/SLAM-Hive/slam_hive_results/mapping_results/1352/995_a-loam+kitti_2011_09_30_drive_0028_synced_full.yaml... logging to /root/.ros/log/c1c00b24-2f01-11ef-bb45-0242ac110003/roslaunch-3352ab44614e-115.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/slamhive/aloam_velodyne_HDL_64.launch
[1mstarted roslaunch server http://3352ab44614e:38491/[0m

SUMMARY
========

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

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

auto-starting new master
[1mprocess[master]: started with pid [126][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/aloam_velodyne_HDL_64.launch http://localhost:11311
[1msetting /run_id to c1c00b24-2f01-11ef-bb45-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [139][0m
started core service [/rosout]
[1mprocess[ascanRegistration-2]: started with pid [142][0m
[1mprocess[alaserOdometry-3]: started with pid [157][0m
scan line number 64 
Mapping 10 Hz 
[1mprocess[alaserMapping-4]: started with pid [158][0m
line resolution 0.400000 plane resolution 0.800000 
rosbag play /slamhive/dataset/kitti_2011_09_30_drive_0028_synced_full.bag  --clock 
[0m[ INFO] [1718887016.178030829]: Saving as binary PCD[0m
[0m[ INFO] [1718887016.181540828]: Listening for incoming data on topic /laser_cloud_map[0m
[0m[ INFO] [1718887016.263131441]: 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: 401529254.83 
points size 81868 
prepare time 32.230255 
sort q time 7.966567 
seperate points time 22.937077 
scan registration time 60.812440 ms *************
Initialization finished 
publication time 14.406461 ms 
whole laserOdometry time 14.443180 ms 
 
map prepare time 2.641987 ms
map corner num 0  surf num 0 
[33m[ WARN] [1718887016.874258063]: time Map corner and surf num are not enough[0m
add points time 0.273241 ms
filter time 0.392843 ms 
[0m[ INFO] [1718887016.875648495]: Received 4982 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887016.875682022]: Data saved to 1317357761831731.pcd[0m
mapping pub time 1.813301 ms 
whole mapping time 5.378937 ms +++++
points size 82933 
prepare time 14.796327 
sort q time 4.101127 
seperate points time 9.588775 
scan registration time 27.230340 ms *************
data association time 12.603268 ms 
solver time 18.907661 ms 
data association time 13.607591 ms 
solver time 12.440718 ms 
optimization twice time 58.654710 
publication time 7.809893 ms 
whole laserOdometry time 66.484382 ms 
 
map prepare time 1.627044 ms
map corner num 2457  surf num 2525 
build tree time 0.838808 ms 
points size 84323 
prepare time 12.406270 
sort q time 4.534710 
seperate points time 10.506560 
mapping data assosiation time 16.617539 ms 
scan registration time 26.304626 ms *************
mapping solver time 16.820103 ms 
data association time 12.888659 ms 
solver time 12.696945 ms 
mapping solver time 11.277076 ms 
mapping optimization time 62.899559 
add points time 0.210355 ms
data association time 13.010555 ms 
filter time 0.724346 ms 
mapping pub time 1.050426 ms 
whole mapping time 66.551835 ms +++++
solver time 10.502980 ms 
optimization twice time 49.984420 
publication time 7.032565 ms 
whole laserOdometry time 57.034447 ms 
 
map prepare time 1.566541 ms
map corner num 3413  surf num 2877 
points size 86053 
mapping data assosiation time 17.225797 ms 
prepare time 11.324945 
sort q time 5.175202 
seperate points time 12.157311 
mapping solver time 13.849267 ms 
scan registration time 27.214994 ms *************
mapping data assosiation time 16.210146 ms 
data association time 13.973289 ms 
mapping solver time 9.237720 ms 
mapping optimization time 58.734711 
add points time 0.313822 ms
filter time 0.965496 ms 
mapping pub time 1.318887 ms 
whole mapping time 62.944553 ms +++++
solver time 11.921536 ms 
data association time 12.833323 ms 
solver time 8.330134 ms 
optimization twice time 47.953298 
publication time 7.845340 ms 
whole laserOdometry time 55.815987 ms 
 
map prepare time 6.600477 ms
map corner num 4151  surf num 3174 
build tree time 2.403298 ms 
points size 87075 
prepare time 19.148543 
mapping data assosiation time 21.193955 ms 
sort q time 4.909542 
seperate points time 11.346242 
mapping solver time 10.588261 ms 
scan registration time 34.394375 ms *************
mapping data assosiation time 16.522816 ms 
mapping solver time 7.683244 ms 
mapping optimization time 59.410975 
add points time 0.217724 ms
data association time 13.866729 ms 
filter time 0.960677 ms 
mapping pub time 1.241899 ms 
whole mapping time 68.474955 ms +++++
solver time 9.616546 ms 
data association time 13.311351 ms 
solver time 8.216641 ms 
optimization twice time 45.922390 
publication time 8.580547 ms 
whole laserOdometry time 54.528295 ms 
 
map prepare time 1.803128 ms
map corner num 4814  surf num 3384 
points size 89649 
build tree time 1.905555 ms 
prepare time 14.055563 
sort q time 4.321649 
seperate points time 10.221459 
scan registration time 28.117344 ms *************
mapping data assosiation time 15.939809 ms 
mapping solver time 12.494237 ms 
data association time 14.359357 ms 
solver time 11.668579 ms 
mapping data assosiation time 17.957346 ms 
mapping solver time 8.347469 ms 
mapping optimization time 57.862763 
add points time 0.235812 ms
filter time 0.902389 ms 
mapping pub time 1.105847 ms 
whole mapping time 61.947329 ms +++++
data association time 14.405423 ms 
solver time 8.657765 ms 
optimization twice time 50.017378 
publication time 7.112984 ms 
whole laserOdometry time 57.147679 ms 
 
map prepare time 1.780348 ms
map corner num 5423  surf num 3546 
build tree time 1.653656 ms 
points size 90579 
mapping data assosiation time 17.807598 ms 
prepare time 13.739791 
mapping solver time 11.580935 ms 
sort q time 4.552402 
seperate points time 10.710281 
scan registration time 28.358519 ms *************
mapping data assosiation time 17.306515 ms 
mapping solver time 8.961018 ms 
mapping optimization time 58.438592 
add points time 0.235890 ms
filter time 0.914116 ms 
data association time 14.133590 ms 
mapping pub time 1.579411 ms 
whole mapping time 62.986542 ms +++++
solver time 7.884402 ms 
data association time 14.438286 ms 
solver time 8.203063 ms 
optimization twice time 45.566033 
publication time 8.432074 ms 
whole laserOdometry time 54.016344 ms 
 
map prepare time 1.807284 ms
map corner num 5997  surf num 3739 
points size 90579 
prepare time 13.299723 
mapping data assosiation time 17.098012 ms 
sort q time 4.603291 
seperate points time 10.691170 
scan registration time 27.809292 ms *************
mapping solver time 12.396251 ms 
data association time 13.750315 ms 
mapping data assosiation time 16.707443 ms 
solver time 10.900769 ms 
mapping solver time 13.645492 ms 
mapping optimization time 63.183866 
add points time 0.241863 ms
filter time 1.136772 ms 
mapping pub time 1.414209 ms 
whole mapping time 67.821781 ms +++++
data association time 14.139760 ms 
solver time 7.600996 ms 
optimization twice time 47.272309 
publication time 7.760812 ms 
whole laserOdometry time 55.049760 ms 
 
map prepare time 2.799380 ms
map corner num 6557  surf num 3923 
build tree time 2.194616 ms 
mapping data assosiation time 16.811132 ms 
points size 90849 
prepare time 14.638367 
mapping solver time 14.213411 ms 
sort q time 6.462874 
seperate points time 15.399190 
scan registration time 35.311137 ms *************
mapping data assosiation time 18.661226 ms 
mapping solver time 9.199514 ms 
mapping optimization time 62.149067 
add points time 0.209994 ms
filter time 0.920523 ms 
mapping pub time 1.083709 ms 
whole mapping time 67.206439 ms +++++
data association time 15.283047 ms 
solver time 8.056761 ms 
data association time 13.612014 ms 
solver time 7.903647 ms 
optimization twice time 45.673882 
publication time 7.673589 ms 
whole laserOdometry time 53.366865 ms 
 
map prepare time 2.160520 ms
map corner num 7141  surf num 4167 
points size 90931 
prepare time 13.649531 
mapping data assosiation time 20.042094 ms 
sort q time 4.211431 
seperate points time 9.991892 
scan registration time 27.659471 ms *************
mapping solver time 16.394418 ms 
data association time 14.024622 ms 
mapping data assosiation time 17.989397 ms 
solver time 8.194264 ms 
mapping solver time 10.670734 ms 
mapping optimization time 68.672791 
add points time 0.276770 ms
filter time 1.325693 ms 
mapping pub time 1.443610 ms 
whole mapping time 73.922053 ms +++++
data association time 15.266745 ms 
solver time 6.074447 ms 
optimization twice time 44.313428 
publication time 7.872749 ms 
whole laserOdometry time 52.203658 ms 
 
map prepare time 1.947503 ms
map corner num 7715  surf num 4402 
build tree time 2.422874 ms 
mapping data assosiation time 17.261360 ms 
points size 90805 
prepare time 13.240457 
mapping solver time 12.244831 ms 
sort q time 4.747774 
seperate points time 11.218983 
scan registration time 28.621717 ms *************
mapping data assosiation time 18.942585 ms 
mapping solver time 8.382122 ms 
mapping optimization time 60.442207 
add points time 0.244448 ms
data association time 15.679917 ms 
filter time 1.917498 ms 
mapping pub time 1.154878 ms 
whole mapping time 65.744423 ms +++++
solver time 12.915107 ms 
data association time 14.116461 ms 
solver time 7.514059 ms 
optimization twice time 51.169992 
publication time 7.232667 ms 
whole laserOdometry time 58.417020 ms 
 
map prepare time 1.984816 ms
map corner num 8276  surf num 4601 
points size 90460 
prepare time 13.617404 
mapping data assosiation time 18.169973 ms 
sort q time 4.374656 
seperate points time 10.413141 
scan registration time 28.431694 ms *************
mapping solver time 14.767711 ms 
data association time 14.212624 ms 
mapping data assosiation time 17.113787 ms 
solver time 11.151201 ms 
mapping solver time 8.840543 ms 
mapping optimization time 62.663513 
add points time 0.230809 ms
filter time 1.867156 ms 
mapping pub time 1.378235 ms 
whole mapping time 68.189885 ms +++++
data association time 14.369587 ms 
solver time 7.981046 ms 
optimization twice time 48.552543 
publication time 7.948686 ms 
whole laserOdometry time 56.518634 ms 
 
map prepare time 1.944672 ms
map corner num 8799  surf num 4786 
build tree time 2.802422 ms 
mapping data assosiation time 18.159128 ms 
points size 87818 
prepare time 13.086202 
mapping solver time 12.910536 ms 
sort q time 4.784546 
seperate points time 11.387457 
scan registration time 28.553125 ms *************
mapping data assosiation time 20.358319 ms 
data association time 14.190647 ms 
mapping solver time 10.286982 ms 
mapping optimization time 65.744568 
add points time 0.262227 ms
filter time 1.474931 ms 
solver time 7.949056 ms 
mapping pub time 1.475654 ms 
whole mapping time 70.945853 ms +++++
data association time 13.940402 ms 
solver time 9.698050 ms 
optimization twice time 46.714627 
publication time 9.540866 ms 
whole laserOdometry time 56.280993 ms 
 
map prepare time 2.497943 ms
map corner num 9325  surf num 4969 
build tree time 2.368231 ms 
points size 84809 
prepare time 12.866036 
mapping data assosiation time 19.065588 ms 
sort q time 5.286211 
seperate points time 12.800164 
mapping solver time 13.305787 ms 
scan registration time 29.866229 ms *************
mapping data assosiation time 19.323347 ms 
data association time 14.007624 ms 
mapping solver time 10.376160 ms 
mapping optimization time 65.580492 
add points time 0.308163 ms
filter time 1.484635 ms 
mapping pub time 1.027684 ms 
whole mapping time 70.938125 ms +++++
solver time 13.399794 ms 
data association time 14.511456 ms 
solver time 7.375764 ms 
optimization twice time 50.234593 
publication time 8.512786 ms 
whole laserOdometry time 58.777905 ms 
 
map prepare time 2.899833 ms
map corner num 9866  surf num 5158 
build tree time 2.993043 ms 
points size 83607 
prepare time 12.691120 
mapping data assosiation time 18.705591 ms 
sort q time 4.627488 
seperate points time 11.192385 
scan registration time 27.889405 ms *************
mapping solver time 15.598183 ms 
data association time 14.692788 ms 
mapping data assosiation time 18.437737 ms 
solver time 10.025322 ms 
mapping solver time 9.241956 ms 
mapping optimization time 66.051343 
add points time 0.276126 ms
filter time 1.400372 ms 
mapping pub time 1.037433 ms 
whole mapping time 71.695659 ms +++++
data association time 17.379536 ms 
optimization twice time 48.956548 
publication time 7.976538 ms 
whole laserOdometry time 56.950169 ms 
 
map prepare time 2.030854 ms
map corner num 10368  surf num 5309 
build tree time 2.656148 ms 
points size 82328 
prepare time 12.855405 
mapping data assosiation time 19.403603 ms 
sort q time 3.790559 
seperate points time 9.394715 
scan registration time 26.237172 ms *************
mapping solver time 15.731162 ms 
data association time 14.311349 ms 
mapping data assosiation time 18.666144 ms 
solver time 10.397936 ms 
mapping solver time 9.388434 ms 
mapping optimization time 66.953783 
add points time 0.255946 ms
filter time 1.953086 ms 
mapping pub time 1.014023 ms 
whole mapping time 72.250302 ms +++++
data association time 14.077041 ms 
solver time 8.488825 ms 
optimization twice time 48.081725 
publication time 7.696244 ms 
whole laserOdometry time 55.794861 ms 
 
build tree time 2.640419 ms 
mapping data assosiation time 19.443684 ms 
points size 81765 
prepare time 12.699889 
mapping solver time 14.086954 ms 
sort q time 3.809705 
seperate points time 9.469301 
mapping data assosiation time 18.898674 ms 
data association time 12.370336 ms 
mapping solver time 9.479936 ms 
mapping optimization time 65.648210 
add points time 0.265878 ms
filter time 1.768308 ms 
data association time 12.619483 ms 
solver time 5.129722 ms 
optimization twice time 39.669207 
publication time 7.022773 ms 
whole laserOdometry time 46.708488 ms 
 
map prepare time 2.757501 ms
map corner num 11359  surf num 5628 
build tree time 3.420403 ms 
mapping data assosiation time 19.095338 ms 
points size 81616 
mapping solver time 13.827664 ms 
sort q time 4.121352 
seperate points time 10.239217 
scan registration time 26.318880 ms *************
mapping data assosiation time 20.780509 ms 
mapping solver time 9.776523 ms 
mapping pub time 1.279929 ms 
whole mapping time 74.305347 ms +++++
data association time 13.341948 ms 
solver time 8.732316 ms 
optimization twice time 47.936023 
publication time 9.211239 ms 
whole laserOdometry time 57.167829 ms 
 
map prepare time 2.676387 ms
map corner num 11847  surf num 5754 
build tree time 3.116597 ms 
points size 81236 
prepare time 13.283437 
mapping data assosiation time 20.032697 ms 
sort q time 3.972261 
seperate points time 9.853690 
mapping solver time 14.604323 ms 
data association time 14.524182 ms 
mapping data assosiation time 18.712444 ms 
solver time 8.663822 ms 
mapping solver time 10.121880 ms 
mapping optimization time 67.541079 
add points time 0.388528 ms
filter time 1.761325 ms 
solver time 7.425973 ms 
publication time 6.979780 ms 
whole laserOdometry time 52.530024 ms 
 
map prepare time 1.939434 ms
map corner num 12290  surf num 5910 
build tree time 3.695251 ms 
mapping data assosiation time 21.032652 ms 
points size 80233 
sort q time 3.804038 
seperate points time 9.457032 
mapping data assosiation time 17.491483 ms 
mapping solver time 11.023931 ms 
mapping pub time 1.030689 ms 
whole mapping time 74.793225 ms +++++
data association time 14.416481 ms 
solver time 8.051273 ms 
optimization twice time 46.836546 
publication time 7.119021 ms 
whole laserOdometry time 53.973046 ms 
 
map prepare time 2.007052 ms
map corner num 12764  surf num 6042 
build tree time 3.430440 ms 
mapping data assosiation time 21.732089 ms 
points size 78502 
prepare time 12.554519 
sort q time 3.743508 
seperate points time 9.244761 
mapping solver time 14.710713 ms 
scan registration time 25.254098 ms *************
mapping data assosiation time 19.342260 ms 
data association time 14.145363 ms 
solver time 8.213501 ms 
mapping solver time 12.779074 ms 
filter time 1.985526 ms 
mapping pub time 1.047286 ms 
whole mapping time 78.527980 ms +++++
data association time 13.673819 ms 
solver time 8.003250 ms 
optimization twice time 44.939894 
publication time 8.087184 ms 
whole laserOdometry time 53.046842 ms 
 
map prepare time 1.817291 ms
map corner num 13260  surf num 6186 
build tree time 4.068820 ms 
mapping data assosiation time 18.065313 ms 
points size 74971 
prepare time 11.866174 
sort q time 3.120156 
seperate points time 7.843789 
mapping solver time 13.855535 ms 
scan registration time 22.937092 ms *************
mapping data assosiation time 18.603226 ms 
data association time 13.738058 ms 
mapping solver time 10.082864 ms 
mapping optimization time 65.992787 
add points time 0.275124 ms
filter time 2.056520 ms 
data association time 21.155847 ms 
solver time 9.367240 ms 
optimization twice time 56.371799 
publication time 8.007841 ms 
whole laserOdometry time 64.395339 ms 
 
map prepare time 2.008230 ms
map corner num 13715  surf num 6306 
build tree time 4.139019 ms 
points size 72440 
mapping data assosiation time 17.640279 ms 
sort q time 3.080591 
seperate points time 7.651569 
scan registration time 23.951842 ms *************
mapping solver time 15.822437 ms 
data association time 14.717427 ms 
mapping data assosiation time 19.527195 ms 
solver time 10.542309 ms 
mapping solver time 9.021814 ms 
mapping optimization time 67.394087 
add points time 0.267487 ms
filter time 1.841287 ms 
mapping pub time 0.884481 ms 
whole mapping time 72.437135 ms +++++
data association time 16.881698 ms 
solver time 8.560176 ms 
optimization twice time 51.680697 
publication time 7.921431 ms 
whole laserOdometry time 59.620588 ms 
 
map prepare time 2.044503 ms
map corner num 14181  surf num 6421 
build tree time 4.070462 ms 
points size 70906 
mapping data assosiation time 23.050309 ms 
sort q time 4.106399 
seperate points time 10.619195 
scan registration time 31.398682 ms *************
mapping solver time 13.813494 ms 
mapping data assosiation time 16.554406 ms 
data association time 13.695668 ms 
mapping solver time 8.239692 ms 
mapping optimization time 66.703750 
add points time 0.282277 ms
filter time 1.737355 ms 
mapping pub time 0.879405 ms 
whole mapping time 71.687437 ms +++++
solver time 11.957989 ms 
data association time 12.552102 ms 
optimization twice time 47.160381 
publication time 5.884030 ms 
whole laserOdometry time 53.061334 ms 
 
map prepare time 1.767935 ms
map corner num 14658  surf num 6544 
build tree time 3.992191 ms 
points size 70109 
prepare time 11.661482 
sort q time 3.257565 
seperate points time 8.149434 
mapping solver time 13.229604 ms 
data association time 12.537009 ms 
mapping data assosiation time 18.293695 ms 
solver time 11.056203 ms 
mapping solver time 12.018557 ms 
mapping optimization time 65.495728 
add points time 0.340431 ms
filter time 1.994665 ms 
data association time 14.624961 ms 
solver time 9.907783 ms 
optimization twice time 48.955425 
publication time 7.760723 ms 
whole laserOdometry time 56.741183 ms 
 
map prepare time 1.666385 ms
map corner num 15085  surf num 6660 
build tree time 3.731059 ms 
points size 70066 
prepare time 11.155505 
mapping data assosiation time 16.954885 ms 
sort q time 3.682044 
seperate points time 9.028723 
scan registration time 23.230065 ms *************
mapping solver time 12.694994 ms 
mapping data assosiation time 16.539129 ms 
data association time 13.803049 ms 
add points time 0.279389 ms
filter time 2.225321 ms 
mapping pub time 0.898232 ms 
whole mapping time 63.778094 ms +++++
data association time 12.247827 ms 
solver time 7.569408 ms 
optimization twice time 45.562972 
publication time 6.183840 ms 
whole laserOdometry time 51.763270 ms 
 
map prepare time 1.708012 ms
map corner num 15529  surf num 6763 
build tree time 3.905655 ms 
mapping data assosiation time 16.878932 ms 
points size 71159 
prepare time 12.516029 
mapping solver time 12.386574 ms 
sort q time 3.829947 
seperate points time 9.557916 
mapping data assosiation time 17.248237 ms 
mapping solver time 7.823802 ms 
filter time 2.074569 ms 
mapping pub time 1.014872 ms 
whole mapping time 64.481950 ms +++++
solver time 11.070842 ms 
data association time 12.013112 ms 
solver time 8.578912 ms 
optimization twice time 46.106255 
publication time 6.546084 ms 
whole laserOdometry time 52.669699 ms 
 
map prepare time 1.891555 ms
map corner num 16014  surf num 6874 
build tree time 4.042281 ms 
mapping data assosiation time 17.183471 ms 
points size 72975 
sort q time 3.007486 
seperate points time 7.360397 
mapping data assosiation time 16.695923 ms 
mapping solver time 7.803430 ms 
data association time 12.979493 ms 
mapping optimization time 59.788764 
add points time 0.276212 ms
filter time 1.777150 ms 
solver time 11.771668 ms 
data association time 12.209901 ms 
solver time 7.507321 ms 
optimization twice time 45.211582 
publication time 6.062847 ms 
whole laserOdometry time 51.289563 ms 
 
map prepare time 1.685255 ms
map corner num 16474  surf num 7000 
build tree time 4.038065 ms 
mapping data assosiation time 15.578927 ms 
points size 76004 
prepare time 11.980128 
mapping solver time 13.069720 ms 
sort q time 3.697842 
seperate points time 9.029294 
scan registration time 24.544606 ms *************
mapping data assosiation time 16.573420 ms 
data association time 12.883451 ms 
mapping solver time 10.291894 ms 
mapping optimization time 60.410033 
add points time 0.321047 ms
solver time 10.722207 ms 
data association time 12.598747 ms 
solver time 7.925851 ms 
publication time 7.395236 ms 
whole laserOdometry time 52.291229 ms 
 
map prepare time 2.767348 ms
map corner num 16937  surf num 7120 
build tree time 4.049213 ms 
mapping data assosiation time 15.887767 ms 
points size 79318 
prepare time 12.265052 
mapping solver time 12.440787 ms 
sort q time 3.551364 
seperate points time 9.016808 
mapping data assosiation time 16.060504 ms 
mapping solver time 8.096133 ms 
mapping pub time 0.887259 ms 
whole mapping time 63.793722 ms +++++
solver time 10.109975 ms 
data association time 12.577543 ms 
solver time 7.353068 ms 
optimization twice time 45.016573 
publication time 6.183213 ms 
whole laserOdometry time 51.216929 ms 
 
map prepare time 1.675763 ms
map corner num 17396  surf num 7226 
build tree time 4.266792 ms 
mapping data assosiation time 15.153874 ms 
points size 83489 
mapping solver time 11.812447 ms 
prepare time 14.209708 
sort q time 4.476337 
seperate points time 10.493613 
scan registration time 28.731932 ms *************
mapping solver time 7.306434 ms 
filter time 2.669663 ms 
mapping pub time 1.497218 ms 
whole mapping time 63.486192 ms +++++
data association time 14.195488 ms 
solver time 9.722528 ms 
data association time 13.026561 ms 
solver time 7.270414 ms 
optimization twice time 45.062290 
publication time 6.160798 ms 
whole laserOdometry time 51.238410 ms 
 
map prepare time 1.814348 ms
map corner num 17769  surf num 7324 
build tree time 4.420473 ms 
points size 84994 
prepare time 18.852079 
sort q time 4.907367 
seperate points time 11.751274 
mapping data assosiation time 20.693971 ms 
data association time 22.672201 ms 
mapping solver time 15.018034 ms 
mapping optimization time 80.493449 
add points time 0.273091 ms
solver time 16.206858 ms 
data association time 12.600652 ms 
solver time 8.113425 ms 
publication time 8.204677 ms 
whole laserOdometry time 68.615617 ms 
 
map prepare time 2.012755 ms
map corner num 18202  surf num 7444 
build tree time 4.525520 ms 
prepare time 13.376976 
sort q time 4.920787 
seperate points time 11.468749 
scan registration time 29.155982 ms *************
mapping solver time 10.805691 ms 
data association time 13.765837 ms 
solver time 10.217311 ms 
mapping data assosiation time 18.594382 ms 
mapping solver time 8.537849 ms 
filter time 2.622305 ms 
mapping pub time 1.234620 ms 
whole mapping time 68.108750 ms +++++
solver time 8.947697 ms 
publication time 7.357147 ms 
whole laserOdometry time 54.264059 ms 
 
map prepare time 1.567571 ms
map corner num 18659  surf num 7557 
build tree time 4.692932 ms 
points size 86958 
mapping data assosiation time 17.071461 ms 
prepare time 14.082983 
mapping solver time 10.722176 ms 
sort q time 4.299202 
seperate points time 10.216133 
mapping data assosiation time 16.591054 ms 
mapping solver time 8.082106 ms 
mapping optimization time 58.022388 
add points time 0.330072 ms
data association time 12.980494 ms 
filter time 2.109566 ms 
mapping pub time 1.203575 ms 
whole mapping time 63.290273 ms +++++
solver time 11.053902 ms 
data association time 13.004272 ms 
solver time 7.511959 ms 
optimization twice time 45.496345 
publication time 6.550241 ms 
whole laserOdometry time 52.061472 ms 
 
map prepare time 2.709306 ms
map corner num 19111  surf num 7639 
build tree time 5.198363 ms 
mapping data assosiation time 15.837666 ms 
points size 87533 
mapping solver time 12.949400 ms 
scan registration time 27.464849 ms *************
mapping data assosiation time 17.647672 ms 
data association time 13.001770 ms 
mapping solver time 10.529154 ms 
filter time 2.424511 ms 
mapping pub time 1.160408 ms 
whole mapping time 69.786151 ms +++++
solver time 11.502642 ms 
data association time 13.088826 ms 
solver time 7.509483 ms 
publication time 6.826636 ms 
whole laserOdometry time 52.821946 ms 
 
map prepare time 1.701435 ms
map corner num 19607  surf num 7758 
build tree time 5.088334 ms 
points size 90752 
mapping data assosiation time 20.519782 ms 
sort q time 4.656915 
seperate points time 11.155006 
mapping solver time 16.488987 ms 
scan registration time 34.888523 ms *************
mapping data assosiation time 16.323942 ms 
mapping solver time 10.065051 ms 
filter time 3.391849 ms 
mapping pub time 1.216505 ms 
whole mapping time 76.110154 ms +++++
solver time 10.773437 ms 
data association time 13.053739 ms 
solver time 9.751567 ms 
optimization twice time 49.606104 
publication time 7.262786 ms 
whole laserOdometry time 56.889223 ms 
 
build tree time 6.501543 ms 
points size 93142 
prepare time 18.774276 
mapping data assosiation time 20.492410 ms 
scan registration time 36.028243 ms *************
mapping solver time 12.510789 ms 
data association time 13.457656 ms 
mapping data assosiation time 17.619522 ms 
solver time 13.036961 ms 
mapping solver time 10.349033 ms 
filter time 2.676045 ms 
mapping pub time 1.299611 ms 
whole mapping time 75.462669 ms +++++
data association time 15.421168 ms 
solver time 7.823597 ms 
optimization twice time 50.688842 
publication time 7.308138 ms 
whole laserOdometry time 58.014997 ms 
 
map prepare time 3.043390 ms
map corner num 20752  surf num 8294 
build tree time 6.588370 ms 
points size 92615 
prepare time 19.207576 
mapping data assosiation time 24.519454 ms 
sort q time 6.055289 
seperate points time 14.883037 
scan registration time 38.979020 ms *************
mapping solver time 16.531230 ms 
data association time 15.187251 ms 
mapping data assosiation time 19.815518 ms 
mapping solver time 10.787476 ms 
mapping optimization time 79.289866 
add points time 0.271497 ms
filter time 3.568163 ms 
data association time 14.836010 ms 
mapping pub time 2.499588 ms 
whole mapping time 88.714923 ms +++++
solver time 8.031953 ms 
optimization twice time 50.481064 
publication time 7.957492 ms 
whole laserOdometry time 58.456455 ms 
 
map prepare time 2.427844 ms
map corner num 21358  surf num 8614 
build tree time 5.536023 ms 
points size 93005 
sort q time 4.351753 
seperate points time 10.273255 
mapping data assosiation time 19.051654 ms 
scan registration time 30.853039 ms *************
mapping solver time 14.225564 ms 
data association time 13.735346 ms 
mapping data assosiation time 20.162443 ms 
solver time 10.495523 ms 
mapping solver time 10.550041 ms 
data association time 13.464300 ms 
filter time 3.251165 ms 
mapping pub time 1.296204 ms 
whole mapping time 77.979608 ms +++++
optimization twice time 46.441633 
publication time 7.013743 ms 
whole laserOdometry time 53.474750 ms 
 
build tree time 5.050125 ms 
points size 93946 
prepare time 13.801151 
mapping data assosiation time 19.712616 ms 
sort q time 5.318080 
seperate points time 12.182414 
scan registration time 29.551075 ms *************
mapping solver time 16.515612 ms 
data association time 14.957734 ms 
mapping data assosiation time 19.939242 ms 
solver time 10.678238 ms 
mapping solver time 10.898075 ms 
mapping optimization time 73.353854 
add points time 0.318013 ms
solver time 7.463631 ms 
publication time 7.887086 ms 
whole laserOdometry time 57.252009 ms 
 
map prepare time 2.088620 ms
map corner num 22553  surf num 9136 
points size 93967 
prepare time 12.325305 
mapping data assosiation time 19.545424 ms 
sort q time 4.256493 
seperate points time 9.962079 
scan registration time 26.496206 ms *************
mapping solver time 18.552715 ms 
data association time 23.924634 ms 
mapping data assosiation time 24.775049 ms 
solver time 17.432755 ms 
mapping solver time 16.630015 ms 
mapping optimization time 87.143095 
add points time 0.341790 ms
filter time 2.324176 ms 
mapping pub time 1.324270 ms 
whole mapping time 93.261747 ms +++++
solver time 7.353155 ms 
publication time 7.490407 ms 
whole laserOdometry time 76.196131 ms 
 
map prepare time 2.569999 ms
map corner num 23138  surf num 9403 
points size 93522 
prepare time 14.797144 
sort q time 4.416203 
seperate points time 10.350310 
mapping data assosiation time 20.064584 ms 
data association time 13.597952 ms 
mapping solver time 14.165699 ms 
solver time 14.959156 ms 
mapping data assosiation time 20.176331 ms 
data association time 14.796819 ms 
mapping solver time 11.914505 ms 
filter time 3.108133 ms 
solver time 10.150512 ms 
optimization twice time 54.448671 
[0m[ INFO] [1718887021.115005204]: Received 33349 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887021.115042026]: Data saved to 1317357765989300.pcd[0m
mapping pub time 2.345714 ms 
whole mapping time 81.746444 ms +++++
publication time 7.516784 ms 
whole laserOdometry time 61.983791 ms 
 
build tree time 6.098858 ms 
points size 93247 
prepare time 17.994564 
mapping data assosiation time 20.258623 ms 
sort q time 4.877610 
seperate points time 11.695400 
mapping solver time 12.748676 ms 
mapping data assosiation time 21.404198 ms 
data association time 15.673803 ms 
mapping solver time 9.327947 ms 
mapping optimization time 71.038894 
add points time 0.297385 ms
solver time 11.144668 ms 
data association time 13.900291 ms 
solver time 7.780006 ms 
publication time 7.333425 ms 
whole laserOdometry time 56.670914 ms 
 
map prepare time 2.592573 ms
map corner num 24252  surf num 9840 
build tree time 6.287739 ms 
prepare time 13.429331 
sort q time 4.562122 
seperate points time 10.536807 
mapping data assosiation time 19.204286 ms 
scan registration time 28.070531 ms *************
mapping solver time 11.623462 ms 
data association time 13.776319 ms 
mapping data assosiation time 19.550095 ms 
mapping solver time 9.297535 ms 
filter time 3.154076 ms 
mapping pub time 1.376438 ms 
whole mapping time 74.734617 ms +++++
data association time 15.169455 ms 
solver time 8.333199 ms 
optimization twice time 46.496062 
publication time 7.449367 ms 
whole laserOdometry time 53.962992 ms 
 
map prepare time 2.710883 ms
map corner num 24777  surf num 10021 
build tree time 7.033006 ms 
points size 88517 
mapping data assosiation time 20.540326 ms 
scan registration time 27.229752 ms *************
mapping solver time 13.348934 ms 
data association time 12.746079 ms 
mapping data assosiation time 19.716677 ms 
solver time 10.770560 ms 
mapping solver time 10.203236 ms 
mapping optimization time 72.193339 
add points time 0.335344 ms
filter time 3.175437 ms 
mapping pub time 1.377630 ms 
whole mapping time 79.842096 ms +++++
data association time 14.415112 ms 
solver time 7.773361 ms 
publication time 7.242781 ms 
whole laserOdometry time 53.913081 ms 
 
map prepare time 1.823176 ms
map corner num 25264  surf num 10181 
build tree time 6.266003 ms 
points size 87391 
prepare time 15.171647 
mapping data assosiation time 20.949632 ms 
sort q time 4.682606 
seperate points time 10.983734 
scan registration time 30.289548 ms *************
mapping solver time 13.439193 ms 
mapping data assosiation time 18.024197 ms 
data association time 12.888895 ms 
mapping solver time 9.962345 ms 
mapping optimization time 69.816575 
add points time 0.316771 ms
solver time 10.850430 ms 
filter time 3.016433 ms 
mapping pub time 1.502159 ms 
whole mapping time 76.523782 ms +++++
data association time 13.959679 ms 
solver time 7.699453 ms 
optimization twice time 46.249575 
publication time 6.716254 ms 
whole laserOdometry time 52.987053 ms 
 
map prepare time 1.842125 ms
map corner num 25729  surf num 10320 
build tree time 6.381552 ms 
points size 85088 
prepare time 14.569521 
mapping data assosiation time 18.999473 ms 
sort q time 4.306473 
seperate points time 10.314058 
mapping solver time 13.615340 ms 
mapping data assosiation time 19.314109 ms 
data association time 12.627076 ms 
solver time 7.986620 ms 
mapping solver time 11.201968 ms 
mapping optimization time 70.503615 
add points time 0.303554 ms
mapping pub time 1.395694 ms 
whole mapping time 77.782120 ms +++++
data association time 13.907464 ms 
solver time 8.167511 ms 
optimization twice time 43.611262 
publication time 6.198864 ms 
whole laserOdometry time 49.830927 ms 
 
map prepare time 1.661627 ms
map corner num 26177  surf num 10471 
build tree time 6.498389 ms 
points size 83274 
mapping data assosiation time 18.071442 ms 
sort q time 3.854854 
seperate points time 9.109635 
scan registration time 27.199061 ms *************
mapping solver time 12.610873 ms 
mapping data assosiation time 17.621070 ms 
data association time 12.302032 ms 
mapping solver time 11.310034 ms 
mapping optimization time 67.276635 
add points time 0.340443 ms
solver time 10.015962 ms 
data association time 12.824373 ms 
solver time 7.574079 ms 
optimization twice time 43.569228 
publication time 6.011741 ms 
whole laserOdometry time 49.599405 ms 
 
map prepare time 1.948861 ms
map corner num 26587  surf num 10583 
build tree time 6.271262 ms 
mapping data assosiation time 15.294756 ms 
prepare time 12.372445 
mapping solver time 9.679883 ms 
sort q time 3.817512 
seperate points time 9.082792 
scan registration time 24.327119 ms *************
mapping data assosiation time 17.850698 ms 
mapping solver time 10.476915 ms 
filter time 4.427261 ms 
data association time 19.764024 ms 
mapping pub time 1.494372 ms 
whole mapping time 68.979227 ms +++++
solver time 10.185462 ms 
data association time 11.574089 ms 
solver time 7.468583 ms 
optimization twice time 49.873307 
map prepare time 2.432772 ms
map corner num 26997  surf num 10667 
points size 78153 
mapping data assosiation time 15.045274 ms 
prepare time 12.529644 
mapping solver time 8.895306 ms 
sort q time 3.703942 
seperate points time 8.615622 
scan registration time 23.935604 ms *************
mapping data assosiation time 20.308904 ms 
data association time 20.621999 ms 
mapping solver time 10.493144 ms 
mapping optimization time 61.927355 
add points time 0.302272 ms
mapping pub time 1.292790 ms 
whole mapping time 69.507694 ms +++++
solver time 13.823414 ms 
data association time 11.897661 ms 
solver time 7.569965 ms 
optimization twice time 54.565210 
publication time 5.708041 ms 
whole laserOdometry time 60.291347 ms 
 
map prepare time 2.477892 ms
map corner num 27375  surf num 10755 
build tree time 7.414443 ms 
points size 77242 
prepare time 12.055121 
sort q time 4.015947 
seperate points time 9.421267 
mapping solver time 11.869275 ms 
scan registration time 24.325503 ms *************
mapping data assosiation time 16.379870 ms 
data association time 11.875677 ms 
mapping solver time 9.858930 ms 
mapping optimization time 61.531527 
filter time 3.315824 ms 
mapping pub time 1.005990 ms 
whole mapping time 68.661678 ms +++++
solver time 11.408480 ms 
data association time 11.834824 ms 
solver time 7.882258 ms 
optimization twice time 43.772700 
map prepare time 1.465502 ms
map corner num 27716  surf num 10853 
build tree time 6.533985 ms 
mapping data assosiation time 14.269019 ms 
points size 77416 
prepare time 13.559758 
mapping solver time 9.637445 ms 
sort q time 4.046692 
seperate points time 9.768772 
mapping data assosiation time 17.680425 ms 
mapping solver time 10.195065 ms 
mapping optimization time 59.268257 
add points time 0.304756 ms
data association time 12.056845 ms 
solver time 12.233434 ms 
data association time 10.909804 ms 
solver time 7.641363 ms 
optimization twice time 43.626043 
publication time 5.591976 ms 
whole laserOdometry time 49.234686 ms 
 
map prepare time 1.478094 ms
map corner num 28080  surf num 10956 
build tree time 6.476030 ms 
mapping data assosiation time 14.015736 ms 
points size 78864 
prepare time 12.368149 
sort q time 4.271807 
seperate points time 10.405374 
mapping data assosiation time 15.824557 ms 
mapping solver time 7.006986 ms 
mapping optimization time 56.830831 
add points time 0.271338 ms
data association time 12.021377 ms 
filter time 3.364406 ms 
mapping pub time 0.968946 ms 
whole mapping time 62.957671 ms +++++
solver time 10.525647 ms 
data association time 11.447235 ms 
solver time 7.547447 ms 
optimization twice time 42.304143 
publication time 5.705047 ms 
whole laserOdometry time 48.027514 ms 
 
map prepare time 1.576287 ms
map corner num 28426  surf num 11056 
build tree time 8.437549 ms 
mapping data assosiation time 15.852811 ms 
points size 79779 
mapping solver time 13.921427 ms 
sort q time 4.134649 
seperate points time 9.554852 
scan registration time 25.144606 ms *************
mapping data assosiation time 17.266244 ms 
mapping solver time 12.054771 ms 
mapping optimization time 68.478730 
add points time 0.283920 ms
solver time 7.949818 ms 
data association time 11.327939 ms 
solver time 8.414609 ms 
optimization twice time 42.681437 
map prepare time 1.604568 ms
map corner num 28800  surf num 11150 
build tree time 6.910272 ms 
mapping data assosiation time 15.657457 ms 
points size 80882 
prepare time 13.679657 
sort q time 4.463482 
seperate points time 10.262612 
mapping data assosiation time 16.075805 ms 
mapping solver time 8.521996 ms 
mapping optimization time 57.846327 
add points time 0.285052 ms
data association time 12.746321 ms 
solver time 11.943771 ms 
data association time 12.976356 ms 
solver time 9.134485 ms 
optimization twice time 47.717439 
publication time 7.724879 ms 
whole laserOdometry time 55.464764 ms 
 
map prepare time 2.218526 ms
map corner num 29137  surf num 11236 
build tree time 7.700316 ms 
points size 80951 
mapping data assosiation time 20.155229 ms 
prepare time 13.333268 
mapping solver time 10.665373 ms 
sort q time 4.585620 
seperate points time 10.553251 
scan registration time 26.819101 ms *************
mapping data assosiation time 15.616399 ms 
data association time 12.771938 ms 
mapping solver time 6.939700 ms 
mapping optimization time 62.075180 
add points time 0.265174 ms
solver time 11.821516 ms 
data association time 11.410910 ms 
solver time 7.282827 ms 
optimization twice time 44.034426 
map prepare time 1.621346 ms
map corner num 29472  surf num 11324 
build tree time 6.775861 ms 
mapping data assosiation time 15.161859 ms 
points size 81198 
prepare time 13.141992 
mapping solver time 10.575894 ms 
sort q time 3.791560 
seperate points time 9.243900 
scan registration time 25.749186 ms *************
mapping solver time 6.796354 ms 
filter time 3.534296 ms 
data association time 12.819139 ms 
mapping pub time 1.317312 ms 
whole mapping time 62.772355 ms +++++
solver time 10.609445 ms 
data association time 13.048103 ms 
solver time 8.742273 ms 
optimization twice time 46.063906 
publication time 6.996618 ms 
whole laserOdometry time 53.079041 ms 
 
map prepare time 2.677532 ms
map corner num 29814  surf num 11418 
build tree time 7.980539 ms 
mapping data assosiation time 15.916643 ms 
points size 82302 
prepare time 12.476269 
mapping solver time 11.657654 ms 
sort q time 4.296767 
seperate points time 9.914993 
mapping data assosiation time 16.815220 ms 
data association time 12.689014 ms 
filter time 3.672586 ms 
mapping pub time 1.346087 ms 
whole mapping time 69.018988 ms +++++
solver time 11.026239 ms 
data association time 12.100319 ms 
solver time 8.141189 ms 
publication time 6.751042 ms 
whole laserOdometry time 51.710497 ms 
 
map prepare time 2.636711 ms
map corner num 30180  surf num 11529 
mapping data assosiation time 14.715735 ms 
points size 83565 
prepare time 12.988101 
mapping solver time 11.602095 ms 
sort q time 3.833938 
seperate points time 9.192820 
scan registration time 25.587772 ms *************
mapping data assosiation time 16.462609 ms 
mapping solver time 9.192795 ms 
mapping optimization time 60.953760 
add points time 0.375576 ms
filter time 3.813603 ms 
mapping pub time 1.492308 ms 
whole mapping time 69.308701 ms +++++
data association time 16.926682 ms 
solver time 9.873759 ms 
data association time 12.156267 ms 
solver time 8.099081 ms 
optimization twice time 47.959110 
publication time 6.038190 ms 
whole laserOdometry time 54.014475 ms 
 
map prepare time 1.957310 ms
map corner num 30547  surf num 11635 
build tree time 8.732733 ms 
points size 83024 
prepare time 12.767783 
mapping data assosiation time 18.359667 ms 
sort q time 3.980784 
seperate points time 9.443521 
mapping solver time 13.682943 ms 
data association time 12.608199 ms 
mapping data assosiation time 16.677561 ms 
solver time 11.171994 ms 
mapping solver time 10.068396 ms 
mapping optimization time 68.524269 
add points time 0.334078 ms
solver time 7.366457 ms 
publication time 5.963050 ms 
whole laserOdometry time 51.323138 ms 
 
map prepare time 1.654865 ms
map corner num 30896  surf num 11761 
build tree time 7.305314 ms 
mapping data assosiation time 16.572328 ms 
points size 82416 
mapping solver time 11.453211 ms 
sort q time 3.932260 
seperate points time 9.149837 
scan registration time 25.435014 ms *************
mapping data assosiation time 16.529397 ms 
mapping solver time 8.798165 ms 
filter time 4.558881 ms 
mapping pub time 1.019576 ms 
whole mapping time 69.299224 ms +++++
solver time 10.264646 ms 
data association time 12.903689 ms 
solver time 9.106198 ms 
optimization twice time 48.749602 
publication time 7.946220 ms 
whole laserOdometry time 56.720492 ms 
 
map prepare time 2.486897 ms
map corner num 31258  surf num 11895 
points size 81860 
prepare time 14.826083 
mapping data assosiation time 16.976710 ms 
sort q time 3.836383 
seperate points time 9.087355 
mapping solver time 12.808458 ms 
data association time 12.376429 ms 
mapping data assosiation time 16.051422 ms 
solver time 12.886465 ms 
filter time 3.121723 ms 
data association time 15.196428 ms 
solver time 8.810525 ms 
optimization twice time 50.285436 
publication time 7.554774 ms 
whole laserOdometry time 57.858229 ms 
 
map prepare time 2.667269 ms
map corner num 31625  surf num 12062 
build tree time 8.465444 ms 
points size 82633 
mapping data assosiation time 16.665341 ms 
sort q time 3.719153 
seperate points time 8.586763 
mapping solver time 13.174259 ms 
mapping data assosiation time 16.875664 ms 
data association time 12.108137 ms 
mapping solver time 11.752972 ms 
mapping optimization time 67.996837 
add points time 0.292371 ms
solver time 11.312846 ms 
data association time 12.845106 ms 
solver time 7.535368 ms 
publication time 6.618369 ms 
whole laserOdometry time 51.328112 ms 
 
map prepare time 2.018948 ms
map corner num 32018  surf num 12194 
build tree time 8.089613 ms 
points size 82080 
sort q time 4.200596 
seperate points time 9.981381 
mapping solver time 11.683835 ms 
scan registration time 25.990823 ms *************
mapping data assosiation time 17.729191 ms 
data association time 12.040231 ms 
mapping solver time 8.720975 ms 
mapping optimization time 64.102269 
add points time 0.327702 ms
solver time 8.523818 ms 
filter time 3.976339 ms 
mapping pub time 1.153758 ms 
whole mapping time 71.640684 ms +++++
data association time 12.234938 ms 
solver time 8.042275 ms 
optimization twice time 41.762598 
publication time 6.151614 ms 
whole laserOdometry time 47.934590 ms 
 
map prepare time 1.985220 ms
map corner num 32418  surf num 12333 
build tree time 8.354932 ms 
mapping data assosiation time 16.538003 ms 
points size 81828 
prepare time 12.276427 
mapping solver time 12.574897 ms 
sort q time 4.125357 
seperate points time 9.664053 
mapping data assosiation time 21.574837 ms 
data association time 21.533120 ms 
mapping solver time 15.070777 ms 
mapping optimization time 75.238723 
add points time 0.364770 ms
filter time 4.564249 ms 
mapping pub time 2.589954 ms 
whole mapping time 84.788169 ms +++++
solver time 15.763569 ms 
data association time 11.792156 ms 
solver time 7.564850 ms 
optimization twice time 57.574429 
publication time 6.002350 ms 
whole laserOdometry time 63.593524 ms 
 
map prepare time 2.557886 ms
map corner num 32807  surf num 12447 
build tree time 8.631880 ms 
points size 82110 
prepare time 12.751402 
mapping data assosiation time 15.766245 ms 
sort q time 3.893189 
seperate points time 9.328630 
scan registration time 25.592659 ms *************
data association time 12.154406 ms 
mapping data assosiation time 15.569001 ms 
solver time 11.623632 ms 
mapping solver time 10.028583 ms 
mapping optimization time 63.820703 
add points time 0.351351 ms
data association time 12.901940 ms 
solver time 8.349710 ms 
optimization twice time 45.930049 
publication time 6.432573 ms 
whole laserOdometry time 52.380644 ms 
 
map prepare time 2.138624 ms
map corner num 33169  surf num 12539 
build tree time 7.522931 ms 
points size 82726 
mapping data assosiation time 19.225500 ms 
prepare time 12.567884 
sort q time 3.730824 
seperate points time 8.792040 
mapping solver time 12.751005 ms 
scan registration time 24.641970 ms *************
mapping data assosiation time 17.353275 ms 
data association time 12.835947 ms 
solver time 10.872946 ms 
filter time 3.323687 ms 
mapping pub time 1.797531 ms 
whole mapping time 78.326168 ms +++++
data association time 12.821703 ms 
solver time 7.735015 ms 
publication time 5.955416 ms 
whole laserOdometry time 51.069627 ms 
 
map prepare time 1.767048 ms
map corner num 33584  surf num 12649 
build tree time 7.920113 ms 
mapping data assosiation time 15.907054 ms 
points size 83729 
prepare time 12.191711 
mapping solver time 13.299747 ms 
sort q time 3.673390 
seperate points time 8.752762 
mapping data assosiation time 17.470221 ms 
data association time 12.604414 ms 
mapping solver time 10.010922 ms 
mapping optimization time 65.608659 
add points time 0.296799 ms
filter time 3.060860 ms 
mapping pub time 1.120609 ms 
whole mapping time 71.899495 ms +++++
solver time 11.455883 ms 
data association time 12.552973 ms 
solver time 8.049026 ms 
optimization twice time 45.513836 
publication time 6.810483 ms 
whole laserOdometry time 52.357006 ms 
 
map prepare time 1.825034 ms
map corner num 33958  surf num 12753 
build tree time 7.638065 ms 
mapping data assosiation time 15.844875 ms 
points size 84805 
prepare time 13.100569 
mapping solver time 11.452041 ms 
sort q time 4.979388 
seperate points time 11.302011 
scan registration time 27.988239 ms *************
mapping data assosiation time 17.959000 ms 
mapping solver time 10.952905 ms 
filter time 3.738812 ms 
mapping pub time 1.567764 ms 
whole mapping time 72.592860 ms +++++
data association time 15.253590 ms 
solver time 11.493102 ms 
data association time 12.745974 ms 
solver time 7.769722 ms 
optimization twice time 48.256070 
publication time 7.424371 ms 
whole laserOdometry time 55.700866 ms 
 
build tree time 7.837580 ms 
points size 85213 
prepare time 13.341838 
mapping data assosiation time 19.035026 ms 
scan registration time 26.749475 ms *************
mapping solver time 12.006322 ms 
data association time 15.185107 ms 
mapping data assosiation time 19.751597 ms 
solver time 10.515848 ms 
mapping solver time 9.292071 ms 
filter time 4.162180 ms 
mapping pub time 1.808929 ms 
whole mapping time 77.526175 ms +++++
data association time 15.307160 ms 
solver time 8.730854 ms 
optimization twice time 50.537516 
publication time 6.678309 ms 
whole laserOdometry time 57.236391 ms 
 
map prepare time 1.872259 ms
map corner num 34696  surf num 12956 
build tree time 7.942083 ms 
points size 85002 
prepare time 13.399058 
mapping data assosiation time 17.891132 ms 
sort q time 4.367242 
seperate points time 10.197747 
mapping solver time 10.909081 ms 
scan registration time 27.230068 ms *************
mapping data assosiation time 20.636828 ms 
data association time 22.749179 ms 
mapping solver time 15.345274 ms 
mapping optimization time 73.800768 
add points time 0.350829 ms
filter time 4.291799 ms 
solver time 14.255496 ms 
data association time 12.442738 ms 
solver time 7.591439 ms 
optimization twice time 57.882387 
publication time 6.688546 ms 
whole laserOdometry time 64.591063 ms 
 
map prepare time 2.467383 ms
map corner num 35026  surf num 13051 
build tree time 8.467755 ms 
points size 84945 
prepare time 13.087922 
sort q time 4.325873 
seperate points time 9.968511 
mapping data assosiation time 18.774222 ms 
mapping solver time 12.140313 ms 
data association time 13.016729 ms 
mapping data assosiation time 17.713795 ms 
solver time 9.995283 ms 
mapping solver time 11.159379 ms 
mapping optimization time 69.375923 
add points time 0.323230 ms
data association time 13.328672 ms 
mapping pub time 2.550860 ms 
whole mapping time 78.361529 ms +++++
solver time 8.292187 ms 
optimization twice time 45.533210 
publication time 7.171294 ms 
whole laserOdometry time 52.723932 ms 
 
map prepare time 1.882622 ms
map corner num 35391  surf num 13158 
build tree time 8.598819 ms 
points size 85578 
prepare time 12.911497 
mapping data assosiation time 17.050640 ms 
scan registration time 25.015568 ms *************
mapping solver time 12.635523 ms 
mapping data assosiation time 16.334325 ms 
data association time 13.067622 ms 
mapping solver time 10.331455 ms 
mapping optimization time 66.060023 
add points time 0.325434 ms
solver time 10.957290 ms 
filter time 3.948580 ms 
data association time 13.146382 ms 
solver time 7.504383 ms 
publication time 8.046154 ms 
whole laserOdometry time 53.668603 ms 
 
map prepare time 1.858875 ms
map corner num 35769  surf num 13265 
build tree time 10.089535 ms 
points size 87990 
prepare time 19.224947 
mapping data assosiation time 23.601822 ms 
sort q time 5.304185 
seperate points time 12.911432 
scan registration time 36.764547 ms *************
mapping solver time 17.065253 ms 
mapping data assosiation time 17.619350 ms 
data association time 13.459603 ms 
mapping solver time 10.750816 ms 
mapping optimization time 80.190397 
solver time 11.155221 ms 
add points time 0.370891 ms
filter time 4.615465 ms 
data association time 13.952640 ms 
solver time 8.066979 ms 
optimization twice time 47.530385 
publication time 7.259503 ms 
whole laserOdometry time 54.806430 ms 
 
map prepare time 2.953471 ms
map corner num 36207  surf num 13435 
points size 90191 
build tree time 12.059769 ms 
prepare time 17.475416 
sort q time 5.804377 
seperate points time 14.132397 
scan registration time 36.956223 ms *************
mapping data assosiation time 23.447317 ms 
mapping solver time 13.286119 ms 
data association time 15.024703 ms 
mapping data assosiation time 17.977330 ms 
solver time 14.375539 ms 
mapping optimization time 78.857983 
add points time 0.344391 ms
filter time 4.506950 ms 
mapping pub time 1.217832 ms 
whole mapping time 87.918635 ms +++++
solver time 7.666760 ms 
publication time 8.172037 ms 
whole laserOdometry time 61.749699 ms 
 
points size 92263 
map prepare time 3.248910 ms
map corner num 36651  surf num 13609 
prepare time 14.178129 
build tree time 10.092153 ms 
sort q time 4.382885 
seperate points time 10.344491 
mapping data assosiation time 17.733334 ms 
data association time 14.987262 ms 
mapping solver time 12.841405 ms 
solver time 14.392446 ms 
mapping data assosiation time 18.370392 ms 
mapping solver time 10.397988 ms 
mapping optimization time 70.516159 
add points time 0.346831 ms
data association time 16.299578 ms 
solver time 12.157860 ms 
publication time 8.639383 ms 
whole laserOdometry time 67.430749 ms 
 
map prepare time 2.609680 ms
map corner num 36968  surf num 13713 
points size 93870 
build tree time 10.260780 ms 
sort q time 4.788054 
seperate points time 11.293522 
scan registration time 30.536180 ms *************
mapping data assosiation time 18.021393 ms 
mapping solver time 13.286404 ms 
data association time 15.233550 ms 
mapping data assosiation time 18.178704 ms 
solver time 14.761305 ms 
mapping solver time 9.517603 ms 
mapping optimization time 70.416702 
add points time 0.391148 ms
data association time 15.397597 ms 
solver time 9.160011 ms 
publication time 8.675988 ms 
whole laserOdometry time 64.160254 ms 
 
map prepare time 2.032667 ms
map corner num 37300  surf num 13792 
prepare time 14.304034 
build tree time 8.756751 ms 
sort q time 5.035845 
seperate points time 11.798629 
scan registration time 29.695495 ms *************
mapping data assosiation time 18.753039 ms 
mapping solver time 11.867511 ms 
data association time 14.924308 ms 
solver time 11.119097 ms 
mapping data assosiation time 17.972257 ms 
mapping solver time 10.190316 ms 
mapping optimization time 68.540739 
add points time 0.358191 ms
data association time 15.105100 ms 
mapping pub time 1.156031 ms 
whole mapping time 76.806856 ms +++++
solver time 8.721046 ms 
optimization twice time 50.681002 
publication time 7.799448 ms 
whole laserOdometry time 58.498678 ms 
 
map prepare time 2.230638 ms
map corner num 37609  surf num 13901 
build tree time 8.792548 ms 
points size 95520 
prepare time 12.750891 
mapping data assosiation time 18.883496 ms 
scan registration time 28.605469 ms *************
mapping solver time 13.593980 ms 
data association time 15.065218 ms 
mapping data assosiation time 18.768147 ms 
solver time 11.602996 ms 
mapping solver time 10.245482 ms 
mapping optimization time 71.288863 
add points time 0.343081 ms
filter time 4.484236 ms 
mapping pub time 1.256072 ms 
whole mapping time 79.643378 ms +++++
data association time 20.469985 ms 
solver time 8.497839 ms 
optimization twice time 56.566883 
publication time 9.479898 ms 
whole laserOdometry time 66.065986 ms 
 
map prepare time 2.378524 ms
map corner num 37914  surf num 13985 
build tree time 9.778979 ms 
points size 94905 
sort q time 4.234725 
seperate points time 9.940094 
mapping data assosiation time 19.245619 ms 
scan registration time 27.967640 ms *************
mapping solver time 13.781541 ms 
data association time 15.827290 ms 
mapping data assosiation time 18.532701 ms 
mapping solver time 8.737708 ms 
filter time 4.100621 ms 
mapping pub time 1.257158 ms 
whole mapping time 79.189214 ms +++++
solver time 7.625125 ms 
publication time 8.094257 ms 
whole laserOdometry time 63.239102 ms 
 
map prepare time 2.902307 ms
map corner num 38213  surf num 14069 
build tree time 9.949972 ms 
points size 94935 
sort q time 4.482450 
seperate points time 10.549173 
mapping data assosiation time 21.396587 ms 
mapping solver time 14.617031 ms 
data association time 14.009833 ms 
solver time 10.402465 ms 
mapping data assosiation time 19.864896 ms 
data association time 14.382886 ms 
mapping solver time 11.787449 ms 
mapping optimization time 78.803163 
add points time 0.497269 ms
filter time 4.939229 ms 
solver time 9.283078 ms 
optimization twice time 49.022093 
publication time 8.340769 ms 
whole laserOdometry time 57.379971 ms 
 
map prepare time 2.155409 ms
map corner num 38550  surf num 14184 
build tree time 9.754017 ms 
points size 94399 
sort q time 5.147343 
seperate points time 11.780682 
scan registration time 29.644037 ms *************
mapping solver time 13.802644 ms 
data association time 14.845074 ms 
mapping data assosiation time 18.847877 ms 
mapping solver time 9.087546 ms 
mapping optimization time 71.753636 
add points time 0.346468 ms
solver time 13.018602 ms 
mapping pub time 3.322337 ms 
whole mapping time 82.117338 ms +++++
[0m[ INFO] [1718887025.264027265]: Received 53238 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887025.264060137]: Data saved to 1317357770150990.pcd[0m
data association time 18.502554 ms 
solver time 7.545055 ms 
optimization twice time 54.843578 
publication time 8.444054 ms 
whole laserOdometry time 63.303640 ms 
 
map prepare time 2.280971 ms
map corner num 38905  surf num 14312 
points size 94263 
build tree time 9.250932 ms 
prepare time 14.274578 
sort q time 4.762822 
seperate points time 11.263121 
scan registration time 30.227437 ms *************
mapping data assosiation time 20.865888 ms 
data association time 18.315319 ms 
solver time 12.385257 ms 
mapping data assosiation time 26.234420 ms 
mapping solver time 10.045495 ms 
filter time 4.076559 ms 
mapping pub time 1.508354 ms 
whole mapping time 90.123024 ms +++++
solver time 9.422832 ms 
publication time 9.527472 ms 
whole laserOdometry time 66.674709 ms 
 
map prepare time 3.254919 ms
map corner num 39303  surf num 14454 
prepare time 16.051756 
build tree time 12.851813 ms 
sort q time 4.860929 
seperate points time 11.662143 
scan registration time 32.802685 ms *************
mapping data assosiation time 24.120996 ms 
data association time 14.686435 ms 
mapping solver time 11.374033 ms 
solver time 10.762103 ms 
data association time 14.245663 ms 
mapping data assosiation time 19.942607 ms 
solver time 8.511082 ms 
mapping solver time 10.397236 ms 
mapping optimization time 79.568713 
add points time 0.487242 ms
publication time 8.074255 ms 
whole laserOdometry time 57.158999 ms 
 
mapping pub time 1.165331 ms 
whole mapping time 89.764379 ms +++++
map prepare time 3.375965 ms
map corner num 39674  surf num 14603 
build tree time 10.783662 ms 
prepare time 13.354607 
sort q time 4.765376 
seperate points time 11.204699 
mapping data assosiation time 19.902081 ms 
mapping solver time 11.343871 ms 
data association time 15.674614 ms 
mapping data assosiation time 20.066026 ms 
solver time 10.396343 ms 
mapping solver time 12.094264 ms 
mapping optimization time 75.518527 
add points time 0.419086 ms
filter time 4.508519 ms 
mapping pub time 1.158415 ms 
whole mapping time 85.020651 ms +++++
data association time 20.008708 ms 
solver time 9.294957 ms 
optimization twice time 56.362405 
publication time 9.425358 ms 
whole laserOdometry time 65.817052 ms 
 
map prepare time 2.280379 ms
map corner num 40048  surf num 14743 
points size 92097 
prepare time 13.403617 
build tree time 12.243268 ms 
sort q time 4.183333 
seperate points time 10.169343 
scan registration time 27.624287 ms *************
mapping data assosiation time 24.633760 ms 
data association time 24.672932 ms 
mapping solver time 17.144932 ms 
solver time 16.957057 ms 
mapping data assosiation time 26.117312 ms 
data association time 24.749855 ms 
filter time 4.786220 ms 
optimization twice time 77.896879 
points size 92222 
prepare time 14.569873 
publication time 8.219354 ms 
whole laserOdometry time 86.144147 ms 
 
map prepare time 2.264708 ms
map corner num 40384  surf num 14888 
sort q time 4.879266 
seperate points time 11.783491 
scan registration time 31.087539 ms *************
mapping data assosiation time 25.908174 ms 
mapping solver time 11.697868 ms 
data association time 13.920722 ms 
solver time 5.194378 ms 
mapping data assosiation time 20.637184 ms 
publication time 8.607626 ms 
whole laserOdometry time 64.086118 ms 
 
mapping pub time 2.058318 ms 
whole mapping time 89.962363 ms +++++
map prepare time 3.191943 ms
map corner num 40685  surf num 15007 
points size 92330 
prepare time 17.415879 
build tree time 13.905493 ms 
sort q time 5.891161 
seperate points time 14.728814 
scan registration time 36.302767 ms *************
mapping data assosiation time 23.977406 ms 
mapping solver time 15.125318 ms 
data association time 16.432989 ms 
solver time 11.635469 ms 
mapping data assosiation time 20.718397 ms 
mapping solver time 9.060480 ms 
mapping optimization time 84.065495 
add points time 0.432817 ms
data association time 17.751646 ms 
solver time 7.405982 ms 
publication time 8.833079 ms 
whole laserOdometry time 63.181881 ms 
 
points size 92304 
build tree time 10.044295 ms 
scan registration time 27.677588 ms *************
mapping data assosiation time 22.919648 ms 
data association time 14.954113 ms 
mapping solver time 12.871382 ms 
solver time 11.172414 ms 
data association time 14.672334 ms 
mapping data assosiation time 22.301261 ms 
solver time 8.770718 ms 
optimization twice time 50.410724 
publication time 8.295394 ms 
whole laserOdometry time 58.723082 ms 
 
map prepare time 2.534466 ms
map corner num 41396  surf num 15283 
build tree time 11.070996 ms 
points size 92328 
prepare time 13.631970 
sort q time 4.506791 
seperate points time 11.127234 
mapping data assosiation time 21.473152 ms 
mapping solver time 12.625970 ms 
data association time 14.194950 ms 
solver time 9.874714 ms 
mapping data assosiation time 21.678811 ms 
data association time 16.564641 ms 
mapping solver time 12.511573 ms 
mapping optimization time 80.687319 
add points time 0.375844 ms
solver time 8.284598 ms 
optimization twice time 49.827250 
filter time 4.644004 ms 
publication time 8.687290 ms 
whole laserOdometry time 58.532014 ms 
 
map prepare time 2.982769 ms
map corner num 41768  surf num 15450 
build tree time 11.596216 ms 
points size 92366 
prepare time 13.800005 
sort q time 4.117927 
seperate points time 10.426181 
mapping data assosiation time 21.722841 ms 
mapping solver time 14.568926 ms 
data association time 16.468326 ms 
solver time 11.107784 ms 
mapping data assosiation time 21.757273 ms 
data association time 15.412413 ms 
mapping solver time 12.636840 ms 
mapping optimization time 83.581941 
add points time 0.369813 ms
solver time 7.724321 ms 
optimization twice time 51.555151 
filter time 4.413454 ms 
publication time 7.745402 ms 
whole laserOdometry time 59.320035 ms 
 
map prepare time 2.434964 ms
map corner num 42120  surf num 15577 
build tree time 10.911578 ms 
points size 92357 
mapping data assosiation time 23.470908 ms 
sort q time 5.892459 
seperate points time 13.295959 
scan registration time 32.109372 ms *************
mapping solver time 13.997863 ms 
data association time 14.714323 ms 
mapping data assosiation time 20.342304 ms 
mapping solver time 9.004069 ms 
filter time 4.085199 ms 
mapping pub time 1.459595 ms 
whole mapping time 87.349800 ms +++++
data association time 15.110028 ms 
solver time 8.626527 ms 
optimization twice time 49.900403 
publication time 8.585008 ms 
whole laserOdometry time 58.505801 ms 
 
map prepare time 2.575522 ms
map corner num 42459  surf num 15701 
build tree time 10.479924 ms 
prepare time 13.538141 
sort q time 4.422038 
seperate points time 10.473772 
scan registration time 28.709628 ms *************
mapping data assosiation time 23.246082 ms 
mapping solver time 15.298237 ms 
data association time 15.537918 ms 
solver time 11.139886 ms 
mapping data assosiation time 21.478116 ms 
data association time 15.742178 ms 
filter time 4.008908 ms 
mapping pub time 1.152680 ms 
whole mapping time 90.301824 ms +++++
solver time 9.118827 ms 
optimization twice time 52.409811 
publication time 9.345720 ms 
whole laserOdometry time 61.771997 ms 
 
map prepare time 3.060028 ms
map corner num 42845  surf num 15847 
build tree time 10.324192 ms 
points size 92168 
sort q time 4.086438 
seperate points time 9.662108 
mapping data assosiation time 21.234111 ms 
scan registration time 29.585892 ms *************
mapping solver time 14.090816 ms 
data association time 15.123081 ms 
solver time 11.148002 ms 
mapping data assosiation time 21.314078 ms 
mapping solver time 9.251392 ms 
mapping optimization time 77.641151 
add points time 0.371487 ms
data association time 15.376476 ms 
filter time 4.520369 ms 
mapping pub time 1.170375 ms 
whole mapping time 86.805196 ms +++++
optimization twice time 51.548737 
publication time 8.981156 ms 
whole laserOdometry time 60.544547 ms 
 
map prepare time 2.178431 ms
map corner num 43235  surf num 15978 
build tree time 12.363736 ms 
points size 91819 
prepare time 13.853234 
sort q time 6.172132 
seperate points time 13.879616 
mapping solver time 15.895320 ms 
data association time 14.481252 ms 
solver time 7.598011 ms 
mapping data assosiation time 22.618652 ms 
data association time 14.786057 ms 
mapping solver time 12.978455 ms 
mapping optimization time 88.169151 
add points time 0.397844 ms
solver time 8.740116 ms 
publication time 8.194002 ms 
whole laserOdometry time 54.707704 ms 
 
map prepare time 2.716634 ms
map corner num 43580  surf num 16134 
build tree time 14.484632 ms 
prepare time 17.961785 
sort q time 5.612067 
seperate points time 13.719966 
mapping data assosiation time 28.712293 ms 
mapping solver time 15.540834 ms 
data association time 15.112715 ms 
solver time 10.300591 ms 
mapping data assosiation time 23.372421 ms 
solver time 7.871206 ms 
filter time 4.442880 ms 
map prepare time 2.251393 ms
map corner num 43920  surf num 16260 
points size 91715 
prepare time 13.891411 
build tree time 12.477587 ms 
sort q time 4.500678 
seperate points time 10.961227 
scan registration time 29.432903 ms *************
mapping data assosiation time 21.631613 ms 
mapping solver time 12.779036 ms 
solver time 13.786613 ms 
mapping data assosiation time 25.539823 ms 
data association time 17.070480 ms 
mapping solver time 10.672993 ms 
mapping optimization time 84.393855 
add points time 0.431901 ms
optimization twice time 55.123662 
mapping pub time 1.606783 ms 
whole mapping time 93.599910 ms +++++
publication time 7.951980 ms 
whole laserOdometry time 63.090350 ms 
 
map prepare time 3.558252 ms
map corner num 44286  surf num 16407 
points size 91906 
build tree time 14.643954 ms 
prepare time 17.561856 
sort q time 5.818915 
seperate points time 14.391745 
scan registration time 37.712275 ms *************
mapping data assosiation time 27.140081 ms 
mapping solver time 13.574850 ms 
data association time 19.551943 ms 
solver time 11.295648 ms 
mapping data assosiation time 25.780240 ms 
data association time 14.556900 ms 
solver time 5.906387 ms 
publication time 8.271816 ms 
whole laserOdometry time 60.401652 ms 
 
map prepare time 2.938570 ms
map corner num 44634  surf num 16557 
prepare time 16.232488 
build tree time 14.827772 ms 
sort q time 5.575962 
seperate points time 13.657599 
scan registration time 35.261823 ms *************
mapping data assosiation time 24.438816 ms 
mapping solver time 16.188961 ms 
solver time 10.296746 ms 
data association time 14.023176 ms 
mapping data assosiation time 21.374642 ms 
solver time 7.792357 ms 
optimization twice time 48.624288 
publication time 9.340588 ms 
whole laserOdometry time 57.986864 ms 
 
map prepare time 2.211704 ms
map corner num 44993  surf num 16679 
points size 94356 
prepare time 15.084444 
sort q time 6.341887 
seperate points time 14.585061 
scan registration time 33.600938 ms *************
mapping data assosiation time 23.584197 ms 
data association time 15.117964 ms 
mapping solver time 15.868809 ms 
solver time 10.422843 ms 
mapping data assosiation time 20.798648 ms 
data association time 15.483921 ms 
mapping solver time 11.569979 ms 
mapping optimization time 84.268542 
add points time 0.405770 ms
solver time 10.698411 ms 
mapping pub time 1.520528 ms 
whole mapping time 94.303651 ms +++++
publication time 9.681844 ms 
whole laserOdometry time 62.313934 ms 
 
map prepare time 2.195353 ms
map corner num 45356  surf num 16806 
points size 94730 
prepare time 15.242953 
build tree time 11.398291 ms 
sort q time 4.903513 
seperate points time 11.297291 
scan registration time 30.661416 ms *************
mapping data assosiation time 21.518995 ms 
mapping solver time 13.918175 ms 
solver time 9.632365 ms 
mapping data assosiation time 19.148843 ms 
data association time 14.550268 ms 
filter time 6.194034 ms 
mapping pub time 1.149019 ms 
whole mapping time 86.068158 ms +++++
solver time 9.643419 ms 
optimization twice time 48.954226 
publication time 7.185702 ms 
whole laserOdometry time 56.157301 ms 
 
map prepare time 2.630673 ms
map corner num 45669  surf num 16926 
build tree time 10.410267 ms 
points size 94458 
prepare time 14.543619 
sort q time 4.060120 
seperate points time 9.536838 
scan registration time 27.873682 ms *************
mapping solver time 16.067800 ms 
data association time 24.677770 ms 
mapping data assosiation time 26.216607 ms 
solver time 17.373178 ms 
mapping solver time 11.130003 ms 
mapping optimization time 84.918656 
add points time 0.442961 ms
data association time 15.287579 ms 
mapping pub time 3.526933 ms 
whole mapping time 96.259616 ms +++++
[0m[ INFO] [1718887027.367698255]: Received 63041 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887027.367724963]: Data saved to 1317357772235440.pcd[0m
solver time 8.911005 ms 
publication time 9.652047 ms 
whole laserOdometry time 76.959630 ms 
 
points size 93567 
build tree time 11.678441 ms 
sort q time 4.292680 
seperate points time 10.016855 
scan registration time 30.059419 ms *************
mapping data assosiation time 20.217476 ms 
data association time 13.488766 ms 
mapping solver time 15.082943 ms 
solver time 10.929968 ms 
data association time 15.744170 ms 
mapping data assosiation time 20.451756 ms 
solver time 10.016622 ms 
optimization twice time 51.103096 
mapping solver time 10.574329 ms 
mapping optimization time 79.235432 
add points time 0.502376 ms
publication time 8.955673 ms 
whole laserOdometry time 60.081370 ms 
 
map prepare time 2.436614 ms
map corner num 46285  surf num 17084 
build tree time 11.269885 ms 
prepare time 15.094603 
sort q time 4.626753 
seperate points time 11.144871 
mapping data assosiation time 19.429077 ms 
mapping solver time 12.287825 ms 
data association time 13.815274 ms 
solver time 12.339983 ms 
mapping data assosiation time 19.377558 ms 
mapping solver time 8.856538 ms 
mapping optimization time 72.512275 
add points time 0.417531 ms
data association time 13.547569 ms 
filter time 5.105899 ms 
solver time 10.790934 ms 
publication time 7.149086 ms 
whole laserOdometry time 58.574964 ms 
 
map prepare time 2.308804 ms
map corner num 46580  surf num 17143 
build tree time 11.897332 ms 
points size 92120 
prepare time 14.227718 
sort q time 4.315330 
seperate points time 9.970878 
mapping solver time 13.861088 ms 
data association time 13.545756 ms 
solver time 9.937058 ms 
mapping data assosiation time 18.425081 ms 
mapping solver time 8.962627 ms 
mapping optimization time 71.886472 
add points time 0.462899 ms
data association time 13.667646 ms 
filter time 5.715938 ms 
publication time 7.324967 ms 
whole laserOdometry time 53.861387 ms 
 
map prepare time 1.911645 ms
map corner num 46886  surf num 17210 
build tree time 10.990699 ms 
points size 91305 
prepare time 14.223429 
mapping data assosiation time 17.917137 ms 
sort q time 4.179348 
seperate points time 9.773796 
scan registration time 27.764185 ms *************
mapping solver time 12.941082 ms 
data association time 13.353877 ms 
mapping data assosiation time 16.741613 ms 
mapping solver time 10.839103 ms 
mapping optimization time 70.492898 
add points time 0.451313 ms
solver time 12.772530 ms 
data association time 15.096320 ms 
solver time 8.716645 ms 
optimization twice time 50.777537 
map prepare time 1.885250 ms
map corner num 47202  surf num 17262 
build tree time 12.049628 ms 
prepare time 13.617037 
sort q time 4.540563 
seperate points time 10.269976 
mapping data assosiation time 17.102179 ms 
scan registration time 27.609777 ms *************
mapping solver time 14.826554 ms 
data association time 13.441646 ms 
solver time 10.967697 ms 
mapping solver time 10.053016 ms 
filter time 4.811257 ms 
mapping pub time 2.004155 ms 
whole mapping time 82.812883 ms +++++
publication time 6.971387 ms 
whole laserOdometry time 56.111657 ms 
 
map prepare time 2.128572 ms
map corner num 47542  surf num 17338 
build tree time 10.853512 ms 
points size 86877 
prepare time 13.737300 
sort q time 4.966976 
seperate points time 11.623603 
mapping data assosiation time 16.875117 ms 
data association time 14.517006 ms 
mapping solver time 8.272524 ms 
filter time 4.587621 ms 
mapping pub time 1.031883 ms 
whole mapping time 75.283965 ms +++++
solver time 12.136281 ms 
data association time 14.358133 ms 
solver time 7.908506 ms 
publication time 6.833772 ms 
whole laserOdometry time 56.536459 ms 
 
map prepare time 3.009082 ms
map corner num 47836  surf num 17390 
build tree time 12.771474 ms 
points size 84399 
prepare time 13.681458 
sort q time 4.446511 
seperate points time 10.165160 
scan registration time 27.453887 ms *************
mapping solver time 13.930040 ms 
mapping data assosiation time 21.792056 ms 
data association time 22.918540 ms 
mapping solver time 12.454441 ms 
filter time 5.580534 ms 
solver time 15.944374 ms 
mapping pub time 1.544714 ms 
whole mapping time 89.816750 ms +++++
data association time 14.816551 ms 
solver time 12.157106 ms 
publication time 8.509221 ms 
whole laserOdometry time 75.424965 ms 
 
map prepare time 2.209589 ms
map corner num 48171  surf num 17449 
prepare time 20.895904 
build tree time 12.787740 ms 
scan registration time 34.834132 ms *************
mapping data assosiation time 19.694682 ms 
data association time 21.034456 ms 
mapping solver time 17.679486 ms 
solver time 13.645332 ms 
mapping data assosiation time 18.782699 ms 
data association time 13.553814 ms 
mapping solver time 10.396194 ms 
mapping optimization time 80.505172 
add points time 0.366975 ms
filter time 5.404196 ms 
optimization twice time 61.150609 
publication time 6.720973 ms 
whole laserOdometry time 67.891706 ms 
 
points size 81384 
prepare time 13.111887 
sort q time 3.799211 
seperate points time 8.843214 
build tree time 12.719455 ms 
mapping data assosiation time 21.571471 ms 
data association time 22.668139 ms 
mapping solver time 18.982282 ms 
solver time 16.572401 ms 
mapping data assosiation time 21.274122 ms 
data association time 22.559561 ms 
mapping solver time 15.887491 ms 
filter time 5.503129 ms 
mapping pub time 1.338256 ms 
whole mapping time 102.079437 ms +++++
points size 80171 
map prepare time 2.009877 ms
map corner num 48780  surf num 17558 
sort q time 3.897092 
seperate points time 9.442103 
scan registration time 26.527511 ms *************
build tree time 13.527982 ms 
data association time 12.066030 ms 
mapping data assosiation time 15.774954 ms 
mapping solver time 11.782805 ms 
solver time 14.256843 ms 
data association time 12.190450 ms 
mapping data assosiation time 16.154064 ms 
solver time 10.823468 ms 
optimization twice time 50.131042 
mapping solver time 9.837580 ms 
mapping optimization time 68.010515 
add points time 0.400828 ms
filter time 3.869578 ms 
publication time 6.635479 ms 
whole laserOdometry time 56.785931 ms 
 
mapping pub time 2.078652 ms 
whole mapping time 76.425235 ms +++++
map prepare time 1.765721 ms
map corner num 49082  surf num 17609 
build tree time 12.017358 ms 
points size 78684 
prepare time 12.381901 
sort q time 3.986926 
seperate points time 9.301728 
mapping data assosiation time 21.022899 ms 
scan registration time 25.680180 ms *************
mapping solver time 17.407960 ms 
data association time 12.865371 ms 
solver time 11.149968 ms 
mapping data assosiation time 26.015845 ms 
data association time 12.977090 ms 
mapping optimization time 86.784655 
add points time 0.311755 ms
filter time 5.889724 ms 
mapping pub time 0.993517 ms 
whole mapping time 95.787879 ms +++++
solver time 11.953002 ms 
optimization twice time 49.868380 
publication time 6.757984 ms 
whole laserOdometry time 56.646489 ms 
 
map prepare time 1.936259 ms
map corner num 49319  surf num 17659 
build tree time 12.322213 ms 
points size 77733 
prepare time 11.703671 
sort q time 4.186599 
seperate points time 9.701411 
mapping solver time 11.696689 ms 
data association time 12.364746 ms 
mapping data assosiation time 15.454862 ms 
solver time 11.729070 ms 
mapping solver time 10.406432 ms 
filter time 4.744490 ms 
mapping pub time 0.983601 ms 
whole mapping time 74.819843 ms +++++
data association time 13.346392 ms 
solver time 9.148957 ms 
optimization twice time 47.508385 
publication time 6.892777 ms 
whole laserOdometry time 54.418405 ms 
 
map prepare time 1.961405 ms
map corner num 49582  surf num 17702 
build tree time 11.272375 ms 
points size 78178 
mapping data assosiation time 16.021879 ms 
sort q time 3.574626 
seperate points time 8.337939 
mapping solver time 9.682366 ms 
scan registration time 23.362457 ms *************
mapping data assosiation time 14.964570 ms 
mapping solver time 7.675442 ms 
data association time 12.870532 ms 
mapping optimization time 60.601528 
add points time 0.340344 ms
solver time 12.147222 ms 
data association time 11.869480 ms 
solver time 10.491453 ms 
optimization twice time 48.296770 
publication time 6.827095 ms 
whole laserOdometry time 55.142049 ms 
 
map prepare time 2.084024 ms
map corner num 49829  surf num 17751 
build tree time 12.575059 ms 
points size 78545 
prepare time 11.850994 
mapping data assosiation time 14.996596 ms 
sort q time 4.303473 
seperate points time 9.746605 
scan registration time 25.065006 ms *************
mapping data assosiation time 15.141000 ms 
data association time 12.660868 ms 
mapping solver time 8.511079 ms 
mapping optimization time 62.011566 
add points time 0.315888 ms
mapping pub time 0.934832 ms 
whole mapping time 70.847853 ms +++++
solver time 12.696026 ms 
data association time 11.674788 ms 
solver time 10.476671 ms 
optimization twice time 48.350817 
publication time 6.104381 ms 
whole laserOdometry time 54.471576 ms 
 
map prepare time 2.607504 ms
map corner num 50070  surf num 17801 
build tree time 12.385490 ms 
points size 79795 
mapping data assosiation time 15.391823 ms 
scan registration time 24.896596 ms *************
mapping solver time 12.565088 ms 
data association time 12.427091 ms 
mapping data assosiation time 15.647096 ms 
solver time 13.392765 ms 
mapping solver time 9.602450 ms 
mapping optimization time 66.640943 
add points time 0.390358 ms
data association time 13.528546 ms 
solver time 8.289474 ms 
optimization twice time 48.478395 
map prepare time 1.743805 ms
map corner num 50323  surf num 17865 
build tree time 12.859675 ms 
points size 82141 
mapping data assosiation time 15.779000 ms 
prepare time 11.635816 
sort q time 3.864648 
seperate points time 9.176983 
mapping solver time 11.723073 ms 
scan registration time 24.163879 ms *************
mapping data assosiation time 15.787279 ms 
data association time 12.200051 ms 
mapping optimization time 66.700027 
add points time 0.296203 ms
solver time 11.049665 ms 
filter time 5.984689 ms 
mapping pub time 1.053704 ms 
whole mapping time 75.823411 ms +++++
data association time 12.475690 ms 
solver time 10.218250 ms 
publication time 6.400758 ms 
whole laserOdometry time 53.268486 ms 
 
map prepare time 2.063651 ms
map corner num 50609  surf num 17938 
build tree time 11.517065 ms 
points size 83495 
mapping data assosiation time 14.861687 ms 
prepare time 12.261968 
sort q time 4.100497 
seperate points time 9.516183 
mapping data assosiation time 15.436952 ms 
data association time 11.605135 ms 
mapping solver time 12.171205 ms 
mapping optimization time 66.477393 
add points time 0.284532 ms
data association time 13.382382 ms 
solver time 11.959053 ms 
optimization twice time 51.031202 
publication time 6.067082 ms 
whole laserOdometry time 57.115525 ms 
 
map prepare time 1.710132 ms
map corner num 50921  surf num 18030 
build tree time 13.953063 ms 
points size 83179 
mapping data assosiation time 14.889104 ms 
sort q time 4.009816 
seperate points time 9.302936 
scan registration time 26.343317 ms *************
mapping solver time 13.758278 ms 
data association time 11.905662 ms 
mapping solver time 8.899727 ms 
filter time 4.426112 ms 
mapping pub time 1.208411 ms 
whole mapping time 76.122030 ms +++++
data association time 13.175705 ms 
solver time 7.542380 ms 
publication time 5.481174 ms 
whole laserOdometry time 49.090591 ms 
 
map prepare time 2.686636 ms
map corner num 51260  surf num 18119 
build tree time 16.277797 ms 
points size 83092 
prepare time 13.168451 
mapping data assosiation time 16.932490 ms 
sort q time 3.987576 
seperate points time 9.536395 
mapping solver time 13.043572 ms 
data association time 11.697913 ms 
mapping data assosiation time 15.218488 ms 
solver time 12.774047 ms 
filter time 4.086411 ms 
data association time 14.562868 ms 
solver time 9.598412 ms 
optimization twice time 49.650229 
map prepare time 1.762305 ms
map corner num 51610  surf num 18215 
build tree time 14.812495 ms 
points size 83306 
prepare time 13.029218 
mapping data assosiation time 15.518660 ms 
sort q time 3.702997 
seperate points time 8.576308 
mapping solver time 12.305552 ms 
mapping data assosiation time 14.147010 ms 
data association time 11.521750 ms 
mapping solver time 9.461567 ms 
mapping optimization time 67.250375 
add points time 0.310904 ms
solver time 10.634975 ms 
filter time 5.809713 ms 
mapping pub time 4.054554 ms 
whole mapping time 79.241801 ms +++++
[0m[ INFO] [1718887029.416494537]: Received 70241 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887029.416525206]: Data saved to 1317357774311007.pcd[0m
solver time 8.038103 ms 
optimization twice time 44.253586 
map prepare time 1.751479 ms
map corner num 51942  surf num 18278 
build tree time 12.287634 ms 
points size 84252 
mapping data assosiation time 14.846844 ms 
sort q time 4.152080 
seperate points time 9.808758 
mapping solver time 11.546796 ms 
scan registration time 27.303566 ms *************
mapping data assosiation time 15.221328 ms 
data association time 13.839884 ms 
mapping optimization time 65.419808 
add points time 0.282150 ms
data association time 11.727938 ms 
solver time 7.879003 ms 
publication time 6.151240 ms 
whole laserOdometry time 51.912920 ms 
 
map prepare time 2.764643 ms
map corner num 52201  surf num 18348 
build tree time 12.810547 ms 
points size 85745 
mapping data assosiation time 19.998853 ms 
sort q time 5.015879 
seperate points time 11.919761 
mapping solver time 14.056310 ms 
scan registration time 35.579739 ms *************
mapping data assosiation time 14.957005 ms 
data association time 11.767299 ms 
mapping solver time 7.362646 ms 
mapping optimization time 70.193237 
add points time 0.263434 ms
filter time 6.467694 ms 
data association time 11.208767 ms 
solver time 7.975920 ms 
publication time 6.311430 ms 
whole laserOdometry time 49.236751 ms 
 
map prepare time 2.078762 ms
map corner num 52484  surf num 18416 
build tree time 12.212505 ms 
points size 86869 
prepare time 13.479051 
mapping data assosiation time 15.581259 ms 
scan registration time 26.463145 ms *************
mapping solver time 11.949996 ms 
data association time 21.054176 ms 
mapping solver time 6.562689 ms 
mapping optimization time 66.281072 
add points time 0.295761 ms
solver time 10.568996 ms 
data association time 12.169569 ms 
solver time 7.757309 ms 
publication time 6.080133 ms 
whole laserOdometry time 58.531824 ms 
 
map prepare time 1.946943 ms
map corner num 52761  surf num 18496 
build tree time 14.357665 ms 
points size 88570 
prepare time 14.169314 
mapping data assosiation time 19.543106 ms 
sort q time 5.405525 
seperate points time 12.222751 
mapping solver time 13.272851 ms 
data association time 12.696487 ms 
mapping data assosiation time 16.274845 ms 
solver time 10.858614 ms 
mapping solver time 11.205548 ms 
filter time 4.842283 ms 
mapping pub time 1.382634 ms 
whole mapping time 84.262650 ms +++++
data association time 13.393392 ms 
solver time 7.691097 ms 
optimization twice time 45.467679 
publication time 6.767644 ms 
whole laserOdometry time 52.256226 ms 
 
build tree time 12.334991 ms 
points size 90097 
prepare time 14.234955 
sort q time 4.180099 
seperate points time 9.825487 
mapping solver time 12.336564 ms 
data association time 11.805700 ms 
mapping data assosiation time 15.915821 ms 
mapping solver time 9.440532 ms 
solver time 9.971194 ms 
mapping optimization time 69.189197 
add points time 0.274205 ms
filter time 4.940124 ms 
data association time 12.996489 ms 
solver time 9.593041 ms 
optimization twice time 45.186552 
publication time 6.901520 ms 
whole laserOdometry time 52.106217 ms 
 
map prepare time 2.323745 ms
map corner num 53343  surf num 18641 
build tree time 14.074183 ms 
points size 90760 
mapping data assosiation time 15.972367 ms 
sort q time 4.786563 
seperate points time 10.929801 
scan registration time 28.554776 ms *************
mapping solver time 13.300956 ms 
mapping data assosiation time 15.818426 ms 
data association time 21.482184 ms 
mapping solver time 10.036054 ms 
mapping optimization time 70.163133 
add points time 0.304983 ms
filter time 5.892419 ms 
mapping pub time 1.101600 ms 
whole mapping time 79.828119 ms +++++
solver time 10.156102 ms 
data association time 11.772346 ms 
solver time 7.669468 ms 
optimization twice time 51.912588 
publication time 6.481213 ms 
whole laserOdometry time 58.411264 ms 
 
map prepare time 1.884795 ms
map corner num 53668  surf num 18725 
points size 91610 
build tree time 14.690430 ms 
prepare time 13.972689 
sort q time 4.341261 
seperate points time 9.997834 
mapping data assosiation time 17.441506 ms 
mapping solver time 12.766278 ms 
data association time 12.334908 ms 
solver time 10.476089 ms 
data association time 11.900067 ms 
mapping solver time 10.026314 ms 
filter time 5.561883 ms 
mapping pub time 1.125127 ms 
whole mapping time 81.520123 ms +++++
solver time 8.754112 ms 
optimization twice time 44.190180 
publication time 6.507119 ms 
whole laserOdometry time 50.716135 ms 
 
map prepare time 2.912543 ms
map corner num 53988  surf num 18831 
build tree time 12.389407 ms 
points size 91249 
prepare time 13.811677 
sort q time 4.128041 
seperate points time 9.737302 
data association time 11.508727 ms 
mapping solver time 9.277405 ms 
filter time 4.537567 ms 
mapping pub time 1.229309 ms 
whole mapping time 75.515923 ms +++++
data association time 11.938362 ms 
solver time 7.607515 ms 
publication time 6.617981 ms 
whole laserOdometry time 50.518667 ms 
 
map prepare time 2.235293 ms
map corner num 54328  surf num 18951 
build tree time 12.686415 ms 
points size 91127 
sort q time 4.601297 
seperate points time 10.429373 
mapping solver time 11.417626 ms 
scan registration time 28.023442 ms *************
mapping data assosiation time 19.435744 ms 
data association time 19.717530 ms 
filter time 5.678914 ms 
mapping pub time 1.193419 ms 
whole mapping time 86.970693 ms +++++
data association time 11.576875 ms 
solver time 7.479818 ms 
optimization twice time 52.580420 
publication time 8.170942 ms 
whole laserOdometry time 60.768878 ms 
 
map prepare time 2.152526 ms
map corner num 54714  surf num 19076 
points size 91596 
prepare time 14.200041 
sort q time 5.533047 
seperate points time 12.586651 
scan registration time 30.688437 ms *************
mapping data assosiation time 19.656373 ms 
mapping solver time 12.597662 ms 
data association time 15.405774 ms 
solver time 11.086250 ms 
mapping solver time 9.525031 ms 
filter time 5.301739 ms 
mapping pub time 1.649768 ms 
whole mapping time 83.686304 ms +++++
publication time 6.792262 ms 
whole laserOdometry time 56.893114 ms 
 
map prepare time 2.288179 ms
map corner num 55131  surf num 19194 
build tree time 13.366975 ms 
points size 92384 
sort q time 4.181667 
seperate points time 9.713570 
scan registration time 28.285846 ms *************
mapping data assosiation time 18.715367 ms 
mapping solver time 12.665577 ms 
data association time 15.245242 ms 
solver time 11.981876 ms 
mapping solver time 10.785170 ms 
data association time 16.627585 ms 
filter time 5.285573 ms 
mapping pub time 1.154136 ms 
whole mapping time 84.580380 ms +++++
solver time 10.054119 ms 
optimization twice time 54.897626 
publication time 8.730793 ms 
whole laserOdometry time 63.647502 ms 
 
points size 92071 
build tree time 14.107073 ms 
prepare time 14.045699 
sort q time 4.396684 
seperate points time 10.029593 
scan registration time 28.121300 ms *************
mapping data assosiation time 18.958426 ms 
mapping solver time 12.480281 ms 
data association time 13.550973 ms 
solver time 12.358061 ms 
mapping data assosiation time 17.536595 ms 
data association time 14.187004 ms 
mapping solver time 12.973967 ms 
mapping optimization time 77.208107 
add points time 0.343019 ms
filter time 5.472957 ms 
mapping pub time 1.166275 ms 
whole mapping time 87.140644 ms +++++
solver time 9.035310 ms 
optimization twice time 49.976222 
publication time 7.081014 ms 
whole laserOdometry time 57.087117 ms 
 
map prepare time 2.067635 ms
map corner num 56189  surf num 19582 
build tree time 13.341029 ms 
points size 91699 
mapping data assosiation time 21.682868 ms 
sort q time 5.878385 
seperate points time 13.258086 
scan registration time 32.159250 ms *************
mapping solver time 13.913613 ms 
data association time 13.906814 ms 
mapping data assosiation time 18.468223 ms 
solver time 14.132287 ms 
mapping solver time 12.166692 ms 
filter time 5.963333 ms 
mapping pub time 1.455082 ms 
whole mapping time 90.760554 ms +++++
data association time 14.390965 ms 
solver time 8.134419 ms 
optimization twice time 51.432641 
publication time 7.248552 ms 
whole laserOdometry time 58.697326 ms 
 
map prepare time 2.710876 ms
map corner num 56708  surf num 19826 
points size 91599 
sort q time 4.681104 
seperate points time 10.694659 
mapping data assosiation time 20.098539 ms 
mapping solver time 14.181879 ms 
solver time 10.559577 ms 
mapping data assosiation time 20.250571 ms 
data association time 14.875883 ms 
mapping solver time 13.292904 ms 
mapping optimization time 82.198596 
add points time 0.534467 ms
solver time 10.914050 ms 
optimization twice time 51.791643 
filter time 5.967252 ms 
publication time 8.358622 ms 
whole laserOdometry time 60.168956 ms 
 
points size 90706 
build tree time 14.991109 ms 
prepare time 14.501748 
sort q time 4.403189 
seperate points time 10.268888 
mapping data assosiation time 21.643434 ms 
data association time 13.559310 ms 
solver time 13.122021 ms 
mapping data assosiation time 18.854454 ms 
data association time 13.557876 ms 
mapping solver time 12.465584 ms 
mapping optimization time 84.346614 
add points time 0.487660 ms
solver time 10.720278 ms 
optimization twice time 51.855094 
filter time 5.394647 ms 
publication time 8.514581 ms 
whole laserOdometry time 60.388955 ms 
 
map prepare time 2.412718 ms
map corner num 57790  surf num 20311 
build tree time 15.058900 ms 
sort q time 3.632946 
seperate points time 8.739752 
mapping data assosiation time 21.139790 ms 
mapping solver time 11.867722 ms 
data association time 17.078598 ms 
solver time 13.254227 ms 
data association time 15.747622 ms 
mapping solver time 12.444305 ms 
mapping optimization time 83.428477 
add points time 0.471080 ms
solver time 10.668186 ms 
optimization twice time 57.713788 
publication time 8.823673 ms 
whole laserOdometry time 66.556818 ms 
 
map prepare time 3.178197 ms
map corner num 58299  surf num 20517 
points size 84998 
prepare time 13.521421 
build tree time 15.571506 ms 
sort q time 4.296061 
seperate points time 10.114421 
scan registration time 27.258539 ms *************
mapping data assosiation time 21.545954 ms 
data association time 12.311454 ms 
solver time 11.092663 ms 
mapping data assosiation time 19.740514 ms 
data association time 14.250251 ms 
solver time 9.630302 ms 
optimization twice time 48.290911 
mapping solver time 13.267768 ms 
mapping optimization time 86.044688 
add points time 0.444774 ms
filter time 5.398488 ms 
publication time 8.437176 ms 
whole laserOdometry time 56.749452 ms 
 
mapping pub time 1.650511 ms 
whole mapping time 96.763661 ms +++++
map prepare time 2.487626 ms
map corner num 58777  surf num 20706 
build tree time 14.861141 ms 
points size 83511 
prepare time 13.401542 
sort q time 4.797021 
seperate points time 10.985410 
mapping data assosiation time 22.498585 ms 
mapping solver time 11.191504 ms 
data association time 13.490010 ms 
mapping data assosiation time 19.031749 ms 
solver time 10.970757 ms 
mapping solver time 10.336752 ms 
mapping optimization time 79.016401 
add points time 0.478839 ms
filter time 6.780977 ms 
mapping pub time 1.215707 ms 
whole mapping time 90.034060 ms +++++
optimization twice time 49.876560 
map prepare time 2.308485 ms
map corner num 59188  surf num 20872 
points size 81929 
sort q time 4.015608 
seperate points time 9.500058 
scan registration time 25.814127 ms *************
mapping data assosiation time 20.957184 ms 
data association time 12.552270 ms 
mapping solver time 15.045757 ms 
solver time 11.771152 ms 
mapping data assosiation time 19.397546 ms 
mapping solver time 12.181431 ms 
filter time 6.122299 ms 
map prepare time 2.119431 ms
map corner num 59617  surf num 21031 
build tree time 16.637638 ms 
points size 80703 
prepare time 12.911712 
sort q time 3.599377 
seperate points time 8.846254 
scan registration time 25.277188 ms *************
mapping data assosiation time 23.096340 ms 
data association time 13.804371 ms 
mapping solver time 13.747302 ms 
solver time 12.529179 ms 
mapping data assosiation time 19.234975 ms 
data association time 14.632489 ms 
mapping solver time 11.782127 ms 
filter time 6.092525 ms 
mapping pub time 5.641429 ms 
whole mapping time 99.997735 ms +++++
[0m[ INFO] [1718887031.516769276]: Received 81289 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887031.516835550]: Data saved to 1317357776387341.pcd[0m
map prepare time 2.726305 ms
map corner num 60040  surf num 21199 
points size 80930 
build tree time 19.614490 ms 
prepare time 12.454190 
sort q time 4.416476 
seperate points time 10.061003 
mapping data assosiation time 24.670440 ms 
data association time 13.787511 ms 
mapping solver time 20.553878 ms 
solver time 11.162363 ms 
mapping data assosiation time 24.353609 ms 
publication time 8.127876 ms 
whole laserOdometry time 55.017098 ms 
 
mapping solver time 17.234014 ms 
filter time 6.803515 ms 
map prepare time 2.742049 ms
map corner num 60480  surf num 21322 
prepare time 12.748903 
sort q time 3.846977 
seperate points time 8.982706 
scan registration time 25.096071 ms *************
build tree time 20.055269 ms 
data association time 14.438474 ms 
mapping data assosiation time 23.924609 ms 
solver time 10.524841 ms 
data association time 14.096595 ms 
solver time 7.919474 ms 
optimization twice time 47.898069 
publication time 7.128433 ms 
whole laserOdometry time 55.041539 ms 
 
mapping data assosiation time 19.726731 ms 
mapping solver time 10.435316 ms 
filter time 5.523003 ms 
map prepare time 3.187332 ms
map corner num 60873  surf num 21448 
points size 80468 
prepare time 14.464970 
build tree time 15.466578 ms 
scan registration time 28.501054 ms *************
mapping data assosiation time 18.554886 ms 
data association time 17.770430 ms 
mapping solver time 11.423665 ms 
solver time 10.000963 ms 
mapping data assosiation time 18.898326 ms 
data association time 12.747494 ms 
solver time 8.632589 ms 
optimization twice time 49.935888 
mapping solver time 11.040676 ms 
mapping optimization time 76.602527 
add points time 0.538419 ms
publication time 6.847939 ms 
whole laserOdometry time 56.811072 ms 
 
filter time 6.126254 ms 
mapping pub time 0.978276 ms 
whole mapping time 87.477945 ms +++++
map prepare time 2.027834 ms
map corner num 61274  surf num 21570 
build tree time 19.294416 ms 
scan registration time 25.215913 ms *************
mapping data assosiation time 18.930681 ms 
mapping solver time 12.235401 ms 
data association time 13.460155 ms 
solver time 10.251104 ms 
mapping solver time 8.482380 ms 
filter time 5.436935 ms 
mapping pub time 1.000976 ms 
whole mapping time 88.032701 ms +++++
solver time 8.328369 ms 
publication time 5.932035 ms 
whole laserOdometry time 52.013564 ms 
 
map prepare time 2.096415 ms
map corner num 61644  surf num 21695 
build tree time 16.347439 ms 
points size 83256 
prepare time 12.797356 
mapping data assosiation time 20.084305 ms 
sort q time 5.052266 
seperate points time 11.721694 
scan registration time 27.890913 ms *************
mapping solver time 14.179628 ms 
data association time 13.094662 ms 
mapping data assosiation time 17.853946 ms 
mapping solver time 10.668346 ms 
data association time 13.276785 ms 
filter time 5.001589 ms 
mapping pub time 1.827526 ms 
whole mapping time 89.550014 ms +++++
solver time 8.745933 ms 
optimization twice time 46.111620 
publication time 7.005010 ms 
whole laserOdometry time 53.131513 ms 
 
map prepare time 1.980920 ms
map corner num 62008  surf num 21798 
build tree time 14.644707 ms 
points size 84880 
prepare time 12.716509 
mapping data assosiation time 16.543395 ms 
sort q time 4.031829 
seperate points time 9.439885 
mapping solver time 12.044514 ms 
mapping data assosiation time 16.581711 ms 
data association time 14.700612 ms 
mapping solver time 7.278876 ms 
mapping optimization time 67.947884 
add points time 0.425971 ms
solver time 8.230248 ms 
filter time 5.353023 ms 
data association time 13.469696 ms 
solver time 7.551467 ms 
optimization twice time 44.797523 
map prepare time 1.811751 ms
map corner num 62333  surf num 21897 
build tree time 15.518998 ms 
points size 84314 
mapping data assosiation time 16.536670 ms 
sort q time 3.701453 
seperate points time 8.739766 
scan registration time 25.454721 ms *************
mapping solver time 10.565007 ms 
mapping data assosiation time 15.974444 ms 
data association time 13.028379 ms 
mapping solver time 10.617119 ms 
filter time 6.677485 ms 
mapping pub time 1.115809 ms 
whole mapping time 80.358014 ms +++++
data association time 15.520127 ms 
solver time 8.656462 ms 
optimization twice time 51.763699 
map prepare time 1.948428 ms
map corner num 62658  surf num 21990 
build tree time 15.082962 ms 
points size 85736 
prepare time 12.964592 
sort q time 4.148711 
seperate points time 9.498908 
mapping solver time 12.971025 ms 
data association time 12.807559 ms 
mapping data assosiation time 16.268633 ms 
solver time 11.539719 ms 
mapping solver time 11.663275 ms 
filter time 5.956393 ms 
solver time 9.515963 ms 
optimization twice time 49.182748 
publication time 7.290418 ms 
whole laserOdometry time 56.496578 ms 
 
map prepare time 1.935315 ms
map corner num 63017  surf num 22082 
build tree time 15.207125 ms 
points size 87705 
prepare time 13.894240 
mapping data assosiation time 17.770159 ms 
sort q time 4.204111 
seperate points time 9.634281 
scan registration time 27.122458 ms *************
mapping solver time 12.079576 ms 
data association time 12.920182 ms 
mapping data assosiation time 15.604066 ms 
solver time 10.931771 ms 
mapping solver time 10.060621 ms 
mapping optimization time 71.784544 
add points time 0.415447 ms
filter time 5.676250 ms 
mapping pub time 1.084888 ms 
whole mapping time 80.953326 ms +++++
data association time 13.785717 ms 
solver time 8.301895 ms 
publication time 7.055404 ms 
whole laserOdometry time 53.948421 ms 
 
build tree time 14.593297 ms 
points size 87706 
prepare time 14.028596 
mapping data assosiation time 20.335333 ms 
sort q time 4.185645 
seperate points time 9.432072 
scan registration time 27.131852 ms *************
mapping solver time 12.468914 ms 
data association time 16.117281 ms 
mapping data assosiation time 17.571670 ms 
mapping solver time 7.608349 ms 
mapping optimization time 73.590661 
add points time 0.327692 ms
solver time 10.861971 ms 
filter time 7.216613 ms 
mapping pub time 1.766787 ms 
whole mapping time 85.424567 ms +++++
data association time 13.016532 ms 
solver time 7.962078 ms 
optimization twice time 48.836754 
publication time 6.239134 ms 
whole laserOdometry time 55.095116 ms 
 
map prepare time 1.941673 ms
map corner num 63764  surf num 22318 
build tree time 15.206068 ms 
points size 88865 
sort q time 3.832398 
seperate points time 8.926838 
mapping data assosiation time 18.636547 ms 
scan registration time 26.027703 ms *************
mapping solver time 17.350822 ms 
data association time 20.909956 ms 
mapping data assosiation time 21.582406 ms 
solver time 17.581642 ms 
mapping solver time 15.030267 ms 
mapping optimization time 89.078028 
add points time 0.415559 ms
filter time 7.068593 ms 
mapping pub time 1.517745 ms 
whole mapping time 100.070162 ms +++++
data association time 20.036889 ms 
solver time 8.174551 ms 
publication time 6.598989 ms 
whole laserOdometry time 74.248757 ms 
 
map prepare time 2.130648 ms
map corner num 64149  surf num 22446 
prepare time 14.486263 
build tree time 15.981012 ms 
sort q time 4.729366 
seperate points time 10.804815 
scan registration time 28.999478 ms *************
mapping data assosiation time 17.290403 ms 
data association time 12.861958 ms 
mapping solver time 12.278225 ms 
solver time 11.285426 ms 
mapping data assosiation time 18.767573 ms 
data association time 16.012218 ms 
solver time 8.228504 ms 
optimization twice time 49.103974 
mapping solver time 13.099487 ms 
mapping optimization time 78.421486 
add points time 0.559831 ms
filter time 7.441202 ms 
mapping pub time 1.395640 ms 
whole mapping time 89.992670 ms +++++
points size 92345 
build tree time 20.721956 ms 
sort q time 5.915260 
seperate points time 14.171171 
scan registration time 37.887151 ms *************
mapping data assosiation time 22.986633 ms 
mapping solver time 11.863745 ms 
data association time 13.260687 ms 
mapping data assosiation time 16.230180 ms 
solver time 13.779873 ms 
mapping optimization time 83.974866 
add points time 0.332681 ms
mapping pub time 1.168593 ms 
whole mapping time 95.583666 ms +++++
data association time 18.998617 ms 
optimization twice time 55.650313 
publication time 8.624277 ms 
whole laserOdometry time 64.294584 ms 
 
map prepare time 2.053639 ms
map corner num 64960  surf num 22700 
prepare time 15.655217 
sort q time 3.967587 
seperate points time 9.287498 
build tree time 15.371306 ms 
scan registration time 29.156273 ms *************
mapping data assosiation time 18.975285 ms 
data association time 13.296363 ms 
mapping solver time 14.086878 ms 
solver time 13.266710 ms 
data association time 13.132291 ms 
mapping data assosiation time 19.667552 ms 
solver time 11.407046 ms 
mapping solver time 13.912027 ms 
mapping optimization time 83.306236 
add points time 0.417395 ms
publication time 7.942070 ms 
whole laserOdometry time 59.980983 ms 
 
mapping pub time 1.650629 ms 
whole mapping time 94.727866 ms +++++
points size 90581 
prepare time 14.309655 
build tree time 18.084198 ms 
sort q time 5.084020 
seperate points time 11.643892 
mapping data assosiation time 19.269269 ms 
data association time 13.270564 ms 
mapping solver time 14.811547 ms 
data association time 13.127698 ms 
mapping data assosiation time 17.613976 ms 
mapping solver time 10.155995 ms 
mapping optimization time 81.262789 
solver time 11.630015 ms 
add points time 0.458092 ms
optimization twice time 50.141833 
publication time 8.348685 ms 
whole laserOdometry time 58.513214 ms 
 
mapping pub time 3.129695 ms 
whole mapping time 93.754341 ms +++++
points size 91104 
sort q time 4.498295 
seperate points time 10.320405 
scan registration time 29.847957 ms *************
mapping data assosiation time 20.416811 ms 
mapping solver time 11.287993 ms 
data association time 12.808601 ms 
mapping data assosiation time 18.155878 ms 
solver time 11.691138 ms 
mapping solver time 8.401204 ms 
data association time 14.047379 ms 
filter time 6.726662 ms 
mapping pub time 1.378137 ms 
whole mapping time 88.926314 ms +++++
solver time 8.472747 ms 
optimization twice time 47.796020 
publication time 6.747079 ms 
whole laserOdometry time 54.557918 ms 
 
map prepare time 3.255682 ms
map corner num 66249  surf num 23191 
points size 91648 
build tree time 16.352872 ms 
sort q time 4.779911 
seperate points time 10.861815 
scan registration time 28.527341 ms *************
mapping data assosiation time 19.194351 ms 
mapping solver time 10.358472 ms 
data association time 13.617988 ms 
solver time 10.170540 ms 
mapping data assosiation time 18.357697 ms 
data association time 14.782821 ms 
mapping solver time 10.610071 ms 
mapping optimization time 75.915713 
add points time 0.397635 ms
solver time 8.601760 ms 
publication time 7.712691 ms 
whole laserOdometry time 55.712659 ms 
 
map prepare time 2.446884 ms
map corner num 66693  surf num 23351 
build tree time 16.526137 ms 
points size 92362 
prepare time 13.951470 
sort q time 4.154845 
seperate points time 9.694844 
mapping solver time 16.574907 ms 
data association time 15.308122 ms 
mapping data assosiation time 19.068406 ms 
solver time 11.245649 ms 
mapping solver time 8.551864 ms 
mapping optimization time 81.469835 
add points time 0.394921 ms
filter time 7.514541 ms 
mapping pub time 2.306948 ms 
whole mapping time 94.178579 ms +++++
solver time 8.722696 ms 
optimization twice time 50.863973 
publication time 7.040569 ms 
whole laserOdometry time 57.921741 ms 
 
points size 92980 
sort q time 5.069780 
seperate points time 11.589018 
scan registration time 30.020699 ms *************
mapping data assosiation time 20.738013 ms 
data association time 14.139787 ms 
mapping solver time 14.973552 ms 
solver time 10.677039 ms 
data association time 13.986737 ms 
solver time 8.263827 ms 
publication time 9.243883 ms 
whole laserOdometry time 57.183109 ms 
 
filter time 8.836263 ms 
map prepare time 2.670866 ms
map corner num 67640  surf num 23794 
points size 93896 
prepare time 14.378608 
build tree time 17.887066 ms 
sort q time 5.674689 
seperate points time 13.047196 
mapping data assosiation time 19.578599 ms 
data association time 13.438575 ms 
solver time 11.981282 ms 
mapping data assosiation time 19.859795 ms 
data association time 13.577094 ms 
mapping solver time 13.520549 ms 
mapping optimization time 85.665391 
add points time 0.445422 ms
solver time 9.965045 ms 
optimization twice time 49.760896 
filter time 6.979987 ms 
publication time 7.843467 ms 
whole laserOdometry time 57.621151 ms 
 
map prepare time 2.763611 ms
map corner num 68095  surf num 23981 
points size 92426 
prepare time 14.512391 
build tree time 18.840586 ms 
sort q time 5.170761 
seperate points time 11.930517 
scan registration time 30.363817 ms *************
mapping data assosiation time 23.962085 ms 
data association time 24.562579 ms 
mapping solver time 21.077670 ms 
solver time 17.125920 ms 
mapping data assosiation time 25.953789 ms 
data association time 24.885411 ms 
mapping solver time 17.808888 ms 
mapping optimization time 109.161354 
add points time 0.425677 ms
solver time 12.366454 ms 
filter time 7.415195 ms 
prepare time 14.911540 
mapping pub time 1.510191 ms 
whole mapping time 121.321772 ms +++++
map prepare time 2.337526 ms
map corner num 68586  surf num 24182 
sort q time 5.480867 
seperate points time 12.698088 
scan registration time 31.607339 ms *************
build tree time 20.223126 ms 
data association time 25.553083 ms 
mapping data assosiation time 26.766022 ms 
solver time 15.063150 ms 
mapping solver time 14.398217 ms 
data association time 15.239057 ms 
solver time 8.838374 ms 
publication time 8.271323 ms 
whole laserOdometry time 73.891183 ms 
 
points size 90775 
mapping solver time 10.328595 ms 
mapping optimization time 94.278109 
add points time 0.475608 ms
prepare time 16.091624 
filter time 6.527446 ms 
mapping pub time 1.291505 ms 
whole mapping time 104.953341 ms +++++
scan registration time 30.935604 ms *************
build tree time 17.794899 ms 
data association time 12.671517 ms 
mapping data assosiation time 21.330820 ms 
solver time 10.935809 ms 
data association time 13.106983 ms 
mapping solver time 14.550691 ms 
solver time 8.480501 ms 
publication time 6.949475 ms 
whole laserOdometry time 52.878704 ms 
 
mapping data assosiation time 21.131325 ms 
mapping solver time 9.010087 ms 
mapping optimization time 85.140200 
add points time 0.457248 ms
prepare time 16.713024 
map prepare time 2.748488 ms
map corner num 69626  surf num 24578 
sort q time 4.485923 
seperate points time 10.712663 
scan registration time 31.596881 ms *************
build tree time 17.747519 ms 
data association time 12.053929 ms 
solver time 11.216647 ms 
mapping solver time 14.830052 ms 
data association time 12.545233 ms 
solver time 7.596090 ms 
optimization twice time 44.233450 
mapping data assosiation time 20.447203 ms 
mapping optimization time 85.330230 
filter time 6.031895 ms 
prepare time 15.926870 
sort q time 4.526379 
seperate points time 10.401964 
mapping data assosiation time 18.558614 ms 
data association time 12.483516 ms 
mapping solver time 15.527965 ms 
solver time 15.261445 ms 
data association time 12.563328 ms 
mapping data assosiation time 19.267266 ms 
solver time 8.374710 ms 
publication time 8.500110 ms 
whole laserOdometry time 58.138013 ms 
 
mapping pub time 3.807208 ms 
whole mapping time 96.671427 ms +++++
points size 90252 
prepare time 14.315948 
sort q time 3.964940 
seperate points time 9.222583 
mapping data assosiation time 17.716186 ms 
data association time 13.420090 ms 
mapping solver time 15.835566 ms 
solver time 10.437904 ms 
data association time 13.440246 ms 
solver time 8.575081 ms 
optimization twice time 46.768123 
mapping solver time 11.945328 ms 
mapping optimization time 83.903989 
publication time 7.294993 ms 
whole laserOdometry time 54.084397 ms 
 
add points time 0.614175 ms
mapping pub time 1.155282 ms 
whole mapping time 95.136555 ms +++++
points size 90428 
build tree time 18.944399 ms 
sort q time 4.175679 
seperate points time 9.697952 
scan registration time 27.143715 ms *************
mapping data assosiation time 21.138988 ms 
data association time 14.309078 ms 
solver time 10.601278 ms 
mapping data assosiation time 20.600272 ms 
data association time 14.383981 ms 
mapping solver time 10.466317 ms 
mapping optimization time 86.340200 
add points time 0.422322 ms
solver time 9.109002 ms 
optimization twice time 49.320390 
mapping pub time 1.783510 ms 
whole mapping time 98.356184 ms +++++
publication time 6.951706 ms 
whole laserOdometry time 56.284929 ms 
 
map prepare time 2.056485 ms
map corner num 71392  surf num 25226 
points size 90487 
prepare time 16.062938 
build tree time 20.624720 ms 
sort q time 4.420951 
seperate points time 10.307863 
mapping data assosiation time 18.178956 ms 
mapping solver time 10.085914 ms 
solver time 10.780129 ms 
mapping data assosiation time 18.615265 ms 
data association time 12.287698 ms 
mapping solver time 10.492711 ms 
filter time 6.685166 ms 
mapping pub time 1.387326 ms 
whole mapping time 89.777442 ms +++++
publication time 6.591544 ms 
whole laserOdometry time 52.899527 ms 
 
build tree time 16.885582 ms 
points size 90749 
mapping data assosiation time 18.699729 ms 
scan registration time 28.019010 ms *************
mapping solver time 14.381830 ms 
data association time 12.362314 ms 
mapping data assosiation time 16.217112 ms 
mapping solver time 10.030025 ms 
data association time 12.029102 ms 
filter time 6.134875 ms 
mapping pub time 1.163095 ms 
whole mapping time 87.637324 ms +++++
publication time 5.981498 ms 
whole laserOdometry time 50.522464 ms 
 
