/SLAM-Hive/slam_hive_results/mapping_results/1347/1000_ndt-loam-imu+kitti_2011_09_30_drive_0028_synced_full.yamlbash: /opt/ros/kinetic/setup.bash: No such file or directory
... logging to /root/.ros/log/e8d9f13a-2e42-11ef-ba07-0242ac110003/roslaunch-9670639ff44e-91.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://9670639ff44e:36759/[0m

SUMMARY
========

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

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

auto-starting new master
[1mprocess[master]: started with pid [106][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/dlo_lfa_ggo_kitti.launch http://localhost:11311
[1msetting /run_id to e8d9f13a-2e42-11ef-ba07-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [117][0m
started core service [/rosout]
[1mprocess[lidar2base_publisher-2]: started with pid [124][0m
[1mprocess[camera_init2odom_publisher-3]: started with pid [125][0m
[1mprocess[velodyne_nodelet_manager-4]: started with pid [131][0m
[0m[ INFO] [1718805041.835770129]: Initializing nodelet with 8 worker threads.[0m
[1mprocess[prefiltering_nodelet-5]: started with pid [137][0m
downsample: VOXELGRID 0.1
outlier_removal: RADIUS 0.5 - 2
[1mprocess[scan_matching_odom_nodelet-6]: started with pid [153][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 [163][0m
scan line number 64 
[1mprocess[alaserOdometry-8]: started with pid [171][0m
Mapping 10 Hz 
[1mprocess[alaserMapping-9]: started with pid [177][0m
line resolution 0.400000 plane resolution 0.800000 
[1mprocess[kittiHelper-10]: started with pid [183][0m
calib_file= home/chenshoubin/slam_ws/src/lv_slam/config/kitti_calib/calib04-12.txt
eulerAngle= 0
-0
 01 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
[1mprocess[global_graph_nodelet-11]: started with pid [190][0m
/opt/ros/melodic/lib/python2.7/dist-packages/roslib/packages.py:470: UnicodeWarning: Unicode equal comparison failed to convert both arguments to Unicode - interpreting them as being unequal
  if resource_name in files:
construct solver: lm_var_cholmod
# Using CHOLMOD poseDim -1 landMarkDim -1 blockordering 1
done
registration: NDT_OMP DIRECT7 1 (8 threads)
[1mprocess[map2odom_publisher-12]: started with pid [197][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_0028_synced_full.bag  --clock 
[0m[ INFO] [1718805047.874077059]: Saving as ASCII PCD[0m
[0m[ INFO] [1718805047.877168410]: Listening for incoming data on topic /laser_cloud_surround[0m
[0m[ INFO] [1718805048.164751007]: Opening /slamhive/dataset/kitti_2011_09_30_drive_0028_synced_full.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1317357761.829826   Duration: 0.000000 / 538.070410   Delay: 0.00 
failed to find transform between base_link and velodyne
1317357761.831731081 WriteOdom laser_odom_to_init
1317357761.831731081 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357761.935647964
points size 82933 
prepare time 37.534748 
sort q time 6.391318 
seperate points time 13.000155 
scan registration time 56.132189 ms *************
Initialization finished 
publication time 8.782360 ms 
whole laserOdometry time 8.808376 ms 
 
--------------------stamp1317357762.039568901
points size 84323 
prepare time 14.671910 
sort q time 4.398879 
seperate points time 10.453491 
scan registration time 28.920695 ms *************
publication time 8.767453 ms 
whole laserOdometry time 8.780231 ms 
 
--------------------stamp1317357762.143488883
points size 86053 
prepare time 12.217683 
-----t: 0.170111
OdomCount 1 & avg odom time 0.170111 ms ++++++++++++++++++++++
1317357761.935647964 WriteOdom laser_odom_to_init
1317357761.935647964 WriteOdom aft_mapped_to_init_high_frec
sort q time 4.580274 
seperate points time 10.998401 
drop lidar frame in mapping for real time performance 
map prepare time 2.242026 ms
map corner num 0  surf num 0 
[33m[ WARN] [1718805049.028585353, 1317357762.163271329]: time Map corner and surf num are not enough[0m
scan registration time 29.706772 ms *************
add points time 0.398643 ms
filter time 0.539811 ms 
[0m[ INFO] [1718805049.031933272, 1317357762.177217694]: Received 4345 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805049.031971471, 1317357762.177217694]: Data saved to 1317357761935647.pcd[0m
mapping pub time 2.486643 ms 
whole mapping time 8.161662 ms +++++
mappingCount 1 & avg mapping time 8.332781 ms ++++++++++++++++++++++
1317357761.935647964 WriteOdom aft_mapped_to_init
publication time 7.289181 ms -----t: 0.0420086
OdomCount 2 & avg odom time 0.106060 ms ++++++++++++++++++++++
1317357762.039568901 WriteOdom laser_odom_to_init
1317357762.039568901 WriteOdom aft_mapped_to_init_high_frec
-----t: 0.0274671
OdomCount 3 & avg odom time 0.079862 ms ++++++++++++++++++++++
1317357762.143488883 WriteOdom laser_odom_to_init
1317357762.143488883 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.821391 ms
map corner num 2325  surf num 2020 
points size 87075 
mapping data assosiation time 13.580897 ms 
prepare time 10.780415 
sort q time 4.706355 
seperate points time 10.839027 
mapping solver time 12.230473 ms 
scan registration time 26.596200 ms *************
mapping data assosiation time 16.942207 ms 
-----t: 0.03006
OdomCount 4 & avg odom time 0.067412 ms ++++++++++++++++++++++
1317357762.247406959 WriteOdom laser_odom_to_init
1317357762.247406959 WriteOdom aft_mapped_to_init_high_frec
publication time 6.907284 ms 
whole laserOdometry time 6.920073 ms 
 
mapping solver time 10.316647 ms 
mapping optimization time 54.871834 
add points time 0.305315 ms
filter time 0.507430 ms 
mapping pub time 1.957431 ms 
whole mapping time 59.509542 ms +++++
mappingCount 2 & avg mapping time 33.922977 ms ++++++++++++++++++++++
1317357762.143488884 WriteOdom aft_mapped_to_init
map prepare time 1.660744 ms
map corner num 3470  surf num 2724 
build tree time 0.736072 ms 
mapping data assosiation time 14.039771 ms 
mapping solver time 15.529309 ms 
--------------------stamp1317357762.351346969
mapping data assosiation time 16.929296 ms 
points size 89649 
prepare time 10.822436 
mapping solver time 13.627762 ms 
mapping optimization time 61.634048 
add points time 0.365679 ms
filter time 0.898370 ms 
sort q time 5.250081 
seperate points time 11.000222 
mapping pub time 2.037558 ms 
whole mapping time 66.671411 ms +++++
mappingCount 3 & avg mapping time 44.843303 ms ++++++++++++++++++++++
1317357762.247406960 WriteOdom aft_mapped_to_init
scan registration time 26.181321 ms *************
publication time 6.307515 ms 
whole laserOdometry time 6.321658 ms 
 
-----t: 0.0283038
OdomCount 5 & avg odom time 0.059590 ms ++++++++++++++++++++++
1317357762.351346969 WriteOdom laser_odom_to_init
1317357762.351346969 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.595625 ms
map corner num 4287  surf num 2976 
mapping data assosiation time 15.816961 ms 
mapping solver time 15.192760 ms 
mapping data assosiation time 20.758085 ms 
--------------------stamp1317357762.455291032
points size 90579 
prepare time 11.466878 
mapping solver time 17.335127 ms 
mapping optimization time 71.421230 
add points time 0.444049 ms
filter time 1.010546 ms 
mapping pub time 2.131994 ms 
whole mapping time 76.669258 ms +++++
mappingCount 4 & avg mapping time 52.801340 ms ++++++++++++++++++++++
1317357762.351346970 WriteOdom aft_mapped_to_init
sort q time 5.167054 
seperate points time 12.633986 
scan registration time 32.264331 ms *************
publication time 6.794988 ms 
whole laserOdometry time 6.809047 ms 
 
-----t: 0.0326338
OdomCount 6 & avg odom time 0.055097 ms ++++++++++++++++++++++
1317357762.455291032 WriteOdom laser_odom_to_init
1317357762.455291032 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.861248 ms
map corner num 5021  surf num 3282 
build tree time 1.088167 ms 
mapping data assosiation time 14.417961 ms 
mapping solver time 15.662778 ms 
mapping data assosiation time 14.556827 ms 
points size 90579 
prepare time 15.523664 
mapping solver time 17.522417 ms 
mapping optimization time 64.056023 
add points time 0.399569 ms
filter time 1.035938 ms 
mapping pub time 2.119074 ms 
whole mapping time 69.514661 ms +++++
mappingCount 5 & avg mapping time 56.144686 ms ++++++++++++++++++++++
1317357762.455291033 WriteOdom aft_mapped_to_init
sort q time 5.313017 
seperate points time 10.868686 
scan registration time 31.051101 ms *************
publication time 6.797027 ms 
whole laserOdometry time 6.809960 ms 
 
-----t: 0.0308999
OdomCount 7 & avg odom time 0.051641 ms ++++++++++++++++++++++
1317357762.559210062 WriteOdom laser_odom_to_init
1317357762.559210062 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.816786 ms
map corner num 5651  surf num 3505 
build tree time 1.573637 ms 
mapping data assosiation time 16.004033 ms 
mapping solver time 15.279535 ms 
mapping data assosiation time 15.645918 ms 
points size 90849 
prepare time 10.465170 
mapping solver time 13.481114 ms 
mapping optimization time 62.799698 
add points time 0.397501 ms
filter time 1.082680 ms 
[0m[ INFO] [1718805049.533141431, 1317357762.672452903]: Received 10072 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805049.533183897, 1317357762.672452903]: Data saved to 1317357762559210.pcd[0m
mapping pub time 2.365526 ms 
whole mapping time 68.515503 ms +++++
mappingCount 6 & avg mapping time 58.207380 ms ++++++++++++++++++++++
1317357762.559210062 WriteOdom aft_mapped_to_init
sort q time 5.660694 
seperate points time 11.846019 
scan registration time 26.596936 ms *************
publication time 6.838377 ms 
whole laserOdometry time 6.850099 ms 
 
-----t: 0.0348199
OdomCount 8 & avg odom time 0.049538 ms ++++++++++++++++++++++
1317357762.663129091 WriteOdom laser_odom_to_init
1317357762.663129091 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.288507 ms
map corner num 6283  surf num 3789 
build tree time 1.782299 ms 
mapping data assosiation time 16.695185 ms 
mapping solver time 17.379181 ms 
--------------------stamp1317357762.767049074
mapping data assosiation time 17.671410 ms 
points size 90931 
prepare time 13.521671 
mapping solver time 14.702432 ms 
mapping optimization time 69.170869 
add points time 0.407062 ms
filter time 1.138006 ms 
sort q time 4.938374 
seperate points time 11.693221 
mapping pub time 2.180801 ms 
whole mapping time 75.238767 ms +++++
mappingCount 7 & avg mapping time 60.641198 ms ++++++++++++++++++++++
1317357762.663129091 WriteOdom aft_mapped_to_init
-----t: 0.0275518
OdomCount 9 & avg odom time 0.047095 ms ++++++++++++++++++++++
1317357762.767049074 WriteOdom laser_odom_to_init
1317357762.767049074 WriteOdom aft_mapped_to_init_high_frec
publication time 6.852329 ms 
whole laserOdometry time 6.865554 ms 
 
map prepare time 1.605815 ms
map corner num 6895  surf num 4061 
build tree time 1.270600 ms 
mapping data assosiation time 16.514341 ms 
mapping solver time 16.124232 ms 
--------------------stamp1317357762.870966911
points size 90805 
prepare time 12.737933 
mapping solver time 14.039726 ms 
mapping optimization time 66.607400 
add points time 0.431815 ms
filter time 1.197764 ms 
mapping pub time 2.125276 ms 
whole mapping time 72.017717 ms +++++
mappingCount 8 & avg mapping time 62.065331 ms ++++++++++++++++++++++
1317357762.767049074 WriteOdom aft_mapped_to_init
sort q time 5.704275 
seperate points time 11.483826 
publication time 7.926793 ms 
whole laserOdometry time 7.940866 ms 
 
-----t: 0.0320591
OdomCount 10 & avg odom time 0.045591 ms ++++++++++++++++++++++
1317357762.870966911 WriteOdom laser_odom_to_init
1317357762.870966911 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.115196 ms
map corner num 7490  surf num 4284 
build tree time 1.646090 ms 
mapping data assosiation time 21.698704 ms 
mapping solver time 16.116437 ms 
--------------------stamp1317357762.974884986
mapping data assosiation time 17.166389 ms 
points size 90460 
prepare time 13.483235 
mapping solver time 13.178439 ms 
mapping pub time 2.142653 ms 
whole mapping time 76.274352 ms +++++
mappingCount 9 & avg mapping time 63.644687 ms ++++++++++++++++++++++
1317357762.870966911 WriteOdom aft_mapped_to_init
sort q time 5.174487 
seperate points time 11.489999 
scan registration time 29.696636 ms *************
publication time 7.307152 ms 
whole laserOdometry time 7.318334 ms 
 
-----t: 0.039119
OdomCount 11 & avg odom time 0.045003 ms ++++++++++++++++++++++
1317357762.974884986 WriteOdom laser_odom_to_init
1317357762.974884986 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.762239 ms
map corner num 8043  surf num 4492 
build tree time 2.396309 ms 
mapping data assosiation time 16.432193 ms 
mapping solver time 20.413896 ms 
--------------------stamp1317357763.078830003
points size 87818 
prepare time 10.371954 
mapping data assosiation time 20.238261 ms 
sort q time 4.895658 
seperate points time 11.252195 
scan registration time 26.244402 ms *************
mapping solver time 19.957165 ms 
mapping optimization time 80.455208 
add points time 0.463798 ms
filter time 1.404410 ms 
mapping pub time 2.124070 ms 
whole mapping time 86.266177 ms +++++
mappingCount 10 & avg mapping time 65.908467 ms ++++++++++++++++++++++
1317357762.974884987 WriteOdom aft_mapped_to_init
publication time 8.869765 ms 
whole laserOdometry time 8.885800 ms 
 
-----t: 0.0311101
OdomCount 12 & avg odom time 0.043845 ms ++++++++++++++++++++++
1317357763.078830003 WriteOdom laser_odom_to_init
1317357763.078830003 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.786903 ms
map corner num 8594  surf num 4685 
build tree time 1.710671 ms 
mapping data assosiation time 18.114982 ms 
mapping solver time 16.817409 ms 
--------------------stamp1317357763.182771921
points size 84809 
prepare time 14.708682 
mapping solver time 17.916187 ms 
mapping optimization time 74.239888 
add points time 0.455107 ms
filter time 1.422011 ms 
[0m[ INFO] [1718805050.060740039, 1317357763.197828329]: Received 14036 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805050.061119051, 1317357763.197828329]: Data saved to 1317357763078830.pcd[0m
mapping pub time 2.290267 ms 
whole mapping time 80.242332 ms +++++
mappingCount 11 & avg mapping time 67.212226 ms ++++++++++++++++++++++
1317357763.078830004 WriteOdom aft_mapped_to_init
sort q time 4.859803 
seperate points time 11.014426 
scan registration time 30.808406 ms *************
-----t: 0.0311275
OdomCount 13 & avg odom time 0.042867 ms ++++++++++++++++++++++
1317357763.182771921 WriteOdom laser_odom_to_init
1317357763.182771921 WriteOdom aft_mapped_to_init_high_frec
publication time 8.757799 ms 
whole laserOdometry time 8.788240 ms 
 
map prepare time 1.890910 ms
map corner num 9159  surf num 4877 
build tree time 1.975617 ms 
mapping data assosiation time 18.252108 ms 
mapping solver time 17.359934 ms 
--------------------stamp1317357763.286695957
mapping data assosiation time 18.841946 ms 
prepare time 10.153195 
mapping solver time 14.066614 ms 
mapping pub time 2.019602 ms 
whole mapping time 77.354306 ms +++++
mappingCount 12 & avg mapping time 68.057745 ms ++++++++++++++++++++++
1317357763.182771921 WriteOdom aft_mapped_to_init
scan registration time 25.433483 ms *************
publication time 7.592399 ms 
whole laserOdometry time 7.607188 ms 
 
map prepare time 2.179186 ms
map corner num 9690  surf num 5041 
mapping data assosiation time 15.970844 ms 
mapping solver time 20.021044 ms 
--------------------stamp1317357763.390639066
points size 82328 
prepare time 12.001697 
mapping solver time 19.937948 ms 
mapping optimization time 76.594932 
add points time 0.439909 ms
sort q time 4.336064 
seperate points time 10.544103 
filter time 1.447136 ms 
-----t: 0.0291724
OdomCount 15 & avg odom time 0.041030 ms ++++++++++++++++++++++
1317357763.390639066 WriteOdom laser_odom_to_init
1317357763.390639066 WriteOdom aft_mapped_to_init_high_frec
publication time 6.745784 ms 
whole laserOdometry time 6.758348 ms 
 
map prepare time 1.981577 ms
map corner num 10214  surf num 5233 
build tree time 1.935328 ms 
mapping data assosiation time 15.575058 ms 
mapping solver time 17.069760 ms 
--------------------stamp1317357763.494574069
points size 81765 
prepare time 12.029065 
mapping solver time 15.191093 ms 
mapping optimization time 70.043661 
add points time 0.443163 ms
filter time 1.539886 ms 
scan registration time 27.307487 ms *************
-----t: 0.027946
OdomCount 16 & avg odom time 0.040212 ms ++++++++++++++++++++++
1317357763.494574069 WriteOdom laser_odom_to_init
1317357763.494574069 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.724562 ms
map corner num 10693  surf num 5387 
build tree time 2.783817 ms 
mapping data assosiation time 17.315865 ms 
mapping solver time 17.754145 ms 
--------------------stamp1317357763.598541975
points size 81616 
mapping solver time 14.478776 ms 

sort q time 5.287725 
seperate points time 11.471019 
scan registration time 28.060515 ms *************
publication time 7.768596 ms 
whole laserOdometry time 7.782255 ms 
 
-----t: 0.0336456
OdomCount 17 & avg odom time 0.039826 ms ++++++++++++++++++++++
1317357763.598541975 WriteOdom laser_odom_to_init
1317357763.598541975 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.812182 ms
map corner num 11201  surf num 5522 
build tree time 2.390594 ms 
mapping data assosiation time 18.020354 ms 
mapping solver time 20.274134 ms 
--------------------stamp1317357763.702558040
mapping data assosiation time 21.802071 ms 
points size 81236 
sort q time 4.255314 
seperate points time 10.427991 
scan registration time 30.915382 ms *************
mapping solver time 23.146990 ms 
mapping optimization time 86.656059 
add points time 0.435075 ms
-----t: 0.0262878
OdomCount 18 & avg odom time 0.039074 ms ++++++++++++++++++++++
1317357763.702558040 WriteOdom laser_odom_to_init
1317357763.702558040 WriteOdom aft_mapped_to_init_high_frec
publication time 7.382064 ms 
whole laserOdometry time 7.393095 ms 
 
map prepare time 1.872873 ms
map corner num 11662  surf num 5686 
build tree time 3.141137 ms 
mapping data assosiation time 18.530087 ms 
mapping solver time 16.464305 ms 
--------------------stamp1317357763.806549072
mapping data assosiation time 19.883068 ms 
sort q time 5.204930 
seperate points time 10.058477 
scan registration time 27.541427 ms *************
mapping solver time 20.718242 ms 
mapping optimization time 79.756151 
1317357763.806549072 WriteOdom laser_odom_to_init
1317357763.806549072 WriteOdom aft_mapped_to_init_high_frec
publication time 7.042615 ms 
whole laserOdometry time 7.064312 ms 
 
map prepare time 2.160435 ms
map corner num 12142  surf num 5840 
build tree time 2.325950 ms 
mapping solver time 16.456954 ms 
--------------------stamp1317357763.910563945
points size 78502 
prepare time 11.847410 
mapping solver time 13.944542 ms 
mapping pub time 1.853235 ms 
whole mapping time 73.800109 ms +++++
mappingCount 18 & avg mapping time 72.472714 ms ++++++++++++++++++++++
1317357763.806549072 WriteOdom aft_mapped_to_init
sort q time 4.034200 
seperate points time 9.762870 
scan registration time 25.644577 ms *************
-----t: 0.0294114
OdomCount 20 & avg odom time 0.037936 ms ++++++++++++++++++++++
1317357763.910563945 WriteOdom laser_odom_to_init
1317357763.910563945 WriteOdom aft_mapped_to_init_high_frec
publication time 6.280429 ms 
whole laserOdometry time 6.295238 ms 
 
build tree time 3.313643 ms 
mapping data assosiation time 18.052656 ms 
mapping solver time 16.763332 ms 
--------------------stamp1317357764.014601945
points size 74971 
filter time 1.761345 ms 
mapping pub time 1.928237 ms 
whole mapping time 76.428914 ms +++++
mappingCount 19 & avg mapping time 72.681173 ms ++++++++++++++++++++++
1317357763.910563946 WriteOdom aft_mapped_to_init
sort q time 4.295571 
seperate points time 10.417275 
scan registration time 30.296291 ms *************
-----t: 0.0410249
OdomCount 21 & avg odom time 0.038083 ms ++++++++++++++++++++++
map prepare time 1.607728 ms
map corner num 13127  surf num 6125 
build tree time 3.361069 ms 
mapping data assosiation time 18.828495 ms 
mapping solver time 17.238022 ms 
points size 72440 
sort q time 3.360533 
seperate points time 7.479891 
mapping solver time 20.179898 ms 
mapping optimization time 77.904709 
add points time 0.451808 ms
filter time 1.686531 ms 
mapping pub time 1.725888 ms 
whole mapping time 83.420435 ms +++++
mappingCount 20 & avg mapping time 73.218452 ms ++++++++++++++++++++++
1317357764.014601946 WriteOdom aft_mapped_to_init
publication time 7.348446 ms 
whole laserOdometry time 7.363044 ms 
 
1317357764.118614912 WriteOdom laser_odom_to_init
1317357764.118614912 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.846256 ms
map corner num 13595  surf num 6255 
mapping data assosiation time 15.537835 ms 
mapping solver time 15.185368 ms 
mapping data assosiation time 15.505901 ms 
--------------------stamp1317357764.222655057
points size 70906 
[0m[ INFO] [1718805051.088562077, 1317357764.230090672]: Received 20461 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805051.088594809, 1317357764.230090672]: Data saved to 1317357764118614.pcd[0m
mapping pub time 2.328567 ms 
whole mapping time 68.937586 ms +++++
mappingCount 21 & avg mapping time 73.014833 ms ++++++++++++++++++++++
1317357764.118614912 WriteOdom aft_mapped_to_init
sort q time 4.472023 
seperate points time 8.856740 
scan registration time 21.760049 ms *************
publication time 5.660696 ms 
whole laserOdometry time 5.672755 ms 
 
-----t: 0.0273361
OdomCount 23 & avg odom time 0.037206 ms ++++++++++++++++++++++
map prepare time 1.506449 ms
map corner num 14073  surf num 6388 
build tree time 3.364323 ms 
mapping data assosiation time 16.915261 ms 
mapping solver time 18.953464 ms 
--------------------stamp1317357764.326694965
points size 70109 
mapping solver time 14.303360 ms 
mapping optimization time 72.739685 
add points time 0.429208 ms
sort q time 3.583148 
seperate points time 8.715965 
publication time 6.176981 ms 
whole laserOdometry time 6.202979 ms 
 
-----t: 0.0270177
OdomCount 24 & avg odom time 0.036781 ms ++++++++++++++++++++++
1317357764.326694965 WriteOdom laser_odom_to_init
1317357764.326694965 WriteOdom aft_mapped_to_init_high_frec
build tree time 3.760416 ms 
mapping data assosiation time 16.332762 ms 
mapping solver time 18.306691 ms 
mapping data assosiation time 15.456047 ms 
--------------------stamp1317357764.430711030
mapping solver time 14.030398 ms 
mapping pub time 1.639867 ms 
whole mapping time 74.290264 ms +++++
mappingCount 23 & avg mapping time 73.298259 ms ++++++++++++++++++++++
1317357764.326694965 WriteOdom aft_mapped_to_init
prepare time 11.982952 
sort q time 3.871351 
seperate points time 8.761255 
scan registration time 24.025395 ms *************
-----t: 0.0234509
OdomCount 25 & avg odom time 0.036248 ms ++++++++++++++++++++++
map prepare time 1.948506 ms
map corner num 14958  surf num 6601 
mapping data assosiation time 15.448010 ms 
mapping solver time 14.895391 ms 
mapping data assosiation time 15.947578 ms 
--------------------stamp1317357764.534748077
add points time 0.432335 ms
filter time 1.366134 ms 
mapping pub time 1.619772 ms 
whole mapping time 68.174279 ms +++++
mappingCount 24 & avg mapping time 73.084947 ms ++++++++++++++++++++++
1317357764.430711031 WriteOdom aft_mapped_to_init
points size 71159 
prepare time 12.903453 
sort q time 4.631682 
seperate points time 9.072039 
publication time 5.668835 ms 
whole laserOdometry time 5.680611 ms 
 
-----t: 0.0246075
OdomCount 26 & avg odom time 0.035800 ms ++++++++++++++++++++++
1317357764.534748077 WriteOdom laser_odom_to_init
1317357764.534748077 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.738426 ms
map corner num 15440  surf num 6714 
build tree time 3.302377 ms 
mapping data assosiation time 17.106127 ms 
mapping solver time 18.768457 ms 
mapping data assosiation time 15.127928 ms 
--------------------stamp1317357764.638786077
points size 72975 
filter time 1.549609 ms 
mapping pub time 1.649194 ms 
whole mapping time 77.390375 ms +++++
mappingCount 25 & avg mapping time 73.257405 ms ++++++++++++++++++++++
1317357764.534748077 WriteOdom aft_mapped_to_init
scan registration time 22.274658 ms *************
publication time 6.339448 ms 
whole laserOdometry time 6.353027 ms 
 
-----t: 0.0244053
OdomCount 27 & avg odom time 0.035378 ms ++++++++++++++++++++++
1317357764.638786077 WriteOdom laser_odom_to_init
1317357764.638786077 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.658710 ms
map corner num 15923  surf num 6843 
mapping data assosiation time 16.926052 ms 
mapping solver time 19.086992 ms 
--------------------stamp1317357764.742799997
points size 76004 
prepare time 11.246894 
filter time 1.942005 ms 
[0m[ INFO] [1718805051.618364598, 1317357764.756532155]: Received 23378 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805051.618415609, 1317357764.756532155]: Data saved to 1317357764638786.pcd[0m
mapping pub time 1.939451 ms 
whole mapping time 80.498872 ms +++++
mappingCount 26 & avg mapping time 73.536148 ms ++++++++++++++++++++++
1317357764.638786077 WriteOdom aft_mapped_to_init
scan registration time 25.634279 ms *************
publication time 7.361855 ms 
whole laserOdometry time 7.373959 ms 
 
-----t: 0.0263664
OdomCount 28 & avg odom time 0.035057 ms ++++++++++++++++++++++
1317357764.742799997 WriteOdom laser_odom_to_init
1317357764.742799997 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.219735 ms
map corner num 16401  surf num 6977 
build tree time 4.147628 ms 
mapping data assosiation time 19.692224 ms 
mapping solver time 22.767398 ms 
--------------------stamp1317357764.846813917
points size 79318 
mapping solver time 15.618107 ms 
sort q time 4.398630 
seperate points time 10.087449 
mapping pub time 1.726175 ms 
whole mapping time 86.379316 ms +++++
mappingCount 27 & avg mapping time 74.011957 ms ++++++++++++++++++++++
1317357764.742799997 WriteOdom aft_mapped_to_init
scan registration time 25.852423 ms *************
publication time 5.355844 ms 
whole laserOdometry time 5.368804 ms 
 
-----t: 0.0318366
OdomCount 29 & avg odom time 0.034945 ms ++++++++++++++++++++++
1317357764.846813917 WriteOdom laser_odom_to_init
1317357764.846813917 WriteOdom aft_mapped_to_init_high_frec
build tree time 3.743257 ms 
mapping data assosiation time 14.985238 ms 
mapping solver time 17.573462 ms 
mapping data assosiation time 15.215289 ms 
mapping solver time 12.660434 ms 
mapping optimization time 65.020583 
scan registration time 31.299107 ms *************
publication time 10.752165 ms 
whole laserOdometry time 10.767061 ms 
 
-----t: 0.0557967
OdomCount 30 & avg odom time 0.035641 ms ++++++++++++++++++++++
map prepare time 1.575843 ms
map corner num 17238  surf num 7183 
build tree time 4.068812 ms 
mapping data assosiation time 15.445697 ms 
--------------------stamp1317357765.054774999
points size 84994 
mapping solver time 20.360102 ms 
sort q time 4.600790 
seperate points time 9.760830 
scan registration time 27.398241 ms *************
mapping data assosiation time 21.529752 ms 
publication time 7.814267 ms 
whole laserOdometry time 7.838582 ms 
 
-----t: 0.0364545
OdomCount 31 & avg odom time 0.035667 ms ++++++++++++++++++++++
1317357765.054774999 WriteOdom laser_odom_to_init
1317357765.054774999 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.005471 ms 
mapping optimization time 82.283456 
add points time 0.445265 ms
filter time 2.409363 ms 
map prepare time 1.536198 ms
map corner num 17682  surf num 7295 
build tree time 4.571231 ms 
mapping data assosiation time 15.020456 ms 
--------------------stamp1317357765.158716917
points size 85866 
prepare time 13.038891 
mapping data assosiation time 19.508644 ms 
sort q time 4.894767 
seperate points time 10.956593 
scan registration time 28.327120 ms *************
mapping solver time 18.467155 ms 
mapping pub time 2.076918 ms 
whole mapping time 81.705160 ms +++++
mappingCount 30 & avg mapping time 74.667449 ms ++++++++++++++++++++++
publication time 6.969732 ms 
whole laserOdometry time 6.981515 ms 
 
1317357765.054775000 WriteOdom aft_mapped_to_init
build tree time 3.844064 ms 
mapping solver time 14.840929 ms 
mapping data assosiation time 15.925679 ms 
mapping solver time 12.072513 ms 
points size 86958 
mapping optimization time 63.322459 
add points time 0.399500 ms
filter time 1.569379 ms 
prepare time 12.800903 
[0m[ INFO] [1718805052.132045536, 1317357765.272650782]: Received 26093 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805052.132088176, 1317357765.272650782]: Data saved to 1317357765158716.pcd[0m
sort q time 5.012748 
seperate points time 11.025079 
-----t: 0.0249902
OdomCount 33 & avg odom time 0.035062 ms ++++++++++++++++++++++
1317357765.262635946 WriteOdom laser_odom_to_init
1317357765.262635946 WriteOdom aft_mapped_to_init_high_frec
publication time 5.719903 ms 
whole laserOdometry time 5.730042 ms 
 
map prepare time 1.633970 ms
map corner num 18601  surf num 7492 
build tree time 4.439673 ms 
mapping data assosiation time 15.527624 ms 
mapping solver time 19.641374 ms 
--------------------stamp1317357765.366508007
points size 87533 
mapping data assosiation time 19.891022 ms 
mapping solver time 12.957282 ms 
mapping optimization time 73.354665 
add points time 0.442476 ms
sort q time 4.592753 
seperate points time 10.749942 
filter time 1.798847 ms 
mapping pub time 2.250059 ms 
whole mapping time 79.534653 ms +++++
mappingCount 32 & avg mapping time 74.676837 ms ++++++++++++++++++++++
1317357765.262635946 WriteOdom aft_mapped_to_init
scan registration time 29.318576 ms *************
-----t: 0.0271017
OdomCount 34 & avg odom time 0.034828 ms ++++++++++++++++++++++
publication time 5.851620 ms 
whole laserOdometry time 5.865478 ms 
 
map prepare time 1.586731 ms
map corner num 19117  surf num 7608 
build tree time 3.860457 ms 
mapping data assosiation time 15.663739 ms 
mapping solver time 18.797743 ms 
--------------------stamp1317357765.470330953
points size 90752 
prepare time 13.229450 
mapping solver time 18.947480 ms 
mapping optimization time 74.011397 
add points time 0.482348 ms
filter time 2.378391 ms 
scan registration time 29.779914 ms *************
publication time 7.336562 ms 
whole laserOdometry time 7.349727 ms 
 
-----t: 0.0285597
OdomCount 35 & avg odom time 0.034649 ms ++++++++++++++++++++++
1317357765.470330953 WriteOdom laser_odom_to_init
1317357765.470330953 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.023062 ms
map corner num 19663  surf num 7856 
build tree time 4.296426 ms 
mapping data assosiation time 17.266756 ms 
mapping solver time 19.307887 ms 
--------------------stamp1317357765.574127912
points size 93142 
mapping data assosiation time 18.600222 ms 
prepare time 11.560679 
sort q time 5.007705 
seperate points time 11.352340 
scan registration time 27.611410 ms *************
mapping solver time 23.340243 ms 
mapping pub time 2.099367 ms 
whole mapping time 90.980587 ms +++++
mappingCount 34 & avg mapping time 75.331395 ms ++++++++++++++++++++++
1317357765.470330954 WriteOdom aft_mapped_to_init
-----t: 0.0262976
OdomCount 36 & avg odom time 0.034417 ms ++++++++++++++++++++++
1317357765.574127912 WriteOdom laser_odom_to_init
publication time 7.769873 ms 
whole laserOdometry time 7.784704 ms 
 
map prepare time 1.932739 ms
map corner num 20262  surf num 8153 
build tree time 5.129372 ms 
mapping data assosiation time 17.780343 ms 
mapping solver time 15.846222 ms 
--------------------stamp1317357765.677880048
mapping data assosiation time 20.361681 ms 
points size 92615 
prepare time 13.026123 
sort q time 5.408955 
seperate points time 11.362731 
mapping solver time 21.339123 ms 
mapping optimization time 81.503990 
add points time 0.602066 ms
scan registration time 29.062081 ms *************
-----t: 0.0260125
OdomCount 37 & avg odom time 0.034190 ms ++++++++++++++++++++++
1317357765.677880048 WriteOdom laser_odom_to_init
1317357765.677880048 WriteOdom aft_mapped_to_init_high_frec
publication time 8.190512 ms 
whole laserOdometry time 8.208884 ms 
 
map prepare time 1.832479 ms
map corner num 20864  surf num 8471 
build tree time 5.962572 ms 
mapping data assosiation time 18.725822 ms 
--------------------stamp1317357765.781652927
points size 93005 
prepare time 13.430919 
mapping data assosiation time 23.136119 ms 
sort q time 5.517943 
seperate points time 11.990815 
scan registration time 30.515628 ms *************
mapping solver time 15.232391 ms 
[0m[ INFO] [1718805052.677452303, 1317357765.819146725]: Received 30152 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805052.677664459, 1317357765.819146725]: Data saved to 1317357765677880.pcd[0m
mapping pub time 2.594823 ms 
whole mapping time 91.322892 ms +++++
mappingCount 36 & avg mapping time 76.148223 ms ++++++++++++++++++++++
1317357765.677880049 WriteOdom aft_mapped_to_init
-----t: 0.0263868
OdomCount 38 & avg odom time 0.033984 ms ++++++++++++++++++++++
1317357765.781652927 WriteOdom laser_odom_to_init
1317357765.781652927 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.987132 ms
map corner num 21442  surf num 8710 
build tree time 4.952976 ms 
mapping data assosiation time 21.056548 ms 
mapping solver time 19.720190 ms 
points size 93946 
mapping data assosiation time 19.935770 ms 
sort q time 5.168324 
seperate points time 11.464336 
scan registration time 29.177898 ms *************
mapping solver time 18.768948 ms 
mapping optimization time 85.538888 
add points time 0.526707 ms
filter time 2.521331 ms 
publication time 8.207554 ms 
whole laserOdometry time 8.221371 ms 
 
map prepare time 1.881806 ms
map corner num 22044  surf num 8980 
build tree time 5.499921 ms 
mapping data assosiation time 19.046653 ms 
mapping solver time 20.636730 ms 
points size 93968 
prepare time 13.846342 
mapping data assosiation time 20.453315 ms 
sort q time 5.924722 
seperate points time 11.575580 
scan registration time 30.775799 ms *************
-----t: 0.0300043
OdomCount 40 & avg odom time 0.033677 ms ++++++++++++++++++++++
1317357765.989300966 WriteOdom laser_odom_to_init
1317357765.989300966 WriteOdom aft_mapped_to_init_high_frec
filter time 2.618036 ms 
mapping pub time 2.100468 ms 
whole mapping time 95.597376 ms +++++
mappingCount 38 & avg mapping time 77.098391 ms ++++++++++++++++++++++
1317357765.885476112 WriteOdom aft_mapped_to_init
map prepare time 1.820730 ms
map corner num 22632  surf num 9259 
build tree time 4.606951 ms 
mapping data assosiation time 18.601027 ms 
mapping solver time 22.630240 ms 
points size 93522 
prepare time 10.962833 
mapping data assosiation time 23.481734 ms 
sort q time 5.166677 
seperate points time 10.288470 
publication time 6.618490 ms 
whole laserOdometry time 6.635630 ms 
 
mapping solver time 23.066744 ms 
mapping optimization time 93.303165 
add points time 0.519454 ms
-----t: 0.0418242
OdomCount 41 & avg odom time 0.033876 ms ++++++++++++++++++++++
1317357766.093147039 WriteOdom laser_odom_to_init
1317357766.093147039 WriteOdom aft_mapped_to_init_high_frec
build tree time 5.143955 ms 
mapping data assosiation time 17.817042 ms 
--------------------stamp1317357766.197015047
mapping solver time 22.189064 ms 
points size 93247 
sort q time 5.255977 
seperate points time 10.360079 
mapping data assosiation time 22.538599 ms 
scan registration time 28.401907 ms *************
publication time 6.309574 ms 
whole laserOdometry time 6.323739 ms 
 
-----t: 0.0314862
OdomCount 42 & avg odom time 0.033819 ms ++++++++++++++++++++++
1317357766.197015047 WriteOdom laser_odom_to_init
1317357766.197015047 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.947802 ms 
mapping optimization time 89.565221 
add points time 0.481749 ms
mapping pub time 2.148929 ms 
whole mapping time 96.696179 ms +++++
mappingCount 40 & avg mapping time 78.174825 ms ++++++++++++++++++++++
1317357766.093147039 WriteOdom aft_mapped_to_init
map prepare time 1.811422 ms
map corner num 23774  surf num 9683 
build tree time 5.575468 ms 
mapping data assosiation time 18.108736 ms 
mapping solver time 20.667678 ms 
points size 90624 
prepare time 13.000941 
mapping data assosiation time 21.592910 ms 
sort q time 4.840943 
seperate points time 11.309224 
mapping solver time 14.499544 ms 
filter time 2.716406 ms 
[0m[ INFO] [1718805053.198062352, 1317357766.333745439]: Received 34163 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805053.198104010, 1317357766.333745439]: Data saved to 1317357766197015.pcd[0m
scan registration time 41.226575 ms *************
mapping pub time 3.255636 ms 
whole mapping time 90.049657 ms +++++
mappingCount 41 & avg mapping time 78.464536 ms ++++++++++++++++++++++
1317357766.197015047 WriteOdom aft_mapped_to_init
publication time 7.153848 ms 
whole laserOdometry time 7.166859 ms 
 
-----t: 0.0503025
OdomCount 43 & avg odom time 0.034202 ms ++++++++++++++++++++++
1317357766.300884008 WriteOdom laser_odom_to_init
1317357766.300884008 WriteOdom aft_mapped_to_init_high_frec
build tree time 4.972940 ms 
mapping data assosiation time 18.193532 ms 
--------------------stamp1317357766.404755115
points size 88517 
prepare time 10.719145 
mapping solver time 22.615595 ms 
sort q time 4.840551 
seperate points time 10.935827 
-----t: 0.0288126
OdomCount 44 & avg odom time 0.034080 ms ++++++++++++++++++++++
mapping data assosiation time 39.592065 ms 
mapping solver time 12.939883 ms 
mapping optimization time 99.153005 
add points time 0.521281 ms
filter time 2.069144 ms 
mapping pub time 2.129765 ms 
whole mapping time 105.970606 ms +++++
mappingCount 42 & avg mapping time 79.119532 ms ++++++++++++++++++++++
1317357766.300884008 WriteOdom aft_mapped_to_init
build tree time 5.404379 ms 
mapping data assosiation time 17.571065 ms 
--------------------stamp1317357766.508626937
points size 87391 
mapping solver time 19.065524 ms 
sort q time 4.654455 
seperate points time 10.732271 
scan registration time 27.061420 ms *************
mapping data assosiation time 19.939237 ms 
-----t: 0.0264698
OdomCount 45 & avg odom time 0.033910 ms ++++++++++++++++++++++
mapping solver time 13.441810 ms 
mapping optimization time 76.426413 
add points time 0.512686 ms
filter time 2.693475 ms 
map prepare time 1.637019 ms
map corner num 25269  surf num 10175 
build tree time 5.711796 ms 
mapping data assosiation time 16.976046 ms 
mapping solver time 15.138469 ms 
--------------------stamp1317357766.612523078
points size 85088 
mapping data assosiation time 20.950698 ms 
prepare time 14.573076 
sort q time 4.591371 
seperate points time 10.557896 
scan registration time 29.412169 ms *************
filter time 2.614355 ms 
mapping pub time 1.988492 ms 
whole mapping time 82.517773 ms +++++
mappingCount 44 & avg mapping time 79.297959 ms ++++++++++++++++++++++
1317357766.508626938 WriteOdom aft_mapped_to_init
-----t: 0.0264894
OdomCount 46 & avg odom time 0.033749 ms ++++++++++++++++++++++
1317357766.612523078 WriteOdom laser_odom_to_init
1317357766.612523078 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.639931 ms
map corner num 25718  surf num 10318 
build tree time 5.974706 ms 
mapping data assosiation time 16.930967 ms 
mapping solver time 16.581664 ms 
--------------------stamp1317357766.716417074
points size 83274 
mapping solver time 12.786216 ms 
mapping optimization time 71.335673 
add points time 0.481785 ms
filter time 2.821991 ms 
mapping pub time 1.981615 ms 
whole mapping time 78.303054 ms +++++
mappingCount 45 & avg mapping time 79.275990 ms ++++++++++++++++++++++
1317357766.612523079 WriteOdom aft_mapped_to_initsort q time 5.775363 
seperate points time 16.722519 
scan registration time 32.864779 ms *************
-----t: 0.0268608
OdomCount 47 & avg odom time 0.033603 ms ++++++++++++++++++++++
1317357766.716417074 WriteOdom laser_odom_to_init
1317357766.716417074 WriteOdom aft_mapped_to_init_high_frec
publication time 4.971431 ms 
whole laserOdometry time 4.982924 ms 
 
map prepare time 1.430973 ms
map corner num 26135  surf num 10432 
build tree time 4.771876 ms 
mapping data assosiation time 14.526652 ms 
mapping solver time 14.906796 ms 
--------------------stamp1317357766.820334911
mapping data assosiation time 17.096142 ms 
points size 81076 
prepare time 14.558066 
mapping solver time 12.057992 ms 
mapping optimization time 64.230207 
add points time 0.493480 ms
scan registration time 27.646928 ms *************
publication time 5.962393 ms 
whole laserOdometry time 5.973011 ms 
 
-----t: 0.0416919
OdomCount 48 & avg odom time 0.033771 ms ++++++++++++++++++++++
1317357766.820334911 WriteOdom laser_odom_to_init
1317357766.820334911 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.778906 ms
map corner num 26539  surf num 10523 
build tree time 5.992221 ms 
mapping data assosiation time 13.810613 ms 
mapping solver time 14.245586 ms 
--------------------stamp1317357766.924278020
points size 78153 
mapping data assosiation time 16.200064 ms 
prepare time 12.158021 
mapping solver time 11.862834 ms 
scan registration time 25.903717 ms *************
mapping pub time 2.075539 ms 
whole mapping time 69.556670 ms +++++
mappingCount 47 & avg mapping time 79.079445 ms ++++++++++++++++++++++
1317357766.820334911 WriteOdom aft_mapped_to_init
publication time 6.421958 ms 
whole laserOdometry time 6.435059 ms 
 
-----t: 0.024926
OdomCount 49 & avg odom time 0.033591 ms ++++++++++++++++++++++
1317357766.924278020 WriteOdom laser_odom_to_init
1317357766.924278020 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.462710 ms
map corner num 26902  surf num 10621 
build tree time 5.705037 ms 
mapping data assosiation time 14.551576 ms 
mapping solver time 17.434054 ms 
mapping data assosiation time 13.620569 ms 
--------------------stamp1317357767.028222084
filter time 2.574471 ms 
mapping pub time 1.887579 ms 
whole mapping time 71.138580 ms +++++
mappingCount 48 & avg mapping time 78.914165 ms ++++++++++++++++++++++
1317357766.924278021 WriteOdom aft_mapped_to_init
prepare time 14.199012 
sort q time 5.981887 
seperate points time 11.519912 
-----t: 0.0257798
OdomCount 50 & avg odom time 0.033434 ms ++++++++++++++++++++++
1317357767.028222084 WriteOdom laser_odom_to_init
1317357767.028222084 WriteOdom aft_mapped_to_init_high_frec
publication time 4.767358 ms 
whole laserOdometry time 4.783757 ms 
 
map prepare time 1.404601 ms
map corner num 27232  surf num 10729 
build tree time 5.475475 ms 
mapping data assosiation time 13.760513 ms 
mapping solver time 13.645737 ms 
--------------------stamp1317357767.132189989
points size 77416 
mapping data assosiation time 15.073452 ms 
prepare time 11.764785 
sort q time 4.640903 
seperate points time 8.990312 
scan registration time 24.226841 ms *************
filter time 2.910197 ms 
mapping pub time 1.780535 ms 
whole mapping time 73.767762 ms +++++
mappingCount 49 & avg mapping time 78.809273 ms ++++++++++++++++++++++
1317357767.028222084 WriteOdom aft_mapped_to_init
-----t: 0.0325069
OdomCount 51 & avg odom time 0.033416 ms ++++++++++++++++++++++
1317357767.132189989 WriteOdom laser_odom_to_init
1317357767.132189989 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.622480 ms
map corner num 27598  surf num 10829 
build tree time 6.137443 ms 
mapping data assosiation time 14.987343 ms 
mapping solver time 13.582864 ms 
mapping data assosiation time 13.624257 ms 
--------------------stamp1317357767.236156940
points size 78864 
mapping solver time 14.661581 ms 
mapping optimization time 63.936805 
add points time 0.666772 ms
1317357767.132189989 WriteOdom aft_mapped_to_init
sort q time 4.666871 
seperate points time 9.827855 
scan registration time 25.946219 ms *************
-----t: 0.0245955
OdomCount 52 & avg odom time 0.033247 ms ++++++++++++++++++++++
1317357767.236156940 WriteOdom laser_odom_to_init
1317357767.236156940 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.473912 ms
map corner num 27950  surf num 10928 
build tree time 5.474660 ms 
mapping data assosiation time 14.182227 ms 
mapping solver time 15.029745 ms 
mapping data assosiation time 15.361099 ms 
--------------------stamp1317357767.340122938
mapping solver time 13.893056 ms 
[0m[ INFO] [1718805054.210819859, 1317357767.352228172]: Received 39348 data points in frame camera_init with the following fields: x y z intensity[0m
sort q time 4.553777 
seperate points time 10.467317 
publication time 5.249185 ms 
whole laserOdometry time 5.295039 ms 
 
-----t: 0.0428966
OdomCount 53 & avg odom time 0.033429 ms ++++++++++++++++++++++
map prepare time 1.592291 ms
map corner num 28322  surf num 11026 
build tree time 6.535841 ms 
mapping data assosiation time 16.060033 ms 
mapping solver time 15.392603 ms 
--------------------stamp1317357767.444091081
points size 80882 
prepare time 12.522610 
mapping data assosiation time 17.634343 ms 
sort q time 4.421786 
seperate points time 10.144215 
scan registration time 27.052304 ms *************
mapping solver time 15.715805 ms 
mapping optimization time 72.247559 
add points time 0.444209 ms
filter time 3.053070 ms 
-----t: 0.0286431
OdomCount 54 & avg odom time 0.033340 ms ++++++++++++++++++++++
1317357767.444091081 WriteOdom laser_odom_to_init
1317357767.444091081 WriteOdom aft_mapped_to_init_high_frec
publication time 5.725184 ms 
whole laserOdometry time 5.738246 ms 
 
map prepare time 1.800091 ms
map corner num 28663  surf num 11108 
build tree time 5.865442 ms 
mapping data assosiation time 13.676479 ms 
mapping solver time 13.839333 ms 
mapping data assosiation time 13.151169 ms 
--------------------stamp1317357767.548057079
mapping solver time 15.783475 ms 
mapping optimization time 63.269245 
add points time 0.487611 ms
points size 80951 
prepare time 9.833436 
filter time 2.951893 ms 
sort q time 5.492654 
seperate points time 10.084329 
-----t: 0.0223603
OdomCount 55 & avg odom time 0.033140 ms ++++++++++++++++++++++
1317357767.548057079 WriteOdom laser_odom_to_init
1317357767.548057079 WriteOdom aft_mapped_to_init_high_frec
publication time 6.042636 ms 
whole laserOdometry time 6.048884 ms 
 
build tree time 5.677851 ms 
mapping data assosiation time 14.099375 ms 
mapping solver time 14.274636 ms 
mapping data assosiation time 14.953596 ms 
mapping solver time 15.270220 ms 
mapping pub time 1.778256 ms 
whole mapping time 72.068489 ms +++++
mappingCount 54 & avg mapping time 78.291176 ms ++++++++++++++++++++++
points size 81198 
prepare time 14.566506 
sort q time 4.344020 
seperate points time 9.683533 
-----t: 0.0223915
OdomCount 56 & avg odom time 0.032948 ms ++++++++++++++++++++++
publication time 5.825447 ms 
whole laserOdometry time 5.838954 ms 
 
1317357767.652046918 WriteOdom laser_odom_to_init
1317357767.652046918 WriteOdom aft_mapped_to_init_high_frec
build tree time 5.791339 ms 
mapping data assosiation time 14.724302 ms 
mapping solver time 14.249951 ms 
mapping data assosiation time 17.122925 ms 
--------------------stamp1317357767.756036043
mapping solver time 12.699272 ms 
mapping optimization time 65.492653 
add points time 0.523890 ms
points size 82302 
filter time 2.951703 ms 
sort q time 4.723435 
seperate points time 10.267413 
scan registration time 27.070830 ms *************
-----t: 0.0212322
OdomCount 57 & avg odom time 0.032743 ms ++++++++++++++++++++++
1317357767.756036043 WriteOdom laser_odom_to_init
1317357767.756036043 WriteOdom aft_mapped_to_init_high_frec
publication time 5.805103 ms 
whole laserOdometry time 5.843890 ms 
 
map prepare time 1.619389 ms
map corner num 29713  surf num 11406 
build tree time 7.724352 ms 
mapping data assosiation time 17.498922 ms 
mapping solver time 10.812143 ms 
mapping data assosiation time 13.760726 ms 
--------------------stamp1317357767.860024929
filter time 2.409380 ms 
prepare time 12.329252 
sort q time 4.263532 
seperate points time 8.844451 
scan registration time 24.979213 ms *************
publication time 6.127769 ms 
whole laserOdometry time 6.144780 ms 
 
-----t: 0.0262286
OdomCount 58 & avg odom time 0.032631 ms ++++++++++++++++++++++
1317357767.860024929 WriteOdom laser_odom_to_init
1317357767.860024929 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.827597 ms
map corner num 30068  surf num 11517 
build tree time 6.453188 ms 
mapping data assosiation time 16.155929 ms 
mapping solver time 14.330841 ms 
--------------------stamp1317357767.964040994
points size 83024 
prepare time 12.277502 
mapping solver time 19.992179 ms 
mapping pub time 1.971869 ms 
whole mapping time 81.936383 ms +++++
mappingCount 57 & avg mapping time 78.099417 ms ++++++++++++++++++++++
1317357767.860024929 WriteOdom aft_mapped_to_init
-----t: 0.0222799
OdomCount 59 & avg odom time 0.032455 ms ++++++++++++++++++++++
1317357767.964040994 WriteOdom laser_odom_to_init
1317357767.964040994 WriteOdom aft_mapped_to_init_high_frec
publication time 6.751534 ms 
whole laserOdometry time 6.766402 ms 
 
map prepare time 1.674777 ms
map corner num 30418  surf num 11633 
build tree time 7.016889 ms 
mapping data assosiation time 15.933167 ms 
mapping solver time 16.824029 ms 
mapping data assosiation time 14.014659 ms 
mapping solver time 11.167558 ms 
mapping pub time 2.057478 ms 
whole mapping time 72.582562 ms +++++
mappingCount 58 & avg mapping time 78.004406 ms ++++++++++++++++++++++
1317357767.964040995 WriteOdom aft_mapped_to_init
prepare time 15.353514 
sort q time 4.338318 
seperate points time 10.103440 
scan registration time 30.865459 ms *************
-----t: 0.024805
OdomCount 60 & avg odom time 0.032328 ms ++++++++++++++++++++++
publication time 5.115405 ms 
whole laserOdometry time 5.128113 ms 
 
map prepare time 1.475264 ms
map corner num 30775  surf num 11764 
build tree time 5.361943 ms 
mapping data assosiation time 14.263958 ms 
mapping solver time 13.647109 ms 
--------------------stamp1317357768.172146081
points size 81860 
mapping solver time 11.828410 ms 
mapping optimization time 61.986649 
add points time 0.494129 ms
prepare time 12.758984 
filter time 2.607453 ms 
sort q time 4.741424 
seperate points time 11.192752 
scan registration time 28.355547 ms *************
publication time 5.930874 ms 
whole laserOdometry time 5.945018 ms 
 
-----t: 0.0369314
OdomCount 61 & avg odom time 0.032403 ms ++++++++++++++++++++++
map prepare time 1.629747 ms
map corner num 31137  surf num 11934 
build tree time 6.981973 ms 
mapping data assosiation time 15.258580 ms 
mapping solver time 14.239718 ms 
--------------------stamp1317357768.276232004
mapping data assosiation time 17.365004 ms 
prepare time 15.001930 
mapping solver time 12.637759 ms 
sort q time 4.347989 
seperate points time 10.324772 
mapping pub time 1.848010 ms 
whole mapping time 74.649527 ms +++++
mappingCount 60 & avg mapping time 77.792752 ms ++++++++++++++++++++++
1317357768.172146082 WriteOdom aft_mapped_to_init
scan registration time 29.575365 ms *************
publication time 6.028766 ms 
whole laserOdometry time 6.041913 ms 
 
map prepare time 1.482600 ms
map corner num 31528  surf num 12074 
build tree time 7.267804 ms 
mapping data assosiation time 16.240970 ms 
mapping solver time 12.170364 ms 
mapping data assosiation time 15.723935 ms 
mapping solver time 8.690322 ms 
[0m[ INFO] [1718805055.247997026, 1317357768.391038405]: Received 44125 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805055.248047858, 1317357768.391038405]: Data saved to 1317357768276232.pcd[0m
mapping pub time 3.646381 ms 
whole mapping time 69.102743 ms +++++
mappingCount 61 & avg mapping time 77.650377 ms ++++++++++++++++++++++
prepare time 12.442821 
1317357768.276232004 WriteOdom aft_mapped_to_init
sort q time 5.260170 
seperate points time 9.831933 
scan registration time 26.589589 ms *************
publication time 5.392917 ms 
whole laserOdometry time 5.405457 ms 
 
map prepare time 1.576433 ms
map corner num 31907  surf num 12218 
build tree time 6.834742 ms 
mapping solver time 14.641286 ms 
mapping data assosiation time 16.792738 ms 
--------------------stamp1317357768.484381914
mapping solver time 13.442586 ms 
mapping optimization time 68.140186 
points size 81828 
add points time 0.518204 ms
prepare time 11.896824 
filter time 3.031200 ms 
sort q time 4.294576 
seperate points time 10.088072 
scan registration time 26.394692 ms *************
-----t: 0.0264949
OdomCount 64 & avg odom time 0.032167 ms ++++++++++++++++++++++
publication time 5.386410 ms 
whole laserOdometry time 5.401310 ms 
 
map prepare time 1.963591 ms
map corner num 32276  surf num 12336 
build tree time 7.393301 ms 
mapping data assosiation time 15.485838 ms 
mapping solver time 15.035974 ms 
--------------------stamp1317357768.588468074
points size 82110 
mapping solver time 19.907198 ms 
mapping optimization time 75.919492 
add points time 0.501508 ms
sort q time 4.098263 
seperate points time 9.552442 
-----t: 0.0257589
OdomCount 65 & avg odom time 0.032068 ms ++++++++++++++++++++++
1317357768.588468074 WriteOdom laser_odom_to_init
1317357768.588468074 WriteOdom aft_mapped_to_init_high_frec
publication time 6.142524 ms 
whole laserOdometry time 6.148306 ms 
 
map prepare time 1.617840 ms
map corner num 32651  surf num 12425 
build tree time 7.389823 ms 
mapping data assosiation time 15.064318 ms 
mapping solver time 15.973823 ms 
mapping data assosiation time 16.287791 ms 
points size 82726 
prepare time 12.827057 
filter time 3.523651 ms 
mapping pub time 1.915639 ms 
whole mapping time 80.060531 ms +++++
mappingCount 64 & avg mapping time 77.749084 ms ++++++++++++++++++++++
1317357768.588468075 WriteOdom aft_mapped_to_init
scan registration time 27.506974 ms *************
publication time 6.159158 ms 
whole laserOdometry time 6.172582 ms 
 
-----t: 0.0280814
OdomCount 66 & avg odom time 0.032008 ms ++++++++++++++++++++++
map prepare time 1.829143 ms
map corner num 33048  surf num 12541 
mapping data assosiation time 16.508563 ms 
mapping solver time 18.861316 ms 
--------------------stamp1317357768.796639919
points size 83729 
mapping solver time 17.224008 ms 
filter time 3.446119 ms 
mapping pub time 1.941603 ms 
whole mapping time 83.210101 ms +++++
mappingCount 65 & avg mapping time 77.833200 ms ++++++++++++++++++++++
sort q time 4.387797 
seperate points time 10.555265 
1317357768.692553997 WriteOdom aft_mapped_to_init
-----t: 0.0273183
OdomCount 67 & avg odom time 0.031938 ms ++++++++++++++++++++++
1317357768.796639919 WriteOdom laser_odom_to_init
1317357768.796639919 WriteOdom aft_mapped_to_init_high_frec
publication time 6.782052 ms 
whole laserOdometry time 6.795393 ms 
 
build tree time 7.622961 ms 
mapping data assosiation time 16.449240 ms 
mapping solver time 18.240439 ms 
--------------------stamp1317357768.900774955
points size 84805 
mapping data assosiation time 20.300457 ms 
prepare time 12.516098 
sort q time 4.527949 
seperate points time 9.820130 
scan registration time 26.127580 ms *************
mapping solver time 19.948197 ms 
mapping optimization time 83.579827 
add points time 0.548321 ms
-----t: 0.0266572
OdomCount 68 & avg odom time 0.031860 ms ++++++++++++++++++++++
1317357768.900774955 WriteOdom laser_odom_to_init
1317357768.900774955 WriteOdom aft_mapped_to_init_high_frec
publication time 9.467765 ms 
whole laserOdometry time 9.497238 ms 
 
map prepare time 1.695502 ms
map corner num 33754  surf num 12729 
build tree time 8.397006 ms 
mapping data assosiation time 16.759149 ms 
mapping solver time 18.742409 ms 
--------------------stamp1317357769.004909992
points size 85213 
scan registration time 26.220837 ms *************
mapping solver time 16.506295 ms 
mapping optimization time 80.056208 
add points time 0.714701 ms
publication time 7.332663 ms 
whole laserOdometry time 7.345558 ms 
 
-----t: 0.036616
OdomCount 69 & avg odom time 0.031929 ms ++++++++++++++++++++++
1317357769.004909992 WriteOdom laser_odom_to_init
1317357769.004909992 WriteOdom aft_mapped_to_init_high_frec
build tree time 6.473067 ms 
mapping data assosiation time 16.271320 ms 
mapping solver time 14.727645 ms 
--------------------stamp1317357769.109019994
mapping data assosiation time 20.175879 ms 
points size 85002 
prepare time 16.425120 
mapping solver time 20.308303 ms 
scan registration time 33.115397 ms *************
filter time 4.024262 ms 
mapping pub time 1.917070 ms 
whole mapping time 87.959345 ms +++++
mappingCount 68 & avg mapping time 78.335840 ms ++++++++++++++++++++++
1317357769.004909992 WriteOdom aft_mapped_to_init
map prepare time 2.041550 ms
map corner num 34485  surf num 12938 
build tree time 6.594488 ms 
mapping solver time 14.818917 ms 
--------------------stamp1317357769.213151931
points size 84945 
mapping data assosiation time 17.883771 ms 
prepare time 10.448675 
sort q time 4.378191 
seperate points time 9.247797 
mapping solver time 12.353509 ms 
mapping optimization time 67.614164 
add points time 0.527895 ms
scan registration time 23.556342 ms *************
publication time 5.614173 ms 
whole laserOdometry time 5.630042 ms 
 
-----t: 0.040522
OdomCount 71 & avg odom time 0.032134 ms ++++++++++++++++++++++
1317357769.213151931 WriteOdom laser_odom_to_init
1317357769.213151931 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.847411 ms
map corner num 34856  surf num 13041 
build tree time 8.489164 ms 
mapping data assosiation time 16.225722 ms 
--------------------stamp1317357769.317287921
points size 85578 
prepare time 14.994601 
mapping data assosiation time 17.933288 ms 
sort q time 4.599064 
seperate points time 10.743029 
scan registration time 30.053213 ms *************
mapping solver time 14.967606 ms 
mapping optimization time 78.117319 
add points time 0.533934 ms
publication time 8.151824 ms 
whole laserOdometry time 8.165182 ms 
 
-----t: 0.0303269
OdomCount 72 & avg odom time 0.032109 ms ++++++++++++++++++++++
1317357769.317287921 WriteOdom laser_odom_to_init
1317357769.317287921 WriteOdom aft_mapped_to_init_high_frec
build tree time 7.026651 ms 
mapping data assosiation time 15.211943 ms 
mapping solver time 15.334400 ms 
--------------------stamp1317357769.421423912
mapping data assosiation time 17.944949 ms 
points size 87990 
prepare time 12.729371 
mapping solver time 13.047699 ms 
mapping optimization time 69.437898 
add points time 0.528399 ms
filter time 3.644834 ms 
[0m[ INFO] [1718805056.302006358, 1317357769.433200311]: Received 48995 data points in frame camera_init with the following fields: x y z intensity[0m
sort q time 4.899514 
seperate points time 11.273549 
[0m[ INFO] [1718805056.302534479, 1317357769.433200311]: Data saved to 1317357769317287.pcd[0m
mapping pub time 3.031877 ms 
whole mapping time 78.820982 ms +++++
mappingCount 71 & avg mapping time 78.416737 ms ++++++++++++++++++++++
1317357769.317287922 WriteOdom aft_mapped_to_init
publication time 7.522661 ms 
whole laserOdometry time 7.533992 ms 
 
-----t: 0.0326559
OdomCount 73 & avg odom time 0.032116 ms ++++++++++++++++++++++
1317357769.421423912 WriteOdom laser_odom_to_init
1317357769.421423912 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.293410 ms
map corner num 35670  surf num 13325 
build tree time 6.853402 ms 
mapping data assosiation time 15.599917 ms 
mapping solver time 14.925027 ms 
--------------------stamp1317357769.525608062
mapping data assosiation time 19.411994 ms 
prepare time 15.950978 
mapping solver time 20.213726 ms 
mapping optimization time 77.895913 
add points time 0.539625 ms
sort q time 4.938645 
seperate points time 11.601895 
filter time 3.876486 ms 
-----t: 0.0320089
OdomCount 74 & avg odom time 0.032115 ms ++++++++++++++++++++++
1317357769.525608062 WriteOdom laser_odom_to_init
1317357769.525608062 WriteOdom aft_mapped_to_init_high_frec
publication time 7.240975 ms 
whole laserOdometry time 7.252099 ms 
 
map prepare time 1.869667 ms
map corner num 36119  surf num 13499 
build tree time 6.956073 ms 
mapping data assosiation time 16.918143 ms 
mapping solver time 19.883950 ms 
points size 92263 
prepare time 12.715517 
mapping data assosiation time 20.287767 ms 
sort q time 5.338698 
seperate points time 11.828753 
mapping optimization time 85.986814 
add points time 0.553581 ms
publication time 7.650592 ms 
whole laserOdometry time 7.667713 ms 
 
filter time 3.999892 ms 
mapping pub time 2.156624 ms 
whole mapping time 94.618234 ms +++++
mappingCount 73 & avg mapping time 78.758617 ms ++++++++++++++++++++++
1317357769.525608063 WriteOdom aft_mapped_to_init
map prepare time 1.950657 ms
map corner num 36444  surf num 13600 
build tree time 7.554379 ms 
mapping data assosiation time 18.514041 ms 
mapping solver time 20.884401 ms 
points size 93870 
prepare time 11.518524 
mapping data assosiation time 22.404931 ms 
mapping solver time 21.474486 ms 
filter time 3.155864 ms 
publication time 8.678136 ms 
whole laserOdometry time 8.688824 ms 
 
mapping pub time 2.177660 ms 
whole mapping time 100.366076 ms +++++
mappingCount 74 & avg mapping time 79.050698 ms ++++++++++++++++++++++
1317357769.629813910 WriteOdom aft_mapped_to_init
-----t: 0.043438
OdomCount 76 & avg odom time 0.032258 ms ++++++++++++++++++++++
1317357769.734045982 WriteOdom laser_odom_to_init
1317357769.734045982 WriteOdom aft_mapped_to_init_high_frec
build tree time 8.088643 ms 
mapping data assosiation time 17.134523 ms 
--------------------stamp1317357769.838277101
mapping solver time 20.990808 ms 
prepare time 14.743518 
sort q time 5.121614 
seperate points time 11.757159 
scan registration time 30.796953 ms *************
mapping data assosiation time 21.831244 ms 
-----t: 0.0336864
OdomCount 77 & avg odom time 0.032277 ms ++++++++++++++++++++++
filter time 2.750042 ms 
mapping pub time 2.052919 ms 
whole mapping time 96.493388 ms +++++
mappingCount 75 & avg mapping time 79.283335 ms ++++++++++++++++++++++
1317357769.734045982 WriteOdom aft_mapped_to_init
publication time 13.984024 ms 
whole laserOdometry time 13.993091 ms 
 
map prepare time 2.097216 ms
map corner num 37105  surf num 13792 
build tree time 7.796853 ms 
mapping data assosiation time 17.109748 ms 
--------------------stamp1317357769.942506074
mapping solver time 21.066819 ms 
points size 95520 
sort q time 5.501885 
seperate points time 12.090750 
scan registration time 30.161143 ms *************
mapping data assosiation time 21.135043 ms 
mapping solver time 22.688560 ms 
filter time 3.921485 ms 
[0m[ INFO] [1718805056.859496865, 1317357769.994565572]: Received 51267 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805056.859822227, 1317357769.994565572]: Data saved to 1317357769838277.pcd[0m
publication time 10.644085 ms 
whole laserOdometry time 10.660521 ms 
 
mapping pub time 3.567691 ms 
whole mapping time 100.885891 ms +++++
mappingCount 76 & avg mapping time 79.567642 ms ++++++++++++++++++++++
map prepare time 2.344485 ms
map corner num 37398  surf num 13869 
build tree time 8.017322 ms 
mapping data assosiation time 19.675987 ms 
--------------------stamp1317357770.046736001
points size 94905 
mapping solver time 22.889781 ms 
prepare time 16.487312 
sort q time 5.507742 
seperate points time 12.765164 
mapping data assosiation time 20.704433 ms 
scan registration time 46.955990 ms *************
mapping solver time 20.119356 ms 
mapping optimization time 92.525131 
add points time 0.582064 ms
mapping pub time 2.237599 ms 
whole mapping time 101.681837 ms +++++
mappingCount 77 & avg mapping time 79.854918 ms ++++++++++++++++++++++
1317357769.942506075 WriteOdom aft_mapped_to_init
publication time 15.377460 ms 
whole laserOdometry time 15.394624 ms 
 
-----t: 0.06138
OdomCount 79 & avg odom time 0.032744 ms ++++++++++++++++++++++
map prepare time 2.417803 ms
map corner num 37703  surf num 13953 
build tree time 8.399548 ms 
--------------------stamp1317357770.150990962
mapping data assosiation time 20.633172 ms 
points size 94935 
prepare time 13.067340 
sort q time 5.231124 
seperate points time 10.526975 
mapping solver time 26.386959 ms 
publication time 7.952039 ms 
whole laserOdometry time 8.055214 ms 
 
-----t: 0.0341742
OdomCount 80 & avg odom time 0.032762 ms ++++++++++++++++++++++
1317357770.150990962 WriteOdom laser_odom_to_init
1317357770.150990962 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.036450 ms 
mapping solver time 13.224577 ms 
mapping optimization time 91.726689 
add points time 0.535683 ms
filter time 2.843569 ms 
map prepare time 1.952315 ms
map corner num 38039  surf num 14070 
build tree time 7.382280 ms 
--------------------stamp1317357770.255248069
mapping data assosiation time 19.323863 ms 
points size 94399 
sort q time 6.637702 
seperate points time 11.895491 
mapping solver time 24.473614 ms 
-----t: 0.0313011
OdomCount 81 & avg odom time 0.032744 ms ++++++++++++++++++++++
publication time 6.635387 ms 
whole laserOdometry time 6.651303 ms 
 
mapping solver time 17.495338 ms 
mapping optimization time 90.919162 
add points time 0.572309 ms
map prepare time 1.974050 ms
map corner num 38403  surf num 14196 
build tree time 8.382241 ms 
--------------------stamp1317357770.359503030
points size 94263 
sort q time 5.438334 
seperate points time 10.720139 
scan registration time 27.870504 ms *************
mapping solver time 24.152273 ms 
mapping solver time 17.184301 ms 
filter time 3.122062 ms 
mapping pub time 2.148025 ms 
whole mapping time 100.925419 ms +++++
mappingCount 80 & avg mapping time 80.599725 ms ++++++++++++++++++++++
1317357770.255248070 WriteOdom aft_mapped_to_init
map prepare time 2.246827 ms
map corner num 38824  surf num 14338 
build tree time 9.725373 ms 
--------------------stamp1317357770.463783025
mapping data assosiation time 20.293043 ms 
points size 94153 
sort q time 5.708005 
seperate points time 12.026087 
mapping solver time 26.567530 ms 
scan registration time 31.802592 ms *************
publication time 6.381597 ms 
whole laserOdometry time 6.463154 ms 
 
mapping data assosiation time 22.055510 ms 
-----t: 0.046111
OdomCount 83 & avg odom time 0.032903 ms ++++++++++++++++++++++
mapping solver time 20.311511 ms 
filter time 3.267102 ms 
[0m[ INFO] [1718805057.400477729, 1317357770.543142013]: Received 53675 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805057.400516427, 1317357770.543142013]: Data saved to 1317357770359503.pcd[0m
mapping pub time 3.582830 ms 
whole mapping time 109.686231 ms +++++
mappingCount 81 & avg mapping time 80.959015 ms ++++++++++++++++++++++
1317357770.359503031 WriteOdom aft_mapped_to_init
map prepare time 2.085802 ms
map corner num 39196  surf num 14479 
build tree time 8.668897 ms 
--------------------stamp1317357770.568058967
points size 92609 
prepare time 12.557824 
mapping data assosiation time 22.609872 ms 
sort q time 5.212349 
seperate points time 12.583823 
mapping solver time 24.732542 ms 
publication time 14.926559 ms 
whole laserOdometry time 14.940034 ms 
 
-----t: 0.0419668
OdomCount 84 & avg odom time 0.033011 ms ++++++++++++++++++++++
1317357770.568058967 WriteOdom laser_odom_to_init
1317357770.568058967 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.805853 ms 
mapping pub time 2.120418 ms 
whole mapping time 103.049808 ms +++++
mappingCount 82 & avg mapping time 81.228628 ms ++++++++++++++++++++++
1317357770.463783026 WriteOdom aft_mapped_to_init
map prepare time 2.132784 ms
map corner num 39547  surf num 14630 
build tree time 8.020378 ms 
--------------------stamp1317357770.672360897
points size 92097 
mapping data assosiation time 24.065322 ms 
prepare time 15.970567 
sort q time 5.097816 
seperate points time 11.966987 
scan registration time 32.889497 ms *************
publication time 7.438411 ms 
whole laserOdometry time 7.453826 ms 
 
mapping data assosiation time 22.611837 ms 
-----t: 0.0507775
OdomCount 85 & avg odom time 0.033220 ms ++++++++++++++++++++++
mapping solver time 14.804867 ms 
filter time 3.100895 ms 
mapping pub time 2.112116 ms 
whole mapping time 101.212817 ms +++++
mappingCount 83 & avg mapping time 81.469433 ms ++++++++++++++++++++++
1317357770.568058968 WriteOdom aft_mapped_to_init
map prepare time 2.208477 ms
map corner num 39903  surf num 14775 
build tree time 7.297298 ms 
--------------------stamp1317357770.776640892
mapping data assosiation time 23.905034 ms 
points size 92222 
sort q time 5.007199 
seperate points time 11.911171 
scan registration time 34.602172 ms *************
mapping solver time 24.623503 ms 
-----t: 0.0353996
OdomCount 86 & avg odom time 0.033245 ms ++++++++++++++++++++++
publication time 10.586166 ms 
whole laserOdometry time 10.602353 ms 
 
mapping data assosiation time 24.521945 ms 
mapping solver time 15.047383 ms 
filter time 3.702863 ms 
mapping pub time 2.174299 ms 
whole mapping time 105.460631 ms +++++
mappingCount 84 & avg mapping time 81.755129 ms ++++++++++++++++++++++
build tree time 8.727876 ms 
--------------------stamp1317357770.880894899
points size 92330 
prepare time 12.703164 
mapping data assosiation time 25.294082 ms 
sort q time 5.471296 
seperate points time 12.317239 
mapping solver time 23.996844 ms 
-----t: 0.0347632
OdomCount 87 & avg odom time 0.033263 ms ++++++++++++++++++++++
1317357770.880894899 WriteOdom laser_odom_to_init
1317357770.880894899 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.970532 ms 
mapping solver time 15.037594 ms 
mapping optimization time 94.286656 
add points time 0.620927 ms
map prepare time 2.047418 ms
map corner num 40572  surf num 15026 
build tree time 8.947088 ms 
points size 92304 
prepare time 15.632244 
mapping data assosiation time 25.951790 ms 
sort q time 5.449096 
seperate points time 13.318072 
mapping solver time 22.674054 ms 
publication time 8.311400 ms 
whole laserOdometry time 8.341595 ms 
 
-----t: 0.0343916
OdomCount 88 & avg odom time 0.033276 ms ++++++++++++++++++++++
1317357770.985147953 WriteOdom laser_odom_to_init
1317357770.985147953 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.964237 ms 
mapping solver time 15.777581 ms 
mapping optimization time 96.718167 
add points time 0.632005 ms
map prepare time 2.171869 ms
map corner num 40927  surf num 15184 
build tree time 10.144856 ms 
points size 92328 
prepare time 13.330012 
mapping data assosiation time 22.057348 ms 
sort q time 5.045534 
seperate points time 12.415064 
publication time 7.642615 ms 
whole laserOdometry time 7.653345 ms 
 
mapping solver time 25.970010 ms 
mapping data assosiation time 20.065453 ms 
-----t: 0.0596042
OdomCount 89 & avg odom time 0.033571 ms ++++++++++++++++++++++
1317357771.089401960 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.928019 ms 
mapping optimization time 101.405875 
add points time 0.673380 ms

points size 92366 
build tree time 11.451841 ms 
sort q time 6.490145 
seperate points time 12.897092 
mapping data assosiation time 27.020398 ms 
publication time 8.241303 ms 
whole laserOdometry time 8.254463 ms 
 
mapping solver time 30.281956 ms 
-----t: 0.0562643
OdomCount 90 & avg odom time 0.033824 ms ++++++++++++++++++++++
1317357771.193634033 WriteOdom laser_odom_to_init
1317357771.193634033 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.816511 ms 
--------------------stamp1317357771.297842025
points size 92357 
filter time 3.447982 ms 
mapping pub time 2.121627 ms 
whole mapping time 122.522255 ms +++++
mappingCount 88 & avg mapping time 83.083821 ms ++++++++++++++++++++++
1317357771.089401960 WriteOdom aft_mapped_to_init
sort q time 6.750546 
seperate points time 12.583756 
scan registration time 30.075827 ms *************
build tree time 10.400301 ms 
-----t: 0.0348868
OdomCount 91 & avg odom time 0.033835 ms ++++++++++++++++++++++
mapping data assosiation time 23.028544 ms 
mapping solver time 20.354591 ms 
mapping data assosiation time 18.538781 ms 
--------------------stamp1317357771.402050018
mapping solver time 15.542629 ms 
mapping optimization time 88.979072 
add points time 0.668101 ms
points size 92237 
map prepare time 2.188450 ms
map corner num 42000  surf num 15581 
sort q time 5.980827 
seperate points time 12.218831 
build tree time 10.298923 ms 
scan registration time 31.155995 ms *************
publication time 10.022208 ms 
whole laserOdometry time 10.031933 ms 
 
-----t: 0.0403034
OdomCount 92 & avg odom time 0.033906 ms ++++++++++++++++++++++
mapping solver time 24.220280 ms 
mapping data assosiation time 20.658154 ms 
points size 92168 
mapping optimization time 106.417752 
add points time 0.668040 ms
sort q time 5.520699 
seperate points time 10.996091 
filter time 4.425053 ms 
mapping pub time 2.349830 ms 
whole mapping time 116.120297 ms +++++
mappingCount 90 & avg mapping time 83.623198 ms ++++++++++++++++++++++
1317357771.297842026 WriteOdom aft_mapped_to_init
scan registration time 30.370675 ms *************
publication time 6.949419 ms 
whole laserOdometry time 6.984801 ms 
 
build tree time 10.346206 ms 
-----t: 0.0406602
OdomCount 93 & avg odom time 0.033978 ms ++++++++++++++++++++++
1317357771.506253957 WriteOdom laser_odom_to_init
1317357771.506253957 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.239046 ms 
mapping solver time 19.264036 ms 
--------------------stamp1317357771.610436916
points size 91819 
prepare time 13.797297 
mapping solver time 21.171471 ms 
mapping optimization time 93.123284 
add points time 0.647061 ms
sort q time 4.707769 
seperate points time 10.858876 

mapping pub time 3.329075 ms 
whole mapping time 110.997779 ms +++++
mappingCount 91 & avg mapping time 83.924132 ms ++++++++++++++++++++++
1317357771.402050018 WriteOdom aft_mapped_to_init
map prepare time 3.006752 ms
map corner num 42734  surf num 15850 
publication time 14.337072 ms 
whole laserOdometry time 14.364815 ms 
 
-----t: 0.0570026
OdomCount 94 & avg odom time 0.034223 ms ++++++++++++++++++++++
1317357771.610436916 WriteOdom laser_odom_to_init
1317357771.610436916 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.783351 ms 
--------------------stamp1317357771.714620113
mapping solver time 25.718878 ms 
points size 91620 
sort q time 5.079408 
seperate points time 11.709811 
publication time 10.336179 ms 
whole laserOdometry time 10.354872 ms 
 
mapping solver time 28.866338 ms 
-----t: 0.05426
OdomCount 95 & avg odom time 0.034434 ms ++++++++++++++++++++++
1317357771.714620113 WriteOdom laser_odom_to_init
1317357771.714620113 WriteOdom aft_mapped_to_init_high_frec
filter time 6.926303 ms 
drop lidar frame in mapping for real time performance 
map prepare time 2.975867 ms
map corner num 43083  surf num 15998 
build tree time 10.033774 ms 
points size 91715 
sort q time 5.306371 
seperate points time 11.797355 
scan registration time 26.957869 ms *************
publication time 8.803334 ms 
whole laserOdometry time 8.816585 ms 
 
mapping data assosiation time 22.213304 ms 
mapping solver time 16.297184 ms 
mapping optimization time 94.527255 
add points time 0.703899 ms
filter time 4.426364 ms 
mapping pub time 2.267583 ms 
whole mapping time 104.977278 ms +++++
mappingCount 93 & avg mapping time 84.699105 ms ++++++++++++++++++++++
1317357771.610436916 WriteOdom aft_mapped_to_init
map prepare time 2.662756 ms
map corner num 43420  surf num 16124 
build tree time 9.044608 ms 
--------------------stamp1317357771.923011064
points size 91906 
mapping data assosiation time 22.214018 ms 
prepare time 12.829035 
sort q time 5.024015 
seperate points time 11.855115 
scan registration time 29.724916 ms *************
publication time 10.660106 ms 
whole laserOdometry time 10.677010 ms 
 
-----t: 0.0399095
OdomCount 97 & avg odom time 0.034507 ms ++++++++++++++++++++++
mapping data assosiation time 24.941718 ms 
mapping solver time 15.092488 ms 
filter time 3.272831 ms 
mapping pub time 2.153766 ms 
whole mapping time 103.981668 ms +++++
mappingCount 94 & avg mapping time 84.904292 ms ++++++++++++++++++++++
1317357771.818825960 WriteOdom aft_mapped_to_init
build tree time 9.471877 ms 
--------------------stamp1317357772.027169942
points size 92730 
sort q time 5.144899 
seperate points time 10.044967 
scan registration time 28.877196 ms *************
publication time 7.992074 ms 
whole laserOdometry time 8.006127 ms 
 
mapping data assosiation time 24.877902 ms 
mapping solver time 15.959542 ms 
mapping optimization time 94.772851 
add points time 0.631738 ms
map prepare time 2.195850 ms
map corner num 44248  surf num 16477 
build tree time 8.428911 ms 
--------------------stamp1317357772.131328105
mapping data assosiation time 21.447539 ms 
points size 94356 
sort q time 5.280637 
seperate points time 10.558523 
scan registration time 31.223715 ms *************
publication time 7.618531 ms 
whole laserOdometry time 7.634047 ms 
 
-----t: 0.035067
OdomCount 99 & avg odom time 0.034633 ms ++++++++++++++++++++++
mapping data assosiation time 23.333031 ms 
mapping solver time 14.997931 ms 
filter time 3.291448 ms 
mapping pub time 2.806022 ms 
whole mapping time 102.494257 ms +++++
mappingCount 96 & avg mapping time 85.275579 ms ++++++++++++++++++++++
[0m[ INFO] [1718805059.069591992, 1317357772.209018678]: Received 61229 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805059.069639718, 1317357772.209018678]: Data saved to 1317357772027169.pcd[0m
1317357772.027169943 WriteOdom aft_mapped_to_init
build tree time 10.406637 ms 
--------------------stamp1317357772.235440015
points size 94730 
mapping data assosiation time 25.676224 ms 
scan registration time 36.376425 ms *************
mapping solver time 26.889096 ms 
publication time 9.015670 ms 
whole laserOdometry time 9.029327 ms 
 
-----t: 0.0426264
OdomCount 100 & avg odom time 0.034713 ms ++++++++++++++++++++++
1317357772.235440015 WriteOdom laser_odom_to_init
1317357772.235440015 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.764114 ms 
mapping solver time 19.241914 ms 
mapping optimization time 103.914563 
add points time 0.609917 ms
filter time 3.695341 ms 
mapping pub time 7.745819 ms 
whole mapping time 118.383739 ms +++++
mappingCount 97 & avg mapping time 85.616951 ms ++++++++++++++++++++++
points size 94458 
build tree time 10.205427 ms 
prepare time 12.891794 
sort q time 5.490800 
seperate points time 11.944742 
mapping data assosiation time 20.651691 ms 
publication time 8.207784 ms 
whole laserOdometry time 8.235616 ms 
 
mapping solver time 19.215225 ms 
-----t: 0.0454929
OdomCount 101 & avg odom time 0.034820 ms ++++++++++++++++++++++
1317357772.339500904 WriteOdom laser_odom_to_init
1317357772.339500904 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.753589 ms 
mapping solver time 14.277933 ms 
filter time 3.573022 ms 
mapping pub time 2.204988 ms 
whole mapping time 95.416461 ms +++++
mappingCount 98 & avg mapping time 85.716971 ms ++++++++++++++++++++++
1317357772.235440016 WriteOdom aft_mapped_to_init
map prepare time 2.036205 ms
map corner num 45303  surf num 16845 
--------------------stamp1317357772.443519115
build tree time 11.474717 ms 
points size 93567 
prepare time 15.300612 
mapping data assosiation time 24.284022 ms 
sort q time 6.148142 
seperate points time 15.040495 
scan registration time 35.358049 ms *************
mapping solver time 21.193158 ms 
-----t: 0.0429904
OdomCount 102 & avg odom time 0.034900 ms ++++++++++++++++++++++
1317357772.443519115 WriteOdom laser_odom_to_init
1317357772.443519115 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.219567 ms 
mapping solver time 13.981118 ms 
mapping optimization time 93.314071 
add points time 0.638751 ms
map prepare time 1.841403 ms
map corner num 45590  surf num 16900 
--------------------stamp1317357772.547439098
build tree time 11.454316 ms 
prepare time 13.040309 
sort q time 5.781910 
seperate points time 10.982762 
mapping data assosiation time 21.333599 ms 
scan registration time 28.385595 ms *************
publication time 6.102286 ms 
whole laserOdometry time 6.116458 ms 
 
-----t: 0.0343317
OdomCount 103 & avg odom time 0.034894 ms ++++++++++++++++++++++
mapping data assosiation time 17.821603 ms 
mapping solver time 12.414972 ms 
filter time 3.407738 ms 
mapping pub time 2.242753 ms 
whole mapping time 93.660968 ms +++++
mappingCount 100 & avg mapping time 85.967758 ms ++++++++++++++++++++++
1317357772.443519115 WriteOdom aft_mapped_to_init
build tree time 8.652875 ms 
points size 92120 
prepare time 12.852361 
mapping data assosiation time 19.564826 ms 
sort q time 6.023130 
seperate points time 11.454820 
mapping solver time 20.795461 ms 
-----t: 0.0320826
OdomCount 104 & avg odom time 0.034867 ms ++++++++++++++++++++++
mapping data assosiation time 19.275770 ms 
mapping solver time 12.176258 ms 
mapping optimization time 81.471048 
add points time 0.613456 ms
filter time 3.406490 ms 
1317357772.547439098 WriteOdom aft_mapped_to_init
map prepare time 1.986075 ms
map corner num 46218  surf num 17034 
build tree time 8.998476 ms 
--------------------stamp1317357772.755202054
mapping data assosiation time 18.302156 ms 
points size 91305 
mapping solver time 16.211117 ms 
sort q time 4.935301 
seperate points time 11.336130 
mapping data assosiation time 20.673288 ms 
publication time 10.050646 ms 
whole laserOdometry time 10.062998 ms 
 
mapping solver time 13.935083 ms 
mapping optimization time 79.064602 
add points time 0.575244 ms
map prepare time 1.865911 ms
map corner num 46521  surf num 17082 
build tree time 10.069364 ms 
mapping data assosiation time 17.459961 ms 
--------------------stamp1317357772.859025001
points size 88902 
sort q time 4.807474 
seperate points time 10.252755 
scan registration time 26.706088 ms *************
mapping solver time 14.271500 ms 
mapping optimization time 79.614156 
add points time 0.590765 ms
-----t: 0.039595
OdomCount 106 & avg odom time 0.034897 ms ++++++++++++++++++++++
1317357772.859025001 WriteOdom laser_odom_to_init
map prepare time 2.008135 ms
map corner num 46849  surf num 17147 
build tree time 9.343648 ms 
mapping data assosiation time 16.508144 ms 
--------------------stamp1317357772.962822914
points size 86877 
prepare time 13.661175 
sort q time 4.266395 
seperate points time 9.470238 
mapping solver time 15.523109 ms 
mapping optimization time 79.263003 
add points time 0.617209 ms
-----t: 0.0434281
OdomCount 107 & avg odom time 0.034977 ms ++++++++++++++++++++++
1317357772.962822914 WriteOdom laser_odom_to_init
1317357772.962822914 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.772973 ms
map corner num 47143  surf num 17203 
build tree time 10.751668 ms 
mapping data assosiation time 16.532948 ms 
--------------------stamp1317357773.066574096
points size 84399 
mapping data assosiation time 18.731380 ms 
sort q time 5.589161 
seperate points time 10.272258 
scan registration time 27.390564 ms *************
-----t: 0.027986
OdomCount 108 & avg odom time 0.034912 ms ++++++++++++++++++++++
1317357773.066574096 WriteOdom laser_odom_to_init
1317357773.066574096 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.295704 ms 
mapping optimization time 83.886893 
add points time 0.535668 ms
publication time 6.195166 ms 
whole laserOdometry time 6.210899 ms 
 
filter time 4.408697 ms 
mapping pub time 1.994150 ms 
whole mapping time 92.664178 ms +++++
mappingCount 105 & avg mapping time 86.178199 ms ++++++++++++++++++++++
1317357772.962822914 WriteOdom aft_mapped_to_init
build tree time 10.638737 ms 
mapping data assosiation time 14.745996 ms 
mapping solver time 15.935790 ms 
--------------------stamp1317357773.170277118
mapping data assosiation time 17.559451 ms 
points size 82554 
prepare time 12.771858 
mapping solver time 13.701678 ms 
sort q time 4.104212 
seperate points time 9.589619 
mapping optimization time 73.611913 
add points time 0.558300 ms
scan registration time 26.454980 ms *************
mapping pub time 3.566030 ms 
whole mapping time 84.806445 ms +++++
mappingCount 106 & avg mapping time 86.165314 ms ++++++++++++++++++++++
1317357773.066574097 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718805060.059544741, 1317357773.204778755]: Received 65102 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805060.059584110, 1317357773.204778755]: Data saved to 1317357773066574.pcd[0m
-----t: 0.0323498
OdomCount 109 & avg odom time 0.034888 ms ++++++++++++++++++++++
1317357773.170277118 WriteOdom laser_odom_to_init
1317357773.170277118 WriteOdom aft_mapped_to_init_high_frec
publication time 6.435950 ms 
whole laserOdometry time 6.450026 ms 
 
build tree time 9.253374 ms 
mapping data assosiation time 16.205728 ms 
mapping solver time 16.488181 ms 
--------------------stamp1317357773.273956060
mapping data assosiation time 17.157636 ms 
points size 81384 
prepare time 13.218791 
sort q time 13.999901 
seperate points time 21.958416 
mapping solver time 30.760658 ms 
mapping optimization time 90.876192 
add points time 0.995792 ms
filter time 16.441771 ms 
-----t: 0.05782
OdomCount 110 & avg odom time 0.035097 ms ++++++++++++++++++++++
map prepare time 2.028266 ms
map corner num 48091  surf num 17371 
build tree time 9.877647 ms 
mapping data assosiation time 15.520115 ms 
points size 80171 
mapping solver time 19.373735 ms 
scan registration time 24.519625 ms *************
mapping data assosiation time 19.112518 ms 
-----t: 0.0319456
OdomCount 111 & avg odom time 0.035069 ms ++++++++++++++++++++++
add points time 0.571304 ms
filter time 3.419536 ms 
map prepare time 1.905668 ms
map corner num 48404  surf num 17433 
build tree time 8.990563 ms 
mapping data assosiation time 14.704563 ms 
mapping solver time 15.305733 ms 
points size 78684 
prepare time 11.767220 
sort q time 4.554605 
seperate points time 10.130910 
mapping optimization time 78.781926 
add points time 0.466506 ms
publication time 6.603601 ms 
whole laserOdometry time 6.627732 ms 
 
filter time 4.687158 ms 
mapping pub time 1.852173 ms 
whole mapping time 87.740642 ms +++++
mappingCount 109 & avg mapping time 86.423993 ms ++++++++++++++++++++++
1317357773.377633095 WriteOdom aft_mapped_to_init
map prepare time 1.814536 ms
map corner num 48645  surf num 17482 
build tree time 10.296116 ms 
mapping data assosiation time 15.178592 ms 
mapping solver time 14.813449 ms 
--------------------stamp1317357773.585012912
mapping data assosiation time 15.604212 ms 
points size 77733 
prepare time 11.123032 
mapping solver time 12.447917 ms 
mapping optimization time 69.173183 
add points time 0.463302 ms
scan registration time 24.407119 ms *************
mapping pub time 2.010205 ms 
whole mapping time 78.205776 ms +++++
mappingCount 110 & avg mapping time 86.349342 ms ++++++++++++++++++++++
1317357773.481311083 WriteOdom aft_mapped_to_init
publication time 5.759195 ms 
whole laserOdometry time 5.772143 ms 
 
-----t: 0.0256703
OdomCount 113 & avg odom time 0.034916 ms ++++++++++++++++++++++
1317357773.585012912 WriteOdom laser_odom_to_init
1317357773.585012912 WriteOdom aft_mapped_to_init_high_frec
build tree time 9.757267 ms 
mapping data assosiation time 13.352950 ms 
mapping solver time 13.612195 ms 
mapping data assosiation time 15.110569 ms 
--------------------stamp1317357773.688739061
mapping solver time 16.541782 ms 
mapping optimization time 69.127655 
points size 78178 
add points time 0.511896 ms
prepare time 14.154191 
-----t: 0.0246656
OdomCount 114 & avg odom time 0.034826 ms ++++++++++++++++++++++
1317357773.688739061 WriteOdom laser_odom_to_init
1317357773.688739061 WriteOdom aft_mapped_to_init_high_frec
publication time 5.605932 ms 
whole laserOdometry time 5.617406 ms 
 
build tree time 9.934941 ms 
mapping data assosiation time 16.130540 ms 
mapping solver time 14.663340 ms 
--------------------stamp1317357773.792490959
points size 78545 
prepare time 12.755291 
filter time 5.051971 ms 
publication time 7.765650 ms 
whole laserOdometry time 7.775353 ms 
 
-----t: 0.0323139
OdomCount 115 & avg odom time 0.034804 ms ++++++++++++++++++++++
1317357773.792490959 WriteOdom laser_odom_to_init
1317357773.792490959 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.848324 ms
map corner num 49391  surf num 17616 
build tree time 9.670978 ms 
mapping data assosiation time 13.640379 ms 
mapping solver time 13.371764 ms 
--------------------stamp1317357773.896241903
points size 79795 
prepare time 12.547220 
filter time 4.869149 ms 
scan registration time 25.739555 ms *************
publication time 5.593826 ms 
whole laserOdometry time 5.607880 ms 
 
-----t: 0.0325432
OdomCount 116 & avg odom time 0.034785 ms ++++++++++++++++++++++
map prepare time 1.591445 ms
map corner num 49654  surf num 17680 
build tree time 12.312927 ms 
mapping data assosiation time 15.518876 ms 
mapping solver time 16.950624 ms 
points size 82141 
prepare time 11.295553 
mapping data assosiation time 18.026101 ms 
scan registration time 24.807570 ms *************
mapping solver time 18.022691 ms 
mapping pub time 1.697117 ms 
whole mapping time 89.795930 ms +++++
mappingCount 114 & avg mapping time 86.166503 ms ++++++++++++++++++++++
1317357773.896241903 WriteOdom aft_mapped_to_init
-----t: 0.0281657
OdomCount 117 & avg odom time 0.034728 ms ++++++++++++++++++++++
1317357773.999944925 WriteOdom laser_odom_to_init
1317357773.999944925 WriteOdom aft_mapped_to_init_high_frec
build tree time 10.729317 ms 
mapping data assosiation time 14.847706 ms 
mapping solver time 14.068511 ms 
mapping data assosiation time 13.228393 ms 
--------------------stamp1317357774.103625059
points size 83495 
prepare time 12.117733 
mapping solver time 17.035655 ms 
mapping optimization time 70.731410 
add points time 0.474771 ms
mapping pub time 1.819010 ms 
whole mapping time 79.239275 ms +++++
mappingCount 115 & avg mapping time 86.106402 ms ++++++++++++++++++++++
scan registration time 26.761223 ms *************
-----t: 0.0254207
OdomCount 118 & avg odom time 0.034649 ms ++++++++++++++++++++++
1317357774.103625059 WriteOdom laser_odom_to_init
1317357774.103625059 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.585538 ms
map corner num 50259  surf num 17847 
build tree time 11.881490 ms 
mapping data assosiation time 14.573662 ms 
mapping solver time 14.179645 ms 
--------------------stamp1317357774.207304000
points size 83179 
mapping solver time 16.512624 ms 
sort q time 5.614200 
seperate points time 10.325869 
filter time 4.890240 ms 
scan registration time 27.258078 ms *************
mapping pub time 3.032493 ms 
whole mapping time 84.173207 ms +++++
mappingCount 116 & avg mapping time 86.089768 ms ++++++++++++++++++++++
1317357774.103625059 WriteOdom aft_mapped_to_init
-----t: 0.0257648
OdomCount 119 & avg odom time 0.034575 ms ++++++++++++++++++++++
publication time 6.992177 ms 
whole laserOdometry time 7.002318 ms 
 
map prepare time 1.863399 ms
map corner num 50614  surf num 17942 
build tree time 9.638080 ms 
mapping data assosiation time 14.489547 ms 
mapping solver time 14.314021 ms 
--------------------stamp1317357774.311007976
points size 83092 
prepare time 14.896199 
mapping solver time 19.541867 ms 
mapping optimization time 75.875546 
add points time 0.476231 ms
publication time 5.127380 ms 
whole laserOdometry time 5.139076 ms 
 
-----t: 0.048267
OdomCount 120 & avg odom time 0.034689 ms ++++++++++++++++++++++
1317357774.311007976 WriteOdom laser_odom_to_init
1317357774.311007976 WriteOdom aft_mapped_to_init_high_frec
build tree time 11.679698 ms 
mapping data assosiation time 14.906985 ms 
--------------------stamp1317357774.414736032
points size 83306 
mapping solver time 16.056749 ms 
prepare time 10.362230 
sort q time 4.658591 
seperate points time 10.507035 
mapping data assosiation time 17.305524 ms 
publication time 6.441823 ms 
whole laserOdometry time 6.454055 ms 
 
-----t: 0.0257613
OdomCount 121 & avg odom time 0.034615 ms ++++++++++++++++++++++
1317357774.414736032 WriteOdom laser_odom_to_init
1317357774.414736032 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 13.318195 ms 
mapping optimization time 74.181236 
add points time 0.543237 ms
mapping pub time 1.862589 ms 
whole mapping time 82.512249 ms +++++
mappingCount 118 & avg mapping time 86.058180 ms ++++++++++++++++++++++
1317357774.311007977 WriteOdom aft_mapped_to_init
map prepare time 1.735298 ms
map corner num 51282  surf num 18101 
build tree time 10.472027 ms 
mapping data assosiation time 14.317157 ms 
mapping solver time 17.009019 ms 
--------------------stamp1317357774.518460988
points size 84252 
mapping solver time 16.454472 ms 
mapping optimization time 74.684791 
add points time 0.453457 ms
sort q time 4.625922 
seperate points time 9.327380 
scan registration time 25.237506 ms *************
publication time 5.172150 ms 
whole laserOdometry time 5.186734 ms 
 
-----t: 0.034668
OdomCount 122 & avg odom time 0.034615 ms ++++++++++++++++++++++
map prepare time 1.612770 ms
map corner num 51553  surf num 18171 
build tree time 11.894143 ms 
mapping data assosiation time 13.885429 ms 
mapping solver time 13.436435 ms 
--------------------stamp1317357774.622211933
points size 85745 
prepare time 11.725898 
mapping solver time 10.798306 ms 
mapping optimization time 64.843666 
filter time 4.751509 ms 
mapping pub time 1.991393 ms 
whole mapping time 73.721515 ms +++++
mappingCount 120 & avg mapping time 85.929752 ms ++++++++++++++++++++++
1317357774.518460989 WriteOdom aft_mapped_to_init
sort q time 11.524786 
seperate points time 17.800305 
scan registration time 33.459327 ms *************
publication time 5.202139 ms 
whole laserOdometry time 5.213955 ms 
 
map prepare time 1.672367 ms
map corner num 51803  surf num 18240 
build tree time 9.940170 ms 
mapping solver time 13.345657 ms 
--------------------stamp1317357774.725963115
points size 86869 
mapping solver time 14.030153 ms 
filter time 5.225448 ms 
[0m[ INFO] [1718805061.610135885, 1317357774.755093607]: Received 70401 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805061.610188006, 1317357774.755093607]: Data saved to 1317357774622211.pcd[0m
sort q time 5.364423 
seperate points time 12.013050 
-----t: 0.033871
OdomCount 124 & avg odom time 0.034513 ms ++++++++++++++++++++++
1317357774.725963115 WriteOdom laser_odom_to_init
publication time 6.059365 ms 
whole laserOdometry time 6.068836 ms 
 
1317357774.725963115 WriteOdom aft_mapped_to_init_high_frec
build tree time 10.563113 ms 
mapping data assosiation time 14.631143 ms 
mapping solver time 14.136452 ms 
mapping data assosiation time 15.643506 ms 
prepare time 12.983686 
mapping optimization time 68.546913 
add points time 0.478113 ms
filter time 4.846093 ms 
-----t: 0.0295632
OdomCount 125 & avg odom time 0.034473 ms ++++++++++++++++++++++
1317357774.829714059 WriteOdom laser_odom_to_init
1317357774.829714059 WriteOdom aft_mapped_to_init_high_frec
publication time 5.189461 ms 
whole laserOdometry time 5.201285 ms 
 
map prepare time 1.793362 ms
map corner num 52353  surf num 18382 
build tree time 9.400330 ms 
mapping data assosiation time 13.719405 ms 
mapping solver time 16.032142 ms 
--------------------stamp1317357774.933489084
mapping data assosiation time 15.753510 ms 
points size 90097 
prepare time 13.403491 
mapping solver time 11.640900 ms 
scan registration time 27.274896 ms *************
filter time 4.797917 ms 
mapping pub time 2.113334 ms 
whole mapping time 76.765682 ms +++++
mappingCount 123 & avg mapping time 85.760660 ms ++++++++++++++++++++++
1317357774.829714060 WriteOdom aft_mapped_to_init
publication time 6.246562 ms 
whole laserOdometry time 6.274205 ms 
 
-----t: 0.0363188
OdomCount 126 & avg odom time 0.034488 ms ++++++++++++++++++++++
map prepare time 1.799530 ms
map corner num 52630  surf num 18471 
build tree time 10.537908 ms 
mapping data assosiation time 14.635731 ms 
--------------------stamp1317357775.037261962
mapping data assosiation time 15.515611 ms 
points size 90760 
prepare time 15.845012 
mapping solver time 13.063783 ms 
mapping optimization time 69.529196 
add points time 0.484949 ms
sort q time 5.039449 
seperate points time 11.414197 
-----t: 0.0273123
OdomCount 127 & avg odom time 0.034431 ms ++++++++++++++++++++++
1317357775.037261962 WriteOdom laser_odom_to_init
1317357775.037261962 WriteOdom aft_mapped_to_init_high_frec
publication time 5.527906 ms 
whole laserOdometry time 5.542470 ms 
 
map prepare time 1.851109 ms
map corner num 52950  surf num 18554 
build tree time 11.774013 ms 
mapping data assosiation time 15.128367 ms 
mapping solver time 17.138902 ms 
--------------------stamp1317357775.141060113
points size 91610 
mapping data assosiation time 16.836213 ms 
prepare time 14.099892 
mapping solver time 13.458015 ms 
scan registration time 30.194593 ms *************
filter time 5.234150 ms 
mapping pub time 2.342092 ms 
whole mapping time 85.190564 ms +++++
mappingCount 125 & avg mapping time 85.702920 ms ++++++++++++++++++++++
1317357775.037261963 WriteOdom aft_mapped_to_init
publication time 5.345262 ms 
whole laserOdometry time 5.359008 ms 
 
map prepare time 2.085099 ms
map corner num 53270  surf num 18667 
build tree time 9.819166 ms 
mapping data assosiation time 15.197979 ms 
mapping solver time 14.199390 ms 
--------------------stamp1317357775.244883060
points size 91249 
mapping solver time 14.853677 ms 
mapping optimization time 72.526842 
add points time 0.490724 ms
mapping pub time 3.019690 ms 
whole mapping time 83.602738 ms +++++
mappingCount 126 & avg mapping time 85.686304 ms ++++++++++++++++++++++
1317357775.141060114 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718805062.129704059, 1317357775.271249092]: Received 72426 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805062.129864160, 1317357775.271249092]: Data saved to 1317357775141060.pcd[0m
sort q time 4.976493 
seperate points time 11.671024 
scan registration time 32.049976 ms *************
-----t: 0.0262172
OdomCount 129 & avg odom time 0.034317 ms ++++++++++++++++++++++
publication time 7.607769 ms 
whole laserOdometry time 7.632218 ms 
 
map prepare time 2.016964 ms
map corner num 53632  surf num 18794 
build tree time 10.160908 ms 
mapping data assosiation time 14.897938 ms 
mapping solver time 16.470674 ms 
--------------------stamp1317357775.348706960
mapping data assosiation time 19.231311 ms 
points size 91127 
sort q time 5.903792 
seperate points time 12.413265 
scan registration time 34.640372 ms *************
publication time 8.441481 ms 
whole laserOdometry time 8.458324 ms 
 
-----t: 0.0373455
OdomCount 130 & avg odom time 0.034340 ms ++++++++++++++++++++++
1317357775.348706960 WriteOdom aft_mapped_to_init_high_frec
map prepare time 7.210698 ms
map corner num 54005  surf num 18915 
build tree time 14.298003 ms 
--------------------stamp1317357775.452555894
mapping data assosiation time 21.146365 ms 
prepare time 11.004110 
sort q time 6.280963 
seperate points time 11.730058 
mapping data assosiation time 30.838841 ms 
1317357775.452555894 WriteOdom laser_odom_to_init
1317357775.452555894 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.765075 ms 
filter time 4.081381 ms 
mapping pub time 2.161942 ms 
whole mapping time 115.137138 ms +++++
mappingCount 128 & avg mapping time 85.968871 ms ++++++++++++++++++++++
1317357775.348706961 WriteOdom aft_mapped_to_init
map prepare time 1.990367 ms
map corner num 54409  surf num 19028 
build tree time 12.098395 ms 
--------------------stamp1317357775.556399106
points size 92384 
sort q time 5.284715 
seperate points time 11.068695 
scan registration time 28.746287 ms *************
mapping solver time 20.705230 ms 
-----t: 0.0273177
OdomCount 132 & avg odom time 0.034289 ms ++++++++++++++++++++++
publication time 11.377848 ms 
whole laserOdometry time 11.407759 ms 
 
mapping data assosiation time 19.393979 ms 
mapping solver time 15.746177 ms 
filter time 4.147552 ms 
mapping pub time 2.152872 ms 
whole mapping time 96.695679 ms +++++
mappingCount 129 & avg mapping time 86.052066 ms ++++++++++++++++++++++
1317357775.452555895 WriteOdom aft_mapped_to_init
map prepare time 2.072262 ms
map corner num 54911  surf num 19191 
build tree time 10.596985 ms 
--------------------stamp1317357775.660221099
mapping data assosiation time 20.473479 ms 
sort q time 6.153107 
seperate points time 11.830545 
scan registration time 27.324559 ms *************
publication time 8.966698 ms 
whole laserOdometry time 8.987610 ms 
 
-----t: 0.0326195
OdomCount 133 & avg odom time 0.034277 ms ++++++++++++++++++++++
1317357775.660221099 WriteOdom laser_odom_to_init
1317357775.660221099 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 12.409958 ms 
filter time 4.987629 ms 
map prepare time 2.084021 ms
map corner num 55467  surf num 19424 
build tree time 13.526010 ms 
--------------------stamp1317357775.764066934
points size 91699 
sort q time 4.948588 
seperate points time 11.421877 
mapping solver time 17.730271 ms 
scan registration time 29.437196 ms *************
publication time 10.098213 ms 
whole laserOdometry time 10.120049 ms 
 
mapping solver time 12.582423 ms 
mapping optimization time 89.955127 
add points time 0.725927 ms
mapping pub time 3.371011 ms 
whole mapping time 101.921982 ms +++++
mappingCount 131 & avg mapping time 86.295869 ms ++++++++++++++++++++++
[0m[ INFO] [1718805062.696752034, 1317357775.840206441]: Received 75670 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805062.696793581, 1317357775.840206441]: Data saved to 1317357775660221.pcd[0m
1317357775.660221100 WriteOdom aft_mapped_to_init
build tree time 12.651195 ms 
--------------------stamp1317357775.867938041
points size 91599 
mapping data assosiation time 24.699601 ms 
prepare time 18.402317 
sort q time 4.937979 
seperate points time 11.648724 
-----t: 0.0393373
OdomCount 135 & avg odom time 0.034365 ms ++++++++++++++++++++++
1317357775.867938041 WriteOdom laser_odom_to_init
1317357775.867938041 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.977366 ms 
mapping solver time 13.669832 ms 
filter time 4.080117 ms 
mapping pub time 2.106573 ms 
whole mapping time 111.229160 ms +++++
mappingCount 132 & avg mapping time 86.484790 ms ++++++++++++++++++++++
1317357775.764066935 WriteOdom aft_mapped_to_init
build tree time 12.669920 ms 
--------------------stamp1317357775.971812009
points size 90706 
prepare time 19.259138 
mapping data assosiation time 25.800058 ms 
sort q time 5.445200 
seperate points time 12.539004 
mapping solver time 25.688054 ms 
publication time 9.940949 ms 
whole laserOdometry time 9.954006 ms 
 
-----t: 0.0481887
OdomCount 136 & avg odom time 0.034466 ms ++++++++++++++++++++++
1317357775.971812009 WriteOdom laser_odom_to_init
1317357775.971812009 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.338640 ms 
mapping solver time 19.181716 ms 
--------------------stamp1317357776.075683116
map prepare time 2.409786 ms
map corner num 57090  surf num 20150 
points size 87335 
build tree time 13.581065 ms 
sort q time 4.165507 
seperate points time 18.936994 
scan registration time 43.734096 ms *************
mapping data assosiation time 23.748071 ms 
-----t: 0.0413744
OdomCount 137 & avg odom time 0.034517 ms ++++++++++++++++++++++
1317357776.075683116 WriteOdom laser_odom_to_init
1317357776.075683116 WriteOdom aft_mapped_to_init_high_frec
publication time 7.849694 ms 
whole laserOdometry time 7.863604 ms 
 
mapping solver time 25.520335 ms 
mapping data assosiation time 18.778889 ms 
mapping solver time 14.011905 ms 
filter time 4.392330 ms 
prepare time 10.775752 
map prepare time 2.326226 ms
map corner num 57607  surf num 20349 
sort q time 4.937847 
seperate points time 9.883346 
scan registration time 24.567520 ms *************
publication time 8.008441 ms 
whole laserOdometry time 8.020743 ms 
 
mapping data assosiation time 21.516860 ms 
mapping solver time 18.692923 ms 
mapping data assosiation time 19.110707 ms 
mapping optimization time 88.152654 
filter time 5.913092 ms 
map prepare time 2.889195 ms
map corner num 58104  surf num 20552 
prepare time 15.539586 
build tree time 15.658114 ms 
sort q time 4.691485 
seperate points time 11.003267 
-----t: 0.0292901
OdomCount 139 & avg odom time 0.034482 ms ++++++++++++++++++++++
mapping data assosiation time 23.673071 ms 
mapping solver time 17.742830 ms 
mapping data assosiation time 19.268970 ms 
mapping solver time 14.252516 ms 
filter time 5.274888 ms 
map prepare time 2.202433 ms
map corner num 58528  surf num 20706 
sort q time 4.770340 
seperate points time 9.711582 
publication time 11.004997 ms 
whole laserOdometry time 11.018714 ms 
 
mapping data assosiation time 22.435015 ms 
-----t: 0.0510817
OdomCount 140 & avg odom time 0.034601 ms ++++++++++++++++++++++
mapping data assosiation time 20.232016 ms 
--------------------stamp1317357776.491235017
filter time 4.671235 ms 
map prepare time 2.330075 ms
map corner num 58935  surf num 20880 
sort q time 4.051502 
seperate points time 9.616163 
scan registration time 25.976776 ms *************
publication time 6.128188 ms 
whole laserOdometry time 6.141620 ms 
 
-----t: 0.03069
OdomCount 141 & avg odom time 0.034573 ms ++++++++++++++++++++++
1317357776.491235017 WriteOdom laser_odom_to_init
1317357776.491235017 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.255597 ms 
mapping solver time 21.888152 ms 
mapping data assosiation time 18.068345 ms 
--------------------stamp1317357776.595177888
points size 80930 
mapping solver time 22.687959 ms 
mapping optimization time 100.179390 
add points time 0.725444 ms
prepare time 12.421820 
map prepare time 2.428799 ms
map corner num 59362  surf num 21037 
scan registration time 29.894387 ms *************
build tree time 14.593667 ms 
publication time 6.639020 ms 
whole laserOdometry time 6.708129 ms 
 
-----t: 0.02863
OdomCount 142 & avg odom time 0.034531 ms ++++++++++++++++++++++
1317357776.595177888 WriteOdom laser_odom_to_init
1317357776.595177888 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.219862 ms 
mapping solver time 20.741133 ms 
mapping data assosiation time 19.186931 ms 
--------------------stamp1317357776.699121952
points size 81046 
filter time 4.949399 ms 
mapping pub time 1.907733 ms 
whole mapping time 99.921403 ms +++++
mappingCount 139 & avg mapping time 87.464949 ms ++++++++++++++++++++++
1317357776.491235018 WriteOdom aft_mapped_to_init
scan registration time 24.456992 ms *************
build tree time 14.566155 ms 
mapping data assosiation time 18.563778 ms 
mapping solver time 19.673148 ms 
mapping data assosiation time 17.354460 ms 
--------------------stamp1317357776.803040027
mapping solver time 17.548512 ms 
filter time 4.584819 ms 
map prepare time 2.291327 ms
map corner num 60196  surf num 21282 
sort q time 5.010121 
seperate points time 9.702919 
scan registration time 21.927756 ms *************
build tree time 14.747220 ms 
-----t: 0.0277374
OdomCount 144 & avg odom time 0.034419 ms ++++++++++++++++++++++
1317357776.803040027 WriteOdom laser_odom_to_init
1317357776.803040027 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.334911 ms 
mapping solver time 16.481142 ms 
mapping data assosiation time 18.399614 ms 
mapping solver time 12.226844 ms 
filter time 6.146909 ms 
points size 80724 
[0m[ INFO] [1718805063.771211190, 1317357776.911493589]: Received 82014 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805063.771263849, 1317357776.911493589]: Data saved to 1317357776699121.pcd[0m
prepare time 9.689270 
map prepare time 2.530091 ms
map corner num 60612  surf num 21402 
scan registration time 26.004926 ms *************
build tree time 14.924240 ms 
mapping data assosiation time 18.203107 ms 
publication time 17.369220 ms 
whole laserOdometry time 17.386205 ms 
 
-----t: 0.0455466
OdomCount 145 & avg odom time 0.034496 ms ++++++++++++++++++++++
1317357776.906960010 WriteOdom laser_odom_to_init
1317357776.906960010 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 15.467082 ms 
--------------------stamp1317357777.010853052
points size 83256 
filter time 6.363630 ms 
prepare time 11.075101 
mapping pub time 2.154779 ms 
whole mapping time 100.819128 ms +++++
mappingCount 142 & avg mapping time 87.734132 ms ++++++++++++++++++++++
1317357776.803040028 WriteOdom aft_mapped_to_init
map prepare time 2.529961 ms
map corner num 60998  surf num 21531 
sort q time 4.670310 
seperate points time 10.936245 
scan registration time 26.237370 ms *************
publication time 9.491570 ms 
whole laserOdometry time 9.520725 ms 
 
mapping data assosiation time 18.492848 ms 
-----t: 0.037502
OdomCount 146 & avg odom time 0.034516 ms ++++++++++++++++++++++
mapping solver time 20.035895 ms 
mapping data assosiation time 14.508966 ms 
mapping solver time 14.988621 ms 
filter time 6.121960 ms 
points size 84880 
map prepare time 2.608298 ms
map corner num 61345  surf num 21638 
prepare time 11.230222 
sort q time 4.806514 
seperate points time 11.065619 
-----t: 0.0269456
OdomCount 147 & avg odom time 0.034465 ms ++++++++++++++++++++++
mapping solver time 15.126876 ms 
mapping data assosiation time 15.555763 ms 
mapping solver time 11.194799 ms 
mapping optimization time 74.745893 
add points time 0.621879 ms
filter time 5.534186 ms 
map prepare time 2.301593 ms
map corner num 61669  surf num 21736 
--------------------stamp1317357777.218667984
points size 84314 
sort q time 5.545722 
seperate points time 12.705984 
-----t: 0.0248693
OdomCount 148 & avg odom time 0.034400 ms ++++++++++++++++++++++
mapping solver time 18.243884 ms 
mapping data assosiation time 15.607817 ms 
mapping solver time 10.489184 ms 
mapping optimization time 81.660349 
add points time 0.613264 ms
map prepare time 1.663125 ms
map corner num 61977  surf num 21833 
build tree time 11.811604 ms 
--------------------stamp1317357777.322609901
points size 85736 
prepare time 10.840133 
mapping data assosiation time 17.506426 ms 
sort q time 5.811481 
seperate points time 10.869924 
mapping solver time 17.626933 ms 
-----t: 0.0251619
OdomCount 149 & avg odom time 0.034338 ms ++++++++++++++++++++++
1317357777.322609901 WriteOdom laser_odom_to_init
1317357777.322609901 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.986315 ms 
publication time 10.506402 ms 
whole laserOdometry time 10.751927 ms 
 
mapping solver time 12.090215 ms 
mapping optimization time 79.034323 
add points time 0.624563 ms
mapping pub time 3.837472 ms 
whole mapping time 89.661330 ms +++++
mappingCount 146 & avg mapping time 87.810714 ms ++++++++++++++++++++++
1317357777.218667984 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718805064.249489037, 1317357777.390479507]: Received 84261 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805064.249527803, 1317357777.390479507]: Data saved to 1317357777218667.pcd[0m
build tree time 12.710650 ms 
mapping data assosiation time 15.663951 ms 
points size 87705 
mapping solver time 19.349157 ms 
scan registration time 29.616069 ms *************
publication time 9.961180 ms 
whole laserOdometry time 9.975866 ms 
 
mapping solver time 18.184966 ms 
filter time 6.803703 ms 
mapping pub time 2.361550 ms 
whole mapping time 99.010705 ms +++++
mappingCount 147 & avg mapping time 87.886925 ms ++++++++++++++++++++++
1317357777.322609901 WriteOdom aft_mapped_to_init
-----t: 0.0696301
OdomCount 150 & avg odom time 0.034573 ms ++++++++++++++++++++++
map prepare time 2.386395 ms
map corner num 62707  surf num 22038 
--------------------stamp1317357777.530471086
points size 87706 
sort q time 4.689570 
seperate points time 10.532976 
scan registration time 25.746260 ms *************
mapping data assosiation time 33.513160 ms 
mapping solver time 18.990502 ms 
mapping data assosiation time 14.803278 ms 
mapping solver time 11.097157 ms 
mapping optimization time 96.003311 
add points time 0.482577 ms
filter time 4.160899 ms 
mapping pub time 1.898082 ms 
whole mapping time 104.982097 ms +++++
mappingCount 148 & avg mapping time 88.002548 ms ++++++++++++++++++++++
map prepare time 1.875662 ms
map corner num 63083  surf num 22139 
--------------------stamp1317357777.634365081
points size 88865 
prepare time 10.697698 
mapping data assosiation time 17.797128 ms 
sort q time 4.853243 
seperate points time 11.077193 
-----t: 0.0228614
OdomCount 152 & avg odom time 0.034427 ms ++++++++++++++++++++++
mapping data assosiation time 15.731177 ms 
mapping solver time 12.006971 ms 
mapping optimization time 78.682346 
add points time 0.564206 ms
map prepare time 1.734047 ms
map corner num 63442  surf num 22274 
build tree time 13.088373 ms 
--------------------stamp1317357777.738261938
points size 90479 
mapping solver time 18.952003 ms 
sort q time 6.432083 
seperate points time 12.100086 
-----t: 0.0233429
OdomCount 153 & avg odom time 0.034355 ms ++++++++++++++++++++++
publication time 9.747590 ms 
whole laserOdometry time 9.760601 ms 
 
mapping solver time 12.023485 ms 
mapping optimization time 78.628189 
add points time 0.504514 ms
filter time 4.590048 ms 
map prepare time 1.830721 ms
map corner num 63824  surf num 22391 
build tree time 13.376350 ms 
mapping data assosiation time 15.591080 ms 
--------------------stamp1317357777.842186927
points size 92345 
prepare time 9.389626 
mapping solver time 20.695062 ms 
sort q time 6.089043 
seperate points time 12.824076 
mapping data assosiation time 19.966861 ms 
publication time 6.304045 ms 
whole laserOdometry time 6.333905 ms 
 
mapping solver time 15.330432 ms 
filter time 5.009733 ms 
mapping pub time 3.006001 ms 
whole mapping time 96.415451 ms +++++
mappingCount 151 & avg mapping time 88.053728 ms ++++++++++++++++++++++
1317357777.738261938 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718805064.753203702, 1317357777.892236633]: Received 86718 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805064.753242091, 1317357777.892236633]: Data saved to 1317357777738261.pcd[0m
build tree time 11.887526 ms 
mapping data assosiation time 17.255292 ms 
--------------------stamp1317357777.946079969
mapping solver time 20.804145 ms 
points size 91895 
sort q time 6.461265 
seperate points time 11.898598 
mapping data assosiation time 20.297857 ms 
scan registration time 28.104293 ms *************
filter time 5.813647 ms 
-----t: 0.0650504
OdomCount 155 & avg odom time 0.034534 ms ++++++++++++++++++++++
build tree time 12.737529 ms 
--------------------stamp1317357778.049945116
points size 90581 
mapping data assosiation time 21.452418 ms 
sort q time 8.826166 
seperate points time 13.757811 
mapping solver time 24.958706 ms 
publication time 8.848782 ms 
whole laserOdometry time 8.860897 ms 
 
-----t: 0.0389329
OdomCount 156 & avg odom time 0.034562 ms ++++++++++++++++++++++
1317357778.049945116 WriteOdom laser_odom_to_init
1317357778.049945116 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.379344 ms 
mapping solver time 16.239748 ms 
filter time 4.646941 ms 
mapping pub time 2.218184 ms 
whole mapping time 107.296361 ms +++++
mappingCount 153 & avg mapping time 88.263629 ms ++++++++++++++++++++++
1317357777.946079969 WriteOdom aft_mapped_to_init
build tree time 12.931370 ms 
points size 91104 
prepare time 9.658338 
sort q time 4.891311 
seperate points time 9.863867 
mapping data assosiation time 22.760842 ms 
scan registration time 23.837588 ms *************
publication time 7.380325 ms 
whole laserOdometry time 7.396136 ms 
 
mapping solver time 18.735347 ms 
-----t: 0.0292474
OdomCount 157 & avg odom time 0.034528 ms ++++++++++++++++++++++
mapping data assosiation time 17.589179 ms 
mapping solver time 11.972117 ms 
mapping optimization time 85.015336 
add points time 0.690689 ms
map prepare time 1.917790 ms
map corner num 65514  surf num 22966 
build tree time 12.355892 ms 
--------------------stamp1317357778.257637977
points size 91648 
sort q time 5.111461 
seperate points time 11.372767 
scan registration time 25.655533 ms *************
mapping solver time 18.695842 ms 
-----t: 0.0273574
OdomCount 158 & avg odom time 0.034483 ms ++++++++++++++++++++++
mapping data assosiation time 18.106535 ms 
mapping solver time 12.675240 ms 
filter time 4.646735 ms 
mapping pub time 2.007331 ms 
whole mapping time 91.642578 ms +++++
mappingCount 155 & avg mapping time 88.325103 ms ++++++++++++++++++++++
1317357778.153790951 WriteOdom aft_mapped_to_init
build tree time 13.841070 ms 
--------------------stamp1317357778.361509084
mapping data assosiation time 18.372448 ms 
points size 92362 
prepare time 15.388882 
sort q time 4.869891 
seperate points time 11.623470 
scan registration time 31.964512 ms *************
mapping data assosiation time 22.384668 ms 
-----t: 0.0299862
OdomCount 159 & avg odom time 0.034455 ms ++++++++++++++++++++++
1317357778.361509084 WriteOdom laser_odom_to_init
1317357778.361509084 WriteOdom aft_mapped_to_init_high_frec
publication time 9.133635 ms 
whole laserOdometry time 9.147363 ms 
 
mapping solver time 14.751545 ms 
mapping optimization time 88.702538 
filter time 4.719824 ms 
mapping pub time 3.109729 ms 
whole mapping time 99.427170 ms +++++
mappingCount 156 & avg mapping time 88.396385 ms ++++++++++++++++++++++
1317357778.257637978 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718805065.282811012, 1317357778.421303858]: Received 89729 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805065.282839936, 1317357778.421303858]: Data saved to 1317357778257637.pcd[0m
build tree time 12.811178 ms 
mapping data assosiation time 19.110550 ms 
points size 92980 
mapping solver time 23.031913 ms 
sort q time 5.026658 
seperate points time 11.686475 
mapping data assosiation time 23.124276 ms 
publication time 13.875457 ms 
whole laserOdometry time 13.888781 ms 
 
mapping solver time 19.971892 ms 
mapping optimization time 99.134180 
add points time 0.637339 ms
mapping pub time 2.265508 ms 
whole mapping time 110.586369 ms +++++
mappingCount 157 & avg mapping time 88.537746 ms ++++++++++++++++++++++
1317357778.361509085 WriteOdom aft_mapped_to_init
map prepare time 2.100254 ms
map corner num 66889  surf num 23580 
build tree time 13.319521 ms 
points size 93896 
sort q time 4.966541 
seperate points time 10.221930 
scan registration time 25.994940 ms *************
mapping solver time 25.086221 ms 
-----t: 0.0385378
OdomCount 161 & avg odom time 0.034496 ms ++++++++++++++++++++++
1317357778.569228887 WriteOdom laser_odom_to_init
1317357778.569228887 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.381012 ms 
publication time 18.165060 ms 
whole laserOdometry time 18.174589 ms 
 
mapping solver time 14.074970 ms 
mapping optimization time 96.041093 
add points time 0.655848 ms
filter time 4.706281 ms 
map prepare time 2.215376 ms
map corner num 67339  surf num 23774 
build tree time 14.069777 ms 
--------------------stamp1317357778.673074960
points size 92426 
prepare time 13.283717 
sort q time 5.306667 
seperate points time 11.158369 
publication time 6.978965 ms 
whole laserOdometry time 6.991756 ms 
 
mapping solver time 28.094172 ms 
-----t: 0.0271974
OdomCount 162 & avg odom time 0.034451 ms ++++++++++++++++++++++
1317357778.673074960 WriteOdom laser_odom_to_init
1317357778.673074960 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.555988 ms 
mapping solver time 18.413843 ms 
filter time 4.872390 ms 
mapping pub time 2.123631 ms 
whole mapping time 115.014880 ms +++++
mappingCount 159 & avg mapping time 88.812673 ms ++++++++++++++++++++++
1317357778.569228888 WriteOdom aft_mapped_to_init
--------------------stamp1317357778.776943922
points size 91539 
scan registration time 25.313514 ms *************
mapping data assosiation time 23.827414 ms 
-----t: 0.0270058
OdomCount 163 & avg odom time 0.034406 ms ++++++++++++++++++++++
publication time 8.328212 ms 
whole laserOdometry time 8.342454 ms 
 
1317357778.776943922 WriteOdom laser_odom_to_init
1317357778.776943922 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.989999 ms 
mapping data assosiation time 19.466607 ms 
mapping solver time 19.307417 ms 
mapping pub time 2.156808 ms 
whole mapping time 118.256608 ms +++++
mappingCount 160 & avg mapping time 88.996735 ms ++++++++++++++++++++++
prepare time 10.203614 
map prepare time 2.715797 ms
map corner num 68370  surf num 24199 
sort q time 4.674487 
seperate points time 10.013700 
scan registration time 24.625668 ms *************
publication time 7.479842 ms 
whole laserOdometry time 7.496093 ms 
 
mapping data assosiation time 22.487629 ms 
-----t: 0.0494903
OdomCount 164 & avg odom time 0.034498 ms ++++++++++++++++++++++
mapping solver time 25.706947 ms 
mapping data assosiation time 17.702711 ms 
--------------------stamp1317357778.984637022
points size 89386 
mapping solver time 19.780703 ms 
mapping optimization time 102.989952 
add points time 0.684791 ms
prepare time 10.114813 
map prepare time 10.849273 ms
map corner num 68850  surf num 24383 
-----t: 0.0279103
OdomCount 165 & avg odom time 0.034458 ms ++++++++++++++++++++++
build tree time 15.244233 ms 
publication time 8.883091 ms 
whole laserOdometry time 8.895417 ms 
 
mapping data assosiation time 20.873242 ms 
mapping solver time 23.238047 ms 
--------------------stamp1317357779.088510036
points size 89558 
prepare time 13.683858 
mapping data assosiation time 23.455258 ms 
sort q time 4.987752 
seperate points time 11.710014 
mapping solver time 23.382511 ms 
filter time 7.004167 ms 
mapping pub time 3.413475 ms 
whole mapping time 129.504946 ms +++++
mappingCount 162 & avg mapping time 89.425001 ms ++++++++++++++++++++++
1317357778.880790949 WriteOdom aft_mapped_to_init
-----t: 0.0399742
OdomCount 166 & avg odom time 0.034491 ms ++++++++++++++++++++++
1317357779.088510036 WriteOdom laser_odom_to_init
1317357779.088510036 WriteOdom aft_mapped_to_init_high_frec
build tree time 17.209069 ms 
mapping data assosiation time 18.547734 ms 
--------------------stamp1317357779.192404985
points size 90252 
prepare time 11.786287 
mapping solver time 25.496558 ms 
sort q time 5.634242 scan registration time 31.757069 ms *************
mapping data assosiation time 23.051586 ms 
publication time 9.077782 ms 
whole laserOdometry time 9.086585 ms 
 
-----t: 0.0400042
OdomCount 167 & avg odom time 0.034524 ms ++++++++++++++++++++++
filter time 5.543647 ms 
drop lidar frame in mapping for real time performance 
map prepare time 2.156505 ms
map corner num 69709  surf num 24709 
build tree time 13.430982 ms 
mapping data assosiation time 17.218257 ms 
points size 90428 
mapping solver time 27.529601 ms 
sort q time 4.913815 
seperate points time 11.313401 
-----t: 0.0263143
OdomCount 168 & avg odom time 0.034475 ms ++++++++++++++++++++++
mapping optimization time 96.280906 
add points time 0.747885 ms
filter time 4.769100 ms 
mapping pub time 1.991066 ms 
whole mapping time 105.995368 ms +++++
mappingCount 164 & avg mapping time 89.697481 ms ++++++++++++++++++++++
1317357779.088510036 WriteOdom aft_mapped_to_init
build tree time 13.683562 ms 
--------------------stamp1317357779.400243043
mapping data assosiation time 15.972748 ms 
points size 90487 
mapping solver time 20.244489 ms 
sort q time 5.148914 
seperate points time 10.446247 
scan registration time 23.909845 ms *************
mapping data assosiation time 18.929384 ms 
-----t: 0.0247709
OdomCount 169 & avg odom time 0.034418 ms ++++++++++++++++++++++
1317357779.400243043 WriteOdom laser_odom_to_init
1317357779.400243043 WriteOdom aft_mapped_to_init_high_frec
publication time 7.266779 ms 
whole laserOdometry time 7.280852 ms 
 
mapping solver time 17.479346 ms 
filter time 5.057008 ms 
mapping pub time 2.077744 ms 
whole mapping time 97.436495 ms +++++
mappingCount 165 & avg mapping time 89.744415 ms ++++++++++++++++++++++
1317357779.296324015 WriteOdom aft_mapped_to_init
build tree time 14.924496 ms 
mapping data assosiation time 16.034724 ms 
--------------------stamp1317357779.504158973
points size 90749 
sort q time 5.115236 
seperate points time 10.408691 
scan registration time 30.935256 ms *************
mapping data assosiation time 19.567947 ms 
-----t: 0.0274393
OdomCount 170 & avg odom time 0.034377 ms ++++++++++++++++++++++
1317357779.504158973 WriteOdom laser_odom_to_init
1317357779.504158973 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.788267 ms 
mapping optimization time 84.015399 
add points time 0.659692 ms
publication time 6.043281 ms 
whole laserOdometry time 6.056989 ms 
 
mapping pub time 4.856706 ms 
whole mapping time 98.984716 ms +++++
mappingCount 166 & avg mapping time 89.800126 ms ++++++++++++++++++++++
1317357779.400243044 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718805066.426716545, 1317357779.558139285]: Received 96342 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805066.426761065, 1317357779.558139285]: Data saved to 1317357779400243.pcd[0m
map prepare time 2.598933 ms
map corner num 71111  surf num 25231 
build tree time 17.800327 ms 
--------------------stamp1317357779.608078002
points size 91262 
sort q time 6.414044 
seperate points time 11.389944 
scan registration time 26.246583 ms *************
mapping data assosiation time 18.200434 ms 
1317357779.608078002 WriteOdom laser_odom_to_init
1317357779.608078002 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.933540 ms 
mapping optimization time 92.807002 
add points time 0.627985 ms
mapping pub time 1.967275 ms 
whole mapping time 103.391490 ms +++++
mappingCount 167 & avg mapping time 89.881526 ms ++++++++++++++++++++++
1317357779.504158974 WriteOdom aft_mapped_to_init
map prepare time 2.031726 ms
map corner num 71513  surf num 25331 
build tree time 14.273637 ms 
mapping data assosiation time 15.216020 ms 
points size 92713 
prepare time 11.131439 
sort q time 5.223790 
seperate points time 11.595690 
mapping data assosiation time 18.763217 ms 
publication time 13.982066 ms 
whole laserOdometry time 13.999151 ms 
 
mapping solver time 23.497918 ms 
mapping optimization time 94.445403 
add points time 0.568536 ms
mapping pub time 2.122816 ms 
whole mapping time 106.532125 ms +++++
mappingCount 168 & avg mapping time 89.980660 ms ++++++++++++++++++++++
1317357779.608078003 WriteOdom aft_mapped_to_init
map prepare time 2.603342 ms
map corner num 71900  surf num 25438 
build tree time 14.778388 ms 
--------------------stamp1317357779.815890073
points size 94876 
mapping solver time 17.963183 ms 
scan registration time 28.019034 ms *************
mapping data assosiation time 19.399573 ms 
-----t: 0.0300671
OdomCount 173 & avg odom time 0.034307 ms ++++++++++++++++++++++
1317357779.815890073 WriteOdom laser_odom_to_init
1317357779.815890073 WriteOdom aft_mapped_to_init_high_frec
add points time 0.577478 ms
filter time 6.018014 ms 
map prepare time 2.246867 ms
map corner num 72319  surf num 25543 
build tree time 16.456220 ms 
mapping data assosiation time 16.632938 ms 
points size 95884 
prepare time 14.405506 
sort q time 5.473612 
seperate points time 12.098647 
mapping data assosiation time 19.727040 ms 
-----t: 0.0264399
OdomCount 174 & avg odom time 0.034262 ms ++++++++++++++++++++++
publication time 9.777619 ms 
whole laserOdometry time 9.796128 ms 
 
mapping solver time 17.497211 ms 
mapping optimization time 89.709816 
add points time 0.555406 ms
filter time 5.287447 ms 
mapping pub time 2.263179 ms 
whole mapping time 100.111585 ms +++++
mappingCount 170 & avg mapping time 90.075341 ms ++++++++++++++++++++++
1317357779.815890074 WriteOdom aft_mapped_to_init
map prepare time 2.609980 ms
map corner num 72710  surf num 25678 
build tree time 16.181200 ms 
mapping data assosiation time 16.936275 ms 
points size 95917 
prepare time 13.023102 
mapping solver time 21.708923 ms 
sort q time 5.167370 
seperate points time 11.797046 
scan registration time 30.077556 ms *************
mapping data assosiation time 21.317154 ms 
mapping solver time 16.937923 ms 
mapping optimization time 94.234314 
add points time 0.613737 ms
mapping pub time 5.787921 ms 
whole mapping time 108.604916 ms +++++
mappingCount 171 & avg mapping time 90.183716 ms ++++++++++++++++++++++
1317357779.919786930 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718805066.950612009, 1317357780.093907237]: Received 98887 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805066.950665485, 1317357780.093907237]: Data saved to 1317357779919786.pcd[0m
build tree time 14.812671 ms 
--------------------stamp1317357780.127527952
points size 96511 
prepare time 14.514295 
mapping solver time 21.892360 ms 
sort q time 5.409170 
seperate points time 10.755299 
scan registration time 29.580643 ms *************
mapping data assosiation time 21.308467 ms 
-----t: 0.0446365
OdomCount 176 & avg odom time 0.034285 ms ++++++++++++++++++++++
1317357780.127527952 WriteOdom laser_odom_to_init
1317357780.127527952 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.251867 ms 
mapping optimization time 96.236850 
add points time 0.628069 ms
mapping pub time 2.162041 ms 
whole mapping time 106.820352 ms +++++
mappingCount 172 & avg mapping time 90.280457 ms ++++++++++++++++++++++
1317357780.023680925 WriteOdom aft_mapped_to_init
map prepare time 2.031071 ms
map corner num 73498  surf num 25967 
build tree time 16.195871 ms 
--------------------stamp1317357780.231328010
points size 95991 
mapping data assosiation time 20.303767 ms 
prepare time 15.930498 
sort q time 5.585351 
seperate points time 12.722406 
mapping data assosiation time 22.003065 ms mapping solver time 14.550085 ms 
mapping pub time 2.155702 ms 
whole mapping time 107.055155 ms +++++
mappingCount 173 & avg mapping time 90.377441 ms ++++++++++++++++++++++
1317357780.127527952 WriteOdom aft_mapped_to_init
points size 95729 
prepare time 10.992000 
mapping data assosiation time 22.609943 ms 
sort q time 7.542525 
seperate points time 16.812761 
publication time 6.197130 ms 
whole laserOdometry time 6.220097 ms 
 
mapping data assosiation time 19.628316 ms 
-----t: 0.0545479
OdomCount 178 & avg odom time 0.034446 ms ++++++++++++++++++++++
mapping optimization time 101.771851 
add points time 0.636669 ms
filter time 5.292127 ms 
map prepare time 2.278296 ms
map corner num 74291  surf num 26201 
points size 95914 
sort q time 5.143292 
seperate points time 11.765516 
mapping data assosiation time 17.878720 ms 
scan registration time 29.399677 ms *************
-----t: 0.0260228mapping solver time 16.725023 ms 
mapping data assosiation time 14.912446 ms 
publication time 7.223183 ms 
whole laserOdometry time 7.237144 ms 
 
mapping optimization time 82.803038 
filter time 6.204679 ms 
mapping pub time 2.265241 ms 
whole mapping time 94.305080 ms +++++
mappingCount 175 & avg mapping time 90.523830 ms ++++++++++++++++++++++
1317357780.335100889 WriteOdom aft_mapped_to_init
build tree time 13.303805 ms 
points size 95636 
prepare time 12.192497 
scan registration time 29.441318 ms *************
1317357780.542627096 WriteOdom laser_odom_to_init
1317357780.542627096 WriteOdom aft_mapped_to_init_high_frec
publication time 7.920459 ms 
whole laserOdometry time 7.933885 ms 
 
mapping data assosiation time 16.549244 ms 
mapping solver time 10.486869 ms 
filter time 4.806980 ms 
mapping pub time 3.234443 ms 
whole mapping time 88.661482 ms +++++
mappingCount 176 & avg mapping time 90.513268 ms ++++++++++++++++++++++
1317357780.438875914 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718805067.471399770, 1317357780.615560309]: Received 97078 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805067.471447169, 1317357780.615560309]: Data saved to 1317357780438875.pcd[0m
build tree time 14.971780 ms 
--------------------stamp1317357780.646378040
mapping data assosiation time 17.417706 ms 
points size 95114 
sort q time 5.907339 
seperate points time 11.470776 
mapping solver time 16.801884 ms 
mapping data assosiation time 17.625522 ms 
publication time 11.080077 ms 
add points time 0.561462 ms
filter time 5.911669 ms 
map prepare time 2.150713 ms
map corner num 72482  surf num 25142 
build tree time 15.412785 ms 
mapping data assosiation time 14.503081 ms 
--------------------stamp1317357780.750152111
points size 94331 
sort q time 5.482162 
seperate points time 10.872810 
scan registration time 26.481021 ms *************
mapping solver time 12.814962 ms 
mapping optimization time 79.502191 
add points time 0.848244 ms
publication time 9.750208 ms 
whole laserOdometry time 9.821872 ms 
 
mapping pub time 2.034852 ms 
whole mapping time 92.179590 ms +++++
mappingCount 178 & avg mapping time 90.523324 ms ++++++++++++++++++++++
1317357780.646378040 WriteOdom aft_mapped_to_init
build tree time 14.894959 ms 
mapping data assosiation time 16.743975 ms 
--------------------stamp1317357780.853926897
points size 94363 
mapping data assosiation time 18.164018 ms 
scan registration time 31.837078 ms *************
mapping solver time 17.590718 ms 
filter time 5.021701 ms 
publication time 8.875068 ms 
whole laserOdometry time 8.888835 ms 
 
mapping pub time 2.400574 ms 
whole mapping time 98.778644 ms +++++
mappingCount 179 & avg mapping time 90.569470 ms ++++++++++++++++++++++
1317357780.750152111 WriteOdom aft_mapped_to_init
-----t: 0.0538238
OdomCount 183 & avg odom time 0.034408 ms ++++++++++++++++++++++
map prepare time 1.980351 ms
map corner num 73347  surf num 25590 
build tree time 14.741818 ms 
--------------------stamp1317357780.957726955
mapping data assosiation time 18.908132 ms 
mapping solver time 16.523238 ms 
-----t: 0.0243631
OdomCount 184 & avg odom time 0.034354 ms ++++++++++++++++++++++
mapping data assosiation time 20.195088 ms 
mapping solver time 17.899552 ms 
mapping optimization time 89.169190 
add points time 0.648680 ms
map prepare time 2.432437 ms
map corner num 73764  surf num 25768 
build tree time 14.918956 ms 
--------------------stamp1317357781.061526060
mapping data assosiation time 17.834477 ms 
sort q time 4.923975 
seperate points time 11.082269 
mapping solver time 23.788221 ms 
publication time 8.354697 ms 
whole laserOdometry time 8.383352 ms 
 
mapping data assosiation time 19.790988 ms 
mapping solver time 19.092390 ms 
mapping optimization time 96.340181 
add points time 0.674463 ms
-----t: 0.0581044
OdomCount 185 & avg odom time 0.034482 ms ++++++++++++++++++++++
1317357781.061526060 WriteOdom laser_odom_to_init
1317357781.061526060 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718805067.997316361, 1317357781.133931165]: Received 100076 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805067.997375379, 1317357781.133931165]: Data saved to 1317357780957726.pcd[0m
mapping pub time 6.326930 ms 
whole mapping time 111.830229 ms +++++
mappingCount 181 & avg mapping time 90.741409 ms ++++++++++++++++++++++
1317357780.957726955 WriteOdom aft_mapped_to_init
--------------------stamp1317357781.165297985
build tree time 16.314217 ms 
points size 95039 
mapping data assosiation time 19.150761 ms 
sort q time 4.961151 
seperate points time 11.045491 
scan registration time 30.383970 ms *************
mapping solver time 18.231900 ms 
mapping data assosiation time 19.269549 ms 
publication time 9.857272 ms 
whole laserOdometry time 9.871670 ms 
 
-----t: 0.0457981
OdomCount 186 & avg odom time 0.034543 ms ++++++++++++++++++++++
filter time 6.069306 ms 
mapping pub time 2.160023 ms 
whole mapping time 98.482665 ms +++++
mappingCount 182 & avg mapping time 90.783966 ms ++++++++++++++++++++++
1317357781.061526060 WriteOdom aft_mapped_to_init
build tree time 15.718546 ms 
points size 95103 
mapping data assosiation time 19.192152 ms 
prepare time 16.046625 
sort q time 5.647285 
seperate points time 12.830931 
scan registration time 35.438290 ms *************
mapping solver time 24.682957 ms 
-----t: 0.0340963
OdomCount 187 & avg odom time 0.034541 ms ++++++++++++++++++++++
1317357781.269072055 WriteOdom laser_odom_to_init
publication time 9.578806 ms 
whole laserOdometry time 9.590516 ms 
 
1317357781.269072055 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.920100 ms 
mapping solver time 16.992411 ms 
filter time 4.989189 ms 
map prepare time 2.440031 ms
map corner num 74927  surf num 26117 
--------------------stamp1317357781.372848987
points size 95323 
prepare time 14.243721 
mapping data assosiation time 18.906485 ms 
scan registration time 32.864514 ms *************
mapping solver time 19.859793 ms 
-----t: 0.0300771
OdomCount 188 & avg odom time 0.034517 ms ++++++++++++++++++++++
1317357781.372848987 WriteOdom laser_odom_to_init
1317357781.372848987 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.382362 ms 
mapping solver time 11.813196 ms 
filter time 4.994549 ms 
mapping pub time 2.259951 ms 
whole mapping time 97.911293 ms +++++
mappingCount 184 & avg mapping time 90.914836 ms ++++++++++++++++++++++
1317357781.269072056 WriteOdom aft_mapped_to_init
--------------------stamp1317357781.476600885
points size 95586 
mapping data assosiation time 19.456740 ms 
scan registration time 27.544469 ms *************
whole laserOdometry time 7.548343 ms 
 
-----t: 0.0271711
OdomCount 189 & avg odom time 0.034478 ms ++++++++++++++++++++++
1317357781.476600885 WriteOdom laser_odom_to_init
1317357781.476600885 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.165116 ms 
mapping data assosiation time 16.434095 ms 
mapping solver time 16.663048 ms 
filter time 5.987172 ms 
mapping pub time 2.233207 ms 
whole mapping time 105.569128 ms +++++
mappingCount 185 & avg mapping time 90.994073 ms ++++++++++++++++++++++
1317357781.372848988 WriteOdom aft_mapped_to_init
--------------------stamp1317357781.580327033
build tree time 17.641653 ms 
prepare time 12.105223 
sort q time 6.249469 
seperate points time 12.192518 
mapping data assosiation time 19.885727 ms 
scan registration time 28.324231 ms *************
publication time 7.990316 ms 
whole laserOdometry time 8.003207 ms 
 
-----t: 0.0354045
OdomCount 190 & avg odom time 0.034483 ms ++++++++++++++++++++++
mapping data assosiation time 22.221025 ms 
mapping solver time 19.420698 ms 
mapping optimization time 105.345218 
add points time 0.708760 ms
mapping pub time 3.841600 ms 
whole mapping time 117.963381 ms +++++
mappingCount 186 & avg mapping time 91.139168 ms ++++++++++++++++++++++
1317357781.476600885 WriteOdom aft_mapped_to_init
points size 96109 
build tree time 17.400443 ms 
sort q time 8.123486 
seperate points time 16.008866 
-----t: 0.0365571
OdomCount 191 & avg odom time 0.034494 ms ++++++++++++++++++++++
mapping solver time 25.385512 ms 
mapping data assosiation time 15.833589 ms 
mapping solver time 15.327589 ms 
filter time 5.813965 ms 
prepare time 13.653809 
build tree time 20.337821 ms 
sort q time 7.917275 
seperate points time 29.572134 
-----t: 0.0423269
OdomCount 192 & avg odom time 0.034535 ms ++++++++++++++++++++++
publication time 6.389536 ms 
whole laserOdometry time 6.401506 ms 
 
mapping data assosiation time 13.218805 ms 
mapping solver time 10.493707 ms 
mapping optimization time 75.396227 
add points time 0.548881 ms
mapping pub time 2.205017 ms 
whole mapping time 85.849856 ms +++++
mappingCount 188 & avg mapping time 91.181134 ms ++++++++++++++++++++++
1317357781.684029102 WriteOdom aft_mapped_to_init
--------------------stamp1317357781.891530990
points size 94909 
prepare time 12.716315 
build tree time 19.872312 ms 
sort q time 5.980853 
seperate points time 12.265457 
publication time 7.137733 ms 
whole laserOdometry time 7.151933 ms 
 
mapping solver time 19.642208 ms 
mapping data assosiation time 16.448172 ms 
-----t: 0.0581867
OdomCount 193 & avg odom time 0.034657 ms ++++++++++++++++++++++
mapping solver time 14.668357 ms 
mapping optimization time 88.026329 
add points time 0.571236 ms
map prepare time 2.022582 ms
map corner num 77019  surf num 26774 
--------------------stamp1317357781.995304107
build tree time 19.241705 ms 
prepare time 17.140229 
mapping data assosiation time 17.720655 ms 
mapping solver time 18.753006 ms 
mapping data assosiation time 15.357538 ms 
mapping solver time 14.184769 ms 
mapping optimization time 86.261029 
add points time 0.588730 ms
mapping pub time 2.196130 ms 
whole mapping time 96.309041 ms +++++
mappingCount 190 & avg mapping time 91.247283 ms ++++++++++++++++++++++
1317357781.891530991 WriteOdom aft_mapped_to_init
map prepare time 2.171651 ms
map corner num 77422  surf num 26885 
build tree time 16.669640 ms 
prepare time 13.102303 
mapping data assosiation time 15.807012 ms 
sort q time 5.355127 
seperate points time 12.854751 
mapping solver time 19.084740 ms 
publication time 7.181058 ms 
whole laserOdometry time 7.198111 ms 
 
mapping data assosiation time 16.019746 ms 
mapping solver time 10.754778 ms 
mapping optimization time 79.234295 
add points time 0.521654 ms
mapping pub time 3.668097 ms 
whole mapping time 91.131183 ms +++++
mappingCount 191 & avg mapping time 91.246696 ms ++++++++++++++++++++++
1317357781.995304108 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718805069.030423947, 1317357782.175171796]: Received 104874 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805069.030470142, 1317357782.175171796]: Data saved to 1317357781995304.pcd[0m
map prepare time 1.985117 ms
map corner num 77845  surf num 27029 
build tree time 16.460774 ms 
--------------------stamp1317357782.202903985
mapping data assosiation time 18.558230 ms 
points size 97190 
sort q time 5.723604 
seperate points time 13.141902 
mapping solver time 21.513820 ms 
scan registration time 47.019340 ms *************
mapping data assosiation time 17.259507 ms 
-----t: 0.0420399
OdomCount 196 & avg odom time 0.034770 ms ++++++++++++++++++++++
filter time 5.701994 ms 
map prepare time 2.091244 ms
map corner num 78289  surf num 27311 
--------------------stamp1317357782.306704044
points size 97604 
mapping data assosiation time 17.611271 ms 
sort q time 6.039845 
seperate points time 12.205176 
scan registration time 27.422664 ms *************
mapping solver time 23.280681 ms publication time 8.803399 ms 
whole laserOdometry time 8.819189 ms 
 
-----t: 0.0377392
OdomCount 197 & avg odom time 0.034785 ms ++++++++++++++++++++++
mapping solver time 14.970019 ms 
mapping optimization time 95.191563 
add points time 0.643888 ms
mapping pub time 2.222134 ms 
whole mapping time 106.799141 ms +++++
mappingCount 193 & avg mapping time 91.390741 ms ++++++++++++++++++++++
1317357782.202903986 WriteOdom aft_mapped_to_init
map prepare time 2.594862 ms
map corner num 78718  surf num 27520 
--------------------stamp1317357782.410526990
points size 97690 
prepare time 11.323422 
sort q time 5.700313 
seperate points time 11.720504 
publication time 7.461580 ms 
whole laserOdometry time 7.581383 ms 
 
mapping solver time 22.793438 ms 
-----t: 0.0365885
OdomCount 198 & avg odom time 0.034794 ms ++++++++++++++++++++++
1317357782.410526990 WriteOdom laser_odom_to_init
1317357782.410526990 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.376795 ms 
filter time 5.124559 ms 
mapping pub time 2.258532 ms 
whole mapping time 103.122502 ms +++++
mappingCount 194 & avg mapping time 91.451305 ms ++++++++++++++++++++++
1317357782.306704044 WriteOdom aft_mapped_to_init
--------------------stamp1317357782.514348983
points size 98497 
prepare time 12.203259 
mapping data assosiation time 17.789978 ms 
scan registration time 28.858659 ms *************
-----t: 0.0283831
OdomCount 199 & avg odom time 0.034762 ms ++++++++++++++++++++++
mapping solver time 23.342520 ms 
1317357782.514348983 WriteOdom laser_odom_to_init
mapping data assosiation time 16.318875 ms 
mapping solver time 11.330604 ms 
filter time 5.218253 ms 
mapping pub time 2.249561 ms 
whole mapping time 98.031373 ms +++++
mappingCount 195 & avg mapping time 91.485061 ms ++++++++++++++++++++++
1317357782.410526991 WriteOdom aft_mapped_to_init
build tree time 14.732253 ms 
points size 99055 
mapping data assosiation time 15.767601 ms 
prepare time 13.244509 
sort q time 5.754934 
seperate points time 12.897888 
mapping solver time 19.567500 ms 
-----t: 0.0343909
OdomCount 200 & avg odom time 0.034760 ms ++++++++++++++++++++++
1317357782.618171930 WriteOdom laser_odom_to_init
1317357782.618171930 WriteOdom aft_mapped_to_init_high_frec
publication time 8.756059 ms 
whole laserOdometry time 8.764285 ms 
 
mapping data assosiation time 19.119305 ms 
mapping solver time 15.659333 ms 
filter time 5.304003 ms 
mapping pub time 3.689519 ms 
whole mapping time 97.722752 ms +++++
mappingCount 196 & avg mapping time 91.516964 ms ++++++++++++++++++++++
1317357782.514348984 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718805069.553001146, 1317357782.695491431]: Received 107831 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805069.553059017, 1317357782.695491431]: Data saved to 1317357782514348.pcd[0m
build tree time 16.543183 ms 
points size 100000 
mapping data assosiation time 17.383423 ms 
prepare time 13.341457 
sort q time 5.744122 
seperate points time 12.892424 
mapping solver time 17.441395 ms 
scan registration time 31.160456 ms *************
-----t: 0.0284429
OdomCount 201 & avg odom time 0.034729 ms ++++++++++++++++++++++
1317357782.721992969 WriteOdom laser_odom_to_init
1317357782.721992969 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.019363 ms 
publication time 8.375614 ms 
whole laserOdometry time 8.390012 ms 
 
mapping solver time 17.487286 ms 
filter time 6.167852 ms 
map prepare time 2.037099 ms
map corner num 80318  surf num 27992 
build tree time 16.479294 ms 
points size 100715 
sort q time 5.547669 
seperate points time 12.715578 
scan registration time 32.576364 ms *************
publication time 9.111720 ms 
whole laserOdometry time 9.147586 ms 
 
-----t: 0.0410087
OdomCount 202 & avg odom time 0.034760 ms ++++++++++++++++++++++
mapping solver time 18.756965 ms 
filter time 7.751944 ms 
map prepare time 2.746829 ms
map corner num 80690  surf num 28086 
--------------------stamp1317357782.929615020
build tree time 22.374891 ms 
prepare time 14.151181 
mapping data assosiation time 19.288249 ms 
scan registration time 31.325100 ms *************
publication time 6.517664 ms 
whole laserOdometry time 6.531480 ms 
 
mapping data assosiation time 19.258478 ms 
-----t: 0.0684448
OdomCount 203 & avg odom time 0.034926 ms ++++++++++++++++++++++
1317357782.929615020 WriteOdom laser_odom_to_init
1317357782.929615020 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.894721 ms 
mapping optimization time 97.622593 
add points time 0.639583 ms
map prepare time 2.901448 ms
map corner num 81104  surf num 28191 
--------------------stamp1317357783.033412933
points size 101320 
sort q time 5.722033 
seperate points time 11.736485 
scan registration time 30.735067 ms *************
-----t: 0.0349589
OdomCount 204 & avg odom time 0.034926 ms ++++++++++++++++++++++
mapping solver time 22.181026 ms 
mapping data assosiation time 14.916630 ms 
mapping solver time 11.021890 ms 
mapping optimization time 91.409927 
add points time 0.634721 ms
filter time 5.819883 ms 
map prepare time 2.139777 ms
map corner num 81545  surf num 28312 
points size 100799 
build tree time 22.415211 ms 
sort q time 5.983911 
seperate points time 12.584726 
mapping data assosiation time 18.833112 ms 
publication time 7.907662 ms 
whole laserOdometry time 7.945716 ms 
 
mapping solver time 23.856941 ms 
mapping data assosiation time 18.903779 ms 
-----t: 0.0694165
OdomCount 205 & avg odom time 0.035094 ms ++++++++++++++++++++++
1317357783.137208938 WriteOdom laser_odom_to_init
1317357783.137208938 WriteOdom aft_mapped_to_init_high_frec
add points time 0.630151 ms
filter time 5.709689 ms 
mapping pub time 9.690114 ms 
whole mapping time 115.395917 ms +++++
mappingCount 201 & avg mapping time 91.904007 ms ++++++++++++++++++++++
prepare time 11.873610 
sort q time 4.610102 
seperate points time 10.361212 
build tree time 21.993219 ms 
publication time 7.587328 ms 
whole laserOdometry time 7.600334 ms 
 
mapping data assosiation time 19.302868 ms 
-----t: 0.0429566
OdomCount 206 & avg odom time 0.035132 ms ++++++++++++++++++++++
1317357783.240984916 WriteOdom laser_odom_to_init
1317357783.240984916 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.371379 ms 
mapping data assosiation time 15.491477 ms 
--------------------stamp1317357783.344784975
points size 99571 
mapping pub time 2.531109 ms 
whole mapping time 111.669769 ms +++++
mappingCount 202 & avg mapping time 92.001881 ms ++++++++++++++++++++++
1317357783.137208939 WriteOdom aft_mapped_to_init
map prepare time 2.942207 ms
map corner num 82442  surf num 28577 
scan registration time 30.371766 ms *************
build tree time 18.731218 ms 
mapping data assosiation time 19.258130 ms 
mapping solver time 19.175117 ms 
mapping data assosiation time 16.108679 ms 
--------------------stamp1317357783.448606967
points size 96943 
filter time 5.363597 ms 
mapping pub time 2.342843 ms 
whole mapping time 103.282216 ms +++++
mappingCount 203 & avg mapping time 92.057468 ms ++++++++++++++++++++++
1317357783.240984917 WriteOdom aft_mapped_to_init
scan registration time 28.512315 ms *************
publication time 9.138698 ms 
whole laserOdometry time 9.151604 ms 
 
build tree time 20.819757 ms 
mapping data assosiation time 18.692515 ms 
mapping solver time 20.113655 ms 
mapping data assosiation time 16.622464 ms 
points size 93555 
prepare time 11.952989 
filter time 7.644089 ms 
map prepare time 2.962764 ms
map corner num 83320  surf num 28879 
-----t: 0.0346774
OdomCount 209 & avg odom time 0.035176 ms ++++++++++++++++++++++
1317357783.552406072 WriteOdom laser_odom_to_init
publication time 7.713059 ms 
whole laserOdometry time 7.722031 ms 
 
1317357783.552406072 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.840834 ms 
mapping solver time 20.044822 ms 
--------------------stamp1317357783.656204938
points size 90873 
prepare time 9.609497 
mapping data assosiation time 19.790355 ms 
sort q time 5.292438 
seperate points time 11.506980 
mapping solver time 25.804515 ms 
mapping optimization time 105.270779 
add points time 0.631836 ms
publication time 9.194821 ms 
whole laserOdometry time 9.210690 ms 
 
mapping data assosiation time 21.537878 ms 
points size 88576 
prepare time 14.881746 
mapping solver time 24.304407 ms 
sort q time 4.608319 
seperate points time 10.512224 
-----t: 0.0292579
OdomCount 211 & avg odom time 0.035183 ms ++++++++++++++++++++++
mapping solver time 13.489034 ms 
mapping optimization time 115.506125 
add points time 0.590039 ms
mapping pub time 3.503300 ms 
whole mapping time 128.434260 ms +++++
mappingCount 206 & avg mapping time 92.461119 ms ++++++++++++++++++++++
build tree time 16.891677 ms 
--------------------stamp1317357783.863779067
points size 86808 
prepare time 10.475654 
sort q time 5.377944 
seperate points time 11.222631 
publication time 5.739814 ms 
whole laserOdometry time 5.752376 ms 
 
mapping solver time 24.690853 ms 
mapping data assosiation time 19.464782 ms 
mapping solver time 21.399547 ms 
mapping optimization time 104.494763 
add points time 0.548359 ms
mapping pub time 2.017671 ms 
whole mapping time 114.618279 ms +++++
mappingCount 207 & avg mapping time 92.568178 ms ++++++++++++++++++++++
1317357783.760004997 WriteOdom aft_mapped_to_init
--------------------stamp1317357783.967555999
points size 84052 
sort q time 4.758893 
seperate points time 10.543669 
mapping data assosiation time 20.579526 ms 
publication time 6.513857 ms 
whole laserOdometry time 6.527384 ms 
 
mapping solver time 25.842842 ms 
mapping data assosiation time 16.178832 ms 
-----t: 0.0693299
OdomCount 213 & avg odom time 0.035322 ms ++++++++++++++++++++++
1317357783.967555999 WriteOdom laser_odom_to_init
1317357783.967555999 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.198602 ms 
mapping optimization time 101.627834 
--------------------stamp1317357784.071332931
points size 83088 
prepare time 9.144500 
sort q time 5.753195 
seperate points time 11.480348 
build tree time 21.022536 ms 
scan registration time 25.413132 ms *************
publication time 8.052487 ms 
whole laserOdometry time 8.063868 ms 
 
mapping data assosiation time 18.851495 ms 
-----t: 0.0327317
OdomCount 214 & avg odom time 0.035310 ms ++++++++++++++++++++++
1317357784.071332931 WriteOdom laser_odom_to_init
1317357784.071332931 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.678853 ms 
mapping data assosiation time 15.429687 ms 
mapping solver time 18.533301 ms 
filter time 5.874056 ms 
map prepare time 2.561626 ms
map corner num 86069  surf num 30095 
points size 81544 
prepare time 10.435743 
sort q time 4.400421 
seperate points time 10.054388 
scan registration time 24.191450 ms *************
-----t: 0.0253042
OdomCount 215 & avg odom time 0.035263 ms ++++++++++++++++++++++
1317357784.175105094 WriteOdom laser_odom_to_init
1317357784.175105094 WriteOdom aft_mapped_to_init_high_frec
publication time 6.062907 ms 
whole laserOdometry time 6.084369 ms 
 
mapping solver time 18.380205 ms 
mapping data assosiation time 15.480452 ms 
mapping solver time 15.446455 ms 
mapping optimization time 88.300886 
add points time 0.530066 ms
mapping pub time 2.328550 ms 
whole mapping time 99.906087 ms +++++
mappingCount 210 & avg mapping time 92.769044 ms ++++++++++++++++++++++
points size 81174 
prepare time 12.008325 
sort q time 4.578744 
seperate points time 10.704482 
scan registration time 26.903491 ms *************
build tree time 23.303247 ms 
-----t: 0.0307132
OdomCount 216 & avg odom time 0.035242 ms ++++++++++++++++++++++
1317357784.278902053 WriteOdom laser_odom_to_init
1317357784.278902053 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.546462 ms 
publication time 8.760377 ms 
whole laserOdometry time 8.793543 ms 
 
mapping solver time 18.883352 ms 
mapping data assosiation time 14.944022 ms 
mapping solver time 11.067231 ms 
mapping optimization time 85.790782 
add points time 0.544813 ms
filter time 5.967769 ms 
map prepare time 3.393867 ms
map corner num 86779  surf num 30275 
points size 81361 
sort q time 4.554558 
seperate points time 9.943681 
-----t: 0.0232818
OdomCount 217 & avg odom time 0.035187 ms ++++++++++++++++++++++
1317357784.382725000 WriteOdom laser_odom_to_init
1317357784.382725000 WriteOdom aft_mapped_to_init_high_frec
publication time 8.182749 ms 
whole laserOdometry time 8.798417 ms 
 mapping solver time 18.534631 ms 
mapping data assosiation time 14.202325 ms 
mapping solver time 18.951352 ms 
filter time 6.325537 ms 
map prepare time 2.205259 ms
map corner num 87141  surf num 30360 
points size 81905 
prepare time 12.492672 
sort q time 4.360196 
seperate points time 10.048283 
mapping data assosiation time 16.535966 ms 
publication time 9.880375 ms 
whole laserOdometry time 9.887547 ms 
 
-----t: 0.0416537
OdomCount 218 & avg odom time 0.035216 ms ++++++++++++++++++++++
mapping solver time 21.487767 ms 
mapping data assosiation time 14.410102 ms 
mapping solver time 17.872840 ms 
filter time 7.772034 ms 
mapping pub time 1.913379 ms 
whole mapping time 104.840391 ms +++++
mappingCount 213 & avg mapping time 92.916950 ms ++++++++++++++++++++++
1317357784.382725000 WriteOdom aft_mapped_to_init
sort q time 4.563958 
seperate points time 10.687204 
build tree time 22.828152 ms 
publication time 5.815913 ms 
whole laserOdometry time 5.826276 ms 
 
mapping data assosiation time 17.506683 ms 
-----t: 0.0496686
OdomCount 219 & avg odom time 0.035282 ms ++++++++++++++++++++++
1317357784.590323925 WriteOdom laser_odom_to_init
1317357784.590323925 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.495880 ms 
mapping data assosiation time 15.819510 ms 
--------------------stamp1317357784.694147109
points size 84068 
filter time 8.515353 ms 
prepare time 13.187250 
1317357784.486524105 WriteOdom aft_mapped_to_init
scan registration time 28.509311 ms *************
build tree time 21.303950 ms 
publication time 5.359843 ms 
whole laserOdometry time 5.374566 ms 
 
mapping data assosiation time 16.939278 ms 
-----t: 0.0451232
OdomCount 220 & avg odom time 0.035327 ms ++++++++++++++++++++++
mapping solver time 19.735118 ms 
mapping data assosiation time 14.445232 ms 
--------------------stamp1317357784.797993898
points size 84262 
map prepare time 2.147111 ms
map corner num 88236  surf num 30648 
sort q time 4.595148 
seperate points time 10.692220 
scan registration time 28.066115 ms *************
-----t: 0.0208444
OdomCount 221 & avg odom time 0.035262 ms ++++++++++++++++++++++
1317357784.797993898 WriteOdom laser_odom_to_init
1317357784.797993898 WriteOdom aft_mapped_to_init_high_frec
build tree time 22.647048 ms 
mapping data assosiation time 15.684990 ms 
mapping solver time 18.004850 ms 
mapping data assosiation time 16.353752 ms 
mapping solver time 10.920237 ms 
filter time 6.517935 ms 
[0m[ INFO] [1718805071.769215720, 1317357784.910873481]: Received 119433 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805071.769265242, 1317357784.910873481]: Data saved to 1317357784694147.pcd[0m
sort q time 5.467958 
seperate points time 10.502685 
build tree time 23.872845 ms 
mapping data assosiation time 18.765704 ms 
-----t: 0.0495933
OdomCount 222 & avg odom time 0.035326 ms ++++++++++++++++++++++
1317357784.901865959 WriteOdom laser_odom_to_init
1317357784.901865959 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.116029 ms 
mapping data assosiation time 19.258180 ms 
--------------------stamp1317357785.005759954
mapping solver time 14.958859 ms 
points size 85410 
mapping optimization time 97.003815 
add points time 0.581999 ms
prepare time 10.573179 
mapping pub time 1.954840 ms 
whole mapping time 110.916006 ms +++++
mappingCount 217 & avg mapping time 93.135163 ms ++++++++++++++++++++++
1317357784.797993898 WriteOdom aft_mapped_to_init
sort q time 4.880364 
seperate points time 11.090599 
map prepare time 2.478446 ms
map corner num 88948  surf num 30989 
-----t: 0.0256461
OdomCount 223 & avg odom time 0.035283 ms ++++++++++++++++++++++
publication time 6.248469 ms 
whole laserOdometry time 6.262210 ms 
 
1317357785.005759954 WriteOdom laser_odom_to_init
1317357785.005759954 WriteOdom aft_mapped_to_init_high_frec
build tree time 35.209218 ms 
mapping data assosiation time 19.355325 ms 
mapping solver time 24.275561 ms 
points size 85930 
mapping data assosiation time 19.491855 ms 
scan registration time 25.281925 ms *************
mapping solver time 19.825763 ms 
publication time 8.738983 ms 
whole laserOdometry time 8.752755 ms 
 
drop lidar frame in mapping for real time performance 
1317357785.109654903 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.497135 ms
map corner num 89322  surf num 31120 
build tree time 23.776561 ms 
mapping data assosiation time 19.000017 ms 
--------------------stamp1317357785.213526010
points size 83743 
prepare time 11.561131 
sort q time 5.120544 
seperate points time 10.164227 
mapping data assosiation time 18.661674 ms 
publication time 5.941195 ms 
whole laserOdometry time 5.955979 ms 
 
mapping solver time 14.657884 ms 
filter time 8.595235 ms 
-----t: 0.0548945
OdomCount 225 & avg odom time 0.035380 ms ++++++++++++++++++++++
1317357785.213526010 WriteOdom laser_odom_to_init
1317357785.213526010 WriteOdom aft_mapped_to_init_high_frec
build tree time 22.662816 ms 
--------------------stamp1317357785.317420959
points size 82874 
sort q time 5.649831 
seperate points time 10.316540 
scan registration time 24.972663 ms *************
mapping solver time 20.343368 ms 
publication time 6.520343 ms 
whole laserOdometry time 6.536341 ms 
 
-----t: 0.0329413
OdomCount 226 & avg odom time 0.035369 ms ++++++++++++++++++++++
1317357785.317420959 WriteOdom laser_odom_to_init
1317357785.317420959 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.773536 ms 
mapping solver time 16.129205 ms 
mapping optimization time 93.745346 
add points time 0.581300 ms
mapping pub time 2.098600 ms 
whole mapping time 107.035474 ms +++++
mappingCount 220 & avg mapping time 93.479357 ms ++++++++++++++++++++++
build tree time 17.524651 ms 
--------------------stamp1317357785.421313047
points size 82685 
sort q time 4.733893 
seperate points time 10.048235 
scan registration time 24.377797 ms *************
-----t: 0.0229165
OdomCount 227 & avg odom time 0.035314 ms ++++++++++++++++++++++
mapping data assosiation time 16.533394 ms 
mapping solver time 17.094376 ms 
filter time 5.895627 ms 
mapping pub time 7.506141 ms 
whole mapping time 104.200889 ms +++++
mappingCount 221 & avg mapping time 93.527889 ms ++++++++++++++++++++++
1317357785.317420959 WriteOdom aft_mapped_to_init
map prepare time 2.228552 ms
map corner num 46689  surf num 17111 
build tree time 12.571294 ms 
--------------------stamp1317357785.525182962
points size 83395 
prepare time 10.532173 
mapping data assosiation time 19.574771 ms 
sort q time 4.651153 
seperate points time 10.562554 
mapping solver time 23.291381 ms 
publication time 7.092577 ms 
whole laserOdometry time 7.104839 ms 
 
mapping solver time 14.572232 ms 
mapping optimization time 89.879890 
add points time 0.579915 ms
map prepare time 2.222499 ms
map corner num 47134  surf num 17299 
points size 82988 
sort q time 5.956533 
seperate points time 10.790726 
scan registration time 25.597662 ms *************
mapping solver time 25.548341 ms 
mapping data assosiation time 20.206441 ms 
mapping solver time 13.521672 ms 
mapping optimization time 93.411453 
add points time 0.533979 ms
filter time 3.476098 ms 
mapping pub time 2.031026 ms 
whole mapping time 101.721007 ms +++++
mappingCount 223 & avg mapping time 93.592023 ms ++++++++++++++++++++++
1317357785.525182962 WriteOdom aft_mapped_to_init
build tree time 9.329124 ms 
--------------------stamp1317357785.732949018
points size 82142 
prepare time 15.220336 
mapping solver time 24.477653 ms 
sort q time 5.960319 
seperate points time 25.500356 
scan registration time 50.019814 ms *************
mapping data assosiation time 20.836909 ms 
publication time 7.889880 ms 
whole laserOdometry time 7.903863 ms 
 
mapping solver time 34.292667 ms 
mapping optimization time 113.177934 
filter time 7.664152 ms 
--------------------stamp1317357785.836868047
1317357785.629054070 WriteOdom aft_mapped_to_init
prepare time 14.444812 
sort q time 5.131084 
seperate points time 10.608955 
mapping data assosiation time 20.274352 ms 
-----t: 0.0280168
OdomCount 231 & avg odom time 0.035397 ms ++++++++++++++++++++++
mapping solver time 23.994473 ms 
mapping data assosiation time 17.764061 ms 
mapping solver time 16.429670 ms 
filter time 4.499650 ms 
map prepare time 2.003250 ms
map corner num 48661  surf num 17990 
prepare time 14.304712 
sort q time 4.966336 
seperate points time 10.364188 
mapping data assosiation time 20.527662 ms 
publication time 6.293115 ms 
whole laserOdometry time 6.308089 ms 
 
-----t: 0.0452284
OdomCount 232 & avg odom time 0.035439 ms ++++++++++++++++++++++
mapping data assosiation time 21.411932 ms 
--------------------stamp1317357786.044755935
points size 88310 
prepare time 10.749550 
mapping solver time 26.219717 ms 
mapping optimization time 108.719260 
add points time 0.808337 ms
[0m[ INFO] [1718805072.919485305, 1317357786.055329717]: Received 67441 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805072.919570447, 1317357786.055329717]: Data saved to 1317357785836868.pcd[0m
map prepare time 2.733779 ms
map corner num 49211  surf num 18230 
scan registration time 27.459285 ms *************
mapping data assosiation time 20.605639 ms 
-----t: 0.0806672
OdomCount 233 & avg odom time 0.035633 ms ++++++++++++++++++++++
1317357786.044755935 WriteOdom laser_odom_to_init
1317357786.044755935 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.177255 ms 
points size 87602 
sort q time 4.641297 
seperate points time 9.841924 
mapping solver time 20.697355 ms 
mapping optimization time 103.260386 
add points time 0.660383 ms
scan registration time 27.990452 ms *************
map prepare time 2.710035 ms
map corner num 49708  surf num 18418 
1317357786.148653984 WriteOdom laser_odom_to_init
1317357786.148653984 WriteOdom aft_mapped_to_init_high_frec
publication time 8.999654 ms 
whole laserOdometry time 9.013451 ms 
 
mapping data assosiation time 17.874262 ms 
mapping solver time 22.524531 ms 
--------------------stamp1317357786.252547979
mapping data assosiation time 19.812734 ms 
points size 84394 
prepare time 12.331338 
sort q time 4.654060 
seperate points time 10.663086 
mapping solver time 22.226395 ms 
mapping optimization time 96.858202 
add points time 0.651095 ms
map prepare time 2.141354 ms
map corner num 50182  surf num 18574 
1317357786.252547979 WriteOdom aft_mapped_to_init_high_frec
build tree time 11.418172 ms 
mapping data assosiation time 17.356404 ms 
mapping solver time 22.213260 ms 
--------------------stamp1317357786.356437921
points size 81532 
sort q time 4.589545 
seperate points time 8.905396 
mapping solver time 19.408229 ms 
mapping pub time 1.998154 ms 
whole mapping time 99.978066 ms +++++
mappingCount 229 & avg mapping time 94.072100 ms ++++++++++++++++++++++
1317357786.148653984 WriteOdom aft_mapped_to_init
publication time 6.296411 ms 
whole laserOdometry time 6.312090 ms 
 
map prepare time 2.759856 ms
map corner num 50659  surf num 18708 
-----t: 0.0359934
OdomCount 236 & avg odom time 0.035587 ms ++++++++++++++++++++++
1317357786.356437921 WriteOdom laser_odom_to_init
1317357786.356437921 WriteOdom aft_mapped_to_init_high_frec
build tree time 11.433295 ms 
mapping data assosiation time 17.165250 ms 
mapping solver time 18.402114 ms 
--------------------stamp1317357786.460309982
points size 79352 
mapping solver time 14.908638 ms 
mapping optimization time 81.912810 
add points time 0.579361 ms
sort q time 4.960136 
seperate points time 9.389013 
scan registration time 24.758199 ms *************
filter time 4.492429 ms 
mapping pub time 1.928075 ms 
whole mapping time 91.731712 ms +++++
mappingCount 230 & avg mapping time 94.061953 ms ++++++++++++++++++++++
1317357786.252547979 WriteOdom aft_mapped_to_init
publication time 7.857747 ms 
whole laserOdometry time 7.870078 ms 
 
build tree time 13.234504 ms 
mapping data assosiation time 18.167068 ms 
mapping solver time 17.748944 ms 
mapping data assosiation time 16.015374 ms 
--------------------stamp1317357786.564181089
points size 78510 
prepare time 10.824170 
sort q time 4.040891 
seperate points time 9.378111 
map prepare time 2.078366 ms
map corner num 51536  surf num 18937 
publication time 5.658363 ms 
whole laserOdometry time 5.671376 ms 
 
-----t: 0.0292025
OdomCount 238 & avg odom time 0.035580 ms ++++++++++++++++++++++
1317357786.564181089 WriteOdom laser_odom_to_init
1317357786.564181089 WriteOdom aft_mapped_to_init_high_frec
build tree time 13.305403 ms 
mapping data assosiation time 17.105677 ms 
mapping solver time 17.969407 ms 
mapping data assosiation time 16.376668 ms 
--------------------stamp1317357786.668050050
mapping solver time 15.831844 ms 
filter time 5.536382 ms 
mapping pub time 1.968375 ms 
whole mapping time 92.026020 ms +++++
mappingCount 232 & avg mapping time 94.073531 ms ++++++++++++++++++++++
1317357786.460309982 WriteOdom aft_mapped_to_init
scan registration time 25.035231 ms *************
build tree time 12.608828 ms 
mapping data assosiation time 17.248261 ms 
mapping solver time 20.055794 ms 
mapping data assosiation time 16.591465 ms 
--------------------stamp1317357786.771943092
points size 70023 
map prepare time 1.530166 ms
map corner num 52321  surf num 19125 
scan registration time 21.524997 ms *************
build tree time 13.176954 ms 
publication time 6.149250 ms 
whole laserOdometry time 6.164367 ms 
 
mapping data assosiation time 17.335995 ms 
mapping solver time 21.731369 ms 
mapping data assosiation time 15.764794 ms 
mapping solver time 15.970230 ms 
filter time 4.777976 ms 
map prepare time 2.054033 ms
map corner num 52649  surf num 19185 
points size 63713 
publication time 4.136507 ms 
whole laserOdometry time 4.153005 ms 
 
-----t: 0.0256221
OdomCount 241 & avg odom time 0.035461 ms ++++++++++++++++++++++
1317357786.875859975 WriteOdom laser_odom_to_init
1317357786.875859975 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.910453 ms 
mapping solver time 15.558093 ms 
mapping data assosiation time 14.608043 ms 
mapping solver time 11.454245 ms 
filter time 3.754516 ms 
mapping pub time 1.587693 ms 
whole mapping time 83.171911 ms +++++
mappingCount 235 & avg mapping time 94.044272 ms ++++++++++++++++++++++
1317357786.771943092 WriteOdom aft_mapped_to_init
--------------------stamp1317357786.979782104
points size 60096 
sort q time 3.441138 
seperate points time 6.715525 
publication time 4.284703 ms 
whole laserOdometry time 4.296783 ms 
 
mapping solver time 21.814954 ms 
-----t: 0.0309864
OdomCount 242 & avg odom time 0.035443 ms ++++++++++++++++++++++
mapping data assosiation time 15.113211 ms 
mapping solver time 14.278861 ms 
filter time 3.597370 ms 
[0m[ INFO] [1718805073.909155058, 1317357787.048095632]: Received 72497 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805073.909208293, 1317357787.048095632]: Data saved to 1317357786875859.pcd[0m
mapping pub time 2.171695 ms 
whole mapping time 88.128222 ms +++++
mappingCount 236 & avg mapping time 94.019224 ms ++++++++++++++++++++++
1317357786.875859976 WriteOdom aft_mapped_to_init
map prepare time 1.320861 ms
map corner num 53201  surf num 19296 
build tree time 11.951993 ms 
mapping data assosiation time 14.177277 ms 
--------------------stamp1317357787.083724975
points size 58399 
mapping solver time 14.108389 ms 
mapping pub time 1.395450 ms 
whole mapping time 86.669296 ms +++++
mappingCount 237 & avg mapping time 93.988221 ms ++++++++++++++++++++++
1317357786.979782104 WriteOdom aft_mapped_to_init
map prepare time 1.376007 ms
map corner num 53496  surf num 19349 
build tree time 10.996755 ms 
mapping data assosiation time 13.550675 ms 
mapping solver time 14.135602 ms 
points size 58711 
mapping data assosiation time 16.979311 ms 
sort q time 3.200126 
seperate points time 7.588147 
mapping solver time 17.454309 ms 
mapping optimization time 73.968191 
add points time 0.544140 ms
-----t: 0.0164223
OdomCount 244 & avg odom time 0.035318 ms ++++++++++++++++++++++
1317357787.187691926 WriteOdom laser_odom_to_init
1317357787.187691926 WriteOdom aft_mapped_to_init_high_frec
publication time 6.446570 ms 
whole laserOdometry time 6.464060 ms 
 
filter time 4.720309 ms 
build tree time 10.376082 ms 
mapping data assosiation time 14.032664 ms 
mapping solver time 17.294244 ms 
mapping data assosiation time 12.833707 ms 
--------------------stamp1317357787.291682958
points size 59046 
sort q time 3.373010 
seperate points time 7.170028 
publication time 3.495903 ms 
whole laserOdometry time 3.507657 ms 
 
-----t: 0.0231498
OdomCount 245 & avg odom time 0.035269 ms ++++++++++++++++++++++
build tree time 11.974974 ms 
mapping data assosiation time 12.543779 ms 
mapping solver time 17.688882 ms 
mapping data assosiation time 14.060781 ms 
--------------------stamp1317357787.395697116
points size 61761 
mapping solver time 17.749689 ms 
mapping optimization time 74.882023 
add points time 0.814307 ms
prepare time 8.978392 
scan registration time 18.837494 ms *************
publication time 4.265049 ms 
whole laserOdometry time 4.278368 ms 
 
map prepare time 1.429978 ms
map corner num 54416  surf num 19607 
build tree time 11.647782 ms 
mapping data assosiation time 16.183090 ms 
mapping solver time 19.739355 ms 
mapping data assosiation time 14.537479 ms 
points size 64580 
mapping solver time 20.551696 ms 
scan registration time 21.910387 ms *************
filter time 4.565608 ms 
publication time 4.490319 ms 
whole laserOdometry time 4.506201 ms 
 
-----t: 0.031115
OdomCount 247 & avg odom time 0.035204 ms ++++++++++++++++++++++
1317357787.499711036 WriteOdom laser_odom_to_init
1317357787.499711036 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.683790 ms
map corner num 54839  surf num 19774 
mapping data assosiation time 15.837379 ms 
mapping solver time 19.814415 ms 
--------------------stamp1317357787.603750944
points size 66265 
mapping data assosiation time 19.139977 ms 
prepare time 11.803143 
scan registration time 22.462944 ms *************
publication time 4.227146 ms 
whole laserOdometry time 4.251750 ms 
 
filter time 5.341086 ms 
-----t: 0.0384311
OdomCount 248 & avg odom time 0.035217 ms ++++++++++++++++++++++
build tree time 11.762562 ms 
mapping data assosiation time 19.393693 ms 
--------------------stamp1317357787.707838058
mapping solver time 22.651631 ms 
points size 67554 
prepare time 9.213359 
sort q time 3.637782 
seperate points time 8.088706 
mapping data assosiation time 20.079334 ms 
publication time 5.163126 ms 
whole laserOdometry time 5.177667 ms 
 
filter time 4.825203 ms 
mapping pub time 1.527300 ms 
whole mapping time 104.276725 ms +++++
mappingCount 243 & avg mapping time 93.924808 ms ++++++++++++++++++++++
1317357787.603750944 WriteOdom aft_mapped_to_init
build tree time 10.613486 ms 
mapping data assosiation time 17.387162 ms 
--------------------stamp1317357787.811949014
points size 69497 
sort q time 4.036695 
seperate points time 8.740267 
scan registration time 21.355281 ms *************
-----t: 0.0209833
OdomCount 250 & avg odom time 0.035159 ms ++++++++++++++++++++++
1317357787.811949014 WriteOdom laser_odom_to_init
1317357787.811949014 WriteOdom aft_mapped_to_init_high_frec
filter time 4.712098 ms 
mapping pub time 1.558303 ms 
whole mapping time 96.586770 ms +++++
mappingCount 244 & avg mapping time 93.935735 ms ++++++++++++++++++++++
1317357787.707838058 WriteOdom aft_mapped_to_init
--------------------stamp1317357787.916058063
points size 71566 
sort q time 3.961065 
seperate points time 8.391822 
-----t: 0.0209668
OdomCount 251 & avg odom time 0.035103 ms ++++++++++++++++++++++
mapping data assosiation time 21.321340 ms 
publication time 5.039097 ms 
whole laserOdometry time 5.046925 ms 
 
1317357787.916058063 WriteOdom laser_odom_to_init
1317357787.916058063 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.445441 ms 
mapping optimization time 106.995145 
add points time 0.705348 ms
map prepare time 1.798621 ms
map corner num 56841  surf num 20551 
build tree time 12.877643 ms 
mapping data assosiation time 18.267155 ms 
points size 73202 
sort q time 3.761882 
seperate points time 8.610191 
scan registration time 21.923770 ms *************
mapping solver time 29.872663 ms 
-----t: 0.0189858
OdomCount 252 & avg odom time 0.035039 ms ++++++++++++++++++++++
1317357788.020168066 WriteOdom laser_odom_to_init
1317357788.020168066 WriteOdom aft_mapped_to_init_high_frec
publication time 6.367752 ms 
whole laserOdometry time 6.384011 ms 
 
mapping data assosiation time 21.187342 ms 
mapping solver time 19.459932 ms 
filter time 4.270153 ms 
[0m[ INFO] [1718805074.948492362, 1317357788.087412636]: Received 78045 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805074.948557412, 1317357788.087412636]: Data saved to 1317357787916058.pcd[0m
mapping pub time 2.595571 ms 
whole mapping time 112.268492 ms +++++
mappingCount 246 & avg mapping time 94.103993 ms ++++++++++++++++++++++
1317357787.916058064 WriteOdom aft_mapped_to_init
build tree time 12.315584 ms 
--------------------stamp1317357788.124279022
points size 73810 
mapping data assosiation time 22.565736 ms 
prepare time 11.678208 
mapping solver time 29.437509 ms 
-----t: 0.0229129
OdomCount 253 & avg odom time 0.034991 ms ++++++++++++++++++++++
1317357788.124279022 WriteOdom laser_odom_to_init
1317357788.124279022 WriteOdom aft_mapped_to_init_high_frec
publication time 7.648865 ms 
whole laserOdometry time 7.660104 ms 
 
mapping data assosiation time 21.471914 ms 
mapping solver time 14.140813 ms 
filter time 4.100935 ms 
mapping pub time 1.619534 ms 
whole mapping time 109.350487 ms +++++
mappingCount 247 & avg mapping time 94.165734 ms ++++++++++++++++++++++
1317357788.020168066 WriteOdom aft_mapped_to_init
build tree time 13.205831 ms 
--------------------stamp1317357788.228389978
points size 75142 
mapping data assosiation time 22.024019 ms 
scan registration time 24.220524 ms *************
-----t: 0.0209945
OdomCount 254 & avg odom time 0.034936 ms ++++++++++++++++++++++
1317357788.228389978 WriteOdom laser_odom_to_init
1317357788.228389978 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.364363 ms 
mapping solver time 20.245971 ms 
mapping optimization time 103.071747 
add points time 0.634966 ms
map prepare time 1.804636 ms
map corner num 58308  surf num 21059 
--------------------stamp1317357788.332499980
points size 75372 
prepare time 9.792786 
sort q time 4.151680 
seperate points time 9.097160 
scan registration time 22.464275 ms *************
publication time 6.475656 ms 
whole laserOdometry time 6.489640 ms 
 
-----t: 0.0270133
OdomCount 255 & avg odom time 0.034905 ms ++++++++++++++++++++++
1317357788.332499980 WriteOdom laser_odom_to_init
1317357788.332499980 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.503072 ms 
mapping data assosiation time 18.837568 ms 
mapping solver time 15.477751 ms 
mapping optimization time 99.826708 
add points time 0.726459 ms
map prepare time 1.861841 ms
map corner num 58819  surf num 21231 
points size 75720 
sort q time 4.344046 
seperate points time 8.580351 
scan registration time 22.749754 ms *************
publication time 5.797140 ms 
whole laserOdometry time 5.815560 ms 
 
-----t: 0.0388042
OdomCount 256 & avg odom time 0.034920 ms ++++++++++++++++++++++
mapping data assosiation time 20.507576 ms 
mapping solver time 15.117745 ms 
mapping optimization time 97.979134 
add points time 0.752212 ms
--------------------stamp1317357788.540652036
points size 77297 
prepare time 13.166442 
build tree time 13.409918 ms 
sort q time 4.616793 
seperate points time 9.445091 
scan registration time 26.024866 ms *************
mapping data assosiation time 22.459499 ms 
-----t: 0.0462052
OdomCount 257 & avg odom time 0.034964 ms ++++++++++++++++++++++
mapping data assosiation time 19.365396 ms 
--------------------stamp1317357788.644714117
points size 77626 
filter time 4.471683 ms 
[0m[ INFO] [1718805075.510232135, 1317357788.653130246]: Received 81269 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805075.510275801, 1317357788.653130246]: Data saved to 1317357788436585.pcd[0m
prepare time 10.390795 
mapping pub time 2.816963 ms 
whole mapping time 116.164751 ms +++++
mappingCount 251 & avg mapping time 94.427911 ms ++++++++++++++++++++++
1317357788.436585903 WriteOdom aft_mapped_to_init
sort q time 4.217744 
seperate points time 9.671590 
build tree time 14.508562 ms 
publication time 7.403023 ms mapping data assosiation time 23.294570 ms 
mapping solver time 25.679555 ms 
mapping data assosiation time 20.039346 ms 
points size 77854 
mapping optimization time 101.666327 
add points time 0.851357 ms
filter time 4.786010 ms 
build tree time 16.060387 ms 
publication time 10.141408 ms 
whole laserOdometry time 10.154353 ms 
 
-----t: 0.0315159
OdomCount 259 & avg odom time 0.034936 ms ++++++++++++++++++++++
1317357788.748776912 WriteOdom laser_odom_to_init
1317357788.748776912 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.415488 ms 
mapping solver time 26.136577 ms 
--------------------stamp1317357788.852840900
points size 78573 
mapping data assosiation time 22.321136 ms 
prepare time 10.884459 
sort q time 4.299816 
seperate points time 9.720712 
mapping solver time 25.643417 ms 
publication time 5.714322 ms 
whole laserOdometry time 5.729214 ms 
 
map prepare time 2.356285 ms
map corner num 60567  surf num 21834 
-----t: 0.0375836
OdomCount 260 & avg odom time 0.034946 ms ++++++++++++++++++++++
1317357788.852840900 WriteOdom laser_odom_to_init
1317357788.852840900 WriteOdom aft_mapped_to_init_high_frec
build tree time 13.245380 ms 
mapping data assosiation time 18.586099 ms 
mapping solver time 20.973170 ms 
points size 79560 
sort q time 5.615877 
seperate points time 10.107297 
publication time 6.089233 ms 
whole laserOdometry time 6.104793 ms 
 
filter time 4.820514 ms 
mapping pub time 1.733286 ms 
whole mapping time 104.668978 ms +++++
mappingCount 254 & avg mapping time 94.659679 ms ++++++++++++++++++++++
1317357788.748776913 WriteOdom aft_mapped_to_init
build tree time 11.993062 ms 
mapping data assosiation time 21.109920 ms 
--------------------stamp1317357789.060966014
points size 80674 
prepare time 11.313928 
sort q time 4.141924 
seperate points time 9.096395 
scan registration time 23.812265 ms *************
publication time 6.290771 ms 
whole laserOdometry time 6.307350 ms 
 
-----t: 0.0280032
OdomCount 262 & avg odom time 0.034884 ms ++++++++++++++++++++++
mapping solver time 24.913128 ms 
mapping optimization time 105.328031 
add points time 0.745626 ms
1317357788.956902027 WriteOdom aft_mapped_to_init
map prepare time 2.043214 ms
map corner num 61528  surf num 22179 
build tree time 12.399310 ms 
mapping data assosiation time 20.874333 ms 
--------------------stamp1317357789.165007114
points size 81719 
prepare time 10.848103 
sort q time 5.106364 
seperate points time 9.755022 
mapping data assosiation time 24.761208 ms 
mapping solver time 15.735967 ms 
mapping optimization time 96.959940 
add points time 0.706929 ms
map prepare time 1.873940 ms
map corner num 62012  surf num 22380 
build tree time 12.353810 ms 
mapping data assosiation time 20.116405 ms 
points size 82231 
prepare time 13.446465 
mapping solver time 27.343664 ms 
sort q time 4.370825 
seperate points time 10.447016 
-----t: 0.0294139
OdomCount 264 & avg odom time 0.034842 ms ++++++++++++++++++++++
mapping data assosiation time 25.471910 ms 
mapping solver time 14.948648 ms 
filter time 5.388728 ms 
mapping pub time 1.963197 ms 
whole mapping time 111.724848 ms +++++
mappingCount 257 & avg mapping time 94.851164 ms ++++++++++++++++++++++
1317357789.165007114 WriteOdom aft_mapped_to_init
build tree time 12.753237 ms 
--------------------stamp1317357789.373033046
points size 82838 
prepare time 10.725655 
mapping data assosiation time 23.120543 ms 
sort q time 4.744340 
seperate points time 9.992143 
publication time 7.271338 ms 
whole laserOdometry time 7.289123 ms 
 
mapping solver time 31.365523 ms 
-----t: 0.0355333
OdomCount 265 & avg odom time 0.034844 ms ++++++++++++++++++++++
mapping data assosiation time 23.412127 ms 
mapping solver time 16.173156 ms 
filter time 4.494352 ms 
mapping pub time 1.950168 ms 
whole mapping time 118.192350 ms +++++
mappingCount 258 & avg mapping time 94.941649 ms ++++++++++++++++++++++
1317357789.269021034 WriteOdom aft_mapped_to_init
--------------------stamp1317357789.477024078
points size 84022 
sort q time 5.203202 
seperate points time 9.806614 
mapping data assosiation time 26.763686 ms 
publication time 6.847921 ms 
whole laserOdometry time 6.862211 ms 
 
mapping solver time 27.002016 ms 
-----t: 0.0466485
OdomCount 266 & avg odom time 0.034889 ms ++++++++++++++++++++++
1317357789.477024078 WriteOdom laser_odom_to_init
1317357789.477024078 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.167969 ms 
--------------------stamp1317357789.580991029
filter time 4.723963 ms 
prepare time 13.561031 
map prepare time 2.487653 ms
map corner num 63608  surf num 23110 
sort q time 4.485085 
seperate points time 10.517612 
publication time 6.795579 ms 
whole laserOdometry time 6.812342 ms 
 
-----t: 0.0329862
OdomCount 267 & avg odom time 0.034882 ms ++++++++++++++++++++++
mapping data assosiation time 26.231224 ms 
mapping solver time 23.333593 ms 
mapping data assosiation time 21.412919 ms 
points size 87543 
prepare time 11.736803 
mapping solver time 22.434184 ms 
mapping optimization time 111.259523 
add points time 0.831263 ms
map prepare time 2.748527 ms
map corner num 64098  surf num 23293 
-----t: 0.0308228
OdomCount 268 & avg odom time 0.034867 ms ++++++++++++++++++++++
1317357789.684909105 WriteOdom laser_odom_to_init
1317357789.684909105 WriteOdom aft_mapped_to_init_high_frec
publication time 7.589112 ms 
whole laserOdometry time 7.597128 ms 
 
build tree time 14.976032 ms 
mapping data assosiation time 23.790338 ms 
mapping solver time 27.830122 ms 
points size 88625 
sort q time 5.506884 
seperate points time 10.539634 
mapping data assosiation time 26.289747 ms 
scan registration time 26.021947 ms *************
publication time 8.520555 ms 
whole laserOdometry time 8.534707 ms 
 
-----t: 0.0304626
OdomCount 269 & avg odom time 0.034850 ms ++++++++++++++++++++++
1317357789.788779973 WriteOdom laser_odom_to_init
filter time 4.599225 ms 
[0m[ INFO] [1718805076.699229503, 1317357789.843549916]: Received 88080 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805076.699271392, 1317357789.843549916]: Data saved to 1317357789580991.pcd[0m
map prepare time 2.331200 ms
map corner num 64609  surf num 23471 
build tree time 13.496969 ms 
mapping data assosiation time 22.714170 ms 
points size 89075 
mapping solver time 32.279060 ms 
publication time 6.949721 ms 
whole laserOdometry time 6.963988 ms 
 
mapping data assosiation time 27.984192 ms 
-----t: 0.045902
OdomCount 270 & avg odom time 0.034891 ms ++++++++++++++++++++++
1317357789.892626047 WriteOdom laser_odom_to_init
1317357789.892626047 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.635613 ms 
mapping optimization time 117.762559 
add points time 0.907731 ms
--------------------stamp1317357789.996402025
build tree time 19.109586 ms 
sort q time 4.930291 
seperate points time 14.107718 
scan registration time 41.034835 ms *************
mapping data assosiation time 39.046207 ms 
-----t: 0.0358728
OdomCount 271 & avg odom time 0.034895 ms ++++++++++++++++++++++
1317357789.996402025 WriteOdom laser_odom_to_init
1317357789.996402025 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.030912 ms 
mapping data assosiation time 23.061157 ms 
points size 90398 
sort q time 5.103165 
seperate points time 10.592689 
mapping solver time 32.116678 ms 
mapping optimization time 144.753088 
add points time 0.839799 ms
publication time 12.996012 ms 
whole laserOdometry time 13.029693 ms 
 
map prepare time 3.000536 ms
map corner num 65680  surf num 23967 
build tree time 15.131901 ms 
mapping data assosiation time 22.527551 ms 
--------------------stamp1317357790.203687906
points size 91578 
sort q time 4.900519 
seperate points time 11.405719 
mapping data assosiation time 26.543026 ms 
publication time 7.670305 ms 
whole laserOdometry time 7.685785 ms 
 
mapping solver time 23.198962 ms 
mapping optimization time 116.414634 
add points time 0.824630 ms
map prepare time 3.059645 ms
map corner num 66230  surf num 24195 
build tree time 13.672360 ms 
--------------------stamp1317357790.307270050
mapping data assosiation time 23.610586 ms 
sort q time 5.002480 
seperate points time 11.456977 
scan registration time 29.066287 ms *************
mapping solver time 31.541697 ms 
-----t: 0.0332482
OdomCount 274 & avg odom time 0.034988 ms ++++++++++++++++++++++
1317357790.307270050 WriteOdom laser_odom_to_init
1317357790.307270050 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.305192 ms 
mapping solver time 27.337751 ms 
mapping optimization time 123.041851 
add points time 0.799907 ms
--------------------stamp1317357790.410876989
map prepare time 3.471281 ms
map corner num 66839  surf num 24448 
points size 94354 
prepare time 15.530264 
sort q time 5.527956 
seperate points time 12.484373 
scan registration time 33.188033 ms *************
mapping data assosiation time 28.697697 ms 
publication time 10.607798 ms 
whole laserOdometry time 10.635450 ms 
 
-----t: 0.0424853
OdomCount 275 & avg odom time 0.035015 ms ++++++++++++++++++++++
mapping solver time 34.531708 ms 
--------------------stamp1317357790.514530897
mapping data assosiation time 26.152823 ms 
sort q time 5.381902 
seperate points time 11.133339 
scan registration time 29.751810 ms *************
mapping solver time 31.675573 ms 
mapping optimization time 140.122009 
add points time 0.818508 ms
map prepare time 3.450493 ms
map corner num 67534  surf num 24865 
build tree time 18.145927 ms 
mapping data assosiation time 25.292293 ms 
points size 94537 
prepare time 15.321089 
sort q time 5.287951 
seperate points time 12.310076 
publication time 8.726239 ms 
whole laserOdometry time 8.803992 ms 
-----t: 0.0423498
OdomCount 277 & avg odom time 0.035142 ms ++++++++++++++++++++++
mapping solver time 27.391020 ms 
filter time 5.009314 ms 
drop lidar frame in mapping for real time performance 
points size 94609 
prepare time 13.778865 
build tree time 15.044548 ms 
sort q time 5.390919 
seperate points time 12.486324 
scan registration time 32.671843 ms *************
mapping data assosiation time 29.357024 ms 
-----t: 0.0397703
OdomCount 278 & avg odom time 0.035158 ms ++++++++++++++++++++++
mapping solver time 26.186374 ms 
mapping data assosiation time 24.944197 ms 
--------------------stamp1317357790.825639009
points size 94868 
mapping solver time 25.564220 ms 
filter time 6.852330 ms 
sort q time 6.256416 
seperate points time 11.974104 
mapping pub time 2.249300 ms 
whole mapping time 135.070835 ms +++++
mappingCount 268 & avg mapping time 96.489525 ms ++++++++++++++++++++++
1317357790.514530897 WriteOdom aft_mapped_to_init
scan registration time 31.200679 ms *************
build tree time 14.723723 ms 
-----t: 0.0518835
OdomCount 279 & avg odom time 0.035218 ms ++++++++++++++++++++++
mapping solver time 28.463139 ms 
points size 95420 
prepare time 14.001444 
sort q time 5.599413 
seperate points time 12.006616 
publication time 6.856035 ms 
whole laserOdometry time 6.870999 ms 
 
mapping solver time 29.135491 ms 
filter time 5.376446 ms 
map prepare time 2.610427 ms
map corner num 69214  surf num 25653 
build tree time 12.733227 ms 
--------------------stamp1317357791.033166885
points size 95726 
sort q time 5.173213 
seperate points time 12.106018 
mapping solver time 25.606658 ms 
scan registration time 33.751948 ms *************
publication time 8.401437 ms 
whole laserOdometry time 8.416567 ms 
 
mapping data assosiation time 28.326470 ms 
mapping solver time 17.454935 ms 
mapping optimization time 109.296045 
add points time 0.785583 ms
map prepare time 2.290030 ms
map corner num 69687  surf num 25858 
--------------------stamp1317357791.136941909
points size 95538 
sort q time 4.922765 
seperate points time 10.942585 
scan registration time 27.849895 ms *************
mapping data assosiation time 27.527972 ms 
publication time 9.040409 ms 
whole laserOdometry time 9.052261 ms 
 
-----t: 0.0390663
OdomCount 282 & avg odom time 0.035270 ms ++++++++++++++++++++++
1317357791.136941909 WriteOdom laser_odom_to_init
1317357791.136941909 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.432673 ms 
--------------------stamp1317357791.240741014
mapping solver time 24.156005 ms 
mapping optimization time 125.688133 
points size 95590 
add points time 0.768095 ms
prepare time 12.920274 
filter time 5.315247 ms 
sort q time 5.257122 
seperate points time 12.492208 
build tree time 19.622257 ms 
publication time 12.241655 ms 
whole laserOdometry time 12.280435 ms 
 
1317357791.240741014 WriteOdom laser_odom_to_init
1317357791.240741014 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.230335 ms 
mapping solver time 23.919265 ms 
points size 95675 
mapping data assosiation time 26.053334 ms 
scan registration time 28.083298 ms *************
mapping solver time 22.545129 ms 
publication time 11.003470 ms 
whole laserOdometry time 11.020272 ms 
 
mapping optimization time 124.598514 
add points time 1.024315 ms
1317357791.136941910 WriteOdom aft_mapped_to_init
-----t: 0.05667
OdomCount 284 & avg odom time 0.035386 ms ++++++++++++++++++++++
build tree time 16.437900 ms 
mapping data assosiation time 22.605365 ms 
points size 95929 
mapping solver time 25.521424 ms 
sort q time 5.466306 
seperate points time 12.134707 
publication time 8.029856 ms 
whole laserOdometry time 8.045267 ms 
 
mapping data assosiation time 29.228056 ms 
-----t: 0.0465453
OdomCount 285 & avg odom time 0.035425 ms ++++++++++++++++++++++
1317357791.448312044 WriteOdom laser_odom_to_init
1317357791.448312044 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.097352 ms 
mapping optimization time 114.525818 
add points time 0.721696 ms
map prepare time 2.365627 ms
map corner num 71164  surf num 26358 
build tree time 13.588984 ms 
points size 95868 
mapping data assosiation time 31.252792 ms 
sort q time 5.838473 
seperate points time 13.631950 
scan registration time 36.661126 ms *************
-----t: 0.0351943
OdomCount 286 & avg odom time 0.035425 ms ++++++++++++++++++++++
1317357791.552110910 WriteOdom laser_odom_to_init
1317357791.552110910 WriteOdom aft_mapped_to_init_high_frec
publication time 8.365216 ms 
whole laserOdometry time 8.420179 ms 
 
mapping solver time 34.870291 ms 
mapping data assosiation time 23.795956 ms 
--------------------stamp1317357791.655934095
mapping solver time 24.198065 ms 
filter time 5.409080 ms 
prepare time 14.023975 
mapping pub time 2.310181 ms 
whole mapping time 140.302771 ms +++++
mappingCount 274 & avg mapping time 97.306507 ms ++++++++++++++++++++++
1317357791.448312044 WriteOdom aft_mapped_to_init
map prepare time 3.258656 ms
map corner num 71620  surf num 26546 
build tree time 18.459595 ms 
-----t: 0.0442427
OdomCount 287 & avg odom time 0.035455 ms ++++++++++++++++++++++
mapping data assosiation time 27.212078 ms 
mapping solver time 27.954496 ms 
--------------------stamp1317357791.759782075
points size 95905 
prepare time 13.544521 
mapping data assosiation time 29.154576 ms 
sort q time 6.754898 
seperate points time 12.974442 
filter time 7.229617 ms 
build tree time 16.461260 ms 
--------------------stamp1317357791.863651990
points size 96264 
sort q time 5.605115 
seperate points time 11.716405 
scan registration time 29.431795 ms *************
mapping solver time 27.880251 ms 
publication time 9.807341 ms 
whole laserOdometry time 9.824327 ms 
 
-----t: 0.0360325
OdomCount 289 & avg odom time 0.035511 ms ++++++++++++++++++++++
1317357791.863651990 WriteOdom laser_odom_to_init
1317357791.863651990 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.914306 ms 
mapping solver time 17.888347 ms 
mapping optimization time 118.080490 
add points time 0.747071 ms
filter time 5.289024 ms 
map prepare time 2.469063 ms
map corner num 72345  surf num 26825 
--------------------stamp1317357791.967559099
points size 94781 
sort q time 5.140455 
seperate points time 12.076559 
mapping data assosiation time 28.791094 ms 
-----t: 0.0394915
OdomCount 290 & avg odom time 0.035525 ms ++++++++++++++++++++++
1317357791.967559099 WriteOdom laser_odom_to_init
1317357791.967559099 WriteOdom aft_mapped_to_init_high_frec
publication time 10.742022 ms 
whole laserOdometry time 10.749749 ms 
 
mapping solver time 34.892718 ms 
mapping data assosiation time 25.214875 ms 
--------------------stamp1317357792.071502923
mapping solver time 21.559444 ms 
mapping optimization time 128.985687 
prepare time 18.397254 
mapping pub time 2.651527 ms 
whole mapping time 143.116062 ms +++++
mappingCount 277 & avg mapping time 97.753706 ms ++++++++++++++++++++++
1317357791.863651991 WriteOdom aft_mapped_to_init
sort q time 6.240326 
seperate points time 13.115092 
scan registration time 36.362964 ms *************
build tree time 26.217717 ms 
publication time 9.328093 ms 
whole laserOdometry time 9.343913 ms 
 
-----t: 0.051815
OdomCount 291 & avg odom time 0.035581 ms ++++++++++++++++++++++
1317357792.071502923 WriteOdom laser_odom_to_init
1317357792.071502923 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357792.175479888
mapping solver time 26.038133 ms 
points size 92677 
prepare time 15.379471 
sort q time 4.947289 
seperate points time 12.042686 
mapping data assosiation time 27.772537 ms 
mapping solver time 23.251757 ms 
filter time 6.494574 ms 
map prepare time 2.629007 ms
map corner num 73162  surf num 27070 
build tree time 15.184787 ms 
--------------------stamp1317357792.279493093
points size 92199 
sort q time 5.271469 
seperate points time 12.305459 
scan registration time 35.128846 ms *************
mapping solver time 34.432903 ms 
-----t: 0.0455769
OdomCount 293 & avg odom time 0.035645 ms ++++++++++++++++++++++
1317357792.279493093 WriteOdom laser_odom_to_init
1317357792.279493093 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.471888 ms 
mapping solver time 23.099586 ms 
filter time 7.883085 ms 
prepare time 16.050290 
map prepare time 3.710215 ms
map corner num 73511  surf num 27184 
sort q time 5.328860 
seperate points time 12.416053 
build tree time 20.747108 ms 
publication time 8.998900 ms 
whole laserOdometry time 9.016533 ms 
 
-----t: 0.0425678
OdomCount 294 & avg odom time 0.035669 ms ++++++++++++++++++++++
1317357792.383557081 WriteOdom laser_odom_to_init
1317357792.383557081 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.436670 ms 
mapping solver time 27.373637 ms 
--------------------stamp1317357792.487668037
points size 91507 
mapping data assosiation time 26.999237 ms 
sort q time 6.009770 
seperate points time 11.735614 
scan registration time 28.582352 ms *************
publication time 9.090013 ms 
whole laserOdometry time 9.105712 ms 
 
mapping solver time 35.375640 ms 
mapping optimization time 139.498206 
add points time 0.724160 ms
mapping pub time 2.073963 ms 
whole mapping time 151.425664 ms +++++
mappingCount 280 & avg mapping time 98.296571 ms ++++++++++++++++++++++
1317357792.279493093 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.400930 ms
map corner num 73987  surf num 27322 
build tree time 14.429059 ms 
--------------------stamp1317357792.591800928
points size 90987 
prepare time 11.888850 
sort q time 5.741151 
seperate points time 10.884684 
mapping solver time 35.885284 ms 
publication time 8.378572 ms 
whole laserOdometry time 8.398593 ms 
 
mapping data assosiation time 24.556065 ms 
mapping solver time 23.110115 ms 
filter time 5.624251 ms 
mapping pub time 9.382821 ms 
whole mapping time 142.112359 ms +++++
mappingCount 281 & avg mapping time 98.452508 ms ++++++++++++++++++++++
points size 89143 
build tree time 16.825101 ms 
scan registration time 26.584474 ms *************
publication time 10.520824 ms 
whole laserOdometry time 10.534816 ms 
 
mapping data assosiation time 27.659080 ms 
mapping solver time 27.457446 ms 
mapping data assosiation time 21.519925 ms 
--------------------stamp1317357792.800190925
points size 87961 
prepare time 12.358072 
sort q time 5.274525 
seperate points time 11.334398 
filter time 7.400469 ms 
map prepare time 3.357073 ms
map corner num 74934  surf num 27619 
-----t: 0.0426007
OdomCount 298 & avg odom time 0.035691 ms ++++++++++++++++++++++
1317357792.800190925 WriteOdom laser_odom_to_init
1317357792.800190925 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.456151 ms 
--------------------stamp1317357792.904373884
points size 86909 
sort q time 5.508265 
seperate points time 13.112764 
mapping data assosiation time 28.546687 ms 
-----t: 0.0329062
OdomCount 299 & avg odom time 0.035682 ms ++++++++++++++++++++++
1317357792.904373884 WriteOdom laser_odom_to_init
1317357792.904373884 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.219872 ms 
mapping optimization time 125.887810 
add points time 0.759430 ms
mapping pub time 2.034306 ms 
whole mapping time 137.305430 ms +++++
mappingCount 283 & avg mapping time 98.746808 ms ++++++++++++++++++++++
1317357792.695983887 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.477331 ms
map corner num 75396  surf num 27782 
build tree time 15.449416 ms 
--------------------stamp1317357793.008517026
points size 85637 
prepare time 15.312953 
sort q time 4.978558 
seperate points time 11.775987 
-----t: 0.0318776
OdomCount 300 & avg odom time 0.035669 ms ++++++++++++++++++++++
mapping solver time 32.472399 ms 
mapping solver time 21.478438 ms 
filter time 6.331971 ms 
map prepare time 2.411365 ms
map corner num 75836  surf num 27918 
sort q time 4.725266 
seperate points time 10.878471 
publication time 9.521339 ms 
whole laserOdometry time 9.538210 ms 
 
mapping data assosiation time 27.200104 ms 
mapping solver time 27.049881 ms 
--------------------stamp1317357793.216732025
mapping data assosiation time 25.374758 ms 
points size 84566 
sort q time 4.511122 
seperate points time 10.717875 
filter time 5.490355 ms 
publication time 8.356105 ms 
whole laserOdometry time 8.375566 ms 
 
build tree time 17.251881 ms 
mapping data assosiation time 23.459814 ms 
--------------------stamp1317357793.320872068
points size 84650 
mapping solver time 30.373889 ms 
prepare time 14.179973 
sort q time 4.782614 
seperate points time 11.442542 
mapping data assosiation time 27.370209 ms 
publication time 9.091827 ms 
whole laserOdometry time 9.100022 ms 
 
-----t: 0.0463013
OdomCount 303 & avg odom time 0.035689 ms ++++++++++++++++++++++
filter time 5.580793 ms 
map prepare time 2.409806 ms
map corner num 76926  surf num 28296 
build tree time 14.682827 ms 
--------------------stamp1317357793.425004959
points size 85564 
mapping data assosiation time 28.411726 ms 
sort q time 4.693684 
seperate points time 11.127692 
-----t: 0.0341362
OdomCount 304 & avg odom time 0.035684 ms ++++++++++++++++++++++
1317357793.425004959 WriteOdom laser_odom_to_init
1317357793.425004959 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.861470 ms 
mapping solver time 21.363104 ms 
--------------------stamp1317357793.529159069
filter time 6.048375 ms 
map prepare time 3.195098 ms
map corner num 77414  surf num 28448 
sort q time 4.757028 
seperate points time 11.359349 
scan registration time 29.040584 ms *************
build tree time 21.309182 ms 
-----t: 0.0317858
OdomCount 305 & avg odom time 0.035672 ms ++++++++++++++++++++++
publication time 9.555233 ms 
whole laserOdometry time 9.568272 ms 
 
mapping solver time 26.972374 ms 
--------------------stamp1317357793.633389949
points size 85668 
prepare time 14.040304 
sort q time 4.809072 
seperate points time 11.284832 
mapping solver time 26.780176 ms 
filter time 6.881433 ms 
mapping pub time 1.875099 ms 
whole mapping time 139.740217 ms +++++
mappingCount 288 & avg mapping time 99.399230 ms ++++++++++++++++++++++
1317357793.425004959 WriteOdom aft_mapped_to_init
publication time 9.153143 ms 
whole laserOdometry time 9.166978 ms 
 
-----t: 0.0517274
OdomCount 306 & avg odom time 0.035724 ms ++++++++++++++++++++++
mapping data assosiation time 22.131257 ms 
--------------------stamp1317357793.737646102
points size 85145 
sort q time 5.245429 
seperate points time 10.869719 
scan registration time 26.398327 ms *************
mapping data assosiation time 26.830679 ms 
publication time 9.218343 ms 
whole laserOdometry time 9.232337 ms 
 
-----t: 0.0301695
OdomCount 307 & avg odom time 0.035706 ms ++++++++++++++++++++++
1317357793.737646102 WriteOdom laser_odom_to_init
mapping solver time 23.670475 ms 
mapping optimization time 122.961511 
add points time 0.774865 ms
mapping pub time 1.947552 ms 
whole mapping time 134.566115 ms +++++
mappingCount 289 & avg mapping time 99.520929 ms ++++++++++++++++++++++
1317357793.529159069 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.425868 ms
map corner num 78489  surf num 28787 
build tree time 15.162934 ms 
--------------------stamp1317357793.841881036
points size 84654 
mapping data assosiation time 22.820308 ms 
prepare time 14.011735 
sort q time 4.417803 
seperate points time 10.603661 
mapping solver time 31.134643 ms 
mapping data assosiation time 22.702996 ms 
mapping solver time 26.562143 ms 
filter time 6.482672 ms 
map prepare time 2.913787 ms
map corner num 78995  surf num 28942 
points size 84764 
build tree time 17.971932 ms 
sort q time 4.469939 
seperate points time 10.427646 
scan registration time 27.480265 ms *************
publication time 7.077215 ms 
whole laserOdometry time 7.092258 ms 
 
mapping data assosiation time 24.775555 ms 
mapping solver time 25.066889 ms 
mapping data assosiation time 21.495717 ms 
--------------------stamp1317357794.050302982
points size 84530 
prepare time 11.299447 
sort q time 4.439093 
seperate points time 10.365562 
[0m[ INFO] [1718805080.935573126, 1317357794.080652469]: Received 108680 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805080.935626663, 1317357794.080652469]: Data saved to 1317357793841881.pcd[0m
mapping pub time 5.034006 ms 
whole mapping time 133.500022 ms +++++
mappingCount 291 & avg mapping time 99.748765 ms ++++++++++++++++++++++
1317357793.841881037 WriteOdom aft_mapped_to_init
-----t: 0.0375382
OdomCount 310 & avg odom time 0.035674 ms ++++++++++++++++++++++
1317357794.050302982 WriteOdom laser_odom_to_init
1317357794.050302982 WriteOdom aft_mapped_to_init_high_frec
build tree time 18.950463 ms 
mapping data assosiation time 26.813977 ms 
points size 84188 
mapping data assosiation time 27.681144 ms 
scan registration time 36.870531 ms *************
mapping solver time 24.949287 ms 
publication time 6.749475 ms 
whole laserOdometry time 6.763588 ms 
 
1317357793.946086884 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.935662 ms
map corner num 80064  surf num 29282 
build tree time 19.277150 ms 
--------------------stamp1317357794.258655071
points size 83999 
mapping data assosiation time 25.981207 ms 
sort q time 4.513434 
seperate points time 15.815306 
mapping solver time 30.699447 ms 
-----t: 0.0368181
OdomCount 312 & avg odom time 0.035734 ms ++++++++++++++++++++++
1317357794.258655071 WriteOdom laser_odom_to_init
1317357794.258655071 WriteOdom aft_mapped_to_init_high_frec
publication time 6.778196 ms 
whole laserOdometry time 6.791543 ms 
 
mapping data assosiation time 24.066780 ms 
mapping solver time 16.784295 ms 
mapping optimization time 118.309041 
add points time 0.702630 ms
map prepare time 2.326475 ms
map corner num 80590  surf num 29428 
points size 84057 
build tree time 18.782013 ms 
sort q time 4.638099 
seperate points time 11.302446 
publication time 8.523976 ms 
whole laserOdometry time 8.536044 ms 
 
mapping data assosiation time 25.487897 ms 
-----t: 0.0480209
OdomCount 313 & avg odom time 0.035773 ms ++++++++++++++++++++++
mapping solver time 27.082011 ms 
mapping data assosiation time 23.036711 ms 
points size 85554 
mapping solver time 22.965433 ms 
scan registration time 25.075813 ms *************
publication time 9.336771 ms 
whole laserOdometry time 9.354093 ms 
 
build tree time 20.340621 ms 
mapping data assosiation time 21.074099 ms 
--------------------stamp1317357794.571038007
points size 86653 
prepare time 12.061428 
mapping data assosiation time 24.541337 ms 
sort q time 4.542515 
seperate points time 10.763768 
scan registration time 26.770419 ms *************
publication time 6.275739 ms 
whole laserOdometry time 6.288407 ms 
 
filter time 5.518420 ms 
map prepare time 2.442077 ms
map corner num 81781  surf num 29900 
build tree time 15.520507 ms 
mapping data assosiation time 20.868883 ms 
--------------------stamp1317357794.675122976
points size 87273 
mapping solver time 30.808848 ms 
sort q time 4.655282 
seperate points time 11.038047 
publication time 7.702278 ms 
whole laserOdometry time 7.715903 ms 
 
-----t: 0.0317983
OdomCount 316 & avg odom time 0.035739 ms ++++++++++++++++++++++
1317357794.675122976 WriteOdom laser_odom_to_init
1317357794.675122976 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.159294 ms 
mapping solver time 15.550579 ms 
mapping optimization time 109.170262 
add points time 0.818592 ms
[0m[ INFO] [1718805081.605884321, 1317357794.749501642]: Received 112476 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805081.605953769, 1317357794.749501642]: Data saved to 1317357794466927.pcd[0m
mapping pub time 3.403492 ms 
whole mapping time 121.572183 ms +++++
mappingCount 296 & avg mapping time 100.283512 ms ++++++++++++++++++++++
1317357794.466927052 WriteOdom aft_mapped_to_init
map prepare time 2.340853 ms
map corner num 82364  surf num 30112 
build tree time 17.990271 ms 
points size 89137 
prepare time 12.173038 
sort q time 5.020725 
seperate points time 11.308184 
publication time 8.613607 ms 
whole laserOdometry time 8.624990 ms 
 
-----t: 0.0398114
OdomCount 317 & avg odom time 0.035752 ms ++++++++++++++++++++++
mapping data assosiation time 21.887761 ms 
mapping solver time 14.676512 ms 
mapping optimization time 106.205881 
add points time 0.654934 ms
map prepare time 2.270550 ms
map corner num 83047  surf num 30409 
--------------------stamp1317357794.883249044
build tree time 18.530327 ms 
sort q time 4.819966 
seperate points time 11.368557 
scan registration time 31.754480 ms *************
publication time 7.765649 ms 
whole laserOdometry time 7.778967 ms 
 
mapping solver time 30.252477 ms 
mapping data assosiation time 22.167863 ms 
--------------------stamp1317357794.987287044
points size 91741 
filter time 7.521962 ms 
sort q time 5.408116 
seperate points time 12.255269 
publication time 8.172878 ms 
whole laserOdometry time 8.185488 ms 
 
-----t: 0.0448554
OdomCount 319 & avg odom time 0.035782 ms ++++++++++++++++++++++
1317357794.987287044 WriteOdom laser_odom_to_init
1317357794.987287044 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.017358 ms 
mapping solver time 24.575955 ms 
--------------------stamp1317357795.091326951
points size 93343 
prepare time 10.365640 
mapping data assosiation time 27.510201 ms 
sort q time 4.883018 
seperate points time 10.153490 
scan registration time 28.017808 ms *************
mapping solver time 22.938435 ms 
filter time 6.899198 ms 
map prepare time 3.019024 ms
map corner num 84224  surf num 30860 
build tree time 20.867345 ms 
-----t: 0.0674335
OdomCount 320 & avg odom time 0.035881 ms ++++++++++++++++++++++
1317357795.091326951 WriteOdom laser_odom_to_init
1317357795.091326951 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.933624 ms 
points size 93189 
prepare time 10.189627 
sort q time 5.066719 
seperate points time 11.368167 
mapping solver time 39.916167 ms 
mapping data assosiation time 26.248398 ms 
-----t: 0.0600736
OdomCount 321 & avg odom time 0.035956 ms ++++++++++++++++++++++
mapping solver time 23.579231 ms 
mapping optimization time 133.925393 
add points time 0.701292 ms
mapping pub time 2.055485 ms 
whole mapping time 146.022559 ms +++++
mappingCount 300 & avg mapping time 100.726648 ms ++++++++++++++++++++++
points size 93968 
prepare time 10.190460 
sort q time 5.336402 
seperate points time 11.754045 
publication time 8.169819 ms 
whole laserOdometry time 8.184020 ms 
 
-----t: 0.0359978
OdomCount 322 & avg odom time 0.035956 ms ++++++++++++++++++++++
1317357795.299416065 WriteOdom laser_odom_to_init
1317357795.299416065 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.084898 ms 
mapping data assosiation time 19.248706 ms 
--------------------stamp1317357795.403453111
points size 95355 
prepare time 10.592824 
mapping solver time 25.073616 ms 
mapping optimization time 114.702898 
add points time 0.749597 ms
filter time 5.997274 ms 
scan registration time 26.571424 ms *************
1317357795.195365906 WriteOdom aft_mapped_to_init
map prepare time 3.175882 ms
map corner num 85379  surf num 31336 
build tree time 21.358711 ms 
--------------------stamp1317357795.507457017
mapping solver time 25.832446 ms 
prepare time 13.115974 
mapping data assosiation time 24.720036 ms 
sort q time 13.214166 
seperate points time 20.837319 
publication time 7.711610 ms 
whole laserOdometry time 7.723878 ms 
 
mapping solver time 23.654527 ms 
mapping optimization time 118.888112 
-----t: 0.0415477
OdomCount 324 & avg odom time 0.036021 ms ++++++++++++++++++++++
1317357795.507457017 WriteOdom laser_odom_to_init
1317357795.507457017 WriteOdom aft_mapped_to_init_high_frec
add points time 0.716449 ms
mapping pub time 2.250225 ms 
whole mapping time 133.031367 ms +++++
mappingCount 302 & avg mapping time 100.965448 ms ++++++++++++++++++++++
build tree time 18.459156 ms 
--------------------stamp1317357795.611473083
mapping data assosiation time 23.583657 ms 
points size 96582 
prepare time 14.208366 
scan registration time 31.428143 ms *************
mapping solver time 30.885471 ms 
publication time 8.439450 ms 
whole laserOdometry time 8.452222 ms 
 
-----t: 0.0464798
OdomCount 325 & avg odom time 0.036053 ms ++++++++++++++++++++++
1317357795.611473083 WriteOdom laser_odom_to_init
1317357795.611473083 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.665826 ms 
filter time 6.621474 ms 
map prepare time 2.224058 ms
map corner num 60597  surf num 22673 
points size 96959 
sort q time 5.668407 
seperate points time 12.984398 
mapping data assosiation time 26.542890 ms 
publication time 7.816479 ms 
whole laserOdometry time 7.828218 ms 
 
-----t: 0.0508206
OdomCount 326 & avg odom time 0.036099 ms ++++++++++++++++++++++
1317357795.715462923 WriteOdom laser_odom_to_init
1317357795.715462923 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.340664 ms 
mapping data assosiation time 22.886485 ms 
--------------------stamp1317357795.819428920
points size 96931 
prepare time 11.050766 
mapping solver time 23.148224 ms 
mapping optimization time 121.565068 
add points time 0.818829 ms
sort q time 5.608670 
seperate points time 12.447982 
publication time 7.596373 ms 
whole laserOdometry time 7.629464 ms 
 
mapping data assosiation time 19.826862 ms 
mapping solver time 23.148357 ms 
--------------------stamp1317357795.923394918
mapping data assosiation time 22.521988 ms 
points size 95790 
prepare time 10.006329 
sort q time 6.502393 
seperate points time 11.933441 
scan registration time 26.095655 ms *************
mapping optimization time 102.235117 
add points time 0.744461 ms
map prepare time 2.796843 ms
map corner num 61650  surf num 23015 
publication time 8.353432 ms 
whole laserOdometry time 8.369432 ms 
 
mapping data assosiation time 18.619512 ms 
mapping solver time 22.774626 ms 
--------------------stamp1317357796.027363061
points size 94080 
mapping data assosiation time 23.687178 ms 
scan registration time 26.249526 ms *************
mapping solver time 24.035085 ms 
mapping optimization time 104.772493 
add points time 0.710456 ms
[0m[ INFO] [1718805082.934396737, 1317357796.074957008]: Received 85291 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805082.934434497, 1317357796.074957008]: Data saved to 1317357795819428.pcd[0m
-----t: 0.0387375
OdomCount 329 & avg odom time 0.036092 ms ++++++++++++++++++++++
1317357796.027363061 WriteOdom laser_odom_to_init
mapping pub time 3.294875 ms 
whole mapping time 118.108368 ms +++++
mappingCount 306 & avg mapping time 101.264182 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
1317357795.819428921 WriteOdom aft_mapped_to_init
1317357796.027363061 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.323077 ms
map corner num 62135  surf num 23156 
build tree time 12.802420 ms 
mapping data assosiation time 19.590643 ms 
--------------------stamp1317357796.131330966
mapping solver time 20.431955 ms 
sort q time 6.385894 
seperate points time 11.578147 
mapping data assosiation time 23.983878 ms 
publication time 8.572739 ms 
whole laserOdometry time 8.602352 ms 
 
add points time 0.698358 ms
-----t: 0.0406915
OdomCount 330 & avg odom time 0.036106 ms ++++++++++++++++++++++
map prepare time 2.349083 ms
map corner num 62609  surf num 23275 
build tree time 12.665908 ms 
--------------------stamp1317357796.235272884
points size 94741 
mapping solver time 29.520287 ms 
scan registration time 31.528794 ms *************
mapping data assosiation time 24.692972 ms 
-----t: 0.032193
OdomCount 331 & avg odom time 0.036094 ms ++++++++++++++++++++++
filter time 4.714536 ms 
map prepare time 2.073567 ms
map corner num 63140  surf num 23464 
build tree time 13.775499 ms 
points size 95440 
mapping data assosiation time 25.046889 ms 
sort q time 6.066717 
seperate points time 12.113376 
publication time 9.124864 ms 
whole laserOdometry time 9.138920 ms 
 
mapping data assosiation time 21.151311 ms 
mapping solver time 19.972041 ms 
-----t: 0.0734854
OdomCount 332 & avg odom time 0.036207 ms ++++++++++++++++++++++
filter time 5.179483 ms 
1317357796.339225053 WriteOdom laser_odom_to_init
1317357796.339225053 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.218684 ms 
whole mapping time 116.112993 ms +++++
mappingCount 309 & avg mapping time 101.408674 ms ++++++++++++++++++++++
1317357796.235272884 WriteOdom aft_mapped_to_init
points size 96047 
build tree time 13.791029 ms 
prepare time 11.127862 
sort q time 5.683270 
seperate points time 12.924936 
mapping data assosiation time 22.599162 ms 
publication time 8.127123 ms 
whole laserOdometry time 8.140682 ms 
 
-----t: 0.045064
OdomCount 333 & avg odom time 0.036233 ms ++++++++++++++++++++++
mapping data assosiation time 20.644935 ms 
--------------------stamp1317357796.547154903
mapping optimization time 112.728671 
mapping pub time 2.345712 ms 
whole mapping time 123.090435 ms +++++
mappingCount 310 & avg mapping time 101.478626 ms ++++++++++++++++++++++
1317357796.339225054 WriteOdom aft_mapped_to_init
sort q time 5.755038 
seperate points time 12.434867 
scan registration time 27.118185 ms *************
build tree time 17.279509 ms 
-----t: 0.0328251
OdomCount 334 & avg odom time 0.036223 ms ++++++++++++++++++++++
mapping data assosiation time 23.076305 ms 
mapping solver time 22.897426 ms 
--------------------stamp1317357796.651119947
points size 96458 
prepare time 10.873214 
sort q time 5.534758 
seperate points time 11.683538 
filter time 6.513236 ms 
map prepare time 2.853863 ms
publication time 7.948762 ms 
whole laserOdometry time 7.989823 ms 
 
map corner num 64618  surf num 24004 
-----t: 0.0373035
OdomCount 335 & avg odom time 0.036226 ms ++++++++++++++++++++++
mapping data assosiation time 20.417412 ms 
mapping solver time 23.693267 ms 
points size 95172 
prepare time 10.191714 
mapping solver time 22.758482 ms 
publication time 7.649584 ms 
whole laserOdometry time 7.662812 ms 
 
mapping optimization time 108.599044 
add points time 1.059208 ms
map prepare time 2.183785 ms
map corner num 65090  surf num 24208 
build tree time 14.222707 ms 
-----t: 0.0604806
OdomCount 336 & avg odom time 0.036298 ms ++++++++++++++++++++++
mapping data assosiation time 21.244779 ms 
--------------------stamp1317357796.859072923
points size 93763 
prepare time 12.373426 
sort q time 5.401818 
seperate points time 20.301682 
-----t: 0.0448551
OdomCount 337 & avg odom time 0.036324 ms ++++++++++++++++++++++
mapping optimization time 107.360060 
filter time 6.218041 ms 
mapping pub time 2.284710 ms 
whole mapping time 118.813134 ms +++++
mappingCount 313 & avg mapping time 101.668825 ms ++++++++++++++++++++++
1317357796.651119947 WriteOdom aft_mapped_to_init
build tree time 14.147646 ms 
--------------------stamp1317357796.963066101
mapping data assosiation time 21.367231 ms 
sort q time 6.605512 
seperate points time 12.031259 
mapping solver time 29.073885 ms 
-----t: 0.0407422
OdomCount 338 & avg odom time 0.036337 ms ++++++++++++++++++++++
mapping data assosiation time 21.893919 ms 
mapping solver time 23.027184 ms 
filter time 4.569616 ms 
map prepare time 2.005288 ms
map corner num 66102  surf num 24620 
--------------------stamp1317357797.067063093
build tree time 15.175818 ms 
sort q time 5.128965 
seperate points time 11.791827 
publication time 7.142865 ms 
whole laserOdometry time 7.158956 ms 
 
mapping solver time 26.176509 ms 
mapping data assosiation time 19.097171 ms 
mapping solver time 18.636167 ms 
filter time 5.070159 ms 
points size 95554 
prepare time 12.927470 
build tree time 16.538512 ms 
scan registration time 29.303032 ms *************
mapping data assosiation time 22.168880 ms 
publication time 5.667813 ms 
whole laserOdometry time 5.678450 ms 
 
-----t: 0.0569134
OdomCount 340 & avg odom time 0.036431 ms ++++++++++++++++++++++
1317357797.171072006 WriteOdom laser_odom_to_init
1317357797.171072006 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.490078 ms 
mapping data assosiation time 17.262105 ms 
--------------------stamp1317357797.275054931
mapping solver time 19.449058 ms 
mapping optimization time 104.199682 
add points time 0.725070 ms
points size 96182 
filter time 6.961694 ms 
sort q time 5.270912 
seperate points time 12.766193 
build tree time 18.169396 ms 
publication time 7.610742 ms 
whole laserOdometry time 7.624516 ms 
 
mapping data assosiation time 22.799931 ms 
mapping solver time 21.905357 ms 
--------------------stamp1317357797.379026889
points size 96075 
prepare time 13.397282 
sort q time 5.514299 
seperate points time 12.123690 
map prepare time 2.759907 ms
map corner num 67344  surf num 25074 
publication time 7.512637 ms 
whole laserOdometry time 7.525586 ms 
 
1317357797.379026889 WriteOdom laser_odom_to_init
1317357797.379026889 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.184996 ms 
mapping solver time 23.575669 ms 
--------------------stamp1317357797.482997894
points size 95286 
prepare time 10.262012 
sort q time 6.063401 
seperate points time 11.264943 
mapping solver time 24.176216 ms 
filter time 6.977506 ms 
mapping pub time 2.218677 ms 
whole mapping time 121.782580 ms +++++
mappingCount 318 & avg mapping time 101.915483 ms ++++++++++++++++++++++
1317357797.275054932 WriteOdom aft_mapped_to_init
-----t: 0.0535694
OdomCount 343 & avg odom time 0.036543 ms ++++++++++++++++++++++
mapping data assosiation time 19.800757 ms 
--------------------stamp1317357797.586985111
points size 94992 
sort q time 5.429778 
seperate points time 12.031098 
scan registration time 26.757438 ms *************
publication time 8.335742 ms 
whole laserOdometry time 8.348493 ms 
 
-----t: 0.0411369
OdomCount 344 & avg odom time 0.036556 ms ++++++++++++++++++++++
1317357797.586985111 WriteOdom laser_odom_to_init
1317357797.586985111 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.448861 ms 
mapping optimization time 106.087709 
add points time 0.916615 ms
mapping pub time 2.189242 ms 
whole mapping time 117.023042 ms +++++
mappingCount 319 & avg mapping time 101.962851 ms ++++++++++++++++++++++
1317357797.379026890 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 13.419788 ms 
--------------------stamp1317357797.690960884
points size 95405 
prepare time 14.841907 
sort q time 5.591052 
seperate points time 12.553778 
mapping solver time 26.610773 ms 
scan registration time 33.472722 ms *************
-----t: 0.0340205
OdomCount 345 & avg odom time 0.036549 ms ++++++++++++++++++++++
mapping data assosiation time 25.980401 ms 
mapping solver time 19.218136 ms 
filter time 5.224421 ms 
mapping pub time 2.137765 ms 
whole mapping time 119.666775 ms +++++
mappingCount 320 & avg mapping time 102.018188 ms ++++++++++++++++++++++
1317357797.482997894 WriteOdom aft_mapped_to_init
build tree time 14.475764 ms 
points size 96167 
mapping data assosiation time 23.621527 ms 
scan registration time 29.798320 ms *************
publication time 7.453476 ms 
whole laserOdometry time 7.485603 ms 
 
mapping solver time 29.267275 ms 
mapping data assosiation time 20.442493 ms 
mapping solver time 15.162263 ms 
mapping optimization time 104.112249 
add points time 0.875796 ms
1317357797.690960884 WriteOdom aft_mapped_to_init
points size 95710 
prepare time 13.107240 
sort q time 5.221013 
seperate points time 12.015148 
publication time 7.904629 ms 
whole laserOdometry time 7.917236 ms 
 
-----t: 0.036947
OdomCount 347 & avg odom time 0.036557 ms ++++++++++++++++++++++
mapping solver time 24.696193 ms 
mapping data assosiation time 23.030609 ms 
points size 95676 
prepare time 10.263588 
sort q time 5.074441 
seperate points time 11.697480 
map prepare time 3.044157 ms
map corner num 69859  surf num 26259 
publication time 9.851495 ms 
whole laserOdometry time 9.887011 ms 
 
build tree time 17.353725 ms 
mapping data assosiation time 19.695752 ms 
mapping solver time 25.354038 ms 
points size 95380 
mapping data assosiation time 24.474720 ms 
scan registration time 26.273359 ms *************
mapping solver time 18.259415 ms 
mapping optimization time 106.591726 
add points time 0.961244 ms
mapping pub time 2.442249 ms 
whole mapping time 119.985533 ms +++++
mappingCount 323 & avg mapping time 102.219773 ms ++++++++++++++++++++++
1317357797.898840904 WriteOdom aft_mapped_to_init
publication time 9.897293 ms 
whole laserOdometry time 9.915326 ms 
 
drop lidar frame in mapping for real time performance 
-----t: 0.0467375
OdomCount 349 & avg odom time 0.036582 ms ++++++++++++++++++++++
1317357798.106720924 WriteOdom laser_odom_to_init
1317357798.106720924 WriteOdom aft_mapped_to_init_high_frec
build tree time 17.075964 ms 
mapping data assosiation time 21.395879 ms 
--------------------stamp1317357798.210640907
points size 95541 
prepare time 11.492313 
sort q time 5.448859 
seperate points time 12.125577 
mapping data assosiation time 25.104368 ms 
publication time 8.109919 ms 
whole laserOdometry time 8.125153 ms 
 
mapping solver time 19.112858 ms 
mapping optimization time 111.900678 
add points time 0.888524 ms
map prepare time 2.281203 ms
map corner num 70777  surf num 26600 
build tree time 15.286145 ms 
points size 95702 
sort q time 7.481374 
seperate points time 14.530931 
mapping solver time 31.148722 ms 
publication time 6.816371 ms 
whole laserOdometry time 6.831852 ms 
 
-----t: 0.0486225
OdomCount 351 & avg odom time 0.036609 ms ++++++++++++++++++++++
mapping solver time 20.849710 ms 
filter time 5.263763 ms 
map prepare time 3.747791 ms
map corner num 71372  surf num 26869 
points size 95716 
build tree time 18.766396 ms 
sort q time 4.961667 
seperate points time 10.914926 
scan registration time 26.726896 ms *************
publication time 8.327783 ms 
whole laserOdometry time 8.342802 ms 
 
mapping data assosiation time 26.983818 ms 
-----t: 0.0420942
OdomCount 352 & avg odom time 0.036625 ms ++++++++++++++++++++++
1317357798.418453931 WriteOdom laser_odom_to_init
1317357798.418453931 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.629444 ms 
mapping data assosiation time 21.993636 ms 
points size 95632 
prepare time 13.022614 
sort q time 5.631940 
seperate points time 11.061786 
map prepare time 2.868257 ms
map corner num 71935  surf num 27133 
publication time 8.132929 ms 
whole laserOdometry time 8.147201 ms 
 
