mapping data assosiation time 84.083880 ms 
publication time 17.348740 ms 
whole laserOdometry time 17.364995 ms 
 
--------------------stamp1317357675.331852912
add points time 1.047364 ms
points size 96040 
filter time 13.079310 ms 
map prepare time 4.274580 ms
map corner num 108156  surf num 39533 
build tree time 31.931200 ms 
publication time 9.228434 ms 
whole laserOdometry time 9.235593 ms 
 
-----t: 0.0417389
OdomCount 473 & avg odom time 0.051693 ms ++++++++++++++++++++++
1317357675.331852912 WriteOdom laser_odom_to_init
1317357675.331852912 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 41.608149 ms prepare time 15.278085 
sort q time 6.726434 
seperate points time 13.494365 
mapping solver time 53.172532 ms 
publication time 11.100873 ms 
whole laserOdometry time 11.118705 ms 
 
--------------------stamp1317357675.540190935
points size 95088 
sort q time 5.965995 
seperate points time 11.839112 
mapping solver time 22.534640 ms 
mapping optimization time 201.696143 
scan registration time 32.541784 ms *************
add points time 1.566678 ms
publication time 8.990897 ms 
whole laserOdometry time 9.006524 ms 
 
filter time 30.976296 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
1317357675.540190935 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.349188 ms
map corner num 108861  surf num 39817 
--------------------stamp1317357675.644397020
points size 94290 
sort q time 5.457217 
seperate points time 10.940945 
scan registration time 30.601954 ms *************
publication time 8.638186 ms 
whole laserOdometry time 8.646986 ms 
 
-----t: 0.0603627
OdomCount 476 & avg odom time 0.051740 ms ++++++++++++++++++++++
1317357675.644397020 WriteOdom laser_odom_to_init
1317357675.644397020 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.159037 ms 
--------------------stamp1317357675.748651027
prepare time 14.809325 
sort q time 6.572573 
seperate points time 13.629257 
mapping solver time 36.049839 ms 
-----t: 0.0433393
OdomCount 477 & avg odom time 0.051723 ms ++++++++++++++++++++++
map prepare time 3.180374 ms
map corner num 109756  surf num 40249 
build tree time 25.204995 ms 
--------------------stamp1317357675.852953910
points size 92953 
prepare time 11.667303 
sort q time 5.013537 
seperate points time 12.078737 
mapping solver time 32.827732 ms 
mapping data assosiation time 29.410328 ms 
--------------------stamp1317357675.957281112
mapping solver time 29.743018 ms 
prepare time 16.708153 
publication time 9.066486 ms 
whole laserOdometry time 9.078104 ms 
 
build tree time 29.204778 ms 
-----t: 0.049872
OdomCount 479 & avg odom time 0.051693 ms ++++++++++++++++++++++
1317357675.957281112 WriteOdom laser_odom_to_init
1317357675.957281112 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.308493 ms 
--------------------stamp1317357676.061633110
points size 89791 
prepare time 15.865680 
sort q time 5.276459 
seperate points time 12.219103 
publication time 9.611701 ms 
whole laserOdometry time 9.643071 ms 
 
mapping data assosiation time 32.731726 ms 
-----t: 0.0593691
OdomCount 480 & avg odom time 0.051709 ms ++++++++++++++++++++++
mapping solver time 31.836419 ms 
filter time 7.684831 ms 
map prepare time 4.934034 ms
map corner num 111322  surf num 40856 
prepare time 15.778665 
sort q time 5.079011 
seperate points time 11.915307 
publication time 9.983896 ms 
whole laserOdometry time 9.996060 ms 
 
-----t: 0.0461429
OdomCount 481 & avg odom time 0.051697 ms ++++++++++++++++++++++
mapping solver time 26.989336 ms 
--------------------stamp1317357676.270262002
points size 86354 
scan registration time 37.671914 ms *************
mapping solver time 32.668817 ms 
filter time 10.445227 ms 
--------------------stamp1317357676.374563932
points size 84891 
sort q time 4.762902 
seperate points time 13.318354 
-----t: 0.0428425
OdomCount 483 & avg odom time 0.051691 ms ++++++++++++++++++++++
1317357676.374563932 WriteOdom laser_odom_to_init
1317357676.374563932 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 32.275842 ms 
mapping data assosiation time 25.431949 ms 
--------------------stamp1317357676.478867053
prepare time 12.820706 
filter time 11.201039 ms 
map prepare time 4.023669 ms
map corner num 112787  surf num 41306 
-----t: 0.0293245
OdomCount 484 & avg odom time 0.051645 ms ++++++++++++++++++++++
1317357676.478867053 WriteOdom laser_odom_to_init
1317357676.478867053 WriteOdom aft_mapped_to_init_high_frec
publication time 7.782604 ms 
whole laserOdometry time 7.799098 ms 
 
build tree time 29.718826 ms 
mapping data assosiation time 25.806465 ms 
--------------------stamp1317357676.583168983
points size 85134 
sort q time 4.851153 
seperate points time 10.115927 
mapping data assosiation time 29.490245 ms 
publication time 10.210604 ms 
whole laserOdometry time 10.227771 ms 
 
mapping solver time 27.781942 ms 
mapping optimization time 143.923834 
add points time 0.789210 ms
mapping pub time 2.018321 ms 
whole mapping time 159.439787 ms +++++
mappingCount 375 & avg mapping time 127.615802 ms ++++++++++++++++++++++
1317357676.374563932 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.826198 ms
map corner num 113494  surf num 41487 
--------------------stamp1317357676.687423944
points size 85518 
sort q time 5.358815 
seperate points time 11.199960 
scan registration time 29.960810 ms *************
publication time 9.763395 ms 
whole laserOdometry time 9.783795 ms 
 
mapping solver time 29.163482 ms 
-----t: 0.0664968
OdomCount 486 & avg odom time 0.051648 ms ++++++++++++++++++++++
mapping data assosiation time 26.778382 ms 
--------------------stamp1317357676.791656017
mapping solver time 19.021538 ms 
mapping optimization time 133.893398 
add points time 0.821978 ms
points size 86019 
prepare time 15.435690 
1317357676.478867054 WriteOdom aft_mapped_to_init
sort q time 4.759637 
seperate points time 12.422418 
[0m[ INFO] [1715775610.993253666, 1317357676.810697922]: Received 155705 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775610.994216987, 1317357676.821304023]: Data saved to 1317357676478867.pcd[0m
map prepare time 3.699909 ms
map corner num 114066  surf num 41639 
scan registration time 34.150221 ms *************
publication time 7.472751 ms 
whole laserOdometry time 7.489985 ms 
 
build tree time 40.022547 ms 
mapping data assosiation time 26.686684 ms 
points size 84310 
sort q time 4.592150 
seperate points time 10.901738 
mapping data assosiation time 28.969748 ms 
mapping solver time 22.896084 ms 
filter time 7.964293 ms 
map prepare time 2.516334 ms
map corner num 114749  surf num 41815 
points size 83386 
build tree time 32.034032 ms 
publication time 8.550870 ms 
whole laserOdometry time 8.568157 ms 
 
mapping data assosiation time 26.907239 ms 
-----t: 0.0529159
OdomCount 489 & avg odom time 0.051640 ms ++++++++++++++++++++++
1317357677.000093936 WriteOdom laser_odom_to_init
1317357677.000093936 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.341849 ms 
mapping data assosiation time 23.413832 ms 
points size 83230 
filter time 10.626769 ms 
sort q time 4.936246 
seperate points time 12.499606 
mapping pub time 2.051361 ms 
whole mapping time 142.346353 ms +++++
mappingCount 378 & avg mapping time 127.826518 ms ++++++++++++++++++++++
1317357676.791656017 WriteOdom aft_mapped_to_init
scan registration time 34.528650 ms *************
map prepare time 3.836923 ms
map corner num 115309  surf num 41939 
-----t: 0.036889
OdomCount 490 & avg odom time 0.051610 ms ++++++++++++++++++++++
1317357677.104274988 WriteOdom laser_odom_to_init
1317357677.104274988 WriteOdom aft_mapped_to_init_high_frec
build tree time 28.467943 ms 
mapping data assosiation time 24.830903 ms 
--------------------stamp1317357677.208434104
points size 82436 
scan registration time 28.708396 ms *************
mapping data assosiation time 27.186357 ms 
-----t: 0.0413279
OdomCount 491 & avg odom time 0.051589 ms ++++++++++++++++++++++
mapping solver time 17.841405 ms 
filter time 7.614220 ms 
map prepare time 2.437470 ms
map corner num 115941  surf num 42096 
build tree time 26.406747 ms 
prepare time 14.165358 
mapping data assosiation time 29.006263 ms 
publication time 8.858326 ms 
whole laserOdometry time 8.872013 ms 
 
-----t: 0.0445945
OdomCount 492 & avg odom time 0.051575 ms ++++++++++++++++++++++
mapping data assosiation time 26.038054 ms 
mapping solver time 15.114700 ms 
mapping optimization time 122.826023 
add points time 0.768375 ms
--------------------stamp1317357677.416680097
points size 80319 
sort q time 4.413481 
seperate points time 11.063729 
build tree time 32.210845 ms 
-----t: 0.0321938
OdomCount 493 & avg odom time 0.051536 ms ++++++++++++++++++++++
1317357677.416680097 WriteOdom laser_odom_to_init
1317357677.416680097 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.236999 ms 
mapping solver time 25.316951 ms 
--------------------stamp1317357677.520762920
points size 83119 
mapping data assosiation time 25.019810 ms 
prepare time 12.949356 
sort q time 4.493749 
seperate points time 10.831008 
filter time 10.169992 ms 
publication time 14.118277 ms 
whole laserOdometry time 14.131685 ms 
 
1317357677.312570095 WriteOdom aft_mapped_to_init
-----t: 0.0728781
OdomCount 494 & avg odom time 0.051579 ms ++++++++++++++++++++++
1317357677.520762920 WriteOdom laser_odom_to_init
build tree time 40.838505 ms 
points size 85524 
mapping data assosiation time 30.098362 ms 
scan registration time 40.526353 ms *************
mapping solver time 30.358286 ms 
mapping data assosiation time 30.119229 ms 
--------------------stamp1317357677.728940010
points size 88126 
filter time 8.147281 ms 
mapping pub time 1.798044 ms 
whole mapping time 171.773764 ms +++++
mappingCount 382 & avg mapping time 128.079229 ms ++++++++++++++++++++++
1317357677.416680098 WriteOdom aft_mapped_to_init
scan registration time 37.665964 ms *************
publication time 6.938449 ms 
whole laserOdometry time 6.953193 ms 
 
-----t: 0.0507741
OdomCount 496 & avg odom time 0.051633 ms ++++++++++++++++++++++
mapping data assosiation time 24.364276 ms 
--------------------stamp1317357677.832978963
mapping solver time 27.918773 ms 
points size 88401 
prepare time 14.752119 
mapping data assosiation time 27.502525 ms 
publication time 12.585588 ms 
whole laserOdometry time 12.611599 ms 
 
mapping solver time 19.775329 ms 
-----t: 0.0459327
OdomCount 497 & avg odom time 0.051621 ms ++++++++++++++++++++++
map prepare time 2.698437 ms
map corner num 118352  surf num 42704 
build tree time 26.001215 ms 
points size 87821 
mapping data assosiation time 29.474919 ms 
mapping solver time 31.270439 ms 
publication time 9.767685 ms 
whole laserOdometry time 9.780698 ms 
 
mapping data assosiation time 29.562660 ms 
--------------------stamp1317357678.041032075
-----t: 0.0853246
OdomCount 498 & avg odom time 0.051689 ms ++++++++++++++++++++++
map prepare time 4.941708 ms
map corner num 118895  surf num 42853 
sort q time 5.107447 
seperate points time 26.767014 
scan registration time 63.437991 ms *************
publication time 14.896232 ms 
whole laserOdometry time 14.922749 ms 
 
points size 88248 
sort q time 5.089175 
seperate points time 12.026954 
publication time 12.651363 ms 
whole laserOdometry time 12.667503 ms 
 
-----t: 0.0494
OdomCount 500 & avg odom time 0.051704 ms ++++++++++++++++++++++
map prepare time 3.297306 ms
map corner num 119518  surf num 43010 
--------------------stamp1317357678.249079942
points size 88536 
sort q time 5.209642 
seperate points time 12.738700 
publication time 8.133205 ms 
whole laserOdometry time 8.147576 ms 
 
mapping solver time 30.079399 ms 
mapping data assosiation time 22.884992 ms 
--------------------stamp1317357678.353071928
mapping solver time 22.003795 ms 
mapping optimization time 135.057506 
add points time 1.284209 ms
prepare time 11.991386 
scan registration time 30.179413 ms *************
map prepare time 4.227603 ms
map corner num 161892  surf num 56841 
publication time 10.836697 ms 
whole laserOdometry time 10.852938 ms 
 
-----t: 0.0637246
OdomCount 502 & avg odom time 0.051711 ms ++++++++++++++++++++++
build tree time 48.973002 ms 
--------------------stamp1317357678.457066059
points size 87903 
sort q time 4.984104 
seperate points time 11.915561 
mapping solver time 27.533332 ms 
mapping data assosiation time 24.744916 ms 
mapping solver time 23.140697 ms 
filter time 12.750386 ms 
points size 87805 
sort q time 4.712729 
seperate points time 10.703565 
build tree time 51.300697 ms 
mapping data assosiation time 32.607890 ms 
points size 88371 
mapping solver time 48.826797 ms 
mapping data assosiation time 43.655698 ms 
points size 89266 
mapping solver time 38.970450 ms 
scan registration time 45.599137 ms *************
filter time 27.286021 ms 
-----t: 0.171427
OdomCount 505 & avg odom time 0.051983 ms ++++++++++++++++++++++
points size 90891 
sort q time 5.228563 
seperate points time 12.290758 
mapping data assosiation time 23.429157 ms 
publication time 10.110513 ms 
whole laserOdometry time 10.122814 ms 
 
mapping solver time 37.343865 ms 
--------------------stamp1317357678.977046966
-----t: 0.114257
OdomCount 506 & avg odom time 0.052106 ms ++++++++++++++++++++++
sort q time 11.014717 
seperate points time 18.174239 
scan registration time 51.429558 ms *************
publication time 9.679980 ms 
whole laserOdometry time 9.730801 ms 
 
mapping pub time 2.404892 ms 
whole mapping time 223.856562 ms +++++
--------------------stamp1317357679.081036090
-----t: 0.039529
OdomCount 508 & avg odom time 0.052094 ms ++++++++++++++++++++++
1317357678.977046966 WriteOdom laser_odom_to_init
1317357678.977046966 WriteOdom aft_mapped_to_init_high_frec
points size 95633 
prepare time 18.526798 
sort q time 5.576620 
seperate points time 13.080702 
-----t: 0.0371215
OdomCount 509 & avg odom time 0.052064 ms ++++++++++++++++++++++
mapping solver time 22.930674 ms 
--------------------stamp1317357679.185003042
points size 96225 
mapping solver time 21.839627 ms 
mapping optimization time 144.805816 
sort q time 5.217773 
seperate points time 13.755689 
map prepare time 3.229185 ms
map corner num 164223  surf num 57508 
publication time 14.230127 ms 
whole laserOdometry time 14.354018 ms 
 
build tree time 45.760361 ms 
mapping data assosiation time 25.270060 ms 
points size 96530 
prepare time 18.089919 
sort q time 5.217364 
seperate points time 12.928489 
publication time 8.867283 ms 
whole laserOdometry time 8.882998 ms 
 
mapping data assosiation time 26.895277 ms 
-----t: 0.0471264
OdomCount 511 & avg odom time 0.052043 ms ++++++++++++++++++++++
mapping solver time 19.354781 ms 
filter time 10.788175 ms 
points size 95817 
mapping pub time 17.259407 ms 
whole mapping time 176.240585 ms +++++
mappingCount 391 & avg mapping time 129.282508 ms ++++++++++++++++++++++
1317357679.081036091 WriteOdom aft_mapped_to_init
prepare time 13.650550 
drop lidar frame in mapping for real time performance 
[0m[ INFO] [1715775613.578800976, 1317357679.397332904]: Received 223122 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775613.578942498, 1317357679.397332904]: Data saved to 1317357679081036.pcd[0m
scan registration time 32.200743 ms *************
publication time 8.506734 ms 
whole laserOdometry time 8.516839 ms 
 
build tree time 43.571756 ms 
1317357679.392911911 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.119528 ms 
--------------------stamp1317357679.496856927
points size 96277 
mapping data assosiation time 21.969117 ms 
sort q time 14.652582 
seperate points time 21.474365 
-----t: 0.0444797
OdomCount 513 & avg odom time 0.052022 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
points size 97725 
prepare time 37.701937 
sort q time 9.166294 
seperate points time 15.524567 
1317357679.600799083 WriteOdom laser_odom_to_init
1317357679.600799083 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.028443 ms 
mapping solver time 25.578362 ms 
points size 101264 
sort q time 11.927127 
seperate points time 19.751651 
publication time 14.491217 ms 
whole laserOdometry time 14.508923 ms 
 
--------------------stamp1317357679.808682918
points size 101192 
build tree time 53.622658 ms 
sort q time 6.024977 
seperate points time 23.228812 
mapping data assosiation time 28.999869 ms 
-----t: 0.0533375
OdomCount 516 & avg odom time 0.052099 ms ++++++++++++++++++++++
publication time 15.906270 ms 
whole laserOdometry time 15.934897 ms 
 
1317357679.808682918 WriteOdom laser_odom_to_init
1317357679.808682918 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.456329 ms 
--------------------stamp1317357679.912601947
points size 101201 
sort q time 7.743984 
seperate points time 15.801680 
drop lidar frame in mapping for real time performance 
-----t: 0.0454663
OdomCount 517 & avg odom time 0.052086 ms ++++++++++++++++++++++
1317357679.912601947 WriteOdom laser_odom_to_init
1317357679.912601947 WriteOdom aft_mapped_to_init_high_frec
publication time 7.877021 ms 
whole laserOdometry time 7.888852 ms 
 
build tree time 35.490601 ms 
--------------------stamp1317357680.016520023
points size 101314 
prepare time 19.022028 
sort q time 5.539856 
seperate points time 13.001083 
mapping data assosiation time 23.398156 ms 
publication time 8.434768 ms 
whole laserOdometry time 8.447815 ms 
 
mapping optimization time 118.070594 
filter time 11.115711 ms 
--------------------stamp1317357680.120438098
points size 101079 
build tree time 43.569909 ms 
sort q time 5.838030 
seperate points time 13.107540 
mapping data assosiation time 23.462776 ms 
publication time 10.776496 ms 
whole laserOdometry time 10.818288 ms 
 
mapping solver time 25.642062 ms 
mapping data assosiation time 19.497335 ms 
--------------------stamp1317357680.224355936
points size 100833 
filter time 15.186706 ms 
1317357679.912601948 WriteOdom aft_mapped_to_init
build tree time 37.355805 ms 
--------------------stamp1317357680.328269958
mapping data assosiation time 22.709093 ms 
prepare time 20.004037 
sort q time 5.757873 
seperate points time 13.479022 
mapping solver time 26.593935 ms 
mapping solver time 16.725897 ms 
filter time 14.034645 ms 
--------------------stamp1317357680.432192087
points size 100615 
sort q time 5.586672 
seperate points time 13.115426 
publication time 9.843017 ms 
whole laserOdometry time 9.856579 ms 
 
-----t: 0.0446291
OdomCount 522 & avg odom time 0.052093 ms ++++++++++++++++++++++
mapping data assosiation time 23.510846 ms 
--------------------stamp1317357680.536086082
points size 100856 
sort q time 5.555734 
seperate points time 13.534429 
publication time 11.187257 ms 
whole laserOdometry time 11.220494 ms 
 
-----t: 0.040053
OdomCount 523 & avg odom time 0.052070 ms ++++++++++++++++++++++
filter time 15.975499 ms 
map prepare time 3.747879 ms
map corner num 169258  surf num 59072 
--------------------stamp1317357680.639946937
points size 101287 
sort q time 5.675851 
seperate points time 13.011938 
publication time 7.559072 ms 
whole laserOdometry time 7.572913 ms 
 
mapping solver time 22.622373 ms 
mapping data assosiation time 21.124121 ms 
-----t: 0.0947037
OdomCount 524 & avg odom time 0.052151 ms ++++++++++++++++++++++
mapping solver time 25.004627 ms sort q time 5.939463 
seperate points time 16.406701 
filter time 35.382649 ms 
publication time 11.305520 ms 
whole laserOdometry time 12.649941 ms 
 
1317357680.743818044 WriteOdom laser_odom_to_init
1317357680.743818044 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357680.847698926
points size 101248 
sort q time 5.915673 
seperate points time 13.605823 
mapping data assosiation time 24.640861 ms 
publication time 10.027444 ms -----t: 0.0547213
OdomCount 526 & avg odom time 0.052168 ms ++++++++++++++++++++++
mapping data assosiation time 22.922730 ms 
--------------------stamp1317357680.951617002
mapping solver time 22.095529 ms 
points size 100707 
filter time 14.212798 ms 
map prepare time 4.231060 ms
map corner num 151697  surf num 52529 
scan registration time 37.072699 ms *************
-----t: 0.0440308
OdomCount 527 & avg odom time 0.052153 ms ++++++++++++++++++++++
build tree time 49.981117 ms 
--------------------stamp1317357681.055584907
mapping data assosiation time 24.029063 ms 
mapping solver time 22.488248 ms 
sort q time 6.957438 
seperate points time 13.772225 
scan registration time 33.900647 ms *************
publication time 7.204894 ms 
whole laserOdometry time 7.221236 ms 
 
1317357681.055584907 WriteOdom laser_odom_to_init
1317357681.055584907 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.479681 ms 
mapping optimization time 137.055379 
add points time 1.056641 ms
filter time 9.891699 ms 
mapping pub time 23.204503 ms 
whole mapping time 175.838884 ms +++++
mappingCount 401 & avg mapping time 130.348566 ms ++++++++++++++++++++++
points size 98336 
sort q time 5.427713 
seperate points time 12.630138 
build tree time 38.601340 ms 
-----t: 0.0458031
OdomCount 529 & avg odom time 0.052121 ms ++++++++++++++++++++++
1317357681.159550905 WriteOdom laser_odom_to_init
1317357681.159550905 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.910944 ms 
mapping solver time 22.607152 ms 
--------------------stamp1317357681.263564109
points size 96313 
sort q time 6.036366 
seperate points time 12.818866 
mapping optimization time 137.370055 
add points time 0.763007 ms
mapping pub time 3.634612 ms 
whole mapping time 159.052161 ms +++++
mappingCount 402 & avg mapping time 130.419979 ms ++++++++++++++++++++++
-----t: 0.0457984
OdomCount 530 & avg odom time 0.052109 ms ++++++++++++++++++++++
build tree time 35.368322 ms 
--------------------stamp1317357681.367630004
points size 95274 
sort q time 6.180802 
seperate points time 12.469345 
publication time 8.820211 ms 
whole laserOdometry time 8.840487 ms 
 
-----t: 0.0479433
OdomCount 531 & avg odom time 0.052102 ms ++++++++++++++++++++++
1317357681.367630004 WriteOdom laser_odom_to_init
1317357681.367630004 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.822477 ms 
mapping optimization time 113.881240 
add points time 0.654913 ms
filter time 11.286457 ms 
mapping pub time 2.215488 ms 
whole mapping time 132.402088 ms +++++
mappingCount 403 & avg mapping time 130.424909 ms ++++++++++++++++++++++
1317357681.159550905 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.800632 ms
map corner num 153224  surf num 53005 
--------------------stamp1317357681.471713066
build tree time 33.109765 ms 
prepare time 16.543003 
scan registration time 31.966543 ms *************
publication time 9.147445 ms 
whole laserOdometry time 9.167490 ms 
 
-----t: 0.0403378
OdomCount 532 & avg odom time 0.052079 ms ++++++++++++++++++++++
mapping data assosiation time 18.541292 ms 
--------------------stamp1317357681.575823068
mapping optimization time 123.364019 
add points time 0.630127 ms
filter time 11.671698 ms 
map prepare time 3.783630 ms
map corner num 153685  surf num 53162 
publication time 11.061161 ms 
whole laserOdometry time 11.074671 ms 
 
build tree time 43.201480 ms 
mapping data assosiation time 21.478710 ms 
--------------------stamp1317357681.679959058
points size 89590 
sort q time 5.537704 
seperate points time 13.191860 
mapping data assosiation time 23.749808 ms 
-----t: 0.0482
OdomCount 534 & avg odom time 0.052065 ms ++++++++++++++++++++++
mapping solver time 22.042854 ms 
1317357681.679959058 WriteOdom laser_odom_to_init
mapping optimization time 139.779306 
1317357681.679959058 WriteOdom aft_mapped_to_init_high_frec
add points time 0.667923 ms
mapping pub time 2.093908 ms 
whole mapping time 158.271474 ms +++++
mappingCount 405 & avg mapping time 130.519484 ms ++++++++++++++++++++++
--------------------stamp1317357681.784141063
points size 88325 
sort q time 5.750864 
seperate points time 13.805364 
publication time 9.677910 ms 
whole laserOdometry time 9.691466 ms 
 
mapping solver time 24.649612 ms 
-----t: 0.087792
OdomCount 535 & avg odom time 0.052132 ms ++++++++++++++++++++++
mapping solver time 28.892907 ms 
filter time 15.822920 ms 
map prepare time 4.876587 ms
map corner num 154892  surf num 53595 
publication time 18.423856 ms 
whole laserOdometry time 18.438806 ms 
 
build tree time 38.338267 ms 
--------------------stamp1317357681.992579936
prepare time 11.755632 
sort q time 4.607459 
seperate points time 11.178991 
publication time 9.708079 ms 
whole laserOdometry time 9.721991 ms 
 
mapping data assosiation time 22.844840 ms 
mapping solver time 19.237885 ms 
filter time 11.813041 ms 
points size 85585 
prepare time 17.367860 
sort q time 5.190170 
seperate points time 11.283934 
mapping data assosiation time 27.066031 ms 
mapping solver time 26.403025 ms 
-----t: 0.070783
OdomCount 538 & avg odom time 0.052178 ms ++++++++++++++++++++++
mapping data assosiation time 31.004229 ms 
prepare time 14.570505 
mapping solver time 18.508224 ms 
sort q time 4.978360 
seperate points time 25.130377 
1317357681.888350010 WriteOdom aft_mapped_to_init
map prepare time 4.349947 ms
map corner num 156347  surf num 54048 
-----t: 0.0484043
OdomCount 539 & avg odom time 0.052171 ms ++++++++++++++++++++++
publication time 8.993473 ms 
whole laserOdometry time 9.011221 ms 
 
--------------------stamp1317357682.305145025
points size 87138 
mapping data assosiation time 23.038479 ms 
publication time 8.254236 ms 
whole laserOdometry time 8.267592 ms 
 
mapping solver time 34.516581 ms 
mapping data assosiation time 27.263458 ms 
-----t: 0.0831423
OdomCount 540 & avg odom time 0.052229 ms ++++++++++++++++++++++
mapping solver time 30.265361 ms 
filter time 12.651415 ms 
sort q time 6.235178 
seperate points time 17.342840 
scan registration time 50.988878 ms *************
build tree time 49.537604 ms 
--------------------stamp1317357682.513387918
prepare time 11.780596 
sort q time 4.760065 
seperate points time 10.070013 
mapping solver time 26.221375 ms 
mapping data assosiation time 25.119927 ms 
mapping solver time 22.391611 ms 
filter time 10.909386 ms 
map prepare time 4.071195 ms
map corner num 157976  surf num 54614 
points size 88638 
sort q time 5.975216 
seperate points time 13.361104 
publication time 7.546642 ms 
whole laserOdometry time 7.560544 ms 
 
mapping data assosiation time 24.199606 ms 
--------------------stamp1317357682.721393108
points size 85838 
mapping data assosiation time 28.449788 ms 
mapping solver time 23.661780 ms 
filter time 11.276442 ms 
[0m[ INFO] [1715775616.979554726, 1317357682.809016620]: Received 213853 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775616.979596225, 1317357682.809016620]: Data saved to 1317357682409281.pcd[0m
--------------------stamp1317357682.825311899
points size 83499 
sort q time 5.609123 
seperate points time 12.328604 
build tree time 49.181798 ms 
publication time 11.577186 ms 
whole laserOdometry time 11.655886 ms 
 
mapping data assosiation time 27.552395 ms 
-----t: 0.0733029
OdomCount 545 & avg odom time 0.052285 ms ++++++++++++++++++++++
--------------------stamp1317357682.929217100
publication time 8.498904 ms 
whole laserOdometry time 8.577721 ms 
 
filter time 12.112857 ms 
mapping pub time 1.988219 ms 
whole mapping time 203.253346 ms +++++
mappingCount 412 & avg mapping time 131.303772 ms ++++++++++++++++++++++
1317357682.617425919 WriteOdom aft_mapped_to_init
--------------------stamp1317357683.033116102
build tree time 54.029551 ms publication time 7.870671 ms 
whole laserOdometry time 7.885254 ms 
 
mapping data assosiation time 39.411818 ms points size 83462 
prepare time 14.325608 
scan registration time 32.893700 ms *************
1317357683.033116102 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 32.233591 ms 
-----t: 0.0799154
OdomCount 548 & avg odom time 0.052457 ms ++++++++++++++++++++++
1317357683.136981010 WriteOdom laser_odom_to_init
mapping solver time 50.633143 ms 
1317357683.136981010 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 247.913208 
add points time 1.347972 ms
prepare time 35.430746 
drop lidar frame in mapping for real time performance 
map prepare time 3.942690 ms
map corner num 160727  surf num 55496 
scan registration time 54.502364 ms *************
publication time 9.648724 ms 
whole laserOdometry time 9.665562 ms 
 
build tree time 58.099185 ms 
--------------------stamp1317357683.344700098
prepare time 22.633019 
mapping data assosiation time 37.189894 ms 
publication time 8.881183 ms 
whole laserOdometry time 8.901528 ms 
 
mapping solver time 42.662069 ms 
--------------------stamp1317357683.448494911
mapping data assosiation time 32.623951 ms 
sort q time 7.614295 
seperate points time 24.510105 
mapping solver time 30.182133 ms 
publication time 14.442402 ms 
whole laserOdometry time 14.459271 ms 
 