map prepare time 2.735999 ms
map corner num 72214  surf num 25486 
build tree time 17.543961 ms 
points size 91262 
mapping data assosiation time 16.629353 ms 
sort q time 4.291330 
seperate points time 9.852083 
scan registration time 27.578136 ms *************
mapping solver time 13.040662 ms 
data association time 12.445191 ms 
mapping data assosiation time 16.731322 ms 
solver time 10.742282 ms 
mapping solver time 10.470718 ms 
data association time 12.855575 ms 
filter time 6.399073 ms 
mapping pub time 2.229583 ms 
whole mapping time 87.401164 ms +++++
solver time 8.528321 ms 
optimization twice time 45.227747 
publication time 7.532990 ms 
whole laserOdometry time 52.777046 ms 
 
map prepare time 2.340864 ms
map corner num 72585  surf num 25590 
build tree time 19.027674 ms 
points size 92713 
prepare time 13.860892 
mapping data assosiation time 16.794009 ms 
sort q time 4.657584 
seperate points time 10.543866 
mapping solver time 13.370550 ms 
mapping data assosiation time 16.299050 ms 
data association time 12.887299 ms 
mapping solver time 10.928499 ms 
mapping optimization time 77.335647 
add points time 0.504479 ms
solver time 10.171512 ms 
mapping pub time 1.239788 ms 
whole mapping time 88.908054 ms +++++
data association time 13.040190 ms 
solver time 8.851835 ms 
publication time 6.427056 ms 
whole laserOdometry time 52.230772 ms 
 
map prepare time 2.373668 ms
map corner num 72968  surf num 25699 
points size 94876 
sort q time 4.497324 
seperate points time 10.166102 
scan registration time 28.110038 ms *************
mapping solver time 9.168694 ms 
solver time 10.017967 ms 
mapping data assosiation time 16.489831 ms 
data association time 12.253317 ms 
mapping solver time 7.625341 ms 
mapping optimization time 73.003748 
add points time 0.474640 ms
filter time 8.140253 ms 
solver time 11.243143 ms 
optimization twice time 46.050172 
mapping pub time 1.245151 ms 
whole mapping time 85.277328 ms +++++
publication time 7.109982 ms 
whole laserOdometry time 53.182687 ms 
 
map prepare time 2.340891 ms
map corner num 73367  surf num 25805 
build tree time 18.772869 ms 
points size 95884 
prepare time 14.843499 
mapping data assosiation time 20.369490 ms 
sort q time 4.702344 
seperate points time 10.729513 
mapping solver time 13.196773 ms 
data association time 12.761217 ms 
solver time 10.684378 ms 
mapping data assosiation time 19.123086 ms 
mapping solver time 8.141203 ms 
mapping optimization time 80.717167 
add points time 0.360904 ms
filter time 7.809868 ms 
mapping pub time 1.196343 ms 
whole mapping time 92.472461 ms +++++
publication time 6.953057 ms 
whole laserOdometry time 54.230281 ms 
 
map prepare time 2.254514 ms
map corner num 73741  surf num 25936 
build tree time 20.149570 ms 
points size 95917 
prepare time 13.061692 
sort q time 4.522326 
seperate points time 10.477437 
mapping solver time 10.210656 ms 
data association time 12.672246 ms 
solver time 10.524603 ms 
mapping data assosiation time 18.280681 ms 
mapping solver time 12.284680 ms 
mapping optimization time 83.196872 
data association time 12.718775 ms 
add points time 0.472427 ms
optimization twice time 44.727903 
mapping pub time 1.433765 ms 
whole mapping time 95.168046 ms +++++
publication time 8.004852 ms 
whole laserOdometry time 52.750025 ms 
 
map prepare time 2.210925 ms
map corner num 74115  surf num 26066 
build tree time 19.556243 ms 
sort q time 4.861391 
seperate points time 10.886476 
mapping solver time 11.386004 ms 
data association time 13.300046 ms 
solver time 10.731119 ms 
mapping solver time 8.517863 ms 
filter time 6.547019 ms 
publication time 7.520954 ms 
whole laserOdometry time 53.265485 ms 
 
map prepare time 2.841446 ms
map corner num 74529  surf num 26221 
build tree time 18.838705 ms 
points size 95991 
prepare time 13.916190 
sort q time 5.008574 
seperate points time 11.478788 
mapping solver time 13.318353 ms 
data association time 12.257443 ms 
solver time 10.712094 ms 
mapping data assosiation time 17.093036 ms 
mapping solver time 9.844979 ms 
mapping optimization time 78.568664 
add points time 0.465246 ms
data association time 14.049091 ms 
filter time 12.100786 ms 
mapping pub time 1.199998 ms 
whole mapping time 95.223758 ms +++++
solver time 11.092477 ms 
optimization twice time 48.789884 
publication time 7.338510 ms 
whole laserOdometry time 56.145496 ms 
 
map prepare time 2.489077 ms
map corner num 74942  surf num 26337 
points size 95729 
sort q time 5.712806 
seperate points time 13.257441 
scan registration time 31.526000 ms *************
mapping data assosiation time 17.172336 ms 
mapping solver time 11.499481 ms 
data association time 12.162140 ms 
mapping data assosiation time 16.828402 ms 
mapping solver time 10.746649 ms 
data association time 13.958389 ms 
filter time 8.778663 ms 
solver time 9.757226 ms 
optimization twice time 48.545726 
publication time 7.677610 ms 
whole laserOdometry time 56.246132 ms 
 
points size 95914 
prepare time 13.969068 
sort q time 4.260147 
seperate points time 9.750178 
mapping data assosiation time 16.989264 ms 
mapping solver time 11.506775 ms 
data association time 12.364685 ms 
solver time 11.489415 ms 
mapping data assosiation time 18.372929 ms 
mapping solver time 7.816238 ms 
data association time 13.392019 ms 
mapping optimization time 74.622803 
add points time 0.512942 ms
mapping pub time 1.226342 ms 
whole mapping time 86.705239 ms +++++
publication time 6.955600 ms 
whole laserOdometry time 52.914390 ms 
 
map prepare time 2.090836 ms
map corner num 72753  surf num 25092 
build tree time 18.447497 ms 
prepare time 14.074514 
mapping data assosiation time 15.461599 ms 
sort q time 5.436755 
seperate points time 12.120142 
scan registration time 29.866341 ms *************
mapping solver time 11.538230 ms 
data association time 13.069480 ms 
mapping data assosiation time 16.972845 ms 
solver time 11.302146 ms 
mapping solver time 11.424185 ms 
filter time 7.055132 ms 
mapping pub time 1.212075 ms 
whole mapping time 85.621046 ms +++++
data association time 13.847701 ms 
solver time 10.677131 ms 
publication time 7.893531 ms 
whole laserOdometry time 57.620730 ms 
 
map prepare time 2.132589 ms
map corner num 73108  surf num 25214 
points size 95114 
sort q time 4.666391 
seperate points time 10.379232 
scan registration time 28.001056 ms *************
mapping data assosiation time 15.688584 ms 
mapping solver time 11.552155 ms 
data association time 13.366633 ms 
mapping data assosiation time 15.496610 ms 
mapping solver time 7.962393 ms 
mapping optimization time 70.092077 
add points time 0.444730 ms
solver time 12.013613 ms 
filter time 8.837773 ms 
mapping pub time 5.813832 ms 
whole mapping time 87.359961 ms +++++
solver time 8.154908 ms 
publication time 7.874629 ms 
whole laserOdometry time 58.516105 ms 
 
map prepare time 2.497845 ms
map corner num 73465  surf num 25381 
points size 94331 
prepare time 13.475450 
build tree time 17.955469 ms 
sort q time 4.559054 
seperate points time 10.415750 
mapping data assosiation time 17.564893 ms 
mapping solver time 11.522349 ms 
solver time 9.791367 ms 
mapping data assosiation time 15.329819 ms 
mapping solver time 9.349153 ms 
mapping optimization time 72.661316 
data association time 13.773061 ms 
add points time 0.419799 ms
filter time 6.749773 ms 
mapping pub time 1.096402 ms 
whole mapping time 83.465075 ms +++++
solver time 9.198139 ms 
optimization twice time 46.826430 
publication time 7.495479 ms 
whole laserOdometry time 54.336826 ms 
 
map prepare time 2.827027 ms
map corner num 73835  surf num 25582 
points size 94363 
sort q time 4.852257 
seperate points time 11.224857 
mapping data assosiation time 16.544653 ms 
scan registration time 29.684507 ms *************
mapping solver time 13.215289 ms 
data association time 14.128838 ms 
mapping data assosiation time 18.157845 ms 
solver time 11.168004 ms 
mapping solver time 10.295481 ms 
mapping optimization time 78.724143 
add points time 0.500551 ms
data association time 14.405654 ms 
filter time 7.971908 ms 
mapping pub time 1.464305 ms 
whole mapping time 91.529508 ms +++++
solver time 8.724679 ms 
optimization twice time 49.230009 
publication time 7.208062 ms 
whole laserOdometry time 56.458202 ms 
 
map prepare time 2.608848 ms
map corner num 74333  surf num 25818 
points size 94037 
prepare time 13.745241 
build tree time 18.891454 ms 
sort q time 5.584834 
seperate points time 12.932602 
mapping data assosiation time 18.257914 ms 
mapping solver time 11.865930 ms 
data association time 14.437340 ms 
mapping data assosiation time 16.961616 ms 
solver time 10.254025 ms 
mapping solver time 7.902584 ms 
mapping optimization time 74.685690 
add points time 0.514103 ms
filter time 7.830040 ms 
solver time 8.478576 ms 
publication time 6.953568 ms 
whole laserOdometry time 55.057572 ms 
 
map prepare time 2.736821 ms
map corner num 74777  surf num 25994 
points size 94392 
prepare time 13.389505 
build tree time 18.595999 ms 
sort q time 5.313518 
seperate points time 12.201827 
mapping data assosiation time 16.762471 ms 
mapping solver time 9.574983 ms 
solver time 10.551120 ms 
mapping data assosiation time 17.104031 ms 
mapping solver time 7.667560 ms 
mapping optimization time 70.697615 
add points time 0.455368 ms
data association time 13.301670 ms 
filter time 7.271956 ms 
mapping pub time 1.130640 ms 
whole mapping time 82.328673 ms +++++
solver time 8.579087 ms 
optimization twice time 45.723775 
publication time 7.359959 ms 
whole laserOdometry time 53.099829 ms 
 
map prepare time 2.689789 ms
map corner num 75152  surf num 26124 
build tree time 19.098056 ms 
points size 95039 
sort q time 4.317925 
seperate points time 10.058762 
mapping data assosiation time 17.009688 ms 
scan registration time 27.873684 ms *************
mapping solver time 12.942915 ms 
data association time 22.105315 ms 
mapping data assosiation time 22.281062 ms 
mapping solver time 12.144398 ms 
solver time 17.012673 ms 
mapping optimization time 84.889647 
add points time 0.448988 ms
mapping pub time 3.978024 ms 
whole mapping time 100.574429 ms +++++
solver time 10.794952 ms 
publication time 8.320316 ms 
whole laserOdometry time 77.247707 ms 
 
map prepare time 2.251488 ms
map corner num 75531  surf num 26242 
prepare time 14.510133 
sort q time 4.785841 
seperate points time 11.037981 
scan registration time 29.796033 ms *************
build tree time 19.714144 ms 
mapping data assosiation time 16.543819 ms 
data association time 12.838153 ms 
mapping solver time 10.232919 ms 
solver time 10.965326 ms 
data association time 12.654789 ms 
solver time 7.639809 ms 
optimization twice time 44.971105 
mapping solver time 7.668711 ms 
mapping optimization time 72.511174 
add points time 0.433526 ms
publication time 7.679255 ms 
whole laserOdometry time 52.667953 ms 
 
filter time 8.007802 ms 
mapping pub time 1.324398 ms 
whole mapping time 84.578562 ms +++++
points size 95323 
prepare time 13.572574 
sort q time 5.252701 
seperate points time 11.984004 
scan registration time 29.630304 ms *************
mapping data assosiation time 19.855515 ms 
mapping solver time 13.254198 ms 
data association time 12.912643 ms 
solver time 12.814820 ms 
mapping data assosiation time 19.292541 ms 
data association time 13.648729 ms 
mapping solver time 12.004282 ms 
mapping optimization time 85.815290 
add points time 0.450656 ms
filter time 7.711154 ms 
mapping pub time 1.491915 ms 
whole mapping time 97.872810 ms +++++
publication time 7.736790 ms 
whole laserOdometry time 56.730037 ms 
 
map prepare time 2.392172 ms
map corner num 76252  surf num 26470 
points size 95586 
build tree time 17.696022 ms 
sort q time 5.238371 
seperate points time 12.021307 
scan registration time 30.631695 ms *************
mapping data assosiation time 18.148277 ms 
mapping solver time 17.777839 ms 
data association time 19.871694 ms 
solver time 17.087261 ms 
mapping data assosiation time 20.982938 ms 
mapping solver time 7.449669 ms 
mapping optimization time 83.308294 
add points time 0.456785 ms
data association time 13.378033 ms 
filter time 5.814197 ms 
solver time 7.804250 ms 
optimization twice time 59.003412 
publication time 7.438392 ms 
whole laserOdometry time 66.477500 ms 
 
map prepare time 3.264689 ms
map corner num 76608  surf num 26599 
points size 96185 
prepare time 14.521039 
build tree time 19.132927 ms 
sort q time 5.296652 
seperate points time 12.170197 
mapping data assosiation time 18.887653 ms 
data association time 13.711174 ms 
mapping solver time 14.212705 ms 
solver time 10.638785 ms 
mapping data assosiation time 17.019823 ms 
mapping solver time 10.452680 ms 
filter time 6.089477 ms 
mapping pub time 1.815087 ms 
whole mapping time 92.547054 ms +++++
publication time 8.768178 ms 
whole laserOdometry time 55.200481 ms 
 
points size 96109 
prepare time 13.937081 
sort q time 4.847146 
seperate points time 11.014122 
scan registration time 29.283369 ms *************
mapping data assosiation time 16.087822 ms 
data association time 13.613974 ms 
solver time 10.389064 ms 
mapping data assosiation time 16.208493 ms 
mapping solver time 9.493480 ms 
data association time 13.087427 ms 
mapping optimization time 74.118305 
add points time 0.452156 ms
filter time 6.251737 ms 
solver time 8.777819 ms 
optimization twice time 46.962417 
mapping pub time 2.485868 ms 
whole mapping time 85.822135 ms +++++
publication time 6.502282 ms 
whole laserOdometry time 53.486318 ms 
 
map prepare time 2.144212 ms
map corner num 77295  surf num 26795 
build tree time 21.409769 ms 
prepare time 15.168137 
mapping data assosiation time 16.805233 ms 
sort q time 5.601467 
seperate points time 12.374116 
mapping solver time 12.459079 ms 
data association time 13.848492 ms 
mapping data assosiation time 16.789242 ms 
solver time 11.956554 ms 
mapping solver time 7.995920 ms 
mapping optimization time 76.336039 
add points time 0.466846 ms
filter time 6.691725 ms 
data association time 12.188400 ms 
mapping pub time 1.220983 ms 
whole mapping time 86.904380 ms +++++
optimization twice time 46.771409 
publication time 7.030446 ms 
whole laserOdometry time 53.845832 ms 
 
map prepare time 2.773599 ms
map corner num 77636  surf num 26895 
points size 94909 
build tree time 21.644410 ms 
prepare time 14.930952 
mapping data assosiation time 14.207121 ms 
mapping solver time 11.615728 ms 
mapping data assosiation time 18.975653 ms 
data association time 20.716425 ms 
mapping optimization time 77.730329 
add points time 0.508101 ms
solver time 19.214211 ms 
filter time 8.072341 ms 
data association time 12.048275 ms 
solver time 7.455070 ms 
publication time 7.587119 ms 
whole laserOdometry time 68.003625 ms 
 
map prepare time 2.929252 ms
map corner num 77990  surf num 26993 
points size 95076 
build tree time 21.097020 ms 
sort q time 5.051750 
seperate points time 11.646197 
scan registration time 30.356320 ms *************
mapping data assosiation time 14.890579 ms 
mapping solver time 12.803692 ms 
data association time 15.723942 ms 
mapping data assosiation time 14.151335 ms 
mapping solver time 8.480765 ms 
filter time 7.705167 ms 
data association time 14.504682 ms 
mapping pub time 1.245186 ms 
whole mapping time 84.789874 ms +++++
solver time 12.557909 ms 
publication time 7.554547 ms 
whole laserOdometry time 67.338780 ms 
 
points size 96757 
map prepare time 3.133501 ms
map corner num 78396  surf num 27098 
prepare time 14.957563 
sort q time 5.445388 
seperate points time 12.277015 
build tree time 20.835273 ms 
mapping data assosiation time 14.655070 ms 
data association time 13.481192 ms 
mapping solver time 11.837708 ms 
solver time 12.760374 ms 
mapping data assosiation time 16.641670 ms 
data association time 11.954681 ms 
mapping solver time 7.472825 ms 
mapping optimization time 72.120467 
add points time 0.553926 ms
solver time 8.182864 ms 
optimization twice time 47.266170 
filter time 7.569537 ms 
publication time 7.382728 ms 
whole laserOdometry time 54.662462 ms 
 
mapping pub time 1.543401 ms 
whole mapping time 84.974057 ms +++++
points size 97190 
build tree time 19.465637 ms 
sort q time 4.347026 
seperate points time 10.136644 
mapping solver time 10.740322 ms 
data association time 12.390072 ms 
mapping data assosiation time 14.517964 ms 
mapping solver time 9.216199 ms 
data association time 12.535312 ms 
filter time 8.747042 ms 
solver time 11.298697 ms 
optimization twice time 50.671657 
publication time 7.235590 ms 
whole laserOdometry time 57.938307 ms 
 
map prepare time 2.110841 ms
map corner num 79262  surf num 27505 
build tree time 19.867879 ms 
prepare time 14.818558 
mapping data assosiation time 14.883398 ms 
sort q time 5.470289 
seperate points time 12.363978 
scan registration time 31.310887 ms *************
data association time 12.301937 ms 
mapping solver time 9.326609 ms 
filter time 6.752956 ms 
mapping pub time 1.299190 ms 
whole mapping time 80.371190 ms +++++
data association time 13.027300 ms 
solver time 10.014336 ms 
optimization twice time 48.817666 
publication time 7.385155 ms 
whole laserOdometry time 56.222790 ms 
 
map prepare time 2.960433 ms
map corner num 79698  surf num 27717 
points size 97690 
prepare time 13.753904 
build tree time 19.470520 ms 
sort q time 5.214633 
seperate points time 11.692926 
mapping data assosiation time 18.070445 ms 
mapping solver time 13.814202 ms 
data association time 12.406846 ms 
mapping data assosiation time 16.146687 ms 
solver time 10.512056 ms 
mapping solver time 10.425299 ms 
mapping optimization time 78.989120 
add points time 0.445646 ms
filter time 9.303757 ms 
mapping pub time 1.380617 ms 
whole mapping time 93.123261 ms +++++
solver time 9.042800 ms 
optimization twice time 45.996837 
publication time 6.541710 ms 
whole laserOdometry time 52.555863 ms 
 
map prepare time 2.652416 ms
map corner num 80150  surf num 27849 
points size 98497 
build tree time 19.988123 ms 
sort q time 4.363378 
seperate points time 10.025988 
scan registration time 28.651176 ms *************
mapping data assosiation time 17.159292 ms 
mapping solver time 11.420077 ms 
data association time 13.505899 ms 
mapping data assosiation time 16.889751 ms 
solver time 13.233992 ms 
mapping solver time 9.463245 ms 
mapping optimization time 75.947095 
add points time 0.426096 ms
mapping pub time 1.169724 ms 
whole mapping time 86.033648 ms +++++
data association time 16.712835 ms 
solver time 8.773770 ms 
optimization twice time 53.160218 
map prepare time 2.298863 ms
map corner num 80570  surf num 27970 
points size 99055 
prepare time 15.076896 
build tree time 20.673448 ms 
sort q time 4.572294 
seperate points time 10.600145 
mapping data assosiation time 16.159774 ms 
mapping solver time 11.379249 ms 
data association time 12.585084 ms 
solver time 9.986525 ms 
mapping data assosiation time 17.058767 ms 
data association time 13.122519 ms 
filter time 6.380717 ms 
solver time 8.171472 ms 
optimization twice time 44.731118 
mapping pub time 1.243978 ms 
whole mapping time 84.147452 ms +++++
publication time 7.109329 ms 
whole laserOdometry time 51.857060 ms 
 
map prepare time 2.231581 ms
map corner num 80927  surf num 28101 
points size 100000 
prepare time 14.934803 
build tree time 20.405305 ms 
sort q time 4.709229 
seperate points time 10.906067 
scan registration time 29.940454 ms *************
mapping data assosiation time 16.386682 ms 
mapping solver time 11.758809 ms 
data association time 13.321344 ms 
solver time 10.498424 ms 
mapping solver time 12.631190 ms 
data association time 13.969255 ms 
filter time 6.746552 ms 
publication time 7.305859 ms 
whole laserOdometry time 54.841701 ms 
 
map prepare time 3.155298 ms
map corner num 81307  surf num 28194 
points size 100715 
build tree time 21.416215 ms 
sort q time 6.223629 
seperate points time 13.874623 
mapping data assosiation time 17.579913 ms 
mapping solver time 11.362307 ms 
data association time 13.427350 ms 
solver time 8.354367 ms 
mapping data assosiation time 16.038081 ms 
mapping solver time 10.246920 ms 
mapping optimization time 77.720654 
add points time 0.427861 ms
data association time 14.472048 ms 
mapping pub time 1.320758 ms 
whole mapping time 90.776684 ms +++++
solver time 10.270539 ms 
publication time 8.160448 ms 
whole laserOdometry time 55.480658 ms 
 
map prepare time 3.379705 ms
map corner num 81666  surf num 28284 
points size 101376 
prepare time 19.117281 
build tree time 26.617250 ms 
sort q time 5.525518 
seperate points time 12.973971 
mapping data assosiation time 17.070687 ms 
mapping solver time 12.572592 ms 
data association time 13.666038 ms 
solver time 8.698593 ms 
mapping data assosiation time 16.298712 ms 
data association time 13.381790 ms 
solver time 8.293041 ms 
optimization twice time 44.991131 
filter time 7.245576 ms 
mapping pub time 1.277800 ms 
whole mapping time 96.224296 ms +++++
map prepare time 2.411617 ms
map corner num 82096  surf num 28389 
points size 101320 
build tree time 21.213715 ms 
sort q time 4.683355 
seperate points time 10.698669 
scan registration time 29.712984 ms *************
mapping data assosiation time 17.459110 ms 
data association time 12.929684 ms 
solver time 10.309391 ms 
mapping data assosiation time 15.459436 ms 
data association time 13.361462 ms 
mapping solver time 7.272430 ms 
mapping optimization time 72.410585 
add points time 0.424745 ms
filter time 7.287049 ms 
solver time 8.640897 ms 
optimization twice time 46.296654 
mapping pub time 1.422078 ms 
whole mapping time 83.995798 ms +++++
publication time 7.556392 ms 
whole laserOdometry time 53.871194 ms 
 
map prepare time 2.272000 ms
map corner num 82540  surf num 28516 
points size 100799 
build tree time 20.109919 ms 
sort q time 6.056280 
seperate points time 13.975402 
mapping data assosiation time 19.982158 ms 
mapping solver time 17.861200 ms 
data association time 21.157801 ms 
mapping data assosiation time 21.515809 ms 
solver time 20.467926 ms 
mapping solver time 12.294942 ms 
filter time 8.462041 ms 
data association time 18.930452 ms 
solver time 11.347377 ms 
optimization twice time 72.820384 
points size 100272 
prepare time 16.171316 
map prepare time 2.392658 ms
map corner num 83001  surf num 28649 
sort q time 5.714896 
seperate points time 13.668536 
scan registration time 34.795584 ms *************
build tree time 21.402397 ms 
data association time 13.315370 ms 
mapping data assosiation time 15.904519 ms 
solver time 10.316608 ms 
mapping solver time 12.562648 ms 
solver time 8.358965 ms 
mapping data assosiation time 17.178058 ms 
publication time 8.313680 ms 
whole laserOdometry time 53.782565 ms 
 
mapping solver time 13.306986 ms 
filter time 7.915834 ms 
prepare time 15.225496 
map prepare time 2.662036 ms
map corner num 83449  surf num 28768 
sort q time 5.107529 
seperate points time 11.774783 
scan registration time 31.377443 ms *************
build tree time 24.255341 ms 
data association time 12.694125 ms 
mapping data assosiation time 17.560387 ms 
solver time 12.627546 ms 
mapping solver time 11.049064 ms 
data association time 12.749159 ms 
mapping data assosiation time 17.224799 ms 
solver time 10.288595 ms 
mapping solver time 8.976259 ms 
filter time 7.966168 ms 
map prepare time 2.468813 ms
map corner num 83838  surf num 28882 
points size 96943 
prepare time 16.264628 
build tree time 21.216673 ms 
scan registration time 32.627858 ms *************
mapping data assosiation time 18.465487 ms 
data association time 14.566340 ms 
mapping solver time 13.200793 ms 
solver time 14.484298 ms 
mapping data assosiation time 18.512325 ms 
mapping solver time 10.878041 ms 
filter time 8.019002 ms 
map prepare time 3.201249 ms
map corner num 84309  surf num 29088 
points size 93555 
prepare time 18.097676 
sort q time 5.019928 
seperate points time 12.057024 
build tree time 27.060980 ms 
scan registration time 34.471968 ms *************
data association time 12.398844 ms 
solver time 11.466502 ms 
mapping solver time 13.643119 ms 
data association time 13.079565 ms 
mapping data assosiation time 19.110401 ms 
solver time 10.540320 ms 
optimization twice time 48.377847 
publication time 7.773393 ms 
whole laserOdometry time 56.168964 ms 
 
filter time 7.373937 ms 
mapping pub time 1.334074 ms 
whole mapping time 105.959708 ms +++++
map prepare time 3.425431 ms
map corner num 84924  surf num 29418 
points size 90873 
sort q time 3.926907 
seperate points time 9.292668 
scan registration time 27.173263 ms *************
build tree time 20.465486 ms 
mapping data assosiation time 20.381057 ms 
mapping solver time 11.586563 ms 
solver time 12.021100 ms 
data association time 14.458055 ms 
mapping solver time 9.196100 ms 
publication time 7.286852 ms 
whole laserOdometry time 59.028045 ms 
 
map prepare time 2.941344 ms
map corner num 85535  surf num 29759 
points size 88576 
prepare time 13.745211 
sort q time 4.228789 
seperate points time 9.682696 
build tree time 23.009294 ms 
scan registration time 27.226703 ms *************
mapping data assosiation time 18.928655 ms 
data association time 14.785470 ms 
mapping solver time 15.670611 ms 
solver time 13.878963 ms 
data association time 14.186731 ms 
mapping data assosiation time 19.607366 ms 
solver time 11.723545 ms 
optimization twice time 55.458338 
mapping solver time 13.136100 ms 
mapping optimization time 91.512641 
add points time 0.419971 ms
filter time 10.030402 ms 
map prepare time 2.447584 ms
map corner num 86109  surf num 30051 
points size 86809 
prepare time 13.794676 
sort q time 4.975178 
seperate points time 11.334013 
scan registration time 28.924096 ms *************
build tree time 22.248040 ms 
mapping data assosiation time 19.543973 ms 
data association time 13.584647 ms 
solver time 10.229487 ms 
data association time 14.076405 ms 
mapping data assosiation time 19.057046 ms 
mapping solver time 9.366253 ms 
mapping pub time 1.074245 ms 
whole mapping time 97.050196 ms +++++
points size 84052 
sort q time 3.916595 
seperate points time 9.165932 
mapping data assosiation time 18.451073 ms 
data association time 13.330236 ms 
mapping solver time 13.229613 ms 
solver time 13.456051 ms 
data association time 13.346061 ms 
solver time 10.001849 ms 
publication time 6.156926 ms 
whole laserOdometry time 56.987894 ms 
 
filter time 9.117308 ms 
mapping pub time 1.136357 ms 
whole mapping time 95.559109 ms +++++
points size 83088 
build tree time 21.111527 ms 
sort q time 4.541741 
seperate points time 10.170147 
scan registration time 23.397502 ms *************
mapping data assosiation time 17.547138 ms 
mapping solver time 11.815451 ms 
solver time 13.360855 ms 
mapping data assosiation time 17.286653 ms 
data association time 11.797802 ms 
mapping solver time 13.186585 ms 
solver time 9.546255 ms 
optimization twice time 47.999590 
filter time 8.438218 ms 
map prepare time 2.089655 ms
map corner num 87476  surf num 30497 
points size 81544 
prepare time 9.749332 
build tree time 24.798803 ms 
sort q time 3.716057 
seperate points time 8.559405 
scan registration time 21.601671 ms *************
data association time 12.562710 ms 
mapping solver time 11.677322 ms 
solver time 12.789645 ms 
mapping data assosiation time 16.459699 ms 
mapping solver time 9.407779 ms 
publication time 5.724519 ms 
whole laserOdometry time 53.445449 ms 
 
map prepare time 2.053549 ms
map corner num 87853  surf num 30581 
build tree time 22.249757 ms 
points size 81174 
sort q time 3.628932 
seperate points time 8.538040 
mapping solver time 11.737720 ms 
mapping data assosiation time 16.376308 ms 
mapping solver time 9.464777 ms 
data association time 13.280147 ms 
mapping pub time 2.079953 ms 
whole mapping time 91.612025 ms +++++
solver time 15.140311 ms 
optimization twice time 53.339825 
publication time 6.917472 ms 
whole laserOdometry time 60.277973 ms 
 
map prepare time 2.926011 ms
map corner num 88166  surf num 30660 
points size 81361 
prepare time 9.541140 
build tree time 23.461089 ms 
sort q time 4.525280 
seperate points time 10.641176 
scan registration time 23.448017 ms *************
mapping data assosiation time 19.973425 ms 
data association time 13.736124 ms 
mapping solver time 11.872089 ms 
solver time 12.897489 ms 
mapping data assosiation time 15.134984 ms 
data association time 11.938152 ms 
mapping solver time 10.606167 ms 
mapping optimization time 82.116443 
add points time 0.346731 ms
filter time 8.897377 ms 
map prepare time 2.311235 ms
map corner num 88518  surf num 30738 
points size 81905 
build tree time 22.112050 ms 
prepare time 9.743088 
sort q time 3.888022 
seperate points time 8.833815 
mapping data assosiation time 15.981656 ms 
mapping solver time 11.882018 ms 
data association time 12.311523 ms 
mapping data assosiation time 14.687142 ms 
solver time 10.697331 ms 
mapping solver time 9.320473 ms 
filter time 6.646470 ms 
data association time 12.990811 ms 
mapping pub time 1.012195 ms 
whole mapping time 85.197103 ms +++++
solver time 8.532317 ms 
optimization twice time 45.350336 
map prepare time 1.904584 ms
map corner num 88880  surf num 30829 
build tree time 20.765263 ms 
prepare time 10.592277 
sort q time 3.742039 
seperate points time 8.850699 
mapping data assosiation time 15.477031 ms 
scan registration time 23.161735 ms *************
mapping solver time 13.109435 ms 
data association time 11.951503 ms 
mapping data assosiation time 15.938822 ms 
solver time 10.959498 ms 
mapping solver time 11.543145 ms 
mapping optimization time 77.937014 
add points time 0.337164 ms
data association time 12.605601 ms 
solver time 8.553311 ms 
optimization twice time 45.022523 
publication time 6.596001 ms 
whole laserOdometry time 51.634939 ms 
 
map prepare time 2.222278 ms
map corner num 89228  surf num 30912 
build tree time 21.845632 ms 
points size 84068 
sort q time 4.037569 
seperate points time 9.282896 
mapping solver time 12.108975 ms 
data association time 12.355071 ms 
mapping data assosiation time 16.272359 ms 
solver time 11.237988 ms 
mapping solver time 10.107676 ms 
mapping optimization time 77.089607 
add points time 0.387628 ms
filter time 6.964154 ms 
mapping pub time 1.024423 ms 
whole mapping time 87.731075 ms +++++
solver time 11.650397 ms 
optimization twice time 49.305524 
map prepare time 1.951190 ms
map corner num 89589  surf num 31050 
build tree time 22.172505 ms 
sort q time 4.650612 
seperate points time 10.455829 
mapping solver time 11.229782 ms 
data association time 11.548536 ms 
mapping data assosiation time 17.361646 ms 
solver time 10.416557 ms 
mapping solver time 10.126470 ms 
mapping optimization time 79.004487 
add points time 0.380433 ms
data association time 12.161713 ms 
filter time 7.812549 ms 
solver time 9.539293 ms 
optimization twice time 44.492858 
publication time 7.238269 ms 
whole laserOdometry time 51.751518 ms 
 
map prepare time 2.339980 ms
map corner num 89949  surf num 31223 
points size 84756 
build tree time 23.565846 ms 
prepare time 10.055222 
sort q time 4.101666 
seperate points time 9.569201 
scan registration time 22.931636 ms *************
mapping solver time 9.421574 ms 
data association time 11.748581 ms 
mapping data assosiation time 15.937877 ms 
solver time 11.726205 ms 
mapping solver time 7.570722 ms 
mapping optimization time 75.726442 
add points time 0.346419 ms
data association time 12.061169 ms 
solver time 8.399149 ms 
publication time 7.190567 ms 
whole laserOdometry time 51.921938 ms 
 
build tree time 26.542359 ms 
sort q time 5.586593 
seperate points time 13.276453 
mapping data assosiation time 21.532729 ms 
scan registration time 31.900908 ms *************
mapping solver time 12.542904 ms 
data association time 11.506651 ms 
mapping data assosiation time 16.940021 ms 
mapping solver time 9.693926 ms 
data association time 12.119641 ms 
filter time 9.124592 ms 
solver time 11.811803 ms 
optimization twice time 49.308724 
map prepare time 1.957611 ms
map corner num 90652  surf num 31518 
points size 85930 
build tree time 23.552287 ms 
scan registration time 25.599303 ms *************
mapping data assosiation time 16.281876 ms 
mapping solver time 10.151283 ms 
solver time 8.684599 ms 
mapping data assosiation time 15.187840 ms 
data association time 12.292957 ms 
solver time 8.484098 ms 
publication time 5.704437 ms 
whole laserOdometry time 49.478794 ms 
 
map prepare time 2.547858 ms
map corner num 91014  surf num 31640 
points size 83743 
build tree time 26.559321 ms 
prepare time 12.946099 
sort q time 5.411991 
seperate points time 12.736853 
scan registration time 30.571215 ms *************
mapping data assosiation time 21.139129 ms 
mapping solver time 12.769648 ms 
data association time 13.047176 ms 
mapping data assosiation time 15.193534 ms 
solver time 8.930245 ms 
mapping solver time 11.167798 ms 
filter time 6.938691 ms 
mapping pub time 1.019812 ms 
whole mapping time 98.713376 ms +++++
publication time 5.855787 ms 
whole laserOdometry time 51.266601 ms 
 
map prepare time 1.994755 ms
map corner num 91394  surf num 31755 
points size 82874 
build tree time 24.078696 ms 
scan registration time 24.681251 ms *************
mapping data assosiation time 16.583422 ms 
data association time 11.875142 ms 
solver time 9.726986 ms 
mapping data assosiation time 15.941988 ms 
mapping solver time 8.153946 ms 
mapping optimization time 75.885159 
add points time 0.364771 ms
solver time 7.790049 ms 
optimization twice time 41.990742 
mapping pub time 2.550413 ms 
whole mapping time 89.175596 ms +++++
build tree time 21.166179 ms 
prepare time 10.052190 
mapping data assosiation time 18.292728 ms 
scan registration time 22.878731 ms *************
mapping solver time 13.382486 ms 
mapping data assosiation time 19.460394 ms 
data association time 20.692948 ms 
mapping solver time 10.589700 ms 
mapping optimization time 84.016343 
add points time 0.414787 ms
filter time 9.174998 ms 
solver time 17.352695 ms 
mapping pub time 1.265795 ms 
whole mapping time 97.035434 ms +++++
data association time 11.616490 ms 
solver time 7.603541 ms 
optimization twice time 58.272529 
publication time 5.892878 ms 
whole laserOdometry time 64.179420 ms 
 
map prepare time 1.814577 ms
map corner num 47744  surf num 17372 
points size 83395 
build tree time 11.459487 ms 
prepare time 10.543889 
sort q time 4.439183 
seperate points time 9.986894 
mapping data assosiation time 15.947024 ms 
mapping solver time 9.479905 ms 
data association time 12.512111 ms 
solver time 13.379765 ms 
mapping solver time 7.642217 ms 
mapping optimization time 62.187841 
add points time 0.401020 ms
solver time 7.719732 ms 
publication time 5.885248 ms 
whole laserOdometry time 53.343564 ms 
 
map prepare time 1.884054 ms
map corner num 48173  surf num 17549 
build tree time 11.529251 ms 
mapping data assosiation time 17.197641 ms 
mapping solver time 12.424409 ms 
sort q time 4.013341 
seperate points time 9.218402 
scan registration time 26.573946 ms *************
data association time 11.190786 ms 
filter time 3.917292 ms 
mapping pub time 1.131802 ms 
whole mapping time 77.449403 ms +++++
data association time 11.212976 ms 
solver time 7.658894 ms 
optimization twice time 44.656560 
publication time 5.946670 ms 
whole laserOdometry time 50.622270 ms 
 
map prepare time 1.776537 ms
map corner num 48637  surf num 17765 
build tree time 11.546615 ms 
points size 82142 
prepare time 13.483934 
sort q time 4.120302 
seperate points time 9.895312 
mapping solver time 13.413332 ms 
data association time 11.940871 ms 
mapping data assosiation time 16.398770 ms 
solver time 12.608183 ms 
mapping solver time 13.296837 ms 
filter time 4.510571 ms 
mapping pub time 1.073572 ms 
whole mapping time 82.913896 ms +++++
data association time 12.402235 ms 
solver time 10.142222 ms 
optimization twice time 48.005241 
map prepare time 1.856387 ms
map corner num 49137  surf num 17991 
build tree time 12.793819 ms 
points size 84500 
mapping data assosiation time 19.102826 ms 
scan registration time 26.864176 ms *************
mapping solver time 20.993783 ms 
data association time 13.666934 ms 
solver time 11.416893 ms 
data association time 13.703572 ms 
mapping solver time 12.956037 ms 
mapping optimization time 91.680572 
add points time 0.452343 ms
solver time 10.933898 ms 
mapping pub time 1.558546 ms 
whole mapping time 100.199619 ms +++++
optimization twice time 50.688090 
map prepare time 1.869311 ms
map corner num 49656  surf num 18240 
build tree time 16.499474 ms 
points size 87218 
sort q time 5.605359 
seperate points time 13.333427 
scan registration time 35.780050 ms *************
mapping solver time 12.774577 ms 
data association time 13.367121 ms 
mapping data assosiation time 18.620849 ms 
solver time 14.401058 ms 
mapping solver time 13.099739 ms 
mapping optimization time 86.524040 
add points time 0.561729 ms
data association time 13.769737 ms 
mapping pub time 1.041989 ms 
whole mapping time 96.231666 ms +++++
solver time 10.849224 ms 
publication time 6.059423 ms 
whole laserOdometry time 59.405610 ms 
 
map prepare time 2.289475 ms
map corner num 50171  surf num 18486 
points size 88310 
prepare time 10.751858 
build tree time 13.912719 ms 
sort q time 4.960074 
seperate points time 11.214780 
mapping data assosiation time 18.229763 ms 
data association time 12.994410 ms 
mapping solver time 14.446582 ms 
solver time 13.138425 ms 
mapping data assosiation time 19.446395 ms 
solver time 11.381290 ms 
filter time 5.833376 ms 
publication time 7.553792 ms 
whole laserOdometry time 61.297971 ms 
 
mapping pub time 1.535897 ms 
whole mapping time 89.195324 ms +++++
build tree time 14.919667 ms 
prepare time 13.753107 
sort q time 5.695206 
seperate points time 13.372269 
scan registration time 32.333428 ms *************
mapping data assosiation time 24.623178 ms 
mapping solver time 14.613183 ms 
data association time 13.670497 ms 
solver time 10.608534 ms 
mapping data assosiation time 18.280259 ms 
data association time 13.269729 ms 
mapping solver time 13.327889 ms 
solver time 8.132121 ms 
optimization twice time 46.620340 
filter time 5.150570 ms 
mapping pub time 1.115999 ms 
whole mapping time 96.406444 ms +++++
map prepare time 1.969280 ms
map corner num 51080  surf num 18822 
build tree time 14.603730 ms 
points size 84394 
prepare time 17.732852 
mapping data assosiation time 24.429272 ms 
sort q time 5.464364 
seperate points time 13.079965 
scan registration time 35.280508 ms *************
mapping solver time 16.201069 ms 
data association time 13.530211 ms 
solver time 11.292972 ms 
data association time 12.990199 ms 
mapping solver time 11.062704 ms 
mapping optimization time 86.843893 
add points time 0.556509 ms
filter time 4.826284 ms 
mapping pub time 1.051345 ms 
whole mapping time 95.293884 ms +++++
publication time 6.082591 ms 
whole laserOdometry time 54.039896 ms 
 
map prepare time 2.033161 ms
map corner num 51518  surf num 18953 
build tree time 13.878531 ms 
sort q time 4.391411 
seperate points time 10.113669 
scan registration time 26.623932 ms *************
mapping data assosiation time 18.138543 ms 
mapping solver time 15.243467 ms 
solver time 11.131328 ms 
mapping data assosiation time 18.854013 ms 
data association time 12.628917 ms 
mapping solver time 11.922260 ms 
mapping optimization time 79.318470 
add points time 0.425110 ms
solver time 8.765366 ms 
optimization twice time 47.425753 
filter time 5.427403 ms 
map prepare time 2.224157 ms
map corner num 51953  surf num 19056 
build tree time 13.605845 ms 
points size 79352 
prepare time 12.343672 
mapping data assosiation time 19.468133 ms 
scan registration time 23.926889 ms *************
mapping solver time 15.918596 ms 
data association time 13.122509 ms 
mapping data assosiation time 18.893308 ms 
mapping solver time 11.629391 ms 
filter time 4.593412 ms 
data association time 14.987225 ms 
mapping pub time 1.066242 ms 
whole mapping time 89.083701 ms +++++
solver time 10.473373 ms 
optimization twice time 50.518856 
map prepare time 1.796109 ms
map corner num 52378  surf num 19165 
build tree time 13.566082 ms 
points size 78510 
prepare time 12.484791 
sort q time 3.391231 
seperate points time 8.007087 
data association time 12.118704 ms 
mapping solver time 20.872335 ms 
solver time 11.457086 ms 
data association time 12.071972 ms 
solver time 9.112348 ms 
publication time 6.501840 ms 
whole laserOdometry time 52.188500 ms 
 
mapping solver time 17.047458 ms 
filter time 5.871781 ms 
mapping pub time 1.302247 ms 
whole mapping time 103.602755 ms +++++
map prepare time 2.315536 ms
map corner num 52821  surf num 19278 
build tree time 16.528716 ms 
points size 76394 
sort q time 3.342242 
seperate points time 7.895396 
mapping solver time 13.210171 ms 
data association time 11.678859 ms 
solver time 10.160165 ms 
mapping data assosiation time 17.029677 ms 
data association time 11.630330 ms 
mapping solver time 11.325507 ms 
mapping optimization time 75.477921 
add points time 0.374760 ms
solver time 8.178598 ms 
optimization twice time 42.483372 
publication time 5.835163 ms 
whole laserOdometry time 48.333212 ms 
 
map prepare time 1.733667 ms
map corner num 53162  surf num 19347 
build tree time 11.980180 ms 
mapping data assosiation time 16.145575 ms 
points size 70023 
prepare time 11.706825 
mapping solver time 13.406624 ms 
sort q time 3.675506 
seperate points time 8.626032 
scan registration time 23.303036 ms *************
mapping data assosiation time 15.708969 ms 
mapping solver time 10.331501 ms 
data association time 11.372567 ms 
mapping optimization time 68.670301 
add points time 0.497202 ms
solver time 11.350588 ms 
data association time 11.759366 ms 
solver time 8.195347 ms 
publication time 5.450097 ms 
whole laserOdometry time 48.969190 ms 
 
map prepare time 1.601588 ms
map corner num 53472  surf num 19405 
points size 63713 
sort q time 2.993123 
seperate points time 6.883577 
scan registration time 20.027226 ms *************
mapping solver time 11.205146 ms 
mapping data assosiation time 17.505537 ms 
data association time 18.581286 ms 
mapping solver time 11.116933 ms 
filter time 6.037781 ms 
solver time 17.130025 ms 
mapping pub time 8.575858 ms 
whole mapping time 86.033420 ms +++++
[0m[ INFO] [1718887041.877037885]: Received 136705 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887041.877093986]: Data saved to 1317357786771943.pcd[0m
data association time 15.531752 ms 
solver time 8.962492 ms 
optimization twice time 61.473792 
map prepare time 1.945470 ms
map corner num 53761  surf num 19455 
points size 60096 
build tree time 17.809381 ms 
sort q time 3.205291 
seperate points time 7.669299 
mapping data assosiation time 17.489894 ms 
data association time 9.895949 ms 
mapping solver time 16.393662 ms 
solver time 12.791856 ms 
data association time 10.163263 ms 
mapping data assosiation time 17.598744 ms 
solver time 8.453283 ms 
optimization twice time 42.198445 
mapping solver time 10.008911 ms 
mapping optimization time 80.501910 
add points time 0.399580 ms
filter time 6.002651 ms 
mapping pub time 0.946766 ms 
whole mapping time 89.835446 ms +++++
map prepare time 1.799615 ms
map corner num 54039  surf num 19512 
build tree time 17.289406 ms 
points size 58399 
prepare time 10.768064 
sort q time 2.966383 
seperate points time 7.370140 
scan registration time 20.516285 ms *************
mapping solver time 16.608858 ms 
solver time 11.882507 ms 
mapping data assosiation time 17.040958 ms 
data association time 12.612925 ms 
mapping solver time 13.467935 ms 
mapping optimization time 82.990226 
add points time 0.390523 ms
filter time 5.924031 ms 
solver time 11.142633 ms 
optimization twice time 46.382703 
mapping pub time 0.922801 ms 
whole mapping time 92.067007 ms +++++
map prepare time 1.779149 ms
map corner num 54326  surf num 19572 
build tree time 17.293000 ms 
points size 58711 
sort q time 2.950061 
seperate points time 6.905691 
scan registration time 18.887388 ms *************
mapping solver time 16.352740 ms 
data association time 10.172773 ms 
solver time 9.935450 ms 
mapping data assosiation time 17.019764 ms 
data association time 13.073166 ms 
filter time 6.010111 ms 
mapping pub time 0.859288 ms 
whole mapping time 91.538684 ms +++++
solver time 10.099262 ms 
optimization twice time 44.134304 
map prepare time 1.713236 ms
map corner num 54625  surf num 19637 
build tree time 12.653978 ms 
mapping data assosiation time 13.321244 ms 
mapping solver time 10.547654 ms 
prepare time 9.749867 
mapping data assosiation time 14.727521 ms 
mapping solver time 9.981070 ms 
filter time 6.470959 ms 
mapping pub time 1.029041 ms 
whole mapping time 71.980411 ms +++++
data association time 15.250688 ms 
solver time 10.139938 ms 
data association time 10.119302 ms 
solver time 7.583134 ms 
optimization twice time 43.972630 
map prepare time 1.437085 ms
map corner num 54919  surf num 19710 
build tree time 13.161290 ms 
mapping data assosiation time 17.776976 ms 
points size 61761 
sort q time 3.331771 
seperate points time 8.205635 
mapping data assosiation time 15.033157 ms 
mapping solver time 7.487872 ms 
mapping optimization time 70.086307 
add points time 0.429863 ms
solver time 13.384391 ms 
data association time 11.223015 ms 
solver time 9.429409 ms 
publication time 5.586976 ms 
whole laserOdometry time 51.496851 ms 
 
map prepare time 1.962442 ms
map corner num 55271  surf num 19844 
build tree time 14.527640 ms 
points size 64580 
prepare time 14.883485 
mapping data assosiation time 21.507226 ms 
sort q time 3.923440 
seperate points time 9.821838 
mapping solver time 14.417148 ms 
data association time 11.296310 ms 
solver time 11.461729 ms 
mapping data assosiation time 17.967621 ms 
mapping solver time 10.791823 ms 
filter time 6.290298 ms 
mapping pub time 0.748303 ms 
whole mapping time 89.717336 ms +++++
solver time 7.936408 ms 
optimization twice time 42.714806 
map prepare time 1.947884 ms
map corner num 55674  surf num 20013 
build tree time 13.203613 ms 
points size 66265 
prepare time 15.378499 
sort q time 3.702330 
seperate points time 9.230879 
mapping solver time 16.359727 ms 
data association time 10.500576 ms 
mapping data assosiation time 16.013536 ms 
solver time 10.778594 ms 
mapping solver time 8.727515 ms 
mapping optimization time 78.422973 
add points time 0.451483 ms
filter time 6.670714 ms 
mapping pub time 0.777261 ms 
whole mapping time 88.322423 ms +++++
data association time 11.722117 ms 
solver time 8.165871 ms 
optimization twice time 42.113633 
map prepare time 1.976903 ms
map corner num 56139  surf num 20239 
build tree time 12.989943 ms 
points size 67554 
prepare time 15.873037 
mapping data assosiation time 24.599611 ms 
sort q time 4.145485 
seperate points time 10.428811 
mapping solver time 17.640081 ms 
solver time 10.088217 ms 
mapping data assosiation time 18.519055 ms 
data association time 12.180361 ms 
mapping solver time 11.733342 ms 
mapping optimization time 86.685061 
add points time 0.424812 ms
solver time 8.362399 ms 
optimization twice time 43.179754 
filter time 5.195980 ms 
mapping pub time 1.080541 ms 
whole mapping time 95.418923 ms +++++
map prepare time 2.326949 ms
map corner num 56637  surf num 20447 
build tree time 13.701681 ms 
points size 69497 
prepare time 10.560445 
scan registration time 21.099405 ms *************
mapping solver time 16.387181 ms 
solver time 10.240273 ms 
data association time 11.315974 ms 
mapping solver time 12.062550 ms 
mapping optimization time 85.999702 
add points time 0.515833 ms
solver time 10.019467 ms 
optimization twice time 44.469217 
publication time 7.151530 ms 
whole laserOdometry time 51.639841 ms 
 
map prepare time 2.170913 ms
map corner num 57139  surf num 20599 
build tree time 14.592388 ms 
points size 71566 
prepare time 11.177387 
mapping data assosiation time 20.058700 ms 
sort q time 3.862144 
seperate points time 9.105744 
mapping solver time 12.891771 ms 
data association time 12.187020 ms 
mapping data assosiation time 18.163046 ms 
solver time 10.558905 ms 
mapping solver time 11.707626 ms 
filter time 5.945314 ms 
mapping pub time 1.515511 ms 
whole mapping time 88.738094 ms +++++
publication time 5.748752 ms 
whole laserOdometry time 49.840932 ms 
 
map prepare time 1.952482 ms
map corner num 57634  surf num 20770 
build tree time 15.564284 ms 
points size 73202 
mapping data assosiation time 21.477462 ms 
sort q time 3.625868 
seperate points time 8.612147 
scan registration time 23.307458 ms *************
mapping solver time 15.713754 ms 
data association time 12.199790 ms 
mapping data assosiation time 19.865599 ms 
solver time 11.592813 ms 
mapping solver time 12.593292 ms 
mapping optimization time 86.371020 
add points time 0.435765 ms
data association time 13.965095 ms 
solver time 9.399085 ms 
optimization twice time 48.068922 
map prepare time 2.055999 ms
map corner num 58114  surf num 20949 
build tree time 15.299119 ms 
points size 73810 
prepare time 11.657354 
sort q time 3.047109 
seperate points time 7.255505 
scan registration time 22.043443 ms *************
data association time 13.681389 ms 
solver time 12.716336 ms 
mapping data assosiation time 20.842318 ms 
data association time 15.174290 ms 
mapping solver time 11.257024 ms 
solver time 9.469363 ms 
optimization twice time 51.699014 
map prepare time 1.748408 ms
map corner num 58645  surf num 21119 
build tree time 13.306108 ms 
points size 75142 
prepare time 17.046668 
mapping data assosiation time 26.670143 ms 
sort q time 4.596012 
seperate points time 11.209586 
mapping solver time 17.368003 ms 
data association time 12.161587 ms 
mapping data assosiation time 19.572265 ms 
solver time 10.609784 ms 
mapping solver time 9.674845 ms 
mapping optimization time 87.912681 
add points time 0.519536 ms
filter time 4.890133 ms 
data association time 13.607085 ms 
mapping pub time 0.890453 ms 
whole mapping time 96.005817 ms +++++
solver time 8.289379 ms 
optimization twice time 45.429178 
map prepare time 2.206204 ms
map corner num 59119  surf num 21269 
points size 75372 
prepare time 11.646148 
build tree time 16.668576 ms 
sort q time 3.558512 
seperate points time 8.396554 
scan registration time 23.306600 ms *************
mapping data assosiation time 23.441571 ms 
data association time 12.190344 ms 
solver time 9.202714 ms 
data association time 14.810026 ms 
solver time 10.982503 ms 
optimization twice time 48.141666 
mapping data assosiation time 25.278785 ms 
mapping optimization time 101.173107 
filter time 6.820241 ms 
map prepare time 2.925348 ms
map corner num 59632  surf num 21426 
points size 75720 
build tree time 20.230565 ms 
sort q time 5.254114 
seperate points time 12.152183 
mapping data assosiation time 32.063910 ms 
solver time 13.111801 ms 
mapping solver time 20.042864 ms 
scan registration time 31.063157 ms *************
filter time 7.071479 ms 
mapping pub time 1.827211 ms 
whole mapping time 137.105007 ms +++++
map prepare time 2.099840 ms
map corner num 60081  surf num 21595 
build tree time 16.021058 ms 
data association time 13.412142 ms 
solver time 10.813151 ms 
mapping data assosiation time 20.554643 ms 
data association time 13.043187 ms 
solver time 9.111937 ms 
optimization twice time 47.229536 
mapping solver time 17.668495 ms 
publication time 6.609196 ms 
whole laserOdometry time 53.860535 ms 
 
points size 77626 
sort q time 4.273664 
seperate points time 10.553223 
scan registration time 32.268442 ms *************
filter time 5.680239 ms 
map prepare time 2.506385 ms
map corner num 60533  surf num 21748 
data association time 21.212139 ms 
build tree time 16.197932 ms 
solver time 15.422685 ms 
mapping data assosiation time 20.826451 ms 
data association time 20.658569 ms 
mapping solver time 16.779070 ms 
solver time 12.040278 ms 
publication time 8.109308 ms 
whole laserOdometry time 78.420305 ms 
 
points size 77854 
prepare time 17.849494 
mapping data assosiation time 28.156381 ms 
sort q time 4.685675 
seperate points time 11.600232 
scan registration time 33.540030 ms *************
mapping solver time 16.615149 ms 
mapping optimization time 99.753019 
add points time 0.605620 ms
filter time 6.926759 ms 
map prepare time 2.552585 ms
map corner num 60955  surf num 21901 
data association time 21.082015 ms 
build tree time 14.453454 ms 
solver time 11.707272 ms 
mapping data assosiation time 21.962431 ms 
solver time 8.160091 ms 
publication time 8.089391 ms 
whole laserOdometry time 70.689534 ms 
 
points size 78573 
mapping data assosiation time 27.470151 ms 
sort q time 5.038597 
seperate points time 12.307260 
scan registration time 34.092336 ms *************
mapping solver time 11.808644 ms 
filter time 6.599780 ms 
mapping pub time 0.936032 ms 
whole mapping time 103.702406 ms +++++
data association time 21.151463 ms 
build tree time 14.217905 ms 
solver time 15.179530 ms 
mapping data assosiation time 20.273297 ms 
data association time 20.840421 ms 
solver time 11.574673 ms 
optimization twice time 69.861809 
mapping data assosiation time 36.011402 ms 
points size 79560 
prepare time 52.049035 
map prepare time 2.853600 ms
map corner num 61741  surf num 22164 
sort q time 4.646118 
seperate points time 11.491152 
build tree time 17.569778 ms 
data association time 14.735595 ms 
points size 80674 
data association time 13.964233 ms 
sort q time 4.493329 
seperate points time 11.079493 
scan registration time 33.211690 ms *************
publication time 6.949090 ms 
whole laserOdometry time 53.609307 ms 
 
data association time 11.733429 ms 
solver time 8.431228 ms 
mapping solver time 14.030722 ms 
filter time 5.701694 ms 
solver time 5.867425 ms 
optimization twice time 39.341150 
publication time 9.671308 ms 
whole laserOdometry time 49.034625 ms 
 
points size 81719 
sort q time 3.811775 
seperate points time 8.886929 
mapping data assosiation time 22.960279 ms 
mapping solver time 17.417002 ms 
solver time 15.912345 ms 
mapping data assosiation time 24.235384 ms 
mapping solver time 11.098403 ms 
data association time 19.052913 ms 
mapping optimization time 94.036615 
add points time 0.573206 ms
solver time 11.976133 ms 
publication time 8.894284 ms 
whole laserOdometry time 75.865574 ms 
 
build tree time 17.236732 ms 
prepare time 13.194485 
sort q time 5.067626 
seperate points time 12.165344 
mapping data assosiation time 24.860118 ms 
mapping solver time 16.434297 ms 
solver time 14.388453 ms 
mapping data assosiation time 25.257038 ms 
data association time 13.648484 ms 
mapping solver time 11.806623 ms 
mapping optimization time 96.799738 
add points time 0.665494 ms
solver time 7.451402 ms 
optimization twice time 57.955341 
publication time 8.794101 ms 
whole laserOdometry time 66.769196 ms 
 
points size 82838 
prepare time 12.603057 
sort q time 4.439065 
seperate points time 10.399362 
data association time 13.179586 ms 
solver time 10.568194 ms 
data association time 13.282775 ms 
solver time 9.153925 ms 
optimization twice time 46.974287 
mapping solver time 11.189988 ms 
filter time 6.193846 ms 
points size 84022 
build tree time 17.773248 ms 
scan registration time 27.797275 ms *************
mapping data assosiation time 25.019406 ms 
data association time 15.363082 ms 
solver time 10.445255 ms 
data association time 13.203952 ms 
solver time 5.883620 ms 
publication time 7.418501 ms 
whole laserOdometry time 53.313105 ms 
 
mapping data assosiation time 25.639010 ms 
mapping solver time 11.824396 ms 
filter time 7.605343 ms 
points size 85585 
prepare time 14.712803 
sort q time 5.381200 
seperate points time 12.857027 
build tree time 19.824458 ms 
scan registration time 31.670976 ms *************
mapping data assosiation time 24.493364 ms 
solver time 12.579923 ms 
data association time 13.849465 ms 
solver time 8.017886 ms 
mapping data assosiation time 23.190159 ms 
optimization twice time 49.230851 
publication time 8.042746 ms 
whole laserOdometry time 57.290826 ms 
 
add points time 0.720764 ms
filter time 6.806794 ms 
mapping pub time 1.816199 ms 
whole mapping time 106.884837 ms +++++
points size 87543 
sort q time 4.299756 
seperate points time 10.030667 
scan registration time 27.826464 ms *************
build tree time 19.427647 ms 
data association time 13.567920 ms 
mapping data assosiation time 24.219289 ms 
solver time 10.578493 ms 
mapping solver time 14.157724 ms 
solver time 7.326388 ms 
publication time 7.776778 ms 
whole laserOdometry time 53.595530 ms 
 
mapping data assosiation time 23.750147 ms 
mapping solver time 13.304247 ms 
points size 88625 
prepare time 14.484478 
filter time 7.043164 ms 
mapping pub time 0.998750 ms 
whole mapping time 108.311525 ms +++++
sort q time 4.267548 
seperate points time 10.321658 
build tree time 16.524631 ms 
data association time 14.499719 ms 
mapping data assosiation time 23.325951 ms 
solver time 13.597300 ms 
mapping solver time 16.302879 ms 
data association time 15.290688 ms 
solver time 8.353051 ms 
optimization twice time 52.621342 
mapping data assosiation time 21.915454 ms 
publication time 7.749786 ms 
whole laserOdometry time 60.382265 ms 
 
mapping solver time 17.373053 ms 
points size 89075 
filter time 7.990094 ms 
prepare time 18.165851 
mapping pub time 1.142734 ms 
whole mapping time 110.072154 ms +++++
map prepare time 3.371736 ms
map corner num 65806  surf num 23837 
sort q time 4.321529 
seperate points time 10.234533 
build tree time 16.230757 ms 
data association time 13.924432 ms 
mapping data assosiation time 22.216102 ms 
solver time 13.688699 ms 
mapping solver time 18.205613 ms 
data association time 15.003286 ms 
solver time 7.601376 ms 
publication time 7.908978 ms 
whole laserOdometry time 58.993568 ms 
 
mapping data assosiation time 26.354895 ms 
points size 89606 
prepare time 14.743676 
mapping solver time 16.641789 ms 
mapping optimization time 101.265825 
add points time 0.549014 ms
sort q time 5.619998 
seperate points time 12.949281 
filter time 8.887589 ms 
mapping pub time 1.055864 ms 
whole mapping time 115.175624 ms +++++
map prepare time 2.565953 ms
map corner num 66272  surf num 24036 
data association time 17.880743 ms 
solver time 14.510669 ms 
mapping data assosiation time 23.374367 ms 
solver time 10.280015 ms 
publication time 7.213406 ms 
whole laserOdometry time 64.399527 ms 
 
points size 90398 
prepare time 13.853776 
mapping data assosiation time 24.199806 ms 
sort q time 3.962649 
seperate points time 9.586804 
filter time 5.753922 ms 
map prepare time 2.536042 ms
map corner num 66769  surf num 24271 
data association time 15.311442 ms 
build tree time 18.241927 ms 
solver time 13.897575 ms 
data association time 15.372954 ms 
mapping data assosiation time 25.134903 ms 
solver time 12.041296 ms 
mapping solver time 19.734401 ms 
points size 91578 
sort q time 4.373646 
seperate points time 10.290260 
scan registration time 27.892689 ms *************
mapping solver time 16.772019 ms 
filter time 5.394796 ms 
mapping pub time 1.786358 ms 
whole mapping time 116.693834 ms +++++
solver time 13.877420 ms 
build tree time 16.133568 ms 
data association time 13.944729 ms 
solver time 10.378825 ms 
publication time 8.101208 ms 
whole laserOdometry time 61.151313 ms 
 
mapping solver time 18.128313 ms 
sort q time 4.336865 
seperate points time 10.090290 
mapping data assosiation time 24.558863 ms 
data association time 14.143306 ms 
mapping solver time 17.778991 ms 
mapping optimization time 102.962641 
add points time 0.557206 ms
mapping pub time 1.343438 ms 
whole mapping time 115.702431 ms +++++
map prepare time 2.678733 ms
map corner num 67851  surf num 24758 
solver time 10.654366 ms 
optimization twice time 52.811677 
build tree time 18.012696 ms 
mapping data assosiation time 27.699124 ms 
points size 94354 
prepare time 14.411613 
sort q time 4.552450 
seperate points time 10.847494 
data association time 12.813366 ms 
mapping data assosiation time 23.668494 ms 
solver time 13.408826 ms 
mapping solver time 17.861027 ms 
mapping optimization time 106.601894 
add points time 0.474724 ms
data association time 13.541575 ms 
mapping pub time 1.256051 ms 
whole mapping time 117.583113 ms +++++
solver time 8.266270 ms 
optimization twice time 48.902039 
map prepare time 3.380353 ms
map corner num 68476  surf num 25018 
build tree time 18.479911 ms 
points size 94397 
mapping data assosiation time 26.490496 ms 
sort q time 4.377807 
seperate points time 10.581260 
mapping solver time 21.760099 ms 
data association time 22.958483 ms 
solver time 18.207652 ms 
mapping data assosiation time 31.976227 ms 
data association time 21.857456 ms 
filter time 7.789237 ms 
map prepare time 3.461809 ms
map corner num 69002  surf num 25298 
prepare time 15.259191 
sort q time 5.192979 
seperate points time 12.675917 
mapping data assosiation time 29.961652 ms 
data association time 23.975212 ms 
solver time 16.299439 ms 
mapping solver time 29.129497 ms 
points size 94609 
prepare time 14.220405 
mapping data assosiation time 33.750012 ms 
sort q time 4.604736 
seperate points time 11.034959 
mapping solver time 22.189596 ms 
filter time 7.744236 ms 
map prepare time 3.477001 ms
map corner num 69530  surf num 25520 
data association time 22.532179 ms 
solver time 14.542039 ms 
build tree time 23.089086 ms 
data association time 23.850917 ms 
points size 94868 
publication time 10.003767 ms 
whole laserOdometry time 85.833603 ms 
 
sort q time 5.280361 
seperate points time 12.294110 
scan registration time 31.331423 ms *************
data association time 16.033746 ms 
mapping data assosiation time 24.491393 ms 
mapping solver time 16.908021 ms 
solver time 8.882421 ms 
map prepare time 2.823861 ms
map corner num 70022  surf num 25727 
build tree time 18.025915 ms 
points size 95420 
prepare time 14.294336 
sort q time 4.355559 
seperate points time 10.345139 
mapping data assosiation time 28.089410 ms 
data association time 15.235634 ms 
mapping solver time 20.441864 ms 
data association time 15.313619 ms 
solver time 8.344550 ms 
publication time 9.312175 ms 
whole laserOdometry time 60.190650 ms 
 
mapping optimization time 109.647324 
filter time 7.415140 ms 
mapping pub time 1.434051 ms 
whole mapping time 121.856255 ms +++++
drop lidar frame in mapping for real time performance 
points size 95726 
sort q time 4.332556 
seperate points time 9.990003 
data association time 27.199609 ms 
mapping data assosiation time 32.018650 ms 
solver time 19.997345 ms 
mapping solver time 27.207128 ms 
data association time 26.702514 ms 
points size 95538 
solver time 13.776486 ms 
publication time 10.676995 ms 
whole laserOdometry time 99.555287 ms 
 
mapping solver time 18.087869 ms 
filter time 8.436747 ms 
mapping pub time 1.692208 ms 
whole mapping time 144.568826 ms +++++
data association time 25.386610 ms 
build tree time 23.482464 ms 
data association time 28.180101 ms 
points size 95590 
prepare time 14.366698 
solver time 12.630981 ms 
optimization twice time 82.666496 
sort q time 4.845107 
seperate points time 11.504919 
publication time 11.468288 ms 
whole laserOdometry time 94.155269 ms 
 
mapping solver time 27.750441 ms 
mapping data assosiation time 31.583269 ms 
solver time 16.302922 ms 
mapping solver time 23.698439 ms 
mapping optimization time 142.053288 
add points time 0.545119 ms
filter time 8.222905 ms 
map prepare time 3.621944 ms
map corner num 71520  surf num 26372 
data association time 26.230327 ms 
prepare time 14.787551 
solver time 11.586433 ms 
sort q time 4.356996 
seperate points time 10.541917 
build tree time 24.180229 ms 
scan registration time 29.810588 ms *************
mapping data assosiation time 33.975036 ms 
solver time 15.770416 ms 
mapping solver time 27.484081 ms 
data association time 26.483115 ms 
points size 95929 
prepare time 14.282433 
solver time 13.951568 ms 
optimization twice time 85.137478 
publication time 10.979846 ms 
whole laserOdometry time 96.138413 ms 
 
sort q time 5.444234 
seperate points time 13.086773 
mapping solver time 20.348034 ms 
mapping optimization time 141.392350 
add points time 0.588782 ms
filter time 8.283456 ms 
mapping pub time 1.756131 ms 
whole mapping time 155.695986 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.626623 ms
map corner num 71994  surf num 26543 
solver time 14.984187 ms 
build tree time 23.713708 ms 
data association time 17.630842 ms 
mapping data assosiation time 25.859351 ms 
points size 95868 
publication time 9.302213 ms 
whole laserOdometry time 77.846631 ms 
 
prepare time 15.178164 
mapping solver time 19.282871 ms 
sort q time 5.140268 
seperate points time 12.146849 
scan registration time 31.829787 ms *************
mapping data assosiation time 24.621806 ms 
data association time 15.361432 ms 
solver time 11.133568 ms 
filter time 6.500961 ms 
data association time 16.122763 ms 
mapping pub time 8.153271 ms 
whole mapping time 130.038165 ms +++++
[0m[ INFO] [1718887046.569744129]: Received 162558 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887046.569779604]: Data saved to 1317357791240741.pcd[0m
publication time 9.488446 ms 
whole laserOdometry time 63.691860 ms 
 
build tree time 19.217274 ms 
points size 95964 
sort q time 4.523314 
seperate points time 10.684572 
mapping data assosiation time 26.264286 ms 
scan registration time 29.179772 ms *************
mapping solver time 20.488068 ms 
data association time 15.176778 ms 
solver time 12.393534 ms 
mapping data assosiation time 26.706924 ms 
data association time 15.988510 ms 
solver time 8.225433 ms 
publication time 8.537343 ms 
whole laserOdometry time 61.224269 ms 
 
drop lidar frame in mapping for real time performance 
points size 95905 
build tree time 19.363297 ms 
sort q time 5.587692 
seperate points time 14.188961 
mapping data assosiation time 25.156046 ms 
data association time 15.188337 ms 
mapping solver time 15.686124 ms 
data association time 15.322389 ms 
solver time 9.189966 ms 
mapping solver time 12.566924 ms 
filter time 7.565679 ms 
mapping pub time 1.178584 ms 
whole mapping time 113.323567 ms +++++
prepare time 17.999862 
build tree time 19.382052 ms 
data association time 16.305886 ms 
solver time 10.289306 ms 
mapping solver time 22.792573 ms 
solver time 7.782363 ms 
publication time 9.849569 ms 
whole laserOdometry time 61.141140 ms 
 
mapping data assosiation time 29.121563 ms 
points size 94781 
mapping solver time 22.943822 ms 
mapping optimization time 122.894241 
add points time 0.548015 ms
sort q time 5.444817 
seperate points time 13.538541 
filter time 9.807608 ms 
mapping pub time 1.203097 ms 
whole mapping time 137.247249 ms +++++
map prepare time 3.464160 ms
map corner num 73644  surf num 27097 
data association time 16.125522 ms 
solver time 11.073702 ms 
mapping data assosiation time 25.066415 ms 
data association time 15.590708 ms 
publication time 8.592331 ms 
whole laserOdometry time 61.215999 ms 
 
mapping solver time 19.720081 ms 
points size 93729 
sort q time 6.285191 
seperate points time 15.326212 
mapping data assosiation time 33.915640 ms 
mapping solver time 11.306136 ms 
filter time 6.918321 ms 
map prepare time 2.909287 ms
map corner num 74024  surf num 27205 
solver time 11.013320 ms 
build tree time 19.377409 ms 
data association time 17.015683 ms 
solver time 10.536579 ms 
publication time 8.883007 ms 
whole laserOdometry time 63.880976 ms 
 
mapping data assosiation time 30.274117 ms 
points size 92677 
prepare time 19.450344 
sort q time 5.299386 
seperate points time 13.222530 
mapping solver time 23.829317 ms 
scan registration time 37.890281 ms *************
mapping data assosiation time 25.224798 ms 
data association time 15.685499 ms 
mapping solver time 11.892085 ms 
mapping optimization time 112.462710 
solver time 10.786244 ms 
add points time 0.539151 ms
filter time 8.178687 ms 
mapping pub time 2.082782 ms 
whole mapping time 126.218412 ms +++++
solver time 7.900272 ms 
publication time 10.101551 ms 
whole laserOdometry time 62.850956 ms 
 
build tree time 22.801748 ms 
points size 92199 
sort q time 6.030342 
seperate points time 14.635015 
mapping data assosiation time 32.249117 ms 
data association time 15.687162 ms 
mapping solver time 18.844046 ms 
solver time 10.878432 ms 
data association time 14.710182 ms 
mapping data assosiation time 23.641977 ms 
solver time 8.264277 ms 
optimization twice time 50.281567 
publication time 8.265324 ms 
whole laserOdometry time 58.560136 ms 
 
add points time 0.653196 ms
filter time 8.654033 ms 
mapping pub time 1.627530 ms 
whole mapping time 130.559420 ms +++++
drop lidar frame in mapping for real time performance 
points size 91975 
sort q time 5.391354 
seperate points time 13.305567 
build tree time 24.246033 ms 
data association time 14.736625 ms 
solver time 12.547182 ms 
mapping solver time 17.357820 ms 
data association time 15.330011 ms 
solver time 11.045696 ms 
publication time 9.133663 ms 
whole laserOdometry time 63.680996 ms 
 
points size 91507 
prepare time 14.058877 
mapping solver time 16.166852 ms 
filter time 7.354746 ms 
build tree time 17.731873 ms 
solver time 13.692083 ms 
mapping data assosiation time 26.363369 ms 
data association time 18.586285 ms 
mapping solver time 19.358028 ms 
publication time 8.983985 ms 
whole laserOdometry time 69.599205 ms 
 
points size 90987 
prepare time 15.042713 
sort q time 4.112380 
seperate points time 9.998339 
mapping solver time 20.556994 ms 
filter time 8.041544 ms 
mapping pub time 1.559007 ms 
whole mapping time 125.541683 ms +++++
build tree time 22.344901 ms 
data association time 27.424076 ms 
mapping data assosiation time 30.256473 ms 
solver time 14.809865 ms 
optimization twice time 84.503046 
prepare time 22.612652 
mapping solver time 24.816121 ms 
publication time 13.963464 ms 
whole laserOdometry time 98.502483 ms sort q time 5.890460 
seperate points time 13.441233 
mapping data assosiation time 35.670738 ms 
mapping solver time 24.687185 ms 
data association time 31.338038 ms 
filter time 12.360813 ms 
map prepare time 3.740775 ms
map corner num 75932  surf num 27804 
points size 87961 
data association time 26.330175 ms 
sort q time 4.710487 
seperate points time 12.097152 
solver time 11.058274 ms 
optimization twice time 89.208113 
publication time 12.441256 ms 
whole laserOdometry time 101.677890 ms 
 
[33m[ WARN] [1718887047.798843734]: odometry process over 100ms[0m
mapping data assosiation time 44.816261 ms 
data association time 23.497492 ms 
solver time 19.036875 ms 
sort q time 4.435835 
seperate points time 11.658652 
solver time 9.488746 ms 
mapping data assosiation time 34.750684 ms 
publication time 7.772254 ms 
whole laserOdometry time 84.192446 ms 
 
data association time 14.789317 ms 
mapping solver time 21.596869 ms 
mapping optimization time 166.419906 
add points time 0.489430 ms
solver time 11.254425 ms 
filter time 7.903103 ms 
mapping pub time 1.918826 ms 
whole mapping time 180.531849 ms +++++
drop lidar frame in mapping for real time performance 
data association time 14.668311 ms 
solver time 8.248067 ms 
publication time 8.418645 ms 
whole laserOdometry time 58.282818 ms 
 
prepare time 12.126621 
sort q time 3.733478 
seperate points time 9.120149 
scan registration time 25.062813 ms *************
data association time 14.027066 ms 
mapping solver time 17.240086 ms 
solver time 10.835849 ms 
data association time 14.293441 ms 
solver time 8.706162 ms 
optimization twice time 48.608587 
publication time 8.484599 ms 
whole laserOdometry time 57.113056 ms 
 
filter time 7.458910 ms 
points size 84545 
prepare time 13.260689 
sort q time 3.975073 
seperate points time 9.615907 
mapping data assosiation time 26.043447 ms 
data association time 15.756875 ms 
solver time 12.039357 ms 
mapping solver time 25.465148 ms 
data association time 15.070104 ms 
solver time 8.025759 ms 
publication time 8.457390 ms 
whole laserOdometry time 60.230702 ms 
 
mapping solver time 13.892881 ms 
mapping optimization time 113.453104 
add points time 0.581062 ms
points size 84566 
mapping pub time 1.392696 ms 
whole mapping time 128.181608 ms +++++
scan registration time 26.652599 ms *************
build tree time 20.332999 ms 
data association time 13.731785 ms 
solver time 10.830725 ms 
mapping data assosiation time 24.127404 ms 
data association time 14.786681 ms 
solver time 7.919854 ms 
mapping solver time 17.512099 ms 
publication time 7.749113 ms 
whole laserOdometry time 55.844363 ms 
 
mapping data assosiation time 23.550769 ms 
points size 84650 
prepare time 13.334725 
mapping solver time 17.507452 ms 
filter time 7.491077 ms 
mapping pub time 1.349085 ms 
whole mapping time 117.421873 ms +++++
map prepare time 3.147129 ms
map corner num 77873  surf num 28426 
data association time 15.244736 ms 
build tree time 21.242651 ms 
solver time 11.053660 ms 
data association time 15.073985 ms 
solver time 10.591181 ms 
mapping data assosiation time 27.914126 ms 
publication time 8.325936 ms 
whole laserOdometry time 61.257396 ms 
 
points size 85564 
sort q time 4.155421 
seperate points time 9.615993 
mapping solver time 10.939822 ms 
data association time 14.916539 ms 
filter time 7.620174 ms 
mapping pub time 1.121780 ms 
whole mapping time 120.439582 ms +++++
solver time 11.789534 ms 
build tree time 19.073475 ms 
data association time 14.939023 ms 
solver time 9.372179 ms 
optimization twice time 51.896699 
publication time 8.876537 ms 
whole laserOdometry time 60.791134 ms 
 
mapping data assosiation time 24.731031 ms 
mapping solver time 17.499063 ms 
prepare time 12.951906 
sort q time 3.890455 
seperate points time 9.488981 
scan registration time 26.040195 ms *************
mapping data assosiation time 24.455011 ms 
data association time 14.830987 ms 
mapping solver time 15.069793 ms 
mapping optimization time 102.297022 
add points time 0.510700 ms
filter time 7.006760 ms 
mapping pub time 1.823147 ms 
whole mapping time 114.921211 ms +++++
map prepare time 2.804463 ms
map corner num 78905  surf num 28740 
data association time 15.831304 ms 
solver time 7.889375 ms 
optimization twice time 53.313720 
build tree time 19.953373 ms 
publication time 9.448764 ms 
whole laserOdometry time 62.781275 ms 
 
mapping data assosiation time 24.336863 ms 
points size 85668 
prepare time 19.631773 
mapping solver time 19.262231 ms 
sort q time 5.813622 
seperate points time 14.158854 
mapping data assosiation time 26.665126 ms 
solver time 12.665504 ms 
mapping solver time 15.779036 ms 
mapping optimization time 107.724568 
add points time 0.537833 ms
filter time 8.454222 ms 
mapping pub time 1.125951 ms 
whole mapping time 120.692822 ms +++++
solver time 10.689921 ms 
publication time 10.179335 ms 
whole laserOdometry time 65.079769 ms 
 
points size 85145 
sort q time 3.707399 
seperate points time 9.108722 
mapping data assosiation time 22.341036 ms 
scan registration time 26.401964 ms *************
mapping solver time 18.943715 ms 
data association time 14.089247 ms 
solver time 10.559646 ms 
mapping data assosiation time 25.447489 ms 
solver time 7.568112 ms 
mapping solver time 18.968160 ms 
filter time 7.326734 ms 
points size 84654 
prepare time 13.546534 
sort q time 4.438788 
seperate points time 10.839543 
mapping data assosiation time 24.853846 ms 
data association time 13.978409 ms 
solver time 10.501299 ms 
mapping solver time 19.467678 ms 
data association time 14.808852 ms 
solver time 7.949651 ms 
publication time 7.637260 ms 
whole laserOdometry time 55.903452 ms 
 
mapping solver time 18.378596 ms 
filter time 7.951316 ms 
sort q time 4.202165 
seperate points time 9.795537 
scan registration time 29.090682 ms *************
build tree time 21.785833 ms 
data association time 14.266147 ms 
mapping data assosiation time 23.569977 ms 
mapping solver time 17.410593 ms 
solver time 8.452062 ms 
publication time 7.226109 ms 
whole laserOdometry time 56.904025 ms 
 
mapping data assosiation time 25.553678 ms 
points size 84530 
prepare time 13.508888 
mapping solver time 16.753410 ms 
sort q time 4.035327 
seperate points time 9.764295 
map prepare time 3.767596 ms
map corner num 80880  surf num 29408 
data association time 13.000998 ms 
build tree time 19.990969 ms 
solver time 10.721482 ms 
data association time 13.755428 ms 
mapping data assosiation time 22.815952 ms 
publication time 7.324851 ms 
whole laserOdometry time 53.913251 ms 
 
mapping solver time 17.100933 ms 
points size 84188 
sort q time 3.891759 
seperate points time 9.195220 
filter time 6.845708 ms 
mapping pub time 7.736292 ms 
whole mapping time 117.796089 ms +++++
data association time 16.976666 ms 
solver time 11.285295 ms 
data association time 15.488310 ms 
build tree time 27.346744 ms 
publication time 6.986410 ms 
whole laserOdometry time 60.750363 ms 
 
mapping data assosiation time 28.504365 ms 
prepare time 13.273345 
sort q time 4.499705 
seperate points time 10.565286 
scan registration time 27.428989 ms *************
data association time 13.667526 ms 
solver time 11.013315 ms 
data association time 13.927354 ms 
mapping solver time 18.262246 ms 
filter time 7.109491 ms 
build tree time 21.664051 ms 
points size 84057 
prepare time 12.908043 
sort q time 4.462043 
seperate points time 10.507404 
mapping data assosiation time 22.778383 ms 
data association time 16.220890 ms 
solver time 8.261854 ms 
data association time 14.184215 ms 
solver time 9.189000 ms 
mapping solver time 14.314668 ms 
mapping optimization time 102.421115 
add points time 0.469850 ms
publication time 8.942198 ms 
whole laserOdometry time 57.696175 ms 
 
map prepare time 3.560098 ms
map corner num 82353  surf num 29823 
points size 85554 
build tree time 21.553996 ms 
data association time 14.141176 ms 
mapping data assosiation time 22.556488 ms 
mapping solver time 17.476779 ms 
data association time 14.335618 ms 
solver time 7.995499 ms 
mapping data assosiation time 23.237970 ms 
publication time 8.239317 ms 
whole laserOdometry time 56.382634 ms 
 
mapping solver time 13.639995 ms 
filter time 8.240161 ms 
points size 86653 
prepare time 15.317353 
sort q time 4.347929 
seperate points time 10.537533 
data association time 13.763169 ms 
mapping data assosiation time 22.457996 ms 
solver time 11.613802 ms 
mapping solver time 16.415539 ms 
data association time 13.998998 ms 
solver time 9.698791 ms 
publication time 8.860847 ms 
whole laserOdometry time 58.853174 ms 
 
mapping data assosiation time 25.453680 ms 
mapping solver time 10.885730 ms 
points size 87273 
sort q time 4.037503 
seperate points time 9.589858 
scan registration time 28.968594 ms *************
build tree time 20.693325 ms 
data association time 25.771694 ms 
mapping data assosiation time 29.004160 ms 
solver time 16.470639 ms 
mapping solver time 21.447305 ms 
data association time 15.216492 ms 
solver time 8.826712 ms 
points size 89137 
publication time 8.035586 ms 
whole laserOdometry time 75.357939 ms 
 
prepare time 13.767004 
mapping solver time 14.402973 ms 
mapping optimization time 108.873507 
add points time 0.424828 ms
sort q time 4.342407 
seperate points time 10.323023 
filter time 9.597737 ms 
mapping pub time 2.097650 ms 
whole mapping time 123.542141 ms +++++
data association time 16.509390 ms 
solver time 11.114124 ms 
build tree time 21.141468 ms 
data association time 15.803432 ms 
mapping data assosiation time 23.100323 ms 
solver time 7.784677 ms 
optimization twice time 52.080939 
publication time 7.684414 ms 
whole laserOdometry time 59.787022 ms 
 
mapping solver time 15.100482 ms 
points size 90440 
mapping data assosiation time 23.240984 ms 
mapping solver time 11.391100 ms 
filter time 8.944505 ms 
mapping pub time 1.085861 ms 
whole mapping time 108.963228 ms +++++
data association time 15.244365 ms 
build tree time 21.425457 ms 
solver time 12.692397 ms 
data association time 15.434451 ms 
mapping data assosiation time 22.637658 ms 
solver time 10.304954 ms 
optimization twice time 54.581215 
publication time 9.794154 ms 
whole laserOdometry time 64.391474 ms 
 
points size 91741 
prepare time 14.713580 
mapping data assosiation time 22.403242 ms 
mapping solver time 13.817380 ms 
filter time 7.559915 ms 
map prepare time 2.635440 ms
map corner num 85247  surf num 30942 
data association time 16.716193 ms 
solver time 9.958253 ms 
build tree time 21.620838 ms 
data association time 17.746230 ms 
solver time 9.058802 ms 
publication time 9.051560 ms 
whole laserOdometry time 63.477790 ms 
 
points size 93343 
mapping solver time 17.918775 ms 
prepare time 15.216392 
sort q time 4.283680 
seperate points time 10.238848 
mapping data assosiation time 23.142517 ms 
mapping solver time 16.156792 ms 
filter time 9.007821 ms 
solver time 13.376783 ms 
data association time 14.544132 ms 
build tree time 21.911972 ms 
solver time 11.215207 ms 
publication time 9.277768 ms 
whole laserOdometry time 63.863859 ms 
 
mapping data assosiation time 25.368642 ms 
prepare time 20.197820 
mapping solver time 20.328596 ms 
mapping data assosiation time 23.085805 ms 
data association time 14.591745 ms 
solver time 13.746622 ms 
filter time 7.428487 ms 
map prepare time 3.957904 ms
map corner num 86326  surf num 31387 
data association time 15.742317 ms 
solver time 11.863073 ms 
publication time 8.636043 ms 
whole laserOdometry time 65.518233 ms 
 
build tree time 25.678632 ms 
prepare time 14.756419 
sort q time 4.518775 
seperate points time 10.850309 
mapping data assosiation time 25.012239 ms 
mapping solver time 16.442889 ms 
data association time 14.293027 ms 
solver time 10.557065 ms 
mapping data assosiation time 22.304831 ms 
data association time 14.988486 ms 
solver time 8.575517 ms 
mapping solver time 17.060133 ms 
mapping optimization time 107.838770 
add points time 0.456182 ms
publication time 8.276196 ms 
whole laserOdometry time 57.612589 ms 
 
filter time 9.861693 ms 
map prepare time 2.999885 ms
map corner num 86841  surf num 31590 
points size 95355 
sort q time 4.313939 
seperate points time 9.813146 
build tree time 22.969104 ms 
scan registration time 28.500721 ms *************
mapping data assosiation time 22.197345 ms 
data association time 14.290457 ms 
mapping solver time 16.845744 ms 
solver time 12.050561 ms 
data association time 14.901764 ms 
mapping data assosiation time 24.287654 ms 
publication time 7.413238 ms 
whole laserOdometry time 60.211145 ms 
 
filter time 7.003978 ms 
prepare time 14.190235 
map prepare time 3.752732 ms
map corner num 87312  surf num 31772 
sort q time 4.951791 
seperate points time 11.444410 
build tree time 22.216162 ms 
data association time 13.690295 ms 
mapping data assosiation time 22.120763 ms 
mapping solver time 17.729677 ms 
data association time 14.822525 ms 
solver time 9.106287 ms 
optimization twice time 53.558840 
points size 96582 
mapping solver time 17.147542 ms 
mapping optimization time 101.970917 
add points time 0.489486 ms
prepare time 14.382524 
filter time 8.116456 ms 
mapping pub time 1.216904 ms 
whole mapping time 115.592577 ms +++++
build tree time 21.238570 ms 
data association time 14.204536 ms 
solver time 11.176655 ms 
mapping data assosiation time 25.437415 ms 
data association time 15.594041 ms 
solver time 8.581464 ms 
optimization twice time 50.449872 
mapping solver time 20.747212 ms 
points size 96959 
sort q time 4.674962 
seperate points time 10.862696 
mapping solver time 13.554108 ms 
mapping optimization time 104.685680 
add points time 0.436583 ms
scan registration time 29.644146 ms *************
filter time 7.946615 ms 
mapping pub time 1.171646 ms 
whole mapping time 116.943369 ms +++++
map prepare time 2.534847 ms
map corner num 62224  surf num 23063 
data association time 15.664084 ms 
build tree time 14.795576 ms 
solver time 11.205888 ms 
mapping data assosiation time 19.670375 ms 
data association time 14.111792 ms 
publication time 7.044759 ms 
whole laserOdometry time 57.485898 ms 
 
mapping solver time 18.850584 ms 
points size 96931 
prepare time 13.827328 
mapping data assosiation time 22.890351 ms 
sort q time 5.074598 
seperate points time 11.802144 
filter time 5.312505 ms 
data association time 15.111725 ms 
solver time 8.274831 ms 
mapping data assosiation time 19.738423 ms 
data association time 14.850105 ms 
solver time 8.303057 ms 
mapping solver time 18.305258 ms 
points size 95790 
mapping data assosiation time 24.830079 ms 
sort q time 5.185409 
seperate points time 12.175363 
scan registration time 30.378418 ms *************
filter time 8.129784 ms 
mapping pub time 2.292973 ms 
whole mapping time 112.018523 ms +++++
data association time 16.158535 ms 
solver time 10.913655 ms 
build tree time 17.130884 ms 
data association time 14.722583 ms 
solver time 7.736084 ms 
optimization twice time 50.377408 
mapping data assosiation time 22.627180 ms 
mapping solver time 15.286008 ms 
prepare time 13.994278 
sort q time 5.077877 
seperate points time 11.520852 
mapping solver time 9.836350 ms 
filter time 8.280729 ms 
map prepare time 2.434989 ms
map corner num 63637  surf num 23458 
data association time 14.600000 ms 
build tree time 15.671498 ms 
data association time 14.568518 ms 
mapping data assosiation time 19.909117 ms 
publication time 7.727948 ms 
whole laserOdometry time 59.309589 ms 
 
points size 93535 
mapping data assosiation time 22.326114 ms 
scan registration time 32.209471 ms *************
mapping solver time 16.341278 ms 
filter time 6.698458 ms 
mapping pub time 1.272012 ms 
whole mapping time 104.481604 ms +++++
data association time 14.943637 ms 
map prepare time 2.378988 ms
map corner num 64115  surf num 23586 
solver time 10.864682 ms 
build tree time 16.815653 ms 
data association time 14.307583 ms 
solver time 8.423012 ms 
optimization twice time 49.404366 
build tree time 15.055528 ms 
data association time 12.723404 ms 
solver time 8.391397 ms 
mapping data assosiation time 21.461679 ms 
publication time 8.889717 ms 
whole laserOdometry time 54.645474 ms 
 
mapping solver time 16.937590 ms 
points size 95440 
prepare time 14.255895 
mapping data assosiation time 20.389404 ms 
sort q time 4.397973 
seperate points time 10.361907 
mapping solver time 14.397797 ms 
filter time 6.522573 ms 
mapping pub time 1.129322 ms 
whole mapping time 101.077659 ms +++++
solver time 11.459682 ms 
data association time 14.776169 ms 
mapping data assosiation time 22.221005 ms 
solver time 8.840469 ms 
optimization twice time 52.971244 
mapping solver time 13.703470 ms 
points size 96047 
mapping data assosiation time 20.104089 ms 
sort q time 5.332930 
seperate points time 12.814312 
mapping solver time 10.036328 ms 
mapping optimization time 85.496595 
scan registration time 31.358695 ms *************
add points time 0.936748 ms
filter time 8.016433 ms 
mapping pub time 9.063422 ms 
whole mapping time 106.088464 ms +++++
map prepare time 2.499686 ms
map corner num 65454  surf num 23991 
data association time 16.541087 ms 
solver time 15.451192 ms 
build tree time 18.548078 ms 
data association time 22.639579 ms 
solver time 15.732387 ms 
optimization twice time 71.389972 
mapping solver time 16.719726 ms 
publication time 9.446057 ms 
whole laserOdometry time 80.853696 ms 
 
prepare time 14.770054 
sort q time 5.053366 
seperate points time 11.682937 
mapping solver time 13.693729 ms 
mapping optimization time 92.594057 
add points time 0.508385 ms
map prepare time 3.646648 ms
map corner num 65897  surf num 24151 
solver time 12.229652 ms 
build tree time 17.686465 ms 
data association time 14.637203 ms 
solver time 10.760793 ms 
publication time 7.856797 ms 
whole laserOdometry time 60.851346 ms 
 
mapping solver time 15.084683 ms 
points size 96458 
prepare time 18.122897 
sort q time 5.627557 
seperate points time 13.287208 
mapping solver time 14.252930 ms 
mapping optimization time 96.020762 
add points time 0.601836 ms
mapping pub time 1.431364 ms 
whole mapping time 109.131904 ms +++++
data association time 17.904342 ms 
map prepare time 2.983064 ms
map corner num 66338  surf num 24365 
solver time 11.733418 ms 
build tree time 21.674593 ms 
solver time 8.070348 ms 
mapping data assosiation time 24.444451 ms 
points size 95172 
prepare time 17.972131 
sort q time 5.518487 
seperate points time 13.102532 
mapping data assosiation time 22.797609 ms 
mapping solver time 13.660203 ms 
filter time 6.989405 ms 
mapping pub time 1.183526 ms 
whole mapping time 112.295016 ms +++++
data association time 13.212946 ms 
solver time 10.846305 ms 
publication time 8.554880 ms 
whole laserOdometry time 63.144059 ms 
 
mapping data assosiation time 22.982968 ms 
points size 93763 
prepare time 17.827110 
mapping solver time 15.736148 ms 
sort q time 5.621603 
seperate points time 13.322210 
mapping data assosiation time 22.270156 ms 
mapping solver time 12.775296 ms 
mapping optimization time 91.788177 
add points time 0.451092 ms
map prepare time 2.568109 ms
map corner num 67227  surf num 24763 
solver time 14.156623 ms 
build tree time 15.917265 ms 
data association time 14.392049 ms 
solver time 9.607272 ms 
mapping data assosiation time 22.675040 ms 
publication time 7.988825 ms 
whole laserOdometry time 67.407175 ms 
 
points size 93495 
mapping solver time 16.546447 ms 
sort q time 5.266905 
seperate points time 12.057230 
scan registration time 31.937058 ms *************
mapping data assosiation time 22.099240 ms 
mapping solver time 12.546711 ms 
mapping optimization time 91.109145 
add points time 0.431827 ms
map prepare time 2.298540 ms
map corner num 67670  surf num 24922 
data association time 15.274175 ms 
build tree time 17.095279 ms 
solver time 8.636292 ms 
optimization twice time 51.493339 
mapping data assosiation time 22.039387 ms 
prepare time 13.735411 
mapping solver time 13.217576 ms 
sort q time 5.248674 
seperate points time 11.888461 
mapping data assosiation time 21.992021 ms 
data association time 12.483390 ms 
mapping solver time 10.402787 ms 
mapping optimization time 85.811331 
add points time 0.555158 ms
map prepare time 2.052398 ms
map corner num 68113  surf num 25057 
data association time 12.557072 ms 
build tree time 18.358245 ms 
solver time 13.077001 ms 
optimization twice time 52.987777 
publication time 7.687074 ms 
whole laserOdometry time 60.693850 ms 
 
mapping data assosiation time 21.376072 ms 
points size 95554 
prepare time 14.585531 
sort q time 5.481255 
seperate points time 12.549803 
scan registration time 31.264591 ms *************
mapping solver time 8.887315 ms 
data association time 14.161160 ms 
mapping optimization time 87.017696 
add points time 0.488268 ms
solver time 15.947574 ms 
build tree time 16.059155 ms 
solver time 10.685238 ms 
optimization twice time 53.660574 
mapping data assosiation time 19.686754 ms 
publication time 8.271655 ms 
whole laserOdometry time 61.943789 ms 
 
mapping solver time 13.435444 ms 
points size 96182 
mapping data assosiation time 21.568218 ms 
sort q time 4.381333 
seperate points time 10.242922 
scan registration time 30.718727 ms *************
add points time 0.505377 ms
filter time 6.305707 ms 
mapping pub time 1.476556 ms 
whole mapping time 93.067158 ms +++++
data association time 16.186980 ms 
map prepare time 2.985768 ms
map corner num 68890  surf num 25343 
solver time 12.692410 ms 
build tree time 20.502457 ms 
solver time 8.234974 ms 
optimization twice time 51.403526 
mapping solver time 15.384319 ms 
prepare time 14.359537 
sort q time 4.459801 
seperate points time 10.333126 
mapping solver time 11.305286 ms 
mapping optimization time 96.315676 
add points time 0.506756 ms
map prepare time 2.847296 ms
map corner num 69278  surf num 25475 
solver time 11.002273 ms 
build tree time 18.691092 ms 
solver time 8.588439 ms 
publication time 8.028221 ms 
whole laserOdometry time 55.164001 ms 
 
mapping solver time 15.382057 ms 
sort q time 6.265474 
seperate points time 13.738394 
mapping data assosiation time 20.604567 ms 
scan registration time 31.916163 ms *************
mapping solver time 12.447313 ms 
filter time 6.856142 ms 
solver time 10.243322 ms 
build tree time 16.039223 ms 
data association time 13.790557 ms 
solver time 8.357070 ms 
optimization twice time 46.995516 
mapping solver time 15.401857 ms 
prepare time 14.184843 
sort q time 4.260101 
seperate points time 9.818358 
mapping data assosiation time 23.967753 ms 
mapping solver time 13.605242 ms 
filter time 6.906578 ms 
mapping pub time 1.459741 ms 
whole mapping time 104.107038 ms +++++
solver time 11.310323 ms 
map prepare time 3.075354 ms
map corner num 70148  surf num 25829 
data association time 12.704059 ms 
build tree time 17.885378 ms 
optimization twice time 46.452820 
publication time 7.799558 ms 
whole laserOdometry time 54.272995 ms 
 
mapping data assosiation time 21.645124 ms 
mapping solver time 12.745062 ms 
points size 95405 
sort q time 4.781287 
seperate points time 11.143588 
mapping solver time 12.105473 ms 
filter time 6.766536 ms 
solver time 11.859213 ms 
build tree time 17.438994 ms 
solver time 7.934907 ms 
publication time 7.179626 ms 
whole laserOdometry time 55.389814 ms 
 
mapping data assosiation time 22.751951 ms 
mapping solver time 16.029547 ms 
points size 96167 
sort q time 4.315799 
seperate points time 9.867413 
scan registration time 27.726310 ms *************
mapping solver time 9.233822 ms 
filter time 6.781500 ms 
data association time 14.216162 ms 
solver time 10.277066 ms 
build tree time 17.609840 ms 
data association time 13.138798 ms 
solver time 8.422454 ms 
optimization twice time 46.958883 
mapping solver time 18.673016 ms 
points size 95710 
prepare time 15.131463 
sort q time 4.430641 
seperate points time 10.285438 
data association time 12.994609 ms 
filter time 5.955096 ms 
data association time 12.897089 ms 
build tree time 17.895795 ms 
publication time 9.380420 ms 
whole laserOdometry time 58.097656 ms 
 
mapping data assosiation time 26.714463 ms 
points size 95676 
mapping solver time 23.303914 ms 
sort q time 5.524185 
seperate points time 12.689013 
data association time 12.755046 ms 
solver time 12.952669 ms 
filter time 8.065839 ms 
data association time 18.481109 ms 
solver time 9.805370 ms 
build tree time 19.683308 ms 
publication time 9.415622 ms 
whole laserOdometry time 64.324999 ms 
 
points size 95380 
prepare time 14.431299 
mapping data assosiation time 23.814397 ms 
sort q time 5.635948 
seperate points time 12.639541 
mapping solver time 16.174773 ms 
data association time 14.444675 ms 
mapping data assosiation time 24.283765 ms 
solver time 11.715980 ms 
mapping solver time 13.889249 ms 
mapping optimization time 99.312714 
add points time 0.610116 ms
mapping pub time 1.209296 ms 
whole mapping time 111.872070 ms +++++
publication time 9.113114 ms 
whole laserOdometry time 59.085846 ms 
 
build tree time 19.635909 ms 
points size 95541 
prepare time 14.238145 
sort q time 4.342322 
seperate points time 10.414504 
mapping solver time 15.707649 ms 
solver time 7.768111 ms 
mapping data assosiation time 23.024264 ms 
data association time 13.212976 ms 
mapping solver time 13.453807 ms 
filter time 7.377978 ms 
points size 95702 
sort q time 4.647444 
seperate points time 10.642474 
scan registration time 28.968159 ms *************
mapping data assosiation time 24.912850 ms 
data association time 15.095098 ms 
solver time 12.268427 ms 
mapping data assosiation time 22.716360 ms 
data association time 16.687765 ms 
mapping solver time 13.174919 ms 
filter time 9.050312 ms 
map prepare time 2.731991 ms
map corner num 73428  surf num 27190 
points size 95716 
build tree time 19.689033 ms 
sort q time 4.732328 
seperate points time 11.294827 
mapping data assosiation time 22.941041 ms 
data association time 13.455180 ms 
solver time 10.957325 ms 
mapping solver time 17.778717 ms 
data association time 13.221867 ms 
solver time 8.073410 ms 
optimization twice time 46.519160 
mapping data assosiation time 24.231927 ms 
mapping solver time 15.544414 ms 
filter time 6.730723 ms 
mapping pub time 1.138203 ms 
whole mapping time 113.070331 ms +++++
points size 95632 
map prepare time 2.499257 ms
map corner num 74020  surf num 27481 
sort q time 4.895750 
seperate points time 11.618510 
build tree time 17.686200 ms 
scan registration time 33.121299 ms *************
data association time 12.993606 ms 
solver time 11.337477 ms 
mapping solver time 16.789558 ms 
data association time 16.858326 ms 
solver time 9.106958 ms 
publication time 8.661238 ms 
whole laserOdometry time 59.959603 ms 
 
mapping solver time 12.666493 ms 
mapping optimization time 96.723903 
add points time 0.661279 ms
prepare time 14.394688 
sort q time 4.850259 
seperate points time 11.501126 
[0m[ INFO] [1718887053.594448962]: Received 200838 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887053.594480675]: Data saved to 1317357798418453.pcd[0m
map prepare time 4.071431 ms
map corner num 74503  surf num 27677 
data association time 13.883777 ms 
build tree time 24.505240 ms 
data association time 13.249285 ms 
solver time 7.778836 ms 
optimization twice time 47.142194 
points size 95651 
prepare time 14.866405 
sort q time 4.875027 
seperate points time 11.475245 
mapping data assosiation time 30.745624 ms 
data association time 13.545960 ms 
filter time 8.391239 ms 
map prepare time 3.307876 ms
map corner num 74912  surf num 27866 
data association time 15.307846 ms 
solver time 7.522214 ms 
optimization twice time 49.509975 
publication time 9.826480 ms 
whole laserOdometry time 59.351476 ms 
 
points size 95905 
mapping data assosiation time 31.012230 ms 
scan registration time 29.199686 ms *************
mapping solver time 21.736732 ms 
data association time 16.098867 ms 
solver time 8.979327 ms 
mapping data assosiation time 30.916993 ms 
data association time 14.482314 ms 
publication time 7.974466 ms 
whole laserOdometry time 54.479588 ms 
 
filter time 8.620827 ms 
map prepare time 3.466183 ms
map corner num 75309  surf num 28022 
points size 96420 
prepare time 14.681498 
sort q time 5.313749 
seperate points time 12.409322 
mapping data assosiation time 30.550460 ms 
data association time 24.430391 ms 
solver time 15.937009 ms 
mapping solver time 27.598990 ms 
data association time 23.457963 ms 
points size 97460 
mapping data assosiation time 31.551990 ms 
publication time 10.631634 ms 
whole laserOdometry time 88.917887 ms 
 
scan registration time 33.255395 ms *************
filter time 9.528068 ms 
map prepare time 3.403902 ms
map corner num 75726  surf num 28171 
data association time 22.655684 ms 
solver time 14.506573 ms 
data association time 24.530020 ms 
mapping data assosiation time 31.760244 ms 
solver time 13.044400 ms 
optimization twice time 75.752505 
publication time 10.654455 ms 
whole laserOdometry time 86.437529 ms 
 
mapping solver time 25.494589 ms 
data association time 14.453453 ms 
solver time 11.727853 ms 
filter time 6.843683 ms 
solver time 8.106723 ms 
publication time 9.132936 ms 
whole laserOdometry time 59.463467 ms 
 
points size 100021 
prepare time 14.946781 
sort q time 5.148662 
seperate points time 11.719870 
data association time 22.645107 ms 
solver time 12.176159 ms 
mapping data assosiation time 27.654926 ms 
data association time 13.331184 ms 
solver time 8.205815 ms 
mapping pub time 2.252369 ms 
whole mapping time 123.653871 ms +++++
points size 101216 
build tree time 20.081460 ms 
sort q time 5.048886 
seperate points time 12.387789 
mapping data assosiation time 23.753043 ms 
data association time 13.170179 ms 
mapping solver time 18.102646 ms 
solver time 5.094981 ms 
publication time 8.357129 ms 
whole laserOdometry time 47.834713 ms 
 
mapping data assosiation time 28.018426 ms 
mapping solver time 13.176162 ms 
filter time 7.415095 ms 
map prepare time 3.312688 ms
map corner num 77085  surf num 28852 
sort q time 5.544861 
seperate points time 13.075552 
build tree time 22.942143 ms 
data association time 14.315313 ms 
mapping data assosiation time 24.882131 ms 
mapping solver time 16.852172 ms 
solver time 7.556170 ms 
optimization twice time 47.187279 
publication time 9.691879 ms 
whole laserOdometry time 56.896182 ms 
 
mapping data assosiation time 29.357053 ms 
points size 102750 
mapping solver time 16.464360 ms 
scan registration time 33.082144 ms *************
map prepare time 3.206779 ms
map corner num 77436  surf num 29003 
data association time 13.637762 ms 
build tree time 20.530405 ms 
data association time 14.324558 ms 
solver time 7.598238 ms 
publication time 8.567530 ms 
whole laserOdometry time 55.540659 ms 
 
mapping solver time 19.818727 ms 
points size 103030 
sort q time 5.678164 
seperate points time 13.309474 
mapping solver time 17.563107 ms 
mapping optimization time 112.349347 
add points time 0.587498 ms
data association time 14.117366 ms 
filter time 9.256018 ms 
mapping pub time 1.276528 ms 
whole mapping time 126.722155 ms +++++
map prepare time 4.010231 ms
map corner num 77899  surf num 29207 
solver time 13.435120 ms 
data association time 16.164669 ms 
build tree time 21.356627 ms 
mapping data assosiation time 25.496179 ms 
points size 103071 
prepare time 14.839275 
mapping solver time 15.771540 ms 
scan registration time 30.949461 ms *************
mapping data assosiation time 23.563430 ms 
solver time 11.360028 ms 
mapping solver time 11.592575 ms 
mapping optimization time 99.413703 
add points time 0.527225 ms
filter time 7.674041 ms 
mapping pub time 1.635699 ms 
whole mapping time 113.306106 ms +++++
data association time 15.506416 ms 
map prepare time 3.449595 ms
map corner num 78307  surf num 29403 
solver time 8.427427 ms 
publication time 10.075687 ms 
whole laserOdometry time 60.035219 ms 
 
points size 103151 
mapping data assosiation time 26.895665 ms 
sort q time 6.223740 
seperate points time 14.678871 
mapping solver time 19.538414 ms 
data association time 13.993033 ms 
mapping data assosiation time 25.263888 ms 
solver time 10.645363 ms 
data association time 14.244641 ms 
solver time 8.504282 ms 
map prepare time 2.744060 ms
map corner num 78674  surf num 29606 
points size 103062 
prepare time 14.868312 
build tree time 20.868032 ms 
sort q time 5.245857 
seperate points time 12.662189 
mapping data assosiation time 27.248880 ms 
data association time 14.022285 ms 
mapping solver time 19.804126 ms 
solver time 10.958986 ms 
data association time 13.773418 ms 
solver time 7.926351 ms 
optimization twice time 47.532092 
mapping data assosiation time 23.193444 ms 
publication time 9.064800 ms 
whole laserOdometry time 56.613905 ms 
 
mapping solver time 14.721543 ms 
filter time 7.803925 ms 
mapping pub time 1.255499 ms 
whole mapping time 120.153438 ms +++++
drop lidar frame in mapping for real time performance 
points size 103099 
map prepare time 3.124923 ms
map corner num 78958  surf num 29735 
sort q time 4.828403 
seperate points time 11.968511 
scan registration time 33.349532 ms *************
build tree time 20.676320 ms 
data association time 13.755578 ms 
mapping data assosiation time 25.814905 ms 
solver time 11.464818 ms 
mapping solver time 19.084008 ms 
data association time 16.226023 ms 
solver time 8.055329 ms 
publication time 9.697890 ms 
whole laserOdometry time 60.062682 ms 
 
points size 102996 
mapping solver time 12.549412 ms 
mapping optimization time 107.957883 
add points time 0.556601 ms
sort q time 5.486957 
seperate points time 13.328471 
build tree time 20.666127 ms 
solver time 12.365215 ms 
mapping data assosiation time 26.414403 ms 
data association time 14.136451 ms 
solver time 7.332200 ms 
mapping solver time 20.861573 ms 
points size 102934 
prepare time 14.375274 
mapping data assosiation time 26.942523 ms 
sort q time 5.321734 
seperate points time 12.974407 
mapping solver time 20.060707 ms 
mapping optimization time 117.541345 
add points time 0.641942 ms
filter time 8.883561 ms 
map prepare time 3.728792 ms
map corner num 79678  surf num 30022 
data association time 23.173044 ms 
solver time 14.908654 ms 
build tree time 26.785213 ms 
data association time 24.023492 ms 
solver time 13.213374 ms 
mapping data assosiation time 32.649467 ms 
publication time 11.950937 ms 
whole laserOdometry time 88.478597 ms 
 
sort q time 5.466277 
seperate points time 13.512505 
mapping solver time 26.757656 ms 
data association time 25.986195 ms 
solver time 10.613624 ms 
mapping solver time 12.496510 ms 
mapping optimization time 128.912623 
add points time 0.527256 ms
data association time 15.190546 ms 
filter time 9.578792 ms 
map prepare time 3.225614 ms
map corner num 80047  surf num 30204 
points size 103064 
build tree time 22.890827 ms 
sort q time 5.298254 
seperate points time 12.607113 
mapping data assosiation time 27.184393 ms 
solver time 12.420287 ms 
mapping solver time 16.622855 ms 
data association time 16.005150 ms 
solver time 8.063595 ms 
mapping solver time 13.405567 ms 
points size 103110 
prepare time 14.581284 
filter time 8.872185 ms 
mapping pub time 2.590021 ms 
whole mapping time 124.469343 ms +++++
sort q time 5.631146 
seperate points time 13.707792 
scan registration time 32.297727 ms *************
build tree time 22.297481 ms 
data association time 16.093307 ms 
solver time 10.076888 ms 
mapping data assosiation time 27.486460 ms 
data association time 15.483943 ms 
optimization twice time 51.047120 
mapping solver time 23.539518 ms 
points size 103237 
mapping data assosiation time 27.275453 ms 
sort q time 5.137622 
seperate points time 12.581263 
scan registration time 31.006106 ms *************
filter time 6.744676 ms 
solver time 11.487655 ms 
build tree time 22.500064 ms 
data association time 15.311024 ms 
solver time 8.041279 ms 
mapping data assosiation time 25.731392 ms 
points size 103192 
mapping solver time 21.160820 ms 
sort q time 5.463639 
seperate points time 13.208227 
mapping data assosiation time 29.374050 ms 
mapping solver time 16.715555 ms 
mapping optimization time 117.467208 
add points time 0.619708 ms
data association time 26.341324 ms 
filter time 7.778095 ms 
mapping pub time 1.211186 ms 
whole mapping time 130.400411 ms +++++
map prepare time 2.955081 ms
map corner num 81084  surf num 30667 
solver time 11.877182 ms 
data association time 15.524952 ms 
build tree time 20.345293 ms 
optimization twice time 62.707804 
publication time 10.438102 ms 
whole laserOdometry time 73.166671 ms 
 
points size 103273 
prepare time 15.818746 
mapping data assosiation time 27.925977 ms 
sort q time 6.191908 
seperate points time 14.259672 
scan registration time 33.658925 ms *************
data association time 14.916204 ms 
mapping data assosiation time 24.437287 ms 
mapping solver time 13.633826 ms 
mapping optimization time 105.416576 
add points time 0.549241 ms
data association time 16.121833 ms 
mapping pub time 1.283591 ms 
whole mapping time 121.504992 ms +++++
solver time 9.103576 ms 
optimization twice time 52.602685 
map prepare time 3.028545 ms
map corner num 81389  surf num 30781 
publication time 9.695483 ms 
whole laserOdometry time 62.320292 ms 
 
points size 103225 
sort q time 5.768360 
seperate points time 13.240408 
scan registration time 31.856452 ms *************
mapping data assosiation time 25.581972 ms 
mapping solver time 15.498501 ms 
solver time 11.555216 ms 
mapping data assosiation time 24.690391 ms 
data association time 19.046282 ms 
add points time 0.530172 ms
filter time 8.276133 ms 
mapping pub time 1.344714 ms 
whole mapping time 117.554330 ms +++++
publication time 10.110584 ms 
whole laserOdometry time 70.907342 ms 
 
prepare time 15.296162 
sort q time 5.187810 
seperate points time 12.567769 
data association time 14.784020 ms 
solver time 10.878576 ms 
mapping solver time 16.773152 ms 
data association time 15.516867 ms 
solver time 8.664896 ms 
optimization twice time 50.670454 
publication time 8.887035 ms 
whole laserOdometry time 59.569414 ms 
 
mapping solver time 12.082410 ms 
filter time 8.386483 ms 
sort q time 5.115949 
seperate points time 12.698034 
scan registration time 31.138350 ms *************
mapping pub time 11.865381 ms 
whole mapping time 130.791006 ms +++++
data association time 15.150444 ms 
build tree time 21.815020 ms 
solver time 10.416336 ms 
data association time 16.201535 ms 
mapping data assosiation time 27.510464 ms 
solver time 8.818666 ms 
optimization twice time 51.477248 
publication time 9.443133 ms 
whole laserOdometry time 60.936932 ms 
 
mapping solver time 21.737845 ms 
points size 103130 
prepare time 15.977586 
sort q time 5.522296 
seperate points time 13.013997 
mapping solver time 12.205542 ms 
filter time 8.179517 ms 
data association time 16.965781 ms 
build tree time 25.004900 ms 
publication time 8.451322 ms 
whole laserOdometry time 61.840349 ms 
 
points size 103065 
prepare time 14.742178 
mapping data assosiation time 31.824000 ms 
sort q time 6.333688 
seperate points time 14.822113 
scan registration time 33.053958 ms *************
data association time 16.502511 ms 
solver time 12.118814 ms 
mapping solver time 13.390016 ms 
mapping optimization time 120.897567 
add points time 0.549701 ms
data association time 16.615390 ms 
map prepare time 2.659826 ms
map corner num 82653  surf num 31320 
publication time 9.089766 ms 
whole laserOdometry time 63.826858 ms 
 
points size 102973 
sort q time 6.727506 
seperate points time 15.649641 
mapping data assosiation time 25.399674 ms 
data association time 15.402469 ms 
mapping solver time 20.260626 ms 
data association time 15.270642 ms 
solver time 8.441225 ms 
publication time 9.460503 ms 
whole laserOdometry time 61.018979 ms 
 
filter time 7.250565 ms 
prepare time 15.096145 
sort q time 5.737598 
seperate points time 13.709526 
data association time 15.463638 ms 
mapping data assosiation time 26.060894 ms 
mapping solver time 16.687433 ms 
solver time 8.498419 ms 
publication time 8.989035 ms 
whole laserOdometry time 60.585026 ms 
 
points size 102771 
mapping solver time 12.596556 ms 
prepare time 14.931242 
mapping optimization time 106.693557 
add points time 0.580917 ms
filter time 8.347821 ms 
scan registration time 30.477902 ms *************
map prepare time 4.314319 ms
map corner num 83379  surf num 31658 
build tree time 24.995922 ms 
solver time 10.672361 ms 
mapping data assosiation time 26.618980 ms 
data association time 15.034829 ms 
solver time 10.581765 ms 
mapping solver time 19.811750 ms 
prepare time 14.936442 
mapping data assosiation time 25.807360 ms 
sort q time 5.259259 
seperate points time 13.127641 
mapping solver time 12.917932 ms 
filter time 8.716912 ms 
map prepare time 3.995432 ms
map corner num 83870  surf num 31870 
data association time 18.508811 ms 
solver time 12.273714 ms 
build tree time 24.003797 ms 
data association time 17.494817 ms 
solver time 7.534007 ms 
mapping data assosiation time 26.511813 ms 
points size 99219 
prepare time 15.887151 
mapping solver time 23.872435 ms 
data association time 14.778016 ms 
mapping data assosiation time 26.165165 ms 
mapping solver time 16.440724 ms 
mapping optimization time 119.062386 
add points time 0.596559 ms
filter time 9.522107 ms 
mapping pub time 1.355043 ms 
whole mapping time 134.595489 ms +++++
publication time 8.564017 ms 
whole laserOdometry time 62.711697 ms 
 