-----t: 0.0536915
OdomCount 353 & avg odom time 0.036673 ms ++++++++++++++++++++++
mapping data assosiation time 25.067616 ms 
--------------------stamp1317357798.626267910
prepare time 16.003766 
sort q time 5.635594 
seperate points time 12.926604 
publication time 8.471975 ms 
whole laserOdometry time 8.489990 ms 
 
mapping solver time 27.703521 ms 
filter time 6.814985 ms 
map prepare time 2.740630 ms
map corner num 72442  surf num 27335 
build tree time 15.516781 ms 
--------------------stamp1317357798.730187892
points size 95651 
mapping data assosiation time 24.745865 ms 
prepare time 14.236333 
sort q time 5.337384 
seperate points time 12.217489 
mapping solver time 33.843836 ms 
-----t: 0.0418508
OdomCount 355 & avg odom time 0.036714 ms ++++++++++++++++++++++
mapping data assosiation time 23.429246 ms 
mapping solver time 16.660743 ms 
filter time 5.563922 ms 
map prepare time 2.411575 ms
map corner num 72849  surf num 27535 
points size 95905 
sort q time 6.107909 
seperate points time 12.039678 
scan registration time 30.584300 ms *************
mapping data assosiation time 27.405253 ms 
-----t: 0.0427999
OdomCount 356 & avg odom time 0.036731 ms ++++++++++++++++++++++
1317357798.834106922 WriteOdom laser_odom_to_init
1317357798.834106922 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 33.604252 ms 
mapping data assosiation time 22.901350 ms 
points size 96420 
mapping solver time 25.612671 ms 
mapping optimization time 128.438739 
add points time 0.801778 ms
sort q time 5.060192 
seperate points time 11.061541 
map prepare time 2.494709 ms
map corner num 73380  surf num 27752 
publication time 9.673491 ms 
whole laserOdometry time 9.683165 ms 
 
-----t: 0.0345989
OdomCount 357 & avg odom time 0.036725 ms ++++++++++++++++++++++
build tree time 16.849126 ms 
1317357798.938024997 WriteOdom laser_odom_to_init
1317357798.938024997 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.621726 ms 
mapping solver time 23.073661 ms 
points size 97460 
prepare time 12.626666 
mapping data assosiation time 25.273980 ms 
sort q time 5.990217 
seperate points time 12.255049 
mapping solver time 21.582539 ms 
publication time 7.577440 ms 
whole laserOdometry time 7.638141 ms 
 
filter time 5.638292 ms 
map prepare time 2.489177 ms
map corner num 73806  surf num 27934 
build tree time 17.971380 ms 
mapping data assosiation time 23.469317 ms 
points size 98626 
sort q time 5.957209 
seperate points time 12.513124 
mapping solver time 32.476269 ms 
scan registration time 31.428717 ms *************
publication time 7.802659 ms 
whole laserOdometry time 7.819207 ms 
 
-----t: 0.0395079
OdomCount 359 & avg odom time 0.036732 ms ++++++++++++++++++++++
mapping solver time 18.072246 ms 
filter time 5.787323 ms 
[0m[ INFO] [1718805086.089017365, 1317357799.227851885]: Received 102438 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805086.089075791, 1317357799.227851885]: Data saved to 1317357798938024.pcd[0m
mapping pub time 3.506190 ms 
whole mapping time 135.325855 ms +++++
mappingCount 331 & avg mapping time 102.953053 ms ++++++++++++++++++++++
1317357798.938024998 WriteOdom aft_mapped_to_init
--------------------stamp1317357799.249754905
points size 100021 
prepare time 14.297420 
sort q time 6.037547 
seperate points time 13.288412 
mapping data assosiation time 28.802902 ms 
publication time 14.138424 ms 
whole laserOdometry time 14.152359 ms 
 
-----t: 0.0473736
OdomCount 360 & avg odom time 0.036761 ms ++++++++++++++++++++++
1317357799.249754905 WriteOdom laser_odom_to_init
1317357799.249754905 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.116451 ms 
mapping data assosiation time 27.642844 ms 
--------------------stamp1317357799.353626012
points size 101216 
filter time 6.814263 ms 
scan registration time 31.453091 ms *************
build tree time 20.663481 ms 
-----t: 0.0443282
OdomCount 361 & avg odom time 0.036782 ms ++++++++++++++++++++++
1317357799.353626012 WriteOdom laser_odom_to_init
1317357799.353626012 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.994843 ms 
mapping solver time 26.100480 ms 
points size 102108 
prepare time 16.418636 
mapping data assosiation time 29.793466 ms 
mapping solver time 16.836526 ms 
filter time 7.680193 ms 
publication time 8.973382 ms 
whole laserOdometry time 8.987608 ms 
 
mapping pub time 2.775685 ms 
whole mapping time 135.880876 ms +++++
mappingCount 333 & avg mapping time 103.161240 ms ++++++++++++++++++++++
1317357799.249754906 WriteOdom aft_mapped_to_init
-----t: 0.0522075
OdomCount 362 & avg odom time 0.036825 ms ++++++++++++++++++++++
1317357799.457499027 WriteOdom laser_odom_to_init
1317357799.457499027 WriteOdom aft_mapped_to_init_high_frec
build tree time 17.649613 ms 
--------------------stamp1317357799.561346054
points size 102750 
sort q time 5.901953 
seperate points time 12.017353 
scan registration time 30.474005 ms *************
mapping solver time 29.213112 ms 
publication time 8.661894 ms 
whole laserOdometry time 8.675602 ms 
 
mapping data assosiation time 28.609669 ms 
mapping solver time 13.946495 ms 
filter time 5.545914 ms 
map prepare time 2.582363 ms
map corner num 75546  surf num 28717 
--------------------stamp1317357799.665175914
points size 103030 
mapping data assosiation time 26.737315 ms 
sort q time 5.909357 
seperate points time 14.504897 
publication time 9.725291 ms 
whole laserOdometry time 9.742723 ms 
 
mapping solver time 36.556015 ms 
mapping data assosiation time 23.368801 ms 
--------------------stamp1317357799.768974065
add points time 0.942912 ms
mapping pub time 2.418022 ms 
whole mapping time 136.083730 ms +++++
mappingCount 335 & avg mapping time 103.335751 ms ++++++++++++++++++++++
sort q time 5.977774 
seperate points time 13.740562 
build tree time 18.854313 ms 
publication time 17.965416 ms 
whole laserOdometry time 18.042599 ms 
 
-----t: 0.0451135
OdomCount 365 & avg odom time 0.036887 ms ++++++++++++++++++++++
1317357799.768974065 WriteOdom laser_odom_to_init
1317357799.768974065 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 32.589562 ms 
mapping solver time 23.816224 ms 
points size 103151 
prepare time 13.366606 
mapping data assosiation time 28.029801 ms 
scan registration time 31.328528 ms *************
publication time 7.293529 ms 
whole laserOdometry time 7.301264 ms 
 
mapping solver time 23.954498 ms 
mapping optimization time 129.226634 
add points time 1.077347 ms
-----t: 0.0378496
OdomCount 366 & avg odom time 0.036890 ms ++++++++++++++++++++++
1317357799.872764110 WriteOdom laser_odom_to_init
1317357799.872764110 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718805086.785877024, 1317357799.926318043]: Received 105567 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805086.785931554, 1317357799.926318043]: Data saved to 1317357799665175.pcd[0m
mapping pub time 3.579753 ms 
whole mapping time 143.574822 ms +++++
mappingCount 336 & avg mapping time 103.455521 ms ++++++++++++++++++++++
1317357799.665175915 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 14.995662 ms 
--------------------stamp1317357799.976543903
points size 103062 
sort q time 5.860316 
seperate points time 13.498534 
mapping solver time 36.937455 ms 
publication time 9.977489 ms 
whole laserOdometry time 9.990812 ms 
 
-----t: 0.0475262
OdomCount 367 & avg odom time 0.036919 ms ++++++++++++++++++++++
1317357799.976543903 WriteOdom laser_odom_to_init
1317357799.976543903 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.459067 ms 
mapping solver time 19.250865 ms 
filter time 6.731979 ms 
--------------------stamp1317357800.080296039
points size 103099 
sort q time 7.080545 
seperate points time 14.250798 
mapping data assosiation time 28.887385 ms 
-----t: 0.0492895
OdomCount 368 & avg odom time 0.036952 ms ++++++++++++++++++++++
mapping data assosiation time 23.025989 ms 
points size 102996 
mapping solver time 21.237248 ms 
filter time 7.668666 ms 
sort q time 6.058442 
seperate points time 13.831581 
mapping pub time 2.347230 ms 
whole mapping time 137.243257 ms +++++
mappingCount 338 & avg mapping time 103.660551 ms ++++++++++++++++++++++
1317357799.976543903 WriteOdom aft_mapped_to_init
scan registration time 32.130934 ms *************
publication time 10.080385 ms 
whole laserOdometry time 10.093560 ms 
 
mapping data assosiation time 24.555925 ms 
--------------------stamp1317357800.287847042
mapping solver time 31.339341 ms 
sort q time 5.456606 
seperate points time 11.639812 
mapping data assosiation time 29.303456 ms 
publication time 9.345494 ms 
whole laserOdometry time 9.360650 ms 
 
-----t: 0.0424809
OdomCount 370 & avg odom time 0.036992 ms ++++++++++++++++++++++
1317357800.287847042 WriteOdom laser_odom_to_init
1317357800.287847042 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 33.313002 ms 
mapping optimization time 139.852262 
add points time 0.917595 ms
drop lidar frame in mapping for real time performance 
map prepare time 3.683888 ms
map corner num 77538  surf num 29679 
--------------------stamp1317357800.391616106
points size 103001 
sort q time 6.893235 
seperate points time 16.687789 
mapping solver time 29.154697 ms 
-----t: 0.0525453
OdomCount 371 & avg odom time 0.037034 ms ++++++++++++++++++++++
1317357800.391616106 WriteOdom laser_odom_to_init
1317357800.391616106 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.386849 ms 
points size 103064 
mapping solver time 28.518959 ms 
scan registration time 29.730897 ms *************
map prepare time 3.351860 ms
map corner num 77899  surf num 29871 
build tree time 19.700393 ms 
mapping data assosiation time 27.641780 ms 
--------------------stamp1317357800.599143981
points size 103110 
prepare time 14.398005 
sort q time 6.684849 
seperate points time 13.241176 
mapping data assosiation time 29.832463 ms 
mapping solver time 32.788706 ms 
mapping optimization time 145.715362 
add points time 0.782635 ms
mapping pub time 7.461382 ms 
whole mapping time 162.920679 ms +++++
mappingCount 341 & avg mapping time 104.136455 ms ++++++++++++++++++++++
--------------------stamp1317357800.702893018
sort q time 6.237253 
seperate points time 15.114986 
publication time 10.788674 ms 
whole laserOdometry time 10.802744 ms 
 
-----t: 0.0525658
OdomCount 374 & avg odom time 0.037189 ms ++++++++++++++++++++++
mapping data assosiation time 24.697327 ms 
points size 103192 
prepare time 15.050829 
scan registration time 34.330250 ms *************
map prepare time 3.733118 ms
map corner num 78701  surf num 30234 
build tree time 17.377068 ms 
publication time 14.720734 ms 
whole laserOdometry time 14.743996 ms 
 
-----t: 0.0528418
OdomCount 375 & avg odom time 0.037231 ms ++++++++++++++++++++++
1317357800.806643009 WriteOdom laser_odom_to_init
1317357800.806643009 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.742954 ms 
--------------------stamp1317357800.910392045
points size 103273 
mapping solver time 32.114871 ms 
prepare time 13.308072 
sort q time 6.002678 
seperate points time 13.863043 
scan registration time 32.465276 ms *************
publication time 9.945092 ms 
whole laserOdometry time 9.959741 ms 
 
mapping solver time 24.096593 ms 
filter time 6.782969 ms 
map prepare time 2.813751 ms
map corner num 79097  surf num 30412 
build tree time 16.623731 ms 
--------------------stamp1317357801.014142036
points size 103225 
mapping data assosiation time 28.548647 ms 
sort q time 6.028479 
seperate points time 14.489164 
mapping solver time 22.780321 ms 
publication time 10.572725 ms 
whole laserOdometry time 10.588496 ms 
 
-----t: 0.0421678
OdomCount 377 & avg odom time 0.037268 ms ++++++++++++++++++++++
1317357801.014142036 WriteOdom laser_odom_to_init
1317357801.014142036 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.176031 ms 
mapping solver time 12.729114 ms 
mapping optimization time 109.546415 
add points time 0.906652 ms
--------------------stamp1317357801.117892026
points size 103209 
build tree time 22.810610 ms 
sort q time 6.166078 
seperate points time 12.455198 
publication time 8.862403 ms 
whole laserOdometry time 8.877408 ms 
 
mapping data assosiation time 29.144678 ms 
-----t: 0.0451335
OdomCount 378 & avg odom time 0.037288 ms ++++++++++++++++++++++
1317357801.117892026 WriteOdom laser_odom_to_init
1317357801.117892026 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 34.100581 ms 
--------------------stamp1317357801.221666097
points size 103110 
sort q time 5.503143 
seperate points time 12.020081 
scan registration time 31.579738 ms *************
mapping solver time 29.013236 ms 
mapping optimization time 142.068854 
add points time 0.928881 ms
filter time 7.895847 ms 
publication time 8.873239 ms 
whole laserOdometry time 8.888384 ms 
 
build tree time 17.578726 ms 
mapping data assosiation time 24.135619 ms 
--------------------stamp1317357801.325465917
points size 103130 
sort q time 5.733637 
seperate points time 13.645513 
publication time 8.602437 ms 1317357801.325465917 WriteOdom laser_odom_to_init
1317357801.325465917 WriteOdom aft_mapped_to_init_high_frec
filter time 5.799030 ms 
drop lidar frame in mapping for real time performance 
map prepare time 2.669819 ms
map corner num 80132  surf num 30851 
--------------------stamp1317357801.429313898
points size 103065 
sort q time 6.852930 
seperate points time 16.463860 
mapping data assosiation time 31.277953 ms 
scan registration time 37.509515 ms *************
publication time 12.932535 ms 
whole laserOdometry time 12.944982 ms 
 
mapping solver time 30.802398 ms 
-----t: 0.0460774
OdomCount 381 & avg odom time 0.037338 ms ++++++++++++++++++++++
1317357801.429313898 WriteOdom laser_odom_to_init
1317357801.429313898 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.879907 ms 
--------------------stamp1317357801.533207893
mapping solver time 21.227651 ms 
points size 102973 
mapping optimization time 130.521106 
add points time 0.869456 ms
prepare time 12.161619 
map prepare time 2.513851 ms
map corner num 80463  surf num 30962 
sort q time 6.047315 
seperate points time 14.159270 
scan registration time 31.033550 ms *************
build tree time 18.057169 ms 
publication time 12.454554 ms 
whole laserOdometry time 12.466420 ms 
 
-----t: 0.0508614
OdomCount 382 & avg odom time 0.037373 ms ++++++++++++++++++++++
mapping data assosiation time 29.045133 ms 
mapping solver time 25.360190 ms 
points size 102865 
prepare time 16.302860 
mapping data assosiation time 27.208974 ms 
scan registration time 33.015291 ms *************
mapping solver time 24.596305 ms 
filter time 6.992295 ms 
map prepare time 2.582498 ms
map corner num 80923  surf num 31176 
-----t: 0.0580647
OdomCount 383 & avg odom time 0.037427 ms ++++++++++++++++++++++
1317357801.637125968 WriteOdom laser_odom_to_init
1317357801.637125968 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357801.741045951
points size 102771 
mapping solver time 33.994762 ms 
-----t: 0.0436777
OdomCount 384 & avg odom time 0.037444 ms ++++++++++++++++++++++
mapping solver time 19.245104 ms 
mapping optimization time 129.694543 
add points time 0.971105 ms
map prepare time 3.041273 ms
map corner num 81335  surf num 31335 
points size 100562 
build tree time 21.397627 ms 
scan registration time 30.458907 ms *************
publication time 8.049802 ms 
whole laserOdometry time 8.062815 ms 
 
-----t: 0.0462478
OdomCount 385 & avg odom time 0.037467 ms ++++++++++++++++++++++
mapping solver time 32.027806 ms 
mapping data assosiation time 24.431684 ms 
prepare time 12.463637 
mapping solver time 20.594571 ms 
filter time 6.975023 ms 
map prepare time 2.616431 ms
map corner num 81828  surf num 31529 
-----t: 0.0358755
OdomCount 386 & avg odom time 0.037462 ms ++++++++++++++++++++++
1317357801.948882102 WriteOdom laser_odom_to_init
1317357801.948882102 WriteOdom aft_mapped_to_init_high_frec
publication time 10.310199 ms 
whole laserOdometry time 10.319942 ms 
 
build tree time 20.501606 ms 
mapping data assosiation time 23.760312 ms 
--------------------stamp1317357802.052824974
mapping solver time 25.096555 ms 
points size 98308 
sort q time 5.336747 
seperate points time 12.832271 
scan registration time 32.959713 ms *************
publication time 8.053588 ms 
whole laserOdometry time 8.069991 ms 
 
mapping solver time 20.472741 ms 
mapping optimization time 120.025680 
add points time 0.856971 ms
drop lidar frame in mapping for real time performance 
build tree time 18.235617 ms 
--------------------stamp1317357802.156769037
points size 98148 
sort q time 5.747801 
seperate points time 15.550153 
mapping solver time 28.618589 ms 
publication time 17.135134 ms 
whole laserOdometry time 17.147066 ms 
 
-----t: 0.0523847
OdomCount 388 & avg odom time 0.037499 ms ++++++++++++++++++++++
mapping data assosiation time 28.044738 ms 
mapping solver time 19.513672 ms 
filter time 6.670197 ms 
points size 98019 
map prepare time 2.483866 ms
map corner num 82726  surf num 31840 
prepare time 13.412378 
sort q time 5.639904 
seperate points time 12.411983 
publication time 7.934167 ms 
whole laserOdometry time 7.960037 ms 
 
mapping data assosiation time 26.406188 ms 
-----t: 0.0405601
OdomCount 389 & avg odom time 0.037507 ms ++++++++++++++++++++++
1317357802.260688066 WriteOdom laser_odom_to_init
1317357802.260688066 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.424315 ms 
--------------------stamp1317357802.364604949
points size 97644 
mapping data assosiation time 27.292804 ms 
prepare time 14.100784 
sort q time 5.560281 
seperate points time 25.467599 
map prepare time 2.352271 ms
map corner num 83296  surf num 32031 
-----t: 0.044555
OdomCount 390 & avg odom time 0.037525 ms ++++++++++++++++++++++
build tree time 20.852807 ms 
mapping data assosiation time 22.160080 ms 
sort q time 5.445873 
seperate points time 11.434139 
mapping solver time 35.113189 ms 
scan registration time 29.221144 ms *************
mapping data assosiation time 33.443482 ms 
mapping solver time 21.587057 ms 
-----t: 0.0722764
OdomCount 391 & avg odom time 0.037614 ms ++++++++++++++++++++++
1317357802.468549013 WriteOdom laser_odom_to_init
1317357802.468549013 WriteOdom aft_mapped_to_init_high_frec
filter time 7.908850 ms 
mapping pub time 2.597126 ms 
whole mapping time 148.678346 ms +++++
mappingCount 354 & avg mapping time 105.485397 ms ++++++++++++++++++++++
1317357802.260688066 WriteOdom aft_mapped_to_init
--------------------stamp1317357802.572515964
points size 93492 
sort q time 5.128726 
seperate points time 11.705205 
scan registration time 29.300658 ms *************
mapping data assosiation time 27.133667 ms 
-----t: 0.0353882
OdomCount 392 & avg odom time 0.037608 ms ++++++++++++++++++++++
1317357802.572515964 WriteOdom laser_odom_to_init
1317357802.572515964 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.687989 ms 
mapping data assosiation time 22.903875 ms 
--------------------stamp1317357802.676481962
points size 90617 
filter time 5.815047 ms 
map prepare time 2.934119 ms
map corner num 84270  surf num 32328 
scan registration time 27.599009 ms *************
publication time 6.842452 ms 
whole laserOdometry time 6.858535 ms 
 
build tree time 21.425776 ms 
-----t: 0.0417754
OdomCount 393 & avg odom time 0.037619 ms ++++++++++++++++++++++
1317357802.676481962 WriteOdom laser_odom_to_init
1317357802.676481962 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.658158 ms 
mapping solver time 26.021463 ms 
--------------------stamp1317357802.780472993
points size 88906 
mapping data assosiation time 26.056368 ms 
sort q time 5.123588 
seperate points time 10.324198 
scan registration time 24.308955 ms *************
publication time 6.801051 ms 
whole laserOdometry time 6.814954 ms 
 
mapping solver time 27.973670 ms 
filter time 6.554864 ms 
drop lidar frame in mapping for real time performance 
map prepare time 2.377114 ms
map corner num 84800  surf num 32538 
build tree time 18.298485 ms 
mapping data assosiation time 21.224300 ms 
points size 85761 
sort q time 4.797651 
seperate points time 10.659531 
mapping solver time 29.269026 ms 
publication time 8.809753 ms 
whole laserOdometry time 8.826180 ms 
 
-----t: 0.0350216
OdomCount 395 & avg odom time 0.037600 ms ++++++++++++++++++++++
1317357802.884464025 WriteOdom laser_odom_to_init
1317357802.884464025 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.362013 ms 
filter time 7.159821 ms 
mapping pub time 2.123848 ms 
whole mapping time 130.863942 ms +++++
mappingCount 357 & avg mapping time 105.721759 ms ++++++++++++++++++++++
1317357802.676481962 WriteOdom aft_mapped_to_init
--------------------stamp1317357802.988429069
build tree time 19.641474 ms 
sort q time 4.667419 
seperate points time 10.169452 
publication time 8.809727 ms 
whole laserOdometry time 8.823288 ms 
 
-----t: 0.032169
OdomCount 396 & avg odom time 0.037586 ms ++++++++++++++++++++++
mapping solver time 29.373796 ms 
mapping data assosiation time 19.859705 ms 
mapping solver time 21.021409 ms 
filter time 6.305561 ms 
mapping pub time 1.891626 ms 
whole mapping time 127.749033 ms +++++
mappingCount 358 & avg mapping time 105.783298 ms ++++++++++++++++++++++
1317357802.884464025 WriteOdom aft_mapped_to_init
points size 82821 
sort q time 4.837385 
seperate points time 10.655777 
publication time 5.871656 ms 
whole laserOdometry time 5.882357 ms 
 
-----t: 0.0399564
OdomCount 397 & avg odom time 0.037592 ms ++++++++++++++++++++++
1317357803.092396020 WriteOdom laser_odom_to_init
1317357803.092396020 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.255691 ms 
mapping solver time 20.694451 ms 
mapping data assosiation time 20.284889 ms 
points size 82847 
mapping solver time 22.961042 ms 
filter time 7.856080 ms 
-----t: 0.030285
OdomCount 398 & avg odom time 0.037574 ms ++++++++++++++++++++++
1317357803.196362972 WriteOdom laser_odom_to_init
1317357803.196362972 WriteOdom aft_mapped_to_init_high_frec
publication time 6.487543 ms 
whole laserOdometry time 6.493900 ms 
 
build tree time 19.909073 ms 
mapping data assosiation time 18.575551 ms 
mapping solver time 20.142713 ms 
--------------------stamp1317357803.300304889
points size 83083 
prepare time 11.861206 
mapping data assosiation time 22.615580 ms 
sort q time 5.085166 
seperate points time 9.991739 
filter time 7.995047 ms 
-----t: 0.0267933
OdomCount 399 & avg odom time 0.037547 ms ++++++++++++++++++++++
build tree time 18.453251 ms 
mapping data assosiation time 18.375451 ms 
--------------------stamp1317357803.404223918
points size 82166 
prepare time 10.447417 
sort q time 4.926157 
seperate points time 9.495507 
mapping data assosiation time 24.037543 ms 
publication time 6.076996 ms 
whole laserOdometry time 6.108461 ms 
 
filter time 6.071127 ms 
mapping pub time 11.063769 ms 
whole mapping time 130.452844 ms +++++
mappingCount 361 & avg mapping time 105.908399 ms ++++++++++++++++++++++
1317357803.196362972 WriteOdom aft_mapped_to_init
build tree time 17.945635 ms 
--------------------stamp1317357803.508145093
points size 80408 
prepare time 14.487849 
sort q time 4.282999 
seperate points time 10.032527 
-----t: 0.029811
OdomCount 401 & avg odom time 0.037568 ms ++++++++++++++++++++++
1317357803.508145093 WriteOdom laser_odom_to_init
1317357803.508145093 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.057162 ms 
filter time 5.855289 ms 
map prepare time 2.271156 ms
map corner num 87144  surf num 33165 
build tree time 18.477666 ms 
points size 79683 
prepare time 10.006319 
sort q time 4.691127 
seperate points time 9.178243 
publication time 5.962908 ms 
whole laserOdometry time 5.979262 ms 
 
mapping solver time 28.994957 ms 
-----t: 0.032154
OdomCount 402 & avg odom time 0.037554 ms ++++++++++++++++++++++
1317357803.612063884 WriteOdom laser_odom_to_init
1317357803.612063884 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.266418 ms 
mapping solver time 13.995559 ms 
mapping optimization time 102.513679 
add points time 0.691183 ms
map prepare time 1.986734 ms
map corner num 87588  surf num 33383 
--------------------stamp1317357803.715982913
points size 80368 
build tree time 19.654712 ms 
sort q time 4.233466 
seperate points time 9.030330 
mapping solver time 22.460189 ms 
-----t: 0.0459932
OdomCount 403 & avg odom time 0.037575 ms ++++++++++++++++++++++
mapping data assosiation time 21.139160 ms 
mapping solver time 15.701464 ms 
filter time 7.644456 ms 
--------------------stamp1317357803.819924116
points size 83284 
prepare time 13.836492 
scan registration time 30.702568 ms *************
mapping data assosiation time 21.066112 ms 
publication time 8.614638 ms 
whole laserOdometry time 8.625693 ms 
 
mapping solver time 20.356645 ms 
mapping data assosiation time 16.531610 ms 
mapping solver time 17.423152 ms 
filter time 7.182727 ms 
prepare time 10.523336 
sort q time 5.796707 
seperate points time 10.704235 
build tree time 20.941390 ms 
publication time 6.606746 ms 
whole laserOdometry time 6.643890 ms 
 
-----t: 0.0285447
OdomCount 405 & avg odom time 0.037544 ms ++++++++++++++++++++++
1317357803.923866987 WriteOdom laser_odom_to_init
1317357803.923866987 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.612934 ms 
mapping solver time 18.278764 ms 
mapping data assosiation time 16.509776 ms 
mapping solver time 13.384558 ms 
mapping pub time 3.866284 ms 
whole mapping time 103.054030 ms +++++
mappingCount 366 & avg mapping time 105.971027 ms ++++++++++++++++++++++
1317357803.819924116 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718805090.890914472, 1317357804.032342324]: Received 122297 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805090.890953924, 1317357804.032342324]: Data saved to 1317357803819924.pcd[0m
points size 91575 
map prepare time 2.489498 ms
map corner num 88569  surf num 33728 
prepare time 11.700146 
sort q time 5.149645 
seperate points time 11.915119 
build tree time 31.841929 ms 
mapping data assosiation time 17.737014 ms 
mapping solver time 18.357393 ms 
mapping data assosiation time 17.710459 ms 
points size 92422 
prepare time 17.315306 
filter time 7.804360 ms 
sort q time 7.127620 
seperate points time 15.933606 
-----t: 0.0373051
OdomCount 407 & avg odom time 0.037524 ms ++++++++++++++++++++++
mapping data assosiation time 16.818499 ms 
mapping solver time 18.166393 ms 
--------------------stamp1317357804.235552072
mapping data assosiation time 20.169914 ms 
points size 93041 
scan registration time 32.157260 ms *************
-----t: 0.047038
OdomCount 408 & avg odom time 0.037548 ms ++++++++++++++++++++++
1317357804.235552072 WriteOdom laser_odom_to_init
1317357804.235552072 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.502761 ms 
--------------------stamp1317357804.339421033
points size 92566 
prepare time 12.118245 
mapping solver time 17.023433 ms 
mapping optimization time 103.357750 
add points time 0.767298 ms
1317357804.339421033 WriteOdom aft_mapped_to_init_high_frec
build tree time 20.623471 ms 
mapping data assosiation time 17.186846 ms 
--------------------stamp1317357804.443291902
points size 93026 
sort q time 5.067267 
seperate points time 11.470679 
scan registration time 29.699497 ms *************
mapping data assosiation time 20.859335 ms 
publication time 6.856458 ms 
whole laserOdometry time 6.870802 ms 
 
filter time 7.779538 ms 
mapping pub time 2.171450 ms 
whole mapping time 111.066364 ms +++++
mappingCount 370 & avg mapping time 106.065872 ms ++++++++++++++++++++++
1317357804.235552073 WriteOdom aft_mapped_to_init
1317357804.443291902 WriteOdom aft_mapped_to_init_high_frec
build tree time 18.569051 ms 
--------------------stamp1317357804.547175884
points size 93138 
sort q time 5.361385 
seperate points time 11.965736 
-----t: 0.0416519
OdomCount 411 & avg odom time 0.037604 ms ++++++++++++++++++++++
mapping data assosiation time 19.963492 ms 
mapping solver time 20.496682 ms 
--------------------stamp1317357804.651024103
[0m[ INFO] [1718805091.515580464, 1317357804.653759438]: Received 125120 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805091.515615568, 1317357804.653759438]: Data saved to 1317357804443291.pcd[0m
points size 94201 
map prepare time 2.783465 ms
map corner num 90645  surf num 34475 
prepare time 13.802271 
sort q time 5.341406 
seperate points time 11.948106 
build tree time 23.465922 ms 
publication time 10.013214 ms 
whole laserOdometry time 10.024345 ms 
 
mapping solver time 24.711095 ms 
-----t: 0.0769471
OdomCount 412 & avg odom time 0.037700 ms ++++++++++++++++++++++
--------------------stamp1317357804.754833936
points size 93505 
mapping solver time 25.971005 ms 
scan registration time 35.324330 ms *************
filter time 9.712477 ms 
mapping pub time 2.190040 ms 
whole mapping time 134.861823 ms +++++
mappingCount 372 & avg mapping time 106.232678 ms ++++++++++++++++++++++
-----t: 0.0515259
OdomCount 413 & avg odom time 0.037733 ms ++++++++++++++++++++++
1317357804.754833936 WriteOdom laser_odom_to_init
1317357804.754833936 WriteOdom aft_mapped_to_init_high_frec
build tree time 21.098705 ms 
mapping data assosiation time 20.426659 ms 
points size 92347 
sort q time 5.999298 
seperate points time 14.074906 
mapping data assosiation time 24.312619 ms 
-----t: 0.0388407
OdomCount 414 & avg odom time 0.037736 ms ++++++++++++++++++++++
1317357804.858656883 WriteOdom laser_odom_to_init
1317357804.858656883 WriteOdom aft_mapped_to_init_high_frec
publication time 12.480487 ms 
whole laserOdometry time 12.492451 ms 
 
filter time 5.986269 ms 
map prepare time 2.522595 ms
map corner num 91786  surf num 34786 
build tree time 17.831524 ms 
--------------------stamp1317357804.962480068
prepare time 11.304977 
mapping data assosiation time 22.328153 ms 
sort q time 5.114053 
seperate points time 12.248354 
mapping solver time 31.130957 ms 
mapping data assosiation time 20.690263 ms 
mapping solver time 16.215431 ms 
filter time 7.192909 ms 
mapping pub time 2.263763 ms 
whole mapping time 122.299622 ms +++++
mappingCount 374 & avg mapping time 106.341726 ms ++++++++++++++++++++++
1317357804.754833937 WriteOdom aft_mapped_to_init
points size 95317 
sort q time 6.238057 
seperate points time 14.663311 
mapping data assosiation time 24.484020 ms 
-----t: 0.0368925
OdomCount 416 & avg odom time 0.037742 ms ++++++++++++++++++++++
mapping solver time 26.624872 ms 
mapping data assosiation time 19.654930 ms 
--------------------stamp1317357805.170099020
points size 94439 
filter time 6.553760 ms 
prepare time 13.462078 
mapping pub time 2.597378 ms 
whole mapping time 128.455770 ms +++++
mappingCount 375 & avg mapping time 106.400710 ms ++++++++++++++++++++++
1317357804.962480068 WriteOdom aft_mapped_to_init
sort q time 5.137786 
seperate points time 12.108149 
build tree time 23.621807 ms 
publication time 9.100779 ms 
whole laserOdometry time 9.118807 ms 
 
-----t: 0.0447474
OdomCount 417 & avg odom time 0.037759 ms ++++++++++++++++++++++
1317357805.170099020 WriteOdom laser_odom_to_init
1317357805.170099020 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.664626 ms 
--------------------stamp1317357805.273850917
points size 93802 
sort q time 5.456018 
seperate points time 12.058511 
scan registration time 29.854129 ms *************
filter time 9.895813 ms 
mapping pub time 3.807971 ms 
whole mapping time 135.593288 ms +++++
mappingCount 376 & avg mapping time 106.478371 ms ++++++++++++++++++++++
1317357805.066301107 WriteOdom aft_mapped_to_init
-----t: 0.0336991
OdomCount 418 & avg odom time 0.037749 ms ++++++++++++++++++++++
1317357805.273850917 WriteOdom laser_odom_to_init
1317357805.273850917 WriteOdom aft_mapped_to_init_high_frec
publication time 11.700279 ms 
whole laserOdometry time 11.712019 ms 
 
build tree time 20.931131 ms 
mapping data assosiation time 20.893637 ms 
--------------------stamp1317357805.377603054
points size 92101 
mapping solver time 24.481317 ms 
mapping data assosiation time 25.958104 ms 
mapping solver time 17.095277 ms 
mapping optimization time 110.699638 
add points time 0.825167 ms
drop lidar frame in mapping for real time performance 
-----t: 0.0696197
OdomCount 419 & avg odom time 0.037825 ms ++++++++++++++++++++++
build tree time 20.742491 ms 
points size 89476 
sort q time 5.455894 
seperate points time 12.218057 
scan registration time 33.880450 ms *************
publication time 8.174139 ms 
whole laserOdometry time 8.186298 ms 
 
mapping data assosiation time 21.161878 ms 
mapping solver time 16.726062 ms 
mapping optimization time 116.321315 
add points time 0.751846 ms
mapping pub time 2.147131 ms 
whole mapping time 128.753136 ms +++++
mappingCount 378 & avg mapping time 106.587494 ms ++++++++++++++++++++++
points size 85254 
build tree time 19.787588 ms 
publication time 8.367672 ms 
whole laserOdometry time 8.381714 ms 
 
-----t: 0.0381288
OdomCount 421 & avg odom time 0.037824 ms ++++++++++++++++++++++
mapping solver time 22.050975 ms 
mapping data assosiation time 19.541720 ms 
--------------------stamp1317357805.688973903
points size 84083 
filter time 9.687991 ms 
prepare time 13.992793 
mapping pub time 2.353559 ms 
whole mapping time 120.172500 ms +++++
mappingCount 379 & avg mapping time 106.623355 ms ++++++++++++++++++++++
sort q time 4.661391 
seperate points time 11.594345 
build tree time 19.718615 ms 
publication time 8.188644 ms 
whole laserOdometry time 8.201986 ms 
 
mapping data assosiation time 25.273323 ms 
mapping solver time 22.482336 ms 
--------------------stamp1317357805.792748928
mapping data assosiation time 24.871724 ms 
scan registration time 31.229941 ms *************
mapping solver time 29.557235 ms 
filter time 6.224669 ms 
-----t: 0.0577683
OdomCount 423 & avg odom time 0.037898 ms ++++++++++++++++++++++
mapping data assosiation time 20.606749 ms 
--------------------stamp1317357805.896548986
points size 87869 
sort q time 5.449612 
seperate points time 12.340204 
mapping data assosiation time 24.436126 ms 
mapping solver time 17.217187 ms 
mapping optimization time 111.882860 
add points time 0.781310 ms
mapping pub time 10.534201 ms 
whole mapping time 133.843286 ms +++++
mappingCount 381 & avg mapping time 106.770305 ms ++++++++++++++++++++++
--------------------stamp1317357806.000346899
points size 88474 
prepare time 12.912949 
mapping data assosiation time 23.750406 ms 
sort q time 13.513158 
seperate points time 19.626732 
mapping solver time 23.896184 ms 
-----t: 0.0374983
OdomCount 425 & avg odom time 0.037885 ms ++++++++++++++++++++++
1317357806.000346899 WriteOdom laser_odom_to_init
1317357806.000346899 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.045050 ms 
mapping solver time 17.052743 ms 
mapping optimization time 107.106426 
add points time 0.824497 ms
map prepare time 2.977022 ms
map corner num 86760  surf num 30825 
points size 90207 
build tree time 19.928390 ms 
sort q time 5.051310 
seperate points time 11.740325 
mapping data assosiation time 25.056716 ms 
publication time 10.989610 ms 
whole laserOdometry time 11.005380 ms 
 
mapping solver time 28.041438 ms 
mapping data assosiation time 18.910200 ms 
--------------------stamp1317357806.207895994
points size 89555 
mapping solver time 27.111880 ms 
sort q time 5.215065 
seperate points time 11.589090 
scan registration time 27.242606 ms *************
filter time 7.896059 ms 
publication time 8.600225 ms 
whole laserOdometry time 8.617681 ms 
 
-----t: 0.0377861
OdomCount 427 & avg odom time 0.037884 ms ++++++++++++++++++++++
1317357806.207895994 WriteOdom laser_odom_to_init
1317357806.207895994 WriteOdom aft_mapped_to_init_high_frec
build tree time 20.450620 ms 
mapping data assosiation time 19.620259 ms 
mapping solver time 20.368829 ms 
--------------------stamp1317357806.311671972
points size 89385 
mapping data assosiation time 25.108929 ms 
sort q time 4.872589 
seperate points time 13.457603 
add points time 0.926903 ms
filter time 7.478707 ms 
publication time 6.827435 ms 
whole laserOdometry time 6.849860 ms 
 
mapping pub time 2.668204 ms 
whole mapping time 120.835774 ms +++++
mappingCount 384 & avg mapping time 106.913813 ms ++++++++++++++++++++++
1317357806.104120970 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 16.872487 ms 
mapping data assosiation time 19.906997 ms 
--------------------stamp1317357806.415471076
points size 89021 
sort q time 5.525623 
seperate points time 17.521043 
scan registration time 38.282869 ms *************
publication time 7.824638 ms 
whole laserOdometry time 7.836479 ms 
 
filter time 5.867371 ms 
map prepare time 2.341130 ms
map corner num 88031  surf num 31145 
build tree time 17.489183 ms 
--------------------stamp1317357806.519269943
points size 89947 
sort q time 5.936090 
seperate points time 11.481787 
mapping solver time 31.242212 ms 
publication time 7.950160 ms 
whole laserOdometry time 7.964991 ms 
 
mapping data assosiation time 20.754408 ms 
mapping solver time 19.254065 ms 
mapping optimization time 112.791256 
add points time 0.806314 ms
1317357806.415471077 WriteOdom aft_mapped_to_init
--------------------stamp1317357806.623066902
points size 91399 
publication time 10.260743 ms 
whole laserOdometry time 10.274538 ms 
 
-----t: 0.0568472
OdomCount 431 & avg odom time 0.037894 ms ++++++++++++++++++++++
mapping data assosiation time 21.264254 ms 
mapping solver time 16.035357 ms 
filter time 9.236316 ms 
map prepare time 3.228809 ms
map corner num 88907  surf num 31385 
prepare time 14.873310 
sort q time 5.360339 
seperate points time 12.035754 
build tree time 22.187905 ms 
-----t: 0.0370962
OdomCount 432 & avg odom time 0.037892 ms ++++++++++++++++++++++
1317357806.726866960 WriteOdom laser_odom_to_init
1317357806.726866960 WriteOdom aft_mapped_to_init_high_frec
publication time 10.665995 ms 
whole laserOdometry time 10.679394 ms 
 
mapping solver time 19.898375 ms 
--------------------stamp1317357806.830641031
points size 95661 
prepare time 11.732890 
filter time 6.604052 ms 
map prepare time 3.101645 ms
map corner num 89277  surf num 31493 
build tree time 21.866052 ms 
-----t: 0.0494539
OdomCount 433 & avg odom time 0.037919 ms ++++++++++++++++++++++
1317357806.830641031 WriteOdom laser_odom_to_init
1317357806.830641031 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.959898 ms 
mapping solver time 20.248548 ms 
points size 97339 
sort q time 5.550958 
seperate points time 12.659194 
filter time 8.651882 ms 
map prepare time 3.967324 ms
map corner num 89659  surf num 31625 
build tree time 18.476175 ms 
mapping data assosiation time 18.232507 ms 
--------------------stamp1317357807.038191080
mapping solver time 22.790840 ms 
prepare time 12.790237 
sort q time 6.473446 
seperate points time 11.940879 
publication time 7.174612 ms 
whole laserOdometry time 7.188312 ms 
 
1317357807.038191080 WriteOdom laser_odom_to_init
1317357807.038191080 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
map prepare time 2.428901 ms
map corner num 90021  surf num 31752 
build tree time 16.077052 ms 
mapping data assosiation time 17.319433 ms 
points size 99459 
prepare time 13.169624 
mapping solver time 30.770143 ms 
mapping data assosiation time 23.077829 ms 
-----t: 0.035639
OdomCount 436 & avg odom time 0.037902 ms ++++++++++++++++++++++
1317357807.141988992 WriteOdom laser_odom_to_init
1317357807.141988992 WriteOdom aft_mapped_to_init_high_frec
publication time 8.838246 ms 
whole laserOdometry time 8.850384 ms 
 
mapping solver time 17.025973 ms 
filter time 6.153721 ms 
map prepare time 2.467646 ms
map corner num 90405  surf num 31875 
build tree time 19.319512 ms 
points size 100054 
prepare time 16.722190 
sort q time 5.712625 
seperate points time 13.485849 
mapping solver time 24.406533 ms 
mapping data assosiation time 21.653227 ms 
mapping solver time 16.053235 ms 
mapping optimization time 107.477540 
add points time 0.691360 ms
--------------------stamp1317357807.349586963
points size 100140 
build tree time 24.600745 ms 
sort q time 5.651165 
seperate points time 13.198621 
-----t: 0.0388158
OdomCount 438 & avg odom time 0.037901 ms ++++++++++++++++++++++
mapping solver time 23.280214 ms 
mapping data assosiation time 19.592024 ms 
mapping solver time 16.194065 ms 
points size 100539 
map prepare time 4.240600 ms
map corner num 91329  surf num 32170 
scan registration time 30.731465 ms *************
build tree time 23.834524 ms 
publication time 10.376084 ms 
whole laserOdometry time 10.390666 ms 
 
-----t: 0.0455676
OdomCount 439 & avg odom time 0.037918 ms ++++++++++++++++++++++
mapping solver time 19.353637 ms 
--------------------stamp1317357807.557183980
points size 100122 
prepare time 15.065189 
mapping solver time 15.845720 ms 
mapping optimization time 102.133057 
filter time 8.356869 ms 
-----t: 0.031381
OdomCount 440 & avg odom time 0.037903 ms ++++++++++++++++++++++
build tree time 22.941885 ms 
mapping data assosiation time 20.671993 ms 
--------------------stamp1317357807.660983085
points size 96496 
prepare time 11.450641 
mapping solver time 15.939039 ms 
filter time 6.646345 ms 
map prepare time 3.078127 ms
map corner num 92065  surf num 32437 
build tree time 17.907208 ms 
mapping data assosiation time 17.702303 ms 
--------------------stamp1317357807.764781951
points size 90668 
sort q time 5.313489 
seperate points time 11.630372 
mapping solver time 17.815730 ms 
publication time 6.935779 ms 
whole laserOdometry time 6.945539 ms 
 
mapping optimization time 97.576295 
add points time 0.928682 ms
-----t: 0.0331229
OdomCount 442 & avg odom time 0.037873 ms ++++++++++++++++++++++
1317357807.764781951 WriteOdom laser_odom_to_init
1317357807.764781951 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718805094.676294661, 1317357807.820732124]: Received 125044 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805094.676331192, 1317357807.820732124]: Data saved to 1317357807557183.pcd[0m
build tree time 19.880429 ms 
mapping data assosiation time 19.821240 ms 
points size 85537 
prepare time 14.275410 
scan registration time 28.293880 ms *************
publication time 7.622753 ms 
whole laserOdometry time 7.633596 ms 
 
mapping solver time 15.675927 ms 
mapping optimization time 103.622953 
add points time 0.687141 ms
-----t: 0.0466937
OdomCount 443 & avg odom time 0.037893 ms ++++++++++++++++++++++
1317357807.868580102 WriteOdom laser_odom_to_init
1317357807.868580102 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.217603 ms
map corner num 92894  surf num 32741 
build tree time 21.173820 ms 
points size 81798 
sort q time 4.228453 
seperate points time 10.068453 
publication time 7.087354 ms 
whole laserOdometry time 7.114948 ms 
 
-----t: 0.0351504
OdomCount 444 & avg odom time 0.037887 ms ++++++++++++++++++++++
1317357807.972403049 WriteOdom laser_odom_to_init
1317357807.972403049 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.027666 ms 
mapping solver time 14.762050 ms 
mapping optimization time 103.755401 
add points time 0.593710 ms
--------------------stamp1317357808.076275110
build tree time 21.341105 ms 
sort q time 4.304032 
seperate points time 10.269338 
scan registration time 26.608329 ms *************
mapping data assosiation time 20.563364 ms 
-----t: 0.0315508
OdomCount 445 & avg odom time 0.037873 ms ++++++++++++++++++++++
mapping solver time 28.576545 ms 
mapping data assosiation time 17.163396 ms 
mapping solver time 14.760955 ms 
filter time 5.938488 ms 
--------------------stamp1317357808.180145025
points size 75057 
prepare time 12.621236 
sort q time 4.222533 
seperate points time 18.679060 
publication time 6.101792 ms 
whole laserOdometry time 6.113875 ms 
 
mapping solver time 23.810927 ms 
mapping data assosiation time 16.682287 ms 
--------------------stamp1317357808.284015893
points size 72047 
filter time 6.395414 ms 
-----t: 0.023695
OdomCount 447 & avg odom time 0.037842 ms ++++++++++++++++++++++
build tree time 21.994519 ms 
mapping data assosiation time 18.282810 ms 
mapping solver time 17.297454 ms 
mapping data assosiation time 16.979089 ms 
points size 71793 
sort q time 3.811385 
seperate points time 9.123605 
mapping pub time 11.126030 ms 
whole mapping time 116.709543 ms +++++
mappingCount 401 & avg mapping time 107.417150 ms ++++++++++++++++++++++
publication time 5.742342 ms 
whole laserOdometry time 5.774348 ms 
 
build tree time 19.063704 ms 
mapping data assosiation time 16.655601 ms 
mapping solver time 22.099817 ms 
points size 71717 
mapping data assosiation time 28.260713 ms 
-----t: 0.0250642
OdomCount 449 & avg odom time 0.037840 ms ++++++++++++++++++++++
1317357808.491708040 WriteOdom laser_odom_to_init
1317357808.491708040 WriteOdom aft_mapped_to_init_high_frec
filter time 5.232370 ms 
build tree time 15.295205 ms 
mapping data assosiation time 17.390240 ms 
--------------------stamp1317357808.595555067
mapping solver time 23.051254 ms 
sort q time 4.466379 
seperate points time 8.630320 
mapping data assosiation time 20.577298 ms 
-----t: 0.0271786
OdomCount 450 & avg odom time 0.037816 ms ++++++++++++++++++++++
mapping solver time 21.707391 ms 
filter time 6.568712 ms 
build tree time 13.809389 ms 
mapping data assosiation time 18.869431 ms 
points size 82983 
prepare time 13.306750 
scan registration time 28.025787 ms *************
mapping data assosiation time 20.514130 ms 
publication time 11.629959 ms 
whole laserOdometry time 11.645714 ms 
 
mapping solver time 21.312363 ms 
mapping optimization time 99.778128 
add points time 0.850847 ms
map prepare time 2.598598 ms
map corner num 77358  surf num 27487 
build tree time 18.588846 ms 
--------------------stamp1317357808.803177118
prepare time 24.788373 
mapping solver time 20.358923 ms 
-----t: 0.0358605
OdomCount 452 & avg odom time 0.037788 ms ++++++++++++++++++++++
mapping solver time 14.490801 ms 
mapping optimization time 97.028961 
add points time 0.593042 ms
map prepare time 2.123035 ms
map corner num 77892  surf num 27715 
build tree time 15.622148 ms 
--------------------stamp1317357808.906977891
points size 91919 
sort q time 5.537807 
seperate points time 10.487911 
mapping solver time 27.325291 ms 
-----t: 0.0384407
OdomCount 453 & avg odom time 0.037789 ms ++++++++++++++++++++++
mapping data assosiation time 20.413605 ms 
mapping solver time 14.391791 ms 
mapping optimization time 98.711609 
add points time 0.634201 ms
map prepare time 2.052972 ms
map corner num 78389  surf num 27876 
--------------------stamp1317357809.010776042
points size 94674 
prepare time 11.696164 
sort q time 5.143303 
seperate points time 11.176133 
mapping data assosiation time 21.785953 ms 
publication time 8.047279 ms 
whole laserOdometry time 8.061293 ms 
 
-----t: 0.0412797
OdomCount 454 & avg odom time 0.037797 ms ++++++++++++++++++++++
1317357809.010776042 WriteOdom laser_odom_to_init
1317357809.010776042 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.070527 ms 
mapping pub time 2.078067 ms 
whole mapping time 108.608695 ms +++++
mappingCount 407 & avg mapping time 107.473071 ms ++++++++++++++++++++++
--------------------stamp1317357809.114550113
build tree time 17.121419 ms 
sort q time 5.270219 
seperate points time 12.158170 
publication time 7.573154 ms 
whole laserOdometry time 7.587252 ms 
 
mapping data assosiation time 18.333021 ms 
mapping solver time 14.930665 ms 
filter time 5.115719 ms 
--------------------stamp1317357809.218348979
points size 96908 
prepare time 13.081844 
build tree time 20.812484 ms 
mapping data assosiation time 21.785120 ms 
publication time 7.369280 ms 
whole laserOdometry time 7.381378 ms 
 
-----t: 0.0415137
OdomCount 456 & avg odom time 0.037813 ms ++++++++++++++++++++++
1317357809.218348979 WriteOdom laser_odom_to_init
1317357809.218348979 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.846002 ms 
mapping data assosiation time 19.734546 ms 
--------------------stamp1317357809.322146892
points size 97001 
prepare time 10.065241 
filter time 6.595012 ms 
sort q time 7.328530 
seperate points time 14.176481 
build tree time 18.437628 ms 
publication time 6.514122 ms 
whole laserOdometry time 6.527946 ms 
 
-----t: 0.0311642
OdomCount 457 & avg odom time 0.037798 ms ++++++++++++++++++++++
1317357809.322146892 WriteOdom laser_odom_to_init
1317357809.322146892 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.227635 ms 
mapping solver time 23.276741 ms 
mapping data assosiation time 17.714844 ms 
points size 95984 
mapping solver time 22.527556 ms 
filter time 7.118682 ms 
1317357809.425921916 WriteOdom aft_mapped_to_init_high_frec
publication time 9.744928 ms 
whole laserOdometry time 9.760417 ms 
 
mapping data assosiation time 18.709764 ms 
mapping solver time 23.483965 ms 
--------------------stamp1317357809.529700040
points size 94474 
mapping solver time 15.212186 ms 
sort q time 4.967093 
seperate points time 17.670937 
mapping optimization time 99.203799 
add points time 0.657930 ms
scan registration time 32.566770 ms *************
map prepare time 2.289111 ms
map corner num 80768  surf num 28691 
build tree time 16.818077 ms 
mapping data assosiation time 19.107983 ms 
mapping solver time 19.720069 ms 
points size 93121 
prepare time 12.383975 
sort q time 5.304033 
seperate points time 12.021786 
scan registration time 29.108117 ms *************
mapping optimization time 97.424381 
filter time 6.661452 ms 
publication time 8.308010 ms 
whole laserOdometry time 8.318120 ms 
 
mapping pub time 2.197267 ms 
whole mapping time 109.278957 ms +++++
mappingCount 412 & avg mapping time 107.546318 ms ++++++++++++++++++++++
1317357809.425921917 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 16.253923 ms 
mapping data assosiation time 16.395995 ms 
--------------------stamp1317357809.737340927
points size 92244 
sort q time 5.064690 
seperate points time 11.552725 
mapping data assosiation time 21.099386 ms 
scan registration time 25.949787 ms *************
mapping solver time 17.939326 ms 
mapping optimization time 92.641448 
add points time 0.623537 ms
publication time 9.514716 ms 
whole laserOdometry time 9.552518 ms 
 
mapping pub time 6.154500 ms 
whole mapping time 109.351502 ms +++++
mappingCount 413 & avg mapping time 107.550705 ms ++++++++++++++++++++++
map prepare time 2.109548 ms
map corner num 81517  surf num 28895 
build tree time 17.366947 ms 
mapping data assosiation time 16.994120 ms 
points size 90459 
prepare time 12.478725 
sort q time 5.095192 
seperate points time 11.790448 
mapping data assosiation time 21.060769 ms 
mapping solver time 18.333864 ms 
filter time 6.944689 ms 
mapping pub time 2.299177 ms 
whole mapping time 108.715567 ms +++++
mappingCount 414 & avg mapping time 107.553527 ms ++++++++++++++++++++++
1317357809.737340927 WriteOdom aft_mapped_to_init
build tree time 18.072460 ms 
--------------------stamp1317357809.945010900
points size 88573 
sort q time 5.639284 
seperate points time 10.531935 
mapping solver time 24.782571 ms 
mapping data assosiation time 20.278792 ms 
-----t: 0.0440136
OdomCount 463 & avg odom time 0.037802 ms ++++++++++++++++++++++
1317357809.945010900 WriteOdom laser_odom_to_init
1317357809.945010900 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.157893 ms 
mapping pub time 2.003407 ms 
whole mapping time 112.193942 ms +++++
mappingCount 415 & avg mapping time 107.564718 ms ++++++++++++++++++++++
build tree time 15.134968 ms 
points size 87428 
mapping data assosiation time 20.019662 ms 
scan registration time 25.032339 ms *************
publication time 5.311013 ms 
whole laserOdometry time 5.323273 ms 
 
mapping solver time 25.366419 ms 
-----t: 0.0368412
OdomCount 464 & avg odom time 0.037800 ms ++++++++++++++++++++++
1317357810.048831939 WriteOdom laser_odom_to_init
1317357810.048831939 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.141252 ms 
mapping solver time 14.891796 ms 
filter time 5.502144 ms 
map prepare time 1.986745 ms
map corner num 82803  surf num 29281 
--------------------stamp1317357810.152682065
points size 86277 
prepare time 11.949621 
sort q time 4.851528 
seperate points time 11.150793 
publication time 6.942010 ms 
whole laserOdometry time 6.954618 ms 
 
-----t: 0.0365062
OdomCount 465 & avg odom time 0.037797 ms ++++++++++++++++++++++
mapping data assosiation time 19.972089 ms 
mapping solver time 15.968912 ms 
filter time 6.867041 ms 
--------------------stamp1317357810.256529092
points size 85282 
sort q time 4.808948 
seperate points time 11.167849 
mapping data assosiation time 21.071227 ms 
publication time 7.190125 ms 
whole laserOdometry time 7.204336 ms 
 
-----t: 0.03729
OdomCount 466 & avg odom time 0.037796 ms ++++++++++++++++++++++
1317357810.256529092 WriteOdom laser_odom_to_init
1317357810.256529092 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.875788 ms 
mapping data assosiation time 19.241014 ms 
mapping solver time 19.955153 ms 
mapping pub time 1.952123 ms 
whole mapping time 115.109004 ms +++++
mappingCount 418 & avg mapping time 107.586574 ms ++++++++++++++++++++++
prepare time 11.770250 
sort q time 4.908643 
seperate points time 11.442690 
publication time 7.205561 ms 
whole laserOdometry time 7.218551 ms 
 
mapping data assosiation time 17.918910 ms 
-----t: 0.0396816
OdomCount 467 & avg odom time 0.037800 ms ++++++++++++++++++++++
mapping solver time 18.910598 ms 
mapping data assosiation time 18.366016 ms 
mapping solver time 15.375403 ms 
filter time 7.379592 ms 
mapping pub time 2.010479 ms 
whole mapping time 105.216461 ms +++++
mappingCount 419 & avg mapping time 107.580925 ms ++++++++++++++++++++++
1317357810.256529093 WriteOdom aft_mapped_to_init
points size 87933 
sort q time 6.108263 
seperate points time 12.387414 
publication time 6.251878 ms 
whole laserOdometry time 6.265586 ms 
 
-----t: 0.0410401
OdomCount 468 & avg odom time 0.037807 ms ++++++++++++++++++++++
1317357810.464173078 WriteOdom laser_odom_to_init
1317357810.464173078 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.035618 ms 
mapping data assosiation time 17.854078 ms 
--------------------stamp1317357810.567994117
filter time 5.759135 ms 
sort q time 5.109840 
seperate points time 10.110603 
scan registration time 27.777074 ms *************
publication time 7.297747 ms 
whole laserOdometry time 7.310767 ms 
 
-----t: 0.0339696
OdomCount 469 & avg odom time 0.037799 ms ++++++++++++++++++++++
mapping data assosiation time 19.649865 ms 
mapping solver time 18.096994 ms 
mapping data assosiation time 16.825394 ms 
--------------------stamp1317357810.671817064
filter time 5.993874 ms 
mapping data assosiation time 18.895268 ms 
mapping solver time 18.907068 ms 
--------------------stamp1317357810.775671005
points size 89266 
mapping solver time 17.997494 ms 
scan registration time 28.544421 ms *************
filter time 8.394085 ms 
mapping pub time 2.057823 ms 
whole mapping time 111.525608 ms +++++
mappingCount 422 & avg mapping time 107.593132 ms ++++++++++++++++++++++
1317357810.567994118 WriteOdom aft_mapped_to_init
-----t: 0.0617232
OdomCount 471 & avg odom time 0.037848 ms ++++++++++++++++++++++
1317357810.775671005 WriteOdom laser_odom_to_init
1317357810.775671005 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.774671 ms 
mapping solver time 44.558756 ms 
sort q time 5.609587 
seperate points time 23.923804 
mapping solver time 23.436911 ms 
mapping optimization time 137.355750 
add points time 0.831893 ms
publication time 13.500030 ms 
whole laserOdometry time 13.509377 ms 
 
-----t: 0.0657774
OdomCount 472 & avg odom time 0.037907 ms ++++++++++++++++++++++
1317357810.879517078 WriteOdom laser_odom_to_init
1317357810.879517078 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357810.983335018
build tree time 24.672463 ms 
sort q time 5.749712 
seperate points time 13.276513 
publication time 7.927387 ms 
whole laserOdometry time 7.937630 ms 
 
mapping solver time 23.849671 ms 
-----t: 0.057255
OdomCount 473 & avg odom time 0.037948 ms ++++++++++++++++++++++
1317357810.983335018 WriteOdom laser_odom_to_init
1317357810.983335018 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.230186 ms 
mapping solver time 16.998122 ms 
filter time 5.756455 ms 
map prepare time 2.518530 ms
map corner num 86191  surf num 30412 
sort q time 3.825785 
seperate points time 8.547984 
build tree time 21.048539 ms 
publication time 7.573313 ms 
whole laserOdometry time 7.646293 ms 
 
-----t: 0.0336069
OdomCount 474 & avg odom time 0.037939 ms ++++++++++++++++++++++
1317357811.087157011 WriteOdom laser_odom_to_init
1317357811.087157011 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.558039 ms 
mapping data assosiation time 16.740833 ms 
--------------------stamp1317357811.190979003
add points time 0.775411 ms
points size 79421 
prepare time 10.978503 
scan registration time 24.813522 ms *************
publication time 6.371522 ms 
whole laserOdometry time 6.386463 ms 
 
mapping data assosiation time 17.347084 ms 
mapping solver time 23.409880 ms 
--------------------stamp1317357811.294826030
points size 77237 
sort q time 4.359310 
seperate points time 9.531507 
filter time 7.674387 ms 
build tree time 18.244521 ms 
mapping data assosiation time 17.296070 ms 
mapping solver time 18.002942 ms 
points size 76584 
prepare time 13.427359 
mapping data assosiation time 19.970237 ms 
--------------------stamp1317357811.502473115
prepare time 10.467720 
sort q time 4.630404 
seperate points time 9.601189 
publication time 6.363706 ms 
whole laserOdometry time 6.374915 ms 
 
-----t: 0.0358326
OdomCount 478 & avg odom time 0.037887 ms ++++++++++++++++++++++
mapping solver time 20.192977 ms 
mapping optimization time 119.006481 
add points time 0.618926 ms
map prepare time 1.974670 ms
map corner num 88118  surf num 30996 
build tree time 18.701007 ms 
points size 75859 
mapping data assosiation time 20.082785 ms 
sort q time 4.469626 
seperate points time 9.386442 
mapping solver time 23.574435 ms 
mapping data assosiation time 18.639887 ms 
mapping solver time 14.040538 ms 
mapping optimization time 96.214745 
add points time 0.601336 ms
map prepare time 1.991310 ms
map corner num 88572  surf num 31139 
--------------------stamp1317357811.710020065
prepare time 10.280358 
sort q time 4.199502 
seperate points time 9.182311 
mapping data assosiation time 19.977342 ms 
scan registration time 22.978317 ms *************
mapping solver time 28.006823 ms 
-----t: 0.0510375
OdomCount 480 & avg odom time 0.037895 ms ++++++++++++++++++++++
mapping data assosiation time 19.864309 ms 
mapping solver time 14.011590 ms 
filter time 5.748094 ms 
mapping pub time 1.817592 ms 
whole mapping time 112.474887 ms +++++
mappingCount 430 & avg mapping time 107.848320 ms ++++++++++++++++++++++
1317357811.606247902 WriteOdom aft_mapped_to_init
--------------------stamp1317357811.813819885
points size 75082 
sort q time 4.369670 
seperate points time 8.557014 
mapping data assosiation time 21.319358 ms 
-----t: 0.026286
OdomCount 481 & avg odom time 0.037870 ms ++++++++++++++++++++++
1317357811.813819885 WriteOdom laser_odom_to_init
1317357811.813819885 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.754698 ms 
mapping data assosiation time 20.092484 ms 
mapping solver time 21.322895 ms 
filter time 6.583854 ms 
sort q time 4.907083 
seperate points time 9.320923 
build tree time 21.262060 ms 
mapping data assosiation time 20.545642 ms 
mapping solver time 25.116214 ms 
--------------------stamp1317357812.021419048
points size 74967 
sort q time 4.392734 
seperate points time 8.840529 
publication time 6.359401 ms 
whole laserOdometry time 6.372030 ms 
 
build tree time 20.420382 ms 
-----t: 0.0402093
OdomCount 483 & avg odom time 0.037894 ms ++++++++++++++++++++++
1317357812.021419048 WriteOdom laser_odom_to_init
1317357812.021419048 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.755104 ms 
mapping solver time 23.834786 ms 
--------------------stamp1317357812.125289916
points size 77411 
sort q time 4.693134 
seperate points time 9.987517 
filter time 8.140543 ms 
mapping pub time 1.748389 ms 
whole mapping time 116.521078 ms +++++
mappingCount 433 & avg mapping time 107.919873 ms ++++++++++++++++++++++
1317357811.917619944 WriteOdom aft_mapped_to_init
publication time 8.227166 ms 
whole laserOdometry time 8.250185 ms 
 
-----t: 0.0321136
OdomCount 484 & avg odom time 0.037882 ms ++++++++++++++++++++++
build tree time 13.354292 ms 
mapping data assosiation time 18.351409 ms 
mapping solver time 19.936619 ms 
--------------------stamp1317357812.229232072
points size 79498 
mapping data assosiation time 22.249577 ms 
prepare time 14.927742 
scan registration time 30.290593 ms *************
mapping solver time 18.499984 ms 
mapping optimization time 93.685609 
add points time 0.785542 ms
-----t: 0.0328013
OdomCount 485 & avg odom time 0.037871 ms ++++++++++++++++++++++
1317357812.229232072 WriteOdom laser_odom_to_init
1317357812.229232072 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.892215 ms 
mapping solver time 19.306487 ms 
--------------------stamp1317357812.333245038
prepare time 10.199250 
sort q time 4.659784 
seperate points time 10.565918 
mapping solver time 18.136919 ms 
publication time 9.495334 ms 
whole laserOdometry time 9.520636 ms 
 
build tree time 13.881969 ms 
mapping data assosiation time 19.850580 ms 
mapping solver time 25.060172 ms 
points size 82202 
mapping data assosiation time 21.511490 ms 
sort q time 4.519084 
seperate points time 10.230103 
publication time 7.663752 ms 
whole laserOdometry time 7.678730 ms 
 
mapping solver time 28.977899 ms 
filter time 4.069128 ms 
build tree time 11.367449 ms 
mapping data assosiation time 21.774367 ms 
--------------------stamp1317357812.541516065
prepare time 9.969174 
mapping solver time 26.869640 ms 
publication time 8.191126 ms 
whole laserOdometry time 8.203097 ms 
 
-----t: 0.0370504
OdomCount 488 & avg odom time 0.037851 ms ++++++++++++++++++++++
mapping solver time 25.461701 ms 
mapping optimization time 110.144448 
add points time 0.685153 ms
map prepare time 1.972842 ms
map corner num 60618  surf num 21418 
build tree time 13.520140 ms 
--------------------stamp1317357812.645699024
points size 85149 
sort q time 4.852991 
seperate points time 9.918366 
mapping solver time 30.142509 ms 
publication time 7.938261 ms 
whole laserOdometry time 7.952541 ms 
 
mapping data assosiation time 23.540350 ms 
-----t: 0.0611899
OdomCount 489 & avg odom time 0.037898 ms ++++++++++++++++++++++
mapping solver time 26.070428 ms 
mapping optimization time 118.670245 
add points time 0.714822 ms
points size 86295 
prepare time 11.694399 
sort q time 4.910825 
seperate points time 10.888702 
publication time 6.114947 ms 
whole laserOdometry time 6.124951 ms 
 
mapping data assosiation time 24.339508 ms 
-----t: 0.038332
OdomCount 490 & avg odom time 0.037899 ms ++++++++++++++++++++++
mapping solver time 27.244731 ms 
mapping data assosiation time 19.920120 ms 
--------------------stamp1317357812.854211091
mapping solver time 21.054456 ms 
mapping pub time 1.976681 ms 
whole mapping time 121.583347 ms +++++
mappingCount 439 & avg mapping time 108.024484 ms ++++++++++++++++++++++
sort q time 4.970224 
seperate points time 11.481646 
scan registration time 28.359765 ms *************
publication time 7.310847 ms 
whole laserOdometry time 7.323628 ms 
 
-----t: 0.0342671
OdomCount 491 & avg odom time 0.037892 ms ++++++++++++++++++++++
1317357812.854211091 WriteOdom laser_odom_to_init
1317357812.854211091 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.419648 ms 
mapping solver time 23.790668 ms 
mapping data assosiation time 19.458290 ms 
points size 89702 
prepare time 13.095928 
sort q time 4.807993 
seperate points time 11.132940 
filter time 5.810205 ms 
mapping pub time 1.999905 ms 
whole mapping time 121.958703 ms +++++
mappingCount 440 & avg mapping time 108.056162 ms ++++++++++++++++++++++
map prepare time 2.655921 ms
map corner num 62229  surf num 22041 
publication time 6.801210 ms 
whole laserOdometry time 6.819130 ms 
 
build tree time 15.033573 ms 
mapping data assosiation time 23.693492 ms 
-----t: 0.0870537
OdomCount 492 & avg odom time 0.037992 ms ++++++++++++++++++++++
--------------------stamp1317357813.062792062
mapping solver time 28.781067 ms 
points size 89866 
mapping data assosiation time 23.517286 ms 
sort q time 5.167284 
seperate points time 11.990501 
scan registration time 29.855903 ms *************
publication time 7.302876 ms 
whole laserOdometry time 7.332078 ms 
 
mapping solver time 27.171064 ms 
mapping optimization time 120.048432 
add points time 0.743273 ms
filter time 5.302431 ms 
mapping pub time 11.311676 ms 
whole mapping time 140.124297 ms +++++
mappingCount 441 & avg mapping time 108.128884 ms ++++++++++++++++++++++
build tree time 11.598767 ms 
--------------------stamp1317357813.167021036
points size 89772 
mapping data assosiation time 25.205928 ms 
scan registration time 26.517712 ms *************
mapping solver time 29.082784 ms 
publication time 7.913980 ms 
whole laserOdometry time 7.928046 ms 
 
-----t: 0.0433384
OdomCount 494 & avg odom time 0.038035 ms ++++++++++++++++++++++
1317357813.167021036 WriteOdom laser_odom_to_init
1317357813.167021036 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.724427 ms 
filter time 4.934410 ms 
mapping pub time 2.026672 ms 
whole mapping time 123.825642 ms +++++
mappingCount 442 & avg mapping time 108.164406 ms ++++++++++++++++++++++
1317357812.958512068 WriteOdom aft_mapped_to_init
points size 90046 
prepare time 10.040740 
build tree time 16.973287 ms 
scan registration time 26.673527 ms *************
mapping data assosiation time 25.419619 ms 
publication time 8.425624 ms 
whole laserOdometry time 8.447560 ms 
 
-----t: 0.0431643
OdomCount 495 & avg odom time 0.038045 ms ++++++++++++++++++++++
1317357813.271224975 WriteOdom laser_odom_to_init
1317357813.271224975 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.154291 ms 
--------------------stamp1317357813.375407934
prepare time 10.709452 
filter time 6.463636 ms 
sort q time 5.455357 
seperate points time 11.729585 
mapping pub time 2.214187 ms 
whole mapping time 134.996950 ms +++++
mappingCount 443 & avg mapping time 108.224999 ms ++++++++++++++++++++++
1317357813.167021036 WriteOdom aft_mapped_to_init
scan registration time 27.913245 ms *************
publication time 8.664031 ms 
whole laserOdometry time 8.677645 ms 
 
build tree time 16.794638 ms 
mapping data assosiation time 22.565325 ms 
mapping solver time 25.067105 ms 
--------------------stamp1317357813.479496002
points size 93757 
prepare time 12.113927 
mapping data assosiation time 22.727500 ms 
sort q time 5.393861 
seperate points time 11.900479 
mapping solver time 26.494797 ms 
mapping optimization time 115.443150 
publication time 8.888669 ms 
whole laserOdometry time 8.898377 ms 
 
add points time 1.169722 ms
-----t: 0.0336636
OdomCount 497 & avg odom time 0.038036 ms ++++++++++++++++++++++
1317357813.479496002 WriteOdom laser_odom_to_init
1317357813.479496002 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.255886 ms
map corner num 64372  surf num 22853 
build tree time 14.873601 ms 
mapping data assosiation time 20.666633 ms 
--------------------stamp1317357813.583488941
points size 94865 
prepare time 11.373677 
sort q time 5.500639 
seperate points time 11.823945 
publication time 7.472910 ms 
whole laserOdometry time 7.487619 ms 
 
-----t: 0.0443838
OdomCount 498 & avg odom time 0.038049 ms ++++++++++++++++++++++
filter time 4.675301 ms 
mapping pub time 2.174011 ms 
whole mapping time 121.653809 ms +++++
mappingCount 445 & avg mapping time 108.298197 ms ++++++++++++++++++++++
1317357813.375407934 WriteOdom aft_mapped_to_init
build tree time 12.304717 ms 
--------------------stamp1317357813.687383890
mapping data assosiation time 22.043617 ms 
sort q time 6.271595 
seperate points time 11.826332 
scan registration time 26.054622 ms *************
publication time 7.685463 ms 
whole laserOdometry time 7.698364 ms 
 
-----t: 0.0444727
OdomCount 499 & avg odom time 0.038062 ms ++++++++++++++++++++++
mapping solver time 27.045350 ms 
filter time 4.743318 ms 
map prepare time 2.342140 ms
map corner num 65402  surf num 23181 
points size 98024 
sort q time 5.652405 
seperate points time 12.752615 
scan registration time 30.905233 ms *************
publication time 6.520217 ms 
whole laserOdometry time 6.534818 ms 
 
mapping solver time 29.030961 ms 
mapping data assosiation time 20.625065 ms 
--------------------stamp1317357813.894910097
mapping solver time 25.471620 ms 
mapping pub time 2.247122 ms 
whole mapping time 127.017808 ms +++++
mappingCount 447 & avg mapping time 108.384030 ms ++++++++++++++++++++++
1317357813.687383890 WriteOdom aft_mapped_to_init
sort q time 5.932513 
seperate points time 13.617621 
publication time 7.883200 ms 
whole laserOdometry time 7.896737 ms 
 
-----t: 0.0513222
OdomCount 501 & avg odom time 0.038096 ms ++++++++++++++++++++++
mapping solver time 26.892699 ms 
points size 103192 
prepare time 13.345103 
sort q time 5.784632 
seperate points time 12.975265 
mapping solver time 27.733221 ms 
publication time 6.318788 ms 
whole laserOdometry time 6.329247 ms 
 
mapping optimization time 125.762302 
add points time 0.902655 ms
build tree time 13.832702 ms 
mapping data assosiation time 20.090251 ms 
--------------------stamp1317357814.102243900
points size 103735 
prepare time 10.701352 
sort q time 5.968430 
seperate points time 12.920598 
scan registration time 29.336481 ms *************
mapping data assosiation time 25.061709 ms 
publication time 9.039304 ms 
whole laserOdometry time 9.058210 ms 
 
mapping solver time 22.240529 ms 
mapping optimization time 111.156543 
add points time 0.727986 ms
map prepare time 2.133388 ms
map corner num 66627  surf num 23595 
build tree time 11.895210 ms 
--------------------stamp1317357814.205898046
points size 103967 
sort q time 6.100853 
seperate points time 13.389843 
scan registration time 29.604069 ms *************
mapping solver time 31.992418 ms 
1317357814.205898046 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.389154 ms 
mapping solver time 26.156051 ms 
filter time 4.668180 ms 
map prepare time 2.567337 ms
map corner num 67087  surf num 23765 
prepare time 15.026871 
sort q time 5.783484 
seperate points time 13.137473 
scan registration time 34.048276 ms *************
mapping data assosiation time 26.090635 ms 
publication time 7.898565 ms 
whole laserOdometry time 7.914710 ms 
 
-----t: 0.0384637
OdomCount 505 & avg odom time 0.038110 ms ++++++++++++++++++++++
1317357814.309600114 WriteOdom laser_odom_to_init
1317357814.309600114 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.519223 ms 
mapping data assosiation time 22.108779 ms 
points size 104206 
mapping solver time 24.434938 ms 
[0m[ INFO] [1718805101.300454302, 1317357814.439161768]: Received 91406 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805101.300496047, 1317357814.439161768]: Data saved to 1317357814205898.pcd[0m
-----t: 0.0382238
OdomCount 506 & avg odom time 0.038110 ms ++++++++++++++++++++++
mapping data assosiation time 26.559487 ms 
--------------------stamp1317357814.517076969
points size 104286 
mapping solver time 32.310350 ms 
prepare time 15.375541 
sort q time 6.802032 
seperate points time 13.891591 
mapping data assosiation time 26.425715 ms 
mapping solver time 20.323128 ms 
filter time 5.236002 ms 
map prepare time 2.386534 ms
map corner num 67859  surf num 24023 
build tree time 13.513794 ms 
--------------------stamp1317357814.620826959
mapping data assosiation time 23.524412 ms 
points size 104297 
prepare time 13.609369 
sort q time 6.742603 
seperate points time 14.121352 
scan registration time 33.814668 ms *************
publication time 8.834473 ms 
whole laserOdometry time 8.840998 ms 
 
mapping data assosiation time 26.085815 ms 
-----t: 0.0486819
OdomCount 508 & avg odom time 0.038145 ms ++++++++++++++++++++++
mapping solver time 17.428419 ms 
mapping optimization time 109.275156 
add points time 0.859562 ms
map prepare time 2.238446 ms
map corner num 68201  surf num 24123 
--------------------stamp1317357814.724554061
points size 104344 
prepare time 13.130092 
sort q time 7.307543 
seperate points time 13.100416 
mapping data assosiation time 25.048909 ms 
publication time 7.722234 ms 
whole laserOdometry time 7.735886 ms 
 
mapping solver time 29.010450 ms 
-----t: 0.0572165
OdomCount 509 & avg odom time 0.038183 ms ++++++++++++++++++++++
mapping data assosiation time 24.652037 ms 
mapping solver time 16.566370 ms 
mapping pub time 2.423908 ms 
whole mapping time 122.129259 ms +++++
mappingCount 454 & avg mapping time 108.696828 ms ++++++++++++++++++++++
prepare time 14.000213 
sort q time 6.025345 
seperate points time 11.871144 
scan registration time 31.312849 ms *************
publication time 10.069486 ms 
whole laserOdometry time 10.106285 ms 
 
mapping solver time 22.136165 ms 
mapping data assosiation time 21.583731 ms 
points size 104428 
filter time 6.198465 ms 
mapping pub time 2.515139 ms 
whole mapping time 117.424857 ms +++++
mappingCount 455 & avg mapping time 108.716026 ms ++++++++++++++++++++++
1317357814.724554062 WriteOdom aft_mapped_to_init
build tree time 17.967818 ms 
publication time 10.918915 ms 
whole laserOdometry time 10.935621 ms 
 
-----t: 0.0383921
OdomCount 511 & avg odom time 0.038188 ms ++++++++++++++++++++++
1317357814.932008028 WriteOdom laser_odom_to_init
1317357814.932008028 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.018814 ms 
mapping solver time 28.263995 ms 
points size 104387 
mapping data assosiation time 25.244041 ms 
scan registration time 32.356426 ms *************
mapping solver time 29.034462 ms 
[0m[ INFO] [1718805101.951499564, 1317357815.097100495]: Received 94046 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805101.951537537, 1317357815.097100495]: Data saved to 1317357814828279.pcd[0m
--------------------stamp1317357815.139436006
points size 104449 
prepare time 20.275123 
sort q time 8.914802 
seperate points time 18.250332 
mapping solver time 37.000208 ms 
scan registration time 43.789176 ms *************
publication time 13.241685 ms 
whole laserOdometry time 13.253860 ms 
 
--------------------stamp1317357815.243185997
points size 104309 
mapping pub time 11.872233 ms 
whole mapping time 180.663027 ms +++++
mappingCount 457 & avg mapping time 108.941884 ms ++++++++++++++++++++++
map prepare time 3.639545 ms
map corner num 69891  surf num 24631 
publication time 9.906890 ms 
whole laserOdometry time 9.917586 ms 
 
-----t: 0.0574057
OdomCount 514 & avg odom time 0.038350 ms ++++++++++++++++++++++
--------------------stamp1317357815.346915006
points size 104231 
prepare time 15.408811 
sort q time 6.259858 
seperate points time 13.565662 
publication time 9.144823 ms 
whole laserOdometry time 9.158194 ms 
 
mapping solver time 24.422295 ms 
mapping optimization time 139.199103 
add points time 0.879964 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357815.450640916
points size 104132 
build tree time 17.337967 ms 
prepare time 14.202824 
sort q time 6.015660 
seperate points time 12.983117 
scan registration time 32.661366 ms *************
publication time 10.979433 ms 
whole laserOdometry time 10.992855 ms 
 
mapping solver time 33.896624 ms 
-----t: 0.0624874
OdomCount 516 & avg odom time 0.038423 ms ++++++++++++++++++++++
mapping data assosiation time 22.728441 ms 
--------------------stamp1317357815.554369926
points size 103995 
filter time 6.933411 ms 
mapping pub time 2.497361 ms 
whole mapping time 136.871362 ms +++++
mappingCount 459 & avg mapping time 109.095053 ms ++++++++++++++++++++++
1317357815.243185997 WriteOdom aft_mapped_to_init
build tree time 18.214047 ms 
-----t: 0.044596
OdomCount 517 & avg odom time 0.038434 ms ++++++++++++++++++++++
mapping solver time 22.077042 ms 
points size 103735 
prepare time 13.333704 
mapping data assosiation time 22.726337 ms 
sort q time 5.988926 
seperate points time 13.252080 
add points time 0.985601 ms
mapping pub time 2.407049 ms 
whole mapping time 121.320270 ms +++++
mappingCount 460 & avg mapping time 109.121642 ms ++++++++++++++++++++++
1317357815.450640917 WriteOdom aft_mapped_to_init
publication time 8.616759 ms 
whole laserOdometry time 8.635061 ms 
 
map prepare time 2.499282 ms
map corner num 71288  surf num 25095 
build tree time 13.890520 ms 
mapping data assosiation time 21.491607 ms 
--------------------stamp1317357815.761892080
mapping solver time 24.541079 ms 
points size 103584 
sort q time 6.150218 
seperate points time 14.213763 
publication time 7.549754 ms 
whole laserOdometry time 7.565146 ms 
 
filter time 6.766438 ms 
mapping pub time 8.245944 ms 
whole mapping time 124.469494 ms +++++
mappingCount 461 & avg mapping time 109.154945 ms ++++++++++++++++++++++
-----t: 0.0615309
OdomCount 519 & avg odom time 0.038490 ms ++++++++++++++++++++++
build tree time 15.715174 ms 
--------------------stamp1317357815.865668058
mapping data assosiation time 22.397615 ms 
sort q time 6.759469 
seperate points time 17.602023 
publication time 14.057999 ms 
whole laserOdometry time 14.073255 ms 
 
mapping solver time 18.672879 ms 
filter time 5.499242 ms 
mapping pub time 2.276728 ms 
whole mapping time 126.691151 ms +++++
mappingCount 462 & avg mapping time 109.192914 ms ++++++++++++++++++++++
1317357815.658119917 WriteOdom aft_mapped_to_init
points size 103383 
prepare time 13.324226 
build tree time 16.572487 ms 
scan registration time 32.108612 ms *************
publication time 10.046378 ms 
whole laserOdometry time 10.058312 ms 
 
-----t: 0.0433032
OdomCount 521 & avg odom time 0.038518 ms ++++++++++++++++++++++
mapping data assosiation time 19.827451 ms 
--------------------stamp1317357816.073237895
mapping solver time 23.019191 ms 
mapping pub time 2.590661 ms 
whole mapping time 127.051236 ms +++++
mappingCount 463 & avg mapping time 109.231491 ms ++++++++++++++++++++++
sort q time 6.500879 
seperate points time 14.234255 
scan registration time 35.190101 ms *************
publication time 7.416024 ms 
whole laserOdometry time 7.426992 ms 
 
-----t: 0.0481946
OdomCount 522 & avg odom time 0.038537 ms ++++++++++++++++++++++
1317357816.073237895 WriteOdom laser_odom_to_init
1317357816.073237895 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.982948 ms 
mapping solver time 27.211075 ms 
--------------------stamp1317357816.177038908
points size 99621 
mapping data assosiation time 24.809831 ms 
sort q time 5.597699 
seperate points time 12.819036 
mapping solver time 27.881657 ms 
mapping optimization time 125.506115 
add points time 0.836381 ms
publication time 8.040464 ms 
whole laserOdometry time 8.050673 ms 
 
map prepare time 2.309504 ms
map corner num 73160  surf num 25620 
build tree time 16.061597 ms 
mapping data assosiation time 22.541171 ms 
points size 98287 
sort q time 4.979116 
seperate points time 10.759539 
publication time 6.621078 ms 
whole laserOdometry time 6.633617 ms 
 
mapping data assosiation time 26.835630 ms 
mapping solver time 17.364438 ms 
filter time 4.960613 ms 
mapping pub time 2.360280 ms 
whole mapping time 126.282130 ms +++++
mappingCount 465 & avg mapping time 109.332093 ms ++++++++++++++++++++++
1317357816.073237896 WriteOdom aft_mapped_to_init
build tree time 14.652327 ms 
points size 97431 
mapping data assosiation time 24.845011 ms 
scan registration time 30.057556 ms *************
mapping solver time 28.027094 ms 
mapping data assosiation time 21.704909 ms 
mapping solver time 15.751427 ms 
[0m[ INFO] [1718805103.336571804, 1317357816.474371224]: Received 100160 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805103.336600849, 1317357816.474371224]: Data saved to 1317357816280862.pcd[0m
points size 97630 
prepare time 13.141363 
build tree time 17.928416 ms 
sort q time 5.546843 
seperate points time 12.727927 
mapping data assosiation time 26.139887 ms 
-----t: 0.0456791
OdomCount 526 & avg odom time 0.038561 ms ++++++++++++++++++++++
1317357816.488508939 WriteOdom laser_odom_to_init
1317357816.488508939 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.854855 ms 
--------------------stamp1317357816.592305898
points size 97639 
mapping pub time 2.321133 ms 
whole mapping time 125.132466 ms +++++
mappingCount 467 & avg mapping time 109.385342 ms ++++++++++++++++++++++
1317357816.384708881 WriteOdom aft_mapped_to_init
prepare time 18.559563 
map prepare time 3.341876 ms
map corner num 74724  surf num 26080 
sort q time 5.527484 
seperate points time 12.788797 
scan registration time 37.061785 ms *************
build tree time 18.287064 ms 
publication time 9.077993 ms 
whole laserOdometry time 9.114866 ms 
 
1317357816.592305898 WriteOdom laser_odom_to_init
1317357816.592305898 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.793957 ms 
--------------------stamp1317357816.696105003
points size 97760 
prepare time 14.150282 
sort q time 5.529574 
seperate points time 12.481550 
mapping solver time 20.496019 ms 
mapping optimization time 122.598219 
add points time 0.761197 ms
publication time 8.964250 ms 
whole laserOdometry time 8.995113 ms 
 
map prepare time 2.376789 ms
map corner num 75187  surf num 26267 
-----t: 0.0531419
OdomCount 528 & avg odom time 0.038608 ms ++++++++++++++++++++++
mapping data assosiation time 21.461494 ms 
points size 97882 
sort q time 5.069846 
seperate points time 10.454057 
mapping data assosiation time 24.144863 ms 
mapping solver time 20.008195 ms 
filter time 6.287945 ms 
mapping pub time 2.255165 ms 
whole mapping time 120.303482 ms +++++
mappingCount 469 & avg mapping time 109.466353 ms ++++++++++++++++++++++
1317357816.592305899 WriteOdom aft_mapped_to_init
build tree time 16.527174 ms 
--------------------stamp1317357816.903677940
points size 97261 
sort q time 5.491152 
seperate points time 12.362633 
mapping solver time 26.816659 ms 
-----t: 0.0366777
OdomCount 530 & avg odom time 0.038626 ms ++++++++++++++++++++++
mapping data assosiation time 23.935287 ms 
mapping solver time 16.709712 ms 
filter time 5.104327 ms 
map prepare time 2.338560 ms
map corner num 76183  surf num 26627 
--------------------stamp1317357817.007476091
build tree time 16.764226 ms 
sort q time 5.359292 
seperate points time 12.048573 
mapping data assosiation time 26.813901 ms 
-----t: 0.0411626
OdomCount 531 & avg odom time 0.038631 ms ++++++++++++++++++++++
mapping solver time 24.959184 ms 
mapping data assosiation time 22.648230 ms 
mapping solver time 16.675239 ms 
filter time 6.593020 ms 
map prepare time 2.359237 ms
map corner num 76637  surf num 26762 
sort q time 5.313170 
seperate points time 10.947359 
build tree time 19.272803 ms 
-----t: 0.0397847
OdomCount 532 & avg odom time 0.038633 ms ++++++++++++++++++++++
1317357817.111252069 WriteOdom laser_odom_to_init
1317357817.111252069 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.662511 ms 
mapping solver time 28.549681 ms 
points size 90241 
mapping optimization time 124.082124 
map prepare time 2.656025 ms
map corner num 77056  surf num 26867 
publication time 10.477862 ms 
whole laserOdometry time 10.494440 ms 
 
-----t: 0.0524618
OdomCount 533 & avg odom time 0.038659 ms ++++++++++++++++++++++
1317357817.215049982 WriteOdom laser_odom_to_init
1317357817.215049982 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357817.318850040
points size 88273 
sort q time 5.104368 
seperate points time 10.143786 
mapping data assosiation time 25.243252 ms 
publication time 13.129496 ms 
whole laserOdometry time 13.148304 ms 
 
mapping solver time 20.288299 ms 
mapping optimization time 115.529967 
add points time 0.775632 ms
-----t: 0.0503633
OdomCount 534 & avg odom time 0.038681 ms ++++++++++++++++++++++
1317357817.318850040 WriteOdom laser_odom_to_init
1317357817.318850040 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.073625 ms
map corner num 77484  surf num 26976 
build tree time 16.350975 ms 
--------------------stamp1317357817.422648906
mapping data assosiation time 27.048472 ms 
sort q time 4.888129 
seperate points time 10.909703 
scan registration time 24.290014 ms *************
publication time 8.305171 ms 
whole laserOdometry time 8.319281 ms 
 
-----t: 0.0398056
OdomCount 535 & avg odom time 0.038683 ms ++++++++++++++++++++++
mapping data assosiation time 26.145793 ms 
mapping solver time 16.109413 ms 
filter time 5.302339 ms 
map prepare time 2.539769 ms
map corner num 77939  surf num 27098 
points size 84560 
sort q time 4.626713 
seperate points time 11.418272 
mapping data assosiation time 25.811647 ms 
mapping solver time 24.214234 ms 
mapping data assosiation time 25.298778 ms 
--------------------stamp1317357817.630247116
points size 81166 
filter time 7.248131 ms 
prepare time 11.462035 
mapping pub time 2.140475 ms 
whole mapping time 125.100653 ms +++++
mappingCount 475 & avg mapping time 109.674717 ms ++++++++++++++++++++++
1317357817.422648907 WriteOdom aft_mapped_to_init
scan registration time 25.848119 ms *************
publication time 7.534172 ms 
whole laserOdometry time 7.550085 ms 
 
-----t: 0.0413564
OdomCount 537 & avg odom time 0.038718 ms ++++++++++++++++++++++
1317357817.630247116 WriteOdom laser_odom_to_init
1317357817.630247116 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.500687 ms 
mapping solver time 20.172975 ms 
--------------------stamp1317357817.734093904
points size 77649 
sort q time 5.514122 
seperate points time 10.661824 
add points time 0.929430 ms
drop lidar frame in mapping for real time performance 
build tree time 20.755486 ms 
-----t: 0.0503505
OdomCount 538 & avg odom time 0.038740 ms ++++++++++++++++++++++
1317357817.734093904 WriteOdom laser_odom_to_init
1317357817.734093904 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.649590 ms 
points size 75819 
sort q time 4.451662 
seperate points time 9.867925 
scan registration time 24.271897 ms *************
mapping data assosiation time 26.878902 ms 
mapping solver time 19.905088 ms 
filter time 5.807844 ms 
build tree time 15.851862 ms 
--------------------stamp1317357817.941785097
prepare time 10.710051 
sort q time 4.043653 
seperate points time 9.544481 
publication time 8.906448 ms 
whole laserOdometry time 8.916815 ms 
 
mapping data assosiation time 24.966576 ms 
mapping solver time 19.159931 ms 
filter time 5.851244 ms 
map prepare time 2.150312 ms
map corner num 80139  surf num 27678 
--------------------stamp1317357818.045680999
points size 74882 
sort q time 4.311986 
seperate points time 10.023297 
publication time 5.922815 ms 
whole laserOdometry time 5.934509 ms 
 
mapping solver time 23.570075 ms 
-----t: 0.0417302
OdomCount 541 & avg odom time 0.038774 ms ++++++++++++++++++++++
mapping data assosiation time 24.460603 ms 
mapping solver time 20.112761 ms 
filter time 7.337393 ms 
points size 73648 
prepare time 11.051965 
build tree time 19.233486 ms 
publication time 7.890845 ms 
whole laserOdometry time 7.910791 ms 
 
-----t: 0.0313838
OdomCount 542 & avg odom time 0.038760 ms ++++++++++++++++++++++
mapping solver time 23.774212 ms 
mapping data assosiation time 20.869684 ms 
--------------------stamp1317357818.253519058
points size 72824 
add points time 0.763277 ms
sort q time 4.456928 
seperate points time 8.867078 
filter time 6.715222 ms 
publication time 7.890857 ms 
whole laserOdometry time 7.921507 ms 
 
mapping data assosiation time 19.253146 ms 
mapping solver time 18.307803 ms 
--------------------stamp1317357818.357438087
points size 71835 
mapping solver time 15.420322 ms 
filter time 7.473575 ms 
mapping pub time 8.065675 ms 
whole mapping time 113.502563 ms +++++
mappingCount 481 & avg mapping time 109.837785 ms ++++++++++++++++++++++
1317357818.149600983 WriteOdom aft_mapped_to_init
-----t: 0.0386528
OdomCount 544 & avg odom time 0.038754 ms ++++++++++++++++++++++
1317357818.357438087 WriteOdom laser_odom_to_init
1317357818.357438087 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.791160 ms 
mapping solver time 18.027747 ms 
points size 71148 
mapping data assosiation time 22.586923 ms 
sort q time 3.744834 
seperate points time 8.976901 
scan registration time 23.230614 ms *************
publication time 6.393535 ms 
whole laserOdometry time 6.406679 ms 
 
filter time 6.034347 ms 
mapping pub time 1.683934 ms 
whole mapping time 115.072271 ms +++++
mappingCount 482 & avg mapping time 109.848652 ms ++++++++++++++++++++++
1317357818.253519058 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.676884 ms
map corner num 82032  surf num 28193 
-----t: 0.0408236
OdomCount 545 & avg odom time 0.038758 ms ++++++++++++++++++++++
1317357818.461380958 WriteOdom laser_odom_to_init
1317357818.461380958 WriteOdom aft_mapped_to_init_high_frec
build tree time 17.007815 ms 
mapping data assosiation time 18.256002 ms 
--------------------stamp1317357818.565372943
points size 70662 
sort q time 4.493047 
seperate points time 8.547137 
mapping data assosiation time 22.838366 ms 
publication time 6.289899 ms 
whole laserOdometry time 6.303483 ms 
 
mapping optimization time 99.556734 
filter time 7.879090 ms 
-----t: 0.0786797
OdomCount 546 & avg odom time 0.038831 ms ++++++++++++++++++++++
points size 67684 
prepare time 12.555599 
publication time 6.595348 ms 
whole laserOdometry time 6.607251 ms 
 
-----t: 0.0428975
OdomCount 547 & avg odom time 0.038839 ms ++++++++++++++++++++++
mapping solver time 21.743501 ms 
mapping data assosiation time 18.715412 ms 
mapping solver time 19.073089 ms 
filter time 8.775675 ms 
mapping pub time 1.792434 ms 
whole mapping time 117.352638 ms +++++
mappingCount 484 & avg mapping time 109.870010 ms ++++++++++++++++++++++
1317357818.565372944 WriteOdom aft_mapped_to_init
points size 64489 
prepare time 12.602591 
map prepare time 2.938508 ms
map corner num 83099  surf num 28550 
sort q time 3.485056 
seperate points time 8.769558 
build tree time 21.740637 ms 
publication time 7.783789 ms 
whole laserOdometry time 7.798563 ms 
 
mapping data assosiation time 21.599130 ms 
-----t: 0.0407339
OdomCount 548 & avg odom time 0.038842 ms ++++++++++++++++++++++
1317357818.773423910 WriteOdom laser_odom_to_init
1317357818.773423910 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.847905 ms 
mapping data assosiation time 17.796795 ms 
--------------------stamp1317357818.877511024
points size 65610 
sort q time 3.632911 
seperate points time 8.240432 
publication time 6.667993 ms 
whole laserOdometry time 6.682932 ms 
 
-----t: 0.0303841
OdomCount 549 & avg odom time 0.038827 ms ++++++++++++++++++++++
1317357818.877511024 WriteOdom laser_odom_to_init
1317357818.877511024 WriteOdom aft_mapped_to_init_high_frec
build tree time 20.232939 ms 
mapping data assosiation time 17.516195 ms 
mapping solver time 20.173989 ms 
mapping data assosiation time 16.692897 ms 
points size 68838 
prepare time 10.268485 
mapping solver time 26.948441 ms 
filter time 7.468675 ms 
publication time 6.979216 ms 
whole laserOdometry time 6.989220 ms 
 
-----t: 0.0346945
OdomCount 550 & avg odom time 0.038819 ms ++++++++++++++++++++++
build tree time 19.255901 ms 
mapping data assosiation time 17.798700 ms 
mapping solver time 20.391003 ms 
points size 72704 
sort q time 4.366343 
seperate points time 8.698323 
mapping solver time 20.875264 ms 
filter time 7.629203 ms 
build tree time 16.764264 ms 
mapping data assosiation time 17.006829 ms 
--------------------stamp1317357819.189625978
prepare time 10.947914 
sort q time 3.987696 
seperate points time 9.306711 
publication time 7.988047 ms 
whole laserOdometry time 8.007225 ms 
 
mapping solver time 21.246662 ms 
filter time 7.681373 ms 
-----t: 0.0540009
OdomCount 552 & avg odom time 0.038839 ms ++++++++++++++++++++++
1317357819.189625978 WriteOdom laser_odom_to_init
1317357819.189625978 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.214520 ms
map corner num 85438  surf num 29180 
build tree time 18.546764 ms 
--------------------stamp1317357819.293595075
points size 77317 
sort q time 4.341395 
seperate points time 30.278062 
scan registration time 48.188482 ms *************
mapping solver time 44.033591 ms 
mapping data assosiation time 23.717494 ms 
mapping solver time 20.027354 ms 
mapping pub time 1.715678 ms 
whole mapping time 139.663718 ms +++++
mappingCount 489 & avg mapping time 109.965048 ms ++++++++++++++++++++++
build tree time 19.406344 ms 
-----t: 0.0298944
OdomCount 554 & avg odom time 0.038877 ms ++++++++++++++++++++++
mapping solver time 21.798558 ms 
mapping data assosiation time 19.166092 ms 
--------------------stamp1317357819.501456975
mapping solver time 19.569999 ms 
mapping optimization time 102.872161 
add points time 0.714955 ms
points size 82036 
prepare time 11.315272 
sort q time 4.671832 
seperate points time 9.939012 
publication time 7.503586 ms 
whole laserOdometry time 7.515611 ms 
 
build tree time 21.752461 ms 
mapping data assosiation time 18.995019 ms 
mapping solver time 20.290811 ms 
--------------------stamp1317357819.605400085
points size 83526 
sort q time 5.199011 
seperate points time 10.592921 
[0m[ INFO] [1718805106.496169068, 1317357819.640642095]: Received 117175 data points in frame camera_init with the following fields: x y z intensity[0m
-----t: 0.0344997
OdomCount 556 & avg odom time 0.038855 ms ++++++++++++++++++++++
build tree time 19.842298 ms 
mapping data assosiation time 18.308732 ms 
mapping solver time 17.342133 ms 
--------------------stamp1317357819.709342002
points size 85138 
prepare time 13.109336 
mapping data assosiation time 20.751549 ms 
mapping solver time 14.581760 ms 
1317357819.501456976 WriteOdom aft_mapped_to_init
build tree time 21.118704 ms 
mapping data assosiation time 18.800023 ms 
-----t: 0.0813002
OdomCount 557 & avg odom time 0.038931 ms ++++++++++++++++++++++
mapping solver time 22.770553 ms 
prepare time 11.747093 
sort q time 5.323785 
seperate points time 10.468796 
filter time 6.518238 ms 
build tree time 19.254715 ms 
mapping data assosiation time 19.360476 ms 
points size 88974 
mapping solver time 27.843327 ms 
mapping data assosiation time 22.397780 ms 
-----t: 0.0442374
OdomCount 559 & avg odom time 0.038953 ms ++++++++++++++++++++++
mapping optimization time 110.710142 
filter time 7.648779 ms 
build tree time 16.520544 ms 
points size 92010 
sort q time 4.879002 
seperate points time 11.464233 
mapping solver time 23.819713 ms 
-----t: 0.0318963
OdomCount 560 & avg odom time 0.038940 ms ++++++++++++++++++++++
mapping data assosiation time 21.207350 ms 
mapping solver time 17.215188 ms 
mapping optimization time 100.299083 
add points time 0.651323 ms
map prepare time 2.375483 ms
map corner num 89549  surf num 30345 
--------------------stamp1317357820.125067949
build tree time 19.686873 ms 
prepare time 15.756782 
mapping data assosiation time 19.403273 ms 
publication time 7.727624 ms 
whole laserOdometry time 7.743250 ms 
 
mapping solver time 23.345990 ms 
mapping data assosiation time 21.711260 ms 
-----t: 0.0623513
OdomCount 561 & avg odom time 0.038982 ms ++++++++++++++++++++++
1317357820.125067949 WriteOdom laser_odom_to_init
1317357820.125067949 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.189144 ms 
filter time 6.263163 ms 
map prepare time 3.060236 ms
map corner num 90045  surf num 30502 
points size 98105 
prepare time 16.414528 
build tree time 24.826898 ms 
sort q time 5.726499 
seperate points time 12.295000 
scan registration time 34.486231 ms *************
mapping data assosiation time 21.555124 ms 
-----t: 0.0448424
OdomCount 562 & avg odom time 0.038993 ms ++++++++++++++++++++++
1317357820.228960990 WriteOdom laser_odom_to_init
1317357820.228960990 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.413561 ms 
mapping data assosiation time 21.260795 ms 
points size 97018 
mapping solver time 18.994682 ms 
prepare time 12.110560 
mapping optimization time 111.152597 
add points time 0.838626 ms
scan registration time 34.102915 ms *************
build tree time 15.717235 ms 
publication time 8.385481 ms 
whole laserOdometry time 8.398710 ms 
 
-----t: 0.0582361
OdomCount 563 & avg odom time 0.039027 ms ++++++++++++++++++++++
mapping solver time 20.656846 ms 
points size 97092 
mapping data assosiation time 23.652464 ms 
mapping solver time 16.813927 ms 
publication time 8.979810 ms 
whole laserOdometry time 8.994657 ms 
 
build tree time 15.155948 ms 
mapping data assosiation time 19.236488 ms 
--------------------stamp1317357820.540666103
points size 97324 
mapping data assosiation time 22.475281 ms 
-----t: 0.0346944
OdomCount 565 & avg odom time 0.039046 ms ++++++++++++++++++++++
1317357820.540666103 WriteOdom laser_odom_to_init
1317357820.540666103 WriteOdom aft_mapped_to_init_high_frec
publication time 8.720208 ms 
whole laserOdometry time 8.732718 ms 
 
filter time 5.248793 ms 
build tree time 12.292996 ms 
mapping data assosiation time 18.633492 ms 
--------------------stamp1317357820.644560098
mapping solver time 20.178753 ms 
sort q time 5.371682 
seperate points time 12.189586 
-----t: 0.031329
OdomCount 566 & avg odom time 0.039032 ms ++++++++++++++++++++++
1317357820.644560098 WriteOdom laser_odom_to_init
1317357820.644560098 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.095020 ms 
mapping optimization time 89.960918 
add points time 0.747405 ms
publication time 8.195221 ms 
whole laserOdometry time 8.217077 ms 
 
filter time 4.800875 ms 
map prepare time 2.305212 ms
map corner num 61051  surf num 20548 
build tree time 12.250442 ms 
mapping data assosiation time 18.413101 ms 
--------------------stamp1317357820.748456954
mapping solver time 23.711499 ms 
prepare time 12.557524 
[0m[ INFO] [1718805107.670728528, 1317357820.814040731]: Received 82244 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805107.670780595, 1317357820.814040731]: Data saved to 1317357820644560.pcd[0m
-----t: 0.0770686
OdomCount 567 & avg odom time 0.039099 ms ++++++++++++++++++++++
1317357820.748456954 WriteOdom laser_odom_to_init
1317357820.748456954 WriteOdom aft_mapped_to_init_high_frec
points size 91356 
sort q time 5.204779 
seperate points time 11.512885 
mapping data assosiation time 24.592333 ms 
-----t: 0.0468735
OdomCount 568 & avg odom time 0.039113 ms ++++++++++++++++++++++
1317357820.852303981 WriteOdom laser_odom_to_init
mapping solver time 28.876682 ms 
mapping data assosiation time 24.451760 ms 
mapping solver time 20.398772 ms 
map prepare time 2.377766 ms
map corner num 62023  surf num 20797 
sort q time 4.731390 
seperate points time 11.642444 
publication time 10.725129 ms 
whole laserOdometry time 10.755406 ms 
 
mapping solver time 24.564243 ms 
--------------------stamp1317357821.060020923
mapping data assosiation time 25.099642 ms 
prepare time 10.472279 
filter time 6.415084 ms 
build tree time 16.075194 ms 
-----t: 0.0691762
OdomCount 570 & avg odom time 0.039166 ms ++++++++++++++++++++++
--------------------stamp1317357821.163893938
mapping solver time 29.505197 ms 
sort q time 4.326021 
seperate points time 10.529980 
scan registration time 28.845130 ms *************
publication time 7.730230 ms 
whole laserOdometry time 7.746261 ms 
 
mapping solver time 25.792361 ms 
mapping pub time 1.972407 ms 
whole mapping time 132.793760 ms +++++
mappingCount 504 & avg mapping time 110.214653 ms ++++++++++++++++++++++
build tree time 13.806127 ms 
mapping data assosiation time 20.017495 ms 
sort q time 3.898922 
seperate points time 9.628447 
scan registration time 24.545277 ms *************
mapping solver time 22.318919 ms 
publication time 6.956891 ms 
whole laserOdometry time 6.983987 ms 
 
mapping solver time 18.550948 ms 
mapping pub time 1.994354 ms 
whole mapping time 107.613159 ms +++++
mappingCount 505 & avg mapping time 110.209512 ms ++++++++++++++++++++++
build tree time 11.927831 ms 
--------------------stamp1317357821.371634960
prepare time 9.116746 
mapping data assosiation time 19.606327 ms 
sort q time 4.389517 
seperate points time 9.562371 
mapping solver time 25.805902 ms 
1317357821.371634960 WriteOdom aft_mapped_to_init_high_frec
publication time 24.572289 ms 
whole laserOdometry time 24.589086 ms 
 
mapping solver time 18.881198 ms 
[0m[ INFO] [1718805108.317911727, 1317357821.460806864]: Received 85214 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805108.317980308, 1317357821.460806864]: Data saved to 1317357821267764.pcd[0m
--------------------stamp1317357821.475506067
build tree time 17.365491 ms 
sort q time 4.898272 
seperate points time 11.736587 
mapping data assosiation time 24.912180 ms 
publication time 10.574245 ms 
whole laserOdometry time 10.589897 ms 
 
mapping solver time 21.510585 ms 
mapping data assosiation time 21.165533 ms 
mapping solver time 14.426939 ms 
mapping optimization time 100.586307 
add points time 0.757405 ms
filter time 4.405613 ms 
points size 73639 
prepare time 10.604406 
publication time 7.321443 ms 
whole laserOdometry time 7.332895 ms 
 
mapping data assosiation time 23.549200 ms 
mapping solver time 22.650478 ms 
-----t: 0.0693729
OdomCount 575 & avg odom time 0.039263 ms ++++++++++++++++++++++
--------------------stamp1317357821.683271884
points size 74543 
map prepare time 2.817737 ms
map corner num 64857  surf num 21662 
build tree time 15.887287 ms 
-----t: 0.0380168
OdomCount 576 & avg odom time 0.039261 ms ++++++++++++++++++++++
1317357821.683271884 WriteOdom laser_odom_to_init
1317357821.683271884 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.786222 ms 
mapping solver time 22.868462 ms 
mapping data assosiation time 21.041502 ms 
--------------------stamp1317357821.787189006
prepare time 10.472558 
mapping solver time 19.774868 ms 
mapping pub time 1.853439 ms 
whole mapping time 115.220149 ms +++++
mappingCount 509 & avg mapping time 110.250814 ms ++++++++++++++++++++++
1317357821.579377890 WriteOdom aft_mapped_to_init
publication time 6.940016 ms 
whole laserOdometry time 6.953951 ms 
 
build tree time 15.556118 ms 
mapping data assosiation time 22.261606 ms 
-----t: 0.0668889
OdomCount 577 & avg odom time 0.039308 ms ++++++++++++++++++++++
1317357821.787189006 WriteOdom laser_odom_to_init
1317357821.787189006 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.362833 ms 
--------------------stamp1317357821.891083002
prepare time 9.470139 
sort q time 4.936628 
seperate points time 9.775652 
publication time 6.297173 ms 
whole laserOdometry time 6.311462 ms 
 
filter time 6.243964 ms 
-----t: 0.0417982
OdomCount 578 & avg odom time 0.039313 ms ++++++++++++++++++++++
build tree time 14.743670 ms 
mapping data assosiation time 19.015323 ms 
--------------------stamp1317357821.994980096
mapping solver time 24.809062 ms 
scan registration time 24.732268 ms *************
publication time 5.357846 ms 
whole laserOdometry time 5.373045 ms 
 
-----t: 0.0317628
OdomCount 579 & avg odom time 0.039300 ms ++++++++++++++++++++++
filter time 4.582589 ms 
build tree time 11.861795 ms 
mapping data assosiation time 18.645410 ms 
--------------------stamp1317357822.098897933
points size 76205 
mapping solver time 25.087309 ms 
scan registration time 25.728416 ms *************
publication time 6.666066 ms 
whole laserOdometry time 6.678500 ms 
 
-----t: 0.0409241
OdomCount 580 & avg odom time 0.039303 ms ++++++++++++++++++++++
mapping solver time 20.560986 ms 
mapping optimization time 98.771279 
add points time 0.629737 ms
map prepare time 2.197266 ms
map corner num 66706  surf num 22133 
build tree time 13.472579 ms 
--------------------stamp1317357822.202816009
mapping data assosiation time 18.716132 ms 
points size 79013 
sort q time 4.240465 
seperate points time 10.069661 
publication time 6.866084 ms 
whole laserOdometry time 6.878785 ms 
 
mapping data assosiation time 21.554187 ms 
mapping solver time 25.134794 ms 
mapping pub time 1.781587 ms 
whole mapping time 117.890587 ms +++++
mappingCount 513 & avg mapping time 110.291468 ms ++++++++++++++++++++++
1317357822.098897934 WriteOdom aft_mapped_to_init
map prepare time 1.983491 ms
map corner num 67181  surf num 22252 
--------------------stamp1317357822.306734085
points size 81274 
sort q time 5.163127 
seperate points time 12.912476 
publication time 6.725857 ms 
whole laserOdometry time 6.742436 ms 
 
mapping solver time 25.128504 ms 
mapping data assosiation time 17.371475 ms 
mapping solver time 18.233138 ms 
mapping pub time 1.745268 ms 
whole mapping time 109.522666 ms +++++
mappingCount 514 & avg mapping time 110.290006 ms ++++++++++++++++++++++
points size 83710 
sort q time 4.600349 
seperate points time 10.681314 
mapping data assosiation time 20.974617 ms 
mapping solver time 22.179788 ms 
-----t: 0.063838
OdomCount 583 & avg odom time 0.039395 ms ++++++++++++++++++++++
1317357822.410650968 WriteOdom laser_odom_to_init
1317357822.410650968 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.105096 ms 
mapping optimization time 97.670772 
mapping pub time 2.033154 ms 
whole mapping time 108.068707 ms +++++
mappingCount 515 & avg mapping time 110.285700 ms ++++++++++++++++++++++
prepare time 11.708799 
build tree time 14.395963 ms 
-----t: 0.0266267
OdomCount 584 & avg odom time 0.039373 ms ++++++++++++++++++++++
mapping solver time 20.557407 ms 
mapping data assosiation time 17.529612 ms 
mapping solver time 16.990415 ms 
[0m[ INFO] [1718805109.479504539, 1317357822.617001934]: Received 90916 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805109.479541433, 1317357822.617001934]: Data saved to 1317357822410650.pcd[0m
sort q time 4.868205 
seperate points time 11.180273 
scan registration time 29.499196 ms *************
-----t: 0.0302136
OdomCount 585 & avg odom time 0.039357 ms ++++++++++++++++++++++
1317357822.618443012 WriteOdom laser_odom_to_init
1317357822.618443012 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.632246 ms 
mapping data assosiation time 21.580655 ms 
points size 93309 
filter time 6.959187 ms 
publication time 9.603194 ms 
whole laserOdometry time 9.615020 ms 
 
-----t: 0.0452451
OdomCount 586 & avg odom time 0.039367 ms ++++++++++++++++++++++
1317357822.722335100 WriteOdom laser_odom_to_init
1317357822.722335100 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.598934 ms 
mapping solver time 20.879782 ms 
--------------------stamp1317357822.826208114
points size 92856 
sort q time 5.226737 
seperate points time 12.226587 
add points time 0.836538 ms
mapping pub time 2.134839 ms 
whole mapping time 118.109624 ms +++++
mappingCount 518 & avg mapping time 110.315215 ms ++++++++++++++++++++++
-----t: 0.0414413
OdomCount 587 & avg odom time 0.039371 ms ++++++++++++++++++++++
1317357822.826208114 WriteOdom laser_odom_to_init
1317357822.826208114 WriteOdom aft_mapped_to_init_high_frec
build tree time 17.735975 ms 
mapping data assosiation time 21.978772 ms 
--------------------stamp1317357822.930079936
points size 93923 
sort q time 5.343664 
seperate points time 11.585737 
publication time 7.412255 ms 
whole laserOdometry time 7.429097 ms 
 
-----t: 0.0455221
OdomCount 588 & avg odom time 0.039381 ms ++++++++++++++++++++++
1317357822.930079936 WriteOdom laser_odom_to_init
filter time 6.700129 ms 
1317357822.930079936 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.124337 ms 
whole mapping time 118.238574 ms +++++
mappingCount 519 & avg mapping time 110.330490 ms ++++++++++++++++++++++
1317357822.722335100 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 14.835409 ms 
mapping data assosiation time 18.565797 ms 
points size 95421 
mapping solver time 27.398214 ms 
scan registration time 29.908422 ms *************
mapping data assosiation time 21.528119 ms 
publication time 8.203927 ms 
whole laserOdometry time 8.220277 ms 
 
-----t: 0.0364504
OdomCount 589 & avg odom time 0.039376 ms ++++++++++++++++++++++
1317357823.033925056 WriteOdom laser_odom_to_init
1317357823.033925056 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.309875 ms 
mapping pub time 2.202086 ms 
whole mapping time 108.429542 ms +++++
mappingCount 520 & avg mapping time 110.326843 ms ++++++++++++++++++++++
1317357822.826208115 WriteOdom aft_mapped_to_init
map prepare time 2.174962 ms
map corner num 69925  surf num 22963 
build tree time 15.943664 ms 
--------------------stamp1317357823.137748956
points size 95562 
prepare time 14.098791 
sort q time 5.130257 
seperate points time 12.168105 
mapping data assosiation time 21.160075 ms 
1317357823.137748956 WriteOdom laser_odom_to_init
1317357823.137748956 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.641626 ms 
[0m[ INFO] [1718805110.061375828, 1317357823.206441128]: Received 93496 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805110.061421954, 1317357823.206441128]: Data saved to 1317357823033925.pcd[0m
mapping pub time 13.082301 ms 
whole mapping time 112.078740 ms +++++
mappingCount 521 & avg mapping time 110.330210 ms ++++++++++++++++++++++
build tree time 13.211028 ms 
--------------------stamp1317357823.241595983
points size 94001 
sort q time 5.731436 mapping solver time 28.039752 ms 
-----t: 0.0371898
OdomCount 591 & avg odom time 0.039361 ms ++++++++++++++++++++++
publication time 7.409324 ms 
whole laserOdometry time 7.418859 ms 
 
mapping solver time 18.358479 ms 
mapping pub time 2.136722 ms 
whole mapping time 110.103741 ms +++++
mappingCount 522 & avg mapping time 110.329784 ms ++++++++++++++++++++++
1317357823.137748957 WriteOdom aft_mapped_to_init
map prepare time 2.304106 ms
map corner num 70775  surf num 23180 
--------------------stamp1317357823.345441102
points size 92808 
mapping data assosiation time 21.367411 ms 
publication time 5.988917 ms 
whole laserOdometry time 5.999945 ms 
 
mapping data assosiation time 17.797601 ms 
mapping solver time 18.046267 ms 
map prepare time 2.137430 ms
map corner num 71189  surf num 23250 
points size 90552 
sort q time 4.946436 
seperate points time 13.396213 
publication time 8.251590 ms 
whole laserOdometry time 8.262833 ms 
 
-----t: 0.0628162
OdomCount 593 & avg odom time 0.039399 ms ++++++++++++++++++++++
1317357823.449261903 WriteOdom laser_odom_to_init
1317357823.449261903 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.989383 ms 
mapping solver time 15.525505 ms 
mapping pub time 2.458201 ms 
whole mapping time 117.091679 ms +++++
mappingCount 524 & avg mapping time 110.341522 ms ++++++++++++++++++++++
sort q time 6.944259 
seperate points time 12.864318 
scan registration time 27.520910 ms *************
build tree time 19.302534 ms 
publication time 6.931811 ms 
whole laserOdometry time 6.945233 ms 
 
mapping data assosiation time 19.249640 ms 
mapping solver time 19.564849 ms 
mapping data assosiation time 17.886359 ms 
mapping solver time 14.069247 ms 
mapping pub time 2.108044 ms 
whole mapping time 102.161862 ms +++++
mappingCount 525 & avg mapping time 110.325948 ms ++++++++++++++++++++++
points size 89727 
map prepare time 2.105378 ms
map corner num 70932  surf num 22598 
sort q time 4.851588 
seperate points time 11.455731 
publication time 8.135699 ms 
whole laserOdometry time 8.149254 ms 
 
mapping data assosiation time 20.712895 ms 
mapping solver time 18.363018 ms 
mapping data assosiation time 15.846157 ms 
mapping solver time 14.715962 ms 
[0m[ INFO] [1718805110.620330352, 1317357823.766326151]: Received 93941 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805110.620396708, 1317357823.766326151]: Data saved to 1317357823553064.pcd[0m
prepare time 15.926470 
build tree time 17.868813 ms 
publication time 7.972588 ms 
whole laserOdometry time 7.981965 ms 
 
mapping data assosiation time 21.576658 ms 
mapping solver time 20.779527 ms 
mapping data assosiation time 24.680438 ms 
points size 90258 
filter time 6.803266 ms 
publication time 8.675330 ms 
whole laserOdometry time 8.689087 ms 
 
mapping data assosiation time 19.754298 ms 
mapping solver time 17.115390 ms 
--------------------stamp1317357823.968235015
points size 90976 
prepare time 13.294813 
mapping solver time 15.257593 ms 
mapping optimization time 90.547880 
sort q time 5.206688 
seperate points time 12.313778 
publication time 8.298680 ms 
whole laserOdometry time 8.318455 ms 
 
-----t: 0.0811192
OdomCount 598 & avg odom time 0.039489 ms ++++++++++++++++++++++
points size 92735 
prepare time 22.503285 
sort q time 4.930981 
seperate points time 11.885774 
filter time 6.376968 ms 
scan registration time 66.454847 ms *************
publication time 7.516454 ms 
whole laserOdometry time 7.534135 ms 
 
build tree time 36.165714 ms 
--------------------stamp1317357824.175807952
prepare time 16.771259 
-----t: 0.116876
OdomCount 599 & avg odom time 0.039619 ms ++++++++++++++++++++++
1317357824.072033882 WriteOdom laser_odom_to_init
publication time 17.066460 ms 
whole laserOdometry time 17.085593 ms 
 
points size 89281 
-----t: 0.100532
OdomCount 600 & avg odom time 0.039720 ms ++++++++++++++++++++++
mapping solver time 39.040585 ms 
filter time 7.834854 ms 
publication time 17.616692 ms 
whole laserOdometry time 17.632155 ms 
 
--------------------stamp1317357824.383359909
points size 88864 
mapping data assosiation time 42.663225 ms 
1317357824.279583930 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.931188 ms 
mapping data assosiation time 20.689030 ms 
mapping solver time 14.808598 ms 
[0m[ INFO] [1718805111.343487483, 1317357824.484584446]: Received 95805 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805111.343530081, 1317357824.484584446]: Data saved to 1317357824072033.pcd[0m
points size 88355 
build tree time 18.614617 ms 
scan registration time 31.312401 ms *************
mapping data assosiation time 22.027967 ms 
mapping solver time 17.308368 ms 
mapping data assosiation time 16.310418 ms 
mapping solver time 11.453804 ms 
mapping pub time 2.156769 ms 
whole mapping time 97.807603 ms +++++
mappingCount 532 & avg mapping time 110.577981 ms ++++++++++++++++++++++
points size 88032 
build tree time 16.323620 ms 
scan registration time 32.915638 ms *************
1317357824.590907096 WriteOdom laser_odom_to_init
1317357824.590907096 WriteOdom aft_mapped_to_init_high_frec
publication time 7.606540 ms 
whole laserOdometry time 7.617748 ms 
 
mapping data assosiation time 16.145302 ms 
mapping solver time 15.634005 ms 
mapping pub time 2.299456 ms 
whole mapping time 100.876433 ms +++++
mappingCount 533 & avg mapping time 110.559789 ms ++++++++++++++++++++++
prepare time 15.409041 
sort q time 5.780230 
seperate points time 20.342775 
mapping data assosiation time 20.607649 ms 
scan registration time 43.862081 ms *************
-----t: 0.0301112
OdomCount 605 & avg odom time 0.039805 ms ++++++++++++++++++++++
1317357824.694680929 WriteOdom laser_odom_to_init
1317357824.694680929 WriteOdom aft_mapped_to_init_high_frec
publication time 6.294372 ms 
whole laserOdometry time 6.306754 ms 
 
mapping data assosiation time 15.523967 ms 
mapping solver time 16.497636 ms 
mapping pub time 2.248008 ms 
whole mapping time 103.567184 ms +++++
mappingCount 534 & avg mapping time 110.546710 ms ++++++++++++++++++++++
build tree time 15.173945 ms 
scan registration time 36.686392 ms *************
publication time 6.566860 ms 
whole laserOdometry time 6.584069 ms 
 
-----t: 0.0631366
OdomCount 606 & avg odom time 0.039844 ms ++++++++++++++++++++++
mapping solver time 12.672155 ms 
filter time 5.648432 ms 
points size 88386 
build tree time 15.259688 ms 
mapping data assosiation time 19.137951 ms 
-----t: 0.0387371
OdomCount 607 & avg odom time 0.039842 ms ++++++++++++++++++++++
publication time 7.151908 ms 
whole laserOdometry time 7.158500 ms 
 
mapping solver time 22.635421 ms 
mapping data assosiation time 16.122812 ms 
mapping solver time 15.802108 ms 
[0m[ INFO] [1718805111.862083451, 1317357824.997501136]: Received 98048 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805111.862155877, 1317357824.997501136]: Data saved to 1317357824798487.pcd[0m
points size 86851 
prepare time 14.937199 
sort q time 5.014574 
seperate points time 10.327539 
mapping data assosiation time 19.618436 ms 
publication time 10.848596 ms 
whole laserOdometry time 10.863203 ms 
 
-----t: 0.0455665
OdomCount 608 & avg odom time 0.039851 ms ++++++++++++++++++++++
1317357825.006078958 WriteOdom laser_odom_to_init
1317357825.006078958 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.430610 ms 
mapping data assosiation time 16.957395 ms 
mapping solver time 16.379959 ms 
mapping pub time 2.122023 ms 
whole mapping time 104.726260 ms +++++
mappingCount 537 & avg mapping time 110.499285 ms ++++++++++++++++++++++
prepare time 13.300887 
sort q time 5.387256 
seperate points time 11.226419 
publication time 7.774822 ms mapping solver time 16.612824 ms 
mapping data assosiation time 16.892251 ms 
mapping solver time 16.461814 ms 
mapping pub time 2.238993 ms 
whole mapping time 100.102144 ms +++++
mappingCount 538 & avg mapping time 110.479968 ms ++++++++++++++++++++++
prepare time 12.165844 
build tree time 18.367541 ms 
scan registration time 27.708995 ms *************
-----t: 0.0406326
OdomCount 610 & avg odom time 0.039846 ms ++++++++++++++++++++++
1317357825.213674068 WriteOdom laser_odom_to_init
1317357825.213674068 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.066098 ms 
mapping solver time 16.126108 ms 
mapping pub time 2.038143 ms 
whole mapping time 99.767373 ms +++++
mappingCount 539 & avg mapping time 110.460097 ms ++++++++++++++++++++++
prepare time 13.305200 
build tree time 15.220163 ms 
mapping data assosiation time 19.747672 ms 
publication time 6.907371 ms 
whole laserOdometry time 6.921225 ms 
 
-----t: 0.0308987
OdomCount 611 & avg odom time 0.039831 ms ++++++++++++++++++++++
1317357825.317522048 WriteOdom laser_odom_to_init
1317357825.317522048 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.061738 ms 
mapping data assosiation time 17.043134 ms 
mapping solver time 16.837455 ms 
mapping optimization time 86.934098 
add points time 0.581692 ms
map prepare time 2.820804 ms
map corner num 76022  surf num 23774 
points size 71835 
prepare time 10.736997 
scan registration time 23.971092 ms *************
mapping data assosiation time 20.112351 ms 
mapping data assosiation time 21.743601 ms 
mapping solver time 12.165220 ms 
[0m[ INFO] [1718805112.375514941, 1317357825.518828195]: Received 100303 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805112.375561763, 1317357825.518828195]: Data saved to 1317357825317522.pcd[0m
map prepare time 2.163630 ms
map corner num 76434  surf num 23869 
prepare time 12.431082 
sort q time 3.655514 
seperate points time 9.106136 
build tree time 18.535109 ms 
scan registration time 25.617494 ms *************
mapping data assosiation time 19.986870 ms 
mapping solver time 18.423542 ms 
mapping data assosiation time 18.969941 ms 
mapping optimization time 90.702227 
1317357825.525262117 WriteOdom laser_odom_to_init
1317357825.525262117 WriteOdom aft_mapped_to_init_high_frec
filter time 4.822053 ms 
points size 66092 
prepare time 12.487085 
build tree time 18.194976 ms 
sort q time 4.293448 
seperate points time 16.991026 
publication time 6.047452 ms 
whole laserOdometry time 6.122224 ms 
 
-----t: 0.0400067
OdomCount 614 & avg odom time 0.039847 ms ++++++++++++++++++++++
mapping data assosiation time 18.219149 ms 
mapping solver time 16.138868 ms 
mapping optimization time 97.846583 
add points time 0.600425 ms
filter time 4.848869 ms 
mapping pub time 1.493508 ms 
whole mapping time 107.479704 ms +++++
mappingCount 543 & avg mapping time 110.408970 ms ++++++++++++++++++++++
1317357825.525262117 WriteOdom aft_mapped_to_init
map prepare time 2.022296 ms
map corner num 49043  surf num 14849 
build tree time 12.304507 ms 
points size 63280 
prepare time 12.223725 
mapping data assosiation time 21.420262 ms 
publication time 5.939983 ms 
whole laserOdometry time 5.950446 ms 
 
mapping solver time 16.952444 ms 
mapping data assosiation time 18.093473 ms 
mapping solver time 15.912283 ms 
map prepare time 1.701548 ms
map corner num 49488  surf num 14955 
--------------------stamp1317357825.836806058
build tree time 10.603142 ms 
mapping data assosiation time 18.072665 ms 
publication time 5.724149 ms 
whole laserOdometry time 5.735371 ms 
 
mapping data assosiation time 16.798541 ms 
-----t: 0.0533732
OdomCount 616 & avg odom time 0.039859 ms ++++++++++++++++++++++
1317357825.836806058 WriteOdom laser_odom_to_init
1317357825.836806058 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 1.417420 ms 
whole mapping time 93.406319 ms +++++
mappingCount 545 & avg mapping time 110.346583 ms ++++++++++++++++++++++
build tree time 9.970067 ms 
--------------------stamp1317357825.940654039
prepare time 10.458021 
sort q time 2.930411 
seperate points time 7.465270 
mapping solver time 23.652531 ms 
-----t: 0.0289289
OdomCount 617 & avg odom time 0.039841 ms ++++++++++++++++++++++
1317357825.940654039 WriteOdom laser_odom_to_init
1317357825.940654039 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.122074 ms 
mapping solver time 15.921809 ms 
mapping pub time 2.238413 ms 
whole mapping time 95.554473 ms +++++
mappingCount 546 & avg mapping time 110.319503 ms ++++++++++++++++++++++
1317357825.836806059 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718805112.886630204, 1317357826.030182405]: Received 65691 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805112.886673745, 1317357826.030182405]: Data saved to 1317357825836806.pcd[0m
map prepare time 1.619861 ms
map corner num 50471  surf num 15220 
build tree time 10.139731 ms 
--------------------stamp1317357826.044523954
mapping data assosiation time 19.692564 ms 
sort q time 2.926650 
seperate points time 7.457270 
scan registration time 30.985962 ms *************
publication time 5.657815 ms 
whole laserOdometry time 5.671033 ms 
 
mapping solver time 15.769801 ms 
-----t: 0.0631899
OdomCount 618 & avg odom time 0.039879 ms ++++++++++++++++++++++
mapping optimization time 95.919586 
1317357826.044523954 WriteOdom laser_odom_to_init
1317357826.044523954 WriteOdom aft_mapped_to_init_high_frec
add points time 0.613348 ms
filter time 4.487622 ms 
mapping pub time 1.401740 ms 
whole mapping time 104.089677 ms +++++
mappingCount 547 & avg mapping time 110.308122 ms ++++++++++++++++++++++
1317357825.940654039 WriteOdom aft_mapped_to_init
build tree time 9.070453 ms 
--------------------stamp1317357826.148391962
prepare time 10.491539 
scan registration time 21.780397 ms *************
publication time 7.158767 ms 
whole laserOdometry time 7.188193 ms 
 
mapping data assosiation time 21.083764 ms 
mapping solver time 16.171922 ms 
1317357826.044523954 WriteOdom aft_mapped_to_init
map prepare time 1.655398 ms
map corner num 51503  surf num 15457 
build tree time 9.703887 ms 
--------------------stamp1317357826.252280950
mapping data assosiation time 18.513812 ms 
points size 55734 
prepare time 11.216901 
publication time 5.666009 ms 
whole laserOdometry time 5.692171 ms 
 
-----t: 0.0302354
OdomCount 620 & avg odom time 0.039845 ms ++++++++++++++++++++++
mapping data assosiation time 18.007299 ms 
mapping solver time 15.346483 ms 
mapping optimization time 87.866725 
add points time 0.561904 ms
filter time 4.147993 ms 
mapping pub time 1.276637 ms 
whole mapping time 95.554721 ms +++++
mappingCount 549 & avg mapping time 110.264354 ms ++++++++++++++++++++++
1317357826.148391962 WriteOdom aft_mapped_to_init
build tree time 11.808355 ms 
--------------------stamp1317357826.356200933
points size 55076 
sort q time 2.727267 
seperate points time 7.121277 
publication time 5.236017 ms 
whole laserOdometry time 5.277839 ms 
 
mapping data assosiation time 22.174947 ms 
mapping solver time 12.923827 ms 
map prepare time 1.522313 ms
map corner num 52316  surf num 15652 
build tree time 9.988549 ms 
mapping data assosiation time 15.202825 ms 
--------------------stamp1317357826.460171937
prepare time 9.883092 
scan registration time 20.387397 ms *************
mapping data assosiation time 19.027694 ms 
publication time 5.671676 ms 
whole laserOdometry time 5.699709 ms 
 
mapping solver time 17.680140 ms 
map prepare time 1.567113 ms
map corner num 52665  surf num 15717 
build tree time 10.334707 ms 
mapping data assosiation time 16.898120 ms 
mapping solver time 18.076192 ms 
points size 59121 
prepare time 9.473291 
scan registration time 18.505949 ms *************
mapping solver time 19.623006 ms 
publication time 13.472338 ms 
whole laserOdometry time 13.479684 ms 
 
-----t: 0.0326706
OdomCount 623 & avg odom time 0.039789 ms ++++++++++++++++++++++
1317357826.564187049 WriteOdom laser_odom_to_init
1317357826.564187049 WriteOdom aft_mapped_to_init_high_frec
build tree time 10.898774 ms 
mapping data assosiation time 16.665509 ms 
mapping solver time 20.542258 ms 
--------------------stamp1317357826.668203115
sort q time 3.425807 
seperate points time 7.444261 
filter time 4.948929 ms 
-----t: 0.0296486
OdomCount 624 & avg odom time 0.039773 ms ++++++++++++++++++++++
1317357826.668203115 WriteOdom laser_odom_to_init
1317357826.668203115 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.184587 ms
map corner num 53458  surf num 15895 
build tree time 11.540998 ms 
mapping data assosiation time 15.497381 ms 
mapping solver time 17.683226 ms 
points size 61246 
prepare time 8.683889 
publication time 4.965837 ms 
whole laserOdometry time 4.982726 ms 
 
mapping solver time 19.050850 ms 
mapping optimization time 83.291647 
-----t: 0.02401
OdomCount 625 & avg odom time 0.039748 ms ++++++++++++++++++++++
1317357826.772239923 WriteOdom laser_odom_to_init
1317357826.772239923 WriteOdom aft_mapped_to_init_high_frec
add points time 0.673932 ms
filter time 4.273225 ms 
mapping pub time 1.519409 ms 
whole mapping time 91.992689 ms +++++
mappingCount 554 & avg mapping time 110.105965 ms ++++++++++++++++++++++
1317357826.668203115 WriteOdom aft_mapped_to_init
build tree time 10.385308 ms 
mapping data assosiation time 15.610978 ms 
mapping solver time 17.987889 ms 
--------------------stamp1317357826.876277923
prepare time 9.711659 
scan registration time 20.462825 ms *************
filter time 4.965815 ms 
publication time 5.204789 ms 
whole laserOdometry time 5.217741 ms 
 
-----t: 0.0369914
OdomCount 626 & avg odom time 0.039743 ms ++++++++++++++++++++++
build tree time 9.342547 ms 
mapping data assosiation time 14.512491 ms 
mapping solver time 16.711023 ms 
mapping data assosiation time 13.856388 ms 
points size 60363 
sort q time 3.061160 
seperate points time 7.711980 
publication time 5.186164 ms 
whole laserOdometry time 5.197992 ms 
 
map prepare time 1.564000 ms
map corner num 54639  surf num 16249 
build tree time 10.302190 ms 
mapping data assosiation time 15.239388 ms 
mapping solver time 14.989543 ms 
--------------------stamp1317357827.084307909
prepare time 10.362047 
sort q time 3.280342 
seperate points time 8.226510 
filter time 5.056722 ms 
-----t: 0.0352464
OdomCount 628 & avg odom time 0.039716 ms ++++++++++++++++++++++
1317357827.084307909 WriteOdom laser_odom_to_init
1317357827.084307909 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.598877 ms
map corner num 55011  surf num 16353 
build tree time 11.279188 ms 
mapping data assosiation time 15.790128 ms 
mapping solver time 14.884359 ms 
mapping data assosiation time 14.994771 ms 
prepare time 9.044050 
mapping pub time 1.456450 ms 
whole mapping time 79.517015 ms +++++
mappingCount 558 & avg mapping time 109.920505 ms ++++++++++++++++++++++
1317357827.084307909 WriteOdom aft_mapped_to_init
scan registration time 23.482477 ms *************
publication time 5.129968 ms 
whole laserOdometry time 5.144790 ms 
 
-----t: 0.0337887
OdomCount 629 & avg odom time 0.039707 ms ++++++++++++++++++++++
build tree time 10.657159 ms 
mapping data assosiation time 16.023150 ms 
mapping solver time 14.505058 ms 
points size 63083 
mapping data assosiation time 17.919185 ms 
mapping solver time 13.591006 ms 
mapping optimization time 74.218940 
add points time 0.892234 ms
build tree time 10.263394 ms 
mapping data assosiation time 15.834862 ms 
mapping solver time 16.670327 ms 
mapping data assosiation time 17.662798 ms 
points size 64297 
sort q time 3.482397 
seperate points time 7.536386 
publication time 4.677440 ms 
whole laserOdometry time 4.685841 ms 
 
-----t: 0.025223
OdomCount 631 & avg odom time 0.039661 ms ++++++++++++++++++++++
1317357827.396181106 WriteOdom laser_odom_to_init
1317357827.396181106 WriteOdom aft_mapped_to_init_high_frec
build tree time 12.415653 ms 
mapping data assosiation time 16.040703 ms 
mapping solver time 18.784347 ms 
mapping data assosiation time 15.845577 ms 
--------------------stamp1317357827.500124931
mapping solver time 18.384900 ms 
scan registration time 21.687086 ms *************
publication time 4.981220 ms 
whole laserOdometry time 4.992971 ms 
 
-----t: 0.0430333
OdomCount 632 & avg odom time 0.039667 ms ++++++++++++++++++++++
build tree time 10.527934 ms 
mapping data assosiation time 16.487044 ms 
points size 66678 
sort q time 3.911487 
seperate points time 8.423883 
publication time 6.494107 ms 
whole laserOdometry time 6.505970 ms 
 
mapping solver time 15.218947 ms 
build tree time 10.736339 ms 
points size 68805 
mapping solver time 21.187241 ms 
prepare time 13.719727 
map prepare time 1.902370 ms
map corner num 57248  surf num 17225 
build tree time 12.433594 ms 
mapping data assosiation time 16.006756 ms 
points size 71653 
sort q time 4.183247 
seperate points time 9.280957 
mapping data assosiation time 18.610889 ms 
mapping solver time 16.206803 ms 
mapping pub time 1.519592 ms 
whole mapping time 92.079186 ms +++++
mappingCount 564 & avg mapping time 109.737798 ms ++++++++++++++++++++++
build tree time 10.524604 ms 
mapping data assosiation time 14.807707 ms 
mapping solver time 13.070985 ms 
points size 72835 
sort q time 4.189951 
seperate points time 9.101298 
scan registration time 23.355415 ms *************
publication time 6.103577 ms 
whole laserOdometry time 6.112924 ms 
 
-----t: 0.0395521
OdomCount 636 & avg odom time 0.039651 ms ++++++++++++++++++++++
mapping data assosiation time 14.846629 ms 
mapping solver time 13.781464 ms 
--------------------stamp1317357828.019412040
points size 73231 
sort q time 4.313574 
seperate points time 9.253125 
scan registration time 24.267269 ms *************
-----t: 0.0293794
OdomCount 637 & avg odom time 0.039635 ms ++++++++++++++++++++++
build tree time 10.045830 ms 
mapping data assosiation time 16.456002 ms 
mapping solver time 14.664316 ms 
points size 72914 
mapping data assosiation time 20.818741 ms 
prepare time 14.952880 
mapping solver time 17.589412 ms 
mapping optimization time 80.427132 
add points time 0.735530 ms
-----t: 0.0391154
OdomCount 638 & avg odom time 0.039634 ms ++++++++++++++++++++++
build tree time 10.411807 ms 
mapping data assosiation time 16.689194 ms 
mapping solver time 13.375984 ms 
mapping data assosiation time 15.077958 ms 
prepare time 9.405308 
sort q time 5.017963 
seperate points time 10.560739 
filter time 14.757292 ms 
publication time 5.954984 ms 
whole laserOdometry time 5.970204 ms 
 
-----t: 0.033495
OdomCount 639 & avg odom time 0.039624 ms ++++++++++++++++++++++
mapping data assosiation time 15.476319 ms 
mapping solver time 16.683366 ms 
points size 72529 
sort q time 4.174515 
seperate points time 8.363922 
scan registration time 21.415059 ms *************
filter time 5.673783 ms 
-----t: 0.0389245
OdomCount 640 & avg odom time 0.039623 ms ++++++++++++++++++++++
build tree time 11.730900 ms 
mapping data assosiation time 18.190817 ms 
mapping solver time 16.099907 ms 
points size 72775 
sort q time 3.894165 
seperate points time 9.295342 
scan registration time 28.125158 ms *************
mapping solver time 14.718730 ms 
mapping optimization time 82.224722 
add points time 1.252709 ms
map prepare time 1.939417 ms
map corner num 59535  surf num 18533 
build tree time 11.058655 ms 
mapping data assosiation time 15.390085 ms 
mapping solver time 16.657128 ms 
points size 72128 
mapping data assosiation time 21.421945 ms 
filter time 4.919216 ms 
-----t: 0.0370525
OdomCount 642 & avg odom time 0.039601 ms ++++++++++++++++++++++
build tree time 10.587728 ms 
mapping data assosiation time 16.209946 ms 
mapping solver time 16.777916 ms 
--------------------stamp1317357828.641961097
mapping data assosiation time 19.264480 ms 
sort q time 4.140168 
seperate points time 9.690584 
mapping pub time 1.733051 ms 
whole mapping time 92.272920 ms +++++
mappingCount 572 & avg mapping time 109.442932 ms ++++++++++++++++++++++
-----t: 0.029974
OdomCount 643 & avg odom time 0.039586 ms ++++++++++++++++++++++
build tree time 11.022334 ms 
mapping data assosiation time 16.923252 ms 
mapping solver time 14.140960 ms 
--------------------stamp1317357828.745738029
mapping data assosiation time 19.936151 ms 
prepare time 11.713516 
scan registration time 24.296595 ms *************
publication time 6.629185 ms 
whole laserOdometry time 6.641492 ms 
 
map prepare time 1.704731 ms
map corner num 60667  surf num 19358 
build tree time 11.839487 ms 
mapping data assosiation time 17.021746 ms 
mapping solver time 14.411410 ms 
--------------------stamp1317357828.849510908
points size 67479 
sort q time 3.816255 
seperate points time 8.563810 
filter time 5.657476 ms 
-----t: 0.0340609
OdomCount 645 & avg odom time 0.039561 ms ++++++++++++++++++++++
build tree time 11.907121 ms 
mapping data assosiation time 17.494024 ms 
--------------------stamp1317357828.953284978
prepare time 9.880919 
scan registration time 21.427728 ms *************
publication time 6.085749 ms 
whole laserOdometry time 6.097749 ms 
 
mapping solver time 16.829069 ms 
-----t: 0.0292912
OdomCount 646 & avg odom time 0.039545 ms ++++++++++++++++++++++
1317357828.953284978 WriteOdom laser_odom_to_init
1317357828.953284978 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 85.520474 
add points time 0.634982 ms
map prepare time 1.772628 ms
map corner num 61465  surf num 19882 
build tree time 10.715058 ms 
mapping data assosiation time 17.818818 ms 
mapping solver time 17.991070 ms 
--------------------stamp1317357829.057086944
points size 65580 
mapping data assosiation time 19.843069 ms 
prepare time 9.924090 
mapping solver time 16.759193 ms 
1317357828.953284979 WriteOdom aft_mapped_to_init
publication time 7.109664 ms 
whole laserOdometry time 7.121569 ms 
 
build tree time 13.508364 ms 
mapping data assosiation time 19.188670 ms 
--------------------stamp1317357829.160883903
sort q time 3.052004 
seperate points time 7.251224 
publication time 5.716709 ms 
whole laserOdometry time 5.727629 ms 
 
mapping solver time 15.374373 ms 
mapping pub time 1.516477 ms 
whole mapping time 99.089241 ms +++++
mappingCount 577 & avg mapping time 109.297975 ms ++++++++++++++++++++++
1317357829.057086945 WriteOdom aft_mapped_to_init
map prepare time 1.825175 ms
map corner num 62406  surf num 20574 
build tree time 12.017278 ms 
mapping data assosiation time 21.324284 ms 
points size 65418 
sort q time 3.815164 
seperate points time 8.963772 
mapping data assosiation time 22.960818 ms 
1317357829.264683008 WriteOdom laser_odom_to_init
1317357829.264683008 WriteOdom aft_mapped_to_init_high_frec
filter time 4.607569 ms 
build tree time 12.118844 ms 
mapping data assosiation time 20.680401 ms 
points size 65709 
sort q time 3.462891 
seperate points time 7.729205 
publication time 6.851247 ms mapping data assosiation time 23.523156 ms 
-----t: 0.0305706
OdomCount 650 & avg odom time 0.039520 ms ++++++++++++++++++++++
1317357829.368480920 WriteOdom laser_odom_to_init
1317357829.368480920 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 13.837089 ms 
mapping pub time 1.500027 ms 
whole mapping time 102.009295 ms +++++
mappingCount 579 & avg mapping time 109.272138 ms ++++++++++++++++++++++
build tree time 14.652434 ms 
mapping data assosiation time 20.494765 ms 
points size 66468 
sort q time 3.506969 
seperate points time 9.165269 
mapping data assosiation time 24.369684 ms 
mapping solver time 14.630855 ms 
mapping optimization time 94.738508 
add points time 0.858736 ms
filter time 6.537351 ms 
build tree time 12.185525 ms 
--------------------stamp1317357829.576030969
points size 67356 
sort q time 3.514243 
seperate points time 9.054871 
mapping solver time 28.613318 ms 
-----t: 0.0410816
OdomCount 652 & avg odom time 0.039506 ms ++++++++++++++++++++++
mapping solver time 17.358742 ms 
mapping optimization time 107.378734 
add points time 0.735402 ms
filter time 4.989186 ms 
mapping pub time 13.003178 ms 
whole mapping time 128.645908 ms +++++
mappingCount 581 & avg mapping time 109.300232 ms ++++++++++++++++++++++
--------------------stamp1317357829.679780960
points size 68091 
sort q time 3.665585 
seperate points time 9.514951 
scan registration time 25.733199 ms *************
publication time 7.174088 ms 
whole laserOdometry time 7.188055 ms 
 
mapping solver time 23.567120 ms 
mapping data assosiation time 24.068376 ms 
--------------------stamp1317357829.783531904
filter time 7.550100 ms 
prepare time 10.185524 
mapping pub time 1.607967 ms 
whole mapping time 122.653256 ms +++++
mappingCount 582 & avg mapping time 109.323183 ms ++++++++++++++++++++++
1317357829.576030970 WriteOdom aft_mapped_to_init
publication time 8.086436 ms 
whole laserOdometry time 8.099759 ms 
 
-----t: 0.0686886
OdomCount 654 & avg odom time 0.039541 ms ++++++++++++++++++++++
--------------------stamp1317357829.887283086
prepare time 12.256334 
sort q time 3.970298 
seperate points time 10.059275 
filter time 7.509161 ms 
-----t: 0.0359192
OdomCount 655 & avg odom time 0.039536 ms ++++++++++++++++++++++
mapping data assosiation time 23.080420 ms 
mapping solver time 24.776246 ms 
sort q time 3.442263 
seperate points time 7.835793 
publication time 7.451516 ms 
whole laserOdometry time 7.466908 ms 
 
-----t: 0.0318013
OdomCount 656 & avg odom time 0.039524 ms ++++++++++++++++++++++
mapping solver time 22.231928 ms 
filter time 7.318350 ms 
build tree time 13.600857 ms 
--------------------stamp1317357830.094734907
points size 72187 
sort q time 3.920050 
seperate points time 8.765504 
mapping solver time 31.129665 ms 
-----t: 0.0436764
OdomCount 657 & avg odom time 0.039530 ms ++++++++++++++++++++++
mapping solver time 19.284871 ms 
mapping pub time 1.609018 ms 
whole mapping time 134.245733 ms +++++
mappingCount 585 & avg mapping time 109.434519 ms ++++++++++++++++++++++
points size 73185 
build tree time 17.706865 ms 
publication time 7.122841 ms 
whole laserOdometry time 7.138334 ms 
 
-----t: 0.0475454
OdomCount 658 & avg odom time 0.039542 ms ++++++++++++++++++++++
1317357830.198462009 WriteOdom laser_odom_to_init
1317357830.198462009 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.740527 ms 
--------------------stamp1317357830.302213907
points size 74205 
mapping solver time 25.705688 ms 
mapping optimization time 126.409446 
add points time 0.921482 ms
sort q time 4.254476 
seperate points time 9.878451 
publication time 7.800467 ms 
whole laserOdometry time 7.812273 ms 
 
mapping data assosiation time 24.899920 ms 
mapping solver time 21.408931 ms 
points size 75077 
sort q time 4.855011 
seperate points time 12.508231 
publication time 8.993657 ms 
whole laserOdometry time 9.008613 ms 
 
filter time 7.377078 ms 
build tree time 13.866261 ms 
--------------------stamp1317357830.509721994
points size 76160 
sort q time 4.241151 
seperate points time 23.636702 
scan registration time 39.842940 ms *************
mapping solver time 34.243489 ms 
publication time 12.454177 ms 
whole laserOdometry time 12.466851 ms 
 
-----t: 0.0528295
OdomCount 661 & avg odom time 0.039575 ms ++++++++++++++++++++++
mapping solver time 16.998784 ms 
mapping pub time 1.944014 ms 
whole mapping time 135.759485 ms +++++
mappingCount 588 & avg mapping time 109.574180 ms ++++++++++++++++++++++
1317357830.302213907 WriteOdom aft_mapped_to_init
--------------------stamp1317357830.613497018
map prepare time 2.656005 ms
map corner num 68336  surf num 24874 
build tree time 15.115978 ms 
publication time 7.641371 ms 
whole laserOdometry time 7.652995 ms 
 
mapping data assosiation time 30.762274 ms 
-----t: 0.0368302
OdomCount 662 & avg odom time 0.039570 ms ++++++++++++++++++++++
1317357830.613497018 WriteOdom laser_odom_to_init
1317357830.613497018 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.906177 ms 
--------------------stamp1317357830.717237949
prepare time 11.884635 
sort q time 4.345053 
seperate points time 9.412996 
mapping solver time 31.010799 ms 
filter time 8.005245 ms 
-----t: 0.0328746
OdomCount 663 & avg odom time 0.039560 ms ++++++++++++++++++++++
build tree time 14.767715 ms 
mapping data assosiation time 26.266139 ms 
--------------------stamp1317357830.820991039
points size 78938 
sort q time 4.189132 
seperate points time 10.691595 
publication time 8.471465 ms 
whole laserOdometry time 8.500317 ms 
 
-----t: 0.0405937
OdomCount 664 & avg odom time 0.039562 ms ++++++++++++++++++++++
mapping solver time 26.414026 ms 
filter time 5.983068 ms 
map prepare time 2.310229 ms
map corner num 69451  surf num 25565 
build tree time 15.514661 ms 
points size 79700 
mapping data assosiation time 30.048404 ms 
publication time 9.615496 ms 
whole laserOdometry time 9.629453 ms 
 
-----t: 0.0348114
OdomCount 665 & avg odom time 0.039555 ms ++++++++++++++++++++++
1317357830.924767017 WriteOdom laser_odom_to_init
1317357830.924767017 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.855461 ms 
--------------------stamp1317357831.028541088
points size 80417 
[0m[ INFO] [1718805117.909442039, 1317357831.047847280]: Received 95882 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805117.909500999, 1317357831.047847280]: Data saved to 1317357830820991.pcd[0m
publication time 7.770613 ms 
whole laserOdometry time 7.785246 ms 
 
-----t: 0.0372571
OdomCount 666 & avg odom time 0.039551 ms ++++++++++++++++++++++
mapping data assosiation time 29.786416 ms 
mapping solver time 18.354419 ms 
--------------------stamp1317357831.132314920
prepare time 9.781310 
sort q time 4.866239 
seperate points time 9.961887 
filter time 6.781859 ms 
build tree time 14.976131 ms 
mapping data assosiation time 26.092660 ms 
--------------------stamp1317357831.236088037
points size 81841 
scan registration time 26.748468 ms *************
publication time 7.936500 ms 
whole laserOdometry time 7.949458 ms 
 
mapping solver time 30.327239 ms 
filter time 8.044545 ms 
--------------------stamp1317357831.339862108
prepare time 11.475250 
sort q time 4.773260 
seperate points time 11.196585 
publication time 11.828507 ms 
whole laserOdometry time 11.847199 ms 
 
-----t: 0.0508193
OdomCount 669 & avg odom time 0.039633 ms ++++++++++++++++++++++
1317357831.339862108 WriteOdom laser_odom_to_init
1317357831.339862108 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 33.349677 ms 
--------------------stamp1317357831.443639039
prepare time 10.803700 
sort q time 5.443476 
seperate points time 11.478109 
filter time 7.893049 ms 
-----t: 0.0385188
OdomCount 670 & avg odom time 0.039631 ms ++++++++++++++++++++++
mapping data assosiation time 25.295032 ms 
--------------------stamp1317357831.547415018
prepare time 9.975180 
sort q time 4.855881 
seperate points time 11.379976 
scan registration time 25.434221 ms *************
publication time 8.836122 ms 
whole laserOdometry time 8.849361 ms 
 
mapping data assosiation time 33.244235 ms 
mapping solver time 26.565016 ms 
filter time 6.946715 ms 
mapping pub time 1.976152 ms 
whole mapping time 148.917192 ms +++++
mappingCount 595 & avg mapping time 109.971269 ms ++++++++++++++++++++++
1317357831.339862108 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.395010 ms
map corner num 72078  surf num 27182 
--------------------stamp1317357831.651165008
prepare time 9.969326 
sort q time 4.236006 
seperate points time 10.351821 
scan registration time 24.274119 ms *************
publication time 9.169081 ms 
whole laserOdometry time 9.186106 ms 
 
-----t: 0.0406551
OdomCount 672 & avg odom time 0.039631 ms ++++++++++++++++++++++
mapping solver time 34.183065 ms 
mapping data assosiation time 28.440014 ms 
--------------------stamp1317357831.754890918
points size 85525 
prepare time 10.073633 
sort q time 4.635028 
seperate points time 11.248444 
map prepare time 3.404452 ms
map corner num 72549  surf num 27484 
build tree time 19.246774 ms 
1317357831.754890918 WriteOdom laser_odom_to_init
mapping data assosiation time 35.593100 ms 
--------------------stamp1317357831.858592987
points size 86847 
sort q time 5.289716 
seperate points time 11.707571 
mapping solver time 42.749590 ms 
publication time 8.236499 ms 
whole laserOdometry time 8.252888 ms 
 
-----t: 0.0475273
OdomCount 674 & avg odom time 0.039657 ms ++++++++++++++++++++++
mapping data assosiation time 35.304569 ms 
--------------------stamp1317357831.962272882
points size 88454 
sort q time 5.291503 
seperate points time 13.573657 
build tree time 19.645177 ms 
mapping data assosiation time 37.671763 ms 
--------------------stamp1317357832.065953016
points size 90144 
mapping solver time 43.955258 ms 
mapping data assosiation time 35.727849 ms 
mapping solver time 32.637115 ms 
filter time 5.666547 ms 
mapping pub time 1.929729 ms 
whole mapping time 184.569689 ms +++++
mappingCount 598 & avg mapping time 110.302231 ms ++++++++++++++++++++++
1317357831.754890919 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 91611 
sort q time 5.136540 
seperate points time 12.463406 
publication time 9.894999 ms 
whole laserOdometry time 9.911224 ms 
 
-----t: 0.0405531
OdomCount 677 & avg odom time 0.039713 ms ++++++++++++++++++++++
1317357832.169631958 WriteOdom laser_odom_to_init
1317357832.169631958 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 35.102254 ms 
--------------------stamp1317357832.273336887
points size 93374 
mapping data assosiation time 33.539556 ms 
scan registration time 31.013862 ms *************
mapping solver time 24.595550 ms 
mapping pub time 1.995216 ms 
whole mapping time 159.746580 ms +++++
mappingCount 599 & avg mapping time 110.384784 ms ++++++++++++++++++++++
1317357831.962272882 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.835765 ms
map corner num 74252  surf num 28508 
-----t: 0.0489173
OdomCount 678 & avg odom time 0.039726 ms ++++++++++++++++++++++
1317357832.273336887 WriteOdom laser_odom_to_init
1317357832.273336887 WriteOdom aft_mapped_to_init_high_frec
build tree time 17.680789 ms 
--------------------stamp1317357832.377037048
points size 94996 
prepare time 15.790589 
sort q time 6.139782 
seperate points time 14.967603 
scan registration time 36.164754 ms *************
publication time 11.797445 ms 
whole laserOdometry time 11.811712 ms 
 
-----t: 0.0438927
OdomCount 679 & avg odom time 0.039733 ms ++++++++++++++++++++++
mapping data assosiation time 33.220989 ms 
--------------------stamp1317357832.480714082
points size 96207 
filter time 5.407820 ms 
build tree time 16.721998 ms 
-----t: 0.0476722
OdomCount 680 & avg odom time 0.039744 ms ++++++++++++++++++++++
mapping data assosiation time 33.072618 ms 
mapping solver time 34.515367 ms 
--------------------stamp1317357832.584368944
points size 96559 
mapping data assosiation time 31.959206 ms 
sort q time 7.282999 
seperate points time 13.869724 
scan registration time 42.230771 ms *************
mapping solver time 32.219576 ms 
mapping optimization time 150.914330 
add points time 0.709998 ms
mapping pub time 16.502375 ms 
whole mapping time 179.182889 ms +++++
mappingCount 601 & avg mapping time 110.604279 ms ++++++++++++++++++++++
points size 96790 
build tree time 20.245984 ms 
publication time 9.655740 ms 
whole laserOdometry time 9.669467 ms 
 
-----t: 0.0533826
OdomCount 682 & avg odom time 0.039786 ms ++++++++++++++++++++++
1317357832.688024044 WriteOdom laser_odom_to_init
1317357832.688024044 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 35.505027 ms 
points size 97170 
sort q time 5.606932 
seperate points time 14.361269 
publication time 10.510078 ms 
whole laserOdometry time 10.524677 ms 
 
add points time 0.711199 ms
1317357832.791677951 WriteOdom laser_odom_to_init
1317357832.791677951 WriteOdom aft_mapped_to_init_high_frec
build tree time 16.152182 ms 
points size 97382 
mapping data assosiation time 31.051809 ms 
sort q time 5.903065 
seperate points time 26.382552 
mapping solver time 41.972691 ms 
-----t: 0.074414
OdomCount 684 & avg odom time 0.039859 ms ++++++++++++++++++++++
--------------------stamp1317357832.999010086
points size 97384 
sort q time 5.706949 
seperate points time 14.477994 
mapping solver time 41.912978 ms 
filter time 7.465051 ms 
-----t: 0.0526106
OdomCount 685 & avg odom time 0.039877 ms ++++++++++++++++++++++
1317357832.999010086 WriteOdom laser_odom_to_init
1317357832.999010086 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.334359 ms 
points size 97507 
prepare time 12.774844 
sort q time 6.039940 
seperate points time 13.703721 
mapping solver time 47.765316 ms 
publication time 10.497470 ms 
whole laserOdometry time 10.511958 ms 
 
mapping data assosiation time 32.494201 ms 
--------------------stamp1317357833.206346988
mapping solver time 29.523708 ms 
filter time 6.198571 ms 
map prepare time 3.690856 ms
map corner num 77331  surf num 30352 
build tree time 17.807865 ms 
1317357833.206346988 WriteOdom laser_odom_to_init
1317357833.206346988 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 37.731837 ms 
--------------------stamp1317357833.310000896
points size 97240 
prepare time 12.289686 
publication time 8.767619 ms 
whole laserOdometry time 8.784829 ms 
 
mapping data assosiation time 35.157588 ms 
-----t: 0.0485468
OdomCount 688 & avg odom time 0.039904 ms ++++++++++++++++++++++
mapping solver time 29.392263 ms 
filter time 5.936731 ms 
mapping pub time 2.273741 ms 
whole mapping time 174.616367 ms +++++
mappingCount 605 & avg mapping time 111.043626 ms ++++++++++++++++++++++
1317357832.999010086 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 95952 
build tree time 18.551659 ms 
sort q time 5.947667 
seperate points time 12.550051 
mapping data assosiation time 37.742801 ms 
-----t: 0.0578593
OdomCount 689 & avg odom time 0.039931 ms ++++++++++++++++++++++
mapping solver time 38.707540 ms 
--------------------stamp1317357833.517457008
points size 94998 
sort q time 5.625148 
seperate points time 12.513215 
scan registration time 29.184888 ms *************
publication time 12.339919 ms 
whole laserOdometry time 12.359209 ms 
 
filter time 6.962792 ms 
mapping pub time 3.522945 ms 
whole mapping time 178.707997 ms +++++
mappingCount 606 & avg mapping time 111.155291 ms ++++++++++++++++++++++
1317357833.206346989 WriteOdom aft_mapped_to_init
build tree time 17.162537 ms 
--------------------stamp1317357833.621232986
points size 94236 
mapping data assosiation time 37.569914 ms 
sort q time 5.597800 
seperate points time 13.976115 
publication time 11.533878 ms 
whole laserOdometry time 11.568382 ms 
 
mapping solver time 44.685740 ms 
mapping data assosiation time 29.444123 ms 
points size 93871 
sort q time 6.205966 
seperate points time 13.850351 
filter time 8.447395 ms 
build tree time 15.668741 ms 
-----t: 0.0594165
OdomCount 692 & avg odom time 0.039992 ms ++++++++++++++++++++++
1317357833.725028991 WriteOdom laser_odom_to_init
1317357833.725028991 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357833.828852891
mapping data assosiation time 36.027378 ms 
points size 94444 
sort q time 5.548604 
seperate points time 11.618323 
mapping solver time 30.051563 ms 
mapping data assosiation time 35.351893 ms 
-----t: 0.0618818
OdomCount 693 & avg odom time 0.040023 ms ++++++++++++++++++++++
mapping solver time 29.564656 ms 
mapping pub time 2.101042 ms 
whole mapping time 162.466003 ms +++++
mappingCount 608 & avg mapping time 111.363769 ms ++++++++++++++++++++++
sort q time 17.068687 
seperate points time 30.390955 
sort q time 12.580647 
seperate points time 21.393703 
publication time 12.491080 ms 
whole laserOdometry time 12.523895 ms 
 
-----t: 0.0630991
OdomCount 695 & avg odom time 0.040109 ms ++++++++++++++++++++++
1317357834.036569118 WriteOdom laser_odom_to_init
1317357834.036569118 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 54.240998 ms 
mapping optimization time 211.601137 
add points time 0.839418 ms
filter time 8.937033 ms 
points size 95796 
sort q time 6.103792 
seperate points time 19.234174 
mapping data assosiation time 35.102159 ms 
publication time 12.278880 ms 
whole laserOdometry time 12.301460 ms 
 
-----t: 0.0513859
OdomCount 696 & avg odom time 0.040125 ms ++++++++++++++++++++++
1317357834.140465021 WriteOdom laser_odom_to_init
1317357834.140465021 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.823323 ms 
--------------------stamp1317357834.244455099
points size 95853 
mapping data assosiation time 31.198105 ms 
scan registration time 27.407214 ms *************
mapping solver time 31.290813 ms 
mapping optimization time 156.583562 
add points time 1.161691 ms
publication time 10.977814 ms 
whole laserOdometry time 10.992119 ms 
 
filter time 6.810370 ms 
mapping pub time 2.151573 ms 
whole mapping time 170.999550 ms +++++
mappingCount 610 & avg mapping time 111.651456 ms ++++++++++++++++++++++
1317357833.932698011 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.849669 ms
map corner num 81604  surf num 32718 
-----t: 0.0540679
OdomCount 697 & avg odom time 0.040145 ms ++++++++++++++++++++++
1317357834.244455099 WriteOdom laser_odom_to_init
1317357834.244455099 WriteOdom aft_mapped_to_init_high_frec
points size 95866 
sort q time 5.938088 
seperate points time 12.301765 
publication time 9.833147 ms 
whole laserOdometry time 9.859179 ms 
 
-----t: 0.0450423
OdomCount 698 & avg odom time 0.040152 ms ++++++++++++++++++++++
mapping solver time 41.416790 ms 
mapping data assosiation time 28.752092 ms 
--------------------stamp1317357834.452725887
filter time 6.011169 ms 
prepare time 10.924568 
[0m[ INFO] [1718805121.389286589, 1317357834.530166287]: Received 115533 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805121.389346048, 1317357834.530166287]: Data saved to 1317357834140465.pcd[0m
mapping pub time 4.433065 ms 
whole mapping time 176.885851 ms +++++
mappingCount 611 & avg mapping time 111.758236 ms ++++++++++++++++++++++
publication time 9.297338 ms 
whole laserOdometry time 9.332520 ms 
 
build tree time 22.276288 ms 
points size 96516 
sort q time 6.527397 
seperate points time 12.941166 
publication time 9.008734 ms 
whole laserOdometry time 9.022856 ms 
 
-----t: 0.0462587
OdomCount 700 & avg odom time 0.040173 ms ++++++++++++++++++++++
1317357834.556907892 WriteOdom laser_odom_to_init
1317357834.556907892 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357834.661089897
points size 96496 
sort q time 5.325140 
seperate points time 13.363724 
publication time 10.881930 ms 
whole laserOdometry time 10.896489 ms 
 
filter time 8.960789 ms 
map prepare time 3.881839 ms
map corner num 83220  surf num 33536 
build tree time 22.490270 ms 
mapping data assosiation time 36.776154 ms 
--------------------stamp1317357834.765252113
prepare time 11.859949 
sort q time 5.440836 
seperate points time 12.889016 
publication time 11.644468 ms 
whole laserOdometry time 11.667996 ms 
 
points size 93509 
-----t: 0.0597123
OdomCount 702 & avg odom time 0.040203 ms ++++++++++++++++++++++
scan registration time 33.312285 ms *************publication time 9.586523 ms 
whole laserOdometry time 9.601966 ms 
 
mapping solver time 55.828307 ms 
filter time 8.458895 ms 
mapping pub time 2.358845 ms 
whole mapping time 212.710333 ms +++++
mappingCount 613 & avg mapping time 112.078104 ms ++++++++++++++++++++++
1317357834.452725887 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0515892
OdomCount 703 & avg odom time 0.040219 ms ++++++++++++++++++++++
1317357834.869400024 WriteOdom laser_odom_to_init
1317357834.869400024 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.186018 ms
map corner num 83950  surf num 33876 
build tree time 15.492680 ms 
--------------------stamp1317357834.973558902
points size 93077 
mapping data assosiation time 34.595879 ms 
publication time 9.116822 ms 
whole laserOdometry time 9.126915 ms 
 
mapping solver time 44.668838 ms 
mapping data assosiation time 28.325854 ms 
mapping solver time 31.737739 ms 
mapping optimization time 157.141727 
add points time 0.717441 ms
filter time 5.968887 ms 
mapping pub time 2.054667 ms 
whole mapping time 169.121304 ms +++++
mappingCount 614 & avg mapping time 112.171014 ms ++++++++++++++++++++++
1317357834.765252113 WriteOdom aft_mapped_to_init
points size 93381 
sort q time 4.567812 
seperate points time 10.560627 
publication time 11.072242 ms 
whole laserOdometry time 11.087928 ms 
 
mapping data assosiation time 36.157605 ms 
points size 93569 
sort q time 6.029658 
seperate points time 12.212292 
mapping solver time 40.930230 ms 
publication time 10.057823 ms 
whole laserOdometry time 10.072122 ms 
 
-----t: 0.0440995
OdomCount 706 & avg odom time 0.040262 ms ++++++++++++++++++++++
1317357835.181931972 WriteOdom laser_odom_to_init
1317357835.181931972 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.747365 ms 
--------------------stamp1317357835.286113977
points size 93573 
map prepare time 3.691753 ms
map corner num 85586  surf num 34513 
build tree time 22.262870 ms -----t: 0.0392377
OdomCount 707 & avg odom time 0.040261 ms ++++++++++++++++++++++
mapping data assosiation time 32.708765 ms 
--------------------stamp1317357835.390320062
points size 94155 
sort q time 5.325719 
seperate points time 12.543653 
mapping data assosiation time 34.417214 ms 
-----t: 0.0407779
OdomCount 708 & avg odom time 0.040261 ms ++++++++++++++++++++++
1317357835.390320062 WriteOdom laser_odom_to_init
1317357835.390320062 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 39.992424 ms 
filter time 6.152834 ms 
[0m[ INFO] [1718805122.352384154, 1317357835.487271080]: Received 120987 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805122.352422997, 1317357835.487271080]: Data saved to 1317357835077750.pcd[0m
mapping pub time 3.482650 ms 
whole mapping time 184.130530 ms +++++
mappingCount 616 & avg mapping time 112.392342 ms ++++++++++++++++++++++
1317357835.077750921 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.887516 ms
map corner num 86264  surf num 34723 
prepare time 14.769561 
sort q time 6.050926 
seperate points time 11.769340 
publication time 9.284165 ms -----t: 0.0582359
OdomCount 709 & avg odom time 0.040287 ms ++++++++++++++++++++++
mapping solver time 39.605079 ms 
--------------------stamp1317357835.598733901
points size 97084 
mapping data assosiation time 31.962158 ms 
sort q time 17.241543 
seperate points time 25.262895 
filter time 8.169020 ms 
map prepare time 4.063839 ms
map corner num 87083  surf num 34945 
build tree time 20.062763 ms 
--------------------stamp1317357835.702918052
points size 99436 
scan registration time 33.511767 ms *************
publication time 9.744598 ms 
whole laserOdometry time 9.758706 ms 
 
-----t: 0.0468328
OdomCount 711 & avg odom time 0.040302 ms ++++++++++++++++++++++
mapping data assosiation time 29.960792 ms 
--------------------stamp1317357835.807075977
points size 99976 
filter time 6.794570 ms 
mapping pub time 2.170600 ms 
whole mapping time 177.724232 ms +++++
mappingCount 618 & avg mapping time 112.610525 ms ++++++++++++++++++++++
1317357835.494528055 WriteOdom aft_mapped_to_init
publication time 12.983853 ms 
whole laserOdometry time 13.001259 ms 
 
build tree time 26.795956 ms -----t: 0.058367
OdomCount 712 & avg odom time 0.040328 ms ++++++++++++++++++++++
1317357835.807075977 WriteOdom laser_odom_to_init
1317357835.807075977 WriteOdom aft_mapped_to_init_high_frec
points size 100195 
prepare time 14.608223 
sort q time 13.085764 
seperate points time 21.378504 
scan registration time 40.685281 ms *************
mapping solver time 39.529862 ms 
publication time 8.090932 ms 
whole laserOdometry time 8.103732 ms 
 
-----t: 0.0732346
OdomCount 713 & avg odom time 0.040374 ms ++++++++++++++++++++++
1317357835.911211967 WriteOdom laser_odom_to_init
1317357835.911211967 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.517775 ms 
mapping pub time 2.289218 ms 
whole mapping time 188.281308 ms +++++
mappingCount 619 & avg mapping time 112.732781 ms ++++++++++++++++++++++
sort q time 6.076011 
seperate points time 13.936725 
build tree time 22.477067 ms 
-----t: 0.0468287
OdomCount 714 & avg odom time 0.040383 ms ++++++++++++++++++++++
mapping data assosiation time 32.545016 ms 
--------------------stamp1317357836.119335889points size 99487 
sort q time 7.660632 
seperate points time 13.930777 
mapping data assosiation time 32.750990 ms 
publication time 13.156006 ms 
whole laserOdometry time 13.169319 ms 
 
filter time 9.114756 ms 
-----t: 0.0818251
OdomCount 715 & avg odom time 0.040441 ms ++++++++++++++++++++++
1317357836.119335889 WriteOdom laser_odom_to_init
1317357836.119335889 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.396610 ms 
whole mapping time 181.850339 ms +++++
mappingCount 620 & avg mapping time 112.844268 ms ++++++++++++++++++++++
1317357835.807075977 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.728474 ms
map corner num 89401  surf num 35561 
points size 99657 
sort q time 6.201060 
seperate points time 14.037045 publication time 8.834443 ms 
whole laserOdometry time 8.852042 ms 
 
mapping solver time 30.299501 ms 
-----t: 0.0595694
OdomCount 716 & avg odom time 0.040467 ms ++++++++++++++++++++++
points size 100212 
prepare time 14.857591 
mapping data assosiation time 32.273765 ms 
sort q time 6.371820 
seperate points time 14.675803 
mapping solver time 35.557039 ms 
filter time 8.290330 ms 

points size 101064 mapping solver time 59.903469 ms 
sort q time 6.503531 publication time 15.202620 ms mapping data assosiation time 55.531693 ms 
-----t: 0.0744898
OdomCount 719 & avg odom time 0.040580 ms ++++++++++++++++++++++
1317357836.535372972 WriteOdom laser_odom_to_init
1317357836.535372972 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357836.639362096
points size 100894 
filter time 9.459080 ms 
build tree time 25.068851 ms 
-----t: 0.0649149
OdomCount 720 & avg odom time 0.040614 ms ++++++++++++++++++++++
mapping data assosiation time 38.511501 ms 
prepare time 16.153288 
publication time 10.540800 ms 
whole laserOdometry time 10.555649 ms 
 
mapping data assosiation time 39.516490 ms 
-----t: 0.0731692
OdomCount 721 & avg odom time 0.040659 ms ++++++++++++++++++++++
points size 99629 
filter time 9.978090 ms 
map prepare time 3.958846 ms
map corner num 91904  surf num 36426 
build tree time 27.200445 ms 
mapping data assosiation time 38.438131 ms 
mapping solver time 32.068851 ms 
mapping data assosiation time 36.857455 ms 
mapping solver time 21.392993 ms 
mapping pub time 2.214852 ms 
whole mapping time 172.201437 ms +++++
mappingCount 624 & avg mapping time 113.422302 ms ++++++++++++++++++++++
1317357836.639362097 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.195697 ms
map corner num 92779  surf num 36691 
build tree time 18.247699 ms 
mapping data assosiation time 27.956982 ms 
mapping solver time 33.538016 ms 
mapping data assosiation time 29.491873 ms 
mapping solver time 27.993291 ms 
--------------------stamp1317357837.055325984
mapping optimization time 141.284406 
add points time 0.831156 ms
filter time 6.867592 ms 
points size 97602 
mapping pub time 2.295952 ms 
whole mapping time 154.537509 ms +++++
mappingCount 625 & avg mapping time 113.488095 ms ++++++++++++++++++++++
1317357836.847368956 WriteOdom aft_mapped_to_init
prepare time 13.287812 
sort q time 5.907411 
seperate points time 13.541977 
scan registration time 31.314811 ms *************
-----t: 0.0441918
OdomCount 724 & avg odom time 0.040722 ms ++++++++++++++++++++++
1317357837.055325984 WriteOdom laser_odom_to_init
1317357837.055325984 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357837.159317016
points size 95711 
prepare time 37.042000 
sort q time 7.012737 
seperate points time 17.194701 
scan registration time 58.860494 ms *************
-----t: 0.0490477
OdomCount 725 & avg odom time 0.040734 ms ++++++++++++++++++++++
1317357837.159317016 WriteOdom laser_odom_to_init
1317357837.159317016 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357837.263309001
failed to find transform between base_link and velodyne
points size 94360 
prepare time 31.265815 
sort q time 7.203602 
seperate points time 15.756694 
scan registration time 50.651130 ms *************
--------------------stamp1317357837.367299079
points size 94368 
prepare time 12.244818 
sort q time 5.008481 
seperate points time 10.624407 
scan registration time 26.020385 ms *************
--------------------stamp1317357837.471266031
points size 95565 
prepare time 12.824202 
sort q time 6.022030 
seperate points time 11.824853 
scan registration time 27.838372 ms *************
--------------------stamp1317357837.575207948
points size 95119 
prepare time 12.846396 
sort q time 5.085371 
seperate points time 11.072869 
scan registration time 27.301811 ms *************
--------------------stamp1317357837.679150104
points size 95211 
prepare time 13.652077 
sort q time 4.238217 
seperate points time 9.823272 
scan registration time 26.581608 ms *************
--------------------stamp1317357837.783140897
points size 94747 
prepare time 13.044093 
sort q time 6.836472 
seperate points time 14.146323 
points size 93921 
sort q time 5.993275 
seperate points time 13.950787 
points size 93269 
publication time 12.332376 ms 
whole laserOdometry time 12.351523 ms 
 
points size 92668 
scan registration time 30.473663 ms *************publication time 10.125441 ms 
whole laserOdometry time 10.143196 ms 
 
publication time 10.496266 ms 
whole laserOdometry time 10.512647 ms 
 
publication time 11.930876 ms 
whole laserOdometry time 11.946259 ms 
 
publication time 10.739463 ms 
whole laserOdometry time 10.754883 ms 
 
points size 93435 
-----t: 0.070629
OdomCount 727 & avg odom time 0.040845 ms ++++++++++++++++++++++
1317357837.367299079 WriteOdom laser_odom_to_init
1317357837.367299079 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 51.090460 ms 
--------------------stamp1317357838.510714054
prepare time 18.082394 
-----t: 0.0680282
OdomCount 728 & avg odom time 0.040882 ms ++++++++++++++++++++++
publication time 8.259402 ms 
whole laserOdometry time 8.282357 ms 
 
filter time 9.437823 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 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357838.614609003
points size 96535 
sort q time 5.918185 
seperate points time 13.765859 
-----t: 0.0410463
OdomCount 731 & avg odom time 0.040889 ms ++++++++++++++++++++++
mapping solver time 41.253203 ms 
-----t: 0.0420596
OdomCount 732 & avg odom time 0.040890 ms ++++++++++++++++++++++
sort q time 6.347385 
seperate points time 14.801446 
filter time 9.509957 ms 
publication time 14.213924 ms 
whole laserOdometry time 14.230731 ms 
 
-----t: 0.0397655
OdomCount 734 & avg odom time 0.040910 ms ++++++++++++++++++++++
points size 100107 
sort q time 5.346411 
seperate points time 14.219354 
publication time 8.369378 ms 
whole laserOdometry time 8.384755 ms 
 
-----t: 0.0382049
OdomCount 736 & avg odom time 0.040931 ms ++++++++++++++++++++++
--------------------stamp1317357838.926152944
points size 100467 
sort q time 5.782273 
seperate points time 14.130134 
publication time 11.259931 ms 
whole laserOdometry time 11.276641 ms 
 
-----t: 0.0379275
OdomCount 738 & avg odom time 0.040940 ms ++++++++++++++++++++++
--------------------stamp1317357839.029927015
points size 100640 
map prepare time 4.104317 ms
map corner num 95662  surf num 37800 
scan registration time 35.595274 ms *************
build tree time 26.088954 ms 
publication time 11.442613 ms 
whole laserOdometry time 11.459958 ms 
 
mapping data assosiation time 36.233835 ms 
-----t: 0.0352965
OdomCount 741 & avg odom time 0.040935 ms ++++++++++++++++++++++
points size 100516 
mapping solver time 39.366862 ms 
sort q time 5.509379 
seperate points time 13.800039 
-----t: 0.0446408
OdomCount 742 & avg odom time 0.040940 ms ++++++++++++++++++++++
publication time 9.636574 ms 
whole laserOdometry time 9.650723 ms 
 
-----t: 0.0389926
OdomCount 743 & avg odom time 0.040938 ms ++++++++++++++++++++++
mapping solver time 39.188904 ms 
mapping optimization time 177.996508 
add points time 0.938619 ms
drop lidar frame in mapping for real time performance 
points size 99971 
sort q time 5.877028 
seperate points time 14.040550 
-----t: 0.0855288
OdomCount 744 & avg odom time 0.040998 ms ++++++++++++++++++++++
mapping data assosiation time 33.922586 ms 
--------------------stamp1317357839.340961933
-----t: 0.058099
OdomCount 745 & avg odom time 0.041021 ms ++++++++++++++++++++++
sort q time 5.619828 
seperate points time 13.821067 
publication time 8.639074 ms 
whole laserOdometry time 8.657375 ms 
 
-----t: 0.0414712
OdomCount 746 & avg odom time 0.041021 ms ++++++++++++++++++++++
1317357839.340961933 WriteOdom laser_odom_to_init
1317357839.340961933 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.387871 ms 
mapping optimization time 164.011129 
add points time 0.902446 ms
map prepare time 2.894187 ms
map corner num 98963  surf num 39766 
--------------------stamp1317357839.444617986
prepare time 11.663446 
sort q time 6.010247 
seperate points time 12.781817 
publication time 9.116275 ms 
whole laserOdometry time 9.130288 ms 
 
mapping data assosiation time 36.103604 ms 
-----t: 0.0524163
OdomCount 747 & avg odom time 0.041036 ms ++++++++++++++++++++++
mapping solver time 34.964687 ms 
--------------------stamp1317357839.548273086
prepare time 12.635544 
sort q time 5.631913 
seperate points time 12.717643 
publication time 9.103214 ms 
whole laserOdometry time 9.118561 ms 
 
-----t: 0.0430332
OdomCount 748 & avg odom time 0.041039 ms ++++++++++++++++++++++
mapping pub time 2.310927 ms 
whole mapping time 180.353035 ms +++++
mappingCount 630 & avg mapping time 114.123467 ms ++++++++++++++++++++++
build tree time 22.703392 ms 
--------------------stamp1317357839.651904106
points size 90482 
prepare time 12.790368 
scan registration time 29.183202 ms *************
publication time 9.870892 ms 
whole laserOdometry time 9.885865 ms 
 
mapping data assosiation time 27.092179 ms 
--------------------stamp1317357839.755558967
mapping solver time 32.038731 ms 
[0m[ INFO] [1718805126.635343610, 1317357839.779884007]: Received 142701 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805126.635383382, 1317357839.779884007]: Data saved to 1317357839444617.pcd[0m
publication time 9.952060 ms 
whole laserOdometry time 9.969211 ms 
 
build tree time 26.521353 ms 
-----t: 0.0618808
OdomCount 750 & avg odom time 0.041066 ms ++++++++++++++++++++++
mapping data assosiation time 29.449312 ms 
--------------------stamp1317357839.859235048
mapping solver time 31.024856 ms 
sort q time 4.750424 
seperate points time 12.292294 
publication time 9.754061 ms 
whole laserOdometry time 9.767292 ms 
 
-----t: 0.0444598
OdomCount 751 & avg odom time 0.041070 ms ++++++++++++++++++++++
mapping solver time 24.752290 ms 
mapping pub time 2.220551 ms 
whole mapping time 158.972199 ms +++++
mappingCount 632 & avg mapping time 114.275193 ms ++++++++++++++++++++++
1317357839.651904106 WriteOdom aft_mapped_to_init
--------------------stamp1317357839.962937116
points size 83865 
sort q time 4.916045 
seperate points time 11.083015 
mapping data assosiation time 31.727773 ms 
mapping solver time 33.734722 ms 
-----t: 0.0637178
OdomCount 752 & avg odom time 0.041100 ms ++++++++++++++++++++++
mapping data assosiation time 26.701770 ms 
prepare time 13.866701 
mapping solver time 26.078388 ms 
mapping optimization time 143.171867 
add points time 0.939977 ms
sort q time 4.616712 
seperate points time 11.945508 
map prepare time 3.509940 ms
map corner num 103874  surf num 41851 
build tree time 26.506621 ms 
mapping data assosiation time 27.264391 ms 
--------------------stamp1317357840.170368909
mapping solver time 35.078707 ms 
publication time 9.354865 ms 
whole laserOdometry time 9.369866 ms 
 
-----t: 0.0437922
OdomCount 754 & avg odom time 0.041124 ms ++++++++++++++++++++++
mapping solver time 35.550839 ms 
mapping pub time 1.866724 ms 
whole mapping time 178.003065 ms +++++
mappingCount 634 & avg mapping time 114.446696 ms ++++++++++++++++++++++
sort q time 5.700810 
seperate points time 11.603863 
publication time 9.130620 ms 
whole laserOdometry time 9.147031 ms 
 
-----t: 0.0369906
OdomCount 755 & avg odom time 0.041118 ms ++++++++++++++++++++++
1317357840.274048089 WriteOdom laser_odom_to_init
1317357840.274048089 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.649194 ms 
mapping solver time 27.556863 ms 
points size 89250 
sort q time 4.913333 
seperate points time 12.445351 
publication time 8.290700 ms 
whole laserOdometry time 8.307511 ms 
 
-----t: 0.0353736
OdomCount 756 & avg odom time 0.041110 ms ++++++++++++++++++++++
filter time 6.978701 ms 
build tree time 20.347304 ms 
--------------------stamp1317357840.481477975
points size 92059 
mapping data assosiation time 34.604162 ms 
scan registration time 36.123233 ms *************
publication time 7.901378 ms 
whole laserOdometry time 7.916964 ms 
 
mapping data assosiation time 30.237680 ms 
--------------------stamp1317357840.585206985
prepare time 11.258400 
filter time 9.227409 ms 
publication time 9.091459 ms 
whole laserOdometry time 9.107227 ms 
 
-----t: 0.0442348
OdomCount 758 & avg odom time 0.041155 ms ++++++++++++++++++++++
1317357840.585206985 WriteOdom laser_odom_to_init
1317357840.585206985 WriteOdom aft_mapped_to_init_high_frec
build tree time 35.043627 ms 
mapping data assosiation time 24.065148 ms 
--------------------stamp1317357840.688958883
prepare time 11.192259 
sort q time 6.028601 
seperate points time 13.463978 
mapping data assosiation time 29.645982 ms 
-----t: 0.05986
OdomCount 759 & avg odom time 0.041180 ms ++++++++++++++++++++++
filter time 8.610268 ms 
map prepare time 2.902406 ms
map corner num 105620  surf num 40934 
--------------------stamp1317357840.792756080
prepare time 13.109960 
sort q time 6.089549 
seperate points time 13.694794 
mapping data assosiation time 30.640064 ms 
-----t: 0.0476496
OdomCount 760 & avg odom time 0.041188 ms ++++++++++++++++++++++
1317357840.792756080 WriteOdom laser_odom_to_init
1317357840.792756080 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357840.896552085
points size 100520 
mapping solver time 22.462383 ms 
mapping optimization time 135.521710 
add points time 0.844206 ms
-----t: 0.0499171
OdomCount 761 & avg odom time 0.041200 ms ++++++++++++++++++++++
mapping data assosiation time 27.291593 ms 
--------------------stamp1317357841.000349998
sort q time 14.636338 
seperate points time 24.201645 
publication time 10.789902 ms 
whole laserOdometry time 10.804818 ms 
 
mapping solver time 22.948915 ms 
filter time 7.307799 ms 
points size 101534 
build tree time 34.179515 ms 
scan registration time 37.984133 ms *************
-----t: 0.0386136
OdomCount 763 & avg odom time 0.041218 ms ++++++++++++++++++++++
mapping solver time 27.152057 ms 
--------------------stamp1317357841.208066940
points size 101491 
prepare time 13.690376 
sort q time 6.423069 
seperate points time 14.959994 
scan registration time 33.491066 ms *************
publication time 11.885580 ms 
whole laserOdometry time 11.899615 ms 
 
filter time 9.140379 ms 
build tree time 22.185166 ms 
points size 101614 
prepare time 12.202170 
sort q time 7.142886 
seperate points time 16.415344 
publication time 11.943647 ms 
whole laserOdometry time 11.972271 ms 
 
-----t: 0.0577909
OdomCount 765 & avg odom time 0.041258 ms ++++++++++++++++++++++
1317357841.311964035 WriteOdom laser_odom_to_init
1317357841.311964035 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 32.547357 ms 
points size 101652 
prepare time 16.280338 
sort q time 5.682610 
seperate points time 14.180775 
[0m[ INFO] [1718805128.316106397, 1317357841.454766436]: Received 153246 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805128.316166746, 1317357841.454766436]: Data saved to 1317357841104195.pcd[0m
publication time 11.090429 ms 
whole laserOdometry time 11.103464 ms 
 
mapping pub time 20.996831 ms 
whole mapping time 192.102082 ms +++++
mappingCount 641 & avg mapping time 115.021608 ms ++++++++++++++++++++++
1317357841.104195118 WriteOdom aft_mapped_to_init
build tree time 30.749018 ms 
points size 101953 
mapping data assosiation time 37.912801 ms 
scan registration time 55.865918 ms *************
mapping solver time 42.200630 ms 
--------------------stamp1317357841.623840093
points size 101359 
filter time 8.887784 ms 
scan registration time 47.715206 ms *************
publication time 10.348779 ms 
whole laserOdometry time 10.364065 ms 
 
--------------------stamp1317357841.727828979
prepare time 12.942181 
sort q time 5.823270 
seperate points time 13.624554 
-----t: 0.0478601
OdomCount 769 & avg odom time 0.041314 ms ++++++++++++++++++++++
mapping data assosiation time 35.492765 ms 
mapping solver time 23.282048 ms 
filter time 8.488098 ms 
map prepare time 3.971564 ms
map corner num 111855  surf num 45279 
sort q time 6.612050 
seperate points time 14.116144 
build tree time 30.261586 ms 
publication time 11.375407 ms 
whole laserOdometry time 11.390242 ms 
 
mapping data assosiation time 33.170503 ms 
mapping solver time 26.200275 ms 
points size 101419 
sort q time 5.988834 
seperate points time 14.175773 
publication time 17.084386 ms 
whole laserOdometry time 17.096792 ms 
 
mapping solver time 26.541326 ms 
drop lidar frame in mapping for real time performance 
map prepare time 3.214712 ms
map corner num 113000  surf num 45902 
--------------------stamp1317357842.039968967
scan registration time 32.357611 ms *************
mapping data assosiation time 37.552129 ms 
-----t: 0.0455906
OdomCount 772 & avg odom time 0.041345 ms ++++++++++++++++++++++
mapping solver time 35.072106 ms 
--------------------stamp1317357842.143984079
points size 100655 
sort q time 5.619605 
seperate points time 13.947578 
mapping solver time 32.411186 ms 
filter time 11.028246 ms 
map prepare time 4.011494 ms
map corner num 114178  surf num 46491 
build tree time 22.949257 ms 
--------------------stamp1317357842.248020887
points size 100201 
mapping data assosiation time 36.169076 ms 
sort q time 17.808800 
seperate points time 26.137224 
mapping solver time 37.410901 ms 
mapping data assosiation time 33.797361 ms 
points size 100106 
mapping solver time 29.102740 ms 
filter time 10.007246 ms 
map prepare time 4.495090 ms
map corner num 115364  surf num 47049 
publication time 10.824802 ms 
whole laserOdometry time 10.853754 ms 
build tree time 32.466899 ms 
--------------------stamp1317357842.456108093
points size 99849 
sort q time 6.250220 
seperate points time 12.509073 
publication time 9.913990 ms 
whole laserOdometry time 9.925766 ms 
 
-----t: 0.0513522
OdomCount 776 & avg odom time 0.041394 ms ++++++++++++++++++++++
mapping data assosiation time 32.461232 ms 
--------------------stamp1317357842.560169935
mapping solver time 28.510878 ms 
mapping optimization time 169.255092 
add points time 1.127316 ms
points size 98023 
prepare time 15.212446 
sort q time 5.726974 
seperate points time 13.100960 
publication time 10.301340 ms 
whole laserOdometry time 10.315017 ms 
 
build tree time 29.510211 ms 
mapping data assosiation time 34.206374 ms 
--------------------stamp1317357842.664200067
points size 97367 
prepare time 18.652137 
mapping solver time 31.383489 ms 
sort q time 5.821843 
seperate points time 15.645125 
-----t: 0.0579272
OdomCount 778 & avg odom time 0.041440 ms ++++++++++++++++++++++
mapping solver time 30.827601 ms 
--------------------stamp1317357842.768215894
map prepare time 4.140298 ms
map corner num 117656  surf num 48009 
sort q time 6.010456 
seperate points time 13.326268 
build tree time 28.503389 ms 
publication time 10.618880 ms 
whole laserOdometry time 10.630141 ms 
 
mapping data assosiation time 34.450855 ms 
--------------------stamp1317357842.872231006
points size 95727 
sort q time 5.309336 
seperate points time 11.481937 
mapping data assosiation time 35.946711 ms 
mapping solver time 29.663654 ms 
filter time 9.275571 ms 
map prepare time 2.928340 ms
map corner num 118945  surf num 48599 
--------------------stamp1317357842.976246118
points size 94813 
sort q time 5.779623 
seperate points time 11.230541 
publication time 9.953215 ms 
whole laserOdometry time 9.968830 ms 
 
mapping solver time 30.072637 ms 
--------------------stamp1317357843.080262899
points size 92931 
sort q time 4.982515 
seperate points time 11.938804 
scan registration time 32.166443 ms *************
-----t: 0.0359088
OdomCount 782 & avg odom time 0.041445 ms ++++++++++++++++++++++
map prepare time 3.108092 ms
map corner num 120102  surf num 49123 
build tree time 25.360446 ms 
--------------------stamp1317357843.184278964
mapping data assosiation time 31.177280 ms 
prepare time 14.911313 
publication time 8.765926 ms 
whole laserOdometry time 8.781512 ms 
 
mapping data assosiation time 26.965504 ms 
--------------------stamp1317357843.288294076
prepare time 11.855471 
filter time 9.328516 ms 
mapping pub time 5.102286 ms 
whole mapping time 168.364473 ms +++++
mappingCount 651 & avg mapping time 116.027087 ms ++++++++++++++++++++++
1317357842.976246119 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718805130.165032978, 1317357843.299032308]: Received 170871 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805130.165093153, 1317357843.299032308]: Data saved to 1317357842976246.pcd[0m
publication time 9.983028 ms 
whole laserOdometry time 10.012971 ms 
 
mapping data assosiation time 28.014007 ms 
--------------------stamp1317357843.392308950
mapping solver time 32.103543 ms 
sort q time 4.788352 
seperate points time 10.705640 
mapping data assosiation time 32.375610 ms 
scan registration time 33.424074 ms *************
mapping data assosiation time 32.909118 ms 
-----t: 0.0437695
OdomCount 786 & avg odom time 0.041465 ms ++++++++++++++++++++++
mapping solver time 31.864891 ms 
--------------------stamp1317357843.600311994
prepare time 12.339839 
sort q time 4.768803 
seperate points time 11.302782 
filter time 11.455418 ms 
-----t: 0.0458499
OdomCount 787 & avg odom time 0.041471 ms ++++++++++++++++++++++
1317357843.600311994 WriteOdom laser_odom_to_init
1317357843.600311994 WriteOdom aft_mapped_to_init_high_frec
build tree time 24.624438 ms 
mapping data assosiation time 24.199169 ms 
points size 87971 
mapping solver time 34.276217 ms 
sort q time 5.096387 
seperate points time 15.442799 
publication time 11.420092 ms 
whole laserOdometry time 11.435975 ms 
 
mapping solver time 22.720028 ms 
filter time 8.384265 ms 
map prepare time 3.404744 ms
map corner num 124251  surf num 50753 
points size 89090 
prepare time 15.216084 
scan registration time 33.406447 ms *************
build tree time 35.345957 ms 
publication time 7.428210 ms 
whole laserOdometry time 7.442026 ms 
 
mapping data assosiation time 28.395880 ms 
mapping solver time 26.146745 ms 
--------------------stamp1317357843.912213087
points size 90846 
prepare time 23.286843 
sort q time 6.017899 
seperate points time 12.591027 
-----t: 0.0362054
OdomCount 790 & avg odom time 0.041457 ms ++++++++++++++++++++++
mapping pub time 2.020932 ms 
whole mapping time 164.395858 ms +++++
mappingCount 655 & avg mapping time 116.315229 ms ++++++++++++++++++++++
build tree time 26.384916 ms 
--------------------stamp1317357844.016150951
mapping data assosiation time 26.933529 ms 
points size 93796 
prepare time 15.367635 
scan registration time 32.094082 ms *************
mapping solver time 24.444751 ms 
1317357844.016150951 WriteOdom laser_odom_to_init
1317357844.016150951 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.745218 ms 
mapping solver time 16.740863 ms 
filter time 10.414540 ms 
map prepare time 4.036014 ms
map corner num 126060  surf num 51370 
prepare time 12.967916 
scan registration time 33.094713 ms *************
build tree time 32.680503 ms 
publication time 8.538537 ms 
whole laserOdometry time 8.570674 ms 
 
-----t: 0.0469432
OdomCount 792 & avg odom time 0.041454 ms ++++++++++++++++++++++
mapping solver time 25.287393 ms 
--------------------stamp1317357844.223993062
mapping data assosiation time 27.061010 ms 
sort q time 5.955174 
seperate points time 13.645287 
filter time 9.573449 ms 
publication time 8.944554 ms 
whole laserOdometry time 8.956133 ms 
 
build tree time 34.089319 ms 
prepare time 12.658094 
sort q time 5.850378 
seperate points time 11.754566 
mapping solver time 28.851206 ms 
-----t: 0.0502713
OdomCount 794 & avg odom time 0.041498 ms ++++++++++++++++++++++
mapping solver time 19.842447 ms 
mapping optimization time 135.758687 
add points time 0.596766 ms
drop lidar frame in mapping for real time performance 
points size 100985 
sort q time 5.917691 
seperate points time 13.881226 
publication time 7.708907 ms 
whole laserOdometry time 7.724780 ms 
 
-----t: 0.0612419
OdomCount 795 & avg odom time 0.041523 ms ++++++++++++++++++++++
1317357844.431782960 WriteOdom laser_odom_to_init
1317357844.431782960 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357844.535702943
points size 101156 
mapping data assosiation time 26.640841 ms 
prepare time 15.742668 
sort q time 5.956350 
seperate points time 13.966121 
filter time 11.008916 ms 
build tree time 26.591444 ms 
--------------------stamp1317357844.639596939
mapping data assosiation time 25.725689 ms 
prepare time 13.903713 
scan registration time 32.971355 ms *************
mapping solver time 31.016358 ms 
publication time 9.580243 ms 
whole laserOdometry time 9.593722 ms 
 
mapping data assosiation time 26.337453 ms 
mapping solver time 20.251946 ms 
mapping optimization time 131.280492 
add points time 0.867017 ms
map prepare time 4.257958 ms
map corner num 129326  surf num 52499 
sort q time 5.809808 
seperate points time 13.613881 
publication time 11.570925 ms 
whole laserOdometry time 11.589290 ms 
 
mapping data assosiation time 29.126160 ms 
mapping solver time 26.977497 ms 
points size 96679 
sort q time 7.572591 
seperate points time 13.453096 
mapping solver time 21.639183 ms 
-----t: 0.0354072
OdomCount 799 & avg odom time 0.041542 ms ++++++++++++++++++++++
[0m[ INFO] [1718805131.763687244, 1317357844.907643650]: Received 183058 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805131.763725645, 1317357844.907643650]: Data saved to 1317357844639596.pcd[0m
mapping pub time 15.833660 ms 
whole mapping time 171.069843 ms +++++
mappingCount 661 & avg mapping time 116.662792 ms ++++++++++++++++++++++
1317357844.639596939 WriteOdom aft_mapped_to_init
--------------------stamp1317357844.951210021
sort q time 5.490037 
seperate points time 12.997988 
publication time 8.996440 ms 
whole laserOdometry time 9.024870 ms 
 
-----t: 0.0389289
OdomCount 800 & avg odom time 0.041539 ms ++++++++++++++++++++++
mapping data assosiation time 24.064131 ms 
mapping solver time 20.605582 ms 
filter time 11.188839 ms 
scan registration time 34.081335 ms *************
publication time 8.885856 ms 
whole laserOdometry time 8.898850 ms 
 
mapping data assosiation time 23.376558 ms 
--------------------stamp1317357845.158947944
mapping solver time 28.815984 ms 
prepare time 15.426893 
sort q time 5.500718 
seperate points time 12.762400 
-----t: 0.0361725
OdomCount 802 & avg odom time 0.041533 ms ++++++++++++++++++++++
filter time 8.280169 ms 
map prepare time 2.802797 ms
map corner num 131882  surf num 53533 
build tree time 30.177009 ms 
points size 91117 
prepare time 15.225724 
publication time 9.622795 ms 
whole laserOdometry time 9.636014 ms 
 
mapping data assosiation time 23.540381 ms 
mapping solver time 20.265965 ms 
filter time 9.134335 ms 
sort q time 5.226938 
seperate points time 11.184764 
publication time 8.914873 ms 
whole laserOdometry time 8.928260 ms 
 
-----t: 0.0510271
OdomCount 804 & avg odom time 0.041549 ms ++++++++++++++++++++++
mapping data assosiation time 26.184545 ms 
--------------------stamp1317357845.470551967
points size 89782 
sort q time 5.419640 
seperate points time 11.153669 
scan registration time 30.471743 ms *************
mapping data assosiation time 30.190950 ms 
mapping solver time 26.102945 ms 
filter time 9.805119 ms 
build tree time 26.642428 ms 
--------------------stamp1317357845.574450016
prepare time 12.630350 
sort q time 6.116312 
seperate points time 13.256411 
-----t: 0.0349349
OdomCount 806 & avg odom time 0.041548 ms ++++++++++++++++++++++
mapping solver time 29.821005 ms 
mapping data assosiation time 22.954772 ms 
mapping solver time 16.839245 ms 
filter time 10.502005 ms 
map prepare time 4.766213 ms
map corner num 134470  surf num 54467 
sort q time 5.690791 
seperate points time 12.424737 
publication time 10.623936 ms 
whole laserOdometry time 10.654753 ms 
 
mapping data assosiation time 25.116227 ms 
--------------------stamp1317357845.782293081
points size 95314 
sort q time 5.916426 
seperate points time 12.527278 
publication time 9.264438 ms 
whole laserOdometry time 9.276174 ms 
 
filter time 10.020748 ms 
build tree time 30.431165 ms 
points size 97308 
mapping data assosiation time 29.110918 ms 
sort q time 6.052155 
seperate points time 14.191568 
scan registration time 38.366161 ms *************
-----t: 0.0448537
OdomCount 809 & avg odom time 0.041548 ms ++++++++++++++++++++++
mapping data assosiation time 23.087669 ms 
--------------------stamp1317357845.990129947
points size 99244 
map prepare time 3.918199 ms
map corner num 136059  surf num 54884 
scan registration time 36.731563 ms *************
publication time 9.243367 ms 
whole laserOdometry time 9.255925 ms 
 
build tree time 35.216225 ms 
-----t: 0.0629924
OdomCount 810 & avg odom time 0.041575 ms ++++++++++++++++++++++
mapping data assosiation time 24.500146 ms 
--------------------stamp1317357846.094026088
mapping solver time 26.525306 ms 
points size 98603 
sort q time 6.744102 
seperate points time 13.146884 
publication time 7.877306 ms 
whole laserOdometry time 7.890153 ms 
 
mapping solver time 23.291631 ms 
filter time 9.279620 ms 
map prepare time 2.935977 ms
map corner num 136913  surf num 55109 
--------------------stamp1317357846.197891950
points size 97070 
prepare time 15.506385 
publication time 10.195101 ms 
whole laserOdometry time 10.212472 ms 
 
-----t: 0.0671943
OdomCount 812 & avg odom time 0.041610 ms ++++++++++++++++++++++
--------------------stamp1317357846.301739931
points size 96018 
mapping pub time 2.185225 ms 
whole mapping time 155.266434 ms +++++
mappingCount 670 & avg mapping time 117.163897 ms ++++++++++++++++++++++
1317357845.990129948 WriteOdom aft_mapped_to_init
publication time 8.507174 ms 
whole laserOdometry time 8.523409 ms 
 
-----t: 0.0452528
OdomCount 813 & avg odom time 0.041615 ms ++++++++++++++++++++++
mapping data assosiation time 21.884765 ms 
mapping solver time 25.658282 ms 
points size 96615 
prepare time 15.759003 
sort q time 5.261301 
seperate points time 12.391990 
publication time 9.146348 ms 
whole laserOdometry time 9.164710 ms 
 
filter time 7.120414 ms 
map prepare time 2.726388 ms
map corner num 101438  surf num 40817 
build tree time 23.966747 ms 
--------------------stamp1317357846.509362936
points size 99477 
sort q time 5.591427 
seperate points time 12.893440 
mapping solver time 27.606193 ms 
-----t: 0.0470757
OdomCount 815 & avg odom time 0.041616 ms ++++++++++++++++++++++
1317357846.509362936 WriteOdom laser_odom_to_init
1317357846.509362936 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.989392 ms 
filter time 7.699255 ms 
map prepare time 2.963102 ms
map corner num 102179  surf num 41096 
points size 100345 
prepare time 17.927091 
scan registration time 35.875989 ms *************
mapping data assosiation time 25.751538 ms 
publication time 9.591650 ms 
whole laserOdometry time 9.618632 ms 
 
mapping solver time 23.644422 ms 
mapping data assosiation time 22.851650 ms 
points size 100482 
filter time 8.026226 ms 
sort q time 5.590285 
seperate points time 13.309718 
build tree time 24.127233 ms 
-----t: 0.0495632
OdomCount 817 & avg odom time 0.041631 ms ++++++++++++++++++++++
mapping data assosiation time 24.704668 ms 
mapping solver time 20.396194 ms 
points size 101215 
mapping data assosiation time 29.546050 ms 
scan registration time 39.594419 ms *************
drop lidar frame in mapping for real time performance 
-----t: 0.0680982
OdomCount 818 & avg odom time 0.041663 ms ++++++++++++++++++++++
build tree time 23.963150 ms 
--------------------stamp1317357846.924392938
points size 101939 
prepare time 18.243334 
mapping data assosiation time 31.972648 ms 
sort q time 5.769091 
seperate points time 14.218375 
publication time 9.453126 ms 
whole laserOdometry time 9.468901 ms 
 
mapping data assosiation time 22.858650 ms 
--------------------stamp1317357847.028119087
points size 102153 
mapping pub time 2.310554 ms 
whole mapping time 164.912979 ms +++++
mappingCount 675 & avg mapping time 117.348895 ms ++++++++++++++++++++++
1317357846.716891050 WriteOdom aft_mapped_to_init
-----t: 0.0329094
OdomCount 820 & avg odom time 0.041658 ms ++++++++++++++++++++++
1317357847.028119087 WriteOdom laser_odom_to_init
1317357847.028119087 WriteOdom aft_mapped_to_init_high_frec
publication time 9.386278 ms 
whole laserOdometry time 9.402715 ms 
 
build tree time 26.768367 ms 
mapping data assosiation time 22.412519 ms 
--------------------stamp1317357847.131867885
mapping solver time 25.437117 ms 
points size 102186 
sort q time 6.288970 
seperate points time 12.977879 
mapping solver time 22.024779 ms 
filter time 8.910278 ms 
map prepare time 3.654086 ms
map corner num 105501  surf num 42666 
build tree time 24.062378 ms 
points size 101907 
mapping data assosiation time 27.340430 ms 
publication time 8.210544 ms 
whole laserOdometry time 8.227544 ms 
 
-----t: 0.0495812
OdomCount 822 & avg odom time 0.041668 ms ++++++++++++++++++++++
mapping data assosiation time 26.000805 ms 
mapping solver time 20.540293 ms 
mapping pub time 2.387609 ms 
whole mapping time 144.817293 ms +++++
mappingCount 677 & avg mapping time 117.432495 ms ++++++++++++++++++++++
sort q time 6.030015 
seperate points time 12.007767 
build tree time 27.610221 ms 
-----t: 0.0515554
OdomCount 823 & avg odom time 0.041680 ms ++++++++++++++++++++++
mapping solver time 20.193009 ms 
--------------------stamp1317357847.443074941
prepare time 16.181374 
mapping solver time 19.067017 ms 
filter time 10.379543 ms 
mapping pub time 2.344357 ms 
whole mapping time 140.465593 ms +++++
mappingCount 678 & avg mapping time 117.466472 ms ++++++++++++++++++++++
1317357847.235620975 WriteOdom aft_mapped_to_init
1317357847.443074941 WriteOdom aft_mapped_to_init_high_frec
build tree time 25.680492 ms 
mapping data assosiation time 27.798349 ms 
sort q time 5.770953 
seperate points time 12.394286 
publication time 8.981859 ms 
whole laserOdometry time 8.996763 ms 
 
mapping data assosiation time 29.772894 ms 
mapping solver time 15.809151 ms 
filter time 9.196730 ms 
--------------------stamp1317357847.650572061
points size 98500 
sort q time 7.045274 
seperate points time 13.905593 
publication time 8.910752 ms 
whole laserOdometry time 8.938413 ms 
 
-----t: 0.0452213
OdomCount 826 & avg odom time 0.041694 ms ++++++++++++++++++++++
mapping solver time 27.086096 ms 
--------------------stamp1317357847.754300117
points size 97354 
sort q time 6.734574 
seperate points time 12.942953 
filter time 10.453536 ms 
build tree time 21.694434 ms 
mapping data assosiation time 23.122626 ms 
points size 97343 
sort q time 5.887702 
seperate points time 12.143320 
publication time 7.642294 ms 
whole laserOdometry time 7.659545 ms 
 
mapping data assosiation time 29.071895 ms 
1317357847.858052968 WriteOdom laser_odom_to_init
mapping solver time 21.688057 ms 
filter time 7.344587 ms 
mapping pub time 13.562047 ms 
whole mapping time 153.704077 ms +++++
mappingCount 681 & avg mapping time 117.623607 ms ++++++++++++++++++++++
points size 97284 
build tree time 27.208495 ms 
publication time 8.839689 ms 
whole laserOdometry time 8.859414 ms 
 
mapping solver time 24.993953 ms 
--------------------stamp1317357848.065675020
prepare time 15.343941 
mapping solver time 23.752427 ms 
filter time 9.504854 ms 
map prepare time 3.837734 ms
map corner num 110534  surf num 44750 
build tree time 22.401021 ms 
mapping data assosiation time 27.280887 ms 
points size 95309 
mapping solver time 27.364925 ms 
publication time 10.557664 ms 
whole laserOdometry time 10.570616 ms 
 
mapping data assosiation time 28.647132 ms 
-----t: 0.0535923
OdomCount 831 & avg odom time 0.041770 ms ++++++++++++++++++++++
1317357848.169497013 WriteOdom laser_odom_to_init
1317357848.169497013 WriteOdom aft_mapped_to_init_high_frec
filter time 7.396192 ms 
map prepare time 2.746198 ms
map corner num 111234  surf num 45047 
--------------------stamp1317357848.273320913
prepare time 11.942443 
sort q time 5.759372 
seperate points time 12.622146 
scan registration time 30.387822 ms *************
mapping data assosiation time 27.101329 ms 
publication time 7.622032 ms 
whole laserOdometry time 7.632939 ms 
 
mapping solver time 30.806436 ms 
mapping data assosiation time 24.491685 ms 
points size 96438 
prepare time 13.938062 
sort q time 5.574916 
seperate points time 13.586046 
mapping pub time 2.234734 ms 
whole mapping time 156.095560 ms +++++
mappingCount 684 & avg mapping time 117.765906 ms ++++++++++++++++++++++
publication time 10.633174 ms 
whole laserOdometry time 10.645795 ms 
 
build tree time 26.069843 ms 
mapping data assosiation time 23.086766 ms 
--------------------stamp1317357848.480967044
points size 98899 
mapping solver time 29.574633 ms 
scan registration time 31.538625 ms *************
mapping data assosiation time 27.362560 ms 
-----t: 0.0349949
OdomCount 834 & avg odom time 0.041780 ms ++++++++++++++++++++++
1317357848.480967044 WriteOdom laser_odom_to_init
1317357848.480967044 WriteOdom aft_mapped_to_init_high_frec
publication time 9.491911 ms 
whole laserOdometry time 9.505428 ms 
 
mapping solver time 22.931374 ms 
filter time 9.340299 ms 
--------------------stamp1317357848.584763050
points size 99850 
sort q time 5.681872 
seperate points time 13.071777 
mapping data assosiation time 27.098275 ms 
publication time 7.199699 ms 
whole laserOdometry time 7.214370 ms 
 
-----t: 0.0350002
OdomCount 835 & avg odom time 0.041772 ms ++++++++++++++++++++++
1317357848.584763050 WriteOdom laser_odom_to_init
mapping solver time 21.671813 ms 
mapping data assosiation time 21.338903 ms 
--------------------stamp1317357848.688561916
filter time 7.893765 ms 
points size 98598 
mapping pub time 4.835383 ms 
whole mapping time 135.555060 ms +++++
mappingCount 686 & avg mapping time 117.833552 ms ++++++++++++++++++++++
1317357848.377144098 WriteOdom aft_mapped_to_init
prepare time 17.245758 
[0m[ INFO] [1718805135.561597354, 1317357848.702241245]: Received 159298 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805135.561669535, 1317357848.702241245]: Data saved to 1317357848377144.pcd[0m
sort q time 5.348062 
seperate points time 12.890393 
build tree time 29.546298 ms 
publication time 10.852168 ms 
whole laserOdometry time 10.868449 ms 
 
-----t: 0.0489138
OdomCount 836 & avg odom time 0.041781 ms ++++++++++++++++++++++
1317357848.688561916 WriteOdom laser_odom_to_init
1317357848.688561916 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.338777 ms 
mapping solver time 27.542302 ms 
points size 97499 
mapping data assosiation time 26.461968 ms 
publication time 9.982856 ms 
whole laserOdometry time 10.001046 ms 
 
filter time 8.507309 ms 
map prepare time 3.087039 ms
map corner num 114364  surf num 45951 
build tree time 24.107655 ms 
points size 97436 
sort q time 5.321055 
seperate points time 12.571832 
mapping solver time 22.111741 ms 
mapping solver time 25.425843 ms 
points size 97485 
map prepare time 3.746189 ms
map corner num 115083  surf num 46191 
publication time 11.379431 ms 
whole laserOdometry time 11.397466 ms 
 
-----t: 0.0534329
OdomCount 839 & avg odom time 0.041873 ms ++++++++++++++++++++++
--------------------stamp1317357849.103682041
prepare time 13.041247 
sort q time 5.975584 
seperate points time 12.689861 
scan registration time 31.979183 ms *************
mapping data assosiation time 28.252561 ms 
-----t: 0.0556314
OdomCount 840 & avg odom time 0.041889 ms ++++++++++++++++++++++
mapping solver time 26.868554 ms 
filter time 11.564268 ms 
map prepare time 3.609486 ms
map corner num 115837  surf num 46399 
points size 94727 
prepare time 13.889385 
sort q time 5.160504 
seperate points time 12.556661 
publication time 9.433024 ms 
whole laserOdometry time 9.447563 ms 
 
mapping solver time 20.743156 ms 
--------------------stamp1317357849.311235904
prepare time 12.323464 
scan registration time 32.599685 ms *************
publication time 8.324383 ms 
whole laserOdometry time 8.339971 ms 
 
build tree time 34.451913 ms 
mapping data assosiation time 23.304452 ms 
--------------------stamp1317357849.415011882
points size 92469 
mapping solver time 29.714909 ms 
publication time 8.101270 ms 
whole laserOdometry time 8.116023 ms 
 
mapping optimization time 131.535592 
add points time 0.537742 ms
mapping pub time 12.506349 ms 
whole mapping time 159.433066 ms +++++
mappingCount 691 & avg mapping time 118.091148 ms ++++++++++++++++++++++
--------------------stamp1317357849.518784046
points size 93930 
prepare time 15.362322 
scan registration time 32.496055 ms *************
publication time 8.238649 ms 
whole laserOdometry time 8.251533 ms 
 
mapping solver time 31.249985 ms 
--------------------stamp1317357849.622558116
points size 93926 
sort q time 5.172880 
seperate points time 12.285896 
mapping solver time 25.517848 ms 
filter time 13.534926 ms 
publication time 10.204033 ms 
whole laserOdometry time 10.212293 ms 
 
-----t: 0.0643934
OdomCount 845 & avg odom time 0.041898 ms ++++++++++++++++++++++
--------------------stamp1317357849.726334095
prepare time 13.008330 
mapping data assosiation time 26.908342 ms 
sort q time 5.308430 
seperate points time 11.775658 
publication time 9.177576 ms 
whole laserOdometry time 9.190115 ms 
 
mapping solver time 31.089861 ms 
mapping data assosiation time 26.129934 ms 
--------------------stamp1317357849.830106019
points size 93106 
mapping pub time 2.237296 ms 
whole mapping time 171.551230 ms +++++
mappingCount 693 & avg mapping time 118.247600 ms ++++++++++++++++++++++
1317357849.518784046 WriteOdom aft_mapped_to_init
publication time 9.202946 ms 
whole laserOdometry time 9.215203 ms 
 
build tree time 39.727352 ms 
-----t: 0.0726664
OdomCount 847 & avg odom time 0.041944 ms ++++++++++++++++++++++
1317357849.830106019 WriteOdom laser_odom_to_init
1317357849.830106019 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.297807 ms 
--------------------stamp1317357849.933881998
points size 94319 
sort q time 7.165428 
seperate points time 13.569155 
publication time 9.246968 ms 
whole laserOdometry time 9.259629 ms 
 
mapping solver time 19.127893 ms 
filter time 13.603886 ms 
map prepare time 3.702318 ms
map corner num 145864  surf num 55501 
--------------------stamp1317357850.037658929
prepare time 12.736802 
sort q time 5.934488 
seperate points time 11.802452 
scan registration time 39.850937 ms *************
mapping data assosiation time 25.281732 ms 
publication time 12.883457 ms 
whole laserOdometry time 12.905711 ms 
 
mapping solver time 29.214825 ms 
mapping data assosiation time 21.184333 ms 
--------------------stamp1317357850.141433000
points size 98283 
sort q time 6.124591 
seperate points time 12.876817 
map prepare time 3.671104 ms
map corner num 146657  surf num 55753 
publication time 12.178475 ms 
whole laserOdometry time 12.195572 ms 
 
build tree time 34.871801 ms 
mapping data assosiation time 21.036015 ms 
points size 98916 
mapping solver time 27.317599 ms 
mapping data assosiation time 25.330245 ms 
mapping solver time 21.357639 ms 
filter time 9.379005 ms 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357850.348980903
points size 99327 
build tree time 37.948077 ms 
scan registration time 38.426170 ms *************
mapping data assosiation time 29.023338 ms 
mapping solver time 32.279514 ms 
--------------------stamp1317357850.452754020
-----t: 0.0974938
OdomCount 852 & avg odom time 0.042010 ms ++++++++++++++++++++++
sort q time 6.130064 
seperate points time 12.501948 
filter time 13.971633 ms 
drop lidar frame in mapping for real time performance 
build tree time 33.679971 ms 
--------------------stamp1317357850.556555986
points size 100025 
sort q time 5.565051 
seperate points time 13.142213 
mapping solver time 27.054069 ms 
mapping data assosiation time 23.076605 ms 
-----t: 0.0704474
OdomCount 854 & avg odom time 0.042044 ms ++++++++++++++++++++++
mapping solver time 28.615109 ms 
--------------------stamp1317357850.660353899
1317357850.348980904 WriteOdom aft_mapped_to_init
sort q time 5.880791 
seperate points time 13.768513 
build tree time 38.931920 ms 
mapping data assosiation time 25.843008 ms 
mapping solver time 23.908475 ms 
points size 100618 
sort q time 6.350119 
seperate points time 14.201473 
scan registration time 36.601687 ms *************
-----t: 0.0415121
OdomCount 856 & avg odom time 0.042068 ms ++++++++++++++++++++++
1317357850.556555986 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.015932 ms
map corner num 149855  surf num 56689 
build tree time 32.379222 ms 
points size 100557 
mapping data assosiation time 26.173047 ms 
mapping solver time 21.808284 ms 
-----t: 0.0437357
OdomCount 857 & avg odom time 0.042070 ms ++++++++++++++++++++++
mapping data assosiation time 25.635192 ms 
mapping solver time 15.213183 ms 
filter time 11.376289 ms 
map prepare time 3.007717 ms
map corner num 150584  surf num 56899 
sort q time 6.121221 
seperate points time 13.883296 
scan registration time 32.927523 ms *************
publication time 9.201544 ms 
whole laserOdometry time 9.214739 ms 
 
-----t: 0.0746103
OdomCount 858 & avg odom time 0.042108 ms ++++++++++++++++++++++
--------------------stamp1317357851.075596094
prepare time 16.079470 
mapping pub time 33.439360 ms 
whole mapping time 178.472732 ms +++++
mappingCount 701 & avg mapping time 118.717002 ms ++++++++++++++++++++++
--------------------stamp1317357851.179397106
points size 100313 
prepare time 15.251734 
scan registration time 37.130091 ms *************
mapping data assosiation time 25.954817 ms 
-----t: 0.0436272
OdomCount 860 & avg odom time 0.042140 ms ++++++++++++++++++++++
mapping data assosiation time 20.252869 ms 
points size 100206 
add points time 0.801131 ms
filter time 13.587622 ms 
map prepare time 3.184254 ms
map corner num 152198  surf num 57382 
-----t: 0.044482
OdomCount 861 & avg odom time 0.042142 ms ++++++++++++++++++++++
build tree time 47.044429 ms 
--------------------stamp1317357851.387042045
mapping data assosiation time 23.050580 ms 
sort q time 6.547194 
seperate points time 13.429590 
publication time 9.380020 ms 
whole laserOdometry time 9.397133 ms 
 
mapping data assosiation time 26.626333 ms 
-----t: 0.0424753
OdomCount 862 & avg odom time 0.042143 ms ++++++++++++++++++++++
1317357851.387042045 WriteOdom laser_odom_to_init
1317357851.387042045 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.792383 ms 
mapping optimization time 139.750071 
add points time 0.685210 ms
mapping pub time 2.218881 ms 
whole mapping time 156.107013 ms +++++
mappingCount 703 & avg mapping time 118.831806 ms ++++++++++++++++++++++
--------------------stamp1317357851.490888118
points size 100800 
sort q time 6.061181 
seperate points time 13.839971 
publication time 12.495518 ms 
whole laserOdometry time 12.511255 ms 
 
mapping data assosiation time 26.307157 ms 
mapping solver time 19.402876 ms 
--------------------stamp1317357851.594757080
points size 101530 
prepare time 17.134756 
1317357851.283220053 WriteOdom aft_mapped_to_init
-----t: 0.0659
OdomCount 864 & avg odom time 0.042177 ms ++++++++++++++++++++++
build tree time 38.722523 ms 
points size 101730 
mapping solver time 24.640041 ms 
mapping data assosiation time 26.789553 ms 
mapping solver time 14.942100 ms 
filter time 9.599657 ms 
map prepare time 3.859833 ms
map corner num 154439  surf num 58072 
sort q time 13.319702 
seperate points time 21.993872 
-----t: 0.0521852
OdomCount 866 & avg odom time 0.042206 ms ++++++++++++++++++++++
mapping solver time 20.390039 ms 
--------------------stamp1317357851.906300067
points size 101035 
prepare time 15.271940 
mapping data assosiation time 26.371439 ms 
sort q time 5.806753 
seperate points time 13.473152 
publication time 9.336250 ms 
whole laserOdometry time 9.370786 ms 
 
drop lidar frame in mapping for real time performance 
build tree time 21.242952 ms 
--------------------stamp1317357852.010122060
points size 100420 
prepare time 15.870205 
publication time 10.698820 ms 
whole laserOdometry time 10.708452 ms 
 
mapping data assosiation time 26.135597 ms 
-----t: 0.0457154
OdomCount 868 & avg odom time 0.042219 ms ++++++++++++++++++++++
1317357852.010122060 WriteOdom laser_odom_to_init
1317357852.010122060 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.891659 ms 
filter time 7.678482 ms 
map prepare time 3.281516 ms
map corner num 75621  surf num 32765 
points size 99463 
sort q time 6.406281 
seperate points time 13.010931 
-----t: 0.0377426
OdomCount 869 & avg odom time 0.042214 ms ++++++++++++++++++++++
mapping solver time 24.383546 ms 
mapping data assosiation time 22.800988 ms 
mapping solver time 22.336621 ms 
points size 94428 
mapping optimization time 117.848600 
add points time 0.750672 ms
prepare time 13.971965 
filter time 5.534811 ms 
scan registration time 32.013962 ms *************
build tree time 18.668317 ms 
publication time 11.030430 ms 
whole laserOdometry time 11.045753 ms 
 
mapping data assosiation time 24.850832 ms 
mapping solver time 22.428708 ms 
--------------------stamp1317357852.321589946
mapping data assosiation time 24.197005 ms 
sort q time 4.875141 
seperate points time 11.539590 
filter time 7.729858 ms 
build tree time 15.754514 ms 
mapping data assosiation time 20.465106 ms 
--------------------stamp1317357852.425386905
mapping solver time 26.202237 ms 
sort q time 5.524767 
seperate points time 13.124964 
publication time 17.943295 ms 
whole laserOdometry time 17.955544 ms 
 
filter time 7.069511 ms 
-----t: 0.0668607
OdomCount 872 & avg odom time 0.042244 ms ++++++++++++++++++++++
build tree time 18.650899 ms 
--------------------stamp1317357852.529186010
points size 81113 
sort q time 4.851511 
seperate points time 17.980731 
-----t: 0.033791
OdomCount 873 & avg odom time 0.042234 ms ++++++++++++++++++++++
publication time 5.839946 ms 
whole laserOdometry time 5.850248 ms 
 
mapping data assosiation time 22.632187 ms 
mapping solver time 14.003495 ms 
mapping pub time 3.356820 ms 
whole mapping time 123.354709 ms +++++
mappingCount 711 & avg mapping time 119.062474 ms ++++++++++++++++++++++
--------------------stamp1317357852.633011102
build tree time 18.221177 ms 
sort q time 4.106295 
seperate points time 10.551167 
mapping data assosiation time 24.916656 ms 
-----t: 0.0333425
OdomCount 874 & avg odom time 0.042224 ms ++++++++++++++++++++++
mapping solver time 26.992958 ms 
mapping data assosiation time 19.748779 ms 
mapping solver time 20.177689 ms 
prepare time 11.742322 
scan registration time 26.376531 ms *************
build tree time 20.487382 ms 
-----t: 0.0381406
OdomCount 875 & avg odom time 0.042220 ms ++++++++++++++++++++++
mapping data assosiation time 23.297294 ms 
mapping solver time 22.304256 ms 
--------------------stamp1317357852.840585947
prepare time 9.397659 
sort q time 4.211939 
seperate points time 8.984853 
publication time 9.008441 ms 
whole laserOdometry time 9.026778 ms 
 
filter time 8.045025 ms 
mapping pub time 1.880842 ms 
whole mapping time 125.903165 ms +++++
mappingCount 713 & avg mapping time 119.077084 ms ++++++++++++++++++++++
1317357852.633011103 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0459731
OdomCount 876 & avg odom time 0.042224 ms ++++++++++++++++++++++
mapping data assosiation time 18.295686 ms 
mapping solver time 18.162359 ms 
points size 77710 
mapping data assosiation time 24.699130 ms 
sort q time 4.923531 
seperate points time 9.572203 
mapping solver time 17.722888 ms 
filter time 7.813777 ms 
map prepare time 2.068115 ms
map corner num 80349  surf num 33916 
build tree time 17.698478 ms 
mapping data assosiation time 19.585364 ms 
--------------------stamp1317357853.048204898
prepare time 10.745095 
mapping solver time 28.689909 ms 
publication time 7.456469 ms 
whole laserOdometry time 7.470042 ms 
 
-----t: 0.0332474
OdomCount 878 & avg odom time 0.042204 ms ++++++++++++++++++++++
mapping solver time 22.574238 ms 
filter time 5.428031 ms 
build tree time 15.912836 ms 
points size 85962 
prepare time 11.588446 
scan registration time 27.220900 ms *************
mapping solver time 28.353353 ms 
mapping solver time 21.071577 ms 
mapping optimization time 110.289882 
add points time 0.862444 ms
points size 89905 
build tree time 21.346302 ms 
publication time 7.130661 ms 
whole laserOdometry time 7.142449 ms 
 
-----t: 0.04717
OdomCount 880 & avg odom time 0.042204 ms ++++++++++++++++++++++
mapping data assosiation time 20.837074 ms 
--------------------stamp1317357853.359674930
points size 95392 
filter time 6.188959 ms 
-----t: 0.0353046
OdomCount 881 & avg odom time 0.042196 ms ++++++++++++++++++++++
mapping data assosiation time 21.374895 ms 
mapping solver time 24.325784 ms 
points size 96553 
mapping data assosiation time 26.520784 ms 
scan registration time 34.495416 ms *************
filter time 7.275533 ms 
-----t: 0.0600808
OdomCount 882 & avg odom time 0.042217 ms ++++++++++++++++++++++
mapping data assosiation time 22.285634 ms 
points size 96726 
mapping solver time 26.554339 ms 
scan registration time 34.597091 ms *************
mapping data assosiation time 25.338991 ms 
mapping solver time 20.907740 ms 
mapping optimization time 117.439679 
add points time 0.760335 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357853.671045064
points size 95743 
mapping data assosiation time 23.456010 ms 
scan registration time 30.699492 ms *************
mapping solver time 23.248328 ms 
-----t: 0.0361671
OdomCount 884 & avg odom time 0.042210 ms ++++++++++++++++++++++
1317357853.671045064 WriteOdom laser_odom_to_init
1317357853.671045064 WriteOdom aft_mapped_to_init_high_frec
publication time 9.501799 ms 
whole laserOdometry time 9.513050 ms 
 
mapping data assosiation time 22.300557 ms 
mapping solver time 17.054499 ms 
mapping optimization time 105.452597 
add points time 0.774187 ms
map prepare time 2.836111 ms
map corner num 84907  surf num 35115 
points size 94485 
build tree time 22.222170 ms 
scan registration time 29.633722 ms *************
mapping data assosiation time 25.117088 ms 
-----t: 0.0493897
OdomCount 885 & avg odom time 0.042218 ms ++++++++++++++++++++++
mapping solver time 27.542098 ms 
mapping data assosiation time 23.171168 ms 
points size 93711 
add points time 0.756914 ms
filter time 8.642601 ms 
sort q time 5.191968 
seperate points time 12.416393 
scan registration time 35.762999 ms *************
[0m[ INFO] [1718805140.771202081, 1317357853.913442600]: Received 121169 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805140.771245625, 1317357853.913442600]: Data saved to 1317357853671045.pcd[0m
-----t: 0.0361037
OdomCount 886 & avg odom time 0.042211 ms ++++++++++++++++++++++
1317357853.878644943 WriteOdom laser_odom_to_init
1317357853.878644943 WriteOdom aft_mapped_to_init_high_frec
build tree time 17.975517 ms 
--------------------stamp1317357853.982467889
points size 92799 
mapping solver time 25.681270 ms 
sort q time 5.209915 
seperate points time 12.192144 
scan registration time 32.408972 ms *************
publication time 10.020092 ms 
whole laserOdometry time 10.035262 ms 
 
mapping solver time 14.224900 ms 
filter time 5.742910 ms 
mapping pub time 2.105395 ms 
whole mapping time 119.972196 ms +++++
mappingCount 722 & avg mapping time 119.194041 ms ++++++++++++++++++++++
1317357853.774844885 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 18.707753 ms 
points size 91333 
mapping data assosiation time 24.807209 ms 
sort q time 5.832269 
seperate points time 11.245334 
scan registration time 29.202344 ms *************
mapping solver time 22.085066 ms 
-----t: 0.0454371
OdomCount 888 & avg odom time 0.042212 ms ++++++++++++++++++++++
1317357854.086287975 WriteOdom laser_odom_to_init
1317357854.086287975 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.550909 ms 
mapping pub time 2.174214 ms 
whole mapping time 121.641872 ms +++++
mappingCount 723 & avg mapping time 119.197434 ms ++++++++++++++++++++++
points size 90131 
build tree time 24.278326 ms 
mapping data assosiation time 27.434886 ms 
-----t: 0.0509743
OdomCount 889 & avg odom time 0.042221 ms ++++++++++++++++++++++
mapping solver time 23.140543 ms 
mapping data assosiation time 22.615451 ms 
points size 89575 
filter time 8.001372 ms 
publication time 8.307362 ms 
whole laserOdometry time 8.323198 ms 
 
-----t: 0.0372865
OdomCount 890 & avg odom time 0.042216 ms ++++++++++++++++++++++
build tree time 23.147410 ms 
1317357854.293888092 WriteOdom laser_odom_to_init
1317357854.293888092 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.603074 ms 
mapping solver time 23.184320 ms 
points size 88442 
mapping data assosiation time 27.842542 ms 
mapping solver time 18.780896 ms 
mapping pub time 2.270236 ms 
whole mapping time 132.090597 ms +++++
mappingCount 725 & avg mapping time 119.228675 ms ++++++++++++++++++++++
1317357854.190087080 WriteOdom aft_mapped_to_init
build tree time 20.558185 ms 
--------------------stamp1317357854.501483917
prepare time 11.756352 
mapping solver time 22.521873 ms 
mapping data assosiation time 25.125153 ms 
-----t: 0.0401507
OdomCount 892 & avg odom time 0.042207 ms ++++++++++++++++++++++
1317357854.501483917 WriteOdom laser_odom_to_init
1317357854.501483917 WriteOdom aft_mapped_to_init_high_frec
filter time 6.907425 ms 
map prepare time 2.508150 ms
map corner num 89296  surf num 36936 
--------------------stamp1317357854.605282068
points size 89323 
sort q time 4.612616 
seperate points time 10.674649 
mapping data assosiation time 24.914154 ms 
scan registration time 28.586080 ms *************
publication time 8.756045 ms 
whole laserOdometry time 8.767518 ms 
 
-----t: 0.0489625
OdomCount 893 & avg odom time 0.042214 ms ++++++++++++++++++++++
mapping data assosiation time 23.072795 ms 
mapping solver time 13.696926 ms 
filter time 6.137162 ms 
points size 90100 
build tree time 22.364885 ms 
publication time 11.503044 ms 
whole laserOdometry time 11.515996 ms 
 
mapping data assosiation time 25.176109 ms 
-----t: 0.0494013
OdomCount 894 & avg odom time 0.042222 ms ++++++++++++++++++++++
mapping data assosiation time 21.932147 ms 
points size 92152 
filter time 8.049111 ms 
scan registration time 28.703989 ms *************
build tree time 23.720776 ms 
publication time 9.349159 ms 
whole laserOdometry time 9.363087 ms 
 
-----t: 0.0570419
OdomCount 895 & avg odom time 0.042239 ms ++++++++++++++++++++++
mapping solver time 23.627914 ms 
points size 92696 
mapping data assosiation time 25.964982 ms 
sort q time 5.350664 
seperate points time 11.222031 
mapping solver time 23.946455 ms 
filter time 8.960762 ms 
-----t: 0.0390051
OdomCount 896 & avg odom time 0.042235 ms ++++++++++++++++++++++
build tree time 19.979579 ms 
--------------------stamp1317357855.020572900
points size 91628 
prepare time 12.200581 
sort q time 5.301690 
seperate points time 10.873259 
publication time 8.159441 ms 
whole laserOdometry time 8.173792 ms 
 
mapping data assosiation time 25.686931 ms 
mapping solver time 14.575592 ms 
mapping optimization time 111.013921 
add points time 0.726660 ms
map prepare time 2.369890 ms
map corner num 92177  surf num 37831 
--------------------stamp1317357855.124346971
points size 91585 
mapping data assosiation time 24.575615 ms 
mapping solver time 20.642472 ms 
mapping data assosiation time 22.301893 ms 
mapping solver time 19.158381 ms 
filter time 6.412949 ms 
--------------------stamp1317357855.228122949
points size 92470 
sort q time 5.324507 
seperate points time 12.627541 
build tree time 25.774193 ms 
scan registration time 33.186205 ms *************
publication time 8.116043 ms 
whole laserOdometry time 8.127624 ms 
 
mapping data assosiation time 25.753010 ms 
1317357855.228122949 WriteOdom laser_odom_to_init
mapping solver time 25.138466 ms 
--------------------stamp1317357855.331896066
points size 91792 
filter time 6.917789 ms 
scan registration time 51.286430 ms *************
publication time 7.597133 ms 
whole laserOdometry time 7.611055 ms 
 
mapping data assosiation time 24.917000 ms 
points size 88710 
sort q time 5.469659 
seperate points time 11.412024 
mapping data assosiation time 26.645368 ms 
publication time 9.310076 ms 
whole laserOdometry time 9.324548 ms 
 
-----t: 0.0489139
OdomCount 901 & avg odom time 0.042263 ms ++++++++++++++++++++++
mapping pub time 2.272178 ms 
whole mapping time 140.719973 ms +++++
mappingCount 733 & avg mapping time 119.348824 ms ++++++++++++++++++++++
--------------------stamp1317357855.539400100
prepare time 11.694358 
sort q time 4.741916 
seperate points time 11.109949 
publication time 7.483414 ms 
whole laserOdometry time 7.497741 ms 
 
mapping data assosiation time 22.925801 ms 
mapping solver time 19.701169 ms 
filter time 6.592660 ms 
points size 84180 
sort q time 4.414730 
seperate points time 10.633035 
publication time 7.627141 ms 
whole laserOdometry time 7.639821 ms 
 
mapping data assosiation time 28.040233 ms 
1317357855.643173933 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.993347 ms 
--------------------stamp1317357855.746949911
prepare time 12.374726 
sort q time 4.462082 
seperate points time 10.383692 
filter time 9.097555 ms 
-----t: 0.0377863
OdomCount 904 & avg odom time 0.042291 ms ++++++++++++++++++++++
1317357855.746949911 WriteOdom laser_odom_to_init
1317357855.746949911 WriteOdom aft_mapped_to_init_high_frec
build tree time 21.739287 ms 
mapping data assosiation time 19.591329 ms 
--------------------stamp1317357855.850723981
prepare time 10.581273 
sort q time 5.152895 
seperate points time 9.758573 
mapping data assosiation time 23.459802 ms 
-----t: 0.0400747
OdomCount 905 & avg odom time 0.042288 ms ++++++++++++++++++++++
filter time 6.859149 ms 
drop lidar frame in mapping for real time performance 
build tree time 21.039024 ms 
--------------------stamp1317357855.954521894
points size 74195 
sort q time 4.563281 
seperate points time 9.706891 
publication time 7.279627 ms 
whole laserOdometry time 7.294039 ms 
 
1317357855.954521894 WriteOdom laser_odom_to_init
1317357855.954521894 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.516013 ms 
mapping solver time 14.405320 ms 
filter time 6.621340 ms 
--------------------stamp1317357856.058345079
prepare time 10.131103 
sort q time 4.306633 
seperate points time 9.481662 
publication time 6.646202 ms 
whole laserOdometry time 6.657671 ms 
 
-----t: 0.0329523
OdomCount 907 & avg odom time 0.042270 ms ++++++++++++++++++++++
mapping data assosiation time 18.829486 ms 
mapping solver time 17.135341 ms 
--------------------stamp1317357856.162168025
prepare time 11.702467 
sort q time 3.933219 
seperate points time 9.670127 
publication time 6.999588 ms 
whole laserOdometry time 7.013146 ms 
 
mapping data assosiation time 22.709481 ms 
-----t: 0.0510001
OdomCount 908 & avg odom time 0.042280 ms ++++++++++++++++++++++
1317357856.162168025 WriteOdom laser_odom_to_init
1317357856.162168025 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.247382 ms 
points size 77379 
sort q time 4.348166 
seperate points time 10.170307 
publication time 7.679927 ms 
whole laserOdometry time 7.693167 ms 
 
-----t: 0.0322299
OdomCount 909 & avg odom time 0.042269 ms ++++++++++++++++++++++
mapping data assosiation time 19.176281 ms 
mapping solver time 16.799044 ms 
--------------------stamp1317357856.369769096
prepare time 10.324213 
sort q time 4.455113 
seperate points time 10.041034 
filter time 9.224603 ms 
publication time 7.051927 ms 
whole laserOdometry time 7.077856 ms 
 
build tree time 22.225930 ms 
mapping data assosiation time 18.506509 ms 
mapping solver time 16.931672 ms 
points size 79833 
sort q time 4.128288 
seperate points time 10.052652 
scan registration time 28.399995 ms *************
mapping solver time 19.549763 ms 
filter time 8.981943 ms 
publication time 7.575440 ms 
whole laserOdometry time 7.593571 ms 
 