1317357683.033116102 WriteOdom aft_mapped_to_init
-----t: 0.0728836
OdomCount 551 & avg odom time 0.052621 ms ++++++++++++++++++++++
--------------------stamp1317357683.552269935
points size 87389 
scan registration time 31.245687 ms *************
publication time 12.998927 ms 
whole laserOdometry time 13.012425 ms 
 
mapping solver time 30.437600 ms 
-----t: 0.0715224
OdomCount 552 & avg odom time 0.052655 ms ++++++++++++++++++++++
points size 90163 
mapping solver time 27.501596 ms 
sort q time 5.174426 
seperate points time 12.073014 
mapping optimization time 155.833253 
add points time 1.494642 ms
scan registration time 31.851163 ms *************
mapping pub time 3.586305 ms 
whole mapping time 182.715647 ms +++++
mappingCount 415 & avg mapping time 131.996866 ms ++++++++++++++++++++++
publication time 10.971215 ms 
whole laserOdometry time 11.000488 ms 
 
-----t: 0.0537062
OdomCount 553 & avg odom time 0.052657 ms ++++++++++++++++++++++
1317357683.656023025 WriteOdom laser_odom_to_init
1317357683.656023025 WriteOdom aft_mapped_to_init_high_frec
build tree time 44.950558 ms 
points size 91430 
sort q time 5.775640 
seperate points time 12.745323 
mapping data assosiation time 38.869407 ms 
publication time 7.889116 ms 
whole laserOdometry time 7.902627 ms 
 
mapping solver time 35.619865 ms 
-----t: 0.0689265
OdomCount 554 & avg odom time 0.052687 ms ++++++++++++++++++++++
mapping data assosiation time 26.555349 ms 
points size 93137 
mapping solver time 35.863767 ms 
filter time 13.992739 ms 
mapping pub time 12.749429 ms 
whole mapping time 215.802497 ms +++++
mappingCount 416 & avg mapping time 132.198329 ms ++++++++++++++++++++++
1317357683.552269936 WriteOdom aft_mapped_to_init
publication time 11.295438 ms 
whole laserOdometry time 11.320990 ms 
 
-----t: 0.060525
OdomCount 555 & avg odom time 0.052701 ms ++++++++++++++++++++++
1317357683.863472938 WriteOdom laser_odom_to_init
1317357683.863472938 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357683.967199087mapping data assosiation time 41.799058 ms 
publication time 14.246994 ms 
whole laserOdometry time 14.260698 ms 
 
--------------------stamp1317357684.070931911
points size 97158 
prepare time 27.792525 
sort q time 6.445749 
seperate points time 15.393688 
scan registration time 53.907510 ms *************
publication time 13.538727 ms 
whole laserOdometry time 13.551104 ms 
 
mapping solver time 36.494251 ms 
--------------------stamp1317357684.174684047
points size 97720 
filter time 26.510357 ms 
publication time 11.937396 ms 
whole laserOdometry time 12.088306 ms 
 
-----t: 0.0507903
OdomCount 558 & avg odom time 0.052866 ms ++++++++++++++++++++++
--------------------stamp1317357684.278434038
prepare time 14.946792 
sort q time 5.441031 
seperate points time 14.213388 
publication time 7.160360 ms 
whole laserOdometry time 7.171964 ms 
 
mapping solver time 36.831661 ms 
-----t: 0.0681281
OdomCount 559 & avg odom time 0.052893 ms ++++++++++++++++++++++
mapping data assosiation time 29.303259 ms 
points size 98726 
sort q time 5.785513 
seperate points time 12.050213 
map prepare time 9.693916 ms
map corner num 165402  surf num 57116 
-----t: 0.0605128
OdomCount 560 & avg odom time 0.052907 ms ++++++++++++++++++++++
1317357684.382186889 WriteOdom laser_odom_to_init
1317357684.382186889 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357684.485960960
prepare time 16.613894 
scan registration time 36.036216 ms *************
publication time 8.226048 ms 
whole laserOdometry time 8.240904 ms 
 
-----t: 0.0584819
OdomCount 561 & avg odom time 0.052917 ms ++++++++++++++++++++++
mapping data assosiation time 27.577838 ms 
mapping solver time 24.949747 ms 
prepare time 20.666482 
sort q time 5.680647 
seperate points time 13.097166 
mapping pub time 12.334959 ms 
whole mapping time 221.396875 ms +++++
mappingCount 419 & avg mapping time 132.942710 ms ++++++++++++++++++++++
1317357684.174684048 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 4.497739 ms
map corner num 166251  surf num 57417 
publication time 14.170397 ms 
whole laserOdometry time 14.191256 ms 
 
-----t: 0.0589992
OdomCount 562 & avg odom time 0.052927 ms ++++++++++++++++++++++
1317357684.589732885 WriteOdom laser_odom_to_init
--------------------stamp1317357684.693506956
build tree time 52.222929 ms 
points size 102599 
sort q time 6.917525 
seperate points time 14.243480 
publication time 6.981161 ms 
whole laserOdometry time 6.992689 ms 
 
-----t: 0.0545196
OdomCount 563 & avg odom time 0.052930 ms ++++++++++++++++++++++
mapping data assosiation time 24.827096 ms 
points size 100137 
mapping solver time 25.672893 ms 
mapping optimization time 170.160168 
add points time 0.718748 ms
sort q time 5.996088 
seperate points time 12.815324 
mapping pub time 2.683711 ms 
whole mapping time 193.096775 ms +++++
mappingCount 420 & avg mapping time 133.085941 ms ++++++++++++++++++++++
publication time 12.853625 ms 
whole laserOdometry time 12.870250 ms 
 
-----t: 0.0683673
OdomCount 564 & avg odom time 0.052958 ms ++++++++++++++++++++++
mapping data assosiation time 24.297794 ms 
prepare time 13.518508 
sort q time 14.128133 
seperate points time 20.682103 
publication time 10.891099 ms 
whole laserOdometry time 10.909796 ms 
 
mapping data assosiation time 26.581787 ms 
-----t: 0.0626114
OdomCount 565 & avg odom time 0.052975 ms ++++++++++++++++++++++
mapping solver time 22.372192 ms 
mapping optimization time 145.922371 
add points time 0.458950 ms
points size 95058 
sort q time 5.687460 
seperate points time 12.004730 
map prepare time 5.082296 ms
map corner num 167970  surf num 58048 
publication time 11.300235 ms 
whole laserOdometry time 11.311697 ms 
 
-----t: 0.0505904
OdomCount 566 & avg odom time 0.052971 ms ++++++++++++++++++++++
build tree time 46.128610 ms 
--------------------stamp1317357685.108722925
mapping solver time 25.750687 ms 
mapping data assosiation time 26.244234 ms 
-----t: 0.0479973
OdomCount 567 & avg odom time 0.052962 ms ++++++++++++++++++++++
1317357685.108722925 WriteOdom laser_odom_to_init
1317357685.108722925 WriteOdom aft_mapped_to_init_high_frec
filter time 15.674430 ms 
map prepare time 4.920401 ms
map corner num 168814  surf num 58360 
points size 92841 
prepare time 14.141617 
sort q time 5.472436 
seperate points time 12.404708 
publication time 11.318417 ms 
-----t: 0.0502434mapping data assosiation time 26.078355 ms 
--------------------stamp1317357685.316370964
points size 90813 
sort q time 10.027359 
seperate points time 17.179786 
add points time 0.542113 ms
publication time 8.984258 ms 
whole laserOdometry time 8.997000 ms 
 
filter time 15.331344 ms 
map prepare time 3.850628 ms
map corner num 169635  surf num 58691 
-----t: 0.0507007
OdomCount 569 & avg odom time 0.052953 ms ++++++++++++++++++++++
1317357685.316370964 WriteOdom laser_odom_to_init
1317357685.316370964 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357685.420171022
points size 89251 
build tree time 47.338276 ms 
sort q time 6.230418 
seperate points time 12.419938 
mapping data assosiation time 25.041528 ms 
publication time 9.806049 ms 
whole laserOdometry time 9.830536 ms 
 
mapping solver time 24.421041 ms 
-----t: 0.0592519
OdomCount 570 & avg odom time 0.052964 ms ++++++++++++++++++++++
1317357685.420171022 WriteOdom laser_odom_to_init
1317357685.420171022 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.560546 ms 
points size 88055 
prepare time 11.438463 
publication time 9.764361 ms 
whole laserOdometry time 9.797247 ms 
 
map prepare time 4.248033 ms
map corner num 170444  surf num 58999 
-----t: 0.0584707
OdomCount 571 & avg odom time 0.052974 ms ++++++++++++++++++++++
1317357685.523942947 WriteOdom laser_odom_to_init
1317357685.523942947 WriteOdom aft_mapped_to_init_high_frec
build tree time 48.092124 ms 
points size 84111 
prepare time 13.751611 
sort q time 4.567218 
seperate points time 10.790726 
mapping solver time 22.922565 ms 
-----t: 0.0435175
OdomCount 572 & avg odom time 0.052957 ms ++++++++++++++++++++++
mapping data assosiation time 24.633782 ms 
mapping solver time 18.056984 ms 
--------------------stamp1317357685.731543064
points size 82821 
sort q time 4.946334 
seperate points time 24.469293 
1317357685.731543064 WriteOdom laser_odom_to_init
1317357685.731543064 WriteOdom aft_mapped_to_init_high_frec
build tree time 62.260383 ms 
mapping data assosiation time 23.073402 ms 
points size 80378 
mapping solver time 22.450516 ms 
publication time 7.033708 ms 
whole laserOdometry time 7.051600 ms 
 
-----t: 0.035306
OdomCount 574 & avg odom time 0.052897 ms ++++++++++++++++++++++
mapping solver time 15.261530 ms 
mapping optimization time 146.433207 
add points time 0.702211 ms
filter time 11.772943 ms 
mapping pub time 11.232247 ms 
whole mapping time 175.790279 ms +++++
mappingCount 426 & avg mapping time 133.699273 ms ++++++++++++++++++++++
--------------------stamp1317357685.939088106
points size 80514 
prepare time 14.344595 
scan registration time 30.134806 ms *************
-----t: 0.0362572
OdomCount 575 & avg odom time 0.052868 ms ++++++++++++++++++++++
mapping solver time 19.410502 ms 
mapping data assosiation time 20.113995 ms 
--------------------stamp1317357686.042864084
mapping optimization time 125.215366 
add points time 0.719214 ms
points size 80364 
prepare time 14.372771 
mapping pub time 2.015569 ms 
whole mapping time 144.810600 ms +++++
mappingCount 427 & avg mapping time 133.725331 ms ++++++++++++++++++++++
publication time 8.111169 ms 
whole laserOdometry time 8.122794 ms 
 
-----t: 0.0588506
OdomCount 576 & avg odom time 0.052878 ms ++++++++++++++++++++++
build tree time 62.566890 ms 
mapping data assosiation time 23.725730 ms 
points size 79966 
prepare time 21.131148 
scan registration time 37.321938 ms *************
-----t: 0.0386213
OdomCount 577 & avg odom time 0.052853 ms ++++++++++++++++++++++
1317357686.146655082 WriteOdom laser_odom_to_init
1317357686.146655082 WriteOdom aft_mapped_to_init_high_frec
publication time 6.924846 ms 
whole laserOdometry time 6.944887 ms 
 
mapping data assosiation time 20.714470 ms 
mapping solver time 14.652497 ms 
filter time 12.154462 ms 
--------------------stamp1317357686.250479936
points size 80805 
prepare time 15.297358 
sort q time 4.689723 
seperate points time 10.831802 
publication time 8.171897 ms 
whole laserOdometry time 8.269156 ms 
 
-----t: 0.0358845
OdomCount 578 & avg odom time 0.052824 ms ++++++++++++++++++++++
mapping data assosiation time 19.998053 ms 
mapping solver time 16.927378 ms 
--------------------stamp1317357686.354306936
prepare time 13.080258 
mapping solver time 17.494105 ms 
filter time 13.190114 ms 
-----t: 0.0412129
OdomCount 579 & avg odom time 0.052804 ms ++++++++++++++++++++++
1317357686.354306936 WriteOdom laser_odom_to_init
1317357686.354306936 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.554827 ms 
--------------------stamp1317357686.458105087
points size 83111 
mapping solver time 23.566327 ms 
sort q time 5.275332 
seperate points time 12.375178 
mapping solver time 14.555665 ms 
mapping pub time 4.246646 ms 
whole mapping time 126.666683 ms +++++
mappingCount 430 & avg mapping time 133.830408 ms ++++++++++++++++++++++
1317357686.250479937 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.514688 ms
map corner num 112100  surf num 39026 
build tree time 29.763723 ms 
points size 84158 
prepare time 12.298790 
mapping data assosiation time 20.701363 ms 
mapping solver time 23.465681 ms 
publication time 7.326621 ms 
whole laserOdometry time 7.337141 ms 
 
mapping data assosiation time 20.782762 ms 
mapping solver time 16.367125 ms 
mapping pub time 5.907777 ms 
whole mapping time 128.867514 ms +++++
mappingCount 431 & avg mapping time 133.818901 ms ++++++++++++++++++++++
--------------------stamp1317357686.665739059
prepare time 12.248075 
mapping data assosiation time 19.896881 ms 
-----t: 0.0382869
OdomCount 582 & avg odom time 0.052747 ms ++++++++++++++++++++++
mapping solver time 21.283952 ms 
mapping data assosiation time 19.032138 ms 
mapping solver time 16.286212 ms 
filter time 9.240086 ms 
mapping pub time 2.065000 ms 
whole mapping time 121.257042 ms +++++
mappingCount 432 & avg mapping time 133.789837 ms ++++++++++++++++++++++
1317357686.561906099 WriteOdom aft_mapped_to_init
points size 78046 
sort q time 9.198062 
seperate points time 15.407032 
build tree time 30.992789 ms 
publication time 14.994550 ms 
whole laserOdometry time 15.018169 ms 
 
mapping data assosiation time 22.131017 ms 
mapping solver time 16.163969 ms 
mapping data assosiation time 17.501566 ms 
points size 75702 
filter time 10.210229 ms 
map prepare time 3.137092 ms
map corner num 113739  surf num 39644 
-----t: 0.0360218
OdomCount 584 & avg odom time 0.052683 ms ++++++++++++++++++++++
build tree time 29.528252 ms 
mapping data assosiation time 20.550736 ms 
--------------------stamp1317357686.977153062
sort q time 4.431439 
seperate points time 8.481651 
mapping solver time 13.614514 ms 
mapping optimization time 102.871448 
add points time 0.655071 ms
publication time 6.143201 ms 
whole laserOdometry time 6.166053 ms 
 
-----t: 0.0363578
OdomCount 585 & avg odom time 0.052655 ms ++++++++++++++++++++++
--------------------stamp1317357687.080976963
prepare time 9.800531 
sort q time 4.557495 
seperate points time 9.448354 
publication time 7.496036 ms 
whole laserOdometry time 7.510420 ms 
 
mapping solver time 39.067300 ms 
mapping data assosiation time 19.465829 ms 
mapping solver time 15.796339 ms 
filter time 7.678219 ms 
--------------------stamp1317357687.184779882
build tree time 26.902241 ms 
scan registration time 24.619886 ms *************
publication time 4.754480 ms 
whole laserOdometry time 4.769262 ms 
 
mapping solver time 18.934922 ms 
mapping data assosiation time 15.190162 ms 
mapping solver time 14.035439 ms 
filter time 7.046056 ms 
--------------------stamp1317357687.288568019
sort q time 3.742626 
seperate points time 8.242683 
-----t: 0.0210224
OdomCount 588 & avg odom time 0.052522 ms ++++++++++++++++++++++
mapping data assosiation time 15.669676 ms 
mapping solver time 14.391955 ms 
mapping data assosiation time 15.712654 ms 
mapping solver time 11.922968 ms 
mapping optimization time 89.561906 
add points time 0.508216 ms
map prepare time 2.562985 ms
map corner num 115706  surf num 40339 
points size 72564 
sort q time 3.976673 
seperate points time 15.893904 
mapping data assosiation time 18.248563 ms 
-----t: 0.0431201
OdomCount 589 & avg odom time 0.052506 ms ++++++++++++++++++++++
mapping data assosiation time 17.150325 ms 
mapping solver time 13.918257 ms 
filter time 9.616666 ms 
prepare time 12.760654 
sort q time 4.135651 
seperate points time 9.113676 
build tree time 29.371491 ms 
publication time 17.696744 ms 
whole laserOdometry time 17.796948 ms 
 
mapping data assosiation time 17.177282 ms 
mapping solver time 16.618066 ms 
mapping data assosiation time 16.876439 ms 
mapping solver time 11.504426 ms 
points size 82949 
map prepare time 2.934055 ms
map corner num 116418  surf num 40538 
-----t: 0.0322422
OdomCount 591 & avg odom time 0.052480 ms ++++++++++++++++++++++
mapping data assosiation time 17.030061 ms 
mapping solver time 14.865595 ms 
mapping data assosiation time 16.936817 ms 
mapping solver time 11.873353 ms 
filter time 9.334424 ms 
publication time 5.994683 ms 
whole laserOdometry time 6.008714 ms 
 
-----t: 0.0343924
OdomCount 592 & avg odom time 0.052449 ms ++++++++++++++++++++++
mapping data assosiation time 17.307809 ms 
mapping solver time 18.540609 ms 
--------------------stamp1317357687.807724952
points size 82662 
sort q time 4.676210 
seperate points time 10.212008 
mapping pub time 20.181155 ms 
whole mapping time 131.131550 ms +++++
mappingCount 441 & avg mapping time 133.440680 ms ++++++++++++++++++++++
build tree time 30.905660 ms 
mapping data assosiation time 17.780428 ms 
points size 83131 
mapping solver time 20.252311 ms 
-----t: 0.0333003
OdomCount 594 & avg odom time 0.052378 ms ++++++++++++++++++++++
filter time 7.925626 ms 
build tree time 30.473814 ms 
points size 83199 
sort q time 5.505260 
seperate points time 10.638874 
mapping solver time 21.221403 ms 
publication time 9.104621 ms 
whole laserOdometry time 9.119971 ms 
 
-----t: 0.0316501
OdomCount 595 & avg odom time 0.052343 ms ++++++++++++++++++++++
1317357688.015405893 WriteOdom laser_odom_to_init
1317357688.015405893 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.761465 ms 
mapping solver time 13.536488 ms 
filter time 7.657652 ms 
--------------------stamp1317357688.119241952
points size 83691 
mapping data assosiation time 17.656052 ms 
mapping solver time 16.546905 ms 
-----t: 0.0334615
OdomCount 596 & avg odom time 0.052311 ms ++++++++++++++++++++++
mapping data assosiation time 17.591144 ms 
mapping solver time 11.483831 ms 
filter time 7.649439 ms 
--------------------stamp1317357688.223097085
points size 84138 
prepare time 16.169759 
sort q time 5.304511 
seperate points time 35.258233 
-----t: 0.0524131
OdomCount 597 & avg odom time 0.052312 ms ++++++++++++++++++++++
mapping solver time 19.420031 ms 
filter time 10.115730 ms 
--------------------stamp1317357688.326942920
prepare time 23.107833 
-----t: 0.0262667
OdomCount 598 & avg odom time 0.052268 ms ++++++++++++++++++++++
mapping data assosiation time 18.826841 ms 
mapping solver time 19.298102 ms 
mapping data assosiation time 15.993955 ms 
mapping solver time 15.047512 ms 
filter time 9.521972 ms 
sort q time 5.050951 
seperate points time 10.071804 
publication time 6.975461 ms 
whole laserOdometry time 6.988880 ms 
 
-----t: 0.0373383
OdomCount 599 & avg odom time 0.052243 ms ++++++++++++++++++++++
1317357688.430758953 WriteOdom laser_odom_to_init
1317357688.430758953 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.700680 ms 
mapping solver time 23.779570 ms 
points size 79742 
sort q time 4.488248 
seperate points time 9.293875 
add points time 0.673047 ms
mapping pub time 2.251483 ms 
whole mapping time 133.341852 ms +++++
mappingCount 447 & avg mapping time 133.257461 ms ++++++++++++++++++++++
1317357688.326942921 WriteOdom aft_mapped_to_init
-----t: 0.0612
OdomCount 600 & avg odom time 0.052258 ms ++++++++++++++++++++++
1317357688.534615993 WriteOdom laser_odom_to_init
1317357688.534615993 WriteOdom aft_mapped_to_init_high_frec
build tree time 32.245195 ms 
--------------------stamp1317357688.638484001
mapping data assosiation time 20.504506 ms 
sort q time 4.246932 
seperate points time 10.168789 
publication time 8.534888 ms 
whole laserOdometry time 8.549199 ms 
 
-----t: 0.0319295
OdomCount 601 & avg odom time 0.052224 ms ++++++++++++++++++++++
1317357688.638484001 WriteOdom laser_odom_to_init
1317357688.638484001 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.914272 ms 
mapping optimization time 118.579101 
add points time 0.647806 ms
map prepare time 3.162172 ms
map corner num 119847  surf num 41858 
points size 80548 
build tree time 36.069059 ms 
scan registration time 32.956507 ms *************
mapping data assosiation time 20.774622 ms 
-----t: 0.0496329
OdomCount 602 & avg odom time 0.052220 ms ++++++++++++++++++++++
1317357688.742330074 WriteOdom laser_odom_to_init
1317357688.742330074 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.860267 ms 
mapping data assosiation time 22.648341 ms 
--------------------stamp1317357688.846154928
points size 80869 
sort q time 4.467118 
seperate points time 9.766075 
publication time 8.096974 ms 
whole laserOdometry time 8.119344 ms 
 
build tree time 26.453027 ms 
mapping data assosiation time 17.844212 ms 
mapping solver time 19.819070 ms 
points size 81270 
sort q time 4.760491 
seperate points time 11.491786 
scan registration time 28.580580 ms *************
mapping solver time 19.835910 ms 
mapping optimization time 105.332425 
filter time 10.999821 ms 
mapping pub time 1.959150 ms 
whole mapping time 122.133187 ms +++++
mappingCount 450 & avg mapping time 133.262576 ms ++++++++++++++++++++++
publication time 7.656478 ms 
whole laserOdometry time 7.673396 ms 
 
1317357688.742330074 WriteOdom aft_mapped_to_init
-----t: 0.0357468
OdomCount 604 & avg odom time 0.052159 ms ++++++++++++++++++++++
1317357688.949969053 WriteOdom laser_odom_to_init
map prepare time 3.658974 ms
map corner num 121059  surf num 42368 
mapping data assosiation time 18.456579 ms 
points size 84341 
sort q time 5.586281 
seperate points time 13.034703 
mapping data assosiation time 21.133760 ms 
publication time 6.772083 ms 
whole laserOdometry time 6.784139 ms 
 
filter time 7.998330 ms 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357689.157635927
points size 82294 
sort q time 4.567250 
seperate points time 19.231096 
mapping solver time 25.614564 ms 
publication time 6.713466 ms 
whole laserOdometry time 6.724363 ms 
 
mapping data assosiation time 18.915481 ms 
mapping solver time 16.951071 ms 
mapping optimization time 111.376726 
add points time 0.617291 ms
map prepare time 2.275807 ms
map corner num 122128  surf num 42755 
points size 81040 
prepare time 13.101060 
build tree time 34.201448 ms 
publication time 7.395138 ms 
whole laserOdometry time 7.405080 ms 
 
mapping data assosiation time 19.708604 ms 
mapping solver time 20.538328 ms 
mapping data assosiation time 18.058945 ms 
mapping solver time 16.810318 ms 
--------------------stamp1317357689.365463018
points size 81491 
map prepare time 2.875186 ms
map corner num 122642  surf num 42945 
publication time 8.130017 ms 
whole laserOdometry time 8.144063 ms 
 
1317357689.365463018 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.000029 ms 
mapping solver time 21.121051 ms 
--------------------stamp1317357689.469372034
sort q time 5.093453 
seperate points time 11.530543 
map prepare time 3.488860 ms
map corner num 123128  surf num 43101 
-----t: 0.0457815
OdomCount 609 & avg odom time 0.052055 ms ++++++++++++++++++++++
mapping data assosiation time 18.489718 ms 
points size 83627 
mapping solver time 26.544979 ms 
sort q time 7.533395 
seperate points time 17.881965 
mapping data assosiation time 22.382501 ms 
scan registration time 42.749354 ms *************
mapping solver time 20.292752 ms 
mapping pub time 1.814465 ms 
whole mapping time 143.625754 ms +++++
mappingCount 455 & avg mapping time 133.203756 ms ++++++++++++++++++++++
--------------------stamp1317357689.677335977
points size 85814 
mapping data assosiation time 21.566722 ms 
mapping solver time 18.377167 ms 
publication time 5.527269 ms 
whole laserOdometry time 5.545144 ms 
 
-----t: 0.0330189
OdomCount 611 & avg odom time 0.052032 ms ++++++++++++++++++++++
mapping data assosiation time 19.765017 ms 
mapping solver time 12.481536 ms 
mapping optimization time 101.967253 
add points time 0.654715 ms
[0m[ INFO] [1715775623.938581131, 1317357689.765284948]: Received 167632 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775623.938650568, 1317357689.765284948]: Data saved to 1317357689469372.pcd[0m
--------------------stamp1317357689.781316995
points size 87534 
sort q time 5.161208 
seperate points time 11.775145 
1317357689.781316995 WriteOdom laser_odom_to_init
mapping solver time 20.444150 ms 
mapping data assosiation time 22.746673 ms 
points size 86536 
sort q time 5.026940 
seperate points time 11.704156 
filter time 12.525493 ms 
publication time 10.847642 ms 
whole laserOdometry time 10.859548 ms 
 
-----t: 0.0467804
OdomCount 613 & avg odom time 0.051999 ms ++++++++++++++++++++++
1317357689.885340929 WriteOdom laser_odom_to_init
1317357689.885340929 WriteOdom aft_mapped_to_init_high_frec
build tree time 36.476651 ms 
--------------------stamp1317357689.989357948
points size 86161 
sort q time 5.277043 
seperate points time 11.061855 
publication time 6.944686 ms 
whole laserOdometry time 6.985918 ms 
 
mapping data assosiation time 21.637119 ms 
mapping solver time 15.815123 ms 
filter time 11.064173 ms 
--------------------stamp1317357690.093396902
sort q time 5.492596 
seperate points time 12.894267 
scan registration time 30.962797 ms *************
mapping data assosiation time 20.919056 ms 
publication time 7.308311 ms 
whole laserOdometry time 7.321221 ms 
 
mapping solver time 23.763727 ms 
mapping data assosiation time 17.467432 ms 
mapping solver time 21.461461 ms 
filter time 9.869992 ms 
mapping pub time 2.311555 ms 
whole mapping time 128.888984 ms +++++
mappingCount 459 & avg mapping time 133.233906 ms ++++++++++++++++++++++
1317357689.885340929 WriteOdom aft_mapped_to_init
map prepare time 3.326856 ms
map corner num 125605  surf num 44267 
prepare time 26.902493 
sort q time 5.119227 
seperate points time 11.851697 
-----t: 0.03904
OdomCount 616 & avg odom time 0.051926 ms ++++++++++++++++++++++
mapping data assosiation time 19.346932 ms 
mapping solver time 20.619082 ms 
--------------------stamp1317357690.301477909
points size 89153 
mapping solver time 13.593412 ms 
prepare time 15.415944 
mapping optimization time 108.930508 
add points time 0.583562 ms
map prepare time 3.367467 ms
map corner num 126136  surf num 44497 
publication time 8.366488 ms 
whole laserOdometry time 8.381207 ms 
 
-----t: 0.0523086
1317357690.301477909 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357690.405464887
points size 90016 
sort q time 5.018333 
seperate points time 10.640003 
1317357690.405464887 WriteOdom laser_odom_to_init
publication time 10.308558 ms 
whole laserOdometry time 10.321708 ms 
 
1317357690.405464887 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.371283 ms 
mapping solver time 20.223294 ms 
mapping optimization time 139.294310 
add points time 0.584680 ms
[0m[ INFO] [1715775624.660022572, 1317357690.489982972]: Received 171255 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775624.660074084, 1317357690.489982972]: Data saved to 1317357690197464.pcd[0m
mapping pub time 24.055974 ms 
whole mapping time 175.726337 ms +++++
mappingCount 461 & avg mapping time 133.303950 ms ++++++++++++++++++++++
points size 92015 
prepare time 16.313387 
publication time 7.035112 ms 
whole laserOdometry time 7.047382 ms 
 
-----t: 0.04741
OdomCount 619 & avg odom time 0.051882 ms ++++++++++++++++++++++
mapping solver time 23.697895 ms 
mapping data assosiation time 18.846743 ms 
mapping solver time 14.401393 ms 
filter time 9.184332 ms 
mapping pub time 2.146670 ms 
whole mapping time 127.111727 ms +++++
mappingCount 462 & avg mapping time 133.290555 ms ++++++++++++++++++++++
1317357690.301477909 WriteOdom aft_mapped_to_init
publication time 7.549456 ms 
whole laserOdometry time 7.568385 ms 
 
build tree time 34.557995 ms 
mapping data assosiation time 19.718330 ms 
--------------------stamp1317357690.717405080
mapping data assosiation time 20.995417 ms 
sort q time 5.192538 
seperate points time 12.252647 
scan registration time 32.583292 ms *************
-----t: 0.0311835
OdomCount 621 & avg odom time 0.051841 ms ++++++++++++++++++++++
1317357690.717405080 WriteOdom laser_odom_to_init
1317357690.717405080 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.175133 ms 
mapping optimization time 122.873570 
add points time 0.687382 ms
filter time 8.272329 ms 
map prepare time 2.878487 ms
map corner num 127570  surf num 44983 
build tree time 28.567273 ms 
--------------------stamp1317357690.821396112
mapping data assosiation time 19.659822 ms 
prepare time 11.299005 
mapping solver time 20.476750 ms 
publication time 11.272923 ms 
whole laserOdometry time 11.288150 ms 
 
mapping data assosiation time 21.801852 ms 
-----t: 0.0350424
OdomCount 622 & avg odom time 0.051814 ms ++++++++++++++++++++++
1317357690.821396112 WriteOdom laser_odom_to_init
1317357690.821396112 WriteOdom aft_mapped_to_init_high_frec
filter time 7.755256 ms 
--------------------stamp1317357690.925370931
points size 89340 
sort q time 5.612251 
seperate points time 11.836361 
scan registration time 30.513585 ms *************
publication time 11.224369 ms 
whole laserOdometry time 11.252482 ms 
 
mapping solver time 33.016111 ms 
-----t: 0.0708276
OdomCount 623 & avg odom time 0.051844 ms ++++++++++++++++++++++
1317357690.925370931 WriteOdom laser_odom_to_init
1317357690.925370931 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357691.029336929
mapping optimization time 136.999852 
mapping pub time 2.021904 ms 
whole mapping time 152.438973 ms +++++
mappingCount 465 & avg mapping time 133.308182 ms ++++++++++++++++++++++
1317357690.821396112 WriteOdom aft_mapped_to_init
sort q time 4.978265 
seperate points time 11.258080 
map prepare time 2.676513 ms
map corner num 128483  surf num 45332 
-----t: 0.0312443
publication time 6.456485 ms 
whole laserOdometry time 6.466964 ms 
 