build tree time 24.834284 ms 
points size 98308 
sort q time 4.381493 
seperate points time 10.624130 
scan registration time 28.318870 ms *************
mapping data assosiation time 25.580696 ms 
mapping solver time 18.906019 ms 
solver time 11.080214 ms 
mapping data assosiation time 24.615824 ms 
data association time 15.072838 ms 
solver time 8.264879 ms 
optimization twice time 52.346184 
mapping solver time 13.529737 ms 
mapping optimization time 109.255230 
filter time 7.850356 ms 
map prepare time 3.850996 ms
map corner num 84667  surf num 32144 
points size 98148 
prepare time 14.861262 
build tree time 22.521190 ms 
data association time 14.380831 ms 
solver time 10.268303 ms 
mapping solver time 19.105773 ms 
data association time 16.612429 ms 
solver time 8.429199 ms 
publication time 8.432823 ms 
whole laserOdometry time 59.027882 ms 
 
mapping data assosiation time 28.163163 ms 
points size 98019 
mapping solver time 14.681549 ms 
mapping optimization time 113.085760 
prepare time 14.237919 
add points time 0.668493 ms
filter time 9.701768 ms 
data association time 14.250975 ms 
solver time 12.021820 ms 
data association time 14.107793 ms 
solver time 7.992920 ms 
optimization twice time 49.235519 
mapping solver time 21.685067 ms 
points size 97644 
mapping data assosiation time 25.099891 ms 
scan registration time 30.122945 ms *************
mapping solver time 14.341145 ms 
mapping optimization time 109.429345 
add points time 0.902080 ms
filter time 8.927690 ms 
mapping pub time 1.234556 ms 
whole mapping time 124.403340 ms +++++
solver time 10.269610 ms 
build tree time 21.832047 ms 
data association time 14.889831 ms 
solver time 7.583624 ms 
publication time 7.770475 ms 
whole laserOdometry time 58.651280 ms 
 
mapping data assosiation time 27.294287 ms 
points size 96471 
mapping solver time 15.380385 ms 
prepare time 14.363634 
sort q time 4.727859 
seperate points time 10.918358 
mapping data assosiation time 25.282110 ms 
data association time 14.057866 ms 
solver time 13.076790 ms 
mapping pub time 2.352531 ms 
whole mapping time 116.925577 ms +++++
map prepare time 3.898228 ms
map corner num 86103  surf num 32606 
data association time 15.321829 ms 
solver time 10.369068 ms 
publication time 7.857708 ms 
whole laserOdometry time 61.595124 ms 
 
points size 93492 
sort q time 4.019867 
seperate points time 9.344495 
mapping solver time 16.481683 ms 
data association time 14.697080 ms 
mapping data assosiation time 23.360034 ms 
mapping solver time 12.572830 ms 
mapping optimization time 105.144850 
add points time 0.621948 ms
map prepare time 2.637358 ms
map corner num 86573  surf num 32748 
publication time 6.798910 ms 
whole laserOdometry time 59.838191 ms 
 
build tree time 23.612422 ms 
points size 90617 
sort q time 4.534609 
seperate points time 10.545371 
mapping solver time 15.255994 ms 
data association time 14.055235 ms 
solver time 13.332984 ms 
mapping data assosiation time 23.636181 ms 
mapping solver time 11.670921 ms 
filter time 8.414753 ms 
publication time 9.406249 ms 
whole laserOdometry time 66.116774 ms 
 
points size 88906 
prepare time 14.849183 
build tree time 24.993854 ms 
sort q time 4.593591 
seperate points time 10.369302 
mapping data assosiation time 22.825947 ms 
data association time 13.318992 ms 
mapping solver time 18.441726 ms 
solver time 11.271832 ms 
data association time 13.121807 ms 
solver time 7.759860 ms 
optimization twice time 46.328166 
mapping data assosiation time 22.490660 ms 
mapping solver time 14.639611 ms 
drop lidar frame in mapping for real time performance 
map prepare time 2.684645 ms
map corner num 87542  surf num 33077 
points size 85761 
sort q time 4.148835 
seperate points time 9.850620 
build tree time 23.869542 ms 
data association time 13.570898 ms 
mapping data assosiation time 24.041059 ms 
solver time 13.961899 ms 
mapping solver time 17.397021 ms 
solver time 7.712624 ms 
optimization twice time 50.010363 
mapping data assosiation time 23.764885 ms 
mapping solver time 14.007302 ms 
prepare time 13.874147 
map prepare time 2.310592 ms
map corner num 87924  surf num 33176 
sort q time 3.989996 
seperate points time 9.511357 
data association time 13.079409 ms 
build tree time 24.321514 ms 
solver time 11.208596 ms 
mapping data assosiation time 21.433905 ms 
solver time 8.301083 ms 
publication time 6.166785 ms 
whole laserOdometry time 52.974393 ms 
 
mapping solver time 16.782415 ms 
mapping data assosiation time 19.120720 ms 
points size 82821 
filter time 7.088020 ms 
scan registration time 29.925000 ms *************
build tree time 21.499468 ms 
data association time 13.463135 ms 
mapping data assosiation time 26.216514 ms 
data association time 14.755784 ms 
solver time 9.225348 ms 
optimization twice time 51.106597 
points size 82847 
mapping data assosiation time 21.680995 ms 
sort q time 5.116736 
seperate points time 11.921179 
mapping solver time 13.776586 ms 
filter time 6.901662 ms 
data association time 13.045337 ms 
solver time 11.882563 ms 
data association time 14.400949 ms 
mapping data assosiation time 20.109839 ms 
solver time 9.690126 ms 
optimization twice time 50.092398 
mapping solver time 13.663597 ms 
points size 83083 
prepare time 13.025044 
sort q time 4.292429 
seperate points time 10.246896 
filter time 9.723387 ms 
mapping pub time 1.526853 ms 
whole mapping time 103.681581 ms +++++
map prepare time 3.075555 ms
map corner num 89022  surf num 33483 
data association time 21.024665 ms 
solver time 14.584645 ms 
build tree time 29.941970 ms 
data association time 22.631212 ms 
solver time 13.636287 ms 
points size 82166 
publication time 8.282669 ms 
whole laserOdometry time 81.302043 ms 
 
sort q time 5.497442 
seperate points time 12.601018 
scan registration time 28.668878 ms *************
data association time 12.903781 ms 
filter time 6.655588 ms 
solver time 12.982162 ms 
mapping pub time 1.405715 ms 
whole mapping time 119.889334 ms +++++
map prepare time 2.804534 ms
map corner num 89352  surf num 33572 
data association time 14.089163 ms 
solver time 8.414364 ms 
build tree time 25.895529 ms 
mapping data assosiation time 19.827239 ms 
points size 80408 
mapping solver time 16.168456 ms 
mapping data assosiation time 21.092511 ms 
data association time 13.161560 ms 
mapping solver time 16.579168 ms 
filter time 7.974142 ms 
solver time 7.802337 ms 
optimization twice time 46.172789 
build tree time 24.750179 ms 
points size 79683 
prepare time 11.612663 
mapping data assosiation time 20.343064 ms 
sort q time 4.611248 
seperate points time 10.859938 
mapping solver time 18.087209 ms 
data association time 22.076868 ms 
solver time 16.166893 ms 
filter time 9.678164 ms 
data association time 21.830487 ms 
[0m[ INFO] [1718887058.649305668]: Received 222478 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887058.649339617]: Data saved to 1317357803404223.pcd[0m
points size 80368 
sort q time 4.063747 
seperate points time 9.482057 
build tree time 26.491811 ms 
scan registration time 26.229826 ms *************
mapping data assosiation time 18.752401 ms 
data association time 13.354431 ms 
mapping solver time 14.426486 ms 
data association time 12.161709 ms 
mapping data assosiation time 18.689942 ms 
solver time 8.755660 ms 
publication time 6.791068 ms 
whole laserOdometry time 53.532219 ms 
 
mapping pub time 1.020780 ms 
whole mapping time 105.868076 ms +++++
points size 83284 
prepare time 12.407447 
build tree time 22.528349 ms 
mapping data assosiation time 18.499186 ms 
data association time 12.522745 ms 
mapping solver time 15.061113 ms 
data association time 12.214669 ms 
mapping data assosiation time 18.696344 ms 
publication time 6.246015 ms 
whole laserOdometry time 51.214672 ms 
 
filter time 8.418005 ms 
points size 88038 
prepare time 10.891357 
sort q time 4.519998 
seperate points time 10.443867 
mapping data assosiation time 17.228496 ms 
data association time 12.113900 ms 
solver time 11.039516 ms 
mapping solver time 16.098984 ms 
data association time 13.526973 ms 
mapping data assosiation time 18.534900 ms 
publication time 6.947682 ms 
whole laserOdometry time 53.113854 ms 
 
mapping solver time 13.348491 ms 
filter time 9.372197 ms 
map prepare time 3.570822 ms
map corner num 91010  surf num 34192 
prepare time 14.221255 
sort q time 5.067250 
seperate points time 11.919331 
data association time 12.695991 ms 
solver time 10.557690 ms 
data association time 13.366468 ms 
mapping data assosiation time 16.985564 ms 
solver time 12.856327 ms 
optimization twice time 50.414923 
mapping optimization time 88.093597 
filter time 9.298245 ms 
map prepare time 3.353582 ms
map corner num 91375  surf num 34317 
points size 92422 
prepare time 13.356811 
sort q time 5.622018 
seperate points time 12.646272 
scan registration time 30.089868 ms *************
build tree time 25.913524 ms 
mapping data assosiation time 18.410999 ms 
data association time 20.715173 ms 
solver time 15.294845 ms 
mapping data assosiation time 18.068406 ms 
mapping solver time 12.112813 ms 
filter time 8.168761 ms 
points size 93041 
map prepare time 2.901480 ms
map corner num 91748  surf num 34448 
sort q time 5.812235 
seperate points time 13.556024 
build tree time 25.155419 ms 
data association time 21.062449 ms 
mapping data assosiation time 18.266273 ms 
solver time 15.810327 ms 
mapping solver time 15.076217 ms 
data association time 20.977553 ms 
solver time 9.907986 ms 
points size 92566 
publication time 8.787867 ms 
whole laserOdometry time 77.562318 ms 
 
prepare time 14.377867 
map prepare time 2.525978 ms
map corner num 92120  surf num 34571 
scan registration time 30.169340 ms *************
data association time 14.262169 ms 
solver time 15.586031 ms 
data association time 15.658310 ms 
mapping solver time 14.290560 ms 
solver time 11.443881 ms 
optimization twice time 57.778923 
mapping data assosiation time 20.236562 ms 
points size 93026 
filter time 7.232594 ms 
scan registration time 31.054316 ms *************
data association time 17.664273 ms 
solver time 13.777569 ms 
data association time 13.804189 ms 
mapping solver time 14.763865 ms 
publication time 6.862435 ms 
whole laserOdometry time 61.400641 ms 
 
mapping data assosiation time 21.502547 ms 
prepare time 14.771435 
add points time 0.641740 ms
sort q time 5.217124 
seperate points time 12.859052 
map prepare time 2.747365 ms
map corner num 92983  surf num 34811 
build tree time 23.604792 ms 
data association time 13.205957 ms 
solver time 8.990415 ms 
optimization twice time 50.761930 
points size 94201 
mapping data assosiation time 18.977915 ms 
prepare time 13.412416 
mapping solver time 14.175898 ms 
filter time 8.968751 ms 
data association time 14.715779 ms 
solver time 14.441494 ms 
build tree time 22.001908 ms 
data association time 14.578829 ms 
mapping data assosiation time 20.674172 ms 
publication time 7.308496 ms 
whole laserOdometry time 60.641440 ms 
 
mapping solver time 15.979943 ms 
points size 93505 
sort q time 4.328336 
seperate points time 10.373440 
mapping solver time 13.013064 ms 
mapping optimization time 93.240154 
scan registration time 29.108508 ms *************
add points time 0.637791 ms
filter time 8.960664 ms 
map prepare time 2.423298 ms
map corner num 93927  surf num 35070 
data association time 15.658970 ms 
build tree time 24.183647 ms 
data association time 14.280904 ms 
mapping data assosiation time 20.895321 ms 
publication time 8.940554 ms 
whole laserOdometry time 61.879992 ms 
 
points size 92347 
prepare time 13.427997 
mapping data assosiation time 22.353992 ms 
mapping solver time 14.906649 ms 
mapping optimization time 99.997868 
add points time 0.556144 ms
mapping pub time 1.214466 ms 
whole mapping time 112.117780 ms +++++
map prepare time 2.677317 ms
map corner num 94437  surf num 35218 
solver time 13.757268 ms 
build tree time 28.416280 ms 
data association time 16.128961 ms 
solver time 7.782580 ms 
mapping data assosiation time 20.425808 ms 
points size 93857 
sort q time 4.288965 
seperate points time 10.227139 
scan registration time 28.839562 ms *************
mapping data assosiation time 20.900388 ms 
data association time 15.019682 ms 
mapping solver time 12.918090 ms 
mapping optimization time 100.133953 
add points time 0.496344 ms
solver time 11.161598 ms 
filter time 7.615811 ms 
mapping pub time 1.116421 ms 
whole mapping time 112.081587 ms +++++
data association time 15.315110 ms 
solver time 8.160867 ms 
publication time 8.972849 ms 
whole laserOdometry time 59.540453 ms 
 
mapping data assosiation time 21.275728 ms 
points size 95317 
mapping solver time 17.019713 ms 
sort q time 4.847551 
seperate points time 11.735219 
mapping data assosiation time 19.709024 ms 
mapping solver time 12.716488 ms 
mapping optimization time 94.091783 
add points time 0.526669 ms
data association time 17.731553 ms 
map prepare time 2.734566 ms
map corner num 95616  surf num 35608 
data association time 15.676769 ms 
solver time 12.230540 ms 
publication time 9.785104 ms 
whole laserOdometry time 71.024882 ms 
 
mapping data assosiation time 24.504535 ms 
sort q time 4.820551 
seperate points time 11.318843 
data association time 15.025786 ms 
mapping data assosiation time 20.640407 ms 
solver time 11.602555 ms 
mapping solver time 15.656266 ms 
mapping optimization time 106.304185 
add points time 0.547772 ms
filter time 9.470452 ms 
data association time 15.314144 ms 
mapping pub time 1.267084 ms 
whole mapping time 120.382694 ms +++++
solver time 9.611472 ms 
optimization twice time 52.379587 
build tree time 24.941198 ms 
points size 93802 
sort q time 4.411767 
seperate points time 10.777746 
mapping data assosiation time 21.131706 ms 
scan registration time 30.883667 ms *************
mapping solver time 18.181380 ms 
data association time 14.777647 ms 
solver time 10.553506 ms 
mapping data assosiation time 22.431601 ms 
data association time 15.405435 ms 
mapping solver time 14.920241 ms 
filter time 9.277680 ms 
map prepare time 4.259118 ms
map corner num 96637  surf num 35893 
points size 92101 
prepare time 13.862065 
build tree time 24.060269 ms 
sort q time 4.535657 
seperate points time 10.707527 
mapping data assosiation time 22.046202 ms 
solver time 10.306170 ms 
data association time 14.644592 ms 
mapping data assosiation time 21.290718 ms 
solver time 8.607609 ms 
optimization twice time 49.955535 
publication time 8.183260 ms 
whole laserOdometry time 58.156955 ms 
 
mapping solver time 11.772551 ms 
mapping optimization time 95.078536 
add points time 0.565028 ms
filter time 8.378248 ms 
points size 89476 
build tree time 21.165812 ms 
mapping data assosiation time 23.570979 ms 
solver time 11.319501 ms 
data association time 15.973725 ms 
solver time 9.593039 ms 
publication time 9.094173 ms 
whole laserOdometry time 62.332450 ms 
 
filter time 8.145696 ms 
sort q time 4.829144 
seperate points time 11.499121 
scan registration time 28.437704 ms *************
build tree time 24.822652 ms 
mapping data assosiation time 20.475794 ms 
mapping solver time 16.655780 ms 
data association time 13.901359 ms 
solver time 10.314749 ms 
publication time 7.359776 ms 
whole laserOdometry time 56.791968 ms 
 
mapping data assosiation time 25.839814 ms 
points size 84083 
prepare time 12.557920 
sort q time 4.545092 
seperate points time 10.957604 
map prepare time 3.057437 ms
map corner num 87664  surf num 30748 
build tree time 21.205580 ms 
solver time 11.961193 ms 
mapping data assosiation time 22.569737 ms 
solver time 11.896728 ms 
optimization twice time 56.860866 
mapping solver time 15.857401 ms 
points size 84259 
mapping data assosiation time 22.610046 ms 
prepare time 12.232343 
sort q time 3.790850 
seperate points time 9.262164 
filter time 7.504667 ms 
map prepare time 4.012527 ms
map corner num 88197  surf num 30866 
data association time 16.087929 ms 
build tree time 23.656705 ms 
data association time 13.652254 ms 
solver time 9.355626 ms 
publication time 8.290301 ms 
whole laserOdometry time 62.197500 ms 
 
points size 87869 
mapping data assosiation time 22.880420 ms 
sort q time 4.385128 
seperate points time 10.306088 
mapping solver time 15.421970 ms 
mapping optimization time 103.972444 
add points time 0.619967 ms
filter time 8.577660 ms 
mapping pub time 9.433641 ms 
whole mapping time 126.667109 ms +++++
[0m[ INFO] [1718887060.892715418]: Received 234472 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887060.892746088]: Data saved to 1317357805688973.pcd[0m
solver time 12.874189 ms 
data association time 14.770896 ms 
solver time 10.773980 ms 
publication time 8.368778 ms 
whole laserOdometry time 62.346840 ms 
 
mapping data assosiation time 28.539999 ms 
points size 88474 
sort q time 4.768568 
seperate points time 11.019868 
scan registration time 28.871853 ms *************
mapping solver time 24.790614 ms 
data association time 16.097884 ms 
mapping data assosiation time 27.590842 ms 
solver time 14.519071 ms 
mapping optimization time 116.318766 
filter time 9.233906 ms 
solver time 11.273124 ms 
publication time 8.252862 ms 
whole laserOdometry time 66.984451 ms 
 
build tree time 23.586414 ms 
sort q time 3.933474 
seperate points time 9.545763 
scan registration time 28.214666 ms *************
mapping data assosiation time 22.977859 ms 
data association time 15.574000 ms 
solver time 11.696916 ms 
data association time 14.372373 ms 
solver time 11.270221 ms 
optimization twice time 53.648454 
filter time 6.862387 ms 
points size 89555 
prepare time 14.156305 
sort q time 3.872405 
seperate points time 9.452235 
build tree time 21.983685 ms 
scan registration time 27.784336 ms *************
mapping data assosiation time 20.327436 ms 
solver time 11.792819 ms 
data association time 14.709659 ms 
mapping data assosiation time 21.152056 ms 
solver time 8.268061 ms 
optimization twice time 50.978600 
mapping solver time 14.016519 ms 
filter time 9.110508 ms 
points size 89385 
prepare time 14.185859 
sort q time 4.056795 
seperate points time 9.876916 
build tree time 22.866653 ms 
mapping data assosiation time 20.236195 ms 
data association time 14.518582 ms 
mapping solver time 12.692119 ms 
data association time 14.991293 ms 
mapping data assosiation time 20.144234 ms 
mapping solver time 12.219801 ms 
filter time 9.467350 ms 
mapping pub time 1.160499 ms 
whole mapping time 103.550799 ms +++++
map prepare time 2.553946 ms
map corner num 90193  surf num 31390 
prepare time 13.978376 
sort q time 3.823415 
seperate points time 9.147503 
scan registration time 26.943749 ms *************
data association time 13.806779 ms 
solver time 8.184914 ms 
mapping solver time 17.486901 ms 
data association time 17.762670 ms 
solver time 6.943834 ms 
optimization twice time 47.574834 
publication time 7.060256 ms 
whole laserOdometry time 54.650226 ms 
 
mapping solver time 14.543812 ms 
points size 89947 
prepare time 14.806093 
filter time 10.806149 ms 
sort q time 4.145142 
seperate points time 10.193581 
build tree time 21.899591 ms 
data association time 16.889840 ms 
mapping data assosiation time 22.310712 ms 
mapping solver time 14.172437 ms 
data association time 14.431453 ms 
publication time 7.284622 ms 
whole laserOdometry time 61.375901 ms 
 
mapping solver time 9.412129 ms 
prepare time 14.044343 
filter time 7.743169 ms 
mapping pub time 1.112044 ms 
whole mapping time 105.445935 ms +++++
build tree time 23.220670 ms 
data association time 14.448991 ms 
solver time 11.397045 ms 
data association time 16.461667 ms 
solver time 10.343784 ms 
optimization twice time 53.491005 
mapping data assosiation time 22.267753 ms 
mapping solver time 10.054010 ms 
filter time 9.108492 ms 
sort q time 4.745758 
seperate points time 11.458934 
build tree time 22.596790 ms 
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mapping data assosiation time 19.557277 ms 
data association time 15.438692 ms 
solver time 8.084609 ms 
optimization twice time 48.029906 
mapping data assosiation time 21.160702 ms 
points size 95661 
mapping solver time 11.570694 ms 
mapping optimization time 90.693200 
add points time 0.705747 ms
prepare time 14.451681 
map prepare time 2.389277 ms
map corner num 91621  surf num 31703 
build tree time 23.018070 ms 
data association time 14.621483 ms 
solver time 10.858311 ms 
data association time 14.584764 ms 
mapping solver time 12.246411 ms 
publication time 7.901610 ms 
whole laserOdometry time 57.835627 ms 
 
mapping data assosiation time 20.712254 ms 
points size 97339 
filter time 6.994072 ms 
sort q time 5.105557 
seperate points time 12.270978 
build tree time 22.755268 ms 
data association time 14.408316 ms 
solver time 8.944761 ms 
mapping data assosiation time 18.387981 ms 
data association time 14.520398 ms 
mapping solver time 15.134221 ms 
publication time 8.315317 ms 
whole laserOdometry time 55.610415 ms 
 
mapping data assosiation time 19.542410 ms 
mapping solver time 10.084671 ms 
prepare time 14.098114 
filter time 8.499016 ms 
sort q time 4.929764 
seperate points time 11.734818 
build tree time 24.124945 ms 
data association time 16.200015 ms 
solver time 12.149020 ms 
mapping solver time 14.723586 ms 
data association time 16.221511 ms 
optimization twice time 56.364201 
publication time 7.602121 ms 
whole laserOdometry time 63.984950 ms 
 
points size 99459 
mapping optimization time 99.493952 
add points time 0.475675 ms
map prepare time 3.658226 ms
map corner num 92653  surf num 32046 
data association time 15.543501 ms 
build tree time 24.413239 ms 
mapping data assosiation time 20.681575 ms 
solver time 8.849650 ms 
publication time 7.598147 ms 
whole laserOdometry time 60.501622 ms 
 
points size 100054 
mapping data assosiation time 20.893128 ms 
prepare time 15.090206 
mapping solver time 12.072997 ms 
filter time 8.223293 ms 
data association time 14.546560 ms 
build tree time 22.877063 ms 
data association time 14.664989 ms 
solver time 8.297041 ms 
publication time 8.734778 ms 
whole laserOdometry time 58.026005 ms 
 
mapping solver time 20.188588 ms 
points size 100140 
mapping data assosiation time 21.795430 ms 
mapping solver time 11.521938 ms 
filter time 9.350627 ms 
solver time 11.274102 ms 
data association time 14.636588 ms 
solver time 8.585600 ms 
publication time 8.634067 ms 
whole laserOdometry time 60.082593 ms 
 
mapping solver time 12.994556 ms 
sort q time 5.416111 
seperate points time 12.294944 
mapping solver time 9.905858 ms 
filter time 8.131654 ms 
solver time 11.102655 ms 
data association time 14.732085 ms 
build tree time 22.156265 ms 
publication time 7.774401 ms 
whole laserOdometry time 58.499379 ms 
 
mapping data assosiation time 20.103009 ms 
points size 100122 
mapping solver time 15.359441 ms 
prepare time 15.463157 
sort q time 5.738584 
seperate points time 13.464867 
mapping solver time 9.897469 ms 
mapping optimization time 90.636051 
add points time 0.386620 ms
mapping pub time 2.351718 ms 
whole mapping time 105.281161 ms +++++
solver time 11.950837 ms 
data association time 14.509323 ms 
build tree time 21.388383 ms 
solver time 8.406246 ms 
publication time 7.704192 ms 
whole laserOdometry time 58.964530 ms 
 
points size 96496 
mapping solver time 13.081261 ms 
prepare time 14.315718 
sort q time 5.703001 
seperate points time 13.192222 
scan registration time 32.020255 ms *************
mapping data assosiation time 19.613804 ms 
mapping solver time 10.297713 ms 
data association time 14.989991 ms 
filter time 9.333945 ms 
mapping pub time 1.518156 ms 
whole mapping time 100.374316 ms +++++
solver time 11.178422 ms 
data association time 14.982320 ms 
build tree time 24.611754 ms 
publication time 7.213519 ms 
whole laserOdometry time 57.845168 ms 
 
mapping data assosiation time 21.446816 ms 
points size 90668 
prepare time 15.037112 
mapping solver time 14.679891 ms 
sort q time 5.872688 
seperate points time 13.555673 
mapping data assosiation time 21.256852 ms 
mapping solver time 13.182676 ms 
data association time 14.301504 ms 
filter time 9.779322 ms 
map prepare time 3.731886 ms
map corner num 94816  surf num 32713 
data association time 14.284726 ms 
solver time 9.118182 ms 
publication time 8.791908 ms 
whole laserOdometry time 58.316082 ms 
 
points size 85537 
mapping data assosiation time 21.105747 ms 
prepare time 12.819023 
mapping solver time 14.090538 ms 
mapping data assosiation time 19.621490 ms 
data association time 13.616571 ms 
mapping solver time 9.883288 ms 
mapping optimization time 90.855135 
add points time 0.434624 ms
solver time 11.520242 ms 
filter time 9.794580 ms 
mapping pub time 1.470867 ms 
whole mapping time 106.334790 ms +++++
data association time 15.530811 ms 
solver time 7.616314 ms 
publication time 6.732362 ms 
whole laserOdometry time 55.827150 ms 
 
build tree time 26.475651 ms 
points size 81798 
prepare time 11.916379 
mapping data assosiation time 20.276697 ms 
sort q time 4.395302 
seperate points time 10.308020 
data association time 13.612465 ms 
solver time 10.423045 ms 
filter time 6.888708 ms 
map prepare time 3.379253 ms
map corner num 95561  surf num 33001 
solver time 9.350399 ms 
optimization twice time 48.500075 
build tree time 24.734721 ms 
points size 79149 
sort q time 3.613983 
seperate points time 8.680292 
data association time 13.006636 ms 
mapping data assosiation time 25.821303 ms 
solver time 12.129662 ms 
mapping solver time 14.106928 ms 
data association time 13.654919 ms 
filter time 10.979114 ms 
publication time 8.411073 ms 
whole laserOdometry time 59.981823 ms 
 
points size 75057 
prepare time 14.960311 
sort q time 4.297261 
seperate points time 10.632403 
mapping data assosiation time 20.319175 ms 
data association time 13.533973 ms 
solver time 11.069984 ms 
mapping data assosiation time 18.783796 ms 
mapping solver time 10.717870 ms 
filter time 8.819254 ms 
points size 72047 
sort q time 3.833785 
seperate points time 9.232247 
build tree time 28.660380 ms 
mapping data assosiation time 23.702495 ms 
data association time 21.974865 ms 
mapping solver time 21.025194 ms 
solver time 16.132501 ms 
data association time 22.700682 ms 
solver time 12.691590 ms 
mapping solver time 17.216780 ms 
mapping optimization time 116.286809 
add points time 0.475557 ms
prepare time 12.894200 
publication time 7.605021 ms 
whole laserOdometry time 82.200179 ms 
 
scan registration time 26.599103 ms *************
map prepare time 2.006221 ms
map corner num 77511  surf num 26797 
data association time 19.681658 ms 
build tree time 25.255555 ms 
solver time 19.793054 ms 
mapping data assosiation time 22.717979 ms 
data association time 20.314755 ms 
points size 71717 
scan registration time 28.386475 ms *************
mapping solver time 14.187363 ms 
filter time 7.958678 ms 
mapping pub time 1.273728 ms 
whole mapping time 123.957491 ms +++++
data association time 19.415008 ms 
solver time 14.191393 ms 
build tree time 25.122420 ms 
data association time 20.708249 ms 
solver time 12.599194 ms 
publication time 8.986234 ms 
whole laserOdometry time 77.182457 ms 
 
prepare time 14.645264 
data association time 13.938947 ms 
solver time 7.928197 ms 
points size 82983 
prepare time 14.294859 
mapping data assosiation time 20.464276 ms 
sort q time 4.700552 
seperate points time 11.241621 
mapping data assosiation time 23.131573 ms 
mapping solver time 17.770586 ms 
filter time 8.288396 ms 
data association time 20.505151 ms 
solver time 11.747057 ms 
optimization twice time 71.904191 
build tree time 26.010713 ms 
sort q time 5.024961 
seperate points time 11.956591 
mapping solver time 12.951353 ms 
data association time 21.059169 ms 
mapping solver time 9.947213 ms 
filter time 9.423062 ms 
data association time 24.135301 ms 
publication time 9.110046 ms 
whole laserOdometry time 87.111645 ms 
 
points size 91919 
mapping solver time 16.432324 ms 
scan registration time 48.642611 ms *************
mapping data assosiation time 24.239413 ms 
data association time 16.547088 ms 
solver time 13.283852 ms 
data association time 15.884841 ms 
points size 94674 
solver time 8.895413 ms 
prepare time 13.931704 
optimization twice time 55.560853 
publication time 7.574672 ms 
whole laserOdometry time 63.154906 ms 
 
sort q time 6.661070 
seperate points time 14.910685 
scan registration time 33.379927 ms *************
mapping data assosiation time 24.702103 ms 
data association time 15.538475 ms 
mapping solver time 20.957669 ms 
mapping data assosiation time 23.934034 ms 
mapping optimization time 113.231711 
data association time 69.756523 ms 
solver time 20.660282 ms 
sort q time 5.998889 
seperate points time 13.867053 
data association time 13.598654 ms 
solver time 12.247135 ms 
points size 96908 
solver time 7.888352 ms 
scan registration time 32.621464 ms *************
publication time 9.071403 ms 
whole laserOdometry time 58.956773 ms 
 
filter time 8.793590 ms 
map prepare time 3.433441 ms
map corner num 80797  surf num 28009 
data association time 15.892489 ms 
build tree time 25.348416 ms 
solver time 11.620881 ms 
data association time 14.640338 ms 
solver time 8.902213 ms 
publication time 8.366718 ms 
whole laserOdometry time 60.315432 ms 
 
points size 97001 
mapping data assosiation time 20.283351 ms 
sort q time 5.708502 
seperate points time 12.742819 
mapping solver time 9.978634 ms 
mapping optimization time 90.281685 
scan registration time 31.780640 ms *************
add points time 0.627834 ms
mapping pub time 2.182023 ms 
whole mapping time 103.873036 ms +++++
data association time 22.589476 ms 
build tree time 27.094708 ms 
solver time 16.483288 ms 
mapping data assosiation time 20.888294 ms 
solver time 8.779511 ms 
optimization twice time 62.855224 
mapping solver time 16.195855 ms 
mapping data assosiation time 19.238282 ms 
sort q time 4.830025 
seperate points time 11.214549 
mapping solver time 9.894914 ms 
filter time 7.524783 ms 
solver time 11.020549 ms 
build tree time 23.587534 ms 
data association time 15.254971 ms 
solver time 13.352542 ms 
publication time 7.865827 ms 
whole laserOdometry time 64.056847 ms 
 
points size 94474 
mapping solver time 16.991348 ms 
prepare time 14.510433 
sort q time 4.883479 
seperate points time 11.404718 
mapping data assosiation time 22.263525 ms 
mapping solver time 9.942701 ms 
filter time 9.404682 ms 
solver time 12.186672 ms 
data association time 13.826518 ms 
build tree time 22.243633 ms 
publication time 6.949010 ms 
whole laserOdometry time 56.439588 ms 
 
mapping data assosiation time 19.856648 ms 
points size 93121 
sort q time 5.669702 
seperate points time 12.714779 
scan registration time 30.566926 ms *************
mapping data assosiation time 18.020070 ms 
mapping solver time 10.252916 ms 
filter time 7.568689 ms 
solver time 10.180567 ms 
build tree time 19.736479 ms 
data association time 14.028797 ms 
solver time 8.619473 ms 
optimization twice time 48.379198 
mapping solver time 12.740075 ms 
points size 92244 
mapping data assosiation time 17.373130 ms 
scan registration time 28.044975 ms *************
filter time 6.979310 ms 
data association time 15.669013 ms 
solver time 11.774055 ms 
build tree time 20.299772 ms 
data association time 17.373397 ms 
solver time 9.299111 ms 
publication time 8.440174 ms 
whole laserOdometry time 63.518518 ms 
 
mapping data assosiation time 17.067502 ms 
points size 90459 
prepare time 13.870750 
mapping solver time 9.339391 ms 
filter time 7.973780 ms 
data association time 12.938473 ms 
build tree time 19.229309 ms 
mapping data assosiation time 20.939068 ms 
solver time 10.303311 ms 
publication time 8.188423 ms 
whole laserOdometry time 56.164354 ms 
 
mapping data assosiation time 21.916350 ms 
points size 88573 
filter time 6.454012 ms 
build tree time 18.984981 ms 
solver time 12.875737 ms 
mapping data assosiation time 18.899796 ms 
mapping solver time 11.706893 ms 
data association time 14.208267 ms 
mapping data assosiation time 18.454863 ms 
mapping solver time 12.822361 ms 
filter time 8.268769 ms 
sort q time 3.951310 
seperate points time 9.234120 
build tree time 20.261018 ms 
data association time 13.456374 ms 
mapping data assosiation time 18.153262 ms 
mapping solver time 12.377531 ms 
data association time 12.895628 ms 
solver time 7.816715 ms 
optimization twice time 46.591122 
mapping solver time 9.395622 ms 
filter time 8.866625 ms 
points size 86277 
prepare time 13.816565 
sort q time 4.903269 
seperate points time 11.489164 
scan registration time 29.124530 ms *************
build tree time 21.205046 ms 
mapping data assosiation time 17.576404 ms 
data association time 13.087987 ms 
solver time 11.960545 ms 
mapping data assosiation time 18.672239 ms 
publication time 6.131223 ms 
whole laserOdometry time 53.409544 ms 
 
mapping solver time 9.877697 ms 
mapping optimization time 82.971376 
add points time 0.457783 ms
filter time 7.791721 ms 
map prepare time 2.908336 ms
map corner num 84868  surf num 29286 
points size 85282 
sort q time 3.877558 
seperate points time 8.814956 
mapping data assosiation time 23.309869 ms 
solver time 12.307669 ms 
mapping solver time 22.254701 ms 
data association time 22.638672 ms 
mapping data assosiation time 23.369691 ms 
solver time 13.023222 ms 
publication time 8.619185 ms 
whole laserOdometry time 80.927579 ms 
 
filter time 8.501501 ms 
sort q time 4.831174 
seperate points time 11.542793 
[0m[ INFO] [1718887065.327575694]: Received 255375 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887065.327606646]: Data saved to 1317357810152682.pcd[0m
build tree time 24.030064 ms 
solver time 15.029648 ms 
mapping data assosiation time 18.207705 ms 
mapping solver time 13.332866 ms 
data association time 21.164312 ms 
solver time 11.646542 ms 
points size 87933 
filter time 7.029623 ms 
build tree time 21.056549 ms 
data association time 21.264824 ms 
mapping data assosiation time 20.439871 ms 
solver time 18.424323 ms 
mapping solver time 12.393725 ms 
mapping data assosiation time 18.424978 ms 
solver time 11.762604 ms 
points size 88373 
publication time 8.678202 ms 
whole laserOdometry time 82.300232 ms 
 
prepare time 14.275221 
filter time 8.625461 ms 
sort q time 4.908036 
seperate points time 11.209196 
build tree time 22.671187 ms 
data association time 17.124953 ms 
solver time 10.512656 ms 
mapping data assosiation time 19.611223 ms 
data association time 13.830311 ms 
mapping solver time 12.956490 ms 
publication time 6.574574 ms 
whole laserOdometry time 57.476681 ms 
 
mapping solver time 12.050277 ms 
points size 90003 
sort q time 4.647721 
seperate points time 10.874994 
scan registration time 31.161275 ms *************
data association time 14.313212 ms 
solver time 12.749818 ms 
mapping solver time 16.184813 ms 
data association time 17.350863 ms 
solver time 7.691684 ms 
publication time 7.986565 ms 
whole laserOdometry time 60.933274 ms 
 
mapping solver time 10.591449 ms 
points size 89266 
sort q time 4.839880 
seperate points time 11.088212 
build tree time 21.598196 ms 
data association time 13.393267 ms 
mapping data assosiation time 18.290630 ms 
mapping solver time 14.688587 ms 
solver time 8.881462 ms 
optimization twice time 48.404037 
publication time 7.353176 ms 
whole laserOdometry time 55.773784 ms 
 
mapping solver time 14.260662 ms 
prepare time 13.575607 
sort q time 5.138831 
seperate points time 11.820860 
build tree time 23.327437 ms 
data association time 15.169850 ms 
mapping data assosiation time 22.747985 ms 
mapping solver time 13.832427 ms 
data association time 14.008967 ms 
solver time 8.099465 ms 
optimization twice time 50.965356 
points size 86391 
mapping solver time 13.137783 ms 
mapping optimization time 92.828361 
add points time 0.455018 ms
prepare time 10.388824 
sort q time 4.727488 
seperate points time 10.944436 
build tree time 24.994495 ms 
data association time 14.542473 ms 
solver time 15.638376 ms 
mapping data assosiation time 20.580203 ms 
mapping solver time 14.243818 ms 
solver time 7.870798 ms 
mapping data assosiation time 18.998973 ms 
points size 82586 
filter time 7.524042 ms 
scan registration time 26.587219 ms *************
build tree time 22.212469 ms 
solver time 7.741503 ms 
mapping data assosiation time 20.459561 ms 
solver time 7.667107 ms 
publication time 6.645524 ms 
whole laserOdometry time 49.221477 ms 
 
mapping data assosiation time 18.342336 ms 
points size 79421 
mapping solver time 13.112462 ms 
mapping optimization time 91.661269 
add points time 0.434407 ms
prepare time 12.538140 
mapping pub time 1.052199 ms 
whole mapping time 104.279335 ms +++++
build tree time 27.392335 ms 
solver time 13.210783 ms 
mapping data assosiation time 24.323951 ms 
data association time 21.675769 ms 
mapping solver time 21.369693 ms 
publication time 8.872254 ms 
whole laserOdometry time 77.865597 ms 
 
mapping data assosiation time 21.876427 ms 
sort q time 4.541935 
seperate points time 10.554961 
scan registration time 26.480775 ms *************
mapping solver time 9.194258 ms 
mapping optimization time 105.662021 
add points time 0.552956 ms
filter time 9.628253 ms 
mapping pub time 1.513651 ms 
whole mapping time 121.107147 ms +++++
data association time 20.535109 ms 
solver time 14.725929 ms 
build tree time 29.228485 ms 
data association time 21.551018 ms 
mapping data assosiation time 24.128470 ms 
solver time 17.724368 ms 
publication time 7.746513 ms 
whole laserOdometry time 83.218593 ms 
 
sort q time 3.735390 
seperate points time 8.670076 
scan registration time 24.204266 ms *************
mapping data assosiation time 21.531381 ms 
mapping solver time 12.044742 ms 
filter time 7.964136 ms 
solver time 13.698071 ms 
data association time 13.997472 ms 
solver time 8.845586 ms 
publication time 5.756077 ms 
whole laserOdometry time 61.844249 ms 
 
mapping data assosiation time 21.329535 ms 
points size 75730 
sort q time 3.210614 
seperate points time 7.653658 
mapping data assosiation time 20.881070 ms 
data association time 12.545185 ms 
solver time 12.221899 ms 
data association time 13.261973 ms 
solver time 8.522121 ms 
optimization twice time 47.451479 
build tree time 21.673884 ms 
mapping data assosiation time 17.204060 ms 
points size 75859 
sort q time 4.030154 
seperate points time 9.566055 
scan registration time 24.178430 ms *************
mapping optimization time 87.008125 
data association time 12.153798 ms 
add points time 0.658172 ms
filter time 9.133447 ms 
mapping pub time 0.977866 ms 
whole mapping time 100.195911 ms +++++
solver time 11.954223 ms 
map prepare time 2.332561 ms
map corner num 90159  surf num 31044 
data association time 11.870699 ms 
solver time 8.291602 ms 
optimization twice time 45.199581 
build tree time 22.631506 ms 
mapping data assosiation time 18.252441 ms 
points size 75376 
prepare time 11.385636 
sort q time 4.443515 
seperate points time 10.692786 
mapping solver time 11.595836 ms 
mapping optimization time 88.409771 
add points time 0.552599 ms
data association time 12.694158 ms 
filter time 9.284699 ms 
mapping pub time 0.992523 ms 
whole mapping time 101.611343 ms +++++
solver time 11.603876 ms 
map prepare time 2.361466 ms
map corner num 90543  surf num 31152 
data association time 12.396923 ms 
solver time 8.411265 ms 
publication time 6.287975 ms 
whole laserOdometry time 52.226704 ms 
 
mapping data assosiation time 17.673508 ms 
mapping solver time 15.320224 ms 
points size 75082 
prepare time 11.285698 
sort q time 3.257910 
seperate points time 7.889143 
scan registration time 22.184221 ms *************
mapping solver time 8.817040 ms 
mapping optimization time 86.112927 
add points time 0.418960 ms
filter time 8.930821 ms 
mapping pub time 0.965212 ms 
whole mapping time 98.827063 ms +++++
map prepare time 2.347421 ms
map corner num 90917  surf num 31271 
data association time 11.409817 ms 
solver time 7.842073 ms 
mapping data assosiation time 17.985833 ms 
mapping solver time 20.379421 ms 
sort q time 3.588552 
seperate points time 8.645700 
scan registration time 27.687179 ms *************
mapping solver time 11.471500 ms 
mapping optimization time 97.998544 
add points time 0.489095 ms
mapping pub time 1.951608 ms 
whole mapping time 109.994673 ms +++++
map prepare time 2.225560 ms
map corner num 91302  surf num 31360 
data association time 11.517226 ms 
solver time 12.639688 ms 
publication time 7.018132 ms 
whole laserOdometry time 57.459023 ms 
 
mapping data assosiation time 19.295329 ms 
points size 74967 
mapping solver time 15.185985 ms 
prepare time 12.316874 
sort q time 4.028471 
seperate points time 10.018237 
mapping data assosiation time 19.434496 ms 
mapping solver time 11.021142 ms 
filter time 9.497205 ms 
solver time 14.364643 ms 
data association time 11.393217 ms 
solver time 8.577069 ms 
mapping data assosiation time 19.743108 ms 
points size 77411 
sort q time 3.732647 
seperate points time 8.983986 
mapping data assosiation time 21.621844 ms 
data association time 12.778421 ms 
mapping solver time 13.900865 ms 
mapping optimization time 94.582320 
add points time 0.495531 ms
filter time 8.823844 ms 
data association time 13.328341 ms 
build tree time 15.749629 ms 
publication time 6.199276 ms 
whole laserOdometry time 53.402499 ms 
 
mapping data assosiation time 20.085387 ms 
mapping solver time 13.207033 ms 
sort q time 3.911899 
seperate points time 9.430817 
mapping solver time 9.348120 ms 
filter time 5.691652 ms 
solver time 12.845409 ms 
build tree time 13.729258 ms 
data association time 13.484492 ms 
solver time 11.065003 ms 
points size 81542 
mapping data assosiation time 20.784095 ms 
sort q time 3.553569 
seperate points time 8.496899 
scan registration time 24.091474 ms *************
mapping optimization time 87.115202 
mapping pub time 0.935992 ms 
whole mapping time 97.213639 ms +++++
solver time 12.487813 ms 
build tree time 15.115579 ms 
data association time 15.073768 ms 
mapping data assosiation time 23.439637 ms 
publication time 6.984765 ms 
whole laserOdometry time 60.752407 ms 
 
points size 82202 
sort q time 3.916156 
seperate points time 9.275100 
mapping solver time 12.725609 ms 
mapping optimization time 84.419034 
add points time 0.577678 ms
scan registration time 25.187089 ms *************
mapping pub time 9.760982 ms 
whole mapping time 104.977814 ms +++++
data association time 14.190487 ms 
map prepare time 2.904023 ms
map corner num 61238  surf num 21071 
build tree time 15.476702 ms 
mapping data assosiation time 20.427744 ms 
data association time 21.018614 ms 
solver time 15.165949 ms 
publication time 8.638911 ms 
whole laserOdometry time 79.293883 ms 
 
prepare time 12.986283 
sort q time 4.021720 
seperate points time 9.493304 
mapping solver time 17.778211 ms 
mapping optimization time 97.738905 
add points time 0.453507 ms
map prepare time 2.065815 ms
map corner num 61661  surf num 21251 
data association time 21.690954 ms 
build tree time 16.087211 ms 
solver time 18.692080 ms 
mapping data assosiation time 20.127406 ms 
data association time 21.197397 ms 
mapping solver time 15.826996 ms 
solver time 15.978213 ms 
publication time 8.578469 ms 
whole laserOdometry time 87.284117 ms 
 
sort q time 5.302726 
seperate points time 12.730786 
mapping solver time 16.215770 ms 
filter time 6.002211 ms 
data association time 21.628110 ms 
build tree time 16.075208 ms 
solver time 18.572193 ms 
mapping data assosiation time 20.918589 ms 
mapping solver time 17.070742 ms 
points size 86295 
solver time 15.589457 ms 
optimization twice time 78.545381 
prepare time 14.258555 
publication time 8.392795 ms 
whole laserOdometry time 86.958074 ms 
 
mapping data assosiation time 24.442068 ms 
sort q time 5.291005 
seperate points time 11.937328 
mapping solver time 17.006801 ms 
filter time 6.683565 ms 
mapping pub time 1.103156 ms 
whole mapping time 107.488374 ms +++++
data association time 21.516529 ms 
build tree time 16.273845 ms 
solver time 19.107633 ms 
mapping data assosiation time 21.598288 ms 
data association time 21.586731 ms 
mapping solver time 19.113424 ms 
publication time 8.760890 ms 
whole laserOdometry time 88.376747 ms 
 
sort q time 4.543747 
seperate points time 10.686925 
scan registration time 29.928010 ms *************
mapping solver time 15.930078 ms 
filter time 6.815801 ms 
solver time 18.494723 ms 
data association time 21.622011 ms 
solver time 15.920702 ms 
optimization twice time 78.670606 
mapping solver time 19.679857 ms 
points size 89702 
publication time 8.831591 ms 
whole laserOdometry time 87.534504 ms 
 
sort q time 4.981149 
seperate points time 12.129985 
scan registration time 30.867259 ms *************
data association time 14.699364 ms 
mapping solver time 15.626907 ms 
filter time 6.641402 ms 
data association time 13.567209 ms 
solver time 8.362837 ms 
publication time 7.700740 ms 
whole laserOdometry time 59.591676 ms 
 
mapping data assosiation time 26.403401 ms 
mapping solver time 18.441974 ms 
sort q time 4.357668 
seperate points time 10.206146 
scan registration time 32.972208 ms *************
mapping data assosiation time 22.597051 ms 
solver time 10.528086 ms 
filter time 5.481675 ms 
map prepare time 3.336967 ms
map corner num 63958  surf num 22141 
solver time 11.391049 ms 
build tree time 19.077713 ms 
points size 89772 
prepare time 17.261147 
sort q time 4.400185 
seperate points time 10.230648 
mapping solver time 17.557000 ms 
data association time 13.829165 ms 
mapping data assosiation time 22.279721 ms 
mapping solver time 13.245286 ms 
mapping optimization time 98.658073 
add points time 0.475192 ms
data association time 15.565502 ms 
map prepare time 2.489172 ms
solver time 9.578210 ms 
map corner num 64404  surf num 22323 
publication time 8.637117 ms 
whole laserOdometry time 59.226865 ms 
 
build tree time 17.447214 ms 
points size 90046 
mapping data assosiation time 22.400152 ms 
scan registration time 30.045815 ms *************
mapping solver time 17.006948 ms 
data association time 12.833426 ms 
solver time 15.190524 ms 
filter time 5.186302 ms 
data association time 17.544783 ms 
solver time 10.132583 ms 
publication time 8.744248 ms 
whole laserOdometry time 65.387829 ms 
 
points size 91804 
mapping data assosiation time 25.935817 ms 
sort q time 5.076317 
seperate points time 11.632425 
scan registration time 29.942609 ms *************
mapping solver time 18.391291 ms 
data association time 13.993175 ms 
solver time 10.492884 ms 
mapping data assosiation time 22.165869 ms 
data association time 13.700045 ms 
mapping solver time 13.634486 ms 
filter time 5.742966 ms 
mapping pub time 1.124577 ms 
whole mapping time 107.878016 ms +++++
build tree time 15.430393 ms 
points size 93757 
prepare time 13.354266 
mapping data assosiation time 22.500247 ms 
scan registration time 29.548769 ms *************
mapping solver time 14.354336 ms 
data association time 15.834142 ms 
mapping data assosiation time 22.085466 ms 
solver time 12.579053 ms 
mapping solver time 11.451632 ms 
mapping optimization time 87.314217 
add points time 0.501005 ms
mapping pub time 1.740775 ms 
whole mapping time 101.459328 ms +++++
map prepare time 3.572368 ms
map corner num 65804  surf num 22800 
solver time 11.531160 ms 
optimization twice time 55.264965 
publication time 7.423453 ms 
whole laserOdometry time 62.705763 ms 
 
build tree time 19.208677 ms 
points size 94865 
sort q time 4.306988 
seperate points time 10.147494 
mapping data assosiation time 23.204392 ms 
scan registration time 28.573748 ms *************
mapping solver time 15.110268 ms 
data association time 14.191336 ms 
solver time 12.285490 ms 
mapping data assosiation time 23.731635 ms 
mapping solver time 10.602684 ms 
mapping optimization time 93.324478 
add points time 0.562774 ms
data association time 14.924744 ms 
mapping pub time 1.088708 ms 
whole mapping time 105.541472 ms +++++
map prepare time 3.596241 ms
map corner num 66263  surf num 22960 
publication time 8.348137 ms 
whole laserOdometry time 62.284634 ms 
 
build tree time 18.042719 ms 
points size 96031 
prepare time 15.781630 
mapping data assosiation time 22.446727 ms 
mapping solver time 17.438935 ms 
data association time 16.674573 ms 
mapping data assosiation time 22.573382 ms 
mapping solver time 11.444768 ms 
data association time 18.459853 ms 
map prepare time 3.639653 ms
map corner num 66664  surf num 23074 
optimization twice time 64.662491 
publication time 8.033943 ms 
whole laserOdometry time 72.739624 ms 
 
points size 98024 
sort q time 4.979289 
seperate points time 11.735398 
scan registration time 30.352059 ms *************
mapping data assosiation time 26.127111 ms 
data association time 14.901557 ms 
mapping solver time 17.570750 ms 
data association time 14.739916 ms 
mapping data assosiation time 22.518794 ms 
solver time 11.529267 ms 
mapping solver time 14.396180 ms 
filter time 8.793841 ms 
mapping pub time 1.269496 ms 
whole mapping time 121.257334 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.311625 ms
map corner num 67061  surf num 23196 
build tree time 16.796143 ms 
scan registration time 33.875719 ms *************
mapping data assosiation time 22.380268 ms 
data association time 17.266401 ms 
mapping solver time 17.706256 ms 
data association time 18.779433 ms 
solver time 11.742063 ms 
mapping solver time 17.622568 ms 
filter time 7.238813 ms 
sort q time 6.392562 
seperate points time 14.766238 
scan registration time 35.216973 ms *************
data association time 13.453163 ms 
mapping data assosiation time 21.470931 ms 
solver time 13.540413 ms 
mapping solver time 17.842749 ms 
data association time 13.749004 ms 
solver time 10.956602 ms 
publication time 8.777429 ms 
whole laserOdometry time 61.347436 ms 
 
points size 103735 
mapping optimization time 101.107481 
filter time 8.668125 ms 
map prepare time 2.568061 ms
map corner num 67919  surf num 23478 
scan registration time 35.753763 ms *************
build tree time 16.898352 ms 
solver time 12.274768 ms 
filter time 7.949296 ms 
mapping pub time 1.275144 ms 
whole mapping time 107.474134 ms +++++
data association time 21.269380 ms 
build tree time 21.845374 ms 
solver time 15.178297 ms 
mapping data assosiation time 25.534952 ms 
solver time 7.931537 ms 
publication time 8.375631 ms 
whole laserOdometry time 67.079783 ms 
 
points size 104091 
prepare time 15.613433 
sort q time 5.166331 
seperate points time 11.548430 
mapping solver time 14.397951 ms 
mapping optimization time 104.941346 
add points time 0.573340 ms
filter time 7.391320 ms 
map prepare time 3.296862 ms
map corner num 68680  surf num 23720 
data association time 21.560461 ms 
solver time 14.134132 ms 
build tree time 21.892566 ms 
data association time 23.179175 ms 
solver time 13.421403 ms 
mapping data assosiation time 29.539097 ms 
optimization twice time 73.173461 
points size 104206 
publication time 12.132241 ms 
whole laserOdometry time 85.325420 ms 
 
mapping solver time 21.495615 ms 
sort q time 5.287717 
seperate points time 12.576005 
scan registration time 32.612827 ms *************
mapping data assosiation time 28.621506 ms 
data association time 25.867503 ms 
mapping solver time 25.185234 ms 
filter time 6.655990 ms 
map prepare time 2.858390 ms
map corner num 69053  surf num 23830 
solver time 8.217680 ms 
publication time 8.345670 ms 
whole laserOdometry time 75.771211 ms 
 
sort q time 5.143239 
seperate points time 11.815315 
mapping solver time 13.967466 ms 
solver time 7.793697 ms 
mapping data assosiation time 24.118837 ms 
data association time 15.622534 ms 
add points time 0.717388 ms
filter time 5.441506 ms 
mapping pub time 1.806120 ms 
whole mapping time 103.384102 ms +++++
publication time 9.000639 ms 
whole laserOdometry time 56.541483 ms 
 
drop lidar frame in mapping for real time performance 
map prepare time 2.556861 ms
map corner num 69412  surf num 23944 
build tree time 16.258330 ms 
points size 104297 
prepare time 14.672478 
sort q time 5.423586 
seperate points time 12.386375 
scan registration time 32.048208 ms *************
mapping data assosiation time 22.043713 ms 
mapping solver time 17.430602 ms 
data association time 14.940794 ms 
solver time 10.454079 ms 
mapping data assosiation time 23.867531 ms 
data association time 15.949206 ms 
solver time 5.851226 ms 
optimization twice time 48.055698 
mapping pub time 8.907573 ms 
whole mapping time 112.961081 ms +++++
points size 104344 
prepare time 17.264386 
sort q time 5.626471 
seperate points time 12.901654 
mapping data assosiation time 24.546116 ms 
data association time 23.817150 ms 
solver time 14.897017 ms 
mapping data assosiation time 23.138332 ms 
mapping solver time 10.907855 ms 
filter time 7.999378 ms 
points size 104287 
map prepare time 2.550686 ms
map corner num 70174  surf num 24190 
scan registration time 36.180270 ms *************
build tree time 19.335292 ms 
data association time 23.905520 ms 
solver time 14.195538 ms 
mapping solver time 14.507424 ms 
data association time 20.080158 ms 
mapping data assosiation time 26.733915 ms 
solver time 12.017883 ms 
optimization twice time 71.132332 
mapping solver time 11.806836 ms 
filter time 8.775018 ms 
scan registration time 39.536549 ms *************
build tree time 18.860289 ms 
data association time 18.184150 ms 
solver time 11.365000 ms 
data association time 14.780405 ms 
solver time 7.445377 ms 
publication time 9.833637 ms 
whole laserOdometry time 62.463763 ms 
 
points size 104387 
prepare time 16.313426 
sort q time 5.580385 
seperate points time 12.932481 
filter time 7.020691 ms 
map prepare time 2.841340 ms
map corner num 70961  surf num 24420 
build tree time 23.372189 ms 
solver time 16.152653 ms 
mapping data assosiation time 29.619771 ms 
data association time 25.475644 ms 
points size 104449 
publication time 13.271666 ms 
whole laserOdometry time 92.552635 ms 
 
mapping data assosiation time 30.019169 ms 
mapping solver time 20.138945 ms 
data association time 24.631812 ms 
mapping optimization time 131.078134 
add points time 0.543657 ms
map prepare time 3.307131 ms
map corner num 71339  surf num 24501 
build tree time 22.922382 ms 
points size 104309 
data association time 24.697422 ms 
optimization twice time 81.998166 
sort q time 5.928584 
seperate points time 13.495966 
publication time 13.067733 ms 
whole laserOdometry time 95.094584 ms 
 
mapping solver time 23.659660 ms 
solver time 10.058028 ms 
mapping data assosiation time 24.484387 ms 
solver time 8.068998 ms 
publication time 9.726070 ms 
whole laserOdometry time 63.543465 ms 
 
map prepare time 2.494087 ms
map corner num 71721  surf num 24604 
points size 104231 
prepare time 16.641808 
build tree time 19.621818 ms 
scan registration time 33.807850 ms *************
mapping data assosiation time 25.832956 ms 
solver time 10.398287 ms 
data association time 17.574397 ms 
solver time 9.692125 ms 
publication time 7.800612 ms 
whole laserOdometry time 62.619982 ms 
 
filter time 6.830688 ms 
sort q time 5.467643 
seperate points time 12.514061 
scan registration time 33.498817 ms *************
data association time 14.608616 ms 
mapping data assosiation time 24.736433 ms 
mapping solver time 19.384909 ms 
solver time 8.439072 ms 
publication time 7.977583 ms 
whole laserOdometry time 57.744172 ms 
 
points size 103995 
filter time 8.018807 ms 
build tree time 16.996677 ms 
solver time 9.773257 ms 
mapping data assosiation time 24.547829 ms 
data association time 15.129895 ms 
optimization twice time 48.396804 
publication time 8.893874 ms 
whole laserOdometry time 57.307690 ms 
 
points size 103735 
mapping data assosiation time 24.867284 ms 
prepare time 14.731278 
mapping solver time 13.502639 ms 
mapping pub time 1.289077 ms 
whole mapping time 108.149388 ms +++++
build tree time 16.479787 ms 
solver time 7.855923 ms 
mapping data assosiation time 22.205588 ms 
data association time 15.966462 ms 
solver time 7.905492 ms 
optimization twice time 47.876283 
mapping solver time 17.135000 ms 
publication time 9.946318 ms 
whole laserOdometry time 57.839877 ms 
 
points size 103584 
mapping solver time 11.613486 ms 
mapping optimization time 92.558706 
add points time 0.636280 ms
sort q time 5.738526 
seperate points time 13.071996 
scan registration time 32.674949 ms *************
map prepare time 3.069458 ms
map corner num 73439  surf num 25099 
data association time 15.439568 ms 
solver time 9.959026 ms 
mapping data assosiation time 21.310479 ms 
data association time 14.657552 ms 
mapping solver time 14.775220 ms 
points size 103356 
mapping data assosiation time 28.291953 ms 
mapping solver time 15.428499 ms 
mapping optimization time 99.467240 
sort q time 5.972244 
seperate points time 14.286849 
add points time 0.628689 ms
scan registration time 40.709920 ms *************
map prepare time 3.608396 ms
map corner num 73851  surf num 25228 
data association time 15.394309 ms 
solver time 7.986921 ms 
data association time 14.864594 ms 
solver time 4.912034 ms 
publication time 8.116266 ms 
whole laserOdometry time 52.032566 ms 
 
mapping solver time 18.886291 ms 
prepare time 15.645211 
scan registration time 31.946739 ms *************
mapping solver time 14.252044 ms 
filter time 7.603516 ms 
map prepare time 2.861403 ms
map corner num 74247  surf num 25356 
solver time 12.818857 ms 
build tree time 18.262662 ms 
data association time 15.402591 ms 
solver time 7.196181 ms 
optimization twice time 52.602500 
points size 101853 
mapping solver time 20.556916 ms 
sort q time 6.508203 
seperate points time 14.585113 
mapping data assosiation time 26.924164 ms 
data association time 15.625294 ms 
solver time 11.306627 ms 
map prepare time 2.708382 ms
map corner num 74648  surf num 25479 
data association time 17.718365 ms 
solver time 8.631221 ms 
publication time 9.311947 ms 
whole laserOdometry time 63.491133 ms 
 
prepare time 15.160269 
mapping data assosiation time 27.992662 ms 
mapping solver time 20.722533 ms 
solver time 7.076875 ms 
mapping data assosiation time 25.917229 ms 
data association time 15.122364 ms 
publication time 7.918793 ms 
whole laserOdometry time 54.361882 ms 
 
filter time 5.805735 ms 
points size 98287 
build tree time 19.498026 ms 
sort q time 5.340295 
seperate points time 12.529153 
scan registration time 31.321494 ms *************
mapping data assosiation time 24.663192 ms 
data association time 15.379549 ms 
solver time 7.764372 ms 
mapping solver time 17.519564 ms 
data association time 15.026947 ms 
mapping data assosiation time 21.751583 ms 
publication time 9.263733 ms 
whole laserOdometry time 56.460183 ms 
 
mapping solver time 17.232466 ms 
map prepare time 3.094789 ms
map corner num 75532  surf num 25708 
sort q time 4.562024 
seperate points time 10.640023 
mapping data assosiation time 21.260671 ms 
data association time 14.832658 ms 
solver time 10.709473 ms 
mapping solver time 17.727682 ms 
data association time 15.081500 ms 
solver time 7.872190 ms 
mapping data assosiation time 22.168068 ms 
mapping solver time 15.822155 ms 
prepare time 14.589311 
map prepare time 2.592270 ms
map corner num 76054  surf num 25873 
sort q time 6.627002 
seperate points time 14.879309 
scan registration time 34.290749 ms *************
data association time 14.752681 ms 
solver time 10.731680 ms 
data association time 15.022967 ms 
mapping solver time 14.066116 ms 
publication time 7.748441 ms 
whole laserOdometry time 57.262522 ms 
 
mapping data assosiation time 22.697141 ms 
mapping solver time 11.415281 ms 
filter time 6.539172 ms 
mapping pub time 1.303707 ms 
whole mapping time 104.259532 ms +++++
map prepare time 2.569733 ms
map corner num 76512  surf num 26024 
scan registration time 31.549112 ms *************
build tree time 21.380553 ms 
data association time 18.649862 ms 
solver time 9.167814 ms 
data association time 16.466635 ms 
solver time 7.024725 ms 
optimization twice time 52.202450 
mapping data assosiation time 24.212097 ms 
prepare time 14.450515 
mapping solver time 14.227053 ms 
sort q time 4.872282 
seperate points time 11.452813 
map prepare time 4.269618 ms
map corner num 76960  surf num 26202 
data association time 14.894442 ms 
build tree time 18.691950 ms 
solver time 11.630826 ms 
data association time 14.828238 ms 
mapping data assosiation time 23.314726 ms 
publication time 8.368791 ms 
whole laserOdometry time 59.227763 ms 
 
mapping solver time 16.478981 ms 
points size 97882 
prepare time 14.055152 
mapping data assosiation time 23.017970 ms 
mapping solver time 10.571919 ms 
filter time 7.686384 ms 
build tree time 24.645238 ms 
solver time 13.064699 ms 
mapping data assosiation time 29.610459 ms 
data association time 26.359449 ms 
mapping solver time 21.150553 ms 
publication time 9.644278 ms 
whole laserOdometry time 85.002888 ms 
 
sort q time 5.911871 
seperate points time 14.186024 
mapping data assosiation time 25.713526 ms 
mapping solver time 10.811336 ms 
data association time 17.736520 ms 
solver time 10.618990 ms 
build tree time 20.375537 ms 
solver time 7.914598 ms 
publication time 8.285399 ms 
whole laserOdometry time 60.532401 ms 
 
points size 94282 
prepare time 14.410105 
sort q time 5.422527 
seperate points time 12.681868 
mapping data assosiation time 24.089907 ms 
data association time 15.213409 ms 
filter time 6.601052 ms 
mapping pub time 10.291950 ms 
whole mapping time 122.172644 ms +++++
map prepare time 3.242106 ms
map corner num 78164  surf num 26633 
solver time 8.200388 ms 
publication time 9.145013 ms 
whole laserOdometry time 62.633255 ms 
 
points size 92284 
mapping data assosiation time 23.269693 ms 
sort q time 5.192589 
seperate points time 12.639917 
mapping solver time 16.243883 ms 
data association time 15.782463 ms 
solver time 10.889668 ms 
mapping data assosiation time 25.141583 ms 
mapping solver time 11.486098 ms 
mapping optimization time 99.584734 
add points time 0.448749 ms
data association time 15.858350 ms 
solver time 8.505550 ms 
publication time 10.044911 ms 
whole laserOdometry time 61.917582 ms 
 
build tree time 24.527604 ms 
points size 90241 
prepare time 16.954139 
sort q time 5.139178 
seperate points time 12.637376 
mapping data assosiation time 27.097547 ms 
data association time 15.082407 ms 
mapping solver time 15.342771 ms 
solver time 11.191339 ms 
mapping data assosiation time 23.997085 ms 
mapping solver time 10.972094 ms 
solver time 10.713801 ms 
optimization twice time 52.676798 
mapping optimization time 103.721040 
add points time 0.527178 ms
map prepare time 3.778152 ms
map corner num 78932  surf num 26871 
points size 88273 
build tree time 26.126169 ms 
sort q time 5.165534 
seperate points time 12.516814 
scan registration time 34.568098 ms *************
data association time 14.310393 ms 
solver time 8.642300 ms 
mapping solver time 19.551333 ms 
solver time 7.681184 ms 
publication time 8.290295 ms 
whole laserOdometry time 55.049195 ms 
 
points size 86907 
filter time 8.255417 ms 
mapping pub time 1.577175 ms 
whole mapping time 129.693594 ms +++++
build tree time 21.012846 ms 
solver time 10.454313 ms 
mapping data assosiation time 24.450435 ms 
data association time 15.352908 ms 
solver time 8.780536 ms 
publication time 8.512230 ms 
whole laserOdometry time 58.727713 ms 
 
points size 84560 
prepare time 18.110925 
sort q time 4.900030 
seperate points time 12.628842 
scan registration time 34.465820 ms *************
mapping solver time 15.366389 ms 
filter time 8.061777 ms 
data association time 15.627941 ms 
solver time 11.515572 ms 
data association time 14.553702 ms 
solver time 8.202196 ms 
mapping data assosiation time 24.871516 ms 
points size 81166 
mapping solver time 15.619218 ms 
prepare time 12.063260 
sort q time 3.812267 
seperate points time 9.632053 
mapping data assosiation time 25.549451 ms 
mapping solver time 14.745981 ms 
mapping optimization time 103.435624 
solver time 10.517985 ms 
add points time 0.470690 ms
mapping pub time 3.135020 ms 
whole mapping time 116.862790 ms +++++
solver time 8.861995 ms 
optimization twice time 51.899390 
mapping data assosiation time 23.169234 ms 
sort q time 3.303777 
seperate points time 8.740470 
data association time 13.499866 ms 
solver time 13.213742 ms 
filter time 7.291979 ms 
solver time 7.967030 ms 
publication time 7.936783 ms 
whole laserOdometry time 60.855854 ms 
 
points size 75819 
mapping data assosiation time 23.919587 ms 
sort q time 4.276511 
seperate points time 10.532710 
scan registration time 24.515265 ms *************
mapping solver time 18.268884 ms 
data association time 15.698853 ms 
mapping data assosiation time 21.781878 ms 
mapping solver time 14.114465 ms 
filter time 7.468658 ms 
mapping pub time 1.034920 ms 
whole mapping time 111.798170 ms +++++
publication time 6.526872 ms 
whole laserOdometry time 61.094033 ms 
 
build tree time 21.875438 ms 
prepare time 11.557478 
sort q time 3.609222 
seperate points time 9.517115 
mapping data assosiation time 23.967845 ms 
mapping solver time 13.489201 ms 
data association time 15.155680 ms 
solver time 12.208089 ms 
mapping data assosiation time 25.649140 ms 
data association time 14.061074 ms 
mapping solver time 11.006340 ms 
mapping optimization time 97.470312 
add points time 0.487831 ms
solver time 9.252709 ms 
optimization twice time 51.432449 
mapping pub time 1.115554 ms 
whole mapping time 111.934448 ms +++++
points size 74882 
build tree time 24.491446 ms 
sort q time 3.152447 
seperate points time 7.958668 
mapping data assosiation time 23.848789 ms 
data association time 12.747192 ms 
solver time 11.962700 ms 
mapping solver time 13.119976 ms 
data association time 13.684053 ms 
solver time 7.767566 ms 
optimization twice time 47.009662 
mapping data assosiation time 24.591456 ms 
mapping solver time 10.722899 ms 
filter time 7.701262 ms 
points size 73648 
prepare time 13.064711 
build tree time 23.974990 ms 
data association time 13.805874 ms 
solver time 10.711196 ms 
mapping solver time 15.248779 ms 
data association time 13.961406 ms 
solver time 8.587673 ms 
mapping data assosiation time 21.154081 ms 
mapping solver time 12.636825 ms 
filter time 7.281199 ms 
points size 72824 
sort q time 3.454618 
seperate points time 8.474370 
scan registration time 23.953001 ms *************
build tree time 20.148964 ms 
data association time 12.856015 ms 
mapping data assosiation time 21.944084 ms 
mapping solver time 15.145164 ms 
data association time 13.214441 ms 
solver time 9.427316 ms 
publication time 6.319419 ms 
whole laserOdometry time 54.388953 ms 
 
mapping solver time 13.815503 ms 
filter time 7.743772 ms 
prepare time 12.973995 
sort q time 3.474236 
seperate points time 8.869699 
scan registration time 25.154474 ms *************
data association time 24.173863 ms 
solver time 16.857319 ms 
mapping solver time 22.596732 ms 
data association time 22.453990 ms 
mapping data assosiation time 26.418138 ms 
solver time 18.066175 ms 
mapping optimization time 118.828899 
scan registration time 27.108485 ms *************
map prepare time 3.259225 ms
map corner num 83721  surf num 28192 
data association time 15.547998 ms 
solver time 12.119018 ms 
data association time 13.254011 ms 
mapping data assosiation time 21.377514 ms 
publication time 7.061459 ms 
whole laserOdometry time 58.916077 ms 
 
mapping solver time 14.901555 ms 
points size 70662 
prepare time 16.275902 
mapping data assosiation time 25.900166 ms 
sort q time 4.093966 
seperate points time 10.346517 
mapping solver time 15.333289 ms 
filter time 6.623057 ms 
mapping pub time 0.886773 ms 
whole mapping time 112.852993 ms +++++
map prepare time 3.161456 ms
map corner num 84185  surf num 28329 
solver time 12.474705 ms 
data association time 14.295693 ms 
solver time 12.018285 ms 
mapping solver time 16.807236 ms 
points size 67684 
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sort q time 4.258902 
seperate points time 10.934711 
mapping solver time 14.017216 ms 
mapping optimization time 98.969779 
add points time 0.563110 ms
filter time 9.094443 ms 
mapping pub time 1.291778 ms 
whole mapping time 113.126033 ms +++++
data association time 18.461250 ms 
map prepare time 2.967301 ms
map corner num 84639  surf num 28466 
solver time 17.869537 ms 
build tree time 27.761791 ms 
data association time 18.911214 ms 
solver time 12.993575 ms 
prepare time 11.252902 
mapping solver time 12.883965 ms 
sort q time 2.953150 
seperate points time 7.222645 
scan registration time 21.258261 ms *************
mapping data assosiation time 23.127114 ms 
data association time 21.010978 ms 
filter time 8.878141 ms 
map prepare time 2.806265 ms
map corner num 85197  surf num 28677 
solver time 19.543551 ms 
data association time 14.909325 ms 
build tree time 23.896470 ms 
publication time 6.501687 ms 
whole laserOdometry time 73.815667 ms 
 
points size 65610 
mapping data assosiation time 24.673206 ms 
prepare time 15.890289 
sort q time 3.614594 
seperate points time 9.184050 
mapping solver time 19.100889 ms 
data association time 15.528306 ms 
mapping data assosiation time 22.730232 ms 
mapping solver time 12.475018 ms 
filter time 7.807626 ms 
solver time 11.032185 ms 
publication time 6.301061 ms 
whole laserOdometry time 59.465407 ms 
 
build tree time 21.191735 ms 
points size 68838 
prepare time 11.296770 
scan registration time 21.548149 ms *************
mapping solver time 17.461235 ms 
data association time 21.126905 ms 
mapping data assosiation time 24.786018 ms 
solver time 17.158636 ms 
mapping solver time 17.215764 ms 
mapping optimization time 101.147704 
add points time 0.455943 ms
data association time 19.755695 ms 
filter time 9.538712 ms 
mapping pub time 0.988247 ms 
whole mapping time 114.708622 ms +++++
solver time 15.644400 ms 
publication time 8.211610 ms 
whole laserOdometry time 83.007325 ms 
 
build tree time 27.407093 ms 
sort q time 3.229162 
seperate points time 8.178413 
mapping data assosiation time 23.522070 ms 
data association time 20.090675 ms 
mapping solver time 21.820904 ms 
solver time 20.258748 ms 
mapping data assosiation time 25.224454 ms 
mapping solver time 18.323905 ms 
points size 75048 
sort q time 4.063359 
seperate points time 9.829199 
build tree time 24.432050 ms 
data association time 20.341576 ms 
mapping data assosiation time 23.485405 ms 
mapping solver time 13.533817 ms 
data association time 12.306069 ms 
solver time 9.204296 ms 
optimization twice time 55.260224 
publication time 6.917225 ms 
whole laserOdometry time 62.210780 ms 
 
points size 77317 
filter time 6.620075 ms 
mapping pub time 0.846255 ms 
whole mapping time 107.819453 ms +++++
sort q time 3.491562 
seperate points time 8.540302 
map prepare time 2.283698 ms
map corner num 87409  surf num 29361 
build tree time 22.905564 ms 
data association time 12.204225 ms 
solver time 10.920983 ms 
mapping data assosiation time 19.220185 ms 
data association time 13.085466 ms 
solver time 8.300846 ms 
publication time 7.739846 ms 
whole laserOdometry time 53.225373 ms 
 
mapping data assosiation time 19.707748 ms 
mapping solver time 12.416760 ms 
filter time 7.185143 ms 
sort q time 3.690283 
seperate points time 9.564981 
scan registration time 24.892908 ms *************
map prepare time 3.495584 ms
map corner num 88123  surf num 29585 
data association time 14.003446 ms 
build tree time 22.041518 ms 
solver time 13.183054 ms 
mapping data assosiation time 23.104295 ms 
publication time 6.744512 ms 
whole laserOdometry time 58.648876 ms 
 
mapping solver time 11.204774 ms 
points size 82036 
mapping solver time 11.642592 ms 
scan registration time 30.896309 ms *************
map prepare time 2.241416 ms
map corner num 88808  surf num 29791 
data association time 19.146625 ms 
build tree time 24.944286 ms 
solver time 15.555662 ms 
mapping data assosiation time 20.593121 ms 
data association time 19.356163 ms 
mapping solver time 15.375529 ms 
solver time 15.946291 ms 
publication time 9.013971 ms 
whole laserOdometry time 80.204138 ms 
 
sort q time 5.024436 
seperate points time 11.980605 
mapping solver time 12.982972 ms 
mapping optimization time 98.278445 
add points time 0.434025 ms
map prepare time 2.936999 ms
map corner num 89419  surf num 29945 
solver time 10.601188 ms 
build tree time 24.346126 ms 
data association time 14.061225 ms 
mapping data assosiation time 21.576687 ms 
mapping solver time 15.285561 ms 
prepare time 12.871071 
sort q time 4.943969 
seperate points time 11.734176 
mapping solver time 8.974070 ms 
filter time 8.724040 ms 
solver time 12.979862 ms 
build tree time 21.791402 ms 
solver time 10.501483 ms 
mapping data assosiation time 20.060566 ms 
mapping solver time 14.194970 ms 
prepare time 12.791697 
sort q time 4.323619 
seperate points time 10.206276 
mapping solver time 9.631629 ms 
data association time 18.024363 ms 
solver time 14.891873 ms 
build tree time 22.509996 ms 
data association time 16.217688 ms 
solver time 10.901322 ms 
points size 88974 
sort q time 5.145318 
seperate points time 11.942895 
mapping solver time 11.232645 ms 
filter time 9.829549 ms 
solver time 13.816891 ms 
data association time 13.828865 ms 
solver time 12.572348 ms 
optimization twice time 55.099822 
build tree time 33.439222 ms 
points size 92010 
sort q time 5.242485 
seperate points time 12.057921 
scan registration time 30.485912 ms *************
mapping solver time 15.845487 ms 
data association time 13.881409 ms 
solver time 15.838161 ms 
mapping solver time 11.959797 ms 
mapping optimization time 109.046004 
add points time 0.403678 ms
data association time 17.523400 ms 
solver time 12.066260 ms 
publication time 9.346317 ms 
whole laserOdometry time 69.691742 ms 
 
build tree time 26.560506 ms 
prepare time 15.867373 
sort q time 4.121807 
seperate points time 9.965495 
mapping solver time 15.889271 ms 
data association time 14.171448 ms 
solver time 12.202021 ms 
data association time 13.771553 ms 
mapping solver time 11.595022 ms 
mapping optimization time 101.739995 
add points time 0.403753 ms
filter time 8.793774 ms 
map prepare time 3.586825 ms
map corner num 91907  surf num 30716 
points size 98105 
build tree time 22.354194 ms 
prepare time 14.778127 
sort q time 5.318923 
seperate points time 12.668073 
mapping solver time 14.102690 ms 
data association time 13.184965 ms 
solver time 11.042348 ms 
mapping solver time 14.828715 ms 
filter time 7.629910 ms 
points size 97018 
build tree time 24.589739 ms 
sort q time 5.761109 
seperate points time 13.163021 
mapping data assosiation time 23.646768 ms 
solver time 10.373229 ms 
mapping solver time 16.447505 ms 
data association time 15.495898 ms 
mapping data assosiation time 21.990506 ms 
publication time 8.100898 ms 
whole laserOdometry time 57.011224 ms 
 
filter time 7.211472 ms 
map prepare time 3.284954 ms
map corner num 60997  surf num 20574 
points size 97092 
prepare time 18.512917 
build tree time 20.292764 ms 
sort q time 6.173856 
seperate points time 14.949228 
mapping data assosiation time 22.261169 ms 
data association time 13.752316 ms 
mapping solver time 15.728447 ms 
solver time 11.399451 ms 
mapping data assosiation time 20.087019 ms 
solver time 7.949070 ms 
filter time 5.569618 ms 
points size 97324 
build tree time 13.870603 ms 
sort q time 4.720922 
seperate points time 11.017355 
scan registration time 31.299580 ms *************
mapping data assosiation time 20.679477 ms 
solver time 7.840503 ms 
data association time 13.390259 ms 
solver time 7.847317 ms 
publication time 8.144593 ms 
whole laserOdometry time 51.159230 ms 
 
add points time 0.471322 ms
filter time 5.059341 ms 
points size 96421 
sort q time 4.702892 
seperate points time 11.027828 
scan registration time 28.738019 ms *************
mapping solver time 11.423525 ms 
data association time 14.144162 ms 
solver time 10.795289 ms 
mapping data assosiation time 19.601149 ms 
data association time 13.762087 ms 
mapping optimization time 80.539196 
add points time 0.459882 ms
solver time 9.627198 ms 
optimization twice time 49.157315 
publication time 8.726217 ms 
whole laserOdometry time 57.901358 ms 
 
map prepare time 3.633061 ms
map corner num 62272  surf num 20895 
build tree time 15.862047 ms 
sort q time 4.233345 
seperate points time 10.071559 
mapping solver time 14.983084 ms 
data association time 13.109469 ms 
solver time 12.841491 ms 
mapping solver time 11.482240 ms 
mapping pub time 1.241412 ms 
whole mapping time 95.806618 ms +++++
solver time 13.564719 ms 
publication time 8.485525 ms 
whole laserOdometry time 65.583981 ms 
 
points size 91356 
build tree time 16.610830 ms 
data association time 13.540860 ms 
solver time 13.270282 ms 
data association time 13.227554 ms 
solver time 8.716957 ms 
publication time 7.752852 ms 
whole laserOdometry time 57.478929 ms 
 
mapping solver time 9.969383 ms 
filter time 6.525160 ms 
points size 88735 
build tree time 17.739753 ms 
mapping data assosiation time 22.463524 ms 
mapping solver time 16.093612 ms 
solver time 13.391683 ms 
mapping data assosiation time 22.621436 ms 
publication time 8.069345 ms 
whole laserOdometry time 62.187287 ms 
 
filter time 7.729885 ms 
prepare time 12.919432 
sort q time 4.653779 
seperate points time 11.340191 
data association time 12.459426 ms 
mapping data assosiation time 21.086067 ms 
mapping solver time 15.895418 ms 
solver time 10.498033 ms 
mapping solver time 10.305349 ms 
mapping pub time 1.135921 ms 
whole mapping time 102.461266 ms +++++
sort q time 3.854342 
seperate points time 9.199273 
build tree time 14.607536 ms 
scan registration time 27.421110 ms *************
data association time 13.305799 ms 
solver time 12.775188 ms 
mapping solver time 13.663862 ms 
data association time 13.639963 ms 
solver time 11.127080 ms 
publication time 7.554003 ms 
whole laserOdometry time 59.249668 ms 
 
filter time 5.845902 ms 
points size 77194 
prepare time 14.655213 
sort q time 4.694597 
seperate points time 11.717101 
mapping data assosiation time 22.338308 ms 
data association time 14.899316 ms 
mapping solver time 13.328976 ms 
solver time 13.561113 ms 
mapping data assosiation time 19.183055 ms 
mapping solver time 11.324334 ms 
filter time 6.983399 ms 
map prepare time 2.501214 ms
map corner num 64849  surf num 21641 
points size 75074 
prepare time 11.994664 
sort q time 4.076289 
seperate points time 9.938389 
mapping data assosiation time 22.105192 ms 
data association time 22.683305 ms 
mapping solver time 20.429598 ms 
solver time 14.740668 ms 
mapping data assosiation time 21.113941 ms 
mapping solver time 12.569887 ms 
filter time 6.066390 ms 
map prepare time 2.349578 ms
map corner num 65276  surf num 21771 
points size 74303 
sort q time 3.391681 
seperate points time 8.539177 
data association time 12.500287 ms 
mapping data assosiation time 20.470878 ms 
solver time 13.206956 ms 
data association time 14.083078 ms 
mapping data assosiation time 20.340157 ms 
mapping solver time 12.743216 ms 
mapping optimization time 87.720793 
add points time 0.604053 ms
points size 73639 
mapping pub time 11.647293 ms 
whole mapping time 110.499527 ms +++++
prepare time 12.450782 
map prepare time 3.550276 ms
map corner num 65747  surf num 21931 
sort q time 4.169106 
seperate points time 10.294142 
build tree time 21.654594 ms 
data association time 16.705691 ms 
solver time 11.813036 ms 
mapping solver time 12.291061 ms 
solver time 9.667601 ms 
publication time 7.955709 ms 
whole laserOdometry time 62.232264 ms 
 
mapping data assosiation time 22.546290 ms 
mapping solver time 13.264249 ms 
mapping optimization time 94.596645 
add points time 0.588668 ms
map prepare time 3.432830 ms
map corner num 66235  surf num 22060 
sort q time 4.088456 
seperate points time 10.471886 
scan registration time 29.695849 ms *************
data association time 12.954595 ms 
solver time 12.864761 ms 
mapping solver time 11.608367 ms 
data association time 13.332794 ms 
mapping data assosiation time 19.389379 ms 
solver time 10.603693 ms 
optimization twice time 50.654151 
filter time 7.770357 ms 
mapping pub time 0.844205 ms 
whole mapping time 93.120689 ms +++++
map prepare time 2.677887 ms
map corner num 66670  surf num 22178 
sort q time 3.019436 
seperate points time 7.587632 
data association time 13.229149 ms 
solver time 12.597721 ms 
mapping solver time 12.338816 ms 
mapping data assosiation time 19.524075 ms 
mapping solver time 13.318825 ms 
mapping optimization time 83.596759 
add points time 0.482079 ms
filter time 5.679890 ms 
points size 72184 
sort q time 3.530358 
seperate points time 8.909876 
mapping data assosiation time 21.849558 ms 
data association time 14.515092 ms 
mapping solver time 13.844655 ms 
data association time 11.798403 ms 
solver time 8.261437 ms 
optimization twice time 46.529483 
mapping solver time 13.324645 ms 
filter time 6.838923 ms 
points size 73067 
scan registration time 25.532554 ms *************
mapping data assosiation time 21.479178 ms 
mapping solver time 13.796034 ms 
solver time 12.720553 ms 
data association time 12.990568 ms 
solver time 11.084005 ms 
optimization twice time 49.757206 
filter time 6.399559 ms 
mapping pub time 1.825677 ms 
whole mapping time 95.560832 ms +++++
publication time 7.353257 ms 
whole laserOdometry time 57.132173 ms 
 
points size 76205 
build tree time 17.697247 ms 
prepare time 12.283665 
scan registration time 25.826854 ms *************
data association time 12.356549 ms 
mapping solver time 12.775141 ms 
mapping data assosiation time 20.787395 ms 
mapping solver time 11.229628 ms 
mapping optimization time 85.936220 
add points time 0.442736 ms
solver time 13.553474 ms 
optimization twice time 53.685771 
map prepare time 2.567762 ms
map corner num 68407  surf num 22573 
build tree time 18.730376 ms 
sort q time 3.762742 
seperate points time 9.170053 
mapping solver time 13.291002 ms 
solver time 12.613915 ms 
data association time 12.770186 ms 
solver time 11.395830 ms 
filter time 7.803214 ms 
optimization twice time 50.348936 
mapping pub time 1.211433 ms 
whole mapping time 99.055281 ms +++++
map prepare time 2.564365 ms
map corner num 68853  surf num 22703 
points size 81274 
sort q time 3.779676 
seperate points time 9.175136 
mapping data assosiation time 22.058263 ms 
data association time 18.509601 ms 
solver time 18.700815 ms 
mapping solver time 12.297012 ms 
filter time 7.159064 ms 
mapping pub time 1.215679 ms 
whole mapping time 101.125991 ms +++++
publication time 8.455807 ms 
whole laserOdometry time 81.030309 ms 
 
points size 83710 
prepare time 13.699874 
sort q time 4.697590 
seperate points time 11.517831 
build tree time 20.496165 ms 
data association time 12.553518 ms 
solver time 15.671003 ms 
mapping solver time 14.148839 ms 
data association time 16.468674 ms 
solver time 12.083687 ms 
publication time 8.437294 ms 
whole laserOdometry time 66.165318 ms 
 
mapping pub time 1.430163 ms 
whole mapping time 101.716664 ms +++++
prepare time 17.132569 
sort q time 4.942304 
seperate points time 12.033311 
mapping data assosiation time 18.134080 ms 
data association time 13.040158 ms 
mapping solver time 13.853711 ms 
data association time 13.103639 ms 
mapping data assosiation time 19.326816 ms 
solver time 12.278123 ms 
publication time 8.878358 ms 
whole laserOdometry time 61.489320 ms 
 
map prepare time 3.043000 ms
map corner num 69990  surf num 22988 
points size 91085 
build tree time 22.675127 ms 
sort q time 5.247030 
seperate points time 12.907866 
mapping data assosiation time 20.669218 ms 
data association time 12.659034 ms 
mapping solver time 12.277528 ms 
solver time 13.345461 ms 
data association time 13.148965 ms 
mapping data assosiation time 19.496563 ms 
solver time 11.257389 ms 
optimization twice time 51.201124 
mapping solver time 11.219617 ms 
mapping optimization time 87.200906 
add points time 0.573238 ms
filter time 8.261362 ms 
points size 93309 
build tree time 17.317011 ms 
scan registration time 28.849219 ms *************
mapping data assosiation time 19.492569 ms 
data association time 13.077268 ms 
solver time 12.967801 ms 
data association time 12.684321 ms 
mapping solver time 12.971031 ms 
mapping optimization time 83.837334 
add points time 0.452803 ms
solver time 13.322537 ms 
optimization twice time 52.868586 
map prepare time 2.993088 ms
map corner num 70716  surf num 23190 
points size 92856 
build tree time 17.635003 ms 
sort q time 4.551971 
seperate points time 10.729651 
mapping data assosiation time 18.880125 ms 
data association time 12.605244 ms 
solver time 9.311529 ms 
mapping data assosiation time 17.967201 ms 
data association time 15.495277 ms 
filter time 6.376886 ms 
map prepare time 2.153884 ms
map corner num 71078  surf num 23294 
points size 93923 
build tree time 18.195827 ms 
prepare time 13.618730 
sort q time 4.380939 
seperate points time 10.466732 
mapping data assosiation time 19.881707 ms 
data association time 12.826340 ms 
solver time 13.359169 ms 
mapping data assosiation time 18.836981 ms 
mapping solver time 9.231170 ms 
mapping pub time 1.295980 ms 
whole mapping time 91.386046 ms +++++
publication time 8.526040 ms 
whole laserOdometry time 64.571657 ms 
 
points size 95421 
sort q time 4.527332 
seperate points time 10.894481 
scan registration time 30.206418 ms *************
mapping data assosiation time 17.378841 ms 
mapping solver time 14.074412 ms 
data association time 12.980770 ms 
solver time 10.506447 ms 
mapping data assosiation time 19.194631 ms 
data association time 13.419626 ms 
mapping solver time 13.104830 ms 
mapping optimization time 81.704239 
solver time 9.456458 ms 
add points time 0.496800 ms
optimization twice time 47.224974 
mapping pub time 2.345184 ms 
whole mapping time 94.677192 ms +++++
publication time 8.936622 ms 
whole laserOdometry time 56.172776 ms 
 
build tree time 16.762008 ms 
sort q time 5.708027 
seperate points time 13.721836 
mapping solver time 16.854346 ms 
data association time 18.319047 ms 
mapping data assosiation time 18.189941 ms 
mapping solver time 9.020773 ms 
filter time 6.244048 ms 
solver time 10.436021 ms 
publication time 8.759789 ms 
whole laserOdometry time 63.757606 ms 
 
points size 94001 
build tree time 16.437865 ms 
scan registration time 29.018096 ms *************
mapping data assosiation time 19.151668 ms 
mapping solver time 12.709202 ms 
solver time 10.306069 ms 
mapping data assosiation time 18.499922 ms 
data association time 13.141561 ms 
mapping solver time 9.710175 ms 
filter time 6.291245 ms 
mapping pub time 1.220447 ms 
whole mapping time 88.577240 ms +++++
publication time 7.624448 ms 
whole laserOdometry time 53.748934 ms 
 
points size 92808 
prepare time 17.252412 
sort q time 5.955838 
seperate points time 14.358848 
scan registration time 37.325385 ms *************
data association time 13.286901 ms 
mapping solver time 11.640547 ms 
solver time 11.273650 ms 
mapping data assosiation time 19.176334 ms 
data association time 13.324253 ms 
solver time 8.748540 ms 
publication time 6.967400 ms 
whole laserOdometry time 54.452089 ms 
 
map prepare time 3.221574 ms
map corner num 72903  surf num 23703 
points size 90552 
build tree time 23.046780 ms 
sort q time 4.525056 
seperate points time 10.833184 
scan registration time 32.320415 ms *************
mapping data assosiation time 18.177207 ms 
mapping solver time 14.171449 ms 
solver time 11.040254 ms 
data association time 13.916414 ms 
mapping solver time 12.692567 ms 
mapping optimization time 87.576160 
add points time 0.530906 ms
mapping pub time 1.116615 ms 
whole mapping time 99.456190 ms +++++
map prepare time 3.462525 ms
map corner num 73243  surf num 23792 
points size 89817 
build tree time 20.604449 ms 
mapping data assosiation time 17.509403 ms 
data association time 13.481303 ms 
solver time 11.088923 ms 
mapping data assosiation time 19.310530 ms 
solver time 7.293597 ms 
publication time 7.487023 ms 
whole laserOdometry time 55.584906 ms 
 
mapping pub time 12.590564 ms 
whole mapping time 108.109298 ms +++++
points size 89727 
[0m[ INFO] [1718887078.602955613]: Received 322959 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887078.602983557]: Data saved to 1317357823449261.pcd[0m
prepare time 14.845089 
sort q time 4.937593 
seperate points time 11.347402 
data association time 13.061121 ms 
mapping data assosiation time 23.117724 ms 
solver time 10.463951 ms 
mapping solver time 16.542090 ms 
data association time 15.575601 ms 
solver time 8.447169 ms 
publication time 6.946166 ms 
whole laserOdometry time 55.282886 ms 
 
mapping solver time 13.061377 ms 
filter time 7.350920 ms 
mapping pub time 1.089419 ms 
whole mapping time 110.725145 ms +++++
points size 89686 
map prepare time 2.311572 ms
map corner num 72911  surf num 23067 
prepare time 14.404557 
sort q time 4.243159 
seperate points time 9.969762 
build tree time 20.387356 ms 
data association time 14.013777 ms 
mapping data assosiation time 18.014745 ms 
mapping solver time 11.047612 ms 
data association time 15.426508 ms 
mapping data assosiation time 21.364622 ms 
mapping solver time 10.609691 ms 
filter time 7.838958 ms 
points size 90258 
sort q time 4.480943 
seperate points time 10.295663 
mapping data assosiation time 17.869450 ms 
data association time 13.659250 ms 
solver time 13.087112 ms 
mapping data assosiation time 18.572410 ms 
data association time 14.083702 ms 
solver time 9.092246 ms 
publication time 8.205951 ms 
whole laserOdometry time 58.983273 ms 
 
points size 90976 
sort q time 5.194686 
seperate points time 12.490289 
scan registration time 34.612765 ms *************
mapping solver time 13.775530 ms 
data association time 17.092323 ms 
mapping data assosiation time 20.526094 ms 
mapping solver time 11.556702 ms 
mapping pub time 1.077337 ms 
whole mapping time 96.110102 ms +++++
publication time 7.688492 ms 
whole laserOdometry time 62.689777 ms 
 
prepare time 14.699372 
build tree time 18.663105 ms 
sort q time 5.513029 
seperate points time 12.624153 
scan registration time 31.641595 ms *************
mapping data assosiation time 21.952499 ms 
data association time 23.533976 ms 
mapping solver time 19.147493 ms 
mapping data assosiation time 22.378414 ms 
mapping solver time 7.861902 ms 
filter time 7.652188 ms 
mapping pub time 2.321000 ms 
whole mapping time 104.493341 ms +++++
solver time 12.049375 ms 
optimization twice time 77.006439 
map prepare time 3.060495 ms
map corner num 74128  surf num 23319 
sort q time 5.482080 
seperate points time 13.442809 
build tree time 22.996352 ms 
mapping data assosiation time 17.003490 ms 
solver time 10.723630 ms 
mapping solver time 14.645771 ms 
solver time 8.943627 ms 
publication time 6.723139 ms 
whole laserOdometry time 56.721614 ms 
 
mapping solver time 14.510929 ms 
mapping optimization time 89.623339 
add points time 0.388990 ms
points size 89281 
map prepare time 3.096430 ms
map corner num 74415  surf num 23371 
sort q time 5.071336 
seperate points time 12.833873 
build tree time 20.963810 ms 
mapping data assosiation time 18.186310 ms 
mapping solver time 13.096806 ms 
data association time 13.680612 ms 
solver time 9.221510 ms 
publication time 9.019272 ms 
whole laserOdometry time 70.440109 ms 
 
prepare time 18.413967 
sort q time 5.070883 
seperate points time 12.415600 
build tree time 22.193615 ms 
mapping data assosiation time 16.677409 ms 
mapping solver time 12.262058 ms 
solver time 15.339651 ms 
mapping data assosiation time 17.050214 ms 
data association time 21.561801 ms 
filter time 7.944949 ms 
prepare time 14.697047 
map prepare time 2.800739 ms
map corner num 74952  surf num 23483 
sort q time 4.392222 
seperate points time 10.793677 
build tree time 19.502605 ms 
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mapping solver time 12.955633 ms 
solver time 15.356135 ms 
mapping data assosiation time 17.761850 ms 
data association time 21.424256 ms 
filter time 5.935334 ms 
solver time 11.966834 ms 
prepare time 14.626554 
sort q time 5.175654 
seperate points time 12.524357 
scan registration time 31.662134 ms *************
mapping data assosiation time 18.218573 ms 
data association time 21.427768 ms 
mapping solver time 11.748959 ms 
solver time 15.860336 ms 
mapping data assosiation time 16.924223 ms 
data association time 15.643696 ms 
solver time 8.106332 ms 
filter time 8.196083 ms 
sort q time 3.768907 
seperate points time 9.015952 
scan registration time 30.026631 ms *************
build tree time 21.036002 ms 
data association time 13.455566 ms 
mapping solver time 10.358509 ms 
data association time 13.931575 ms 
mapping data assosiation time 16.992015 ms 
publication time 7.605778 ms 
whole laserOdometry time 55.456463 ms 
 
map prepare time 2.156652 ms
map corner num 75847  surf num 23746 
points size 90674 
sort q time 4.063348 
seperate points time 9.681722 
mapping data assosiation time 19.159138 ms 
mapping solver time 14.767079 ms 
solver time 13.852812 ms 
mapping solver time 10.001374 ms 
mapping optimization time 82.142748 
add points time 0.414900 ms
data association time 17.082820 ms 
solver time 12.914333 ms 
publication time 8.341604 ms 
whole laserOdometry time 67.060855 ms 
 
map prepare time 2.590302 ms
map corner num 76182  surf num 23823 
build tree time 16.489050 ms 
mapping data assosiation time 16.448520 ms 
data association time 14.272827 ms 
mapping solver time 11.616785 ms 
solver time 11.012957 ms 
mapping data assosiation time 15.405077 ms 
mapping solver time 11.430834 ms 
filter time 8.427672 ms 
map prepare time 3.160371 ms
map corner num 76541  surf num 23906 
points size 86851 
sort q time 4.185270 
seperate points time 9.826059 
scan registration time 25.765471 ms *************
mapping solver time 11.657399 ms 
data association time 13.633420 ms 
solver time 12.996851 ms 
mapping data assosiation time 16.218577 ms 
mapping solver time 9.571875 ms 
filter time 6.349586 ms 
mapping pub time 1.008895 ms 
whole mapping time 85.683465 ms +++++
publication time 7.716123 ms 
whole laserOdometry time 60.493158 ms 
 
build tree time 17.806115 ms 
points size 85006 
prepare time 12.658449 
sort q time 4.322093 
seperate points time 10.772186 
mapping solver time 13.391018 ms 
data association time 15.081612 ms 
mapping data assosiation time 18.524051 ms 
solver time 11.909384 ms 
filter time 7.191549 ms 
solver time 8.060323 ms 
publication time 6.938757 ms 
whole laserOdometry time 57.857971 ms 
 
points size 81422 
build tree time 21.452670 ms 
mapping data assosiation time 18.584901 ms 
data association time 13.353385 ms 
mapping solver time 15.620089 ms 
data association time 13.477834 ms 
optimization twice time 44.597260 
mapping solver time 11.660670 ms 
mapping optimization time 86.406379 
filter time 6.556094 ms 
build tree time 18.526106 ms 
sort q time 3.546452 
seperate points time 8.432450 
scan registration time 23.903343 ms *************
mapping data assosiation time 17.788207 ms 
mapping solver time 10.987736 ms 
data association time 13.323628 ms 
mapping data assosiation time 17.893620 ms 
mapping solver time 10.643950 ms 
filter time 7.086437 ms 
publication time 5.993587 ms 
whole laserOdometry time 54.159469 ms 
 
build tree time 17.892889 ms 
prepare time 10.975272 
sort q time 3.429005 
seperate points time 8.455043 
mapping solver time 12.027051 ms 
mapping data assosiation time 16.543849 ms 
mapping solver time 12.264888 ms 
filter time 7.926914 ms 
publication time 6.266592 ms 
whole laserOdometry time 51.732788 ms 
 
build tree time 20.098620 ms 
sort q time 3.001599 
seperate points time 7.329807 
mapping solver time 10.510923 ms 
data association time 12.616194 ms 
solver time 9.991053 ms 
mapping data assosiation time 18.808139 ms 
data association time 12.033354 ms 
filter time 6.215732 ms 
mapping pub time 0.825502 ms 
whole mapping time 87.509051 ms +++++
publication time 5.860196 ms 
whole laserOdometry time 50.484465 ms 
 
build tree time 10.921891 ms 
points size 66092 
sort q time 2.698340 
seperate points time 6.835954 
mapping solver time 13.248900 ms 
mapping data assosiation time 17.060349 ms 
data association time 12.571980 ms 
solver time 11.731438 ms 
filter time 3.951814 ms 
data association time 13.484512 ms 
solver time 8.777423 ms 
publication time 6.814066 ms 
whole laserOdometry time 54.361948 ms 
 
map prepare time 2.430107 ms
map corner num 51050  surf num 15631 
build tree time 16.473058 ms 
points size 63280 
prepare time 10.678112 
scan registration time 20.156071 ms *************
mapping data assosiation time 22.899777 ms 
data association time 12.201969 ms 
solver time 11.846310 ms 
mapping data assosiation time 22.476495 ms 
data association time 12.705990 ms 
solver time 10.469895 ms 
optimization twice time 48.037924 
mapping solver time 15.529113 ms 
mapping optimization time 94.089551 
add points time 0.404787 ms
map prepare time 2.404971 ms
map corner num 51484  surf num 15739 
build tree time 16.238585 ms 
sort q time 2.993396 
seperate points time 7.453927 
mapping data assosiation time 21.617237 ms 
data association time 11.773819 ms 
mapping solver time 13.216207 ms 
solver time 12.227896 ms 
mapping data assosiation time 17.609298 ms 
solver time 8.201660 ms 
publication time 7.089914 ms 
whole laserOdometry time 52.841272 ms 
 
build tree time 12.051121 ms 
mapping data assosiation time 19.060678 ms 
sort q time 2.614865 
seperate points time 6.673280 
data association time 11.701318 ms 
solver time 10.344453 ms 
filter time 4.460074 ms 
solver time 9.862235 ms 
optimization twice time 45.619245 
publication time 6.021837 ms 
whole laserOdometry time 51.655140 ms 
 
build tree time 13.133400 ms 
mapping data assosiation time 19.347084 ms 
points size 58852 
prepare time 9.178854 
scan registration time 19.420828 ms *************
mapping data assosiation time 18.041281 ms 
mapping solver time 12.028649 ms 
filter time 4.557452 ms 
mapping pub time 0.747727 ms 
whole mapping time 84.959029 ms +++++
data association time 12.361899 ms 
publication time 5.878202 ms 
whole laserOdometry time 51.916937 ms 
 
build tree time 12.206031 ms 
prepare time 10.289916 
sort q time 3.056772 
seperate points time 7.699702 
mapping data assosiation time 17.969083 ms 
mapping solver time 12.482131 ms 
data association time 12.971303 ms 
solver time 11.903329 ms 
optimization twice time 50.359423 
publication time 5.924478 ms 
whole laserOdometry time 56.301613 ms 
 
build tree time 13.213707 ms 
points size 55734 
prepare time 10.041554 
scan registration time 19.495160 ms *************
mapping data assosiation time 19.143074 ms 
mapping solver time 11.098963 ms 
solver time 9.995932 ms 
data association time 12.211434 ms 
mapping solver time 12.632266 ms 
mapping optimization time 75.624390 
add points time 0.461491 ms
publication time 6.233776 ms 
whole laserOdometry time 49.396136 ms 
 
build tree time 13.009070 ms 
mapping data assosiation time 19.738100 ms 
points size 55076 
prepare time 10.292218 
mapping solver time 13.867275 ms 
data association time 12.212455 ms 
solver time 15.025228 ms 
filter time 5.547565 ms 
mapping pub time 0.866365 ms 
whole mapping time 89.787885 ms +++++
solver time 10.951471 ms 
optimization twice time 54.688253 
publication time 6.227429 ms 
whole laserOdometry time 60.946304 ms 
 
build tree time 12.031342 ms 
points size 56502 
prepare time 14.372158 
mapping data assosiation time 22.066694 ms 
scan registration time 26.099259 ms *************
mapping solver time 16.308356 ms 
data association time 14.748420 ms 
mapping data assosiation time 17.740594 ms 
mapping solver time 10.514985 ms 
data association time 15.244022 ms 
solver time 12.390977 ms 
map prepare time 1.710202 ms
map corner num 54669  surf num 16417 
build tree time 14.973566 ms 
sort q time 3.513293 
seperate points time 9.449128 
mapping solver time 11.848277 ms 
solver time 10.874863 ms 
mapping data assosiation time 20.587853 ms 
mapping solver time 11.652000 ms 
publication time 5.577268 ms 
whole laserOdometry time 52.397942 ms 
 
build tree time 12.891112 ms 
points size 60737 
sort q time 2.593522 
seperate points time 6.753908 
mapping data assosiation time 15.286802 ms 
mapping solver time 11.697399 ms 
mapping optimization time 70.977317 
add points time 0.440783 ms
solver time 12.996028 ms 
filter time 5.476208 ms 
data association time 13.287777 ms 
solver time 10.207829 ms 
map prepare time 1.713816 ms
map corner num 55438  surf num 16600 
build tree time 11.756388 ms 
points size 61246 
sort q time 3.201191 
seperate points time 8.330741 
mapping solver time 15.133132 ms 
data association time 12.112136 ms 
solver time 10.041385 ms 
mapping solver time 9.912767 ms 
mapping optimization time 74.524812 
add points time 0.407127 ms
solver time 7.363186 ms 
map prepare time 1.712218 ms
map corner num 55839  surf num 16722 
build tree time 13.866461 ms 
mapping data assosiation time 19.872079 ms 
sort q time 3.186229 
seperate points time 8.511973 
scan registration time 26.480751 ms *************
mapping solver time 17.000243 ms 
mapping data assosiation time 19.249946 ms 
data association time 20.137637 ms 
mapping solver time 14.420546 ms 
mapping optimization time 85.449407 
add points time 0.467616 ms
data association time 10.902970 ms 
solver time 10.373338 ms 
optimization twice time 57.668633 
points size 60363 
prepare time 12.797103 
sort q time 3.636160 
seperate points time 9.282723 
scan registration time 26.035248 ms *************
mapping data assosiation time 19.377476 ms 
mapping solver time 12.172264 ms 
solver time 11.312904 ms 
mapping data assosiation time 18.141663 ms 
mapping solver time 11.695321 ms 
publication time 5.766301 ms 
whole laserOdometry time 54.627374 ms 
 
map prepare time 2.175982 ms
map corner num 56668  surf num 16921 
build tree time 14.730803 ms 
sort q time 2.429908 
seperate points time 6.297491 
data association time 11.042596 ms 
solver time 10.093567 ms 
mapping data assosiation time 20.005142 ms 
mapping solver time 12.144550 ms 
map prepare time 2.621633 ms
map corner num 57086  surf num 17027 
build tree time 12.922264 ms 
points size 61748 
sort q time 3.053225 
seperate points time 7.550691 
mapping data assosiation time 14.780088 ms 
mapping solver time 9.113301 ms 
filter time 4.567236 ms 
mapping pub time 1.369500 ms 
whole mapping time 74.427268 ms +++++
solver time 7.969836 ms 
publication time 5.268615 ms 
whole laserOdometry time 48.419433 ms 
 
map prepare time 1.727244 ms
map corner num 57456  surf num 17156 
build tree time 12.824631 ms 
mapping data assosiation time 16.277381 ms 
prepare time 10.565724 
mapping solver time 14.206874 ms 
data association time 11.386970 ms 
filter time 5.224070 ms 
data association time 11.213656 ms 
solver time 8.479286 ms 
optimization twice time 45.808131 
build tree time 12.502567 ms 
points size 64297 
sort q time 3.516972 
seperate points time 8.875682 
mapping data assosiation time 16.000945 ms 
mapping solver time 10.502867 ms 
filter time 5.755622 ms 
data association time 11.797102 ms 
solver time 10.088004 ms 
optimization twice time 44.845448 
build tree time 14.261193 ms 
points size 65367 
prepare time 10.256705 
mapping data assosiation time 17.394518 ms 
data association time 11.333065 ms 
mapping data assosiation time 15.472463 ms 
filter time 4.576269 ms 
data association time 12.587537 ms 
solver time 10.346985 ms 
publication time 6.299151 ms 
whole laserOdometry time 55.545580 ms 
 
build tree time 13.545244 ms 
points size 66678 
prepare time 10.518878 
sort q time 3.615389 
seperate points time 8.876564 
mapping data assosiation time 15.747500 ms 
mapping solver time 9.316755 ms 
filter time 4.876151 ms 
mapping pub time 0.836014 ms 
whole mapping time 75.565115 ms +++++
data association time 12.478447 ms 
solver time 11.227588 ms 
map prepare time 1.890242 ms
map corner num 58927  surf num 17694 
build tree time 20.713989 ms 
sort q time 3.305994 
seperate points time 8.293507 
scan registration time 22.749062 ms *************
mapping data assosiation time 27.336949 ms 
data association time 12.146256 ms 
mapping solver time 12.676208 ms 
solver time 11.441375 ms 
mapping data assosiation time 15.552007 ms 
mapping solver time 9.318917 ms 
mapping optimization time 86.272109 
data association time 15.716003 ms 
add points time 0.598299 ms
publication time 5.539098 ms 
whole laserOdometry time 57.968964 ms 
 
map prepare time 3.589818 ms
map corner num 59288  surf num 17892 
points size 71653 
sort q time 3.441556 
seperate points time 8.495655 
mapping data assosiation time 17.902449 ms 
mapping solver time 11.574013 ms 
mapping data assosiation time 16.986673 ms 
solver time 15.006606 ms 
mapping solver time 12.213907 ms 
filter time 6.865485 ms 
mapping pub time 0.851551 ms 
whole mapping time 86.392456 ms +++++
data association time 19.103052 ms 
solver time 11.576800 ms 
publication time 7.765861 ms 
whole laserOdometry time 73.487025 ms 
 
points size 72835 
sort q time 3.605402 
seperate points time 8.992113 
scan registration time 25.306702 ms *************
mapping solver time 11.466034 ms 
mapping data assosiation time 16.041574 ms 
solver time 18.648127 ms 
mapping solver time 11.491869 ms 
mapping optimization time 73.340595 
add points time 0.535762 ms
data association time 19.449285 ms 
solver time 14.882055 ms 
publication time 7.860766 ms 
whole laserOdometry time 81.368251 ms 
 
sort q time 3.174392 
seperate points time 7.891535 
mapping data assosiation time 18.428053 ms 
mapping solver time 11.572292 ms 
solver time 18.408135 ms 
mapping data assosiation time 17.683195 ms 
mapping solver time 10.687165 ms 
filter time 5.596801 ms 
mapping pub time 0.855366 ms 
whole mapping time 84.568399 ms +++++
publication time 7.915840 ms 
whole laserOdometry time 81.897027 ms 
 
points size 72914 
map prepare time 2.220520 ms
map corner num 60289  surf num 18422 
prepare time 11.042980 
sort q time 3.825120 
seperate points time 9.304924 
mapping data assosiation time 20.959547 ms 
data association time 19.743591 ms 
mapping solver time 15.281347 ms 
mapping data assosiation time 16.263341 ms 
data association time 19.386306 ms 
filter time 5.078842 ms 
map prepare time 2.061973 ms
map corner num 60609  surf num 18647 
points size 72249 
build tree time 15.384980 ms 
mapping data assosiation time 18.240123 ms 
mapping solver time 11.163718 ms 
solver time 12.558937 ms 
mapping data assosiation time 16.245241 ms 
mapping solver time 9.478801 ms 
mapping pub time 1.439420 ms 
whole mapping time 80.029037 ms +++++
publication time 6.306776 ms 
whole laserOdometry time 55.856323 ms 
 
build tree time 14.219632 ms 
prepare time 11.605804 
mapping data assosiation time 17.789322 ms 
sort q time 4.034293 
seperate points time 9.643119 
scan registration time 24.661733 ms *************
mapping solver time 12.070478 ms 
data association time 14.452579 ms 
mapping data assosiation time 17.225989 ms 
filter time 7.820344 ms 
mapping pub time 1.109530 ms 
whole mapping time 86.009656 ms +++++
data association time 14.809082 ms 
solver time 8.105571 ms 
map prepare time 1.809248 ms
map corner num 61249  surf num 19074 
build tree time 14.028491 ms 
sort q time 3.264292 
seperate points time 8.051367 
mapping solver time 11.615940 ms 
solver time 10.955303 ms 
mapping solver time 9.979353 ms 
filter time 7.162907 ms 
solver time 15.482076 ms 
optimization twice time 60.067805 
map prepare time 1.976208 ms
map corner num 61550  surf num 19277 
points size 72128 
sort q time 3.477346 
seperate points time 8.343415 
scan registration time 22.829088 ms *************
mapping solver time 17.021379 ms 
mapping data assosiation time 22.287787 ms 
filter time 6.718003 ms 
solver time 10.186457 ms 
publication time 7.767973 ms 
whole laserOdometry time 76.267451 ms 
 
points size 70087 
map prepare time 2.650726 ms
map corner num 61895  surf num 19513 
prepare time 12.101301 
sort q time 4.464400 
seperate points time 10.658118 
mapping data assosiation time 17.718282 ms 
data association time 20.253835 ms 
mapping solver time 11.861463 ms 
solver time 18.588610 ms 
mapping data assosiation time 17.942381 ms 
mapping solver time 12.112261 ms 
mapping optimization time 78.759924 
add points time 0.622269 ms
solver time 15.433775 ms 
points size 68594 
map prepare time 1.934391 ms
map corner num 62266  surf num 19813 
build tree time 15.414593 ms 
data association time 12.004306 ms 
solver time 10.559970 ms 
data association time 13.316486 ms 
solver time 10.031200 ms 
mapping data assosiation time 19.811180 ms 
mapping solver time 7.171658 ms 
mapping optimization time 72.561803 
add points time 0.507946 ms
map prepare time 2.623815 ms
map corner num 62646  surf num 20141 
prepare time 10.668944 
sort q time 3.152610 
seperate points time 8.156194 
scan registration time 21.957466 ms *************
mapping data assosiation time 19.937997 ms 
data association time 15.237236 ms 
solver time 14.780676 ms 
mapping data assosiation time 17.114230 ms 
data association time 17.365912 ms 
filter time 5.540284 ms 
publication time 6.768805 ms 
whole laserOdometry time 68.072074 ms 
 
points size 66697 
prepare time 9.930645 
sort q time 3.427333 
seperate points time 8.396923 
scan registration time 21.366126 ms *************
mapping data assosiation time 22.221724 ms 
data association time 18.950988 ms 
mapping solver time 17.797702 ms 
solver time 16.361972 ms 
mapping data assosiation time 23.624000 ms 
data association time 19.520157 ms 
mapping solver time 15.101091 ms 
solver time 11.857879 ms 
publication time 7.737488 ms 
whole laserOdometry time 75.598418 ms 
 
points size 65580 
build tree time 14.787401 ms 
mapping data assosiation time 23.811315 ms 
data association time 19.045760 ms 
mapping solver time 18.834442 ms 
data association time 19.542087 ms 
mapping data assosiation time 24.638526 ms 
solver time 16.243703 ms 
publication time 7.931519 ms 
whole laserOdometry time 79.822844 ms 
 
sort q time 2.748960 
seperate points time 7.112400 
scan registration time 21.731822 ms *************
data association time 19.299508 ms 
mapping data assosiation time 25.216615 ms 
solver time 16.744643 ms 
mapping solver time 18.873801 ms 
data association time 18.223270 ms 
solver time 12.775261 ms 
mapping solver time 12.821593 ms 
prepare time 15.144911 
filter time 7.830704 ms 
mapping pub time 0.851442 ms 
whole mapping time 113.482918 ms +++++
map prepare time 2.666033 ms
map corner num 64373  surf num 21455 
scan registration time 30.057536 ms *************
data association time 12.028892 ms 
mapping data assosiation time 20.841577 ms 
mapping solver time 13.394949 ms 
solver time 7.804796 ms 
optimization twice time 44.905885 
mapping solver time 11.127558 ms 
points size 65709 
sort q time 2.938462 
seperate points time 7.827301 
build tree time 17.527205 ms 
data association time 19.818483 ms 
mapping data assosiation time 26.307170 ms 
mapping solver time 16.708756 ms 
solver time 7.192349 ms 
optimization twice time 56.988762 
mapping data assosiation time 20.553163 ms 
mapping solver time 11.044146 ms 
filter time 6.817732 ms 
sort q time 3.329136 
seperate points time 8.574339 
build tree time 15.995751 ms 
data association time 13.671933 ms 
solver time 11.409371 ms 
data association time 11.739726 ms 
mapping solver time 14.254590 ms 
publication time 7.956356 ms 
whole laserOdometry time 53.792202 ms 
 
mapping data assosiation time 23.759154 ms 
mapping solver time 11.914756 ms 
filter time 7.484084 ms 
sort q time 3.669871 
seperate points time 9.431574 
build tree time 16.767255 ms 
data association time 12.791919 ms 
solver time 10.313650 ms 
mapping data assosiation time 27.498723 ms 
data association time 12.637896 ms 
mapping solver time 15.399675 ms 
publication time 7.256988 ms 
whole laserOdometry time 54.750356 ms 
 
mapping data assosiation time 23.604803 ms 
mapping solver time 12.554364 ms 
filter time 7.889297 ms 
scan registration time 22.118924 ms *************
build tree time 17.658350 ms 
data association time 12.222497 ms 
solver time 10.334697 ms 
mapping data assosiation time 24.366195 ms 
mapping solver time 12.461440 ms 
publication time 7.605535 ms 
whole laserOdometry time 54.550800 ms 
 