[0m[ INFO] [1718805143.382657015, 1317357856.520884298]: Received 140011 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805143.382765026, 1317357856.520884298]: Data saved to 1317357856265969.pcd[0m
map prepare time 2.295367 ms
map corner num 99887  surf num 40124 
build tree time 21.216068 ms 
points size 82864 
sort q time 4.661862 
seperate points time 10.572644 
scan registration time 24.946878 ms *************
-----t: 0.0319866
OdomCount 912 & avg odom time 0.042251 ms ++++++++++++++++++++++
mapping data assosiation time 19.489638 ms 
mapping solver time 12.825738 ms 
mapping optimization time 97.456252 
add points time 0.709091 ms
map prepare time 2.408215 ms
map corner num 100471  surf num 40280 
--------------------stamp1317357856.681164979
points size 82338 
prepare time 10.907038 
sort q time 4.568642 
seperate points time 10.191540 
publication time 7.441129 ms 
whole laserOdometry time 7.470216 ms 
 
mapping solver time 27.259599 ms 
mapping data assosiation time 20.485624 ms 
mapping solver time 20.224621 ms 
mapping pub time 1.925170 ms 
whole mapping time 128.690835 ms +++++
mappingCount 743 & avg mapping time 119.429098 ms ++++++++++++++++++++++
sort q time 4.500549 
seperate points time 10.190748 
build tree time 26.774045 ms 
mapping data assosiation time 21.617272 ms 
-----t: 0.0615302
OdomCount 914 & avg odom time 0.042262 ms ++++++++++++++++++++++
mapping data assosiation time 20.137627 ms 
points size 77679 
mapping solver time 17.884241 ms 
mapping pub time 1.811161 ms 
whole mapping time 123.003088 ms +++++
mappingCount 744 & avg mapping time 119.433907 ms ++++++++++++++++++++++
map prepare time 3.451493 ms
map corner num 101893  surf num 40675 
build tree time 25.516882 ms 
mapping data assosiation time 19.636887 ms 
mapping solver time 21.027852 ms 
points size 77676 
prepare time 10.334280 
publication time 6.079348 ms 
whole laserOdometry time 6.085627 ms 
 
mapping solver time 22.073850 ms 
mapping optimization time 113.830193 
add points time 0.714735 ms
mapping pub time 1.760718 ms 
whole mapping time 127.944831 ms +++++
mappingCount 745 & avg mapping time 119.445335 ms ++++++++++++++++++++++
build tree time 21.532260 ms 
mapping data assosiation time 19.416969 ms 
points size 78504 
sort q time 4.304549 
seperate points time 9.867223 
publication time 6.746769 ms 
whole laserOdometry time 6.778337 ms 
 
-----t: 0.031348
OdomCount 917 & avg odom time 0.042239 ms ++++++++++++++++++++++
mapping solver time 17.110640 ms 
filter time 8.591776 ms 
map prepare time 2.110820 ms
map corner num 103151  surf num 41045 
--------------------stamp1317357857.199991941
prepare time 10.439478 
sort q time 4.404586 
seperate points time 10.145917 
publication time 8.391488 ms 
whole laserOdometry time 8.418470 ms 
 
mapping solver time 21.954506 ms 
mapping data assosiation time 21.012946 ms 
mapping solver time 13.998696 ms 
filter time 8.839105 ms 
points size 77820 
scan registration time 26.622933 ms *************
mapping solver time 22.333896 ms 
mapping data assosiation time 19.331623 ms 
mapping data assosiation time 25.326311 ms 
--------------------stamp1317357857.511312007
prepare time 14.127255 
sort q time 4.615435 
seperate points time 10.709417 
publication time 9.222466 ms 
whole laserOdometry time 9.251551 ms 
 
filter time 12.000994 ms 
mapping pub time 1.903505 ms 
whole mapping time 139.835753 ms +++++
mappingCount 749 & avg mapping time 119.495543 ms ++++++++++++++++++++++
1317357857.303766012 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.771291 ms
map corner num 74933  surf num 28254 
build tree time 20.416015 ms 
--------------------stamp1317357857.615112066
prepare time 11.966155 
sort q time 4.595219 
seperate points time 10.735396 
mapping solver time 27.231138 ms 
scan registration time 27.959218 ms *************
publication time 6.465265 ms 
whole laserOdometry time 6.479113 ms 
 
mapping solver time 20.854300 ms 
mapping optimization time 112.775397 
add points time 0.639966 ms
filter time 4.864617 ms 
build tree time 16.625811 ms 
points size 89173 
mapping data assosiation time 23.878657 ms 
-----t: 0.0258915
OdomCount 923 & avg odom time 0.042209 ms ++++++++++++++++++++++
mapping data assosiation time 20.964072 ms 
mapping solver time 17.044196 ms 
[0m[ INFO] [1718805144.665490672, 1317357857.807549180]: Received 105077 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805144.665524971, 1317357857.807549180]: Data saved to 1317357857615112.pcd[0m
--------------------stamp1317357857.822686910
points size 91787 
scan registration time 27.625140 ms *************
mapping data assosiation time 23.240693 ms 
-----t: 0.0410514
OdomCount 924 & avg odom time 0.042208 ms ++++++++++++++++++++++
mapping solver time 26.752994 ms 
mapping data assosiation time 22.939589 ms 
--------------------stamp1317357857.926459074
points size 94664 
map prepare time 2.881422 ms
map corner num 76907  surf num 28977 
publication time 7.369586 ms 
whole laserOdometry time 7.397862 ms 
 
-----t: 0.0411193
OdomCount 925 & avg odom time 0.042207 ms ++++++++++++++++++++++
1317357857.926459074 WriteOdom laser_odom_to_init
1317357857.926459074 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.257029 ms 
mapping solver time 20.733875 ms 
--------------------stamp1317357858.030210018
prepare time 11.166409 
sort q time 5.770452 
seperate points time 12.113343 
filter time 7.319928 ms 
-----t: 0.0385724
OdomCount 926 & avg odom time 0.042203 ms ++++++++++++++++++++++
build tree time 18.302850 ms 
mapping data assosiation time 18.469777 ms 
mapping solver time 16.940935 ms 
points size 97259 
sort q time 5.748206 
seperate points time 12.758031 
filter time 5.671650 ms 
build tree time 17.138968 ms 
mapping solver time 17.049203 ms 
points size 96519 
sort q time 5.294569 
seperate points time 12.314637 
mapping solver time 21.684322 ms 
mapping optimization time 97.169809 
add points time 0.697245 ms
map prepare time 2.178488 ms
map corner num 78665  surf num 29571 
build tree time 18.707381 ms 
mapping data assosiation time 19.266145 ms 
--------------------stamp1317357858.341414928
prepare time 12.696004 
sort q time 5.171932 
seperate points time 11.214951 
mapping data assosiation time 22.512341 ms 
publication time 7.271467 ms 
whole laserOdometry time 7.285755 ms 
 
mapping solver time 15.284082 ms 
filter time 5.577386 ms 
map prepare time 2.189501 ms
map corner num 79186  surf num 29755 
build tree time 16.045527 ms 
--------------------stamp1317357858.445164918
points size 94342 
mapping solver time 21.792236 ms 
scan registration time 33.484154 ms *************
-----t: 0.0500658
OdomCount 930 & avg odom time 0.042180 ms ++++++++++++++++++++++
filter time 6.928158 ms 
build tree time 15.977423 ms 
points size 92964 
prepare time 12.750000 
scan registration time 30.040428 ms *************
mapping solver time 25.044627 ms 
-----t: 0.0387504
OdomCount 931 & avg odom time 0.042177 ms ++++++++++++++++++++++
mapping data assosiation time 20.879383 ms 
mapping solver time 16.545395 ms 
map prepare time 2.641069 ms
map corner num 80332  surf num 30302 
points size 91774 
build tree time 21.765301 ms 
scan registration time 27.812411 ms *************
mapping data assosiation time 22.479331 ms 
-----t: 0.0390816
OdomCount 932 & avg odom time 0.042173 ms ++++++++++++++++++++++
mapping solver time 23.517187 ms 
mapping data assosiation time 19.277817 ms 
mapping solver time 13.063436 ms 
mapping pub time 2.298829 ms 
whole mapping time 113.222681 ms +++++
mappingCount 759 & avg mapping time 119.457266 ms ++++++++++++++++++++++
sort q time 5.784344 
seperate points time 10.785482 
scan registration time 26.490404 ms *************
build tree time 19.878893 ms 
publication time 8.047042 ms 
whole laserOdometry time 8.061544 ms 
 
mapping solver time 16.582863 ms 
mapping data assosiation time 17.970236 ms 
mapping solver time 12.765280 ms 
mapping pub time 2.047280 ms 
whole mapping time 103.509434 ms +++++
mappingCount 760 & avg mapping time 119.436288 ms ++++++++++++++++++++++
sort q time 5.753381 
seperate points time 10.766812 
-----t: 0.0312702
OdomCount 934 & avg odom time 0.042153 ms ++++++++++++++++++++++
mapping solver time 17.704110 ms 
mapping data assosiation time 20.454380 ms 
--------------------stamp1317357858.964040994
prepare time 12.540970 
sort q time 5.611524 
seperate points time 11.353493 
publication time 10.522576 ms 
whole laserOdometry time 10.539361 ms 
 
mapping pub time 39.870652 ms 
whole mapping time 145.027429 ms +++++
mappingCount 761 & avg mapping time 119.469923 ms ++++++++++++++++++++++
build tree time 22.133132 ms 
mapping data assosiation time 21.639303 ms 
points size 89463 
mapping solver time 25.389042 ms 
publication time 7.990815 ms 
whole laserOdometry time 8.002976 ms 
 
mapping solver time 18.639358 ms 
1317357858.860240936 WriteOdom aft_mapped_to_init
build tree time 18.476822 ms 
points size 89989 
sort q time 6.126826 
seperate points time 11.966813 
scan registration time 29.673764 ms *************
-----t: 0.0408064
OdomCount 937 & avg odom time 0.042147 ms ++++++++++++++++++++++
1317357859.171636104 WriteOdom laser_odom_to_init
1317357859.171636104 WriteOdom aft_mapped_to_init_high_frec
publication time 6.814633 ms 
whole laserOdometry time 6.823717 ms 
 
mapping solver time 13.929569 ms 
filter time 5.641092 ms 
--------------------stamp1317357859.275461912
points size 90257 
mapping data assosiation time 24.585957 ms 
mapping solver time 23.237803 ms 
mapping data assosiation time 22.935441 ms 
mapping solver time 13.471191 ms 
mapping pub time 2.415779 ms 
whole mapping time 116.088648 ms +++++
mappingCount 764 & avg mapping time 119.475071 ms ++++++++++++++++++++++
prepare time 12.367235 
sort q time 5.106689 
seperate points time 11.497010 
-----t: 0.029046
OdomCount 939 & avg odom time 0.042136 ms ++++++++++++++++++++++
1317357859.379260063 WriteOdom laser_odom_to_init
1317357859.379260063 WriteOdom aft_mapped_to_init_high_frec
publication time 7.166848 ms 
whole laserOdometry time 7.181351 ms 
 
mapping data assosiation time 24.291382 ms 
mapping solver time 17.408746 ms 
mapping data assosiation time 18.525810 ms 
mapping solver time 18.217836 ms 
mapping optimization time 101.065781 
add points time 0.654141 ms
filter time 6.261629 ms 
mapping pub time 2.077386 ms 
whole mapping time 112.541743 ms +++++
mappingCount 765 & avg mapping time 119.466011 ms ++++++++++++++++++++++
1317357859.275461912 WriteOdom aft_mapped_to_init
map prepare time 2.315044 ms
map corner num 84529  surf num 32512 
build tree time 17.157560 ms 
mapping data assosiation time 22.623861 ms 
mapping solver time 19.877599 ms 
points size 91794 
mapping data assosiation time 28.306604 ms 
points size 90650 
publication time 10.120386 ms 
whole laserOdometry time 10.138482 ms 
 
[0m[ INFO] [1718805146.489252043, 1317357859.627948964]: Received 118018 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805146.489295545, 1317357859.627948964]: Data saved to 1317357859379260.pcd[0m
map prepare time 3.894155 ms
map corner num 85167  surf num 32851 
-----t: 0.0283209
OdomCount 941 & avg odom time 0.042125 ms ++++++++++++++++++++++
build tree time 23.691331 ms 
mapping data assosiation time 22.882428 ms 
points size 90534 
mapping solver time 22.157876 ms 
publication time 8.716458 ms 
whole laserOdometry time 8.756775 ms 
 
mapping data assosiation time 27.270034 ms 
-----t: 0.0396947
OdomCount 942 & avg odom time 0.042123 ms ++++++++++++++++++++++
mapping solver time 17.708434 ms 
mapping optimization time 114.948637 
add points time 0.683416 ms
--------------------stamp1317357859.794501066
mapping data assosiation time 28.573335 ms 
publication time 6.227196 ms 
whole laserOdometry time 6.242068 ms 
 
mapping data assosiation time 22.367884 ms 
mapping solver time 16.336378 ms 
filter time 6.329841 ms 
points size 90615 
build tree time 20.611644 ms 
publication time 8.318032 ms 
whole laserOdometry time 8.329035 ms 
 
mapping data assosiation time 25.234354 ms 
mapping solver time 21.993902 ms 
mapping data assosiation time 25.104737 ms 
points size 91405 
mapping solver time 22.418867 ms 
mapping optimization time 116.580222 
add points time 0.773110 ms
sort q time 5.889344 
seperate points time 11.155309 
publication time 8.177666 ms 
whole laserOdometry time 8.193977 ms 
 
build tree time 21.200000 ms 
mapping data assosiation time 22.894814 ms 
mapping solver time 20.011582 ms 
--------------------stamp1317357860.105846881
points size 92825 
mapping data assosiation time 26.286968 ms 
sort q time 5.944501 
seperate points time 11.670921 
mapping solver time 20.199648 ms 
-----t: 0.0344477
OdomCount 946 & avg odom time 0.042107 ms ++++++++++++++++++++++
map prepare time 2.343068 ms
map corner num 87702  surf num 34577 
build tree time 18.881427 ms 
mapping data assosiation time 22.974222 ms 
points size 93109 
mapping solver time 28.531067 ms 
publication time 8.723441 ms 
whole laserOdometry time 8.736232 ms 
 
-----t: 0.0503308
OdomCount 947 & avg odom time 0.042116 ms ++++++++++++++++++++++
mapping solver time 23.616106 ms 
filter time 5.988488 ms 
map prepare time 2.417971 ms
map corner num 88378  surf num 34992 
--------------------stamp1317357860.313395023
build tree time 19.640449 ms 
sort q time 6.331449 
seperate points time 12.586892 
publication time 8.316545 ms 
whole laserOdometry time 8.330085 ms 
 
1317357860.313395023 WriteOdom laser_odom_to_init
1317357860.313395023 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.276841 ms 
--------------------stamp1317357860.417099952
prepare time 12.619500 
filter time 6.165176 ms 
sort q time 5.316054 
seperate points time 12.610685 
build tree time 20.300008 ms 
-----t: 0.0428089
OdomCount 949 & avg odom time 0.042116 ms ++++++++++++++++++++++
1317357860.417099952 WriteOdom laser_odom_to_init
1317357860.417099952 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.183607 ms 
mapping solver time 23.197518 ms 
--------------------stamp1317357860.520806074
points size 94664 
sort q time 5.263822 
seperate points time 11.960141 
filter time 6.736623 ms 
-----t: 0.0450753
OdomCount 950 & avg odom time 0.042119 ms ++++++++++++++++++++++
1317357860.520806074 WriteOdom laser_odom_to_init
1317357860.520806074 WriteOdom aft_mapped_to_init_high_frec
build tree time 22.122397 ms 
mapping data assosiation time 24.464551 ms 
points size 95353 
sort q time 6.335457 
seperate points time 12.530955 
-----t: 0.0343877
OdomCount 951 & avg odom time 0.042111 ms ++++++++++++++++++++++
mapping solver time 22.216213 ms 
mapping pub time 2.109546 ms 
whole mapping time 143.819129 ms +++++
mappingCount 774 & avg mapping time 119.614570 ms ++++++++++++++++++++++
--------------------stamp1317357860.728281021
build tree time 21.187387 ms 
points size 96746 
prepare time 15.164028 
mapping data assosiation time 30.132741 ms 
-----t: 0.0375712
OdomCount 952 & avg odom time 0.042106 ms ++++++++++++++++++++++
mapping solver time 26.759596 ms 
mapping data assosiation time 27.036035 ms 
--------------------stamp1317357860.832057952
points size 98209 
mapping pub time 2.111261 ms 
whole mapping time 137.055052 ms +++++
mappingCount 775 & avg mapping time 119.637083 ms ++++++++++++++++++++++
scan registration time 31.383881 ms *************
-----t: 0.0328668
OdomCount 953 & avg odom time 0.042097 ms ++++++++++++++++++++++
1317357860.832057952 WriteOdom laser_odom_to_init
1317357860.832057952 WriteOdom aft_mapped_to_init_high_frec
build tree time 24.405026 ms 
publication time 8.635450 ms 
whole laserOdometry time 8.649453 ms 
 
mapping data assosiation time 26.870255 ms 
--------------------stamp1317357860.935858964
points size 98699 
sort q time 5.748617 
seperate points time 12.986619 
scan registration time 31.152357 ms *************
mapping solver time 20.109727 ms 
[0m[ INFO] [1718805147.861883843, 1317357861.005269711]: Received 129157 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805147.861920285, 1317357861.005269711]: Data saved to 1317357860728281.pcd[0m
drop lidar frame in mapping for real time performance 
--------------------stamp1317357861.039701938
points size 99228 
prepare time 13.935395 
scan registration time 31.575568 ms *************
mapping data assosiation time 33.962982 ms 
publication time 9.442362 ms 
whole laserOdometry time 9.456105 ms 
 
mapping solver time 41.358413 ms 
--------------------stamp1317357861.143572092
prepare time 14.165979 
sort q time 6.203018 
seperate points time 13.940383 
publication time 8.727727 ms 
whole laserOdometry time 8.735005 ms 
 
-----t: 0.0553135
OdomCount 956 & avg odom time 0.042138 ms ++++++++++++++++++++++
--------------------stamp1317357861.247467994
sort q time 6.691545 
seperate points time 12.464298 
publication time 10.676204 ms 
whole laserOdometry time 10.691431 ms 
 
-----t: 0.0397546
OdomCount 957 & avg odom time 0.042136 ms ++++++++++++++++++++++
1317357861.247467994 WriteOdom laser_odom_to_init
1317357861.247467994 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.378794 ms 
mapping solver time 20.900992 ms 
filter time 6.923526 ms 
points size 100745 
sort q time 6.262764 
seperate points time 12.755652 
-----t: 0.0447531
OdomCount 958 & avg odom time 0.042139 ms ++++++++++++++++++++++
mapping solver time 25.104053 ms 
--------------------stamp1317357861.455327987
points size 100995 
mapping data assosiation time 33.667769 ms 
publication time 8.171564 ms 
whole laserOdometry time 8.190034 ms 
 
-----t: 0.0450037
OdomCount 959 & avg odom time 0.042142 ms ++++++++++++++++++++++
map prepare time 2.783065 ms
map corner num 94694  surf num 38269 
build tree time 19.383226 ms 
--------------------stamp1317357861.559297084
points size 101668 
sort q time 5.592947 
seperate points time 13.118645 
-----t: 0.0357036
OdomCount 960 & avg odom time 0.042135 ms ++++++++++++++++++++++
1317357861.559297084 WriteOdom laser_odom_to_init
1317357861.559297084 WriteOdom aft_mapped_to_init_high_frec
publication time 9.051370 ms 
whole laserOdometry time 9.066892 ms 
 
mapping data assosiation time 32.915078 ms 
mapping solver time 23.503648 ms 
filter time 8.763991 ms 
map prepare time 3.086006 ms
map corner num 95684  surf num 38784 
scan registration time 44.146708 ms *************
build tree time 22.954149 ms 
mapping data assosiation time 32.708635 ms 
--------------------stamp1317357861.767373085
prepare time 12.682049 
sort q time 5.554090 
seperate points time 12.529015 
publication time 8.963975 ms 
whole laserOdometry time 8.977506 ms 
 
mapping solver time 25.112011 ms 
filter time 6.532353 ms 
--------------------stamp1317357861.871459007
points size 102482 
sort q time 5.951231 
seperate points time 13.924644 
scan registration time 37.738153 ms *************
publication time 9.691397 ms 
whole laserOdometry time 9.708017 ms 
 
1317357861.871459007 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 32.451404 ms 
--------------------stamp1317357861.975620031
points size 102773 
sort q time 7.693844 
seperate points time 17.702808 
mapping data assosiation time 37.700030 ms 
publication time 9.806662 ms 
whole laserOdometry time 9.819427 ms 
 
-----t: 0.063561
OdomCount 964 & avg odom time 0.042187 ms ++++++++++++++++++++++
mapping optimization time 172.353375 
filter time 7.685186 ms 
map prepare time 3.602180 ms
map corner num 97601  surf num 39720 
sort q time 5.417353 
seperate points time 11.525322 
publication time 10.573058 ms 
whole laserOdometry time 10.589555 ms 
 
mapping data assosiation time 36.542836 ms 
-----t: 0.0634009
OdomCount 965 & avg odom time 0.042209 ms ++++++++++++++++++++++
mapping solver time 27.905872 ms 
--------------------stamp1317357862.184128046
prepare time 13.321306 
mapping data assosiation time 35.356622 ms 
publication time 7.769640 ms 
whole laserOdometry time 7.783932 ms 
 
filter time 6.980775 ms 
build tree time 23.755330 ms 
--------------------stamp1317357862.288455009
points size 103220 
prepare time 12.829481 
scan registration time 31.653448 ms *************
publication time 9.021337 ms 
whole laserOdometry time 9.040819 ms 
 
mapping solver time 41.639789 ms 
mapping data assosiation time 33.986200 ms 
points size 103260 
sort q time 6.035190 
seperate points time 13.474848 
scan registration time 30.218866 ms *************
mapping solver time 39.168711 ms 
mapping optimization time 176.979613 
mapping pub time 3.477605 ms 
whole mapping time 193.224317 ms +++++
mappingCount 784 & avg mapping time 120.251569 ms ++++++++++++++++++++++
build tree time 21.097640 ms 
--------------------stamp1317357862.497252941
points size 103325 
scan registration time 33.200022 ms *************
mapping solver time 36.656228 ms 
mapping data assosiation time 35.668047 ms 
--------------------stamp1317357862.601675987
points size 103066 
filter time 7.023445 ms 
publication time 8.928176 ms 
whole laserOdometry time 8.943734 ms 
 
build tree time 24.338782 ms 
mapping data assosiation time 33.809400 ms 
--------------------stamp1317357862.706049919
points size 102951 
sort q time 5.983261 
seperate points time 12.138311 
publication time 12.705939 ms 
whole laserOdometry time 12.737298 ms 
 
-----t: 0.0502833
OdomCount 971 & avg odom time 0.042217 ms ++++++++++++++++++++++
1317357862.706049919 WriteOdom laser_odom_to_init
1317357862.706049919 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 39.655006 ms 
--------------------stamp1317357862.810400962
add points time 0.852516 ms
filter time 9.873666 ms 
scan registration time 32.563429 ms *************
publication time 9.990152 ms 
whole laserOdometry time 10.005501 ms 
 
build tree time 28.668488 ms 
mapping data assosiation time 30.650675 ms 
points size 102834 
sort q time 6.887882 
seperate points time 12.860385 
mapping solver time 39.751132 ms 
publication time 10.780918 ms 
whole laserOdometry time 10.794798 ms 
 
-----t: 0.0487221
OdomCount 973 & avg odom time 0.042235 ms ++++++++++++++++++++++
--------------------stamp1317357863.018935918
points size 102628 
filter time 8.061332 ms 
prepare time 16.181781 
scan registration time 36.563547 ms *************
build tree time 26.570475 ms 
publication time 10.630428 ms 
whole laserOdometry time 10.645096 ms 
 
-----t: 0.0545451
OdomCount 974 & avg odom time 0.042248 ms ++++++++++++++++++++++
mapping data assosiation time 35.175288 ms 
--------------------stamp1317357863.123166084
points size 102876 
mapping solver time 38.535557 ms 
sort q time 6.166828 
seperate points time 14.359414 
publication time 9.710876 ms 
whole laserOdometry time 9.733922 ms 
 
-----t: 0.0685497
OdomCount 975 & avg odom time 0.042275 ms ++++++++++++++++++++++
1317357863.123166084 WriteOdom laser_odom_to_init
1317357863.123166084 WriteOdom aft_mapped_to_init_high_frec
filter time 7.653953 ms 
drop lidar frame in mapping for real time performance 
sort q time 5.692797 
seperate points time 13.428921 
scan registration time 36.484793 ms *************
publication time 9.210418 ms 
whole laserOdometry time 9.222013 ms 
 
-----t: 0.0525276
OdomCount 976 & avg odom time 0.042285 ms ++++++++++++++++++++++
1317357863.227372884 WriteOdom laser_odom_to_init
1317357863.227372884 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 38.988396 ms 
--------------------stamp1317357863.331506013
points size 103486 
sort q time 5.701450 
seperate points time 12.754275 
publication time 8.030694 ms 
whole laserOdometry time 8.046286 ms 
 
-----t: 0.0429367
OdomCount 977 & avg odom time 0.042286 ms ++++++++++++++++++++++
mapping solver time 31.574034 ms 
filter time 7.188818 ms 
--------------------stamp1317357863.435616016
points size 103752 
prepare time 15.366597 
scan registration time 34.264233 ms *************
publication time 11.881677 ms 
whole laserOdometry time 11.897490 ms 
 
mapping solver time 37.544177 ms 
points size 103722 
sort q time 7.112525 
seperate points time 13.135024 
scan registration time 32.026730 ms *************
mapping data assosiation time 42.902767 ms 
publication time 9.452172 ms 
whole laserOdometry time 9.467826 ms 
 
-----t: 0.0566901
OdomCount 979 & avg odom time 0.042306 ms ++++++++++++++++++++++
add points time 0.852075 ms
filter time 7.692102 ms 
map prepare time 3.234182 ms
map corner num 106957  surf num 44284 
points size 103629 
build tree time 26.901579 ms 
sort q time 5.920594 
seperate points time 13.615565 
publication time 8.881330 ms 
whole laserOdometry time 8.897470 ms 
 
-----t: 0.0437177
OdomCount 980 & avg odom time 0.042307 ms ++++++++++++++++++++++
--------------------stamp1317357863.747520923
points size 103058 
sort q time 6.334885 
seperate points time 14.457832 
publication time 9.988308 ms 
whole laserOdometry time 10.001401 ms 
 
mapping data assosiation time 50.419280 ms 
-----t: 0.0548877
OdomCount 981 & avg odom time 0.042320 ms ++++++++++++++++++++++
mapping solver time 33.172125 ms 
filter time 7.936082 ms 
mapping pub time 10.020276 ms 
whole mapping time 226.211041 ms +++++
mappingCount 791 & avg mapping time 120.953099 ms ++++++++++++++++++++++
sort q time 5.726989 
seperate points time 13.392701 
build tree time 29.164387 ms 
1317357863.851391077 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 36.702644 ms 
--------------------stamp1317357863.955212116
points size 102441 
mapping solver time 42.068253 ms 
sort q time 5.588684 
seperate points time 13.389843 
publication time 8.244518 ms 
whole laserOdometry time 8.256167 ms 
 
mapping data assosiation time 42.075856 ms 
mapping solver time 29.898076 ms 
--------------------stamp1317357864.059035062
filter time 11.663502 ms 
mapping pub time 3.926267 ms 
whole mapping time 203.284973 ms +++++
mappingCount 792 & avg mapping time 121.057059 ms ++++++++++++++++++++++
1317357863.643598080 WriteOdom aft_mapped_to_init
sort q time 6.400789 
seperate points time 12.736303 
build tree time 29.326339 ms 
-----t: 0.0665738
OdomCount 984 & avg odom time 0.042358 ms ++++++++++++++++++++++
1317357864.059035062 WriteOdom laser_odom_to_init
1317357864.059035062 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357864.162858009
points size 102418 
sort q time 5.524684 
seperate points time 12.159382 
publication time 11.921892 ms 
whole laserOdometry time 11.937750 ms 
 
-----t: 0.0481876
OdomCount 985 & avg odom time 0.042364 ms ++++++++++++++++++++++
1317357864.162858009 WriteOdom laser_odom_to_init
1317357864.162858009 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357864.266727924
prepare time 11.971993 
mapping solver time 41.649271 ms 
mapping optimization time 199.651752 
add points time 1.032039 ms
mapping pub time 4.165828 ms 
whole mapping time 219.247541 ms +++++
mappingCount 793 & avg mapping time 121.180899 ms ++++++++++++++++++++++
publication time 10.362221 ms 
whole laserOdometry time 10.375039 ms 
 
-----t: 0.0482911
OdomCount 986 & avg odom time 0.042370 ms ++++++++++++++++++++++
--------------------stamp1317357864.370623111
points size 102445 
sort q time 5.656093 
seperate points time 13.560209 
mapping solver time 43.577220 ms 
-----t: 0.0406857
OdomCount 987 & avg odom time 0.042368 ms ++++++++++++++++++++++
1317357864.370623111 WriteOdom laser_odom_to_init
1317357864.370623111 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 38.467505 ms 
--------------------stamp1317357864.474517107
prepare time 11.832244 
filter time 8.148066 ms 
map prepare time 3.174674 ms
map corner num 111683  surf num 47115 
publication time 10.942162 ms 
whole laserOdometry time 10.964356 ms 
 
-----t: 0.0412007
OdomCount 988 & avg odom time 0.042367 ms ++++++++++++++++++++++
1317357864.474517107 WriteOdom laser_odom_to_init
1317357864.474517107 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.750933 ms 
points size 102952 
sort q time 6.281359 
seperate points time 12.277374 
scan registration time 32.475874 ms *************
publication time 10.700547 ms 
whole laserOdometry time 10.714949 ms 
 
mapping data assosiation time 38.599891 ms 
--------------------stamp1317357864.682425975
prepare time 11.681298 
sort q time 7.040610 
seperate points time 13.113451 
1317357864.266727924 WriteOdom aft_mapped_to_init
publication time 9.094011 ms 
whole laserOdometry time 9.112875 ms 
 
-----t: 0.0537534
OdomCount 990 & avg odom time 0.042380 ms ++++++++++++++++++++++
--------------------stamp1317357864.786392927
points size 102952 
prepare time 16.514367 
sort q time 5.689645 
seperate points time 13.418104 
publication time 9.742957 ms mapping data assosiation time 41.895610 ms 
mapping solver time 25.192293 ms 
filter time 12.946347 ms 
points size 102762 
[0m[ INFO] [1718805151.769269754, 1317357864.905791294]: Received 162842 data points in frame camera_init with the following fields: x y z intensity[0m
sort q time 8.138351 
seperate points time 16.900324 
drop lidar frame in mapping for real time performance 
publication time 9.868855 ms 
whole laserOdometry time 9.880694 ms 
 
build tree time 32.799843 ms 
--------------------stamp1317357864.994374036
points size 102657 
mapping data assosiation time 46.148448 ms 
publication time 8.900343 ms 
whole laserOdometry time 8.911584 ms 
 
-----t: 0.0450355
OdomCount 993 & avg odom time 0.042381 ms ++++++++++++++++++++++
1317357864.994374036 WriteOdom laser_odom_to_init
1317357864.994374036 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 52.186023 ms 
--------------------stamp1317357865.098366022
prepare time 11.081299 
mapping data assosiation time 46.035733 ms 
publication time 9.486473 ms 
whole laserOdometry time 9.506876 ms 
 
-----t: 0.0509687
OdomCount 994 & avg odom time 0.042390 ms ++++++++++++++++++++++
filter time 12.181537 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 4.228181 ms
map corner num 78162  surf num 35944 
points size 101573 
sort q time 5.861645 
seperate points time 14.453599 
publication time 10.793972 ms 
whole laserOdometry time 10.807024 ms 
 
mapping data assosiation time 47.120259 ms 
-----t: 0.0661101
OdomCount 995 & avg odom time 0.042414 ms ++++++++++++++++++++++
mapping solver time 38.348712 ms 
points size 100710 
sort q time 7.243015 
seperate points time 15.081051 
mapping data assosiation time 47.068149 ms 
publication time 12.258085 ms 
whole laserOdometry time 12.274144 ms 
 
-----t: 0.0523133
OdomCount 996 & avg odom time 0.042424 ms ++++++++++++++++++++++
mapping solver time 35.354261 ms 
filter time 6.571238 ms 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357865.410290002
prepare time 14.828361 
build tree time 21.037652 ms 
sort q time 7.328690 
seperate points time 15.070085 
mapping data assosiation time 49.739477 ms 
publication time 18.094947 ms 
whole laserOdometry time 18.109415 ms 
 
--------------------stamp1317357865.514256000
prepare time 11.799784 
sort q time 5.053712 
seperate points time 12.404762 
publication time 9.707447 ms 
whole laserOdometry time 9.727096 ms 
 
-----t: 0.0425429
OdomCount 998 & avg odom time 0.042436 ms ++++++++++++++++++++++
mapping solver time 34.742337 ms 
-----t: 0.0526412
OdomCount 999 & avg odom time 0.042447 ms ++++++++++++++++++++++
mapping solver time 36.324455 ms 
points size 96849 
sort q time 5.332024 
seperate points time 11.326148 
mapping data assosiation time 54.282775 ms 
publication time 11.391240 ms 
whole laserOdometry time 11.408002 ms 
 
-----t: 0.0590724
OdomCount 1000 & avg odom time 0.042463 ms ++++++++++++++++++++++
mapping solver time 38.208468 ms 
mapping optimization time 196.619095 
add points time 0.879145 ms
1317357865.410290003 WriteOdom aft_mapped_to_init
points size 96638 
sort q time 9.623225 
seperate points time 18.076469 
publication time 11.332748 ms 
whole laserOdometry time 11.350388 ms 
 
-----t: 0.0546139
OdomCount 1001 & avg odom time 0.042475 ms ++++++++++++++++++++++
mapping data assosiation time 43.647951 ms 
--------------------stamp1317357865.929621934
prepare time 12.657694 
sort q time 6.393486 
seperate points time 12.298649 
publication time 9.830997 ms 
whole laserOdometry time 9.846984 ms 
 
mapping data assosiation time 42.367832 ms 
-----t: 0.0711995
OdomCount 1002 & avg odom time 0.042504 ms ++++++++++++++++++++++
--------------------stamp1317357866.033371925
points size 96211 
[0m[ INFO] [1718805152.912749597, 1317357866.056137068]: Received 122115 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805152.912828270, 1317357866.056137068]: Data saved to 1317357865618206.pcd[0mmapping pub time 35.821913 ms 
whole mapping time 244.652845 ms +++++
mappingCount 801 & avg mapping time 122.151465 ms ++++++++++++++++++++++
1317357865.618206024 WriteOdom aft_mapped_to_init
-----t: 0.0542865
OdomCount 1003 & avg odom time 0.042516 ms ++++++++++++++++++++++
build tree time 23.794498 ms 
--------------------stamp1317357866.137124061
mapping data assosiation time 38.373658 ms 
sort q time 6.149209 
seperate points time 13.583920 
publication time 10.745143 ms 
whole laserOdometry time 10.757370 ms 
 
mapping solver time 47.012451 ms 
mapping data assosiation time 35.053116 ms 
points size 95403 
prepare time 12.715507 
scan registration time 31.309059 ms *************
mapping solver time 46.246839 ms 
filter time 10.925807 ms 
map prepare time 3.245531 ms
map corner num 84390  surf num 39574 
build tree time 20.412701 ms 
--------------------stamp1317357866.344569921
prepare time 12.478886 
mapping data assosiation time 40.206777 ms 
publication time 10.781943 ms 
whole laserOdometry time 10.811653 ms 
 
1317357866.344569921 WriteOdom laser_odom_to_init
1317357866.344569921 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357866.448251008
mapping data assosiation time 38.217865 ms 
points size 94524 
sort q time 8.043382 
seperate points time 17.521819 
mapping solver time 46.397458 ms 
filter time 11.039995 ms 
mapping pub time 3.772453 ms 
whole mapping time 217.213396 ms +++++
mappingCount 803 & avg mapping time 122.384105 ms ++++++++++++++++++++++
1317357866.033371925 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357866.551909923
points size 94022 
sort q time 5.948437 
seperate points time 14.223382 
mapping data assosiation time 44.706171 ms 
publication time 9.531553 ms 
whole laserOdometry time 12.192636 ms 
 
-----t: 0.0597955
OdomCount 1008 & avg odom time 0.042616 ms ++++++++++++++++++++++
--------------------stamp1317357866.655612945
prepare time 11.147668 
sort q time 5.642259 
seperate points time 12.633161 
publication time 8.687210 ms 
whole laserOdometry time 8.704323 ms 
 
filter time 7.267761 ms 
-----t: 0.0502105
OdomCount 1009 & avg odom time 0.042624 ms ++++++++++++++++++++++
build tree time 20.289348 ms 
--------------------stamp1317357866.759315013
points size 93354 
mapping data assosiation time 38.162000 ms 
publication time 14.222235 ms 
whole laserOdometry time 14.234236 ms 
 
mapping solver time 39.393763 ms 
mapping data assosiation time 32.480969 ms 
points size 92981 
sort q time 4.813369 
seperate points time 10.962749 
filter time 7.934335 ms 
map prepare time 3.998724 ms
map corner num 88265  surf num 41599 
-----t: 0.0583436
OdomCount 1011 & avg odom time 0.042636 ms ++++++++++++++++++++++
--------------------stamp1317357866.966744899
points size 92036 
prepare time 14.451249 
scan registration time 31.492125 ms *************
publication time 11.707060 ms 
whole laserOdometry time 11.725093 ms 
 
mapping data assosiation time 34.704840 ms 
--------------------stamp1317357867.070445060
prepare time 10.656069 
[0m[ INFO] [1718805153.950098006, 1317357867.091977001]: Received 131777 data points in frame camera_init with the following fields: x y z intensity[0m
map prepare time 3.626832 ms
map corner num 89548  surf num 42229 
publication time 10.504466 ms 
whole laserOdometry time 10.614129 ms 
 
mapping data assosiation time 34.035485 ms 
points size 91522 
mapping solver time 32.001594 ms 
publication time 12.192686 ms 
whole laserOdometry time 12.221280 ms 
 
-----t: 0.0484115
OdomCount 1014 & avg odom time 0.042640 ms ++++++++++++++++++++++
mapping solver time 20.842388 ms 
mapping optimization time 163.167994 
add points time 1.022377 ms
drop lidar frame in mapping for real time performance 
sort q time 5.435869 
seperate points time 11.775193 
publication time 11.242280 ms 
whole laserOdometry time 11.254052 ms 
 
1317357867.277801990 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 42.147322 ms 
--------------------stamp1317357867.381481885
points size 91616 
sort q time 5.043247 
seperate points time 12.229128 
mapping data assosiation time 39.035865 ms 
-----t: 0.0486746
OdomCount 1016 & avg odom time 0.042655 ms ++++++++++++++++++++++
mapping solver time 33.391707 ms 
filter time 7.556244 ms 
drop lidar frame in mapping for real time performance 
points size 91312 
build tree time 27.200532 ms 
publication time 13.007187 ms 
whole laserOdometry time 13.022135 ms 
 
-----t: 0.0490152
OdomCount 1017 & avg odom time 0.042661 ms ++++++++++++++++++++++
mapping solver time 30.919348 ms 
prepare time 10.974767 
sort q time 5.107487 
seperate points time 12.490067 
publication time 10.179892 ms 
whole laserOdometry time 10.195825 ms 
 
mapping solver time 32.128099 ms 
mapping optimization time 167.682382 
add points time 1.169984 ms
drop lidar frame in mapping for real time performance 
-----t: 0.0788645
OdomCount 1018 & avg odom time 0.042697 ms ++++++++++++++++++++++
--------------------stamp1317357867.692686080
points size 92320 
sort q time 6.231795 
seperate points time 12.513716 
scan registration time 28.802741 ms *************
publication time 11.642652 ms 
whole laserOdometry time 11.659824 ms 
 
mapping solver time 38.996247 ms 
--------------------stamp1317357867.796462059
points size 92246 
sort q time 5.427320 
seperate points time 13.099037 
mapping optimization time 157.391370 
filter time 10.579140 ms 
map prepare time 4.406414 ms
map corner num 94376  surf num 44046 
-----t: 0.0475809
OdomCount 1020 & avg odom time 0.042719 ms ++++++++++++++++++++++
1317357867.796462059 WriteOdom laser_odom_to_init
1317357867.796462059 WriteOdom aft_mapped_to_init_high_frec
build tree time 22.558623 ms 
--------------------stamp1317357867.900238990
points size 92145 
mapping solver time 34.317706 ms 
publication time 11.377556 ms 
whole laserOdometry time 11.392908 ms 
 
-----t: 0.0660309
OdomCount 1021 & avg odom time 0.042742 ms ++++++++++++++++++++++
--------------------stamp1317357868.003989934
prepare time 11.028778 
filter time 9.700503 ms 
[0m[ INFO] [1718805154.893452854, 1317357868.034011588]: Received 140021 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805154.893515584, 1317357868.034011588]: Data saved to 1317357867692686.pcd[0m
mapping pub time 10.887035 ms 
whole mapping time 185.710942 ms +++++
mappingCount 811 & avg mapping time 123.003703 ms ++++++++++++++++++++++
1317357867.692686081 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0536578
OdomCount 1022 & avg odom time 0.042753 ms ++++++++++++++++++++++
--------------------stamp1317357868.107789039
points size 92325 
sort q time 5.188054 
seperate points time 12.953185 
scan registration time 32.215618 ms *************
publication time 18.104713 ms 
whole laserOdometry time 18.121739 ms 
 
-----t: 0.0484448
OdomCount 1023 & avg odom time 0.042758 ms ++++++++++++++++++++++
mapping data assosiation time 38.128879 ms 
mapping solver time 23.132786 ms 
filter time 10.786762 ms 
map prepare time 4.503001 ms
map corner num 96652  surf num 44719 
scan registration time 31.135316 ms *************
build tree time 30.527405 ms 
-----t: 0.0493867
OdomCount 1024 & avg odom time 0.042765 ms ++++++++++++++++++++++
1317357868.211586952 WriteOdom laser_odom_to_init
1317357868.211586952 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 36.972319 ms 
--------------------stamp1317357868.315361976
points size 94572 
prepare time 15.506063 
mapping solver time 32.507325 ms 
scan registration time 33.633617 ms *************
publication time 13.154313 ms 
whole laserOdometry time 13.169840 ms 
 
mapping data assosiation time 46.353734 ms 
mapping solver time 26.250537 ms 
filter time 7.177014 ms 
map prepare time 4.458474 ms
map corner num 97837  surf num 45098 
points size 94720 
prepare time 11.639745 
sort q time 6.480453 
seperate points time 13.273715 
build tree time 32.611682 ms 
publication time 12.156859 ms 
whole laserOdometry time 12.170465 ms 
 
-----t: 0.0602012
OdomCount 1026 & avg odom time 0.042791 ms ++++++++++++++++++++++
1317357868.419161081 WriteOdom laser_odom_to_init
1317357868.419161081 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 40.944018 ms 
--------------------stamp1317357868.522957086
points size 93522 
mapping solver time 30.975435 ms 
prepare time 11.657145 
scan registration time 30.104270 ms *************
mapping data assosiation time 36.701925 ms 
-----t: 0.0472665
OdomCount 1027 & avg odom time 0.042795 ms ++++++++++++++++++++++
1317357868.522957086 WriteOdom laser_odom_to_init
1317357868.522957086 WriteOdom aft_mapped_to_init_high_frec
filter time 7.026931 ms 
mapping pub time 3.347496 ms 
whole mapping time 187.656443 ms +++++
mappingCount 814 & avg mapping time 123.235289 ms ++++++++++++++++++++++
1317357868.211586952 WriteOdom aft_mapped_to_init
--------------------stamp1317357868.626777887
points size 93021 
prepare time 13.306362 
scan registration time 29.027964 ms *************
publication time 9.847636 ms 
whole laserOdometry time 9.867411 ms 
 
mapping solver time 36.446905 ms 
--------------------stamp1317357868.730601072
prepare time 11.515355 
sort q time 5.978762 
seperate points time 12.634491 
publication time 8.929543 ms 
whole laserOdometry time 8.944733 ms 
 
mapping solver time 30.548638 ms 
filter time 11.002333 ms 
map prepare time 3.174072 ms
map corner num 95669  surf num 42699 
build tree time 19.875654 ms 
points size 93323 
sort q time 5.138321 
seperate points time 12.547680 
publication time 10.104612 ms 
whole laserOdometry time 10.122696 ms 
 
-----t: 0.0477057
OdomCount 1030 & avg odom time 0.042857 ms ++++++++++++++++++++++
mapping data assosiation time 28.635170 ms 
points size 92925 
prepare time 12.695953 
filter time 10.290417 ms 
publication time 10.992802 ms 
whole laserOdometry time 11.009386 ms 
 
-----t: 0.0432451
OdomCount 1031 & avg odom time 0.042857 ms ++++++++++++++++++++++
build tree time 23.000321 ms 
--------------------stamp1317357869.042131900
prepare time 12.309125 
sort q time 5.155660 
seperate points time 12.884812 
mapping solver time 35.657683 ms 
-----t: 0.0501294
OdomCount 1032 & avg odom time 0.042864 ms ++++++++++++++++++++++
mapping data assosiation time 36.302258 ms 
mapping solver time 22.656220 ms 
filter time 8.538893 ms 
map prepare time 3.595304 ms
map corner num 98393  surf num 43747 
scan registration time 33.137643 ms *************
build tree time 30.602315 ms 
publication time 14.082631 ms 
whole laserOdometry time 14.098222 ms 
 
mapping data assosiation time 37.807645 ms 
--------------------stamp1317357869.249811887
points size 92179 
sort q time 5.316579 
seperate points time 13.361870 
publication time 13.168621 ms 
whole laserOdometry time 13.184613 ms 
 
-----t: 0.0436854
OdomCount 1034 & avg odom time 0.042907 ms ++++++++++++++++++++++
mapping solver time 29.204158 ms 
filter time 7.656603 ms 
map prepare time 3.439703 ms
map corner num 99623  surf num 44188 
points size 92727 
build tree time 32.418102 ms 
-----t: 0.0440497
OdomCount 1035 & avg odom time 0.042908 ms ++++++++++++++++++++++
mapping solver time 26.488047 ms 
--------------------stamp1317357869.457505941
prepare time 12.677220 
sort q time 5.427784 
seperate points time 13.276618 
mapping solver time 27.955533 ms 
filter time 9.346681 ms 
map prepare time 3.007148 ms
map corner num 101015  surf num 44640 
build tree time 23.033580 ms 
points size 90830 
mapping data assosiation time 30.117947 ms 
publication time 10.408683 ms 
whole laserOdometry time 10.431271 ms 
 
-----t: 0.0602102
OdomCount 1037 & avg odom time 0.042929 ms ++++++++++++++++++++++
mapping solver time 20.697508 ms 
points size 90533 
map prepare time 2.816109 ms
map corner num 102270  surf num 45028 
publication time 11.399936 ms 
whole laserOdometry time 11.418924 ms 
 
mapping data assosiation time 28.447827 ms 
--------------------stamp1317357869.768898010
prepare time 13.897241 
sort q time 4.661282 
seperate points time 10.562917 
mapping solver time 20.575212 ms 
filter time 11.675432 ms 
--------------------stamp1317357869.872700929
drop lidar frame in mapping for real time performance 
points size 87894 
map prepare time 4.414875 ms
map corner num 103524  surf num 45475 
sort q time 5.434725 
seperate points time 13.734199 
build tree time 31.056680 ms 
-----t: 0.048392
OdomCount 1040 & avg odom time 0.042947 ms ++++++++++++++++++++++
--------------------stamp1317357869.976524114
points size 86682 
sort q time 5.358230 
seperate points time 12.356896 
mapping data assosiation time 36.128880 ms 
-----t: 0.050373
OdomCount 1041 & avg odom time 0.042954 ms ++++++++++++++++++++++
filter time 9.438158 ms 
--------------------stamp1317357870.080318927
prepare time 13.976480 
build tree time 38.626512 ms 
sort q time 5.209229 
seperate points time 29.144819 
scan registration time 47.461879 ms *************
mapping data assosiation time 37.175339 ms 
-----t: 0.0503921
OdomCount 1042 & avg odom time 0.042961 ms ++++++++++++++++++++++
1317357870.080318927 WriteOdom laser_odom_to_init
1317357870.080318927 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.100238 ms 
--------------------stamp1317357870.184113979
prepare time 12.265246 
sort q time 5.420109 
seperate points time 13.058674 
filter time 11.902152 ms 
publication time 17.156769 ms 
whole laserOdometry time 17.174088 ms 
 
--------------------stamp1317357870.287938117
-----t: 0.0895469
OdomCount 1043 & avg odom time 0.043005 ms ++++++++++++++++++++++
1317357870.184113979 WriteOdom laser_odom_to_init
1317357870.184113979 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.668418 ms 
1317357870.287938117 WriteOdom laser_odom_to_init
points size 89938 
sort q time 5.286977 
seperate points time 12.022841 
mapping solver time 23.899549 ms 
publication time 8.658266 ms 
whole laserOdometry time 8.677128 ms 
 
map prepare time 3.222675 ms
map corner num 107088  surf num 47389 
build tree time 27.511202 ms 
--------------------stamp1317357870.495589017
points size 91057 
sort q time 6.439312 
seperate points time 14.306575 
mapping solver time 29.776412 ms 
-----t: 0.0423896
OdomCount 1046 & avg odom time 0.043005 ms ++++++++++++++++++++++
mapping data assosiation time 32.743825 ms 
mapping solver time 22.223437 ms 
filter time 9.411298 ms 
map prepare time 3.730120 ms
map corner num 108246  surf num 48239 
scan registration time 30.654538 ms *************
build tree time 35.176784 ms 
-----t: 0.0686593
OdomCount 1047 & avg odom time 0.043030 ms ++++++++++++++++++++++
--------------------stamp1317357870.703272104
points size 91030 
sort q time 5.732625 
seperate points time 12.570372 
mapping data assosiation time 33.900062 ms 
-----t: 0.0422586
OdomCount 1048 & avg odom time 0.043029 ms ++++++++++++++++++++++
filter time 8.233503 ms 
[0m[ INFO] [1718805157.633289554, 1317357870.774377530]: Received 159096 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805157.633336181, 1317357870.774377530]: Data saved to 1317357870495589.pcd[0m
--------------------stamp1317357870.807105064
prepare time 11.530379 
sort q time 5.923505 
seperate points time 11.938513 
mapping data assosiation time 35.792661 ms 
publication time 11.355731 ms 
whole laserOdometry time 11.388255 ms 
 
mapping solver time 33.005824 ms 
mapping data assosiation time 30.701564 ms 
points size 88633 
mapping solver time 27.506487 ms 
filter time 12.380111 ms 
-----t: 0.0463317
OdomCount 1050 & avg odom time 0.043051 ms ++++++++++++++++++++++
build tree time 28.632284 ms 
--------------------stamp1317357871.014844894
points size 87837 
sort q time 5.809668 
seperate points time 13.447060 
publication time 12.167581 ms 
whole laserOdometry time 12.207387 ms 
 
mapping data assosiation time 37.344714 ms 
mapping solver time 19.628030 ms 
filter time 9.701125 ms 
points size 87522 
sort q time 7.757336 
seperate points time 19.274933 
publication time 10.503465 ms 
whole laserOdometry time 10.519666 ms 
 
mapping data assosiation time 36.509730 ms 
--------------------stamp1317357871.222660064
points size 87877 
sort q time 5.436396 
seperate points time 13.996393 
mapping data assosiation time 41.582802 ms 
publication time 11.304212 ms 
whole laserOdometry time 11.314413 ms 
 
mapping solver time 29.536766 ms 
mapping optimization time 168.163130 
add points time 1.142685 ms
-----t: 0.0605013
OdomCount 1053 & avg odom time 0.043080 ms ++++++++++++++++++++++
1317357871.222660064 WriteOdom laser_odom_to_init
1317357871.222660064 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
--------------------stamp1317357871.326577901
prepare time 11.939696 
sort q time 4.862735 
seperate points time 11.877813 
publication time 10.538355 ms 
whole laserOdometry time 10.557580 ms 
 
mapping solver time 25.924115 ms 
--------------------stamp1317357871.430495977
mapping data assosiation time 33.650060 ms 
sort q time 4.922774 
seperate points time 11.951714 
mapping solver time 26.032187 ms 
filter time 10.751799 ms 
build tree time 24.301259 ms 
--------------------stamp1317357871.534415006
points size 88034 
sort q time 5.354249 
seperate points time 11.063734 
publication time 9.946676 ms 
whole laserOdometry time 9.962004 ms 
 
-----t: 0.0348409
OdomCount 1056 & avg odom time 0.043061 ms ++++++++++++++++++++++
mapping data assosiation time 30.287682 ms 
mapping solver time 21.520376 ms 
filter time 8.795621 ms 
prepare time 13.235156 
sort q time 5.037678 
seperate points time 12.798468 
build tree time 32.343696 ms 
publication time 13.634150 ms 
whole laserOdometry time 13.649743 ms 
 
mapping data assosiation time 33.538778 ms 
--------------------stamp1317357871.742232084
prepare time 12.368062 
sort q time 6.131592 
seperate points time 13.576023 
publication time 14.579605 ms 
whole laserOdometry time 14.596047 ms 
 
mapping solver time 22.147073 ms 
1317357871.742232084 WriteOdom aft_mapped_to_init_high_frec
filter time 10.793598 ms 
mapping pub time 1.989569 ms 
whole mapping time 172.841131 ms +++++
mappingCount 832 & avg mapping time 124.355770 ms ++++++++++++++++++++++
1317357871.534415007 WriteOdom aft_mapped_to_init
--------------------stamp1317357871.846126079
prepare time 11.170309 
build tree time 28.591177 ms 
publication time 10.434709 ms 
whole laserOdometry time 10.449872 ms 
 
mapping solver time 27.859835 ms 
--------------------stamp1317357871.950042963
points size 91387 
sort q time 5.351570 
seperate points time 13.289359 
mapping solver time 24.890521 ms 
filter time 10.914026 ms 
publication time 23.951170 ms 
whole laserOdometry time 23.969288 ms 
 
-----t: 0.0569315
OdomCount 1060 & avg odom time 0.043110 ms ++++++++++++++++++++++
--------------------stamp1317357872.053961992
points size 92525 
scan registration time 35.718093 ms *************
mapping solver time 40.379622 ms 
-----t: 0.0537458
OdomCount 1061 & avg odom time 0.043120 ms ++++++++++++++++++++++
mapping data assosiation time 36.556201 ms 
--------------------stamp1317357872.157882928
points size 93446 
drop lidar frame in mapping for real time performance 
publication time 15.489274 ms 
whole laserOdometry time 15.509459 ms 
 
points size 94357 
-----t: 0.107814
OdomCount 1062 & avg odom time 0.043181 ms ++++++++++++++++++++++
sort q time 5.297474 
seperate points time 15.856942 
mapping solver time 31.323757 ms 
-----t: 0.0538287
OdomCount 1063 & avg odom time 0.043191 ms ++++++++++++++++++++++
mapping data assosiation time 37.334905 ms 
points size 94291 
sort q time 5.888444 
seperate points time 14.297784 
publication time 10.562739 ms 
whole laserOdometry time 10.581724 ms 
 
build tree time 33.826484 ms 
mapping data assosiation time 27.263141 ms 
points size 94222 
prepare time 12.449838 
scan registration time 28.868344 ms *************
-----t: 0.0394644
OdomCount 1065 & avg odom time 0.043188 ms ++++++++++++++++++++++
mapping solver time 23.423637 ms 
filter time 10.045233 ms 
map prepare time 3.622312 ms
map corner num 121874  surf num 55937 
points size 93782 
sort q time 5.051125 
seperate points time 12.919682 
publication time 11.601017 ms 
whole laserOdometry time 11.614806 ms 
 
-----t: 0.0442333
OdomCount 1066 & avg odom time 0.043189 ms ++++++++++++++++++++++
mapping solver time 22.452458 ms 
--------------------stamp1317357872.677522897
points size 93959 
mapping data assosiation time 35.582617 ms 
mapping solver time 21.542110 ms 
publication time 12.336605 ms 
whole laserOdometry time 12.350520 ms 
 
map prepare time 3.211305 ms
map corner num 123265  surf num 56560 
-----t: 0.0713265
OdomCount 1067 & avg odom time 0.043215 ms ++++++++++++++++++++++
1317357872.677522897 WriteOdom laser_odom_to_init
1317357872.677522897 WriteOdom aft_mapped_to_init_high_frec
points size 93907 
sort q time 6.012789 
seperate points time 12.254873 
publication time 8.225749 ms 
whole laserOdometry time 8.237692 ms 
 
mapping solver time 33.273936 ms 
-----t: 0.0716645
OdomCount 1068 & avg odom time 0.043242 ms ++++++++++++++++++++++
mapping data assosiation time 36.038987 ms 
points size 94127 
sort q time 6.138483 
seperate points time 12.419338 
filter time 14.860932 ms 
publication time 19.669164 ms 
whole laserOdometry time 19.681057 ms 
 
build tree time 31.635494 ms 
--------------------stamp1317357872.989398956
points size 94059 
mapping data assosiation time 32.658833 ms 
prepare time 14.305348 
scan registration time 31.202375 ms *************
mapping solver time 36.883524 ms 
-----t: 0.0507726
OdomCount 1070 & avg odom time 0.043276 ms ++++++++++++++++++++++
mapping data assosiation time 32.813720 ms 
--------------------stamp1317357873.093364000
points size 92735 
prepare time 13.461282 
scan registration time 31.421411 ms *************
publication time 10.233615 ms 
whole laserOdometry time 10.264190 ms 
 
-----t: 0.045256
OdomCount 1071 & avg odom time 0.043278 ms ++++++++++++++++++++++
mapping data assosiation time 27.586334 ms 
--------------------stamp1317357873.197308063
points size 90854 
prepare time 12.213736 
scan registration time 29.787694 ms *************
publication time 8.222641 ms 
whole laserOdometry time 8.238596 ms 
 
-----t: 0.0453355
OdomCount 1072 & avg odom time 0.043280 ms ++++++++++++++++++++++
mapping solver time 25.543142 ms 
filter time 9.918084 ms 
map prepare time 4.190537 ms
map corner num 127346  surf num 58023 
sort q time 4.792905 
seperate points time 11.316757 
publication time 10.141137 ms 
whole laserOdometry time 10.155312 ms 
 
mapping data assosiation time 32.903864 ms 
mapping solver time 30.235908 ms 
points size 88550 
sort q time 5.100352 
seperate points time 12.056856 
publication time 9.303891 ms 
whole laserOdometry time 9.320594 ms 
 
-----t: 0.0395933
OdomCount 1074 & avg odom time 0.043272 ms ++++++++++++++++++++++
1317357873.405215978 WriteOdom laser_odom_to_init
1317357873.405215978 WriteOdom aft_mapped_to_init_high_frec
filter time 9.127366 ms 
mapping pub time 30.370366 ms 
whole mapping time 209.477296 ms +++++
mappingCount 841 & avg mapping time 124.997012 ms ++++++++++++++++++++++
points size 88395 
scan registration time 29.581361 ms *************
build tree time 37.192722 ms 
-----t: 0.0495952
OdomCount 1075 & avg odom time 0.043277 ms ++++++++++++++++++++++
--------------------stamp1317357873.613126993
points size 87304 
sort q time 5.316847 
seperate points time 11.973627 
scan registration time 29.321725 ms *************
publication time 11.093719 ms 
whole laserOdometry time 11.109417 ms 
 
-----t: 0.042199
OdomCount 1076 & avg odom time 0.043276 ms ++++++++++++++++++++++
mapping solver time 26.955952 ms 
filter time 9.760709 ms 
map prepare time 3.249330 ms
map corner num 129861  surf num 58963 
--------------------stamp1317357873.717068910
points size 85816 
prepare time 14.119430 
scan registration time 31.673749 ms *************
publication time 10.144791 ms 
whole laserOdometry time 10.158706 ms 
 
-----t: 0.0501864
OdomCount 1077 & avg odom time 0.043283 ms ++++++++++++++++++++++
mapping solver time 28.538310 ms 
--------------------stamp1317357873.821008920
mapping data assosiation time 33.396603 ms 
sort q time 4.955989 
seperate points time 10.759069 
publication time 8.286086 ms 
whole laserOdometry time 8.303865 ms 
 
filter time 13.208971 ms 
-----t: 0.0544624
OdomCount 1078 & avg odom time 0.043293 ms ++++++++++++++++++++++
build tree time 27.934657 ms 
points size 86792 
sort q time 4.880881 
seperate points time 10.454860 
publication time 9.672634 ms 
whole laserOdometry time 9.684755 ms 
 
mapping solver time 28.402541 ms 
-----t: 0.0656028
OdomCount 1079 & avg odom time 0.043314 ms ++++++++++++++++++++++
mapping data assosiation time 33.897159 ms 
--------------------stamp1317357874.028898954
prepare time 11.003963 
sort q time 5.577616 
seperate points time 12.349823 
map prepare time 4.414229 ms
map corner num 132237  surf num 60047 
-----t: 0.0422137
OdomCount 1080 & avg odom time 0.043313 ms ++++++++++++++++++++++
1317357874.028898954 WriteOdom laser_odom_to_init
1317357874.028898954 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.246350 ms 
points size 89741 
mapping solver time 27.816062 ms 
scan registration time 27.888488 ms *************
publication time 10.324086 ms 
whole laserOdometry time 10.337139 ms 
 
mapping data assosiation time 35.841505 ms 
mapping solver time 16.959638 ms 
mapping optimization time 142.251298 
add points time 1.118768 ms
mapping pub time 1.963966 ms 
whole mapping time 159.627171 ms +++++
mappingCount 845 & avg mapping time 125.236932 ms ++++++++++++++++++++++
--------------------stamp1317357874.236784934
points size 91064 
sort q time 5.126689 
seperate points time 12.976923 
-----t: 0.0369084
OdomCount 1082 & avg odom time 0.043301 ms ++++++++++++++++++++++
mapping data assosiation time 34.095761 ms 
mapping solver time 24.700607 ms 
--------------------stamp1317357874.340703964
sort q time 6.479281 
seperate points time 14.783472 
filter time 13.437040 ms 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357874.444622993
prepare time 12.631423 
sort q time 6.194829 
seperate points time 22.252234 
scan registration time 48.592556 ms *************
mapping data assosiation time 38.313425 ms 
-----t: 0.0473444
OdomCount 1084 & avg odom time 0.043318 ms ++++++++++++++++++++++
mapping solver time 27.012185 ms 
--------------------stamp1317357874.548566102
points size 96914 
sort q time 5.634972 
seperate points time 13.110653 
filter time 13.592220 ms 
map prepare time 4.827214 ms
map corner num 135464  surf num 61970 
-----t: 0.0488837
OdomCount 1085 & avg odom time 0.043323 ms ++++++++++++++++++++++
1317357874.548566102 WriteOdom laser_odom_to_init
1317357874.548566102 WriteOdom aft_mapped_to_init_high_frec
build tree time 32.461265 ms 
--------------------stamp1317357874.652512073
points size 95332 
mapping data assosiation time 34.116040 ms 
publication time 10.474495 ms 
whole laserOdometry time 10.491252 ms 
 
mapping solver time 38.024964 ms 
mapping data assosiation time 34.108400 ms 
--------------------stamp1317357874.756428003
prepare time 11.675714 
mapping optimization time 169.467800 
filter time 13.223433 ms 
mapping pub time 2.265081 ms 
whole mapping time 191.012151 ms +++++
mappingCount 848 & avg mapping time 125.457643 ms ++++++++++++++++++++++
1317357874.444622993 WriteOdom aft_mapped_to_init
-----t: 0.0447781
OdomCount 1087 & avg odom time 0.043323 ms ++++++++++++++++++++++
1317357874.756428003 WriteOdom laser_odom_to_init
1317357874.756428003 WriteOdom aft_mapped_to_init_high_frec
build tree time 37.129582 ms 
--------------------stamp1317357874.860343933
prepare time 12.047629 
sort q time 6.197053 
seperate points time 13.565064 
mapping solver time 29.685615 ms 
-----t: 0.0526816
OdomCount 1088 & avg odom time 0.043332 ms ++++++++++++++++++++++
mapping data assosiation time 36.982101 ms 
--------------------stamp1317357874.964297056
points size 96334 
filter time 14.570035 ms 
map prepare time 4.796641 ms
map corner num 137491  surf num 63411 
publication time 10.648235 ms 
whole laserOdometry time 10.664396 ms 
 
build tree time 37.927758 ms 
-----t: 0.0627878
OdomCount 1089 & avg odom time 0.043350 ms ++++++++++++++++++++++
mapping data assosiation time 32.891393 ms 
points size 98126 
prepare time 12.530805 
scan registration time 30.063523 ms *************
-----t: 0.0375562
OdomCount 1090 & avg odom time 0.043344 ms ++++++++++++++++++++++
publication time 11.369513 ms 
whole laserOdometry time 11.381316 ms 
 
mapping data assosiation time 36.598081 ms 
--------------------stamp1317357875.172173023
prepare time 13.201411 
map prepare time 4.406684 ms
map corner num 138542  surf num 64196 
publication time 10.049480 ms 
whole laserOdometry time 10.066693 ms 
 
1317357875.172173023 WriteOdom laser_odom_to_init
1317357875.172173023 WriteOdom aft_mapped_to_init_high_frec
build tree time 37.507378 ms 
mapping data assosiation time 35.273771 ms 
points size 100902 
sort q time 5.830304 
seperate points time 13.175390 
publication time 10.831319 ms 
whole laserOdometry time 10.848069 ms 
 
mapping data assosiation time 36.246974 ms 
mapping solver time 27.874331 ms 
filter time 12.913653 ms 
map prepare time 4.211833 ms
map corner num 109124  surf num 54278 
publication time 11.933691 ms 
whole laserOdometry time 11.963416 ms 
 
mapping data assosiation time 34.379764 ms 
--------------------stamp1317357875.484025955
mapping solver time 37.894402 ms 
sort q time 8.418397 
seperate points time 22.351613 
mapping data assosiation time 45.904280 ms 
-----t: 0.0676538
OdomCount 1094 & avg odom time 0.043356 ms ++++++++++++++++++++++
mapping solver time 27.458772 ms 
filter time 12.183960 ms 
sort q time 12.980107 
seperate points time 23.039653 
build tree time 41.225257 ms 
-----t: 0.0559803
OdomCount 1095 & avg odom time 0.043368 ms ++++++++++++++++++++++
1317357875.587991952 WriteOdom laser_odom_to_init
1317357875.587991952 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357875.691956996
points size 101300 
sort q time 5.615664 
seperate points time 13.694194 
publication time 14.458256 ms 
whole laserOdometry time 14.470915 ms 
 
-----t: 0.0483655
OdomCount 1096 & avg odom time 0.043373 ms ++++++++++++++++++++++
mapping data assosiation time 41.919911 ms 
--------------------stamp1317357875.795898914
prepare time 11.955599 
map prepare time 4.209938 ms
map corner num 111459  surf num 55886 
sort q time 6.531797 
seperate points time 13.864584 
publication time 14.113154 ms 
whole laserOdometry time 14.142929 ms 
 
mapping data assosiation time 37.445282 ms 
--------------------stamp1317357875.899820089
points size 101467 
mapping solver time 33.037949 ms 
sort q time 16.207977 
seperate points time 23.430182 
mapping data assosiation time 39.976215 ms 
mapping solver time 32.332571 ms 
--------------------stamp1317357876.003765106
drop lidar frame in mapping for real time performance 
sort q time 5.855850 
seperate points time 14.501712 
scan registration time 34.195651 ms *************
publication time 10.113597 ms 
whole laserOdometry time 10.128617 ms 
 
-----t: 0.0625211
OdomCount 1099 & avg odom time 0.043399 ms ++++++++++++++++++++++
--------------------stamp1317357876.107707023
points size 101302 
mapping solver time 37.040203 ms 
scan registration time 31.046553 ms *************
publication time 10.484041 ms 
whole laserOdometry time 10.500033 ms 
 
-----t: 0.045251
OdomCount 1100 & avg odom time 0.043401 ms ++++++++++++++++++++++
1317357876.107707023 WriteOdom laser_odom_to_init
1317357876.107707023 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 44.426013 ms 
mapping solver time 30.932788 ms 
--------------------stamp1317357876.211648941
map prepare time 3.646391 ms
map corner num 106093  surf num 49926 
sort q time 6.537284 
seperate points time 13.523799 
scan registration time 30.601693 ms *************
publication time 9.532342 ms 
whole laserOdometry time 9.547235 ms 
 
mapping data assosiation time 39.661380 ms 
--------------------stamp1317357876.315592050
points size 101632 
sort q time 6.781397 
seperate points time 16.577632 
-----t: 0.042938
OdomCount 1102 & avg odom time 0.043401 ms ++++++++++++++++++++++
mapping data assosiation time 46.541548 ms 
mapping solver time 24.333143 ms 
filter time 8.638303 ms 
map prepare time 4.982216 ms
map corner num 107357  surf num 50690 
prepare time 18.662559 
sort q time 5.692120 
seperate points time 13.889567 
publication time 12.590120 ms build tree time 75.655788 ms 
--------------------stamp1317357876.523475885
points size 101398 
mapping data assosiation time 49.550427 ms 
sort q time 5.920642 
seperate points time 14.487238 
scan registration time 37.751399 ms *************
publication time 11.042594 ms 
whole laserOdometry time 11.056078 ms 
 
-----t: 0.0521727
OdomCount 1104 & avg odom time 0.043430 ms ++++++++++++++++++++++
1317357876.523475885 WriteOdom laser_odom_to_init
1317357876.523475885 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357876.627418994
points size 100007 
mapping data assosiation time 48.249921 ms 
sort q time 5.959578 
seperate points time 14.068933 
scan registration time 37.112413 ms *************
mapping optimization time 253.512312 
filter time 13.620945 ms 
mapping pub time 3.959105 ms 
whole mapping time 277.959789 ms +++++
mappingCount 857 & avg mapping time 126.333466 ms ++++++++++++++++++++++
1317357876.211648941 WriteOdom aft_mapped_to_init
--------------------stamp1317357876.731420040
points size 100098 
sort q time 6.005687 
seperate points time 14.090381 
publication time 10.990510 ms 
whole laserOdometry time 11.004155 ms 
 
--------------------stamp1317357876.835386991
prepare time 10.529115 
sort q time 6.040421 
seperate points time 13.499295 
scan registration time 31.268576 ms *************
mapping data assosiation time 48.749778 ms 
mapping solver time 33.745430 ms 
filter time 10.555195 ms 
map prepare time 4.261231 ms
map corner num 109862  surf num 52216 
sort q time 5.858110 
seperate points time 13.347833 
build tree time 36.030442 ms 
publication time 15.885655 ms 
whole laserOdometry time 15.902795 ms 
 
-----t: 0.0537571
OdomCount 1108 & avg odom time 0.043439 ms ++++++++++++++++++++++
--------------------stamp1317357877.043289899
points size 100739 
mapping solver time 36.570891 ms 
publication time 8.597985 ms 
whole laserOdometry time 8.619467 ms 
 
-----t: 0.053838
OdomCount 1109 & avg odom time 0.043448 ms ++++++++++++++++++++++
mapping solver time 27.156841 ms 
filter time 11.214171 ms 
map prepare time 4.685295 ms
map corner num 111178  surf num 53024 
scan registration time 28.412970 ms *************
build tree time 30.309959 ms 
-----t: 0.0550753
OdomCount 1110 & avg odom time 0.043459 ms ++++++++++++++++++++++
1317357877.147255897 WriteOdom laser_odom_to_init
1317357877.147255897 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 41.461936 ms 
--------------------stamp1317357877.251220941
points size 101115 
mapping solver time 38.328157 ms 
sort q time 5.715224 
seperate points time 13.962013 
-----t: 0.0439903
OdomCount 1111 & avg odom time 0.043459 ms ++++++++++++++++++++++
1317357877.251220941 WriteOdom laser_odom_to_init
1317357877.251220941 WriteOdom aft_mapped_to_init_high_frec
publication time 10.182383 ms 
whole laserOdometry time 10.194318 ms 
 
mapping solver time 26.222086 ms 
mapping optimization time 185.137215 
add points time 1.023795 ms
drop lidar frame in mapping for real time performance 
sort q time 7.056929 
seperate points time 14.518526 
build tree time 29.600796 ms 
publication time 11.570772 ms 
whole laserOdometry time 11.589486 ms 
 
-----t: 0.0555179
OdomCount 1112 & avg odom time 0.043470 ms ++++++++++++++++++++++
mapping data assosiation time 44.435723 ms 
--------------------stamp1317357877.459155082
prepare time 11.250871 
mapping solver time 40.565518 ms 
publication time 9.910180 ms 
whole laserOdometry time 9.923927 ms 
 
mapping data assosiation time 42.545723 ms 
mapping solver time 27.838379 ms 
--------------------stamp1317357877.563147068
prepare time 11.619047 
sort q time 6.027335 
seperate points time 13.200239 
mapping pub time 59.336993 ms 
whole mapping time 261.881540 ms +++++
mappingCount 861 & avg mapping time 126.804047 ms ++++++++++++++++++++++
-----t: 0.0644935
OdomCount 1114 & avg odom time 0.043486 ms ++++++++++++++++++++++
build tree time 25.663947 ms 
--------------------stamp1317357877.667135953
prepare time 14.610532 
sort q time 5.867815 
seperate points time 13.970691 
scan registration time 35.338138 ms *************
mapping data assosiation time 47.229829 ms 
publication time 11.894208 ms 
whole laserOdometry time 11.913150 ms 
 
mapping solver time 40.894414 ms 
--------------------stamp1317357877.771125078
points size 101353 
mapping data assosiation time 42.833692 ms 
sort q time 5.835999 
seperate points time 13.779814 
scan registration time 33.343516 ms *************
publication time 10.868932 ms 
whole laserOdometry time 10.882691 ms 
 
filter time 12.609613 ms 
--------------------stamp1317357877.875117063
points size 101419 
prepare time 16.443284 
scan registration time 39.265352 ms *************
mapping data assosiation time 50.665325 ms 
-----t: 0.0505908
OdomCount 1117 & avg odom time 0.043510 ms ++++++++++++++++++++++
mapping solver time 40.328469 ms 
--------------------stamp1317357877.979106903
points size 102591 
sort q time 6.942159 
seperate points time 16.090989 
publication time 10.568204 ms 
whole laserOdometry time 10.580994 ms 
 
mapping solver time 33.387712 ms 
filter time 10.691914 ms 
-----t: 0.0732806
OdomCount 1118 & avg odom time 0.043537 ms ++++++++++++++++++++++
1317357877.979106903 WriteOdom laser_odom_to_init
1317357877.979106903 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.697526 ms 
whole mapping time 221.791753 ms +++++
mappingCount 863 & avg mapping time 127.016786 ms ++++++++++++++++++++++
1317357877.667135954 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.458357 ms
map corner num 115840  surf num 55899 
points size 102758 
build tree time 34.384299 ms 
publication time 10.004454 ms 
whole laserOdometry time 10.017196 ms 
 
-----t: 0.057152
OdomCount 1119 & avg odom time 0.043549 ms ++++++++++++++++++++++
1317357878.083122968 WriteOdom laser_odom_to_init
1317357878.083122968 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 51.541593 ms 
--------------------stamp1317357878.187115907
points size 102732 
mapping solver time 54.303590 ms 
scan registration time 36.206260 ms *************
publication time 11.631107 ms 
whole laserOdometry time 11.649685 ms 
 
-----t: 0.0602546
OdomCount 1120 & avg odom time 0.043564 ms ++++++++++++++++++++++
--------------------stamp1317357878.291080951
points size 102717 
filter time 13.388985 ms 
drop lidar frame in mapping for real time performance 
sort q time 6.182543 
seperate points time 13.652358 
map prepare time 4.281209 ms
map corner num 116893  surf num 56539 
build tree time 32.444701 ms 
mapping data assosiation time 37.896652 ms 
points size 102735 
sort q time 6.452211 
seperate points time 13.215518 
publication time 9.903290 ms 
whole laserOdometry time 9.915774 ms 
 
-----t: 0.050047
OdomCount 1122 & avg odom time 0.043573 ms ++++++++++++++++++++++
1317357878.395071983 WriteOdom laser_odom_to_init
1317357878.395071983 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 44.211282 ms 
points size 102707 
scan registration time 32.062173 ms *************
mapping pub time 2.234328 ms 
whole mapping time 230.497276 ms +++++
mappingCount 865 & avg mapping time 127.271107 ms ++++++++++++++++++++++
1317357878.083122969 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.861606 ms
map corner num 117951  surf num 57068 
publication time 12.443926 ms 
whole laserOdometry time 12.459462 ms 
 
build tree time 32.054722 ms 
--------------------stamp1317357878.603029966
points size 102694 
sort q time 5.886435 
seperate points time 13.579230 
mapping data assosiation time 53.459135 ms 
publication time 10.122460 ms 
whole laserOdometry time 10.137245 ms 
 
-----t: 0.0490881
OdomCount 1124 & avg odom time 0.043615 ms ++++++++++++++++++++++
1317357878.603029966 WriteOdom laser_odom_to_init
1317357878.603029966 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 46.501258 ms 
points size 102570 
sort q time 6.884488 
seperate points time 12.858997 
publication time 11.314023 ms 
whole laserOdometry time 11.332535 ms 
 
-----t: 0.045198
OdomCount 1125 & avg odom time 0.043616 ms ++++++++++++++++++++++
filter time 9.680884 ms 
[0m[ INFO] [1718805165.644894398, 1317357878.781816785]: Received 176489 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805165.644963424, 1317357878.781816785]: Data saved to 1317357878291080.pcd[0m
mapping pub time 8.206414 ms 
whole mapping time 237.618331 ms +++++
mappingCount 866 & avg mapping time 127.398538 ms ++++++++++++++++++++++
1317357878.291080952 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 3.380308 ms
map corner num 118912  surf num 57577 
--------------------stamp1317357878.811011075
points size 102389 
sort q time 5.868705 
seperate points time 13.794936 
publication time 14.386728 ms 
whole laserOdometry time 14.474085 ms --------------------stamp1317357878.914978027
points size 102329 
mapping solver time 50.359986 ms 
prepare time 15.807186 
sort q time 5.883870 
seperate points time 14.075071 
publication time 9.988855 ms 
whole laserOdometry time 10.002736 ms 
 
--------------------stamp1317357879.018944978
points size 102240 
drop lidar frame in mapping for real time performance 
publication time 12.176574 ms 
whole laserOdometry time 12.190419 ms 
 
build tree time 35.185562 ms 
--------------------stamp1317357879.122934103
points size 102187 
sort q time 5.831847 
seperate points time 11.648738 
mapping solver time 47.161614 ms 
-----t: 0.0610253
OdomCount 1129 & avg odom time 0.043647 ms ++++++++++++++++++++++
mapping data assosiation time 44.956999 ms 
--------------------stamp1317357879.226923942
points size 102115 
prepare time 13.171036 
sort q time 14.538414 
seperate points time 21.659775 
filter time 11.460656 ms 
map prepare time 6.438948 ms
map corner num 120738  surf num 58369 
-----t: 0.0707305
OdomCount 1130 & avg odom time 0.043671 ms ++++++++++++++++++++++
--------------------stamp1317357879.330890893
points size 102135 
sort q time 6.798139 
seperate points time 15.986978 
mapping data assosiation time 52.239852 ms 
publication time 10.703723 ms 
whole laserOdometry time 10.723682 ms 
 
mapping solver time 49.810158 ms 
points size 102080 
sort q time 5.431608 
seperate points time 12.208475 
mapping data assosiation time 49.204595 ms 
publication time 9.684463 ms 
whole laserOdometry time 9.699388 ms 
 
-----t: 0.0551504
OdomCount 1132 & avg odom time 0.043678 ms ++++++++++++++++++++++
1317357879.434883117 WriteOdom laser_odom_to_init
1317357879.434883117 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 227.237190 
filter time 9.722228 ms 
points size 101931 
scan registration time 31.217757 ms *************
publication time 8.659875 ms 
whole laserOdometry time 8.673606 ms 
 
mapping data assosiation time 43.576898 ms 
--------------------stamp1317357879.642842054
points size 101907 
prepare time 13.437748 
sort q time 6.142832 
seperate points time 13.927405 
publication time 12.029205 ms 
whole laserOdometry time 12.040198 ms 
 
-----t: 0.0463812
OdomCount 1134 & avg odom time 0.043678 ms ++++++++++++++++++++++
mapping optimization time 203.992122 
points size 101860 
prepare time 14.137236 
filter time 14.787805 ms 
scan registration time 34.623663 ms *************
-----t: 0.042929
OdomCount 1135 & avg odom time 0.043678 ms ++++++++++++++++++++++
mapping data assosiation time 41.755771 ms 
--------------------stamp1317357879.850824117
points size 101695 
mapping solver time 52.455387 ms 
-----t: 0.0554166
OdomCount 1136 & avg odom time 0.043688 ms ++++++++++++++++++++++
mapping data assosiation time 43.654918 ms 
points size 101505 
sort q time 5.805223 
seperate points time 13.417639 
mapping solver time 35.539830 ms 
filter time 13.638331 ms 
map prepare time 3.420718 ms
map corner num 123090  surf num 59419 
build tree time 26.348326 ms 
--------------------stamp1317357880.058706998
points size 101461 
prepare time 12.673968 
mapping data assosiation time 46.624385 ms 
-----t: 0.0555765
OdomCount 1138 & avg odom time 0.043699 ms ++++++++++++++++++++++
--------------------stamp1317357880.162650108
points size 101216 
prepare time 18.865154 
sort q time 6.381650 
seperate points time 14.786977 
scan registration time 39.506664 ms *************
mapping solver time 35.927398 ms 
filter time 12.810721 ms 
map prepare time 3.418548 ms
map corner num 123842  surf num 59712 
--------------------stamp1317357880.266566991
points size 100788 
build tree time 33.544883 ms 
publication time 11.989393 ms 
whole laserOdometry time 11.999651 ms 
 
mapping data assosiation time 49.571214 ms 
-----t: 0.0621691
OdomCount 1140 & avg odom time 0.043731 ms ++++++++++++++++++++++
1317357880.266566991 WriteOdom laser_odom_to_init
1317357880.266566991 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357880.370485067
points size 98913 
sort q time 5.134020 
seperate points time 11.864078 
publication time 10.982119 ms 
whole laserOdometry time 11.016031 ms 
 
-----t: 0.0419957
OdomCount 1141 & avg odom time 0.043729 ms ++++++++++++++++++++++
1317357880.370485067 WriteOdom laser_odom_to_init
1317357880.370485067 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.919146 ms 
filter time 14.075953 ms 
map prepare time 4.542571 ms
map corner num 124600  surf num 60048 
scan registration time 31.591405 ms *************
publication time 10.516201 ms 
whole laserOdometry time 10.530376 ms 
 
-----t: 0.0465499
OdomCount 1142 & avg odom time 0.043732 ms ++++++++++++++++++++++
mapping data assosiation time 43.615436 ms 
prepare time 11.143805 
sort q time 5.257342 
seperate points time 11.865836 
publication time 10.258230 ms 
whole laserOdometry time 10.297256 ms 
 
mapping solver time 57.585124 ms 
-----t: 0.0411654
OdomCount 1143 & avg odom time 0.043729 ms ++++++++++++++++++++++
mapping data assosiation time 45.417365 ms 
points size 95343 
sort q time 5.246819 
seperate points time 12.581816 
mapping solver time 51.554081 ms 
-----t: 0.0355412
OdomCount 1145 & avg odom time 0.043718 ms ++++++++++++++++++++++
1317357880.786067962 WriteOdom laser_odom_to_init
1317357880.786067962 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 47.413898 ms 
publication time 7.516744 ms 
whole laserOdometry time 7.529558 ms 
 
--------------------stamp1317357880.889894962
mapping solver time 52.855565 ms 
points size 95318 
prepare time 12.320306 
sort q time 5.271724 
seperate points time 11.060795 
publication time 9.531283 ms 
whole laserOdometry time 9.547420 ms 
 
mapping data assosiation time 50.798060 ms 
--------------------stamp1317357880.993665933
prepare time 12.119654 
map prepare time 4.346332 ms
map corner num 126014  surf num 60623 
scan registration time 37.732469 ms *************
build tree time 32.381015 ms 
mapping data assosiation time 43.713339 ms 
points size 95021 
sort q time 5.357195 
seperate points time 11.720183 
publication time 10.082955 ms 
whole laserOdometry time 10.101825 ms 
 
mapping solver time 57.857148 ms 
-----t: 0.0582033
OdomCount 1148 & avg odom time 0.043732 ms ++++++++++++++++++++++
mapping data assosiation time 42.084795 ms 
points size 95623 
sort q time 5.620256 
seperate points time 13.755567 
mapping solver time 55.189700 ms 
filter time 10.495046 ms 
1317357880.786067963 WriteOdom aft_mapped_to_init
1317357881.201128005 WriteOdom aft_mapped_to_init_high_frec
map prepare time 4.123238 ms
map corner num 126794  surf num 60947 
--------------------stamp1317357881.304828882
prepare time 21.767626 
mapping data assosiation time 50.447155 ms 
-----t: 0.064173
--------------------stamp1317357881.408498048
points size 98068 
prepare time 12.852562 
scan registration time 31.492409 ms *************
publication time 10.784327 ms 
whole laserOdometry time 10.800105 ms 
 
-----t: 0.0447438
OdomCount 1151 & avg odom time 0.043760 ms ++++++++++++++++++++++
--------------------stamp1317357881.512152910
points size 99716 
prepare time 13.912401 
sort q time 5.576715 
seperate points time 13.996372 
drop lidar frame in mapping for real time performance 
-----t: 0.0459645
OdomCount 1152 & avg odom time 0.043762 ms ++++++++++++++++++++++
build tree time 35.162157 ms 
--------------------stamp1317357881.615783929
mapping data assosiation time 45.201686 ms 
sort q time 5.876797 
seperate points time 12.841066 
scan registration time 30.044602 ms *************
publication time 14.362700 ms 
whole laserOdometry time 14.389514 ms 
-----t: 0.0492445
OdomCount 1153 & avg odom time 0.043766 ms ++++++++++++++++++++++
1317357881.615783929 WriteOdom laser_odom_to_init
1317357881.615783929 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 56.974624 ms 
--------------------stamp1317357881.719414949
mapping data assosiation time 47.751482 ms 
sort q time 10.019974 
seperate points time 17.628444 
publication time 12.315619 ms 
whole laserOdometry time 12.328897 ms 
 
-----t: 0.0622256
OdomCount 1154 & avg odom time 0.043782 ms ++++++++++++++++++++++
mapping optimization time 247.326391 
filter time 10.317541 ms 
points size 100197 
sort q time 5.873926 
seperate points time 12.050826 
build tree time 38.506800 ms 
publication time 11.230099 ms 
whole laserOdometry time 11.320168 ms 
 
-----t: 0.0602867
OdomCount 1155 & avg odom time 0.043797 ms ++++++++++++++++++++++
1317357881.823045015 WriteOdom laser_odom_to_init
mapping data assosiation time 45.079012 ms 
--------------------stamp1317357881.926676034
points size 100309 
sort q time 5.589887 
seperate points time 13.350951 
publication time 10.316660 ms 
whole laserOdometry time 10.357357 ms 
 
mapping data assosiation time 42.672143 ms 
--------------------stamp1317357882.030329942
points size 100650 
mapping solver time 51.399763 ms 
filter time 14.486636 ms 
drop lidar frame in mapping for real time performance 
publication time 11.302055 ms 
whole laserOdometry time 11.321244 ms 
 
map prepare time 4.325170 ms
map corner num 129486  surf num 62044 
build tree time 28.364119 ms 
--------------------stamp1317357882.134010076
points size 100805 
sort q time 5.859089 
seperate points time 12.253840 
publication time 9.469487 ms 
whole laserOdometry time 9.497580 ms 
 
-----t: 0.0515741
OdomCount 1158 & avg odom time 0.043801 ms ++++++++++++++++++++++
1317357882.134010076 WriteOdom laser_odom_to_init
1317357882.134010076 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357882.237714052
points size 100901 
prepare time 12.687366 
sort q time 5.836317 
seperate points time 11.918581 
publication time 7.658892 ms 
whole laserOdometry time 7.673915 ms 
 
-----t: 0.0590734
OdomCount 1159 & avg odom time 0.043815 ms ++++++++++++++++++++++
filter time 10.292471 ms 
map prepare time 4.706964 ms
map corner num 130608  surf num 62601 
sort q time 5.752030 
seperate points time 13.535495 
build tree time 43.546100 ms 
-----t: 0.0595
OdomCount 1160 & avg odom time 0.043828 ms ++++++++++++++++++++++
1317357882.341464996 WriteOdom laser_odom_to_init
1317357882.341464996 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 42.810202 ms 
--------------------stamp1317357882.445240974
points size 101083 
sort q time 5.624462 
seperate points time 13.654217 
publication time 9.979581 ms -----t: 0.0476154
OdomCount 1161 & avg odom time 0.043831 ms ++++++++++++++++++++++
mapping data assosiation time 46.323026 ms 
--------------------stamp1317357882.549038887
mapping solver time 45.159364 ms 
sort q time 6.610777 
seperate points time 14.144961 
scan registration time 33.336033 ms *************
publication time 13.751157 ms 
whole laserOdometry time 13.766045 ms 
 
mapping pub time 37.198443 ms 
whole mapping time 281.319226 ms +++++
mappingCount 881 & avg mapping time 129.526425 ms ++++++++++++++++++++++
1317357882.549038887 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357882.652834892
prepare time 10.443393 
sort q time 6.741132 
seperate points time 13.255009 
scan registration time 28.023011 ms *************
publication time 12.332416 ms 
whole laserOdometry time 12.348364 ms 
 
--------------------stamp1317357882.756611108
points size 101083 
mapping solver time 62.304726 ms 
-----t: 0.131218
OdomCount 1163 & avg odom time 0.043924 ms ++++++++++++++++++++++
publication time 13.847863 ms 
whole laserOdometry time 13.862298 ms 
 
--------------------stamp1317357882.860410928
mapping solver time 37.859085 ms 
filter time 17.223506 ms 
map prepare time 4.809373 ms
map corner num 132933  surf num 63938 
-----t: 0.0417124
OdomCount 1165 & avg odom time 0.043954 ms ++++++++++++++++++++++
build tree time 33.269307 ms 
--------------------stamp1317357882.964210033
prepare time 12.585031 
sort q time 6.580558 
seperate points time 13.347738 
publication time 9.031209 ms 
whole laserOdometry time 9.045925 ms 
 
-----t: 0.052535
OdomCount 1166 & avg odom time 0.043961 ms ++++++++++++++++++++++
--------------------stamp1317357883.068006992
points size 100962 
mapping data assosiation time 45.485902 ms 
publication time 11.244342 ms 
whole laserOdometry time 11.280477 ms 
 
-----t: 0.0541174
OdomCount 1167 & avg odom time 0.043970 ms ++++++++++++++++++++++
filter time 12.213137 ms 
map prepare time 4.327536 ms
map corner num 134089  surf num 64545 
points size 100906 
sort q time 5.822682 
seperate points time 14.371150 
scan registration time 31.964489 ms *************
build tree time 41.071211 ms 
-----t: 0.0459193
OdomCount 1168 & avg odom time 0.043972 ms ++++++++++++++++++++++
mapping data assosiation time 44.539504 ms 
--------------------stamp1317357883.275651931
points size 100317 
mapping solver time 49.793173 ms 
-----t: 0.0384067
OdomCount 1169 & avg odom time 0.043967 ms ++++++++++++++++++++++
mapping data assosiation time 44.369478 ms 
--------------------stamp1317357883.379475116
points size 99390 
sort q time 5.672855 
seperate points time 13.954348 
map prepare time 3.926361 ms
map corner num 135157  surf num 65097 
-----t: 0.047493
OdomCount 1170 & avg odom time 0.043970 ms ++++++++++++++++++++++
build tree time 32.812343 ms 
--------------------stamp1317357883.483297109
points size 98996 
sort q time 5.153546 
seperate points time 11.653025 
publication time 7.238080 ms 
whole laserOdometry time 7.258696 ms 
 
-----t: 0.0490595
OdomCount 1171 & avg odom time 0.043974 ms ++++++++++++++++++++++
1317357883.483297109 WriteOdom laser_odom_to_init
1317357883.483297109 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 54.443881 ms 
--------------------stamp1317357883.587121009
points size 98737 
sort q time 5.616845 
seperate points time 13.909644 
scan registration time 33.896528 ms *************
mapping optimization time 216.244962 
filter time 12.121078 ms 
map prepare time 3.282500 ms
map corner num 136280  surf num 65633 
--------------------stamp1317357883.690968990
points size 98517 
sort q time 6.519116 
seperate points time 15.824175 
mapping data assosiation time 47.863944 ms 
publication time 14.764003 ms 
whole laserOdometry time 14.776826 ms 
 
-----t: 0.0480778
OdomCount 1173 & avg odom time 0.043973 ms ++++++++++++++++++++++
1317357883.690968990 WriteOdom laser_odom_to_init
1317357883.690968990 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 41.497572 ms 
--------------------stamp1317357883.794866085
points size 98180 
sort q time 6.131216 
seperate points time 12.357674 
mapping data assosiation time 49.311416 ms 
-----t: 0.054619
OdomCount 1174 & avg odom time 0.043982 ms ++++++++++++++++++++++
1317357883.794866085 WriteOdom laser_odom_to_init
1317357883.794866085 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 43.581627 ms 
filter time 10.862700 ms 
--------------------stamp1317357883.898807048
points size 96679 
sort q time 6.869117 
seperate points time 12.737494 
build tree time 40.905860 ms 
-----t: 0.0484512
OdomCount 1175 & avg odom time 0.043985 ms ++++++++++++++++++++++
mapping data assosiation time 49.029978 ms 
--------------------stamp1317357884.002820968
points size 96162 
sort q time 6.825932 
seperate points time 12.664373 
mapping solver time 55.768697 ms 
publication time 8.793170 ms 
whole laserOdometry time 8.808385 ms 
 
-----t: 0.0615521
OdomCount 1176 & avg odom time 0.044000 ms ++++++++++++++++++++++
1317357884.002820968 WriteOdom laser_odom_to_init
1317357884.002820968 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 49.124010 ms 
points size 96340 
sort q time 5.546191 
seperate points time 12.725142 
mapping solver time 50.657320 ms 
filter time 16.140741 ms 
map prepare time 4.504499 ms
map corner num 138401  surf num 66728 
--------------------stamp1317357884.210995912
prepare time 11.397372 
sort q time 6.949271 
seperate points time 12.817113 
publication time 8.649424 ms 
whole laserOdometry time 8.660829 ms 
 
mapping data assosiation time 48.053422 ms 
-----t: 0.0685395
OdomCount 1178 & avg odom time 0.044032 ms ++++++++++++++++++++++
--------------------stamp1317357884.315202951
points size 96701 
sort q time 5.437222 
seperate points time 12.759200 
publication time 8.503683 ms 
whole laserOdometry time 8.518246 ms 
 
mapping data assosiation time 47.761604 ms 
-----t: 0.0607548
OdomCount 1179 & avg odom time 0.044046 ms ++++++++++++++++++++++
--------------------stamp1317357884.419482946
mapping solver time 54.454492 ms 
sort q time 5.722141 
seperate points time 13.005496 
map prepare time 4.357157 ms
map corner num 139447  surf num 67316 
publication time 12.955961 ms 
whole laserOdometry time 12.969355 ms 
 
build tree time 41.716645 ms 
--------------------stamp1317357884.523833036
points size 96820 
mapping data assosiation time 42.374883 ms 
scan registration time 31.214729 ms *************
publication time 7.753976 ms 
whole laserOdometry time 7.767563 ms 
 
mapping solver time 52.611513 ms 
-----t: 0.0732364
OdomCount 1181 & avg odom time 0.044069 ms ++++++++++++++++++++++
--------------------stamp1317357884.628228902
mapping data assosiation time 41.464163 ms 
sort q time 5.926081 
seperate points time 12.394892 
publication time 10.955491 ms 
whole laserOdometry time 10.971809 ms 
 
mapping solver time 49.539040 ms 
filter time 12.568253 ms 
map prepare time 4.463789 ms
map corner num 140624  surf num 68003 
--------------------stamp1317357884.732650995
prepare time 10.893147 
sort q time 4.938534 
seperate points time 12.321804 
publication time 10.915214 ms 
whole laserOdometry time 10.933952 ms 
 
mapping data assosiation time 46.947669 ms 
--------------------stamp1317357884.837099075
points size 90414 
prepare time 15.380536 
sort q time 9.820089 
seperate points time 18.068646 
publication time 8.939774 ms 
whole laserOdometry time 8.957733 ms 
 
mapping data assosiation time 44.951314 ms 
-----t: 0.0539479
OdomCount 1184 & avg odom time 0.044151 ms ++++++++++++++++++++++
points size 88269 
sort q time 4.858897 
seperate points time 10.667822 
filter time 12.145155 ms 
map prepare time 3.274752 ms
map corner num 141705  surf num 68481 
build tree time 33.873737 ms 
--------------------stamp1317357885.045989990
prepare time 12.518446 
sort q time 5.453178 
seperate points time 11.015065 
publication time 8.780803 ms 
whole laserOdometry time 8.794422 ms 
 
-----t: 0.0601126
OdomCount 1186 & avg odom time 0.044163 ms ++++++++++++++++++++++
--------------------stamp1317357885.150413990
points size 86256 
sort q time 5.536663 
seperate points time 11.087983 
publication time 7.782113 ms 
whole laserOdometry time 7.800122 ms 
 
mapping solver time 51.047759 ms 
filter time 15.604014 ms 
1317357885.150413990 WriteOdom laser_odom_to_init
1317357885.150413990 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.355244 ms
map corner num 142905  surf num 69054 
--------------------stamp1317357885.254765033
build tree time 33.156573 ms 
publication time 9.062714 ms 
whole laserOdometry time 9.097248 ms 
 
mapping data assosiation time 46.573564 ms 
-----t: 0.0643358
OdomCount 1188 & avg odom time 0.044205 ms ++++++++++++++++++++++
--------------------stamp1317357885.359042882
prepare time 9.996138 
sort q time 5.342888 
seperate points time 11.311650 
publication time 8.212568 ms 
whole laserOdometry time 8.239933 ms 
 
mapping data assosiation time 46.731855 ms 
mapping solver time 42.299839 ms 
points size 88612 
sort q time 5.054535 
seperate points time 12.001357 
publication time 13.188839 ms 
whole laserOdometry time 13.201920 ms 
 
-----t: 0.0598113
OdomCount 1190 & avg odom time 0.044221 ms ++++++++++++++++++++++
1317357885.463296890 WriteOdom laser_odom_to_init
1317357885.463296890 WriteOdom aft_mapped_to_init_high_frec
build tree time 39.009452 ms 
--------------------stamp1317357885.567503929
mapping data assosiation time 39.373310 ms 
sort q time 5.014001 
seperate points time 12.416115 
publication time 9.113911 ms 
whole laserOdometry time 9.126933 ms 
 
-----t: 0.0472672
OdomCount 1191 & avg odom time 0.044223 ms ++++++++++++++++++++++
1317357885.567503929 WriteOdom laser_odom_to_init
1317357885.567503929 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 49.952891 ms 
mapping data assosiation time 39.758554 ms 
points size 94593 
sort q time 5.540977 
seperate points time 13.022757 
scan registration time 34.519744 ms *************
mapping solver time 51.456075 ms 
-----t: 0.0487205
OdomCount 1192 & avg odom time 0.044227 ms ++++++++++++++++++++++
1317357885.671641111 WriteOdom laser_odom_to_init
1317357885.671641111 WriteOdom aft_mapped_to_init_high_frec
filter time 13.595497 ms 
mapping pub time 1.928274 ms 
whole mapping time 244.833372 ms +++++
mappingCount 893 & avg mapping time 131.234880 ms ++++++++++++++++++++++
1317357885.254765034 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357885.775752067
points size 98742 
build tree time 40.401766 ms 
sort q time 7.019834 
seperate points time 18.426565 
scan registration time 46.339840 ms *************
mapping data assosiation time 49.033407 ms 
publication time 12.116245 ms 
whole laserOdometry time 12.130451 ms 
 
-----t: 0.0791767
OdomCount 1193 & avg odom time 0.044256 ms ++++++++++++++++++++++
--------------------stamp1317357885.879837989
prepare time 12.930087 
sort q time 5.971203 
seperate points time 12.599510 
publication time 10.250254 ms 
whole laserOdometry time 10.270328 ms 
 
-----t: 0.0419233
OdomCount 1194 & avg odom time 0.044254 ms ++++++++++++++++++++++
mapping data assosiation time 56.853786 ms 
mapping optimization time 233.738176 
filter time 13.673350 ms 
map prepare time 5.181651 ms
map corner num 146651  surf num 70623 
sort q time 5.537735 
seperate points time 13.395498 
-----t: 0.0360483
OdomCount 1195 & avg odom time 0.044248 ms ++++++++++++++++++++++
--------------------stamp1317357886.087964057
points size 101321 
sort q time 6.598246 
seperate points time 13.211289 
-----t: 0.0353331
OdomCount 1196 & avg odom time 0.044240 ms ++++++++++++++++++++++
publication time 9.279737 ms 
whole laserOdometry time 9.289972 ms 
 
1317357886.087964057 WriteOdom laser_odom_to_init
1317357886.087964057 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 52.586024 ms 
mapping data assosiation time 39.047572 ms 
points size 102492 
sort q time 6.017853 
seperate points time 14.191118 
mapping solver time 52.605878 ms 
filter time 12.604504 ms 
map prepare time 3.529217 ms
map corner num 147934  surf num 71494 
build tree time 31.521716 ms 
points size 102662 
sort q time 5.766081 
seperate points time 12.452214 
mapping data assosiation time 48.994707 ms 
publication time 9.443924 ms 
whole laserOdometry time 9.462725 ms 
 
-----t: 0.0535386
OdomCount 1198 & avg odom time 0.044252 ms ++++++++++++++++++++++
mapping solver time 49.497462 ms 
points size 103813 
sort q time 5.729287 
seperate points time 13.350288 
mapping data assosiation time 48.185682 ms 
publication time 10.792535 ms 
whole laserOdometry time 10.807531 ms 
 
-----t: 0.0658536
OdomCount 1199 & avg odom time 0.044270 ms ++++++++++++++++++++++
filter time 11.789167 ms 
map prepare time 4.740379 ms
map corner num 149137  surf num 72196 
sort q time 6.441785 
seperate points time 13.984879 
build tree time 41.943639 ms 
-----t: 0.0478912
OdomCount 1200 & avg odom time 0.044273 ms ++++++++++++++++++++++
1317357886.503998994 WriteOdom laser_odom_to_init
1317357886.503998994 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 42.105791 ms 
--------------------stamp1317357886.607916116
prepare time 11.654240 
sort q time 5.849345 
seperate points time 14.335327 
mapping solver time 52.068263 ms 
publication time 11.634026 ms 
whole laserOdometry time 11.662321 ms 
 
-----t: 0.0488523
OdomCount 1201 & avg odom time 0.044276 ms ++++++++++++++++++++++
mapping data assosiation time 44.891626 ms 
--------------------stamp1317357886.711836099
points size 103834 
sort q time 7.325296 
seperate points time 13.580416 
mapping solver time 50.879281 ms 
publication time 9.979658 ms 
whole laserOdometry time 9.998557 ms 
 
mapping pub time 2.371542 ms 
whole mapping time 260.018755 ms +++++
mappingCount 897 & avg mapping time 131.782073 ms ++++++++++++++++++++++
-----t: 0.0545479
OdomCount 1202 & avg odom time 0.044285 ms ++++++++++++++++++++++
build tree time 34.181044 ms 
points size 104190 
mapping data assosiation time 51.439179 ms 
scan registration time 62.832669 ms *************
publication time 9.176792 ms 
whole laserOdometry time 9.187436 ms 
 
prepare time 16.909338 
scan registration time 39.948666 ms *************
publication time 17.671310 ms 
whole laserOdometry time 17.685784 ms 
 
mapping solver time 51.710146 ms 
filter time 17.605693 ms 
points size 103841 
sort q time 6.226554 -----t: 0.0409226
OdomCount 1205 & avg odom time 0.044338 ms ++++++++++++++++++++++
--------------------stamp1317357887.127460956
prepare time 11.887105 
sort q time 6.300603 
seperate points time 12.512679 
publication time 9.881913 ms 
whole laserOdometry time 9.893359 ms 
 
-----t: 0.04188
OdomCount 1206 & avg odom time 0.044336 ms ++++++++++++++++++++++
--------------------stamp1317357887.231406927
points size 103681 
prepare time 13.459282 
scan registration time 33.124533 ms *************
mapping solver time 43.983384 ms 
-----t: 0.0449723
OdomCount 1207 & avg odom time 0.044337 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 3.826638 ms
map corner num 152818  surf num 74161 
--------------------stamp1317357887.335375070
points size 103831 
sort q time 7.156637 
seperate points time 16.753174 
mapping data assosiation time 55.009592 ms 
--------------------stamp1317357887.439341068
points size 104096 
sort q time 6.898664 
seperate points time 16.200129 
-----t: 0.0401808
OdomCount 1209 & avg odom time 0.044340 ms ++++++++++++++++++++++
--------------------stamp1317357887.543282985
add points time 1.507552 ms
prepare time 16.680250 
mapping pub time 2.636161 ms 
whole mapping time 272.762161 ms +++++
mappingCount 900 & avg mapping time 132.224305 ms ++++++++++++++++++++++
publication time 8.515307 ms 
whole laserOdometry time 8.533105 ms 
 
build tree time 39.441798 ms 
--------------------stamp1317357887.647226095
points size 104407 
prepare time 19.190500 
mapping data assosiation time 48.102745 ms 
sort q time 5.817819 
seperate points time 14.358379 
publication time 8.995640 ms 
whole laserOdometry time 9.010893 ms 
 
1317357887.647226095 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 50.993416 ms 
--------------------stamp1317357887.751193046
points size 104526 
sort q time 6.040910 
seperate points time 14.347801 
scan registration time 34.645946 ms *************
publication time 11.430346 ms 
whole laserOdometry time 11.459800 ms 
 
-----t: 0.0419683
OdomCount 1212 & avg odom time 0.044333 ms ++++++++++++++++++++++
1317357887.751193046 WriteOdom laser_odom_to_init
1317357887.751193046 WriteOdom aft_mapped_to_init_high_frec
filter time 13.204294 ms 
[0m[ INFO] [1718805174.697397473, 1317357887.842918958]: Received 245965 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805174.697439423, 1317357887.842918958]: Data saved to 1317357887335375.pcd[0m--------------------stamp1317357887.855159997
points size 104718 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
prepare time 17.353881 
map prepare time 5.016092 ms
map corner num 163117  surf num 82848 
sort q time 5.815039 
seperate points time 13.895081 
build tree time 51.805027 ms 
--------------------stamp1317357887.959101915
points size 103885 
scan registration time 33.824246 ms *************
publication time 15.724624 ms 
whole laserOdometry time 15.739122 ms 
 
mapping solver time 52.799523 ms 
--------------------stamp1317357888.063044071
mapping data assosiation time 44.507436 ms 
sort q time 5.738407 
seperate points time 14.055152 
mapping solver time 45.264801 ms 
filter time 14.953411 ms 
map prepare time 4.339667 ms
map corner num 126073  surf num 66495 
--------------------stamp1317357888.167035102
points size 103420 
sort q time 6.798508 
seperate points time 15.883229 
-----t: 0.0403151
OdomCount 1216 & avg odom time 0.044331 ms ++++++++++++++++++++++
mapping data assosiation time 47.282407 ms 
--------------------stamp1317357888.271050930
prepare time 11.678640 
sort q time 6.019516 
seperate points time 13.900974 
publication time 8.613359 ms 
whole laserOdometry time 8.628758 ms 
 
mapping data assosiation time 47.357610 ms 
mapping solver time 42.696600 ms 
-----t: 0.0977046
OdomCount 1217 & avg odom time 0.044375 ms ++++++++++++++++++++++
map prepare time 4.304567 ms
map corner num 127245  surf num 67070 
sort q time 6.109210 
seperate points time 14.876674 
publication time 9.485784 ms 
whole laserOdometry time 9.503767 ms 
 
build tree time 37.903879 ms 
-----t: 0.0656516
OdomCount 1218 & avg odom time 0.044392 ms ++++++++++++++++++++++
--------------------stamp1317357888.479054927
points size 103496 
mapping solver time 46.208845 ms 
-----t: 0.051281mapping data assosiation time 43.048735 ms 
--------------------stamp1317357888.583043098
prepare time 11.912182 
sort q time 17.071936 
seperate points time 26.092535 
-----t: 0.0405681
OdomCount 1220 & avg odom time 0.044395 ms ++++++++++++++++++++++
build tree time 31.178165 ms 
--------------------stamp1317357888.687035083
points size 102793 
sort q time 5.800213 
seperate points time 14.008599 
publication time 9.956749 ms 
whole laserOdometry time 9.987534 ms 
 
-----t: 0.0384947
OdomCount 1221 & avg odom time 0.044390 ms ++++++++++++++++++++++
1317357888.687035083 WriteOdom laser_odom_to_init
1317357888.687035083 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 37.025198 ms 
points size 102209 
sort q time 5.689077 
seperate points time 14.169804 
filter time 15.937685 ms 
mapping pub time 2.411932 ms 
whole mapping time 218.493118 ms +++++
mappingCount 905 & avg mapping time 132.885404 ms ++++++++++++++++++++++
1317357888.375065088 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0531807
OdomCount 1222 & avg odom time 0.044397 ms ++++++++++++++++++++++
build tree time 34.886319 ms 
points size 101655 
sort q time 6.217300 
seperate points time 17.466553 
publication time 9.685054 ms 
whole laserOdometry time 9.708869 ms 
 
mapping solver time 37.292247 ms 
--------------------stamp1317357888.998984098
prepare time 10.758089 
sort q time 6.111517 
seperate points time 13.831834 
publication time 10.840742 ms 
whole laserOdometry time 10.856237 ms 
 
-----t: 0.0534042
OdomCount 1224 & avg odom time 0.044400 ms ++++++++++++++++++++++
map prepare time 4.118904 ms
map corner num 130647  surf num 68771 
--------------------stamp1317357889.102927923
prepare time 11.390997 
sort q time 16.441843 
seperate points time 26.675939 
mapping data assosiation time 43.228420 ms 
mapping solver time 39.832987 ms 
--------------------stamp1317357889.206868886
points size 101518 
prepare time 15.904989 
sort q time 5.924148 
seperate points time 14.540428 
publication time 9.220087 ms 
whole laserOdometry time 9.235902 ms 
 
-----t: 0.0500874
OdomCount 1226 & avg odom time 0.044401 ms ++++++++++++++++++++++
mapping solver time 44.190679 ms 
mapping optimization time 208.475428 
add points time 1.193548 ms
filter time 12.247808 ms 
points size 100543 
sort q time 5.923559 
seperate points time 14.784879 
publication time 11.611823 ms 
whole laserOdometry time 11.633445 ms 
 
-----t: 0.0601612
OdomCount 1227 & avg odom time 0.044414 ms ++++++++++++++++++++++
1317357889.310811042 WriteOdom laser_odom_to_init
1317357889.310811042 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 42.896582 ms 
--------------------stamp1317357889.414753913
points size 98010 
sort q time 5.695711 
seperate points time 13.978923 
publication time 9.698556 ms 
whole laserOdometry time 9.715473 ms 
 
-----t: 0.045161
OdomCount 1228 & avg odom time 0.044414 ms ++++++++++++++++++++++
mapping solver time 37.291532 ms 
points size 96936 
mapping pub time 2.497700 ms 
whole mapping time 231.836711 ms +++++
mappingCount 908 & avg mapping time 133.200409 ms ++++++++++++++++++++++
1317357889.102927923 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
publication time 9.691714 ms 
whole laserOdometry time 9.707206 ms 
 
-----t: 0.044914
OdomCount 1229 & avg odom time 0.044415 ms ++++++++++++++++++++++
mapping data assosiation time 34.200283 ms 
points size 96039 
sort q time 5.547657 
seperate points time 12.675510 
mapping solver time 46.080151 ms 
publication time 14.633073 ms 
whole laserOdometry time 14.650649 ms 
 
mapping data assosiation time 40.052625 ms 
--------------------stamp1317357889.726486921
points size 95482 
filter time 14.849513 ms 
mapping pub time 2.400938 ms 
whole mapping time 207.994442 ms +++++
mappingCount 909 & avg mapping time 133.282701 ms ++++++++++++++++++++++
1317357889.310811043 WriteOdom aft_mapped_to_init
sort q time 6.086638 
seperate points time 12.457987 
publication time 7.559463 ms 
whole laserOdometry time 7.576396 ms 
 
-----t: 0.0467939
OdomCount 1231 & avg odom time 0.044417 ms ++++++++++++++++++++++
1317357889.726486921 WriteOdom laser_odom_to_init
1317357889.726486921 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.222310 ms 
points size 94045 
scan registration time 29.808787 ms *************
mapping solver time 49.920978 ms 
mapping data assosiation time 36.250227 ms 
--------------------stamp1317357889.934252977
prepare time 10.324869 
--------------------stamp1317357890.038099050
points size 92284 
sort q time 5.668183 
seperate points time 11.145546 
publication time 8.172579 ms mapping solver time 44.815870 ms 
-----t: 0.0700863
OdomCount 1234 & avg odom time 0.044431 ms ++++++++++++++++++++++
mapping data assosiation time 39.309200 ms 
points size 93338 
sort q time 5.115357 
seperate points time 12.819476 
publication time 9.255665 ms 
whole laserOdometry time 9.269791 ms 
 
mapping pub time 5.280402 ms 
whole mapping time 221.251611 ms +++++
[0m[ INFO] [1718805177.054643901, 1317357890.195945338]: Received 207520 data points in frame camera_init with the following fields: x y z intensity[0m
mappingCount 911 & avg mapping time 133.475008 ms ++++++++++++++++++++++
[0m[ INFO] [1718805177.054684665, 1317357890.195945338]: Data saved to 1317357889726486.pcd[0m
build tree time 35.432827 ms 
points size 93384 
prepare time 14.784163 
mapping data assosiation time 39.247365 ms 
sort q time 5.432713 
seperate points time 25.133415 
-----t: 0.0535502
OdomCount 1236 & avg odom time 0.044438 ms ++++++++++++++++++++++
mapping solver time 42.912922 ms 
--------------------stamp1317357890.349450111
prepare time 12.762808 
sort q time 4.976062 
seperate points time 12.154210 
publication time 10.309702 ms 
whole laserOdometry time 10.343587 ms 
 
-----t: 0.046039
OdomCount 1237 & avg odom time 0.044440 ms ++++++++++++++++++++++
map prepare time 3.610049 ms
map corner num 137459  surf num 71756 
--------------------stamp1317357890.453223943
build tree time 37.076057 ms 
sort q time 15.596446 
seperate points time 23.703448 
mapping data assosiation time 41.235272 ms 
-----t: 0.0484673
OdomCount 1238 & avg odom time 0.044443 ms ++++++++++++++++++++++
mapping solver time 38.001205 ms 
--------------------stamp1317357890.556973934
sort q time 6.405039 
seperate points time 13.419240 
publication time 9.119490 ms 
whole laserOdometry time 9.136455 ms 
 
-----t: 0.0449393
OdomCount 1239 & avg odom time 0.044443 ms ++++++++++++++++++++++
1317357890.556973934 WriteOdom laser_odom_to_init
1317357890.556973934 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 38.466389 ms 
mapping optimization time 196.992430 
add points time 1.234751 ms
filter time 12.556728 ms 
--------------------stamp1317357890.660722970
prepare time 11.767792 
build tree time 38.021629 ms 
publication time 11.036869 ms 
whole laserOdometry time 11.051319 ms 
 
-----t: 0.0514079
OdomCount 1240 & avg odom time 0.044449 ms ++++++++++++++++++++++
1317357890.660722970 WriteOdom laser_odom_to_init
1317357890.660722970 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 37.489094 ms 
prepare time 10.333804 
sort q time 5.848503 
seperate points time 12.167028 
mapping data assosiation time 42.182153 ms 
-----t: 0.0486651
OdomCount 1241 & avg odom time 0.044452 ms ++++++++++++++++++++++
mapping solver time 34.666791 ms 
filter time 11.337600 ms 
map prepare time 3.621661 ms
map corner num 139911  surf num 72844 
points size 101109 
prepare time 10.650204 
sort q time 6.265920 
seperate points time 14.404214 
build tree time 40.384581 ms 
-----t: 0.0441735
OdomCount 1242 & avg odom time 0.044452 ms ++++++++++++++++++++++
1317357890.868199110 WriteOdom laser_odom_to_init
1317357890.868199110 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 39.936253 ms 
--------------------stamp1317357890.971927881
sort q time 6.108285 
seperate points time 13.724829 
publication time 12.640227 ms 
whole laserOdometry time 12.658051 ms mapping solver time 30.980836 ms 
filter time 10.566695 ms 
map prepare time 3.662414 ms
map corner num 141163  surf num 73453 
points size 101035 
sort q time 5.846189 
seperate points time 13.739198 
build tree time 39.854775 ms 
-----t: 0.0662755
OdomCount 1244 & avg odom time 0.044463 ms ++++++++++++++++++++++
--------------------stamp1317357891.179404973
points size 100104 
mapping solver time 44.239884 ms 
publication time 12.186154 ms 
whole laserOdometry time 12.207701 ms 
 
mapping data assosiation time 44.785142 ms 
mapping solver time 31.492541 ms 
points size 97774 
mapping pub time 5.680534 ms 
whole mapping time 234.520136 ms +++++
mappingCount 916 & avg mapping time 133.937863 ms ++++++++++++++++++++++
sort q time 5.141877 
seperate points time 25.057584 
-----t: 0.0443866
OdomCount 1246 & avg odom time 0.044475 ms ++++++++++++++++++++++
publication time 10.275269 ms 
build tree time 39.396553 ms 
--------------------stamp1317357891.386909961
points size 96279 
scan registration time 43.979617 ms *************
mapping data assosiation time 39.049329 ms 
--------------------stamp1317357891.490660905
prepare time 11.278077 
mapping solver time 36.154406 ms 
mapping optimization time 201.529280 
add points time 1.028664 ms
sort q time 6.102633 
seperate points time 13.222844 
scan registration time 28.827634 ms *************
filter time 14.595954 ms 
mapping pub time 2.386300 ms 
whole mapping time 224.032709 ms +++++
mappingCount 917 & avg mapping time 134.036124 ms ++++++++++++++++++++++
1317357891.075654030 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 4.395221 ms
map corner num 143712  surf num 74738 
-----t: 0.0427734
OdomCount 1248 & avg odom time 0.044475 ms ++++++++++++++++++++++
1317357891.490660905 WriteOdom laser_odom_to_init
1317357891.490660905 WriteOdom aft_mapped_to_init_high_frec
build tree time 33.764638 ms 
mapping data assosiation time 34.656095 ms 
points size 94587 
sort q time 5.740390 
seperate points time 13.154160 
publication time 11.568344 ms 
whole laserOdometry time 11.591935 ms 
 
-----t: 0.0449001
OdomCount 1249 & avg odom time 0.044475 ms ++++++++++++++++++++++
--------------------stamp1317357891.698137044
points size 94595 
sort q time 6.340790 
seperate points time 14.240639 
mapping solver time 42.941297 ms 
filter time 14.155227 ms 
mapping pub time 2.280163 ms 
whole mapping time 225.475372 ms +++++
mappingCount 918 & avg mapping time 134.135747 ms ++++++++++++++++++++++
1317357891.283157110 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
-----t: 0.0472615
OdomCount 1250 & avg odom time 0.044478 ms ++++++++++++++++++++++
1317357891.698137044 WriteOdom laser_odom_to_init
1317357891.698137044 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357891.801909923
build tree time 36.638981 ms 
points size 92682 
sort q time 5.000250 
seperate points time 12.800361 
mapping data assosiation time 42.107881 ms 
-----t: 0.0479687
OdomCount 1251 & avg odom time 0.044480 ms ++++++++++++++++++++++
mapping solver time 36.823236 ms 
--------------------stamp1317357891.905685901
prepare time 10.159658 
sort q time 5.566294 
seperate points time 12.515489 
mapping solver time 30.735730 ms 
publication time 10.541345 ms 
whole laserOdometry time 10.565876 ms 
 
mapping optimization time 186.743751 
add points time 0.970334 ms
mapping pub time 2.341569 ms 
whole mapping time 206.180584 ms +++++
mappingCount 919 & avg mapping time 134.214160 ms ++++++++++++++++++++++
--------------------stamp1317357892.009462118
points size 93109 
prepare time 9.383966 
scan registration time 26.359910 ms *************
mapping data assosiation time 44.471429 ms 
-----t: 0.0470604
OdomCount 1253 & avg odom time 0.044483 ms ++++++++++++++++++++++
mapping solver time 36.066153 ms 
--------------------stamp1317357892.113236904
points size 93526 
sort q time 6.074979 
seperate points time 12.422295 
mapping solver time 30.412464 ms 
filter time 15.290350 ms 
mapping pub time 2.154957 ms 
whole mapping time 209.276341 ms +++++
mappingCount 920 & avg mapping time 134.295755 ms ++++++++++++++++++++++
1317357891.801909924 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0549172
OdomCount 1254 & avg odom time 0.044491 ms ++++++++++++++++++++++
1317357892.113236904 WriteOdom laser_odom_to_init
1317357892.113236904 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357892.217036008
points size 94352 
prepare time 14.550823 
scan registration time 31.708530 ms *************
mapping data assosiation time 41.104374 ms 
publication time 11.546778 ms 
whole laserOdometry time 11.558855 ms 
 
mapping solver time 41.344811 ms 
--------------------stamp1317357892.320858001
points size 93032 
mapping data assosiation time 41.475354 ms 
publication time 9.067171 ms 
whole laserOdometry time 9.084948 ms 
 
-----t: 0.0406566
OdomCount 1256 & avg odom time 0.044483 ms ++++++++++++++++++++++
1317357892.320858001 WriteOdom laser_odom_to_init
1317357892.320858001 WriteOdom aft_mapped_to_init_high_frec
filter time 11.572903 ms 
--------------------stamp1317357892.424679040
points size 92947 
map prepare time 4.694845 ms
map corner num 148873  surf num 77017 
scan registration time 33.130018 ms *************
publication time 10.671222 ms 
whole laserOdometry time 10.683216 ms 
 
mapping data assosiation time 35.321199 ms 
points size 94292 
sort q time 5.391573 
seperate points time 13.379066 
publication time 12.159853 ms 
whole laserOdometry time 12.188587 ms 
 
-----t: 0.0599734
OdomCount 1258 & avg odom time 0.044497 ms ++++++++++++++++++++++
1317357892.528505086 WriteOdom laser_odom_to_init
--------------------stamp1317357892.632328033
points size 95313 
mapping solver time 37.453030 ms 
sort q time 5.258318 
seperate points time 14.612276 
filter time 14.119836 ms 
mapping pub time 2.322385 ms 
whole mapping time 232.119891 ms +++++
mappingCount 922 & avg mapping time 134.532413 ms ++++++++++++++++++++++
1317357892.217036009 WriteOdom aft_mapped_to_init
map prepare time 4.283180 ms
map corner num 150105  surf num 77575 
publication time 9.741121 ms 
whole laserOdometry time 9.755630 ms 
 
-----t: 0.0603898
OdomCount 1259 & avg odom time 0.044509 ms ++++++++++++++++++++++
1317357892.632328033 WriteOdom laser_odom_to_init
1317357892.632328033 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357892.736149072
prepare time 12.014477 
mapping data assosiation time 40.304506 ms 
publication time 11.593721 ms 
whole laserOdometry time 11.609601 ms 
 
mapping solver time 51.277865 ms 
--------------------stamp1317357892.839976072
prepare time 12.572029 
sort q time 6.210825 
seperate points time 13.789515 
mapping solver time 39.564023 ms 
publication time 13.083143 ms 
whole laserOdometry time 13.094129 ms 
 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357892.943797111
build tree time 39.451287 ms 
sort q time 5.673022 
seperate points time 13.068241 
mapping data assosiation time 42.728942 ms 
-----t: 0.0597351
OdomCount 1262 & avg odom time 0.044531 ms ++++++++++++++++++++++
1317357892.943797111 WriteOdom laser_odom_to_init
1317357892.943797111 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 44.979213 ms 
points size 95451 
sort q time 5.107697 
seperate points time 11.345716 
mapping data assosiation time 39.273276 ms 
-----t: 0.0535153
OdomCount 1263 & avg odom time 0.044538 ms ++++++++++++++++++++++
filter time 11.091118 ms 
map prepare time 3.475099 ms
map corner num 152587  surf num 78689 
--------------------stamp1317357893.151413917
prepare time 13.918780 
sort q time 5.325917 
seperate points time 13.469983 
publication time 15.589134 ms 
whole laserOdometry time 15.609544 ms 
 
--------------------stamp1317357893.255213022
points size 96144 
sort q time 16.438992 
seperate points time 24.807042 
-----t: 0.0412744
OdomCount 1265 & avg odom time 0.044550 ms ++++++++++++++++++++++
mapping data assosiation time 40.667004 ms 
publication time 7.368372 ms 
whole laserOdometry time 7.380467 ms 
 
mapping solver time 31.240013 ms 
filter time 11.519069 ms 
points size 95653 
sort q time 5.347666 
seperate points time 13.121814 
build tree time 43.429524 ms 
publication time 8.956752 ms mapping data assosiation time 34.824827 ms 
--------------------stamp1317357893.462810039
prepare time 12.846613 
mapping solver time 40.492929 ms 
publication time 13.857308 ms 
whole laserOdometry time 13.875523 ms 
 
mapping data assosiation time 40.796887 ms 
mapping solver time 22.258944 ms 
filter time 11.514828 ms 
points size 93126 
map prepare time 3.560985 ms
map corner num 83762  surf num 47205 
prepare time 13.980132 
scan registration time 32.002415 ms *************publication time 9.544582 ms 
whole laserOdometry time 9.560901 ms 
 
mapping data assosiation time 36.495017 ms 
--------------------stamp1317357893.670502901
prepare time 12.137328 
sort q time 4.936905 publication time 8.974618 ms 
whole laserOdometry time 8.989556 ms 
 
-----t: 0.0493698
OdomCount 1269 & avg odom time 0.044545 ms ++++++++++++++++++++++
mapping solver time 35.708288 ms 
filter time 7.329933 ms 
map prepare time 2.886409 ms
map corner num 85006  surf num 47807 
points size 92406 
build tree time 27.477252 ms 
sort q time 5.771531 
seperate points time 15.471301 
publication time 11.121176 ms 
whole laserOdometry time 11.134972 ms 
 
mapping solver time 29.500668 ms 
--------------------stamp1317357893.878149986
prepare time 10.984769 
sort q time 5.440575 
seperate points time 12.309025 
mapping solver time 26.052187 ms 
mapping optimization time 163.360959 
add points time 0.952345 ms
map prepare time 3.518440 ms
map corner num 86138  surf num 48275 
-----t: 0.0652037
OdomCount 1271 & avg odom time 0.044559 ms ++++++++++++++++++++++
1317357893.878149986 WriteOdom laser_odom_to_init
1317357893.878149986 WriteOdom aft_mapped_to_init_high_frec
build tree time 20.797007 ms 
--------------------stamp1317357893.981972932
prepare time 12.887497 
mapping data assosiation time 36.094054 ms 
sort q time 5.186028 
seperate points time 12.208959 
scan registration time 29.331265 ms *************
publication time 9.203711 ms 
whole laserOdometry time 9.214281 ms 
 
mapping solver time 40.299491 ms 
-----t: 0.0551772
OdomCount 1272 & avg odom time 0.044567 ms ++++++++++++++++++++++
mapping data assosiation time 31.549014 ms 
points size 90579 
sort q time 5.108387 
seperate points time 12.561365 
filter time 7.750948 ms 
publication time 9.482315 ms 
whole laserOdometry time 9.495411 ms 
 
-----t: 0.0522565
OdomCount 1273 & avg odom time 0.044573 ms ++++++++++++++++++++++
--------------------stamp1317357894.189618110
points size 92554 
sort q time 5.316494 
seperate points time 12.833020 
mapping solver time 35.686514 ms 
publication time 9.737796 ms 
whole laserOdometry time 9.769277 ms 
 
mapping data assosiation time 34.263983 ms 
mapping solver time 27.804900 ms 
filter time 9.376433 ms 
sort q time 5.985057 
seperate points time 12.797758 
-----t: 0.0402226
OdomCount 1275 & avg odom time 0.044569 ms ++++++++++++++++++++++
mapping data assosiation time 35.796521 ms 
--------------------stamp1317357894.397214889
prepare time 12.145421 
sort q time 5.833259 
seperate points time 12.569913 
mapping data assosiation time 37.868046 ms 
-----t: 0.0395349
OdomCount 1276 & avg odom time 0.044566 ms ++++++++++++++++++++++
mapping solver time 24.559429 ms 
filter time 7.453103 ms 
map prepare time 2.792922 ms
map corner num 89271  surf num 49803 
--------------------stamp1317357894.501039028
prepare time 11.840794 
sort q time 6.223778 
seperate points time 12.857330 
scan registration time 29.202618 ms *************
mapping data assosiation time 44.318292 ms 
-----t: 0.0489873
OdomCount 1277 & avg odom time 0.044569 ms ++++++++++++++++++++++
mapping solver time 36.925605 ms 
--------------------stamp1317357894.604836940
points size 94199 
sort q time 6.000274 
seperate points time 12.894659 
mapping solver time 26.751323 ms 
mapping optimization time 167.711323 
add points time 1.183811 ms
filter time 10.718541 ms 
build tree time 19.895553 ms 
--------------------stamp1317357894.708621978
points size 95826 
sort q time 5.345589 
seperate points time 13.075333 
scan registration time 37.140494 ms *************
-----t: 0.040622
OdomCount 1279 & avg odom time 0.044567 ms ++++++++++++++++++++++
mapping data assosiation time 29.696638 ms 
--------------------stamp1317357894.812375068
prepare time 12.116532 
filter time 10.308189 ms 
publication time 9.775139 ms 
whole laserOdometry time 9.790152 ms 
 
-----t: 0.074047
OdomCount 1280 & avg odom time 0.044590 ms ++++++++++++++++++++++
--------------------stamp1317357894.916138887
prepare time 13.103894 
sort q time 6.502340 
seperate points time 13.460157 
publication time 9.765468 ms 
whole laserOdometry time 9.788448 ms 
 
mapping data assosiation time 36.652181 ms 
-----t: 0.0592443
OdomCount 1281 & avg odom time 0.044602 ms ++++++++++++++++++++++
1317357894.916138887 WriteOdom laser_odom_to_init
1317357894.916138887 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.433151 ms 
mapping optimization time 158.026489 
add points time 1.190482 ms
drop lidar frame in mapping for real time performance 
sort q time 5.899710 
seperate points time 12.208816 
build tree time 26.508396 ms 
publication time 8.866964 ms 
whole laserOdometry time 8.879430 ms 
 
-----t: 0.0429503
OdomCount 1282 & avg odom time 0.044600 ms ++++++++++++++++++++++
mapping data assosiation time 34.926132 ms 
mapping solver time 27.424042 ms 
points size 98392 
sort q time 6.514309 
seperate points time 15.966814 
-----t: 0.0373427
OdomCount 1283 & avg odom time 0.044595 ms ++++++++++++++++++++++
add points time 1.013574 ms
filter time 7.929391 ms 
map prepare time 3.111307 ms
map corner num 91131  surf num 49607 
build tree time 21.671451 ms 
points size 98591 
mapping data assosiation time 38.922238 ms 
1317357895.227483987 WriteOdom laser_odom_to_init
1317357895.227483987 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357895.331235885
points size 98717 
sort q time 5.501067 
seperate points time 13.780848 
filter time 7.871265 ms 
map prepare time 3.997277 ms
map corner num 92236  surf num 50189 
build tree time 27.747970 ms 
--------------------stamp1317357895.434986114
points size 98907 
mapping data assosiation time 36.026866 ms 
prepare time 14.715291 
scan registration time 33.417529 ms *************
mapping solver time 33.749373 ms 
publication time 8.576546 ms 
whole laserOdometry time 8.598797 ms 
 
-----t: 0.0627499
OdomCount 1286 & avg odom time 0.044611 ms ++++++++++++++++++++++
mapping data assosiation time 35.659092 ms 
--------------------stamp1317357895.538737058
points size 99250 
filter time 11.628451 ms 
publication time 9.753784 ms 
whole laserOdometry time 9.772946 ms 
 
build tree time 26.294332 ms 
mapping data assosiation time 31.620515 ms 
points size 96891 
mapping solver time 30.956402 ms 
publication time 13.664679 ms 
whole laserOdometry time 13.696885 ms 
 
mapping data assosiation time 44.263638 ms 
mapping solver time 21.179628 ms 
filter time 10.348657 ms 
map prepare time 4.444118 ms
map corner num 94541  surf num 51454 
points size 95026 
prepare time 13.085985 
sort q time 5.479903 
seperate points time 13.783738 
publication time 10.188751 ms 
whole laserOdometry time 10.202442 ms 
 
mapping data assosiation time 37.446923 ms 
mapping solver time 29.837198 ms 
prepare time 10.761674 
sort q time 5.525728 
seperate points time 11.712589 
mapping data assosiation time 38.604012 ms 
-----t: 0.044292
OdomCount 1290 & avg odom time 0.044627 ms ++++++++++++++++++++++
1317357895.849941015 WriteOdom laser_odom_to_init
1317357895.849941015 WriteOdom aft_mapped_to_init_high_frec
filter time 7.788010 ms 
map prepare time 3.010017 ms
map corner num 95684  surf num 52009 
--------------------stamp1317357895.953716039
points size 93845 
sort q time 5.027781 
seperate points time 11.127046 
scan registration time 25.412590 ms *************
mapping data assosiation time 37.953045 ms 
-----t: 0.0397244
OdomCount 1291 & avg odom time 0.044623 ms ++++++++++++++++++++++
1317357895.953716039 WriteOdom laser_odom_to_init
1317357895.953716039 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 32.220556 ms 
--------------------stamp1317357896.057490110
points size 94032 
sort q time 5.592113 
seperate points time 12.472362 
mapping solver time 37.473621 ms 
mapping optimization time 167.776968 
add points time 1.065457 ms
map prepare time 3.397072 ms
map corner num 96961  surf num 52572 
build tree time 22.706232 ms 
--------------------stamp1317357896.161289930
prepare time 12.412707 
sort q time 5.892378 
seperate points time 13.229394 
publication time 8.853372 ms 
whole laserOdometry time 8.869271 ms 
 
mapping data assosiation time 29.882228 ms 
--------------------stamp1317357896.265089035
prepare time 10.456384 
[0m[ INFO] [1718805183.144004289, 1317357896.279412589]: Received 151311 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805183.144048596, 1317357896.279412589]: Data saved to 1317357895953716.pcd[0m
mapping pub time 29.581098 ms 
publication time 10.274160 ms 
whole laserOdometry time 10.286881 ms 
 
whole mapping time 196.898046 ms +++++
mappingCount 941 & avg mapping time 135.625253 ms ++++++++++++++++++++++
-----t: 0.0500819
OdomCount 1294 & avg odom time 0.044616 ms ++++++++++++++++++++++
build tree time 23.551190 ms 
--------------------stamp1317357896.368865013
points size 98037 
mapping data assosiation time 35.973356 ms 
prepare time 12.180283 
scan registration time 31.089098 ms *************
mapping solver time 42.886067 ms publication time 13.926156 ms 
whole laserOdometry time 22.132888 ms 
 
mapping data assosiation time 34.826559 ms 
--------------------stamp1317357896.472666025
mapping solver time 24.790758 ms 
filter time 10.005075 ms 
publication time 10.768589 ms 
whole laserOdometry time 10.786044 ms 
 
-----t: 0.049341
OdomCount 1296 & avg odom time 0.044617 ms ++++++++++++++++++++++
mapping data assosiation time 32.908008 ms 
points size 99985 
prepare time 14.310924 
mapping solver time 37.173598 ms 
scan registration time 46.821816 ms *************
mapping data assosiation time 38.607870 ms 
-----t: 0.0676498
OdomCount 1297 & avg odom time 0.044635 ms ++++++++++++++++++++++
1317357896.576463937 WriteOdom laser_odom_to_init
1317357896.576463937 WriteOdom aft_mapped_to_init_high_frec
filter time 7.517676 ms 
points size 99679 
prepare time 13.341978 
scan registration time 32.907558 ms *************
publication time 9.193897 ms 
whole laserOdometry time 9.209646 ms 
 
mapping data assosiation time 36.076424 ms 
--------------------stamp1317357896.784012079
points size 99443 
sort q time 5.471965 
seperate points time 11.824011 
mapping data assosiation time 36.875053 ms 
-----t: 0.0452598
OdomCount 1299 & avg odom time 0.044634 ms ++++++++++++++++++++++
mapping solver time 24.680566 ms 
filter time 8.063902 ms 
map prepare time 3.030634 ms
map corner num 101492  surf num 54764 
--------------------stamp1317357896.887763977
prepare time 10.991464 
sort q time 6.992909 
seperate points time 13.963016 
mapping data assosiation time 37.337878 ms 
publication time 9.347128 ms 
whole laserOdometry time 9.371911 ms 
 
-----t: 0.0539158
OdomCount 1300 & avg odom time 0.044641 ms ++++++++++++++++++++++
mapping solver time 43.444895 ms 
--------------------stamp1317357896.991489887
prepare time 12.136067 
sort q time 6.268308 
seperate points time 12.786952 
publication time 9.328909 ms 
whole laserOdometry time 9.349068 ms 
 
filter time 8.493924 ms 
mapping pub time 2.333623 ms 
whole mapping time 186.843461 ms +++++
mappingCount 945 & avg mapping time 135.819802 ms ++++++++++++++++++++++
1317357896.680237055 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 22.300338 ms 
--------------------stamp1317357897.095187902
points size 100282 
sort q time 6.647055 
seperate points time 13.807158 
publication time 9.366135 ms 
whole laserOdometry time 9.380774 ms 
 
-----t: 0.0406228
OdomCount 1302 & avg odom time 0.044634 ms ++++++++++++++++++++++
mapping solver time 45.652297 ms 
mapping data assosiation time 31.218785 ms 
--------------------stamp1317357897.198892116
prepare time 10.374885 
sort q time 7.086343 
seperate points time 14.189367 
filter time 10.886037 ms 
map prepare time 4.178107 ms
map corner num 103735  surf num 55879 
build tree time 24.384866 ms 
--------------------stamp1317357897.302623033
points size 101232 
prepare time 10.524785 
sort q time 6.141401 
seperate points time 14.853186 
mapping solver time 36.530634 ms 
-----t: 0.0609003
OdomCount 1304 & avg odom time 0.044646 ms ++++++++++++++++++++++
1317357897.302623033 WriteOdom laser_odom_to_init
1317357897.302623033 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 45.146946 ms 
points size 101010 
mapping optimization time 176.105341 
filter time 11.084192 ms 
scan registration time 50.804450 ms *************
publication time 10.401448 ms 
whole laserOdometry time 10.415204 ms 
 
-----t: 0.0667947
OdomCount 1305 & avg odom time 0.044663 ms ++++++++++++++++++++++
--------------------stamp1317357897.510148048
prepare time 10.434152 
mapping data assosiation time 38.181029 ms 
sort q time 5.396852 
seperate points time 11.766248 
mapping solver time 40.407085 ms 
-----t: 0.0590714
OdomCount 1306 & avg odom time 0.044674 ms ++++++++++++++++++++++
1317357897.510148048 WriteOdom laser_odom_to_init
1317357897.510148048 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 38.627530 ms 
--------------------stamp1317357897.613919973
prepare time 10.129108 
sort q time 6.185956 
seperate points time 14.852429 
map prepare time 3.233552 ms
map corner num 105848  surf num 57107 
publication time 9.131557 ms 
whole laserOdometry time 9.143273 ms 
 
1317357897.613919973 WriteOdom laser_odom_to_initmapping data assosiation time 34.970148 ms 
prepare time 10.507379 
sort q time 6.000125 
seperate points time 13.731216 
mapping solver time 40.663755 ms 
publication time 9.660194 ms 
whole laserOdometry time 9.672539 ms 
 
-----t: 0.0568053
OdomCount 1308 & avg odom time 0.044689 ms ++++++++++++++++++++++
--------------------stamp1317357897.821471929
points size 101642 
filter time 11.461683 ms 
publication time 9.937510 ms 
whole laserOdometry time 9.952079 ms 
 
-----t: 0.0441493
OdomCount 1309 & avg odom time 0.044688 ms ++++++++++++++++++++++
mapping data assosiation time 32.537810 ms 
points size 102302 
sort q time 5.606371 
seperate points time 13.786772 
-----t: 0.0464929
OdomCount 1310 & avg odom time 0.044690 ms ++++++++++++++++++++++
mapping data assosiation time 39.164766 ms 
mapping solver time 22.586552 ms 
--------------------stamp1317357898.029020071
drop lidar frame in mapping for real time performance 
points size 100280 
map prepare time 4.555854 ms
map corner num 108162  surf num 58513 
prepare time 14.114532 
sort q time 6.010793 
seperate points time 13.986907 
build tree time 31.440718 ms 
-----t: 0.0467916
OdomCount 1311 & avg odom time 0.044691 ms ++++++++++++++++++++++
mapping data assosiation time 38.939071 ms 
--------------------stamp1317357898.132795095
points size 99463 
mapping solver time 43.311747 ms 
scan registration time 35.766183 ms *************
publication time 7.982498 ms 
mapping data assosiation time 41.310691 ms 
mapping solver time 24.338186 ms 
--------------------stamp1317357898.236596107
map prepare time 4.459399 ms
map corner num 109421  surf num 59227 
sort q time 7.135605 
seperate points time 13.532602 
build tree time 34.516252 ms -----t: 0.0442262
OdomCount 1313 & avg odom time 0.044712 ms ++++++++++++++++++++++
mapping data assosiation time 37.507058 ms 
--------------------stamp1317357898.340394973
prepare time 12.921920 
mapping solver time 41.554994 ms 
sort q time 5.567088 
seperate points time 13.376470 
publication time 9.319782 ms 
whole laserOdometry time 9.333632 ms 
 
-----t: 0.0498469
OdomCount 1314 & avg odom time 0.044716 ms ++++++++++++++++++++++
mapping solver time 30.089819 ms 
--------------------stamp1317357898.444166898
prepare time 11.058859 
sort q time 6.079691 
seperate points time 13.032676 
build tree time 33.925526 ms 
-----t: 0.0575625
OdomCount 1315 & avg odom time 0.044725 ms ++++++++++++++++++++++
--------------------stamp1317357898.547940969
prepare time 12.529330 
sort q time 5.766761 
seperate points time 13.553135 
mapping data assosiation time 36.504392 ms 
-----t: 0.0529376
OdomCount 1316 & avg odom time 0.044732 ms ++++++++++++++++++++++
filter time 8.517170 ms 
mapping pub time 2.208881 ms 
whole mapping time 178.020427 ms +++++
mappingCount 953 & avg mapping time 136.309187 ms ++++++++++++++++++++++
1317357898.236596107 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357898.651741027
points size 97538 
sort q time 5.418433 
seperate points time 13.640538 
publication time 9.837201 ms 
whole laserOdometry time 9.848308 ms 
 
-----t: 0.0461312
OdomCount 1317 & avg odom time 0.044733 ms ++++++++++++++++++++++
1317357898.651741027 WriteOdom laser_odom_to_init
1317357898.651741027 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357898.755538940
prepare time 11.395305 
sort q time 6.632512 
seperate points time 13.599238 
publication time 9.162782 ms 
whole laserOdometry time 9.179811 ms 
 
-----t: 0.0381304
OdomCount 1318 & avg odom time 0.044728 ms ++++++++++++++++++++++
filter time 8.330264 ms 
mapping pub time 2.220313 ms 
whole mapping time 197.019858 ms +++++
mappingCount 954 & avg mapping time 136.372830 ms ++++++++++++++++++++++
1317357898.444166899 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 13.550250 ms 
--------------------stamp1317357898.859339952
prepare time 11.334199 
sort q time 6.169082 
seperate points time 13.704265 
publication time 8.130912 ms 
whole laserOdometry time 8.146313 ms 
 
mapping solver time 34.337039 ms 
-----t: 0.0581226
OdomCount 1319 & avg odom time 0.044738 ms ++++++++++++++++++++++
mapping data assosiation time 34.031305 ms 
points size 97341 
mapping solver time 26.771668 ms 
mapping pub time 2.319963 ms 
whole mapping time 164.152678 ms +++++
mappingCount 955 & avg mapping time 136.401925 ms ++++++++++++++++++++++
publication time 9.108104 ms 
whole laserOdometry time 9.121763 ms 
 
build tree time 18.311498 ms 
mapping data assosiation time 33.723515 ms 
--------------------stamp1317357899.066958904
points size 96723 
sort q time 5.366021 
seperate points time 13.219295 
scan registration time 33.079888 ms *************
mapping solver time 46.996056 ms 
publication time 10.274548 ms 
whole laserOdometry time 10.294459 ms 
 
mapping data assosiation time 37.654873 ms 
-----t: 0.0727376
OdomCount 1321 & avg odom time 0.044760 ms ++++++++++++++++++++++
mapping solver time 24.994490 ms 
filter time 7.595815 ms 
prepare time 15.791724 
sort q time 5.464853 
seperate points time 13.530506 
publication time 11.608321 ms 
whole laserOdometry time 11.623469 ms 
 
-----t: 0.0473583
OdomCount 1322 & avg odom time 0.044762 ms ++++++++++++++++++++++
mapping data assosiation time 42.622547 ms 
--------------------stamp1317357899.274557113
points size 96455 
prepare time 16.401260 
sort q time 6.515623 
seperate points time 16.295661 
scan registration time 37.403272 ms *************
mapping data assosiation time 41.269221 ms 
publication time 11.519902 ms 
whole laserOdometry time 11.532155 ms 
 
mapping solver time 27.242023 ms 
filter time 5.600725 ms 
map prepare time 2.969862 ms
map corner num 65545  surf num 36302 
--------------------stamp1317357899.378356933
points size 96139 
sort q time 6.446835 
seperate points time 15.487369 
scan registration time 39.003516 ms *************
mapping data assosiation time 50.778401 ms 
-----t: 0.0729407
OdomCount 1324 & avg odom time 0.044790 ms ++++++++++++++++++++++
--------------------stamp1317357899.482177972
mapping solver time 55.750491 ms 
sort q time 6.724216 
seperate points time 14.149490 
-----t: 0.0588793
OdomCount 1325 & avg odom time 0.044801 ms ++++++++++++++++++++++
1317357899.482177972 WriteOdom laser_odom_to_init
1317357899.482177972 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 39.229421 ms 
filter time 8.269157 ms 
map prepare time 4.480572 ms
map corner num 66706  surf num 36911 
sort q time 5.709087 
seperate points time 13.538241 
publication time 9.659931 ms 
whole laserOdometry time 9.668790 ms 
 
-----t: 0.0372825
OdomCount 1326 & avg odom time 0.044795 ms ++++++++++++++++++++++
1317357899.586023092 WriteOdom laser_odom_to_init
1317357899.586023092 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 36.516791 ms 
--------------------stamp1317357899.689870119
points size 93994 
sort q time 6.194493 
seperate points time 14.540838 
publication time 9.260004 ms 
whole laserOdometry time 9.274868 ms -----t: 0.0677296
OdomCount 1327 & avg odom time 0.044812 ms ++++++++++++++++++++++
mapping solver time 32.958202 ms 
mapping optimization time 177.590542 
add points time 0.888018 ms
--------------------stamp1317357899.793694019
points size 92442 
sort q time 5.284765 
seperate points time 11.835192 
publication time 8.730379 ms 
whole laserOdometry time 8.746363 ms 
 
-----t: 0.0395458
OdomCount 1328 & avg odom time 0.044808 ms ++++++++++++++++++++++
mapping solver time 31.202216 ms 
points size 91653 
sort q time 5.258715 
seperate points time 11.987391 
publication time 8.704317 ms 
whole laserOdometry time 8.718356 ms 
 
mapping solver time 34.041471 ms 
filter time 5.638772 ms 
map prepare time 2.673420 ms
map corner num 69004  surf num 37912 
build tree time 15.552166 ms 
points size 91057 
sort q time 4.863565 
seperate points time 10.137337 
mapping data assosiation time 43.148418 ms 
publication time 9.343390 ms 
whole laserOdometry time 9.362027 ms 
 
mapping solver time 42.285194 ms 
--------------------stamp1317357900.105114936
prepare time 11.583046 
sort q time 5.728745 
seperate points time 12.288166 
publication time 7.688695 ms 
whole laserOdometry time 7.704972 ms 
 
filter time 8.256205 ms 
-----t: 0.0588781
OdomCount 1331 & avg odom time 0.044806 ms ++++++++++++++++++++++
1317357900.105114936 WriteOdom laser_odom_to_init
1317357900.105114936 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 28.802562 ms 
whole mapping time 217.136093 ms +++++
mappingCount 961 & avg mapping time 136.781182 ms ++++++++++++++++++++++
--------------------stamp1317357900.208961963
build tree time 19.304324 ms 
sort q time 5.777087 
seperate points time 13.110958 
publication time 9.793492 ms 
whole laserOdometry time 9.807864 ms 
 
-----t: 0.0617458
OdomCount 1332 & avg odom time 0.044819 ms ++++++++++++++++++++++
1317357900.208961963 WriteOdom laser_odom_to_init
1317357900.208961963 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 44.070642 ms 
sort q time 6.047619 
seperate points time 13.769570 
publication time 10.993104 ms 
whole laserOdometry time 11.008654 ms 
 
-----t: 0.0529421
OdomCount 1333 & avg odom time 0.044825 ms ++++++++++++++++++++++
mapping solver time 42.604901 ms 
mapping optimization time 198.852748 
add points time 0.863621 ms
mapping pub time 2.140555 ms 
whole mapping time 213.637710 ms +++++
mappingCount 962 & avg mapping time 136.861077 ms ++++++++++++++++++++++
points size 94153 
sort q time 5.247159 
seperate points time 10.839559 
publication time 9.833871 ms 
whole laserOdometry time 9.847472 ms 
 
-----t: 0.0581981
OdomCount 1334 & avg odom time 0.044835 ms ++++++++++++++++++++++
--------------------stamp1317357900.520454883
points size 94711 
sort q time 5.810311 
seperate points time 17.661086 
publication time 11.032997 ms 
whole laserOdometry time 11.051664 ms 
 
mapping optimization time 197.645289 
filter time 8.481914 ms 
prepare time 15.539041 
sort q time 5.483869 
seperate points time 13.584312 
publication time 11.710015 ms 
whole laserOdometry time 11.728665 ms 
 
mapping data assosiation time 42.976226 ms 
--------------------stamp1317357900.728053092
points size 97558 
mapping solver time 47.230864 ms 
scan registration time 32.568589 ms *************
publication time 8.968212 ms 
whole laserOdometry time 8.983880 ms 
 
-----t: 0.0411826
OdomCount 1337 & avg odom time 0.044837 ms ++++++++++++++++++++++
1317357900.728053092 WriteOdom laser_odom_to_init
1317357900.728053092 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 41.706645 ms 
mapping solver time 33.229725 ms 
filter time 8.171998 ms 
map prepare time 4.239174 ms
map corner num 73516  surf num 40036 
sort q time 5.610166 
seperate points time 13.844814 
publication time 8.490915 ms 
whole laserOdometry time 8.498020 ms 
 
mapping data assosiation time 40.196107 ms 
--------------------stamp1317357900.935676097
points size 98959 
sort q time 6.090039 
seperate points time 14.974651 
publication time 9.916956 ms 
whole laserOdometry time 9.932967 ms 
 
mapping data assosiation time 45.662843 ms 
mapping solver time 35.489022 ms 
points size 99641 
mapping pub time 2.334471 ms 
whole mapping time 206.845013 ms +++++
mappingCount 965 & avg mapping time 137.085722 ms ++++++++++++++++++++++
1317357900.624253988 WriteOdom aft_mapped_to_init
prepare time 10.398582 
drop lidar frame in mapping for real time performance 
map prepare time 3.070137 ms
map corner num 74716  surf num 40624 
build tree time 20.068342 ms 
publication time 10.688548 ms 
whole laserOdometry time 10.706306 ms 
 
-----t: 0.0437546
OdomCount 1340 & avg odom time 0.044836 ms ++++++++++++++++++++++
1317357901.039521932 WriteOdom laser_odom_to_init
1317357901.039521932 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 41.728138 ms 
--------------------stamp1317357901.143343925
points size 100054 
sort q time 5.416742 
seperate points time 19.465272 
scan registration time 37.624434 ms *************
-----t: 0.0392056
OdomCount 1341 & avg odom time 0.044832 ms ++++++++++++++++++++++
mapping solver time 32.918822 ms 
--------------------stamp1317357901.247191905
points size 100767 
scan registration time 34.723053 ms *************
publication time 13.911454 ms 
whole laserOdometry time 13.928525 ms 
 
mapping data assosiation time 43.419222 ms 
--------------------stamp1317357901.351037025
points size 101906 
mapping solver time 47.250308 ms 
publication time 10.754780 ms 
whole laserOdometry time 10.769331 ms 
 
mapping data assosiation time 47.632008 ms 
--------------------stamp1317357901.454883098
mapping optimization time 202.720461 
filter time 9.995262 ms 
scan registration time 33.496129 ms *************
publication time 15.796528 ms 
whole laserOdometry time 15.826555 ms 
 
build tree time 24.659301 ms 
-----t: 0.0769471
OdomCount 1344 & avg odom time 0.044870 ms ++++++++++++++++++++++
--------------------stamp1317357901.558779001
prepare time 12.728773 
mapping solver time 50.214088 ms 
publication time 15.084756 ms 
whole laserOdometry time 15.100308 ms 
 
mapping data assosiation time 46.036713 ms 
points size 100127 
sort q time 6.550679 
seperate points time 15.925974 
filter time 9.885638 ms 
-----t: 0.0535163
OdomCount 1346 & avg odom time 0.044881 ms ++++++++++++++++++++++
build tree time 21.110520 ms 
points size 99699 
mapping data assosiation time 44.697093 ms 
publication time 10.295701 ms 
whole laserOdometry time 10.316770 ms 
 
-----t: 0.0440174
OdomCount 1347 & avg odom time 0.044880 ms ++++++++++++++++++++++
mapping solver time 51.511403 ms 
--------------------stamp1317357901.870460987
prepare time 10.420551 
sort q time 5.982238 
seperate points time 13.236057 
publication time 9.885568 ms 
whole laserOdometry time 9.899946 ms 
 
filter time 7.527678 ms 
map prepare time 2.999462 ms
map corner num 79287  surf num 43041 
build tree time 16.763176 ms 
--------------------stamp1317357901.974354982
points size 99271 
sort q time 5.380302 
seperate points time 13.238587 
publication time 11.979908 ms 
whole laserOdometry time 11.998579 ms 
 
mapping solver time 43.240601 ms 
--------------------stamp1317357902.078274011
mapping data assosiation time 40.735399 ms 
prepare time 10.046952 
scan registration time 28.772397 ms *************
mapping solver time 31.744754 ms 
mapping optimization time 177.903842 
add points time 0.931912 ms
drop lidar frame in mapping for real time performance 
map prepare time 3.157439 ms
map corner num 80450  surf num 43625 
build tree time 19.595977 ms 
--------------------stamp1317357902.182169914
prepare time 12.701128 
mapping data assosiation time 43.834103 ms 
sort q time 5.786340 
seperate points time 13.634665 
scan registration time 31.013133 ms *************
-----t: 0.0366536
OdomCount 1351 & avg odom time 0.044862 ms ++++++++++++++++++++++
publication time 8.491812 ms 
whole laserOdometry time 8.503749 ms 
 
--------------------stamp1317357902.286065101
prepare time 11.693118 
sort q time 5.982729 
seperate points time 13.344804 
publication time 10.542185 ms 
whole laserOdometry time 10.557861 ms 
 
[0m[ INFO] [1718805189.205303643, 1317357902.345388549]: Received 126159 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805189.205341652, 1317357902.345388549]: Data saved to 1317357901974354.pcd[0m
mapping pub time 3.952522 ms 
whole mapping time 213.687844 ms +++++
mappingCount 971 & avg mapping time 137.561474 ms ++++++++++++++++++++++
1317357901.974354982 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
1317357902.286065101 WriteOdom laser_odom_to_init
1317357902.286065101 WriteOdom aft_mapped_to_init_high_frec
points size 100548 
scan registration time 32.682292 ms *************
-----t: 0.0613651
OdomCount 1353 & avg odom time 0.044905 ms ++++++++++++++++++++++
mapping solver time 51.852305 ms 
points size 101014 
sort q time 6.185255 
seperate points time 13.119441 
publication time 11.324372 ms 
whole laserOdometry time 11.337318 ms 
 
mapping solver time 34.781862 ms 
mapping optimization time 210.779925 
add points time 0.915675 ms
map prepare time 3.298878 ms
map corner num 83009  surf num 45058 
--------------------stamp1317357902.597820997
build tree time 21.879949 ms 
sort q time 10.115771 
seperate points time 21.097516 
scan registration time 42.867212 ms *************
mapping data assosiation time 52.236507 ms 
-----t: 0.0554651
OdomCount 1355 & avg odom time 0.044930 ms ++++++++++++++++++++++
--------------------stamp1317357902.701765060
points size 101555 
sort q time 6.428391 
seperate points time 15.023049 
mapping data assosiation time 46.804950 ms 
-----t: 0.0497217
OdomCount 1356 & avg odom time 0.044934 ms ++++++++++++++++++++++
mapping solver time 32.259947 ms 
filter time 8.442781 ms 
map prepare time 3.412792 ms
map corner num 79113  surf num 42085 
prepare time 13.534586 
sort q time 5.965138 
seperate points time 14.742975 
publication time 9.242250 ms 
whole laserOdometry time 9.262064 ms 
 
mapping data assosiation time 45.391156 ms 
--------------------stamp1317357902.909626007
prepare time 11.525937 
sort q time 7.802816 
seperate points time 14.546209 
scan registration time 31.157479 ms *************
publication time 13.239438 ms 
whole laserOdometry time 13.256532 ms 
 
mapping data assosiation time 52.987410 ms 
points size 101603 
add points time 0.937515 ms
prepare time 14.047054 
sort q time 7.936673 
seperate points time 16.137597 
publication time 11.579049 ms 
whole laserOdometry time 11.596416 ms 
 
build tree time 26.091778 ms 
mapping data assosiation time 38.658337 ms 
points size 101571 
prepare time 13.300986 
scan registration time 31.810744 ms *************
mapping solver time 50.653437 ms 
-----t: 0.04384
OdomCount 1360 & avg odom time 0.044954 ms ++++++++++++++++++++++
mapping data assosiation time 41.827689 ms 
--------------------stamp1317357903.221383094
points size 100798 
sort q time 6.511838 
seperate points time 13.147937 
mapping solver time 41.461189 ms 
mapping optimization time 202.405841 
add points time 0.938415 ms
scan registration time 28.628638 ms *************
map prepare time 4.053548 ms
map corner num 81603  surf num 43204 
publication time 9.750510 ms 
whole laserOdometry time 9.766400 ms 
 
-----t: 0.0467669
OdomCount 1361 & avg odom time 0.044955 ms ++++++++++++++++++++++
--------------------stamp1317357903.325300931
prepare time 10.732815 
sort q time 5.977136 
seperate points time 13.745798 
publication time 12.128428 ms 
whole laserOdometry time 12.147367 ms 
 
mapping data assosiation time 39.100516 ms 
--------------------stamp1317357903.429219007
mapping solver time 26.637453 ms 
filter time 9.319253 ms 
map prepare time 4.384667 ms
map corner num 82875  surf num 43835 
publication time 10.432783 ms 
whole laserOdometry time 10.445870 ms 
 
-----t: 0.0677127
OdomCount 1363 & avg odom time 0.044968 ms ++++++++++++++++++++++
mapping data assosiation time 40.584759 ms 
points size 100143 
sort q time 6.162812 
seperate points time 15.057803 
mapping solver time 44.990117 ms 
publication time 10.680051 ms 
whole laserOdometry time 10.695450 ms 
 
-----t: 0.0701471
OdomCount 1364 & avg odom time 0.044986 ms ++++++++++++++++++++++
--------------------stamp1317357903.637032032
points size 99988 
filter time 8.098696 ms 
publication time 11.734718 ms 
whole laserOdometry time 11.749030 ms 
 
-----t: 0.0549572
OdomCount 1365 & avg odom time 0.044994 ms ++++++++++++++++++++++
mapping data assosiation time 38.002389 ms 
points size 100395 
sort q time 6.180666 
seperate points time 14.185750 
mapping solver time 59.825802 ms 
-----t: 0.0816078
OdomCount 1366 & avg odom time 0.045020 ms ++++++++++++++++++++++
points size 100595 
sort q time 7.673863 
seperate points time 22.157050 
publication time 12.053148 ms 
whole laserOdometry time 12.066481 ms 
 
mapping optimization time 240.314440 
-----t: 0.0582519
OdomCount 1367 & avg odom time 0.045030 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357903.948621034
points size 100544 
sort q time 5.989910 
seperate points time 14.331243 
mapping data assosiation time 39.492450 ms 
-----t: 0.0459626
OdomCount 1368 & avg odom time 0.045031 ms ++++++++++++++++++++++
mapping solver time 35.338338 ms 
--------------------stamp1317357904.052443981
points size 99810 
sort q time 5.510724 
seperate points time 13.937988 
mapping solver time 26.640218 ms 
filter time 10.268192 ms 
map prepare time 3.108336 ms
map corner num 86426  surf num 45351 
build tree time 20.025086 ms 
points size 99456 
sort q time 6.156262 
seperate points time 12.659790 
publication time 8.787243 ms 
whole laserOdometry time 8.799076 ms 
 
mapping solver time 44.566181 ms 
-----t: 0.0693336
OdomCount 1370 & avg odom time 0.045047 ms ++++++++++++++++++++++
mapping data assosiation time 37.209206 ms 
points size 99288 
mapping solver time 32.251135 ms 
filter time 8.551900 ms 
publication time 11.457326 ms 
whole laserOdometry time 11.476212 ms 
 
build tree time 24.906794 ms 
--------------------stamp1317357904.363941907
points size 99617 
sort q time 5.621198 
seperate points time 13.531281 
mapping solver time 35.847573 ms 
publication time 10.201493 ms 
whole laserOdometry time 10.218949 ms 
 
mapping data assosiation time 34.561793 ms 
mapping solver time 21.114650 ms 
--------------------stamp1317357904.467781066
points size 99759 
sort q time 5.812564 
seperate points time 14.672001 
map prepare time 2.860593 ms
map corner num 88662  surf num 46154 
publication time 10.237868 ms 
whole laserOdometry time 10.254092 ms 
 
-----t: 0.0599623
OdomCount 1373 & avg odom time 0.045052 ms ++++++++++++++++++++++
1317357904.467781066 WriteOdom laser_odom_to_init
1317357904.467781066 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357904.571604013
points size 99666 
mapping solver time 33.035654 ms 
publication time 10.095534 ms 
whole laserOdometry time 10.112511 ms 
 
mapping data assosiation time 41.955891 ms 
-----t: 0.0705987
OdomCount 1374 & avg odom time 0.045071 ms ++++++++++++++++++++++
mapping solver time 25.773528 ms 
filter time 8.587831 ms 
sort q time 5.272743 
seperate points time 11.801383 
build tree time 29.419695 ms 
-----t: 0.0496635
OdomCount 1375 & avg odom time 0.045074 ms ++++++++++++++++++++++
mapping data assosiation time 35.234565 ms 
--------------------stamp1317357904.779249906
points size 101131 
sort q time 6.836622 
seperate points time 14.400398 
mapping data assosiation time 39.542313 ms 
publication time 11.418764 ms 
whole laserOdometry time 11.432770 ms 
 
-----t: 0.0538106
OdomCount 1376 & avg odom time 0.045080 ms ++++++++++++++++++++++
filter time 8.201244 ms 
--------------------stamp1317357904.883050918
points size 101165 
sort q time 7.147490 
seperate points time 17.552477 
scan registration time 40.647790 ms *************
-----t: 0.0484001
OdomCount 1377 & avg odom time 0.045083 ms ++++++++++++++++++++++
publication time 9.028387 ms 
whole laserOdometry time 9.042130 ms 
 
mapping optimization time 173.192595 
filter time 6.680648 ms 
map prepare time 2.672861 ms
map corner num 65150  surf num 33848 
--------------------stamp1317357905.090599060
prepare time 13.579719 
sort q time 6.949526 
seperate points time 14.394492 
publication time 9.128478 ms 
whole laserOdometry time 9.145311 ms 
 
mapping data assosiation time 28.105719 ms 
--------------------stamp1317357905.194374084
points size 99217 
filter time 6.916597 ms 
scan registration time 34.848608 ms *************
build tree time 18.225450 ms 
-----t: 0.0448091
OdomCount 1380 & avg odom time 0.045082 ms ++++++++++++++++++++++
mapping data assosiation time 30.701308 ms 
--------------------stamp1317357905.298124074
points size 99141 
sort q time 5.643271 
seperate points time 12.103805 
mapping data assosiation time 35.702921 ms 
mapping solver time 33.959129 ms 
mapping optimization time 153.745828 
add points time 1.076541 ms
-----t: 0.0666116
OdomCount 1381 & avg odom time 0.045097 ms ++++++++++++++++++++++
1317357905.298124074 WriteOdom laser_odom_to_init
1317357905.298124074 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.625130 ms
map corner num 66996  surf num 34673 
--------------------stamp1317357905.401876926
prepare time 13.793962 
sort q time 6.034990 
seperate points time 14.726740 
mapping data assosiation time 37.072887 ms 
-----t: 0.065032
OdomCount 1382 & avg odom time 0.045112 ms ++++++++++++++++++++++
1317357905.401876926 WriteOdom laser_odom_to_init
1317357905.401876926 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357905.505655050
points size 99709 
sort q time 5.932857 
seperate points time 12.473747 
mapping optimization time 148.967143 
map prepare time 2.822552 ms
map corner num 67856  surf num 35065 
build tree time 20.555182 ms 
-----t: 0.0654493
OdomCount 1383 & avg odom time 0.045126 ms ++++++++++++++++++++++
1317357905.505655050 WriteOdom laser_odom_to_init
1317357905.505655050 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357905.609405994
points size 100996 
sort q time 5.946358 
seperate points time 14.564334 
publication time 12.930941 ms 
whole laserOdometry time 12.944197 ms 
 
-----t: 0.0484992
OdomCount 1384 & avg odom time 0.045129 ms ++++++++++++++++++++++
mapping solver time 24.623195 ms 
mapping pub time 2.288639 ms 
whole mapping time 163.286982 ms +++++
mappingCount 988 & avg mapping time 138.553055 ms ++++++++++++++++++++++
sort q time 6.131003 
seperate points time 14.680212 
publication time 10.687454 ms 
whole laserOdometry time 10.704527 ms 
 
mapping data assosiation time 35.662107 ms 
mapping solver time 24.994329 ms 
--------------------stamp1317357905.816854000
prepare time 12.765680 
sort q time 7.202260 
seperate points time 14.454174 
publication time 10.328838 ms 
whole laserOdometry time 10.343992 ms 
 
filter time 6.431572 ms 
map prepare time 2.619340 ms
map corner num 69737  surf num 36078 
build tree time 15.446228 ms 
--------------------stamp1317357905.920603036
points size 102529 
sort q time 6.378901 
seperate points time 15.755063 
mapping solver time 38.127974 ms 
publication time 9.275006 ms 
whole laserOdometry time 9.291504 ms 
 
-----t: 0.0548226
OdomCount 1387 & avg odom time 0.045134 ms ++++++++++++++++++++++
--------------------stamp1317357906.024357080
points size 102711 
mapping solver time 27.638560 ms 
mapping optimization time 157.123131 
prepare time 15.034424 
add points time 1.783981 ms
map prepare time 4.178523 ms
map corner num 70870  surf num 36789 
build tree time 19.381488 ms 
mapping data assosiation time 31.740502 ms 
--------------------stamp1317357906.128108978
mapping solver time 28.722176 ms 
sort q time 5.728947 
seperate points time 12.694936 
mapping data assosiation time 35.897175 ms 
mapping solver time 29.534713 ms 
filter time 7.710643 ms 
--------------------stamp1317357906.231883049
points size 103338 
sort q time 5.668746 
seperate points time 14.109394 
mapping data assosiation time 37.134310 ms 
-----t: 0.048147
OdomCount 1390 & avg odom time 0.045131 ms ++++++++++++++++++++++
1317357906.231883049 WriteOdom laser_odom_to_init
1317357906.231883049 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 32.738259 ms 
--------------------stamp1317357906.335658073
points size 103386 
sort q time 6.043208 
seperate points time 14.550081 
add points time 1.254068 ms
mapping pub time 2.629197 ms 
whole mapping time 168.539549 ms +++++
mappingCount 992 & avg mapping time 138.659407 ms ++++++++++++++++++++++
-----t: 0.0590135
OdomCount 1391 & avg odom time 0.045140 ms ++++++++++++++++++++++
build tree time 21.153678 ms 
--------------------stamp1317357906.439434051
mapping data assosiation time 34.206182 ms 
sort q time 6.252881 
seperate points time 15.115324 
mapping solver time 42.449885 ms 
-----t: 0.0651315
OdomCount 1392 & avg odom time 0.045155 ms ++++++++++++++++++++++
mapping data assosiation time 38.431954 ms 
points size 103309 
mapping solver time 31.630495 ms 
scan registration time 37.234305 ms *************
publication time 9.833169 ms 
whole laserOdometry time 9.851214 ms 
 
build tree time 25.085832 ms 
--------------------stamp1317357906.646981000
prepare time 11.938335 
sort q time 6.033054 
seperate points time 14.823912 
mapping solver time 39.459074 ms 
-----t: 0.0500284
OdomCount 1394 & avg odom time 0.045166 ms ++++++++++++++++++++++
mapping data assosiation time 37.295611 ms 
--------------------stamp1317357906.750757932
points size 103026 
prepare time 25.187757 
sort q time 5.570837 
seperate points time 14.038059 
-----t: 0.0435689
OdomCount 1395 & avg odom time 0.045165 ms ++++++++++++++++++++++
mapping data assosiation time 35.426099 ms 
--------------------stamp1317357906.854557037
points size 103008 
prepare time 15.680206 
scan registration time 34.441563 ms *************
publication time 10.089766 ms 
whole laserOdometry time 10.106182 ms 
 
mapping solver time 25.024331 ms 
filter time 7.608374 ms 
map prepare time 2.933843 ms
map corner num 76173  surf num 39452 
build tree time 15.510544 ms 
points size 101373 
sort q time 5.603921 
seperate points time 13.533954 
publication time 10.114956 ms 
whole laserOdometry time 10.134683 ms 
 
mapping solver time 33.922122 ms 
mapping data assosiation time 30.515662 ms 
points size 101160 
mapping optimization time 143.511871 
scan registration time 30.659159 ms *************
map prepare time 3.669792 ms
map corner num 77324  surf num 40043 
build tree time 22.389515 ms 
mapping data assosiation time 31.223484 ms 
--------------------stamp1317357907.165997028
points size 100576 
mapping solver time 34.155928 ms 
sort q time 5.872638 
seperate points time 14.621090 
publication time 11.248493 ms 
whole laserOdometry time 11.260868 ms 
 
mapping data assosiation time 40.463490 ms 
-----t: 0.063979
OdomCount 1399 & avg odom time 0.045176 ms ++++++++++++++++++++++
1317357907.165997028 WriteOdom laser_odom_to_init
1317357907.165997028 WriteOdom aft_mapped_to_init_high_frec
filter time 6.160997 ms 
map prepare time 4.944836 ms
map corner num 78492  surf num 40705 
points size 99525 
build tree time 22.595914 ms 
sort q time 6.004629 
seperate points time 14.883649 
mapping data assosiation time 40.998960 ms 
-----t: 0.0811465
OdomCount 1400 & avg odom time 0.045202 ms ++++++++++++++++++++++
mapping solver time 45.699087 ms 
sort q time 7.131514 
seperate points time 14.953689 
mapping data assosiation time 40.113183 ms -----t: 0.0552788
OdomCount 1401 & avg odom time 0.045209 ms ++++++++++++++++++++++
1317357907.373621940 WriteOdom laser_odom_to_init
1317357907.373621940 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.326965 ms 
filter time 6.421531 ms 
points size 98693 
prepare time 13.256417 
sort q time 6.745677 
seperate points time 14.992042 
publication time 10.569783 ms 
whole laserOdometry time 10.585432 ms 
 
mapping data assosiation time 42.285275 ms 
mapping solver time 28.631885 ms 
--------------------stamp1317357907.581268072
prepare time 13.391542 
mapping data assosiation time 35.947682 ms 
-----t: 0.0433716
OdomCount 1403 & avg odom time 0.045210 ms ++++++++++++++++++++++
1317357907.581268072 WriteOdom laser_odom_to_init
1317357907.581268072 WriteOdom aft_mapped_to_init_high_frec
publication time 11.911095 ms 
whole laserOdometry time 11.925580 ms 
 
mapping solver time 35.935834 ms 
filter time 6.378761 ms 
map prepare time 2.904412 ms
map corner num 80516  surf num 41801 
build tree time 22.141421 ms 
points size 99112 
sort q time 5.402306 
seperate points time 13.731361 
publication time 9.953163 ms 
whole laserOdometry time 9.969204 ms 
 
mapping solver time 33.164766 ms 
mapping data assosiation time 32.033882 ms 
points size 99601 
prepare time 10.084958 
scan registration time 28.318992 ms *************
filter time 9.226705 ms 
drop lidar frame in mapping for real time performance 
map prepare time 3.527625 ms
map corner num 81636  surf num 42553 
build tree time 20.171444 ms 
--------------------stamp1317357907.892779111
points size 100492 
sort q time 6.433183 
seperate points time 14.120315 
scan registration time 28.321895 ms *************
publication time 11.679972 ms 
whole laserOdometry time 11.706892 ms 
 
-----t: 0.0432186
OdomCount 1406 & avg odom time 0.045205 ms ++++++++++++++++++++++
mapping data assosiation time 38.032327 ms 
mapping solver time 24.491483 ms 
filter time 8.273780 ms 
prepare time 18.421528 
sort q time 6.383996 
seperate points time 16.204498 
map prepare time 4.284178 ms
map corner num 82863  surf num 43306 
publication time 12.972404 ms 
whole laserOdometry time 12.985122 ms 
 
build tree time 31.219129 ms 
--------------------stamp1317357908.100357055
points size 103121 
sort q time 6.412586 
seperate points time 15.956297 
mapping data assosiation time 43.714688 ms 
publication time 10.951944 ms 
whole laserOdometry time 10.983198 ms 
 
mapping solver time 37.372452 ms 
-----t: 0.0690573
OdomCount 1408 & avg odom time 0.045245 ms ++++++++++++++++++++++
--------------------stamp1317357908.204130887
points size 102620 
mapping solver time 24.993163 ms 
mapping pub time 2.672994 ms 
whole mapping time 191.593534 ms +++++
mappingCount 1002 & avg mapping time 139.097123 ms ++++++++++++++++++++++
publication time 13.577988 ms 
whole laserOdometry time 13.590899 ms 
 
1317357908.204130887 WriteOdom laser_odom_to_init
--------------------stamp1317357908.307907104
points size 102289 
sort q time 6.368902 
seperate points time 15.743501 
scan registration time 39.174317 ms *************
publication time 19.437686 ms 
whole laserOdometry time 19.453054 ms 
 
mapping data assosiation time 42.313312 ms 
--------------------stamp1317357908.411680936
prepare time 12.464978 
build tree time 28.610677 ms 
mapping data assosiation time 36.324918 ms 
points size 98683 
sort q time 5.629295 
seperate points time 12.961215 
publication time 10.186214 ms 
whole laserOdometry time 10.200554 ms 
 
-----t: 0.0482577
OdomCount 1412 & avg odom time 0.045268 ms ++++++++++++++++++++++
mapping solver time 22.729467 ms 
filter time 7.176882 ms 
points size 95902 
sort q time 5.149797 
seperate points time 12.228776 
publication time 9.046713 ms mapping data assosiation time 43.948906 ms 
-----t: 0.0700179
OdomCount 1413 & avg odom time 0.045285 ms ++++++++++++++++++++++
1317357908.619184970 WriteOdom laser_odom_to_init
1317357908.619184970 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357908.722935914
prepare time 12.209642 
sort q time 5.965176 
seperate points time 12.976637 
publication time 10.350043 ms 
whole laserOdometry time 10.370972 ms 
 
mapping data assosiation time 43.795758 ms 
mapping solver time 24.754580 ms 
mapping optimization time 181.707875 
add points time 0.878241 ms
map prepare time 3.564378 ms
map corner num 87940  surf num 46547 
points size 93122 
sort q time 5.287350 
seperate points time 12.779738 
publication time 9.994377 ms 
whole laserOdometry time 10.010340 ms 
 
mapping data assosiation time 46.617440 ms 
mapping solver time 33.060474 ms 
points size 91225 
sort q time 5.435741 
seperate points time 12.588104 
mapping data assosiation time 41.129660 ms 
publication time 10.474017 ms 
whole laserOdometry time 10.489020 ms 
 
-----t: 0.051944
OdomCount 1416 & avg odom time 0.045322 ms ++++++++++++++++++++++
mapping solver time 35.118486 ms 
filter time 7.083447 ms 
--------------------stamp1317357909.034137010
prepare time 10.949966 
sort q time 6.186323 
seperate points time 12.053197 
publication time 11.921484 ms 
whole laserOdometry time 11.942397 ms 
 
-----t: 0.0662713
OdomCount 1417 & avg odom time 0.045337 ms ++++++++++++++++++++++
mapping solver time 33.114158 ms 
--------------------stamp1317357909.137890100
points size 91495 
sort q time 5.554315 
seperate points time 13.348890 
publication time 12.408790 ms 
whole laserOdometry time 12.421498 ms 
 
1317357909.137890100 WriteOdom aft_mapped_to_init_high_frec
filter time 7.550760 ms 
map prepare time 3.059547 ms
map corner num 90485  surf num 47931 
--------------------stamp1317357909.241640090
points size 94876 
sort q time 6.441838 
seperate points time 22.364166 
scan registration time 40.280725 ms *************
publication time 13.991308 ms 
whole laserOdometry time 14.008944 ms 
 
-----t: 0.0499549
OdomCount 1419 & avg odom time 0.045344 ms ++++++++++++++++++++++
mapping solver time 43.761703 ms 
points size 94931 
scan registration time 34.873465 ms *************
publication time 9.828743 ms 
whole laserOdometry time 9.842549 ms 
 
-----t: 0.05933
OdomCount 1420 & avg odom time 0.045354 ms ++++++++++++++++++++++
filter time 7.409161 ms 
map prepare time 2.956521 ms
map corner num 91805  surf num 48550 
points size 94447 
sort q time 7.226307 
seperate points time 14.867888 
publication time 11.233227 ms 
whole laserOdometry time 11.269937 ms 
 
-----t: 0.0517095
OdomCount 1421 & avg odom time 0.045358 ms ++++++++++++++++++++++
--------------------stamp1317357909.552941083
prepare time 12.976739 
sort q time 5.829288 
seperate points time 13.185785 
mapping data assosiation time 42.030511 ms 
-----t: 0.0390071
OdomCount 1422 & avg odom time 0.045354 ms ++++++++++++++++++++++
mapping solver time 35.048921 ms 
filter time 8.955763 ms 
--------------------stamp1317357909.656666994
points size 96852 
build tree time 23.591953 ms 
scan registration time 32.032563 ms *************
-----t: 0.0397958
OdomCount 1423 & avg odom time 0.045350 ms ++++++++++++++++++++++
mapping solver time 30.456201 ms 
--------------------stamp1317357909.760392904
prepare time 10.636290 
sort q time 5.979666 
seperate points time 12.714026 
-----t: 0.0398531
OdomCount 1424 & avg odom time 0.045346 ms ++++++++++++++++++++++
mapping solver time 36.608700 ms 
filter time 7.402377 ms 
--------------------stamp1317357909.864098072
prepare time 10.575739 
sort q time 5.574961 
seperate points time 13.495693 
publication time 10.015053 ms 
whole laserOdometry time 10.032947 ms 
 
-----t: 0.0479023
OdomCount 1425 & avg odom time 0.045348 ms ++++++++++++++++++++++
1317357909.864098072 WriteOdom laser_odom_to_init
1317357909.864098072 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 32.715917 ms 
--------------------stamp1317357909.967799901
points size 100015 
sort q time 6.260436 
seperate points time 12.846693 
mapping solver time 25.922235 ms 
filter time 11.127582 ms 
[0m[ INFO] [1718805196.880302873, 1317357910.021215575]: Received 146074 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805196.880517185, 1317357910.021215575]: Data saved to 1317357909656666.pcd[0m
build tree time 23.678585 ms 
--------------------stamp1317357910.071527004
points size 101208 
prepare time 12.768272 
scan registration time 31.585889 ms *************
publication time 17.580369 ms 
whole laserOdometry time 17.596208 ms 
 
mapping solver time 64.603136 ms 
--------------------stamp1317357910.175254106
prepare time 13.892700 
sort q time 6.937793 
seperate points time 16.019353 
publication time 10.498239 ms 
whole laserOdometry time 10.516008 ms 
 
mapping optimization time 216.474390 
mapping pub time 2.372254 ms 
whole mapping time 232.592271 ms +++++
mappingCount 1012 & avg mapping time 139.687957 ms ++++++++++++++++++++++
1317357909.864098072 WriteOdom aft_mapped_to_init
--------------------stamp1317357910.278978109
points size 103162 
sort q time 6.321986 
seperate points time 16.317435 
mapping data assosiation time 46.083161 ms 
publication time 15.049435 ms 
whole laserOdometry time 15.065409 ms 
 
1317357910.278978109 WriteOdom laser_odom_to_init
1317357910.278978109 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 40.982638 ms 
--------------------stamp1317357910.382700920
points size 103312 
sort q time 6.447911 
seperate points time 15.743440 
publication time 11.181300 ms 
whole laserOdometry time 11.196948 ms 
 
1317357910.382700920 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
build tree time 16.016279 ms 
points size 103684 
sort q time 6.437216 
seperate points time 15.889404 
mapping data assosiation time 47.672000 ms 
publication time 14.643957 ms 
whole laserOdometry time 14.657747 ms 
 
-----t: 0.0576995
OdomCount 1431 & avg odom time 0.045410 ms ++++++++++++++++++++++
mapping solver time 43.094559 ms 
--------------------stamp1317357910.590193986
prepare time 11.355902 
mapping data assosiation time 40.453802 ms 
publication time 10.951007 ms 
whole laserOdometry time 10.969718 ms 
 
mapping solver time 38.216331 ms 
filter time 6.038298 ms 
map prepare time 3.138422 ms
map corner num 66809  surf num 35570 
build tree time 14.361466 ms 
--------------------stamp1317357910.693928003
points size 104221 
mapping data assosiation time 41.357298 ms 
scan registration time 40.972836 ms *************
publication time 12.302294 ms 
whole laserOdometry time 12.317148 ms 
 
--------------------stamp1317357910.798357009
points size 104357 
prepare time 10.890008 
scan registration time 30.831423 ms *************
filter time 6.874041 ms 
publication time 18.305491 ms 
whole laserOdometry time 18.319750 ms 
 
build tree time 18.236714 ms 
--------------------stamp1317357910.902136087
points size 102998 
sort q time 5.827868 
seperate points time 14.343743 
mapping solver time 41.972315 ms 
-----t: 0.057209
OdomCount 1435 & avg odom time 0.045425 ms ++++++++++++++++++++++
mapping data assosiation time 38.449254 ms 
--------------------stamp1317357911.005229949
points size 103076 
mapping solver time 34.221350 ms 
sort q time 5.734996 
seperate points time 14.334214 
1317357910.693928003 WriteOdom aft_mapped_to_init
publication time 11.211038 ms 
whole laserOdometry time 11.259011 ms 
 
-----t: 0.0554947
OdomCount 1436 & avg odom time 0.045432 ms ++++++++++++++++++++++
mapping data assosiation time 38.195034 ms 
points size 102957 
sort q time 6.973364 
seperate points time 15.015009 
publication time 12.102590 ms 
whole laserOdometry time 12.116065 ms 
 
-----t: 0.0642608
OdomCount 1437 & avg odom time 0.045445 ms ++++++++++++++++++++++
--------------------stamp1317357911.212730884
points size 102708 
mapping solver time 36.400570 ms 
map prepare time 3.079210 ms
map corner num 70434  surf num 37121 
-----t: 0.0478774
OdomCount 1438 & avg odom time 0.045447 ms ++++++++++++++++++++++
1317357911.212730884 WriteOdom laser_odom_to_init
build tree time 23.018584 ms 
1317357911.212730884 WriteOdom aft_mapped_to_init_high_frec
publication time 16.573136 ms 
whole laserOdometry time 16.587206 ms 
 
mapping data assosiation time 38.200440 ms 
points size 102699 
sort q time 6.732298 
seperate points time 15.533580 
mapping solver time 49.238447 ms 
-----t: 0.0570538
OdomCount 1439 & avg odom time 0.045455 ms ++++++++++++++++++++++
mapping data assosiation time 44.219790 ms 
--------------------stamp1317357911.420231103
points size 103013 
mapping solver time 34.490335 ms 
mapping pub time 3.087162 ms 
whole mapping time 207.566431 ms +++++
mappingCount 1018 & avg mapping time 140.022330 ms ++++++++++++++++++++++
1317357911.005229950 WriteOdom aft_mapped_to_init
scan registration time 38.568404 ms *************
-----t: 0.0430698
OdomCount 1440 & avg odom time 0.045453 ms ++++++++++++++++++++++
1317357911.420231103 WriteOdom laser_odom_to_init
1317357911.420231103 WriteOdom aft_mapped_to_init_high_frec
publication time 11.559819 ms 
whole laserOdometry time 11.576327 ms 
 
mapping data assosiation time 35.028634 ms 
prepare time 11.673293 
sort q time 6.090560 
seperate points time 14.497916 
mapping solver time 44.497137 ms 
-----t: 0.0525075
OdomCount 1441 & avg odom time 0.045458 ms ++++++++++++++++++++++
mapping data assosiation time 38.307043 ms 
--------------------stamp1317357911.627747058
mapping solver time 31.652482 ms 
filter time 8.535532 ms 
scan registration time 34.732575 ms *************
publication time 11.075544 ms 
whole laserOdometry time 11.120241 ms 
 
build tree time 23.383483 ms 
-----t: 0.0410774
OdomCount 1442 & avg odom time 0.045455 ms ++++++++++++++++++++++
1317357911.627747058 WriteOdom laser_odom_to_init
mapping data assosiation time 35.488978 ms 
--------------------stamp1317357911.731520891
points size 102659 
sort q time 5.581696 
seperate points time 13.773543 
publication time 11.775140 ms 
whole laserOdometry time 11.796123 ms 
 
mapping data assosiation time 38.690512 ms 
--------------------stamp1317357911.835330009
prepare time 13.636666 
sort q time 5.697676 
seperate points time 12.450474 
build tree time 20.442815 ms 
1317357911.835330009 WriteOdom laser_odom_to_init
mapping data assosiation time 40.142851 ms 
--------------------stamp1317357911.939114093
points size 102116 
mapping solver time 44.014332 ms 
scan registration time 34.602180 ms *************
publication time 11.032829 ms 1317357911.939114093 WriteOdom laser_odom_to_init
mapping solver time 29.995882 ms 
[0m[ INFO] [1718805198.905567470, 1317357912.044762670]: Received 114191 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805198.905620656, 1317357912.044762670]: Data saved to 1317357911627747.pcd[0m
sort q time 6.911471 
seperate points time 14.207847 
scan registration time 32.272147 ms *************
publication time 11.683430 ms 
whole laserOdometry time 11.700032 ms 
 
build tree time 24.096611 ms 
--------------------stamp1317357912.146648883
mapping data assosiation time 42.105243 ms 
points size 101801 
sort q time 8.011529 
seperate points time 19.651483 
-----t: 0.0572589
OdomCount 1447 & avg odom time 0.045475 ms ++++++++++++++++++++++
mapping data assosiation time 44.975704 ms 
prepare time 18.754432 
mapping solver time 37.468657 ms 
mapping optimization time 202.202985 
map prepare time 3.876698 ms
map corner num 76185  surf num 39824 
-----t: 0.0604827
OdomCount 1448 & avg odom time 0.045485 ms ++++++++++++++++++++++
publication time 14.127423 ms 
whole laserOdometry time 14.144097 ms 
 
--------------------stamp1317357912.354126930
points size 102714 
mapping data assosiation time 44.962560 ms 
publication time 9.236308 ms 
whole laserOdometry time 9.248734 ms 
 
mapping solver time 43.976066 ms 
--------------------stamp1317357912.457859039
prepare time 11.732747 
mapping solver time 29.653994 ms 
filter time 10.264422 ms 
-----t: 0.0439155
OdomCount 1450 & avg odom time 0.045487 ms ++++++++++++++++++++++
1317357912.457859039 WriteOdom laser_odom_to_init
1317357912.457859039 WriteOdom aft_mapped_to_init_high_frec
map prepare time 8.417260 ms
map corner num 77363  surf num 40487 
build tree time 23.402130 ms 
--------------------stamp1317357912.561614990
prepare time 11.325624 
mapping data assosiation time 38.942152 ms 
publication time 9.536442 ms 
whole laserOdometry time 9.552508 ms 
 
-----t: 0.049516
OdomCount 1451 & avg odom time 0.045490 ms ++++++++++++++++++++++
1317357912.561614990 WriteOdom laser_odom_to_init
1317357912.561614990 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 48.546100 ms 
--------------------stamp1317357912.665380001
points size 98096 
sort q time 5.376652 
seperate points time 11.576061 
publication time 8.238129 ms 
whole laserOdometry time 8.253897 ms 
 
mapping solver time 45.066473 ms 
mapping optimization time 193.806102 
add points time 0.891760 ms
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
build tree time 19.028733 ms 
--------------------stamp1317357912.769134044
prepare time 12.671287 
sort q time 5.775911 
seperate points time 13.388269 
publication time 10.112327 ms 
whole laserOdometry time 10.127610 ms 
 
mapping data assosiation time 33.249984 ms 
--------------------stamp1317357912.872888088
points size 96691 
prepare time 14.616254 
mapping solver time 28.400107 ms 
mapping optimization time 161.361569 
add points time 0.855935 ms
filter time 7.447747 ms 
sort q time 5.302645 
seperate points time 13.010277 
mapping pub time 2.476008 ms 
whole mapping time 176.133024 ms +++++
mappingCount 1025 & avg mapping time 140.455703 ms ++++++++++++++++++++++
1317357912.457859039 WriteOdom aft_mapped_to_init
scan registration time 33.005146 ms *************
map prepare time 3.786640 ms
map corner num 79909  surf num 42014 
-----t: 0.0385564
OdomCount 1454 & avg odom time 0.045488 ms ++++++++++++++++++++++
1317357912.872888088 WriteOdom laser_odom_to_init
1317357912.872888088 WriteOdom aft_mapped_to_init_high_frec
build tree time 21.373085 ms 
mapping data assosiation time 32.894938 ms 
mapping solver time 36.075744 ms 
mapping data assosiation time 31.837785 ms 
--------------------stamp1317357912.976654052
publication time 11.727180 ms 
whole laserOdometry time 11.744031 ms 
 
scan registration time 29.218268 ms *************
mapping pub time 5.988746 ms 
whole mapping time 183.669983 ms +++++
mappingCount 1026 & avg mapping time 140.497829 ms ++++++++++++++++++++++
1317357912.769134045 WriteOdom aft_mapped_to_init
prepare time 14.862878 
publication time 10.303619 ms 
whole laserOdometry time 10.318583 ms 
 
publication time 8.057387 ms 
whole laserOdometry time 8.071445 ms 
 
-----t: 0.0859211
OdomCount 1455 & avg odom time 0.045516 ms ++++++++++++++++++++++
mapping data assosiation time 61.623859 ms 
--------------------stamp1317357913.184175014
prepare time 16.342864 
-----t: 0.0682114
OdomCount 1456 & avg odom time 0.045532 ms ++++++++++++++++++++++
mapping solver time 57.269912 ms 
-----t: 0.0645476
OdomCount 1457 & avg odom time 0.045545 ms ++++++++++++++++++++++
1317357913.184175014 WriteOdom laser_odom_to_init
1317357913.184175014 WriteOdom aft_mapped_to_init_high_frec
prepare time 16.037331 
sort q time 5.317712 
seperate points time 13.191852 
mapping solver time 30.858339 ms 
map prepare time 3.399935 ms
map corner num 82413  surf num 43323 
build tree time 20.493429 ms 
--------------------stamp1317357913.391645908
points size 97446 
sort q time 5.812762 
seperate points time 17.181575 
publication time 8.760414 ms 
whole laserOdometry time 8.773888 ms 
 
-----t: 0.0514835
OdomCount 1459 & avg odom time 0.045550 ms ++++++++++++++++++++++
mapping data assosiation time 35.352634 ms 
--------------------stamp1317357913.495374917
mapping solver time 25.919451 ms 
filter time 7.833227 ms 
sort q time 6.012648 
seperate points time 13.101899 
mapping pub time 2.421513 ms 
whole mapping time 176.857436 ms +++++
mappingCount 1028 & avg mapping time 140.638283 ms ++++++++++++++++++++++
1317357912.976654053 WriteOdom aft_mapped_to_init
scan registration time 27.769071 ms *************
build tree time 22.816732 ms 
-----t: 0.0622813
OdomCount 1460 & avg odom time 0.045561 ms ++++++++++++++++++++++
mapping data assosiation time 36.398605 ms 
--------------------stamp1317357913.599117040
points size 86510 
prepare time 11.322209 
scan registration time 27.367770 ms *************
publication time 7.557488 ms 
whole laserOdometry time 7.576845 ms 
 
mapping data assosiation time 36.017418 ms 
mapping solver time 28.615736 ms 
mapping solver time 29.686001 ms 
points size 79191 
sort q time 4.273562 
seperate points time 10.792763 
publication time 7.623318 ms 
whole laserOdometry time 7.638331 ms 
 
mapping solver time 24.249255 ms 
filter time 6.932183 ms 
map prepare time 2.836133 ms
map corner num 85676  surf num 44957 
build tree time 20.386534 ms 
--------------------stamp1317357913.910379886
points size 75115 
prepare time 10.624569 
publication time 7.466177 ms 
whole laserOdometry time 7.480843 ms 
 
mapping solver time 36.669969 ms 
mapping data assosiation time 30.374105 ms 
--------------------stamp1317357914.014189958
prepare time 12.219579 
mapping solver time 30.538907 ms 
mapping optimization time 153.875268 
add points time 0.769618 ms
publication time 11.171127 ms 
whole laserOdometry time 11.184201 ms 
 
-----t: 0.0303641
OdomCount 1465 & avg odom time 0.045525 ms ++++++++++++++++++++++
1317357914.014189958 WriteOdom laser_odom_to_init
1317357914.014189958 WriteOdom aft_mapped_to_init_high_frec
build tree time 23.856290 ms 
mapping data assosiation time 28.004197 ms 
--------------------stamp1317357914.117963075
prepare time 12.627470 
sort q time 4.327123 
seperate points time 10.714971 
publication time 7.228402 ms 
whole laserOdometry time 7.259829 ms 
 
-----t: 0.0355251
OdomCount 1466 & avg odom time 0.045518 ms ++++++++++++++++++++++
mapping solver time 26.700124 ms 
filter time 7.319339 ms 
--------------------stamp1317357914.221703052
prepare time 12.772978 
sort q time 5.739224 
seperate points time 11.646143 
publication time 6.604063 ms 
whole laserOdometry time 6.615505 ms 
 
-----t: 0.0533555
OdomCount 1467 & avg odom time 0.045523 ms ++++++++++++++++++++++
--------------------stamp1317357914.325433969
prepare time 12.532866 
sort q time 5.724895 
seperate points time 11.623927 
filter time 9.624337 ms 
build tree time 29.564096 ms 
-----t: 0.0822841
OdomCount 1468 & avg odom time 0.045548 ms ++++++++++++++++++++++
points size 93381 
scan registration time 35.985001 ms *************
-----t: 0.0609891
OdomCount 1469 & avg odom time 0.045559 ms ++++++++++++++++++++++
mapping data assosiation time 34.250997 ms 
--------------------stamp1317357914.532905101
points size 97359 
1317357914.221703053 WriteOdom aft_mapped_to_init
scan registration time 32.429885 ms *************
build tree time 25.494689 ms 
mapping data assosiation time 29.909676 ms 
--------------------stamp1317357914.636643886
prepare time 11.783855 
sort q time 5.703418 
seperate points time 13.558454 
publication time 9.296513 ms 
whole laserOdometry time 9.309715 ms 
 
mapping solver time 22.888239 ms 
filter time 6.687583 ms 
map prepare time 2.948526 ms
map corner num 91228  surf num 47110 
build tree time 19.827691 ms 
--------------------stamp1317357914.740406990
points size 99516 
mapping data assosiation time 31.948282 ms 
publication time 9.397151 ms 
whole laserOdometry time 9.427635 ms 
 
mapping data assosiation time 30.244124 ms 
--------------------stamp1317357914.844156980
points size 99868 
filter time 9.313441 ms 
-----t: 0.0591811
OdomCount 1473 & avg odom time 0.045549 ms ++++++++++++++++++++++
mapping data assosiation time 34.162286 ms 
points size 100281 
prepare time 13.290470 
scan registration time 30.480857 ms *************
publication time 10.576523 ms 
whole laserOdometry time 10.591171 ms 
 
mapping data assosiation time 35.410476 ms 
-----t: 0.0744068
OdomCount 1474 & avg odom time 0.045569 ms ++++++++++++++++++++++
1317357914.947882890 WriteOdom laser_odom_to_init
1317357914.947882890 WriteOdom aft_mapped_to_init_high_frec
filter time 7.853519 ms 
sort q time 5.973734 
seperate points time 14.083666 
build tree time 25.993039 ms 
-----t: 0.0420574
OdomCount 1475 & avg odom time 0.045567 ms ++++++++++++++++++++++
mapping data assosiation time 32.371685 ms 
mapping solver time 27.582149 ms 
points size 102609 
prepare time 15.261114 
mapping data assosiation time 35.305580 ms 
publication time 10.139616 ms 
whole laserOdometry time 10.154171 ms 
 
filter time 8.699743 ms 
build tree time 22.276680 ms 
points size 101507 
scan registration time 30.976522 ms *************
publication time 8.610768 ms 
whole laserOdometry time 8.624812 ms 
 
mapping solver time 41.911874 ms 
mapping data assosiation time 27.464869 ms 
points size 101679 
sort q time 6.702508 
seperate points time 12.768701 
filter time 9.934373 ms 
mapping pub time 2.640465 ms 
whole mapping time 179.125001 ms +++++
mappingCount 1039 & avg mapping time 140.939372 ms ++++++++++++++++++++++
1317357915.051634073 WriteOdom aft_mapped_to_init
publication time 10.171046 ms 
whole laserOdometry time 10.193686 ms 
 
map prepare time 3.738718 ms
map corner num 63716  surf num 33952 
-----t: 0.0505229
OdomCount 1478 & avg odom time 0.045588 ms ++++++++++++++++++++++
--------------------stamp1317357915.466732025
prepare time 14.187448 
publication time 9.350826 ms 
whole laserOdometry time 9.366247 ms 
 
-----t: 0.0516075
OdomCount 1479 & avg odom time 0.045592 ms ++++++++++++++++++++++
mapping optimization time 138.497735 
add points time 1.055150 ms
filter time 5.196602 ms 
points size 101178 
sort q time 5.754432 
seperate points time 13.218709 
scan registration time 32.300913 ms *************
mapping data assosiation time 34.888934 ms 
-----t: 0.0640529
OdomCount 1480 & avg odom time 0.045605 ms ++++++++++++++++++++++
--------------------stamp1317357915.674235105
mapping data assosiation time 29.919332 ms 
sort q time 5.522657 
seperate points time 12.341392 
filter time 5.298699 ms 
publication time 9.255455 ms 
whole laserOdometry time 9.269860 ms 
 
mapping pub time 35.783378 ms 
whole mapping time 181.855075 ms +++++
mappingCount 1041 & avg mapping time 140.988419 ms ++++++++++++++++++++++
build tree time 16.075797 ms 
points size 101256 
sort q time 6.245852 
seperate points time 13.483408 
publication time 10.739399 ms 
whole laserOdometry time 10.756595 ms 
 
1317357915.777986049 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 41.700451 ms 
mapping data assosiation time 27.922951 ms 
points size 101454 
sort q time 5.604437 
seperate points time 14.056623 
filter time 5.355262 ms 
map prepare time 3.715778 ms
map corner num 66594  surf num 35163 
build tree time 18.733067 ms 
-----t: 0.0721056
OdomCount 1483 & avg odom time 0.045621 ms ++++++++++++++++++++++
--------------------stamp1317357915.985461950
prepare time 14.870620 
sort q time 5.925620 
seperate points time 14.211948 
publication time 9.645956 ms 
whole laserOdometry time 9.659817 ms 
 
mapping data assosiation time 30.853480 ms 
mapping solver time 20.203509 ms 
mapping optimization time 138.038098 
add points time 1.174805 ms
map prepare time 3.254588 ms
map corner num 67572  surf num 35643 
points size 103062 
sort q time 6.272331 
seperate points time 13.763405 
mapping data assosiation time 34.660256 ms 
publication time 11.033804 ms 
whole laserOdometry time 11.048547 ms 
 
mapping solver time 36.120798 ms 
--------------------stamp1317357916.192961931
points size 102992 
sort q time 5.662419 
seperate points time 13.227504 
scan registration time 32.716009 ms *************
filter time 6.090075 ms 
-----t: 0.0475229
OdomCount 1486 & avg odom time 0.045625 ms ++++++++++++++++++++++
1317357916.192961931 WriteOdom laser_odom_to_init
1317357916.192961931 WriteOdom aft_mapped_to_init_high_frec
build tree time 19.852243 ms 
--------------------stamp1317357916.296737909
points size 101639 
sort q time 5.753312 
seperate points time 13.475684 
mapping solver time 34.304977 ms 
publication time 10.399573 ms 
whole laserOdometry time 10.413909 ms 
 
mapping data assosiation time 32.869059 ms 
--------------------stamp1317357916.400511980
points size 101458 
map prepare time 3.757576 ms
map corner num 69400  surf num 36361 
scan registration time 36.977544 ms *************
-----t: 0.0408843
OdomCount 1488 & avg odom time 0.045627 ms ++++++++++++++++++++++
mapping data assosiation time 31.851555 ms 
--------------------stamp1317357916.504287958
points size 101172 
scan registration time 41.245993 ms *************
publication time 10.033896 ms 
whole laserOdometry time 10.057061 ms 
 
-----t: 0.0664872
OdomCount 1489 & avg odom time 0.045641 ms ++++++++++++++++++++++
1317357916.192961931 WriteOdom aft_mapped_to_init
--------------------stamp1317357916.608110904
points size 101054 
sort q time 5.981593 
seperate points time 13.684686 
mapping data assosiation time 35.433728 ms 
publication time 12.217115 ms 
whole laserOdometry time 12.250665 ms 
 
-----t: 0.0602124
OdomCount 1490 & avg odom time 0.045650 ms ++++++++++++++++++++++
--------------------stamp1317357916.711982011
mapping data assosiation time 30.017205 ms 
sort q time 5.818158 
seperate points time 12.566725 
filter time 9.776029 ms 
-----t: 0.0479107
OdomCount 1491 & avg odom time 0.045652 ms ++++++++++++++++++++++
build tree time 17.100855 ms 
--------------------stamp1317357916.815876007
points size 101188 
prepare time 13.552454 
scan registration time 37.840601 ms *************
-----t: 0.0532889
OdomCount 1492 & avg odom time 0.045657 ms ++++++++++++++++++++++
mapping solver time 20.191267 ms 
mapping optimization time 138.394956 
add points time 0.974641 ms
map prepare time 4.156499 ms
map corner num 72347  surf num 37432 
prepare time 14.016430 
build tree time 20.958044 ms 
publication time 9.773655 ms 
whole laserOdometry time 9.786049 ms 
 
-----t: 0.0457443
OdomCount 1493 & avg odom time 0.045657 ms ++++++++++++++++++++++
mapping solver time 28.017617 ms 
--------------------stamp1317357917.023833990
prepare time 13.688550 
sort q time 7.057252 
seperate points time 14.527836 
mapping solver time 23.787633 ms 
filter time 8.568803 ms 
-----t: 0.0654298
OdomCount 1494 & avg odom time 0.045670 ms ++++++++++++++++++++++
--------------------stamp1317357917.127921104
points size 101664 
sort q time 5.671124 
seperate points time 13.425129 
publication time 10.111532 ms 
whole laserOdometry time 10.128031 ms 
 
-----t: 0.0507355
OdomCount 1495 & avg odom time 0.045674 ms ++++++++++++++++++++++
mapping data assosiation time 32.377643 ms 
--------------------stamp1317357917.232080936
points size 101508 
mapping solver time 36.459616 ms 
mapping optimization time 168.667140 
add points time 0.868771 ms
map prepare time 4.698788 ms
map corner num 74472  surf num 38404 
publication time 10.598979 ms 
whole laserOdometry time 10.615602 ms 
 
-----t: 0.0549822
OdomCount 1496 & avg odom time 0.045680 ms ++++++++++++++++++++++
--------------------stamp1317357917.336281061
points size 100849 
prepare time 14.588766 
scan registration time 33.918734 ms *************
publication time 10.836011 ms 
whole laserOdometry time 10.863169 ms 
 
mapping data assosiation time 35.858144 ms 
--------------------stamp1317357917.440489053
points size 100194 
[0m[ INFO] [1718805204.316663269, 1317357917.461982511]: Received 114456 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805204.316705719, 1317357917.461982511]: Data saved to 1317357917127921.pcd[0m
build tree time 22.435806 ms 
-----t: 0.0509438
OdomCount 1498 & avg odom time 0.045688 ms ++++++++++++++++++++++
1317357917.440489053 WriteOdom laser_odom_to_init
1317357917.440489053 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 41.104277 ms 
--------------------stamp1317357917.544723033
points size 99540 
sort q time 5.923143 
seperate points time 13.351066 
publication time 9.621943 ms 
whole laserOdometry time 9.650726 ms 
 
1317357917.544723033 WriteOdom laser_odom_to_init
1317357917.544723033 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 40.806884 ms 
--------------------stamp1317357917.649003028
filter time 9.408684 ms 
publication time 10.198067 ms 
whole laserOdometry time 10.214810 ms 
 
-----t: 0.0472853
OdomCount 1500 & avg odom time 0.045690 ms ++++++++++++++++++++++
mapping data assosiation time 40.889981 ms 
points size 97576 
sort q time 6.700945 
seperate points time 12.523545 
mapping solver time 46.174003 ms 
publication time 12.266993 ms 
whole laserOdometry time 14.429495 ms 
 
mapping data assosiation time 41.056301 ms 
--------------------stamp1317357917.857559919
points size 97361 
prepare time 13.449343 
scan registration time 32.113530 ms *************
drop lidar frame in mapping for real time performance 
-----t: 0.0493805
OdomCount 1502 & avg odom time 0.045693 ms ++++++++++++++++++++++
mapping data assosiation time 32.583763 ms 
points size 97288 
sort q time 5.480330 
seperate points time 11.865003 
publication time 11.075501 ms 
whole laserOdometry time 11.095821 ms 
 
-----t: 0.0516674
OdomCount 1503 & avg odom time 0.045697 ms ++++++++++++++++++++++
mapping data assosiation time 38.906286 ms 
mapping solver time 30.252642 ms 
points size 96953 
map prepare time 3.989362 ms
map corner num 78980  surf num 40618 
sort q time 7.047523 
seperate points time 14.019289 
scan registration time 29.190374 ms *************
build tree time 22.990591 ms 
-----t: 0.0411627
OdomCount 1504 & avg odom time 0.045694 ms ++++++++++++++++++++++
mapping data assosiation time 34.880437 ms 
--------------------stamp1317357918.170540094
points size 97455 
sort q time 5.376859 
seperate points time 12.799111 
scan registration time 29.944664 ms *************
publication time 9.901286 ms 
whole laserOdometry time 9.919131 ms 
 
-----t: 0.0449025
OdomCount 1505 & avg odom time 0.045694 ms ++++++++++++++++++++++
mapping solver time 29.134304 ms 
mapping optimization time 170.954463 
add points time 0.789351 ms
map prepare time 3.131879 ms
map corner num 80190  surf num 41403 
points size 98355 
build tree time 22.531404 ms 
sort q time 6.227511 
seperate points time 16.915824 
scan registration time 35.122203 ms *************
publication time 9.000024 ms 
whole laserOdometry time 9.017810 ms 
 
-----t: 0.0529893
OdomCount 1506 & avg odom time 0.045699 ms ++++++++++++++++++++++
mapping solver time 36.230559 ms 
points size 98686 
sort q time 5.873695 
seperate points time 12.368036 
publication time 9.216785 ms 
whole laserOdometry time 9.233033 ms 
 
-----t: 0.0515565
OdomCount 1507 & avg odom time 0.045703 ms ++++++++++++++++++++++
filter time 6.728024 ms 
map prepare time 2.933128 ms
map corner num 81365  surf num 42192 
build tree time 17.916047 ms 
points size 98804 
sort q time 5.719325 
seperate points time 12.937428 
mapping data assosiation time 41.833371 ms 
publication time 10.243217 ms 
whole laserOdometry time 10.255954 ms 
 
-----t: 0.0488796
OdomCount 1508 & avg odom time 0.045705 ms ++++++++++++++++++++++
mapping solver time 40.810660 ms 
--------------------stamp1317357918.587654113
points size 99130 
mapping solver time 38.238121 ms 
filter time 8.624736 ms 
scan registration time 64.013748 ms *************
mapping pub time 2.566725 ms 
whole mapping time 192.548912 ms +++++
mappingCount 1057 & avg mapping time 141.555937 ms ++++++++++++++++++++++
1317357918.274889946 WriteOdom aft_mapped_to_init
-----t: 0.0673854
OdomCount 1509 & avg odom time 0.045719 ms ++++++++++++++++++++++
publication time 13.139400 ms 
whole laserOdometry time 13.152686 ms 
 
points size 99499 
sort q time 5.657913 
seperate points time 14.138361 
publication time 8.034494 ms 
whole laserOdometry time 8.049394 ms 
 
mapping solver time 38.003643 ms 
points size 99892 
sort q time 6.240737 
seperate points time 12.409948 
mapping solver time 26.611042 ms 
filter time 8.920747 ms 
build tree time 21.668614 ms 
--------------------stamp1317357918.900182962
points size 100172 
sort q time 5.948768 
seperate points time 13.275359 
mapping solver time 34.732968 ms 
-----t: 0.0426984
OdomCount 1512 & avg odom time 0.045736 ms ++++++++++++++++++++++
mapping data assosiation time 38.065136 ms 
--------------------stamp1317357919.004309892
mapping solver time 29.072271 ms 
filter time 9.671183 ms 
publication time 10.492096 ms 
whole laserOdometry time 10.511161 ms 
 
build tree time 24.727158 ms 
mapping data assosiation time 40.043382 ms 
points size 100926 
sort q time 5.615396 
seperate points time 13.090879 
mapping solver time 47.949690 ms 
-----t: 0.0533397
OdomCount 1514 & avg odom time 0.045746 ms ++++++++++++++++++++++
1317357919.108396053 WriteOdom laser_odom_to_init
1317357919.108396053 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 39.302273 ms 
--------------------stamp1317357919.212460041
prepare time 13.812787 
filter time 8.797151 ms 
map prepare time 8.503179 ms
map corner num 85467  surf num 45319 
publication time 10.005717 ms 
whole laserOdometry time 10.039351 ms 
 
build tree time 24.331344 ms 
mapping data assosiation time 40.127135 ms 
points size 102701 
prepare time 13.931611 
scan registration time 33.392023 ms *************
mapping solver time 38.140721 ms 
-----t: 0.0452907
OdomCount 1516 & avg odom time 0.045753 ms ++++++++++++++++++++++
mapping solver time 22.815131 ms 
filter time 7.899937 ms 
sort q time 6.013693 
seperate points time 13.664480 
mapping pub time 38.551318 ms 
whole mapping time 224.549825 ms +++++
mappingCount 1061 & avg mapping time 141.779499 ms ++++++++++++++++++++++
-----t: 0.0507861
build tree time 25.084145 ms 
--------------------stamp1317357919.524571895
sort q time 5.655980 
seperate points time 13.550522 
publication time 9.716169 ms 
whole laserOdometry time 9.729259 ms 
 
mapping solver time 45.996840 ms 
-----t: 0.0728467
OdomCount 1518 & avg odom time 0.045774 ms ++++++++++++++++++++++
1317357919.524571895 WriteOdom laser_odom_to_init
1317357919.524571895 WriteOdom aft_mapped_to_init_high_frec
points size 102605 
sort q time 6.417007 
seperate points time 12.769789 
mapping optimization time 192.237707 
publication time 13.143642 ms 
whole laserOdometry time 13.158362 ms 
 
-----t: 0.0574833
OdomCount 1519 & avg odom time 0.045782 ms ++++++++++++++++++++++
build tree time 23.219528 ms 
--------------------stamp1317357919.732542037
prepare time 12.754024 
sort q time 5.551645 
seperate points time 13.563918 
mapping solver time 42.006473 ms 
mapping data assosiation time 36.062501 ms 
points size 102704 
prepare time 14.513523 
sort q time 5.897779 
seperate points time 14.637836 
mapping optimization time 189.617492 
map prepare time 3.959498 ms
map corner num 88597  surf num 47604 
build tree time 21.483384 ms 
--------------------stamp1317357919.940383911
points size 103072 
mapping data assosiation time 40.388329 ms 
scan registration time 33.201960 ms *************
publication time 11.231399 ms 
whole laserOdometry time 11.248335 ms 
 
mapping solver time 45.522298 ms 
--------------------stamp1317357920.044308900
points size 103624 
sort q time 5.660331 
seperate points time 14.247324 
mapping optimization time 181.972379 
filter time 8.226832 ms 
-----t: 0.055376
OdomCount 1523 & avg odom time 0.045792 ms ++++++++++++++++++++++
1317357920.044308900 WriteOdom laser_odom_to_init
1317357920.044308900 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357920.148180007
prepare time 10.642915 
sort q time 5.753551 
seperate points time 12.703344 
mapping solver time 34.862407 ms 
publication time 12.689781 ms 
whole laserOdometry time 12.708437 ms 
 
-----t: 0.0571588
OdomCount 1524 & avg odom time 0.045799 ms ++++++++++++++++++++++
mapping data assosiation time 42.201618 ms 
--------------------stamp1317357920.251995086
points size 103679 
filter time 7.823611 ms 
publication time 10.264686 ms 
whole laserOdometry time 10.279676 ms 
 
build tree time 26.075472 ms 
mapping data assosiation time 37.625309 ms 
points size 103612 
prepare time 13.152987 
scan registration time 32.653685 ms *************
publication time 9.559700 ms 
whole laserOdometry time 9.574692 ms 
 
-----t: 0.0473025
OdomCount 1526 & avg odom time 0.045801 ms ++++++++++++++++++++++
mapping data assosiation time 39.697405 ms 
--------------------stamp1317357920.459600925
points size 103677 
mapping optimization time 189.939829 
scan registration time 30.928441 ms *************
publication time 23.511340 ms 
whole laserOdometry time 23.627927 ms 
 
-----t: 0.0584076
OdomCount 1527 & avg odom time 0.045810 ms ++++++++++++++++++++++
1317357920.459600925 WriteOdom laser_odom_to_init
--------------------stamp1317357920.563275098
prepare time 11.033474 
scan registration time 37.812857 ms *************
-----t: 0.0407802
OdomCount 1528 & avg odom time 0.045806 ms ++++++++++++++++++++++
mapping data assosiation time 39.912357 ms 
--------------------stamp1317357920.666933059
prepare time 11.457348 
mapping solver time 34.612290 ms 
filter time 11.194366 ms 
build tree time 28.499025 ms 
--------------------stamp1317357920.770612955
mapping data assosiation time 51.783097 ms 
points size 103570 
-----t: 0.143833
OdomCount 1529 & avg odom time 0.045870 ms ++++++++++++++++++++++
mapping solver time 47.385343 ms 
--------------------stamp1317357920.874319076
points size 103008 
-----t: 0.0731915
OdomCount 1530 & avg odom time 0.045888 ms ++++++++++++++++++++++
sort q time 6.223883 
seperate points time 14.548421 
map prepare time 3.583498 ms
map corner num 94026  surf num 51005 
publication time 11.561969 ms 
whole laserOdometry time 11.578038 ms 
 
--------------------stamp1317357920.978020906
points size 102575 
sort q time 6.530967 
seperate points time 13.350858 
publication time 8.067063 ms 
whole laserOdometry time 8.088329 ms 
 
-----t: 0.043985
OdomCount 1532 & avg odom time 0.045888 ms ++++++++++++++++++++++
mapping data assosiation time 33.470227 ms 
--------------------stamp1317357921.081715106
points size 101616 
sort q time 5.582988 
seperate points time 13.158808 
map prepare time 4.243281 ms
map corner num 95165  surf num 51642 
-----t: 0.0418639
OdomCount 1533 & avg odom time 0.045886 ms ++++++++++++++++++++++
1317357921.081715106 WriteOdom laser_odom_to_init
1317357921.081715106 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 33.095937 ms 
points size 99862 
prepare time 13.221463 
sort q time 5.484399 
seperate points time 12.924813 
-----t: 0.039964
OdomCount 1534 & avg odom time 0.045882 ms ++++++++++++++++++++++
mapping data assosiation time 38.886643 ms 
mapping solver time 27.419979 ms 
filter time 8.599086 ms 
prepare time 14.503665 
sort q time 5.628828 
seperate points time 13.036869 
scan registration time 33.440939 ms *************
publication time 12.286322 ms 
whole laserOdometry time 12.320110 ms 
 
mapping data assosiation time 38.057743 ms 
--------------------stamp1317357921.392775058
points size 97366 
sort q time 5.317863 
seperate points time 11.956002 
publication time 8.166264 ms 
whole laserOdometry time 8.181343 ms 
 
mapping data assosiation time 39.978911 ms 
mapping solver time 35.844851 ms 
-----t: 0.0798283
OdomCount 1536 & avg odom time 0.045905 ms ++++++++++++++++++++++
[0m[ INFO] [1718805208.361472861, 1317357921.500107509]: Received 150027 data points in frame camera_init with the following fields: x y z intensity[0m
sort q time 7.899244 
seperate points time 15.276665 
scan registration time 42.327892 ms *************
build tree time 29.005239 ms 
publication time 9.943454 ms 
whole laserOdometry time 9.958546 ms 
 
mapping data assosiation time 37.467858 ms 
--------------------stamp1317357921.600142002
points size 96019 
sort q time 5.458767 
seperate points time 25.370906 
mapping data assosiation time 36.552909 ms 
-----t: 0.0546174
OdomCount 1538 & avg odom time 0.045911 ms ++++++++++++++++++++++
1317357921.600142002 WriteOdom laser_odom_to_init
1317357921.600142002 WriteOdom aft_mapped_to_init_high_frec
add points time 0.814598 ms
filter time 8.674757 ms 
map prepare time 4.590557 ms
map corner num 98558  surf num 52959 
sort q time 5.544819 
seperate points time 12.583658 
mapping data assosiation time 40.439715 ms 
--------------------stamp1317357921.807575941
mapping solver time 37.534414 ms 
sort q time 5.099255 
seperate points time 11.500864 
mapping data assosiation time 40.615581 ms 
-----t: 0.0628692
OdomCount 1540 & avg odom time 0.045935 ms ++++++++++++++++++++++
1317357921.807575941 WriteOdom laser_odom_to_init
1317357921.807575941 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 33.558515 ms 
filter time 8.234695 ms 
points size 95393 
sort q time 5.611724 
seperate points time 12.364825 
publication time 15.491443 ms 
whole laserOdometry time 15.503837 ms 
 
mapping data assosiation time 38.620210 ms 
mapping solver time 28.386085 ms 
points size 95322 
sort q time 5.460036 
seperate points time 11.741017 
publication time 9.054024 ms 
whole laserOdometry time 9.069565 ms 
 
1317357922.015014886 WriteOdom laser_odom_to_init
1317357922.015014886 WriteOdom aft_mapped_to_init_high_frec
filter time 8.693080 ms 
map prepare time 3.188774 ms
map corner num 100787  surf num 53636 
build tree time 23.375394 ms 
points size 94429 
prepare time 12.760752 
scan registration time 30.285905 ms *************
publication time 10.014404 ms 
whole laserOdometry time 10.030321 ms 
 
mapping solver time 38.600331 ms 
--------------------stamp1317357922.222523927
points size 92563 
sort q time 5.510970 
seperate points time 11.271167 
filter time 11.030316 ms 
-----t: 0.0481889
OdomCount 1544 & avg odom time 0.045935 ms ++++++++++++++++++++++
1317357922.222523927 WriteOdom laser_odom_to_init
1317357922.222523927 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.514828 ms 
mapping solver time 29.557959 ms 
-----t: 0.0383689
OdomCount 1545 & avg odom time 0.045930 ms ++++++++++++++++++++++
mapping data assosiation time 35.115409 ms 
mapping solver time 19.918231 ms 
mapping optimization time 143.881356 
add points time 1.050422 ms
[0m[ INFO] [1718805209.290913525, 1317357922.432788689]: Received 157336 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805209.290970680, 1317357922.432788689]: Data saved to 1317357922118742.pcd[0m
mapping pub time 6.965596 ms 
whole mapping time 164.871200 ms +++++
mappingCount 1076 & avg mapping time 142.514763 ms ++++++++++++++++++++++
sort q time 5.135438 
seperate points time 11.947761 
scan registration time 31.321506 ms *************
publication time 8.702226 ms 
whole laserOdometry time 8.716535 ms 
 
mapping data assosiation time 35.467787 ms 
--------------------stamp1317357922.533946037
points size 89176 
sort q time 5.013973 
seperate points time 11.918108 
mapping data assosiation time 37.714527 ms 
-----t: 0.0461905
OdomCount 1547 & avg odom time 0.045929 ms ++++++++++++++++++++++
1317357922.533946037 WriteOdom laser_odom_to_init
1317357922.533946037 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 169.260528 
filter time 8.215681 ms 
map prepare time 3.028169 ms
map corner num 104011  surf num 54611 
--------------------stamp1317357922.637768030
prepare time 12.227828 
sort q time 5.367945 
seperate points time 11.699155 
publication time 9.923326 ms 
whole laserOdometry time 9.935321 ms 
 
-----t: 0.0473368
OdomCount 1548 & avg odom time 0.045929 ms ++++++++++++++++++++++
mapping solver time 28.318138 ms 
--------------------stamp1317357922.741590023
prepare time 11.163103 
sort q time 5.179368 
seperate points time 11.572197 
mapping solver time 25.084976 ms 
filter time 12.740907 ms 
build tree time 30.684404 ms 
points size 87543 
prepare time 24.239469 
sort q time 4.980839 
seperate points time 12.303197 
mapping solver time 44.689906 ms 
-----t: 0.0684569
OdomCount 1550 & avg odom time 0.045946 ms ++++++++++++++++++++++
--------------------stamp1317357922.949234962
points size 87988 
sort q time 5.376773 
seperate points time 11.461915 
publication time 8.435103 ms 
whole laserOdometry time 8.452997 ms 
 
map prepare time 3.793685 ms
map corner num 106046  surf num 55228 
build tree time 24.149952 ms 
--------------------stamp1317357923.053059101
points size 88494 
sort q time 5.144052 
seperate points time 11.390142 
scan registration time 27.618372 ms *************
publication time 8.799088 ms 
whole laserOdometry time 8.813265 ms 
 
mapping data assosiation time 31.787139 ms 
mapping optimization time 146.540424 
filter time 9.590992 ms 
sort q time 4.797804 
seperate points time 10.086174 
scan registration time 29.667628 ms *************
-----t: 0.0369509
OdomCount 1553 & avg odom time 0.045938 ms ++++++++++++++++++++++
mapping data assosiation time 29.989275 ms 
--------------------stamp1317357923.260704994
prepare time 10.318930 
scan registration time 23.946754 ms *************
publication time 7.652696 ms 
whole laserOdometry time 7.669862 ms 
 
mapping data assosiation time 34.658952 ms 
-----t: 0.0449429
OdomCount 1554 & avg odom time 0.045937 ms ++++++++++++++++++++++
mapping solver time 30.591506 ms 
mapping optimization time 160.447869 
filter time 8.581090 ms 
--------------------stamp1317357923.364506006
prepare time 13.966275 
publication time 8.925609 ms 
whole laserOdometry time 8.939738 ms 
 
build tree time 31.952923 ms 
mapping data assosiation time 31.621990 ms 
--------------------stamp1317357923.468303918
mapping solver time 28.777992 ms 
sort q time 9.718784 
seperate points time 16.130263 
scan registration time 35.095552 ms *************
mapping data assosiation time 33.704263 ms 
1317357923.468303918 WriteOdom laser_odom_to_init
1317357923.468303918 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.057244 ms 
mapping optimization time 155.075447 
add points time 1.154931 ms
filter time 9.432823 ms 
build tree time 19.511176 ms 
mapping data assosiation time 32.622746 ms 
mapping solver time 27.325685 ms 
--------------------stamp1317357923.572129964
prepare time 11.550312 
mapping data assosiation time 32.963123 ms 
points size 66137 
sort q time 4.099225 
seperate points time 9.059953 
-----t: 0.0480433
OdomCount 1557 & avg odom time 0.045942 ms ++++++++++++++++++++++
build tree time 21.546433 ms 
mapping data assosiation time 27.585562 ms 
points size 65334 
sort q time 3.837633 
seperate points time 8.345880 
publication time 8.631151 ms 
whole laserOdometry time 8.647089 ms 
 
-----t: 0.0394444
OdomCount 1559 & avg odom time 0.045927 ms ++++++++++++++++++++++
mapping solver time 24.828766 ms 
filter time 6.734004 ms 
--------------------stamp1317357923.883527040
points size 67372 
sort q time 3.571455 
seperate points time 8.938580 
mapping data assosiation time 32.996534 ms 
-----t: 0.0396241
OdomCount 1560 & avg odom time 0.045923 ms ++++++++++++++++++++++
mapping solver time 25.201790 ms 
mapping data assosiation time 25.796253 ms 
--------------------stamp1317357923.987302064
points size 70646 
mapping solver time 20.019150 ms 
prepare time 12.087777 
mapping optimization time 124.267031 
add points time 1.154246 ms
scan registration time 28.593618 ms *************
map prepare time 3.599511 ms
map corner num 77990  surf num 39363 
1317357923.987302064 WriteOdom laser_odom_to_init
1317357923.987302064 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.820822 ms 
mapping solver time 23.626829 ms 
points size 74591 
sort q time 4.292664 
seperate points time 9.743805 
publication time 6.029270 ms 
whole laserOdometry time 6.048911 ms 
 
mapping solver time 25.324189 ms 
filter time 8.743989 ms 
drop lidar frame in mapping for real time performance 
map prepare time 3.026347 ms
map corner num 78872  surf num 39612 
build tree time 19.704582 ms 
--------------------stamp1317357924.194849967
prepare time 12.058549 
sort q time 4.718931 
seperate points time 10.442108 
mapping solver time 29.712052 ms 
-----t: 0.0302955
OdomCount 1563 & avg odom time 0.045895 ms ++++++++++++++++++++++
1317357924.194849967 WriteOdom laser_odom_to_init
1317357924.194849967 WriteOdom aft_mapped_to_init_high_frec
publication time 8.718986 ms 
whole laserOdometry time 8.732493 ms 
 
mapping data assosiation time 25.912234 ms 
mapping solver time 18.055664 ms 
filter time 7.900049 ms 
points size 81795 
prepare time 11.343312 
publication time 9.925332 ms 
whole laserOdometry time 9.940903 ms 
 
mapping solver time 25.480856 ms 
mapping data assosiation time 24.996944 ms 
points size 84784 
sort q time 5.150445 
seperate points time 11.251349 
filter time 8.861574 ms 
-----t: 0.0362376
OdomCount 1565 & avg odom time 0.045884 ms ++++++++++++++++++++++
build tree time 20.273955 ms 
mapping data assosiation time 25.016450 ms 
--------------------stamp1317357924.506295919
prepare time 13.082375 
sort q time 5.612801 
seperate points time 13.188513 
scan registration time 32.905157 ms *************
mapping data assosiation time 31.182804 ms 
-----t: 0.0482328
OdomCount 1566 & avg odom time 0.045886 ms ++++++++++++++++++++++
1317357924.506295919 WriteOdom laser_odom_to_init
1317357924.506295919 WriteOdom aft_mapped_to_init_high_frec
filter time 6.217649 ms 
--------------------stamp1317357924.610117912
points size 88288 
sort q time 5.717012 
seperate points time 13.830055 
-----t: 0.030712
OdomCount 1567 & avg odom time 0.045876 ms ++++++++++++++++++++++
publication time 7.522483 ms 
whole laserOdometry time 7.534574 ms 
 
mapping solver time 26.204436 ms 
mapping data assosiation time 26.355323 ms 
--------------------stamp1317357924.713964939
points size 88092 
map prepare time 3.446330 ms
map corner num 82063  surf num 40363 
scan registration time 33.978890 ms *************
build tree time 23.523567 ms 
mapping data assosiation time 28.456107 ms 
--------------------stamp1317357924.817812919
prepare time 10.923976 
sort q time 4.666041 
seperate points time 11.212624 
mapping data assosiation time 31.748305 ms 
mapping solver time 25.074917 ms 
mapping optimization time 139.173778 
add points time 1.054151 ms
-----t: 0.0501819
OdomCount 1569 & avg odom time 0.045868 ms ++++++++++++++++++++++
1317357924.817812919 WriteOdom laser_odom_to_init
1317357924.817812919 WriteOdom aft_mapped_to_init_high_frec
build tree time 23.870386 ms 
points size 88825 
sort q time 5.189624 
seperate points time 11.571873 
publication time 11.013756 ms 
whole laserOdometry time 11.040599 ms 
 
-----t: 0.0546307
OdomCount 1570 & avg odom time 0.045874 ms ++++++++++++++++++++++
mapping data assosiation time 29.032532 ms 
points size 88514 
filter time 8.771629 ms 
map prepare time 3.545623 ms
map corner num 83625  surf num 40727 
build tree time 22.637247 ms 
mapping data assosiation time 27.416271 ms 
--------------------stamp1317357925.129471063
points size 88817 
scan registration time 32.406188 ms *************
publication time 7.686574 ms 
whole laserOdometry time 7.702337 ms 
 
mapping solver time 24.834077 ms 
filter time 9.434108 ms 
build tree time 17.481891 ms 
points size 88962 
sort q time 5.334704 
seperate points time 11.617007 
publication time 9.697089 ms 
whole laserOdometry time 9.712139 ms 
 
mapping solver time 30.808190 ms 
-----t: 0.052216
OdomCount 1573 & avg odom time 0.045889 ms ++++++++++++++++++++++
mapping data assosiation time 30.636857 ms 
--------------------stamp1317357925.337378978
prepare time 12.396435 
sort q time 6.074068 
seperate points time 11.678763 
map prepare time 3.627761 ms
map corner num 85158  surf num 41129 
-----t: 0.042438
OdomCount 1574 & avg odom time 0.045886 ms ++++++++++++++++++++++
mapping data assosiation time 25.675201 ms 
--------------------stamp1317357925.441370964
mapping solver time 27.158367 ms 
sort q time 5.000954 
seperate points time 11.531484 
scan registration time 28.878034 ms *************
publication time 10.625347 ms 
whole laserOdometry time 10.642819 ms 
 
mapping solver time 22.033958 ms 
mapping optimization time 133.774912 
add points time 1.021845 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357925.545409917
points size 91001 
sort q time 4.902025 
seperate points time 11.055987 
publication time 9.117857 ms 
whole laserOdometry time 9.136616 ms 
 
mapping solver time 33.696764 ms 
mapping data assosiation time 27.134151 ms 
--------------------stamp1317357925.649471998
add points time 1.419705 ms
[0m[ INFO] [1718805212.529341941, 1317357925.665966228]: Received 128343 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805212.529382572, 1317357925.665966228]: Data saved to 1317357925337378.pcd[0m
publication time 9.295336 ms 
whole laserOdometry time 9.309056 ms 
 
-----t: 0.0447637
OdomCount 1577 & avg odom time 0.045883 ms ++++++++++++++++++++++
mapping data assosiation time 29.284752 ms 
--------------------stamp1317357925.753536939
points size 95048 
sort q time 5.501101 
seperate points time 13.064803 
mapping data assosiation time 33.319247 ms 
publication time 8.795714 ms 
whole laserOdometry time 8.810023 ms 
 
-----t: 0.0509183
OdomCount 1578 & avg odom time 0.045886 ms ++++++++++++++++++++++
filter time 6.991493 ms 
map prepare time 2.745150 ms
map corner num 87554  surf num 41829 
--------------------stamp1317357925.857623100
points size 98073 
sort q time 5.752709 
seperate points time 13.993001 
publication time 10.584623 ms 
whole laserOdometry time 10.599036 ms 
 
-----t: 0.0526774
OdomCount 1579 & avg odom time 0.045890 ms ++++++++++++++++++++++
mapping data assosiation time 30.699349 ms 
points size 101361 
mapping solver time 25.032615 ms 
filter time 10.019101 ms 
publication time 10.873992 ms 
whole laserOdometry time 10.887619 ms 
 
build tree time 25.092840 ms 
mapping data assosiation time 27.688779 ms 
--------------------stamp1317357926.065865039
points size 103879 
mapping solver time 34.936303 ms 
sort q time 12.852401 
seperate points time 21.431456 
publication time 9.365822 ms 
whole laserOdometry time 9.391360 ms 
 
mapping solver time 26.100316 ms 
filter time 7.739781 ms 
map prepare time 4.624689 ms
map corner num 89127  surf num 42262 
points size 104126 
build tree time 26.426163 ms 
-----t: 0.0390827
OdomCount 1582 & avg odom time 0.045895 ms ++++++++++++++++++++++
mapping data assosiation time 33.651518 ms 
mapping solver time 26.326130 ms 
--------------------stamp1317357926.274138927
points size 104030 
prepare time 16.775539 
sort q time 6.151403 
seperate points time 14.360199 
-----t: 0.0397679
OdomCount 1583 & avg odom time 0.045891 ms ++++++++++++++++++++++
filter time 7.399056 ms 
map prepare time 2.738236 ms
map corner num 89890  surf num 42471 
build tree time 19.554135 ms 
--------------------stamp1317357926.378297090
points size 104170 
sort q time 6.032770 
seperate points time 14.297495 
publication time 8.733429 ms 
whole laserOdometry time 8.746172 ms 
 
mapping solver time 40.901149 ms 
mapping data assosiation time 29.235785 ms 
points size 104048 
mapping solver time 30.803459 ms 
[0m[ INFO] [1718805213.379592302, 1317357926.519379209]: Received 133438 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805213.379652139, 1317357926.519379209]: Data saved to 1317357926170001.pcd[0m
-----t: 0.0569489
OdomCount 1585 & avg odom time 0.045899 ms ++++++++++++++++++++++
build tree time 21.849442 ms 
points size 104003 
sort q time 6.475739 
seperate points time 13.284425 
publication time 9.299566 ms 
whole laserOdometry time 9.313567 ms 
 
mapping solver time 32.746297 ms 
-----t: 0.0588006
OdomCount 1586 & avg odom time 0.045907 ms ++++++++++++++++++++++
mapping data assosiation time 30.661252 ms 
points size 103851 
mapping solver time 29.213550 ms 
sort q time 6.036556 
seperate points time 14.188906 
map prepare time 3.808132 ms
map corner num 91558  surf num 43025 
publication time 11.815035 ms 
whole laserOdometry time 11.829197 ms 
 
build tree time 24.517156 ms 
mapping data assosiation time 28.877073 ms 
points size 103863 
mapping solver time 36.469657 ms 
scan registration time 38.119145 ms *************
publication time 12.020401 ms 
whole laserOdometry time 12.032524 ms 
 
-----t: 0.0555496
OdomCount 1588 & avg odom time 0.045916 ms ++++++++++++++++++++++
1317357926.794929981 WriteOdom laser_odom_to_init
1317357926.794929981 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.298377 ms 
filter time 7.104931 ms 
map prepare time 4.067260 ms
map corner num 91116  surf num 41919 
sort q time 5.981367 
seperate points time 11.870026 
publication time 9.635528 ms 
whole laserOdometry time 9.651867 ms 
 
mapping data assosiation time 33.322573 ms 
-----t: 0.0505414
OdomCount 1589 & avg odom time 0.045919 ms ++++++++++++++++++++++
1317357926.899090051 WriteOdom laser_odom_to_init
1317357926.899090051 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.656362 ms 
--------------------stamp1317357927.003249883
points size 103970 
mapping solver time 24.082772 ms 
map prepare time 3.180937 ms
map corner num 91808  surf num 42198 
-----t: 0.063521
OdomCount 1590 & avg odom time 0.045930 ms ++++++++++++++++++++++
--------------------stamp1317357927.107431888
points size 104056 
prepare time 13.425970 
sort q time 6.112891 
seperate points time 13.648666 
mapping solver time 32.642755 ms 
publication time 8.734864 ms 
whole laserOdometry time 8.751338 ms 
 
-----t: 0.0536882
OdomCount 1591 & avg odom time 0.045935 ms ++++++++++++++++++++++
mapping data assosiation time 31.810011 ms 
--------------------stamp1317357927.211663007
points size 103988 
drop lidar frame in mapping for real time performance 
scan registration time 32.408170 ms *************
build tree time 24.220080 ms 
-----t: 0.0494819
OdomCount 1592 & avg odom time 0.045937 ms ++++++++++++++++++++++
1317357927.211663007 WriteOdom laser_odom_to_init
1317357927.211663007 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.697086 ms 
--------------------stamp1317357927.315917015
points size 103808 
mapping solver time 33.352350 ms 
prepare time 13.715503 
scan registration time 32.886582 ms *************
mapping data assosiation time 39.020721 ms 
mapping solver time 21.449834 ms 
mapping optimization time 151.434668 
add points time 1.046316 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357927.420147895
build tree time 24.047773 ms 
sort q time 6.263211 
seperate points time 12.839888 
mapping data assosiation time 34.218351 ms 
-----t: 0.0545542
OdomCount 1594 & avg odom time 0.045941 ms ++++++++++++++++++++++
--------------------stamp1317357927.524332046
points size 103226 
sort q time 6.309361 
seperate points time 13.028319 
mapping solver time 39.734802 ms 
filter time 8.736716 ms 
-----t: 0.0736421
OdomCount 1595 & avg odom time 0.045958 ms ++++++++++++++++++++++
--------------------stamp1317357927.628490924
points size 103040 
sort q time 6.484275 
seperate points time 19.684852 
mapping solver time 32.504834 ms 
publication time 13.950029 ms 
whole laserOdometry time 13.966294 ms 
 
mapping data assosiation time 30.582595 ms 
mapping solver time 19.449937 ms 
map prepare time 3.750576 ms
map corner num 94755  surf num 43504 
build tree time 26.050724 ms 
mapping data assosiation time 29.304238 ms 
--------------------stamp1317357927.836690902
points size 102205 
sort q time 5.738194 
seperate points time 13.139141 
publication time 9.194892 ms 
whole laserOdometry time 9.208776 ms 
 
mapping solver time 30.345625 ms 
filter time 7.144102 ms 
map prepare time 2.709522 ms
map corner num 95482  surf num 43800 
--------------------stamp1317357927.940754890
points size 102379 
sort q time 5.676444 
seperate points time 11.474564 
scan registration time 29.655810 ms *************
mapping data assosiation time 31.259656 ms 
publication time 8.258956 ms 
whole laserOdometry time 8.274189 ms 
 
mapping solver time 31.895802 ms 
-----t: 0.051488
OdomCount 1599 & avg odom time 0.045975 ms ++++++++++++++++++++++
1317357927.940754890 WriteOdom laser_odom_to_init
1317357927.940754890 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.182242 ms 
--------------------stamp1317357928.044807910
mapping solver time 20.169356 ms 
filter time 8.202489 ms 
sort q time 5.654838 
seperate points time 13.159454 
build tree time 23.110189 ms 
mapping data assosiation time 27.671874 ms 
--------------------stamp1317357928.148776054
points size 100761 
sort q time 7.193658 
seperate points time 13.284281 
scan registration time 31.497129 ms *************
publication time 9.258639 ms 
whole laserOdometry time 9.272069 ms 
 
-----t: 0.0412582
OdomCount 1601 & avg odom time 0.045968 ms ++++++++++++++++++++++
filter time 7.290141 ms 
map prepare time 2.840453 ms
map corner num 96757  surf num 44348 
build tree time 19.990444 ms 
points size 98691 
sort q time 5.435241 
seperate points time 12.142805 
publication time 10.475005 ms 
whole laserOdometry time 10.493089 ms 
 
mapping data assosiation time 28.933328 ms 
--------------------stamp1317357928.356591939
points size 97296 
map prepare time 2.787460 ms
map corner num 97349  surf num 44570 
publication time 8.666422 ms 
whole laserOdometry time 8.678482 ms 
 