OdomCount 624 & avg odom time 0.051811 ms ++++++++++++++++++++++
build tree time 31.371970 ms 
mapping data assosiation time 17.962517 ms 
mapping solver time 21.333167 ms 
points size 88464 
sort q time 4.768555 
seperate points time 10.737289 
mapping solver time 20.853283 ms 
filter time 11.533226 ms 
drop lidar frame in mapping for real time performance 
map prepare time 2.747517 ms
map corner num 128856  surf num 45454 
build tree time 32.212645 ms 
--------------------stamp1317357691.237265110
points size 88897 
sort q time 4.804445 
seperate points time 11.041248 
mapping solver time 18.951616 ms 
-----t: 0.0304453
OdomCount 626 & avg odom time 0.051753 ms ++++++++++++++++++++++
mapping solver time 17.413328 ms 
filter time 7.702318 ms 
mapping pub time 2.153740 ms 
whole mapping time 122.308742 ms +++++
mappingCount 467 & avg mapping time 133.288719 ms ++++++++++++++++++++++
1317357691.029336929 WriteOdom aft_mapped_to_init
map prepare time 2.162850 ms
map corner num 129233  surf num 45574 
--------------------stamp1317357691.341228008
prepare time 11.900979 
sort q time 6.536445 
seperate points time 11.959976 
mapping solver time 17.865469 ms 
-----t: 0.0414874
OdomCount 627 & avg odom time 0.051737 ms ++++++++++++++++++++++
mapping solver time 11.501501 ms 
filter time 8.219787 ms 
--------------------stamp1317357691.445192098
points size 88133 
build tree time 30.801317 ms 
sort q time 8.472677 
seperate points time 14.852242 
mapping data assosiation time 19.188894 ms 
-----t: 0.04128
OdomCount 628 & avg odom time 0.051720 ms ++++++++++++++++++++++
1317357691.445192098 WriteOdom laser_odom_to_init
1317357691.445192098 WriteOdom aft_mapped_to_init_high_frec
publication time 7.651313 ms 
whole laserOdometry time 7.678004 ms 
 
mapping data assosiation time 14.909383 ms 
mapping solver time 12.102505 ms 
filter time 8.096640 ms 
points size 87579 
sort q time 6.048525 
seperate points time 11.992418 
publication time 6.572081 ms 
whole laserOdometry time 6.582629 ms 
 
mapping data assosiation time 21.942402 ms 
-----t: 0.0631969
OdomCount 629 & avg odom time 0.051738 ms ++++++++++++++++++++++
mapping data assosiation time 17.937848 ms 
points size 87937 
mapping solver time 20.744108 ms 
scan registration time 32.485065 ms *************
publication time 5.856189 ms 
whole laserOdometry time 5.869548 ms 
 
1317357691.653103113 WriteOdom aft_mapped_to_init_high_frec
build tree time 30.302270 ms 
--------------------stamp1317357691.757055997
prepare time 13.491643 
mapping solver time 22.666117 ms 
sort q time 15.101988 
seperate points time 21.207861 
publication time 6.550030 ms 
whole laserOdometry time 6.566273 ms 
 
filter time 9.670397 ms 
map prepare time 2.432449 ms
map corner num 130890  surf num 46154 
--------------------stamp1317357691.861022949
prepare time 12.964090 
sort q time 4.898476 
seperate points time 11.969042 
mapping solver time 22.027876 ms 
1317357691.861022949 WriteOdom laser_odom_to_init
1317357691.861022949 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 15.910860 ms 
mapping solver time 10.489980 ms 
filter time 8.787076 ms 
--------------------stamp1317357691.964955091
prepare time 13.496549 
sort q time 5.221560 
seperate points time 11.306384 
publication time 8.935356 ms 
whole laserOdometry time 8.948396 ms 
 
-----t: 0.0467959
OdomCount 633 & avg odom time 0.051671 ms ++++++++++++++++++++++
mapping solver time 14.284429 ms 
--------------------stamp1317357692.068872928
map prepare time 3.043340 ms
map corner num 131752  surf num 46490 
prepare time 12.466726 
sort q time 4.980054 
seperate points time 11.050951 
build tree time 35.519246 ms 
mapping data assosiation time 19.442462 ms 
mapping solver time 20.308579 ms 
--------------------stamp1317357692.172791957
prepare time 11.324067 
sort q time 6.105903 
seperate points time 11.818449 
filter time 10.311979 ms 
-----t: 0.0339612
OdomCount 635 & avg odom time 0.051644 ms ++++++++++++++++++++++
build tree time 30.788875 ms 
mapping data assosiation time 17.931249 ms 
points size 91854 
sort q time 4.830579 
seperate points time 11.035629 
scan registration time 31.205493 ms *************
mapping solver time 15.691221 ms 
-----t: 0.0408032
OdomCount 636 & avg odom time 0.051627 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317357692.380640983
prepare time 13.611285 
sort q time 5.229625 
seperate points time 11.874852 
mapping solver time 22.388435 ms 
mapping data assosiation time 21.134170 ms 
mapping solver time 15.139965 ms 
mapping optimization time 116.565045 
add points time 0.693823 ms
mapping pub time 7.608643 ms 
whole mapping time 135.903102 ms +++++
mappingCount 476 & avg mapping time 133.163404 ms ++++++++++++++++++++++
--------------------stamp1317357692.484591960
points size 92847 
prepare time 15.961656 
sort q time 6.885364 
seperate points time 13.389159 
publication time 9.557777 ms 
whole laserOdometry time 9.575729 ms 
 
mapping solver time 18.192068 ms 
mapping data assosiation time 17.451840 ms 
points size 93386 
mapping optimization time 125.004043 
add points time 0.725818 ms
sort q time 5.597589 
seperate points time 12.203184 
scan registration time 29.958858 ms *************
map prepare time 3.200740 ms
map corner num 133474  surf num 47160 
publication time 7.633348 ms 
whole laserOdometry time 7.643678 ms 
 
-----t: 0.0569718
OdomCount 639 & avg odom time 0.051606 ms ++++++++++++++++++++++
mapping data assosiation time 18.648761 ms 
--------------------stamp1317357692.692522048
points size 93710 
sort q time 6.070490 
seperate points time 13.918534 
publication time 6.883658 ms 
whole laserOdometry time 6.897473 ms 
 
-----t: 0.0522346
OdomCount 640 & avg odom time 0.051607 ms ++++++++++++++++++++++
build tree time 27.538727 ms 
points size 93835 
prepare time 30.879036 
sort q time 5.113611 
seperate points time 13.778328 
scan registration time 50.264491 ms *************
mapping solver time 29.826812 ms 
-----t: 0.0510068
OdomCount 641 & avg odom time 0.051606 ms ++++++++++++++++++++++
mapping solver time 18.032025 ms 
filter time 8.229987 ms 
map prepare time 3.700199 ms
map corner num 134258  surf num 47479 
sort q time 5.310750 publication time 7.766884 ms 
whole laserOdometry time 7.781163 ms 
 
-----t: 0.061154
OdomCount 642 & avg odom time 0.051621 ms ++++++++++++++++++++++
mapping solver time 24.592872 ms 
points size 94479 
sort q time 5.502606 
seperate points time 12.328066 
mapping solver time 17.468812 ms 
publication time 10.714562 ms 
whole laserOdometry time 10.727840 ms 
 
map prepare time 2.648105 ms
map corner num 134710  surf num 47677 
build tree time 30.045145 ms 
points size 94798 
scan registration time 31.396578 ms *************
mapping solver time 25.056974 ms 
-----t: 0.0407546
OdomCount 644 & avg odom time 0.051596 ms ++++++++++++++++++++++
mapping data assosiation time 24.299533 ms 
mapping optimization time 117.258142 
add points time 0.679798 ms
--------------------stamp1317357693.212291955
points size 95080 
map prepare time 2.858171 ms
map corner num 135087  surf num 47821 
sort q time 5.956255 
seperate points time 22.841945 
-----t: 0.0410078
OdomCount 645 & avg odom time 0.051580 ms ++++++++++++++++++++++
mapping data assosiation time 23.698846 ms 
--------------------stamp1317357693.316243886
points size 95275 
sort q time 5.808629 
seperate points time 12.196434 
mapping solver time 19.020186 ms 
filter time 9.343096 ms 
--------------------stamp1317357693.420161962
points size 95435 
mapping data assosiation time 25.661294 ms 
scan registration time 34.830591 ms *************
mapping solver time 25.456183 ms 
mapping data assosiation time 23.046590 ms 
mapping solver time 16.514213 ms 
filter time 8.648536 ms 
points size 95636 
sort q time 5.658919 
seperate points time 12.279117 
publication time 8.605772 ms 
whole laserOdometry time 8.622486 ms 
 
-----t: 0.0514416
OdomCount 648 & avg odom time 0.051539 ms ++++++++++++++++++++++
mapping solver time 23.383439 ms 
--------------------stamp1317357693.628029108
mapping data assosiation time 25.591046 ms 
mapping solver time 19.207848 ms 
filter time 12.873923 ms 
mapping pub time 7.439019 ms 
whole mapping time 161.239284 ms +++++
mappingCount 484 & avg mapping time 133.416351 ms ++++++++++++++++++++++
publication time 7.311805 ms 
whole laserOdometry time 7.325650 ms 
 
--------------------stamp1317357693.731944084
-----t: 0.0747442
OdomCount 649 & avg odom time 0.051575 ms ++++++++++++++++++++++
prepare time 30.336727 
sort q time 5.565647 scan registration time 68.270042 ms *************
publication time 10.329078 ms 
whole laserOdometry time 10.342769 ms 
 
--------------------stamp1317357693.835908889
points size 96097 
sort q time 5.472350 
seperate points time 11.599032 mapping solver time 14.232713 ms 
filter time 9.830624 ms 
build tree time 16.987765 ms 
--------------------stamp1317357693.939892053
points size 96258 
prepare time 15.770609 
sort q time 5.176650 
seperate points time 12.723972 
publication time 8.309500 ms 
whole laserOdometry time 8.327501 ms 
 
-----t: 0.0370769
OdomCount 652 & avg odom time 0.051555 ms ++++++++++++++++++++++
1317357693.939892053 WriteOdom laser_odom_to_init
1317357693.939892053 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.154460 ms 
[0m[ INFO] [1715775628.194647121, 1317357694.021457966]: Received 107794 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775628.194710797, 1317357694.021457966]: Data saved to 1317357693628029.pcd[0m
--------------------stamp1317357694.043906927
points size 96322 
sort q time 5.460463 
seperate points time 12.432250 
mapping solver time 26.802451 ms 
mapping data assosiation time 24.764464 ms 
--------------------stamp1317357694.147921085
mapping pub time 2.147464 ms 
whole mapping time 130.601504 ms +++++
mappingCount 487 & avg mapping time 133.540907 ms ++++++++++++++++++++++
prepare time 16.079162 
map prepare time 3.002098 ms
map corner num 80188  surf num 28417 
sort q time 5.273067 
seperate points time 12.123797 
publication time 10.496523 ms 
whole laserOdometry time 10.529809 ms 
 
-----t: 0.0464002
OdomCount 654 & avg odom time 0.051547 ms ++++++++++++++++++++++
mapping solver time 25.188232 ms 
--------------------stamp1317357694.251966953
points size 96446 
sort q time 5.976727 
seperate points time 12.387953 
map prepare time 2.728449 ms
map corner num 80493  surf num 28554 
-----t: 0.0426322
OdomCount 655 & avg odom time 0.051533 ms ++++++++++++++++++++++
mapping data assosiation time 25.989418 ms 
points size 96491 
mapping solver time 31.396051 ms 
mapping data assosiation time 27.008648 ms 
mapping solver time 13.711777 ms 
mapping pub time 2.495293 ms points size 96466 
mapping data assosiation time 30.001858 ms publication time 13.709316 ms 
whole laserOdometry time 13.727695 ms 
 
mapping data assosiation time 29.511291 ms 
points size 96035 
scan registration time 43.750732 ms *************
publication time 12.056183 ms 
whole laserOdometry time 12.072310 ms 
 
-----t: 0.0579822
OdomCount 659 & avg odom time 0.051551 ms ++++++++++++++++++++++
mapping solver time 37.669767 ms 
filter time 10.836161 ms 
drop lidar frame in mapping for real time performance 
sort q time 5.659793 publication time 11.854584 ms --------------------stamp1317357694.876225948
points size 95345 
sort q time 6.562787 
seperate points time 12.765179 
publication time 8.890495 ms 
whole laserOdometry time 8.906922 ms 
 
mapping solver time 27.707770 ms 
mapping pub time 2.508243 ms 
whole mapping time 163.712601 ms +++++
mappingCount 492 & avg mapping time 133.764079 ms ++++++++++++++++++++++
1317357694.564100981 WriteOdom aft_mapped_to_init
build tree time 17.835501 ms 
points size 95206 
mapping data assosiation time 30.753396 ms 
scan registration time 40.652976 ms *************
publication time 12.930922 ms mapping data assosiation time 26.117477 ms 

mapping optimization time 180.268528 filter time 10.757709 ms 
map prepare time 3.503236 ms
map corner num 81597  surf num 28917 
publication time 10.700083 ms 
whole laserOdometry time 10.714128 ms 
 
--------------------stamp1317357695.188343048
points size 95224 
sort q time 5.427433 
seperate points time 12.430195 
publication time 8.714035 ms 
whole laserOdometry time 8.730013 ms 
 
-----t: 0.0418105
OdomCount 664 & avg odom time 0.051585 ms ++++++++++++++++++++++
mapping solver time 33.135194 ms 
--------------------stamp1317357695.292380094
sort q time 5.042922 
seperate points time 10.958844 
mapping solver time 23.911420 ms 
mapping pub time 2.292219 ms 
whole mapping time 176.540367 ms +++++
mappingCount 494 & avg mapping time 133.991321 ms ++++++++++++++++++++++
-----t: 0.0466036build tree time 17.464888 ms 
mapping data assosiation time 24.240766 ms 
--------------------stamp1317357695.396384000
prepare time 12.456871 
mapping solver time 31.401087 ms 
sort q time 5.395291 
seperate points time 11.967364 
scan registration time 30.259874 ms *************
publication time 10.287404 ms 
whole laserOdometry time 10.310457 ms 
 
-----t: 0.0458322
OdomCount 666 & avg odom time 0.051569 ms ++++++++++++++++++++++
mapping solver time 21.602695 ms 
mapping pub time 2.189344 ms 
whole mapping time 136.171421 ms +++++
mappingCount 495 & avg mapping time 133.995730 ms ++++++++++++++++++++++
--------------------stamp1317357695.500400066
points size 95641 
sort q time 5.216225 
seperate points time 10.545682 
publication time 9.945663 ms 
whole laserOdometry time 9.960801 ms 
 
-----t: 0.0478693
OdomCount 667 & avg odom time 0.051564 ms ++++++++++++++++++++++
mapping data assosiation time 22.900575 ms 
--------------------stamp1317357695.604427099
mapping solver time 20.475059 ms 
points size 95506 
mapping optimization time 132.153729 
add points time 1.062564 ms
prepare time 14.856835 
filter time 7.344279 ms 
mapping pub time 20.614586 ms 
whole mapping time 163.663213 ms +++++
mappingCount 496 & avg mapping time 134.055550 ms ++++++++++++++++++++++
publication time 10.920976 ms 
whole laserOdometry time 11.037362 ms 
 
build tree time 23.564996 ms 
--------------------stamp1317357695.708446025
points size 95248 
mapping solver time 28.608423 ms 
publication time 9.085845 ms 
whole laserOdometry time 9.097430 ms 
 
mapping solver time 22.661734 ms 
mapping pub time 2.408682 ms 
whole mapping time 141.551920 ms +++++
mappingCount 497 & avg mapping time 134.070641 ms ++++++++++++++++++++++
--------------------stamp1317357695.812488079
points size 95215 prepare time 25.685196 
scan registration time 44.673919 ms *************
mapping data assosiation time 29.209061 ms 
--------------------stamp1317357695.916495084
mapping solver time 24.348166 ms 
mapping pub time 2.333000 ms 
whole mapping time 153.363474 ms +++++sort q time 12.401610 
seperate points time 20.878582 
build tree time 24.359371 ms mapping data assosiation time 25.268044 ms 
--------------------stamp1317357696.020477056
points size 95361 
sort q time 5.304751 
seperate points time 10.662583 
mapping data assosiation time 27.887526 ms 
-----t: 0.0380749
OdomCount 672 & avg odom time 0.051599 ms ++++++++++++++++++++++
add points time 0.978509 ms
filter time 6.070069 ms 
build tree time 17.548635 ms 
--------------------stamp1317357696.124492883
prepare time 11.206639 
sort q time 5.919754 
seperate points time 11.401142 
publication time 7.887478 ms 
whole laserOdometry time 7.901213 ms 
 
mapping data assosiation time 26.422979 ms 
mapping solver time 20.609640 ms 
mapping pub time 2.434877 ms 
whole mapping time 135.108135 ms +++++
mappingCount 500 & avg mapping time 134.127945 ms ++++++++++++++++++++++
1317357695.916495085 WriteOdom aft_mapped_to_init
points size 95847 
build tree time 19.127754 ms 
sort q time 5.380802 
seperate points time 11.562731 
publication time 6.338427 ms 
whole laserOdometry time 6.354797 ms 
 
mapping solver time 20.872280 ms 
mapping data assosiation time 22.900944 ms 
points size 95932 
filter time 6.159577 ms 
mapping pub time 24.472971 ms 
whole mapping time 145.057760 ms +++++
mappingCount 501 & avg mapping time 134.149776 ms ++++++++++++++++++++++
-----t: 0.0472237
OdomCount 675 & avg odom time 0.051553 ms ++++++++++++++++++++++
mapping data assosiation time 24.281465 ms 
--------------------stamp1317357696.436594009
points size 96040 
mapping solver time 32.644142 ms 
publication time 7.800260 ms 
whole laserOdometry time 7.817945 ms 
 
-----t: 0.0532119
OdomCount 676 & avg odom time 0.051555 ms ++++++++++++++++++++++
filter time 5.659352 ms 
map prepare time 2.596076 ms
map corner num 82730  surf num 29397 
--------------------stamp1317357696.540621042
prepare time 13.209920 
mapping data assosiation time 27.343759 ms 
publication time 7.759437 ms 
whole laserOdometry time 7.773524 ms 
 
mapping solver time 32.927223 ms 
mapping data assosiation time 21.777933 ms 
mapping solver time 13.762314 ms 
1317357696.332586050 WriteOdom aft_mapped_to_initsort q time 5.741416 
seperate points time 12.677205 
publication time 8.000323 ms 
whole laserOdometry time 8.015067 ms 
 
mapping data assosiation time 39.969888 ms 
1317357696.644668102 WriteOdom laser_odom_to_init
mapping solver time 25.221966 ms 
points size 96424 
mapping data assosiation time 27.002669 ms 
mapping solver time 16.635642 ms 
filter time 7.060177 ms 
-----t: 0.059869
OdomCount 679 & avg odom time 0.051580 ms ++++++++++++++++++++++
1317357696.748708963 WriteOdom laser_odom_to_init
1317357696.748708963 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357696.852747917
mapping data assosiation time 30.751152 ms 
sort q time 6.586897 
seperate points time 12.193987 
mapping solver time 33.925506 ms 
-----t: 0.0519352
OdomCount 680 & avg odom time 0.051580 ms ++++++++++++++++++++++
1317357696.852747917 WriteOdom aft_mapped_to_init_high_frec
1317357696.852747917 WriteOdom laser_odom_to_init
mapping data assosiation time 28.346842 ms 
mapping solver time 21.177971 ms 
mapping pub time 2.177668 ms 
whole mapping time 154.618627 ms +++++
mappingCount 505 & avg mapping time 134.215397 ms ++++++++++++++++++++++
sort q time 6.779754 
seperate points time 13.055086 
publication time 9.560429 ms 
whole laserOdometry time 9.578876 ms 
 
-----t: 0.0552209
OdomCount 681 & avg odom time 0.051586 ms ++++++++++++++++++++++
1317357696.956785917 WriteOdom laser_odom_to_init
1317357696.956785917 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.717812 ms 
--------------------stamp1317357697.060827016
scan registration time 43.275139 ms *************
[0m[ INFO] [1715775631.294114006, 1317357697.120393080]: Received 112724 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775631.294468625, 1317357697.120393080]: Data saved to 1317357696852747.pcd[0m
mapping pub time 4.253502 ms 
whole mapping time 163.261823 ms +++++
mappingCount 506 & avg mapping time 134.272831 ms ++++++++++++++++++++++
sort q time 5.520040 
seperate points time 12.903160 
mapping solver time 35.902717 ms 
mapping data assosiation time 26.112200 ms 
mapping solver time 20.628329 ms 
mapping optimization time 140.163317 
add points time 0.797971 ms
filter time 5.421439 ms 
points size 95529 
build tree time 20.481576 ms 
scan registration time 35.874426 ms *************
publication time 9.870880 ms 
whole laserOdometry time 9.897283 ms 
 
--------------------stamp1317357697.372967958
points size 95445 
mapping data assosiation time 29.425568 ms 
sort q time 17.734617 
seperate points time 30.947376 
scan registration time 54.464691 ms *************
-----t: 0.0501489
OdomCount 685 & avg odom time 0.051617 ms ++++++++++++++++++++++
build tree time 22.594983 ms 
points size 94738 
mapping data assosiation time 29.774056 ms 
sort q time 6.036724 
seperate points time 12.264412 
publication time 8.041663 ms 
whole laserOdometry time 8.074094 ms 
 
mapping solver time 35.947373 ms 
-----t: 0.0538762
OdomCount 686 & avg odom time 0.051620 ms ++++++++++++++++++++++
1317357697.476978063 WriteOdom laser_odom_to_init
mapping data assosiation time 29.634291 ms 
--------------------stamp1317357697.581011056
points size 93458 
filter time 8.100163 ms 
sort q time 4.938614 
seperate points time 10.490865 
publication time 8.688811 ms 
whole laserOdometry time 8.846951 ms 
 
build tree time 22.476930 ms 
-----t: 0.0504579
OdomCount 687 & avg odom time 0.051618 ms ++++++++++++++++++++++
mapping data assosiation time 57.765984 ms 
mapping solver time 51.382717 ms 
sort q time 7.730135 
seperate points time 16.389246 
-----t: 0.0694149
OdomCount 688 & avg odom time 0.051644 ms ++++++++++++++++++++++
points size 92323 
mapping optimization time 197.432496 
add points time 1.489491 ms
mapping pub time 2.442383 ms 
whole mapping time 210.462511 ms +++++
mappingCount 510 & avg mapping time 134.561522 ms ++++++++++++++++++++++
scan registration time 39.326131 ms *************
build tree time 23.581400 ms 
-----t: 0.0495032
OdomCount 689 & avg odom time 0.051641 ms ++++++++++++++++++++++
--------------------stamp1317357697.893100976
points size 93733 
sort q time 6.021302 
seperate points time 14.078025 
mapping data assosiation time 31.328398 ms 
publication time 12.248155 ms mapping solver time 24.346510 ms 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357697.997143030
prepare time 16.170038 
sort q time 6.787428 
seperate points time 18.859665 
scan registration time 61.187697 ms *************
mapping solver time 35.102073 ms 
-----t: 0.063677
OdomCount 691 & avg odom time 0.051697 ms ++++++++++++++++++++++
points size 95536 
sort q time 6.689548 
seperate points time 14.134419 
publication time 7.882996 ms 
whole laserOdometry time 7.894836 ms 
 
-----t: 0.0502549
OdomCount 692 & avg odom time 0.051695 ms ++++++++++++++++++++++
1317357698.101181983 WriteOdom laser_odom_to_init
1317357698.101181983 WriteOdom aft_mapped_to_init_high_frec
filter time 8.460428 ms 
--------------------stamp1317357698.205219030
points size 95478 
prepare time 18.328971 
scan registration time 37.139934 ms *************
publication time 7.790537 ms 
whole laserOdometry time 7.807116 ms 
 
1317357698.205219030 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.855288 ms 
--------------------stamp1317357698.309228897
prepare time 13.861699 
mapping pub time 2.300658 ms 
whole mapping time 150.695419 ms +++++
mappingCount 513 & avg mapping time 134.752105 ms ++++++++++++++++++++++
build tree time 21.058896 ms 
-----t: 0.0470793
OdomCount 694 & avg odom time 0.051679 ms ++++++++++++++++++++++
mapping data assosiation time 25.901924 ms 
mapping solver time 19.886285 ms 
points size 95847 
prepare time 13.308654 
scan registration time 32.748298 ms *************
filter time 8.385497 ms 
-----t: 0.0442374
OdomCount 695 & avg odom time 0.051669 ms ++++++++++++++++++++++
1317357698.413247108 WriteOdom laser_odom_to_init
1317357698.413247108 WriteOdom aft_mapped_to_init_high_frec
build tree time 18.229199 ms 
mapping data assosiation time 23.239980 ms 
points size 96041 
sort q time 5.512519 
seperate points time 12.372762 
mapping data assosiation time 26.892890 ms 
mapping solver time 21.424642 ms 
mapping optimization time 113.001107 
add points time 0.832706 ms
build tree time 17.724372 ms 
points size 96180 
sort q time 6.500923 
seperate points time 12.267209 
publication time 8.081606 ms 
whole laserOdometry time 8.104065 ms 
 
-----t: 0.0364061
OdomCount 697 & avg odom time 0.051628 ms ++++++++++++++++++++++
1317357698.621279954 WriteOdom laser_odom_to_init
1317357698.621279954 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 32.842476 ms 
mapping data assosiation time 23.956821 ms 
mapping solver time 20.481700 ms 
[0m[ INFO] [1715775632.902413462, 1317357698.732733164]: Received 114063 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775632.902459196, 1317357698.732733164]: Data saved to 1317357698413247.pcd[0m
sort q time 5.192078 
seperate points time 12.088178 
publication time 17.087414 ms 
whole laserOdometry time 17.104403 ms 
 
-----t: 0.0579481
OdomCount 698 & avg odom time 0.051637 ms ++++++++++++++++++++++
--------------------stamp1317357698.829307079
points size 96322 
mapping data assosiation time 30.669945 ms 
mapping solver time 16.305760 ms 
mapping pub time 2.254733 ms 
whole mapping time 135.445225 ms +++++
mappingCount 517 & avg mapping time 134.730830 ms ++++++++++++++++++++++
1317357698.621279955 WriteOdom aft_mapped_to_init
sort q time 20.934416 
seperate points time 28.363018 
map prepare time 3.086627 ms
map corner num 84230  surf num 29937 
publication time 10.673975 ms 
whole laserOdometry time 10.692790 ms 
 
--------------------stamp1317357698.933341979
sort q time 7.284726 
seperate points time 15.213194 
publication time 9.707147 ms 
whole laserOdometry time 9.720853 ms 
 
mapping data assosiation time 28.783679 ms 
-----t: 0.0681242
OdomCount 700 & avg odom time 0.051667 ms ++++++++++++++++++++++
points size 96405 
sort q time 5.146177 
seperate points time 11.509079 
build tree time 21.554518 ms 
mapping data assosiation time 27.922476 ms 
-----t: 0.0541696
OdomCount 701 & avg odom time 0.051671 ms ++++++++++++++++++++++
1317357699.037405014 WriteOdom laser_odom_to_init
1317357699.037405014 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.866191 ms 
--------------------stamp1317357699.141475915
points size 96432 
mapping data assosiation time 29.476406 ms 
scan registration time 31.125889 ms *************
mapping solver time 25.522844 ms 
-----t: 0.0518173
OdomCount 702 & avg odom time 0.051671 ms ++++++++++++++++++++++
1317357699.141475915 WriteOdom laser_odom_to_init
1317357699.141475915 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357699.245524883
points size 96372 
sort q time 6.287972 
seperate points time 12.626642 
mapping solver time 32.693269 ms 
-----t: 0.0383816
OdomCount 703 & avg odom time 0.051652 ms ++++++++++++++++++++++
mapping data assosiation time 25.634214 ms 
publication time 7.745701 ms 
whole laserOdometry time 7.761071 ms 
 
mapping solver time 22.406962 ms 
mapping data assosiation time 22.629832 ms 
--------------------stamp1317357699.453586101
prepare time 11.968576 
sort q time 5.795691 
seperate points time 12.532950 
mapping pub time 28.510696 ms 
whole mapping time 147.069547 ms +++++
mappingCount 521 & avg mapping time 134.871964 ms ++++++++++++++++++++++
publication time 8.421081 ms 
whole laserOdometry time 8.436110 ms 
 