mapping data assosiation time 23.189027 ms 
mapping solver time 10.122426 ms 
mapping optimization time 89.157649 
add points time 0.649518 ms
points size 69000 
prepare time 10.749782 
map prepare time 2.219373 ms
map corner num 66877  surf num 23408 
sort q time 3.304607 
seperate points time 8.734160 
scan registration time 22.025922 ms *************
build tree time 21.491737 ms 
mapping data assosiation time 22.276218 ms 
mapping solver time 11.731440 ms 
publication time 7.857282 ms 
whole laserOdometry time 64.431914 ms 
 
mapping data assosiation time 23.350734 ms 
mapping solver time 13.204367 ms 
filter time 6.979719 ms 
scan registration time 21.785499 ms *************
mapping pub time 13.976131 ms 
whole mapping time 117.150726 ms +++++
[0m[ INFO] [1718887084.861591485]: Received 355630 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887084.861635861]: Data saved to 1317357829679780.pcd[0m
data association time 17.800463 ms 
solver time 15.911838 ms 
data association time 12.346351 ms 
solver time 10.437848 ms 
optimization twice time 57.348176 
mapping data assosiation time 30.436452 ms 
mapping solver time 23.327158 ms 
sort q time 3.201228 
seperate points time 8.368257 
scan registration time 21.746646 ms *************
mapping data assosiation time 31.294390 ms 
data association time 13.209879 ms 
solver time 12.452451 ms 
filter time 8.149942 ms 
data association time 13.494387 ms 
mapping pub time 1.021560 ms 
whole mapping time 141.787305 ms +++++
map prepare time 3.081494 ms
map corner num 67959  surf num 24157 
publication time 8.058644 ms 
whole laserOdometry time 62.238173 ms 
 
build tree time 22.123373 ms 
points size 72187 
sort q time 3.490180 
seperate points time 9.275811 
data association time 12.661521 ms 
mapping solver time 24.354902 ms 
solver time 13.748766 ms 
data association time 13.718572 ms 
solver time 11.145351 ms 
publication time 8.452030 ms 
whole laserOdometry time 60.531627 ms 
 
mapping solver time 20.123479 ms 
filter time 8.151819 ms 
sort q time 3.702282 
seperate points time 9.354163 
build tree time 22.298528 ms 
data association time 13.262180 ms 
solver time 13.539933 ms 
data association time 15.186146 ms 
mapping solver time 23.966720 ms 
solver time 13.225654 ms 
optimization twice time 56.068296 
points size 74205 
prepare time 11.100267 
sort q time 4.021204 
seperate points time 10.151282 
mapping solver time 18.101467 ms 
mapping optimization time 131.358997 
add points time 0.619214 ms
filter time 9.346515 ms 
mapping pub time 0.880698 ms 
whole mapping time 145.279335 ms +++++
map prepare time 2.530019 ms
map corner num 69145  surf num 24935 
solver time 14.750805 ms 
build tree time 19.912979 ms 
data association time 19.832282 ms 
solver time 10.956320 ms 
mapping data assosiation time 29.744846 ms 
points size 75077 
prepare time 14.646930 
sort q time 4.397632 
seperate points time 15.375692 
scan registration time 33.613004 ms *************
mapping data assosiation time 29.104060 ms 
data association time 19.921714 ms 
mapping solver time 14.975314 ms 
solver time 14.967390 ms 
filter time 10.584895 ms 
mapping pub time 0.861946 ms 
whole mapping time 136.152684 ms +++++
map prepare time 2.952642 ms
map corner num 69804  surf num 25435 
data association time 20.500749 ms 
build tree time 19.800394 ms 
points size 76160 
sort q time 4.915364 
seperate points time 13.021145 
scan registration time 33.179680 ms *************
data association time 15.867224 ms 
solver time 11.246082 ms 
data association time 12.392577 ms 
mapping data assosiation time 27.120826 ms 
publication time 7.417861 ms 
whole laserOdometry time 55.737481 ms 
 
mapping solver time 15.434873 ms 
mapping pub time 1.911201 ms 
whole mapping time 128.990368 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.052033 ms
map corner num 70340  surf num 25784 
points size 77097 
sort q time 3.482375 
seperate points time 9.225795 
data association time 12.513287 ms 
solver time 9.283046 ms 
data association time 13.479146 ms 
mapping solver time 14.619513 ms 
publication time 7.899818 ms 
whole laserOdometry time 52.356172 ms 
 
mapping data assosiation time 26.677167 ms 
mapping solver time 11.773691 ms 
prepare time 13.119656 
mapping pub time 0.942714 ms 
whole mapping time 111.094125 ms +++++
sort q time 4.719029 
seperate points time 12.149277 
build tree time 19.796766 ms 
data association time 12.761199 ms 
solver time 10.352233 ms 
mapping data assosiation time 28.279611 ms 
solver time 8.103296 ms 
publication time 8.492969 ms 
whole laserOdometry time 54.516947 ms 
 
points size 78938 
sort q time 3.717323 
seperate points time 9.419750 
mapping solver time 17.984943 ms 
filter time 8.048028 ms 
solver time 10.447727 ms 
build tree time 19.850481 ms 
solver time 7.799184 ms 
mapping data assosiation time 30.380010 ms 
points size 79700 
sort q time 3.545237 
seperate points time 9.105092 
mapping data assosiation time 30.454148 ms 
data association time 22.536000 ms 
mapping solver time 16.677422 ms 
mapping optimization time 120.392294 
add points time 0.548440 ms
filter time 8.164304 ms 
map prepare time 3.608210 ms
map corner num 71929  surf num 26785 
data association time 21.626380 ms 
solver time 16.466589 ms 
publication time 11.533174 ms 
whole laserOdometry time 88.733097 ms 
 
sort q time 4.038458 
seperate points time 10.599914 
scan registration time 25.192337 ms *************
data association time 14.550306 ms 
solver time 10.659309 ms 
data association time 14.361382 ms 
solver time 7.291070 ms 
publication time 7.428627 ms 
whole laserOdometry time 55.125468 ms 
 
mapping solver time 13.521249 ms 
mapping optimization time 120.038449 
add points time 0.544914 ms
map prepare time 3.648795 ms
map corner num 72332  surf num 27022 
points size 81129 
prepare time 12.394737 
build tree time 20.449477 ms 
data association time 14.132621 ms 
mapping data assosiation time 29.731708 ms 
mapping solver time 20.200611 ms 
solver time 8.520136 ms 
publication time 8.494983 ms 
whole laserOdometry time 56.422144 ms 
 
mapping data assosiation time 32.084839 ms 
points size 81841 
mapping solver time 16.437012 ms 
scan registration time 26.300221 ms *************
map prepare time 2.799258 ms
map corner num 72864  surf num 27369 
data association time 13.445574 ms 
solver time 10.161364 ms 
data association time 14.616690 ms 
mapping data assosiation time 34.569323 ms 
mapping solver time 22.428028 ms 
sort q time 3.765402 
seperate points time 9.649148 
mapping data assosiation time 30.720289 ms 
data association time 14.194137 ms 
solver time 10.017871 ms 
filter time 7.805586 ms 
solver time 7.677406 ms 
optimization twice time 46.673954 
build tree time 19.356161 ms 
points size 83190 
sort q time 4.985315 
seperate points time 12.438191 
scan registration time 28.710661 ms *************
data association time 13.350066 ms 
solver time 12.644543 ms 
data association time 13.356633 ms 
mapping solver time 16.334473 ms 
filter time 8.238239 ms 
points size 83965 
sort q time 3.957078 
seperate points time 10.091464 
mapping data assosiation time 30.205629 ms 
data association time 14.857674 ms 
mapping solver time 21.976931 ms 
data association time 15.061907 ms 
solver time 9.976859 ms 
publication time 8.395386 ms 
whole laserOdometry time 61.672296 ms 
 
mapping data assosiation time 31.523994 ms 
mapping solver time 14.045964 ms 
prepare time 12.701547 
map prepare time 2.777148 ms
map corner num 74323  surf num 28202 
scan registration time 27.890247 ms *************
build tree time 18.682643 ms 
data association time 15.600362 ms 
solver time 11.312679 ms 
mapping data assosiation time 29.212794 ms 
data association time 15.945450 ms 
solver time 8.866170 ms 
mapping solver time 22.752581 ms 
points size 85525 
mapping data assosiation time 29.425859 ms 
sort q time 4.522590 
seperate points time 11.481174 
scan registration time 26.816548 ms *************
mapping solver time 21.977210 ms 
data association time 16.048740 ms 
solver time 15.619432 ms 
build tree time 18.384753 ms 
data association time 20.015800 ms 
solver time 9.626321 ms 
publication time 8.193925 ms 
whole laserOdometry time 70.294611 ms 
 
points size 86847 
prepare time 12.625793 
sort q time 5.285653 
seperate points time 13.151370 
mapping data assosiation time 28.991811 ms 
solver time 14.591624 ms 
mapping solver time 22.141352 ms 
mapping optimization time 124.268360 
add points time 0.695865 ms
mapping pub time 1.895940 ms 
whole mapping time 136.795076 ms +++++
solver time 10.600704 ms 
publication time 8.833380 ms 
whole laserOdometry time 68.129713 ms 
 
prepare time 12.637958 
sort q time 4.541368 
seperate points time 11.337632 
mapping data assosiation time 31.760583 ms 
data association time 16.578163 ms 
mapping solver time 22.049441 ms 
data association time 14.932209 ms 
solver time 7.864663 ms 
optimization twice time 51.492645 
mapping data assosiation time 28.902200 ms 
mapping solver time 20.809313 ms 
prepare time 13.290297 
filter time 7.569761 ms 
mapping pub time 1.003231 ms 
whole mapping time 138.614582 ms +++++
drop lidar frame in mapping for real time performance 
sort q time 4.718455 
seperate points time 12.165849 
build tree time 20.705082 ms 
data association time 18.155577 ms 
solver time 13.916559 ms 
data association time 16.066134 ms 
solver time 12.599589 ms 
publication time 10.405675 ms 
whole laserOdometry time 72.114694 ms 
 
points size 91611 
prepare time 14.283572 
sort q time 4.587408 
seperate points time 11.298612 
mapping optimization time 122.202967 
add points time 0.613415 ms
filter time 6.508422 ms 
mapping pub time 1.094153 ms 
whole mapping time 133.348898 ms +++++
solver time 15.708564 ms 
data association time 15.056421 ms 
solver time 9.930829 ms 
publication time 8.984558 ms 
whole laserOdometry time 70.561785 ms 
 
points size 93374 
sort q time 5.058984 
seperate points time 12.749791 
data association time 30.104854 ms 
mapping data assosiation time 39.605188 ms 
solver time 16.842204 ms 
mapping solver time 26.127837 ms 
data association time 26.427040 ms 
points size 94996 
map prepare time 3.951333 ms
map corner num 76995  surf num 29796 
prepare time 15.185887 
solver time 11.884695 ms 
optimization twice time 86.236176 
publication time 12.023909 ms 
whole laserOdometry time 98.279418 ms 
 
build tree time 25.498410 ms 
data association time 31.071347 ms 
mapping data assosiation time 40.626118 ms 
solver time 16.783624 ms 
mapping solver time 28.491397 ms 
data association time 23.674240 ms 
points size 96207 
solver time 12.709475 ms 
sort q time 5.785813 
seperate points time 15.035986 
mapping solver time 19.041872 ms 
data association time 15.190963 ms 
map prepare time 3.031857 ms
map corner num 77498  surf num 30094 
data association time 14.517252 ms 
build tree time 18.242276 ms 
solver time 11.737653 ms 
publication time 11.128197 ms 
whole laserOdometry time 65.259198 ms 
 
mapping data assosiation time 32.301679 ms 
sort q time 5.042316 
seperate points time 13.098198 
data association time 16.282000 ms 
mapping data assosiation time 31.450048 ms 
data association time 16.963779 ms 
filter time 7.242712 ms 
mapping pub time 10.931627 ms 
whole mapping time 144.744075 ms +++++
[0m[ INFO] [1718887087.640638294]: Received 372815 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887087.640676899]: Data saved to 1317357832273336.pcd[0m
sort q time 5.269816 
seperate points time 12.956858 
data association time 16.488226 ms 
solver time 12.732096 ms 
mapping solver time 21.976807 ms 
solver time 10.851703 ms 
publication time 12.591984 ms 
whole laserOdometry time 71.434708 ms 
 
mapping data assosiation time 34.965678 ms 
sort q time 5.254966 
seperate points time 12.725982 
mapping solver time 23.681310 ms 
filter time 7.762709 ms 
solver time 10.405902 ms 
build tree time 19.987036 ms 
data association time 22.664364 ms 
solver time 15.033891 ms 
points size 97382 
prepare time 17.515227 
publication time 13.119238 ms 
whole laserOdometry time 80.321514 ms 
 
mapping solver time 23.491372 ms 
sort q time 6.269032 
seperate points time 15.353584 
scan registration time 36.781376 ms *************
data association time 17.660861 ms 
mapping data assosiation time 32.197827 ms 
solver time 13.243550 ms 
mapping solver time 22.301506 ms 
filter time 8.106111 ms 
publication time 12.900685 ms 
whole laserOdometry time 73.967566 ms 
 
points size 97384 
prepare time 16.595950 
sort q time 4.719642 
seperate points time 11.889696 
scan registration time 32.032505 ms *************
publication time 10.538499 ms 
whole laserOdometry time 61.030207 ms 
 
points size 97507 
sort q time 4.954092 
seperate points time 12.570172 
filter time 7.654500 ms 
data association time 21.533332 ms 
build tree time 25.549922 ms 
solver time 11.563528 ms 
data association time 19.134926 ms 
solver time 11.684585 ms 
mapping data assosiation time 41.267349 ms 
prepare time 14.252572 
publication time 12.619790 ms 
whole laserOdometry time 77.438510 ms 
 
sort q time 4.948608 
seperate points time 12.617029 
data association time 19.255558 ms 
solver time 10.267233 ms 
data association time 17.296540 ms 
solver time 8.922180 ms 
optimization twice time 56.664168 
map prepare time 5.322750 ms
map corner num 80261  surf num 31661 
points size 97240 
sort q time 5.149091 
seperate points time 12.916206 
mapping data assosiation time 32.566805 ms 
solver time 12.255131 ms 
mapping solver time 25.908949 ms 
data association time 22.300230 ms 
solver time 8.361493 ms 
publication time 9.929313 ms 
whole laserOdometry time 70.830595 ms 
 
mapping data assosiation time 36.518418 ms 
sort q time 5.118485 
seperate points time 13.009783 
mapping solver time 19.675380 ms 
filter time 8.535530 ms 
data association time 17.898313 ms 
solver time 11.251295 ms 
build tree time 23.753203 ms 
data association time 17.928292 ms 
solver time 8.081465 ms 
publication time 10.874724 ms 
whole laserOdometry time 66.858598 ms 
 
mapping data assosiation time 35.528998 ms 
points size 94998 
prepare time 17.306107 
sort q time 5.475397 
seperate points time 14.340406 
data association time 18.375904 ms 
solver time 10.640695 ms 
data association time 17.851404 ms 
solver time 8.530017 ms 
publication time 10.568210 ms 
whole laserOdometry time 66.866173 ms 
 
sort q time 4.411652 
seperate points time 11.410469 
data association time 17.873832 ms 
solver time 11.058059 ms 
data association time 17.856645 ms 
publication time 10.506301 ms 
whole laserOdometry time 66.684764 ms 
 
mapping data assosiation time 37.589461 ms 
sort q time 4.462486 
seperate points time 11.412139 
scan registration time 28.589777 ms *************
mapping solver time 16.429266 ms 
filter time 9.071322 ms 
solver time 13.273312 ms 
build tree time 21.778147 ms 
solver time 10.921812 ms 
publication time 11.215414 ms 
whole laserOdometry time 71.967816 ms 
 
points size 94444 
sort q time 4.432904 
seperate points time 11.530791 
data association time 16.299027 ms 
mapping data assosiation time 33.726061 ms 
mapping solver time 15.145802 ms 
mapping optimization time 124.641920 
add points time 0.663222 ms
data association time 19.380698 ms 
publication time 10.970080 ms 
whole laserOdometry time 71.583220 ms 
 
points size 95594 
sort q time 4.870694 
seperate points time 12.043119 
mapping data assosiation time 33.737890 ms 
data association time 16.955170 ms 
solver time 12.813894 ms 
mapping solver time 24.819970 ms 
data association time 17.443582 ms 
solver time 10.726446 ms 
publication time 11.255488 ms 
whole laserOdometry time 70.013923 ms 
 
mapping data assosiation time 39.706258 ms 
prepare time 14.671997 
sort q time 4.334882 
seperate points time 11.126538 
mapping solver time 25.559774 ms 
mapping optimization time 148.380804 
add points time 0.759518 ms
mapping pub time 1.096666 ms 
whole mapping time 163.503600 ms +++++
data association time 21.434803 ms 
solver time 10.953554 ms 
build tree time 22.669554 ms 
data association time 18.602491 ms 
solver time 10.098310 ms 
publication time 11.105241 ms 
whole laserOdometry time 73.070156 ms 
 
points size 95796 
sort q time 5.138206 
seperate points time 12.727057 
scan registration time 31.293180 ms *************
mapping solver time 25.115550 ms 
data association time 16.807696 ms 
solver time 13.072044 ms 
data association time 16.995500 ms 
mapping solver time 19.561945 ms 
solver time 12.625834 ms 
mapping pub time 2.177630 ms 
whole mapping time 154.940159 ms +++++
points size 95853 
build tree time 23.281406 ms 
sort q time 5.590290 
seperate points time 14.167921 
data association time 15.120453 ms 
solver time 12.751583 ms 
mapping solver time 19.602464 ms 
data association time 16.238534 ms 
solver time 11.719683 ms 
publication time 11.848397 ms 
whole laserOdometry time 68.607413 ms 
 
mapping data assosiation time 39.852735 ms 
scan registration time 31.864486 ms *************
mapping solver time 24.436912 ms 
mapping optimization time 145.610663 
add points time 0.641132 ms
mapping pub time 1.224264 ms 
whole mapping time 162.269065 ms +++++
solver time 12.971291 ms 
build tree time 20.605381 ms 
data association time 15.995166 ms 
solver time 10.664946 ms 
publication time 10.633024 ms 
whole laserOdometry time 69.186284 ms 
 
prepare time 15.241120 
sort q time 4.295176 
seperate points time 11.052669 
scan registration time 29.689325 ms *************
data association time 15.342760 ms 
solver time 12.361614 ms 
mapping data assosiation time 35.455188 ms 
solver time 10.319968 ms 
publication time 10.008446 ms 
whole laserOdometry time 64.469339 ms 
 
map prepare time 3.328228 ms
map corner num 85643  surf num 34907 
prepare time 14.357724 
sort q time 4.888628 
seperate points time 12.000365 
data association time 15.070917 ms 
mapping data assosiation time 32.500126 ms 
solver time 12.143882 ms 
data association time 14.773541 ms 
mapping solver time 28.404764 ms 
publication time 11.242189 ms 
whole laserOdometry time 65.437787 ms 
 
points size 96496 
mapping data assosiation time 38.430338 ms 
mapping solver time 25.026718 ms 
filter time 10.831600 ms 
map prepare time 3.329483 ms
map corner num 86456  surf num 35255 
data association time 15.471389 ms 
build tree time 22.019076 ms 
solver time 12.057323 ms 
optimization twice time 54.513696 
publication time 10.245471 ms 
whole laserOdometry time 64.779079 ms 
 
points size 94213 
mapping data assosiation time 32.996824 ms 
sort q time 5.859053 
seperate points time 14.302151 
data association time 14.108568 ms 
solver time 10.856367 ms 
mapping data assosiation time 31.891030 ms 
data association time 15.332828 ms 
solver time 8.199777 ms 
mapping solver time 22.297822 ms 
filter time 9.165415 ms 
points size 93509 
sort q time 4.428997 
seperate points time 11.552287 
build tree time 25.081602 ms 
data association time 14.443723 ms 
mapping data assosiation time 32.107794 ms 
data association time 16.039741 ms 
solver time 11.966707 ms 
publication time 11.187522 ms 
whole laserOdometry time 69.166348 ms 
 
mapping data assosiation time 35.045015 ms 
sort q time 5.397658 
seperate points time 13.835841 
mapping solver time 21.342689 ms 
filter time 8.563043 ms 
solver time 11.973536 ms 
build tree time 21.570928 ms 
solver time 7.594406 ms 
publication time 10.690101 ms 
whole laserOdometry time 70.097814 ms 
 
mapping data assosiation time 33.430688 ms 
points size 93381 
prepare time 14.553705 
sort q time 4.160900 
seperate points time 10.842629 
mapping solver time 25.106585 ms 
data association time 15.748098 ms 
solver time 13.167353 ms 
mapping data assosiation time 31.984882 ms 
data association time 17.279598 ms 
mapping solver time 19.601792 ms 
filter time 8.741059 ms 
points size 93569 
build tree time 23.780241 ms 
data association time 14.699547 ms 
mapping data assosiation time 31.584031 ms 
solver time 12.583253 ms 
data association time 15.794083 ms 
solver time 10.537792 ms 
publication time 9.841615 ms 
whole laserOdometry time 64.253994 ms 
 
mapping data assosiation time 34.004679 ms 
mapping solver time 16.448389 ms 
filter time 8.688021 ms 
data association time 15.205981 ms 
solver time 12.216584 ms 
data association time 15.116790 ms 
solver time 10.866555 ms 
mapping data assosiation time 30.005399 ms 
publication time 10.931542 ms 
whole laserOdometry time 65.180500 ms 
 
points size 94155 
sort q time 4.863148 
seperate points time 12.261129 
mapping data assosiation time 33.041301 ms 
solver time 13.446005 ms 
filter time 7.343293 ms 
mapping pub time 1.108206 ms 
whole mapping time 147.829037 ms +++++
data association time 17.357057 ms 
publication time 9.113251 ms 
whole laserOdometry time 65.890101 ms 
 
build tree time 27.406741 ms 
prepare time 18.618609 
sort q time 6.258044 
seperate points time 16.127744 
mapping data assosiation time 39.082678 ms 
data association time 17.160417 ms 
mapping solver time 22.096430 ms 
solver time 13.121809 ms 
data association time 16.720548 ms 
mapping data assosiation time 32.314475 ms 
publication time 9.586300 ms 
whole laserOdometry time 67.929959 ms 
 
points size 97084 
sort q time 5.675610 
seperate points time 14.738752 
filter time 7.519699 ms 
data association time 17.866095 ms 
build tree time 21.451214 ms 
solver time 12.052237 ms 
data association time 15.830464 ms 
solver time 8.065507 ms 
mapping data assosiation time 32.888011 ms 
points size 99436 
mapping solver time 23.569825 ms 
sort q time 4.479108 
seperate points time 11.236954 
scan registration time 29.857075 ms *************
data association time 15.906363 ms 
solver time 12.279053 ms 
mapping solver time 18.237100 ms 
mapping optimization time 128.929517 
add points time 0.549523 ms
solver time 9.877750 ms 
publication time 12.999483 ms 
whole laserOdometry time 73.351107 ms 
 
points size 99976 
sort q time 5.829927 
seperate points time 14.792968 
data association time 14.897248 ms 
mapping data assosiation time 30.831327 ms 
data association time 15.809663 ms 
solver time 9.973755 ms 
publication time 9.908330 ms 
whole laserOdometry time 63.263479 ms 
 
prepare time 15.512105 
sort q time 5.571141 
seperate points time 13.524818 
mapping solver time 20.255010 ms 
filter time 9.315304 ms 
solver time 10.865105 ms 
data association time 15.194292 ms 
solver time 8.532309 ms 
optimization twice time 53.582648 
mapping data assosiation time 36.402757 ms 
points size 100084 
prepare time 20.482937 
sort q time 5.704502 
seperate points time 14.845540 
data association time 15.096477 ms 
mapping data assosiation time 28.896388 ms 
solver time 10.967495 ms 
mapping solver time 15.398278 ms 
filter time 9.426250 ms 
publication time 10.208929 ms 
whole laserOdometry time 63.506280 ms 
 
points size 99487 
build tree time 32.144000 ms 
data association time 15.597455 ms 
solver time 10.473221 ms 
mapping solver time 18.923350 ms 
data association time 16.289293 ms 
solver time 8.852219 ms 
publication time 10.561085 ms 
whole laserOdometry time 62.648076 ms 
 
points size 99657 
mapping data assosiation time 35.010239 ms 
prepare time 20.913824 
sort q time 5.832996 
seperate points time 14.558473 
filter time 12.553255 ms 
map prepare time 4.261505 ms
map corner num 93382  surf num 37521 
data association time 25.106518 ms 
solver time 14.976682 ms 
data association time 27.941247 ms 
mapping data assosiation time 38.966144 ms 
sort q time 5.916358 
seperate points time 14.362695 
mapping solver time 20.154746 ms 
data association time 17.511417 ms 
mapping solver time 15.844405 ms 
filter time 9.089492 ms 
prepare time 14.966557 
sort q time 5.726701 
seperate points time 14.167245 
data association time 15.584511 ms 
solver time 11.106992 ms 
mapping data assosiation time 32.846894 ms 
data association time 16.809764 ms 
solver time 8.688535 ms 
optimization twice time 53.094324 
mapping solver time 23.661784 ms 
points size 101204 
mapping data assosiation time 33.438297 ms 
scan registration time 33.030357 ms *************
mapping solver time 23.965437 ms 
filter time 9.164034 ms 
data association time 17.034486 ms 
build tree time 25.929126 ms 
solver time 8.551759 ms 
optimization twice time 54.884959 
points size 100894 
mapping data assosiation time 40.305202 ms 
sort q time 6.079649 
seperate points time 15.686195 
scan registration time 41.044279 ms *************
mapping solver time 23.626870 ms 
data association time 17.199252 ms 
solver time 12.776493 ms 
data association time 19.567516 ms 
solver time 10.289410 ms 
map prepare time 3.422376 ms
map corner num 95509  surf num 38230 
sort q time 5.890928 
seperate points time 14.919325 
build tree time 26.356460 ms 
data association time 17.741642 ms 
solver time 10.954638 ms 
data association time 17.991202 ms 
solver time 10.910589 ms 
publication time 10.710039 ms 
whole laserOdometry time 69.200074 ms 
 
prepare time 16.197984 
mapping data assosiation time 32.097328 ms 
sort q time 5.974110 
seperate points time 14.743396 
scan registration time 34.674830 ms *************
mapping solver time 19.928116 ms 
mapping optimization time 135.848794 
add points time 0.637822 ms
data association time 17.872108 ms 
mapping pub time 1.152998 ms 
whole mapping time 151.400797 ms +++++
data association time 17.079715 ms 
solver time 10.779969 ms 
points size 98967 
mapping data assosiation time 32.208240 ms 
scan registration time 29.898948 ms *************
mapping solver time 24.713923 ms 
data association time 20.988705 ms 
solver time 12.637208 ms 
mapping data assosiation time 32.955972 ms 
data association time 22.298343 ms 
solver time 11.166102 ms 
points size 97602 
sort q time 4.542850 
seperate points time 11.108601 
build tree time 26.400234 ms 
data association time 19.453229 ms 
solver time 12.210595 ms 
data association time 18.766052 ms 
mapping solver time 23.518582 ms 
publication time 11.714980 ms 
whole laserOdometry time 73.247394 ms 
 
points size 95711 
prepare time 14.441857 
mapping data assosiation time 35.374303 ms 
mapping solver time 20.920190 ms 
mapping optimization time 140.051542 
add points time 0.600440 ms
data association time 16.834141 ms 
map prepare time 3.224900 ms
map corner num 97793  surf num 38942 
data association time 17.578310 ms 
solver time 11.894659 ms 
publication time 10.923778 ms 
whole laserOdometry time 75.084029 ms 
 
points size 94360 
mapping data assosiation time 35.407688 ms 
sort q time 5.507345 
seperate points time 13.685759 
mapping solver time 20.690269 ms 
data association time 16.849713 ms 
solver time 11.206343 ms 
mapping data assosiation time 30.044616 ms 
data association time 17.064405 ms 
solver time 7.933814 ms 
publication time 9.705725 ms 
whole laserOdometry time 63.598528 ms 
 
map prepare time 3.180467 ms
map corner num 98584  surf num 39218 
prepare time 14.191637 
sort q time 5.711962 
seperate points time 13.535390 
data association time 15.234056 ms 
mapping data assosiation time 31.521444 ms 
data association time 16.122818 ms 
solver time 10.700614 ms 
publication time 10.590233 ms 
whole laserOdometry time 66.169219 ms 
 
points size 95565 
sort q time 4.555456 
seperate points time 11.338636 
scan registration time 28.901051 ms *************
filter time 9.508327 ms 
solver time 10.253642 ms 
build tree time 23.786558 ms 
data association time 21.473933 ms 
solver time 10.131712 ms 
mapping data assosiation time 30.090791 ms 
points size 95119 
mapping solver time 19.806274 ms 
sort q time 4.137208 
seperate points time 10.548343 
scan registration time 28.326940 ms *************
data association time 15.805313 ms 
mapping data assosiation time 31.963603 ms 
mapping solver time 14.192032 ms 
filter time 9.430305 ms 
data association time 22.543761 ms 
solver time 9.788775 ms 
publication time 9.569071 ms 
whole laserOdometry time 72.902715 ms 
 
prepare time 14.581425 
sort q time 4.601567 
seperate points time 11.266049 
mapping data assosiation time 31.191887 ms 
data association time 17.437122 ms 
solver time 13.399911 ms 
data association time 15.828286 ms 
solver time 7.979608 ms 
optimization twice time 55.562964 
filter time 11.427105 ms 
sort q time 4.404712 
seperate points time 11.298062 
build tree time 25.284864 ms 
data association time 16.513730 ms 
solver time 10.699424 ms 
data association time 17.166518 ms 
mapping solver time 19.190834 ms 
publication time 9.193649 ms 
whole laserOdometry time 63.419035 ms 
 
points size 93921 
mapping data assosiation time 35.400452 ms 
mapping solver time 15.422688 ms 
filter time 9.869780 ms 
data association time 16.541299 ms 
solver time 10.637258 ms 
build tree time 29.206127 ms 
solver time 9.624979 ms 
points size 93269 
sort q time 5.587216 
seperate points time 13.739069 
mapping solver time 20.615285 ms 
data association time 21.140197 ms 
solver time 11.730288 ms 
mapping data assosiation time 33.073607 ms 
data association time 17.126503 ms 
solver time 8.626693 ms 
filter time 10.436253 ms 
map prepare time 3.557437 ms
map corner num 102604  surf num 40745 
points size 92668 
sort q time 5.387869 
seperate points time 13.124515 
data association time 15.998200 ms 
solver time 14.745024 ms 
data association time 21.057733 ms 
mapping solver time 25.319364 ms 
publication time 9.419592 ms 
whole laserOdometry time 71.059600 ms 
 
mapping data assosiation time 34.358723 ms 
mapping solver time 20.214941 ms 
mapping optimization time 148.305569 
add points time 0.614099 ms
data association time 15.368953 ms 
filter time 10.405477 ms 
mapping pub time 1.210945 ms 
whole mapping time 164.139112 ms +++++
solver time 10.816073 ms 
map prepare time 3.402137 ms
map corner num 103312  surf num 41091 
data association time 14.726327 ms 
solver time 8.098033 ms 
optimization twice time 49.815241 
build tree time 25.975179 ms 
points size 92482 
mapping data assosiation time 34.001384 ms 
scan registration time 30.685185 ms *************
mapping solver time 22.123259 ms 
data association time 14.704235 ms 
solver time 10.769218 ms 
data association time 14.844954 ms 
mapping data assosiation time 31.613293 ms 
publication time 11.138242 ms 
whole laserOdometry time 60.851180 ms 
 
filter time 10.677081 ms 
map prepare time 4.754367 ms
map corner num 104144  surf num 41491 
sort q time 4.188525 
seperate points time 10.740044 
build tree time 27.501909 ms 
data association time 16.252108 ms 
solver time 10.230058 ms 
mapping data assosiation time 33.611415 ms 
solver time 8.129758 ms 
publication time 8.841221 ms 
whole laserOdometry time 60.817216 ms 
 
mapping solver time 26.235062 ms 
points size 95063 
prepare time 14.142207 
sort q time 4.557383 
seperate points time 11.441902 
mapping data assosiation time 34.285921 ms 
data association time 17.233744 ms 
mapping solver time 21.138883 ms 
filter time 10.533012 ms 
mapping pub time 1.263302 ms 
whole mapping time 162.422906 ms +++++
map prepare time 3.981713 ms
map corner num 104976  surf num 41834 
solver time 7.965749 ms 
optimization twice time 55.066288 
build tree time 31.577515 ms 
prepare time 13.638057 
sort q time 4.610427 
seperate points time 11.714992 
mapping data assosiation time 38.682140 ms 
data association time 16.482986 ms 
solver time 14.590408 ms 
mapping solver time 28.135206 ms 
data association time 28.476265 ms 
mapping data assosiation time 32.306259 ms 
points size 99336 
mapping solver time 29.403721 ms 
mapping pub time 1.350784 ms 
whole mapping time 180.354739 ms +++++
data association time 17.528876 ms 
solver time 10.990591 ms 
build tree time 36.860231 ms 
data association time 17.504964 ms 
solver time 8.642646 ms 
publication time 10.606327 ms 
whole laserOdometry time 66.057875 ms 
 
mapping data assosiation time 42.310655 ms 
scan registration time 33.305620 ms *************
mapping solver time 30.929999 ms 
data association time 19.104509 ms 
solver time 13.020217 ms 
mapping data assosiation time 30.185356 ms 
data association time 16.826717 ms 
mapping solver time 20.058309 ms 
points size 100467 
filter time 10.815198 ms 
prepare time 17.073388 
sort q time 4.520553 
seperate points time 11.709035 
map prepare time 4.550678 ms
map corner num 106801  surf num 42497 
data association time 17.615466 ms 
solver time 13.094863 ms 
build tree time 36.567822 ms 
data association time 18.142010 ms 
solver time 8.331659 ms 
publication time 11.611002 ms 
whole laserOdometry time 69.701348 ms 
 
prepare time 14.421289 
sort q time 5.510196 
seperate points time 13.573190 
scan registration time 31.694003 ms *************
mapping solver time 32.584320 ms 
data association time 18.143426 ms 
solver time 13.019846 ms 
data association time 20.119596 ms 
mapping data assosiation time 40.973164 ms 
publication time 10.761310 ms 
whole laserOdometry time 74.657616 ms 
 
filter time 11.778742 ms 
data association time 17.120158 ms 
build tree time 36.612252 ms 
data association time 18.868469 ms 
solver time 12.873800 ms 
mapping data assosiation time 42.154792 ms 
sort q time 4.878466 
seperate points time 12.391169 
mapping solver time 33.857678 ms 
data association time 20.145537 ms 
solver time 15.508367 ms 
mapping data assosiation time 42.224508 ms 
build tree time 37.124677 ms 
solver time 16.063423 ms 
data association time 19.873470 ms 
prepare time 13.624594 
solver time 13.802649 ms 
optimization twice time 75.300289 
scan registration time 31.947969 ms *************
mapping solver time 31.980164 ms 
data association time 16.834788 ms 
solver time 13.629697 ms 
mapping data assosiation time 40.860388 ms 
data association time 18.069563 ms 
mapping solver time 18.961282 ms 
publication time 9.808597 ms 
whole laserOdometry time 71.095800 ms 
 
sort q time 4.180497 
seperate points time 10.675624 
build tree time 29.293481 ms 
data association time 16.333373 ms 
solver time 10.384890 ms 
mapping data assosiation time 31.807823 ms 
data association time 17.904786 ms 
solver time 10.288125 ms 
publication time 10.513427 ms 
whole laserOdometry time 66.390451 ms 
 
prepare time 13.325684 
sort q time 4.017153 
seperate points time 10.431301 
data association time 15.902056 ms 
solver time 13.607513 ms 
data association time 16.357646 ms 
solver time 11.221396 ms 
build tree time 30.384995 ms 
points size 87420 
sort q time 4.210288 
seperate points time 10.917978 
mapping solver time 19.923347 ms 
data association time 25.361988 ms 
solver time 17.962927 ms 
mapping data assosiation time 32.244935 ms 
mapping solver time 18.635827 ms 
filter time 11.569610 ms 
publication time 11.211731 ms 
whole laserOdometry time 96.663746 ms 
 
build tree time 30.233080 ms 
data association time 25.104686 ms 
solver time 15.041217 ms 
data association time 19.050755 ms 
solver time 8.954261 ms 
points size 83865 
prepare time 18.077896 
mapping data assosiation time 37.009156 ms 
mapping solver time 17.623085 ms 
data association time 18.129899 ms 
solver time 15.286082 ms 
data association time 17.903042 ms 
solver time 13.506143 ms 
publication time 10.321040 ms 
whole laserOdometry time 76.183113 ms 
 
mapping data assosiation time 30.176845 ms 
prepare time 21.563646 
sort q time 5.595494 
seperate points time 17.074381 
data association time 15.751328 ms 
solver time 10.977345 ms 
mapping solver time 17.022614 ms 
data association time 16.553211 ms 
solver time 8.803373 ms 
sort q time 4.597831 
seperate points time 11.658518 
scan registration time 31.035606 ms *************
mapping data assosiation time 25.533961 ms 
mapping solver time 20.632027 ms 
data association time 24.134197 ms 
solver time 11.623674 ms 
scan registration time 29.384299 ms *************
filter time 11.304394 ms 
mapping pub time 1.010917 ms 
whole mapping time 148.039907 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.186746 ms
map corner num 114463  surf num 45740 
data association time 17.232810 ms 
solver time 11.770314 ms 
data association time 14.933753 ms 
solver time 11.649206 ms 
publication time 8.379099 ms 
whole laserOdometry time 64.754886 ms 
 
points size 89250 
mapping data assosiation time 30.301134 ms 
prepare time 13.246283 
scan registration time 30.190782 ms *************
mapping solver time 21.207331 ms 
data association time 14.684495 ms 
mapping data assosiation time 27.008809 ms 
solver time 16.352299 ms 
data association time 17.284624 ms 
map prepare time 3.143767 ms
map corner num 115296  surf num 46093 
publication time 9.326798 ms 
whole laserOdometry time 69.135805 ms 
 
points size 92059 
build tree time 31.093403 ms 
scan registration time 28.888446 ms *************
mapping data assosiation time 27.219931 ms 
data association time 14.739962 ms 
solver time 12.488229 ms 
solver time 9.445190 ms 
mapping data assosiation time 25.214019 ms 
mapping solver time 18.487415 ms 
filter time 9.844964 ms 
map prepare time 3.349836 ms
map corner num 113589  surf num 43282 
sort q time 5.535060 
seperate points time 13.772465 
scan registration time 30.407595 ms *************
data association time 14.409242 ms 
solver time 10.765562 ms 
data association time 13.843979 ms 
mapping data assosiation time 26.315835 ms 
publication time 8.278985 ms 
whole laserOdometry time 56.213535 ms 
 
mapping solver time 18.847827 ms 
points size 96199 
prepare time 14.149793 
mapping data assosiation time 29.352363 ms 
mapping solver time 15.432001 ms 
mapping optimization time 119.959473 
add points time 0.663634 ms
map prepare time 2.938966 ms
map corner num 114457  surf num 43726 
solver time 11.839986 ms 
data association time 14.769512 ms 
build tree time 31.204785 ms 
solver time 8.617118 ms 
optimization twice time 51.055497 
points size 98377 
sort q time 5.463108 
seperate points time 13.293325 
data association time 14.619580 ms 
mapping data assosiation time 28.209563 ms 
mapping solver time 18.233189 ms 
solver time 8.700008 ms 
points size 100520 
prepare time 14.063163 
build tree time 30.163492 ms 
scan registration time 33.229815 ms *************
mapping data assosiation time 27.149078 ms 
solver time 11.311013 ms 
data association time 17.098622 ms 
solver time 9.744828 ms 
publication time 10.703360 ms 
whole laserOdometry time 66.053102 ms 
 
points size 101522 
filter time 12.820489 ms 
sort q time 4.981835 
seperate points time 12.657696 
mapping pub time 1.675082 ms 
whole mapping time 139.985670 ms +++++
drop lidar frame in mapping for real time performance 
scan registration time 32.319490 ms *************
data association time 15.932476 ms 
build tree time 28.777142 ms 
data association time 17.078879 ms 
solver time 7.573143 ms 
mapping solver time 18.575228 ms 
sort q time 4.560576 
seperate points time 11.453813 
mapping solver time 11.154419 ms 
data association time 18.525448 ms 
map prepare time 3.132168 ms
map corner num 117001  surf num 45376 
data association time 16.423676 ms 
build tree time 29.046936 ms 
publication time 10.223474 ms 
whole laserOdometry time 71.553835 ms 
 
mapping data assosiation time 30.349862 ms 
scan registration time 32.273665 ms *************
mapping solver time 18.952630 ms 
data association time 16.900669 ms 
solver time 11.047571 ms 
data association time 16.847864 ms 
solver time 9.679041 ms 
mapping pub time 3.763669 ms 
whole mapping time 143.694772 ms +++++
points size 101614 
sort q time 5.784411 
seperate points time 14.066334 
build tree time 33.182612 ms 
data association time 17.310663 ms 
mapping data assosiation time 31.499403 ms 
mapping solver time 17.837068 ms 
solver time 8.464841 ms 
publication time 10.725218 ms 
whole laserOdometry time 66.257245 ms 
 
prepare time 16.167058 
sort q time 4.550206 
seperate points time 11.495217 
mapping solver time 19.701435 ms 
filter time 12.186653 ms 
mapping pub time 1.350301 ms 
whole mapping time 155.532457 ms +++++
data association time 17.774068 ms 
solver time 13.017238 ms 
data association time 16.926513 ms 
solver time 11.391106 ms 
points size 101953 
mapping data assosiation time 35.426975 ms 
mapping solver time 20.363651 ms 
data association time 16.095758 ms 
solver time 12.499673 ms 
mapping data assosiation time 36.374019 ms 
solver time 10.183434 ms 
publication time 12.177036 ms 
whole laserOdometry time 68.331792 ms 
 
filter time 14.440432 ms 
points size 101359 
sort q time 6.666352 
seperate points time 16.365762 
build tree time 31.687710 ms 
data association time 17.510399 ms 
solver time 14.025474 ms 
data association time 16.730419 ms 
mapping solver time 18.708821 ms 
publication time 10.195410 ms 
whole laserOdometry time 70.151496 ms 
 
points size 101554 
prepare time 15.325078 
sort q time 4.800572 
seperate points time 12.242793 
mapping solver time 15.632494 ms 
mapping optimization time 138.079560 
add points time 0.797729 ms
filter time 12.858043 ms 
solver time 13.597490 ms 
data association time 16.525281 ms 
solver time 11.228869 ms 
publication time 11.217778 ms 
whole laserOdometry time 71.319776 ms 
 
mapping data assosiation time 32.430613 ms 
mapping solver time 19.861739 ms 
data association time 16.822663 ms 
solver time 12.632142 ms 
mapping data assosiation time 32.885763 ms 
solver time 12.367814 ms 
publication time 10.298664 ms 
whole laserOdometry time 70.615386 ms 
 
prepare time 14.886260 
sort q time 5.169282 
seperate points time 13.007255 
build tree time 32.085232 ms 
solver time 13.921873 ms 
mapping data assosiation time 32.161280 ms 
data association time 22.547031 ms 
mapping solver time 18.754271 ms 
points size 101112 
sort q time 5.241889 
seperate points time 12.645237 
mapping solver time 12.072188 ms 
filter time 11.066608 ms 
mapping pub time 18.230248 ms 
whole mapping time 168.085928 ms +++++
[0m[ INFO] [1718887097.068134379]: Received 442481 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887097.068159265]: Data saved to 1317357841727828.pcd[0m
solver time 14.071091 ms 
publication time 11.221785 ms 
whole laserOdometry time 78.241392 ms 
 
build tree time 39.139879 ms 
sort q time 6.058165 
seperate points time 14.517915 
mapping data assosiation time 34.024924 ms 
solver time 12.844926 ms 
data association time 16.860034 ms 
solver time 10.709672 ms 
mapping data assosiation time 33.876423 ms 
mapping solver time 19.495112 ms 
filter time 12.221445 ms 
data association time 16.766434 ms 
solver time 11.507964 ms 
build tree time 34.509622 ms 
solver time 8.492730 ms 
publication time 10.382638 ms 
whole laserOdometry time 65.153825 ms 
 
points size 100106 
mapping data assosiation time 37.209779 ms 
prepare time 16.613552 
sort q time 6.196023 
seperate points time 15.070349 
mapping solver time 24.653972 ms 
data association time 16.970796 ms 
solver time 11.336012 ms 
data association time 16.871398 ms 
mapping optimization time 153.548066 
filter time 11.075922 ms 
prepare time 15.529820 
sort q time 4.957245 
seperate points time 12.234379 
build tree time 35.924334 ms 
data association time 16.632142 ms 
solver time 12.642919 ms 
mapping data assosiation time 33.294934 ms 
solver time 8.212146 ms 
publication time 12.025332 ms 
whole laserOdometry time 67.063972 ms 
 
prepare time 15.918420 
sort q time 5.802258 
seperate points time 13.360528 
mapping data assosiation time 37.221963 ms 
data association time 27.660147 ms 
mapping solver time 29.432956 ms 
solver time 18.991733 ms 
filter time 14.050916 ms 
mapping pub time 1.724336 ms 
whole mapping time 185.414828 ms +++++
data association time 27.599224 ms 
solver time 14.565857 ms 
scan registration time 33.207907 ms *************
data association time 26.807860 ms 
mapping data assosiation time 41.503172 ms 
data association time 23.507261 ms 
points size 96673 
solver time 12.518384 ms 
prepare time 14.753774 
optimization twice time 81.225871 
sort q time 5.359547 
seperate points time 12.674126 
publication time 13.201645 ms 
whole laserOdometry time 94.442397 ms 
 
mapping data assosiation time 40.344259 ms 
data association time 25.035764 ms 
mapping solver time 26.670826 ms 
filter time 11.395259 ms 
solver time 11.288243 ms 
publication time 9.535366 ms 
whole laserOdometry time 76.597248 ms 
 
sort q time 5.230641 
seperate points time 12.773673 
data association time 14.503664 ms 
solver time 10.440309 ms 
data association time 14.841628 ms 
solver time 8.380925 ms 
points size 94813 
sort q time 4.158330 
seperate points time 9.941130 
mapping solver time 18.386056 ms 
data association time 15.177188 ms 
solver time 11.851505 ms 
data association time 14.732402 ms 
optimization twice time 51.188694 
build tree time 38.552304 ms 
sort q time 4.722098 
seperate points time 11.161856 
mapping data assosiation time 36.412366 ms 
data association time 14.839306 ms 
mapping solver time 23.893732 ms 
data association time 16.627190 ms 
solver time 11.984603 ms 
publication time 10.250421 ms 
whole laserOdometry time 66.952016 ms 
 
prepare time 17.675460 
sort q time 5.175814 
seperate points time 12.873723 
map prepare time 3.772334 ms
map corner num 129627  surf num 51870 
data association time 14.375680 ms 
solver time 11.120734 ms 
data association time 14.980467 ms 
solver time 9.420651 ms 
publication time 11.967260 ms 
whole laserOdometry time 62.998922 ms 
 
points size 87519 
mapping solver time 20.826342 ms 
sort q time 4.979696 
seperate points time 12.345843 
scan registration time 34.919036 ms *************
data association time 14.313408 ms 
solver time 10.731785 ms 
mapping solver time 17.442101 ms 
solver time 8.043730 ms 
optimization twice time 47.850377 
filter time 11.961121 ms 
mapping pub time 1.417267 ms 
whole mapping time 160.418637 ms +++++
points size 86193 
sort q time 4.335948 
seperate points time 10.404306 
scan registration time 28.690642 ms *************
build tree time 34.519441 ms 
data association time 13.442770 ms 
solver time 12.741299 ms 
mapping solver time 18.377303 ms 
data association time 13.417404 ms 
publication time 8.587524 ms 
whole laserOdometry time 58.234942 ms 
 
mapping data assosiation time 31.754968 ms 
sort q time 3.728559 
seperate points time 9.094211 
mapping solver time 17.457184 ms 
mapping optimization time 132.239226 
add points time 0.932766 ms
scan registration time 26.597161 ms *************
filter time 12.741650 ms 
data association time 14.608434 ms 
solver time 9.876016 ms 
data association time 13.823342 ms 
optimization twice time 47.996910 
publication time 10.356421 ms 
whole laserOdometry time 58.370139 ms 
 
points size 86951 
prepare time 13.441609 
mapping solver time 17.810368 ms 
data association time 13.217531 ms 
mapping data assosiation time 29.594412 ms 
mapping solver time 15.044198 ms 
solver time 7.807262 ms 
optimization twice time 47.947983 
filter time 10.714492 ms 
mapping pub time 1.356105 ms 
whole mapping time 145.199549 ms +++++
points size 87971 
build tree time 33.604260 ms 
sort q time 5.583749 
seperate points time 13.084688 
mapping data assosiation time 26.025913 ms 
data association time 16.462114 ms 
solver time 9.885857 ms 
data association time 15.803896 ms 
mapping data assosiation time 27.915381 ms 
publication time 8.934411 ms 
whole laserOdometry time 61.972170 ms 
 
add points time 0.921985 ms
points size 89090 
prepare time 14.333921 
filter time 13.678226 ms 
map prepare time 3.575916 ms
map corner num 133601  surf num 53394 
sort q time 4.929097 
seperate points time 11.775480 
data association time 13.111417 ms 
build tree time 35.575465 ms 
data association time 13.895898 ms 
solver time 7.599828 ms 
optimization twice time 46.552951 
mapping data assosiation time 27.717327 ms 
mapping solver time 16.116355 ms 
points size 90846 
mapping data assosiation time 25.456768 ms 
mapping solver time 14.923930 ms 
filter time 10.632008 ms 
solver time 11.743786 ms 
data association time 14.345145 ms 
solver time 8.656524 ms 
optimization twice time 49.473609 
points size 93796 
sort q time 6.900985 
seperate points time 15.686047 
mapping data assosiation time 24.408947 ms 
solver time 11.371513 ms 
filter time 10.124393 ms 
mapping pub time 1.014508 ms 
whole mapping time 133.197355 ms +++++
data association time 15.619412 ms 
map prepare time 3.283340 ms
map corner num 135320  surf num 53989 
solver time 13.014075 ms 
points size 96805 
prepare time 14.458749 
sort q time 6.019980 
seperate points time 14.307088 
mapping data assosiation time 27.212910 ms 
data association time 15.115228 ms 
mapping solver time 16.327979 ms 
data association time 14.159859 ms 
solver time 8.607605 ms 
publication time 9.427288 ms 
whole laserOdometry time 59.406750 ms 
 
points size 100447 
filter time 14.108158 ms 
sort q time 5.319782 
seperate points time 12.642994 
data association time 14.310542 ms 
build tree time 36.429703 ms 
data association time 14.272171 ms 
solver time 8.314271 ms 
publication time 9.166512 ms 
whole laserOdometry time 57.205452 ms 
 
points size 100531 
prepare time 14.186597 
mapping data assosiation time 25.487173 ms 
mapping solver time 15.743503 ms 
mapping optimization time 121.440467 
add points time 0.559304 ms
filter time 13.905424 ms 
data association time 17.287761 ms 
solver time 9.144618 ms 
publication time 8.104857 ms 
whole laserOdometry time 59.451720 ms 
 
points size 100985 
mapping data assosiation time 25.240447 ms 
mapping solver time 15.936186 ms 
data association time 17.156668 ms 
solver time 10.900442 ms 
data association time 14.184220 ms 
mapping solver time 15.301528 ms 
mapping optimization time 122.045872 
add points time 0.584641 ms
filter time 11.008518 ms 
map prepare time 3.906256 ms
map corner num 137696  surf num 54760 
prepare time 14.878124 
sort q time 4.710122 
seperate points time 11.010910 
build tree time 35.844671 ms 
data association time 17.265926 ms 
solver time 9.688964 ms 
mapping solver time 16.307198 ms 
solver time 9.437159 ms 
publication time 8.092919 ms 
whole laserOdometry time 61.639747 ms 
 
mapping data assosiation time 27.517689 ms 
points size 101115 
sort q time 4.643177 
seperate points time 11.128477 
map prepare time 3.032398 ms
map corner num 138437  surf num 55000 
data association time 13.840828 ms 
solver time 8.541957 ms 
build tree time 36.573571 ms 
data association time 14.612380 ms 
solver time 8.742436 ms 
optimization twice time 46.604379 
points size 98410 
sort q time 4.779898 
seperate points time 11.474283 
mapping data assosiation time 26.034203 ms 
data association time 14.514707 ms 
solver time 9.981141 ms 
mapping pub time 1.155648 ms 
whole mapping time 139.023292 ms +++++
data association time 15.065655 ms 
solver time 8.139633 ms 
optimization twice time 48.575618 
build tree time 36.595452 ms 
prepare time 13.915024 
sort q time 4.515725 
seperate points time 10.837537 
mapping data assosiation time 27.423720 ms 
mapping solver time 15.500830 ms 
solver time 7.182507 ms 
mapping data assosiation time 24.815162 ms 
solver time 7.869804 ms 
publication time 8.710373 ms 
whole laserOdometry time 53.088896 ms 
 
filter time 12.158232 ms 
points size 95299 
sort q time 4.200741 
seperate points time 10.148268 
build tree time 38.610255 ms 
solver time 10.532246 ms 
mapping data assosiation time 27.330612 ms 
solver time 10.640436 ms 
publication time 9.571203 ms 
whole laserOdometry time 61.805583 ms 
 
points size 93601 
sort q time 4.280532 
seperate points time 10.324861 
filter time 13.261275 ms 
solver time 10.727707 ms 
data association time 15.653593 ms 
solver time 9.939464 ms 
publication time 10.694481 ms 
whole laserOdometry time 65.837138 ms 
 
mapping data assosiation time 25.961662 ms 
sort q time 4.113103 
seperate points time 10.061646 
mapping data assosiation time 25.061999 ms 
data association time 13.331302 ms 
mapping solver time 14.462654 ms 
data association time 16.511591 ms 
solver time 10.286773 ms 
publication time 9.886070 ms 
whole laserOdometry time 61.284510 ms 
 
mapping pub time 27.772333 ms 
whole mapping time 163.133686 ms +++++
points size 91117 
sort q time 4.559462 
seperate points time 11.069780 
data association time 20.537118 ms 
solver time 11.482286 ms 
data association time 14.603654 ms 
optimization twice time 55.934195 
publication time 8.948547 ms 
whole laserOdometry time 64.894990 ms 
 
points size 89698 
prepare time 17.524524 
mapping data assosiation time 26.454069 ms 
mapping solver time 14.572286 ms 
mapping optimization time 127.937211 
add points time 0.658484 ms
scan registration time 35.310494 ms *************
map prepare time 3.863999 ms
map corner num 142340  surf num 56532 
data association time 18.827129 ms 
solver time 10.579631 ms 
data association time 14.425766 ms 
build tree time 39.863897 ms 
points size 89782 
sort q time 4.168118 
seperate points time 10.128382 
mapping data assosiation time 29.755924 ms 
solver time 16.012525 ms 
mapping solver time 20.149259 ms 
mapping optimization time 133.099606 
add points time 0.704060 ms
filter time 14.840449 ms 
solver time 11.413655 ms 
publication time 10.475814 ms 
whole laserOdometry time 87.366549 ms 
 
scan registration time 29.043859 ms *************
build tree time 47.896321 ms 
data association time 22.711307 ms 
solver time 16.820023 ms 
mapping data assosiation time 31.153260 ms 
data association time 22.436440 ms 
mapping solver time 22.114019 ms 
points size 92795 
prepare time 13.882288 
publication time 11.606028 ms 
whole laserOdometry time 87.174038 ms 
 
mapping data assosiation time 27.353686 ms 
mapping solver time 15.341717 ms 
mapping optimization time 145.580411 
add points time 0.674539 ms
data association time 21.326280 ms 
mapping pub time 1.579468 ms 
whole mapping time 167.396453 ms +++++
drop lidar frame in mapping for real time performance 
solver time 12.143078 ms 
data association time 21.261700 ms 
solver time 11.178316 ms 
publication time 10.749969 ms 
whole laserOdometry time 77.735856 ms 
 
sort q time 4.978740 
seperate points time 11.804673 
mapping solver time 13.237494 ms 
data association time 14.084046 ms 
solver time 12.294732 ms 
data association time 16.514001 ms 
publication time 8.337761 ms 
whole laserOdometry time 60.256311 ms 
 
map prepare time 4.395854 ms
map corner num 144699  surf num 57311 
sort q time 4.696600 
seperate points time 11.171573 
build tree time 41.917516 ms 
data association time 23.363314 ms 
solver time 17.409723 ms 
mapping data assosiation time 30.620557 ms 
mapping solver time 18.427991 ms 
points size 99244 
sort q time 5.272131 
seperate points time 12.315449 
mapping data assosiation time 30.336219 ms 
scan registration time 32.329072 ms *************
mapping solver time 16.701969 ms 
data association time 22.022679 ms 
map prepare time 4.130832 ms
map corner num 145544  surf num 57523 
solver time 12.446232 ms 
data association time 21.990403 ms 
solver time 11.449336 ms 
optimization twice time 68.867153 
build tree time 51.168513 ms 
sort q time 5.722226 
seperate points time 13.394873 
mapping data assosiation time 25.049641 ms 
data association time 23.500761 ms 
solver time 12.665589 ms 
mapping data assosiation time 29.960974 ms 
solver time 12.375421 ms 
filter time 13.997836 ms 
data association time 13.714664 ms 
solver time 12.379383 ms 
data association time 14.532931 ms 
solver time 8.327357 ms 
optimization twice time 49.732476 
mapping solver time 17.030809 ms 
prepare time 13.373081 
sort q time 5.244316 
seperate points time 12.451509 
mapping data assosiation time 24.438821 ms 
scan registration time 30.615979 ms *************
mapping solver time 13.777444 ms 
filter time 12.285037 ms 
mapping pub time 1.256584 ms 
whole mapping time 135.532247 ms +++++
solver time 10.648583 ms 
map prepare time 3.565769 ms
map corner num 108098  surf num 42216 
data association time 15.245942 ms 
solver time 7.318854 ms 
publication time 8.790421 ms 
whole laserOdometry time 57.255518 ms 
 
mapping data assosiation time 31.348445 ms 
sort q time 4.796316 
seperate points time 11.479828 
data association time 14.271847 ms 
solver time 12.507031 ms 
filter time 8.700928 ms 
solver time 8.211575 ms 
publication time 11.428901 ms 
whole laserOdometry time 62.160948 ms 
 
build tree time 31.205784 ms 
sort q time 5.702946 
seperate points time 13.426445 
mapping data assosiation time 24.695416 ms 
data association time 14.782637 ms 
solver time 10.893430 ms 
data association time 14.534695 ms 
optimization twice time 50.064379 
mapping solver time 11.826726 ms 
filter time 10.366416 ms 
mapping pub time 1.254455 ms 
whole mapping time 121.363911 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.047374 ms
map corner num 109678  surf num 42721 
sort q time 5.111121 
seperate points time 12.455780 
build tree time 29.493757 ms 
data association time 14.689759 ms 
solver time 10.310214 ms 
data association time 15.065821 ms 
mapping solver time 15.736411 ms 
publication time 8.594313 ms 
whole laserOdometry time 57.987734 ms 
 
mapping data assosiation time 23.973791 ms 
points size 100482 
mapping solver time 13.771441 ms 
mapping optimization time 107.504214 
add points time 0.649362 ms
prepare time 15.189076 
filter time 12.440690 ms 
map prepare time 3.324715 ms
map corner num 110435  surf num 42990 
data association time 14.000468 ms 
solver time 10.452030 ms 
data association time 14.687293 ms 
mapping data assosiation time 22.815152 ms 
mapping solver time 14.886892 ms 
points size 101215 
mapping data assosiation time 22.987145 ms 
sort q time 6.149636 
seperate points time 14.382599 
filter time 8.652138 ms 
mapping pub time 1.278718 ms 
whole mapping time 120.124934 ms +++++
map prepare time 3.176038 ms
map corner num 111278  surf num 43430 
data association time 17.294150 ms 
solver time 12.607399 ms 
build tree time 29.923808 ms 
solver time 11.107049 ms 
publication time 9.384451 ms 
whole laserOdometry time 69.221497 ms 
 
points size 101939 
sort q time 4.984211 
seperate points time 12.308166 
mapping data assosiation time 23.654603 ms 
mapping solver time 13.671880 ms 
filter time 10.255282 ms 
data association time 14.604387 ms 
solver time 9.580952 ms 
publication time 10.764045 ms 
whole laserOdometry time 62.579632 ms 
 
points size 102153 
prepare time 15.925646 
mapping data assosiation time 28.567908 ms 
mapping solver time 17.642762 ms 
data association time 14.482235 ms 
solver time 9.765181 ms 
mapping data assosiation time 25.485975 ms 
data association time 15.022727 ms 
mapping optimization time 117.170911 
publication time 9.628976 ms 
whole laserOdometry time 57.599583 ms 
 
map prepare time 3.509801 ms
map corner num 112886  surf num 44276 
points size 102186 
sort q time 5.570162 
seperate points time 13.614353 
data association time 14.378428 ms 
mapping data assosiation time 26.430249 ms 
mapping solver time 18.534142 ms 
solver time 7.923489 ms 
mapping data assosiation time 26.171427 ms 
points size 101907 
prepare time 15.312737 
mapping solver time 13.937371 ms 
mapping optimization time 117.456696 
add points time 0.770664 ms
filter time 9.942587 ms 
map prepare time 3.773500 ms
map corner num 113650  surf num 44612 
scan registration time 34.341091 ms *************
data association time 14.151809 ms 
solver time 8.792228 ms 
data association time 14.404726 ms 
solver time 7.784281 ms 
optimization twice time 45.882509 
mapping solver time 16.052824 ms 
points size 101617 
prepare time 15.039088 
sort q time 4.611384 
seperate points time 10.939848 
mapping solver time 13.599690 ms 
filter time 9.601434 ms 
solver time 12.481016 ms 
data association time 16.319957 ms 
solver time 9.961207 ms 
publication time 10.833671 ms 
whole laserOdometry time 66.497028 ms 
 
points size 101447 
sort q time 5.164451 
seperate points time 12.210679 
mapping data assosiation time 29.286635 ms 
data association time 24.439328 ms 
solver time 15.459414 ms 
filter time 12.773914 ms 
mapping pub time 1.809986 ms 
whole mapping time 136.038112 ms +++++
data association time 23.313062 ms 
prepare time 16.240180 
sort q time 4.905486 
seperate points time 11.586974 
mapping data assosiation time 31.353223 ms 
solver time 16.103560 ms 
mapping solver time 25.253750 ms 
data association time 25.442769 ms 
prepare time 14.200024 
optimization twice time 82.227818 
sort q time 5.644808 
seperate points time 13.901049 
publication time 11.843996 ms 
whole laserOdometry time 94.091519 ms 
 
scan registration time 32.440776 ms *************
filter time 13.761747 ms 
map prepare time 3.988206 ms
map corner num 116002  surf num 45671 
data association time 24.240621 ms 
solver time 15.231715 ms 
build tree time 39.827803 ms 
data association time 24.834260 ms 
points size 97354 
solver time 13.912832 ms 
sort q time 4.711674 
seperate points time 11.882831 
mapping solver time 23.595887 ms 
solver time 17.234100 ms 
mapping data assosiation time 32.356606 ms 
data association time 24.202773 ms 
solver time 12.433676 ms 
prepare time 15.231032 
map prepare time 4.568191 ms
map corner num 116748  surf num 45975 
scan registration time 31.392892 ms *************
build tree time 35.027132 ms 
data association time 24.137793 ms 
solver time 17.387062 ms 
mapping data assosiation time 32.718382 ms 
data association time 24.502864 ms 
prepare time 13.844286 
sort q time 5.079952 
seperate points time 12.249968 
scan registration time 29.553689 ms *************
publication time 12.941421 ms 
whole laserOdometry time 92.846885 ms 
 
mapping data assosiation time 33.261468 ms 
data association time 24.701599 ms 
solver time 15.735766 ms 
filter time 12.724733 ms 
map prepare time 3.932421 ms
map corner num 117605  surf num 46309 
data association time 24.166007 ms 
solver time 11.552781 ms 
prepare time 14.203412 
publication time 11.181661 ms 
whole laserOdometry time 88.386673 ms 
 
sort q time 6.189456 
seperate points time 14.883405 
mapping data assosiation time 29.361923 ms 
data association time 24.233934 ms 
mapping solver time 20.471798 ms 
data association time 18.215193 ms 
mapping data assosiation time 30.693726 ms 
publication time 9.335299 ms 
whole laserOdometry time 74.867486 ms 
 
points size 95309 
mapping solver time 15.612130 ms 
filter time 11.650213 ms 
mapping pub time 25.626597 ms 
whole mapping time 179.483174 ms +++++
solver time 12.478990 ms 
data association time 16.252685 ms 
publication time 8.438439 ms 
whole laserOdometry time 63.116786 ms 
 
points size 95103 
mapping data assosiation time 26.202264 ms 
prepare time 17.748784 
sort q time 5.568576 
seperate points time 13.757615 
mapping data assosiation time 25.239601 ms 
solver time 12.358697 ms 
filter time 11.568337 ms 
mapping pub time 1.284751 ms 
whole mapping time 134.186460 ms +++++
data association time 15.753704 ms 
map prepare time 3.376490 ms
map corner num 119158  surf num 46958 
optimization twice time 54.609236 
publication time 9.691167 ms 
whole laserOdometry time 64.318839 ms 
 
points size 96438 
build tree time 36.862510 ms 
scan registration time 36.461058 ms *************
mapping data assosiation time 25.984644 ms 
data association time 17.625709 ms 
solver time 13.326871 ms 
data association time 17.759120 ms 
solver time 10.475625 ms 
add points time 0.721631 ms
prepare time 18.178963 
filter time 13.351037 ms 
sort q time 5.718516 
seperate points time 14.148502 
data association time 13.982038 ms 
solver time 12.196951 ms 
data association time 16.438528 ms 
solver time 7.824167 ms 
publication time 9.953223 ms 
whole laserOdometry time 61.271725 ms 
 
points size 99850 
prepare time 18.723239 
sort q time 5.996079 
seperate points time 14.293564 
mapping solver time 13.065968 ms 
mapping optimization time 112.100632 
add points time 0.987958 ms
scan registration time 38.575023 ms *************
filter time 10.733247 ms 
data association time 19.339630 ms 
solver time 9.922645 ms 
data association time 14.629836 ms 
optimization twice time 54.168526 
points size 98598 
mapping data assosiation time 26.958964 ms 
mapping solver time 16.252817 ms 
sort q time 5.850528 
seperate points time 14.521399 
scan registration time 37.105399 ms *************
mapping data assosiation time 24.870738 ms 
solver time 9.020897 ms 
mapping solver time 14.826284 ms 
mapping optimization time 119.663813 
add points time 0.528515 ms
data association time 19.825905 ms 
map prepare time 3.225094 ms
map corner num 121644  surf num 47663 
publication time 9.623153 ms 
whole laserOdometry time 65.325930 ms 
 
points size 97499 
build tree time 34.068613 ms 
sort q time 5.698787 
seperate points time 13.867182 
mapping data assosiation time 24.756895 ms 
data association time 14.201274 ms 
solver time 10.295680 ms 
mapping data assosiation time 23.244783 ms 
data association time 14.347732 ms 
mapping solver time 17.275928 ms 
points size 97436 
filter time 12.822701 ms 
prepare time 15.208948 
mapping pub time 3.000762 ms 
whole mapping time 137.998932 ms +++++
drop lidar frame in mapping for real time performance 
sort q time 5.298262 
seperate points time 12.860868 
build tree time 32.773342 ms 
solver time 13.521503 ms 
solver time 8.134688 ms 
publication time 11.517824 ms 
whole laserOdometry time 66.560899 ms 
 
points size 97485 
sort q time 5.746321 
seperate points time 13.335261 
mapping solver time 17.384436 ms 
data association time 15.888928 ms 
solver time 10.552885 ms 
data association time 14.687224 ms 
build tree time 33.971481 ms 
points size 96328 
sort q time 5.000869 
seperate points time 12.262489 
data association time 16.444489 ms 
solver time 11.877838 ms 
mapping solver time 15.662039 ms 
mapping optimization time 120.561652 
add points time 0.441809 ms
data association time 15.035171 ms 
mapping pub time 1.171121 ms 
whole mapping time 136.429923 ms +++++
publication time 10.332369 ms 
whole laserOdometry time 66.763401 ms 
 
points size 94727 
build tree time 41.941666 ms 
data association time 13.583733 ms 
solver time 13.000504 ms 
data association time 16.907859 ms 
solver time 10.307786 ms 
publication time 10.130946 ms 
whole laserOdometry time 64.969893 ms 
 
mapping optimization time 122.929647 
prepare time 17.231791 
drop lidar frame in mapping for real time performance 
map prepare time 4.121176 ms
map corner num 150203  surf num 55792 
sort q time 5.230432 
seperate points time 13.216769 
data association time 13.088975 ms 
solver time 13.518370 ms 
data association time 16.284217 ms 
solver time 9.868469 ms 
mapping solver time 15.337702 ms 
prepare time 17.442837 
sort q time 5.248743 
seperate points time 13.537442 
scan registration time 34.759897 ms *************
mapping data assosiation time 26.704001 ms 
mapping solver time 10.947694 ms 
data association time 15.565376 ms 
solver time 9.731299 ms 
data association time 14.113013 ms 
optimization twice time 48.431590 
publication time 8.695093 ms 
whole laserOdometry time 57.139146 ms 
 
build tree time 41.865276 ms 
points size 93930 
sort q time 5.424842 
seperate points time 13.340697 
mapping solver time 17.435417 ms 
data association time 14.787850 ms 
solver time 11.220022 ms 
mapping data assosiation time 22.971327 ms 
mapping solver time 10.440751 ms 
publication time 7.980832 ms 
whole laserOdometry time 57.738137 ms 
 
drop lidar frame in mapping for real time performance 
prepare time 17.540717 
sort q time 5.328437 
seperate points time 13.343365 
data association time 13.965420 ms 
mapping data assosiation time 22.456338 ms 
solver time 10.929656 ms 
mapping solver time 14.333173 ms 
solver time 7.672568 ms 
publication time 8.409574 ms 
whole laserOdometry time 55.586358 ms 
 
points size 92926 
mapping solver time 13.883329 ms 
sort q time 4.583210 
seperate points time 10.959156 
filter time 14.904997 ms 
mapping pub time 1.184516 ms 
whole mapping time 135.701908 ms +++++
map prepare time 4.197727 ms
map corner num 152261  surf num 56381 
data association time 13.793946 ms 
solver time 10.257610 ms 
data association time 14.564577 ms 
solver time 8.857015 ms 
publication time 8.497022 ms 
whole laserOdometry time 56.803622 ms 
 
mapping data assosiation time 25.821769 ms 
prepare time 15.201239 
sort q time 6.451869 
seperate points time 15.193911 
mapping solver time 12.006361 ms 
data association time 17.087767 ms 
filter time 12.089959 ms 
solver time 13.665829 ms 
data association time 14.381277 ms 
optimization twice time 57.454322 
publication time 10.485815 ms 
whole laserOdometry time 67.962397 ms 
 
prepare time 16.493140 
sort q time 4.818321 
seperate points time 11.643548 
mapping solver time 20.105806 ms 
data association time 25.799365 ms 
mapping data assosiation time 28.548679 ms 
mapping solver time 12.210315 ms 
filter time 11.335468 ms 
points size 95987 
sort q time 4.571040 
seperate points time 11.128496 
build tree time 40.222061 ms 
solver time 12.242999 ms 
mapping data assosiation time 23.887476 ms 
data association time 14.185709 ms 
solver time 10.147270 ms 
publication time 9.262385 ms 
whole laserOdometry time 60.504535 ms 
 
mapping data assosiation time 23.187244 ms 
points size 98283 
prepare time 14.280605 
mapping solver time 14.939370 ms 
scan registration time 30.233784 ms *************
filter time 16.872996 ms 
data association time 16.204353 ms 
solver time 12.579916 ms 
data association time 15.539211 ms 
solver time 7.742639 ms 
optimization twice time 52.890419 
build tree time 42.518714 ms 
mapping data assosiation time 24.189670 ms 
mapping solver time 14.147868 ms 
sort q time 6.050648 
seperate points time 14.340027 
mapping data assosiation time 22.124723 ms 
data association time 14.146617 ms 
solver time 13.685275 ms 
mapping pub time 3.111583 ms 
whole mapping time 138.951875 ms +++++
data association time 16.169996 ms 
solver time 10.669572 ms 
publication time 9.023433 ms 
whole laserOdometry time 64.560022 ms 
 
points size 99327 
build tree time 49.827890 ms 
sort q time 6.053490 
seperate points time 14.696282 
mapping data assosiation time 27.776161 ms 
mapping solver time 17.658368 ms 
data association time 14.086760 ms 
mapping data assosiation time 21.671053 ms 
mapping solver time 15.789540 ms 
prepare time 17.288239 
filter time 13.232401 ms 
scan registration time 35.511386 ms *************
data association time 14.862467 ms 
solver time 8.208765 ms 
build tree time 43.431996 ms 
data association time 15.506664 ms 
solver time 8.660982 ms 
publication time 8.577652 ms 
whole laserOdometry time 56.692321 ms 
 
mapping solver time 17.366901 ms 
prepare time 14.563540 
publication time 9.402752 ms 
whole laserOdometry time 58.111712 ms 
 
build tree time 39.248916 ms 
points size 100333 
mapping data assosiation time 23.476287 ms 
scan registration time 31.171033 ms *************
data association time 16.150990 ms 
mapping data assosiation time 21.967725 ms 
mapping solver time 12.957894 ms 
solver time 8.132440 ms 
publication time 10.746197 ms 
whole laserOdometry time 67.424283 ms 
 
points size 100618 
sort q time 4.889827 
seperate points time 11.614748 
data association time 13.893738 ms 
solver time 8.501129 ms 
mapping solver time 13.505211 ms 
data association time 17.703953 ms 
solver time 8.775325 ms 
publication time 10.718611 ms 
whole laserOdometry time 60.587310 ms 
 
points size 100557 
map prepare time 3.550816 ms
map corner num 158300  surf num 58010 
scan registration time 32.663839 ms *************
data association time 15.263291 ms 
solver time 11.109441 ms 
data association time 15.335480 ms 
solver time 10.031201 ms 
optimization twice time 52.611155 
mapping data assosiation time 24.624401 ms 
mapping solver time 14.139146 ms 
points size 100248 
mapping data assosiation time 23.981990 ms 
sort q time 4.538766 
seperate points time 10.983387 
scan registration time 31.666170 ms *************
filter time 12.513625 ms 
solver time 8.407724 ms 
data association time 14.845768 ms 
solver time 9.124687 ms 
optimization twice time 48.325166 
map prepare time 4.473612 ms
map corner num 159000  surf num 58212 
[0m[ INFO] [1718887106.008225628]: Received 509327 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887106.008262308]: Data saved to 1317357850660353.pcd[0m
points size 100187 
prepare time 15.308575 
scan registration time 32.167094 ms *************
data association time 16.319044 ms 
solver time 10.769453 ms 
mapping solver time 19.960164 ms 
solver time 8.042796 ms 
publication time 8.594477 ms 
whole laserOdometry time 60.670088 ms 
 
mapping solver time 10.182357 ms 
filter time 13.047263 ms 
scan registration time 33.083224 ms *************
data association time 22.910056 ms 
solver time 11.193710 ms 
build tree time 51.084981 ms 
data association time 15.133228 ms 
mapping data assosiation time 23.864470 ms 
points size 100206 
sort q time 6.076697 
seperate points time 13.984762 
mapping data assosiation time 23.064910 ms 
mapping solver time 11.264786 ms 
solver time 7.767433 ms 
filter time 13.868525 ms 
mapping pub time 1.310680 ms 
whole mapping time 146.313358 ms +++++
map prepare time 3.545235 ms
map corner num 160601  surf num 58691 
data association time 19.948043 ms 
solver time 7.715227 ms 
publication time 10.171885 ms 
whole laserOdometry time 61.552269 ms 
 
points size 100195 
sort q time 5.025827 
seperate points time 11.768793 
mapping solver time 14.463535 ms 
data association time 13.936050 ms 
solver time 11.973937 ms 
mapping solver time 12.166455 ms 
solver time 9.862995 ms 
publication time 11.251050 ms 
whole laserOdometry time 65.305113 ms 
 
points size 100800 
sort q time 5.616267 
seperate points time 13.055731 
build tree time 44.646974 ms 
data association time 22.088677 ms 
mapping data assosiation time 24.059341 ms 
mapping solver time 15.509708 ms 
data association time 22.267990 ms 
mapping data assosiation time 23.422726 ms 
publication time 10.673364 ms 
whole laserOdometry time 79.308348 ms 
 
sort q time 6.114817 
seperate points time 14.342306 
filter time 14.892281 ms 
data association time 22.623643 ms 
solver time 15.268154 ms 
build tree time 44.065915 ms 
data association time 22.502307 ms 
mapping data assosiation time 24.040419 ms 
solver time 11.447050 ms 
publication time 11.091682 ms 
whole laserOdometry time 83.994442 ms 
 
sort q time 5.924021 
seperate points time 14.122660 
mapping data assosiation time 23.582105 ms 
mapping solver time 13.378267 ms 
filter time 12.737191 ms 
map prepare time 3.278397 ms
map corner num 162597  surf num 59261 
solver time 7.766743 ms 
optimization twice time 52.598129 
points size 101630 
sort q time 4.985676 
seperate points time 11.559187 
mapping data assosiation time 22.112556 ms 
mapping solver time 15.633683 ms 
solver time 9.898683 ms 
data association time 14.555957 ms 
solver time 8.199230 ms 
publication time 9.838649 ms 
whole laserOdometry time 57.714571 ms 
 
points size 101035 
drop lidar frame in mapping for real time performance 
map prepare time 3.898678 ms
map corner num 77897  surf num 32806 
build tree time 21.212231 ms 
solver time 11.032503 ms 
data association time 14.774574 ms 
publication time 9.081183 ms 
whole laserOdometry time 60.758678 ms 
 
mapping data assosiation time 25.234245 ms 
mapping solver time 15.423588 ms 
filter time 8.195529 ms 
data association time 14.120346 ms 
build tree time 21.733081 ms 
data association time 13.654368 ms 
publication time 7.997705 ms 
whole laserOdometry time 55.881206 ms 
 
points size 99463 
mapping data assosiation time 23.717685 ms 
mapping solver time 14.122219 ms 
data association time 16.035704 ms 
solver time 10.709697 ms 
data association time 15.317732 ms 
build tree time 21.782131 ms 
publication time 9.127095 ms 
whole laserOdometry time 61.029776 ms 
 
points size 94428 
sort q time 4.978948 
seperate points time 11.621775 
mapping data assosiation time 23.330759 ms 
mapping solver time 14.431792 ms 
mapping optimization time 101.242823 
add points time 0.588945 ms
map prepare time 2.772965 ms
map corner num 80024  surf num 33402 
solver time 15.738637 ms 
build tree time 25.108103 ms 
data association time 20.969347 ms 
solver time 11.881315 ms 
optimization twice time 70.901180 
points size 88820 
mapping data assosiation time 23.219496 ms 
prepare time 14.074430 
sort q time 4.398971 
seperate points time 10.706256 
data association time 20.003830 ms 
mapping solver time 13.205079 ms 
filter time 9.232107 ms 
data association time 20.637762 ms 
solver time 11.555299 ms 
build tree time 27.505325 ms 
points size 84896 
prepare time 18.110548 
sort q time 5.499602 
seperate points time 13.860017 
mapping data assosiation time 28.819650 ms 
scan registration time 37.068331 ms *************
mapping solver time 18.759873 ms 
data association time 22.025804 ms 
mapping data assosiation time 28.109560 ms 
solver time 17.584307 ms 
mapping solver time 19.182188 ms 
filter time 9.338135 ms 
mapping pub time 1.466974 ms 
whole mapping time 138.866171 ms +++++
points size 81113 
map prepare time 3.275885 ms
map corner num 81295  surf num 33710 
prepare time 15.114479 
solver time 11.986459 ms 
optimization twice time 73.157394 
publication time 9.379284 ms 
whole laserOdometry time 82.564707 ms 
 
build tree time 28.040154 ms 
data association time 22.010106 ms 
mapping data assosiation time 27.569418 ms 
solver time 16.961181 ms 
mapping solver time 22.213732 ms 
solver time 13.537234 ms 
optimization twice time 74.014754 
points size 77576 
prepare time 12.689199 
sort q time 3.997222 
seperate points time 9.968850 
mapping solver time 16.124555 ms 
filter time 8.835655 ms 
build tree time 25.091188 ms 
data association time 13.813210 ms 
publication time 6.416794 ms 
whole laserOdometry time 64.031788 ms 
 
points size 74031 
sort q time 3.061545 
seperate points time 7.567722 
mapping solver time 12.234415 ms 
filter time 7.146312 ms 
data association time 12.075979 ms 
solver time 7.893729 ms 
publication time 7.275887 ms 
whole laserOdometry time 50.027215 ms 
 
mapping data assosiation time 19.507479 ms 
points size 73642 
mapping solver time 15.319855 ms 
prepare time 12.007849 
scan registration time 24.846492 ms *************
mapping solver time 11.614019 ms 
data association time 12.938197 ms 
filter time 8.482194 ms 
data association time 12.551296 ms 
solver time 8.323598 ms 
mapping data assosiation time 20.163471 ms 
points size 77710 
mapping solver time 16.190523 ms 
sort q time 3.974437 
seperate points time 9.569549 
mapping data assosiation time 20.889061 ms 
data association time 14.119614 ms 
filter time 6.562366 ms 
data association time 13.935219 ms 
solver time 8.333334 ms 
optimization twice time 49.518503 
build tree time 20.990288 ms 
mapping data assosiation time 20.902666 ms 
prepare time 14.101357 
sort q time 4.889350 
seperate points time 11.879684 
mapping data assosiation time 20.168539 ms 
data association time 13.786573 ms 
mapping solver time 12.462413 ms 
mapping optimization time 91.943840 
add points time 0.544255 ms
data association time 13.235794 ms 
solver time 8.045060 ms 
publication time 7.638162 ms 
whole laserOdometry time 55.023611 ms 
 
mapping data assosiation time 22.948400 ms 
points size 85962 
prepare time 14.061601 
mapping solver time 17.528232 ms 
scan registration time 32.204851 ms *************
mapping data assosiation time 22.566808 ms 
mapping solver time 14.525779 ms 
filter time 7.456386 ms 
data association time 14.012102 ms 
publication time 8.050039 ms 
whole laserOdometry time 55.897519 ms 
 
points size 89905 
mapping data assosiation time 23.298371 ms 
mapping solver time 16.775527 ms 
data association time 14.178833 ms 
solver time 10.127596 ms 
data association time 15.449892 ms 
filter time 7.024115 ms 
points size 95392 
sort q time 5.149776 
seperate points time 12.033880 
mapping data assosiation time 24.250979 ms 
mapping solver time 14.848784 ms 
solver time 10.291849 ms 
mapping data assosiation time 21.691895 ms 
solver time 8.390368 ms 
publication time 8.414771 ms 
whole laserOdometry time 55.875018 ms 
 
map prepare time 3.222209 ms
map corner num 86583  surf num 34968 
points size 96553 
build tree time 23.926201 ms 
sort q time 4.360643 
seperate points time 10.906981 
scan registration time 28.982383 ms *************
mapping data assosiation time 21.774496 ms 
data association time 14.801634 ms 
solver time 11.827604 ms 
data association time 16.529534 ms 
mapping data assosiation time 23.288304 ms 
publication time 9.960941 ms 
whole laserOdometry time 64.846384 ms 
 
mapping solver time 12.606918 ms 
filter time 7.434883 ms 
prepare time 14.485284 
sort q time 4.723886 
seperate points time 12.152403 
mapping pub time 33.784845 ms 
whole mapping time 143.786940 ms +++++
[0m[ INFO] [1718887108.555027507]: Received 526719 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887108.555070508]: Data saved to 1317357853255851.pcd[0m
build tree time 30.329019 ms 
data association time 22.490061 ms 
mapping solver time 17.420458 ms 
sort q time 5.505828 
seperate points time 14.029416 
mapping solver time 14.984311 ms 
data association time 15.601145 ms 
filter time 9.548039 ms 
mapping pub time 1.204252 ms 
whole mapping time 126.978308 ms +++++
data association time 16.501660 ms 
build tree time 23.687680 ms 
publication time 9.562768 ms 
whole laserOdometry time 63.079415 ms 
 
mapping data assosiation time 27.236141 ms 
points size 94485 
sort q time 5.504941 
seperate points time 13.547186 
data association time 15.290927 ms 
solver time 10.849457 ms 
filter time 6.849802 ms 
solver time 7.803531 ms 
publication time 9.884895 ms 
whole laserOdometry time 60.527569 ms 
 
points size 93711 
sort q time 4.656806 
seperate points time 11.065248 
mapping data assosiation time 24.327448 ms 
mapping solver time 20.976858 ms 
data association time 23.573744 ms 
mapping data assosiation time 27.498212 ms 
data association time 14.392320 ms 
publication time 8.962522 ms 
whole laserOdometry time 70.286429 ms 
 
sort q time 5.524198 
seperate points time 13.324892 
build tree time 28.280845 ms 
data association time 14.583138 ms 
solver time 8.660051 ms 
data association time 16.251266 ms 
solver time 10.128069 ms 
publication time 9.827194 ms 
whole laserOdometry time 60.369440 ms 
 
mapping data assosiation time 26.860799 ms 
prepare time 19.131591 
mapping solver time 19.052368 ms 
scan registration time 37.033943 ms *************
data association time 14.192384 ms 
build tree time 24.067526 ms 
data association time 13.176218 ms 
solver time 8.069051 ms 
publication time 9.995788 ms 
whole laserOdometry time 59.049967 ms 
 
points size 90131 
sort q time 5.970506 
seperate points time 14.713228 
mapping solver time 12.818570 ms 
data association time 15.006279 ms 
solver time 11.550403 ms 
data association time 14.723604 ms 
build tree time 24.538479 ms 
publication time 8.641329 ms 
whole laserOdometry time 59.100666 ms 
 
points size 89575 
sort q time 4.626863 
seperate points time 11.168927 
data association time 13.732275 ms 
mapping solver time 9.576789 ms 
filter time 9.636300 ms 
data association time 19.217006 ms 
solver time 10.017580 ms 
build tree time 26.960313 ms 
prepare time 14.753187 
sort q time 5.228140 
seperate points time 12.450543 
mapping solver time 14.096856 ms 
solver time 10.361277 ms 
data association time 14.636786 ms 
add points time 0.515525 ms
filter time 8.843742 ms 
points size 88524 
build tree time 30.662707 ms 
sort q time 5.527244 
seperate points time 13.062045 
mapping data assosiation time 24.007494 ms 
mapping solver time 15.072565 ms 
data association time 14.686182 ms 
solver time 7.972868 ms 
publication time 8.311655 ms 
whole laserOdometry time 56.590500 ms 
 
filter time 8.691909 ms 
sort q time 4.489146 
seperate points time 10.665401 
build tree time 24.654412 ms 
data association time 21.686770 ms 
solver time 14.928039 ms 
mapping solver time 14.471109 ms 
data association time 22.036366 ms 
solver time 11.689523 ms 
prepare time 15.681866 
sort q time 4.575988 
seperate points time 11.211077 
build tree time 25.301511 ms 
data association time 21.827052 ms 
mapping data assosiation time 23.509238 ms 
mapping solver time 18.222064 ms 
solver time 9.933714 ms 
mapping solver time 12.166228 ms 
filter time 8.921902 ms 
data association time 14.393266 ms 
build tree time 26.891141 ms 
solver time 8.779329 ms 
publication time 10.325039 ms 
whole laserOdometry time 58.264353 ms 
 
mapping solver time 14.024660 ms 
points size 92696 
prepare time 14.938763 
scan registration time 30.485406 ms *************
filter time 8.109220 ms 
solver time 10.621481 ms 
data association time 13.820971 ms 
solver time 8.397958 ms 
publication time 7.777112 ms 
whole laserOdometry time 54.828002 ms 
 
mapping data assosiation time 23.920306 ms 
mapping solver time 15.471184 ms 
scan registration time 30.864776 ms *************
mapping solver time 13.861025 ms 
filter time 7.899039 ms 
solver time 13.321303 ms 
data association time 13.952957 ms 
solver time 9.756346 ms 
publication time 9.805653 ms 
whole laserOdometry time 66.491899 ms 
 
mapping data assosiation time 24.793629 ms 
prepare time 13.695979 
mapping solver time 16.036258 ms 
scan registration time 31.368063 ms *************
mapping data assosiation time 24.254517 ms 
mapping solver time 12.407541 ms 
filter time 8.558813 ms 
data association time 17.382695 ms 
solver time 9.790422 ms 
publication time 9.365686 ms 
whole laserOdometry time 60.239477 ms 
 
points size 92470 
mapping data assosiation time 23.644730 ms 
sort q time 5.343513 
seperate points time 13.012600 
data association time 13.588527 ms 
solver time 12.581676 ms 
filter time 7.649044 ms 
solver time 9.241321 ms 
optimization twice time 53.330074 
build tree time 27.182250 ms 
points size 91792 
prepare time 13.877518 
sort q time 4.546701 
seperate points time 11.132971 
mapping solver time 13.896641 ms 
data association time 13.128350 ms 
solver time 9.952701 ms 
data association time 13.161660 ms 
solver time 8.454568 ms 
publication time 8.844163 ms 
whole laserOdometry time 54.465335 ms 
 
points size 88710 
sort q time 3.800408 
seperate points time 9.305513 
scan registration time 27.533417 ms *************
mapping data assosiation time 23.256925 ms 
mapping solver time 14.232127 ms 
solver time 10.042691 ms 
data association time 14.055185 ms 
solver time 7.872324 ms 
publication time 8.237052 ms 
whole laserOdometry time 55.871774 ms 
 
filter time 10.199111 ms 
points size 86052 
prepare time 13.995332 
sort q time 5.110435 
seperate points time 12.389785 
data association time 14.281914 ms 
mapping data assosiation time 21.430637 ms 
mapping solver time 15.293999 ms 
data association time 14.495032 ms 
solver time 7.664450 ms 
optimization twice time 48.668583 
mapping data assosiation time 23.546677 ms 
mapping optimization time 104.127614 
prepare time 13.098933 
map prepare time 2.887975 ms
map corner num 99018  surf num 39479 
data association time 13.875981 ms 
solver time 10.706875 ms 
mapping data assosiation time 21.308567 ms 
data association time 14.391026 ms 
mapping solver time 14.834223 ms 
mapping data assosiation time 24.061403 ms 
points size 82155 
sort q time 3.762995 
seperate points time 9.038829 
filter time 8.882847 ms 
scan registration time 26.667112 ms *************
mapping pub time 1.350523 ms 
whole mapping time 112.856844 ms +++++
data association time 13.795039 ms 
solver time 10.452385 ms 
data association time 14.477999 ms 
mapping data assosiation time 21.518523 ms 
publication time 7.044102 ms 
whole laserOdometry time 54.846915 ms 
 
mapping data assosiation time 20.239781 ms 
points size 78580 
prepare time 12.096683 
sort q time 3.710616 
seperate points time 8.896586 
mapping pub time 1.012403 ms 
whole mapping time 104.749565 ms +++++
map prepare time 2.594066 ms
map corner num 100404  surf num 39925 
data association time 13.248279 ms 
build tree time 25.304101 ms 
solver time 12.305689 ms 
data association time 12.790436 ms 
solver time 9.406089 ms 
publication time 7.298694 ms 
whole laserOdometry time 56.039486 ms 
 
mapping solver time 11.939824 ms 
points size 74195 
mapping solver time 9.527192 ms 
filter time 9.761456 ms 
data association time 16.759272 ms 
solver time 13.127106 ms 
map prepare time 3.075061 ms
map corner num 100995  surf num 40081 
data association time 19.974926 ms 
solver time 9.984055 ms 
points size 73275 
mapping data assosiation time 21.477753 ms 
prepare time 14.758044 
sort q time 4.100915 
seperate points time 10.251675 
data association time 11.974470 ms 
solver time 13.587804 ms 
mapping solver time 12.033910 ms 
mapping optimization time 100.233211 
add points time 0.487075 ms
map prepare time 2.378189 ms
map corner num 101631  surf num 40255 
build tree time 30.113285 ms 
prepare time 11.126522 
sort q time 3.811667 
seperate points time 9.129255 
mapping solver time 12.454641 ms 
solver time 15.707911 ms 
mapping data assosiation time 22.230327 ms 
mapping solver time 8.489924 ms 
solver time 11.548374 ms 
points size 77379 
sort q time 3.486481 
seperate points time 8.418592 
mapping data assosiation time 24.276636 ms 
mapping solver time 15.245013 ms 
data association time 13.489525 ms 
publication time 7.560300 ms 
whole laserOdometry time 54.783848 ms 
 
filter time 8.195796 ms 
points size 77924 
prepare time 12.591522 
sort q time 4.355923 
seperate points time 10.204146 
data association time 14.241298 ms 
solver time 12.792189 ms 
data association time 12.903096 ms 
solver time 10.757615 ms 
mapping solver time 12.194534 ms 
filter time 9.490652 ms 
prepare time 12.813820 
sort q time 5.161812 
seperate points time 12.047755 
scan registration time 28.102482 ms *************
build tree time 26.039969 ms 
data association time 15.891213 ms 
solver time 14.984007 ms 
data association time 14.939823 ms 
mapping data assosiation time 20.820778 ms 
mapping solver time 13.380458 ms 
prepare time 13.733161 
sort q time 4.208858 
seperate points time 10.267268 
data association time 13.205009 ms 
solver time 13.930052 ms 
data association time 15.701860 ms 
solver time 9.965630 ms 
mapping data assosiation time 20.432926 ms 
points size 82338 
sort q time 3.969152 
seperate points time 9.712371 
data association time 21.750360 ms 
solver time 15.179550 ms 
mapping solver time 15.837312 ms 
solver time 11.778166 ms 
mapping data assosiation time 20.677102 ms 
points size 80845 
sort q time 3.965796 
seperate points time 9.463819 
mapping solver time 14.147518 ms 
mapping optimization time 97.849416 
add points time 0.554225 ms
scan registration time 26.386421 ms *************
map prepare time 2.545759 ms
map corner num 105449  surf num 41233 
data association time 19.905706 ms 
build tree time 26.774539 ms 
solver time 18.790455 ms 
mapping data assosiation time 21.602716 ms 
mapping solver time 13.898925 ms 
points size 77679 
publication time 8.798448 ms 
whole laserOdometry time 84.011576 ms 
 
prepare time 13.070867 
scan registration time 25.705333 ms *************
add points time 0.580252 ms
filter time 9.325746 ms 
solver time 12.767311 ms 
data association time 12.719655 ms 
optimization twice time 48.894926 
mapping data assosiation time 23.261637 ms 
points size 77676 
sort q time 4.398190 
seperate points time 11.098518 
mapping data assosiation time 23.348555 ms 
mapping solver time 11.851008 ms 
mapping optimization time 103.670392 
add points time 0.457458 ms
map prepare time 2.615853 ms
map corner num 106700  surf num 41605 
data association time 19.616470 ms 
mapping solver time 19.057659 ms 
mapping pub time 2.155525 ms 
whole mapping time 136.515418 ms +++++
data association time 20.234214 ms 
map prepare time 2.386063 ms
map corner num 107295  surf num 41798 
solver time 15.550650 ms 
sort q time 3.927329 
seperate points time 9.432952 
mapping data assosiation time 20.815723 ms 
mapping solver time 14.852569 ms 
solver time 15.295303 ms 
mapping solver time 12.424597 ms 
filter time 9.959607 ms 
points size 77820 
sort q time 3.834588 
seperate points time 9.462230 
build tree time 30.685062 ms 
data association time 21.398125 ms 
solver time 14.961457 ms 
data association time 21.067796 ms 
solver time 11.438989 ms 
publication time 8.509874 ms 
whole laserOdometry time 78.492462 ms 
 
drop lidar frame in mapping for real time performance 
data association time 13.671274 ms 
build tree time 29.613179 ms 
data association time 13.262226 ms 
solver time 8.410216 ms 
optimization twice time 45.200023 
mapping data assosiation time 19.320791 ms 
points size 80538 
filter time 9.560217 ms 
data association time 13.181240 ms 
solver time 11.283682 ms 
mapping data assosiation time 19.758358 ms 
solver time 9.233217 ms 
optimization twice time 48.512979 
mapping solver time 14.086545 ms 
mapping data assosiation time 20.802723 ms 
mapping solver time 16.994306 ms 
filter time 8.331730 ms 
mapping pub time 1.310950 ms 
whole mapping time 105.547878 ms +++++
sort q time 4.835842 
seperate points time 11.921995 
map prepare time 2.953451 ms
map corner num 78357  surf num 29553 
data association time 12.776798 ms 
solver time 10.259807 ms 
data association time 12.467312 ms 
solver time 8.507997 ms 
publication time 6.869432 ms 
mapping solver time 15.065070 ms 
whole laserOdometry time 51.700672 ms 
 
mapping data assosiation time 22.005573 ms 
points size 89173 
mapping solver time 17.466867 ms 
mapping pub time 2.656101 ms 
whole mapping time 112.828978 ms +++++
data association time 12.528857 ms 
solver time 10.903491 ms 
mapping data assosiation time 18.646644 ms 
solver time 8.006407 ms 
optimization twice time 45.353115 
mapping solver time 14.999999 ms 
mapping data assosiation time 24.309975 ms 
mapping solver time 17.404345 ms 
filter time 7.337083 ms 
data association time 13.809632 ms 
build tree time 18.342541 ms 
mapping data assosiation time 18.647808 ms 
solver time 7.935605 ms 
publication time 7.939580 ms 
whole laserOdometry time 56.077766 ms 
 
points size 94664 
sort q time 4.738513 
seperate points time 10.820993 
filter time 6.915993 ms 
data association time 13.174494 ms 
build tree time 18.526401 ms 
data association time 13.038758 ms 
solver time 7.858561 ms 
publication time 7.335732 ms 
whole laserOdometry time 54.535259 ms 
 
mapping solver time 15.516282 ms 
points size 96530 
mapping data assosiation time 19.603216 ms 
prepare time 10.861065 
mapping solver time 11.726281 ms 
filter time 8.711202 ms 
data association time 14.639108 ms 
solver time 7.499081 ms 
data association time 13.174876 ms 
solver time 7.750078 ms 
publication time 7.016161 ms 
whole laserOdometry time 50.910445 ms 
 
mapping solver time 11.526271 ms 
mapping data assosiation time 19.429277 ms 
points size 97259 
prepare time 11.258612 
sort q time 5.654839 
seperate points time 12.925693 
map prepare time 3.385445 ms
map corner num 81353  surf num 30517 
build tree time 26.246562 ms 
solver time 17.154187 ms 
data association time 23.068340 ms 
points size 96519 
solver time 12.655824 ms 
optimization twice time 76.555688 
prepare time 15.304232 
mapping data assosiation time 24.461861 ms 
mapping solver time 11.268046 ms 
filter time 6.339727 ms 
solver time 10.416252 ms 
data association time 14.290698 ms 
map prepare time 3.453236 ms
map corner num 81930  surf num 30705 
publication time 7.356517 ms 
whole laserOdometry time 59.387921 ms 
 
points size 95120 
sort q time 4.373991 
seperate points time 10.302783 
mapping data assosiation time 25.506914 ms 
data association time 14.713605 ms 
mapping solver time 20.298327 ms 
data association time 13.818473 ms 
solver time 8.265492 ms 
publication time 7.584847 ms 
whole laserOdometry time 56.660942 ms 
 
filter time 8.802560 ms 
prepare time 14.661615 
sort q time 5.091872 
seperate points time 11.711253 
build tree time 27.583030 ms 
data association time 14.683057 ms 
solver time 11.082624 ms 
mapping data assosiation time 25.019919 ms 
data association time 15.016592 ms 
solver time 9.176556 ms 
publication time 9.289429 ms 
whole laserOdometry time 60.110467 ms 
 
mapping data assosiation time 25.723831 ms 
points size 92964 
prepare time 14.394888 
add points time 0.650097 ms
sort q time 5.071311 
seperate points time 11.937178 
map prepare time 3.165353 ms
map corner num 82986  surf num 31105 
data association time 17.224393 ms 
build tree time 27.655323 ms 
data association time 13.870730 ms 
solver time 8.561999 ms 
publication time 7.555230 ms 
whole laserOdometry time 64.600692 ms 
 
mapping solver time 19.529041 ms 
points size 91774 
sort q time 5.021153 
seperate points time 11.545446 
scan registration time 30.029194 ms *************
mapping data assosiation time 25.285087 ms 
mapping solver time 16.317836 ms 
mapping optimization time 115.270652 
add points time 0.469298 ms
data association time 13.028226 ms 
mapping pub time 1.451377 ms 
whole mapping time 129.125959 ms +++++
data association time 17.633904 ms 
solver time 8.805945 ms 
optimization twice time 51.980135 
build tree time 28.152166 ms 
points size 91160 
sort q time 4.435540 
seperate points time 10.366405 
scan registration time 25.613257 ms *************
data association time 13.999850 ms 
mapping data assosiation time 25.290085 ms 
mapping solver time 15.615275 ms 
mapping optimization time 112.041074 
add points time 0.499026 ms
data association time 14.078972 ms 
map prepare time 3.074732 ms
map corner num 84268  surf num 31736 
points size 91101 
build tree time 28.357867 ms 
prepare time 13.883332 
sort q time 4.765413 
seperate points time 11.040069 
mapping data assosiation time 22.634816 ms 
mapping solver time 13.363163 ms 
data association time 14.347434 ms 
solver time 10.929037 ms 
mapping solver time 8.276730 ms 
mapping optimization time 93.893495 
add points time 0.557475 ms
data association time 13.969618 ms 
map prepare time 2.914456 ms
map corner num 84822  surf num 32026 
build tree time 23.810003 ms 
prepare time 17.675417 
sort q time 5.122195 
seperate points time 12.585527 
mapping solver time 13.794943 ms 
data association time 13.897913 ms 
solver time 7.948897 ms 
mapping data assosiation time 20.653389 ms 
data association time 13.321972 ms 
solver time 9.214485 ms 
map prepare time 2.708699 ms
map corner num 85374  surf num 32316 
points size 89463 
prepare time 13.396609 
build tree time 23.909395 ms 
scan registration time 28.422949 ms *************
data association time 15.357624 ms 
solver time 12.956953 ms 
mapping data assosiation time 20.203418 ms 
mapping solver time 10.707055 ms 
mapping pub time 1.098842 ms 
whole mapping time 105.706430 ms +++++
points size 89989 
build tree time 24.684626 ms 
mapping data assosiation time 27.381365 ms 
data association time 23.285041 ms 
mapping solver time 21.076082 ms 
data association time 24.803987 ms 
solver time 12.567882 ms 
publication time 9.390793 ms 
whole laserOdometry time 83.675654 ms 
 
mapping pub time 1.418531 ms 
whole mapping time 134.982635 ms +++++
data association time 13.804130 ms 
build tree time 22.560220 ms 
solver time 11.530801 ms 
mapping data assosiation time 25.555606 ms 
solver time 8.541953 ms 
optimization twice time 48.644883 
points size 91612 
sort q time 4.953344 
seperate points time 11.612850 
filter time 8.952494 ms 
data association time 13.799800 ms 
solver time 9.060690 ms 
data association time 13.589092 ms 
solver time 8.175259 ms 
publication time 7.686979 ms 
whole laserOdometry time 53.095045 ms 
 
mapping solver time 17.435469 ms 
points size 91794 
mapping data assosiation time 23.266620 ms 
sort q time 5.321593 
seperate points time 12.748110 
mapping solver time 14.269533 ms 
filter time 10.316527 ms 
data association time 19.465450 ms 
solver time 9.976444 ms 
build tree time 23.756497 ms 
solver time 7.742163 ms 
publication time 7.601278 ms 
whole laserOdometry time 60.215638 ms 
 
points size 90650 
mapping solver time 12.841766 ms 
prepare time 17.495490 
sort q time 5.370487 
seperate points time 12.633635 
scan registration time 34.641941 ms *************
data association time 13.695902 ms 
mapping solver time 11.823594 ms 
mapping optimization time 101.700057 
add points time 0.439828 ms
mapping pub time 1.079559 ms 
whole mapping time 114.567984 ms +++++
data association time 13.962334 ms 
build tree time 24.500910 ms 
points size 90534 
mapping solver time 14.474659 ms 
data association time 13.460063 ms 
mapping solver time 10.219792 ms 
filter time 9.004614 ms 
publication time 7.406835 ms 
whole laserOdometry time 51.894224 ms 
 
build tree time 23.817930 ms 
points size 90426 
sort q time 4.512886 
seperate points time 10.408609 
mapping data assosiation time 23.182740 ms 
scan registration time 27.753225 ms *************
data association time 13.207884 ms 
mapping data assosiation time 23.312211 ms 
data association time 12.344794 ms 
mapping solver time 14.016027 ms 
filter time 8.436334 ms 
points size 90615 
prepare time 14.278020 
build tree time 23.735888 ms 
sort q time 4.348408 
seperate points time 10.337580 
mapping data assosiation time 26.595190 ms 
data association time 12.993657 ms 
solver time 10.971582 ms 
data association time 13.381535 ms 
solver time 8.224501 ms 
optimization twice time 46.447761 
mapping data assosiation time 25.102232 ms 
mapping solver time 13.305466 ms 
filter time 9.694714 ms 
scan registration time 28.818380 ms *************
data association time 13.182715 ms 
mapping data assosiation time 23.251919 ms 
solver time 10.383772 ms 
data association time 13.218710 ms 
solver time 8.380303 ms 
publication time 7.734732 ms 
whole laserOdometry time 53.751873 ms 
 
mapping data assosiation time 24.887253 ms 
points size 92825 
filter time 7.332979 ms 
scan registration time 28.167297 ms *************
build tree time 24.054574 ms 
data association time 14.003622 ms 
solver time 9.932028 ms 
data association time 15.880710 ms 
solver time 10.349352 ms 
points size 93109 
mapping data assosiation time 27.908643 ms 
scan registration time 32.050672 ms *************
filter time 7.389481 ms 
solver time 10.865457 ms 
build tree time 23.923318 ms 
solver time 9.854246 ms 
publication time 7.983604 ms 
whole laserOdometry time 57.602721 ms 
 
points size 93394 
sort q time 4.010493 
seperate points time 9.551743 
scan registration time 28.087050 ms *************
mapping data assosiation time 26.590937 ms 
mapping solver time 13.653658 ms 
mapping optimization time 109.805145 
add points time 0.560222 ms
solver time 11.193149 ms 
data association time 19.120140 ms 
publication time 8.608549 ms 
whole laserOdometry time 65.678074 ms 
 
points size 94027 
prepare time 14.164664 
sort q time 5.769198 
seperate points time 13.216728 
mapping solver time 18.366964 ms 
data association time 16.175337 ms 
solver time 14.522140 ms 
data association time 16.141629 ms 
mapping solver time 14.737910 ms 
mapping optimization time 115.083089 
add points time 0.520803 ms
filter time 7.291833 ms 
publication time 10.144245 ms 
whole laserOdometry time 69.621693 ms 
 
points size 94664 
sort q time 4.193986 
seperate points time 9.801309 
mapping data assosiation time 28.407434 ms 
data association time 15.508089 ms 
mapping solver time 20.334654 ms 
data association time 14.595193 ms 
solver time 8.407354 ms 
optimization twice time 49.725305 
mapping data assosiation time 26.872799 ms 
mapping solver time 16.422857 ms 
filter time 9.348730 ms 
sort q time 4.838861 
seperate points time 11.790231 
build tree time 23.612974 ms 
data association time 15.679567 ms 
solver time 11.879029 ms 
mapping data assosiation time 28.688722 ms 
data association time 19.077125 ms 
mapping solver time 17.009547 ms 
points size 96746 
sort q time 5.530352 
seperate points time 13.469653 
filter time 8.484242 ms 
data association time 15.103449 ms 
solver time 10.913496 ms 
mapping pub time 36.297453 ms 
whole mapping time 170.125617 ms +++++
data association time 19.331630 ms 
optimization twice time 55.301261 
publication time 9.089963 ms 
whole laserOdometry time 64.410626 ms 
 
sort q time 6.345422 
seperate points time 15.316700 
scan registration time 39.757040 ms *************
mapping data assosiation time 33.597312 ms 
data association time 15.261378 ms 
mapping solver time 17.865432 ms 
solver time 11.675438 ms 
data association time 14.524545 ms 
mapping data assosiation time 27.520057 ms 
publication time 9.600616 ms 
whole laserOdometry time 64.360950 ms 
 
points size 98699 
filter time 10.952594 ms 
sort q time 5.858731 
seperate points time 14.484993 
build tree time 25.379867 ms 
solver time 9.911681 ms 
mapping data assosiation time 28.818133 ms 
solver time 9.529316 ms 
mapping solver time 20.025948 ms 
points size 99228 
mapping data assosiation time 29.827776 ms 
mapping solver time 18.020366 ms 
filter time 9.052418 ms 
solver time 15.754058 ms 
build tree time 23.103339 ms 
solver time 10.343067 ms 
publication time 10.894177 ms 
whole laserOdometry time 73.419434 ms 
 
sort q time 5.940723 
seperate points time 14.285765 
mapping solver time 18.907868 ms 
scan registration time 38.119238 ms *************
data association time 15.298547 ms 
solver time 13.508730 ms 
filter time 9.297273 ms 
solver time 9.064095 ms 
points size 100050 
publication time 11.336105 ms 
whole laserOdometry time 69.095755 ms 
 
prepare time 15.261584 
sort q time 5.744884 
seperate points time 13.118768 
mapping data assosiation time 30.781429 ms 
data association time 15.845382 ms 
mapping solver time 18.887923 ms 
data association time 15.140367 ms 
solver time 8.688318 ms 
publication time 9.318169 ms 
whole laserOdometry time 60.024836 ms 
 
mapping solver time 14.761720 ms 
filter time 10.496303 ms 
sort q time 5.839785 
seperate points time 13.974324 
build tree time 25.931011 ms 
solver time 17.545648 ms 
mapping solver time 17.555352 ms 
points size 100995 
sort q time 4.968050 
seperate points time 11.677475 
mapping solver time 8.834259 ms 
filter time 11.264361 ms 
data association time 26.106758 ms 
solver time 14.906887 ms 
build tree time 27.749113 ms 
data association time 25.948519 ms 
prepare time 16.083050 
mapping data assosiation time 34.538082 ms 
publication time 11.433800 ms 
whole laserOdometry time 94.518458 ms 
 
mapping solver time 22.566021 ms 
data association time 25.802769 ms 
mapping data assosiation time 30.804090 ms 
solver time 18.300992 ms 
mapping solver time 19.212938 ms 
filter time 10.679145 ms 
solver time 15.149925 ms 
publication time 11.319009 ms 
whole laserOdometry time 97.549140 ms 
 
data association time 25.874247 ms 
solver time 18.263671 ms 
data association time 26.264127 ms 
solver time 15.242730 ms 
publication time 11.941047 ms 
whole laserOdometry time 98.609436 ms 
 
mapping data assosiation time 38.079052 ms 
mapping solver time 14.402429 ms 
mapping optimization time 153.618788 
add points time 0.644204 ms
filter time 9.972798 ms 
mapping pub time 1.245149 ms 
whole mapping time 169.521469 ms +++++
drop lidar frame in mapping for real time performance 
solver time 15.255460 ms 
build tree time 26.956286 ms 
points size 102482 
publication time 11.055144 ms 
whole laserOdometry time 85.100159 ms 
 
data association time 23.223320 ms 
solver time 17.861332 ms 
mapping data assosiation time 31.725827 ms 
mapping optimization time 128.901123 
filter time 10.137641 ms 
publication time 11.414925 ms 
whole laserOdometry time 92.202545 ms 
 
build tree time 28.252199 ms 
data association time 25.872263 ms 
mapping data assosiation time 31.051393 ms 
mapping solver time 21.104356 ms 
data association time 25.959685 ms 
prepare time 14.691205 
mapping data assosiation time 34.159900 ms 
mapping solver time 20.733626 ms 
mapping optimization time 137.442865 
add points time 0.629536 ms
map prepare time 3.369425 ms
map corner num 102185  surf num 41564 
solver time 18.245806 ms 
build tree time 28.654275 ms 
data association time 25.948471 ms 
solver time 14.904031 ms 
publication time 11.557453 ms 
whole laserOdometry time 98.140555 ms 
 
mapping solver time 28.485477 ms 
data association time 25.573368 ms 
solver time 17.863831 ms 
mapping data assosiation time 33.903960 ms 
data association time 19.744322 ms 
filter time 9.994503 ms 
publication time 11.747735 ms 
whole laserOdometry time 91.915061 ms 
 
sort q time 6.231016 
seperate points time 14.723255 
build tree time 30.158099 ms 
data association time 16.434128 ms 
mapping data assosiation time 35.393580 ms 
data association time 16.463649 ms 
solver time 11.847507 ms 
publication time 10.441684 ms 
whole laserOdometry time 68.336788 ms 
 
sort q time 6.216865 
seperate points time 14.724742 
mapping data assosiation time 38.529905 ms 
data association time 15.964589 ms 
solver time 12.436033 ms 
filter time 11.723484 ms 
solver time 10.843234 ms 
publication time 10.539280 ms 
whole laserOdometry time 67.250157 ms 
 
points size 103325 
build tree time 36.907506 ms 
sort q time 6.687212 
seperate points time 15.842815 
data association time 15.870268 ms 
solver time 17.379007 ms 
data association time 16.945763 ms 
solver time 13.684257 ms 
publication time 11.861231 ms 
whole laserOdometry time 76.787266 ms 
 
prepare time 21.566111 
mapping data assosiation time 42.327920 ms 
sort q time 6.246178 
seperate points time 15.416625 
mapping solver time 19.659034 ms 
filter time 10.570771 ms 
data association time 18.087947 ms 
solver time 14.037888 ms 
build tree time 28.875316 ms 
data association time 21.599840 ms 
solver time 12.083090 ms 
publication time 9.970910 ms 
whole laserOdometry time 76.810745 ms 
 
mapping data assosiation time 43.240734 ms 
scan registration time 42.312950 ms *************
mapping solver time 23.592476 ms 
solver time 11.996256 ms 
mapping data assosiation time 31.610576 ms 
data association time 20.890901 ms 
solver time 11.062034 ms 
publication time 9.443510 ms 
whole laserOdometry time 73.887686 ms 
 
drop lidar frame in mapping for real time performance 
scan registration time 38.097504 ms *************
build tree time 29.340684 ms 
solver time 11.880649 ms 
mapping data assosiation time 31.993088 ms 
solver time 8.682576 ms 
publication time 11.665100 ms 
whole laserOdometry time 66.890317 ms 
 
sort q time 4.897839 
seperate points time 11.536896 
mapping data assosiation time 33.048270 ms 
data association time 16.488239 ms 
solver time 10.048693 ms 
data association time 16.960330 ms 
publication time 9.549590 ms 
whole laserOdometry time 62.463968 ms 
 
points size 102628 
prepare time 15.082959 
sort q time 5.741688 
seperate points time 13.411331 
scan registration time 33.056216 ms *************
mapping data assosiation time 39.513659 ms 
data association time 28.648764 ms 
solver time 15.962403 ms 
mapping solver time 34.448827 ms 
points size 102876 
sort q time 5.385809 
seperate points time 12.372904 
solver time 13.154487 ms 
mapping data assosiation time 45.344238 ms 
data association time 26.799402 ms 
filter time 11.920156 ms 
solver time 15.431479 ms 
mapping pub time 3.488269 ms 
whole mapping time 206.891378 ms +++++
drop lidar frame in mapping for real time performance 
data association time 28.162400 ms 
solver time 11.122437 ms 
scan registration time 33.887957 ms *************
data association time 30.302173 ms 
mapping data assosiation time 46.552301 ms 
solver time 19.738503 ms 
mapping solver time 35.146312 ms 
points size 103486 
data association time 27.400228 ms 
solver time 12.697635 ms 
publication time 11.960768 ms 
whole laserOdometry time 103.270837 ms 
 