-----t: 0.0591832
OdomCount 1603 & avg odom time 0.045979 ms ++++++++++++++++++++++
--------------------stamp1317357928.460442066
points size 96224 
sort q time 5.711248 
seperate points time 12.654363 
mapping data assosiation time 32.562695 ms 
mapping solver time 33.629821 ms 
filter time 9.372610 ms 
points size 94276 
sort q time 5.536447 
seperate points time 12.076670 
build tree time 25.194095 ms 
publication time 7.565565 ms 
whole laserOdometry time 7.577851 ms 
 
mapping data assosiation time 33.082540 ms 
mapping solver time 26.564303 ms 
--------------------stamp1317357928.668061971
--------------------stamp1317357928.771835088
prepare time 12.595758 
sort q time 5.101607 
seperate points time 11.772044 
publication time 8.171070 ms 
whole laserOdometry time 8.185968 ms 
 
-----t: 0.0428791
OdomCount 1607 & avg odom time 0.045974 ms ++++++++++++++++++++++
1317357928.771835088 WriteOdom laser_odom_to_init
1317357928.771835088 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.582741 ms 
mapping optimization time 139.556412 
filter time 7.350731 ms 
points size 91349 
sort q time 4.880636 
seperate points time 10.125980 
publication time 9.388660 ms 
whole laserOdometry time 9.404797 ms 
 
-----t: 0.0497074
OdomCount 1608 & avg odom time 0.045976 ms ++++++++++++++++++++++
mapping solver time 29.382996 ms 
points size 90668 
prepare time 16.966272 
sort q time 5.449533 
seperate points time 13.102840 
-----t: 0.0405193
OdomCount 1609 & avg odom time 0.045973 ms ++++++++++++++++++++++
filter time 7.585713 ms 
build tree time 21.854217 ms 
points size 90592 
prepare time 14.457380 
scan registration time 35.740564 ms *************
mapping solver time 37.433500 ms 
-----t: 0.0593375
OdomCount 1610 & avg odom time 0.045981 ms ++++++++++++++++++++++
mapping data assosiation time 32.088587 ms 
points size 90848 
mapping solver time 28.374499 ms 
mapping optimization time 153.502931 
add points time 1.074718 ms
sort q time 5.205729 
seperate points time 12.244110 
scan registration time 33.032833 ms *************
filter time 10.435889 ms 
mapping pub time 2.108336 ms 
whole mapping time 170.789820 ms +++++
mappingCount 1117 & avg mapping time 143.257138 ms ++++++++++++++++++++++
1317357928.875586033 WriteOdom aft_mapped_to_init
-----t: 0.0426826
OdomCount 1611 & avg odom time 0.045979 ms ++++++++++++++++++++++
build tree time 26.292205 ms 
mapping data assosiation time 23.620136 ms 
--------------------stamp1317357929.290468931
points size 91917 
sort q time 5.345512 
seperate points time 11.845898 
publication time 7.901197 ms 
whole laserOdometry time 7.926341 ms 
 
-----t: 0.0489229
OdomCount 1612 & avg odom time 0.045981 ms ++++++++++++++++++++++
mapping solver time 24.361452 ms 
filter time 8.529968 ms 
points size 92286 
sort q time 5.895762 
seperate points time 12.265595 
publication time 11.335741 ms 
whole laserOdometry time 11.378462 ms 
 
1317357929.394124984 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.393281 ms 
mapping solver time 30.440971 ms 
points size 94054 
sort q time 5.369144 
seperate points time 12.395516 
publication time 10.319995 ms 
whole laserOdometry time 10.334097 ms 
 
filter time 10.354720 ms 
-----t: 0.0727913
OdomCount 1614 & avg odom time 0.045995 ms ++++++++++++++++++++++
build tree time 24.958471 ms 
points size 96371 
mapping data assosiation time 27.563655 ms 
scan registration time 31.660069 ms *************
publication time 8.597714 ms 
whole laserOdometry time 8.614023 ms 
 
-----t: 0.0487853
OdomCount 1615 & avg odom time 0.045997 ms ++++++++++++++++++++++
mapping data assosiation time 25.159855 ms 
--------------------stamp1317357929.705064058
filter time 8.112518 ms 
points size 98280 
mapping pub time 2.371893 ms 
whole mapping time 152.862404 ms +++++
mappingCount 1120 & avg mapping time 143.307837 ms ++++++++++++++++++++++
1317357929.394124985 WriteOdom aft_mapped_to_init
prepare time 16.610628 
map prepare time 3.099740 ms
map corner num 103409  surf num 46649 
scan registration time 31.762292 ms *************
build tree time 26.166981 ms 
mapping data assosiation time 24.999362 ms 
-----t: 0.0523716
OdomCount 1616 & avg odom time 0.046001 ms ++++++++++++++++++++++
1317357929.705064058 WriteOdom laser_odom_to_init
1317357929.705064058 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 32.279069 ms 
prepare time 13.497391 
scan registration time 31.429292 ms *************
-----t: 0.0365262
OdomCount 1617 & avg odom time 0.045995 ms ++++++++++++++++++++++
1317357929.808721065 WriteOdom laser_odom_to_init
1317357929.808721065 WriteOdom aft_mapped_to_init_high_frec
publication time 8.201078 ms 
whole laserOdometry time 8.212195 ms 
 
mapping solver time 32.974390 ms 
filter time 7.725557 ms 
--------------------stamp1317357929.912424087
map prepare time 3.760535 ms
map corner num 104299  surf num 46880 
sort q time 6.068664 
seperate points time 12.606731 
publication time 10.001284 ms 
whole laserOdometry time 10.015518 ms 
 
mapping data assosiation time 25.838397 ms 
mapping solver time 27.890735 ms 
--------------------stamp1317357930.016149997
points size 97466 
sort q time 5.219624 
seperate points time 12.211532 
mapping solver time 26.765845 ms 
drop lidar frame in mapping for real time performance 
build tree time 22.397788 ms 
--------------------stamp1317357930.119853019
mapping data assosiation time 24.862060 ms 
sort q time 5.703372 
seperate points time 12.239911 
mapping solver time 33.477258 ms 
publication time 6.984774 ms 
whole laserOdometry time 6.999649 ms 
 
-----t: 0.0408065
OdomCount 1620 & avg odom time 0.045991 ms ++++++++++++++++++++++
mapping data assosiation time 24.752327 ms 
mapping solver time 22.773319 ms 
filter time 7.822053 ms 
points size 92637 
sort q time 4.980719 
seperate points time 10.784174 
publication time 7.535086 ms 
whole laserOdometry time 7.548581 ms 
 
-----t: 0.0425437
OdomCount 1621 & avg odom time 0.045989 ms ++++++++++++++++++++++
mapping solver time 20.838467 ms 
--------------------stamp1317357930.327281951
points size 90643 
mapping solver time 20.835497 ms 
filter time 9.097959 ms 
publication time 7.876371 ms 
whole laserOdometry time 7.890920 ms 
 
-----t: 0.0464515
OdomCount 1622 & avg odom time 0.045989 ms ++++++++++++++++++++++
mapping data assosiation time 20.473871 ms 
--------------------stamp1317357930.431009054
prepare time 12.474978 
mapping solver time 25.655332 ms 
sort q time 5.544271 
seperate points time 11.807531 
scan registration time 28.770142 ms *************
publication time 16.676293 ms 
whole laserOdometry time 16.690925 ms 
 
add points time 0.852919 ms
filter time 11.463957 ms 
--------------------stamp1317357930.534737110
prepare time 13.094725 
mapping data assosiation time 21.089123 ms 
sort q time 5.139124 
seperate points time 11.888700 
mapping solver time 22.220615 ms 
mapping data assosiation time 19.674731 ms 
mapping solver time 15.757963 ms 
filter time 7.322880 ms 
map prepare time 2.913005 ms
map corner num 107203  surf num 47620 
points size 91263 
sort q time 5.357441 
seperate points time 12.122085 
publication time 8.442257 ms 
whole laserOdometry time 8.456321 ms 
 
-----t: 0.0474924
OdomCount 1625 & avg odom time 0.045993 ms ++++++++++++++++++++++
mapping solver time 20.564897 ms 
mapping data assosiation time 19.216291 ms 
--------------------stamp1317357930.742141008
points size 88844 
prepare time 10.501519 
map prepare time 3.198812 ms
map corner num 107670  surf num 47756 
publication time 7.132101 ms 
whole laserOdometry time 7.141841 ms 
 
-----t: 0.0431218
OdomCount 1626 & avg odom time 0.045991 ms ++++++++++++++++++++++
mapping data assosiation time 19.253337 ms 
--------------------stamp1317357930.845866918
prepare time 11.600296 
sort q time 5.249723 
seperate points time 11.337954 
publication time 6.823100 ms 
whole laserOdometry time 6.836338 ms 
 
-----t: 0.0316836
OdomCount 1627 & avg odom time 0.045982 ms ++++++++++++++++++++++
1317357930.845866918 WriteOdom laser_odom_to_init
1317357930.845866918 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 32.530112 ms 
filter time 7.470591 ms 
build tree time 24.166047 ms 
points size 83023 
sort q time 4.897475 
seperate points time 10.527625 
publication time 6.688043 ms 
whole laserOdometry time 6.703873 ms 
 
-----t: 0.0413752
OdomCount 1628 & avg odom time 0.045979 ms ++++++++++++++++++++++
mapping solver time 14.644973 ms 
mapping optimization time 108.450251 
add points time 0.625035 ms
map prepare time 2.593616 ms
map corner num 142178  surf num 65777 
--------------------stamp1317357931.053297996
points size 81584 
build tree time 37.389131 ms 
sort q time 16.356014 
seperate points time 21.791660 
publication time 5.818350 ms 
whole laserOdometry time 5.872144 ms 
 
mapping solver time 30.231776 ms 
mapping data assosiation time 18.547903 ms 
mapping solver time 19.323873 ms 
filter time 10.689918 ms 
-----t: 0.0535708
OdomCount 1630 & avg odom time 0.045986 ms ++++++++++++++++++++++
1317357931.157000064 WriteOdom laser_odom_to_init
1317357931.157000064 WriteOdom aft_mapped_to_init_high_frec
build tree time 56.765939 ms 
--------------------stamp1317357931.260699987
points size 82772 
sort q time 4.514077 
seperate points time 10.481259 
publication time 8.208025 ms 
whole laserOdometry time 8.228758 ms 
 
-----t: 0.0323201
OdomCount 1631 & avg odom time 0.045978 ms ++++++++++++++++++++++
1317357931.260699987 WriteOdom laser_odom_to_init
1317357931.260699987 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.550839 ms 
mapping solver time 13.709862 ms 
mapping optimization time 135.805342 
add points time 0.618306 ms
mapping pub time 4.634827 ms 
whole mapping time 154.796526 ms +++++
mappingCount 1131 & avg mapping time 143.324376 ms ++++++++++++++++++++++
1317357931.053297997 WriteOdom aft_mapped_to_init
--------------------stamp1317357931.364403963
prepare time 14.780579 
publication time 11.584686 ms 
whole laserOdometry time 11.601081 ms 
 
mapping data assosiation time 17.511100 ms 
mapping solver time 9.026414 ms 
filter time 10.544868 ms 
points size 86073 
sort q time 4.973940 
seperate points time 11.066564 
publication time 7.414884 ms 
whole laserOdometry time 7.426799 ms 
 
-----t: 0.0388059
OdomCount 1633 & avg odom time 0.045974 ms ++++++++++++++++++++++
mapping data assosiation time 18.882618 ms 
mapping solver time 22.250993 ms 
--------------------stamp1317357931.571835994
prepare time 12.217070 
mapping solver time 17.236552 ms 
filter time 10.619432 ms 
mapping pub time 2.038695 ms 
whole mapping time 137.438520 ms +++++
mappingCount 1133 & avg mapping time 143.302119 ms ++++++++++++++++++++++
1317357931.364403963 WriteOdom aft_mapped_to_init
map prepare time 3.347256 ms
map corner num 143967  surf num 66238 
publication time 7.282998 ms 
whole laserOdometry time 7.296238 ms 
 
-----t: 0.0438553
OdomCount 1634 & avg odom time 0.045973 ms ++++++++++++++++++++++
build tree time 35.416485 ms 
mapping data assosiation time 17.320668 ms 
points size 90013 
mapping data assosiation time 17.694735 ms 
mapping solver time 22.139719 ms 
filter time 12.273875 ms 
--------------------stamp1317357931.779241085
prepare time 11.729556 
sort q time 6.217745 
seperate points time 11.513615 
publication time 8.911798 ms 
whole laserOdometry time 8.923765 ms 
 
-----t: 0.0449347
OdomCount 1636 & avg odom time 0.045968 ms ++++++++++++++++++++++
mapping data assosiation time 19.480161 ms 
mapping solver time 13.208757 ms 
filter time 9.936145 ms 
points size 91797 
sort q time 5.126771 
seperate points time 11.776386 
build tree time 37.451875 ms 
mapping data assosiation time 20.034951 ms 
mapping solver time 21.840439 ms 
mapping data assosiation time 17.855127 ms 
prepare time 12.324837 
sort q time 5.070827 
seperate points time 11.726300 
mapping pub time 4.971702 ms 
whole mapping time 142.381190 ms +++++
-----t: 0.0450631
OdomCount 1638 & avg odom time 0.045960 ms ++++++++++++++++++++++
[0m[ INFO] [1718805218.911257159, 1317357932.048706742]: Data saved to 1317357931779241.pcd[0m
build tree time 33.657632 ms 
mapping data assosiation time 17.429485 ms 
points size 92163 
prepare time 12.401725 
mapping data assosiation time 22.909984 ms 
-----t: 0.0384757
OdomCount 1639 & avg odom time 0.045956 ms ++++++++++++++++++++++
mapping solver time 20.536345 ms 
filter time 9.416973 ms 
--------------------stamp1317357932.194098949
points size 91968 
sort q time 5.998455 
seperate points time 13.821388 
-----t: 0.0322549
OdomCount 1640 & avg odom time 0.045948 ms ++++++++++++++++++++++
mapping solver time 22.214473 ms 
mapping data assosiation time 17.574483 ms 
mapping solver time 18.989000 ms 
filter time 10.976850 ms 
sort q time 5.019050 
seperate points time 11.728313 
-----t: 0.0377473
OdomCount 1641 & avg odom time 0.045943 ms ++++++++++++++++++++++
mapping data assosiation time 18.237058 ms 
mapping solver time 18.729605 ms 
--------------------stamp1317357932.401505947
prepare time 12.976977 
sort q time 5.088735 
seperate points time 11.659397 
filter time 11.692346 ms 
-----t: 0.0357071
OdomCount 1642 & avg odom time 0.045936 ms ++++++++++++++++++++++
build tree time 36.456787 ms 
--------------------stamp1317357932.505207061
prepare time 12.640304 
sort q time 5.241950 
seperate points time 11.496227 
publication time 9.257966 ms 
whole laserOdometry time 9.268807 ms 
 
mapping data assosiation time 22.770159 ms 
mapping solver time 17.989554 ms 
filter time 10.265172 ms 
map prepare time 2.980747 ms
map corner num 147032  surf num 67025 
--------------------stamp1317357932.608957052
prepare time 12.903846 
sort q time 5.413584 
seperate points time 11.585175 
publication time 6.201859 ms 
whole laserOdometry time 6.215896 ms 
 
-----t: 0.041324
OdomCount 1644 & avg odom time 0.045930 ms ++++++++++++++++++++++
1317357932.608957052 WriteOdom laser_odom_to_init
1317357932.608957052 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.973591 ms 
mapping data assosiation time 17.341286 ms 
--------------------stamp1317357932.712735891
mapping solver time 22.115081 ms 
filter time 13.388712 ms 
publication time 7.766773 ms 
whole laserOdometry time 7.781857 ms 
 
-----t: 0.0508
OdomCount 1645 & avg odom time 0.045933 ms ++++++++++++++++++++++
1317357932.712735891 WriteOdom laser_odom_to_init
1317357932.712735891 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 42.923026 ms 
whole mapping time 186.560177 ms +++++
mappingCount 1141 & avg mapping time 143.307246 ms ++++++++++++++++++++++
1317357932.401505947 WriteOdom aft_mapped_to_init
--------------------stamp1317357932.816510915
prepare time 11.723041 
mapping data assosiation time 20.722824 ms 
publication time 8.454621 ms 
whole laserOdometry time 8.467834 ms 
 
-----t: 0.0536413
OdomCount 1646 & avg odom time 0.045938 ms ++++++++++++++++++++++
mapping data assosiation time 22.529732 ms 
mapping solver time 16.959823 ms 
filter time 10.099734 ms 
map prepare time 3.901678 ms
map corner num 147962  surf num 67269 
sort q time 5.145605 
seperate points time 10.958405 
publication time 9.233689 ms 
whole laserOdometry time 9.260479 ms 
 
1317357932.920283079 WriteOdom laser_odom_to_init
1317357932.920283079 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.169706 ms 
mapping solver time 16.625913 ms 
mapping data assosiation time 18.131998 ms 
--------------------stamp1317357933.024058103
prepare time 13.161753 
sort q time 5.275972 
seperate points time 11.299264 
map prepare time 3.436725 ms
map corner num 148509  surf num 67418 
-----t: 0.0409854
OdomCount 1648 & avg odom time 0.045931 ms ++++++++++++++++++++++
build tree time 36.781858 ms 
mapping data assosiation time 18.308434 ms 
--------------------stamp1317357933.127856016
prepare time 11.578714 
sort q time 4.591003 
seperate points time 10.932867 
publication time 6.982815 ms 
whole laserOdometry time 7.021577 ms 
 
mapping solver time 20.583609 ms 
filter time 9.693847 ms 
--------------------stamp1317357933.231678962
points size 88261 
sort q time 4.865786 
seperate points time 10.026568 
publication time 8.941004 ms 
whole laserOdometry time 8.970000 ms 
 
1317357933.231678962 WriteOdom laser_odom_to_init
1317357933.231678962 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.767874 ms 
filter time 12.943116 ms 
points size 88945 
scan registration time 28.703156 ms *************
publication time 8.642427 ms 
whole laserOdometry time 8.655269 ms 
 
mapping data assosiation time 22.265420 ms 
mapping solver time 22.821211 ms 
points size 88205 
sort q time 4.923728 
seperate points time 11.458165 
mapping optimization time 138.644214 
add points time 0.985260 ms
mapping pub time 4.582598 ms 
whole mapping time 162.826499 ms +++++
mappingCount 1146 & avg mapping time 143.298394 ms ++++++++++++++++++++++
[0m[ INFO] [1718805220.379307834, 1317357933.524670642]: Received 217699 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805220.379345347, 1317357933.524670642]: Data saved to 1317357933231678.pcd[0m
build tree time 34.159132 ms 
prepare time 15.959151 
mapping solver time 26.012683 ms 
-----t: 0.0482359
OdomCount 1653 & avg odom time 0.045916 ms ++++++++++++++++++++++
mapping data assosiation time 23.865736 ms 
mapping solver time 21.514090 ms 
map prepare time 3.851081 ms
map corner num 150335  surf num 67863 
seperate points time 11.164962 
publication time 8.071007 ms 
whole laserOdometry time 8.100859 ms 
 
build tree time 63.370252 ms 
mapping data assosiation time 20.152874 ms 
--------------------stamp1317357933.750745058
mapping solver time 22.269908 ms 
scan registration time 30.584326 ms *************
mapping solver time 16.437715 ms 
mapping optimization time 145.364376 
filter time 12.984541 ms 
mapping pub time 1.960334 ms 
whole mapping time 165.003449 ms +++++
mappingCount 1148 & avg mapping time 143.321657 ms ++++++++++++++++++++++
1317357933.543100119 WriteOdom aft_mapped_to_init
-----t: 0.0406091
OdomCount 1655 & avg odom time 0.045910 ms ++++++++++++++++++++++
1317357933.750745058 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
1317357933.750745058 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.944649 ms
map corner num 150848  surf num 68011 
--------------------stamp1317357933.854569911
prepare time 10.739576 
sort q time 4.690247 
seperate points time 10.601340 
publication time 7.441644 ms 
whole laserOdometry time 7.454897 ms 
 
-----t: 0.0487856
OdomCount 1656 & avg odom time 0.045912 ms ++++++++++++++++++++++
mapping solver time 12.866142 ms 
filter time 10.500121 ms 
points size 85972 
sort q time 5.289797 
seperate points time 11.677611 
build tree time 42.906460 ms 
mapping data assosiation time 19.932688 ms 
mapping solver time 17.285097 ms 
mapping data assosiation time 21.423299 ms 
points size 86405 
sort q time 4.764526 
seperate points time 11.096837 
-----t: 0.0346891
OdomCount 1658 & avg odom time 0.045900 ms ++++++++++++++++++++++
build tree time 35.177444 ms 
mapping data assosiation time 19.684419 ms 
points size 86027 
mapping solver time 23.244419 ms 
prepare time 14.505158 
mapping data assosiation time 22.084380 ms 
-----t: 0.0358081
OdomCount 1659 & avg odom time 0.045893 ms ++++++++++++++++++++++
mapping pub time 4.432529 ms 
whole mapping time 141.541614 ms +++++
mappingCount 1151 & avg mapping time 143.308210 ms ++++++++++++++++++++++
build tree time 31.569110 ms 
[0m[ INFO] [1718805221.138162408, 1317357934.251688765]: Received 220514 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805221.138207087, 1317357934.251688765]: Data saved to 1317357933958417.pcd[0m
mapping data assosiation time 18.492338 ms 
--------------------stamp1317357934.270028114
prepare time 13.073129 
sort q time 4.865085 
seperate points time 10.850029 
publication time 9.209713 ms 
whole laserOdometry time 9.226433 ms 
 
filter time 12.097375 ms 
points size 82938 
sort q time 4.545420 
seperate points time 10.493816 
build tree time 35.722368 ms 
-----t: 0.0366556
OdomCount 1661 & avg odom time 0.045882 ms ++++++++++++++++++++++
mapping data assosiation time 21.079304 ms 
mapping solver time 20.628181 ms 
mapping data assosiation time 18.066038 ms 
points size 81727 
mapping solver time 14.485383 ms 
map prepare time 3.417024 ms
map corner num 152993  surf num 68536 
1317357934.477720022 WriteOdom laser_odom_to_init
build tree time 37.662668 ms 
mapping data assosiation time 17.661329 ms 
--------------------stamp1317357934.581592082
prepare time 12.047354 
sort q time 4.434412 
seperate points time 10.545044 
mapping solver time 15.888410 ms 
-----t: 0.0376063
OdomCount 1663 & avg odom time 0.045867 ms ++++++++++++++++++++++
map prepare time 2.822673 ms
map corner num 153376  surf num 68642 
build tree time 34.038670 ms 
--------------------stamp1317357934.685440063
points size 81894 
mapping data assosiation time 20.396453 ms 
prepare time 12.896757 
mapping solver time 22.256158 ms 
-----t: 0.033904
OdomCount 1664 & avg odom time 0.045860 ms ++++++++++++++++++++++
mapping solver time 17.549034 ms 
filter time 10.042922 ms 
--------------------stamp1317357934.789263963
prepare time 10.863923 
sort q time 4.323205 
seperate points time 10.329205 
publication time 7.408288 ms 
whole laserOdometry time 7.421986 ms 
 
mapping solver time 17.799227 ms 
mapping data assosiation time 18.419893 ms 
--------------------stamp1317357934.893085002
points size 86376 
filter time 13.785397 ms 
scan registration time 27.762380 ms *************
map prepare time 3.103283 ms
map corner num 154282  surf num 68883 
publication time 7.394942 ms 
whole laserOdometry time 7.409636 ms 
 
-----t: 0.0468991
OdomCount 1666 & avg odom time 0.045855 ms ++++++++++++++++++++++
1317357934.893085002 WriteOdom laser_odom_to_init
1317357934.893085002 WriteOdom aft_mapped_to_init_high_frec
build tree time 42.174550 ms 
mapping data assosiation time 18.847832 ms 
--------------------stamp1317357934.996906995
sort q time 5.150992 
seperate points time 11.169641 
publication time 6.631207 ms 
whole laserOdometry time 6.645470 ms 
 
filter time 11.543737 ms 
build tree time 37.839152 ms 
points size 88826 
prepare time 10.823624 
scan registration time 26.050546 ms *************
publication time 7.240388 ms -----t: 0.0424917
OdomCount 1668 & avg odom time 0.045848 ms ++++++++++++++++++++++
mapping solver time 14.057226 ms 
filter time 12.140402 ms 
--------------------stamp1317357935.204482078
points size 89954 
sort q time 5.541423 
seperate points time 11.953543 
publication time 8.237993 ms 
whole laserOdometry time 8.251011 ms 
 
mapping data assosiation time 27.025964 ms 
mapping solver time 18.243848 ms 
mapping data assosiation time 19.440705 ms 
points size 91280 
mapping pub time 2.043521 ms 
whole mapping time 145.082638 ms +++++
mappingCount 1159 & avg mapping time 143.252956 ms ++++++++++++++++++++++
publication time 8.885761 ms 
whole laserOdometry time 8.900847 ms 
 
build tree time 43.769378 ms 
--------------------stamp1317357935.412005901
prepare time 14.445352 
mapping solver time 23.608265 ms 
publication time 8.777423 ms 
whole laserOdometry time 8.806144 ms 
 
-----t: 0.0418541
OdomCount 1671 & avg odom time 0.045834 ms ++++++++++++++++++++++
filter time 15.412273 ms 
map prepare time 3.772641 ms
map corner num 156553  surf num 69629 
points size 92786 
sort q time 4.798124 
seperate points time 10.600221 
scan registration time 29.448531 ms *************
-----t: 0.0426167
OdomCount 1672 & avg odom time 0.045832 ms ++++++++++++++++++++++
mapping data assosiation time 28.079582 ms 
mapping solver time 28.787914 ms 
points size 91871 
mapping data assosiation time 24.875108 ms 
mapping solver time 23.850338 ms 
filter time 15.554979 ms 
--------------------stamp1317357935.723258972
points size 92022 
scan registration time 35.792255 ms *************
publication time 8.605403 ms 
whole laserOdometry time 8.621905 ms 
 
--------------------stamp1317357935.827033042
mapping solver time 34.655106 ms 
sort q time 5.575327 
seperate points time 12.559503 
scan registration time 51.685022 ms *************
publication time 9.382225 ms 
whole laserOdometry time 9.394704 ms 
 
mapping solver time 35.538140 ms 
mapping optimization time 167.603580 
add points time 0.781960 ms
filter time 15.155175 ms 
--------------------stamp1317357935.930809020
points size 90911 
sort q time 4.649191 
seperate points time 9.884256 
build tree time 46.587008 ms 
-----t: 0.0446084
OdomCount 1676 & avg odom time 0.045836 ms ++++++++++++++++++++++
mapping solver time 23.047538 ms 
--------------------stamp1317357936.034581899
prepare time 11.664426 
sort q time 4.458803 
seperate points time 9.664798 
filter time 11.516477 ms 
-----t: 0.0414418
OdomCount 1677 & avg odom time 0.045833 ms ++++++++++++++++++++++
build tree time 37.138841 ms 
mapping data assosiation time 19.864271 ms 
points size 85614 
prepare time 11.403181 
publication time 6.193279 ms 
whole laserOdometry time 6.205521 ms 
 
mapping data assosiation time 23.696860 ms 
mapping solver time 18.218108 ms 
filter time 10.388239 ms 
--------------------stamp1317357936.242157936
prepare time 11.628795 
build tree time 39.028362 ms 
mapping data assosiation time 22.913945 ms mapping solver time 20.381981 ms 
mapping data assosiation time 20.813213 ms 
--------------------stamp1317357936.345978975
prepare time 11.145291 
map prepare time 2.763654 ms
map corner num 159684  surf num 70767 
publication time 8.187562 ms 
whole laserOdometry time 8.201576 ms 
 
build tree time 43.800060 ms 
mapping data assosiation time 20.293281 ms 
--------------------stamp1317357936.449826002
prepare time 11.684592 
sort q time 4.545588 
seperate points time 10.234061 
publication time 8.311834 ms 
whole laserOdometry time 8.325363 ms 
 
filter time 11.855725 ms 
map prepare time 3.420922 ms
map corner num 160323  surf num 70976 
--------------------stamp1317357936.553672075
points size 81625 
prepare time 11.083718 
sort q time 4.809920 
seperate points time 10.361046 
publication time 6.476595 ms 
whole laserOdometry time 6.562222 ms 
 
mapping solver time 22.037126 ms 
mapping data assosiation time 20.350955 ms 
mapping solver time 13.000906 ms 
filter time 10.889469 ms 
--------------------stamp1317357936.657471895
points size 80619 
prepare time 12.999002 
build tree time 38.011203 ms 
-----t: 0.0340434
OdomCount 1683 & avg odom time 0.045803 ms ++++++++++++++++++++++
mapping data assosiation time 20.346860 ms 
mapping solver time 17.999039 ms 
mapping data assosiation time 17.007797 ms 
--------------------stamp1317357936.761270999
prepare time 11.153379 
sort q time 5.129610 
seperate points time 10.940753 
scan registration time 27.712101 ms *************
1317357936.761270999 WriteOdom laser_odom_to_init
build tree time 37.397504 ms 
mapping data assosiation time 18.160224 ms 
mapping solver time 16.703200 ms 
--------------------stamp1317357936.865093946
sort q time 5.245555 
seperate points time 10.487444 
mapping solver time 16.176116 ms 
mapping optimization time 109.180326 
add points time 0.713735 ms
scan registration time 27.230819 ms *************
map prepare time 4.034197 ms
map corner num 139913  surf num 55038 
build tree time 31.161581 ms 
mapping data assosiation time 17.201562 ms 
points size 79603 
sort q time 4.104218 
seperate points time 9.431385 
publication time 8.057969 ms 
whole laserOdometry time 8.075406 ms 
 
filter time 11.066665 ms 
mapping pub time 1.989142 ms 
whole mapping time 120.658240 ms +++++
mappingCount 1170 & avg mapping time 143.326308 ms ++++++++++++++++++++++
1317357936.761271000 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.403444 ms
map corner num 140310  surf num 55156 
build tree time 30.259160 ms 
--------------------stamp1317357937.072691917
sort q time 4.266608 
seperate points time 8.401036 
mapping solver time 20.900918 ms 
-----t: 0.0324037
OdomCount 1687 & avg odom time 0.045774 ms ++++++++++++++++++++++
scan registration time 22.223322 ms *************
mapping data assosiation time 20.805187 ms 
-----t: 0.0339172
OdomCount 1688 & avg odom time 0.045767 ms ++++++++++++++++++++++
mapping solver time 21.521792 ms 
mapping data assosiation time 18.055045 ms 
mapping solver time 12.185923 ms 
filter time 9.031259 ms 
points size 64013 
prepare time 10.469672 
build tree time 35.831616 ms 
-----t: 0.0381845
OdomCount 1689 & avg odom time 0.045762 ms ++++++++++++++++++++++
mapping solver time 16.593708 ms 
mapping data assosiation time 16.981350 ms 
mapping solver time 12.686208 ms 
prepare time 6.808831 
publication time 5.737274 ms 
whole laserOdometry time 5.749239 ms 
 
1317357937.384229898 WriteOdom laser_odom_to_init
1317357937.384229898 WriteOdom aft_mapped_to_init_high_frec
build tree time 35.896624 ms 
mapping data assosiation time 17.068454 ms 
mapping solver time 18.677165 ms 
points size 63985 
mapping pub time 1.492252 ms 
whole mapping time 121.832115 ms +++++
mappingCount 1174 & avg mapping time 143.247799 ms ++++++++++++++++++++++
1317357937.280383110 WriteOdom aft_mapped_to_init
map prepare time 2.914546 ms
map corner num 141991  surf num 55613 
sort q time 3.528985 
seperate points time 28.174680 
publication time 8.090840 ms 
whole laserOdometry time 8.104186 ms 
 
build tree time 41.122751 ms 
mapping data assosiation time 16.004597 ms 
--------------------stamp1317357937.591923952
sort q time 3.524063 
seperate points time 8.469931 
publication time 6.694029 ms 
whole laserOdometry time 6.706588 ms 
 
filter time 9.322501 ms 
build tree time 31.919192 ms 
--------------------stamp1317357937.695795059
sort q time 4.330553 
seperate points time 8.595921 
-----t: 0.0321312
OdomCount 1693 & avg odom time 0.045733 ms ++++++++++++++++++++++
mapping solver time 12.266686 ms 
filter time 9.503462 ms 
--------------------stamp1317357937.799665927
sort q time 4.205887 
seperate points time 8.257741 
mapping data assosiation time 19.678666 ms 
-----t: 0.0313121
OdomCount 1694 & avg odom time 0.045725 ms ++++++++++++++++++++++
mapping data assosiation time 16.366901 ms 
mapping solver time 12.748393 ms 
filter time 9.286892 ms 
--------------------stamp1317357937.903537034
prepare time 11.010150 
build tree time 35.680410 ms 
mapping data assosiation time 19.146456 ms 
-----t: 0.0348292
OdomCount 1695 & avg odom time 0.045718 ms ++++++++++++++++++++++
mapping solver time 19.532142 ms 
mapping data assosiation time 16.963081 ms 
mapping solver time 12.640170 ms 
filter time 10.146508 ms 
sort q time 4.452351 
seperate points time 8.929260 
publication time 6.504692 ms 
whole laserOdometry time 6.518336 ms 
 
-----t: 0.0398462
OdomCount 1696 & avg odom time 0.045715 ms ++++++++++++++++++++++
mapping data assosiation time 18.016385 ms 
mapping solver time 21.306912 ms 
--------------------stamp1317357938.111279010
mapping data assosiation time 18.522574 ms 
points size 77484 
sort q time 4.381590 
seperate points time 10.333436 
map prepare time 2.881949 ms
map corner num 144268  surf num 56188 
build tree time 32.249964 ms 
mapping data assosiation time 17.838174 ms 
--------------------stamp1317357938.215173006
prepare time 11.556805 
mapping data assosiation time 21.348471 ms 
mapping solver time 16.619408 ms 
filter time 10.339695 ms 
build tree time 30.564397 ms 
--------------------stamp1317357938.319068908
points size 83258 
sort q time 4.500392 
seperate points time 10.829431 
publication time 8.466543 ms 
whole laserOdometry time 8.480671 ms 
 
mapping solver time 16.475939 ms 
mapping optimization time 113.132521 
add points time 0.658654 ms
--------------------stamp1317357938.422962903
prepare time 11.406950 
sort q time 5.470991 
seperate points time 11.216655 
publication time 7.607639 ms 
whole laserOdometry time 7.623649 ms 
 
-----t: 0.0375602
OdomCount 1700 & avg odom time 0.045688 ms ++++++++++++++++++++++
build tree time 45.828784 ms 
mapping data assosiation time 19.457620 ms 
--------------------stamp1317357938.526881933
prepare time 11.871777 
mapping data assosiation time 20.539748 ms 
mapping solver time 16.586694 ms 
-----t: 0.0354612
OdomCount 1701 & avg odom time 0.045682 ms ++++++++++++++++++++++
1317357938.526881933 WriteOdom laser_odom_to_init
1317357938.526881933 WriteOdom aft_mapped_to_init_high_frec
filter time 14.191554 ms 
mapping pub time 1.940575 ms 
whole mapping time 143.824672 ms +++++
mappingCount 1182 & avg mapping time 143.165605 ms ++++++++++++++++++++++
1317357938.319068909 WriteOdom aft_mapped_to_init
build tree time 38.962521 ms 
points size 93109 
sort q time 5.219368 publication time 7.164064 ms 
whole laserOdometry time 7.173442 ms 
 
-----t: 0.0418904
OdomCount 1702 & avg odom time 0.045679 ms ++++++++++++++++++++++
1317357938.630822896 WriteOdom laser_odom_to_init
1317357938.630822896 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.464639 ms 
mapping solver time 13.094736 ms 
filter time 11.122230 ms 
mapping pub time 1.987203 ms 
whole mapping time 133.847845 ms +++++
mappingCount 1183 & avg mapping time 143.157732 ms ++++++++++++++++++++++
1317357938.422962904 WriteOdom aft_mapped_to_init
--------------------stamp1317357938.734765052
points size 96909 
prepare time 14.688155 
-----t: 0.0417675
OdomCount 1703 & avg odom time 0.045677 ms ++++++++++++++++++++++
[0m[ INFO] [1718805225.663947797, 1317357938.805740096]: Received 201606 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805225.663982820, 1317357938.805740096]: Data saved to 1317357938111279.pcd[0m
mapping solver time 21.397790 ms 
mapping data assosiation time 19.521048 ms 
points size 98117 
filter time 13.872874 ms 
sort q time 5.570496 
seperate points time 13.137874 
mapping pub time 2.046530 ms 
whole mapping time 148.521547 ms +++++
mappingCount 1184 & avg mapping time 143.162266 ms ++++++++++++++++++++++
1317357938.630822897 WriteOdom aft_mapped_to_init
scan registration time 34.398924 ms *************
publication time 8.334319 ms 
whole laserOdometry time 8.475003 ms 
 
build tree time 42.341077 ms 
mapping data assosiation time 17.613500 ms 
points size 97584 
sort q time 5.236914 
seperate points time 12.377974 
publication time 7.975799 ms 
whole laserOdometry time 7.987947 ms 
 
add points time 0.806029 ms
filter time 11.003445 ms 
--------------------stamp1317357939.046617984
points size 96873 
sort q time 6.080799 
seperate points time 11.562136 
mapping data assosiation time 21.309971 ms 
publication time 9.365102 ms 
whole laserOdometry time 9.380575 ms 
 
mapping solver time 25.936882 ms 
mapping data assosiation time 18.804693 ms 
mapping solver time 16.661251 ms 
filter time 12.405431 ms 
map prepare time 3.885428 ms
map corner num 178512  surf num 71341 
publication time 8.991404 ms 
whole laserOdometry time 9.007830 ms 
 
-----t: 0.045503
OdomCount 1707 & avg odom time 0.045670 ms ++++++++++++++++++++++
build tree time 51.024668 ms 
mapping data assosiation time 18.244373 ms 
--------------------stamp1317357939.254580020
points size 95230 
prepare time 15.367417 
sort q time 5.387640 
seperate points time 12.609294 
publication time 8.143278 ms 
whole laserOdometry time 8.159579 ms 
 
mapping solver time 21.564459 ms 
mapping optimization time 137.409030 
add points time 0.734342 ms
drop lidar frame in mapping for real time performance 
map prepare time 3.127344 ms
map corner num 178945  surf num 71474 
--------------------stamp1317357939.358568906
prepare time 12.856970 
sort q time 9.279946 
seperate points time 17.265166 
-----t: 0.0353879
OdomCount 1709 & avg odom time 0.045667 ms ++++++++++++++++++++++
mapping data assosiation time 18.552489 ms 
mapping solver time 16.929837 ms 
--------------------stamp1317357939.462579965
points size 94464 
sort q time 5.379658 
seperate points time 12.643134 
scan registration time 32.120823 ms *************
publication time 8.088731 ms 
whole laserOdometry time 8.099790 ms 
 
build tree time 56.841091 ms 
mapping data assosiation time 18.134061 ms 
mapping solver time 25.554413 ms 
--------------------stamp1317357939.566570997
points size 94032 
sort q time 5.425602 
seperate points time 12.088123 
mapping solver time 33.516540 ms 
mapping optimization time 158.170564 
add points time 0.681811 ms
filter time 14.898841 ms 
-----t: 0.0499135
OdomCount 1711 & avg odom time 0.045668 ms ++++++++++++++++++++++
--------------------stamp1317357939.670538902
prepare time 13.427289 
sort q time 8.628226 
seperate points time 18.106654 
-----t: 0.0364255
OdomCount 1712 & avg odom time 0.045662 ms ++++++++++++++++++++++
mapping solver time 19.981885 ms 
mapping data assosiation time 19.788641 ms 
mapping solver time 15.116147 ms 
filter time 15.610532 ms 
map prepare time 5.977694 ms
map corner num 180180  surf num 71809 
build tree time 40.075068 ms 
--------------------stamp1317357939.878398895
points size 90932 
mapping solver time 20.023798 ms 
scan registration time 31.426992 ms *************
mapping data assosiation time 21.446620 ms 
publication time 14.929287 ms 
whole laserOdometry time 14.943140 ms 
 
mapping solver time 25.342120 ms 
filter time 11.621017 ms 
--------------------stamp1317357939.982299089
points size 88898 
sort q time 4.882516 
seperate points time 10.084206 
scan registration time 29.188996 ms *************
mapping data assosiation time 21.539034 ms 
mapping solver time 22.714578 ms 
mapping data assosiation time 18.213555 ms 
--------------------stamp1317357940.086170911
prepare time 12.881246 
filter time 12.587447 ms 
publication time 10.340619 ms 
whole laserOdometry time 10.351805 ms 
 
-----t: 0.047809
OdomCount 1716 & avg odom time 0.045656 ms ++++++++++++++++++++++
build tree time 44.188228 ms 
mapping data assosiation time 19.949566 ms 
--------------------stamp1317357940.190040111
points size 89618 
sort q time 4.988636 
seperate points time 11.807994 
mapping data assosiation time 22.294214 ms 
-----t: 0.0369669
OdomCount 1717 & avg odom time 0.045651 ms ++++++++++++++++++++++
mapping solver time 21.262051 ms 
filter time 11.645409 ms 
--------------------stamp1317357940.293910980
prepare time 12.845958 
sort q time 5.331933 
seperate points time 11.890446 
mapping data assosiation time 21.167392 ms 
-----t: 0.0398221
OdomCount 1718 & avg odom time 0.045648 ms ++++++++++++++++++++++
mapping data assosiation time 18.551037 ms 
mapping solver time 16.989611 ms 
map prepare time 3.098249 ms
map corner num 182011  surf num 72231 
sort q time 5.322855 
seperate points time 12.205427 
publication time 6.456293 ms 
whole laserOdometry time 6.540323 ms 
-----t: 0.0470801
OdomCount 1719 & avg odom time 0.045649 ms ++++++++++++++++++++++
1317357940.397753953 WriteOdom laser_odom_to_init
1317357940.397753953 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.357791 ms 
mapping solver time 22.930686 ms 
points size 96987 
sort q time 5.388550 
seperate points time 12.334454 
publication time 7.321507 ms 
whole laserOdometry time 7.336100 ms 
 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357940.605477094
prepare time 12.224627 
sort q time 13.336787 
seperate points time 20.206236 
scan registration time 37.608591 ms *************
-----t: 0.0390774
OdomCount 1721 & avg odom time 0.045640 ms ++++++++++++++++++++++
mapping solver time 17.988966 ms 
mapping optimization time 120.109725 
add points time 0.610171 ms
mapping pub time 5.537958 ms 
whole mapping time 141.233189 ms +++++
mappingCount 1196 & avg mapping time 143.226065 ms ++++++++++++++++++++++
points size 92395 
sort q time 5.386904 
seperate points time 12.393770 
-----t: 0.0320175
OdomCount 1722 & avg odom time 0.045632 ms ++++++++++++++++++++++
mapping data assosiation time 16.857991 ms 
mapping solver time 16.503885 ms 
--------------------stamp1317357940.813213109
points size 88120 
prepare time 16.625152 
mapping solver time 16.951687 ms 
mapping optimization time 122.648536 
add points time 0.703122 ms
scan registration time 33.945251 ms *************
filter time 16.180443 ms 
publication time 5.948886 ms 
whole laserOdometry time 5.959359 ms 
 
build tree time 42.419572 ms 
--------------------stamp1317357940.917083978
sort q time 5.588957 
seperate points time 10.403903 
publication time 6.566992 ms 
whole laserOdometry time 6.578024 ms 
 
-----t: 0.03643
OdomCount 1724 & avg odom time 0.045621 ms ++++++++++++++++++++++
1317357940.917083978 WriteOdom laser_odom_to_init
1317357940.917083978 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.476344 ms 
filter time 11.457526 ms 
--------------------stamp1317357941.020977973
prepare time 11.123526 
sort q time 4.882901 
seperate points time 10.855596 
publication time 5.224278 ms 
whole laserOdometry time 5.235990 ms 
 
-----t: 0.041259
OdomCount 1725 & avg odom time 0.045619 ms ++++++++++++++++++++++
mapping data assosiation time 15.739427 ms 
mapping solver time 15.387007 ms 
filter time 13.172519 ms 
mapping pub time 2.082834 ms 
whole mapping time 133.395848 ms +++++
mappingCount 1199 & avg mapping time 143.217981 ms ++++++++++++++++++++++
1317357940.813213110 WriteOdom aft_mapped_to_init
points size 78595 
prepare time 12.512388 
sort q time 4.287780 
seperate points time 16.912853 
publication time 7.139238 ms 
whole laserOdometry time 7.152657 ms 
 
build tree time 49.758232 ms 
mapping data assosiation time 17.234906 ms 
--------------------stamp1317357941.228744983
prepare time 10.944935 
sort q time 4.083894 
seperate points time 9.284219 
publication time 7.156031 ms 
whole laserOdometry time 7.168718 ms 
 
add points time 0.718762 msfilter time 11.364803 ms 
--------------------stamp1317357941.332638025
points size 74504 
sort q time 3.857978 
seperate points time 9.502983 
publication time 6.341059 ms 
whole laserOdometry time 6.418731 ms 
 
mapping data assosiation time 17.273912 ms 
mapping solver time 12.071692 ms 
filter time 11.456346 ms 
--------------------stamp1317357941.436533927
points size 74118 
sort q time 3.875380 
seperate points time 9.909843 
publication time 6.404114 ms 
whole laserOdometry time 6.415985 ms 
 
-----t: 0.0391728
OdomCount 1729 & avg odom time 0.045597 ms ++++++++++++++++++++++
build tree time 46.770070 ms 
mapping data assosiation time 18.257968 ms 
--------------------stamp1317357941.540380001
prepare time 12.551523 
scan registration time 25.501138 ms *************
publication time 6.898088 ms 
whole laserOdometry time 6.910272 ms 
 
-----t: 0.0292416
OdomCount 1730 & avg odom time 0.045588 ms ++++++++++++++++++++++
1317357941.540380001 WriteOdom laser_odom_to_init
1317357941.540380001 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.875762 ms 
mapping optimization time 126.144662 
filter time 11.488519 ms 
mapping pub time 1.688096 ms 
whole mapping time 143.625218 ms +++++
mappingCount 1202 & avg mapping time 143.251342 ms ++++++++++++++++++++++
1317357941.332638025 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.622761 ms
map corner num 185403  surf num 73107 
--------------------stamp1317357941.644226074
points size 76465 
scan registration time 29.671143 ms *************
-----t: 0.0427574
OdomCount 1731 & avg odom time 0.045586 ms ++++++++++++++++++++++
mapping data assosiation time 18.768568 ms 
mapping solver time 15.498336 ms 
--------------------stamp1317357941.748073101
filter time 15.529064 ms 
sort q time 5.404811 
seperate points time 12.342640 
publication time 8.115222 ms 
whole laserOdometry time 8.148595 ms 
 
mapping data assosiation time 18.285561 ms 
--------------------stamp1317357941.851870059
prepare time 10.537442 
mapping solver time 19.406183 ms 
filter time 12.611865 ms 
mapping pub time 1.679516 ms 
whole mapping time 149.865251 ms +++++
mappingCount 1204 & avg mapping time 143.259681 ms ++++++++++++++++++++++
1317357941.644226074 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.745678 ms
map corner num 186227  surf num 73341 
build tree time 41.082552 ms 
points size 76665 
sort q time 4.619032 
seperate points time 10.030627 
publication time 5.810203 ms 
whole laserOdometry time 5.825456 ms 
 
-----t: 0.0380912
OdomCount 1734 & avg odom time 0.045567 ms ++++++++++++++++++++++
mapping solver time 11.725942 ms 
mapping optimization time 113.047958 
add points time 0.590329 ms
map prepare time 3.018561 ms
map corner num 186619  surf num 73422 
--------------------stamp1317357942.059421062
prepare time 10.888110 
sort q time 4.841993 
seperate points time 9.388062 
scan registration time 23.638591 ms *************
[0m[ INFO] [1718805228.958025114, 1317357942.096842285]: Received 257888 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805228.958076808, 1317357942.096842285]: Data saved to 1317357941124874.pcd[0m
-----t: 0.0405969
OdomCount 1735 & avg odom time 0.045564 ms ++++++++++++++++++++++
mapping solver time 19.564079 ms 
mapping data assosiation time 16.135420 ms 
--------------------stamp1317357942.163175106
prepare time 13.606754 
sort q time 4.485458 
seperate points time 10.704589 
mapping pub time 5.461265 ms 
whole mapping time 146.208506 ms +++++
mappingCount 1206 & avg mapping time 143.251186 ms ++++++++++++++++++++++
1317357941.955646992 WriteOdom aft_mapped_to_init
publication time 6.610757 ms 
whole laserOdometry time 6.633082 ms 
 
-----t: 0.0443758
OdomCount 1736 & avg odom time 0.045564 ms ++++++++++++++++++++++
build tree time 44.690564 ms 
mapping data assosiation time 18.342295 ms 
points size 80606 
prepare time 12.527191 
publication time 7.325482 ms 
whole laserOdometry time 7.338406 ms 
 
mapping solver time 18.518808 ms 
drop lidar frame in mapping for real time performance 
map prepare time 3.075618 ms
map corner num 187426  surf num 73637 
--------------------stamp1317357942.370721101
points size 81164 
sort q time 5.277056 
seperate points time 11.329671 
build tree time 49.745116 ms 
scan registration time 32.891694 ms *************
publication time 6.860044 ms 
whole laserOdometry time 6.870738 ms 
 
mapping solver time 20.768114 ms 
mapping data assosiation time 16.430575 ms 
mapping solver time 17.061223 ms 
points size 82056 
map prepare time 3.395600 ms
map corner num 187813  surf num 73745 
publication time 6.759973 ms 
whole laserOdometry time 6.792787 ms 
 
build tree time 48.859330 ms 
mapping data assosiation time 19.001308 ms 
--------------------stamp1317357942.578366041
prepare time 13.089171 
scan registration time 28.494313 ms *************
mapping solver time 16.473377 ms 
mapping optimization time 126.651150 
add points time 0.651212 ms
publication time 7.028015 ms 
whole laserOdometry time 7.038697 ms 
 
1317357942.370721102 WriteOdom aft_mapped_to_init
--------------------stamp1317357942.682166099
sort q time 4.805589 
seperate points time 10.497239 
-----t: 0.0314483
OdomCount 1741 & avg odom time 0.045525 ms ++++++++++++++++++++++
publication time 6.661309 ms 
whole laserOdometry time 6.670195 ms 
 
mapping data assosiation time 18.189218 ms 
mapping solver time 17.801498 ms 
filter time 12.810709 ms 
prepare time 12.241624 
sort q time 4.765141 
seperate points time 10.840342 
-----t: 0.0340422
OdomCount 1742 & avg odom time 0.045518 ms ++++++++++++++++++++++
build tree time 51.338203 ms 
mapping data assosiation time 17.792664 ms 
mapping solver time 19.763957 ms 
points size 84475 
mapping data assosiation time 22.672938 ms 
scan registration time 33.026625 ms *************
publication time 9.522487 ms filter time 16.376014 ms 
[0m[ INFO] [1718805229.829058314, 1317357942.973942401]: Received 263600 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805229.829095270, 1317357942.973942401]: Data saved to 1317357942682166.pcd[0m
--------------------stamp1317357942.993540048
points size 84994 
mapping data assosiation time 23.248768 ms 
publication time 8.107828 ms 
whole laserOdometry time 8.121850 ms 
 
mapping solver time 21.344555 ms 
mapping data assosiation time 19.135904 ms 
mapping solver time 17.426025 ms 
filter time 11.923456 ms 
points size 85634 
prepare time 13.660670 
sort q time 5.008855 
seperate points time 11.963056 
-----t: 0.0370788
OdomCount 1745 & avg odom time 0.045504 ms ++++++++++++++++++++++
build tree time 55.273867 ms 
mapping data assosiation time 17.646004 ms 
mapping solver time 16.095916 ms 
points size 86980 
sort q time 5.298910 
seperate points time 10.453696 
publication time 6.857779 ms 
whole laserOdometry time 6.870102 ms 
 
-----t: 0.0471367
OdomCount 1746 & avg odom time 0.045505 ms ++++++++++++++++++++++
build tree time 45.168395 ms 
points size 87968 
mapping data assosiation time 21.955508 ms 
mapping solver time 22.065686 ms 
-----t: 0.045208
OdomCount 1747 & avg odom time 0.045505 ms ++++++++++++++++++++++
mapping solver time 16.278569 ms 
filter time 11.583049 ms 
--------------------stamp1317357943.408760070
prepare time 12.011633 
scan registration time 30.157592 ms *************
build tree time 52.997318 ms 
mapping data assosiation time 20.671573 ms 
mapping solver time 17.314637 ms 
--------------------stamp1317357943.512607097
points size 90051 
mapping solver time 22.430013 ms 
filter time 18.134608 ms 
publication time 9.404489 ms 
whole laserOdometry time 9.416607 ms 
 
build tree time 42.111682 ms 
points size 91103 
sort q time 5.208616 
seperate points time 22.738382 
publication time 8.825923 ms 
whole laserOdometry time 8.840778 ms 
 
mapping optimization time 136.918505 
add points time 0.720288 ms
mapping pub time 8.470093 ms 
whole mapping time 161.356845 ms +++++
mappingCount 1216 & avg mapping time 143.317314 ms ++++++++++++++++++++++
sort q time 5.656576 
seperate points time 12.242296 
scan registration time 29.755382 ms *************
build tree time 56.648254 ms 
--------------------stamp1317357943.824219942
points size 91297 
sort q time 7.471721 mapping data assosiation time 26.378116 ms 
publication time 12.606398 ms 
whole laserOdometry time 12.625311 ms 
 
-----t: 0.0637678
OdomCount 1752 & avg odom time 0.045506 ms ++++++++++++++++++++++
filter time 19.478575 ms 
points size 91974 
[0m[ INFO] [1718805230.811852078, 1317357943.952008745]: Received 266895 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805230.811924600, 1317357943.952008745]: Data saved to 1317357943408760.pcd[0m
publication time 7.916581 ms 
whole laserOdometry time 7.928188 ms 
 
-----t: 0.0501262
OdomCount 1753 & avg odom time 0.045509 ms ++++++++++++++++++++++
1317357943.928088903 WriteOdom laser_odom_to_init
1317357943.928088903 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357944.031981945
prepare time 14.666945 
mapping data assosiation time 24.680806 ms 
scan registration time 44.300524 ms *************
-----t: 0.0445793
OdomCount 1754 & avg odom time 0.045508 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317357944.135904073
points size 94126 
sort q time 6.297347 
seperate points time 14.778040 
mapping data assosiation time 26.162152 ms 
-----t: 0.0528867
OdomCount 1755 & avg odom time 0.045512 ms ++++++++++++++++++++++
mapping data assosiation time 18.494627 ms 
--------------------stamp1317357944.239845037
add points time 0.772129 ms
sort q time 5.467605 
seperate points time 12.950109 
filter time 18.581539 ms 
publication time 9.728628 ms 
whole laserOdometry time 9.745069 ms 
 
-----t: 0.0583142
OdomCount 1756 & avg odom time 0.045520 ms ++++++++++++++++++++++
--------------------stamp1317357944.343787908
points size 93193 
sort q time 5.065157 
seperate points time 12.162921 
mapping solver time 28.255868 ms 
mapping data assosiation time 21.827105 ms 
mapping solver time 18.217643 ms 
filter time 11.974390 ms 
points size 93447 
sort q time 5.268709 
seperate points time 27.892369 
build tree time 50.779325 ms 
publication time 8.938243 ms 
whole laserOdometry time 8.953094 ms 
 
--------------------stamp1317357944.551721096
-----t: 0.120689
OdomCount 1758 & avg odom time 0.045559 ms ++++++++++++++++++++++
1317357944.447731018 WriteOdom laser_odom_to_init
1317357944.447731018 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 81.178209 ms 
points size 92810 
scan registration time 52.224730 ms *************
mapping solver time 73.463328 ms 
-----t: 0.0976798
OdomCount 1759 & avg odom time 0.045589 ms ++++++++++++++++++++++
mapping data assosiation time 52.108607 ms 
mapping solver time 38.961416 ms 
filter time 26.373662 ms 
publication time 8.904516 ms --------------------stamp1317357944.863598108
prepare time 19.821799 
map prepare time 3.885970 ms
map corner num 195574  surf num 76376 
-----t: 0.0327031
OdomCount 1762 & avg odom time 0.045633 ms ++++++++++++++++++++++
build tree time 49.790433 ms 
mapping data assosiation time 21.356916 ms 
mapping solver time 17.013687 ms 
mapping data assosiation time 18.707665 ms 
mapping solver time 14.967845 ms 
mapping optimization time 122.780676 
add points time 0.760307 ms
filter time 15.419482 ms 
mapping pub time 2.176662 ms 
whole mapping time 145.149589 ms +++++
mappingCount 1222 & avg mapping time 143.674954 ms ++++++++++++++++++++++
1317357944.447731018 WriteOdom aft_mapped_to_init
map prepare time 3.641906 ms
map corner num 196409  surf num 76683 
--------------------stamp1317357944.967564105
[0m[ INFO] [1718805231.937719553, 1317357945.074393016]: Received 271950 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805231.937764809, 1317357945.074393016]: Data saved to 1317357944239845.pcd[0m
sort q time 4.943965 
seperate points time 11.903693 
points size 91203 
sort q time 5.148739 
seperate points time 11.024914 
scan registration time 23.278406 ms *************
mapping data assosiation time 21.914897 ms 
-----t: 0.0459825
OdomCount 1763 & avg odom time 0.045633 ms ++++++++++++++++++++++
1317357944.967564105 WriteOdom laser_odom_to_init
1317357944.967564105 WriteOdom aft_mapped_to_init_high_frec
publication time 20.133658 ms 
whole laserOdometry time 20.143441 ms 
 
-----t: 0.0364285
OdomCount 1764 & avg odom time 0.045628 ms ++++++++++++++++++++++
mapping data assosiation time 27.237263 ms 
sort q time 5.345214 
seperate points time 11.449116 
publication time 9.546453 ms 
whole laserOdometry time 9.558806 ms 
 
map prepare time 2.994399 ms
map corner num 197315  surf num 77027 
build tree time 41.306051 ms 
points size 90065 
mapping data assosiation time 22.416824 ms 
scan registration time 30.288153 ms *************
publication time 7.172352 ms 
whole laserOdometry time 7.184698 ms 
 
-----t: 0.0462726
OdomCount 1766 & avg odom time 0.045624 ms ++++++++++++++++++++++
mapping solver time 12.459314 ms 
filter time 13.253499 ms 
map prepare time 3.035984 ms
map corner num 197939  surf num 77226 
points size 88609 
sort q time 14.665073 
seperate points time 20.708038 
build tree time 51.365731 ms 
mapping data assosiation time 19.619661 ms 
mapping solver time 19.933210 ms 
--------------------stamp1317357945.487349987
points size 87489 
mapping solver time 19.810569 ms 
filter time 16.127140 ms 
map prepare time 3.695420 ms
map corner num 201056  surf num 82550 
build tree time 45.898149 ms 
points size 87463 
sort q time 4.818451 
seperate points time 10.965252 
mapping solver time 21.427199 ms 
-----t: 0.0351777
OdomCount 1769 & avg odom time 0.045612 ms ++++++++++++++++++++++
mapping data assosiation time 21.239688 ms 
mapping solver time 12.654375 ms 
filter time 12.924805 ms 
map prepare time 3.104804 ms
map corner num 201502  surf num 82708 
prepare time 14.847402 
scan registration time 39.172190 ms *************
build tree time 54.876252 ms 
mapping data assosiation time 20.926137 ms 
mapping solver time 18.652971 ms 
--------------------stamp1317357945.799127101
points size 91129 
mapping solver time 16.503385 ms 
sort q time 4.985139 
seperate points time 23.914835 
map prepare time 4.143537 ms
map corner num 202025  surf num 82889 
build tree time 48.822369 ms 
prepare time 11.730098 
sort q time 5.029197 
seperate points time 12.089895 
mapping solver time 20.217157 ms 
publication time 19.555088 ms 
whole laserOdometry time 19.566703 ms 
 
-----t: 0.0559703
OdomCount 1772 & avg odom time 0.045619 ms ++++++++++++++++++++++
1317357945.902998924 WriteOdom laser_odom_to_init
1317357945.902998924 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 13.067355 ms 
filter time 14.016997 ms 
points size 96880 
prepare time 17.848250 
[0m[ INFO] [1718805232.901787951, 1317357946.038829920]: Received 284210 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805232.901834249, 1317357946.038829920]: Data saved to 1317357945383407.pcd[0m
sort q time 5.724121 
seperate points time 16.464947 
scan registration time 39.774687 ms *************
-----t: 0.0404236
OdomCount 1773 & avg odom time 0.045616 ms ++++++++++++++++++++++
1317357946.006820917 WriteOdom laser_odom_to_init
1317357946.006820917 WriteOdom aft_mapped_to_init_high_frec
publication time 6.862533 ms 
whole laserOdometry time 6.875614 ms 
 
build tree time 55.423606 ms 
mapping data assosiation time 18.763800 ms 
mapping solver time 18.092524 ms 
points size 98611 
mapping data assosiation time 21.001363 ms 
scan registration time 31.371678 ms *************
filter time 13.382217 ms 
build tree time 31.380218 ms 
--------------------stamp1317357946.214467048
prepare time 13.482321 
sort q time 5.622118 
seperate points time 12.860836 
publication time 7.326649 ms 
whole laserOdometry time 7.340741 ms 
 
mapping solver time 14.996805 ms 
filter time 11.134604 ms 
--------------------stamp1317357946.318289995
prepare time 12.683515 
sort q time 6.375412 
seperate points time 13.010763 
publication time 9.293164 ms 
whole laserOdometry time 9.311480 ms 
 
mapping solver time 22.455216 ms 
mapping data assosiation time 18.878944 ms 
mapping solver time 18.186596 ms 
filter time 10.694425 ms 
map prepare time 3.550866 msscan registration time 34.866912 ms *************
publication time 8.275678 ms 
whole laserOdometry time 8.285185 ms 
 
build tree time 50.406229 ms 
mapping data assosiation time 18.192339 ms 
--------------------stamp1317357946.525866031
points size 98414 
sort q time 5.460647 
seperate points time 12.722019 
publication time 8.715434 ms 
whole laserOdometry time 8.729915 ms 
 
-----t: 0.0476864
OdomCount 1778 & avg odom time 0.045618 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317357946.629642009
prepare time 11.692124 
sort q time 5.850395 
seperate points time 12.241650 
publication time 8.617444 ms 
whole laserOdometry time 8.629663 ms 
 
-----t: 0.0429899
OdomCount 1779 & avg odom time 0.045616 ms ++++++++++++++++++++++
mapping data assosiation time 18.938007 ms 
mapping solver time 14.872173 ms 
filter time 9.309844 ms 
sort q time 5.684864 
seperate points time 13.363849 
-----t: 0.0321824
OdomCount 1780 & avg odom time 0.045609 ms ++++++++++++++++++++++
mapping data assosiation time 29.866111 ms 
mapping solver time 18.021280 ms 
--------------------stamp1317357946.837188959
prepare time 11.977945 
sort q time 5.227629 
seperate points time 11.710009 
map prepare time 4.132448 ms
map corner num 146452  surf num 59297 
1317357946.837188959 WriteOdom laser_odom_to_init
build tree time 35.088891 ms 
mapping data assosiation time 19.731622 ms 
mapping solver time 19.680374 ms 
sort q time 5.304905 
seperate points time 12.393430 
[0m[ INFO] [1718805233.844427662, 1317357946.986911862]: Received 203743 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805233.844514876, 1317357946.986911862]: Data saved to 1317357946110646.pcd[0m
filter time 11.348951 ms 
build tree time 30.346067 ms 
--------------------stamp1317357947.044761896
points size 97778 
mapping data assosiation time 23.335395 ms 
mapping solver time 21.374669 ms 
publication time 10.159396 ms 
whole laserOdometry time 10.195613 ms 
 
mapping data assosiation time 22.823206 ms 
mapping solver time 14.074589 ms 
mapping optimization time 113.211057 
add points time 0.731522 ms
mapping pub time 4.695080 ms 
whole mapping time 132.472613 ms +++++
mappingCount 1236 & avg mapping time 143.719256 ms ++++++++++++++++++++++
points size 95672 
prepare time 14.083893 
scan registration time 32.210780 ms *************
publication time 9.294601 ms 
whole laserOdometry time 9.305941 ms 
 
-----t: 0.0381329
OdomCount 1784 & avg odom time 0.045594 ms ++++++++++++++++++++++
1317357947.148560047 WriteOdom laser_odom_to_init
1317357947.148560047 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.736128 ms 
mapping solver time 18.472518 ms 
--------------------stamp1317357947.252335071
sort q time 5.785926 
seperate points time 12.922111 
map prepare time 3.610631 ms
map corner num 148005  surf num 59942 
-----t: 0.0459699
OdomCount 1785 & avg odom time 0.045594 ms ++++++++++++++++++++++
build tree time 35.205764 ms 
mapping data assosiation time 21.907613 ms 
points size 92463 
sort q time 5.492726 
seperate points time 13.240245 
mapping data assosiation time 26.972617 ms 
-----t: 0.0521825
OdomCount 1786 & avg odom time 0.045598 ms ++++++++++++++++++++++
filter time 12.090047 ms 
--------------------stamp1317357947.459884881
points size 91120 
build tree time 37.536999 ms 
sort q time 5.863751 
seperate points time 12.450756 
scan registration time 39.699763 ms *************
mapping data assosiation time 26.802234 ms 
mapping solver time 22.761910 ms 
mapping data assosiation time 22.949828 ms 
mapping solver time 17.046774 ms 
filter time 13.541198 ms 
map prepare time 4.143169 ms
map corner num 149192  surf num 60333 
-----t: 0.0554841
OdomCount 1788 & avg odom time 0.045604 ms ++++++++++++++++++++++
build tree time 38.828647 ms 
mapping data assosiation time 21.845227 ms 
[0m[ INFO] [1718805234.533029146, 1317357947.670220117]: Received 207028 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805234.533064269, 1317357947.670220117]: Data saved to 1317357946837188.pcd[0m
scan registration time 31.735643 ms *************
publication time 7.772036 ms 
whole laserOdometry time 7.794696 ms 
 
-----t: 0.0445378
OdomCount 1789 & avg odom time 0.045603 ms ++++++++++++++++++++++
1317357947.667365074 WriteOdom laser_odom_to_init
1317357947.667365074 WriteOdom aft_mapped_to_init_high_frec
filter time 11.928707 ms 
mapping pub time 2.151173 ms 
whole mapping time 151.850805 ms +++++
mappingCount 1240 & avg mapping time 143.736004 ms ++++++++++++++++++++++
1317357947.459884882 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 89663 
publication time 8.523080 ms 
whole laserOdometry time 8.537041 ms 
 
mapping data assosiation time 28.403833 ms 
mapping solver time 22.838935 ms 
mapping data assosiation time 22.060269 ms 
points size 89963 
sort q time 5.179961 
seperate points time 11.566872 
publication time 10.656667 ms 
whole laserOdometry time 10.723798 ms 
 
mapping pub time 42.861538 ms 
whole mapping time 193.410163 ms +++++
mappingCount 1241 & avg mapping time 143.776035 ms ++++++++++++++++++++++
--------------------stamp1317357947.978518009
build tree time 34.796799 ms 
sort q time 4.888734 
seperate points time 12.082485 
publication time 7.962003 ms 
whole laserOdometry time 7.976680 ms 
 
-----t: 0.047497
OdomCount 1792 & avg odom time 0.045597 ms ++++++++++++++++++++++
mapping data assosiation time 26.816691 ms 
points size 92300 
sort q time 5.119686 
seperate points time 12.235917 
1317357947.771090031 WriteOdom aft_mapped_to_init
publication time 11.830113 ms 
whole laserOdometry time 11.842878 ms 
 
-----t: 0.0537641
OdomCount 1793 & avg odom time 0.045602 ms ++++++++++++++++++++++
build tree time 41.036602 ms 
--------------------stamp1317357948.185852050
points size 93914 
prepare time 16.619254 
sort q time 5.049158 
seperate points time 12.463347 
publication time 8.425022 ms 
whole laserOdometry time 8.460388 ms -----t: 0.0431609
OdomCount 1794 & avg odom time 0.045600 ms ++++++++++++++++++++++
mapping solver time 21.522065 ms 
filter time 9.660986 ms 
map prepare time 3.655851 ms
map corner num 151961  surf num 61651 
prepare time 13.434310 
sort q time 5.444732 
seperate points time 12.482231 
build tree time 43.373088 ms 
-----t: 0.0499914
OdomCount 1795 & avg odom time 0.045603 ms ++++++++++++++++++++++
1317357948.289484024 WriteOdom laser_odom_to_init
1317357948.289484024 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.539000 ms 
--------------------stamp1317357948.393090009
points size 98191 
sort q time 5.766804 
seperate points time 11.455499 
publication time 8.676807 ms 
whole laserOdometry time 8.690920 ms 
 
add points time 0.898664 ms
-----t: 0.0541907
OdomCount 1796 & avg odom time 0.045608 ms ++++++++++++++++++++++
--------------------stamp1317357948.496696949
prepare time 12.659786 
sort q time 16.877144 
seperate points time 26.007163 
scan registration time 44.402397 ms *************
mapping data assosiation time 30.161258 ms 
-----t: 0.0439402
OdomCount 1797 & avg odom time 0.045607 ms ++++++++++++++++++++++
1317357948.496696949 WriteOdom laser_odom_to_init
1317357948.496696949 WriteOdom aft_mapped_to_init_high_frec
publication time 8.946433 ms 
whole laserOdometry time 8.959652 ms 
 
mapping solver time 31.599498 ms 
mapping data assosiation time 24.500463 ms 
points size 101670 
prepare time 12.225408 
sort q time 6.412114 
seperate points time 14.100314 
mapping pub time 2.106832 ms 
whole mapping time 175.773598 ms +++++
-----t: 0.047623
OdomCount 1798 & avg odom time 0.045608 ms ++++++++++++++++++++++
build tree time 35.727300 ms 
--------------------stamp1317357948.704004049
prepare time 12.487360 
sort q time 6.395382 
seperate points time 13.455342 
publication time 9.534424 ms 
whole laserOdometry time 9.547764 ms 
 
mapping solver time 34.939460 ms 
mapping data assosiation time 27.572066 ms 
mapping solver time 22.382755 ms 
filter time 12.143461 ms 
map prepare time 3.893790 ms
map corner num 154065  surf num 62547 
publication time 12.989415 ms 
whole laserOdometry time 13.007207 ms build tree time 47.343333 ms 
mapping data assosiation time 23.777066 ms 
--------------------stamp1317357948.911365985
points size 103029 
sort q time 6.802477 
seperate points time 12.853956 
publication time 8.674986 ms 
whole laserOdometry time 8.694192 ms 
 
mapping data assosiation time 27.706061 ms 
mapping solver time 28.051021 ms 
mapping optimization time 155.869930 
add points time 0.813351 ms
mapping pub time 2.261507 ms 
whole mapping time 173.866750 ms +++++
mappingCount 1247 & avg mapping time 143.917285 ms ++++++++++++++++++++++
points size 103615 
prepare time 16.949787 
scan registration time 37.326488 ms *************
publication time 8.739923 ms 
whole laserOdometry time 8.751543 ms 
 
[0m[ INFO] [1718805235.934042583, 1317357949.076786409]: Received 216612 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805235.934083270, 1317357949.076786409]: Data saved to 1317357948496696.pcd[0m
mapping solver time 27.559950 ms 
--------------------stamp1317357949.118771076
prepare time 12.574267 
sort q time 5.939600 
seperate points time 13.545585 
mapping solver time 30.985957 ms 
filter time 12.160523 ms 
--------------------stamp1317357949.222520112
points size 103833 
sort q time 6.897785 
seperate points time 13.625365 
publication time 9.419995 ms 
whole laserOdometry time 9.433979 ms 
 
mapping data assosiation time 27.360257 ms 
points size 103636 
mapping solver time 29.222045 ms 
filter time 14.346906 ms 
publication time 10.484937 ms 
whole laserOdometry time 10.501872 ms 
 
1317357949.326270103 WriteOdom laser_odom_to_init
1317357949.326270103 WriteOdom aft_mapped_to_init_high_frec
build tree time 38.237325 ms 
--------------------stamp1317357949.430011034
prepare time 12.123860 
sort q time 7.180329 
seperate points time 13.747326 
mapping solver time 28.325405 ms 
publication time 15.546651 ms 
whole laserOdometry time 15.559207 ms 
 
mapping data assosiation time 31.559648 ms 
mapping solver time 18.089224 ms 
--------------------stamp1317357949.533739089
points size 103639 
sort q time 5.572035 
seperate points time 13.544173 
publication time 9.736443 ms 
whole laserOdometry time 9.763427 ms 
 
-----t: 0.0524151
OdomCount 1807 & avg odom time 0.045650 ms ++++++++++++++++++++++
mapping data assosiation time 30.334551 ms 
--------------------stamp1317357949.637475013
points size 103729 
prepare time 13.966844 
scan registration time 31.829798 ms *************
publication time 8.815887 ms 
whole laserOdometry time 8.826848 ms 
 
mapping solver time 20.188058 ms 
mapping optimization time 152.707320 
add points time 1.041084 ms
mapping pub time 5.287965 ms 
whole mapping time 175.937547 ms +++++
mappingCount 1251 & avg mapping time 144.019920 ms ++++++++++++++++++++++
1317357949.326270103 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.428636 ms
map corner num 157528  surf num 64227 
--------------------stamp1317357949.741225957
points size 103731 
scan registration time 35.015361 ms *************
publication time 10.248390 ms 
whole laserOdometry time 10.275366 ms 
 
-----t: 0.0658495
OdomCount 1809 & avg odom time 0.045667 ms ++++++++++++++++++++++
--------------------stamp1317357949.844979047
points size 103831 
mapping data assosiation time 30.741631 ms 
prepare time 16.422443 
sort q time 6.069373 
seperate points time 14.718082 
publication time 10.387308 ms 
whole laserOdometry time 10.406284 ms 
 
1317357949.533739090 WriteOdom aft_mapped_to_init
-----t: 0.0668694
OdomCount 1810 & avg odom time 0.045679 ms ++++++++++++++++++++++
1317357949.844979047 WriteOdom laser_odom_to_init
1317357949.844979047 WriteOdom aft_mapped_to_init_high_frec
build tree time 36.611613 ms 
points size 103925 
prepare time 27.098726 
sort q time 7.585840 
seperate points time 16.580045 
-----t: 0.0476568
OdomCount 1811 & avg odom time 0.045680 ms ++++++++++++++++++++++
publication time 9.193619 ms 
whole laserOdometry time 9.204872 ms 
 
mapping data assosiation time 28.049712 ms 
--------------------stamp1317357950.052500963
sort q time 6.051472 
seperate points time 12.179333 
publication time 8.134997 ms 
whole laserOdometry time 8.147368 ms 
 
-----t: 0.0512188
OdomCount 1812 & avg odom time 0.045683 ms ++++++++++++++++++++++
build tree time 41.281793 ms 
points size 103992 
mapping solver time 33.566792 ms 
scan registration time 61.389890 ms *************
mapping data assosiation time 40.248551 ms 
--------------------stamp1317357950.259979963
points size 103976 
mapping pub time 2.402015 ms 
whole mapping time 197.695300 ms +++++
mappingCount 1254 & avg mapping time 144.120994 ms ++++++++++++++++++++++
publication time 10.919417 ms 
whole laserOdometry time 10.932856 ms 
 
build tree time 42.807864 ms 
--------------------stamp1317357950.363730907
prepare time 13.335491 
sort q time 6.355897 
seperate points time 13.432745 
publication time 10.429714 ms 
whole laserOdometry time 10.442249 ms 
 
1317357950.363730907 WriteOdom laser_odom_to_init
1317357950.363730907 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 32.664095 ms 
mapping solver time 26.539667 ms 
--------------------stamp1317357950.467458009
mapping pub time 2.778421 ms 
whole mapping time 192.611083 ms +++++
mappingCount 1255 & avg mapping time 144.159634 ms ++++++++++++++++++++++
1317357950.052500963 WriteOdom aft_mapped_to_init
sort q time 16.622225 
seperate points time 24.679302 
build tree time 45.580362 ms 
-----t: 0.0674257
OdomCount 1816 & avg odom time 0.045722 ms ++++++++++++++++++++++
mapping data assosiation time 35.542675 ms 
points size 103991 
sort q time 6.083838 
seperate points time 13.214568 
publication time 8.161875 ms 
whole laserOdometry time 8.176642 ms 
 
mapping data assosiation time 36.595753 ms 
mapping solver time 20.647532 ms 
filter time 10.831367 ms 
map prepare time 3.281989 ms
map corner num 160538  surf num 65567 
sort q time 6.343875 
seperate points time 12.836636 
build tree time 45.551499 ms 
-----t: 0.0642314
OdomCount 1818 & avg odom time 0.045736 ms ++++++++++++++++++++++
mapping data assosiation time 33.259753 ms 
--------------------stamp1317357950.778733015
points size 104054 
prepare time 15.242479 
scan registration time 40.641671 ms *************
mapping data assosiation time 34.221989 ms 
-----t: 0.0656143
OdomCount 1819 & avg odom time 0.045747 ms ++++++++++++++++++++++
1317357950.778733015 WriteOdom laser_odom_to_init
filter time 10.339680 ms 
map prepare time 3.725013 ms
map corner num 161202  surf num 65870 
points size 104033 
sort q time 6.213599 
seperate points time 12.822665 
build tree time 43.901714 ms 
publication time 11.530823 ms mapping data assosiation time 30.236537 ms 
--------------------stamp1317357950.986474990
points size 104223 
sort q time 5.912846 
seperate points time 12.528485 
mapping solver time 31.871481 ms 
filter time 11.366576 ms 
--------------------stamp1317357951.090418100
points size 104328 
sort q time 5.967366 
seperate points time 11.884174 
scan registration time 29.783199 ms *************
publication time 8.974888 ms 
whole laserOdometry time 8.988445 ms 
 
mapping data assosiation time 33.135785 ms 
-----t: 0.0634954
OdomCount 1822 & avg odom time 0.045766 ms ++++++++++++++++++++++
mapping solver time 30.869125 ms 
points size 104253 
sort q time 5.638463 
seperate points time 12.858854 
publication time 9.618853 ms 
whole laserOdometry time 9.721077 ms 
 
add points time 1.277549 ms
filter time 13.154907 ms 
map prepare time 4.293516 ms
map corner num 162473  surf num 66386 
--------------------stamp1317357951.298304080
prepare time 14.152672 
sort q time 12.193358 
seperate points time 19.140406 
publication time 8.967759 ms 
whole laserOdometry time 9.035852 ms 
 
-----t: 0.0496429
OdomCount 1824 & avg odom time 0.045777 ms ++++++++++++++++++++++
1317357951.298304080 WriteOdom laser_odom_to_init
1317357951.298304080 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 34.812708 ms 
--------------------stamp1317357951.402296066
mapping data assosiation time 30.197040 ms 
sort q time 6.373076 
seperate points time 14.220848 
mapping solver time 40.676190 ms 
filter time 10.829978 ms 
map prepare time 3.839743 ms
map corner num 163113  surf num 66653 
--------------------stamp1317357951.506283998
points size 102713 
sort q time 5.929404 
seperate points time 13.704118 
scan registration time 32.612857 ms *************
publication time 9.033416 ms 
whole laserOdometry time 9.065074 ms 
 
-----t: 0.0489339
OdomCount 1826 & avg odom time 0.045779 ms ++++++++++++++++++++++
mapping solver time 37.249806 ms 
--------------------stamp1317357951.610253095
prepare time 15.378260 
sort q time 6.032122 
seperate points time 13.007858 
mapping solver time 29.281792 ms 
mapping optimization time 165.896753 
scan registration time 33.542567 ms *************
add points time 1.624114 ms
[0m[ INFO] [1718805238.524948382, 1317357951.667616629]: Received 230725 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805238.525005978, 1317357951.667616629]: Data saved to 1317357951298304.pcd[0m
publication time 13.014830 ms 
whole laserOdometry time 13.044355 ms 
 
-----t: 0.0537733
OdomCount 1827 & avg odom time 0.045783 ms ++++++++++++++++++++++
mapping pub time 43.872518 ms 
whole mapping time 230.216633 ms +++++
mappingCount 1261 & avg mapping time 144.428758 ms ++++++++++++++++++++++
--------------------stamp1317357951.714268922
points size 100837 
prepare time 15.528855 
publication time 10.768972 ms 
whole laserOdometry time 10.804541 ms 
 
-----t: 0.0546063
OdomCount 1828 & avg odom time 0.045788 ms ++++++++++++++++++++++
1317357951.714268922 WriteOdom laser_odom_to_init
1317357951.714268922 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.370122 ms 
--------------------stamp1317357951.818305969
prepare time 12.448643 
sort q time 6.585049 
seperate points time 13.460512 
mapping solver time 31.597210 ms 
filter time 20.786216 ms 
map prepare time 3.635926 ms
map corner num 164426  surf num 67182 
--------------------stamp1317357951.922367095
points size 100308 
sort q time 5.846424 
seperate points time 14.128189 
publication time 8.590078 ms 
whole laserOdometry time 8.602563 ms 
 
mapping data assosiation time 30.389953 ms 
mapping solver time 28.678275 ms 
--------------------stamp1317357952.026478052
prepare time 11.722990 
sort q time 6.238588 
seperate points time 14.111325 
publication time 8.842226 ms 
whole laserOdometry time 8.853016 ms 
 
filter time 12.874728 ms 
map prepare time 3.243267 ms
map corner num 165157  surf num 67397 
--------------------stamp1317357952.130589008
-----t: 0.0772528
OdomCount 1832 & avg odom time 0.045812 ms ++++++++++++++++++++++
--------------------stamp1317357952.234724044
points size 101116 
mapping solver time 31.755400 ms 
filter time 16.540285 ms 
publication time 9.326694 ms 
whole laserOdometry time 9.339246 ms 
 
mapping pub time 3.418275 ms 
whole mapping time 186.057629 ms +++++
mappingCount 1264 & avg mapping time 144.536871 ms ++++++++++++++++++++++
1317357951.922367096 WriteOdom aft_mapped_to_init
-----t: 0.057577
OdomCount 1833 & avg odom time 0.045818 ms ++++++++++++++++++++++
--------------------stamp1317357952.338882923
points size 100875 
build tree time 81.654310 ms 
sort q time 5.767623 
seperate points time 14.498936 
mapping solver time 29.308810 ms 
--------------------stamp1317357952.443017959
points size 100972 
sort q time 5.723197 
seperate points time 13.498669 
-----t: 0.0371653
OdomCount 1835 & avg odom time 0.045815 ms ++++++++++++++++++++++
filter time 10.812970 ms 
--------------------stamp1317357952.547152996
build tree time 36.563466 ms 
sort q time 5.461421 
seperate points time 13.294930 
mapping data assosiation time 29.587490 ms 
publication time 7.065611 ms 
whole laserOdometry time 7.080712 ms 
 
-----t: 0.0467509
OdomCount 1836 & avg odom time 0.045815 ms ++++++++++++++++++++++
mapping data assosiation time 24.223232 ms 
points size 99741 
mapping solver time 31.616501 ms 
mapping optimization time 156.079290 
add points time 1.042099 ms
sort q time 6.503087 
seperate points time 12.709401 
mapping pub time 5.676091 ms 
whole mapping time 182.150797 ms +++++
mappingCount 1266 & avg mapping time 144.634207 ms ++++++++++++++++++++++
build tree time 36.851899 ms 
--------------------stamp1317357952.755542039
points size 98964 
sort q time 5.488175 
seperate points time 13.341234 
publication time 10.177612 ms 
whole laserOdometry time 10.192472 ms 
 
mapping data assosiation time 25.850244 ms 
--------------------stamp1317357952.859747886
points size 98657 
map prepare time 4.924927 ms
map corner num 167735  surf num 68187 
publication time 9.466460 ms 
whole laserOdometry time 9.480257 ms 
 
-----t: 0.0543665
OdomCount 1839 & avg odom time 0.045835 ms ++++++++++++++++++++++
build tree time 43.781918 ms 
--------------------stamp1317357952.964001893
points size 99765 
sort q time 5.737316 mapping data assosiation time 28.385198 ms 
mapping solver time 20.943443 ms 
-----t: 0.0866555
OdomCount 1840 & avg odom time 0.045858 ms ++++++++++++++++++++++
map prepare time 4.248412 ms
map corner num 168323  surf num 68354 
sort q time 5.750160 
seperate points time 13.637224 
build tree time 42.642782 ms 
mapping data assosiation time 29.791270 ms 
-----t: 0.0790832
OdomCount 1841 & avg odom time 0.045876 ms ++++++++++++++++++++++
points size 99888 
sort q time 6.630883 
seperate points time 15.402010 
mapping data assosiation time 31.873402 ms 
-----t: 0.0506048
OdomCount 1842 & avg odom time 0.045878 ms ++++++++++++++++++++++
mapping solver time 30.823728 ms 
filter time 11.389033 ms 
--------------------stamp1317357953.276767969
prepare time 13.052992 
sort q time 6.214438 
seperate points time 12.929207 
build tree time 43.047167 ms 
mapping data assosiation time 29.864856 ms 
-----t: 0.0666307
OdomCount 1843 & avg odom time 0.045890 ms ++++++++++++++++++++++
mapping solver time 30.337167 ms 
points size 100252 
mapping data assosiation time 27.504254 ms 
mapping solver time 27.822484 ms 
add points time 0.917889 ms
filter time 10.965015 ms 
mapping pub time 2.270025 ms 
whole mapping time 187.909879 ms +++++
mappingCount 1270 & avg mapping time 144.767532 ms ++++++++++++++++++++++
1317357953.068281889 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 100311 
build tree time 41.350542 ms 
mapping data assosiation time 28.739599 ms 
mapping solver time 26.308822 ms 
mapping data assosiation time 21.898569 ms 
points size 100317 
mapping solver time 27.415564 ms 
filter time 15.868275 ms 
-----t: 0.0380735
OdomCount 1846 & avg odom time 0.045886 ms ++++++++++++++++++++++
scan registration time 51.749380 ms *************
[0m[ INFO] [1718805240.496628048, 1317357953.635964587]: Received 239752 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805240.496666803, 1317357953.635964587]: Data saved to 1317357953276767.pcd[0m
publication time 9.455500 ms 
whole laserOdometry time 9.466962 ms 
 
build tree time 41.573039 ms 
points size 101110 
sort q time 5.783147 
seperate points time 12.491494 
publication time 9.034713 ms 
whole laserOdometry time 9.048050 ms 
 
mapping solver time 31.399100 ms 
1317357953.693496942 WriteOdom laser_odom_to_init
1317357953.693496942 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.613057 ms 
points size 101289 
map prepare time 4.177278 ms
map corner num 171415  surf num 69307 
scan registration time 36.142291 ms *************
publication time 9.654399 ms 
whole laserOdometry time 9.670026 ms 
 
-----t: 0.05547
OdomCount 1848 & avg odom time 0.045893 ms ++++++++++++++++++++++
mapping data assosiation time 22.591242 ms 
--------------------stamp1317357953.901695966
prepare time 12.795399 
sort q time 6.106287 
seperate points time 14.329760 
publication time 9.104564 ms 
whole laserOdometry time 9.116096 ms 
 
add points time 0.902126 ms
filter time 14.390926 ms 
map prepare time 3.966300 ms
--------------------stamp1317357954.005733966
points size 102662 
build tree time 47.420579 ms 
-----t: 0.0402425
OdomCount 1850 & avg odom time 0.045908 ms ++++++++++++++++++++++
mapping solver time 33.959288 ms 
prepare time 12.531995 
mapping data assosiation time 38.444194 ms 
publication time 10.688376 ms 
whole laserOdometry time 10.702711 ms 
 
mapping solver time 33.206925 ms 
filter time 16.630514 ms 
1317357953.797609091 WriteOdom aft_mapped_to_init
--------------------stamp1317357954.213768959
points size 103331 
sort q time 5.571795 
seperate points time 12.692494 
mapping data assosiation time 26.775695 ms 
mapping solver time 25.861513 ms 
points size 103509 
mapping data assosiation time 26.602904 ms 
mapping solver time 24.194819 ms 
publication time 18.450174 ms 
whole laserOdometry time 18.478362 ms 
 
-----t: 0.0772516
OdomCount 1853 & avg odom time 0.045965 ms ++++++++++++++++++++++
--------------------stamp1317357954.421724081
prepare time 12.081661 
sort q time 6.000205 
seperate points time 14.463156 
publication time 9.272086 ms 
whole laserOdometry time 9.290345 ms 
 
-----t: 0.0619242
OdomCount 1854 & avg odom time 0.045974 ms ++++++++++++++++++++++
--------------------stamp1317357954.525690078
points size 104049 
sort q time 5.721782 
seperate points time 13.986169 
filter time 15.831950 ms 
map prepare time 3.207530 ms
map corner num 174287  surf num 70514 
build tree time 36.761087 ms 
points size 104154 
mapping data assosiation time 28.084872 ms 
scan registration time 33.848183 ms *************
mapping solver time 28.165248 ms 
mapping data assosiation time 25.487838 ms 
mapping solver time 19.611124 ms 
filter time 12.600191 ms 
sort q time 6.054288 
seperate points time 13.411400 
publication time 8.393258 ms 
whole laserOdometry time 8.407038 ms 
 
build tree time 45.680860 ms 
mapping data assosiation time 24.234965 ms 
--------------------stamp1317357954.837445974
points size 103573 
prepare time 16.770941 
sort q time 5.967227 
seperate points time 13.767354 
publication time 8.595359 ms 
whole laserOdometry time 8.609046 ms 
 
filter time 11.469154 ms 
--------------------stamp1317357954.941315889
points size 103051 
build tree time 40.142074 ms 
mapping data assosiation time 28.938743 ms 
-----t: 0.0572017
OdomCount 1859 & avg odom time 0.045974 ms ++++++++++++++++++++++
mapping solver time 27.586015 ms 
--------------------stamp1317357955.045186042
mapping data assosiation time 24.969700 ms 
mapping solver time 19.209233 ms 
mapping optimization time 142.220369 
add points time 0.984078 ms
map prepare time 3.955614 msbuild tree time 39.527256 ms 
--------------------stamp1317357955.149055957
mapping data assosiation time 27.588313 ms 
sort q time 6.397364 
seperate points time 13.210244 
mapping solver time 30.996064 ms 
-----t: 0.0432648
OdomCount 1861 & avg odom time 0.045969 ms ++++++++++++++++++++++
mapping data assosiation time 26.966710 ms 
mapping solver time 20.475754 ms 
filter time 11.758454 ms 
--------------------stamp1317357955.252928018
points size 100905 
sort q time 5.537439 
seperate points time 13.436919 
scan registration time 35.878165 ms *************
publication time 9.595620 ms 
whole laserOdometry time 9.610628 ms 
 
mapping data assosiation time 28.194000 ms 
-----t: 0.0783599
OdomCount 1862 & avg odom time 0.045986 ms ++++++++++++++++++++++
mapping solver time 24.607710 ms 
sort q time 6.937459 
seperate points time 13.374087 
publication time 8.573322 ms 
whole laserOdometry time 8.587823 ms 
 
mapping solver time 23.183823 ms 
filter time 11.728590 ms 
--------------------stamp1317357955.460669040
prepare time 12.204643 
sort q time 5.805506 
seperate points time 13.927085 
scan registration time 30.698645 ms *************
publication time 12.377227 ms build tree time 49.922020 ms 
-----t: 0.0507093
OdomCount 1864 & avg odom time 0.045990 ms ++++++++++++++++++++++
1317357955.460669040 WriteOdom laser_odom_to_init
1317357955.460669040 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.988415 ms 
--------------------stamp1317357955.564564943
points size 99485 
sort q time 5.515272 
seperate points time 12.890258 
mapping data assosiation time 28.063569 ms 
publication time 10.581251 ms 
whole laserOdometry time 10.608444 ms 
 
mapping solver time 24.616075 ms 
mapping optimization time 156.568447 
add points time 0.961100 ms
filter time 13.478284 ms 
mapping pub time 2.241163 ms 
whole mapping time 177.064118 ms +++++
mappingCount 1282 & avg mapping time 145.094595 ms ++++++++++++++++++++++
1317357955.252928019 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.396156 ms
map corner num 161557  surf num 61717 
--------------------stamp1317357955.668461084
points size 99295 
sort q time 5.754242 
seperate points time 14.251521 
scan registration time 37.726264 ms *************
mapping data assosiation time 27.525189 ms 
publication time 10.994819 ms 
whole laserOdometry time 11.010222 ms 
 
-----t: 0.055806
OdomCount 1866 & avg odom time 0.045994 ms ++++++++++++++++++++++
--------------------stamp1317357955.772332906
points size 99769 
mapping solver time 24.396177 ms 
filter time 14.831357 ms 
publication time 9.263592 ms 
whole laserOdometry time 9.307783 ms 
 
build tree time 26.124709 ms 
mapping data assosiation time 25.507812 ms 
prepare time 15.833975 
mapping solver time 31.951522 ms 
sort q time 5.839344 
seperate points time 13.690653 
mapping data assosiation time 29.364416 ms 
-----t: 0.0447688
OdomCount 1868 & avg odom time 0.046004 ms ++++++++++++++++++++++
1317357955.876178026 WriteOdom laser_odom_to_init
1317357955.876178026 WriteOdom aft_mapped_to_init_high_frec
publication time 15.729966 ms 
whole laserOdometry time 15.740065 ms 
 
mapping solver time 25.501149 ms 
filter time 6.750773 ms 
--------------------stamp1317357955.980026006
points size 98722 
build tree time 24.289553 ms 
sort q time 6.135374 
seperate points time 12.264237 
scan registration time 33.281244 ms *************
publication time 8.680234 ms 
whole laserOdometry time 8.693963 ms 
 
-----t: 0.0479311
OdomCount 1869 & avg odom time 0.046005 ms ++++++++++++++++++++++
mapping solver time 21.629636 ms 
mapping data assosiation time 26.162220 ms 
points size 98183 
filter time 6.556931 ms 
mapping pub time 2.300977 ms 
whole mapping time 135.901684 ms +++++
mappingCount 1285 & avg mapping time 145.109924 ms ++++++++++++++++++++++
1317357955.772332907 WriteOdom aft_mapped_to_init
publication time 9.389403 ms 
whole laserOdometry time 9.403681 ms 
 
build tree time 22.142220 ms 
mapping data assosiation time 26.252666 ms 
-----t: 0.0657212
OdomCount 1870 & avg odom time 0.046016 ms ++++++++++++++++++++++
1317357956.083873033 WriteOdom laser_odom_to_init
1317357956.083873033 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357956.187717914
mapping solver time 22.257428 ms 
prepare time 12.686186 
mapping data assosiation time 27.955310 ms 
sort q time 5.425606 
seperate points time 19.621580 
scan registration time 37.601056 ms *************
mapping solver time 23.575432 ms 
publication time 9.086640 ms 
whole laserOdometry time 9.097669 ms 
 
filter time 7.533491 ms 
map prepare time 2.573456 ms
map corner num 90810  surf num 34902 
build tree time 21.419548 ms 
--------------------stamp1317357956.291539907
points size 97736 
sort q time 5.550015 
seperate points time 12.893581 
mapping solver time 32.818111 ms 
-----t: 0.0552032
OdomCount 1872 & avg odom time 0.046022 ms ++++++++++++++++++++++
mapping data assosiation time 27.970746 ms 
mapping solver time 23.057211 ms 
filter time 9.709514 ms 
points size 97333 
mapping pub time 2.809896 ms 
whole mapping time 154.093361 ms +++++
mappingCount 1287 & avg mapping time 145.111844 ms ++++++++++++++++++++++
1317357956.083873034 WriteOdom aft_mapped_to_init
prepare time 16.537215 
sort q time 5.591705 
seperate points time 13.037596 
scan registration time 34.970272 ms *************
build tree time 24.391258 ms 
-----t: 0.0581866
OdomCount 1873 & avg odom time 0.046029 ms ++++++++++++++++++++++
mapping solver time 28.046074 ms 
points size 96872 
mapping data assosiation time 29.379667 ms 
filter time 8.899404 ms 
-----t: 0.0659759
OdomCount 1874 & avg odom time 0.046039 ms ++++++++++++++++++++++
build tree time 25.397061 ms 
points size 96660 
sort q time 5.996903 
seperate points time 11.478800 
publication time 10.589637 ms 
whole laserOdometry time 10.603366 ms 
 
mapping solver time 28.147865 ms 
-----t: 0.0562122
OdomCount 1875 & avg odom time 0.046045 ms ++++++++++++++++++++++
--------------------stamp1317357956.706758975
filter time 6.803944 ms 
sort q time 5.232850 
seperate points time 12.164895 
build tree time 22.851917 ms 
publication time 8.890268 ms 
whole laserOdometry time 8.905670 ms 
 
mapping data assosiation time 26.798728 ms 
mapping solver time 24.806295 ms 
points size 96807 
sort q time 5.187359 
seperate points time 12.329905 
mapping solver time 21.896334 ms 
drop lidar frame in mapping for real time performance 
build tree time 20.865878 ms 
--------------------stamp1317357956.914330005
points size 96829 
sort q time 5.392857 
seperate points time 12.528230 
mapping solver time 33.491467 ms 
publication time 9.932287 ms 
whole laserOdometry time 9.939407 ms 
 
mapping data assosiation time 26.069009 ms 
mapping solver time 21.937936 ms 
[0m[ INFO] [1718805243.868580318, 1317357957.004915433]: Received 129935 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805243.868630142, 1317357957.004915433]: Data saved to 1317357956706758.pcd[0m
points size 97024 
build tree time 22.658301 ms 
sort q time 5.438094 
seperate points time 12.644245 
scan registration time 31.435619 ms *************
publication time 7.576180 ms 
whole laserOdometry time 7.585046 ms 
 
mapping data assosiation time 29.684804 ms 
-----t: 0.056785
OdomCount 1879 & avg odom time 0.046036 ms ++++++++++++++++++++++
1317357957.018059015 WriteOdom laser_odom_to_init
1317357957.018059015 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357957.121762037
prepare time 14.123433 
sort q time 5.021501 
seperate points time 11.367430 
map prepare time 3.365381 ms
map corner num 94749  surf num 36202 
publication time 8.808249 ms 
whole laserOdometry time 8.834359 ms 
 
mapping data assosiation time 24.144524 ms 
points size 97736 
sort q time 5.593039 
seperate points time 12.046834 
mapping data assosiation time 29.695686 ms 
publication time 21.340031 ms 
whole laserOdometry time 21.353043 ms 
 
mapping solver time 25.313264 ms 
mapping optimization time 137.162166 
add points time 0.944597 ms
map prepare time 2.632590 ms
map corner num 95401  surf num 36407 
--------------------stamp1317357957.329190015
points size 98284 
sort q time 5.455697 
seperate points time 12.606077 
publication time 8.879304 ms 
whole laserOdometry time 8.910091 ms 
 
-----t: 0.0499843
OdomCount 1882 & avg odom time 0.046038 ms ++++++++++++++++++++++
mapping data assosiation time 25.155551 ms 
points size 98603 
filter time 6.745011 ms 
publication time 8.472734 ms 
whole laserOdometry time 8.487592 ms 
 
build tree time 23.458996 ms 
1317357957.432893991 WriteOdom laser_odom_to_init
1317357957.432893991 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.912338 ms 
--------------------stamp1317357957.536597967
points size 98852 
mapping solver time 34.464081 ms 
scan registration time 32.941318 ms *************
publication time 8.939230 ms 
whole laserOdometry time 8.954536 ms 
 
mapping data assosiation time 30.943843 ms 
-----t: 0.0494805
OdomCount 1884 & avg odom time 0.046043 ms ++++++++++++++++++++++
mapping solver time 26.987162 ms 
mapping optimization time 146.295179 
add points time 0.878574 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357957.640280961
points size 99451 
build tree time 20.862890 ms 
sort q time 5.797247 
seperate points time 12.941536 
mapping data assosiation time 30.967692 ms 
publication time 9.117116 ms 
whole laserOdometry time 9.135854 ms 
 
-----t: 0.0417072
OdomCount 1885 & avg odom time 0.046041 ms ++++++++++++++++++++++
1317357957.640280961 WriteOdom laser_odom_to_init
1317357957.640280961 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.025479 ms 
points size 100179 
add points time 0.964287 ms
map prepare time 3.764348 ms
map corner num 97405  surf num 37223 
build tree time 26.635967 ms 
mapping data assosiation time 26.404762 ms 
points size 101070 
prepare time 11.867349 
sort q time 7.235659 
seperate points time 13.408861 
publication time 9.352893 ms 
whole laserOdometry time 9.366387 ms 
 
-----t: 0.0496857
OdomCount 1887 & avg odom time 0.046042 ms ++++++++++++++++++++++
mapping solver time 23.592887 ms 
filter time 6.768883 ms 
points size 102135 
sort q time 5.976814 
seperate points time 13.861467 
publication time 10.012111 ms 
whole laserOdometry time 10.026818 ms 
 
-----t: 0.0553397
OdomCount 1888 & avg odom time 0.046047 ms ++++++++++++++++++++++
mapping solver time 28.784406 ms 
points size 102575 
mapping data assosiation time 33.576086 ms 
scan registration time 37.856999 ms *************
mapping solver time 29.766929 ms 
mapping pub time 2.417126 ms 
whole mapping time 173.433341 ms +++++
mappingCount 1298 & avg mapping time 145.180862 ms ++++++++++++++++++++++
--------------------stamp1317357958.158623933
points size 102459 
prepare time 18.680023 
mapping data assosiation time 34.435447 ms 
publication time 10.029327 ms 
whole laserOdometry time 10.041833 ms 
 
-----t: 0.0512022
OdomCount 1890 & avg odom time 0.046059 ms ++++++++++++++++++++++
1317357958.158623933 WriteOdom laser_odom_to_init
mapping data assosiation time 24.960148 ms 
points size 102471 
sort q time 5.615865 
seperate points time 13.094545 
mapping solver time 34.072556 ms 
mapping optimization time 158.198682 
add points time 0.980709 ms
scan registration time 30.769693 ms *************
map prepare time 3.668010 ms
map corner num 99581  surf num 38148 
build tree time 23.122303 ms 
mapping data assosiation time 25.316867 ms 
points size 102578 
sort q time 5.672829 
seperate points time 13.180326 
publication time 9.215190 ms 
whole laserOdometry time 9.228030 ms 
 
mapping data assosiation time 33.823967 ms 
mapping solver time 22.546711 ms 
filter time 9.007871 ms 
points size 102589 
sort q time 5.951629 
seperate points time 11.833925 
publication time 10.982834 ms 
whole laserOdometry time 10.998841 ms 
 
mapping data assosiation time 32.950053 ms 
mapping solver time 25.104090 ms 
--------------------stamp1317357958.573456048
points size 102689 
sort q time 6.307290 
seperate points time 13.072660 
mapping solver time 19.762833 ms 
filter time 9.944235 ms 
[0m[ INFO] [1718805245.484712694, 1317357958.621638532]: Received 139880 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805245.484788523, 1317357958.621638532]: Data saved to 1317357958262301.pcd[0m--------------------stamp1317357958.677182912
points size 102727 
map prepare time 4.318818 ms
map corner num 101089  surf num 38791 
scan registration time 36.862537 ms *************
publication time 9.840355 ms 
whole laserOdometry time 9.853068 ms 
 
build tree time 28.425340 ms 
-----t: 0.0464617
OdomCount 1895 & avg odom time 0.046068 ms ++++++++++++++++++++++
1317357958.677182912 WriteOdom laser_odom_to_init
1317357958.677182912 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.009097 ms 
--------------------stamp1317357958.780909061
points size 102703 
mapping solver time 38.502456 ms 
sort q time 6.486348 
seperate points time 15.331741 
scan registration time 37.610247 ms *************
mapping data assosiation time 34.587352 ms 
-----t: 0.0536923
OdomCount 1896 & avg odom time 0.046072 ms ++++++++++++++++++++++
mapping solver time 25.641796 ms 
filter time 7.450435 ms 
map prepare time 4.606847 ms
map corner num 101813  surf num 39104 
points size 102788 
prepare time 14.613382 
build tree time 28.766405 ms 
mapping data assosiation time 31.953886 ms 
-----t: 0.067369
OdomCount 1897 & avg odom time 0.046084 ms ++++++++++++++++++++++
1317357958.884634971 WriteOdom laser_odom_to_init
1317357958.884634971 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357958.988364934
prepare time 13.066443 
sort q time 6.147862 
seperate points time 13.612438 
mapping solver time 29.824668 ms 
filter time 10.076287 ms 
-----t: 0.0648742
OdomCount 1898 & avg odom time 0.046094 ms ++++++++++++++++++++++
--------------------stamp1317357959.092068910
points size 102739 
sort q time 5.900630 
seperate points time 14.273310 
publication time 9.504466 ms 
whole laserOdometry time 9.533980 ms 
 
mapping data assosiation time 28.879062 ms 
--------------------stamp1317357959.195746898
points size 102737 
filter time 10.776367 ms 
sort q time 6.312817 
seperate points time 14.045876 
map prepare time 3.769025 ms
map corner num 103248  surf num 39705 
publication time 7.502862 ms 
whole laserOdometry time 7.517847 ms 
 
-----t: 0.0496411
OdomCount 1900 & avg odom time 0.046095 ms ++++++++++++++++++++++
mapping data assosiation time 30.880636 ms 
--------------------stamp1317357959.299424886
points size 102853 
sort q time 5.630559 
seperate points time 12.403695 
publication time 11.968180 ms 
whole laserOdometry time 11.981726 ms 
 
-----t: 0.0634373
OdomCount 1901 & avg odom time 0.046104 ms ++++++++++++++++++++++
filter time 9.060417 ms 
--------------------stamp1317357959.403103113
points size 102829 
build tree time 26.888383 ms 
publication time 9.682512 ms 
whole laserOdometry time 9.696839 ms 
 
mapping solver time 25.323622 ms 
--------------------stamp1317357959.506782054
mapping data assosiation time 27.208175 ms 
sort q time 5.637594 
seperate points time 13.214313 
filter time 9.323609 ms 
mapping pub time 7.746688 ms 
whole mapping time 163.628790 ms +++++
mappingCount 1306 & avg mapping time 145.371503 ms ++++++++++++++++++++++
1317357959.195746899 WriteOdom aft_mapped_to_init
-----t: 0.0386477
OdomCount 1903 & avg odom time 0.046098 ms ++++++++++++++++++++++
1317357959.506782054 WriteOdom laser_odom_to_init
build tree time 26.402806 ms 
--------------------stamp1317357959.610510110
points size 102709 
sort q time 5.845449 
seperate points time 13.284025 
mapping solver time 34.996009 ms 
publication time 10.433318 ms 
whole laserOdometry time 10.446478 ms 
 
-----t: 0.0584093
OdomCount 1904 & avg odom time 0.046104 ms ++++++++++++++++++++++
--------------------stamp1317357959.714282989
points size 102395 
drop lidar frame in mapping for real time performance 
map prepare time 4.149176 ms
map corner num 105226  surf num 40576 
sort q time 5.997325 
seperate points time 14.341031 
scan registration time 36.653936 ms *************
build tree time 28.993756 ms 
-----t: 0.0741941
OdomCount 1905 & avg odom time 0.046119 ms ++++++++++++++++++++++
--------------------stamp1317357959.818056106
points size 102241 
sort q time 6.046923 
seperate points time 14.088215 
mapping data assosiation time 31.427411 ms 
-----t: 0.0488363
OdomCount 1906 & avg odom time 0.046120 ms ++++++++++++++++++++++
mapping solver time 21.558282 ms 
mapping optimization time 147.811813 
add points time 0.921341 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357959.921855926
points size 102097 
prepare time 27.500498 
mapping data assosiation time 30.098519 ms 
scan registration time 48.965596 ms *************
publication time 12.728816 ms 
whole laserOdometry time 12.749321 ms 
 
1317357959.921855926 WriteOdom laser_odom_to_init
1317357959.921855926 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357960.025726079
points size 102110 
mapping solver time 22.875743 ms 
filter time 9.682178 ms 
publication time 10.648977 ms 
whole laserOdometry time 10.662653 ms 
 
-----t: 0.0485278
OdomCount 1908 & avg odom time 0.046127 ms ++++++++++++++++++++++
mapping data assosiation time 23.719147 ms 
--------------------stamp1317357960.129668951
points size 102092 
sort q time 6.623433 
seperate points time 13.660922 
mapping data assosiation time 31.089932 ms 
-----t: 0.0532881
OdomCount 1909 & avg odom time 0.046131 ms ++++++++++++++++++++++
1317357960.129668951 WriteOdom laser_odom_to_init
1317357960.129668951 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.858966 ms 
filter time 7.863441 ms 
--------------------stamp1317357960.233661890
build tree time 23.003166 ms 
mapping data assosiation time 29.518172 ms 
-----t: 0.0401427
OdomCount 1910 & avg odom time 0.046127 ms ++++++++++++++++++++++
1317357960.233661890 WriteOdom laser_odom_to_init
1317357960.233661890 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 35.223139 ms 
mapping data assosiation time 24.140107 ms 
points size 101442 
mapping solver time 26.708092 ms 
filter time 8.458211 ms 
scan registration time 33.772303 ms *************
[0m[ INFO] [1718805247.229280866, 1317357960.366703376]: Received 149246 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805247.229391710, 1317357960.366703376]: Data saved to 1317357960025726.pcd[0m
mapping pub time 5.506553 ms 
whole mapping time 157.784452 ms +++++
mappingCount 1311 & avg mapping time 145.426237 ms ++++++++++++++++++++++
1317357960.025726080 WriteOdom aft_mapped_to_init
map prepare time 3.540457 ms
map corner num 107707  surf num 41539 
-----t: 0.0418436
OdomCount 1911 & avg odom time 0.046125 ms ++++++++++++++++++++++
build tree time 27.235417 ms 
mapping data assosiation time 26.424440 ms 
points size 101022 
mapping solver time 32.283676 ms 
sort q time 5.455588 
seperate points time 13.256069 
mapping data assosiation time 30.159850 ms 
publication time 14.329699 ms 
whole laserOdometry time 14.343857 ms 
 
-----t: 0.0598452
OdomCount 1912 & avg odom time 0.046132 ms ++++++++++++++++++++++
mapping solver time 31.492691 ms 
filter time 7.183723 ms 
--------------------stamp1317357960.545945882
points size 100677 
prepare time 14.565986 
-----t: 0.0600247
OdomCount 1913 & avg odom time 0.046140 ms ++++++++++++++++++++++
--------------------stamp1317357960.650177001
points size 98336 
sort q time 6.192055 
seperate points time 12.070495 
filter time 9.060772 ms 
-----t: 0.061886
OdomCount 1914 & avg odom time 0.046148 ms ++++++++++++++++++++++
--------------------stamp1317357960.754456043
mapping solver time 28.299501 ms 
filter time 10.457254 ms 
sort q time 5.229143 
seperate points time 12.827879 
build tree time 29.805792 ms 
mapping data assosiation time 24.821429 ms 
mapping solver time 25.727084 ms 
--------------------stamp1317357960.963094949
points size 90753 
mapping data assosiation time 26.271483 ms 
publication time 7.784946 ms 
whole laserOdometry time 7.799715 ms 
 
add points time 0.820871 ms
filter time 7.283648 ms 
map prepare time 2.603709 ms
map corner num 110414  surf num 42497 
build tree time 22.144717 ms 
--------------------stamp1317357961.067445993
prepare time 12.421421 
sort q time 5.826483 
seperate points time 11.539960 
mapping solver time 30.862075 ms 
mapping data assosiation time 23.539350 ms 
mapping solver time 26.405118 ms 
mapping optimization time 127.876595 
add points time 0.850724 ms
[0m[ INFO] [1718805248.028694680, 1317357961.166949954]: Received 153865 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805248.028790096, 1317357961.166949954]: Data saved to 1317357960858758.pcd[0m
points size 89714 
sort q time 5.057545 
seperate points time 11.717105 
-----t: 0.0335332
OdomCount 1919 & avg odom time 0.046132 ms ++++++++++++++++++++++
mapping data assosiation time 27.254916 ms 
mapping solver time 23.836692 ms 
--------------------stamp1317357961.276066064
mapping data assosiation time 25.768869 ms 
sort q time 4.927248 
seperate points time 11.518493 
mapping solver time 30.158881 ms 
filter time 11.343586 ms 
build tree time 26.531228 ms 
--------------------stamp1317357961.380369901
points size 90049 
sort q time 5.030188 
seperate points time 11.081100 
publication time 7.500488 ms 
whole laserOdometry time 7.512229 ms 
 
-----t: 0.0353104
OdomCount 1921 & avg odom time 0.046120 ms ++++++++++++++++++++++
1317357961.380369901 WriteOdom laser_odom_to_init
1317357961.380369901 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.982162 ms 
mapping solver time 19.298839 ms 
filter time 7.566960 ms 
--------------------stamp1317357961.484622955
prepare time 12.547390 
sort q time 4.973059 
seperate points time 11.305559 
publication time 6.809645 ms 
whole laserOdometry time 6.842903 ms 
mapping solver time 26.008988 ms 
mapping data assosiation time 20.786288 ms 
mapping solver time 19.460396 ms 
filter time 10.116792 ms 
sort q time 5.346490 
seperate points time 10.798961 
scan registration time 26.542412 ms *************
build tree time 30.938626 ms 
-----t: 0.0425733
OdomCount 1923 & avg odom time 0.046111 ms ++++++++++++++++++++++
mapping solver time 18.506749 ms 
--------------------stamp1317357961.693037033
prepare time 12.087394 
sort q time 5.705508 
seperate points time 11.139887 
filter time 10.709098 ms 
map prepare time 3.846210 ms
map corner num 113775  surf num 43412 
build tree time 25.627804 ms 
mapping data assosiation time 20.142947 ms 
--------------------stamp1317357961.797219038
points size 89680 
sort q time 5.744273 
seperate points time 11.356119 
mapping data assosiation time 22.713917 ms 
mapping solver time 19.148372 ms 
mapping optimization time 114.993319 
add points time 0.709764 ms
--------------------stamp1317357961.901352882
prepare time 13.334499 
1317357961.588829041 WriteOdom aft_mapped_to_init
-----t: 0.0387127
OdomCount 1926 & avg odom time 0.046096 ms ++++++++++++++++++++++
1317357961.901352882 WriteOdom laser_odom_to_init
1317357961.901352882 WriteOdom aft_mapped_to_init_high_frec
build tree time 35.821942 ms 
mapping data assosiation time 25.172516 ms 
--------------------stamp1317357962.005464076prepare time 12.543996 
sort q time 4.696920 
seperate points time 11.975543 
publication time 9.972193 ms 
whole laserOdometry time 9.985286 ms 
 
-----t: 0.0367539
OdomCount 1927 & avg odom time 0.046091 ms ++++++++++++++++++++++
1317357962.005464076 WriteOdom laser_odom_to_init
1317357962.005464076 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.548222 ms 
mapping optimization time 138.700909 
add points time 0.659948 ms
filter time 11.343316 ms 
map prepare time 3.168211 ms
map corner num 114610  surf num 43607 
--------------------stamp1317357962.109575986
points size 85550 
sort q time 4.735336 
seperate points time 10.819040 
-----t: 0.0290799
OdomCount 1928 & avg odom time 0.046082 ms ++++++++++++++++++++++
mapping solver time 28.202457 ms 
mapping data assosiation time 23.345755 ms 
mapping solver time 23.494691 ms 
points size 86078 
map prepare time 3.115971 ms
map corner num 115097  surf num 43698 
publication time 7.167755 ms 
whole laserOdometry time 7.181133 ms 
 
build tree time 32.504292 ms 
1317357962.213660001 WriteOdom laser_odom_to_init
1317357962.213660001 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.496624 ms 
mapping solver time 22.240883 ms 
--------------------stamp1317357962.317723989
prepare time 11.908197 
mapping data assosiation time 22.829334 ms 
scan registration time 28.776163 ms *************
mapping solver time 16.667417 ms 
mapping optimization time 116.985602 
add points time 0.702330 ms
map prepare time 3.583075 msbuild tree time 33.079648 ms 
--------------------stamp1317357962.421761989
points size 88148 
mapping solver time 21.192990 ms 
-----t: 0.0286625
OdomCount 1931 & avg odom time 0.046069 ms ++++++++++++++++++++++
mapping solver time 14.140161 ms 
filter time 7.677206 ms 
--------------------stamp1317357962.525778055
prepare time 10.685851 
mapping data assosiation time 21.332499 ms 
sort q time 5.379482 
seperate points time 11.155383 
scan registration time 26.753295 ms *************
publication time 11.106547 ms 
whole laserOdometry time 11.121726 ms 
 
mapping data assosiation time 19.510006 ms 
mapping solver time 12.405904 ms 
mapping optimization time 99.013488 
add points time 0.604696 ms
--------------------stamp1317357962.629769086
points size 89687 
scan registration time 28.129319 ms *************
mapping data assosiation time 21.234454 ms 
-----t: 0.0385785
OdomCount 1933 & avg odom time 0.046058 ms ++++++++++++++++++++++
mapping solver time 21.468726 ms 
mapping data assosiation time 18.246139 ms 
mapping solver time 14.121827 ms 
filter time 10.633731 ms 
prepare time 12.695315 
sort q time 5.209026 
seperate points time 10.860801 
-----t: 0.0444867
OdomCount 1934 & avg odom time 0.046057 ms ++++++++++++++++++++++
mapping solver time 16.850696 ms 
mapping data assosiation time 19.198983 ms 
points size 89065 
filter time 11.007947 ms 
publication time 7.637657 ms 
whole laserOdometry time 7.651200 ms 
 
-----t: 0.0627035
OdomCount 1935 & avg odom time 0.046066 ms ++++++++++++++++++++++
1317357962.837680101 WriteOdom laser_odom_to_init
mapping solver time 19.342992 ms 
points size 89256 
sort q time 5.559711 
seperate points time 22.567761 
filter time 10.180169 ms 
publication time 8.103503 ms 
whole laserOdometry time 8.127394 ms 
 
build tree time 41.025357 ms 
points size 90914 
prepare time 13.557595 
mapping data assosiation time 20.003465 ms 
sort q time 4.881189 
seperate points time 10.952770 
mapping solver time 23.865805 ms 
mapping data assosiation time 19.548969 ms 
mapping solver time 17.380469 ms 
filter time 12.209881 ms 
--------------------stamp1317357963.149363040
prepare time 12.768126 
scan registration time 30.439866 ms *************
build tree time 47.854934 ms 
publication time 12.254233 ms 
whole laserOdometry time 12.267455 ms 
 
mapping data assosiation time 20.661648 ms 
mapping solver time 20.228497 ms 
mapping data assosiation time 18.376886 ms 
--------------------stamp1317357963.253210067
prepare time 11.304237 
mapping solver time 22.892754 ms 
filter time 17.300493 ms 
--------------------stamp1317357963.357057094
prepare time 11.753477 
mapping data assosiation time 20.602980 ms 
scan registration time 38.161668 ms *************
-----t: 0.035347
OdomCount 1940 & avg odom time 0.046048 ms ++++++++++++++++++++++
mapping data assosiation time 19.551618 ms 
mapping solver time 18.722834 ms 
--------------------stamp1317357963.460926055
points size 96301 
scan registration time 35.388668 ms *************
-----t: 0.0389569
OdomCount 1941 & avg odom time 0.046044 ms ++++++++++++++++++++++
mapping data assosiation time 18.261649 ms 
mapping solver time 21.743323 ms 
points size 95890 
sort q time 5.559170 
seperate points time 13.088330 
mapping solver time 20.573857 ms 
filter time 13.543242 ms 
map prepare time 3.115393 ms
map corner num 193050  surf num 72648 
--------------------stamp1317357963.668669939
prepare time 12.843080 
sort q time 5.231199 
seperate points time 12.344045 
publication time 8.069384 ms 
whole laserOdometry time 8.082618 ms 
 
mapping data assosiation time 19.133738 ms 
mapping solver time 17.928321 ms 
--------------------stamp1317357963.772515058
prepare time 15.802492 
sort q time 5.797051 
seperate points time 12.485592 
publication time 7.546683 ms 
whole laserOdometry time 7.560417 ms 
 
-----t: 0.0562437
OdomCount 1944 & avg odom time 0.046042 ms ++++++++++++++++++++++
mapping data assosiation time 23.800631 ms 
--------------------stamp1317357963.876362085
points size 90739 
sort q time 4.882063 
seperate points time 11.740381 
mapping data assosiation time 23.573442 ms 
-----t: 0.0411742
OdomCount 1945 & avg odom time 0.046039 ms ++++++++++++++++++++++
add points time 0.855718 ms
filter time 18.418495 ms 
map prepare time 4.015899 ms
map corner num 194284  surf num 73115 
--------------------stamp1317357963.980232954
points size 89319 
sort q time 5.381616 
seperate points time 11.199566 
scan registration time 29.152491 ms *************
publication time 8.098229 ms 
whole laserOdometry time 8.111105 ms 
 
-----t: 0.0500941
OdomCount 1946 & avg odom time 0.046042 ms ++++++++++++++++++++++
mapping data assosiation time 24.948422 ms 
mapping solver time 24.391729 ms 
points size 89417 
sort q time 4.649257 
seperate points time 10.514389 
mapping solver time 23.203563 ms 
publication time 10.768025 ms 
whole laserOdometry time 10.784677 ms 
 
-----t: 0.0337034
OdomCount 1947 & avg odom time 0.046035 ms ++++++++++++++++++++++
mapping pub time 5.673151 ms 
whole mapping time 180.596565 ms +++++
mappingCount 1336 & avg mapping time 145.481434 ms ++++++++++++++++++++++
--------------------stamp1317357964.187973976
prepare time 14.113340 
mapping data assosiation time 21.432093 ms 
publication time 7.870973 ms 
whole laserOdometry time 7.883276 ms 
 
mapping data assosiation time 19.248592 ms 
mapping solver time 18.464317 ms 
filter time 12.407645 ms 
points size 91630 
sort q time 5.451360 
seperate points time 14.524191 
build tree time 43.092269 ms 
publication time 10.243361 ms mapping solver time 23.931519 ms 
--------------------stamp1317357964.395716905
mapping data assosiation time 21.131245 ms 
mapping solver time 14.239975 ms 
-----t: 0.0420814
OdomCount 1950 & avg odom time 0.046032 ms ++++++++++++++++++++++
publication time 6.214540 ms 
whole laserOdometry time 6.227857 ms 
 
build tree time 37.604369 ms 
--------------------stamp1317357964.499587059
prepare time 16.495304 
scan registration time 33.390904 ms *************
mapping data assosiation time 21.752847 ms 
mapping solver time 14.824156 ms 
filter time 12.785919 ms 
--------------------stamp1317357964.603457927
points size 97182 
build tree time 38.704705 ms 
mapping data assosiation time 21.754621 ms 
mapping solver time 22.451807 ms 
mapping data assosiation time 20.015062 ms 
--------------------stamp1317357964.707329034
prepare time 12.242754 
sort q time 5.844412 
seperate points time 12.938396 
publication time 8.770293 ms 
whole laserOdometry time 8.797838 ms 
 build tree time 40.548618 ms 
mapping data assosiation time 16.513780 ms 
--------------------stamp1317357964.811249017
points size 95695 
sort q time 5.412624 
seperate points time 11.121361 
mapping solver time 22.405222 ms 
filter time 14.641841 ms 
-----t: 0.0541201
OdomCount 1954 & avg odom time 0.046022 ms ++++++++++++++++++++++
points size 94681 
sort q time 5.203409 
seperate points time 11.783402 
1317357964.603457928 WriteOdom aft_mapped_to_init
publication time 10.504511 ms 
whole laserOdometry time 10.520289 ms 
 
-----t: 0.069576
OdomCount 1955 & avg odom time 0.046034 ms ++++++++++++++++++++++
--------------------stamp1317357965.019181966
points size 94038 
mapping solver time 20.416973 ms 
mapping data assosiation time 21.789787 ms 
mapping solver time 14.185129 ms 
filter time 10.449774 ms 
map prepare time 2.824023 ms
map corner num 166740  surf num 59737 
--------------------stamp1317357965.123147010
prepare time 12.651294 
sort q time 5.206687 
seperate points time 11.996211 
mapping data assosiation time 21.127283 ms 
1317357965.123147010 WriteOdom laser_odom_to_init
1317357965.123147010 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.104334 ms 
mapping data assosiation time 17.924121 ms 
mapping solver time 16.761975 ms 
filter time 12.853376 ms 
sort q time 6.385996 
seperate points time 14.503524 
publication time 9.777649 ms 
whole laserOdometry time 9.790550 ms 
 
-----t: 0.0337826
OdomCount 1958 & avg odom time 0.046017 ms ++++++++++++++++++++++
1317357965.227113962 WriteOdom laser_odom_to_init
1317357965.227113962 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.528792 ms 
mapping solver time 20.173885 ms 
points size 86202 
sort q time 4.848282 
seperate points time 10.886760 
mapping solver time 20.909700 ms 
filter time 13.288372 ms 
build tree time 35.960638 ms 
mapping data assosiation time 18.303213 ms 
points size 80644 
sort q time 4.020874 
seperate points time 9.386504 
scan registration time 24.842175 ms *************
publication time 10.675984 ms 
whole laserOdometry time 10.692136 ms 
 
mapping data assosiation time 21.233424 ms 
mapping solver time 18.635700 ms 
filter time 10.555916 ms 
--------------------stamp1317357965.539015054
points size 78028 
prepare time 13.031626 
publication time 6.427927 ms 
whole laserOdometry time 6.441614 ms 
 
mapping solver time 19.242055 ms 
mapping data assosiation time 18.002377 ms 
mapping solver time 12.311803 ms 
filter time 12.277152 ms 
map prepare time 3.229537 ms
map corner num 168810  surf num 60226 
sort q time 3.989204 
seperate points time 9.988755 
publication time 7.323077 ms 
whole laserOdometry time 7.335903 ms 
 build tree time 42.593493 ms 
mapping data assosiation time 17.725422 ms 
mapping solver time 16.243237 ms 
--------------------stamp1317357965.747021913
prepare time 12.861016 
mapping solver time 19.657908 ms 
sort q time 7.711911 
seperate points time 13.514734 
mapping optimization time 118.694032 
add points time 0.726457 ms
scan registration time 29.971109 ms *************
drop lidar frame in mapping for real time performance 
-----t: 0.0604972
OdomCount 1963 & avg odom time 0.046015 ms ++++++++++++++++++++++
build tree time 43.978226 ms 
points size 74474 
sort q time 4.102398 
seperate points time 9.987607 
[0m[ INFO] [1718805252.746340803, 1317357965.891568365]: Received 229036 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805252.746385115, 1317357965.891568365]: Data saved to 1317357965435048.pcd[0m
-----t: 0.0450871
OdomCount 1964 & avg odom time 0.046014 ms ++++++++++++++++++++++
mapping solver time 18.067052 ms 
filter time 11.170631 ms 
--------------------stamp1317357965.955049991
prepare time 14.867689 
sort q time 4.158050 
seperate points time 9.790358 
build tree time 47.357048 ms 
mapping data assosiation time 17.913922 ms 
mapping solver time 21.518707 ms 
mapping data assosiation time 18.604208 ms 
points size 73883 
mapping solver time 21.947592 ms 
filter time 14.640985 ms 
-----t: 0.0352514
OdomCount 1966 & avg odom time 0.046004 ms ++++++++++++++++++++++
build tree time 37.751259 ms 
mapping data assosiation time 16.779964 ms 
points size 69917 
sort q time 3.598687 
seperate points time 8.790263 
mapping data assosiation time 19.659545 ms 
-----t: 0.0343044
OdomCount 1967 & avg odom time 0.045998 ms ++++++++++++++++++++++
filter time 12.348232 ms 
--------------------stamp1317357966.267095088
build tree time 42.600118 ms 
scan registration time 21.939445 ms *************
publication time 6.613129 ms 
whole laserOdometry time 6.625299 ms 
 
mapping solver time 20.072609 ms 
mapping data assosiation time 19.315429 ms 
mapping solver time 11.711264 ms 
mapping optimization time 114.232139 
add points time 0.650835 ms
filter time 11.600371 ms 
mapping pub time 4.397587 ms 
whole mapping time 134.276297 ms +++++
mappingCount 1351 & avg mapping time 145.482507 ms ++++++++++++++++++++++
1317357966.059063911 WriteOdom aft_mapped_to_init
map prepare time 2.367997 ms
map corner num 170860  surf num 60743 
build tree time 46.812431 ms 
--------------------stamp1317357966.371085882
mapping data assosiation time 19.450255 ms 
mapping solver time 19.966746 ms 
--------------------stamp1317357966.475075960
mapping data assosiation time 18.041280 ms 
sort q time 2.955341 
seperate points time 7.294559 
publication time 5.870574 ms 
whole laserOdometry time 5.877633 ms 
 
build tree time 35.300532 ms 
mapping data assosiation time 16.313979 ms 
--------------------stamp1317357966.579067945
sort q time 3.290928 
seperate points time 7.174449 
publication time 6.483568 ms 
whole laserOdometry time 6.495761 ms 
 
mapping solver time 13.397487 ms 
[0m[ INFO] [1718805253.486293516, 1317357966.627326579]: Received 231603 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805253.486336159, 1317357966.627326579]: Data saved to 1317357966059063.pcd[0m
build tree time 36.612493 ms 
points size 66828 
sort q time 3.608497 
seperate points time 8.424099 
publication time 5.640972 ms 
whole laserOdometry time 5.654614 ms 
 
-----t: 0.0242651
OdomCount 1972 & avg odom time 0.045946 ms ++++++++++++++++++++++
mapping data assosiation time 17.745991 ms 
mapping solver time 11.750569 ms 
filter time 10.827800 ms 
--------------------stamp1317357966.787096023
sort q time 4.435836 
seperate points time 8.397202 
publication time 5.787756 ms 
whole laserOdometry time 5.795333 ms 
 
mapping data assosiation time 16.253128 ms 
mapping solver time 11.954715 ms 
filter time 11.591803 ms 
--------------------stamp1317357966.891134977
sort q time 3.673699 
seperate points time 9.121436 
build tree time 42.229893 ms 
-----t: 0.0370162
OdomCount 1974 & avg odom time 0.045932 ms ++++++++++++++++++++++
mapping solver time 20.042946 ms 
mapping data assosiation time 17.917054 ms 
--------------------stamp1317357966.995173931
prepare time 10.353528 
filter time 15.757649 ms 
scan registration time 22.635909 ms *************
mapping pub time 5.780966 ms 
whole mapping time 143.906484 ms +++++
mappingCount 1356 & avg mapping time 145.422802 ms ++++++++++++++++++++++
1317357966.787096024 WriteOdom aft_mapped_to_init
map prepare time 3.088864 ms
map corner num 173317  surf num 61394 
-----t: 0.0381474
OdomCount 1975 & avg odom time 0.045928 ms ++++++++++++++++++++++
1317357966.995173931 WriteOdom laser_odom_to_init
1317357966.995173931 WriteOdom aft_mapped_to_init_high_frec
build tree time 45.290402 ms 
mapping data assosiation time 20.427104 ms 
points size 70666 
sort q time 3.635141 
seperate points time 8.512470 
mapping data assosiation time 24.848022 ms 
mapping solver time 18.773085 ms 
filter time 13.075948 ms 
mapping pub time 1.547325 ms 
whole mapping time 153.113585 ms +++++
mappingCount 1357 & avg mapping time 145.428473 ms ++++++++++++++++++++++
1317357966.891134977 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.619671 ms
map corner num 173743  surf num 61522 
--------------------stamp1317357967.203226089
build tree time 39.519822 ms 
mapping data assosiation time 18.574326 ms 
mapping solver time 20.199775 ms 
mapping data assosiation time 16.330189 ms 
mapping solver time 16.011173 ms 
--------------------stamp1317357967.307265996
sort q time 3.883951 
seperate points time 9.222209 
scan registration time 24.645404 ms *************
publication time 5.703706 ms 
whole laserOdometry time 5.715176 ms 
 
build tree time 54.327027 ms 
[0m[ INFO] [1718805254.235770682, 1317357967.372052959]: Received 234711 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805254.235904335, 1317357967.372052959]: Data saved to 1317357966787096.pcd[0m
--------------------stamp1317357967.411303997
mapping data assosiation time 18.215258 ms 
mapping solver time 18.174575 ms 
filter time 13.478889 ms 
build tree time 38.863855 ms 
mapping data assosiation time 16.904187 ms 
sort q time 4.598292 
seperate points time 10.211572 
publication time 6.985376 ms 
whole laserOdometry time 6.996205 ms 
 
mapping solver time 14.055431 ms 
filter time 10.833045 ms 
--------------------stamp1317357967.619307041
build tree time 41.711632 ms 
sort q time 4.598470 
seperate points time 10.391236 
mapping data assosiation time 20.808503 ms 
-----t: 0.0378474
OdomCount 1981 & avg odom time 0.045887 ms ++++++++++++++++++++++
mapping data assosiation time 16.929401 ms 
mapping optimization time 115.969051 
add points time 0.710397 ms
--------------------stamp1317357967.723248958
points size 79266 
sort q time 4.390865 
seperate points time 10.607236 
-----t: 0.0378989
OdomCount 1982 & avg odom time 0.045883 ms ++++++++++++++++++++++
1317357967.723248958 WriteOdom laser_odom_to_init
1317357967.723248958 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 92.800520 ms 
whole mapping time 223.425512 ms +++++
mappingCount 1361 & avg mapping time 145.460085 ms ++++++++++++++++++++++
1317357967.515317917 WriteOdom aft_mapped_to_init
--------------------stamp1317357967.827193021
prepare time 14.623092 
build tree time 46.132624 ms 
publication time 8.070147 ms 
whole laserOdometry time 8.080744 ms 
 
-----t: 0.0477074
OdomCount 1983 & avg odom time 0.045884 ms ++++++++++++++++++++++
1317357967.827193021 WriteOdom laser_odom_to_init
1317357967.827193021 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 12.032639 ms 
mapping data assosiation time 17.783565 ms 
mapping solver time 12.248066 ms 
filter time 11.813557 ms 
sort q time 4.554843 
seperate points time 9.211839 
scan registration time 33.450721 ms *************
publication time 7.863917 ms 
whole laserOdometry time 7.897827 ms 
 
mapping data assosiation time 16.757969 ms 
mapping solver time 16.645292 ms 
--------------------stamp1317357968.035080909
prepare time 11.633362 
sort q time 4.689202 
seperate points time 10.664447 
filter time 17.052021 ms 
map prepare time 3.615675 msbuild tree time 36.812225 ms 
--------------------stamp1317357968.139023065
points size 81990 
prepare time 13.291725 
mapping data assosiation time 19.522770 ms 
publication time 6.153084 ms 
whole laserOdometry time 6.165388 ms 
 
-----t: 0.033828
OdomCount 1986 & avg odom time 0.045875 ms ++++++++++++++++++++++
1317357968.139023065 WriteOdom laser_odom_to_init
1317357968.139023065 WriteOdom aft_mapped_to_init_high_frec
filter time 11.698955 ms 
mapping pub time 1.749870 ms 
whole mapping time 124.427691 ms +++++
mappingCount 1364 & avg mapping time 145.422896 ms ++++++++++++++++++++++
1317357967.931137085 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.833058 ms
map corner num 176772  surf num 62476 
--------------------stamp1317357968.242940902
build tree time 40.765665 ms 
sort q time 4.656566 
seperate points time 10.651184 
publication time 6.759932 ms 
whole laserOdometry time 6.772740 ms 
 
mapping solver time 19.988426 ms 
mapping data assosiation time 18.101221 ms 
mapping solver time 13.430024 ms 
mapping optimization time 113.579266 
add points time 0.704759 ms
map prepare time 3.194368 ms
map corner num 177128  surf num 62594 
prepare time 12.673314 
sort q time 4.466537 
seperate points time 10.627179 
scan registration time 28.446978 ms *************
-----t: 0.0360001
OdomCount 1988 & avg odom time 0.045863 ms ++++++++++++++++++++++
1317357968.346882104 WriteOdom laser_odom_to_init
1317357968.346882104 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.236932 ms 
mapping solver time 20.006896 ms 
mapping data assosiation time 17.239891 ms 
prepare time 10.501607 
sort q time 4.814260 
seperate points time 10.566690 
filter time 16.524367 ms 
publication time 7.144136 ms 
whole laserOdometry time 7.160413 ms 
 
mapping pub time 9.157959 ms 
whole mapping time 153.152405 ms +++++
mappingCount 1366 & avg mapping time 145.417476 ms ++++++++++++++++++++++
1317357968.242940903 WriteOdom aft_mapped_to_init
build tree time 40.474899 ms 
--------------------stamp1317357968.554769039
mapping data assosiation time 19.106020 ms 
points size 82785 
sort q time 4.471786 
seperate points time 9.908576 
publication time 6.469903 ms 
whole laserOdometry time 6.479793 ms 
 
-----t: 0.0319824
OdomCount 1990 & avg odom time 0.045852 ms ++++++++++++++++++++++
1317357968.554769039 WriteOdom laser_odom_to_init
1317357968.554769039 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.689620 ms 
mapping solver time 13.038868 ms 
mapping optimization time 115.540595 
add points time 0.662809 ms
map prepare time 2.991148 ms
map corner num 178067  surf num 62832 
--------------------stamp1317357968.658710956
points size 81990 
build tree time 40.092742 ms 
sort q time 7.714061 
seperate points time 16.711790 
-----t: 0.0309039
OdomCount 1991 & avg odom time 0.045845 ms ++++++++++++++++++++++
mapping solver time 18.991020 ms 
mapping data assosiation time 16.499817 ms 
mapping solver time 13.015468 ms 
filter time 11.632805 ms 
points size 81142 
sort q time 4.539452 
seperate points time 10.755757 
publication time 7.150216 ms 
whole laserOdometry time 7.161400 ms 
 
build tree time 47.473750 ms 
mapping data assosiation time 16.154762 ms 
mapping solver time 21.133915 ms 
--------------------stamp1317357968.866642951
prepare time 13.782560 
sort q time 4.563068 
seperate points time 10.868286 
publication time 5.904261 ms 
whole laserOdometry time 5.915169 ms 
 
build tree time 38.457067 ms 
[0m[ INFO] [1718805255.822163290, 1317357968.962534303]: Received 240369 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805255.822203947, 1317357968.962534303]: Data saved to 1317357968242940.pcd[0m
points size 83180 
prepare time 20.078347 
scan registration time 35.581691 ms *************
mapping data assosiation time 21.803879 ms 
-----t: 0.0498375
OdomCount 1994 & avg odom time 0.045832 ms ++++++++++++++++++++++
mapping solver time 16.593828 ms 
filter time 11.265227 ms 
--------------------stamp1317357969.074626922
points size 85214 
build tree time 42.781022 ms 
sort q time 4.747478 
seperate points time 11.333310 
scan registration time 30.763938 ms *************
mapping data assosiation time 20.550700 ms 
publication time 6.703430 ms 
whole laserOdometry time 6.719974 ms 
 
-----t: 0.042694
OdomCount 1995 & avg odom time 0.045830 ms ++++++++++++++++++++++
--------------------stamp1317357969.178641080
mapping solver time 21.502131 ms 
points size 88857 
map prepare time 3.422454 ms
map corner num 179735  surf num 63265 
publication time 8.542821 ms 
whole laserOdometry time 8.554210 ms 
 
build tree time 47.493621 ms 
mapping data assosiation time 17.466134 ms 
--------------------stamp1317357969.282632112
prepare time 11.103324 
sort q time 5.306021 
seperate points time 11.456464 
mapping data assosiation time 22.196741 ms 
-----t: 0.0391957
OdomCount 1997 & avg odom time 0.045826 ms ++++++++++++++++++++++
filter time 11.204732 ms 
--------------------stamp1317357969.386624097
points size 90279 
sort q time 5.106664 
seperate points time 11.743790 
mapping data assosiation time 20.289445 ms 
-----t: 0.0371495
OdomCount 1998 & avg odom time 0.045821 ms ++++++++++++++++++++++
mapping data assosiation time 16.822048 ms 
mapping solver time 13.572552 ms 
--------------------stamp1317357969.490612983
prepare time 12.450052 
sort q time 5.566189 
seperate points time 12.000411 
publication time 5.429782 ms 
whole laserOdometry time 5.440711 ms 
 
build tree time 48.069894 ms 
mapping solver time 17.737891 ms 
--------------------stamp1317357969.594580888
mapping data assosiation time 22.528032 ms 
sort q time 5.548272 
seperate points time 12.077183 
publication time 9.397784 ms 
whole laserOdometry time 9.416972 ms 
 
build tree time 35.902275 ms 
--------------------stamp1317357969.698548078
prepare time 12.829054 
mapping solver time 20.976952 ms 
mapping data assosiation time 20.581990 ms 
mapping solver time 15.374978 ms 
[0m[ INFO] [1718805256.628187841, 1317357969.773586288]: Received 243000 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805256.628213122, 1317357969.773586288]: Data saved to 1317357968970633.pcd[0m
--------------------stamp1317357969.802515029
prepare time 13.910547 
sort q time 4.903638 
seperate points time 11.620114 
scan registration time 30.497338 ms *************
-----t: 0.0402645
OdomCount 2002 & avg odom time 0.045809 ms ++++++++++++++++++++++
mapping solver time 22.198853 ms 
mapping data assosiation time 20.107561 ms 
--------------------stamp1317357969.906481981
points size 91808 
filter time 17.312930 ms 
mapping pub time 5.297653 ms 
whole mapping time 154.493113 ms +++++
mappingCount 1376 & avg mapping time 145.387011 ms ++++++++++++++++++++++
1317357969.698548079 WriteOdom aft_mapped_to_init
publication time 7.344520 ms 
whole laserOdometry time 7.358403 ms 
 
-----t: 0.0498093
OdomCount 2003 & avg odom time 0.045811 ms ++++++++++++++++++++++
build tree time 42.490262 ms 
mapping data assosiation time 18.513722 ms 
--------------------stamp1317357970.010425090
mapping solver time 22.538176 ms 
sort q time 6.009172 
seperate points time 14.062904 
publication time 8.189401 ms 
whole laserOdometry time 8.202398 ms 
 
-----t: 0.0493382
OdomCount 2004 & avg odom time 0.045813 ms ++++++++++++++++++++++
filter time 15.098885 ms 
--------------------stamp1317357970.114368915
points size 94725 
build tree time 45.520225 ms 
sort q time 14.482099 
seperate points time 22.133975 
-----t: 0.0421131
OdomCount 2005 & avg odom time 0.045811 ms ++++++++++++++++++++++
mapping data assosiation time 17.767413 ms 
mapping solver time 14.750524 ms 
filter time 12.329732 ms 
mapping pub time 2.048203 ms 
whole mapping time 142.523737 ms +++++
mappingCount 1378 & avg mapping time 145.387226 ms ++++++++++++++++++++++
1317357969.906481981 WriteOdom aft_mapped_to_init
points size 95152 
prepare time 12.518070 
map prepare time 3.202716 ms
map corner num 182525  surf num 63957 
sort q time 5.408677 
seperate points time 12.507108 
publication time 8.619346 ms 
whole laserOdometry time 8.630324 ms 
 
build tree time 46.052105 ms 
mapping data assosiation time 19.043258 ms 
mapping solver time 18.596885 ms 
points size 95639 
mapping data assosiation time 23.324617 ms 
scan registration time 32.072094 ms *************
filter time 11.455215 ms 
map prepare time 4.767306 ms
map corner num 183028  surf num 64074 
-----t: 0.0468174
OdomCount 2007 & avg odom time 0.045811 ms ++++++++++++++++++++++
build tree time 40.699531 ms 
points size 96339 
sort q time 12.626042 
seperate points time 19.694960 
mapping data assosiation time 22.589506 ms 
mapping solver time 20.179583 ms 
filter time 12.122902 ms 
--------------------stamp1317357970.530257940
points size 97747 
sort q time 5.713107 
seperate points time 12.490649 
build tree time 46.246048 ms 
-----t: 0.0423005
OdomCount 2009 & avg odom time 0.045811 ms ++++++++++++++++++++++
mapping data assosiation time 22.048786 ms 
mapping solver time 19.207472 ms 
--------------------stamp1317357970.634202003
prepare time 13.023148 
sort q time 5.596975 
seperate points time 12.746435 
publication time 12.719454 ms 
whole laserOdometry time 12.729222 ms 
 
--------------------stamp1317357970.738168001
prepare time 13.168289 
drop lidar frame in mapping for real time performance 
map prepare time 4.480286 ms
map corner num 183872  surf num 64270 
publication time 9.170542 ms 
whole laserOdometry time 9.189700 ms 
 
-----t: 0.0530084
OdomCount 2011 & avg odom time 0.045812 ms ++++++++++++++++++++++
mapping data assosiation time 24.933540 ms 
points size 98981 
sort q time 5.654715 
seperate points time 12.717957 
mapping data assosiation time 23.184694 ms 
publication time 10.033207 ms 
whole laserOdometry time 10.049049 ms 
 
mapping solver time 23.182150 ms 
filter time 10.984469 ms 
--------------------stamp1317357970.946028947
points size 99243 
prepare time 15.371438 
scan registration time 35.863073 ms *************
mapping data assosiation time 23.298583 ms 
-----t: 0.0498038
OdomCount 2013 & avg odom time 0.045814 ms ++++++++++++++++++++++
mapping data assosiation time 18.748544 ms 
--------------------stamp1317357971.049947023
points size 98511 
filter time 17.261285 ms 
scan registration time 34.263863 ms *************
publication time 10.295907 ms 
whole laserOdometry time 10.330197 ms 
 
1317357971.049947023 WriteOdom laser_odom_to_init
build tree time 46.381320 ms 
mapping data assosiation time 19.023565 ms 
points size 97218 
sort q time 5.418295 
seperate points time 11.541377 
mapping data assosiation time 23.173730 ms 
-----t: 0.0408269
OdomCount 2015 & avg odom time 0.045816 ms ++++++++++++++++++++++
1317357971.153867959 WriteOdom laser_odom_to_init
1317357971.153867959 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.494590 ms 
mapping optimization time 131.068624 
add points time 0.733939 ms
filter time 11.525641 ms 
--------------------stamp1317357971.257786989
points size 96937 
mapping data assosiation time 22.530104 ms 
mapping solver time 26.394190 ms 
mapping data assosiation time 25.378194 ms 
--------------------stamp1317357971.361704111
prepare time 12.573974 
sort q time 5.619465 
seperate points time 21.809298 
build tree time 27.958040 ms mapping data assosiation time 19.161159 ms 
-----t: 0.0584053
OdomCount 2017 & avg odom time 0.045839 ms ++++++++++++++++++++++
1317357971.361704111 WriteOdom laser_odom_to_init
1317357971.361704111 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.364143 ms 
--------------------stamp1317357971.465600013
prepare time 13.871801 
sort q time 5.427800 
seperate points time 11.474181 filter time 10.464808 ms 
map prepare time 2.602847 ms
map corner num 127961  surf num 42403 
build tree time 26.890949 ms 
--------------------stamp1317357971.569494009
mapping data assosiation time 19.238617 ms 
points size 93165 
prepare time 14.531410 
scan registration time 32.642639 ms *************
publication time 8.333986 ms 
whole laserOdometry time 8.348457 ms 
 
mapping solver time 15.264259 ms 
mapping pub time 2.146461 ms 
whole mapping time 124.895234 ms +++++
mappingCount 1387 & avg mapping time 145.448874 ms ++++++++++++++++++++++
--------------------stamp1317357971.673388957
points size 91175 
sort q time 6.826583 
-----t: 0.0352977
OdomCount 2020 & avg odom time 0.045831 ms ++++++++++++++++++++++
publication time 9.238552 ms 
whole laserOdometry time 9.253111 ms 
 
mapping solver time 31.714398 ms 
mapping data assosiation time 21.127620 ms 
points size 90064 
filter time 11.980931 ms 
-----t: 0.0398305
OdomCount 2021 & avg odom time 0.045828 ms ++++++++++++++++++++++
build tree time 35.913146 ms 
mapping data assosiation time 21.136485 ms 
points size 90332 
sort q time 5.651691 
seperate points time 13.898871 
mapping data assosiation time 28.347779 ms 
publication time 9.257154 ms 
whole laserOdometry time 9.270895 ms 
 
-----t: 0.046825
OdomCount 2022 & avg odom time 0.045828 ms ++++++++++++++++++++++
add points time 0.869032 ms
filter time 11.434479 ms 
map prepare time 2.479526 ms
map corner num 129361  surf num 42757 
points size 89512 
build tree time 34.957367 ms 
mapping data assosiation time 26.507716 ms 
-----t: 0.0445255
OdomCount 2023 & avg odom time 0.045828 ms ++++++++++++++++++++++
mapping solver time 26.192575 ms 
mapping data assosiation time 24.109113 ms 

mappingCount 1390 & avg mapping time 145.484234 ms ++++++++++++++++++++++
--------------------stamp1317357972.504786968
points size 93567 
prepare time 15.250617 
[0m[ INFO] [1718805259.376989811, 1317357972.519707814]: Received 255386 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805259.377030189, 1317357972.519707814]: Data saved to 1317357971985121.pcd[0m
build tree time 49.093312 ms 
sort q time 6.459552 
seperate points time 25.800022 
-----t: 0.0393278
OdomCount 2028 & avg odom time 0.045813 ms ++++++++++++++++++++++
publication time 7.827406 ms 
whole laserOdometry time 7.838030 ms 
 
mapping data assosiation time 16.555747 ms 
mapping solver time 12.732131 ms 
points size 88774 
map prepare time 3.506343 ms
map corner num 192677  surf num 63856 
publication time 10.199335 ms build tree time 56.951112 ms 
mapping data assosiation time 20.465723 ms 
points size 87098 
sort q time 5.599786 
seperate points time 11.790653 
scan registration time 26.649362 ms *************
-----t: 0.0364865
OdomCount 2030 & avg odom time 0.045805 ms ++++++++++++++++++++++
mapping solver time 23.736208 ms 
filter time 13.514740 ms 
--------------------stamp1317357972.816589117
points size 85110 
sort q time 4.998587 
seperate points time 12.314912 
publication time 11.674652 ms 
whole laserOdometry time 11.694246 ms 
 
-----t: 0.0504887
OdomCount 2031 & avg odom time 0.045807 ms ++++++++++++++++++++++
mapping data assosiation time 15.814460 ms 
--------------------stamp1317357972.920531988
points size 82888 
filter time 18.615350 ms 
sort q time 4.870571 
seperate points time 11.454530 
mapping pub time 2.787978 ms 
whole mapping time 154.253939 ms +++++
mappingCount 1395 & avg mapping time 145.533838 ms ++++++++++++++++++++++
1317357972.608728886 WriteOdom aft_mapped_to_init
scan registration time 31.076199 ms *************
map prepare time 4.555764 ms
map corner num 193534  surf num 64101 
build tree time 42.534479 ms 
mapping data assosiation time 17.658148 ms 
--------------------stamp1317357973.024476051
mapping solver time 21.240519 ms 
publication time 7.579352 ms 
whole laserOdometry time 7.611907 ms 
 
-----t: 0.0457462
OdomCount 2033 & avg odom time 0.045801 ms ++++++++++++++++++++++
filter time 13.377864 ms 
map prepare time 3.377394 ms
map corner num 193969  surf num 64255 
--------------------stamp1317357973.128443956
points size 81139 
sort q time 4.692441 
seperate points time 11.012248 
scan registration time 28.922948 ms *************
publication time 7.361597 ms 
whole laserOdometry time 7.374631 ms 
 
-----t: 0.0527248
OdomCount 2034 & avg odom time 0.045805 ms ++++++++++++++++++++++
mapping data assosiation time 17.243112 ms 
mapping solver time 13.165462 ms 
prepare time 11.310579 
sort q time 4.720893 publication time 7.272449 ms 
whole laserOdometry time 7.285983 ms 
 
build tree time 48.262201 ms 
mapping data assosiation time 18.026348 ms 
--------------------stamp1317357973.336376905
points size 78822 
sort q time 4.855599 
seperate points time 11.483069 
mapping solver time 23.886958 ms 
publication time 19.924224 ms 
whole laserOdometry time 19.934592 ms 
 
1317357973.336376905 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357973.440342903
sort q time 5.362196 
build tree time 60.134623 ms 
-----t: 0.0395733
OdomCount 2037 & avg odom time 0.045802 ms ++++++++++++++++++++++
mapping solver time 24.566312 ms 
--------------------stamp1317357973.544308900
prepare time 11.188500 
mapping solver time 34.522845 ms 
filter time 17.524496 ms 
--------------------stamp1317357973.648277044
build tree time 47.630236 ms 
mapping data assosiation time 23.340252 ms 
-----t: 0.0470079
OdomCount 2039 & avg odom time 0.045806 ms ++++++++++++++++++++++
mapping data assosiation time 19.022577 ms 
--------------------stamp1317357973.752243995
prepare time 14.398716 
sort q time 4.954284 
seperate points time 11.709324 
publication time 9.757342 ms 
whole laserOdometry time 9.770641 ms 
 
build tree time 51.299773 ms 
mapping data assosiation time 19.378475 ms 
--------------------stamp1317357973.856209993
mapping solver time 24.492331 ms 
scan registration time 40.728291 ms *************
publication time 13.061882 ms 
whole laserOdometry time 13.076592 ms 
 
filter time 13.542240 ms 
--------------------stamp1317357973.960175991
prepare time 22.981743 
sort q time 11.560546 
seperate points time 24.898441 
publication time 13.079671 ms 
whole laserOdometry time 13.101975 ms 
 
--------------------stamp1317357974.064143896
-----t: 0.112931
OdomCount 2042 & avg odom time 0.045845 ms ++++++++++++++++++++++
scan registration time 40.109360 ms *************
publication time 8.671868 ms 
whole laserOdometry time 8.686730 ms 
 
-----t: 0.0513191
OdomCount 2043 & avg odom time 0.045848 ms ++++++++++++++++++++++
build tree time 54.413184 ms 
mapping data assosiation time 19.771478 ms 
sort q time 5.382365 
seperate points time 12.286363 
publication time 12.782492 ms 
whole laserOdometry time 12.800407 ms 
 
mapping data assosiation time 26.763452 ms 
1317357974.168112039 WriteOdom laser_odom_to_init
mapping solver time 27.500901 ms 
mapping optimization time 156.859871 
add points time 0.726680 ms
--------------------stamp1317357974.272078990
filter time 18.167206 ms 
mapping pub time 2.219249 ms 
whole mapping time 182.028004 ms +++++
mappingCount 1402 & avg mapping time 145.742161 ms ++++++++++++++++++++++
1317357973.752243996 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 4.079728 ms
map corner num 196717  surf num 65260 
points size 82569 
sort q time 5.672669 
seperate points time 12.768618 
publication time 11.021666 ms 
whole laserOdometry time 11.040286 ms 
 
build tree time 65.546459 ms 
mapping data assosiation time 23.596561 ms 
points size 82123 
scan registration time 36.983706 ms *************
mapping data assosiation time 24.365632 ms 
-----t: 0.0526423
OdomCount 2046 & avg odom time 0.045860 ms ++++++++++++++++++++++
filter time 16.369687 ms 
points size 84543 
sort q time 5.494864 
seperate points time 11.820016 
-----t: 0.0377403
OdomCount 2047 & avg odom time 0.045856 ms ++++++++++++++++++++++
1317357974.479963064 WriteOdom laser_odom_to_init
1317357974.479963064 WriteOdom aft_mapped_to_init_high_frec
build tree time 53.085794 ms 
mapping data assosiation time 27.137038 ms 
mapping solver time 17.641424 ms 
points size 86170 
mapping solver time 16.688919 ms mapping pub time 1.934788 ms 
whole mapping time 160.636219 ms +++++
1317357974.583928108 WriteOdom laser_odom_to_init
publication time 15.360682 ms 
whole laserOdometry time 15.370693 ms 
 
--------------------stamp1317357974.687870979
build tree time 51.035587 ms 
mapping data assosiation time 22.303686 ms 
sort q time 16.936119 
seperate points time 23.696342 
scan registration time 55.869526 ms *************
-----t: 0.0500672
OdomCount 2049 & avg odom time 0.045856 ms ++++++++++++++++++++++
mapping solver time 16.913203 ms 
filter time 12.841380 ms 
mapping pub time 1.882728 ms 
whole mapping time 156.550149 ms +++++
mappingCount 1405 & avg mapping time 145.795629 ms ++++++++++++++++++++++
1317357974.479963064 WriteOdom aft_mapped_to_init
scan registration time 29.612518 ms *************
-----t: 0.0348772
OdomCount 2050 & avg odom time 0.045851 ms ++++++++++++++++++++++
build tree time 53.272517 ms 
mapping data assosiation time 17.304634 ms 
mapping solver time 17.135626 ms 
points size 91417 
sort q time 4.797061 
seperate points time 11.304711 
-----t: 0.0296771
OdomCount 2051 & avg odom time 0.045843 ms ++++++++++++++++++++++
mapping pub time 5.062671 ms 
whole mapping time 150.760973 ms +++++
mappingCount 1406 & avg mapping time 145.799163 ms ++++++++++++++++++++++
--------------------stamp1317357974.999749898
points size 92403 
sort q time 5.311185 
seperate points time 12.194370 
-----t: 0.034664
OdomCount 2052 & avg odom time 0.045838 ms ++++++++++++++++++++++
mapping data assosiation time 24.028658 ms 
mapping solver time 18.257329 ms 
points size 90725 
map prepare time 4.145640 ms
map corner num 199357  surf num 66183 
publication time 7.580284 ms 
whole laserOdometry time 7.596422 ms 
 
-----t: 0.0491783
OdomCount 2053 & avg odom time 0.045839 ms ++++++++++++++++++++++
build tree time 56.393246 ms 
mapping data assosiation time 23.164071 ms 
prepare time 12.494932 
sort q time 5.637550 
seperate points time 11.243189 
publication time 9.150723 ms 
whole laserOdometry time 9.167876 ms 
 
-----t: 0.0510152
OdomCount 2054 & avg odom time 0.045842 ms ++++++++++++++++++++++
mapping optimization time 158.277426 
add points time 0.707581 ms
filter time 17.963177 ms 
map prepare time 4.470300 ms
map corner num 199863  surf num 66345 
sort q time 5.448842 
seperate points time 11.862656 
publication time 7.718027 ms 
whole laserOdometry time 7.733877 ms 
 
build tree time 54.920882 ms 
mapping data assosiation time 23.264071 ms 
--------------------stamp1317357975.415616989
points size 93009 
mapping data assosiation time 24.653084 ms 
sort q time 5.604278 
seperate points time 13.148707 
scan registration time 35.553792 ms *************
-----t: 0.0413124
OdomCount 2056 & avg odom time 0.045835 ms ++++++++++++++++++++++
1317357975.415616989 WriteOdom laser_odom_to_init
1317357975.415616989 WriteOdom aft_mapped_to_init_high_frec
filter time 16.106220 ms 
mapping pub time 3.004677 ms 
whole mapping time 171.753161 ms +++++
mappingCount 1409 & avg mapping time 145.858855 ms ++++++++++++++++++++++
1317357975.103717089 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 4.074346 ms
map corner num 200266  surf num 66457 
--------------------stamp1317357975.519608020
prepare time 14.355166 
scan registration time 43.731467 ms *************
mapping data assosiation time 39.070025 ms 
mapping solver time 23.109997 ms 
--------------------stamp1317357975.623599052
mapping data assosiation time 23.924585 ms 
points size 97419 
prepare time 15.776772 
scan registration time 34.170660 ms *************
publication time 8.971084 ms 
whole laserOdometry time 8.986316 ms 
 
[0m[ INFO] [1718805262.572901918, 1317357975.715026120]: Received 264866 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805262.572931206, 1317357975.715026120]: Data saved to 1317357974583928.pcd[0m
build tree time 41.497407 ms 
prepare time 13.111089 
mapping data assosiation time 24.082135 ms 
mapping solver time 28.876224 ms 
-----t: 0.0584296
OdomCount 2059 & avg odom time 0.045840 ms ++++++++++++++++++++++
mapping solver time 18.655285 ms 
--------------------stamp1317357975.831506967
mapping pub time 6.470056 ms 
whole mapping time 162.735064 ms +++++
mappingCount 1411 & avg mapping time 145.906576 ms ++++++++++++++++++++++
sort q time 5.913755 
seperate points time 13.251825 
publication time 9.613110 ms 
whole laserOdometry time 9.626320 ms 
 
build tree time 51.125946 ms 
mapping data assosiation time 19.888603 ms 
mapping solver time 22.339189 ms 
points size 99122 
prepare time 16.226244 
mapping optimization time 136.900190 
filter time 14.909090 ms 
--------------------stamp1317357976.039370059
points size 100056 
sort q time 6.294695 
seperate points time 12.983178 
publication time 8.705686 ms 
whole laserOdometry time 8.717742 ms 
 
mapping solver time 19.620157 ms 
mapping data assosiation time 20.684462 ms 
mapping solver time 14.298275 ms 
--------------------stamp1317357976.143312931
--------------------stamp1317357976.247231006
prepare time 13.746474 
sort q time 6.273373 
seperate points time 12.529646 
mapping solver time 23.979003 ms 
mapping optimization time 143.561955 
add points time 0.490308 ms
mapping pub time 2.188888 ms 
whole mapping time 164.989217 ms +++++
mappingCount 1414 & avg mapping time 145.926138 ms ++++++++++++++++++++++
--------------------stamp1317357976.351147890
points size 100112 
sort q time 5.973880 
seperate points time 12.431015 
mapping data assosiation time 24.496003 ms 
-----t: 0.0482425
OdomCount 2065 & avg odom time 0.045836 ms ++++++++++++++++++++++
1317357976.351147890 WriteOdom laser_odom_to_init
1317357976.351147890 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.629319 ms 
mapping data assosiation time 19.574758 ms 
mapping solver time 19.872451 ms 
filter time 15.176290 ms 
publication time 7.336533 ms 
whole laserOdometry time 7.348230 ms 
 
-----t: 0.0429941
OdomCount 2066 & avg odom time 0.045835 ms ++++++++++++++++++++++
build tree time 47.938496 ms 
--------------------stamp1317357976.558986902
prepare time 11.929417 
sort q time 5.365605 
seperate points time 12.284985 
scan registration time 38.144637 ms *************
publication time 9.447437 ms 
whole laserOdometry time 9.474008 ms 
 
-----t: 0.054504
OdomCount 2067 & avg odom time 0.045839 ms ++++++++++++++++++++++
filter time 13.051471 ms 
map prepare time 3.263073 ms
map corner num 203220  surf num 67356 
--------------------stamp1317357976.662906885
points size 93854 
sort q time 5.364410 
seperate points time 12.495382 
build tree time 52.554712 ms 
publication time 9.447033 ms 
whole laserOdometry time 9.457821 ms 
 
mapping data assosiation time 23.637231 ms 
-----t: 0.0476414
OdomCount 2068 & avg odom time 0.045840 ms ++++++++++++++++++++++
1317357976.662906885 WriteOdom laser_odom_to_init
1317357976.662906885 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.672728 ms 
--------------------stamp1317357976.766824960
points size 93501 
prepare time 12.714272 
scan registration time 28.976927 ms *************
publication time 8.573198 ms 
whole laserOdometry time 8.594316 ms 
 
-----t: 0.0437927
OdomCount 2069 & avg odom time 0.045839 ms ++++++++++++++++++++++
build tree time 41.743089 ms 
--------------------stamp1317357976.870742082
points size 93312 
sort q time 5.603277 
seperate points time 12.075470 
mapping solver time 27.107524 ms 
mapping data assosiation time 23.920135 ms 
-----t: 0.051486
OdomCount 2070 & avg odom time 0.045842 ms ++++++++++++++++++++++
1317357976.870742082 WriteOdom laser_odom_to_init
1317357976.870742082 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.663257 ms 
filter time 14.163940 ms 
points size 92534 
sort q time 5.220887 
seperate points time 11.689909 
publication time 6.791838 ms 
whole laserOdometry time 6.805024 ms 
 
build tree time 48.857502 ms 
-----t: 0.0406107
OdomCount 2071 & avg odom time 0.045839 ms ++++++++++++++++++++++
1317357976.974690914 WriteOdom laser_odom_to_init
1317357976.974690914 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.045091 ms 
mapping solver time 18.271400 ms 
--------------------stamp1317357977.078681945
prepare time 12.025702 
mapping data assosiation time 21.043530 ms 
filter time 16.344735 ms 
mapping pub time 2.322432 ms 
whole mapping time 152.992937 ms +++++
mappingCount 1419 & avg mapping time 145.974363 ms ++++++++++++++++++++++
1317357976.870742083 WriteOdom aft_mapped_to_init
publication time 10.573759 ms 
whole laserOdometry time 10.592892 ms 
 
-----t: 0.0576619
OdomCount 2072 & avg odom time 0.045845 ms ++++++++++++++++++++++
--------------------stamp1317357977.182667970
prepare time 12.341866 
publication time 8.368037 ms 
whole laserOdometry time 8.381219 ms 
 
-----t: 0.0490248
OdomCount 2073 & avg odom time 0.045847 ms ++++++++++++++++++++++
1317357977.182667970 WriteOdom laser_odom_to_init
1317357977.182667970 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 13.803175 ms 
filter time 11.916644 ms 
map prepare time 4.897343 ms
map corner num 204869  surf num 68021 
prepare time 16.337972 
sort q time 5.477193 
seperate points time 12.553440 
publication time 9.474234 ms 
whole laserOdometry time 9.487600 ms 
 
build tree time 58.434984 ms 
mapping data assosiation time 20.118986 ms 
--------------------stamp1317357977.390602111
prepare time 12.514330 
sort q time 5.860507 
seperate points time 12.074562 
mapping solver time 17.568673 ms 
-----t: 0.041405
OdomCount 2075 & avg odom time 0.045846 ms ++++++++++++++++++++++
1317357977.390602111 WriteOdom laser_odom_to_init
1317357977.390602111 WriteOdom aft_mapped_to_init_high_frec
filter time 15.963275 ms 
points size 93674 
sort q time 5.937278 
seperate points time 13.891325 
map prepare time 3.245951 ms
map corner num 205272  surf num 68144 
publication time 8.790721 ms 
whole laserOdometry time 8.805154 ms 
 
build tree time 50.385146 ms 
--------------------stamp1317357977.598510026
points size 95754 
sort q time 5.243910 
seperate points time 12.408866 
publication time 8.798333 ms 
whole laserOdometry time 8.811593 ms 
 
mapping data assosiation time 23.731093 ms 
mapping solver time 20.467819 ms 
mapping optimization time 146.620342 
add points time 0.693207 ms
mapping pub time 2.667831 ms 
whole mapping time 165.665235 ms +++++
mappingCount 1422 & avg mapping time 146.063182 ms ++++++++++++++++++++++
prepare time 12.072806 
sort q time 5.791556 
seperate points time 12.768401 
-----t: 0.0390819
OdomCount 2078 & avg odom time 0.045846 ms ++++++++++++++++++++++
mapping data assosiation time 20.618345 ms 
mapping solver time 18.143615 ms 
points size 99060 
prepare time 12.947555 
mapping data assosiation time 23.481079 ms 
scan registration time 30.442382 ms *************
publication time 10.022365 ms 
whole laserOdometry time 10.035776 ms 
 
map prepare time 3.392437 ms
map corner num 206294  surf num 68747 
--------------------stamp1317357977.910341024
prepare time 14.707804 
mapping data assosiation time 24.293565 ms 
-----t: 0.0344719
OdomCount 2080 & avg odom time 0.045838 ms ++++++++++++++++++++++
mapping data assosiation time 21.787598 ms 
mapping solver time 18.481008 ms 
--------------------stamp1317357978.014306068
prepare time 13.682159 
sort q time 6.236950 
seperate points time 13.316115 
publication time 8.067932 ms 
whole laserOdometry time 8.081040 ms 
 
build tree time 50.835101 ms 
mapping data assosiation time 21.217075 ms 
--------------------stamp1317357978.118271112
prepare time 12.271527 
sort q time 6.622222 
seperate points time 13.544748 
scan registration time 30.722030 ms *************
publication time 10.131411 ms 
whole laserOdometry time 10.143015 ms 
 
-----t: 0.0517783
OdomCount 2082 & avg odom time 0.045837 ms ++++++++++++++++++++++
1317357978.118271112 WriteOdom laser_odom_to_init
1317357978.118271112 WriteOdom aft_mapped_to_init_high_frec
filter time 15.205679 ms 
map prepare time 3.135552 ms
map corner num 207404  surf num 69579 
--------------------stamp1317357978.222285985
points size 100929 
build tree time 51.099171 ms 
mapping data assosiation time 24.877705 ms 
mapping solver time 25.285649 ms 
--------------------stamp1317357978.326350927
prepare time 15.211372 
sort q time 5.508401 
seperate points time 12.317660 
mapping pub time 8.959382 ms 
whole mapping time 177.976916 ms +++++
mappingCount 1426 & avg mapping time 146.118302 ms ++++++++++++++++++++++
-----t: 0.0533509
OdomCount 2084 & avg odom time 0.045849 ms ++++++++++++++++++++++
1317357978.326350927 WriteOdom laser_odom_to_init
1317357978.326350927 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357978.430437088
prepare time 11.858202 
mapping data assosiation time 27.537255 ms 
scan registration time 29.341726 ms *************
publication time 9.364655 ms mapping data assosiation time 22.861220 ms 
--------------------stamp1317357978.534570932
points size 99252 
drop lidar frame in mapping for real time performance 
publication time 7.067807 ms 
whole laserOdometry time 7.080894 ms 
 
-----t: 0.0630916
OdomCount 2086 & avg odom time 0.045857 ms ++++++++++++++++++++++
--------------------stamp1317357978.638705015
mapping data assosiation time 23.793865 ms 
sort q time 5.666075 
seperate points time 12.810944 
publication time 9.731386 ms 
whole laserOdometry time 9.747129 ms 
 
mapping solver time 20.477068 ms 
filter time 12.563297 ms 
points size 98645 
sort q time 5.370947 
seperate points time 20.105892 
scan registration time 39.368424 ms *************
-----t: 0.043184
OdomCount 2088 & avg odom time 0.045855 ms ++++++++++++++++++++++
publication time 8.474680 ms 
whole laserOdometry time 8.486300 ms 
 
mapping data assosiation time 26.189844 ms 
--------------------stamp1317357978.846926927
points size 98628 
sort q time 6.027608 
seperate points time 13.147258 
-----t: 0.0393422
OdomCount 2089 & avg odom time 0.045851 ms ++++++++++++++++++++++
filter time 13.709043 ms 
--------------------stamp1317357978.951014041
prepare time 13.284470 
sort q time 5.607114 
seperate points time 12.852317 
build tree time 49.358896 ms 
scan registration time 31.620878 ms *************
-----t: 0.0449441
OdomCount 2090 & avg odom time 0.045851 ms ++++++++++++++++++++++
mapping solver time 25.176204 ms 
--------------------stamp1317357979.055104970
prepare time 13.337422 
sort q time 8.202124 
seperate points time 20.169330 
publication time 8.758350 ms 
whole laserOdometry time 8.771368 ms 
 
1317357978.742816925 WriteOdom aft_mapped_to_init
build tree time 25.567837 ms 
--------------------stamp1317357979.159224033
points size 102718 
sort q time 5.788042 
seperate points time 16.549249 
mapping solver time 32.651729 ms 
-----t: 0.0447197
OdomCount 2092 & avg odom time 0.045848 ms ++++++++++++++++++++++
mapping data assosiation time 28.272608 ms 
--------------------stamp1317357979.263354063
prepare time 12.129360 
1317357978.951014042 WriteOdom aft_mapped_to_init
publication time 9.540006 ms 
whole laserOdometry time 9.551751 ms 
 
build tree time 32.363949 ms 
-----t: 0.0564444
OdomCount 2093 & avg odom time 0.045853 ms ++++++++++++++++++++++
1317357979.263354063 WriteOdom laser_odom_to_init
1317357979.263354063 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.222109 ms 
--------------------stamp1317357979.367505073
prepare time 12.194418 
sort q time 6.334377 
seperate points time 12.208656 
mapping data assosiation time 30.049572 ms 
mapping solver time 24.004442 ms 
filter time 9.682793 ms 
--------------------stamp1317357979.471664905
points size 103408 
sort q time 5.714251 
seperate points time 13.305818 
mapping data assosiation time 33.659531 ms 
-----t: 0.0546045
OdomCount 2095 & avg odom time 0.045863 ms ++++++++++++++++++++++
mapping solver time 32.456463 ms 
--------------------stamp1317357979.575870990
points size 103309 
sort q time 5.909861 
seperate points time 14.327929 
mapping solver time 29.138533 ms 
filter time 10.999605 ms 
map prepare time 3.562775 ms
map corner num 130878  surf num 44853 
-----t: 0.0544502
OdomCount 2096 & avg odom time 0.045868 ms ++++++++++++++++++++++
build tree time 27.899043 ms 
--------------------stamp1317357979.680124998
points size 103335 
prepare time 18.801635 
sort q time 6.398880 
seperate points time 19.512243 
publication time 8.912905 ms 
whole laserOdometry time 8.923879 ms 
 
-----t: 0.0684486
OdomCount 2097 & avg odom time 0.045878 ms ++++++++++++++++++++++
points size 103237 
filter time 12.961243 ms 
mapping pub time 2.409063 ms 
whole mapping time 195.603883 ms +++++
mappingCount 1434 & avg mapping time 146.301399 ms ++++++++++++++++++++++
publication time 13.882552 ms 
whole laserOdometry time 13.896468 ms 
 
build tree time 28.208667 ms 
--------------------stamp1317357979.888609886
points size 103158 
sort q time 5.955252 
seperate points time 13.547333 
mapping solver time 36.339796 ms 
publication time 11.269459 ms 
whole laserOdometry time 11.283084 ms 
 
mapping data assosiation time 31.992047 ms 
--------------------stamp1317357979.992818117
points size 103150 
map prepare time 3.345350 ms
map corner num 132614  surf num 46009 
sort q time 6.292876 
seperate points time 12.588934 
scan registration time 32.163776 ms *************
build tree time 37.550741 ms -----t: 0.0628745
OdomCount 2100 & avg odom time 0.045895 ms ++++++++++++++++++++++
mapping data assosiation time 38.062557 ms 
points size 103237 
sort q time 5.737940 
seperate points time 13.380223 
publication time 9.569589 ms 
whole laserOdometry time 9.585095 ms 
 
1317357980.097047090 WriteOdom laser_odom_to_init
1317357980.097047090 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 185.217822 
points size 103141 
drop lidar frame in mapping for real time performance 
sort q time 6.897325 
seperate points time 14.727676 
publication time 9.720565 ms 
whole laserOdometry time 9.735410 ms 
 
-----t: 0.0566752
OdomCount 2102 & avg odom time 0.045900 ms ++++++++++++++++++++++
1317357980.201253890 WriteOdom laser_odom_to_init
1317357980.201253890 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.987602 ms 
points size 102853 
sort q time 5.963424 
seperate points time 13.823303 
mapping data assosiation time 38.052743 ms 
--------------------stamp1317357980.409499883
filter time 9.774360 ms 
sort q time 5.988621 
seperate points time 13.139310 
build tree time 43.260827 ms 
-----t: 0.0644338
OdomCount 2104 & avg odom time 0.045917 ms ++++++++++++++++++++++
1317357980.409499883 WriteOdom laser_odom_to_init
1317357980.409499883 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 37.479265 ms 
points size 102877 
prepare time 16.525587 
sort q time 6.002743 
seperate points time 13.555170 
publication time 9.057403 ms 
whole laserOdometry time 9.068866 ms 
 
-----t: 0.0561517
OdomCount 2105 & avg odom time 0.045921 ms ++++++++++++++++++++++
--------------------stamp1317357980.617697954
mapping solver time 34.214814 ms 
filter time 13.274215 ms 
publication time 10.470139 ms 
whole laserOdometry time 10.483044 ms 
 
mapping data assosiation time 31.609678 ms 
points size 103147 
sort q time 5.827679 
seperate points time 14.382014 
mapping solver time 47.399636 ms 
-----t: 0.0512695
OdomCount 2107 & avg odom time 0.045926 ms ++++++++++++++++++++++
mapping data assosiation time 37.055855 ms 
--------------------stamp1317357980.825774908
prepare time 12.419588 
drop lidar frame in mapping for real time performance 
publication time 9.556248 ms 
whole laserOdometry time 9.568346 ms 
 
build tree time 35.497057 ms 
-----t: 0.0699487
OdomCount 2108 & avg odom time 0.045937 ms ++++++++++++++++++++++
mapping data assosiation time 38.733059 ms 
points size 102510 
sort q time 6.202924 
seperate points time 13.683499 
publication time 10.410485 ms 
whole laserOdometry time 10.427808 ms 
 
-----t: 0.0587113
OdomCount 2109 & avg odom time 0.045943 ms ++++++++++++++++++++++
1317357980.929837942 WriteOdom laser_odom_to_init
1317357980.929837942 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357981.033900976
points size 102307 
mapping solver time 34.684600 ms 
scan registration time 29.548643 ms *************
map prepare time 4.801404 ms
map corner num 137216  surf num 48868 
publication time 11.674321 ms 
whole laserOdometry time 11.689565 ms 
 
build tree time 31.814414 ms 
--------------------stamp1317357981.137989044
points size 102908 
prepare time 10.566286 
scan registration time 29.486459 ms *************
mapping solver time 43.497174 ms 
-----t: 0.0452014
OdomCount 2111 & avg odom time 0.045941 ms ++++++++++++++++++++++
mapping data assosiation time 31.348748 ms 
--------------------stamp1317357981.242124080
points size 103473 
filter time 11.500614 ms 
sort q time 7.104250 
seperate points time 28.895591 
publication time 10.102238 ms 
whole laserOdometry time 10.117553 ms 
 
-----t: 0.0637836
OdomCount 2112 & avg odom time 0.045950 ms ++++++++++++++++++++++
--------------------stamp1317357981.346260070
points size 103564 
map prepare time 4.400030 ms
map corner num 138102  surf num 49269 
sort q time 5.968831 
seperate points time 14.118617 
build tree time 34.891340 ms 
publication time 13.306325 ms 
whole laserOdometry time 13.319579 ms 
 
mapping data assosiation time 35.680975 ms 
--------------------stamp1317357981.450345993
prepare time 11.952229 
sort q time 6.520796 
seperate points time 14.648027 
mapping solver time 48.300208 ms 
publication time 12.524897 ms 
whole laserOdometry time 12.538871 ms 
 
-----t: 0.0549605
OdomCount 2114 & avg odom time 0.045961 ms ++++++++++++++++++++++
--------------------stamp1317357981.554430961
points size 103642 
filter time 11.007812 ms 
sort q time 11.990835 
seperate points time 19.377383 
-----t: 0.0484207
OdomCount 2115 & avg odom time 0.045962 ms ++++++++++++++++++++++
--------------------stamp1317357981.658516883
prepare time 12.518508 
scan registration time 32.814683 ms *************
publication time 11.689815 ms 
whole laserOdometry time 11.701920 ms 
 
-----t: 0.0572408
OdomCount 2116 & avg odom time 0.045967 ms ++++++++++++++++++++++
--------------------stamp1317357981.762557029
filter time 14.437532 ms 
map prepare time 5.328273 ms
map corner num 140024  surf num 50123 
publication time 16.149875 ms 
whole laserOdometry time 16.163686 ms 
 
build tree time 39.759037 ms 
-----t: 0.0829624
OdomCount 2117 & avg odom time 0.045985 ms ++++++++++++++++++++++
points size 103650 
sort q time 7.436240 
seperate points time 17.508184 
publication time 9.728503 ms 
whole laserOdometry time 9.739251 ms 
 
mapping solver time 40.380294 ms 
-----t: 0.0776675
OdomCount 2118 & avg odom time 0.046000 ms ++++++++++++++++++++++
points size 103776 
sort q time 5.619524 
seperate points time 12.504846 
mapping solver time 29.094991 ms 
filter time 9.673344 ms 
map prepare time 3.461122 ms
map corner num 141002  surf num 50460 
--------------------stamp1317357982.074359893
points size 103721 
sort q time 6.873041 
seperate points time 13.963576 
mapping data assosiation time 40.119776 ms 
-----t: 0.0534932
OdomCount 2120 & avg odom time 0.046003 ms ++++++++++++++++++++++
1317357982.074359893 WriteOdom laser_odom_to_init
1317357982.074359893 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 41.802514 ms 
--------------------stamp1317357982.178138017
points size 103706 
mapping data assosiation time 35.298067 ms 
scan registration time 30.564861 ms *************
publication time 8.581552 ms 
whole laserOdometry time 8.599541 ms 
 
mapping solver time 38.198738 ms 
mapping optimization time 189.223480 
add points time 0.840530 ms
mapping pub time 2.511798 ms 
whole mapping time 208.030740 ms +++++
mappingCount 1445 & avg mapping time 146.840111 ms ++++++++++++++++++++++
--------------------stamp1317357982.281863927
build tree time 32.973698 ms 
sort q time 5.852852 
seperate points time 13.636838 
mapping data assosiation time 40.721328 ms 
-----t: 0.0618446
OdomCount 2122 & avg odom time 0.046015 ms ++++++++++++++++++++++
mapping solver time 43.647908 ms 
--------------------stamp1317357982.385565042
points size 103942 
sort q time 6.311967 
seperate points time 13.455100 
publication time 9.627232 ms 
whole laserOdometry time 9.644452 ms 
 
mapping solver time 37.052524 ms 
mapping optimization time 196.847457 
-----t: 0.0513109
OdomCount 2123 & avg odom time 0.046018 ms ++++++++++++++++++++++
1317357982.385565042 WriteOdom laser_odom_to_init
1317357982.385565042 WriteOdom aft_mapped_to_init_high_frec
add points time 0.875185 ms
[0m[ INFO] [1718805269.327174579, 1317357982.466674907]: Received 194342 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805269.327216682, 1317357982.466674907]: Data saved to 1317357982074359.pcd[0m
--------------------stamp1317357982.489268064
points size 104167 
build tree time 36.590657 ms 
sort q time 7.219843 
seperate points time 17.326217 
mapping data assosiation time 37.306176 ms 
mapping solver time 36.949645 ms 
points size 103910 
prepare time 19.196379 
sort q time 6.991182 
seperate points time 16.288815 
publication time 9.662875 ms 
whole laserOdometry time 9.676746 ms 
 
-----t: 0.0548543
OdomCount 2125 & avg odom time 0.046024 ms ++++++++++++++++++++++
1317357982.592947006 WriteOdom laser_odom_to_init
1317357982.592947006 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.140901 ms 
mapping optimization time 189.388855 
add points time 0.792886 ms
mapping pub time 2.296465 ms 
whole mapping time 206.821885 ms +++++
mappingCount 1447 & avg mapping time 146.929303 ms ++++++++++++++++++++++
points size 104008 
prepare time 12.326475 
scan registration time 31.697906 ms *************
publication time 9.603416 ms 
whole laserOdometry time 9.615375 ms 
 
mapping data assosiation time 40.124039 ms 
-----t: 0.065083
OdomCount 2126 & avg odom time 0.046033 ms ++++++++++++++++++++++
1317357982.696602106 WriteOdom laser_odom_to_init
1317357982.696602106 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357982.800256967
prepare time 11.980326 
sort q time 6.066181 
seperate points time 13.893786 
mapping data assosiation time 37.760985 ms 
-----t: 0.0608664
OdomCount 2127 & avg odom time 0.046040 ms ++++++++++++++++++++++
1317357982.800256967 WriteOdom laser_odom_to_init
1317357982.800256967 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.690746 ms 
mapping optimization time 192.361070 
add points time 0.721671 ms
filter time 10.331507 ms 
points size 103788 
sort q time 6.808358 
seperate points time 12.930183 
publication time 12.524104 ms 
whole laserOdometry time 12.539793 ms 
 
mapping data assosiation time 38.102369 ms 
-----t: 0.0634334
--------------------stamp1317357983.007587909
points size 103801 
sort q time 6.233291 
seperate points time 13.910841 
mapping data assosiation time 37.039265 ms 
publication time 12.046675 ms 
whole laserOdometry time 12.062414 ms 
 
-----t: 0.0527208
OdomCount 2129 & avg odom time 0.046051 ms ++++++++++++++++++++++
1317357983.007587909 WriteOdom laser_odom_to_init
1317357983.007587909 WriteOdom aft_mapped_to_init_high_frec
filter time 10.450214 ms 
map prepare time 3.396355 ms
map corner num 146066  surf num 52400 
points size 103884 
sort q time 5.743441 
seperate points time 12.904920 
publication time 11.365517 ms 
whole laserOdometry time 11.399967 ms 
 
-----t: 0.0568975
OdomCount 2130 & avg odom time 0.046056 ms ++++++++++++++++++++++
1317357983.111242055 WriteOdom laser_odom_to_init
1317357983.111242055 WriteOdom aft_mapped_to_init_high_frec
points size 104096 
sort q time 5.967441 
seperate points time 13.934981 
publication time 9.506417 ms 
whole laserOdometry time 9.517409 ms 
 
-----t: 0.0462116
OdomCount 2131 & avg odom time 0.046056 ms ++++++++++++++++++++++
1317357983.214898109 WriteOdom laser_odom_to_init
1317357983.214898109 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.645233 ms 
--------------------stamp1317357983.318552970
map prepare time 3.634791 ms
map corner num 147027  surf num 52744 
scan registration time 35.916808 ms *************
build tree time 36.866593 ms 
publication time 12.254054 ms 
whole laserOdometry time 12.265799 ms 
 
mapping data assosiation time 34.304191 ms 
--------------------stamp1317357983.422183990
prepare time 12.191425 
sort q time 5.812098 
seperate points time 13.333789 
-----t: 0.0397325
OdomCount 2133 & avg odom time 0.046052 ms ++++++++++++++++++++++
1317357983.422183990 WriteOdom laser_odom_to_init
1317357983.422183990 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.197317 ms 
--------------------stamp1317357983.525863885
drop lidar frame in mapping for real time performance 
sort q time 6.369652 
seperate points time 13.935908 
build tree time 37.598740 ms 
mapping data assosiation time 33.953447 ms 
--------------------stamp1317357983.629589080
points size 104981 
sort q time 6.100125 
seperate points time 13.767350 
mapping data assosiation time 37.743339 ms 
mapping solver time 24.154652 ms 
filter time 11.706735 ms 
points size 104671 
sort q time 6.667697 
seperate points time 13.528164 
publication time 11.879856 ms 
whole laserOdometry time 11.893408 ms 
 
-----t: 0.0516849
OdomCount 2136 & avg odom time 0.046055 ms ++++++++++++++++++++++
--------------------stamp1317357983.837042093
points size 104486 
sort q time 6.140777 
seperate points time 14.488280 
mapping data assosiation time 36.969587 ms 
publication time 11.246721 ms 
whole laserOdometry time 11.260326 ms 
 
filter time 13.764462 ms 
points size 104427 
sort q time 6.877643 
seperate points time 15.877727 
publication time 15.359567 ms 
whole laserOdometry time 15.387907 ms 
 
mapping data assosiation time 37.567489 ms 
points size 104443 
sort q time 6.313756 
seperate points time 14.658241 
publication time 12.202317 ms 
whole laserOdometry time 12.220375 ms 
 
-----t: 0.0595542
OdomCount 2139 & avg odom time 0.046079 ms ++++++++++++++++++++++
mapping solver time 39.580647 ms 
filter time 13.930768 ms 
sort q time 6.259696 
seperate points time 14.036259 
publication time 11.989110 ms 
whole laserOdometry time 12.003543 ms -----t: 0.0466629
mapping data assosiation time 31.577554 ms 
--------------------stamp1317357984.252023935
points size 104460 
mapping solver time 39.522031 ms 
publication time 10.231598 ms 
whole laserOdometry time 10.249067 ms 
 
mapping data assosiation time 40.945878 ms 
mapping solver time 31.987697 ms 
points size 104323 
map prepare time 4.587008 ms
map corner num 152069  surf num 54297 
publication time 13.699303 ms 
whole laserOdometry time 13.714783 ms 
 
-----t: 0.0496034
OdomCount 2142 & avg odom time 0.046080 ms ++++++++++++++++++++++
--------------------stamp1317357984.459597110
points size 104330 
sort q time 5.755361 
seperate points time 13.652781 
-----t: 0.04126
OdomCount 2143 & avg odom time 0.046078 ms ++++++++++++++++++++++
1317357984.459597110 WriteOdom laser_odom_to_init
1317357984.459597110 WriteOdom aft_mapped_to_init_high_frec
publication time 10.800698 ms 
whole laserOdometry time 10.807233 ms 
 
mapping data assosiation time 35.147899 ms 
mapping solver time 22.631116 ms 
--------------------stamp1317357984.563419103
[0m[ INFO] [1718805271.429307537, 1317357984.572966788]: Received 207730 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805271.429352371, 1317357984.572966788]: Data saved to 1317357984148271.pcd[0m
sort q time 7.074033 
seperate points time 14.151891 
publication time 10.153034 ms 
whole laserOdometry time 10.168414 ms 
 
-----t: 0.0501145
OdomCount 2144 & avg odom time 0.046080 ms ++++++++++++++++++++++
mapping data assosiation time 34.092155 ms 
--------------------stamp1317357984.667242050
points size 104662 
mapping solver time 36.281576 ms 
scan registration time 36.530590 ms *************
mapping data assosiation time 37.971105 ms 
-----t: 0.0526233
OdomCount 2145 & avg odom time 0.046083 ms ++++++++++++++++++++++
mapping solver time 24.430470 ms 
mapping optimization time 175.122056 
add points time 0.800823 ms
drop lidar frame in mapping for real time performance 
points size 104631 
build tree time 41.477646 ms 
-----t: 0.0569597
OdomCount 2146 & avg odom time 0.046088 ms ++++++++++++++++++++++
mapping data assosiation time 38.407699 ms 
--------------------stamp1317357984.874890089
prepare time 16.613577 
sort q time 5.908941 
seperate points time 29.763028 
mapping data assosiation time 43.236880 ms 
mapping solver time 27.510812 ms 
filter time 10.401717 ms 
map prepare time 5.024583 ms
map corner num 155211  surf num 55356 
sort q time 6.213169 
seperate points time 14.570640 
build tree time 42.795933 ms 
-----t: 0.066477
OdomCount 2148 & avg odom time 0.046110 ms ++++++++++++++++++++++
--------------------stamp1317357985.082535982
prepare time 13.360182 
sort q time 6.092522 
seperate points time 13.667739 
publication time 9.762260 ms 
whole laserOdometry time 9.776250 ms 
 
mapping data assosiation time 37.306425 ms 
mapping solver time 29.996065 ms 
mapping data assosiation time 32.435691 ms 
points size 102012 
mapping solver time 37.693604 ms 
publication time 9.833237 ms 
whole laserOdometry time 9.847643 ms 
 
mapping data assosiation time 37.822871 ms 
mapping solver time 21.922836 ms 
--------------------stamp1317357985.394005060
points size 101521 
sort q time 6.412518 
seperate points time 12.540850 
publication time 11.042892 ms 
whole laserOdometry time 11.064858 ms 
 
mapping data assosiation time 32.872306 ms 
--------------------stamp1317357985.497826099
points size 101165 
sort q time 5.671132 
seperate points time 13.043511 
scan registration time 32.395895 ms *************
publication time 9.477172 ms 
whole laserOdometry time 9.491632 ms 
 
mapping data assosiation time 38.431404 ms 
mapping solver time 23.256009 ms 
filter time 10.249848 ms 
--------------------stamp1317357985.601624011
points size 100647 
sort q time 6.254025 
seperate points time 13.310403 
scan registration time 32.920173 ms *************
publication time 10.019141 ms 
whole laserOdometry time 10.035306 ms 
 
-----t: 0.0513827
OdomCount 2154 & avg odom time 0.046122 ms ++++++++++++++++++++++
1317357985.601624011 WriteOdom laser_odom_to_init
1317357985.601624011 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 90.864684 ms 
whole mapping time 280.540660 ms +++++
mappingCount 1461 & avg mapping time 147.543906 ms ++++++++++++++++++++++
1317357985.186357975 WriteOdom aft_mapped_to_init
--------------------stamp1317357985.705423116
points size 99949 
build tree time 37.129145 ms 
sort q time 5.931793 
seperate points time 13.063208 
mapping data assosiation time 38.185374 ms 
-----t: 0.0673732
OdomCount 2155 & avg odom time 0.046132 ms ++++++++++++++++++++++
--------------------stamp1317357985.809245109
prepare time 12.097294 
mapping data assosiation time 37.619314 ms 
publication time 9.854640 ms 
whole laserOdometry time 9.868507 ms 
 
filter time 12.791705 ms 
--------------------stamp1317357985.913042068
points size 98238 
scan registration time 36.856742 ms *************
-----t: 0.0659389
OdomCount 2157 & avg odom time 0.046139 ms ++++++++++++++++++++++
--------------------stamp1317357986.016844987
points size 98214 
sort q time 6.613515 
seperate points time 15.229831 
mapping solver time 35.159868 ms 
filter time 13.413371 ms 
map prepare time 5.073710 ms
map corner num 160389  surf num 57253 
--------------------stamp1317357986.120692014
prepare time 14.123493 
build tree time 44.095836 ms 
publication time 10.547027 ms 
whole laserOdometry time 10.580884 ms 
 
-----t: 0.0491966
OdomCount 2159 & avg odom time 0.046154 ms ++++++++++++++++++++++
mapping solver time 31.133377 ms 
points size 97857 
prepare time 14.409479 
sort q time 14.481904 
seperate points time 23.929356 
mapping solver time 26.268789 ms 
-----t: 0.0483094
OdomCount 2160 & avg odom time 0.046155 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317357986.328429937
points size 97538 
sort q time 6.495321 
seperate points time 18.486401 
mapping data assosiation time 40.527249 ms 
-----t: 0.0613105mapping solver time 37.821263 ms 
points size 97246 
mapping data assosiation time 34.706545 ms 
mapping solver time 31.273057 ms 
filter time 12.496916 ms 
--------------------stamp1317357986.536195993
build tree time 37.465293 ms 
sort q time 5.325495 
seperate points time 12.502538 
mapping data assosiation time 34.632837 ms 
publication time 12.981148 ms 
whole laserOdometry time 13.001836 ms 
 
-----t: 0.0641963
OdomCount 2163 & avg odom time 0.046169 ms ++++++++++++++++++++++
--------------------stamp1317357986.640090942
points size 97077 
sort q time 5.270782 
seperate points time 12.768778 
publication time 9.570726 ms 
whole laserOdometry time 9.602124 ms 
 
filter time 10.626261 ms 
map prepare time 3.357478 ms
map corner num 163530  surf num 58279 
--------------------stamp1317357986.744010925
prepare time 13.243704 
sort q time 5.820421 
seperate points time 12.524820 
publication time 8.415706 ms 
whole laserOdometry time 8.427873 ms 
 
-----t: 0.0537631
OdomCount 2165 & avg odom time 0.046180 ms ++++++++++++++++++++++
1317357986.744010925 WriteOdom laser_odom_to_init
1317357986.744010925 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 37.852326 ms 
--------------------stamp1317357986.848023891
points size 96962 
mapping data assosiation time 37.341156 ms 
scan registration time 38.905947 ms *************
publication time 10.316971 ms 
whole laserOdometry time 10.329546 ms 
 
mapping pub time 2.248476 ms 
whole mapping time 213.043702 ms +++++
mappingCount 1467 & avg mapping time 147.776411 ms ++++++++++++++++++++++
-----t: 0.0787603
OdomCount 2166 & avg odom time 0.046195 ms ++++++++++++++++++++++
--------------------stamp1317357986.952086925
prepare time 14.254730 
build tree time 43.255469 ms 
publication time 8.713812 ms 
whole laserOdometry time 8.727116 ms 
 
mapping data assosiation time 37.219769 ms 
mapping solver time 32.771430 ms 
points size 97260 
sort q time 6.672679 
seperate points time 12.479030 

 
mapping optimization time 181.949272 
filter time 12.768620 ms 
--------------------stamp1317357987.160353899
prepare time 12.970183 
sort q time 5.455670 
seperate points time 12.804500 
mapping data assosiation time 33.915529 ms 
-----t: 0.0548592
OdomCount 2169 & avg odom time 0.046204 ms ++++++++++++++++++++++
mapping solver time 37.762117 ms 
--------------------stamp1317357987.264538049
prepare time 12.856542 
sort q time 6.444704 
seperate points time 22.793313 
mapping solver time 41.308332 ms 
publication time 9.495959 ms 
whole laserOdometry time 9.506920 ms 
 
filter time 9.659199 ms 
-----t: 0.0568653
OdomCount 2170 & avg odom time 0.046209 ms ++++++++++++++++++++++
build tree time 28.542319 ms 
points size 98085 
sort q time 5.933792 
seperate points time 12.811249 
publication time 8.836396 ms 
whole laserOdometry time 8.850674 ms 
 
-----t: 0.049429
OdomCount 2171 & avg odom time 0.046211 ms ++++++++++++++++++++++
mapping data assosiation time 29.425829 ms 
points size 98386 
sort q time 5.485551 
seperate points time 12.548136 
filter time 10.807758 ms 
publication time 15.160556 ms 
whole laserOdometry time 15.176118 ms 
 
build tree time 27.853452 ms 
--------------------stamp1317357987.577423095
prepare time 12.986968 
sort q time 5.432770 
seperate points time 12.587710 
publication time 9.378186 ms 
whole laserOdometry time 9.393644 ms 
 
mapping solver time 39.646180 ms 
-----t: 0.0426046
OdomCount 2173 & avg odom time 0.046206 ms ++++++++++++++++++++++
mapping data assosiation time 30.049298 ms 
--------------------stamp1317357987.681797981
points size 100554 
sort q time 5.701293 
seperate points time 12.879065 
drop lidar frame in mapping for real time performance 
1317357987.368768930 WriteOdom aft_mapped_to_init
map prepare time 3.865355 ms
map corner num 127107  surf num 46242 
build tree time 32.227861 ms 
--------------------stamp1317357987.786171913
points size 101550 
-----t: 0.115439
publication time 8.739673 ms 
whole laserOdometry time 8.755362 ms 
 
mapping data assosiation time 29.485732 ms 
--------------------stamp1317357987.890497922
points size 101713 
sort q time 6.068347 
seperate points time 14.617089 
-----t: 0.0460364
OdomCount 2176 & avg odom time 0.046244 ms ++++++++++++++++++++++
mapping data assosiation time 29.537207 ms 
points size 101558 
prepare time 13.261737 
sort q time 6.059409 
seperate points time 13.438893 
mapping solver time 41.639151 ms 
-----t: 0.0470114
OdomCount 2177 & avg odom time 0.046245 ms ++++++++++++++++++++++
--------------------stamp1317357988.099037885
points size 101713 
mapping pub time 2.547467 ms 
whole mapping time 193.269601 ms +++++
mappingCount 1473 & avg mapping time 147.970933 ms ++++++++++++++++++++++
1317357987.681797981 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
sort q time 5.232784 
seperate points time 25.134908 
build tree time 35.144701 ms 
-----t: 0.0611455
OdomCount 2178 & avg odom time 0.046252 ms ++++++++++++++++++++++
--------------------stamp1317357988.203269004
points size 101881 
sort q time 5.916358 
seperate points time 13.594477 
mapping data assosiation time 35.669369 ms 
--------------------stamp1317357988.307446002
points size 102157 
filter time 13.597207 ms 
publication time 9.938935 ms 
whole laserOdometry time 9.956412 ms 
 
-----t: 0.0522156
OdomCount 2180 & avg odom time 0.046264 ms ++++++++++++++++++++++
1317357988.307446002 WriteOdom laser_odom_to_init
1317357988.307446002 WriteOdom aft_mapped_to_init_high_frec
build tree time 38.274229 ms 
mapping data assosiation time 27.003961 ms 
--------------------stamp1317357988.411603927
points size 102223 
mapping solver time 29.218288 ms 
scan registration time 31.972694 ms *************
publication time 9.697675 ms 
whole laserOdometry time 9.710681 ms 
 
-----t: 0.0401879
OdomCount 2181 & avg odom time 0.046261 ms ++++++++++++++++++++++
1317357988.411603927 WriteOdom laser_odom_to_init
1317357988.411603927 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.394112 ms 
mapping solver time 20.334845 ms 
filter time 8.896644 ms 
--------------------stamp1317357988.515769958
prepare time 12.598996 
sort q time 5.926291 
seperate points time 13.288709 
publication time 7.275954 ms 
whole laserOdometry time 7.292193 ms 
 
mapping data assosiation time 34.222614 ms 
mapping solver time 30.847144 ms 
--------------------stamp1317357988.619927883
points size 101944 
sort q time 6.449941 
seperate points time 12.429206 
scan registration time 30.985751 ms *************
publication time 9.100089 ms 
whole laserOdometry time 9.124224 ms 
 
mapping solver time 33.163480 ms 
mapping optimization time 163.793067 
add points time 1.137577 ms
filter time 12.336298 ms 
map prepare time 3.096401 ms
map corner num 131554  surf num 47848 
--------------------stamp1317357988.724078893
points size 101618 
sort q time 5.437960 
seperate points time 12.532203 
publication time 8.888824 ms 
whole laserOdometry time 8.914888 ms 
 
-----t: 0.0490583
OdomCount 2184 & avg odom time 0.046267 ms ++++++++++++++++++++++
mapping solver time 38.935269 ms 
--------------------stamp1317357988.828213930
prepare time 12.961157 
scan registration time 31.516223 ms *************
mapping pub time 2.348313 ms 
whole mapping time 188.077885 ms +++++
mappingCount 1477 & avg mapping time 148.080014 ms ++++++++++++++++++++++
1317357988.515769958 WriteOdom aft_mapped_to_init
build tree time 30.595490 ms 
--------------------stamp1317357988.932326078
prepare time 13.081743 
sort q time 5.876026 
seperate points time 12.970222 
mapping solver time 39.360261 ms 
-----t: 0.0598131
OdomCount 2186 & avg odom time 0.046275 ms ++++++++++++++++++++++
mapping data assosiation time 29.837000 ms 
--------------------stamp1317357989.036412954
mapping solver time 26.807402 ms 
filter time 9.932377 ms 
scan registration time 36.196354 ms *************
publication time 8.931549 ms 
whole laserOdometry time 8.945360 ms 
 
build tree time 35.411351 ms 
mapping data assosiation time 28.045777 ms 
points size 98718 
sort q time 5.679293 
seperate points time 13.174328 
mapping solver time 38.558611 ms 
scan registration time 33.624582 ms *************
publication time 9.109082 ms 
whole laserOdometry time 9.121310 ms 
 
mapping data assosiation time 32.852204 ms 
mapping solver time 19.500730 ms 
filter time 11.117391 ms 
points size 97412 
sort q time 6.142972 
seperate points time 13.670918 
build tree time 33.004770 ms 
publication time 8.581582 ms 
whole laserOdometry time 8.594304 ms 
 
-----t: 0.0505496
OdomCount 2189 & avg odom time 0.046283 ms ++++++++++++++++++++++
mapping solver time 27.917570 ms 
--------------------stamp1317357989.348434925
points size 96472 
mapping data assosiation time 31.018222 ms 
mapping solver time 23.880384 ms 
mapping optimization time 150.876589 
add points time 1.068250 ms
publication time 10.811000 ms 
whole laserOdometry time 10.828632 ms 
 
map prepare time 3.028595 ms
map corner num 134764  surf num 48981 
build tree time 26.915502 ms 
--------------------stamp1317357989.452353954
points size 95303 
mapping data assosiation time 31.584432 ms 
sort q time 5.690929 
seperate points time 13.635556 
scan registration time 30.414911 ms *************
publication time 8.137106 ms mapping solver time 39.142981 ms 
-----t: 0.0502599
OdomCount 2191 & avg odom time 0.046286 ms ++++++++++++++++++++++
1317357989.452353954 WriteOdom laser_odom_to_init
1317357989.452353954 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.125471 ms 
--------------------stamp1317357989.556222915
prepare time 10.888767 
sort q time 6.592358 
seperate points time 11.988356 
[0m[ INFO] [1718805276.447987098, 1317357989.589851164]: Received 184731 data points in frame camera_init with the following fields: x y z intensity[0m
-----t: 0.0434864
OdomCount 2192 & avg odom time 0.046285 ms ++++++++++++++++++++++
1317357989.556222915 WriteOdom laser_odom_to_init
1317357989.556222915 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357989.660047054
prepare time 15.654568 
sort q time 5.153454 
seperate points time 12.638694 
publication time 10.111643 ms 
whole laserOdometry time 10.121014 ms 
 
1317357989.660047054 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.661868 ms 
--------------------stamp1317357989.763869047
points size 96261 
sort q time 5.610412 
seperate points time 12.896370 
mapping data assosiation time 34.328762 ms 
mapping solver time 33.667597 ms 
filter time 10.089903 ms 
points size 97943 
sort q time 5.409389 
seperate points time 12.589686 
build tree time 35.301228 ms 
-----t: 0.0505784
OdomCount 2195 & avg odom time 0.046285 ms ++++++++++++++++++++++
mapping solver time 28.852508 ms 
points size 98629 
sort q time 6.265799 
seperate points time 11.779174 
publication time 8.851052 ms 
whole laserOdometry time 8.865009 ms 
 
mapping solver time 30.300731 ms 
filter time 13.016601 ms 
--------------------stamp1317357990.075193881
points size 99440 
prepare time 12.835774 
build tree time 33.280418 ms 
sort q time 6.366964 
seperate points time 14.091886 
mapping data assosiation time 30.065476 ms 
publication time 8.894879 ms 
whole laserOdometry time 8.906677 ms 
 
-----t: 0.0484038
OdomCount 2197 & avg odom time 0.046293 ms ++++++++++++++++++++++
mapping solver time 28.703589 ms 
--------------------stamp1317357990.178919076
points size 100867 
sort q time 5.893308 
seperate points time 12.550335 
map prepare time 3.788873 ms
map corner num 137872  surf num 50220 
build tree time 33.202371 ms 
mapping data assosiation time 24.694090 ms 
points size 101359 
scan registration time 46.537980 ms *************
mapping solver time 21.427793 ms 
filter time 12.355163 ms 
points size 101791 
sort q time 6.818205 
seperate points time 12.540730 
-----t: 0.041562
OdomCount 2200 & avg odom time 0.046301 ms ++++++++++++++++++++++
1317357990.386327028 WriteOdom laser_odom_to_init
1317357990.386327028 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.511724 ms 
mapping solver time 29.179558 ms 
points size 102067 
mapping data assosiation time 28.957412 ms 
scan registration time 31.825585 ms *************
publication time 9.037201 ms 
whole laserOdometry time 9.050608 ms 
 
filter time 12.890859 ms 
map prepare time 3.000086 ms
map corner num 139250  surf num 50832 
--------------------stamp1317357990.593779087
points size 101483 
sort q time 6.068457 
seperate points time 13.249759 
publication time 7.886003 ms 
whole laserOdometry time 7.900750 ms 
 
-----t: 0.0433398
OdomCount 2202 & avg odom time 0.046303 ms ++++++++++++++++++++++
mapping data assosiation time 23.847682 ms 
--------------------stamp1317357990.697482109
filter time 10.478456 ms 
sort q time 6.658023 
seperate points time 20.605544 
publication time 8.232067 ms 
whole laserOdometry time 8.247953 ms 
 
-----t: 0.0525397
OdomCount 2203 & avg odom time 0.046306 ms ++++++++++++++++++++++
mapping data assosiation time 23.692732 ms 
--------------------stamp1317357990.801183938
mapping solver time 24.806596 ms 
sort q time 6.158881 
seperate points time 12.045442 
mapping data assosiation time 28.618897 ms 
publication time 11.235502 ms 
whole laserOdometry time 11.249227 ms 
 
mapping solver time 27.660022 ms 
filter time 12.774181 ms 
map prepare time 2.986190 ms
map corner num 140626  surf num 51379 
points size 96989 
sort q time 5.367624 
seperate points time 12.623589 
mapping data assosiation time 28.907491 ms 
-----t: 0.0418612
OdomCount 2205 & avg odom time 0.046313 ms ++++++++++++++++++++++
1317357990.904885053 WriteOdom laser_odom_to_init
1317357990.904885053 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.160913 ms 
mapping data assosiation time 23.467157 ms 
points size 93155 
mapping solver time 26.344940 ms 
scan registration time 30.989408 ms *************
map prepare time 4.332333 ms
map corner num 141200  surf num 51560 
-----t: 0.0437302
OdomCount 2206 & avg odom time 0.046312 ms ++++++++++++++++++++++
build tree time 34.041859 ms 
--------------------stamp1317357991.112243890
points size 90934 
sort q time 5.255691 
seperate points time 11.661711 
mapping solver time 24.568367 ms 
scan registration time 31.107540 ms *************
publication time 7.431737 ms 
whole laserOdometry time 7.443603 ms 
 
mapping solver time 25.193929 ms 
filter time 11.443219 ms 
points size 90469 
prepare time 12.350841 
build tree time 33.566231 ms 
-----t: 0.0300208
OdomCount 2208 & avg odom time 0.046301 ms ++++++++++++++++++++++
mapping data assosiation time 23.576340 ms 
mapping solver time 16.879543 ms 
mapping data assosiation time 22.058287 ms 
--------------------stamp1317357991.319672107
add points time 1.004382 ms
filter time 10.764565 ms 
map prepare time 4.256716 ms
map corner num 142631  surf num 52002 
-----t: 0.0411946
OdomCount 2209 & avg odom time 0.046299 ms ++++++++++++++++++++++
1317357991.319672107 WriteOdom laser_odom_to_init
1317357991.319672107 WriteOdom aft_mapped_to_init_high_frec
build tree time 36.148140 ms 
mapping data assosiation time 21.420028 ms 
--------------------stamp1317357991.423424959
points size 89032 
sort q time 4.715108 
seperate points time 10.951731 
mapping data assosiation time 24.537987 ms 
mapping solver time 22.436025 ms 
filter time 11.581647 ms 
--------------------stamp1317357991.527224063
points size 89068 
prepare time 11.655578 
build tree time 34.373591 ms 
sort q time 5.153742 
seperate points time 11.323652 
mapping data assosiation time 23.422811 ms 
-----t: 0.0406809
OdomCount 2211 & avg odom time 0.046290 ms ++++++++++++++++++++++
mapping data assosiation time 20.582161 ms 
mapping solver time 14.461689 ms 
--------------------stamp1317357991.631021976
sort q time 4.716811 
seperate points time 10.963186 
-----t: 0.0299643
OdomCount 2212 & avg odom time 0.046282 ms ++++++++++++++++++++++
mapping data assosiation time 20.476207 ms 
mapping solver time 24.395995 ms 
points size 87757 
sort q time 4.956430 
seperate points time 11.379789 
scan registration time 36.070712 ms *************
1317357991.527224064 WriteOdom aft_mapped_to_init
build tree time 31.837418 ms 
--------------------stamp1317357991.838594913
points size 87322 
sort q time 4.952364 
seperate points time 10.368558 
mapping solver time 26.366755 ms 
mapping data assosiation time 21.590663 ms 
mapping solver time 15.074970 ms 
mapping optimization time 119.075935 
add points time 0.804982 ms
map prepare time 2.566466 ms
map corner num 144933  surf num 52750 
points size 87026 
sort q time 4.726389 
seperate points time 11.451301 
publication time 7.540920 ms 
whole laserOdometry time 7.554419 ms 
 
mapping data assosiation time 22.776627 ms 
-----t: 0.042478
OdomCount 2215 & avg odom time 0.046287 ms ++++++++++++++++++++++
1317357991.942395925 WriteOdom laser_odom_to_init
1317357991.942395925 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.265936 ms 
mapping data assosiation time 17.592827 ms 
--------------------stamp1317357992.046195983
mapping solver time 20.019128 ms 
[0m[ INFO] [1718805278.930307033, 1317357992.069820592]: Received 198260 data points in frame camera_init with the following fields: x y z intensity[0m
publication time 6.835533 ms 
whole laserOdometry time 6.847452 ms 
 
build tree time 32.352073 ms 
mapping data assosiation time 17.477738 ms 
--------------------stamp1317357992.149995088
mapping data assosiation time 20.862029 ms 
mapping solver time 23.575926 ms 
1317357992.149995088 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357992.253793001
prepare time 13.199695 
sort q time 4.880135 
seperate points time 11.235654 
mapping solver time 20.346203 ms 
mapping data assosiation time 21.408963 ms 
mapping solver time 13.427449 ms 
filter time 10.645121 ms 
--------------------stamp1317357992.357614994
prepare time 12.925525 
sort q time 4.995419 
seperate points time 11.502527 
scan registration time 31.012809 ms *************
publication time 13.311659 ms 
whole laserOdometry time 13.326099 ms 
 
-----t: 0.0658504
OdomCount 2219 & avg odom time 0.046286 ms ++++++++++++++++++++++
mapping solver time 30.387301 ms 
points size 90756 
sort q time 8.265252 
seperate points time 15.182429 
filter time 14.834797 ms 
build tree time 28.636808 ms 
points size 92108 
prepare time 13.496204 
scan registration time 31.269941 ms *************
-----t: 0.0334892
OdomCount 2221 & avg odom time 0.046276 ms ++++++++++++++++++++++
mapping solver time 13.993974 ms 
filter time 10.514278 ms 
--------------------stamp1317357992.669080972
points size 94127 
build tree time 40.656109 ms 
scan registration time 34.373687 ms *************
publication time 7.696191 ms 
whole laserOdometry time 7.706587 ms 
 
mapping data assosiation time 24.640066 ms 
mapping solver time 19.313540 ms 
mapping data assosiation time 20.261755 ms 
mapping solver time 14.732810 ms 
points size 94000 
[0m[ INFO] [1718805279.656136399, 1317357992.793590568]: Received 202166 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805279.656172938, 1317357992.793590568]: Data saved to 1317357992461436.pcd[0m
-----t: 0.0397814
OdomCount 2223 & avg odom time 0.046265 ms ++++++++++++++++++++++
--------------------stamp1317357992.876681089
map prepare time 3.658223 ms
map corner num 148267  surf num 53899 
points size 92575 
prepare time 15.041289 
sort q time 5.241781 
seperate points time 12.258477 
build tree time 39.605028 ms 
mapping data assosiation time 22.961200 ms 
mapping solver time 19.685382 ms 
--------------------stamp1317357992.980478048
mapping data assosiation time 20.792369 ms 
sort q time 5.958312 
seperate points time 12.036741 
filter time 14.314851 ms 
-----t: 0.0411418
OdomCount 2225 & avg odom time 0.046269 ms ++++++++++++++++++++++
1317357992.980478048 WriteOdom laser_odom_to_init
1317357992.980478048 WriteOdom aft_mapped_to_init_high_frec
build tree time 32.359487 ms 
mapping data assosiation time 20.827478 ms 
points size 89147 
sort q time 4.823111 
seperate points time 11.087950 
publication time 7.188209 ms 
whole laserOdometry time 7.219070 ms 
 
mapping data assosiation time 24.689877 ms 
mapping solver time 19.790539 ms 
mapping optimization time 126.040573 
add points time 0.920615 ms
mapping pub time 2.105128 ms 
whole mapping time 145.683962 ms +++++
mappingCount 1503 & avg mapping time 148.327094 ms ++++++++++++++++++++++
--------------------stamp1317357993.188052892
prepare time 12.184289 
sort q time 5.952157 
seperate points time 11.373253 
publication time 9.364283 ms 
whole laserOdometry time 9.378511 ms 
 
mapping data assosiation time 25.109215 ms 
1317357993.188052892 WriteOdom laser_odom_to_init
1317357993.188052892 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.216190 ms 
mapping data assosiation time 21.021403 ms 
points size 88784 
prepare time 14.567468 
mapping solver time 23.038674 ms 
mapping optimization time 131.310553 
add points time 0.881289 ms
filter time 11.664333 ms 
publication time 8.593123 ms 
whole laserOdometry time 8.606215 ms 
 
build tree time 42.212114 ms 
mapping data assosiation time 18.927054 ms 
points size 90086 
prepare time 13.681513 
sort q time 5.021536 
seperate points time 11.714612 
mapping solver time 30.625422 ms 
publication time 6.361974 ms 
whole laserOdometry time 6.372085 ms 
 
-----t: 0.0397196
OdomCount 2229 & avg odom time 0.046262 ms ++++++++++++++++++++++
mapping solver time 15.685335 ms 
filter time 10.049324 ms 
--------------------stamp1317357993.499474048
points size 93679 
sort q time 5.513261 
seperate points time 10.854073 
mapping data assosiation time 23.956585 ms 
mapping solver time 22.073016 ms 
mapping data assosiation time 20.366309 ms 
mapping solver time 16.650136 ms 
points size 94658 
1317357993.291851997 WriteOdom aft_mapped_to_init
scan registration time 30.833839 ms *************
publication time 9.902096 ms 
whole laserOdometry time 9.910836 ms 
 
-----t: 0.0351928
OdomCount 2231 & avg odom time 0.046253 ms ++++++++++++++++++++++
1317357993.603296041 WriteOdom laser_odom_to_init
1317357993.603296041 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.211960 ms 
--------------------stamp1317357993.707142114
prepare time 12.616250 
sort q time 5.595388 
seperate points time 11.985288 
mapping solver time 24.335996 ms 
publication time 7.700748 ms 
whole laserOdometry time 7.711003 ms 
 
map prepare time 2.639588 ms
map corner num 152814  surf num 55635 
build tree time 31.663832 ms 
points size 94586 
mapping data assosiation time 25.368406 ms 
sort q time 13.246368 
seperate points time 20.719325 
mapping solver time 26.095388 ms 
publication time 19.513295 ms 
whole laserOdometry time 19.525684 ms 
 
-----t: 0.0568334
OdomCount 2233 & avg odom time 0.046254 ms ++++++++++++++++++++++
1317357993.810987949 WriteOdom laser_odom_to_init
1317357993.810987949 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.408669 ms 
filter time 9.626791 ms 
map prepare time 4.328553 ms
map corner num 153377  surf num 55833 
prepare time 15.998309 
sort q time 5.361032 
seperate points time 12.214793 
build tree time 43.127102 ms 
-----t: 0.0483633
OdomCount 2234 & avg odom time 0.046255 ms ++++++++++++++++++++++
mapping data assosiation time 25.913860 ms 
mapping solver time 24.605589 ms 
points size 92739 
mapping data assosiation time 25.880425 ms 
scan registration time 36.569006 ms *************
mapping solver time 27.008818 ms 
mapping pub time 2.239742 ms 
whole mapping time 168.047483 ms +++++
mappingCount 1509 & avg mapping time 148.332728 ms ++++++++++++++++++++++
--------------------stamp1317357994.122575998
points size 91404 
sort q time 6.332205 
seperate points time 14.688603 
mapping data assosiation time 25.999952 ms 
scan registration time 37.275793 ms *************
-----t: 0.0415349
OdomCount 2236 & avg odom time 0.046252 ms ++++++++++++++++++++++
mapping data assosiation time 22.206123 ms 
--------------------stamp1317357994.226423025
prepare time 12.217236 
map prepare time 3.671311 ms
map corner num 154599  surf num 56182 
sort q time 5.539531 
seperate points time 12.830459 
publication time 11.320917 ms 
whole laserOdometry time 11.335505 ms 
 
mapping data assosiation time 19.406727 ms 
--------------------stamp1317357994.330271959
points size 92225 
sort q time 6.353383 
seperate points time 14.908550 
-----t: 0.0338764
OdomCount 2238 & avg odom time 0.046244 ms ++++++++++++++++++++++
mapping solver time 25.054866 ms 
filter time 9.408704 ms 
map prepare time 2.717959 ms
map corner num 155192  surf num 56385 
--------------------stamp1317357994.434118032
points size 94398 
sort q time 6.597452 
seperate points time 15.158362 
mapping data assosiation time 27.250362 ms 
publication time 9.273980 ms 
whole laserOdometry time 9.287912 ms 
 
mapping solver time 24.177708 ms 
mapping solver time 19.696842 ms 
prepare time 26.940244 
map prepare time 8.334374 ms
map corner num 155685  surf num 56559 
sort q time 10.254498 
seperate points time 36.106335 
publication time 8.244622 ms 
whole laserOdometry time 8.255276 ms 
 
build tree time 56.361157 ms 
points size 94522 
mapping data assosiation time 25.291331 ms 
publication time 8.067302 ms 
whole laserOdometry time 8.095029 ms 
 
-----t: 0.0430652
OdomCount 2241 & avg odom time 0.046243 ms ++++++++++++++++++++++
mapping data assosiation time 21.698685 ms 
mapping solver time 18.919071 ms 
filter time 12.147754 ms 
prepare time 15.333151 
sort q time 5.611846 
seperate points time 13.133476 
publication time 8.615971 ms 
whole laserOdometry time 8.628426 ms 
 
mapping data assosiation time 24.779888 ms 
mapping solver time 20.757622 ms 
prepare time 13.788258 
sort q time 6.120943 
seperate points time 13.541618 
scan registration time 33.508985 ms *************
filter time 13.479143 ms 
mapping pub time 2.450313 ms 
whole mapping time 157.274994 ms +++++
mappingCount 1514 & avg mapping time 148.379925 ms ++++++++++++++++++++++
1317357994.537964106 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357994.953255891
points size 90849 
sort q time 5.811059 
seperate points time 13.425540 
publication time 10.864348 ms 
whole laserOdometry time 10.878407 ms 
 
mapping solver time 31.468428 ms 
mapping data assosiation time 22.461001 ms 
--------------------stamp1317357995.057028055
prepare time 12.466207 
filter time 13.558943 ms 
publication time 8.807890 ms 
whole laserOdometry time 8.822161 ms 
 
-----t: 0.0551494
OdomCount 2245 & avg odom time 0.046280 ms ++++++++++++++++++++++
mapping data assosiation time 21.558888 ms 
points size 91765 
mapping solver time 27.331839 ms 
mapping data assosiation time 26.881613 ms 
-----t: 0.0495379
OdomCount 2246 & avg odom time 0.046282 ms ++++++++++++++++++++++
mapping solver time 27.322838 ms 
filter time 9.754850 ms 
map prepare time 2.874638 ms
map corner num 158037  surf num 57368 
points size 93584 
sort q time 5.348661 
seperate points time 12.601364 
build tree time 46.673529 ms 
-----t: 0.045245
OdomCount 2247 & avg odom time 0.046281 ms ++++++++++++++++++++++
mapping solver time 23.353780 ms 
--------------------stamp1317357995.368424892
mapping data assosiation time 22.751003 ms 
sort q time 6.404822 
seperate points time 13.122545 
add points time 0.823853 ms
filter time 14.602006 ms 
-----t: 0.0641813
OdomCount 2248 & avg odom time 0.046289 ms ++++++++++++++++++++++
build tree time 27.555707 ms 
--------------------stamp1317357995.472198963
points size 93078 
sort q time 5.714230 
seperate points time 13.247578 
publication time 11.063084 ms 
whole laserOdometry time 11.081341 ms 
 
mapping solver time 21.796896 ms 
filter time 7.856461 ms 
points size 92460 
sort q time 5.507810 
seperate points time 12.884574 
publication time 8.643025 ms 
whole laserOdometry time 8.657762 ms 
 
-----t: 0.061931
OdomCount 2250 & avg odom time 0.046296 ms ++++++++++++++++++++++
mapping data assosiation time 17.564185 ms 
points size 91004 
mapping solver time 24.747378 ms 
scan registration time 34.483081 ms *************
publication time 8.923404 ms 
whole laserOdometry time 8.936022 ms 
 
-----t: 0.0487014
OdomCount 2251 & avg odom time 0.046297 ms ++++++++++++++++++++++
build tree time 42.085186 ms 
--------------------stamp1317357995.783548116
points size 88812 
mapping solver time 21.629235 ms 
publication time 10.961246 ms 
whole laserOdometry time 10.980568 ms 
 
-----t: 0.0398731
OdomCount 2252 & avg odom time 0.046294 ms ++++++++++++++++++++++
filter time 10.663039 ms 
map prepare time 2.892493 ms
map corner num 171744  surf num 58626 
--------------------stamp1317357995.887348890
prepare time 13.044570 
build tree time 47.325084 ms 
publication time 8.473083 ms 
whole laserOdometry time 8.487611 ms 
 
mapping data assosiation time 25.781317 ms 
mapping solver time 24.733601 ms 
mapping data assosiation time 20.313647 ms 
points size 90446 
sort q time 6.781608 
seperate points time 12.449246 
filter time 11.766152 ms 
scan registration time 30.343680 ms *************
publication time 9.002988 ms 
whole laserOdometry time 9.016210 ms 
 
-----t: 0.0546961
OdomCount 2254 & avg odom time 0.046298 ms ++++++++++++++++++++++
points size 94798 
mapping pub time 106.957247 ms 
whole mapping time 264.496600 ms +++++
mappingCount 1521 & avg mapping time 148.483171 ms ++++++++++++++++++++++
1317357995.679749012 WriteOdom aft_mapped_to_init
publication time 14.085511 ms 
whole laserOdometry time 14.100789 ms 
 
1317357996.094919919 WriteOdom laser_odom_to_init
build tree time 78.100788 ms 
sort q time 6.762226 
seperate points time 16.009214 
mapping data assosiation time 36.787772 ms 
-----t: 0.0513781
OdomCount 2256 & avg odom time 0.046307 ms ++++++++++++++++++++++
1317357996.198695898 WriteOdom laser_odom_to_init
1317357996.198695898 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.509732 ms 
--------------------stamp1317357996.302470922
points size 95692 
sort q time 5.814750 
seperate points time 12.980132 
drop lidar frame in mapping for real time performance 
build tree time 48.285935 ms 
prepare time 11.531797 
sort q time 5.083912 
seperate points time 11.620969 
publication time 8.007791 ms 
whole laserOdometry time 8.022520 ms 
 
mapping data assosiation time 24.362062 ms 
mapping solver time 19.191374 ms 
--------------------stamp1317357996.510092020
prepare time 15.264633 
sort q time 5.362502 
seperate points time 12.567461 
publication time 8.377220 ms 
whole laserOdometry time 8.390969 ms 
 
build tree time 48.867310 ms 
mapping data assosiation time 19.913270 ms 
mapping solver time 22.256660 ms 
sort q time 5.593392 
seperate points time 12.994941 
filter time 16.243057 ms 
-----t: 0.0697322
OdomCount 2260 & avg odom time 0.046311 ms ++++++++++++++++++++++
points size 90752 
sort q time 5.287511 
seperate points time 12.142701 
mapping data assosiation time 23.479585 ms 
mapping solver time 22.121071 ms 
mapping data assosiation time 20.932533 ms 
mapping solver time 13.572917 ms 
--------------------stamp1317357996.821629047
map prepare time 3.979010 ms
map corner num 174559  surf num 59356 
sort q time 6.030534 
seperate points time 12.796702 
publication time 9.432681 ms 
whole laserOdometry time 9.448301 ms 
 
mapping data assosiation time 17.976561 ms 
mapping solver time 18.355780 ms 
points size 91094 
mapping data assosiation time 21.866247 ms 
prepare time 11.600171 
mapping solver time 18.886737 ms 
filter time 12.160997 ms 
map prepare time 3.145621 ms
map corner num 175047  surf num 59459 
build tree time 39.952362 ms 
points size 91577 
mapping data assosiation time 23.741378 ms 
publication time 9.663582 ms 
whole laserOdometry time 9.678109 ms 
 
-----t: 0.051905
OdomCount 2264 & avg odom time 0.046311 ms ++++++++++++++++++++++
mapping solver time 17.992827 ms 
--------------------stamp1317357997.133316993
map prepare time 3.569891 ms
map corner num 175596  surf num 59636 
sort q time 5.898194 
seperate points time 19.063222 
-----t: 0.0390206
OdomCount 2265 & avg odom time 0.046308 ms ++++++++++++++++++++++
mapping data assosiation time 18.183639 ms 
mapping solver time 23.209804 ms 
points size 94218 
mapping data assosiation time 23.749231 ms 
scan registration time 33.558395 ms *************
mapping solver time 25.006026 ms 
-----t: 0.0441774
OdomCount 2266 & avg odom time 0.046307 ms ++++++++++++++++++++++
map prepare time 3.201457 ms
map corner num 176230  surf num 59792 
--------------------stamp1317357997.341156005
points size 97326 
sort q time 5.899303 
seperate points time 12.746383 
publication time 8.821797 ms 
whole laserOdometry time 8.833131 ms 
 
mapping data assosiation time 18.114019 ms 
mapping solver time 14.285038 ms 
filter time 11.425132 ms 
sort q time 5.996356 
seperate points time 13.759027 
publication time 9.557726 ms mapping data assosiation time 20.380001 ms 
mapping solver time 23.204516 ms 
points size 100534 
mapping data assosiation time 23.504855 ms 
mapping solver time 24.814598 ms 
-----t: 0.0464879
OdomCount 2269 & avg odom time 0.046305 ms ++++++++++++++++++++++
map prepare time 3.036993 ms
map corner num 177443  surf num 60114 
--------------------stamp1317357997.652982950
prepare time 13.090395 
sort q time 6.903959 
seperate points time 13.668988 
publication time 8.017820 ms 
whole laserOdometry time 8.029699 ms 
 
-----t: 0.0462923
OdomCount 2270 & avg odom time 0.046305 ms ++++++++++++++++++++++
mapping data assosiation time 19.457427 ms 
--------------------stamp1317357997.756926059
points size 101202 
mapping pub time 8.291485 ms 
whole mapping time 168.499168 ms +++++
mappingCount 1531 & avg mapping time 148.577427 ms ++++++++++++++++++++++
scan registration time 42.962506 ms *************
-----t: 0.0507267
OdomCount 2271 & avg odom time 0.046307 ms ++++++++++++++++++++++
build tree time 47.516844 ms 
--------------------stamp1317357997.860843896
prepare time 11.785411 
sort q time 6.283647 
seperate points time 14.238421 
mapping solver time 27.046859 ms 
publication time 11.442772 ms 
whole laserOdometry time 11.461020 ms 
 
mapping solver time 19.022606 ms 
filter time 11.467898 ms 
points size 100912 
sort q time 6.428658 
seperate points time 14.065353 
build tree time 45.187981 ms 
publication time 9.245503 ms 
whole laserOdometry time 9.262633 ms 
 
mapping data assosiation time 25.457784 ms 
mapping solver time 20.742652 ms 
--------------------stamp1317357998.068682909
prepare time 11.943401 
sort q time 6.701058 
seperate points time 13.132911 
mapping solver time 19.203761 ms 
mapping optimization time 136.621849 
filter time 17.863548 ms 
-----t: 0.0567001
OdomCount 2274 & avg odom time 0.046318 ms ++++++++++++++++++++++
--------------------stamp1317357998.172627925
points size 100000 
scan registration time 34.997416 ms *************
publication time 14.029552 ms 
whole laserOdometry time 14.045059 ms 
 
mapping solver time 20.254740 ms 
filter time 11.115493 ms 
points size 99787 
sort q time 5.861620 
seperate points time 13.898367 
build tree time 50.066999 ms 
mapping data assosiation time 24.285243 ms 
--------------------stamp1317357998.380541086
points size 99500 
mapping data assosiation time 27.250802 ms 
scan registration time 43.151236 ms *************
publication time 6.809275 ms 
whole laserOdometry time 6.820217 ms 
 
map prepare time 3.031686 ms
map corner num 180256  surf num 60804 
--------------------stamp1317357998.484469890
points size 100003 
prepare time 13.894640 
sort q time 5.524637 
seperate points time 11.432398 
mapping data assosiation time 23.066341 ms 
mapping solver time 24.644526 ms 
mapping data assosiation time 20.115163 ms 
mapping solver time 14.623459 ms 
filter time 11.066836 ms 
map prepare time 3.491822 ms
map corner num 180767  surf num 60909 
sort q time 6.597029 
seperate points time 12.629924 
-----t: 0.0352641
OdomCount 2279 & avg odom time 0.046307 ms ++++++++++++++++++++++
mapping data assosiation time 16.879960 ms 
mapping solver time 18.862144 ms 
--------------------stamp1317357998.692279100
prepare time 13.310844 
sort q time 5.949540 
seperate points time 13.362514 
1317357998.484469891 WriteOdom aft_mapped_to_init
map prepare time 4.014279 ms
map corner num 181321  surf num 61044 
publication time 10.482217 ms 
whole laserOdometry time 10.496547 ms 
 
-----t: 0.0647851
OdomCount 2280 & avg odom time 0.046315 ms ++++++++++++++++++++++
--------------------stamp1317357998.796173095
points size 100430 
sort q time 5.554745 
seperate points time 12.886186 
mapping solver time 19.610276 ms 
publication time 8.563891 ms 
whole laserOdometry time 8.589580 ms 
 
-----t: 0.0516565
OdomCount 2281 & avg odom time 0.046317 ms ++++++++++++++++++++++
mapping solver time 15.975452 ms 
filter time 13.368662 ms 
points size 98716 
sort q time 5.343730 
seperate points time 21.210498 
scan registration time 40.864251 ms *************
build tree time 43.578195 ms publication time 7.572193 ms 
whole laserOdometry time 7.583691 ms 
 
mapping data assosiation time 20.206146 ms 
mapping solver time 18.619218 ms 
--------------------stamp1317357999.003982067
prepare time 11.536928 
mapping solver time 17.204475 ms 
mapping pub time 2.469350 ms 
whole mapping time 148.699909 ms +++++
mappingCount 1539 & avg mapping time 148.609164 ms ++++++++++++++++++++++
-----t: 0.0478404
OdomCount 2283 & avg odom time 0.046312 ms ++++++++++++++++++++++
1317357999.003982067 WriteOdom laser_odom_to_init
1317357999.003982067 WriteOdom aft_mapped_to_init_high_frec
build tree time 39.274690 ms 
--------------------stamp1317357999.107862949
prepare time 15.544260 
mapping solver time 22.213820 ms 
sort q time 5.523413 
seperate points time 13.148888 
mapping data assosiation time 22.946146 ms 
-----t: 0.050101
OdomCount 2284 & avg odom time 0.046314 ms ++++++++++++++++++++++
1317357999.107862949 WriteOdom laser_odom_to_init
1317357999.107862949 WriteOdom aft_mapped_to_init_high_frec
filter time 11.165800 ms 
--------------------stamp1317357999.211775064
prepare time 12.988563 
sort q time 5.928791 
seperate points time 12.528442 
publication time 8.878048 ms 
whole laserOdometry time 8.892061 ms 
 
mapping solver time 19.025515 ms 
mapping data assosiation time 20.214238 ms 
points size 91119 
prepare time 11.941613 
mapping solver time 21.171023 ms 
mapping optimization time 127.584733 
add points time 0.963194 ms
filter time 18.733940 ms 
publication time 9.371325 ms 
whole laserOdometry time 9.386122 ms 
 
-----t: 0.0467818
OdomCount 2286 & avg odom time 0.046312 ms ++++++++++++++++++++++
1317357999.315721035 WriteOdom laser_odom_to_init
1317357999.315721035 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357999.419641971
prepare time 12.214568 
sort q time 5.055283 
seperate points time 11.818326 
1317357999.003982067 WriteOdom aft_mapped_to_init
publication time 8.831615 ms 
whole laserOdometry time 8.848729 ms 
 
1317357999.419641971 WriteOdom laser_odom_to_init
build tree time 50.487110 ms 
--------------------stamp1317357999.523581981
points size 86859 
mapping data assosiation time 23.499829 ms 
prepare time 14.389065 
mapping solver time 24.652865 ms 
-----t: 0.0337174
OdomCount 2288 & avg odom time 0.046303 ms ++++++++++++++++++++++
publication time 7.708911 ms 
whole laserOdometry time 7.719699 ms 
 
mapping solver time 18.485981 ms 
[0m[ INFO] [1718805286.472281757, 1317357999.616454942]: Received 244664 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805286.472315166, 1317357999.616454942]: Data saved to 1317357999003982.pcd[0m
drop lidar frame in mapping for real time performance 
points size 86087 
prepare time 11.569955 
publication time 7.971851 ms 
whole laserOdometry time 7.985712 ms 
 
build tree time 50.420027 ms 
mapping data assosiation time 22.609246 ms 
mapping solver time 21.946770 ms 
points size 86201 
sort q time 5.055195 
seperate points time 11.230580 
mapping solver time 26.550464 ms 
mapping optimization time 145.582198 
publication time 8.285848 ms 
whole laserOdometry time 8.299142 ms 
 
map prepare time 2.874023 ms
map corner num 184259  surf num 61702 
--------------------stamp1317357999.835388898
prepare time 11.765900 
scan registration time 26.906255 ms *************
mapping data assosiation time 22.049736 ms 
publication time 7.642178 ms 
whole laserOdometry time 7.674128 ms 
 
mapping data assosiation time 18.197615 ms 
mapping solver time 18.452880 ms 
--------------------stamp1317357999.939320087
map prepare time 3.768497 ms
map corner num 184872  surf num 61856 
sort q time 4.725567 
seperate points time 11.562800 
publication time 8.662778 ms 
whole laserOdometry time 8.677763 ms 
 
build tree time 46.830187 ms 
-----t: 0.0417603
OdomCount 2292 & avg odom time 0.046293 ms ++++++++++++++++++++++
1317357999.939320087 WriteOdom laser_odom_to_init
1317357999.939320087 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.729136 ms 
mapping solver time 22.597415 ms 
points size 85175 
mapping data assosiation time 22.449892 ms 
prepare time 15.858364 
mapping solver time 23.005499 ms 
filter time 13.942333 ms 
build tree time 37.109325 ms 
points size 84181 
sort q time 4.853734 
seperate points time 11.471350 
mapping solver time 24.666440 ms 
publication time 7.791962 ms 
whole laserOdometry time 7.805086 ms 
 
mapping data assosiation time 21.322487 ms 
-----t: 0.0484147
OdomCount 2294 & avg odom time 0.046293 ms ++++++++++++++++++++++
1317358000.147166967 WriteOdom laser_odom_to_init
1317358000.147166967 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.920611 ms 
mapping optimization time 121.175688 
add points time 0.656136 ms
mapping pub time 4.803793 ms 
whole mapping time 140.533959 ms +++++
mappingCount 1546 & avg mapping time 148.697723 ms ++++++++++++++++++++++
points size 82980 
sort q time 6.215134 
seperate points time 13.026438 
build tree time 44.359264 ms 
-----t: 0.0381844
OdomCount 2295 & avg odom time 0.046289 ms ++++++++++++++++++++++
mapping data assosiation time 24.442597 ms 
mapping solver time 21.600539 ms 
--------------------stamp1317358000.355017900
prepare time 11.830878 
sort q time 4.822119 
seperate points time 10.782979 
filter time 15.025807 ms 
mapping pub time 1.966898 ms 
whole mapping time 154.443616 ms +++++
mappingCount 1547 & avg mapping time 148.701441 ms ++++++++++++++++++++++
1317358000.147166967 WriteOdom aft_mapped_to_init
-----t: 0.0509889
OdomCount 2296 & avg odom time 0.046291 ms ++++++++++++++++++++++
build tree time 42.075968 ms 
--------------------stamp1317358000.458959102
prepare time 12.019659 
mapping solver time 20.856595 ms 
scan registration time 43.710850 ms *************
publication time 10.478041 ms 
whole laserOdometry time 10.494838 ms 
 
mapping data assosiation time 18.734419 ms 
mapping solver time 13.505464 ms 
mapping data assosiation time 16.910899 ms 
points size 85019 
filter time 12.490568 ms 
publication time 8.829917 ms 
whole laserOdometry time 8.845480 ms 
 
-----t: 0.0436887
OdomCount 2299 & avg odom time 0.046288 ms ++++++++++++++++++++++
build tree time 46.461109 ms 
mapping data assosiation time 17.606340 ms 
points size 88924 
sort q time 5.698052 
seperate points time 13.672411 
mapping optimization time 130.762451 
1317358000.770751953 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.809240 ms
map corner num 188127  surf num 62650 
--------------------stamp1317358000.874670028
points size 89145 
build tree time 51.661154 ms 
sort q time 6.805876 
seperate points time 16.002685 
mapping data assosiation time 21.795775 ms 
mapping solver time 21.744176 ms 
mapping data assosiation time 18.791631 ms 
mapping solver time 22.352365 ms 
sort q time 4.843195 
seperate points time 11.640748 
map prepare time 3.968235 ms
map corner num 188642  surf num 62757 
build tree time 44.472249 ms 
--------------------stamp1317358001.082484960
prepare time 13.003560 
sort q time 5.079302 
seperate points time 11.532642 
publication time 7.167010 ms 
whole laserOdometry time 7.181964 ms 
 