1317357699.453586101 WriteOdom laser_odom_to_init
1317357699.453586101 WriteOdom aft_mapped_to_init_high_frec
build tree time 22.929060 ms 
mapping data assosiation time 28.611710 ms 
points size 96530 
mapping solver time 34.539980 ms 
mapping data assosiation time 28.478988 ms 
mapping solver time 26.372238 ms 
filter time 8.333042 ms 
map prepare time 3.532735 ms
map corner num 84606  surf num 30065 
points size 96552 
build tree time 22.387475 ms 
publication time 8.396903 ms 
whole laserOdometry time 8.410049 ms 
 
-----t: 0.0486122
OdomCount 707 & avg odom time 0.051624 ms ++++++++++++++++++++++
mapping solver time 33.924400 ms 
--------------------stamp1317357699.765681028
points size 96548 
sort q time 5.618129 
seperate points time 12.862565 
mapping solver time 22.279630 ms 
mapping optimization time 134.664641 
add points time 0.935479 ms
-----t: 0.0501205
OdomCount 708 & avg odom time 0.051622 ms ++++++++++++++++++++++
build tree time 21.769690 ms 
mapping data assosiation time 24.759064 ms 
prepare time 13.174500 
mapping solver time 25.997010 ms 
scan registration time 31.125965 ms *************
publication time 9.742443 ms 
whole laserOdometry time 9.766657 ms 
 
mapping data assosiation time 29.342111 ms 
-----t: 0.0473733
OdomCount 709 & avg odom time 0.051616 ms ++++++++++++++++++++++
filter time 5.492474 ms 
--------------------stamp1317357699.973764896
points size 96544 
mapping data assosiation time 25.280810 ms 
publication time 9.301963 ms 
whole laserOdometry time 9.335329 ms 
 
-----t: 0.0482748
OdomCount 710 & avg odom time 0.051611 ms ++++++++++++++++++++++
mapping data assosiation time 26.032671 ms 
mapping optimization time 128.034553 
mapping pub time 2.282001 ms 
whole mapping time 142.561008 ms +++++
mappingCount 525 & avg mapping time 134.952603 ms ++++++++++++++++++++++
sort q time 5.411665 
seperate points time 12.576897 
publication time 7.005903 ms 
whole laserOdometry time 7.023075 ms 
 
mapping data assosiation time 28.348682 ms 
-----t: 0.0489399
OdomCount 711 & avg odom time 0.051607 ms ++++++++++++++++++++++
1317357700.077779054 WriteOdom laser_odom_to_init
1317357700.077779054 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.731092 ms 
points size 96516 
mapping data assosiation time 27.887109 ms 
publication time 8.774917 ms 
whole laserOdometry time 8.806473 ms 
 
filter time 7.531063 ms 
build tree time 18.420147 ms 
--------------------stamp1317357700.285847902
points size 96471 
sort q time 5.418957 
seperate points time 12.691587 
publication time 10.332957 ms 
whole laserOdometry time 10.349790 ms 
 
-----t: 0.0508474
OdomCount 713 & avg odom time 0.051587 ms ++++++++++++++++++++++
mapping solver time 20.718861 ms 
map prepare time 2.697170 ms
map corner num 84925  surf num 30146 
sort q time 5.426064 
seperate points time 12.332533 
build tree time 21.568614 ms 
publication time 9.334884 ms 
whole laserOdometry time 9.367856 ms 
1317357700.389868021 WriteOdom laser_odom_to_init
1317357700.389868021 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.210594 ms 
--------------------stamp1317357700.493882894
points size 96481 
sort q time 5.826853 
seperate points time 11.976099 
scan registration time 31.670610 ms *************
mapping solver time 24.578078 ms 
mapping optimization time 133.532615 
add points time 1.005343 ms
drop lidar frame in mapping for real time performance 
-----t: 0.0444538
OdomCount 715 & avg odom time 0.051565 ms ++++++++++++++++++++++
build tree time 20.783067 ms 
mapping data assosiation time 25.125911 ms 
points size 96459 
mapping solver time 34.757832 ms 
-----t: 0.035417
OdomCount 716 & avg odom time 0.051543 ms ++++++++++++++++++++++
1317357700.597871065 WriteOdom laser_odom_to_init
1317357700.597871065 WriteOdom aft_mapped_to_init_high_frec
publication time 10.831038 ms 
whole laserOdometry time 10.851284 ms 
 
mapping data assosiation time 30.027517 ms 
mapping solver time 21.582258 ms 
mapping pub time 2.247464 ms 
whole mapping time 146.357772 ms +++++
mappingCount 529 & avg mapping time 135.035171 ms ++++++++++++++++++++++
--------------------stamp1317357700.701838016
prepare time 14.328542 
sort q time 6.192719 
seperate points time 14.455367 
mapping data assosiation time 29.581787 ms 
-----t: 0.0455047
OdomCount 717 & avg odom time 0.051534 ms ++++++++++++++++++++++
mapping solver time 32.186592 ms 
--------------------stamp1317357700.805800914
prepare time 12.995857 
mapping optimization time 133.426785 
filter time 7.976754 ms 
mapping pub time 2.646558 ms 
whole mapping time 147.797831 ms +++++
mappingCount 530 & avg mapping time 135.059257 ms ++++++++++++++++++++++
1317357700.597871065 WriteOdom aft_mapped_to_init
-----t: 0.0410965
OdomCount 718 & avg odom time 0.051520 ms ++++++++++++++++++++++
mapping data assosiation time 24.493201 ms 
--------------------stamp1317357700.909744024
points size 96598 
sort q time 5.582082 
seperate points time 12.743942 
mapping data assosiation time 30.146957 ms 
-----t: 0.0502445
OdomCount 719 & avg odom time 0.051518 ms ++++++++++++++++++++++
mapping solver time 30.088102 ms 
filter time 5.978963 ms 
--------------------stamp1317357701.013686895
sort q time 5.459774 
seperate points time 12.532142 
publication time 10.750214 ms 
whole laserOdometry time 10.774757 ms 
 
-----t: 0.0575537
OdomCount 720 & avg odom time 0.051526 ms ++++++++++++++++++++++
points size 96725 
sort q time 6.356268 
seperate points time 12.816672 
publication time 7.702415 ms 
whole laserOdometry time 7.716038 ms 
 
mapping solver time 38.893554 ms 
mapping optimization time 185.886797 
add points time 0.990726 ms
map prepare time 2.332043 ms
map corner num 85362  surf num 30282 
--------------------stamp1317357701.221564054
build tree time 21.358700 ms 
points size 96845 
prepare time 16.518834 
sort q time 5.506307 
seperate points time 12.915750 
publication time 7.673332 ms 
whole laserOdometry time 7.696655 ms 
 
1317357701.221564054 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 42.110611 ms 
--------------------stamp1317357701.325490951
points size 96970 
sort q time 5.587000 
seperate points time 13.149175 
mapping solver time 33.453252 ms 
mapping optimization time 157.892935 
add points time 0.827832 ms
1317357701.013686895 WriteOdom aft_mapped_to_init
map prepare time 3.228808 ms
map corner num 85486  surf num 30340 
publication time 7.281725 ms 
whole laserOdometry time 7.301420 ms 
 
--------------------stamp1317357701.429374933
points size 97166 
prepare time 14.627029 
sort q time 5.601048 
seperate points time 13.221551 
mapping solver time 38.131722 ms 
-----t: 0.0377628
OdomCount 724 & avg odom time 0.051496 ms ++++++++++++++++++++++
mapping solver time 19.335703 ms 
filter time 6.009028 ms 
points size 97374 
prepare time 14.210210 
sort q time 6.823590 
seperate points time 15.948284 
mapping data assosiation time 28.105561 ms 
mapping solver time 34.149939 ms 
--------------------stamp1317357701.637125015
points size 97637 
sort q time 5.865932 
seperate points time 12.772749 
filter time 7.390574 ms 
-----t: 0.0427249
OdomCount 726 & avg odom time 0.051469 ms ++++++++++++++++++++++
build tree time 22.156305 ms 
mapping data assosiation time 24.972383 ms 
points size 98002 
prepare time 14.695055 
sort q time 6.704710 
seperate points time 12.741721 
publication time 7.192847 ms 
whole laserOdometry time 7.211441 ms 
 
-----t: 0.0440175
OdomCount 727 & avg odom time 0.051458 ms ++++++++++++++++++++++
mapping solver time 19.173607 ms 
mapping optimization time 130.611693 
add points time 0.816140 ms
1317357701.533255100 WriteOdom aft_mapped_to_init
points size 98531 
build tree time 21.998903 ms 
prepare time 14.775693 
sort q time 10.482800 
seperate points time 22.979254 
publication time 10.104999 ms 
whole laserOdometry time 10.121599 ms 
 
mapping solver time 38.231840 ms 
--------------------stamp1317357701.948659896
points size 99138 
mapping data assosiation time 31.130787 ms 
sort q time 6.323353 
seperate points time 15.572245 
add points time 1.182064 ms
mapping pub time 2.442158 ms 
whole mapping time 172.394301 ms +++++
mappingCount 537 & avg mapping time 135.433010 ms ++++++++++++++++++++++
publication time 12.150447 ms 
whole laserOdometry time 12.165148 ms 
 
-----t: 0.06106
OdomCount 729 & avg odom time 0.051464 ms ++++++++++++++++++++++
points size 100065 
sort q time 5.981631 
seperate points time 13.601946 
mapping solver time 35.218817 ms 
publication time 12.540376 ms 
whole laserOdometry time 12.554690 ms 
 
mapping data assosiation time 40.871317 ms 
--------------------stamp1317357702.156287908
points size 101006 
sort q time 6.075622 
seperate points time 16.129409 
publication time 11.433385 ms 
whole laserOdometry time 11.449201 ms 
 
OdomCount 731 & avg odom time 0.051531 ms ++++++++++++++++++++++
points size 101891 
mapping solver time 27.849755 ms 
sort q time 5.679352 
seperate points time 13.113364 
scan registration time 32.173528 ms *************
publication time 9.292596 ms 
whole laserOdometry time 9.319247 ms 
 
mapping data assosiation time 29.809424 ms 
mapping solver time 24.665928 ms 
filter time 6.452862 ms 
map prepare time 2.571762 ms
map corner num 86721  surf num 31002 
--------------------stamp1317357702.363866090
prepare time 15.165946 
sort q time 6.179869 
seperate points time 14.377477 
scan registration time 42.747421 ms *************
publication time 8.705445 ms 
whole laserOdometry time 8.729611 ms 
 
mapping solver time 30.134657 ms 
mapping data assosiation time 26.176558 ms 
--------------------stamp1317357702.467657089
prepare time 12.989645 
sort q time 5.711614 
seperate points time 16.153271 
publication time 9.151536 ms 
whole laserOdometry time 9.175226 ms 
 
-----t: 0.060032
OdomCount 734 & avg odom time 0.051526 ms ++++++++++++++++++++++
mapping data assosiation time 26.768025 ms 
--------------------stamp1317357702.571428060
points size 102372 
publication time 10.310640 ms 
whole laserOdometry time 10.352531 ms 
 
mapping solver time 21.068113 ms 
mapping optimization time 133.552465 
add points time 0.864994 ms
mapping pub time 18.925545 ms 
whole mapping time 163.931991 ms +++++
mappingCount 541 & avg mapping time 135.633191 ms ++++++++++++++++++++++
points size 102217 
build tree time 23.045619 ms 
mapping data assosiation time 30.161346 ms 
publication time 16.292354 ms 
whole laserOdometry time 16.307989 ms 
 
-----t: 0.0632172
OdomCount 736 & avg odom time 0.051531 ms ++++++++++++++++++++++
--------------------stamp1317357702.778851032
points size 102104 
mapping solver time 24.368853 ms 
publication time 10.793583 ms 
whole laserOdometry time 10.806051 ms 
 
build tree time 23.563962 ms 
--------------------stamp1317357702.882523059
points size 101987 
sort q time 5.764418 
seperate points time 12.986665 
publication time 13.447470 ms 
whole laserOdometry time 13.466784 ms 
 
mapping solver time 27.565265 ms 
filter time 9.202458 ms 
points size 101981 
prepare time 33.011803 
sort q time 6.250902 
seperate points time 15.917226 
-----t: 0.0522102
OdomCount 739 & avg odom time 0.051542 ms ++++++++++++++++++++++
mapping solver time 34.705271 ms 
points size 101995 
mapping data assosiation time 29.581330 ms 
scan registration time 36.834195 ms *************
mapping solver time 23.626826 ms 
publication time 16.930627 ms 
whole laserOdometry time 16.950099 ms 
 
-----t: 0.0685147
OdomCount 740 & avg odom time 0.051565 ms ++++++++++++++++++++++
--------------------stamp1317357703.193444013
sort q time 6.210101 
seperate points time 12.705050 publication time 10.574081 ms 
whole laserOdometry time 10.590542 ms 
 
mapping solver time 38.939459 ms 
mapping data assosiation time 26.779408 ms 
--------------------stamp1317357703.297054052
mapping solver time 27.042873 ms 
mapping pub time 2.353215 ms 
whole mapping time 162.418556 ms +++++
mappingCount 545 & avg mapping time 135.805601 ms ++++++++++++++++++++++
scan registration time 30.919493 ms *************
publication time 9.089117 ms 
whole laserOdometry time 9.111112 ms 
 
-----t: 0.0517161
OdomCount 742 & avg odom time 0.051568 ms ++++++++++++++++++++++
mapping data assosiation time 26.352078 ms 
--------------------stamp1317357703.400732994
points size 101986 
sort q time 6.666952 
seperate points time 16.139059 
mapping data assosiation time 31.875030 ms 
mapping solver time 20.305563 ms 
mapping optimization time 148.654968 
add points time 0.926206 ms
map prepare time 2.784305 ms
map corner num 89154  surf num 32212 
--------------------stamp1317357703.504448890
points size 101906 
sort q time 5.784711 
seperate points time 13.551800 
publication time 10.702593 ms 
whole laserOdometry time 10.731221 ms 
 
-----t: 0.0496122
OdomCount 744 & avg odom time 0.051551 ms ++++++++++++++++++++++
1317357703.504448890 WriteOdom laser_odom_to_init
1317357703.504448890 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 34.167545 ms 
mapping data assosiation time 28.363978 ms 
points size 101957 
filter time 7.420828 ms 
sort q time 11.131203 
seperate points time 19.291766 
mapping pub time 2.801337 ms 
whole mapping time 157.898637 ms +++++
mappingCount 547 & avg mapping time 135.896554 ms ++++++++++++++++++++++
1317357703.297054052 WriteOdom aft_mapped_to_init
publication time 12.994185 ms 
whole laserOdometry time 13.019908 ms 
 
build tree time 22.123943 ms 
mapping data assosiation time 29.964390 ms 
points size 101871 
mapping solver time 35.005180 ms 
publication time 13.183044 ms 
whole laserOdometry time 13.196908 ms 
 
mapping solver time 20.461721 ms 
mapping optimization time 143.005957 
add points time 0.858519 ms
map prepare time 2.872721 ms
map corner num 90071  surf num 32685 
--------------------stamp1317357703.815795898
points size 101912 
sort q time 5.978124 
seperate points time 33.614441 
mapping data assosiation time 38.334018 ms 
scan registration time 56.683595 ms *************
mapping solver time 31.152492 ms 
--------------------stamp1317357703.919644117
points size 101751 
sort q time 14.378468 
seperate points time 24.680274 
filter time 8.192983 ms 
publication time 10.534226 ms 
whole laserOdometry time 10.560807 ms 
 
-----t: 0.0501663
OdomCount 748 & avg odom time 0.051650 ms ++++++++++++++++++++++
build tree time 20.773988 ms 
points size 101710 
sort q time 6.104070 
seperate points time 14.943645 
publication time 8.991093 ms 
whole laserOdometry time 9.020030 ms 
 
mapping solver time 32.852288 ms 
mapping data assosiation time 27.120971 ms 
points size 101566 
mapping solver time 24.585019 ms 
filter time 9.064236 ms 
publication time 9.360641 ms 
whole laserOdometry time 9.380488 ms 
 
build tree time 24.928032 ms 
mapping data assosiation time 26.567211 ms 
--------------------stamp1317357704.231112957
points size 101373 
prepare time 14.470035 
publication time 7.881744 ms 
whole laserOdometry time 7.896092 ms 
 
mapping data assosiation time 30.905053 ms 
-----t: 0.0413743
OdomCount 751 & avg odom time 0.051638 ms ++++++++++++++++++++++
mapping solver time 20.524907 ms 
filter time 7.473487 ms 
map prepare time 2.636390 ms
map corner num 91283  surf num 33140 
points size 101052 
sort q time 6.650936 
seperate points time 16.806145 
mapping data assosiation time 30.709745 ms 
publication time 12.481024 ms 
whole laserOdometry time 12.495075 ms 
 
mapping solver time 31.636296 ms 
--------------------stamp1317357704.438862085
points size 100682 
sort q time 6.444028 
seperate points time 13.194159 
filter time 7.052711 ms 
build tree time 24.464630 ms 
--------------------stamp1317357704.542798995
mapping data assosiation time 26.122054 ms 
points size 99859 
sort q time 5.678589 
seperate points time 10.976772 
mapping data assosiation time 29.181601 ms 
publication time 17.060437 ms 
whole laserOdometry time 17.074229 ms 
 
-----t: 0.0632097
OdomCount 754 & avg odom time 0.051667 ms ++++++++++++++++++++++
map prepare time 2.936558 ms
map corner num 92308  surf num 33657 
--------------------stamp1317357704.646814107
sort q time 5.085464 
seperate points time 10.846853 
mapping data assosiation time 28.121088 ms 
publication time 12.733935 ms 
whole laserOdometry time 12.747995 ms 
 
-----t: 0.0437652
OdomCount 755 & avg odom time 0.051656 ms ++++++++++++++++++++++
mapping data assosiation time 26.328116 ms 
mapping solver time 19.011628 ms 
filter time 8.665690 ms 
sort q time 12.918569 
seperate points time 19.640296 
build tree time 23.816134 ms 
publication time 7.520579 ms 
whole laserOdometry time 7.545136 ms 
 
mapping data assosiation time 25.612462 ms 
mapping solver time 26.221778 ms 
points size 96795 
prepare time 11.387593 
scan registration time 29.749305 ms *************
publication time 8.729141 ms 
whole laserOdometry time 8.748287 ms 
 
filter time 8.975447 ms 
-----t: 0.0661876
OdomCount 757 & avg odom time 0.051659 ms ++++++++++++++++++++++
build tree time 23.088339 ms 
points size 95008 
mapping data assosiation time 29.174774 ms 
publication time 6.402174 ms 
whole laserOdometry time 6.415789 ms 
 
mapping solver time 31.781708 ms 
-----t: 0.0451205
OdomCount 758 & avg odom time 0.051650 ms ++++++++++++++++++++++
mapping data assosiation time 24.405672 ms 
--------------------stamp1317357705.063695907
points size 92160 
mapping pub time 5.029220 ms 
whole mapping time 156.263012 ms +++++
mappingCount 556 & avg mapping time 136.224278 ms ++++++++++++++++++++++
sort q time 18.025707 
seperate points time 30.923910 
-----t: 0.0447399
OdomCount 759 & avg odom time 0.051641 ms ++++++++++++++++++++++
mapping data assosiation time 26.500088 ms 
mapping solver time 26.352759 ms 
points size 90425 
scan registration time 26.967016 ms *************
publication time 7.102694 ms 
whole laserOdometry time 7.117016 ms 
 
filter time 9.340896 ms 
mapping pub time 2.276300 ms 
whole mapping time 147.170314 ms +++++
mappingCount 557 & avg mapping time 136.243953 ms ++++++++++++++++++++++
1317357704.959368944 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0511981
OdomCount 760 & avg odom time 0.051640 ms ++++++++++++++++++++++
1317357705.168080091 WriteOdom laser_odom_to_init
1317357705.168080091 WriteOdom aft_mapped_to_init_high_frec
build tree time 25.912127 ms 
points size 89369 
mapping solver time 30.352796 ms 
mapping data assosiation time 30.746327 ms 
--------------------stamp1317357705.376777887
prepare time 14.633526 
build tree time 25.657799 ms 
-----t: 0.0517801
OdomCount 762 & avg odom time 0.051667 ms ++++++++++++++++++++++
mapping solver time 22.781895 ms 
points size 85690 
mapping data assosiation time 30.517041 ms 
sort q time 6.702809 
seperate points time 28.187546 
-----t: 0.0415376
OdomCount 763 & avg odom time 0.051654 ms ++++++++++++++++++++++
filter time 6.904849 ms 
build tree time 20.942214 ms 
points size 85401 
mapping data assosiation time 24.357738 ms 
sort q time 5.449333 
seperate points time 11.323602 
scan registration time 25.291796 ms *************
publication time 7.144394 ms 
whole laserOdometry time 7.162510 ms 
 
-----t: 0.0367859
OdomCount 764 & avg odom time 0.051634 ms ++++++++++++++++++++++
mapping data assosiation time 21.283391 ms 
mapping solver time 14.885348 ms 
filter time 7.107393 ms 
mapping pub time 2.011915 ms 
whole mapping time 118.323736 ms +++++
mappingCount 560 & avg mapping time 136.287988 ms ++++++++++++++++++++++
1317357705.376777887 WriteOdom aft_mapped_to_init
map prepare time 2.174527 ms
map corner num 95686  surf num 35001 
--------------------stamp1317357705.689662933
prepare time 10.158950 
sort q time 5.475844 
seperate points time 10.638472 
publication time 6.672258 ms 
whole laserOdometry time 6.684215 ms 
 
mapping data assosiation time 24.469604 ms 
-----t: 0.0324624
OdomCount 765 & avg odom time 0.051609 ms ++++++++++++++++++++++
1317357705.689662933 WriteOdom laser_odom_to_init
1317357705.689662933 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.028797 ms 
mapping solver time 15.084277 ms 
[0m[ INFO] [1715775639.971630337, 1317357705.796879416]: Received 131675 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775639.971679598, 1317357705.796879416]: Data saved to 1317357705585382.pcd[0m
sort q time 4.848330 
seperate points time 9.807847 
mapping pub time 28.113739 ms 
whole mapping time 146.324069 ms +++++
mappingCount 561 & avg mapping time 136.305887 ms ++++++++++++++++++++++
1317357705.585382938 WriteOdom aft_mapped_to_init
publication time 9.394577 ms 
whole laserOdometry time 9.412494 ms 
 
-----t: 0.0366456
OdomCount 766 & avg odom time 0.051590 ms ++++++++++++++++++++++
1317357705.793940067 WriteOdom laser_odom_to_init
1317357705.793940067 WriteOdom aft_mapped_to_init_high_frec
build tree time 24.217310 ms 
mapping data assosiation time 22.273374 ms 
--------------------stamp1317357705.898243904
points size 86026 
mapping solver time 21.394817 ms 
filter time 9.611128 ms 
build tree time 20.328998 ms 
-----t: 0.0838712
OdomCount 767 & avg odom time 0.051632 ms ++++++++++++++++++++++
points size 85368 
prepare time 12.104127 
mapping data assosiation time 27.830817 ms 
sort q time 4.841629 
seperate points time 11.315484 
scan registration time 29.726692 ms *************
publication time 15.351584 ms 
whole laserOdometry time 15.366253 ms 
 
mapping data assosiation time 25.416973 ms 
mapping solver time 26.334474 ms 
filter time 8.086078 ms 
points size 86236 
sort q time 4.873776 
seperate points time 11.723274 
publication time 8.000726 ms 
whole laserOdometry time 8.015154 ms 
 
-----t: 0.0447958
OdomCount 769 & avg odom time 0.051625 ms ++++++++++++++++++++++
mapping solver time 25.285997 ms 
mapping data assosiation time 24.421607 ms 
prepare time 13.594174 
sort q time 4.829034 
seperate points time 11.093408 
filter time 9.234024 ms 
build tree time 22.539600 ms 
mapping data assosiation time 21.212602 ms 
--------------------stamp1317357706.315287113
points size 88298 
mapping solver time 28.398726 ms 
scan registration time 31.187741 ms *************
mapping data assosiation time 24.567078 ms 
-----t: 0.0446292
OdomCount 771 & avg odom time 0.051594 ms ++++++++++++++++++++++
mapping solver time 24.784294 ms 
build tree time 24.207540 ms 
mapping data assosiation time 25.705702 ms 
sort q time 28.331928 
seperate points time 35.779400 
1317357706.419419050 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.525087 ms 
mapping data assosiation time 23.584387 ms 
--------------------stamp1317357706.523530960
mapping solver time 22.118804 ms 
filter time 9.397457 ms 
map prepare time 3.248282 ms-----t: 0.0331854
OdomCount 773 & avg odom time 0.051557 ms ++++++++++++++++++++++
build tree time 23.884555 ms 
mapping data assosiation time 18.873120 ms 
mapping solver time 23.178034 ms 
points size 90963 
sort q time 5.307673 
seperate points time 12.100670 
mapping solver time 23.368032 ms 
mapping optimization time 114.452640 
add points time 0.939145 ms
publication time 6.574987 ms 
whole laserOdometry time 6.586094 ms 
 
-----t: 0.0536508
OdomCount 774 & avg odom time 0.051560 ms ++++++++++++++++++++++
build tree time 21.767676 ms 
--------------------stamp1317357706.731729030
mapping solver time 25.685194 ms 
publication time 7.551485 ms 
whole laserOdometry time 7.565537 ms 
 
mapping data assosiation time 21.077600 ms 
-----t: 0.0439792
OdomCount 775 & avg odom time 0.051550 ms ++++++++++++++++++++++
filter time 6.586382 ms 
mapping pub time 2.115449 ms 
whole mapping time 118.280921 ms +++++
mappingCount 568 & avg mapping time 136.322259 ms ++++++++++++++++++++++
1317357706.523530960 WriteOdom aft_mapped_to_init
--------------------stamp1317357706.835767984
sort q time 5.454032 
seperate points time 11.213803 
publication time 7.027174 ms 
whole laserOdometry time 7.046763 ms 
 
-----t: 0.0355518
OdomCount 776 & avg odom time 0.051530 ms ++++++++++++++++++++++
mapping data assosiation time 19.267469 ms 
mapping solver time 13.232613 ms 
filter time 8.424538 ms 
--------------------stamp1317357706.939804077
sort q time 5.350004 
seperate points time 11.952607 
mapping data assosiation time 21.465618 ms 
-----t: 0.0369585
OdomCount 777 & avg odom time 0.051511 ms ++++++++++++++++++++++
mapping data assosiation time 21.692939 ms 
points size 90389 
filter time 9.508471 ms 
publication time 5.563899 ms 
whole laserOdometry time 5.582172 ms 
 
-----t: 0.0438307
OdomCount 778 & avg odom time 0.051501 ms ++++++++++++++++++++++
mapping data assosiation time 16.904388 ms 
mapping solver time 16.750396 ms 
--------------------stamp1317357707.147928953
prepare time 10.488203 
sort q time 5.750429 
seperate points time 19.471233 
filter time 9.204244 ms 
-----t: 0.0337448
OdomCount 779 & avg odom time 0.051478 ms ++++++++++++++++++++++
build tree time 25.512123 ms 
mapping data assosiation time 18.405301 ms 
points size 87289 
prepare time 11.722660 
mapping solver time 30.602680 ms 
mapping data assosiation time 20.647709 ms 
publication time 11.497154 ms 
whole laserOdometry time 11.509163 ms 
 
mapping solver time 19.509354 ms 
mapping pub time 2.035908 ms 
whole mapping time 131.341743 ms +++++
mappingCount 572 & avg mapping time 136.273120 ms ++++++++++++++++++++++
--------------------stamp1317357707.356054067
build tree time 30.146580 ms 
scan registration time 24.161593 ms *************
publication time 5.486287 ms 
whole laserOdometry time 5.507034 ms 
 
mapping solver time 29.030489 ms 
mapping data assosiation time 18.523656 ms 
mapping solver time 14.220680 ms 
--------------------stamp1317357707.460118055
publication time 13.576668 ms 
whole laserOdometry time 13.593914 ms 
 
build tree time 43.785913 ms 
mapping data assosiation time 21.854546 ms 
-----t: 0.0706474
OdomCount 782 & avg odom time 0.051475 ms ++++++++++++++++++++++
prepare time 11.990680 
sort q time 4.767122 
seperate points time 10.497809 
publication time 5.177562 ms 
whole laserOdometry time 5.215941 ms 
 
mapping solver time 24.025329 ms 
mapping optimization time 136.932773 
add points time 0.687169 ms
mapping pub time 2.059283 ms 
whole mapping time 154.741482 ms +++++
mappingCount 574 & avg mapping time 136.291522 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
1317357707.564157009 WriteOdom laser_odom_to_init
1317357707.564157009 WriteOdom aft_mapped_to_init_high_frec
1317357707.356054068 WriteOdom aft_mapped_to_init
map prepare time 2.804109 ms
map corner num 120646  surf num 44104 
build tree time 33.828446 ms 
points size 86380 
sort q time 5.334123 
seperate points time 11.365146 
mapping solver time 23.096879 ms 
publication time 6.413193 ms 
whole laserOdometry time 6.424572 ms 
 
mapping data assosiation time 21.623098 ms 
mapping solver time 15.178023 ms 
mapping optimization time 116.667705 
add points time 0.632588 ms
map prepare time 2.148081 ms
map corner num 121055  surf num 44205 
--------------------stamp1317357707.772159099
prepare time 12.952951 
mapping data assosiation time 20.717424 ms 
-----t: 0.0355294
OdomCount 785 & avg odom time 0.051410 ms ++++++++++++++++++++++
1317357707.772159099 WriteOdom laser_odom_to_init
1317357707.772159099 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.208247 ms 
mapping solver time 18.244821 ms 
filter time 10.156461 ms 
map prepare time 2.258677 ms
map corner num 121519  surf num 44326 
publication time 6.167671 ms 
whole laserOdometry time 6.226276 ms 
 
build tree time 30.905092 ms 
-----t: 0.0374034
OdomCount 786 & avg odom time 0.051392 ms ++++++++++++++++++++++
mapping data assosiation time 20.120929 ms 
mapping solver time 18.939143 ms 
--------------------stamp1317357707.980144023
mapping data assosiation time 19.462804 ms 
points size 85497 
sort q time 4.944739 
seperate points time 10.261303 
publication time 7.358448 ms 
whole laserOdometry time 7.371729 ms 
 