[33m[ WARN] [1718887118.302693206]: odometry process over 100ms[0m
mapping data assosiation time 42.104707 ms 
data association time 18.465530 ms 
solver time 10.816995 ms 
mapping solver time 20.028146 ms 
mapping optimization time 184.881354 
add points time 0.753368 ms
filter time 9.553371 ms 
solver time 10.004148 ms 
publication time 10.701814 ms 
whole laserOdometry time 68.216249 ms 
 
points size 103752 
build tree time 29.329052 ms 
prepare time 14.928886 
sort q time 4.884885 
seperate points time 11.554945 
mapping data assosiation time 35.491477 ms 
solver time 12.405896 ms 
mapping solver time 24.685316 ms 
data association time 16.765361 ms 
solver time 10.348555 ms 
optimization twice time 56.930282 
mapping data assosiation time 38.214615 ms 
points size 103722 
prepare time 14.492963 
mapping solver time 20.255629 ms 
mapping optimization time 150.800450 
scan registration time 30.788993 ms *************
add points time 1.052565 ms
filter time 12.780292 ms 
map prepare time 3.641073 ms
map corner num 110802  surf num 45776 
data association time 17.556986 ms 
solver time 13.161920 ms 
build tree time 29.732808 ms 
data association time 16.853473 ms 
solver time 11.112169 ms 
publication time 10.012334 ms 
whole laserOdometry time 69.698883 ms 
 
mapping data assosiation time 37.606475 ms 
points size 103629 
prepare time 15.018552 
sort q time 5.226226 
seperate points time 12.269480 
mapping solver time 27.643956 ms 
data association time 16.287841 ms 
solver time 12.884974 ms 
mapping data assosiation time 38.126941 ms 
solver time 9.738311 ms 
optimization twice time 56.708062 
points size 103058 
filter time 10.517458 ms 
mapping pub time 1.343892 ms 
whole mapping time 175.088418 ms +++++
prepare time 15.568948 
drop lidar frame in mapping for real time performance 
sort q time 5.463532 
seperate points time 12.511176 
build tree time 29.563048 ms 
data association time 16.126034 ms 
solver time 12.796932 ms 
mapping data assosiation time 37.370184 ms 
solver time 10.658420 ms 
points size 102710 
sort q time 7.206030 
seperate points time 16.252780 
mapping data assosiation time 38.864150 ms 
solver time 11.447675 ms 
mapping solver time 25.038101 ms 
mapping optimization time 161.314230 
add points time 0.757717 ms
filter time 11.947294 ms 
solver time 13.637160 ms 
publication time 10.429591 ms 
whole laserOdometry time 70.601337 ms 
 
prepare time 17.373229 
sort q time 5.710762 
seperate points time 13.606278 
scan registration time 36.469480 ms *************
data association time 16.074288 ms 
mapping data assosiation time 40.203880 ms 
solver time 14.309291 ms 
data association time 16.189103 ms 
solver time 11.161044 ms 
publication time 9.611409 ms 
whole laserOdometry time 68.283107 ms 
 
points size 102365 
prepare time 14.815711 
sort q time 5.459857 
seperate points time 12.956373 
scan registration time 32.667393 ms *************
mapping solver time 23.624049 ms 
data association time 23.029660 ms 
solver time 14.837239 ms 
data association time 18.858559 ms 
solver time 11.606849 ms 
publication time 12.330082 ms 
whole laserOdometry time 81.628906 ms 
 
sort q time 6.191316 
seperate points time 14.939127 
scan registration time 39.169309 ms *************
build tree time 42.699890 ms 
data association time 18.817936 ms 
solver time 12.753907 ms 
data association time 18.020474 ms 
solver time 8.928535 ms 
publication time 10.203518 ms 
whole laserOdometry time 69.647456 ms 
 
points size 102463 
prepare time 16.597291 
sort q time 6.060811 
seperate points time 14.085414 
scan registration time 35.561999 ms *************
data association time 16.493288 ms 
solver time 12.691132 ms 
drop lidar frame in mapping for real time performance 
data association time 22.604196 ms 
solver time 9.646582 ms 
publication time 10.055550 ms 
whole laserOdometry time 72.417406 ms 
 
sort q time 5.897456 
seperate points time 13.689205 
mapping data assosiation time 48.321977 ms 
solver time 10.145793 ms 
mapping solver time 24.897100 ms 
data association time 18.247639 ms 
solver time 8.020227 ms 
publication time 10.269830 ms 
whole laserOdometry time 69.254343 ms 
 
prepare time 16.347429 
mapping data assosiation time 41.238110 ms 
sort q time 6.380020 
seperate points time 14.844883 
scan registration time 36.082545 ms *************
mapping solver time 27.148528 ms 
filter time 13.431273 ms 
map prepare time 4.633103 ms
map corner num 116532  surf num 48999 
solver time 15.480741 ms 
points size 102952 
solver time 12.182344 ms 
optimization twice time 84.111597 
sort q time 6.899163 
seperate points time 16.307683 
mapping data assosiation time 47.800297 ms 
data association time 29.173326 ms 
solver time 19.264349 ms 
points size 103132 
data association time 31.188430 ms 
scan registration time 34.217664 ms *************
solver time 17.645585 ms 
optimization twice time 98.409334 
publication time 13.139629 ms 
whole laserOdometry time 111.566322 ms 
 
[33m[ WARN] [1718887119.671383510]: odometry process over 100ms[0m
mapping solver time 30.240651 ms 
mapping optimization time 210.118428 
add points time 0.801286 ms
filter time 13.716424 ms 
map prepare time 4.510898 ms
map corner num 117729  surf num 49760 
points size 102953 
build tree time 32.918662 ms 
scan registration time 39.364087 ms *************
mapping data assosiation time 41.737821 ms 
solver time 10.850179 ms 
mapping solver time 27.275496 ms 
solver time 8.509436 ms 
points size 102762 
sort q time 5.116529 
seperate points time 12.343668 
data association time 17.233041 ms 
solver time 11.347499 ms 
mapping pub time 1.319813 ms 
whole mapping time 193.866182 ms +++++
optimization twice time 57.751647 
publication time 11.622665 ms 
whole laserOdometry time 69.391274 ms 
 
prepare time 15.294581 
sort q time 5.711445 
seperate points time 14.214724 
mapping data assosiation time 38.670655 ms 
data association time 17.423856 ms 
solver time 12.691654 ms 
data association time 19.136648 ms 
solver time 8.771764 ms 
publication time 10.143851 ms 
whole laserOdometry time 69.065420 ms 
 
points size 102390 
prepare time 15.662516 
sort q time 5.171401 
seperate points time 13.029850 
scan registration time 32.506044 ms *************
mapping solver time 22.465586 ms 
filter time 15.106745 ms 
map prepare time 3.590856 ms
map corner num 81066  surf num 37262 
data association time 28.618000 ms 
solver time 15.271922 ms 
build tree time 23.231933 ms 
points size 101573 
solver time 11.141003 ms 
publication time 12.821559 ms 
whole laserOdometry time 97.343250 ms 
 
mapping solver time 28.021030 ms 
data association time 27.987738 ms 
solver time 18.416486 ms 
mapping data assosiation time 40.905184 ms 
data association time 28.043078 ms 
points size 100710 
mapping solver time 30.376266 ms 
sort q time 5.793155 
seperate points time 15.004109 
map prepare time 3.264842 ms
map corner num 82227  surf num 37942 
build tree time 22.594441 ms 
data association time 27.658937 ms 
solver time 18.565678 ms 
points size 99174 
data association time 27.948261 ms 
sort q time 5.610474 
seperate points time 13.727202 
mapping solver time 26.173223 ms 
solver time 11.597892 ms 
optimization twice time 86.765175 
scan registration time 31.911671 ms *************
publication time 12.272298 ms 
whole laserOdometry time 99.056612 ms 
 
data association time 16.868965 ms 
mapping data assosiation time 38.337143 ms 
solver time 14.234708 ms 
mapping solver time 22.352532 ms 
solver time 9.222250 ms 
filter time 9.926045 ms 
publication time 9.850447 ms 
whole laserOdometry time 68.332608 ms 
 
sort q time 4.981644 
seperate points time 12.227422 
data association time 16.979807 ms 
solver time 10.229607 ms 
data association time 17.784894 ms 
publication time 10.192218 ms 
whole laserOdometry time 64.214619 ms 
 
points size 97429 
mapping data assosiation time 46.639960 ms 
mapping solver time 16.669778 ms 
filter time 9.327652 ms 
solver time 14.266656 ms 
build tree time 25.009294 ms 
data association time 21.863610 ms 
solver time 13.335617 ms 
optimization twice time 66.611042 
points size 96849 
prepare time 20.264880 
sort q time 6.482005 
seperate points time 15.957812 
data association time 15.155843 ms 
solver time 14.426065 ms 
data association time 18.143166 ms 
solver time 11.189481 ms 
points size 96638 
mapping solver time 30.160502 ms 
scan registration time 37.563330 ms *************
drop lidar frame in mapping for real time performance 
data association time 15.552941 ms 
build tree time 22.906464 ms 
data association time 15.213763 ms 
solver time 10.038751 ms 
points size 95884 
sort q time 5.015995 
seperate points time 11.894027 
mapping solver time 24.684815 ms 
data association time 16.015267 ms 
solver time 15.150085 ms 
data association time 16.966214 ms 
mapping solver time 19.884867 ms 
mapping pub time 2.210086 ms 
whole mapping time 168.099842 ms +++++
prepare time 14.720989 
sort q time 4.348079 
seperate points time 10.602465 
build tree time 25.757442 ms 
data association time 16.636449 ms 
solver time 14.908001 ms 
data association time 16.984239 ms 
mapping solver time 22.664268 ms 
publication time 10.688820 ms 
whole laserOdometry time 73.566767 ms 
 
points size 96217 
prepare time 14.318017 
sort q time 5.824767 
seperate points time 14.350482 
scan registration time 32.480585 ms *************
mapping data assosiation time 39.752750 ms 
mapping solver time 18.289378 ms 
filter time 8.822850 ms 
solver time 15.865806 ms 
data association time 14.712682 ms 
build tree time 22.709892 ms 
solver time 11.434098 ms 
publication time 11.598377 ms 
whole laserOdometry time 71.811972 ms 
 
points size 95403 
mapping data assosiation time 39.820965 ms 
mapping solver time 24.309280 ms 
solver time 12.805660 ms 
data association time 15.893498 ms 
mapping data assosiation time 36.814461 ms 
publication time 10.876626 ms 
whole laserOdometry time 68.279438 ms 
 
filter time 9.473535 ms 
build tree time 24.652011 ms 
solver time 12.727846 ms 
mapping data assosiation time 35.351898 ms 
solver time 12.289357 ms 
publication time 10.872098 ms 
whole laserOdometry time 74.447679 ms 
 
points size 94524 
mapping solver time 27.991467 ms 
prepare time 14.312125 
sort q time 5.028491 
seperate points time 12.487252 
mapping data assosiation time 34.620442 ms 
data association time 17.609415 ms 
add points time 0.694975 ms
filter time 9.674776 ms 
data association time 18.504705 ms 
solver time 16.012839 ms 
optimization twice time 69.068326 
build tree time 25.959995 ms 
points size 94022 
sort q time 4.981578 
seperate points time 12.640985 
scan registration time 29.934995 ms *************
mapping data assosiation time 35.791221 ms 
data association time 15.386182 ms 
mapping solver time 21.707931 ms 
data association time 14.133099 ms 
solver time 12.303088 ms 
publication time 11.120158 ms 
whole laserOdometry time 70.386230 ms 
 
points size 93727 
prepare time 14.618493 
sort q time 4.903518 
seperate points time 12.215770 
map prepare time 3.607905 ms
map corner num 91332  surf num 42817 
data association time 17.189094 ms 
solver time 12.398933 ms 
data association time 17.189408 ms 
solver time 9.732212 ms 
publication time 11.123285 ms 
whole laserOdometry time 68.599044 ms 
 
points size 93354 
prepare time 14.374727 
sort q time 4.803961 
seperate points time 12.126520 
data association time 15.059378 ms 
mapping data assosiation time 34.030617 ms 
data association time 14.758785 ms 
solver time 10.949193 ms 
map prepare time 3.024011 ms
map corner num 92436  surf num 43344 
points size 92981 
sort q time 4.555207 
seperate points time 11.488129 
data association time 15.010029 ms 
solver time 12.477927 ms 
data association time 17.640360 ms 
solver time 10.996558 ms 
publication time 10.361406 ms 
whole laserOdometry time 67.441154 ms 
 
points size 92036 
mapping solver time 14.187342 ms 
prepare time 13.911063 
mapping optimization time 127.635073 
add points time 0.778516 ms
sort q time 4.633881 
seperate points time 11.905089 
map prepare time 4.083261 ms
map corner num 93578  surf num 43956 
data association time 16.105178 ms 
solver time 11.229014 ms 
data association time 15.857838 ms 
solver time 7.599937 ms 
optimization twice time 51.593288 
points size 91295 
sort q time 4.975492 
seperate points time 12.453570 
scan registration time 28.963876 ms *************
mapping data assosiation time 34.544643 ms 
solver time 10.545775 ms 
add points time 0.844416 ms
data association time 19.598124 ms 
filter time 9.826330 ms 
solver time 8.837770 ms 
publication time 10.943019 ms 
whole laserOdometry time 65.620393 ms 
 
points size 91522 
sort q time 4.690289 
seperate points time 11.604628 
data association time 14.742130 ms 
solver time 12.458720 ms 
data association time 15.581509 ms 
mapping solver time 20.512311 ms 
solver time 12.098745 ms 
publication time 9.477863 ms 
whole laserOdometry time 65.243892 ms 
 
mapping data assosiation time 34.214870 ms 
sort q time 4.142311 
seperate points time 10.523933 
filter time 9.264905 ms 
mapping pub time 1.122877 ms 
whole mapping time 160.743261 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.405778 ms
map corner num 95815  surf num 44915 
data association time 22.127984 ms 
solver time 12.058901 ms 
build tree time 26.290885 ms 
data association time 21.432680 ms 
solver time 7.832220 ms 
mapping data assosiation time 36.896867 ms 
points size 91616 
mapping solver time 25.752298 ms 
data association time 15.525484 ms 
solver time 10.045134 ms 
mapping solver time 17.062001 ms 
data association time 17.330144 ms 
map prepare time 3.831903 ms
map corner num 96858  surf num 45313 
publication time 10.190573 ms 
whole laserOdometry time 65.570654 ms 
 
sort q time 5.209967 
seperate points time 13.669892 
scan registration time 34.809080 ms *************
build tree time 36.079966 ms 
data association time 15.597863 ms 
mapping data assosiation time 30.913526 ms 
mapping solver time 19.763521 ms 
solver time 9.136310 ms 
publication time 10.794030 ms 
whole laserOdometry time 68.086621 ms 
 
points size 91239 
sort q time 5.162182 
seperate points time 13.745383 
mapping solver time 25.022604 ms 
filter time 10.375059 ms 
data association time 20.838938 ms 
solver time 13.304345 ms 
mapping pub time 38.145519 ms 
whole mapping time 205.530030 ms +++++
solver time 9.981727 ms 
publication time 11.063929 ms 
whole laserOdometry time 78.311364 ms 
 
sort q time 5.364111 
seperate points time 14.314294 
mapping data assosiation time 31.055826 ms 
data association time 24.411709 ms 
solver time 15.660253 ms 
data association time 24.694807 ms 
points size 92246 
mapping data assosiation time 39.422342 ms 
publication time 12.596903 ms 
whole laserOdometry time 90.433631 ms 
 
sort q time 5.519156 
seperate points time 14.525917 
scan registration time 38.332503 ms *************
mapping optimization time 150.537363 
filter time 10.727925 ms 
data association time 24.920070 ms 
solver time 15.466267 ms 
build tree time 26.064394 ms 
data association time 25.024628 ms 
prepare time 13.734597 
sort q time 6.004249 
seperate points time 14.534668 
mapping solver time 24.565066 ms 
data association time 24.641065 ms 
solver time 15.178984 ms 
mapping data assosiation time 31.340938 ms 
data association time 24.921451 ms 
prepare time 15.221516 
filter time 13.891298 ms 
data association time 15.498949 ms 
solver time 12.978618 ms 
data association time 15.764288 ms 
solver time 11.005398 ms 
publication time 9.624263 ms 
whole laserOdometry time 65.604442 ms 
 
points size 92325 
sort q time 5.212570 
seperate points time 13.887912 
scan registration time 35.125447 ms *************
mapping solver time 22.727319 ms 
filter time 10.500156 ms 
data association time 15.210753 ms 
build tree time 27.544964 ms 
publication time 12.961550 ms 
whole laserOdometry time 71.595637 ms 
 
sort q time 6.207692 
seperate points time 16.349998 
mapping solver time 19.633373 ms 
data association time 16.256735 ms 
solver time 10.530573 ms 
data association time 16.129506 ms 
solver time 8.784134 ms 
points size 94572 
filter time 12.147812 ms 
mapping pub time 1.485719 ms 
sort q time 5.475165 
whole mapping time 164.047878 ms +++++
seperate points time 14.416724 
drop lidar frame in mapping for real time performance 
scan registration time 37.306822 ms *************
data association time 15.685911 ms 
solver time 13.066153 ms 
data association time 20.878515 ms 
solver time 9.355980 ms 
points size 94720 
sort q time 4.533416 
seperate points time 11.929894 
mapping data assosiation time 29.065463 ms 
mapping solver time 15.837877 ms 
filter time 12.243757 ms 
data association time 21.457994 ms 
solver time 13.774846 ms 
publication time 12.126337 ms 
whole laserOdometry time 80.349285 ms 
 
sort q time 6.197087 
seperate points time 16.242390 
scan registration time 38.243524 ms *************
publication time 13.602371 ms 
whole laserOdometry time 70.549907 ms 
 
mapping solver time 25.986917 ms 
sort q time 5.246208 
seperate points time 14.279199 
map prepare time 3.609884 ms
map corner num 104507  surf num 47875 
data association time 16.328652 ms 
solver time 13.612560 ms 
data association time 16.056566 ms 
solver time 10.780543 ms 
publication time 11.577730 ms 
whole laserOdometry time 69.246775 ms 
 
mapping data assosiation time 39.038539 ms 
points size 93013 
sort q time 5.275290 
seperate points time 14.049237 
data association time 16.227288 ms 
mapping data assosiation time 32.155259 ms 
mapping solver time 15.475648 ms 
filter time 9.738062 ms 
optimization twice time 66.378855 
prepare time 13.415793 
sort q time 4.832285 
seperate points time 12.858211 
data association time 16.288158 ms 
mapping data assosiation time 30.360278 ms 
solver time 17.067165 ms 
mapping solver time 18.412971 ms 
data association time 16.162594 ms 
solver time 10.952704 ms 
publication time 12.755588 ms 
whole laserOdometry time 74.182227 ms 
 
prepare time 13.965097 
mapping solver time 12.126845 ms 
mapping optimization time 125.041409 
add points time 0.787299 ms
mapping pub time 1.230643 ms 
whole mapping time 142.262341 ms +++++
data association time 15.907959 ms 
solver time 11.587609 ms 
data association time 16.075745 ms 
solver time 10.550272 ms 
publication time 10.679853 ms 
whole laserOdometry time 65.661379 ms 
 
points size 91928 
sort q time 4.934463 
seperate points time 12.457107 
mapping data assosiation time 30.575290 ms 
mapping solver time 15.927911 ms 
filter time 12.283021 ms 
mapping pub time 1.161835 ms 
whole mapping time 146.256321 ms +++++
map prepare time 3.377617 ms
map corner num 103287  surf num 45618 
data association time 24.698064 ms 
solver time 11.512655 ms 
sort q time 5.345496 
seperate points time 13.491182 
mapping data assosiation time 38.174951 ms 
mapping solver time 19.759727 ms 
solver time 14.538876 ms 
mapping data assosiation time 32.437830 ms 
solver time 9.409911 ms 
publication time 11.752248 ms 
whole laserOdometry time 78.552690 ms 
 
sort q time 4.969975 
seperate points time 13.122535 
map prepare time 3.779847 ms
map corner num 104559  surf num 46092 
data association time 25.391273 ms 
solver time 15.224760 ms 
mapping data assosiation time 30.956458 ms 
points size 92727 
publication time 12.608828 ms 
whole laserOdometry time 90.948940 ms 
 
mapping data assosiation time 35.716351 ms 
data association time 18.998352 ms 
solver time 12.887836 ms 
map prepare time 4.533294 ms
map corner num 105742  surf num 46459 
solver time 14.323637 ms 
publication time 14.088438 ms 
whole laserOdometry time 83.160371 ms 
 
mapping data assosiation time 32.151544 ms 
data association time 20.446974 ms 
solver time 12.830161 ms 
data association time 17.352367 ms 
solver time 10.584911 ms 
publication time 10.130150 ms 
whole laserOdometry time 72.192968 ms 
 
filter time 9.833099 ms 
map prepare time 4.097815 ms
map corner num 106938  surf num 46845 
scan registration time 29.123933 ms *************
data association time 14.925881 ms 
solver time 10.827321 ms 
data association time 15.466936 ms 
solver time 9.263068 ms 
publication time 9.430712 ms 
whole laserOdometry time 60.732172 ms 
 
points size 90533 
sort q time 4.404500 
seperate points time 11.435766 
mapping solver time 13.257195 ms 
data association time 14.853210 ms 
filter time 11.628732 ms 
map prepare time 3.632407 ms
map corner num 108020  surf num 47145 
solver time 14.676204 ms 
data association time 14.906309 ms 
solver time 11.541349 ms 
optimization twice time 56.802173 
build tree time 30.387296 ms 
publication time 12.363439 ms 
whole laserOdometry time 69.186385 ms 
 
prepare time 13.931287 
mapping data assosiation time 31.878549 ms 
mapping solver time 14.709721 ms 
data association time 14.343394 ms 
solver time 12.888122 ms 
mapping data assosiation time 32.717167 ms 
solver time 10.331166 ms 
optimization twice time 53.394568 
mapping optimization time 126.609688 
add points time 0.783726 ms
points size 87894 
scan registration time 25.811153 ms *************
build tree time 27.861572 ms 
data association time 14.471050 ms 
mapping data assosiation time 28.059592 ms 
mapping solver time 16.789244 ms 
solver time 9.925187 ms 
mapping data assosiation time 31.833760 ms 
prepare time 12.915782 
mapping solver time 14.125003 ms 
filter time 10.430843 ms 
mapping pub time 2.704888 ms 
whole mapping time 137.802855 ms +++++
data association time 15.892282 ms 
solver time 12.658076 ms 
build tree time 27.728770 ms 
data association time 15.028538 ms 
solver time 10.773107 ms 
optimization twice time 55.236329 
mapping data assosiation time 26.610951 ms 
mapping solver time 15.973221 ms 
points size 85696 
prepare time 12.494176 
sort q time 4.348011 
seperate points time 11.116420 
mapping data assosiation time 26.567338 ms 
data association time 15.028020 ms 
mapping solver time 16.723630 ms 
filter time 9.722412 ms 
data association time 14.932643 ms 
solver time 11.519859 ms 
publication time 8.868578 ms 
whole laserOdometry time 64.455369 ms 
 
points size 87150 
sort q time 3.747988 
seperate points time 9.721359 
mapping data assosiation time 28.576157 ms 
scan registration time 25.795620 ms *************
mapping solver time 15.959061 ms 
data association time 15.210327 ms 
solver time 13.305494 ms 
mapping data assosiation time 28.026328 ms 
data association time 14.570242 ms 
mapping solver time 13.265263 ms 
filter time 13.438909 ms 
points size 87915 
prepare time 12.665956 
sort q time 4.239935 
seperate points time 10.814786 
mapping data assosiation time 33.044675 ms 
solver time 18.779937 ms 
mapping solver time 23.605449 ms 
data association time 25.417130 ms 
points size 89938 
solver time 17.635501 ms 
mapping solver time 23.946864 ms 
filter time 13.087423 ms 
data association time 22.520784 ms 
build tree time 40.292861 ms 
points size 91057 
publication time 13.350746 ms 
whole laserOdometry time 87.115935 ms 
 
scan registration time 29.332009 ms *************
mapping data assosiation time 35.914760 ms 
data association time 23.390149 ms 
mapping solver time 21.031887 ms 
solver time 17.768928 ms 
data association time 14.632613 ms 
optimization twice time 69.205930 
publication time 12.108445 ms 
whole laserOdometry time 81.334743 ms 
 
map prepare time 3.197611 ms
map corner num 114579  surf num 50523 
sort q time 5.350367 
seperate points time 13.066827 
scan registration time 32.181776 ms *************
build tree time 30.826689 ms 
solver time 12.929778 ms 
mapping data assosiation time 30.890688 ms 
solver time 10.196325 ms 
publication time 10.178652 ms 
whole laserOdometry time 63.803284 ms 
 
points size 91030 
sort q time 4.104569 
seperate points time 10.830445 
mapping data assosiation time 28.988118 ms 
scan registration time 28.384359 ms *************
data association time 14.266774 ms 
filter time 9.732908 ms 
data association time 16.313039 ms 
solver time 7.482203 ms 
mapping pub time 42.974777 ms 
whole mapping time 178.074553 ms +++++
[0m[ INFO] [1718887125.749489215]: Received 677126 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887125.749522176]: Data saved to 1317357870391766.pcd[0m
build tree time 31.385423 ms 
data association time 14.305187 ms 
mapping data assosiation time 31.598749 ms 
mapping solver time 14.130520 ms 
data association time 14.556998 ms 
publication time 9.389110 ms 
whole laserOdometry time 57.224396 ms 
 
mapping data assosiation time 30.512118 ms 
points size 88633 
filter time 11.086950 ms 
data association time 14.249921 ms 
solver time 9.920170 ms 
data association time 17.000842 ms 
solver time 12.506612 ms 
publication time 14.105849 ms 
whole laserOdometry time 68.804009 ms 
 
points size 87837 
mapping solver time 23.030901 ms 
prepare time 17.425656 
sort q time 5.589145 
seperate points time 14.843617 
scan registration time 37.385579 ms *************
mapping data assosiation time 35.319697 ms 
data association time 16.065350 ms 
mapping optimization time 139.778017 
solver time 13.977200 ms 
map prepare time 4.107072 ms
map corner num 118144  surf num 53311 
solver time 10.066808 ms 
publication time 10.562722 ms 
whole laserOdometry time 67.669962 ms 
 
points size 87522 
prepare time 12.685591 
build tree time 33.457175 ms 
sort q time 5.316346 
seperate points time 13.754260 
mapping data assosiation time 34.721289 ms 
data association time 14.979589 ms 
mapping solver time 17.029949 ms 
data association time 15.647002 ms 
mapping data assosiation time 33.354189 ms 
mapping solver time 15.373072 ms 
filter time 12.831445 ms 
data association time 15.408768 ms 
build tree time 31.790161 ms 
solver time 12.912269 ms 
solver time 10.301777 ms 
publication time 12.516768 ms 
whole laserOdometry time 67.361550 ms 
 
prepare time 14.135750 
sort q time 4.588795 
seperate points time 11.543153 
mapping data assosiation time 33.156279 ms 
solver time 12.871930 ms 
filter time 11.739220 ms 
solver time 8.027902 ms 
publication time 11.025349 ms 
whole laserOdometry time 66.291000 ms 
 
points size 87393 
sort q time 3.941592 
seperate points time 10.266392 
mapping data assosiation time 31.051697 ms 
solver time 11.134286 ms 
mapping solver time 22.820669 ms 
data association time 16.594367 ms 
publication time 9.550444 ms 
whole laserOdometry time 63.770297 ms 
 
points size 88034 
prepare time 16.472235 
mapping solver time 18.702635 ms 
mapping optimization time 143.489490 
add points time 1.119420 ms
filter time 11.818316 ms 
map prepare time 4.861067 ms
map corner num 121618  surf num 55330 
data association time 16.202215 ms 
solver time 13.054811 ms 
data association time 18.577240 ms 
solver time 9.964751 ms 
mapping data assosiation time 32.638093 ms 
prepare time 13.415688 
mapping solver time 19.441738 ms 
mapping data assosiation time 32.563959 ms 
mapping solver time 14.874351 ms 
mapping optimization time 134.820645 
add points time 0.857333 ms
solver time 14.962099 ms 
filter time 11.521606 ms 
data association time 24.528270 ms 
solver time 11.777238 ms 
prepare time 17.052613 
build tree time 42.332947 ms 
data association time 15.050778 ms 
solver time 11.606362 ms 
mapping solver time 15.979660 ms 
solver time 7.689457 ms 
publication time 11.053402 ms 
whole laserOdometry time 61.980958 ms 
 
mapping data assosiation time 33.280119 ms 
prepare time 18.751529 
mapping solver time 21.221694 ms 
mapping optimization time 149.028442 
add points time 0.915400 ms
sort q time 5.267594 
seperate points time 13.878811 
scan registration time 36.452853 ms *************
filter time 12.104171 ms 
map prepare time 4.742554 ms
map corner num 123847  surf num 56381 
data association time 16.117506 ms 
solver time 10.575128 ms 
build tree time 34.245593 ms 
data association time 16.485211 ms 
solver time 10.759179 ms 
publication time 11.011957 ms 
whole laserOdometry time 65.763021 ms 
 
points size 91387 
sort q time 5.398574 
seperate points time 14.090669 
mapping solver time 24.795800 ms 
data association time 15.407275 ms 
solver time 11.302498 ms 
data association time 15.036498 ms 
filter time 12.371557 ms 
points size 92525 
sort q time 5.379727 
seperate points time 14.018885 
scan registration time 35.827957 ms *************
build tree time 42.660555 ms 
data association time 15.693515 ms 
solver time 11.109179 ms 
mapping data assosiation time 32.026569 ms 
data association time 15.689718 ms 
mapping solver time 16.610015 ms 
publication time 11.633287 ms 
whole laserOdometry time 63.595183 ms 
 
mapping data assosiation time 33.243241 ms 
sort q time 5.332229 
seperate points time 13.058493 
scan registration time 30.786602 ms *************
mapping solver time 16.074194 ms 
filter time 12.959956 ms 
mapping pub time 1.162924 ms 
whole mapping time 162.815793 ms +++++
drop lidar frame in mapping for real time performance 
data association time 24.614029 ms 
solver time 15.172858 ms 
build tree time 35.932420 ms 
solver time 11.496585 ms 
prepare time 19.872939 
sort q time 6.214491 
seperate points time 16.547543 
mapping solver time 19.275857 ms 
data association time 24.541019 ms 
mapping data assosiation time 29.820761 ms 
mapping solver time 14.626312 ms 
points size 94291 
filter time 15.441815 ms 
solver time 11.736044 ms 
prepare time 17.889983 
optimization twice time 77.516422 
map prepare time 4.555509 ms
map corner num 127271  surf num 57786 
scan registration time 37.083150 ms *************
build tree time 35.757699 ms 
solver time 10.903221 ms 
data association time 15.726880 ms 
publication time 10.481230 ms 
whole laserOdometry time 69.030231 ms 
 
points size 94222 
sort q time 6.073619 
seperate points time 15.955379 
mapping data assosiation time 33.802559 ms 
data association time 16.243404 ms 
solver time 10.400550 ms 
filter time 13.425562 ms 
solver time 11.380509 ms 
points size 93782 
prepare time 17.335645 
scan registration time 35.453215 ms *************
data association time 15.905223 ms 
solver time 10.949357 ms 
mapping solver time 15.591589 ms 
solver time 10.769693 ms 
points size 93959 
sort q time 4.459626 
seperate points time 11.517562 
scan registration time 31.864404 ms *************
mapping solver time 15.436571 ms 
mapping optimization time 150.471569 
add points time 1.024931 ms
filter time 12.754174 ms 
mapping pub time 1.104678 ms 
whole mapping time 170.016470 ms +++++
drop lidar frame in mapping for real time performance 
data association time 16.450797 ms 
map prepare time 3.754998 ms
map corner num 129756  surf num 58797 
solver time 10.806178 ms 
data association time 15.142010 ms 
optimization twice time 51.608393 
build tree time 37.494305 ms 
points size 93907 
prepare time 19.814321 
mapping data assosiation time 40.897966 ms 
sort q time 5.899369 
seperate points time 15.594981 
scan registration time 39.692941 ms *************
mapping solver time 21.646337 ms 
data association time 15.693695 ms 
solver time 10.632041 ms 
mapping data assosiation time 30.352111 ms 
data association time 15.229134 ms 
solver time 8.133386 ms 
publication time 11.049844 ms 
whole laserOdometry time 61.621801 ms 
 
filter time 13.351401 ms 
mapping pub time 1.152908 ms 
whole mapping time 168.986056 ms +++++
drop lidar frame in mapping for real time performance 
prepare time 14.552413 
sort q time 4.982505 
seperate points time 12.511333 
data association time 15.333829 ms 
build tree time 36.825822 ms 
data association time 16.225379 ms 
mapping data assosiation time 31.568640 ms 
publication time 11.912603 ms 
whole laserOdometry time 68.343062 ms 
 
points size 94059 
sort q time 4.473448 
seperate points time 11.442183 
mapping data assosiation time 33.796296 ms 
data association time 16.307558 ms 
mapping solver time 18.986467 ms 
filter time 13.279227 ms 
map prepare time 5.067146 ms
map corner num 132481  surf num 59896 
solver time 8.364599 ms 
publication time 9.922642 ms 
whole laserOdometry time 64.023485 ms 
 
points size 92735 
sort q time 4.599864 
seperate points time 11.822206 
scan registration time 28.476157 ms *************
mapping data assosiation time 30.784509 ms 
data association time 20.520477 ms 
solver time 14.107896 ms 
data association time 22.776998 ms 
publication time 10.205249 ms 
whole laserOdometry time 77.501284 ms 
 
filter time 11.744900 ms 
map prepare time 3.521778 ms
map corner num 133818  surf num 60378 
data association time 16.018386 ms 
solver time 10.842686 ms 
data association time 15.168662 ms 
solver time 8.322275 ms 
optimization twice time 51.244749 
mapping data assosiation time 32.544150 ms 
points size 88999 
mapping solver time 20.712599 ms 
mapping data assosiation time 31.296957 ms 
solver time 11.557780 ms 
data association time 15.285172 ms 
publication time 9.797331 ms 
whole laserOdometry time 62.044576 ms 
 
points size 88550 
sort q time 4.657169 
seperate points time 11.747364 
data association time 14.594029 ms 
mapping data assosiation time 32.629100 ms 
mapping solver time 15.355592 ms 
data association time 19.000826 ms 
solver time 9.884199 ms 
publication time 11.003406 ms 
whole laserOdometry time 69.542498 ms 
 
points size 88395 
prepare time 13.611590 
sort q time 5.193475 
seperate points time 13.252220 
scan registration time 29.924038 ms *************
map prepare time 4.328022 ms
map corner num 136171  surf num 61278 
data association time 15.398817 ms 
solver time 10.265837 ms 
data association time 15.327459 ms 
solver time 8.294485 ms 
publication time 11.328030 ms 
whole laserOdometry time 61.529271 ms 
 
mapping data assosiation time 30.730969 ms 
points size 87304 
mapping solver time 16.052303 ms 
data association time 14.373476 ms 
solver time 10.877515 ms 
mapping solver time 16.565761 ms 
solver time 7.778943 ms 
publication time 9.925422 ms 
whole laserOdometry time 58.615844 ms 
 
map prepare time 5.254769 ms
map corner num 137222  surf num 61579 
points size 85816 
prepare time 12.795419 
sort q time 4.232338 
seperate points time 11.362935 
data association time 26.658367 ms 
mapping data assosiation time 39.709966 ms 
data association time 15.142497 ms 
solver time 9.949578 ms 
publication time 10.852739 ms 
whole laserOdometry time 76.104252 ms 
 
points size 85279 
sort q time 4.719581 
seperate points time 11.901265 
scan registration time 29.878305 ms *************
data association time 15.227377 ms 
filter time 11.371462 ms 
mapping pub time 1.049787 ms 
whole mapping time 172.918597 ms +++++
drop lidar frame in mapping for real time performance 
data association time 14.552076 ms 
solver time 7.816525 ms 
publication time 9.148398 ms 
whole laserOdometry time 58.861936 ms 
 
points size 86792 
mapping data assosiation time 30.960156 ms 
sort q time 4.607152 
seperate points time 11.309241 
scan registration time 26.841767 ms *************
data association time 14.818140 ms 
solver time 10.197042 ms 
mapping data assosiation time 29.578713 ms 
data association time 17.022912 ms 
mapping optimization time 130.892070 
add points time 0.929806 ms
filter time 14.691854 ms 
points size 86864 
prepare time 13.593428 
sort q time 4.355648 
seperate points time 11.241373 
mapping pub time 55.994926 ms 
whole mapping time 206.652179 ms +++++
solver time 17.132392 ms 
data association time 23.158444 ms 
optimization twice time 67.796949 
prepare time 15.355415 
mapping data assosiation time 36.553327 ms 
mapping solver time 19.201503 ms 
data association time 23.962649 ms 
solver time 14.985044 ms 
mapping solver time 14.823481 ms 
solver time 11.728964 ms 
publication time 12.390574 ms 
whole laserOdometry time 87.881128 ms 
 
data association time 23.892159 ms 
solver time 11.973005 ms 
data association time 23.829840 ms 
mapping data assosiation time 31.510006 ms 
points size 93883 
sort q time 4.764783 
seperate points time 12.179679 
mapping data assosiation time 33.402087 ms 
data association time 26.423040 ms 
solver time 15.209344 ms 
map prepare time 3.898127 ms
map corner num 141465  surf num 63699 
data association time 26.859434 ms 
solver time 11.523181 ms 
optimization twice time 81.131902 
points size 95952 
prepare time 16.018414 
sort q time 5.385658 
seperate points time 13.542238 
data association time 16.907157 ms 
mapping data assosiation time 32.727666 ms 
mapping solver time 16.259678 ms 
solver time 8.095065 ms 
publication time 9.943125 ms 
whole laserOdometry time 63.973511 ms 
 
mapping data assosiation time 35.757647 ms 
points size 96914 
prepare time 13.867989 
mapping optimization time 144.603344 
filter time 13.168141 ms 
mapping pub time 1.034719 ms 
whole mapping time 163.648015 ms +++++
drop lidar frame in mapping for real time performance 
data association time 17.432349 ms 
solver time 8.031149 ms 
data association time 17.465963 ms 
build tree time 38.445906 ms 
publication time 10.643975 ms 
whole laserOdometry time 63.634383 ms 
 
points size 95332 
sort q time 4.371268 
seperate points time 11.128939 
data association time 22.164610 ms 
mapping data assosiation time 35.497677 ms 
mapping solver time 15.839664 ms 
solver time 9.696665 ms 
publication time 11.360290 ms 
whole laserOdometry time 70.611055 ms 
 
points size 94723 
sort q time 5.449746 
seperate points time 14.224330 
build tree time 45.605675 ms 
data association time 27.114290 ms 
solver time 14.755292 ms 
mapping solver time 25.992282 ms 
solver time 11.579808 ms 
sort q time 6.325737 
seperate points time 16.618696 
mapping data assosiation time 44.155193 ms 
data association time 21.760684 ms 
mapping solver time 21.055991 ms 
mapping optimization time 175.455699 
solver time 8.148836 ms 
add points time 1.153905 ms
filter time 12.883088 ms 
map prepare time 4.056153 ms
map corner num 144497  surf num 65825 
points size 96334 
sort q time 5.646616 
seperate points time 14.583458 
scan registration time 36.318950 ms *************
build tree time 50.602317 ms 
data association time 27.026093 ms 
mapping data assosiation time 35.291191 ms 
solver time 15.289934 ms 
data association time 16.648891 ms 
solver time 12.802057 ms 
sort q time 6.422577 
seperate points time 16.961434 
mapping data assosiation time 44.433265 ms 
data association time 19.118643 ms 
solver time 11.085796 ms 
drop lidar frame in mapping for real time performance 
map prepare time 4.917515 ms
map corner num 145439  surf num 66412 
solver time 8.928693 ms 
publication time 12.027538 ms 
whole laserOdometry time 72.790175 ms 
 
sort q time 5.984066 
seperate points time 15.237842 
scan registration time 37.619138 ms *************
build tree time 50.787206 ms 
data association time 17.004459 ms 
mapping solver time 19.355200 ms 
mapping optimization time 166.880034 
add points time 1.094110 ms
filter time 16.846437 ms 
mapping pub time 1.736811 ms 
whole mapping time 191.517996 ms +++++
drop lidar frame in mapping for real time performance 
solver time 14.619477 ms 
points size 101149 
data association time 27.676790 ms 
sort q time 6.097830 
seperate points time 14.770625 
publication time 14.643211 ms 
whole laserOdometry time 99.624661 ms 
 
mapping data assosiation time 47.410349 ms 
data association time 29.430447 ms 
solver time 16.304882 ms 
points size 101112 
solver time 11.132849 ms 
mapping solver time 20.879356 ms 
data association time 15.905739 ms 
solver time 11.659915 ms 
data association time 16.627901 ms 
build tree time 33.372694 ms 
points size 101106 
sort q time 5.085087 
seperate points time 12.583854 
scan registration time 32.708902 ms *************
mapping data assosiation time 40.290748 ms 
data association time 25.347140 ms 
solver time 18.347455 ms 
data association time 26.064014 ms 
prepare time 18.981974 
mapping solver time 18.951045 ms 
scan registration time 38.857540 ms *************
filter time 15.400910 ms 
data association time 16.260858 ms 
solver time 10.563934 ms 
build tree time 32.787922 ms 
optimization twice time 49.380161 
publication time 11.458764 ms 
whole laserOdometry time 60.858796 ms 
 
prepare time 14.793169 
mapping data assosiation time 42.920745 ms 
mapping solver time 26.443015 ms 
data association time 17.993307 ms 
solver time 10.446238 ms 
data association time 17.098644 ms 
optimization twice time 54.613736 
publication time 10.756190 ms 
whole laserOdometry time 65.389899 ms 
 
filter time 12.001531 ms 
data association time 16.710009 ms 
solver time 10.776916 ms 
data association time 17.592669 ms 
publication time 10.278177 ms 
whole laserOdometry time 64.402629 ms 
 
mapping data assosiation time 40.740347 ms 
mapping solver time 20.376705 ms 
data association time 28.352327 ms 
mapping data assosiation time 47.892247 ms 
mapping solver time 22.225529 ms 
data association time 25.062870 ms 
prepare time 14.979580 
sort q time 5.482059 
seperate points time 13.553511 
publication time 13.465802 ms 
whole laserOdometry time 96.670645 ms 
 
scan registration time 33.225155 ms *************
data association time 18.467379 ms 
solver time 9.604410 ms 
data association time 15.040699 ms 
publication time 9.848242 ms 
whole laserOdometry time 61.422545 ms 
 
points size 101594 
sort q time 5.623539 
seperate points time 13.662097 
data association time 14.567062 ms 
solver time 10.862038 ms 
data association time 15.010773 ms 
solver time 9.290473 ms 
filter time 14.661743 ms 
points size 101632 
prepare time 16.841477 
sort q time 5.623149 
seperate points time 14.142214 
scan registration time 35.335331 ms *************
data association time 14.861135 ms 
mapping data assosiation time 41.898016 ms 
solver time 8.574531 ms 
mapping solver time 26.034526 ms 
prepare time 14.956562 
sort q time 4.752259 
seperate points time 12.064180 
scan registration time 31.823880 ms *************
mapping data assosiation time 41.980101 ms 
data association time 16.643906 ms 
mapping solver time 18.032513 ms 
mapping optimization time 163.269020 
solver time 11.936886 ms 
add points time 1.037577 ms
filter time 12.907494 ms 
map prepare time 5.128750 ms
map corner num 113286  surf num 52855 
points size 101399 
sort q time 4.984231 
seperate points time 12.515784 
data association time 15.106054 ms 
solver time 7.540643 ms 
mapping data assosiation time 42.235855 ms 
data association time 16.749742 ms 
solver time 7.875325 ms 
publication time 10.505964 ms 
whole laserOdometry time 58.747350 ms 
 
points size 100007 
prepare time 14.561648 
mapping data assosiation time 41.287313 ms 
scan registration time 31.024616 ms *************
mapping solver time 22.165043 ms 
filter time 13.835356 ms 
map prepare time 4.881311 ms
map corner num 114587  surf num 53560 
solver time 14.406034 ms 
data association time 17.689187 ms 
solver time 10.062855 ms 
prepare time 14.966194 
sort q time 5.309706 
seperate points time 13.481567 
scan registration time 33.030176 ms *************
mapping data assosiation time 45.845169 ms 
solver time 9.413747 ms 
mapping solver time 23.887622 ms 
solver time 7.191311 ms 
optimization twice time 48.521814 
points size 100515 
sort q time 6.122995 
seperate points time 14.990161 
filter time 10.388513 ms 
data association time 18.263869 ms 
solver time 12.460100 ms 
build tree time 32.339897 ms 
solver time 7.737469 ms 
publication time 11.777376 ms 
whole laserOdometry time 65.777670 ms 
 
points size 100772 
sort q time 5.089751 
seperate points time 12.552995 
mapping data assosiation time 45.090092 ms 
scan registration time 32.546697 ms *************
data association time 14.961032 ms 
solver time 11.442061 ms 
data association time 15.861528 ms 
solver time 8.368298 ms 
optimization twice time 51.476800 
points size 100739 
filter time 11.401644 ms 
build tree time 30.062453 ms 
data association time 15.701073 ms 
publication time 9.247861 ms 
whole laserOdometry time 58.284353 ms 
 
mapping data assosiation time 46.540245 ms 
sort q time 4.509194 
seperate points time 11.648065 
mapping solver time 32.856312 ms 
data association time 22.396559 ms 
solver time 18.633003 ms 
mapping data assosiation time 45.908828 ms 
data association time 26.375454 ms 
solver time 12.137841 ms 
publication time 11.053894 ms 
whole laserOdometry time 91.615937 ms 
 
drop lidar frame in mapping for real time performance 
data association time 15.330875 ms 
build tree time 32.106523 ms 
solver time 10.269575 ms 
solver time 7.358387 ms 
publication time 9.350547 ms 
whole laserOdometry time 58.465105 ms 
 
points size 101038 
sort q time 4.843359 
seperate points time 12.390984 
data association time 15.142141 ms 
solver time 10.523527 ms 
mapping data assosiation time 42.141855 ms 
solver time 7.718841 ms 
add points time 1.039495 ms
filter time 13.239780 ms 
prepare time 16.109465 
sort q time 5.123321 
seperate points time 13.160160 
build tree time 34.436441 ms 
data association time 15.038519 ms 
solver time 10.737687 ms 
mapping data assosiation time 40.598707 ms 
solver time 7.782607 ms 
publication time 11.970092 ms 
whole laserOdometry time 61.372605 ms 
 
mapping solver time 30.577437 ms 
sort q time 5.064508 
seperate points time 12.089541 
data association time 14.973927 ms 
mapping data assosiation time 43.091277 ms 
solver time 10.042184 ms 
data association time 14.818407 ms 
mapping solver time 24.864647 ms 
publication time 11.374909 ms 
whole laserOdometry time 60.056871 ms 
 
map prepare time 3.687038 ms
map corner num 120277  surf num 56927 
points size 101385 
prepare time 14.127898 
sort q time 4.482657 
seperate points time 10.876589 
build tree time 35.991733 ms 
data association time 17.690128 ms 
solver time 11.979111 ms 
data association time 15.253038 ms 
solver time 7.660322 ms 
publication time 10.830267 ms 
whole laserOdometry time 64.393275 ms 
 
mapping solver time 32.080455 ms 
sort q time 4.752512 
seperate points time 11.179768 
data association time 14.467367 ms 
solver time 10.935385 ms 
data association time 15.174789 ms 
solver time 10.136020 ms 
filter time 12.129913 ms 
points size 101419 
sort q time 5.308631 
seperate points time 12.409338 
mapping pub time 53.114830 ms 
whole mapping time 253.230685 ms +++++
[0m[ INFO] [1718887132.872563037]: Received 747574 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887132.872608454]: Data saved to 1317357877459155.pcd[0m
data association time 15.496653 ms 
solver time 12.925984 ms 
publication time 11.900823 ms 
whole laserOdometry time 70.917186 ms 
 
prepare time 15.162698 
sort q time 5.173879 
seperate points time 12.357422 
mapping data assosiation time 45.497719 ms 
scan registration time 32.613236 ms *************
data association time 15.954568 ms 
solver time 9.859352 ms 
data association time 15.167523 ms 
publication time 9.391534 ms 
whole laserOdometry time 58.998079 ms 
 
points size 102758 
mapping solver time 19.388226 ms 
sort q time 5.390263 
seperate points time 12.714321 
mapping pub time 1.275316 ms 
whole mapping time 197.967177 ms +++++
data association time 15.921395 ms 
solver time 11.236004 ms 
build tree time 35.667492 ms 
solver time 8.302340 ms 
publication time 11.311374 ms 
whole laserOdometry time 65.135560 ms 
 
points size 102732 
sort q time 6.106741 
seperate points time 14.966046 
mapping solver time 32.528480 ms 
data association time 24.227564 ms 
solver time 18.154358 ms 
mapping data assosiation time 48.153709 ms 
data association time 23.960847 ms 
optimization twice time 82.304779 
mapping optimization time 193.385640 
add points time 1.149291 ms
sort q time 6.474954 
seperate points time 15.254995 
scan registration time 35.118408 ms *************
filter time 17.201757 ms 
mapping pub time 1.334966 ms 
whole mapping time 217.276248 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.836439 ms
map corner num 123358  surf num 58692 
data association time 24.165027 ms 
solver time 17.928960 ms 
data association time 14.846402 ms 
solver time 12.819731 ms 
optimization twice time 70.633844 
mapping data assosiation time 49.749356 ms 
sort q time 6.835364 
seperate points time 16.043091 
scan registration time 38.467155 ms *************
data association time 15.278238 ms 
solver time 12.173068 ms 
data association time 16.579900 ms 
solver time 7.345942 ms 
publication time 11.867716 ms 
whole laserOdometry time 64.197275 ms 
 
sort q time 6.235559 
seperate points time 14.368793 
add points time 1.421577 ms
filter time 12.988321 ms 
solver time 11.418233 ms 
data association time 16.732146 ms 
solver time 8.174547 ms 
publication time 11.690607 ms 
whole laserOdometry time 68.112282 ms 
 
prepare time 15.238294 
sort q time 4.991458 
seperate points time 11.935047 
mapping data assosiation time 48.786028 ms 
data association time 15.537980 ms 
solver time 10.445264 ms 
mapping solver time 27.215213 ms 
data association time 15.588862 ms 
publication time 10.372891 ms 
whole laserOdometry time 60.999173 ms 
 
points size 102570 
mapping data assosiation time 45.211301 ms 
prepare time 14.426573 
sort q time 5.632035 
seperate points time 13.193079 
filter time 15.373038 ms 
mapping pub time 1.774282 ms 
whole mapping time 205.169256 ms +++++
drop lidar frame in mapping for real time performance 
solver time 14.371490 ms 
build tree time 45.969606 ms 
points size 102388 
sort q time 5.836641 
seperate points time 14.056996 
mapping data assosiation time 46.144640 ms 
data association time 18.290244 ms 
solver time 12.852911 ms 
data association time 16.094070 ms 
publication time 11.814434 ms 
whole laserOdometry time 65.111520 ms 
 
points size 102329 
prepare time 16.837868 
sort q time 5.719589 
seperate points time 13.247444 
mapping solver time 26.316451 ms 
data association time 15.501338 ms 
mapping pub time 3.010197 ms 
whole mapping time 220.509496 ms +++++
data association time 15.778676 ms 
publication time 11.659099 ms 
whole laserOdometry time 63.339814 ms 
 
points size 102240 
sort q time 5.084805 
seperate points time 11.969443 
data association time 14.937084 ms 
mapping data assosiation time 47.525954 ms 
data association time 14.969814 ms 
solver time 8.754180 ms 
publication time 10.251823 ms 
whole laserOdometry time 57.830997 ms 
 
points size 102187 
sort q time 4.729685 
seperate points time 11.284530 
data association time 14.395587 ms 
add points time 1.080315 ms
filter time 14.460534 ms 
solver time 7.807712 ms 
points size 102115 
build tree time 38.840823 ms 
scan registration time 33.396816 ms *************
data association time 14.178300 ms 
mapping data assosiation time 46.223907 ms 
solver time 5.564553 ms 
optimization twice time 44.150206 
points size 102135 
sort q time 4.713147 
seperate points time 11.232583 
mapping data assosiation time 45.197342 ms 
data association time 23.608577 ms 
mapping solver time 28.924307 ms 
filter time 13.479963 ms 
data association time 24.024198 ms 
points size 102080 
publication time 12.395400 ms 
whole laserOdometry time 84.041816 ms 
 
scan registration time 34.852185 ms *************
data association time 23.411736 ms 
mapping data assosiation time 47.381282 ms 
data association time 23.786651 ms 
solver time 11.306022 ms 
publication time 12.172206 ms 
whole laserOdometry time 84.079523 ms 
 
sort q time 6.797799 
seperate points time 15.978323 
mapping data assosiation time 49.704438 ms 
data association time 25.818470 ms 
solver time 12.284535 ms 
mapping solver time 29.913077 ms 
data association time 24.125121 ms 
prepare time 16.610768 
publication time 12.529380 ms 
whole laserOdometry time 84.114835 ms 
 
build tree time 42.604758 ms 
data association time 25.242760 ms 
solver time 16.677920 ms 
points size 101860 
solver time 11.795461 ms 
publication time 12.500461 ms 
whole laserOdometry time 94.327672 ms 
 
mapping solver time 47.385374 ms 
data association time 23.039348 ms 
data association time 26.659335 ms 
points size 101695 
publication time 12.806371 ms 
whole laserOdometry time 89.151135 ms 
 
scan registration time 34.825842 ms *************
mapping solver time 36.505518 ms 
data association time 23.789144 ms 
filter time 15.880774 ms 
map prepare time 4.887102 ms
map corner num 129167  surf num 61253 
solver time 18.113418 ms 
data association time 23.985932 ms 
solver time 10.544632 ms 
publication time 12.774041 ms 
whole laserOdometry time 90.310636 ms 
 
mapping data assosiation time 50.169475 ms 
data association time 27.292828 ms 
solver time 18.832436 ms 
mapping solver time 39.602476 ms 
solver time 12.451485 ms 
scan registration time 32.678426 ms *************
publication time 14.378378 ms 
whole laserOdometry time 98.362156 ms 
 
mapping data assosiation time 56.930357 ms 
solver time 15.707643 ms 
mapping solver time 30.185971 ms 
data association time 20.305924 ms 
filter time 14.263454 ms 
map prepare time 3.810384 ms
map corner num 129890  surf num 61516 
sort q time 6.044502 
seperate points time 14.085811 
build tree time 36.297438 ms 
solver time 10.327773 ms 
data association time 14.771245 ms 
solver time 6.076893 ms 
mapping data assosiation time 45.519561 ms 
points size 100788 
prepare time 14.730912 
scan registration time 31.812296 ms *************
data association time 15.587880 ms 
solver time 11.606406 ms 
data association time 14.969346 ms 
solver time 8.053562 ms 
publication time 10.996455 ms 
whole laserOdometry time 62.101199 ms 
 
mapping solver time 27.784344 ms 
mapping optimization time 197.371860 
add points time 1.012800 ms
points size 98913 
filter time 12.433803 ms 
scan registration time 34.328279 ms *************
data association time 17.572968 ms 
solver time 12.909181 ms 
build tree time 41.468734 ms 
data association time 14.120478 ms 
solver time 9.825764 ms 
publication time 10.109961 ms 
whole laserOdometry time 65.297860 ms 
 
points size 97627 
sort q time 4.616461 
seperate points time 11.227013 
mapping solver time 32.878977 ms 
data association time 14.350648 ms 
solver time 7.445634 ms 
data association time 14.029584 ms 
mapping data assosiation time 44.989098 ms 
publication time 8.855294 ms 
whole laserOdometry time 51.305462 ms 
 
points size 96300 
prepare time 13.953341 
mapping solver time 27.710697 ms 
mapping optimization time 194.661265 
sort q time 4.853802 
seperate points time 11.766465 
mapping pub time 1.197706 ms 
whole mapping time 215.930122 ms +++++
map prepare time 5.478328 ms
map corner num 131309  surf num 62069 
data association time 15.226416 ms 
solver time 10.818465 ms 
build tree time 40.110540 ms 
data association time 14.954961 ms 
publication time 9.127151 ms 
whole laserOdometry time 58.715358 ms 
 
points size 95343 
prepare time 20.538985 
mapping data assosiation time 53.988588 ms 
sort q time 6.019061 
seperate points time 14.960968 
scan registration time 41.382822 ms *************
data association time 14.850239 ms 
mapping solver time 36.777191 ms 
data association time 17.049093 ms 
publication time 9.217579 ms 
whole laserOdometry time 64.772487 ms 
 
points size 95197 
sort q time 5.504774 
seperate points time 13.324855 
mapping solver time 29.517097 ms 
data association time 14.789322 ms 
filter time 12.017547 ms 
mapping pub time 1.164500 ms 
whole mapping time 239.634582 ms +++++
drop lidar frame in mapping for real time performance 
data association time 14.401936 ms 
optimization twice time 53.220979 
points size 95318 
sort q time 4.374090 
seperate points time 10.559413 
mapping data assosiation time 45.519126 ms 
data association time 16.431076 ms 
solver time 14.904015 ms 
mapping solver time 32.856542 ms 
solver time 10.058407 ms 
publication time 9.773709 ms 
whole laserOdometry time 66.558393 ms 
 
points size 95198 
mapping data assosiation time 45.453313 ms 
sort q time 6.068046 
seperate points time 14.510888 
mapping solver time 27.274861 ms 
data association time 16.305547 ms 
filter time 13.441727 ms 
mapping pub time 1.253018 ms 
whole mapping time 208.501817 ms +++++
drop lidar frame in mapping for real time performance 
solver time 13.622776 ms 
data association time 16.444681 ms 
solver time 7.927777 ms 
publication time 10.546630 ms 
whole laserOdometry time 65.858675 ms 
 
points size 95021 
prepare time 14.904779 
sort q time 4.168006 
seperate points time 10.219474 
data association time 16.160697 ms 
solver time 13.488265 ms 
data association time 16.561104 ms 
mapping solver time 32.656866 ms 
publication time 8.615361 ms 
whole laserOdometry time 63.685092 ms 
 
points size 95623 
sort q time 4.566482 
seperate points time 10.964226 
data association time 15.424376 ms 
solver time 10.370039 ms 
filter time 13.077573 ms 
data association time 17.063151 ms 
solver time 7.844162 ms 
optimization twice time 51.549546 
points size 96575 
sort q time 4.980930 
seperate points time 11.269500 
mapping data assosiation time 50.678259 ms 
solver time 18.841691 ms 
mapping solver time 45.996260 ms 
data association time 26.432146 ms 
points size 98068 
prepare time 14.432478 
solver time 16.430185 ms 
publication time 13.450428 ms 
whole laserOdometry time 105.952053 ms 
 
[33m[ WARN] [1718887136.381739278]: odometry process over 100ms[0m
mapping data assosiation time 55.150598 ms 
solver time 12.864198 ms 
mapping solver time 28.438983 ms 
solver time 7.927568 ms 
drop lidar frame in mapping for real time performance 
sort q time 4.735991 
seperate points time 11.981946 
build tree time 38.057995 ms 
data association time 19.613192 ms 
solver time 14.848557 ms 
mapping data assosiation time 41.123430 ms 
solver time 10.915695 ms 
publication time 9.467588 ms 
whole laserOdometry time 76.632924 ms 
 
sort q time 5.352338 
seperate points time 13.055209 
data association time 14.890854 ms 
solver time 11.680301 ms 
solver time 9.751164 ms 
publication time 9.998395 ms 
whole laserOdometry time 62.493203 ms 
 
mapping pub time 1.337927 ms 
whole mapping time 206.543752 ms +++++
sort q time 5.883181 
seperate points time 13.750780 
build tree time 38.205691 ms 
solver time 12.544719 ms 
data association time 14.441749 ms 
solver time 9.454702 ms 
points size 100197 
sort q time 4.769432 
seperate points time 11.623219 
data association time 16.112952 ms 
solver time 12.133918 ms 
mapping data assosiation time 46.414629 ms 
solver time 7.928202 ms 
publication time 11.630986 ms 
whole laserOdometry time 65.647985 ms 
 
mapping solver time 35.368799 ms 
prepare time 15.331842 
filter time 14.791034 ms 
map prepare time 3.870756 ms
map corner num 135838  surf num 63891 
data association time 16.825752 ms 
solver time 12.234996 ms 
build tree time 38.354548 ms 
data association time 20.270163 ms 
solver time 12.077045 ms 
points size 100650 
sort q time 6.224538 
seperate points time 14.192540 
scan registration time 34.026890 ms *************
mapping solver time 33.667312 ms 
data association time 17.304956 ms 
solver time 14.340984 ms 
data association time 17.178341 ms 
solver time 12.580196 ms 
publication time 9.621770 ms 
whole laserOdometry time 72.021664 ms 
 
points size 100805 
mapping solver time 34.152008 ms 
mapping optimization time 202.069338 
add points time 1.109433 ms
sort q time 6.903953 
seperate points time 16.018750 
filter time 13.155525 ms 
data association time 15.212212 ms 
solver time 10.614940 ms 
data association time 15.157065 ms 
build tree time 38.830460 ms 
publication time 9.683985 ms 
whole laserOdometry time 60.243844 ms 
 
points size 100901 
mapping data assosiation time 43.667766 ms 
scan registration time 39.330044 ms *************
data association time 16.221426 ms 
solver time 10.366085 ms 
data association time 15.969055 ms 
solver time 7.987436 ms 
publication time 10.928265 ms 
whole laserOdometry time 62.432342 ms 
 
points size 101110 
sort q time 5.005248 
seperate points time 12.634654 
filter time 15.623127 ms 
data association time 16.215827 ms 
solver time 12.428930 ms 
data association time 15.168595 ms 
solver time 10.488850 ms 
publication time 12.253142 ms 
whole laserOdometry time 67.594917 ms 
 
points size 101083 
sort q time 5.938034 
seperate points time 15.315193 
build tree time 39.957374 ms 
data association time 14.367643 ms 
solver time 12.200877 ms 
data association time 14.691619 ms 
solver time 8.008951 ms 
publication time 10.658043 ms 
whole laserOdometry time 60.735652 ms 
 
points size 101140 
sort q time 5.922281 
seperate points time 14.966808 
data association time 14.093254 ms 
solver time 10.292737 ms 
data association time 14.777902 ms 
mapping solver time 32.404081 ms 
filter time 18.131933 ms 
prepare time 19.283195 
sort q time 6.055805 
seperate points time 15.495563 
build tree time 43.001304 ms 
data association time 14.429422 ms 
solver time 11.117359 ms 
data association time 14.582288 ms 
solver time 7.610562 ms 
publication time 12.040898 ms 
whole laserOdometry time 60.607225 ms 
 
sort q time 6.257727 
seperate points time 15.154028 
data association time 26.431772 ms 
solver time 17.185863 ms 
mapping data assosiation time 53.198625 ms 
data association time 16.563145 ms 
optimization twice time 70.043504 
points size 101074 
sort q time 5.973693 
seperate points time 14.071403 
mapping pub time 2.485704 ms 
whole mapping time 233.746582 ms +++++
data association time 18.281176 ms 
solver time 11.979735 ms 
data association time 16.863646 ms 
build tree time 42.844557 ms 
publication time 10.602196 ms 
whole laserOdometry time 68.998526 ms 
 
points size 100982 
prepare time 19.252430 
mapping data assosiation time 44.992971 ms 
sort q time 5.862001 
seperate points time 15.075202 
data association time 15.062189 ms 
solver time 10.830414 ms 
data association time 14.591680 ms 
solver time 7.800641 ms 
mapping data assosiation time 47.835673 ms 
sort q time 5.861233 
seperate points time 15.019689 
filter time 15.126363 ms 
mapping pub time 1.610429 ms 
whole mapping time 220.931643 ms +++++
data association time 14.852052 ms 
drop lidar frame in mapping for real time performance 
map prepare time 4.665897 ms
map corner num 141169  surf num 66783 
solver time 17.164722 ms 
data association time 15.917575 ms 
solver time 11.471581 ms 
publication time 11.831837 ms 
whole laserOdometry time 72.225925 ms 
 
prepare time 18.984125 
sort q time 5.822559 
seperate points time 15.057965 
mapping data assosiation time 51.759919 ms 
data association time 25.089958 ms 
solver time 13.315259 ms 
mapping solver time 37.951288 ms 
optimization twice time 63.534236 
publication time 10.272893 ms 
whole laserOdometry time 73.835659 ms 
 
points size 100317 
prepare time 18.780202 
sort q time 6.040025 
seperate points time 15.298153 
data association time 16.770601 ms 
mapping solver time 23.804806 ms 
mapping optimization time 208.340889 
add points time 1.443402 ms
mapping pub time 2.033737 ms 
whole mapping time 232.446417 ms +++++
data association time 19.628350 ms 
solver time 8.463098 ms 
publication time 13.591496 ms 
whole laserOdometry time 71.143020 ms 
 
build tree time 45.407079 ms 
data association time 14.365457 ms 
solver time 10.043730 ms 
mapping data assosiation time 45.549055 ms 
data association time 14.359018 ms 
solver time 7.596546 ms 
publication time 9.077232 ms 
whole laserOdometry time 56.226656 ms 
 
mapping solver time 32.348619 ms 
points size 98996 
sort q time 4.525886 
seperate points time 10.713059 
mapping data assosiation time 43.208587 ms 
solver time 10.772071 ms 
mapping solver time 23.889712 ms 
solver time 7.406128 ms 
mapping pub time 3.461475 ms 
whole mapping time 218.474833 ms +++++
points size 98737 
prepare time 14.439584 
sort q time 4.933858 
seperate points time 12.369311 
build tree time 39.106530 ms 
data association time 14.320663 ms 
solver time 10.048505 ms 
data association time 14.586777 ms 
solver time 8.264778 ms 
publication time 9.185883 ms 
whole laserOdometry time 57.256216 ms 
 
mapping solver time 29.501680 ms 
prepare time 11.841685 
sort q time 4.817497 
seperate points time 12.086581 
data association time 16.370684 ms 
mapping data assosiation time 44.569779 ms 
data association time 15.933148 ms 
mapping solver time 23.818490 ms 
solver time 8.328608 ms 
filter time 15.682302 ms 
map prepare time 4.786744 ms
map corner num 144346  surf num 68309 
points size 98180 
sort q time 4.997701 
seperate points time 11.949921 
build tree time 40.955398 ms 
data association time 16.898287 ms 
solver time 13.101059 ms 
mapping data assosiation time 44.214098 ms 
data association time 19.812361 ms 
solver time 10.934526 ms 
mapping solver time 31.828421 ms 
publication time 12.141865 ms 
whole laserOdometry time 73.970270 ms 
 
points size 96679 
prepare time 16.710191 
sort q time 5.377326 
seperate points time 12.835221 
scan registration time 34.024670 ms *************
data association time 15.754367 ms 
solver time 14.451351 ms 
mapping solver time 23.631658 ms 
data association time 19.856171 ms 
filter time 16.312739 ms 
map prepare time 5.005238 ms
map corner num 145368  surf num 68801 
points size 96162 
prepare time 18.794337 
sort q time 5.784709 
seperate points time 13.936569 
scan registration time 38.375021 ms *************
data association time 14.773737 ms 
solver time 14.376481 ms 
data association time 14.435695 ms 
solver time 12.105346 ms 
publication time 10.772156 ms 
whole laserOdometry time 67.403097 ms 
 
prepare time 15.075071 
mapping solver time 28.718735 ms 
data association time 18.358266 ms 
solver time 14.159257 ms 
data association time 18.898318 ms 
mapping optimization time 195.681926 
publication time 10.774093 ms 
whole laserOdometry time 74.916002 ms 
 
sort q time 4.362810 
seperate points time 10.570248 
scan registration time 30.423996 ms *************
data association time 25.841141 ms 
solver time 19.736709 ms 
points size 96701 
sort q time 4.889694 
seperate points time 11.814304 
publication time 11.318330 ms 
whole laserOdometry time 107.719834 ms 
 
[33m[ WARN] [1718887139.291527772]: odometry process over 100ms[0m
mapping solver time 41.351815 ms 
data association time 23.776599 ms 
solver time 20.704477 ms 
mapping data assosiation time 52.930928 ms 
points size 97605 
data association time 25.890171 ms 
prepare time 14.837906 
sort q time 5.175905 
seperate points time 12.053862 
publication time 11.334844 ms 
whole laserOdometry time 98.518878 ms 
 
mapping solver time 35.391317 ms 
mapping optimization time 236.672222 
add points time 1.575995 ms
filter time 18.057279 ms 
map prepare time 4.715922 ms
map corner num 147359  surf num 69882 
solver time 18.651126 ms 
data association time 23.005308 ms 
points size 96820 
optimization twice time 83.386973 
publication time 13.244530 ms 
whole laserOdometry time 96.647753 ms 
 
data association time 25.862728 ms 
mapping data assosiation time 54.283851 ms 
data association time 22.524492 ms 
points size 94131 
mapping solver time 39.981401 ms 
solver time 20.037332 ms 
optimization twice time 90.315795 
publication time 13.297407 ms 
whole laserOdometry time 103.632462 ms 
 
[33m[ WARN] [1718887139.597788835]: odometry process over 100ms[0m
data association time 29.104306 ms 
solver time 19.528125 ms 
mapping solver time 31.909464 ms 
data association time 21.537211 ms 
filter time 14.376115 ms 
map prepare time 3.750055 ms
map corner num 148513  surf num 70534 
sort q time 5.421837 
seperate points time 13.473051 
data association time 15.773421 ms 
solver time 13.414994 ms 
data association time 14.820565 ms 
solver time 13.194358 ms 
publication time 8.763045 ms 
whole laserOdometry time 66.748531 ms 
 
sort q time 4.228323 
seperate points time 10.420759 
mapping solver time 29.240148 ms 
data association time 15.494243 ms 
solver time 12.658958 ms 
mapping data assosiation time 39.024007 ms 
solver time 9.884221 ms 
publication time 8.458166 ms 
whole laserOdometry time 62.643054 ms 
 
mapping optimization time 188.619583 
points size 88269 
mapping pub time 1.352203 ms 
whole mapping time 211.226043 ms +++++
scan registration time 30.143323 ms *************
data association time 17.756233 ms 
solver time 13.218290 ms 
data association time 18.113198 ms 
solver time 11.781669 ms 
publication time 10.995221 ms 
whole laserOdometry time 72.811858 ms 
 
points size 85798 
prepare time 12.987109 
sort q time 4.629151 
seperate points time 11.355085 
mapping solver time 27.799751 ms 
data association time 15.156469 ms 
solver time 12.278291 ms 
data association time 15.182158 ms 
solver time 12.073062 ms 
publication time 8.870547 ms 
whole laserOdometry time 64.399639 ms 
 
mapping solver time 34.028811 ms 
sort q time 4.246407 
seperate points time 10.772886 
map prepare time 4.816638 ms
map corner num 150657  surf num 71456 
data association time 14.001375 ms 
solver time 11.783973 ms 
data association time 13.801291 ms 
solver time 10.092670 ms 
points size 87278 
mapping data assosiation time 45.043386 ms 
data association time 13.958964 ms 
mapping solver time 26.347023 ms 
data association time 13.637846 ms 
solver time 7.784656 ms 
publication time 9.750424 ms 
whole laserOdometry time 56.795858 ms 
 
points size 88325 
prepare time 10.283883 
mapping solver time 26.643950 ms 
mapping optimization time 185.436993 
add points time 1.024543 ms
sort q time 4.330090 
seperate points time 10.517123 
mapping pub time 2.218621 ms 
whole mapping time 208.309646 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.044494 ms
map corner num 151863  surf num 71993 
data association time 13.661156 ms 
solver time 12.261185 ms 
data association time 13.993583 ms 
solver time 10.244622 ms 
publication time 10.390587 ms 
whole laserOdometry time 61.443897 ms 
 
points size 88612 
sort q time 5.228610 
seperate points time 12.740795 
mapping solver time 29.994773 ms 
data association time 14.014814 ms 
solver time 11.953720 ms 
data association time 13.312324 ms 
mapping data assosiation time 42.157731 ms 
publication time 9.564958 ms 
whole laserOdometry time 60.552596 ms 
 
mapping solver time 23.529283 ms 
mapping optimization time 184.301448 
points size 90589 
add points time 1.028576 ms
prepare time 14.217369 
filter time 13.437839 ms 
data association time 13.456275 ms 
solver time 11.818094 ms 
build tree time 43.168148 ms 
solver time 9.622608 ms 
points size 94593 
mapping data assosiation time 47.027411 ms 
sort q time 4.915589 
seperate points time 11.838258 
scan registration time 31.309538 ms *************
mapping solver time 34.245524 ms 
solver time 20.157451 ms 
data association time 25.573231 ms 
points size 98742 
sort q time 4.918346 
seperate points time 12.528028 
mapping solver time 38.797359 ms 
mapping optimization time 220.807161 
add points time 1.129296 ms
data association time 23.592298 ms 
mapping pub time 5.512901 ms 
whole mapping time 251.011275 ms +++++
drop lidar frame in mapping for real time performance 
solver time 19.833744 ms 
data association time 20.886536 ms 
points size 99282 
build tree time 51.069568 ms 
scan registration time 34.767975 ms *************
data association time 16.372914 ms 
mapping data assosiation time 42.023154 ms 
solver time 14.565852 ms 
data association time 21.502364 ms 
optimization twice time 65.919626 
publication time 12.119138 ms 
whole laserOdometry time 78.061695 ms 
 
sort q time 5.098526 
seperate points time 12.121757 
mapping data assosiation time 46.611083 ms 
data association time 14.773693 ms 
add points time 1.201851 ms
solver time 12.415785 ms 
filter time 15.706691 ms 
map prepare time 5.439849 ms
map corner num 155360  surf num 73530 
publication time 10.633527 ms 
whole laserOdometry time 62.439499 ms 
 
points size 101321 
sort q time 4.451140 
seperate points time 11.195203 
data association time 14.940956 ms 
solver time 11.982416 ms 
mapping data assosiation time 42.636587 ms 
solver time 10.194777 ms 
mapping solver time 29.372625 ms 
points size 102492 
sort q time 4.563829 
seperate points time 11.674220 
scan registration time 29.289179 ms *************
mapping data assosiation time 43.178093 ms 
data association time 15.436154 ms 
solver time 12.524832 ms 
mapping solver time 29.664935 ms 
data association time 21.866075 ms 
solver time 11.011579 ms 
publication time 12.786496 ms 
whole laserOdometry time 74.545742 ms 
 
prepare time 14.975732 
sort q time 4.777591 
seperate points time 11.663942 
build tree time 45.460949 ms 
data association time 18.214418 ms 
solver time 15.177585 ms 
data association time 14.751826 ms 
solver time 11.250274 ms 
publication time 12.173010 ms 
whole laserOdometry time 72.403630 ms 
 
points size 103813 
sort q time 4.921766 
seperate points time 11.934863 
scan registration time 32.985918 ms *************
data association time 14.687441 ms 
mapping data assosiation time 43.564640 ms 
data association time 15.577874 ms 
solver time 10.982467 ms 
publication time 11.354435 ms 
whole laserOdometry time 66.646272 ms 
 
filter time 17.199236 ms 
map prepare time 4.198157 ms
map corner num 157603  surf num 74937 
sort q time 6.642583 
seperate points time 16.313126 
scan registration time 35.535289 ms *************
data association time 16.136132 ms 
solver time 10.999216 ms 
data association time 17.844251 ms 
solver time 9.770785 ms 
mapping data assosiation time 43.179031 ms 
points size 103877 
sort q time 5.555088 
seperate points time 13.735389 
scan registration time 33.708471 ms *************
mapping solver time 31.927772 ms 
data association time 17.221941 ms 
solver time 12.003231 ms 
mapping data assosiation time 46.396059 ms 
solver time 11.580588 ms 
publication time 13.003438 ms 
whole laserOdometry time 70.407050 ms 
 
mapping solver time 31.736143 ms 
filter time 14.675543 ms 
map prepare time 5.246891 ms
map corner num 158663  surf num 75572 
data association time 17.411163 ms 
solver time 12.246970 ms 
build tree time 42.738634 ms 
data association time 15.187865 ms 
solver time 7.689768 ms 
publication time 10.455637 ms 
whole laserOdometry time 63.915795 ms 
 
points size 104190 
mapping data assosiation time 47.275737 ms 
sort q time 5.914740 
seperate points time 14.484452 
scan registration time 35.526145 ms *************
mapping solver time 30.051197 ms 
data association time 16.836938 ms 
solver time 12.432904 ms 
data association time 15.712442 ms 
mapping data assosiation time 47.906627 ms 
points size 104133 
mapping solver time 26.057128 ms 
scan registration time 35.994480 ms *************
data association time 15.684583 ms 
solver time 10.804177 ms 
data association time 17.869311 ms 
solver time 8.962905 ms 
map prepare time 6.053992 ms
map corner num 159803  surf num 76148 
publication time 13.863311 ms 
whole laserOdometry time 68.231389 ms 
 
sort q time 5.270910 
seperate points time 12.440206 
build tree time 49.692475 ms 
data association time 15.997590 ms 
data association time 15.116944 ms 
solver time 10.145743 ms 
publication time 11.895631 ms 
whole laserOdometry time 64.588972 ms 
 
points size 103728 
mapping solver time 34.969078 ms 
data association time 24.866849 ms 
mapping data assosiation time 45.457379 ms 
mapping solver time 25.863858 ms 
points size 103681 
filter time 18.512882 ms 
scan registration time 35.316565 ms *************
data association time 15.329483 ms 
solver time 12.330838 ms 
build tree time 48.617448 ms 
solver time 9.798130 ms 
publication time 10.646090 ms 
whole laserOdometry time 65.350973 ms 
 
solver time 7.774445 ms 
publication time 10.831148 ms 
whole laserOdometry time 61.551191 ms 
 
points size 104096 
mapping data assosiation time 54.482182 ms 
scan registration time 33.736952 ms *************
mapping solver time 28.582493 ms 
solver time 12.924563 ms 
map prepare time 4.295775 ms
map corner num 170649  surf num 84954 
solver time 10.336027 ms 
publication time 11.615501 ms 
whole laserOdometry time 71.966134 ms 
 
build tree time 51.765877 ms 
data association time 16.717094 ms 
mapping data assosiation time 47.681588 ms 
data association time 18.045263 ms 
mapping solver time 32.694676 ms 
points size 104407 
sort q time 6.161382 
seperate points time 15.503626 
mapping data assosiation time 47.174609 ms 
data association time 19.900477 ms 
solver time 13.174840 ms 
mapping solver time 28.259212 ms 
mapping optimization time 210.515557 
add points time 1.225336 ms
data association time 18.715032 ms 
drop lidar frame in mapping for real time performance 
solver time 14.065802 ms 
optimization twice time 66.758310 
map prepare time 5.192020 ms
map corner num 171778  surf num 85548 
publication time 11.594128 ms 
whole laserOdometry time 78.371481 ms 
 
sort q time 6.189694 
seperate points time 15.754051 
scan registration time 39.100128 ms *************
data association time 16.952143 ms 
solver time 10.505669 ms 
data association time 17.298981 ms 
publication time 11.517854 ms 
whole laserOdometry time 65.108194 ms 
 
points size 104718 
prepare time 18.951374 
sort q time 6.193161 
seperate points time 15.760827 
data association time 31.542570 ms 
solver time 16.646542 ms 
points size 103885 
mapping solver time 33.999510 ms 
sort q time 6.238138 
seperate points time 15.893948 
filter time 22.101475 ms 
data association time 28.110625 ms 
build tree time 50.777457 ms 
prepare time 14.781703 
data association time 30.192027 ms 
solver time 13.463572 ms 
publication time 14.005125 ms 
whole laserOdometry time 101.107238 ms 
 
[33m[ WARN] [1718887143.051499170]: odometry process over 100ms[0m
mapping data assosiation time 56.344663 ms 
data association time 28.404492 ms 
solver time 15.028762 ms 
points size 103420 
solver time 10.840177 ms 
publication time 11.169596 ms 
whole laserOdometry time 95.167439 ms 
 
data association time 16.395794 ms 
mapping optimization time 223.100066 
filter time 15.357261 ms 
map prepare time 4.627669 ms
map corner num 133878  surf num 68670 
solver time 15.673143 ms 
prepare time 18.417995 
sort q time 4.860836 
seperate points time 12.095851 
data association time 16.458484 ms 
solver time 12.974596 ms 
mapping data assosiation time 41.822232 ms 
data association time 16.736311 ms 
solver time 11.871729 ms 
publication time 12.712298 ms 
whole laserOdometry time 71.663124 ms 
 
sort q time 5.848906 
seperate points time 14.136095 
mapping data assosiation time 44.962945 ms 
data association time 17.233637 ms 
solver time 10.661030 ms 
mapping solver time 25.333090 ms 
mapping optimization time 178.155823 
add points time 1.119597 ms
data association time 17.595360 ms 
publication time 11.139516 ms 
whole laserOdometry time 66.108190 ms 
 
sort q time 5.115960 
seperate points time 11.896653 
data association time 17.067813 ms 
solver time 12.195487 ms 
data association time 17.593505 ms 
publication time 10.041388 ms 
whole laserOdometry time 65.246796 ms 
 
points size 103017 
sort q time 6.907533 
seperate points time 16.860324 
mapping data assosiation time 49.912518 ms 
data association time 17.163818 ms 
solver time 10.984378 ms 
data association time 16.831822 ms 
solver time 9.203208 ms 
publication time 9.880744 ms 
whole laserOdometry time 65.067544 ms 
 
sort q time 5.230857 
seperate points time 12.914441 
scan registration time 32.690804 ms *************
data association time 16.882803 ms 
solver time 12.992469 ms 
mapping data assosiation time 42.361730 ms 
optimization twice time 56.555841 
publication time 11.877755 ms 
whole laserOdometry time 68.453275 ms 
 
points size 102209 
mapping solver time 30.882602 ms 
sort q time 6.112052 
seperate points time 15.350549 
mapping data assosiation time 39.955563 ms 
data association time 17.454505 ms 
mapping solver time 29.257182 ms 
solver time 10.361196 ms 
publication time 11.606484 ms 
whole laserOdometry time 70.526988 ms 
 
sort q time 5.083158 
seperate points time 12.398956 
build tree time 38.761284 ms 
data association time 19.497800 ms 
solver time 12.308596 ms 
mapping data assosiation time 38.856965 ms 
solver time 9.096111 ms 
mapping solver time 32.116331 ms 
sort q time 6.717169 
seperate points time 17.132746 
scan registration time 41.069772 ms *************
mapping data assosiation time 45.793647 ms 
solver time 10.252155 ms 
mapping solver time 22.896150 ms 
data association time 17.701746 ms 
optimization twice time 55.790789 
publication time 10.781523 ms 
whole laserOdometry time 66.591305 ms 
 
prepare time 18.556057 
sort q time 6.031404 
seperate points time 15.489048 
scan registration time 38.389273 ms *************
build tree time 48.837405 ms 
solver time 11.963137 ms 
data association time 16.356734 ms 
solver time 10.319428 ms 
points size 101518 
mapping solver time 37.708446 ms 
data association time 16.288445 ms 
solver time 10.612635 ms 
mapping data assosiation time 38.282168 ms 
data association time 17.321842 ms 
mapping solver time 21.940562 ms 
publication time 12.229788 ms 
whole laserOdometry time 66.210769 ms 
 
prepare time 16.284156 
mapping pub time 3.795075 ms 
whole mapping time 218.632434 ms +++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
sort q time 4.858816 
seperate points time 12.231550 
data association time 15.627203 ms 
solver time 9.810118 ms 
data association time 16.226099 ms 
publication time 9.217072 ms 
whole laserOdometry time 59.198363 ms 
 
mapping data assosiation time 42.043589 ms 
points size 98010 
sort q time 4.564591 
seperate points time 11.356104 
scan registration time 26.603168 ms *************
data association time 15.539021 ms 
solver time 12.151632 ms 
data association time 19.813624 ms 
solver time 9.830751 ms 
publication time 11.260739 ms 
whole laserOdometry time 69.521913 ms 
 
points size 96936 
map prepare time 4.172526 ms
map corner num 140309  surf num 71689 
sort q time 5.228141 
seperate points time 12.963347 
scan registration time 31.679458 ms *************
build tree time 38.723900 ms 
data association time 30.019567 ms 
solver time 11.507596 ms 
mapping data assosiation time 37.638226 ms 
solver time 7.886904 ms 
prepare time 18.335333 
mapping solver time 33.746565 ms 
sort q time 5.839165 
seperate points time 14.946311 
data association time 30.820814 ms 
solver time 16.782496 ms 
mapping solver time 35.335472 ms 
solver time 11.006893 ms 
optimization twice time 86.584558 
sort q time 5.479096 
seperate points time 13.376535 
data association time 27.471946 ms 
solver time 17.196331 ms 
build tree time 54.500801 ms 
points size 94045 
sort q time 4.472237 
seperate points time 11.330912 
mapping data assosiation time 48.190051 ms 
publication time 12.750019 ms 
whole laserOdometry time 105.949310 ms 
 
[33m[ WARN] [1718887144.806714296]: odometry process over 100ms[0m
data association time 26.452478 ms 
solver time 16.479861 ms 
points size 92152 
solver time 10.435668 ms 
publication time 10.271187 ms 
whole laserOdometry time 90.017784 ms 
 
mapping solver time 24.625710 ms 
data association time 16.854117 ms 
filter time 15.711067 ms 
map prepare time 4.430660 ms
map corner num 142608  surf num 72741 
data association time 16.462479 ms 
solver time 8.187828 ms 
optimization twice time 54.027400 
build tree time 45.372829 ms 
prepare time 13.782499 
sort q time 4.086424 
seperate points time 10.008490 
mapping data assosiation time 39.039300 ms 
data association time 15.924270 ms 
solver time 10.313702 ms 
mapping solver time 23.562019 ms 
data association time 17.031057 ms 
solver time 7.819329 ms 
publication time 10.216969 ms 
whole laserOdometry time 62.203658 ms 
 
mapping data assosiation time 38.490964 ms 
points size 93338 
mapping solver time 21.836359 ms 
sort q time 4.508228 
seperate points time 10.974607 
mapping optimization time 170.544323 
add points time 1.423923 ms
scan registration time 30.606795 ms *************
filter time 15.991668 ms 
data association time 17.198963 ms 
solver time 10.590881 ms 
data association time 16.664861 ms 
solver time 8.170811 ms 
optimization twice time 53.499952 
points size 93384 
sort q time 4.669665 
seperate points time 11.333948 
scan registration time 27.182142 ms *************
data association time 16.418553 ms 
mapping solver time 23.384410 ms 
data association time 15.730247 ms 
solver time 10.584284 ms 
publication time 9.536284 ms 
whole laserOdometry time 63.567142 ms 
 
points size 94763 
filter time 15.410425 ms 
map prepare time 4.203183 ms
map corner num 144853  surf num 73718 
data association time 18.568124 ms 
solver time 12.224943 ms 
build tree time 46.341982 ms 
solver time 8.379817 ms 
points size 95670 
mapping data assosiation time 37.483632 ms 
sort q time 5.146505 
seperate points time 12.792136 
scan registration time 29.899740 ms *************
mapping solver time 25.602079 ms 
data association time 16.544397 ms 
solver time 10.688912 ms 
mapping data assosiation time 37.813663 ms 
data association time 17.226804 ms 
publication time 10.167814 ms 
whole laserOdometry time 63.988556 ms 
 
points size 96742 
filter time 14.227531 ms 
data association time 15.920429 ms 
solver time 10.791654 ms 
data association time 16.070844 ms 
publication time 10.087745 ms 
whole laserOdometry time 61.625068 ms 
 
points size 98200 
sort q time 6.097454 
seperate points time 14.827085 
data association time 16.713608 ms 
solver time 11.022843 ms 
mapping data assosiation time 37.151301 ms 
data association time 17.955404 ms 
mapping solver time 21.283231 ms 
mapping optimization time 166.472215 
add points time 1.062966 ms
publication time 10.071601 ms 
whole laserOdometry time 65.552843 ms 
 
filter time 14.884693 ms 
mapping pub time 1.139537 ms 
whole mapping time 187.991261 ms +++++
drop lidar frame in mapping for real time performance 
points size 99717 
sort q time 4.559533 
seperate points time 11.628560 
scan registration time 27.609395 ms *************
data association time 16.642394 ms 
build tree time 41.443081 ms 
data association time 16.898557 ms 
solver time 8.333678 ms 
publication time 10.206461 ms 
whole laserOdometry time 64.483949 ms 
 
points size 101109 
prepare time 11.613929 
mapping solver time 25.306850 ms 
sort q time 5.130797 
seperate points time 12.868311 
mapping data assosiation time 37.273785 ms 
data association time 17.567627 ms 
solver time 9.924173 ms 
mapping solver time 21.525975 ms 
data association time 17.677121 ms 
mapping pub time 1.241584 ms 
whole mapping time 187.327540 ms +++++
solver time 8.534630 ms 
optimization twice time 54.504158 
map prepare time 3.862727 ms
map corner num 148288  surf num 75276 
publication time 12.691250 ms 
whole laserOdometry time 67.216603 ms 
 
points size 102137 
sort q time 5.154239 
seperate points time 13.276952 
build tree time 43.325964 ms 
data association time 17.141755 ms 
solver time 11.638958 ms 
data association time 19.502250 ms 
optimization twice time 57.296746 
publication time 10.749614 ms 
whole laserOdometry time 68.064820 ms 
 
sort q time 5.209418 
seperate points time 12.631245 
mapping data assosiation time 41.038673 ms 
data association time 19.659982 ms 
solver time 10.540087 ms 
filter time 15.588900 ms 
data association time 18.786371 ms 
solver time 8.334800 ms 
publication time 9.807280 ms 
whole laserOdometry time 67.920696 ms 
 
sort q time 4.608297 
seperate points time 11.594782 
data association time 16.249650 ms 
solver time 9.652734 ms 
data association time 18.939423 ms 
mapping solver time 20.330923 ms 
publication time 10.851006 ms 
whole laserOdometry time 66.777198 ms 
 
points size 97774 
mapping data assosiation time 39.745238 ms 
sort q time 6.077796 
seperate points time 14.727774 
scan registration time 29.966768 ms *************
mapping solver time 17.435394 ms 
data association time 17.093770 ms 
solver time 12.617842 ms 
data association time 19.709882 ms 
solver time 10.366947 ms 
points size 96279 
sort q time 6.685420 
seperate points time 16.440058 
build tree time 42.672098 ms 
solver time 10.798563 ms 
data association time 16.941375 ms 
optimization twice time 53.342285 
points size 95283 
prepare time 11.715014 
sort q time 5.322923 
seperate points time 13.373288 
mapping solver time 27.850458 ms 
data association time 16.559654 ms 
solver time 10.545573 ms 
data association time 17.151267 ms 
mapping optimization time 173.682660 
add points time 0.880064 ms
solver time 8.513034 ms 
optimization twice time 53.519859 
filter time 18.751288 ms 
points size 94587 
prepare time 11.487012 
scan registration time 28.233185 ms *************
data association time 15.435935 ms 
solver time 11.988418 ms 
data association time 18.327872 ms 
solver time 9.709412 ms 
publication time 11.583850 ms 
whole laserOdometry time 67.891809 ms 
 
prepare time 14.142025 
sort q time 5.582687 
seperate points time 14.409510 
mapping solver time 35.794486 ms 
data association time 15.827467 ms 
solver time 10.410122 ms 
data association time 16.386603 ms 
mapping solver time 22.427634 ms 
filter time 14.974420 ms 
sort q time 4.515549 
seperate points time 11.374678 
data association time 15.789168 ms 
solver time 12.888993 ms 
data association time 18.767560 ms 
solver time 7.728335 ms 
mapping data assosiation time 38.393735 ms 
publication time 10.958081 ms 
whole laserOdometry time 66.942152 ms 
 
points size 92578 
mapping solver time 41.410661 ms 
scan registration time 32.393256 ms *************
data association time 15.987994 ms 
solver time 12.975947 ms 
mapping solver time 20.945256 ms 
solver time 8.486805 ms 
optimization twice time 59.866527 
points size 93109 
filter time 18.340552 ms 
mapping pub time 1.209005 ms 
whole mapping time 209.005049 ms +++++
prepare time 14.120799 
sort q time 5.357691 
seperate points time 14.281492 
data association time 16.208236 ms 
build tree time 48.848454 ms 
solver time 13.237958 ms 
data association time 20.766716 ms 
solver time 7.220920 ms 
mapping data assosiation time 38.789875 ms 
prepare time 15.457663 
sort q time 5.070314 
seperate points time 12.695445 
data association time 18.396254 ms 
solver time 10.618303 ms 
data association time 16.100687 ms 
solver time 5.902320 ms 
optimization twice time 51.800726 
publication time 9.867050 ms 
whole laserOdometry time 61.681152 ms 
 
filter time 16.498983 ms 
sort q time 5.585919 
seperate points time 13.369899 
data association time 25.831182 ms 
build tree time 56.702285 ms 
data association time 17.668239 ms 
solver time 8.501189 ms 
mapping data assosiation time 39.295887 ms 
sort q time 5.496572 
seperate points time 13.974989 
data association time 15.743164 ms 
solver time 12.352835 ms 
mapping data assosiation time 42.398578 ms 
solver time 8.705245 ms 
publication time 10.795198 ms 
whole laserOdometry time 66.675014 ms 
 
filter time 17.884819 ms 
map prepare time 5.536641 ms
map corner num 156849  surf num 79150 
data association time 15.814165 ms 
solver time 10.450842 ms 
build tree time 45.432695 ms 
data association time 17.072696 ms 
solver time 8.305850 ms 
publication time 9.566765 ms 
whole laserOdometry time 61.981030 ms 
 
mapping data assosiation time 38.646762 ms 
sort q time 4.427385 
seperate points time 11.263630 
data association time 16.000102 ms 
solver time 10.555967 ms 
mapping data assosiation time 37.669513 ms 
solver time 8.008810 ms 
optimization twice time 51.822099 
add points time 0.965578 ms
points size 95313 
filter time 21.295250 ms 
map prepare time 5.506116 ms
map corner num 158169  surf num 79729 
data association time 17.360613 ms 
solver time 11.928533 ms 
build tree time 55.386830 ms 
solver time 7.718697 ms 
publication time 11.175386 ms 
whole laserOdometry time 68.576640 ms 
 
points size 96538 
mapping data assosiation time 44.500469 ms 
data association time 15.967207 ms 
solver time 11.161978 ms 
data association time 16.366038 ms 
solver time 14.652392 ms 
publication time 9.651109 ms 
whole laserOdometry time 68.606179 ms 
 
points size 96304 
prepare time 11.419915 
mapping optimization time 200.666599 
add points time 0.977856 ms
filter time 17.760447 ms 
data association time 17.081490 ms 
solver time 11.350049 ms 
data association time 19.032296 ms 
solver time 10.221748 ms 
publication time 10.832702 ms 
whole laserOdometry time 69.411876 ms 
 
sort q time 4.778110 
seperate points time 12.127940 
data association time 16.397470 ms 
solver time 11.282073 ms 
data association time 16.140215 ms 
solver time 10.383673 ms 
publication time 11.889648 ms 
whole laserOdometry time 66.920367 ms 
 
points size 95451 
mapping optimization time 176.043058 
sort q time 4.973080 
seperate points time 12.371486 
mapping pub time 1.394329 ms 
whole mapping time 197.968828 ms +++++
drop lidar frame in mapping for real time performance 
data association time 18.879493 ms 
solver time 10.504568 ms 
data association time 16.432953 ms 
solver time 9.713967 ms 
points size 95630 
mapping data assosiation time 41.587986 ms 
mapping solver time 25.416955 ms 
data association time 16.386056 ms 
solver time 11.175706 ms 
data association time 15.856530 ms 
solver time 8.250077 ms 
publication time 10.087301 ms 
whole laserOdometry time 62.591149 ms 
 
points size 96144 
prepare time 18.207197 
mapping solver time 33.057717 ms 
sort q time 5.464786 
seperate points time 14.404892 
mapping pub time 1.189822 ms 
whole mapping time 215.813459 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 5.468046 ms
map corner num 161875  surf num 81405 
data association time 26.845707 ms 
solver time 15.045943 ms 
build tree time 46.671632 ms 
data association time 26.476410 ms 
solver time 11.483014 ms 
optimization twice time 80.785199 
mapping solver time 22.865814 ms 
data association time 25.990355 ms 
solver time 17.568642 ms 
mapping data assosiation time 36.512438 ms 
data association time 26.141008 ms 
solver time 11.407653 ms 
sort q time 4.669109 
seperate points time 11.965375 
mapping pub time 4.241312 ms 
whole mapping time 201.448270 ms +++++
data association time 26.558985 ms 
solver time 14.934038 ms 
build tree time 44.289585 ms 
data association time 26.060829 ms 
solver time 11.402845 ms 
optimization twice time 79.978068 
points size 93126 
mapping data assosiation time 44.385457 ms 
sort q time 5.721184 
seperate points time 15.103571 
mapping solver time 27.118050 ms 
data association time 25.916463 ms 
solver time 11.114674 ms 
mapping data assosiation time 36.212529 ms 
data association time 25.876662 ms 
points size 92531 
publication time 11.919431 ms 
whole laserOdometry time 87.120512 ms 
 
sort q time 5.257064 
seperate points time 14.155095 
scan registration time 35.695318 ms *************
map prepare time 3.209898 ms
map corner num 89259  surf num 48721 
data association time 16.132936 ms 
solver time 10.677977 ms 
build tree time 26.256534 ms 
data association time 15.755538 ms 
solver time 9.448843 ms 
mapping data assosiation time 39.197901 ms 
points size 92406 
prepare time 18.649359 
sort q time 5.251407 
seperate points time 13.847305 
scan registration time 36.226848 ms *************
mapping solver time 32.779184 ms 
data association time 24.058696 ms 
solver time 11.653024 ms 
data association time 16.177918 ms 
filter time 10.014197 ms 
sort q time 4.194285 
seperate points time 10.608825 
build tree time 24.515174 ms 
data association time 17.763992 ms 
solver time 12.662048 ms 
mapping data assosiation time 32.756863 ms 
data association time 21.043322 ms 
solver time 9.759447 ms 
publication time 10.048910 ms 
whole laserOdometry time 72.207042 ms 
 
points size 90966 
prepare time 14.275688 
mapping data assosiation time 33.682829 ms 
mapping solver time 20.327118 ms 
data association time 16.587734 ms 
filter time 13.153797 ms 
mapping pub time 1.208294 ms 
whole mapping time 154.776748 ms +++++
data association time 14.829071 ms 
solver time 10.249510 ms 
points size 90579 
prepare time 15.114087 
sort q time 5.629637 
seperate points time 13.371908 
mapping solver time 22.694749 ms 
data association time 16.499174 ms 
solver time 10.915830 ms 
mapping data assosiation time 31.137042 ms 
data association time 17.074516 ms 
solver time 7.957697 ms 
optimization twice time 53.270995 
mapping solver time 19.455920 ms 
mapping optimization time 137.619985 
mapping pub time 1.162560 ms 
whole mapping time 154.301627 ms +++++
drop lidar frame in mapping for real time performance 
points size 92554 
map prepare time 4.028931 ms
map corner num 92558  surf num 50193 
sort q time 5.246374 
seperate points time 12.743228 
scan registration time 31.938720 ms *************
build tree time 28.295142 ms 
data association time 16.732978 ms 
solver time 12.595390 ms 
data association time 15.122790 ms 
mapping solver time 18.801179 ms 
solver time 7.994829 ms 
optimization twice time 53.311138 
points size 92387 
mapping data assosiation time 33.787041 ms 
mapping solver time 15.640545 ms 
mapping pub time 2.364268 ms 
whole mapping time 149.963911 ms +++++
data association time 15.428648 ms 
mapping solver time 35.406247 ms 
data association time 15.746233 ms 
solver time 8.162814 ms 
optimization twice time 50.101255 
mapping data assosiation time 32.154045 ms 
points size 93517 
filter time 9.021759 ms 
sort q time 4.746904 
seperate points time 11.811174 
mapping pub time 1.088844 ms 
whole mapping time 178.677176 ms +++++
drop lidar frame in mapping for real time performance 
scan registration time 30.799340 ms *************
map prepare time 4.072434 ms
map corner num 94511  surf num 51187 
data association time 15.029462 ms 
build tree time 27.379989 ms 
solver time 13.219368 ms 
data association time 14.958782 ms 
mapping data assosiation time 32.284076 ms 
solver time 9.900024 ms 
points size 94199 
sort q time 4.978256 
seperate points time 12.138131 
data association time 15.046453 ms 
mapping solver time 13.293811 ms 
filter time 9.149197 ms 
data association time 20.312399 ms 
solver time 9.921396 ms 
publication time 9.874872 ms 
whole laserOdometry time 68.807490 ms 
 
prepare time 14.336036 
sort q time 4.249826 
seperate points time 10.818639 
mapping data assosiation time 34.417747 ms 
data association time 16.543377 ms 
mapping solver time 21.308844 ms 
data association time 15.506807 ms 
solver time 7.567890 ms 
mapping data assosiation time 29.966705 ms 
points size 97034 
filter time 8.964670 ms 
map prepare time 4.420531 ms
map corner num 93930  surf num 49783 
scan registration time 27.843926 ms *************
data association time 15.662784 ms 
solver time 9.820713 ms 
data association time 16.584353 ms 
solver time 8.031207 ms 
optimization twice time 50.968023 
mapping data assosiation time 33.748919 ms 
mapping solver time 23.254678 ms 
prepare time 13.882078 
sort q time 4.428418 
seperate points time 11.097394 
mapping data assosiation time 32.290486 ms 
data association time 15.941696 ms 
mapping solver time 19.564195 ms 
mapping pub time 1.136974 ms 
whole mapping time 152.996461 ms +++++
map prepare time 4.765534 ms
map corner num 94848  surf num 50278 
solver time 9.299280 ms 
publication time 12.150436 ms 
whole laserOdometry time 70.735141 ms 
 
points size 98749 
sort q time 4.928934 
seperate points time 12.187661 
mapping data assosiation time 32.106607 ms 
mapping solver time 20.977796 ms 
solver time 10.352631 ms 
data association time 15.747460 ms 
solver time 8.575710 ms 
publication time 15.245325 ms 
whole laserOdometry time 68.286930 ms 
 
mapping optimization time 144.469783 
prepare time 14.625200 
add points time 0.984019 ms
scan registration time 35.857690 ms *************
data association time 16.966806 ms 
mapping pub time 43.212752 ms 
whole mapping time 205.924113 ms +++++
solver time 16.379227 ms 
data association time 16.405504 ms 
solver time 9.748929 ms 
publication time 10.151756 ms 
whole laserOdometry time 70.526377 ms 
 
sort q time 6.601790 
seperate points time 17.135499 
scan registration time 43.282909 ms *************
mapping data assosiation time 43.826506 ms 
mapping solver time 22.577156 ms 
solver time 9.933270 ms 
data association time 15.505278 ms 
points size 98717 
mapping solver time 20.954040 ms 
scan registration time 31.827099 ms *************
map prepare time 4.074281 ms
map corner num 96861  surf num 51369 
data association time 16.359846 ms 
solver time 10.981848 ms 
build tree time 27.623300 ms 
data association time 16.977151 ms 
solver time 8.846195 ms 
points size 98907 
mapping solver time 24.952187 ms 
data association time 16.248248 ms 
solver time 10.877015 ms 
filter time 10.028987 ms 
solver time 8.477708 ms 
publication time 10.345517 ms 
whole laserOdometry time 63.550990 ms 
 
points size 99250 
sort q time 5.329297 
seperate points time 13.367209 
mapping data assosiation time 33.760323 ms 
data association time 27.328055 ms 
mapping solver time 21.894697 ms 
solver time 15.023979 ms 
data association time 18.951158 ms 
solver time 10.499592 ms 
publication time 11.933528 ms 
whole laserOdometry time 84.750038 ms 
 
sort q time 5.702544 
seperate points time 14.810648 
filter time 9.733323 ms 
mapping pub time 1.159662 ms 
whole mapping time 167.207033 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.099676 ms
map corner num 99174  surf num 52572 
data association time 22.828065 ms 
solver time 12.671702 ms 
data association time 19.494626 ms 
solver time 10.650262 ms 
prepare time 16.976387 
sort q time 5.600790 
seperate points time 14.551167 
scan registration time 35.449205 ms *************
data association time 18.417937 ms 
solver time 12.804465 ms 
mapping data assosiation time 33.123181 ms 
data association time 17.169557 ms 
mapping solver time 19.724579 ms 
mapping optimization time 148.784200 
add points time 0.592699 ms
filter time 12.107261 ms 
sort q time 4.171885 
seperate points time 10.668286 
build tree time 30.700510 ms 
data association time 16.178719 ms 
solver time 10.934966 ms 
data association time 16.990012 ms 
publication time 9.070454 ms 
whole laserOdometry time 60.137473 ms 
 
mapping solver time 26.198264 ms 
points size 93845 
sort q time 4.784208 
seperate points time 11.892784 
mapping data assosiation time 34.455425 ms 
data association time 19.690212 ms 
solver time 14.855506 ms 
map prepare time 3.525562 ms
map corner num 101274  surf num 53543 
data association time 23.146227 ms 
solver time 10.257520 ms 
publication time 10.280722 ms 
whole laserOdometry time 79.081534 ms 
 
sort q time 5.168872 
seperate points time 12.696471 
mapping data assosiation time 35.576889 ms 
data association time 16.298804 ms 
mapping solver time 23.580174 ms 
data association time 19.152956 ms 
solver time 9.007764 ms 
publication time 10.374483 ms 
whole laserOdometry time 68.021718 ms 
 
mapping solver time 21.236262 ms 
filter time 11.932233 ms 
data association time 17.585502 ms 
solver time 8.023126 ms 
build tree time 33.106650 ms 
solver time 8.737204 ms 
points size 96231 
sort q time 5.426188 
seperate points time 13.293609 
mapping solver time 25.913625 ms 
data association time 16.753237 ms 
solver time 10.610264 ms 
mapping data assosiation time 34.314624 ms 
data association time 17.465086 ms 
solver time 6.179990 ms 
optimization twice time 51.819553 
add points time 0.657077 ms
filter time 11.746182 ms 
prepare time 11.047023 
sort q time 6.265427 
seperate points time 15.416155 
build tree time 32.955585 ms 
data association time 18.293310 ms 
solver time 10.376162 ms 
mapping data assosiation time 40.116426 ms 
solver time 8.149329 ms 
publication time 11.131355 ms 
whole laserOdometry time 65.701239 ms 
 
points size 99806 
sort q time 4.699317 
seperate points time 11.689040 
mapping data assosiation time 34.967518 ms 
data association time 19.237129 ms 
filter time 9.498731 ms 
data association time 18.550391 ms 
solver time 9.425572 ms 
points size 99985 
sort q time 4.885402 
seperate points time 12.122769 
mapping data assosiation time 36.497535 ms 
data association time 15.960022 ms 
solver time 10.578463 ms 
data association time 19.394267 ms 
solver time 8.669265 ms 
publication time 10.972199 ms 
whole laserOdometry time 66.271286 ms 
 
points size 99679 
filter time 10.281365 ms 
build tree time 36.434978 ms 
solver time 16.993099 ms 
mapping data assosiation time 43.909684 ms 
data association time 30.249223 ms 
sort q time 5.705715 
seperate points time 13.888095 
solver time 11.951080 ms 
publication time 11.941231 ms 
whole laserOdometry time 99.888970 ms 
 
data association time 30.314521 ms 
mapping data assosiation time 42.873381 ms 
points size 99627 
prepare time 12.743828 
mapping solver time 27.833279 ms 
solver time 11.279786 ms 
map prepare time 4.287304 ms
map corner num 106642  surf num 55961 
data association time 27.019380 ms 
build tree time 40.370275 ms 
solver time 15.381060 ms 
points size 100136 
mapping data assosiation time 44.531940 ms 
scan registration time 30.573277 ms *************
publication time 13.549582 ms 
whole laserOdometry time 100.796051 ms 
 
[33m[ WARN] [1718887151.964507931]: odometry process over 100ms[0m
data association time 15.868293 ms 
mapping data assosiation time 33.920577 ms 
publication time 8.861994 ms 
whole laserOdometry time 55.115886 ms 
 
points size 100282 
map prepare time 3.568971 ms
map corner num 107741  surf num 56488 
scan registration time 28.572204 ms *************
build tree time 31.166842 ms 
solver time 12.238479 ms 
mapping data assosiation time 37.191452 ms 
publication time 8.743283 ms 
whole laserOdometry time 63.892134 ms 
 
mapping solver time 22.049227 ms 
prepare time 14.698673 
sort q time 6.101078 
seperate points time 14.790776 
mapping data assosiation time 36.905892 ms 
mapping solver time 15.802813 ms 
mapping optimization time 145.402819 
add points time 0.629204 ms
data association time 17.813576 ms 
map prepare time 3.586035 ms
map corner num 108678  surf num 56928 
data association time 16.991155 ms 
publication time 12.331873 ms 
whole laserOdometry time 64.967688 ms 
 
build tree time 45.353995 ms 
sort q time 5.831245 
seperate points time 14.758365 
data association time 16.347767 ms 
mapping data assosiation time 40.737171 ms 
data association time 15.821887 ms 
solver time 8.958194 ms 
publication time 12.423796 ms 
whole laserOdometry time 65.812243 ms 
 
mapping data assosiation time 40.019596 ms 
sort q time 5.797725 
seperate points time 14.355981 
mapping solver time 19.935230 ms 
filter time 11.851407 ms 
solver time 10.523952 ms 
data association time 16.314662 ms 
points size 100967 
sort q time 4.867970 
seperate points time 12.324257 
data association time 16.526405 ms 
mapping solver time 26.995499 ms 
data association time 16.509948 ms 
solver time 7.897919 ms 
optimization twice time 52.567139 
mapping data assosiation time 38.847452 ms 
points size 101074 
filter time 10.347792 ms 
data association time 15.515559 ms 
solver time 10.222731 ms 
data association time 16.815208 ms 
publication time 9.034583 ms 
whole laserOdometry time 59.608756 ms 
 
mapping data assosiation time 39.451176 ms 
points size 101431 
mapping solver time 24.951110 ms 
data association time 15.824255 ms 
mapping data assosiation time 36.660929 ms 
mapping solver time 19.399779 ms 
mapping optimization time 154.364203 
add points time 0.779569 ms
mapping pub time 3.047191 ms 
whole mapping time 176.596335 ms +++++
points size 101642 
sort q time 5.222956 
seperate points time 12.492088 
scan registration time 28.644231 ms *************
build tree time 35.519405 ms 
data association time 16.835441 ms 
solver time 14.115889 ms 
mapping data assosiation time 36.096960 ms 
data association time 21.934225 ms 
solver time 9.766276 ms 
publication time 10.903553 ms 
whole laserOdometry time 74.483868 ms 
 
sort q time 4.953220 
seperate points time 12.325779 
mapping data assosiation time 39.882572 ms 
data association time 17.281476 ms 
solver time 11.252942 ms 
map prepare time 4.340574 ms
map corner num 113139  surf num 59576 
data association time 17.789899 ms 
solver time 11.064231 ms 
publication time 10.413769 ms 
whole laserOdometry time 68.632747 ms 
 
points size 100280 
sort q time 4.759984 
seperate points time 12.057420 
mapping data assosiation time 37.019569 ms 
data association time 17.188598 ms 
mapping solver time 24.698860 ms 
data association time 16.541687 ms 
solver time 10.735065 ms 
publication time 11.518384 ms 
whole laserOdometry time 70.116060 ms 
 
mapping solver time 24.190078 ms 
sort q time 5.977364 
seperate points time 15.049541 
mapping optimization time 161.334407 
filter time 12.622947 ms 
mapping pub time 1.380059 ms 
whole mapping time 180.475459 ms +++++
drop lidar frame in mapping for real time performance 
data association time 16.968169 ms 
solver time 13.363110 ms 
build tree time 33.390255 ms 
data association time 18.459683 ms 
solver time 7.395237 ms 
publication time 8.976477 ms 
whole laserOdometry time 66.066160 ms 
 
mapping data assosiation time 38.823670 ms 
sort q time 4.823598 
seperate points time 12.062674 
scan registration time 27.825848 ms *************
mapping solver time 24.955346 ms 
solver time 9.573223 ms 
mapping data assosiation time 35.325977 ms 
solver time 9.696513 ms 
publication time 11.297951 ms 
whole laserOdometry time 67.035263 ms 
 
points size 97981 
mapping pub time 1.781825 ms 
whole mapping time 179.957878 ms +++++
sort q time 5.819373 
seperate points time 15.165976 
data association time 18.332181 ms 
solver time 11.898470 ms 
data association time 18.387763 ms 
solver time 8.237672 ms 
publication time 10.947286 ms 
whole laserOdometry time 68.511814 ms 
 
prepare time 15.008979 
sort q time 5.656926 
seperate points time 14.495590 
data association time 15.663179 ms 
solver time 9.995477 ms 
mapping data assosiation time 34.552562 ms 
data association time 15.990230 ms 
solver time 8.437816 ms 
publication time 10.178244 ms 
whole laserOdometry time 61.080897 ms 
 
mapping pub time 1.940253 ms 
whole mapping time 188.119052 ms +++++
points size 97203 
sort q time 5.627757 
seperate points time 14.412179 
build tree time 41.871903 ms 
data association time 28.959544 ms 
solver time 16.884960 ms 
points size 97538 
mapping solver time 33.723824 ms 
publication time 12.934059 ms 
whole laserOdometry time 98.245305 ms 
 
mapping data assosiation time 43.609110 ms 
solver time 9.751422 ms 
mapping solver time 20.786218 ms 
data association time 16.177635 ms 
solver time 8.731613 ms 
points size 97993 
sort q time 4.916229 
seperate points time 12.654054 
mapping pub time 42.697627 ms 
whole mapping time 245.599219 ms +++++
build tree time 19.999606 ms 
data association time 25.600845 ms 
solver time 11.285784 ms 
publication time 12.370143 ms 
whole laserOdometry time 85.844082 ms 
 
sort q time 5.943033 
seperate points time 14.828708 
data association time 25.482196 ms 
solver time 17.771384 ms 
mapping solver time 22.679759 ms 
filter time 7.049436 ms 
points size 97341 
build tree time 20.458676 ms 
mapping data assosiation time 37.263340 ms 
mapping solver time 23.604159 ms 
data association time 26.465229 ms 
solver time 12.141205 ms 
sort q time 5.421081 
seperate points time 13.444266 
mapping solver time 24.134125 ms 
filter time 10.471672 ms 
mapping pub time 2.489959 ms 
whole mapping time 166.065048 ms +++++
drop lidar frame in mapping for real time performance 
solver time 14.860796 ms 
data association time 25.810309 ms 
optimization twice time 78.611159 
mapping data assosiation time 40.642471 ms 
mapping solver time 26.290855 ms 
solver time 11.604845 ms 
data association time 19.231601 ms 
optimization twice time 57.138122 
publication time 11.159553 ms 
whole laserOdometry time 68.314392 ms 
 
prepare time 14.542547 
map prepare time 4.645247 ms
map corner num 66899  surf num 36527 
build tree time 25.325135 ms 
data association time 27.566539 ms 
solver time 13.649463 ms 
mapping data assosiation time 40.006124 ms 
solver time 11.451797 ms 
publication time 9.776363 ms 
whole laserOdometry time 79.270802 ms 
 
sort q time 4.520908 
seperate points time 10.984389 
mapping data assosiation time 38.706507 ms 
solver time 10.146515 ms 
mapping optimization time 155.948917 
mapping pub time 1.155827 ms 
whole mapping time 170.998658 ms +++++
publication time 11.604892 ms 
whole laserOdometry time 65.023424 ms 
 
prepare time 15.367114 
sort q time 4.527837 
seperate points time 10.989091 
mapping data assosiation time 45.516342 ms 
solver time 14.737952 ms 
mapping solver time 25.575711 ms 
data association time 25.400688 ms 
solver time 11.092503 ms 
optimization twice time 78.232234 
prepare time 14.689341 
scan registration time 32.051148 ms *************
mapping solver time 24.104210 ms 
filter time 9.841989 ms 
solver time 14.644769 ms 
build tree time 20.018054 ms 
data association time 25.554471 ms 
solver time 11.196336 ms 
optimization twice time 78.561204 
publication time 12.157108 ms 
whole laserOdometry time 90.736746 ms 
 
sort q time 5.745157 
seperate points time 14.507420 
mapping solver time 30.374452 ms 
data association time 25.812248 ms 
solver time 14.615558 ms 
mapping data assosiation time 36.452233 ms 
data association time 26.450742 ms 
solver time 11.134233 ms 
build tree time 21.676101 ms 
data association time 26.377424 ms 
solver time 14.663693 ms 
data association time 25.921481 ms 
solver time 14.664665 ms 
publication time 11.472347 ms 
whole laserOdometry time 94.070443 ms 
 
mapping data assosiation time 44.123562 ms 
data association time 29.939744 ms 
mapping solver time 22.804371 ms 
filter time 8.518513 ms 
data association time 25.919422 ms 
build tree time 21.989158 ms 
sort q time 5.763901 
seperate points time 13.836296 
mapping data assosiation time 40.001687 ms 
data association time 25.949458 ms 
solver time 14.951078 ms 
data association time 25.939382 ms 
prepare time 13.990568 
publication time 9.285462 ms 
whole laserOdometry time 90.017906 ms 
 
mapping solver time 16.139602 ms 
filter time 9.952556 ms 
solver time 12.681250 ms 
build tree time 19.162926 ms 
solver time 10.261810 ms 
publication time 10.847085 ms 
whole laserOdometry time 75.179502 ms 
 
mapping data assosiation time 42.970831 ms 
scan registration time 31.755128 ms *************
mapping solver time 27.883722 ms 
solver time 10.256488 ms 
data association time 16.894128 ms 
solver time 8.466044 ms 
publication time 10.924457 ms 
whole laserOdometry time 63.878697 ms 
 
points size 92297 
map prepare time 3.882106 ms
map corner num 73397  surf num 39588 
build tree time 22.780409 ms 
data association time 16.365634 ms 
solver time 11.294916 ms 
mapping data assosiation time 39.609692 ms 
data association time 29.938647 ms 
mapping solver time 26.077703 ms 
publication time 14.318629 ms 
whole laserOdometry time 86.791100 ms 
 
mapping data assosiation time 43.416607 ms 
data association time 16.642908 ms 
mapping solver time 22.981051 ms 
filter time 8.764428 ms 
data association time 17.620322 ms 
solver time 10.905193 ms 
build tree time 22.502251 ms 
sort q time 4.761008 
seperate points time 11.639598 
scan registration time 32.684365 ms *************
data association time 16.812595 ms 
solver time 13.053045 ms 
data association time 16.686511 ms 
solver time 11.509176 ms 
publication time 10.913874 ms 
whole laserOdometry time 69.927065 ms 
 
points size 95920 
prepare time 16.357385 
sort q time 4.841893 
seperate points time 12.113308 
filter time 7.815862 ms 
data association time 15.987955 ms 
build tree time 22.175550 ms 
data association time 16.252201 ms 
solver time 10.037739 ms 
mapping data assosiation time 39.222029 ms 
points size 97558 
mapping solver time 25.465440 ms 
sort q time 5.603162 
seperate points time 14.721122 
scan registration time 34.647736 ms *************
data association time 16.005054 ms 
mapping data assosiation time 35.363273 ms 
mapping solver time 16.098285 ms 
data association time 18.936023 ms 
solver time 10.815149 ms 
publication time 11.206546 ms 
whole laserOdometry time 69.276473 ms 
 
sort q time 5.734871 
seperate points time 14.758317 
mapping data assosiation time 38.080017 ms 
data association time 16.720619 ms 
mapping solver time 26.937540 ms 
solver time 7.448182 ms 
publication time 12.526313 ms 
whole laserOdometry time 65.463422 ms 
 
mapping data assosiation time 39.566726 ms 
scan registration time 30.966812 ms *************
mapping solver time 28.297753 ms 
data association time 24.792964 ms 
filter time 10.567461 ms 
mapping pub time 1.284338 ms 
whole mapping time 174.742642 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.428245 ms
map corner num 77681  surf num 41534 
data association time 16.953356 ms 
solver time 8.194607 ms 
publication time 10.099915 ms 
whole laserOdometry time 71.454493 ms 
 
prepare time 12.058571 
sort q time 5.648557 
seperate points time 13.831211 
mapping solver time 25.732733 ms 
data association time 26.690772 ms 
solver time 14.468561 ms 
mapping data assosiation time 38.990426 ms 
data association time 27.080579 ms 
points size 100054 
publication time 12.944671 ms 
whole laserOdometry time 93.342157 ms 
 
map prepare time 4.472612 ms
map corner num 78616  surf num 41989 
build tree time 22.161929 ms 
data association time 26.968823 ms 
solver time 14.808144 ms 
mapping data assosiation time 39.133557 ms 
data association time 27.477211 ms 
prepare time 11.870182 
solver time 11.223593 ms 
optimization twice time 81.507601 
sort q time 5.969235 
seperate points time 14.764782 
mapping data assosiation time 39.134433 ms 
data association time 26.892334 ms 
solver time 14.819219 ms 
mapping solver time 23.986722 ms 
mapping optimization time 156.010322 
add points time 0.709430 ms
filter time 7.743319 ms 
data association time 27.733247 ms 
points size 101906 
prepare time 12.144059 
sort q time 6.335167 
seperate points time 15.253706 
data association time 16.491275 ms 
solver time 10.657907 ms 
data association time 17.111106 ms 
solver time 8.166350 ms 
publication time 11.568378 ms 
whole laserOdometry time 64.828518 ms 
 
points size 101727 
prepare time 16.186801 
sort q time 4.823599 
seperate points time 11.736110 
mapping data assosiation time 43.555973 ms 
data association time 16.998588 ms 
solver time 10.475093 ms 
mapping solver time 25.909844 ms 
mapping optimization time 169.506858 
add points time 0.680258 ms
data association time 18.860379 ms 
map prepare time 3.816166 ms
map corner num 80764  surf num 42975 
publication time 11.885740 ms 
whole laserOdometry time 69.827007 ms 
 
points size 100698 
sort q time 5.794203 
seperate points time 15.021444 
mapping data assosiation time 43.399773 ms 
data association time 17.804481 ms 
solver time 11.262672 ms 
data association time 17.697872 ms 
solver time 8.340785 ms 
mapping data assosiation time 41.115702 ms 
publication time 11.186173 ms 
whole laserOdometry time 67.246367 ms 
 
points size 100127 
prepare time 12.198821 
mapping solver time 16.585235 ms 
filter time 9.787565 ms 
data association time 18.363139 ms 
solver time 12.042947 ms 
data association time 16.125250 ms 
publication time 10.105592 ms 
whole laserOdometry time 64.604094 ms 
 
points size 99699 
prepare time 14.543565 
sort q time 5.812747 
seperate points time 13.886887 
scan registration time 32.824537 ms *************
mapping solver time 28.026872 ms 
data association time 16.690944 ms 
solver time 11.439098 ms 
mapping data assosiation time 41.212971 ms 
data association time 17.230427 ms 
solver time 8.545705 ms 
publication time 11.606602 ms 
whole laserOdometry time 66.326266 ms 
 
drop lidar frame in mapping for real time performance 
sort q time 5.098395 
seperate points time 12.619124 
build tree time 25.383759 ms 
data association time 19.496811 ms 
solver time 13.192900 ms 
mapping data assosiation time 42.516510 ms 
solver time 8.221671 ms 
publication time 11.545094 ms 
whole laserOdometry time 69.433769 ms 
 
mapping solver time 30.600199 ms 
sort q time 5.147187 
seperate points time 12.959811 
mapping data assosiation time 40.279362 ms 
data association time 18.614951 ms 
solver time 10.412597 ms 
mapping optimization time 168.354804 
filter time 11.078003 ms 
publication time 10.908493 ms 
whole laserOdometry time 65.201369 ms 
 
prepare time 11.717020 
build tree time 24.791098 ms 
data association time 15.605569 ms 
mapping data assosiation time 38.715879 ms 
solver time 11.234313 ms 
data association time 17.540023 ms 
solver time 10.249596 ms 
points size 99590 
sort q time 5.503501 
seperate points time 13.445153 
scan registration time 29.628912 ms *************
mapping data assosiation time 42.825517 ms 
mapping solver time 23.854848 ms 
mapping optimization time 163.726333 
add points time 0.758242 ms
data association time 17.614709 ms 
filter time 11.205605 ms 
data association time 16.594826 ms 
solver time 8.613881 ms 
publication time 11.420754 ms 
whole laserOdometry time 67.161110 ms 
 
map prepare time 5.024477 ms
map corner num 85084  surf num 45238 
[0m[ INFO] [1718887157.255036736]: Received 936206 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887157.255091017]: Data saved to 1317357901870460.pcd[0m
build tree time 30.309084 ms 
data association time 16.974940 ms 
solver time 12.250376 ms 
mapping data assosiation time 41.289390 ms 
data association time 17.689141 ms 
solver time 11.223006 ms 
points size 100548 
sort q time 6.748923 
seperate points time 17.537424 
mapping data assosiation time 52.692007 ms 
data association time 18.915436 ms 
solver time 12.898162 ms 
mapping solver time 29.896346 ms 
data association time 18.086396 ms 
points size 101014 
publication time 10.963953 ms 
whole laserOdometry time 73.195687 ms 
 
build tree time 26.265835 ms 
data association time 17.266750 ms 
solver time 12.803127 ms 
mapping data assosiation time 45.473204 ms 
data association time 18.193358 ms 
solver time 12.713117 ms 
mapping solver time 32.281835 ms 
sort q time 5.972970 
seperate points time 15.501697 
mapping data assosiation time 44.175619 ms 
solver time 12.359971 ms 
mapping solver time 27.815518 ms 
filter time 11.864841 ms 
points size 101555 
sort q time 6.020636 
seperate points time 15.511174 
data association time 17.481894 ms 
solver time 11.830171 ms 
mapping data assosiation time 44.663600 ms 
data association time 19.007209 ms 
solver time 7.701403 ms 
mapping solver time 28.325760 ms 
points size 101453 
prepare time 18.272456 
sort q time 5.992508 
seperate points time 15.499634 
mapping data assosiation time 43.344115 ms 
data association time 17.179504 ms 
mapping solver time 24.047487 ms 
filter time 10.680068 ms 
solver time 7.726322 ms 
publication time 13.179339 ms 
whole laserOdometry time 67.982512 ms 
 
sort q time 5.130099 
seperate points time 12.268703 
mapping data assosiation time 43.633963 ms 
solver time 9.627118 ms 
mapping solver time 28.269519 ms 
solver time 7.518009 ms 
publication time 12.217905 ms 
whole laserOdometry time 66.618170 ms 
 
points size 101603 
mapping data assosiation time 42.562070 ms 
mapping solver time 24.001964 ms 
filter time 9.579172 ms 
data association time 16.909889 ms 
build tree time 22.179286 ms 
publication time 9.788969 ms 
whole laserOdometry time 65.373938 ms 
 
points size 101571 
prepare time 14.520122 
mapping data assosiation time 42.670103 ms 
mapping solver time 30.353653 ms 
data association time 27.908978 ms 
solver time 18.164263 ms 
mapping data assosiation time 41.402846 ms 
data association time 27.629744 ms 
mapping solver time 26.831961 ms 
sort q time 5.459730 
seperate points time 14.277669 
drop lidar frame in mapping for real time performance 
build tree time 21.759297 ms 
data association time 27.818130 ms 
solver time 18.069103 ms 
mapping data assosiation time 40.401036 ms 
sort q time 4.644722 
seperate points time 11.661189 
mapping solver time 29.313441 ms 
publication time 13.007409 ms 
whole laserOdometry time 102.470749 ms 
 