-----t: 0.0487194
OdomCount 2303 & avg odom time 0.046279 ms ++++++++++++++++++++++
1317358001.082484960 WriteOdom laser_odom_to_init
1317358001.082484960 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.915251 ms 
mapping optimization time 127.217369 
add points time 0.701805 ms
filter time 11.318478 ms 
--------------------stamp1317358001.186393022
prepare time 13.137927 
sort q time 4.397369 
seperate points time 10.530365 
publication time 7.523956 ms 
whole laserOdometry time 7.558851 ms -----t: 0.04814
OdomCount 2304 & avg odom time 0.046280 ms ++++++++++++++++++++++
mapping data assosiation time 20.449577 ms 
mapping solver time 15.236100 ms 
prepare time 13.868269 
sort q time 4.684829 
seperate points time 11.488277 
publication time 7.563051 ms 
whole laserOdometry time 7.579138 ms 
 
-----t: 0.0427737
OdomCount 2305 & avg odom time 0.046278 ms ++++++++++++++++++++++
build tree time 47.273334 ms 
mapping data assosiation time 18.397873 ms 
--------------------stamp1317358001.394217967
prepare time 11.933946 
sort q time 4.470950 
seperate points time 10.928504 
publication time 7.955663 ms 
whole laserOdometry time 7.968364 ms 
 
filter time 13.077183 ms 
--------------------stamp1317358001.498106002
points size 83140 
sort q time 5.411629 
seperate points time 13.142540 
-----t: 0.0346322
OdomCount 2307 & avg odom time 0.046269 ms ++++++++++++++++++++++
publication time 8.352946 ms 
whole laserOdometry time 8.368302 ms 
 
1317358001.498106002 WriteOdom laser_odom_to_init
1317358001.498106002 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.543853 ms 
mapping data assosiation time 18.619442 ms 
mapping solver time 12.909441 ms 
filter time 11.217327 ms 
points size 83452 
sort q time 4.734012 
seperate points time 11.413132 
-----t: 0.0337817
OdomCount 2308 & avg odom time 0.046263 ms ++++++++++++++++++++++
mapping solver time 20.512254 ms 
--------------------stamp1317358001.705951929
prepare time 13.019832 
sort q time 4.990318 
seperate points time 10.776805 
filter time 14.152061 ms 
map prepare time 3.232691 ms
map corner num 191256  surf num 63505 
build tree time 41.424749 ms 
points size 82495 
mapping data assosiation time 21.015720 ms 
mapping solver time 20.628468 ms 
-----t: 0.0425464
OdomCount 2310 & avg odom time 0.046259 ms ++++++++++++++++++++++
mapping solver time 12.793714 ms 
filter time 12.085586 ms 
mapping pub time 1.859238 ms 
whole mapping time 135.960633 ms +++++
mappingCount 1557 & avg mapping time 148.693856 ms ++++++++++++++++++++++
1317358001.602036953 WriteOdom aft_mapped_to_init
map prepare time 3.045656 ms
map corner num 191742  surf num 63640 
--------------------stamp1317358001.913846015
prepare time 20.277335 build tree time 44.749371 ms 
-----t: 0.0337094
OdomCount 2311 & avg odom time 0.046254 ms ++++++++++++++++++++++
publication time 6.703410 ms 
whole laserOdometry time 6.716782 ms 
 
mapping solver time 17.349905 ms 
mapping data assosiation time 21.647050 ms 
--------------------stamp1317358002.017776012
prepare time 12.632023 
map prepare time 4.074819 ms
map corner num 192334  surf num 63850 
-----t: 0.0324181
OdomCount 2312 & avg odom time 0.046248 ms ++++++++++++++++++++++
build tree time 43.878230 ms 
mapping data assosiation time 18.582858 ms 
--------------------stamp1317358002.121731996
prepare time 10.468725 
sort q time 4.369615 
seperate points time 9.825537 
mapping data assosiation time 21.296141 ms 
mapping solver time 14.690991 ms 
filter time 13.360005 ms 
[0m[ INFO] [1718805289.051779403, 1317358002.189601083]: Received 254761 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805289.051808919, 1317358002.189601083]: Data saved to 1317358001498106.pcd[0m
--------------------stamp1317358002.225687980
build tree time 47.025451 ms 
mapping data assosiation time 21.273815 ms 
-----t: 0.043616
OdomCount 2314 & avg odom time 0.046242 ms ++++++++++++++++++++++
mapping solver time 21.623733 ms 
mapping data assosiation time 18.095472 ms 
mapping solver time 14.064741 ms 
filter time 12.293364 ms 
--------------------stamp1317358002.329629898
sort q time 4.254258 
seperate points time 9.664807 
-----t: 0.0303396
OdomCount 2315 & avg odom time 0.046235 ms ++++++++++++++++++++++
build tree time 47.514367 ms 
mapping data assosiation time 17.374085 ms 
mapping solver time 20.800171 ms 
--------------------stamp1317358002.433593034
mapping data assosiation time 18.577494 ms 
sort q time 3.896620 
seperate points time 9.483180 
publication time 6.497994 ms 
whole laserOdometry time 6.511826 ms 
 
--------------------stamp1317358002.537585020
prepare time 13.610773 
sort q time 4.322962 
seperate points time 12.802649 
publication time 6.913076 ms 
whole laserOdometry time 6.926438 ms 
 
build tree time 44.471162 ms 
mapping data assosiation time 17.771646 ms 
points size 75996 
sort q time 4.276740 
seperate points time 9.617779 
mapping data assosiation time 21.170192 ms 
mapping solver time 15.517404 ms 
filter time 13.712870 ms 
--------------------stamp1317358002.745573043
prepare time 12.029088 
build tree time 42.161487 ms 
mapping data assosiation time 20.667502 ms 
-----t: 0.0362286
OdomCount 2319 & avg odom time 0.046217 ms ++++++++++++++++++++++
mapping data assosiation time 18.189094 ms 
mapping solver time 12.242626 ms 
filter time 12.224459 ms 
points size 76093 
scan registration time 27.126539 ms *************
publication time 6.830757 ms 
whole laserOdometry time 6.843624 ms 
 
build tree time 56.483907 ms 
mapping data assosiation time 18.981952 ms 
mapping solver time 24.190337 ms 
prepare time 11.676231 
mapping data assosiation time 21.541314 ms 
sort q time 15.660192 
seperate points time 21.270729 
-----t: 0.0329804
OdomCount 2321 & avg odom time 0.046206 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
map prepare time 3.109115 ms
map corner num 219364  surf num 72150 
--------------------stamp1317358003.057569026
[0m[ INFO] [1718805289.925888018, 1317358003.064992893]: Received 257937 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805289.925928081, 1317358003.064992893]: Data saved to 1317358002225687.pcd[0m
sort q time 4.709919 
seperate points time 11.299795 
mapping data assosiation time 19.618653 ms 
-----t: 0.0346974
OdomCount 2322 & avg odom time 0.046201 ms ++++++++++++++++++++++
1317358003.057569026 WriteOdom laser_odom_to_init
1317358003.057569026 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.542233 ms 
mapping data assosiation time 18.000317 ms 
mapping solver time 12.650821 ms 
filter time 12.588206 ms 
points size 76466 
sort q time 4.249131 
seperate points time 9.828210 
publication time 6.815183 ms 
whole laserOdometry time 6.828649 ms 
 
build tree time 55.941749 ms 
mapping data assosiation time 22.988413 ms 
mapping solver time 16.365540 ms 
points size 76098 
sort q time 3.857941 
seperate points time 8.965739 
add points time 0.767727 ms
publication time 6.473647 ms 
whole laserOdometry time 6.509715 ms 
 
map prepare time 3.016425 ms
map corner num 220342  surf num 72387 
--------------------stamp1317358003.369621992
prepare time 10.692464 
sort q time 4.233848 
seperate points time 9.650373 
publication time 6.600588 ms 
whole laserOdometry time 6.613810 ms 
 
mapping data assosiation time 17.970375 ms 
mapping solver time 16.231319 ms 
filter time 13.860800 ms 
--------------------stamp1317358003.473625898
sort q time 4.256941 
seperate points time 9.607652 
publication time 10.686151 ms 
whole laserOdometry time 10.699534 ms 
 
-----t: 0.0403907
OdomCount 2326 & avg odom time 0.046184 ms ++++++++++++++++++++++
mapping data assosiation time 16.845889 ms 
mapping solver time 16.209512 ms 
mapping data assosiation time 16.207419 ms 
points size 80486 
prepare time 10.281324 
sort q time 4.023775 
seperate points time 9.240785 
scan registration time 24.726149 ms *************
filter time 18.371171 ms 
mapping pub time 1.700307 ms 
whole mapping time 151.738814 ms +++++
mappingCount 1568 & avg mapping time 148.732440 ms ++++++++++++++++++++++
1317358003.369621992 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.732044 ms
map corner num 221233  surf num 72632 
build tree time 47.472208 ms 
--------------------stamp1317358003.681715011
mapping data assosiation time 18.946100 ms 
sort q time 4.335135 
seperate points time 10.309527 
-----t: 0.0315157
OdomCount 2328 & avg odom time 0.046174 ms ++++++++++++++++++++++
1317358003.681715011 WriteOdom laser_odom_to_init
1317358003.681715011 WriteOdom aft_mapped_to_init_high_frec
publication time 7.728295 ms 
whole laserOdometry time 7.740274 ms 
 
mapping data assosiation time 22.532591 ms 
mapping solver time 16.987840 ms 
filter time 14.790755 ms 
points size 80064 
build tree time 52.627593 ms 
mapping data assosiation time 18.851917 ms 
mapping data assosiation time 16.420457 ms 
mapping solver time 14.807644 ms 
sort q time 5.791605 
seperate points time 10.715933 
publication time 7.052194 ms 
whole laserOdometry time 7.065327 ms 
 
[0m[ INFO] [1718805290.823044754, 1317358003.962911928]: Received 292729 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805290.823087681, 1317358003.962911928]: Data saved to 1317358003057569.pcd[0m
mapping data assosiation time 16.461942 ms 
points size 81855 
sort q time 4.954710 
seperate points time 11.593568 
mapping data assosiation time 20.828791 ms 
publication time 5.564684 ms 
whole laserOdometry time 7.242151 ms 
 
filter time 12.742904 ms 
map prepare time 2.925760 ms
map corner num 222426  surf num 72904 
--------------------stamp1317358004.097943067
points size 82685 
sort q time 4.500304 
seperate points time 10.581391 
publication time 7.617866 ms 
whole laserOdometry time 7.632533 ms 
 
mapping solver time 15.620432 ms 
mapping data assosiation time 16.073595 ms 
mapping solver time 11.827887 ms 
filter time 16.578490 ms 
sort q time 4.565881 
seperate points time 11.002317 
scan registration time 29.574395 ms *************
-----t: 0.0420901
OdomCount 2333 & avg odom time 0.046154 ms ++++++++++++++++++++++
build tree time 52.542292 ms 
mapping data assosiation time 17.154492 ms 
--------------------stamp1317358004.306030988
prepare time 12.094922 
mapping data assosiation time 20.943263 ms 
publication time 7.362491 ms filter time 16.890953 ms 
--------------------stamp1317358004.410068988
points size 85275 
sort q time 4.516215 
seperate points time 10.753919 
publication time 8.096649 ms 
whole laserOdometry time 8.112849 ms 
 
-----t: 0.0361387
OdomCount 2335 & avg odom time 0.046152 ms ++++++++++++++++++++++
mapping data assosiation time 19.391897 ms 
mapping solver time 12.504720 ms 
--------------------stamp1317358004.514096021
prepare time 13.384684 
sort q time 7.559185 
seperate points time 13.595404 
publication time 7.785247 ms 
whole laserOdometry time 7.812001 ms 
 
build tree time 61.835816 ms 
mapping data assosiation time 18.533488 ms 
--------------------stamp1317358004.618113040
prepare time 12.320541 
sort q time 4.870788 
seperate points time 11.284207 
mapping solver time 15.381119 ms 
mapping optimization time 135.768989 
add points time 0.846196 ms
publication time 7.377068 ms 
whole laserOdometry time 7.412200 ms 
 
mapping pub time 1.938940 ms 
whole mapping time 160.008218 ms +++++
mappingCount 1575 & avg mapping time 148.736087 ms ++++++++++++++++++++++
--------------------stamp1317358004.722162961
build tree time 46.287131 ms 
sort q time 5.814949 
seperate points time 11.732980 
mapping solver time 22.020768 ms 
mapping data assosiation time 19.580326 ms 
mapping solver time 14.855036 ms 
--------------------stamp1317358004.826211929
prepare time 14.199223 
sort q time 5.061928 
seperate points time 11.319983 
publication time 5.858569 ms 
whole laserOdometry time 5.872642 ms 
 
-----t: 0.0432344
OdomCount 2339 & avg odom time 0.046140 ms ++++++++++++++++++++++
mapping data assosiation time 18.048514 ms 
--------------------stamp1317358004.930248975
prepare time 14.738538 
mapping data assosiation time 21.179748 ms 
[0m[ INFO] [1718805291.826317814, 1317358004.966926412]: Received 297529 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805291.826368801, 1317358004.966926412]: Data saved to 1317358004514096.pcd[0m
-----t: 0.0423805
OdomCount 2340 & avg odom time 0.046138 ms ++++++++++++++++++++++
prepare time 11.782018 
publication time 8.842300 ms 
whole laserOdometry time 8.877390 ms 
 
-----t: 0.0460913
OdomCount 2341 & avg odom time 0.046138 ms ++++++++++++++++++++++
1317358005.034312009 WriteOdom laser_odom_to_init
1317358005.034312009 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.037391 ms 
mapping data assosiation time 16.820783 ms 
mapping solver time 12.527225 ms 
points size 89462 
filter time 14.348349 ms 
sort q time 5.255793 
seperate points time 11.991247 
publication time 7.496722 ms 
whole laserOdometry time 7.511575 ms 
 
1317358005.138340950 WriteOdom laser_odom_to_init
build tree time 53.527114 ms 
mapping data assosiation time 18.258954 ms 
--------------------stamp1317358005.242356061
points size 89022 
mapping data assosiation time 21.178073 ms 
sort q time 10.109722 
seperate points time 24.145696 
publication time 9.188829 ms 
whole laserOdometry time 9.200482 ms 
 
drop lidar frame in mapping for real time performance 
points size 89145 
mapping data assosiation time 25.508455 ms 
mapping solver time 25.429105 ms 
publication time 10.388033 ms 
whole laserOdometry time 10.894011 ms 
 
-----t: 0.0937876
OdomCount 2344 & avg odom time 0.046164 ms ++++++++++++++++++++++
prepare time 15.511406 
sort q time 6.896745 
seperate points time 22.668155 
scan registration time 29.039901 ms *************publication time 7.918067 ms 
whole laserOdometry time 7.929917 ms 
 
mapping solver time 41.161679 ms 
mapping data assosiation time 19.285127 ms mapping solver time 18.485314 ms 
filter time 8.915033 ms 
prepare time 14.745286 
sort q time 5.027785 
seperate points time 12.842663 
scan registration time 33.636674 ms *************
publication time 9.010725 ms 
whole laserOdometry time 9.023773 ms 
 
-----t: 0.0501988
OdomCount 2347 & avg odom time 0.046178 ms ++++++++++++++++++++++
mapping pub time 99.277099 ms 
whole mapping time 256.779314 ms +++++
mappingCount 1581 & avg mapping time 148.839319 ms ++++++++++++++++++++++
points size 83357 
scan registration time 31.753771 ms *************
publication time 9.390942 ms 
whole laserOdometry time 9.538422 ms -----t: 0.0598716
OdomCount 2348 & avg odom time 0.046184 ms ++++++++++++++++++++++
mapping data assosiation time 17.732350 ms 
points size 80999 
mapping solver time 26.437059 ms 
mapping optimization time 129.348625 
add points time 0.682980 ms
-----t: 0.0540912
OdomCount 2349 & avg odom time 0.046187 ms ++++++++++++++++++++++
build tree time 30.994759 ms 
sort q time 14.961720 -----t: 0.067773
OdomCount 2350 & avg odom time 0.046196 ms ++++++++++++++++++++++
points size 75944 
scan registration time 29.896002 ms *************
publication time 7.519025 ms 
whole laserOdometry time 7.530931 ms 1317358006.074424982 WriteOdom laser_odom_to_init
1317358006.074424982 WriteOdom aft_mapped_to_init_high_frec
build tree time 42.475296 ms 
--------------------stamp1317358006.178427934
points size 74431 
sort q time 4.740148 
seperate points time 10.272827 
mapping data assosiation time 20.166149 ms 
-----t: 0.0479573
OdomCount 2352 & avg odom time 0.046196 ms ++++++++++++++++++++++
[0m[ INFO] [1718805293.113606129, 1317358006.255333517]: Received 190143 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805293.113642135, 1317358006.255333517]: Data saved to 1317358005346379.pcd[0m
--------------------stamp1317358006.282453060
prepare time 14.079401 scan registration time 27.376227 ms *************
whole laserOdometry time 7.080950 ms -----t: 0.0531492
OdomCount 2353 & avg odom time 0.046199 ms ++++++++++++++++++++++
mapping solver time 23.963120 ms 
mapping data assosiation time 17.553071 ms 
--------------------stamp1317358006.386475086
mapping solver time 19.633852 ms 
filter time 13.892864 ms 
publication time 6.505828 ms 
whole laserOdometry time 6.518160 ms 
 -----t: 0.0472636
OdomCount 2354 & avg odom time 0.046200 ms ++++++++++++++++++++++
mapping data assosiation time 16.779105 ms 
mapping solver time 17.189223 ms 
points size 73939 
mapping data assosiation time 21.442389 ms 
mapping solver time 18.098408 ms 
-----t: 0.0345399
OdomCount 2355 & avg odom time 0.046195 ms ++++++++++++++++++++++
build tree time 29.494221 ms 
--------------------stamp1317358006.594558954
sort q time 3.898527 
seperate points time 7.904763 
publication time 4.453911 ms 
whole laserOdometry time 4.469129 ms 
 
-----t: 0.0355601
OdomCount 2356 & avg odom time 0.046190 ms ++++++++++++++++++++++
mapping solver time 16.507363 ms 
filter time 9.286684 ms 
--------------------stamp1317358006.698599100
prepare time 11.048302 
sort q time 4.195258 
seperate points time 9.536686 
publication time 5.820676 ms 
whole laserOdometry time 5.847541 ms 
 
-----t: 0.0350031
OdomCount 2357 & avg odom time 0.046186 ms ++++++++++++++++++++++
mapping data assosiation time 17.901387 ms 
mapping solver time 11.882699 ms 
filter time 10.751020 ms 
--------------------stamp1317358006.802638053
build tree time 33.795154 ms 
sort q time 4.250304 
seperate points time 8.557911 
publication time 7.387083 ms 
whole laserOdometry time 7.422226 ms 
 
-----t: 0.0306892
OdomCount 2358 & avg odom time 0.046179 ms ++++++++++++++++++++++
1317358006.802638053 WriteOdom laser_odom_to_init
1317358006.802638053 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.632595 ms 
mapping data assosiation time 18.364338 ms 
mapping solver time 11.534657 ms 
filter time 8.789738 ms 
points size 72982 
prepare time 10.569909 
build tree time 39.302486 ms 
mapping data assosiation time 16.820531 ms 
mapping solver time 20.476862 ms 
mapping data assosiation time 17.716958 ms 
points size 72730 
filter time 12.048021 ms 
-----t: 0.0308263
OdomCount 2360 & avg odom time 0.046168 ms ++++++++++++++++++++++
build tree time 36.064181 ms 
mapping data assosiation time 19.733164 ms 
--------------------stamp1317358007.114715099
prepare time 13.795300 
mapping data assosiation time 20.764996 ms 
mapping solver time 20.905069 ms 
filter time 11.095672 ms 
-----t: 0.0595094
OdomCount 2361 & avg odom time 0.046173 ms ++++++++++++++++++++++
1317358007.114715099 WriteOdom laser_odom_to_init
1317358007.114715099 WriteOdom aft_mapped_to_init_high_frec
points size 72905 
sort q time 4.041357 
seperate points time 9.986552 
publication time 5.870487 ms 
whole laserOdometry time 5.884818 ms 
 
mapping data assosiation time 15.559219 ms 
mapping solver time 12.150419 ms 
mapping optimization time 105.429430 
add points time 0.620860 ms
map prepare time 2.526913 ms
map corner num 147827  surf num 47727 
--------------------stamp1317358007.322768926
points size 74482 
build tree time 38.154331 ms 
mapping data assosiation time 20.345827 ms 
mapping solver time 19.184777 ms 
mapping data assosiation time 18.106260 ms 
mapping solver time 15.489187 ms 
filter time 9.952753 ms 
prepare time 10.346548 
mapping pub time 1.613868 ms 
whole mapping time 127.099650 ms +++++
mappingCount 1593 & avg mapping time 148.755108 ms ++++++++++++++++++++++
1317358007.218741894 WriteOdom aft_mapped_to_init
map prepare time 3.476010 ms
map corner num 148277  surf num 47895 
publication time 6.114780 ms 
whole laserOdometry time 6.128316 ms 
 
-----t: 0.0390766
OdomCount 2364 & avg odom time 0.046163 ms ++++++++++++++++++++++
mapping data assosiation time 17.878374 ms 
mapping solver time 18.175341 ms 
--------------------stamp1317358007.530855894
points size 76620 
prepare time 12.126313 
publication time 6.992735 ms 
whole laserOdometry time 7.004934 ms 
 
filter time 12.614004 ms 
mapping pub time 1.757115 ms 
whole mapping time 132.660340 ms +++++
mappingCount 1594 & avg mapping time 148.745021 ms ++++++++++++++++++++++
build tree time 33.340445 ms 
mapping data assosiation time 17.290680 ms 
points size 75903 
sort q time 4.506660 
seperate points time 8.873559 
mapping data assosiation time 21.458455 ms 
-----t: 0.0346216
OdomCount 2366 & avg odom time 0.046153 ms ++++++++++++++++++++++
filter time 8.793314 ms 
build tree time 29.280878 ms 
points size 75274 
sort q time 4.139223 
seperate points time 9.193947 
mapping solver time 20.657913 ms 
-----t: 0.0328064
OdomCount 2367 & avg odom time 0.046148 ms ++++++++++++++++++++++
mapping data assosiation time 20.986605 ms 
mapping solver time 13.316770 ms 
filter time 8.881020 ms 
--------------------stamp1317358007.842839002
prepare time 10.571142 
sort q time 4.098092 
seperate points time 9.638918 
publication time 6.817056 ms 
whole laserOdometry time 6.851009 ms 
 
mapping data assosiation time 26.280269 ms 
mapping solver time 21.442276 ms 
mapping data assosiation time 19.966710 ms 
--------------------stamp1317358007.946839094
prepare time 12.249181 
sort q time 5.123851 
seperate points time 16.140891 
publication time 8.272853 ms 
whole laserOdometry time 8.300375 ms 
 
-----t: 0.0342837
OdomCount 2369 & avg odom time 0.046136 ms ++++++++++++++++++++++
build tree time 35.930760 ms 
mapping data assosiation time 17.511278 ms 
mapping solver time 17.671699 ms 
--------------------stamp1317358008.050828933
sort q time 4.360163 
seperate points time 10.118587 
mapping pub time 1.834074 ms 
whole mapping time 124.452318 ms +++++
mappingCount 1598 & avg mapping time 148.691169 ms ++++++++++++++++++++++
build tree time 29.347723 ms 
mapping data assosiation time 18.132655 ms 
mapping solver time 19.895174 ms 
mapping data assosiation time 21.768193 ms 

sort q time 4.594615 
seperate points time 9.603292 
mapping pub time 1.829406 ms 
whole mapping time 123.733550 ms +++++
mappingCount 1599 & avg mapping time 148.675571 ms ++++++++++++++++++++++
build tree time 30.408774 ms 
points size 76414 
mapping data assosiation time 22.259761 ms 
prepare time 14.622092 
-----t: 0.0299909
OdomCount 2372 & avg odom time 0.046117 ms ++++++++++++++++++++++
mapping data assosiation time 18.718783 ms 
mapping solver time 13.233605 ms 
filter time 9.402737 ms 
--------------------stamp1317358008.362863063
points size 76868 
prepare time 24.599564 
sort q time 3.948301 
seperate points time 9.453234 
1317358008.362863063 WriteOdom laser_odom_to_init
1317358008.362863063 WriteOdom aft_mapped_to_init_high_frec
publication time 7.740930 ms 
mapping data assosiation time 22.673290 ms 
whole laserOdometry time 7.755832 ms 
 
mapping solver time 18.495486 ms 
mapping data assosiation time 18.664293 ms 
--------------------stamp1317358008.466877937
prepare time 12.513650 
sort q time 4.194274 
seperate points time 11.010090 
scan registration time 27.592464 ms *************
-----t: 0.0434716
OdomCount 2374 & avg odom time 0.046111 ms ++++++++++++++++++++++
mapping pub time 87.367107 ms 
whole mapping time 227.645132 ms +++++
mappingCount 1601 & avg mapping time 148.708193 ms ++++++++++++++++++++++
prepare time 10.776802 
sort q time 4.517248 
seperate points time 10.228812 
build tree time 38.615064 ms 
mapping data assosiation time 20.288802 ms 
mapping solver time 22.506456 ms 
--------------------stamp1317358008.674916028
points size 83264 
mapping solver time 21.835221 ms 
mapping optimization time 123.437674 
add points time 0.741175 ms
sort q time 4.584173 
seperate points time 10.835912 
-----t: 0.0419695
OdomCount 2376 & avg odom time 0.046105 ms ++++++++++++++++++++++
build tree time 29.249927 ms 
--------------------stamp1317358008.778930902
prepare time 12.802933 
sort q time 4.704165 
seperate points time 10.980258 
mapping data assosiation time 27.875701 ms 
mapping solver time 19.001871 ms 
mapping optimization time 121.009316 
add points time 0.632937 ms
map prepare time 2.528272 ms
map corner num 152153  surf num 49306 
--------------------stamp1317358008.882946014
build tree time 33.635385 ms 
mapping data assosiation time 23.616985 ms 
-----t: 0.0422288
OdomCount 2378 & avg odom time 0.046100 ms ++++++++++++++++++++++
mapping data assosiation time 18.328273 ms 
mapping solver time 13.619212 ms 
filter time 9.238459 ms 
points size 86365 
sort q time 4.549508 
seperate points time 10.958924 
build tree time 37.886386 ms 
-----t: 0.0367548
OdomCount 2379 & avg odom time 0.046096 ms ++++++++++++++++++++++
mapping data assosiation time 23.316455 ms 
mapping solver time 20.293039 ms 
mapping data assosiation time 20.138481 ms 
points size 87334 
sort q time 4.932996 
seperate points time 10.694367 
-----t: 0.0320503
OdomCount 2380 & avg odom time 0.046090 ms ++++++++++++++++++++++
build tree time 35.213282 ms 
mapping data assosiation time 23.426413 ms 
mapping solver time 24.350531 ms 
publication time 10.859469 ms 
whole laserOdometry time 10.872023 ms 
 
mapping solver time 17.060391 ms 
filter time 10.028218 ms 
--------------------stamp1317358009.298958063
prepare time 12.736606 
scan registration time 30.475089 ms *************
-----t: 0.0414922
OdomCount 2382 & avg odom time 0.046087 ms ++++++++++++++++++++++
mapping solver time 20.150106 ms 
--------------------stamp1317358009.403002023
prepare time 11.484674 
sort q time 5.041595 
seperate points time 11.615970 
filter time 13.178218 ms 
publication time 8.692105 ms 
whole laserOdometry time 8.704659 ms 
 
-----t: 0.0442866
OdomCount 2383 & avg odom time 0.046087 ms ++++++++++++++++++++++
build tree time 34.208595 ms 
mapping data assosiation time 21.498405 ms 
points size 93684 
--------------------stamp1317358009.611102104
prepare time 12.862188 
sort q time 5.260053 
seperate points time 12.493504 
mapping data assosiation time 27.391946 ms 
mapping solver time 27.421822 ms 
mapping data assosiation time 21.832975 ms 
--------------------stamp1317358009.715213060
points size 96188 
filter time 11.765574 ms 
-----t: 0.0507817
OdomCount 2386 & avg odom time 0.046091 ms ++++++++++++++++++++++
mapping data assosiation time 24.231542 ms 
points size 97602 
prepare time 11.751534 
publication time 8.659302 ms 
whole laserOdometry time 8.675104 ms 
 
-----t: 0.0456459
OdomCount 2387 & avg odom time 0.046090 ms ++++++++++++++++++++++
mapping solver time 23.986710 ms 
filter time 11.815508 ms 
--------------------stamp1317358009.923388004
points size 98881 
build tree time 36.556760 ms 
scan registration time 34.653690 ms *************
publication time 9.091192 ms 
whole laserOdometry time 9.102991 ms 
 
mapping solver time 28.175803 ms 
--------------------stamp1317358010.027523040
points size 100788 
sort q time 5.706107 
seperate points time 13.579845 
filter time 13.097603 ms 
map prepare time 4.620735 ms
map corner num 156751  surf num 50881 
-----t: 0.0560832
OdomCount 2389 & avg odom time 0.046093 ms ++++++++++++++++++++++
build tree time 35.560025 ms 
--------------------stamp1317358010.131654977
points size 101686 
sort q time 16.285854 
seperate points time 23.974730 mapping solver time 33.638827 ms 
publication time 12.828950 ms 
whole laserOdometry time 12.840418 ms 
 
mapping solver time 17.083652 ms 
filter time 14.130807 ms 
scan registration time 42.271846 ms *************
build tree time 39.230529 ms 
-----t: 0.0583985
OdomCount 2391 & avg odom time 0.046095 ms ++++++++++++++++++++++
mapping data assosiation time 30.473192 ms 
--------------------stamp1317358010.339999914
prepare time 13.850859 
sort q time 6.022373 
seperate points time 13.588338 
[0m[ INFO] [1718805297.252516219, 1317358010.397612847]: Received 207632 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805297.252603491, 1317358010.397612847]: Data saved to 1317358009715213.pcd[0m
-----t: 0.057233
OdomCount 2392 & avg odom time 0.046100 ms ++++++++++++++++++++++
1317358010.339999914 WriteOdom laser_odom_to_init
1317358010.339999914 WriteOdom aft_mapped_to_init_high_frec
filter time 9.943697 ms 
points size 102332 
sort q time 5.601633 
seperate points time 12.782821 
publication time 13.061991 ms 
whole laserOdometry time 13.075302 ms 
 
-----t: 0.0644193
OdomCount 2393 & avg odom time 0.046107 ms ++++++++++++++++++++++
1317358010.444183111 WriteOdom laser_odom_to_init
1317358010.444183111 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.140981 ms 
--------------------stamp1317358010.548389911
points size 102499 
sort q time 6.724344 
seperate points time 15.485564 
mapping data assosiation time 31.389638 ms 
publication time 18.636165 ms 
whole laserOdometry time 18.646758 ms 
 
-----t: 0.0700533
OdomCount 2394 & avg odom time 0.046117 ms ++++++++++++++++++++++
filter time 13.163100 ms 
map prepare time 4.413056 ms
map corner num 158837  surf num 51729 
sort q time 5.827266 
seperate points time 19.157637 
publication time 10.329429 ms 
whole laserOdometry time 10.349613 ms 
 
-----t: 0.0506325
OdomCount 2395 & avg odom time 0.046119 ms ++++++++++++++++++++++
mapping data assosiation time 30.953547 ms 
--------------------stamp1317358010.756778001
mapping solver time 27.485735 ms 
sort q time 5.636852 
seperate points time 12.495244 
scan registration time 32.944033 ms *************
publication time 13.130802 ms 
whole laserOdometry time 13.144672 ms 
 
filter time 14.481073 ms 
--------------------stamp1317358010.860937118
build tree time 36.757515 ms 
prepare time 15.648449 
mapping data assosiation time 31.969792 ms 
mapping solver time 29.836654 ms 
--------------------stamp1317358010.965073108
mapping data assosiation time 26.819443 ms 
points size 102942 
filter time 14.446150 ms 
[0m[ INFO] [1718805297.886010065, 1317358011.024337551]: Received 212728 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805297.886045822, 1317358011.024337551]: Data saved to 1317358010652596.pcd[0m
-----t: 0.0484083
OdomCount 2398 & avg odom time 0.046134 ms ++++++++++++++++++++++
build tree time 32.319267 ms 
--------------------stamp1317358011.069158077
prepare time 14.113101 
sort q time 6.107824 
seperate points time 13.905822 
mapping solver time 29.803653 ms 
publication time 12.969756 ms 
whole laserOdometry time 12.985879 ms 
 
mapping data assosiation time 30.404840 ms 
mapping solver time 19.251131 ms 
filter time 14.816766 ms 
map prepare time 4.094465 ms
map corner num 160963  surf num 52787 
scan registration time 35.291241 ms *************
publication time 13.856601 ms 
whole laserOdometry time 13.872754 ms 
 
-----t: 0.0555148
OdomCount 2400 & avg odom time 0.046138 ms ++++++++++++++++++++++
mapping data assosiation time 28.560440 ms 
--------------------stamp1317358011.277309894
points size 103259 
publication time 11.542947 ms 
whole laserOdometry time 11.558599 ms 
 
-----t: 0.0716478
OdomCount 2401 & avg odom time 0.046148 ms ++++++++++++++++++++++
--------------------stamp1317358011.381396055
points size 103184 
add points time 1.208705 ms
scan registration time 33.989768 ms *************
publication time 17.513151 ms 
whole laserOdometry time 17.528729 ms 
 
-----t: 0.0521997
OdomCount 2402 & avg odom time 0.046151 ms ++++++++++++++++++++++
1317358011.381396055 WriteOdom laser_odom_to_init
1317358011.381396055 WriteOdom aft_mapped_to_init_high_frec
build tree time 43.620987 ms 
--------------------stamp1317358011.485456943
points size 103290 
prepare time 12.267724 
mapping data assosiation time 32.953583 ms 
sort q time 5.726595 
seperate points time 11.887977 
mapping solver time 31.772187 ms 
-----t: 0.0551038
OdomCount 2403 & avg odom time 0.046154 ms ++++++++++++++++++++++
1317358011.485456943 WriteOdom laser_odom_to_init
1317358011.485456943 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358011.589543104
points size 103441 
filter time 15.297158 ms 
mapping pub time 2.451967 ms 
whole mapping time 191.066295 ms +++++
mappingCount 1619 & avg mapping time 148.904011 ms ++++++++++++++++++++++
1317358011.173223019 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
sort q time 6.285777 
seperate points time 14.047200 
publication time 9.867267 ms 
whole laserOdometry time 9.891990 ms 
 
-----t: 0.0536322
OdomCount 2404 & avg odom time 0.046158 ms ++++++++++++++++++++++
1317358011.589543104 WriteOdom laser_odom_to_init
1317358011.589543104 WriteOdom aft_mapped_to_init_high_frec
build tree time 44.068632 ms 
--------------------stamp1317358011.693679094
points size 103758 
sort q time 6.088905 
seperate points time 13.026893 
publication time 10.648170 ms 
mapping solver time 24.380725 ms 
mapping optimization time 167.925541 
add points time 1.052225 ms
filter time 15.430501 ms 
prepare time 14.859557 
sort q time 5.893721 
seperate points time 13.861282 
publication time 9.731983 ms 
whole laserOdometry time 9.746265 ms 
 
mapping data assosiation time 27.779072 ms 
--------------------stamp1317358011.901949882
mapping solver time 30.917289 ms 
sort q time 5.697701 
seperate points time 13.184419 
mapping data assosiation time 30.430372 ms 
mapping solver time 28.283232 ms 
filter time 10.621694 ms 
--------------------stamp1317358012.006105899
prepare time 14.939568 
sort q time 5.988583 
seperate points time 14.043575 
mapping pub time 87.171525 ms 
whole mapping time 263.870766 ms +++++
mappingCount 1621 & avg mapping time 149.000876 ms ++++++++++++++++++++++
--------------------stamp1317358012.110264062
points size 104100 
sort q time 6.029849 
seperate points time 14.096405 
publication time 10.611601 ms 
whole laserOdometry time 10.624898 ms 
 
-----t: 0.0534759
OdomCount 2409 & avg odom time 0.046166 ms ++++++++++++++++++++++
mapping data assosiation time 25.565846 ms 
points size 104084 
mapping solver time 35.085545 ms 
sort q time 6.182801 
seperate points time 14.327766 
mapping optimization time 167.285425 
add points time 1.049924 ms
1317358011.797816038 WriteOdom aft_mapped_to_init
build tree time 35.657796 ms 
--------------------stamp1317358012.318583011
points size 103793 
sort q time 6.543502 
seperate points time 14.594133 
publication time 11.158010 ms 
whole laserOdometry time 11.171313 ms 
 
mapping data assosiation time 29.905105 ms 
--------------------stamp1317358012.422740936
prepare time 14.398833 
map prepare time 4.025502 ms
map corner num 164496  surf num 54218 
publication time 13.039357 ms 
whole laserOdometry time 13.057750 ms 
 
mapping data assosiation time 29.475614 ms 
points size 103763 
sort q time 6.110229 
seperate points time 14.033972 
-----t: 0.0475035
OdomCount 2413 & avg odom time 0.046177 ms ++++++++++++++++++++++
mapping solver time 23.986471 ms 
mapping optimization time 168.883963 
add points time 0.989114 ms
drop lidar frame in mapping for real time performance 
prepare time 14.479644 
sort q time 6.063550 
seperate points time 13.887428 
build tree time 42.695639 ms 
mapping data assosiation time 30.994015 ms 
--------------------stamp1317358012.735336065
mapping solver time 32.414347 ms 
sort q time 6.166531 
seperate points time 12.725681 
mapping data assosiation time 30.772354 ms 
publication time 10.689476 ms 
whole laserOdometry time 10.706360 ms 
 
-----t: 0.057228
OdomCount 2415 & avg odom time 0.046189 ms ++++++++++++++++++++++
filter time 10.350680 ms 
map prepare time 3.266372 ms
map corner num 165570  surf num 54580 
--------------------stamp1317358012.839565992
points size 103790 
sort q time 5.510904 
seperate points time 12.074421 
publication time 9.725842 ms 
whole laserOdometry time 9.755415 ms 
 
mapping data assosiation time 31.771026 ms 
mapping solver time 30.883626 ms 
points size 103739 
mapping data assosiation time 31.855079 ms 
publication time 10.097937 ms 
whole laserOdometry time 10.116700 ms 
 
mapping solver time 32.598839 ms 
filter time 11.133376 ms 
map prepare time 3.428557 ms
map corner num 166112  surf num 54766 
--------------------stamp1317358013.048003911
points size 103671 
sort q time 5.997643 
seperate points time 13.604569 
mapping data assosiation time 31.679055 ms 
-----t: 0.0566861
OdomCount 2418 & avg odom time 0.046194 ms ++++++++++++++++++++++
mapping solver time 36.816034 ms 
--------------------stamp1317358013.152211904
points size 103709 
sort q time 6.234676 
seperate points time 14.430042 
filter time 11.004724 ms 
map prepare time 5.629191 ms
map corner num 166681  surf num 54987 
-----t: 0.061023
OdomCount 2419 & avg odom time 0.046201 ms ++++++++++++++++++++++
build tree time 37.668465 ms 
points size 103773 
sort q time 6.004577 
seperate points time 12.100766 
publication time 10.195156 ms 
whole laserOdometry time 10.213891 ms 
 
-----t: 0.0477709
OdomCount 2420 & avg odom time 0.046201 ms ++++++++++++++++++++++
mapping data assosiation time 26.851796 ms 
--------------------stamp1317358013.360625028
points size 104017 
sort q time 5.875715 
seperate points time 13.897089 
publication time 10.570435 ms 
whole laserOdometry time 10.583727 ms 
 
-----t: 0.0512744
OdomCount 2421 & avg odom time 0.046203 ms ++++++++++++++++++++++
build tree time 40.822519 ms 
--------------------stamp1317358013.464807987
mapping data assosiation time 34.205307 ms 
points size 104062 
sort q time 5.872035 
seperate points time 12.770503 
mapping solver time 32.539037 ms 
-----t: 0.0560558
OdomCount 2422 & avg odom time 0.046207 ms ++++++++++++++++++++++
1317358013.464807987 WriteOdom laser_odom_to_init
1317358013.464807987 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.755627 ms 
filter time 13.694940 ms 
sort q time 7.773611 
seperate points time 13.971029 
publication time 9.224832 ms 
whole laserOdometry time 9.240028 ms 
 
build tree time 42.090625 ms 
-----t: 0.0673657
OdomCount 2423 & avg odom time 0.046216 ms ++++++++++++++++++++++
mapping data assosiation time 30.744826 ms 
--------------------stamp1317358013.673074960
points size 104102 
mapping solver time 34.253654 ms 
scan registration time 34.058124 ms *************
publication time 10.583005 ms 
whole laserOdometry time 10.596373 ms 
 
1317358013.673074960 WriteOdom laser_odom_to_init
mapping solver time 21.270337 ms 
filter time 12.459265 ms 
--------------------stamp1317358013.777113914
points size 104194 
sort q time 6.338796 
seperate points time 14.858980 
publication time 9.301449 ms 
whole laserOdometry time 9.332627 ms 
 
mapping data assosiation time 32.548948 ms 
mapping solver time 31.031872 ms 
points size 104389 
sort q time 6.073104 
seperate points time 13.708961 
publication time 8.732844 ms 
whole laserOdometry time 8.747482 ms 
 
-----t: 0.0452517
OdomCount 2426 & avg odom time 0.046220 ms ++++++++++++++++++++++
[0m[ INFO] [1718805300.814411331, 1317358013.956905871]: Received 224506 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805300.814451198, 1317358013.956905871]: Data saved to 1317358013568967.pcd[0m
--------------------stamp1317358013.985096931
points size 104181 
build tree time 38.180447 ms 
sort q time 6.782320 
seperate points time 12.884620 
mapping data assosiation time 32.008010 ms 
-----t: 0.0648865
OdomCount 2427 & avg odom time 0.046227 ms ++++++++++++++++++++++
1317358013.985096931 WriteOdom laser_odom_to_init
1317358013.985096931 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 35.511542 ms 
--------------------stamp1317358014.089015960
points size 103935 
mapping data assosiation time 28.840873 ms 
sort q time 5.879746 
seperate points time 13.389961 
add points time 1.124609 ms
-----t: 0.0427977
OdomCount 2428 & avg odom time 0.046226 ms ++++++++++++++++++++++
map prepare time 4.416557 ms
map corner num 169376  surf num 55864 
--------------------stamp1317358014.192910909
points size 103798 
sort q time 5.714866 
seperate points time 13.403031 
mapping data assosiation time 32.713016 ms 
scan registration time 36.718788 ms *************
publication time 10.580315 ms 
whole laserOdometry time 10.593109 ms 
 
mapping solver time 29.678658 ms 
-----t: 0.0526599
OdomCount 2429 & avg odom time 0.046229 ms ++++++++++++++++++++++
1317358014.192910909 WriteOdom laser_odom_to_init
1317358014.192910909 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.891702 ms 
points size 103880 
filter time 13.072753 ms 
scan registration time 48.220880 ms *************
-----t: 0.0478096
OdomCount 2430 & avg odom time 0.046229 ms ++++++++++++++++++++++
publication time 9.757763 ms 
whole laserOdometry time 9.767595 ms 
 
mapping data assosiation time 26.468683 ms 
points size 104088 
sort q time 6.167522 
seperate points time 13.674577 
publication time 12.138916 ms mapping data assosiation time 31.816995 ms 
-----t: 0.0694679
OdomCount 2431 & avg odom time 0.046239 ms ++++++++++++++++++++++
1317358014.400583028 WriteOdom laser_odom_to_init
1317358014.400583028 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.282643 ms 
mapping optimization time 157.060352 
add points time 1.026238 ms
--------------------stamp1317358014.504405975
drop lidar frame in mapping for real time performance 
sort q time 6.241893 
seperate points time 14.304745 
publication time 10.291390 ms 
whole laserOdometry time 10.308728 ms 
 
-----t: 0.0569341
OdomCount 2432 & avg odom time 0.046243 ms ++++++++++++++++++++++
mapping data assosiation time 27.463619 ms 
--------------------stamp1317358014.608228921
prepare time 11.815136 
sort q time 6.091394 
seperate points time 13.696034 
mapping data assosiation time 30.765989 ms 
publication time 11.582622 ms 
whole laserOdometry time 11.617375 ms 
 
mapping solver time 19.706907 ms 
filter time 11.232382 ms 
mapping pub time 2.331337 ms 
whole mapping time 169.911876 ms +++++
mappingCount 1635 & avg mapping time 149.298072 ms ++++++++++++++++++++++
1317358014.296760082 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358014.712050914
points size 103878 
prepare time 16.658931 
scan registration time 36.164511 ms *************
publication time 8.564114 ms 
whole laserOdometry time 8.577119 ms 
 
-----t: 0.0507395
OdomCount 2434 & avg odom time 0.046248 ms ++++++++++++++++++++++
mapping solver time 31.697894 ms 
--------------------stamp1317358014.815850019
points size 103737 
sort q time 6.193357 
seperate points time 13.314847 
filter time 11.224237 ms 
map prepare time 3.456032 ms
map corner num 171692  surf num 56543 
build tree time 35.569978 ms 
points size 103590 
prepare time 12.098509 
scan registration time 31.893658 ms *************
publication time 9.700134 ms 
whole laserOdometry time 9.712212 ms 
 
1317358014.919600009 WriteOdom laser_odom_to_init
mapping data assosiation time 26.908568 ms 
--------------------stamp1317358015.023324966
points size 103401 
prepare time 15.275237 
filter time 16.553541 ms 
scan registration time 35.197715 ms *************
publication time 11.039045 ms 
whole laserOdometry time 11.083196 ms 
 
build tree time 46.495861 ms 
-----t: 0.0825202
OdomCount 2437 & avg odom time 0.046260 ms ++++++++++++++++++++++
points size 103027 
mapping solver time 29.935872 ms 
publication time 10.183759 ms 
whole laserOdometry time 10.196542 ms 
 
mapping solver time 17.306818 ms 
filter time 10.925610 ms 
map prepare time 3.241273 ms
map corner num 172975  surf num 56900 
points size 102810 
prepare time 17.183489 
build tree time 37.521056 ms 
-----t: 0.0632597
OdomCount 2439 & avg odom time 0.046268 ms ++++++++++++++++++++++
mapping solver time 26.493237 ms 
points size 102602 
sort q time 5.719171 
seperate points time 14.008911 
add points time 0.968937 ms
publication time 16.066890 ms 
whole laserOdometry time 16.078268 ms 
 
filter time 13.522450 ms 
mapping pub time 2.536578 ms 
whole mapping time 177.225379 ms +++++
mappingCount 1639 & avg mapping time 149.360745 ms ++++++++++++++++++++++
1317358015.023324966 WriteOdom aft_mapped_to_init
1317358015.334362030 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358015.438015937
points size 102713 
sort q time 6.920404 
seperate points time 16.508327 
publication time 9.493285 ms 
whole laserOdometry time 9.508397 ms 
 
-----t: 0.0549586
OdomCount 2441 & avg odom time 0.046283 ms ++++++++++++++++++++++
--------------------stamp1317358015.541697025
points size 102662 
sort q time 5.848654 
seperate points time 15.811006 
filter time 14.158270 ms 
publication time 11.989186 ms 
whole laserOdometry time 12.003474 ms 
 
drop lidar frame in mapping for real time performance 
-----t: 0.073672
OdomCount 2442 & avg odom time 0.046295 ms ++++++++++++++++++++++
--------------------stamp1317358015.645375967
prepare time 14.691732 
build tree time 52.609269 ms 
publication time 10.864888 ms 
whole laserOdometry time 10.884272 ms 
 
-----t: 0.0484835
OdomCount 2443 & avg odom time 0.046295 ms ++++++++++++++++++++++
mapping solver time 30.538335 ms 
--------------------stamp1317358015.749077081
points size 102235 
sort q time 6.492962 
seperate points time 14.602790 
mapping solver time 31.419645 ms 
filter time 12.386447 ms 
--------------------stamp1317358015.852828979
points size 101944 
sort q time 5.555965 
seperate points time 13.644346 
mapping pub time 90.701205 ms 
whole mapping time 289.955724 ms +++++
mappingCount 1641 & avg mapping time 149.485372 ms ++++++++++++++++++++++
-----t: 0.0581939
OdomCount 2445 & avg odom time 0.046299 ms ++++++++++++++++++++++
build tree time 38.796037 ms 
points size 101855 
mapping data assosiation time 28.927478 ms 
scan registration time 35.492774 ms *************
mapping solver time 26.628978 ms 
publication time 9.802074 ms 
whole laserOdometry time 9.816617 ms 
 
mapping data assosiation time 28.670441 ms 
--------------------stamp1317358016.060305118
points size 101461 
mapping pub time 2.381368 ms 
whole mapping time 172.630606 ms +++++
mappingCount 1642 & avg mapping time 149.499473 ms ++++++++++++++++++++++
1317358015.645375967 WriteOdom aft_mapped_to_init
publication time 8.930425 ms 
whole laserOdometry time 8.943047 ms 
 
-----t: 0.0457219
OdomCount 2447 & avg odom time 0.046304 ms ++++++++++++++++++++++
mapping data assosiation time 22.655696 ms 
--------------------stamp1317358016.164058923
prepare time 11.756278 
mapping data assosiation time 29.288838 ms 
publication time 14.535386 ms 
whole laserOdometry time 14.550293 ms 
 
mapping solver time 25.827408 ms 
filter time 14.637759 ms 
mapping pub time 2.386548 ms 
whole mapping time 161.217646 ms +++++
mappingCount 1643 & avg mapping time 149.506608 ms ++++++++++++++++++++++
1317358015.852828979 WriteOdom aft_mapped_to_init
-----t: 0.068984
OdomCount 2448 & avg odom time 0.046313 ms ++++++++++++++++++++++
1317358016.164058923 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
1317358016.164058923 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.042330 ms
map corner num 153969  surf num 52451 
--------------------stamp1317358016.267857074
points size 98600 
sort q time 5.706180 
seperate points time 14.010624 
mapping data assosiation time 29.533836 ms 
mapping solver time 26.018373 ms 
-----t: 0.0651929
OdomCount 2449 & avg odom time 0.046321 ms ++++++++++++++++++++++
1317358016.267857074 WriteOdom laser_odom_to_init
1317358016.267857074 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.514751 ms 
prepare time 11.596955 
mapping solver time 23.186001 ms 
mapping optimization time 140.169704 
sort q time 5.579264 
seperate points time 23.728366 
-----t: 0.0387111
OdomCount 2450 & avg odom time 0.046318 ms ++++++++++++++++++++++
publication time 9.772901 ms 
whole laserOdometry time 9.786101 ms 
 
build tree time 36.340022 ms 
--------------------stamp1317358016.475430965
prepare time 15.169096 
sort q time 5.788292 
seperate points time 13.071209 
publication time 8.445680 ms 
whole laserOdometry time 8.461303 ms 
 
mapping data assosiation time 27.523018 ms 
mapping solver time 18.946114 ms 
filter time 10.255558 ms 
points size 94775 
sort q time 5.353491 
seperate points time 12.559412 
build tree time 40.103096 ms 
mapping data assosiation time 24.530619 ms 
mapping solver time 22.760723 ms 
--------------------stamp1317358016.683075904
mapping data assosiation time 26.021076 ms 
sort q time 6.684564 
seperate points time 13.767884 
mapping solver time 24.491199 ms 
-----t: 0.0410726
OdomCount 2453 & avg odom time 0.046315 ms ++++++++++++++++++++++
filter time 14.329506 ms 
map prepare time 3.628421 ms
map corner num 155855  surf num 52930 
build tree time 35.201873 ms 
points size 92223 
prepare time 13.393779 
mapping solver time 28.487777 ms 
mapping data assosiation time 24.498248 ms 
mapping solver time 17.837158 ms 
filter time 12.525735 ms 
mapping pub time 2.145532 ms 
whole mapping time 153.665650 ms +++++
mappingCount 1647 & avg mapping time 149.531689 ms ++++++++++++++++++++++
1317358016.579231024 WriteOdom aft_mapped_to_init
points size 90777 
scan registration time 30.990209 ms *************
publication time 7.422162 ms 
whole laserOdometry time 7.434161 ms 
 
-----t: 0.0424695
OdomCount 2455 & avg odom time 0.046313 ms ++++++++++++++++++++++
mapping data assosiation time 23.060085 ms 
mapping solver time 22.876392 ms 
points size 88925 
mapping data assosiation time 26.833566 ms 
publication time 8.907327 ms 
whole laserOdometry time 8.920986 ms 
 
filter time 13.884389 ms 
build tree time 32.752502 ms 
points size 87505 
mapping data assosiation time 26.593004 ms 
mapping solver time 29.054226 ms 
mapping data assosiation time 23.562918 ms 
mapping solver time 18.743767 ms 
filter time 11.854227 ms 
sort q time 5.394360 
seperate points time 10.897197 
publication time 7.414833 ms 
whole laserOdometry time 7.428876 ms 
 
build tree time 64.648020 ms 
mapping data assosiation time 24.013113 ms 
points size 87378 
sort q time 4.931120 
seperate points time 11.717206 
mapping data assosiation time 34.931849 ms 
1317358017.306489944 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.243890 ms 
mapping optimization time 169.797389 
add points time 0.940638 ms
filter time 15.635143 ms 
points size 88481 
sort q time 5.217090 
seperate points time 11.449523 
publication time 8.179348 ms 
whole laserOdometry time 8.195274 ms 
 
build tree time 56.715356 ms 
mapping data assosiation time 23.023400 ms 
mapping solver time 17.389792 ms 
points size 89901 
mapping data assosiation time 26.819962 ms 
mapping solver time 22.481956 ms 
filter time 16.031875 ms 
map prepare time 4.094751 ms
map corner num 234481  surf num 79482 
--------------------stamp1317358017.618315935
prepare time 12.797202 
scan registration time 41.429200 ms *************
mapping data assosiation time 29.226820 ms 
publication time 17.699059 ms 
whole laserOdometry time 17.727302 ms 
 
mapping solver time 27.441091 ms 
-----t: 0.0720652
OdomCount 2462 & avg odom time 0.046321 ms ++++++++++++++++++++++
1317358017.618315935 WriteOdom aft_mapped_to_init_high_frec
1317358017.618315935 WriteOdom laser_odom_to_init
points size 91901 
sort q time 4.714715 
seperate points time 10.792306 
publication time 8.655213 ms 
whole laserOdometry time 8.673987 ms 
 
map prepare time 4.178878 ms
map corner num 235195  surf num 79802 
--------------------stamp1317358017.826205968
points size 93710 
sort q time 5.837830 
seperate points time 13.494900 
mapping data assosiation time 30.439370 ms 
publication time 12.733449 ms 
whole laserOdometry time 12.746994 ms 
 
mapping solver time 24.989977 ms 
mapping data assosiation time 23.247137 ms 
--------------------stamp1317358017.930149078
points size 95909 
sort q time 5.784928 
seperate points time 13.545873 
scan registration time 33.195203 ms *************
filter time 22.827652 ms 
mapping pub time 2.285401 ms 
whole mapping time 185.495446 ms +++++
mappingCount 1653 & avg mapping time 149.626398 ms ++++++++++++++++++++++
1317358017.618315935 WriteOdom aft_mapped_to_init
publication time 9.078651 ms 
whole laserOdometry time 9.094309 ms 
 
-----t: 0.0782959
OdomCount 2465 & avg odom time 0.046334 ms ++++++++++++++++++++++
--------------------stamp1317358018.034116029
points size 96420 
sort q time 5.914681 
seperate points time 13.693450 
publication time 9.084021 ms 
whole laserOdometry time 9.095523 ms 
 
mapping solver time 28.652574 ms 
mapping data assosiation time 23.386452 ms 
--------------------stamp1317358018.138081073
points size 94858 
filter time 21.513943 ms 
-----t: 0.0391744
OdomCount 2467 & avg odom time 0.046331 ms ++++++++++++++++++++++
build tree time 57.890328 ms 
points size 92542 
sort q time 5.531931 
seperate points time 13.541747 
mapping solver time 27.171991 ms 
publication time 11.129310 ms 
whole laserOdometry time 11.166930 ms 
 
mapping data assosiation time 30.167142 ms 
-----t: 0.0828706
OdomCount 2468 & avg odom time 0.046346 ms ++++++++++++++++++++++
points size 92016 
map prepare time 4.570633 ms
map corner num 237445  surf num 80499 
publication time 10.205499 ms 
whole laserOdometry time 10.226848 ms 
 
-----t: 0.0595103
OdomCount 2469 & avg odom time 0.046351 ms ++++++++++++++++++++++
build tree time 64.826822 ms 
--------------------stamp1317358018.450030088
mapping data assosiation time 25.077038 ms 
sort q time 5.717288 
seperate points time 13.746937 
publication time 8.544648 ms mapping data assosiation time 28.297300 ms 
1317358018.450030088 WriteOdom laser_odom_to_init
1317358018.450030088 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.519469 ms 
--------------------stamp1317358018.553997039
prepare time 14.172968 
sort q time 17.620152 
seperate points time 24.350737 
publication time 10.366709 ms 
whole laserOdometry time 10.384265 ms 
 
build tree time 60.271388 ms 
--------------------stamp1317358018.657963991
prepare time 12.117886 
sort q time 5.690502 
seperate points time 13.170932 
publication time 10.881520 ms 
whole laserOdometry time 10.916597 ms 
 
-----t: 0.0525813
OdomCount 2472 & avg odom time 0.046362 ms ++++++++++++++++++++++
mapping solver time 20.909654 ms 
[0m[ INFO] [1718805305.610110623, 1317358018.747234659]: Received 318774 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805305.610137177, 1317358018.747234659]: Data saved to 1317358018138081.pcd[0m
drop lidar frame in mapping for real time performance 
sort q time 6.612506 
seperate points time 13.129116 
publication time 8.631225 ms 
whole laserOdometry time 8.643402 ms 
 
build tree time 69.176508 ms 
mapping data assosiation time 20.349638 ms 
points size 96183 
sort q time 5.445976 
seperate points time 12.497904 
publication time 9.214831 ms 
whole laserOdometry time 9.225924 ms 
 
mapping data assosiation time 28.267902 ms 
mapping solver time 21.094827 ms 
mapping optimization time 174.853135 
-----t: 0.063727
OdomCount 2474 & avg odom time 0.046367 ms ++++++++++++++++++++++
1317358018.865848064 WriteOdom laser_odom_to_init
add points time 1.160755 ms
1317358018.865848064 WriteOdom aft_mapped_to_init_high_frec
filter time 15.059869 ms 
points size 97530 
sort q time 6.030065 
seperate points time 14.036518 
-----t: 0.0408939
OdomCount 2475 & avg odom time 0.046365 ms ++++++++++++++++++++++
build tree time 66.296378 ms 
mapping data assosiation time 22.202639 ms 
--------------------stamp1317358019.073831081
prepare time 13.842704 
mapping data assosiation time 25.094950 ms 
scan registration time 45.489568 ms *************
mapping solver time 24.549096 ms 
publication time 8.543719 ms 
whole laserOdometry time 8.554695 ms 
 
filter time 17.281708 ms 
--------------------stamp1317358019.177820920
points size 99761 
prepare time 15.865483 
scan registration time 37.682283 ms *************
publication time 9.011088 ms 
whole laserOdometry time 9.024351 ms 
 
mapping data assosiation time 26.814970 ms 
mapping solver time 24.566340 ms 
--------------------stamp1317358019.281836032
mapping data assosiation time 29.378320 ms 
mapping solver time 19.442053 ms 
filter time 20.884036 ms 
-----t: 0.0514932
OdomCount 2478 & avg odom time 0.046385 ms ++++++++++++++++++++++
--------------------stamp1317358019.385848999
prepare time 13.675109 
build tree time 58.096918 ms 
mapping data assosiation time 29.477391 ms 
mapping solver time 23.546221 ms 
mapping data assosiation time 23.693286 ms 
--------------------stamp1317358019.489837884
prepare time 12.101913 
sort q time 5.904017 
seperate points time 13.719892 
filter time 22.290436 ms 
-----t: 0.0464373
OdomCount 2480 & avg odom time 0.046387 ms ++++++++++++++++++++++
--------------------stamp1317358019.593828916
points size 96043 
sort q time 5.542980 
seperate points time 13.237783 
map prepare time 3.738655 ms
map corner num 241261  surf num 81463 
publication time 9.100453 ms 
whole laserOdometry time 9.116687 ms 
 
-----t: 0.0626833
OdomCount 2481 & avg odom time 0.046393 ms ++++++++++++++++++++++
build tree time 59.958369 ms 
points size 95753 
mapping data assosiation time 24.865892 ms 
publication time 9.896408 ms 
whole laserOdometry time 9.913920 ms 
 
mapping solver time 61.071238 ms 
--------------------stamp1317358019.801814079
mapping data assosiation time 35.586497 ms 
sort q time 6.474807 
seperate points time 14.366027 
filter time 22.037894 ms 
1317358019.801814079 WriteOdom laser_odom_to_init
--------------------stamp1317358019.905805110
points size 94595 
build tree time 60.323191 ms 
publication time 10.770226 ms 
whole laserOdometry time 10.785620 ms 
 
mapping solver time 21.295824 ms 
mapping data assosiation time 22.554815 ms 
prepare time 11.332101 
mapping optimization time 160.113141 
filter time 21.469076 ms 
mapping pub time 2.528207 ms 
whole mapping time 190.027431 ms +++++
mappingCount 1663 & avg mapping time 149.965311 ms ++++++++++++++++++++++
1317358019.593828917 WriteOdom aft_mapped_to_init
--------------------stamp1317358020.113782882
points size 94815 
sort q time 5.816129 
seperate points time 15.530653 
publication time 9.787371 ms 
whole laserOdometry time 9.802203 ms 
 
mapping data assosiation time 23.078394 ms 
mapping solver time 14.316528 ms 
points size 95072 
scan registration time 35.906608 ms *************
-----t: 0.0501572
OdomCount 2487 & avg odom time 0.046412 ms ++++++++++++++++++++++
build tree time 64.956985 ms 
--------------------stamp1317358020.321767091
points size 95261 
sort q time 5.934022 
seperate points time 13.500461 
publication time 14.793555 ms 
whole laserOdometry time 14.805979 ms 
 
-----t: 0.0583211
OdomCount 2488 & avg odom time 0.046416 ms ++++++++++++++++++++++
filter time 15.160128 ms 
points size 95351 
scan registration time 34.209336 ms *************
publication time 8.823893 ms 
whole laserOdometry time 8.837597 ms 
 
-----t: 0.0592091
OdomCount 2489 & avg odom time 0.046421 ms ++++++++++++++++++++++
--------------------stamp1317358020.529795885
prepare time 15.486880 
sort q time 6.135877 
seperate points time 12.793702 
mapping solver time 18.870826 ms 
mapping optimization time 157.223607 
add points time 0.952131 ms
filter time 19.716901 ms 
map prepare time 3.592445 ms
map corner num 243539  surf num 81936 
--------------------stamp1317358020.633858919
points size 95993 
sort q time 5.585351 
seperate points time 12.254984 
publication time 8.091253 ms 
whole laserOdometry time 8.107744 ms 
 
1317358020.633858919 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.868438 ms 
mapping solver time 16.725605 ms 
--------------------stamp1317358020.737921953
prepare time 12.438310 
-----t: 0.0432546
OdomCount 2492 & avg odom time 0.046426 ms ++++++++++++++++++++++
--------------------stamp1317358020.841959953
points size 97313 
sort q time 6.209819 
seperate points time 14.437812 
scan registration time 35.436614 ms *************
publication time 10.453091 ms 
whole laserOdometry time 10.476900 ms 
 
mapping solver time 24.608412 ms 
mapping data assosiation time 23.956789 ms 
--------------------stamp1317358020.945998907
mapping solver time 17.785581 ms 
sort q time 5.605516 
seperate points time 13.466427 
1317358020.633858919 WriteOdom aft_mapped_to_init
publication time 8.736569 ms 
whole laserOdometry time 8.753434 ms 
 
-----t: 0.0563379
OdomCount 2494 & avg odom time 0.046431 ms ++++++++++++++++++++++
build tree time 58.056128 ms 
points size 98743 
mapping data assosiation time 27.656505 ms 
sort q time 13.865163 
seperate points time 20.897939 
mapping solver time 26.857472 ms 
mapping data assosiation time 25.726887 ms 
mapping solver time 16.908016 ms 
filter time 16.658105 ms 
prepare time 13.817268 
drop lidar frame in mapping for real time performance 
map prepare time 4.667652 ms
map corner num 244975  surf num 82366 
publication time 8.982490 ms 
whole laserOdometry time 8.996717 ms 
 
-----t: 0.0476236
OdomCount 2496 & avg odom time 0.046430 ms ++++++++++++++++++++++
build tree time 59.573301 ms 
--------------------stamp1317358021.258093118
mapping data assosiation time 25.249974 ms 
points size 100414 
sort q time 5.900018 
seperate points time 14.446835 
scan registration time 40.595538 ms *************
mapping solver time 16.258598 ms 
filter time 15.582992 ms 
--------------------stamp1317358021.362082958
points size 101226 
sort q time 5.921605 
seperate points time 14.080561 
publication time 10.563049 ms 
whole laserOdometry time 10.575567 ms 
 
-----t: 0.0515267
OdomCount 2498 & avg odom time 0.046432 ms ++++++++++++++++++++++
mapping data assosiation time 25.719216 ms 
mapping solver time 18.431711 ms 
points size 101007 
mapping data assosiation time 28.594549 ms 
mapping solver time 16.053353 ms 
filter time 19.560662 ms 
-----t: 0.063768
OdomCount 2499 & avg odom time 0.046438 ms ++++++++++++++++++++++
--------------------stamp1317358021.570039033
points size 100869 
sort q time 5.798785 
seperate points time 14.066562 
publication time 11.788482 ms 
whole laserOdometry time 11.813436 ms 
 
-----t: 0.0420573
OdomCount 2500 & avg odom time 0.046437 ms ++++++++++++++++++++++
1317358021.570039033 WriteOdom laser_odom_to_init
1317358021.570039033 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.689584 ms 
mapping data assosiation time 26.568114 ms 
sort q time 5.802611 
seperate points time 14.088993 
publication time 10.143082 ms 
whole laserOdometry time 10.162483 ms 
 
map prepare time 3.774643 ms
map corner num 246257  surf num 82682 
--------------------stamp1317358021.777899980
build tree time 58.225490 ms 
prepare time 19.998676 
sort q time 7.937648 
seperate points time 16.471172 
publication time 8.266151 ms 
whole laserOdometry time 8.279850 ms 
 
mapping solver time 27.190526 ms 
mapping data assosiation time 24.097897 ms 
points size 100855 
prepare time 13.344813 
mapping solver time 21.579836 ms 
mapping optimization time 163.350276 
add points time 1.139380 ms
filter time 22.271631 ms 
publication time 23.492385 ms 
whole laserOdometry time 23.510593 ms 
 
-----t: 0.0776269
OdomCount 2503 & avg odom time 0.046448 ms ++++++++++++++++++++++
build tree time 60.052043 ms 
sort q time 5.661431 
seperate points time 11.795132 
mapping data assosiation time 29.532941 ms 
-----t: 0.0438479
OdomCount 2504 & avg odom time 0.046447 ms ++++++++++++++++++++++
mapping data assosiation time 25.628830 ms 
--------------------stamp1317358022.089679956
prepare time 13.315041 
sort q time 6.020957 
seperate points time 14.134116 
drop lidar frame in mapping for real time performance 
publication time 10.852353 ms 
whole laserOdometry time 10.865844 ms 
 
[0m[ INFO] [1718805309.038199054, 1317358022.184024278]: Received 328405 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805309.038257167, 1317358022.184024278]: Data saved to 1317358021154079.pcd[0m
build tree time 64.339700 ms 
prepare time 14.213376 
mapping data assosiation time 30.535004 ms 
publication time 10.058235 ms 
whole laserOdometry time 10.072468 ms 
 
-----t: 0.0512437
OdomCount 2506 & avg odom time 0.046447 ms ++++++++++++++++++++++
mapping data assosiation time 30.316089 ms 
--------------------stamp1317358022.297564983
prepare time 11.952704 
mapping pub time 2.362907 ms 
whole mapping time 195.606482 ms +++++
mappingCount 1675 & avg mapping time 150.223438 ms ++++++++++++++++++++++
publication time 10.965824 ms 
whole laserOdometry time 10.979111 ms 
 
build tree time 61.170085 ms 
points size 101901 
sort q time 6.428534 
seperate points time 14.445302 
mapping solver time 28.652709 ms 
-----t: 0.047726
OdomCount 2508 & avg odom time 0.046449 ms ++++++++++++++++++++++
mapping data assosiation time 32.411595 ms 
mapping solver time 15.727941 ms 
points size 102107 
drop lidar frame in mapping for real time performance 
publication time 13.909329 ms 
whole laserOdometry time 13.942493 ms 
 
-----t: 0.0622938
OdomCount 2509 & avg odom time 0.046456 ms ++++++++++++++++++++++
build tree time 71.020110 ms 
prepare time 13.132155 
mapping data assosiation time 29.823513 ms 
scan registration time 41.094097 ms *************
mapping solver time 24.167790 ms 
-----t: 0.0605129
OdomCount 2510 & avg odom time 0.046461 ms ++++++++++++++++++++++
mapping data assosiation time 31.237373 ms 
mapping solver time 16.248168 ms 
points size 102588 
sort q time 6.213899 
seperate points time 13.327055 
map prepare time 5.649183 ms
map corner num 248657  surf num 83621 
publication time 13.216935 ms 
whole laserOdometry time 13.332090 ms 
 build tree time 58.844478 ms 
points size 102781 
mapping data assosiation time 36.062199 ms 
publication time 9.494128 ms 
whole laserOdometry time 9.507511 ms 
 
mapping data assosiation time 25.743410 ms 
points size 102837 
add points time 1.517872 ms
scan registration time 30.202026 ms *************
drop lidar frame in mapping for real time performance 
-----t: 0.0480305
OdomCount 2513 & avg odom time 0.046462 ms ++++++++++++++++++++++
--------------------stamp1317358023.025144100
points size 102946 
sort q time 6.296059 
seperate points time 14.330204 
publication time 11.485271 ms 
whole laserOdometry time 11.498220 ms 
 
-----t: 0.0462183
OdomCount 2514 & avg odom time 0.046462 ms ++++++++++++++++++++++
mapping data assosiation time 25.919180 ms 
--------------------stamp1317358023.129111051
points size 103106 
filter time 17.274018 ms 
scan registration time 35.598873 ms *************
publication time 9.504817 ms 
whole laserOdometry time 9.515702 ms 
 
-----t: 0.0497997
OdomCount 2515 & avg odom time 0.046463 ms ++++++++++++++++++++++
build tree time 62.906837 ms 
points size 103167 
mapping data assosiation time 31.545827 ms 
publication time 9.812126 ms 
whole laserOdometry time 9.826020 ms 
 
mapping data assosiation time 32.218745 ms 
--------------------stamp1317358023.337091922
mapping solver time 18.919437 ms 
prepare time 13.425352 
filter time 22.183192 ms 
publication time 10.006545 ms 
whole laserOdometry time 10.020714 ms 
 
--------------------stamp1317358023.441059112
prepare time 13.667843 
sort q time 5.876321 
seperate points time 13.499604 
mapping solver time 25.476521 ms 
1317358023.441059112 WriteOdom laser_odom_to_init
1317358023.441059112 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.946341 ms 
points size 102994 
sort q time 6.125257 
seperate points time 15.282071 
publication time 9.877119 ms 
whole laserOdometry time 9.943513 ms 
 
-----t: 0.0663522
OdomCount 2519 & avg odom time 0.046479 ms ++++++++++++++++++++++
--------------------stamp1317358023.649085998
map prepare time 4.033701 ms
map corner num 250735  surf num 84368 
sort q time 5.691192 
seperate points time 13.338186 
publication time 10.267833 ms 
whole laserOdometry time 10.291068 ms 
 
build tree time 66.243765 ms 
--------------------stamp1317358023.753124952
points size 102801 
sort q time 6.036031 
seperate points time 13.483631 
mapping solver time 39.674614 ms 
publication time 10.979727 ms 
whole laserOdometry time 10.989953 ms 
 
1317358023.753124952 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 32.244549 ms 
mapping solver time 21.664476 ms 
points size 102563 
map prepare time 5.207887 ms
map corner num 251216  surf num 84538 
publication time 8.601588 ms 
whole laserOdometry time 8.613162 ms 
 
-----t: 0.0507574
OdomCount 2522 & avg odom time 0.046482 ms ++++++++++++++++++++++
build tree time 63.216473 ms 
--------------------stamp1317358023.961183071
prepare time 13.569456 
sort q time 7.385834 
seperate points time 14.243598 
publication time 13.287118 ms 
whole laserOdometry time 13.318278 ms 
 
mapping data assosiation time 34.788988 ms 
--------------------stamp1317358024.065244913
prepare time 15.510005 
filter time 24.212414 ms 
scan registration time 45.154691 ms *************
publication time 10.321863 ms 
whole laserOdometry time 10.335364 ms 
 
build tree time 61.836686 ms 
points size 101803 
sort q time 5.872821 
seperate points time 13.550247 
mapping solver time 19.480547 ms 
mapping data assosiation time 33.208249 ms 
--------------------stamp1317358024.273367881
prepare time 12.556350 
sort q time 6.627518 
seperate points time 12.636674 
drop lidar frame in mapping for real time performance 
-----t: 0.0507907
OdomCount 2526 & avg odom time 0.046498 ms ++++++++++++++++++++++
--------------------stamp1317358024.377454042
points size 99325 
[0m[ INFO] [1718805311.273189732, 1317358024.418962472]: Received 335103 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805311.273223496, 1317358024.418962472]: Data saved to 1317358023129111.pcd[0m
publication time 9.911962 ms 
whole laserOdometry time 9.924861 ms 
 
-----t: 0.051507
OdomCount 2527 & avg odom time 0.046500 ms ++++++++++++++++++++++
mapping data assosiation time 28.841414 ms 
--------------------stamp1317358024.481565952
points size 98395 
filter time 18.437284 ms 
scan registration time 35.316031 ms *************
publication time 9.548665 ms 
whole laserOdometry time 9.562417 ms 
 
-----t: 0.0656953
OdomCount 2528 & avg odom time 0.046507 ms ++++++++++++++++++++++
build tree time 63.354131 ms 
points size 97811 
prepare time 12.370715 
scan registration time 31.535537 ms *************
publication time 9.463554 ms 
whole laserOdometry time 9.475288 ms 
 
-----t: 0.0595213
OdomCount 2529 & avg odom time 0.046512 ms ++++++++++++++++++++++
--------------------stamp1317358024.689810037
mapping solver time 26.377608 ms 
sort q time 5.722108 
seperate points time 13.534591 
filter time 31.524516 ms 
drop lidar frame in mapping for real time performance 
-----t: 0.0579118
OdomCount 2530 & avg odom time 0.046517 ms ++++++++++++++++++++++
1317358024.689810037 WriteOdom laser_odom_to_init
1317358024.689810037 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358024.793919086
points size 96186 
sort q time 5.996851 
seperate points time 13.731693 
publication time 12.940459 ms 
whole laserOdometry time 12.952921 ms 
 
-----t: 0.0549146
OdomCount 2531 & avg odom time 0.046520 ms ++++++++++++++++++++++
mapping solver time 28.188235 ms 
--------------------stamp1317358024.898006916
prepare time 12.578875 
sort q time 5.274786 
seperate points time 12.235478 
publication time 9.138744 ms 
whole laserOdometry time 9.156617 ms 
 
-----t: 0.0460705
OdomCount 2532 & avg odom time 0.046520 ms ++++++++++++++++++++++
mapping pub time 2.354158 ms 
whole mapping time 221.757942 ms +++++
mappingCount 1687 & avg mapping time 150.701009 ms ++++++++++++++++++++++
--------------------stamp1317358025.002070903
prepare time 11.159431 
sort q time 5.459452 
seperate points time 12.070151 
publication time 7.646232 ms 
whole laserOdometry time 7.662285 ms 
 
mapping data assosiation time 30.004434 ms 
mapping solver time 19.495684 ms 
--------------------stamp1317358025.106107950
points size 93658 
prepare time 16.403668 
sort q time 5.149593 
seperate points time 12.064076 
publication time 10.537635 ms 
whole laserOdometry time 10.553830 ms 
 
filter time 16.754678 ms 
-----t: 0.0602775
OdomCount 2534 & avg odom time 0.046524 ms ++++++++++++++++++++++
--------------------stamp1317358025.210123062
points size 93199 
build tree time 66.302960 ms 
scan registration time 37.685605 ms *************
mapping data assosiation time 29.607510 ms 
publication time 10.663309 ms 
whole laserOdometry time 10.674823 ms 
 
mapping solver time 18.513554 ms 
mapping data assosiation time 24.651123 ms 
points size 93036 
sort q time 5.371048 
seperate points time 11.736005 
scan registration time 28.871622 ms *************
publication time 9.751845 ms 
whole laserOdometry time 9.765460 ms 
 
map prepare time 4.537325 ms
map corner num 254508  surf num 85608 
--------------------stamp1317358025.417983055
points size 92657 
prepare time 12.660007 
sort q time 5.436553 
seperate points time 12.366234 
publication time 7.223815 ms 
whole laserOdometry time 7.236190 ms 
 
mapping solver time 28.458877 ms 
mapping data assosiation time 29.530803 ms 
--------------------stamp1317358025.521879911
add points time 1.549745 ms
sort q time 5.060751 
seperate points time 11.964268 
scan registration time 31.462640 ms *************
filter time 23.074138 ms 
publication time 9.947033 ms 
whole laserOdometry time 9.961421 ms 
 
1317358025.521879911 WriteOdom aft_mapped_to_init_high_frec
build tree time 56.726941 ms 
prepare time 11.104471 
mapping solver time 27.183120 ms 
mapping optimization time 168.325968 
add points time 1.461523 ms
points size 94208 
prepare time 11.607621 
sort q time 5.897206 
seperate points time 12.759117 
mapping pub time 7.400003 ms 
whole mapping time 209.989560 ms +++++
mappingCount 1691 & avg mapping time 150.813159 ms ++++++++++++++++++++++
-----t: 0.0597131
OdomCount 2540 & avg odom time 0.046541 ms ++++++++++++++++++++++
--------------------stamp1317358025.833444118
build tree time 69.046855 ms 
sort q time 5.796977 
seperate points time 13.315557 
scan registration time 35.698107 ms *************
publication time 10.044197 ms 
whole laserOdometry time 10.052250 ms 
 
mapping data assosiation time 23.525912 ms 
--------------------stamp1317358025.937315940
points size 96521 
filter time 22.669363 ms 
publication time 8.573165 ms 
whole laserOdometry time 8.587561 ms 
 
--------------------stamp1317358026.041208028
prepare time 12.745450 
sort q time 6.009776 
seperate points time 12.769942 
publication time 11.945346 ms 
whole laserOdometry time 11.959444 ms 
 
mapping solver time 27.313833 ms 
mapping data assosiation time 29.217410 ms 
1317358026.041208028 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358026.145103931
points size 98042 
filter time 24.058823 ms 
publication time 9.873373 ms 
whole laserOdometry time 9.890979 ms 
 
--------------------stamp1317358026.248975992
prepare time 14.748520 
sort q time 5.664782 
seperate points time 13.193603 
publication time 11.199233 ms 
whole laserOdometry time 11.643938 ms 
 
mapping solver time 25.875501 ms 
mapping data assosiation time 27.878569 ms 
-----t: 0.0698392
OdomCount 2545 & avg odom time 0.046567 ms ++++++++++++++++++++++
1317358026.248975992 WriteOdom laser_odom_to_init
1317358026.248975992 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358026.352847099
points size 100240 
filter time 24.264779 ms 
-----t: 0.0513458
OdomCount 2546 & avg odom time 0.046569 ms ++++++++++++++++++++++
build tree time 62.505207 ms 
points size 101565 
sort q time 14.079978 
seperate points time 21.937463 
mapping solver time 25.337393 ms 
-----t: 0.0442467
OdomCount 2547 & avg odom time 0.046568 ms ++++++++++++++++++++++
mapping data assosiation time 27.138548 ms 
mapping solver time 16.886178 ms 
points size 102355 
sort q time 5.988875 
seperate points time 13.850345 
publication time 11.198127 ms 
whole laserOdometry time 11.230057 ms 
 
-----t: 0.0513777
OdomCount 2548 & avg odom time 0.046570 ms ++++++++++++++++++++++
build tree time 66.868787 ms 
--------------------stamp1317358026.664483070
mapping data assosiation time 26.216970 ms 
prepare time 12.474082 
mapping solver time 23.796667 ms 
publication time 10.316341 ms 
whole laserOdometry time 10.329640 ms 
 
mapping data assosiation time 28.062913 ms 
-----t: 0.0564671
OdomCount 2549 & avg odom time 0.046574 ms ++++++++++++++++++++++
[0m[ INFO] [1718805313.613012745, 1317358026.750610576]: Received 341312 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805313.613041765, 1317358026.750610576]: Data saved to 1317358025314064.pcd[0m
mapping pub time 7.132510 ms 
whole mapping time 191.043537 ms +++++
mappingCount 1696 & avg mapping time 150.947678 ms ++++++++++++++++++++++
points size 103020 
prepare time 18.389873 
scan registration time 39.901051 ms *************
publication time 11.197069 ms 
whole laserOdometry time 11.211574 ms 
 
1317358026.768377065 WriteOdom laser_odom_to_init
1317358026.768377065 WriteOdom aft_mapped_to_init_high_frec
build tree time 82.945518 ms 
--------------------stamp1317358026.872247934
prepare time 12.160117 
scan registration time 33.415054 ms *************
publication time 10.475088 ms 
whole laserOdometry time 10.488728 ms 
 
mapping data assosiation time 28.200068 ms 
mapping solver time 16.888176 ms 
--------------------stamp1317358026.976119995
mapping pub time 2.300402 ms 
whole mapping time 215.771279 ms +++++
mappingCount 1697 & avg mapping time 150.985879 ms ++++++++++++++++++++++
sort q time 6.042650 
seperate points time 13.649907 
publication time 10.745915 ms 
whole laserOdometry time 10.762874 ms 
 
build tree time 75.192478 ms 
points size 102874 
mapping solver time 21.385904 ms 
-----t: 0.0403059
OdomCount 2553 & avg odom time 0.046570 ms ++++++++++++++++++++++
1317358027.079989910 WriteOdom laser_odom_to_init
1317358027.079989910 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 12.985147 ms 
filter time 19.765587 ms 
map prepare time 4.672132 ms
map corner num 299123  surf num 109591 
points size 102919 
prepare time 14.882290 
sort q time 5.977986 
seperate points time 13.821794 
publication time 9.206358 ms 
whole laserOdometry time 9.237838 ms 
 
build tree time 77.914741 ms 
--------------------stamp1317358027.287658929
mapping data assosiation time 25.458262 ms 
sort q time 6.044622 
seperate points time 14.629107 
-----t: 0.0491826
OdomCount 2555 & avg odom time 0.046571 ms ++++++++++++++++++++++
mapping solver time 16.845859 ms 
--------------------stamp1317358027.391482114
prepare time 14.088974 
sort q time 16.853348 
seperate points time 24.287103 
-----t: 0.0431522
OdomCount 2556 & avg odom time 0.046570 ms ++++++++++++++++++++++
build tree time 77.463913 ms 
--------------------stamp1317358027.495304107
prepare time 12.128039 
sort q time 6.492487 
seperate points time 13.957973 
publication time 9.469304 ms 
whole laserOdometry time 9.483327 ms 
 
mapping data assosiation time 26.467873 ms 
mapping solver time 17.161706 ms 
mapping optimization time 174.002842 
add points time 1.206061 ms
--------------------stamp1317358027.599126100
prepare time 12.240488 
sort q time 6.114941 
seperate points time 12.959716 
scan registration time 31.105976 ms *************
build tree time 74.107304 ms 
--------------------stamp1317358027.702949047
prepare time 13.551851 
mapping solver time 18.981622 ms 
publication time 11.610802 ms 
whole laserOdometry time 11.626724 ms 
 
mapping solver time 16.831255 ms 
filter time 20.679315 ms 
--------------------stamp1317358027.806771993
points size 102891 
sort q time 6.004605 
seperate points time 13.572192 
publication time 20.436634 ms 
whole laserOdometry time 20.447825 ms 
 
-----t: 0.0458344
OdomCount 2560 & avg odom time 0.046582 ms ++++++++++++++++++++++
mapping pub time 112.485759 ms 
whole mapping time 305.385333 ms +++++
mappingCount 1701 & avg mapping time 151.165390 ms ++++++++++++++++++++++
1317358027.391482115 WriteOdom aft_mapped_to_init
prepare time 16.724183 
sort q time 5.932842 
seperate points time 14.431556 
-----t: 0.0412984
OdomCount 2561 & avg odom time 0.046580 ms ++++++++++++++++++++++
build tree time 76.741262 ms 
--------------------stamp1317358028.014492988
points size 103209 
sort q time 5.761060 
seperate points time 13.813820 
publication time 10.683687 ms 
whole laserOdometry time 10.746568 ms 
 
mapping data assosiation time 29.447809 ms 
mapping solver time 17.849061 ms 
--------------------stamp1317358028.118386983
map prepare time 5.031792 ms
map corner num 301338  surf num 110272 
sort q time 5.939861 
seperate points time 13.943437 
publication time 9.270103 ms 
whole laserOdometry time 9.283155 ms 
 
-----t: 0.0645438
OdomCount 2563 & avg odom time 0.046590 ms ++++++++++++++++++++++
points size 103434 
prepare time 15.852568 
scan registration time 34.599308 ms *************
mapping solver time 31.681071 ms 
mapping data assosiation time 31.876390 ms 
--------------------stamp1317358028.326247930
points size 103499 
sort q time 5.825776 
seperate points time 12.511279 
filter time 26.169981 ms 
map prepare time 5.141018 ms
map corner num 301921  surf num 110446 
publication time 11.516268 ms 
whole laserOdometry time 11.525052 ms 
 
-----t: 0.0511263
OdomCount 2565 & avg odom time 0.046608 ms ++++++++++++++++++++++
--------------------stamp1317358028.430188894
points size 103086 
build tree time 76.502450 ms 
scan registration time 35.504263 ms *************
mapping data assosiation time 30.032518 ms 
publication time 18.212044 ms 
whole laserOdometry time 18.224601 ms 
 
mapping solver time 23.849727 ms 
--------------------stamp1317358028.534131050
points size 102973 
prepare time 13.846779 
publication time 9.036797 ms 
whole laserOdometry time 9.052236 ms 
 
map prepare time 4.921026 ms
map corner num 302433  surf num 110605 
--------------------stamp1317358028.638073921
points size 102802 
sort q time 6.163548 
seperate points time 14.437694 
publication time 10.351132 ms 
whole laserOdometry time 10.370042 ms 
 
mapping data assosiation time 28.952255 ms 
mapping solver time 18.987504 ms 
--------------------stamp1317358028.742016077
points size 102902 
sort q time 6.547808 
seperate points time 13.891281 
publication time 9.014745 ms 
whole laserOdometry time 9.029058 ms 
 
map prepare time 5.065260 ms
map corner num 302928  surf num 110757 
1317358028.742016077 WriteOdom laser_odom_to_init
--------------------stamp1317358028.845959901
points size 103238 
sort q time 6.526155 
seperate points time 15.323672 
build tree time 85.675888 ms 
-----t: 0.0496445
OdomCount 2570 & avg odom time 0.046618 ms ++++++++++++++++++++++
mapping data assosiation time 26.487242 ms 
mapping solver time 18.462705 ms 
points size 103472 
mapping data assosiation time 29.786599 ms 
mapping solver time 17.907791 ms 
filter time 26.309843 ms 
mapping pub time 7.635100 ms 
whole mapping time 219.627348 ms +++++
mappingCount 1706 & avg mapping time 151.367824 ms ++++++++++++++++++++++
1317358028.638073921 WriteOdom aft_mapped_to_init
-----t: 0.0593497
OdomCount 2571 & avg odom time 0.046623 ms ++++++++++++++++++++++
1317358028.949904918 WriteOdom laser_odom_to_init
--------------------stamp1317358029.053894996
points size 103590 
sort q time 5.868556 
seperate points time 13.300578 
publication time 14.355825 ms 
whole laserOdometry time 14.365671 ms 
 
mapping data assosiation time 25.891163 ms 
mapping solver time 19.770976 ms 
points size 103586 
prepare time 13.913693 
scan registration time 34.461577 ms *************
mapping solver time 21.336846 ms 
filter time 21.649506 ms 
--------------------stamp1317358029.261877059
prepare time 11.842694 
sort q time 5.717825 
seperate points time 13.151185 
publication time 9.627612 ms 
whole laserOdometry time 9.657808 ms 
 
mapping data assosiation time 27.115008 ms 
--------------------stamp1317358029.365866899
prepare time 14.421863 
sort q time 6.024667 
seperate points time 13.718834 
publication time 10.806031 ms 
whole laserOdometry time 10.818028 ms 
 
add points time 1.047686 ms
filter time 20.752570 ms 
-----t: 0.0742358
OdomCount 2575 & avg odom time 0.046635 ms ++++++++++++++++++++++
--------------------stamp1317358029.469856977
prepare time 14.761888 
sort q time 6.636240 
seperate points time 13.869439 
publication time 7.438967 ms 
whole laserOdometry time 7.469358 ms 
 
build tree time 82.718287 ms 
mapping data assosiation time 25.502497 ms 
--------------------stamp1317358029.573847055
prepare time 12.256439 
mapping solver time 26.410327 ms 
mapping data assosiation time 31.766866 ms 
-----t: 0.0457101
OdomCount 2577 & avg odom time 0.046634 ms ++++++++++++++++++++++
1317358029.573847055 WriteOdom laser_odom_to_init
1317358029.573847055 WriteOdom aft_mapped_to_init_high_frec
filter time 19.342886 ms 
mapping pub time 2.383113 ms 
whole mapping time 216.332635 ms +++++
mappingCount 1709 & avg mapping time 151.471248 ms ++++++++++++++++++++++
1317358029.261877060 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 104001 
sort q time 6.501322 
seperate points time 13.013120 
publication time 9.081525 ms 
whole laserOdometry time 9.108116 ms 
 
build tree time 84.164666 ms 
--------------------stamp1317358029.781783103
prepare time 13.578457 
sort q time 5.798154 
seperate points time 12.002158 
publication time 7.069889 ms 
whole laserOdometry time 7.084999 ms 
 
mapping data assosiation time 30.264984 ms 
mapping solver time 22.993599 ms 
--------------------stamp1317358029.885725021
points size 104039 
drop lidar frame in mapping for real time performance 
prepare time 16.103560 
map prepare time 5.271774 ms
map corner num 305287  surf num 111626 
sort q time 5.830300 
seperate points time 14.053617 
publication time 9.257050 ms 
whole laserOdometry time 9.269607 ms 
 
-----t: 0.0737088
OdomCount 2580 & avg odom time 0.046658 ms ++++++++++++++++++++++
build tree time 84.431859 ms 
points size 104204 
sort q time 7.138443 
seperate points time 13.350562 
publication time 9.795528 ms -----t: 0.053203
OdomCount 2581 & avg odom time 0.046661 ms ++++++++++++++++++++++
mapping data assosiation time 29.335740 ms 
--------------------stamp1317358030.093631982
points size 104231 
prepare time 14.643494 
scan registration time 34.236231 ms *************
publication time 13.864745 ms --------------------stamp1317358030.197576045
points size 104305 
build tree time 79.313191 ms 
publication time 9.233432 ms 
whole laserOdometry time 9.248817 ms 
 
mapping data assosiation time 31.567586 ms 
-----t: 0.0562733
OdomCount 2583 & avg odom time 0.046666 ms ++++++++++++++++++++++
--------------------stamp1317358030.301496028
prepare time 12.732958 
mapping solver time 24.186879 ms 
mapping optimization time 189.544848 
sort q time 6.153907 
seperate points time 14.291964 
filter time 25.538043 ms 
map prepare time 7.925678 ms
map corner num 306209  surf num 111992 
--------------------stamp1317358030.405438899
points size 104475 
sort q time 5.326869 
seperate points time 12.183876 
build tree time 89.643787 ms 
mapping data assosiation time 28.927919 ms 
--------------------stamp1317358030.509385108
points size 104452 
sort q time 5.824165 
seperate points time 12.589242 
publication time 10.165602 ms 
whole laserOdometry time 10.184372 ms 
 
filter time 20.655802 ms 
mapping pub time 2.282421 ms 
whole mapping time 232.724866 ms +++++
mappingCount 1713 & avg mapping time 151.651891 ms ++++++++++++++++++++++
1317358030.093631983 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358030.613327980
prepare time 13.966665 
sort q time 6.098060 
seperate points time 13.326439 
publication time 13.691837 ms 
whole laserOdometry time 13.705883 ms 
 
build tree time 86.876422 ms 
[0m[ INFO] [1718805317.565078335, 1317358030.710654196]: Received 417522 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805317.565111554, 1317358030.710654196]: Data saved to 1317358029677814.pcd[0m
points size 104328 
mapping solver time 24.257019 ms 
sort q time 5.877487 
seperate points time 13.654930 
scan registration time 35.215493 ms *************
publication time 10.947029 ms 
whole laserOdometry time 10.960939 ms 
 
-----t: 0.0571373
OdomCount 2588 & avg odom time 0.046675 ms ++++++++++++++++++++++
mapping solver time 24.493613 ms 
--------------------stamp1317358030.821208000
points size 104410 
sort q time 6.217764 
seperate points time 14.280300 
publication time 11.616919 ms 
whole laserOdometry time 11.630225 ms 
 
-----t: 0.0664869
OdomCount 2589 & avg odom time 0.046683 ms ++++++++++++++++++++++
1317358030.821208000 WriteOdom laser_odom_to_init
1317358030.821208000 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358030.925158023
prepare time 13.461809 
mapping data assosiation time 30.458100 ms 
-----t: 0.0461211
mapping data assosiation time 27.517059 ms 
--------------------stamp1317358031.029126882
mapping optimization time 203.770090 
sort q time 6.177062 
seperate points time 12.402731 
filter time 28.049696 ms 
map prepare time 5.226351 ms
map corner num 307818  surf num 112571 
publication time 11.446548 ms 
whole laserOdometry time 11.475677 ms 
 
-----t: 0.0528918
OdomCount 2591 & avg odom time 0.046685 ms ++++++++++++++++++++++
--------------------stamp1317358031.133112907
prepare time 13.757825 
build tree time 80.448317 ms 
publication time 9.241249 ms 
whole laserOdometry time 9.254434 ms 
 
mapping data assosiation time 33.507158 ms 
mapping solver time 26.630976 ms 
--------------------stamp1317358031.237086057
mapping data assosiation time 29.837921 ms 
mapping solver time 24.248006 ms 
mapping optimization time 196.156079 
add points time 1.440395 ms
sort q time 5.861332 
seperate points time 21.849988 
scan registration time 45.797195 ms *************
-----t: 0.0435532
OdomCount 2593 & avg odom time 0.046686 ms ++++++++++++++++++++++
publication time 9.077283 ms 
whole laserOdometry time 9.094837 ms 
 
map prepare time 4.471101 ms
map corner num 308379  surf num 112786 
--------------------stamp1317358031.341027021
prepare time 13.930766 
sort q time 5.770407 
seperate points time 12.612119 
publication time 9.677415 ms 
whole laserOdometry time 9.687357 ms 
 
build tree time 88.965874 ms 
mapping data assosiation time 26.337323 ms 
points size 103948 
mapping solver time 34.902145 ms 
publication time 9.528037 ms 
whole laserOdometry time 9.564637 ms 
 
-----t: 0.0591877
OdomCount 2595 & avg odom time 0.046690 ms ++++++++++++++++++++++
mapping solver time 20.327044 ms 
--------------------stamp1317358031.548857927
mapping pub time 2.381584 ms 
whole mapping time 239.869988 ms +++++
mappingCount 1717 & avg mapping time 151.852523 ms ++++++++++++++++++++++
sort q time 5.773244 
seperate points time 13.263559 
scan registration time 37.934463 ms *************
-----t: 0.0439023
OdomCount 2596 & avg odom time 0.046689 ms ++++++++++++++++++++++
build tree time 79.381931 ms 
points size 103960 
prepare time 14.842796 
sort q time 6.127483 
seperate points time 14.018442 
publication time 9.056257 ms 
whole laserOdometry time 9.070293 ms 
 
mapping data assosiation time 26.762587 ms 
--------------------stamp1317358031.756692886
mapping solver time 27.478389 ms 
sort q time 6.172336 
seperate points time 13.859374 
filter time 27.819460 ms 
-----t: 0.0562591
OdomCount 2598 & avg odom time 0.046691 ms ++++++++++++++++++++++
--------------------stamp1317358031.860615015
prepare time 13.988648 
sort q time 7.438263 
seperate points time 13.584137 
publication time 8.334701 ms 
whole laserOdometry time 8.413335 ms 
 
-----t: 0.0600914
OdomCount 2599 & avg odom time 0.046696 ms ++++++++++++++++++++++
1317358031.860615015 WriteOdom laser_odom_to_init
1317358031.860615015 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.838694 ms 
--------------------stamp1317358031.964534997
prepare time 13.506940 
sort q time 6.076133 
seperate points time 13.354797 
mapping optimization time 204.565858 
filter time 23.028101 ms 
map prepare time 4.294909 ms
map corner num 310109  surf num 113617 
--------------------stamp1317358032.068451881
prepare time 19.933527 
sort q time 5.834576 
seperate points time 14.377002 
publication time 9.471776 ms 
whole laserOdometry time 9.485488 ms 
 
build tree time 87.096105 ms 
-----t: 0.0536427
OdomCount 2601 & avg odom time 0.046698 ms ++++++++++++++++++++++
1317358032.068451881 WriteOdom laser_odom_to_init
1317358032.068451881 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718805319.009558503, 1317358032.152014587]: Received 421165 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805319.009596216, 1317358032.152014587]: Data saved to 1317358030821208.pcd[0m
--------------------stamp1317358032.172394037
points size 104039 
sort q time 6.018026 
seperate points time 14.771071 
publication time 10.232563 ms 
whole laserOdometry time 10.245600 ms 
 
mapping data assosiation time 35.340983 ms 
mapping solver time 23.949604 ms 
--------------------stamp1317358032.276360988
points size 103974 
drop lidar frame in mapping for real time performance 
scan registration time 32.334698 ms *************
publication time 9.786458 ms 
whole laserOdometry time 9.802874 ms 
 
-----t: 0.0543856
OdomCount 2603 & avg odom time 0.046705 ms ++++++++++++++++++++++
--------------------stamp1317358032.380326986
points size 104002 
sort q time 5.852168 
seperate points time 13.276437 
publication time 20.966944 ms 
whole laserOdometry time 20.980565 ms 
 
prepare time 16.818998 
1317358032.484268903 WriteOdom laser_odom_to_init
1317358032.484268903 WriteOdom aft_mapped_to_init_high_frec
filter time 29.349745 ms 
--------------------stamp1317358032.588212966
points size 104036 
sort q time 5.862017 
seperate points time 13.239199 
publication time 11.002822 ms 
whole laserOdometry time 11.018207 ms 
 
mapping pub time 108.907519 ms 
whole mapping time 369.132784 ms +++++
mappingCount 1721 & avg mapping time 152.135013 ms ++++++++++++++++++++++
1317358032.068451881 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 4.387639 ms
map corner num 311280  surf num 114103 
--------------------stamp1317358032.692181110
points size 103968 
sort q time 6.457806 
seperate points time 13.946445 
publication time 11.662547 ms 
whole laserOdometry time 11.680409 ms 
 
mapping data assosiation time 28.183988 ms 
--------------------stamp1317358032.796147108
prepare time 14.159436 
sort q time 6.268897 
seperate points time 14.096911 
publication time 9.720812 ms -----t: 0.057238
OdomCount 2608 & avg odom time 0.046723 ms ++++++++++++++++++++++
filter time 20.214761 ms 
map prepare time 6.364496 ms
map corner num 311895  surf num 114345 
sort q time 5.452152 
seperate points time 12.193792 
publication time 9.528647 ms 
whole laserOdometry time 9.543302 ms 
 
-----t: 0.0649617
OdomCount 2609 & avg odom time 0.046730 ms ++++++++++++++++++++++
--------------------stamp1317358033.004080057
points size 103622 
prepare time 16.051339 
scan registration time 35.332594 ms *************
publication time 10.954812 ms 
whole laserOdometry time 10.972379 ms 
 
-----t: 0.0594731
OdomCount 2610 & avg odom time 0.046735 ms ++++++++++++++++++++++
mapping data assosiation time 30.208401 ms 
points size 103459 
mapping solver time 28.434754 ms 
scan registration time 34.578658 ms *************
filter time 28.356661 ms 
map prepare time 5.497925 ms
map corner num 312591  surf num 114601 
--------------------stamp1317358033.212017059
points size 103236 
sort q time 5.863482 
seperate points time 13.632276 
build tree time 83.698080 ms 
publication time 13.533771 ms 
whole laserOdometry time 13.563475 ms 
 
mapping data assosiation time 33.583763 ms 
mapping solver time 26.625929 ms 
points size 103069 
prepare time 14.537919 
mapping data assosiation time 37.197623 ms 
publication time 9.078686 ms 
whole laserOdometry time 9.093791 ms 
 
filter time 21.512802 ms 
--------------------stamp1317358033.419972896
prepare time 15.042016 
publication time 9.316468 ms 
whole laserOdometry time 9.345929 ms 
 
-----t: 0.053655
OdomCount 2614 & avg odom time 0.046741 ms ++++++++++++++++++++++
build tree time 85.751371 ms 
mapping data assosiation time 30.645974 ms 
sort q time 5.846187 
seperate points time 13.627713 
scan registration time 36.676554 ms *************
mapping solver time 47.345533 ms 
-----t: 0.056642
OdomCount 2615 & avg odom time 0.046745 ms ++++++++++++++++++++++
1317358033.523962020 WriteOdom laser_odom_to_init
1317358033.523962020 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 32.509353 ms 
--------------------stamp1317358033.627926111
add points time 1.322369 ms
sort q time 5.924785 
seperate points time 13.589150 
mapping pub time 2.661694 ms 
whole mapping time 256.527314 ms +++++
mappingCount 1725 & avg mapping time 152.357637 ms ++++++++++++++++++++++
1317358033.108046055 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0533732
OdomCount 2616 & avg odom time 0.046747 ms ++++++++++++++++++++++
--------------------stamp1317358033.731918096
points size 98976 
build tree time 80.626498 ms 
sort q time 5.757201 
seperate points time 13.363208 
publication time 12.082827 ms 
whole laserOdometry time 12.095388 ms 
 
mapping solver time 31.174813 ms 
--------------------stamp1317358033.835933923
prepare time 13.568588 
mapping data assosiation time 35.448488 ms 
publication time 9.448028 ms 
whole laserOdometry time 9.464484 ms 
 
filter time 26.982502 ms 
--------------------stamp1317358033.939949035
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
sort q time 4.732412 
seperate points time 11.122220 
publication time 7.232769 ms 
whole laserOdometry time 7.245356 ms 
 
-----t: 0.0544676
OdomCount 2619 & avg odom time 0.046774 ms ++++++++++++++++++++++
build tree time 83.439348 ms 
points size 90936 
mapping data assosiation time 33.346303 ms 
publication time 7.804816 ms 
whole laserOdometry time 7.826059 ms 
 
mapping solver time 34.688589 ms 
mapping data assosiation time 27.929275 ms 
--------------------stamp1317358034.148072004
prepare time 11.772169 
add points time 1.410625 ms
sort q time 6.048836 
seperate points time 11.496301 
scan registration time 27.440192 ms *************
filter time 27.970424 ms 
-----t: 0.0460739
OdomCount 2621 & avg odom time 0.046773 ms ++++++++++++++++++++++
--------------------stamp1317358034.252182960
points size 86669 
sort q time 4.822580 
seperate points time 11.368249 
publication time 12.459903 ms 
whole laserOdometry time 12.471173 ms 
 
-----t: 0.0456331
OdomCount 2622 & avg odom time 0.046773 ms ++++++++++++++++++++++
1317358034.252182960 WriteOdom laser_odom_to_init
1317358034.252182960 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358034.356295108prepare time 11.608765 
sort q time 4.718738 
seperate points time 11.024274 
publication time 7.183882 ms 
whole laserOdometry time 7.193555 ms 
 
-----t: 0.0406301
OdomCount 2623 & avg odom time 0.046770 ms ++++++++++++++++++++++
mapping solver time 29.741936 ms 
--------------------stamp1317358034.460406064
sort q time 4.587816 
seperate points time 10.686214 
publication time 7.410125 ms 
whole laserOdometry time 7.426220 ms 
 
-----t: 0.0388156
OdomCount 2624 & avg odom time 0.046767 ms ++++++++++++++++++++++
1317358034.460406064 WriteOdom laser_odom_to_init
1317358034.460406064 WriteOdom aft_mapped_to_init_high_frec
build tree time 79.290679 ms 
--------------------stamp1317358034.564515113
sort q time 5.058188 
seperate points time 10.899677 
mapping solver time 29.755777 ms 
mapping data assosiation time 29.824573 ms 
--------------------stamp1317358034.668648958
points size 80145 
sort q time 4.373047 
seperate points time 10.557755 
map prepare time 5.781901 ms
map corner num 316649  surf num 115872 
-----t: 0.0481836
OdomCount 2626 & avg odom time 0.046767 ms ++++++++++++++++++++++
--------------------stamp1317358034.772785902
prepare time 11.352276 
sort q time 4.392178 
seperate points time 9.211370 
publication time 8.129919 ms 
whole laserOdometry time 8.146702 ms 
 
-----t: 0.0485219
OdomCount 2627 & avg odom time 0.046768 ms ++++++++++++++++++++++
mapping solver time 28.796580 ms 
--------------------stamp1317358034.876897096
prepare time 11.882385 
scan registration time 28.941969 ms *************
publication time 6.233247 ms 
whole laserOdometry time 6.245252 ms 
 
filter time 27.199297 ms 
--------------------stamp1317358034.980982065
points size 85223 
sort q time 4.577224 
seperate points time 9.576906 
publication time 8.710462 ms 
whole laserOdometry time 8.723220 ms 
 
[0m[ INFO] [1718805321.895052919, 1317358035.031732443]: Received 429774 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805321.895095067, 1317358035.031732443]: Data saved to 1317358033419972.pcd[0m
mapping data assosiation time 30.009269 ms 
--------------------stamp1317358035.084997892
prepare time 12.926540 
sort q time 4.943402 
seperate points time 11.600264 
mapping data assosiation time 31.488229 ms 
publication time 11.550875 ms 
whole laserOdometry time 11.569908 ms 
 
filter time 20.524486 ms 
map prepare time 4.324503 ms
map corner num 318071  surf num 116151 
build tree time 92.234700 ms 
--------------------stamp1317358035.292834997
prepare time 12.356654 
sort q time 5.860727 
seperate points time 12.189005 
publication time 8.859240 ms 
whole laserOdometry time 8.875181 ms 
 
mapping data assosiation time 32.352044 ms 
mapping solver time 23.790868 ms 
--------------------stamp1317358035.396657943
mapping pub time 1.984384 ms 
whole mapping time 235.946288 ms +++++
mappingCount 1732 & avg mapping time 152.734279 ms ++++++++++++++++++++++
sort q time 5.255955 
seperate points time 12.503588 
publication time 11.466108 ms 
whole laserOdometry time 11.483674 ms 
 
-----t: 0.0812545
OdomCount 2633 & avg odom time 0.046782 ms ++++++++++++++++++++++
build tree time 96.673908 ms 
sort q time 6.238986 
seperate points time 14.325167 
mapping data assosiation time 31.183532 ms 
mapping solver time 28.063012 ms 
--------------------stamp1317358035.604134082
prepare time 14.540519 
sort q time 5.718110 
seperate points time 13.636155 
publication time 7.702653 ms 
whole laserOdometry time 7.721608 ms 
 
map prepare time 5.720078 ms
map corner num 319506  surf num 116427 
--------------------stamp1317358035.707860946
points size 95693 
scan registration time 30.015582 ms *************
publication time 12.774183 ms 
whole laserOdometry time 12.789644 ms 
 
-----t: 0.0455613
OdomCount 2636 & avg odom time 0.046783 ms ++++++++++++++++++++++
mapping data assosiation time 27.355647 ms 
mapping solver time 23.122330 ms 
points size 95703 
prepare time 17.546881 
mapping data assosiation time 30.973803 ms 
mapping solver time 24.199733 ms 
filter time 22.195790 ms 
map prepare time 4.105317 ms
map corner num 320161  surf num 116564 
--------------------stamp1317358035.915245056
points size 95866 
prepare time 13.200270 
scan registration time 31.373243 ms *************
publication time 7.848611 ms 
whole laserOdometry time 7.862144 ms 
 
-----t: 0.0509429
OdomCount 2638 & avg odom time 0.046783 ms ++++++++++++++++++++++
--------------------stamp1317358036.018945932
points size 95782 
sort q time 5.645438 
seperate points time 13.314842 
mapping data assosiation time 30.021838 ms 
-----t: 0.0730018
OdomCount 2639 & avg odom time 0.046793 ms ++++++++++++++++++++++
--------------------stamp1317358036.122672080
points size 95785 
prepare time 16.607510 
filter time 28.966477 ms 
sort q time 6.001941 
seperate points time 34.524970 
publication time 12.852485 ms 
whole laserOdometry time 12.865582 ms 
 
--------------------stamp1317358036.226422071
prepare time 14.423759 
sort q time 6.392281 
seperate points time 13.824754 
mapping data assosiation time 29.333626 ms 
-----t: 0.0515981
OdomCount 2641 & avg odom time 0.046801 ms ++++++++++++++++++++++
mapping data assosiation time 21.576729 ms 
points size 96611 
mapping solver time 25.158399 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
-----t: 0.0632159
OdomCount 2642 & avg odom time 0.046807 ms ++++++++++++++++++++++
--------------------stamp1317358036.433991909
prepare time 13.320509 
sort q time 5.375389 
seperate points time 12.165204 
publication time 9.634690 ms 
whole laserOdometry time 9.654086 ms 
 
-----t: 0.0427874
OdomCount 2643 & avg odom time 0.046806 ms ++++++++++++++++++++++
1317358036.433991909 WriteOdom laser_odom_to_init
1317358036.433991909 WriteOdom aft_mapped_to_init_high_frec
build tree time 97.170555 ms 
mapping data assosiation time 23.890269 ms 
--------------------stamp1317358036.537817001
prepare time 12.123603 
sort q time 6.231892 
seperate points time 12.642622 
mapping data assosiation time 27.165173 ms 
publication time 8.910774 ms 
whole laserOdometry time 8.924881 ms 
 
add points time 0.998682 ms
filter time 23.337130 ms 
map prepare time 4.441910 ms
map corner num 347430  surf num 130332 
points size 99616 
sort q time 6.278531 
seperate points time 12.855010 
publication time 10.097887 ms 
whole laserOdometry time 10.108128 ms 
 
build tree time 101.396587 ms 
points size 100862 
sort q time 15.110748 
seperate points time 22.691929 
publication time 14.012268 ms 
whole laserOdometry time 14.028319 ms 
 
-----t: 0.0563604
OdomCount 2646 & avg odom time 0.046808 ms ++++++++++++++++++++++
mapping solver time 19.029739 ms 
points size 99960 
prepare time 11.783468 
map prepare time 5.242407 ms
map corner num 348202  surf num 130488 
scan registration time 43.246703 ms *************
-----t: 0.043679
OdomCount 2647 & avg odom time 0.046807 ms ++++++++++++++++++++++
--------------------stamp1317358036.953136920
points size 99624 
sort q time 6.699491 
seperate points time 14.656378 
mapping data assosiation time 27.200558 ms 
publication time 9.275662 ms 
whole laserOdometry time 9.286274 ms 
 
-----t: 0.0485814
OdomCount 2648 & avg odom time 0.046807 ms ++++++++++++++++++++++
1317358036.953136920 WriteOdom laser_odom_to_init
1317358036.953136920 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.762162 ms 
points size 100347 
sort q time 6.321713 
seperate points time 12.710375 
scan registration time 31.171140 ms *************
map prepare time 4.814380 ms
map corner num 348911  surf num 130661 
-----t: 0.0608935
OdomCount 2649 & avg odom time 0.046813 ms ++++++++++++++++++++++
--------------------stamp1317358037.160847902
points size 101824 
sort q time 5.593869 
seperate points time 13.458329 
publication time 10.662788 ms 
whole laserOdometry time 10.676354 ms 
 
-----t: 0.0464747
OdomCount 2650 & avg odom time 0.046813 ms ++++++++++++++++++++++
mapping solver time 21.748264 ms 
--------------------stamp1317358037.264693021
points size 103085 
prepare time 14.574820 
mapping solver time 22.434405 ms 
sort q time 6.012417 
seperate points time 25.604377 
-----t: 0.0439825
OdomCount 2651 & avg odom time 0.046812 ms ++++++++++++++++++++++
map prepare time 4.373668 ms
map corner num 349764  surf num 130904 
--------------------stamp1317358037.368570089
points size 103224 
sort q time 6.113799 
seperate points time 14.651303 
publication time 9.855198 ms 
whole laserOdometry time 9.894762 ms 
 
-----t: 0.048864
OdomCount 2652 & avg odom time 0.046812 ms ++++++++++++++++++++++
mapping data assosiation time 24.113851 ms 
--------------------stamp1317358037.472466945
points size 103086 
sort q time 6.856717 
seperate points time 13.521676 
publication time 9.528299 ms 
whole laserOdometry time 9.540848 ms 
 
-----t: 0.0451159
OdomCount 2653 & avg odom time 0.046812 ms ++++++++++++++++++++++
filter time 22.667325 ms 
--------------------stamp1317358037.576384067
points size 103052 
sort q time 5.859601 
seperate points time 13.784295 
publication time 9.149473 ms -----t: 0.0531755
OdomCount 2654 & avg odom time 0.046814 ms ++++++++++++++++++++++
mapping pub time 117.850342 ms 
whole mapping time 340.546968 ms +++++
mappingCount 1741 & avg mapping time 153.232112 ms ++++++++++++++++++++++
map prepare time 7.060351 ms
map corner num 350638  surf num 131224 
prepare time 12.556527 
sort q time 5.740901 
seperate points time 14.065014 
publication time 9.843639 ms 
whole laserOdometry time 9.857363 ms 
 
-----t: 0.0599479
OdomCount 2655 & avg odom time 0.046819 ms ++++++++++++++++++++++
1317358037.680326938 WriteOdom laser_odom_to_init
1317358037.680326938 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358037.784270048
prepare time 13.370611 
sort q time 6.021999 
seperate points time 13.769723 
publication time 11.489685 ms 
whole laserOdometry time 11.517942 ms 
 
mapping solver time 29.024978 ms 
mapping data assosiation time 29.832918 ms 
points size 102467 
sort q time 5.851622 
seperate points time 14.153398 
filter time 31.693693 ms 
publication time 11.862981 ms 
whole laserOdometry time 11.874870 ms 
 
-----t: 0.0678425
OdomCount 2657 & avg odom time 0.046825 ms ++++++++++++++++++++++
--------------------stamp1317358037.992084026
points size 102153 
sort q time 5.813886 
seperate points time 14.097584 
build tree time 96.065570 ms 
-----t: 0.051902
OdomCount 2658 & avg odom time 0.046827 ms ++++++++++++++++++++++
mapping data assosiation time 29.250183 ms 
--------------------stamp1317358038.095978975
[0m[ INFO] [1718805324.960337907, 1317358038.103704549]: Received 481862 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805324.960370515, 1317358038.103704549]: Data saved to 1317358037057007.pcd[0m
mapping data assosiation time 31.005728 ms 
mapping solver time 21.831106 ms 
-----t: 0.0561264
OdomCount 2659 & avg odom time 0.046830 ms ++++++++++++++++++++++
filter time 28.624115 ms 
map prepare time 4.897021 ms
map corner num 352637  surf num 132138 
points size 102045 
-----t: 0.0418058
OdomCount 2660 & avg odom time 0.046828 ms ++++++++++++++++++++++
build tree time 100.597448 ms 
points size 102042 
sort q time 6.434000 
seperate points time 17.778529 
mapping solver time 28.625755 ms 
-----t: 0.0516478
OdomCount 2661 & avg odom time 0.046830 ms ++++++++++++++++++++++
mapping data assosiation time 28.628735 ms 
mapping solver time 20.140682 ms 
points size 101955 
filter time 27.514028 ms 
sort q time 5.831187 
seperate points time 13.169009 
drop lidar frame in mapping for real time performance 
scan registration time 32.834449 ms *************
publication time 8.721170 ms 
whole laserOdometry time 8.731866 ms 
 
-----t: 0.0481724
OdomCount 2662 & avg odom time 0.046831 ms ++++++++++++++++++++++
--------------------stamp1317358038.511770009
points size 101850 
build tree time 98.208193 ms 
publication time 9.639113 ms 
whole laserOdometry time 9.653242 ms 
 
mapping solver time 28.975870 ms 
--------------------stamp1317358038.615739107
points size 101449 
sort q time 9.782683 
seperate points time 17.181512 
publication time 9.240212 ms 
whole laserOdometry time 9.252679 ms 
 
filter time 31.460304 ms 
mapping pub time 2.299405 ms 
whole mapping time 260.041999 ms +++++
mappingCount 1745 & avg mapping time 153.459506 ms ++++++++++++++++++++++
1317358038.199898005 WriteOdom aft_mapped_to_init
1317358038.615739107 WriteOdom aft_mapped_to_init_high_frec
points size 101211 
sort q time 6.584120 
seperate points time 13.224711 
publication time 11.296539 ms 
whole laserOdometry time 11.308754 ms 
 
-----t: 0.0529822
OdomCount 2665 & avg odom time 0.046855 ms ++++++++++++++++++++++
points size 100239 
mapping data assosiation time 31.011770 ms 
publication time 12.092896 ms 
whole laserOdometry time 12.105689 ms 
 
mapping solver time 25.830689 ms 
filter time 21.692070 ms 
points size 98600 
map prepare time 5.189883 ms
map corner num 302991  surf num 125495 
sort q time 17.241852 
seperate points time 25.038908 
publication time 10.645206 ms 
whole laserOdometry time 10.657890 ms 
 
-----t: 0.0639049
OdomCount 2667 & avg odom time 0.046867 ms ++++++++++++++++++++++
1317358038.927593946 WriteOdom laser_odom_to_init
1317358038.927593946 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358039.031534910
sort q time 5.600456 
seperate points time 11.602803 
mapping data assosiation time 29.892996 ms 
mapping solver time 24.921236 ms 
mapping data assosiation time 24.158006 ms 
--------------------stamp1317358039.135454893
points size 98264 
sort q time 4.924403 
seperate points time 10.683351 
map prepare time 5.845517 ms-----t: 0.050528
OdomCount 2669 & avg odom time 0.046869 ms ++++++++++++++++++++++
1317358039.135454893 WriteOdom laser_odom_to_init
1317358039.135454893 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358039.239372968
build tree time 84.379159 ms 
scan registration time 35.518453 ms *************
mapping data assosiation time 30.311808 ms 
publication time 16.182350 ms 
whole laserOdometry time 16.195696 ms 
 
-----t: 0.0537632
OdomCount 2670 & avg odom time 0.046871 ms ++++++++++++++++++++++
--------------------stamp1317358039.343291044
prepare time 12.377896 
mapping solver time 31.261274 ms 
publication time 8.494472 ms 
whole laserOdometry time 8.506302 ms 
 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358039.447211027
prepare time 13.780893 
sort q time 5.782352 
seperate points time 13.173200 
build tree time 77.074219 ms 
mapping data assosiation time 30.283290 ms 
mapping solver time 23.700839 ms 
--------------------stamp1317358039.551130056
points size 99609 
mapping data assosiation time 31.386431 ms 
sort q time 5.766384 
seperate points time 13.358717 
scan registration time 38.502863 ms *************
publication time 8.912481 ms 
whole laserOdometry time 8.927481 ms 1317358039.551130056 WriteOdom laser_odom_to_init
1317358039.551130056 WriteOdom aft_mapped_to_init_high_frec
map prepare time 4.226528 ms
map corner num 305467  surf num 126848 
--------------------stamp1317358039.655049085
prepare time 12.654968 
sort q time 6.081832 
seperate points time 13.928746 
publication time 7.221718 ms 
whole laserOdometry time 7.236408 ms 
 
[0m[ INFO] [1718805326.581278718, 1317358039.717814621]: Received 428486 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805326.581370502, 1317358039.717814621]: Data saved to 1317358038407803.pcd[0m
-----t: 0.0724139
OdomCount 2674 & avg odom time 0.046887 ms ++++++++++++++++++++++
--------------------stamp1317358039.758991956
mapping solver time 28.276483 ms 
sort q time 5.905528 
seperate points time 12.914202 
mapping data assosiation time 32.442701 ms 
mapping solver time 24.447233 ms 
filter time 19.453037 ms 
--------------------stamp1317358039.862956047
points size 98778 
sort q time 5.802936 
seperate points time 14.382824 
publication time 11.098284 ms 
whole laserOdometry time 11.120131 ms 
 
-----t: 0.0380509
OdomCount 2676 & avg odom time 0.046887 ms ++++++++++++++++++++++
build tree time 82.576446 ms 
--------------------stamp1317358039.966923952
prepare time 11.153344 
sort q time 6.222030 
seperate points time 12.188970 
scan registration time 28.570554 ms *************
mapping solver time 26.052988 ms 
publication time 10.740267 ms 
whole laserOdometry time 10.762796 ms 
 
-----t: 0.0620721
OdomCount 2677 & avg odom time 0.046893 ms ++++++++++++++++++++++
add points time 1.166036 ms
--------------------stamp1317358040.070867061
points size 94804 
mapping pub time 8.943290 ms 
whole mapping time 230.794917 ms +++++
mappingCount 1751 & avg mapping time 153.717628 ms ++++++++++++++++++++++
1317358039.655049086 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
publication time 8.312269 ms 
whole laserOdometry time 8.325258 ms 
 
-----t: 0.0444412
OdomCount 2678 & avg odom time 0.046892 ms ++++++++++++++++++++++
1317358040.070867061 WriteOdom laser_odom_to_init
1317358040.070867061 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358040.174808025
prepare time 14.662690 
sort q time 5.559090 
seperate points time 12.032084 
publication time 7.836152 ms 
whole laserOdometry time 7.849738 ms 
 
mapping solver time 29.692376 ms 
mapping data assosiation time 29.947940 ms 
--------------------stamp1317358040.278752088
prepare time 12.958851 
sort q time 5.224166 
seperate points time 12.277243 
publication time 9.936662 ms 
whole laserOdometry time 9.950148 ms 
 
--------------------stamp1317358040.382671117
points size 90063 
build tree time 85.911864 ms 
publication time 7.561690 ms 
whole laserOdometry time 7.577600 ms 
 
-----t: 0.0566588
OdomCount 2681 & avg odom time 0.046895 ms ++++++++++++++++++++++
mapping solver time 26.908232 ms 
--------------------stamp1317358040.486613035
prepare time 12.263052 
publication time 9.339426 ms 
whole laserOdometry time 9.351304 ms 
 
mapping solver time 38.572243 ms 
filter time 20.940054 ms 
--------------------stamp1317358040.590579032
sort q time 5.237774 
seperate points time 10.371156 
-----t: 0.0542655
OdomCount 2683 & avg odom time 0.046905 ms ++++++++++++++++++++++
--------------------stamp1317358040.694545984
points size 89363 
sort q time 4.879163 
seperate points time 11.960553 
publication time 8.912298 ms 
whole laserOdometry time 8.919934 ms 
 
mapping data assosiation time 34.483682 ms 
mapping solver time 27.275533 ms 
points size 89556 
drop lidar frame in mapping for real time performance 
publication time 9.704239 ms 
whole laserOdometry time 9.863332 ms 
 
-----t: 0.0406084
OdomCount 2685 & avg odom time 0.046906 ms ++++++++++++++++++++++
1317358040.798511981 WriteOdom laser_odom_to_init
1317358040.798511981 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358040.902503013
prepare time 13.473800 
mapping data assosiation time 35.857941 ms 
mapping solver time 30.851315 ms -----t: 0.0577542
OdomCount 2686 & avg odom time 0.046910 ms ++++++++++++++++++++++
points size 90034 
mapping data assosiation time 41.106932 ms 
prepare time 12.417011 
mapping solver time 32.125460 ms 
publication time 12.421248 ms 
whole laserOdometry time 12.436733 ms 
 
filter time 24.622970 ms 
--------------------stamp1317358041.110483884
prepare time 12.337196 
sort q time 6.096269 
seperate points time 12.769531 
[0m[ INFO] [1718805328.005462264, 1317358041.146940324]: Received 434951 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805328.005515554, 1317358041.146940324]: Data saved to 1317358039655049.pcd[0m
build tree time 82.235754 ms 
mapping data assosiation time 31.082505 ms 
--------------------stamp1317358041.214476108
points size 91639 
sort q time 4.075020 
seperate points time 9.510057 
publication time 8.746544 ms 
whole laserOdometry time 8.759330 ms 
 
-----t: 0.0520713
OdomCount 2689 & avg odom time 0.046910 ms ++++++++++++++++++++++
filter time 21.807348 ms 
1317358040.798511982 WriteOdom aft_mapped_to_init
sort q time 27.713139 
seperate points time 34.677306 
build tree time 82.098594 ms 
points size 93842 
sort q time 5.179917 
seperate points time 12.561002 
publication time 9.301197 ms 
whole laserOdometry time 9.315455 ms 
 
mapping solver time 31.373669 ms 
mapping data assosiation time 31.976474 ms 
points size 95364 
sort q time 5.589539 
seperate points time 13.701432 
filter time 29.398943 ms 
1317358041.526426076 WriteOdom laser_odom_to_init
--------------------stamp1317358041.630367994
points size 96940 
build tree time 75.896307 ms 
publication time 9.170228 ms 
whole laserOdometry time 9.184120 ms 
 
mapping data assosiation time 37.337563 ms 
mapping solver time 29.564244 ms 
points size 98592 
sort q time 6.549734 
seperate points time 13.839184 
publication time 9.289795 ms 
whole laserOdometry time 9.304599 ms 
 
add points time 1.372025 ms
filter time 20.445965 ms 
map prepare time 4.392650 ms
map corner num 312723  surf num 131729 
--------------------stamp1317358041.838253021
prepare time 11.859902 
sort q time 6.170708 
seperate points time 14.153665 
scan registration time 30.303217 ms *************
publication time 15.778285 ms 
whole laserOdometry time 15.790613 ms 
 
build tree time 89.599699 ms 
--------------------stamp1317358041.942174911
mapping data assosiation time 36.737010 ms 
sort q time 5.985178 
seperate points time 14.818413 
mapping solver time 29.479829 ms 
mapping data assosiation time 34.491483 ms 
--------------------stamp1317358042.046070098
points size 101306 
sort q time 7.253870 
seperate points time 14.897775 
map prepare time 5.605131 ms
map corner num 313597  surf num 132248 
-----t: 0.0424197
OdomCount 2697 & avg odom time 0.046896 ms ++++++++++++++++++++++
--------------------stamp1317358042.149920940
points size 101814 
sort q time 6.182848 
seperate points time 14.280118 
publication time 9.162369 ms 
whole laserOdometry time 9.176069 ms 
 
-----t: 0.0537889
OdomCount 2698 & avg odom time 0.046898 ms ++++++++++++++++++++++
mapping solver time 30.753115 ms 
--------------------stamp1317358042.253742933
prepare time 15.382233 
mapping data assosiation time 41.157118 ms 
publication time 10.292103 ms 
whole laserOdometry time 10.308904 ms 
 
add points time 1.772805 ms
-----t: 0.0577481
OdomCount 2699 & avg odom time 0.046902 ms ++++++++++++++++++++++
filter time 21.565849 ms 
map prepare time 4.700246 ms
map corner num 314568  surf num 132931 
--------------------stamp1317358042.357558965
prepare time 13.344510 
scan registration time 30.980366 ms *************
publication time 8.516276 ms 
whole laserOdometry time 8.528315 ms 
 
-----t: 0.0458837
OdomCount 2700 & avg odom time 0.046902 ms ++++++++++++++++++++++
build tree time 88.022921 ms 
--------------------stamp1317358042.461358070
points size 102187 
sort q time 5.628671 
seperate points time 13.712968 
mapping solver time 38.595944 ms 
-----t: 0.0523586
OdomCount 2701 & avg odom time 0.046904 ms ++++++++++++++++++++++
[0m[ INFO] [1718805329.405654437, 1317358042.544078940]: Received 441555 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805329.405692378, 1317358042.544078940]: Data saved to 1317358040798511.pcd[0m
--------------------stamp1317358042.565135002
mapping solver time 27.584467 ms 
scan registration time 32.735350 ms *************
-----t: 0.0530311
OdomCount 2702 & avg odom time 0.046906 ms ++++++++++++++++++++++
--------------------stamp1317358042.668932914
sort q time 5.924469 
seperate points time 14.009126 
publication time 9.569141 ms 
whole laserOdometry time 9.583616 ms 
 
-----t: 0.0491981
OdomCount 2703 & avg odom time 0.046907 ms ++++++++++++++++++++++
1317358042.668932914 WriteOdom laser_odom_to_init
1317358042.668932914 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358042.772751092
points size 102063 
sort q time 9.362704 
seperate points time 17.555965 
scan registration time 37.357564 ms *************
publication time 9.820033 ms 
whole laserOdometry time 9.937571 ms 
 
-----t: 0.0573764
OdomCount 2704 & avg odom time 0.046911 ms ++++++++++++++++++++++
mapping data assosiation time 41.328911 ms 
--------------------stamp1317358042.876550912
mapping solver time 34.000113 ms 
sort q time 7.116170 
seperate points time 17.799169 
mapping data assosiation time 44.187549 ms 
-----t: 0.0592921
OdomCount 2705 & avg odom time 0.046916 ms ++++++++++++++++++++++
mapping solver time 33.845429 ms 
points size 102120 
drop lidar frame in mapping for real time performance 
map prepare time 4.787288 ms
map corner num 316347  surf num 134134 
scan registration time 36.849729 ms *************
-----t: 0.084874
OdomCount 2706 & avg odom time 0.046930 ms ++++++++++++++++++++++
build tree time 106.048196 ms 
publication time 13.122716 ms 
whole laserOdometry time 13.133940 ms 
 
mapping data assosiation time 50.229838 ms 
-----t: 0.0556402
OdomCount 2707 & avg odom time 0.046933 ms ++++++++++++++++++++++
1317358043.084103107 WriteOdom laser_odom_to_init
1317358043.084103107 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358043.187850952
prepare time 13.273250 
sort q time 6.021002 
seperate points time 14.293133 
publication time 10.656736 ms 
whole laserOdometry time 10.667440 ms 
 
-----t: 0.0543931
OdomCount 2708 & avg odom time 0.046936 ms ++++++++++++++++++++++
mapping solver time 35.229076 ms 
points size 102254 
mapping pub time 2.307694 ms 
whole mapping time 311.622310 ms +++++
mappingCount 1763 & avg mapping time 154.484120 ms ++++++++++++++++++++++
publication time 11.358630 ms 
whole laserOdometry time 11.389001 ms 
 
--------------------stamp1317358043.395304918
prepare time 12.943815 
scan registration time 31.370658 ms *************
publication time 11.113964 ms 
whole laserOdometry time 11.128752 ms 
 
-----t: 0.0522725
OdomCount 2710 & avg odom time 0.046937 ms ++++++++++++++++++++++
mapping solver time 34.442796 ms 
--------------------stamp1317358043.499054908
points size 102466 
sort q time 6.818069 
seperate points time 16.581116 
publication time 10.011250 ms 
whole laserOdometry time 10.025218 ms 
 
mapping solver time 39.888737 ms 
1317358043.499054908 WriteOdom laser_odom_to_init
1317358043.499054908 WriteOdom aft_mapped_to_init_high_frec
filter time 24.330990 ms 
map prepare time 6.510413 ms
map corner num 318214  surf num 135289 
points size 102504 
prepare time 15.263986 
scan registration time 34.999458 ms *************
publication time 10.300453 ms 
whole laserOdometry time 10.312670 ms 
 
-----t: 0.0606263
OdomCount 2712 & avg odom time 0.046949 ms ++++++++++++++++++++++
build tree time 88.229056 ms 
points size 102310 
sort q time 6.781198 
seperate points time 16.633891 
scan registration time 37.253417 ms *************
publication time 10.611947 ms 
whole laserOdometry time 10.627407 ms 
 
-----t: 0.0696172
OdomCount 2713 & avg odom time 0.046958 ms ++++++++++++++++++++++
1317358043.706510066 WriteOdom laser_odom_to_init
1317358043.706510066 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 43.402935 ms 
--------------------stamp1317358043.810214042
points size 102482 
sort q time 5.788614 
seperate points time 14.228147 
mapping data assosiation time 43.292692 ms 
publication time 10.849913 ms 
whole laserOdometry time 10.865021 ms mapping solver time 32.953050 ms 
-----t: 0.0647256
OdomCount 2714 & avg odom time 0.046964 ms ++++++++++++++++++++++
filter time 25.769467 ms 
points size 102620 
sort q time 6.061481 
seperate points time 14.275415 
publication time 8.571385 ms 
whole laserOdometry time 8.587688 ms 
 
-----t: 0.0425156
OdomCount 2715 & avg odom time 0.046963 ms ++++++++++++++++++++++
build tree time 87.900927 ms 
[0m[ INFO] [1718805330.866413787, 1317358044.007332546]: Received 448941 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805330.866463912, 1317358044.007332546]: Data saved to 1317358042046070.pcd[0m
points size 102612 
mapping data assosiation time 46.679206 ms 
sort q time 5.972178 
seperate points time 14.137969 
publication time 11.858163 ms 
whole laserOdometry time 11.871553 ms 
 
mapping solver time 41.939599 ms 
--------------------stamp1317358044.121395111
prepare time 14.205553 
sort q time 5.672527 
seperate points time 11.798321 
mapping solver time 35.892284 ms 
mapping optimization time 258.840375 
add points time 1.588638 ms
publication time 11.510650 ms 
whole laserOdometry time 11.526615 ms 
 
filter time 30.521175 ms 
1317358043.602804899 WriteOdom aft_mapped_to_init
1317358044.121395111 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358044.225120067
prepare time 14.148306 
sort q time 5.955103 
seperate points time 15.937342 
publication time 11.848211 ms 
whole laserOdometry time 11.862060 ms 
 
build tree time 91.697717 ms 
--------------------stamp1317358044.328846931
points size 102611 
mapping data assosiation time 47.353235 ms 
publication time 12.084309 ms 
whole laserOdometry time 12.101914 ms 
 
mapping solver time 44.785036 ms 
--------------------stamp1317358044.432573080
points size 102606 
sort q time 5.938981 
seperate points time 14.668595 
mapping solver time 36.502128 ms 
filter time 23.601088 ms 
--------------------stamp1317358044.536324977
prepare time 12.994362 
sort q time 6.171030 
seperate points time 13.862840 
publication time 10.476283 ms 
whole laserOdometry time 10.490176 ms 
 
build tree time 84.034160 ms 
-----t: 0.0571764
OdomCount 2721 & avg odom time 0.046989 ms ++++++++++++++++++++++
1317358044.536324977 WriteOdom laser_odom_to_init
1317358044.536324977 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358044.640125036
mapping data assosiation time 47.269717 ms 
sort q time 6.565591 
seperate points time 14.269023 
publication time 9.173393 ms 
whole laserOdometry time 9.185348 ms 
 
1317358044.640125036 WriteOdom laser_odom_to_init
1317358044.640125036 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358044.743949890
points size 102567 
sort q time 5.889932 
seperate points time 14.664995 
add points time 1.518551 ms
publication time 15.245333 ms 
whole laserOdometry time 15.268320 ms 
 
-----t: 0.0522008
OdomCount 2723 & avg odom time 0.046998 ms ++++++++++++++++++++++
filter time 32.470769 ms 
map prepare time 5.220093 ms
map corner num 322020  surf num 137509 
--------------------stamp1317358044.847820043
points size 102729 
prepare time 18.954317 
publication time 9.815881 ms 
whole laserOdometry time 9.834891 ms 
 
build tree time 90.717365 ms 
--------------------stamp1317358044.951785087
points size 102853 
sort q time 6.681942 
seperate points time 14.681557 
publication time 10.713961 ms 
whole laserOdometry time 10.736925 ms 
 
mapping solver time 47.924609 ms 
-----t: 0.0446642
OdomCount 2725 & avg odom time 0.047003 ms ++++++++++++++++++++++
1317358044.951785087 WriteOdom laser_odom_to_init
1317358044.951785087 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 41.369614 ms 
points size 102899 
sort q time 5.739275 
seperate points time 14.274109 
publication time 11.838374 ms 
whole laserOdometry time 11.854783 ms 
 
filter time 31.054417 ms 
map prepare time 5.828865 ms
map corner num 322979  surf num 138071 
--------------------stamp1317358045.159862995
prepare time 17.523360 
sort q time 7.630610 
seperate points time 17.927142 
publication time 12.833612 ms 
whole laserOdometry time 12.862130 ms 
 
build tree time 100.912194 ms 
-----t: 0.0612515
OdomCount 2727 & avg odom time 0.047014 ms ++++++++++++++++++++++
--------------------stamp1317358045.263976097
prepare time 14.331667 
sort q time 6.133122 
seperate points time 15.563141 
publication time 11.847407 ms 
whole laserOdometry time 11.872950 ms 
 
-----t: 0.0703217
OdomCount 2728 & avg odom time 0.047023 ms ++++++++++++++++++++++
--------------------stamp1317358045.368108987
points size 103194 
sort q time 5.883227 
seperate points time 13.879090 
publication time 9.899002 ms 
whole laserOdometry time 9.914006 ms 
 
-----t: 0.0454706
OdomCount 2729 & avg odom time 0.047022 ms ++++++++++++++++++++++
filter time 21.426402 ms 
map prepare time 5.067757 ms
map corner num 323982  surf num 138564 
points size 102989 
publication time 10.574464 ms 
whole laserOdometry time 10.589675 ms 
 
-----t: 0.0483719
OdomCount 2730 & avg odom time 0.047023 ms ++++++++++++++++++++++
build tree time 96.992571 ms 
--------------------stamp1317358045.576256990
sort q time 6.140271 
seperate points time 14.141479 
publication time 10.633247 ms 
whole laserOdometry time 10.648542 ms 
 
-----t: 0.0485795
OdomCount 2731 & avg odom time 0.047023 ms ++++++++++++++++++++++
mapping solver time 43.164029 ms 
--------------------stamp1317358045.680273056
points size 102397 
scan registration time 39.209890 ms *************
publication time 10.102985 ms 
whole laserOdometry time 10.115851 ms 
 
1317358045.680273056 WriteOdom laser_odom_to_init
1317358045.680273056 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 12.540845 ms 
whole mapping time 330.134234 ms +++++
mappingCount 1771 & avg mapping time 155.171931 ms ++++++++++++++++++++++
sort q time 6.047260 
seperate points time 14.415667 
publication time 18.994557 ms 
whole laserOdometry time 19.021997 ms 
 
--------------------stamp1317358045.888205051
prepare time 13.694602 
sort q time 6.133784 
seperate points time 13.360256 
publication time 9.271295 ms 
whole laserOdometry time 9.286104 ms 
 
-----t: 0.0556902
OdomCount 2734 & avg odom time 0.047043 ms ++++++++++++++++++++++
mapping solver time 37.540994 ms 
--------------------stamp1317358045.992147922
points size 99450 
mapping data assosiation time 48.729187 ms 
sort q time 7.095043 
seperate points time 16.809459 
publication time 10.844686 ms 
whole laserOdometry time 10.870875 ms 
 
mapping solver time 44.137164 ms 
--------------------stamp1317358046.096115112
points size 98809 
sort q time 5.693139 
seperate points time 14.180946 
publication time 11.403213 ms 
whole laserOdometry time 11.418259 ms 
 
build tree time 87.092601 ms 
prepare time 11.370129 
sort q time 6.065227 
seperate points time 13.080319 
mapping data assosiation time 48.098177 ms 
-----t: 0.0561735
OdomCount 2737 & avg odom time 0.047049 ms ++++++++++++++++++++++
mapping solver time 41.266773 ms 
--------------------stamp1317358046.304047107
points size 95549 
prepare time 16.990411 
sort q time 28.698118 
seperate points time 37.404912 
-----t: 0.0663982
OdomCount 2738 & avg odom time 0.047056 ms ++++++++++++++++++++++
1317358046.304047107 WriteOdom laser_odom_to_init
1317358046.304047107 WriteOdom aft_mapped_to_init_high_frec
publication time 10.175379 ms 
whole laserOdometry time 10.191042 ms 
 
mapping solver time 49.460147 ms 
mapping optimization time 278.637907 
add points time 1.614653 ms
points size 94355 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
scan registration time 38.740554 ms *************
publication time 12.658428 ms 
whole laserOdometry time 12.672992 ms 
 
--------------------stamp1317358046.512053012
prepare time 13.972777 
sort q time 8.314935 
seperate points time 20.782714 
publication time 9.728146 ms 
whole laserOdometry time 9.739426 ms 
 
1317358046.512053012 WriteOdom laser_odom_to_init
1317358046.512053012 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 45.462763 ms 
mapping solver time 33.671254 ms 
points size 93112 
sort q time 5.094171 
seperate points time 12.339856 
mapping data assosiation time 46.396691 ms 
-----t: 0.0495683
OdomCount 2741 & avg odom time 0.047060 ms ++++++++++++++++++++++
mapping optimization time 254.778978 
filter time 22.542496 ms 
map prepare time 6.741010 ms
map corner num 328368  surf num 140756 
sort q time 5.867040 
seperate points time 11.703981 
scan registration time 27.527884 ms *************
publication time 12.356938 ms 
whole laserOdometry time 12.369837 ms 
 
-----t: 0.0625043
OdomCount 2742 & avg odom time 0.047066 ms ++++++++++++++++++++++
build tree time 88.942709 ms 
--------------------stamp1317358046.824362039
prepare time 14.280766 
sort q time 5.946644 
seperate points time 14.511224 
publication time 8.758898 ms 
whole laserOdometry time 8.773302 ms 
 
-----t: 0.0590435
OdomCount 2743 & avg odom time 0.047070 ms ++++++++++++++++++++++
--------------------stamp1317358046.928544044
points size 89879 
sort q time 5.069423 
seperate points time 12.082464 
scan registration time 31.692373 ms *************
mapping solver time 32.664396 ms 
filter time 26.506242 ms 
map prepare time 5.047304 ms
map corner num 329494  surf num 141221 
--------------------stamp1317358047.032752037
points size 89397 
sort q time 12.590056 
seperate points time 21.232286 
-----t: 0.0444913
OdomCount 2745 & avg odom time 0.047070 ms ++++++++++++++++++++++
build tree time 90.839094 ms 
--------------------stamp1317358047.136910915
prepare time 14.093051 
sort q time 5.307049 
seperate points time 12.211598 
scan registration time 31.457775 ms *************
publication time 9.270534 ms 
whole laserOdometry time 9.282521 ms 
 
mapping solver time 41.599751 ms 
1317358047.136910915 WriteOdom laser_odom_to_init
points size 90481 
prepare time 14.914325 
scan registration time 32.787185 ms *************
mapping solver time 60.077726 ms 
filter time 29.161793 ms 
--------------------stamp1317358047.345156908points size 90598 
sort q time 5.288796 
seperate points time 12.673882 -----t: 0.0378891
OdomCount 2748 & avg odom time 0.047073 ms ++++++++++++++++++++++
build tree time 89.443734 ms 
points size 92157 
sort q time 6.036339 
seperate points time 14.581995 
publication time 8.374283 ms 
whole laserOdometry time 8.388851 ms 
 
mapping solver time 38.171778 ms 
--------------------stamp1317358047.553353071
points size 91833 
sort q time 4.999452 
seperate points time 12.558418 
scan registration time 34.148847 ms *************
mapping solver time 41.193171 ms 
filter time 22.432486 ms 
map prepare time 4.740360 ms
map corner num 331667  surf num 142073 
--------------------stamp1317358047.657464027
sort q time 5.463800 
seperate points time 11.851491 
publication time 10.214261 ms -----t: 0.0523539
OdomCount 2751 & avg odom time 0.047075 ms ++++++++++++++++++++++
build tree time 88.101226 ms 
--------------------stamp1317358047.761574983
prepare time 12.919629 
sort q time 4.704093 
seperate points time 11.109244 
publication time 10.259314 ms 
whole laserOdometry time 10.708380 ms 
 
-----t: 0.054676
OdomCount 2752 & avg odom time 0.047077 ms ++++++++++++++++++++++
1317358047.761574983 WriteOdom aft_mapped_to_init_high_frec
1317358047.761574983 WriteOdom laser_odom_to_init
mapping data assosiation time 37.915276 ms 
prepare time 12.923912 
sort q time 5.327004 
seperate points time 12.575185 
add points time 1.940590 ms
publication time 12.073335 ms 
whole laserOdometry time 12.084324 ms 
 
-----t: 0.0524946
OdomCount 2753 & avg odom time 0.047079 ms ++++++++++++++++++++++
1317358047.865663051 WriteOdom laser_odom_to_init
1317358047.865663051 WriteOdom aft_mapped_to_init_high_frec
filter time 31.030379 ms 
mapping pub time 1.936912 ms 
whole mapping time 294.323747 ms +++++
mappingCount 1778 & avg mapping time 155.754492 ms ++++++++++++++++++++++
1317358047.345156908 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358047.969748973
prepare time 12.614948 
sort q time 5.899804 
seperate points time 12.433237 
-----t: 0.0402414
OdomCount 2754 & avg odom time 0.047077 ms ++++++++++++++++++++++
--------------------stamp1317358048.073832988
mapping data assosiation time 36.266382 ms 
prepare time 11.934531 
sort q time 5.649748 
seperate points time 14.083935 
publication time 11.664816 ms 
whole laserOdometry time 11.684588 ms 
 
-----t: 0.0490738
OdomCount 2755 & avg odom time 0.047078 ms ++++++++++++++++++++++
mapping data assosiation time 43.898939 ms 
--------------------stamp1317358048.177896022
prepare time 12.217294 
mapping solver time 36.940997 ms 
publication time 9.792264 ms 
whole laserOdometry time 9.807564 ms 
 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358048.281938076
prepare time 13.376505 
sort q time 5.432554 
seperate points time 12.509339 
build tree time 93.089013 ms 
mapping data assosiation time 36.582553 ms 
--------------------stamp1317358048.385952949
prepare time 12.741173 
scan registration time 30.347792 ms *************
-----t: 0.0400806
OdomCount 2758 & avg odom time 0.047074 ms ++++++++++++++++++++++
mapping data assosiation time 42.351089 ms 
mapping solver time 30.569600 ms 
points size 97963 
sort q time 5.599936 
seperate points time 12.986529 
map prepare time 5.492342 ms
map corner num 335032  surf num 143193 
publication time 16.486681 ms 
whole laserOdometry time 16.503771 ms 
 
--------------------stamp1317358048.593981027
prepare time 13.135623 
build tree time 87.119014 ms 
sort q time 5.955104 
seperate points time 13.344382 
scan registration time 32.800979 ms *************
publication time 8.338488 ms 
whole laserOdometry time 8.354722 ms 
 
mapping data assosiation time 44.576757 ms 
mapping solver time 29.702201 ms 
points size 99857 
prepare time 13.349142 
scan registration time 32.680259 ms *************
publication time 13.686648 ms 
whole laserOdometry time 13.697701 ms 
 
mapping solver time 27.800184 ms 
filter time 25.305488 ms 
--------------------stamp1317358048.802010059
prepare time 15.890121 
sort q time 6.645540 
seperate points time 12.841269 
publication time 10.027697 ms 
whole laserOdometry time 10.048316 ms 
 
-----t: 0.0579387
OdomCount 2762 & avg odom time 0.047086 ms ++++++++++++++++++++++
mapping pub time 103.918823 ms 
whole mapping time 373.465665 ms +++++
mappingCount 1781 & avg mapping time 156.026584 ms ++++++++++++++++++++++
points size 99270 
sort q time 5.693034 
seperate points time 14.465891 
publication time 10.281643 ms 
whole laserOdometry time 10.294887 ms 
 
build tree time 95.145583 ms 
points size 99474 
sort q time 6.165672 
seperate points time 12.476937 
scan registration time 31.246468 ms *************
mapping data assosiation time 43.715662 ms 
publication time 7.953394 ms 
whole laserOdometry time 7.966506 ms 
 
1317358049.010087013 WriteOdom laser_odom_to_init
1317358049.010087013 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.221498 ms 
--------------------stamp1317358049.114125967
mapping data assosiation time 40.377423 ms 
sort q time 5.789226 
seperate points time 14.494307 
scan registration time 32.023148 ms *************
publication time 9.926414 ms 
whole laserOdometry time 9.943984 ms 
 
-----t: 0.0507852
OdomCount 2765 & avg odom time 0.047085 ms ++++++++++++++++++++++
filter time 31.172471 ms 
map prepare time 5.771652 ms
map corner num 337085  surf num 143931 
points size 99738 
sort q time 5.810855 
seperate points time 13.934629 
publication time 11.126010 ms 
whole laserOdometry time 11.143005 ms 
 
1317358049.218163967 WriteOdom aft_mapped_to_init_high_frec
build tree time 94.326355 ms 
--------------------stamp1317358049.322155952
scan registration time 37.002679 ms *************
publication time 9.847369 ms 
whole laserOdometry time 9.861181 ms 
 
mapping solver time 46.155933 ms 
-----t: 0.0797336
OdomCount 2767 & avg odom time 0.047096 ms ++++++++++++++++++++++
points size 99850 
sort q time 5.565432 
seperate points time 13.880169 
publication time 9.949250 ms 
whole laserOdometry time 9.961734 ms 
 
mapping solver time 43.413778 ms 
filter time 21.819277 ms 
map prepare time 4.684011 ms
map corner num 338313  surf num 144454 
points size 100102 
sort q time 6.521950 
seperate points time 14.259121 
publication time 11.392584 ms 
whole laserOdometry time 11.408183 ms 
 
-----t: 0.056282
OdomCount 2769 & avg odom time 0.047097 ms ++++++++++++++++++++++
build tree time 93.270909 ms 
--------------------stamp1317358049.634057044
mapping data assosiation time 41.762902 ms 
publication time 9.900622 ms 
whole laserOdometry time 9.914645 ms 
 
mapping solver time 44.237208 ms 
-----t: 0.0690039
OdomCount 2770 & avg odom time 0.047105 ms ++++++++++++++++++++++
--------------------stamp1317358049.738023042
mapping data assosiation time 43.280397 ms 
points size 101879 
prepare time 10.584049 
sort q time 6.507182 
seperate points time 14.894526 
scan registration time 30.304964 ms *************
publication time 9.975820 ms 
whole laserOdometry time 9.989823 ms 
 
add points time 1.929430 ms
-----t: 0.0587864
OdomCount 2771 & avg odom time 0.047109 ms ++++++++++++++++++++++
1317358049.738023042 WriteOdom laser_odom_to_init
1317358049.738023042 WriteOdom aft_mapped_to_init_high_frec
filter time 27.210075 ms 
map prepare time 5.241544 ms
map corner num 339485  surf num 144907 
points size 101956 
sort q time 5.956471 
seperate points time 14.840637 
publication time 9.997026 ms 
whole laserOdometry time 10.009188 ms 
 
-----t: 0.0620395
OdomCount 2772 & avg odom time 0.047114 ms ++++++++++++++++++++++
build tree time 99.186857 ms 
points size 100409 
mapping data assosiation time 46.002736 ms 
-----t: 0.0424308
OdomCount 2773 & avg odom time 0.047113 ms ++++++++++++++++++++++
publication time 9.349943 ms 
whole laserOdometry time 9.362683 ms 
 
mapping solver time 40.494247 ms 
--------------------stamp1317358050.049802064
points size 100514 
sort q time 5.749917 
seperate points time 14.290911 
-----t: 0.0404361
OdomCount 2774 & avg odom time 0.047110 ms ++++++++++++++++++++++
filter time 23.365881 ms 
points size 100556 
scan registration time 34.449826 ms *************
publication time 8.885450 ms 
whole laserOdometry time 8.899356 ms 
 
-----t: 0.0483149
OdomCount 2775 & avg odom time 0.047111 ms ++++++++++++++++++++++
build tree time 97.479004 ms 
--------------------stamp1317358050.257711887
points size 100701 
mapping data assosiation time 44.527555 ms 
-----t: 0.0483373
OdomCount 2776 & avg odom time 0.047111 ms ++++++++++++++++++++++
1317358050.257711887 WriteOdom laser_odom_to_init
1317358050.257711887 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358050.361702919
prepare time 13.098040 
sort q time 5.671553 
seperate points time 18.658138 
mapping solver time 36.711311 ms 
-----t: 0.0519674
OdomCount 2777 & avg odom time 0.047113 ms ++++++++++++++++++++++
mapping pub time 8.605392 ms 
whole mapping time 306.294616 ms +++++
mappingCount 1786 & avg mapping time 156.450116 ms ++++++++++++++++++++++
--------------------stamp1317358050.465694904
points size 101605 
sort q time 5.721654 
seperate points time 13.831270 
publication time 10.491062 ms 
whole laserOdometry time 10.508573 ms 
 
-----t: 0.0486265
OdomCount 2778 & avg odom time 0.047113 ms ++++++++++++++++++++++
1317358050.465694904 WriteOdom laser_odom_to_init
1317358050.465694904 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358050.569684982
mapping data assosiation time 40.073278 ms 
sort q time 6.336969 
seperate points time 14.854675 
scan registration time 30.466553 ms *************
-----t: 0.0402874
OdomCount 2779 & avg odom time 0.047111 ms ++++++++++++++++++++++
mapping data assosiation time 38.132084 ms 
points size 103783 
mapping solver time 32.486896 ms 
publication time 11.232357 ms 
whole laserOdometry time 11.249037 ms 
 
map prepare time 4.279487 ms
map corner num 287836  surf num 138675 
--------------------stamp1317358050.777714014
prepare time 13.202633 
sort q time 6.847786 
seperate points time 14.921189 
build tree time 86.018627 ms 
-----t: 0.0591881
OdomCount 2781 & avg odom time 0.047114 ms ++++++++++++++++++++++
1317358050.777714014 WriteOdom laser_odom_to_init
1317358050.777714014 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358050.881728887
prepare time 18.435075 
sort q time 5.733962 
seperate points time 12.870029 
publication time 10.185462 ms 
whole laserOdometry time 10.200071 ms 
 
-----t: 0.0565417
OdomCount 2782 & avg odom time 0.047118 ms ++++++++++++++++++++++
--------------------stamp1317358050.985765933
points size 103133 
sort q time 5.224370 
seperate points time 13.034285 
filter time 27.982676 ms 
map prepare time 6.273559 ms
map corner num 289037  surf num 139232 
-----t: 0.0536918
OdomCount 2783 & avg odom time 0.047120 ms ++++++++++++++++++++++
--------------------stamp1317358051.089806079
prepare time 13.720051 
build tree time 82.794402 ms 
publication time 10.569171 ms 
whole laserOdometry time 10.582544 ms 
 
mapping data assosiation time 41.242948 ms 
--------------------stamp1317358051.193845987
prepare time 18.894188 
sort q time 5.786420 
seperate points time 19.719392 
publication time 12.246686 ms 
whole laserOdometry time 12.263396 ms 
 
mapping solver time 38.275321 ms 
points size 101913 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
scan registration time 35.813786 ms *************
publication time 11.107764 ms 
whole laserOdometry time 11.134892 ms 
 
-----t: 0.0485242
OdomCount 2786 & avg odom time 0.047123 ms ++++++++++++++++++++++
1317358051.297908067 WriteOdom laser_odom_to_init
1317358051.297908067 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358051.401993989
prepare time 12.183352 
sort q time 6.095972 
seperate points time 13.267559 
publication time 8.912575 ms 
whole laserOdometry time 8.924427 ms 
 
-----t: 0.0704619
OdomCount 2787 & avg odom time 0.047131 ms ++++++++++++++++++++++
points size 101850 
sort q time 6.022628 
seperate points time 13.701274 
mapping data assosiation time 46.462674 ms 
publication time 15.332280 ms 
whole laserOdometry time 15.346607 ms 
 
mapping solver time 39.422066 ms 
mapping optimization time 269.568870 
add points time 1.496390 ms
filter time 21.959208 ms 
map prepare time 6.328839 ms
map corner num 291698  surf num 140544 
scan registration time 34.025581 ms *************
publication time 10.224598 ms 
whole laserOdometry time 10.237524 ms 
 
-----t: 0.065547
OdomCount 2789 & avg odom time 0.047139 ms ++++++++++++++++++++++
1317358051.610215902 WriteOdom laser_odom_to_init
1317358051.610215902 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358051.714303016
points size 101433 
prepare time 14.244491 
scan registration time 32.812330 ms *************
publication time 8.628935 ms 
whole laserOdometry time 8.639898 ms 
 
-----t: 0.0654369
OdomCount 2790 & avg odom time 0.047145 ms ++++++++++++++++++++++
mapping solver time 38.674283 ms 
points size 101588 
scan registration time 35.934012 ms *************
publication time 9.864320 ms 
whole laserOdometry time 9.879385 ms 
 
-----t: 0.0556639
OdomCount 2791 & avg odom time 0.047148 ms ++++++++++++++++++++++
mapping solver time 45.607123 ms 
--------------------stamp1317358051.922415971
prepare time 15.250362 
map prepare time 4.887396 ms
map corner num 293120  surf num 141313 
publication time 9.920666 ms 
whole laserOdometry time 9.933561 ms 
 
-----t: 0.0596843
OdomCount 2792 & avg odom time 0.047153 ms ++++++++++++++++++++++
--------------------stamp1317358052.026407957
prepare time 14.259274 
sort q time 5.816577 
seperate points time 14.356165 
scan registration time 33.368444 ms *************
mapping data assosiation time 47.352082 ms 
mapping solver time 36.522820 ms 
mapping solver time 50.039151 ms 
--------------------stamp1317358052.234282016
points size 99303 
prepare time 14.021294 
filter time 29.463067 ms 
sort q time 5.804706 
seperate points time 14.432047 
publication time 10.495527 ms 
whole laserOdometry time 10.513533 ms 
 
--------------------stamp1317358052.338151931
prepare time 11.315107 
sort q time 5.364003 
seperate points time 24.726333 
-----t: 0.0451691
OdomCount 2796 & avg odom time 0.047150 ms ++++++++++++++++++++++
mapping solver time 37.976553 ms 
--------------------stamp1317358052.441998004
prepare time 14.151509 
sort q time 5.404959 
seperate points time 13.331825 
publication time 14.601926 ms 
whole laserOdometry time 14.616442 ms 
 
mapping solver time 43.056095 ms 
filter time 20.714608 ms 
prepare time 11.537624 
sort q time 5.619786 
seperate points time 13.678940 
publication time 12.064655 ms 
whole laserOdometry time 12.078690 ms 
 
-----t: 0.056875
OdomCount 2798 & avg odom time 0.047154 ms ++++++++++++++++++++++
build tree time 92.067051 ms 
prepare time 11.630558 
sort q time 6.178794 
seperate points time 13.410436 
mapping data assosiation time 43.822093 ms 
-----t: 0.041131
OdomCount 2799 & avg odom time 0.047152 ms ++++++++++++++++++++++
mapping solver time 39.374564 ms 
--------------------stamp1317358052.753418922
prepare time 12.565535 
scan registration time 30.675783 ms *************
publication time 9.553242 ms 
whole laserOdometry time 9.581765 ms 
 
mapping solver time 47.810521 ms 
filter time 19.605236 ms 
mapping pub time 2.156273 ms 
whole mapping time 295.540077 ms +++++
mappingCount 1794 & avg mapping time 157.075527 ms ++++++++++++++++++++++
1317358052.234282017 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
points size 92605 
sort q time 5.596599 
seperate points time 15.059584 
publication time 11.663650 ms 
whole laserOdometry time 11.684164 ms 
 
-----t: 0.0622974
OdomCount 2801 & avg odom time 0.047156 ms ++++++++++++++++++++++
build tree time 97.216307 ms 
--------------------stamp1317358052.960993051
sort q time 5.379873 
seperate points time 11.525392 
publication time 11.340559 ms 
whole laserOdometry time 11.353841 ms 
 
-----t: 0.058462
OdomCount 2802 & avg odom time 0.047160 ms ++++++++++++++++++++++
--------------------stamp1317358053.064769983
prepare time 13.612165 
mapping data assosiation time 38.943054 ms 
mapping solver time 47.063968 ms 
filter time 21.473274 ms 
map prepare time 5.560822 ms
map corner num 289737  surf num 137043 
prepare time 13.270602 
sort q time 6.012712 
seperate points time 14.613795 
publication time 13.489349 ms 
whole laserOdometry time 13.516630 ms 
 
-----t: 0.0530112
OdomCount 2804 & avg odom time 0.047164 ms ++++++++++++++++++++++
build tree time 88.916070 ms 
--------------------stamp1317358053.272291898
points size 94526 
mapping data assosiation time 43.411875 ms 
scan registration time 37.239532 ms *************
publication time 12.767132 ms 
whole laserOdometry time 12.784763 ms 
 
mapping solver time 48.251654 ms 
--------------------stamp1317358053.376066923
prepare time 14.364072 
scan registration time 33.102820 ms *************
mapping optimization time 257.907201 
-----t: 0.0507635
OdomCount 2806 & avg odom time 0.047166 ms ++++++++++++++++++++++
filter time 26.026917 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358053.479866027
points size 96279 
sort q time 6.004779 
seperate points time 14.653974 
publication time 18.704044 ms 
whole laserOdometry time 18.718170 ms 
 
-----t: 0.0573059build tree time 100.752057 ms 
--------------------stamp1317358053.583666086
prepare time 18.233419 
mapping data assosiation time 49.025586 ms 
sort q time 5.972665 
seperate points time 31.524681 
publication time 8.880792 ms 
whole laserOdometry time 8.918674 ms 
 
--------------------stamp1317358053.687465906
prepare time 13.143135 
sort q time 5.715300 
seperate points time 13.951903 
scan registration time 31.565453 ms *************
mapping solver time 38.554282 ms 
filter time 26.745549 ms 
map prepare time 5.353541 ms
map corner num 292539  surf num 138223 
--------------------stamp1317358053.791239976
prepare time 14.577212 
sort q time 5.670604 
seperate points time 14.168961 
publication time 19.923992 ms 
whole laserOdometry time 19.947680 ms 
 
-----t: 0.0833225
OdomCount 2810 & avg odom time 0.047185 ms ++++++++++++++++++++++
points size 94876 
scan registration time 32.045123 ms *************
publication time 9.190124 ms 
whole laserOdometry time 9.207144 ms 
 
-----t: 0.0615195
OdomCount 2811 & avg odom time 0.047190 ms ++++++++++++++++++++++
--------------------stamp1317358053.998861074
prepare time 11.911220 
sort q time 5.759325 
seperate points time 14.025851 
add points time 2.291327 ms
-----t: 0.0423881
OdomCount 2812 & avg odom time 0.047188 ms ++++++++++++++++++++++
mapping pub time 2.243796 ms 
whole mapping time 291.644262 ms +++++
mappingCount 1798 & avg mapping time 157.399369 ms ++++++++++++++++++++++
--------------------stamp1317358054.102663993
points size 96085 
sort q time 5.925900 
seperate points time 14.498620 
publication time 13.706920 ms 
whole laserOdometry time 13.720277 ms 
 
-----t: 0.0515706
OdomCount 2813 & avg odom time 0.047190 ms ++++++++++++++++++++++
mapping data assosiation time 37.717557 ms 
points size 94818 
sort q time 5.677991 
seperate points time 14.077160 
scan registration time 32.391871 ms *************
publication time 9.435525 ms 
whole laserOdometry time 9.457228 ms 
 
mapping data assosiation time 38.967866 ms 
--------------------stamp1317358054.310254096
points size 92060 
sort q time 18.437561 
seperate points time 26.888341 
map prepare time 6.527985 ms
map corner num 295518  surf num 139473 
--------------------stamp1317358054.414052963
prepare time 11.195532 
sort q time 5.547036 
seperate points time 12.025406 
publication time 9.250095 ms 
whole laserOdometry time 9.261011 ms 
 
mapping data assosiation time 40.792816 ms 
--------------------stamp1317358054.517875909
points size 90516 
sort q time 5.197824 
seperate points time 15.130892 
publication time 11.123254 ms 
whole laserOdometry time 11.138071 ms 
 
-----t: 0.0468058
OdomCount 2817 & avg odom time 0.047195 ms ++++++++++++++++++++++
mapping solver time 25.225050 ms 
mapping pub time 2.322959 ms 
whole mapping time 259.025478 ms +++++
mappingCount 1800 & avg mapping time 157.528777 ms ++++++++++++++++++++++
prepare time 12.716881 
sort q time 11.307063 
seperate points time 18.513799 
publication time 10.470531 ms 
whole laserOdometry time 10.488533 ms 
 
--------------------stamp1317358054.725450038
prepare time 11.977767 
sort q time 5.704350 
seperate points time 11.807250 
publication time 10.244930 ms 
whole laserOdometry time 10.259290 ms 
 
-----t: 0.0483567
OdomCount 2819 & avg odom time 0.047194 ms ++++++++++++++++++++++
mapping solver time 45.359859 ms 
--------------------stamp1317358054.829251050
prepare time 11.618437 
sort q time 5.899580 
seperate points time 12.113880 
scan registration time 27.301440 ms *************
publication time 8.699068 ms 
whole laserOdometry time 8.712119 ms 
 
--------------------stamp1317358054.933073997
prepare time 14.423115 
sort q time 5.895650 
seperate points time 15.761317 
publication time 10.141335 ms 
whole laserOdometry time 10.159656 ms 
 
-----t: 0.0506228
OdomCount 2821 & avg odom time 0.047203 ms ++++++++++++++++++++++
--------------------stamp1317358055.036895990
points size 90705 
sort q time 5.182293 
seperate points time 12.140852 
map prepare time 6.097492 ms
map corner num 298253  surf num 140569 
publication time 12.625957 ms 
whole laserOdometry time 12.642009 ms 
 
--------------------stamp1317358055.140717029
prepare time 14.219700 
sort q time 5.147199 
seperate points time 12.759159 
publication time 8.232296 ms 
whole laserOdometry time 8.262972 ms 
 
-----t: 0.048929
OdomCount 2823 & avg odom time 0.047204 ms ++++++++++++++++++++++
mapping data assosiation time 40.897328 ms 
--------------------stamp1317358055.244539022
mapping solver time 38.978045 ms 
scan registration time 33.353766 ms *************
mapping data assosiation time 44.034574 ms 
-----t: 0.0485688
OdomCount 2824 & avg odom time 0.047204 ms ++++++++++++++++++++++
mapping solver time 32.728254 ms 
--------------------stamp1317358055.348362922
prepare time 13.684143 
sort q time 5.555385 
seperate points time 14.488970 
publication time 10.499101 ms 
whole laserOdometry time 10.518585 ms 
 
--------------------stamp1317358055.452187061
prepare time 11.589739 
sort q time 9.972782 
seperate points time 20.415340 
publication time 10.776597 ms 
whole laserOdometry time 10.793910 ms 
 
-----t: 0.0507705
OdomCount 2826 & avg odom time 0.047205 ms ++++++++++++++++++++++
mapping solver time 38.735753 ms 
--------------------stamp1317358055.556010961
sort q time 5.146548 
seperate points time 12.068992 
publication time 11.307778 ms 
whole laserOdometry time 11.323487 ms 
 
mapping solver time 36.436429 ms 
filter time 21.587224 ms 
prepare time 14.481068 
sort q time 6.685684 
seperate points time 15.919331 
publication time 12.268918 ms 
whole laserOdometry time 12.285179 ms 
 
build tree time 95.074280 ms 
--------------------stamp1317358055.763655900
points size 95558 
sort q time 6.002848 
seperate points time 14.713723 
publication time 13.040513 ms 
whole laserOdometry time 13.088687 ms 
 
-----t: 0.0574723
OdomCount 2829 & avg odom time 0.047221 ms ++++++++++++++++++++++
--------------------stamp1317358055.867477893
points size 95448 
mapping solver time 32.340476 ms 
filter time 31.409702 ms 
--------------------stamp1317358055.971302032
points size 95449 
sort q time 6.596489 
seperate points time 15.778846 
-----t: 0.0442527
OdomCount 2831 & avg odom time 0.047224 ms ++++++++++++++++++++++
mapping data assosiation time 33.439370 ms 
points size 95065 
sort q time 5.928049 
seperate points time 12.133669 
publication time 10.754937 ms 
whole laserOdometry time 10.772117 ms 
 
-----t: 0.0526305
OdomCount 2832 & avg odom time 0.047226 ms ++++++++++++++++++++++
mapping data assosiation time 43.536894 ms 
--------------------stamp1317358056.178899049
prepare time 12.692211 
sort q time 6.258476 
seperate points time 15.405919 
mapping pub time 2.398656 ms 
whole mapping time 274.843419 ms +++++
mappingCount 1805 & avg mapping time 157.969695 ms ++++++++++++++++++++++
publication time 11.552739 ms 
whole laserOdometry time 11.567346 ms 
 
--------------------stamp1317358056.282720088
points size 95588 
prepare time 14.949045 
scan registration time 35.466221 ms *************
publication time 10.364748 ms 
whole laserOdometry time 10.381195 ms 
 
-----t: 0.0552586
OdomCount 2834 & avg odom time 0.047230 ms ++++++++++++++++++++++
mapping data assosiation time 49.651263 ms 
--------------------stamp1317358056.386542081
prepare time 16.160572 
[0m[ INFO] [1718805343.295462515, 1317358056.435183948]: Received 438822 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805343.295605637, 1317358056.435183948]: Data saved to 1317358054310254.pcd[0m
scan registration time 61.550932 ms *************
-----t: 0.0611729
OdomCount 2835 & avg odom time 0.047235 ms ++++++++++++++++++++++
--------------------stamp1317358056.490340948
mapping data assosiation time 80.198189 ms 
points size 92978 
sort q time 6.455330 
seperate points time 16.181913 
mapping solver time 40.764814 ms 
-----t: 0.0659537
OdomCount 2836 & avg odom time 0.047241 ms ++++++++++++++++++++++
mapping pub time 19.595739 ms 
whole mapping time 377.076181 ms +++++
mappingCount 1806 & avg mapping time 158.091018 ms ++++++++++++++++++++++
map prepare time 6.738749 ms
map corner num 288659  surf num 146493 
sort q time 5.964929 
seperate points time 15.069580 
-----t: 0.0779731
OdomCount 2837 & avg odom time 0.047252 ms ++++++++++++++++++++++
build tree time 95.174294 ms 
sort q time 6.356952 
seperate points time 14.575012 
publication time 11.409479 ms 
whole laserOdometry time 11.421941 ms 
 
-----t: 0.0621611
OdomCount 2838 & avg odom time 0.047257 ms ++++++++++++++++++++++
mapping solver time 39.988312 ms 
points size 93300 
sort q time 5.524825 
seperate points time 12.738827 
publication time 13.063996 ms 
whole laserOdometry time 13.077783 ms mapping solver time 35.609283 ms 
mapping optimization time 265.050680 
add points time 1.815895 ms
filter time 20.322367 ms 
map prepare time 5.541053 ms
map corner num 290155  surf num 147310 
prepare time 15.435614 
sort q time 5.631377 
seperate points time 14.150008 
scan registration time 35.085395 ms *************
publication time 12.276200 ms 
whole laserOdometry time 12.290121 ms 
 
build tree time 88.759955 ms 
--------------------stamp1317358057.009169101
points size 91862 
sort q time 6.144596 
seperate points time 12.534966 
publication time 11.467267 ms 
whole laserOdometry time 11.479163 ms 
 
mapping solver time 43.621052 ms 
--------------------stamp1317358057.112921953
points size 92247 
prepare time 15.053862 
mapping data assosiation time 41.185699 ms 
mapping solver time 35.624127 ms 
filter time 22.811606 ms 
map prepare time 4.443715 ms
map corner num 291873  surf num 148354 
--------------------stamp1317358057.216670036
points size 94441 
sort q time 5.856236 
seperate points time 14.689696 
publication time 11.015732 ms 
whole laserOdometry time 11.029666 ms 
 
build tree time 96.573811 ms 
mapping data assosiation time 35.855560 ms 
sort q time 5.821126 
seperate points time 14.670440 
mapping solver time 46.870553 ms 
-----t: 0.0592252
OdomCount 2844 & avg odom time 0.047266 ms ++++++++++++++++++++++
mapping data assosiation time 39.404501 ms 
points size 95576 
mapping solver time 33.561688 ms 
mapping optimization time 254.809331 
add points time 1.891247 ms
scan registration time 35.459834 ms *************
publication time 11.987599 ms 
whole laserOdometry time 12.002135 ms 
 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
-----t: 0.0666009
OdomCount 2845 & avg odom time 0.047273 ms ++++++++++++++++++++++
1317358057.424170970 WriteOdom laser_odom_to_init
1317358057.424170970 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358057.527921915
points size 96168 
sort q time 6.001630 
seperate points time 14.791074 
-----t: 0.0471784
OdomCount 2846 & avg odom time 0.047273 ms ++++++++++++++++++++++
mapping data assosiation time 37.632685 ms 
points size 97660 
sort q time 5.601813 
seperate points time 14.015431 
mapping solver time 44.923780 ms 
publication time 10.639444 ms 
whole laserOdometry time 10.657690 ms 
 
-----t: 0.0486245
OdomCount 2847 & avg odom time 0.047273 ms ++++++++++++++++++++++
mapping data assosiation time 42.587312 ms 
--------------------stamp1317358057.735421895
sort q time 6.375635 
seperate points time 29.732299 
publication time 14.221961 ms 
whole laserOdometry time 14.236778 ms 
 
--------------------stamp1317358057.839220046
points size 100990 
-----t: 0.0739179
OdomCount 2848 & avg odom time 0.047282 ms ++++++++++++++++++++++
scan registration time 46.604313 ms *************
publication time 12.762598 ms 
whole laserOdometry time 12.793732 ms 
 
--------------------stamp1317358057.943043947
points size 101897 
mapping data assosiation time 40.607132 ms 
prepare time 13.387901 
scan registration time 33.601587 ms *************
mapping solver time 42.800917 ms 
-----t: 0.0579531
OdomCount 2850 & avg odom time 0.047287 ms ++++++++++++++++++++++
mapping data assosiation time 44.043551 ms 
points size 101118 
sort q time 6.045236 
seperate points time 15.113113 
filter time 31.931111 ms 
1317358057.527921915 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
-----t: 0.0552235
OdomCount 2851 & avg odom time 0.047289 ms ++++++++++++++++++++++
1317358058.046891927 WriteOdom laser_odom_to_init
1317358058.046891927 WriteOdom aft_mapped_to_init_high_frec
map prepare time 5.786773 ms
map corner num 296800  surf num 151383 
--------------------stamp1317358058.150712966
prepare time 12.206068 
sort q time 6.165134 
seperate points time 15.100218 
scan registration time 34.271583 ms *************
publication time 12.727041 ms 
whole laserOdometry time 12.804513 ms 
 -----t: 0.0604495
OdomCount 2852 & avg odom time 0.047294 ms ++++++++++++++++++++++
--------------------stamp1317358058.254535913
prepare time 12.952672 
sort q time 5.661898 
seperate points time 12.981471 
mapping solver time 42.180130 ms 
publication time 11.441845 ms 
whole laserOdometry time 11.458976 ms 
 
-----t: 0.0673457
OdomCount 2853 & avg odom time 0.047301 ms ++++++++++++++++++++++
--------------------stamp1317358058.358335018
prepare time 11.640701 
add points time 1.538595 ms
sort q time 6.077220 
seperate points time 14.254928 
scan registration time 32.517097 ms *************
publication time 10.291778 ms 
whole laserOdometry time 10.308033 ms 
 
-----t: 0.0489112
OdomCount 2854 & avg odom time 0.047302 ms ++++++++++++++++++++++
1317358058.358335018 WriteOdom laser_odom_to_init
1317358058.358335018 WriteOdom aft_mapped_to_init_high_frec
map prepare time 6.026141 ms
map corner num 298299  surf num 152204 
--------------------stamp1317358058.462133884
points size 95551 
sort q time 5.934380 
seperate points time 13.967214 
build tree time 85.398535 ms -----t: 0.0599997
OdomCount 2855 & avg odom time 0.047306 ms ++++++++++++++++++++++
mapping data assosiation time 46.226241 ms 
points size 93599 
sort q time 5.663508 
seperate points time 14.034721 
publication time 10.923704 ms 
whole laserOdometry time 10.936655 ms 
 
mapping data assosiation time 47.349520 ms 
--------------------stamp1317358058.669756889
add points time 2.279554 ms
sort q time 6.307116 
seperate points time 14.593389 
filter time 28.837010 ms 
map prepare time 6.175691 ms
map corner num 299987  surf num 153334 
-----t: 0.0540954
OdomCount 2857 & avg odom time 0.047309 ms ++++++++++++++++++++++
points size 92304 
sort q time 5.506896 
seperate points time 13.378557 
build tree time 94.158548 ms 
-----t: 0.0491987
OdomCount 2858 & avg odom time 0.047310 ms ++++++++++++++++++++++
mapping data assosiation time 41.225023 ms 
--------------------stamp1317358058.877352952
prepare time 11.553166 
scan registration time 29.766274 ms *************
publication time 10.906105 ms 
whole laserOdometry time 10.918555 ms 
 
mapping data assosiation time 60.948449 ms 
--------------------stamp1317358058.981127977
prepare time 9.957141 
sort q time 6.520834 
seperate points time 13.167912 
publication time 10.701523 ms 
whole laserOdometry time 10.716736 ms 
 
-----t: 0.0522522
OdomCount 2860 & avg odom time 0.047311 ms ++++++++++++++++++++++
--------------------stamp1317358059.084902048
prepare time 11.137684 
sort q time 5.629799 
seperate points time 12.361104 
publication time 10.223737 ms 
whole laserOdometry time 10.242735 ms 
 
build tree time 100.595191 ms 
--------------------stamp1317358059.188677072
prepare time 12.549605 
sort q time 5.570252 
seperate points time 11.027392 
scan registration time 28.184767 ms *************
mapping solver time 46.046574 ms 
-----t: 0.052563
OdomCount 2862 & avg odom time 0.047315 ms ++++++++++++++++++++++
mapping data assosiation time 46.857313 ms 
points size 89425 
sort q time 5.961172 
seperate points time 13.254682 
add points time 2.101110 ms
publication time 10.863568 ms 
whole laserOdometry time 10.884547 ms 
 
-----t: 0.0518505
OdomCount 2863 & avg odom time 0.047316 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358059.396297931
points size 89652 
sort q time 5.150404 scan registration time 40.469006 ms *************
publication time 11.136777 ms 
whole laserOdometry time 11.202226 ms 
 
build tree time 103.240586 ms 
--------------------stamp1317358059.500097036
prepare time 11.945251 
sort q time 5.683672 
seperate points time 11.669679 
publication time 8.558692 ms 
whole laserOdometry time 8.576664 ms 
 
1317358059.500097036 WriteOdom laser_odom_to_init
1317358059.500097036 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358059.603897094
points size 92938 
mapping data assosiation time 45.498522 ms 
[0m[ INFO] [1718805346.501486644, 1317358059.647343616]: Received 448183 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805346.501575179, 1317358059.647343616]: Data saved to 1317358057527921.pcd[0m
-----t: 0.0444348
OdomCount 2866 & avg odom time 0.047314 ms ++++++++++++++++++++++
filter time 32.134960 ms 
--------------------stamp1317358059.707695007
mapping pub time 10.558365 ms 
whole mapping time 339.304451 ms +++++
mappingCount 1816 & avg mapping time 158.915965 ms ++++++++++++++++++++++
1317358059.084902048 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
sort q time 6.321534 
seperate points time 13.238076 
publication time 11.808000 ms 
whole laserOdometry time 11.824796 ms 
 
1317358059.707695007 WriteOdom aft_mapped_to_init_high_frec
build tree time 88.010471 ms 
points size 94353 
scan registration time 32.363231 ms *************
mapping data assosiation time 48.786997 ms 
-----t: 0.0725504
OdomCount 2868 & avg odom time 0.047326 ms ++++++++++++++++++++++
points size 96292 
sort q time 8.454461 
seperate points time 16.464883 
-----t: 0.0439955
OdomCount 2869 & avg odom time 0.047324 ms ++++++++++++++++++++++
mapping data assosiation time 54.306778 ms 
--------------------stamp1317358060.019115924
add points time 1.765778 ms
sort q time 5.849066 
seperate points time 14.572538 
mapping pub time 2.342890 ms 
whole mapping time 348.981488 ms +++++
mappingCount 1817 & avg mapping time 159.020571 ms ++++++++++++++++++++++
map prepare time 10.400148 ms
map corner num 270728  surf num 129756 
-----t: 0.0623541
OdomCount 2870 & avg odom time 0.047330 ms ++++++++++++++++++++++
--------------------stamp1317358060.122915029
points size 101006 
build tree time 80.015538 ms 
-----t: 0.0628087
OdomCount 2871 & avg odom time 0.047335 ms ++++++++++++++++++++++
--------------------stamp1317358060.226736068
prepare time 13.037730 
sort q time 6.843657 
seperate points time 16.105531 
publication time 12.674917 ms 
whole laserOdometry time 12.690643 ms 
 
mapping data assosiation time 49.436874 ms 
mapping solver time 29.713879 ms 
points size 102110 
filter time 30.132003 ms 
scan registration time 40.483660 ms *************
map prepare time 7.331534 ms
map corner num 272154  surf num 130524 
1317358060.330534934 WriteOdom laser_odom_to_init
--------------------stamp1317358060.434335947
prepare time 13.976488 
sort q time 6.298800 
seperate points time 13.510265 
publication time 17.733646 ms 
whole laserOdometry time 17.767564 ms 
 
-----t: 0.0581904
OdomCount 2874 & avg odom time 0.047346 ms ++++++++++++++++++++++
mapping solver time 36.855121 ms 
points size 102337 
sort q time 5.599525 
seperate points time 13.277977 
mapping data assosiation time 42.948199 ms 
publication time 9.482183 ms 
whole laserOdometry time 9.495694 ms 
 
mapping solver time 33.759869 ms 
filter time 20.613479 ms 
map prepare time 6.509373 ms
map corner num 273584  surf num 131279 
sort q time 6.008678 
seperate points time 14.967223 
-----t: 0.0407691
OdomCount 2876 & avg odom time 0.047345 ms ++++++++++++++++++++++
build tree time 72.758149 ms 
--------------------stamp1317358060.745707988
points size 102544 
mapping data assosiation time 41.626725 ms 
publication time 11.241843 ms 
whole laserOdometry time 11.265114 ms 
 
-----t: 0.0456681
OdomCount 2877 & avg odom time 0.047344 ms ++++++++++++++++++++++
mapping data assosiation time 36.618127 ms 
points size 102766 
add points time 1.925741 ms
scan registration time 34.761964 ms *************
filter time 26.989126 ms 
map prepare time 6.083388 ms
map corner num 275032  surf num 132247 
-----t: 0.0522449
OdomCount 2878 & avg odom time 0.047346 ms ++++++++++++++++++++++
--------------------stamp1317358060.953305959
prepare time 14.616056 
build tree time 73.120394 ms 
-----t: 0.0477152
OdomCount 2879 & avg odom time 0.047346 ms ++++++++++++++++++++++
mapping data assosiation time 45.798249 ms 
--------------------stamp1317358061.057104110
prepare time 12.855441 
sort q time 6.665760 
seperate points time 13.675754 
mapping data assosiation time 41.837318 ms 
mapping solver time 24.319119 ms 
mapping optimization time 218.798496 
add points time 2.219788 ms
filter time 23.638712 ms 
points size 103337 
sort q time 7.232897 
seperate points time 16.759975 
-----t: 0.0458212
OdomCount 2881 & avg odom time 0.047350 ms ++++++++++++++++++++++
mapping pub time 108.642808 ms 
whole mapping time 359.531097 ms +++++
map prepare time 7.251722 ms
map corner num 276475  surf num 133221 
sort q time 5.968086 
seperate points time 13.266145 
publication time 11.362389 ms 
whole laserOdometry time 11.372603 ms 
 
-----t: 0.0576425
OdomCount 2882 & avg odom time 0.047354 ms ++++++++++++++++++++++
--------------------stamp1317358061.368545055
points size 102999 
sort q time 5.664530 
seperate points time 14.036909 
publication time 13.898816 ms 
whole laserOdometry time 13.912287 ms 
 
--------------------stamp1317358061.472371101
points size 102525 
sort q time 6.272372 
seperate points time 17.068181 
-----t: 0.0407767
OdomCount 2884 & avg odom time 0.047352 ms ++++++++++++++++++++++
publication time 10.911957 ms 
whole laserOdometry time 10.923911 ms 
 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 4.831325 ms
map corner num 277966  surf num 134399 
--------------------stamp1317358061.576193094
points size 102358 
sort q time 5.864675 
seperate points time 14.383194 
scan registration time 34.040761 ms *************
publication time 12.668033 ms 
whole laserOdometry time 12.680382 ms 
 
mapping data assosiation time 43.176524 ms 
--------------------stamp1317358061.680015087
prepare time 15.176720 
sort q time 5.686860 
seperate points time 13.557893 
-----t: 0.0410908
OdomCount 2886 & avg odom time 0.047346 ms ++++++++++++++++++++++
1317358061.680015087 WriteOdom laser_odom_to_init
1317358061.680015087 WriteOdom aft_mapped_to_init_high_frec
publication time 9.923295 ms 
whole laserOdometry time 9.934352 ms 
 
mapping data assosiation time 47.526283 ms 
--------------------stamp1317358061.783838033
add points time 1.803757 ms
sort q time 6.350827 
seperate points time 15.704740 
drop lidar frame in mapping for real time performance 
publication time 12.617279 ms 
whole laserOdometry time 12.633855 ms 
 
--------------------stamp1317358061.887659072
points size 103919 
build tree time 77.965283 ms scan registration time 39.423061 ms *************
publication time 11.044975 ms 
whole laserOdometry time 11.054521 ms 
 
-----t: 0.0566679
OdomCount 2888 & avg odom time 0.047353 ms ++++++++++++++++++++++
--------------------stamp1317358061.991485118
sort q time 6.488688 
seperate points time 15.845967 
publication time 12.790670 ms 
whole laserOdometry time 12.808218 ms 
 
-----t: 0.0739219
OdomCount 2889 & avg odom time 0.047362 ms ++++++++++++++++++++++
--------------------stamp1317358062.095308065
prepare time 13.018485 
sort q time 5.759540 
seperate points time 12.409072 
filter time 20.027093 ms 
mapping pub time 2.415452 ms 
whole mapping time 310.742931 ms +++++
mappingCount 1824 & avg mapping time 159.536183 ms ++++++++++++++++++++++
1317358061.576193094 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
publication time 11.934300 ms 
--------------------stamp1317358062.199131011
prepare time 11.966543 
sort q time 6.461037 
seperate points time 14.652243 
publication time 9.804071 ms 
whole laserOdometry time 9.820859 ms 
 
sort q time 6.452735 
seperate points time 14.546156 
mapping data assosiation time 53.865477 ms 
mapping solver time 32.315348 ms 
--------------------stamp1317358062.406850099
mapping pub time 2.442063 ms 
whole mapping time 277.994557 ms +++++
mappingCount 1825 & avg mapping time 159.601094 ms ++++++++++++++++++++++
scan registration time 34.259122 ms *************
publication time 29.177850 ms 
whole laserOdometry time 29.192206 ms 
 
-----t: 0.0721097
OdomCount 2893 & avg odom time 0.047388 ms ++++++++++++++++++++++
build tree time 76.318029 ms 
points size 103679 
sort q time 6.370414 
seperate points time 13.126797 
mapping data assosiation time 47.525721 ms 
-----t: 0.0424498
OdomCount 2894 & avg odom time 0.047386 ms ++++++++++++++++++++++
mapping solver time 46.348579 ms 
--------------------stamp1317358062.614662885
points size 103776 
sort q time 5.679157 
seperate points time 14.379780 
publication time 16.353595 ms 
whole laserOdometry time 16.393893 ms 
 
-----t: 0.0590569
OdomCount 2895 & avg odom time 0.047390 ms ++++++++++++++++++++++
add points time 1.724645 ms
--------------------stamp1317358062.718580007
prepare time 11.860137 
mapping pub time 19.088585 ms 
whole mapping time 319.341104 ms +++++
mappingCount 1826 & avg mapping time 159.688577 ms ++++++++++++++++++++++
-----t: 0.0621556
OdomCount 2896 & avg odom time 0.047396 ms ++++++++++++++++++++++
--------------------stamp1317358062.822521924
prepare time 13.722518 
sort q time 6.646300 
seperate points time 15.065363 
mapping data assosiation time 48.674574 ms 
-----t: 0.0553264
OdomCount 2897 & avg odom time 0.047398 ms ++++++++++++++++++++++
1317358062.822521924 WriteOdom laser_odom_to_init
1317358062.822521924 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 47.709778 ms 
points size 103486 
sort q time 5.600746 
seperate points time 12.939539 
scan registration time 30.037085 ms *************
mapping data assosiation time 49.644594 ms 
-----t: 0.0501185
OdomCount 2898 & avg odom time 0.047399 ms ++++++++++++++++++++++
mapping solver time 47.747852 ms 
--------------------stamp1317358063.030431032
filter time 20.681850 ms 
sort q time 6.178556 
seperate points time 14.881691 
-----t: 0.0624082
OdomCount 2899 & avg odom time 0.047404 ms ++++++++++++++++++++++
build tree time 72.840253 ms 
points size 103066 
sort q time 6.130525 
seperate points time 15.094342 
mapping data assosiation time 50.411494 ms 
mapping solver time 50.027701 ms 
points size 102883 
sort q time 6.674234 
seperate points time 14.046217 
mapping data assosiation time 48.701173 ms 
-----t: 0.0474398
OdomCount 2901 & avg odom time 0.047416 ms ++++++++++++++++++++++
mapping solver time 40.018333 ms 
filter time 20.121382 ms 
map prepare time 6.161581 ms
map corner num 276481  surf num 136646 
sort q time 5.934652 
seperate points time 14.646277 
-----t: 0.0406889
OdomCount 2902 & avg odom time 0.047413 ms ++++++++++++++++++++++
build tree time 74.942852 ms 
--------------------stamp1317358063.446192979
prepare time 15.245266 
sort q time 5.553769 
seperate points time 12.471517 
publication time 11.614819 ms 
whole laserOdometry time 11.629748 ms 
 
-----t: 0.06295
OdomCount 2903 & avg odom time 0.047419 ms ++++++++++++++++++++++
--------------------stamp1317358063.550159931
sort q time 5.501355 
seperate points time 12.723013 
publication time 14.439320 ms 
whole laserOdometry time 14.458966 ms 
 
mapping solver time 33.819206 ms 
filter time 19.027617 ms 
mapping pub time 2.288357 ms 
whole mapping time 285.279660 ms +++++
mappingCount 1829 & avg mapping time 159.909226 ms ++++++++++++++++++++++
1317358063.030431032 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358063.654109954
points size 101404 
sort q time 5.587931 
seperate points time 13.760473 
publication time 8.503869 ms 
whole laserOdometry time 8.516011 ms 
 
-----t: 0.0478256
OdomCount 2905 & avg odom time 0.047418 ms ++++++++++++++++++++++
--------------------stamp1317358063.758076906
points size 101451 
sort q time 5.537263 
seperate points time 12.294711 
publication time 16.809091 ms 
whole laserOdometry time 16.821631 ms 
 
-----t: 0.0497679
OdomCount 2906 & avg odom time 0.047419 ms ++++++++++++++++++++++
--------------------stamp1317358063.862045049
prepare time 13.395125 
sort q time 5.773308 
seperate points time 13.829083 
scan registration time 33.462970 ms *************
mapping solver time 51.891465 ms 
mapping optimization time 273.033228 
publication time 10.895947 ms 
whole laserOdometry time 10.910571 ms 
 
add points time 2.469068 ms
-----t: 0.0449015
OdomCount 2907 & avg odom time 0.047418 ms ++++++++++++++++++++++
1317358063.862045049 WriteOdom laser_odom_to_init
1317358063.862045049 WriteOdom aft_mapped_to_init_high_frec
filter time 23.940688 ms 
--------------------stamp1317358063.966012954
points size 101903 
sort q time 5.560066 
seperate points time 14.215733 
publication time 9.576126 ms 
whole laserOdometry time 9.591686 ms 
 
-----t: 0.0442876
OdomCount 2908 & avg odom time 0.047417 ms ++++++++++++++++++++++
mapping data assosiation time 38.724133 ms 
points size 101852 
sort q time 5.835865 
seperate points time 13.662569 
publication time 10.043897 ms 
whole laserOdometry time 10.058439 ms 
 
mapping data assosiation time 51.353852 ms 
--------------------stamp1317358064.173991918
points size 101663 
sort q time 6.463467 
seperate points time 13.179361 
publication time 8.331366 ms 
whole laserOdometry time 8.348094 ms 
 
mapping pub time 7.999795 ms 
whole mapping time 300.784875 ms +++++
mappingCount 1831 & avg mapping time 160.066469 ms ++++++++++++++++++++++
--------------------stamp1317358064.277981996
points size 101427 
sort q time 5.683728 
seperate points time 13.741430 
build tree time 68.753801 ms 
publication time 11.299429 ms 
whole laserOdometry time 11.313324 ms 
 
mapping data assosiation time 42.467676 ms 
--------------------stamp1317358064.381952047
prepare time 12.336355 
mapping solver time 41.750338 ms 
scan registration time 44.216561 ms *************
publication time 7.668194 ms 
whole laserOdometry time 7.694070 ms 
 
mapping solver time 27.419498 ms 
points size 101196 
filter time 22.245411 ms 
map prepare time 5.566726 ms
map corner num 282206  surf num 139266 
publication time 9.302994 ms 
whole laserOdometry time 9.316395 ms 
 
build tree time 69.338733 ms 
prepare time 12.525117 
sort q time 5.563762 
seperate points time 13.389434 
mapping data assosiation time 44.638059 ms 
-----t: 0.0468726
OdomCount 2914 & avg odom time 0.047428 ms ++++++++++++++++++++++
mapping solver time 38.381940 ms 
--------------------stamp1317358064.693732023
prepare time 13.841638 
sort q time 5.473903 
seperate points time 12.831040 
publication time 10.120890 ms 
whole laserOdometry time 10.147456 ms 
 
filter time 19.286628 ms 
map prepare time 4.789783 ms
map corner num 283499  surf num 139813 
--------------------stamp1317358064.797626972
prepare time 13.502904 
sort q time 5.791716 
seperate points time 27.580706 
build tree time 76.074159 ms 
-----t: 0.0771416
OdomCount 2916 & avg odom time 0.047437 ms ++++++++++++++++++++++
--------------------stamp1317358064.901521921
points size 101587 
sort q time 21.220388 
seperate points time 30.517406 
mapping solver time 62.360793 ms 
publication time 12.025838 ms 
whole laserOdometry time 12.042175 ms 
 
--------------------stamp1317358065.005414962
-----t: 0.0856003
OdomCount 2917 & avg odom time 0.047450 ms ++++++++++++++++++++++
mapping data assosiation time 65.163215 ms 
scan registration time 54.490785 ms *************
mapping solver time 37.861799 ms 
prepare time 15.423232 
mapping pub time 2.544426 ms 
whole mapping time 349.891207 ms +++++
mappingCount 1834 & avg mapping time 160.277668 ms ++++++++++++++++++++++
scan registration time 49.194793 ms *************
publication time 12.816907 ms 
whole laserOdometry time 12.836117 ms 
 
--------------------stamp1317358065.213156938
points size 101617 
-----t: 0.112738
OdomCount 2919 & avg odom time 0.047484 ms ++++++++++++++++++++++publication time 20.300723 ms 
whole laserOdometry time 20.317850 ms 
 
mapping data assosiation time 71.415761 ms 
points size 101585 
sort q time 12.356478 
seperate points time 20.435185 
publication time 9.530143 ms 
whole laserOdometry time 9.544502 ms 
 
prepare time 15.349057 
sort q time 7.427982 
seperate points time 17.862117 
mapping data assosiation time 48.310822 ms 
publication time 16.026752 ms 
whole laserOdometry time 16.043369 ms 
 
--------------------stamp1317358065.524408102
mapping solver time 58.473113 ms 
sort q time 6.110100 
seperate points time 15.200966 
filter time 29.809644 ms 
publication time 10.627471 ms 
whole laserOdometry time 10.643622 ms 
 
-----t: 0.0511313
OdomCount 2923 & avg odom time 0.047532 ms ++++++++++++++++++++++
1317358065.524408102 WriteOdom laser_odom_to_init
1317358065.524408102 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358065.628062963
prepare time 13.284108 
build tree time 71.208478 ms 
mapping data assosiation time 48.894473 ms 
--------------------stamp1317358065.731717109
prepare time 14.067362 
sort q time 6.658182 
seperate points time 22.129619 
mapping data assosiation time 43.057046 ms 
-----t: 0.0471357
OdomCount 2925 & avg odom time 0.047533 ms ++++++++++++++++++++++
mapping solver time 30.270616 ms 
mapping optimization time 233.228414 
add points time 1.471074 ms
--------------------stamp1317358065.835421085
prepare time 13.858780 
sort q time 6.247071 
seperate points time 14.776884 
publication time 11.074949 ms 
whole laserOdometry time 11.087068 ms 
 
-----t: 0.0421612
OdomCount 2926 & avg odom time 0.047531 ms ++++++++++++++++++++++
1317358065.835421085 WriteOdom laser_odom_to_init
1317358065.835421085 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358065.939126014
points size 101250 
sort q time 5.653997 
seperate points time 13.811712 
publication time 9.399994 ms 
whole laserOdometry time 9.408917 ms 
 
-----t: 0.050109
OdomCount 2927 & avg odom time 0.047532 ms ++++++++++++++++++++++
1317358065.939126014 WriteOdom laser_odom_to_init
1317358065.939126014 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358066.042804002
points size 101244 
sort q time 6.445271 
seperate points time 12.830745 
scan registration time 47.513359 ms *************
publication time 10.092798 ms 
whole laserOdometry time 10.112530 ms 
 
--------------------stamp1317358066.146482944
points size 101194 
mapping solver time 55.576745 ms 
scan registration time 34.703071 ms *************
filter time 28.419817 ms 
map prepare time 5.507894 ms
map corner num 288174  surf num 141912 
--------------------stamp1317358066.250185012
prepare time 16.065081 
scan registration time 36.932468 ms *************
publication time 8.161899 ms 
whole laserOdometry time 8.173397 ms 
 
-----t: 0.066345
OdomCount 2930 & avg odom time 0.047543 ms ++++++++++++++++++++++
--------------------stamp1317358066.353887081
prepare time 12.971243 
sort q time 5.571421 
seperate points time 13.799157 
publication time 9.500219 ms 
whole laserOdometry time 9.518808 ms 
 
-----t: 0.0462647
OdomCount 2931 & avg odom time 0.047542 ms ++++++++++++++++++++++
mapping data assosiation time 43.236678 ms 
--------------------stamp1317358066.457591056
points size 101352 
mapping optimization time 266.820522 
scan registration time 34.837595 ms *************
filter time 24.295087 ms 
publication time 11.826369 ms 
whole laserOdometry time 11.842229 ms 
 
-----t: 0.0607896
OdomCount 2932 & avg odom time 0.047547 ms ++++++++++++++++++++++
--------------------stamp1317358066.561305046
points size 101350 
sort q time 6.086528 
seperate points time 14.921969 
publication time 13.292859 ms 
whole laserOdometry time 13.305142 ms 
 
-----t: 0.0589354
OdomCount 2933 & avg odom time 0.047551 ms ++++++++++++++++++++++
--------------------stamp1317358066.665004968
prepare time 11.179119 
sort q time 5.956920 
seperate points time 13.037835 
publication time 11.183544 ms 
whole laserOdometry time 11.207758 ms 
 
1317358066.665004968 WriteOdom laser_odom_to_init
1317358066.665004968 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358066.768719911
points size 101344 
prepare time 13.699032 
sort q time 6.980353 
seperate points time 16.234265 
publication time 11.606999 ms 
whole laserOdometry time 11.619734 ms 
 
map prepare time 5.754902 ms
map corner num 290822  surf num 143380 
--------------------stamp1317358066.872423887
prepare time 14.630590 
sort q time 5.683559 
seperate points time 14.173537 
publication time 10.487578 ms 
whole laserOdometry time 10.502541 ms 
 
-----t: 0.0693945
OdomCount 2936 & avg odom time 0.047570 ms ++++++++++++++++++++++
1317358066.872423887 WriteOdom laser_odom_to_init
1317358066.872423887 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358066.976129055
prepare time 11.601781 
sort q time 5.032783 
seperate points time 11.307661 
publication time 10.570412 ms 
whole laserOdometry time 10.593470 ms 
 
mapping solver time 46.485076 ms 
-----t: 0.0621943
OdomCount 2937 & avg odom time 0.047575 ms ++++++++++++++++++++++
mapping data assosiation time 43.828726 ms 
points size 101191 
sort q time 5.812012 
seperate points time 14.619877 
mapping optimization time 285.398210 
filter time 29.259972 ms map prepare time 5.544950 ms
map corner num 292011  surf num 144006 
1317358067.079855918 WriteOdom laser_odom_to_init
points size 101179 
sort q time 5.952343 
seperate points time 14.561316 
-----t: 0.0407278
OdomCount 2939 & avg odom time 0.047583 ms ++++++++++++++++++++++
build tree time 82.370611 ms 
--------------------stamp1317358067.287333011
points size 101117 
mapping data assosiation time 43.000877 ms 
prepare time 10.863204 
sort q time 6.358178 
seperate points time 13.867430 
publication time 9.447360 ms 
whole laserOdometry time 9.465832 ms 
 
mapping solver time 54.598827 ms 
mapping data assosiation time 36.599280 ms 
points size 101129 
sort q time 5.985812 
seperate points time 12.159786 
mapping solver time 46.780575 ms 
publication time 12.711133 ms 
whole laserOdometry time 12.728532 ms 
 
-----t: 0.0536338
OdomCount 2941 & avg odom time 0.047585 ms ++++++++++++++++++++++
[0m[ INFO] [1718805354.334904730, 1317358067.473560459]: Received 437835 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805354.334947194, 1317358067.473560459]: Data saved to 1317358066872423.pcd[0m
--------------------stamp1317358067.494982004
sort q time 6.330777 
seperate points time 12.990419 
publication time 10.054931 ms 
whole laserOdometry time 10.069892 ms 
 
mapping pub time 103.045186 ms 
whole mapping time 404.422343 ms +++++
mappingCount 1841 & avg mapping time 160.982957 ms ++++++++++++++++++++++
map prepare time 4.747241 ms
map corner num 293213  surf num 144622 
--------------------stamp1317358067.598850965
points size 101006 
sort q time 5.705836 
seperate points time 14.053935 
publication time 10.492394 ms 
whole laserOdometry time 10.508026 ms 
 
--------------------stamp1317358067.702765941
sort q time 6.501233 
seperate points time 13.374507 
publication time 10.368621 ms 
whole laserOdometry time 10.637265 ms 
 
-----t: 0.0577474
OdomCount 2944 & avg odom time 0.047593 ms ++++++++++++++++++++++
--------------------stamp1317358067.806734085
prepare time 10.879295 
sort q time 6.690108 
seperate points time 12.979461 
publication time 12.717999 ms 
whole laserOdometry time 12.730875 ms 
 
-----t: 0.0664462
OdomCount 2945 & avg odom time 0.047599 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 6.012095 ms
map corner num 294486  surf num 145358 
--------------------stamp1317358067.910723924
sort q time 6.107911 
seperate points time 13.986993 
scan registration time 29.873441 ms *************
publication time 11.063441 ms 
whole laserOdometry time 11.074599 ms 
 
build tree time 93.442499 ms 
--------------------stamp1317358068.014763116
points size 101321 
mapping data assosiation time 49.228017 ms 
publication time 12.003177 ms 
whole laserOdometry time 12.026819 ms 
 
mapping solver time 53.918472 ms 
--------------------stamp1317358068.118803024
prepare time 14.818091 
sort q time 5.642560 
seperate points time 12.489727 
publication time 11.315961 ms 
whole laserOdometry time 11.329414 ms 
 
-----t: 0.0810301
OdomCount 2948 & avg odom time 0.047608 ms ++++++++++++++++++++++
--------------------stamp1317358068.222794055
prepare time 12.430627 
sort q time 5.862935 
seperate points time 13.266162 
publication time 11.469855 ms 
whole laserOdometry time 11.485618 ms 
 
-----t: 0.0496285
OdomCount 2949 & avg odom time 0.047609 ms ++++++++++++++++++++++
--------------------stamp1317358068.326785087
points size 100865 
sort q time 5.973705 
seperate points time 13.212973 
mapping data assosiation time 48.915429 ms 
mapping solver time 46.546467 ms 
points size 100608 
sort q time 5.795297 
seperate points time 14.120354 
mapping data assosiation time 48.239506 ms 
1317358068.430824041 WriteOdom laser_odom_to_init
1317358068.430824041 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 43.835474 ms 
--------------------stamp1317358068.534887075
prepare time 11.771239 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
publication time 8.394595 ms 
whole laserOdometry time 8.406626 ms 
 
-----t: 0.0492874
OdomCount 2952 & avg odom time 0.047622 ms ++++++++++++++++++++++
--------------------stamp1317358068.638950109
build tree time 78.771888 ms 
points size 100763 
prepare time 10.317636 
sort q time 6.120808 
seperate points time 13.637891 
mapping data assosiation time 46.816919 ms 
-----t: 0.0678644
OdomCount 2953 & avg odom time 0.047629 ms ++++++++++++++++++++++
mapping solver time 48.183581 ms 
points size 101066 
prepare time 13.249107 
sort q time 5.924300 
seperate points time 14.440403 
mapping data assosiation time 47.400860 ms 
-----t: 0.0450496
OdomCount 2954 & avg odom time 0.047628 ms ++++++++++++++++++++++
mapping solver time 45.908349 ms 
--------------------stamp1317358068.847172975
points size 101142 
filter time 28.515486 ms 
publication time 9.488421 ms 
whole laserOdometry time 9.508718 ms 
 
-----t: 0.0649483
OdomCount 2955 & avg odom time 0.047634 ms ++++++++++++++++++++++
--------------------stamp1317358068.951281070
points size 100804 
sort q time 6.163438 
seperate points time 12.411723 
publication time 7.148640 ms 
whole laserOdometry time 7.170293 ms 
 
mapping data assosiation time 47.354253 ms 
-----t: 0.056451
OdomCount 2956 & avg odom time 0.047637 ms ++++++++++++++++++++++
1317358068.951281070 WriteOdom laser_odom_to_init
1317358068.951281070 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 44.705870 ms 
points size 100698 
prepare time 12.479023 
sort q time 5.885620 
seperate points time 13.610746 
mapping data assosiation time 47.019168 ms 
-----t: 0.055018
OdomCount 2957 & avg odom time 0.047640 ms ++++++++++++++++++++++
mapping solver time 40.922778 ms 
--------------------stamp1317358069.159404993
points size 100379 
map prepare time 5.822995 ms
map corner num 299205  surf num 147622 
sort q time 8.862918 
seperate points time 19.983907 
scan registration time 44.705143 ms *************
publication time 9.817959 ms 
whole laserOdometry time 9.833112 ms 
 
--------------------stamp1317358069.263444900
prepare time 14.283729 
sort q time 5.742457 
seperate points time 13.925828 
mapping data assosiation time 44.617914 ms 
mapping solver time 44.305207 ms 
points size 99016 
sort q time 6.286526 
seperate points time 13.706382 
publication time 13.378650 ms 
whole laserOdometry time 13.393036 ms 
 
-----t: 0.0510287
OdomCount 2960 & avg odom time 0.047642 ms ++++++++++++++++++++++
mapping solver time 44.818493 ms 
--------------------stamp1317358069.471616029
prepare time 13.670266 
map prepare time 6.000366 ms
map corner num 300330  surf num 148025 
scan registration time 31.679642 ms *************
publication time 9.163978 ms 
whole laserOdometry time 9.193509 ms 
 
-----t: 0.0770525
OdomCount 2961 & avg odom time 0.047652 ms ++++++++++++++++++++++
--------------------stamp1317358069.575705051
prepare time 11.613804 
sort q time 5.930157 
seperate points time 13.758356 
mapping data assosiation time 45.546602 ms 
publication time 11.785802 ms 
whole laserOdometry time 11.798046 ms 
 
-----t: 0.0703164
OdomCount 2962 & avg odom time 0.047659 ms ++++++++++++++++++++++
1317358069.575705051 WriteOdom laser_odom_to_init
1317358069.575705051 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 44.590832 ms 
points size 100037 
mapping data assosiation time 45.064158 ms 
publication time 10.613693 ms 
whole laserOdometry time 10.628130 ms 
 
mapping optimization time 268.438722 
filter time 22.074205 ms 
points size 100706 
sort q time 6.631169 
seperate points time 15.380104 
publication time 9.501780 ms 
whole laserOdometry time 9.516325 ms 
 
build tree time 59.905278 ms 
--------------------stamp1317358069.888135910
points size 101284 
sort q time 5.521246 
seperate points time 13.632686 
mapping solver time 45.326526 ms 
-----t: 0.0692931
OdomCount 2965 & avg odom time 0.047672 ms ++++++++++++++++++++++
--------------------stamp1317358069.992291927
points size 101718 
prepare time 14.597463 
mapping solver time 46.732274 ms 
filter time 14.999661 ms 
-----t: 0.0377049
OdomCount 2966 & avg odom time 0.047668 ms ++++++++++++++++++++++
1317358069.992291927 WriteOdom laser_odom_to_init
1317358069.992291927 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.243805 ms 
whole mapping time 261.173628 ms +++++
mappingCount 1849 & avg mapping time 161.610631 ms ++++++++++++++++++++++
1317358069.471616030 WriteOdom aft_mapped_to_init
--------------------stamp1317358070.096448898
points size 101845 
sort q time 6.773513 
seperate points time 16.285819 
mapping data assosiation time 45.673610 ms 
mapping solver time 37.590835 ms 
--------------------stamp1317358070.200609922
prepare time 13.298151 
mapping data assosiation time 39.567489 ms 
sort q time 10.478399 
seperate points time 18.341976 
scan registration time 36.560761 ms *************
publication time 8.502681 ms 
whole laserOdometry time 8.514074 ms 
 
mapping solver time 49.570262 ms 
filter time 14.659673 ms 
--------------------stamp1317358070.304790973
prepare time 12.337561 
sort q time 5.743117 
seperate points time 13.505586 
publication time 14.561225 ms 
whole laserOdometry time 14.575246 ms 
 
-----t: 0.0663167
OdomCount 2969 & avg odom time 0.047672 ms ++++++++++++++++++++++
1317358070.304790973 WriteOdom laser_odom_to_init
1317358070.304790973 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358070.408973932
prepare time 17.507800 
mapping solver time 45.701277 ms 
publication time 10.422461 ms 
whole laserOdometry time 10.435944 ms 
 
mapping data assosiation time 41.049968 ms 
--------------------stamp1317358070.513151884
prepare time 12.150680 
sort q time 6.286705 
seperate points time 12.331454 
mapping pub time 15.548441 ms 
whole mapping time 258.644801 ms +++++
mappingCount 1851 & avg mapping time 161.710978 ms ++++++++++++++++++++++
-----t: 0.0435589
OdomCount 2971 & avg odom time 0.047673 ms ++++++++++++++++++++++
--------------------stamp1317358070.617358922
prepare time 15.025697 
sort q time 6.319275 
seperate points time 13.542810 
mapping data assosiation time 37.097762 ms 
mapping solver time 36.051595 ms 
-----t: 0.0806664
OdomCount 2972 & avg odom time 0.047684 ms ++++++++++++++++++++++
points size 100328 
sort q time 6.272050 
seperate points time 13.685131 
publication time 11.790860 ms 
whole laserOdometry time 11.805689 ms 
 
-----t: 0.0547976
OdomCount 2973 & avg odom time 0.047686 ms ++++++++++++++++++++++
--------------------stamp1317358070.825681924
prepare time 12.948719 
scan registration time 30.566639 ms *************
-----t: 0.0475413
OdomCount 2974 & avg odom time 0.047686 ms ++++++++++++++++++++++
mapping solver time 34.416500 ms 
points size 97182 
sort q time 6.398845 
seperate points time 15.376067 
publication time 7.739674 ms 
whole laserOdometry time 7.754581 ms 
 
mapping solver time 30.068932 ms 
filter time 14.775972 ms 
mapping pub time 2.378329 ms 
whole mapping time 222.142635 ms +++++
mappingCount 1853 & avg mapping time 161.781343 ms ++++++++++++++++++++++
1317358070.513151884 WriteOdom aft_mapped_to_init
points size 96375 
sort q time 5.704607 
seperate points time 14.849741 
scan registration time 33.815028 ms *************
build tree time 59.184849 ms 
mapping data assosiation time 30.708030 ms 
--------------------stamp1317358071.137990951
prepare time 13.732009 
sort q time 5.617005 
seperate points time 13.705383 
publication time 6.760222 ms 
whole laserOdometry time 6.770370 ms 
 
-----t: 0.0466912
OdomCount 2977 & avg odom time 0.047683 ms ++++++++++++++++++++++
mapping solver time 21.917248 ms 
mapping optimization time 192.214886 
add points time 1.460991 ms
filter time 14.695198 ms 
map prepare time 5.269536 ms
map corner num 213015  surf num 102905 
prepare time 15.728522 
sort q time 5.406399 
seperate points time 13.089374 
publication time 9.005659 ms 
build tree time 61.394397 ms 
mapping data assosiation time 31.691359 ms 
points size 94506 
mapping solver time 39.188097 ms -----t: 0.0334572
OdomCount 2979 & avg odom time 0.047676 ms ++++++++++++++++++++++
1317358071.346040964 WriteOdom laser_odom_to_init
1317358071.346040964 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 38.401922 ms 
mapping optimization time 203.348390 
points size 94801 
mapping pub time 2.316904 ms publication time 9.462824 ms 
whole laserOdometry time 9.481246 ms 
 
-----t: 0.0532331
OdomCount 2980 & avg odom time 0.047678 ms ++++++++++++++++++++++build tree time 56.831056 ms 
--------------------stamp1317358071.554003000
prepare time 12.039982 
sort q time 6.023970 
seperate points time 12.488559 
publication time 8.260966 ms 
whole laserOdometry time 8.275962 ms 
 
mapping solver time 36.027785 ms 
mapping data assosiation time 29.646881 ms 
--------------------stamp1317358071.657969951
points size 92804 
sort q time 5.163809 
seperate points time 12.813815 
scan registration time 31.953266 ms *************
publication time 14.850843 ms 
whole laserOdometry time 14.862544 ms 
 
--------------------stamp1317358071.761934995
points size 92853 
sort q time 6.150035 
seperate points time 14.818365 
publication time 7.993825 ms 
whole laserOdometry time 8.007095 ms 
 
mapping solver time 38.505525 ms 
--------------------stamp1317358071.865901947
mapping data assosiation time 33.631232 ms 
sort q time 5.224998 
seperate points time 12.534741 
publication time 6.968903 ms 
whole laserOdometry time 6.983905 ms 
 
mapping pub time 2.185105 ms 
whole mapping time 220.923787 ms +++++
mappingCount 1857 & avg mapping time 161.915562 ms ++++++++++++++++++++++
--------------------stamp1317358071.969846010
points size 93940 
sort q time 5.716197 
seperate points time 12.695760 
publication time 6.387334 ms 
whole laserOdometry time 6.401000 ms 
 
mapping data assosiation time 37.754288 ms 
mapping solver time 34.724409 ms 
points size 94275 
sort q time 6.119791 
seperate points time 12.037291 
publication time 8.732619 ms 
whole laserOdometry time 8.745197 ms 
 
mapping solver time 33.868534 ms 
filter time 14.574321 ms 
--------------------stamp1317358072.177731037
points size 94668 
sort q time 5.430585 
seperate points time 12.468813 
build tree time 61.535513 ms 
-----t: 0.042112
OdomCount 2987 & avg odom time 0.047670 ms ++++++++++++++++++++++
mapping data assosiation time 30.981428 ms 
--------------------stamp1317358072.281673908
prepare time 13.017615 
sort q time 5.709274 
seperate points time 12.796435 
publication time 9.361558 ms 
whole laserOdometry time 9.380921 ms 
 
mapping solver time 38.610103 ms 
filter time 14.902203 ms 
points size 96992 
sort q time 5.657234 
seperate points time 12.927497 
publication time 8.291174 ms 
whole laserOdometry time 8.305313 ms 
 
build tree time 57.697823 ms 
-----t: 0.0710122
OdomCount 2989 & avg odom time 0.047677 ms ++++++++++++++++++++++
mapping data assosiation time 39.039687 ms 
points size 98168 
mapping solver time 36.000761 ms 
publication time 8.881636 ms 
whole laserOdometry time 8.933662 ms 
 
-----t: 0.0633333
OdomCount 2990 & avg odom time 0.047682 ms ++++++++++++++++++++++
mapping solver time 29.362840 ms 
points size 99860 
map prepare time 3.696797 ms
map corner num 212789  surf num 102670 
publication time 8.377120 ms 
whole laserOdometry time 8.391360 ms 
 
-----t: 0.042094
OdomCount 2991 & avg odom time 0.047680 ms ++++++++++++++++++++++
build tree time 61.189170 ms 
points size 100862 
sort q time 6.113392 
seperate points time 14.165236 
publication time 6.647337 ms 
whole laserOdometry time 6.663040 ms 
 
mapping data assosiation time 34.905857 ms 
points size 101572 
mapping solver time 31.234506 ms 
publication time 6.780380 ms 
whole laserOdometry time 6.792785 ms 
 
[0m[ INFO] [1718805359.711709854, 1317358072.854952620]: Received 316729 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805359.711749716, 1317358072.854952620]: Data saved to 1317358072385617.pcd[0m
-----t: 0.0553557
OdomCount 2993 & avg odom time 0.047694 ms ++++++++++++++++++++++
--------------------stamp1317358072.905163049
prepare time 12.695071 
sort q time 5.764412 
seperate points time 12.191008 
publication time 8.245719 ms 
whole laserOdometry time 8.258065 ms 
 
-----t: 0.0429512
OdomCount 2994 & avg odom time 0.047692 ms ++++++++++++++++++++++
1317358072.905163049 WriteOdom laser_odom_to_init
1317358072.905163049 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 118.064717 ms 
whole mapping time 352.111299 ms +++++
mappingCount 1861 & avg mapping time 162.118958 ms ++++++++++++++++++++++
1317358072.385617971 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 3.656177 ms
map corner num 213695  surf num 103034 
--------------------stamp1317358073.009082078
prepare time 11.817719 
build tree time 54.814151 ms 
mapping data assosiation time 31.481682 ms 
mapping solver time 36.319224 ms 
--------------------stamp1317358073.112999916
points size 101464 
sort q time 5.745887 
seperate points time 13.651611 
-----t: 0.0384762
OdomCount 2996 & avg odom time 0.047686 ms ++++++++++++++++++++++
1317358073.112999916 WriteOdom laser_odom_to_init
1317358073.112999916 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.218693 ms 
mapping optimization time 194.964250 
add points time 0.978579 ms
publication time 8.150253 ms 
whole laserOdometry time 8.163580 ms 
 
filter time 16.061355 ms 
--------------------stamp1317358073.216943025
points size 101374 
sort q time 6.228509 
seperate points time 14.417967 
publication time 7.509230 ms 
whole laserOdometry time 7.522643 ms 
 
1317358073.216943025 WriteOdom laser_odom_to_init
--------------------stamp1317358073.320887088
points size 101441 
sort q time 5.916368 
seperate points time 13.117000 
mapping data assosiation time 35.036776 ms 
-----t: 0.0416718
OdomCount 2998 & avg odom time 0.047685 ms ++++++++++++++++++++++
filter time 15.450596 ms 
--------------------stamp1317358073.424803972
prepare time 13.391110 
sort q time 5.893414 
seperate points time 13.704852 
publication time 12.168121 ms 
whole laserOdometry time 12.194401 ms 
 
mapping data assosiation time 31.720436 ms 
-----t: 0.0705366
OdomCount 2999 & avg odom time 0.047693 ms ++++++++++++++++++++++
1317358073.424803972 WriteOdom laser_odom_to_init
1317358073.424803972 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358073.528723001
prepare time 13.023407 
sort q time 6.196419 
seperate points time 13.568630 
mapping data assosiation time 34.487884 ms 
-----t: 0.0424043
OdomCount 3000 & avg odom time 0.047691 ms ++++++++++++++++++++++
filter time 14.267606 ms 
--------------------stamp1317358073.632641077
prepare time 13.474775 
sort q time 6.434759 
seperate points time 13.628837 
build tree time 58.989023 ms 
-----t: 0.0421438
OdomCount 3001 & avg odom time 0.047689 ms ++++++++++++++++++++++
mapping data assosiation time 32.652965 ms 
--------------------stamp1317358073.736584901
mapping data assosiation time 38.532556 ms 
publication time 9.139968 ms 
whole laserOdometry time 9.153658 ms 
 
mapping solver time 24.597611 ms 
mapping pub time 2.424466 ms 
whole mapping time 213.211261 ms +++++
-----t: 0.0867082
OdomCount 3002 & avg odom time 0.047702 ms ++++++++++++++++++++++
points size 99498 
sort q time 6.390385 
seperate points time 12.608526 
scan registration time 30.646430 ms *************
build tree time 62.314804 ms 
-----t: 0.048253
OdomCount 3003 & avg odom time 0.047702 ms ++++++++++++++++++++++
1317358073.840553045 WriteOdom laser_odom_to_init
1317358073.840553045 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.136773 ms 
--------------------stamp1317358073.944519042
points size 99219 
sort q time 5.888877 
seperate points time 12.391705 
publication time 7.988178 ms 
whole laserOdometry time 8.002878 ms 
 
mapping solver time 24.262492 ms 
filter time 15.050253 ms 
mapping pub time 11.632990 ms 
whole mapping time 202.534727 ms +++++
mappingCount 1866 & avg mapping time 162.248699 ms ++++++++++++++++++++++
--------------------stamp1317358074.048484086
points size 98516 
sort q time 5.482203 
seperate points time 13.199347 
build tree time 60.362550 ms 
-----t: 0.0545451
OdomCount 3005 & avg odom time 0.047704 ms ++++++++++++++++++++++
mapping data assosiation time 32.776780 ms 
--------------------stamp1317358074.152499914
prepare time 11.667544 
sort q time 5.632559 
seperate points time 12.582735 
mapping data assosiation time 36.170843 ms 
-----t: 0.0477536
OdomCount 3006 & avg odom time 0.047704 ms ++++++++++++++++++++++
mapping solver time 30.933312 ms 
filter time 14.382412 ms 
points size 98066 
prepare time 11.702226 
scan registration time 29.421194 ms *************
publication time 9.880073 ms 
whole laserOdometry time 9.894039 ms 
 
build tree time 63.925109 ms 
mapping data assosiation time 29.638178 ms 
--------------------stamp1317358074.360743045
mapping solver time 29.829884 ms 
publication time 8.713310 ms 
whole laserOdometry time 8.761392 ms 
 
-----t: 0.0508035
OdomCount 3008 & avg odom time 0.047703 ms ++++++++++++++++++++++
mapping solver time 22.840779 ms 
filter time 16.979891 ms 
points size 98669 
sort q time 5.774007 
seperate points time 12.924210 
publication time 7.001609 ms 
whole laserOdometry time 7.014320 ms 
 
-----t: 0.0417908
OdomCount 3009 & avg odom time 0.047701 ms ++++++++++++++++++++++
build tree time 62.410345 ms 
mapping data assosiation time 26.368497 ms 
--------------------stamp1317358074.569206953
points size 98911 
sort q time 5.670222 
seperate points time 12.832227 
mapping solver time 44.820327 ms 
scan registration time 34.399398 ms *************
publication time 6.933001 ms 
whole laserOdometry time 7.032518 ms 
 
mapping data assosiation time 33.862050 ms 
--------------------stamp1317358074.673507928
mapping solver time 48.871781 ms 
-----t: 0.117523
OdomCount 3010 & avg odom time 0.047725 ms ++++++++++++++++++++++
scan registration time 41.816913 ms *************
-----t: 0.0401076
OdomCount 3011 & avg odom time 0.047722 ms ++++++++++++++++++++++
1317358074.673507928 WriteOdom laser_odom_to_init
1317358074.673507928 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358074.777858018
prepare time 12.835432 
sort q time 6.202114 
seperate points time 17.647759 
mapping data assosiation time 35.308731 ms 
publication time 11.469078 ms 
whole laserOdometry time 11.483033 ms 
 
mapping solver time 42.694343 ms 
-----t: 0.09188
OdomCount 3012 & avg odom time 0.047737 ms ++++++++++++++++++++++
sort q time 7.638580 
seperate points time 13.533879 
publication time 13.084976 ms 
whole laserOdometry time 13.098487 ms 
 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358074.986659049
prepare time 11.590579 
sort q time 5.321795 
seperate points time 11.980453 
publication time 10.535016 ms 
whole laserOdometry time 10.548897 ms 
 
-----t: 0.046498
OdomCount 3014 & avg odom time 0.047738 ms ++++++++++++++++++++++
mapping solver time 33.091806 ms 
points size 99985 
sort q time 5.432486 
seperate points time 12.356363 
publication time 8.462633 ms 
whole laserOdometry time 8.478984 ms 
 
add points time 0.933088 ms
filter time 15.045733 ms 
mapping pub time 9.728087 ms 
whole mapping time 220.000572 ms +++++
mappingCount 1871 & avg mapping time 162.418892 ms ++++++++++++++++++++++
--------------------stamp1317358075.195431947
points size 100488 
sort q time 6.264482 
seperate points time 13.119737 
build tree time 61.375949 ms 
1317358075.195431947 WriteOdom laser_odom_to_init
1317358075.195431947 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358075.299782991
points size 100817 
mapping solver time 36.540797 ms 
prepare time 17.125770 
scan registration time 36.773132 ms *************
mapping data assosiation time 36.039123 ms 
-----t: 0.0576242
OdomCount 3017 & avg odom time 0.047738 ms ++++++++++++++++++++++
mapping solver time 33.233503 ms 
filter time 17.208399 ms 
points size 100736 
sort q time 5.991916 
seperate points time 11.786141 
publication time 8.847924 ms 
whole laserOdometry time 8.868573 ms 
 
-----t: 0.0536891
OdomCount 3018 & avg odom time 0.047740 ms ++++++++++++++++++++++
1317358075.404131889 WriteOdom laser_odom_to_init
--------------------stamp1317358075.508457899
prepare time 12.212990 
sort q time 5.658740 
seperate points time 13.398001 
mapping solver time 41.076465 ms 
-----t: 0.0511298
OdomCount 3019 & avg odom time 0.047741 ms ++++++++++++++++++++++
1317358075.508457899 WriteOdom laser_odom_to_init
1317358075.508457899 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358075.612760066
prepare time 13.446836 
sort q time 5.620696 
seperate points time 11.986336 
map prepare time 5.130991 ms
map corner num 224847  surf num 107503 
publication time 10.600403 ms 
whole laserOdometry time 10.614176 ms 
 
-----t: 0.0532267
OdomCount 3020 & avg odom time 0.047743 ms ++++++++++++++++++++++
build tree time 54.671468 ms 
--------------------stamp1317358075.717036962
points size 101384 
mapping data assosiation time 33.490331 ms 
publication time 9.750650 ms 
whole laserOdometry time 9.765226 ms 
 
mapping solver time 39.773412 ms 
-----t: 0.0571812
OdomCount 3021 & avg odom time 0.047746 ms ++++++++++++++++++++++
--------------------stamp1317358075.821269035
points size 101332 
mapping solver time 34.603690 ms 
scan registration time 37.010560 ms *************
drop lidar frame in mapping for real time performance 
-----t: 0.0619438
OdomCount 3022 & avg odom time 0.047751 ms ++++++++++++++++++++++
--------------------stamp1317358075.925452947
prepare time 11.488248 
sort q time 6.111658 
seperate points time 13.215651 
publication time 10.184343 ms 
whole laserOdometry time 10.198247 ms 
 
mapping solver time 35.358640 ms 
--------------------stamp1317358076.029637098
prepare time 11.239924 
sort q time 5.733575 
seperate points time 12.827806 
publication time 8.794865 ms 
whole laserOdometry time 8.807499 ms 
 
filter time 15.531862 ms 
--------------------stamp1317358076.133796930
prepare time 12.848865 
sort q time 5.613527 
seperate points time 13.007036 
build tree time 62.173981 ms 
-----t: 0.0520236
OdomCount 3025 & avg odom time 0.047752 ms ++++++++++++++++++++++
mapping data assosiation time 33.596255 ms 
--------------------stamp1317358076.237883090
prepare time 13.737658 
mapping data assosiation time 37.228980 ms 
1317358076.237883090 WriteOdom laser_odom_to_init
1317358076.237883090 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 34.235064 ms 
filter time 16.029268 ms 
drop lidar frame in mapping for real time performance 
prepare time 18.192368 
sort q time 5.855906 
seperate points time 13.134497 
publication time 9.881587 ms 
whole laserOdometry time 9.898901 ms 
 
build tree time 59.334498 ms 
--------------------stamp1317358076.445913076
prepare time 13.243369 
scan registration time 32.005374 ms *************
publication time 8.715857 ms 
whole laserOdometry time 8.726030 ms 
 
-----t: 0.0504362
OdomCount 3028 & avg odom time 0.047758 ms ++++++++++++++++++++++
1317358076.445913076 WriteOdom laser_odom_to_init
1317358076.445913076 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 33.146530 ms 
mapping solver time 22.124689 ms 
--------------------stamp1317358076.549853086
filter time 18.553577 ms 
map prepare time 4.869196 ms
map corner num 228237  surf num 108632 
scan registration time 33.191480 ms *************
publication time 9.687484 ms 
whole laserOdometry time 9.698573 ms 
 
-----t: 0.0454442
OdomCount 3029 & avg odom time 0.047757 ms ++++++++++++++++++++++
1317358076.549853086 WriteOdom laser_odom_to_init
1317358076.549853086 WriteOdom aft_mapped_to_init_high_frec
build tree time 64.084138 ms 
--------------------stamp1317358076.653749942
points size 101086 
sort q time 5.774458 
seperate points time 11.251853 
publication time 9.012646 ms 
whole laserOdometry time 9.024707 ms 
 
mapping solver time 48.386177 ms 
mapping data assosiation time 38.285579 ms 
points size 101192 
mapping solver time 34.913425 ms 
filter time 17.269460 ms 
-----t: 0.064167
OdomCount 3031 & avg odom time 0.047784 ms ++++++++++++++++++++++
--------------------stamp1317358076.861563920
points size 101296 
build tree time 65.299474 ms 
publication time 9.691985 ms 
whole laserOdometry time 9.705725 ms 
 
mapping solver time 33.615334 ms 
--------------------stamp1317358076.965481996
prepare time 12.850376 
sort q time 6.287033 
seperate points time 13.548526 
publication time 10.744291 ms 
whole laserOdometry time 10.758346 ms 
 
-----t: 0.0576536
OdomCount 3033 & avg odom time 0.047786 ms ++++++++++++++++++++++
1317358076.965481996 WriteOdom laser_odom_to_init
mapping pub time 2.542948 ms 
whole mapping time 242.410778 ms +++++
mappingCount 1879 & avg mapping time 162.714601 ms ++++++++++++++++++++++
--------------------stamp1317358077.069400072
prepare time 12.733359 
sort q time 5.944585 
seperate points time 13.486203 
publication time 11.159845 ms 
whole laserOdometry time 11.173873 ms 
 
mapping data assosiation time 33.540384 ms 
points size 100946 
sort q time 5.871459 
seperate points time 14.428701 
publication time 11.555174 ms 
whole laserOdometry time 11.570916 ms 
 
mapping data assosiation time 34.991308 ms 
--------------------stamp1317358077.277264118
points size 100985 
filter time 19.009190 ms 
publication time 10.692476 ms 
whole laserOdometry time 10.709333 ms 
 
-----t: 0.0537954
OdomCount 3036 & avg odom time 0.047790 ms ++++++++++++++++++++++
build tree time 57.211394 ms 
points size 101105 
mapping data assosiation time 33.337605 ms 
scan registration time 47.428814 ms *************
mapping solver time 42.609285 ms 
mapping data assosiation time 30.944395 ms 
points size 101151 
mapping optimization time 191.154108 
add points time 0.929215 ms
filter time 21.163616 ms 
[0m[ INFO] [1718805364.392750937, 1317358077.532172896]: Received 341153 data points in frame camera_init with the following fields: x y z intensity[0m
-----t: 0.0495801
OdomCount 3038 & avg odom time 0.047793 ms ++++++++++++++++++++++
--------------------stamp1317358077.589184045
points size 101191 
sort q time 6.461042 
seperate points time 14.422674 
-----t: 0.0406977
OdomCount 3039 & avg odom time 0.047791 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 
--------------------stamp1317358077.693173885points size 101055 
prepare time 15.942194 
sort q time 5.915155 
seperate points time 13.805192 
publication time 10.485112 ms 
whole laserOdometry time 10.497856 ms 
 
-----t: 0.0517383
OdomCount 3040 & avg odom time 0.047792 ms ++++++++++++++++++++++
--------------------stamp1317358077.797117948
points size 100951 
sort q time 7.734372 
seperate points time 17.482353 
-----t: 0.0472274
OdomCount 3041 & avg odom time 0.047792 ms ++++++++++++++++++++++
mapping solver time 32.768599 ms 
filter time 15.289724 ms 
points size 101026 
sort q time 5.992833 
seperate points time 14.580041 
publication time 10.196691 ms 
whole laserOdometry time 10.210986 ms 
 
build tree time 68.526582 ms 
--------------------stamp1317358078.004956007
points size 100989 
sort q time 5.951612 
seperate points time 14.484704 
mapping solver time 44.401994 ms 
publication time 14.205878 ms 
whole laserOdometry time 14.219023 ms 
 
mapping data assosiation time 34.101159 ms 
--------------------stamp1317358078.108875036
prepare time 11.368976 
sort q time 6.364291 
seperate points time 13.584571 
mapping pub time 2.604944 ms 
whole mapping time 246.656424 ms +++++
mappingCount 1883 & avg mapping time 162.942968 ms ++++++++++++++++++++++
publication time 10.815750 ms 
whole laserOdometry time 10.829819 ms 
 
-----t: 0.0591869
OdomCount 3044 & avg odom time 0.047797 ms ++++++++++++++++++++++
--------------------stamp1317358078.212769985
prepare time 14.201735 
sort q time 6.285892 
seperate points time 14.007563 
mapping data assosiation time 39.313148 ms 
-----t: 0.057293
OdomCount 3045 & avg odom time 0.047801 ms ++++++++++++++++++++++
1317358078.212769985 WriteOdom laser_odom_to_init
1317358078.212769985 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 48.490005 ms 
points size 99528 
mapping data assosiation time 34.962109 ms 
publication time 7.675885 ms 
whole laserOdometry time 7.689609 ms 
 
-----t: 0.0574448
OdomCount 3046 & avg odom time 0.047804 ms ++++++++++++++++++++++
1317358078.316641092 WriteOdom laser_odom_to_init
1317358078.316641092 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.385331 ms 
whole mapping time 247.839002 ms +++++
mappingCount 1884 & avg mapping time 162.988031 ms ++++++++++++++++++++++
--------------------stamp1317358078.420535087
points size 98893 
sort q time 7.239686 
seperate points time 14.565151 
build tree time 64.851670 ms 
mapping data assosiation time 33.949539 ms 
--------------------stamp1317358078.524430036
prepare time 13.199346 
sort q time 5.814155 
seperate points time 13.884465 
publication time 11.636369 ms 
whole laserOdometry time 11.650498 ms 
 
mapping data assosiation time 38.826734 ms 
mapping solver time 24.640688 ms 
filter time 15.680932 ms 
--------------------stamp1317358078.628303050
mapping pub time 2.862206 ms 
whole mapping time 227.324846 ms +++++
mappingCount 1885 & avg mapping time 163.022167 ms ++++++++++++++++++++++
1317358078.108875036 WriteOdom aft_mapped_to_init
sort q time 7.236331 
seperate points time 13.821702 
publication time 9.269090 ms 
whole laserOdometry time 9.298052 ms 
 
build tree time 66.066706 ms 
--------------------stamp1317358078.732171058
points size 97329 
scan registration time 33.292317 ms *************
mapping solver time 43.027801 ms 
mapping data assosiation time 32.808080 ms 
--------------------stamp1317358078.836016893
prepare time 16.705062 
filter time 25.449634 ms 
map prepare time 5.374345 ms
map corner num 234359  surf num 110917 
publication time 9.987518 ms 
whole laserOdometry time 10.016082 ms 
 
--------------------stamp1317358078.939819097
points size 95463 
sort q time 5.444713 
seperate points time 13.136182 
publication time 9.598685 ms 
whole laserOdometry time 9.614746 ms 
 
-----t: 0.0527011
OdomCount 3052 & avg odom time 0.047801 ms ++++++++++++++++++++++
--------------------stamp1317358079.043596982
points size 94506 
prepare time 14.162588 
scan registration time 29.736903 ms *************
publication time 11.698538 ms 
whole laserOdometry time 11.710880 ms 
 
-----t: 0.0560713
OdomCount 3053 & avg odom time 0.047804 ms ++++++++++++++++++++++
1317358079.043596982 WriteOdom laser_odom_to_init
1317358079.043596982 WriteOdom aft_mapped_to_init_high_frec
filter time 18.356452 ms 
points size 93426 
sort q time 5.775609 
seperate points time 13.415185 
scan registration time 32.759980 ms *************
-----t: 0.0436126
OdomCount 3054 & avg odom time 0.047802 ms ++++++++++++++++++++++
build tree time 68.660188 ms 
--------------------stamp1317358079.251192092
prepare time 11.730355 
prepare time 14.719906 
sort q time 5.826902 
seperate points time 13.324714 
filter time 27.314131 ms 
--------------------stamp1317358079.458811998
prepare time 12.601786 
scan registration time 30.550340 ms *************
publication time 12.792196 ms 
whole laserOdometry time 12.805965 ms 
 
mapping solver time 36.491510 ms 
points size 91046 
sort q time 5.413108 
seperate points time 12.602241 
publication time 11.116412 ms 
whole laserOdometry time 11.189977 ms 
 
-----t: 0.0470863
OdomCount 3058 & avg odom time 0.047806 ms ++++++++++++++++++++++
1317358079.562634944 WriteOdom laser_odom_to_init
1317358079.562634944 WriteOdom aft_mapped_to_init_high_frec
filter time 15.490390 ms 
mapping pub time 2.063618 ms 
whole mapping time 241.687062 ms +++++
mappingCount 1889 & avg mapping time 163.212336 ms ++++++++++++++++++++++
1317358079.147396088 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 3.834533 ms
map corner num 236083  surf num 111560 
points size 90876 
sort q time 6.248496 
seperate points time 13.135344 
publication time 10.064552 ms 
whole laserOdometry time 10.078521 ms 
 build tree time 71.925965 ms 
mapping data assosiation time 30.726320 ms 
points size 90634 
sort q time 5.111484 
seperate points time 11.447830 
publication time 11.722195 ms 
whole laserOdometry time 11.737072 ms 
 
mapping data assosiation time 36.308496 ms 
--------------------stamp1317358079.874080896
points size 90322 
filter time 22.320719 ms 
publication time 9.117323 ms 
whole laserOdometry time 9.130929 ms 
 
build tree time 66.060771 ms 
prepare time 11.721846 
sort q time 5.534537 
seperate points time 12.365177 
publication time 9.074417 ms 
whole laserOdometry time 9.105549 ms 
 