-----t: 0.0464131
OdomCount 787 & avg odom time 0.051386 ms ++++++++++++++++++++++
map prepare time 2.980953 ms
map corner num 122277  surf num 44540 
build tree time 28.596068 ms 
mapping data assosiation time 16.560707 ms 
points size 86923 
sort q time 4.924167 
seperate points time 11.158333 
-----t: 0.0317308
OdomCount 789 & avg odom time 0.051344 ms ++++++++++++++++++++++
filter time 8.368937 ms 
mapping pub time 2.068222 ms 
whole mapping time 114.754069 ms +++++
mappingCount 579 & avg mapping time 136.174737 ms ++++++++++++++++++++++
1317357707.980144024 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 27.583448 ms 
--------------------stamp1317357708.292052030
prepare time 11.965087 
sort q time 5.449226 
seperate points time 10.323445 
publication time 5.236557 ms 
whole laserOdometry time 5.258617 ms 
 
mapping data assosiation time 19.801555 ms 
-----t: 0.041723
OdomCount 790 & avg odom time 0.051332 ms ++++++++++++++++++++++
1317357708.292052030 WriteOdom laser_odom_to_init
1317357708.292052030 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.249280 ms 
mapping optimization time 105.174684 
add points time 0.738012 ms
mapping pub time 2.043372 ms 
whole mapping time 118.966799 ms +++++
mappingCount 580 & avg mapping time 136.145074 ms ++++++++++++++++++++++
--------------------stamp1317357708.396018981
mapping data assosiation time 19.382637 ms 
-----t: 0.0286271
OdomCount 791 & avg odom time 0.051303 ms ++++++++++++++++++++++
mapping data assosiation time 17.815737 ms 
mapping solver time 15.389055 ms 
[0m[ INFO] [1715775642.666399822, 1317357708.494236748]: Received 168241 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775642.666436001, 1317357708.494236748]: Data saved to 1317357708292052.pcd[0m
map prepare time 3.014357 ms
map corner num 123406  surf num 44835 
sort q time 6.032109 
seperate points time 14.318318 
publication time 7.416305 ms 
whole laserOdometry time 7.431192 ms 
 
-----t: 0.0333344
OdomCount 792 & avg odom time 0.051281 ms ++++++++++++++++++++++
mapping data assosiation time 23.956879 ms 
--------------------stamp1317357708.603945016
prepare time 11.095477 
mapping data assosiation time 20.012185 ms 
mapping solver time 15.231253 ms 
filter time 11.039252 ms 
-----t: 0.0496533
OdomCount 793 & avg odom time 0.051278 ms ++++++++++++++++++++++
1317357708.603945016 WriteOdom laser_odom_to_init
1317357708.603945016 WriteOdom aft_mapped_to_init_high_frec
build tree time 29.667467 ms 
--------------------stamp1317357708.707911014
points size 86884 
sort q time 5.455377 
seperate points time 10.608867 
publication time 7.606650 ms 
whole laserOdometry time 7.627142 ms 
 
mapping data assosiation time 19.502370 ms 
mapping solver time 18.149995 ms 
filter time 8.285140 ms 
--------------------stamp1317357708.811877012
points size 88062 
sort q time 5.574336 
seperate points time 10.581012 
publication time 6.238090 ms 
whole laserOdometry time 6.252831 ms 
 
mapping solver time 22.780117 ms 
mapping data assosiation time 19.898001 ms 
mapping solver time 13.255024 ms 
filter time 8.172711 ms 
--------------------stamp1317357708.915868043
prepare time 10.124597 
sort q time 5.003124 
seperate points time 10.928228 
publication time 9.304182 ms 
whole laserOdometry time 9.319570 ms 
 
-----t: 0.0586718
OdomCount 796 & avg odom time 0.051274 ms ++++++++++++++++++++++
1317357708.915868043 WriteOdom laser_odom_to_init
1317357708.915868043 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.159742 ms 
mapping data assosiation time 17.088598 ms 
--------------------stamp1317357709.019835948
points size 89070 
filter time 12.141497 ms 
map prepare time 5.302476 ms
map corner num 125066  surf num 45313 
-----t: 0.0403666
OdomCount 797 & avg odom time 0.051260 ms ++++++++++++++++++++++
build tree time 32.688010 ms 
mapping data assosiation time 15.949354 ms 
--------------------stamp1317357709.123780012
prepare time 10.082352 
sort q time 5.123606 
seperate points time 10.293072 
scan registration time 24.092007 ms *************
-----t: 0.0348096
OdomCount 798 & avg odom time 0.051240 ms ++++++++++++++++++++++
1317357709.123780012 WriteOdom laser_odom_to_init
1317357709.123780012 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.753316 ms 
mapping optimization time 120.360153 
add points time 0.822900 ms
filter time 9.067446 ms 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357709.227721929
points size 88528 
scan registration time 36.628516 ms *************
publication time 8.170178 ms 
whole laserOdometry time 8.194131 ms 
 
-----t: 0.0552059
OdomCount 799 & avg odom time 0.051245 ms ++++++++++++++++++++++
mapping solver time 18.997271 ms 
filter time 8.234447 ms 
--------------------stamp1317357709.331638097
points size 90495 
sort q time 5.431228 
seperate points time 12.265308 
scan registration time 40.491516 ms *************
publication time 5.313422 ms 
whole laserOdometry time 5.326460 ms 
 
mapping solver time 17.791431 ms 
mapping data assosiation time 18.093121 ms 
mapping solver time 13.145751 ms 
filter time 9.712583 ms 
points size 92012 
mapping pub time 2.111056 ms 
whole mapping time 118.874781 ms +++++
mappingCount 588 & avg mapping time 136.093370 ms ++++++++++++++++++++++
1317357709.227721930 WriteOdom aft_mapped_to_init
prepare time 12.559999 
scan registration time 30.222528 ms *************
build tree time 32.634768 ms 
mapping data assosiation time 19.093273 ms 
mapping solver time 21.337598 ms 
--------------------stamp1317357709.539423942
prepare time 13.254470 
mapping solver time 20.736508 ms 
map prepare time 2.376391 ms
map corner num 126689  surf num 45907 
scan registration time 73.857403 ms *************
--------------------stamp1317357709.643333911mapping solver time 24.901611 ms 
mapping data assosiation time 17.892896 ms 
mapping solver time 16.609888 ms 
filter time 11.512950 ms 
--------------------stamp1317357709.747230052
scan registration time 29.314559 ms *************
mapping solver time 20.566171 ms 
mapping data assosiation time 18.215636 ms 
mapping solver time 14.081203 ms 
filter time 7.933186 ms 
map prepare time 2.313919 ms
map corner num 127386  surf num 46117 
points size 92228 
sort q time 5.347519 
seperate points time 11.568857 
publication time 5.945127 ms 
whole laserOdometry time 5.958773 ms 
 
-----t: 0.0468871
OdomCount 805 & avg odom time 0.051232 ms ++++++++++++++++++++++
mapping data assosiation time 17.475553 ms 
--------------------stamp1317357709.954971075
points size 90760 
1317357709.747230053 WriteOdom aft_mapped_to_initscan registration time 31.473664 ms *************
publication time 6.076605 ms 
whole laserOdometry time 6.089032 ms 
 
build tree time 33.840536 ms 
-----t: 0.0505404
OdomCount 806 & avg odom time 0.051231 ms ++++++++++++++++++++++
mapping data assosiation time 17.991176 ms 
--------------------stamp1317357710.058818101
mapping data assosiation time 19.101307 ms 
mapping solver time 14.632638 ms 
filter time 11.690508 ms 
-----t: 0.0412137
OdomCount 807 & avg odom time 0.051219 ms ++++++++++++++++++++++
1317357710.058818101 WriteOdom laser_odom_to_init
build tree time 29.699694 ms 
mapping data assosiation time 19.047424 ms 
points size 92193 
mapping solver time 19.341930 ms 
prepare time 12.540943 
mapping data assosiation time 19.928169 ms 
mapping solver time 16.666425 ms 
filter time 9.596503 ms 
mapping pub time 2.076408 ms 
whole mapping time 121.186713 ms +++++
mappingCount 594 & avg mapping time 136.000797 ms ++++++++++++++++++++++
1317357709.954971075 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.163369 ms
map corner num 128660  surf num 46493 
build tree time 26.948053 ms 
--------------------stamp1317357710.266423940
points size 93659 
sort q time 5.194314 
seperate points time 11.871441 
mapping solver time 22.841374 ms 
scan registration time 31.306628 ms *************
1317357710.266423940 WriteOdom laser_odom_to_init
mapping solver time 14.585715 ms 
mapping optimization time 104.715886 
add points time 0.752006 ms
mapping pub time 1.934878 ms 
whole mapping time 117.898860 ms +++++
mappingCount 595 & avg mapping time 135.970379 ms ++++++++++++++++++++++
--------------------stamp1317357710.370222091
prepare time 11.590032 
sort q time 5.575045 
seperate points time 12.071069 
publication time 6.422017 ms 
whole laserOdometry time 6.429475 ms 
 
mapping solver time 21.377433 ms 
mapping data assosiation time 18.607534 ms 
mapping solver time 18.047010 ms 
filter time 9.090719 ms 
map prepare time 2.725596 ms
map corner num 129524  surf num 46827 
sort q time 5.352643 
seperate points time 12.847952 
build tree time 35.610587 ms 
-----t: 0.0444033
OdomCount 811 & avg odom time 0.051163 ms ++++++++++++++++++++++
mapping solver time 17.837066 ms 
mapping data assosiation time 16.245445 ms 
mapping solver time 15.400732 ms 
filter time 18.584596 ms 
publication time 6.524516 ms 
whole laserOdometry time 6.548254 ms 
 
-----t: 0.0583259
OdomCount 812 & avg odom time 0.051172 ms ++++++++++++++++++++++
points size 97460 
prepare time 14.482493 
scan registration time 35.518694 ms *************
mapping data assosiation time 22.070435 ms 
mapping solver time 15.848727 ms 
mapping optimization time 125.394362 
add points time 0.646300 ms
-----t: 0.047592
OdomCount 813 & avg odom time 0.051167 ms ++++++++++++++++++++++
1317357710.681596040 WriteOdom laser_odom_to_init
1317357710.681596040 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
--------------------stamp1317357710.785368919
points size 97006 
sort q time 6.030229 
seperate points time 14.077584 
mapping solver time 19.683621 ms 
-----t: 0.0474302
OdomCount 814 & avg odom time 0.051163 ms ++++++++++++++++++++++
mapping solver time 14.049388 ms 
filter time 8.279953 ms 
--------------------stamp1317357710.889142990
prepare time 10.344549 
sort q time 6.456570 
seperate points time 11.848025 
-----t: 0.0455562
OdomCount 815 & avg odom time 0.051156 ms ++++++++++++++++++++++
mapping solver time 23.785854 ms 
mapping data assosiation time 16.752671 ms 
--------------------stamp1317357710.992911100
sort q time 5.894086 
publication time 7.258302 ms 
whole laserOdometry time 7.270239 ms 
 
-----t: 0.0375151
OdomCount 816 & avg odom time 0.051139 ms ++++++++++++++++++++++
mapping solver time 16.513826 ms 
points size 94728 
mapping solver time 15.196885 ms 
mapping optimization time 100.101955 
add points time 0.716163 ms
sort q time 5.325334 
seperate points time 12.250386 
scan registration time 30.933112 ms *************
[0m[ INFO] [1715775645.312970119, 1317357711.136826721]: Received 179036 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775645.313016500, 1317357711.136826721]: Data saved to 1317357710889142.pcd[0m
mapping pub time 30.576946 ms 
whole mapping time 149.343294 ms +++++
mappingCount 601 & avg mapping time 135.947878 ms ++++++++++++++++++++++
build tree time 29.190773 ms 
points size 90444 
prepare time 14.558407 
mapping data assosiation time 20.556588 ms 
sort q time 11.871511 
seperate points time 19.220033 
-----t: 0.032726
OdomCount 818 & avg odom time 0.051090 ms ++++++++++++++++++++++
mapping data assosiation time 20.068031 ms 
mapping solver time 13.140020 ms 
filter time 8.800781 ms 
--------------------stamp1317357711.304353952
build tree time 30.724865 ms 
scan registration time 27.476852 ms *************
mapping data assosiation time 23.610655 ms 
-----t: 0.044606
OdomCount 819 & avg odom time 0.051082 ms ++++++++++++++++++++++
mapping data assosiation time 17.023707 ms 
mapping solver time 13.281952 ms 
--------------------stamp1317357711.408205032sort q time 4.615778 
seperate points time 9.581281 
-----t: 0.0332424
OdomCount 820 & avg odom time 0.051060 ms ++++++++++++++++++++++
mapping data assosiation time 18.596703 ms 
mapping solver time 16.769181 ms 
mapping data assosiation time 17.047053 ms 
mapping solver time 14.044401 ms 
filter time 8.368709 ms 
map prepare time 3.305032 ms
map corner num 127586  surf num 43877 
publication time 10.009189 ms 
whole laserOdometry time 10.023857 ms 
 
1317357711.512073993 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 15.544898 ms 
mapping solver time 17.189678 ms 
--------------------stamp1317357711.615943908
mapping data assosiation time 19.023746 ms 
sort q time 5.343763 
seperate points time 10.774549 
mapping optimization time 103.947664 
publication time 5.995199 ms 
whole laserOdometry time 6.009913 ms 
 
map prepare time 2.793936 ms
map corner num 127955  surf num 43966 
-----t: 0.0357539
OdomCount 822 & avg odom time 0.051022 ms ++++++++++++++++++++++
1317357711.615943908 WriteOdom laser_odom_to_init
1317357711.615943908 WriteOdom aft_mapped_to_init_high_frec
build tree time 29.516721 ms 
mapping data assosiation time 19.685139 ms 
points size 86691 
mapping data assosiation time 20.712873 ms 
publication time 6.891963 ms 
whole laserOdometry time 6.903191 ms 
 
mapping solver time 17.189389 ms 
mapping optimization time 110.040277 
add points time 0.713618 ms
mapping pub time 7.984339 ms 
whole mapping time 132.284656 ms +++++
mappingCount 606 & avg mapping time 135.828302 ms ++++++++++++++++++++++
1317357711.512073994 WriteOdom aft_mapped_to_init
1317357711.719813108 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1715775645.965464527, 1317357711.796613002]: Received 172418 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775645.965502981, 1317357711.796613002]: Data saved to 1317357711512073.pcd[0m
map prepare time 2.946468 ms
map corner num 128343  surf num 44075 
--------------------stamp1317357711.823695898
sort q time 4.761495 
seperate points time 9.631543 
publication time 6.815514 ms 
whole laserOdometry time 6.825592 ms 
 
mapping solver time 26.896499 ms 
-----t: 0.0568017
OdomCount 824 & avg odom time 0.051032 ms ++++++++++++++++++++++
mapping solver time 17.379474 ms 
filter time 8.326038 ms 
points size 83771 
sort q time 13.714346 
seperate points time 19.887825 
-----t: 0.0356066
OdomCount 825 & avg odom time 0.051014 ms ++++++++++++++++++++++
1317357711.927567005 WriteOdom laser_odom_to_init
1317357711.927567005 WriteOdom aft_mapped_to_init_high_frec
publication time 6.625080 ms 
whole laserOdometry time 6.636248 ms 
 
mapping data assosiation time 19.249902 ms 
mapping solver time 17.834999 ms 
mapping data assosiation time 17.993560 ms 
--------------------stamp1317357712.031425952
prepare time 10.132573 
map prepare time 3.005572 msscan registration time 39.798584 ms *************
-----t: 0.0342523
OdomCount 826 & avg odom time 0.050993 ms ++++++++++++++++++++++
mapping data assosiation time 16.660817 ms 
mapping solver time 18.296397 ms 
points size 88076 
sort q time 4.775201 
seperate points time 11.103401 
filter time 11.332627 ms 
build tree time 29.529187 ms 
mapping data assosiation time 18.736433 ms 
points size 87601 
sort q time 4.737520 
seperate points time 10.726652 
mapping data assosiation time 19.609185 ms 
-----t: 0.0311352
OdomCount 828 & avg odom time 0.050944 ms ++++++++++++++++++++++
1317357712.239167928 WriteOdom laser_odom_to_init
1317357712.239167928 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.346521 ms 
mapping optimization time 105.189547 
add points time 0.747291 ms
mapping pub time 1.919881 ms 
whole mapping time 118.947380 ms +++++
mappingCount 610 & avg mapping time 135.747973 ms ++++++++++++++++++++++
build tree time 27.720441 ms 
--------------------stamp1317357712.343039989
prepare time 10.395292 
sort q time 6.003358 
seperate points time 10.823141 
publication time 5.561832 ms 
whole laserOdometry time 5.579189 ms 
 
-----t: 0.0320733
OdomCount 829 & avg odom time 0.050921 ms ++++++++++++++++++++++
mapping data assosiation time 18.521056 ms 
mapping solver time 14.165253 ms 
mapping optimization time 110.759635 
add points time 0.847776 ms
mapping pub time 6.409516 ms 
whole mapping time 128.776098 ms +++++
mappingCount 611 & avg mapping time 135.736570 ms ++++++++++++++++++++++
[0m[ INFO] [1715775646.598979684, 1317357712.428879412]: Received 174926 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775646.599036126, 1317357712.428879412]: Data saved to 1317357712135298.pcd[0m
--------------------stamp1317357712.446919918
points size 89891 
build tree time 32.438593 ms 
mapping data assosiation time 21.532072 ms 
mapping solver time 21.075994 ms 
mapping data assosiation time 17.879148 ms 
mapping solver time 14.740841 ms 
filter time 8.916909 ms 
prepare time 13.540307 
sort q time 5.640275 
seperate points time 12.572345 
build tree time 32.360990 ms 
mapping data assosiation time 19.307645 ms 
mapping solver time 19.529145 ms 
mapping data assosiation time 16.680055 ms 
points size 88210 
sort q time 5.027270 
seperate points time 11.509709 
publication time 6.357647 ms 
whole laserOdometry time 6.368346 ms 
 
mapping data assosiation time 20.697758 ms 
mapping solver time 22.566871 ms 
points size 88040 
sort q time 6.518035 
seperate points time 11.774158 
mapping pub time 2.096129 ms 
whole mapping time 126.833886 ms +++++
mappingCount 614 & avg mapping time 135.685041 ms ++++++++++++++++++++++
1317357712.550789118 WriteOdom aft_mapped_to_init
1317357712.758536100 WriteOdom laser_odom_to_init
1317357712.758536100 WriteOdom aft_mapped_to_init_high_frec
build tree time 34.201768 ms 
--------------------stamp1317357712.862376928
prepare time 10.652534 
sort q time 5.705402 
seperate points time 10.816543 
publication time 6.401507 ms 
whole laserOdometry time 6.416044 ms 
 
-----t: 0.0464858
OdomCount 834 & avg odom time 0.050845 ms ++++++++++++++++++++++
1317357712.862376928 WriteOdom laser_odom_to_init
1317357712.862376928 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.922780 ms 
mapping optimization time 104.916848 
add points time 0.680215 ms
map prepare time 2.259394 ms
map corner num 131801  surf num 45008 
--------------------stamp1317357712.966201066
prepare time 9.827701 
mapping data assosiation time 20.158497 ms 
publication time 5.611798 ms 
whole laserOdometry time 5.627112 ms 
 
mapping data assosiation time 19.008223 ms 
mapping solver time 18.216686 ms 
mapping optimization time 114.729528 
add points time 0.814410 ms
1317357712.758536100 WriteOdom aft_mapped_to_init
points size 82258 
sort q time 11.279150 
seperate points time 17.265213 
build tree time 34.351480 ms 
publication time 8.034410 ms 
whole laserOdometry time 8.044680 ms 
 
-----t: 0.050278
OdomCount 836 & avg odom time 0.050835 ms ++++++++++++++++++++++
mapping solver time 22.417874 ms 
--------------------stamp1317357713.173846006
points size 80104 
prepare time 12.214497 
filter time 11.654191 ms 
build tree time 30.094251 ms 
mapping data assosiation time 16.073061 ms 
--------------------stamp1317357713.277636051
points size 80058 
sort q time 4.905783 
seperate points time 11.278657 
mapping solver time 16.379352 ms 
-----t: 0.0399901
OdomCount 838 & avg odom time 0.050802 ms ++++++++++++++++++++++
build tree time 28.262815 ms 
mapping data assosiation time 17.114535 ms 
prepare time 12.350825 
scan registration time 27.076768 ms *************
-----t: 0.0289674
OdomCount 839 & avg odom time 0.050776 ms ++++++++++++++++++++++
mapping solver time 10.115424 ms 
filter time 10.062273 ms 
build tree time 28.550648 ms 
points size 83838 
mapping data assosiation time 19.764888 ms 
sort q time 5.880792 
seperate points time 11.981814 
publication time 6.294503 ms 
whole laserOdometry time 6.307165 ms 
 
mapping solver time 25.105751 ms 
mapping data assosiation time 19.532510 ms 
mapping solver time 13.048690 ms 
mapping pub time 1.896792 ms 
whole mapping time 121.053469 ms +++++
mappingCount 620 & avg mapping time 135.571877 ms ++++++++++++++++++++++
--------------------stamp1317357713.589016914
prepare time 12.519214 
sort q time 4.754469 
seperate points time 11.144745 
build tree time 36.858450 ms 
scan registration time 29.135783 ms *************
-----t: 0.0369545
OdomCount 841 & avg odom time 0.050756 ms ++++++++++++++++++++++
publication time 6.239948 ms 
whole laserOdometry time 6.249362 ms 
 
mapping solver time 20.383326 ms 
mapping data assosiation time 18.360640 ms 
mapping solver time 15.101580 ms 
filter time 11.300188 ms 
sort q time 5.716189 
seperate points time 12.386789 
publication time 7.090707 ms 
whole laserOdometry time 7.103171 ms 
 
build tree time 28.361144 ms 
--------------------stamp1317357713.796585083
points size 84484 
sort q time 11.621143 
seperate points time 17.724458 
mapping solver time 16.010120 ms 
mapping optimization time 102.798875 
add points time 0.842765 ms
publication time 6.851115 ms 
whole laserOdometry time 6.864664 ms 
 
--------------------stamp1317357713.900408029points size 84259 
mapping data assosiation time 18.574956 ms 
sort q time 7.140904 
seperate points time 16.222506 
mapping solver time 26.813971 ms 
mapping data assosiation time 20.272802 ms 
--------------------stamp1317357714.004229068
points size 83773 
1317357713.900408029 WriteOdom aft_mapped_to_init_high_frec
scan registration time 34.132693 ms *************
publication time 6.045573 ms 
whole laserOdometry time 6.074254 ms 
 
build tree time 35.126182 ms 
-----t: 0.047792
OdomCount 845 & avg odom time 0.050781 ms ++++++++++++++++++++++
--------------------stamp1317357714.108052968
points size 83822 
publication time 6.139907 ms 
whole laserOdometry time 6.155364 ms 
 
mapping solver time 22.612947 ms 
mapping optimization time 122.660372 
add points time 0.567151 ms
map prepare time 2.425780 ms
map corner num 135149  surf num 45886 
--------------------stamp1317357714.211875915
mapping data assosiation time 17.497348 ms 
sort q time 5.066440 
seperate points time 10.290116 
scan registration time 25.662790 ms *************
publication time 5.843660 ms 
whole laserOdometry time 5.857051 ms 
 
-----t: 0.041372
OdomCount 847 & avg odom time 0.050761 ms ++++++++++++++++++++++
mapping solver time 18.226832 ms 
filter time 8.678406 ms 
--------------------stamp1317357714.315730094
points size 84009 
sort q time 4.350129 
seperate points time 10.269835 
-----t: 0.0261884
OdomCount 848 & avg odom time 0.050732 ms ++++++++++++++++++++++
mapping solver time 21.914053 ms 
mapping data assosiation time 17.162380 ms 
--------------------stamp1317357714.419574975
prepare time 11.102273 

-----t: 0.0317783
OdomCount 849 & avg odom time 0.050710 ms ++++++++++++++++++++++
build tree time 36.979457 ms 
mapping data assosiation time 19.237503 ms 
--------------------stamp1317357714.523412942
prepare time 11.780719 
scan registration time 25.649038 ms *************
mapping solver time 15.390221 ms 
filter time 10.410654 ms 
build tree time 30.172869 ms 
mapping data assosiation time 16.913253 ms 
points size 84092 
mapping solver time 24.009828 ms 
publication time 6.073883 ms 
whole laserOdometry time 6.087085 ms 
 
-----t: 0.0355241
OdomCount 851 & avg odom time 0.050681 ms ++++++++++++++++++++++
mapping solver time 19.200926 ms 
filter time 8.473444 ms 
--------------------stamp1317357714.731204986
prepare time 11.084505 
sort q time 5.319666 
seperate points time 10.870605 
mapping solver time 21.148871 ms 
-----t: 0.0439112
OdomCount 852 & avg odom time 0.050673 ms ++++++++++++++++++++++
1317357714.731204986 WriteOdom laser_odom_to_init
1317357714.731204986 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.067708 ms 
mapping solver time 13.015789 ms 
filter time 8.368480 ms 
--------------------stamp1317357714.835098981
prepare time 13.339374 
build tree time 35.822127 ms 
sort q time 5.572634 
seperate points time 11.379991 
mapping data assosiation time 19.216812 ms 
publication time 9.820202 ms 
whole laserOdometry time 9.837197 ms 
 
-----t: 0.0676448
OdomCount 853 & avg odom time 0.050693 ms ++++++++++++++++++++++
--------------------stamp1317357714.939016103
points size 86415 
map prepare time 6.035378 ms
map corner num 137429  surf num 46664 
publication time 6.065222 ms 
whole laserOdometry time 6.079539 ms 
 
build tree time 40.531923 ms 
mapping data assosiation time 17.188757 ms 
--------------------stamp1317357715.042944908
mapping data assosiation time 19.283660 ms 
publication time 5.558864 ms 
whole laserOdometry time 5.574085 ms 
 
add points time 0.565040 ms
-----t: 0.035669
OdomCount 855 & avg odom time 0.050686 ms ++++++++++++++++++++++
1317357715.042944908 WriteOdom laser_odom_to_init
1317357715.042944908 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
--------------------stamp1317357715.146866083
prepare time 9.667533 
sort q time 5.144965 
seperate points time 9.835079 
mapping solver time 21.832277 ms 
mapping data assosiation time 19.167575 ms 
publication time 21.820689 ms 
whole laserOdometry time 21.832253 ms 
 
-----t: 0.0397908
OdomCount 856 & avg odom time 0.050673 ms ++++++++++++++++++++++
1317357715.146866083 WriteOdom laser_odom_to_init
1317357715.146866083 WriteOdom aft_mapped_to_init_high_frec
filter time 8.034057 ms 
--------------------stamp1317357715.250808000
build tree time 34.220250 ms 
sort q time 5.728242 
seperate points time 13.043751 
publication time 6.945078 ms 
whole laserOdometry time 6.959416 ms 
 
-----t: 0.0430733
OdomCount 857 & avg odom time 0.050665 ms ++++++++++++++++++++++
mapping data assosiation time 17.723472 ms 
mapping solver time 14.078230 ms 
mapping optimization time 111.430397 
add points time 0.550456 ms
map prepare time 3.554763 ms
map corner num 138538  surf num 47087 
sort q time 10.498138 
seperate points time 16.853439 
publication time 8.559259 ms 
whole laserOdometry time 8.571243 ms 
 
mapping data assosiation time 18.596005 ms 
mapping solver time 19.945008 ms 
--------------------stamp1317357715.458673000
mapping solver time 15.654411 ms 
publication time 7.117332 ms 
whole laserOdometry time 7.130596 ms 
 
-----t: 0.0387273
OdomCount 859 & avg odom time 0.050639 ms ++++++++++++++++++++++
1317357715.458673000 WriteOdom laser_odom_to_init
1317357715.458673000 WriteOdom aft_mapped_to_init_high_frec
build tree time 30.438425 ms 
mapping data assosiation time 17.188399 ms 
points size 88766 
prepare time 33.866875 
mapping data assosiation time 36.828683 ms 
-----t: 0.0405224
OdomCount 860 & avg odom time 0.050627 ms ++++++++++++++++++++++
publication time 5.624244 ms 
whole laserOdometry time 5.640203 ms 
 
map prepare time 2.315987 ms
map corner num 139259  surf num 47377 
--------------------stamp1317357715.666502952
prepare time 11.121629 
sort q time 4.905070 
seperate points time 11.229711 
publication time 7.451785 ms 
whole laserOdometry time 7.468418 ms 
 
mapping data assosiation time 19.346299 ms 
mapping solver time 14.167844 ms 
filter time 9.614975 ms 
1317357715.562586069 WriteOdom aft_mapped_to_init
points size 91605 
sort q time 5.123142 
seperate points time 11.638880 
publication time 6.952296 ms 
whole laserOdometry time 6.960529 ms 
 
mapping data assosiation time 18.897642 ms 
mapping solver time 19.485348 ms 
--------------------stamp1317357715.874385118
prepare time 11.653685 
sort q time 5.948080 
seperate points time 11.874201 
publication time 7.035463 ms 
whole laserOdometry time 7.051369 ms 
 
drop lidar frame in mapping for real time performance 
mapping data assosiation time 21.404700 ms 
mapping solver time 21.619110 ms 
mapping data assosiation time 26.079371 ms 
mapping solver time 19.583327 ms 
filter time 8.410563 ms 
--------------------stamp1317357716.082264900
points size 96158 
sort q time 6.314222 
seperate points time 13.203521 
mapping data assosiation time 21.322735 ms 
-----t: 0.0445608
OdomCount 865 & avg odom time 0.050562 ms ++++++++++++++++++++++
mapping data assosiation time 16.999642 ms 
mapping solver time 15.727317 ms 
filter time 9.977370 ms 
build tree time 22.938866 ms 
-----t: 0.0433973
OdomCount 866 & avg odom time 0.050553 ms ++++++++++++++++++++++
mapping solver time 20.324352 ms 
points size 95570 
mapping solver time 19.999535 ms 
map prepare time 2.803638 ms
map corner num 84737  surf num 30360 
-----t: 0.0370309
OdomCount 867 & avg odom time 0.050538 ms ++++++++++++++++++++++
mapping data assosiation time 18.569002 ms 
mapping solver time 20.988198 ms 
points size 94701 
mapping data assosiation time 24.039944 ms 
mapping solver time 19.389387 ms 
-----t: 0.033512
OdomCount 868 & avg odom time 0.050518 ms ++++++++++++++++++++++
[0m[ INFO] [1715775650.615509335, 1317357716.437913589]: Received 115742 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775650.615560575, 1317357716.437913589]: Data saved to 1317357716186229.pcd[0m
1317357716.394135951 WriteOdom laser_odom_to_init
1317357716.394135951 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 23.756832 ms 
whole mapping time 140.472811 ms +++++
mappingCount 641 & avg mapping time 135.538538 ms ++++++++++++++++++++++
build tree time 19.354841 ms 
--------------------stamp1317357716.498080015
points size 94915 
sort q time 6.595455 
seperate points time 14.624231 
mapping solver time 22.796217 ms 
1317357716.498080015 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.235387 ms 
mapping pub time 2.140563 ms 
whole mapping time 116.070560 ms +++++
mappingCount 642 & avg mapping time 135.508220 ms ++++++++++++++++++++++
--------------------stamp1317357716.602045059
prepare time 10.961446 
sort q time 5.224558 
seperate points time 10.983238 
publication time 7.539173 ms 
whole laserOdometry time 7.550001 ms 
 