[33m[ WARN] [1718887158.298883550]: odometry process over 100ms[0m
data association time 25.358491 ms 
mapping data assosiation time 41.987886 ms 
data association time 16.869270 ms 
solver time 8.785213 ms 
prepare time 13.529099 
sort q time 5.039583 
seperate points time 12.771810 
build tree time 25.824588 ms 
data association time 20.887227 ms 
mapping data assosiation time 39.361440 ms 
solver time 8.497686 ms 
publication time 11.905905 ms 
whole laserOdometry time 69.850136 ms 
 
points size 100143 
sort q time 5.120282 
seperate points time 12.787672 
mapping data assosiation time 39.955790 ms 
solver time 12.057025 ms 
mapping solver time 22.030053 ms 
filter time 9.632661 ms 
map prepare time 3.752240 ms
map corner num 87543  surf num 45252 
publication time 9.614342 ms 
whole laserOdometry time 69.600355 ms 
 
points size 99988 
sort q time 5.063875 
seperate points time 12.945429 
mapping data assosiation time 38.348732 ms 
data association time 26.799263 ms 
solver time 14.813539 ms 
data association time 27.240752 ms 
points size 100395 
prepare time 11.869359 
mapping data assosiation time 40.092851 ms 
publication time 12.821807 ms 
whole laserOdometry time 94.041184 ms 
 
mapping optimization time 165.036765 
add points time 0.762864 ms
data association time 27.588850 ms 
solver time 14.827314 ms 
build tree time 25.531653 ms 
data association time 27.430552 ms 
solver time 11.301996 ms 
points size 100595 
optimization twice time 82.216269 
prepare time 14.939629 
sort q time 5.382640 
seperate points time 13.579525 
mapping solver time 27.109077 ms 
data association time 27.011212 ms 
solver time 15.101606 ms 
mapping data assosiation time 40.019159 ms 
data association time 27.646203 ms 
points size 100544 
publication time 12.875171 ms 
whole laserOdometry time 95.309408 ms 
 
data association time 16.627707 ms 
data association time 17.027546 ms 
solver time 8.558659 ms 
publication time 10.353497 ms 
whole laserOdometry time 61.639710 ms 
 
points size 99810 
mapping solver time 30.000609 ms 
sort q time 5.640099 
seperate points time 13.600505 
scan registration time 31.588780 ms *************
data association time 19.314312 ms 
solver time 10.721592 ms 
mapping solver time 20.784106 ms 
solver time 8.200261 ms 
map prepare time 4.529831 ms
map corner num 90695  surf num 46476 
points size 99456 
build tree time 26.506245 ms 
data association time 17.180223 ms 
solver time 10.762298 ms 
data association time 17.448999 ms 
solver time 11.627019 ms 
publication time 12.984073 ms 
whole laserOdometry time 70.906187 ms 
 
points size 99288 
sort q time 4.891741 
seperate points time 12.356721 
mapping solver time 20.876245 ms 
mapping optimization time 160.492660 
add points time 0.682234 ms
data association time 16.681880 ms 
filter time 10.856629 ms 
data association time 17.256960 ms 
build tree time 25.709169 ms 
points size 99617 
sort q time 5.162577 
seperate points time 12.824893 
mapping data assosiation time 39.409055 ms 
data association time 26.662054 ms 
mapping solver time 34.106919 ms 
solver time 16.529000 ms 
data association time 30.186822 ms 
prepare time 14.078948 
sort q time 5.209250 
seperate points time 13.091729 
mapping solver time 25.359789 ms 
filter time 11.635608 ms 
data association time 27.299334 ms 
solver time 14.501197 ms 
build tree time 34.533277 ms 
data association time 29.384628 ms 
solver time 13.597125 ms 
optimization twice time 85.833271 
data association time 26.508481 ms 
solver time 16.918291 ms 
mapping data assosiation time 42.933061 ms 
solver time 12.563453 ms 
publication time 12.007730 ms 
whole laserOdometry time 99.271707 ms 
 
filter time 11.341186 ms 
data association time 27.246747 ms 
solver time 14.849580 ms 
build tree time 34.993045 ms 
data association time 28.627534 ms 
points size 101131 
optimization twice time 85.041998 
mapping data assosiation time 42.875835 ms 
mapping solver time 31.871907 ms 
data association time 27.859591 ms 
solver time 17.659811 ms 
mapping data assosiation time 42.393123 ms 
points size 101165 
prepare time 18.066702 
data association time 29.385325 ms 
solver time 12.721965 ms 
publication time 12.088543 ms 
whole laserOdometry time 100.872853 ms 
 
[33m[ WARN] [1718887159.861491537]: odometry process over 100ms[0m
filter time 12.723263 ms 
mapping pub time 1.791267 ms 
whole mapping time 202.305648 ms +++++
drop lidar frame in mapping for real time performance 
data association time 27.621841 ms 
build tree time 24.394404 ms 
solver time 16.921717 ms 
points size 99802 
sort q time 4.952219 
seperate points time 12.525095 
publication time 11.773385 ms 
whole laserOdometry time 100.421585 ms 
 
[33m[ WARN] [1718887159.964549771]: odometry process over 100ms[0m
data association time 29.303870 ms 
mapping data assosiation time 40.580438 ms 
points size 99498 
solver time 11.673368 ms 
scan registration time 31.884487 ms *************
build tree time 22.729147 ms 
data association time 20.673719 ms 
solver time 12.338238 ms 
data association time 17.824729 ms 
solver time 8.210466 ms 
publication time 12.181607 ms 
whole laserOdometry time 72.138179 ms 
 
prepare time 16.721622 
sort q time 5.047395 
seperate points time 12.121078 
mapping data assosiation time 31.675573 ms 
data association time 16.030314 ms 
mapping optimization time 134.623174 
filter time 8.118707 ms 
data association time 17.529036 ms 
solver time 8.403761 ms 
publication time 11.036513 ms 
whole laserOdometry time 64.809112 ms 
 
points size 99141 
mapping data assosiation time 40.197055 ms 
sort q time 6.420562 
seperate points time 16.546888 
scan registration time 41.696722 ms *************
mapping solver time 21.817620 ms 
data association time 18.932060 ms 
solver time 10.839188 ms 
mapping data assosiation time 33.181313 ms 
data association time 20.795523 ms 
solver time 8.272489 ms 
points size 99398 
add points time 1.102288 ms
prepare time 18.593878 
publication time 10.045383 ms 
whole laserOdometry time 69.661920 ms 
 
map prepare time 3.787857 ms
map corner num 69696  surf num 35087 
build tree time 19.937731 ms 
solver time 9.961705 ms 
data association time 15.362284 ms 
solver time 8.771562 ms 
publication time 10.275571 ms 
whole laserOdometry time 60.983831 ms 
 
mapping solver time 23.809852 ms 
points size 99709 
sort q time 6.653424 
seperate points time 16.655364 
mapping solver time 19.053109 ms 
filter time 7.889376 ms 
mapping pub time 1.247191 ms 
whole mapping time 151.498783 ms +++++
solver time 11.439189 ms 
data association time 15.686617 ms 
build tree time 21.226792 ms 
publication time 10.468480 ms 
whole laserOdometry time 64.735467 ms 
 
prepare time 20.851397 
mapping data assosiation time 39.293688 ms 
sort q time 6.786038 
seperate points time 17.285993 
scan registration time 42.494388 ms *************
mapping solver time 23.143497 ms 
data association time 18.780692 ms 
solver time 12.091629 ms 
mapping data assosiation time 31.408818 ms 
solver time 8.163001 ms 
optimization twice time 55.060167 
add points time 1.176268 ms
filter time 9.042696 ms 
sort q time 6.040060 
seperate points time 15.476031 
scan registration time 39.026684 ms *************
build tree time 25.129122 ms 
data association time 26.662694 ms 
solver time 16.883263 ms 
mapping data assosiation time 37.461563 ms 
data association time 25.442878 ms 
points size 101934 
prepare time 14.590745 
mapping solver time 23.811763 ms 
scan registration time 32.369869 ms *************
mapping data assosiation time 31.344679 ms 
data association time 18.553480 ms 
mapping solver time 17.497349 ms 
mapping optimization time 136.643887 
add points time 0.844241 ms
data association time 17.338655 ms 
solver time 11.617505 ms 
publication time 11.757179 ms 
whole laserOdometry time 74.411963 ms 
 
map prepare time 4.333340 ms
map corner num 72513  surf num 36586 
scan registration time 36.575403 ms *************
[0m[ INFO] [1718887160.899417481]: Received 965590 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887160.899452233]: Data saved to 1317357905505655.pcd[0m
data association time 26.300686 ms 
mapping data assosiation time 31.604009 ms 
mapping solver time 20.996145 ms 
data association time 26.463519 ms 
prepare time 14.529439 
mapping data assosiation time 31.915864 ms 
mapping solver time 23.288545 ms 
mapping optimization time 133.244836 
add points time 0.852421 ms
map prepare time 3.069988 ms
map corner num 73598  surf num 37298 
build tree time 20.480154 ms 
data association time 26.577304 ms 
solver time 11.379609 ms 
sort q time 5.792425 
seperate points time 14.390568 
data association time 26.646896 ms 
solver time 11.413578 ms 
mapping solver time 16.065939 ms 
filter time 7.459285 ms 
data association time 26.558236 ms 
solver time 11.738203 ms 
prepare time 18.271268 
sort q time 5.084081 
seperate points time 12.982493 
mapping data assosiation time 34.993708 ms 
solver time 8.501727 ms 
data association time 17.479425 ms 
solver time 8.834827 ms 
publication time 10.540339 ms 
whole laserOdometry time 64.395556 ms 
 
prepare time 15.880447 
filter time 7.604737 ms 
data association time 17.120150 ms 
solver time 9.664200 ms 
data association time 21.041779 ms 
publication time 10.812443 ms 
whole laserOdometry time 65.614135 ms 
 
mapping solver time 24.300121 ms 
sort q time 6.327223 
seperate points time 14.937664 
mapping data assosiation time 35.809819 ms 
mapping solver time 18.972842 ms 
solver time 10.467657 ms 
mapping optimization time 139.632803 
add points time 0.771709 ms
map prepare time 3.238979 ms
map corner num 76508  surf num 38760 
data association time 18.428508 ms 
publication time 13.469789 ms 
whole laserOdometry time 68.925247 ms 
 
prepare time 17.490160 
sort q time 5.759155 
seperate points time 14.091541 
mapping data assosiation time 36.611586 ms 
data association time 17.107067 ms 
solver time 10.797506 ms 
data association time 16.661756 ms 
optimization twice time 54.115859 
publication time 12.768716 ms 
whole laserOdometry time 66.907850 ms 
 
mapping data assosiation time 34.037443 ms 
solver time 5.817488 ms 
publication time 10.536813 ms 
whole laserOdometry time 77.705907 ms 
 
sort q time 5.959388 
seperate points time 14.925039 
mapping data assosiation time 39.317473 ms 
data association time 29.491250 ms 
mapping solver time 27.270364 ms 
filter time 11.087875 ms 
data association time 28.396769 ms 
solver time 11.154594 ms 
optimization twice time 86.272689 
build tree time 28.913071 ms 
sort q time 5.958736 
seperate points time 14.448953 
data association time 31.523112 ms 
solver time 12.318079 ms 
mapping solver time 31.914478 ms 
data association time 27.986160 ms 
prepare time 14.776870 
sort q time 5.722616 
seperate points time 14.114441 
mapping data assosiation time 43.349898 ms 
data association time 28.801646 ms 
filter time 9.923362 ms 
map prepare time 4.400329 ms
map corner num 79653  surf num 40482 
data association time 28.369239 ms 
build tree time 29.139928 ms 
solver time 11.613120 ms 
optimization twice time 85.263380 
sort q time 5.609817 
seperate points time 13.802425 
mapping data assosiation time 43.149280 ms 
data association time 30.767291 ms 
solver time 16.450708 ms 
mapping solver time 30.543854 ms 
data association time 19.594930 ms 
points size 100576 
mapping data assosiation time 38.353492 ms 
scan registration time 33.908722 ms *************
mapping solver time 20.278550 ms 
filter time 9.382662 ms 
solver time 9.966028 ms 
build tree time 21.567083 ms 
solver time 8.336214 ms 
publication time 10.474577 ms 
whole laserOdometry time 65.856362 ms 
 
prepare time 14.368826 
sort q time 6.037781 
seperate points time 15.026384 
mapping solver time 27.788507 ms 
data association time 27.431474 ms 
mapping data assosiation time 35.155911 ms 
mapping solver time 18.776503 ms 
filter time 9.204233 ms 
solver time 11.682084 ms 
optimization twice time 82.683744 
sort q time 5.485036 
seperate points time 13.579570 
build tree time 25.995967 ms 
data association time 27.525602 ms 
mapping data assosiation time 36.230549 ms 
mapping solver time 22.447148 ms 
points size 98693 
publication time 12.539645 ms 
whole laserOdometry time 91.152998 ms 
 
mapping solver time 19.198732 ms 
filter time 9.181272 ms 
solver time 15.389953 ms 
build tree time 23.698391 ms 
data association time 25.690721 ms 
points size 99439 
sort q time 5.089392 
seperate points time 12.595910 
mapping solver time 23.384212 ms 
data association time 20.022050 ms 
solver time 12.259769 ms 
mapping data assosiation time 34.191494 ms 
data association time 22.560371 ms 
optimization twice time 65.425410 
publication time 11.308249 ms 
whole laserOdometry time 76.755356 ms 
 
map prepare time 3.622542 ms
map corner num 83774  surf num 42747 
build tree time 22.635011 ms 
data association time 17.752991 ms 
solver time 8.496892 ms 
data association time 17.579386 ms 
mapping data assosiation time 36.204903 ms 
solver time 6.045086 ms 
optimization twice time 50.833082 
publication time 11.223102 ms 
whole laserOdometry time 62.073656 ms 
 
points size 99601 
sort q time 5.252063 
seperate points time 13.089657 
mapping data assosiation time 35.497809 ms 
solver time 8.425490 ms 
filter time 7.891345 ms 
solver time 8.635725 ms 
publication time 15.742736 ms 
whole laserOdometry time 68.837163 ms 
 
prepare time 12.533858 
sort q time 5.663225 
seperate points time 13.702248 
mapping data assosiation time 34.553582 ms 
solver time 11.662014 ms 
mapping solver time 24.308284 ms 
data association time 17.887449 ms 
optimization twice time 57.791929 
publication time 11.842235 ms 
whole laserOdometry time 69.652838 ms 
 
mapping data assosiation time 37.621729 ms 
sort q time 5.104679 
seperate points time 12.672128 
filter time 8.502920 ms 
data association time 19.099757 ms 
solver time 14.863494 ms 
data association time 19.578100 ms 
solver time 10.175114 ms 
sort q time 6.325992 
seperate points time 14.928068 
scan registration time 31.107169 ms *************
mapping solver time 40.426580 ms 
data association time 19.854977 ms 
solver time 13.200141 ms 
mapping data assosiation time 44.054000 ms 
data association time 18.662834 ms 
publication time 11.248087 ms 
whole laserOdometry time 72.259194 ms 
 
prepare time 15.033236 
filter time 10.761795 ms 
map prepare time 4.476201 ms
map corner num 87226  surf num 44764 
build tree time 31.620158 ms 
data association time 29.596410 ms 
solver time 12.766442 ms 
mapping data assosiation time 40.164947 ms 
solver time 9.965758 ms 
publication time 10.912988 ms 
whole laserOdometry time 84.748790 ms 
 
sort q time 5.961220 
seperate points time 14.543324 
data association time 17.411873 ms 
mapping data assosiation time 36.683993 ms 
mapping solver time 19.118357 ms 
filter time 9.822945 ms 
publication time 13.553816 ms 
whole laserOdometry time 70.551968 ms 
 
build tree time 25.680675 ms 
data association time 16.919761 ms 
mapping data assosiation time 40.747814 ms 
data association time 17.423983 ms 
solver time 9.864283 ms 
publication time 11.447248 ms 
whole laserOdometry time 69.694995 ms 
 
sort q time 6.126591 
seperate points time 14.968356 
mapping solver time 22.974839 ms 
mapping optimization time 156.663323 
add points time 0.786572 ms
data association time 18.099382 ms 
map prepare time 4.269500 ms
map corner num 89773  surf num 46473 
data association time 16.772184 ms 
build tree time 24.148678 ms 
publication time 10.077068 ms 
whole laserOdometry time 69.614460 ms 
 
points size 95902 
sort q time 4.618891 
seperate points time 11.270611 
mapping data assosiation time 43.385766 ms 
data association time 17.374915 ms 
solver time 12.647995 ms 
data association time 19.608819 ms 
mapping data assosiation time 40.001833 ms 
points size 94852 
sort q time 4.594680 
seperate points time 11.067126 
map prepare time 4.276213 ms
map corner num 90899  surf num 47203 
data association time 16.191237 ms 
solver time 12.276637 ms 
data association time 16.280204 ms 
solver time 10.096573 ms 
mapping data assosiation time 43.389151 ms 
prepare time 14.759487 
sort q time 4.646793 
seperate points time 11.797211 
mapping solver time 29.717833 ms 
data association time 16.298299 ms 
solver time 12.205290 ms 
mapping data assosiation time 35.500773 ms 
data association time 16.792972 ms 
solver time 10.966489 ms 
optimization twice time 56.999792 
mapping solver time 21.094416 ms 
mapping optimization time 159.958231 
add points time 0.758211 ms
drop lidar frame in mapping for real time performance 
prepare time 11.864238 
sort q time 4.568930 
seperate points time 11.043573 
build tree time 25.180917 ms 
data association time 15.707591 ms 
solver time 12.716834 ms 
mapping data assosiation time 34.663301 ms 
data association time 17.958155 ms 
solver time 11.813499 ms 
mapping solver time 23.219635 ms 
publication time 9.987811 ms 
whole laserOdometry time 69.156697 ms 
 
points size 90801 
mapping data assosiation time 35.606235 ms 
sort q time 4.535964 
seperate points time 10.930492 
scan registration time 29.377660 ms *************
mapping solver time 19.237222 ms 
mapping optimization time 139.983848 
add points time 0.742269 ms
data association time 17.037890 ms 
solver time 12.900497 ms 
data association time 16.604111 ms 
solver time 8.420246 ms 
publication time 12.051641 ms 
whole laserOdometry time 67.908848 ms 
 
prepare time 15.325588 
sort q time 5.058722 
seperate points time 12.530440 
data association time 16.582648 ms 
solver time 11.254801 ms 
data association time 15.685790 ms 
mapping data assosiation time 40.334263 ms 
points size 94876 
filter time 8.769617 ms 
data association time 16.534300 ms 
solver time 10.536563 ms 
mapping pub time 45.697876 ms 
whole mapping time 217.199450 ms +++++
data association time 22.620931 ms 
solver time 8.462516 ms 
[0m[ INFO] [1718887164.276606814]: Received 1000235 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887164.276662839]: Data saved to 1317357908930386.pcd[0m
build tree time 38.660817 ms 
points size 94931 
prepare time 14.718872 
sort q time 5.148321 
seperate points time 12.759900 
data association time 16.528153 ms 
mapping data assosiation time 46.929372 ms 
data association time 16.864285 ms 
solver time 8.314852 ms 
publication time 11.044139 ms 
whole laserOdometry time 64.898930 ms 
 
points size 94447 
prepare time 14.094451 
sort q time 4.557987 
seperate points time 11.851514 
data association time 16.366952 ms 
mapping solver time 29.533895 ms 
filter time 11.696285 ms 
data association time 21.641722 ms 
solver time 10.360341 ms 
publication time 11.687374 ms 
whole laserOdometry time 74.896586 ms 
 
prepare time 15.132495 
build tree time 35.979226 ms 
sort q time 4.965463 
seperate points time 12.557323 
data association time 16.531417 ms 
solver time 7.450810 ms 
data association time 16.579761 ms 
solver time 7.932825 ms 
publication time 9.698484 ms 
whole laserOdometry time 59.004485 ms 
 
points size 96852 
sort q time 5.309767 
seperate points time 13.501609 
mapping data assosiation time 47.200513 ms 
data association time 17.659685 ms 
solver time 8.508584 ms 
mapping solver time 29.473503 ms 
data association time 21.182356 ms 
map prepare time 4.397900 ms
map corner num 96917  surf num 50161 
publication time 10.691396 ms 
whole laserOdometry time 66.376906 ms 
 
points size 98483 
prepare time 11.326636 
sort q time 5.264428 
seperate points time 13.153913 
data association time 15.780589 ms 
solver time 11.625441 ms 
mapping data assosiation time 46.456098 ms 
data association time 22.398521 ms 
solver time 9.803325 ms 
mapping solver time 34.796078 ms 
sort q time 5.620945 
seperate points time 13.645178 
mapping data assosiation time 41.261536 ms 
data association time 16.718475 ms 
solver time 10.596238 ms 
filter time 9.397791 ms 
data association time 17.374787 ms 
map prepare time 4.956573 ms
map corner num 98134  surf num 50807 
publication time 10.506641 ms 
whole laserOdometry time 64.348502 ms 
 
points size 100015 
sort q time 6.579787 
seperate points time 17.116266 
mapping data assosiation time 42.212963 ms 
data association time 28.710259 ms 
mapping solver time 24.657806 ms 
solver time 11.350705 ms 
data association time 28.320183 ms 
solver time 7.565603 ms 
optimization twice time 76.938026 
prepare time 16.947920 
mapping data assosiation time 42.772943 ms 
sort q time 5.938093 
seperate points time 15.733936 
mapping solver time 25.942547 ms 
filter time 11.670748 ms 
mapping pub time 1.168705 ms 
whole mapping time 188.030382 ms +++++
data association time 25.355677 ms 
solver time 13.591235 ms 
build tree time 31.779817 ms 
data association time 18.933013 ms 
points size 102966 
publication time 13.091555 ms 
whole laserOdometry time 81.326191 ms 
 
scan registration time 41.096668 ms *************
data association time 17.516559 ms 
solver time 8.204394 ms 
data association time 17.242136 ms 
optimization twice time 51.668328 
publication time 10.922448 ms 
whole laserOdometry time 62.607956 ms 
 
points size 103162 
mapping solver time 28.668719 ms 
filter time 11.710161 ms 
data association time 21.132544 ms 
solver time 13.141589 ms 
data association time 20.874750 ms 
optimization twice time 66.633105 
points size 103312 
mapping data assosiation time 42.514919 ms 
publication time 13.184997 ms 
whole laserOdometry time 79.835941 ms 
 
prepare time 17.722798 
sort q time 5.971511 
seperate points time 15.516367 
scan registration time 38.658696 ms *************
mapping solver time 34.173209 ms 
data association time 17.054067 ms 
solver time 12.137826 ms 
mapping data assosiation time 37.134435 ms 
data association time 21.835727 ms 
solver time 9.189267 ms 
publication time 16.233367 ms 
whole laserOdometry time 77.382271 ms 
 
map prepare time 4.481923 ms
map corner num 68177  surf num 35601 
sort q time 6.232717 
seperate points time 16.127772 
build tree time 23.671265 ms 
data association time 31.712871 ms 
solver time 17.091607 ms 
mapping data assosiation time 47.391840 ms 
points size 104198 
prepare time 11.940591 
mapping solver time 34.372599 ms 
scan registration time 32.190918 ms *************
publication time 14.800355 ms 
whole laserOdometry time 105.202786 ms 
 
[33m[ WARN] [1718887165.569050696]: odometry process over 100ms[0m
mapping data assosiation time 48.642610 ms 
solver time 12.643418 ms 
mapping solver time 29.864474 ms 
filter time 9.247145 ms 
mapping pub time 1.746125 ms 
whole mapping time 203.199217 ms +++++
points size 104221 
drop lidar frame in mapping for real time performance 
data association time 29.408629 ms 
prepare time 18.985059 
optimization twice time 82.775431 
sort q time 6.220897 
seperate points time 15.825211 
data association time 27.217120 ms 
mapping data assosiation time 44.741660 ms 
data association time 17.498515 ms 
prepare time 15.481410 
publication time 12.806285 ms 
whole laserOdometry time 77.109094 ms 
 
scan registration time 36.685212 ms *************
mapping data assosiation time 40.812741 ms 
data association time 20.507894 ms 
mapping solver time 22.251509 ms 
mapping optimization time 157.131813 
add points time 0.719310 ms
drop lidar frame in mapping for real time performance 
data association time 21.623809 ms 
points size 102998 
optimization twice time 65.618778 
publication time 11.158763 ms 
whole laserOdometry time 76.796219 ms 
 
mapping data assosiation time 40.255161 ms 
data association time 16.639393 ms 
mapping solver time 25.811645 ms 
solver time 8.673913 ms 
publication time 11.434303 ms 
whole laserOdometry time 62.371809 ms 
 
sort q time 5.929352 
seperate points time 14.334656 
add points time 0.834105 ms
filter time 10.255755 ms 
data association time 18.775846 ms 
solver time 10.075676 ms 
data association time 17.353316 ms 
publication time 9.648731 ms 
whole laserOdometry time 64.236510 ms 
 
mapping data assosiation time 39.190204 ms 
scan registration time 30.775784 ms *************
mapping solver time 26.755926 ms 
data association time 21.103942 ms 
solver time 12.662582 ms 
mapping data assosiation time 38.243235 ms 
data association time 21.966691 ms 
solver time 10.751499 ms 
publication time 11.884444 ms 
whole laserOdometry time 79.283510 ms 
 
prepare time 18.808462 
sort q time 6.118151 
seperate points time 15.692080 
build tree time 26.016268 ms 
data association time 16.642181 ms 
solver time 10.589204 ms 
data association time 19.101371 ms 
mapping solver time 26.257050 ms 
sort q time 6.072463 
seperate points time 15.490027 
scan registration time 35.940454 ms *************
mapping data assosiation time 42.136836 ms 
data association time 17.457708 ms 
mapping solver time 23.602382 ms 
mapping pub time 1.246077 ms 
whole mapping time 172.952874 ms +++++
data association time 22.357322 ms 
solver time 9.936551 ms 
publication time 10.753786 ms 
whole laserOdometry time 78.867738 ms 
 
data association time 16.344245 ms 
solver time 10.870012 ms 
mapping solver time 23.372911 ms 
solver time 8.174131 ms 
mapping data assosiation time 36.632751 ms 
prepare time 14.561376 
mapping solver time 15.439021 ms 
scan registration time 33.700065 ms *************
data association time 16.535412 ms 
solver time 11.357703 ms 
data association time 17.049842 ms 
solver time 7.584677 ms 
publication time 11.231694 ms 
whole laserOdometry time 64.615145 ms 
 
points size 104121 
mapping solver time 25.556793 ms 
mapping data assosiation time 34.528717 ms 
solver time 8.635973 ms 
mapping solver time 17.711568 ms 
data association time 17.721135 ms 
filter time 8.544396 ms 
publication time 11.662887 ms 
whole laserOdometry time 64.323994 ms 
 
build tree time 23.133373 ms 
sort q time 5.304251 
seperate points time 12.950624 
mapping data assosiation time 36.290046 ms 
solver time 10.871311 ms 
mapping solver time 23.186072 ms 
data association time 17.792076 ms 
solver time 8.294071 ms 
publication time 11.440061 ms 
whole laserOdometry time 66.683798 ms 
 
mapping data assosiation time 38.041031 ms 
mapping solver time 20.423341 ms 
filter time 9.001606 ms 
data association time 16.972109 ms 
build tree time 21.571632 ms 
data association time 17.668737 ms 
solver time 8.969521 ms 
publication time 12.110722 ms 
whole laserOdometry time 67.231828 ms 
 
points size 102116 
sort q time 5.886910 
seperate points time 15.208337 
data association time 15.727512 ms 
solver time 10.213706 ms 
data association time 16.771094 ms 
filter time 7.638570 ms 
sort q time 5.412480 
seperate points time 13.253818 
data association time 17.217056 ms 
solver time 7.713561 ms 
data association time 16.506711 ms 
mapping solver time 19.975488 ms 
points size 101801 
prepare time 15.067337 
mapping data assosiation time 39.737367 ms 
mapping solver time 17.192296 ms 
filter time 10.101193 ms 
data association time 21.973896 ms 
solver time 13.793541 ms 
data association time 19.571059 ms 
solver time 10.478908 ms 
publication time 12.143075 ms 
whole laserOdometry time 78.946503 ms 
 
sort q time 7.152386 
seperate points time 17.333001 
mapping solver time 28.752645 ms 
solver time 8.687796 ms 
data association time 16.715127 ms 
publication time 10.086914 ms 
whole laserOdometry time 60.937404 ms 
 
points size 102714 
prepare time 15.557905 
sort q time 6.154519 
seperate points time 15.636656 
scan registration time 35.441486 ms *************
filter time 11.477402 ms 
mapping pub time 1.269829 ms 
whole mapping time 186.714317 ms +++++
drop lidar frame in mapping for real time performance 
data association time 20.813162 ms 
build tree time 24.636268 ms 
data association time 17.412423 ms 
solver time 9.648306 ms 
publication time 12.207430 ms 
whole laserOdometry time 75.410508 ms 
 
sort q time 5.873355 
seperate points time 15.024263 
data association time 17.355647 ms 
solver time 10.257662 ms 
data association time 19.277117 ms 
add points time 0.822443 ms
filter time 10.115377 ms 
sort q time 4.505086 
seperate points time 11.445713 
build tree time 24.951528 ms 
data association time 17.498899 ms 
solver time 10.664302 ms 
mapping data assosiation time 38.446761 ms 
solver time 9.284609 ms 
publication time 11.947315 ms 
whole laserOdometry time 70.937461 ms 
 
points size 98096 
sort q time 5.679052 
seperate points time 13.835237 
data association time 16.732776 ms 
solver time 11.321817 ms 
data association time 16.871214 ms 
solver time 10.723921 ms 
publication time 11.426919 ms 
whole laserOdometry time 67.832307 ms 
 
points size 96973 
mapping data assosiation time 39.447160 ms 
mapping solver time 27.256452 ms 
solver time 10.638665 ms 
data association time 16.655776 ms 
mapping data assosiation time 35.063091 ms 
publication time 10.362335 ms 
whole laserOdometry time 63.816292 ms 
 
prepare time 14.285002 
add points time 0.868823 ms
scan registration time 30.997253 ms *************
data association time 21.942643 ms 
solver time 11.433101 ms 
mapping pub time 46.898957 ms 
whole mapping time 205.762906 ms +++++
data association time 20.988238 ms 
solver time 8.723327 ms 
optimization twice time 64.132423 
[0m[ INFO] [1718887167.911426107]: Received 1034404 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887167.911516119]: Data saved to 1317357912457859.pcd[0m
build tree time 35.813806 ms 
publication time 11.749625 ms 
whole laserOdometry time 75.903067 ms 
 
points size 93905 prepare time 39.396624 
mapping solver time 36.449025 ms 
points size 93596 
mapping data assosiation time 52.203778 ms 
sort q time 8.118674 
seperate points time 34.031183 
points size 95177 
data association time 29.214482 ms 
scan registration time 50.565973 ms *************
map prepare time 8.631026 ms
map corner num 85033  surf num 43764 
data association time 27.030878 ms 
solver time 16.795764 ms 
points size 96894 
data association time 26.663657 ms 
sort q time 6.575597 
seperate points time 15.421340 
publication time 11.121146 ms 
whole laserOdometry time 90.994479 ms 
 
mapping data assosiation time 56.545045 ms 
solver time 10.284849 ms 
mapping solver time 26.909997 ms 
solver time 8.435225 ms 
publication time 10.870323 ms 
whole laserOdometry time 65.228586 ms 
 
mapping data assosiation time 38.609876 ms 
solver time 10.187297 ms 
filter time 7.709129 ms 
solver time 8.404082 ms 
publication time 9.736356 ms 
whole laserOdometry time 63.458502 ms 
 
build tree time 26.928620 ms 
solver time 10.997347 ms 
sort q time 4.150332 
seperate points time 10.527154 
optimization twice time 54.666697 
mapping solver time 27.720468 ms 
solver time 10.354933 ms 
data association time 16.143444 ms 
publication time 9.020191 ms 
whole laserOdometry time 62.113541 ms 
 
prepare time 13.339835 
sort q time 4.637361 
seperate points time 11.759708 
map prepare time 4.028821 ms
map corner num 87142  surf num 44842 
data association time 16.062328 ms 
build tree time 24.352042 ms 
data association time 15.870739 ms 
solver time 8.624699 ms 
optimization twice time 52.921864 
mapping data assosiation time 32.753258 ms 
points size 82766 
sort q time 4.437516 
seperate points time 10.835769 
data association time 14.738472 ms 
solver time 13.773296 ms 
mapping solver time 21.691950 ms 
filter time 12.327646 ms 
points size 79191 
build tree time 28.099188 ms 
sort q time 3.771253 
seperate points time 9.584640 
scan registration time 23.533946 ms *************
data association time 13.777559 ms 
sort q time 4.269373 
seperate points time 11.286600 
scan registration time 30.122033 ms *************
filter time 9.364142 ms 
map prepare time 4.140541 ms
map corner num 89475  surf num 46068 
solver time 11.700097 ms 
data association time 17.572958 ms 
solver time 10.495343 ms 
points size 74901 
prepare time 16.307336 
mapping data assosiation time 39.615619 ms 
sort q time 4.353897 
seperate points time 11.451803 
mapping solver time 27.382850 ms 
solver time 9.952313 ms 
data association time 14.791817 ms 
publication time 7.898911 ms 
whole laserOdometry time 55.874030 ms 
 
mapping optimization time 147.989759 
filter time 11.473806 ms 
sort q time 4.527414 
seperate points time 11.989832 
scan registration time 30.407931 ms *************
build tree time 30.200885 ms 
data association time 14.695927 ms 
solver time 10.194853 ms 
mapping data assosiation time 29.536165 ms 
solver time 7.610345 ms 
mapping solver time 23.567574 ms 
points size 86042 
prepare time 18.190191 
sort q time 5.768878 
seperate points time 14.192193 
mapping solver time 18.923390 ms 
filter time 9.526006 ms 
mapping pub time 0.990415 ms 
whole mapping time 157.572053 ms +++++
map prepare time 4.040280 ms
map corner num 91679  surf num 46828 
solver time 13.358501 ms 
data association time 15.629483 ms 
solver time 13.177562 ms 
publication time 9.980797 ms 
whole laserOdometry time 68.037835 ms 
 
mapping data assosiation time 31.488320 ms 
sort q time 4.588415 
seperate points time 11.370710 
mapping solver time 21.699455 ms 
data association time 18.658339 ms 
mapping data assosiation time 33.647631 ms 
data association time 18.774198 ms 
mapping solver time 18.680465 ms 
publication time 9.911846 ms 
whole laserOdometry time 68.857502 ms 
 
prepare time 17.257377 
sort q time 5.549240 
seperate points time 13.528317 
build tree time 31.370849 ms 
data association time 17.668878 ms 
solver time 10.656900 ms 
data association time 18.439689 ms 
publication time 8.917445 ms 
whole laserOdometry time 63.913073 ms 
 
points size 97359 
prepare time 20.516183 
mapping data assosiation time 37.423283 ms 
scan registration time 41.021110 ms *************
mapping solver time 20.318987 ms 
filter time 9.289677 ms 
solver time 12.556206 ms 
build tree time 26.320750 ms 
solver time 9.563616 ms 
publication time 10.328996 ms 
whole laserOdometry time 69.659702 ms 
 
mapping data assosiation time 38.127233 ms 
scan registration time 41.144137 ms *************
mapping solver time 25.542729 ms 
data association time 20.441562 ms 
solver time 12.831973 ms 
mapping data assosiation time 30.527650 ms 
data association time 16.842653 ms 
solver time 10.347154 ms 
points size 99516 
mapping pub time 3.088612 ms 
whole mapping time 165.554706 ms +++++
sort q time 5.893020 
seperate points time 14.736097 
build tree time 29.482016 ms 
solver time 10.787027 ms 
mapping data assosiation time 31.434950 ms 
data association time 17.723385 ms 
solver time 8.392088 ms 
publication time 10.215488 ms 
whole laserOdometry time 64.967548 ms 
 
prepare time 19.005318 
sort q time 6.796160 
seperate points time 16.309016 
mapping data assosiation time 39.622729 ms 
data association time 17.125214 ms 
solver time 10.554814 ms 
map prepare time 3.135694 ms
map corner num 95986  surf num 48640 
solver time 8.203150 ms 
publication time 10.617549 ms 
whole laserOdometry time 65.309622 ms 
 
sort q time 5.982425 
seperate points time 14.430531 
mapping data assosiation time 31.403371 ms 
data association time 16.723544 ms 
solver time 12.084577 ms 
data association time 16.616124 ms 
solver time 8.434009 ms 
publication time 10.681972 ms 
whole laserOdometry time 65.411660 ms 
 
points size 101931 
mapping solver time 24.666882 ms 
filter time 10.425034 ms 
data association time 15.877514 ms 
solver time 12.747750 ms 
data association time 19.225392 ms 
solver time 10.392983 ms 
publication time 10.172424 ms 
whole laserOdometry time 69.324221 ms 
 
mapping solver time 27.204317 ms 
scan registration time 34.200994 ms *************
mapping data assosiation time 36.223726 ms 
solver time 11.393497 ms 
filter time 9.551607 ms 
solver time 7.924679 ms 
publication time 10.292421 ms 
whole laserOdometry time 65.438923 ms 
 
build tree time 28.588125 ms 
sort q time 5.469916 
seperate points time 13.057915 
mapping data assosiation time 33.177432 ms 
solver time 10.408488 ms 
mapping solver time 25.455101 ms 
data association time 17.251221 ms 
publication time 9.841064 ms 
whole laserOdometry time 64.941917 ms 
 
points size 101679 
sort q time 5.238494 
seperate points time 12.314773 
filter time 12.920741 ms 
mapping pub time 1.593622 ms 
whole mapping time 162.847641 ms +++++
drop lidar frame in mapping for real time performance 
data association time 21.110775 ms 
build tree time 19.407174 ms 
data association time 18.607782 ms 
solver time 10.526945 ms 
points size 101378 
publication time 12.236177 ms 
whole laserOdometry time 75.404674 ms 
 
prepare time 15.091384 
mapping solver time 19.726825 ms 
sort q time 5.138645 
seperate points time 12.243673 
mapping data assosiation time 32.473776 ms 
data association time 17.238899 ms 
mapping solver time 14.233555 ms 
mapping optimization time 117.840122 
add points time 0.856705 ms
map prepare time 2.969697 ms
map corner num 66413  surf num 34795 
data association time 17.238374 ms 
build tree time 23.290501 ms 
points size 101178 
sort q time 5.442400 
seperate points time 12.853061 
mapping solver time 21.823424 ms 
data association time 16.602163 ms 
solver time 13.058044 ms 
mapping data assosiation time 29.703940 ms 
data association time 16.452021 ms 
solver time 11.232205 ms 
filter time 7.489322 ms 
sort q time 5.499384 
seperate points time 13.541426 
data association time 16.384194 ms 
mapping data assosiation time 28.929084 ms 
mapping solver time 20.918582 ms 
solver time 8.332919 ms 
publication time 11.464416 ms 
whole laserOdometry time 65.265385 ms 
 
prepare time 15.955168 
sort q time 5.347598 
seperate points time 13.052051 
mapping solver time 22.083098 ms 
filter time 9.405275 ms 
solver time 13.488379 ms 
build tree time 19.097706 ms 
data association time 17.569922 ms 
solver time 10.679048 ms 
publication time 10.514512 ms 
whole laserOdometry time 69.879925 ms 
 
points size 101454 
sort q time 5.972563 
seperate points time 14.543777 
mapping solver time 29.296011 ms 
data association time 17.402637 ms 
solver time 13.555801 ms 
mapping data assosiation time 32.472636 ms 
mapping solver time 13.984698 ms 
map prepare time 3.246457 ms
map corner num 69191  surf num 35985 
publication time 10.312264 ms 
whole laserOdometry time 72.458938 ms 
 
build tree time 23.659029 ms 
sort q time 5.825902 
seperate points time 14.296690 
mapping data assosiation time 32.716191 ms 
data association time 26.992059 ms 
mapping solver time 18.620188 ms 
solver time 15.437451 ms 
data association time 20.084315 ms 
publication time 8.829836 ms 
whole laserOdometry time 79.818069 ms 
 
mapping solver time 15.003284 ms 
mapping optimization time 126.358458 
add points time 0.732480 ms
sort q time 6.935640 
seperate points time 16.098031 
map prepare time 3.435568 ms
map corner num 70084  surf num 36367 
data association time 17.653320 ms 
solver time 11.808748 ms 
data association time 17.027919 ms 
solver time 7.890931 ms 
publication time 9.973897 ms 
whole laserOdometry time 65.255501 ms 
 
prepare time 15.091585 
mapping solver time 23.264603 ms 
sort q time 6.082484 
seperate points time 14.038171 
mapping data assosiation time 31.275947 ms 
data association time 16.850050 ms 
mapping solver time 17.694071 ms 
filter time 8.488612 ms 
data association time 20.065677 ms 
solver time 10.751923 ms 
publication time 12.131199 ms 
whole laserOdometry time 74.715064 ms 
 
prepare time 15.050575 
sort q time 6.741065 
seperate points time 15.959178 
build tree time 19.739382 ms 
[0m[ INFO] [1718887171.282741515]: Received 1064134 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887171.282781648]: Data saved to 1317357915881712.pcd[0m
data association time 17.764080 ms 
mapping data assosiation time 32.449517 ms 
data association time 18.505990 ms 
solver time 11.134680 ms 
points size 101458 
sort q time 5.728025 
seperate points time 13.511884 
mapping solver time 19.886100 ms 
filter time 8.551097 ms 
data association time 17.155816 ms 
publication time 10.016750 ms 
whole laserOdometry time 65.206763 ms 
 
points size 101172 
mapping data assosiation time 36.679835 ms 
scan registration time 36.238758 ms *************
mapping solver time 27.202009 ms 
data association time 29.920665 ms 
solver time 12.020014 ms 
mapping data assosiation time 36.147958 ms 
data association time 19.047386 ms 
points size 101054 
map prepare time 3.289442 ms
map corner num 72733  surf num 37373 
build tree time 22.053890 ms 
data association time 19.590818 ms 
solver time 12.568687 ms 
data association time 19.679853 ms 
solver time 12.798190 ms 
publication time 10.301893 ms 
whole laserOdometry time 75.926541 ms 
 
prepare time 20.518102 
sort q time 6.958047 
seperate points time 17.111714 
mapping data assosiation time 42.328598 ms 
mapping solver time 14.349464 ms 
filter time 8.997025 ms 
solver time 11.257626 ms 
build tree time 19.015137 ms 
solver time 8.216315 ms 
publication time 10.321470 ms 
whole laserOdometry time 66.846165 ms 
 
sort q time 5.906564 
seperate points time 14.317971 
scan registration time 35.461202 ms *************
mapping solver time 24.761146 ms 
data association time 18.256072 ms 
solver time 10.453530 ms 
mapping data assosiation time 32.903454 ms 
solver time 9.371790 ms 
publication time 11.596185 ms 
whole laserOdometry time 68.230228 ms 
 
mapping pub time 1.212574 ms 
whole mapping time 146.339719 ms +++++
sort q time 5.319078 
seperate points time 12.417786 
scan registration time 32.695999 ms *************
data association time 16.710480 ms 
solver time 12.138076 ms 
mapping data assosiation time 33.584380 ms 
solver time 7.602830 ms 
mapping solver time 25.354863 ms 
points size 101652 
sort q time 5.648997 
seperate points time 13.384776 
mapping solver time 19.288346 ms 
filter time 9.250871 ms 
data association time 18.065910 ms 
solver time 10.457754 ms 
publication time 12.677001 ms 
whole laserOdometry time 75.359523 ms 
 
mapping data assosiation time 36.775676 ms 
scan registration time 37.042361 ms *************
mapping solver time 25.877980 ms 
data association time 28.065868 ms 
mapping data assosiation time 33.355299 ms 
mapping solver time 19.684523 ms 
points size 101508 
solver time 15.263314 ms 
publication time 12.967332 ms 
whole laserOdometry time 104.190415 ms 
 
[33m[ WARN] [1718887172.207962888]: odometry process over 100ms[0m
data association time 27.503941 ms 
solver time 18.215753 ms 
mapping solver time 26.054866 ms 
points size 100849 
data association time 27.811982 ms 
prepare time 14.952912 
sort q time 5.702045 
seperate points time 14.051895 
solver time 15.076913 ms 
optimization twice time 89.651507 
mapping data assosiation time 40.081481 ms 
publication time 12.468697 ms 
whole laserOdometry time 102.134165 ms 
 
[33m[ WARN] [1718887172.312791068]: odometry process over 100ms[0m
mapping solver time 22.484428 ms 
data association time 28.043544 ms 
map prepare time 3.639390 ms
map corner num 77660  surf num 39324 
solver time 18.646923 ms 
build tree time 24.830121 ms 
data association time 27.710410 ms 
points size 100194 
sort q time 5.512541 
seperate points time 13.134210 
mapping solver time 26.721592 ms 
solver time 18.271101 ms 
mapping data assosiation time 39.202625 ms 
prepare time 13.264121 
data association time 28.125861 ms 
mapping solver time 22.765575 ms 
filter time 10.146522 ms 
publication time 12.596941 ms 
whole laserOdometry time 103.343448 ms 
 
[33m[ WARN] [1718887172.525108397]: odometry process over 100ms[0m
build tree time 22.528021 ms 
data association time 27.601738 ms 
solver time 17.986956 ms 
mapping data assosiation time 37.052489 ms 
points size 98323 
mapping solver time 27.574902 ms 
publication time 10.320234 ms 
whole laserOdometry time 94.448353 ms 
 
data association time 18.522476 ms 
solver time 13.721849 ms 
data association time 16.826476 ms 
solver time 10.969347 ms 
publication time 10.774113 ms 
whole laserOdometry time 71.777286 ms 
 
build tree time 22.326934 ms 
data association time 16.518833 ms 
solver time 11.651058 ms 
mapping solver time 20.885577 ms 
data association time 19.833190 ms 
solver time 9.431950 ms 
publication time 11.179761 ms 
whole laserOdometry time 69.573585 ms 
 
prepare time 16.387747 
sort q time 6.224586 
seperate points time 15.525060 
mapping solver time 20.716904 ms 
mapping optimization time 141.106644 
add points time 0.742191 ms
drop lidar frame in mapping for real time performance 
data association time 17.957268 ms 
build tree time 21.940438 ms 
data association time 16.739559 ms 
solver time 11.978950 ms 
publication time 9.536264 ms 
whole laserOdometry time 69.796641 ms 
 
sort q time 6.161384 
seperate points time 15.006015 
mapping solver time 26.329002 ms 
data association time 17.739481 ms 
solver time 14.663490 ms 
mapping data assosiation time 39.267474 ms 
solver time 10.447795 ms 
publication time 10.324766 ms 
whole laserOdometry time 72.484728 ms 
 
filter time 10.400318 ms 
sort q time 5.108002 
seperate points time 12.544732 
build tree time 24.377806 ms 
data association time 19.312628 ms 
solver time 14.647589 ms 
mapping data assosiation time 36.616359 ms 
data association time 20.529098 ms 
solver time 12.864696 ms 
publication time 10.436537 ms 
whole laserOdometry time 78.755674 ms 
 
sort q time 5.783059 
seperate points time 14.807132 
mapping data assosiation time 39.709668 ms 
data association time 17.174795 ms 
mapping solver time 24.130910 ms 
filter time 9.619211 ms 
data association time 18.022963 ms 
solver time 9.801936 ms 
build tree time 24.771720 ms 
sort q time 4.652360 
seperate points time 11.834534 
mapping data assosiation time 37.540193 ms 
data association time 16.220672 ms 
solver time 12.134911 ms 
data association time 17.199090 ms 
publication time 10.252117 ms 
whole laserOdometry time 66.706102 ms 
 
mapping data assosiation time 41.131052 ms 
mapping solver time 17.391080 ms 
filter time 11.390082 ms 
data association time 18.434141 ms 
solver time 10.400941 ms 
data association time 19.689631 ms 
publication time 9.515886 ms 
whole laserOdometry time 67.500580 ms 
 
prepare time 18.171449 
sort q time 5.772775 
seperate points time 14.778250 
scan registration time 37.984146 ms *************
data association time 18.025270 ms 
solver time 10.563053 ms 
mapping data assosiation time 43.132446 ms 
solver time 7.783381 ms 
mapping solver time 24.965574 ms 
publication time 10.213704 ms 
whole laserOdometry time 65.283742 ms 
 
points size 99130 
mapping optimization time 168.409790 
add points time 0.854335 ms
prepare time 12.812511 
map prepare time 3.996363 ms
map corner num 85219  surf num 43473 
scan registration time 30.316894 ms *************
build tree time 26.448267 ms 
solver time 12.419370 ms 
data association time 17.475784 ms 
mapping data assosiation time 40.513674 ms 
publication time 11.569081 ms 
whole laserOdometry time 69.061660 ms 
 
points size 99499 
mapping solver time 32.363541 ms 
sort q time 6.057459 
seperate points time 15.794184 
mapping data assosiation time 37.603949 ms 
solver time 10.263730 ms 
mapping solver time 20.381142 ms 
data association time 17.607453 ms 
optimization twice time 54.310542 
publication time 11.175041 ms 
whole laserOdometry time 65.503132 ms 
 
sort q time 5.910574 
seperate points time 15.127791 
build tree time 32.559998 ms 
scan registration time 35.322040 ms *************
data association time 17.050418 ms 
solver time 11.047536 ms 
data association time 17.820131 ms 
mapping solver time 24.338650 ms 
publication time 11.034321 ms 
whole laserOdometry time 66.122751 ms 
 
points size 100172 
sort q time 4.863940 
seperate points time 11.545923 
data association time 16.612331 ms 
filter time 7.813713 ms 
data association time 17.551889 ms 
solver time 10.313779 ms 
publication time 11.988437 ms 
whole laserOdometry time 70.018824 ms 
 
points size 100464 
mapping data assosiation time 40.690711 ms 
mapping solver time 22.019981 ms 
data association time 16.894771 ms 
solver time 10.199071 ms 
data association time 17.002059 ms 
mapping data assosiation time 41.075527 ms 
publication time 11.086517 ms 
whole laserOdometry time 67.454115 ms 
 
prepare time 16.283689 
map prepare time 3.420869 ms
map corner num 88114  surf num 45563 
scan registration time 36.640996 ms *************
build tree time 27.210070 ms 
data association time 19.567955 ms 
mapping data assosiation time 40.295954 ms 
solver time 9.221015 ms 
publication time 11.483281 ms 
whole laserOdometry time 68.848610 ms 
 
mapping solver time 32.106665 ms 
sort q time 5.405993 
seperate points time 12.646253 
mapping data assosiation time 46.757848 ms 
solver time 11.023016 ms 
filter time 11.250597 ms 
points size 102701 
publication time 9.986132 ms 
whole laserOdometry time 84.190375 ms 
 
scan registration time 32.935153 ms *************
data association time 17.255069 ms 
solver time 11.427030 ms 
mapping data assosiation time 42.171442 ms 
data association time 17.479607 ms 
solver time 8.573484 ms 
publication time 10.710523 ms 
whole laserOdometry time 66.245463 ms 
 
prepare time 17.774433 
sort q time 5.172884 
seperate points time 12.305779 
mapping data assosiation time 41.861558 ms 
data association time 18.804379 ms 
mapping solver time 22.987859 ms 
filter time 9.917748 ms 
data association time 20.843453 ms 
solver time 13.342168 ms 
points size 102532 
prepare time 15.114205 
publication time 13.524833 ms 
whole laserOdometry time 81.516593 ms 
 
sort q time 6.139096 
seperate points time 14.549291 
mapping data assosiation time 40.699681 ms 
solver time 12.074599 ms 
mapping solver time 25.733878 ms 
data association time 17.573299 ms 
solver time 9.699461 ms 
publication time 10.008258 ms 
whole laserOdometry time 68.437461 ms 
 
points size 102605 
sort q time 5.872802 
seperate points time 15.165832 
mapping solver time 27.031179 ms 
filter time 8.760430 ms 
solver time 12.083375 ms 
data association time 17.679568 ms 
mapping pub time 47.837270 ms 
whole mapping time 231.197028 ms +++++
map prepare time 5.200873 ms
map corner num 91024  surf num 47674 
[0m[ INFO] [1718887174.698753650]: Received 1095237 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887174.698800523]: Data saved to 1317357919212460.pcd[0m
build tree time 34.038526 ms 
data association time 16.425661 ms 
solver time 9.940817 ms 
mapping data assosiation time 38.240053 ms 
solver time 7.519121 ms 
publication time 11.133283 ms 
whole laserOdometry time 63.122012 ms 
 
prepare time 16.568386 
sort q time 6.948548 
seperate points time 17.739947 
mapping data assosiation time 47.667549 ms 
data association time 16.722018 ms 
mapping optimization time 169.636300 
filter time 11.763201 ms 
data association time 17.463773 ms 
solver time 11.106901 ms 
optimization twice time 60.494824 
points size 103072 
prepare time 15.026164 
sort q time 5.247080 
seperate points time 13.257901 
data association time 16.499502 ms 
mapping data assosiation time 39.906413 ms 
mapping solver time 24.235343 ms 
data association time 17.048268 ms 
publication time 10.583627 ms 
whole laserOdometry time 64.192686 ms 
 
prepare time 12.917553 
mapping data assosiation time 41.484852 ms 
mapping solver time 22.146486 ms 
data association time 17.237322 ms 
solver time 9.958756 ms 
data association time 17.407737 ms 
solver time 8.029286 ms 
points size 103669 
sort q time 7.092090 
seperate points time 18.285121 
data association time 18.190755 ms 
solver time 12.584972 ms 
data association time 19.072261 ms 
solver time 9.938782 ms 
points size 103679 
publication time 13.245529 ms 
whole laserOdometry time 73.924935 ms 
 
prepare time 18.257188 
mapping optimization time 173.974854 
filter time 12.837002 ms 
solver time 12.203835 ms 
data association time 18.543133 ms 
solver time 9.611466 ms 
prepare time 14.664641 
mapping data assosiation time 46.434119 ms 
scan registration time 36.069776 ms *************
mapping solver time 28.434692 ms 
data association time 18.934484 ms 
solver time 13.852319 ms 
mapping data assosiation time 38.981079 ms 
solver time 11.021927 ms 
optimization twice time 62.830563 
points size 103677 
prepare time 12.072415 
mapping solver time 21.879201 ms 
mapping optimization time 168.324022 
add points time 0.752076 ms
mapping pub time 1.279101 ms 
whole mapping time 186.102893 ms +++++
sort q time 6.404472 
seperate points time 15.970193 
drop lidar frame in mapping for real time performance 
scan registration time 32.836719 ms *************
map prepare time 4.412828 ms
map corner num 95253  surf num 50593 
data association time 16.804731 ms 
solver time 20.334627 ms 
data association time 20.133125 ms 
mapping data assosiation time 43.210384 ms 
solver time 13.826983 ms 
optimization twice time 72.008828 
sort q time 5.888234 
seperate points time 14.442049 
data association time 17.052221 ms 
mapping data assosiation time 41.023997 ms 
data association time 17.146533 ms 
solver time 11.654710 ms 
publication time 11.161791 ms 
whole laserOdometry time 70.966090 ms 
 
sort q time 5.186729 
seperate points time 12.355741 
scan registration time 33.363046 ms *************
build tree time 30.723573 ms 
data association time 28.344573 ms 
mapping data assosiation time 39.025418 ms 
mapping solver time 24.721119 ms 
points size 103570 
solver time 11.398576 ms 
scan registration time 33.981188 ms *************
mapping data assosiation time 40.590655 ms 
data association time 28.246889 ms 
solver time 14.374629 ms 
solver time 11.869760 ms 
prepare time 18.430507 
sort q time 6.013256 
seperate points time 14.911284 
mapping data assosiation time 37.733228 ms 
data association time 20.661586 ms 
solver time 12.374001 ms 
data association time 20.817529 ms 
solver time 10.415988 ms 
points size 102575 
sort q time 6.028623 
seperate points time 14.856557 
mapping solver time 33.093528 ms 
filter time 11.122398 ms 
mapping pub time 1.327379 ms 
whole mapping time 182.159819 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.783813 ms
map corner num 98399  surf num 52374 
solver time 10.767873 ms 
build tree time 28.216100 ms 
solver time 8.832862 ms 
publication time 10.216263 ms 
whole laserOdometry time 67.047921 ms 
 
prepare time 21.331256 
mapping data assosiation time 43.384809 ms 
scan registration time 43.374314 ms *************
mapping solver time 29.240883 ms 
data association time 17.440340 ms 
solver time 11.833140 ms 
mapping data assosiation time 36.106608 ms 
solver time 11.209327 ms 
prepare time 18.120344 
mapping solver time 33.531412 ms 
scan registration time 38.130224 ms *************
drop lidar frame in mapping for real time performance 
data association time 17.287846 ms 
solver time 12.709991 ms 
build tree time 27.598780 ms 
data association time 19.371920 ms 
solver time 10.812389 ms 
points size 98603 
sort q time 5.407252 
seperate points time 12.917899 
scan registration time 33.503906 ms *************
data association time 17.185098 ms 
mapping data assosiation time 31.785285 ms 
mapping solver time 18.626968 ms 
mapping optimization time 144.038297 
add points time 0.717413 ms
data association time 18.397303 ms 
mapping pub time 1.300302 ms 
whole mapping time 162.438417 ms +++++
points size 97366 
sort q time 4.996980 
seperate points time 11.919291 
build tree time 33.347385 ms 
data association time 20.378387 ms 
solver time 14.799820 ms 
data association time 19.229147 ms 
solver time 13.589521 ms 
points size 96515 
sort q time 4.709156 
seperate points time 11.251841 
mapping solver time 17.711672 ms 
filter time 10.137200 ms 
map prepare time 3.602511 ms
map corner num 101714  surf num 53751 
data association time 17.478823 ms 
solver time 13.563568 ms 
publication time 12.022219 ms 
whole laserOdometry time 73.813306 ms 
 
points size 96019 
sort q time 4.597223 
seperate points time 11.378370 
scan registration time 29.908640 ms *************
mapping data assosiation time 38.024346 ms 
mapping solver time 21.417954 ms 
solver time 13.481510 ms 
mapping data assosiation time 33.900198 ms 
solver time 8.668906 ms 
publication time 10.503073 ms 
whole laserOdometry time 78.023272 ms 
 
mapping solver time 21.339774 ms 
points size 95803 
mapping optimization time 150.194969 
add points time 0.797869 ms
prepare time 17.569216 
drop lidar frame in mapping for real time performance 
data association time 16.361429 ms 
solver time 12.582300 ms 
data association time 19.240654 ms 
solver time 10.292488 ms 
points size 95964 
sort q time 4.587367 
seperate points time 11.116836 
mapping data assosiation time 33.608823 ms 
data association time 17.865048 ms 
mapping solver time 13.829478 ms 
filter time 10.883321 ms 
solver time 10.978477 ms 
optimization twice time 58.349915 
build tree time 33.072457 ms 
sort q time 5.438487 
seperate points time 13.464125 
mapping data assosiation time 37.048799 ms 
data association time 17.224192 ms 
solver time 10.900739 ms 
data association time 17.001073 ms 
solver time 8.239474 ms 
publication time 10.770270 ms 
whole laserOdometry time 65.010080 ms 
 
points size 95322 
mapping solver time 19.976905 ms 
sort q time 5.591893 
seperate points time 13.789737 
map prepare time 5.128023 ms
map corner num 104801  surf num 54744 
data association time 18.780167 ms 
solver time 10.673660 ms 
data association time 17.746183 ms 
publication time 11.297778 ms 
whole laserOdometry time 67.717265 ms 
 
sort q time 5.364602 
seperate points time 13.426495 
data association time 31.324241 ms 
mapping data assosiation time 43.114364 ms 
solver time 17.135263 ms 
mapping optimization time 158.661472 
filter time 12.904976 ms 
solver time 12.234933 ms 
scan registration time 35.994631 ms *************
build tree time 41.113514 ms 
data association time 28.847638 ms 
solver time 12.916385 ms 
mapping data assosiation time 38.236519 ms 
solver time 8.646404 ms 
points size 91672 
mapping solver time 25.903974 ms 
sort q time 5.361610 
seperate points time 13.307470 
mapping data assosiation time 34.218340 ms 
solver time 11.215520 ms 
filter time 9.622882 ms 
data association time 17.980386 ms 
mapping pub time 2.712680 ms 
whole mapping time 180.908370 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.587547 ms
map corner num 106796  surf num 55312 
publication time 10.137990 ms 
whole laserOdometry time 65.041109 ms 
 
points size 90258 
sort q time 4.097817 
seperate points time 9.975241 
data association time 15.994716 ms 
solver time 10.994345 ms 
data association time 16.830538 ms 
publication time 9.884312 ms 
whole laserOdometry time 61.364004 ms 
 
points size 89176 
mapping data assosiation time 34.452631 ms 
scan registration time 29.294175 ms *************
mapping solver time 22.718695 ms 
filter time 10.966484 ms 
data association time 16.949715 ms 
mapping pub time 1.139270 ms 
whole mapping time 168.921507 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.466026 ms
map corner num 107722  surf num 55577 
data association time 16.631369 ms 
publication time 9.722410 ms 
whole laserOdometry time 64.145594 ms 
 
points size 88574 
sort q time 4.610735 
seperate points time 11.066480 
mapping solver time 21.876743 ms 
data association time 26.625075 ms 
mapping data assosiation time 32.626298 ms 
solver time 14.998779 ms 
mapping solver time 13.817962 ms 
filter time 12.705301 ms 
prepare time 14.504086 
solver time 11.508602 ms 
optimization twice time 81.108400 
publication time 11.862004 ms 
whole laserOdometry time 92.987516 ms 
 
build tree time 33.484073 ms 
data association time 18.722512 ms 
solver time 9.944438 ms 
data association time 16.725720 ms 
solver time 7.595741 ms 
publication time 10.489141 ms 
whole laserOdometry time 64.426405 ms 
 
points size 87543 
prepare time 13.654295 
scan registration time 30.475865 ms *************
mapping solver time 14.886654 ms 
mapping optimization time 137.604589 
add points time 0.684444 ms
drop lidar frame in mapping for real time performance 
solver time 10.756196 ms 
data association time 16.972633 ms 
solver time 7.490304 ms 
publication time 11.103179 ms 
whole laserOdometry time 64.206855 ms 
 
points size 87988 
mapping data assosiation time 32.603384 ms 
sort q time 4.313384 
seperate points time 10.379950 
mapping solver time 23.004895 ms 
solver time 10.555401 ms 
mapping data assosiation time 31.404880 ms 
solver time 8.669287 ms 
publication time 10.687913 ms 
whole laserOdometry time 67.427151 ms 
 
drop lidar frame in mapping for real time performance 
prepare time 14.212191 
sort q time 4.272874 
seperate points time 10.277755 
scan registration time 28.948268 ms *************
build tree time 32.132176 ms 
data association time 16.891584 ms 
solver time 10.635138 ms 
data association time 16.193045 ms 
solver time 6.049822 ms 
publication time 11.341175 ms 
whole laserOdometry time 62.042738 ms 
 
points size 84913 
mapping data assosiation time 34.087096 ms 
scan registration time 29.794549 ms *************
mapping solver time 19.910402 ms 
mapping optimization time 137.764075 
add points time 0.854487 ms
filter time 12.215876 ms 
solver time 9.632252 ms 
data association time 16.910421 ms 
publication time 7.878380 ms 
whole laserOdometry time 59.931989 ms 
 
map prepare time 4.131385 ms
map corner num 111492  surf num 56707 
sort q time 3.551913 
seperate points time 9.036184 
scan registration time 28.326179 ms *************
build tree time 34.031217 ms 
data association time 15.421265 ms 
solver time 10.570618 ms 
mapping data assosiation time 29.313175 ms 
solver time 7.547313 ms 
optimization twice time 49.859790 
points size 78011 
mapping data assosiation time 29.510394 ms 
mapping solver time 18.205975 ms 
data association time 15.690393 ms 
data association time 15.419197 ms 
publication time 8.169075 ms 
whole laserOdometry time 54.683165 ms 
 
mapping data assosiation time 30.416429 ms 
sort q time 3.102558 
seperate points time 7.961972 
data association time 14.503896 ms 
solver time 9.585027 ms 
mapping data assosiation time 31.304643 ms 
data association time 16.868191 ms 
solver time 8.678424 ms 
publication time 9.906964 ms 
whole laserOdometry time 60.500198 ms 
 
points size 70181 
sort q time 2.945928 
seperate points time 7.321851 
mapping data assosiation time 32.698553 ms 
solver time 10.766449 ms 
mapping solver time 32.921228 ms 
data association time 14.380533 ms 
solver time 8.069106 ms 
publication time 7.644806 ms 
whole laserOdometry time 66.281673 ms 
 
mapping data assosiation time 33.345665 ms 
sort q time 2.766168 
seperate points time 7.002626 
mapping solver time 22.497535 ms 
data association time 13.875838 ms 
data association time 13.678879 ms 
solver time 5.789317 ms 
publication time 6.851788 ms 
whole laserOdometry time 49.941388 ms 
 
mapping data assosiation time 30.395898 ms 
points size 65334 
sort q time 3.764846 
seperate points time 9.467546 
data association time 12.649562 ms 
solver time 10.201732 ms 
mapping optimization time 120.264026 
filter time 9.773841 ms 
publication time 7.284183 ms 
whole laserOdometry time 56.045397 ms 
 
build tree time 22.071159 ms 
points size 67372 
sort q time 3.324944 
seperate points time 8.160744 
data association time 13.128888 ms 
data association time 13.010238 ms 
mapping data assosiation time 26.256341 ms 
publication time 7.379345 ms 
whole laserOdometry time 48.404916 ms 
 
mapping solver time 15.937375 ms 
filter time 8.234124 ms 
points size 70646 
prepare time 11.314093 
data association time 13.129021 ms 
data association time 13.590416 ms 
publication time 7.861167 ms 
whole laserOdometry time 50.224372 ms 
 
mapping data assosiation time 25.368980 ms 
mapping solver time 16.230522 ms 
filter time 10.330763 ms 
data association time 13.796998 ms 
solver time 10.804530 ms 
data association time 16.029998 ms 
solver time 8.536740 ms 
publication time 7.606243 ms 
whole laserOdometry time 57.646295 ms 
 
mapping solver time 20.437000 ms 
points size 78489 
sort q time 4.584696 
seperate points time 10.911257 
scan registration time 26.647582 ms *************
mapping solver time 18.928172 ms 
filter time 7.726661 ms 
solver time 10.284503 ms 
build tree time 23.474467 ms 
data association time 14.421294 ms 
publication time 8.484558 ms 
whole laserOdometry time 58.734117 ms 
 
mapping data assosiation time 27.443830 ms 
points size 81795 
sort q time 5.323925 
seperate points time 12.836367 
mapping data assosiation time 25.711033 ms 
mapping solver time 16.945278 ms 
filter time 9.430470 ms 
solver time 16.033269 ms 
build tree time 26.642933 ms 
points size 84784 
publication time 10.102524 ms 
whole laserOdometry time 86.664711 ms 
 
sort q time 4.773447 
seperate points time 11.416772 
mapping data assosiation time 28.226345 ms 
scan registration time 30.595260 ms *************
mapping solver time 20.892033 ms 
solver time 8.579004 ms 
data association time 15.452409 ms 
mapping data assosiation time 27.462758 ms 
publication time 9.465175 ms 
whole laserOdometry time 58.564949 ms 
 
filter time 10.725081 ms 
sort q time 4.503057 
seperate points time 10.804665 
data association time 19.442078 ms 
solver time 11.631741 ms 
data association time 17.573451 ms 
mapping solver time 23.272616 ms 
points size 88288 
sort q time 4.484257 
seperate points time 10.934894 
mapping solver time 18.097279 ms 
mapping optimization time 132.239052 
add points time 0.833326 ms
data association time 16.732041 ms 
solver time 11.155737 ms 
data association time 15.660248 ms 
solver time 10.744478 ms 
points size 88092 
mapping data assosiation time 35.727656 ms 
sort q time 5.216145 
seperate points time 12.169987 
mapping solver time 29.181169 ms 
data association time 18.851919 ms 
solver time 13.326549 ms 
mapping data assosiation time 35.533775 ms 
data association time 22.207186 ms 
solver time 10.122182 ms 
points size 88834 
map prepare time 3.719956 ms
map corner num 85672  surf num 41274 
data association time 15.834615 ms 
build tree time 31.255873 ms 
data association time 16.436274 ms 
solver time 8.153946 ms 
publication time 9.659562 ms 
whole laserOdometry time 63.442364 ms 
 
points size 88825 
sort q time 4.518692 
seperate points time 11.228118 
scan registration time 29.704305 ms *************
mapping data assosiation time 31.266438 ms 
solver time 11.508041 ms 
filter time 8.470193 ms 
solver time 8.635672 ms 
build tree time 24.034799 ms 
sort q time 3.912203 
seperate points time 9.367830 
mapping data assosiation time 29.569201 ms 
data association time 16.228706 ms 
solver time 12.946409 ms 
data association time 16.270603 ms 
solver time 11.597330 ms 
publication time 10.010025 ms 
whole laserOdometry time 67.942808 ms 
 
mapping solver time 20.664170 ms 
filter time 9.343864 ms 
sort q time 5.351291 
seperate points time 13.179383 
build tree time 26.382331 ms 
data association time 27.307214 ms 
solver time 11.215959 ms 
data association time 17.811287 ms 
solver time 10.320140 ms 
points size 88962 
mapping data assosiation time 33.188419 ms 
mapping solver time 17.541594 ms 
mapping optimization time 129.928681 
add points time 0.802857 ms
data association time 17.604320 ms 
solver time 11.127627 ms 
data association time 16.043793 ms 
build tree time 23.187143 ms 
publication time 9.776196 ms 
whole laserOdometry time 64.426197 ms 
 
points size 88950 
mapping data assosiation time 31.507604 ms 
prepare time 13.494075 
sort q time 4.445177 
seperate points time 10.691953 
mapping solver time 23.051570 ms 
data association time 17.321745 ms 
solver time 11.127721 ms 
mapping data assosiation time 29.015473 ms 
data association time 17.399433 ms 
mapping solver time 18.931708 ms 
filter time 9.213378 ms 
map prepare time 3.776523 ms
map corner num 88673  surf num 41992 
points size 89691 
build tree time 26.116020 ms 
sort q time 5.568740 
seperate points time 13.751805 
mapping data assosiation time 30.330225 ms 
data association time 17.002945 ms 
solver time 10.304086 ms 
data association time 16.858756 ms 
solver time 8.328805 ms 
publication time 9.776212 ms 
whole laserOdometry time 63.123359 ms 
 
mapping solver time 15.315424 ms 
filter time 13.295960 ms 
scan registration time 36.140525 ms *************
build tree time 31.371726 ms 
solver time 17.114571 ms 
mapping data assosiation time 35.997884 ms 
points size 92516 
sort q time 4.633543 
seperate points time 11.377306 
publication time 11.227872 ms 
whole laserOdometry time 99.919973 ms 
 
mapping data assosiation time 31.617330 ms 
mapping solver time 16.064067 ms 
mapping data assosiation time 33.585290 ms 
data association time 16.086492 ms 
solver time 11.215925 ms 
mapping solver time 21.168659 ms 
data association time 16.657269 ms 
solver time 8.890716 ms 
publication time 8.875544 ms 
whole laserOdometry time 62.540298 ms 
 
points size 98073 
filter time 10.459083 ms 
map prepare time 4.595114 ms
map corner num 90939  surf num 42655 
data association time 17.417435 ms 
solver time 11.255635 ms 
data association time 16.489709 ms 
solver time 10.897261 ms 
publication time 9.485016 ms 
whole laserOdometry time 66.356410 ms 
 
mapping solver time 20.087480 ms 
prepare time 18.482186 
sort q time 6.030846 
seperate points time 14.669468 
scan registration time 38.907439 ms *************
mapping solver time 17.623113 ms 
data association time 17.608757 ms 
map prepare time 3.326722 ms
map corner num 91567  surf num 42825 
data association time 17.777692 ms 
solver time 11.477303 ms 
points size 103879 
mapping data assosiation time 30.334540 ms 
scan registration time 39.073198 ms *************
mapping solver time 20.868313 ms 
data association time 17.144928 ms 
mapping data assosiation time 28.159411 ms 
data association time 18.059039 ms 
filter time 11.357068 ms 
publication time 11.407346 ms 
whole laserOdometry time 74.883209 ms 
 
sort q time 6.305366 
seperate points time 15.524334 
mapping pub time 53.441479 ms 
whole mapping time 194.057552 ms +++++
solver time 10.640099 ms 
build tree time 27.563448 ms 
solver time 8.656046 ms 
publication time 9.796428 ms 
whole laserOdometry time 65.676337 ms 
 
mapping data assosiation time 33.037857 ms 
sort q time 6.059601 
seperate points time 13.912165 
mapping solver time 22.080851 ms 
data association time 16.891686 ms 
solver time 10.889526 ms 
mapping data assosiation time 31.934412 ms 
data association time 17.724486 ms 
mapping solver time 17.227737 ms 
filter time 10.323080 ms 
prepare time 15.236747 
sort q time 6.756293 
seperate points time 15.488421 
data association time 17.807273 ms 
mapping data assosiation time 31.125754 ms 
data association time 18.763961 ms 
publication time 9.874248 ms 
whole laserOdometry time 69.469961 ms 
 
mapping data assosiation time 32.121947 ms 
mapping solver time 20.757346 ms 
filter time 9.318854 ms 
solver time 9.898870 ms 
data association time 17.193495 ms 
build tree time 25.641453 ms 
publication time 12.140045 ms 
whole laserOdometry time 69.791020 ms 
 
points size 104003 
sort q time 5.638734 
seperate points time 13.289049 
mapping solver time 24.764660 ms 
data association time 16.987809 ms 
solver time 10.846437 ms 
mapping data assosiation time 31.098895 ms 
data association time 16.907993 ms 
mapping solver time 18.791537 ms 
mapping optimization time 137.745607 
add points time 0.774452 ms
points size 103852 
sort q time 5.628770 
seperate points time 12.928774 
data association time 15.131342 ms 
solver time 11.202634 ms 
data association time 18.224824 ms 
solver time 13.092439 ms 
publication time 10.825800 ms 
whole laserOdometry time 69.394649 ms 
 
points size 103863 
prepare time 15.807444 
sort q time 6.849272 
seperate points time 15.527438 
mapping solver time 18.511786 ms 
mapping optimization time 137.449316 
add points time 0.704956 ms
data association time 19.707727 ms 
solver time 12.155698 ms 
data association time 17.533847 ms 
optimization twice time 60.833107 
points size 103901 
sort q time 5.589596 
seperate points time 12.932368 
data association time 15.913683 ms 
solver time 11.579703 ms 
data association time 15.675805 ms 
solver time 9.076382 ms 
filter time 10.240555 ms 
map prepare time 3.698303 ms
map corner num 96174  surf num 44263 
points size 103970 
prepare time 15.404229 
sort q time 5.227839 
seperate points time 12.108384 
mapping data assosiation time 28.196931 ms 
solver time 15.279967 ms 
mapping solver time 25.723178 ms 
data association time 24.205476 ms 
solver time 11.371903 ms 
optimization twice time 75.754502 
points size 104056 
prepare time 15.695346 
sort q time 6.180841 
seperate points time 14.285569 
scan registration time 34.755054 ms *************
mapping optimization time 143.752730 
filter time 11.764519 ms 
map prepare time 3.855149 ms
map corner num 95380  surf num 42943 
data association time 27.148040 ms 
solver time 15.770428 ms 
data association time 18.863946 ms 
points size 103988 
publication time 11.561162 ms 
whole laserOdometry time 89.981507 ms 
 
scan registration time 40.053334 ms *************
data association time 17.589635 ms 
solver time 12.324743 ms 
mapping solver time 17.434773 ms 
data association time 16.898099 ms 
solver time 12.551230 ms 
publication time 10.035659 ms 
whole laserOdometry time 70.154367 ms 
 
sort q time 6.011821 
seperate points time 13.954877 
scan registration time 33.770502 ms *************
data association time 17.076039 ms 
solver time 10.269245 ms 
data association time 17.131877 ms 
mapping solver time 23.888467 ms 
points size 103366 
mapping data assosiation time 32.866192 ms 
sort q time 6.217019 
seperate points time 14.380573 
mapping solver time 18.546059 ms 
filter time 11.321638 ms 
mapping pub time 1.799497 ms 
whole mapping time 159.509214 ms +++++
drop lidar frame in mapping for real time performance 
solver time 15.372230 ms 
data association time 28.630161 ms 
solver time 9.489738 ms 
sort q time 5.257813 
seperate points time 12.262463 
mapping solver time 27.065373 ms 
data association time 28.211311 ms 
solver time 12.779911 ms 
mapping data assosiation time 38.470417 ms 
data association time 29.064968 ms 
solver time 8.132902 ms 
optimization twice time 79.201433 
mapping solver time 24.894789 ms 
mapping optimization time 165.857133 
add points time 0.683252 ms
scan registration time 34.344186 ms *************
filter time 10.830194 ms 
data association time 26.805355 ms 
build tree time 34.552266 ms 
mapping data assosiation time 37.177882 ms 
solver time 8.527024 ms 
sort q time 5.373901 
seperate points time 12.661736 
mapping solver time 31.321881 ms 
data association time 29.500753 ms 
mapping data assosiation time 36.424292 ms 
solver time 17.011822 ms 
mapping solver time 23.881808 ms 
data association time 26.744202 ms 
prepare time 16.419125 
publication time 11.611449 ms 
whole laserOdometry time 94.302377 ms 
 
scan registration time 36.294775 ms *************
build tree time 28.424588 ms 
data association time 26.531450 ms 
solver time 15.144663 ms 
mapping solver time 15.865219 ms 
points size 102379 
mapping data assosiation time 29.165018 ms 
sort q time 5.828224 
seperate points time 14.024407 
mapping optimization time 123.818011 
filter time 11.536653 ms 
data association time 26.384670 ms 
solver time 15.060309 ms 
data association time 26.302641 ms 
mapping data assosiation time 29.068209 ms 
publication time 11.345683 ms 
whole laserOdometry time 91.639608 ms 
 
mapping data assosiation time 27.444115 ms 
mapping solver time 13.011359 ms 
filter time 11.336230 ms 
solver time 7.605933 ms 
points size 100761 
sort q time 6.509575 
seperate points time 15.442270 
mapping data assosiation time 31.183518 ms 
data association time 26.828112 ms 
solver time 17.010691 ms 
mapping data assosiation time 35.670036 ms 
points size 98691 
solver time 16.262868 ms 
scan registration time 38.369711 ms *************
publication time 10.766898 ms 
whole laserOdometry time 100.755570 ms 
 
[33m[ WARN] [1718887183.228124247]: odometry process over 100ms[0m
data association time 26.823377 ms 
solver time 14.911612 ms 
build tree time 33.123733 ms 
data association time 15.136361 ms 
solver time 10.958827 ms 
mapping data assosiation time 34.071231 ms 
sort q time 5.610210 
seperate points time 13.728155 
data association time 15.643393 ms 
solver time 10.431094 ms 
mapping solver time 14.518093 ms 
optimization twice time 51.931631 
map prepare time 4.429073 ms
map corner num 100681  surf num 45227 
prepare time 19.967727 
build tree time 29.323125 ms 
mapping data assosiation time 29.346526 ms 
solver time 11.161252 ms 
mapping solver time 21.263343 ms 
solver time 11.118863 ms 
mapping data assosiation time 29.297919 ms 
publication time 11.121624 ms 
whole laserOdometry time 66.993852 ms 
 
points size 94276 
prepare time 17.569111 
mapping solver time 18.716565 ms 
filter time 13.122080 ms 
data association time 17.389440 ms 
solver time 11.470969 ms 
build tree time 29.650541 ms 
data association time 17.159870 ms 
solver time 8.008993 ms 
publication time 9.164913 ms 
whole laserOdometry time 64.080412 ms 
 
points size 93212 
sort q time 5.239362 
seperate points time 12.924804 
data association time 15.471441 ms 
solver time 11.392468 ms 
mapping solver time 22.329878 ms 
filter time 10.621613 ms 
publication time 9.866548 ms 
whole laserOdometry time 65.889374 ms 
 
prepare time 17.014171 
build tree time 30.312619 ms 
data association time 15.816588 ms 
solver time 10.350598 ms 
mapping solver time 20.915084 ms 
solver time 8.655143 ms 
mapping data assosiation time 30.904864 ms 
points size 91349 
mapping solver time 16.845870 ms 
sort q time 5.247917 
seperate points time 12.939129 
drop lidar frame in mapping for real time performance 
map prepare time 4.040874 ms
map corner num 102684  surf num 45945 
data association time 16.824024 ms 
solver time 12.718212 ms 
build tree time 29.783689 ms 
data association time 16.209586 ms 
optimization twice time 58.014311 
mapping data assosiation time 25.644140 ms 
publication time 8.538088 ms 
whole laserOdometry time 66.570441 ms 
 
points size 90668 
sort q time 5.288039 
seperate points time 12.840892 
mapping data assosiation time 27.707536 ms 
data association time 16.142395 ms 
mapping optimization time 119.585290 
filter time 9.528604 ms 
map prepare time 3.805915 ms
map corner num 103304  surf num 46144 
data association time 16.559728 ms 
solver time 8.777620 ms 
publication time 10.013607 ms 
whole laserOdometry time 63.989188 ms 
 
points size 90592 
prepare time 17.448704 
mapping data assosiation time 26.581452 ms 
mapping solver time 20.977796 ms 
solver time 11.149041 ms 
mapping data assosiation time 29.423220 ms 
solver time 9.674125 ms 
publication time 10.718465 ms 
whole laserOdometry time 65.688253 ms 
 
filter time 12.709390 ms 
points size 90848 
map prepare time 3.710905 ms
map corner num 104026  surf num 46390 
sort q time 5.103144 
seperate points time 12.686548 
scan registration time 34.796929 ms *************
data association time 16.253076 ms 
mapping data assosiation time 26.877690 ms 
data association time 18.636684 ms 
solver time 9.268261 ms 
publication time 9.324189 ms 
whole laserOdometry time 67.278475 ms 
 
points size 91917 
sort q time 5.330978 
seperate points time 12.911046 
filter time 11.030551 ms 
data association time 15.641562 ms 
solver time 11.996597 ms 
data association time 16.378602 ms 
map prepare time 4.488816 ms
map corner num 104745  surf num 46625 
points size 92286 
prepare time 17.169223 
sort q time 5.142617 
seperate points time 12.771056 
build tree time 32.370753 ms 
scan registration time 34.779533 ms *************
data association time 15.835118 ms 
solver time 12.288437 ms 
mapping solver time 17.510318 ms 
data association time 16.493913 ms 
solver time 10.608482 ms 
publication time 8.326833 ms 
whole laserOdometry time 64.475275 ms 
 
points size 94054 
filter time 11.437152 ms 
data association time 14.870654 ms 
build tree time 31.269053 ms 
data association time 14.647130 ms 
solver time 7.691883 ms 
optimization twice time 48.982115 
mapping data assosiation time 26.471846 ms 
mapping solver time 21.772630 ms 
sort q time 6.423546 
seperate points time 14.609704 
mapping data assosiation time 27.033078 ms 
mapping solver time 18.862207 ms 
solver time 10.739828 ms 
data association time 15.668205 ms 
publication time 8.764080 ms 
whole laserOdometry time 65.182085 ms 
 
points size 98280 
sort q time 5.633488 
seperate points time 12.883791 
mapping solver time 19.721835 ms 
solver time 10.465405 ms 
mapping data assosiation time 25.206932 ms 
solver time 8.047797 ms 
publication time 9.841153 ms 
whole laserOdometry time 61.282926 ms 
 
filter time 13.191944 ms 
mapping pub time 1.226129 ms 
whole mapping time 144.397997 ms +++++
drop lidar frame in mapping for real time performance 
points size 99483 
map prepare time 2.970617 ms
map corner num 107221  surf num 47458 
prepare time 14.947828 
sort q time 5.693961 
seperate points time 13.026369 
build tree time 28.716577 ms 
data association time 18.421709 ms 
mapping data assosiation time 26.740999 ms 
data association time 17.126676 ms 
solver time 10.237831 ms 
publication time 10.842514 ms 
whole laserOdometry time 70.769203 ms 
 
prepare time 16.160839 
mapping data assosiation time 29.109908 ms 
scan registration time 32.590804 ms *************
filter time 11.309298 ms 
mapping pub time 1.196776 ms 
whole mapping time 139.869798 ms +++++
solver time 10.834625 ms 
build tree time 28.821060 ms 
solver time 8.336951 ms 
publication time 9.276636 ms 
whole laserOdometry time 60.769495 ms 
 
points size 97466 
prepare time 13.786390 
sort q time 4.594210 
seperate points time 11.004899 
mapping data assosiation time 24.636055 ms 
mapping solver time 15.943958 ms 
filter time 10.540005 ms 
data association time 20.697544 ms 
solver time 8.523576 ms 
publication time 10.309612 ms 
whole laserOdometry time 68.306156 ms 
 
points size 94472 
sort q time 4.925052 
seperate points time 11.420004 
mapping data assosiation time 24.676989 ms 
mapping solver time 14.441641 ms 
solver time 13.034614 ms 
mapping data assosiation time 23.942464 ms 
mapping solver time 11.358591 ms 
data association time 21.633559 ms 
mapping optimization time 109.437450 
add points time 0.540227 ms
map prepare time 3.273926 ms
map corner num 109197  surf num 47962 
prepare time 14.337005 
sort q time 4.630970 
seperate points time 10.954762 
build tree time 36.250396 ms 
data association time 14.715361 ms 
mapping data assosiation time 22.003001 ms 
data association time 14.822496 ms 
solver time 10.125710 ms 
publication time 9.477343 ms 
whole laserOdometry time 58.900768 ms 
 
mapping data assosiation time 24.877242 ms 
points size 90643 
mapping solver time 11.643396 ms 
prepare time 14.075377 
mapping optimization time 114.571737 
add points time 0.622364 ms
filter time 10.069074 ms 
data association time 19.803641 ms 
build tree time 30.998608 ms 
mapping data assosiation time 27.949003 ms 
publication time 8.938189 ms 
whole laserOdometry time 73.762075 ms 
 
prepare time 14.994588 
sort q time 4.498204 
seperate points time 10.494293 
scan registration time 29.253069 ms *************
mapping data assosiation time 25.833982 ms 
mapping solver time 10.718214 ms 
filter time 11.109052 ms 
solver time 13.025419 ms 
data association time 16.466788 ms 
mapping data assosiation time 25.762954 ms 
sort q time 5.084449 
seperate points time 11.852094 
data association time 14.129139 ms 
solver time 11.772462 ms 
filter time 9.609630 ms 
data association time 16.029611 ms 
mapping pub time 1.157301 ms 
whole mapping time 129.561730 ms +++++
map prepare time 3.211558 ms
map corner num 110602  surf num 48298 
points size 91263 
sort q time 4.131404 
seperate points time 9.795746 
mapping data assosiation time 20.354490 ms 
data association time 14.224671 ms 
data association time 14.332646 ms 
optimization twice time 46.655725 
mapping optimization time 112.412877 
filter time 11.185198 ms 
mapping pub time 2.809143 ms 
whole mapping time 130.357203 ms +++++
drop lidar frame in mapping for real time performance 
points size 88844 
map prepare time 3.517279 ms
map corner num 110984  surf num 48400 
prepare time 13.848273 
sort q time 4.263491 
seperate points time 10.307303 
scan registration time 27.771815 ms *************
data association time 15.254142 ms 
build tree time 36.240630 ms 
mapping data assosiation time 19.513297 ms 
solver time 8.006376 ms 
publication time 8.489115 ms 
whole laserOdometry time 58.061899 ms 
 
mapping data assosiation time 19.890654 ms 
points size 85321 
filter time 10.438294 ms 
data association time 14.286810 ms 
solver time 13.035027 ms 
mapping data assosiation time 20.906458 ms 
solver time 7.528485 ms 
publication time 8.341386 ms 
whole laserOdometry time 61.048183 ms 
 
points size 83023 
mapping solver time 11.763600 ms 
sort q time 3.863706 
seperate points time 9.179979 
filter time 12.794259 ms 
mapping pub time 1.088133 ms 
whole mapping time 115.977107 ms +++++
map prepare time 3.984639 ms
map corner num 146863  surf num 66745 
data association time 19.394962 ms 
solver time 12.880962 ms 
data association time 14.439995 ms 
publication time 6.930972 ms 
whole laserOdometry time 62.459509 ms 
 
mapping data assosiation time 21.106532 ms 
sort q time 3.454960 
seperate points time 8.362343 
data association time 13.728989 ms 
mapping solver time 13.432541 ms 
solver time 5.575961 ms 
map prepare time 2.968631 ms
map corner num 147269  surf num 66838 
points size 82063 
prepare time 13.410645 
build tree time 43.204640 ms 
sort q time 4.028772 
seperate points time 9.479031 
mapping data assosiation time 19.958247 ms 
mapping solver time 15.184889 ms 
solver time 12.323411 ms 
mapping data assosiation time 20.904936 ms 
data association time 16.972357 ms 
mapping solver time 12.612968 ms 
mapping optimization time 112.897745 
add points time 0.492871 ms
publication time 7.054782 ms 
whole laserOdometry time 61.881796 ms 
 
points size 82772 
sort q time 4.485634 
seperate points time 10.385238 
build tree time 42.511851 ms 
data association time 17.219798 ms 
solver time 9.955495 ms 
data association time 13.849770 ms 
solver time 7.772224 ms 
publication time 8.241840 ms 
whole laserOdometry time 57.910936 ms 
 
points size 83378 
sort q time 3.980617 
seperate points time 9.687283 
filter time 12.363180 ms 
solver time 10.919588 ms 
data association time 15.994947 ms 
solver time 7.933795 ms 
optimization twice time 51.569590 
mapping data assosiation time 19.238250 ms 
prepare time 12.903040 
mapping solver time 15.701044 ms 
mapping data assosiation time 20.667505 ms 
data association time 15.012196 ms 
solver time 11.355917 ms 
filter time 13.352416 ms 
solver time 6.018886 ms 
points size 88025 
sort q time 3.922666 
seperate points time 9.419475 
mapping data assosiation time 18.643656 ms 
data association time 17.751950 ms 
solver time 11.444473 ms 
data association time 14.071606 ms 
solver time 10.003321 ms 
filter time 12.623988 ms 
points size 90013 
sort q time 5.621685 
seperate points time 12.956962 
build tree time 46.973575 ms 
solver time 10.933043 ms 
data association time 14.424299 ms 
mapping solver time 15.065058 ms 
publication time 6.991349 ms 
whole laserOdometry time 59.988336 ms 
 
mapping data assosiation time 20.427602 ms 
prepare time 13.915689 
sort q time 4.523405 
seperate points time 10.755425 
mapping pub time 1.051859 ms 
whole mapping time 135.939502 ms +++++
data association time 14.088136 ms 
solver time 10.908734 ms 
data association time 14.176245 ms 
build tree time 40.896307 ms 
publication time 9.123707 ms 
whole laserOdometry time 59.660579 ms 
 
mapping solver time 14.726892 ms 
sort q time 4.239555 
seperate points time 10.156309 
scan registration time 28.276109 ms *************
mapping data assosiation time 20.168581 ms 
mapping solver time 12.358925 ms 
filter time 13.819590 ms 
data association time 13.903018 ms 
publication time 7.710950 ms 
whole laserOdometry time 59.422970 ms 
 
build tree time 44.260756 ms 
prepare time 13.326731 
mapping data assosiation time 20.625009 ms 
mapping solver time 15.721915 ms 
data association time 14.682205 ms 
solver time 11.227798 ms 
data association time 14.538656 ms 
publication time 7.748415 ms 
whole laserOdometry time 58.093059 ms 
 
points size 92163 
prepare time 20.336177 
sort q time 5.960282 
seperate points time 14.711538 
map prepare time 4.637623 ms
map corner num 150187  surf num 67571 
data association time 16.695774 ms 
solver time 11.849396 ms 
data association time 13.341338 ms 
solver time 8.786321 ms 
mapping data assosiation time 19.665887 ms 
mapping solver time 14.372312 ms 
mapping data assosiation time 23.079722 ms 
data association time 24.510355 ms 
mapping solver time 16.678489 ms 
mapping optimization time 117.793209 
add points time 0.393515 ms
solver time 15.511201 ms 
map prepare time 3.855393 ms
map corner num 150556  surf num 67652 
data association time 23.397437 ms 
solver time 11.318054 ms 
optimization twice time 75.752667 
points size 91576 
sort q time 5.139918 
seperate points time 12.393797 
scan registration time 32.156742 ms *************
data association time 14.056505 ms 
solver time 10.263546 ms 
data association time 16.387112 ms 
mapping data assosiation time 19.389288 ms 
solver time 8.405471 ms 
optimization twice time 49.907244 
add points time 0.588723 ms
points size 92142 
filter time 14.410560 ms 
sort q time 4.613290 
seperate points time 11.082652 
scan registration time 29.436027 ms *************
data association time 13.928478 ms 
solver time 10.981856 ms 
data association time 14.380443 ms 
mapping pub time 1.207547 ms 
whole mapping time 132.862975 ms +++++
solver time 11.163782 ms 
data association time 15.655155 ms 
solver time 10.168517 ms 
publication time 9.668230 ms 
whole laserOdometry time 66.681372 ms 
 
points size 88809 
sort q time 4.827791 
seperate points time 11.240467 
data association time 12.953353 ms 
solver time 9.837562 ms 
mapping solver time 11.604673 ms 
solver time 7.673038 ms 
optimization twice time 44.171481 
filter time 15.457918 ms 
mapping pub time 1.190502 ms 
whole mapping time 138.171996 ms +++++
points size 86544 
sort q time 4.775296 
seperate points time 11.481706 
mapping data assosiation time 21.179270 ms 
solver time 7.968804 ms 
data association time 12.490214 ms 
solver time 8.083109 ms 
publication time 8.018747 ms 
whole laserOdometry time 50.492103 ms 
 
mapping solver time 12.298264 ms 
filter time 15.390425 ms 
points size 84449 
mapping pub time 3.444299 ms 
whole mapping time 135.146347 ms +++++
prepare time 13.569402 
drop lidar frame in mapping for real time performance 
sort q time 4.281290 
seperate points time 10.200761 
data association time 13.636242 ms 
solver time 10.677979 ms 
data association time 15.696787 ms 
publication time 7.914309 ms 
whole laserOdometry time 57.110519 ms 
 
mapping solver time 12.280302 ms 
points size 83511 
sort q time 4.677869 
seperate points time 11.706747 
filter time 11.656809 ms 
data association time 17.620047 ms 
solver time 12.644907 ms 
data association time 16.298784 ms 
build tree time 42.110468 ms 
publication time 8.834915 ms 
whole laserOdometry time 66.948493 ms 
 
prepare time 14.193848 
sort q time 4.507652 
seperate points time 11.005728 
data association time 24.807648 ms 
mapping solver time 16.952251 ms 
solver time 19.243686 ms 
map prepare time 3.959054 ms
map corner num 153244  surf num 68428 
points size 85574 
solver time 11.567153 ms 
optimization twice time 80.437158 
prepare time 13.732740 
scan registration time 29.040839 ms *************
build tree time 55.651405 ms 
data association time 24.260882 ms 
mapping data assosiation time 25.521677 ms 
mapping solver time 20.183762 ms 
data association time 24.254153 ms 
solver time 13.454511 ms 
publication time 9.767089 ms 
whole laserOdometry time 90.807832 ms 
 
mapping solver time 16.450164 ms 
filter time 14.192093 ms 
data association time 14.792103 ms 
solver time 11.304215 ms 
data association time 14.072474 ms 
solver time 9.835856 ms 
points size 88945 
sort q time 4.271712 
seperate points time 10.618241 
mapping data assosiation time 18.975597 ms 
mapping solver time 11.604527 ms 
filter time 12.293632 ms 
solver time 8.334843 ms 
publication time 7.869810 ms 
whole laserOdometry time 57.768586 ms 
 
points size 88205 
prepare time 13.254555 
sort q time 3.888415 
seperate points time 9.541302 
mapping data assosiation time 21.407159 ms 
data association time 15.568107 ms 
data association time 14.497831 ms 
publication time 7.360853 ms 
whole laserOdometry time 51.991511 ms 
 
mapping solver time 15.179069 ms 
filter time 14.008613 ms 
sort q time 4.430933 
seperate points time 10.617010 
data association time 14.560808 ms 
solver time 11.791736 ms 
data association time 14.726969 ms 
mapping data assosiation time 21.376310 ms 
publication time 9.046213 ms 
whole laserOdometry time 61.639274 ms 
 
mapping solver time 17.564356 ms 
points size 83750 
sort q time 5.097671 
seperate points time 12.266671 
scan registration time 32.578726 ms *************
mapping solver time 13.428161 ms 
mapping optimization time 124.948053 
add points time 0.555124 ms
filter time 13.497076 ms 
solver time 10.116811 ms 
data association time 14.305038 ms 
build tree time 48.426803 ms 
points size 84236 
mapping data assosiation time 20.642200 ms 
mapping solver time 12.636606 ms 
data association time 15.498533 ms 
solver time 12.094468 ms 
data association time 14.868049 ms 
solver time 11.076090 ms 
publication time 8.823017 ms 
whole laserOdometry time 63.171912 ms 
 
points size 85939 
sort q time 3.769369 
seperate points time 9.085755 
scan registration time 26.157519 ms *************
build tree time 45.367809 ms 
mapping data assosiation time 19.698419 ms 
mapping solver time 11.734778 ms 
data association time 14.605639 ms 
mapping solver time 9.852611 ms 
filter time 13.219199 ms 
points size 85972 
sort q time 3.797738 
seperate points time 9.071447 
data association time 13.909881 ms 
solver time 13.738507 ms 
data association time 14.720544 ms 
publication time 7.429412 ms 
whole laserOdometry time 58.690628 ms 
 
mapping data assosiation time 19.413013 ms 
mapping solver time 9.607702 ms 
mapping optimization time 105.559110 
add points time 0.442660 ms
points size 86405 
mapping pub time 0.963497 ms 
whole mapping time 123.460089 ms +++++
scan registration time 29.995626 ms *************
data association time 13.956663 ms 
build tree time 44.858787 ms 
solver time 7.843730 ms 
optimization twice time 46.994012 
mapping data assosiation time 20.011834 ms 
mapping solver time 16.976184 ms 
points size 86027 
prepare time 13.919215 
sort q time 3.886699 
seperate points time 9.251978 
mapping solver time 12.748482 ms 
data association time 16.773436 ms 
map prepare time 4.176549 ms
map corner num 156865  surf num 69329 
solver time 13.503994 ms 
data association time 18.943389 ms 
solver time 5.112166 ms 
optimization twice time 55.210172 
build tree time 45.042007 ms 
prepare time 12.686752 
sort q time 4.292850 
seperate points time 9.959231 
mapping solver time 15.002165 ms 
solver time 11.185781 ms 
mapping data assosiation time 22.576977 ms 
mapping solver time 13.184372 ms 
publication time 8.123123 ms 
whole laserOdometry time 56.144459 ms 
 
map prepare time 3.113552 ms
map corner num 157278  surf num 69430 
points size 82938 
sort q time 4.795325 
seperate points time 11.280338 
build tree time 47.926499 ms 
data association time 14.734263 ms 
mapping data assosiation time 19.247237 ms 
data association time 14.969370 ms 
mapping solver time 15.411179 ms 
publication time 7.457425 ms 
whole laserOdometry time 54.650629 ms 
 
mapping data assosiation time 21.383367 ms 
mapping solver time 12.523787 ms 
sort q time 3.943930 
seperate points time 9.596188 
data association time 13.859946 ms 
solver time 8.319822 ms 
data association time 13.332888 ms 
publication time 8.319808 ms 
whole laserOdometry time 50.698218 ms 
 
mapping data assosiation time 19.703082 ms 
mapping solver time 14.733804 ms 
mapping data assosiation time 18.624369 ms 
sort q time 4.996956 
seperate points time 11.564777 
scan registration time 29.127344 ms *************
data association time 17.325139 ms 
map prepare time 3.913705 ms
map corner num 158118  surf num 69667 
data association time 16.379643 ms 
solver time 10.253296 ms 
build tree time 46.299698 ms 
sort q time 3.639469 
seperate points time 8.900251 
mapping solver time 14.539509 ms 
data association time 12.991319 ms 
solver time 9.916203 ms 
mapping solver time 11.818361 ms 
solver time 8.235919 ms 
optimization twice time 45.636021 
filter time 14.284690 ms 
mapping pub time 1.254417 ms 
whole mapping time 135.213242 ms +++++
publication time 8.002250 ms 
whole laserOdometry time 53.654747 ms 
 
points size 83964 
sort q time 3.767267 
seperate points time 9.011625 
build tree time 44.020681 ms 
solver time 10.367810 ms 
mapping solver time 10.739210 ms 
publication time 7.705079 ms 
whole laserOdometry time 54.717220 ms 
 
mapping solver time 8.036620 ms 
filter time 15.155387 ms 
sort q time 4.210900 
seperate points time 9.828685 
data association time 14.125327 ms 
mapping pub time 55.081699 ms 
whole mapping time 177.262887 ms +++++
solver time 8.530088 ms 
publication time 7.920180 ms 
whole laserOdometry time 54.993934 ms 
 
build tree time 45.519426 ms 
sort q time 4.164540 
seperate points time 9.994545 
mapping solver time 14.071071 ms 
solver time 10.250136 ms 
mapping data assosiation time 21.016667 ms 
mapping solver time 12.777144 ms 
mapping optimization time 116.861295 
solver time 8.308831 ms 
add points time 0.599640 ms
optimization twice time 48.002537 
drop lidar frame in mapping for real time performance 
points size 88826 
sort q time 5.107439 
seperate points time 12.291617 
scan registration time 30.523937 ms *************
build tree time 44.082272 ms 
data association time 15.702935 ms 
mapping data assosiation time 21.287528 ms 
mapping solver time 14.029859 ms 
data association time 15.095362 ms 
publication time 7.653681 ms 
whole laserOdometry time 56.985451 ms 
 
mapping solver time 12.317454 ms 
filter time 15.525297 ms 
data association time 22.461650 ms 
solver time 15.456517 ms 
data association time 22.644014 ms 
optimization twice time 73.873661 
mapping solver time 16.408977 ms 
sort q time 5.122952 
seperate points time 12.029953 
mapping solver time 12.154779 ms 
solver time 12.561245 ms 
data association time 17.490597 ms 
solver time 10.530335 ms 
points size 93022 
sort q time 4.101214 
seperate points time 9.611801 
scan registration time 27.773807 ms *************
mapping solver time 14.143366 ms 
solver time 10.460164 ms 
mapping data assosiation time 20.980517 ms 
mapping solver time 14.119518 ms 
publication time 7.986286 ms 
whole laserOdometry time 57.695027 ms 
 
filter time 17.295525 ms 
points size 92786 
prepare time 14.280116 
sort q time 4.610674 
seperate points time 10.828209 
data association time 13.717540 ms 
data association time 13.861016 ms 
mapping data assosiation time 21.348674 ms 
mapping solver time 12.520596 ms 
mapping data assosiation time 21.156031 ms 
prepare time 13.483674 
scan registration time 28.423937 ms *************
filter time 15.531205 ms 
mapping pub time 3.893583 ms 
whole mapping time 135.585075 ms +++++
data association time 14.527598 ms 
solver time 10.968661 ms 
data association time 15.311959 ms 
publication time 9.185481 ms 
whole laserOdometry time 60.525712 ms 
 
points size 92022 
sort q time 5.161798 
seperate points time 12.042481 
data association time 14.177038 ms 
mapping data assosiation time 26.920283 ms 
data association time 15.303084 ms 
mapping solver time 17.910082 ms 
publication time 8.633115 ms 
whole laserOdometry time 56.231416 ms 
 
filter time 17.594563 ms 
points size 92648 
sort q time 4.990973 
seperate points time 11.984933 
build tree time 49.063246 ms 
solver time 12.279310 ms 
data association time 16.448865 ms 
solver time 10.161159 ms 
mapping data assosiation time 21.560639 ms 
prepare time 15.511333 
mapping solver time 12.994712 ms 
mapping optimization time 120.585941 
add points time 0.510449 ms
map prepare time 3.385631 ms
map corner num 162963  surf num 71293 
data association time 15.157818 ms 
solver time 10.612564 ms 
data association time 15.032610 ms 
solver time 8.507009 ms 
mapping data assosiation time 24.456590 ms 
mapping solver time 15.701518 ms 
sort q time 4.465122 
seperate points time 10.507402 
scan registration time 27.780256 ms *************
mapping data assosiation time 22.076658 ms 
solver time 8.395411 ms 
filter time 14.560049 ms 
publication time 7.400350 ms 
whole laserOdometry time 51.130208 ms 
 
points size 85614 
sort q time 4.339512 
seperate points time 10.710989 
mapping data assosiation time 21.141925 ms 
solver time 12.742921 ms 
mapping solver time 15.534506 ms 
data association time 14.022431 ms 
solver time 8.015165 ms 
publication time 8.195959 ms 
whole laserOdometry time 57.424738 ms 
 
filter time 14.259358 ms 
sort q time 4.086764 
seperate points time 9.716992 
data association time 13.605701 ms 
build tree time 43.407199 ms 
data association time 13.823941 ms 
solver time 8.973513 ms 
points size 82132 
sort q time 4.010618 
seperate points time 9.433118 
filter time 16.290904 ms 
solver time 12.452397 ms 
data association time 17.021269 ms 
solver time 8.522502 ms 
publication time 7.029124 ms 
whole laserOdometry time 60.543232 ms 
 
build tree time 52.618832 ms 
points size 81105 
sort q time 3.401689 
seperate points time 8.280978 
mapping solver time 16.925207 ms 
[0m[ INFO] [1718887191.436049751]: Received 1187833 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887191.436095121]: Data saved to 1317357934581592.pcd[0m
mapping data assosiation time 22.183620 ms 
mapping solver time 14.217765 ms 
filter time 17.428642 ms 
points size 81625 
sort q time 3.519262 
seperate points time 8.447373 
build tree time 45.497443 ms 
solver time 9.757993 ms 
data association time 14.550761 ms 
mapping solver time 14.597821 ms 
mapping data assosiation time 21.123868 ms 
points size 80619 
sort q time 3.752815 
seperate points time 9.029483 
mapping pub time 1.035685 ms 
whole mapping time 140.861425 ms +++++
map prepare time 3.513539 ms
map corner num 165867  surf num 72250 
data association time 13.048742 ms 
solver time 9.212147 ms 
data association time 14.332334 ms 
publication time 7.382890 ms 
whole laserOdometry time 51.917556 ms 
 
mapping data assosiation time 20.049933 ms 
points size 81713 
sort q time 4.532164 
seperate points time 10.465935 
mapping solver time 13.652827 ms 
solver time 10.685698 ms 
map prepare time 3.498541 ms
map corner num 142224  surf num 55337 
solver time 8.204400 ms 
build tree time 41.995109 ms 
sort q time 3.881345 
seperate points time 9.261690 
scan registration time 25.379292 ms *************
mapping data assosiation time 19.731525 ms 
mapping solver time 13.704609 ms 
solver time 7.943104 ms 
data association time 13.515599 ms 
publication time 6.275221 ms 
whole laserOdometry time 52.451210 ms 
 
points size 79603 
prepare time 11.609665 
scan registration time 23.999844 ms *************
mapping data assosiation time 18.211785 ms 
mapping solver time 15.970940 ms 
mapping data assosiation time 20.177448 ms 
solver time 10.132494 ms 
filter time 14.337314 ms 
prepare time 11.377529 
sort q time 3.577318 
seperate points time 8.699806 
data association time 12.476808 ms 
solver time 8.421311 ms 
data association time 14.839526 ms 
publication time 6.604095 ms 
whole laserOdometry time 50.044845 ms 
 