-----t: 0.0480779
OdomCount 3062 & avg odom time 0.047803 ms ++++++++++++++++++++++
mapping solver time 41.810192 ms 
--------------------stamp1317358080.081603050
prepare time 11.542915 
sort q time 4.746952 
seperate points time 10.201800 
publication time 9.044200 ms 
whole laserOdometry time 9.073789 ms 
 
mapping pub time 6.601085 ms 
whole mapping time 234.986520 ms +++++
mappingCount 1891 & avg mapping time 163.293731 ms ++++++++++++++++++++++
--------------------stamp1317358080.185355901
points size 89859 
sort q time 5.216919 
seperate points time 12.078652 
publication time 7.841312 ms 
whole laserOdometry time 7.858140 ms 
 
-----t: 0.0496945
OdomCount 3064 & avg odom time 0.047805 ms ++++++++++++++++++++++
--------------------stamp1317358080.289083003
points size 89172 
prepare time 16.026626 
sort q time 6.311243 
seperate points time 14.591013 
publication time 8.407474 ms 
whole laserOdometry time 8.419884 ms 
 
-----t: 0.0580752
OdomCount 3065 & avg odom time 0.047808 ms ++++++++++++++++++++++
1317358080.289083003 WriteOdom laser_odom_to_init
1317358080.289083003 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 37.207652 ms 
mapping optimization time 219.945379 
add points time 0.926272 ms
filter time 17.664358 ms 
map prepare time 5.024483 ms
map corner num 237691  surf num 112009 
prepare time 14.024642 
sort q time 5.443704 
seperate points time 12.754326 
publication time 8.276523 ms 
whole laserOdometry time 8.308067 ms 
 
build tree time 69.031043 ms 
--------------------stamp1317358080.496583938
prepare time 12.699359 
sort q time 5.988176 
seperate points time 12.041943 
mapping solver time 41.653223 ms 
-----t: 0.0435526
OdomCount 3067 & avg odom time 0.047805 ms ++++++++++++++++++++++
mapping data assosiation time 30.088445 ms 
mapping solver time 26.898951 ms 
points size 85320 
mapping pub time 2.241679 ms 
whole mapping time 229.678532 ms +++++
mappingCount 1893 & avg mapping time 163.371759 ms ++++++++++++++++++++++
publication time 7.607402 ms 
whole laserOdometry time 7.622574 ms 
 
-----t: 0.0419123
OdomCount 3068 & avg odom time 0.047803 ms ++++++++++++++++++++++
build tree time 64.574423 ms 
points size 84286 
mapping data assosiation time 31.239241 ms 
publication time 7.746403 ms 
whole laserOdometry time 7.776200 ms 
 
mapping solver time 44.213615 ms 
mapping data assosiation time 28.242000 ms 
--------------------stamp1317358080.807956933
prepare time 11.712124 
sort q time 5.460222 
seperate points time 11.793488 
filter time 25.289249 ms 
-----t: 0.0406236
OdomCount 3070 & avg odom time 0.047800 ms ++++++++++++++++++++++
--------------------stamp1317358080.911756038
points size 83437 
sort q time 5.220992 
seperate points time 12.463691 
scan registration time 44.540795 ms *************
-----t: 0.0444336
OdomCount 3071 & avg odom time 0.047798 ms ++++++++++++++++++++++
publication time 7.785235 ms 
whole laserOdometry time 7.825013 ms 
 
mapping solver time 42.335201 ms 
points size 82838 
scan registration time 30.565278 ms *************
publication time 7.084884 ms 
whole laserOdometry time 7.096776 ms 
 
mapping solver time 43.204976 ms 
mapping pub time 2.047972 ms 
whole mapping time 261.804420 ms +++++
mappingCount 1895 & avg mapping time 163.456973 ms ++++++++++++++++++++++
points size 82331 
sort q time 4.892799 
seperate points time 9.668008 
publication time 7.683458 ms 
whole laserOdometry time 7.710222 ms 
 
-----t: 0.0475493
OdomCount 3073 & avg odom time 0.047795 ms ++++++++++++++++++++++
build tree time 76.017133 ms 
--------------------stamp1317358081.223202943
prepare time 11.539462 
sort q time 4.811794 
seperate points time 11.287354 
mapping solver time 34.411080 ms 
-----t: 0.0398681
OdomCount 3074 & avg odom time 0.047793 ms ++++++++++++++++++++++
publication time 13.815873 ms 
whole laserOdometry time 13.831311 ms 
 
mapping data assosiation time 31.670683 ms 
mapping solver time 19.645209 ms 
--------------------stamp1317358081.327075004
points size 81801 
publication time 7.389462 ms 
whole laserOdometry time 7.686538 ms 
 
build tree time 37.807849 ms 
mapping data assosiation time 25.667074 ms 
--------------------stamp1317358081.430941104
prepare time 11.593667 
sort q time 6.145374 
seperate points time 11.254483 
publication time 8.611194 ms 
whole laserOdometry time 8.619976 ms 
 
mapping data assosiation time 28.832576 ms 
mapping solver time 26.500159 ms 
mapping optimization time 159.178164 
add points time 1.210464 ms
--------------------stamp1317358081.534818887
prepare time 13.278603 
sort q time 4.577610 
seperate points time 10.877094 
publication time 7.615044 ms 
whole laserOdometry time 7.628165 ms 
 
-----t: 0.047952
OdomCount 3077 & avg odom time 0.047791 ms ++++++++++++++++++++++
mapping solver time 25.333832 ms 
--------------------stamp1317358081.638714075
points size 81269 
sort q time 4.661112 
seperate points time 10.812779 
filter time 10.107597 ms 
build tree time 28.809148 ms 
--------------------stamp1317358081.742647886
points size 81793 
sort q time 4.729044 
seperate points time 11.359678 
scan registration time 31.741130 ms *************
-----t: 0.04411
OdomCount 3079 & avg odom time 0.047787 ms ++++++++++++++++++++++
mapping data assosiation time 28.067510 ms 
mapping solver time 17.100743 ms 
filter time 9.111676 ms 
--------------------stamp1317358081.846590042
points size 81996 
sort q time 5.119925 
seperate points time 11.748376 
scan registration time 28.020856 ms *************
-----t: 0.0435029
OdomCount 3080 & avg odom time 0.047786 ms ++++++++++++++++++++++
mapping solver time 27.274794 ms 
--------------------stamp1317358081.950532913
points size 82212 
mapping data assosiation time 27.854197 ms 
publication time 8.988803 ms 
whole laserOdometry time 9.003025 ms 
 
filter time 9.253510 ms 
build tree time 25.870090 ms 
--------------------stamp1317358082.054500102
mapping data assosiation time 26.159407 ms 
publication time 7.487547 ms 
whole laserOdometry time 7.501508 ms 
 
1317358082.054500102 WriteOdom laser_odom_to_init
mapping data assosiation time 23.720453 ms 
mapping solver time 22.911888 ms 
filter time 10.780103 ms 
sort q time 5.807244 
seperate points time 13.049003 
publication time 7.774536 ms 
whole laserOdometry time 7.793870 ms 
 
1317358082.158490896 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358082.262481927
points size 82705 
sort q time 4.881259 
seperate points time 11.415300 
-----t: 0.0363667
OdomCount 3084 & avg odom time 0.047773 ms ++++++++++++++++++++++
mapping data assosiation time 24.787965 ms 
mapping solver time 26.913308 ms 
points size 82550 
sort q time 5.609734 
seperate points time 13.480884 
publication time 6.124728 ms 
whole laserOdometry time 6.136911 ms 
 
add points time 1.023167 ms
mapping pub time 1.889963 ms 
whole mapping time 165.178481 ms +++++
mappingCount 1902 & avg mapping time 163.541146 ms ++++++++++++++++++++++
build tree time 26.335146 ms 
points size 83051 
mapping data assosiation time 25.626991 ms 
publication time 7.229638 ms 
whole laserOdometry time 7.241066 ms 
 
mapping solver time 33.920741 ms 
mapping data assosiation time 21.255997 ms 
mapping solver time 20.879431 ms 
filter time 9.991097 ms 
sort q time 4.790729 
seperate points time 10.934570 
publication time 9.320467 ms 
whole laserOdometry time 9.339209 ms 
 
mapping data assosiation time 21.334591 ms 
mapping solver time 25.271850 ms 
points size 80590 
mapping data assosiation time 25.829968 ms 
publication time 7.736338 ms 
whole laserOdometry time 7.750857 ms 
 
drop lidar frame in mapping for real time performance 
build tree time 31.834065 ms 
points size 78926 
sort q time 5.021261 
seperate points time 11.932194 
publication time 8.887584 ms 
whole laserOdometry time 8.902054 ms 
 
mapping data assosiation time 22.217714 ms 
mapping solver time 21.040914 ms 
--------------------stamp1317358082.886281013
prepare time 10.891974 
sort q time 4.789069 
seperate points time 10.504535 
publication time 8.024503 ms 
whole laserOdometry time 8.038513 ms 
 
mapping data assosiation time 23.166874 ms 
--------------------stamp1317358082.990226984
sort q time 4.324625 
seperate points time 10.492060 
1317358082.990226984 WriteOdom aft_mapped_to_init_high_frec
build tree time 28.886019 ms 
--------------------stamp1317358083.094145059
prepare time 12.343132 
sort q time 4.793435 
seperate points time 10.758710 
mapping solver time 29.174291 ms 
-----t: 0.0467022
OdomCount 3092 & avg odom time 0.047753 ms ++++++++++++++++++++++
1317358083.094145059 WriteOdom laser_odom_to_init
1317358083.094145059 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.703968 ms 
mapping solver time 19.579444 ms 
filter time 8.810992 ms 
points size 77777 
scan registration time 25.587920 ms *************
mapping data assosiation time 25.403189 ms 
mapping solver time 25.728937 ms 
--------------------stamp1317358083.301911115
prepare time 12.749720 
sort q time 4.266897 
seperate points time 10.262180 
filter time 12.192804 ms 
1317358083.301911115 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.373825 ms 
prepare time 10.656761 
sort q time 5.584789 
seperate points time 10.801575 
publication time 7.889811 ms 
whole laserOdometry time 7.903626 ms 
 
mapping data assosiation time 26.981988 ms 
mapping solver time 19.345223 ms 
mapping pub time 1.703605 ms 
whole mapping time 146.389945 ms +++++
mappingCount 1909 & avg mapping time 163.486019 ms ++++++++++++++++++++++
--------------------stamp1317358083.509484052
prepare time 12.423766 
sort q time 4.691702 
seperate points time 11.260196 
mapping data assosiation time 26.840719 ms 
publication time 7.206936 ms 
whole laserOdometry time 7.220257 ms 
 
mapping solver time 27.019116 ms 
mapping data assosiation time 22.152827 ms 
--------------------stamp1317358083.613185882
prepare time 12.963097 
sort q time 4.961894 
seperate points time 11.348581 
mapping pub time 1.921859 ms 
whole mapping time 155.704772 ms +++++
mappingCount 1910 & avg mapping time 163.481947 ms ++++++++++++++++++++++
-----t: 0.0424187
OdomCount 3097 & avg odom time 0.047743 ms ++++++++++++++++++++++
build tree time 31.273887 ms 
mapping data assosiation time 18.852645 ms 
--------------------stamp1317358083.716840028
points size 82103 
prepare time 11.617914 
1317358083.716840028 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.839425 ms 
mapping optimization time 126.951342 
add points time 0.802699 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317358083.820473909
prepare time 11.786382 
sort q time 4.970255 
seperate points time 18.321635 
publication time 9.311936 ms 
mapping solver time 32.563256 ms 
1317358083.820473909 WriteOdom laser_odom_to_init
1317358083.820473909 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.109849 ms 
--------------------stamp1317358083.924151897
points size 83620 
sort q time 4.847454 
seperate points time 11.616699 
-----t: 0.0352871
OdomCount 3100 & avg odom time 0.047742 ms ++++++++++++++++++++++
1317358083.924151897 WriteOdom laser_odom_to_init
1317358083.924151897 WriteOdom aft_mapped_to_init_high_frec
publication time 8.568782 ms 
whole laserOdometry time 8.583227 ms 
 
build tree time 33.094373 ms 
mapping data assosiation time 20.129171 ms 
points size 83557 
sort q time 4.719422 
seperate points time 11.098479 
publication time 8.087651 ms 
whole laserOdometry time 8.100202 ms 
 
mapping solver time 20.055820 ms 
filter time 9.277165 ms 
--------------------stamp1317358084.131724119
points size 82929 
build tree time 34.655719 ms 
publication time 8.218766 ms 
whole laserOdometry time 8.233512 ms 
 
-----t: 0.0566313
OdomCount 3102 & avg odom time 0.047742 ms ++++++++++++++++++++++
1317358084.131724119 WriteOdom laser_odom_to_init
1317358084.131724119 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.061057 ms 
mapping data assosiation time 20.915914 ms 
points size 83266 
mapping solver time 27.033577 ms 
mapping optimization time 138.388861 
add points time 1.021157 ms
-----t: 0.0539048
OdomCount 3103 & avg odom time 0.047744 ms ++++++++++++++++++++++
mapping data assosiation time 20.038841 ms 
points size 84330 
prepare time 11.570488 
publication time 8.239933 ms 
whole laserOdometry time 8.253264 ms 
 
-----t: 0.0537349
OdomCount 3104 & avg odom time 0.047746 ms ++++++++++++++++++++++
map prepare time 2.690281 ms
map corner num 124252  surf num 60226 
--------------------stamp1317358084.443527936
prepare time 11.683274 
sort q time 5.548578 
seperate points time 10.779831 
publication time 7.244581 ms 
whole laserOdometry time 7.258493 ms 
 
mapping data assosiation time 26.193201 ms 
mapping solver time 20.825538 ms 
mapping data assosiation time 20.685860 ms 
points size 89275 
filter time 9.680511 ms 
sort q time 4.880368 
seperate points time 11.165393 
scan registration time 46.879041 ms *************
-----t: 0.0413186
OdomCount 3106 & avg odom time 0.047742 ms ++++++++++++++++++++++
build tree time 36.331934 ms 
mapping data assosiation time 20.323993 ms 
--------------------stamp1317358084.651724100
sort q time 5.409713 
seperate points time 12.128632 
mapping data assosiation time 24.792017 ms 
-----t: 0.0454424
OdomCount 3107 & avg odom time 0.047741 ms ++++++++++++++++++++++
filter time 10.182252 ms 
--------------------stamp1317358084.755856990
points size 91445 
mapping data assosiation time 24.542847 ms 
scan registration time 44.491546 ms *************
mapping solver time 25.424426 ms 
mapping data assosiation time 24.804049 ms 
-----t: 0.0902093
OdomCount 3108 & avg odom time 0.047755 ms ++++++++++++++++++++++
points size 92327 
map prepare time 3.600950 ms
map corner num 125395  surf num 60547 
publication time 9.100501 ms 
whole laserOdometry time 9.115449 ms 
 
-----t: 0.0401378
OdomCount 3109 & avg odom time 0.047752 ms ++++++++++++++++++++++
1317358084.859992980 WriteOdom laser_odom_to_init
1317358084.859992980 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.691497 ms 
--------------------stamp1317358084.964104890
prepare time 13.487587 
sort q time 5.635236 
seperate points time 13.214812 
mapping data assosiation time 34.371267 ms 
publication time 12.388150 ms 
whole laserOdometry time 12.401633 ms 
 
mapping solver time 31.656397 ms 
filter time 13.930509 ms 
map prepare time 3.735476 ms
map corner num 125822  surf num 60678 
--------------------stamp1317358085.068191051
prepare time 14.296541 
sort q time 5.532407 
seperate points time 13.194415 
scan registration time 34.138080 ms *************
build tree time 61.523693 ms 
publication time 20.744775 ms 
whole laserOdometry time 20.756917 ms 
 
mapping data assosiation time 40.604936 ms 
points size 94890 
mapping solver time 33.714046 ms 
publication time 9.608011 ms 
whole laserOdometry time 9.689741 ms 
 
-----t: 0.0477998
OdomCount 3112 & avg odom time 0.047768 ms ++++++++++++++++++++++
mapping solver time 31.011894 ms 
filter time 11.421463 ms 
points size 95069 
scan registration time 29.899035 ms *************
publication time 9.136821 ms 
whole laserOdometry time 9.150125 ms 
 
-----t: 0.0506347
OdomCount 3113 & avg odom time 0.047768 ms ++++++++++++++++++++++
1317358085.276292085 WriteOdom laser_odom_to_init
1317358085.276292085 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.551736 ms 
--------------------stamp1317358085.380306005
points size 94017 
mapping optimization time 129.993192 
filter time 18.010181 ms 
-----t: 0.051246
OdomCount 3114 & avg odom time 0.047770 ms ++++++++++++++++++++++
--------------------stamp1317358085.484297990
prepare time 12.744154 
sort q time 5.556699 
seperate points time 12.233232 
mapping pub time 105.327158 ms 
whole mapping time 257.499244 ms +++++
mappingCount 1921 & avg mapping time 163.509951 ms ++++++++++++++++++++++
-----t: 0.042439
OdomCount 3115 & avg odom time 0.047768 ms ++++++++++++++++++++++
build tree time 32.843792 ms 
--------------------stamp1317358085.588239908
prepare time 11.432837 
sort q time 5.901625 
seperate points time 11.555591 
mapping solver time 31.337367 ms 
-----t: 0.0488554
OdomCount 3116 & avg odom time 0.047768 ms ++++++++++++++++++++++
mapping solver time 19.162194 ms 
filter time 11.130202 ms 
points size 91035 
sort q time 5.629647 
seperate points time 12.597995 
build tree time 38.685225 ms 
publication time 10.568762 ms 
whole laserOdometry time 10.587472 ms 
 
mapping solver time 30.171619 ms 
points size 92451 
prepare time 14.388815 
mapping data assosiation time 25.337870 ms 
scan registration time 32.133551 ms *************
mapping optimization time 142.612555 
filter time 13.612111 ms 
-----t: 0.0544587
OdomCount 3118 & avg odom time 0.047771 ms ++++++++++++++++++++++
1317358085.796053886 WriteOdom laser_odom_to_init
1317358085.796053886 WriteOdom aft_mapped_to_init_high_frec
build tree time 38.570568 ms 
prepare time 15.925647 
mapping data assosiation time 24.881679 ms 
mapping solver time 23.651625 ms 
publication time 9.246911 ms 
whole laserOdometry time 9.261058 ms 
 
-----t: 0.0400025
OdomCount 3119 & avg odom time 0.047768 ms ++++++++++++++++++++++
1317358085.899947881 WriteOdom laser_odom_to_init
1317358085.899947881 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.601904 ms 
mapping solver time 23.534731 ms 
mapping pub time 2.172796 ms 
whole mapping time 157.008900 ms +++++
mappingCount 1924 & avg mapping time 163.502981 ms ++++++++++++++++++++++
sort q time 7.345791 
seperate points time 14.911830 
publication time 8.240104 ms 
whole laserOdometry time 8.252411 ms 
 
-----t: 0.0459977
OdomCount 3120 & avg odom time 0.047768 ms ++++++++++++++++++++++
build tree time 56.487465 ms 
mapping data assosiation time 23.841530 ms 
points size 93030 
sort q time 5.843980 
seperate points time 19.929917 
publication time 8.336360 ms 
whole laserOdometry time 8.351010 ms 
 
mapping solver time 19.451936 ms 
filter time 9.074666 ms 
--------------------stamp1317358086.211611032
points size 91615 
sort q time 5.778703 
seperate points time 11.528224 
-----t: 0.0405006
OdomCount 3122 & avg odom time 0.047762 ms ++++++++++++++++++++++
mapping solver time 21.989861 ms 
mapping data assosiation time 18.732702 ms 
points size 90748 
sort q time 5.070792 
seperate points time 11.237714 
map prepare time 4.143814 ms
map corner num 128917  surf num 61597 
-----t: 0.0538859
OdomCount 3123 & avg odom time 0.047764 ms ++++++++++++++++++++++
1317358086.315506935 WriteOdom laser_odom_to_init
1317358086.315506935 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358086.419378042
mapping data assosiation time 25.465460 ms 
prepare time 12.201742 
sort q time 5.062020 
seperate points time 11.674658 
publication time 9.008645 ms 
whole laserOdometry time 9.021937 ms 
 
mapping solver time 17.730689 ms 
filter time 13.364475 ms 
map prepare time 3.944840 ms
map corner num 129364  surf num 61747 
points size 90428 
sort q time 5.178095 
seperate points time 12.160291 
publication time 8.883181 ms 
whole laserOdometry time 8.895343 ms 
 
mapping solver time 24.041506 ms 
--------------------stamp1317358086.627142906
points size 93142 
mapping solver time 18.376306 ms 
filter time 13.496444 ms 
mapping pub time 2.179335 ms 
whole mapping time 153.299058 ms +++++
mappingCount 1928 & avg mapping time 163.495290 ms ++++++++++++++++++++++
1317358086.315506935 WriteOdom aft_mapped_to_init
-----t: 0.0447889
OdomCount 3126 & avg odom time 0.047758 ms ++++++++++++++++++++++
build tree time 38.375069 ms 
--------------------stamp1317358086.731039047
prepare time 12.742101 
scan registration time 29.895272 ms *************
publication time 9.042974 ms 
whole laserOdometry time 9.055784 ms 
 
mapping data assosiation time 24.474396 ms 
add points time 0.895175 ms
filter time 9.489632 ms 
--------------------stamp1317358086.834882974
prepare time 12.597948 
sort q time 5.489952 
seperate points time 11.924100 
publication time 10.507886 ms 
whole laserOdometry time 10.526279 ms 
 
mapping data assosiation time 21.099302 ms 
mapping solver time 20.222237 ms 
filter time 12.069026 ms 
scan registration time 27.447437 ms *************
build tree time 32.586994 ms 
mapping data assosiation time 19.851645 ms 
mapping solver time 25.392907 ms 
points size 90134 
sort q time 4.774270 
seperate points time 11.397511 
add points time 0.793479 ms
filter time 12.655723 ms 
build tree time 30.816704 ms 
--------------------stamp1317358087.146471977
sort q time 5.206724 
seperate points time 11.882810 
mapping data assosiation time 25.833618 ms 
filter time 10.749485 ms 
--------------------stamp1317358087.250366926
sort q time 5.404532 
seperate points time 11.539417 
publication time 12.244756 ms 
whole laserOdometry time 12.258740 ms 
 
1317358087.250366926 WriteOdom laser_odom_to_init
1317358087.250366926 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358087.354283094
points size 92343 
mapping solver time 22.543492 ms 
scan registration time 51.217589 ms *************
publication time 9.853107 ms 
whole laserOdometry time 9.867876 ms 
 
-----t: 0.0671484
OdomCount 3133 & avg odom time 0.047755 ms ++++++++++++++++++++++
build tree time 41.552690 ms 
points size 92859 
sort q time 5.387591 
seperate points time 13.301618 
mapping solver time 24.633930 ms 
publication time 8.963448 ms 
whole laserOdometry time 8.978237 ms 
 
mapping solver time 17.315698 ms 
filter time 9.371900 ms 
--------------------stamp1317358087.562073945
prepare time 12.608660 
sort q time 5.679007 
seperate points time 11.387393 
publication time 8.799205 ms 
whole laserOdometry time 8.812109 ms 
 
-----t: 0.0465918
OdomCount 3135 & avg odom time 0.047755 ms ++++++++++++++++++++++
1317358087.562073945 WriteOdom laser_odom_to_init
1317358087.562073945 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.753349 ms 
--------------------stamp1317358087.665967941
prepare time 11.368795 
mapping pub time 2.131246 ms 
whole mapping time 137.062130 ms +++++
mappingCount 1935 & avg mapping time 163.423222 ms ++++++++++++++++++++++
scan registration time 37.286458 ms *************
-----t: 0.0371892
OdomCount 3136 & avg odom time 0.047751 ms ++++++++++++++++++++++
build tree time 34.533148 ms 
mapping data assosiation time 20.071246 ms 
--------------------stamp1317358087.769839048
prepare time 10.912519 
sort q time 4.969856 
seperate points time 11.707861 
mapping solver time 14.447890 ms 
filter time 10.320256 ms 
map prepare time 2.938460 ms
map corner num 133028  surf num 63000 
build tree time 31.166484 ms 
points size 92422 
scan registration time 31.087091 ms *************
-----t: 0.0365997
OdomCount 3138 & avg odom time 0.047743 ms ++++++++++++++++++++++
mapping solver time 16.349135 ms 
filter time 9.201314 ms 
map prepare time 2.905527 ms
map corner num 133486  surf num 63203 
--------------------stamp1317358087.977629899
points size 91144 
sort q time 4.843069 
seperate points time 11.786224 
mapping data assosiation time 23.118301 ms 
-----t: 0.0393737
OdomCount 3139 & avg odom time 0.047740 ms ++++++++++++++++++++++
1317358087.977629899 WriteOdom laser_odom_to_init
1317358087.977629899 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.885061 ms 
mapping solver time 16.083611 ms 
points size 89953 
filter time 11.385274 ms 
map prepare time 4.157577 ms
map corner num 134067  surf num 63576 
publication time 8.407197 ms 
whole laserOdometry time 8.426450 ms 
 
-----t: 0.0374721
OdomCount 3140 & avg odom time 0.047737 ms ++++++++++++++++++++++
mapping data assosiation time 19.222806 ms 
mapping solver time 16.619965 ms 
--------------------stamp1317358088.185467004
prepare time 11.967300 
sort q time 4.889065 
seperate points time 10.894027 
mapping solver time 20.866856 ms 
publication time 10.177333 ms 
whole laserOdometry time 10.188696 ms 
 
build tree time 29.698882 ms 
--------------------stamp1317358088.289408922
mapping data assosiation time 28.523357 ms 
sort q time 5.099403 
seperate points time 10.064227 
publication time 10.425886 ms 
whole laserOdometry time 10.440683 ms 
 
mapping solver time 12.293041 ms 
mapping optimization time 119.150589 
add points time 0.820259 ms
--------------------stamp1317358088.393352031
prepare time 11.676791 
sort q time 4.937831 
seperate points time 10.174229 
publication time 7.836950 ms 
whole laserOdometry time 7.851589 ms 
 
-----t: 0.0451664
OdomCount 3143 & avg odom time 0.047733 ms ++++++++++++++++++++++
mapping solver time 25.598520 ms 
mapping data assosiation time 21.528896 ms 
--------------------stamp1317358088.601309061
prepare time 14.486087 
mapping pub time 114.155067 ms 
whole mapping time 262.758658 ms +++++
mappingCount 1941 & avg mapping time 163.402080 ms ++++++++++++++++++++++
-----t: 0.0394041
OdomCount 3145 & avg odom time 0.047728 ms ++++++++++++++++++++++
build tree time 31.815167 ms 
mapping data assosiation time 20.070344 ms 
points size 75001 
sort q time 4.007657 
seperate points time 13.070396 
mapping data assosiation time 25.940473 ms 
-----t: 0.0479053
OdomCount 3146 & avg odom time 0.047728 ms ++++++++++++++++++++++
filter time 11.494864 ms 
--------------------stamp1317358088.809288978
prepare time 12.620192 
scan registration time 26.309967 ms *************
mapping data assosiation time 24.713546 ms 
mapping solver time 24.019166 ms 
mapping data assosiation time 20.746644 ms 
mapping solver time 13.946264 ms 
points size 73247 
map prepare time 3.163602 ms
map corner num 136835  surf num 65060 
sort q time 4.036057 
seperate points time 9.342598 
scan registration time 24.254116 ms *************
publication time 12.709001 ms 
whole laserOdometry time 12.735557 ms 
 
mapping data assosiation time 18.650703 ms 
--------------------stamp1317358089.017247915
prepare time 10.319412 
sort q time 3.801684 
seperate points time 8.139508 
mapping data assosiation time 23.513498 ms 
mapping solver time 19.750381 ms 
filter time 13.193180 ms 
build tree time 29.919198 ms 
--------------------stamp1317358089.121216058
points size 70873 
mapping solver time 17.699036 ms 
publication time 6.101446 ms 
whole laserOdometry time 6.114198 ms 
 
mapping solver time 13.103388 ms 
filter time 9.685614 ms 
--------------------stamp1317358089.225183963
prepare time 10.556481 
mapping data assosiation time 18.546439 ms 
-----t: 0.0268814
OdomCount 3151 & avg odom time 0.047703 ms ++++++++++++++++++++++
1317358089.225183963 WriteOdom laser_odom_to_init
1317358089.225183963 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.580604 ms 
publication time 5.275264 ms 
whole laserOdometry time 5.289182 ms 
 
mapping data assosiation time 18.435338 ms 
mapping solver time 16.893469 ms 
filter time 11.136869 ms 
--------------------stamp1317358089.329123973
publication time 7.005909 ms 
whole laserOdometry time 7.018460 ms 
 
-----t: 0.0408945
OdomCount 3152 & avg odom time 0.047701 ms ++++++++++++++++++++++
1317358089.329123973 WriteOdom laser_odom_to_init
1317358089.329123973 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.647040 ms 
mapping solver time 15.654286 ms 
mapping data assosiation time 17.890485 ms 
mapping solver time 12.605501 ms 
1317358089.225183964 WriteOdom aft_mapped_to_init
publication time 7.620594 ms 
whole laserOdometry time 7.634221 ms 
 
-----t: 0.0399086
OdomCount 3153 & avg odom time 0.047699 ms ++++++++++++++++++++++
mapping data assosiation time 15.987725 ms 
mapping solver time 19.506993 ms 
points size 65253 
sort q time 3.865805 
seperate points time 14.856680 
add points time 0.791095 ms
publication time 5.803342 ms 
whole laserOdometry time 5.816175 ms 
 
mapping data assosiation time 14.865962 ms 
points size 63686 
sort q time 3.421941 
seperate points time 8.427947 
publication time 5.380559 ms 
whole laserOdometry time 5.392430 ms 
 
mapping solver time 13.058659 ms 
filter time 11.386305 ms 
--------------------stamp1317358089.744920015
sort q time 3.644496 
seperate points time 7.783739 
publication time 5.582385 ms 
whole laserOdometry time 5.595160 ms 
 
-----t: 0.0327051
OdomCount 3156 & avg odom time 0.047689 ms ++++++++++++++++++++++
mapping solver time 11.497753 ms 
mapping optimization time 104.764071 
add points time 0.712118 ms
map prepare time 2.294883 ms
map corner num 139381  surf num 65817 
--------------------stamp1317358089.848886013
build tree time 32.587523 ms 
publication time 5.683198 ms 
whole laserOdometry time 5.694605 ms 
 
-----t: 0.0337128
OdomCount 3157 & avg odom time 0.047685 ms ++++++++++++++++++++++
mapping data assosiation time 15.189683 ms 
mapping solver time 11.161973 ms 
filter time 9.583925 ms 
--------------------stamp1317358089.952877998
sort q time 3.130918 
seperate points time 7.374871 
build tree time 38.023819 ms 
mapping data assosiation time 17.470229 ms 
mapping solver time 14.886293 ms 
mapping data assosiation time 15.662787 ms 
mapping solver time 11.330249 ms 
mapping optimization time 98.149915 
add points time 0.702219 ms
map prepare time 3.025394 ms
map corner num 139956  surf num 65968 
sort q time 3.317441 
seperate points time 8.124334 
publication time 5.647709 ms 
whole laserOdometry time 5.662513 ms 
 
mapping data assosiation time 16.896186 ms 
mapping solver time 15.578621 ms 
mapping data assosiation time 16.461564 ms 
mapping optimization time 98.508598 
filter time 10.466449 ms 
publication time 5.302157 ms 
whole laserOdometry time 5.316341 ms 
 
1317358090.160811901 WriteOdom laser_odom_to_init
build tree time 37.935475 ms 
mapping data assosiation time 15.702644 ms 
mapping solver time 14.797196 ms 
mapping data assosiation time 15.411239 ms 
mapping solver time 14.960988 ms 
filter time 13.176882 ms 
-----t: 0.0275897
OdomCount 3161 & avg odom time 0.047660 ms ++++++++++++++++++++++
build tree time 32.985140 ms 
mapping data assosiation time 19.466340 ms 
--------------------stamp1317358090.368721008
sort q time 3.530730 
seperate points time 7.447301 
publication time 7.627288 ms 
whole laserOdometry time 7.650890 ms 
 
-----t: 0.0311227
OdomCount 3162 & avg odom time 0.047655 ms ++++++++++++++++++++++
build tree time 29.431787 ms 
--------------------stamp1317358090.472665071mapping solver time 18.520072 ms 
publication time 4.156737 ms 
whole laserOdometry time 4.167622 ms 
 
mapping solver time 12.327547 ms 
filter time 12.749502 ms 
--------------------stamp1317358090.576591968
sort q time 2.863056 
seperate points time 6.296479 
[0m[ INFO] [1718805377.458626346, 1317358090.595268199]: Received 207398 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805377.458659338, 1317358090.595268199]: Data saved to 1317358090264755.pcd[0m
mapping solver time 19.483976 ms 
-----t: 0.0367576
OdomCount 3164 & avg odom time 0.047652 ms ++++++++++++++++++++++
mapping solver time 11.158471 ms 
filter time 9.498780 ms 
--------------------stamp1317358090.680509090
sort q time 3.464842 
build tree time 35.725688 ms 
seperate points time 7.862160 
mapping data assosiation time 18.773850 ms 
mapping solver time 15.738742 ms 
mapping data assosiation time 17.045670 ms 
mapping solver time 16.779445 ms 
filter time 9.761202 ms 
points size 66230 
publication time 6.626616 ms 
whole laserOdometry time 6.640125 ms 
 
-----t: 0.0298808
OdomCount 3166 & avg odom time 0.047641 ms ++++++++++++++++++++++
mapping data assosiation time 15.189022 ms 
mapping solver time 11.979241 ms 
filter time 10.673229 ms 
points size 68788 
map prepare time 2.523398 ms
map corner num 142038  surf num 66550 
prepare time 11.124917 
publication time 5.893585 ms 
whole laserOdometry time 5.906139 ms 
 
build tree time 40.287478 ms 
mapping data assosiation time 13.934653 ms 
mapping solver time 18.636336 ms 
mapping data assosiation time 16.249668 ms 
mapping solver time 14.080536 ms 
filter time 10.120772 ms 
sort q time 4.082535 
seperate points time 9.127346 
mapping pub time 1.508160 ms 
whole mapping time 119.398046 ms +++++
mappingCount 1960 & avg mapping time 163.009936 ms ++++++++++++++++++++++
1317358090.784420013 WriteOdom aft_mapped_to_init
scan registration time 26.018242 ms *************
map prepare time 3.427835 ms
map corner num 142299  surf num 66625 
publication time 5.860706 ms 
whole laserOdometry time 5.885448 ms 
 
-----t: 0.0310854
OdomCount 3168 & avg odom time 0.047630 ms ++++++++++++++++++++++
mapping data assosiation time 16.107750 ms 
mapping solver time 15.773642 ms 
points size 73096 
sort q time 3.835326 
seperate points time 9.152193 
-----t: 0.0276766
OdomCount 3169 & avg odom time 0.047624 ms ++++++++++++++++++++++
--------------------stamp1317358091.199997901
points size 75535 
sort q time 4.606458 
seperate points time 11.300341 
map prepare time 2.662762 ms
map corner num 142574  surf num 66704 
-----t: 0.0380078
OdomCount 3170 & avg odom time 0.047621 ms ++++++++++++++++++++++
build tree time 36.778254 ms 
mapping data assosiation time 16.699820 ms 
points size 78421 
sort q time 4.582078 
seperate points time 9.191004 
mapping data assosiation time 19.428375 ms 
mapping solver time 13.994471 ms 
filter time 13.145379 ms 
--------------------stamp1317358091.407835960
points size 78174 
prepare time 25.037745 
publication time 9.048868 ms 
whole laserOdometry time 9.062186 ms 
 
mapping solver time 18.267890 ms 
1317358091.199997902 WriteOdom aft_mapped_to_init
--------------------stamp1317358091.511754989
points size 75273 
sort q time 12.032592 
seperate points time 17.712838 
-----t: 0.0363495
OdomCount 3173 & avg odom time 0.047620 ms ++++++++++++++++++++++
mapping solver time 20.116010 ms 
mapping data assosiation time 16.861544 ms 
mapping solver time 13.202972 ms 
prepare time 13.682962 
scan registration time 27.731809 ms *************
-----t: 0.0304129
OdomCount 3174 & avg odom time 0.047614 ms ++++++++++++++++++++++
build tree time 37.766368 ms 
mapping data assosiation time 32.135866 ms 
--------------------stamp1317358091.719593048
points size 71624 
mapping solver time 21.838070 ms 
prepare time 10.663423 
mapping data assosiation time 23.488957 ms 
-----t: 0.035825
OdomCount 3175 & avg odom time 0.047611 ms ++++++++++++++++++++++
filter time 9.865789 ms 
--------------------stamp1317358091.823513031
sort q time 3.542264 
seperate points time 8.641951 
-----t: 0.0276377
OdomCount 3176 & avg odom time 0.047604 ms ++++++++++++++++++++++
mapping data assosiation time 19.872724 ms 
mapping solver time 15.308316 ms 
--------------------stamp1317358091.927432060
sort q time 4.361489 
seperate points time 8.315927 
build tree time 37.909473 ms 
-----t: 0.0302881
OdomCount 3177 & avg odom time 0.047599 ms ++++++++++++++++++++++
1317358091.927432060 WriteOdom laser_odom_to_init
1317358091.927432060 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 15.414083 ms 
mapping solver time 19.897712 ms 
mapping data assosiation time 16.107129 ms 
points size 71216 
scan registration time 23.311324 ms *************
map prepare time 3.254305 ms
map corner num 144509  surf num 67329 
build tree time 33.091410 ms 
mapping data assosiation time 16.081686 ms 
mapping solver time 18.704812 ms 
prepare time 10.280271 
scan registration time 22.495629 ms *************
add points time 0.740030 ms
publication time 8.494729 ms 
whole laserOdometry time 8.506695 ms 
 
build tree time 31.098390 ms 
mapping data assosiation time 15.279334 ms 
points size 71986 
prepare time 10.453837 
-----t: 0.0321247
OdomCount 3180 & avg odom time 0.047584 ms ++++++++++++++++++++++
1317358092.239284038 WriteOdom laser_odom_to_init
1317358092.239284038 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.498299 ms 
mapping optimization time 106.217592 
add points time 0.776557 ms
map prepare time 2.330813 ms
map corner num 145126  surf num 67460 
--------------------stamp1317358092.343226909
prepare time 16.604966 
sort q time 12.093423 
seperate points time 16.556200 
publication time 4.542692 ms 
whole laserOdometry time 4.553884 ms 
 
mapping solver time 15.332636 ms 
filter time 9.912644 ms 
--------------------stamp1317358092.447192907
sort q time 3.758825 
seperate points time 8.554897 
mapping data assosiation time 18.383905 ms 
-----t: 0.0561957
OdomCount 3182 & avg odom time 0.047580 ms ++++++++++++++++++++++
mapping data assosiation time 17.423041 ms 
mapping solver time 15.044326 ms 
points size 64417 
scan registration time 22.513660 ms *************
[0m[ INFO] [1718805379.458194061, 1317358092.598270005]: Received 213469 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805379.458253959, 1317358092.598270005]: Data saved to 1317358092343226.pcd[0m
mapping data assosiation time 15.579535 ms 
mapping solver time 15.823969 ms 
--------------------stamp1317358092.655102968
add points time 0.892138 ms
filter time 13.215642 ms 
-----t: 0.032659
OdomCount 3184 & avg odom time 0.047572 ms ++++++++++++++++++++++
build tree time 34.461782 ms 
mapping data assosiation time 14.878689 ms 
mapping solver time 15.490202 ms 
points size 56043 
scan registration time 21.153238 ms *************
publication time 5.711114 ms 
whole laserOdometry time 5.737136 ms 
 
build tree time 40.518980 ms 
--------------------stamp1317358092.863017082
sort q time 2.780765 
seperate points time 7.075394 
mapping data assosiation time 17.483486 ms 
mapping solver time 15.142712 ms 
filter time 10.006283 ms 
--------------------stamp1317358092.966955900
sort q time 2.929262 
seperate points time 7.239629 
publication time 5.700218 ms 
whole laserOdometry time 5.712972 ms 
 
-----t: 0.0262978
OdomCount 3187 & avg odom time 0.047556 ms ++++++++++++++++++++++
mapping data assosiation time 16.150199 ms 
mapping solver time 17.648645 ms 
filter time 12.173169 ms 
--------------------stamp1317358093.070898056
sort q time 3.078454 
seperate points time 6.271182 
publication time 5.290274 ms 
whole laserOdometry time 5.302195 ms 
 
build tree time 37.686131 ms 
mapping data assosiation time 17.128613 ms 
mapping solver time 15.040612 ms 
mapping data assosiation time 14.716490 ms 
mapping solver time 11.708454 ms 
filter time 10.131712 ms 
points size 57205 
publication time 4.980495 ms 
whole laserOdometry time 5.004984 ms 
 
build tree time 37.857162 ms 
mapping data assosiation time 15.536170 ms 
mapping solver time 15.882870 ms 
mapping data assosiation time 14.807904 ms 
--------------------stamp1317358093.278783082
prepare time 10.983201 
scan registration time 22.038584 ms *************
publication time 6.154111 ms 
whole laserOdometry time 6.165421 ms 
 
-----t: 0.0308665
OdomCount 3190 & avg odom time 0.047540 ms ++++++++++++++++++++++
build tree time 38.598983 ms 
mapping data assosiation time 16.839150 ms 
mapping solver time 17.067479 ms 
points size 62995 
sort q time 3.376065 
seperate points time 8.348204 
filter time 12.198654 ms 
build tree time 33.934857 ms 
mapping data assosiation time 16.561575 ms 
--------------------stamp1317358093.486668109
prepare time 11.500673 
mapping solver time 13.751027 ms 
filter time 13.168375 ms 
-----t: 0.0844793
OdomCount 3192 & avg odom time 0.047546 ms ++++++++++++++++++++++
points size 65589 
sort q time 4.103596 
seperate points time 8.012869 
publication time 6.545283 ms 
whole laserOdometry time 6.558057 ms 
 
mapping data assosiation time 18.205326 ms 
mapping solver time 12.012249 ms 
filter time 10.068659 ms 
--------------------stamp1317358093.694554090
build tree time 35.084110 ms 
publication time 7.277937 ms 
whole laserOdometry time 7.293884 ms 
 
-----t: 0.0416961
OdomCount 3194 & avg odom time 0.047541 ms ++++++++++++++++++++++
mapping data assosiation time 16.181175 ms 
mapping solver time 11.881723 ms 
--------------------stamp1317358093.798496007
sort q time 3.989256 
seperate points time 8.238390 
publication time 9.600159 ms 
whole laserOdometry time 9.627924 ms 
 
1317358093.798496007 WriteOdom laser_odom_to_init
1317358093.798496007 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 99.916181 ms 
whole mapping time 223.780076 ms +++++
mappingCount 1981 & avg mapping time 162.717271 ms ++++++++++++++++++++++
points size 72115 
scan registration time 23.045451 ms *************
build tree time 41.666709 ms 
mapping data assosiation time 16.982206 ms 
mapping solver time 19.168661 ms 
mapping data assosiation time 16.363831 ms 
points size 73783 
sort q time 4.638288 
seperate points time 9.686025 
map prepare time 2.779851 ms
map corner num 149326  surf num 68615 
-----t: 0.0347102
OdomCount 3197 & avg odom time 0.047528 ms ++++++++++++++++++++++
build tree time 36.440744 ms 
mapping data assosiation time 16.223632 ms 
--------------------stamp1317358094.110301971
prepare time 13.323891 
sort q time 4.470421 
seperate points time 9.537210 
add points time 0.817280 ms
publication time 8.619746 ms 
whole laserOdometry time 8.644950 ms 
 
build tree time 30.964142 ms 
mapping data assosiation time 15.881692 ms 
points size 72758 
prepare time 12.103206 
publication time 8.797074 ms 
whole laserOdometry time 8.810928 ms 
 
mapping solver time 18.709996 ms 
filter time 12.184628 ms 
build tree time 16.520009 ms 
points size 73416 
sort q time 4.298412 
seperate points time 9.769001 
mapping solver time 22.512355 ms 
mapping data assosiation time 19.421519 ms 
mapping solver time 22.907441 ms 
map prepare time 2.033771 ms
map corner num 74725  surf num 29520 
--------------------stamp1317358094.422106027
sort q time 4.148362 
seperate points time 8.442585 
publication time 8.000246 ms 
whole laserOdometry time 8.023912 ms 
 
mapping data assosiation time 17.554523 ms 
mapping solver time 19.063156 ms 
mapping pub time 3.097760 ms 
whole mapping time 109.038221 ms +++++
mappingCount 1986 & avg mapping time 162.614143 ms ++++++++++++++++++++++
1317358094.318186045 WriteOdom aft_mapped_to_init
points size 73807 
sort q time 3.918955 
seperate points time 9.500367 
mapping data assosiation time 20.225712 ms 
mapping solver time 18.364570 ms 
[0m[ INFO] [1718805381.450678413, 1317358094.594150738]: Received 104871 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805381.450708710, 1317358094.594150738]: Data saved to 1317358094318186.pcd[0m
mapping data assosiation time 18.977709 ms 
mapping solver time 12.019233 ms 
mapping pub time 1.682405 ms 
whole mapping time 101.458511 ms +++++
mappingCount 1987 & avg mapping time 162.583368 ms ++++++++++++++++++++++
points size 74158 
sort q time 4.374224 
seperate points time 10.636500 
publication time 6.691954 ms 
whole laserOdometry time 6.705263 ms 
 
-----t: 0.0433359
OdomCount 3203 & avg odom time 0.047518 ms ++++++++++++++++++++++
mapping data assosiation time 16.385266 ms 
mapping solver time 19.365641 ms 
1317358094.526022911 WriteOdom aft_mapped_to_init
sort q time 3.886251 
seperate points time 8.828319 
publication time 7.602627 ms 
whole laserOdometry time 7.612100 ms 
 
-----t: 0.0358381
OdomCount 3204 & avg odom time 0.047514 ms ++++++++++++++++++++++
mapping solver time 20.639460 ms 
mapping data assosiation time 17.444912 ms 
--------------------stamp1317358094.837779998
publication time 6.599619 ms 
whole laserOdometry time 6.613035 ms 
 
build tree time 20.382023 ms 
-----t: 0.0421637
OdomCount 3205 & avg odom time 0.047512 ms ++++++++++++++++++++++
mapping solver time 15.082914 ms 
mapping data assosiation time 16.475679 ms 
mapping solver time 12.313432 ms 
prepare time 10.871323 
map prepare time 2.088980 ms
map corner num 76825  surf num 30151 
build tree time 19.962999 ms 
mapping data assosiation time 19.361811 ms 
mapping solver time 19.539345 ms 
mapping data assosiation time 15.855130 ms 
--------------------stamp1317358095.045639991
map prepare time 2.715023 ms
map corner num 77193  surf num 30239 
build tree time 21.054801 ms 
-----t: 0.0387686
OdomCount 3207 & avg odom time 0.047509 ms ++++++++++++++++++++++
mapping solver time 23.701719 ms 
mapping data assosiation time 16.824817 ms 
points size 71973 
mapping pub time 1.611915 ms 
whole mapping time 111.200009 ms +++++
mappingCount 1992 & avg mapping time 162.445369 ms ++++++++++++++++++++++
build tree time 17.951982 ms 
mapping data assosiation time 18.672095 ms 
mapping solver time 19.753076 ms 
mapping data assosiation time 15.834631 ms 
mapping solver time 13.024617 ms 
map prepare time 2.292615 ms
map corner num 77923  surf num 30397 
publication time 5.771535 ms 
whole laserOdometry time 5.784820 ms 
 
build tree time 19.264225 ms 
mapping data assosiation time 18.640638 ms 
-----t: 0.0556343
OdomCount 3209 & avg odom time 0.047506 ms ++++++++++++++++++++++
mapping solver time 22.634901 ms 
mapping data assosiation time 17.189560 ms 
points size 72347 
filter time 7.363462 ms 
publication time 6.244980 ms 
whole laserOdometry time 6.259575 ms 
 
mapping data assosiation time 15.970116 ms 
mapping solver time 17.747335 ms 
mapping data assosiation time 14.030820 ms 
--------------------stamp1317358095.461338996
prepare time 10.495688 
sort q time 4.001268 
seperate points time 18.509184 
publication time 5.648762 ms 
whole laserOdometry time 5.665369 ms 
 
-----t: 0.0330881
OdomCount 3211 & avg odom time 0.047497 ms ++++++++++++++++++++++
mapping solver time 13.975776 ms 
mapping data assosiation time 14.419935 ms 
mapping solver time 12.773031 ms 
mapping optimization time 78.895256 
add points time 0.730812 ms
map prepare time 1.976386 ms
map corner num 78822  surf num 30626 
points size 69337 
prepare time 18.313415 
publication time 6.467468 ms 
whole laserOdometry time 6.478362 ms 
 
mapping solver time 23.942462 ms 
mapping data assosiation time 23.066756 ms 
points size 68272 
mapping pub time 1.881529 ms 
whole mapping time 121.941583 ms +++++
mappingCount 1997 & avg mapping time 162.296267 ms ++++++++++++++++++++++
publication time 6.251595 ms 
whole laserOdometry time 6.263818 ms 
 
mapping data assosiation time 19.432768 ms 
mapping solver time 28.549998 ms 
points size 67698 
sort q time 3.477460 
seperate points time 8.284224 
mapping optimization time 103.025089 
add points time 0.702928 ms
filter time 7.664467 ms 
publication time 7.150526 ms 
whole laserOdometry time 7.173811 ms 
 
mapping pub time 1.757533 ms 
whole mapping time 115.529735 ms +++++
mappingCount 1998 & avg mapping time 162.272864 ms ++++++++++++++++++++++
1317358095.565282106 WriteOdom aft_mapped_to_init
-----t: 0.0404025
OdomCount 3214 & avg odom time 0.047511 ms ++++++++++++++++++++++
build tree time 19.406777 ms 
mapping data assosiation time 18.508140 ms 
mapping solver time 20.604638 ms 
prepare time 12.374008 
mapping solver time 25.207226 ms 
-----t: 0.0419002
OdomCount 3215 & avg odom time 0.047510 ms ++++++++++++++++++++++
build tree time 19.136223 ms 
mapping data assosiation time 16.632489 ms 
points size 66257 
mapping solver time 21.621157 ms 
publication time 6.073215 ms 
whole laserOdometry time 6.087015 ms 
 
mapping data assosiation time 19.425662 ms 
mapping solver time 19.013162 ms 
mapping pub time 1.552371 ms 
whole mapping time 106.369455 ms +++++
mappingCount 2000 & avg mapping time 162.221849 ms ++++++++++++++++++++++
build tree time 15.967839 ms 
mapping data assosiation time 15.049692 ms 
points size 65991 
sort q time 3.606205 
seperate points time 8.530851 
publication time 5.253981 ms 
whole laserOdometry time 5.266755 ms 
 
mapping data assosiation time 19.565006 ms 
-----t: 0.0390459
OdomCount 3217 & avg odom time 0.047504 ms ++++++++++++++++++++++
[0m[ INFO] [1718805383.006429719, 1317358096.143051582]: Received 111564 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805383.006499941, 1317358096.143051582]: Data saved to 1317358095981126.pcd[0m
--------------------stamp1317358096.189086914
sort q time 4.386158 
seperate points time 9.326838 
publication time 5.597460 ms 
whole laserOdometry time 5.613985 ms 
 
mapping pub time 97.946026 ms 
whole mapping time 198.392248 ms +++++
mappingCount 2001 & avg mapping time 162.239926 ms ++++++++++++++++++++++
build tree time 18.689220 ms 
mapping data assosiation time 18.023743 ms 
points size 62769 
scan registration time 20.179216 ms *************
publication time 7.226321 ms 
whole laserOdometry time 7.240975 ms 
 
-----t: 0.0274821
OdomCount 3219 & avg odom time 0.047493 ms ++++++++++++++++++++++
1317358096.293055057 WriteOdom laser_odom_to_init
1317358096.293055057 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 13.934369 ms 
mapping optimization time 88.927438 
add points time 0.648335 ms
map prepare time 1.951341 ms
map corner num 80793  surf num 31161 
build tree time 21.693872 ms 
mapping data assosiation time 19.037741 ms 
points size 61869 
scan registration time 21.530155 ms *************
publication time 6.215950 ms 
whole laserOdometry time 6.230254 ms 
 
mapping optimization time 92.424879 
map prepare time 1.954167 ms
map corner num 81209  surf num 31304 
build tree time 18.514851 ms 
mapping data assosiation time 17.026032 ms 
--------------------stamp1317358096.500935077
sort q time 3.274256 
seperate points time 7.493967 
-----t: 0.0244366
OdomCount 3221 & avg odom time 0.047482 ms ++++++++++++++++++++++
map prepare time 1.739124 ms
map corner num 81563  surf num 31404 
build tree time 19.892886 ms 
mapping data assosiation time 17.598818 ms 
--------------------stamp1317358096.604902029
sort q time 3.349502 
seperate points time 6.822481 
publication time 5.274517 ms 
whole laserOdometry time 5.289337 ms 
 
filter time 5.691952 ms 
map prepare time 1.703053 ms
map corner num 81890  surf num 31505 
build tree time 18.876197 ms 
mapping data assosiation time 18.110112 ms 
--------------------stamp1317358096.708890914
sort q time 3.275349 
seperate points time 6.554846 
publication time 5.475420 ms 
whole laserOdometry time 5.491012 ms 
 
mapping solver time 14.050615 ms 
[0m[ INFO] [1718805383.609874820, 1317358096.750028018]: Received 113855 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805383.609920244, 1317358096.750028018]: Data saved to 1317358096604902.pcd[0m
-----t: 0.0462232
OdomCount 3223 & avg odom time 0.047477 ms ++++++++++++++++++++++
mapping data assosiation time 16.269904 ms 
points size 59751 
mapping solver time 22.247115 ms 
mapping data assosiation time 19.254185 ms 
mapping solver time 15.743091 ms 
build tree time 16.582545 ms 
--------------------stamp1317358096.916920900
sort q time 3.411379 
seperate points time 7.379236 
mapping data assosiation time 20.434564 ms 
mapping solver time 14.432947 ms 
mapping pub time 1.364410 ms 
whole mapping time 100.551650 ms +++++
mappingCount 2008 & avg mapping time 162.022718 ms ++++++++++++++++++++++
build tree time 18.274365 ms 
mapping data assosiation time 17.233612 ms 
points size 65504 
sort q time 3.431845 
seperate points time 8.329318 
publication time 6.083060 ms 
whole laserOdometry time 6.096692 ms 
 
mapping solver time 13.291870 ms 
mapping pub time 1.490934 ms 
whole mapping time 109.918960 ms +++++
mappingCount 2009 & avg mapping time 161.996792 ms ++++++++++++++++++++++
build tree time 18.280031 ms 
--------------------stamp1317358097.124877929
points size 69258 
prepare time 13.331008 
mapping solver time 21.684033 ms 
mapping data assosiation time 20.296594 ms 
mapping solver time 18.297891 ms 
mapping pub time 1.569853 ms 
whole mapping time 113.212829 ms +++++
mappingCount 2010 & avg mapping time 161.972523 ms ++++++++++++++++++++++
build tree time 17.898906 ms 
points size 73876 
sort q time 3.828307 
seperate points time 9.319808 
publication time 6.020285 ms 
whole laserOdometry time 6.034015 ms 
 
mapping data assosiation time 17.727846 ms 
mapping solver time 14.539455 ms 
[0m[ INFO] [1718805384.168896425, 1317358097.312453615]: Received 115984 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805384.168941776, 1317358097.312453615]: Data saved to 1317358097124877.pcd[0m
--------------------stamp1317358097.332864999
points size 77999 
mapping data assosiation time 22.419055 ms 
-----t: 0.0429348
OdomCount 3229 & avg odom time 0.047457 ms ++++++++++++++++++++++
mapping data assosiation time 18.503085 ms 
mapping solver time 14.466034 ms 
mapping pub time 1.681762 ms 
whole mapping time 114.862615 ms +++++
mappingCount 2012 & avg mapping time 161.922181 ms ++++++++++++++++++++++
points size 80735 
scan registration time 29.006943 ms *************
mapping data assosiation time 22.231888 ms 
-----t: 0.0466519
OdomCount 3230 & avg odom time 0.047456 ms ++++++++++++++++++++++
mapping data assosiation time 18.071799 ms 
mapping solver time 14.366849 ms 
mapping pub time 1.976677 ms 
whole mapping time 113.278169 ms +++++
mappingCount 2013 & avg mapping time 161.898025 ms ++++++++++++++++++++++
prepare time 13.925271 
sort q time 4.610181 
seperate points time 10.886213 
publication time 6.940163 ms 
whole laserOdometry time 6.954178 ms 
 
-----t: 0.0527775
OdomCount 3231 & avg odom time 0.047458 ms ++++++++++++++++++++++
mapping data assosiation time 18.940522 ms 
--------------------stamp1317358097.644881963
points size 82140 
map prepare time 2.728819 ms
map corner num 84746  surf num 32423 
build tree time 19.658665 ms 
mapping solver time 21.199407 ms 
points size 82752 
prepare time 17.480164 
scan registration time 37.125231 ms *************
filter time 7.013618 ms 
-----t: 0.0402573
OdomCount 3233 & avg odom time 0.047453 ms ++++++++++++++++++++++
mapping data assosiation time 19.594423 ms 
points size 83460 
sort q time 5.272655 
seperate points time 12.176302 
mapping data assosiation time 22.877696 ms 
publication time 9.197867 ms 
whole laserOdometry time 9.212137 ms 
 
filter time 5.803358 ms 
build tree time 18.158210 ms 
--------------------stamp1317358097.956899881
points size 83984 
sort q time 4.905939 
seperate points time 10.983485 
publication time 8.398468 ms 
whole laserOdometry time 8.426631 ms 
 
mapping solver time 13.649089 ms 
mapping pub time 1.888469 ms 
whole mapping time 107.480588 ms +++++
mappingCount 2017 & avg mapping time 161.811403 ms ++++++++++++++++++++++
build tree time 18.822927 ms 
--------------------stamp1317358098.060866117
prepare time 11.800761 
scan registration time 26.299790 ms *************
publication time 7.583953 ms 
whole laserOdometry time 7.596573 ms 
 
mapping solver time 17.922842 ms 
mapping pub time 2.005129 ms 
whole mapping time 109.974119 ms +++++
mappingCount 2018 & avg mapping time 161.785717 ms ++++++++++++++++++++++
build tree time 19.693854 ms 
prepare time 11.665573 
scan registration time 27.752812 ms *************
mapping solver time 26.647755 ms 
mapping data assosiation time 19.140480 ms 
mapping solver time 17.837443 ms 
mapping pub time 1.942279 ms 
whole mapping time 116.165744 ms +++++
mappingCount 2019 & avg mapping time 161.763124 ms ++++++++++++++++++++++
--------------------stamp1317358098.268851041
build tree time 21.278878 ms 
scan registration time 27.533339 ms *************
publication time 7.525937 ms 
whole laserOdometry time 7.544752 ms 
 
mapping solver time 20.607169 ms 
mapping data assosiation time 18.184294 ms 
mapping solver time 13.298531 ms 
1317358098.164859056 WriteOdom aft_mapped_to_init
points size 86869 
build tree time 21.248186 ms 
mapping data assosiation time 22.322769 ms 
mapping solver time 18.110623 ms 
mapping data assosiation time 18.217858 ms 
mapping solver time 13.784581 ms 
[0m[ INFO] [1718805385.337751252, 1317358098.478592521]: Received 119993 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805385.337824867, 1317358098.478592521]: Data saved to 1317358098268851.pcd[0m
sort q time 5.000769 
seperate points time 10.989080 
publication time 8.482440 ms 
whole laserOdometry time 8.498013 ms 
 
-----t: 0.0413304
OdomCount 3240 & avg odom time 0.047428 ms ++++++++++++++++++++++
1317358098.268851042 WriteOdom aft_mapped_to_init
points size 86866 
build tree time 20.298000 ms 
mapping data assosiation time 22.136949 ms 
mapping solver time 20.059919 ms 
mapping data assosiation time 19.352429 ms 
mapping solver time 9.862609 ms 
--------------------stamp1317358098.684643983
points size 86802 
sort q time 4.972343 
seperate points time 11.246332 
mapping data assosiation time 22.137799 ms 
mapping solver time 23.425751 ms 
mapping data assosiation time 18.884848 ms 
mapping solver time 15.510409 ms 
map prepare time 2.267206 ms
map corner num 87430  surf num 33325 
publication time 7.618204 ms 
whole laserOdometry time 7.630072 ms 
 
-----t: 0.0464882
OdomCount 3243 & avg odom time 0.047422 ms ++++++++++++++++++++++
mapping solver time 22.273935 ms 
--------------------stamp1317358098.892313957
prepare time 12.162483 
mapping solver time 17.983438 ms 
mapping pub time 2.010098 ms 
whole mapping time 118.535791 ms +++++
mappingCount 2024 & avg mapping time 161.687831 ms ++++++++++++++++++++++
-----t: 0.0332854
OdomCount 3244 & avg odom time 0.047418 ms ++++++++++++++++++++++
build tree time 19.978799 ms 
mapping data assosiation time 19.379918 ms 
mapping solver time 22.239699 ms 
points size 86853 
mapping data assosiation time 23.829151 ms 
sort q time 5.293106 
seperate points time 10.238405 
scan registration time 26.008175 ms *************
filter time 8.089295 ms 
build tree time 17.924895 ms 
mapping data assosiation time 17.828383 ms 
--------------------stamp1317358099.099865913
prepare time 11.662088 
sort q time 5.451114 
seperate points time 11.307207 
mapping data assosiation time 22.723436 ms 
-----t: 0.0339409
OdomCount 3246 & avg odom time 0.047409 ms ++++++++++++++++++++++
mapping solver time 22.010820 ms 
[0m[ INFO] [1718805386.026053471, 1317358099.164200959]: Received 121816 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805386.026107241, 1317358099.164200959]: Data saved to 1317358098892313.pcd[0m
build tree time 19.068556 ms 
points size 87224 
sort q time 4.716342 
seperate points time 11.373649 
publication time 8.015208 ms 
whole laserOdometry time 8.028573 ms 
 
mapping data assosiation time 21.282696 ms 
mapping solver time 13.816643 ms 
mapping pub time 1.908066 ms 
whole mapping time 113.412332 ms +++++
mappingCount 2027 & avg mapping time 161.622974 ms ++++++++++++++++++++++
--------------------stamp1317358099.307318925
prepare time 12.367458 
sort q time 4.995881 
seperate points time 11.317553 
mapping solver time 27.431314 ms 
publication time 13.685641 ms 
whole laserOdometry time 13.694163 ms 
 
-----t: 0.0409628
OdomCount 3248 & avg odom time 0.047405 ms ++++++++++++++++++++++
1317358099.307318925 WriteOdom laser_odom_to_init
mapping data assosiation time 19.922704 ms 
mapping solver time 19.140053 ms 
--------------------stamp1317358099.411021947
prepare time 12.427767 
sort q time 5.085818 
seperate points time 11.216341 
publication time 10.002052 ms 
whole laserOdometry time 10.019779 ms 
 
-----t: 0.0442794
OdomCount 3249 & avg odom time 0.047404 ms ++++++++++++++++++++++
1317358099.411021947 WriteOdom laser_odom_to_init
1317358099.411021947 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.874503 ms 
mapping data assosiation time 20.691337 ms 
points size 88078 
map prepare time 2.574414 ms
map corner num 89251  surf num 33941 
scan registration time 30.666339 ms *************
publication time 7.754578 ms 
whole laserOdometry time 7.771388 ms 
 
-----t: 0.0484164
OdomCount 3250 & avg odom time 0.047404 ms ++++++++++++++++++++++
mapping solver time 22.913977 ms 
--------------------stamp1317358099.618423938
prepare time 13.016080 
sort q time 5.329427 
seperate points time 10.587917 
mapping solver time 25.168968 ms 
mapping pub time 2.079351 ms 
whole mapping time 131.613605 ms +++++
mappingCount 2030 & avg mapping time 161.569426 ms ++++++++++++++++++++++
-----t: 0.0474068
OdomCount 3251 & avg odom time 0.047404 ms ++++++++++++++++++++++
1317358099.618423938 WriteOdom laser_odom_to_init
1317358099.618423938 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.059148 ms 
points size 88556 
sort q time 5.635841 
seperate points time 10.708561 
-----t: 0.033071
OdomCount 3252 & avg odom time 0.047400 ms ++++++++++++++++++++++
mapping solver time 29.294497 ms 
mapping optimization time 123.401576 
add points time 0.731479 ms
1317358099.514746904 WriteOdom aft_mapped_to_init
build tree time 25.348824 ms 
prepare time 25.921331 
sort q time 5.326102 
seperate points time 20.994308 
mapping solver time 28.394066 ms 
-----t: 0.0421939
OdomCount 3253 & avg odom time 0.047398 ms ++++++++++++++++++++++
1317358099.825855016 WriteOdom laser_odom_to_init
1317358099.825855016 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.275258 ms 
--------------------stamp1317358099.929630994
points size 88994 
mapping pub time 2.001755 ms 
whole mapping time 139.032631 ms +++++
mappingCount 2032 & avg mapping time 161.546488 ms ++++++++++++++++++++++
publication time 9.370249 ms 
whole laserOdometry time 9.384386 ms 
 
1317358099.929630994 WriteOdom laser_odom_to_init
1317358099.929630994 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.987784 ms 
--------------------stamp1317358100.033381938
prepare time 13.629575 
mapping solver time 17.293216 ms 
mapping optimization time 101.303062 
mapping pub time 2.104688 ms 
whole mapping time 115.414904 ms +++++
mappingCount 2033 & avg mapping time 161.523800 ms ++++++++++++++++++++++
-----t: 0.0468174
OdomCount 3255 & avg odom time 0.047395 ms ++++++++++++++++++++++
mapping data assosiation time 21.462647 ms 
--------------------stamp1317358100.137083053
prepare time 11.642648 
sort q time 5.262314 
seperate points time 12.162425 
publication time 8.902052 ms 
whole laserOdometry time 8.916514 ms 
 
mapping pub time 1.993129 ms 
whole mapping time 118.616919 ms +++++
mappingCount 2034 & avg mapping time 161.502707 ms ++++++++++++++++++++++
-----t: 0.0537948
OdomCount 3256 & avg odom time 0.047397 ms ++++++++++++++++++++++
build tree time 21.873099 ms 
mapping data assosiation time 20.624885 ms 
points size 89381 
sort q time 4.891766 
seperate points time 11.766286 
-----t: 0.0358139
OdomCount 3257 & avg odom time 0.047394 ms ++++++++++++++++++++++
mapping data assosiation time 29.442051 ms 
mapping solver time 21.467850 ms 
filter time 6.015202 ms 
--------------------stamp1317358100.344515085
build tree time 22.024738 ms 
sort q time 4.876535 
seperate points time 11.608728 
mapping data assosiation time 25.514186 ms 
-----t: 0.0359558
OdomCount 3258 & avg odom time 0.047390 ms ++++++++++++++++++++++
1317358100.344515085 WriteOdom laser_odom_to_init
1317358100.344515085 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.871679 ms 
mapping data assosiation time 21.406200 ms 
mapping solver time 14.894420 ms 
points size 89320 
sort q time 5.422222 
seperate points time 15.574006 
scan registration time 33.303960 ms *************
publication time 9.847046 ms 
whole laserOdometry time 9.955154 ms 
 
-----t: 0.0545389
OdomCount 3259 & avg odom time 0.047393 ms ++++++++++++++++++++++
mapping solver time 24.915261 ms 
--------------------stamp1317358100.551968097
points size 89122 
mapping data assosiation time 24.284042 ms 
prepare time 14.613733 
sort q time 5.092286 
seperate points time 12.595299 
filter time 11.098325 ms 
build tree time 24.098807 ms 
mapping data assosiation time 22.357695 ms 
points size 88780 
prepare time 14.917676 
mapping solver time 23.463605 ms 
scan registration time 32.127622 ms *************
mapping data assosiation time 26.313476 ms 
mapping solver time 16.650077 ms 
drop lidar frame in mapping for real time performance 
build tree time 22.083594 ms 
points size 87752 
mapping data assosiation time 25.017795 ms 
publication time 8.065168 ms 
whole laserOdometry time 8.079001 ms 
 
mapping solver time 26.697291 ms 
mapping data assosiation time 24.793799 ms 
mapping solver time 15.579142 ms 
mapping pub time 2.009476 ms 
whole mapping time 126.969000 ms +++++
mappingCount 2039 & avg mapping time 161.428104 ms ++++++++++++++++++++++
points size 86990 
build tree time 24.585325 ms 
publication time 7.860443 ms 
whole laserOdometry time 7.890415 ms 
 
mapping solver time 24.921860 ms 
mapping data assosiation time 20.651922 ms 
points size 86375 
mapping solver time 24.940733 ms 
publication time 7.736869 ms 
whole laserOdometry time 7.752486 ms 
 
-----t: 0.0534151
OdomCount 3264 & avg odom time 0.047394 ms ++++++++++++++++++++++
mapping data assosiation time 21.746166 ms 
mapping solver time 19.326935 ms 
points size 85559 
sort q time 5.873734 
seperate points time 10.812658 
mapping solver time 17.890665 ms 
[0m[ INFO] [1718805387.979209012, 1317358101.116669390]: Received 129134 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805387.979272612, 1317358101.116669390]: Data saved to 1317358100863195.pcd[0m
--------------------stamp1317358101.174808025
prepare time 11.986462 
sort q time 4.782958 
seperate points time 10.450665 
publication time 7.676218 ms 
whole laserOdometry time 7.690296 ms 
 
build tree time 24.214376 ms 
mapping data assosiation time 22.160609 ms 
points size 83984 
mapping solver time 28.845266 ms 
publication time 8.417371 ms 
whole laserOdometry time 8.427356 ms 
 
mapping data assosiation time 25.138918 ms 
mapping solver time 16.887901 ms 
mapping optimization time 118.295698 
add points time 0.787869 ms
build tree time 20.177447 ms 
points size 83564 
sort q time 4.182564 
seperate points time 9.884219 
mapping solver time 27.129418 ms 
publication time 9.512352 ms 
whole laserOdometry time 9.525678 ms 
 
mapping data assosiation time 23.400860 ms 
mapping solver time 14.829695 ms 
mapping pub time 2.100444 ms 
whole mapping time 119.071432 ms +++++
mappingCount 2043 & avg mapping time 161.409376 ms ++++++++++++++++++++++
--------------------stamp1317358101.486635923
points size 83093 
sort q time 5.636878 
seperate points time 10.526153 
mapping data assosiation time 23.126741 ms 
-----t: 0.035327
OdomCount 3269 & avg odom time 0.047385 ms ++++++++++++++++++++++
mapping solver time 21.478928 ms 
mapping data assosiation time 18.570786 ms 
mapping solver time 13.712792 ms 
--------------------stamp1317358101.590603113
mapping pub time 2.555020 ms 
whole mapping time 113.357296 ms +++++
mappingCount 2044 & avg mapping time 161.385877 ms ++++++++++++++++++++++
points size 82623 
sort q time 4.531307 
seperate points time 10.703276 
publication time 7.443899 ms 
whole laserOdometry time 7.459189 ms 
 
mapping data assosiation time 22.712029 ms 
mapping solver time 22.876163 ms 
mapping data assosiation time 18.528502 ms 
points size 82287 
prepare time 13.649910 
filter time 9.245247 ms 
publication time 8.001994 ms 
whole laserOdometry time 8.018425 ms 
 
build tree time 25.409035 ms 
mapping data assosiation time 20.724027 ms 
mapping solver time 19.579584 ms 
points size 81928 
mapping data assosiation time 23.686315 ms 
mapping solver time 15.758266 ms 
[0m[ INFO] [1718805388.704687322, 1317358101.848657001]: Received 131246 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805388.704739477, 1317358101.848657001]: Data saved to 1317358101590603.pcd[0m
-----t: 0.0507283
OdomCount 3272 & avg odom time 0.047378 ms ++++++++++++++++++++++
build tree time 22.375854 ms 
--------------------stamp1317358101.902504920
prepare time 15.704107 
scan registration time 35.415869 ms *************
mapping solver time 14.115687 ms 
mapping pub time 1.793667 ms 
whole mapping time 121.609478 ms +++++
mappingCount 2047 & avg mapping time 161.332655 ms ++++++++++++++++++++++
map prepare time 2.191621 ms
map corner num 95313  surf num 36269 
--------------------stamp1317358102.006445884
points size 81640 
mapping data assosiation time 22.451304 ms 
mapping solver time 19.768115 ms 
1317358102.006445884 WriteOdom laser_odom_to_init
1317358102.006445884 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.117674 ms 
mapping solver time 13.010147 ms 
filter time 8.462201 ms 
--------------------stamp1317358102.110363960
prepare time 12.288780 
build tree time 24.372379 ms 
mapping data assosiation time 22.305147 ms 
-----t: 0.0447341
OdomCount 3275 & avg odom time 0.047378 ms ++++++++++++++++++++++
mapping data assosiation time 18.012115 ms 
mapping solver time 12.774767 ms 
filter time 6.529597 ms 
points size 81600 
build tree time 24.969829 ms 
-----t: 0.0312715
OdomCount 3276 & avg odom time 0.047373 ms ++++++++++++++++++++++
mapping solver time 17.424564 ms 
mapping data assosiation time 18.011378 ms 
mapping solver time 13.350468 ms 
mapping pub time 1.838176 ms 
whole mapping time 111.151320 ms +++++
mappingCount 2050 & avg mapping time 161.261693 ms ++++++++++++++++++++++
scan registration time 26.759103 ms *************
publication time 8.157427 ms 
whole laserOdometry time 8.170891 ms 
 
mapping data assosiation time 19.876490 ms 
mapping solver time 16.732498 ms 
mapping data assosiation time 17.365029 ms 
--------------------stamp1317358102.422049999
filter time 6.768615 ms 
sort q time 5.122883 
seperate points time 9.991643 
build tree time 24.530880 ms 
publication time 8.284592 ms 
whole laserOdometry time 8.295651 ms 
 
1317358102.422049999 WriteOdom laser_odom_to_init
1317358102.422049999 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.515724 ms 
points size 80881 
filter time 6.543998 ms 
publication time 6.852441 ms 
whole laserOdometry time 6.865321 ms 
 
build tree time 26.388585 ms 
mapping data assosiation time 19.008232 ms 
mapping solver time 17.413003 ms 
--------------------stamp1317358102.629909992
prepare time 11.680177 
sort q time 5.030979 
seperate points time 10.493392 
mapping pub time 1.879483 ms 
whole mapping time 120.065495 ms +++++
mappingCount 2053 & avg mapping time 161.190563 ms ++++++++++++++++++++++
-----t: 0.0427003
OdomCount 3280 & avg odom time 0.047368 ms ++++++++++++++++++++++
build tree time 23.978923 ms 
mapping data assosiation time 18.856667 ms 
--------------------stamp1317358102.733875989
sort q time 4.264909 
seperate points time 9.808075 
mapping solver time 15.132355 ms 
filter time 8.216666 ms 
build tree time 21.914007 ms 
mapping data assosiation time 19.658492 ms 
points size 77399 
sort q time 3.654001 
seperate points time 8.502860 
mapping data assosiation time 21.010357 ms 
mapping solver time 18.891765 ms 
filter time 6.863679 ms 
mapping pub time 1.919537 ms 
whole mapping time 116.171960 ms +++++
mappingCount 2055 & avg mapping time 161.146728 ms ++++++++++++++++++++++
1317358102.629909992 WriteOdom aft_mapped_to_init
map prepare time 2.200235 ms
map corner num 97396  surf num 36904 
--------------------stamp1317358102.942027091
points size 77102 
sort q time 4.285676 
seperate points time 10.212050 
publication time 6.795814 ms 
whole laserOdometry time 6.803829 ms 
 
mapping data assosiation time 20.368522 ms 
-----t: 0.0433893
OdomCount 3283 & avg odom time 0.047360 ms ++++++++++++++++++++++
mapping solver time 17.655083 ms 
filter time 7.172032 ms 
--------------------stamp1317358103.046281099
mapping data assosiation time 18.228423 ms 
publication time 7.733248 ms 
whole laserOdometry time 7.743124 ms 
 
-----t: 0.0419139
OdomCount 3284 & avg odom time 0.047358 ms ++++++++++++++++++++++
mapping solver time 18.064787 ms 
filter time 6.895203 ms 
mapping pub time 1.737917 ms 
whole mapping time 112.537962 ms +++++
mappingCount 2057 & avg mapping time 161.099516 ms ++++++++++++++++++++++
1317358102.942027092 WriteOdom aft_mapped_to_init
map prepare time 2.186191 ms
map corner num 98111  surf num 37107 
--------------------stamp1317358103.150558948
prepare time 13.020169 
scan registration time 26.011805 ms *************
publication time 5.616429 ms 
whole laserOdometry time 5.632140 ms 
 
mapping solver time 21.513436 ms 
mapping data assosiation time 16.686348 ms 
mapping solver time 14.990668 ms 
mapping pub time 1.831581 ms 
whole mapping time 109.951296 ms +++++
mappingCount 2058 & avg mapping time 161.074665 ms ++++++++++++++++++++++
points size 75422 
build tree time 25.187141 ms 
mapping data assosiation time 19.264305 ms 
1317358103.254837036 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.916535 ms 
mapping data assosiation time 18.527831 ms 
mapping solver time 18.568011 ms 
mapping data assosiation time 14.879745 ms 
mapping solver time 11.196927 ms 
filter time 6.355350 ms 
points size 76081 
sort q time 4.359153 
seperate points time 9.716684 
-----t: 0.0272116
OdomCount 3288 & avg odom time 0.047341 ms ++++++++++++++++++++++
mapping solver time 14.306113 ms 
mapping data assosiation time 15.379670 ms 
mapping optimization time 87.471117 
add points time 0.576224 ms
points size 77342 
prepare time 15.411672 
publication time 7.705207 ms 
whole laserOdometry time 7.739160 ms 
 
-----t: 0.0445909
OdomCount 3289 & avg odom time 0.047340 ms ++++++++++++++++++++++
mapping pub time 107.417445 ms 
whole mapping time 204.978036 ms +++++
mappingCount 2061 & avg mapping time 161.040469 ms ++++++++++++++++++++++
points size 80652 
sort q time 4.508113 
seperate points time 10.706143 
mapping data assosiation time 14.878611 ms 
-----t: 0.036742
OdomCount 3290 & avg odom time 0.047337 ms ++++++++++++++++++++++
mapping data assosiation time 15.728058 ms 
mapping solver time 15.490893 ms 
mapping pub time 2.083635 ms 
whole mapping time 106.780920 ms +++++
mappingCount 2062 & avg mapping time 161.014160 ms ++++++++++++++++++++++
prepare time 14.478579 
sort q time 4.619136 
seperate points time 18.292593 
build tree time 28.040428 ms 
scan registration time 46.208372 ms *************
publication time 6.414495 ms 
whole laserOdometry time 6.425409 ms 
 
mapping solver time 19.997135 ms 
mapping data assosiation time 14.505859 ms 
--------------------stamp1317358103.880199909
map prepare time 2.806607 ms
map corner num 99618  surf num 37438 
publication time 4.994142 ms 
whole laserOdometry time 5.009880 ms 
 
mapping data assosiation time 17.194888 ms 
mapping solver time 17.026840 ms 
mapping data assosiation time 14.267075 ms 
mapping solver time 10.985326 ms 
1317358103.775968075 WriteOdom aft_mapped_to_init
--------------------stamp1317358103.984406948
prepare time 13.165525 
scan registration time 29.312074 ms *************
publication time 6.636129 ms 
whole laserOdometry time 6.648979 ms 
 
mapping data assosiation time 13.823888 ms 
--------------------stamp1317358104.088614940
points size 77701 
mapping pub time 1.885835 ms 
whole mapping time 110.690325 ms +++++
mappingCount 2065 & avg mapping time 160.936682 ms ++++++++++++++++++++++
publication time 5.770104 ms 
whole laserOdometry time 5.784540 ms 
 
build tree time 26.006764 ms 
1317358104.088614940 WriteOdom laser_odom_to_init
1317358104.088614940 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 13.051951 ms 
mapping data assosiation time 13.249474 ms 
mapping solver time 11.729118 ms 
points size 76600 
sort q time 4.178060 
seperate points time 9.816768 
publication time 7.678330 ms 
whole laserOdometry time 7.702210 ms 
 
mapping data assosiation time 14.287178 ms 
mapping solver time 13.235595 ms 
mapping data assosiation time 13.652235 ms 
mapping solver time 10.438678 ms 
mapping pub time 2.208984 ms 
whole mapping time 90.463143 ms +++++
mappingCount 2067 & avg mapping time 160.871099 ms ++++++++++++++++++++++
points size 75808 
sort q time 3.998291 
seperate points time 9.427264 
publication time 6.537169 ms 
whole laserOdometry time 6.544973 ms 
 
mapping data assosiation time 15.380101 ms 
-----t: 0.0331066
OdomCount 3296 & avg odom time 0.047321 ms ++++++++++++++++++++++
1317358104.296955108 WriteOdom laser_odom_to_init
1317358104.296955108 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.822375 ms 
mapping data assosiation time 13.937572 ms 
mapping solver time 14.602118 ms 
filter time 7.102036 ms 
points size 76384 
sort q time 4.878083 
seperate points time 9.186153 
publication time 5.936595 ms 
whole laserOdometry time 5.970589 ms 
 
-----t: 0.0314243
OdomCount 3297 & avg odom time 0.047316 ms ++++++++++++++++++++++
mapping solver time 17.441340 ms 
mapping data assosiation time 14.573315 ms 
mapping solver time 14.699496 ms 
filter time 6.686910 ms 
points size 75521 
scan registration time 27.057988 ms *************
publication time 5.546554 ms 
whole laserOdometry time 5.561024 ms 
 
1317358104.505198955 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 14.230344 ms 
mapping solver time 14.073260 ms 
map prepare time 2.632784 ms
map corner num 101230  surf num 37870 
--------------------stamp1317358104.609286069
prepare time 13.674879 
sort q time 4.272470 
seperate points time 10.969598 
publication time 5.820003 ms 
whole laserOdometry time 5.834915 ms 
 
mapping solver time 14.407991 ms 
mapping data assosiation time 13.707621 ms 
mapping solver time 11.726918 ms 
[0m[ INFO] [1718805391.561740691, 1317358104.705211115]: Received 139418 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805391.561786516, 1317358104.705211115]: Data saved to 1317358104505198.pcd[0m
points size 74905 
sort q time 4.083840 
seperate points time 9.590204 
publication time 5.859578 ms 
whole laserOdometry time 5.871859 ms 
 
mapping solver time 15.448031 ms 
mapping data assosiation time 15.960947 ms 
mapping solver time 13.210605 ms 
mapping pub time 1.876498 ms 
whole mapping time 103.715232 ms +++++
mappingCount 2072 & avg mapping time 160.726499 ms ++++++++++++++++++++++
points size 73144 
scan registration time 27.368024 ms *************
build tree time 29.141457 ms 
mapping solver time 15.167872 ms 
mapping data assosiation time 15.281975 ms 
mapping solver time 16.600377 ms 
mapping pub time 1.887329 ms 
whole mapping time 106.285808 ms +++++
mappingCount 2073 & avg mapping time 160.700240 ms ++++++++++++++++++++++
points size 71660 
sort q time 4.027777 
seperate points time 9.120232 
scan registration time 22.369722 ms *************
mapping data assosiation time 16.885328 ms 
mapping solver time 16.961908 ms 
mapping data assosiation time 15.743415 ms 
mapping solver time 15.522574 ms 
mapping pub time 1.786347 ms 
whole mapping time 106.009757 ms +++++
mappingCount 2074 & avg mapping time 160.673873 ms ++++++++++++++++++++++
1317358104.817411900 WriteOdom aft_mapped_to_init
points size 71943 
prepare time 12.821787 
scan registration time 24.691997 ms *************
publication time 6.596167 ms 
whole laserOdometry time 6.610314 ms 
 
-----t: 0.0345066
OdomCount 3303 & avg odom time 0.047295 ms ++++++++++++++++++++++
mapping solver time 18.221024 ms 
mapping data assosiation time 14.838658 ms 
--------------------stamp1317358105.129529953
prepare time 11.677748 
scan registration time 23.930967 ms *************
-----t: 0.024104
OdomCount 3304 & avg odom time 0.047288 ms ++++++++++++++++++++++
mapping data assosiation time 13.767183 ms 
mapping solver time 17.800921 ms 
mapping data assosiation time 16.020590 ms 
--------------------stamp1317358105.233519077
filter time 8.835386 ms 
[0m[ INFO] [1718805392.108631909, 1317358105.244072176]: Received 141043 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805392.108674981, 1317358105.244072176]: Data saved to 1317358105025490.pcd[0m
publication time 6.925702 ms 
whole laserOdometry time 6.946997 ms 
 
mapping data assosiation time 14.418836 ms 
mapping solver time 18.465853 ms 
mapping data assosiation time 14.693583 ms 
points size 71319 
filter time 8.652721 ms 
publication time 4.576655 ms 
whole laserOdometry time 4.608193 ms 
 
build tree time 24.774328 ms 
mapping data assosiation time 13.955126 ms 
mapping solver time 15.691049 ms 
mapping data assosiation time 15.874641 ms 
mapping solver time 14.612419 ms 
filter time 9.839806 ms 
publication time 9.916653 ms 
whole laserOdometry time 9.929657 ms 
 
build tree time 25.977475 ms 
mapping data assosiation time 16.726130 ms 
mapping solver time 16.188580 ms 
mapping data assosiation time 16.522289 ms 
points size 70715 
sort q time 3.807566 
seperate points time 9.147495 
1317358105.337507963 WriteOdom aft_mapped_to_init1317358105.545466899 WriteOdom laser_odom_to_init
1317358105.545466899 WriteOdom aft_mapped_to_init_high_frec
build tree time 24.347109 ms 
mapping data assosiation time 15.456716 ms 
mapping solver time 20.026018 ms 
--------------------stamp1317358105.649409055
prepare time 13.152627 
scan registration time 25.483209 ms *************
publication time 6.931564 ms 
whole laserOdometry time 6.946782 ms 
 
build tree time 26.817540 ms 
mapping data assosiation time 13.597294 ms 
mapping solver time 13.745024 ms 
--------------------stamp1317358105.753350973
points size 69594 
prepare time 12.978213 
filter time 6.882781 ms 
--------------------stamp1317358105.857319116
prepare time 12.534312 
map prepare time 2.165372 ms
map corner num 103939  surf num 38564 
-----t: 0.028688
OdomCount 3311 & avg odom time 0.047253 ms ++++++++++++++++++++++
build tree time 31.615056 ms 
mapping data assosiation time 14.315927 ms 
mapping solver time 15.556385 ms 
--------------------stamp1317358105.961308956
points size 72587 
mapping optimization time 92.444569 
mapping pub time 1.560481 ms 
whole mapping time 104.348248 ms +++++
mappingCount 2082 & avg mapping time 160.511266 ms ++++++++++++++++++++++
publication time 6.470727 ms 
whole laserOdometry time 6.483165 ms 
 
build tree time 24.563068 ms 
mapping data assosiation time 13.459572 ms 
mapping solver time 14.784143 ms 
--------------------stamp1317358106.065321922
mapping data assosiation time 16.064283 ms 
mapping solver time 23.191054 ms 
mapping pub time 1.677689 ms 
whole mapping time 106.977758 ms +++++
mappingCount 2083 & avg mapping time 160.485568 ms ++++++++++++++++++++++
build tree time 34.118092 ms 
mapping data assosiation time 14.166162 ms 
mapping solver time 13.830289 ms 
points size 72541 
sort q time 3.948999 
seperate points time 8.293465 
scan registration time 23.923000 ms *************
mapping solver time 13.699438 ms 
mapping optimization time 94.039932 
add points time 0.550753 ms
1317358105.961308956 WriteOdom aft_mapped_to_init
build tree time 22.166187 ms 
mapping data assosiation time 13.727692 ms 
mapping solver time 14.162330 ms 
--------------------stamp1317358106.273330926
prepare time 12.807167 
add points time 0.562638 ms
filter time 9.960099 ms 
mapping pub time 1.688477 ms 
whole mapping time 96.030723 ms +++++
mappingCount 2085 & avg mapping time 160.429606 ms ++++++++++++++++++++++
1317358106.065321922 WriteOdom aft_mapped_to_init
publication time 5.451637 ms 
whole laserOdometry time 5.463892 ms 
 
-----t: 0.0347274
OdomCount 3315 & avg odom time 0.047241 ms ++++++++++++++++++++++
1317358106.273330926 WriteOdom laser_odom_to_init
1317358106.273330926 WriteOdom aft_mapped_to_init_high_frec
build tree time 26.482853 ms 
mapping data assosiation time 13.580187 ms 
mapping solver time 13.422756 ms 
--------------------stamp1317358106.377321004
mapping solver time 14.541390 ms 
mapping optimization time 83.743468 
mapping data assosiation time 12.335997 ms 
mapping solver time 15.300284 ms 
mapping data assosiation time 15.771562 ms 
mapping solver time 11.905548 ms 
mapping pub time 1.704146 ms 
whole mapping time 91.775325 ms +++++
mappingCount 2087 & avg mapping time 160.370016 ms ++++++++++++++++++++++
-----t: 0.0284158
OdomCount 3317 & avg odom time 0.047228 ms ++++++++++++++++++++++
1317358106.481337070 WriteOdom laser_odom_to_init
1317358106.481337070 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 12.973890 ms 
mapping solver time 13.863605 ms 
mapping data assosiation time 14.396201 ms 
mapping solver time 12.677187 ms 
mapping pub time 1.680666 ms 
whole mapping time 92.098473 ms +++++
mappingCount 2088 & avg mapping time 160.337322 ms ++++++++++++++++++++++
publication time 5.058703 ms 
whole laserOdometry time 5.072334 ms 
 
build tree time 26.793965 ms 
mapping data assosiation time 13.867159 ms 
mapping solver time 15.223129 ms 
mapping data assosiation time 14.851298 ms 
--------------------stamp1317358106.689342975
prepare time 11.827596 
publication time 5.873415 ms 
whole laserOdometry time 5.886718 ms 
 
build tree time 26.251472 ms 
mapping data assosiation time 13.427207 ms 
mapping solver time 14.176214 ms 
mapping data assosiation time 13.342755 ms 
--------------------stamp1317358106.793333053
mapping pub time 1.542248 ms 
whole mapping time 92.992014 ms +++++
mappingCount 2090 & avg mapping time 160.278520 ms ++++++++++++++++++++++
prepare time 11.484511 
scan registration time 24.266963 ms *************
publication time 5.448662 ms 
whole laserOdometry time 5.462364 ms 
 
mapping data assosiation time 13.685361 ms 
mapping solver time 14.514247 ms 
mapping data assosiation time 13.124741 ms 
mapping solver time 10.961691 ms 
[0m[ INFO] [1718805393.759877525, 1317358106.903726402]: Received 146152 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805393.759950233, 1317358106.903726402]: Data saved to 1317358106689342.pcd[0m
mapping pub time 4.483495 ms 
whole mapping time 97.867904 ms +++++
mappingCount 2091 & avg mapping time 160.248677 ms ++++++++++++++++++++++
sort q time 3.648540 
seperate points time 8.879463 
publication time 5.712513 ms 
whole laserOdometry time 5.724633 ms 
 
mapping data assosiation time 12.441359 ms 
mapping solver time 14.430179 ms 
mapping data assosiation time 13.996157 ms 
mapping solver time 10.636896 ms 
filter time 7.265620 ms 
points size 65662 
build tree time 27.582799 ms 
mapping data assosiation time 16.258627 ms 
mapping solver time 16.003400 ms 
mapping data assosiation time 12.897783 ms 
mapping solver time 13.809737 ms 
mapping optimization time 87.342410 
add points time 0.635458 ms
filter time 7.203761 ms 
points size 67824 
sort q time 3.710675 
seperate points time 8.873465 
publication time 6.090525 ms 
whole laserOdometry time 6.100194 ms 
 
-----t: 0.0339197
OdomCount 3323 & avg odom time 0.047193 ms ++++++++++++++++++++++
mapping solver time 16.631245 ms 
mapping data assosiation time 14.301376 ms 
mapping solver time 15.656602 ms 
filter time 9.533775 ms 
points size 65423 
sort q time 3.639870 
seperate points time 13.522278 
-----t: 0.0234398
OdomCount 3324 & avg odom time 0.047186 ms ++++++++++++++++++++++
mapping solver time 14.488729 ms 
mapping data assosiation time 15.182667 ms 
mapping solver time 11.305054 ms 
filter time 7.907085 ms 
points size 61922 
sort q time 3.604485 
seperate points time 7.280451 
build tree time 31.221887 ms 
-----t: 0.027423
OdomCount 3325 & avg odom time 0.047180 ms ++++++++++++++++++++++
mapping solver time 16.718891 ms 
mapping data assosiation time 12.479016 ms 
mapping solver time 11.434061 ms 
filter time 7.622258 ms 
--------------------stamp1317358107.417398929
prepare time 10.777155 
scan registration time 22.105906 ms *************
publication time 5.307934 ms 
whole laserOdometry time 5.319482 ms 
 
mapping solver time 16.570298 ms 
mapping data assosiation time 13.635786 ms 
mapping solver time 10.852612 ms 
filter time 7.423385 ms 
points size 57924 
build tree time 27.999104 ms 
-----t: 0.0202337
OdomCount 3327 & avg odom time 0.047164 ms ++++++++++++++++++++++
mapping solver time 14.099231 ms 
mapping data assosiation time 13.856509 ms 
mapping solver time 12.732855 ms 
filter time 7.088220 ms 
--------------------stamp1317358107.625401973
sort q time 3.531783 -----t: 0.021226
OdomCount 3328 & avg odom time 0.047157 ms ++++++++++++++++++++++
publication time 4.547671 ms 
whole laserOdometry time 4.559761 ms 
 
1317358107.625401973 WriteOdom laser_odom_to_init
1317358107.625401973 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 14.965914 ms 
mapping solver time 14.610067 ms 
mapping optimization time 82.609694 
add points time 0.501005 ms
filter time 4.949933 ms 
mapping pub time 1.265589 ms 
whole mapping time 91.214158 ms +++++
mappingCount 2099 & avg mapping time 160.009678 ms ++++++++++++++++++++++
1317358107.521388054 WriteOdom aft_mapped_to_init
build tree time 18.367868 ms 
mapping data assosiation time 13.489405 ms 
sort q time 2.918176 
seperate points time 7.188599 
mapping solver time 12.840197 ms 
build tree time 14.884409 ms 
mapping data assosiation time 11.995866 ms 
mapping solver time 13.050609 ms 
mapping data assosiation time 14.985294 ms 
mapping solver time 11.947653 ms 
-----t: 0.0276844
OdomCount 3330 & avg odom time 0.047146 ms ++++++++++++++++++++++
[0m[ INFO] [1718805394.759785717, 1317358107.902541938]: Received 99850 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805394.759836132, 1317358107.902541938]: Data saved to 1317358107729393.pcd[0m
--------------------stamp1317358107.937350988
scan registration time 18.328660 ms *************
mapping pub time 97.214696 ms 
whole mapping time 177.792939 ms +++++
mappingCount 2101 & avg mapping time 159.983355 ms ++++++++++++++++++++++
-----t: 0.0296118
OdomCount 3331 & avg odom time 0.047141 ms ++++++++++++++++++++++
mapping data assosiation time 11.263010 ms 
mapping solver time 15.486469 ms 
mapping data assosiation time 12.287097 ms 
mapping solver time 9.907251 ms 
map prepare time 1.681781 ms
map corner num 74786  surf num 25426 
prepare time 7.184138 
build tree time 16.668897 ms 
mapping data assosiation time 13.760930 ms 
mapping solver time 16.457931 ms 
mapping data assosiation time 12.139271 ms 
mapping solver time 13.605311 ms 
mapping pub time 1.384067 ms 
whole mapping time 81.952179 ms +++++
mappingCount 2103 & avg mapping time 159.906430 ms ++++++++++++++++++++++
--------------------stamp1317358108.145306110
publication time 5.056064 ms 
whole laserOdometry time 5.069288 ms 
 
mapping solver time 25.076294 ms 
mapping data assosiation time 15.737412 ms 
mapping solver time 15.108921 ms 
map prepare time 1.559379 ms
map corner num 75303  surf num 25665 
--------------------stamp1317358108.249274015
mapping data assosiation time 14.666940 ms 
-----t: 0.0197418
OdomCount 3334 & avg odom time 0.047123 ms ++++++++++++++++++++++
mapping data assosiation time 14.727287 ms 
mapping solver time 9.944798 ms 
map prepare time 1.458778 ms
map corner num 75571  surf num 25768 
build tree time 17.067239 ms 
mapping data assosiation time 12.296723 ms 
mapping solver time 14.667952 ms 
sort q time 3.249272 
seperate points time 7.905297 
publication time 5.649826 ms 
whole laserOdometry time 5.678630 ms 
 
filter time 6.075266 ms 
build tree time 16.478637 ms 
mapping data assosiation time 14.513212 ms 
mapping solver time 15.108067 ms 
points size 64311 
sort q time 3.907202 
seperate points time 8.023471 
mapping solver time 16.491068 ms 
-----t: 0.0257743
OdomCount 3336 & avg odom time 0.047111 ms ++++++++++++++++++++++
build tree time 16.546250 ms 
mapping data assosiation time 14.908242 ms 
mapping solver time 18.748731 ms 
points size 64192 
sort q time 3.073152 
seperate points time 7.071542 
publication time 4.808581 ms 
whole laserOdometry time 4.835067 ms 
 
-----t: 0.0329598
OdomCount 3337 & avg odom time 0.047106 ms ++++++++++++++++++++++
build tree time 20.748924 ms 
--------------------stamp1317358108.665239095
points size 64270 
mapping data assosiation time 17.236030 ms 
publication time 5.425779 ms mapping pub time 1.457971 ms 
whole mapping time 97.709819 ms +++++
mappingCount 2109 & avg mapping time 159.713081 ms ++++++++++++++++++++++
build tree time 15.892545 ms 
mapping data assosiation time 14.527646 ms 
mapping solver time 18.427583 ms 
points size 64273 
sort q time 3.312351 
seperate points time 7.611349 
filter time 6.708869 ms 
build tree time 16.916184 ms 
mapping data assosiation time 15.337208 ms 
mapping solver time 15.973701 ms 
mapping data assosiation time 13.522748 ms 
prepare time 11.333119 
mapping pub time 3.131560 ms 
[0m[ INFO] [1718805395.752743083, 1317358108.897664154]: Received 103974 data points in frame camera_init with the following fields: x y z intensity[0m
whole mapping time 91.154073 ms +++++
mappingCount 2111 & avg mapping time 159.647563 ms ++++++++++++++++++++++
publication time 4.409234 ms 
whole laserOdometry time 4.420925 ms 
 
-----t: 0.03239
OdomCount 3340 & avg odom time 0.047087 ms ++++++++++++++++++++++
1317358108.873195886 WriteOdom laser_odom_to_init
1317358108.873195886 WriteOdom aft_mapped_to_init_high_frec
build tree time 16.747282 ms 
mapping data assosiation time 16.262612 ms 
mapping solver time 16.202064 ms 
mapping data assosiation time 17.217221 ms 
sort q time 3.537731 
seperate points time 7.625029 
scan registration time 20.766994 ms *************
mapping pub time 1.444686 ms 
whole mapping time 89.588184 ms +++++
mappingCount 2112 & avg mapping time 159.614394 ms ++++++++++++++++++++++
1317358108.873195887 WriteOdom aft_mapped_to_init
publication time 5.074011 ms 
whole laserOdometry time 5.084860 ms 
 
-----t: 0.02807
OdomCount 3341 & avg odom time 0.047082 ms ++++++++++++++++++++++
1317358108.977180004 WriteOdom laser_odom_to_init
1317358108.977180004 WriteOdom aft_mapped_to_init_high_frec
build tree time 15.689500 ms 
mapping data assosiation time 14.383590 ms 
mapping solver time 18.329011 ms 
--------------------stamp1317358109.081147909
sort q time 3.817165 
seperate points time 7.822319 
publication time 5.540825 ms 
whole laserOdometry time 5.555647 ms 
 
-----t: 0.0275363
OdomCount 3342 & avg odom time 0.047076 ms ++++++++++++++++++++++
build tree time 15.875724 ms 
mapping data assosiation time 14.277799 ms 
--------------------stamp1317358109.185120105
sort q time 3.812360 
seperate points time 7.352194 
filter time 7.256375 ms 
-----t: 0.0340838
OdomCount 3343 & avg odom time 0.047072 ms ++++++++++++++++++++++
build tree time 17.177370 ms 
mapping data assosiation time 14.235101 ms 
mapping solver time 17.793497 ms 
points size 65411 
prepare time 6.754645 
mapping data assosiation time 15.813317 ms 
sort q time 4.329417 
seperate points time 8.702872 
scan registration time 16.640075 ms *************
mapping optimization time 85.647050 
mapping pub time 1.488851 ms 
whole mapping time 95.359285 ms +++++
mappingCount 2115 & avg mapping time 159.519603 ms ++++++++++++++++++++++
build tree time 16.717179 ms 
mapping data assosiation time 14.716294 ms 
mapping solver time 19.255614 ms 
--------------------stamp1317358109.393105983
prepare time 13.054568 
scan registration time 24.509334 ms *************
publication time 9.425732 ms 
whole laserOdometry time 9.438220 ms 
 
map prepare time 1.698930 ms
map corner num 79278  surf num 26858 
build tree time 16.303839 ms 
mapping data assosiation time 15.016429 ms 
mapping solver time 14.670209 ms 
points size 65911 
sort q time 3.541063 
seperate points time 8.852778 
mapping solver time 25.928650 ms 
build tree time 15.391344 ms 
mapping data assosiation time 15.634727 ms 
mapping solver time 19.292978 ms 
prepare time 9.316652 
scan registration time 20.269003 ms *************
publication time 5.418195 ms 
whole laserOdometry time 5.427865 ms 
 
filter time 7.426871 ms 
build tree time 16.023841 ms 
mapping data assosiation time 16.836404 ms 
mapping solver time 17.102509 ms 
publication time 6.449465 ms 
whole laserOdometry time 6.474528 ms 
filter time 7.477539 ms 
mapping pub time 1.503971 ms 
whole mapping time 95.695526 ms +++++
mappingCount 2119 & avg mapping time 159.405701 ms ++++++++++++++++++++++
1317358109.601109982 WriteOdom aft_mapped_to_init
build tree time 18.420213 ms 
mapping data assosiation time 15.312453 ms 
mapping solver time 16.492595 ms 
prepare time 9.285060 
scan registration time 20.858799 ms *************
mapping optimization time 85.148417 
map prepare time 1.798784 ms
map corner num 80567  surf num 27199 
build tree time 17.425695 ms 
mapping data assosiation time 14.591670 ms 
mapping solver time 19.475240 ms 
points size 67454 
prepare time 13.506256 
mapping data assosiation time 20.251309 ms 
-----t: 0.0248315
OdomCount 3350 & avg odom time 0.047037 ms ++++++++++++++++++++++
filter time 5.569812 ms 
--------------------stamp1317358110.017117023
prepare time 13.690758 
sort q time 4.208000 publication time 6.159036 ms 
whole laserOdometry time 6.173497 ms 
 
mapping data assosiation time 15.401455 ms 
--------------------stamp1317358110.121130943
points size 69645 
sort q time 3.718382 
seperate points time 8.916083 
scan registration time 24.238582 ms *************
filter time 7.707642 ms 
-----t: 0.0436786
OdomCount 3352 & avg odom time 0.047030 ms ++++++++++++++++++++++
build tree time 17.399024 ms 
mapping data assosiation time 15.709763 ms 
points size 70987 
sort q time 4.125378 
seperate points time 9.952452 
scan registration time 36.832627 ms *************
publication time 6.025885 ms 
whole laserOdometry time 6.042587 ms 
 
add points time 0.762272 ms
mapping pub time 1.679555 ms 
whole mapping time 117.501505 ms +++++
mappingCount 2123 & avg mapping time 159.352117 ms ++++++++++++++++++++++
build tree time 20.097689 ms 
points size 73032 
sort q time 4.068903 
seperate points time 9.774412 
mapping solver time 19.321368 ms 
mapping data assosiation time 17.287280 ms 
mapping solver time 15.960618 ms 
mapping pub time 1.719078 ms 
whole mapping time 105.970454 ms +++++
mappingCount 2124 & avg mapping time 159.326986 ms ++++++++++++++++++++++
build tree time 15.971359 ms 
points size 75077 
sort q time 4.387311 
seperate points time 9.549836 
mapping solver time 20.056726 ms 
1317358110.433227062 WriteOdom laser_odom_to_init
mapping data assosiation time 21.345030 ms 
mapping solver time 12.583274 ms 
mapping pub time 1.572420 ms 
whole mapping time 98.505697 ms +++++
mappingCount 2125 & avg mapping time 159.298365 ms ++++++++++++++++++++++
build tree time 16.148055 ms 
points size 76779 
sort q time 4.626682 
seperate points time 10.126987 
mapping solver time 20.901691 ms 
-----t: 0.030696
OdomCount 3356 & avg odom time 0.047018 ms ++++++++++++++++++++++
1317358110.537240028 WriteOdom laser_odom_to_init
1317358110.537240028 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.802584 ms 
mapping solver time 13.090936 ms 
mapping optimization time 90.183647 
add points time 0.588460 ms
filter time 5.560605 ms 
build tree time 16.464483 ms 
points size 78575 
scan registration time 26.051255 ms *************
-----t: 0.0360767
OdomCount 3357 & avg odom time 0.047014 ms ++++++++++++++++++++++
1317358110.641253948 WriteOdom laser_odom_to_init
mapping data assosiation time 19.945621 ms 
mapping solver time 13.776651 ms 
filter time 6.057345 ms 
--------------------stamp1317358110.745245933
sort q time 5.784952 
seperate points time 10.609059 
mapping solver time 19.756705 ms 
mapping data assosiation time 20.960320 ms 
mapping solver time 8.695287 ms 
mapping optimization time 89.530429 
add points time 0.587633 ms
filter time 5.588395 ms 
--------------------stamp1317358110.849235057
mapping data assosiation time 19.927611 ms 
publication time 9.682916 ms 
whole laserOdometry time 9.716388 ms 
 
mapping data assosiation time 16.331710 ms 
mapping solver time 12.731649 ms 
mapping pub time 1.815665 ms 
whole mapping time 101.725974 ms +++++
mappingCount 2129 & avg mapping time 159.195118 ms ++++++++++++++++++++++
1317358110.745245934 WriteOdom aft_mapped_to_init
--------------------stamp1317358110.953250885
points size 82332 
sort q time 5.190156 
seperate points time 9.947556 
publication time 5.556920 ms 
whole laserOdometry time 5.571544 ms 
 
mapping data assosiation time 16.430866 ms 
mapping solver time 13.393471 ms 
mapping pub time 1.972460 ms 
whole mapping time 100.668506 ms +++++
mappingCount 2130 & avg mapping time 159.167643 ms ++++++++++++++++++++++
--------------------stamp1317358111.057240962
points size 83264 
prepare time 10.906526 
publication time 6.142239 ms 
whole laserOdometry time 6.158373 ms 
 
1317358111.057240962 WriteOdom laser_odom_to_init
1317358111.057240962 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.812667 ms 
mapping solver time 13.546274 ms 
mapping optimization time 90.914472 
add points time 0.631802 ms
filter time 5.396572 ms 
--------------------stamp1317358111.161228895
prepare time 13.145416 
sort q time 5.146187 
seperate points time 10.961670 
publication time 7.099775 ms 
whole laserOdometry time 7.110051 ms 
 
-----t: 0.0470111
OdomCount 3362 & avg odom time 0.046998 ms ++++++++++++++++++++++
mapping solver time 23.286413 ms 
mapping data assosiation time 19.705251 ms 
mapping solver time 13.941443 ms 
map prepare time 2.609097 ms
map corner num 84307  surf num 28414 
prepare time 11.514345 
mapping data assosiation time 22.535006 ms 
mapping solver time 21.297341 ms 
mapping data assosiation time 17.939101 ms 
mapping solver time 14.053612 ms 
--------------------stamp1317358111.473133087
points size 87211 
prepare time 13.969483 
publication time 8.273328 ms 
whole laserOdometry time 8.291008 ms 
 
mapping solver time 15.658409 ms 
mapping data assosiation time 16.911806 ms 
mapping solver time 9.815006 ms 
mapping pub time 2.064918 ms 
whole mapping time 98.077073 ms +++++
mappingCount 2135 & avg mapping time 159.040673 ms ++++++++++++++++++++++
points size 88663 
sort q time 4.994592 
seperate points time 11.017913 
publication time 6.260795 ms 
whole laserOdometry time 6.274038 ms 
 
-----t: 0.0365685
OdomCount 3366 & avg odom time 0.046992 ms ++++++++++++++++++++++
mapping solver time 20.028933 ms 
mapping data assosiation time 18.123887 ms 
mapping solver time 13.797487 ms 
mapping pub time 3.396898 ms 
whole mapping time 112.511845 ms +++++
mappingCount 2136 & avg mapping time 159.018891 ms ++++++++++++++++++++++
sort q time 4.972345 
seperate points time 11.481388 
scan registration time 31.383955 ms *************
build tree time 21.063474 ms 
publication time 7.835751 ms 
whole laserOdometry time 7.848183 ms 
 
mapping data assosiation time 22.535031 ms 
mapping solver time 22.227186 ms 
mapping data assosiation time 20.492730 ms 
points size 89733 
prepare time 12.475762 
map prepare time 2.802961 ms
map corner num 85190  surf num 28703 
publication time 9.465693 ms 
whole laserOdometry time 9.478033 ms 
 
-----t: 0.0501447
OdomCount 3368 & avg odom time 0.046991 ms ++++++++++++++++++++++
mapping data assosiation time 20.511825 ms 
mapping solver time 19.172708 ms 
points size 90483 
sort q time 5.267135 
seperate points time 11.159508 
scan registration time 29.142115 ms *************
drop lidar frame in mapping for real time performance 
-----t: 0.0479266
OdomCount 3369 & avg odom time 0.046991 ms ++++++++++++++++++++++
1317358111.888854980 WriteOdom laser_odom_to_init
1317358111.888854980 WriteOdom aft_mapped_to_init_high_frec
build tree time 19.906660 ms 
mapping data assosiation time 19.168596 ms 
--------------------stamp1317358111.992796897
prepare time 14.928279 
scan registration time 35.200384 ms *************
mapping solver time 17.200092 ms 
map prepare time 2.217843 ms
map corner num 85606  surf num 28835 
build tree time 18.300477 ms 
mapping data assosiation time 18.713100 ms 
points size 91770 
mapping solver time 21.541219 ms 
mapping data assosiation time 21.926500 ms 
-----t: 0.0361177
OdomCount 3371 & avg odom time 0.046985 ms ++++++++++++++++++++++
filter time 7.613911 ms 
build tree time 17.657827 ms 
--------------------stamp1317358112.200659990
prepare time 12.230756 
sort q time 4.878317 
seperate points time 11.655619 
-----t: 0.0357283
OdomCount 3372 & avg odom time 0.046982 ms ++++++++++++++++++++++
mapping solver time 14.606313 ms 
[0m[ INFO] [1718805399.133220752, 1317358112.271580495]: Received 115165 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805399.133280462, 1317358112.271580495]: Data saved to 1317358112096740.pcd[0m
--------------------stamp1317358112.304578065
points size 93589 
sort q time 6.355477 
seperate points time 12.544959 
scan registration time 45.464444 ms *************
publication time 10.632845 ms 
whole laserOdometry time 10.650429 ms 
 
mapping pub time 113.477306 ms 
whole mapping time 224.377072 ms +++++
mappingCount 2141 & avg mapping time 158.966933 ms ++++++++++++++++++++++
--------------------stamp1317358112.408504009
points size 95091 
sort q time 5.215744 
seperate points time 10.554448 
publication time 8.558408 ms 
whole laserOdometry time 8.582858 ms 
 
mapping data assosiation time 24.166689 ms 
points size 96243 
prepare time 14.809783 

seperate points time 13.089246 
build tree time 23.152286 ms 
mapping data assosiation time 25.055727 ms 
mapping solver time 24.213360 ms 
points size 96631 
mapping data assosiation time 24.608663 ms 
mapping solver time 18.838630 ms 
filter time 8.678180 ms 
-----t: 0.0589351
OdomCount 3376 & avg odom time 0.046990 ms ++++++++++++++++++++++
build tree time 21.274320 ms 
mapping data assosiation time 21.766678 ms 
prepare time 13.169922 
sort q time 5.509938 
seperate points time 12.567555 
publication time 8.565815 ms 
whole laserOdometry time 8.579607 ms 
 
filter time 5.591779 ms 
map prepare time 2.435645 ms
map corner num 87124  surf num 29467 
build tree time 20.041727 ms 
points size 96454 
sort q time 6.027891 
seperate points time 13.251084 
mapping solver time 25.137490 ms 
publication time 15.344322 ms 
whole laserOdometry time 15.363126 ms 
 
mapping data assosiation time 24.034019 ms 
mapping solver time 14.865402 ms 
mapping pub time 2.205118 ms 
whole mapping time 120.035220 ms +++++
mappingCount 2145 & avg mapping time 158.910869 ms ++++++++++++++++++++++
1317358112.720231056 WriteOdom aft_mapped_to_init
map prepare time 2.415911 ms
map corner num 87496  surf num 29714 
points size 95576 
sort q time 5.569421 
seperate points time 12.602548 
publication time 8.446753 ms 
whole laserOdometry time 8.461378 ms 
 
mapping solver time 24.396626 ms 
mapping data assosiation time 21.015551 ms 
mapping solver time 14.560639 ms 
[0m[ INFO] [1718805399.890766825, 1317358113.033364028]: Received 117774 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805399.890818139, 1317358113.033364028]: Data saved to 1317358112824101.pcd[0m
sort q time 5.804336 
seperate points time 11.337422 
mapping data assosiation time 23.096439 ms 
mapping solver time 21.851919 ms 
mapping data assosiation time 22.147681 ms 
points size 94854 
filter time 8.558626 ms 
-----t: 0.0372173
OdomCount 3381 & avg odom time 0.046987 ms ++++++++++++++++++++++
mapping data assosiation time 19.581474 ms 
mapping solver time 20.895862 ms 
points size 93243 
mapping data assosiation time 26.290702 ms 
mapping solver time 24.379603 ms 
drop lidar frame in mapping for real time performance 
build tree time 19.885859 ms 
--------------------stamp1317358113.343597888
points size 91365 
scan registration time 31.642962 ms *************
publication time 10.742456 ms 
whole laserOdometry time 10.755611 ms 
 
-----t: 0.059282
OdomCount 3383 & avg odom time 0.046992 ms ++++++++++++++++++++++
mapping optimization time 124.547690 
add points time 0.756171 ms
filter time 5.956488 ms 
points size 89833 
build tree time 25.034174 ms 
publication time 11.394788 ms 
whole laserOdometry time 11.413588 ms 
 
mapping solver time 24.492321 ms 
--------------------stamp1317358113.551389932
prepare time 11.863146 
sort q time 5.052702 
seperate points time 11.399805 
map prepare time 3.209975 ms
map corner num 89353  surf num 30674 
-----t: 0.0440981
OdomCount 3385 & avg odom time 0.046989 ms ++++++++++++++++++++++
mapping data assosiation time 20.711457 ms 
mapping solver time 21.008110 ms 
points size 87214 
mapping data assosiation time 24.217704 ms 
scan registration time 31.303361 ms *************
add points time 0.871788 ms
map prepare time 3.395415 ms
map corner num 89809  surf num 30892 
build tree time 17.567416 ms 
mapping data assosiation time 20.294429 ms 
--------------------stamp1317358113.759200096
points size 86398 
sort q time 5.282301 
seperate points time 13.412422 mapping data assosiation time 31.495698 ms 
publication time 11.229897 ms 
whole laserOdometry time 11.246057 ms 
 
mapping solver time 32.358429 ms 
filter time 6.159156 ms 
--------------------stamp1317358113.863095998
points size 85622 
sort q time 5.180437 
seperate points time 12.851884 
mapping data assosiation time 27.475598 ms 
-----t: 0.0511344
OdomCount 3388 & avg odom time 0.046989 ms ++++++++++++++++++++++
mapping data assosiation time 22.406523 ms 
mapping solver time 15.965512 ms 
map prepare time 2.416846 ms
map corner num 90693  surf num 31260 
build tree time 25.183116 ms 
-----t: 0.0454714
OdomCount 3389 & avg odom time 0.046988 ms ++++++++++++++++++++++
1317358113.967015027 WriteOdom laser_odom_to_init
1317358113.967015027 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.807977 ms 
mapping solver time 19.916727 ms 
--------------------stamp1317358114.070956945
points size 82516 
sort q time 4.937207 
seperate points time 12.347761 
mapping solver time 20.274035 ms 
mapping optimization time 113.693329 
add points time 0.844564 ms
publication time 18.860096 ms 
whole laserOdometry time 18.873282 ms 
 
-----t: 0.0485346
OdomCount 3390 & avg odom time 0.046989 ms ++++++++++++++++++++++
1317358114.070956945 WriteOdom laser_odom_to_init
1317358114.070956945 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.022028 ms 
--------------------stamp1317358114.174876928
mapping solver time 21.824082 ms 
publication time 5.988118 ms 
whole laserOdometry time 6.004181 ms 
 
-----t: 0.0366387
OdomCount 3391 & avg odom time 0.046986 ms ++++++++++++++++++++++
filter time 6.170430 ms 
build tree time 17.205612 ms 
--------------------stamp1317358114.278820037
prepare time 10.239506 
mapping solver time 23.596672 ms 
publication time 8.768190 ms 
whole laserOdometry time 8.782800 ms 
 
mapping solver time 15.354648 ms 
mapping optimization time 101.772812 
add points time 0.705967 ms
build tree time 19.037243 ms 
points size 77176 
sort q time 4.219580 
seperate points time 10.223852 
mapping solver time 21.593299 ms 
publication time 7.767528 ms 
whole laserOdometry time 7.779266 ms 
 
mapping data assosiation time 25.838115 ms 
mapping solver time 19.546164 ms 
filter time 8.686550 ms 
points size 74806 
sort q time 4.689487 
seperate points time 9.524314 
build tree time 36.248552 ms 
publication time 8.969013 ms 
whole laserOdometry time 8.998060 ms 
 
mapping data assosiation time 25.857108 ms 
-----t: 0.061144
OdomCount 3394 & avg odom time 0.046995 ms ++++++++++++++++++++++
--------------------stamp1317358114.590696096
mapping solver time 17.734221 ms 
mapping pub time 2.186498 ms 
whole mapping time 137.213944 ms +++++
mappingCount 2158 & avg mapping time 158.728190 ms ++++++++++++++++++++++
1317358114.382786036 WriteOdom aft_mapped_to_init
-----t: 0.0455837
OdomCount 3395 & avg odom time 0.046995 ms ++++++++++++++++++++++mapping data assosiation time 18.309965 ms 
mapping solver time 18.617284 ms 
points size 73420 
sort q time 4.090794 
seperate points time 10.007720 
mapping solver time 25.578048 ms 
drop lidar frame in mapping for real time performance 
map prepare time 2.449278 ms
map corner num 92804  surf num 31890 
build tree time 18.860331 ms 
mapping data assosiation time 16.218223 ms 
--------------------stamp1317358114.798608064
mapping solver time 20.741044 ms 
scan registration time 27.288108 ms *************
publication time 8.221438 ms 
whole laserOdometry time 8.238705 ms 
 
mapping solver time 22.381430 ms 
filter time 6.016236 ms 
mapping pub time 1.857520 ms 
whole mapping time 112.911909 ms +++++
mappingCount 2160 & avg mapping time 158.692573 ms ++++++++++++++++++++++
1317358114.590696096 WriteOdom aft_mapped_to_init
map prepare time 1.939017 ms
map corner num 93109  surf num 31954 
build tree time 21.161340 ms 
--------------------stamp1317358114.902573108
sort q time 4.118184 
seperate points time 8.180276 
publication time 6.025763 ms 
whole laserOdometry time 6.040341 ms 
 
mapping solver time 13.979789 ms 
[0m[ INFO] [1718805401.830793755, 1317358114.971895069]: Received 125472 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805401.830855566, 1317358114.971895069]: Data saved to 1317358114798608.pcd[0m
--------------------stamp1317358115.006539106
sort q time 3.483378 
seperate points time 8.399698 
publication time 5.884395 ms 
whole laserOdometry time 5.901421 ms 
 
-----t: 0.0359603
OdomCount 3399 & avg odom time 0.046979 ms ++++++++++++++++++++++
mapping pub time 102.319859 ms 
whole mapping time 206.939743 ms +++++
mappingCount 2161 & avg mapping time 158.714901 ms ++++++++++++++++++++++
1317358114.798608065 WriteOdom aft_mapped_to_init
build tree time 20.018071 ms 
--------------------stamp1317358115.110505104
prepare time 12.373979 
mapping solver time 15.668406 ms 
publication time 6.793017 ms 
whole laserOdometry time 6.805016 ms 
 
-----t: 0.0383023
OdomCount 3400 & avg odom time 0.046977 ms ++++++++++++++++++++++
mapping solver time 18.980084 ms 
map prepare time 1.817985 ms
map corner num 93735  surf num 32102 
build tree time 19.752382 ms 
points size 70150 
sort q time 4.492641 
seperate points time 9.446654 
scan registration time 23.243265 ms *************
-----t: 0.0344568
OdomCount 3401 & avg odom time 0.046973 ms ++++++++++++++++++++++
mapping solver time 16.190250 ms 
map prepare time 2.034340 ms
map corner num 94071  surf num 32183 
build tree time 19.441372 ms 
points size 70028 
sort q time 4.073335 
seperate points time 9.664475 
publication time 6.343110 ms 
whole laserOdometry time 6.354213 ms 
 
-----t: 0.0366841
OdomCount 3402 & avg odom time 0.046970 ms ++++++++++++++++++++++
mapping solver time 11.109747 ms 
mapping pub time 1.726896 ms 
whole mapping time 105.858201 ms +++++
mappingCount 2164 & avg mapping time 158.641894 ms ++++++++++++++++++++++
build tree time 20.173527 ms 
prepare time 12.594163 
scan registration time 24.628827 ms *************
publication time 5.472316 ms 
whole laserOdometry time 5.485966 ms 
 
-----t: 0.0372218
OdomCount 3403 & avg odom time 0.046967 ms ++++++++++++++++++++++
add points time 0.649403 ms
mapping pub time 1.602056 ms 
whole mapping time 97.179219 ms +++++
mappingCount 2165 & avg mapping time 158.613506 ms ++++++++++++++++++++++
build tree time 17.515619 ms 
--------------------stamp1317358115.526396989
sort q time 3.612325 
seperate points time 8.257427 
publication time 5.330490 ms 
whole laserOdometry time 5.346563 ms 
 
-----t: 0.0266769
OdomCount 3404 & avg odom time 0.046961 ms ++++++++++++++++++++++
1317358115.526396989 WriteOdom laser_odom_to_init
1317358115.526396989 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.852330 ms 
mapping solver time 13.977683 ms 
mapping optimization time 82.510245 
add points time 0.621020 ms
filter time 6.086283 ms 
build tree time 20.851343 ms 
--------------------stamp1317358115.630337953
prepare time 11.802317 
scan registration time 24.011011 ms *************
mapping data assosiation time 17.755302 ms 
1317358115.630337953 WriteOdom laser_odom_to_init
1317358115.630337953 WriteOdom aft_mapped_to_init_high_frec
filter time 6.534045 ms 
build tree time 19.591252 ms 
mapping data assosiation time 13.899536 ms 
points size 67488 
mapping solver time 18.323016 ms 
prepare time 12.079515 
mapping data assosiation time 19.056431 ms 
mapping solver time 18.385233 ms 
mapping pub time 1.555092 ms 
whole mapping time 103.970452 ms +++++
mappingCount 2168 & avg mapping time 158.529610 ms ++++++++++++++++++++++
build tree time 18.657753 ms 
mapping data assosiation time 13.749858 ms 
points size 68617 
sort q time 5.158311 
seperate points time 9.917057 
publication time 6.518552 ms 
whole laserOdometry time 6.533656 ms 
 
mapping solver time 15.503017 ms 
map prepare time 1.741924 ms
map corner num 95509  surf num 32526 
build tree time 22.534717 ms 
mapping data assosiation time 14.018614 ms 
prepare time 11.854364 
mapping solver time 19.787154 ms 
sort q time 10.259430 
seperate points time 25.440612 
mapping solver time 14.784496 ms 
mapping pub time 1.582798 ms 
whole mapping time 102.323548 ms +++++
mappingCount 2170 & avg mapping time 158.478540 ms ++++++++++++++++++++++
build tree time 21.059715 ms 
mapping data assosiation time 13.225468 ms 
points size 70763 
sort q time 3.691512 
seperate points time 8.488905 
publication time 4.732591 ms 
whole laserOdometry time 4.748990 ms 
 
mapping solver time 12.430504 ms 
filter time 5.929542 ms 
build tree time 24.949256 ms 
mapping data assosiation time 13.625605 ms 
mapping solver time 17.174333 ms 
mapping data assosiation time 17.156603 ms 
-----t: 0.027865
OdomCount 3410 & avg odom time 0.046934 ms ++++++++++++++++++++++
1317358116.046204090 WriteOdom aft_mapped_to_init
map prepare time 1.848140 ms
map corner num 96166  surf num 32703 
build tree time 19.681716 ms 
mapping data assosiation time 12.141158 ms 
mapping solver time 13.626500 ms 
prepare time 9.842612 
scan registration time 22.284314 ms *************
filter time 8.783478 ms 
-----t: 0.0283318
OdomCount 3411 & avg odom time 0.046928 ms ++++++++++++++++++++++
map prepare time 2.405904 ms
map corner num 96389  surf num 32775 
build tree time 21.213932 ms 
mapping data assosiation time 14.343663 ms 
--------------------stamp1317358116.358179092
mapping data assosiation time 15.053283 ms 
mapping optimization time 92.991251 
map prepare time 1.778634 ms
map corner num 96596  surf num 32833 
build tree time 20.894409 ms 
mapping data assosiation time 13.112114 ms 
--------------------stamp1317358116.462193965
sort q time 4.663967 
seperate points time 8.982543 
publication time 6.543481 ms 
whole laserOdometry time 6.559231 ms 
 
-----t: 0.0391001
OdomCount 3413 & avg odom time 0.046921 ms ++++++++++++++++++++++
1317358116.462193965 WriteOdom laser_odom_to_init
1317358116.462193965 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.737241 ms
map corner num 96798  surf num 32885 
build tree time 20.193656 ms 
mapping data assosiation time 12.346015 ms 
mapping solver time 15.279495 ms 
--------------------stamp1317358116.566184043
prepare time 23.414115 
scan registration time 36.428976 ms *************
filter time 25.808945 ms 
-----t: 0.0405046
OdomCount 3414 & avg odom time 0.046919 ms ++++++++++++++++++++++
build tree time 22.218837 ms 
mapping data assosiation time 15.886795 ms 
mapping solver time 27.916184 ms 
mapping data assosiation time 19.941424 ms 
mapping solver time 13.427334 ms 
mapping optimization time 101.183879 
add points time 0.677418 ms
map prepare time 2.864316 ms
map corner num 97225  surf num 32992 
points size 78464 
sort q time 5.344241 
seperate points time 11.975155 
publication time 6.246519 ms 
whole laserOdometry time 6.261051 ms 
 
mapping solver time 11.954920 ms 
map prepare time 1.804077 ms
map corner num 97443  surf num 33057 
points size 82350 
sort q time 4.888125 
seperate points time 10.722738 
mapping data assosiation time 11.936711 ms 
mapping solver time 13.570437 ms 
map prepare time 1.970914 ms
map corner num 97647  surf num 33099 
build tree time 21.509188 ms 
mapping data assosiation time 16.048255 ms 
mapping solver time 18.927962 ms 
mapping data assosiation time 17.086039 ms 
mapping solver time 14.329350 ms 
mapping pub time 1.799507 ms 
whole mapping time 99.643837 ms +++++
mappingCount 2180 & avg mapping time 158.215293 ms ++++++++++++++++++++++
1317358116.878084898 WriteOdom aft_mapped_to_init
map prepare time 1.913476 ms
map corner num 97869  surf num 33153 
--------------------stamp1317358117.086018085
points size 88501 
sort q time 5.602960 
seperate points time 10.171927 
mapping solver time 18.659914 ms 
mapping data assosiation time 14.972043 ms 
mapping solver time 10.313060 ms 
filter time 6.241772 ms 
--------------------stamp1317358117.189982891
prepare time 13.007475 
sort q time 5.200497 
seperate points time 11.682444 
-----t: 0.0302005
OdomCount 3420 & avg odom time 0.046897 ms ++++++++++++++++++++++
mapping pub time 103.777794 ms 
whole mapping time 194.062287 ms +++++
mappingCount 2181 & avg mapping time 158.231736 ms ++++++++++++++++++++++
build tree time 18.597381 ms 
--------------------stamp1317358117.293948888
prepare time 13.401766 
sort q time 6.040429 
seperate points time 12.486718 
mapping solver time 13.528889 ms 
mapping pub time 2.135406 ms 
whole mapping time 90.694509 ms +++++
mappingCount 2182 & avg mapping time 158.200786 ms ++++++++++++++++++++++
1317358117.086018085 WriteOdom aft_mapped_to_init
map prepare time 1.895058 ms
map corner num 98312  surf num 33286 
build tree time 19.696009 ms 
mapping data assosiation time 11.872800 ms 
--------------------stamp1317358117.397917032
points size 95819 
mapping data assosiation time 16.247290 ms 
mapping solver time 16.391704 ms 
mapping pub time 2.318367 ms 
whole mapping time 95.346024 ms +++++
mappingCount 2183 & avg mapping time 158.171995 ms ++++++++++++++++++++++
build tree time 21.002496 ms 
mapping data assosiation time 15.547511 ms 
mapping solver time 15.746228 ms 
mapping data assosiation time 15.255483 ms 
filter time 9.013540 ms 
map prepare time 2.563631 ms
map corner num 98895  surf num 33478 
build tree time 22.248549 ms 
mapping data assosiation time 14.269023 ms 
--------------------stamp1317358117.605777978
mapping data assosiation time 14.373024 ms 
mapping solver time 12.376137 ms 
mapping pub time 2.136280 ms 
whole mapping time 95.329997 ms +++++
mappingCount 2185 & avg mapping time 158.115012 ms ++++++++++++++++++++++
build tree time 19.402812 ms 
mapping data assosiation time 12.435945 ms 
mapping solver time 15.494148 ms 
mapping data assosiation time 15.255657 ms 
mapping solver time 13.995672 ms 
1317358117.605777979 WriteOdom aft_mapped_to_init
build tree time 22.098220 ms 
mapping data assosiation time 12.531586 ms 
--------------------stamp1317358117.813620090
mapping data assosiation time 16.477202 ms 
sort q time 5.327188 
seperate points time 12.084712 
-----t: 0.0310592
OdomCount 3426 & avg odom time 0.046870 ms ++++++++++++++++++++++
build tree time 27.252739 ms 
mapping data assosiation time 15.283316 ms 
points size 87683 
mapping solver time 17.489290 ms 
prepare time 13.304342 
mapping data assosiation time 15.683930 ms 
scan registration time 29.485902 ms *************
publication time 8.728304 ms 
whole laserOdometry time 8.742223 ms 
 
1317358117.917515993 WriteOdom aft_mapped_to_init_high_frec
build tree time 22.218464 ms 
mapping data assosiation time 13.629951 ms 
points size 84566 
sort q time 5.454603 
seperate points time 11.387974 
publication time 6.704932 ms 
whole laserOdometry time 6.717186 ms 
 
filter time 15.712040 ms 
-----t: 0.0459219
OdomCount 3428 & avg odom time 0.046871 ms ++++++++++++++++++++++
1317358118.021380901 WriteOdom laser_odom_to_init
1317358118.021380901 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.201434 ms 
whole mapping time 104.737506 ms +++++
mappingCount 2189 & avg mapping time 158.005241 ms ++++++++++++++++++++++
1317358117.917515993 WriteOdom aft_mapped_to_init
build tree time 25.037955 ms 
mapping data assosiation time 15.459049 ms 
sort q time 6.351879 
seperate points time 11.315621 
publication time 6.459313 ms 
whole laserOdometry time 6.472821 ms 
 
-----t: 0.0252546
OdomCount 3429 & avg odom time 0.046864 ms ++++++++++++++++++++++
mapping solver time 10.986920 ms 
mapping pub time 1.925878 ms 
whole mapping time 102.747678 ms +++++
mappingCount 2190 & avg mapping time 157.980010 ms ++++++++++++++++++++++
build tree time 28.434887 ms 
mapping data assosiation time 16.140001 ms 
sort q time 4.771181 
seperate points time 10.752154 
publication time 4.809773 ms 
whole laserOdometry time 4.821349 ms 
 
mapping data assosiation time 13.923025 ms 
filter time 6.629449 ms 
build tree time 21.778899 ms 
mapping data assosiation time 14.452627 ms 
sort q time 4.293638 
seperate points time 9.610577 
publication time 6.722688 ms 
whole laserOdometry time 6.739249 ms 
 
mapping solver time 13.727189 ms 
map prepare time 1.695362 ms
map corner num 59467  surf num 19103 
build tree time 12.488030 ms 
mapping data assosiation time 13.687407 ms 
points size 72124 
sort q time 4.317400 
seperate points time 9.599483 
publication time 6.029986 ms 
whole laserOdometry time 6.042066 ms 
 
filter time 6.650762 ms 
build tree time 12.566547 ms 
mapping data assosiation time 15.164481 ms 
mapping solver time 13.637898 ms 
prepare time 9.880555 
scan registration time 20.932650 ms *************
mapping solver time 17.865681 ms 
-----t: 0.0393771
OdomCount 3433 & avg odom time 0.046845 ms ++++++++++++++++++++++
build tree time 13.497991 ms 
mapping data assosiation time 14.908214 ms 
--------------------stamp1317358118.645107030
mapping solver time 19.667211 ms 
publication time 6.590433 ms 
whole laserOdometry time 6.600114 ms 
 
mapping optimization time 83.702470 
add points time 0.831152 ms
-----t: 0.0453201
OdomCount 3434 & avg odom time 0.046845 ms ++++++++++++++++++++++
build tree time 13.332122 ms 
mapping data assosiation time 15.223549 ms 
sort q time 3.232906 
seperate points time 7.881575 
scan registration time 21.120435 ms *************
mapping solver time 17.491659 ms 
-----t: 0.0288082
OdomCount 3435 & avg odom time 0.046839 ms ++++++++++++++++++++++
mapping data assosiation time 17.418827 ms 
mapping solver time 10.750087 ms 
1317358118.645107031 WriteOdom aft_mapped_to_init
build tree time 11.540781 ms 
mapping data assosiation time 13.821986 ms 
mapping solver time 15.820216 ms 
sort q time 3.626686 
seperate points time 8.602017 
mapping solver time 14.667199 ms 
map prepare time 1.627553 ms
map corner num 60940  surf num 19561 
build tree time 15.727447 ms 
mapping data assosiation time 13.892067 ms 
mapping solver time 14.298543 ms 
--------------------stamp1317358118.957226991
mapping optimization time 72.743695 
add points time 0.726270 ms
publication time 4.635076 ms 
whole laserOdometry time 4.646281 ms 
 
-----t: 0.0324104
OdomCount 3437 & avg odom time 0.046829 ms ++++++++++++++++++++++
build tree time 12.570646 ms 
mapping data assosiation time 13.467132 ms 
mapping solver time 18.162082 ms 
mapping data assosiation time 14.706991 ms 
sort q time 3.282131 
seperate points time 7.996232 
publication time 5.900650 ms 
whole laserOdometry time 5.918013 ms 
 
map prepare time 1.489256 ms
map corner num 61555  surf num 19749 
build tree time 11.379812 ms 
mapping data assosiation time 14.166650 ms 
mapping solver time 14.806783 ms 
mapping data assosiation time 13.822433 ms 
points size 63151 
scan registration time 18.475766 ms *************
mapping pub time 1.810226 ms 
whole mapping time 80.898195 ms +++++
mappingCount 2200 & avg mapping time 157.674052 ms ++++++++++++++++++++++
-----t: 0.0204985
OdomCount 3439 & avg odom time 0.046815 ms ++++++++++++++++++++++
build tree time 13.694643 ms 
mapping data assosiation time 13.961324 ms 
mapping solver time 16.070097 ms 
mapping data assosiation time 15.091096 ms 
points size 61645 
filter time 6.818037 ms 
publication time 6.079060 ms 
whole laserOdometry time 6.093920 ms 
 
-----t: 0.0345506
OdomCount 3440 & avg odom time 0.046811 ms ++++++++++++++++++++++
--------------------stamp1317358119.373383998
mapping pub time 101.391336 ms 
whole mapping time 188.277407 ms +++++
mappingCount 2201 & avg mapping time 157.687958 ms ++++++++++++++++++++++
build tree time 15.951475 ms 
1317358119.373383998 WriteOdom laser_odom_to_init
mapping solver time 14.895271 ms 
mapping data assosiation time 14.843801 ms 
mapping solver time 12.162901 ms 
filter time 5.816404 ms 
points size 62499 
scan registration time 18.537962 ms *************
mapping data assosiation time 18.133690 ms 
-----t: 0.033587
OdomCount 3442 & avg odom time 0.046802 ms ++++++++++++++++++++++
1317358119.477446079 WriteOdom laser_odom_to_init
1317358119.477446079 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.606513 ms 
mapping data assosiation time 14.294496 ms 
mapping solver time 13.055977 ms 
map prepare time 1.712903 ms
map corner num 62657  surf num 20074 
build tree time 11.924476 ms 
prepare time 9.068639 
publication time 4.986443 ms 
whole laserOdometry time 4.998897 ms 
 
-----t: 0.033763
OdomCount 3443 & avg odom time 0.046798 ms ++++++++++++++++++++++
mapping solver time 15.796994 ms 
map prepare time 1.765795 ms
map corner num 62922  surf num 20149 
build tree time 14.193982 ms 
--------------------stamp1317358119.685570955
sort q time 3.233532 
seperate points time 7.464338 
-----t: 0.0252265
OdomCount 3444 & avg odom time 0.046792 ms ++++++++++++++++++++++
1317358119.685570955 WriteOdom laser_odom_to_init
1317358119.685570955 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 12.276948 ms 
build tree time 15.456870 ms 
mapping data assosiation time 13.891482 ms 
points size 65340 
sort q time 4.168365 
seperate points time 7.832617 
publication time 4.653612 ms 
whole laserOdometry time 4.670067 ms 
 
1317358119.789633035 WriteOdom laser_odom_to_init
filter time 4.438347 ms 
build tree time 13.055528 ms 
mapping data assosiation time 15.144766 ms 
mapping solver time 14.997840 ms 
points size 66541 
sort q time 4.551565 
seperate points time 8.717841 
mapping pub time 1.662805 ms 
whole mapping time 87.716393 ms +++++
mappingCount 2207 & avg mapping time 157.500420 ms ++++++++++++++++++++++
map prepare time 1.642368 ms
map corner num 62024  surf num 19627 
build tree time 13.434557 ms 
mapping data assosiation time 14.993147 ms 
mapping solver time 15.444464 ms 
--------------------stamp1317358119.997764110
sort q time 6.012419 
seperate points time 11.000363 
filter time 5.776322 ms 
-----t: 0.0321178
OdomCount 3447 & avg odom time 0.046777 ms ++++++++++++++++++++++
build tree time 11.152816 ms 
mapping data assosiation time 13.605304 ms 
mapping solver time 14.136900 ms 
mapping data assosiation time 14.398943 ms 
sort q time 4.188439 
seperate points time 7.809666 
scan registration time 15.352268 ms *************
mapping solver time 16.835669 ms 
mapping optimization time 71.037347 
add points time 0.656479 ms
map prepare time 1.530397 ms
map corner num 62474  surf num 19758 
build tree time 14.077900 ms 
mapping data assosiation time 15.229708 ms 
mapping solver time 16.185095 ms 
mapping data assosiation time 15.160983 ms 
points size 65157 
publication time 5.243920 ms 
whole laserOdometry time 5.272356 ms 
 
map prepare time 1.617755 ms
map corner num 62700  surf num 19822 
build tree time 14.201213 ms 
mapping data assosiation time 16.146643 ms 
mapping solver time 15.627387 ms 
mapping data assosiation time 15.402085 ms 
points size 64700 
publication time 5.244686 ms 
whole laserOdometry time 5.257262 ms 
 
map prepare time 2.133799 ms
map corner num 62904  surf num 19879 
build tree time 16.107430 ms 
mapping data assosiation time 13.358387 ms 
mapping solver time 14.094340 ms 
mapping data assosiation time 13.102792 ms 
mapping solver time 11.853369 ms 
points size 64186 
publication time 4.481016 ms 
whole laserOdometry time 4.490855 ms 
 
map prepare time 1.690672 ms
map corner num 63125  surf num 19948 
build tree time 11.689151 ms 
mapping data assosiation time 13.104310 ms 
mapping solver time 18.131044 ms 
mapping data assosiation time 13.179540 ms 
mapping solver time 10.748975 ms 
sort q time 3.397958 
seperate points time 8.204305 
publication time 3.858724 ms 
whole laserOdometry time 3.869680 ms 
 
mapping data assosiation time 16.228887 ms 
mapping solver time 14.720044 ms 
mapping data assosiation time 15.296617 ms 
mapping solver time 11.412752 ms 
publication time 3.593512 ms 
whole laserOdometry time 3.625618 ms 
 
-----t: 0.0258942
OdomCount 3453 & avg odom time 0.046735 ms ++++++++++++++++++++++
build tree time 13.225783 ms 
mapping data assosiation time 12.932635 ms 
mapping solver time 13.396587 ms 
mapping data assosiation time 12.732280 ms 
--------------------stamp1317358120.725982904
mapping pub time 1.443417 ms 
whole mapping time 79.113049 ms +++++
mappingCount 2215 & avg mapping time 157.229508 ms ++++++++++++++++++++++
-----t: 0.0244837
OdomCount 3454 & avg odom time 0.046729 ms ++++++++++++++++++++++
build tree time 14.031154 ms 
mapping data assosiation time 16.314008 ms 
mapping solver time 17.095709 ms 
--------------------stamp1317358120.829998016
sort q time 3.360778 
seperate points time 8.028045 
mapping pub time 2.926677 ms 
whole mapping time 87.680223 ms +++++
mappingCount 2216 & avg mapping time 157.198125 ms ++++++++++++++++++++++
-----t: 0.0305262
OdomCount 3455 & avg odom time 0.046724 ms ++++++++++++++++++++++
build tree time 13.102091 ms 
mapping data assosiation time 14.667193 ms 
mapping solver time 15.896131 ms 
--------------------stamp1317358120.933986902
sort q time 3.800615 
seperate points time 8.869078 
publication time 5.088293 ms 
whole laserOdometry time 5.097916 ms 
 
map prepare time 1.549541 ms
map corner num 64270  surf num 20278 
build tree time 11.987331 ms 
mapping data assosiation time 12.605908 ms 
mapping solver time 13.461259 ms 
mapping data assosiation time 13.877560 ms 
points size 65222 
mapping pub time 1.590774 ms 
whole mapping time 78.638390 ms +++++
mappingCount 2218 & avg mapping time 157.131234 ms ++++++++++++++++++++++
publication time 4.938672 ms 
whole laserOdometry time 4.950109 ms 
 
build tree time 12.752465 ms 
mapping data assosiation time 15.124199 ms 
mapping solver time 16.344395 ms 
mapping data assosiation time 13.299284 ms 
mapping solver time 12.176668 ms 
scan registration time 18.182052 ms *************
-----t: 0.0200479
OdomCount 3458 & avg odom time 0.046704 ms ++++++++++++++++++++++
1317358121.141969919 WriteOdom laser_odom_to_init
1317358121.141969919 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.549886 ms
map corner num 64766  surf num 20409 
build tree time 11.552140 ms 
mapping data assosiation time 12.484739 ms 
mapping solver time 14.153871 ms 
mapping data assosiation time 14.041020 ms 
mapping solver time 10.277047 ms 
points size 70607 
sort q time 3.919206 
seperate points time 8.673062 
scan registration time 19.928447 ms *************
publication time 4.611434 ms 
whole laserOdometry time 4.625351 ms 
 
build tree time 12.749573 ms 
mapping data assosiation time 13.195462 ms 
mapping solver time 14.319136 ms 
mapping data assosiation time 14.616055 ms 
mapping solver time 13.305033 ms 
sort q time 3.820330 
seperate points time 9.644544 
-----t: 0.023302
OdomCount 3460 & avg odom time 0.046690 ms ++++++++++++++++++++++
--------------------stamp1317358121.453917980
map prepare time 2.460898 ms
map corner num 65296  surf num 20594 
sort q time 4.335911 
seperate points time 10.023987 
publication time 4.824232 ms 
whole laserOdometry time 4.836480 ms 
 
mapping solver time 14.904486 ms 
mapping data assosiation time 17.128680 ms 
mapping solver time 12.698109 ms 
map prepare time 1.649513 ms
map corner num 65610  surf num 20702 
prepare time 11.083195 
sort q time 4.661016 
seperate points time 10.699588 
publication time 6.975762 ms 
whole laserOdometry time 6.992256 ms 
 
mapping solver time 18.775278 ms 
mapping data assosiation time 16.028884 ms 
mapping solver time 11.614938 ms 
mapping optimization time 80.188300 
add points time 0.637583 ms
filter time 4.271630 ms 
build tree time 13.523324 ms 
prepare time 11.352512 
mapping data assosiation time 16.531394 ms 
mapping solver time 17.963505 ms 
publication time 6.329562 ms 
whole laserOdometry time 6.343068 ms 
 
mapping solver time 11.233323 ms 
mapping optimization time 78.882033 
add points time 0.559050 ms
filter time 4.993897 ms 
build tree time 13.072785 ms 
--------------------stamp1317358121.765892028
points size 83131 
prepare time 21.584354 
sort q time 5.071781 
seperate points time 11.773783 
mapping data assosiation time 18.571833 ms 
mapping solver time 13.574962 ms 
mapping optimization time 87.355783 
add points time 0.564376 ms
filter time 4.551188 ms 
build tree time 14.773846 ms 
mapping data assosiation time 16.233725 ms 
points size 83971 
sort q time 5.092643 
seperate points time 11.648873 
mapping data assosiation time 19.244278 ms 
mapping optimization time 87.878561 
add points time 0.654145 ms
filter time 6.649150 ms 
build tree time 12.330290 ms 
mapping data assosiation time 18.510291 ms 
points size 84619 
prepare time 14.180205 
mapping solver time 21.295176 ms 
scan registration time 31.679399 ms *************
-----t: 0.0328034
OdomCount 3466 & avg odom time 0.046663 ms ++++++++++++++++++++++
filter time 4.595996 ms 
mapping pub time 1.935705 ms 
whole mapping time 99.958786 ms +++++
mappingCount 2227 & avg mapping time 156.896492 ms ++++++++++++++++++++++
1317358121.869905949 WriteOdom aft_mapped_to_init
map prepare time 1.897736 ms
map corner num 67315  surf num 21381 
build tree time 15.023269 ms 
mapping data assosiation time 17.737061 ms 
points size 85561 
sort q time 5.114251 
seperate points time 11.564973 
mapping data assosiation time 21.894805 ms 
-----t: 0.0411679
OdomCount 3467 & avg odom time 0.046661 ms ++++++++++++++++++++++
1317358122.077908039 WriteOdom laser_odom_to_init
1317358122.077908039 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.941768 ms 
mapping optimization time 95.082276 
add points time 0.643137 ms
filter time 4.725451 ms 
build tree time 13.633086 ms 
mapping data assosiation time 17.032759 ms 
points size 85566 
mapping solver time 28.499111 ms 
publication time 8.253145 ms 
whole laserOdometry time 8.283794 ms 
 
-----t: 0.0338669
OdomCount 3468 & avg odom time 0.046658 ms ++++++++++++++++++++++
mapping solver time 13.938433 ms 
mapping optimization time 97.739743 
add points time 0.610008 ms
filter time 4.805320 ms 
build tree time 12.853019 ms 
--------------------stamp1317358122.285940885
mapping data assosiation time 17.806219 ms 
prepare time 12.315207 
sort q time 4.843669 
seperate points time 10.762665 
-----t: 0.0261613
OdomCount 3469 & avg odom time 0.046652 ms ++++++++++++++++++++++
mapping solver time 15.014222 ms 
mapping pub time 1.964599 ms 
whole mapping time 99.549789 ms +++++
mappingCount 2230 & avg mapping time 156.824927 ms ++++++++++++++++++++++
1317358122.181900978 WriteOdom aft_mapped_to_init
map prepare time 2.056965 ms
map corner num 68582  surf num 21992 
build tree time 15.381859 ms 
--------------------stamp1317358122.390003919
prepare time 10.511648 
sort q time 5.082686 
seperate points time 10.995315 
mapping solver time 22.266007 ms 
scan registration time 25.466682 ms *************
mapping data assosiation time 21.681079 ms 
mapping solver time 14.018173 ms 
[0m[ INFO] [1718805409.314582724, 1317358122.451685688]: Received 91260 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805409.314625940, 1317358122.451685688]: Data saved to 1317358122285940.pcd[0m
build tree time 14.004906 ms 
--------------------stamp1317358122.494062900
sort q time 4.929766 
seperate points time 9.948853 
publication time 10.449360 ms 
whole laserOdometry time 10.465186 ms 
 
mapping solver time 19.306900 ms 
map prepare time 2.027933 ms
map corner num 69487  surf num 22437 
--------------------stamp1317358122.598150968
points size 87663 
sort q time 5.361253 
seperate points time 12.492667 
-----t: 0.0375598
OdomCount 3472 & avg odom time 0.046639 ms ++++++++++++++++++++++
mapping data assosiation time 20.657840 ms 
mapping solver time 18.651150 ms 
--------------------stamp1317358122.702240943points size 88649 
sort q time 5.819890 
seperate points time 13.367417 
mapping data assosiation time 25.641837 ms 
publication time 9.290974 ms 
whole laserOdometry time 9.311630 ms 
 
mapping solver time 28.365680 ms 
mapping data assosiation time 21.582522 ms 
points size 89721 
filter time 6.856385 ms 
-----t: 0.0384191
OdomCount 3474 & avg odom time 0.046637 ms ++++++++++++++++++++++

mapping data assosiation time 29.358086 ms 
--------------------stamp1317358122.910413026
points size 90635 
sort q time 8.237882 
seperate points time 16.756793 
1317358122.910413026 WriteOdom aft_mapped_to_init_high_frec
publication time 8.515648 ms 
whole laserOdometry time 8.530962 ms 
 
filter time 4.590696 ms 
build tree time 14.467624 ms 
--------------------stamp1317358123.014475107
prepare time 12.951129 
scan registration time 30.222168 ms *************
publication time 12.115339 ms 
whole laserOdometry time 12.135688 ms 
 
mapping data assosiation time 25.249339 ms 
mapping solver time 10.184671 ms 
[0m[ INFO] [1718805409.959327216, 1317358123.102231751]: Received 94155 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805409.959361149, 1317358123.102231751]: Data saved to 1317358122806325.pcd[0m
--------------------stamp1317358123.118513107
prepare time 12.785910 
mapping data assosiation time 26.361188 ms 
-----t: 0.0435855
OdomCount 3477 & avg odom time 0.046631 ms ++++++++++++++++++++++
mapping data assosiation time 20.203246 ms 
mapping solver time 16.864429 ms 
points size 92663 
sort q time 5.382336 
seperate points time 12.429367 
publication time 14.944262 ms -----t: 0.0491964
OdomCount 3478 & avg odom time 0.046632 ms ++++++++++++++++++++++
mapping solver time 22.522258 ms 
mapping data assosiation time 20.990749 ms 
mapping solver time 22.916388 ms 
sort q time 6.498099 
seperate points time 12.531719 
build tree time 18.124509 ms 
mapping data assosiation time 24.564498 ms 
--------------------stamp1317358123.430653095
prepare time 12.844014 
mapping data assosiation time 25.241704 ms 
publication time 9.433524 ms 
whole laserOdometry time 9.449897 ms 
 
mapping pub time 2.197377 ms 
whole mapping time 128.013506 ms +++++
mappingCount 2239 & avg mapping time 156.689331 ms ++++++++++++++++++++++
build tree time 17.263580 ms 
mapping data assosiation time 21.579111 ms 
points size 95525 
prepare time 12.694363 
scan registration time 29.268018 ms *************
mapping data assosiation time 25.679374 ms 
mapping solver time 13.395795 ms 
mapping pub time 2.396149 ms 
whole mapping time 115.093324 ms +++++
mappingCount 2240 & avg mapping time 156.670763 ms ++++++++++++++++++++++
build tree time 15.355442 ms 
--------------------stamp1317358123.638731956
prepare time 14.806934 
sort q time 5.181142 
seperate points time 12.033054 
-----t: 0.037043
OdomCount 3482 & avg odom time 0.046623 ms ++++++++++++++++++++++
mapping data assosiation time 25.350761 ms 
mapping solver time 15.820546 ms 
[0m[ INFO] [1718805410.578398363, 1317358123.715636464]: Received 97010 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805410.578461364, 1317358123.715636464]: Data saved to 1317358123534691.pcd[0m
--------------------stamp1317358123.742747068
prepare time 13.928959 
sort q time 6.385218 
seperate points time 13.316922 
publication time 9.431493 ms 
whole laserOdometry time 9.448021 ms 
 
-----t: 0.068328
OdomCount 3483 & avg odom time 0.046630 ms ++++++++++++++++++++++
map prepare time 2.554613 ms
map corner num 72985  surf num 24025 
points size 93015 
sort q time 6.631562 
seperate points time 15.435049 
-----t: 0.0469848
OdomCount 3484 & avg odom time 0.046630 ms ++++++++++++++++++++++
mapping data assosiation time 22.177646 ms 
--------------------stamp1317358123.950701951
prepare time 12.934147 
sort q time 5.574311 
seperate points time 12.418823 
build tree time 20.250372 ms 
publication time 12.039213 ms 
whole laserOdometry time 12.057789 ms 
 
mapping data assosiation time 27.537669 ms 
mapping solver time 26.370365 ms 
points size 90196 
prepare time 11.609366 
sort q time 5.589429 
seperate points time 20.029981 
filter time 5.492739 ms 
-----t: 0.0463996
OdomCount 3486 & avg odom time 0.046629 ms ++++++++++++++++++++++
build tree time 17.767038 ms 
mapping data assosiation time 21.735048 ms 
points size 86742 
scan registration time 26.411090 ms *************mapping data assosiation time 26.451184 ms 
mapping solver time 17.685932 ms 
map prepare time 2.240050 ms
map corner num 74052  surf num 24463 
build tree time 14.052866 ms 
--------------------stamp1317358124.262603044
prepare time 10.486536 
sort q time 5.360919 
seperate points time 10.221536 
mapping solver time 26.318771 ms 
-----t: 0.0337658
OdomCount 3488 & avg odom time 0.046623 ms ++++++++++++++++++++++
1317358124.262603044 WriteOdom laser_odom_to_init
1317358124.262603044 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.829949 ms 
mapping solver time 14.901929 ms 
mapping pub time 2.009796 ms 
whole mapping time 112.783665 ms +++++
mappingCount 2245 & avg mapping time 156.645087 ms ++++++++++++++++++++++
1317358124.158633947 WriteOdom aft_mapped_to_init
map prepare time 2.270280 ms
map corner num 74465  surf num 24637 
build tree time 14.391484 ms 
points size 82617 
sort q time 5.200320 
seperate points time 9.812973 
publication time 7.613112 ms 
whole laserOdometry time 7.628280 ms 
 
mapping data assosiation time 21.683482 ms 
mapping solver time 15.161856 ms 
mapping optimization time 98.272687 
add points time 0.765693 ms
--------------------stamp1317358124.470513105
prepare time 13.104905 
sort q time 4.717705 
seperate points time 10.190823 
publication time 8.770448 ms 
whole laserOdometry time 8.783292 ms 
 
mapping data assosiation time 19.210006 ms 
mapping solver time 16.440421 ms 
mapping pub time 2.016810 ms 
whole mapping time 115.199541 ms +++++
mappingCount 2247 & avg mapping time 156.605663 ms ++++++++++++++++++++++
points size 80130 
build tree time 17.539456 ms 
mapping data assosiation time 24.135773 ms 
mapping data assosiation time 18.621476 ms 
mapping solver time 14.805022 ms 
1317358124.470513105 WriteOdom aft_mapped_to_init
sort q time 4.433404 
seperate points time 10.546708 
publication time 7.578988 ms 
whole laserOdometry time 7.590496 ms 
 
mapping data assosiation time 23.497758 ms 
mapping solver time 20.688085 ms 
mapping data assosiation time 18.545545 ms 
--------------------stamp1317358124.782125949
prepare time 11.546553 
sort q time 5.143346 
seperate points time 10.099303 
build tree time 19.050577 ms 
-----t: 0.0460795
OdomCount 3493 & avg odom time 0.046614 ms ++++++++++++++++++++++
mapping solver time 22.544369 ms 
--------------------stamp1317358124.885946989
prepare time 10.869337 
sort q time 4.333690 
seperate points time 9.980536 
scan registration time 24.802804 ms *************
mapping solver time 24.886807 ms 
mapping optimization time 114.505029 
add points time 0.722962 ms
map prepare time 2.861001 ms
map corner num 75901  surf num 25085 
build tree time 17.618940 ms 
mapping data assosiation time 25.291913 ms 
--------------------stamp1317358124.989744901
sort q time 5.417430 
seperate points time 11.137417 
mapping data assosiation time 27.913545 ms 
-----t: 0.0344092
OdomCount 3495 & avg odom time 0.046606 ms ++++++++++++++++++++++
filter time 4.747934 ms 
build tree time 14.887678 ms 
--------------------stamp1317358125.093544960
prepare time 13.206951 
sort q time 5.215283 
seperate points time 11.416015 
publication time 7.733903 ms 
whole laserOdometry time 7.749208 ms 
 
mapping solver time 14.020286 ms 
mapping pub time 1.797195 ms 
whole mapping time 106.756505 ms +++++
mappingCount 2252 & avg mapping time 156.516711 ms ++++++++++++++++++++++
build tree time 16.462087 ms 
--------------------stamp1317358125.197345972
points size 79799 
sort q time 4.747478 
seperate points time 10.702053 
publication time 8.908711 ms 
whole laserOdometry time 8.922101 ms 
 
mapping data assosiation time 21.935031 ms 
mapping solver time 17.782842 ms 
map prepare time 1.856471 ms
map corner num 77091  surf num 25508 
--------------------stamp1317358125.301168918
prepare time 11.212692 
mapping data assosiation time 20.764588 ms 
publication time 6.639017 ms 
whole laserOdometry time 6.669772 ms 
 
-----t: 0.0386828
OdomCount 3498 & avg odom time 0.046597 ms ++++++++++++++++++++++
mapping data assosiation time 18.202643 ms 
mapping solver time 16.426153 ms 
mapping pub time 1.738914 ms 
whole mapping time 110.229736 ms +++++
mappingCount 2254 & avg mapping time 156.477168 ms ++++++++++++++++++++++
--------------------stamp1317358125.405064105
map prepare time 2.462243 ms
map corner num 77809  surf num 25734 
--------------------stamp1317358125.509006023
prepare time 12.199365 
sort q time 4.206928 
seperate points time 9.598789 
-----t: 0.0241542
OdomCount 3500 & avg odom time 0.046585 ms ++++++++++++++++++++++
mapping data assosiation time 14.944613 ms 
mapping solver time 11.173940 ms 
mapping optimization time 83.867273 
add points time 0.594089 ms
filter time 5.007367 ms 
build tree time 14.617638 ms 
points size 69956 
sort q time 4.013014 
seperate points time 8.725265 
mapping solver time 24.089036 ms 
mapping data assosiation time 16.074562 ms 
mapping solver time 11.600379 ms 
map prepare time 1.643688 ms
map corner num 78484  surf num 25926 
build tree time 17.507500 ms 
mapping data assosiation time 17.086316 ms 
sort q time 3.814321 
seperate points time 8.787080 
publication time 5.986385 ms 
whole laserOdometry time 5.999754 ms 
 
mapping data assosiation time 20.132968 ms 
-----t: 0.0379517
OdomCount 3502 & avg odom time 0.046576 ms ++++++++++++++++++++++
1317358125.717010974 WriteOdom laser_odom_to_init
mapping solver time 15.801799 ms 
map prepare time 1.780483 ms
map corner num 78790  surf num 26035 
build tree time 17.383152 ms 
--------------------stamp1317358125.821072101
sort q time 3.954933 
seperate points time 7.644465 
publication time 6.936960 ms 
whole laserOdometry time 6.949738 ms 
 
-----t: 0.0343567
OdomCount 3503 & avg odom time 0.046573 ms ++++++++++++++++++++++
mapping solver time 16.817725 ms 
1317358125.717010975 WriteOdom aft_mapped_to_init
build tree time 16.671234 ms 
--------------------stamp1317358125.925158977
sort q time 2.990354 
seperate points time 7.031433 
publication time 4.586244 ms 
whole laserOdometry time 4.599918 ms 
 
-----t: 0.0263668
OdomCount 3504 & avg odom time 0.046567 ms ++++++++++++++++++++++
mapping solver time 14.519342 ms 
mapping pub time 1.479638 ms 
whole mapping time 94.818375 ms +++++
mappingCount 2260 & avg mapping time 156.319015 ms ++++++++++++++++++++++
build tree time 15.452998 ms 
mapping data assosiation time 14.503878 ms 
points size 61086 
sort q time 3.113230 
seperate points time 7.609163 
publication time 7.390347 ms 
whole laserOdometry time 7.407076 ms 
 
-----t: 0.0323315
OdomCount 3505 & avg odom time 0.046563 ms ++++++++++++++++++++++
--------------------stamp1317358126.133405923
points size 61240 
sort q time 3.280264 
seperate points time 8.104036 
publication time 6.732036 ms 
whole laserOdometry time 6.748927 ms 
 
mapping pub time 110.181405 ms 
whole mapping time 200.494111 ms +++++
mappingCount 2261 & avg mapping time 156.338555 ms ++++++++++++++++++++++
build tree time 17.328166 ms 
mapping data assosiation time 13.032468 ms 
--------------------stamp1317358126.237562894
sort q time 3.740090 
seperate points time 7.345971 
publication time 4.070276 ms 
whole laserOdometry time 4.082970 ms 
 
-----t: 0.0250741
OdomCount 3507 & avg odom time 0.046552 ms ++++++++++++++++++++++
1317358126.237562894 WriteOdom laser_odom_to_init
filter time 7.570364 ms 
1317358126.237562894 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 1.472068 ms 
whole mapping time 94.778505 ms +++++
mappingCount 2262 & avg mapping time 156.311342 ms ++++++++++++++++++++++
1317358126.029269934 WriteOdom aft_mapped_to_init
map prepare time 1.656162 ms
map corner num 79974  surf num 26385 
build tree time 17.193389 ms 
mapping data assosiation time 11.896078 ms 
mapping solver time 16.227385 ms 
--------------------stamp1317358126.341744899
prepare time 10.827417 
sort q time 3.252274 
seperate points time 7.837241 
filter time 6.722885 ms 
map prepare time 1.525319 ms
map corner num 80309  surf num 26485 
build tree time 19.541802 ms 
mapping data assosiation time 13.272768 ms 
mapping solver time 15.754869 ms 
points size 57076 
publication time 3.737506 ms 
whole laserOdometry time 3.749793 ms 
 
1317358126.445910930 WriteOdom laser_odom_to_init
1317358126.445910930 WriteOdom aft_mapped_to_init_high_frec
build tree time 15.684625 ms 
mapping data assosiation time 13.163706 ms 
mapping solver time 15.259321 ms 
mapping data assosiation time 13.691501 ms 
--------------------stamp1317358126.550045967
mapping pub time 1.337476 ms 
whole mapping time 81.283810 ms +++++
mappingCount 2265 & avg mapping time 156.219549 ms ++++++++++++++++++++++
publication time 3.119015 ms 
whole laserOdometry time 3.136033 ms 
 
map prepare time 1.550557 ms
map corner num 80879  surf num 26633 
build tree time 17.017742 ms 
mapping data assosiation time 12.821601 ms 
mapping solver time 15.830867 ms 
mapping data assosiation time 12.822357 ms 
--------------------stamp1317358126.654150009
filter time 5.362741 ms 
-----t: 0.019203
OdomCount 3511 & avg odom time 0.046521 ms ++++++++++++++++++++++
build tree time 17.944528 ms 
mapping data assosiation time 13.006113 ms 
mapping solver time 15.305999 ms 
mapping data assosiation time 12.153641 ms 
mapping solver time 11.266014 ms 
mapping pub time 1.224527 ms 
whole mapping time 82.349916 ms +++++
mappingCount 2267 & avg mapping time 156.155349 ms ++++++++++++++++++++++
publication time 3.821782 ms 
whole laserOdometry time 3.848639 ms 
 -----t: 0.0260661
OdomCount 3512 & avg odom time 0.046515 ms ++++++++++++++++++++++
build tree time 18.345287 ms 
mapping data assosiation time 12.776458 ms 
mapping solver time 16.755513 ms 
--------------------stamp1317358126.862299919
sort q time 2.888947 
seperate points time 5.716425 
publication time 4.191457 ms 
whole laserOdometry time 4.201776 ms 
 
-----t: 0.0276894
OdomCount 3513 & avg odom time 0.046510 ms ++++++++++++++++++++++
build tree time 16.905063 ms 
mapping data assosiation time 13.744902 ms 
mapping solver time 14.414106 ms 
--------------------stamp1317358126.966341018
sort q time 2.306074 
seperate points time 5.826447 
mapping pub time 1.171137 ms 
whole mapping time 85.438779 ms +++++
mappingCount 2269 & avg mapping time 156.092814 ms ++++++++++++++++++++++
map prepare time 1.649667 ms
map corner num 82120  surf num 26991 
build tree time 18.497390 ms 
mapping solver time 21.469814 ms 
points size 47409 
mapping solver time 11.344749 ms 
map prepare time 1.519538 ms
map corner num 82501  surf num 27098 
build tree time 17.519423 ms 
mapping data assosiation time 13.857134 ms 
mapping solver time 13.479223 ms 
mapping data assosiation time 13.203388 ms 
--------------------stamp1317358127.174298048
sort q time 2.404101 
seperate points time 6.213790 
-----t: 0.0203794
OdomCount 3516 & avg odom time 0.046488 ms ++++++++++++++++++++++
build tree time 17.346065 ms 
mapping data assosiation time 12.279043 ms 
mapping solver time 12.827479 ms 
mapping data assosiation time 12.382488 ms 
points size 46254 
filter time 7.661851 ms 
-----t: 0.0177338
OdomCount 3517 & avg odom time 0.046480 ms ++++++++++++++++++++++
build tree time 22.187804 ms 
mapping data assosiation time 15.216568 ms 
mapping solver time 16.746247 ms 
--------------------stamp1317358127.382134914
sort q time 2.152228 
seperate points time 5.555622 
-----t: 0.0208624
OdomCount 3518 & avg odom time 0.046473 ms ++++++++++++++++++++++
build tree time 16.213825 ms 
mapping data assosiation time 11.699270 ms 
mapping solver time 15.009223 ms 
mapping data assosiation time 13.357614 ms 
--------------------stamp1317358127.486006021
sort q time 2.291728 
seperate points time 4.703032 
publication time 3.081158 ms 
whole laserOdometry time 3.093610 ms 
 
build tree time 16.698907 ms 
mapping data assosiation time 13.745486 ms 
mapping solver time 14.697583 ms 
mapping data assosiation time 12.106994 ms 
--------------------stamp1317358127.589850902
sort q time 2.345957 
seperate points time 4.980284 
publication time 3.472264 ms 
whole laserOdometry time 3.484878 ms 
 
build tree time 16.161732 ms 
mapping data assosiation time 12.124275 ms 
mapping solver time 15.935391 ms 
mapping data assosiation time 11.549022 ms 
mapping solver time 13.459342 ms 
sort q time 2.224713 
seperate points time 4.823317 
publication time 4.030961 ms 
whole laserOdometry time 4.041568 ms 
 
build tree time 16.299531 ms 
mapping data assosiation time 14.291862 ms 
mapping solver time 16.524798 ms 
mapping data assosiation time 13.559485 ms 
--------------------stamp1317358127.797569036
filter time 5.448627 ms 
publication time 4.252273 ms 
whole laserOdometry time 4.266403 ms 
 
build tree time 18.828693 ms 
mapping data assosiation time 11.935455 ms 
mapping solver time 15.069254 ms 
mapping data assosiation time 12.502470 ms 
mapping solver time 12.901542 ms 
1317358127.797569036 WriteOdom aft_mapped_to_init
publication time 5.215078 ms 
whole laserOdometry time 5.225823 ms 
 
map prepare time 1.533270 ms
map corner num 84867  surf num 27795 
build tree time 16.350428 ms 
mapping data assosiation time 13.021736 ms 
mapping solver time 16.274915 ms 
--------------------stamp1317358128.005287885
prepare time 11.150840 
filter time 8.048606 ms 
-----t: 0.0204996
OdomCount 3524 & avg odom time 0.046426 ms ++++++++++++++++++++++
build tree time 17.236001 ms 
mapping data assosiation time 11.374576 ms 
mapping solver time 15.624740 ms 
mapping data assosiation time 12.793041 ms 
mapping solver time 12.217773 ms 
points size 60965 
mapping optimization time 70.180236 
add points time 0.682484 ms
prepare time 10.010979 
filter time 7.242938 ms 
mapping pub time 1.421375 ms 
whole mapping time 81.376318 ms +++++
mappingCount 2280 & avg mapping time 155.753596 ms ++++++++++++++++++++++
1317358128.005287886 WriteOdom aft_mapped_to_init
sort q time 3.717839 
seperate points time 8.358325 
publication time 4.139434 ms 
whole laserOdometry time 4.151800 ms 
 
map prepare time 1.674295 ms
map corner num 85414  surf num 28021 
build tree time 17.903695 ms 
mapping data assosiation time 12.646085 ms 
mapping solver time 12.431926 ms 
mapping data assosiation time 13.829652 ms 
prepare time 10.814581 
publication time 5.949808 ms 
whole laserOdometry time 5.964189 ms 
 
--------------------stamp1317358128.316874027
sort q time 4.411011 
seperate points time 9.990061 
-----t: 0.0298204
OdomCount 3527 & avg odom time 0.046413 ms ++++++++++++++++++++++
mapping data assosiation time 11.360961 ms 
mapping solver time 12.978676 ms 
mapping data assosiation time 12.415842 ms 
prepare time 9.687236 
mapping pub time 1.528465 ms 
whole mapping time 97.764173 ms +++++
mappingCount 2282 & avg mapping time 155.743551 ms ++++++++++++++++++++++
-----t: 0.0267583
OdomCount 3528 & avg odom time 0.046407 ms ++++++++++++++++++++++
build tree time 22.145365 ms 
mapping data assosiation time 13.791073 ms 
mapping solver time 12.847178 ms 
mapping data assosiation time 13.265236 ms 
mapping solver time 10.120751 ms 
points size 69053 
map prepare time 2.053470 ms
map corner num 86342  surf num 28344 
prepare time 10.664985 
build tree time 23.956711 ms 
-----t: 0.0301806
OdomCount 3529 & avg odom time 0.046402 ms ++++++++++++++++++++++
mapping solver time 14.087957 ms 
mapping data assosiation time 14.493830 ms 
mapping solver time 11.805655 ms 
mapping pub time 1.805631 ms 
whole mapping time 94.269632 ms +++++
mappingCount 2284 & avg mapping time 155.685466 ms ++++++++++++++++++++++
points size 69590 
sort q time 3.828056 
seperate points time 8.514562 
publication time 6.651722 ms 
whole laserOdometry time 6.665650 ms 
 
mapping solver time 16.402844 ms 
mapping data assosiation time 12.674330 ms 
mapping solver time 12.951662 ms 
mapping optimization time 81.448148 
add points time 0.566478 ms
filter time 5.266061 ms 
--------------------stamp1317358128.732357025
points size 69026 
sort q time 3.817188 
seperate points time 8.628137 
scan registration time 22.578387 ms *************
mapping data assosiation time 15.976652 ms 
-----t: 0.0280564
OdomCount 3531 & avg odom time 0.046393 ms ++++++++++++++++++++++
mapping data assosiation time 12.733252 ms 
mapping solver time 15.471256 ms 
[0m[ INFO] [1718805415.674701323, 1317358128.819160312]: Received 116143 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805415.674742182, 1317358128.819160312]: Data saved to 1317358128628485.pcd[0m
--------------------stamp1317358128.836227893
sort q time 3.626530 
seperate points time 7.948269 
mapping solver time 18.995370 ms 
mapping data assosiation time 15.754235 ms 
mapping solver time 13.369274 ms 
1317358128.732357025 WriteOdom aft_mapped_to_init
--------------------stamp1317358128.940099000
sort q time 3.574329 
seperate points time 8.742442 
mapping solver time 21.631966 ms 
mapping data assosiation time 16.168004 ms 
mapping solver time 14.113890 ms 
mapping optimization time 89.596138 
add points time 0.630113 ms
filter time 6.393847 ms 
--------------------stamp1317358129.043968915
sort q time 3.677125 
seperate points time 7.479439 
publication time 6.480063 ms 
whole laserOdometry time 6.492079 ms 
 
-----t: 0.0389835
OdomCount 3534 & avg odom time 0.046382 ms ++++++++++++++++++++++
1317358128.940099001 WriteOdom aft_mapped_to_init
--------------------stamp1317358129.147864103
sort q time 3.733719 
seperate points time 9.073501 
publication time 8.295799 ms 
whole laserOdometry time 8.329975 ms mapping solver time 20.518684 ms 
mapping data assosiation time 16.747138 ms 
mapping solver time 14.341627 ms 
mapping pub time 1.389777 ms 
whole mapping time 106.517380 ms +++++
mappingCount 2290 & avg mapping time 155.539323 ms ++++++++++++++++++++++
--------------------stamp1317358129.251782894
sort q time 3.279519 
seperate points time 7.730015 
publication time 6.696229 ms 
whole laserOdometry time 6.714592 ms 
 
mapping solver time 22.869942 ms 
mapping data assosiation time 14.211787 ms 
mapping solver time 14.826481 ms 
mapping optimization time 83.385029 
add points time 0.715172 ms
filter time 4.532446 ms 
build tree time 13.357166 ms 
points size 58792 
sort q time 3.729956 
seperate points time 8.154851 
scan registration time 20.155361 ms *************
publication time 6.562585 ms 
whole laserOdometry time 6.572852 ms 
 
mapping data assosiation time 16.794560 ms 
mapping solver time 15.184954 ms 
build tree time 11.524504 ms 
--------------------stamp1317358129.459621906
prepare time 10.310560 
scan registration time 21.413919 ms *************
-----t: 0.0292301
OdomCount 3538 & avg odom time 0.046365 ms ++++++++++++++++++++++
mapping solver time 20.138546 ms 
mapping optimization time 88.883632 
add points time 0.609314 ms
filter time 4.454701 ms 
mapping pub time 1.410930 ms 
whole mapping time 97.003102 ms +++++
mappingCount 2293 & avg mapping time 155.460971 ms ++++++++++++++++++++++
1317358129.355704069 WriteOdom aft_mapped_to_init
build tree time 12.603205 ms 
mapping data assosiation time 14.941200 ms 
points size 58016 
sort q time 3.341401 
seperate points time 8.304519 
-----t: 0.0267613
publication time 5.875657 ms 
whole laserOdometry time 5.889245 ms 
 
OdomCount 3539 & avg odom time 0.046359 ms ++++++++++++++++++++++
mapping solver time 15.658174 ms 
1317358129.459621906 WriteOdom aft_mapped_to_init
build tree time 12.286849 ms 
mapping data assosiation time 15.331660 ms 
--------------------stamp1317358129.667505979
sort q time 2.886237 
seperate points time 6.526902 
mapping data assosiation time 17.804393 ms 
mapping solver time 13.223751 ms 
mapping pub time 1.331139 ms 
whole mapping time 87.344372 ms +++++
mappingCount 2295 & avg mapping time 155.404909 ms ++++++++++++++++++++++
build tree time 11.893858 ms 
mapping data assosiation time 16.066922 ms 
mapping solver time 22.197729 ms 
sort q time 2.676114 
seperate points time 5.959108 
scan registration time 13.737434 ms *************
mapping data assosiation time 16.671616 ms 
1317358129.771425008 WriteOdom laser_odom_to_init
filter time 4.690277 ms 
build tree time 12.964303 ms 
mapping data assosiation time 14.346712 ms 
mapping solver time 15.378375 ms 
--------------------stamp1317358129.875368118
mapping solver time 17.170775 ms 
-----t: 0.0302356
OdomCount 3542 & avg odom time 0.046340 ms ++++++++++++++++++++++
build tree time 12.606223 ms 
mapping data assosiation time 14.677407 ms 
mapping solver time 20.015277 ms 
--------------------stamp1317358129.979335069
sort q time 2.848209 
seperate points time 6.967193 
mapping solver time 20.998494 ms 
-----t: 0.0409767
OdomCount 3543 & avg odom time 0.046339 ms ++++++++++++++++++++++
build tree time 16.549692 ms 
mapping data assosiation time 18.448271 ms 
points size 59810 
sort q time 3.692799 
seperate points time 7.186398 
publication time 6.111663 ms 
whole laserOdometry time 6.126183 ms 
 
mapping data assosiation time 18.741565 ms 
mapping solver time 17.627921 ms 
map prepare time 1.696316 ms
map corner num 64291  surf num 22092 
build tree time 13.164124 ms 
mapping data assosiation time 14.741733 ms 
--------------------stamp1317358130.187244892
sort q time 3.707381 
seperate points time 7.331872 
publication time 5.789563 ms 
whole laserOdometry time 5.807758 ms 
 
map prepare time 1.685659 ms
map corner num 64647  surf num 22206 
build tree time 14.678985 ms 
mapping data assosiation time 15.158828 ms 
mapping solver time 15.531562 ms 
--------------------stamp1317358130.291188955
sort q time 3.620153 
seperate points time 7.422336 
filter time 6.854239 ms 
1317358130.291188955 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358130.395128965
prepare time 11.352655 
sort q time 3.294274 
seperate points time 8.172839 
scan registration time 22.489736 ms *************
mapping pub time 109.730386 ms 
whole mapping time 200.637937 ms +++++
mappingCount 2301 & avg mapping time 155.295360 ms ++++++++++++++++++++++
-----t: 0.0397053
OdomCount 3547 & avg odom time 0.046322 ms ++++++++++++++++++++++
mapping data assosiation time 15.878479 ms 
mapping solver time 19.200329 ms 
points size 62219 
scan registration time 17.431168 ms *************
filter time 7.637419 ms 
-----t: 0.0282396
OdomCount 3548 & avg odom time 0.046317 ms ++++++++++++++++++++++
build tree time 16.406623 ms 
mapping data assosiation time 15.869269 ms 
mapping solver time 18.621016 ms 
--------------------stamp1317358130.602988958
sort q time 2.823539 
seperate points time 6.256099 
filter time 7.091669 ms 
build tree time 13.480012 ms 
mapping data assosiation time 15.183334 ms 
mapping solver time 15.819697 ms 
--------------------stamp1317358130.706933975
mapping solver time 12.261682 ms 
sort q time 3.679824 
seperate points time 8.142242 
scan registration time 20.445532 ms *************
filter time 6.618758 ms 
mapping pub time 1.420447 ms 
whole mapping time 85.040804 ms +++++
mappingCount 2304 & avg mapping time 155.216570 ms ++++++++++++++++++++++
1317358130.602988958 WriteOdom aft_mapped_to_init
publication time 5.169389 ms 
whole laserOdometry time 5.177160 ms 
 
-----t: 0.0273844
OdomCount 3550 & avg odom time 0.046304 ms ++++++++++++++++++++++
1317358130.706933975 WriteOdom laser_odom_to_init
1317358130.706933975 WriteOdom aft_mapped_to_init_high_frec
build tree time 12.817431 ms 
mapping data assosiation time 13.910883 ms 
mapping data assosiation time 14.276093 ms 
points size 64353 
filter time 5.071767 ms 
-----t: 0.0204777
OdomCount 3551 & avg odom time 0.046297 ms ++++++++++++++++++++++
map prepare time 1.553721 ms
map corner num 66555  surf num 23006 
build tree time 14.449377 ms 
mapping data assosiation time 15.563338 ms 
mapping solver time 15.600128 ms 
--------------------stamp1317358130.914819002
points size 66048 
mapping solver time 15.489712 ms 
1317358130.810877085 WriteOdom aft_mapped_to_init
map prepare time 2.431263 ms
map corner num 66978  surf num 23213 
build tree time 18.164981 ms 
mapping data assosiation time 19.751108 ms 
--------------------stamp1317358131.018785953
sort q time 4.016419 
seperate points time 7.912201 
publication time 7.107457 ms 
whole laserOdometry time 7.126877 ms 
 
1317358130.914819002 WriteOdom aft_mapped_to_init
build tree time 17.704815 ms 
mapping data assosiation time 19.903287 ms 
--------------------stamp1317358131.122776031
mapping solver time 21.007277 ms 
publication time 5.906864 ms 
whole laserOdometry time 5.921485 ms 
 
-----t: 0.0331434
OdomCount 3554 & avg odom time 0.046286 ms ++++++++++++++++++++++
mapping solver time 20.349819 ms 
mapping pub time 1.606798 ms 
whole mapping time 112.239698 ms +++++
build tree time 18.126570 ms 
points size 67734 
scan registration time 25.771984 ms *************
mapping data assosiation time 21.382358 ms 
-----t: 0.0437174
OdomCount 3555 & avg odom time 0.046285 ms ++++++++++++++++++++++
filter time 4.796331 ms 
build tree time 12.537491 ms 
points size 68384 
sort q time 4.093743 
seperate points time 8.156301 
mapping solver time 21.968870 ms 
mapping data assosiation time 17.666981 ms 
mapping solver time 12.595621 ms 
map prepare time 1.800188 ms
map corner num 68880  surf num 24189 
build tree time 13.297974 ms 
--------------------stamp1317358131.434746980
sort q time 3.594672 
seperate points time 8.641747 
mapping solver time 20.077513 ms 
scan registration time 24.017133 ms *************
mapping data assosiation time 21.308215 ms 
mapping solver time 13.805442 ms 
mapping optimization time 86.705077 
add points time 0.649757 ms
filter time 4.772094 ms 
build tree time 14.004108 ms 
mapping data assosiation time 18.066260 ms 
mapping solver time 20.281331 ms 
sort q time 3.896318 
seperate points time 8.997254 
publication time 7.789402 ms 
whole laserOdometry time 7.803458 ms 
 
-----t: 0.0364898
OdomCount 3558 & avg odom time 0.046271 ms ++++++++++++++++++++++
mapping solver time 16.081783 ms 
1317358131.434746981 WriteOdom aft_mapped_to_init
build tree time 14.853867 ms 
--------------------stamp1317358131.642776966
prepare time 11.922171 
sort q time 4.045452 
seperate points time 9.701263 
publication time 7.596602 ms 
whole laserOdometry time 7.607956 ms 
 
mapping data assosiation time 23.124128 ms 
mapping solver time 14.277469 ms 
1317358131.538764000 WriteOdom aft_mapped_to_init
build tree time 15.133555 ms 
--------------------stamp1317358131.746790885
points size 75345 
sort q time 4.750183 
seperate points time 9.388109 
publication time 7.375634 ms 
whole laserOdometry time 7.389644 ms 
 
mapping data assosiation time 20.480197 ms 
mapping solver time 13.158213 ms 
mapping pub time 1.820452 ms 
whole mapping time 121.491454 ms +++++
mappingCount 2314 & avg mapping time 154.995275 ms ++++++++++++++++++++++
--------------------stamp1317358131.850832939
build tree time 18.401019 ms 
sort q time 4.063646 
seperate points time 9.774710 
mapping data assosiation time 23.844253 ms 
1317358131.850832939 WriteOdom laser_odom_to_init
mapping solver time 20.837408 ms 
mapping data assosiation time 18.998685 ms 
mapping solver time 13.951106 ms 
mapping pub time 1.629387 ms 
whole mapping time 107.016223 ms +++++
mappingCount 2315 & avg mapping time 154.974551 ms ++++++++++++++++++++++
points size 78243 
build tree time 18.023749 ms 
publication time 8.015077 ms 
whole laserOdometry time 8.033273 ms 
 
mapping solver time 20.351078 ms 
mapping data assosiation time 22.502211 ms 
mapping solver time 15.911121 ms 
mapping pub time 3.150917 ms 
whole mapping time 115.303258 ms +++++
mappingCount 2316 & avg mapping time 154.957424 ms ++++++++++++++++++++++
sort q time 4.606505 
seperate points time 9.343517 
publication time 7.801344 ms 
whole laserOdometry time 7.815552 ms 
 
-----t: 0.0504099
OdomCount 3563 & avg odom time 0.046255 ms ++++++++++++++++++++++
mapping solver time 28.983873 ms 
--------------------stamp1317358132.163069009
prepare time 13.398227 
filter time 5.360145 ms 
sort q time 26.933651 
seperate points time 38.195999 
publication time 7.971799 ms 
whole laserOdometry time 7.983304 ms 
 
mapping data assosiation time 24.304379 ms 
--------------------stamp1317358132.267230033
sort q time 4.635897 
seperate points time 10.853108 
publication time 15.159952 ms 
whole laserOdometry time 15.174537 ms 
 
mapping solver time 22.174807 ms 
drop lidar frame in mapping for real time performance 
build tree time 17.153098 ms 
--------------------stamp1317358132.371388912
prepare time 13.712012 
sort q time 4.628853 
seperate points time 11.045651 
-----t: 0.0336987
OdomCount 3566 & avg odom time 0.046250 ms ++++++++++++++++++++++
mapping data assosiation time 24.697394 ms 
mapping solver time 20.463984 ms 
mapping pub time 1.839493 ms 
whole mapping time 126.583325 ms +++++
mappingCount 2319 & avg mapping time 154.922294 ms ++++++++++++++++++++++
build tree time 14.798691 ms 
--------------------stamp1317358132.475544929
prepare time 11.535230 
mapping data assosiation time 26.725840 ms 
scan registration time 26.737882 ms *************
mapping solver time 31.906541 ms 
mapping data assosiation time 22.224680 ms 
mapping solver time 16.968773 ms 
mapping pub time 2.009994 ms 
whole mapping time 126.750779 ms +++++
mappingCount 2320 & avg mapping time 154.910152 ms ++++++++++++++++++++++
sort q time 4.672818 
seperate points time 9.550268 
scan registration time 25.815446 ms *************
build tree time 16.207450 ms 
publication time 7.776242 ms 
whole laserOdometry time 7.793205 ms 
 
mapping solver time 26.591727 ms 
mapping data assosiation time 22.957425 ms 
prepare time 11.215934 
mapping solver time 22.602981 ms 
publication time 9.585300 ms 
whole laserOdometry time 9.600072 ms 
 
--------------------stamp1317358132.788094043
prepare time 12.930306 
sort q time 5.010904 
seperate points time 20.049543 
publication time 8.914098 ms 
whole laserOdometry time 8.928151 ms 
 
mapping data assosiation time 22.916593 ms 
--------------------stamp1317358132.892298936
mapping solver time 31.283972 ms 
scan registration time 32.320596 ms *************
publication time 9.796390 ms 
whole laserOdometry time 9.811203 ms 
 
mapping solver time 22.807388 ms 
drop lidar frame in mapping for real time performance 
build tree time 14.948326 ms 
points size 87332 
prepare time 16.672523 
mapping data assosiation time 29.704701 ms 
-----t: 0.0394863
OdomCount 3572 & avg odom time 0.046239 ms ++++++++++++++++++++++
mapping data assosiation time 21.710642 ms 
mapping solver time 17.451937 ms 
mapping pub time 2.114573 ms 
whole mapping time 133.592153 ms +++++
mappingCount 2323 & avg mapping time 154.930602 ms ++++++++++++++++++++++
prepare time 13.505519 
sort q time 4.997531 
seperate points time 11.861001 
publication time 9.944633 ms 
whole laserOdometry time 9.961856 ms 
 
-----t: 0.0555354
OdomCount 3573 & avg odom time 0.046242 ms ++++++++++++++++++++++
mapping solver time 27.577473 ms 
--------------------stamp1317358133.204919099
prepare time 12.311755 
mapping pub time 2.291670 ms 
whole mapping time 133.268346 ms +++++
mappingCount 2324 & avg mapping time 154.921284 ms ++++++++++++++++++++++
publication time 9.372658 ms 
whole laserOdometry time 9.388438 ms 
 
build tree time 18.679408 ms 
mapping data assosiation time 25.075642 ms 
--------------------stamp1317358133.309101104
prepare time 14.036649 
mapping data assosiation time 29.838305 ms 
scan registration time 48.875214 ms *************
filter time 6.197634 ms 
1317358133.309101104 WriteOdom laser_odom_to_init
build tree time 17.529920 ms 
points size 90678 
mapping data assosiation time 30.733915 ms 
publication time 9.153434 ms 
whole laserOdometry time 9.168045 ms 
 
mapping data assosiation time 23.969783 ms 
--------------------stamp1317358133.517420053
points size 91669 
sort q time 5.171624 
seperate points time 12.160814 
-----t: 0.0419452
OdomCount 3577 & avg odom time 0.046244 ms ++++++++++++++++++++++
mapping data assosiation time 29.734538 ms 
mapping solver time 23.276383 ms 
--------------------stamp1317358133.621581077
points size 92603 
mapping data assosiation time 25.164498 ms 
points size 93501 
sort q time 9.541986 
seperate points time 17.274377 
publication time 8.607982 ms 
whole laserOdometry time 8.625529 ms 
 
mapping solver time 20.231088 ms 
mapping optimization time 128.075830 
add points time 0.882087 ms
-----t: 0.066763
OdomCount 3579 & avg odom time 0.046252 ms ++++++++++++++++++++++
1317358133.725716114 WriteOdom laser_odom_to_init
1317358133.725716114 WriteOdom aft_mapped_to_init_high_frec
filter time 6.266369 ms 
points size 94661 
prepare time 15.733893 
build tree time 20.566853 ms 
sort q time 6.360048 
seperate points time 15.104963 
mapping data assosiation time 36.761487 ms 
-----t: 0.0597358
OdomCount 3580 & avg odom time 0.046256 ms ++++++++++++++++++++++
mapping solver time 31.272180 ms 
--------------------stamp1317358133.933984041
prepare time 12.790234 
sort q time 6.696867 
seperate points time 12.378751 
filter time 7.451528 ms 
-----t: 0.0416739
OdomCount 3581 & avg odom time 0.046254 ms ++++++++++++++++++++++
build tree time 15.796157 ms 
mapping data assosiation time 23.915182 ms 
--------------------stamp1317358134.038094997
prepare time 13.981310 
sort q time 6.096321 
seperate points time 12.986679 
mapping data assosiation time 30.987903 ms 
-----t: 0.0430386
OdomCount 3582 & avg odom time 0.046253 ms ++++++++++++++++++++++
mapping solver time 23.129793 ms 
filter time 5.357078 ms 
map prepare time 3.420252 ms
map corner num 72890  surf num 25812 
build tree time 14.920340 ms 
points size 100064 
mapping data assosiation time 32.147436 ms 
sort q time 5.635943 
seperate points time 12.965751 
publication time 9.433808 ms 
whole laserOdometry time 9.460606 ms 
 
-----t: 0.0468871
OdomCount 3583 & avg odom time 0.046254 ms ++++++++++++++++++++++
1317358134.142205953 WriteOdom laser_odom_to_init
1317358134.142205953 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 44.370345 ms 
mapping data assosiation time 23.941615 ms 
points size 100178 
filter time 7.113106 ms 
publication time 9.376866 ms 
whole laserOdometry time 9.405629 ms 
 
-----t: 0.0536662
OdomCount 3584 & avg odom time 0.046256 ms ++++++++++++++++++++++
mapping data assosiation time 30.429576 ms 
--------------------stamp1317358134.350353956
points size 100282 
scan registration time 35.903902 ms *************
publication time 16.546130 ms 
whole laserOdometry time 16.638969 ms 
 
-----t: 0.0552473
OdomCount 3585 & avg odom time 0.046258 ms ++++++++++++++++++++++
map prepare time 2.685347 ms
map corner num 73891  surf num 26207 
build tree time 14.648402 ms 
points size 100114 
mapping data assosiation time 31.838774 ms 
scan registration time 32.774883 ms *************
mapping solver time 34.972407 ms 
publication time 9.206840 ms 
whole laserOdometry time 9.220908 ms 
 
-----t: 0.0673927
OdomCount 3586 & avg odom time 0.046264 ms ++++++++++++++++++++++
--------------------stamp1317358134.558407068
points size 100139 
map prepare time 3.456793 ms
map corner num 74402  surf num 26421 
sort q time 5.571120 
seperate points time 13.153899 
build tree time 19.148296 ms 
publication time 11.186629 ms 
whole laserOdometry time 11.199268 ms 
 
-----t: 0.0523118
OdomCount 3587 & avg odom time 0.046266 ms ++++++++++++++++++++++
mapping solver time 25.130638 ms 
points size 100011 
sort q time 5.433044 
seperate points time 12.562878 
publication time 9.208770 ms 
whole laserOdometry time 9.225978 ms 
 
filter time 6.925519 ms 
build tree time 16.583704 ms 
--------------------stamp1317358134.766362905
prepare time 11.772045 
sort q time 6.612627 
seperate points time 13.360423 
publication time 9.912833 ms 
whole laserOdometry time 9.955548 ms 
 
mapping data assosiation time 30.385645 ms 
-----t: 0.0568184
OdomCount 3589 & avg odom time 0.046267 ms ++++++++++++++++++++++
1317358134.766362905 WriteOdom laser_odom_to_init
1317358134.766362905 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.436095 ms 
mapping optimization time 125.619822 
add points time 0.931194 ms
map prepare time 2.674065 ms
map corner num 75483  surf num 26897 
points size 99535 
sort q time 5.387077 
seperate points time 12.815710 
mapping data assosiation time 32.837416 ms 
mapping solver time 29.060667 ms 
--------------------stamp1317358134.974083900
prepare time 11.830135 
scan registration time 28.659592 ms *************
map prepare time 3.456368 ms
map corner num 76023  surf num 27157 
build tree time 18.457907 ms 
mapping data assosiation time 27.659860 ms 
--------------------stamp1317358135.077740907
points size 99113 
sort q time 5.637761 
seperate points time 13.235980 
mapping data assosiation time 29.484969 ms 
mapping solver time 22.584219 ms 
filter time 5.792903 ms 
mapping pub time 2.321602 ms 
whole mapping time 141.682501 ms +++++
mappingCount 2337 & avg mapping time 154.863557 ms ++++++++++++++++++++++
1317358134.870282888 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.763808 ms
map corner num 76477  surf num 27392 
build tree time 15.110336 ms 
points size 99187 
prepare time 14.473661 
sort q time 5.726816 
seperate points time 20.601441 
-----t: 0.0384577
OdomCount 3593 & avg odom time 0.046267 ms ++++++++++++++++++++++
mapping data assosiation time 25.993022 ms 
--------------------stamp1317358135.284976959
points size 100006 
mapping solver time 34.440107 ms 
mapping pub time 2.327132 ms 
whole mapping time 160.456513 ms +++++
mappingCount 2338 & avg mapping time 154.865951 ms ++++++++++++++++++++++
build tree time 19.040626 ms 
mapping data assosiation time 26.723145 ms 
--------------------stamp1317358135.388581991
points size 100072 
mapping solver time 39.379395 ms 
sort q time 6.488440 
seperate points time 15.222086 
scan registration time 48.747263 ms *************
publication time 25.282677 ms 
whole laserOdometry time 25.315356 ms 
 
mapping solver time 41.235478 ms 
filter time 10.910857 ms 
sort q time 5.883314 
seperate points time 13.788697 
publication time 11.253944 ms 
whole laserOdometry time 11.285187 ms 
 mapping data assosiation time 30.636740 ms 
--------------------stamp1317358135.595844030
points size 100615 
prepare time 12.162537 
scan registration time 30.651698 ms *************
mapping data assosiation time 32.024994 ms 
publication time 9.533410 ms 
whole laserOdometry time 9.540942 ms 
 
-----t: 0.0438552
OdomCount 3597 & avg odom time 0.046278 ms ++++++++++++++++++++++
1317358135.595844030 WriteOdom laser_odom_to_init
1317358135.595844030 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.992346 ms 
mapping optimization time 142.087237 
add points time 0.934107 ms
drop lidar frame in mapping for real time performance 
build tree time 15.397005 ms 
--------------------stamp1317358135.699498891
points size 101064 
sort q time 5.555450 
seperate points time 13.028550 
mapping solver time 39.107424 ms 
mapping data assosiation time 28.771099 ms 
--------------------stamp1317358135.803103923
points size 101220 
mapping optimization time 152.925906 
add points time 0.887100 ms
scan registration time 33.438268 ms *************
publication time 11.327251 ms 
whole laserOdometry time 11.340973 ms 
 
--------------------stamp1317358135.906711101
prepare time 13.764285 
sort q time 6.277786 
seperate points time 13.800525 
publication time 13.293725 ms 
whole laserOdometry time 13.307243 ms 
 
-----t: 0.0512485
OdomCount 3600 & avg odom time 0.046281 ms ++++++++++++++++++++++
mapping data assosiation time 27.683543 ms 
--------------------stamp1317358136.010343074
prepare time 13.703036 
sort q time 5.579185 
seperate points time 12.992196 
publication time 11.010658 ms 
whole laserOdometry time 11.021890 ms 
 
mapping data assosiation time 34.449071 ms 
mapping solver time 22.730331 ms 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358136.113975048
prepare time 13.277067 
sort q time 5.649585 
seperate points time 13.208121 
publication time 11.326061 ms 
whole laserOdometry time 11.339093 ms 
 
-----t: 0.0602942
OdomCount 3602 & avg odom time 0.046286 ms ++++++++++++++++++++++
mapping data assosiation time 27.674780 ms 
points size 102816 
mapping solver time 29.574829 ms 
mapping pub time 2.785490 ms 
whole mapping time 158.040372 ms +++++
mappingCount 2343 & avg mapping time 154.930860 ms ++++++++++++++++++++++
map prepare time 3.717317 ms
map corner num 79900  surf num 28956 
publication time 10.863594 ms 
whole laserOdometry time 10.879484 ms 
 
build tree time 21.044467 ms 
mapping data assosiation time 28.560911 ms 
points size 102860 
sort q time 6.089996 
seperate points time 12.707761 
publication time 8.220360 ms 
whole laserOdometry time 8.238468 ms 
 
-----t: 0.0484996
OdomCount 3604 & avg odom time 0.046288 ms ++++++++++++++++++++++
mapping solver time 24.917972 ms 
1317358136.113975048 WriteOdom aft_mapped_to_init
sort q time 5.707086 
seperate points time 12.865961 
publication time 12.258885 ms 
whole laserOdometry time 12.276876 ms mapping solver time 24.940326 ms 
--------------------stamp1317358136.528687953
points size 102873 
sort q time 5.579278 
seperate points time 13.004837 
filter time 7.292137 ms 
-----t: 0.0468301
OdomCount 3606 & avg odom time 0.046287 ms ++++++++++++++++++++++
1317358136.528687953 WriteOdom laser_odom_to_init
1317358136.528687953 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.597783 ms 
points size 102985 
mapping solver time 33.360827 ms 
sort q time 5.889823 
seperate points time 13.874586 
scan registration time 36.696021 ms *************
publication time 12.954482 ms 
whole laserOdometry time 12.971812 ms 
 
-----t: 0.0546896
OdomCount 3607 & avg odom time 0.046289 ms ++++++++++++++++++++++
mapping solver time 20.646235 ms 
filter time 5.909668 ms 
map prepare time 2.773947 ms
map corner num 81582  surf num 29739 
points size 103031 
prepare time 14.703686 
build tree time 19.424452 ms 
scan registration time 34.942086 ms *************
mapping data assosiation time 32.010568 ms 
publication time 9.591756 ms 
whole laserOdometry time 9.606607 ms 
 
1317358136.736212968 WriteOdom laser_odom_to_init
mapping solver time 37.816332 ms 
--------------------stamp1317358136.839987039
mapping data assosiation time 28.563545 ms 
sort q time 5.951530 
seperate points time 13.670651 
filter time 8.666967 ms 
-----t: 0.0552322
OdomCount 3609 & avg odom time 0.046294 ms ++++++++++++++++++++++
--------------------stamp1317358136.943763017
points size 103125 
sort q time 5.600641 
seperate points time 13.238968 
publication time 10.744636 ms 
whole laserOdometry time 10.760425 ms 
 
mapping data assosiation time 34.584706 ms 
mapping solver time 26.302108 ms 
filter time 8.682156 ms 
sort q time 6.122709 
seperate points time 14.307901 
publication time 8.195785 ms 
whole laserOdometry time 8.203667 ms 
 
mapping data assosiation time 31.305853 ms 
-----t: 0.0643733
OdomCount 3611 & avg odom time 0.046300 ms ++++++++++++++++++++++
mapping solver time 28.403487 ms 
points size 103150 
mapping data assosiation time 33.883688 ms 
sort q time 6.138737 
seperate points time 14.535535 
mapping solver time 23.654077 ms 
mapping optimization time 140.801674 
add points time 1.075720 ms
publication time 12.834736 ms 
whole laserOdometry time 12.852208 ms 
 
filter time 7.670320 ms 
build tree time 17.766313 ms 
--------------------stamp1317358137.255085945
points size 103054 
sort q time 5.662157 
seperate points time 13.234123 
mapping solver time 38.048912 ms 
mapping data assosiation time 29.061033 ms 
--------------------stamp1317358137.358865976
filter time 7.758721 ms 
sort q time 5.765001 
seperate points time 13.650997 
build tree time 20.983677 ms 
publication time 10.096993 ms 
whole laserOdometry time 10.119128 ms 
 
mapping data assosiation time 31.313653 ms 
--------------------stamp1317358137.462640047
prepare time 14.403096 
sort q time 7.192467 
seperate points time 13.675206 
publication time 12.428115 ms 
whole laserOdometry time 12.447304 ms 
 
mapping solver time 29.675993 ms 
mapping optimization time 145.547661 
add points time 0.963244 ms
-----t: 0.0530555
OdomCount 3615 & avg odom time 0.046303 ms ++++++++++++++++++++++
1317358137.462640047 WriteOdom laser_odom_to_init
1317358137.462640047 WriteOdom aft_mapped_to_init_high_frec
filter time 7.152452 ms 
[0m[ INFO] [1718805424.393839390, 1317358137.516295171]: Received 114503 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805424.393887815, 1317358137.516295171]: Data saved to 1317358137255085.pcd[0m
mapping pub time 4.001199 ms 
whole mapping time 161.257848 ms +++++
mappingCount 2351 & avg mapping time 154.936490 ms ++++++++++++++++++++++
--------------------stamp1317358137.566411972
points size 102859 
sort q time 6.066420 
seperate points time 14.183084 
publication time 8.094208 ms 
whole laserOdometry time 8.106185 ms 
 
mapping solver time 35.500325 ms 
--------------------stamp1317358137.670236110
prepare time 14.142121 
sort q time 5.660247 
seperate points time 13.149382 
mapping solver time 24.192397 ms 
mapping optimization time 154.804469 
mapping pub time 2.618802 ms 
whole mapping time 171.330114 ms +++++
mappingCount 2352 & avg mapping time 154.943461 ms ++++++++++++++++++++++
1317358137.358865976 WriteOdom aft_mapped_to_init
build tree time 23.143687 ms 
--------------------stamp1317358137.774153947
prepare time 12.617423 
sort q time 5.814605 
seperate points time 13.327444 
publication time 9.799155 ms 
whole laserOdometry time 9.812727 ms 
 
-----t: 0.0510282
OdomCount 3618 & avg odom time 0.046307 ms ++++++++++++++++++++++
mapping solver time 24.128680 ms 
mapping pub time 2.470604 ms 
whole mapping time 167.255641 ms +++++
mappingCount 2353 & avg mapping time 154.948696 ms ++++++++++++++++++++++
sort q time 6.340581 
seperate points time 12.162692 
scan registration time 29.641733 ms *************
build tree time 22.993065 ms 
publication time 10.591461 ms 
whole laserOdometry time 10.622181 ms 
 
-----t: 0.053959
OdomCount 3619 & avg odom time 0.046309 ms ++++++++++++++++++++++
mapping solver time 31.002782 ms 
points size 102365 
sort q time 6.318096 
seperate points time 12.281398 
publication time 8.879168 ms 
whole laserOdometry time 8.894578 ms 
 
filter time 6.588277 ms 
mapping pub time 2.347778 ms 
whole mapping time 158.333214 ms +++++
mappingCount 2354 & avg mapping time 154.950137 ms ++++++++++++++++++++++
1317358137.670236111 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 16.014129 ms 
--------------------stamp1317358138.086438894
prepare time 13.365003 
sort q time 5.612259 
seperate points time 13.136717 
mapping solver time 36.700650 ms 
-----t: 0.048486
OdomCount 3621 & avg odom time 0.046308 ms ++++++++++++++++++++++
mapping data assosiation time 31.358234 ms 
--------------------stamp1317358138.190623044
points size 101196 
map prepare time 3.125958 ms
map corner num 85659  surf num 31392 
build tree time 19.571350 ms 
publication time 9.654189 ms 
whole laserOdometry time 9.676421 ms 
 
-----t: 0.0423898
OdomCount 3622 & avg odom time 0.046307 ms ++++++++++++++++++++++
1317358138.190623044 WriteOdom laser_odom_to_init
1317358138.190623044 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.378662 ms 
--------------------stamp1317358138.294804096
points size 100844 
sort q time 5.600409 
seperate points time 13.850435 
-----t: 0.0488435
OdomCount 3623 & avg odom time 0.046308 ms ++++++++++++++++++++++
filter time 8.203908 ms 
--------------------stamp1317358138.399009943
prepare time 13.579126 
sort q time 6.182715 
seperate points time 13.710308 
publication time 9.582747 ms 
whole laserOdometry time 9.595882 ms 
 
mapping solver time 41.553205 ms 
-----t: 0.0748181
OdomCount 3624 & avg odom time 0.046315 ms ++++++++++++++++++++++
1317358138.399009943 WriteOdom laser_odom_to_init
points size 100514 
sort q time 17.174429 
seperate points time 24.372017 
mapping solver time 32.292411 ms 
mapping optimization time 169.043037 
add points time 0.960352 ms
1317358138.190623045 WriteOdom aft_mapped_to_init
-----t: 0.0524764
OdomCount 3625 & avg odom time 0.046317 ms ++++++++++++++++++++++
build tree time 19.277222 ms 
--------------------stamp1317358138.607640027
points size 100088 
sort q time 5.755730 
seperate points time 13.258939 
publication time 7.676714 ms 
whole laserOdometry time 7.687493 ms 
 
-----t: 0.0731025
OdomCount 3626 & avg odom time 0.046325 ms ++++++++++++++++++++++
points size 99384 
sort q time 5.612240 
seperate points time 12.360981 
map prepare time 3.336282 ms
map corner num 87003  surf num 31854 
publication time 13.414152 ms 
whole laserOdometry time 13.436060 ms 
 
build tree time 19.928428 ms 
mapping data assosiation time 28.310338 ms 
--------------------stamp1317358138.816245079
mapping solver time 32.322737 ms 
sort q time 6.575023 
seperate points time 12.397022 
mapping data assosiation time 33.749513 ms 
-----t: 0.0556219
OdomCount 3628 & avg odom time 0.046328 ms ++++++++++++++++++++++
mapping solver time 36.438699 ms 
filter time 6.133209 ms 
--------------------stamp1317358138.920669078
build tree time 18.929606 ms 
sort q time 5.437034 
seperate points time 11.110797 
mapping data assosiation time 31.476645 ms 
1317358138.920669078 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 33.177601 ms 
--------------------stamp1317358139.025139093
points size 98678 
sort q time 5.433854 
seperate points time 10.952680 
mapping optimization time 145.964707 
mapping pub time 2.318807 ms 
whole mapping time 160.801207 ms +++++
mappingCount 2360 & avg mapping time 154.984332 ms ++++++++++++++++++++++
-----t: 0.0585515
OdomCount 3630 & avg odom time 0.046329 ms ++++++++++++++++++++++
mapping data assosiation time 25.254641 ms 
points size 98854 
sort q time 5.563127 
seperate points time 13.346891 
-----t: 0.0349163
OdomCount 3631 & avg odom time 0.046326 ms ++++++++++++++++++++++
mapping data assosiation time 32.463302 ms 
mapping solver time 30.756172 ms 
filter time 6.838036 ms 
points size 98044 
sort q time 5.314443 
seperate points time 12.790857 
publication time 9.571182 ms 
whole laserOdometry time 9.582534 ms 
 
-----t: 0.076656
OdomCount 3632 & avg odom time 0.046334 ms ++++++++++++++++++++++
points size 97041 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
publication time 9.588257 ms 
whole laserOdometry time 9.623511 ms 
 
-----t: 0.0597689
OdomCount 3633 & avg odom time 0.046338 ms ++++++++++++++++++++++
--------------------stamp1317358139.443022966
prepare time 12.118079 
sort q time 5.629418 
seperate points time 12.024122 
mapping data assosiation time 31.081254 ms 
-----t: 0.0403056
OdomCount 3634 & avg odom time 0.046336 ms ++++++++++++++++++++++
mapping solver time 27.416424 ms 
filter time 6.498208 ms 
build tree time 17.314914 ms 
points size 95104 
mapping data assosiation time 27.310314 ms 
scan registration time 32.169284 ms *************
publication time 7.785631 ms 
whole laserOdometry time 7.798460 ms 
 
mapping solver time 44.392303 ms 
mapping data assosiation time 25.682715 ms 
prepare time 13.831868 
sort q time 5.845593 
seperate points time 12.326069 
filter time 10.014148 ms 
build tree time 17.150501 ms 
-----t: 0.0621595
OdomCount 3636 & avg odom time 0.046344 ms ++++++++++++++++++++++
mapping data assosiation time 24.199196 ms 
points size 92863 
sort q time 5.263712 
seperate points time 12.344322 
scan registration time 32.874225 ms *************
mapping data assosiation time 27.142384 ms 
mapping solver time 27.970224 ms 
filter time 7.569738 ms 
--------------------stamp1317358139.860064983
points size 90885 
sort q time 5.832391 
seperate points time 13.552081 
mapping data assosiation time 30.067120 ms 
mapping solver time 28.278791 ms 
mapping data assosiation time 22.258704 ms 
points size 89134 
mapping solver time 25.340871 ms 
mapping optimization time 130.054496 
add points time 0.932287 ms
sort q time 4.971546 
seperate points time 11.181969 
-----t: 0.0333705
OdomCount 3639 & avg odom time 0.046338 ms ++++++++++++++++++++++
build tree time 22.344034 ms 
mapping data assosiation time 24.418072 ms 
--------------------stamp1317358140.068309068
points size 87913 
sort q time 4.788649 
seperate points time 10.927488 
scan registration time 27.568753 ms *************
-----t: 0.0375067
OdomCount 3640 & avg odom time 0.046336 ms ++++++++++++++++++++++
mapping solver time 26.082847 ms 
filter time 8.544230 ms 
--------------------stamp1317358140.172395944
points size 86421 
sort q time 5.566981 
seperate points time 13.059142 
publication time 7.859191 ms -----t: 0.0494883
OdomCount 3641 & avg odom time 0.046337 ms ++++++++++++++++++++++
mapping data assosiation time 24.282223 ms 
--------------------stamp1317358140.276459932
prepare time 11.788437 
mapping pub time 2.092894 ms 
whole mapping time 151.322855 ms +++++
mappingCount 2367 & avg mapping time 155.038432 ms ++++++++++++++++++++++
publication time 6.613491 ms 
whole laserOdometry time 6.623194 ms 
 
-----t: 0.0500009
OdomCount 3642 & avg odom time 0.046338 ms ++++++++++++++++++++++
mapping data assosiation time 25.603468 ms 
--------------------stamp1317358140.380497932
sort q time 4.570605 
seperate points time 10.579996 
publication time 8.303102 ms 
whole laserOdometry time 8.316691 ms 
 
mapping solver time 19.891292 ms 
drop lidar frame in mapping for real time performance 
build tree time 21.123644 ms 
--------------------stamp1317358140.484513998
mapping data assosiation time 28.657451 ms 
sort q time 4.705786 
seperate points time 10.763833 
mapping solver time 34.122084 ms 
mapping data assosiation time 23.557524 ms 
mapping solver time 15.605680 ms 
filter time 6.661841 ms 
map prepare time 2.295247 ms
map corner num 91899  surf num 33328 
points size 82904 
sort q time 4.544940 
seperate points time 10.459519 
publication time 7.056471 ms 
whole laserOdometry time 7.098284 ms 
 
mapping solver time 23.274496 ms 
mapping data assosiation time 20.330779 ms 
--------------------stamp1317358140.692518949
prepare time 11.467512 
map prepare time 2.814900 ms
map corner num 92299  surf num 33441 
publication time 7.313775 ms 
whole laserOdometry time 7.327288 ms 
 
build tree time 24.936515 ms 
-----t: 0.0534293
OdomCount 3646 & avg odom time 0.046329 ms ++++++++++++++++++++++
mapping solver time 24.858625 ms 
points size 79171 
sort q time 4.892431 
seperate points time 11.252199 
mapping solver time 23.392344 ms 
-----t: 0.046801
OdomCount 3647 & avg odom time 0.046329 ms ++++++++++++++++++++++
build tree time 19.885379 ms 
--------------------stamp1317358140.900381088
prepare time 13.013714 
scan registration time 26.538780 ms *************
publication time 6.580896 ms 
whole laserOdometry time 6.685482 ms 
 
1317358140.900381088 WriteOdom laser_odom_to_init
mapping solver time 21.794011 ms 
map prepare time 2.314921 ms
map corner num 92998  surf num 33595 
--------------------stamp1317358141.004252910
prepare time 13.336913 
scan registration time 27.050860 ms *************
-----t: 0.0443408
OdomCount 3649 & avg odom time 0.046327 ms ++++++++++++++++++++++
mapping data assosiation time 21.471494 ms 
--------------------stamp1317358141.108099937
filter time 8.878342 ms 
sort q time 4.303233 
seperate points time 10.212648 
scan registration time 28.728185 ms *************
publication time 6.771427 ms 
whole laserOdometry time 6.798310 ms 
 
mapping data assosiation time 20.125951 ms 
mapping solver time 17.878863 ms 
mapping data assosiation time 20.150649 ms 
points size 79078 
prepare time 10.898017 
filter time 10.203557 ms 
publication time 8.655555 ms 
whole laserOdometry time 8.683080 ms 
 
build tree time 23.525210 ms 
mapping data assosiation time 18.014799 ms 
mapping solver time 20.948200 ms 
points size 79623 
sort q time 5.254994 
seperate points time 11.016328 
add points time 0.902416 ms
mapping pub time 1.769199 ms 
whole mapping time 117.261224 ms +++++
mappingCount 2375 & avg mapping time 154.953142 ms ++++++++++++++++++++++
build tree time 18.954032 ms 
mapping data assosiation time 19.486155 ms 
--------------------stamp1317358141.419780969
prepare time 11.340790 
sort q time 4.897113 
seperate points time 9.513461 
publication time 5.923337 ms 
whole laserOdometry time 5.939322 ms 
 
mapping solver time 22.886884 ms 
mapping optimization time 109.204533 
add points time 0.795133 ms
-----t: 0.0399687
OdomCount 3653 & avg odom time 0.046311 ms ++++++++++++++++++++++
1317358141.419780969 WriteOdom laser_odom_to_init
1317358141.419780969 WriteOdom aft_mapped_to_init_high_frec
build tree time 18.399470 ms 
--------------------stamp1317358141.523750066
prepare time 12.905985 
sort q time 4.208281 
seperate points time 9.806098 
-----t: 0.0285496
OdomCount 3654 & avg odom time 0.046306 ms ++++++++++++++++++++++
mapping solver time 13.077680 ms 
map prepare time 2.035536 ms
map corner num 94675  surf num 33971 
build tree time 20.309707 ms 
points size 75470 
sort q time 3.982862 
seperate points time 9.439357 
publication time 6.436899 ms 
whole laserOdometry time 6.450106 ms 
 
mapping data assosiation time 20.172763 ms 
mapping solver time 13.374028 ms 
mapping optimization time 93.896909 
add points time 0.751788 ms
filter time 6.619754 ms 
build tree time 21.456167 ms 
points size 73943 
mapping data assosiation time 25.534688 ms 
scan registration time 36.503248 ms *************
-----t: 0.0464913
OdomCount 3656 & avg odom time 0.046301 ms ++++++++++++++++++++++
mapping solver time 14.275244 ms 
mapping optimization time 106.683625 
add points time 0.763674 ms
--------------------stamp1317358141.835768938
build tree time 23.573412 ms 
publication time 5.760894 ms 
whole laserOdometry time 5.790842 ms 
 
-----t: 0.0386605
OdomCount 3657 & avg odom time 0.046299 ms ++++++++++++++++++++++
mapping data assosiation time 17.461523 ms 
mapping solver time 12.224895 ms 
mapping optimization time 95.728737 
add points time 0.797836 ms
--------------------stamp1317358141.939759969
sort q time 4.026206 
seperate points time 9.262029 
-----t: 0.025118
OdomCount 3658 & avg odom time 0.046293 ms ++++++++++++++++++++++
mapping solver time 16.639098 ms 
mapping data assosiation time 17.528589 ms 
mapping solver time 16.090591 ms 
[0m[ INFO] [1718805428.897086325, 1317358142.033582977]: Received 130103 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805428.897138060, 1317358142.033582977]: Data saved to 1317358141835768.pcd[0m
prepare time 10.836548 
sort q time 4.087109 
seperate points time 8.388441 
publication time 5.653239 ms 
whole laserOdometry time 5.665135 ms 
 
-----t: 0.0336435
OdomCount 3659 & avg odom time 0.046289 ms ++++++++++++++++++++++
--------------------stamp1317358142.147717952
points size 67128 
sort q time 3.489875 
seperate points time 8.719497 
mapping solver time 20.592258 ms 
mapping data assosiation time 18.042776 ms 
--------------------stamp1317358142.251661062
prepare time 11.548661 
mapping pub time 1.723303 ms 
whole mapping time 112.233588 ms +++++
mappingCount 2382 & avg mapping time 154.871580 ms ++++++++++++++++++++++
scan registration time 24.173891 ms *************
build tree time 24.069944 ms 
1317358142.251661062 WriteOdom laser_odom_to_init
1317358142.251661062 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.103677 ms 
mapping data assosiation time 18.901541 ms 
points size 65166 
mapping solver time 25.117812 ms 
mapping pub time 1.560524 ms 
whole mapping time 123.486798 ms +++++
mappingCount 2383 & avg mapping time 154.858417 ms ++++++++++++++++++++++
-----t: 0.0330866
OdomCount 3662 & avg odom time 0.046278 ms ++++++++++++++++++++++
build tree time 21.861098 ms 
mapping data assosiation time 17.579901 ms 
mapping solver time 20.709333 ms 
points size 68163 
sort q time 3.643623 
seperate points time 8.571014 
mapping solver time 23.689225 ms 
publication time 6.076922 ms 
whole laserOdometry time 6.085988 ms 
 
mapping optimization time 105.464775 
add points time 0.814895 ms
map prepare time 2.126789 ms
map corner num 97138  surf num 34486 
-----t: 0.0451251
OdomCount 3663 & avg odom time 0.046278 ms ++++++++++++++++++++++
1317358142.459497928 WriteOdom laser_odom_to_init
1317358142.459497928 WriteOdom aft_mapped_to_init_high_frec
build tree time 20.051267 ms 
mapping data assosiation time 18.381377 ms 
--------------------stamp1317358142.563394069
points size 71519 
sort q time 3.632464 
seperate points time 8.816308 
publication time 7.067429 ms filter time 6.999138 ms 
build tree time 19.815274 ms 
--------------------stamp1317358142.667262077
points size 72833 
sort q time 3.832018 
mapping solver time 21.096976 ms 
seperate points time 9.226848 
-----t: 0.0247277
OdomCount 3665 & avg odom time 0.046269 ms ++++++++++++++++++++++
mapping solver time 12.224932 ms 
[0m[ INFO] [1718805429.591758052, 1317358142.732725431]: Received 133212 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805429.591804107, 1317358142.732725431]: Data saved to 1317358142563394.pcd[0m
build tree time 19.101705 ms 
--------------------stamp1317358142.771133899
prepare time 12.581330 
sort q time 4.123364 
seperate points time 9.987133 
publication time 7.438422 ms 
whole laserOdometry time 7.453496 ms 
 
-----t: 0.0421248
OdomCount 3666 & avg odom time 0.046268 ms ++++++++++++++++++++++
mapping solver time 17.537392 ms 
mapping optimization time 102.006109 
add points time 0.781533 ms
--------------------stamp1317358142.875005006
prepare time 10.970796 
sort q time 4.415383 
seperate points time 9.840622 
mapping solver time 21.665617 ms 
mapping data assosiation time 21.029110 ms 
mapping solver time 18.003640 ms 
mapping pub time 1.869159 ms 
whole mapping time 120.844817 ms +++++
mappingCount 2388 & avg mapping time 154.775661 ms ++++++++++++++++++++++
points size 83927 
build tree time 24.542745 ms 
-----t: 0.0390155
OdomCount 3668 & avg odom time 0.046266 ms ++++++++++++++++++++++
mapping solver time 19.817545 ms 
mapping data assosiation time 19.161436 ms 
mapping solver time 13.886208 ms 
filter time 10.289098 ms 
sort q time 5.010086 
seperate points time 11.724921 
build tree time 26.001073 ms 
mapping data assosiation time 19.732674 ms 
mapping solver time 26.328832 ms 
--------------------stamp1317358143.186570882
prepare time 12.094071 
mapping solver time 27.368011 ms 
map prepare time 2.438374 ms
map corner num 100924  surf num 35896 
build tree time 22.399752 ms 
mapping data assosiation time 17.511110 ms 
--------------------stamp1317358143.290441036
points size 93998 
sort q time 5.251925 
seperate points time 12.535403 
-----t: 0.0283208
OdomCount 3671 & avg odom time 0.046252 ms ++++++++++++++++++++++
publication time 6.632420 ms 
whole laserOdometry time 6.649290 ms 
 
[0m[ INFO] [1718805430.209593845, 1317358143.346711942]: Received 137418 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805430.209654761, 1317358143.346711942]: Data saved to 1317358143082726.pcd[0m
build tree time 21.598156 ms 
--------------------stamp1317358143.394310951
prepare time 14.071574 
sort q time 5.175575 
seperate points time 11.623526 
publication time 8.008497 ms 
whole laserOdometry time 8.023688 ms 
 
mapping solver time 18.727591 ms 
mapping pub time 2.118032 ms 
whole mapping time 119.652348 ms +++++
mappingCount 2392 & avg mapping time 154.722479 ms ++++++++++++++++++++++
map prepare time 2.228817 ms
map corner num 101849  surf num 36188 
points size 92553 
sort q time 5.489500 
seperate points time 11.890220 
publication time 8.099994 ms 
whole laserOdometry time 8.119205 ms 
 
mapping solver time 20.412271 ms 
mapping data assosiation time 16.377494 ms 
mapping solver time 12.157366 ms 
mapping pub time 2.097875 ms 
whole mapping time 106.127173 ms +++++
mappingCount 2393 & avg mapping time 154.702179 ms ++++++++++++++++++++++
--------------------stamp1317358143.602076053
prepare time 12.588560 
sort q time 5.892437 
seperate points time 11.893471 
-----t: 0.0314053
OdomCount 3674 & avg odom time 0.046252 ms ++++++++++++++++++++++
mapping data assosiation time 16.910606 ms 
mapping solver time 16.108593 ms 
mapping pub time 2.118612 ms 
whole mapping time 101.312919 ms +++++
mappingCount 2394 & avg mapping time 154.679884 ms ++++++++++++++++++++++
points size 92538 
sort q time 5.205163 
seperate points time 12.018313 
scan registration time 32.384340 ms *************
mapping data assosiation time 18.813249 ms 
publication time 6.529812 ms 
whole laserOdometry time 6.539533 ms 
 
mapping solver time 12.398324 ms 
mapping pub time 2.231850 ms 
whole mapping time 105.918245 ms +++++
mappingCount 2395 & avg mapping time 154.659526 ms ++++++++++++++++++++++
points size 92665 
build tree time 19.883738 ms 
mapping data assosiation time 18.179824 ms 
mapping solver time 22.740529 ms 
mapping data assosiation time 19.839432 ms 
mapping solver time 13.393373 ms 
[0m[ INFO] [1718805430.773881898, 1317358143.912970292]: Received 108366 data points in frame camera_init with the following fields: x y z intensity[0m
mapping pub time 5.530765 ms 
whole mapping time 110.385602 ms +++++
mappingCount 2396 & avg mapping time 154.641050 ms ++++++++++++++++++++++
[0m[ INFO] [1718805430.774026048, 1317358143.912970292]: Data saved to 1317358143705969.pcd[0m
points size 93352 
build tree time 21.676105 ms 
scan registration time 42.202380 ms *************
mapping data assosiation time 24.429172 ms 
mapping solver time 22.975323 ms 
mapping data assosiation time 16.446203 ms 
points size 94454 
mapping pub time 2.067918 ms 
whole mapping time 116.405121 ms +++++
mappingCount 2397 & avg mapping time 154.625102 ms ++++++++++++++++++++++
1317358143.809864998 WriteOdom aft_mapped_to_init
scan registration time 30.753919 ms *************
build tree time 18.280155 ms 
-----t: 0.0417265
OdomCount 3678 & avg odom time 0.046249 ms ++++++++++++++++++++++
mapping solver time 16.939747 ms 
mapping data assosiation time 16.315306 ms 
mapping solver time 13.723017 ms 
1317358143.913759947 WriteOdom aft_mapped_to_init
sort q time 5.529153 
seperate points time 11.902650 
publication time 13.475504 ms 
whole laserOdometry time 13.489148 ms 
 
mapping solver time 19.692269 ms 
mapping data assosiation time 16.364824 ms 
points size 94204 
prepare time 13.884294 
mapping solver time 21.986113 ms 
mapping optimization time 101.591707 
add points time 0.809134 ms
scan registration time 31.156518 ms *************
publication time 6.618437 ms 
whole laserOdometry time 6.632900 ms 
 
build tree time 23.816185 ms 
mapping data assosiation time 15.981581 ms 
mapping solver time 17.262867 ms 
--------------------stamp1317358144.329314947
points size 96001 
mapping solver time 21.533312 ms 
mapping pub time 2.257396 ms 
whole mapping time 112.497915 ms +++++
mappingCount 2400 & avg mapping time 154.566599 ms ++++++++++++++++++++++
build tree time 16.622017 ms 
mapping data assosiation time 15.902470 ms 
mapping solver time 16.282111 ms 
--------------------stamp1317358144.433211088
mapping data assosiation time 19.129310 ms 
points size 96411 
prepare time 12.686984 
mapping solver time 19.124607 ms 
scan registration time 28.925441 ms *************
[0m[ INFO] [1718805431.330733637, 1317358144.471097323]: Received 110155 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805431.330796597, 1317358144.471097323]: Data saved to 1317358144225409.pcd[0m
--------------------stamp1317358144.537106037
points size 97055 
prepare time 34.530331 
map prepare time 2.192785 ms
map corner num 80802  surf num 29353 
sort q time 5.883855 
seperate points time 13.526540 
build tree time 19.283350 ms 
mapping data assosiation time 17.326238 ms 
--------------------stamp1317358144.640976905
points size 97326 
prepare time 16.282822 
mapping data assosiation time 20.412468 ms 
scan registration time 34.210639 ms *************
filter time 7.622187 ms 
map prepare time 2.557653 ms
map corner num 81092  surf num 29421 
publication time 7.766763 ms 
whole laserOdometry time 7.777068 ms 
 
-----t: 0.0383342
OdomCount 3684 & avg odom time 0.046232 ms ++++++++++++++++++++++
1317358144.640976905 WriteOdom laser_odom_to_init
1317358144.640976905 WriteOdom aft_mapped_to_init_high_frec
build tree time 17.035483 ms 
mapping data assosiation time 16.513915 ms 
--------------------stamp1317358144.744822978
mapping data assosiation time 17.818969 ms 
mapping solver time 18.785612 ms 
mapping pub time 2.220053 ms 
whole mapping time 105.367219 ms +++++
mappingCount 2403 & avg mapping time 154.548700 ms ++++++++++++++++++++++
build tree time 16.279405 ms 
mapping data assosiation time 15.971003 ms 
--------------------stamp1317358144.848716020
points size 98786 
mapping data assosiation time 22.775261 ms 
sort q time 5.904326 
seperate points time 18.352622 
mapping solver time 17.584480 ms 
-----t: 0.0353496
OdomCount 3686 & avg odom time 0.046225 ms ++++++++++++++++++++++
mapping pub time 2.140618 ms 
whole mapping time 106.417528 ms +++++
mappingCount 2404 & avg mapping time 154.528680 ms ++++++++++++++++++++++
build tree time 16.605813 ms 
mapping data assosiation time 16.960053 ms 
points size 100351 
mapping solver time 26.505710 ms 
mapping data assosiation time 19.792939 ms 
mapping solver time 17.549834 ms 
mapping pub time 2.386071 ms 
whole mapping time 111.465974 ms +++++
mappingCount 2405 & avg mapping time 154.510776 ms ++++++++++++++++++++++
build tree time 17.348211 ms 
--------------------stamp1317358145.056480884
points size 99062 
sort q time 5.339530 
seperate points time 12.487192 
-----t: 0.0307922
OdomCount 3688 & avg odom time 0.046220 ms ++++++++++++++++++++++
filter time 5.807435 ms 
build tree time 16.297369 ms 
--------------------stamp1317358145.160353899
points size 95455 
mapping solver time 20.585100 ms 
scan registration time 35.039971 ms *************
-----t: 0.0409108
OdomCount 3689 & avg odom time 0.046219 ms ++++++++++++++++++++++
filter time 7.473262 ms 
build tree time 17.079236 ms 
--------------------stamp1317358145.264223098
points size 93535 
mapping solver time 20.448808 ms 
-----t: 0.0380391
OdomCount 3690 & avg odom time 0.046217 ms ++++++++++++++++++++++
publication time 7.463025 ms 
whole laserOdometry time 7.472155 ms 
 
mapping optimization time 92.388898 
mapping pub time 2.105131 ms 
whole mapping time 103.866585 ms +++++
mappingCount 2408 & avg mapping time 154.446083 ms ++++++++++++++++++++++
build tree time 16.577252 ms 
--------------------stamp1317358145.368118047
prepare time 12.147293 
sort q time 5.214576 
seperate points time 11.826634 
publication time 6.697289 ms 
whole laserOdometry time 6.709762 ms 
 
mapping solver time 16.387927 ms 
filter time 8.698697 ms 
--------------------stamp1317358145.472012042
prepare time 14.779090 
sort q time 6.081914 
seperate points time 13.961729 
publication time 7.295604 ms 
whole laserOdometry time 7.307327 ms 
 
-----t: 0.0457374
OdomCount 3692 & avg odom time 0.046215 ms ++++++++++++++++++++++
mapping data assosiation time 18.834420 ms 
mapping solver time 12.932162 ms 
filter time 6.665080 ms 
--------------------stamp1317358145.575882911
points size 92101 
build tree time 22.015691 ms 
scan registration time 28.484524 ms *************
mapping data assosiation time 21.561469 ms 
mapping solver time 22.516321 ms 
mapping data assosiation time 17.387315 ms 
mapping solver time 16.926814 ms 
[0m[ INFO] [1718805432.540925751, 1317358145.683637362]: Received 115620 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805432.540976910, 1317358145.683637362]: Data saved to 1317358145472012.pcd[0m
sort q time 4.886945 
seperate points time 9.978437 
scan registration time 27.880770 ms *************
-----t: 0.0354489
OdomCount 3694 & avg odom time 0.046208 ms ++++++++++++++++++++++
1317358145.679754972 WriteOdom laser_odom_to_init
1317358145.679754972 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.275932 ms 
mapping solver time 19.582317 ms 
mapping data assosiation time 19.538771 ms 
mapping solver time 15.859800 ms 
mapping pub time 2.146265 ms 
whole mapping time 112.974870 ms +++++
mappingCount 2412 & avg mapping time 154.379459 ms ++++++++++++++++++++++
1317358145.575882912 WriteOdom aft_mapped_to_init
publication time 8.594325 ms 
whole laserOdometry time 8.611760 ms 
 
mapping data assosiation time 19.312161 ms 
mapping solver time 18.837544 ms 
--------------------stamp1317358145.887521982
prepare time 13.951677 
mapping optimization time 104.745714 
map prepare time 3.115579 ms
map corner num 86143  surf num 31105 
-----t: 0.0536528
OdomCount 3696 & avg odom time 0.046208 ms ++++++++++++++++++++++
build tree time 44.861895 ms 
--------------------stamp1317358145.991416931
prepare time 14.742912 
sort q time 6.093173 
seperate points time 12.666731 
mapping data assosiation time 22.473761 ms 
-----t: 0.0500854
OdomCount 3697 & avg odom time 0.046209 ms ++++++++++++++++++++++
mapping solver time 21.284590 ms 
mapping pub time 2.068872 ms 
whole mapping time 150.067929 ms +++++
mappingCount 2414 & avg mapping time 154.362619 ms ++++++++++++++++++++++
--------------------stamp1317358146.095285892
prepare time 12.700126 
mapping data assosiation time 20.299710 ms 
-----t: 0.0306813
OdomCount 3698 & avg odom time 0.046205 ms ++++++++++++++++++++++
mapping data assosiation time 18.262035 ms 
mapping solver time 14.533801 ms 
mapping pub time 2.138858 ms 
whole mapping time 108.705223 ms +++++
mappingCount 2415 & avg mapping time 154.343716 ms ++++++++++++++++++++++
--------------------stamp1317358146.199157953
points size 93667 
sort q time 5.089216 
seperate points time 11.785440 
-----t: 0.0315741
OdomCount 3699 & avg odom time 0.046201 ms ++++++++++++++++++++++
1317358146.199157953 WriteOdom laser_odom_to_init
1317358146.199157953 WriteOdom aft_mapped_to_init_high_frec
publication time 8.871685 ms 
whole laserOdometry time 8.883004 ms 
 
mapping data assosiation time 17.276045 ms 
mapping solver time 16.747861 ms 
[0m[ INFO] [1718805433.153408874, 1317358146.292286499]: Received 119586 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805433.153439471, 1317358146.292286499]: Data saved to 1317358146095285.pcd[0m
points size 93570 
prepare time 12.820910 
publication time 6.199813 ms 
whole laserOdometry time 6.225647 ms 
 
-----t: 0.0492549
OdomCount 3700 & avg odom time 0.046202 ms ++++++++++++++++++++++
mapping data assosiation time 16.419970 ms 
mapping optimization time 97.191744 
points size 94093 
sort q time 5.887226 
seperate points time 12.512834 
-----t: 0.0309578
OdomCount 3701 & avg odom time 0.046198 ms ++++++++++++++++++++++
mapping data assosiation time 25.481484 ms 
mapping solver time 18.122921 ms 
mapping data assosiation time 18.036749 ms 
mapping solver time 14.126194 ms 
map prepare time 2.790570 ms
map corner num 88907  surf num 31923 
publication time 6.875714 ms 
whole laserOdometry time 6.890283 ms 
 
mapping data assosiation time 19.202125 ms 
mapping solver time 17.845725 ms 
mapping data assosiation time 17.695849 ms 
points size 91362 
sort q time 6.414946 
seperate points time 11.791604 
publication time 7.394971 ms 
whole laserOdometry time 7.405482 ms 
 
build tree time 21.442147 ms 
mapping data assosiation time 17.865114 ms 
mapping solver time 17.412878 ms 
--------------------stamp1317358146.718750953
points size 89173 
mapping optimization time 91.212465 
mapping pub time 2.207102 ms 
whole mapping time 105.542643 ms +++++
mappingCount 2420 & avg mapping time 154.253056 ms ++++++++++++++++++++++
map prepare time 2.605523 ms
map corner num 89840  surf num 32214 
-----t: 0.0376545
OdomCount 3704 & avg odom time 0.046190 ms ++++++++++++++++++++++
1317358146.718750953 WriteOdom laser_odom_to_init
1317358146.718750953 WriteOdom aft_mapped_to_init_high_frec
publication time 7.226458 ms 
whole laserOdometry time 7.238435 ms 
 
build tree time 22.634293 ms 
mapping data assosiation time 19.486125 ms 
mapping solver time 17.991354 ms 
points size 89073 
sort q time 4.791129 
seperate points time 11.200998 
filter time 8.213323 ms 
--------------------stamp1317358146.926733016
prepare time 12.938865 
sort q time 5.227091 
seperate points time 11.103266 
publication time 6.724213 ms 
whole laserOdometry time 6.735149 ms 
 
1317358146.926733016 WriteOdom laser_odom_to_init
1317358146.926733016 WriteOdom aft_mapped_to_init_high_frec
build tree time 17.118919 ms 
mapping data assosiation time 17.209582 ms 
--------------------stamp1317358147.030724048
sort q time 4.378962 
seperate points time 8.999879 
mapping data assosiation time 18.324853 ms 
scan registration time 25.773430 ms *************
mapping optimization time 91.848805 
mapping pub time 2.041023 ms 
whole mapping time 105.458662 ms +++++
mappingCount 2422 & avg mapping time 154.260402 ms ++++++++++++++++++++++
1317358146.718750954 WriteOdom aft_mapped_to_init
-----t: 0.0474048
OdomCount 3707 & avg odom time 0.046184 ms ++++++++++++++++++++++
1317358147.030724048 WriteOdom laser_odom_to_init
1317358147.030724048 WriteOdom aft_mapped_to_init_high_frec
build tree time 18.152625 ms 
mapping data assosiation time 16.138442 ms 
points size 87255 
sort q time 5.068995 
seperate points time 11.587014 
mapping data assosiation time 21.218999 ms 
-----t: 0.0367515
OdomCount 3708 & avg odom time 0.046182 ms ++++++++++++++++++++++
mapping optimization time 97.234161 
add points time 0.690832 ms
filter time 6.492835 ms 
build tree time 18.748035 ms 
--------------------stamp1317358147.238754034
prepare time 12.100959 
scan registration time 25.484083 ms *************
publication time 6.973031 ms 
whole laserOdometry time 6.995280 ms 
 
mapping solver time 16.921234 ms 
mapping pub time 2.142152 ms 
whole mapping time 110.590693 ms +++++
mappingCount 2424 & avg mapping time 154.223540 ms ++++++++++++++++++++++
build tree time 19.602087 ms 
points size 87033 
sort q time 5.052863 
seperate points time 11.297949 
mapping solver time 21.786696 ms 
-----t: 0.031769
OdomCount 3710 & avg odom time 0.046174 ms ++++++++++++++++++++++
1317358147.342791080 WriteOdom laser_odom_to_init
mapping data assosiation time 20.682262 ms 
mapping solver time 16.817734 ms 
filter time 6.161244 ms 
--------------------stamp1317358147.446855068
prepare time 11.604855 
sort q time 4.994171 
seperate points time 11.065923 
publication time 5.782247 ms 
whole laserOdometry time 5.797597 ms 
 
mapping solver time 26.006520 ms 
mapping data assosiation time 17.116223 ms 
mapping solver time 13.696923 ms 
filter time 6.777971 ms 
--------------------stamp1317358147.550940990
points size 86096 
prepare time 14.403470 
build tree time 23.636432 ms 
mapping data assosiation time 22.261142 ms 
mapping solver time 22.453350 ms 
mapping data assosiation time 17.686415 ms 
mapping solver time 17.220547 ms 
mapping pub time 1.989403 ms 
whole mapping time 117.440463 ms +++++
mappingCount 2427 & avg mapping time 154.173449 ms ++++++++++++++++++++++
sort q time 4.649539 
seperate points time 11.156245 
publication time 6.181549 ms 
whole laserOdometry time 6.196731 ms 
 
mapping data assosiation time 22.318723 ms 
mapping solver time 18.155758 ms 
--------------------stamp1317358147.759234905
mapping optimization time 101.894904 
mapping pub time 2.031722 ms 
whole mapping time 114.869681 ms +++++
mappingCount 2428 & avg mapping time 154.157264 ms ++++++++++++++++++++++
sort q time 4.960312 
seperate points time 15.808127 
scan registration time 39.987386 ms *************
-----t: 0.0461283
OdomCount 3714 & avg odom time 0.046164 ms ++++++++++++++++++++++
mapping data assosiation time 21.110056 ms 
mapping solver time 19.256615 ms 
--------------------stamp1317358147.863390922
prepare time 12.789624 
sort q time 5.465216 
seperate points time 11.662871 
filter time 9.013195 ms 
-----t: 0.0397713
OdomCount 3715 & avg odom time 0.046162 ms ++++++++++++++++++++++
build tree time 22.953052 ms 
mapping data assosiation time 18.883499 ms 
--------------------stamp1317358147.967549085
points size 86847 
sort q time 4.598883 
seperate points time 10.789449 
publication time 6.055557 ms 
whole laserOdometry time 6.067242 ms 
 
filter time 9.967569 ms 
-----t: 0.0602542
OdomCount 3716 & avg odom time 0.046166 ms ++++++++++++++++++++++
1317358147.967549085 WriteOdom laser_odom_to_init
1317358147.967549085 WriteOdom aft_mapped_to_init_high_frec
points size 88397 
sort q time 5.244963 
seperate points time 10.568399 
mapping solver time 21.078268 ms 
publication time 7.015505 ms 
whole laserOdometry time 7.029194 ms 
 