-----t: 0.0354599
OdomCount 870 & avg odom time 0.050484 ms ++++++++++++++++++++++
mapping solver time 28.763194 ms 
mapping data assosiation time 19.595579 ms 
mapping solver time 18.849642 ms 
mapping pub time 2.427468 ms 
whole mapping time 124.158086 ms +++++
mappingCount 643 & avg mapping time 135.490574 ms ++++++++++++++++++++++
sort q time 5.275164 
seperate points time 12.329889 
publication time 6.209222 ms 
whole laserOdometry time 6.222870 ms 
 
-----t: 0.0406121
OdomCount 871 & avg odom time 0.050472 ms ++++++++++++++++++++++
mapping solver time 20.646813 ms 
mapping data assosiation time 20.657450 ms 
mapping solver time 17.811611 ms 
filter time 6.908493 ms 
sort q time 5.396154 
seperate points time 13.720619 
publication time 8.904977 ms 
whole laserOdometry time 8.923012 ms 
 
-----t: 0.0444784
OdomCount 872 & avg odom time 0.050466 ms ++++++++++++++++++++++
1317357716.809954881 WriteOdom laser_odom_to_init
1317357716.809954881 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.266959 ms 
points size 97252 
sort q time 6.123254 
seperate points time 12.804514 
mapping optimization time 118.437051 
filter time 8.429766 ms 
publication time 8.323313 ms 
whole laserOdometry time 8.339257 ms 
 
-----t: 0.0588215
OdomCount 873 & avg odom time 0.050475 ms ++++++++++++++++++++++
build tree time 25.699768 ms 
--------------------stamp1317357717.017854928
points size 96892 
mapping solver time 22.166673 ms 
publication time 6.614281 ms 
whole laserOdometry time 6.630661 ms 
 
mapping solver time 16.325002 ms 
[0m[ INFO] [1715775651.262873709, 1317357717.093844081]: Received 119375 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775651.262928565, 1317357717.093844081]: Data saved to 1317357716809954.pcd[0m
mapping pub time 5.565421 ms 
whole mapping time 125.573940 ms +++++
mappingCount 646 & avg mapping time 135.440835 ms ++++++++++++++++++++++
1317357716.809954882 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 20.437338 ms 
points size 96928 
sort q time 6.373411 
seperate points time 14.058263 
mapping solver time 22.793418 ms 
publication time 8.290153 ms 
whole laserOdometry time 8.318968 ms 
 
mapping data assosiation time 21.768435 ms 
mapping solver time 15.869653 ms 
mapping optimization time 104.413290 
add points time 0.867953 ms
mapping pub time 3.762628 ms 
whole mapping time 121.144020 ms +++++
mappingCount 647 & avg mapping time 135.418742 ms ++++++++++++++++++++++
points size 97656 
sort q time 5.584555 
seperate points time 12.936057 
mapping data assosiation time 23.605687 ms 
publication time 17.908418 ms 
whole laserOdometry time 17.925154 ms 
 
-----t: 0.0425109
OdomCount 876 & avg odom time 0.050450 ms ++++++++++++++++++++++
1317357717.225699901 WriteOdom laser_odom_to_init
1317357717.225699901 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.962289 ms 
mapping data assosiation time 22.547626 ms 
--------------------stamp1317357717.329622030
prepare time 12.128901 
sort q time 6.883674 
seperate points time 13.193977 
build tree time 22.606196 ms 
-----t: 0.0329266
OdomCount 877 & avg odom time 0.050430 ms ++++++++++++++++++++++
mapping solver time 26.690120 ms 
--------------------stamp1317357717.433496952
prepare time 11.033720 
sort q time 6.953200 
seperate points time 13.366227 
filter time 7.371508 ms 
map prepare time 3.140220 ms
map corner num 89223  surf num 32205 
build tree time 20.615474 ms 
mapping data assosiation time 21.977690 ms 
--------------------stamp1317357717.537368059
prepare time 12.564985 
sort q time 6.085640 
seperate points time 11.744299 
publication time 6.685330 ms 
whole laserOdometry time 6.700524 ms 
 
mapping solver time 17.192645 ms 
filter time 5.663917 ms 
build tree time 18.434745 ms 
--------------------stamp1317357717.641235113
points size 96746 
sort q time 6.711139 
seperate points time 12.165922 
mapping solver time 31.158569 ms 
-----t: 0.0322357
OdomCount 880 & avg odom time 0.050376 ms ++++++++++++++++++++++
mapping data assosiation time 21.298049 ms 
mapping solver time 25.237427 ms 
filter time 6.174140 ms 
map prepare time 2.576709 ms
map corner num 90217  surf num 32567 
points size 95186 
build tree time 24.233976 ms 
sort q time 16.182169 
seperate points time 22.182367 
scan registration time 43.062566 ms *************
mapping data assosiation time 22.627269 ms 
publication time 7.631186 ms 
whole laserOdometry time 7.642042 ms 
 
-----t: 0.0532905
OdomCount 881 & avg odom time 0.050379 ms ++++++++++++++++++++++
mapping solver time 15.759963 ms 
mapping pub time 2.558870 ms 
whole mapping time 117.946257 ms +++++
mappingCount 652 & avg mapping time 135.343347 ms ++++++++++++++++++++++
1317357717.641235113 WriteOdom aft_mapped_to_init
build tree time 22.198126 ms 
publication time 7.734135 ms 
whole laserOdometry time 7.744325 ms 
 
-----t: 0.035802
OdomCount 882 & avg odom time 0.050363 ms ++++++++++++++++++++++
1317357717.848974943 WriteOdom laser_odom_to_init
mapping data assosiation time 22.281342 ms 
1317357717.848974943 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.030970 ms 
--------------------stamp1317357717.952809095
points size 93630 
mapping optimization time 114.534045 
mapping pub time 2.290501 ms 
whole mapping time 128.813714 ms +++++
mappingCount 653 & avg mapping time 135.333354 ms ++++++++++++++++++++++
-----t: 0.0464187
OdomCount 883 & avg odom time 0.050358 ms ++++++++++++++++++++++
mapping data assosiation time 18.908636 ms 
--------------------stamp1317357718.056644916
sort q time 7.168541 
seperate points time 13.378959 
mapping solver time 33.025340 ms 
mapping pub time 2.412748 ms 
whole mapping time 137.869965 ms +++++
mappingCount 654 & avg mapping time 135.337243 ms ++++++++++++++++++++++
1317357718.056644916 WriteOdom aft_mapped_to_init_high_frec
points size 91647 
prepare time 12.434416 
publication time 8.976687 ms 
whole laserOdometry time 8.992605 ms 
 
-----t: 0.0434104
OdomCount 885 & avg odom time 0.050360 ms ++++++++++++++++++++++
1317357718.160471916 WriteOdom laser_odom_to_init
1317357718.160471916 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.937805 ms 
mapping solver time 21.113394 ms 
mapping pub time 2.127253 ms 
whole mapping time 136.737637 ms +++++
mappingCount 655 & avg mapping time 135.339387 ms ++++++++++++++++++++++
sort q time 5.395395 
seperate points time 10.779922 
publication time 7.774279 ms 
whole laserOdometry time 7.787965 ms 
 
-----t: 0.036698
OdomCount 886 & avg odom time 0.050345 ms ++++++++++++++++++++++
mapping solver time 25.157373 ms 
--------------------stamp1317357718.368061065
points size 92240 
sort q time 5.070627 
seperate points time 11.807578 
mapping solver time 22.951099 ms 
mapping pub time 6.071788 ms 
whole mapping time 136.294820 ms +++++
mappingCount 656 & avg mapping time 135.340854 ms ++++++++++++++++++++++
-----t: 0.0405882
OdomCount 887 & avg odom time 0.050334 ms ++++++++++++++++++++++
build tree time 21.676063 ms 
mapping data assosiation time 22.894411 ms 
--------------------stamp1317357718.471813917
points size 92995 
sort q time 5.065897 
seperate points time 11.845649 
mapping data assosiation time 24.559018 ms 
-----t: 0.042385
OdomCount 888 & avg odom time 0.050325 ms ++++++++++++++++++++++
filter time 8.646304 ms 
build tree time 18.639917 ms 
points size 93630 
sort q time 6.679541 
seperate points time 18.636345 
mapping solver time 34.180926 ms 
mapping data assosiation time 23.415179 ms 
mapping optimization time 126.347169 
filter time 9.038760 ms 
sort q time 5.909581 
seperate points time 13.086349 
build tree time 30.799177 ms 
-----t: 0.0484219
OdomCount 890 & avg odom time 0.050310 ms ++++++++++++++++++++++
1317357718.679301977 WriteOdom laser_odom_to_init
1317357718.679301977 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.987225 ms 
points size 94858 
mapping data assosiation time 26.941773 ms 
publication time 7.407291 ms 
whole laserOdometry time 7.417192 ms 
 
filter time 8.369953 ms 
1317357718.783023118 WriteOdom laser_odom_to_init
1317357718.783023118 WriteOdom aft_mapped_to_init_high_frec
build tree time 19.995142 ms 
--------------------stamp1317357718.886718988
points size 95193 
sort q time 5.351090 
seperate points time 10.898521 
mapping solver time 30.286247 ms 
-----t: 0.0470682
OdomCount 892 & avg odom time 0.050307 ms ++++++++++++++++++++++
mapping data assosiation time 28.772275 ms 
mapping solver time 28.560209 ms 
filter time 8.771193 ms 
map prepare time 3.987980 ms
map corner num 95371  surf num 34318 
sort q time 5.412947 
seperate points time 12.752666 
publication time 16.662039 ms 
whole laserOdometry time 16.680791 ms 
 
mapping solver time 30.442198 ms 
points size 96510 
mapping data assosiation time 30.660844 ms 
publication time 8.097953 ms 
whole laserOdometry time 8.114566 ms 
 
mapping solver time 45.844709 ms 
filter time 6.572305 ms 
--------------------stamp1317357719.197606086
points size 97387 
sort q time 5.773751 
seperate points time 13.168661 
-----t: 0.0383131
OdomCount 895 & avg odom time 0.050298 ms ++++++++++++++++++++++
mapping data assosiation time 28.315067 ms 
mapping solver time 36.545166 ms 
points size 98064 
mapping data assosiation time 28.254140 ms 
scan registration time 36.754897 ms *************
publication time 13.502143 ms 
whole laserOdometry time 13.517617 ms 
 
-----t: 0.0541919
OdomCount 896 & avg odom time 0.050303 ms ++++++++++++++++++++++
--------------------stamp1317357719.404895067
prepare time 15.228176 
scan registration time 34.871953 ms *************
mapping solver time 42.735546 ms 
mapping data assosiation time 30.487899 ms 
points size 99528 
sort q time 5.595562 
seperate points time 13.219273 
filter time 9.885748 ms 
-----t: 0.0493186
OdomCount 898 & avg odom time 0.050310 ms ++++++++++++++++++++++
1317357719.508598089 WriteOdom laser_odom_to_init
publication time 13.015006 ms 
whole laserOdometry time 13.030303 ms 
 
--------------------stamp1317357719.612273931
prepare time 12.861908 
sort q time 5.889092 
seperate points time 12.886958 
mapping solver time 34.550555 ms 
-----t: 0.0437331
OdomCount 899 & avg odom time 0.050303 ms ++++++++++++++++++++++
1317357719.612273931 WriteOdom laser_odom_to_init
1317357719.612273931 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.504327 ms 
mapping solver time 23.925353 ms 
filter time 7.087038 ms 
sort q time 6.103159 
seperate points time 13.036517 
scan registration time 33.068221 ms *************
build tree time 22.859222 ms 
publication time 9.826888 ms 
whole laserOdometry time 9.838127 ms 
 
mapping solver time 28.626316 ms 
--------------------stamp1317357719.819776058
prepare time 11.984530 
sort q time 6.705377 
seperate points time 13.304148 
publication time 8.652403 ms 
filter time 9.051247 ms 
map prepare time 2.792337 ms
map corner num 129253  surf num 46498 
build tree time 27.465024 ms 
--------------------stamp1317357719.923556089
points size 100561 
sort q time 6.355056 
seperate points time 13.587321 
publication time 8.929920 ms 
whole laserOdometry time 8.945887 ms 
 
mapping data assosiation time 25.995492 ms 
mapping solver time 18.136066 ms 
filter time 11.876171 ms 
1317357719.715993881 WriteOdom aft_mapped_to_init
scan registration time 33.360481 ms *************
publication time 9.999579 ms 
whole laserOdometry time 10.015028 ms 
 
build tree time 33.478087 ms 
-----t: 0.0430321
OdomCount 903 & avg odom time 0.050269 ms ++++++++++++++++++++++
1317357720.027332067 WriteOdom laser_odom_to_init
1317357720.027332067 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.432305 ms 
--------------------stamp1317357720.131103038
points size 100493 
scan registration time 33.095773 ms *************
publication time 9.094605 ms 
whole laserOdometry time 9.106065 ms 
 
mapping optimization time 143.765748 
add points time 0.958889 ms
map prepare time 2.989132 ms
map corner num 130506  surf num 47037 
--------------------stamp1317357720.234925985
points size 100543 sort q time 6.558367 
seperate points time 16.145994 
scan registration time 42.449342 ms *************
mapping solver time 32.673259 ms 
--------------------stamp1317357720.338774919
points size 99733 
sort q time 5.431202 
seperate points time 12.162429 
filter time 12.250017 ms 
-----t: 0.0498115
OdomCount 906 & avg odom time 0.050297 ms ++++++++++++++++++++++
build tree time 35.524056 ms 
--------------------stamp1317357720.442596912
prepare time 13.171415 
sort q time 5.611360 
seperate points time 13.482848 
publication time 9.534329 ms 
whole laserOdometry time 9.547374 ms 
 
mapping data assosiation time 30.509675 ms 
--------------------stamp1317357720.546443939
points size 98162 
filter time 13.043028 ms 
publication time 10.201850 ms 
whole laserOdometry time 10.220649 ms 
 
build tree time 36.533871 ms 
--------------------stamp1317357720.650337934
prepare time 11.734872 
sort q time 5.906253 
seperate points time 12.167561 
mapping solver time 32.540183 ms 
mapping data assosiation time 27.836917 ms 
mapping solver time 23.941120 ms 
filter time 9.671514 ms 
map prepare time 4.667131 ms
map corner num 132325  surf num 47909 
sort q time 5.902415 
seperate points time 15.513781 
publication time 8.778671 ms 
whole laserOdometry time 8.797208 ms 
 
-----t: 0.0372083
OdomCount 910 & avg odom time 0.050290 ms ++++++++++++++++++++++
mapping data assosiation time 27.896632 ms 
mapping solver time 28.009330 ms 
points size 97206 
mapping data assosiation time 28.885210 ms 
publication time 8.562896 ms 
whole laserOdometry time 8.578851 ms 
 
filter time 8.643130 ms 
mapping pub time 9.333392 ms 
whole mapping time 171.536086 ms +++++
mappingCount 671 & avg mapping time 136.005180 ms ++++++++++++++++++++++
--------------------stamp1317357720.962311983
points size 96819 
mapping data assosiation time 30.655027 ms 
sort q time 7.056579 
seperate points time 13.550661 
publication time 8.744802 ms 
whole laserOdometry time 8.759287 ms 
 
mapping solver time 33.727647 ms 
-----t: 0.0572905
OdomCount 912 & avg odom time 0.050284 ms ++++++++++++++++++++++
mapping data assosiation time 27.388353 ms 
--------------------stamp1317357721.066396951
prepare time 11.819696 
sort q time 6.458313 
seperate points time 12.641265 
build tree time 33.775271 ms 
-----t: 0.079607
OdomCount 913 & avg odom time 0.050316 ms ++++++++++++++++++++++
points size 96280 
mapping solver time 34.505659 ms 
publication time 9.543329 ms 
whole laserOdometry time 9.555110 ms 
 
mapping data assosiation time 31.533033 ms 
-----t: 0.0468161
OdomCount 914 & avg odom time 0.050312 ms ++++++++++++++++++++++
mapping solver time 29.120119 ms 
filter time 11.324208 ms 
sort q time 5.278341 
seperate points time 11.303444 
publication time 7.442448 ms 
whole laserOdometry time 7.457546 ms 
 
build tree time 44.659513 ms 
mapping data assosiation time 25.351892 ms 
--------------------stamp1317357721.378993034
prepare time 12.920436 
sort q time 6.108588 
seperate points time 11.726066 
mapping data assosiation time 29.108560 ms 
publication time 8.316169 ms 
whole laserOdometry time 8.328308 ms 
 
1317357721.378993034 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.706049 ms 
mapping optimization time 159.165036 
add points time 0.917254 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357721.483249902
prepare time 11.701920 
mapping data assosiation time 24.102765 ms 
-----t: 0.0413558
OdomCount 917 & avg odom time 0.050286 ms ++++++++++++++++++++++
publication time 6.360857 ms 
whole laserOdometry time 6.375430 ms 
 
mapping data assosiation time 24.625125 ms 
--------------------stamp1317357721.587502956
prepare time 11.906350 
add points time 0.874758 ms
filter time 12.536114 ms 
publication time 7.664774 ms 
whole laserOdometry time 7.681759 ms 
 
build tree time 29.683413 ms 
mapping data assosiation time 22.912870 ms 
points size 90832 
mapping solver time 30.235112 ms 
publication time 6.111096 ms 
whole laserOdometry time 6.125250 ms 
 
-----t: 0.0401434
OdomCount 919 & avg odom time 0.050263 ms ++++++++++++++++++++++
mapping solver time 24.746022 ms 
filter time 9.853193 ms 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357721.795941114
points size 88146 
build tree time 34.024246 ms 
mapping data assosiation time 24.463869 ms 
mapping solver time 26.548607 ms 
mapping data assosiation time 22.648955 ms 
points size 85723 
sort q time 4.888084 
seperate points time 10.511270 
filter time 9.920419 ms 
publication time 7.140382 ms 
whole laserOdometry time 7.154205 ms 
 
-----t: 0.0433693
OdomCount 921 & avg odom time 0.050239 ms ++++++++++++++++++++++
build tree time 32.781739 ms 
--------------------stamp1317357722.004260063
prepare time 11.547314 
mapping solver time 25.168768 ms 
publication time 6.584119 ms 
whole laserOdometry time 6.602131 ms 
 
-----t: 0.0461333
OdomCount 922 & avg odom time 0.050234 ms ++++++++++++++++++++++
filter time 9.388056 ms 
--------------------stamp1317357722.108395099
sort q time 5.166972 
seperate points time 10.446444 
-----t: 0.0397226
OdomCount 923 & avg odom time 0.050223 ms ++++++++++++++++++++++
mapping data assosiation time 22.340246 ms 
mapping solver time 18.878772 ms 
filter time 9.905416 ms 
sort q time 4.396287 
seperate points time 10.741841 
publication time 6.885855 ms 
whole laserOdometry time 6.900577 ms 
 
mapping data assosiation time 19.763934 ms 
mapping solver time 23.191245 ms 
--------------------stamp1317357722.316669940
points size 76559 
sort q time 4.249663 
seperate points time 10.064865 
mapping solver time 21.487627 ms 
mapping optimization time 127.509568 
add points time 0.810910 ms
filter time 12.200579 ms 
-----t: 0.0579783
OdomCount 925 & avg odom time 0.050216 ms ++++++++++++++++++++++
build tree time 35.797906 ms 
points size 73505 
scan registration time 22.273334 ms *************
publication time 6.157223 ms 
whole laserOdometry time 6.174321 ms 
 
-----t: 0.0299037
OdomCount 926 & avg odom time 0.050194 ms ++++++++++++++++++++++
mapping data assosiation time 19.994501 ms 
mapping solver time 18.358063 ms 
mapping optimization time 123.092625 
add points time 0.671240 ms
[0m[ INFO] [1715775656.687642681, 1317357722.517478535]: Received 187502 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775656.687709405, 1317357722.517478535]: Data saved to 1317357722212537.pcd[0m
points size 71726 
sort q time 4.067368 
seperate points time 10.648904 
publication time 7.621642 ms 
whole laserOdometry time 7.639573 ms 
 
-----t: 0.0418087
OdomCount 927 & avg odom time 0.050185 ms ++++++++++++++++++++++
1317357722.524981975 WriteOdom laser_odom_to_init
1317357722.524981975 WriteOdom aft_mapped_to_init_high_frec
build tree time 35.168225 ms 
mapping data assosiation time 19.307536 ms 
--------------------stamp1317357722.629164934
points size 72341 
sort q time 4.387499 
seperate points time 10.353445 
mapping solver time 20.853691 ms 
mapping optimization time 121.612787 
add points time 0.843539 ms
-----t: 0.0317124
OdomCount 928 & avg odom time 0.050165 ms ++++++++++++++++++++++
1317357722.629164934 WriteOdom laser_odom_to_init
1317357722.629164934 WriteOdom aft_mapped_to_init_high_frec
publication time 8.669679 ms 
whole laserOdometry time 8.676398 ms 
 
map prepare time 2.267289 ms
map corner num 138424  surf num 49520 
build tree time 30.762216 ms 
mapping data assosiation time 20.815722 ms 
sort q time 3.903862 
seperate points time 9.244230 
publication time 5.993275 ms 
whole laserOdometry time 6.005721 ms 
 
mapping data assosiation time 21.083643 ms 
mapping solver time 19.692083 ms 
filter time 9.390963 ms 
--------------------stamp1317357722.837503910
prepare time 11.252258 
prepare time 11.251266 
map prepare time 4.231147 ms
map corner num 139293  surf num 49692 
publication time 6.195696 ms 
whole laserOdometry time 6.235273 ms 
 
-----t: 0.035575
OdomCount 931 & avg odom time 0.050116 ms ++++++++++++++++++++++
mapping data assosiation time 18.861511 ms 
mapping solver time 16.805602 ms 
points size 79944 
sort q time 4.569646 
seperate points time 10.853628 
mapping solver time 12.583328 ms 
mapping optimization time 105.208144 
add points time 0.848361 ms
scan registration time 29.674133 ms *************
mapping pub time 1.770485 ms 
whole mapping time 124.974233 ms +++++
mappingCount 685 & avg mapping time 136.328746 ms ++++++++++++++++++++++
publication time 17.210616 ms 
whole laserOdometry time 17.225346 ms 
 
build tree time 35.291523 ms 
mapping data assosiation time 17.992374 ms 
points size 82325 
mapping solver time 20.586067 ms 
publication time 6.777017 ms 
whole laserOdometry time 6.792502 ms 
 
mapping solver time 18.958102 ms 
filter time 12.170991 ms 
map prepare time 3.519661 ms
map corner num 140067  surf num 49823 
--------------------stamp1317357723.253993988
prepare time 14.321701 
sort q time 5.151194 
seperate points time 17.676177 
publication time 7.092391 ms 
whole laserOdometry time 7.106164 ms 
 
mapping solver time 19.186007 ms 
mapping data assosiation time 17.473051 ms 
mapping solver time 12.038449 ms 
--------------------stamp1317357723.358079910
points size 86561 
scan registration time 31.615753 ms *************
build tree time 37.069888 ms 
-----t: 0.0373028
OdomCount 935 & avg odom time 0.050064 ms ++++++++++++++++++++++
mapping data assosiation time 18.707947 ms 
mapping solver time 18.484697 ms 
mapping data assosiation time 17.092545 ms 
--------------------stamp1317357723.462143898
mapping solver time 19.399845 ms 
filter time 15.107643 ms 
-----t: 0.0366313
OdomCount 936 & avg odom time 0.050049 ms ++++++++++++++++++++++
build tree time 34.802187 ms 
mapping data assosiation time 18.117224 ms 
--------------------stamp1317357723.566195964
sort q time 5.842147 
seperate points time 13.506790 
mapping data assosiation time 22.041346 ms 
scan registration time 33.626006 ms *************
publication time 8.161102 ms 
whole laserOdometry time 8.176595 ms 
 
drop lidar frame in mapping for real time performance 
build tree time 29.670343 ms 
points size 90715 
prepare time 13.932531 
mapping data assosiation time 20.228279 ms 
scan registration time 30.506285 ms *************
mapping solver time 23.610703 ms 
-----t: 0.0392194
OdomCount 938 & avg odom time 0.050031 ms ++++++++++++++++++++++
mapping solver time 15.141504 ms 
filter time 11.219370 ms 
map prepare time 3.352081 ms
map corner num 141732  surf num 50189 
points size 91825 
sort q time 5.689391 
seperate points time 12.163943 -----t: 0.031632
OdomCount 939 & avg odom time 0.050012 ms ++++++++++++++++++++++
mapping solver time 16.024535 ms 
mapping data assosiation time 19.466627 ms 
mapping solver time 12.266937 ms 
filter time 10.642117 ms 
[0m[ INFO] [1715775658.066266070, 1317357723.890235188]: Received 192475 data points in frame camera_init with the following fields: x y z intensity[0m
mapping pub time 11.096287 ms 
whole mapping time 133.459521 ms +++++
mappingCount 691 & avg mapping time 136.293642 ms ++++++++++++++++++++++
sort q time 5.145124 
seperate points time 14.006190 
publication time 8.576338 ms 
whole laserOdometry time 8.587838 ms 
 
-----t: 0.0371814
OdomCount 940 & avg odom time 0.049998 ms ++++++++++++++++++++++
1317357723.878204107 WriteOdom laser_odom_to_init
1317357723.878204107 WriteOdom aft_mapped_to_init_high_frec
build tree time 34.184753 ms 
mapping data assosiation time 18.123101 ms 
mapping solver time 15.392528 ms 
--------------------stamp1317357723.982193946
prepare time 13.048336 
mapping solver time 13.817812 ms 
filter time 11.823322 ms 
-----t: 0.0474882
OdomCount 941 & avg odom time 0.049996 ms ++++++++++++++++++++++
build tree time 31.992185 ms 
mapping data assosiation time 18.306737 ms 
mapping solver time 17.011148 ms 
sort q time 4.896996 
seperate points time 10.788489 
mapping data assosiation time 18.759693 ms 
scan registration time 28.903389 ms *************
publication time 9.702754 ms 
whole laserOdometry time 9.717526 ms 
 
filter time 9.825416 ms 
-----t: 0.0550132
OdomCount 942 & avg odom time 0.050001 ms ++++++++++++++++++++++
1317357724.086184024 WriteOdom laser_odom_to_init
1317357724.086184024 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357724.190172910
points size 98360 
mapping solver time 25.248344 ms 
mapping data assosiation time 27.930372 ms 
-----t: 0.0514628
OdomCount 943 & avg odom time 0.050002 ms ++++++++++++++++++++++
publication time 7.392595 ms 
whole laserOdometry time 7.403535 ms 
 
--------------------stamp1317357724.294162988
prepare time 31.680554 
build tree time 36.038215 ms 
scan registration time 60.157822 ms *************
publication time 7.810358 ms 
whole laserOdometry time 7.822388 ms 
 
--------------------stamp1317357724.398156881
prepare time 13.200404 
sort q time 6.569099 
seperate points time 13.210559 
filter time 27.496347 ms 
-----t: 0.0796461
OdomCount 945 & avg odom time 0.050033 ms ++++++++++++++++++++++
points size 99824 
mapping data assosiation time 21.055107 ms 
mapping solver time 19.318750 ms 
publication time 9.477365 ms 
whole laserOdometry time 9.491436 ms 
 
mapping data assosiation time 22.041479 ms 
mapping solver time 12.985784 ms 
mapping optimization time 126.598776 
add points time 0.713887 ms
points size 99512 
sort q time 5.512110 
seperate points time 12.047597 
scan registration time 31.191984 ms *************
publication time 9.662802 ms 
whole laserOdometry time 9.676536 ms 
 
mapping data assosiation time 18.228424 ms 
mapping solver time 20.389673 ms 
--------------------stamp1317357724.710007905
mapping data assosiation time 22.362102 ms 
mapping solver time 16.333542 ms 
sort q time 5.867642 
seperate points time 24.882449 
map prepare time 4.484364 ms
map corner num 144649  surf num 50883 
-----t: 0.0560502
OdomCount 948 & avg odom time 0.050027 ms ++++++++++++++++++++++
1317357724.710007905 WriteOdom laser_odom_to_init
1317357724.710007905 WriteOdom aft_mapped_to_init_high_frec
build tree time 35.758646 ms 
--------------------stamp1317357724.813951015
mapping data assosiation time 21.007719 ms 
sort q time 5.674905 
seperate points time 13.731918 
publication time 8.785624 ms 
whole laserOdometry time 8.799760 ms 
 
mapping solver time 15.746120 ms 
filter time 9.667058 ms 
--------------------stamp1317357724.917892932
points size 99680 
build tree time 35.766384 ms 
mapping data assosiation time 22.056146 ms 
publication time 8.532696 ms 
whole laserOdometry time 8.544578 ms 
 
mapping data assosiation time 19.814449 ms 
--------------------stamp1317357725.021832942
prepare time 11.802874 
sort q time 6.947538 
seperate points time 13.204447 
map prepare time 3.365497 ms
map corner num 145614  surf num 51197 
publication time 8.942847 ms 
whole laserOdometry time 8.958407 ms 
 