mapping data assosiation time 17.782249 ms 
mapping solver time 11.486256 ms 
prepare time 14.010203 
filter time 13.821360 ms 
mapping pub time 0.994104 ms 
whole mapping time 119.749743 ms +++++
sort q time 3.737003 
seperate points time 9.754084 
map prepare time 2.927025 ms
map corner num 143516  surf num 55721 
scan registration time 27.206515 ms *************
data association time 12.646738 ms 
solver time 7.797617 ms 
build tree time 40.103724 ms 
solver time 7.826963 ms 
mapping data assosiation time 19.309785 ms 
mapping solver time 13.189551 ms 
points size 64013 
sort q time 3.531340 
seperate points time 9.081241 
mapping optimization time 111.558386 
data association time 13.310076 ms 
solver time 8.539674 ms 
data association time 12.646693 ms 
solver time 9.069080 ms 
publication time 7.571921 ms 
whole laserOdometry time 52.055451 ms 
 
build tree time 40.291428 ms 
mapping data assosiation time 18.184997 ms 
sort q time 3.462877 
seperate points time 8.433702 
mapping data assosiation time 17.536408 ms 
mapping solver time 11.469153 ms 
filter time 12.990028 ms 
mapping pub time 0.883357 ms 
whole mapping time 119.698720 ms +++++
data association time 12.722834 ms 
map prepare time 3.257280 ms
map corner num 144341  surf num 55915 
publication time 5.155995 ms 
whole laserOdometry time 51.992728 ms 
 
points size 63985 
sort q time 2.948426 
seperate points time 7.342415 
mapping data assosiation time 20.991470 ms 
data association time 15.932149 ms 
solver time 10.440318 ms 
mapping data assosiation time 21.467016 ms 
mapping solver time 13.139380 ms 
solver time 14.578970 ms 
publication time 8.257764 ms 
whole laserOdometry time 71.240042 ms 
 
points size 66771 
sort q time 3.084494 
seperate points time 7.630723 
data association time 12.277616 ms 
solver time 10.269841 ms 
mapping data assosiation time 19.418654 ms 
solver time 8.020661 ms 
mapping data assosiation time 16.525483 ms 
mapping solver time 12.288305 ms 
points size 69264 
sort q time 3.152975 
seperate points time 8.107885 
data association time 13.307601 ms 
solver time 10.811698 ms 
mapping pub time 54.507218 ms 
whole mapping time 178.444443 ms +++++
solver time 8.605445 ms 
optimization twice time 49.830917 
points size 71459 
build tree time 39.843623 ms 
prepare time 11.435581 
scan registration time 22.162915 ms *************
mapping solver time 12.589899 ms 
solver time 11.377493 ms 
data association time 12.387523 ms 
solver time 7.964733 ms 
publication time 6.371773 ms 
whole laserOdometry time 51.207750 ms 
 
points size 72690 
sort q time 3.023075 
seperate points time 7.555890 
mapping data assosiation time 17.246987 ms 
solver time 10.871486 ms 
data association time 13.271461 ms 
mapping data assosiation time 18.181134 ms 
publication time 6.306449 ms 
whole laserOdometry time 52.673677 ms 
 
filter time 10.822476 ms 
points size 74827 
prepare time 11.791437 
scan registration time 24.376441 ms *************
build tree time 40.440672 ms 
solver time 11.052587 ms 
mapping solver time 12.996744 ms 
solver time 9.331891 ms 
mapping solver time 12.874780 ms 
points size 77484 
sort q time 3.891347 
seperate points time 9.450918 
data association time 20.668731 ms 
build tree time 49.728748 ms 
mapping data assosiation time 23.877569 ms 
data association time 23.499686 ms 
solver time 12.174406 ms 
publication time 8.762092 ms 
whole laserOdometry time 78.372011 ms 
 
sort q time 3.904869 
seperate points time 9.480254 
mapping data assosiation time 20.968861 ms 
scan registration time 26.522056 ms *************
mapping solver time 16.202901 ms 
mapping optimization time 132.404743 
add points time 0.601356 ms
filter time 15.113258 ms 
solver time 16.237578 ms 
data association time 20.962795 ms 
optimization twice time 70.970527 
publication time 8.712382 ms 
whole laserOdometry time 79.698832 ms 
 
prepare time 13.348141 
sort q time 3.960437 
seperate points time 9.680146 
mapping data assosiation time 19.792388 ms 
mapping solver time 18.651541 ms 
data association time 22.663705 ms 
mapping data assosiation time 22.472978 ms 
mapping solver time 14.163489 ms 
solver time 9.315279 ms 
map prepare time 5.556235 ms
map corner num 180492  surf num 71519 
points size 86330 
sort q time 4.935459 
seperate points time 12.208012 
scan registration time 34.661362 ms *************
data association time 14.545317 ms 
solver time 11.442143 ms 
mapping data assosiation time 20.913740 ms 
solver time 8.106346 ms 
publication time 8.772821 ms 
whole laserOdometry time 58.890915 ms 
 
points size 89171 
mapping solver time 8.936742 ms 
sort q time 4.932617 
seperate points time 12.281723 
filter time 16.987505 ms 
data association time 14.711216 ms 
solver time 9.663557 ms 
data association time 14.843087 ms 
publication time 7.507981 ms 
whole laserOdometry time 55.769007 ms 
 
points size 93109 
sort q time 5.521373 
seperate points time 13.322072 
mapping data assosiation time 18.997021 ms 
data association time 14.592824 ms 
mapping solver time 13.091424 ms 
filter time 16.490021 ms 
solver time 10.540342 ms 
publication time 9.515035 ms 
whole laserOdometry time 61.828381 ms 
 
points size 96909 
sort q time 5.604153 
seperate points time 13.682152 
scan registration time 37.490289 ms *************
build tree time 62.820946 ms 
mapping data assosiation time 19.660977 ms 
mapping solver time 13.765049 ms 
data association time 15.807664 ms 
mapping data assosiation time 20.901221 ms 
mapping solver time 11.906711 ms 
filter time 13.962100 ms 
sort q time 4.675868 
seperate points time 11.114712 
mapping pub time 1.097242 ms 
whole mapping time 149.207482 ms +++++
drop lidar frame in mapping for real time performance 
scan registration time 32.773188 ms *************
map prepare time 4.336257 ms
map corner num 181886  surf num 71906 
build tree time 47.455244 ms 
mapping data assosiation time 19.311176 ms 
mapping solver time 14.359024 ms 
publication time 9.904882 ms 
whole laserOdometry time 84.699679 ms 
 
scan registration time 34.550568 ms *************
mapping solver time 11.875435 ms 
mapping optimization time 114.622591 
add points time 0.850921 ms
filter time 16.618722 ms 
solver time 14.978026 ms 
data association time 23.474523 ms 
points size 96873 
publication time 9.929221 ms 
whole laserOdometry time 84.141653 ms 
 
sort q time 5.778116 
seperate points time 14.142317 
mapping data assosiation time 22.292341 ms 
mapping solver time 19.266541 ms 
data association time 24.685602 ms 
mapping data assosiation time 25.741518 ms 
mapping solver time 17.077404 ms 
data association time 23.615040 ms 
solver time 8.400552 ms 
sort q time 6.188537 
seperate points time 14.506445 
data association time 22.833545 ms 
solver time 11.271160 ms 
build tree time 64.360246 ms 
solver time 13.067148 ms 
sort q time 5.882802 
seperate points time 13.577504 
mapping data assosiation time 24.326903 ms 
data association time 24.653331 ms 
solver time 15.510597 ms 
map prepare time 4.203561 ms
map corner num 183063  surf num 72272 
data association time 23.821424 ms 
prepare time 14.759419 
publication time 11.139943 ms 
whole laserOdometry time 87.901705 ms 
 
build tree time 62.010347 ms 
data association time 22.828409 ms 
solver time 11.569326 ms 
data association time 14.581197 ms 
publication time 8.230343 ms 
whole laserOdometry time 66.410021 ms 
 
prepare time 12.814938 
sort q time 5.299481 
seperate points time 12.595444 
filter time 18.314713 ms 
mapping pub time 1.654572 ms 
whole mapping time 155.345447 ms +++++
drop lidar frame in mapping for real time performance 
data association time 22.988551 ms 
solver time 9.479602 ms 
data association time 16.468936 ms 
solver time 9.047957 ms 
publication time 8.442791 ms 
whole laserOdometry time 67.261173 ms 
 
points size 94032 
sort q time 5.382831 
seperate points time 13.176901 
mapping data assosiation time 18.850830 ms 
solver time 9.574466 ms 
mapping solver time 16.020009 ms 
data association time 16.031618 ms 
filter time 17.407614 ms 
mapping pub time 1.192248 ms 
whole mapping time 157.762441 ms +++++
map prepare time 3.540471 ms
map corner num 183873  surf num 72534 
publication time 9.293540 ms 
whole laserOdometry time 61.751017 ms 
 
points size 93500 
sort q time 5.374618 
seperate points time 13.054135 
build tree time 59.610844 ms 
data association time 14.326600 ms 
solver time 10.219621 ms 
mapping solver time 14.268921 ms 
solver time 9.838425 ms 
mapping data assosiation time 23.933715 ms 
mapping solver time 12.098682 ms 
scan registration time 32.170476 ms *************
filter time 21.441855 ms 
mapping pub time 1.194075 ms 
whole mapping time 157.964632 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.400116 ms
map corner num 184378  surf num 72648 
solver time 10.638143 ms 
data association time 15.194455 ms 
solver time 5.588416 ms 
publication time 8.902714 ms 
whole laserOdometry time 58.592607 ms 
 
build tree time 52.248035 ms 
points size 90932 
prepare time 13.484318 
sort q time 4.234064 
seperate points time 10.171269 
mapping solver time 12.907645 ms 
[0m[ INFO] [1718887194.857600997]: Received 1201492 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887194.857627725]: Data saved to 1317357937384229.pcd[0m
mapping solver time 8.445052 ms 
data association time 14.903663 ms 
map prepare time 3.731427 ms
map corner num 184786  surf num 72740 
publication time 7.762795 ms 
whole laserOdometry time 61.922789 ms 
 
points size 88898 
sort q time 4.360893 
seperate points time 10.683982 
scan registration time 28.592611 ms *************
build tree time 50.370814 ms 
data association time 14.476749 ms 
mapping data assosiation time 19.132024 ms 
solver time 11.616806 ms 
mapping solver time 15.503199 ms 
data association time 14.935479 ms 
solver time 8.177172 ms 
mapping solver time 9.056754 ms 
points size 88255 
filter time 16.509798 ms 
mapping pub time 1.295242 ms 
whole mapping time 137.531619 ms +++++
drop lidar frame in mapping for real time performance 
prepare time 13.505584 
sort q time 5.467647 
seperate points time 12.721290 
data association time 14.215931 ms 
solver time 12.772372 ms 
data association time 15.518469 ms 
mapping data assosiation time 19.940474 ms 
mapping solver time 12.516194 ms 
points size 89618 
sort q time 4.727520 
seperate points time 11.145613 
filter time 13.830353 ms 
solver time 10.560272 ms 
data association time 13.394083 ms 
solver time 8.836262 ms 
optimization twice time 48.533090 
publication time 8.298330 ms 
whole laserOdometry time 56.848229 ms 
 
points size 93920 
sort q time 5.420156 
seperate points time 12.908820 
mapping data assosiation time 22.831725 ms 
data association time 24.270818 ms 
solver time 12.060305 ms 
filter time 17.092323 ms 
solver time 9.247941 ms 
sort q time 5.041568 
seperate points time 11.682737 
build tree time 60.852159 ms 
solver time 9.117940 ms 
mapping data assosiation time 21.417904 ms 
data association time 15.114122 ms 
publication time 7.359381 ms 
whole laserOdometry time 54.621785 ms 
 
mapping data assosiation time 21.791844 ms 
mapping solver time 11.442537 ms 
scan registration time 30.069464 ms *************
drop lidar frame in mapping for real time performance 
data association time 22.819707 ms 
solver time 11.884663 ms 
data association time 22.678193 ms 
solver time 12.111865 ms 
mapping data assosiation time 23.692154 ms 
sort q time 5.548799 
seperate points time 12.743972 
mapping data assosiation time 22.341957 ms 
mapping solver time 16.805537 ms 
filter time 16.377333 ms 
solver time 10.218210 ms 
sort q time 4.978055 
seperate points time 11.833263 
mapping pub time 65.170499 ms 
whole mapping time 219.407195 ms +++++
data association time 22.701811 ms 
solver time 11.880937 ms 
data association time 18.082401 ms 
solver time 11.298012 ms 
prepare time 15.028549 
sort q time 4.478112 
seperate points time 10.867154 
data association time 12.786138 ms 
mapping optimization time 120.772999 
solver time 8.677185 ms 
drop lidar frame in mapping for real time performance 
points size 84302 
sort q time 4.317470 
seperate points time 10.401264 
data association time 13.625828 ms 
solver time 12.093863 ms 
mapping data assosiation time 18.867381 ms 
solver time 8.322477 ms 
optimization twice time 48.941009 
mapping solver time 14.783373 ms 
publication time 7.647810 ms 
whole laserOdometry time 56.605492 ms 
 
mapping data assosiation time 19.657394 ms 
points size 80863 
sort q time 3.782284 
seperate points time 9.093182 
map prepare time 3.804906 ms
map corner num 188017  surf num 73485 
data association time 13.670266 ms 
solver time 10.789899 ms 
data association time 13.627686 ms 
solver time 8.356531 ms 
mapping data assosiation time 17.733340 ms 
points size 78595 
sort q time 3.486302 
seperate points time 8.429266 
mapping data assosiation time 21.103960 ms 
data association time 14.370927 ms 
filter time 16.104654 ms 
mapping pub time 1.082670 ms 
whole mapping time 138.379545 ms +++++
data association time 13.435211 ms 
map prepare time 4.021661 ms
map corner num 188449  surf num 73640 
optimization twice time 47.443020 
publication time 6.533763 ms 
whole laserOdometry time 53.993284 ms 
 
points size 76764 
sort q time 3.874177 
seperate points time 9.530054 
mapping data assosiation time 18.067570 ms 
data association time 13.557018 ms 
solver time 12.184505 ms 
mapping data assosiation time 21.300023 ms 
mapping solver time 10.502187 ms 
publication time 7.555954 ms 
whole laserOdometry time 63.674241 ms 
 
filter time 19.844318 ms 
points size 74504 
sort q time 3.815637 
seperate points time 9.058121 
data association time 12.566202 ms 
solver time 10.698752 ms 
data association time 14.377095 ms 
solver time 8.789239 ms 
mapping solver time 13.110449 ms 
points size 74118 
sort q time 3.285996 
seperate points time 7.936495 
scan registration time 22.721402 ms *************
mapping solver time 13.249323 ms 
mapping optimization time 124.579669 
add points time 0.534241 ms
mapping pub time 3.318813 ms 
whole mapping time 146.053172 ms +++++
solver time 11.624465 ms 
data association time 12.798049 ms 
optimization twice time 46.569595 
build tree time 56.102920 ms 
points size 75773 
sort q time 4.304910 
seperate points time 10.327832 
data association time 11.963936 ms 
solver time 11.297882 ms 
data association time 12.616507 ms 
filter time 17.438098 ms 
points size 76465 
sort q time 3.612171 
seperate points time 8.524077 
build tree time 51.626984 ms 
data association time 11.855862 ms 
solver time 11.338796 ms 
mapping data assosiation time 18.855127 ms 
data association time 13.494863 ms 
solver time 8.442881 ms 
publication time 7.244789 ms 
whole laserOdometry time 53.211805 ms 
 
mapping data assosiation time 19.545221 ms 
mapping optimization time 116.407626 
points size 74099 
prepare time 11.635100 
filter time 15.746015 ms 
mapping pub time 0.883121 ms 
whole mapping time 137.478132 ms +++++
scan registration time 23.430300 ms *************
data association time 14.594659 ms 
solver time 11.643959 ms 
data association time 13.245989 ms 
publication time 6.949525 ms 
whole laserOdometry time 55.411206 ms 
 
mapping solver time 12.174452 ms 
points size 75628 
mapping data assosiation time 17.328967 ms 
mapping solver time 13.699872 ms 
data association time 12.702013 ms 
solver time 11.485364 ms 
data association time 14.683728 ms 
solver time 10.791146 ms 
points size 76665 
mapping data assosiation time 15.980334 ms 
mapping solver time 13.396219 ms 
data association time 13.009381 ms 
mapping data assosiation time 17.789430 ms 
solver time 9.027732 ms 
data association time 13.899181 ms 
solver time 9.036311 ms 
publication time 7.308339 ms 
whole laserOdometry time 53.200219 ms 
 
map prepare time 3.344945 ms
map corner num 190937  surf num 74274 
points size 77550 
sort q time 3.828054 
seperate points time 9.141615 
build tree time 52.435985 ms 
mapping data assosiation time 18.006957 ms 
mapping solver time 12.549675 ms 
solver time 8.523364 ms 
mapping solver time 12.071965 ms 
points size 80256 
map prepare time 3.484858 ms
map corner num 191266  surf num 74362 
data association time 19.729877 ms 
solver time 15.522066 ms 
data association time 20.333900 ms 
mapping data assosiation time 18.622412 ms 
publication time 8.540526 ms 
whole laserOdometry time 77.204440 ms 
 
sort q time 3.837755 
seperate points time 9.257646 
mapping solver time 12.880106 ms 
mapping optimization time 124.403971 
add points time 0.406607 ms
data association time 17.763041 ms 
map prepare time 3.077719 ms
map corner num 191593  surf num 74453 
data association time 17.642382 ms 
solver time 11.639287 ms 
points size 81164 
sort q time 4.898844 
seperate points time 11.605170 
mapping data assosiation time 20.865597 ms 
mapping solver time 14.329411 ms 
solver time 14.881265 ms 
mapping solver time 14.364163 ms 
mapping optimization time 125.932901 
add points time 0.561583 ms
data association time 20.198228 ms 
filter time 16.976247 ms 
points size 82056 
sort q time 4.902256 
seperate points time 11.312773 
data association time 20.348284 ms 
build tree time 63.093180 ms 
mapping data assosiation time 23.432171 ms 
optimization twice time 68.012210 
publication time 8.212348 ms 
whole laserOdometry time 76.240839 ms 
 
sort q time 5.086001 
seperate points time 11.584437 
mapping solver time 10.595245 ms 
mapping optimization time 137.865748 
add points time 0.417504 ms
data association time 17.528553 ms 
map prepare time 3.620699 ms
map corner num 192457  surf num 74720 
solver time 15.599169 ms 
data association time 16.685605 ms 
solver time 9.722698 ms 
points size 85407 
sort q time 3.875170 
seperate points time 9.220128 
scan registration time 26.951413 ms *************
mapping solver time 14.916239 ms 
solver time 15.096446 ms 
mapping solver time 11.214793 ms 
filter time 14.319020 ms 
publication time 8.445374 ms 
whole laserOdometry time 72.889110 ms 
 
prepare time 16.597102 
sort q time 4.777976 
seperate points time 11.765776 
data association time 18.136087 ms 
solver time 15.592857 ms 
mapping data assosiation time 18.960725 ms 
data association time 18.146648 ms 
solver time 11.586252 ms 
publication time 8.339245 ms 
whole laserOdometry time 72.832220 ms 
 
points size 84475 
mapping solver time 16.518803 ms 
filter time 18.803460 ms 
solver time 11.760573 ms 
data association time 13.914195 ms 
solver time 7.878584 ms 
publication time 7.617604 ms 
whole laserOdometry time 55.574066 ms 
 
build tree time 56.006464 ms 
points size 84994 
prepare time 18.024810 
mapping data assosiation time 23.590795 ms 
scan registration time 35.390511 ms *************
mapping solver time 14.342363 ms 
data association time 13.634214 ms 
mapping data assosiation time 21.145647 ms 
mapping solver time 10.774507 ms 
solver time 6.131612 ms 
mapping pub time 0.981841 ms 
whole mapping time 150.001592 ms +++++
points size 85634 
prepare time 16.585058 
sort q time 4.833900 
seperate points time 11.886570 
scan registration time 32.645631 ms *************
build tree time 60.973060 ms 
solver time 13.165657 ms 
mapping data assosiation time 25.339243 ms 
data association time 19.842542 ms 
solver time 8.079449 ms 
points size 86980 
mapping solver time 13.250224 ms 
mapping optimization time 135.869908 
add points time 0.405777 ms
sort q time 5.028182 
seperate points time 11.856245 
scan registration time 30.678013 ms *************
filter time 18.315756 ms 
mapping pub time 0.982143 ms 
whole mapping time 158.720719 ms +++++
map prepare time 4.029842 ms
map corner num 194414  surf num 75330 
solver time 14.958075 ms 
data association time 18.721714 ms 
solver time 11.480703 ms 
build tree time 51.152853 ms 
points size 87968 
sort q time 4.291079 
seperate points time 10.327699 
mapping data assosiation time 17.974254 ms 
data association time 21.573449 ms 
mapping solver time 11.979636 ms 
mapping optimization time 116.449750 
add points time 0.475343 ms
filter time 15.792787 ms 
mapping pub time 1.291965 ms 
whole mapping time 138.081797 ms +++++
data association time 17.888734 ms 
solver time 14.220801 ms 
sort q time 4.855490 
seperate points time 11.713601 
build tree time 58.460189 ms 
data association time 13.738109 ms 
solver time 12.367511 ms 
mapping solver time 13.846158 ms 
solver time 7.536499 ms 
mapping solver time 11.327437 ms 
filter time 15.135714 ms 
[0m[ INFO] [1718887198.480972005]: Received 1213032 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887198.481008352]: Data saved to 1317357940293910.pcd[0m
data association time 14.502936 ms 
solver time 11.608432 ms 
data association time 14.518221 ms 
optimization twice time 50.466869 
mapping data assosiation time 21.139349 ms 
mapping solver time 13.073837 ms 
sort q time 4.230205 
seperate points time 9.936493 
mapping solver time 8.642886 ms 
filter time 14.847741 ms 
data association time 14.596287 ms 
publication time 7.302672 ms 
whole laserOdometry time 56.947308 ms 
 
mapping pub time 54.574146 ms 
whole mapping time 188.698208 ms +++++
prepare time 16.568911 
sort q time 5.689669 
seperate points time 13.456900 
data association time 13.879464 ms 
solver time 10.924435 ms 
build tree time 71.136139 ms 
solver time 8.193574 ms 
mapping data assosiation time 21.292843 ms 
mapping solver time 16.536343 ms 
sort q time 4.085943 
seperate points time 9.737926 
mapping solver time 12.376858 ms 
data association time 16.175833 ms 
filter time 17.597196 ms 
data association time 14.521422 ms 
solver time 8.807751 ms 
publication time 9.717363 ms 
whole laserOdometry time 62.999092 ms 
 
points size 91974 
build tree time 55.289031 ms 
sort q time 5.172767 
seperate points time 12.658679 
mapping data assosiation time 21.139213 ms 
data association time 17.223885 ms 
solver time 10.314030 ms 
mapping data assosiation time 19.525122 ms 
mapping solver time 11.977572 ms 
publication time 9.245419 ms 
whole laserOdometry time 66.331242 ms 
 
map prepare time 3.915948 ms
map corner num 197256  surf num 76198 
prepare time 17.736620 
sort q time 5.356400 
seperate points time 13.247122 
data association time 14.166183 ms 
solver time 9.034193 ms 
mapping data assosiation time 20.274929 ms 
solver time 8.402048 ms 
points size 94126 
sort q time 6.175720 
seperate points time 14.842118 
filter time 18.786407 ms 
solver time 10.914799 ms 
data association time 15.099754 ms 
solver time 8.674080 ms 
publication time 10.443144 ms 
whole laserOdometry time 62.199474 ms 
 
build tree time 54.834532 ms 
sort q time 4.378406 
seperate points time 10.501064 
mapping solver time 16.014216 ms 
data association time 17.954654 ms 
solver time 11.039630 ms 
mapping solver time 13.566761 ms 
solver time 8.320263 ms 
filter time 19.379265 ms 
publication time 10.169763 ms 
whole laserOdometry time 63.877453 ms 
 
points size 93193 
sort q time 4.835535 
seperate points time 11.320024 
data association time 17.195908 ms 
build tree time 60.811219 ms 
data association time 15.813652 ms 
publication time 11.972213 ms 
whole laserOdometry time 68.481844 ms 
 
sort q time 4.639216 
seperate points time 10.850862 
mapping solver time 12.970017 ms 
solver time 10.853705 ms 
map prepare time 4.041174 ms
map corner num 199432  surf num 76993 
solver time 8.484883 ms 
data association time 14.271415 ms 
publication time 8.684824 ms 
whole laserOdometry time 59.420515 ms 
 
mapping data assosiation time 24.933987 ms 
mapping solver time 11.433925 ms 
scan registration time 28.889517 ms *************
map prepare time 4.845198 ms
map corner num 200300  surf num 77318 
data association time 19.340065 ms 
solver time 8.944954 ms 
data association time 15.398205 ms 
publication time 8.314054 ms 
whole laserOdometry time 58.654325 ms 
 
build tree time 53.882529 ms 
points size 92484 
mapping solver time 15.049255 ms 
mapping data assosiation time 21.413736 ms 
mapping solver time 12.593159 ms 
data association time 17.035623 ms 
solver time 10.299693 ms 
points size 92597 
prepare time 17.109535 
sort q time 5.227359 
seperate points time 12.643355 
build tree time 56.409367 ms 
data association time 18.146167 ms 
mapping data assosiation time 22.768457 ms 
mapping solver time 15.403126 ms 
solver time 8.118947 ms 
mapping data assosiation time 22.883349 ms 
mapping solver time 12.413107 ms 
sort q time 4.877542 
seperate points time 11.728483 
filter time 16.963072 ms 
mapping pub time 1.211125 ms 
whole mapping time 153.422715 ms +++++
drop lidar frame in mapping for real time performance 
scan registration time 33.939921 ms *************
data association time 15.436719 ms 
solver time 11.729774 ms 
data association time 14.697636 ms 
solver time 9.112265 ms 
publication time 9.043573 ms 
whole laserOdometry time 60.873786 ms 
 
points size 91203 
sort q time 5.062521 
seperate points time 11.760869 
mapping data assosiation time 20.957607 ms 
mapping solver time 12.329769 ms 
data association time 14.418976 ms 
solver time 11.113735 ms 
publication time 9.875747 ms 
whole laserOdometry time 62.824339 ms 
 
points size 90909 
sort q time 4.899690 
seperate points time 11.464211 
build tree time 53.260727 ms 
data association time 17.696928 ms 
mapping solver time 15.422143 ms 
solver time 9.583459 ms 
mapping solver time 12.815621 ms 
sort q time 4.750543 
seperate points time 11.194748 
map prepare time 3.768138 ms
map corner num 203106  surf num 78236 
data association time 26.000670 ms 
solver time 11.646100 ms 
data association time 14.630693 ms 
publication time 8.647089 ms 
whole laserOdometry time 69.714994 ms 
 
prepare time 14.700537 
mapping data assosiation time 22.964796 ms 
mapping solver time 12.404727 ms 
mapping data assosiation time 18.975170 ms 
solver time 12.098340 ms 
data association time 15.023803 ms 
optimization twice time 51.039069 
points size 87489 
prepare time 12.498037 
sort q time 4.079123 
seperate points time 9.796713 
build tree time 60.055424 ms 
data association time 23.143405 ms 
solver time 13.188199 ms 
mapping solver time 19.091053 ms 
data association time 22.167214 ms 
solver time 13.014141 ms 
mapping data assosiation time 24.582353 ms 
mapping solver time 12.160914 ms 
scan registration time 31.380934 ms *************
filter time 17.709907 ms 
data association time 14.286394 ms 
solver time 12.457441 ms 
data association time 13.539330 ms 
solver time 9.286470 ms 
publication time 8.392567 ms 
whole laserOdometry time 58.753615 ms 
 
points size 88873 
prepare time 13.046007 
mapping solver time 14.331576 ms 
data association time 13.124906 ms 
solver time 13.297749 ms 
data association time 13.651215 ms 
solver time 8.824833 ms 
mapping pub time 1.110621 ms 
whole mapping time 154.724655 ms +++++
points size 91129 
sort q time 4.063077 
seperate points time 9.683000 
data association time 13.361344 ms 
build tree time 58.455446 ms 
mapping data assosiation time 22.936420 ms 
solver time 9.950218 ms 
publication time 8.852091 ms 
whole laserOdometry time 65.484091 ms 
 
mapping data assosiation time 20.321909 ms 
mapping solver time 11.734520 ms 
scan registration time 28.642590 ms *************
filter time 20.398662 ms 
map prepare time 4.765010 ms
map corner num 208065  surf num 84112 
solver time 11.396549 ms 
data association time 14.885413 ms 
solver time 11.483946 ms 
publication time 8.010598 ms 
whole laserOdometry time 61.851501 ms 
 
points size 96880 
mapping data assosiation time 20.320923 ms 
mapping solver time 16.352813 ms 
data association time 14.478810 ms 
solver time 10.922130 ms 
mapping solver time 11.315067 ms 
solver time 8.823554 ms 
publication time 9.483421 ms 
whole laserOdometry time 59.417858 ms 
 
points size 98611 
sort q time 5.422556 
seperate points time 12.744206 
data association time 18.053693 ms 
solver time 13.823547 ms 
mapping data assosiation time 19.855249 ms 
solver time 8.627294 ms 
mapping data assosiation time 21.357808 ms 
prepare time 13.998259 
scan registration time 29.896500 ms *************
filter time 21.534117 ms 
map prepare time 4.365558 ms
map corner num 208928  surf num 84452 
solver time 14.587397 ms 
data association time 22.905942 ms 
solver time 11.024228 ms 
prepare time 14.698576 
build tree time 72.629265 ms 
scan registration time 31.023869 ms *************
mapping data assosiation time 25.775352 ms 
data association time 24.413601 ms 
solver time 17.630900 ms 
mapping data assosiation time 25.539983 ms 
mapping solver time 16.179374 ms 
optimization twice time 79.712558 
prepare time 17.965987 
filter time 20.623929 ms 
scan registration time 37.726561 ms *************
data association time 20.479769 ms 
solver time 13.032812 ms 
data association time 15.490312 ms 
solver time 10.618391 ms 
optimization twice time 60.611883 
mapping solver time 16.902790 ms 
sort q time 5.722329 
seperate points time 13.742745 
mapping solver time 11.810428 ms 
mapping optimization time 119.533474 
add points time 0.698900 ms
filter time 14.172543 ms 
data association time 13.477730 ms 
solver time 8.694475 ms 
optimization twice time 48.658213 
build tree time 41.453831 ms 
prepare time 18.338421 
mapping data assosiation time 19.981967 ms 
sort q time 5.577026 
seperate points time 13.391971 
mapping solver time 15.397959 ms 
data association time 14.185218 ms 
solver time 14.288240 ms 
data association time 15.407476 ms 
solver time 9.307051 ms 
publication time 9.126387 ms 
whole laserOdometry time 63.156530 ms 
 
prepare time 18.833872 
sort q time 5.664418 
seperate points time 13.678067 
mapping data assosiation time 25.791997 ms 
data association time 25.931288 ms 
solver time 16.581128 ms 
mapping solver time 18.463197 ms 
data association time 25.382737 ms 
points size 98913 
solver time 25.055308 ms 
optimization twice time 94.135336 
sort q time 5.871902 
seperate points time 14.150887 
data association time 21.317960 ms 
mapping pub time 58.018547 ms 
whole mapping time 206.147166 ms +++++
optimization twice time 58.599675 
sort q time 5.369245 
seperate points time 12.560191 
build tree time 45.568082 ms 
solver time 10.651742 ms 
mapping solver time 12.570464 ms 
solver time 8.873423 ms 
mapping data assosiation time 22.451344 ms 
mapping solver time 9.482811 ms 
prepare time 15.908448 
drop lidar frame in mapping for real time performance 
data association time 17.012221 ms 
solver time 12.287051 ms 
data association time 14.762697 ms 
mapping data assosiation time 21.848888 ms 
publication time 9.481554 ms 
whole laserOdometry time 62.928651 ms 
 
points size 95672 
sort q time 5.270620 
seperate points time 12.179795 
mapping solver time 11.542543 ms 
filter time 15.747630 ms 
map prepare time 4.068683 ms
map corner num 150771  surf num 60011 
solver time 14.749233 ms 
data association time 23.657727 ms 
points size 94096 
solver time 11.669672 ms 
optimization twice time 74.998617 
prepare time 17.069212 
build tree time 52.518015 ms 
publication time 11.000886 ms 
whole laserOdometry time 86.017439 ms 
 
mapping data assosiation time 27.322341 ms 
mapping solver time 14.998761 ms 
data association time 14.439432 ms 
solver time 8.733105 ms 
mapping solver time 14.017826 ms 
filter time 13.589332 ms 
prepare time 13.764847 
sort q time 4.460854 
seperate points time 10.567233 
data association time 14.217014 ms 
solver time 10.723678 ms 
data association time 14.928502 ms 
solver time 8.506054 ms 
publication time 8.591527 ms 
whole laserOdometry time 57.904212 ms 
 
points size 91120 
mapping data assosiation time 28.412903 ms 
scan registration time 31.126928 ms *************
filter time 14.057826 ms 
data association time 23.916317 ms 
solver time 11.133046 ms 
data association time 23.839828 ms 
solver time 12.505417 ms 
prepare time 17.459930 
sort q time 5.434773 
seperate points time 13.902357 
mapping solver time 16.914402 ms 
data association time 25.606054 ms 
mapping data assosiation time 29.200178 ms 
mapping solver time 19.840592 ms 
data association time 23.655766 ms 
solver time 13.068864 ms 
publication time 10.271796 ms 
whole laserOdometry time 91.634560 ms 
 
data association time 23.436570 ms 
solver time 15.117740 ms 
data association time 26.191080 ms 
solver time 12.805550 ms 
publication time 9.949737 ms 
whole laserOdometry time 88.492782 ms 
 
scan registration time 30.671041 ms *************
mapping data assosiation time 26.959465 ms 
mapping solver time 12.795066 ms 
filter time 13.021703 ms 
solver time 9.412045 ms 
publication time 9.713203 ms 
whole laserOdometry time 63.496639 ms 
 
points size 89963 
prepare time 14.858951 
sort q time 6.144447 
seperate points time 14.755585 
scan registration time 33.164148 ms *************
mapping data assosiation time 26.202121 ms 
data association time 18.555419 ms 
mapping solver time 19.980991 ms 
data association time 14.741244 ms 
mapping data assosiation time 26.783744 ms 
mapping solver time 15.803376 ms 
sort q time 4.599324 
seperate points time 11.342976 
map prepare time 4.907011 ms
map corner num 154016  surf num 61378 
data association time 16.877572 ms 
solver time 10.831148 ms 
data association time 15.569634 ms 
solver time 8.840875 ms 
publication time 8.925976 ms 
whole laserOdometry time 61.946395 ms 
 
mapping data assosiation time 24.901957 ms 
points size 92300 
mapping solver time 17.347868 ms 
sort q time 4.531607 
seperate points time 11.013971 
mapping data assosiation time 25.132529 ms 
data association time 15.099831 ms 
solver time 13.542048 ms 
filter time 15.693014 ms 
optimization twice time 56.561200 
points size 93914 
sort q time 4.572105 
seperate points time 11.573370 
data association time 13.673166 ms 
mapping data assosiation time 23.444224 ms 
mapping solver time 18.086902 ms 
data association time 14.883693 ms 
publication time 8.138682 ms 
whole laserOdometry time 62.341733 ms 
 
mapping data assosiation time 27.882890 ms 
points size 95898 
sort q time 4.905646 
seperate points time 11.544433 
data association time 13.707304 ms 
solver time 14.290421 ms 
build tree time 41.319485 ms 
solver time 11.554944 ms 
mapping data assosiation time 26.022171 ms 
points size 98191 
sort q time 5.865790 
seperate points time 13.657547 
mapping data assosiation time 30.794421 ms 
data association time 25.015209 ms 
mapping solver time 25.123862 ms 
filter time 16.441036 ms 
map prepare time 4.704776 ms
map corner num 156150  surf num 62397 
points size 100873 
solver time 15.981888 ms 
optimization twice time 85.118764 
build tree time 52.423338 ms 
data association time 25.109346 ms 
mapping data assosiation time 31.636396 ms 
mapping solver time 25.495162 ms 
sort q time 5.103582 
seperate points time 12.132667 
mapping data assosiation time 32.101201 ms 
mapping solver time 25.651039 ms 
mapping optimization time 169.284617 
add points time 0.517148 ms
data association time 25.444013 ms 
filter time 15.942505 ms 
solver time 14.997791 ms 
mapping pub time 1.547403 ms 
whole mapping time 192.039626 ms +++++
drop lidar frame in mapping for real time performance 
data association time 26.231651 ms 
solver time 11.903969 ms 
sort q time 6.659602 
seperate points time 15.090889 
publication time 11.651990 ms 
whole laserOdometry time 91.135730 ms 
 
scan registration time 36.933131 ms *************
data association time 29.010591 ms 
mapping data assosiation time 32.879248 ms 
solver time 16.229357 ms 
mapping solver time 22.314315 ms 
points size 102440 
mapping data assosiation time 32.725494 ms 
sort q time 5.159364 
seperate points time 12.206936 
solver time 13.449632 ms 
optimization twice time 87.820157 
scan registration time 32.909789 ms *************
mapping solver time 17.965015 ms 
filter time 15.901684 ms 
solver time 10.499556 ms 
data association time 16.997455 ms 
solver time 10.016997 ms 
build tree time 46.628647 ms 
sort q time 5.635766 
seperate points time 12.893125 
data association time 15.587583 ms 
solver time 11.767788 ms 
data association time 16.812320 ms 
publication time 9.238010 ms 
whole laserOdometry time 62.886869 ms 
 
prepare time 19.625255 
mapping pub time 1.720595 ms 
whole mapping time 167.851049 ms +++++
map prepare time 4.461864 ms
map corner num 158166  surf num 63209 
sort q time 6.144882 
seperate points time 15.189528 
data association time 15.464738 ms 
solver time 10.674375 ms 
build tree time 45.078618 ms 
data association time 16.055495 ms 
solver time 8.718764 ms 
publication time 9.770983 ms 
whole laserOdometry time 61.430684 ms 
 
points size 103865 
prepare time 20.097891 
mapping solver time 27.637127 ms 
scan registration time 41.522421 ms *************
data association time 18.124326 ms 
solver time 9.980791 ms 
mapping solver time 16.464923 ms 
data association time 16.455602 ms 
filter time 13.923612 ms 
publication time 10.467972 ms 
whole laserOdometry time 64.789591 ms 
 
points size 103833 
prepare time 19.347195 
sort q time 6.134167 
seperate points time 14.775312 
scan registration time 39.756203 ms *************
build tree time 52.041881 ms 
data association time 16.129464 ms 
solver time 10.848493 ms 
data association time 16.289780 ms 
solver time 9.129620 ms 
points size 103636 
mapping data assosiation time 36.344434 ms 
scan registration time 42.938764 ms *************
mapping solver time 19.803328 ms 
data association time 16.482360 ms 
solver time 11.454972 ms 
data association time 16.588028 ms 
solver time 9.374026 ms 
publication time 9.928821 ms 
whole laserOdometry time 64.663547 ms 
 
prepare time 19.244344 
sort q time 6.873735 
seperate points time 17.254408 
mapping data assosiation time 32.743738 ms 
data association time 18.851430 ms 
solver time 10.464240 ms 
data association time 16.555213 ms 
points size 103640 
filter time 13.771446 ms 
data association time 15.092353 ms 
solver time 11.217276 ms 
data association time 17.396398 ms 
publication time 9.599913 ms 
whole laserOdometry time 62.433518 ms 
 
points size 103729 
sort q time 6.102067 
seperate points time 15.419056 
data association time 16.681095 ms 
solver time 11.774352 ms 
mapping solver time 17.226881 ms 
data association time 17.561730 ms 
solver time 8.810367 ms 
publication time 10.916448 ms 
whole laserOdometry time 66.701573 ms 
 
sort q time 4.750383 
seperate points time 11.650358 
build tree time 44.838739 ms 
data association time 25.758081 ms 
solver time 14.591637 ms 
mapping solver time 20.398143 ms 
points size 103831 
publication time 11.656657 ms 
whole laserOdometry time 90.454921 ms 
 
mapping solver time 17.322861 ms 
filter time 13.004445 ms 
mapping pub time 1.246099 ms 
whole mapping time 162.138335 ms +++++
drop lidar frame in mapping for real time performance 
data association time 26.091579 ms 
map prepare time 4.621489 ms
map corner num 161683  surf num 64824 
solver time 15.464851 ms 
data association time 26.232318 ms 
solver time 11.882531 ms 
publication time 12.038333 ms 
whole laserOdometry time 92.757217 ms 
 
mapping data assosiation time 34.024668 ms 
mapping solver time 17.606644 ms 
data association time 30.773792 ms 
mapping data assosiation time 30.868195 ms 
mapping solver time 17.472040 ms 
prepare time 15.244281 
filter time 17.499007 ms 
publication time 11.786008 ms 
whole laserOdometry time 97.073977 ms 
 
data association time 26.300356 ms 
solver time 14.889516 ms 
mapping data assosiation time 31.180042 ms 
prepare time 15.411885 
sort q time 6.335767 
seperate points time 14.714509 
mapping data assosiation time 30.604259 ms 
data association time 26.665307 ms 
mapping solver time 18.127508 ms 
mapping optimization time 152.419141 
add points time 0.687329 ms
filter time 15.188565 ms 
points size 103976 
solver time 12.880552 ms 
publication time 12.261090 ms 
whole laserOdometry time 95.871891 ms 
 
mapping pub time 58.899531 ms 
whole mapping time 232.538374 ms +++++
data association time 28.014598 ms 
solver time 15.439723 ms 
build tree time 46.510883 ms 
points size 104020 
sort q time 6.374059 
seperate points time 14.960109 
mapping solver time 20.324276 ms 
data association time 26.825468 ms 
solver time 13.485048 ms 
mapping solver time 16.714165 ms 
points size 103923 
solver time 11.659305 ms 
optimization twice time 79.183272 
filter time 17.531465 ms 
mapping pub time 1.711962 ms 
whole mapping time 177.819848 ms +++++
data association time 16.116216 ms 
solver time 10.659944 ms 
data association time 18.839751 ms 
solver time 9.831142 ms 
publication time 10.468917 ms 
whole laserOdometry time 66.780506 ms 
 
prepare time 16.858616 
sort q time 5.088282 
seperate points time 12.539703 
data association time 26.100181 ms 
solver time 15.172227 ms 
add points time 0.673528 ms
filter time 15.489076 ms 
map prepare time 4.890678 ms
map corner num 164107  surf num 66018 
solver time 11.462990 ms 
publication time 11.895597 ms 
whole laserOdometry time 92.336150 ms 
 
sort q time 6.267604 
seperate points time 15.400056 
build tree time 54.659766 ms 
data association time 26.702964 ms 
solver time 17.675578 ms 
mapping solver time 19.286284 ms 
solver time 12.009042 ms 
optimization twice time 84.120598 
sort q time 6.602929 
seperate points time 15.967914 
mapping solver time 14.494589 ms 
data association time 30.860550 ms 
map prepare time 3.691532 ms
map corner num 164637  surf num 66300 
data association time 18.979826 ms 
prepare time 19.533262 
sort q time 6.613401 
seperate points time 16.096292 
data association time 18.745305 ms 
solver time 13.899976 ms 
data association time 18.548713 ms 
mapping solver time 27.294355 ms 
solver time 8.879741 ms 
optimization twice time 60.973752 
points size 104223 
mapping data assosiation time 38.964182 ms 
sort q time 6.359279 
seperate points time 15.449001 
scan registration time 41.264509 ms *************
mapping optimization time 187.601435 
data association time 17.943217 ms 
map prepare time 3.626658 ms
map corner num 165256  surf num 66560 
data association time 17.351972 ms 
solver time 15.243708 ms 
publication time 10.596013 ms 
whole laserOdometry time 75.778970 ms 
 
data association time 14.925593 ms 
mapping data assosiation time 33.708191 ms 
mapping solver time 19.466614 ms 
publication time 9.686725 ms 
whole laserOdometry time 65.634762 ms 
 
prepare time 15.946370 
sort q time 5.625654 
seperate points time 12.802160 
data association time 15.672275 ms 
map prepare time 4.128881 ms
map corner num 165859  surf num 66810 
data association time 15.649281 ms 
solver time 8.798172 ms 
optimization twice time 53.157854 
publication time 11.111977 ms 
whole laserOdometry time 64.283707 ms 
 
points size 104303 
sort q time 4.840556 
seperate points time 11.194305 
mapping data assosiation time 30.799386 ms 
data association time 16.222590 ms 
mapping solver time 22.093344 ms 
data association time 15.921294 ms 
solver time 10.916738 ms 
publication time 10.555078 ms 
whole laserOdometry time 68.537450 ms 
 
prepare time 15.854775 
sort q time 5.844083 
seperate points time 13.912733 
mapping pub time 1.460919 ms 
whole mapping time 188.848793 ms +++++
data association time 25.726157 ms 
solver time 14.284939 ms 
build tree time 58.000168 ms 
prepare time 16.987470 
sort q time 5.581321 
seperate points time 13.425377 
mapping data assosiation time 39.492201 ms 
data association time 23.736028 ms 
solver time 16.578199 ms 
mapping data assosiation time 36.772090 ms 
solver time 12.386575 ms 
mapping solver time 25.656974 ms 
filter time 17.680607 ms 
solver time 14.976938 ms 
data association time 22.137019 ms 
optimization twice time 71.163683 
prepare time 15.826415 
sort q time 5.738472 
seperate points time 13.727984 
mapping data assosiation time 31.072514 ms 
mapping solver time 18.915000 ms 
solver time 10.774022 ms 
solver time 8.106866 ms 
mapping solver time 19.881207 ms 
points size 99972 
mapping data assosiation time 26.891118 ms 
points size 100308 
publication time 10.678210 ms 
whole laserOdometry time 90.855960 ms 
 
mapping data assosiation time 31.131308 ms 
mapping optimization time 144.897252 
add points time 0.717846 ms
data association time 24.954532 ms 
mapping pub time 1.446240 ms 
whole mapping time 168.280912 ms +++++
points size 100707 
solver time 11.885042 ms 
publication time 11.307375 ms 
whole laserOdometry time 89.847552 ms 
 
data association time 24.970590 ms 
solver time 14.810966 ms 
data association time 17.836961 ms 
solver time 13.627721 ms 
optimization twice time 72.074563 
sort q time 5.960675 
seperate points time 15.021338 
filter time 14.749037 ms 
map prepare time 4.742331 ms
map corner num 169220  surf num 68025 
solver time 14.590261 ms 
data association time 16.012219 ms 
solver time 12.211717 ms 
sort q time 6.067985 
seperate points time 14.900707 
mapping data assosiation time 31.408075 ms 
data association time 14.253711 ms 
solver time 11.449328 ms 
mapping data assosiation time 26.449414 ms 
solver time 11.322430 ms 
mapping solver time 18.248320 ms 
points size 100875 
filter time 18.400576 ms 
sort q time 5.817782 
seperate points time 14.876673 
data association time 16.704823 ms 
solver time 14.748393 ms 
build tree time 51.393519 ms 
solver time 8.314348 ms 
publication time 10.333434 ms 
whole laserOdometry time 67.774682 ms 
 
prepare time 15.369460 
mapping solver time 19.180559 ms 
data association time 14.847207 ms 
solver time 11.729376 ms 
mapping solver time 19.353700 ms 
solver time 9.558503 ms 
publication time 10.833238 ms 
whole laserOdometry time 63.528659 ms 
 
points size 100596 
sort q time 6.100499 
seperate points time 14.523972 
build tree time 46.289080 ms 
data association time 15.388960 ms 
solver time 10.691508 ms 
mapping data assosiation time 28.176339 ms 
solver time 8.142281 ms 
mapping solver time 21.071942 ms 
points size 99741 
sort q time 5.278864 
seperate points time 12.893256 
mapping optimization time 141.828336 
add points time 0.693651 ms
filter time 17.113764 ms 
mapping pub time 1.278969 ms 
whole mapping time 166.138578 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.889338 ms
map corner num 171012  surf num 68570 
data association time 17.750995 ms 
solver time 13.439578 ms 
publication time 10.355440 ms 
whole laserOdometry time 74.169763 ms 
 
points size 98964 
sort q time 5.654351 
seperate points time 14.328582 
mapping solver time 19.116921 ms 
solver time 13.555206 ms 
mapping data assosiation time 27.956303 ms 
solver time 8.249828 ms 
mapping solver time 19.817765 ms 
points size 98657 
filter time 17.787549 ms 
map prepare time 4.976186 ms
map corner num 171576  surf num 68712 
scan registration time 37.990660 ms *************
data association time 15.221141 ms 
solver time 12.874137 ms 
data association time 14.829016 ms 
solver time 10.089562 ms 
publication time 10.699977 ms 
whole laserOdometry time 64.591260 ms 
 
points size 99765 
sort q time 5.770261 
seperate points time 14.495063 
mapping data assosiation time 26.313554 ms 
data association time 17.303270 ms 
filter time 13.191868 ms 
map prepare time 4.163487 ms
map corner num 172215  surf num 68916 
data association time 28.019937 ms 
points size 99969 
solver time 20.299716 ms 
optimization twice time 85.047777 
build tree time 60.855127 ms 
data association time 15.379171 ms 
solver time 13.969537 ms 
mapping solver time 20.990634 ms 
solver time 15.854491 ms 
publication time 11.733531 ms 
whole laserOdometry time 78.550607 ms 
 
mapping solver time 23.495267 ms 
filter time 16.102837 ms 
solver time 12.948826 ms 
data association time 17.015770 ms 
solver time 14.012947 ms 
prepare time 18.709281 
build tree time 51.265783 ms 
publication time 10.804240 ms 
whole laserOdometry time 75.713007 ms 
 
sort q time 6.835242 
seperate points time 16.662966 
mapping data assosiation time 30.949203 ms 
mapping solver time 16.816925 ms 
solver time 13.720354 ms 
mapping data assosiation time 26.063962 ms 
mapping solver time 12.175097 ms 
solver time 14.197133 ms 
filter time 18.752070 ms 
map prepare time 4.759389 ms
map corner num 173658  surf num 69307 
scan registration time 38.605295 ms *************
data association time 14.499264 ms 
solver time 11.214496 ms 
build tree time 50.003543 ms 
data association time 20.477027 ms 
solver time 10.179550 ms 
publication time 11.640846 ms 
whole laserOdometry time 69.009203 ms 
 
mapping solver time 19.626277 ms 
sort q time 6.090278 
seperate points time 14.042851 
data association time 16.764054 ms 
solver time 11.951236 ms 
filter time 15.128538 ms 
solver time 8.207267 ms 
publication time 10.245262 ms 
whole laserOdometry time 63.855981 ms 
 
points size 100317 
build tree time 47.163440 ms 
sort q time 4.761045 
seperate points time 11.170993 
scan registration time 31.823560 ms *************
mapping data assosiation time 27.540360 ms 
solver time 10.684191 ms 
solver time 7.503082 ms 
publication time 10.555825 ms 
whole laserOdometry time 60.843627 ms 
 
mapping solver time 15.908270 ms 
prepare time 18.833881 
filter time 17.699629 ms 
sort q time 5.857986 
seperate points time 14.374884 
data association time 15.115223 ms 
solver time 10.776618 ms 
build tree time 48.953240 ms 
data association time 15.647806 ms 
publication time 9.294024 ms 
whole laserOdometry time 60.461102 ms 
 
points size 101289 
mapping solver time 18.289431 ms 
mapping data assosiation time 25.303840 ms 
solver time 13.049702 ms 
mapping solver time 15.570055 ms 
mapping optimization time 138.562792 
add points time 0.533879 ms
filter time 19.064556 ms 
points size 102070 
prepare time 18.803720 
sort q time 6.054822 
seperate points time 15.084766 
map prepare time 4.829412 ms
map corner num 175739  surf num 69932 
data association time 17.705537 ms 
solver time 13.178774 ms 
build tree time 51.515683 ms 
solver time 9.566769 ms 
points size 102662 
mapping data assosiation time 28.487269 ms 
sort q time 6.139992 
seperate points time 15.471250 
data association time 14.331853 ms 
solver time 14.120527 ms 
mapping solver time 18.438482 ms 
optimization twice time 55.100322 
mapping pub time 2.030525 ms 
whole mapping time 173.586303 ms +++++
prepare time 19.751782 
sort q time 6.078890 
seperate points time 15.173254 
scan registration time 39.098763 ms *************
build tree time 49.548186 ms 
solver time 13.771014 ms 
mapping data assosiation time 25.727726 ms 
mapping solver time 16.951124 ms 
prepare time 19.656325 
mapping data assosiation time 29.711729 ms 
sort q time 6.373290 
seperate points time 15.912328 
mapping solver time 15.041098 ms 
data association time 15.235986 ms 
filter time 14.076556 ms 
mapping pub time 1.568181 ms 
whole mapping time 158.344143 ms +++++
map prepare time 3.443415 ms
map corner num 177241  surf num 70623 
data association time 14.631397 ms 
solver time 8.125630 ms 
publication time 9.794412 ms 
whole laserOdometry time 60.122080 ms 
 
build tree time 49.354143 ms 
points size 103509 
sort q time 6.025075 
seperate points time 14.903676 
mapping solver time 15.235573 ms 
solver time 12.495996 ms 
mapping data assosiation time 26.449608 ms 
mapping solver time 16.394520 ms 
publication time 10.040279 ms 
whole laserOdometry time 65.884898 ms 
 
mapping pub time 1.193823 ms 
whole mapping time 156.340393 ms +++++
points size 103968 
drop lidar frame in mapping for real time performance 
map prepare time 3.590921 ms
map corner num 178039  surf num 71021 
prepare time 19.736634 
sort q time 6.130156 
seperate points time 15.158302 
scan registration time 38.990855 ms *************
data association time 15.381351 ms 
build tree time 47.686272 ms 
data association time 14.573346 ms 
solver time 8.910184 ms 
mapping solver time 17.713619 ms 
points size 104049 
mapping data assosiation time 25.945967 ms 
mapping solver time 14.796380 ms 
filter time 14.000855 ms 
solver time 12.069096 ms 
data association time 18.103645 ms 
solver time 11.518091 ms 
publication time 11.999574 ms 
whole laserOdometry time 72.150175 ms 
 
points size 104154 
build tree time 55.303047 ms 
prepare time 22.100305 
[0m[ INFO] [1718887209.603253344]: Received 1276650 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887209.603285453]: Data saved to 1317357953485181.pcd[0m
data association time 15.404770 ms 
solver time 13.335824 ms 
mapping data assosiation time 26.129548 ms 
mapping solver time 13.130161 ms 
points size 104264 
publication time 14.305705 ms 
whole laserOdometry time 72.528958 ms 
 
prepare time 20.389268 
filter time 19.281918 ms 
mapping pub time 3.704910 ms 
whole mapping time 168.838364 ms +++++
sort q time 6.505532 
seperate points time 15.698867 
data association time 15.110709 ms 
solver time 14.729436 ms 
data association time 14.718983 ms 
solver time 12.858090 ms 
publication time 10.368011 ms 
whole laserOdometry time 68.625586 ms 
 
sort q time 6.224474 
seperate points time 14.395331 
mapping data assosiation time 25.828577 ms 
mapping solver time 11.068436 ms 
mapping optimization time 130.574957 
add points time 0.703515 ms
data association time 14.838293 ms 
filter time 17.714632 ms 
data association time 15.523711 ms 
optimization twice time 51.083580 
points size 103051 
prepare time 18.394640 
sort q time 5.799480 
seperate points time 13.062247 
data association time 14.609890 ms 
solver time 12.348544 ms 
mapping solver time 18.230754 ms 
data association time 20.481212 ms 
solver time 9.973349 ms 
publication time 11.407513 ms 
whole laserOdometry time 69.762427 ms 
 
mapping solver time 15.187541 ms 
sort q time 5.930872 
seperate points time 13.637676 
scan registration time 34.560657 ms *************
filter time 16.870919 ms 
map prepare time 4.995399 ms
map corner num 180841  surf num 72166 
data association time 15.586036 ms 
solver time 11.778317 ms 
data association time 15.154193 ms 
build tree time 48.387232 ms 
publication time 9.525141 ms 
whole laserOdometry time 62.641686 ms 
 
points size 101673 
sort q time 5.190411 
seperate points time 12.172549 
data association time 13.988300 ms 
mapping data assosiation time 24.302273 ms 
mapping solver time 14.442327 ms 
filter time 13.381965 ms 
publication time 9.348825 ms 
whole laserOdometry time 60.932121 ms 
 
points size 100905 
sort q time 7.158371 
seperate points time 17.245889 
build tree time 56.313280 ms 
data association time 15.523295 ms 
mapping data assosiation time 26.134824 ms 
data association time 16.200206 ms 
solver time 8.832185 ms 
publication time 10.457590 ms 
whole laserOdometry time 63.277153 ms 
 
points size 100157 
prepare time 15.490993 
sort q time 6.170360 
seperate points time 14.636405 
filter time 14.091046 ms 
solver time 10.653778 ms 
data association time 17.960234 ms 
solver time 8.334359 ms 
publication time 9.346390 ms 
whole laserOdometry time 62.980432 ms 
 
points size 99582 
mapping data assosiation time 25.272166 ms 
mapping solver time 19.354610 ms 
data association time 23.806869 ms 
mapping data assosiation time 30.945635 ms 
mapping solver time 19.176593 ms 
points size 99485 
mapping pub time 4.390110 ms 
whole mapping time 175.669849 ms +++++
scan registration time 33.185366 ms *************
data association time 21.924548 ms 
solver time 12.862073 ms 
data association time 13.395045 ms 
publication time 8.701825 ms 
whole laserOdometry time 65.879598 ms 
 
points size 99295 
sort q time 5.561212 
seperate points time 13.353909 
mapping data assosiation time 24.765196 ms 
mapping optimization time 133.222122 
solver time 11.994086 ms 
map prepare time 4.812050 ms
map corner num 164888  surf num 62273 
solver time 7.786595 ms 
publication time 9.860565 ms 
whole laserOdometry time 59.938619 ms 
 
points size 99769 
build tree time 49.590732 ms 
mapping data assosiation time 24.793989 ms 
solver time 10.229398 ms 
data association time 15.674934 ms 
mapping data assosiation time 25.832872 ms 
mapping solver time 14.892402 ms 
filter time 14.836108 ms 
data association time 22.925229 ms 
solver time 10.525788 ms 
data association time 14.945189 ms 
solver time 8.535728 ms 
mapping data assosiation time 25.819581 ms 
points size 98722 
sort q time 5.037839 
seperate points time 11.588260 
scan registration time 31.497656 ms *************
mapping data assosiation time 29.229962 ms 
mapping solver time 11.782908 ms 
filter time 15.897981 ms 
solver time 7.915721 ms 
publication time 9.232941 ms 
whole laserOdometry time 65.847999 ms 
 
build tree time 25.523021 ms 
points size 98183 
sort q time 6.772536 
seperate points time 16.201576 
mapping solver time 17.481792 ms 
solver time 11.819723 ms 
mapping data assosiation time 28.939008 ms 
mapping solver time 15.645375 ms 
filter time 10.262195 ms 
prepare time 18.545154 
sort q time 5.813054 
seperate points time 14.095587 
build tree time 30.838696 ms 
data association time 22.672763 ms 
mapping data assosiation time 26.215180 ms 
mapping solver time 18.886499 ms 
solver time 10.706995 ms 
sort q time 5.653205 
seperate points time 13.206771 
filter time 11.144892 ms 
data association time 20.645839 ms 
solver time 12.230670 ms 
data association time 14.463228 ms 
publication time 11.005345 ms 
whole laserOdometry time 67.575877 ms 
 
mapping solver time 18.101886 ms 
sort q time 6.110970 
seperate points time 14.228369 
mapping data assosiation time 32.295790 ms 
mapping solver time 13.597280 ms 
filter time 8.021099 ms 
data association time 14.807831 ms 
solver time 8.751165 ms 
publication time 11.073740 ms 
whole laserOdometry time 63.105362 ms 
 
points size 96872 
sort q time 5.160269 
seperate points time 12.044329 
mapping solver time 17.026998 ms 
solver time 11.460460 ms 
mapping data assosiation time 26.101365 ms 
data association time 14.937257 ms 
mapping solver time 14.785249 ms 
filter time 9.625630 ms 
points size 96660 
prepare time 18.281653 
build tree time 24.509010 ms 
scan registration time 37.214839 ms *************
data association time 14.064281 ms 
solver time 11.183348 ms 
data association time 14.570858 ms 
solver time 8.275639 ms 
publication time 8.677702 ms 
whole laserOdometry time 57.622817 ms 
 
mapping solver time 12.315134 ms 
filter time 9.694111 ms 
sort q time 5.544076 
seperate points time 13.874712 
build tree time 27.076699 ms 
data association time 17.912087 ms 
solver time 11.714841 ms 
data association time 13.955319 ms 
publication time 9.381355 ms 
whole laserOdometry time 62.283960 ms 
 
prepare time 18.077734 
sort q time 5.644630 
seperate points time 13.666143 
mapping solver time 17.281501 ms 
filter time 10.985007 ms 
solver time 10.776453 ms 
data association time 14.625154 ms 
build tree time 28.277833 ms 
publication time 8.665739 ms 
whole laserOdometry time 59.659864 ms 
 
mapping data assosiation time 26.970388 ms 
sort q time 4.970640 
seperate points time 11.657787 
data association time 13.547937 ms 
solver time 12.329192 ms 
mapping solver time 15.132645 ms 
solver time 7.681511 ms 
publication time 9.299145 ms 
whole laserOdometry time 58.947742 ms 
 
points size 97024 
sort q time 4.952828 
seperate points time 11.728763 
mapping pub time 78.230058 ms 
whole mapping time 209.141435 ms +++++
solver time 15.820199 ms 
data association time 16.537615 ms 
solver time 11.458915 ms 
points size 97200 
mapping data assosiation time 29.651605 ms 
sort q time 5.274799 
seperate points time 12.431407 
mapping solver time 19.025651 ms 
data association time 24.890908 ms 
mapping data assosiation time 26.007139 ms 
mapping solver time 15.511134 ms 
filter time 8.571795 ms 
data association time 25.505483 ms 
points size 97736 
prepare time 14.984282 
sort q time 5.655354 
seperate points time 13.332047 
mapping data assosiation time 27.494381 ms 
data association time 21.645415 ms 
solver time 10.676791 ms 
data association time 14.381545 ms 
mapping solver time 17.943063 ms 
points size 98284 
prepare time 20.187633 
filter time 11.318789 ms 
scan registration time 39.758958 ms *************
build tree time 25.902693 ms 
solver time 10.437050 ms 
data association time 15.060638 ms 
mapping solver time 17.255076 ms 
publication time 10.560329 ms 
whole laserOdometry time 65.775209 ms 
 
points size 98603 
mapping data assosiation time 29.876376 ms 
sort q time 5.893038 
seperate points time 14.108889 
scan registration time 38.140763 ms *************
mapping solver time 15.727031 ms 
mapping optimization time 116.281493 
filter time 8.526988 ms 
data association time 16.066081 ms 
solver time 13.367398 ms 
data association time 15.043549 ms 
solver time 11.171645 ms 
publication time 10.097232 ms 
whole laserOdometry time 66.569799 ms 
 
points size 98852 
prepare time 14.408029 
sort q time 4.601221 
seperate points time 11.247898 
mapping data assosiation time 28.269144 ms 
data association time 19.464293 ms 
mapping solver time 16.065110 ms 
mapping optimization time 118.735121 
add points time 0.757290 ms
solver time 12.611122 ms 
map prepare time 2.945944 ms
map corner num 98009  surf num 37175 
data association time 24.110317 ms 
solver time 11.876245 ms 
optimization twice time 69.106630 
build tree time 28.611707 ms 
sort q time 5.827734 
seperate points time 14.185635 
data association time 14.113493 ms 
data association time 14.033866 ms 
optimization twice time 49.375378 
mapping solver time 16.963889 ms 
filter time 10.757385 ms 
sort q time 4.617341 
seperate points time 10.903480 
build tree time 29.259640 ms 
data association time 26.071604 ms 
mapping data assosiation time 31.793398 ms 
mapping solver time 15.152174 ms 
solver time 11.663202 ms 
publication time 9.449756 ms 
whole laserOdometry time 78.742028 ms 
 
sort q time 5.665995 
seperate points time 13.141107 
filter time 9.953420 ms 
mapping pub time 1.215670 ms 
whole mapping time 138.583403 ms +++++
data association time 15.534940 ms 
map prepare time 3.835060 ms
map corner num 99246  surf num 37691 
data association time 15.400265 ms 
solver time 10.515363 ms 
publication time 10.344049 ms 
whole laserOdometry time 65.850143 ms 
 
mapping data assosiation time 31.816536 ms 
sort q time 4.935020 
seperate points time 11.398803 
data association time 16.354258 ms 
solver time 13.001306 ms 
mapping solver time 19.368026 ms 
filter time 10.120998 ms 
publication time 11.108184 ms 
whole laserOdometry time 69.016298 ms 
 
points size 102575 
prepare time 16.827915 
sort q time 5.634787 
seperate points time 13.578249 
scan registration time 35.786387 ms *************
mapping data assosiation time 30.056918 ms 
data association time 19.198695 ms 
mapping solver time 20.232820 ms 
data association time 17.407949 ms 
solver time 13.668934 ms 
publication time 10.712800 ms 
whole laserOdometry time 78.466802 ms 
 
sort q time 6.518293 
seperate points time 15.396355 
data association time 16.383198 ms 
solver time 11.978846 ms 
data association time 16.420461 ms 
solver time 11.445861 ms 
publication time 11.404728 ms 
whole laserOdometry time 68.455533 ms 
 
sort q time 5.289676 
seperate points time 12.607173 
mapping data assosiation time 29.748741 ms 
mapping solver time 15.974341 ms 
filter time 15.037867 ms 
solver time 7.801040 ms 
publication time 10.050140 ms 
whole laserOdometry time 64.377151 ms 
 
build tree time 27.360245 ms 
points size 102578 
prepare time 14.368622 
sort q time 5.023118 
seperate points time 11.806688 
[0m[ INFO] [1718887213.341829751]: Received 1295047 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887213.341882924]: Data saved to 1317357956706758.pcd[0m
data association time 27.026632 ms 
mapping solver time 26.265554 ms 
solver time 16.822352 ms 
mapping data assosiation time 36.566433 ms 
points size 102589 
data association time 29.657833 ms 
solver time 12.190323 ms 
sort q time 7.360966 
seperate points time 17.126432 
filter time 11.304579 ms 
map prepare time 4.339608 ms
map corner num 102041  surf num 38847 
data association time 26.237166 ms 
build tree time 34.913865 ms 
solver time 16.881480 ms 
points size 102689 
solver time 7.375661 ms 
mapping solver time 19.760473 ms 
data association time 16.485456 ms 
solver time 10.446614 ms 
mapping solver time 11.946363 ms 
filter time 9.367648 ms 
publication time 10.593109 ms 
whole laserOdometry time 63.953445 ms 
 
points size 102727 
build tree time 30.364527 ms 
scan registration time 36.124048 ms *************
mapping data assosiation time 32.313845 ms 
data association time 16.827313 ms 
mapping solver time 24.144625 ms 
solver time 8.778314 ms 
publication time 10.787735 ms 
whole laserOdometry time 65.698622 ms 
 
prepare time 15.145378 
sort q time 4.653309 
seperate points time 11.054701 
filter time 11.143904 ms 
data association time 27.076384 ms 
build tree time 29.665047 ms 
solver time 15.132139 ms 
data association time 17.715091 ms 
mapping data assosiation time 31.387615 ms 
points size 102788 
mapping solver time 19.225739 ms 
sort q time 6.062778 
seperate points time 14.840663 
mapping data assosiation time 31.982439 ms 
mapping solver time 15.138988 ms 
filter time 8.811117 ms 
data association time 20.633108 ms 
publication time 9.235842 ms 
whole laserOdometry time 68.173224 ms 
 
prepare time 18.514693 
sort q time 6.206482 
seperate points time 15.056124 
mapping data assosiation time 34.895274 ms 
data association time 16.386288 ms 
mapping solver time 15.534316 ms 
data association time 16.109183 ms 
solver time 11.830247 ms 
points size 102739 
map prepare time 4.009816 ms
map corner num 104636  surf num 39960 
scan registration time 38.687356 ms *************
build tree time 28.507373 ms 
data association time 17.493304 ms 
solver time 11.036646 ms 
mapping data assosiation time 31.958061 ms 
solver time 9.735259 ms 
publication time 9.511218 ms 
whole laserOdometry time 66.573369 ms 
 
sort q time 5.990692 
seperate points time 15.112680 
mapping solver time 13.185908 ms 
filter time 8.553308 ms 
solver time 11.233466 ms 
data association time 17.220443 ms 
publication time 10.824812 ms 
whole laserOdometry time 67.895374 ms 
 
prepare time 18.460274 
sort q time 10.664735 
seperate points time 17.719218 
data association time 17.166507 ms 
mapping data assosiation time 30.187212 ms 
mapping solver time 16.042138 ms 
filter time 11.287446 ms 
prepare time 14.770496 
sort q time 4.999781 
seperate points time 12.229552 
build tree time 29.842262 ms 
data association time 19.040069 ms 
mapping data assosiation time 29.756102 ms 
mapping solver time 16.592301 ms 
solver time 7.953456 ms 
publication time 10.252199 ms 
whole laserOdometry time 72.488905 ms 
 
mapping solver time 12.830445 ms 
filter time 10.904001 ms 
data association time 16.757145 ms 
solver time 11.162799 ms 
build tree time 27.728046 ms 
data association time 17.197423 ms 
mapping data assosiation time 29.808001 ms 
points size 102709 
mapping solver time 19.789706 ms 
sort q time 4.717380 
seperate points time 11.027422 
mapping data assosiation time 30.547263 ms 
mapping solver time 13.264648 ms 
filter time 13.737421 ms 
solver time 7.727693 ms 
points size 102395 
sort q time 4.762960 
seperate points time 11.563270 
mapping data assosiation time 32.085347 ms 
data association time 19.177985 ms 
solver time 13.279572 ms 
mapping data assosiation time 28.703391 ms 
solver time 9.668356 ms 
publication time 10.634760 ms 
whole laserOdometry time 72.991560 ms 
 
filter time 11.239921 ms 
sort q time 5.968080 
seperate points time 14.704422 
build tree time 27.533877 ms 
solver time 10.692411 ms 
mapping data assosiation time 27.829245 ms 
data association time 22.496510 ms 
solver time 10.374560 ms 
points size 102097 
prepare time 18.401618 
sort q time 6.166695 
seperate points time 14.848057 
scan registration time 39.121170 ms *************
mapping solver time 13.122625 ms 
mapping optimization time 117.131521 
add points time 0.700587 ms
filter time 10.838267 ms 
data association time 16.681633 ms 
solver time 13.341398 ms 
data association time 16.394522 ms 
solver time 11.663576 ms 
points size 102110 
mapping pub time 80.109581 ms 
whole mapping time 212.013060 ms +++++
build tree time 30.652065 ms 
solver time 9.857712 ms 
mapping data assosiation time 28.106044 ms 
solver time 9.966542 ms 
publication time 11.237835 ms 
whole laserOdometry time 65.633177 ms 
 
sort q time 6.063912 
seperate points time 15.127380 
mapping data assosiation time 29.169398 ms 
scan registration time 38.148914 ms *************
mapping solver time 16.291353 ms 
data association time 17.519768 ms 
map prepare time 2.979778 ms
map corner num 108799  surf num 41600 
data association time 17.919436 ms 
solver time 10.352654 ms 
publication time 10.316482 ms 
whole laserOdometry time 68.016894 ms 
 
prepare time 18.740174 
mapping data assosiation time 29.323881 ms 
sort q time 5.951308 
seperate points time 14.901464 
mapping solver time 19.365912 ms 
data association time 17.074320 ms 
solver time 11.951772 ms 
mapping solver time 14.807598 ms 
solver time 7.513661 ms 
publication time 11.345128 ms 
whole laserOdometry time 67.531773 ms 
 
points size 101442 
build tree time 31.796509 ms 
mapping data assosiation time 28.418637 ms 
solver time 13.175680 ms 
data association time 16.557107 ms 
mapping data assosiation time 30.346655 ms 
points size 101022 
prepare time 17.145337 
mapping solver time 14.839829 ms 
mapping optimization time 123.091704 
add points time 0.771428 ms
drop lidar frame in mapping for real time performance 
data association time 16.655563 ms 
build tree time 29.977575 ms 
data association time 16.935908 ms 
publication time 9.684754 ms 
whole laserOdometry time 68.353215 ms 
 
points size 100677 
prepare time 14.794792 
sort q time 5.693429 
seperate points time 12.882829 
mapping data assosiation time 28.632532 ms 
mapping solver time 14.885863 ms 
data association time 16.153537 ms 
map prepare time 2.827724 ms
map corner num 110545  surf num 42255 
solver time 12.618357 ms 
data association time 16.835581 ms 
solver time 10.841900 ms 
publication time 11.537576 ms 
whole laserOdometry time 69.049581 ms 
 
mapping data assosiation time 29.536899 ms 
mapping solver time 18.512750 ms 
data association time 16.569291 ms 
solver time 14.297578 ms 
mapping solver time 14.892976 ms 
solver time 10.565194 ms 
points size 95183 
sort q time 5.412076 
seperate points time 13.134040 
data association time 15.755806 ms 
solver time 13.607841 ms 
mapping solver time 17.666192 ms 
solver time 7.829152 ms 
mapping data assosiation time 27.732314 ms 
points size 92313 
mapping solver time 18.131357 ms 
sort q time 5.387077 
seperate points time 13.705314 
map prepare time 2.940912 ms
map corner num 111878  surf num 42708 
data association time 18.652726 ms 
solver time 10.006256 ms 
build tree time 32.633966 ms 
solver time 7.470115 ms 
mapping data assosiation time 27.526586 ms 
points size 90753 
scan registration time 33.942118 ms *************
mapping data assosiation time 26.672767 ms 
data association time 24.398907 ms 
mapping solver time 15.144743 ms 
mapping optimization time 124.569159 
add points time 0.654731 ms
mapping pub time 1.245100 ms 
whole mapping time 142.645318 ms +++++
data association time 24.744134 ms 
points size 89974 
build tree time 33.344297 ms 
publication time 10.417590 ms 
whole laserOdometry time 95.022720 ms 
 
mapping data assosiation time 29.635017 ms 
data association time 15.586618 ms 
solver time 13.582106 ms 
data association time 15.342846 ms 
publication time 8.580817 ms 
whole laserOdometry time 62.988692 ms 
 
prepare time 13.793800 
map prepare time 3.770447 ms
map corner num 113220  surf num 43112 
data association time 14.670552 ms 
build tree time 30.417158 ms 
mapping data assosiation time 23.007726 ms 
solver time 7.696862 ms 
points size 90489 
prepare time 13.286650 
mapping data assosiation time 24.276440 ms 
sort q time 5.181012 
seperate points time 12.128649 
filter time 9.321054 ms 
data association time 22.989815 ms 
solver time 14.336790 ms 
build tree time 28.734938 ms 
data association time 14.359884 ms 
mapping data assosiation time 23.510316 ms 
mapping solver time 20.618494 ms 
sort q time 5.755683 
seperate points time 13.992405 
mapping solver time 14.747802 ms 
mapping optimization time 118.190295 
add points time 0.625943 ms
data association time 14.952217 ms 
solver time 11.687337 ms 
data association time 14.671089 ms 
publication time 9.661581 ms 
whole laserOdometry time 60.106646 ms 
 
points size 89399 
prepare time 13.733426 
scan registration time 27.650944 ms *************
mapping solver time 16.502846 ms 
data association time 16.184658 ms 
solver time 8.270402 ms 
data association time 14.105013 ms 
mapping solver time 12.689783 ms 
mapping optimization time 103.385445 
add points time 0.597797 ms
publication time 9.477584 ms 
whole laserOdometry time 59.928480 ms 
 
points size 89036 
build tree time 31.263736 ms 
scan registration time 29.851390 ms *************
mapping data assosiation time 24.159275 ms 
data association time 17.281479 ms 
solver time 10.480064 ms 
mapping data assosiation time 21.340852 ms 
solver time 10.654785 ms 
publication time 10.004579 ms 
whole laserOdometry time 65.869987 ms 
 
map prepare time 2.834577 ms
map corner num 115689  surf num 43749 
sort q time 4.051463 
seperate points time 9.646512 
build tree time 31.463284 ms 
solver time 10.967691 ms 
data association time 15.975148 ms 
solver time 10.181452 ms 
publication time 9.444870 ms 
whole laserOdometry time 63.922875 ms 
 
mapping solver time 10.114219 ms 
prepare time 13.480907 
map prepare time 2.599117 ms
map corner num 116110  surf num 43842 
sort q time 5.735768 
seperate points time 13.284040 
data association time 13.775909 ms 
solver time 12.438826 ms 
mapping data assosiation time 21.583668 ms 
solver time 8.678955 ms 
publication time 9.075496 ms 
whole laserOdometry time 62.922051 ms 
 
mapping data assosiation time 21.980810 ms 
points size 87492 
mapping optimization time 102.164362 
scan registration time 26.999484 ms *************
map prepare time 3.034187 ms
map corner num 116579  surf num 43945 
data association time 15.761404 ms 
solver time 10.861291 ms 
build tree time 31.292827 ms 
solver time 8.276786 ms 
mapping data assosiation time 20.602387 ms 
mapping solver time 15.521202 ms 
prepare time 13.898906 
mapping data assosiation time 22.094901 ms 
mapping solver time 13.448742 ms 
filter time 10.984703 ms 
solver time 11.446398 ms 
data association time 13.923231 ms 
build tree time 33.499561 ms 
mapping data assosiation time 22.021049 ms 
mapping solver time 14.621657 ms 
mapping data assosiation time 21.378203 ms 
solver time 8.818683 ms 
filter time 12.021615 ms 
solver time 8.357281 ms 
publication time 7.391721 ms 
whole laserOdometry time 55.298994 ms 
 
build tree time 32.686769 ms 
sort q time 3.880146 
seperate points time 9.208005 
mapping solver time 12.457205 ms 
data association time 13.507474 ms 
solver time 10.709296 ms 
mapping solver time 10.112214 ms 
mapping optimization time 99.131177 
add points time 0.543247 ms
data association time 14.163190 ms 
map prepare time 3.154769 ms
map corner num 117681  surf num 44155 
points size 87598 
build tree time 33.944378 ms 
mapping data assosiation time 21.585607 ms 
mapping solver time 11.063084 ms 
solver time 15.731056 ms 
mapping data assosiation time 20.639245 ms 
mapping solver time 10.435138 ms 
filter time 12.167781 ms 
points size 88148 
sort q time 4.752002 
seperate points time 11.159468 
build tree time 34.572103 ms 
data association time 21.476445 ms 
mapping solver time 14.076583 ms 
mapping data assosiation time 18.055070 ms 
mapping solver time 13.603562 ms 
publication time 9.499887 ms 
whole laserOdometry time 80.640931 ms 
 
sort q time 4.214396 
seperate points time 10.054174 
build tree time 31.464681 ms 
data association time 19.944927 ms 
solver time 10.124712 ms 
mapping solver time 14.509022 ms 
data association time 13.645106 ms 
solver time 14.624273 ms 
mapping solver time 12.689060 ms 
filter time 11.535871 ms 
data association time 13.709036 ms 
solver time 14.044461 ms 
data association time 17.195915 ms 
solver time 7.813500 ms 
optimization twice time 53.661355 
map prepare time 4.685506 ms
map corner num 118643  surf num 44360 
points size 89647 
sort q time 4.291900 
seperate points time 10.176195 
build tree time 34.644948 ms 
mapping data assosiation time 17.819514 ms 
solver time 12.449307 ms 
data association time 15.341526 ms 
solver time 10.567024 ms 
filter time 13.486564 ms 
map prepare time 4.461309 ms
map corner num 194162  surf num 72424 
sort q time 5.113798 
seperate points time 12.585630 
solver time 12.933837 ms 
data association time 16.210967 ms 
solver time 13.081802 ms 
points size 89256 
prepare time 18.323193 
mapping data assosiation time 24.156796 ms 
scan registration time 37.593659 ms *************
mapping optimization time 129.066985 
filter time 16.132051 ms 
solver time 15.435076 ms 
data association time 16.238900 ms 
solver time 10.221316 ms 
publication time 9.548586 ms 
whole laserOdometry time 68.281869 ms 
 
points size 90914 
prepare time 17.101983 
sort q time 4.623062 
seperate points time 11.263170 
scan registration time 32.745838 ms *************
data association time 13.344812 ms 
solver time 14.497834 ms 
data association time 15.089061 ms 
solver time 11.065601 ms 
mapping pub time 1.788974 ms 
whole mapping time 146.922814 ms +++++
map prepare time 4.147654 ms
map corner num 195062  surf num 72629 
sort q time 4.667099 
seperate points time 11.052885 
data association time 12.921882 ms 
build tree time 56.030216 ms 
data association time 13.466440 ms 
publication time 8.611921 ms 
whole laserOdometry time 56.127464 ms 
 
points size 95708 
sort q time 4.546807 
seperate points time 10.645572 
filter time 16.737722 ms 
solver time 10.527919 ms 
data association time 14.063596 ms 
publication time 7.907868 ms 
whole laserOdometry time 55.136924 ms 
 
build tree time 58.115810 ms 
mapping data assosiation time 20.547396 ms 
mapping solver time 15.517309 ms 
data association time 19.152877 ms 
mapping data assosiation time 21.278370 ms 
solver time 14.581425 ms 
data association time 12.854804 ms 
mapping pub time 3.555720 ms 
whole mapping time 152.460836 ms +++++
publication time 10.281820 ms 
whole laserOdometry time 66.580806 ms 
 
points size 96302 
sort q time 5.264121 
seperate points time 12.245348 
build tree time 55.294252 ms 
solver time 11.675440 ms 
data association time 13.645335 ms 
mapping solver time 15.464463 ms 
publication time 8.534489 ms 
whole laserOdometry time 60.242483 ms 
 
points size 95890 
sort q time 5.427093 
seperate points time 13.431736 
map prepare time 4.279001 ms
map corner num 196573  surf num 73108 
data association time 24.121180 ms 
solver time 15.424310 ms 
data association time 24.454276 ms 
points size 94072 
publication time 12.067200 ms 
whole laserOdometry time 90.253344 ms 
 
mapping solver time 17.515557 ms 
data association time 22.691289 ms 
mapping data assosiation time 25.325402 ms 
solver time 17.868190 ms 
mapping solver time 16.382908 ms 
data association time 21.250724 ms 
filter time 19.940871 ms 
publication time 10.363723 ms 
whole laserOdometry time 85.261713 ms 
 
sort q time 5.384970 
seperate points time 13.416923 
data association time 13.231659 ms 
solver time 11.222004 ms 
build tree time 58.174401 ms 
solver time 7.959347 ms 
mapping data assosiation time 29.003898 ms 
points size 90739 
mapping solver time 25.741496 ms 
scan registration time 35.211273 ms *************
data association time 13.901008 ms 
mapping data assosiation time 24.173607 ms 
add points time 0.682726 ms
data association time 14.279265 ms 
solver time 8.792984 ms 
publication time 8.726869 ms 
whole laserOdometry time 58.405627 ms 
 
points size 89319 
sort q time 4.946330 
seperate points time 11.357403 
build tree time 56.596476 ms 
mapping solver time 21.396236 ms 
filter time 16.377630 ms 
solver time 13.215408 ms 
data association time 15.066738 ms 
solver time 8.860764 ms 
publication time 7.656815 ms 
whole laserOdometry time 59.680063 ms 
 
build tree time 50.769090 ms 
points size 90710 
prepare time 14.381231 
sort q time 4.304377 
seperate points time 10.402127 
mapping solver time 16.536752 ms 
data association time 16.068367 ms 
solver time 7.775158 ms 
data association time 13.432549 ms 
publication time 7.470113 ms 
whole laserOdometry time 53.887794 ms 
 
filter time 15.693767 ms 
mapping pub time 3.265657 ms 
whole mapping time 144.554459 ms +++++
drop lidar frame in mapping for real time performance 
points size 91630 
sort q time 5.397734 
seperate points time 12.560668 
data association time 13.549516 ms 
mapping data assosiation time 19.381364 ms 
solver time 8.688325 ms 
mapping solver time 14.075370 ms 
solver time 8.106933 ms 
publication time 7.616379 ms 
whole laserOdometry time 51.940577 ms 
 
mapping optimization time 109.420545 
points size 93327 
map prepare time 3.208568 ms
map corner num 166452  surf num 59603 
data association time 20.231435 ms 
build tree time 51.731282 ms 
data association time 23.297291 ms 
solver time 12.703025 ms 
publication time 9.804350 ms 
whole laserOdometry time 78.205449 ms 
 
sort q time 5.257982 
seperate points time 12.969217 
mapping solver time 15.791502 ms 
data association time 20.280640 ms 
filter time 17.136458 ms 
map prepare time 4.213194 ms
map corner num 167140  surf num 59740 
data association time 20.426354 ms 
solver time 8.036844 ms 
prepare time 14.358390 
sort q time 5.017261 
seperate points time 11.888742 
data association time 14.041865 ms 
solver time 10.358889 ms 
data association time 15.759677 ms 
solver time 5.058174 ms 
optimization twice time 46.036505 
mapping solver time 13.622545 ms 
filter time 13.366003 ms 
mapping pub time 1.084743 ms 
whole mapping time 143.145359 ms +++++
drop lidar frame in mapping for real time performance 
points size 97638 
prepare time 14.258508 
map prepare time 3.601430 ms
map corner num 167722  surf num 59848 
sort q time 5.597991 
seperate points time 12.788005 
scan registration time 31.285256 ms *************
data association time 13.314181 ms 
build tree time 43.751139 ms 
solver time 10.916033 ms 
data association time 13.743412 ms 
solver time 9.015328 ms 
mapping solver time 13.809354 ms 
mapping data assosiation time 22.302457 ms 
mapping optimization time 108.465084 
scan registration time 31.418835 ms *************
map prepare time 4.171579 ms
map corner num 168207  surf num 59940 
data association time 20.838403 ms 
solver time 14.778185 ms 
data association time 20.436793 ms 
solver time 12.427710 ms 
prepare time 14.354573 
mapping data assosiation time 23.062276 ms 
scan registration time 32.010338 ms *************
data association time 22.987892 ms 
mapping data assosiation time 24.982344 ms 
mapping solver time 13.560329 ms 
filter time 17.253799 ms 
mapping pub time 4.215447 ms 
whole mapping time 162.299662 ms +++++
points size 94038 
publication time 9.794534 ms 
whole laserOdometry time 87.403952 ms 
 
scan registration time 33.652538 ms *************
build tree time 50.610582 ms 
solver time 8.084322 ms 
data association time 13.145829 ms 
optimization twice time 44.117499 
mapping data assosiation time 21.878382 ms 
mapping solver time 11.357504 ms 
sort q time 4.851025 
seperate points time 11.624251 
data association time 13.651276 ms 
solver time 11.419171 ms 
data association time 14.212411 ms 
build tree time 45.977533 ms 
publication time 6.821207 ms 
whole laserOdometry time 56.458163 ms 
 
points size 89187 
mapping solver time 12.729296 ms 
prepare time 14.154264 
sort q time 3.871904 
seperate points time 9.435636 
mapping data assosiation time 20.319349 ms 
mapping solver time 11.185077 ms 
filter time 16.430202 ms 
data association time 15.963384 ms 
solver time 10.002240 ms 
points size 86202 
scan registration time 27.068130 ms *************
mapping data assosiation time 20.140931 ms 
mapping solver time 13.462908 ms 
data association time 14.702853 ms 
solver time 10.804902 ms 
data association time 13.121171 ms 
mapping solver time 10.453693 ms 
mapping optimization time 110.703553 
add points time 0.493483 ms
filter time 15.400870 ms 
points size 80644 
sort q time 4.474228 
seperate points time 10.957394 
mapping data assosiation time 22.502255 ms 
mapping solver time 19.690247 ms 
data association time 13.592597 ms 
solver time 12.027302 ms 
publication time 8.724076 ms 
whole laserOdometry time 72.286264 ms 
 
filter time 19.106734 ms 
data association time 13.512887 ms 
solver time 10.391214 ms 
data association time 13.288954 ms 
publication time 6.606617 ms 
whole laserOdometry time 52.661042 ms 
 
points size 77603 
sort q time 3.720133 
seperate points time 9.263157 
mapping data assosiation time 18.079371 ms 
data association time 13.733211 ms 
solver time 12.033045 ms 
data association time 13.282457 ms 
publication time 6.672873 ms 
whole laserOdometry time 55.329706 ms 
 
points size 76592 
sort q time 3.379303 
seperate points time 8.231828 
data association time 13.083319 ms 
mapping pub time 96.853555 ms 
whole mapping time 229.190507 ms +++++
data association time 14.093845 ms 
publication time 6.774643 ms 
whole laserOdometry time 56.208653 ms 
 
build tree time 50.399570 ms 
sort q time 4.663968 
seperate points time 11.838881 
mapping solver time 12.846607 ms 
data association time 12.876399 ms 
mapping data assosiation time 19.714453 ms 
mapping solver time 11.244288 ms 
publication time 7.313799 ms 
whole laserOdometry time 54.580118 ms 
 
map prepare time 2.894158 ms
map corner num 171441  surf num 60677 
points size 74519 
sort q time 3.654438 
seperate points time 8.827806 
[0m[ INFO] [1718887220.926175275]: Received 1339677 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887220.926210157]: Data saved to 1317357965435048.pcd[0m
build tree time 49.759059 ms 
data association time 11.680629 ms 
solver time 7.823395 ms 
optimization twice time 44.215916 
publication time 6.588381 ms 
whole laserOdometry time 50.818509 ms 
 
mapping data assosiation time 18.365231 ms 
points size 73883 
mapping solver time 14.551898 ms 
mapping optimization time 117.370015 
add points time 0.628758 ms
prepare time 11.920684 
scan registration time 23.101951 ms *************
map prepare time 4.016324 ms
map corner num 171928  surf num 60800 
data association time 17.884035 ms 
solver time 14.942097 ms 
data association time 13.207071 ms 
build tree time 52.990414 ms 
publication time 7.036923 ms 
whole laserOdometry time 64.387555 ms 
 
mapping data assosiation time 19.690816 ms 
points size 69917 
sort q time 4.084374 
seperate points time 9.865833 
mapping data assosiation time 19.719631 ms 
data association time 17.000256 ms 
solver time 13.131592 ms 
data association time 15.553977 ms 
solver time 10.613205 ms 
points size 66289 
sort q time 2.908607 
seperate points time 7.211554 
mapping data assosiation time 20.670145 ms 
mapping solver time 14.284929 ms 
solver time 11.761545 ms 
mapping data assosiation time 18.107574 ms 
data association time 18.960327 ms 
mapping pub time 0.961560 ms 
whole mapping time 128.412640 ms +++++
solver time 11.940864 ms 
optimization twice time 62.554437 
map prepare time 3.379454 ms
map corner num 172852  surf num 61054 
points size 61897 
sort q time 3.079911 
seperate points time 7.498765 
build tree time 49.363071 ms 
solver time 11.231230 ms 
data association time 12.150305 ms 
solver time 14.632466 ms 
mapping solver time 10.127628 ms 
points size 58568 
sort q time 3.232825 
seperate points time 8.218569 
data association time 12.020793 ms 
solver time 11.196170 ms 
data association time 12.241280 ms 
publication time 5.263169 ms 
whole laserOdometry time 47.679608 ms 
 
mapping data assosiation time 15.311323 ms 
mapping solver time 10.598378 ms 
points size 61973 
prepare time 9.132961 
mapping data assosiation time 17.064959 ms 
filter time 18.067708 ms 
data association time 18.772268 ms 
solver time 15.252107 ms 
data association time 18.580696 ms 
solver time 11.069254 ms 
build tree time 60.059195 ms 
points size 66828 
sort q time 3.299835 
seperate points time 8.498983 
data association time 12.584999 ms 
solver time 11.873711 ms 
data association time 12.722592 ms 
filter time 15.318189 ms 
mapping pub time 0.741553 ms 
whole mapping time 139.400019 ms +++++
map prepare time 2.924314 ms
map corner num 174106  surf num 61412 
publication time 6.044173 ms 
whole laserOdometry time 52.548636 ms 
 
points size 67285 
sort q time 3.401118 
seperate points time 8.657568 
build tree time 47.493141 ms 
scan registration time 22.695432 ms *************
mapping data assosiation time 21.758496 ms 
mapping solver time 16.480245 ms 
solver time 16.649961 ms 
mapping data assosiation time 21.904790 ms 
data association time 21.389596 ms 
mapping optimization time 120.977170 
publication time 7.349064 ms 
whole laserOdometry time 80.288845 ms 
 
prepare time 11.701845 
sort q time 3.841651 
seperate points time 9.154236 
data association time 19.302702 ms 
solver time 15.294133 ms 
mapping data assosiation time 16.534993 ms 
data association time 19.038709 ms 
solver time 11.446826 ms 
mapping data assosiation time 20.837406 ms 
points size 69879 
prepare time 16.929903 
sort q time 3.791596 
seperate points time 9.875582 
filter time 15.664226 ms 
data association time 19.806559 ms 
solver time 15.082011 ms 
data association time 19.144166 ms 
solver time 11.492050 ms 
publication time 7.676843 ms 
whole laserOdometry time 74.211919 ms 
 
prepare time 11.673706 
sort q time 3.505189 
seperate points time 8.562338 
mapping data assosiation time 18.094119 ms 
data association time 17.514519 ms 
solver time 10.364053 ms 
filter time 17.556696 ms 
map prepare time 3.060340 ms
map corner num 175639  surf num 61861 
publication time 6.046713 ms 
whole laserOdometry time 57.034817 ms 
 
points size 71753 
build tree time 47.289735 ms 
mapping data assosiation time 17.569721 ms 
data association time 12.455887 ms 
solver time 11.079816 ms 
mapping data assosiation time 16.487182 ms 
data association time 15.541374 ms 
publication time 6.212729 ms 
whole laserOdometry time 55.024914 ms 
 
filter time 19.579180 ms 
points size 73585 
prepare time 12.143869 
build tree time 47.018736 ms 
solver time 10.258775 ms 
mapping data assosiation time 17.559382 ms 
data association time 13.486707 ms 
solver time 7.892171 ms 
mapping data assosiation time 17.545928 ms 
mapping solver time 10.502063 ms 
points size 78057 
map prepare time 3.856154 ms
map corner num 176468  surf num 62094 
data association time 14.203295 ms 
solver time 10.803826 ms 
data association time 13.640578 ms 
publication time 6.605521 ms 
whole laserOdometry time 54.145665 ms 
 
mapping data assosiation time 19.693853 ms 
mapping solver time 12.691380 ms 
points size 80442 
mapping data assosiation time 17.577232 ms 
mapping solver time 11.478548 ms 
data association time 13.602821 ms 
data association time 13.032465 ms 
solver time 10.142042 ms 
build tree time 47.072201 ms 
points size 80291 
prepare time 12.180573 
mapping data assosiation time 19.369535 ms 
sort q time 5.129163 
seperate points time 11.878617 
mapping data assosiation time 17.239991 ms 
data association time 13.337280 ms 
solver time 11.276801 ms 
publication time 7.450654 ms 
whole laserOdometry time 58.021019 ms 
 
points size 79266 
sort q time 4.149773 
seperate points time 10.222400 
mapping data assosiation time 18.023833 ms 
mapping solver time 12.447142 ms 
data association time 14.960929 ms 
solver time 10.419463 ms 
optimization twice time 54.460490 
mapping solver time 10.840382 ms 
mapping optimization time 110.273348 
add points time 0.474766 ms
publication time 7.331754 ms 
whole laserOdometry time 61.812398 ms 
 
filter time 14.643310 ms 
points size 79379 
sort q time 3.837498 
seperate points time 9.342676 
data association time 12.861001 ms 
build tree time 48.228947 ms 
mapping data assosiation time 17.816869 ms 
data association time 13.357816 ms 
mapping solver time 18.033503 ms 
mapping data assosiation time 20.782254 ms 
points size 79675 
prepare time 12.428242 
sort q time 4.290188 
seperate points time 10.060252 
filter time 19.025291 ms 
solver time 11.293759 ms 
data association time 13.585403 ms 
solver time 10.543531 ms 
build tree time 49.799328 ms 
mapping data assosiation time 17.531639 ms 
mapping solver time 12.121793 ms 
sort q time 3.438170 
seperate points time 8.256749 
scan registration time 24.395105 ms *************
mapping data assosiation time 20.015653 ms 
data association time 21.045669 ms 
solver time 11.376284 ms 
filter time 17.723074 ms 
data association time 20.671278 ms 
solver time 11.326145 ms 
publication time 8.246902 ms 
whole laserOdometry time 73.808241 ms 
 
prepare time 13.332527 
sort q time 4.998039 
seperate points time 11.966717 
mapping data assosiation time 22.049890 ms 
mapping solver time 19.174240 ms 
mapping data assosiation time 21.736834 ms 
solver time 12.880701 ms 
sort q time 4.516911 
seperate points time 10.928818 
data association time 13.279108 ms 
data association time 13.712826 ms 
publication time 6.940723 ms 
whole laserOdometry time 54.825832 ms 
 
mapping solver time 11.187354 ms 
mapping data assosiation time 16.992997 ms 
mapping solver time 14.846440 ms 
data association time 20.876505 ms 
map prepare time 3.918679 ms
map corner num 179280  surf num 62992 
data association time 21.182910 ms 
solver time 11.239355 ms 
publication time 8.652401 ms 
whole laserOdometry time 75.270178 ms 
 
build tree time 59.516231 ms 
sort q time 5.248126 
seperate points time 12.361062 
mapping data assosiation time 22.017840 ms 
data association time 22.421856 ms 
mapping solver time 19.035996 ms 
solver time 17.444266 ms 
mapping data assosiation time 22.809687 ms 
data association time 22.353290 ms 
solver time 8.177096 ms 
publication time 8.302608 ms 
whole laserOdometry time 79.789437 ms 
 
sort q time 4.205637 
seperate points time 10.341460 
data association time 21.819277 ms 
solver time 12.035856 ms 
data association time 21.251245 ms 
solver time 11.993820 ms 
publication time 8.303727 ms 
whole laserOdometry time 76.481866 ms 
 
prepare time 15.297812 
sort q time 4.599573 
seperate points time 11.828210 
solver time 11.069968 ms 
build tree time 64.471534 ms 
data association time 21.010168 ms 
solver time 13.207421 ms 
mapping data assosiation time 22.793151 ms 
mapping solver time 14.754644 ms 
mapping data assosiation time 23.175014 ms 
data association time 22.731262 ms 
mapping solver time 16.388090 ms 
filter time 17.936770 ms 
data association time 21.233811 ms 
solver time 11.678335 ms 
points size 82121 
sort q time 4.101593 
seperate points time 10.167418 
build tree time 54.506322 ms 
mapping data assosiation time 23.313825 ms 
data association time 23.501810 ms 
solver time 16.531331 ms 
data association time 23.278234 ms 
points size 83180 
publication time 8.523535 ms 
whole laserOdometry time 85.773801 ms 
 
filter time 18.273957 ms 
mapping pub time 1.494539 ms 
whole mapping time 164.156089 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.736992 ms
map corner num 180792  surf num 63430 
data association time 21.504040 ms 
solver time 15.278951 ms 
data association time 20.800263 ms 
solver time 9.980460 ms 
points size 85214 
mapping data assosiation time 19.323201 ms 
mapping solver time 12.458641 ms 
data association time 13.267596 ms 
solver time 11.470645 ms 
data association time 13.138778 ms 
solver time 10.298039 ms 
points size 88857 
sort q time 4.654760 
seperate points time 11.049502 
build tree time 54.328314 ms 
data association time 21.390270 ms 
solver time 11.646726 ms 
mapping solver time 13.313572 ms 
data association time 21.343332 ms 
optimization twice time 66.919436 
points size 89918 
sort q time 4.853495 
seperate points time 11.375102 
data association time 21.533557 ms 
build tree time 47.136848 ms 
solver time 15.443469 ms 
mapping data assosiation time 17.985963 ms 
data association time 21.601238 ms 
mapping solver time 13.780012 ms 
optimization twice time 71.490276 
publication time 8.693387 ms 
whole laserOdometry time 80.200009 ms 
 
sort q time 4.794518 
seperate points time 11.085337 
mapping solver time 11.261187 ms 
filter time 17.486091 ms 
solver time 12.023921 ms 
data association time 14.142732 ms 
optimization twice time 57.046186 
build tree time 48.758749 ms 
points size 90477 
sort q time 5.234568 
seperate points time 12.578927 
mapping data assosiation time 20.605877 ms 
data association time 23.145149 ms 
solver time 15.250187 ms 
mapping pub time 1.570547 ms 
whole mapping time 146.720198 ms +++++
data association time 22.773708 ms 
points size 90565 
publication time 9.140957 ms 
whole laserOdometry time 83.148395 ms 
 
scan registration time 35.360766 ms *************
build tree time 61.456089 ms 
data association time 23.690566 ms 
mapping data assosiation time 23.298860 ms 
solver time 17.424659 ms 
mapping solver time 20.133249 ms 
data association time 23.802886 ms 
points size 90653 
publication time 9.118018 ms 
whole laserOdometry time 88.318438 ms 
 
filter time 17.612629 ms 
data association time 22.317671 ms 
solver time 11.505793 ms 
data association time 21.910225 ms 
solver time 11.452396 ms 
publication time 9.408955 ms 
whole laserOdometry time 77.686368 ms 
 
sort q time 5.374519 
seperate points time 12.490798 
mapping data assosiation time 19.097418 ms 
mapping solver time 19.085846 ms 
solver time 17.373311 ms 
mapping solver time 15.966370 ms 
solver time 11.803814 ms 
publication time 9.501673 ms 
whole laserOdometry time 84.777447 ms 
 
scan registration time 32.464345 ms *************
[0m[ INFO] [1718887224.888048751]: Received 1350994 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887224.888073408]: Data saved to 1317357968242940.pcd[0m
data association time 22.400555 ms 
solver time 14.890460 ms 
data association time 24.754936 ms 
points size 92824 
sort q time 4.712903 
seperate points time 11.351236 
mapping data assosiation time 18.473836 ms 
mapping solver time 10.918658 ms 
solver time 11.584887 ms 
data association time 14.321717 ms 
optimization twice time 51.671245 
points size 94725 
prepare time 13.806944 
build tree time 51.940982 ms 
data association time 14.860662 ms 
mapping solver time 12.833604 ms 
mapping data assosiation time 19.515440 ms 
mapping solver time 9.805471 ms 
publication time 8.361493 ms 
whole laserOdometry time 57.649948 ms 
 
filter time 19.367101 ms 
points size 95152 
sort q time 5.038733 
seperate points time 11.661601 
data association time 14.196754 ms 
data association time 13.635473 ms 
publication time 8.533788 ms 
whole laserOdometry time 50.747647 ms 
 
points size 95639 
sort q time 5.458258 
seperate points time 12.700753 
filter time 16.743420 ms 
solver time 10.349246 ms 
data association time 19.056852 ms 
publication time 7.542144 ms 
whole laserOdometry time 62.062589 ms 
 
points size 96339 
prepare time 13.529375 
sort q time 5.358302 
seperate points time 12.562330 
mapping data assosiation time 20.017876 ms 
mapping solver time 12.883197 ms 
mapping optimization time 122.321210 
add points time 0.606674 ms
solver time 10.553592 ms 
filter time 16.353476 ms 
solver time 8.791264 ms 
publication time 9.834535 ms 
whole laserOdometry time 67.602108 ms 
 
prepare time 14.504811 
sort q time 4.866670 
seperate points time 11.294704 
scan registration time 30.339222 ms *************
build tree time 53.611274 ms 
data association time 15.608968 ms 
solver time 10.970098 ms 
mapping solver time 14.381900 ms 
data association time 19.414083 ms 
solver time 8.532553 ms 
mapping data assosiation time 20.972548 ms 
mapping solver time 10.468840 ms 
prepare time 16.435972 
map prepare time 3.337613 ms
map corner num 185635  surf num 64674 
data association time 14.580191 ms 
solver time 13.416540 ms 
data association time 16.949989 ms 
solver time 10.279595 ms 
mapping solver time 17.288576 ms 
sort q time 5.156441 
seperate points time 12.442858 
mapping data assosiation time 18.995545 ms 
scan registration time 31.723026 ms *************
data association time 15.295576 ms 
solver time 11.798508 ms 
data association time 15.048662 ms 
publication time 9.120603 ms 
whole laserOdometry time 59.091699 ms 
 
build tree time 49.869189 ms 
prepare time 14.156820 
sort q time 5.214848 
seperate points time 12.089914 
mapping solver time 15.264531 ms 
solver time 10.906759 ms 
mapping solver time 12.842960 ms 
optimization twice time 50.832521 
publication time 8.344669 ms 
whole laserOdometry time 59.196172 ms 
 
map prepare time 4.050630 ms
map corner num 186651  surf num 64932 
points size 99243 
sort q time 4.723082 
seperate points time 11.359501 
scan registration time 33.018870 ms *************
build tree time 50.652366 ms 
data association time 23.644213 ms 
map prepare time 3.537200 ms
map corner num 187150  surf num 65075 
solver time 11.455201 ms 
data association time 15.194940 ms 
solver time 9.549307 ms 
build tree time 56.039878 ms 
sort q time 4.997011 
seperate points time 11.698241 
data association time 16.015960 ms 
data association time 15.581428 ms 
mapping data assosiation time 25.269760 ms 
mapping solver time 17.971797 ms 
points size 96937 
sort q time 4.962897 
seperate points time 11.595764 
scan registration time 30.856314 ms *************
data association time 14.879530 ms 
solver time 8.913005 ms 
build tree time 64.372513 ms 
publication time 7.310581 ms 
whole laserOdometry time 57.643611 ms 
 
points size 95542 
sort q time 6.047095 
seperate points time 14.229391 
mapping solver time 10.406371 ms 
data association time 14.931059 ms 
filter time 18.533519 ms 
data association time 14.879307 ms 
solver time 8.312052 ms 
publication time 8.169641 ms 
whole laserOdometry time 55.634524 ms 
 
build tree time 34.204701 ms 
prepare time 16.886372 
sort q time 4.853899 
seperate points time 11.717430 
scan registration time 33.656686 ms *************
data association time 14.059906 ms 
solver time 11.161710 ms 
mapping solver time 13.744746 ms 
solver time 8.616792 ms 
map prepare time 3.672725 ms
map corner num 128773  surf num 42708 
points size 93165 
sort q time 5.049568 
seperate points time 11.548105 
build tree time 35.070349 ms 
scan registration time 29.399238 ms *************
mapping data assosiation time 19.869310 ms 
data association time 26.359394 ms 
solver time 13.979379 ms 
mapping data assosiation time 20.979379 ms 
mapping solver time 9.738122 ms 
filter time 13.663858 ms 
sort q time 4.387047 
seperate points time 10.612916 
data association time 14.222321 ms 
solver time 9.888930 ms 
data association time 14.244186 ms 
map prepare time 3.153786 ms
map corner num 129183  surf num 42810 
points size 90064 
build tree time 33.033461 ms 
scan registration time 30.864278 ms *************
mapping data assosiation time 25.066232 ms 
data association time 23.850723 ms 
mapping solver time 23.030125 ms 
solver time 12.324296 ms 
data association time 22.751952 ms 
publication time 7.549214 ms 
whole laserOdometry time 73.062911 ms 
 
filter time 10.960618 ms 
scan registration time 30.269795 ms *************
data association time 14.640778 ms 
solver time 11.993169 ms 
build tree time 50.513791 ms 
solver time 7.994992 ms 
mapping data assosiation time 19.863032 ms 
mapping solver time 16.657473 ms 
sort q time 4.694569 
seperate points time 10.820077 
mapping solver time 12.793564 ms 
data association time 17.353561 ms 
map prepare time 4.148152 ms
map corner num 193821  surf num 64030 
data association time 15.569977 ms 
solver time 10.024141 ms 
points size 91182 
sort q time 4.602814 
seperate points time 10.794633 
data association time 14.089340 ms 
solver time 11.248899 ms 
mapping data assosiation time 22.295167 ms 
mapping solver time 13.216747 ms 
filter time 19.097019 ms 
prepare time 15.151582 
sort q time 5.167863 
seperate points time 12.114752 
data association time 22.070784 ms 
build tree time 62.778340 ms 
solver time 16.450368 ms 
mapping data assosiation time 22.633311 ms 
mapping solver time 16.012579 ms 
prepare time 19.681026 
mapping data assosiation time 24.907370 ms 
sort q time 6.103322 
seperate points time 14.762383 
mapping solver time 16.180922 ms 
data association time 14.832309 ms 
filter time 16.811994 ms 
mapping pub time 1.096291 ms 
whole mapping time 165.556161 ms +++++
data association time 14.000867 ms 
prepare time 18.021805 
sort q time 5.892370 
seperate points time 14.320742 
mapping data assosiation time 21.429646 ms 
mapping solver time 13.985950 ms 
solver time 11.173509 ms 
mapping data assosiation time 18.657803 ms 
data association time 14.614401 ms 
optimization twice time 47.913414 
filter time 19.745245 ms 
sort q time 4.794424 
seperate points time 10.993762 
data association time 13.852481 ms 
solver time 11.060369 ms 
build tree time 51.582977 ms 
mapping data assosiation time 21.502231 ms 
mapping solver time 15.834401 ms 
points size 88774 
mapping data assosiation time 18.292120 ms 
sort q time 5.611341 
seperate points time 12.827598 
filter time 15.433920 ms 
solver time 12.396433 ms 
data association time 13.672705 ms 
publication time 6.930943 ms 
whole laserOdometry time 58.009622 ms 
 
points size 87098 
mapping data assosiation time 18.870439 ms 
mapping solver time 14.938115 ms 
data association time 14.188519 ms 
mapping solver time 11.829404 ms 
solver time 8.724697 ms 
points size 85110 
sort q time 3.973798 
seperate points time 9.305041 
build tree time 52.705292 ms 
solver time 11.956489 ms 
data association time 14.572638 ms 
publication time 7.293389 ms 
whole laserOdometry time 57.882152 ms 
 
mapping data assosiation time 19.418550 ms 
mapping solver time 8.983503 ms 
filter time 16.128343 ms 
data association time 20.880679 ms 
solver time 15.289664 ms 
data association time 20.889372 ms 
solver time 12.027729 ms 
publication time 8.209356 ms 
whole laserOdometry time 78.417837 ms 
 
mapping data assosiation time 19.833380 ms 
sort q time 4.246716 
seperate points time 10.392457 
scan registration time 27.897184 ms *************
filter time 14.366935 ms 
solver time 11.353705 ms 
data association time 20.574939 ms 
solver time 8.338066 ms 
optimization twice time 62.534746 
points size 81139 
prepare time 12.289695 
sort q time 4.248409 
seperate points time 9.986843 
mapping solver time 21.172456 ms 
data association time 29.179522 ms 
mapping data assosiation time 29.136513 ms 
solver time 15.997573 ms 
mapping solver time 15.220792 ms 
data association time 21.492422 ms 
mapping pub time 4.018174 ms 
whole mapping time 162.900315 ms +++++
prepare time 13.528346 
publication time 8.212785 ms 
whole laserOdometry time 88.666670 ms 
 
data association time 13.485407 ms 
solver time 12.600292 ms 
data association time 16.265906 ms 
solver time 10.848818 ms 
points size 78822 
sort q time 3.360765 
seperate points time 8.429078 
filter time 14.816522 ms 
mapping pub time 1.051829 ms 
whole mapping time 139.848052 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.038407 ms
map corner num 197606  surf num 65173 
solver time 11.136488 ms 
data association time 13.320217 ms 
solver time 9.085644 ms 
publication time 7.340859 ms 
whole laserOdometry time 56.226197 ms 
 
points size 78635 
mapping solver time 10.564972 ms 
mapping data assosiation time 17.495620 ms 
mapping solver time 11.918901 ms 
solver time 11.562040 ms 
data association time 20.589460 ms 
solver time 8.013122 ms 
points size 78870 
sort q time 4.002697 
seperate points time 9.814000 
mapping data assosiation time 20.564669 ms 
data association time 20.692552 ms 
solver time 15.394392 ms 
mapping data assosiation time 19.633574 ms 
data association time 20.491191 ms 
solver time 11.932544 ms 
mapping pub time 1.153374 ms 
whole mapping time 155.544586 ms +++++
data association time 20.504738 ms 
solver time 15.316054 ms 
build tree time 53.170782 ms 
mapping data assosiation time 19.842369 ms 
publication time 8.322267 ms 
whole laserOdometry time 77.114103 ms 
 
mapping solver time 19.743537 ms 
scan registration time 26.112071 ms *************
mapping data assosiation time 23.377571 ms 
data association time 13.726244 ms 
solver time 10.864313 ms 
data association time 12.835983 ms 
solver time 10.258872 ms 
points size 81911 
prepare time 15.987424 
build tree time 52.264281 ms 
mapping data assosiation time 19.155974 ms 
data association time 13.583910 ms 
mapping solver time 14.441072 ms 
solver time 10.540021 ms 
data association time 13.259394 ms 
solver time 8.730879 ms 
publication time 7.847477 ms 
whole laserOdometry time 54.829291 ms 
 
filter time 16.138549 ms 
map prepare time 3.745900 ms
map corner num 199387  surf num 65813 
sort q time 4.690588 
seperate points time 11.512806 
data association time 13.517374 ms 
[0m[ INFO] [1718887228.957590060]: Received 1362510 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887228.957622970]: Data saved to 1317357971361704.pcd[0m
data association time 13.177052 ms 
mapping data assosiation time 18.504155 ms 
solver time 8.391997 ms 
optimization twice time 47.673459 
mapping solver time 15.398413 ms 
points size 82589 
prepare time 16.214403 
sort q time 4.589715 
seperate points time 11.251944 
filter time 15.726264 ms 
solver time 12.976598 ms 
data association time 13.737914 ms 
publication time 8.090186 ms 
whole laserOdometry time 59.465808 ms 
 
build tree time 56.562283 ms 
prepare time 16.105302 
sort q time 4.583612 
seperate points time 11.298093 
mapping data assosiation time 22.472578 ms 
scan registration time 31.499227 ms *************
mapping solver time 15.035034 ms 
data association time 21.491803 ms 
mapping solver time 12.084099 ms 
filter time 15.734313 ms 
data association time 21.843849 ms 
points size 82569 
solver time 11.838869 ms 
sort q time 4.012506 
seperate points time 9.854068 
scan registration time 26.925635 ms *************
build tree time 56.145629 ms 
solver time 14.966325 ms 
mapping solver time 14.162313 ms 
data association time 21.412987 ms 
solver time 11.717962 ms 
points size 82123 
sort q time 5.330620 
seperate points time 12.675301 
filter time 20.885201 ms 
mapping pub time 1.084999 ms 
whole mapping time 153.590847 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.173445 ms
map corner num 200822  surf num 66348 
data association time 21.632286 ms 
solver time 11.706113 ms 
data association time 21.073576 ms 
solver time 11.905070 ms 
points size 84543 
sort q time 4.441167 
seperate points time 10.736120 
data association time 14.814101 ms 
mapping data assosiation time 20.481992 ms 
mapping solver time 13.067616 ms 
mapping optimization time 126.318999 
add points time 0.573281 ms
solver time 9.072219 ms 
mapping pub time 0.933188 ms 
whole mapping time 153.649106 ms +++++
points size 86170 
sort q time 4.337691 
seperate points time 10.425465 
data association time 13.632877 ms 
build tree time 53.024691 ms 
mapping data assosiation time 19.186257 ms 
solver time 7.902234 ms 
publication time 7.746041 ms 
whole laserOdometry time 53.926458 ms 
 
mapping data assosiation time 20.230302 ms 
mapping solver time 12.614209 ms 
sort q time 4.600732 
seperate points time 11.282876 
data association time 27.612844 ms 
solver time 18.847040 ms 
points size 89797 
sort q time 5.013947 
seperate points time 11.618689 
publication time 11.481065 ms 
whole laserOdometry time 101.311466 ms 
 