-----t: 0.046427
OdomCount 3717 & avg odom time 0.046166 ms ++++++++++++++++++++++
mapping solver time 16.747801 ms 
[0m[ INFO] [1718805435.015111773, 1317358148.161064915]: Received 130120 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805435.015162563, 1317358148.161064915]: Data saved to 1317358147863390.pcd[0m
--------------------stamp1317358148.175939083
prepare time 12.728616 
sort q time 4.982407 
seperate points time 24.233487 
publication time 8.267432 ms 
whole laserOdometry time 8.279016 ms 
 
mapping solver time 30.608891 ms 
mapping data assosiation time 20.350957 ms 
--------------------stamp1317358148.280170917
prepare time 12.088104 
sort q time 5.417320 
seperate points time 11.705192 
publication time 8.391397 ms 
whole laserOdometry time 8.405037 ms 
 
-----t: 0.0490194
OdomCount 3719 & avg odom time 0.046167 ms ++++++++++++++++++++++
mapping data assosiation time 22.041201 ms 
--------------------stamp1317358148.384428024
--------------------stamp1317358148.488657951
prepare time 16.912288 
sort q time 4.993871 
seperate points time 11.106750 
publication time 8.446644 ms 
whole laserOdometry time 8.460034 ms 
 
-----t: 0.0455798
OdomCount 3721 & avg odom time 0.046167 ms ++++++++++++++++++++++
mapping solver time 21.997925 ms 
mapping pub time 2.046217 ms 
whole mapping time 130.365212 ms +++++
mappingCount 2434 & avg mapping time 154.099999 ms ++++++++++++++++++++++
--------------------stamp1317358148.592889070
build tree time 21.125599 ms 
prepare time 13.954157 
mapping data assosiation time 23.163269 ms 
publication time 9.279135 ms 
whole laserOdometry time 9.294030 ms 
 
mapping solver time 27.609603 ms 
mapping data assosiation time 20.876350 ms 
--------------------stamp1317358148.697118997
prepare time 14.902845 
map prepare time 3.354575 ms
map corner num 90239  surf num 31625 
build tree time 19.570521 ms 
mapping data assosiation time 23.879223 ms 
mapping solver time 26.059547 ms 
points size 93611 
sort q time 5.627921 
seperate points time 10.813881 
mapping solver time 18.672806 ms 
drop lidar frame in mapping for real time performance 
build tree time 21.006533 ms 
mapping data assosiation time 24.515065 ms 
points size 94450 
mapping solver time 26.681607 ms 
publication time 9.317847 ms 
mapping solver time 21.745556 ms 
filter time 7.426563 ms 
map prepare time 2.436243 ms
map corner num 91115  surf num 31906 
--------------------stamp1317358149.009856939
points size 94539 
sort q time 6.241349 
seperate points time 14.450241 
-----t: 0.036702
OdomCount 3726 & avg odom time 0.046160 ms ++++++++++++++++++++++
publication time 8.351809 ms 
whole laserOdometry time 8.362427 ms 
 
mapping solver time 22.315638 ms 
mapping data assosiation time 21.788243 ms 
mapping solver time 20.303332 ms 
mapping pub time 2.256731 ms 
whole mapping time 129.366156 ms +++++
mappingCount 2438 & avg mapping time 154.065656 ms ++++++++++++++++++++++
sort q time 5.279943 
seperate points time 12.007496 
publication time 8.157230 ms 
whole laserOdometry time 8.170856 ms 
 
mapping data assosiation time 25.092186 ms 
mapping solver time 20.403810 ms 
--------------------stamp1317358149.218297004
points size 95246 
mapping solver time 20.647560 ms 
scan registration time 34.084518 ms *************
publication time 8.639499 ms 
whole laserOdometry time 8.655459 ms 
 
build tree time 23.414287 ms 
mapping data assosiation time 21.555751 ms 
--------------------stamp1317358149.322478055
points size 95672 
mapping solver time 27.516042 ms 
prepare time 13.086061 
scan registration time 28.688616 ms *************
publication time 9.315257 ms 
whole laserOdometry time 9.329673 ms 
 
-----t: 0.0491283
OdomCount 3729 & avg odom time 0.046158 ms ++++++++++++++++++++++
filter time 6.402464 ms 
build tree time 17.921378 ms 
points size 96103 
sort q time 5.550647 
seperate points time 12.883241 
-----t: 0.0340959
OdomCount 3730 & avg odom time 0.046155 ms ++++++++++++++++++++++
mapping data assosiation time 22.643975 ms 
mapping solver time 21.146631 ms 
filter time 9.838581 ms 
sort q time 6.214707 
seperate points time 14.464248 
-----t: 0.0392031
OdomCount 3731 & avg odom time 0.046153 ms ++++++++++++++++++++++
1317358149.530675888 WriteOdom laser_odom_to_init
1317358149.530675888 WriteOdom aft_mapped_to_init_high_frec
publication time 8.767828 ms 
whole laserOdometry time 8.778096 ms 
 
--------------------stamp1317358149.634763956
points size 97933 
drop lidar frame in mapping for real time performance 
publication time 7.922773 ms 
whole laserOdometry time 7.934395 ms 
 
-----t: 0.0422613
OdomCount 3732 & avg odom time 0.046152 ms ++++++++++++++++++++++
mapping data assosiation time 24.238145 ms 
mapping solver time 24.504854 ms 
points size 98176 
prepare time 13.957036 
sort q time 5.528221 
seperate points time 13.065819 
filter time 9.301030 ms 
-----t: 0.0567029
OdomCount 3733 & avg odom time 0.046155 ms ++++++++++++++++++++++
1317358149.738826036 WriteOdom laser_odom_to_init
1317358149.738826036 WriteOdom aft_mapped_to_init_high_frec
build tree time 22.643477 ms 
--------------------stamp1317358149.842890024
mapping data assosiation time 25.429217 ms 
sort q time 5.582142 
seperate points time 13.086531 
mapping solver time 33.516900 ms 
mapping data assosiation time 26.970070 ms 
-----t: 0.0623571
OdomCount 3734 & avg odom time 0.046159 ms ++++++++++++++++++++++
filter time 6.884070 ms 
points size 97764 
sort q time 5.890244 
seperate points time 11.597440 
publication time 7.851270 ms 
whole laserOdometry time 7.878407 ms 
 
mapping solver time 24.956310 ms 
mapping data assosiation time 22.667741 ms 
points size 97779 
prepare time 15.341440 
filter time 8.780486 ms 
publication time 9.674208 ms 
whole laserOdometry time 9.689700 ms 
 
mapping data assosiation time 24.568626 ms 
points size 97880 
prepare time 14.509080 
mapping solver time 23.811830 ms 
scan registration time 32.610114 ms *************
publication time 9.289389 ms 
whole laserOdometry time 9.307868 ms 
 
mapping solver time 18.330539 ms 
filter time 6.744986 ms 
mapping pub time 2.246203 ms 
whole mapping time 130.177649 ms +++++
mappingCount 2445 & avg mapping time 154.067514 ms ++++++++++++++++++++++
1317358149.946930885 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.673656 ms
map corner num 94665  surf num 33562 
build tree time 20.518478 ms 
points size 98367 
sort q time 5.490784 
seperate points time 12.643665 
publication time 8.180126 ms 
whole laserOdometry time 8.196054 ms 
 
mapping solver time 28.232949 ms 
mapping data assosiation time 24.997819 ms 
mapping solver time 20.717802 ms 
[0m[ INFO] [1718805437.216978754, 1317358150.362223740]: Received 128815 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805437.217031441, 1317358150.362223740]: Data saved to 1317358150050944.pcd[0m
points size 98635 
sort q time 5.675516 
seperate points time 11.442534 
publication time 10.431357 ms 
whole laserOdometry time 10.447600 ms 
 
mapping data assosiation time 27.523556 ms 
-----t: 0.0546649
OdomCount 3739 & avg odom time 0.046156 ms ++++++++++++++++++++++
mapping solver time 31.605139 ms 
--------------------stamp1317358150.466640949
prepare time 14.121254 
mapping solver time 20.205716 ms 
filter time 9.534289 ms 
publication time 8.186868 ms 
whole laserOdometry time 8.203204 ms 
 
build tree time 27.933427 ms 
--------------------stamp1317358150.570511102
prepare time 13.496686 
sort q time 5.648398 
seperate points time 12.927215 
-----t: 0.0407766
OdomCount 3741 & avg odom time 0.046155 ms ++++++++++++++++++++++
mapping solver time 19.310801 ms 
filter time 9.549265 ms 
--------------------stamp1317358150.674381017
points size 100159 
sort q time 5.993196 
seperate points time 13.246207 
mapping data assosiation time 26.373409 ms 
-----t: 0.0466374
OdomCount 3742 & avg odom time 0.046155 ms ++++++++++++++++++++++
mapping solver time 26.416222 ms 
mapping data assosiation time 26.787428 ms 
--------------------stamp1317358150.778228044
points size 99987 
filter time 9.643618 ms 
sort q time 5.713596 
-----t: 0.0430665
OdomCount 3743 & avg odom time 0.046154 ms ++++++++++++++++++++++
mapping data assosiation time 21.218740 ms 
--------------------stamp1317358150.882050991
mapping solver time 27.281930 ms 
sort q time 6.751097 
seperate points time 12.802037 
mapping data assosiation time 27.691404 ms 
publication time 12.995043 ms 
whole laserOdometry time 13.011012 ms 
 
-----t: 0.0435015
OdomCount 3744 & avg odom time 0.046153 ms ++++++++++++++++++++++
1317358150.882050991 WriteOdom laser_odom_to_init
1317358150.882050991 WriteOdom aft_mapped_to_init_high_frec
filter time 8.362122 ms 
map prepare time 2.672797 ms
map corner num 104196  surf num 37963 
build tree time 20.886608 ms 
points size 93545 
mapping data assosiation time 25.351521 ms 
publication time 7.773831 ms 
whole laserOdometry time 7.790090 ms 
 
-----t: 0.0426323
OdomCount 3745 & avg odom time 0.046152 ms ++++++++++++++++++++++
mapping data assosiation time 23.119274 ms 
mapping solver time 22.149857 ms 
filter time 8.266106 ms 
map prepare time 3.780534 ms
map corner num 104602  surf num 38102 
sort q time 5.297667 
seperate points time 12.077139 
build tree time 28.395069 ms 
-----t: 0.040862
OdomCount 3746 & avg odom time 0.046151 ms ++++++++++++++++++++++
mapping data assosiation time 27.905078 ms 
--------------------stamp1317358151.193710088
prepare time 12.572499 
sort q time 5.539161 
seperate points time 12.615684 
-----t: 0.0354109
OdomCount 3747 & avg odom time 0.046148 ms ++++++++++++++++++++++
add points time 1.012376 ms
filter time 10.799266 ms 
map prepare time 3.411321 ms
map corner num 105060  surf num 38285 
--------------------stamp1317358151.297629117
prepare time 11.887706 
sort q time 5.115168 
seperate points time 10.734926 
publication time 9.126828 ms 
whole laserOdometry time 9.141835 ms 
 
-----t: 0.0435836
OdomCount 3748 & avg odom time 0.046147 ms ++++++++++++++++++++++
mapping data assosiation time 28.052468 ms 
--------------------stamp1317358151.401525974
mapping solver time 21.179823 ms 
filter time 10.729325 ms 
publication time 8.614188 ms 
whole laserOdometry time 8.636386 ms 
 
-----t: 0.0406369
OdomCount 3749 & avg odom time 0.046146 ms ++++++++++++++++++++++
mapping data assosiation time 27.960805 ms 
--------------------stamp1317358151.505397081
prepare time 10.948424 
sort q time 5.395145 
seperate points time 11.904764 
publication time 11.451395 ms 
whole laserOdometry time 11.465642 ms 
 
-----t: 0.0478493
OdomCount 3750 & avg odom time 0.046146 ms ++++++++++++++++++++++
mapping solver time 26.789486 ms 
filter time 8.118229 ms 
--------------------stamp1317358151.609292030
build tree time 23.537263 ms 
sort q time 5.424764 
seperate points time 12.638583 
publication time 8.738124 ms 
whole laserOdometry time 8.753438 ms 
 
-----t: 0.0456663
OdomCount 3751 & avg odom time 0.046146 ms ++++++++++++++++++++++
1317358151.609292030 WriteOdom laser_odom_to_init
1317358151.609292030 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.744222 ms 
mapping data assosiation time 21.382450 ms 
--------------------stamp1317358151.713210105
points size 95195 
map prepare time 3.364188 ms
map corner num 106599  surf num 38888 
-----t: 0.0368989
OdomCount 3752 & avg odom time 0.046144 ms ++++++++++++++++++++++
build tree time 28.453980 ms 
1317358151.713210105 WriteOdom laser_odom_to_init
1317358151.713210105 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.534748 ms 
mapping solver time 25.331452 ms 
prepare time 13.296338 
mapping data assosiation time 27.978395 ms 
sort q time 5.342106 
seperate points time 12.369124 
mapping solver time 25.589945 ms 
filter time 8.009762 ms 
map prepare time 2.799225 ms
map corner num 107094  surf num 39116 
build tree time 23.375459 ms 
points size 98217 
prepare time 14.719780 
mapping data assosiation time 26.813200 ms 
sort q time 5.704785 
seperate points time 13.267530 
mapping solver time 25.666451 ms 
publication time 14.539583 ms 
whole laserOdometry time 14.551764 ms 
 
-----t: 0.0464146
OdomCount 3754 & avg odom time 0.046141 ms ++++++++++++++++++++++
mapping solver time 14.318473 ms 
mapping optimization time 115.966821 
add points time 0.869158 ms
map prepare time 2.597463 ms
map corner num 107543  surf num 39308 
points size 97995 
build tree time 29.684010 ms 
publication time 12.316771 ms 
whole laserOdometry time 12.331449 ms 
 
mapping data assosiation time 25.410671 ms 
mapping solver time 20.820825 ms 
mapping data assosiation time 22.506154 ms 
--------------------stamp1317358152.128740072
points size 98006 
sort q time 5.452350 
seperate points time 12.900916 
build tree time 26.403706 ms 
mapping data assosiation time 27.491526 ms 
--------------------stamp1317358152.232563018
points size 97988 
mapping data assosiation time 31.855167 ms 
scan registration time 38.205092 ms *************
mapping solver time 20.877670 ms 
mapping pub time 2.481852 ms 
whole mapping time 146.694672 ms +++++
mappingCount 2459 & avg mapping time 154.017076 ms ++++++++++++++++++++++
-----t: 0.0560748
OdomCount 3757 & avg odom time 0.046147 ms ++++++++++++++++++++++
build tree time 24.021099 ms 
points size 98231 
sort q time 5.958119 
seperate points time 11.713206 
publication time 16.700540 ms 
whole laserOdometry time 16.782765 ms 
 
-----t: 0.0568987
OdomCount 3758 & avg odom time 0.046150 ms ++++++++++++++++++++++
mapping solver time 15.458066 ms 
mapping optimization time 121.711601 
add points time 0.742502 ms
map prepare time 2.840417 ms
map corner num 109009  surf num 40056 
points size 99067 
sort q time 5.557242 
seperate points time 11.664215 
publication time 9.136299 ms 
whole laserOdometry time 9.151610 ms 
 
1317358152.440114974 WriteOdom laser_odom_to_init
1317358152.440114974 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.968589 ms 
mapping data assosiation time 22.309693 ms 
points size 98910 
mapping solver time 25.875613 ms 
[0m[ INFO] [1718805439.439425673, 1317358152.576492991]: Received 150037 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805439.439483094, 1317358152.576492991]: Data saved to 1317358152336364.pcd[0m
-----t: 0.0408303
OdomCount 3760 & avg odom time 0.046146 ms ++++++++++++++++++++++
--------------------stamp1317358152.647495031
points size 98298 
sort q time 5.787597 
seperate points time 14.186509 
-----t: 0.0442887
OdomCount 3761 & avg odom time 0.046146 ms ++++++++++++++++++++++
build tree time 26.720171 ms 
mapping data assosiation time 20.854258 ms 
points size 97900 
prepare time 14.394667 
scan registration time 34.142334 ms *************
mapping data assosiation time 26.752148 ms 
-----t: 0.0567486
OdomCount 3762 & avg odom time 0.046149 ms ++++++++++++++++++++++
filter time 9.220806 ms 
--------------------stamp1317358152.854804992
prepare time 13.230544 
sort q time 5.537121 
seperate points time 13.886014 
publication time 9.839905 ms 
whole laserOdometry time 9.853058 ms 
 
-----t: 0.0469155
OdomCount 3763 & avg odom time 0.046149 ms ++++++++++++++++++++++
1317358152.854804992 WriteOdom laser_odom_to_init
mapping data assosiation time 23.174928 ms 
--------------------stamp1317358152.958482027
mapping solver time 23.804948 ms 
mapping pub time 2.227179 ms 
whole mapping time 146.167556 ms +++++
mappingCount 2463 & avg mapping time 154.042158 ms ++++++++++++++++++++++
publication time 9.036963 ms 
whole laserOdometry time 9.049887 ms 
 
mapping solver time 19.721364 ms 
prepare time 11.496601 
sort q time 5.548976 
seperate points time 12.602459 
publication time 8.176136 ms 
whole laserOdometry time 8.189812 ms 
 
filter time 7.832831 ms 
build tree time 23.653337 ms 
points size 94934 
sort q time 5.187919 
seperate points time 11.850834 
mapping solver time 24.125786 ms 
mapping data assosiation time 27.728822 ms 
mapping solver time 21.407072 ms 
--------------------stamp1317358153.269589900
prepare time 12.456958 
sort q time 5.471268 
seperate points time 10.707492 
build tree time 28.185050 ms 
publication time 8.861113 ms 
whole laserOdometry time 8.878210 ms 
 
mapping data assosiation time 24.253206 ms 
mapping solver time 21.453301 ms 
--------------------stamp1317358153.373342037
points size 84797 
mapping pub time 4.441842 ms 
whole mapping time 137.265572 ms +++++
mappingCount 2466 & avg mapping time 154.024522 ms ++++++++++++++++++++++
1317358153.165863037 WriteOdom aft_mapped_to_init
-----t: 0.0412084
OdomCount 3768 & avg odom time 0.046141 ms ++++++++++++++++++++++
build tree time 28.502265 ms 
mapping data assosiation time 22.341128 ms 
--------------------stamp1317358153.477091073
prepare time 10.907792 
sort q time 4.742700 
seperate points time 10.714596 
publication time 9.499456 ms 
whole laserOdometry time 9.514808 ms 
 
-----t: 0.0449343
OdomCount 3769 & avg odom time 0.046140 ms ++++++++++++++++++++++
mapping solver time 22.532608 ms 
filter time 7.454290 ms 
--------------------stamp1317358153.580817937
prepare time 12.906210 
sort q time 4.478442 
seperate points time 10.273896 
publication time 9.959535 ms 
whole laserOdometry time 9.970250 ms 
 
-----t: 0.0383068
OdomCount 3770 & avg odom time 0.046138 ms ++++++++++++++++++++++
mapping data assosiation time 20.968363 ms 
mapping solver time 16.447607 ms 
map prepare time 2.632225 ms
map corner num 83045  surf num 31635 
sort q time 5.780375 
seperate points time 10.771791 
publication time 7.120727 ms 
whole laserOdometry time 7.134405 ms 
 
-----t: 0.0434892
OdomCount 3771 & avg odom time 0.046138 ms ++++++++++++++++++++++
mapping solver time 22.785799 ms 
--------------------stamp1317358153.788342952
prepare time 11.380581 
sort q time 5.783786 
seperate points time 11.419437 
filter time 8.071225 ms 
scan registration time 26.758197 ms *************
mapping pub time 1.942479 ms 
whole mapping time 128.038841 ms +++++
mappingCount 2469 & avg mapping time 153.997850 ms ++++++++++++++++++++++
publication time 8.437698 ms 
whole laserOdometry time 8.448542 ms 
 
-----t: 0.0508501
OdomCount 3772 & avg odom time 0.046139 ms ++++++++++++++++++++++
mapping data assosiation time 24.525482 ms 
mapping solver time 24.666406 ms 
sort q time 4.424881 
seperate points time 10.421958 
publication time 7.600402 ms 
whole laserOdometry time 7.615701 ms 
 
filter time 7.963461 ms 
build tree time 19.086324 ms 
--------------------stamp1317358153.995944976
points size 86653 
sort q time 5.017864 
seperate points time 11.258841 
-----t: 0.0278257
OdomCount 3774 & avg odom time 0.046135 ms ++++++++++++++++++++++
mapping data assosiation time 23.603224 ms 
mapping solver time 20.300097 ms 
mapping optimization time 117.441926 
add points time 0.801815 ms
--------------------stamp1317358154.099766969
prepare time 11.397384 
sort q time 5.027737 
seperate points time 10.947765 
publication time 6.860789 ms 
whole laserOdometry time 6.871419 ms 
 
mapping solver time 31.948361 ms 
mapping data assosiation time 23.054053 ms 
--------------------stamp1317358154.203589916
prepare time 11.495023 
1317358153.995944977 WriteOdom aft_mapped_to_init
build tree time 20.759169 ms 
-----t: 0.0476293
OdomCount 3776 & avg odom time 0.046138 ms ++++++++++++++++++++++
mapping data assosiation time 28.770087 ms 
--------------------stamp1317358154.307436943
points size 95592 
sort q time 6.363651 
seperate points time 15.766717 
publication time 10.540474 ms 
whole laserOdometry time 10.560791 ms 
 
mapping solver time 24.526195 ms 
mapping pub time 2.023437 ms 
whole mapping time 165.116668 ms +++++
mappingCount 2473 & avg mapping time 153.978545 ms ++++++++++++++++++++++
build tree time 20.002156 ms 
sort q time 5.865829 
seperate points time 13.276769 
publication time 8.873636 ms 
whole laserOdometry time 8.885464 ms 
 
-----t: 0.0526499
OdomCount 3778 & avg odom time 0.046143 ms ++++++++++++++++++++++
mapping data assosiation time 24.721345 ms 
--------------------stamp1317358154.515091896
points size 96132 
map prepare time 2.412514 ms
map corner num 87189  surf num 33078 
-----t: 0.0348948
OdomCount 3779 & avg odom time 0.046140 ms ++++++++++++++++++++++
mapping data assosiation time 25.137393 ms 
mapping solver time 24.253154 ms 
--------------------stamp1317358154.618902921
prepare time 13.232200 
sort q time 6.334857 
seperate points time 11.976431 
mapping solver time 24.931487 ms 
mapping pub time 2.218240 ms 
whole mapping time 134.602988 ms +++++
mappingCount 2475 & avg mapping time 153.963651 ms ++++++++++++++++++++++
build tree time 18.005742 ms 
mapping data assosiation time 20.505804 ms 
--------------------stamp1317358154.722728013
points size 91414 
sort q time 5.633606 
seperate points time 11.025808 
mapping data assosiation time 25.502908 ms 
mapping solver time 20.521044 ms 
filter time 6.104495 ms 
map prepare time 2.485181 ms
map corner num 88599  surf num 33523 
build tree time 18.135912 ms 
points size 86948 
sort q time 4.895878 publication time 8.547493 ms 
whole laserOdometry time 8.558309 ms 
 
mapping data assosiation time 23.562923 ms 
mapping solver time 15.159064 ms 
mapping optimization time 111.474830 
add points time 0.727562 ms
points size 84139 
build tree time 22.015856 ms 
publication time 8.983305 ms -----t: 0.0415457
OdomCount 3783 & avg odom time 0.046130 ms ++++++++++++++++++++++
mapping solver time 24.636552 ms 
mapping data assosiation time 20.604137 ms 
--------------------stamp1317358155.034266948
points size 82339 
mapping solver time 19.806286 ms 
mapping optimization time 116.446392 
prepare time 11.067169 
add points time 0.906718 ms
1317358154.826571941 WriteOdom aft_mapped_to_init
publication time 7.574015 ms 
whole laserOdometry time 7.588256 ms 
 
-----t: 0.0397597
OdomCount 3784 & avg odom time 0.046129 ms ++++++++++++++++++++++
mapping data assosiation time 20.102961 ms 
mapping solver time 18.351102 ms 
--------------------stamp1317358155.138137102
sort q time 4.610251 
seperate points time 10.509321 
filter time 8.647339 ms 
mapping pub time 1.967390 ms 
whole mapping time 116.038949 ms +++++
mappingCount 2479 & avg mapping time 153.914643 ms ++++++++++++++++++++++
1317358154.930418968 WriteOdom aft_mapped_to_init
map prepare time 3.074175 ms
map corner num 90635  surf num 34357 
-----t: 0.0285642
OdomCount 3785 & avg odom time 0.046124 ms ++++++++++++++++++++++
1317358155.138137102 WriteOdom laser_odom_to_init
publication time 9.979908 ms 
whole laserOdometry time 9.988344 ms 
 
build tree time 19.213728 ms 
mapping data assosiation time 20.845241 ms 
mapping solver time 20.982269 ms 
points size 74308 
prepare time 14.787280 
scan registration time 29.813293 ms *************
publication time 7.011472 ms 
whole laserOdometry time 7.022961 ms 
 
mapping pub time 1.793293 ms 
whole mapping time 122.798203 ms +++++
mappingCount 2480 & avg mapping time 153.902098 ms ++++++++++++++++++++++
build tree time 19.702386 ms 
mapping data assosiation time 22.481891 ms 
points size 73149 
sort q time 4.364260 
seperate points time 8.737845 
publication time 7.362139 ms 
whole laserOdometry time 7.375416 ms 
 
mapping data assosiation time 24.258679 ms 
mapping solver time 17.931469 ms 
[0m[ INFO] [1718805442.283549031, 1317358155.429311323]: Received 126961 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805442.283592347, 1317358155.429311323]: Data saved to 1317358155138137.pcd[0m
--------------------stamp1317358155.449843883
sort q time 4.268202 
seperate points time 9.169818 
publication time 9.625122 ms 
whole laserOdometry time 9.668778 ms 
 
mapping pub time 112.741038 ms 
whole mapping time 236.643578 ms +++++
mappingCount 2481 & avg mapping time 153.935450 ms ++++++++++++++++++++++
--------------------stamp1317358155.553739070
prepare time 12.466165 
scan registration time 24.893521 ms *************
publication time 6.326050 ms 
whole laserOdometry time 6.341253 ms 
 
mapping solver time 19.666196 ms 
mapping data assosiation time 20.264534 ms 
mapping solver time 12.360284 ms 
mapping pub time 1.650521 ms 
whole mapping time 110.221972 ms +++++
mappingCount 2482 & avg mapping time 153.917839 ms ++++++++++++++++++++++
points size 74891 
build tree time 23.443543 ms 
publication time 11.977699 ms 
whole laserOdometry time 11.997945 ms 
 
-----t: 0.0293936
OdomCount 3790 & avg odom time 0.046112 ms ++++++++++++++++++++++
mapping solver time 20.473220 ms 
mapping data assosiation time 21.869022 ms 
mapping solver time 18.780263 ms 
mapping pub time 1.685281 ms 
whole mapping time 125.674057 ms +++++
mappingCount 2483 & avg mapping time 153.906471 ms ++++++++++++++++++++++
sort q time 12.567453 
seperate points time 25.695419 
-----t: 0.0384051
OdomCount 3791 & avg odom time 0.046110 ms ++++++++++++++++++++++
mapping data assosiation time 24.690476 ms 
mapping solver time 18.312097 ms 
--------------------stamp1317358155.865469932
points size 78573 
sort q time 4.198960 
seperate points time 10.101743 
filter time 7.775228 ms 
-----t: 0.0300187
OdomCount 3792 & avg odom time 0.046105 ms ++++++++++++++++++++++
mapping data assosiation time 20.549711 ms 
--------------------stamp1317358155.969414949
prepare time 10.702874 
sort q time 4.446772 
seperate points time 10.224815 
mapping data assosiation time 27.414225 ms 
mapping solver time 22.603409 ms 
filter time 6.787975 ms 
build tree time 25.978831 ms 
points size 82686 
sort q time 4.314744 
seperate points time 9.594837 
publication time 8.476840 ms 
whole laserOdometry time 8.526435 ms 
 
mapping solver time 29.274550 ms 
mapping data assosiation time 22.564552 ms 
mapping solver time 20.389121 ms 
filter time 8.517626 ms 

[0m[ INFO] [1718805443.040366619, 1317358156.182271782]: Data saved to 1317358155865469.pcd[0m
points size 84578 
map prepare time 3.552717 ms
map corner num 96642  surf num 37675 
sort q time 4.720384 
seperate points time 11.108065 
-----t: 0.0460603
OdomCount 3795 & avg odom time 0.046095 ms ++++++++++++++++++++++
mapping solver time 27.300753 ms 
--------------------stamp1317358156.281172990
points size 87872 
sort q time 5.337490 
seperate points time 21.397010 
filter time 8.405345 ms 
-----t: 0.0635709
OdomCount 3796 & avg odom time 0.046100 ms ++++++++++++++++++++++
1317358156.281172990 WriteOdom laser_odom_to_init
1317358156.281172990 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358156.385114908
mapping solver time 38.594560 ms 
mapping data assosiation time 29.880235 ms 
--------------------stamp1317358156.489058971
mapping optimization time 148.795203 
sort q time 5.637429 
seperate points time 15.076016 
-----t: 0.0379365
OdomCount 3798 & avg odom time 0.046098 ms ++++++++++++++++++++++
build tree time 28.979557 ms 
mapping data assosiation time 30.990369 ms 
points size 90639 
prepare time 11.996048 
publication time 8.919537 ms 
whole laserOdometry time 8.937294 ms 
 
mapping data assosiation time 30.802290 ms 
mapping solver time 23.127345 ms 
mapping optimization time 145.307516 
add points time 0.904169 ms
map prepare time 2.500430 ms
map corner num 99516  surf num 38966 
--------------------stamp1317358156.696870088
prepare time 13.827173 
sort q time 5.541221 
seperate points time 11.827405 
scan registration time 30.609798 ms *************
publication time 8.480979 ms 
whole laserOdometry time 8.493721 ms 
 
mapping solver time 24.398015 ms 
mapping data assosiation time 25.233308 ms 
--------------------stamp1317358156.800765037
points size 92243 
filter time 8.320797 ms 
scan registration time 33.594579 ms *************
publication time 10.013512 ms 
whole laserOdometry time 10.032413 ms 
 
mapping data assosiation time 24.991007 ms 
--------------------stamp1317358156.904685020
prepare time 12.842075 
scan registration time 29.154722 ms *************
mapping data assosiation time 32.327054 ms 
mapping solver time 26.217242 ms 
mapping optimization time 141.387034 
add points time 0.909427 ms
map prepare time 2.700365 ms
map corner num 101318  surf num 39791 
--------------------stamp1317358157.008578062
points size 96045 
sort q time 6.324249 
seperate points time 19.941525 
publication time 6.137430 ms 
whole laserOdometry time 6.147673 ms 
 
mapping solver time 25.991235 ms 
mapping data assosiation time 26.798738 ms 
points size 96211 
filter time 8.513223 ms 
mapping pub time 2.173827 ms 
whole mapping time 147.828183 ms +++++
mappingCount 2492 & avg mapping time 153.887093 ms ++++++++++++++++++++++
1317358156.800765038 WriteOdom aft_mapped_to_init
publication time 8.683148 ms 
whole laserOdometry time 8.696079 ms 
 
mapping data assosiation time 32.013966 ms 
-----t: 0.0622277
OdomCount 3805 & avg odom time 0.046096 ms ++++++++++++++++++++++
filter time 7.009936 ms 
--------------------stamp1317358157.320142984
prepare time 13.960253 
sort q time 5.401407 
seperate points time 12.080509 
publication time 9.245848 ms 
whole laserOdometry time 9.258029 ms 
 
1317358157.320142984 WriteOdom laser_odom_to_init
mapping solver time 33.445961 ms 
--------------------stamp1317358157.423990011
points size 93900 
sort q time 5.398377 
seperate points time 12.164472 
mapping solver time 29.808465 ms 
1317358157.423990011 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.661366 ms
map corner num 103851  surf num 40908 
build tree time 23.116764 ms 
--------------------stamp1317358157.527837038
prepare time 12.999548 
sort q time 5.239478 
seperate points time 10.575707 
scan registration time 28.582919 ms *************
publication time 7.532509 ms 
whole laserOdometry time 7.549535 ms 
 
mapping solver time 37.501031 ms 
mapping data assosiation time 28.686542 ms 
--------------------stamp1317358157.631680965
points size 92720 
map prepare time 3.274078 ms
map corner num 104752  surf num 41272 
sort q time 5.937814 
seperate points time 11.444502 
-----t: 0.0377271
OdomCount 3809 & avg odom time 0.046089 ms ++++++++++++++++++++++
mapping data assosiation time 28.747529 ms 
--------------------stamp1317358157.735505104
prepare time 11.957602 
sort q time 5.342669 
seperate points time 11.054512 
mapping data assosiation time 33.114298 ms 
publication time 10.250630 ms 
whole laserOdometry time 10.264413 ms 
 
mapping optimization time 137.146054 
[0m[ INFO] [1718805444.660993565, 1317358157.804624999]: Received 147388 data points in frame camera_init with the following fields: x y z intensity[0m
--------------------stamp1317358157.839306116
sort q time 4.933018 
seperate points time 11.352651 
mapping data assosiation time 32.339875 ms 
-----t: 0.0395273
OdomCount 3811 & avg odom time 0.046090 ms ++++++++++++++++++++++
1317358157.839306116 WriteOdom laser_odom_to_init
1317358157.839306116 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 39.245087 ms 
--------------------stamp1317358157.943105936
prepare time 12.148860 
sort q time 5.219361 
seperate points time 10.880649 
mapping solver time 32.079293 ms 
filter time 10.715819 ms 
build tree time 29.685901 ms 
--------------------stamp1317358158.046902894
prepare time 12.314127 
mapping data assosiation time 32.055871 ms 
publication time 8.765331 ms 
whole laserOdometry time 8.780689 ms 
 
-----t: 0.0529948
OdomCount 3813 & avg odom time 0.046090 ms ++++++++++++++++++++++
1317358158.046902894 WriteOdom laser_odom_to_init
1317358158.046902894 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.246549 ms 
--------------------stamp1317358158.150677919
mapping solver time 30.569973 ms 
filter time 10.634148 ms 
sort q time 6.114857 
seperate points time 11.438147 
mapping pub time 2.187073 ms 
whole mapping time 180.624728 ms +++++
mappingCount 2498 & avg mapping time 153.928861 ms ++++++++++++++++++++++
1317358157.839306116 WriteOdom aft_mapped_to_init
publication time 7.746403 ms 
whole laserOdometry time 7.759653 ms 
 
mapping data assosiation time 30.299125 ms 
--------------------stamp1317358158.254427909
points size 95147 
sort q time 6.032979 
seperate points time 14.193342 
mapping data assosiation time 32.163725 ms 
mapping solver time 18.556991 ms 
mapping pub time 2.111913 ms 
whole mapping time 154.978806 ms +++++
mappingCount 2499 & avg mapping time 153.929284 ms ++++++++++++++++++++++
--------------------stamp1317358158.358177900
prepare time 11.553342 
sort q time 5.765579 
seperate points time 12.263421 
mapping data assosiation time 29.035309 ms 
-----t: 0.0335172
OdomCount 3816 & avg odom time 0.046085 ms ++++++++++++++++++++++
mapping solver time 20.331741 ms 
mapping data assosiation time 24.576720 ms 
mapping solver time 17.934105 ms 
filter time 11.608718 ms 
sort q time 6.951207 
seperate points time 13.179303 
build tree time 27.786265 ms 
mapping data assosiation time 30.795355 ms 
points size 99932 
publication time 7.876247 ms 
whole laserOdometry time 7.892275 ms 
 
-----t: 0.0338804
OdomCount 3818 & avg odom time 0.046079 ms ++++++++++++++++++++++
mapping solver time 25.482232 ms 
filter time 7.244051 ms 
--------------------stamp1317358158.669382095
points size 98697 
prepare time 16.101614 
scan registration time 35.021723 ms *************
publication time 9.408433 ms 
whole laserOdometry time 9.424125 ms 
 
mapping pub time 112.228939 ms 
whole mapping time 276.647610 ms +++++
mappingCount 2501 & avg mapping time 153.971242 ms ++++++++++++++++++++++
--------------------stamp1317358158.773133039
build tree time 26.153969 ms 
sort q time 6.403871 
seperate points time 12.861429 
-----t: 0.0539441
OdomCount 3820 & avg odom time 0.046080 ms ++++++++++++++++++++++
--------------------stamp1317358158.876909971
points size 96541 mapping solver time 33.192404 ms 
mapping optimization time 153.033747 
sort q time 5.824764 
seperate points time 15.053184 
add points time 1.392392 ms
scan registration time 41.399429 ms *************
map prepare time 3.673670 ms
map corner num 110335  surf num 43458 
build tree time 27.655136 ms 
--------------------stamp1317358158.980685949
prepare time 12.948482 
sort q time 5.644659 
seperate points time 12.465692 
publication time 9.288403 ms 
whole laserOdometry time 9.320168 ms 
 
mapping data assosiation time 30.132379 ms 
mapping solver time 22.682313 ms 
mapping optimization time 137.458017 
add points time 0.986893 ms
map prepare time 4.243561 ms
map corner num 111240  surf num 43886 
prepare time 16.854955 
sort q time 5.209816 
seperate points time 12.062988 
publication time 10.937798 ms 
whole laserOdometry time 10.951780 ms 
 
-----t: 0.0500153
OdomCount 3823 & avg odom time 0.046081 ms ++++++++++++++++++++++
1317358159.084484100 WriteOdom laser_odom_to_init
1317358159.084484100 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.708027 ms 
mapping solver time 24.249154 ms 
--------------------stamp1317358159.188282012
mapping data assosiation time 28.098824 ms 
mapping solver time 22.087118 ms 
filter time 10.566357 ms 
--------------------stamp1317358159.292079925
prepare time 11.570407 
sort q time 5.497972 
seperate points time 11.433348 
publication time 9.246841 ms 
whole laserOdometry time 9.261352 ms 
 
mapping data assosiation time 30.081488 ms 
mapping solver time 23.353052 ms 
filter time 7.887509 ms 
--------------------stamp1317358159.395878076
prepare time 11.519774 
sort q time 4.776574 
seperate points time 10.965729 
publication time 7.659359 ms 
whole laserOdometry time 7.673319 ms 
 
mapping data assosiation time 29.555932 ms 
mapping solver time 22.236918 ms 
mapping data assosiation time 25.772248 ms 
scan registration time 26.646260 ms *************
mapping pub time 4.823007 ms 
whole mapping time 150.155711 ms +++++
mappingCount 2506 & avg mapping time 153.971875 ms ++++++++++++++++++++++
map prepare time 3.414072 ms
map corner num 113858  surf num 45061 
publication time 10.460384 ms 
whole laserOdometry time 10.470994 ms 
 
build tree time 26.234682 ms 
mapping data assosiation time 26.374615 ms 
points size 82300 
mapping solver time 28.457465 ms 
sort q time 4.760829 
seperate points time 19.546509 
mapping data assosiation time 30.678353 ms 
-----t: 0.0400802
OdomCount 3828 & avg odom time 0.046067 ms ++++++++++++++++++++++
mapping solver time 17.470830 ms 
filter time 8.419458 ms 
--------------------stamp1317358159.707268953
build tree time 26.535484 ms 
scan registration time 26.591236 ms *************
mapping data assosiation time 32.709477 ms 
publication time 8.040414 ms 
whole laserOdometry time 8.056420 ms 
 
mapping data assosiation time 24.341109 ms 
--------------------stamp1317358159.811115026
mapping solver time 21.375590 ms 
filter time 11.049618 ms 
publication time 12.363656 ms 
whole laserOdometry time 12.378101 ms 
 
build tree time 34.620105 ms 
mapping data assosiation time 26.086795 ms 
points size 87043 
scan registration time 28.663434 ms *************
publication time 11.182741 ms 
whole laserOdometry time 11.197133 ms 
 
mapping data assosiation time 34.243079 ms 
mapping solver time 23.809321 ms 
filter time 8.122323 ms 
points size 89652 
sort q time 5.601146 
seperate points time 12.008285 
publication time 8.915005 ms 
whole laserOdometry time 8.930477 ms 
 
-----t: 0.0513679
OdomCount 3832 & avg odom time 0.046065 ms ++++++++++++++++++++++
mapping solver time 27.072075 ms 
--------------------stamp1317358160.122684955
prepare time 11.265168 
sort q time 5.504708 
seperate points time 11.674294 
publication time 8.676147 ms 
whole laserOdometry time 8.689167 ms 
 
-----t: 0.042638
OdomCount 3833 & avg odom time 0.046064 ms ++++++++++++++++++++++
build tree time 24.664986 ms 
mapping data assosiation time 25.878384 ms 
points size 92786 
prepare time 12.072397 
scan registration time 29.679744 ms *************
mapping solver time 32.137040 ms 
publication time 7.977383 ms 
whole laserOdometry time 7.990953 ms 
 
mapping data assosiation time 29.605879 ms 
mapping solver time 18.145580 ms 
filter time 7.986158 ms 
map prepare time 2.776845 ms
map corner num 118344  surf num 46623 
prepare time 12.004053 
scan registration time 34.883400 ms *************
mapping data assosiation time 41.548328 ms 
mapping solver time 27.246289 ms 
--------------------stamp1317358160.434349060
prepare time 13.343052 
sort q time 5.767394 
seperate points time 13.343165 
publication time 11.015619 ms 
whole laserOdometry time 11.030738 ms 
 
filter time 11.752243 ms 
--------------------stamp1317358160.538219928
sort q time 16.169010 
seperate points time 22.495905 
-----t: 0.0393159
OdomCount 3837 & avg odom time 0.046065 ms ++++++++++++++++++++++
mapping solver time 30.973026 ms 
--------------------stamp1317358160.642064094
prepare time 13.376162 
mapping solver time 24.586687 ms 
mapping pub time 2.332436 ms 
whole mapping time 175.304118 ms +++++
mappingCount 2513 & avg mapping time 153.991713 ms ++++++++++++++++++++++
publication time 9.572531 ms 
whole laserOdometry time 9.585012 ms 
 
build tree time 22.180274 ms 
mapping data assosiation time 29.417585 ms 
prepare time 12.082534 
sort q time 5.482608 
seperate points time 12.532866 
mapping solver time 42.149206 ms 
-----t: 0.0375063
OdomCount 3839 & avg odom time 0.046063 ms ++++++++++++++++++++++
mapping data assosiation time 29.956476 ms 
mapping solver time 26.937136 ms 
filter time 8.478600 ms 
map prepare time 3.753440 ms
map corner num 80584  surf num 34322 
build tree time 20.082482 ms 
-----t: 0.0508214
OdomCount 3840 & avg odom time 0.046064 ms ++++++++++++++++++++++
mapping solver time 31.895286 ms 
points size 94107 
sort q time 6.323996 
seperate points time 12.420405 
publication time 8.340140 ms 
whole laserOdometry time 8.356102 ms 
 
add points time 1.172974 ms
mapping pub time 2.131210 ms 
whole mapping time 167.029778 ms +++++
mappingCount 2515 & avg mapping time 154.002343 ms ++++++++++++++++++++++
build tree time 15.961993 ms 
--------------------stamp1317358161.057427883
points size 94080 
mapping data assosiation time 30.507044 ms 
-----t: 0.0362724
OdomCount 3842 & avg odom time 0.046063 ms ++++++++++++++++++++++
mapping data assosiation time 27.528744 ms 
mapping solver time 27.536504 ms 
prepare time 15.822068 
scan registration time 42.693247 ms *************
publication time 9.673810 ms 
whole laserOdometry time 9.683506 ms 
 
-----t: 0.0461156
OdomCount 3843 & avg odom time 0.046063 ms ++++++++++++++++++++++
1317358161.161271095 WriteOdom laser_odom_to_init
1317358161.161271095 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.043490 ms 
--------------------stamp1317358161.265094041
points size 96823 
sort q time 5.217614 
seperate points time 12.961386 
-----t: 0.0368157
OdomCount 3844 & avg odom time 0.046061 ms ++++++++++++++++++++++
mapping solver time 30.840754 ms 
mapping pub time 2.162707 ms 
whole mapping time 165.146365 ms +++++
mappingCount 2517 & avg mapping time 154.004667 ms ++++++++++++++++++++++
--------------------stamp1317358161.368918895
prepare time 11.475777 
publication time 10.206711 ms 
whole laserOdometry time 10.220924 ms -----t: 0.0463906
OdomCount 3845 & avg odom time 0.046061 ms ++++++++++++++++++++++
1317358161.368918895 WriteOdom laser_odom_to_init
1317358161.368918895 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.458082 ms 
prepare time 15.492846 
sort q time 5.286676 
seperate points time 12.851341 
map prepare time 3.973733 msbuild tree time 22.032547 ms mapping data assosiation time 29.408889 ms 
--------------------stamp1317358161.576538085
prepare time 12.398684 
sort q time 5.928734 
seperate points time 13.096882 
-----t: 0.0324464
OdomCount 3847 & avg odom time 0.046057 ms ++++++++++++++++++++++
mapping solver time 19.987978 ms 
filter time 5.944386 ms 
--------------------stamp1317358161.680335998
points size 99641 
sort q time 5.393589 
seperate points time 13.175121 
-----t: 0.0328548
OdomCount 3848 & avg odom time 0.046053 ms ++++++++++++++++++++++
mapping solver time 38.352235 ms 
--------------------stamp1317358161.784136056
points size 98665 
scan registration time 32.461912 ms *************
mapping solver time 32.199379 ms 
mapping optimization time 153.075057 
add points time 1.002236 ms
-----t: 0.0515011
OdomCount 3849 & avg odom time 0.046055 ms ++++++++++++++++++++++
build tree time 22.122332 ms 
--------------------stamp1317358161.887937068
points size 97853 
sort q time 5.701959 
seperate points time 13.941243 
publication time 8.688423 ms 
whole laserOdometry time 8.702783 ms 
 
-----t: 0.0546339
OdomCount 3850 & avg odom time 0.046057 ms ++++++++++++++++++++++
mapping solver time 20.131342 ms 
--------------------stamp1317358161.991733074
prepare time 15.651906 
sort q time 6.006249 
seperate points time 13.635656 
publication time 10.084509 ms 
whole laserOdometry time 10.104456 ms 
 
-----t: 0.0465162
OdomCount 3851 & avg odom time 0.046057 ms ++++++++++++++++++++++
--------------------stamp1317358162.095508098
prepare time 13.088698 
sort q time 5.864040 
seperate points time 12.171217 
build tree time 22.617843 ms 
-----t: 0.0423583
OdomCount 3852 & avg odom time 0.046056 ms ++++++++++++++++++++++
1317358162.095508098 WriteOdom laser_odom_to_init
1317358162.095508098 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 32.361035 ms 
--------------------stamp1317358162.199284076
prepare time 11.336814 
sort q time 4.925128 
seperate points time 11.226287 
publication time 10.495754 ms 
whole laserOdometry time 10.505568 ms 
 
filter time 6.819729 ms 
build tree time 17.877428 ms 
--------------------stamp1317358162.303083896
prepare time 12.641044 
mapping data assosiation time 33.712030 ms 
publication time 9.714362 ms 
whole laserOdometry time 9.731509 ms 
 
mapping solver time 40.323081 ms 
mapping data assosiation time 30.371455 ms 
points size 95115 
mapping solver time 29.435818 ms 
mapping pub time 2.245281 ms 
whole mapping time 168.746047 ms +++++
mappingCount 2523 & avg mapping time 154.065253 ms ++++++++++++++++++++++
-----t: 0.0333571
OdomCount 3855 & avg odom time 0.046050 ms ++++++++++++++++++++++
build tree time 22.801968 ms 
mapping data assosiation time 26.925701 ms 
--------------------stamp1317358162.510730028
prepare time 12.450989 
mapping solver time 35.065580 ms 
mapping data assosiation time 35.018963 ms 
mapping solver time 20.557968 ms 
filter time 6.690557 ms 
--------------------stamp1317358162.614552974
points size 92761 
sort q time 5.997149 
seperate points time 14.595650 
-----t: 0.0314536
OdomCount 3857 & avg odom time 0.046045 ms ++++++++++++++++++++++
publication time 8.920345 ms 
whole laserOdometry time 8.948157 ms 
 
mapping solver time 27.853529 ms 
--------------------stamp1317358162.718400001
prepare time 13.649422 
sort q time 4.902584 
seperate points time 11.586411 
add points time 1.112723 ms
mapping pub time 2.259539 ms 
whole mapping time 172.615732 ms +++++
mappingCount 2525 & avg mapping time 154.072815 ms ++++++++++++++++++++++
build tree time 21.121877 ms 
--------------------stamp1317358162.822247028
points size 89010 
sort q time 5.112500 
seperate points time 10.245928 
publication time 8.134688 ms 
whole laserOdometry time 8.168744 ms 
 
mapping solver time 40.051258 ms 
-----t: 0.0482779
OdomCount 3859 & avg odom time 0.046047 ms ++++++++++++++++++++++
mapping data assosiation time 29.260122 ms 
mapping solver time 19.769199 ms 
filter time 9.549484 ms 
1317358162.614552975 WriteOdom aft_mapped_to_init
sort q time 5.033038 
seperate points time 11.696985 
build tree time 27.077876 ms 
-----t: 0.0448917
OdomCount 3860 & avg odom time 0.046047 ms ++++++++++++++++++++++
mapping data assosiation time 28.119052 ms 
mapping solver time 27.515142 ms 
mapping data assosiation time 31.888127 ms 
publication time 7.958985 ms 
whole laserOdometry time 7.975437 ms 
 
filter time 10.018298 ms 
map prepare time 3.343423 ms
map corner num 93131  surf num 40487 
build tree time 26.698534 ms 
--------------------stamp1317358163.133713006
points size 90053 
prepare time 25.585037 
sort q time 4.944082 
seperate points time 11.479628 
-----t: 0.0371141
OdomCount 3862 & avg odom time 0.046043 ms ++++++++++++++++++++++
mapping solver time 36.873260 ms 
mapping data assosiation time 30.487119 ms 
points size 88380 
sort q time 4.769866 
seperate points time 11.304681 
map prepare time 3.487713 ms
map corner num 94003  surf num 40753 
-----t: 0.0417269
OdomCount 3863 & avg odom time 0.046042 ms ++++++++++++++++++++++
mapping data assosiation time 29.355128 ms 
--------------------stamp1317358163.341407060
mapping solver time 30.575659 ms 
publication time 6.481783 ms 
whole laserOdometry time 6.498818 ms 
 
mapping solver time 24.129972 ms 
filter time 7.257925 ms 
--------------------stamp1317358163.445252895
points size 89315 
sort q time 4.853854 
seperate points time 11.506392 
publication time 7.817640 ms 
whole laserOdometry time 7.829747 ms 
 
-----t: 0.0341049
OdomCount 3865 & avg odom time 0.046037 ms ++++++++++++++++++++++
1317358163.445252895 WriteOdom laser_odom_to_init
1317358163.445252895 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.265402 ms 
mapping data assosiation time 24.733577 ms 
--------------------stamp1317358163.549098968
points size 88799 
map prepare time 2.570115 ms
map corner num 95573  surf num 41249 
publication time 7.627111 ms 
whole laserOdometry time 7.640191 ms 
 
-----t: 0.0311161
OdomCount 3866 & avg odom time 0.046033 ms ++++++++++++++++++++++
1317358163.549098968 WriteOdom laser_odom_to_init
1317358163.549098968 WriteOdom aft_mapped_to_init_high_frec
build tree time 26.050944 ms 
mapping data assosiation time 24.084544 ms 
mapping solver time 22.557753 ms 
--------------------stamp1317358163.652924060
prepare time 14.350333 
sort q time 4.759214 
seperate points time 11.166935 
mapping solver time 22.205212 ms 
[0m[ INFO] [1718805450.561575957, 1317358163.703780619]: Received 137908 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805450.561627359, 1317358163.703780619]: Data saved to 1317358163445252.pcd[0m
build tree time 21.004466 ms 
points size 88082 
sort q time 5.047429 
seperate points time 12.002718 
publication time 7.274773 ms 
whole laserOdometry time 7.292909 ms 
 
mapping data assosiation time 28.184558 ms 
mapping solver time 17.896794 ms 
mapping pub time 2.005460 ms 
whole mapping time 138.846625 ms +++++
mappingCount 2532 & avg mapping time 154.064388 ms ++++++++++++++++++++++
--------------------stamp1317358163.860543966
build tree time 20.364212 ms 
sort q time 4.927629 
seperate points time 11.047854 
mapping data assosiation time 27.301626 ms 
publication time 7.984889 ms 
whole laserOdometry time 7.998396 ms 
 
mapping solver time 30.227410 ms 
mapping data assosiation time 24.032715 ms 
--------------------stamp1317358163.964344024
prepare time 13.340196 
sort q time 4.712924 
seperate points time 10.520483 
map prepare time 3.155932 ms
map corner num 83650  surf num 35108 
publication time 9.029479 ms 
whole laserOdometry time 9.044804 ms 
 
build tree time 21.313519 ms 
-----t: 0.0451156
OdomCount 3870 & avg odom time 0.046028 ms ++++++++++++++++++++++
1317358163.964344024 WriteOdom laser_odom_to_init
1317358163.964344024 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.642938 ms 
mapping solver time 21.654761 ms 
points size 81571 
scan registration time 28.377272 ms *************
mapping solver time 19.641218 ms 
mapping pub time 1.912548 ms 
whole mapping time 126.781672 ms +++++
mappingCount 2534 & avg mapping time 154.049542 ms ++++++++++++++++++++++
build tree time 16.744403 ms 
mapping data assosiation time 21.553364 ms 
points size 81233 
mapping solver time 27.774062 ms 
sort q time 4.149792 
seperate points time 9.850978 
-----t: 0.0288402
OdomCount 3872 & avg odom time 0.046022 ms ++++++++++++++++++++++
mapping solver time 21.913411 ms 
mapping optimization time 114.040182 
add points time 0.909853 ms
filter time 5.992543 ms 
build tree time 17.550663 ms 
prepare time 10.710483 
mapping data assosiation time 24.173130 ms 
-----t: 0.0272031
OdomCount 3873 & avg odom time 0.046017 ms ++++++++++++++++++++++
mapping solver time 28.554258 ms 
mapping data assosiation time 24.151974 ms 
mapping solver time 19.776407 ms 
--------------------stamp1317358164.379517078
prepare time 11.561906 
sort q time 4.818464 
seperate points time 10.006298 
publication time 8.567431 ms 
whole laserOdometry time 8.584223 ms 
 
mapping data assosiation time 24.043470 ms 
-----t: 0.0393266
OdomCount 3874 & avg odom time 0.046015 ms ++++++++++++++++++++++
1317358164.379517078 WriteOdom laser_odom_to_init
1317358164.379517078 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.106811 ms 
mapping data assosiation time 23.114491 ms 
points size 79907 
sort q time 4.536607 
seperate points time 10.089084 
publication time 6.918275 ms 
whole laserOdometry time 6.930353 ms 
 
build tree time 20.027138 ms 
mapping data assosiation time 22.344794 ms 
mapping solver time 28.391926 ms 
prepare time 11.941278 
scan registration time 25.733163 ms *************
mapping solver time 18.780443 ms 
drop lidar frame in mapping for real time performance 
map prepare time 2.315289 ms
map corner num 87497  surf num 36576 
build tree time 18.923470 ms 
mapping data assosiation time 20.895168 ms 
points size 82273 
mapping solver time 27.935504 ms 
sort q time 5.158138 
seperate points time 9.986038 
scan registration time 24.972443 ms *************
mapping data assosiation time 24.435327 ms 
-----t: 0.0498046
OdomCount 3877 & avg odom time 0.046013 ms ++++++++++++++++++++++
filter time 6.624174 ms 
build tree time 19.257700 ms 
publication time 8.165466 ms 
whole laserOdometry time 8.180021 ms 
 
mapping data assosiation time 23.735772 ms 
mapping solver time 15.487560 ms 
filter time 6.156294 ms 
points size 88457 
build tree time 21.260888 ms 
publication time 7.729032 ms 
whole laserOdometry time 7.762292 ms 
 
mapping solver time 19.670481 ms 
mapping data assosiation time 22.553043 ms 
--------------------stamp1317358165.002305984
points size 88673 
scan registration time 32.724864 ms *************
publication time 10.755737 ms 
whole laserOdometry time 10.777199 ms 
 
--------------------stamp1317358165.106105089
prepare time 14.607001 
map prepare time 3.176772 ms
map corner num 89604  surf num 37431 
publication time 8.751329 ms 
whole laserOdometry time 8.764283 ms 
 
mapping data assosiation time 22.727730 ms 
mapping solver time 18.987143 ms 
--------------------stamp1317358165.209902048
mapping data assosiation time 23.553141 ms 
sort q time 5.397178 
seperate points time 11.846576 
scan registration time 26.864288 ms *************
filter time 9.587518 ms 
build tree time 19.297407 ms 
mapping data assosiation time 22.371849 ms 
points size 88414 
sort q time 5.398790 
seperate points time 14.035863 
mapping solver time 16.640332 ms 
filter time 6.550392 ms 
build tree time 19.632846 ms 
--------------------stamp1317358165.417476892
sort q time 4.741835 
seperate points time 10.974537 
mapping solver time 26.346291 ms 
mapping data assosiation time 26.002685 ms 
mapping solver time 20.126844 ms 
mapping optimization time 118.017535 
add points time 0.926387 ms
map prepare time 2.430297 ms
map corner num 92083  surf num 38611 
points size 88907 
build tree time 25.226165 ms 
mapping data assosiation time 25.688896 ms 
-----t: 0.0328537
OdomCount 3885 & avg odom time 0.045995 ms ++++++++++++++++++++++
mapping solver time 26.569914 ms 
mapping data assosiation time 25.279105 ms 
points size 89182 
mapping solver time 22.185766 ms 
mapping optimization time 126.429257 
add points time 1.106578 ms
prepare time 15.045753 
sort q time 5.034080 
seperate points time 11.901734 
publication time 8.528078 ms 
whole laserOdometry time 8.544189 ms 
 
-----t: 0.046959
OdomCount 3886 & avg odom time 0.045995 ms ++++++++++++++++++++++
mapping data assosiation time 23.763861 ms 
mapping solver time 20.343439 ms 
points size 89769 
mapping data assosiation time 26.813859 ms 
mapping solver time 19.783853 ms 
[0m[ INFO] [1718805452.643076571, 1317358165.781661333]: Received 132787 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805452.643119456, 1317358165.781661333]: Data saved to 1317358165521275.pcd[0m
build tree time 21.009793 ms 
--------------------stamp1317358165.832552909
prepare time 13.572805 
sort q time 5.437449 
seperate points time 12.428738 
publication time 9.277640 ms 
whole laserOdometry time 9.291479 ms 
 
mapping solver time 16.295578 ms 
filter time 7.074006 ms 
--------------------stamp1317358165.936326980
prepare time 12.518262 
sort q time 5.431087 
seperate points time 12.391067 
mapping data assosiation time 30.632510 ms 
-----t: 0.0513709
OdomCount 3889 & avg odom time 0.045995 ms ++++++++++++++++++++++
1317358165.936326980 WriteOdom laser_odom_to_init
1317358165.936326980 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.470138 ms 
mapping data assosiation time 23.860244 ms 
points size 93373 
filter time 8.842938 ms 
-----t: 0.0397405
OdomCount 3890 & avg odom time 0.045993 ms ++++++++++++++++++++++
mapping data assosiation time 22.402663 ms 
--------------------stamp1317358166.143878936
prepare time 12.507698 
sort q time 6.122234 
seperate points time 12.718295 
publication time 8.649976 ms 
whole laserOdometry time 8.661715 ms 
 
add points time 0.861636 ms
mapping pub time 2.042032 ms 
whole mapping time 135.815174 ms +++++
mappingCount 2549 & avg mapping time 153.946222 ms ++++++++++++++++++++++
build tree time 20.595648 ms 
--------------------stamp1317358166.247678041
mapping data assosiation time 25.388783 ms 
sort q time 5.617081 
seperate points time 11.441896 
mapping solver time 25.886970 ms 
-----t: 0.0368195
OdomCount 3892 & avg odom time 0.045990 ms ++++++++++++++++++++++
mapping data assosiation time 28.403799 ms 
mapping solver time 23.729289 ms 
filter time 6.597118 ms 
points size 90672 
sort q time 5.997911 
seperate points time 11.384249 
publication time 7.290708 ms 
whole laserOdometry time 7.302993 ms 
 
mapping data assosiation time 28.514155 ms 
mapping solver time 22.605831 ms 
--------------------stamp1317358166.455275058
points size 90612 
filter time 8.645137 ms 
build tree time 24.737173 ms 
mapping data assosiation time 26.275760 ms 
--------------------stamp1317358166.559073925
prepare time 14.074759 
sort q time 5.108295 
seperate points time 10.769876 
mapping data assosiation time 30.403773 ms 
mapping solver time 21.324209 ms 
filter time 9.217749 ms 
mapping pub time 2.107538 ms 
whole mapping time 146.114782 ms +++++
mappingCount 2552 & avg mapping time 153.928048 ms ++++++++++++++++++++++
1317358166.351476908 WriteOdom aft_mapped_to_init
build tree time 21.445378 ms 
points size 92545 
mapping data assosiation time 29.231788 ms 
sort q time 5.040906 
seperate points time 15.750455 
scan registration time 33.347442 ms *************
publication time 9.424756 ms 
whole laserOdometry time 9.453553 ms 
 
mapping solver time 36.809295 ms 
mapping data assosiation time 26.761546 ms 
--------------------stamp1317358166.766671895
points size 92998 
map prepare time 3.544331 ms
map corner num 98942  surf num 41505 
publication time 8.905254 ms 
whole laserOdometry time 8.918976 ms 
1317358166.766671895 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.924339 ms 
--------------------stamp1317358166.870493888
prepare time 12.983976 
sort q time 5.760887 
seperate points time 12.884051 
publication time 9.745854 ms 
whole laserOdometry time 9.760620 ms 
 
-----t: 0.0559942
OdomCount 3898 & avg odom time 0.045990 ms ++++++++++++++++++++++
--------------------stamp1317358166.974363088
prepare time 10.925167 
sort q time 5.312149 
seperate points time 12.638278 
-----t: 0.0355827
OdomCount 3899 & avg odom time 0.045988 ms ++++++++++++++++++++++
mapping solver time 32.396037 ms 
mapping data assosiation time 24.433582 ms 
--------------------stamp1317358167.078211069
prepare time 11.400952 
map prepare time 3.201945 ms
map corner num 100536  surf num 42192 
build tree time 24.192203 ms 
mapping data assosiation time 25.582287 ms 
mapping solver time 28.896108 ms 
points size 96747 
sort q time 4.579408 
seperate points time 10.450023 
publication time 8.417452 ms 
whole laserOdometry time 8.433513 ms 
 
mapping solver time 29.036440 ms 
filter time 7.880923 ms 
map prepare time 2.809497 ms
map corner num 101390  surf num 42545 
build tree time 23.752041 ms 
points size 93689 
mapping data assosiation time 27.401324 ms 
publication time 11.160176 ms 
whole laserOdometry time 11.196198 ms 
 
mapping data assosiation time 24.213486 ms 
--------------------stamp1317358167.389703035
prepare time 12.518051 
sort q time 5.698221 
seperate points time 12.282885 
build tree time 26.759289 ms 
1317358167.389703035 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.307234 ms 
mapping solver time 23.803475 ms 
prepare time 10.859116 
sort q time 5.164645 
seperate points time 10.797127 
publication time 11.432044 ms 
whole laserOdometry time 11.444045 ms 
 
filter time 9.755258 ms 
build tree time 22.982702 ms 
--------------------stamp1317358167.597373008
points size 90181 
sort q time 5.137544 
seperate points time 12.290850 
mapping solver time 28.049299 ms 
-----t: 0.0441807
OdomCount 3905 & avg odom time 0.045981 ms ++++++++++++++++++++++
mapping data assosiation time 28.421996 ms 
mapping solver time 16.614897 ms 
filter time 7.040176 ms 
points size 88164 
sort q time 5.608909 
seperate points time 12.085157 
publication time 8.373300 ms 
whole laserOdometry time 8.389776 ms 
 
mapping data assosiation time 27.908991 ms 
mapping solver time 25.590777 ms 
--------------------stamp1317358167.805067062
prepare time 13.711496 
sort q time 4.555175 
seperate points time 10.908057 
filter time 10.127548 ms 
build tree time 16.761416 ms 
mapping data assosiation time 21.842642 ms 
--------------------stamp1317358167.908937931
prepare time 11.631996 
sort q time 5.072420 
seperate points time 11.485493 
publication time 8.521980 ms 
whole laserOdometry time 8.545919 ms 
 
mapping data assosiation time 28.827032 ms 
-----t: 0.0314961
OdomCount 3908 & avg odom time 0.045970 ms ++++++++++++++++++++++
1317358167.908937931 WriteOdom laser_odom_to_init
1317358167.908937931 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.249665 ms 
[0m[ INFO] [1718805454.836318581, 1317358167.980662049]: Received 116225 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805454.836370126, 1317358167.980662049]: Data saved to 1317358167701220.pcd[0m
--------------------stamp1317358168.012833118
points size 87548 
scan registration time 31.691898 ms *************
-----t: 0.0319715
OdomCount 3909 & avg odom time 0.045967 ms ++++++++++++++++++++++
1317358168.012833118 WriteOdom laser_odom_to_init
1317358168.012833118 WriteOdom aft_mapped_to_init_high_frec
publication time 10.154088 ms 
whole laserOdometry time 10.165277 ms 
 
mapping pub time 126.317901 ms 
whole mapping time 252.085019 ms +++++
mappingCount 2561 & avg mapping time 153.952880 ms ++++++++++++++++++++++
--------------------stamp1317358168.116703033
prepare time 11.659565 
sort q time 4.827371 
seperate points time 17.407305 
publication time 8.899001 ms 
whole laserOdometry time 8.923957 ms 
 
-----t: 0.0352061
OdomCount 3910 & avg odom time 0.045964 ms ++++++++++++++++++++++
mapping solver time 34.997708 ms 
--------------------stamp1317358168.220571994
prepare time 11.721343 
sort q time 4.556128 
seperate points time 11.149167 
mapping solver time 29.522605 ms 
mapping pub time 2.067200 ms 
whole mapping time 162.738153 ms +++++
mappingCount 2562 & avg mapping time 153.956311 ms ++++++++++++++++++++++
build tree time 22.527399 ms 
--------------------stamp1317358168.324443101
prepare time 12.502754 
sort q time 4.590904 
seperate points time 11.181543 
mapping solver time 33.956610 ms 
-----t: 0.0359345
OdomCount 3912 & avg odom time 0.045960 ms ++++++++++++++++++++++
mapping data assosiation time 29.996944 ms 
mapping solver time 26.368063 ms 
mapping pub time 2.368433 ms 
whole mapping time 156.598802 ms +++++
mappingCount 2563 & avg mapping time 153.957344 ms ++++++++++++++++++++++
points size 81216 
build tree time 19.592598 ms 
publication time 9.153878 ms 
whole laserOdometry time 9.190245 ms 
 
mapping solver time 26.458647 ms 
--------------------stamp1317358168.532162904
points size 74060 
prepare time 12.566659 
add points time 0.940950 ms
1317358168.324443102 WriteOdom aft_mapped_to_init
-----t: 0.0406403
OdomCount 3914 & avg odom time 0.045957 ms ++++++++++++++++++++++
1317358168.532162904 WriteOdom laser_odom_to_init
1317358168.532162904 WriteOdom aft_mapped_to_init_high_frec
build tree time 21.315726 ms 
mapping data assosiation time 24.460125 ms 
--------------------stamp1317358168.635984897
prepare time 12.260324 
sort q time 3.626265 
seperate points time 9.192418 
publication time 6.755394 ms 
whole laserOdometry time 6.775378 ms 
 
-----t: 0.0369806
OdomCount 3915 & avg odom time 0.045955 ms ++++++++++++++++++++++
add points time 0.919128 ms
drop lidar frame in mapping for real time performance 
build tree time 16.683048 ms 
--------------------stamp1317358168.739815950
mapping data assosiation time 28.807805 ms 
publication time 7.556808 ms 
whole laserOdometry time 7.570653 ms 
 
mapping data assosiation time 23.769958 ms 
mapping solver time 17.953746 ms 
[0m[ INFO] [1718805455.693303219, 1317358168.837217617]: Received 122824 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805455.693365510, 1317358168.837217617]: Data saved to 1317358168532162.pcd[0m
--------------------stamp1317358168.843661069
prepare time 10.570252 
build tree time 23.410212 ms 
publication time 8.227699 ms 
whole laserOdometry time 8.241044 ms 
 
mapping data assosiation time 31.598548 ms 
mapping solver time 30.757041 ms 
--------------------stamp1317358168.947520017
prepare time 12.500913 
sort q time 4.596569 
seperate points time 11.329177 
scan registration time 27.269045 ms *************
filter time 8.951642 ms 
mapping pub time 1.741321 ms 
whole mapping time 158.418756 ms +++++
mappingCount 2567 & avg mapping time 153.936351 ms ++++++++++++++++++++++
1317358168.739815950 WriteOdom aft_mapped_to_init
build tree time 24.162983 ms 
1317358168.947520017 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 37.888066 ms 
publication time 8.067549 ms 
whole laserOdometry time 8.080120 ms 
 
-----t: 0.0592938
OdomCount 3919 & avg odom time 0.045959 ms ++++++++++++++++++++++
--------------------stamp1317358169.155262947
points size 90314 
map prepare time 3.166639 ms
map corner num 87402  surf num 38064 
build tree time 22.986065 ms 
-----t: 0.0437809
OdomCount 3920 & avg odom time 0.045959 ms ++++++++++++++++++++++
mapping data assosiation time 28.909440 ms 
mapping solver time 25.080625 ms 
points size 93555 
mapping data assosiation time 28.966325 ms 
-----t: 0.0310084
OdomCount 3921 & avg odom time 0.045955 ms ++++++++++++++++++++++
filter time 6.264860 ms 
build tree time 19.412859 ms 
--------------------stamp1317358169.363006114
points size 97720 
sort q time 5.704309 
seperate points time 12.584444 
publication time 7.606000 ms 
whole laserOdometry time 7.623088 ms 
 
mapping data assosiation time 24.686167 ms 
mapping solver time 17.480539 ms 
mapping pub time 2.112264 ms 
whole mapping time 141.690272 ms +++++
mappingCount 2570 & avg mapping time 153.934410 ms ++++++++++++++++++++++
points size 98954 
build tree time 22.396075 ms 
publication time 8.097168 ms 
-----t: 0.0326095
whole laserOdometry time 8.108533 ms 
 
OdomCount 3923 & avg odom time 0.045948 ms ++++++++++++++++++++++
1317358169.466852903 WriteOdom laser_odom_to_init
1317358169.466852903 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.974846 ms 
--------------------stamp1317358169.570702075
points size 98117 
prepare time 14.201684 
scan registration time 29.916816 ms *************
map prepare time 3.134974 ms
map corner num 89858  surf num 39082 
publication time 14.066384 ms 
whole laserOdometry time 14.078015 ms 
 
mapping data assosiation time 26.210217 ms 
--------------------stamp1317358169.674576997
prepare time 14.471116 
sort q time 5.452248 
seperate points time 12.672738 
mapping data assosiation time 27.200924 ms 
publication time 12.463792 ms 
whole laserOdometry time 12.481474 ms 
 
mapping optimization time 128.655666 
mapping pub time 2.364883 ms 
whole mapping time 142.656131 ms +++++
mappingCount 2572 & avg mapping time 153.924881 ms ++++++++++++++++++++++
--------------------stamp1317358169.778424024
prepare time 14.299158 
mapping data assosiation time 29.458165 ms 
-----t: 0.0391264
OdomCount 3926 & avg odom time 0.045946 ms ++++++++++++++++++++++
mapping data assosiation time 28.839703 ms 
--------------------stamp1317358169.882241010
prepare time 11.532557 
filter time 6.852355 ms 
mapping pub time 2.260405 ms 
whole mapping time 146.247124 ms +++++
mappingCount 2573 & avg mapping time 153.921900 ms ++++++++++++++++++++++
1317358169.570702076 WriteOdom aft_mapped_to_init
publication time 8.724673 ms 
whole laserOdometry time 8.739343 ms 
 
-----t: 0.0415404
OdomCount 3927 & avg odom time 0.045945 ms ++++++++++++++++++++++
mapping data assosiation time 28.451165 ms 
--------------------stamp1317358169.986062049
points size 92338 
sort q time 5.303101 
seperate points time 12.881042 
scan registration time 29.005112 ms *************
mapping data assosiation time 29.863328 ms 
-----t: 0.0343565
OdomCount 3928 & avg odom time 0.045942 ms ++++++++++++++++++++++
publication time 7.592532 ms 
whole laserOdometry time 7.604421 ms 
 
filter time 6.411158 ms 
build tree time 12.132850 ms 
--------------------stamp1317358170.089885950
points size 89922 
sort q time 4.775551 
seperate points time 11.650400 
mapping solver time 31.294315 ms 
mapping data assosiation time 27.858589 ms 
mapping solver time 19.371457 ms 
mapping pub time 2.263277 ms 
whole mapping time 131.753138 ms +++++
mappingCount 2575 & avg mapping time 153.913572 ms ++++++++++++++++++++++
points size 87254 
build tree time 17.516106 ms 
-----t: 0.0306161
OdomCount 3930 & avg odom time 0.045935 ms ++++++++++++++++++++++
publication time 10.325988 ms 
whole laserOdometry time 10.340983 ms 
 
mapping solver time 25.929970 ms 
--------------------stamp1317358170.297530889
mapping solver time 22.668626 ms 
1317358170.089885950 WriteOdom aft_mapped_to_init
-----t: 0.0443724
OdomCount 3931 & avg odom time 0.045934 ms ++++++++++++++++++++++
mapping data assosiation time 26.975574 ms 
--------------------stamp1317358170.401328086
prepare time 11.542345 
scan registration time 27.204185 ms *************
-----t: 0.036058
OdomCount 3932 & avg odom time 0.045932 ms ++++++++++++++++++++++
mapping solver time 21.688043 ms 
1317358170.193708897 WriteOdom aft_mapped_to_init
build tree time 13.895332 ms 
points size 87560 
sort q time 4.766915 
seperate points time 11.101267 
publication time 6.528808 ms 
whole laserOdometry time 6.550823 ms 
 
mapping solver time 30.543211 ms 
-----t: 0.0676161
OdomCount 3933 & avg odom time 0.045937 ms ++++++++++++++++++++++
--------------------stamp1317358170.608952999
prepare time 14.042923 
sort q time 4.926242 
seperate points time 15.148263 
build tree time 17.086019 ms 
-----t: 0.0491735
OdomCount 3934 & avg odom time 0.045938 ms ++++++++++++++++++++++
mapping data assosiation time 28.212824 ms 
--------------------stamp1317358170.712774991
prepare time 15.094696 
sort q time 6.044383 
seperate points time 14.766545 
-----t: 0.0333824
OdomCount 3935 & avg odom time 0.045935 ms ++++++++++++++++++++++
mapping solver time 20.306750 ms 
mapping pub time 2.055506 ms 
whole mapping time 140.857188 ms +++++
mappingCount 2579 & avg mapping time 153.897508 ms ++++++++++++++++++++++
build tree time 13.218728 ms 
--------------------stamp1317358170.816572904
prepare time 10.648839 
sort q time 5.792011 
seperate points time 12.199324 
mapping solver time 33.443424 ms 
mapping data assosiation time 27.786781 ms 
mapping solver time 20.760554 ms 
mapping pub time 2.065454 ms 
whole mapping time 137.760497 ms +++++
mappingCount 2580 & avg mapping time 153.891254 ms ++++++++++++++++++++++
points size 89010 
prepare time 13.340687 
scan registration time 31.791642 ms *************-----t: 0.0326332
OdomCount 3937 & avg odom time 0.045929 ms ++++++++++++++++++++++
mapping solver time 31.978834 ms 
--------------------stamp1317358171.024168968
prepare time 11.456561 
sort q time 6.067808 
seperate points time 11.285147 
publication time 7.462173 ms 
whole laserOdometry time 7.476293 ms 
 
mapping optimization time 149.374055 
--------------------stamp1317358171.127943992
prepare time 19.188522 
sort q time 6.326802 
seperate points time 13.749006 
publication time 9.070188 ms 
whole laserOdometry time 9.089190 ms 
 
map prepare time 3.173236 ms
map corner num 66891  surf num 29216 
build tree time 16.454404 ms 
--------------------stamp1317358171.231720924
prepare time 13.239385 
mapping solver time 28.527145 ms 
mapping data assosiation time 28.733418 ms 
mapping solver time 19.671557 ms 
map prepare time 2.433458 ms
map corner num 67599  surf num 29603 
points size 89452 
prepare time 12.355222 
publication time 9.622912 ms 
whole laserOdometry time 9.639552 ms 
 
mapping data assosiation time 31.691625 ms 
mapping solver time 24.472759 ms 
--------------------stamp1317358171.439271926
prepare time 12.264979 
sort q time 4.948961 
seperate points time 11.163787 
filter time 7.297746 ms 
build tree time 15.184994 ms 
mapping data assosiation time 27.079135 ms 
--------------------stamp1317358171.543023109
prepare time 11.089188 
sort q time 5.594372 
seperate points time 10.722882 
publication time 7.873968 ms 
whole laserOdometry time 7.888435 ms 
 
-----t: 0.0388405
OdomCount 3943 & avg odom time 0.045916 ms ++++++++++++++++++++++
1317358171.543023109 WriteOdom laser_odom_to_init
1317358171.543023109 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.742524 ms 
filter time 5.179007 ms 
build tree time 14.221525 ms 
--------------------stamp1317358171.646750926
prepare time 10.643658 
sort q time 4.636279 
seperate points time 11.257385 
publication time 7.153429 ms 
whole laserOdometry time 7.171087 ms 
 
-----t: 0.0419132
OdomCount 3944 & avg odom time 0.045915 ms ++++++++++++++++++++++
mapping data assosiation time 26.062424 ms 
--------------------stamp1317358171.750502109
prepare time 12.477421 
sort q time 4.722796 
seperate points time 10.689090 
publication time 7.937800 ms 
whole laserOdometry time 7.966749 ms 
 
mapping data assosiation time 25.694113 ms 
mapping solver time 29.152129 ms 
points size 81886 
prepare time 10.819632 
mapping data assosiation time 29.363142 ms 
publication time 8.320273 ms 
whole laserOdometry time 8.334670 ms 
 
mapping solver time 27.661350 ms 
filter time 7.195415 ms 
build tree time 16.566176 ms 
--------------------stamp1317358171.957974910
mapping data assosiation time 30.102113 ms 
sort q time 4.668412 
seperate points time 11.183679 
publication time 7.280120 ms 
whole laserOdometry time 7.295055 ms 
 
mapping data assosiation time 26.899365 ms 
mapping solver time 24.756801 ms 
mapping pub time 1.839524 ms 
whole mapping time 149.429892 ms +++++
mappingCount 2587 & avg mapping time 153.912216 ms ++++++++++++++++++++++
sort q time 4.792219 
seperate points time 11.526726 
build tree time 17.556780 ms 
scan registration time 32.778835 ms *************
publication time 8.347773 ms 
whole laserOdometry time 8.359295 ms 
 
mapping solver time 29.594364 ms 
--------------------stamp1317358172.165406942
points size 87559 
prepare time 15.647755 
mapping data assosiation time 32.195240 ms 
scan registration time 33.064825 ms *************
publication time 9.222380 ms 
whole laserOdometry time 9.236137 ms 
 
filter time 5.413826 ms 
--------------------stamp1317358172.269084930
mapping data assosiation time 29.947750 ms 
sort q time 4.878630 
seperate points time 12.019369 
-----t: 0.0290146
OdomCount 3950 & avg odom time 0.045898 ms ++++++++++++++++++++++
mapping data assosiation time 29.235231 ms 
mapping solver time 24.450371 ms 
--------------------stamp1317358172.372765064
points size 89941 
sort q time 5.029615 
seperate points time 12.526286 
build tree time 19.907421 ms 
mapping data assosiation time 29.150368 ms 
mapping solver time 30.155305 ms 
prepare time 10.218974 
sort q time 6.174446 
seperate points time 13.509971 
publication time 9.828707 ms 
whole laserOdometry time 9.837273 ms 
 
mapping solver time 34.571941 ms 
mapping pub time 1.965629 ms 
whole mapping time 160.277475 ms +++++
mappingCount 2590 & avg mapping time 153.916114 ms ++++++++++++++++++++++
build tree time 16.789177 ms 
--------------------stamp1317358172.580168962
points size 92991 
mapping data assosiation time 32.560394 ms 
publication time 8.496624 ms 
whole laserOdometry time 8.510144 ms 
 
mapping solver time 35.805524 ms 
mapping data assosiation time 27.075507 ms 
--------------------stamp1317358172.683871984
add points time 1.357517 ms
map prepare time 3.603938 ms
map corner num 75067  surf num 33606 
sort q time 5.828222 
seperate points time 13.487436 
scan registration time 32.117675 ms *************
mapping solver time 41.043469 ms 
publication time 7.629497 ms 
whole laserOdometry time 7.643753 ms 
 
-----t: 0.0474845
OdomCount 3955 & avg odom time 0.045893 ms ++++++++++++++++++++++
mapping solver time 39.871334 ms 
filter time 8.795862 ms 
sort q time 5.801433 
seperate points time 11.671375 
publication time 10.105480 ms 
whole laserOdometry time 10.123231 ms 
 
-----t: 0.0456855
OdomCount 3956 & avg odom time 0.045893 ms ++++++++++++++++++++++
mapping solver time 26.203998 ms 
--------------------stamp1317358172.994978904
prepare time 15.032015 
sort q time 5.706498 
seperate points time 13.728208 
mapping solver time 24.355428 ms 
drop lidar frame in mapping for real time performance 
build tree time 19.450627 ms 
--------------------stamp1317358173.098656892
points size 98270 
sort q time 5.443938 
seperate points time 13.386603 
mapping solver time 32.759800 ms 
publication time 16.677588 ms 
whole laserOdometry time 16.690397 ms 
 
mapping data assosiation time 28.714059 ms 
mapping solver time 19.586093 ms 
--------------------stamp1317358173.202358961
points size 98936 
sort q time 6.126193 
seperate points time 13.977119 
publication time 10.555426 ms 
whole laserOdometry time 10.573557 ms 
 
mapping data assosiation time 33.264289 ms 
-----t: 0.0712347
OdomCount 3959 & avg odom time 0.045897 ms ++++++++++++++++++++++
--------------------stamp1317358173.306087017
prepare time 13.666021 
sort q time 6.787916 
seperate points time 13.165991 
publication time 8.246762 ms 
whole laserOdometry time 8.256554 ms 
 
mapping solver time 31.504313 ms 
mapping optimization time 160.051685 
add points time 1.142428 ms
-----t: 0.0496958
OdomCount 3960 & avg odom time 0.045898 ms ++++++++++++++++++++++
1317358173.306087017 WriteOdom laser_odom_to_init
1317358173.306087017 WriteOdom aft_mapped_to_init_high_frec
build tree time 16.094303 ms 
points size 99576 
sort q time 5.235684 
seperate points time 11.451274 
publication time 7.261888 ms 
whole laserOdometry time 7.275976 ms 
 
mapping solver time 35.502058 ms 
mapping data assosiation time 29.718809 ms 
points size 99698 
filter time 8.057175 ms 
-----t: 0.0377752
OdomCount 3962 & avg odom time 0.045897 ms ++++++++++++++++++++++
publication time 7.618292 ms 
build tree time 22.291492 ms 
whole laserOdometry time 7.632948 ms 
 
mapping data assosiation time 36.903409 ms 
points size 99969 
sort q time 6.194901 
seperate points time 13.574035 
scan registration time 29.516712 ms *************
publication time 8.393461 ms 
whole laserOdometry time 8.408347 ms 
 
mapping data assosiation time 37.512326 ms 
mapping solver time 36.764839 ms 
mapping pub time 2.365822 ms 
whole mapping time 197.001251 ms +++++
mappingCount 2597 & avg mapping time 153.953742 ms ++++++++++++++++++++++
-----t: 0.062696
OdomCount 3964 & avg odom time 0.045901 ms ++++++++++++++++++++++
mapping data assosiation time 37.271956 ms 
--------------------stamp1317358173.824961900
prepare time 14.519506 sort q time 5.860189 
seperate points time 11.911851 
publication time 9.039552 ms 
whole laserOdometry time 9.053230 ms 
 
-----t: 0.0503518
OdomCount 3965 & avg odom time 0.045902 ms ++++++++++++++++++++++
mapping data assosiation time 37.728810 ms 
mapping solver time 28.146712 ms 
filter time 9.624652 ms 
sort q time 5.283952 
seperate points time 11.543480 
build tree time 21.297075 ms 
-----t: 0.0479277
OdomCount 3966 & avg odom time 0.045903 ms ++++++++++++++++++++++
mapping data assosiation time 36.908983 ms 
--------------------stamp1317358174.032633066
points size 96518 
sort q time 5.561367 
seperate points time 13.019550 
scan registration time 29.813387 ms *************
publication time 8.968820 ms 
whole laserOdometry time 8.991059 ms 
 
mapping data assosiation time 37.249039 ms 
-----t: 0.0385636
OdomCount 3967 & avg odom time 0.045901 ms ++++++++++++++++++++++
1317358174.032633066 WriteOdom laser_odom_to_init
1317358174.032633066 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.892304 ms 
filter time 6.339201 ms 
mapping pub time 2.205867 ms 
whole mapping time 182.675464 ms +++++
mappingCount 2599 & avg mapping time 153.979467 ms ++++++++++++++++++++++
1317358173.721138954 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 96121 
sort q time 6.376991 
seperate points time 12.828237 
publication time 7.997757 ms 
whole laserOdometry time 8.016464 ms 
 
mapping solver time 35.417897 ms 
--------------------stamp1317358174.240374088
points size 96026 
mapping data assosiation time 36.675945 ms 
publication time 8.671699 ms 
whole laserOdometry time 8.689976 ms 
 
mapping optimization time 164.961508 
filter time 9.355161 ms 
build tree time 17.916710 ms 
--------------------stamp1317358174.344296932
points size 96363 
mapping data assosiation time 36.533379 ms 
sort q time 5.799777 
seperate points time 14.239371 
publication time 8.603525 ms 
whole laserOdometry time 8.620825 ms 
 
-----t: 0.0548586
OdomCount 3970 & avg odom time 0.045902 ms ++++++++++++++++++++++
mapping data assosiation time 34.992803 ms 
--------------------stamp1317358174.448262929
prepare time 11.975213 
filter time 6.872831 ms 
-----t: 0.0532543
OdomCount 3971 & avg odom time 0.045904 ms ++++++++++++++++++++++
1317358174.448262929 WriteOdom laser_odom_to_init
1317358174.448262929 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358174.552273988
points size 96977 
prepare time 13.084879 
publication time 8.563165 ms 
whole laserOdometry time 8.591872 ms 
 
1317358174.136502981 WriteOdom aft_mapped_to_init
build tree time 23.525694 ms 
--------------------stamp1317358174.656311988
points size 98012 
prepare time 12.720988 
scan registration time 32.255800 ms *************
publication time 9.103000 ms 
whole laserOdometry time 9.116047 ms 
 
-----t: 0.053237
OdomCount 3973 & avg odom time 0.045906 ms ++++++++++++++++++++++
--------------------stamp1317358174.760349988
points size 99211 
prepare time 15.936257 
sort q time 5.783829 
seperate points time 14.130561 
mapping solver time 30.150350 ms 
scan registration time 35.589517 ms *************
mapping optimization time 184.950685 
add points time 0.835893 ms
map prepare time 3.667584 ms
map corner num 84714  surf num 38333 
build tree time 24.387539 ms 
--------------------stamp1317358174.864413022
points size 100401 
sort q time 5.763003 
seperate points time 13.787893 
publication time 8.843951 ms 
whole laserOdometry time 8.858962 ms 
 
mapping solver time 47.554193 ms 
mapping data assosiation time 30.214573 ms 
points size 101103 
sort q time 5.697496 
seperate points time 13.419084 
filter time 8.642663 ms 
publication time 10.962104 ms 
whole laserOdometry time 10.977376 ms 
 
build tree time 19.034751 ms 
--------------------stamp1317358175.072609901
prepare time 13.600779 
sort q time 6.449006 
seperate points time 13.970266 
mapping solver time 44.444661 ms 
mapping data assosiation time 33.628704 ms 
--------------------stamp1317358175.176721096
points size 99946 
mapping optimization time 181.368587 
add points time 0.828225 ms
sort q time 5.541782 
seperate points time 13.422529 
build tree time 18.093378 ms 
-----t: 0.0756106
OdomCount 3978 & avg odom time 0.045909 ms ++++++++++++++++++++++
mapping data assosiation time 37.378019 ms 
prepare time 12.310080 
sort q time 5.393005 
seperate points time 12.590251 
mapping solver time 50.754611 ms 
-----t: 0.0486821
OdomCount 3979 & avg odom time 0.045909 ms ++++++++++++++++++++++
mapping data assosiation time 40.922671 ms 
--------------------stamp1317358175.385061979
points size 96879 
sort q time 5.884887 
seperate points time 11.656748 
filter time 6.176475 ms 
publication time 9.279192 ms 
whole laserOdometry time 9.295338 ms 
 
build tree time 16.990780 ms 
mapping data assosiation time 34.396394 ms 
points size 95213 
sort q time 5.383007 
seperate points time 12.548319 
mapping solver time 51.054591 ms 
mapping data assosiation time 32.237743 ms 
--------------------stamp1317358175.593431949
prepare time 11.504042 
filter time 8.119785 ms 
-----t: 0.0370376
OdomCount 3982 & avg odom time 0.045908 ms ++++++++++++++++++++++
mapping data assosiation time 32.521273 ms 
--------------------stamp1317358175.697614908
prepare time 10.963906 
mapping solver time 40.186562 ms 
sort q time 5.488559 
seperate points time 28.410455 
publication time 9.944818 ms 
whole laserOdometry time 9.957132 ms 
 
mapping solver time 33.235564 ms 
mapping pub time 2.436271 ms 
whole mapping time 182.550533 ms +++++
mappingCount 2607 & avg mapping time 154.143903 ms ++++++++++++++++++++++
sort q time 6.114569 
seperate points time 11.812922 
publication time 13.096666 ms 
whole laserOdometry time 13.117221 ms 
 
mapping data assosiation time 38.609790 ms 
--------------------stamp1317358175.905904054
points size 92435 
sort q time 5.278893 
seperate points time 13.209705 
mapping data assosiation time 39.077330 ms 
-----t: 0.0447971
OdomCount 3985 & avg odom time 0.045909 ms ++++++++++++++++++++++
mapping solver time 33.014898 ms 
filter time 6.005349 ms 
mapping pub time 2.215659 ms 
whole mapping time 184.757126 ms +++++
mappingCount 2608 & avg mapping time 154.155643 ms ++++++++++++++++++++++
1317358175.593431950 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.798014 ms
map corner num 79597  surf num 36980 
--------------------stamp1317358176.010062932
points size 90336 
sort q time 4.901278 
seperate points time 12.355086 
mapping data assosiation time 37.793800 ms 
1317358176.010062932 WriteOdom laser_odom_to_init
mapping solver time 39.413719 ms 
--------------------stamp1317358176.114223003
mapping data assosiation time 37.865770 ms 
sort q time 5.301723 
seperate points time 11.001675 
scan registration time 27.406740 ms *************
publication time 9.889201 ms 
whole laserOdometry time 9.904700 ms 
 
-----t: 0.0327707
OdomCount 3987 & avg odom time 0.045904 ms ++++++++++++++++++++++
mapping solver time 42.690968 ms 
filter time 6.153098 ms 
build tree time 17.459007 ms 
points size 90326 
sort q time 5.776075 
seperate points time 12.497375 
publication time 7.884594 ms 
whole laserOdometry time 7.901366 ms 
 
mapping solver time 46.123550 ms 
-----t: 0.0837155
OdomCount 3988 & avg odom time 0.045914 ms ++++++++++++++++++++++
mapping data assosiation time 33.569853 ms 
sort q time 5.331922 
seperate points time 12.868964 
mapping solver time 33.990756 ms 
mapping optimization time 171.018525 
add points time 1.189389 ms
publication time 9.520827 ms 
whole laserOdometry time 9.540300 ms 
 
map prepare time 2.826146 ms
map corner num 81724  surf num 38137 
build tree time 19.730952 ms 
--------------------stamp1317358176.426565885
mapping data assosiation time 37.156571 ms 
publication time 8.893387 ms 
whole laserOdometry time 8.911474 ms 
 
mapping solver time 43.883569 ms 
mapping data assosiation time 31.815086 ms 
--------------------stamp1317358176.530622005
prepare time 11.272435 
sort q time 5.727567 
seperate points time 12.315775 
filter time 8.969232 ms 
build tree time 20.054542 ms 
--------------------stamp1317358176.634685039
points size 92492 
sort q time 5.341070 
seperate points time 12.773411 
scan registration time 33.379942 ms *************
publication time 9.615211 ms 
whole laserOdometry time 9.646670 ms 
 
mapping data assosiation time 36.412317 ms 
--------------------stamp1317358176.738744020
points size 92067 
prepare time 12.927875 
add points time 0.859975 ms
sort q time 5.385900 
seperate points time 12.889030 
publication time 8.625641 ms 
whole laserOdometry time 8.636732 ms 
 
-----t: 0.0478656
OdomCount 3993 & avg odom time 0.045917 ms ++++++++++++++++++++++
1317358176.738744020 WriteOdom laser_odom_to_init
1317358176.738744020 WriteOdom aft_mapped_to_init_high_frec
build tree time 23.159758 ms 
mapping data assosiation time 34.414293 ms 
points size 92375 
sort q time 5.353958 
seperate points time 12.211375 
mapping solver time 50.971969 ms 
-----t: 0.0528961
OdomCount 3994 & avg odom time 0.045918 ms ++++++++++++++++++++++
1317358176.842782974 WriteOdom laser_odom_to_init
1317358176.842782974 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358176.946798086
mapping solver time 27.915263 ms 
filter time 8.857073 ms 
publication time 9.768709 ms 
whole laserOdometry time 9.781749 ms 
 
build tree time 22.713955 ms -----t: 0.069435
OdomCount 3995 & avg odom time 0.045924 ms ++++++++++++++++++++++
1317358176.946798086 WriteOdom laser_odom_to_init
1317358176.946798086 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358177.050787925
points size 93895 
prepare time 14.132411 
sort q time 5.406783 
seperate points time 12.948258 
mapping solver time 36.339634 ms 
publication time 9.298363 ms 
whole laserOdometry time 9.375008 ms 
 
-----t: 0.0493072
OdomCount 3996 & avg odom time 0.045925 ms ++++++++++++++++++++++
1317358177.050787925 WriteOdom laser_odom_to_init
1317358177.050787925 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 38.681765 ms 
--------------------stamp1317358177.154752969
mapping pub time 2.264252 ms 
whole mapping time 183.883962 ms +++++
mappingCount 2614 & avg mapping time 154.244019 ms ++++++++++++++++++++++
sort q time 5.238739 
seperate points time 17.381981 
-----t: 0.0418084
OdomCount 3997 & avg odom time 0.045924 ms ++++++++++++++++++++++
publication time 11.655178 ms 
whole laserOdometry time 11.666104 ms 
 
1317358177.154752969 WriteOdom laser_odom_to_init
1317358177.154752969 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 38.425964 ms 
--------------------stamp1317358177.258696079
points size 96448 
sort q time 5.298050 
seperate points time 12.943102 
publication time 9.920673 ms 
whole laserOdometry time 9.934254 ms 
 
mapping solver time 33.196865 ms 
filter time 6.553082 ms 
points size 98468 
build tree time 24.298186 ms 
sort q time 5.457803 
seperate points time 12.495497 
publication time 8.811476 ms 
whole laserOdometry time 8.827383 ms 
 
mapping data assosiation time 41.361426 ms 
--------------------stamp1317358177.466511011
mapping solver time 48.680055 ms 
scan registration time 28.886579 ms *************
publication time 8.713318 ms 
whole laserOdometry time 8.725775 ms 
 
mapping solver time 31.585112 ms 
filter time 8.839563 ms 
points size 98770 
sort q time 5.804537 
seperate points time 13.463058 
build tree time 28.481971 ms 
-----t: 0.0382921
OdomCount 4001 & avg odom time 0.045918 ms ++++++++++++++++++++++
mapping data assosiation time 36.845172 ms 
--------------------stamp1317358177.674278974
points size 98655 
prepare time 15.601109 
scan registration time 35.019979 ms *************
publication time 11.062446 ms 
whole laserOdometry time 11.075903 ms 
 
mapping solver time 29.454639 ms 
filter time 7.287886 ms 
--------------------stamp1317358177.778100013
prepare time 12.450573 
sort q time 5.744176 
seperate points time 13.712609 
mapping data assosiation time 40.970739 ms 
-----t: 0.0545322
OdomCount 4003 & avg odom time 0.045920 ms ++++++++++++++++++++++
mapping solver time 43.584764 ms 
--------------------stamp1317358177.881922960
prepare time 11.748651 
sort q time 6.522146 
seperate points time 12.176795 
scan registration time 28.635028 ms *************
mapping data assosiation time 37.879318 ms 
-----t: 0.0407118
OdomCount 4004 & avg odom time 0.045919 ms ++++++++++++++++++++++
mapping solver time 42.870248 ms 
filter time 6.962496 ms 
--------------------stamp1317358177.985718965
prepare time 12.009024 
sort q time 4.719718 
seperate points time 10.803663 
mapping data assosiation time 37.260793 ms 
-----t: 0.0428051
OdomCount 4005 & avg odom time 0.045918 ms ++++++++++++++++++++++
1317358177.985718965 WriteOdom laser_odom_to_init
1317358177.985718965 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 39.323426 ms 
--------------------stamp1317358178.089490890
mapping data assosiation time 34.609653 ms 
scan registration time 23.902478 ms *************
publication time 7.538886 ms 
whole laserOdometry time 7.552224 ms 
 
-----t: 0.0422679
OdomCount 4006 & avg odom time 0.045917 ms ++++++++++++++++++++++
mapping pub time 2.372207 ms 
whole mapping time 184.909524 ms +++++
mappingCount 2619 & avg mapping time 154.319836 ms ++++++++++++++++++++++
1317358177.778100014 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.642663 ms
map corner num 90093  surf num 42602 
build tree time 17.937551 ms 
--------------------stamp1317358178.193268060
mapping data assosiation time 33.552090 ms 
publication time 6.814458 ms 
whole laserOdometry time 6.854847 ms 
 
mapping solver time 43.052482 ms 
mapping data assosiation time 31.318533 ms 
--------------------stamp1317358178.297044038
points size 78098 
filter time 8.232307 ms 
map prepare time 3.362705 ms
map corner num 91015  surf num 43030 
-----t: 0.0345671
OdomCount 4008 & avg odom time 0.045912 ms ++++++++++++++++++++++
mapping data assosiation time 27.645118 ms 
--------------------stamp1317358178.400815963
prepare time 10.444119 
mapping solver time 35.668908 ms 
publication time 6.542909 ms 
whole laserOdometry time 6.557508 ms 
 
mapping solver time 28.493910 ms 
filter time 8.825636 ms 
--------------------stamp1317358178.504569053
prepare time 14.320585 
sort q time 4.712118 
seperate points time 11.487854 
scan registration time 32.016823 ms *************
mapping pub time 119.218292 ms 
whole mapping time 284.018093 ms +++++
mappingCount 2621 & avg mapping time 154.373865 ms ++++++++++++++++++++++
points size 75960 
sort q time 4.167580 
seperate points time 10.161686 
publication time 7.404702 ms 
whole laserOdometry time 7.433309 ms 
 
mapping data assosiation time 29.352479 ms 
mapping solver time 33.176541 ms 
points size 78547 
sort q time 4.929022 
seperate points time 10.639177 
publication time 7.734362 ms 
whole laserOdometry time 7.765919 ms 
 
mapping solver time 32.368390 ms 
mapping optimization time 157.635228 
add points time 1.051247 ms
map prepare time 2.344990 ms
map corner num 72147  surf num 33707 
build tree time 15.666946 ms 
--------------------stamp1317358178.815773010
mapping data assosiation time 29.732576 ms 
publication time 8.432988 ms 
whole laserOdometry time 8.447301 ms 
 
mapping data assosiation time 27.693320 ms 
mapping solver time 19.418906 ms 
points size 83396 
sort q time 4.515267 
seperate points time 9.989301 
-----t: 0.0281004
OdomCount 4014 & avg odom time 0.045893 ms ++++++++++++++++++++++
1317358178.919548034 WriteOdom laser_odom_to_init
1317358178.919548034 WriteOdom aft_mapped_to_init_high_frec
publication time 7.693699 ms 
whole laserOdometry time 7.705812 ms 
 
mapping data assosiation time 31.524063 ms 
mapping solver time 32.951979 ms 
--------------------stamp1317358179.023322105
prepare time 11.070001 
sort q time 4.321589 
seperate points time 10.713164 
publication time 7.127140 ms 
whole laserOdometry time 7.143522 ms 
 
add points time 1.152419 ms
mapping pub time 1.843090 ms 
whole mapping time 153.414085 ms +++++
mappingCount 2624 & avg mapping time 154.375414 ms ++++++++++++++++++++++
build tree time 17.384577 ms 
--------------------stamp1317358179.127094030
sort q time 4.810721 
seperate points time 11.576265 
mapping solver time 34.738227 ms 
mapping data assosiation time 30.596969 ms 
mapping solver time 25.222531 ms 
mapping pub time 1.916371 ms 
whole mapping time 153.546979 ms +++++
mappingCount 2625 & avg mapping time 154.375100 ms ++++++++++++++++++++++
sort q time 5.190839 
seperate points time 10.829098 
-----t: 0.0405089
OdomCount 4017 & avg odom time 0.045889 ms ++++++++++++++++++++++
mapping solver time 31.486219 ms 
points size 83799 
publication time 6.874875 ms 
whole laserOdometry time 6.889899 ms 
 
mapping solver time 31.925545 ms 
[0m[ INFO] [1718805466.258184532, 1317358179.400103275]: Received 111501 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805466.258220840, 1317358179.400103275]: Data saved to 1317358179127094.pcd[0m
build tree time 16.745822 ms 
--------------------stamp1317358179.438467979
prepare time 13.470746 
sort q time 4.669208 
seperate points time 11.608643 
publication time 8.087692 ms 
whole laserOdometry time 8.111720 ms 
 
-----t: 0.0405306
OdomCount 4019 & avg odom time 0.045884 ms ++++++++++++++++++++++
mapping data assosiation time 32.720947 ms 
--------------------stamp1317358179.542243003
prepare time 12.925697 
filter time 6.919338 ms 
build tree time 20.159327 ms 
mapping data assosiation time 25.933612 ms 
--------------------stamp1317358179.646015882
sort q time 4.643204 
seperate points time 9.735878 
publication time 7.727353 ms 
whole laserOdometry time 7.739589 ms 
 
mapping solver time 26.821506 ms 
mapping pub time 1.876237 ms 
whole mapping time 144.836541 ms +++++
mappingCount 2628 & avg mapping time 154.378869 ms ++++++++++++++++++++++
build tree time 17.062249 ms 
points size 85828 
sort q time 5.114277 
seperate points time 12.008656 
publication time 7.412371 ms 
whole laserOdometry time 7.427476 ms 
 
mapping data assosiation time 24.623959 ms 
mapping solver time 19.091026 ms 
mapping pub time 2.058723 ms 
whole mapping time 134.646971 ms +++++
mappingCount 2629 & avg mapping time 154.371366 ms ++++++++++++++++++++++
sort q time 4.795382 
seperate points time 10.395319 
-----t: 0.0275725
OdomCount 4023 & avg odom time 0.045869 ms ++++++++++++++++++++++
mapping data assosiation time 27.880347 ms 
mapping solver time 27.437695 ms 
--------------------stamp1317358179.957391023
mapping data assosiation time 26.114047 ms 
sort q time 4.357143 
seperate points time 10.893673 
-----t: 0.0256387
OdomCount 4024 & avg odom time 0.045864 ms ++++++++++++++++++++++
map prepare time 2.360137 ms
map corner num 78561  surf num 38004 
build tree time 17.187814 ms 
mapping data assosiation time 25.342066 ms 
points size 84373 
sort q time 4.550710 
seperate points time 10.961408 
publication time 8.553323 ms 
whole laserOdometry time 8.584570 ms 
 
mapping solver time 18.538364 ms 
[0m[ INFO] [1718805466.991958435, 1317358180.131190250]: Received 117811 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805466.991996193, 1317358180.131190250]: Data saved to 1317358179853615.pcd[0m
build tree time 16.459840 ms 
points size 86113 
sort q time 5.066264 
seperate points time 10.304636 
publication time 9.411307 ms 
whole laserOdometry time 9.426841 ms 
 
-----t: 0.0453022
OdomCount 4026 & avg odom time 0.045867 ms ++++++++++++++++++++++
mapping data assosiation time 26.137814 ms 
--------------------stamp1317358180.268886089
prepare time 12.767303 
sort q time 5.106525 
seperate points time 12.446293 
scan registration time 30.098031 ms *************
publication time 15.625204 ms 
whole laserOdometry time 15.635415 ms 
 
mapping data assosiation time 29.427275 ms 
mapping solver time 25.693684 ms 
points size 90285 
sort q time 5.217710 
seperate points time 12.444036 
publication time 8.973506 ms 
whole laserOdometry time 8.990715 ms 
 
filter time 7.312724 ms 
build tree time 18.046423 ms 
--------------------stamp1317358180.476769924
points size 91694 
sort q time 5.450638 
seperate points time 13.283058 
publication time 11.970219 ms 
whole laserOdometry time 11.989127 ms 
 
-----t: 0.0369388
OdomCount 4029 & avg odom time 0.045864 ms ++++++++++++++++++++++
mapping data assosiation time 29.527487 ms 
--------------------stamp1317358180.580836057
mapping solver time 30.064834 ms 
filter time 8.569135 ms 
publication time 8.332718 ms 
whole laserOdometry time 8.348684 ms 
 
mapping data assosiation time 25.414301 ms 
--------------------stamp1317358180.684945106
prepare time 12.761661 
sort q time 5.633616 
seperate points time 11.901699 
publication time 8.371659 ms 
whole laserOdometry time 8.445306 ms 
-----t: 0.065308
OdomCount 4031 & avg odom time 0.045867 ms ++++++++++++++++++++++
1317358180.684945106 WriteOdom laser_odom_to_init
1317358180.684945106 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 32.149703 ms 
mapping optimization time 150.885387 
add points time 1.139432 ms
map prepare time 2.806016 ms
map corner num 82738  surf num 41276 
--------------------stamp1317358180.789103031
points size 96120 
sort q time 5.780272 
seperate points time 13.171733 
publication time 7.894703 ms 
whole laserOdometry time 7.905755 ms 
 
mapping data assosiation time 35.099508 ms 
-----t: 0.0329187
OdomCount 4032 & avg odom time 0.045864 ms ++++++++++++++++++++++
1317358180.789103031 WriteOdom laser_odom_to_init
1317358180.789103031 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 33.766410 ms 
--------------------stamp1317358180.893357992
sort q time 5.224751 
seperate points time 12.941337 
add points time 1.355908 ms
mapping pub time 6.820808 ms 
whole mapping time 169.710019 ms +++++
mappingCount 2636 & avg mapping time 154.368744 ms ++++++++++++++++++++++
1317358180.580836058 WriteOdom aft_mapped_to_init
-----t: 0.0607412
OdomCount 4033 & avg odom time 0.045868 ms ++++++++++++++++++++++
1317358180.893357992 WriteOdom laser_odom_to_init
build tree time 24.581973 ms 
--------------------stamp1317358180.997636079
prepare time 12.689199 
sort q time 7.009284 
seperate points time 14.164468 
publication time 7.904622 ms 
whole laserOdometry time 7.917763 ms 
 
-----t: 0.0769424
OdomCount 4034 & avg odom time 0.045875 ms ++++++++++++++++++++++
mapping data assosiation time 37.031685 ms 
points size 98712 
prepare time 12.737910 
scan registration time 27.621429 ms *************
mapping solver time 45.839326 ms 
mapping optimization time 193.417742 
add points time 0.784734 ms
publication time 9.821490 ms 
whole laserOdometry time 9.836485 ms 
 
map prepare time 3.857476 ms
map corner num 84602  surf num 42510 
build tree time 25.633430 ms 
--------------------stamp1317358181.206242084
prepare time 13.017571 
mapping data assosiation time 37.745752 ms 
publication time 8.808849 ms 
whole laserOdometry time 8.823459 ms 
 
-----t: 0.0450606
OdomCount 4036 & avg odom time 0.045879 ms ++++++++++++++++++++++
1317358181.206242084 WriteOdom laser_odom_to_init
1317358181.206242084 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.504311 ms 
points size 100737 
sort q time 5.562929 
seperate points time 14.026707 
filter time 9.590248 ms 
-----t: 0.0607666
OdomCount 4037 & avg odom time 0.045882 ms ++++++++++++++++++++++
--------------------stamp1317358181.414823055
prepare time 13.135246 
sort q time 6.381830 
seperate points time 13.554091 
publication time 9.294671 ms 
whole laserOdometry time 9.308531 ms 
 
-----t: 0.0431693
OdomCount 4038 & avg odom time 0.045882 ms ++++++++++++++++++++++
mapping data assosiation time 32.909629 ms 
--------------------stamp1317358181.519124031
points size 100992 
mapping pub time 2.363704 ms 
whole mapping time 178.505537 ms +++++
mappingCount 2639 & avg mapping time 154.415959 ms ++++++++++++++++++++++
1317358181.206242085 WriteOdom aft_mapped_to_init
sort q time 5.937330 
seperate points time 13.856535 
map prepare time 3.518103 ms
map corner num 86648  surf num 43842 
scan registration time 33.959941 ms *************
publication time 8.987793 ms 
whole laserOdometry time 9.001991 ms 
 
mapping data assosiation time 35.795140 ms 
--------------------stamp1317358181.623429059
points size 101267 
mapping solver time 41.530987 ms 
publication time 10.154135 ms 
whole laserOdometry time 10.166431 ms 
 
mapping solver time 32.299253 ms 
filter time 7.967704 ms 
mapping pub time 2.404148 ms 
whole mapping time 186.997065 ms +++++
mappingCount 2640 & avg mapping time 154.428303 ms ++++++++++++++++++++++
1317358181.414823055 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 101510 
map prepare time 2.757627 ms
map corner num 87634  surf num 44452 
sort q time 6.101053 
seperate points time 13.449517 
publication time 7.312496 ms 
whole laserOdometry time 7.332526 ms 
 
-----t: 0.0459394
OdomCount 4041 & avg odom time 0.045883 ms ++++++++++++++++++++++
--------------------stamp1317358181.832011938
prepare time 13.347455 
sort q time 5.947336 
seperate points time 13.501298 
mapping data assosiation time 36.744738 ms 
-----t: 0.0515646
OdomCount 4042 & avg odom time 0.045884 ms ++++++++++++++++++++++
filter time 7.520749 ms 
--------------------stamp1317358181.936266899
prepare time 14.199631 
sort q time 7.023821 
seperate points time 13.641860 
publication time 12.230515 ms 
whole laserOdometry time 12.247644 ms 
 
-----t: 0.0580059
OdomCount 4043 & avg odom time 0.045887 ms ++++++++++++++++++++++
mapping pub time 119.212193 ms 
whole mapping time 292.420095 ms +++++
mappingCount 2641 & avg mapping time 154.480554 ms ++++++++++++++++++++++
--------------------stamp1317358182.040518999
prepare time 14.834115 
sort q time 5.575534 
seperate points time 13.602595 
publication time 9.766420 ms 
whole laserOdometry time 9.798313 ms 
 
sort q time 6.214408 
seperate points time 14.941733 
publication time 7.907817 ms filter time 6.763995 ms 
build tree time 20.554725 ms 
--------------------stamp1317358182.248883008
prepare time 13.067555 
mapping data assosiation time 34.852684 ms 
sort q time 5.829561 
seperate points time 13.307939 
scan registration time 30.959155 ms *************
publication time 7.153325 ms 
whole laserOdometry time 7.167332 ms 
 
mapping solver time 42.947241 ms 
mapping data assosiation time 31.646487 ms 
points size 101508 
mapping optimization time 156.198673 
sort q time 5.968482 
seperate points time 14.304232 
map prepare time 3.463972 ms
map corner num 90308  surf num 45988 
publication time 8.478479 ms 
whole laserOdometry time 8.492744 ms 
 
build tree time 25.241944 ms 
-----t: 0.0538945
OdomCount 4047 & avg odom time 0.045892 ms ++++++++++++++++++++++
1317358182.353018999 WriteOdom laser_odom_to_init
1317358182.353018999 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.830600 ms 
points size 101478 
sort q time 5.980278 
seperate points time 12.521075 
mapping solver time 43.166874 ms 
-----t: 0.039433
OdomCount 4048 & avg odom time 0.045890 ms ++++++++++++++++++++++
mapping data assosiation time 35.915648 ms 
mapping solver time 26.482970 ms 
points size 101336 
map prepare time 3.759345 ms
map corner num 91231  surf num 46561 
scan registration time 32.846563 ms *************
build tree time 26.372990 ms 
-----t: 0.0518882
OdomCount 4049 & avg odom time 0.045892 ms ++++++++++++++++++++++
mapping data assosiation time 31.266671 ms 
--------------------stamp1317358182.665328025
points size 101262 
sort q time 6.876259 
seperate points time 16.289421 
mapping data assosiation time 37.896158 ms 
publication time 8.779974 ms 
whole laserOdometry time 8.793463 ms 
 
-----t: 0.0436195
OdomCount 4050 & avg odom time 0.045891 ms ++++++++++++++++++++++
1317358182.665328025 WriteOdom laser_odom_to_init
1317358182.665328025 WriteOdom aft_mapped_to_init_high_frec
filter time 7.124211 ms 
mapping pub time 2.281121 ms 
whole mapping time 164.404325 ms +++++
mappingCount 2645 & avg mapping time 154.511461 ms ++++++++++++++++++++++
1317358182.353018999 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.702291 ms
map corner num 92036  surf num 47023 
--------------------stamp1317358182.769391059
prepare time 11.672399 
sort q time 5.913342 
seperate points time 11.914145 
mapping data assosiation time 35.625335 ms 
-----t: 0.0470303
OdomCount 4051 & avg odom time 0.045891 ms ++++++++++++++++++++++
1317358182.769391059 WriteOdom laser_odom_to_init
1317358182.769391059 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358182.873431921
prepare time 15.978211 
filter time 10.356969 ms 
map prepare time 3.748767 ms
map corner num 92916  surf num 47585 
-----t: 0.0680198
OdomCount 4052 & avg odom time 0.045897 ms ++++++++++++++++++++++
--------------------stamp1317358182.977472066
prepare time 15.746262 
sort q time 5.464360 
seperate points time 27.220837 
mapping solver time 42.735768 ms 
publication time 10.035031 ms 
whole laserOdometry time 10.047892 ms 
 
mapping data assosiation time 32.924666 ms 
--------------------stamp1317358183.081484079
prepare time 16.535917 
map prepare time 3.240861 ms
map corner num 93835  surf num 48112 
build tree time 24.034484 ms 
-----t: 0.0612579
OdomCount 4054 & avg odom time 0.045900 ms ++++++++++++++++++++++
1317358183.081484079 WriteOdom laser_odom_to_init
1317358183.081484079 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 32.537749 ms 
points size 100467 
sort q time 5.684289 
seperate points time 11.554209 
-----t: 0.0525759
OdomCount 4055 & avg odom time 0.045902 ms ++++++++++++++++++++++
1317358183.185451030 WriteOdom laser_odom_to_init
1317358183.185451030 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 35.750098 ms 
mapping solver time 28.767273 ms 
mapping pub time 2.252086 ms 
whole mapping time 176.176817 ms +++++
mappingCount 2648 & avg mapping time 154.540762 ms ++++++++++++++++++++++
sort q time 5.737568 
seperate points time 11.898727 
build tree time 26.035561 ms 
-----t: 0.0435774
OdomCount 4056 & avg odom time 0.045901 ms ++++++++++++++++++++++
mapping data assosiation time 40.269940 ms 
--------------------stamp1317358183.393285036
prepare time 12.557080 
sort q time 5.550064 
seperate points time 12.581362 
mapping data assosiation time 35.289577 ms 
-----t: 0.0519071
OdomCount 4057 & avg odom time 0.045902 ms ++++++++++++++++++++++
filter time 7.269230 ms 
mapping pub time 2.296210 ms 
whole mapping time 173.170636 ms +++++
mappingCount 2649 & avg mapping time 154.547796 ms ++++++++++++++++++++++
1317358183.081484079 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.816402 ms
map corner num 95544  surf num 48976 
--------------------stamp1317358183.497107982
prepare time 11.565638 
sort q time 5.791864 
seperate points time 12.602465 
mapping data assosiation time 36.014155 ms 
-----t: 0.0421434
OdomCount 4058 & avg odom time 0.045901 ms ++++++++++++++++++++++
mapping solver time 41.149383 ms 
points size 99423 
sort q time 6.042025 
seperate points time 13.246072 
publication time 9.954360 ms 
whole laserOdometry time 9.982368 ms 
 
-----t: 0.0411556
OdomCount 4059 & avg odom time 0.045900 ms ++++++++++++++++++++++
mapping pub time 2.254499 ms 
whole mapping time 187.600526 ms +++++
mappingCount 2650 & avg mapping time 154.560271 ms ++++++++++++++++++++++
build tree time 28.249650 ms 
points size 99110 
sort q time 5.820228 
seperate points time 13.814773 
scan registration time 44.840102 ms *************
publication time 8.065442 ms 
whole laserOdometry time 8.079399 ms 
 
-----t: 0.0541002
OdomCount 4060 & avg odom time 0.045902 ms ++++++++++++++++++++++
mapping data assosiation time 28.261973 ms 
points size 98751 
sort q time 5.400746 
seperate points time 14.079933 
filter time 10.058392 ms 
[0m[ INFO] [1718805470.722122922, 1317358183.866339443]: Received 147205 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805470.722166114, 1317358183.866339443]: Data saved to 1317358183497107.pcd[0m
build tree time 22.947103 ms 
--------------------stamp1317358183.911827087
prepare time 14.349830 
sort q time 6.121484 
seperate points time 13.452392 
publication time 9.778383 ms 
whole laserOdometry time 9.805770 ms 
 
-----t: 0.0539911
OdomCount 4062 & avg odom time 0.045902 ms ++++++++++++++++++++++
--------------------stamp1317358184.015501976
prepare time 12.672857 
sort q time 5.885153 
seperate points time 13.815040 
publication time 8.807047 ms 
whole laserOdometry time 8.821484 ms 
 
-----t: 0.0438638
OdomCount 4063 & avg odom time 0.045902 ms ++++++++++++++++++++++
1317358184.015501976 WriteOdom laser_odom_to_init
1317358184.015501976 WriteOdom aft_mapped_to_init_high_frec
build tree time 25.246372 ms 
mapping data assosiation time 29.744360 ms 
points size 95688 
mapping solver time 39.022461 ms 
publication time 6.629789 ms 
whole laserOdometry time 6.640264 ms 
 
mapping data assosiation time 34.740046 ms 
mapping solver time 28.326046 ms 
mapping optimization time 159.522681 
add points time 0.792519 ms
1317358183.808178902 WriteOdom aft_mapped_to_init
sort q time 5.333305 
seperate points time 12.606889 
publication time 10.181324 ms 
whole laserOdometry time 10.199169 ms 
 
mapping data assosiation time 33.157273 ms 
mapping solver time 35.621826 ms 
points size 93619 
sort q time 6.149100 
seperate points time 12.978077 
publication time 7.522912 ms 
whole laserOdometry time 7.535237 ms 
 
mapping solver time 38.705745 ms 
filter time 7.025013 ms 
--------------------stamp1317358184.430242061
prepare time 12.315550 
sort q time 5.054663 
seperate points time 12.048676 
publication time 9.284558 ms 
whole laserOdometry time 9.301627 ms 
 
mapping data assosiation time 35.564552 ms 
-----t: 0.038234
OdomCount 4067 & avg odom time 0.045897 ms ++++++++++++++++++++++
1317358184.430242061 WriteOdom laser_odom_to_init
mapping solver time 37.562961 ms 
--------------------stamp1317358184.533946037
points size 92546 
prepare time 11.615074 
mapping data assosiation time 33.678557 ms 
scan registration time 27.591767 ms *************
publication time 7.419597 ms 
whole laserOdometry time 7.440834 ms 
 
filter time 7.353974 ms 
build tree time 21.832944 ms 
--------------------stamp1317358184.637650012
points size 92230 
sort q time 4.955410 
seperate points time 12.046525 
publication time 8.259151 ms 
whole laserOdometry time 8.272441 ms 
 
mapping data assosiation time 30.387025 ms 
--------------------stamp1317358184.741398096
add points time 0.772339 ms
filter time 11.191983 ms 
publication time 10.665568 ms mapping data assosiation time 32.462549 ms 
--------------------stamp1317358184.845171928
prepare time 11.492605 
mapping solver time 32.878549 ms 
publication time 10.705063 ms 
whole laserOdometry time 10.722762 ms 
 
mapping data assosiation time 37.130198 ms 
mapping solver time 30.130583 ms 
filter time 7.943489 ms 
prepare time 12.358974 
sort q time 4.949876 
seperate points time 12.005054 
publication time 11.646359 ms 
whole laserOdometry time 11.681354 ms 
 
-----t: 0.0440764
OdomCount 4072 & avg odom time 0.045893 ms ++++++++++++++++++++++
mapping data assosiation time 36.070164 ms 
--------------------stamp1317358185.052747964
points size 88774 
sort q time 4.875859 
seperate points time 11.832482 
mapping data assosiation time 35.827997 ms 
-----t: 0.0483384
OdomCount 4073 & avg odom time 0.045894 ms ++++++++++++++++++++++
1317358185.052747964 WriteOdom laser_odom_to_init
1317358185.052747964 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 35.447015 ms 
mapping optimization time 175.895612 
add points time 0.827451 ms
map prepare time 2.798745 ms
map corner num 103345  surf num 52898 
--------------------stamp1317358185.156570911
build tree time 26.251774 ms 
publication time 9.117752 ms 
whole laserOdometry time 9.129253 ms 
 
mapping solver time 37.364305 ms 
--------------------stamp1317358185.260416984
points size 87961 
prepare time 13.945224 
-----t: 0.0350651
OdomCount 4075 & avg odom time 0.045888 ms ++++++++++++++++++++++
1317358185.260416984 WriteOdom laser_odom_to_init
1317358185.260416984 WriteOdom aft_mapped_to_init_high_frec
publication time 7.642728 ms 
whole laserOdometry time 7.650174 ms 
 
filter time 7.581683 ms 
--------------------stamp1317358185.364286899
prepare time 11.450383 
sort q time 5.718629 
seperate points time 11.079067 
mapping data assosiation time 36.993163 ms 
publication time 8.421695 ms 
whole laserOdometry time 8.435820 ms 
 
mapping solver time 56.574680 ms 
points size 88209 
sort q time 4.096486 
seperate points time 10.094991 
publication time 16.559026 ms 
whole laserOdometry time 16.580522 ms 
 
mapping data assosiation time 83.621971 ms 
--------------------stamp1317358185.572102069
points size 88637 
-----t: 0.10209
OdomCount 4077 & avg odom time 0.045902 ms ++++++++++++++++++++++
publication time 9.685365 ms 
whole laserOdometry time 9.703589 ms 
 
--------------------stamp1317358185.676022052
points size 88751 
-----t: 0.0841646
OdomCount 4078 & avg odom time 0.045912 ms ++++++++++++++++++++++
sort q time 5.260163 
seperate points time 34.567429 
publication time 12.095649 ms 
whole laserOdometry time 12.113511 ms 
 
points size 87135 
-----t: 0.0954552
OdomCount 4079 & avg odom time 0.045924 ms ++++++++++++++++++++++
publication time 12.357218 ms 
whole laserOdometry time 12.374381 ms 
 
1317358185.779959917 WriteOdom laser_odom_to_init
1317358185.779959917 WriteOdom aft_mapped_to_init_high_frec
points size 86164 
prepare time 10.613720 
filter time 8.477703 ms 
-----t: 0.0405106
OdomCount 4081 & avg odom time 0.045926 ms ++++++++++++++++++++++
--------------------stamp1317358185.987920999
prepare time 13.026565 
sort q time 4.648826 
seperate points time 11.089191 
scan registration time 28.874101 ms *************
-----t: 0.0432419
OdomCount 4082 & avg odom time 0.045925 ms ++++++++++++++++++++++
mapping pub time 158.863164 ms 
whole mapping time 435.132779 ms +++++
mappingCount 2661 & avg mapping time 154.816564 ms ++++++++++++++++++++++
--------------------stamp1317358186.091932058
prepare time 12.857465 
sort q time 5.137726 
seperate points time 11.021656 
publication time 7.614661 ms 
whole laserOdometry time 7.629430 ms 
 
mapping data assosiation time 37.711415 ms 
--------------------stamp1317358186.195924043
points size 82600 
scan registration time 28.562523 ms *************
mapping data assosiation time 37.457038 ms 
mapping solver time 39.581092 ms 
filter time 11.306115 ms 
points size 81749 
sort q time 4.656348 
seperate points time 10.780856 
scan registration time 26.816375 ms *************
-----t: 0.0444265
OdomCount 4085 & avg odom time 0.045921 ms ++++++++++++++++++++++
--------------------stamp1317358186.403930902
points size 81007 
sort q time 4.777641 
seperate points time 11.641571 
publication time 7.848151 ms 
whole laserOdometry time 7.860530 ms 
 
-----t: 0.0500262
OdomCount 4086 & avg odom time 0.045922 ms ++++++++++++++++++++++
mapping solver time 38.611456 ms 
filter time 11.186996 ms 
sort q time 4.756315 
seperate points time 10.502192 
build tree time 29.591939 ms 
mapping data assosiation time 30.923184 ms 
mapping solver time 29.315041 ms 
points size 80170 
sort q time 4.298967 
seperate points time 10.255581 
-----t: 0.0327998
OdomCount 4088 & avg odom time 0.045916 ms ++++++++++++++++++++++
mapping solver time 32.144348 ms 
filter time 7.802850 ms 
--------------------stamp1317358186.716028928
sort q time 4.154242 
seperate points time 9.687616 
mapping data assosiation time 40.261481 ms 
publication time 7.013118 ms 
whole laserOdometry time 7.030152 ms 
 
mapping solver time 32.440813 ms 
mapping data assosiation time 28.967630 ms 
points size 80390 
sort q time 4.280815 
seperate points time 10.837295 
filter time 8.270189 ms 
publication time 7.452722 ms 
whole laserOdometry time 7.470347 ms 
 
map prepare time 4.498249 ms
map corner num 109239  surf num 55573 
build tree time 26.230138 ms 
mapping data assosiation time 29.833530 ms 
prepare time 12.873930 
sort q time 4.338973 
seperate points time 10.374000 
mapping solver time 38.228676 ms 
1317358186.923836946 WriteOdom aft_mapped_to_init_high_frec
publication time 7.805345 ms 
whole laserOdometry time 7.819707 ms 
 
mapping data assosiation time 32.558521 ms 
mapping solver time 29.294850 ms 
points size 82110 
map prepare time 2.645459 ms
map corner num 110151  surf num 56018 
publication time 8.973859 ms 
whole laserOdometry time 8.981361 ms -----t: 0.0383856
OdomCount 4092 & avg odom time 0.045911 ms ++++++++++++++++++++++
mapping data assosiation time 31.500569 ms 
--------------------stamp1317358187.131725072
prepare time 10.709797 
sort q time 5.165664 
seperate points time 11.292439 
publication time 6.717020 ms 
whole laserOdometry time 6.726765 ms 
 
mapping data assosiation time 36.243983 ms 
mapping solver time 24.262940 ms 
filter time 8.054260 ms 
--------------------stamp1317358187.235667943
prepare time 13.375355 
sort q time 4.530062 
seperate points time 10.884409 
publication time 7.717401 ms 
whole laserOdometry time 7.731281 ms 
 
mapping solver time 35.527670 ms 
--------------------stamp1317358187.339586019
mapping data assosiation time 35.010200 ms 
-----t: 0.0370219
OdomCount 4095 & avg odom time 0.045906 ms ++++++++++++++++++++++
filter time 8.386497 ms 
build tree time 19.183896 ms 
--------------------stamp1317358187.443504095
sort q time 4.720554 
seperate points time 11.041308 
publication time 6.947533 ms 
whole laserOdometry time 6.961770 ms 
 
mapping solver time 43.348220 ms 
mapping data assosiation time 30.170632 ms 
points size 87736 
sort q time 4.943069 
seperate points time 10.160581 
mapping optimization time 165.266568 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 3.244931 ms
map corner num 76299  surf num 40123 
-----t: 0.0415242
OdomCount 4097 & avg odom time 0.045905 ms ++++++++++++++++++++++
build tree time 18.406059 ms 
mapping data assosiation time 29.226319 ms 
points size 89721 
mapping solver time 37.555032 ms 
-----t: 0.0336419
OdomCount 4098 & avg odom time 0.045902 ms ++++++++++++++++++++++
mapping data assosiation time 33.374049 ms 
mapping solver time 31.376747 ms 
mapping pub time 2.084033 ms 
whole mapping time 167.010973 ms +++++
mappingCount 2670 & avg mapping time 154.917531 ms ++++++++++++++++++++++
build tree time 21.410764 ms 
publication time 7.417336 ms 
whole laserOdometry time 7.429189 ms 
 
mapping data assosiation time 35.331732 ms 
mapping solver time 30.917643 ms 
points size 92439 
sort q time 6.838264 
seperate points time 12.857658 
add points time 0.916711 ms
map prepare time 3.335876 ms
map corner num 78121  surf num 40916 
--------------------stamp1317358187.963144063
prepare time 14.955695 
sort q time 5.263937 
seperate points time 12.541191 
-----t: 0.042519
OdomCount 4101 & avg odom time 0.045903 ms ++++++++++++++++++++++
mapping solver time 34.565612 ms 
mapping data assosiation time 30.194486 ms 
prepare time 12.211671 
sort q time 5.820002 
seperate points time 11.201377 
filter time 8.297074 ms 
-----t: 0.0445279
OdomCount 4102 & avg odom time 0.045903 ms ++++++++++++++++++++++
build tree time 20.397952 ms 
mapping data assosiation time 30.134180 ms 
points size 89765 
sort q time 4.882420 
seperate points time 11.816404 
mapping solver time 41.542926 ms 
-----t: 0.0382236
OdomCount 4103 & avg odom time 0.045901 ms ++++++++++++++++++++++
mapping data assosiation time 33.334914 ms 
mapping solver time 22.074485 ms 
--------------------stamp1317358188.274926900
sort q time 4.757875 
seperate points time 11.229950 
publication time 11.049295 ms 
whole laserOdometry time 11.060342 ms 
 
mapping data assosiation time 35.491533 ms 
mapping solver time 37.455223 ms 
prepare time 13.351740 
sort q time 4.493037 
seperate points time 10.694296 
publication time 7.519681 ms 
whole laserOdometry time 7.531565 ms 
 
-----t: 0.0385044
OdomCount 4105 & avg odom time 0.045897 ms ++++++++++++++++++++++
1317358188.378917932 WriteOdom laser_odom_to_init
1317358188.378917932 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 35.186034 ms 
filter time 8.303903 ms 
--------------------stamp1317358188.482933044
points size 85865 
sort q time 4.768300 
seperate points time 11.102138 
mapping data assosiation time 36.554369 ms 
publication time 7.100635 ms 
whole laserOdometry time 7.110926 ms 
 
mapping solver time 33.860394 ms 
--------------------stamp1317358188.586971998
points size 86396 
sort q time 4.858026 
seperate points time 10.961451 
mapping solver time 32.437886 ms 
filter time 9.555498 ms 
build tree time 18.663986 ms 
--------------------stamp1317358188.691031932
prepare time 13.287853 
sort q time 4.815342 
seperate points time 11.129467 
publication time 7.808022 ms 
whole laserOdometry time 7.820607 ms 
 
mapping solver time 36.831152 ms 
mapping data assosiation time 29.990228 ms 
mapping solver time 22.085362 ms 
[0m[ INFO] [1718805475.655713499, 1317358188.793216570]: Received 124950 data points in frame camera_init with the following fields: x y z intensity[0m
sort q time 5.031645 
seperate points time 11.584142 
publication time 9.022896 ms 
whole laserOdometry time 9.035402 ms 
 
mapping solver time 28.039954 ms 
points size 88199 
sort q time 4.877491 
seperate points time 10.888724 
publication time 8.004603 ms 
whole laserOdometry time 8.020482 ms 
 
-----t: 0.0473321
OdomCount 4110 & avg odom time 0.045889 ms ++++++++++++++++++++++
filter time 6.307430 ms 
build tree time 19.563522 ms 
points size 89015 
sort q time 5.190238 
seperate points time 10.969055 
scan registration time 26.873234 ms *************
mapping data assosiation time 35.486958 ms 
publication time 9.048086 ms 
whole laserOdometry time 9.060637 ms 
 
-----t: 0.0426626
OdomCount 4111 & avg odom time 0.045888 ms ++++++++++++++++++++++
mapping solver time 42.993011 ms 
mapping data assosiation time 28.132817 ms 
points size 90290 
scan registration time 29.575120 ms *************
-----t: 0.0493783
OdomCount 4112 & avg odom time 0.045889 ms ++++++++++++++++++++++
mapping data assosiation time 27.657145 ms 
--------------------stamp1317358189.211393117
points size 91297 
mapping solver time 42.603849 ms 
sort q time 6.752246 
seperate points time 14.778912 
-----t: 0.0373324
OdomCount 4113 & avg odom time 0.045887 ms ++++++++++++++++++++++
mapping data assosiation time 33.506996 ms 
mapping solver time 22.293803 ms 
mapping optimization time 153.315108 
add points time 0.766408 ms
map prepare time 4.706649 ms
map corner num 84700  surf num 43554 
prepare time 14.000214 
sort q time 5.935740 
seperate points time 13.030157 
publication time 8.459236 ms 
whole laserOdometry time 8.474959 ms 
 
mapping data assosiation time 33.033539 ms 
mapping solver time 35.503575 ms 
points size 94635 
mapping data assosiation time 37.100723 ms 
-----t: 0.0376191
OdomCount 4115 & avg odom time 0.045883 ms ++++++++++++++++++++++
mapping solver time 35.711356 ms 
filter time 6.991127 ms 
--------------------stamp1317358189.523437023
points size 95831 
sort q time 5.068604 
seperate points time 10.355947 
mapping data assosiation time 35.138194 ms 
publication time 16.881917 ms 
whole laserOdometry time 16.896706 ms 
 
mapping solver time 32.923903 ms 
mapping data assosiation time 27.278195 ms 
points size 97587 
sort q time 5.388649 
seperate points time 12.411570 
filter time 7.311686 ms 
--------------------stamp1317358189.731370925
points size 101346 
scan registration time 45.816570 ms *************
publication time 13.479276 ms 
whole laserOdometry time 13.495021 ms 
 
build tree time 21.227293 ms 
--------------------stamp1317358189.835339069
prepare time 13.256886 
mapping data assosiation time 36.494526 ms 
publication time 10.008188 ms 
whole laserOdometry time 10.025079 ms 
 
-----t: 0.0597375
OdomCount 4119 & avg odom time 0.045885 ms ++++++++++++++++++++++
1317358189.835339069 WriteOdom laser_odom_to_init
1317358189.835339069 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 32.875339 ms 
--------------------stamp1317358189.939284086
prepare time 13.615349 
filter time 9.432059 ms 
publication time 15.222537 ms 
whole laserOdometry time 15.238091 ms 
 
mapping data assosiation time 38.184298 ms 
points size 99634 
sort q time 6.187944 
seperate points time 14.576296 
publication time 8.799311 ms 
whole laserOdometry time 8.831787 ms 
 
mapping data assosiation time 36.233074 ms 
mapping solver time 21.319631 ms 
filter time 6.750845 ms 
points size 96796 
sort q time 5.536912 
seperate points time 13.029162 
build tree time 21.558921 ms 
scan registration time 29.872322 ms *************
publication time 12.400061 ms 
whole laserOdometry time 12.419219 ms 
 
mapping solver time 26.607297 ms 
points size 93949 
mapping data assosiation time 35.061346 ms 
publication time 6.657147 ms 
whole laserOdometry time 6.671316 ms 
 
filter time 9.326174 ms 
map prepare time 3.992538 ms
map corner num 88862  surf num 45430 
build tree time 22.291320 ms 
--------------------stamp1317358190.355099916
points size 91565 
mapping data assosiation time 34.202881 ms 
sort q time 4.978076 
seperate points time 11.466550 
publication time 7.042123 ms 
whole laserOdometry time 7.059407 ms 
 
-----t: 0.035677
OdomCount 4124 & avg odom time 0.045888 ms ++++++++++++++++++++++
mapping data assosiation time 27.533296 ms 
--------------------stamp1317358190.459115028
prepare time 13.800624 
sort q time 5.320910 
seperate points time 12.169536 
build tree time 28.314136 ms 
mapping data assosiation time 27.943883 ms 
--------------------stamp1317358190.563127994
prepare time 10.906672 
sort q time 4.921739 
seperate points time 10.565970 
mapping data assosiation time 34.591909 ms 
publication time 7.836151 ms 
whole laserOdometry time 7.850525 ms 
 
mapping solver time 21.531153 ms 
filter time 7.178511 ms 
--------------------stamp1317358190.667120933
sort q time 5.125518 
seperate points time 11.357324 
publication time 7.884913 ms 
whole laserOdometry time 7.897822 ms 
 
mapping solver time 29.761298 ms 
mapping data assosiation time 28.408646 ms 
--------------------stamp1317358190.771111965
mapping solver time 21.208415 ms 
filter time 9.313837 ms 
sort q time 4.627177 
seperate points time 10.392949 
mapping pub time 2.117167 ms 
whole mapping time 152.675491 ms +++++
mappingCount 2687 & avg mapping time 155.050256 ms ++++++++++++++++++++++
1317358190.459115028 WriteOdom aft_mapped_to_init
scan registration time 27.746525 ms *************
publication time 12.585081 ms 
whole laserOdometry time 12.603749 ms 
 
build tree time 26.664201 ms 
mapping data assosiation time 27.612218 ms 
--------------------stamp1317358190.875124931
points size 78006 
sort q time 4.284016 
seperate points time 9.874825 
publication time 7.225619 ms 
whole laserOdometry time 7.236484 ms 
 
-----t: 0.0483351
OdomCount 4129 & avg odom time 0.045882 ms ++++++++++++++++++++++
1317358190.875124931 WriteOdom laser_odom_to_init
1317358190.875124931 WriteOdom aft_mapped_to_init_high_frec
add points time 0.966143 ms
mapping pub time 1.936854 ms 
whole mapping time 165.922351 ms +++++
mappingCount 2688 & avg mapping time 155.054302 ms ++++++++++++++++++++++
--------------------stamp1317358190.979162931
build tree time 24.835036 ms 
mapping data assosiation time 29.984343 ms 
-----t: 0.0483084
OdomCount 4130 & avg odom time 0.045883 ms ++++++++++++++++++++++
mapping solver time 35.385346 ms 
--------------------stamp1317358191.083275079
sort q time 4.744139 
seperate points time 9.716153 
publication time 7.327802 ms 
whole laserOdometry time 7.343409 ms 
 
filter time 7.207879 ms 
build tree time 20.114306 ms 
--------------------stamp1317358191.187433958
prepare time 11.437066 
sort q time 4.600973 
seperate points time 11.483577 
-----t: 0.0401049
OdomCount 4132 & avg odom time 0.045878 ms ++++++++++++++++++++++
mapping data assosiation time 34.362929 ms 
mapping solver time 26.587198 ms 
filter time 9.774436 ms 
sort q time 4.986068 
seperate points time 12.066420 
publication time 9.422870 ms 
whole laserOdometry time 9.439239 ms 
 
-----t: 0.0545376
OdomCount 4133 & avg odom time 0.045881 ms ++++++++++++++++++++++
mapping solver time 31.332258 ms 
points size 92716 
sort q time 5.209363 
seperate points time 11.982029 
publication time 9.895200 ms 
whole laserOdometry time 9.910938 ms 
 
-----t: 0.0329792
OdomCount 4134 & avg odom time 0.045877 ms ++++++++++++++++++++++
1317358191.395751953 WriteOdom laser_odom_to_init
1317358191.395751953 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 35.600038 ms 
mapping optimization time 159.963591 
add points time 1.065261 ms
map prepare time 2.810868 ms
map corner num 95001  surf num 48417 
--------------------stamp1317358191.499910116
prepare time 11.741853 
sort q time 5.538282 
seperate points time 12.640916 
mapping data assosiation time 35.168370 ms 
publication time 9.056788 ms 
whole laserOdometry time 9.069445 ms 
 
mapping solver time 40.195389 ms 
--------------------stamp1317358191.604046106
points size 96571 
sort q time 5.494226 
seperate points time 14.136540 
scan registration time 31.909851 ms *************
mapping solver time 32.319705 ms 
mapping optimization time 161.850895 
filter time 10.576070 ms 
-----t: 0.0473929
OdomCount 4136 & avg odom time 0.045883 ms ++++++++++++++++++++++
build tree time 23.286276 ms 
--------------------stamp1317358191.708157062
mapping data assosiation time 38.967336 ms 
sort q time 5.517835 
seperate points time 13.862024 
mapping solver time 43.789543 ms 
-----t: 0.0674905
OdomCount 4137 & avg odom time 0.045888 ms ++++++++++++++++++++++
mapping data assosiation time 35.619445 ms 
points size 96419 
sort q time 5.621138 
seperate points time 11.757894 
filter time 12.678260 ms 
publication time 11.673628 ms 
whole laserOdometry time 11.690757 ms 
 
-----t: 0.0566849
OdomCount 4138 & avg odom time 0.045891 ms ++++++++++++++++++++++
--------------------stamp1317358191.916302919
prepare time 12.513546 
sort q time 5.050494 
seperate points time 11.357716 
scan registration time 28.886100 ms *************
mapping solver time 33.011216 ms 
-----t: 0.0392186
OdomCount 4139 & avg odom time 0.045889 ms ++++++++++++++++++++++
1317358191.916302919 WriteOdom laser_odom_to_init
publication time 9.413894 ms 
whole laserOdometry time 9.423391 ms 
 
1317358191.916302919 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.249794 ms 
--------------------stamp1317358192.020368099
prepare time 12.140130 
map prepare time 3.757324 ms
map corner num 98444  surf num 50182 
publication time 13.317581 ms 
whole laserOdometry time 13.344015 ms 
 
-----t: 0.0480214
OdomCount 4140 & avg odom time 0.045889 ms ++++++++++++++++++++++
mapping data assosiation time 37.986517 ms 
--------------------stamp1317358192.124408006
prepare time 14.247539 
mapping solver time 39.572370 ms 
sort q time 15.432961 
seperate points time 23.065877 
publication time 12.105893 ms 
whole laserOdometry time 12.123644 ms 
 
mapping solver time 27.229884 ms 
filter time 7.342958 ms 
points size 98982 
sort q time 5.478809 
seperate points time 11.657731 
publication time 9.131766 ms 
whole laserOdometry time 9.145839 ms 
 
mapping data assosiation time 33.904457 ms 
--------------------stamp1317358192.332434892
points size 100074 
sort q time 5.626173 
seperate points time 13.413888 
publication time 9.673242 ms 
whole laserOdometry time 9.688396 ms 
 
mapping solver time 29.501619 ms 
mapping optimization time 165.247541 
add points time 1.140912 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317358192.436400890
build tree time 25.917462 ms 
scan registration time 38.683056 ms *************
mapping data assosiation time 40.599179 ms 
publication time 10.951125 ms 
whole laserOdometry time 10.970418 ms 
 
-----t: 0.0628184
OdomCount 4144 & avg odom time 0.045889 ms ++++++++++++++++++++++
mapping solver time 34.264661 ms 
--------------------stamp1317358192.540321111
points size 101728 
sort q time 5.962285 
seperate points time 14.369870 
mapping solver time 33.179778 ms 
mapping optimization time 172.431585 
add points time 1.007906 ms
publication time 12.789384 ms 
whole laserOdometry time 12.803262 ms 
 
filter time 8.684764 ms 
build tree time 24.269521 ms 
points size 101595 
mapping data assosiation time 40.961082 ms 
-----t: 0.0406663
OdomCount 4146 & avg odom time 0.045890 ms ++++++++++++++++++++++
mapping solver time 43.699676 ms 
--------------------stamp1317358192.748039960
prepare time 14.733871 
sort q time 5.622381 
seperate points time 13.781958 
mapping solver time 31.942868 ms 
mapping optimization time 177.319108 
mapping pub time 2.352374 ms 
whole mapping time 194.892733 ms +++++
mappingCount 2698 & avg mapping time 155.151054 ms ++++++++++++++++++++++
build tree time 24.709621 ms 
--------------------stamp1317358192.851814031
prepare time 13.587583 
sort q time 6.593091 
seperate points time 14.768085 
publication time 9.243594 ms 
whole laserOdometry time 9.256325 ms 
 
mapping solver time 44.725602 ms 
-----t: 0.0588184
OdomCount 4148 & avg odom time 0.045894 ms ++++++++++++++++++++++
1317358192.851814031 WriteOdom laser_odom_to_init
1317358192.851814031 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.366839 ms 
points size 101911 
prepare time 13.119107 
scan registration time 31.304755 ms *************
filter time 8.405939 ms 
-----t: 0.0611736
OdomCount 4149 & avg odom time 0.045898 ms ++++++++++++++++++++++
--------------------stamp1317358193.059290885
prepare time 13.681470 
sort q time 6.725935 
seperate points time 13.785391 
publication time 8.308214 ms 
whole laserOdometry time 8.328310 ms 
 
mapping data assosiation time 33.356630 ms 
--------------------stamp1317358193.163042068
prepare time 13.622390 
drop lidar frame in mapping for real time performance 
publication time 7.996969 ms 
whole laserOdometry time 8.011750 ms 
 
build tree time 29.228681 ms 
-----t: 0.0624519
OdomCount 4151 & avg odom time 0.045900 ms ++++++++++++++++++++++
1317358193.163042068 WriteOdom laser_odom_to_init
1317358193.163042068 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358193.266817092
points size 102373 
mapping solver time 37.207523 ms 
scan registration time 35.880767 ms *************
publication time 10.621285 ms 
whole laserOdometry time 10.631756 ms 
 
mapping data assosiation time 37.208417 ms 
mapping solver time 27.815730 ms 
filter time 8.850066 ms 
prepare time 16.867523 
sort q time 7.178471 
seperate points time 13.569490 
-----t: 0.0500067
OdomCount 4153 & avg odom time 0.045900 ms ++++++++++++++++++++++
--------------------stamp1317358193.474319934
points size 102518 
mapping pub time 127.671465 ms 
whole mapping time 310.511866 ms +++++
mappingCount 2701 & avg mapping time 155.232960 ms ++++++++++++++++++++++
1317358192.955563068 WriteOdom aft_mapped_to_init
publication time 9.861785 ms 
whole laserOdometry time 9.876762 ms 
 
mapping data assosiation time 37.734745 ms 
prepare time 11.530497 
sort q time 5.750958 
seperate points time 12.118931 
mapping solver time 38.088347 ms 
mapping data assosiation time 38.321402 ms 
--------------------stamp1317358193.681893110
filter time 8.774758 ms 
sort q time 5.996992 
seperate points time 13.631620 
build tree time 27.926408 ms 
-----t: 0.0478313
OdomCount 4156 & avg odom time 0.045912 ms ++++++++++++++++++++++
1317358193.681893110 WriteOdom laser_odom_to_init
1317358193.681893110 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 35.851945 ms 
--------------------stamp1317358193.785691976
points size 101665 
sort q time 6.660625 
seperate points time 14.163479 
mapping data assosiation time 37.144413 ms 
-----t: 0.052695
OdomCount 4157 & avg odom time 0.045914 ms ++++++++++++++++++++++
mapping solver time 30.930002 ms 
filter time 8.218475 ms 
map prepare time 3.564768 ms
map corner num 108041  surf num 54671 
build tree time 28.740894 ms 
-----t: 0.0444638
OdomCount 4158 & avg odom time 0.045914 ms ++++++++++++++++++++++
mapping solver time 31.936730 ms 
points size 101407 
sort q time 5.510487 
seperate points time 13.369204 
-----t: 0.0363744
OdomCount 4159 & avg odom time 0.045911 ms ++++++++++++++++++++++
mapping solver time 28.560459 ms 
filter time 8.494133 ms 
map prepare time 3.399647 ms
map corner num 109207  surf num 55439 
--------------------stamp1317358194.097090005
sort q time 5.729246 
seperate points time 13.716013 
scan registration time 29.599561 ms *************
publication time 9.648484 ms 
whole laserOdometry time 9.661963 ms 
 
--------------------stamp1317358194.200887918
prepare time 12.303321 
sort q time 5.816051 
seperate points time 14.291060 
filter time 10.502871 ms 
publication time 10.385145 ms 
whole laserOdometry time 10.399926 ms 
 
build tree time 26.160300 ms 
--------------------stamp1317358194.304661035
prepare time 11.131833 
sort q time 6.023197 
seperate points time 13.410152 
publication time 8.054205 ms 
whole laserOdometry time 8.068381 ms 
 
mapping solver time 38.510668 ms 
mapping data assosiation time 31.049553 ms 
--------------------stamp1317358194.408437013
points size 98365 
sort q time 5.390687 
seperate points time 13.954252 
scan registration time 43.471948 ms *************
-----t: 0.043996
OdomCount 4163 & avg odom time 0.045908 ms ++++++++++++++++++++++
build tree time 28.728338 ms 
--------------------stamp1317358194.512188911
prepare time 12.940816 
sort q time 5.521555 
seperate points time 12.732954 
mapping solver time 40.374406 ms 
-----t: 0.0532339
OdomCount 4164 & avg odom time 0.045910 ms ++++++++++++++++++++++
mapping data assosiation time 33.745960 ms 
--------------------stamp1317358194.615915060
prepare time 14.039059 
sort q time 5.453382 
seperate points time 13.148849 
build tree time 26.707670 ms 
-----t: 0.060926
OdomCount 4165 & avg odom time 0.045914 ms ++++++++++++++++++++++
1317358194.615915060 WriteOdom laser_odom_to_init
1317358194.615915060 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 33.929950 ms 
--------------------stamp1317358194.719618082
prepare time 12.987616 
sort q time 5.637661 
seperate points time 12.688709 
publication time 9.600773 ms 
whole laserOdometry time 9.613894 ms 
 
mapping data assosiation time 36.557287 ms 
mapping solver time 28.985819 ms 
filter time 10.335126 ms 
points size 94717 
prepare time 14.354077 
scan registration time 33.485699 ms *************
publication time 9.047048 ms 
whole laserOdometry time 9.059309 ms 
 
mapping data assosiation time 33.722939 ms 
--------------------stamp1317358194.927093982
prepare time 16.388270 
scan registration time 38.005933 ms *************
publication time 9.334332 ms 
whole laserOdometry time 9.355314 ms 
 
mapping solver time 31.415469 ms 
filter time 8.220774 ms 
points size 93589 
build tree time 32.040114 ms 
scan registration time 35.659520 ms *************
-----t: 0.036843
OdomCount 4169 & avg odom time 0.045911 ms ++++++++++++++++++++++
mapping solver time 25.817703 ms 
--------------------stamp1317358195.134572982
points size 92756 
sort q time 5.146362 
seperate points time 12.234148 
mapping solver time 34.027001 ms 
filter time 10.667859 ms 
build tree time 24.051490 ms 
points size 92373 
mapping data assosiation time 36.084788 ms 
-----t: 0.0374102
OdomCount 4171 & avg odom time 0.045907 ms ++++++++++++++++++++++
mapping solver time 35.623341 ms 
mapping data assosiation time 31.063217 ms 
points size 91881 
sort q time 4.954797 
seperate points time 11.892868 
filter time 8.553554 ms 
-----t: 0.0615046
OdomCount 4172 & avg odom time 0.045911 ms ++++++++++++++++++++++
build tree time 30.692484 ms 
--------------------stamp1317358195.445919036
mapping data assosiation time 32.761556 ms 
sort q time 5.372452 
seperate points time 16.835075 
mapping solver time 41.352465 ms 
publication time 7.114718 ms 
whole laserOdometry time 7.124750 ms 
 
--------------------stamp1317358195.549742937
prepare time 13.048158 
scan registration time 28.455976 ms *************
publication time 11.882691 ms 
whole laserOdometry time 11.906939 ms 
build tree time 30.596060 ms 
mapping data assosiation time 28.213488 ms 
points size 94083 
sort q time 5.672157 
seperate points time 11.517530 
publication time 9.673486 ms 
whole laserOdometry time 9.687674 ms 
 
mapping data assosiation time 34.446840 ms 
mapping solver time 25.357272 ms 
filter time 9.969983 ms 
points size 95849 
sort q time 5.669622 
seperate points time 13.415014 
publication time 11.203913 ms 
whole laserOdometry time 11.215854 ms 
 
mapping solver time 29.400991 ms 
points size 96273 
sort q time 5.160949 
seperate points time 12.064195 
publication time 11.696479 ms 
whole laserOdometry time 11.709745 ms 
 
add points time 1.167625 ms
-----t: 0.0427311
OdomCount 4177 & avg odom time 0.045912 ms ++++++++++++++++++++++
1317358195.861186027 WriteOdom laser_odom_to_init
1317358195.861186027 WriteOdom aft_mapped_to_init_high_frec
build tree time 26.658812 ms 
prepare time 11.380380 
sort q time 5.678127 
seperate points time 12.604141 
publication time 9.791638 ms 
whole laserOdometry time 9.803123 ms 
 
-----t: 0.0432848
OdomCount 4178 & avg odom time 0.045911 ms ++++++++++++++++++++++
mapping data assosiation time 24.427907 ms 
--------------------stamp1317358196.068902015
points size 94734 
filter time 11.336814 ms 
1317358195.757339954 WriteOdom aft_mapped_to_init
publication time 9.920626 ms 
whole laserOdometry time 9.934027 ms 
 
build tree time 35.941718 ms 
mapping data assosiation time 25.641668 ms 
--------------------stamp1317358196.172797918
prepare time 11.666471 
sort q time 5.273594 
seperate points time 12.153597 
mapping data assosiation time 30.774544 ms 
1317358196.172797918 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.958749 ms 
filter time 12.055589 ms 
map prepare time 3.896789 ms
map corner num 121099  surf num 61084 
build tree time 33.503074 ms 
mapping data assosiation time 29.434070 ms 
mapping solver time 24.262786 ms 
--------------------stamp1317358196.380660057
sort q time 5.092693 
seperate points time 12.189800 
filter time 12.658562 ms 
build tree time 28.530645 ms 
--------------------stamp1317358196.484602928
sort q time 5.278477 
seperate points time 11.877795 
mapping solver time 28.401820 ms 
publication time 11.299009 ms 
whole laserOdometry time 11.315745 ms 
 
mapping data assosiation time 30.280469 ms 
mapping solver time 22.776112 ms 
--------------------stamp1317358196.588572025
prepare time 14.258868 
sort q time 5.352439 
seperate points time 11.907205 
publication time 7.745342 ms 
whole laserOdometry time 7.758996 ms 
 
-----t: 0.0503462
OdomCount 4184 & avg odom time 0.045908 ms ++++++++++++++++++++++
mapping data assosiation time 30.484416 ms 
--------------------stamp1317358196.692536115
points size 87918 
scan registration time 29.002063 ms *************
publication time 8.037399 ms 
whole laserOdometry time 8.052353 ms 
 
mapping solver time 28.125866 ms 
filter time 10.868077 ms 
-----t: 0.0724319
OdomCount 4185 & avg odom time 0.045914 ms ++++++++++++++++++++++
points size 88039 
build tree time 33.432061 ms 
sort q time 5.796515 
seperate points time 11.710937 
scan registration time 29.749937 ms *************
publication time 14.520875 ms 
whole laserOdometry time 14.535593 ms 
 
mapping solver time 28.134658 ms 
--------------------stamp1317358196.900518894
prepare time 10.738155 
sort q time 5.614104 
seperate points time 11.024453 
add points time 1.220195 ms
publication time 10.644623 ms 
whole laserOdometry time 10.665287 ms 
 
filter time 12.708539 ms 
1317358196.900518894 WriteOdom aft_mapped_to_init_high_frec
build tree time 24.911565 ms 
mapping data assosiation time 23.070376 ms 
points size 89681 
mapping solver time 28.520997 ms 
publication time 9.423597 ms 
whole laserOdometry time 9.436056 ms 
 mapping solver time 25.616057 ms 
filter time 7.535780 ms 
--------------------stamp1317358197.108477115
prepare time 14.510953 
sort q time 5.875166 
seperate points time 12.346015 
publication time 11.618344 ms 
whole laserOdometry time 11.636083 ms 
 
-----t: 0.0418127
OdomCount 4189 & avg odom time 0.045908 ms ++++++++++++++++++++++
1317358197.108477115 WriteOdom laser_odom_to_init
1317358197.108477115 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358197.212393045
prepare time 15.005189 
sort q time 5.640240 
seperate points time 12.453061 
publication time 9.353788 ms 
whole laserOdometry time 9.383187 ms 
 
-----t: 0.0442754
OdomCount 4190 & avg odom time 0.045908 ms ++++++++++++++++++++++
mapping data assosiation time 26.503194 ms 
--------------------stamp1317358197.316286087
prepare time 12.599103 
scan registration time 31.678984 ms *************
mapping data assosiation time 34.259896 ms 
mapping solver time 25.925097 ms 
filter time 9.779344 ms 
--------------------stamp1317358197.420160055
prepare time 12.348755 
scan registration time 27.395814 ms *************
mapping data assosiation time 28.064438 ms 
-----t: 0.0482351
OdomCount 4192 & avg odom time 0.045907 ms ++++++++++++++++++++++
mapping data assosiation time 22.542565 ms 
--------------------stamp1317358197.524030923
prepare time 12.739165 
scan registration time 30.341539 ms *************
publication time 11.442374 ms 
whole laserOdometry time 11.477584 ms 
 
mapping data assosiation time 24.159517 ms 
mapping solver time 25.145479 ms 
points size 91765 
mapping data assosiation time 28.038328 ms 
publication time 9.225787 ms 
whole laserOdometry time 9.238551 ms 
 
filter time 8.408978 ms 
build tree time 22.347540 ms 
--------------------stamp1317358197.731796979
prepare time 10.866241 
sort q time 5.882011 
seperate points time 12.321934 
publication time 8.263399 ms 
whole laserOdometry time 8.288028 ms 
 
mapping data assosiation time 28.428473 ms 
mapping solver time 20.871620 ms 
filter time 8.578825 ms 
sort q time 5.131917 
seperate points time 12.395347 
publication time 9.411670 ms 
whole laserOdometry time 9.426328 ms 
 
-----t: 0.0470729
OdomCount 4196 & avg odom time 0.045911 ms ++++++++++++++++++++++
mapping solver time 23.367781 ms 
prepare time 11.166420 
sort q time 5.273341 
seperate points time 12.405652 
mapping solver time 22.437442 ms 
filter time 10.452505 ms 
map prepare time 3.884992 ms
map corner num 116103  surf num 49504 
--------------------stamp1317358198.043454885
prepare time 13.050224 
mapping data assosiation time 28.860066 ms 
scan registration time 43.613582 ms *************
mapping solver time 26.063275 ms 
mapping data assosiation time 29.268842 ms 
--------------------stamp1317358198.147373914
points size 95575 
filter time 12.136924 ms 
mapping pub time 2.240904 ms 
whole mapping time 158.073849 ms +++++
mappingCount 2727 & avg mapping time 155.436178 ms ++++++++++++++++++++++
1317358197.835690975 WriteOdom aft_mapped_to_init
publication time 7.527538 ms 
whole laserOdometry time 7.545777 ms 
 
build tree time 33.070619 ms 
mapping data assosiation time 29.138490 ms 
--------------------stamp1317358198.251295089
points size 95934 
sort q time 7.121486 
seperate points time 13.507113 
mapping data assosiation time 28.699936 ms 
-----t: 0.0486672
OdomCount 4200 & avg odom time 0.045910 ms ++++++++++++++++++++++
1317358198.251295089 WriteOdom laser_odom_to_init
1317358198.251295089 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.999235 ms 
mapping optimization time 150.505953 
add points time 0.994498 ms
filter time 11.616945 ms 
--------------------stamp1317358198.355237960
points size 95678 
sort q time 6.599274 
seperate points time 15.597119 
publication time 10.656436 ms 
whole laserOdometry time 10.671508 ms 
 
--------------------stamp1317358198.459178924
prepare time 13.145918 
mapping solver time 19.103791 ms 
filter time 10.993898 ms 
sort q time 6.253365 
seperate points time 13.658618 
mapping data assosiation time 25.751089 ms 
mapping solver time 20.945776 ms 
filter time 8.008649 ms 
map prepare time 3.085674 ms
map corner num 119228  surf num 50544 
--------------------stamp1317358198.667089939
prepare time 11.310026 
sort q time 6.176151 
seperate points time 12.537260 
mapping data assosiation time 26.603389 ms 
mapping solver time 24.438880 ms 
-----t: 0.0694824
OdomCount 4204 & avg odom time 0.045915 ms ++++++++++++++++++++++
1317358198.667089939 WriteOdom laser_odom_to_init
1317358198.667089939 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.654027 ms 
--------------------stamp1317358198.771033048
points size 98247 
map prepare time 3.087588 ms
map corner num 119877  surf num 50741 
publication time 9.219729 ms 
whole laserOdometry time 9.231499 ms 
 
-----t: 0.0567361
OdomCount 4205 & avg odom time 0.045918 ms ++++++++++++++++++++++
mapping data assosiation time 25.922020 ms 
--------------------stamp1317358198.874974966
points size 97196 
sort q time 5.635986 
seperate points time 12.222801 
publication time 9.411201 ms 
whole laserOdometry time 9.422673 ms 
 
-----t: 0.0451647
OdomCount 4206 & avg odom time 0.045918 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317358198.978941917
sort q time 5.186203 
seperate points time 12.694238 
publication time 7.914359 ms 
whole laserOdometry time 7.929278 ms 
 
mapping solver time 27.664728 ms 
mapping data assosiation time 22.220151 ms 
mapping solver time 19.403197 ms 
filter time 8.275497 ms 
sort q time 5.105869 
seperate points time 12.548290 
scan registration time 33.246879 ms *************
build tree time 32.370278 ms 
mapping data assosiation time 29.906490 ms 
--------------------stamp1317358199.186898946
sort q time 5.088945 
seperate points time 10.303581 
publication time 8.705556 ms 
whole laserOdometry time 8.722054 ms 
 
-----t: 0.040591
OdomCount 4209 & avg odom time 0.045914 ms ++++++++++++++++++++++
map prepare time 2.837950 ms
map corner num 122045  surf num 51444 
--------------------stamp1317358199.290939092
prepare time 14.679360 
sort q time 11.883140 
seperate points time 19.023103 
scan registration time 39.449469 ms *************
publication time 8.663308 ms 
whole laserOdometry time 8.677804 ms 
 
-----t: 0.0534941
OdomCount 4210 & avg odom time 0.045916 ms ++++++++++++++++++++++
mapping solver time 13.493157 ms 
filter time 8.330068 ms 
map prepare time 2.866582 ms
map corner num 122670  surf num 51592 
prepare time 10.264327 
sort q time 5.662162 
seperate points time 11.057004 
publication time 10.242209 ms 
whole laserOdometry time 10.258694 ms 
 
mapping solver time 18.422608 ms 
mapping data assosiation time 21.958943 ms 
--------------------stamp1317358199.498919963
prepare time 12.403566 
filter time 12.342831 ms 
publication time 8.549938 ms 
whole laserOdometry time 8.564751 ms 
 
-----t: 0.0444025
OdomCount 4212 & avg odom time 0.045913 ms ++++++++++++++++++++++
mapping data assosiation time 20.352146 ms 
--------------------stamp1317358199.602907896
points size 85896 
mapping data assosiation time 26.834176 ms 
mapping solver time 17.844097 ms 
filter time 11.634340 ms 
build tree time 27.153169 ms 
--------------------stamp1317358199.706923007
points size 85593 
sort q time 5.856646 
seperate points time 12.613023 
scan registration time 37.089684 ms *************
mapping solver time 23.960964 ms 
publication time 10.525217 ms 
whole laserOdometry time 10.539072 ms 
 
mapping solver time 15.499164 ms 
filter time 9.557017 ms 
--------------------stamp1317358199.810940980
sort q time 3.961986 
seperate points time 8.875835 
publication time 7.915961 ms 
whole laserOdometry time 7.941389 ms 
 
mapping data assosiation time 25.588308 ms 
mapping solver time 22.193581 ms 
mapping data assosiation time 20.391429 ms 
points size 83833 
filter time 10.657683 ms 
publication time 8.571256 ms 
whole laserOdometry time 8.584781 ms 
 
1317358199.914932012 WriteOdom laser_odom_to_init
mapping data assosiation time 19.587370 ms 
--------------------stamp1317358200.018922090
prepare time 12.680011 
sort q time 4.826194 
seperate points time 11.295933 
mapping solver time 21.669665 ms 
1317358200.018922090 WriteOdom laser_odom_to_init
build tree time 26.278526 ms 
--------------------stamp1317358200.122910976
prepare time 10.705521 
sort q time 4.830768 
seperate points time 11.176646 
mapping solver time 25.262238 ms 
publication time 16.316724 ms 
whole laserOdometry time 16.332832 ms 
 
mapping data assosiation time 24.741996 ms 
mapping solver time 16.413916 ms 
filter time 8.445811 ms 
--------------------stamp1317358200.226877927
prepare time 14.693088 
sort q time 15.108065 
seperate points time 21.250110 
publication time 9.768588 ms 
whole laserOdometry time 9.783528 ms 
 
-----t: 0.0445154
OdomCount 4219 & avg odom time 0.045921 ms ++++++++++++++++++++++
--------------------stamp1317358200.330846071
points size 89750 
sort q time 5.006404 
seperate points time 11.927561 
build tree time 34.055571 ms 
mapping data assosiation time 21.584351 ms 
mapping solver time 16.021796 ms 
--------------------stamp1317358200.434813976
prepare time 13.257564 
sort q time 5.017911 
seperate points time 12.169565 
1317358200.122910976 WriteOdom aft_mapped_to_init
publication time 22.089310 ms 
whole laserOdometry time 22.104111 ms 
 
-----t: 0.060877
OdomCount 4221 & avg odom time 0.045922 ms ++++++++++++++++++++++
mapping data assosiation time 25.244418 ms 
sort q time 5.585094 
seperate points time 12.495338 
mapping solver time 36.817427 ms 
-----t: 0.0479551
OdomCount 4222 & avg odom time 0.045923 ms ++++++++++++++++++++++
mapping solver time 16.977381 ms 
mapping pub time 1.978661 ms 
whole mapping time 160.198818 ms +++++
mappingCount 2743 & avg mapping time 155.413421 ms ++++++++++++++++++++++
points size 90049 
sort q time 4.969850 
seperate points time 11.638069 
-----t: 0.0365118
OdomCount 4223 & avg odom time 0.045921 ms ++++++++++++++++++++++
mapping solver time 16.459446 ms 
mapping data assosiation time 20.984380 ms 
mapping solver time 14.169085 ms 
mapping pub time 2.150575 ms 
whole mapping time 125.172915 ms +++++
mappingCount 2744 & avg mapping time 155.402403 ms ++++++++++++++++++++++
publication time 9.184557 ms 
whole laserOdometry time 9.200550 ms 
 
build tree time 43.908628 ms 
mapping data assosiation time 20.151154 ms 
--------------------stamp1317358200.850559949
points size 90655 
sort q time 5.406459 
seperate points time 11.753439 
publication time 9.389026 ms 
whole laserOdometry time 9.408543 ms 
 
filter time 8.810572 ms 
-----t: 0.0540333
OdomCount 4225 & avg odom time 0.045922 ms ++++++++++++++++++++++
build tree time 29.026790 ms 
points size 89311 
sort q time 5.012327 
seperate points time 11.475996 
mapping solver time 24.094727 ms 
-----t: 0.0398805
OdomCount 4226 & avg odom time 0.045920 ms ++++++++++++++++++++++
mapping data assosiation time 23.854095 ms 
mapping solver time 15.453756 ms 
filter time 8.114581 ms 
map prepare time 2.914610 ms
map corner num 130093  surf num 53845 
points size 88832 
sort q time 5.077564 
seperate points time 11.426144 
publication time 9.504998 ms 
whole laserOdometry time 9.519463 ms 
 
mapping solver time 24.581934 ms 
mapping data assosiation time 24.874511 ms 
prepare time 10.148306 
mapping optimization time 127.430255 
filter time 13.049217 ms 
-----t: 0.0540699
OdomCount 4228 & avg odom time 0.045920 ms ++++++++++++++++++++++
build tree time 37.060541 ms 
--------------------stamp1317358201.266185998
points size 86784 
sort q time 4.729827 
seperate points time 11.434188 
mapping solver time 25.087101 ms 
scan registration time 28.245189 ms *************
mapping data assosiation time 24.070357 ms 
mapping solver time 20.998496 ms 
filter time 13.141827 ms 
--------------------stamp1317358201.370104074
prepare time 11.586261 
sort q time 6.404407 
seperate points time 14.320438 
publication time 7.964680 ms 
whole laserOdometry time 7.979383 ms 
 
mapping solver time 20.164952 ms 
mapping data assosiation time 23.723804 ms 
mapping solver time 15.656857 ms 
mapping optimization time 122.021698 
points size 83574 
add points time 0.874605 ms
prepare time 13.172337 
map prepare time 3.716485 ms
map corner num 131858  surf num 54456 
publication time 8.972987 ms 
whole laserOdometry time 9.008166 ms 
 
build tree time 38.148723 ms 
mapping data assosiation time 22.624581 ms 
--------------------stamp1317358201.577969074
prepare time 10.623938 
scan registration time 25.341174 ms *************
mapping data assosiation time 22.822196 ms 
publication time 7.578510 ms 
whole laserOdometry time 7.587828 ms 
 
filter time 13.377202 ms 
mapping pub time 2.024860 ms 
whole mapping time 150.499511 ms +++++
mappingCount 2750 & avg mapping time 155.380263 ms ++++++++++++++++++++++
1317358201.370104074 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.375642 ms
map corner num 132437  surf num 54658 
--------------------stamp1317358201.681931972
prepare time 11.605787 
sort q time 7.012011 
-----t: 0.0364183
OdomCount 4233 & avg odom time 0.045906 ms ++++++++++++++++++++++
1317358201.681931972 WriteOdom laser_odom_to_init
1317358201.681931972 WriteOdom aft_mapped_to_init_high_frec
publication time 6.921339 ms 
whole laserOdometry time 6.936023 ms 
 
mapping data assosiation time 21.610109 ms 
mapping solver time 11.652456 ms 
filter time 9.154417 ms 
[0m[ INFO] [1718805488.652519377, 1317358201.797680638]: Received 187736 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805488.652565909, 1317358201.797680638]: Data saved to 1317358201474025.pcd[0m
map prepare time 3.755650 ms
map corner num 132928  surf num 54808 
sort q time 4.742332 
seperate points time 10.604269 
publication time 6.828121 ms 
whole laserOdometry time 6.841642 ms 
 
mapping data assosiation time 22.881377 ms 
mapping solver time 23.458978 ms 
points size 84576 
sort q time 4.960562 
seperate points time 9.989397 
mapping solver time 19.722169 ms 
mapping optimization time 129.261423 
add points time 0.746803 ms
publication time 8.505759 ms 
whole laserOdometry time 8.520995 ms 
 
map prepare time 3.560998 ms
map corner num 133560  surf num 55006 
-----t: 0.0618484
OdomCount 4235 & avg odom time 0.045907 ms ++++++++++++++++++++++
build tree time 37.991621 ms 
points size 83274 
sort q time 5.177578 
seperate points time 10.249865 
mapping solver time 19.323041 ms 
publication time 8.070931 ms 
whole laserOdometry time 8.084387 ms 
 
mapping solver time 14.630667 ms 
mapping pub time 1.984517 ms 
whole mapping time 137.286384 ms +++++
mappingCount 2753 & avg mapping time 155.364498 ms ++++++++++++++++++++++
--------------------stamp1317358202.097892045
prepare time 11.715327 
scan registration time 25.725295 ms *************
-----t: 0.034713
OdomCount 4237 & avg odom time 0.045903 ms ++++++++++++++++++++++
mapping solver time 23.618535 ms 
mapping data assosiation time 17.526865 ms 
--------------------stamp1317358202.201886892
points size 85230 
prepare time 14.268566 
scan registration time 30.305191 ms *************
publication time 8.653891 ms 
whole laserOdometry time 8.681712 ms 
 
mapping data assosiation time 17.565261 ms 
mapping solver time 17.943706 ms 
points size 86046 
sort q time 8.506681 
seperate points time 19.462292 
filter time 12.042361 ms 
build tree time 30.157479 ms 
--------------------stamp1317358202.409869909
points size 86779 
mapping solver time 19.526517 ms 
sort q time 6.292537 
seperate points time 12.093488 
1317358202.409869909 WriteOdom laser_odom_to_init
1317358202.409869909 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.147402 ms 
filter time 8.804790 ms 
map prepare time 2.817887 ms
map corner num 135786  surf num 55619 
--------------------stamp1317358202.513885021
prepare time 11.566594 
build tree time 37.460403 ms 
publication time 8.553411 ms 
whole laserOdometry time 8.563947 ms 
 
-----t: 0.0426817
OdomCount 4241 & avg odom time 0.045900 ms ++++++++++++++++++++++
mapping data assosiation time 16.689615 ms 
mapping solver time 14.933815 ms 
filter time 12.535629 ms 
sort q time 5.945480 
seperate points time 13.164011 
build tree time 41.181218 ms 
publication time 13.561110 ms 
whole laserOdometry time 13.596612 ms 
 
-----t: 0.0553769
OdomCount 4242 & avg odom time 0.045902 ms ++++++++++++++++++++++
points size 87939 
mapping data assosiation time 23.216062 ms 
mapping solver time 15.092841 ms 
filter time 12.877723 ms 
-----t: 0.0637367
OdomCount 4243 & avg odom time 0.045906 ms ++++++++++++++++++++++
build tree time 33.522825 ms 
points size 88578 
sort q time 5.714633 
seperate points time 11.784883 
publication time 9.337488 ms 
whole laserOdometry time 9.350201 ms 
 
mapping solver time 17.285597 ms 
filter time 11.202955 ms 
--------------------stamp1317358202.929702043
points size 89069 
build tree time 33.217688 ms 
publication time 9.809918 ms 
whole laserOdometry time 9.835676 ms 
 
mapping solver time 24.632738 ms 
1317358202.929702043 WriteOdom laser_odom_to_init
1317358202.929702043 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358203.033644914
prepare time 14.770231 
scan registration time 33.316152 ms *************
publication time 12.072093 ms 
whole laserOdometry time 12.088042 ms 
 
mapping data assosiation time 17.400075 ms 
--------------------stamp1317358203.137612104
mapping data assosiation time 22.448461 ms 
mapping optimization time 119.031639 
[0m[ INFO] [1718805490.055437417, 1317358203.199161925]: Received 195328 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805490.055484998, 1317358203.199161925]: Data saved to 1317358202929702.pcd[0m
--------------------stamp1317358203.241579055
prepare time 13.536205 
sort q time 5.464120 
seperate points time 13.249837 
publication time 8.509781 ms 
whole laserOdometry time 8.528878 ms 
 
mapping pub time 142.516994 ms 
whole mapping time 278.467371 ms +++++
mappingCount 2761 & avg mapping time 155.361595 ms ++++++++++++++++++++++
points size 90206 
build tree time 25.658423 ms 
mapping data assosiation time 24.454734 ms 
mapping solver time 22.279115 ms 
mapping data assosiation time 17.939501 ms 
--------------------stamp1317358203.449438095
mapping solver time 17.589935 ms 
prepare time 12.538609 
sort q time 5.867098 
seperate points time 13.941934 
build tree time 26.452623 ms 
mapping data assosiation time 22.884961 ms 
mapping solver time 18.591001 ms 
--------------------stamp1317358203.553335905
prepare time 12.702610 
sort q time 6.716717 
seperate points time 14.561585 
map prepare time 3.684667 ms
map corner num 88214  surf num 34156 
build tree time 24.246370 ms 
mapping data assosiation time 18.678371 ms 
--------------------stamp1317358203.657229900
sort q time 6.055135 
seperate points time 13.514399 
-----t: 0.0349358
OdomCount 4252 & avg odom time 0.045905 ms ++++++++++++++++++++++
filter time 6.311445 ms 
build tree time 19.730530 ms 
--------------------stamp1317358203.761120080
mapping data assosiation time 23.227553 ms 
scan registration time 31.365539 ms *************
-----t: 0.0426058
OdomCount 4253 & avg odom time 0.045904 ms ++++++++++++++++++++++
mapping solver time 16.441807 ms 
mapping pub time 2.027177 ms 
whole mapping time 126.277253 ms +++++
mappingCount 2765 & avg mapping time 155.319085 ms ++++++++++++++++++++++
--------------------stamp1317358203.865015029
prepare time 13.301654 
sort q time 5.769461 
seperate points time 13.426987 
mapping data assosiation time 26.076060 ms 
mapping solver time 23.772828 ms 
mapping data assosiation time 20.815984 ms 
--------------------stamp1317358203.968910932
points size 93470 
map prepare time 3.614913 ms
map corner num 90647  surf num 34980 
sort q time 6.700132 
seperate points time 13.293643 
publication time 9.422079 ms 
whole laserOdometry time 9.439176 ms 
 
mapping data assosiation time 24.886549 ms 
mapping solver time 20.742030 ms 
--------------------stamp1317358204.072783946
points size 93911 
sort q time 5.668675 
seperate points time 12.738437 
filter time 9.456355 ms 
-----t: 0.0488863
OdomCount 4256 & avg odom time 0.045906 ms ++++++++++++++++++++++
1317358204.072783946 WriteOdom laser_odom_to_init
1317358204.072783946 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.938732 ms 
mapping data assosiation time 34.731224 ms 
mapping solver time 18.816485 ms 
mapping pub time 2.131168 ms 
whole mapping time 137.787054 ms +++++
mappingCount 2768 & avg mapping time 155.296107 ms ++++++++++++++++++++++
points size 93894 
sort q time 6.771856 
seperate points time 13.074583 
publication time 13.060753 ms 
whole laserOdometry time 13.080423 ms 
 
mapping solver time 27.147027 ms 
mapping data assosiation time 21.249457 ms 
mapping solver time 17.086426 ms 
filter time 9.949066 ms 
sort q time 5.594524 
seperate points time 13.601057 
scan registration time 33.130325 ms *************
publication time 10.020580 ms 
whole laserOdometry time 10.029844 ms 
 
mapping data assosiation time 22.701936 ms 
mapping solver time 19.999309 ms 
--------------------stamp1317358204.488241910
prepare time 12.103886 
sort q time 5.210228 
seperate points time 12.222620 
filter time 8.986540 ms 
publication time 8.989755 ms 
whole laserOdometry time 9.002105 ms 
 
build tree time 20.440888 ms 
mapping data assosiation time 18.776847 ms 
mapping solver time 16.547899 ms 
points size 93104 
mapping data assosiation time 22.913109 ms 
mapping solver time 16.145473 ms 
mapping optimization time 96.281976 
add points time 0.999589 ms
build tree time 26.129640 ms 
--------------------stamp1317358204.695960044
points size 91073 
publication time 13.864883 ms 
whole laserOdometry time 13.878643 ms 
 
-----t: 0.0615539
OdomCount 4262 & avg odom time 0.045901 ms ++++++++++++++++++++++
filter time 6.869841 ms 
--------------------stamp1317358204.799832105
points size 89219 
prepare time 15.542253 
mapping data assosiation time 26.917258 ms 
mapping solver time 27.353152 ms 
mapping data assosiation time 20.802267 ms 
points size 88803 
filter time 8.859252 ms 
publication time 10.522138 ms 
whole laserOdometry time 10.532989 ms 
 
build tree time 30.179379 ms 
mapping data assosiation time 20.226559 ms 
mapping solver time 19.838124 ms 
points size 88690 
sort q time 5.202782 
seperate points time 12.396916 
scan registration time 47.016341 ms *************
mapping pub time 2.285446 ms 
whole mapping time 136.433471 ms +++++
mappingCount 2774 & avg mapping time 155.244307 ms ++++++++++++++++++++++
1317358204.799832106 WriteOdom aft_mapped_to_init
-----t: 0.062182
OdomCount 4265 & avg odom time 0.045908 ms ++++++++++++++++++++++
build tree time 24.466049 ms 
--------------------stamp1317358205.111469030
prepare time 14.622681 
sort q time 6.143497 
seperate points time 18.815007 
-----t: 0.039142
OdomCount 4266 & avg odom time 0.045906 ms ++++++++++++++++++++++
mapping data assosiation time 24.166647 ms 
mapping solver time 18.884209 ms 
filter time 6.627479 ms 
mapping pub time 2.002990 ms 
whole mapping time 131.634503 ms +++++
mappingCount 2775 & avg mapping time 155.235800 ms ++++++++++++++++++++++
1317358204.903702974 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.733625 ms
map corner num 96921  surf num 37101 
points size 89621 
sort q time 4.871605 
seperate points time 11.448630 
publication time 9.306849 ms 
whole laserOdometry time 9.325182 ms 
 
mapping data assosiation time 19.682860 ms 
--------------------stamp1317358205.319307088
prepare time 13.336442 
sort q time 6.550148 
seperate points time 14.418591 
build tree time 25.714738 ms 
-----t: 0.0481997
OdomCount 4268 & avg odom time 0.045907 ms ++++++++++++++++++++++
mapping solver time 18.603370 ms 
--------------------stamp1317358205.423223972
mapping data assosiation time 24.210576 ms 
sort q time 5.372351 
seperate points time 12.679885 
filter time 7.729936 ms 
-----t: 0.0510536
OdomCount 4269 & avg odom time 0.045908 ms ++++++++++++++++++++++
build tree time 29.487253 ms 
--------------------stamp1317358205.527143001
mapping data assosiation time 21.212864 ms 
sort q time 5.471486 
seperate points time 12.776303 
publication time 8.881559 ms 
whole laserOdometry time 8.895214 ms 
 
mapping solver time 18.182761 ms 
mapping pub time 2.022464 ms 
whole mapping time 135.313596 ms +++++
mappingCount 2778 & avg mapping time 155.212307 ms ++++++++++++++++++++++
1317358205.319307089 WriteOdom aft_mapped_to_init
--------------------stamp1317358205.631061077
points size 90936 
sort q time 5.333810 
seperate points time 11.808485 
publication time 10.836408 ms 
whole laserOdometry time 10.854949 ms 
 
mapping solver time 24.238261 ms 
mapping data assosiation time 21.299731 ms 
mapping solver time 16.494860 ms 
mapping pub time 2.082399 ms 
whole mapping time 125.733616 ms +++++
mappingCount 2779 & avg mapping time 155.201701 ms ++++++++++++++++++++++
sort q time 6.364216 
seperate points time 23.939151 
publication time 10.999798 ms 
whole laserOdometry time 11.014001 ms 
 
--------------------stamp1317358205.838850975
prepare time 13.081957 
sort q time 5.209789 
seperate points time 12.208446 
-----t: 0.0338478
OdomCount 4273 & avg odom time 0.045906 ms ++++++++++++++++++++++
build tree time 25.806756 ms 
mapping data assosiation time 20.106139 ms 
mapping solver time 18.772438 ms 
points size 94537 
sort q time 5.235117 
seperate points time 12.230020 
scan registration time 30.607495 ms *************
-----t: 0.0369261
OdomCount 4274 & avg odom time 0.045904 ms ++++++++++++++++++++++
--------------------stamp1317358206.046665906
prepare time 12.317969 
sort q time 6.107427 
seperate points time 11.850879 
mapping pub time 135.623315 ms 
whole mapping time 255.683331 ms +++++
mappingCount 2781 & avg mapping time 155.226729 ms ++++++++++++++++++++++
--------------------stamp1317358206.150536060
points size 94415 
sort q time 6.673599 
seperate points time 15.700388 
mapping data assosiation time 28.334360 ms 
scan registration time 40.686934 ms *************
mapping solver time 25.395184 ms 
mapping data assosiation time 22.779257 ms 
mapping solver time 15.883217 ms 
mapping pub time 2.229831 ms 
whole mapping time 135.322323 ms +++++
mappingCount 2782 & avg mapping time 155.219576 ms ++++++++++++++++++++++
sort q time 6.596175 
seperate points time 13.554357 
build tree time 26.799231 ms 
publication time 11.211460 ms 
whole laserOdometry time 11.227531 ms 
 
mapping data assosiation time 26.601144 ms 
mapping solver time 15.435836 ms 
--------------------stamp1317358206.358278036
prepare time 13.404346 
scan registration time 31.449932 ms *************
publication time 11.113453 ms 
whole laserOdometry time 11.141489 ms 
 
1317358206.358278036 WriteOdom aft_mapped_to_init_high_frec
build tree time 28.684203 ms 
mapping data assosiation time 18.336178 ms 
--------------------stamp1317358206.462148904
prepare time 14.931489 
sort q time 5.259516 
seperate points time 12.291972 
mapping solver time 13.853349 ms 
1317358206.462148904 WriteOdom laser_odom_to_init
1317358206.462148904 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 109.741730 
add points time 0.770003 ms
publication time 9.500065 ms 
whole laserOdometry time 9.515016 ms 
 
--------------------stamp1317358206.565994977
prepare time 12.602247 
mapping solver time 19.220877 ms 
mapping data assosiation time 21.514369 ms 
publication time 7.064724 ms 
whole laserOdometry time 7.076588 ms 
 
-----t: 0.0360203
OdomCount 4280 & avg odom time 0.045907 ms ++++++++++++++++++++++
1317358206.565994977 WriteOdom laser_odom_to_init
1317358206.565994977 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.934619 ms 
filter time 7.626434 ms 
build tree time 22.091539 ms 
points size 88947 
sort q time 4.705210 
seperate points time 11.069889 
mapping solver time 21.825002 ms 
mapping data assosiation time 20.585265 ms 
mapping solver time 15.942843 ms 
[0m[ INFO] [1718805493.614138281, 1317358206.755889280]: Received 146728 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805493.614188912, 1317358206.755889280]: Data saved to 1317358206565994.pcd[0m
--------------------stamp1317358206.773663997
prepare time 12.019725 
sort q time 5.240387 
seperate points time 11.457887 
mapping data assosiation time 24.546564 ms 
publication time 9.132336 ms 
whole laserOdometry time 9.148124 ms 
 
mapping solver time 21.316654 ms 
-----t: 0.0705283
OdomCount 4282 & avg odom time 0.045914 ms ++++++++++++++++++++++
--------------------stamp1317358206.877510070
filter time 11.755533 ms 
publication time 10.605124 ms 
whole laserOdometry time 10.619190 ms 
 
build tree time 35.154567 ms 
mapping data assosiation time 20.439579 ms 
--------------------stamp1317358206.981357097
prepare time 14.137587 
sort q time 5.128542 
seperate points time 11.451110 
publication time 9.805850 ms 
whole laserOdometry time 9.815669 ms 
 
build tree time 24.017160 ms 
mapping data assosiation time 19.441810 ms 
points size 82789 
prepare time 14.591314 
mapping data assosiation time 23.000759 ms 
mapping solver time 19.513993 ms 
-----t: 0.0545876
OdomCount 4285 & avg odom time 0.045914 ms ++++++++++++++++++++++
build tree time 21.944825 ms 
points size 82185 
sort q time 6.027858 
seperate points time 12.963854 
publication time 10.476386 ms 
whole laserOdometry time 10.491549 ms 
 
mapping solver time 11.869683 ms 
filter time 7.560466 ms 
--------------------stamp1317358207.292850017
sort q time 5.083383 
seperate points time 10.179338 
publication time 8.539340 ms 
whole laserOdometry time 8.557789 ms 
 
mapping solver time 24.348273 ms 
mapping data assosiation time 18.218477 ms 
mapping solver time 16.617865 ms 
filter time 10.527469 ms 
sort q time 4.670423 
seperate points time 9.827303 
scan registration time 28.320747 ms *************
publication time 11.725461 ms 
mapping data assosiation time 23.767204 ms 
mapping solver time 24.158738 ms 
--------------------stamp1317358207.500543117
prepare time 12.621343 
mapping data assosiation time 23.613908 ms 
filter time 11.602429 ms 
publication time 7.910266 ms 
whole laserOdometry time 7.920822 ms 
 
build tree time 31.006821 ms 
--------------------stamp1317358207.604391098
prepare time 12.892920 
sort q time 6.071586 
seperate points time 11.688540 
publication time 8.996127 ms 
whole laserOdometry time 9.014616 ms 
 
mapping solver time 14.429644 ms 
filter time 7.219572 ms 
--------------------stamp1317358207.708236932
prepare time 13.188268 
sort q time 5.686098 
seperate points time 12.696130 
mapping solver time 20.152204 ms 
filter time 11.466768 ms 
scan registration time 36.594256 ms *************
publication time 10.034750 ms 
whole laserOdometry time 10.049522 ms 
 
build tree time 31.593984 ms 
mapping data assosiation time 19.176840 ms 
mapping solver time 17.353109 ms 
prepare time 11.524893 
sort q time 5.852414 
seperate points time 12.759458 
mapping solver time 15.891846 ms 
mapping pub time 2.379342 ms 
whole mapping time 127.567094 ms +++++
mappingCount 2795 & avg mapping time 155.095287 ms ++++++++++++++++++++++
-----t: 0.0528633
OdomCount 4293 & avg odom time 0.045912 ms ++++++++++++++++++++++
build tree time 27.923823 ms 
--------------------stamp1317358208.019658088
points size 91407 
mapping solver time 20.926339 ms 
mapping data assosiation time 23.399368 ms 
mapping solver time 16.642263 ms 
filter time 7.209712 ms 
map prepare time 2.731086 ms
map corner num 111307  surf num 44543 
--------------------stamp1317358208.123455047
sort q time 5.687726 
seperate points time 11.176209 
publication time 9.830847 ms 
whole laserOdometry time 9.839232 ms 
 
-----t: 0.0601372
OdomCount 4295 & avg odom time 0.045913 ms ++++++++++++++++++++++
1317358208.123455047 WriteOdom laser_odom_to_init
1317358208.123455047 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.794448 ms 
mapping solver time 21.114425 ms 
mapping pub time 2.174571 ms 
whole mapping time 133.085822 ms +++++
mappingCount 2797 & avg mapping time 155.077519 ms ++++++++++++++++++++++
build tree time 32.897459 ms 
-----t: 0.0467959
OdomCount 4296 & avg odom time 0.045913 ms ++++++++++++++++++++++
mapping data assosiation time 30.849004 ms 
mapping solver time 21.406756 ms 
points size 87660 
mapping data assosiation time 27.779619 ms 
scan registration time 36.461193 ms *************
filter time 11.495256 ms 
1317358208.331078052 WriteOdom laser_odom_to_init
1317358208.331078052 WriteOdom aft_mapped_to_init_high_frec
build tree time 29.937381 ms 
points size 85997 
sort q time 5.043491 
seperate points time 11.925153 
-----t: 0.0404183
OdomCount 4298 & avg odom time 0.045911 ms ++++++++++++++++++++++
mapping data assosiation time 26.452806 ms 
mapping solver time 14.202794 ms 
filter time 9.772319 ms 
--------------------stamp1317358208.538698911
prepare time 12.619963 
scan registration time 33.056955 ms *************
-----t: 0.0389818
OdomCount 4299 & avg odom time 0.045909 ms ++++++++++++++++++++++
1317358208.538698911 WriteOdom laser_odom_to_init
mapping solver time 22.595707 ms 
mapping data assosiation time 21.489029 ms 
--------------------stamp1317358208.642545938
mapping pub time 2.015417 ms 
whole mapping time 119.024730 ms +++++
mappingCount 2800 & avg mapping time 155.058090 ms ++++++++++++++++++++++
sort q time 4.842852 
seperate points time 11.515522 
publication time 7.945728 ms 
whole laserOdometry time 7.961298 ms 
 
mapping data assosiation time 24.596035 ms 
mapping solver time 20.757662 ms 
mapping data assosiation time 20.862227 ms 
points size 89470 
[0m[ INFO] [1718805495.625999436, 1317358208.769966056]: Data saved to 1317358208538698.pcd[0m
publication time 7.635280 ms 
whole laserOdometry time 7.646404 ms 
 
--------------------stamp1317358208.850261926
sort q time 5.646017 
seperate points time 11.790160 
publication time 14.710631 ms 
whole laserOdometry time 14.721057 ms 
 
mapping pub time 175.175160 ms 
whole mapping time 287.031895 ms +++++
mappingCount 2801 & avg mapping time 155.105207 ms ++++++++++++++++++++++
--------------------stamp1317358208.954109907
sort q time 5.686022 
seperate points time 12.758934 
mapping solver time 25.127084 ms 
-----t: 0.0478311
OdomCount 4303 & avg odom time 0.045906 ms ++++++++++++++++++++++
1317358208.954109907 WriteOdom laser_odom_to_init
1317358208.954109907 WriteOdom aft_mapped_to_init_high_frec
publication time 10.565701 ms 
whole laserOdometry time 10.608874 ms 
 
--------------------stamp1317358209.057931900
mapping pub time 2.340814 ms 
whole mapping time 133.309795 ms +++++
mappingCount 2802 & avg mapping time 155.097433 ms ++++++++++++++++++++++
sort q time 18.852608 
seperate points time 27.042776 
publication time 12.033976 ms 
whole laserOdometry time 12.042223 ms 
 
-----t: 0.0534956
OdomCount 4304 & avg odom time 0.045908 ms ++++++++++++++++++++++
1317358209.057931900 WriteOdom laser_odom_to_init
1317358209.057931900 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.351600 ms 
mapping solver time 18.834600 ms 
points size 96200 
sort q time 5.659257 
seperate points time 13.276877 
mapping solver time 20.558427 ms 
drop lidar frame in mapping for real time performance 
build tree time 14.872797 ms 
--------------------stamp1317358209.265625953
points size 97044 
sort q time 6.428427 
seperate points time 15.270082 
-----t: 0.0386739
OdomCount 4306 & avg odom time 0.045908 ms ++++++++++++++++++++++
filter time 4.706494 ms 
build tree time 12.234687 ms 
--------------------stamp1317358209.369448900
prepare time 11.992250 
sort q time 5.717895 
seperate points time 11.490774 
publication time 9.642454 ms 
whole laserOdometry time 9.657426 ms 
 
mapping data assosiation time 26.767274 ms 
mapping solver time 12.903738 ms 
mapping optimization time 99.442184 
add points time 0.981281 ms
filter time 4.570103 ms 
build tree time 12.534728 ms 
points size 97519 
prepare time 13.880724 
mapping data assosiation time 23.497634 ms 
scan registration time 32.191666 ms *************
publication time 11.969593 ms 
whole laserOdometry time 11.989641 ms 
 
mapping data assosiation time 26.225904 ms 
mapping solver time 14.447450 ms 
mapping pub time 3.317486 ms 
whole mapping time 111.298476 ms +++++
mappingCount 2806 & avg mapping time 155.044969 ms ++++++++++++++++++++++
--------------------stamp1317358209.577091932
prepare time 13.594021 
sort q time 6.410864 
seperate points time 13.091955 
mapping data assosiation time 32.799277 ms 
publication time 12.178343 ms 
whole laserOdometry time 12.207762 ms 
 
1317358209.577091932 WriteOdom laser_odom_to_init
1317358209.577091932 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.550963 ms 
--------------------stamp1317358209.680917978
add points time 0.916592 ms
points size 96020 
prepare time 16.004570 
filter time 5.993878 ms 
mapping pub time 2.342873 ms 
whole mapping time 135.491451 ms +++++
mappingCount 2807 & avg mapping time 155.038005 ms ++++++++++++++++++++++
1317358209.473268986 WriteOdom aft_mapped_to_init
scan registration time 36.278486 ms *************
publication time 11.314075 ms 
whole laserOdometry time 11.329029 ms 
 
--------------------stamp1317358209.784746885
prepare time 12.459057 
mapping data assosiation time 27.492437 ms 
scan registration time 40.996834 ms *************
mapping solver time 30.769986 ms 
publication time 12.554440 ms 
whole laserOdometry time 12.566389 ms 
 
build tree time 20.098703 ms 
points size 89447 
mapping data assosiation time 29.514917 ms 
publication time 9.003373 ms 
whole laserOdometry time 9.024055 ms 
 
mapping data assosiation time 29.657364 ms 
--------------------stamp1317358209.992387056
prepare time 14.577406 
map prepare time 3.316827 ms
map corner num 68742  surf num 28707 
build tree time 18.919864 ms 
-----t: 0.0428955
OdomCount 4313 & avg odom time 0.045908 ms ++++++++++++++++++++++
mapping data assosiation time 29.490585 ms 
mapping solver time 19.405856 ms 
--------------------stamp1317358210.096205949
points size 88021 
sort q time 5.272474 
seperate points time 10.626235 
scan registration time 28.861259 ms *************
publication time 11.690065 ms 
whole laserOdometry time 11.707000 ms 
 
-----t: 0.0426974
OdomCount 4314 & avg odom time 0.045907 ms ++++++++++++++++++++++
build tree time 16.988369 ms 
mapping data assosiation time 20.663285 ms 
--------------------stamp1317358210.200005054
prepare time 13.934861 
sort q time 5.225961 
seperate points time 11.679843 
publication time 9.280817 ms 
whole laserOdometry time 9.295151 ms 
 
filter time 5.362222 ms 
build tree time 19.797685 ms 
--------------------stamp1317358210.303803920
points size 89768 
mapping data assosiation time 28.386538 ms 
prepare time 14.606603 
scan registration time 32.225845 ms *************
publication time 14.666832 ms 
whole laserOdometry time 14.678027 ms 
 
-----t: 0.0533443
OdomCount 4316 & avg odom time 0.045910 ms ++++++++++++++++++++++
mapping solver time 25.283300 ms 
mapping pub time 2.200867 ms 
whole mapping time 155.541810 ms +++++
mappingCount 2812 & avg mapping time 155.012515 ms ++++++++++++++++++++++
sort q time 5.627523 
seperate points time 12.781776 
1317358210.407624959 WriteOdom laser_odom_to_init
1317358210.407624959 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.577257 ms 
mapping solver time 29.774322 ms 
prepare time 11.579032 
sort q time 5.653448 
seperate points time 12.075142 
publication time 9.984351 ms 
whole laserOdometry time 10.001562 ms 
 
mapping pub time 2.263117 ms 
whole mapping time 150.683558 ms +++++
mappingCount 2813 & avg mapping time 155.010978 ms ++++++++++++++++++++++
build tree time 14.348115 ms 
--------------------stamp1317358210.615250110
prepare time 11.518192 
mapping solver time 26.396005 ms 
publication time 11.261843 ms 
whole laserOdometry time 11.281045 ms 
 
mapping solver time 19.261381 ms 
mapping pub time 2.204308 ms 
whole mapping time 122.635783 ms +++++
mappingCount 2814 & avg mapping time 154.999474 ms ++++++++++++++++++++++
build tree time 14.418062 ms 
prepare time 13.669789 
sort q time 4.931490 
seperate points time 12.010511 
mapping solver time 23.084518 ms 
mapping data assosiation time 24.126593 ms 
mapping solver time 19.715572 ms 
mapping optimization time 110.192592 
add points time 0.870143 ms
map prepare time 3.297387 ms
map corner num 73953  surf num 30310 
-----t: 0.0315686
OdomCount 4321 & avg odom time 0.045901 ms ++++++++++++++++++++++
mapping solver time 18.144956 ms 
mapping data assosiation time 22.663145 ms 
points size 93210 
filter time 7.366302 ms 
scan registration time 28.084919 ms *************
map prepare time 3.233708 ms
map corner num 74731  surf num 30542 
build tree time 22.049447 ms 
-----t: 0.0568778
OdomCount 4322 & avg odom time 0.045904 ms ++++++++++++++++++++++
mapping solver time 18.069296 ms 
points size 93415 
sort q time 5.450912 
seperate points time 13.695849 
mapping solver time 23.733998 ms 
map prepare time 2.752452 ms
map corner num 75483  surf num 30764 
build tree time 19.137044 ms 
mapping data assosiation time 27.972018 ms 
points size 92818 
sort q time 6.312525 
seperate points time 14.916912 
mapping data assosiation time 39.706670 ms 
mapping solver time 25.177175 ms 
points size 91970 
map prepare time 2.604193 ms
map corner num 76261  surf num 30995 
publication time 10.532404 ms 
whole laserOdometry time 10.550225 ms 
 
mapping data assosiation time 27.396647 ms 
mapping solver time 25.146302 ms 
points size 90521 
mapping data assosiation time 29.038227 ms 
publication time 9.694436 ms 
whole laserOdometry time 9.712138 ms 
 
drop lidar frame in mapping for real time performance 
build tree time 15.854226 ms 
mapping data assosiation time 22.765045 ms 
prepare time 11.703835 
sort q time 5.375113 
seperate points time 12.448501 
scan registration time 28.269768 ms *************
publication time 8.330037 ms 
whole laserOdometry time 8.342123 ms 
 
mapping solver time 25.554453 ms 
mapping optimization time 117.484932 
add points time 0.825791 ms
--------------------stamp1317358211.549295902
build tree time 20.514864 ms 
sort q time 6.392937 
seperate points time 15.790772 
-----t: 0.0353751
OdomCount 4328 & avg odom time 0.045916 ms ++++++++++++++++++++++
mapping solver time 21.156853 ms 
mapping data assosiation time 19.956792 ms 
mapping solver time 17.659789 ms 
[0m[ INFO] [1718805498.516393811, 1317358211.655787762]: Received 110546 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805498.516438092, 1317358211.655787762]: Data saved to 1317358211445496.pcd[0m
points size 90999 
sort q time 5.761350 
seperate points time 14.233439 
publication time 30.185540 ms 
whole laserOdometry time 30.202926 ms 
 
-----t: 0.085121
OdomCount 4329 & avg odom time 0.045925 ms ++++++++++++++++++++++
points size 89224 
sort q time 5.700355 
seperate points time 13.204751 
mapping pub time 147.512128 ms 
whole mapping time 268.937898 ms +++++
mappingCount 2821 & avg mapping time 155.000356 ms ++++++++++++++++++++++
-----t: 0.0478616
OdomCount 4330 & avg odom time 0.045925 ms ++++++++++++++++++++++
build tree time 21.075449 ms 
mapping data assosiation time 21.736960 ms 
points size 88992 
sort q time 5.228182 
seperate points time 12.617528 
mapping data assosiation time 35.086695 ms 
mapping solver time 15.281720 ms 
drop lidar frame in mapping for real time performance 
build tree time 17.193541 ms 
prepare time 12.802767 
sort q time 5.490812 
seperate points time 12.723013 
mapping solver time 28.504650 ms 
mapping data assosiation time 23.669804 ms 
mapping solver time 18.572882 ms 
map prepare time 2.743835 ms
map corner num 80291  surf num 32510 
sort q time 4.689732 
seperate points time 10.360729 
publication time 7.893745 ms 
whole laserOdometry time 7.909462 ms 
 
mapping solver time 20.852003 ms 
mapping data assosiation time 20.205390 ms 
points size 86443 
mapping solver time 18.724185 ms 
prepare time 11.725638 
mapping optimization time 109.151861 
add points time 1.123983 ms
scan registration time 29.969703 ms *************
-----t: 0.0356026
OdomCount 4334 & avg odom time 0.045919 ms ++++++++++++++++++++++
mapping data assosiation time 24.797526 ms 
mapping solver time 17.230338 ms 
--------------------stamp1317358212.276484012
prepare time 10.568912 
sort q time 4.411637 
seperate points time 9.546398 
mapping solver time 22.779305 ms 
mapping optimization time 110.002941 
add points time 0.828183 ms
publication time 8.411085 ms 
whole laserOdometry time 8.426143 ms 
 
map prepare time 3.239665 ms
map corner num 81990  surf num 33084 
-----t: 0.058028
OdomCount 4335 & avg odom time 0.045922 ms ++++++++++++++++++++++
mapping data assosiation time 20.092345 ms 
points size 82873 
sort q time 4.719784 
seperate points time 9.666292 
mapping data assosiation time 23.632810 ms 
mapping solver time 16.415775 ms 
[0m[ INFO] [1718805499.302897762, 1317358212.443773984]: Received 115962 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805499.302934265, 1317358212.443773984]: Data saved to 1317358212172565.pcd[0m
build tree time 17.672891 ms 
--------------------stamp1317358212.484273910
points size 80564 
sort q time 4.868077 
seperate points time 11.631397 
-----t: 0.0382327
OdomCount 4337 & avg odom time 0.045917 ms ++++++++++++++++++++++
mapping solver time 12.999745 ms 
mapping pub time 1.927240 ms 
whole mapping time 114.690222 ms +++++
mappingCount 2827 & avg mapping time 154.934890 ms ++++++++++++++++++++++
--------------------stamp1317358212.588098049
prepare time 13.065628 
mapping solver time 17.102017 ms 
-----t: 0.038199
OdomCount 4338 & avg odom time 0.045916 ms ++++++++++++++++++++++
mapping data assosiation time 22.781300 ms 
mapping solver time 12.229637 ms 
mapping pub time 1.817628 ms 
whole mapping time 106.961056 ms +++++
mappingCount 2828 & avg mapping time 154.917928 ms ++++++++++++++++++++++
--------------------stamp1317358212.691921949
prepare time 10.934685 
sort q time 4.844687 
seperate points time 10.463530 
publication time 9.005479 ms 
whole laserOdometry time 9.021613 ms 
 
1317358212.691921949 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.696423 ms 
mapping data assosiation time 21.641518 ms 
mapping solver time 17.521821 ms 
filter time 8.498256 ms 
mapping pub time 1.930001 ms 
whole mapping time 126.453939 ms +++++
mappingCount 2829 & avg mapping time 154.907868 ms ++++++++++++++++++++++
1317358212.588098049 WriteOdom aft_mapped_to_init
points size 80134 
map prepare time 3.423538 ms
map corner num 84754  surf num 33892 
prepare time 13.631037 
scan registration time 29.551422 ms *************
-----t: 0.0374069
OdomCount 4340 & avg odom time 0.045912 ms ++++++++++++++++++++++
mapping data assosiation time 22.392551 ms 
mapping solver time 20.912764 ms 
mapping data assosiation time 21.971194 ms 
points size 81822 
prepare time 13.271359 
filter time 8.513861 ms 
mapping pub time 2.231918 ms 
whole mapping time 129.357085 ms +++++
mappingCount 2830 & avg mapping time 154.898842 ms ++++++++++++++++++++++
1317358212.691921949 WriteOdom aft_mapped_to_init
mapping data assosiation time 18.526299 ms 
mapping solver time 16.898070 ms 
--------------------stamp1317358213.003346920
prepare time 11.596322 
sort q time 5.027166 
seperate points time 10.504200 
mapping solver time 16.679921 ms 
filter time 8.360626 ms 
build tree time 18.039495 ms 
mapping data assosiation time 20.004087 ms 
--------------------stamp1317358213.107193946
mapping solver time 24.379256 ms 
sort q time 6.890865 
seperate points time 15.081772 
publication time 9.631450 ms 
whole laserOdometry time 9.643553 ms 
 
mapping pub time 1.848969 ms 
whole mapping time 117.577877 ms +++++
mappingCount 2832 & avg mapping time 154.871431 ms ++++++++++++++++++++++
build tree time 19.442413 ms 
--------------------stamp1317358213.211083889
points size 88858 
sort q time 5.275661 
seperate points time 12.488968 
publication time 11.022134 ms 
whole laserOdometry time 11.034858 ms 
 
mapping solver time 21.801523 ms 
1317358213.107193947 WriteOdom aft_mapped_to_init
points size 88477 
mapping data assosiation time 23.805870 ms 
mapping solver time 27.512875 ms 
mapping data assosiation time 22.262891 ms 
mapping solver time 18.835605 ms 
mapping pub time 2.284302 ms 
whole mapping time 134.466670 ms +++++
mappingCount 2834 & avg mapping time 154.856180 ms ++++++++++++++++++++++
publication time 8.932456 ms 
whole laserOdometry time 8.943240 ms 
 
build tree time 24.729137 ms 
mapping data assosiation time 20.579296 ms 
mapping solver time 15.564419 ms 
--------------------stamp1317358213.522861957
points size 87594 
mapping solver time 16.301119 ms 
mapping pub time 2.123841 ms 
whole mapping time 114.621452 ms +++++
mappingCount 2835 & avg mapping time 154.841989 ms ++++++++++++++++++++++
-----t: 0.0405941
OdomCount 4347 & avg odom time 0.045904 ms ++++++++++++++++++++++
build tree time 22.768146 ms 
mapping data assosiation time 18.180197 ms 
--------------------stamp1317358213.626827001
prepare time 11.173182 
mapping data assosiation time 22.768317 ms 
mapping solver time 16.714554 ms 
[0m[ INFO] [1718805500.537188111, 1317358213.674950031]: Received 124491 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805500.537229585, 1317358213.674950031]: Data saved to 1317358213418898.pcd[0m
build tree time 14.742065 ms 
--------------------stamp1317358213.730793952
prepare time 11.577042 
mapping data assosiation time 25.406805 ms 
publication time 8.321754 ms 
whole laserOdometry time 8.334529 ms 
 
filter time 5.059315 ms 
map prepare time 2.302914 ms
map corner num 65226  surf num 26051 
build tree time 14.963715 ms 
--------------------stamp1317358213.834763050
prepare time 14.630282 
sort q time 5.388109 
seperate points time 12.565700 
-----t: 0.0400323
OdomCount 4350 & avg odom time 0.045904 ms ++++++++++++++++++++++
mapping solver time 12.891999 ms 
mapping pub time 1.910477 ms 
whole mapping time 114.032516 ms +++++
mappingCount 2838 & avg mapping time 154.799781 ms ++++++++++++++++++++++
build tree time 12.921330 ms 
points size 84934 
sort q time 5.166565 
seperate points time 11.341366 
publication time 9.353766 ms 
whole laserOdometry time 9.367244 ms 
 
-----t: 0.0422812
OdomCount 4351 & avg odom time 0.045903 ms ++++++++++++++++++++++
mapping data assosiation time 22.809968 ms 
mapping solver time 16.853074 ms 
mapping pub time 1.909075 ms 
whole mapping time 112.395984 ms +++++
mappingCount 2839 & avg mapping time 154.784845 ms ++++++++++++++++++++++
--------------------stamp1317358214.042742967
prepare time 13.058986 
sort q time 5.020554 
seperate points time 11.408757 
publication time 8.865033 ms 
whole laserOdometry time 8.879165 ms 
 
-----t: 0.0370316
OdomCount 4352 & avg odom time 0.045901 ms ++++++++++++++++++++++
1317358214.042742967 WriteOdom laser_odom_to_init
1317358214.042742967 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.830415 ms 
mapping solver time 12.475431 ms 
map prepare time 2.133630 ms
map corner num 67161  surf num 26662 
points size 81585 
sort q time 4.375494 
seperate points time 9.982059 
mapping data assosiation time 22.738915 ms 
publication time 16.812940 ms 
whole laserOdometry time 16.825502 ms 
 
mapping solver time 22.874931 ms 
mapping data assosiation time 17.936726 ms 
mapping solver time 12.833663 ms 
[0m[ INFO] [1718805501.104548546, 1317358214.249857540]: Received 94638 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805501.104595679, 1317358214.249857540]: Data saved to 1317358214042742.pcd[0m
points size 80671 
sort q time 5.038267 
seperate points time 12.554646 
publication time 13.825696 ms 
whole laserOdometry time 13.841349 ms 
 
--------------------stamp1317358214.354619026
points size 81239 
sort q time 5.737891 
seperate points time 13.421037 
publication time 14.590370 ms 
whole laserOdometry time 14.603106 ms 
 
mapping pub time 187.769413 ms 
whole mapping time 292.654453 ms +++++
mappingCount 2841 & avg mapping time 154.816146 ms ++++++++++++++++++++++
1317358214.042742968 WriteOdom aft_mapped_to_init
build tree time 16.121356 ms 
points size 82886 
prepare time 23.990440 
sort q time 5.720817 
seperate points time 21.558363 
1317358214.458539962 WriteOdom laser_odom_to_init
1317358214.458539962 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.893079 ms 
mapping solver time 18.322547 ms 
map prepare time 2.503977 ms
map corner num 68382  surf num 27111 
build tree time 16.905608 ms 
mapping data assosiation time 23.673900 ms 
mapping solver time 24.029275 ms 
mapping data assosiation time 21.821911 ms 
points size 86479 
mapping pub time 1.912465 ms 
whole mapping time 120.609109 ms +++++
mappingCount 2843 & avg mapping time 154.794544 ms ++++++++++++++++++++++
build tree time 16.147694 ms 
mapping data assosiation time 22.084929 ms 
mapping solver time 17.454291 ms 
mapping data assosiation time 20.826779 ms 
points size 86462 
prepare time 14.123352 
scan registration time 31.096498 ms *************
publication time 9.319060 ms 
whole laserOdometry time 9.334145 ms 
 
mapping data assosiation time 21.694764 ms 
mapping solver time 19.628925 ms 
points size 85752 
mapping data assosiation time 25.623452 ms 
sort q time 4.484698 
seperate points time 10.849107 
mapping solver time 23.564044 ms 
drop lidar frame in mapping for real time performance 
build tree time 14.003752 ms 
mapping data assosiation time 22.105229 ms 
--------------------stamp1317358214.978204965
prepare time 10.570399 
sort q time 4.962772 
seperate points time 11.196437 
scan registration time 26.129867 ms *************
-----t: 0.0370351
OdomCount 4361 & avg odom time 0.045894 ms ++++++++++++++++++++++
mapping solver time 21.293745 ms 
mapping pub time 3.061783 ms 
whole mapping time 124.930765 ms +++++
mappingCount 2846 & avg mapping time 154.756930 ms ++++++++++++++++++++++
build tree time 14.490314 ms 
--------------------stamp1317358215.082146883
points size 85404 
sort q time 5.082175 
seperate points time 12.294420 
mapping solver time 27.239242 ms 
publication time 12.010034 ms 
whole laserOdometry time 12.025134 ms 
 
mapping data assosiation time 26.263281 ms 
mapping solver time 19.451053 ms 
--------------------stamp1317358215.186067104
points size 85062 
sort q time 5.026267 
seperate points time 11.964348 
scan registration time 31.447191 ms *************
mapping data assosiation time 31.853500 ms 
mapping solver time 25.882397 ms 
mapping data assosiation time 23.250377 ms 
points size 85392 
mapping optimization time 124.198799 
scan registration time 34.241165 ms *************
publication time 9.618119 ms 
whole laserOdometry time 9.629444 ms 
 
build tree time 17.607961 ms 
mapping data assosiation time 27.045428 ms 
mapping solver time 18.802331 ms 
points size 85814 
mapping data assosiation time 25.875955 ms 
mapping solver time 19.976847 ms 
build tree time 20.960991 ms 
1317358215.393978118 WriteOdom laser_odom_to_init
1317358215.393978118 WriteOdom aft_mapped_to_init_high_frec
points size 84159 
sort q time 5.937720 
seperate points time 12.106915 
publication time 9.672341 ms 
whole laserOdometry time 9.686072 ms 
 
-----t: 0.0435287
OdomCount 4366 & avg odom time 0.045903 ms ++++++++++++++++++++++
mapping solver time 16.667327 ms 
mapping pub time 1.833732 ms 
whole mapping time 132.726934 ms +++++
mappingCount 2850 & avg mapping time 154.722977 ms ++++++++++++++++++++++
--------------------stamp1317358215.601888895
prepare time 13.078285 
sort q time 4.404963 
seperate points time 10.448732 
publication time 7.446540 ms 
whole laserOdometry time 7.461784 ms 
 
mapping solver time 24.374772 ms 
mapping data assosiation time 19.280853 ms 
mapping solver time 16.656491 ms 
mapping optimization time 101.998930 
add points time 0.844865 ms
filter time 5.528075 ms 
points size 84478 
sort q time 5.167631 
mapping data assosiation time 25.285574 ms 
-----t: 0.0446942
OdomCount 4368 & avg odom time 0.045900 ms ++++++++++++++++++++++
mapping data assosiation time 19.830553 ms 
mapping solver time 13.954759 ms 
mapping pub time 2.517385 ms 
whole mapping time 119.405188 ms +++++
mappingCount 2852 & avg mapping time 154.696262 ms ++++++++++++++++++++++
sort q time 4.602077 
seperate points time 10.987097 
publication time 7.639762 ms 
whole laserOdometry time 7.655104 ms 
 
-----t: 0.0464543
OdomCount 4369 & avg odom time 0.045900 ms ++++++++++++++++++++++
mapping solver time 16.111435 ms 
mapping data assosiation time 19.655710 ms 
mapping solver time 15.474308 ms 
mapping optimization time 93.548633 
add points time 0.870302 ms
points size 80643 
prepare time 13.703313 
filter time 7.914423 ms 
scan registration time 29.451012 ms *************
publication time 6.623531 ms 
whole laserOdometry time 6.713610 ms 
 
mapping data assosiation time 20.380104 ms 
mapping solver time 19.185108 ms 
mapping data assosiation time 19.388177 ms 
prepare time 12.623923 
sort q time 5.172488 
seperate points time 10.004597 
map prepare time 2.762718 ms
map corner num 77686  surf num 31008 
publication time 7.441340 ms 
whole laserOdometry time 7.456925 ms 
 
mapping data assosiation time 17.261057 ms 
mapping solver time 17.608724 ms 
--------------------stamp1317358216.121479034
points size 80684 
mapping solver time 20.272553 ms 
filter time 7.489048 ms 
mapping pub time 2.009207 ms 
whole mapping time 107.125728 ms +++++
mappingCount 2855 & avg mapping time 154.647369 ms ++++++++++++++++++++++
1317358215.913666964 WriteOdom aft_mapped_to_init
1317358216.121479034 WriteOdom laser_odom_to_init
build tree time 16.922324 ms 
mapping data assosiation time 17.309732 ms 
mapping solver time 18.428539 ms 
--------------------stamp1317358216.225421905
mapping data assosiation time 21.258929 ms 
sort q time 4.514755 
seperate points time 10.977051 
[0m[ INFO] [1718805503.121601064, 1317358216.263926075]: Received 110403 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805503.121637205, 1317358216.263926075]: Data saved to 1317358216017563.pcd[0m
build tree time 17.185640 ms 
mapping data assosiation time 20.294142 ms 
mapping solver time 17.755022 ms 
prepare time 11.708404 
mapping data assosiation time 21.584506 ms 
mapping pub time 1.867797 ms 
whole mapping time 111.152620 ms +++++
mappingCount 2857 & avg mapping time 154.616564 ms ++++++++++++++++++++++
1317358216.121479034 WriteOdom aft_mapped_to_init
-----t: 0.0355647
OdomCount 4374 & avg odom time 0.045884 ms ++++++++++++++++++++++
1317358216.329366922 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
1317358216.329366922 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.220677 ms
map corner num 79439  surf num 31749 
build tree time 16.830391 ms 
mapping data assosiation time 19.248735 ms 
--------------------stamp1317358216.433285951
prepare time 13.959527 
mapping data assosiation time 20.233591 ms 
mapping solver time 19.091712 ms 
mapping pub time 1.995967 ms 
whole mapping time 106.026145 ms +++++
mappingCount 2858 & avg mapping time 154.599566 ms ++++++++++++++++++++++
-----t: 0.0575137
OdomCount 4375 & avg odom time 0.045887 ms ++++++++++++++++++++++
build tree time 16.581201 ms 
points size 80074 
sort q time 4.860981 
seperate points time 11.695873 
publication time 10.973208 ms 
whole laserOdometry time 10.987322 ms 
 
-----t: 0.0452438
OdomCount 4376 & avg odom time 0.045887 ms ++++++++++++++++++++++
mapping solver time 16.468562 ms 
map prepare time 2.036609 ms
map corner num 80620  surf num 32212 
build tree time 18.576714 ms 
points size 79716 
prepare time 12.311690 
publication time 5.349073 ms 
whole laserOdometry time 5.363272 ms 
 
mapping solver time 23.344847 ms 
-----t: 0.0298632
OdomCount 4377 & avg odom time 0.045883 ms ++++++++++++++++++++++
1317358216.641119956 WriteOdom laser_odom_to_init
1317358216.641119956 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.523520 ms 
mapping solver time 14.675022 ms 
mapping pub time 1.774789 ms 
whole mapping time 107.691543 ms +++++
mappingCount 2860 & avg mapping time 154.567024 ms ++++++++++++++++++++++
--------------------stamp1317358216.745038986
prepare time 11.062751 
scan registration time 24.442340 ms *************
mapping solver time 18.480950 ms 
mapping data assosiation time 16.740194 ms 
mapping solver time 10.392526 ms 
mapping optimization time 81.429317 
add points time 0.671996 ms
--------------------stamp1317358216.848958015
prepare time 13.277521 
sort q time 4.860270 
seperate points time 10.895359 
publication time 7.429326 ms 
whole laserOdometry time 7.441803 ms 
 
-----t: 0.0402733
OdomCount 4379 & avg odom time 0.045878 ms ++++++++++++++++++++++
mapping pub time 130.963408 ms 
whole mapping time 220.915692 ms +++++
mappingCount 2861 & avg mapping time 154.590216 ms ++++++++++++++++++++++
points size 81215 
build tree time 20.293253 ms 
sort q time 4.812511 
seperate points time 10.409150 
publication time 6.568271 ms 
whole laserOdometry time 6.582677 ms 
 
-----t: 0.0416885
OdomCount 4380 & avg odom time 0.045877 ms ++++++++++++++++++++++
mapping data assosiation time 17.565087 ms 
mapping solver time 11.153846 ms 
--------------------stamp1317358217.056796073
points size 81111 
sort q time 4.562754 
seperate points time 10.668606 
publication time 8.969249 ms 
whole laserOdometry time 8.979610 ms 
 
-----t: 0.0304042
OdomCount 4381 & avg odom time 0.045873 ms ++++++++++++++++++++++
1317358217.056796073 WriteOdom laser_odom_to_init
1317358217.056796073 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.140193 ms 
mapping solver time 17.868519 ms 
mapping data assosiation time 16.780089 ms 
mapping solver time 13.897157 ms 
mapping pub time 2.097234 ms 
whole mapping time 105.394008 ms +++++
mappingCount 2863 & avg mapping time 154.555106 ms ++++++++++++++++++++++
1317358216.952877998 WriteOdom aft_mapped_to_init
map prepare time 2.604443 ms
map corner num 82802  surf num 32964 
points size 81851 
prepare time 12.884199 
scan registration time 30.679453 ms *************
build tree time 21.971212 ms 
publication time 6.999028 ms 
whole laserOdometry time 7.012887 ms 
 
mapping solver time 17.325779 ms 
mapping data assosiation time 16.533931 ms 
mapping solver time 13.961580 ms 
mapping pub time 2.263262 ms 
whole mapping time 102.423593 ms +++++
mappingCount 2864 & avg mapping time 154.536905 ms ++++++++++++++++++++++
prepare time 14.423287 
build tree time 20.548344 ms 
publication time 8.754160 ms 
whole laserOdometry time 8.769461 ms 
 
mapping solver time 19.407906 ms 
mapping data assosiation time 17.246723 ms 
mapping solver time 10.966384 ms 
mapping pub time 2.017578 ms 
whole mapping time 102.453094 ms +++++
mappingCount 2865 & avg mapping time 154.518728 ms ++++++++++++++++++++++
sort q time 4.576619 
seperate points time 10.761874 
publication time 7.441965 ms 
whole laserOdometry time 7.454566 ms 
 
mapping solver time 19.653089 ms 
mapping data assosiation time 18.609473 ms 
--------------------stamp1317358217.472351074
mapping pub time 3.869971 ms 
whole mapping time 109.061455 ms +++++
mappingCount 2866 & avg mapping time 154.502868 ms ++++++++++++++++++++++
sort q time 4.821563 
seperate points time 11.576655 
build tree time 20.687443 ms 
mapping data assosiation time 21.967055 ms 
mapping solver time 16.366153 ms 
mapping data assosiation time 20.708906 ms 
mapping solver time 14.694531 ms 
mapping optimization time 95.255401 
map prepare time 2.525684 ms
map corner num 85105  surf num 33783 
build tree time 20.793715 ms 
-----t: 0.0449332
OdomCount 4386 & avg odom time 0.045869 ms ++++++++++++++++++++++
mapping solver time 17.932532 ms 
mapping data assosiation time 19.565356 ms 
points size 86956 
sort q time 5.098473 
seperate points time 11.804697 
publication time 7.192400 ms 
whole laserOdometry time 7.209538 ms 
 
build tree time 22.160805 ms 
mapping data assosiation time 20.224815 ms 
mapping solver time 16.257840 ms 
--------------------stamp1317358217.784013986
sort q time 4.890230 
seperate points time 11.264352 
mapping pub time 2.040353 ms 
whole mapping time 108.981545 ms +++++
mappingCount 2869 & avg mapping time 154.455481 ms ++++++++++++++++++++++
publication time 7.549218 ms 
whole laserOdometry time 7.574598 ms 
 
build tree time 25.060677 ms 
mapping data assosiation time 18.852882 ms 
mapping solver time 16.849471 ms 
sort q time 5.117305 
seperate points time 10.138248 
mapping solver time 15.077049 ms 
filter time 8.454776 ms 
build tree time 20.476322 ms 
mapping data assosiation time 19.617116 ms 
--------------------stamp1317358217.991755962
prepare time 12.469372 
sort q time 5.325957 
seperate points time 10.733188 
mapping solver time 14.855414 ms 
[0m[ INFO] [1718805504.900227214, 1317358218.038128427]: Received 122724 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805504.900257581, 1317358218.038128427]: Data saved to 1317358217784013.pcd[0m
build tree time 18.513906 ms 
mapping data assosiation time 19.835969 ms 
points size 89214 
sort q time 5.081295 
seperate points time 11.891550 
mapping data assosiation time 24.501992 ms 
1317358218.095627069 WriteOdom laser_odom_to_init
1317358218.095627069 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.161089 ms 
mapping pub time 2.054968 ms 
whole mapping time 119.557771 ms +++++
mappingCount 2872 & avg mapping time 154.412409 ms ++++++++++++++++++++++
build tree time 17.009014 ms 
points size 89186 
sort q time 5.129708 
seperate points time 10.819376 
mapping solver time 26.499273 ms 
-----t: 0.0369178
OdomCount 4392 & avg odom time 0.045857 ms ++++++++++++++++++++++
mapping data assosiation time 23.431722 ms 
mapping solver time 17.502884 ms 
mapping pub time 2.204490 ms 
whole mapping time 122.647790 ms +++++
mappingCount 2873 & avg mapping time 154.401354 ms ++++++++++++++++++++++
--------------------stamp1317358218.303318977
build tree time 18.152914 ms 
sort q time 5.018759 
seperate points time 11.821771 
publication time 9.354593 ms 
whole laserOdometry time 9.423236 ms 
 
mapping solver time 24.101243 ms 
mapping data assosiation time 23.845262 ms 
--------------------stamp1317358218.407162904
points size 88710 
sort q time 5.120446 
seperate points time 12.282737 
build tree time 22.025163 ms 
-----t: 0.0494517
OdomCount 4394 & avg odom time 0.045863 ms ++++++++++++++++++++++
1317358218.407162904 WriteOdom laser_odom_to_init
1317358218.407162904 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.974719 ms 
mapping solver time 21.304496 ms 
--------------------stamp1317358218.510986089
prepare time 10.360447 
mapping solver time 15.371190 ms 
mapping pub time 2.058235 ms 
whole mapping time 120.687461 ms +++++
mappingCount 2875 & avg mapping time 154.380013 ms ++++++++++++++++++++++
-----t: 0.0345571
OdomCount 4395 & avg odom time 0.045860 ms ++++++++++++++++++++++
build tree time 21.133237 ms 
mapping data assosiation time 19.720968 ms 
mapping solver time 16.780494 ms 
points size 88834 
sort q time 4.775430 
seperate points time 11.607948 
filter time 8.133060 ms 
build tree time 18.802504 ms 
mapping data assosiation time 21.332107 ms 
--------------------stamp1317358218.718585968
points size 89672 
sort q time 5.559609 
seperate points time 10.782219 
publication time 8.724975 ms 
whole laserOdometry time 8.736612 ms 
 
filter time 7.606221 ms 
build tree time 13.143995 ms 
mapping data assosiation time 21.445569 ms 
points size 91211 
sort q time 5.137589 
seperate points time 17.484749 
publication time 8.868810 ms 
whole laserOdometry time 8.893288 ms 
 
mapping pub time 2.018370 ms 
whole mapping time 112.346562 ms +++++
mappingCount 2878 & avg mapping time 154.337922 ms ++++++++++++++++++++++
build tree time 13.246737 ms 
--------------------stamp1317358218.926181077
prepare time 11.559235 
sort q time 5.178328 
seperate points time 12.166950 
publication time 10.280148 ms 
whole laserOdometry time 10.293735 ms 
 
mapping solver time 18.850218 ms 
1317358218.822384119 WriteOdom aft_mapped_to_init
--------------------stamp1317358219.030004978
points size 94412 
mapping data assosiation time 23.367061 ms 
publication time 8.563535 ms 
whole laserOdometry time 8.595599 ms 
 
-----t: 0.0326046
OdomCount 4400 & avg odom time 0.045852 ms ++++++++++++++++++++++
mapping data assosiation time 23.151003 ms 
mapping solver time 15.337929 ms 
map prepare time 2.802056 ms
map corner num 63158  surf num 24510 
prepare time 13.305892 
scan registration time 30.139606 ms *************
publication time 10.940619 ms 
whole laserOdometry time 10.956060 ms 
 
mapping solver time 20.736854 ms 
mapping data assosiation time 21.516035 ms 
mapping solver time 14.322191 ms 
points size 91504 sort q time 5.230756 
publication time 11.129195 ms 
whole laserOdometry time 11.139073 ms 
 
-----t: 0.063937
OdomCount 4402 & avg odom time 0.045853 ms ++++++++++++++++++++++
--------------------stamp1317358219.341402053
prepare time 13.347208 
sort q time 5.232908 
seperate points time 12.893715 
publication time 10.595897 ms 
whole laserOdometry time 10.615563 ms 
 
mapping pub time 182.474360 ms 
whole mapping time 292.389033 ms +++++
mappingCount 2881 & avg mapping time 154.358056 ms ++++++++++++++++++++++
build tree time 13.726296 ms 
points size 90197 
mapping data assosiation time 24.737466 ms 
mapping solver time 28.398810 ms 
1317358219.445202112 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.280564 ms 
mapping solver time 19.362848 ms 
map prepare time 2.774528 ms
map corner num 64745  surf num 25399 
prepare time 15.571771 
sort q time 5.280266 
seperate points time 12.067071 
mapping data assosiation time 26.393429 ms 
mapping solver time 25.190538 ms 
mapping data assosiation time 25.671165 ms 
points size 90373 
mapping solver time 31.902202 ms 
mapping pub time 2.126666 ms publication time 8.953498 ms 
whole laserOdometry time 8.985341 ms 
 
mapping data assosiation time 21.957826 ms 
--------------------stamp1317358219.756525039
points size 90602 
sort q time 4.913550 
seperate points time 11.752740 
mapping data assosiation time 27.007625 ms 
publication time 9.774469 ms 
whole laserOdometry time 9.788367 ms 
 
mapping solver time 22.466389 ms 
mapping pub time 2.062707 ms 
whole mapping time 129.218385 ms +++++
mappingCount 2884 & avg mapping time 154.334750 ms ++++++++++++++++++++++
build tree time 14.572600 ms 
--------------------stamp1317358219.860263109
mapping data assosiation time 24.012818 ms 
sort q time 6.437401 
seperate points time 12.216448 
mapping solver time 26.171305 ms 
-----t: 0.0403787
OdomCount 4408 & avg odom time 0.045850 ms ++++++++++++++++++++++
mapping data assosiation time 27.241843 ms 
mapping solver time 14.899892 ms 
mapping pub time 2.005478 ms 
whole mapping time 118.726754 ms +++++
mappingCount 2885 & avg mapping time 154.322409 ms ++++++++++++++++++++++
--------------------stamp1317358219.964013099
points size 93969 
scan registration time 33.267040 ms *************
-----t: 0.0342303
OdomCount 4409 & avg odom time 0.045848 ms ++++++++++++++++++++++
mapping data assosiation time 21.723898 ms 
mapping solver time 15.455475 ms 
mapping pub time 3.724610 ms 
whole mapping time 117.773861 ms +++++
mappingCount 2886 & avg mapping time 154.309747 ms ++++++++++++++++++++++
prepare time 17.462425 
sort q time 5.323614 
seperate points time 12.802877 
mapping data assosiation time 28.493513 ms 
-----t: 0.0472965
OdomCount 4410 & avg odom time 0.045848 ms ++++++++++++++++++++++
mapping solver time 26.464217 ms 
--------------------stamp1317358220.171551942
points size 97573 
mapping solver time 22.188317 ms 
mapping pub time 2.209165 ms 
whole mapping time 141.374826 ms +++++
mappingCount 2887 & avg mapping time 154.305270 ms ++++++++++++++++++++++
1317358219.964013100 WriteOdom aft_mapped_to_init
map prepare time 4.077248 msscan registration time 66.926770 ms *************
publication time 10.597701 ms 
whole laserOdometry time 10.613091 ms 
 
mapping data assosiation time 33.114996 ms 
points size 97205 
sort q time 5.769280 
seperate points time 12.509516 
mapping data assosiation time 28.958712 ms 
mapping solver time 26.592886 ms 
filter time 7.768502 ms 
points size 96494 
scan registration time 33.675730 ms *************
mapping data assosiation time 25.305146 ms 
publication time 12.114437 ms 
whole laserOdometry time 12.121996 ms 
 
mapping solver time 26.812226 ms 
mapping data assosiation time 24.515667 ms 
points size 97095 
mapping solver time 27.538208 ms 
map prepare time 3.496648 ms
map corner num 71066  surf num 27621 
-----t: 0.037847
OdomCount 4414 & avg odom time 0.045850 ms ++++++++++++++++++++++
mapping data assosiation time 21.162757 ms 
--------------------stamp1317358220.586673974
points size 96708 
sort q time 5.700156 
seperate points time 12.674828 
publication time 8.853429 ms 
whole laserOdometry time 8.869726 ms 
 
filter time 5.183118 ms 
map prepare time 2.661200 ms
map corner num 71894  surf num 27948 
build tree time 14.506748 ms 
--------------------stamp1317358220.690498113
points size 95832 
sort q time 5.210904 
seperate points time 12.313526 
-----t: 0.0336066
OdomCount 4416 & avg odom time 0.045845 ms ++++++++++++++++++++++
mapping data assosiation time 26.946300 ms 
mapping solver time 16.030574 ms 
mapping optimization time 107.151803 
add points time 0.881733 ms
filter time 5.123300 ms 
map prepare time 2.470711 ms
map corner num 72654  surf num 28187 
build tree time 18.525574 ms 
sort q time 5.912461 
seperate points time 14.421487 
publication time 9.791200 ms 
whole laserOdometry time 9.803714 ms 
 
mapping data assosiation time 22.274421 ms 
mapping solver time 14.545380 ms 
mapping pub time 2.216709 ms 
whole mapping time 121.357598 ms +++++
mappingCount 2892 & avg mapping time 154.272872 ms ++++++++++++++++++++++
sort q time 5.102034 
seperate points time 12.041481 
publication time 11.630448 ms 
whole laserOdometry time 11.667729 ms 
 
mapping solver time 22.339952 ms 
--------------------stamp1317358221.001940965
prepare time 13.205661 
sort q time 4.959363 
seperate points time 11.956100 
publication time 9.491441 ms 
whole laserOdometry time 9.504608 ms 
 
mapping data assosiation time 23.791924 ms 
mapping solver time 21.041102 ms 
points size 87045 
mapping data assosiation time 26.023057 ms 
mapping solver time 18.093124 ms 
mapping pub time 2.090050 ms 
whole mapping time 121.635515 ms +++++
mappingCount 2894 & avg mapping time 154.251690 ms ++++++++++++++++++++++
build tree time 14.431435 ms 
mapping data assosiation time 21.721752 ms 
--------------------stamp1317358221.209537029
prepare time 11.299443 
mapping solver time 26.629061 ms 
publication time 8.854511 ms 
whole laserOdometry time 8.866753 ms 
 
-----t: 0.0377466
OdomCount 4421 & avg odom time 0.045841 ms ++++++++++++++++++++++
1317358221.209537029 WriteOdom laser_odom_to_init
1317358221.209537029 WriteOdom aft_mapped_to_init_high_frec
filter time 5.768035 ms 
mapping pub time 2.050126 ms 
whole mapping time 123.770609 ms +++++
mappingCount 2895 & avg mapping time 154.241163 ms ++++++++++++++++++++++
1317358221.001940966 WriteOdom aft_mapped_to_init
map prepare time 2.288999 ms
map corner num 75842  surf num 29270 
build tree time 15.698053 ms 
--------------------stamp1317358221.313335895
points size 80882 
sort q time 5.262482 
seperate points time 10.559040 
mapping solver time 20.595463 ms 
-----t: 0.0449405
OdomCount 4422 & avg odom time 0.045841 ms ++++++++++++++++++++++
mapping solver time 16.991471 ms 
mapping pub time 3.099634 ms 
whole mapping time 115.917878 ms +++++
mappingCount 2896 & avg mapping time 154.227931 ms ++++++++++++++++++++++
1317358221.209537029 WriteOdom aft_mapped_to_init
map prepare time 2.205492 ms
map corner num 76713  surf num 29593 
points size 77103 
sort q time 4.380654 
seperate points time 10.015420 
mapping data assosiation time 26.182067 ms 
publication time 12.898709 ms 
whole laserOdometry time 12.913512 ms 
 
mapping solver time 22.938347 ms 
mapping data assosiation time 21.437804 ms 
mapping solver time 20.204412 ms 
points size 75112 
sort q time 3.710612 
seperate points time 9.151800 
publication time 11.562121 ms 
whole laserOdometry time 11.575315 ms 
 