-----t: 0.0440153
OdomCount 951 & avg odom time 0.050005 ms ++++++++++++++++++++++
mapping data assosiation time 18.642806 ms 
mapping solver time 19.288948 ms 
prepare time 12.370524 
sort q time 6.663881 
seperate points time 12.459467 
mapping solver time 17.614196 ms 
mapping pub time 2.252080 ms 
whole mapping time 132.529445 ms +++++
mappingCount 700 & avg mapping time 136.316542 ms ++++++++++++++++++++++
-----t: 0.0649149
OdomCount 952 & avg odom time 0.050021 ms ++++++++++++++++++++++
--------------------stamp1317357725.229770898
points size 94396 
prepare time 15.180130 
sort q time 6.535663 
seperate points time 15.166641 
mapping solver time 22.499972 ms 
scan registration time 37.260486 ms *************
-----t: 0.0378805
OdomCount 953 & avg odom time 0.050008 ms ++++++++++++++++++++++
mapping solver time 18.582005 ms 
filter time 11.549522 ms 
[0m[ INFO] [1715775659.494924889, 1317357725.320837504]: Received 197873 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775659.495013608, 1317357725.320837504]: Data saved to 1317357725021832.pcd[0m
points size 93023 
map prepare time 3.679328 ms
map corner num 146435  surf num 51438 
sort q time 5.759899 
seperate points time 15.048408 
publication time 7.639887 ms 
whole laserOdometry time 7.659173 ms 
 
-----t: 0.0452506
OdomCount 954 & avg odom time 0.050003 ms ++++++++++++++++++++++
1317357725.333760023 WriteOdom laser_odom_to_init
mapping data assosiation time 19.016807 ms 
--------------------stamp1317357725.437727928
prepare time 13.127465 
sort q time 5.758650 
seperate points time 12.031859 
mapping solver time 17.363941 ms 
filter time 11.406890 ms 
build tree time 30.593194 ms 
--------------------stamp1317357725.541695117
mapping data assosiation time 19.703158 ms 
sort q time 5.709225 
seperate points time 12.880457 
publication time 9.100015 ms 
whole laserOdometry time 9.126682 ms 
 
-----t: 0.0444932
OdomCount 956 & avg odom time 0.049988 ms ++++++++++++++++++++++
filter time 10.529294 ms 
--------------------stamp1317357725.645665884
prepare time 12.453577 
sort q time 5.062262 
seperate points time 11.109624 
mapping data assosiation time 19.534292 ms 
mapping solver time 20.143190 ms 
-----t: 0.0426808
OdomCount 957 & avg odom time 0.049981 ms ++++++++++++++++++++++
1317357725.645665884 WriteOdom laser_odom_to_init
1317357725.645665884 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.154928 ms 
mapping solver time 15.853571 ms 
filter time 9.773482 ms 
map prepare time 4.002527 ms
map corner num 147504  surf num 51650 
sort q time 5.948923 
seperate points time 12.506657 
build tree time 38.094831 ms 
mapping data assosiation time 18.598802 ms 
mapping solver time 15.310794 ms 
mapping data assosiation time 18.588704 ms 
points size 88437 
sort q time 4.948548 
seperate points time 10.856574 
map prepare time 3.861238 ms
map corner num 147832  surf num 51700 
publication time 6.145150 ms 
whole laserOdometry time 6.157048 ms 
 
build tree time 37.999398 ms 
mapping data assosiation time 17.610459 ms 
--------------------stamp1317357725.957540035
prepare time 9.976136 
sort q time 5.487781 
seperate points time 11.059191 
mapping solver time 17.639132 ms 
filter time 11.926297 ms 
drop lidar frame in mapping for real time performance 
build tree time 33.156898 ms 
prepare time 10.444802 
sort q time 5.715157 
seperate points time 11.048461 
mapping solver time 16.662822 ms 
mapping data assosiation time 19.022768 ms 
mapping solver time 12.660586 ms 
filter time 11.644509 ms 
--------------------stamp1317357726.165496110
prepare time 11.422634 
sort q time 5.127644 
seperate points time 11.868564 
mapping solver time 19.975279 ms 
mapping data assosiation time 16.277229 ms 
mapping solver time 15.527521 ms 
filter time 10.181515 ms 
points size 87348 
sort q time 11.168769 
seperate points time 17.151815 
-----t: 0.0333255
OdomCount 963 & avg odom time 0.049908 ms ++++++++++++++++++++++
mapping data assosiation time 15.698162 ms 
mapping solver time 13.270650 ms 
mapping data assosiation time 17.963242 ms 
points size 86402 
prepare time 11.035368 
mapping solver time 15.643761 ms 
mapping optimization time 116.013132 
add points time 0.775530 ms
scan registration time 27.548849 ms *************
publication time 9.640932 ms 
whole laserOdometry time 9.657880 ms 
 
build tree time 34.742183 ms 
mapping data assosiation time 16.789329 ms 
mapping solver time 14.589426 ms 
points size 86007 
sort q time 4.935115 
seperate points time 11.201866 
scan registration time 26.865438 ms *************
mapping solver time 12.416567 ms 
mapping optimization time 98.983995 
add points time 0.722071 ms
publication time 8.635797 ms 
whole laserOdometry time 8.649899 ms 
 
build tree time 34.524767 ms 
mapping data assosiation time 17.641302 ms 
prepare time 13.079567 
publication time 7.397481 ms 
whole laserOdometry time 7.410831 ms 
 
-----t: 0.0457246
OdomCount 966 & avg odom time 0.049877 ms ++++++++++++++++++++++
filter time 10.991884 ms 
1317357726.373430014 WriteOdom aft_mapped_to_init
points size 86283 
sort q time 5.446389 
seperate points time 10.465102 
publication time 8.209231 ms 
whole laserOdometry time 8.235716 ms 
 
-----t: 0.0419949
OdomCount 967 & avg odom time 0.049869 ms ++++++++++++++++++++++
1317357726.685303926 WriteOdom laser_odom_to_init
1317357726.685303926 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.562869 ms 
mapping data assosiation time 16.427115 ms 
mapping solver time 10.805703 ms 
filter time 10.913171 ms 
scan registration time 28.596138 ms *************
publication time 7.912708 ms 
whole laserOdometry time 7.925261 ms 
 
build tree time 42.473306 ms 
mapping data assosiation time 16.786042 ms 
mapping solver time 15.077610 ms 
points size 86383 
sort q time 4.824490 
seperate points time 11.398486 
scan registration time 29.873175 ms *************
mapping solver time 15.870487 ms 
mapping optimization time 110.441896 
add points time 0.669975 ms
-----t: 0.0308686
OdomCount 969 & avg odom time 0.049831 ms ++++++++++++++++++++++
mapping data assosiation time 15.419884 ms 
prepare time 12.563213 
sort q time 5.314047 
seperate points time 12.304293 
publication time 5.735327 ms 
whole laserOdometry time 5.746620 ms 
 
-----t: 0.0379082
OdomCount 970 & avg odom time 0.049819 ms ++++++++++++++++++++++
1317357726.997180938 WriteOdom laser_odom_to_init
1317357726.997180938 WriteOdom aft_mapped_to_init_high_frec
filter time 10.027383 ms 
build tree time 33.079983 ms 
points size 87224 
sort q time 4.790454 
seperate points time 11.294899 
mapping data assosiation time 17.766367 ms 
1317357727.101125001 WriteOdom aft_mapped_to_init_high_frec
filter time 9.714126 ms 
--------------------stamp1317357727.205043077
mapping data assosiation time 17.865548 ms 
mapping solver time 15.753155 ms 
publication time 7.884539 ms 
whole laserOdometry time 7.901811 ms 
 
mapping data assosiation time 19.008512 ms 
-----t: 0.045217
OdomCount 972 & avg odom time 0.049806 ms ++++++++++++++++++++++
1317357727.205043077 WriteOdom laser_odom_to_init
1317357727.205043077 WriteOdom aft_mapped_to_init_high_frec
filter time 9.518458 ms 
[0m[ INFO] [1715775661.461925239, 1317357727.291254096]: Received 202835 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775661.461955309, 1317357727.291254096]: Data saved to 1317357727101125.pcd[0m
--------------------stamp1317357727.308985948
points size 89696 
build tree time 37.700121 ms 
mapping data assosiation time 18.661819 ms 
publication time 12.400509 ms 
whole laserOdometry time 12.411931 ms 
 
mapping data assosiation time 17.743415 ms 
--------------------stamp1317357727.412954092
prepare time 15.374064 
scan registration time 40.677490 ms *************
-----t: 0.0393214
OdomCount 974 & avg odom time 0.049781 ms ++++++++++++++++++++++
1317357727.412954092 WriteOdom laser_odom_to_init
1317357727.412954092 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.559281 ms 
--------------------stamp1317357727.516891956
prepare time 10.548064 
sort q time 5.365784 
seperate points time 11.249326 
mapping data assosiation time 19.185978 ms 
mapping solver time 16.570259 ms 
-----t: 0.0354542
OdomCount 975 & avg odom time 0.049766 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
build tree time 39.494427 ms 
points size 90873 
mapping solver time 15.191272 ms 
mapping data assosiation time 19.400749 ms 
mapping solver time 10.082540 ms 
filter time 9.653892 ms 
--------------------stamp1317357727.724757909
prepare time 13.313713 
mapping data assosiation time 19.205663 ms 
-----t: 0.0428713
OdomCount 977 & avg odom time 0.049751 ms ++++++++++++++++++++++
mapping data assosiation time 18.861523 ms 
mapping solver time 13.747427 ms 
filter time 11.755578 ms 
points size 90753 
sort q time 4.907421 
seperate points time 11.249137 
build tree time 36.293382 ms 
1317357727.828701019 WriteOdom laser_odom_to_init
1317357727.828701019 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 12.970114 ms 
mapping data assosiation time 17.532684 ms 
mapping solver time 11.181527 ms 
filter time 10.584772 ms 
scan registration time 31.390978 ms *************
[0m[ INFO] [1715775662.143701267, 1317357727.949440469]: Received 204487 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775662.143783710, 1317357727.949440469]: Data saved to 1317357727724757.pcd[0m
map prepare time 3.910428 ms
map corner num 178811  surf num 59958 
build tree time 38.648734 ms 
points size 91026 
sort q time 4.838818 
seperate points time 11.494523 
publication time 7.017548 ms 
whole laserOdometry time 7.043789 ms 
 
-----t: 0.0378923
OdomCount 980 & avg odom time 0.049710 ms ++++++++++++++++++++++
1317357728.036561965 WriteOdom laser_odom_to_init
1317357728.036561965 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.188041 ms 
mapping solver time 17.698136 ms 
filter time 16.639652 ms 
points size 90816 
sort q time 5.518757 
seperate points time 12.072328 
publication time 10.465404 ms 
whole laserOdometry time 10.477170 ms 
 
mapping data assosiation time 21.069788 ms 
mapping solver time 21.455595 ms 
points size 90331 
prepare time 11.457508 
mapping data assosiation time 21.151727 ms 
scan registration time 28.011595 ms *************
mapping solver time 13.412588 ms 
map prepare time 3.827025 ms
map corner num 179508  surf num 60143 
--------------------stamp1317357728.348366022
build tree time 50.817473 ms 
scan registration time 27.239654 ms *************
publication time 8.212955 ms 
whole laserOdometry time 8.225064 ms 
 
mapping solver time 20.703123 ms 
-----t: 0.0403226
OdomCount 983 & avg odom time 0.049691 ms ++++++++++++++++++++++
1317357728.348366022 WriteOdom laser_odom_to_init
1317357728.348366022 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.113662 ms 
mapping solver time 17.375161 ms 
--------------------stamp1317357728.452307939
mapping pub time 2.304322 ms 
whole mapping time 155.702051 ms +++++
mappingCount 724 & avg mapping time 136.245110 ms ++++++++++++++++++++++
1317357728.140505075 WriteOdom aft_mapped_to_init
points size 89892 
prepare time 13.369109 
map prepare time 3.718331 ms
map corner num 179922  surf num 60260 
sort q time 4.947152 
seperate points time 11.827725 
publication time 7.677448 ms 
whole laserOdometry time 7.708318 ms 
 
build tree time 49.093671 ms 
mapping data assosiation time 20.697793 ms 
--------------------stamp1317357728.556252002
prepare time 12.740980 
mapping data assosiation time 21.809279 ms 
mapping solver time 17.339832 ms 
-----t: 0.0400652
OdomCount 985 & avg odom time 0.049670 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317357728.660243988
prepare time 12.736253 
sort q time 5.521965 
seperate points time 12.013624 
mapping data assosiation time 21.690312 ms 
-----t: 0.0519566
OdomCount 986 & avg odom time 0.049672 ms ++++++++++++++++++++++
mapping data assosiation time 18.918582 ms 
--------------------stamp1317357728.764233112
points size 90547 
mapping pub time 12.596161 ms 
whole mapping time 168.276572 ms +++++
mappingCount 726 & avg mapping time 136.316635 ms ++++++++++++++++++++++
publication time 7.871016 ms 
whole laserOdometry time 7.885005 ms 
 
build tree time 43.257528 ms 
mapping data assosiation time 21.270059 ms 
points size 90189 
mapping solver time 17.808242 ms 
prepare time 16.770776 
sort q time 5.058127 
seperate points time 13.273707 
publication time 8.966574 ms 
whole laserOdometry time 8.998074 ms 
 
-----t: 0.0361434
OdomCount 988 & avg odom time 0.049644 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317357728.972189903
prepare time 11.762179 
scan registration time 28.002301 ms *************
publication time 8.129996 ms 
whole laserOdometry time 8.147222 ms 
 
1317357728.972189903 WriteOdom laser_odom_to_init
mapping data assosiation time 18.886304 ms 
mapping solver time 15.075282 ms 
--------------------stamp1317357729.076181888
prepare time 11.730733 
sort q time 5.121632 
seperate points time 11.785966 
scan registration time 28.131839 ms *************
publication time 12.609515 ms 
whole laserOdometry time 12.635150 ms 
 
build tree time 48.287073 ms 
mapping data assosiation time 20.665424 ms 
mapping solver time 16.884261 ms 
mapping data assosiation time 20.612402 ms 
mapping solver time 15.302770 ms 
mapping optimization time 122.585583 
add points time 1.128280 ms
filter time 11.711356 ms 
--------------------stamp1317357729.180149078
sort q time 5.065083 
seperate points time 11.518559 
build tree time 45.781801 ms 
points size 86890 
-----t: 0.0446768
OdomCount 991 & avg odom time 0.049618 ms ++++++++++++++++++++++
1317357729.180149078 WriteOdom laser_odom_to_init
1317357729.180149078 WriteOdom aft_mapped_to_init_high_frec
prepare time 10.962435 
sort q time 5.740772 
seperate points time 11.369585 
publication time 9.768092 ms 
whole laserOdometry time 9.796042 ms 
 
-----t: 0.0466928
OdomCount 992 & avg odom time 0.049615 ms ++++++++++++++++++++++
filter time 12.261568 ms 
map prepare time 2.859356 ms
map corner num 182184  surf num 60779 
--------------------stamp1317357729.388129949
prepare time 11.128563 
sort q time 4.962196 
seperate points time 10.624908 
publication time 9.479671 ms 
whole laserOdometry time 9.489511 ms 
 
1317357729.388129949 WriteOdom laser_odom_to_init
mapping solver time 20.733320 ms 
--------------------stamp1317357729.492095947
prepare time 12.314991 
filter time 16.409595 ms 
1317357729.180149078 WriteOdom aft_mapped_to_init
[0m[ INFO] [1715775663.722351549, 1317357729.554288547]: Received 243379 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775663.722399919, 1317357729.554288547]: Data saved to 1317357729180149.pcd[0m
-----t: 0.0649186
OdomCount 994 & avg odom time 0.049620 ms ++++++++++++++++++++++
1317357729.492095947 WriteOdom laser_odom_to_init
1317357729.492095947 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357729.596062898
points size 84220 
mapping data assosiation time 23.050393 ms 
scan registration time 28.315033 ms *************
publication time 8.098112 ms 
whole laserOdometry time 8.114099 ms 
 
mapping data assosiation time 22.252759 ms 
mapping solver time 11.144415 ms 
filter time 11.757163 ms 
map prepare time 2.831343 ms
map corner num 183005  surf num 61056 
points size 83809 
sort q time 4.571730 
seperate points time 10.439031 
publication time 7.490878 ms 
whole laserOdometry time 7.503958 ms 
 
mapping solver time 13.809478 ms 
mapping data assosiation time 20.088590 ms 
mapping solver time 12.334840 ms 
points size 83491 
filter time 13.221861 ms 
prepare time 10.775763 
mapping pub time 2.024052 ms 
whole mapping time 130.024122 ms +++++
mappingCount 733 & avg mapping time 136.379888 ms ++++++++++++++++++++++
1317357729.492095947 WriteOdom aft_mapped_to_init
publication time 6.461330 ms 
whole laserOdometry time 6.475451 ms 
 
-----t: 0.0377634
OdomCount 997 & avg odom time 0.049584 ms ++++++++++++++++++++++
build tree time 47.784760 ms 
mapping data assosiation time 20.209492 ms 
mapping solver time 17.180801 ms 
prepare time 10.813630 
mapping data assosiation time 22.355090 ms 
mapping solver time 16.843643 ms 
-----t: 0.0374217
OdomCount 998 & avg odom time 0.049572 ms ++++++++++++++++++++++
1317357729.700054884 WriteOdom aft_mapped_to_init
build tree time 39.570548 ms 
points size 82978 
sort q time 4.463150 
seperate points time 11.040967 
mapping solver time 19.313256 ms 
1317357730.012018918 WriteOdom laser_odom_to_init
1317357730.012018918 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.110009 ms 
mapping solver time 14.167925 ms 
filter time 12.081298 ms 
--------------------stamp1317357730.116002082
prepare time 11.310689 
sort q time 5.595988 
seperate points time 12.831225 
build tree time 46.112872 ms 
1317357730.116002082 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.463981 ms 
mapping solver time 17.453501 ms 
mapping data assosiation time 19.791703 ms 
--------------------stamp1317357730.219999074
prepare time 12.428818 
sort q time 6.240908 
seperate points time 12.776158 
mapping pub time 19.300143 ms 
whole mapping time 159.453436 ms +++++
mappingCount 736 & avg mapping time 136.422697 ms ++++++++++++++++++++++1317357730.219999074 WriteOdom laser_odom_to_init
1317357730.219999074 WriteOdom aft_mapped_to_init_high_frec
build tree time 41.645234 ms 
[0m[ INFO] [1715775664.495213045, 1317357730.317933298]: Received 246261 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775664.495258589, 1317357730.317933298]: Data saved to 1317357730012018.pcd[0m
points size 83764 
sort q time 5.225379 
seperate points time 10.326990 
scan registration time 25.077969 ms *************
mapping data assosiation time 20.944423 ms 
mapping solver time 16.763244 ms 
1317357730.323986053 WriteOdom laser_odom_to_init
1317357730.323986053 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 1.810609 ms 
whole mapping time 138.659398 ms +++++
mappingCount 737 & avg mapping time 136.425737 ms ++++++++++++++++++++++
--------------------stamp1317357730.427920103
prepare time 11.867432 
publication time 8.119945 ms 
whole laserOdometry time 8.135909 ms 
 
mapping data assosiation time 20.834402 ms 
mapping solver time 14.539214 ms 
mapping data assosiation time 18.531550 ms 
mapping solver time 12.060993 ms 
mapping optimization time 110.731569 
add points time 0.859627 ms
points size 82887 
sort q time 5.554128 
seperate points time 10.731603 
scan registration time 26.986673 ms *************
-----t: 0.0322133
OdomCount 1004 & avg odom time 0.049502 ms ++++++++++++++++++++++
mapping data assosiation time 18.947331 ms 
mapping solver time 14.427754 ms 
points size 82376 
sort q time 4.784994 
seperate points time 10.206724 
mapping solver time 17.462701 ms 
filter time 16.938183 ms 
-----t: 0.0346289
OdomCount 1005 & avg odom time 0.049487 ms ++++++++++++++++++++++
1317357730.635828971 WriteOdom laser_odom_to_init
map prepare time 2.702990 ms
map corner num 185644  surf num 61880 
build tree time 41.386892 ms 
points size 82216 
mapping data assosiation time 23.629311 ms 
mapping solver time 23.187653 ms 
mapping solver time 13.389769 ms 
-----t: 0.0720932
OdomCount 1006 & avg odom time 0.049510 ms ++++++++++++++++++++++
points size 81839 
prepare time 13.858311 
publication time 7.327728 ms 
whole laserOdometry time 7.356141 ms 
 
build tree time 51.618915 ms 
-----t: 0.0297167
OdomCount 1007 & avg odom time 0.049490 ms ++++++++++++++++++++++
1317357730.843767881 WriteOdom laser_odom_to_init
mapping solver time 16.326471 ms 
--------------------stamp1317357730.947732925
sort q time 4.071558 
seperate points time 8.872088 
filter time 14.246762 ms 
-----t: 0.0406807
OdomCount 1008 & avg odom time 0.049481 ms ++++++++++++++++++++++
mapping pub time 34.158964 ms 
whole mapping time 179.279239 ms +++++
mappingCount 741 & avg mapping time 136.507117 ms ++++++++++++++++++++++
1317357730.739797115 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.661405 ms
map corner num 186157  surf num 61979 
--------------------stamp1317357731.051683902
prepare time 11.027802 
sort q time 4.918979 
seperate points time 10.313335 
-----t: 0.035469
OdomCount 1009 & avg odom time 0.049467 ms ++++++++++++++++++++++
mapping solver time 17.472054 ms 
[0m[ INFO] [1715775665.309935475, 1317357731.140001587]: Received 248136 data points in frame camera_init with the following fields: x y z intensity[0m
--------------------stamp1317357731.155627965
points size 80926 
prepare time 9.823723 
mapping solver time 16.642438 ms 
sort q time 4.915834 
seperate points time 9.739371 
map prepare time 3.921173 ms
map corner num 186373  surf num 62020 
-----t: 0.0376918
OdomCount 1010 & avg odom time 0.049456 ms ++++++++++++++++++++++
build tree time 43.350180 ms 
mapping data assosiation time 17.625272 ms 
points size 81038 
sort q time 4.947808 
seperate points time 10.520796 
mapping data assosiation time 19.908859 ms 
mapping solver time 11.563536 ms 
-----t: 0.044644
OdomCount 1011 & avg odom time 0.049451 ms ++++++++++++++++++++++
map prepare time 3.009449 ms
map corner num 186556  surf num 62043 
-----t: 0.0487115
OdomCount 1012 & avg odom time 0.049450 ms ++++++++++++++++++++++
mapping solver time 11.369458 ms 
filter time 12.612170 ms 
map prepare time 3.320719 ms
map corner num 186714  surf num 62058 
points size 80841 
sort q time 4.532182 
seperate points time 10.480001 
publication time 6.288414 ms 
whole laserOdometry time 6.300822 ms 
 
-----t: 0.0351108
OdomCount 1013 & avg odom time 0.049436 ms ++++++++++++++++++++++
mapping data assosiation time 20.070099 ms 
mapping solver time 20.746407 ms 
--------------------stamp1317357731.571455955
points size 80096 
sort q time 4.514649 
seperate points time 10.204977 
publication time 6.548702 ms 
whole laserOdometry time 6.567457 ms 
 
build tree time 43.744140 ms 
prepare time 9.134940 
sort q time 4.459601 
seperate points time 10.603840 
mapping data assosiation time 18.176697 ms 
mapping solver time 12.836408 ms 
filter time 12.624146 ms 
mapping pub time 11.262524 ms 
whole mapping time 139.918196 ms +++++
mappingCount 746 & avg mapping time 136.570514 ms ++++++++++++++++++++++
--------------------stamp1317357731.779272079
prepare time 11.874274 
sort q time 5.495953 
seperate points time 11.306503 
build tree time 45.461742 ms 
publication time 5.686678 ms 
whole laserOdometry time 5.699151 ms 
 
mapping solver time 14.268398 ms 
mapping data assosiation time 16.650500 ms 
mapping solver time 10.619112 ms 
--------------------stamp1317357731.883163928
mapping pub time 3.155558 ms 
whole mapping time 128.287872 ms +++++
mappingCount 747 & avg mapping time 136.559430 ms ++++++++++++++++++++++
sort q time 4.358247 
seperate points time 10.473782 
scan registration time 26.817339 ms *************
publication time 6.039460 ms 
whole laserOdometry time 6.051448 ms 
 
build tree time 48.431308 ms 
mapping data assosiation time 17.474795 ms 
mapping solver time 14.848835 ms 
points size 78196 
sort q time 4.532798 
seperate points time 10.046560 
mapping solver time 13.560636 ms 
publication time 11.357181 ms 
whole laserOdometry time 11.371272 ms 
 
-----t: 0.0346285
OdomCount 1018 & avg odom time 0.049373 ms ++++++++++++++++++++++
map prepare time 2.531490 ms
map corner num 187521  surf num 62208 
build tree time 41.217728 ms 
mapping data assosiation time 18.761544 ms 
--------------------stamp1317357732.090939044
points size 78120 
sort q time 4.518929 
seperate points time 10.348696 
mapping solver time 16.572835 ms 
-----t: 0.0370932
OdomCount 1019 & avg odom time 0.049361 ms ++++++++++++++++++++++
map prepare time 2.805269 ms
map corner num 187686  surf num 62254 
--------------------stamp1317357732.194834947
sort q time 4.417055 
seperate points time 10.592225 
build tree time 51.906784 ms 
-----t: 0.0333857mapping solver time 16.382055 ms 
mapping data assosiation time 18.244717 ms 
mapping solver time 14.268602 ms 
--------------------stamp1317357732.298747062
prepare time 11.957406 
map prepare time 3.522284 ms
map corner num 187948  surf num 62298 
sort q time 4.478467 
seperate points time 20.563949 
scan registration time 37.943033 ms *************
publication time 6.295149 ms 
whole laserOdometry time 6.307934 ms 
 
build tree time 56.850773 ms 
--------------------stamp1317357732.402698993
prepare time 11.130195 
sort q time 4.465930 
seperate points time 10.277160 
mapping data assosiation time 19.145955 ms 
publication time 7.264334 ms 
whole laserOdometry time 7.276282 ms 
 
-----t: 0.0435269
OdomCount 1022 & avg odom time 0.049347 ms ++++++++++++++++++++++
mapping pub time 11.770301 ms 
whole mapping time 154.182954 ms +++++
mappingCount 751 & avg mapping time 136.592815 ms ++++++++++++++++++++++
--------------------stamp1317357732.506644964
points size 79256 
build tree time 48.120193 ms 
-----t: 0.0305148
OdomCount 1023 & avg odom time 0.049329 ms ++++++++++++++++++++++
1317357732.506644964 WriteOdom laser_odom_to_init
1317357732.506644964 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.179745 ms 
mapping data assosiation time 17.913686 ms 
mapping solver time 11.365465 ms 
mapping pub time 2.726336 ms 
whole mapping time 138.757501 ms +++++
mappingCount 752 & avg mapping time 136.595701 ms ++++++++++++++++++++++
sort q time 4.429286 
seperate points time 10.316922 
publication time 6.935967 ms 
whole laserOdometry time 6.967685 ms 
 
build tree time 46.003827 ms 
mapping data assosiation time 17.697822 ms 
mapping solver time 17.986471 ms 
--------------------stamp1317357732.714540004
mapping data assosiation time 19.353760 ms 
points size 80755 
prepare time 12.000132 
scan registration time 28.873168 ms *************
publication time 6.222307 ms 
whole laserOdometry time 6.234437 ms 
 
1317357732.714540004 WriteOdom laser_odom_to_init
build tree time 38.438818 ms 
--------------------stamp1317357732.818506956
sort q time 4.733084 
seperate points time 10.264609 
-----t: 0.0270536
OdomCount 1026 & avg odom time 0.049277 ms ++++++++++++++++++++++
1317357732.818506956 WriteOdom laser_odom_to_init
1317357732.818506956 WriteOdom aft_mapped_to_init_high_frec
publication time 5.911129 ms 
whole laserOdometry time 5.922480 ms 
 
mapping solver time 13.656960 ms 
map prepare time 3.193599 ms
map corner num 188696  surf num 62420 
--------------------stamp1317357732.922506093
scan registration time 27.444207 ms *************
build tree time 49.570371 ms 
mapping solver time 21.207167 ms 
mapping data assosiation time 19.978437 ms 
mapping solver time 16.269399 ms 
sort q time 4.731380 
seperate points time 10.439273 
mapping pub time 1.906551 ms 
whole mapping time 150.031806 ms +++++
mappingCount 755 & avg mapping time 136.621675 ms ++++++++++++++++++++++
1317357732.818506956 WriteOdom aft_mapped_to_init
scan registration time 27.315332 ms *************
-----t: 0.0458818
OdomCount 1028 & avg odom time 0.049282 ms ++++++++++++++++++++++
build tree time 47.631865 ms 
mapping data assosiation time 17.207051 ms 
points size 82763 
sort q time 4.514336 
seperate points time 12.457130 
publication time 5.333863 ms 
whole laserOdometry time 5.348118 ms 
 
filter time 13.657447 ms 
mapping pub time 10.858096 ms 
whole mapping time 148.551644 ms +++++
mappingCount 756 & avg mapping time 136.637461 ms ++++++++++++++++++++++
1317357732.922506094 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.068644 ms
map corner num 189031  surf num 62479 
--------------------stamp1317357733.234638929
prepare time 11.371131 
sort q time 5.618148 
seperate points time 11.585091 
mapping data assosiation time 22.028410 ms 
publication time 14.054857 ms 
whole laserOdometry time 14.083469 ms 
 
mapping data assosiation time 18.502488 ms 
mapping solver time 10.880733 ms 
mapping optimization time 113.506143 
add points time 0.759330 ms
mapping pub time 2.139115 ms 
whole mapping time 132.260913 ms +++++
mappingCount 757 & avg mapping time 136.631685 ms ++++++++++++++++++++++
points size 83374 
prepare time 14.972808 
publication time 6.882883 ms 
whole laserOdometry time 6.914421 ms 
 
mapping data assosiation time 18.011003 ms 
mapping solver time 13.138676 ms 
--------------------stamp1317357733.442735910
prepare time 11.894219 
sort q time 5.136786 
seperate points time 10.856303 
publication time 6.026415 ms 
whole laserOdometry time 6.041220 ms 
 