-----t: 0.0367048
OdomCount 4424 & avg odom time 0.045837 ms ++++++++++++++++++++++
mapping solver time 21.682664 ms 
mapping data assosiation time 20.479490 ms 
points size 75805 
sort q time 4.403710 
seperate points time 9.753009 
filter time 5.611595 ms 
mapping pub time 1.854651 ms 
whole mapping time 119.214232 ms +++++
mappingCount 2898 & avg mapping time 154.204810 ms ++++++++++++++++++++++
1317358221.417135000 WriteOdom aft_mapped_to_init
scan registration time 25.135037 ms *************
map prepare time 3.064715 ms
map corner num 78280  surf num 30125 
build tree time 18.673118 ms 
mapping data assosiation time 21.814090 ms 
--------------------stamp1317358221.728533983
sort q time 5.400492 
seperate points time 11.089004 
-----t: 0.0470805
OdomCount 4426 & avg odom time 0.045836 ms ++++++++++++++++++++++
1317358221.728533983 WriteOdom laser_odom_to_init
1317358221.728533983 WriteOdom aft_mapped_to_init_high_frec
build tree time 17.993232 ms 
mapping data assosiation time 20.641606 ms 
--------------------stamp1317358221.832355976
prepare time 12.477285 
scan registration time 26.752262 ms *************
mapping solver time 14.665054 ms 
mapping pub time 1.756747 ms 
whole mapping time 109.931894 ms +++++
mappingCount 2900 & avg mapping time 154.178343 ms ++++++++++++++++++++++
build tree time 16.852661 ms 
mapping data assosiation time 19.560540 ms 
--------------------stamp1317358221.936188936
points size 77453 
sort q time 4.018610 
seperate points time 10.024420 
mapping data assosiation time 23.659642 ms 
mapping solver time 18.822228 ms 
[0m[ INFO] [1718805508.855165402, 1317358222.000337185]: Received 111540 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805508.855214638, 1317358222.000337185]: Data saved to 1317358221832355.pcd[0m
--------------------stamp1317358222.040010929
sort q time 4.536623 
seperate points time 10.054646 
publication time 8.885576 ms 
whole laserOdometry time 8.899983 ms 
 
--------------------stamp1317358222.143799066
prepare time 14.180174 
sort q time 4.539977 
seperate points time 11.485579 
publication time 8.447638 ms mapping data assosiation time 22.887014 ms 
mapping solver time 18.161747 ms 
--------------------stamp1317358222.247575044
prepare time 14.148381 
add points time 0.817478 ms
map prepare time 2.883312 ms
map corner num 81458  surf num 31089 
1317358222.247575044 WriteOdom laser_odom_to_init
1317358222.247575044 WriteOdom aft_mapped_to_init_high_frec
build tree time 20.569466 ms 
mapping data assosiation time 19.894872 ms 
mapping solver time 23.300291 ms 
points size 91581 
prepare time 12.116629 
scan registration time 26.362689 ms *************
publication time 8.325360 ms 
whole laserOdometry time 8.344407 ms 
 
1317358222.143799067 WriteOdom aft_mapped_to_init
build tree time 17.407940 ms 
mapping data assosiation time 19.047925 ms 
--------------------stamp1317358222.455178976
prepare time 12.639908 
sort q time 5.241371 
seperate points time 12.745602 
scan registration time 30.347920 ms *************
-----t: 0.0489589
OdomCount 4433 & avg odom time 0.045824 ms ++++++++++++++++++++++
build tree time 19.377582 ms 
--------------------stamp1317358222.558948993
prepare time 15.219218 
mapping solver time 22.124063 ms 
-----t: 0.0337937
OdomCount 4434 & avg odom time 0.045821 ms ++++++++++++++++++++++
mapping solver time 16.533120 ms 
mapping optimization time 104.961840 
add points time 0.733153 ms
filter time 5.448886 ms 
build tree time 16.874197 ms 
points size 94514 
mapping data assosiation time 23.043520 ms 
mapping solver time 20.057561 ms 
mapping data assosiation time 22.321010 ms 
mapping solver time 13.274647 ms 
[0m[ INFO] [1718805509.607231776, 1317358222.748320396]: Received 116432 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805509.607283354, 1317358222.748320396]: Data saved to 1317358222558948.pcd[0m
--------------------stamp1317358222.766545057
build tree time 21.053792 ms 
sort q time 5.407195 
seperate points time 12.078656 
scan registration time 29.218632 ms *************
-----t: 0.0416634
OdomCount 4436 & avg odom time 0.045818 ms ++++++++++++++++++++++
mapping data assosiation time 20.119987 ms 
mapping solver time 13.359864 ms 
map prepare time 2.716321 ms
map corner num 84988  surf num 32233 
mapping data assosiation time 20.292369 ms 
points size 81443 
filter time 7.530982 ms 
build tree time 17.695312 ms 
mapping data assosiation time 21.647717 ms 
mapping solver time 17.635425 ms 
--------------------stamp1317358223.077842950
sort q time 4.329493 
seperate points time 10.565417 
mapping solver time 20.056123 ms 
mapping optimization time 101.113686 
-----t: 0.0383738
OdomCount 4439 & avg odom time 0.045812 ms ++++++++++++++++++++++
1317358223.077842950 WriteOdom laser_odom_to_init
1317358223.077842950 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.414536 ms 
--------------------stamp1317358223.181690931
points size 76957 
prepare time 13.119368 
publication time 7.359199 ms 
whole laserOdometry time 7.374187 ms 
 
mapping solver time 22.148306 ms 
mapping optimization time 110.066695 
add points time 0.748054 ms
build tree time 22.189515 ms 
--------------------stamp1317358223.285562038
prepare time 10.354805 
sort q time 4.771625 
seperate points time 10.502059 
-----t: 0.0355244
OdomCount 4441 & avg odom time 0.045807 ms ++++++++++++++++++++++
mapping solver time 20.392147 ms 
[0m[ INFO] [1718805510.222297566, 1317358223.362443918]: Received 120366 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805510.222340870, 1317358223.362443918]: Data saved to 1317358223077842.pcd[0m
--------------------stamp1317358223.389432907
sort q time 3.481857 
seperate points time 7.689697 
publication time 7.845301 ms 
whole laserOdometry time 7.858518 ms 
 
mapping data assosiation time 23.850728 ms 
mapping solver time 22.245624 ms 
mapping pub time 2.278687 ms 
whole mapping time 125.242195 ms +++++
mappingCount 2912 & avg mapping time 154.086684 ms ++++++++++++++++++++++
prepare time 11.141766 
sort q time 4.292298 
seperate points time 9.765239 
mapping data assosiation time 23.325895 ms 
mapping solver time 16.392021 ms 
mapping data assosiation time 19.321949 ms 
mapping solver time 12.467004 ms 
prepare time 12.572949 
sort q time 4.121224 
seperate points time 10.719829 
publication time 8.443890 ms 
whole laserOdometry time 8.457149 ms 
 
mapping solver time 15.798111 ms 
mapping data assosiation time 20.288606 ms 
--------------------stamp1317358223.700951099
filter time 6.859116 ms 
-----t: 0.0427291
OdomCount 4445 & avg odom time 0.045807 ms ++++++++++++++++++++++
1317358223.700951099 WriteOdom laser_odom_to_init
1317358223.700951099 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.005264 ms 
mapping solver time 17.093182 ms 
points size 80898 
mapping solver time 19.605867 ms 
map prepare time 2.787666 ms
map corner num 63017  surf num 25201 
build tree time 15.861644 ms 
-----t: 0.0454131
OdomCount 4446 & avg odom time 0.045806 ms ++++++++++++++++++++++
mapping solver time 20.230792 ms 
points size 82606 
sort q time 4.655083 
seperate points time 11.297003 
-----t: 0.0303812
OdomCount 4447 & avg odom time 0.045803 ms ++++++++++++++++++++++
build tree time 13.073298 ms 
mapping data assosiation time 19.309501 ms 
--------------------stamp1317358224.012515068
points size 83080 
sort q time 5.442653 
seperate points time 12.873607 
mapping solver time 13.053343 ms 
mapping optimization time 94.120313 
add points time 0.899179 ms
publication time 6.638774 ms 
whole laserOdometry time 6.648771 ms 
 
map prepare time 2.305013 ms
map corner num 64122  surf num 25535 
build tree time 13.301671 ms 
mapping data assosiation time 19.080119 ms 
points size 83145 
mapping solver time 25.642627 ms 
publication time 8.320067 ms 
whole laserOdometry time 8.333995 ms 
 
mapping data assosiation time 24.172970 ms 
mapping solver time 17.489720 ms 
mapping optimization time 100.781174 
add points time 0.780745 ms
filter time 4.887082 ms 
build tree time 13.842087 ms 
--------------------stamp1317358224.220304965
points size 83431 
sort q time 4.527490 
seperate points time 9.860311 
mapping solver time 26.412666 ms 
mapping data assosiation time 24.595681 ms 
-----t: 0.0568223
OdomCount 4450 & avg odom time 0.045803 ms ++++++++++++++++++++++
filter time 4.777264 ms 
--------------------stamp1317358224.324152946
points size 83924 
sort q time 5.444665 
seperate points time 13.069655 
publication time 7.477604 ms 
whole laserOdometry time 7.489676 ms 
 
mapping data assosiation time 19.339779 ms 
mapping solver time 16.696849 ms 
1317358224.220304966 WriteOdom aft_mapped_to_init
prepare time 14.530093 
sort q time 4.807750 
seperate points time 11.736510 
mapping data assosiation time 23.293296 ms 
mapping solver time 20.572739 ms 
mapping data assosiation time 19.802378 ms 
mapping solver time 12.520684 ms 
points size 83317 
sort q time 16.339066 publication time 7.717517 ms 
whole laserOdometry time 7.730389 ms 
 
--------------------stamp1317358224.635597944
points size 82234 
sort q time 4.649091 
seperate points time 11.094128 
scan registration time 29.940963 ms *************
publication time 8.565269 ms 
whole laserOdometry time 8.578252 ms 
 
mapping pub time 177.888601 ms 
whole mapping time 283.051938 ms +++++
mappingCount 2921 & avg mapping time 154.019719 ms ++++++++++++++++++++++
build tree time 13.580878 ms 
points size 81159 
sort q time 4.797368 
seperate points time 10.879026 
publication time 7.447054 ms 
whole laserOdometry time 7.466352 ms 
 
-----t: 0.0448961
OdomCount 4455 & avg odom time 0.045800 ms ++++++++++++++++++++++
mapping solver time 16.993856 ms 
mapping pub time 1.943907 ms 
whole mapping time 115.155146 ms +++++
mappingCount 2922 & avg mapping time 154.006420 ms ++++++++++++++++++++++
1317358224.427998066 WriteOdom aft_mapped_to_init
map prepare time 2.400602 ms
map corner num 67491  surf num 26954 
build tree time 17.370411 ms 
sort q time 5.647949 
seperate points time 10.598544 
publication time 8.977774 ms 
whole laserOdometry time 8.990353 ms 
 
mapping solver time 26.014448 ms 
mapping data assosiation time 21.650990 ms 
--------------------stamp1317358224.946727991
mapping pub time 1.941439 ms 
whole mapping time 126.888528 ms +++++
mappingCount 2923 & avg mapping time 153.997145 ms ++++++++++++++++++++++
scan registration time 26.788749 ms *************
-----t: 0.0315479
OdomCount 4457 & avg odom time 0.045795 ms ++++++++++++++++++++++
mapping data assosiation time 22.964960 ms 
mapping solver time 19.750335 ms 
mapping data assosiation time 20.215791 ms 
points size 83170 
sort q time 4.398820 
seperate points time 11.020262 
publication time 8.100505 ms 
whole laserOdometry time 8.114612 ms 
 
-----t: 0.0392581
OdomCount 4458 & avg odom time 0.045794 ms ++++++++++++++++++++++
mapping data assosiation time 23.730867 ms 
mapping solver time 21.293403 ms 
--------------------stamp1317358225.154061079
prepare time 13.854224 
sort q time 4.542006 
seperate points time 11.265604 
mapping solver time 22.751960 ms 
1317358224.946727991 WriteOdom aft_mapped_to_init
build tree time 14.138536 ms 
mapping data assosiation time 22.111737 ms 
--------------------stamp1317358225.257667064
points size 84259 
sort q time 4.862297 
seperate points time 11.058995 
mapping data assosiation time 27.218210 ms 
-----t: 0.0386402
OdomCount 4460 & avg odom time 0.045790 ms ++++++++++++++++++++++
1317358225.257667064 WriteOdom laser_odom_to_init
1317358225.257667064 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.472763 ms 
mapping optimization time 112.086214 
[0m[ INFO] [1718805512.182501189, 1317358225.322140157]: Received 99146 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805512.182547607, 1317358225.322140157]: Data saved to 1317358225050407.pcd[0m
build tree time 16.010211 ms 
--------------------stamp1317358225.361272096
prepare time 14.327241 
sort q time 4.995431 
seperate points time 17.166672 
publication time 8.969056 ms 
whole laserOdometry time 8.986801 ms 
 
mapping data assosiation time 27.975892 ms 
mapping solver time 27.113190 ms 
mapping pub time 2.082549 ms 
whole mapping time 140.557653 ms +++++
mappingCount 2927 & avg mapping time 153.957702 ms ++++++++++++++++++++++
sort q time 5.526962 
seperate points time 11.498421 
publication time 10.966442 ms 
whole laserOdometry time 10.982385 ms 
 
-----t: 0.0574803
OdomCount 4462 & avg odom time 0.045803 ms ++++++++++++++++++++++
--------------------stamp1317358225.568603992
prepare time 12.949146 
sort q time 5.663558 
seperate points time 12.367659 
mapping optimization time 129.872589 
drop lidar frame in mapping for real time performance 
-----t: 0.0556137
OdomCount 4463 & avg odom time 0.045805 ms ++++++++++++++++++++++
build tree time 21.977406 ms 
mapping data assosiation time 22.667358 ms 
points size 98737 
prepare time 11.853391 
mapping solver time 30.202616 ms 
publication time 11.080788 ms 
whole laserOdometry time 11.098542 ms 
 
mapping data assosiation time 28.946065 ms 
mapping solver time 25.257470 ms 
mapping pub time 2.301632 ms 
whole mapping time 144.166149 ms +++++
mappingCount 2929 & avg mapping time 153.951114 ms ++++++++++++++++++++++
--------------------stamp1317358225.776036024
points size 101978 
sort q time 5.559218 
seperate points time 12.230918 
publication time 9.819458 ms 
whole laserOdometry time 9.833803 ms 
 
mapping solver time 27.830134 ms 
mapping data assosiation time 22.878440 ms 
--------------------stamp1317358225.879760980
points size 102395 
prepare time 13.871398 
filter time 5.680562 ms 
mapping pub time 2.288649 ms 
whole mapping time 127.927951 ms +++++
mappingCount 2930 & avg mapping time 153.942233 ms ++++++++++++++++++++++
1317358225.672308922 WriteOdom aft_mapped_to_init
scan registration time 34.149646 ms *************
mapping data assosiation time 28.635875 ms 
mapping solver time 20.174691 ms 
--------------------stamp1317358225.983513116
points size 102647 
sort q time 5.719592 
seperate points time 13.921343 
add points time 0.967704 ms
[0m[ INFO] [1718805512.893983787, 1317358226.032786968]: Received 105721 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805512.894025825, 1317358226.032786968]: Data saved to 1317358225776036.pcd[0m
build tree time 15.768319 ms 
mapping data assosiation time 24.201255 ms 
points size 102569 
mapping solver time 32.006519 ms 
mapping data assosiation time 27.578050 ms 
publication time 11.237256 ms 
whole laserOdometry time 11.253413 ms 
 
-----t: 0.0630561
map prepare time 2.795631 ms
map corner num 76305  surf num 30408 
--------------------stamp1317358226.191086053
points size 102386 
mapping data assosiation time 30.792798 ms 
mapping solver time 23.381457 ms 
mapping data assosiation time 25.765271 ms 
--------------------stamp1317358226.294884920
points size 102344 
sort q time 5.942181 
seperate points time 13.841827 
publication time 10.473895 ms 
whole laserOdometry time 10.488620 ms 
 
mapping data assosiation time 28.525420 ms 
mapping solver time 24.881055 ms 
points size 102173 
mapping data assosiation time 28.451431 ms 
publication time 8.749188 ms 
whole laserOdometry time 8.778267 ms 
 
mapping pub time 2.378048 ms 
whole mapping time 144.007692 ms +++++
mappingCount 2934 & avg mapping time 153.920336 ms ++++++++++++++++++++++
build tree time 16.590675 ms 
--------------------stamp1317358226.502532005
prepare time 14.087858 
sort q time 6.472603 
seperate points time 13.411709 
publication time 8.781681 ms 
whole laserOdometry time 8.798279 ms 
 
-----t: 0.0458057
OdomCount 4472 & avg odom time 0.045810 ms ++++++++++++++++++++++
mapping solver time 21.657863 ms 
mapping pub time 2.287598 ms 
whole mapping time 136.201183 ms +++++
mappingCount 2935 & avg mapping time 153.914300 ms ++++++++++++++++++++++
--------------------stamp1317358226.606451988
points size 100645 
sort q time 6.174901 
seperate points time 12.138941 
mapping data assosiation time 30.176268 ms 
-----t: 0.0517762
OdomCount 4473 & avg odom time 0.045811 ms ++++++++++++++++++++++
mapping solver time 32.877104 ms 
--------------------stamp1317358226.710417032
points size 99125 
prepare time 13.390824 
sort q time 5.936638 
seperate points time 12.266029 
mapping optimization time 142.607655 
filter time 8.075811 ms 
-----t: 0.0567647
OdomCount 4474 & avg odom time 0.045814 ms ++++++++++++++++++++++
mapping data assosiation time 24.920443 ms 
points size 96902 
sort q time 5.297821 
seperate points time 10.904778 
mapping solver time 34.332327 ms 
scan registration time 32.025485 ms *************
publication time 10.432733 ms 
whole laserOdometry time 10.446853 ms 
 
mapping solver time 24.477239 ms 
mapping pub time 2.465445 ms 
whole mapping time 151.652438 ms +++++
mappingCount 2937 & avg mapping time 153.915490 ms ++++++++++++++++++++++
points size 95567 
build tree time 23.069546 ms 
publication time 9.261515 ms 
whole laserOdometry time 9.273994 ms 
 
mapping solver time 27.922844 ms 
--------------------stamp1317358227.022507905
prepare time 11.206509 
scan registration time 27.801267 ms *************
mapping solver time 27.203202 ms 
mapping optimization time 134.313807 
add points time 1.060611 ms
map prepare time 3.571501 ms
map corner num 81650  surf num 32109 
build tree time 21.099714 ms 
--------------------stamp1317358227.126619100
points size 93686 
mapping solver time 28.098345 ms 
publication time 9.056322 ms 
whole laserOdometry time 9.067837 ms 
 
-----t: 0.0514806
OdomCount 4478 & avg odom time 0.045816 ms ++++++++++++++++++++++
mapping solver time 27.150300 ms 
filter time 5.775153 ms 
--------------------stamp1317358227.230777978
sort q time 4.993952 
seperate points time 11.656872 
publication time 8.521672 ms 
whole laserOdometry time 8.550058 ms 
 
mapping solver time 25.537850 ms 
mapping data assosiation time 25.767103 ms 
--------------------stamp1317358227.334935903
points size 92544 
filter time 8.312085 ms 
publication time 10.584489 ms 
whole laserOdometry time 10.599318 ms 
 
build tree time 21.031141 ms 
mapping data assosiation time 26.017809 ms 
--------------------stamp1317358227.439120054
sort q time 5.071543 
seperate points time 11.573491 
mapping data assosiation time 28.759741 ms 
publication time 11.379972 ms 
whole laserOdometry time 11.398800 ms 
 
mapping solver time 25.984353 ms 
[0m[ INFO] [1718805514.365903710, 1317358227.511585608]: Received 117073 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805514.365970427, 1317358227.511585608]: Data saved to 1317358227230777.pcd[0m
--------------------stamp1317358227.543350934
sort q time 4.819500 
seperate points time 11.323812 
publication time 11.228075 ms 
whole laserOdometry time 11.238798 ms 
 
-----t: 0.0847812
OdomCount 4482 & avg odom time 0.045821 ms ++++++++++++++++++++++
points size 88663 
sort q time 5.168889 
seperate points time 11.734269 
mapping pub time 177.385535 ms 
whole mapping time 320.776174 ms +++++
mappingCount 2941 & avg mapping time 153.964597 ms ++++++++++++++++++++++
1317358227.230777979 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
build tree time 22.622892 ms 
-----t: 0.0607801
OdomCount 4483 & avg odom time 0.045824 ms ++++++++++++++++++++++
mapping data assosiation time 27.128318 ms 
--------------------stamp1317358227.751955986
mapping solver time 27.096624 ms 
scan registration time 27.024690 ms *************
publication time 8.676668 ms 
whole laserOdometry time 8.689931 ms 
 
-----t: 0.0544092
OdomCount 4484 & avg odom time 0.045826 ms ++++++++++++++++++++++
filter time 8.712460 ms 
--------------------stamp1317358227.856329917
build tree time 23.861334 ms 
sort q time 5.277190 
seperate points time 11.672152 
scan registration time 29.689829 ms *************
publication time 8.552220 ms 
whole laserOdometry time 8.566168 ms 
 
mapping solver time 28.765880 ms 
mapping data assosiation time 23.696834 ms 
--------------------stamp1317358227.960728883
points size 89925 
prepare time 12.350925 
filter time 6.899444 ms 
publication time 9.548286 ms 
whole laserOdometry time 9.565439 ms 
 
-----t: 0.0402041
OdomCount 4486 & avg odom time 0.045824 ms ++++++++++++++++++++++
mapping data assosiation time 29.478963 ms 
--------------------stamp1317358228.065128087
prepare time 13.038455 
sort q time 5.710172 
seperate points time 12.141908 
scan registration time 30.523027 ms *************
publication time 9.268481 ms 
whole laserOdometry time 9.281197 ms 
 
-----t: 0.0444475
OdomCount 4487 & avg odom time 0.045824 ms ++++++++++++++++++++++
mapping solver time 28.985223 ms 
mapping pub time 1.984887 ms 
whole mapping time 162.857956 ms +++++
mappingCount 2944 & avg mapping time 153.966216 ms ++++++++++++++++++++++
--------------------stamp1317358228.169503927
points size 93388 
sort q time 5.960010 
seperate points time 14.026550 
publication time 10.770444 ms 
whole laserOdometry time 10.790054 ms 
 
mapping solver time 29.994129 ms 
--------------------stamp1317358228.273879051
mapping data assosiation time 31.830511 ms 
points size 94751 
scan registration time 35.162443 ms *************
mapping solver time 37.326989 ms 
drop lidar frame in mapping for real time performance 
build tree time 19.945506 ms 
--------------------stamp1317358228.378252983
mapping data assosiation time 30.905236 ms 
points size 96329 
prepare time 17.876080 
scan registration time 35.616114 ms *************
mapping solver time 36.942130 ms 
-----t: 0.0467995
OdomCount 4490 & avg odom time 0.045822 ms ++++++++++++++++++++++
mapping data assosiation time 30.219150 ms 
--------------------stamp1317358228.482604980
mapping solver time 31.226787 ms 
map prepare time 3.772904 ms
map corner num 88946  surf num 34680 
publication time 9.829433 ms 
whole laserOdometry time 9.848504 ms 
 
-----t: 0.0589849
OdomCount 4491 & avg odom time 0.045825 ms ++++++++++++++++++++++
mapping data assosiation time 33.658165 ms 
--------------------stamp1317358228.586954116
points size 99499 
prepare time 14.235295 
scan registration time 33.456957 ms *************
publication time 10.908042 ms 
whole laserOdometry time 10.919797 ms 
 
-----t: 0.0504011
OdomCount 4492 & avg odom time 0.045826 ms ++++++++++++++++++++++
mapping solver time 31.314952 ms 
filter time 9.439308 ms 
points size 100167 
build tree time 24.948592 ms 
sort q time 5.555749 
seperate points time 13.788721 
scan registration time 33.239689 ms *************
publication time 15.062732 ms 
whole laserOdometry time 15.074998 ms 
 
mapping data assosiation time 34.167951 ms 
mapping solver time 36.857687 ms 
points size 101104 
sort q time 5.720326 
seperate points time 13.849936 
publication time 10.535180 ms 
whole laserOdometry time 10.553672 ms 
 
filter time 9.618152 ms 
map prepare time 3.837241 ms
map corner num 90702  surf num 35466 
--------------------stamp1317358228.899887084
points size 102424 
sort q time 5.645413 
seperate points time 14.232739 
publication time 11.959690 ms 
whole laserOdometry time 11.977058 ms 
 
-----t: 0.0507937
OdomCount 4495 & avg odom time 0.045827 ms ++++++++++++++++++++++
mapping data assosiation time 27.023352 ms 
points size 103058 
mapping optimization time 145.040459 
scan registration time 33.305303 ms *************
publication time 9.894147 ms 
whole laserOdometry time 9.908079 ms 
 
build tree time 22.502070 ms 
mapping data assosiation time 27.937124 ms 
--------------------stamp1317358229.108395099
points size 103244 
mapping solver time 25.741319 ms 
scan registration time 36.917270 ms *************
mapping data assosiation time 31.323869 ms 
publication time 9.541822 ms 
whole laserOdometry time 9.560326 ms 
 
mapping solver time 19.638081 ms 
mapping optimization time 129.259332 
add points time 0.928777 ms
drop lidar frame in mapping for real time performance 
build tree time 21.483485 ms 
prepare time 13.851684 
sort q time 5.837276 
seperate points time 13.868300 
publication time 9.439409 ms 
whole laserOdometry time 9.457060 ms 
 
-----t: 0.0438678
OdomCount 4498 & avg odom time 0.045828 ms ++++++++++++++++++++++
1317358229.212601900 WriteOdom laser_odom_to_init
1317358229.212601900 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.865224 ms 
mapping data assosiation time 26.413298 ms 
--------------------stamp1317358229.316785097
points size 102968 
filter time 9.764028 ms 
prepare time 17.536550 
mapping pub time 5.429214 ms 
whole mapping time 152.688254 ms +++++
mappingCount 2951 & avg mapping time 153.994502 ms ++++++++++++++++++++++
[0m[ INFO] [1718805516.195641698, 1317358229.340565056]: Received 129649 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805516.195715197, 1317358229.340565056]: Data saved to 1317358229004164.pcd[0m
1317358229.004164934 WriteOdom aft_mapped_to_init
build tree time 24.794932 ms 
-----t: 0.0659023
OdomCount 4499 & avg odom time 0.045833 ms ++++++++++++++++++++++
--------------------stamp1317358229.420919895
mapping solver time 26.056605 ms 
points size 103002 
prepare time 14.559252 
sort q time 6.232597 
seperate points time 15.106981 
scan registration time 34.454165 ms *************
publication time 12.289493 ms 
whole laserOdometry time 12.303428 ms 
 
mapping solver time 28.091166 ms 
filter time 9.632449 ms 
--------------------stamp1317358229.525032043
points size 102965 
sort q time 6.006379 
seperate points time 14.698159 
publication time 10.760407 ms 
whole laserOdometry time 10.773359 ms 
 
-----t: 0.0530428
OdomCount 4501 & avg odom time 0.045839 ms ++++++++++++++++++++++
mapping data assosiation time 28.168006 ms 
points size 102996 
filter time 7.416960 ms 
mapping pub time 2.401381 ms 
whole mapping time 149.124807 ms +++++
mappingCount 2953 & avg mapping time 153.995859 ms ++++++++++++++++++++++
1317358229.316785097 WriteOdom aft_mapped_to_init
sort q time 5.768275 
seperate points time 14.288079 
scan registration time 35.584751 ms *************
map prepare time 4.214116 ms
map corner num 94705  surf num 37006 
publication time 10.618219 ms 
whole laserOdometry time 10.634611 ms 
 
build tree time 32.292105 ms 
mapping data assosiation time 26.812210 ms 
--------------------stamp1317358229.733252048
points size 102923 
mapping solver time 31.354397 ms 
publication time 9.656522 ms 
whole laserOdometry time 9.672060 ms 
 
-----t: 0.0554053
OdomCount 4503 & avg odom time 0.045841 ms ++++++++++++++++++++++
filter time 6.700869 ms 
--------------------stamp1317358229.837388038
prepare time 13.686685 
sort q time 6.027085 
seperate points time 12.848974 
mapping data assosiation time 31.231316 ms 
-----t: 0.0559306
OdomCount 4504 & avg odom time 0.045843 ms ++++++++++++++++++++++
mapping data assosiation time 25.373671 ms 
--------------------stamp1317358229.941524028
points size 102656 
prepare time 13.544889 
scan registration time 32.383760 ms *************
map prepare time 3.255131 ms
map corner num 96196  surf num 37557 
build tree time 24.230369 ms 
mapping data assosiation time 27.120126 ms 
points size 102589 
mapping solver time 31.875617 ms 
publication time 10.071023 ms 
whole laserOdometry time 10.089789 ms 
 
-----t: 0.0643254
OdomCount 4506 & avg odom time 0.045847 ms ++++++++++++++++++++++
add points time 1.102791 ms
--------------------stamp1317358230.149672985
prepare time 15.608240 
sort q time 5.819760 
seperate points time 12.931997 
publication time 11.875974 ms 
whole laserOdometry time 11.887714 ms 
 
-----t: 0.0544212
OdomCount 4507 & avg odom time 0.045849 ms ++++++++++++++++++++++
--------------------stamp1317358230.253709077
prepare time 13.711685 
sort q time 7.140799 
seperate points time 13.788142 
mapping data assosiation time 34.890408 ms 
publication time 9.134436 ms 
whole laserOdometry time 9.145938 ms 
 
mapping optimization time 155.182265 
filter time 10.038063 ms 
-----t: 0.0796115
OdomCount 4508 & avg odom time 0.045856 ms ++++++++++++++++++++++
build tree time 27.778073 ms 
scan registration time 35.310280 ms *************
publication time 12.810589 ms 
whole laserOdometry time 12.861611 ms 
 
mapping solver time 36.285040 ms 
--------------------stamp1317358230.461667060
points size 102702 
sort q time 6.597927 
seperate points time 14.714912 
filter time 10.038968 ms 
publication time 11.286417 ms 
whole laserOdometry time 11.304847 ms 
 
-----t: 0.068711
OdomCount 4510 & avg odom time 0.045868 ms ++++++++++++++++++++++
--------------------stamp1317358230.565609931
prepare time 17.850690 
sort q time 7.799470 
seperate points time 19.170899 
mapping data assosiation time 33.303616 ms 
-----t: 0.0712572
OdomCount 4511 & avg odom time 0.045874 ms ++++++++++++++++++++++
filter time 12.250319 ms 
sort q time 6.184227 
seperate points time 13.756193 
build tree time 27.304371 ms 
publication time 12.796156 ms 
whole laserOdometry time 12.812560 ms 
 
mapping data assosiation time 34.220356 ms 
1317358230.669553995 WriteOdom laser_odom_to_init
1317358230.669553995 WriteOdom aft_mapped_to_init_high_frec
points size 102489 
sort q time 6.064212 
seperate points time 14.343378 
mapping data assosiation time 34.179896 ms 
-----t: 0.0432123
OdomCount 4513 & avg odom time 0.045881 ms ++++++++++++++++++++++
mapping solver time 27.688984 ms 
filter time 9.209982 ms 
--------------------stamp1317358230.877389907
prepare time 14.029969 
sort q time 6.068502 
seperate points time 14.266749 
mapping data assosiation time 32.735005 ms 
-----t: 0.0590125
OdomCount 4514 & avg odom time 0.045884 ms ++++++++++++++++++++++
--------------------stamp1317358230.981286048
prepare time 13.617534 
sort q time 6.873602 
seperate points time 13.807990 
filter time 8.139239 ms 
-----t: 0.0579515
OdomCount 4515 & avg odom time 0.045887 ms ++++++++++++++++++++++
--------------------stamp1317358231.085228919
prepare time 14.036939 
sort q time 7.603100 
seperate points time 14.610451 
scan registration time 33.712036 ms *************
publication time 13.196352 ms 
whole laserOdometry time 13.223610 ms 
 
-----t: 0.0681666
OdomCount 4516 & avg odom time 0.045892 ms ++++++++++++++++++++++
--------------------stamp1317358231.189171075
prepare time 15.215660 
map prepare time 3.983714 ms
map corner num 95558  surf num 42243 
build tree time 24.179063 ms 
mapping data assosiation time 32.891662 ms 
--------------------stamp1317358231.293088912
sort q time 6.531271 
seperate points time 14.940288 
mapping data assosiation time 41.271884 ms 
mapping solver time 25.448357 ms 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358231.397032022
prepare time 13.399275 
build tree time 24.185044 ms 
mapping data assosiation time 34.166599 ms 
-----t: 0.0568288
OdomCount 4519 & avg odom time 0.045917 ms ++++++++++++++++++++++
1317358231.397032022 WriteOdom laser_odom_to_init
1317358231.397032022 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358231.501024007
points size 103075 
sort q time 6.350110 
seperate points time 13.189459 
filter time 9.470010 ms 
mapping pub time 2.528996 ms 
whole mapping time 158.493596 ms +++++
mappingCount 2963 & avg mapping time 154.102360 ms ++++++++++++++++++++++
1317358231.189171076 WriteOdom aft_mapped_to_init
-----t: 0.0583132
OdomCount 4520 & avg odom time 0.045920 ms ++++++++++++++++++++++
build tree time 24.659954 ms 
--------------------stamp1317358231.605037927
prepare time 13.774971 
sort q time 5.678032 
seperate points time 14.025344 
publication time 16.134523 ms 
whole laserOdometry time 16.152925 ms 
 
mapping data assosiation time 34.929060 ms 
mapping solver time 24.947403 ms 
filter time 7.302922 ms 
points size 103177 
sort q time 5.706538 
seperate points time 14.015166 
publication time 9.902005 ms 
whole laserOdometry time 9.919510 ms 
 
mapping data assosiation time 34.672552 ms 
mapping solver time 22.905579 ms 
--------------------stamp1317358231.813213109
points size 103170 
sort q time 5.820180 
seperate points time 14.182225 
mapping solver time 28.297395 ms 
mapping pub time 3.985154 ms 
whole mapping time 162.513006 ms +++++
mappingCount 2965 & avg mapping time 154.106606 ms ++++++++++++++++++++++
1317358231.501024008 WriteOdom aft_mapped_to_init
mapping solver time 34.414041 ms 
-----t: 0.0569304
OdomCount 4524 & avg odom time 0.045927 ms ++++++++++++++++++++++
mapping data assosiation time 31.963017 ms 
--------------------stamp1317358232.021503925
prepare time 14.025790 
map prepare time 3.961758 ms
map corner num 99429  surf num 43830 
build tree time 28.793398 ms 
-----t: 0.0586409
OdomCount 4525 & avg odom time 0.045930 ms ++++++++++++++++++++++
mapping data assosiation time 35.785781 ms 
--------------------stamp1317358232.125664949
points size 103403 
prepare time 16.762280 
sort q time 5.851943 
seperate points time 14.099563 
publication time 12.474341 ms 
whole laserOdometry time 12.493857 ms 
 
mapping data assosiation time 37.928145 ms 
-----t: 0.0735925
OdomCount 4526 & avg odom time 0.045936 ms ++++++++++++++++++++++
filter time 11.982955 ms 
sort q time 6.680674 
seperate points time 14.805943 
build tree time 29.648367 ms 
publication time 13.037866 ms 
whole laserOdometry time 13.050446 ms 
 
mapping data assosiation time 38.451527 ms 
--------------------stamp1317358232.333909988
mapping solver time 30.852795 ms 
sort q time 6.442711 
seperate points time 20.121462 
-----t: 0.044307
OdomCount 4528 & avg odom time 0.045939 ms ++++++++++++++++++++++
mapping solver time 30.140370 ms 
mapping optimization time 167.549722 
add points time 1.187350 ms
mapping pub time 2.542212 ms 
whole mapping time 186.699001 ms +++++
mappingCount 2968 & avg mapping time 154.133035 ms ++++++++++++++++++++++
--------------------stamp1317358232.437994956
prepare time 12.245009 
build tree time 29.196678 ms 
publication time 8.740856 ms 
whole laserOdometry time 8.754915 ms 
 
mapping data assosiation time 41.031361 ms 
-----t: 0.072257
OdomCount 4529 & avg odom time 0.045945 ms ++++++++++++++++++++++
--------------------stamp1317358232.542057037
prepare time 13.920534 
sort q time 6.615186 
seperate points time 13.567888 
scan registration time 31.521091 ms *************
mapping data assosiation time 32.272042 ms 
publication time 10.300295 ms 
whole laserOdometry time 10.315448 ms 
 
mapping solver time 36.430304 ms 
filter time 8.612486 ms 
map prepare time 2.936009 ms
map corner num 101617  surf num 44613 
--------------------stamp1317358232.646121025
points size 103463 
sort q time 5.751750 
seperate points time 14.519542 
mapping data assosiation time 35.623800 ms 
-----t: 0.0461172
OdomCount 4531 & avg odom time 0.045948 ms ++++++++++++++++++++++
mapping solver time 35.737984 ms 
points size 103431 
sort q time 6.236427 
seperate points time 13.035343 
mapping solver time 30.607448 ms 
filter time 9.981275 ms 
1317358232.750184059 WriteOdom laser_odom_to_init
1317358232.750184059 WriteOdom aft_mapped_to_init_high_frec
build tree time 22.381988 ms 
--------------------stamp1317358232.854247093
prepare time 12.145258 
sort q time 5.712518 
seperate points time 12.350403 
mapping solver time 28.998153 ms 
-----t: 0.0575152
OdomCount 4533 & avg odom time 0.045952 ms ++++++++++++++++++++++
mapping solver time 24.466523 ms 
filter time 8.184220 ms 
map prepare time 4.003823 ms
map corner num 103065  surf num 45200 
scan registration time 34.781961 ms *************
build tree time 30.038483 ms 
publication time 13.613662 ms 
whole laserOdometry time 13.624266 ms 
 
-----t: 0.0652043
OdomCount 4534 & avg odom time 0.045957 ms ++++++++++++++++++++++
1317358232.958285093 WriteOdom laser_odom_to_init
1317358232.958285093 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358233.062275886
points size 103020 
sort q time 5.826518 
seperate points time 14.400515 
publication time 9.846049 ms 
whole laserOdometry time 9.861459 ms 
 
-----t: 0.0581596
OdomCount 4535 & avg odom time 0.045959 ms ++++++++++++++++++++++
mapping solver time 32.306180 ms 
filter time 10.340071 ms 
drop lidar frame in mapping for real time performance 
map prepare time 3.437075 ms
map corner num 103768  surf num 45462 
sort q time 6.290685 
seperate points time 13.130605 
publication time 9.245153 ms 
whole laserOdometry time 9.259795 ms 
 
mapping data assosiation time 34.505058 ms 
mapping solver time 28.279304 ms 
points size 102912 
sort q time 5.782566 
seperate points time 14.247724 
publication time 10.252698 ms 
whole laserOdometry time 10.269251 ms 
 
filter time 10.976451 ms 
-----t: 0.0539844
OdomCount 4537 & avg odom time 0.045964 ms ++++++++++++++++++++++
mapping pub time 2.434469 ms 
whole mapping time 171.535687 ms +++++
mappingCount 2973 & avg mapping time 154.176801 ms ++++++++++++++++++++++
1317358233.270139932 WriteOdom laser_odom_to_init
1317358233.270139932 WriteOdom aft_mapped_to_init_high_frec
1317358232.958285093 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358233.374010086
prepare time 12.941353 
sort q time 7.177726 
seperate points time 21.890367 
publication time 10.830123 ms 
whole laserOdometry time 10.839544 ms mapping solver time 36.564359 ms 
--------------------stamp1317358233.477807998
prepare time 13.695704 
sort q time 5.928275 
seperate points time 13.769493 
filter time 10.108951 ms 
-----t: 0.0505968
OdomCount 4539 & avg odom time 0.045967 ms ++++++++++++++++++++++
build tree time 22.446169 ms 
--------------------stamp1317358233.581558942
prepare time 13.939378 
sort q time 6.283698 
seperate points time 12.722230 
publication time 8.461961 ms 
whole laserOdometry time 8.478907 ms 
 
-----t: 0.0564476
OdomCount 4540 & avg odom time 0.045969 ms ++++++++++++++++++++++
mapping data assosiation time 34.736438 ms 
--------------------stamp1317358233.685286045
mapping solver time 29.543179 ms 
filter time 11.364253 ms 
publication time 10.169260 ms 
whole laserOdometry time 10.186888 ms 
 
build tree time 25.962215 ms 
mapping data assosiation time 32.284230 ms 
--------------------stamp1317358233.789014101
points size 102339 
scan registration time 33.221035 ms *************
publication time 8.529044 ms 
whole laserOdometry time 8.553498 ms 
 
mapping solver time 25.931957 ms 
filter time 8.133946 ms 
map prepare time 3.832405 ms
map corner num 106393  surf num 46655 
scan registration time 31.058656 ms *************
publication time 10.051858 ms 
whole laserOdometry time 10.063199 ms 
 
mapping data assosiation time 36.877747 ms 
mapping solver time 25.792596 ms 
points size 98736 
sort q time 6.802591 
seperate points time 13.283836 
publication time 12.864389 ms 
whole laserOdometry time 12.884786 ms 
 
mapping optimization time 153.267418 
add points time 1.276289 ms
-----t: 0.06693
OdomCount 4544 & avg odom time 0.045975 ms ++++++++++++++++++++++
--------------------stamp1317358234.100122928
prepare time 12.794402 
sort q time 5.530836 
seperate points time 11.676106 
publication time 13.080649 ms 
whole laserOdometry time 13.092153 ms 
 
mapping solver time 32.536739 ms 
mapping data assosiation time 33.634254 ms 
prepare time 13.256066 
mapping solver time 28.559155 ms 
filter time 9.990683 ms 
publication time 13.157189 ms 
whole laserOdometry time 13.172051 ms 
 
build tree time 27.025546 ms 
mapping data assosiation time 36.214787 ms 
sort q time 20.010689 
seperate points time 29.582081 
publication time 11.448246 ms 
whole laserOdometry time 11.461061 ms 
 
mapping data assosiation time 37.579347 ms 
--------------------stamp1317358234.411084890
prepare time 14.644225 
sort q time 5.382478 
seperate points time 12.509659 
drop lidar frame in mapping for real time performance 
1317358234.411084890 WriteOdom laser_odom_to_init
build tree time 26.149443 ms 
mapping data assosiation time 30.374165 ms 
points size 88105 
sort q time 4.804197 
seperate points time 11.989177 
scan registration time 28.029869 ms *************
publication time 9.104703 ms 
whole laserOdometry time 9.118946 ms 
 
-----t: 0.0515931
OdomCount 4549 & avg odom time 0.045983 ms ++++++++++++++++++++++
mapping data assosiation time 35.257387 ms 
mapping solver time 24.637355 ms 
filter time 10.791974 ms 
sort q time 4.794557 
seperate points time 12.583583 
scan registration time 30.522692 ms *************
publication time 8.629465 ms 
whole laserOdometry time 8.647431 ms 
 
-----t: 0.0469937
OdomCount 4550 & avg odom time 0.045984 ms ++++++++++++++++++++++
mapping data assosiation time 34.485037 ms 
--------------------stamp1317358234.721955060
sort q time 4.975413 
seperate points time 10.195118 
mapping data assosiation time 37.099986 ms 
-----t: 0.0402859
OdomCount 4551 & avg odom time 0.045982 ms ++++++++++++++++++++++
mapping solver time 26.081337 ms 
filter time 8.371889 ms 
--------------------stamp1317358234.825633049
points size 80800 
prepare time 11.479909 
scan registration time 27.003841 ms *************
publication time 9.444044 ms 
whole laserOdometry time 9.472976 ms 
 
-----t: 0.0477081
OdomCount 4552 & avg odom time 0.045983 ms ++++++++++++++++++++++
--------------------stamp1317358234.929311037
points size 79181 
sort q time 4.626901 
seperate points time 10.281701 
publication time 11.714795 ms 
whole laserOdometry time 11.729658 ms 
 
-----t: 0.04698
OdomCount 4553 & avg odom time 0.045983 ms ++++++++++++++++++++++
mapping pub time 203.369561 ms 
whole mapping time 376.264813 ms +++++
mappingCount 2981 & avg mapping time 154.312241 ms ++++++++++++++++++++++
--------------------stamp1317358235.033014059
prepare time 12.921108 
scan registration time 27.007966 ms *************
publication time 8.428305 ms 
whole laserOdometry time 8.440063 ms 
 
-----t: 0.0485078
OdomCount 4554 & avg odom time 0.045983 ms ++++++++++++++++++++++
mapping solver time 35.327706 ms 
--------------------stamp1317358235.136742115
prepare time 12.698726 
sort q time 4.468763 
seperate points time 10.748176 
add points time 1.220350 ms
mapping pub time 2.224322 ms 
whole mapping time 178.493534 ms +++++
mappingCount 2982 & avg mapping time 154.320352 ms ++++++++++++++++++++++
-----t: 0.0480803
OdomCount 4555 & avg odom time 0.045984 ms ++++++++++++++++++++++
build tree time 28.166607 ms 
--------------------stamp1317358235.240468978
mapping data assosiation time 31.767988 ms 
scan registration time 26.995608 ms *************
publication time 8.685605 ms 
whole laserOdometry time 8.697055 ms 
 
-----t: 0.0454007
OdomCount 4556 & avg odom time 0.045984 ms ++++++++++++++++++++++
mapping data assosiation time 31.569163 ms 
--------------------stamp1317358235.344196081
prepare time 10.552606 
sort q time 4.382421 
seperate points time 10.408249 
-----t: 0.0361044
OdomCount 4557 & avg odom time 0.045982 ms ++++++++++++++++++++++
mapping data assosiation time 31.660373 ms 
--------------------stamp1317358235.447922945
prepare time 10.321859 
sort q time 4.210998 
seperate points time 10.431279 
publication time 7.805820 ms 
whole laserOdometry time 7.821891 ms 
 
-----t: 0.0468287
OdomCount 4558 & avg odom time 0.045982 ms ++++++++++++++++++++++
mapping solver time 26.515879 ms 
filter time 8.410104 ms 
--------------------stamp1317358235.551697015
prepare time 10.266213 
sort q time 4.873915 
seperate points time 9.996681 
scan registration time 23.498630 ms *************
publication time 8.384457 ms 
whole laserOdometry time 8.399573 ms 
 
1317358235.551697015 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.241571 ms 
--------------------stamp1317358235.655493974
prepare time 10.569211 
sort q time 4.048877 
seperate points time 9.289396 
publication time 7.394822 ms 
whole laserOdometry time 7.414485 ms 
 
filter time 9.112871 ms 
build tree time 25.611577 ms 
--------------------stamp1317358235.759293079
prepare time 11.263959 
scan registration time 24.210363 ms *************
publication time 9.315986 ms 
whole laserOdometry time 9.339410 ms 
 
-----t: 0.0338347
OdomCount 4561 & avg odom time 0.045975 ms ++++++++++++++++++++++
mapping data assosiation time 27.922372 ms 
mapping solver time 23.540060 ms 
prepare time 11.110152 
sort q time 4.644602 
seperate points time 11.962362 
publication time 9.251303 ms 
whole laserOdometry time 9.263685 ms 
 
--------------------stamp1317358235.967010021
prepare time 9.799128 
sort q time 4.603189 
seperate points time 10.179601 
publication time 8.883920 ms 
whole laserOdometry time 8.897099 ms 
 
-----t: 0.058698
OdomCount 4563 & avg odom time 0.045976 ms ++++++++++++++++++++++
filter time 8.427988 ms 
--------------------stamp1317358236.070880889
build tree time 27.055221 ms 
publication time 11.069073 ms 
whole laserOdometry time 11.089463 ms 
 
mapping data assosiation time 33.834072 ms 
-----t: 0.0522897
OdomCount 4564 & avg odom time 0.045978 ms ++++++++++++++++++++++
mapping solver time 30.317185 ms 
--------------------stamp1317358236.174777030
mapping data assosiation time 30.132151 ms 
sort q time 4.185388 
seperate points time 10.805866 
mapping solver time 28.618288 ms 
publication time 16.098085 ms 
whole laserOdometry time 16.126444 ms 
 
map prepare time 3.142462 ms
map corner num 120197  surf num 46805 
build tree time 26.403970 ms 
--------------------stamp1317358236.278670072
points size 78104 
mapping data assosiation time 34.894417 ms 
publication time 9.202832 ms 
whole laserOdometry time 9.216158 ms 
 
-----t: 0.0461945
OdomCount 4566 & avg odom time 0.045977 ms ++++++++++++++++++++++
mapping data assosiation time 30.454050 ms 
--------------------stamp1317358236.382515907
mapping solver time 28.310193 ms 
filter time 12.883467 ms 
publication time 10.830719 ms 
whole laserOdometry time 10.849229 ms 
 
1317358236.382515907 WriteOdom laser_odom_to_init
build tree time 42.869522 ms 
--------------------stamp1317358236.486365079
prepare time 15.550235 
sort q time 4.243612 
seperate points time 10.907757 
mapping solver time 29.299060 ms 
-----t: 0.0470257
OdomCount 4568 & avg odom time 0.045978 ms ++++++++++++++++++++++
mapping data assosiation time 30.884368 ms 
mapping solver time 24.016697 ms 
filter time 12.144518 ms 
sort q time 4.237128 
seperate points time 10.557422 
publication time 9.274740 ms 
whole laserOdometry time 9.291609 ms 
 
build tree time 43.201538 ms 
mapping data assosiation time 28.276655 ms 
--------------------stamp1317358236.694107055
prepare time 10.789738 
sort q time 4.558719 
seperate points time 11.206651 
publication time 8.942683 ms 
whole laserOdometry time 8.958761 ms 
 
-----t: 0.048037
OdomCount 4570 & avg odom time 0.045976 ms ++++++++++++++++++++++
filter time 11.256869 ms 
map prepare time 3.134321 ms
map corner num 158077  surf num 58876 
points size 78120 
sort q time 4.025687 
seperate points time 10.362740 
build tree time 43.532457 ms 
mapping data assosiation time 32.794490 ms 
-----t: 0.0663657
OdomCount 4571 & avg odom time 0.045981 ms ++++++++++++++++++++++
mapping solver time 28.020358 ms 
points size 77393 
sort q time 3.814419 
seperate points time 8.442104 
publication time 9.454056 ms 
whole laserOdometry time 9.468249 ms 
 
-----t: 0.0373134
OdomCount 4572 & avg odom time 0.045979 ms ++++++++++++++++++++++
filter time 10.921366 ms 
--------------------stamp1317358237.005790948
build tree time 40.919536 ms 
publication time 11.002059 ms 
whole laserOdometry time 11.027102 ms 
 
mapping data assosiation time 34.531073 ms 
mapping solver time 26.720088 ms 
-----t: 0.0763216
OdomCount 4573 & avg odom time 0.045985 ms ++++++++++++++++++++++
points size 77181 
sort q time 4.412498 
seperate points time 11.253219 
scan registration time 26.939704 ms *************
add points time 1.890226 ms
map prepare time 5.313585 ms
map corner num 159718  surf num 59544 
-----t: 0.0808506
OdomCount 4574 & avg odom time 0.045993 ms ++++++++++++++++++++++
1317358237.109710931 WriteOdom laser_odom_to_init
prepare time 15.984773 
scan registration time 56.577444 ms *************
-----t: 0.051872
OdomCount 4575 & avg odom time 0.045994 ms ++++++++++++++++++++++
publication time 8.613896 ms 
whole laserOdometry time 8.656711 ms 
 
mapping solver time 27.982604 ms 
points size 76414 
sort q time 4.279574 
seperate points time 10.745268 
publication time 8.925154 ms 
whole laserOdometry time 8.938366 ms 
 
-----t: 0.0436417
OdomCount 4576 & avg odom time 0.045994 ms ++++++++++++++++++++++
mapping solver time 25.837077 ms 
filter time 10.919394 ms 
points size 76474 
sort q time 5.410648 
seperate points time 12.168019 
publication time 8.890515 ms 
whole laserOdometry time 8.903260 ms 
 
mapping data assosiation time 32.790246 ms 
mapping solver time 23.520153 ms 
--------------------stamp1317358237.525192975
points size 75988 
sort q time 4.114894 
seperate points time 8.677917 
publication time 8.434728 ms 
whole laserOdometry time 8.468247 ms 
 add points time 1.224323 ms
filter time 10.838585 ms 
--------------------stamp1317358237.629039049
points size 75375 
prepare time 13.151225 
sort q time 3.986214 
seperate points time 10.396050 
scan registration time 27.653088 ms *************
-----t: 0.0318465
OdomCount 4579 & avg odom time 0.045987 ms ++++++++++++++++++++++
mapping solver time 32.320682 ms 
mapping data assosiation time 27.975786 ms 
points size 72737 
prepare time 10.503158 
filter time 15.451401 ms 
-----t: 0.0399828
OdomCount 4580 & avg odom time 0.045985 ms ++++++++++++++++++++++
build tree time 39.287295 ms 
--------------------stamp1317358237.836685895
scan registration time 26.011509 ms *************
mapping solver time 34.530158 ms 
mapping data assosiation time 32.334104 ms 
mapping optimization time 162.887946 
points size 68212 
add points time 1.546805 ms
prepare time 12.850757 
map prepare time 3.604455 ms
map corner num 162779  surf num 60386 
-----t: 0.0425982
OdomCount 4582 & avg odom time 0.045992 ms ++++++++++++++++++++++
build tree time 39.765351 ms 
mapping data assosiation time 24.674157 ms 
points size 63758 
sort q time 3.669942 
seperate points time 7.879371 
publication time 8.020923 ms 
whole laserOdometry time 8.050197 ms 
mapping data assosiation time 29.971342 ms 
mapping solver time 27.215688 ms 
mapping pub time 1.740899 ms 
whole mapping time 175.385897 ms +++++
mappingCount 2998 & avg mapping time 154.471531 ms ++++++++++++++++++++++
points size 60565 
scan registration time 22.039321 ms *************
publication time 7.654877 ms 
whole laserOdometry time 7.667728 ms 
 
build tree time 47.907804 ms 
-----t: 0.038477
OdomCount 4584 & avg odom time 0.045988 ms ++++++++++++++++++++++
1317358238.148104906 WriteOdom laser_odom_to_init
1317358238.148104906 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.048410 ms 
--------------------stamp1317358238.251903057
sort q time 3.126930 
seperate points time 7.085880 
publication time 4.958648 ms 
whole laserOdometry time 4.972417 ms 
 
-----t: 0.0339237
OdomCount 4585 & avg odom time 0.045986 ms ++++++++++++++++++++++
1317358238.251903057 WriteOdom laser_odom_to_init
1317358238.251903057 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.650813 ms 
mapping optimization time 169.337217 
add points time 1.232975 ms
--------------------stamp1317358238.355751991
prepare time 11.205145 
sort q time 3.102986 
seperate points time 7.857452 
publication time 5.411406 ms 
whole laserOdometry time 5.420567 ms 
 
-----t: 0.0462087
OdomCount 4586 & avg odom time 0.045986 ms ++++++++++++++++++++++
mapping solver time 25.624581 ms 
--------------------stamp1317358238.459598064
mapping data assosiation time 24.656009 ms 
mapping solver time 21.771533 ms 
filter time 16.969162 ms 
mapping pub time 1.473567 ms 
whole mapping time 168.335743 ms +++++
mappingCount 3000 & avg mapping time 154.489252 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
map prepare time 3.190532 ms
map corner num 164716  surf num 60984 
build tree time 40.874613 ms 
points size 63209 
scan registration time 17.933132 ms *************
mapping solver time 22.905577 ms 
-----t: 0.0238777
OdomCount 4588 & avg odom time 0.045977 ms ++++++++++++++++++++++
1317358238.563442945 WriteOdom laser_odom_to_init
1317358238.563442945 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.912009 ms 
mapping solver time 17.647173 ms 
filter time 11.414801 ms 
--------------------stamp1317358238.667313098
sort q time 3.997872 
seperate points time 11.926993 
scan registration time 27.383231 ms *************
-----t: 0.0433276
OdomCount 4589 & avg odom time 0.045977 ms ++++++++++++++++++++++
--------------------stamp1317358238.771209001
sort q time 3.347813 
seperate points time 7.779268 
publication time 5.070140 ms 
whole laserOdometry time 5.099934 ms 
 
mapping pub time 205.519638 ms 
whole mapping time 342.811523 ms +++++
mappingCount 3001 & avg mapping time 154.552006 ms ++++++++++++++++++++++
--------------------stamp1317358238.875128984
prepare time 8.965997 
build tree time 48.271134 ms 
mapping data assosiation time 21.520621 ms 
mapping solver time 24.085327 ms 
mapping data assosiation time 21.787294 ms 
sort q time 3.456182 
seperate points time 7.243101 
publication time 6.056233 ms 
whole laserOdometry time 6.072310 ms 
 map prepare time 3.105439 ms
map corner num 165777  surf num 61297 
-----t: 0.0484302
OdomCount 4592 & avg odom time 0.045974 ms ++++++++++++++++++++++
build tree time 48.103357 ms 
--------------------stamp1317358239.082916975
sort q time 3.185529 
seperate points time 7.741968 
publication time 6.474431 ms 
whole laserOdometry time 6.488099 ms 
 
mapping data assosiation time 21.625973 ms 
mapping solver time 18.648328 ms 
filter time 11.278803 ms 
mapping pub time 1.473980 ms 
whole mapping time 152.187768 ms +++++
mappingCount 3003 & avg mapping time 154.552926 ms ++++++++++++++++++++++
1317358238.875128984 WriteOdom aft_mapped_to_init
map prepare time 2.500321 ms
map corner num 166404  surf num 61508 
points size 66611 
sort q time 3.520607 
seperate points time 7.585513 
build tree time 46.511159 ms 
mapping data assosiation time 19.142429 ms 
-----t: 0.0411467
OdomCount 4594 & avg odom time 0.045969 ms ++++++++++++++++++++++
1317358239.186837911 WriteOdom laser_odom_to_init
1317358239.186837911 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.974609 ms 
mapping data assosiation time 17.912544 ms 
--------------------stamp1317358239.290756940
prepare time 12.412546 
filter time 16.829083 ms 
publication time 7.467217 ms 
whole laserOdometry time 7.481707 ms 
 
build tree time 41.972715 ms 
mapping data assosiation time 18.592423 ms 
--------------------stamp1317358239.394649982
scan registration time 27.014735 ms *************
publication time 5.436587 ms 
whole laserOdometry time 5.449494 ms 
 
mapping pub time 1.872358 ms 
whole mapping time 142.899900 ms +++++
mappingCount 3005 & avg mapping time 154.545270 ms ++++++++++++++++++++++
--------------------stamp1317358239.498543977
sort q time 3.600757 
seperate points time 8.455309 
publication time 6.145149 ms 
whole laserOdometry time 6.158519 ms 
 
mapping data assosiation time 17.108077 ms 
mapping solver time 11.301708 ms 
filter time 11.171180 ms 
mapping pub time 9.195760 ms 
whole mapping time 127.462455 ms +++++
mappingCount 3006 & avg mapping time 154.536262 ms ++++++++++++++++++++++
--------------------stamp1317358239.602438926
sort q time 4.528830 
seperate points time 9.715932 
scan registration time 23.871139 ms *************
-----t: 0.0310783
OdomCount 4598 & avg odom time 0.045955 ms ++++++++++++++++++++++
mapping solver time 18.156601 ms 
mapping data assosiation time 17.897218 ms 
points size 76873 
sort q time 4.267999 
seperate points time 9.838182 
publication time 5.591495 ms 
whole laserOdometry time 5.603863 ms 
 
-----t: 0.0459846
OdomCount 4599 & avg odom time 0.045955 ms ++++++++++++++++++++++
1317358239.706335067 WriteOdom laser_odom_to_init
1317358239.706335067 WriteOdom aft_mapped_to_init_high_frec
build tree time 44.208273 ms 
mapping data assosiation time 15.900971 ms 
--------------------stamp1317358239.810276031
scan registration time 26.173706 ms *************
mapping solver time 16.606642 ms 
filter time 12.157883 ms 
-----t: 0.0634446
OdomCount 4600 & avg odom time 0.045959 ms ++++++++++++++++++++++
--------------------stamp1317358239.914266109
sort q time 4.134807 
seperate points time 9.366181 
publication time 12.012613 ms 
whole laserOdometry time 12.027867 ms 
 
-----t: 0.0447325
OdomCount 4601 & avg odom time 0.045959 ms ++++++++++++++++++++++
mapping data assosiation time 20.559229 ms 
mapping solver time 22.228217 ms 
filter time 11.143930 ms 
prepare time 14.141005 
scan registration time 29.277167 ms *************
-----t: 0.0304128
OdomCount 4602 & avg odom time 0.045956 ms ++++++++++++++++++++++
mapping data assosiation time 15.162754 ms 
mapping solver time 18.089471 ms 
--------------------stamp1317358240.122200965
points size 78188 
sort q time 4.091586 
seperate points time 9.840067 
publication time 6.832792 ms 
whole laserOdometry time 6.846295 ms 
 
filter time 16.140684 ms 
mapping pub time 2.336408 ms 
whole mapping time 146.987881 ms +++++
mappingCount 3010 & avg mapping time 154.519890 ms ++++++++++++++++++++++
1317358239.914266109 WriteOdom aft_mapped_to_init
-----t: 0.0625905
OdomCount 4603 & avg odom time 0.045959 ms ++++++++++++++++++++++
build tree time 40.806855 ms 
mapping data assosiation time 16.793367 ms 
sort q time 4.440548 
seperate points time 8.962100 
publication time 7.417648 ms 
whole laserOdometry time 7.443596 ms 
 
mapping solver time 16.202977 ms 
filter time 13.719040 ms 
map prepare time 2.571534 ms
map corner num 170604  surf num 62866 
points size 79475 
sort q time 4.291471 
seperate points time 10.158565 
publication time 6.973783 ms 
whole laserOdometry time 6.987815 ms 
 
mapping solver time 18.838012 ms 
mapping data assosiation time 18.009307 ms 
mapping solver time 19.466186 ms 
sort q time 4.264609 
seperate points time 10.194175 
mapping pub time 1.900153 ms 
whole mapping time 153.891192 ms +++++
mappingCount 3012 & avg mapping time 154.515675 ms ++++++++++++++++++++++
1317358240.226144075 WriteOdom aft_mapped_to_init
map prepare time 2.942713 ms
map corner num 171200  surf num 63108 
1317358240.433981895 WriteOdom aft_mapped_to_init_high_frec
build tree time 41.536438 ms 
mapping data assosiation time 18.230833 ms 
points size 76116 
mapping solver time 23.338907 ms 
mapping data assosiation time 21.658631 ms 
-----t: 0.0316409
OdomCount 4607 & avg odom time 0.045951 ms ++++++++++++++++++++++
1317358240.537851095 WriteOdom laser_odom_to_init
1317358240.537851095 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.059746 ms 
mapping optimization time 130.882689 
add points time 1.021208 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317358240.641746997
build tree time 56.564551 ms -----t: 0.0460091
OdomCount 4608 & avg odom time 0.045951 ms ++++++++++++++++++++++
mapping solver time 20.864510 ms 
points size 73265 
sort q time 4.916586 
seperate points time 9.913366 
publication time 9.267400 ms 
whole laserOdometry time 9.280680 ms 
 
-----t: 0.0387357
OdomCount 4609 & avg odom time 0.045949 ms ++++++++++++++++++++++
build tree time 41.822632 ms 
--------------------stamp1317358240.849514007
sort q time 7.094520 
seperate points time 12.258030 
publication time 7.067545 ms 
whole laserOdometry time 7.083115 ms 
 
mapping solver time 17.489621 ms 
filter time 13.723889 ms 
--------------------stamp1317358240.953408956
sort q time 4.903562 
seperate points time 9.399125 
build tree time 47.488047 ms 
mapping data assosiation time 21.721551 ms 
-----t: 0.0615067
OdomCount 4611 & avg odom time 0.045949 ms ++++++++++++++++++++++
mapping data assosiation time 17.340628 ms 
prepare time 10.624902 
sort q time 4.495905 
seperate points time 10.380542 
filter time 18.079086 ms 
build tree time 37.554121 ms 
--------------------stamp1317358241.161197900
sort q time 4.906924 
seperate points time 9.702938 
mapping solver time 25.686990 ms 
mapping data assosiation time 21.537676 ms 
mapping solver time 16.836360 ms 
filter time 10.841167 ms 
--------------------stamp1317358241.265091896
sort q time 4.814116 
seperate points time 11.340596 
publication time 7.587678 ms 
whole laserOdometry time 7.601712 ms 
 
mapping solver time 24.336511 ms 
mapping data assosiation time 18.516528 ms 
points size 78919 
scan registration time 27.310402 ms *************
publication time 10.038901 ms 
whole laserOdometry time 10.058164 ms 
 
map prepare time 3.929009 ms
map corner num 175370  surf num 64398 
-----t: 0.0451172
OdomCount 4615 & avg odom time 0.045946 ms ++++++++++++++++++++++
build tree time 45.577076 ms 
mapping data assosiation time 26.388771 ms 
sort q time 4.704348 
seperate points time 11.147294 
mapping solver time 33.469909 ms 
-----t: 0.0431684
OdomCount 4616 & avg odom time 0.045945 ms ++++++++++++++++++++++
1317358241.472929000 WriteOdom laser_odom_to_init
1317358241.472929000 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.280608 ms 
filter time 15.740671 ms 
sort q time 4.587892 
seperate points time 11.347922 
publication time 7.673518 ms 
whole laserOdometry time 7.690384 ms 
 
build tree time 52.768972 ms 
mapping data assosiation time 18.717942 ms 
--------------------stamp1317358241.680767059
prepare time 14.004368 
mapping solver time 27.697128 ms 
sort q time 5.386823 
seperate points time 12.895758 
mapping data assosiation time 26.719717 ms 
publication time 8.978584 ms 
whole laserOdometry time 8.989705 ms 
 
mapping solver time 23.143907 ms 
mapping optimization time 150.356731 
filter time 17.111323 ms 
--------------------stamp1317358241.784661054
sort q time 5.513129 
seperate points time 11.735281 
build tree time 51.352670 ms 
mapping data assosiation time 24.509580 ms 
1317358241.784661054 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.328143 ms 
--------------------stamp1317358241.888556957
sort q time 4.237547 
seperate points time 10.016354 
publication time 9.002714 ms 
whole laserOdometry time 9.021430 ms 
 
[0m[ INFO] [1718805528.797126732, 1317358241.936239787]: Received 243096 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805528.797175601, 1317358241.936239787]: Data saved to 1317358241576874.pcd[0m
--------------------stamp1317358241.992453098
prepare time 10.791133 
sort q time 4.349915 
seperate points time 9.527290 
publication time 25.880161 ms 
whole laserOdometry time 25.933899 ms 
 
-----t: 0.0753227
OdomCount 4621 & avg odom time 0.045952 ms ++++++++++++++++++++++
--------------------stamp1317358242.096365928
prepare time 10.760219 
sort q time 4.271163 
seperate points time 9.755655 
publication time 10.193986 ms 
whole laserOdometry time 10.207686 ms 
 
-----t: 0.036017
OdomCount 4622 & avg odom time 0.045950 ms ++++++++++++++++++++++
build tree time 41.495523 ms 
--------------------stamp1317358242.200308084
sort q time 4.181243 
seperate points time 8.674853 
mapping solver time 28.320934 ms 
mapping data assosiation time 27.319768 ms 
mapping optimization time 144.611305 
--------------------stamp1317358242.304279088
sort q time 4.032886 
seperate points time 8.490568 
publication time 8.151776 ms 
whole laserOdometry time 8.165032 ms 
 
-----t: 0.0498979
OdomCount 4624 & avg odom time 0.045959 ms ++++++++++++++++++++++
mapping data assosiation time 18.663350 ms 
--------------------stamp1317358242.408246040
sort q time 3.710454 
seperate points time 8.047996 
publication time 6.781458 ms 
whole laserOdometry time 6.793670 ms 
 
-----t: 0.038952
OdomCount 4625 & avg odom time 0.045958 ms ++++++++++++++++++++++
filter time 13.571544 ms 
--------------------stamp1317358242.512212991
sort q time 3.196253 
seperate points time 7.396321 
publication time 6.996137 ms 
whole laserOdometry time 7.010047 ms 
 
-----t: 0.0372377
OdomCount 4626 & avg odom time 0.045956 ms ++++++++++++++++++++++
mapping solver time 24.718391 ms 
mapping data assosiation time 17.957743 ms 
--------------------stamp1317358242.616180896
sort q time 3.853331 
seperate points time 8.610356 
map prepare time 3.772693 ms
map corner num 200214  surf num 71762 
-----t: 0.0596753
OdomCount 4627 & avg odom time 0.045959 ms ++++++++++++++++++++++
build tree time 59.882559 ms 
mapping data assosiation time 22.598043 ms 
sort q time 4.304943 
seperate points time 10.534222 
mapping solver time 38.588792 ms -----t: 0.0418616
OdomCount 4628 & avg odom time 0.045958 ms ++++++++++++++++++++++
mapping data assosiation time 23.067291 ms 
mapping solver time 16.724888 ms 
--------------------stamp1317358242.824115991
prepare time 11.681560 
scan registration time 23.043990 ms *************
publication time 5.226120 ms 
whole laserOdometry time 5.243007 ms 
 
1317358242.824115991 WriteOdom aft_mapped_to_init_high_frec
build tree time 59.825520 ms 
mapping data assosiation time 17.840502 ms 
--------------------stamp1317358242.928056001
prepare time 11.093183 
scan registration time 21.966021 ms *************
publication time 6.396210 ms 
whole laserOdometry time 6.410610 ms 
 
mapping solver time 23.580994 ms 
mapping optimization time 142.907008 
add points time 0.969513 ms
mapping pub time 4.792842 ms 
whole mapping time 169.342885 ms +++++
mappingCount 3026 & avg mapping time 154.625988 ms ++++++++++++++++++++++
--------------------stamp1317358243.031979084
sort q time 3.469191 
seperate points time 7.720678 
build tree time 47.791254 ms 
scan registration time 21.311651 ms *************
mapping solver time 19.452724 ms 
mapping data assosiation time 16.946563 ms 
mapping solver time 18.330674 ms 
points size 65604 
sort q time 3.649360 
seperate points time 8.762188 
-----t: 0.0256755
OdomCount 4632 & avg odom time 0.045947 ms ++++++++++++++++++++++
build tree time 51.324743 ms 
mapping data assosiation time 16.659293 ms 
mapping solver time 18.397439 ms 
sort q time 3.795854 
seperate points time 7.414938 
publication time 5.195984 ms 
whole laserOdometry time 5.208048 ms 
 
filter time 19.463197 ms 
-----t: 0.0710856
OdomCount 4633 & avg odom time 0.045953 ms ++++++++++++++++++++++
--------------------stamp1317358243.343729019
prepare time 11.227846 
build tree time 56.893145 ms 
publication time 6.141214 ms 
whole laserOdometry time 6.151714 ms 
 
-----t: 0.0432128
OdomCount 4634 & avg odom time 0.045952 ms ++++++++++++++++++++++
mapping data assosiation time 16.243828 ms 
mapping solver time 14.744427 ms 
points size 64327 
-----t: 0.0397614
OdomCount 4635 & avg odom time 0.045951 ms ++++++++++++++++++++++
build tree time 56.742767 ms 
mapping data assosiation time 16.272399 ms 
--------------------stamp1317358243.551615953
prepare time 9.619866 
sort q time 3.737430 
seperate points time 7.959997 
publication time 7.929284 ms 
whole laserOdometry time 7.943137 ms 
 
filter time 13.465325 ms 
--------------------stamp1317358243.655556917
sort q time 3.494921 
seperate points time 8.073218 
publication time 6.287439 ms 
whole laserOdometry time 6.298364 ms 
 
-----t: 0.0381544
OdomCount 4637 & avg odom time 0.045945 ms ++++++++++++++++++++++
mapping data assosiation time 17.359161 ms 
mapping solver time 10.603624 ms 
mapping optimization time 114.034826 
add points time 0.762244 ms
mapping pub time 5.057502 ms 
whole mapping time 135.717124 ms +++++
mappingCount 3031 & avg mapping time 154.615801 ms ++++++++++++++++++++++
--------------------stamp1317358243.759500026
sort q time 3.371615 
seperate points time 8.343119 
publication time 7.755388 ms 
whole laserOdometry time 7.771595 ms 
 
build tree time 59.029563 ms 
mapping data assosiation time 16.929651 ms 
mapping solver time 19.161397 ms 
--------------------stamp1317358243.863444089
add points time 0.953101 ms
publication time 7.229779 ms -----t: 0.0468769
OdomCount 4639 & avg odom time 0.045942 ms ++++++++++++++++++++++
build tree time 45.766788 ms 
points size 56785 
scan registration time 21.632343 ms *************
mapping solver time 28.767262 ms 
mapping data assosiation time 17.375198 ms 
mapping solver time 18.137586 ms 
filter time 15.137789 ms 
--------------------stamp1317358244.071377992
sort q time 2.843107 
seperate points time 6.775736 
publication time 5.860067 ms 
whole laserOdometry time 5.871358 ms 
 
build tree time 58.547309 ms 
mapping data assosiation time 19.330197 ms 
mapping solver time 18.590686 ms 
--------------------stamp1317358244.175322055
mapping solver time 16.838321 ms 
-----t: 0.0269124
OdomCount 4642 & avg odom time 0.045937 ms ++++++++++++++++++++++
build tree time 48.737567 ms 
points size 53330 
publication time 5.892841 ms 
whole laserOdometry time 5.908773 ms 
 
mapping data assosiation time 20.046223 ms 
mapping optimization time 132.148858 
filter time 12.912438 ms 
--------------------stamp1317358244.383207082
sort q time 2.800518 
seperate points time 6.084369 
publication time 5.206972 ms 
whole laserOdometry time 5.221200 ms 
 
build tree time 60.045149 ms 
mapping data assosiation time 18.940406 ms 
mapping solver time 19.771160 ms 
--------------------stamp1317358244.487148046
sort q time 3.062563 
seperate points time 6.456358 
mapping solver time 19.880786 ms 
filter time 19.689747 ms 
--------------------stamp1317358244.591089010
sort q time 2.779727 
seperate points time 6.680077 
mapping data assosiation time 18.817256 ms 
-----t: 0.0311006
OdomCount 4646 & avg odom time 0.045932 ms ++++++++++++++++++++++
mapping data assosiation time 16.977813 ms 
mapping solver time 15.782813 ms 
filter time 14.317296 ms 
points size 59146 
publication time 6.706389 ms 
whole laserOdometry time 6.718013 ms 
 
-----t: 0.0312758
OdomCount 4647 & avg odom time 0.045929 ms ++++++++++++++++++++++
build tree time 63.794646 ms 
[0m[ INFO] [1718805531.620910326, 1317358244.762929740]: Received 320775 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805531.620951062, 1317358244.762929740]: Data saved to 1317358244279263.pcd[0m
mapping data assosiation time 17.568240 ms 
mapping solver time 18.572206 ms 
--------------------stamp1317358244.798880100
filter time 21.994213 ms 
-----t: 0.0547547
OdomCount 4648 & avg odom time 0.045930 ms ++++++++++++++++++++++
--------------------stamp1317358244.902798891
sort q time 3.963969 
seperate points time 7.898120 
build tree time 62.700186 ms 
-----t: 0.0279466
OdomCount 4649 & avg odom time 0.045927 ms ++++++++++++++++++++++
mapping solver time 19.038527 ms 
mapping data assosiation time 17.828728 ms 
mapping solver time 15.547371 ms 
points size 64264 
filter time 22.344686 ms 
publication time 6.621969 ms 
whole laserOdometry time 6.636449 ms 
 
build tree time 58.114274 ms 
--------------------stamp1317358245.110658884
prepare time 11.183481 
scan registration time 23.993015 ms *************
mapping solver time 25.971180 ms 
publication time 9.151199 ms 
whole laserOdometry time 9.182752 ms 
 
-----t: 0.0450613
OdomCount 4651 & avg odom time 0.045923 ms ++++++++++++++++++++++
filter time 14.404345 ms 
--------------------stamp1317358245.214626073
sort q time 3.960789 
seperate points time 17.699358 
-----t: 0.0285131
OdomCount 4652 & avg odom time 0.045920 ms ++++++++++++++++++++++
mapping data assosiation time 15.650423 ms 
mapping solver time 18.984706 ms 
mapping data assosiation time 17.801113 ms 
prepare time 12.125239 
scan registration time 26.957871 ms *************
filter time 21.673803 ms 
--------------------stamp1317358245.422489881
sort q time 3.912863 
seperate points time 8.222024 
publication time 7.677250 ms 
whole laserOdometry time 7.713434 ms 
 
-----t: 0.0564354
OdomCount 4654 & avg odom time 0.045920 ms ++++++++++++++++++++++
--------------------stamp1317358245.526408910
sort q time 4.294181 
seperate points time 10.194797 
1317358245.006716967 WriteOdom aft_mapped_to_init
map prepare time 3.953988 ms
map corner num 240705  surf num 84478 
build tree time 57.525116 ms 
points size 76281 
sort q time 4.770326 
seperate points time 9.428611 
publication time 7.970585 ms 
whole laserOdometry time 7.985133 ms 
 
mapping solver time 24.030310 ms 
-----t: 0.0347461
OdomCount 4656 & avg odom time 0.045915 ms ++++++++++++++++++++++
1317358245.630327939 WriteOdom laser_odom_to_init
1317358245.630327939 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.420507 ms 
mapping solver time 15.276235 ms 
mapping optimization time 137.196801 
add points time 0.701586 ms
filter time 14.611127 ms 
--------------------stamp1317358245.734247922
sort q time 4.600296 
seperate points time 10.318754 
publication time 7.757376 ms 
whole laserOdometry time 7.772518 ms 
 
build tree time 68.104188 ms 
-----t: 0.0593563
OdomCount 4657 & avg odom time 0.045918 ms ++++++++++++++++++++++
1317358245.734247922 WriteOdom laser_odom_to_init
1317358245.734247922 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.013827 ms 
[0m[ INFO] [1718805532.694116002, 1317358245.836822278]: Received 325183 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805532.694174754, 1317358245.836822278]: Data saved to 1317358245006716.pcd[0m
points size 81297 
sort q time 4.862751 
seperate points time 10.617053 
map prepare time 4.696282 ms
map corner num 242196  surf num 84927 
--------------------stamp1317358245.942061901
scan registration time 24.830617 ms *************
publication time 9.526741 ms 
whole laserOdometry time 9.541019 ms 
 
mapping data assosiation time 16.895596 ms 
mapping solver time 15.843508 ms 
mapping optimization time 138.721981 
add points time 0.676738 ms
filter time 14.646887 ms 
points size 79552 
sort q time 4.031099 
seperate points time 9.397208 
publication time 6.784371 ms 
whole laserOdometry time 6.800203 ms 
 
build tree time 63.534294 ms 
mapping data assosiation time 19.964514 ms 
mapping solver time 15.845144 ms 
points size 76490 
sort q time 4.176843 
seperate points time 9.033463 
scan registration time 24.010760 ms *************
mapping solver time 15.152348 ms 
mapping optimization time 135.726708 
add points time 0.751254 ms
publication time 9.069967 ms 
whole laserOdometry time 9.081946 ms 
 
filter time 27.906106 ms 
--------------------stamp1317358246.253673076
build tree time 58.900267 ms 
publication time 7.975194 ms 
whole laserOdometry time 7.987270 ms 
 
mapping solver time 22.201676 ms 
mapping data assosiation time 20.883136 ms 
--------------------stamp1317358246.357542991
prepare time 13.657021 
mapping pub time 14.249814 ms 
whole mapping time 186.617007 ms +++++
build tree time 55.286414 ms 
prepare time 10.996707 
sort q time 4.566648 
seperate points time 9.293807 
mapping solver time 24.518004 ms 
mapping data assosiation time 20.731572 ms 
mapping solver time 16.415429 ms 
filter time 14.808478 ms 
points size 78267 
sort q time 4.280653 
seperate points time 10.481022 
scan registration time 28.142524 ms *************
-----t: 0.0362299
OdomCount 4665 & avg odom time 0.045925 ms ++++++++++++++++++++++
build tree time 65.840077 ms 
mapping data assosiation time 18.077274 ms 
--------------------stamp1317358246.669251918
prepare time 13.057985 
scan registration time 27.781729 ms *************
publication time 8.627313 ms 
whole laserOdometry time 8.672058 ms 
 
mapping solver time 24.353943 ms 
mapping optimization time 153.944103 
add points time 0.786099 ms
filter time 15.473839 ms 
--------------------stamp1317358246.773121118
points size 80889 
sort q time 12.978487 
seperate points time 19.246908 
mapping data assosiation time 22.336689 ms 
mapping solver time 24.836955 ms 
-----t: 0.0909669
OdomCount 4667 & avg odom time 0.045934 ms ++++++++++++++++++++++
prepare time 12.186674 
scan registration time 27.328740 ms *************
publication time 7.761707 ms 
whole laserOdometry time 7.789952 ms 
 
--------------------stamp1317358246.980916023
prepare time 13.827280 
sort q time 7.842034 
seperate points time 13.824692 
scan registration time 31.642116 ms *************
mapping data assosiation time 21.183044 ms 
mapping solver time 23.055290 ms 
mapping data assosiation time 20.811418 ms 
-----t: 0.078043
OdomCount 4669 & avg odom time 0.045941 ms ++++++++++++++++++++++
mapping solver time 25.834422 ms 
sort q time 5.313689 
seperate points time 11.785965 
map prepare time 4.597568 ms
map corner num 247651  surf num 87461 
-----t: 0.0341191
OdomCount 4670 & avg odom time 0.045939 ms ++++++++++++++++++++++
build tree time 58.366233 ms 
points size 87882 
sort q time 4.915646 
seperate points time 10.580009 
publication time 8.412107 ms 
whole laserOdometry time 8.448858 ms 
 
-----t: 0.0357547
OdomCount 4671 & avg odom time 0.045937 ms ++++++++++++++++++++++
mapping data assosiation time 22.001805 ms 
mapping solver time 19.080634 ms 
--------------------stamp1317358247.292573928
drop lidar frame in mapping for real time performance 
sort q time 4.980451 
seperate points time 11.650558 
publication time 10.388898 ms 
whole laserOdometry time 10.404541 ms 
 
build tree time 69.260264 ms 
--------------------stamp1317358247.396469116
sort q time 4.646140 
seperate points time 10.466116 
mapping solver time 28.408003 ms 
-----t: 0.0386739
OdomCount 4673 & avg odom time 0.045933 ms ++++++++++++++++++++++
mapping solver time 20.654069 ms 
--------------------stamp1317358247.500385046
filter time 18.370789 ms 
prepare time 15.218575 
sort q time 4.813689 
seperate points time 11.872304 
publication time 7.533914 ms 
whole laserOdometry time 7.548016 ms 
 
-----t: 0.0566831
OdomCount 4674 & avg odom time 0.045935 ms ++++++++++++++++++++++
mapping data assosiation time 20.373956 ms 
points size 85682 
sort q time 4.860360 
seperate points time 11.610712 
mapping solver time 28.789964 ms 
scan registration time 29.429916 ms *************
publication time 7.696466 ms 
whole laserOdometry time 7.706216 ms 
 
mapping solver time 15.981330 ms 
filter time 14.747574 ms 
--------------------stamp1317358247.708223104
prepare time 13.726972 
scan registration time 28.941495 ms *************
build tree time 61.549271 ms 
-----t: 0.0520964
OdomCount 4676 & avg odom time 0.045936 ms ++++++++++++++++++++++
mapping solver time 24.253330 ms 
points size 86705 
sort q time 5.046824 
seperate points time 12.058031 
mapping solver time 25.584797 ms 
filter time 16.608229 ms 
--------------------stamp1317358247.916081905
prepare time 13.049582 
sort q time 4.905604 
seperate points time 11.800577 
build tree time 67.473399 ms 
-----t: 0.0371889
OdomCount 4678 & avg odom time 0.045932 ms ++++++++++++++++++++++
mapping data assosiation time 26.239977 ms 
mapping solver time 20.996186 ms 
--------------------stamp1317358248.020047903
mapping data assosiation time 25.375306 ms 
prepare time 13.863053 
sort q time 4.637745 
seperate points time 11.086197 
publication time 8.252558 ms 
whole laserOdometry time 8.271441 ms 
 
map prepare time 4.458174 ms
map corner num 252155  surf num 89180 
--------------------stamp1317358248.123990058
points size 84745 
build tree time 57.498735 ms 
sort q time 4.440017 
seperate points time 10.944183 
mapping data assosiation time 27.940765 ms 
-----t: 0.0472036
OdomCount 4680 & avg odom time 0.045932 ms ++++++++++++++++++++++
mapping data assosiation time 23.145421 ms 
--------------------stamp1317358248.227910995
prepare time 13.288123 
sort q time 4.439707 
seperate points time 10.863638 
filter time 19.778029 ms 
publication time 11.961979 ms 
whole laserOdometry time 11.973752 ms 
 
-----t: 0.0602738
OdomCount 4681 & avg odom time 0.045935 ms ++++++++++++++++++++++
--------------------stamp1317358248.331784963
build tree time 62.376433 ms 
prepare time 11.205361 
sort q time 10.677644 
seperate points time 17.541053 
publication time 9.724116 ms 
whole laserOdometry time 9.738095 ms 
 
filter time 21.374855 ms 
--------------------stamp1317358248.539526939
points size 81187 
build tree time 59.338226 ms 
mapping data assosiation time 27.809847 ms 
-----t: 0.053188
OdomCount 4684 & avg odom time 0.045944 ms ++++++++++++++++++++++
mapping solver time 33.366349 ms 
--------------------stamp1317358248.643445014
prepare time 13.839383 
sort q time 4.426264 
seperate points time 10.820753 
publication time 9.906009 ms 
whole laserOdometry time 9.923434 ms 
 
map prepare time 3.759242 ms
map corner num 254976  surf num 90576 
--------------------stamp1317358248.747386932
build tree time 59.012957 ms 
publication time 8.101786 ms 
whole laserOdometry time 8.113399 ms 
 
-----t: 0.0413022
OdomCount 4686 & avg odom time 0.045942 ms ++++++++++++++++++++++
mapping solver time 31.691991 ms 
--------------------stamp1317358248.851331949
prepare time 13.155125 
sort q time 5.361709 
seperate points time 12.888046 
add points time 1.123357 ms
-----t: 0.0409822
OdomCount 4687 & avg odom time 0.045941 ms ++++++++++++++++++++++
map prepare time 3.940605 ms
map corner num 256071  surf num 91132 
--------------------stamp1317358248.955275058
prepare time 11.836385 
sort q time 4.199344 
seperate points time 10.509841 
-----t: 0.0365949
OdomCount 4688 & avg odom time 0.045939 ms ++++++++++++++++++++++
mapping solver time 32.794183 ms 
points size 76465 
sort q time 4.895748 
seperate points time 11.281442 
publication time 10.192914 ms 
whole laserOdometry time 10.208786 ms 
 
-----t: 0.0485709
OdomCount 4689 & avg odom time 0.045940 ms ++++++++++++++++++++++
filter time 19.041568 ms 
--------------------stamp1317358249.163156986
prepare time 12.580116 
build tree time 65.367621 ms 
-----t: 0.033285
OdomCount 4690 & avg odom time 0.045937 ms ++++++++++++++++++++++
mapping data assosiation time 27.841456 ms 
mapping solver time 29.234456 ms 
sort q time 3.975610 
seperate points time 9.422953 
publication time 7.590504 ms 
whole laserOdometry time 7.682224 ms 
 
-----t: 0.0344556
OdomCount 4691 & avg odom time 0.045934 ms ++++++++++++++++++++++
1317358249.267124891 WriteOdom laser_odom_to_init
1317358249.267124891 WriteOdom aft_mapped_to_init_high_frec
filter time 16.483760 ms 
--------------------stamp1317358249.371068000
prepare time 15.264499 
sort q time 4.483390 
seperate points time 10.912064 
publication time 8.795677 ms 
whole laserOdometry time 8.809116 ms 
 
--------------------stamp1317358249.475011110
sort q time 5.081036 
seperate points time 9.818031 
publication time 7.702159 ms 
whole laserOdometry time 7.712157 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 
--------------------stamp1317358249.578970909
prepare time 12.956424 
sort q time 4.110386 
seperate points time 10.143401 
publication time 7.954475 ms 
whole laserOdometry time 7.966833 ms 
 
-----t: 0.0449362
OdomCount 4694 & avg odom time 0.045935 ms ++++++++++++++++++++++
mapping solver time 30.687492 ms 
mapping data assosiation time 23.423939 ms 
prepare time 12.680069 
sort q time 3.867520 
seperate points time 9.385937 
publication time 8.259443 ms 
whole laserOdometry time 8.274421 ms 
 
map prepare time 3.681656 ms
map corner num 238334  surf num 86255 
--------------------stamp1317358249.786861896
build tree time 62.999544 ms 
publication time 6.453546 ms 
whole laserOdometry time 6.466397 ms 
 
mapping solver time 26.653384 ms 
--------------------stamp1317358249.890829086
sort q time 3.994532 
seperate points time 8.118773 
map prepare time 4.352819 ms
map corner num 239293  surf num 86640 
publication time 8.670714 ms 
whole laserOdometry time 8.685093 ms 
 
build tree time 56.604367 ms 
--------------------stamp1317358249.994796991
sort q time 3.748909 
seperate points time 8.368953 
publication time 7.863346 ms 
whole laserOdometry time 7.871564 ms 
 
-----t: 0.0499191
OdomCount 4698 & avg odom time 0.045930 ms ++++++++++++++++++++++
mapping solver time 20.789172 ms 
filter time 14.706074 ms 
points size 66980 
sort q time 3.654516 
seperate points time 8.879109 
publication time 6.524867 ms build tree time 62.066556 ms 
mapping data assosiation time 18.909810 ms 
--------------------stamp1317358250.202730894
mapping solver time 29.243291 ms 
publication time 6.594093 ms 
whole laserOdometry time 6.603726 ms 
 
mapping solver time 26.571169 ms 
filter time 15.571134 ms 
--------------------stamp1317358250.306674003
sort q time 4.119489 
seperate points time 8.277736 
publication time 6.965878 ms 
whole laserOdometry time 6.995611 ms 
 
mapping data assosiation time 17.747498 ms 
mapping solver time 21.497760 ms 
--------------------stamp1317358250.410590887
prepare time 10.008701 
scan registration time 21.944850 ms *************
mapping solver time 27.726232 ms 
filter time 15.571003 ms 
map prepare time 3.241981 ms
map corner num 241334  surf num 87212 
--------------------stamp1317358250.514509916
prepare time 11.559752 
scan registration time 22.836946 ms *************
build tree time 63.523329 ms 
-----t: 0.0364483
OdomCount 4703 & avg odom time 0.045919 ms ++++++++++++++++++++++
mapping solver time 18.840129 ms 
mapping data assosiation time 18.048565 ms 
mapping solver time 14.966316 ms 
points size 66211 
publication time 6.325895 ms 
whole laserOdometry time 6.336954 ms 
 
-----t: 0.0351096
OdomCount 4704 & avg odom time 0.045917 ms ++++++++++++++++++++++
build tree time 61.135508 ms 
mapping data assosiation time 18.630748 ms 
points size 65901 
sort q time 3.789289 
seperate points time 7.981875 
mapping data assosiation time 20.805744 ms 
mapping solver time 17.999481 ms 
filter time 20.531415 ms 
--------------------stamp1317358250.826338052
prepare time 12.443658 
sort q time 19.093506 
seperate points time 25.882981 
publication time 7.875481 ms 
whole laserOdometry time 7.889699 ms 
 
mapping solver time 20.182024 ms 
prepare time 11.212350 
scan registration time 23.832851 ms *************
publication time 6.814444 ms 
whole laserOdometry time 6.830103 ms 
 
filter time 20.932589 ms 
--------------------stamp1317358251.034224987
sort q time 3.292426 
seperate points time 7.042553 
publication time 8.860855 ms 
whole laserOdometry time 8.875407 ms 
 
-----t: 0.0364519
OdomCount 4708 & avg odom time 0.045911 ms ++++++++++++++++++++++
mapping solver time 21.304536 ms 
mapping solver time 14.732769 ms 
filter time 21.746244 ms 
scan registration time 27.710770 ms *************
publication time 7.036300 ms 
whole laserOdometry time 7.065719 ms 
 
1317358251.138190984 WriteOdom laser_odom_to_init
1317358251.138190984 WriteOdom aft_mapped_to_init_high_frec
build tree time 62.254376 ms 
mapping data assosiation time 16.823628 ms 
sort q time 3.349626 
seperate points time 7.701503 
publication time 6.289374 ms 
whole laserOdometry time 6.302476 ms 
 
1317358251.242156982 WriteOdom laser_odom_to_init
mapping solver time 16.161850 ms 
filter time 15.284388 ms 
map prepare time 3.055190 ms
map corner num 244425  surf num 88388 
--------------------stamp1317358251.346122980
sort q time 3.347098 
seperate points time 8.297510 
publication time 6.772072 ms 
whole laserOdometry time 6.806928 ms 
 
-----t: 0.0326465
OdomCount 4711 & avg odom time 0.045901 ms ++++++++++++++++++++++
mapping data assosiation time 16.090794 ms 
mapping solver time 15.550716 ms 
--------------------stamp1317358251.450088977
sort q time 3.186575 
seperate points time 8.071105 
publication time 7.431190 ms -----t: 0.0297702
OdomCount 4712 & avg odom time 0.045898 ms ++++++++++++++++++++++
--------------------stamp1317358251.554056882
sort q time 3.785979 
seperate points time 9.518360 
mapping solver time 19.580588 ms 
-----t: 0.0387369
OdomCount 4713 & avg odom time 0.045896 ms ++++++++++++++++++++++
mapping data assosiation time 18.650332 ms 
mapping solver time 15.287341 ms 
mapping optimization time 135.560954 
add points time 0.684482 ms
filter time 14.703085 ms 
--------------------stamp1317358251.658000946
sort q time 3.559666 
seperate points time 8.777654 
publication time 6.819218 ms 
whole laserOdometry time 6.844141 ms 
 
-----t: 0.0420498
OdomCount 4714 & avg odom time 0.045896 ms ++++++++++++++++++++++
build tree time 71.406347 ms 
mapping data assosiation time 18.960716 ms 
--------------------stamp1317358251.761941909
sort q time 3.557705 
seperate points time 7.937171 
mapping solver time 15.277870 ms 
filter time 16.330027 ms 
--------------------stamp1317358251.865907907
prepare time 10.421077 
scan registration time 21.493903 ms *************
build tree time 61.984992 ms 
publication time 6.784023 ms -----t: 0.0413377
OdomCount 4716 & avg odom time 0.045891 ms ++++++++++++++++++++++
mapping data assosiation time 17.398062 ms 
mapping solver time 18.873150 ms 
points size 65579 
map prepare time 3.919070 ms
map corner num 246934  surf num 89238 
publication time 7.607208 ms 
whole laserOdometry time 7.619541 ms 
 
build tree time 61.493755 ms 
mapping data assosiation time 18.121181 ms 
prepare time 9.847830 
scan registration time 22.722854 ms *************
publication time 7.071917 ms 
whole laserOdometry time 7.082790 ms 
 
-----t: 0.0326694
OdomCount 4718 & avg odom time 0.045886 ms ++++++++++++++++++++++
mapping optimization time 141.602935 
filter time 15.250247 ms 
[0m[ INFO] [1718805539.018599790, 1317358252.155477303]: Received 337101 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805539.018656820, 1317358252.155477303]: Data saved to 1317358251865907.pcd[0m
--------------------stamp1317358252.177789926
prepare time 10.996873 
scan registration time 22.952631 ms *************
publication time 7.880110 ms 
whole laserOdometry time 7.899636 ms 
 
-----t: 0.0455201
OdomCount 4719 & avg odom time 0.045885 ms ++++++++++++++++++++++
1317358252.177789926 WriteOdom laser_odom_to_init
1317358252.177789926 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.667518 ms 
mapping solver time 21.005475 ms 
--------------------stamp1317358252.281752109
sort q time 3.418195 
seperate points time 7.192450 
publication time 5.509174 ms 
whole laserOdometry time 5.522808 ms 
 
-----t: 0.0292537
OdomCount 4720 & avg odom time 0.045882 ms ++++++++++++++++++++++
--------------------stamp1317358252.385746955
sort q time 2.800314 
seperate points time 7.456015 
1317358252.385746955 WriteOdom laser_odom_to_init
mapping data assosiation time 17.058086 ms 
mapping solver time 19.912785 ms 
filter time 14.857074 ms 
prepare time 8.419222 
publication time 5.510024 ms 
whole laserOdometry time 5.522367 ms 
 
build tree time 61.329578 ms 
mapping data assosiation time 18.414538 ms 
--------------------stamp1317358252.593672037
sort q time 2.959300 
seperate points time 7.414802 
-----t: 0.0226133
OdomCount 4723 & avg odom time 0.045875 ms ++++++++++++++++++++++
mapping solver time 20.058413 ms 
filter time 14.046369 ms 
--------------------stamp1317358252.697639942
build tree time 52.529876 ms 
sort q time 2.283596 
seperate points time 6.020886 
scan registration time 13.919248 ms *************
mapping data assosiation time 19.711407 ms 
-----t: 0.0331814
OdomCount 4724 & avg odom time 0.045872 ms ++++++++++++++++++++++
mapping data assosiation time 16.313068 ms 
mapping solver time 16.873557 ms 
--------------------stamp1317358252.801609992
scan registration time 11.720204 ms *************
-----t: 0.018146
OdomCount 4725 & avg odom time 0.045866 ms ++++++++++++++++++++++
build tree time 52.681175 ms 
mapping data assosiation time 16.039180 ms 
mapping solver time 18.370408 ms 
points size 37578 
publication time 4.484063 ms 
whole laserOdometry time 4.496015 ms 
 
mapping optimization time 129.253590 
filter time 13.499368 ms 
--------------------stamp1317358253.009593009
sort q time 1.798225 
seperate points time 4.817152 
-----t: 0.0199098
OdomCount 4727 & avg odom time 0.045855 ms ++++++++++++++++++++++
--------------------stamp1317358253.113560914
sort q time 2.260740 
seperate points time 5.414304 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
-----t: 0.0234839
OdomCount 4728 & avg odom time 0.045850 ms ++++++++++++++++++++++
[0m[ INFO] [1718805540.026795198, 1317358253.164606964]: Received 301155 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805540.026829161, 1317358253.164606964]: Data saved to 1317358252697639.pcd[0m
build tree time 56.317190 ms 
mapping data assosiation time 17.002873 ms 
points size 43167 
publication time 4.326194 ms 
whole laserOdometry time 4.339270 ms 
 
mapping solver time 16.307019 ms 
1317358253.217525959 WriteOdom laser_odom_to_init
1317358253.217525959 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358253.321511030
sort q time 2.736412 
seperate points time 6.528419 
publication time 4.202590 ms 
whole laserOdometry time 4.213206 ms 
 
-----t: 0.0353384
OdomCount 4730 & avg odom time 0.045848 ms ++++++++++++++++++++++
mapping data assosiation time 14.921157 ms 
mapping solver time 16.615900 ms 
--------------------stamp1317358253.425477981
sort q time 2.547364 
seperate points time 6.096828 
-----t: 0.0204118
OdomCount 4731 & avg odom time 0.045842 ms ++++++++++++++++++++++
build tree time 53.298532 ms 
mapping data assosiation time 15.747264 ms 
mapping solver time 19.164721 ms 
points size 52902 
publication time 5.130974 ms 
whole laserOdometry time 5.157292 ms 
 
filter time 15.748060 ms 
--------------------stamp1317358253.633392095
mapping data assosiation time 15.995040 ms 
mapping solver time 18.278533 ms 
mapping data assosiation time 16.625172 ms 
mapping solver time 15.255564 ms 
filter time 15.465506 ms 
--------------------stamp1317358253.737360000
sort q time 3.173932 
seperate points time 7.951666 
publication time 4.800498 ms 
whole laserOdometry time 4.811547 ms 
 
build tree time 66.048135 ms 
mapping data assosiation time 15.233862 ms 
mapping solver time 18.670974 ms 
--------------------stamp1317358253.841326951
mapping solver time 17.300528 ms 
publication time 5.518130 ms 
whole laserOdometry time 5.530444 ms 
 
filter time 17.130034 ms 
-----t: 0.0338134
OdomCount 4735 & avg odom time 0.045829 ms ++++++++++++++++++++++
build tree time 51.816653 ms 
points size 61689 
publication time 4.926224 ms 
whole laserOdometry time 4.938302 ms 
 
-----t: 0.029431
OdomCount 4736 & avg odom time 0.045826 ms ++++++++++++++++++++++
mapping solver time 11.887643 ms 
filter time 16.068156 ms 
--------------------stamp1317358254.049283981
sort q time 3.611073 
seperate points time 7.823878 
build tree time 55.849496 ms 
mapping data assosiation time 16.713671 ms 
mapping solver time 19.728921 ms 
mapping data assosiation time 17.000983 ms 
--------------------stamp1317358254.153254032
prepare time 11.842261 
scan registration time 25.085973 ms *************
-----t: 0.0337147
OdomCount 4738 & avg odom time 0.045820 ms ++++++++++++++++++++++
1317358254.153254032 WriteOdom laser_odom_to_init
1317358254.153254032 WriteOdom aft_mapped_to_init_high_frec
publication time 17.350688 ms 
whole laserOdometry time 17.362145 ms 
 
build tree time 53.766063 ms 
mapping data assosiation time 15.599561 ms 
prepare time 11.328228 
mapping solver time 25.701154 ms 
mapping data assosiation time 19.947163 ms 
mapping solver time 19.224474 ms 
filter time 15.691550 ms 
--------------------stamp1317358254.361160993
prepare time 12.420049 
-----t: 0.0232998
OdomCount 4740 & avg odom time 0.045817 ms ++++++++++++++++++++++
mapping data assosiation time 17.097915 ms 
mapping solver time 19.577174 ms 
mapping data assosiation time 15.888367 ms 
points size 66541 
sort q time 3.861666 
seperate points time 8.129604 
filter time 19.537237 ms 
-----t: 0.0515744
OdomCount 4741 & avg odom time 0.045818 ms ++++++++++++++++++++++
build tree time 52.463814 ms 
mapping data assosiation time 19.713800 ms 
sort q time 3.528914 
seperate points time 8.736990 
publication time 6.436272 ms 
whole laserOdometry time 6.447074 ms 
 
mapping data assosiation time 20.726612 ms 
mapping solver time 13.923413 ms 
filter time 14.077244 ms 
map prepare time 2.919923 ms
map corner num 228336  surf num 80130 
--------------------stamp1317358254.673058986
prepare time 11.614726 
sort q time 3.731658 
seperate points time 9.321310 
publication time 6.631405 ms 
whole laserOdometry time 6.644052 ms 
 
-----t: 0.0339518
OdomCount 4743 & avg odom time 0.045816 ms ++++++++++++++++++++++
mapping data assosiation time 18.002449 ms 
mapping solver time 17.652173 ms 
--------------------stamp1317358254.777025938
sort q time 3.482715 
seperate points time 8.576228 
publication time 9.395532 ms 
whole laserOdometry time 9.413022 ms 
 
filter time 18.062386 ms 
mapping pub time 1.499307 ms 
whole mapping time 164.621069 ms +++++
mappingCount 3092 & avg mapping time 155.107258 ms ++++++++++++++++++++++
1317358254.465125084 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.673661 ms
map corner num 229060  surf num 80416 
--------------------stamp1317358254.881016016
points size 67469 
sort q time 4.456450 
seperate points time 10.835388 
publication time 6.702693 ms 
whole laserOdometry time 6.732453 ms 
 
mapping solver time 24.954335 ms 
mapping data assosiation time 19.986600 ms 
mapping solver time 16.819681 ms 
mapping optimization time 141.902148 
add points time 0.631650 ms
filter time 15.051895 ms 
sort q time 4.090007 
seperate points time 9.451591 
publication time 6.667878 ms 
whole laserOdometry time 6.681163 ms 
 
1317358254.985008001 WriteOdom laser_odom_to_init
build tree time 60.906240 ms 
mapping data assosiation time 19.835796 ms 
points size 68113 
scan registration time 17.055897 ms *************
mapping data assosiation time 20.932940 ms 
-----t: 0.0304287
OdomCount 4747 & avg odom time 0.045810 ms ++++++++++++++++++++++
filter time 13.759203 ms 
--------------------stamp1317358255.192941904
prepare time 12.107105 
scan registration time 24.939342 ms *************
mapping data assosiation time 22.514431 ms 
-----t: 0.0607716
OdomCount 4748 & avg odom time 0.045813 ms ++++++++++++++++++++++
mapping data assosiation time 22.306599 ms 
add points time 0.812117 ms
filter time 21.972643 ms 
sort q time 18.576714 
seperate points time 35.839477 
publication time 9.062805 ms 
whole laserOdometry time 9.076016 ms 
 
--------------------stamp1317358255.400875091
1317358255.296909093 WriteOdom aft_mapped_to_init_high_frec
sort q time 4.088038 
seperate points time 11.142029 
mapping data assosiation time 24.172079 ms 
mapping solver time 23.802174 ms 
mapping data assosiation time 20.991427 ms 
--------------------stamp1317358255.504817008
sort q time 4.387930 
seperate points time 10.076777 
-----t: 0.071862
OdomCount 4751 & avg odom time 0.045824 ms ++++++++++++++++++++++
build tree time 61.045297 ms 
points size 75365 
mapping data assosiation time 25.209098 ms 
publication time 8.576821 ms 
whole laserOdometry time 8.589370 ms 
 
-----t: 0.0379496
OdomCount 4752 & avg odom time 0.045822 ms ++++++++++++++++++++++
mapping data assosiation time 21.472014 ms 
mapping solver time 21.838081 ms 
--------------------stamp1317358255.712726116
map prepare time 4.244161 ms
map corner num 232892  surf num 82225 
scan registration time 24.989464 ms *************
publication time 12.257025 ms 
whole laserOdometry time 12.272448 ms 
 
-----t: 0.0537521
OdomCount 4753 & avg odom time 0.045824 ms ++++++++++++++++++++++
mapping data assosiation time 20.659364 ms 
points size 78112 
sort q time 3.741554 
seperate points time 8.324108 
publication time 9.392357 ms 
whole laserOdometry time 9.405318 ms 
 
-----t: 0.0508034
OdomCount 4754 & avg odom time 0.045825 ms ++++++++++++++++++++++
1317358255.816668987 WriteOdom laser_odom_to_init
1317358255.816668987 WriteOdom aft_mapped_to_init_high_frec
filter time 13.742142 ms 
--------------------stamp1317358255.920613050
prepare time 13.222170 
sort q time 4.560046 
seperate points time 10.481702 
publication time 7.715204 ms 
whole laserOdometry time 7.739673 ms 
 
1317358255.920613050 WriteOdom laser_odom_to_init
mapping data assosiation time 25.086294 ms 
mapping solver time 26.987515 ms 
prepare time 12.623859 
mapping data assosiation time 25.861642 ms 
publication time 9.727934 ms 
whole laserOdometry time 9.739059 ms 
 
filter time 13.787236 ms 
--------------------stamp1317358256.128427982
sort q time 4.484137 
seperate points time 10.167560 
mapping data assosiation time 26.222991 ms 
mapping solver time 25.771207 ms 
mapping data assosiation time 21.271020 ms 
points size 82520 
add points time 0.811940 ms
filter time 21.041692 ms 
-----t: 0.0478392
OdomCount 4758 & avg odom time 0.045822 ms ++++++++++++++++++++++
--------------------stamp1317358256.336263895
prepare time 12.389241 
mapping data assosiation time 25.149343 ms 
publication time 7.693140 ms 
whole laserOdometry time 7.707376 ms 
 
mapping solver time 32.069866 ms 
mapping data assosiation time 23.538591 ms 
--------------------stamp1317358256.440182924
prepare time 12.369504 
publication time 9.368778 ms 
whole laserOdometry time 9.384053 ms 
 
--------------------stamp1317358256.544102907
points size 84338 
sort q time 13.417082 
seperate points time 19.774509 
publication time 9.081327 ms 
whole laserOdometry time 9.097454 ms 
 
-----t: 0.0655505
OdomCount 4761 & avg odom time 0.045823 ms ++++++++++++++++++++++
--------------------stamp1317358256.647973060
sort q time 4.528703 
seperate points time 10.366831 
scan registration time 24.794842 ms *************
-----t: 0.0336086
OdomCount 4762 & avg odom time 0.045821 ms ++++++++++++++++++++++
build tree time 60.231623 ms 
mapping data assosiation time 22.041341 ms 
--------------------stamp1317358256.751821041
points size 81470 
prepare time 14.277204 
mapping data assosiation time 26.391480 ms 
mapping solver time 22.872006 ms 
mapping pub time 1.907597 ms 
whole mapping time 187.215575 ms +++++
mappingCount 3102 & avg mapping time 155.249893 ms ++++++++++++++++++++++
1317358256.232346058 WriteOdom aft_mapped_to_init
--------------------stamp1317358256.855667114
prepare time 14.905025 
scan registration time 28.211948 ms *************
publication time 13.312032 ms 
whole laserOdometry time 13.322542 ms 
 
-----t: 0.0485109
OdomCount 4764 & avg odom time 0.045829 ms ++++++++++++++++++++++
1317358256.855667114 WriteOdom laser_odom_to_init
1317358256.855667114 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.642083 ms 
mapping data assosiation time 19.188152 ms 
sort q time 4.240206 
seperate points time 10.211409 
mapping optimization time 149.188386 
filter time 15.979146 ms 
[0m[ INFO] [1718805543.881542798, 1317358257.019354690]: Received 319871 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805543.881598438, 1317358257.019354690]: Data saved to 1317358256128427.pcd[0m
--------------------stamp1317358257.063381910
build tree time 55.963552 ms 
mapping data assosiation time 20.429569 ms 
-----t: 0.0356492
OdomCount 4766 & avg odom time 0.045826 ms ++++++++++++++++++++++
mapping data assosiation time 16.822133 ms 
mapping solver time 16.655013 ms 
--------------------stamp1317358257.167253017
sort q time 4.469197 
seperate points time 10.544814 
publication time 6.757959 ms 
build tree time 59.883481 ms 
mapping data assosiation time 18.310159 ms 
--------------------stamp1317358257.271148920
sort q time 4.496688 
seperate points time 8.905484 
publication time 8.215278 ms 
whole laserOdometry time 8.228637 ms 
 
mapping solver time 20.682792 ms 
filter time 18.734950 ms 
--------------------stamp1317358257.375067949
prepare time 13.679996 
build tree time 66.122240 ms 
publication time 5.500616 ms 
whole laserOdometry time 5.515124 ms 
 
mapping solver time 26.514367 ms 
points size 78427 
sort q time 4.554425 
seperate points time 10.483959 
publication time 7.357008 ms 
whole laserOdometry time 7.371108 ms 
 
add points time 0.816414 ms
filter time 22.620225 ms 
mapping pub time 16.417879 ms 
whole mapping time 227.155022 ms +++++
mappingCount 3106 & avg mapping time 155.282932 ms ++++++++++++++++++++++
points size 76725 
sort q time 12.365882 
seperate points time 18.086998 
publication time 6.418379 ms 
whole laserOdometry time 6.432345 ms 
 
build tree time 72.739136 ms 
-----t: 0.0722241
OdomCount 4771 & avg odom time 0.045828 ms ++++++++++++++++++++++
--------------------stamp1317358257.686825037
prepare time 13.169127 
sort q time 4.925329 
seperate points time 11.471618 
-----t: 0.0310322
OdomCount 4772 & avg odom time 0.045825 ms ++++++++++++++++++++++
mapping pub time 1.822933 ms 
whole mapping time 185.465234 ms +++++
mappingCount 3107 & avg mapping time 155.292648 ms ++++++++++++++++++++++
--------------------stamp1317358257.790741920
prepare time 10.367796 
scan registration time 23.617203 ms *************
build tree time 64.223716 ms 
mapping data assosiation time 17.869731 ms 
mapping solver time 20.169934 ms 
mapping data assosiation time 17.302349 ms 
points size 73213 
sort q time 4.021244 
seperate points time 9.749808 
filter time 17.386141 ms 
-----t: 0.0435285
OdomCount 4774 & avg odom time 0.045824 ms ++++++++++++++++++++++
build tree time 58.018768 ms 
points size 71965 
mapping data assosiation time 20.383937 ms 
publication time 6.255621 ms 
whole laserOdometry time 6.293159 ms 
 
-----t: 0.036206
OdomCount 4775 & avg odom time 0.045822 ms ++++++++++++++++++++++
mapping data assosiation time 18.199065 ms 
mapping solver time 16.240738 ms 
filter time 14.629825 ms 
points size 71646 
sort q time 3.880315 
seperate points time 9.185838 
publication time 5.466040 ms 
whole laserOdometry time 5.481321 ms 
 
build tree time 68.305479 ms 
mapping data assosiation time 16.032633 ms 
mapping solver time 19.618931 ms 
points size 71331 
sort q time 3.971638 
seperate points time 9.797932 
-----t: 0.0291015
OdomCount 4777 & avg odom time 0.045816 ms ++++++++++++++++++++++
filter time 16.354243 ms 
mapping pub time 1.586695 ms 
whole mapping time 163.580628 ms +++++
mappingCount 3110 & avg mapping time 155.301725 ms ++++++++++++++++++++++
1317358257.894637108 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.350842 ms
map corner num 251161  surf num 89872 
--------------------stamp1317358258.310120105
prepare time 12.593576 
build tree time 66.184540 ms 
mapping data assosiation time 18.085962 ms 
-----t: 0.0427293
OdomCount 4778 & avg odom time 0.045815 ms ++++++++++++++++++++++
mapping data assosiation time 14.862288 ms 
mapping solver time 12.060162 ms 
mapping optimization time 133.562313 
add points time 0.649909 ms
points size 71355 
sort q time 3.930891 
seperate points time 9.530111 
publication time 7.479148 ms 
whole laserOdometry time 7.497370 ms 
 
-----t: 0.0513345
OdomCount 4779 & avg odom time 0.045816 ms ++++++++++++++++++++++
mapping solver time 17.788836 ms 
filter time 15.211168 ms 
--------------------stamp1317358258.621851921
sort q time 3.753784 
seperate points time 9.102590 
publication time 9.086502 ms 
whole laserOdometry time 9.098031 ms 
 
-----t: 0.0454551
OdomCount 4781 & avg odom time 0.045813 ms ++++++++++++++++++++++
1317358258.621851921 WriteOdom laser_odom_to_init
1317358258.621851921 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 15.525425 ms 
mapping solver time 12.791229 ms 
points size 70385 
sort q time 4.903843 
seperate points time 10.724121 
-----t: 0.058537
OdomCount 4782 & avg odom time 0.045815 ms ++++++++++++++++++++++
mapping data assosiation time 15.593141 ms 
points size 67573 
scan registration time 21.803582 ms *************
mapping solver time 17.204082 ms 
filter time 17.744465 ms 
--------------------stamp1317358258.933609008
prepare time 10.273348 
sort q time 3.736032 
seperate points time 7.939487 
publication time 6.687548 ms 
whole laserOdometry time 6.700328 ms 
 
-----t: 0.0383876
OdomCount 4784 & avg odom time 0.045813 ms ++++++++++++++++++++++
mapping solver time 21.408379 ms 
mapping data assosiation time 15.155865 ms 
--------------------stamp1317358259.037503957
sort q time 3.567205 
seperate points time 8.331555 
map prepare time 4.012695 ms
map corner num 253775  surf num 90737 
[0m[ INFO] [1718805545.944422925, 1317358259.086793649]: Received 341666 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805545.944501312, 1317358259.086793649]: Data saved to 1317358258102379.pcd[0m
build tree time 61.126090 ms 
--------------------stamp1317358259.141400098
sort q time 3.655512 
seperate points time 7.555349 
scan registration time 21.480012 ms *************
-----t: 0.0369456
OdomCount 4786 & avg odom time 0.045810 ms ++++++++++++++++++++++
mapping solver time 15.522233 ms 
mapping optimization time 139.171362 
add points time 0.601348 ms
mapping pub time 5.704721 ms 
whole mapping time 164.331427 ms +++++
mappingCount 3116 & avg mapping time 155.310152 ms ++++++++++++++++++++++
--------------------stamp1317358259.245318889
prepare time 12.286400 
sort q time 3.163333 
seperate points time 7.805226 
publication time 7.105802 ms 
whole laserOdometry time 7.117263 ms 
 
build tree time 67.650186 ms 
mapping data assosiation time 15.708207 ms 
mapping solver time 21.040964 ms 
points size 57843 
scan registration time 18.868522 ms *************
mapping solver time 20.706860 ms 
-----t: 0.0340667
OdomCount 4788 & avg odom time 0.045805 ms ++++++++++++++++++++++
--------------------stamp1317358259.453155040
sort q time 3.295206 
seperate points time 7.189048 
mapping data assosiation time 18.290742 ms 
mapping solver time 20.367422 ms 
mapping data assosiation time 18.494536 ms 
--------------------stamp1317358259.557074069
sort q time 3.058806 
seperate points time 7.753477 
-----t: 0.0264345
OdomCount 4790 & avg odom time 0.045799 ms ++++++++++++++++++++++
build tree time 68.375056 ms 
mapping data assosiation time 14.250559 ms 
--------------------stamp1317358259.660991907
prepare time 11.189634 
mapping solver time 21.115361 ms 
mapping data assosiation time 18.266329 ms 
-----t: 0.0346829
OdomCount 4791 & avg odom time 0.045797 ms ++++++++++++++++++++++
filter time 15.169584 ms 
--------------------stamp1317358259.764935016
prepare time 10.532192 
publication time 7.325284 ms 
whole laserOdometry time 7.337989 ms 
 
mapping data assosiation time 16.403053 ms 
mapping solver time 19.336501 ms 
mapping data assosiation time 15.387904 ms 
mapping solver time 16.596586 ms 
sort q time 4.071242 
seperate points time 7.899620 
map prepare time 3.759430 ms
map corner num 256810  surf num 91536 
-----t: 0.0377957
OdomCount 4793 & avg odom time 0.045792 ms ++++++++++++++++++++++
build tree time 57.995466 ms 
--------------------stamp1317358259.972868919
sort q time 3.352622 
seperate points time 7.223902 
publication time 6.100043 ms 
whole laserOdometry time 6.113061 ms 
 
-----t: 0.0443886
OdomCount 4794 & avg odom time 0.045791 ms ++++++++++++++++++++++
filter time 15.070973 ms 
--------------------stamp1317358260.076836109
prepare time 10.777283 
scan registration time 23.077921 ms *************
publication time 8.853851 ms 
whole laserOdometry time 8.868178 ms 
 
1317358260.076836109 WriteOdom laser_odom_to_init
[0m[ INFO] [1718805547.015462821, 1317358260.161433275]: Received 349370 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805547.015498156, 1317358260.161433275]: Data saved to 1317358259764935.pcd[0m
--------------------stamp1317358260.180804014
prepare time 10.474264 
scan registration time 21.555555 ms *************
publication time 9.125786 ms 
whole laserOdometry time 9.139809 ms 
 
-----t: 0.0387622
OdomCount 4796 & avg odom time 0.045788 ms ++++++++++++++++++++++
mapping pub time 193.567914 ms 
whole mapping time 352.515951 ms +++++
mappingCount 3121 & avg mapping time 155.384653 ms ++++++++++++++++++++++
1317358259.764935017 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 3.208987 ms
map corner num 257523  surf num 91847 
--------------------stamp1317358260.284770011
sort q time 4.307909 
seperate points time 8.492853 
build tree time 65.587835 ms 
mapping data assosiation time 19.585803 ms 
mapping solver time 21.144884 ms 
mapping data assosiation time 17.601436 ms 
mapping solver time 17.558857 ms 
scan registration time 23.056634 ms *************
map prepare time 3.740655 ms
map corner num 258190  surf num 92125 
-----t: 0.0418195
OdomCount 4798 & avg odom time 0.045788 ms ++++++++++++++++++++++
build tree time 63.207127 ms 
prepare time 11.894132 
mapping data assosiation time 21.371352 ms 
sort q time 4.185761 
seperate points time 9.001911 
publication time 7.189469 ms 
whole laserOdometry time 7.202623 ms 
 
-----t: 0.0348167
OdomCount 4799 & avg odom time 0.045785 ms ++++++++++++++++++++++
mapping data assosiation time 18.670817 ms 
mapping solver time 19.979703 ms 
filter time 15.764111 ms 
points size 71173 
sort q time 4.266667 
seperate points time 9.110102 
publication time 9.951128 ms 
whole laserOdometry time 9.962458 ms 
 
build tree time 70.007769 ms 
mapping data assosiation time 18.563365 ms 
points size 72419 
sort q time 3.984312 
seperate points time 9.384932 
mapping data assosiation time 21.497810 ms 
mapping solver time 18.601961 ms 
-----t: 0.0563916
OdomCount 4801 & avg odom time 0.045784 ms ++++++++++++++++++++++
--------------------stamp1317358260.804532051
sort q time 4.329302 
seperate points time 9.070233 
publication time 6.709788 ms 
whole laserOdometry time 6.722221 ms 
 
-----t: 0.0324464
OdomCount 4802 & avg odom time 0.045781 ms ++++++++++++++++++++++
mapping data assosiation time 19.638421 ms 
mapping solver time 20.042277 ms 
mapping data assosiation time 17.066808 ms 
--------------------stamp1317358260.908473968
prepare time 14.384931 
scan registration time 26.815273 ms *************
map prepare time 4.118776 ms
map corner num 260461  surf num 93192 
-----t: 0.0371888
OdomCount 4803 & avg odom time 0.045779 ms ++++++++++++++++++++++
--------------------stamp1317358261.012415885
sort q time 4.082160 
seperate points time 8.410294 
publication time 7.012926 ms 
whole laserOdometry time 7.028159 ms 
 
mapping solver time 25.220112 ms 
-----t: 0.0500628
OdomCount 4804 & avg odom time 0.045780 ms ++++++++++++++++++++++
mapping solver time 17.927485 ms 
--------------------stamp1317358261.116365909
map prepare time 3.353636 ms
map corner num 261110  surf num 93472 
publication time 12.854153 ms 
whole laserOdometry time 12.866674 ms 
 
-----t: 0.0423406
OdomCount 4805 & avg odom time 0.045779 ms ++++++++++++++++++++++
build tree time 73.019575 ms 
mapping data assosiation time 19.477839 ms 
sort q time 3.624910 
seperate points time 7.882232 
mapping solver time 26.537648 ms 
[0m[ INFO] [1718805548.124776531, 1317358261.267948224]: Received 354582 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805548.124823694, 1317358261.267948224]: Data saved to 1317358260804532.pcd[0m
mapping solver time 16.675367 ms 
mapping pub time 1.546778 ms 
whole mapping time 179.840230 ms +++++
mappingCount 3127 & avg mapping time 155.421947 ms ++++++++++++++++++++++
--------------------stamp1317358261.324265956
prepare time 19.862409 
scan registration time 33.227102 ms *************
publication time 5.855757 ms 
whole laserOdometry time 5.867696 ms 
 
-----t: 0.0571979
OdomCount 4807 & avg odom time 0.045781 ms ++++++++++++++++++++++
mapping solver time 20.076956 ms 
points size 66570 
prepare time 9.670799 
mapping data assosiation time 19.551728 ms 
mapping solver time 20.276593 ms 
-----t: 0.0309578
OdomCount 4808 & avg odom time 0.045778 ms ++++++++++++++++++++++
map prepare time 3.165116 ms
map corner num 233042  surf num 86535 
--------------------stamp1317358261.532248020
sort q time 3.584787 
seperate points time 8.060142 
publication time 8.710599 ms 
whole laserOdometry time 8.726381 ms 
 
mapping solver time 25.000244 ms 
mapping data assosiation time 18.508193 ms 
mapping solver time 18.312253 ms 
1317358261.324265957 WriteOdom aft_mapped_to_init
scan registration time 30.429029 ms *************
publication time 21.980652 ms 
whole laserOdometry time 21.992999 ms 
 
-----t: 0.0579033
OdomCount 4810 & avg odom time 0.045777 ms ++++++++++++++++++++++
mapping data assosiation time 16.533527 ms 
points size 65096 
mapping solver time 25.892610 ms 
prepare time 11.388205 
mapping data assosiation time 20.194359 ms 
publication time 6.250518 ms 
whole laserOdometry time 6.260359 ms 
 
1317358261.740375041 WriteOdom laser_odom_to_init
1317358261.740375041 WriteOdom aft_mapped_to_init_high_frec
filter time 15.565274 ms 
--------------------stamp1317358261.844461917
prepare time 11.159798 
sort q time 3.458500 
seperate points time 8.383208 
build tree time 64.791374 ms 
mapping data assosiation time 16.567770 ms 
mapping solver time 19.958653 ms 
mapping data assosiation time 17.068176 ms 
--------------------stamp1317358261.948525905
prepare time 11.612186 
publication time 5.015823 ms 
whole laserOdometry time 5.044033 ms 
 
drop lidar frame in mapping for real time performance 
-----t: 0.0445595
OdomCount 4813 & avg odom time 0.045773 ms ++++++++++++++++++++++
build tree time 53.221699 ms 
points size 65892 
mapping data assosiation time 22.193767 ms 
publication time 6.048141 ms 
whole laserOdometry time 6.060017 ms 
 
-----t: 0.0405479
OdomCount 4814 & avg odom time 0.045771 ms ++++++++++++++++++++++
mapping data assosiation time 20.189205 ms 
mapping solver time 19.866689 ms 
filter time 14.742261 ms 
prepare time 12.937468 
publication time 6.176607 ms 
whole laserOdometry time 6.204750 ms 
 
build tree time 58.869933 ms 
mapping data assosiation time 18.307958 ms 
--------------------stamp1317358262.260883092
prepare time 11.723785 
mapping data assosiation time 22.190433 ms 
-----t: 0.0292751
OdomCount 4816 & avg odom time 0.045765 ms ++++++++++++++++++++++
filter time 14.621703 ms 
--------------------stamp1317358262.365017890
sort q time 3.968933 
seperate points time 8.403687 
build tree time 61.014460 ms 
mapping data assosiation time 20.758001 ms 
mapping solver time 20.027660 ms 
mapping data assosiation time 16.686773 ms 
mapping solver time 16.443319 ms 
points size 72015 
sort q time 4.069007 
seperate points time 9.678971 
publication time 6.213553 ms 
whole laserOdometry time 6.228864 ms 
 
-----t: 0.0583199
OdomCount 4818 & avg odom time 0.045766 ms ++++++++++++++++++++++
1317358262.469151020 WriteOdom laser_odom_to_init
1317358262.469151020 WriteOdom aft_mapped_to_init_high_frec
build tree time 60.990137 ms 
--------------------stamp1317358262.573236942
sort q time 4.210179 
seperate points time 8.245834 
mapping solver time 26.043789 ms 
-----t: 0.0340191
OdomCount 4819 & avg odom time 0.045763 ms ++++++++++++++++++++++
mapping solver time 16.890526 ms 
filter time 14.373331 ms 
mapping pub time 1.620210 ms 
whole mapping time 168.210605 ms +++++
mappingCount 3135 & avg mapping time 155.451043 ms ++++++++++++++++++++++
1317358262.365017891 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.024410 ms
map corner num 237538  surf num 88266 
--------------------stamp1317358262.677323102
sort q time 3.552290 
seperate points time 7.572150 
-----t: 0.0286229
OdomCount 4820 & avg odom time 0.045760 ms ++++++++++++++++++++++
mapping data assosiation time 17.795733 ms 
mapping solver time 22.339992 ms 
--------------------stamp1317358262.781410932
prepare time 10.792345 
sort q time 4.600647 
seperate points time 9.569413 
scan registration time 24.480052 ms *************
filter time 19.081141 ms 
map prepare time 3.286642 ms
map corner num 238162  surf num 88514 
--------------------stamp1317358262.885497093
build tree time 57.859072 ms 
sort q time 4.763145 
seperate points time 11.361475 
mapping data assosiation time 24.518939 ms 
publication time 8.065427 ms 
whole laserOdometry time 8.392304 ms 
 
mapping data assosiation time 20.519646 ms 
mapping optimization time 140.169876 
points size 77074 
sort q time 14.561892 
seperate points time 20.392163 
publication time 7.358181 ms 
whole laserOdometry time 7.368817 ms 
 
build tree time 68.069152 ms 
--------------------stamp1317358263.093599081
prepare time 14.648554 
sort q time 4.140609 
seperate points time 10.146717 
scan registration time 29.635803 ms *************
mapping solver time 29.722047 ms 
mapping data assosiation time 25.401375 ms 
mapping solver time 18.664866 ms 
filter time 15.275613 ms 
points size 80387 
sort q time 4.446782 
seperate points time 10.482357 
publication time 6.470712 ms 
whole laserOdometry time 6.773553 ms 1317358263.197570085 WriteOdom laser_odom_to_init
1317358263.197570085 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.008993 ms 
--------------------stamp1317358263.301513910
points size 82383 
sort q time 5.374514 
seperate points time 12.673731 
mapping solver time 21.288817 ms 
filter time 18.588646 ms 
--------------------stamp1317358263.405428886
[0m[ INFO] [1718805550.271337326, 1317358263.415018576]: Received 326676 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805550.271379099, 1317358263.415018576]: Data saved to 1317358262469151.pcd[0m
sort q time 4.643828 
seperate points time 10.977121 
build tree time 61.683143 ms 
-----t: 0.0454701
OdomCount 4827 & avg odom time 0.045757 ms ++++++++++++++++++++++
1317358263.405428886 WriteOdom laser_odom_to_init
1317358263.405428886 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.897700 ms 
--------------------stamp1317358263.509322881
prepare time 14.699955 
mapping solver time 25.688144 ms 
mapping optimization time 161.700826 
add points time 0.956722 ms
filter time 20.744042 ms 
--------------------stamp1317358263.613181114
points size 84806 
build tree time 61.781199 ms 
publication time 8.652085 ms 
whole laserOdometry time 8.665426 ms 
 
-----t: 0.0469633
OdomCount 4829 & avg odom time 0.045756 ms ++++++++++++++++++++++
mapping solver time 26.437730 ms 
mapping data assosiation time 24.802147 ms 
points size 86529 
mapping solver time 27.570611 ms 
sort q time 4.921694 
seperate points time 18.586205 
scan registration time 42.002110 ms *************
filter time 29.020788 ms 
publication time 8.958783 ms 
whole laserOdometry time 8.974162 ms 
 
points size 88880 
sort q time 5.357424 publication time 9.500253 ms 
whole laserOdometry time 9.512374 ms 
 
-----t: 0.0560671
OdomCount 4831 & avg odom time 0.045766 ms ++++++++++++++++++++++
--------------------stamp1317358263.924613952
sort q time 5.036627 
seperate points time 13.085185 
-----t: 0.0462768
OdomCount 4832 & avg odom time 0.045766 ms ++++++++++++++++++++++
map prepare time 4.443012 ms
map corner num 242060  surf num 90617 
--------------------stamp1317358264.028363943
points size 92657 
sort q time 4.941868 
seperate points time 12.435199 
publication time 9.450219 ms 
whole laserOdometry time 9.467078 ms 
 
-----t: 0.0456158
OdomCount 4833 & avg odom time 0.045766 ms ++++++++++++++++++++++
mapping solver time 26.683833 ms 
points size 94426 
mapping solver time 19.183665 ms 
scan registration time 34.966179 ms *************
mapping pub time 2.075604 ms 
whole mapping time 190.080710 ms +++++
mappingCount 3142 & avg mapping time 155.583633 ms ++++++++++++++++++++++
1317358263.613181114 WriteOdom aft_mapped_to_init
-----t: 0.0554409
OdomCount 4834 & avg odom time 0.045768 ms ++++++++++++++++++++++
--------------------stamp1317358264.235863924
build tree time 64.847986 ms 
mapping data assosiation time 28.154647 ms 
-----t: 0.047283
OdomCount 4835 & avg odom time 0.045768 ms ++++++++++++++++++++++
mapping solver time 30.444445 ms 
mapping data assosiation time 25.110494 ms 
points size 96289 
mapping solver time 28.236306 ms 
filter time 19.718322 ms 
-----t: 0.0477385
OdomCount 4836 & avg odom time 0.045769 ms ++++++++++++++++++++++
[0m[ INFO] [1718805551.293997532, 1317358264.432425045]: Received 332677 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805551.294038278, 1317358264.432425045]: Data saved to 1317358263405428.pcd[0m
points size 97811 
build tree time 66.570711 ms 
mapping data assosiation time 30.853216 ms 
mapping solver time 24.714762 ms 
mapping data assosiation time 24.589523 ms 
--------------------stamp1317358264.546972990
points size 99264 
mapping solver time 22.170595 ms 
filter time 22.142325 ms 
mapping pub time 2.458993 ms 
whole mapping time 202.427864 ms +++++
mappingCount 3144 & avg mapping time 155.614610 ms ++++++++++++++++++++++
1317358264.132113934 WriteOdom aft_mapped_to_init
--------------------stamp1317358264.650625944
points size 99971 
sort q time 6.712856 
seperate points time 15.471193 
mapping data assosiation time 30.486823 ms 
publication time 9.558369 ms 
whole laserOdometry time 9.571794 ms 
 
1317358264.650625944 WriteOdom laser_odom_to_init
1317358264.650625944 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 33.942680 ms 
--------------------stamp1317358264.754257917
prepare time 14.281944 
sort q time 5.513980 
seperate points time 13.015273 
filter time 17.218515 ms 
--------------------stamp1317358264.857914924
points size 100644 
sort q time 5.643404 
seperate points time 12.535889 
mapping data assosiation time 30.086478 ms 
-----t: 0.0464791
OdomCount 4841 & avg odom time 0.045769 ms ++++++++++++++++++++++
mapping solver time 25.947053 ms 
mapping data assosiation time 26.686879 ms 
points size 100975 
prepare time 14.627255 
filter time 21.318593 ms 
publication time 11.915175 ms 
whole laserOdometry time 11.935692 ms 
 
--------------------stamp1317358265.065291881
build tree time 60.417570 ms 
sort q time 6.077321 
seperate points time 13.850196 
publication time 10.475787 ms 
whole laserOdometry time 10.487141 ms 
 -----t: 0.0619657
OdomCount 4843 & avg odom time 0.045774 ms ++++++++++++++++++++++
mapping solver time 34.005395 ms 
points size 101477 
prepare time 14.523093 
sort q time 5.823098 
seperate points time 13.667592 
publication time 9.004084 ms 
whole laserOdometry time 9.025143 ms 
 
mapping solver time 29.947160 ms 
mapping optimization time 194.751759 
add points time 1.149969 ms
-----t: 0.0561753
OdomCount 4844 & avg odom time 0.045776 ms ++++++++++++++++++++++
map prepare time 4.096753 ms
map corner num 246691  surf num 93138 
--------------------stamp1317358265.272748947
prepare time 14.512044 
sort q time 5.792191 
seperate points time 13.818639 
build tree time 64.769841 ms 
-----t: 0.049037
OdomCount 4845 & avg odom time 0.045777 ms ++++++++++++++++++++++
mapping data assosiation time 29.696376 ms 
--------------------stamp1317358265.376499891
prepare time 16.694140 
sort q time 6.054104 
seperate points time 14.010686 
-----t: 0.0434233
OdomCount 4846 & avg odom time 0.045776 ms ++++++++++++++++++++++
[0m[ INFO] [1718805552.316439224, 1317358265.456780188]: Received 338601 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805552.316493029, 1317358265.456780188]: Data saved to 1317358264546972.pcd[0m
--------------------stamp1317358265.480273962
prepare time 14.557144 
sort q time 5.974301 
seperate points time 14.068141 
publication time 11.584811 ms 
whole laserOdometry time 11.609208 ms 
 
-----t: 0.0538794
OdomCount 4847 & avg odom time 0.045778 ms ++++++++++++++++++++++
1317358265.480273962 WriteOdom laser_odom_to_init
mapping data assosiation time 28.854505 ms 
--------------------stamp1317358265.584049940
points size 102634 
scan registration time 37.464481 ms *************
mapping solver time 22.700024 ms 
filter time 16.487326 ms 
map prepare time 3.982708 ms
map corner num 248107  surf num 93841 
points size 101859 
sort q time 6.184821 
seperate points time 13.514299 
publication time 11.212170 ms 
whole laserOdometry time 11.224757 ms 
 
-----t: 0.0513532
OdomCount 4849 & avg odom time 0.045782 ms ++++++++++++++++++++++
mapping data assosiation time 32.495640 ms 
--------------------stamp1317358265.791624069
points size 100901 
sort q time 5.315052 
seperate points time 25.415052 
mapping data assosiation time 31.637439 ms 
mapping solver time 28.077480 ms 
mapping pub time 2.460116 ms 
whole mapping time 219.770807 ms +++++
mappingCount 3150 & avg mapping time 155.725652 ms ++++++++++++++++++++++
1317358265.480273962 WriteOdom aft_mapped_to_init
points size 100346 
sort q time 7.108571 
seperate points time 18.346213 publication time 12.870081 ms 
whole laserOdometry time 12.880195 ms 
 
-----t: 0.0625539
OdomCount 4851 & avg odom time 0.045786 ms ++++++++++++++++++++++
points size 99834 
sort q time 6.769665 
seperate points time 15.763302 
-----t: 0.0414514
OdomCount 4852 & avg odom time 0.045785 ms ++++++++++++++++++++++
mapping solver time 18.320939 ms 
--------------------stamp1317358266.102921962
prepare time 14.693192 
sort q time 5.601821 
seperate points time 13.044749 
scan registration time 33.873110 ms *************
1317358266.102921962 WriteOdom aft_mapped_to_init_high_frec
build tree time 71.967965 ms 
--------------------stamp1317358266.206697940
prepare time 13.411469 
sort q time 6.075029 
seperate points time 12.356251 
mapping solver time 27.942191 ms 
-----t: 0.0585651
OdomCount 4854 & avg odom time 0.045789 ms ++++++++++++++++++++++
1317358266.206697940 WriteOdom laser_odom_to_init
1317358266.206697940 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.072734 ms 
mapping optimization time 173.056941 
--------------------stamp1317358266.310471057
map prepare time 3.898163 ms
map corner num 250096  surf num 94766 
sort q time 6.877059 
seperate points time 13.735553 
publication time 8.009146 ms 
whole laserOdometry time 8.022368 ms 
 
-----t: 0.0555879
OdomCount 4855 & avg odom time 0.045791 ms ++++++++++++++++++++++
--------------------stamp1317358266.414247035
sort q time 5.588321 
seperate points time 12.841707 
publication time 7.672105 ms 
whole laserOdometry time 7.684059 ms 
 
-----t: 0.051767
OdomCount 4856 & avg odom time 0.045792 ms ++++++++++++++++++++++
1317358266.414247035 WriteOdom laser_odom_to_init
1317358266.414247035 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.326973 ms 
mapping solver time 22.929947 ms 
filter time 17.102928 ms 
sort q time 6.371033 
seperate points time 14.025597 
-----t: 0.0441838
OdomCount 4857 & avg odom time 0.045791 ms ++++++++++++++++++++++
[0m[ INFO] [1718805553.441494176, 1317358266.580387291]: Received 343934 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805553.441532926, 1317358266.580387291]: Data saved to 1317358265687849.pcd[0m
build tree time 64.978229 ms 
--------------------stamp1317358266.621773958
points size 97591 
sort q time 5.870919 
seperate points time 13.290200 
scan registration time 34.806223 ms *************
publication time 10.168935 ms 
whole laserOdometry time 10.183953 ms 
 
mapping data assosiation time 28.977170 ms 
mapping solver time 23.925013 ms 
points size 97538 
sort q time 5.160179 
seperate points time 11.910999 
publication time 10.372856 ms 
whole laserOdometry time 10.388864 ms 
 
-----t: 0.0529342
OdomCount 4859 & avg odom time 0.045794 ms ++++++++++++++++++++++
build tree time 72.978051 ms 
points size 97379 
sort q time 5.673307 
seperate points time 13.235319 
publication time 8.903925 ms 
whole laserOdometry time 8.915399 ms 
 
1317358266.829251050 WriteOdom laser_odom_to_init
1317358266.829251050 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.142312 ms 
mapping solver time 17.296399 ms 
points size 97014 
map prepare time 4.605427 ms
map corner num 251963  surf num 95619 
scan registration time 34.843942 ms *************
publication time 10.509622 ms 
whole laserOdometry time 10.529063 ms 
 
-----t: 0.0528629
OdomCount 4861 & avg odom time 0.045795 ms ++++++++++++++++++++++
1317358266.933027029 WriteOdom laser_odom_to_init
1317358266.933027029 WriteOdom aft_mapped_to_init_high_frec
build tree time 66.273709 ms 
--------------------stamp1317358267.036801099
prepare time 15.607908 
mapping data assosiation time 29.833469 ms 
publication time 7.234933 ms 
whole laserOdometry time 7.273226 ms 
 
mapping data assosiation time 25.324015 ms 
mapping solver time 23.971549 ms 
points size 96169 
sort q time 5.474466 
seperate points time 12.042930 
scan registration time 29.940121 ms *************
mapping pub time 8.256694 ms 
whole mapping time 220.713195 ms +++++
mappingCount 3156 & avg mapping time 155.828940 ms ++++++++++++++++++++++
1317358266.725500107 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
publication time 13.727368 ms 
whole laserOdometry time 13.748564 ms 
 
--------------------stamp1317358267.244302034
sort q time 5.458303 
seperate points time 10.866518 
publication time 9.341925 ms 
whole laserOdometry time 9.355200 ms 
 
mapping solver time 33.477761 ms 
1317358267.244302034 WriteOdom laser_odom_to_init
1317358267.244302034 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.110515 ms 
mapping solver time 18.144422 ms 
sort q time 5.267476 
seperate points time 12.124293 
map prepare time 4.057342 ms
map corner num 253223  surf num 96221 
-----t: 0.0499857
OdomCount 4865 & avg odom time 0.045800 ms ++++++++++++++++++++++
1317358267.348052024 WriteOdom laser_odom_to_init
1317358267.348052024 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358267.451778888
prepare time 13.588448 
sort q time 5.032897 
seperate points time 12.217641 
publication time 7.339438 ms 
whole laserOdometry time 7.354871 ms 
 
mapping solver time 28.550491 ms 
mapping data assosiation time 25.090781 ms 
--------------------stamp1317358267.555505990
add points time 1.359593 ms
points size 89103 
sort q time 4.992365 
seperate points time 11.671599 
map prepare time 3.739743 ms
map corner num 253868  surf num 96502 
publication time 10.688034 ms 
whole laserOdometry time 10.701761 ms 
 
-----t: 0.0544012
OdomCount 4867 & avg odom time 0.045801 ms ++++++++++++++++++++++
--------------------stamp1317358267.659256935
points size 88377 
sort q time 5.174130 
seperate points time 12.224747 
publication time 9.692017 ms 
whole laserOdometry time 9.704754 ms 
 
-----t: 0.0583312
OdomCount 4868 & avg odom time 0.045803 ms ++++++++++++++++++++++
mapping data assosiation time 28.123442 ms 
points size 86722 
sort q time 5.139274 
seperate points time 11.353913 
filter time 21.965499 ms 
publication time 9.027631 ms 
whole laserOdometry time 9.040304 ms 
 
-----t: 0.0514422
OdomCount 4869 & avg odom time 0.045804 ms ++++++++++++++++++++++
--------------------stamp1317358267.866830110
scan registration time 27.650310 ms *************
publication time 8.758069 ms 
whole laserOdometry time 8.768571 ms 
 
1317358267.866830110 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 33.262830 ms 
--------------------stamp1317358267.970702886
mapping data assosiation time 26.017086 ms 
sort q time 4.829131 
seperate points time 11.211991 
mapping solver time 28.675290 ms 
map prepare time 4.288853 ms
map corner num 255227  surf num 97084 
-----t: 0.0800885
OdomCount 4871 & avg odom time 0.045810 ms ++++++++++++++++++++++
points size 82761 
sort q time 4.955760 
seperate points time 10.411758 
build tree time 77.852381 ms 
-----t: 0.0540856
OdomCount 4872 & avg odom time 0.045812 ms ++++++++++++++++++++++
--------------------stamp1317358268.178560972
points size 81586 
sort q time 5.434668 
seperate points time 13.086645 
publication time 8.213387 ms 
whole laserOdometry time 8.226507 ms 
 
mapping solver time 26.986209 ms 
filter time 18.055253 ms 
--------------------stamp1317358268.282576084
sort q time 7.368491 
seperate points time 14.027104 
publication time 12.372436 ms 
--------------------stamp1317358268.386663913
points size 82443 
sort q time 5.648642 
seperate points time 13.178726 
-----t: 0.0391165
OdomCount 4875 & avg odom time 0.045811 ms ++++++++++++++++++++++
mapping pub time 196.826859 ms 
whole mapping time 425.551801 ms +++++
mappingCount 3161 & avg mapping time 155.985695 ms ++++++++++++++++++++++
--------------------stamp1317358268.490823030
prepare time 11.637771 
sort q time 4.831910 
seperate points time 11.436485 
publication time 9.644237 ms 
whole laserOdometry time 9.659421 ms 
 
mapping data assosiation time 30.061164 ms 
--------------------stamp1317358268.595056056
points size 82118 
sort q time 3.796165 
seperate points time 8.535487 
mapping data assosiation time 29.377447 ms 
mapping solver time 28.675456 ms 
filter time 19.475595 ms 
--------------------stamp1317358268.699335098
prepare time 14.248540 
scan registration time 29.877351 ms *************
publication time 8.382145 ms 
whole laserOdometry time 8.394943 ms 
 
build tree time 77.871577 ms 
mapping data assosiation time 24.404373 ms 
--------------------stamp1317358268.803637027
sort q time 5.606916 
seperate points time 13.357746 
1317358268.803637027 WriteOdom laser_odom_to_init
mapping solver time 28.833693 ms 
mapping pub time 1.854174 ms 
whole mapping time 215.655183 ms +++++
mappingCount 3163 & avg mapping time 156.024056 ms ++++++++++++++++++++++
points size 83945 
sort q time 4.964224 
seperate points time 11.588159 
publication time 9.218728 ms 
whole laserOdometry time 9.230984 ms 
 
-----t: 0.0623936
OdomCount 4880 & avg odom time 0.045824 ms ++++++++++++++++++++++
mapping data assosiation time 21.518961 ms 
points size 83889 
sort q time 4.999955 
seperate points time 12.048964 
publication time 9.925100 ms 
whole laserOdometry time 10.254209 ms 
 
-----t: 0.0668568
OdomCount 4881 & avg odom time 0.045828 ms ++++++++++++++++++++++
filter time 15.633270 ms 
map prepare time 6.413339 ms
map corner num 258263  surf num 98177 
sort q time 4.894744 
seperate points time 11.691404 
publication time 9.676457 ms 
whole laserOdometry time 9.686870 ms 
 
-----t: 0.0624197
OdomCount 4882 & avg odom time 0.045831 ms ++++++++++++++++++++++
--------------------stamp1317358269.221038103
sort q time 5.546478 
seperate points time 12.260965 
publication time 10.257822 ms 
whole laserOdometry time 10.274822 ms 
 
mapping solver time 23.093234 ms 
filter time 15.735314 ms 
points size 84296 
sort q time 4.793371 
seperate points time 11.541336 
publication time 11.916171 ms 
whole laserOdometry time 11.931549 ms 
 
-----t: 0.052725
OdomCount 4884 & avg odom time 0.045832 ms ++++++++++++++++++++++
build tree time 77.823431 ms 
mapping data assosiation time 18.470504 ms 
points size 86738 
mapping solver time 25.617085 ms 
publication time 9.054672 ms 
whole laserOdometry time 9.085965 ms 
 
mapping solver time 19.592883 ms 
filter time 18.263403 ms 
--------------------stamp1317358269.533802986
sort q time 5.370102 
seperate points time 12.525040 
publication time 8.591115 ms 
whole laserOdometry time 8.608210 ms 
 
build tree time 74.746534 ms 
mapping data assosiation time 21.259530 ms 
--------------------stamp1317358269.638009071
mapping solver time 27.135153 ms 
sort q time 5.376384 
seperate points time 11.985946 
mapping data assosiation time 24.792506 ms 
mapping solver time 25.355857 ms 
filter time 18.280083 ms 
--------------------stamp1317358269.742166996
points size 89652 
prepare time 14.198876 
publication time 10.027851 ms 
whole laserOdometry time 10.047195 ms 
 
build tree time 79.863749 ms 
-----t: 0.0713155
OdomCount 4888 & avg odom time 0.045836 ms ++++++++++++++++++++++
--------------------stamp1317358269.846302032
prepare time 15.477128 
mapping solver time 27.005844 ms 
mapping data assosiation time 25.895552 ms 
-----t: 0.05499
OdomCount 4889 & avg odom time 0.045838 ms ++++++++++++++++++++++
mapping solver time 26.033086 ms 
1317358269.846302032 WriteOdom laser_odom_to_init
filter time 16.454906 ms 
--------------------stamp1317358269.950436115
prepare time 13.689283 
sort q time 5.581766 
seperate points time 12.697295 
publication time 9.585030 ms 
whole laserOdometry time 9.599126 ms 
 
build tree time 75.949742 ms 
mapping data assosiation time 21.416873 ms 
--------------------stamp1317358270.054522991
points size 89998 
sort q time 5.860158 
seperate points time 12.248833 
publication time 13.954564 ms 
whole laserOdometry time 13.970275 ms 
 
filter time 24.574682 ms 
points size 88870 
sort q time 7.831010 
seperate points time 15.309069 
publication time 8.025864 ms 
whole laserOdometry time 8.040069 ms 
 
build tree time 80.529257 ms 
mapping data assosiation time 23.927180 ms 
points size 88593 
prepare time 12.613375 
mapping solver time 25.740172 ms 
mapping data assosiation time 26.194253 ms 
-----t: 0.0509266
OdomCount 4893 & avg odom time 0.045842 ms ++++++++++++++++++++++
filter time 15.999681 ms 
points size 89274 
sort q time 5.622289 
seperate points time 10.914855 
publication time 8.510316 ms 
whole laserOdometry time 8.524733 ms 
 
-----t: 0.0441814
OdomCount 4894 & avg odom time 0.045842 ms ++++++++++++++++++++++
mapping data assosiation time 20.256092 ms 
--------------------stamp1317358270.470609903
points size 90563 
prepare time 31.236512 
sort q time 6.521608 
seperate points time 15.061969 
-----t: 0.0467508
OdomCount 4895 & avg odom time 0.045842 ms ++++++++++++++++++++++
filter time 16.165529 ms 
--------------------stamp1317358270.574600934
points size 87708 
sort q time 5.343348 
seperate points time 12.369386 
publication time 9.101868 ms 
whole laserOdometry time 9.114043 ms 
 
-----t: 0.0556303
OdomCount 4896 & avg odom time 0.045844 ms ++++++++++++++++++++++
mapping data assosiation time 19.783008 ms 
points size 83637 
prepare time 14.393155 
scan registration time 31.635228 ms *************
mapping data assosiation time 26.099859 ms 
mapping solver time 24.509165 ms 
filter time 18.899518 ms 
points size 78498 
sort q time 8.131452 
seperate points time 13.656805 
publication time 8.543380 ms 
whole laserOdometry time 8.584288 ms 
 
-----t: 0.0485838
OdomCount 4898 & avg odom time 0.045849 ms ++++++++++++++++++++++
build tree time 78.711236 ms 
mapping data assosiation time 21.722022 ms 
points size 77424 
mapping solver time 30.155170 ms 
publication time 7.259794 ms 
whole laserOdometry time 7.270525 ms 
 
mapping solver time 20.645001 ms 
filter time 16.978940 ms 
points size 74019 
sort q time 4.648994 
seperate points time 10.812134 
scan registration time 26.462337 ms *************
-----t: 0.0537754
OdomCount 4900 & avg odom time 0.045850 ms ++++++++++++++++++++++
build tree time 85.050855 ms 
--------------------stamp1317358271.094433069
prepare time 12.042070 
mapping solver time 22.224046 ms 
publication time 11.425434 ms 
whole laserOdometry time 11.446292 ms 
 
mapping solver time 15.428067 ms 
filter time 16.355887 ms 
--------------------stamp1317358271.198373079
sort q time 3.987933 
seperate points time 9.187567 
[0m[ INFO] [1718805558.093021142, 1317358271.231871000]: Received 361685 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805558.093063054, 1317358271.231871000]: Data saved to 1317358270158561.pcd[0m
1317358271.198373079 WriteOdom laser_odom_to_init
1317358271.198373079 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.618368 ms 
--------------------stamp1317358271.302318096
mapping solver time 32.261368 ms 
sort q time 4.394190 
seperate points time 9.740324 
scan registration time 25.716363 ms *************
mapping data assosiation time 37.226724 ms mapping solver time 25.028208 ms 
filter time 17.254553 ms 
prepare time 11.779914 
sort q time 17.545938 
seperate points time 24.364031 
publication time 7.401640 ms 
whole laserOdometry time 7.416302 ms 
 
build tree time 77.910949 ms 
--------------------stamp1317358271.510179042
prepare time 10.894845 
scan registration time 24.026522 ms *************
publication time 7.591317 ms 
whole laserOdometry time 7.606863 ms 
 
1317358271.510179042 WriteOdom laser_odom_to_init
mapping solver time 16.935069 ms 
filter time 16.914247 ms 
map prepare time 5.706897 ms
map corner num 266241  surf num 99669 
sort q time 4.772923 
seperate points time 9.906099 
publication time 7.877410 ms -----t: 0.0483222
OdomCount 4906 & avg odom time 0.045852 ms ++++++++++++++++++++++
build tree time 74.186618 ms 
mapping data assosiation time 20.392652 ms 
points size 80205 
sort q time 4.563640 
seperate points time 10.611096 
publication time 7.718301 ms 
whole laserOdometry time 7.732886 ms 
 
mapping data assosiation time 27.895622 ms 
mapping solver time 29.123554 ms 
filter time 16.176759 ms 
prepare time 30.542367 
sort q time 5.079451 
seperate points time 14.976663 
publication time 5.799226 ms 
whole laserOdometry time 5.812451 ms 
 
build tree time 71.136774 ms 
mapping data assosiation time 20.028171 ms 
points size 85808 
mapping solver time 28.543108 ms 
publication time 8.412600 ms 
whole laserOdometry time 8.426028 ms 
 
-----t: 0.0526456
OdomCount 4909 & avg odom time 0.045854 ms ++++++++++++++++++++++
mapping solver time 24.690535 ms 
filter time 15.534470 ms 
points size 86811 
sort q time 5.353076 
seperate points time 11.995768 
publication time 8.215810 ms 
whole laserOdometry time 8.231851 ms 
 
build tree time 68.245896 ms 
mapping data assosiation time 18.553908 ms 
--------------------stamp1317358272.133692026
points size 88688 
sort q time 5.079398 
seperate points time 11.821378 
-----t: 0.0357942
OdomCount 4911 & avg odom time 0.045851 ms ++++++++++++++++++++++
filter time 19.379354 ms 
--------------------stamp1317358272.237587928
prepare time 30.645414 
scan registration time 50.385002 ms *************
-----t: 0.048856
OdomCount 4912 & avg odom time 0.045852 ms ++++++++++++++++++++++
mapping data assosiation time 25.641887 ms 
--------------------stamp1317358272.341456890
points size 90143 
prepare time 25.067651 
scan registration time 44.810231 ms *************
mapping solver time 26.645726 ms 
filter time 15.391269 ms 
[0m[ INFO] [1718805559.287537755, 1317358272.429745878]: Received 365910 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805559.287577234, 1317358272.429745878]: Data saved to 1317358271198373.pcd[0m
--------------------stamp1317358272.445327997
points size 88152 
sort q time 5.199651 
seperate points time 12.176178 
publication time 8.350772 ms 
whole laserOdometry time 8.363901 ms 
 
-----t: 0.0446445
OdomCount 4914 & avg odom time 0.045849 ms ++++++++++++++++++++++
mapping data assosiation time 24.513662 ms 
mapping solver time 19.526185 ms 
--------------------stamp1317358272.549175977
mapping data assosiation time 23.980022 ms 
sort q time 4.965936 
seperate points time 11.690466 
scan registration time 29.386172 ms *************
mapping solver time 23.135662 ms 
mapping optimization time 160.305348 
add points time 1.087498 ms
filter time 24.512206 ms 
--------------------stamp1317358272.652997970
prepare time 14.152497 
scan registration time 30.735906 ms *************
-----t: 0.047242
OdomCount 4916 & avg odom time 0.045851 ms ++++++++++++++++++++++
--------------------stamp1317358272.756843090
sort q time 4.621939 
seperate points time 9.521924 
publication time 5.970523 ms 
whole laserOdometry time 5.984586 ms 
 
mapping pub time 194.876779 ms 
whole mapping time 384.109950 ms +++++
mappingCount 3181 & avg mapping time 156.355039 ms ++++++++++++++++++++++
1317358272.237587929 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 4.435666 ms
map corner num 250138  surf num 94410 
--------------------stamp1317358272.860691070
points size 78869 
sort q time 4.714585 
seperate points time 11.203325 
mapping data assosiation time 28.076213 ms 
mapping solver time 25.700154 ms 
mapping data assosiation time 20.787628 ms 
--------------------stamp1317358272.964490890
sort q time 4.704523 
seperate points time 10.612593 
publication time 8.661776 ms 
whole laserOdometry time 8.677186 ms 
 
-----t: 0.0390194
OdomCount 4919 & avg odom time 0.045848 ms ++++++++++++++++++++++
build tree time 58.308486 ms 
points size 80814 
mapping data assosiation time 24.279482 ms 
publication time 8.743427 ms 
whole laserOdometry time 8.755058 ms 
 
-----t: 0.0409578
OdomCount 4920 & avg odom time 0.045847 ms ++++++++++++++++++++++
mapping data assosiation time 22.404201 ms 
mapping solver time 18.709484 ms 
--------------------stamp1317358273.172085046
1317358272.860691071 WriteOdom aft_mapped_to_init
sort q time 6.049461 
seperate points time 11.396594 
-----t: 0.0559869
OdomCount 4921 & avg odom time 0.045849 ms ++++++++++++++++++++++
build tree time 75.789584 ms 
--------------------stamp1317358273.275886058
mapping data assosiation time 25.662953 ms 
scan registration time 27.382879 ms *************
mapping solver time 26.796832 ms 
-----t: 0.0497399
OdomCount 4922 & avg odom time 0.045850 ms ++++++++++++++++++++++
mapping solver time 16.299259 ms 
--------------------stamp1317358273.379708051
prepare time 14.250772 
sort q time 4.848421 
seperate points time 11.827721 
publication time 8.746685 ms 
whole laserOdometry time 8.764308 ms 
 
-----t: 0.0508003
OdomCount 4923 & avg odom time 0.045851 ms ++++++++++++++++++++++
1317358273.379708051 WriteOdom laser_odom_to_init
build tree time 70.496845 ms 
--------------------stamp1317358273.483505964
prepare time 14.688265 
sort q time 4.696091 
seperate points time 10.844800 
mapping solver time 33.520231 ms 
mapping data assosiation time 27.286309 ms 
mapping solver time 21.234836 ms 
--------------------stamp1317358273.587306022
prepare time 12.329206 
sort q time 4.897825 
seperate points time 11.486756 
-----t: 0.0472502
OdomCount 4925 & avg odom time 0.045853 ms ++++++++++++++++++++++
1317358273.587306022 WriteOdom laser_odom_to_init
1317358273.587306022 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718805560.512329231, 1317358273.649391845]: Received 344548 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805560.512360810, 1317358273.649391845]: Data saved to 1317358272237587.pcd[0m
build tree time 77.057238 ms 
--------------------stamp1317358273.691129922
sort q time 4.484058 
seperate points time 10.346975 
mapping solver time 31.281204 ms 
mapping data assosiation time 24.765443 ms 
mapping solver time 20.636783 ms 
--------------------stamp1317358273.794930934
prepare time 15.684136 
scan registration time 31.797408 ms *************
-----t: 0.0342059
OdomCount 4927 & avg odom time 0.045849 ms ++++++++++++++++++++++
publication time 20.985706 ms 
whole laserOdometry time 20.998098 ms 
 
--------------------stamp1317358273.898705005
prepare time 14.611905 
sort q time 4.354486 
seperate points time 10.311799 
publication time 8.989776 ms 
whole laserOdometry time 9.001624 ms 
 
mapping data assosiation time 24.094010 ms 
mapping solver time 19.554230 ms 
filter time 16.134226 ms 
points size 73912 
sort q time 18.604975 
seperate points time 24.741891 
-----t: 0.0495206
OdomCount 4929 & avg odom time 0.045849 ms ++++++++++++++++++++++
mapping data assosiation time 18.962792 ms 
--------------------stamp1317358274.106300115
scan registration time 23.829137 ms *************
mapping data assosiation time 26.373968 ms 
1317358274.106300115 WriteOdom aft_mapped_to_init_high_frec
filter time 15.443188 ms 
--------------------stamp1317358274.210100889
sort q time 3.964617 
seperate points time 9.205556 
publication time 6.727824 ms 
whole laserOdometry time 6.742824 ms 
 
build tree time 66.756535 ms 
mapping data assosiation time 25.212870 ms 
1317358274.210100889 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358274.313924074
sort q time 5.037119 
seperate points time 10.460138 
add points time 1.414646 ms
filter time 18.971300 ms 
--------------------stamp1317358274.417721986
points size 74976 
sort q time 4.497427 
seperate points time 10.733605 
publication time 7.712824 ms 
whole laserOdometry time 7.726338 ms 
 
build tree time 68.338969 ms 
mapping data assosiation time 23.681739 ms 
mapping solver time 21.831674 ms 
mapping data assosiation time 27.118303 ms 
publication time 8.092475 ms 
whole laserOdometry time 8.127589 ms 
 
-----t: 0.0506395
OdomCount 4934 & avg odom time 0.045858 ms ++++++++++++++++++++++
map prepare time 3.631151 ms
map corner num 248314  surf num 89309 
--------------------stamp1317358274.625267982
prepare time 13.904744 
sort q time 5.011916 
seperate points time 11.717180 
build tree time 64.211807 ms 
-----t: 0.0414031
OdomCount 4935 & avg odom time 0.045857 ms ++++++++++++++++++++++
mapping data assosiation time 24.214618 ms 
mapping solver time 21.750805 ms 
--------------------stamp1317358274.729018926
points size 82541 
sort q time 4.752985 
seperate points time 11.157464 
filter time 23.115131 ms 
mapping pub time 6.532913 ms 
whole mapping time 188.258665 ms +++++
mappingCount 3191 & avg mapping time 156.478883 ms ++++++++++++++++++++++
publication time 21.986536 ms 
whole laserOdometry time 22.002256 ms 
 
-----t: 0.0477184
OdomCount 4936 & avg odom time 0.045857 ms ++++++++++++++++++++++
--------------------stamp1317358274.832771062
points size 84358 
sort q time 5.090237 
seperate points time 11.691958 
publication time 8.887274 ms 
whole laserOdometry time 8.901876 ms 
 
[0m[ INFO] [1718805561.754558866, 1317358274.897374063]: Received 338527 data points in frame camera_init with the following fields: x y z intensity[0m
mapping solver time 26.417801 ms 
--------------------stamp1317358274.936523914
prepare time 12.871495 
sort q time 5.386409 
seperate points time 12.805454 
-----t: 0.0344771
OdomCount 4938 & avg odom time 0.045857 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358275.040272951
prepare time 12.697499 
build tree time 64.148377 ms 
publication time 8.925432 ms 
whole laserOdometry time 8.940437 ms 
 
mapping solver time 23.775321 ms 
mapping data assosiation time 18.957417 ms 
points size 84546 
mapping solver time 19.424587 ms 
mapping optimization time 154.558281 
add points time 1.619997 ms
prepare time 14.712497 
filter time 23.218069 ms 
publication time 8.732480 ms 
whole laserOdometry time 8.747049 ms 
 
--------------------stamp1317358275.247756958
prepare time 13.782678 
sort q time 5.069718 
seperate points time 11.687054 
publication time 7.264591 ms 
whole laserOdometry time 7.276090 ms 
 
mapping solver time 30.208495 ms 
mapping data assosiation time 23.905284 ms 
--------------------stamp1317358275.351476907
prepare time 13.052707 
1317358275.040272951 WriteOdom aft_mapped_to_init
publication time 9.138479 ms 
whole laserOdometry time 9.161347 ms 
 
-----t: 0.0526381
OdomCount 4942 & avg odom time 0.045855 ms ++++++++++++++++++++++
--------------------stamp1317358275.455178976
prepare time 12.588126 
sort q time 5.597245 
seperate points time 12.365980 
publication time 8.276675 ms 
whole laserOdometry time 8.289709 ms 
 
mapping solver time 28.821178 ms 
mapping data assosiation time 21.693564 ms 
mapping solver time 18.586544 ms 
prepare time 14.416343 
drop lidar frame in mapping for real time performance 
publication time 8.307437 ms 
whole laserOdometry time 8.337794 ms 
 
-----t: 0.0708214
OdomCount 4944 & avg odom time 0.045862 ms ++++++++++++++++++++++
--------------------stamp1317358275.662585973
prepare time 14.799686 
sort q time 5.140795 
seperate points time 12.136199 
publication time 10.243195 ms 
filter time 23.692558 ms 
-----t: 0.0462187
OdomCount 4946 & avg odom time 0.045861 ms ++++++++++++++++++++++
--------------------stamp1317358275.869988918
points size 82858 
sort q time 4.870975 
seperate points time 11.466810 
publication time 8.502280 ms 
whole laserOdometry time 8.516516 ms 
 
-----t: 0.0478974
OdomCount 4947 & avg odom time 0.045861 ms ++++++++++++++++++++++
mapping solver time 30.659328 ms 
--------------------stamp1317358275.973691940
prepare time 12.956166 
sort q time 4.789690 
seperate points time 11.476061 
filter time 25.130966 ms 
-----t: 0.0399968
OdomCount 4948 & avg odom time 0.045860 ms ++++++++++++++++++++++
[0m[ INFO] [1718805562.911587691, 1317358276.055056813]: Received 342514 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805562.911648634, 1317358276.055056813]: Data saved to 1317358275351476.pcd[0m
--------------------stamp1317358276.077394962
build tree time 70.172967 ms 
sort q time 5.660049 
seperate points time 12.456526 
publication time 7.365441 ms 
whole laserOdometry time 7.378925 ms 
 
mapping solver time 33.349364 ms 
--------------------stamp1317358276.181097984
prepare time 11.531254 
sort q time 6.239008 
seperate points time 12.452350 
publication time 7.267399 ms 
whole laserOdometry time 7.279075 ms 
 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358276.284800052
prepare time 12.484847 
sort q time 5.767411 
seperate points time 11.664503 
scan registration time 39.614162 ms *************
mapping data assosiation time 28.558545 ms 
-----t: 0.0580678
OdomCount 4951 & avg odom time 0.045866 ms ++++++++++++++++++++++
--------------------stamp1317358276.388504028
scan registration time 34.159640 ms *************
publication time 11.909110 ms 
whole laserOdometry time 11.922008 ms 
 
drop lidar frame in mapping for real time performance 
map prepare time 14.609388 ms1317358276.388504028 WriteOdom laser_odom_to_init
1317358276.388504028 WriteOdom aft_mapped_to_init_high_frec
points size 93015 
mapping data assosiation time 26.345782 ms 
publication time 9.984125 ms 
whole laserOdometry time 10.057350 ms 
 
mapping data assosiation time 26.533126 ms 
--------------------stamp1317358276.699635982
prepare time 12.828354 
sort q time 5.962968 
seperate points time 13.430008 
map prepare time 5.567462 ms
map corner num 255047  surf num 91048 
publication time 13.125091 ms 
whole laserOdometry time 13.141501 ms 
 
-----t: 0.0565059
OdomCount 4955 & avg odom time 0.045879 ms ++++++++++++++++++++++
--------------------stamp1317358276.803385972
prepare time 13.937464 
sort q time 6.235738 
seperate points time 21.744771 
-----t: 0.051981
OdomCount 4956 & avg odom time 0.045880 ms ++++++++++++++++++++++
1317358276.803385972 WriteOdom laser_odom_to_init
1317358276.803385972 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358276.907186031
points size 94346 
prepare time 18.363436 
filter time 24.634974 ms 
-----t: 0.0683086
OdomCount 4957 & avg odom time 0.045885 ms ++++++++++++++++++++++
--------------------stamp1317358277.011032104
prepare time 15.103409 
sort q time 6.408848 publication time 8.806216 ms 
whole laserOdometry time 8.818141 ms 
 
--------------------stamp1317358277.114928960
sort q time 5.947330 
seperate points time 13.358302 
publication time 12.292731 ms 
whole laserOdometry time 12.308398 ms 
 
mapping pub time 239.795045 ms 
whole mapping time 474.199621 ms +++++
mappingCount 3201 & avg mapping time 156.731320 ms ++++++++++++++++++++++
points size 94910 sort q time 7.290874 
seperate points time 14.678282 
publication time 13.289928 ms 
whole laserOdometry time 13.312006 ms 
 
build tree time 83.655144 ms 
--------------------stamp1317358277.322715997
prepare time 14.221091 
scan registration time 33.999754 ms *************publication time 13.198555 ms 
whole laserOdometry time 13.215085 ms 
 
mapping solver time 21.205286 ms 
--------------------stamp1317358277.426635026
sort q time 6.630796 -----t: 0.0487698
OdomCount 4962 & avg odom time 0.045905 ms ++++++++++++++++++++++
build tree time 74.856103 ms 
points size 100615 
mapping data assosiation time 29.891088 ms 
sort q time 6.486326 
seperate points time 16.023808 
publication time 17.863898 ms 
whole laserOdometry time 17.892460 ms 
 
--------------------stamp1317358277.634427070points size 101659 mapping solver time 83.597495 ms scan registration time 91.957528 ms *************drop lidar frame in mapping for real time performance -----t: 0.0793889
OdomCount 4964 & avg odom time 0.045935 ms ++++++++++++++++++++++
publication time 12.858473 ms 
whole laserOdometry time 12.876786 ms 
 
--------------------stamp1317358277.842263936
prepare time 20.341214 
sort q time 7.720546 
seperate points time 17.271746 
publication time 14.790354 ms 
whole laserOdometry time 14.806491 ms 
 
-----t: 0.122794
OdomCount 4965 & avg odom time 0.045950 ms ++++++++++++++++++++++
1317358277.738347053 WriteOdom laser_odom_to_init
1317358277.738347053 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358277.946206092
prepare time 17.774128 
sort q time 6.482914 
seperate points time 15.311203 
-----t: 0.0821305
OdomCount 4966 & avg odom time 0.045957 ms ++++++++++++++++++++++
filter time 28.039424 ms 
-----t: 0.0475454
OdomCount 4967 & avg odom time 0.045958 ms ++++++++++++++++++++++
points size 102277 
sort q time 6.774329 
seperate points time 18.582012 
publication time 12.574819 ms 
whole laserOdometry time 12.592333 ms 
 
build tree time 98.559753 ms 
--------------------stamp1317358278.154189109
mapping data assosiation time 37.681992 ms 
sort q time 7.632618 
seperate points time 17.028388 
mapping solver time 44.477946 ms 
mapping data assosiation time 37.569830 ms 
-----t: 0.0773063
OdomCount 4969 & avg odom time 0.045980 ms ++++++++++++++++++++++
mapping solver time 31.784255 ms 
filter time 26.012126 ms 
-----t: 0.0704371
OdomCount 4970 & avg odom time 0.045985 ms ++++++++++++++++++++++
--------------------stamp1317358278.362190961
points size 98599 
sort q time 7.141665 
seperate points time 15.452443 
publication time 13.141822 ms 
whole laserOdometry time 13.155769 ms 
 
mapping data assosiation time 37.571885 ms 
-----t: 0.0597566
OdomCount 4971 & avg odom time 0.045987 ms ++++++++++++++++++++++
mapping solver time 33.299132 ms 
points size 97400 
sort q time 6.336253 
seperate points time 13.434866 
publication time 10.683000 ms 
whole laserOdometry time 10.694859 ms 
 
filter time 14.846281 ms 
map prepare time 3.651778 ms
map corner num 220013  surf num 76202 
sort q time 7.992138 
seperate points time 17.635730 
publication time 10.996480 ms 
whole laserOdometry time 11.010926 ms 
 
-----t: 0.0649329
OdomCount 4973 & avg odom time 0.045991 ms ++++++++++++++++++++++
--------------------stamp1317358278.674113988
mapping data assosiation time 32.423020 ms 
points size 96188 
sort q time 5.209647 
seperate points time 12.148253 
[0m[ INFO] [1718805565.573803182, 1317358278.711641377]: Received 296215 data points in frame camera_init with the following fields: x y z intensity[0m
-----t: 0.0461017
OdomCount 4974 & avg odom time 0.045991 ms ++++++++++++++++++++++
mapping data assosiation time 30.079568 ms 
mapping solver time 26.322304 ms 
filter time 19.867961 ms 
publication time 9.979958 ms 
whole laserOdometry time 9.993193 ms 
 
build tree time 51.106920 ms 
--------------------stamp1317358278.882050037
mapping data assosiation time 29.505203 ms 
sort q time 5.011955 
seperate points time 10.194765 
mapping solver time 29.707184 ms 
-----t: 0.0473155
OdomCount 4976 & avg odom time 0.045991 ms ++++++++++++++++++++++
mapping solver time 23.141371 ms 
--------------------stamp1317358278.986017942
points size 86649 
map prepare time 4.393446 ms
map corner num 221895  surf num 77047 
scan registration time 46.032801 ms *************
publication time 6.830041 ms 
whole laserOdometry time 6.913114 ms 
 
-----t: 0.0514125
OdomCount 4977 & avg odom time 0.045992 ms ++++++++++++++++++++++
build tree time 58.629751 ms 
--------------------stamp1317358279.089984893
prepare time 12.719365 
sort q time 5.525398 
seperate points time 12.170593 
mapping solver time 30.583298 ms 
-----t: 0.0421772
OdomCount 4978 & avg odom time 0.045991 ms ++++++++++++++++++++++
mapping data assosiation time 31.489880 ms 
mapping solver time 20.499208 ms 
mapping optimization time 172.050665 
add points time 1.323610 ms
filter time 15.608329 ms 
prepare time 19.517416 
sort q time 4.929807 
seperate points time 10.241125 
publication time 7.136972 ms 
whole laserOdometry time 7.149663 ms 
 
-----t: 0.0420474
OdomCount 4979 & avg odom time 0.045990 ms ++++++++++++++++++++++
mapping data assosiation time 26.092918 ms 
points size 87997 
sort q time 4.965025 
seperate points time 11.623180 
mapping data assosiation time 42.399193 ms 
mapping solver time 21.898989 ms 
--------------------stamp1317358279.401910066
sort q time 5.343469 
seperate points time 11.333511 
scan registration time 41.434810 ms *************
publication time 9.473398 ms 
whole laserOdometry time 9.499229 ms 
 
mapping data assosiation time 28.659606 ms 
points size 84516 
mapping solver time 28.164595 ms 
publication time 10.583085 ms 
whole laserOdometry time 10.600797 ms 
 
mapping solver time 20.042697 ms 
filter time 14.481504 ms 
map prepare time 3.374674 ms
map corner num 224790  surf num 77984 
points size 81669 
sort q time 4.457820 
seperate points time 10.248295 
publication time 7.125172 ms 
whole laserOdometry time 7.140295 ms 
 
build tree time 57.712863 ms 
mapping data assosiation time 24.593905 ms 
mapping solver time 25.344752 ms 
prepare time 13.114332 
sort q time 6.804415 
seperate points time 13.619675 
publication time 6.948161 ms 
whole laserOdometry time 6.972483 ms 
 
-----t: 0.0495168
OdomCount 4984 & avg odom time 0.045990 ms ++++++++++++++++++++++
filter time 15.299862 ms 
--------------------stamp1317358279.817415952
prepare time 12.905124 
build tree time 56.213463 ms -----t: 0.0383576
OdomCount 4985 & avg odom time 0.045988 ms ++++++++++++++++++++++
mapping solver time 22.285301 ms 
--------------------stamp1317358279.921262025
sort q time 4.562822 
seperate points time 9.702759 
publication time 8.174553 ms 
whole laserOdometry time 8.188514 ms 
 
filter time 18.819071 ms 
--------------------stamp1317358280.025110960
points size 74029 
sort q time 4.600032 
seperate points time 10.949826 
-----t: 0.0327467
OdomCount 4987 & avg odom time 0.045984 ms ++++++++++++++++++++++
mapping solver time 24.164147 ms 
mapping data assosiation time 21.546123 ms 
mapping solver time 18.385502 ms 
points size 75547 
sort q time 4.617861 
seperate points time 9.382216 
publication time 6.898610 ms 
whole laserOdometry time 6.914475 ms 
 
-----t: 0.0352123
OdomCount 4988 & avg odom time 0.045982 ms ++++++++++++++++++++++
build tree time 54.659112 ms 
mapping data assosiation time 18.978049 ms 
--------------------stamp1317358280.232826948
prepare time 12.859652 
scan registration time 27.047048 ms *************
mapping data assosiation time 24.120044 ms 
publication time 6.970515 ms 
whole laserOdometry time 6.982306 ms 
 
filter time 14.820612 ms 
--------------------stamp1317358280.336648941
points size 76326 
sort q time 4.201112 
seperate points time 9.983412 
scan registration time 26.680292 ms *************
build tree time 58.198605 ms 
mapping data assosiation time 22.157253 ms 
mapping solver time 20.724790 ms 
mapping data assosiation time 18.836017 ms 
points size 72982 
prepare time 12.585122 
filter time 19.935422 ms 
-----t: 0.0567053
OdomCount 4991 & avg odom time 0.045984 ms ++++++++++++++++++++++
--------------------stamp1317358280.544343948
prepare time 12.566866 
sort q time 4.200834 
seperate points time 10.370276 
publication time 6.335375 ms 
whole laserOdometry time 6.346643 ms 
 
1317358280.544343948 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.467464 ms 
[0m[ INFO] [1718805567.488972245, 1317358280.629126768]: Received 306945 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805567.489012776, 1317358280.629126768]: Data saved to 1317358280128982.pcd[0m
--------------------stamp1317358280.648164987
prepare time 11.742141 
sort q time 3.543653 
seperate points time 25.331541 
publication time 7.241925 ms 
whole laserOdometry time 7.252770 ms 
 
-----t: 0.0539177
OdomCount 4993 & avg odom time 0.045984 ms ++++++++++++++++++++++
build tree time 60.963017 ms 
points size 64859 
prepare time 11.624168 
publication time 5.788431 ms 
whole laserOdometry time 5.800490 ms 
 
-----t: 0.0340599
OdomCount 4994 & avg odom time 0.045981 ms ++++++++++++++++++++++
mapping solver time 12.199824 ms 
filter time 14.195662 ms 
--------------------stamp1317358280.855838060
sort q time 4.119019 
seperate points time 7.747204 
scan registration time 33.200372 ms *************
build tree time 53.896710 ms 
publication time 5.698596 ms 
whole laserOdometry time 5.708603 ms 
 
mapping data assosiation time 18.098597 ms 
mapping solver time 19.127052 ms 
mapping data assosiation time 17.241365 ms 
points size 62720 
sort q time 3.176596 
seperate points time 8.051572 
mapping pub time 1.978593 ms 
whole mapping time 148.180690 ms +++++
mappingCount 3219 & avg mapping time 157.012134 ms ++++++++++++++++++++++
-----t: 0.0286172
OdomCount 4996 & avg odom time 0.045975 ms ++++++++++++++++++++++
build tree time 42.055401 ms 
mapping data assosiation time 18.705770 ms 
points size 62090 
sort q time 3.130165 
seperate points time 7.824553 
mapping data assosiation time 21.697924 ms 
mapping solver time 17.339894 ms 
mapping optimization time 123.440797 
add points time 1.437989 ms
mapping pub time 1.540399 ms 
whole mapping time 141.376718 ms +++++
mappingCount 3220 & avg mapping time 157.007279 ms ++++++++++++++++++++++
--------------------stamp1317358281.167352914
build tree time 41.896451 ms 
mapping data assosiation time 19.463321 ms 
-----t: 0.0361428
OdomCount 4998 & avg odom time 0.045970 ms ++++++++++++++++++++++
mapping data assosiation time 17.814031 ms 
mapping solver time 15.812774 ms 
filter time 12.011452 ms 
points size 66265 
sort q time 3.742441 
seperate points time 9.528016 
publication time 6.620595 ms 
whole laserOdometry time 6.636288 ms 
 
--------------------stamp1317358281.375045061
points size 69534 
sort q time 4.245825 
seperate points time 10.194901 
-----t: 0.0360097
OdomCount 5000 & avg odom time 0.045965 ms ++++++++++++++++++++++
mapping pub time 198.442418 ms 
whole mapping time 331.250975 ms +++++
mappingCount 3221 & avg mapping time 157.061381 ms ++++++++++++++++++++++
points size 70738 
sort q time 12.074177 
seperate points time 17.496155 
-----t: 0.0385427
OdomCount 5001 & avg odom time 0.045963 ms ++++++++++++++++++++++
mapping solver time 24.730680 ms 
--------------------stamp1317358281.582787990
sort q time 4.103557 
seperate points time 9.234955 
publication time 7.436703 ms 
whole laserOdometry time 7.448735 ms 
 
map prepare time 3.510936 ms
map corner num 191055  surf num 63538 
--------------------stamp1317358281.686657905
sort q time 3.848784 
seperate points time 7.698073 
publication time 10.401865 ms 
whole laserOdometry time 10.416056 ms 
 
mapping solver time 25.463119 ms 
mapping solver time 20.698198 ms 
--------------------stamp1317358281.790529012
points size 70699 
filter time 18.387688 ms 
mapping pub time 1.711343 ms 
whole mapping time 168.896702 ms +++++
mappingCount 3223 & avg mapping time 157.066007 ms ++++++++++++++++++++++
1317358281.478915930 WriteOdom aft_mapped_to_init
scan registration time 24.610510 ms *************
publication time 6.336753 ms 
whole laserOdometry time 6.350652 ms 
 
build tree time 54.560121 ms 
mapping data assosiation time 21.154716 ms 
--------------------stamp1317358281.894398927
mapping solver time 26.148797 ms 
mapping data assosiation time 21.589015 ms 
mapping solver time 23.976939 ms 
filter time 13.917084 ms 
--------------------stamp1317358281.998267889
sort q time 3.476197 
seperate points time 7.927264 
build tree time 51.386469 ms 
-----t: 0.0322555
OdomCount 5006 & avg odom time 0.045950 ms ++++++++++++++++++++++
mapping solver time 25.670327 ms 
mapping data assosiation time 21.509800 ms 
--------------------stamp1317358282.102140903
sort q time 3.758116 
seperate points time 7.660080 
mapping pub time 1.777385 ms 
whole mapping time 167.606027 ms +++++
mappingCount 3225 & avg mapping time 157.073086 ms ++++++++++++++++++++++
1317358281.790529013 WriteOdom aft_mapped_to_init
map prepare time 3.318452 ms
map corner num 193256  surf num 64180 
1317358282.102140903 WriteOdom aft_mapped_to_init_high_frec
build tree time 53.606632 ms 
points size 66210 
mapping data assosiation time 21.807277 ms 
publication time 5.703290 ms 
whole laserOdometry time 5.713879 ms 
 
mapping data assosiation time 18.435023 ms 
mapping solver time 21.078638 ms 
filter time 11.989925 ms 
map prepare time 4.643502 ms
map corner num 193964  surf num 64354 
sort q time 3.446182 
seperate points time 8.689783 
publication time 5.843104 ms 
whole laserOdometry time 5.856018 ms 
 
-----t: 0.0370396
OdomCount 5009 & avg odom time 0.045944 ms ++++++++++++++++++++++
mapping data assosiation time 18.055095 ms 
mapping solver time 21.709702 ms 
points size 66033 
sort q time 3.347982 
seperate points time 8.320812 
publication time 7.639576 ms 
whole laserOdometry time 7.651980 ms 
 
drop lidar frame in mapping for real time performance 
[0m[ INFO] [1718805569.353073027, 1317358282.494854748]: Received 258318 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805569.353118837, 1317358282.494854748]: Data saved to 1317358281998267.pcd[0m
build tree time 43.417206 ms 
points size 66965 
sort q time 3.444064 
seperate points time 8.449033 
publication time 5.411592 ms 
whole laserOdometry time 5.425662 ms 
 
1317358282.517672061 WriteOdom aft_mapped_to_init_high_frecmapping solver time 12.160367 ms 
filter time 14.055674 ms 
--------------------stamp1317358282.621542930
prepare time 12.100937 
scan registration time 24.843435 ms *************
publication time 6.373964 ms 
whole laserOdometry time 6.389145 ms 
 
mapping data assosiation time 18.810482 ms 
mapping solver time 15.816584 ms 
mapping data assosiation time 19.264495 ms 
mapping solver time 13.526845 ms 
points size 73931 
scan registration time 26.320184 ms *************
publication time 7.685773 ms 
whole laserOdometry time 7.698733 ms 
 
build tree time 65.348336 ms 
--------------------stamp1317358282.829282999
sort q time 4.486471 
seperate points time 9.387452 
publication time 6.760993 ms 
whole laserOdometry time 6.770849 ms 
 
mapping solver time 12.125356 ms 
mapping optimization time 139.850060 
add points time 0.777985 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317358282.933155059
prepare time 13.205272 
scan registration time 29.304641 ms *************
mapping data assosiation time 21.027788 ms 
mapping solver time 20.234846 ms 
mapping data assosiation time 17.228636 ms 
mapping solver time 16.833371 ms 
points size 79285 
sort q time 4.341119 
seperate points time 10.324085 
publication time 6.461123 ms 
whole laserOdometry time 6.471800 ms 
 
build tree time 47.203818 ms 
mapping data assosiation time 17.310208 ms 
--------------------stamp1317358283.140945911
prepare time 10.581193 
mapping data assosiation time 18.708421 ms 
scan registration time 24.139184 ms *************
publication time 14.470690 ms 
whole laserOdometry time 14.483727 ms 
 
-----t: 0.0538964
OdomCount 5017 & avg odom time 0.045927 ms ++++++++++++++++++++++
--------------------stamp1317358283.244839906
points size 75905 
prepare time 12.649697 
publication time 6.796263 ms 
whole laserOdometry time 6.809496 ms 
 
-----t: 0.0407339
OdomCount 5018 & avg odom time 0.045926 ms ++++++++++++++++++++++
[0m[ INFO] [1718805570.171982683, 1317358283.314983570]: Received 261982 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805570.172029457, 1317358283.314983570]: Data saved to 1317358282725413.pcd[0m
mapping solver time 16.776159 ms 
filter time 12.191328 ms 
prepare time 13.197646 
sort q time 4.256321 
seperate points time 10.107667 
publication time 5.709706 ms 
whole laserOdometry time 5.726650 ms 
 
-----t: 0.0428753
OdomCount 5019 & avg odom time 0.045925 ms ++++++++++++++++++++++
mapping data assosiation time 20.109780 ms 
mapping solver time 21.350446 ms 
points size 75613 
sort q time 3.939133 
seperate points time 9.867613 
publication time 7.186508 ms 
whole laserOdometry time 7.197795 ms 
 
map prepare time 2.999649 ms
map corner num 198635  surf num 65629 
-----t: 0.040705
OdomCount 5020 & avg odom time 0.045924 ms ++++++++++++++++++++++
1317358283.452652931 WriteOdom laser_odom_to_init
1317358283.452652931 WriteOdom aft_mapped_to_init_high_frec
build tree time 41.431181 ms 
points size 75343 
sort q time 4.120572 
seperate points time 9.964926 
mapping solver time 26.181023 ms 
mapping data assosiation time 17.249047 ms 
mapping solver time 16.804976 ms 
filter time 11.797484 ms 
--------------------stamp1317358283.660464048
points size 74879 
sort q time 4.053015 
seperate points time 9.852637 
build tree time 52.108103 ms 
mapping data assosiation time 18.169461 ms 
mapping solver time 21.314966 ms 
points size 72248 
sort q time 4.383278 
seperate points time 9.371099 
filter time 17.014859 ms 
map prepare time 4.615245 ms
map corner num 199817  surf num 65916 
build tree time 44.620924 ms 
points size 72413 
prepare time 14.401376 
mapping data assosiation time 22.071164 ms 
mapping solver time 24.481642 ms 
publication time 7.023135 ms 
whole laserOdometry time 7.036461 ms 
 
mapping data assosiation time 20.142147 ms 
mapping solver time 16.617385 ms 
mapping optimization time 129.241524 
add points time 0.773597 ms
map prepare time 2.793917 ms
map corner num 200397  surf num 66064 
prepare time 10.408854 
scan registration time 22.517012 ms *************
publication time 11.242828 ms 
whole laserOdometry time 11.255690 ms 
 
-----t: 0.03978
OdomCount 5025 & avg odom time 0.045918 ms ++++++++++++++++++++++
mapping data assosiation time 18.571231 ms 
mapping solver time 20.823960 ms 
--------------------stamp1317358284.076069116
mapping solver time 18.395868 ms 
-----t: 0.0387649
OdomCount 5026 & avg odom time 0.045916 ms ++++++++++++++++++++++
[0m[ INFO] [1718805571.003156146, 1317358284.148950030]: Received 265733 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805571.003196116, 1317358284.148950030]: Data saved to 1317358283556545.pcd[0m
build tree time 44.101179 ms 
--------------------stamp1317358284.179939985
sort q time 3.902032 
seperate points time 7.983791 
publication time 6.040645 ms 
whole laserOdometry time 6.053712 ms 
 
-----t: 0.0427896
OdomCount 5027 & avg odom time 0.045915 ms ++++++++++++++++++++++
mapping solver time 17.870573 ms 
filter time 12.771131 ms 
mapping pub time 1.668592 ms 
whole mapping time 142.879320 ms +++++
mappingCount 3239 & avg mapping time 157.039468 ms ++++++++++++++++++++++
1317358283.972173929 WriteOdom aft_mapped_to_init
map prepare time 2.717196 ms
map corner num 201615  surf num 66360 
--------------------stamp1317358284.283834934
sort q time 3.996976 
seperate points time 8.711907 
build tree time 47.135863 ms 
mapping data assosiation time 18.824341 ms 
mapping solver time 19.304986 ms 
mapping data assosiation time 15.893978 ms 
mapping solver time 12.193790 ms 
points size 72248 
mapping pub time 1.661156 ms 
whole mapping time 137.743425 ms +++++
mappingCount 3240 & avg mapping time 157.033513 ms ++++++++++++++++++++++
1317358284.179939985 WriteOdom aft_mapped_to_init
map prepare time 3.078920 ms
map corner num 147037  surf num 49296 
publication time 5.877830 ms 
whole laserOdometry time 5.890871 ms 
 
build tree time 33.640644 ms 
mapping data assosiation time 15.541623 ms 
mapping solver time 15.928526 ms 
mapping data assosiation time 17.497448 ms 
prepare time 10.175856 
scan registration time 22.670137 ms *************
publication time 7.225385 ms 
whole laserOdometry time 7.242922 ms 
 
-----t: 0.0406686
OdomCount 5030 & avg odom time 0.045911 ms ++++++++++++++++++++++
--------------------stamp1317358284.595566034
points size 72295 
sort q time 4.426988 
seperate points time 10.659194 
-----t: 0.0308757
OdomCount 5031 & avg odom time 0.045908 ms ++++++++++++++++++++++
1317358284.595566034 WriteOdom laser_odom_to_init
1317358284.595566034 WriteOdom aft_mapped_to_init_high_frec
publication time 8.081512 ms 
whole laserOdometry time 8.096515 ms 
 
--------------------stamp1317358284.699510097
map prepare time 3.407775 ms
map corner num 147509  surf num 49425 
publication time 5.842387 ms 
whole laserOdometry time 5.856356 ms 
 
-----t: 0.0326438
OdomCount 5032 & avg odom time 0.045905 ms ++++++++++++++++++++++
mapping data assosiation time 17.299535 ms 
mapping solver time 16.275962 ms 
mapping data assosiation time 19.259644 ms 
prepare time 12.563850 
mapping pub time 1.907812 ms 
whole mapping time 121.329490 ms +++++
mappingCount 3242 & avg mapping time 157.067294 ms ++++++++++++++++++++++
1317358284.387729883 WriteOdom aft_mapped_to_init
publication time 30.661594 ms 
whole laserOdometry time 30.673977 ms 
 
build tree time 45.139929 ms 
mapping data assosiation time 18.743501 ms 
points size 68160 
sort q time 3.712509 
seperate points time 9.055030 
mapping data assosiation time 17.064411 ms 
mapping solver time 15.378929 ms 
filter time 9.531436 ms 
build tree time 30.144464 ms 
--------------------stamp1317358285.011338949
mapping data assosiation time 18.534475 ms 
sort q time 3.521254 
seperate points time 8.524846 
publication time 5.885726 ms 
whole laserOdometry time 5.894746 ms 
 
-----t: 0.0295049
OdomCount 5035 & avg odom time 0.045900 ms ++++++++++++++++++++++
1317358285.011338949 WriteOdom laser_odom_to_init
1317358285.011338949 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.318176 ms 
mapping pub time 1.550818 ms 
whole mapping time 118.838931 ms +++++
mappingCount 3244 & avg mapping time 157.049379 ms ++++++++++++++++++++++
1317358284.803430080 WriteOdom aft_mapped_to_init
map prepare time 2.304904 ms
map corner num 149169  surf num 49833 
--------------------stamp1317358285.115304946
build tree time 35.840700 ms 
mapping data assosiation time 17.648551 ms 
publication time 15.115441 ms 
whole laserOdometry time 15.125177 ms 
 
-----t: 0.0327902
OdomCount 5036 & avg odom time 0.045898 ms ++++++++++++++++++++++
1317358285.115304946 WriteOdom laser_odom_to_init
1317358285.115304946 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.101493 ms 
mapping data assosiation time 14.782406 ms 
mapping solver time 15.134406 ms 
filter time 10.457819 ms 
--------------------stamp1317358285.219247102
prepare time 11.893303 
scan registration time 24.421559 ms *************
publication time 5.405456 ms 
whole laserOdometry time 5.420661 ms 
 
mapping solver time 15.605313 ms 
mapping data assosiation time 16.338623 ms 
mapping solver time 16.114690 ms 
filter time 10.779029 ms 
map prepare time 3.342253 ms
map corner num 150361  surf num 50230 
sort q time 4.512133 
seperate points time 10.765294 
scan registration time 27.219015 ms *************
publication time 7.628831 ms 
whole laserOdometry time 7.640532 ms 
 
-----t: 0.0407278
OdomCount 5038 & avg odom time 0.045896 ms ++++++++++++++++++++++
mapping data assosiation time 16.418266 ms 
mapping solver time 15.957475 ms 
--------------------stamp1317358285.427134037
prepare time 12.923044 
mapping solver time 16.278921 ms 
mapping optimization time 106.160528 
sort q time 3.706705 
seperate points time 9.035123 
add points time 0.794819 ms
publication time 8.043332 ms 
whole laserOdometry time 8.068177 ms 
 
1317358285.427134037 WriteOdom aft_mapped_to_init_high_frec
build tree time 37.092372 ms 
mapping data assosiation time 18.442224 ms 
points size 70252 
sort q time 4.008777 
seperate points time 8.575554 
-----t: 0.0332975
OdomCount 5040 & avg odom time 0.045893 ms ++++++++++++++++++++++
1317358285.531053066 WriteOdom laser_odom_to_init
1317358285.531053066 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.102740 ms 
mapping optimization time 114.304399 
add points time 0.688099 ms
mapping pub time 1.586259 ms 
whole mapping time 129.789251 ms +++++
mappingCount 3248 & avg mapping time 157.009065 ms ++++++++++++++++++++++
build tree time 30.653394 ms 
filter time 9.432399 ms 
prepare time 10.409902 
scan registration time 22.654893 ms *************
publication time 6.697224 ms 
whole laserOdometry time 6.713681 ms 
 
mapping data assosiation time 19.212167 ms 
mapping solver time 20.809055 ms 
--------------------stamp1317358285.842856884
sort q time 3.312088 
seperate points time 8.312554 
filter time 12.488643 ms 
build tree time 31.133624 ms 
mapping data assosiation time 17.463986 ms 
--------------------stamp1317358285.946774959
scan registration time 24.813848 ms *************
publication time 4.461175 ms 
whole laserOdometry time 4.475049 ms 
 
mapping solver time 14.344897 ms 
mapping optimization time 107.041406 
add points time 0.740223 ms
mapping pub time 3.937142 ms 
whole mapping time 124.799412 ms +++++
mappingCount 3251 & avg mapping time 156.988377 ms ++++++++++++++++++++++
build tree time 34.140892 ms 
points size 60933 
scan registration time 20.440635 ms *************
mapping solver time 20.760045 ms 
-----t: 0.0318955
OdomCount 5045 & avg odom time 0.045875 ms ++++++++++++++++++++++
mapping solver time 14.786922 ms 
filter time 12.167097 ms 
--------------------stamp1317358286.154611110
prepare time 9.713075 
scan registration time 20.494984 ms *************
publication time 6.343839 ms 
whole laserOdometry time 6.365057 ms 
 
-----t: 0.0310602
OdomCount 5046 & avg odom time 0.045872 ms ++++++++++++++++++++++
mapping solver time 20.690859 ms 
mapping data assosiation time 17.122976 ms 
mapping solver time 17.405609 ms 
points size 66692 
map prepare time 3.570819 ms
map corner num 154537  surf num 51756 
publication time 6.773645 ms 
whole laserOdometry time 6.788535 ms 
 
-----t: 0.0416223
OdomCount 5047 & avg odom time 0.045871 ms ++++++++++++++++++++++
mapping data assosiation time 19.629323 ms 
mapping solver time 22.290560 ms 
prepare time 9.916996 
scan registration time 22.260937 ms *************
publication time 6.250081 ms 
whole laserOdometry time 6.261081 ms 
 
-----t: 0.0398382
OdomCount 5048 & avg odom time 0.045870 ms ++++++++++++++++++++++
map prepare time 2.410349 ms
map corner num 155088  surf num 51967 
build tree time 34.228670 ms 
points size 71234 
sort q time 4.029557 
seperate points time 8.561697 
publication time 6.472383 ms 
whole laserOdometry time 6.484584 ms 
 
-----t: 0.0312678
OdomCount 5049 & avg odom time 0.045867 ms ++++++++++++++++++++++
mapping data assosiation time 19.031565 ms 
mapping solver time 16.767507 ms 
filter time 9.384832 ms 
--------------------stamp1317358286.570264101
sort q time 3.948102 
seperate points time 8.819087 
scan registration time 24.118058 ms *************
publication time 6.961002 ms 
whole laserOdometry time 6.975939 ms 
 
1317358286.570264101 WriteOdom laser_odom_to_init
1317358286.570264101 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.455246 ms 
mapping data assosiation time 17.886106 ms 
mapping solver time 13.932893 ms 
sort q time 3.581426 
seperate points time 8.777725 
publication time 9.031032 ms 
whole laserOdometry time 9.058434 ms 
 
build tree time 35.510063 ms 
mapping data assosiation time 18.773543 ms 
--------------------stamp1317358286.778100967
prepare time 12.630255 
scan registration time 26.439808 ms *************
publication time 6.939381 ms 
whole laserOdometry time 6.974283 ms 
 
filter time 9.916439 ms 
--------------------stamp1317358286.882041931
sort q time 4.270959 
seperate points time 9.817813 
-----t: 0.0324601
OdomCount 5053 & avg odom time 0.045859 ms ++++++++++++++++++++++
mapping data assosiation time 23.991930 ms 
mapping solver time 12.690112 ms 
filter time 12.630113 ms 
sort q time 4.304990 
seperate points time 10.417005 
-----t: 0.0332884
OdomCount 5054 & avg odom time 0.045857 ms ++++++++++++++++++++++
build tree time 40.991874 ms 
mapping data assosiation time 22.354040 ms 
--------------------stamp1317358287.089951992
points size 79596 
sort q time 4.360599 
seperate points time 10.496206 
-----t: 0.0353216
OdomCount 5055 & avg odom time 0.045855 ms ++++++++++++++++++++++
publication time 8.855153 ms 
whole laserOdometry time 8.863025 ms 
 
filter time 9.705851 ms 
build tree time 32.880778 ms 
points size 78151 
mapping data assosiation time 25.723148 ms 
publication time 8.121015 ms 
whole laserOdometry time 8.132552 ms 
 
mapping data assosiation time 23.231069 ms 
mapping solver time 16.003094 ms 
filter time 10.054769 ms 
points size 77676 
sort q time 4.094836 
seperate points time 8.465945 
publication time 7.653315 ms 
whole laserOdometry time 7.668865 ms 
 
mapping data assosiation time 25.832089 ms 
mapping solver time 26.070924 ms 
points size 77037 
sort q time 4.262777 
seperate points time 10.120618 
mapping solver time 23.405628 ms 
filter time 10.060646 ms 
--------------------stamp1317358287.505867958
publication time 6.062559 ms 
whole laserOdometry time 6.074333 ms 
 
[0m[ INFO] [1718805574.412111293, 1317358287.556372801]: Received 214500 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805574.412174899, 1317358287.556372801]: Data saved to 1317358287193896.pcd[0m
-----t: 0.0494103
OdomCount 5059 & avg odom time 0.045853 ms ++++++++++++++++++++++
--------------------stamp1317358287.609930992
prepare time 11.141385 
scan registration time 24.335671 ms *************
mapping pub time 195.178315 ms 
whole mapping time 357.310569 ms +++++
mappingCount 3261 & avg mapping time 157.005466 ms ++++++++++++++++++++++
-----t: 0.0377224
OdomCount 5060 & avg odom time 0.045852 ms ++++++++++++++++++++++
build tree time 37.405720 ms 
--------------------stamp1317358287.713993072
sort q time 4.075541 
seperate points time 9.550061 
publication time 8.588137 ms 
whole laserOdometry time 8.601656 ms 
 
mapping data assosiation time 27.313587 ms 
mapping solver time 21.915356 ms 
filter time 10.142533 ms 
points size 79411 
sort q time 4.466529 
seperate points time 10.096251 
build tree time 41.101425 ms 
-----t: 0.0441777
OdomCount 5062 & avg odom time 0.045850 ms ++++++++++++++++++++++
mapping solver time 24.218198 ms 
--------------------stamp1317358287.922168016
mapping data assosiation time 24.021219 ms 
publication time 7.822711 ms 
whole laserOdometry time 7.834401 ms 
 
filter time 10.150268 ms 
build tree time 33.265913 ms 
--------------------stamp1317358288.026256084
points size 83704 
sort q time 4.639396 
seperate points time 11.097508 
publication time 7.654352 ms 
whole laserOdometry time 7.667934 ms 
 
-----t: 0.042877
OdomCount 5064 & avg odom time 0.045848 ms ++++++++++++++++++++++
mapping data assosiation time 25.308925 ms 
mapping solver time 26.845020 ms 
points size 86656 
sort q time 4.847767 
seperate points time 11.570943 
-----t: 0.0323528
OdomCount 5065 & avg odom time 0.045845 ms ++++++++++++++++++++++
1317358288.130342006 WriteOdom laser_odom_to_init
1317358288.130342006 WriteOdom aft_mapped_to_init_high_frec
publication time 9.121015 ms 
whole laserOdometry time 9.131547 ms 
 
mapping data assosiation time 23.383497 ms 
--------------------stamp1317358288.234405040
prepare time 10.790257 
sort q time 4.911848 
seperate points time 10.962266 
mapping data assosiation time 28.075086 ms 
publication time 8.527332 ms 
whole laserOdometry time 8.544904 ms 
 
mapping optimization time 136.376265 
filter time 9.928424 ms 
build tree time 27.910322 ms 
points size 90105 
prepare time 14.369743 
scan registration time 31.440367 ms *************
publication time 8.710560 ms 
whole laserOdometry time 8.726195 ms 
 
-----t: 0.0493418
OdomCount 5067 & avg odom time 0.045844 ms ++++++++++++++++++++++
mapping data assosiation time 26.417150 ms 
mapping solver time 16.604692 ms 
mapping optimization time 126.472583 
add points time 0.947374 ms
[0m[ INFO] [1718805575.305767683, 1317358288.445312064]: Received 179778 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805575.305819883, 1317358288.445312064]: Data saved to 1317358288130342.pcd[0m
points size 91925 
map prepare time 2.950336 ms
map corner num 131973  surf num 47805 
prepare time 14.679870 
scan registration time 32.727903 ms *************
build tree time 33.383927 ms 
-----t: 0.0455936
OdomCount 5068 & avg odom time 0.045844 ms ++++++++++++++++++++++
mapping data assosiation time 26.515769 ms 
mapping solver time 26.607061 ms 
points size 93965 
mapping data assosiation time 29.466030 ms 
publication time 9.630291 ms 
whole laserOdometry time 9.644680 ms 
 
filter time 10.357215 ms 
--------------------stamp1317358288.650507926
points size 95938 
mapping data assosiation time 27.741560 ms 
publication time 8.715497 ms 
whole laserOdometry time 8.726259 ms 
 
-----t: 0.0445279
OdomCount 5070 & avg odom time 0.045843 ms ++++++++++++++++++++++
mapping data assosiation time 26.970163 ms 
mapping optimization time 131.537558 
mapping pub time 2.053969 ms 
whole mapping time 147.923928 ms +++++
mappingCount 3268 & avg mapping time 157.004513 ms ++++++++++++++++++++++
sort q time 5.491592 
seperate points time 12.958623 
build tree time 31.989083 ms 
mapping data assosiation time 25.750644 ms 
mapping solver time 24.494394 ms 
points size 97093 
mapping data assosiation time 28.676373 ms 
mapping solver time 20.563655 ms 
filter time 11.020854 ms 
build tree time 30.080514 ms 
points size 97344 
sort q time 6.168209 
seperate points time 14.120222 
publication time 10.055946 ms 
whole laserOdometry time 10.067153 ms 
 
mapping optimization time 136.009571 
filter time 11.655647 ms 
sort q time 5.440260 
seperate points time 12.408571 
publication time 8.080536 ms 
whole laserOdometry time 8.093894 ms 
 
mapping data assosiation time 23.830816 ms 
mapping solver time 22.012026 ms 
points size 98312 
mapping data assosiation time 27.719088 ms 
scan registration time 31.458309 ms *************
mapping optimization time 132.108585 
add points time 1.157298 ms
map prepare time 3.182326 ms
map corner num 135216  surf num 49767 
build tree time 29.487402 ms 
points size 98627 
mapping data assosiation time 31.958431 ms 
scan registration time 37.115588 ms *************
publication time 7.835207 ms 
whole laserOdometry time 7.845841 ms 
 
-----t: 0.0524863
OdomCount 5076 & avg odom time 0.045842 ms ++++++++++++++++++++++
mapping data assosiation time 26.638100 ms 
mapping optimization time 136.342612 
points size 98957 
scan registration time 34.820255 ms *************
build tree time 33.522873 ms 
-----t: 0.0581737
OdomCount 5077 & avg odom time 0.045844 ms ++++++++++++++++++++++
mapping data assosiation time 28.042959 ms 
--------------------stamp1317358289.481836080
points size 99542 
mapping data assosiation time 31.650283 ms 
-----t: 0.0443745
OdomCount 5078 & avg odom time 0.045844 ms ++++++++++++++++++++++
filter time 8.824052 ms 
--------------------stamp1317358289.585777044
points size 99664 
sort q time 6.617624 
seperate points time 15.300043 
scan registration time 38.588028 ms *************
mapping data assosiation time 32.393531 ms 
mapping solver time 27.649620 ms 
mapping data assosiation time 25.032775 ms 
--------------------stamp1317358289.689718961
mapping solver time 22.361838 ms 
filter time 12.335268 ms 
publication time 12.929811 ms 
whole laserOdometry time 12.943700 ms 
 
1317358289.689718961 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.348812 ms 
points size 99682 
mapping solver time 28.203735 ms 
-----t: 0.0363885
OdomCount 5081 & avg odom time 0.045842 ms ++++++++++++++++++++++
mapping solver time 12.833368 ms 
filter time 11.134911 ms 
--------------------stamp1317358289.897629022
points size 99764 
build tree time 33.733061 ms 
sort q time 5.539212 
seperate points time 12.692298 
publication time 7.445753 ms 
whole laserOdometry time 7.458365 ms 
 
mapping solver time 25.348908 ms 
--------------------stamp1317358290.001596927
prepare time 13.762340 
add points time 0.981077 ms
filter time 12.473377 ms 
build tree time 34.580141 ms 
--------------------stamp1317358290.105591058
prepare time 14.557577 
sort q time 5.810417 
seperate points time 13.454240 
mapping solver time 38.433558 ms 
mapping data assosiation time 28.340194 ms 
mapping solver time 19.095206 ms 
filter time 10.052331 ms 
sort q time 5.331668 
seperate points time 10.901221 
publication time 9.271889 ms 
whole laserOdometry time 9.287450 ms 
 
-----t: 0.0449773
OdomCount 5085 & avg odom time 0.045835 ms ++++++++++++++++++++++
mapping data assosiation time 30.085414 ms 
--------------------stamp1317358290.313617944
prepare time 12.178399 
sort q time 6.072762 
seperate points time 13.045387 
mapping data assosiation time 33.969708 ms 
publication time 10.804415 ms 
whole laserOdometry time 10.818609 ms 
 
mapping solver time 25.409490 ms 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358290.417632102
build tree time 32.481870 ms 
scan registration time 29.372536 ms *************
mapping data assosiation time 31.672156 ms 
-----t: 0.0682144
OdomCount 5087 & avg odom time 0.045841 ms ++++++++++++++++++++++
1317358290.417632102 WriteOdom laser_odom_to_init
mapping solver time 36.786789 ms 
1317358290.417632102 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358290.521670103
sort q time 5.870319 
seperate points time 12.779408 
filter time 12.865308 ms 
build tree time 32.578005 ms 
points size 100701 
mapping data assosiation time 35.145232 ms 
publication time 9.186204 ms 
whole laserOdometry time 9.196050 ms 
 
-----t: 0.050201
OdomCount 5089 & avg odom time 0.045841 ms ++++++++++++++++++++++
1317358290.625734090 WriteOdom laser_odom_to_init
1317358290.625734090 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 39.079890 ms 
mapping data assosiation time 29.790469 ms 
points size 100959 
mapping optimization time 169.245066 
mapping pub time 2.319815 ms 
whole mapping time 187.172850 ms +++++
mappingCount 3280 & avg mapping time 157.030196 ms ++++++++++++++++++++++
1317358290.417632103 WriteOdom aft_mapped_to_init
-----t: 0.0405646
OdomCount 5090 & avg odom time 0.045840 ms ++++++++++++++++++++++
build tree time 32.885855 ms 
mapping data assosiation time 28.496842 ms 
points size 101215 
scan registration time 33.496440 ms *************
-----t: 0.0386955
OdomCount 5091 & avg odom time 0.045839 ms ++++++++++++++++++++++
mapping data assosiation time 32.483110 ms 
mapping solver time 21.072020 ms 
--------------------stamp1317358290.937994003
points size 101395 
sort q time 6.668582 
seperate points time 15.240998 
-----t: 0.0398386
OdomCount 5092 & avg odom time 0.045838 ms ++++++++++++++++++++++
--------------------stamp1317358291.042104005
prepare time 12.165820 
sort q time 7.679228 
seperate points time 14.550728 
mapping pub time 199.107377 ms 
whole mapping time 370.037725 ms +++++
mappingCount 3281 & avg mapping time 157.095119 ms ++++++++++++++++++++++
1317358290.521670103 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
points size 101799 
sort q time 6.029741 
seperate points time 13.384329 
-----t: 0.0374992
OdomCount 5094 & avg odom time 0.045839 ms ++++++++++++++++++++++
mapping data assosiation time 34.372168 ms 
--------------------stamp1317358291.250421047
prepare time 13.318118 
sort q time 6.142746 
seperate points time 20.160537 
publication time 10.436630 ms 
whole laserOdometry time 10.451378 ms 
 
mapping solver time 27.025487 ms 
mapping optimization time 175.732554 
add points time 0.718327 ms
map prepare time 3.238494 ms
map corner num 143186  surf num 54413 
--------------------stamp1317358291.354626893
points size 102340 
build tree time 39.353357 ms 
publication time 12.123509 ms 
whole laserOdometry time 12.136565 ms 
 
mapping solver time 35.563470 ms 
points size 102503 
sort q time 6.017678 
seperate points time 13.235659 
publication time 9.201241 ms 
whole laserOdometry time 9.213956 ms 
 
mapping solver time 38.592684 ms 
filter time 12.223764 ms 
--------------------stamp1317358291.562947988
prepare time 13.959449 
sort q time 5.854614 
seperate points time 13.207399 
publication time 7.881934 ms 
whole laserOdometry time 7.897460 ms 
 
-----t: 0.0609878
OdomCount 5098 & avg odom time 0.045847 ms ++++++++++++++++++++++
--------------------stamp1317358291.667033910
points size 102422 
sort q time 5.697748 
seperate points time 13.388068 
publication time 8.389352 ms 
whole laserOdometry time 8.402942 ms 
 
-----t: 0.0641393
OdomCount 5099 & avg odom time 0.045850 ms ++++++++++++++++++++++
--------------------stamp1317358291.771073102
map prepare time 4.901246 ms
map corner num 145025  surf num 55429 
sort q time 6.784937 
seperate points time 14.710403 
publication time 11.050104 ms 
whole laserOdometry time 11.068086 ms 
 
mapping data assosiation time 34.255874 ms 
points size 102562 
scan registration time 37.394346 ms *************
publication time 11.037223 ms 
whole laserOdometry time 11.055231 ms 
 
mapping data assosiation time 34.497523 ms 
mapping solver time 23.206160 ms 
prepare time 14.140454 
sort q time 6.027739 
seperate points time 13.646614 
publication time 8.941428 ms 
whole laserOdometry time 8.956148 ms 
 
-----t: 0.048774
OdomCount 5102 & avg odom time 0.045855 ms ++++++++++++++++++++++
mapping data assosiation time 33.753398 ms 
points size 102315 
sort q time 6.256550 
seperate points time 12.837320 
publication time 7.126437 ms 
whole laserOdometry time 7.141521 ms 
 
-----t: 0.0512952
OdomCount 5103 & avg odom time 0.045856 ms ++++++++++++++++++++++
mapping solver time 22.597629 ms 
points size 102231 
map prepare time 3.987812 ms
map corner num 146589  surf num 56144 
publication time 8.306240 ms 
whole laserOdometry time 8.321626 ms 
 
build tree time 39.628767 ms 
mapping data assosiation time 32.484454 ms 
points size 102253 
sort q time 5.321032 
seperate points time 11.784397 
publication time 8.955407 ms 
whole laserOdometry time 8.968225 ms 
 
mapping data assosiation time 37.454034 ms 
--------------------stamp1317358292.394248962
add points time 0.941403 ms
filter time 13.513618 ms 
publication time 10.115745 ms 
whole laserOdometry time 10.131295 ms 
 
build tree time 41.102309 ms 
--------------------stamp1317358292.498096942
sort q time 4.802282 
seperate points time 10.318241 
publication time 10.906886 ms 
whole laserOdometry time 10.981460 ms -----t: 0.0556857
OdomCount 5107 & avg odom time 0.045865 ms ++++++++++++++++++++++
mapping data assosiation time 37.193464 ms 
--------------------stamp1317358292.601943016
prepare time 11.577023 
filter time 13.578157 ms 
build tree time 34.990881 ms 
--------------------stamp1317358292.705789089
prepare time 13.987879 
mapping data assosiation time 36.135395 ms 
publication time 8.732706 ms 
whole laserOdometry time 8.745858 ms 
 
1317358292.705789089 WriteOdom laser_odom_to_init
1317358292.705789089 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 33.527188 ms 
points size 102289 
sort q time 5.728984 
seperate points time 12.836026 
mapping solver time 47.911891 ms 
filter time 10.904020 ms 
build tree time 31.866332 ms 
points size 102199 
sort q time 6.117493 
seperate points time 12.828541 
publication time 9.206771 ms 
whole laserOdometry time 9.224030 ms 
 
mapping solver time 36.243720 ms 
--------------------stamp1317358293.017426013
points size 102104 
sort q time 5.666631 
seperate points time 13.160269 
mapping pub time 2.381828 ms 
whole mapping time 192.394612 ms +++++
mappingCount 3290 & avg mapping time 157.243866 ms ++++++++++++++++++++++
build tree time 31.782047 ms 
--------------------stamp1317358293.121320009
prepare time 14.921798 
sort q time 6.606950 
seperate points time 13.425197 
publication time 9.474547 ms 
whole laserOdometry time 9.492251 ms 
 
mapping solver time 51.945559 ms 
--------------------stamp1317358293.225214004
mapping data assosiation time 38.584271 ms 
sort q time 5.717659 
seperate points time 13.305390 
mapping solver time 37.002734 ms 
filter time 12.484332 ms 
map prepare time 4.095469 ms
map corner num 149634  surf num 57483 
--------------------stamp1317358293.329158067
prepare time 13.643025 
mapping data assosiation time 46.248921 ms 
1317358293.329158067 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 40.649603 ms 
points size 100351 
sort q time 6.746747 
seperate points time 12.842252 
publication time 12.059687 ms 
whole laserOdometry time 12.068545 ms 
 
mapping optimization time 200.018514 
filter time 13.165353 ms 
--------------------stamp1317358293.537041902
points size 98811 
build tree time 39.885746 ms 
publication time 6.949567 ms 
whole laserOdometry time 6.963774 ms 
 
mapping data assosiation time 46.953306 ms 
--------------------stamp1317358293.641007900
prepare time 12.709349 
sort q time 5.433229 
seperate points time 12.473811 
publication time 9.221173 ms 
whole laserOdometry time 9.236901 ms 
 
-----t: 0.0515437
OdomCount 5118 & avg odom time 0.045869 ms ++++++++++++++++++++++
mapping solver time 21.209194 ms 
filter time 10.306922 ms 
--------------------stamp1317358293.744998931
points size 96025 
build tree time 41.100192 ms 
scan registration time 45.896539 ms *************
publication time 10.293347 ms 
whole laserOdometry time 10.305465 ms 
--------------------stamp1317358293.848989009
prepare time 13.587054 
sort q time 6.338590 
seperate points time 26.643558 
-----t: 0.0446739
OdomCount 5120 & avg odom time 0.045869 ms ++++++++++++++++++++++
1317358293.848989009 WriteOdom laser_odom_to_init
1317358293.848989009 WriteOdom aft_mapped_to_init_high_frec
publication time 8.826583 ms 
whole laserOdometry time 8.839508 ms 
 
mapping solver time 27.500635 ms 
mapping optimization time 192.888931 
add points time 0.884139 ms
map prepare time 3.399046 ms
map corner num 150493  surf num 57733 
points size 97411 
sort q time 6.111568 
seperate points time 13.139471 
publication time 7.927102 ms 
whole laserOdometry time 7.938109 ms 
 
-----t: 0.0435178
OdomCount 5121 & avg odom time 0.045869 ms ++++++++++++++++++++++
mapping data assosiation time 35.703536 ms 
--------------------stamp1317358294.056997060
prepare time 13.796783 
sort q time 5.781679 
seperate points time 12.547360 
mapping data assosiation time 40.281285 ms 
publication time 8.954779 ms 
whole laserOdometry time 8.968756 ms 
 
mapping solver time 21.712851 ms 
filter time 10.102065 ms 
--------------------stamp1317358294.161010980
prepare time 13.048297 
scan registration time 31.573986 ms *************
-----t: 0.0392784
OdomCount 5123 & avg odom time 0.045867 ms ++++++++++++++++++++++
mapping solver time 34.613440 ms 
--------------------stamp1317358294.265048980
points size 101664 
sort q time 5.802993 
seperate points time 13.204915 
publication time 8.979943 ms 
whole laserOdometry time 9.007110 ms 
 
mapping solver time 31.675727 ms 
filter time 9.952823 ms 
map prepare time 3.309987 ms
map corner num 150934  surf num 57867 
--------------------stamp1317358294.369113922
points size 101844 
sort q time 5.903684 
seperate points time 13.560121 
publication time 10.997750 ms 
whole laserOdometry time 11.014916 ms 
 
--------------------stamp1317358294.473177909
points size 102071 
sort q time 6.588446 
seperate points time 14.491334 
mapping data assosiation time 51.309114 ms 
-----t: 0.0629437
OdomCount 5126 & avg odom time 0.045870 ms ++++++++++++++++++++++
filter time 9.895069 ms 
points size 102274 
sort q time 6.261696 
seperate points time 12.115595 
scan registration time 31.786804 ms *************
publication time 10.420127 ms 
whole laserOdometry time 10.433758 ms 
 
-----t: 0.0588851
mapping data assosiation time 36.454571 ms 
--------------------stamp1317358294.681324005
prepare time 15.597995 
mapping solver time 51.316659 ms 
sort q time 5.823352 
seperate points time 13.786456 
publication time 9.363581 ms 
whole laserOdometry time 9.376464 ms 
 
1317358294.681324005 WriteOdom laser_odom_to_init
1317358294.681324005 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.051805 ms 
filter time 14.502235 ms 
map prepare time 4.839043 ms
map corner num 151451  surf num 58015 
sort q time 6.426350 
seperate points time 17.284611 
publication time 8.643021 ms 
whole laserOdometry time 8.673299 ms 
 
-----t: 0.0567016
OdomCount 5129 & avg odom time 0.045875 ms ++++++++++++++++++++++
mapping data assosiation time 35.218906 ms 
points size 102673 
mapping solver time 48.406714 ms 
mapping data assosiation time 33.640279 ms 
--------------------stamp1317358294.993776082
add points time 0.804057 ms
filter time 15.170799 ms 
publication time 8.530900 ms 
whole laserOdometry time 8.545559 ms 
 
-----t: 0.0449319
OdomCount 5131 & avg odom time 0.045874 ms ++++++++++++++++++++++
build tree time 38.824363 ms 
--------------------stamp1317358295.097960948
prepare time 15.686110 
scan registration time 34.517444 ms *************
mapping solver time 41.791934 ms 
publication time 12.871111 ms 
whole laserOdometry time 12.889075 ms 
 
mapping data assosiation time 34.515399 ms 
--------------------stamp1317358295.202191114
prepare time 13.787637 
drop lidar frame in mapping for real time performance 
build tree time 41.032900 ms 
--------------------stamp1317358295.306421041
prepare time 13.548083 
scan registration time 32.753717 ms *************
publication time 12.598652 ms 
whole laserOdometry time 12.612499 ms 
 
-----t: 0.0532771
OdomCount 5134 & avg odom time 0.045874 ms ++++++++++++++++++++++
mapping data assosiation time 33.619257 ms 
--------------------stamp1317358295.410605907
points size 103028 
sort q time 5.668805 
seperate points time 12.878053 
filter time 14.210242 ms 
--------------------stamp1317358295.514787912
points size 103011 
sort q time 6.027300 
seperate points time 13.977021 
publication time 7.909706 ms 
whole laserOdometry time 7.922181 ms 
 
-----t: 0.0606042
OdomCount 5136 & avg odom time 0.045875 ms ++++++++++++++++++++++
--------------------stamp1317358295.618972063
points size 102993 
sort q time 6.020479 
seperate points time 14.041289 
publication time 11.542760 ms 
whole laserOdometry time 11.555235 ms 
 
-----t: 0.0583949
OdomCount 5137 & avg odom time 0.045878 ms ++++++++++++++++++++++
--------------------stamp1317358295.723104953
prepare time 22.109529 
mapping solver time 50.217975 ms 
-----t: 0.0698873
OdomCount 5138 & avg odom time 0.045882 ms ++++++++++++++++++++++
mapping data assosiation time 39.774040 ms 
points size 102901 
sort q time 6.106787 
seperate points time 12.986309 
publication time 8.906671 ms 
whole laserOdometry time 8.921938 ms 
 
filter time 14.123190 ms 
map prepare time 6.585179 ms
map corner num 152886  surf num 58429 
--------------------stamp1317358295.931231975
build tree time 37.177458 ms 
sort q time 5.716632 
seperate points time 13.142817 
mapping data assosiation time 39.399881 ms 
mapping solver time 43.958260 ms 
points size 102802 
sort q time 6.587137 
seperate points time 12.802413 
publication time 11.597664 ms 
whole laserOdometry time 11.612424 ms 
 
-----t: 0.0433726
OdomCount 5141 & avg odom time 0.045886 ms ++++++++++++++++++++++
1317358296.035223007 WriteOdom laser_odom_to_init
1317358296.035223007 WriteOdom aft_mapped_to_init_high_frec
filter time 10.844182 ms 
--------------------stamp1317358296.139236927
points size 102957 
sort q time 5.721570 
seperate points time 12.646061 
scan registration time 31.319724 ms *************
build tree time 40.324641 ms 
publication time 10.323576 ms 
whole laserOdometry time 10.336881 ms 
 
-----t: 0.0531978
OdomCount 5142 & avg odom time 0.045888 ms ++++++++++++++++++++++
--------------------stamp1317358296.243321895
mapping solver time 43.664497 ms 
sort q time 5.852503 
seperate points time 13.051870 
mapping data assosiation time 37.327908 ms 
mapping solver time 38.493007 ms 
filter time 10.850940 ms 
prepare time 13.338782 
sort q time 5.714862 
seperate points time 13.109583 
build tree time 42.639703 ms 
-----t: 0.0579212
OdomCount 5144 & avg odom time 0.045889 ms ++++++++++++++++++++++
1317358296.347433090 WriteOdom laser_odom_to_init
1317358296.347433090 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358296.451543092
prepare time 13.367469 
sort q time 6.139980 
seperate points time 11.889078 
publication time 10.815813 ms 
whole laserOdometry time 10.829967 ms 
 
-----t: 0.0518176
OdomCount 5145 & avg odom time 0.045890 ms ++++++++++++++++++++++
mapping solver time 33.818627 ms 
points size 103076 
map prepare time 4.099757 ms
map corner num 154462  surf num 58890 
publication time 8.425993 ms 
whole laserOdometry time 8.449088 ms 
 
build tree time 42.707101 ms 
mapping data assosiation time 31.259368 ms 
points size 103132 
sort q time 5.713542 
seperate points time 13.132659 
publication time 8.371718 ms 
whole laserOdometry time 8.391180 ms 
 
mapping data assosiation time 35.489944 ms 
--------------------stamp1317358296.764044046
mapping solver time 37.854959 ms 
filter time 13.214652 ms 
map prepare time 4.212745 ms
map corner num 155057  surf num 59083 
publication time 13.247450 ms 
whole laserOdometry time 13.259784 ms 
 
build tree time 38.894597 ms 
--------------------stamp1317358296.868226051
mapping data assosiation time 34.185719 ms 
sort q time 6.288290 
seperate points time 11.971105 
publication time 8.444971 ms 
whole laserOdometry time 8.457457 ms 
 
mapping solver time 52.478294 ms 
mapping data assosiation time 33.713280 ms 
points size 103119 
sort q time 6.001265 
seperate points time 13.893306 
filter time 14.952028 ms 
-----t: 0.0711725
OdomCount 5150 & avg odom time 0.045896 ms ++++++++++++++++++++++
--------------------stamp1317358297.076545953
points size 103051 
prepare time 16.506139 
scan registration time 36.655436 ms *************
publication time 8.825864 ms 
whole laserOdometry time 8.839503 ms 
 
-----t: 0.0601885
OdomCount 5151 & avg odom time 0.045899 ms ++++++++++++++++++++++
--------------------stamp1317358297.180632114
points size 102885 
sort q time 5.955507 
seperate points time 13.773558 
mapping optimization time 190.149790 
add points time 1.096170 ms
map prepare time 3.273607 ms
map corner num 156262  surf num 59511 
build tree time 34.632495 ms 
points size 102870 
sort q time 7.052720 
seperate points time 16.263679 
publication time 10.302620 ms 
whole laserOdometry time 10.318357 ms 
 
--------------------stamp1317358297.388683080
points size 102868 
sort q time 8.846175 
seperate points time 17.372773 
mapping solver time 42.078816 ms 
filter time 16.375317 ms 
drop lidar frame in mapping for real time performance 
map prepare time 11.844118 ms
map corner num 156898  surf num 59781 
1317358297.388683080 WriteOdom laser_odom_to_init
build tree time 45.306949 ms 
-----t: 0.068558
OdomCount 5155 & avg odom time 0.045918 ms ++++++++++++++++++++++
--------------------stamp1317358297.596546888
points size 102605 
sort q time 5.920005 
seperate points time 13.039997 
publication time 8.943671 ms 
whole laserOdometry time 8.973298 ms 
 
mapping data assosiation time 39.115363 ms 
mapping solver time 23.179729 ms 
--------------------stamp1317358297.700417995
prepare time 15.651735 
sort q time 6.115047 
seperate points time 12.959104 
mapping data assosiation time 35.146248 ms 
--------------------stamp1317358297.804287910
points size 102018 
sort q time 5.859546 
seperate points time 13.223781 
-----t: 0.0368647
OdomCount 5158 & avg odom time 0.045919 ms ++++++++++++++++++++++
mapping solver time 23.151632 ms 
filter time 10.535328 ms 
map prepare time 5.140491 ms
map corner num 158360  surf num 60295 
sort q time 7.146067 
seperate points time 14.594426 
build tree time 45.390582 ms 
-----t: 0.0450142
OdomCount 5159 & avg odom time 0.045919 ms ++++++++++++++++++++++
1317358297.908158063 WriteOdom laser_odom_to_init
1317358297.908158063 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 38.903519 ms 
--------------------stamp1317358298.012026071
mapping solver time 37.899075 ms 
scan registration time 36.155037 ms *************
-----t: 0.037449
OdomCount 5160 & avg odom time 0.045917 ms ++++++++++++++++++++++
publication time 10.662394 ms 
whole laserOdometry time 10.676018 ms 
 
mapping solver time 24.326136 ms 
mapping optimization time 189.650807 
add points time 0.791513 ms
drop lidar frame in mapping for real time performance 
sort q time 5.406314 
seperate points time 12.413232 
publication time 8.243651 ms 
whole laserOdometry time 8.270434 ms 
 
mapping data assosiation time 31.692672 ms 
--------------------stamp1317358298.219816923
points size 100459 
prepare time 14.321142 
scan registration time 34.008758 ms *************
publication time 10.510816 ms 
whole laserOdometry time 10.524560 ms 
 
mapping data assosiation time 39.156592 ms 
mapping solver time 24.421710 ms 
--------------------stamp1317358298.323713064
sort q time 6.783194 
seperate points time 13.256677 
publication time 9.345589 ms 
whole laserOdometry time 9.377356 ms 
 
-----t: 0.0427064
OdomCount 5163 & avg odom time 0.045919 ms ++++++++++++++++++++++
mapping data assosiation time 31.879676 ms 
--------------------stamp1317358298.427582979
points size 99659 
sort q time 5.760287 
seperate points time 13.519700 
publication time 8.813467 ms 
whole laserOdometry time 8.825442 ms 
 
-----t: 0.0697098
OdomCount 5164 & avg odom time 0.045923 ms ++++++++++++++++++++++
filter time 10.731176 ms 
points size 99624 
build tree time 24.694292 ms 
publication time 14.389949 ms 
whole laserOdometry time 14.406231 ms 
 
1317358298.531403064 WriteOdom laser_odom_to_init
1317358298.531403064 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 42.607485 ms 
sort q time 5.830970 
seperate points time 11.575125 
scan registration time 28.013568 ms *************
publication time 7.868112 ms 
whole laserOdometry time 7.896221 ms 
 
-----t: 0.0527212
OdomCount 5166 & avg odom time 0.045930 ms ++++++++++++++++++++++
add points time 0.807927 ms
mapping pub time 2.159100 ms 
whole mapping time 190.054275 ms +++++
mappingCount 3315 & avg mapping time 157.739760 ms ++++++++++++++++++++++
--------------------stamp1317358298.738918066
prepare time 12.616473 
build tree time 26.599279 ms 
publication time 9.989108 ms 
whole laserOdometry time 10.005333 ms 
 
mapping solver time 38.385572 ms 
--------------------stamp1317358298.842622041
points size 98847 
sort q time 5.730287 
seperate points time 12.911965 
publication time 8.596043 ms 
whole laserOdometry time 8.611757 ms 
 
-----t: 0.0359601
OdomCount 5168 & avg odom time 0.045926 ms ++++++++++++++++++++++
1317358298.842622041 WriteOdom laser_odom_to_init
1317358298.842622041 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718805585.768034536, 1317358298.904637693]: Received 140346 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718805585.768072974, 1317358298.904637693]: Data saved to 1317358298531403.pcd[0m
build tree time 22.349383 ms 
points size 98625 
publication time 8.616941 ms 
whole laserOdometry time 8.627994 ms 
 
mapping solver time 39.636759 ms 
mapping data assosiation time 31.378655 ms 
points size 99085 
mapping solver time 35.098722 ms 
scan registration time 32.546695 ms *************
filter time 10.029797 ms 
-----t: 0.045407
OdomCount 5170 & avg odom time 0.045924 ms ++++++++++++++++++++++
build tree time 28.718927 ms 
--------------------stamp1317358299.153722047
points size 100613 
sort q time 6.128623 
seperate points time 13.381267 
publication time 9.919306 ms 
whole laserOdometry time 9.932165 ms 
 
mapping data assosiation time 32.219137 ms 
--------------------stamp1317358299.257446050
points size 100342 
mapping solver time 39.714596 ms 
filter time 11.097439 ms 
-----t: 0.0457957
OdomCount 5172 & avg odom time 0.045924 ms ++++++++++++++++++++++
build tree time 32.582117 ms 
--------------------stamp1317358299.361196994
mapping data assosiation time 36.262668 ms 
sort q time 6.483739 
seperate points time 13.723936 
-----t: 0.0330245
OdomCount 5173 & avg odom time 0.045922 ms ++++++++++++++++++++++
mapping solver time 44.425316 ms 
mapping data assosiation time 36.782851 ms 
points size 98373 
mapping solver time 39.453192 ms 
filter time 11.293560 ms 
publication time 8.738172 ms 
whole laserOdometry time 8.754759 ms 
 
build tree time 28.108366 ms 
--------------------stamp1317358299.568769931
prepare time 12.496884 
sort q time 5.463454 
seperate points time 12.571988 
publication time 8.527674 ms 
whole laserOdometry time 8.540382 ms 
 
mapping solver time 44.801472 ms 
mapping data assosiation time 28.000747 ms 
--------------------stamp1317358299.672569036
prepare time 12.507330 
sort q time 5.479041 
seperate points time 10.969294 
map prepare time 3.604898 ms
map corner num 129246  surf num 49500 
-----t: 0.0485874
OdomCount 5176 & avg odom time 0.045921 ms ++++++++++++++++++++++
build tree time 33.511967 ms 
mapping data assosiation time 32.118275 ms 
mapping solver time 38.655884 ms 
mapping data assosiation time 30.163933 ms 
mapping solver time 22.101341 ms 
filter time 9.469827 ms 

Done.
mapping pub time 168.069087 ms 
whole mapping time 340.780639 ms +++++
mappingCount 3321 & avg mapping time 157.848837 ms ++++++++++++++++++++++
1317358299.464971066 WriteOdom aft_mapped_to_init
map prepare time 2.693602 ms
map corner num 130182  surf num 49796 
build tree time 25.176264 ms 
mapping data assosiation time 30.518729 ms 
mapping solver time 29.957522 ms 
mapping data assosiation time 29.478858 ms 
mapping solver time 32.933590 ms 
mapping optimization time 150.409540 
add points time 0.747261 ms
filter time 9.002746 ms 
mapping pub time 2.234462 ms 
whole mapping time 165.139738 ms +++++
mappingCount 3322 & avg mapping time 157.851033 ms ++++++++++++++++++++++
1317358299.672569036 WriteOdom aft_mapped_to_init
killing:
 * /alaserMapping
 * /alaserOdometry
 * /ascanRegistration
 * /camera_init2odom_publisher
 * /global_graph_nodelet
 * /kittiHelper
 * /lidar2base_publisher
 * /map2odom_publisher
 * /pointcloud_to_pcd_1718805047857744844
 * /prefiltering_nodelet
 * /rosout
 * /scan_matching_odom_nodelet
 * /velodyne_nodelet_manager
[33m[ WARN] [1718805587.397755293, 1317358299.895498905]: Shutdown request received.[0m
[33m[ WARN] [1718805587.397794029, 1317358299.895498905]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718805587.414091958, 1317358299.895498905]: Shutdown request received.[0m
[33m[ WARN] [1718805587.415102457, 1317358299.895498905]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718805587.432146706, 1317358299.895498905]: Shutdown request received.[0m
[33m[ WARN] [1718805587.433205696, 1317358299.895498905]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718805587.449628808, 1317358299.895498905]: Shutdown request received.[0m
[33m[ WARN] [1718805587.450529483, 1317358299.895498905]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718805587.467475775, 1317358299.895498905]: Shutdown request received. Reason: [user request][0m
[33m[ WARN] [1718805587.484997852, 1317358299.895498905]: Shutdown request received.[0m
[33m[ WARN] [1718805587.485984921, 1317358299.895498905]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718805587.505633417, 1317358299.895498905]: Shutdown request received.[0m
[33m[ WARN] [1718805587.506440177, 1317358299.895498905]: Reason given for shutdown: [user request][0m
terminate called without an active exception
[1m[alaserOdometry-8] process has finished cleanly
log file: /root/.ros/log/e8d9f13a-2e42-11ef-ba07-0242ac110003/alaserOdometry-8*.log[0m
[33m[ WARN] [1718805587.634986000, 1317358299.895498905]: Shutdown request received.[0m
[33m[ WARN] [1718805587.635025625, 1317358299.895498905]: Reason given for shutdown: [user request][0m
[1m[lidar2base_publisher-2] process has finished cleanly
log file: /root/.ros/log/e8d9f13a-2e42-11ef-ba07-0242ac110003/lidar2base_publisher-2*.log[0m
[1m[camera_init2odom_publisher-3] process has finished cleanly
log file: /root/.ros/log/e8d9f13a-2e42-11ef-ba07-0242ac110003/camera_init2odom_publisher-3*.log[0m
[33m[ WARN] [1718805587.655344975, 1317358299.895498905]: Shutdown request received. Reason: [user request][0m
[33m[ WARN] [1718805587.675749362, 1317358299.895498905]: Shutdown request received.[0m
[33m[ WARN] [1718805587.675836324, 1317358299.895498905]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718805587.712959266, 1317358299.895498905]: Shutdown request received. Reason: [user request][0m
[33m[ WARN] [1718805587.731363513, 1317358299.895498905]: Shutdown request received.[0m
[33m[ WARN] [1718805587.731436889, 1317358299.895498905]: Reason given for shutdown: [user request][0m
killed
[1m[ascanRegistration-7] process has finished cleanly
log file: /root/.ros/log/e8d9f13a-2e42-11ef-ba07-0242ac110003/ascanRegistration-7*.log[0m
[31m[alaserMapping-9] process has died [pid 177, exit code -6, cmd /home/chenshoubin/slam_ws/devel/lib/aloam_velodyne/alaserMapping /velodyne_points:=/points_raw /gpsimu_driver/imu_data:=/imu_raw __name:=alaserMapping __log:=/root/.ros/log/e8d9f13a-2e42-11ef-ba07-0242ac110003/alaserMapping-9.log].
log file: /root/.ros/log/e8d9f13a-2e42-11ef-ba07-0242ac110003/alaserMapping-9*.log[0m
[1m[kittiHelper-10] process has finished cleanly
log file: /root/.ros/log/e8d9f13a-2e42-11ef-ba07-0242ac110003/kittiHelper-10*.log[0m
[1m[global_graph_nodelet-11] process has finished cleanly
log file: /root/.ros/log/e8d9f13a-2e42-11ef-ba07-0242ac110003/global_graph_nodelet-11*.log[0m
[1m[map2odom_publisher-12] process has finished cleanly
log file: /root/.ros/log/e8d9f13a-2e42-11ef-ba07-0242ac110003/map2odom_publisher-12*.log[0m
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/e8d9f13a-2e42-11ef-ba07-0242ac110003/rosout-1*.log[0m
[1m[scan_matching_odom_nodelet-6] process has finished cleanly
log file: /root/.ros/log/e8d9f13a-2e42-11ef-ba07-0242ac110003/scan_matching_odom_nodelet-6*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [348][0m
[1m[velodyne_nodelet_manager-4] process has finished cleanly
log file: /root/.ros/log/e8d9f13a-2e42-11ef-ba07-0242ac110003/velodyne_nodelet_manager-4*.log[0m
[1m[prefiltering_nodelet-5] process has finished cleanly
log file: /root/.ros/log/e8d9f13a-2e42-11ef-ba07-0242ac110003/prefiltering_nodelet-5*.log[0m