-----t: 0.0438101
OdomCount 1032 & avg odom time 0.049237 ms ++++++++++++++++++++++
build tree time 44.112091 ms 
--------------------stamp1317357733.546775102
prepare time 10.804868 
mapping solver time 16.173047 ms 
mapping data assosiation time 19.880129 ms 
-----t: 0.0379032
OdomCount 1033 & avg odom time 0.049226 ms ++++++++++++++++++++++
filter time 12.313027 ms 
points size 83216 
build tree time 44.284679 ms 
mapping data assosiation time 19.993563 ms 
-----t: 0.0371744
OdomCount 1034 & avg odom time 0.049214 ms ++++++++++++++++++++++
mapping solver time 16.362396 ms 
filter time 16.996300 ms 
sort q time 5.329518 
seperate points time 12.491262 
publication time 5.748123 ms 
whole laserOdometry time 5.759615 ms 
 
build tree time 47.734556 ms 
mapping data assosiation time 18.630096 ms 
mapping solver time 17.803194 ms 
points size 83300 
mapping data assosiation time 34.281990 ms 
sort q time 10.651960 
seperate points time 21.926249 
mapping solver time 11.726048 ms 
mapping optimization time 131.189671 
scan registration time 45.883111 ms *************
add points time 1.017005 ms
publication time 6.139338 ms 
whole laserOdometry time 6.152562 ms 
 
mapping pub time 24.708894 ms 
whole mapping time 174.378504 ms +++++
mappingCount 761 & avg mapping time 136.697659 ms ++++++++++++++++++++++
--------------------stamp1317357733.962809085
prepare time 10.383032 
sort q time 5.139126 
seperate points time 11.385525 
build tree time 46.358452 ms 
publication time 8.502592 ms 
whole laserOdometry time 8.511680 ms 
 
mapping data assosiation time 20.634196 ms 
mapping solver time 15.651524 ms 
mapping data assosiation time 18.028132 ms 
mapping solver time 7.160312 ms 
mapping optimization time 108.690837 
filter time 14.882798 ms 
sort q time 4.488690 
seperate points time 9.541779 
publication time 8.232642 ms 
whole laserOdometry time 8.246808 ms 
 
-----t: 0.0485311
OdomCount 1038 & avg odom time 0.049181 ms ++++++++++++++++++++++
mapping data assosiation time 16.931119 ms 
mapping solver time 13.724993 ms 
points size 83902 
mapping data assosiation time 21.070944 ms 
prepare time 14.208320 
filter time 14.318015 ms 
build tree time 42.195387 ms 
points size 84328 
sort q time 5.227123 
seperate points time 10.498744 
[0m[ INFO] [1715775668.483516061, 1317357734.310148250]: Received 252424 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775668.483555256, 1317357734.310148250]: Data saved to 1317357733650789.pcd[0m
1317357734.274759054 WriteOdom laser_odom_to_init
1317357734.274759054 WriteOdom aft_mapped_to_init_high_frec
filter time 13.176899 ms 
--------------------stamp1317357734.378724098
points size 84983 
build tree time 46.994654 ms 
publication time 5.537868 ms 
whole laserOdometry time 5.551591 ms 
 
-----t: 0.0348543
OdomCount 1041 & avg odom time 0.049141 ms ++++++++++++++++++++++
mapping data assosiation time 18.052124 ms 
mapping solver time 11.072020 ms 
--------------------stamp1317357734.482691049
prepare time 12.149938 
scan registration time 40.751822 ms *************
publication time 8.093154 ms 
whole laserOdometry time 8.104732 ms 
 
mapping data assosiation time 20.878940 ms 
-----t: 0.0704019
OdomCount 1042 & avg odom time 0.049161 ms ++++++++++++++++++++++
points size 85817 
prepare time 15.897415 
sort q time 5.652708 
seperate points time 16.836137 
publication time 7.378358 ms 
whole laserOdometry time 7.390250 ms 
 
-----t: 0.047002
OdomCount 1043 & avg odom time 0.049159 ms ++++++++++++++++++++++
1317357734.586659908 WriteOdom laser_odom_to_init
mapping pub time 5.559829 ms 
whole mapping time 182.322889 ms +++++
mappingCount 766 & avg mapping time 136.736702 ms ++++++++++++++++++++++
--------------------stamp1317357734.690603017
sort q time 5.473492 
seperate points time 10.223399 
build tree time 47.554047 ms 
mapping data assosiation time 19.698915 ms 
publication time 7.571938 ms 
whole laserOdometry time 7.584963 ms 
 
mapping solver time 15.796330 ms 
mapping data assosiation time 17.393466 ms 
mapping solver time 11.113407 ms 
filter time 15.820701 ms 
sort q time 4.945535 
seperate points time 11.566439 
publication time 9.077906 ms 
whole laserOdometry time 9.089675 ms 
 
-----t: 0.0411571
OdomCount 1045 & avg odom time 0.049139 ms ++++++++++++++++++++++
mapping data assosiation time 18.054031 ms 
mapping solver time 14.486005 ms 
mapping data assosiation time 19.854050 ms 
mapping solver time 15.779601 ms 
filter time 13.452340 ms 
-----t: 0.0470033
OdomCount 1046 & avg odom time 0.049137 ms ++++++++++++++++++++++
build tree time 52.746855 ms 
prepare time 9.808533 
mapping data assosiation time 20.789705 ms 
mapping solver time 16.793907 ms 
publication time 10.340532 ms 
whole laserOdometry time 10.355763 ms 
 
mapping solver time 17.624546 ms 
-----t: 0.0809173
OdomCount 1047 & avg odom time 0.049167 ms ++++++++++++++++++++++
points size 88182 
sort q time 5.051066 
seperate points time 11.231127 
build tree time 54.765659 ms 
mapping data assosiation time 21.111994 ms 
mapping solver time 17.054061 ms 
--------------------stamp1317357735.210339069
mapping data assosiation time 21.204321 ms 
mapping solver time 12.757516 ms 
filter time 17.261830 ms 
mapping pub time 2.405024 ms 
whole mapping time 151.572701 ms +++++
mappingCount 770 & avg mapping time 136.773306 ms ++++++++++++++++++++++
publication time 9.001752 ms 
whole laserOdometry time 9.013657 ms 
 
build tree time 46.664616 ms 
points size 89858 
mapping solver time 17.753566 ms 
-----t: 0.031848
OdomCount 1050 & avg odom time 0.049136 ms ++++++++++++++++++++++
mapping solver time 11.559885 ms 
filter time 12.025177 ms 
map prepare time 3.314036 ms
map corner num 191381  surf num 62882 
--------------------stamp1317357735.418174982
points size 89470 
sort q time 5.071980 
seperate points time 12.953113 
publication time 8.018714 ms 
whole laserOdometry time 8.032925 ms 
 
mapping solver time 19.666747 ms 
mapping data assosiation time 19.676910 ms 
add points time 1.032195 ms
mapping pub time 2.081177 ms 
whole mapping time 154.505053 ms +++++
mappingCount 772 & avg mapping time 136.799210 ms ++++++++++++++++++++++
publication time 10.339672 ms 
-----t: 0.060224
OdomCount 1052 & avg odom time 0.049146 ms ++++++++++++++++++++++
--------------------stamp1317357735.625966072
points size 89578 
sort q time 5.257622 
seperate points time 11.645586 
scan registration time 36.058465 ms *************
mapping data assosiation time 21.325924 ms 
publication time 7.047838 ms 
whole laserOdometry time 7.059693 ms 
 
filter time 13.276330 ms 
--------------------stamp1317357735.729859113
prepare time 10.924463 
build tree time 43.088008 ms 
mapping data assosiation time 22.269576 ms 
publication time 11.782320 ms 
whole laserOdometry time 11.796925 ms 
 
-----t: 0.0458994
OdomCount 1054 & avg odom time 0.049152 ms ++++++++++++++++++++++
1317357735.729859113 WriteOdom laser_odom_to_init
1317357735.729859113 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.368885 ms 
mapping solver time 18.916539 ms 
points size 90632 
sort q time 5.259281 
seperate points time 12.157576 
scan registration time 29.337764 ms *************
publication time 8.119780 ms 
whole laserOdometry time 8.132432 ms 
 
-----t: 0.043849
OdomCount 1055 & avg odom time 0.049147 ms ++++++++++++++++++++++
build tree time 52.265863 ms 
[0m[ INFO] [1715775670.103770966, 1317357735.930402125]: Received 254263 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775670.103810568, 1317357735.930402125]: Data saved to 1317357735106419.pcd[0m
points size 91220 
mapping solver time 21.301743 ms 
sort q time 5.312557 
seperate points time 13.561775 
mapping data assosiation time 22.493699 ms 
mapping solver time 18.577390 ms 
filter time 14.820662 ms 
--------------------stamp1317357736.041688919
prepare time 12.871550 
sort q time 6.811708 
seperate points time 12.388729 
publication time 6.708925 ms 
whole laserOdometry time 6.738032 ms 
 
-----t: 0.0423302
OdomCount 1057 & avg odom time 0.049138 ms ++++++++++++++++++++++
mapping solver time 19.853633 ms 
mapping data assosiation time 22.743530 ms 
points size 93292 
sort q time 6.442406 
seperate points time 11.743732 
-----t: 0.0579754
OdomCount 1058 & avg odom time 0.049146 ms ++++++++++++++++++++++
1317357736.145653963 WriteOdom laser_odom_to_init
1317357736.145653963 WriteOdom aft_mapped_to_init_high_frec
build tree time 48.432911 ms 
--------------------stamp1317357736.249525070
prepare time 10.041081 
scan registration time 38.512724 ms *************
mapping data assosiation time 26.111117 ms 
-----t: 0.0519952
OdomCount 1059 & avg odom time 0.049149 ms ++++++++++++++++++++++
filter time 12.763779 ms 
map prepare time 2.942951 ms
map corner num 192948  surf num 63287 
points size 95701 
sort q time 6.020888 
seperate points time 11.960258 
build tree time 54.444314 ms 
-----t: 0.0403358
OdomCount 1060 & avg odom time 0.049141 ms ++++++++++++++++++++++
1317357736.353302001 WriteOdom laser_odom_to_init
1317357736.353302001 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.806880 ms 
--------------------stamp1317357736.457005023
points size 96346 
sort q time 5.560282 
seperate points time 12.657791 
mapping solver time 22.164730 ms 
publication time 10.228397 ms 
whole laserOdometry time 10.245421 ms 
 
-----t: 0.0447474
OdomCount 1061 & avg odom time 0.049137 ms ++++++++++++++++++++++
--------------------stamp1317357736.560659885
points size 96390 
prepare time 13.594198 
mapping data assosiation time 29.337165 ms 
mapping solver time 20.721086 ms 
mapping data assosiation time 28.059573 ms 
-----t: 0.0598938
OdomCount 1062 & avg odom time 0.049147 ms ++++++++++++++++++++++
--------------------stamp1317357736.664335966
prepare time 14.408753 
filter time 17.942208 ms 
sort q time 5.707377 
seperate points time 26.261275 
scan registration time 45.834308 ms *************
-----t: 0.0827406points size 96662 
build tree time 95.484092 ms 
sort q time 20.369345 
seperate points time 28.009916 
-----t: 0.0461653
OdomCount 1064 & avg odom time 0.049176 ms ++++++++++++++++++++++
mapping data assosiation time 22.594592 ms 
points size 97026 
sort q time 5.617120 
seperate points time 12.641157 
drop lidar frame in mapping for real time performance 
-----t: 0.0457342
OdomCount 1065 & avg odom time 0.049172 ms ++++++++++++++++++++++
build tree time 48.879217 ms 
points size 97103 
scan registration time 29.582882 ms *************
mapping solver time 18.852076 ms 
-----t: 0.0435945
OdomCount 1066 & avg odom time 0.049167 ms ++++++++++++++++++++++
publication time 20.584257 ms 
whole laserOdometry time 20.595843 ms 
 
mapping solver time 17.514540 ms 
filter time 12.346230 ms 
--------------------stamp1317357737.079124927
points size 97257 
sort q time 5.896884 
seperate points time 14.923798 
-----t: 0.0422567
OdomCount 1067 & avg odom time 0.049161 ms ++++++++++++++++++++++
publication time 7.690876 ms 
whole laserOdometry time 7.701360 ms 
 
build tree time 53.956983 ms 
--------------------stamp1317357737.182802915
prepare time 12.489076 
mapping data assosiation time 46.444903 ms 
mapping solver time 29.516506 ms 
-----t: 0.0520912
OdomCount 1068 & avg odom time 0.049163 ms ++++++++++++++++++++++
--------------------stamp1317357737.286504030
prepare time 12.505181 
map prepare time 3.998053 ms
map corner num 194740  surf num 63781 
sort q time 6.083299 
seperate points time 12.547378 
publication time 9.804212 ms 
whole laserOdometry time 9.819162 ms 
 
build tree time 48.582689 ms 
-----t: 0.0601536
OdomCount 1069 & avg odom time 0.049174 ms ++++++++++++++++++++++
1317357737.286504030 WriteOdom laser_odom_to_init
1317357737.286504030 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357737.390254020
prepare time 12.237055 
mapping solver time 25.980576 ms 
publication time 10.572653 ms mapping solver time 21.935928 ms 
filter time 15.169306 ms 
--------------------stamp1317357737.494079113
points size 94837 
sort q time 5.905493 
seperate points time 12.586690 
scan registration time 31.206656 ms *************
build tree time 52.713530 ms 
[0m[ INFO] [1715775671.722669486, 1317357737.545624983]: Received 258059 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775671.722770547, 1317357737.545624983]: Data saved to 1317357736664335.pcd[0m
-----t: 0.059805
OdomCount 1071 & avg odom time 0.049191 ms ++++++++++++++++++++++
1317357737.494079113 WriteOdom laser_odom_to_init
1317357737.494079113 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357737.597974061
points size 94601 
sort q time 6.091355 
seperate points time 12.181068 
mapping data assosiation time 38.979542 ms 
publication time 14.593402 ms 
whole laserOdometry time 14.642919 ms 
 
mapping solver time 29.483197 ms 
-----t: 0.0660212
OdomCount 1072 & avg odom time 0.049206 ms ++++++++++++++++++++++
map prepare time 3.251541 ms
map corner num 195499  surf num 63993 
--------------------stamp1317357737.701966047
points size 93305 
prepare time 13.821616 
sort q time 5.236300 
seperate points time 12.730017 
build tree time 53.145773 ms 
mapping data assosiation time 28.089901 ms 
mapping solver time 22.074043 ms 
--------------------stamp1317357737.806077003
prepare time 11.902936 
sort q time 5.250722 
seperate points time 11.028233 
mapping solver time 28.267650 ms 
-----t: 0.0477221
OdomCount 1074 & avg odom time 0.049210 ms ++++++++++++++++++++++
filter time 18.476763 ms 
map prepare time 4.104069 ms
map corner num 195872  surf num 64089 
--------------------stamp1317357737.910259008
prepare time 13.338649 
sort q time 5.638167 
seperate points time 30.410615 
publication time 7.834170 ms 
whole laserOdometry time 7.858934 ms 
 
-----t: 0.063991
OdomCount 1075 & avg odom time 0.049224 ms ++++++++++++++++++++++
mapping data assosiation time 46.950540 ms 
--------------------stamp1317357738.014467000
points size 90819 
sort q time 5.252097 
seperate points time 12.308275 
mapping data assosiation time 29.905544 ms 
publication time 8.256432 ms 
whole laserOdometry time 8.283664 ms 
 
-----t: 0.0463565
OdomCount 1076 & avg odom time 0.049221 ms ++++++++++++++++++++++
mapping optimization time 195.889723 
filter time 19.177833 ms 
map prepare time 4.651129 ms
map corner num 196278  surf num 64200 
prepare time 10.853088 
sort q time 4.662906 
seperate points time 10.675761 
scan registration time 26.340615 ms *************
publication time 10.482635 ms 
whole laserOdometry time 10.515651 ms 
 
mapping data assosiation time 29.764669 ms 
--------------------stamp1317357738.222856044
prepare time 11.132253 
scan registration time 34.929327 ms *************
publication time 13.084545 ms 
whole laserOdometry time 13.099972 ms 
 
-----t: 0.0650338
OdomCount 1078 & avg odom time 0.049233 ms ++++++++++++++++++++++
1317357738.222856044 WriteOdom laser_odom_to_init
1317357738.222856044 WriteOdom aft_mapped_to_init_high_frec
filter time 19.016748 ms 
mapping pub time 2.272878 ms 
whole mapping time 193.876587 ms +++++
mappingCount 787 & avg mapping time 137.639513 ms ++++++++++++++++++++++
1317357737.910259008 WriteOdom aft_mapped_to_init
--------------------stamp1317357738.327013969
points size 87752 
sort q time 4.761947 
seperate points time 10.999685 
build tree time 56.755206 ms 
-----t: 0.0496067
OdomCount 1079 & avg odom time 0.049234 ms ++++++++++++++++++++++
1317357738.327013969 WriteOdom laser_odom_to_init
1317357738.327013969 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1715775672.594301370, 1317357738.418570719]: Received 260478 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775672.594338050, 1317357738.418570719]: Data saved to 1317357737701966.pcd[0m
points size 86618 
sort q time 7.505280 
seperate points time 13.988256 
publication time 8.154617 ms 
whole laserOdometry time 8.168860 ms 
 
mapping solver time 23.123070 ms 
mapping optimization time 171.681899 
add points time 0.950055 ms
mapping pub time 2.098510 ms 
whole mapping time 197.216199 ms +++++
mappingCount 788 & avg mapping time 137.715128 ms ++++++++++++++++++++++
--------------------stamp1317357738.535260915
sort q time 5.616190 
seperate points time 10.870031 
build tree time 53.124435 ms 
mapping data assosiation time 27.311211 ms 
mapping solver time 23.216400 ms 
--------------------stamp1317357738.639345884
sort q time 5.293013 
seperate points time 10.622619 
filter time 13.163470 ms 
-----t: 0.0457022
OdomCount 1082 & avg odom time 0.049241 ms ++++++++++++++++++++++
build tree time 43.230193 ms 
--------------------stamp1317357738.743408918
prepare time 12.468414 
sort q time 4.700835 
seperate points time 11.263528 
mapping solver time 20.666439 ms 
-----t: 0.045029
OdomCount 1083 & avg odom time 0.049237 ms ++++++++++++++++++++++
mapping solver time 18.037316 ms 
mapping optimization time 139.090414 
add points time 1.050326 ms
1317357738.535260916 WriteOdom aft_mapped_to_init
points size 85108 
sort q time 4.721944 
seperate points time 11.493642 
scan registration time 32.878151 ms *************
publication time 9.243898 ms 
whole laserOdometry time 9.259611 ms 
 
-----t: 0.0660683
OdomCount 1084 & avg odom time 0.049253 ms ++++++++++++++++++++++
mapping data assosiation time 29.123046 ms 
--------------------stamp1317357738.951461076
points size 85085 
prepare time 12.165702 
sort q time 4.548123 
seperate points time 25.389425 
mapping data assosiation time 29.727994 ms 
publication time 12.284234 ms 
whole laserOdometry time 12.297145 ms 
 
mapping solver time 23.281729 ms 
filter time 13.510830 ms 
--------------------stamp1317357739.055453062
sort q time 6.816931 
seperate points time 12.690798 
publication time 9.595190 ms 
whole laserOdometry time 9.617186 ms 
 
-----t: 0.0581254
OdomCount 1086 & avg odom time 0.049271 ms ++++++++++++++++++++++
mapping solver time 19.909413 ms 
mapping data assosiation time 28.099338 ms 
filter time 17.318858 ms 
[0m[ INFO] [1715775673.461485674, 1317357739.288544163]: Received 262741 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775673.461537777, 1317357739.288544163]: Data saved to 1317357738743408.pcd[0m
mapping data assosiation time 35.331851 ms 
publication time 10.941375 ms 
whole laserOdometry time 10.954627 ms 
 
-----t: 0.0531404
OdomCount 1088 & avg odom time 0.049281 ms ++++++++++++++++++++++
points size 85513 
sort q time 4.944990 
seperate points time 10.373058 
publication time 8.878157 ms 
whole laserOdometry time 8.892485 ms 
 
drop lidar frame in mapping for real time performance 
1317357739.367448091 WriteOdom laser_odom_to_init
1317357739.367448091 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357739.471415042
prepare time 11.139073 
sort q time 5.641589 
seperate points time 10.906476 
publication time 10.292930 ms 
whole laserOdometry time 10.308553 ms 
 
mapping solver time 24.346800 ms 
-----t: 0.0542894
OdomCount 1090 & avg odom time 0.049295 ms ++++++++++++++++++++++
mapping data assosiation time 25.569404 ms 
mapping solver time 15.126542 ms 
mapping optimization time 141.364635 
add points time 1.153981 ms
--------------------stamp1317357739.575380086
mapping pub time 2.214872 ms 
whole mapping time 168.300188 ms +++++
mappingCount 794 & avg mapping time 138.028237 ms ++++++++++++++++++++++
1317357739.263458014 WriteOdom aft_mapped_to_init
map prepare time 4.762474 ms
map corner num 198520  surf num 64946 
points size 85497 
sort q time 5.345769 
seperate points time 12.066271 
build tree time 51.289384 ms 
--------------------stamp1317357739.679347038
prepare time 13.653552 
mapping solver time 22.989962 ms 
mapping data assosiation time 35.017595 ms 
mapping solver time 23.722349 ms 
filter time 13.283847 ms 
points size 85453 
sort q time 4.766750 
seperate points time 13.354314 
publication time 9.591253 ms 
whole laserOdometry time 9.604553 ms 
 
-----t: 0.0552545
OdomCount 1093 & avg odom time 0.049294 ms ++++++++++++++++++++++
--------------------stamp1317357739.887331962
prepare time 12.247870 
sort q time 8.072572 
seperate points time 15.660028 
publication time 11.052200 ms 
whole laserOdometry time 11.082719 ms 
 
-----t: 0.0518488
OdomCount 1094 & avg odom time 0.049296 ms ++++++++++++++++++++++
mapping solver time 25.598699 ms 
points size 85421 
prepare time 13.200606 
mapping pub time 21.650080 ms 
whole mapping time 241.977532 ms +++++
mappingCount 796 & avg mapping time 138.216568 ms ++++++++++++++++++++++
map prepare time 22.661126 ms
map corner num 198758  surf num 64996 
-----t: 0.0628663
OdomCount 1095 & avg odom time 0.049308 ms ++++++++++++++++++++++
1317357739.991298913 WriteOdom laser_odom_to_init
1317357739.991298913 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357740.095290899
build tree time 50.552011 ms 
sort q time 5.741847 
seperate points time 10.910637 
mapping data assosiation time 29.238735 ms 
[0m[ INFO] [1715775674.331649525, 1317357740.157323529]: Received 263754 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1715775674.331731586, 1317357740.157323529]: Data saved to 1317357739575380.pcd[0m
-----t: 0.0501014
OdomCount 1096 & avg odom time 0.049309 ms ++++++++++++++++++++++
1317357740.095290899 WriteOdom laser_odom_to_init
1317357740.095290899 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.323264 ms 
mapping data assosiation time 25.728103 ms 
--------------------stamp1317357740.199280023
prepare time 10.806914 
filter time 17.833877 ms 
-----t: 0.0451545
OdomCount 1097 & avg odom time 0.049305 ms ++++++++++++++++++++++
build tree time 46.419030 ms 
--------------------stamp1317357740.303272962
prepare time 12.643336 
sort q time 4.816282 
seperate points time 11.546269 
mapping solver time 31.309791 ms 
publication time 8.884045 ms 
whole laserOdometry time 9.065479 ms 
 
1317357740.303272962 WriteOdom laser_odom_to_init
1317357740.303272962 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.120137 ms 
--------------------stamp1317357740.407289028
sort q time 4.594351 
seperate points time 10.806081 
publication time 8.530874 ms 
whole laserOdometry time 8.546946 ms 
 
build tree time 51.974543 ms 
mapping data assosiation time 25.305104 ms 
mapping solver time 23.456327 ms 
mapping data assosiation time 23.564856 ms 
mapping optimization time 141.743159 
filter time 13.708530 ms 

Done.
build tree time 44.454961 ms 
mapping data assosiation time 24.735832 ms 
mapping solver time 20.746567 ms 
mapping data assosiation time 24.292561 ms 
mapping solver time 16.693960 ms 
mapping optimization time 132.347941 
add points time 0.968124 ms
filter time 13.656754 ms 
mapping pub time 1.988695 ms 
whole mapping time 152.261787 ms +++++
mappingCount 800 & avg mapping time 138.391155 ms ++++++++++++++++++++++
1317357740.407289028 WriteOdom aft_mapped_to_init
killing:
 * /alaserMapping
 * /alaserOdometry
 * /ascanRegistration
 * /camera_init2odom_publisher
 * /global_graph_nodelet
 * /kittiHelper
 * /lidar2base_publisher
 * /map2odom_publisher
 * /pointcloud_to_pcd_1715775558682774452
 * /prefiltering_nodelet
 * /rosout
 * /scan_matching_odom_nodelet
 * /velodyne_nodelet_manager
[33m[ WARN] [1715775675.339570747, 1317357740.616402643]: Shutdown request received.[0m
[33m[ WARN] [1715775675.339613662, 1317357740.616402643]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1715775675.356569771, 1317357740.616402643]: Shutdown request received.[0m
[33m[ WARN] [1715775675.357479179, 1317357740.616402643]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1715775675.374296657, 1317357740.616402643]: Shutdown request received.[0m
[33m[ WARN] [1715775675.374361153, 1317357740.616402643]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1715775675.391837804, 1317357740.616402643]: Shutdown request received.[0m
[33m[ WARN] [1715775675.392821709, 1317357740.616402643]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1715775675.412486251, 1317357740.616402643]: Shutdown request received. Reason: [user request][0m
[33m[ WARN] [1715775675.429175047, 1317357740.616402643]: Shutdown request received.[0m
[33m[ WARN] [1715775675.430162649, 1317357740.616402643]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1715775675.449634548, 1317357740.616402643]: Shutdown request received.[0m
[33m[ WARN] [1715775675.450474714, 1317357740.616402643]: Reason given for shutdown: [user request][0m
[1m[ascanRegistration-7] process has finished cleanly
log file: /root/.ros/log/549214a6-12b5-11ef-8672-0242ac110008/ascanRegistration-7*.log[0m
terminate called without an active exception
[33m[ WARN] [1715775675.597933022, 1317357740.616402643]: Shutdown request received.[0m
[33m[ WARN] [1715775675.597990077, 1317357740.616402643]: Reason given for shutdown: [user request][0m
[1m[lidar2base_publisher-2] process has finished cleanly
log file: /root/.ros/log/549214a6-12b5-11ef-8672-0242ac110008/lidar2base_publisher-2*.log[0m
[1m[camera_init2odom_publisher-3] process has finished cleanly
log file: /root/.ros/log/549214a6-12b5-11ef-8672-0242ac110008/camera_init2odom_publisher-3*.log[0m
[1m[alaserOdometry-8] process has finished cleanly
log file: /root/.ros/log/549214a6-12b5-11ef-8672-0242ac110008/alaserOdometry-8*.log[0m
[1m[kittiHelper-10] process has finished cleanly
log file: /root/.ros/log/549214a6-12b5-11ef-8672-0242ac110008/kittiHelper-10*.log[0m
[33m[ WARN] [1715775675.621444050, 1317357740.616402643]: Shutdown request received. Reason: [user request][0m
[33m[ WARN] [1715775675.644014362, 1317357740.616402643]: Shutdown request received.[0m
[33m[ WARN] [1715775675.644062036, 1317357740.616402643]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1715775675.663367862, 1317357740.616402643]: Shutdown request received. Reason: [user request][0m
[33m[ WARN] [1715775675.681002759, 1317357740.616402643]: Shutdown request received.[0m
[33m[ WARN] [1715775675.681058690, 1317357740.616402643]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/549214a6-12b5-11ef-8672-0242ac110008/rosout-1*.log[0m
[31m[alaserMapping-9] process has died [pid 176, exit code -6, cmd /home/chenshoubin/slam_ws/devel/lib/aloam_velodyne/alaserMapping /velodyne_points:=/points_raw /gpsimu_driver/imu_data:=/imu_raw __name:=alaserMapping __log:=/root/.ros/log/549214a6-12b5-11ef-8672-0242ac110008/alaserMapping-9.log].
log file: /root/.ros/log/549214a6-12b5-11ef-8672-0242ac110008/alaserMapping-9*.log[0m
[1m[global_graph_nodelet-11] process has finished cleanly
log file: /root/.ros/log/549214a6-12b5-11ef-8672-0242ac110008/global_graph_nodelet-11*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [346][0m
[1m[velodyne_nodelet_manager-4] process has finished cleanly
log file: /root/.ros/log/549214a6-12b5-11ef-8672-0242ac110008/velodyne_nodelet_manager-4*.log[0m
[1m[prefiltering_nodelet-5] process has finished cleanly
log file: /root/.ros/log/549214a6-12b5-11ef-8672-0242ac110008/prefiltering_nodelet-5*.log[0m
[1m[scan_matching_odom_nodelet-6] process has finished cleanly
log file: /root/.ros/log/549214a6-12b5-11ef-8672-0242ac110008/scan_matching_odom_nodelet-6*.log[0m
[1m[map2odom_publisher-12] process has finished cleanly
log file: /root/.ros/log/549214a6-12b5-11ef-8672-0242ac110008/map2odom_publisher-12*.log[0m