[33m[ WARN] [1718887229.765206421]: odometry process over 100ms[0m
map prepare time 4.833237 ms
map corner num 201719  surf num 66623 
data association time 24.678025 ms 
solver time 14.845747 ms 
data association time 22.889609 ms 
points size 91417 
solver time 11.436655 ms 
optimization twice time 74.773535 
prepare time 15.655703 
sort q time 5.108092 
seperate points time 11.892731 
mapping data assosiation time 23.446260 ms 
mapping solver time 16.188311 ms 
solver time 17.186738 ms 
mapping data assosiation time 24.527191 ms 
mapping solver time 12.076195 ms 
solver time 11.967373 ms 
publication time 10.012693 ms 
whole laserOdometry time 87.684406 ms 
 
scan registration time 31.458775 ms *************
data association time 17.854079 ms 
solver time 12.973345 ms 
data association time 16.656166 ms 
optimization twice time 56.350481 
mapping solver time 18.453418 ms 
prepare time 18.665912 
sort q time 5.951299 
seperate points time 14.558553 
mapping data assosiation time 26.420499 ms 
scan registration time 38.640517 ms *************
mapping solver time 17.814520 ms 
solver time 9.905340 ms 
map prepare time 3.733220 ms
map corner num 202682  surf num 66942 
solver time 8.377908 ms 
points size 89410 
sort q time 5.107456 
seperate points time 12.598801 
build tree time 64.088797 ms 
data association time 14.446233 ms 
solver time 11.223573 ms 
data association time 17.759126 ms 
solver time 9.094376 ms 
publication time 9.023727 ms 
whole laserOdometry time 62.545486 ms 
 
mapping solver time 17.542955 ms 
sort q time 5.014651 
seperate points time 12.498990 
map prepare time 3.354350 ms
map corner num 203141  surf num 67087 
data association time 14.969321 ms 
solver time 10.880782 ms 
data association time 14.447039 ms 
publication time 8.185203 ms 
whole laserOdometry time 57.881719 ms 
 
mapping data assosiation time 24.635318 ms 
sort q time 5.399628 
seperate points time 13.021642 
data association time 13.049957 ms 
solver time 11.283288 ms 
data association time 13.672443 ms 
map prepare time 3.656997 ms
map corner num 203633  surf num 67237 
points size 95650 
sort q time 5.100757 
seperate points time 12.456969 
build tree time 63.295041 ms 
solver time 10.226413 ms 
data association time 13.153630 ms 
optimization twice time 47.162611 
publication time 9.555966 ms 
whole laserOdometry time 56.737739 ms 
 
points size 97419 
sort q time 5.422227 
seperate points time 12.566972 
mapping pub time 3.740933 ms 
whole mapping time 157.724500 ms +++++
data association time 13.905700 ms 
solver time 10.731425 ms 
data association time 13.664588 ms 
build tree time 52.808123 ms 
points size 98289 
sort q time 5.149659 
seperate points time 12.225624 
data association time 13.793055 ms 
solver time 10.324221 ms 
data association time 15.879877 ms 
solver time 10.917827 ms 
points size 99009 
sort q time 5.398108 
seperate points time 13.010776 
build tree time 56.572153 ms 
mapping data assosiation time 26.546545 ms 
solver time 16.565353 ms 
data association time 26.621396 ms 
points size 99122 
mapping data assosiation time 26.630939 ms 
prepare time 15.171927 
sort q time 5.123934 
seperate points time 12.158376 
filter time 20.435337 ms 
map prepare time 4.533804 ms
map corner num 204911  surf num 67588 
solver time 15.262629 ms 
data association time 23.587550 ms 
solver time 11.489280 ms 
optimization twice time 75.311003 
build tree time 68.074040 ms 
sort q time 5.748345 
seperate points time 14.059674 
mapping data assosiation time 21.590133 ms 
mapping solver time 17.671793 ms 
data association time 24.569491 ms 
mapping data assosiation time 25.746603 ms 
mapping optimization time 148.173507 
data association time 23.372826 ms 
points size 100882 
prepare time 15.760539 
sort q time 6.285793 
seperate points time 14.422515 
data association time 23.523191 ms 
solver time 12.334938 ms 
data association time 14.787332 ms 
build tree time 63.464308 ms 
publication time 9.002689 ms 
whole laserOdometry time 69.462100 ms 
 
points size 101043 
sort q time 5.859199 
seperate points time 14.101267 
data association time 14.833704 ms 
solver time 14.029087 ms 
data association time 17.034937 ms 
solver time 11.050597 ms 
points size 100112 
sort q time 6.038640 
seperate points time 13.821990 
data association time 20.066694 ms 
solver time 9.621297 ms 
data association time 14.708038 ms 
publication time 8.785098 ms 
whole laserOdometry time 63.033861 ms 
 
prepare time 15.119954 
mapping data assosiation time 24.849252 ms 
mapping solver time 17.253931 ms 
data association time 19.212332 ms 
mapping pub time 3.780954 ms 
whole mapping time 172.543953 ms +++++
drop lidar frame in mapping for real time performance 
solver time 12.161047 ms 
map prepare time 3.628355 ms
map corner num 205988  surf num 67923 
data association time 15.575451 ms 
solver time 8.542060 ms 
points size 95416 
sort q time 5.142684 
seperate points time 11.665038 
scan registration time 29.824768 ms *************
build tree time 58.801122 ms 
mapping data assosiation time 20.656849 ms 
solver time 10.561283 ms 
data association time 14.004285 ms 
mapping data assosiation time 22.305680 ms 
mapping solver time 9.142485 ms 
points size 93854 
map prepare time 4.017167 ms
map corner num 206393  surf num 68051 
data association time 13.541951 ms 
solver time 11.140419 ms 
data association time 14.961665 ms 
solver time 8.408946 ms 
publication time 8.084213 ms 
whole laserOdometry time 57.155848 ms 
 
mapping solver time 15.908953 ms 
sort q time 4.077063 
seperate points time 9.562949 
mapping solver time 12.537407 ms 
filter time 15.907348 ms 
data association time 15.005192 ms 
publication time 8.860180 ms 
whole laserOdometry time 57.974107 ms 
 
points size 93312 
sort q time 5.080517 
seperate points time 11.831179 
scan registration time 29.310904 ms *************
mapping solver time 14.443466 ms 
solver time 10.426132 ms 
data association time 14.537010 ms 
optimization twice time 49.084049 
filter time 18.012273 ms 
prepare time 14.235561 
sort q time 5.861103 
seperate points time 13.467265 
data association time 14.794636 ms 
solver time 11.420004 ms 
build tree time 56.802104 ms 
data association time 15.124351 ms 
solver time 7.788357 ms 
mapping solver time 15.584653 ms 
points size 92975 
mapping data assosiation time 21.135355 ms 
mapping solver time 14.165593 ms 
mapping optimization time 131.804272 
add points time 0.419720 ms
solver time 10.944727 ms 
data association time 16.701756 ms 
publication time 8.179702 ms 
whole laserOdometry time 60.934100 ms 
 
points size 93837 
build tree time 59.918244 ms 
mapping data assosiation time 21.670147 ms 
solver time 10.590989 ms 
data association time 14.116010 ms 
mapping data assosiation time 21.644553 ms 
mapping solver time 13.019580 ms 
filter time 17.750822 ms 
points size 94849 
mapping pub time 4.150700 ms 
whole mapping time 159.005011 ms +++++
prepare time 13.998744 
drop lidar frame in mapping for real time performance 
sort q time 4.878869 
seperate points time 11.456377 
data association time 16.630381 ms 
solver time 12.869844 ms 
build tree time 56.876816 ms 
data association time 16.951453 ms 
solver time 10.654269 ms 
points size 93573 
sort q time 4.660579 
seperate points time 10.753826 
scan registration time 28.359041 ms *************
mapping solver time 11.907589 ms 
filter time 15.563800 ms 
data association time 14.305401 ms 
optimization twice time 49.706439 
publication time 7.883330 ms 
whole laserOdometry time 57.621727 ms 
 
points size 93674 
prepare time 13.404076 
sort q time 5.156227 
seperate points time 11.969635 
mapping data assosiation time 22.637498 ms 
solver time 10.624875 ms 
data association time 16.738683 ms 
publication time 7.802268 ms 
whole laserOdometry time 59.341241 ms 
 
mapping solver time 17.582100 ms 
points size 95754 
filter time 20.669447 ms 
sort q time 5.434474 
seperate points time 13.522514 
data association time 14.678801 ms 
solver time 10.980288 ms 
data association time 14.567832 ms 
optimization twice time 50.358235 
mapping data assosiation time 24.909538 ms 
points size 98182 
sort q time 5.285449 
seperate points time 12.463056 
mapping data assosiation time 23.330085 ms 
data association time 17.975586 ms 
solver time 13.535451 ms 
filter time 19.868797 ms 
solver time 8.550695 ms 
points size 99060 
sort q time 6.023103 
seperate points time 13.648657 
data association time 14.557312 ms 
solver time 8.224362 ms 
mapping data assosiation time 22.888233 ms 
mapping solver time 15.712204 ms 
points size 100085 
sort q time 5.190289 
seperate points time 11.910215 
filter time 16.992907 ms 
data association time 18.303981 ms 
data association time 15.147366 ms 
solver time 11.147861 ms 
build tree time 57.488776 ms 
[0m[ INFO] [1718887232.967202120]: Received 1374276 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887232.967249553]: Data saved to 1317357974376023.pcd[0m
mapping data assosiation time 24.240078 ms 
sort q time 5.488815 
seperate points time 12.873935 
scan registration time 36.523310 ms *************
mapping solver time 14.660758 ms 
data association time 26.529715 ms 
solver time 16.739274 ms 
data association time 24.151685 ms 
filter time 21.187857 ms 
points size 101585 
sort q time 5.472926 
seperate points time 12.687176 
solver time 18.608333 ms 
points size 100929 
mapping pub time 123.338108 ms 
whole mapping time 288.677915 ms +++++
solver time 14.656229 ms 
data association time 24.013632 ms 
build tree time 72.406805 ms 
points size 100250 
prepare time 16.170993 
solver time 13.265309 ms 
optimization twice time 80.504568 
publication time 12.004869 ms 
whole laserOdometry time 92.541674 ms 
 
mapping data assosiation time 28.916624 ms 
sort q time 6.336882 
seperate points time 14.751319 
scan registration time 35.929202 ms *************
mapping solver time 15.507067 ms 
data association time 26.327451 ms 
mapping data assosiation time 27.160640 ms 
mapping solver time 11.655930 ms 
data association time 16.395281 ms 
filter time 21.072823 ms 
points size 99807 
sort q time 5.908080 
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scan registration time 38.065530 ms *************
data association time 24.035261 ms 
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mapping data assosiation time 29.834351 ms 
data association time 21.038620 ms 
points size 99252 
prepare time 18.090705 
publication time 8.690281 ms 
whole laserOdometry time 86.338725 ms 
 
mapping data assosiation time 26.281528 ms 
data association time 15.233510 ms 
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filter time 16.848361 ms 
solver time 10.817074 ms 
publication time 8.966051 ms 
whole laserOdometry time 65.179573 ms 
 
prepare time 16.867152 
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mapping data assosiation time 26.548897 ms 
points size 98645 
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scan registration time 37.620719 ms *************
filter time 17.444766 ms 
data association time 17.806367 ms 
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data association time 17.613954 ms 
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mapping solver time 16.511448 ms 
points size 99227 
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whole mapping time 172.657811 ms +++++
drop lidar frame in mapping for real time performance 
prepare time 18.368873 
sort q time 5.838639 
seperate points time 14.054379 
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publication time 11.074501 ms 
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points size 100550 
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whole mapping time 171.481865 ms +++++
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publication time 10.067220 ms 
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mapping solver time 18.055981 ms 
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build tree time 34.968727 ms 
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map prepare time 3.521150 ms
map corner num 131684  surf num 44632 
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solver time 11.689629 ms 
publication time 10.802456 ms 
whole laserOdometry time 70.603783 ms 
 
sort q time 6.125471 
seperate points time 14.559577 
scan registration time 39.628711 ms *************
mapping data assosiation time 32.997447 ms 
mapping solver time 20.231144 ms 
solver time 12.062947 ms 
mapping data assosiation time 28.616815 ms 
solver time 7.805531 ms 
mapping solver time 19.740678 ms 
points size 103309 
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points size 103335 
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mapping optimization time 135.675306 
add points time 0.921784 ms
map prepare time 3.681656 ms
map corner num 133367  surf num 45741 
data association time 16.715835 ms 
solver time 12.313239 ms 
publication time 10.316998 ms 
whole laserOdometry time 72.999739 ms 
 
sort q time 6.083170 
seperate points time 14.055906 
mapping data assosiation time 36.452600 ms 
mapping solver time 21.069920 ms 
data association time 16.797837 ms 
solver time 10.462518 ms 
publication time 11.129762 ms 
whole laserOdometry time 69.471719 ms 
 
prepare time 14.861507 
sort q time 5.684839 
seperate points time 13.411876 
map prepare time 4.041388 ms
map corner num 134271  surf num 46417 
data association time 15.621373 ms 
solver time 10.713440 ms 
data association time 14.686015 ms 
publication time 9.890990 ms 
whole laserOdometry time 59.942411 ms 
 
mapping data assosiation time 35.389028 ms 
points size 103150 
prepare time 18.746664 
mapping solver time 22.166051 ms 
scan registration time 39.534675 ms *************
mapping data assosiation time 32.894923 ms 
solver time 10.655884 ms 
filter time 11.795250 ms 
optimization twice time 56.079347 
publication time 10.646135 ms 
whole laserOdometry time 66.742407 ms 
 
prepare time 15.078766 
sort q time 5.407681 
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data association time 24.226154 ms 
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mapping solver time 21.943039 ms 
data association time 23.326613 ms 
solver time 8.788227 ms 
publication time 10.531954 ms 
whole laserOdometry time 82.757789 ms 
 
points size 103141 
sort q time 6.133108 
seperate points time 14.878775 
add points time 1.248937 ms
filter time 11.871432 ms 
solver time 9.757364 ms 
data association time 15.559183 ms 
solver time 7.513892 ms 
publication time 11.625664 ms 
whole laserOdometry time 61.539568 ms 
 
points size 102853 
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mapping data assosiation time 36.260813 ms 
mapping solver time 23.639046 ms 
solver time 12.611687 ms 
mapping data assosiation time 37.325851 ms 
mapping solver time 15.174357 ms 
publication time 10.690426 ms 
whole laserOdometry time 78.369925 ms 
 
map prepare time 3.625859 ms
map corner num 136844  surf num 48070 
data association time 15.786720 ms 
build tree time 38.903143 ms 
solver time 10.003012 ms 
data association time 15.636064 ms 
solver time 12.175039 ms 
mapping data assosiation time 37.638920 ms 
publication time 10.724448 ms 
whole laserOdometry time 65.079157 ms 
 
prepare time 19.565031 
sort q time 6.014622 
seperate points time 14.996190 
data association time 16.638935 ms 
solver time 13.115732 ms 
data association time 15.309166 ms 
mapping optimization time 174.307051 
publication time 10.691654 ms 
whole laserOdometry time 68.712628 ms 
 
map prepare time 4.845949 ms
map corner num 137701  surf num 48546 
sort q time 6.210885 
seperate points time 15.641553 
scan registration time 40.651360 ms *************
build tree time 39.748056 ms 
solver time 13.055923 ms 
mapping data assosiation time 33.128789 ms 
solver time 11.730464 ms 
optimization twice time 57.754838 
points size 103147 
mapping solver time 32.150233 ms 
sort q time 6.413323 
seperate points time 16.674249 
data association time 15.444146 ms 
solver time 13.587581 ms 
mapping solver time 19.550340 ms 
filter time 13.038023 ms 
solver time 10.481621 ms 
map prepare time 4.248843 ms
map corner num 138593  surf num 49015 
points size 102932 
prepare time 13.417140 
sort q time 5.696600 
seperate points time 13.875801 
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data association time 27.009226 ms 
mapping data assosiation time 37.490025 ms 
solver time 18.058036 ms 
data association time 27.248837 ms 
solver time 15.152189 ms 
publication time 12.351931 ms 
whole laserOdometry time 100.836933 ms 
 
[33m[ WARN] [1718887235.897912915]: odometry process over 100ms[0m
mapping data assosiation time 40.904381 ms 
mapping solver time 21.933737 ms 
filter time 12.926081 ms 
data association time 27.659189 ms 
solver time 14.861798 ms 
publication time 12.321113 ms 
whole laserOdometry time 101.239110 ms 
 
[33m[ WARN] [1718887236.001708824]: odometry process over 100ms[0m
data association time 24.229684 ms 
mapping data assosiation time 34.724811 ms 
solver time 14.689401 ms 
data association time 16.126277 ms 
mapping solver time 21.709283 ms 
publication time 12.350025 ms 
whole laserOdometry time 79.052197 ms 
 
mapping data assosiation time 39.815849 ms 
mapping solver time 16.664547 ms 
data association time 16.768858 ms 
solver time 12.628537 ms 
data association time 16.801879 ms 
solver time 11.213445 ms 
publication time 10.906730 ms 
whole laserOdometry time 69.228870 ms 
 
sort q time 6.013281 
seperate points time 14.766062 
mapping data assosiation time 39.808307 ms 
data association time 18.466879 ms 
mapping solver time 28.164901 ms 
data association time 17.597352 ms 
solver time 10.564070 ms 
publication time 11.048983 ms 
whole laserOdometry time 71.976902 ms 
 
prepare time 18.901589 
sort q time 6.185631 
seperate points time 14.988622 
map prepare time 4.121878 ms
map corner num 141063  surf num 50133 
data association time 27.923752 ms 
solver time 17.262511 ms 
points size 103657 
data association time 30.959903 ms 
scan registration time 33.356604 ms *************
publication time 12.516747 ms 
whole laserOdometry time 106.724648 ms 
 
[33m[ WARN] [1718887236.436839065]: odometry process over 100ms[0m
data association time 32.327141 ms 
solver time 17.134098 ms 
points size 103642 
data association time 29.811472 ms 
sort q time 6.189729 
seperate points time 14.985460 
mapping solver time 30.755091 ms 
publication time 12.427278 ms 
whole laserOdometry time 105.402441 ms 
 
[33m[ WARN] [1718887236.544988437]: odometry process over 100ms[0m
filter time 16.863590 ms 
map prepare time 4.766043 ms
map corner num 141968  surf num 50522 
data association time 28.632240 ms 
solver time 14.635520 ms 
points size 103748 
solver time 8.360432 ms 
optimization twice time 72.073846 
mapping data assosiation time 38.494305 ms 
data association time 20.165606 ms 
mapping solver time 25.803923 ms 
data association time 19.035088 ms 
solver time 10.602456 ms 
prepare time 18.330269 
sort q time 6.145609 
seperate points time 15.366095 
filter time 15.198579 ms 
solver time 11.607977 ms 
data association time 17.918486 ms 
solver time 7.657313 ms 
publication time 14.158341 ms 
whole laserOdometry time 69.869153 ms 
 
points size 103650 
mapping pub time 88.578427 ms 
whole mapping time 284.351528 ms +++++
data association time 18.837309 ms 
solver time 13.951091 ms 
data association time 17.638591 ms 
solver time 11.222821 ms 
optimization twice time 62.470032 
mapping data assosiation time 42.750163 ms 
sort q time 6.305939 
seperate points time 15.755337 
mapping solver time 31.231809 ms 
data association time 16.538585 ms 
mapping data assosiation time 33.936100 ms 
solver time 10.769619 ms 
publication time 10.059551 ms 
whole laserOdometry time 68.280571 ms 
 
sort q time 6.069432 
seperate points time 14.989224 
map prepare time 4.930050 ms
map corner num 143762  surf num 51176 
data association time 16.746929 ms 
solver time 13.437303 ms 
build tree time 39.299504 ms 
data association time 20.593940 ms 
solver time 15.688595 ms 
publication time 13.844820 ms 
whole laserOdometry time 81.288214 ms 
 
scan registration time 39.582316 ms *************
mapping solver time 28.860434 ms 
data association time 17.570115 ms 
solver time 14.130672 ms 
mapping data assosiation time 36.108789 ms 
mapping solver time 21.338356 ms 
prepare time 18.560124 
publication time 13.337479 ms 
whole laserOdometry time 81.848551 ms 
 
scan registration time 39.461656 ms *************
build tree time 39.235704 ms 
data association time 27.797892 ms 
solver time 18.387446 ms 
mapping data assosiation time 38.171699 ms 
optimization twice time 91.243135 
publication time 12.658435 ms 
whole laserOdometry time 103.932242 ms 
 
[33m[ WARN] [1718887237.369428259]: odometry process over 100ms[0m
mapping data assosiation time 37.886470 ms 
mapping solver time 20.294749 ms 
filter time 15.936486 ms 
data association time 28.007571 ms 
sort q time 5.177999 
seperate points time 12.436618 
publication time 12.990737 ms 
whole laserOdometry time 99.871263 ms 
 
build tree time 44.146246 ms 
data association time 24.673369 ms 
solver time 17.910862 ms 
points size 103910 
prepare time 15.242140 
data association time 25.268380 ms 
mapping solver time 25.005802 ms 
sort q time 5.721026 
seperate points time 13.587546 
publication time 12.541981 ms 
whole laserOdometry time 96.325218 ms 
 
mapping data assosiation time 39.998511 ms 
data association time 24.553748 ms 
mapping solver time 24.880926 ms 
filter time 15.611069 ms 
solver time 11.187303 ms 
sort q time 5.960238 
seperate points time 14.057557 
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data association time 17.102463 ms 
solver time 13.507987 ms 
mapping data assosiation time 38.760918 ms 
data association time 18.639873 ms 
solver time 11.382661 ms 
points size 103951 
sort q time 4.938325 
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mapping solver time 19.653670 ms 
mapping optimization time 164.804696 
add points time 0.758151 ms
filter time 16.018460 ms 
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points size 103788 
sort q time 5.316678 
seperate points time 12.641222 
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data association time 27.319931 ms 
solver time 12.449812 ms 
data association time 17.014495 ms 
solver time 10.822576 ms 
prepare time 20.845099 
sort q time 6.979502 
seperate points time 17.073494 
scan registration time 44.778548 ms *************
mapping solver time 18.990652 ms 
filter time 12.928522 ms 
data association time 16.674536 ms 
solver time 11.776606 ms 
prepare time 18.686915 
sort q time 6.075477 
seperate points time 14.872862 
mapping data assosiation time 38.836514 ms 
solver time 13.020571 ms 
data association time 17.793299 ms 
solver time 11.191430 ms 
mapping data assosiation time 34.328965 ms 
sort q time 5.989966 
seperate points time 14.125704 
scan registration time 34.186365 ms *************
filter time 14.382304 ms 
solver time 11.992751 ms 
data association time 17.898801 ms 
solver time 10.397993 ms 
publication time 12.326516 ms 
whole laserOdometry time 72.386441 ms 
 
sort q time 5.436710 
seperate points time 12.616768 
data association time 15.318887 ms 
mapping solver time 22.990045 ms 
solver time 13.325977 ms 
data association time 15.513640 ms 
mapping data assosiation time 34.865760 ms 
publication time 11.167806 ms 
whole laserOdometry time 68.038047 ms 
 
filter time 12.168736 ms 
data association time 15.444876 ms 
solver time 12.487481 ms 
data association time 15.769704 ms 
solver time 10.850914 ms 
publication time 10.885634 ms 
whole laserOdometry time 66.284535 ms 
 
points size 105023 
mapping solver time 24.472369 ms 
data association time 15.679898 ms 
mapping data assosiation time 33.610297 ms 
mapping solver time 18.599879 ms 
data association time 20.045314 ms 
mapping pub time 1.398480 ms 
whole mapping time 174.053285 ms +++++
publication time 10.280976 ms 
whole laserOdometry time 68.826758 ms 
 
prepare time 15.243115 
sort q time 5.292410 
seperate points time 12.399228 
build tree time 40.915926 ms 
solver time 10.764844 ms 
mapping data assosiation time 34.296342 ms 
data association time 21.737744 ms 
solver time 8.455049 ms 
publication time 11.066802 ms 
whole laserOdometry time 68.016791 ms 
 
prepare time 15.832427 
sort q time 5.192090 
seperate points time 12.258109 
mapping data assosiation time 41.610320 ms 
data association time 15.632170 ms 
solver time 8.392590 ms 
data association time 16.157917 ms 
map prepare time 4.351713 ms
map corner num 152443  surf num 54126 
points size 104486 
data association time 15.165793 ms 
mapping solver time 24.333225 ms 
publication time 11.042082 ms 
whole laserOdometry time 62.867737 ms 
 
points size 104427 
prepare time 18.832134 
sort q time 6.201086 
seperate points time 15.019194 
scan registration time 39.890664 ms *************
filter time 12.195593 ms 
map prepare time 5.996104 ms
map corner num 153303  surf num 54407 
data association time 19.041880 ms 
build tree time 44.155080 ms 
points size 104443 
sort q time 6.135368 
seperate points time 14.720846 
data association time 15.683088 ms 
solver time 10.698529 ms 
data association time 14.951897 ms 
mapping data assosiation time 38.493192 ms 
points size 104399 
mapping solver time 25.794013 ms 
scan registration time 40.852299 ms *************
mapping pub time 1.768844 ms 
whole mapping time 198.760574 ms +++++
data association time 18.369693 ms 
solver time 10.292973 ms 
data association time 15.371067 ms 
publication time 9.531161 ms 
whole laserOdometry time 63.706835 ms 
 
prepare time 18.951761 
mapping data assosiation time 38.097990 ms 
sort q time 6.247890 
seperate points time 15.307049 
mapping solver time 23.796911 ms 
data association time 26.440412 ms 
solver time 16.998376 ms 
points size 104323 
mapping solver time 28.063200 ms 
sort q time 6.129659 
seperate points time 15.112709 
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map prepare time 4.766354 ms
map corner num 155211  surf num 54994 
data association time 24.842002 ms 
solver time 14.451727 ms 
build tree time 53.400955 ms 
points size 104330 
solver time 12.696829 ms 
optimization twice time 77.709942 
prepare time 18.817524 
publication time 14.331576 ms 
whole laserOdometry time 92.071534 ms 
 
mapping data assosiation time 43.859916 ms 
data association time 15.961804 ms 
solver time 10.614075 ms 
data association time 15.561886 ms 
publication time 10.725929 ms 
whole laserOdometry time 61.902578 ms 
 
mapping data assosiation time 43.210706 ms 
sort q time 6.237629 
seperate points time 15.016632 
mapping solver time 28.902742 ms 
filter time 11.496233 ms 
map prepare time 3.967742 ms
map corner num 156223  surf num 55341 
solver time 14.519116 ms 
data association time 24.164078 ms 
points size 104662 
publication time 12.639173 ms 
whole laserOdometry time 88.039866 ms 
 
sort q time 7.175822 
seperate points time 17.682781 
scan registration time 45.026895 ms *************
mapping solver time 22.762073 ms 
solver time 14.772381 ms 
data association time 23.656820 ms 
prepare time 20.419445 
publication time 12.718693 ms 
whole laserOdometry time 87.150847 ms 
 
sort q time 6.246283 
seperate points time 15.480685 
mapping solver time 30.187232 ms 
filter time 13.248013 ms 
solver time 9.883861 ms 
data association time 17.758775 ms 
solver time 10.159043 ms 
publication time 11.381566 ms 
whole laserOdometry time 70.098474 ms 
 
sort q time 6.193947 
seperate points time 15.160192 
data association time 15.603408 ms 
mapping solver time 25.689475 ms 
data association time 16.326387 ms 
solver time 8.330554 ms 
publication time 10.191445 ms 
whole laserOdometry time 64.823987 ms 
 
points size 103461 
prepare time 19.307951 
mapping solver time 28.855530 ms 
filter time 17.541012 ms 
map prepare time 4.843733 ms
map corner num 158296  surf num 56030 
data association time 25.186406 ms 
solver time 14.556546 ms 
data association time 24.284381 ms 
solver time 8.159286 ms 
sort q time 5.598441 
seperate points time 12.789275 
mapping data assosiation time 41.281272 ms 
data association time 24.547971 ms 
solver time 10.808963 ms 
data association time 15.126094 ms 
solver time 8.878400 ms 
publication time 10.643035 ms 
whole laserOdometry time 70.824292 ms 
 
sort q time 5.010772 
seperate points time 11.792582 
scan registration time 34.496989 ms *************
mapping solver time 20.676523 ms 
mapping optimization time 185.178090 
filter time 13.006490 ms 
data association time 20.021935 ms 
solver time 12.623278 ms 
data association time 14.582806 ms 
optimization twice time 55.966475 
publication time 12.243023 ms 
whole laserOdometry time 68.228598 ms 
 
sort q time 4.777534 
seperate points time 11.419405 
data association time 17.146000 ms 
mapping solver time 28.055514 ms 
solver time 7.725223 ms 
publication time 11.697317 ms 
whole laserOdometry time 65.441664 ms 
 
points size 101522 
prepare time 14.476372 
sort q time 4.885070 
seperate points time 11.853074 
filter time 14.636834 ms 
data association time 15.323411 ms 
solver time 8.150729 ms 
data association time 17.064498 ms 
solver time 9.869349 ms 
publication time 11.369396 ms 
whole laserOdometry time 62.721007 ms 
 
points size 101165 
mapping data assosiation time 36.549497 ms 
scan registration time 35.303458 ms *************
mapping solver time 24.806492 ms 
data association time 14.873440 ms 
solver time 11.392395 ms 
mapping data assosiation time 34.671907 ms 
publication time 10.655358 ms 
whole laserOdometry time 61.255946 ms 
 
points size 100647 
mapping pub time 1.258739 ms 
whole mapping time 184.776250 ms +++++
sort q time 5.503941 
seperate points time 13.600660 
data association time 14.776245 ms 
solver time 9.676791 ms 
data association time 14.669245 ms 
publication time 10.172200 ms 
whole laserOdometry time 58.368147 ms 
 
points size 99949 
mapping solver time 23.028101 ms 
sort q time 5.570475 
seperate points time 13.260439 
data association time 14.422691 ms 
solver time 11.204149 ms 
mapping solver time 18.637214 ms 
solver time 7.343433 ms 
publication time 9.659243 ms 
whole laserOdometry time 58.940274 ms 
 
points size 99129 
sort q time 5.356632 
seperate points time 12.931960 
data association time 16.595497 ms 
solver time 10.892370 ms 
data association time 16.528511 ms 
solver time 11.444822 ms 
publication time 13.728151 ms 
whole laserOdometry time 70.525007 ms 
 
sort q time 4.659686 
seperate points time 11.250359 
build tree time 46.925892 ms 
solver time 10.369685 ms 
data association time 15.921493 ms 
publication time 8.903504 ms 
whole laserOdometry time 58.149850 ms 
 
mapping solver time 26.217190 ms 
sort q time 4.499881 
seperate points time 10.861325 
mapping data assosiation time 33.792910 ms 
data association time 15.156910 ms 
mapping solver time 20.324618 ms 
filter time 13.665153 ms 
solver time 8.476273 ms 
optimization twice time 51.297729 
points size 98255 
sort q time 5.043897 
seperate points time 12.288278 
data association time 23.268637 ms 
solver time 15.302523 ms 
data association time 16.621020 ms 
solver time 8.728893 ms 
prepare time 15.496527 
mapping data assosiation time 40.365487 ms 
mapping solver time 16.279946 ms 
filter time 13.935432 ms 
solver time 13.533898 ms 
data association time 17.338337 ms 
solver time 10.490130 ms 
publication time 11.310093 ms 
whole laserOdometry time 74.577967 ms 
 
sort q time 5.226236 
seperate points time 12.460853 
mapping data assosiation time 36.226511 ms 
data association time 22.978576 ms 
solver time 15.750823 ms 
mapping data assosiation time 36.920181 ms 
points size 97246 
add points time 0.803253 ms
scan registration time 36.030923 ms *************
mapping pub time 1.301107 ms 
whole mapping time 189.930519 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.087904 ms
map corner num 165164  surf num 58577 
data association time 27.065651 ms 
solver time 14.751671 ms 
build tree time 42.030568 ms 
data association time 24.278636 ms 
prepare time 14.954978 
publication time 10.791534 ms 
whole laserOdometry time 88.085116 ms 
 
mapping solver time 24.787992 ms 
solver time 10.238569 ms 
mapping data assosiation time 32.855802 ms 
solver time 8.804990 ms 
publication time 11.028924 ms 
whole laserOdometry time 68.082250 ms 
 
points size 97077 
map prepare time 3.717332 ms
map corner num 166164  surf num 58906 
sort q time 5.501373 
seperate points time 12.848257 
data association time 16.408161 ms 
solver time 12.723633 ms 
data association time 18.786264 ms 
solver time 13.603057 ms 
publication time 10.634732 ms 
whole laserOdometry time 73.049762 ms 
 
sort q time 6.132580 
seperate points time 14.472151 
mapping data assosiation time 31.149270 ms 
data association time 15.836157 ms 
solver time 12.892712 ms 
data association time 17.484502 ms 
map prepare time 3.838374 ms
map corner num 167148  surf num 59157 
publication time 10.236938 ms 
whole laserOdometry time 68.695392 ms 
 
prepare time 18.932861 
sort q time 5.581414 
seperate points time 13.650938 
build tree time 53.489149 ms 
solver time 12.601391 ms 
mapping data assosiation time 34.287146 ms 
solver time 11.650169 ms 
mapping solver time 27.742231 ms 
prepare time 20.208016 
sort q time 6.311656 
seperate points time 15.558519 
mapping data assosiation time 40.002425 ms 
data association time 16.927581 ms 
solver time 12.653734 ms 
filter time 15.136575 ms 
data association time 18.187423 ms 
solver time 13.870135 ms 
optimization twice time 62.459558 
points size 97260 
sort q time 5.705064 
seperate points time 14.020900 
build tree time 57.502074 ms 
solver time 12.400723 ms 
data association time 17.523657 ms 
mapping data assosiation time 51.352579 ms 
publication time 10.605038 ms 
whole laserOdometry time 71.624909 ms 
 
prepare time 20.872068 
mapping solver time 33.733210 ms 
scan registration time 41.945184 ms *************
mapping data assosiation time 33.317900 ms 
solver time 11.425702 ms 
mapping optimization time 201.184316 
data association time 19.419651 ms 
mapping pub time 1.609745 ms 
whole mapping time 224.635362 ms +++++
points size 97784 
sort q time 4.580495 
seperate points time 11.503278 
build tree time 47.186127 ms 
solver time 12.946793 ms 
mapping data assosiation time 30.190645 ms 
data association time 16.637274 ms 
publication time 9.265480 ms 
whole laserOdometry time 73.837501 ms 
 
sort q time 6.463574 
seperate points time 15.769958 
scan registration time 41.991003 ms *************
data association time 19.254874 ms 
mapping solver time 21.804621 ms 
filter time 14.927547 ms 
solver time 14.890845 ms 
points size 98386 
sort q time 5.835877 
seperate points time 14.141880 
build tree time 55.317344 ms 
data association time 18.598913 ms 
mapping data assosiation time 30.442853 ms 
data association time 17.706080 ms 
solver time 13.672220 ms 
publication time 10.330318 ms 
whole laserOdometry time 76.825717 ms 
 
mapping data assosiation time 40.804290 ms 
mapping solver time 22.187550 ms 
data association time 16.499433 ms 
filter time 15.885350 ms 
data association time 15.802157 ms 
solver time 12.022187 ms 
points size 100554 
publication time 10.100762 ms 
whole laserOdometry time 68.969711 ms 
 
build tree time 38.735593 ms 
prepare time 19.101537 
sort q time 6.814362 
seperate points time 16.523647 
mapping data assosiation time 35.098914 ms 
data association time 19.148475 ms 
solver time 14.468178 ms 
data association time 19.029525 ms 
solver time 14.968255 ms 
publication time 10.213533 ms 
whole laserOdometry time 78.652714 ms 
 
mapping solver time 30.920619 ms 
mapping pub time 2.706857 ms 
whole mapping time 179.038628 ms +++++
data association time 26.954181 ms 
solver time 20.205490 ms 
data association time 23.624187 ms 
solver time 11.276320 ms 
sort q time 6.473253 
seperate points time 14.924032 
scan registration time 38.358762 ms *************
mapping solver time 23.868820 ms 
data association time 19.557770 ms 
solver time 12.445707 ms 
data association time 16.390095 ms 
solver time 12.913343 ms 
mapping solver time 21.020338 ms 
publication time 11.579502 ms 
whole laserOdometry time 73.798554 ms 
 
map prepare time 3.603601 ms
map corner num 129875  surf num 47100 
sort q time 5.434911 
seperate points time 12.763587 
build tree time 34.270231 ms 
solver time 10.421204 ms 
mapping data assosiation time 30.425983 ms 
publication time 10.072051 ms 
whole laserOdometry time 61.577615 ms 
 
points size 101713 
sort q time 5.182152 
seperate points time 12.096499 
mapping data assosiation time 32.998747 ms 
data association time 17.324554 ms 
solver time 13.876663 ms 
filter time 13.200242 ms 
solver time 9.252407 ms 
publication time 11.626436 ms 
whole laserOdometry time 74.688365 ms 
 
points size 101881 
prepare time 18.635304 
build tree time 42.874437 ms 
sort q time 6.433929 
seperate points time 15.458040 
mapping data assosiation time 32.654428 ms 
solver time 10.048075 ms 
mapping solver time 24.705721 ms 
solver time 8.609299 ms 
points size 102157 
sort q time 5.233265 
seperate points time 12.082690 
scan registration time 32.406718 ms *************
filter time 10.581180 ms 
solver time 9.097621 ms 
data association time 19.044745 ms 
build tree time 36.943870 ms 
publication time 10.688041 ms 
whole laserOdometry time 70.325261 ms 
 
points size 102223 
prepare time 16.211708 
mapping data assosiation time 35.992185 ms 
scan registration time 36.132668 ms *************
mapping solver time 22.435197 ms 
data association time 17.261407 ms 
mapping data assosiation time 35.465540 ms 
data association time 21.750097 ms 
mapping optimization time 153.263797 
points size 102194 
drop lidar frame in mapping for real time performance 
sort q time 6.189653 
seperate points time 15.170990 
data association time 15.738607 ms 
solver time 13.673074 ms 
data association time 15.965606 ms 
optimization twice time 55.171265 
points size 101944 
sort q time 6.034741 
seperate points time 13.513047 
mapping data assosiation time 33.163525 ms 
mapping solver time 18.790154 ms 
filter time 13.416906 ms 
solver time 8.397933 ms 
points size 101618 
build tree time 40.355905 ms 
scan registration time 34.143094 ms *************
mapping data assosiation time 30.514414 ms 
solver time 10.930795 ms 
data association time 15.727461 ms 
publication time 8.981611 ms 
whole laserOdometry time 59.515513 ms 
 
points size 100996 
prepare time 18.816896 
sort q time 5.831347 
seperate points time 14.121094 
filter time 12.542058 ms 
data association time 16.071361 ms 
solver time 10.938418 ms 
data association time 16.124928 ms 
solver time 10.284812 ms 
points size 100831 
mapping data assosiation time 39.532228 ms 
mapping solver time 22.085007 ms 
solver time 10.113161 ms 
mapping data assosiation time 32.858222 ms 
optimization twice time 51.769674 
mapping solver time 21.905536 ms 
prepare time 15.031282 
map prepare time 3.666005 ms
map corner num 134846  surf num 48906 
data association time 14.975552 ms 
solver time 10.506413 ms 
data association time 15.709101 ms 
mapping data assosiation time 33.726720 ms 
points size 98718 
sort q time 5.210826 
seperate points time 12.164018 
mapping data assosiation time 32.809178 ms 
solver time 9.816098 ms 
mapping solver time 18.828550 ms 
mapping optimization time 146.395269 
add points time 0.863851 ms
map prepare time 3.240471 ms
map corner num 135576  surf num 49140 
publication time 8.850719 ms 
whole laserOdometry time 59.182594 ms 
 
points size 97412 
prepare time 13.455361 
scan registration time 29.596113 ms *************
data association time 15.023176 ms 
solver time 14.226328 ms 
mapping solver time 21.773490 ms 
solver time 10.025119 ms 
mapping data assosiation time 32.232765 ms 
points size 96472 
prepare time 13.674301 
sort q time 5.589634 
seperate points time 13.153141 
mapping pub time 1.862621 ms 
whole mapping time 160.850516 ms +++++
data association time 18.370496 ms 
solver time 15.219956 ms 
data association time 14.990430 ms 
solver time 11.155359 ms 
publication time 10.945287 ms 
whole laserOdometry time 71.463274 ms 
 
mapping solver time 22.494464 ms 
data association time 15.387875 ms 
mapping data assosiation time 32.120019 ms 
mapping solver time 17.700708 ms 
filter time 14.303870 ms 
publication time 9.356584 ms 
whole laserOdometry time 66.054983 ms 
 
points size 94226 
sort q time 5.391874 
seperate points time 13.048042 
data association time 29.066465 ms 
solver time 22.841556 ms 
mapping pub time 115.633400 ms 
whole mapping time 273.860732 ms +++++
data association time 27.192695 ms 
points size 94419 
prepare time 17.457570 
solver time 15.000876 ms 
optimization twice time 95.258333 
publication time 10.601650 ms 
whole laserOdometry time 105.877144 ms 
 
[33m[ WARN] [1718887244.637996239]: odometry process over 100ms[0m
build tree time 48.542251 ms 
data association time 26.237185 ms 
mapping data assosiation time 36.942900 ms 
points size 96261 
sort q time 5.837768 
seperate points time 13.204468 
publication time 11.676292 ms 
whole laserOdometry time 92.541468 ms 
 
mapping data assosiation time 38.550169 ms 
data association time 25.257502 ms 
solver time 15.099293 ms 
filter time 11.018538 ms 
solver time 9.484820 ms 
prepare time 18.859938 
sort q time 5.919419 
seperate points time 14.431761 
build tree time 47.248507 ms 
solver time 9.653293 ms 
data association time 14.410089 ms 
solver time 10.428596 ms 
publication time 10.311061 ms 
whole laserOdometry time 61.200730 ms 
 
points size 98629 
sort q time 6.571377 
seperate points time 15.996461 
mapping solver time 17.941951 ms 
data association time 17.887100 ms 
solver time 14.633179 ms 
data association time 17.242423 ms 
solver time 13.559973 ms 
publication time 9.824600 ms 
whole laserOdometry time 73.983876 ms 
 
sort q time 6.689970 
seperate points time 16.275971 
mapping data assosiation time 32.884539 ms 
mapping solver time 18.133941 ms 
solver time 11.235108 ms 
data association time 16.220155 ms 
solver time 8.717009 ms 
publication time 9.804760 ms 
whole laserOdometry time 61.488777 ms 
 
prepare time 19.104468 
sort q time 5.900765 
seperate points time 14.309680 
map prepare time 3.213564 ms
map corner num 139215  surf num 50517 
data association time 16.204003 ms 
solver time 12.843783 ms 
solver time 10.947003 ms 
publication time 9.895348 ms 
whole laserOdometry time 68.913824 ms 
 
mapping solver time 27.248258 ms 
mapping data assosiation time 27.974259 ms 
solver time 12.838258 ms 
mapping solver time 20.531192 ms 
mapping optimization time 144.175936 
add points time 0.845656 ms
data association time 22.370962 ms 
solver time 15.208249 ms 
sort q time 6.534320 
seperate points time 15.285568 
data association time 15.991611 ms 
solver time 13.989670 ms 
data association time 15.999546 ms 
solver time 11.033949 ms 
points size 102067 
prepare time 21.426545 
sort q time 6.374467 
seperate points time 15.400530 
add points time 0.757741 ms
filter time 13.433035 ms 
[0m[ INFO] [1718887245.498897146]: Received 1461548 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887245.498928621]: Data saved to 1317357989140474.pcd[0m
data association time 15.552325 ms 
solver time 12.413174 ms 
points size 101483 
sort q time 5.586038 
seperate points time 13.147026 
scan registration time 36.802361 ms *************
data association time 16.961738 ms 
solver time 13.379557 ms 
mapping data assosiation time 28.859430 ms 
mapping solver time 17.147460 ms 
mapping optimization time 141.149999 
add points time 0.713164 ms
solver time 16.854749 ms 
optimization twice time 69.458004 
filter time 15.882495 ms 
sort q time 6.439548 
seperate points time 15.996781 
scan registration time 41.482085 ms *************
data association time 26.043317 ms 
solver time 15.605077 ms 
mapping data assosiation time 27.737388 ms 
mapping solver time 26.351045 ms 
publication time 13.163782 ms 
whole laserOdometry time 94.069155 ms 
 
mapping data assosiation time 28.844264 ms 
solver time 10.725853 ms 
filter time 12.264483 ms 
publication time 10.098171 ms 
whole laserOdometry time 61.848328 ms 
 
points size 96989 
sort q time 5.993034 
seperate points time 14.454701 
data association time 15.940663 ms 
solver time 11.875079 ms 
data association time 16.038320 ms 
solver time 8.695162 ms 
optimization twice time 53.311858 
mapping data assosiation time 29.220479 ms 
prepare time 19.121213 
sort q time 5.736902 
seperate points time 13.851401 
filter time 15.600306 ms 
data association time 19.722992 ms 
build tree time 42.906357 ms 
solver time 14.184160 ms 
publication time 10.538657 ms 
whole laserOdometry time 74.066340 ms 
 
sort q time 4.670495 
seperate points time 11.142128 
data association time 15.563743 ms 
solver time 11.563911 ms 
data association time 15.536192 ms 
mapping solver time 18.214747 ms 
mapping optimization time 137.657786 
add points time 0.669616 ms
filter time 11.603618 ms 
points size 90469 
sort q time 5.117059 
seperate points time 12.278938 
scan registration time 34.819140 ms *************
build tree time 45.476999 ms 
data association time 14.782136 ms 
solver time 11.683719 ms 
mapping data assosiation time 23.537790 ms 
data association time 16.329538 ms 
data association time 22.690788 ms 
solver time 14.420763 ms 
data association time 21.914088 ms 
solver time 12.100635 ms 
publication time 10.556970 ms 
whole laserOdometry time 82.628008 ms 
 
scan registration time 30.417813 ms *************
mapping solver time 16.613993 ms 
data association time 15.343877 ms 
solver time 8.320155 ms 
mapping data assosiation time 24.142984 ms 
data association time 15.223334 ms 
add points time 0.672745 ms
publication time 8.217567 ms 
whole laserOdometry time 57.463135 ms 
 
mapping pub time 1.174533 ms 
whole mapping time 156.290695 ms +++++
prepare time 15.140714 
sort q time 5.294402 
seperate points time 12.362954 
build tree time 40.180227 ms 
solver time 11.181757 ms 
mapping data assosiation time 27.592004 ms 
solver time 8.492041 ms 
mapping solver time 22.721575 ms 
points size 88621 
mapping data assosiation time 27.735186 ms 
mapping optimization time 141.541837 
data association time 17.004626 ms 
solver time 10.870990 ms 
data association time 17.227210 ms 
build tree time 48.424492 ms 
points size 87757 
prepare time 17.415880 
sort q time 5.252736 
seperate points time 12.622888 
scan registration time 35.340984 ms *************
data association time 16.226815 ms 
solver time 14.187560 ms 
data association time 18.076689 ms 
publication time 8.010991 ms 
whole laserOdometry time 65.707282 ms 
 
mapping solver time 16.853474 ms 
filter time 12.793106 ms 
data association time 13.914726 ms 
solver time 11.008598 ms 
build tree time 38.955865 ms 
solver time 9.230543 ms 
mapping solver time 17.004965 ms 
points size 87026 
sort q time 4.807898 
seperate points time 11.131153 
mapping solver time 13.063319 ms 
data association time 17.927784 ms 
solver time 13.371098 ms 
data association time 19.122432 ms 
solver time 10.481991 ms 
publication time 8.205028 ms 
whole laserOdometry time 69.960581 ms 
 
points size 87366 
sort q time 4.286973 
seperate points time 10.157172 
mapping solver time 14.778563 ms 
data association time 13.738816 ms 
mapping data assosiation time 18.960870 ms 
mapping solver time 15.431157 ms 
mapping optimization time 117.109951 
add points time 0.615187 ms
filter time 13.143100 ms 
publication time 6.407686 ms 
whole laserOdometry time 56.299041 ms 
 
points size 87939 
sort q time 4.042351 
seperate points time 9.275326 
data association time 12.745388 ms 
solver time 8.711920 ms 
mapping solver time 13.739145 ms 
solver time 8.663111 ms 
mapping data assosiation time 20.923512 ms 
mapping solver time 11.601553 ms 
filter time 13.254351 ms 
sort q time 4.093645 
seperate points time 9.395634 
data association time 20.610473 ms 
build tree time 46.366720 ms 
solver time 16.413777 ms 
mapping data assosiation time 24.447902 ms 
data association time 22.932826 ms 
solver time 12.316209 ms 
points size 89996 
mapping data assosiation time 22.611647 ms 
mapping solver time 15.073173 ms 
data association time 21.449182 ms 
map prepare time 3.476735 ms
map corner num 148044  surf num 53671 
data association time 14.594676 ms 
solver time 8.364872 ms 
publication time 8.193056 ms 
whole laserOdometry time 65.334432 ms 
 
build tree time 46.050524 ms 
points size 90756 
prepare time 19.258279 
mapping data assosiation time 24.910524 ms 
scan registration time 37.689077 ms *************
mapping solver time 17.428958 ms 
data association time 14.301336 ms 
mapping data assosiation time 19.943727 ms 
mapping solver time 11.803533 ms 
solver time 9.648550 ms 
publication time 8.653189 ms 
whole laserOdometry time 58.714726 ms 
 
points size 92108 
sort q time 5.235174 
seperate points time 12.605086 
build tree time 48.788539 ms 
data association time 16.143462 ms 
mapping data assosiation time 20.567213 ms 
data association time 13.466843 ms 
solver time 10.429613 ms 
publication time 7.168342 ms 
whole laserOdometry time 58.797006 ms 
 
points size 94127 
sort q time 5.336766 
seperate points time 12.315929 
scan registration time 30.604714 ms *************
filter time 13.421810 ms 
mapping pub time 1.297368 ms 
whole mapping time 138.328615 ms +++++
drop lidar frame in mapping for real time performance 
data association time 21.887484 ms 
build tree time 38.607680 ms 
mapping data assosiation time 19.628081 ms 
mapping solver time 14.859493 ms 
publication time 9.859104 ms 
whole laserOdometry time 81.707036 ms 
 
sort q time 4.880303 
seperate points time 11.571678 
mapping solver time 12.941963 ms 
mapping optimization time 111.045199 
add points time 0.707732 ms
filter time 12.824712 ms 
solver time 15.390577 ms 
data association time 22.348783 ms 
solver time 12.140093 ms 
prepare time 15.692150 
sort q time 5.558320 
seperate points time 13.464379 
mapping pub time 104.763847 ms 
whole mapping time 232.508699 ms +++++
solver time 15.962247 ms 
data association time 22.769553 ms 
solver time 11.992103 ms 
publication time 9.627777 ms 
whole laserOdometry time 84.721138 ms 
 
mapping data assosiation time 23.628745 ms 
mapping solver time 16.291024 ms 
data association time 13.903584 ms 
solver time 11.098081 ms 
mapping data assosiation time 21.465599 ms 
mapping solver time 12.952662 ms 
solver time 8.840960 ms 
optimization twice time 49.690950 
filter time 16.212679 ms 
mapping pub time 1.830562 ms 
whole mapping time 144.104678 ms +++++
drop lidar frame in mapping for real time performance 
publication time 11.072068 ms 
whole laserOdometry time 60.784221 ms 
 
points size 89147 
sort q time 4.005238 
seperate points time 9.365635 
build tree time 46.047575 ms 
solver time 12.561347 ms 
data association time 16.137733 ms 
points size 90119 
mapping data assosiation time 22.905309 ms 
prepare time 12.859407 
sort q time 4.482291 
seperate points time 10.457595 
filter time 17.182983 ms 
data association time 20.376960 ms 
solver time 11.526814 ms 
data association time 14.685959 ms 
publication time 7.800644 ms 
whole laserOdometry time 64.093329 ms 
 
points size 88784 
sort q time 5.933904 
seperate points time 14.226268 
data association time 13.908351 ms 
solver time 12.058408 ms 
data association time 14.921248 ms 
publication time 7.157859 ms 
whole laserOdometry time 58.250820 ms 
 
points size 90086 
sort q time 4.723430 
seperate points time 11.047087 
mapping data assosiation time 21.031132 ms 
solver time 10.791295 ms 
mapping solver time 13.268514 ms 
data association time 15.407610 ms 
publication time 6.990183 ms 
whole laserOdometry time 56.417422 ms 
 
mapping solver time 10.861650 ms 
mapping optimization time 112.979307 
add points time 0.712632 ms
filter time 13.455015 ms 
sort q time 5.035599 
seperate points time 11.643232 
scan registration time 30.196460 ms *************
build tree time 49.864500 ms 
data association time 22.526727 ms 
solver time 17.431288 ms 
mapping data assosiation time 26.414576 ms 
data association time 20.282074 ms 
solver time 11.453969 ms 
points size 94658 
prepare time 17.957381 
publication time 10.052565 ms 
whole laserOdometry time 82.670255 ms 
 
sort q time 4.380599 
seperate points time 10.418213 
filter time 12.323344 ms 
solver time 11.172986 ms 
data association time 14.035535 ms 
solver time 8.830847 ms 
publication time 8.850128 ms 
whole laserOdometry time 58.213257 ms 
 
points size 94620 
sort q time 5.028481 
seperate points time 11.646457 
data association time 14.787424 ms 
solver time 11.143698 ms 
data association time 17.328587 ms 
map prepare time 3.301253 ms
map corner num 154345  surf num 55906 
publication time 8.032689 ms 
whole laserOdometry time 61.603142 ms 
 
points size 94586 
sort q time 4.163671 
seperate points time 9.716419 
scan registration time 27.740535 ms *************
build tree time 45.054532 ms 
data association time 14.735918 ms 
solver time 10.877749 ms 
mapping solver time 15.010736 ms 
solver time 7.973183 ms 
optimization twice time 50.607584 
mapping data assosiation time 22.704695 ms 
mapping solver time 15.706655 ms 
prepare time 18.065874 
sort q time 4.780502 
seperate points time 11.305853 
scan registration time 33.847533 ms *************
data association time 16.352171 ms 
build tree time 41.510730 ms 
data association time 15.230460 ms 
mapping data assosiation time 24.847622 ms 
publication time 8.420102 ms 
whole laserOdometry time 60.343509 ms 
 
points size 92739 
mapping data assosiation time 20.560218 ms 
mapping solver time 11.573036 ms 
filter time 12.889505 ms 
solver time 11.227192 ms 
data association time 14.010643 ms 
solver time 8.763925 ms 
optimization twice time 49.748700 
points size 91404 
sort q time 3.947868 
seperate points time 9.577259 
mapping data assosiation time 26.764479 ms 
mapping solver time 19.256835 ms 
filter time 15.718336 ms 
solver time 11.290779 ms 
optimization twice time 77.615325 
points size 91101 
prepare time 14.080143 
sort q time 4.869475 
seperate points time 11.738854 
build tree time 48.809751 ms 
data association time 24.871320 ms 
solver time 16.727411 ms 
mapping solver time 22.623123 ms 
data association time 20.481114 ms 
solver time 9.457452 ms 
mapping solver time 13.764204 ms 
filter time 16.275749 ms 
mapping pub time 3.411489 ms 
whole mapping time 160.381961 ms +++++
drop lidar frame in mapping for real time performance 
solver time 11.167756 ms 
data association time 16.997779 ms 
solver time 7.777093 ms 
build tree time 44.962714 ms 
points size 94398 
sort q time 5.965140 
seperate points time 13.662786 
mapping solver time 17.094379 ms 
data association time 14.227797 ms 
mapping data assosiation time 20.410999 ms 
mapping solver time 14.729897 ms 
mapping optimization time 123.125301 
add points time 0.727227 ms
data association time 14.622293 ms 
filter time 12.427455 ms 
publication time 8.288936 ms 
whole laserOdometry time 57.697578 ms 
 
points size 94198 
prepare time 13.658850 
sort q time 4.720775 
seperate points time 10.979710 
data association time 15.701865 ms 
mapping data assosiation time 21.111835 ms 
mapping solver time 14.664415 ms 
solver time 5.416428 ms 
mapping data assosiation time 24.027046 ms 
mapping solver time 15.042183 ms 
points size 94522 
map prepare time 3.100661 ms
map corner num 157706  surf num 56958 
scan registration time 34.387296 ms *************
build tree time 41.891322 ms 
data association time 23.108711 ms 
solver time 12.151152 ms 
data association time 14.617897 ms 
publication time 8.082813 ms 
whole laserOdometry time 67.647744 ms 
 
prepare time 18.101804 
sort q time 5.393917 
seperate points time 13.141716 
filter time 14.536572 ms 
solver time 10.749739 ms 
data association time 16.685572 ms 
solver time 10.520486 ms 
publication time 9.564098 ms 
whole laserOdometry time 67.049600 ms 
 
points size 92550 
mapping data assosiation time 30.530136 ms 
sort q time 6.146901 
seperate points time 14.044619 
mapping solver time 25.996675 ms 
data association time 15.562220 ms 
solver time 12.132070 ms 
data association time 14.831261 ms 
mapping solver time 14.558194 ms 
mapping optimization time 137.189635 
add points time 0.690955 ms
filter time 15.434648 ms 
points size 90849 
prepare time 17.924124 
sort q time 5.117886 
seperate points time 12.692262 
build tree time 45.727580 ms 
data association time 24.720292 ms 
mapping data assosiation time 26.143156 ms 
mapping solver time 21.417698 ms 
data association time 23.872126 ms 
points size 90587 
mapping data assosiation time 26.016160 ms 
scan registration time 35.168497 ms *************
filter time 16.392933 ms 
solver time 10.612728 ms 
data association time 14.616895 ms 
solver time 10.395768 ms 
publication time 9.970506 ms 
whole laserOdometry time 66.475071 ms 
 
build tree time 48.406127 ms 
prepare time 18.232298 
mapping data assosiation time 21.303093 ms 
mapping solver time 16.561032 ms 
data association time 14.308464 ms 
mapping data assosiation time 22.839223 ms 
mapping solver time 12.464758 ms 
filter time 13.580337 ms 
publication time 10.032616 ms 
whole laserOdometry time 65.892632 ms 
 
sort q time 4.049273 
seperate points time 9.846702 
build tree time 44.436122 ms 
data association time 12.737408 ms 
mapping data assosiation time 21.655387 ms 
data association time 13.471690 ms 
publication time 7.653218 ms 
whole laserOdometry time 57.279299 ms 
 
points size 93481 
sort q time 4.634483 
seperate points time 10.950978 
map prepare time 3.080527 ms
map corner num 160366  surf num 57852 
data association time 13.810848 ms 
solver time 12.534903 ms 
build tree time 43.246685 ms 
solver time 7.863578 ms 
publication time 8.076779 ms 
whole laserOdometry time 56.684446 ms 
 
points size 93078 
sort q time 4.155892 
seperate points time 9.898593 
mapping solver time 16.122550 ms 
solver time 13.090907 ms 
filter time 14.747072 ms 
mapping pub time 1.078368 ms 
whole mapping time 141.944974 ms +++++
map prepare time 2.970006 ms
map corner num 160848  surf num 58044 
solver time 7.709842 ms 
publication time 8.696860 ms 
whole laserOdometry time 65.226792 ms 
 
points size 92460 
build tree time 46.490374 ms 
scan registration time 32.993963 ms *************
data association time 14.354703 ms 
mapping data assosiation time 21.009049 ms 
mapping solver time 11.182534 ms 
mapping optimization time 114.118437 
add points time 0.542261 ms
solver time 10.555370 ms 
optimization twice time 50.087454 
map prepare time 3.193708 ms
map corner num 161424  surf num 58228 
scan registration time 28.661851 ms *************
build tree time 42.856392 ms 
solver time 8.208754 ms 
mapping data assosiation time 20.014908 ms 
solver time 8.596859 ms 
mapping data assosiation time 20.301257 ms 
mapping optimization time 108.775072 
sort q time 4.824955 
seperate points time 11.509365 
data association time 15.683148 ms 
solver time 10.901924 ms 
data association time 13.350004 ms 
solver time 9.427408 ms 
publication time 9.111252 ms 
whole laserOdometry time 59.347362 ms 
 
points size 88613 
sort q time 3.691727 
seperate points time 9.120823 
map prepare time 5.363168 ms
map corner num 172542  surf num 58443 
data association time 16.872271 ms 
solver time 12.272622 ms 
data association time 13.397671 ms 
publication time 7.996119 ms 
whole laserOdometry time 60.607109 ms 
 
mapping data assosiation time 22.631063 ms 
sort q time 4.304997 
seperate points time 10.575181 
scan registration time 28.524873 ms *************
mapping data assosiation time 22.967359 ms 
mapping solver time 14.915399 ms 
filter time 14.534820 ms 
solver time 10.428201 ms 
points size 94798 
sort q time 4.967527 
seperate points time 11.951832 
mapping data assosiation time 20.023747 ms 
data association time 13.203224 ms 
mapping solver time 16.330266 ms 
data association time 12.767975 ms 
solver time 8.829403 ms 
filter time 14.491345 ms 
sort q time 4.788587 
seperate points time 11.588924 
scan registration time 31.537301 ms *************
data association time 20.204680 ms 
build tree time 52.725505 ms 
mapping data assosiation time 25.386405 ms 
solver time 16.488443 ms 
publication time 10.489930 ms 
whole laserOdometry time 86.880060 ms 
 
scan registration time 29.013165 ms *************
mapping data assosiation time 26.048933 ms 
data association time 21.075211 ms 
mapping solver time 16.988965 ms 
mapping optimization time 144.135796 
add points time 0.566150 ms
filter time 17.258512 ms 
mapping pub time 1.620734 ms 
whole mapping time 167.478976 ms +++++
data association time 20.825865 ms 
solver time 11.515993 ms 
publication time 10.510510 ms 
whole laserOdometry time 76.746376 ms 
 
prepare time 16.343515 
sort q time 5.480258 
seperate points time 12.479530 
mapping data assosiation time 25.726280 ms 
solver time 16.634015 ms 
data association time 18.743107 ms 
solver time 9.628496 ms 
points size 91654 
sort q time 5.299655 
seperate points time 12.920699 
data association time 12.863011 ms 
solver time 11.646013 ms 
data association time 12.965409 ms 
publication time 8.532833 ms 
whole laserOdometry time 55.738807 ms 
 
mapping data assosiation time 22.976404 ms 
prepare time 13.725599 
mapping solver time 14.111890 ms 
sort q time 6.010639 
seperate points time 13.789879 
mapping data assosiation time 20.844620 ms 
mapping solver time 12.180272 ms 
mapping optimization time 117.993522 
data association time 16.512818 ms 
add points time 0.531481 ms
filter time 14.244886 ms 
data association time 14.930853 ms 
solver time 10.636400 ms 
points size 90752 
build tree time 45.332813 ms 
scan registration time 31.750756 ms *************
data association time 14.964553 ms 
mapping solver time 14.756132 ms 
mapping data assosiation time 19.465037 ms 
solver time 7.682473 ms 
publication time 8.587876 ms 
whole laserOdometry time 56.319881 ms 
 
filter time 14.244798 ms 
points size 90739 
sort q time 4.032600 
seperate points time 9.747470 
data association time 13.120225 ms 
build tree time 46.699403 ms 
solver time 9.192477 ms 
data association time 13.281384 ms 
mapping data assosiation time 19.884183 ms 
publication time 7.306376 ms 
whole laserOdometry time 52.247067 ms 
 
mapping solver time 9.134113 ms 
filter time 14.208483 ms 
data association time 18.048644 ms 
solver time 12.308584 ms 
data association time 13.608031 ms 
solver time 7.745943 ms 
optimization twice time 52.506154 
mapping data assosiation time 20.770389 ms 
mapping solver time 15.243457 ms 
prepare time 17.866988 
sort q time 5.259485 
seperate points time 12.891156 
mapping solver time 12.512283 ms 
data association time 13.605903 ms 
filter time 14.402228 ms 
data association time 12.471750 ms 
solver time 8.108856 ms 
optimization twice time 46.690878 
build tree time 47.703463 ms 
prepare time 17.040036 
mapping data assosiation time 20.747895 ms 
mapping solver time 14.144993 ms 
data association time 14.471525 ms 
mapping data assosiation time 20.298540 ms 
mapping solver time 14.213542 ms 
solver time 7.871351 ms 
map prepare time 4.165333 ms
map corner num 177249  surf num 59701 
points size 94218 
sort q time 5.377443 
seperate points time 13.079614 
build tree time 46.324532 ms 
data association time 13.706348 ms 
mapping data assosiation time 20.460645 ms 
mapping solver time 14.953359 ms 
data association time 15.011259 ms 
solver time 7.708210 ms 
publication time 8.664809 ms 
whole laserOdometry time 56.658586 ms 
 
mapping solver time 13.474670 ms 
filter time 17.736029 ms 
map prepare time 3.979425 ms
map corner num 177700  surf num 59795 
data association time 15.228715 ms 
solver time 11.348738 ms 
data association time 14.899500 ms 
solver time 8.009895 ms 
publication time 8.006608 ms 
whole laserOdometry time 58.293684 ms 
 
mapping data assosiation time 20.484476 ms 
mapping solver time 14.030462 ms 
points size 100433 
sort q time 5.924250 
seperate points time 14.154351 
mapping solver time 10.456865 ms 
data association time 15.989578 ms 
filter time 16.692430 ms 
mapping pub time 1.163800 ms 
whole mapping time 135.250675 ms +++++
data association time 14.656918 ms 
solver time 10.682421 ms 
publication time 9.798645 ms 
whole laserOdometry time 63.853030 ms 
 
build tree time 50.829098 ms 
sort q time 5.720752 
seperate points time 13.885411 
data association time 12.567646 ms 
solver time 13.491291 ms 
data association time 13.729754 ms 
mapping optimization time 131.544142 
publication time 9.794993 ms 
whole laserOdometry time 58.441592 ms 
 
filter time 15.992080 ms 
prepare time 16.302406 
sort q time 5.410491 
seperate points time 12.439182 
data association time 13.211293 ms 
solver time 13.568967 ms 
mapping data assosiation time 20.275375 ms 
solver time 8.350150 ms 
publication time 9.931041 ms 
whole laserOdometry time 62.176793 ms 
 
points size 101202 
mapping solver time 12.536126 ms 
filter time 16.134279 ms 
data association time 16.520608 ms 
solver time 12.198653 ms 
data association time 13.459066 ms 
solver time 8.424936 ms 
publication time 7.820921 ms 
whole laserOdometry time 59.334176 ms 
 
points size 101402 
sort q time 5.259461 
seperate points time 12.182617 
mapping solver time 18.877422 ms 
data association time 13.470651 ms 
mapping solver time 12.234429 ms 
filter time 13.604011 ms 
map prepare time 4.002763 ms
map corner num 179956  surf num 60414 
points size 100912 
sort q time 4.444151 
seperate points time 10.560049 
build tree time 49.182826 ms 
data association time 16.875094 ms 
solver time 10.546175 ms 
mapping solver time 12.942537 ms 
solver time 8.794234 ms 
publication time 9.135748 ms 
whole laserOdometry time 65.096878 ms 
 
prepare time 18.414810 
filter time 13.798872 ms 
map prepare time 3.265401 ms
map corner num 180468  surf num 60549 
sort q time 5.904205 
seperate points time 14.501100 
data association time 13.486558 ms 
build tree time 46.107951 ms 
data association time 15.777740 ms 
solver time 9.726416 ms 
points size 100000 
sort q time 5.821617 
seperate points time 13.041048 
mapping data assosiation time 26.169989 ms 
data association time 15.895981 ms 
solver time 12.145412 ms 
filter time 16.791178 ms 
solver time 8.458502 ms 
publication time 9.654725 ms 
whole laserOdometry time 62.295168 ms 
 
points size 99787 
build tree time 50.219129 ms 
mapping data assosiation time 21.990905 ms 
data association time 14.361105 ms 
mapping solver time 17.306443 ms 
data association time 16.909225 ms 
optimization twice time 50.979374 
points size 99500 
map prepare time 4.193836 ms
map corner num 181509  surf num 60755 
sort q time 5.815042 
seperate points time 14.196917 
scan registration time 38.230757 ms *************
data association time 14.910399 ms 
solver time 13.843446 ms 
data association time 18.692312 ms 
optimization twice time 58.995234 
publication time 9.913529 ms 
whole laserOdometry time 68.926194 ms 
 
points size 100003 
prepare time 18.327088 
mapping data assosiation time 21.912059 ms 
mapping solver time 10.938549 ms 
filter time 13.378759 ms 
solver time 11.004967 ms 
data association time 14.004205 ms 
solver time 8.465233 ms 
publication time 8.663885 ms 
whole laserOdometry time 63.077989 ms 
 
points size 100836 
mapping data assosiation time 20.200673 ms 
sort q time 6.007720 
seperate points time 14.357309 
mapping solver time 17.010728 ms 
data association time 15.750473 ms 
solver time 11.235720 ms 
data association time 15.285406 ms 
filter time 12.686459 ms 
mapping pub time 1.168715 ms 
whole mapping time 136.634004 ms +++++
points size 101384 
sort q time 5.020878 
seperate points time 11.929668 
build tree time 52.070931 ms 
data association time 15.479269 ms 
mapping solver time 13.822301 ms 
publication time 7.904469 ms 
whole laserOdometry time 53.049865 ms 
 
points size 100430 
sort q time 5.114154 
seperate points time 12.356724 
data association time 14.550421 ms 
solver time 10.603481 ms 
data association time 17.644345 ms 
solver time 6.107628 ms 
optimization twice time 49.732067 
publication time 9.056673 ms 
whole laserOdometry time 58.805468 ms 
 
points size 98716 
mapping pub time 112.270399 ms 
whole mapping time 259.652705 ms +++++
sort q time 7.317469 
seperate points time 17.953550 
data association time 15.794105 ms 
solver time 10.234426 ms 
data association time 18.160290 ms 
solver time 9.460072 ms 
points size 97521 
prepare time 16.215735 
mapping data assosiation time 22.125752 ms 
sort q time 5.353779 
seperate points time 12.310404 
mapping data assosiation time 20.821173 ms 
data association time 15.039217 ms 
add points time 0.578680 ms
filter time 15.798387 ms 
solver time 8.549342 ms 
points size 96265 
sort q time 4.839541 
seperate points time 11.764248 
scan registration time 31.099815 ms *************
build tree time 48.991240 ms 
mapping data assosiation time 20.216663 ms 
solver time 11.683078 ms 
data association time 15.060407 ms 
publication time 7.988215 ms 
whole laserOdometry time 59.701558 ms 
 
points size 94804 
filter time 15.074272 ms 
mapping pub time 1.181333 ms 
whole mapping time 140.742780 ms +++++
prepare time 17.510804 
drop lidar frame in mapping for real time performance 
sort q time 5.486068 
seperate points time 13.246604 
data association time 14.569842 ms 
solver time 8.678927 ms 
data association time 14.475962 ms 
[0m[ INFO] [1718887254.235926694]: Received 1508107 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887254.235958244]: Data saved to 1317357998484469.pcd[0m
publication time 8.268931 ms 
whole laserOdometry time 55.742156 ms 
 
points size 91119 
sort q time 5.061604 
seperate points time 11.887071 
mapping solver time 12.881248 ms 
data association time 15.286519 ms 
solver time 11.826079 ms 
data association time 15.713096 ms 
solver time 8.569860 ms 
optimization twice time 52.271546 
build tree time 49.062807 ms 
sort q time 5.277425 
seperate points time 12.720611 
mapping data assosiation time 20.794565 ms 
mapping solver time 13.324243 ms 
solver time 10.801761 ms 
mapping optimization time 116.749434 
add points time 0.478545 ms
data association time 15.250253 ms 
filter time 15.475546 ms 
points size 86859 
sort q time 4.549292 
seperate points time 11.190030 
build tree time 48.859151 ms 
data association time 14.970160 ms 
solver time 10.866554 ms 
data association time 14.398628 ms 
publication time 7.176559 ms 
whole laserOdometry time 54.205777 ms 
 
mapping data assosiation time 20.363513 ms 
mapping solver time 13.329748 ms 
mapping optimization time 118.352718 
add points time 0.529336 ms
points size 86087 
prepare time 14.085570 
sort q time 5.014338 
seperate points time 12.114293 
data association time 13.987032 ms 
solver time 11.137680 ms 
data association time 14.629111 ms 
build tree time 53.203174 ms 
publication time 7.899189 ms 
whole laserOdometry time 57.477818 ms 
 
mapping data assosiation time 20.510412 ms 
mapping solver time 12.610719 ms 
scan registration time 29.028771 ms *************
mapping data assosiation time 19.933471 ms 
mapping optimization time 116.358742 
solver time 11.090309 ms 
filter time 14.962658 ms 
solver time 8.817115 ms 
points size 86392 
sort q time 4.189795 
seperate points time 9.963129 
mapping data assosiation time 18.962684 ms 
mapping solver time 14.028407 ms 
solver time 8.347219 ms 
data association time 14.934427 ms 
publication time 8.588499 ms 
whole laserOdometry time 58.149508 ms 
 
map prepare time 3.679644 ms
map corner num 186201  surf num 61866 
points size 86090 
sort q time 3.922719 
seperate points time 9.735926 
data association time 14.855141 ms 
mapping data assosiation time 19.701110 ms 
solver time 10.387884 ms 
publication time 9.641067 ms 
whole laserOdometry time 59.929167 ms 
 
mapping data assosiation time 21.799163 ms 
mapping optimization time 113.973842 
filter time 15.389683 ms 
data association time 13.875891 ms 
solver time 12.566251 ms 
build tree time 47.214242 ms 
solver time 7.958911 ms 
points size 84181 
sort q time 3.777850 
seperate points time 9.345377 
mapping data assosiation time 21.150494 ms 
data association time 15.183796 ms 
solver time 11.023100 ms 
mapping pub time 1.041201 ms 
whole mapping time 140.790153 ms +++++
solver time 8.379939 ms 
points size 82980 
sort q time 4.383705 
seperate points time 10.871139 
scan registration time 28.401174 ms *************
data association time 14.534750 ms 
solver time 10.948170 ms 
mapping data assosiation time 19.791352 ms 
mapping solver time 11.367494 ms 
publication time 7.974450 ms 
whole laserOdometry time 56.871396 ms 
 
mapping pub time 3.519662 ms 
whole mapping time 138.172793 ms +++++
points size 81357 
prepare time 16.223437 
sort q time 4.544728 
seperate points time 11.408018 
build tree time 53.716437 ms 
solver time 17.322115 ms 
mapping data assosiation time 23.790547 ms 
mapping solver time 17.130179 ms 
solver time 9.069573 ms 
publication time 9.643480 ms 
whole laserOdometry time 78.416860 ms 
 
mapping solver time 11.290907 ms 
filter time 16.969927 ms 
solver time 8.185307 ms 
data association time 17.309576 ms 
publication time 8.352120 ms 
whole laserOdometry time 57.244937 ms 
 
build tree time 53.751468 ms 
points size 82132 
sort q time 4.642856 
seperate points time 11.669347 
data association time 13.792038 ms 
mapping solver time 14.819714 ms 
solver time 8.475295 ms 
publication time 9.806557 ms 
whole laserOdometry time 55.297617 ms 
 
points size 85019 
sort q time 4.667537 
seperate points time 10.962760 
build tree time 54.195036 ms 
data association time 22.661607 ms 
mapping data assosiation time 20.711342 ms 
solver time 15.759675 ms 
mapping solver time 14.317104 ms 
data association time 22.559718 ms 
solver time 11.808952 ms 
points size 88924 
filter time 17.258986 ms 
data association time 22.995813 ms 
solver time 15.406840 ms 
data association time 23.264774 ms 
solver time 11.837525 ms 
publication time 10.280885 ms 
whole laserOdometry time 84.906641 ms 
 
sort q time 4.983940 
seperate points time 12.024948 
mapping solver time 11.427855 ms 
mapping optimization time 115.496072 
add points time 0.543678 ms
filter time 16.234711 ms 
solver time 11.640737 ms 
data association time 23.191313 ms 
solver time 12.001598 ms 
prepare time 13.497573 
sort q time 5.201722 
seperate points time 12.730655 
scan registration time 30.571975 ms *************
mapping data assosiation time 23.048127 ms 
mapping solver time 14.763167 ms 
data association time 23.670875 ms 
mapping data assosiation time 20.540820 ms 
mapping solver time 16.802005 ms 
mapping optimization time 126.658378 
add points time 0.671743 ms
filter time 20.753198 ms 
prepare time 14.018815 
sort q time 10.838384 
seperate points time 18.476010 
scan registration time 36.984742 ms *************
data association time 24.409200 ms 
build tree time 61.132367 ms 
mapping data assosiation time 24.219693 ms 
points size 85328 
publication time 10.919605 ms 
whole laserOdometry time 90.277900 ms 
 
mapping solver time 15.063001 ms 
data association time 23.366278 ms 
filter time 18.534904 ms 
data association time 23.252731 ms 
solver time 11.187126 ms 
publication time 9.574236 ms 
whole laserOdometry time 84.775715 ms 
 
scan registration time 29.663326 ms *************
build tree time 60.174310 ms 
mapping data assosiation time 24.318839 ms 
mapping solver time 20.903372 ms 
mapping data assosiation time 25.244995 ms 
prepare time 14.861339 
publication time 9.649109 ms 
whole laserOdometry time 90.952528 ms 
 
filter time 17.946661 ms 
data association time 23.201748 ms 
solver time 13.472221 ms 
data association time 13.694025 ms 
solver time 10.257221 ms 
points size 83140 
mapping data assosiation time 25.670246 ms 
sort q time 5.153602 
seperate points time 12.925255 
mapping solver time 16.894470 ms 
mapping data assosiation time 18.572203 ms 
solver time 10.988487 ms 
filter time 12.684970 ms 
optimization twice time 51.473511 
publication time 8.809214 ms 
whole laserOdometry time 60.294534 ms 
 
prepare time 16.716701 
sort q time 4.818118 
seperate points time 12.122427 
build tree time 58.714941 ms 
solver time 11.117817 ms 
mapping solver time 14.231771 ms 
solver time 8.913685 ms 
mapping data assosiation time 23.487304 ms 
points size 82595 
mapping solver time 19.822988 ms 
scan registration time 33.513855 ms *************
filter time 15.213580 ms 
data association time 17.302820 ms 
solver time 13.163050 ms 
data association time 16.610198 ms 
solver time 10.655360 ms 
points size 82495 
sort q time 4.623416 
seperate points time 11.502844 
data association time 13.946068 ms 
solver time 8.895177 ms 
data association time 13.736584 ms 
publication time 8.477865 ms 
whole laserOdometry time 51.982464 ms 
 
points size 80984 
sort q time 5.593010 
seperate points time 13.888313 
data association time 19.130921 ms 
solver time 13.943920 ms 
mapping pub time 116.536047 ms 
whole mapping time 257.649832 ms +++++
solver time 12.892257 ms 
publication time 9.882783 ms 
whole laserOdometry time 77.810610 ms 
 
sort q time 4.608555 
seperate points time 11.555074 
build tree time 56.560396 ms 
solver time 10.838056 ms 
data association time 13.968460 ms 
publication time 7.202677 ms 
whole laserOdometry time 55.137021 ms 
 
points size 74034 
sort q time 4.068143 
seperate points time 10.540854 
filter time 19.023785 ms 
data association time 14.547333 ms 
solver time 10.025692 ms 
data association time 13.319620 ms 
publication time 7.253105 ms 
whole laserOdometry time 54.315993 ms 
 
points size 73400 
sort q time 4.121566 
seperate points time 10.397602 
data association time 13.013682 ms 
mapping solver time 12.967442 ms 
solver time 7.691370 ms 
map prepare time 3.269634 ms
map corner num 193828  surf num 63837 
points size 73716 
sort q time 3.397545 
seperate points time 8.410121 
build tree time 54.417138 ms 
data association time 13.061935 ms 
solver time 10.926092 ms 
data association time 18.317328 ms 
publication time 6.050031 ms 
whole laserOdometry time 58.525849 ms 
 
mapping data assosiation time 20.574504 ms 
mapping solver time 12.209670 ms 
sort q time 3.632087 
seperate points time 8.798514 
data association time 13.289868 ms 
solver time 8.867305 ms 
data association time 13.487310 ms 
solver time 8.492995 ms 
mapping data assosiation time 18.590667 ms 
mapping solver time 12.385302 ms 
points size 75659 
mapping data assosiation time 24.024977 ms 
sort q time 4.742589 
seperate points time 11.980541 
scan registration time 32.465378 ms *************
data association time 15.315251 ms 
map prepare time 3.720173 ms
map corner num 194751  surf num 64085 
data association time 15.090515 ms 
solver time 10.300181 ms 
points size 75996 
sort q time 3.879909 
seperate points time 9.731453 
mapping data assosiation time 19.250090 ms 
data association time 14.164648 ms 
solver time 10.013275 ms 
mapping data assosiation time 17.493003 ms 
data association time 14.443679 ms 
publication time 7.489693 ms 
whole laserOdometry time 54.893727 ms 
 
mapping pub time 3.287029 ms 
whole mapping time 140.275234 ms +++++
points size 76035 
sort q time 3.767139 
seperate points time 9.509506 
data association time 13.018366 ms 
solver time 10.330766 ms 
mapping data assosiation time 18.004307 ms 
mapping solver time 10.960115 ms 
mapping data assosiation time 18.782965 ms 
points size 76093 
map prepare time 3.193474 ms
map corner num 195688  surf num 64331 
sort q time 3.175188 
seperate points time 8.008254 
data association time 13.013826 ms 
solver time 10.363621 ms 
build tree time 50.997445 ms 
publication time 6.803382 ms 
whole laserOdometry time 53.178869 ms 
 
mapping data assosiation time 19.351072 ms 
mapping solver time 13.070896 ms 
points size 76317 
mapping data assosiation time 20.476992 ms 
mapping solver time 14.438739 ms 
mapping optimization time 119.309957 
add points time 0.694222 ms
filter time 18.830725 ms 
solver time 11.922681 ms 
data association time 21.407586 ms 
solver time 11.076953 ms 
publication time 8.799785 ms 
whole laserOdometry time 75.584774 ms 
 
sort q time 3.323336 
seperate points time 8.246293 
mapping data assosiation time 18.529780 ms 
mapping solver time 11.558374 ms 
data association time 11.851835 ms 
publication time 6.810960 ms 
whole laserOdometry time 46.742532 ms 
 
filter time 18.634741 ms 
sort q time 4.176678 
seperate points time 9.921243 
data association time 18.696307 ms 
solver time 11.234145 ms 
data association time 18.515856 ms 
solver time 11.632751 ms 
points size 76098 
mapping solver time 13.078412 ms 
mapping data assosiation time 21.214249 ms 
data association time 19.625364 ms 
solver time 15.456575 ms 
filter time 21.145542 ms 
data association time 18.701150 ms 
map prepare time 4.370380 ms
map corner num 221568  surf num 72043 
publication time 8.488534 ms 
whole laserOdometry time 74.486789 ms 
 
points size 76692 
prepare time 11.573246 
scan registration time 22.904327 ms *************
build tree time 69.389155 ms 
data association time 18.213694 ms 
solver time 16.941808 ms 
data association time 18.611867 ms 
solver time 12.264015 ms 
publication time 9.291130 ms 
whole laserOdometry time 76.527837 ms 
 
points size 78782 
data association time 20.329982 ms 
solver time 11.004941 ms 
points size 80486 
sort q time 4.729077 
seperate points time 11.290890 
mapping solver time 14.113434 ms 
solver time 7.391846 ms 
data association time 12.957488 ms 
mapping solver time 10.638635 ms 
mapping optimization time 134.336909 
add points time 0.456234 ms
publication time 6.229905 ms 
whole laserOdometry time 50.067051 ms 
 
filter time 17.954679 ms 
points size 80524 
sort q time 5.118004 
seperate points time 12.293958 
scan registration time 29.016654 ms *************
data association time 18.026515 ms 
solver time 11.113861 ms 
build tree time 72.154769 ms 
data association time 19.746347 ms 
mapping data assosiation time 22.254400 ms 
publication time 8.718309 ms 
whole laserOdometry time 71.432964 ms 
 
prepare time 12.344313 
mapping data assosiation time 20.197458 ms 
mapping solver time 12.749096 ms 
solver time 10.177051 ms 
map prepare time 3.662546 ms
map corner num 222910  surf num 72386 
solver time 8.889513 ms 
points size 80960 
build tree time 62.767287 ms 
mapping data assosiation time 21.131343 ms 
data association time 19.229336 ms 
solver time 12.142662 ms 
data association time 19.811242 ms 
solver time 12.589964 ms 
mapping solver time 17.014963 ms 
points size 81855 
map prepare time 3.658975 ms
map corner num 223379  surf num 72492 
data association time 18.050504 ms 
data association time 11.608353 ms 
build tree time 68.756952 ms 
mapping data assosiation time 19.328974 ms 
points size 82685 
prepare time 12.447058 
sort q time 3.931592 
seperate points time 9.297700 
mapping data assosiation time 18.334217 ms 
data association time 14.804242 ms 
solver time 10.024552 ms 
filter time 20.038261 ms 
publication time 6.525364 ms 
whole laserOdometry time 50.765421 ms 
 
points size 83162 
sort q time 4.662556 
seperate points time 11.769432 
build tree time 66.366090 ms 
data association time 11.782580 ms 
mapping solver time 14.870958 ms 
publication time 7.349398 ms 
whole laserOdometry time 46.380536 ms 
 
mapping solver time 13.564479 ms 
points size 83695 
filter time 21.619165 ms 
map prepare time 3.781956 ms
map corner num 224221  surf num 72689 
data association time 16.644963 ms 
solver time 9.001329 ms 
data association time 13.152829 ms 
solver time 8.835793 ms 
build tree time 57.852503 ms 
points size 85275 
mapping solver time 11.053567 ms 
mapping data assosiation time 19.042197 ms 
mapping solver time 8.690460 ms 
data association time 12.653163 ms 
optimization twice time 45.675820 
map prepare time 3.930262 ms
map corner num 224552  surf num 72768 
points size 86824 
sort q time 4.373248 
seperate points time 10.677066 
data association time 11.855934 ms 
mapping data assosiation time 17.571230 ms 
mapping solver time 13.977108 ms 
data association time 12.450589 ms 
publication time 7.678716 ms 
whole laserOdometry time 48.976976 ms 
 
mapping solver time 10.002846 ms 
filter time 17.972571 ms 
sort q time 4.455072 
seperate points time 10.391640 
data association time 12.569198 ms 
data association time 12.895910 ms 
publication time 6.694202 ms 
whole laserOdometry time 49.034212 ms 
 
mapping solver time 10.447219 ms 
points size 91494 
mapping solver time 11.852805 ms 
sort q time 5.275056 
seperate points time 12.704117 
mapping optimization time 125.835490 
add points time 0.656429 ms
scan registration time 37.861978 ms *************
filter time 21.623754 ms 
data association time 22.329675 ms 
solver time 11.867962 ms 
data association time 21.532947 ms 
points size 92175 
sort q time 4.347480 
seperate points time 10.088343 
mapping data assosiation time 21.254088 ms 
mapping solver time 13.517753 ms 
mapping data assosiation time 17.559355 ms 
mapping solver time 11.770702 ms 
data association time 21.499875 ms 
filter time 18.577717 ms 
points size 91792 
sort q time 4.491523 
seperate points time 10.538391 
data association time 21.913940 ms 
solver time 14.784713 ms 
data association time 24.126730 ms 
solver time 12.882269 ms 
prepare time 14.025170 
sort q time 4.682475 
seperate points time 11.285181 
mapping data assosiation time 21.933673 ms 
mapping optimization time 147.719835 
add points time 0.488665 ms
solver time 11.893271 ms 
data association time 15.015354 ms 
publication time 7.737465 ms 
whole laserOdometry time 66.950624 ms 
 
points size 89462 
prepare time 19.711971 
sort q time 5.757535 
seperate points time 13.972212 
data association time 12.291785 ms 
mapping pub time 114.608518 ms 
whole mapping time 286.295154 ms +++++
data association time 20.817014 ms 
publication time 8.855447 ms 
whole laserOdometry time 60.861192 ms 
 
sort q time 4.655237 
seperate points time 10.996242 
build tree time 66.080015 ms 
solver time 7.998767 ms 
data association time 12.428089 ms 
publication time 7.047368 ms 
whole laserOdometry time 49.889326 ms 
 
mapping data assosiation time 20.415968 ms 
mapping solver time 13.388681 ms 
sort q time 3.902456 
seperate points time 9.540256 
data association time 16.516857 ms 
data association time 13.835323 ms 
optimization twice time 50.251105 
build tree time 63.934538 ms 
points size 88805 
sort q time 4.265265 
seperate points time 10.171305 
data association time 14.056798 ms 
mapping solver time 9.762079 ms 
data association time 16.345238 ms 
filter time 19.308307 ms 
mapping pub time 1.122301 ms 
whole mapping time 149.399726 ms +++++
solver time 7.621863 ms 
map prepare time 3.399111 ms
map corner num 226729  surf num 73416 
optimization twice time 50.167186 
points size 87712 
sort q time 4.901453 
seperate points time 11.835551 
build tree time 61.532637 ms 
data association time 13.942968 ms 
solver time 10.719034 ms 
mapping solver time 13.586197 ms 
data association time 18.909653 ms 
mapping data assosiation time 18.649352 ms 
mapping solver time 10.107592 ms 
points size 85678 
mapping pub time 1.120161 ms 
whole mapping time 148.635954 ms +++++
data association time 20.963986 ms 
build tree time 38.601212 ms 
solver time 19.018336 ms 
mapping data assosiation time 19.766457 ms 
mapping solver time 14.549976 ms 
solver time 9.106512 ms 
mapping solver time 11.242092 ms 
filter time 14.024390 ms 
solver time 8.158123 ms 
data association time 13.427208 ms 
build tree time 39.454319 ms 
mapping data assosiation time 19.177726 ms 
prepare time 11.377959 
sort q time 4.767674 
seperate points time 11.099316 
mapping solver time 10.662179 ms 
solver time 7.749451 ms 
data association time 12.893062 ms 
publication time 6.634312 ms 
whole laserOdometry time 46.461068 ms 
 
build tree time 36.549588 ms 
points size 78240 
sort q time 3.443170 
seperate points time 8.331151 
data association time 12.266507 ms 
solver time 12.499125 ms 
data association time 15.331062 ms 
optimization twice time 50.255652 
points size 75944 
sort q time 3.221663 
seperate points time 7.851574 
scan registration time 23.513091 ms *************
mapping solver time 12.986014 ms 
data association time 12.763460 ms 
data association time 14.490149 ms 
solver time 10.321052 ms 
drop lidar frame in mapping for real time performance 
map prepare time 2.817410 ms
map corner num 144596  surf num 46114 
points size 74431 
sort q time 3.703285 
seperate points time 8.876410 
build tree time 39.074120 ms 
data association time 12.467362 ms 
solver time 8.127715 ms 
mapping data assosiation time 19.102770 ms 
solver time 7.664855 ms 
mapping data assosiation time 17.931024 ms 
mapping solver time 11.173112 ms 
mapping optimization time 99.740346 
add points time 0.531383 ms
filter time 12.461925 ms 
points size 74177 
sort q time 4.259582 
seperate points time 10.298806 
scan registration time 27.594471 ms *************
build tree time 37.836121 ms 
data association time 12.316068 ms 
data association time 12.159975 ms 
publication time 6.262485 ms 
whole laserOdometry time 51.061655 ms 
 
mapping data assosiation time 20.123652 ms 
mapping solver time 13.743144 ms 
prepare time 13.382375 
map prepare time 3.095217 ms
map corner num 145300  surf num 46373 
data association time 11.928259 ms 
solver time 10.903399 ms 
build tree time 39.748466 ms 
solver time 7.783342 ms 
mapping solver time 12.177183 ms 
points size 73939 
sort q time 3.449360 
seperate points time 8.086297 
filter time 12.094665 ms 
solver time 10.916672 ms 
data association time 12.097105 ms 
publication time 5.512633 ms 
whole laserOdometry time 51.024204 ms 
 
mapping data assosiation time 18.242887 ms 
mapping solver time 12.728420 ms 
sort q time 3.326865 
seperate points time 7.935101 
mapping solver time 10.092577 ms 
data association time 12.273978 ms 
solver time 11.123249 ms 
data association time 12.752555 ms 
publication time 5.461271 ms 
whole laserOdometry time 50.624509 ms 
 
build tree time 39.680513 ms 
points size 73813 
sort q time 3.403026 
seperate points time 8.233156 
mapping solver time 14.556744 ms 
data association time 13.419435 ms 
mapping data assosiation time 18.292822 ms 
mapping solver time 12.727399 ms 
data association time 13.396953 ms 
filter time 12.168165 ms 
mapping pub time 0.883716 ms 
whole mapping time 121.433906 ms +++++
publication time 5.370286 ms 
whole laserOdometry time 55.971741 ms 
 
points size 74332 
scan registration time 24.629011 ms *************
data association time 12.052138 ms 
mapping data assosiation time 16.679723 ms 
mapping solver time 11.467350 ms 
publication time 6.723260 ms 
whole laserOdometry time 53.095057 ms 
 
points size 72982 
prepare time 11.867009 
data association time 12.039254 ms 
mapping solver time 9.503844 ms 
data association time 12.659967 ms 
mapping solver time 7.571489 ms 
publication time 6.131712 ms 
whole laserOdometry time 48.595643 ms 
 
filter time 12.951374 ms 
points size 72730 
sort q time 4.000382 
seperate points time 9.717133 
build tree time 39.670431 ms 
data association time 21.475651 ms 
solver time 16.166183 ms 
data association time 21.205285 ms 
solver time 12.669018 ms 
filter time 10.715403 ms 
sort q time 3.379540 
seperate points time 8.273622 
mapping pub time 2.711325 ms 
whole mapping time 138.344808 ms +++++
scan registration time 24.441796 ms *************
map prepare time 3.676749 ms
map corner num 147173  surf num 47153 
data association time 19.359880 ms 
solver time 14.354636 ms 
build tree time 48.589100 ms 
data association time 20.362395 ms 
mapping data assosiation time 22.547885 ms 
publication time 7.318621 ms 
whole laserOdometry time 76.354114 ms 
 
prepare time 11.887812 
sort q time 4.405763 
seperate points time 10.833246 
mapping solver time 7.305637 ms 
data association time 12.310311 ms 
filter time 17.308551 ms 
mapping pub time 1.433100 ms 
whole mapping time 133.838612 ms +++++
data association time 12.211230 ms 
publication time 6.907456 ms 
whole laserOdometry time 46.577977 ms 
 
build tree time 52.911962 ms 
points size 74482 
prepare time 11.686945 
sort q time 3.900203 
seperate points time 9.327826 
mapping solver time 14.446612 ms 
data association time 19.502744 ms 
mapping data assosiation time 22.693823 ms 
solver time 17.497263 ms 
mapping solver time 15.748867 ms 
filter time 14.586608 ms 
publication time 7.774738 ms 
whole laserOdometry time 76.703617 ms 
 
prepare time 12.096287 
sort q time 3.899313 
seperate points time 9.022227 
build tree time 41.519310 ms 
data association time 21.104711 ms 
mapping data assosiation time 22.839129 ms 
solver time 17.006848 ms 
mapping solver time 19.635089 ms 
data association time 20.653195 ms 
mapping data assosiation time 23.118127 ms 
points size 76620 
sort q time 3.518261 
seperate points time 8.565063 
map prepare time 3.422001 ms
map corner num 148166  surf num 47532 
data association time 19.721390 ms 
solver time 11.654866 ms 
build tree time 50.213827 ms 
solver time 8.333070 ms 
mapping data assosiation time 19.805724 ms 
points size 75903 
prepare time 15.414835 
mapping solver time 20.135298 ms 
sort q time 4.814232 
seperate points time 11.738250 
mapping data assosiation time 21.763872 ms 
mapping solver time 11.082301 ms 
mapping optimization time 124.124937 
add points time 0.494181 ms
data association time 19.913318 ms 
filter time 13.816692 ms 
data association time 19.806158 ms 
solver time 11.647279 ms 
publication time 7.933748 ms 
whole laserOdometry time 72.182324 ms 
 
prepare time 16.522827 
mapping data assosiation time 23.330484 ms 
mapping solver time 14.604724 ms 
solver time 10.490443 ms 
mapping data assosiation time 16.916948 ms 
mapping solver time 12.096757 ms 
solver time 8.159903 ms 
points size 75681 
prepare time 17.365619 
sort q time 4.806784 
seperate points time 12.113103 
data association time 12.601449 ms 
solver time 11.077283 ms 
data association time 12.848191 ms 
publication time 6.257680 ms 
whole laserOdometry time 51.765119 ms 
 
points size 76293 
sort q time 3.598089 
seperate points time 8.492458 
build tree time 46.603441 ms 
solver time 8.586743 ms 
mapping data assosiation time 23.504811 ms 
data association time 14.276733 ms 
publication time 7.112139 ms 
whole laserOdometry time 54.472409 ms 
 
mapping data assosiation time 23.651233 ms 
prepare time 15.444545 
mapping solver time 10.804775 ms 
mapping optimization time 122.198340 
add points time 0.514565 ms
map prepare time 3.545639 ms
map corner num 149266  surf num 47917 
[0m[ INFO] [1718887263.038698052]: Received 1540880 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887263.038740108]: Data saved to 1317358007530855.pcd[0m
data association time 20.283071 ms 
solver time 14.830257 ms 
build tree time 49.928818 ms 
optimization twice time 70.785278 
mapping solver time 17.189155 ms 
mapping data assosiation time 19.388815 ms 
mapping solver time 11.776478 ms 
filter time 12.032327 ms 
solver time 8.858102 ms 
build tree time 37.439186 ms 
points size 76414 
prepare time 11.821746 
scan registration time 25.585631 ms *************
mapping solver time 19.060473 ms 
solver time 17.633194 ms 
mapping data assosiation time 24.124503 ms 
mapping solver time 15.805179 ms 
solver time 11.361165 ms 
map prepare time 3.783107 ms
map corner num 150140  surf num 48266 
prepare time 12.547269 
scan registration time 24.088551 ms *************
build tree time 41.594893 ms 
data association time 21.718803 ms 
mapping data assosiation time 24.483339 ms 
mapping solver time 19.489173 ms 
data association time 20.935752 ms 
solver time 13.682337 ms 
mapping solver time 12.649681 ms 
filter time 11.389252 ms 
data association time 19.288826 ms 
solver time 11.129831 ms 
data association time 18.813718 ms 
solver time 12.572554 ms 
points size 81151 
sort q time 3.577422 
seperate points time 8.825349 
data association time 11.848939 ms 
mapping data assosiation time 20.365824 ms 
filter time 10.275706 ms 
solver time 7.904821 ms 
publication time 6.370197 ms 
whole laserOdometry time 51.273735 ms 
 
build tree time 39.490541 ms 
sort q time 3.861105 
seperate points time 9.123852 
mapping solver time 14.258998 ms 
data association time 19.203506 ms 
solver time 11.429245 ms 
mapping solver time 11.874427 ms 
data association time 19.200552 ms 
filter time 13.695326 ms 
mapping pub time 0.892652 ms 
whole mapping time 125.967081 ms +++++
solver time 11.979576 ms 
optimization twice time 62.842364 
map prepare time 3.397555 ms
map corner num 151427  surf num 48738 
points size 84444 
sort q time 4.260090 
seperate points time 10.170826 
data association time 19.306422 ms 
solver time 11.327540 ms 
data association time 18.870179 ms 
mapping data assosiation time 21.444030 ms 
solver time 11.569012 ms 
publication time 8.763159 ms 
whole laserOdometry time 70.940315 ms 
 
filter time 15.726356 ms 
sort q time 4.133749 
seperate points time 9.839539 
build tree time 38.695672 ms 
solver time 14.163946 ms 
mapping data assosiation time 21.781389 ms 
data association time 12.736153 ms 
publication time 6.866988 ms 
whole laserOdometry time 59.404024 ms 
 
mapping data assosiation time 21.770016 ms 
mapping solver time 13.273536 ms 
filter time 14.338493 ms 
mapping pub time 1.005235 ms 
whole mapping time 131.724669 ms +++++
map prepare time 2.911297 ms
map corner num 152308  surf num 49042 
data association time 14.249189 ms 
solver time 12.221853 ms 
data association time 13.215952 ms 
publication time 8.433011 ms 
whole laserOdometry time 55.137674 ms 
 
mapping data assosiation time 21.835514 ms 
points size 87334 
sort q time 4.343768 
seperate points time 10.567615 
mapping data assosiation time 23.498844 ms 
mapping solver time 14.198177 ms 
filter time 13.749550 ms 
solver time 8.397415 ms 
points size 88554 
sort q time 3.787088 
seperate points time 9.216560 
mapping data assosiation time 24.086171 ms 
solver time 7.755147 ms 
data association time 12.967730 ms 
publication time 6.998091 ms 
whole laserOdometry time 47.193753 ms 
 
mapping solver time 11.938270 ms 
mapping optimization time 117.938963 
add points time 0.661476 ms
filter time 11.868320 ms 
points size 90481 
sort q time 4.494092 
seperate points time 10.499654 
build tree time 39.597132 ms 
solver time 9.040128 ms 
mapping data assosiation time 25.358335 ms 
mapping solver time 15.601431 ms 
mapping data assosiation time 21.811194 ms 
mapping solver time 10.328310 ms 
scan registration time 28.673388 ms *************
data association time 14.230312 ms 
solver time 10.948416 ms 
data association time 14.861220 ms 
publication time 7.694045 ms 
whole laserOdometry time 57.901660 ms 
 
mapping data assosiation time 24.652052 ms 
points size 93684 
mapping solver time 18.885500 ms 
sort q time 4.921763 
seperate points time 11.495985 
mapping data assosiation time 22.735461 ms 
solver time 7.851727 ms 
filter time 12.256529 ms 
solver time 8.754822 ms 
points size 95272 
sort q time 4.356941 
seperate points time 10.434135 
mapping data assosiation time 27.972207 ms 
data association time 16.792089 ms 
solver time 10.931994 ms 
data association time 15.068411 ms 
mapping solver time 11.583615 ms 
filter time 14.452540 ms 
sort q time 5.090168 
seperate points time 12.008062 
data association time 24.659610 ms 
solver time 11.291608 ms 
data association time 17.981017 ms 
solver time 8.515107 ms 
publication time 10.229712 ms 
whole laserOdometry time 73.456565 ms 
 
points size 97602 
mapping data assosiation time 27.637788 ms 
scan registration time 37.156710 ms *************
filter time 11.660589 ms 
data association time 19.503698 ms 
solver time 12.825383 ms 
data association time 17.972518 ms 
publication time 8.796516 ms 
whole laserOdometry time 67.308178 ms 
 
points size 98881 
sort q time 5.698377 
seperate points time 14.011783 
mapping data assosiation time 22.951353 ms 
solver time 11.120530 ms 
data association time 16.742959 ms 
publication time 11.892616 ms 
whole laserOdometry time 65.495777 ms 
 
sort q time 4.567745 
seperate points time 11.007253 
build tree time 41.653498 ms 
data association time 28.948832 ms 
solver time 16.535839 ms 
mapping solver time 26.619641 ms 
points size 101686 
solver time 13.851922 ms 
scan registration time 34.747155 ms *************
mapping solver time 22.463474 ms 
data association time 25.901941 ms 
map prepare time 4.467891 ms
map corner num 156890  surf num 50721 
solver time 16.089255 ms 
data association time 25.915256 ms 
prepare time 16.338599 
publication time 9.823940 ms 
whole laserOdometry time 90.327457 ms 
 
mapping solver time 14.406839 ms 
solver time 13.590070 ms 
mapping data assosiation time 25.878611 ms 
data association time 17.110309 ms 
solver time 9.082198 ms 
publication time 10.132764 ms 
whole laserOdometry time 65.965500 ms 
 
sort q time 5.320648 
seperate points time 12.388145 
build tree time 42.959554 ms 
solver time 15.306268 ms 
mapping data assosiation time 28.175239 ms 
mapping solver time 19.204730 ms 
data association time 26.362210 ms 
prepare time 14.816952 
sort q time 5.820471 
seperate points time 13.506652 
publication time 11.281985 ms 
whole laserOdometry time 91.432086 ms 
 
mapping solver time 15.180527 ms 
mapping optimization time 134.899113 
add points time 0.817062 ms
mapping pub time 1.649540 ms 
whole mapping time 157.070321 ms +++++
solver time 14.863444 ms 
data association time 15.998167 ms 
points size 102499 
sort q time 4.716410 
seperate points time 11.182166 
scan registration time 31.453077 ms *************
mapping data assosiation time 28.767473 ms 
data association time 26.590380 ms 
solver time 15.117278 ms 
mapping data assosiation time 26.818449 ms 
data association time 26.300064 ms 
add points time 0.870985 ms
filter time 15.382277 ms 
publication time 11.877584 ms 
whole laserOdometry time 93.102049 ms 
 
mapping pub time 1.881807 ms 
whole mapping time 162.903263 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.541847 ms
map corner num 159004  surf num 51557 
sort q time 6.001908 
seperate points time 14.206380 
build tree time 41.609296 ms 
solver time 15.384955 ms 
mapping data assosiation time 28.421580 ms 
solver time 15.223887 ms 
data association time 26.896638 ms 
optimization twice time 81.295168 
publication time 11.856806 ms 
whole laserOdometry time 93.168834 ms 
 
data association time 26.829171 ms 
solver time 15.080832 ms 
mapping pub time 116.026213 ms 
whole mapping time 272.745269 ms +++++
data association time 26.959317 ms 
points size 102942 
publication time 11.558011 ms 
whole laserOdometry time 93.143490 ms 
 
scan registration time 34.861125 ms *************
data association time 24.302373 ms 
solver time 11.446400 ms 
mapping solver time 19.573611 ms 
data association time 23.919414 ms 
solver time 11.474165 ms 
optimization twice time 72.139983 
points size 103108 
sort q time 5.178652 
seperate points time 12.432839 
filter time 12.258708 ms 
mapping pub time 1.468110 ms 
whole mapping time 163.802352 ms +++++
drop lidar frame in mapping for real time performance 
data association time 23.743700 ms 
solver time 14.921092 ms 
build tree time 41.350584 ms 
solver time 11.503482 ms 
publication time 11.640475 ms 
whole laserOdometry time 86.771576 ms 
 
mapping data assosiation time 32.389621 ms 
sort q time 5.473520 
seperate points time 13.080537 
mapping solver time 20.641014 ms 
data association time 23.634883 ms 
solver time 15.003423 ms 
mapping solver time 17.385066 ms 
data association time 23.864863 ms 
map prepare time 4.726964 ms
map corner num 161005  surf num 52437 
publication time 11.431222 ms 
whole laserOdometry time 86.637169 ms 
 
build tree time 42.448974 ms 
data association time 23.319333 ms 
mapping data assosiation time 27.144963 ms 
mapping solver time 18.750181 ms 
data association time 23.290637 ms 
prepare time 15.388231 
mapping data assosiation time 29.600448 ms 
mapping solver time 19.389613 ms 
mapping optimization time 138.821261 
add points time 0.755547 ms
filter time 12.276070 ms 
solver time 14.864595 ms 
data association time 23.069855 ms 
solver time 11.397494 ms 
optimization twice time 73.786271 
points size 103290 
prepare time 14.950032 
sort q time 5.920361 
seperate points time 13.792630 
scan registration time 33.282260 ms *************
mapping data assosiation time 31.773409 ms 
mapping solver time 17.894044 ms 
data association time 22.978111 ms 
mapping data assosiation time 26.734437 ms 
solver time 13.082576 ms 
mapping solver time 12.602328 ms 
solver time 8.255984 ms 
points size 103441 
sort q time 5.269605 
seperate points time 12.480326 
build tree time 41.109663 ms 
data association time 22.939024 ms 
mapping data assosiation time 27.183021 ms 
mapping solver time 20.202053 ms 
solver time 11.693420 ms 
optimization twice time 73.686367 
points size 103758 
prepare time 14.966503 
mapping data assosiation time 30.483373 ms 
scan registration time 33.026653 ms *************
mapping solver time 13.750880 ms 
filter time 14.786957 ms 
solver time 10.787920 ms 
data association time 16.821531 ms 
solver time 8.213278 ms 
publication time 10.286635 ms 
whole laserOdometry time 63.848734 ms 
 
points size 103868 
prepare time 20.618597 
sort q time 7.062579 
seperate points time 16.990851 
mapping solver time 18.823021 ms 
data association time 18.905586 ms 
solver time 10.690866 ms 
mapping data assosiation time 31.907193 ms 
solver time 8.539462 ms 
publication time 11.017901 ms 
whole laserOdometry time 67.511448 ms 
 
sort q time 5.686189 
seperate points time 14.064977 
data association time 17.686113 ms 
solver time 9.765273 ms 
data association time 14.960571 ms 
solver time 8.867053 ms 
publication time 10.625496 ms 
whole laserOdometry time 62.794070 ms 
 
points size 104103 
prepare time 22.402123 
sort q time 6.200367 
seperate points time 15.062882 
mapping solver time 23.455474 ms 
data association time 18.525434 ms 
mapping data assosiation time 30.790926 ms 
mapping solver time 15.180946 ms 
solver time 8.956119 ms 
filter time 17.299209 ms 
mapping pub time 1.668916 ms 
whole mapping time 193.795097 ms +++++
points size 104100 
sort q time 6.208057 
seperate points time 14.956218 
data association time 16.033508 ms 
build tree time 44.359920 ms 
data association time 14.003663 ms 
solver time 8.079791 ms 
publication time 12.450306 ms 
whole laserOdometry time 65.943978 ms 
 
sort q time 5.485291 
seperate points time 13.128800 
mapping data assosiation time 29.725490 ms 
mapping solver time 19.708828 ms 
solver time 11.452376 ms 
data association time 17.992773 ms 
solver time 10.135030 ms 
publication time 10.489138 ms 
whole laserOdometry time 70.349364 ms 
 
sort q time 5.993096 
seperate points time 13.978321 
data association time 14.949876 ms 
solver time 10.634904 ms 
data association time 16.368434 ms 
solver time 9.153865 ms 
publication time 9.295160 ms 
whole laserOdometry time 61.235627 ms 
 
mapping data assosiation time 31.913626 ms 
points size 103792 
mapping solver time 13.465905 ms 
scan registration time 37.330653 ms *************
map prepare time 4.857995 ms
map corner num 164567  surf num 53739 
data association time 26.090895 ms 
solver time 14.355528 ms 
build tree time 55.104167 ms 
points size 103763 
solver time 12.751215 ms 
mapping data assosiation time 35.487545 ms 
data association time 23.061522 ms 
mapping solver time 29.099666 ms 
solver time 15.668941 ms 
data association time 13.822981 ms 
solver time 9.920110 ms 
mapping solver time 19.230204 ms 
filter time 14.506355 ms 
data association time 15.419447 ms 
solver time 11.333619 ms 
build tree time 40.279091 ms 
data association time 15.316904 ms 
solver time 7.805760 ms 
mapping data assosiation time 30.967362 ms 
points size 103768 
sort q time 6.144311 
seperate points time 14.796110 
mapping data assosiation time 29.413747 ms 
mapping solver time 13.313664 ms 
solver time 11.259316 ms 
filter time 17.139690 ms 
mapping pub time 1.604269 ms 
whole mapping time 158.030802 ms +++++
data association time 17.782084 ms 
solver time 10.514227 ms 
points size 103790 
sort q time 6.504312 
seperate points time 14.878272 
data association time 16.607891 ms 
solver time 10.848481 ms 
mapping solver time 19.957201 ms 
solver time 7.873478 ms 
publication time 10.226574 ms 
whole laserOdometry time 63.644907 ms 
 
prepare time 15.103260 
mapping solver time 17.409533 ms 
scan registration time 34.674476 ms *************
map prepare time 4.255011 ms
map corner num 166232  surf num 54318 
data association time 16.693014 ms 
solver time 10.437217 ms 
data association time 16.609657 ms 
solver time 7.795893 ms 
publication time 10.351400 ms 
whole laserOdometry time 62.824534 ms 
 
points size 103671 
sort q time 6.131896 
seperate points time 15.005706 
mapping solver time 27.649109 ms 
data association time 16.371564 ms 
solver time 10.847030 ms 
data association time 17.097304 ms 
solver time 8.299717 ms 
publication time 11.669798 ms 
whole laserOdometry time 65.192716 ms 
 
points size 103709 
sort q time 6.178603 
seperate points time 14.972087 
build tree time 46.575163 ms 
data association time 16.213717 ms 
mapping data assosiation time 27.215316 ms 
solver time 9.878155 ms 
publication time 10.203570 ms 
whole laserOdometry time 66.776200 ms 
 
prepare time 19.749941 
sort q time 6.866741 
seperate points time 16.929069 
scan registration time 43.340961 ms *************
mapping solver time 16.237015 ms 
solver time 10.408783 ms 
filter time 13.445674 ms 
mapping pub time 1.275833 ms 
whole mapping time 173.989449 ms +++++
map prepare time 3.793643 ms
map corner num 167251  surf num 54693 
data association time 17.615860 ms 
solver time 10.568605 ms 
points size 104017 
prepare time 17.822976 
publication time 14.425348 ms 
whole laserOdometry time 70.386757 ms 
 
sort q time 5.917287 
seperate points time 13.839639 
mapping data assosiation time 29.782106 ms 
solver time 12.073523 ms 
mapping solver time 21.791592 ms 
data association time 22.120611 ms 
solver time 10.033894 ms 
mapping data assosiation time 32.033910 ms 
points size 104062 
mapping optimization time 156.198881 
filter time 14.554564 ms 
mapping pub time 4.543750 ms 
whole mapping time 180.079184 ms +++++
drop lidar frame in mapping for real time performance 
data association time 27.147044 ms 
solver time 15.035169 ms 
points size 104010 
data association time 26.938658 ms 
mapping data assosiation time 30.666740 ms 
sort q time 5.504244 
seperate points time 12.815698 
solver time 11.645290 ms 
optimization twice time 81.664557 
scan registration time 32.405708 ms *************
mapping solver time 23.263003 ms 
data association time 26.309306 ms 
mapping data assosiation time 30.423937 ms 
mapping solver time 18.285979 ms 
data association time 26.435555 ms 
mapping pub time 1.464164 ms 
whole mapping time 169.530343 ms +++++
sort q time 6.808107 
seperate points time 15.900984 
publication time 11.902595 ms 
whole laserOdometry time 92.331885 ms 
 
scan registration time 37.517468 ms *************
data association time 16.189756 ms 
build tree time 43.513505 ms 
data association time 15.945063 ms 
solver time 7.832011 ms 
publication time 10.384419 ms 
whole laserOdometry time 62.191970 ms 
 
mapping solver time 21.804459 ms 
sort q time 6.232925 
seperate points time 14.859091 
mapping solver time 17.684132 ms 
solver time 12.746787 ms 
data association time 20.390010 ms 
optimization twice time 62.537548 
publication time 10.095170 ms 
whole laserOdometry time 72.646215 ms 
 
points size 104389 
prepare time 18.828951 
sort q time 6.331403 
seperate points time 15.040862 
mapping data assosiation time 28.689097 ms 
data association time 16.543327 ms 
solver time 10.156023 ms 
data association time 16.256947 ms 
publication time 10.702995 ms 
whole laserOdometry time 63.267975 ms 
 
prepare time 15.158784 
sort q time 5.725667 
seperate points time 13.647386 
map prepare time 4.429467 ms
map corner num 169303  surf num 55279 
data association time 16.553464 ms 
solver time 12.611253 ms 
data association time 16.133817 ms 
solver time 10.604624 ms 
points size 103935 
mapping data assosiation time 33.244001 ms 
prepare time 18.882887 
sort q time 6.057336 
seperate points time 14.981993 
data association time 18.301105 ms 
mapping data assosiation time 28.714904 ms 
solver time 12.748321 ms 
mapping optimization time 156.032566 
filter time 17.200626 ms 
publication time 10.700880 ms 
whole laserOdometry time 71.435428 ms 
 
sort q time 6.059686 
seperate points time 14.739590 
build tree time 42.468830 ms 
data association time 16.580899 ms 
solver time 11.271910 ms 
mapping data assosiation time 29.669658 ms 
data association time 16.435764 ms 
solver time 10.913862 ms 
mapping solver time 20.031961 ms 
publication time 9.347781 ms 
whole laserOdometry time 65.496041 ms 
 
prepare time 18.988508 
mapping data assosiation time 30.996705 ms 
mapping solver time 17.009445 ms 
filter time 15.129417 ms 
solver time 11.355659 ms 
publication time 12.262754 ms 
whole laserOdometry time 68.209597 ms 
 
prepare time 16.594933 
sort q time 5.841975 
seperate points time 13.382280 
data association time 17.425510 ms 
solver time 13.050519 ms 
map prepare time 4.859243 ms
map corner num 170356  surf num 55617 
data association time 23.647893 ms 
solver time 12.219926 ms 
publication time 10.834075 ms 
whole laserOdometry time 78.131037 ms 
 
build tree time 51.721234 ms 
sort q time 6.025513 
seperate points time 14.220127 
scan registration time 36.279671 ms *************
mapping data assosiation time 30.483116 ms 
data association time 25.198208 ms 
mapping solver time 22.387434 ms 
data association time 16.431713 ms 
solver time 10.684821 ms 
mapping solver time 17.068074 ms 
filter time 16.202609 ms 
data association time 18.118692 ms 
solver time 10.805826 ms 
solver time 8.218699 ms 
points size 103878 
prepare time 14.446253 
mapping data assosiation time 27.760791 ms 
scan registration time 32.812978 ms *************
mapping solver time 22.087879 ms 
solver time 10.861415 ms 
data association time 16.384473 ms 
filter time 14.284129 ms 
prepare time 16.154250 
sort q time 6.072205 
seperate points time 13.762951 
build tree time 45.149628 ms 
data association time 19.484955 ms 
solver time 12.899121 ms 
data association time 18.910603 ms 
solver time 12.681053 ms 
prepare time 18.784647 
mapping data assosiation time 30.993732 ms 
mapping solver time 21.030740 ms 
filter time 17.168332 ms 
map prepare time 4.719223 ms
map corner num 172054  surf num 56157 
solver time 18.864788 ms 
points size 103401 
solver time 14.650465 ms 
publication time 13.025951 ms 
whole laserOdometry time 100.822415 ms 
 
[33m[ WARN] [1718887270.003199693]: odometry process over 100ms[0m
mapping data assosiation time 35.766639 ms 
data association time 29.127550 ms 
mapping solver time 27.687842 ms 
points size 103027 
data association time 30.251730 ms 
solver time 16.746042 ms 
mapping solver time 22.541634 ms 
filter time 18.587740 ms 
map prepare time 4.600481 ms
map corner num 172674  surf num 56310 
solver time 17.972170 ms 
points size 102810 
data association time 23.871581 ms 
sort q time 5.827960 
seperate points time 14.228956 
publication time 12.605768 ms 
whole laserOdometry time 95.803069 ms 
 
mapping data assosiation time 35.061558 ms 
data association time 25.723716 ms 
mapping solver time 27.873299 ms 
points size 102602 
data association time 26.690463 ms 
mapping data assosiation time 35.070240 ms 
sort q time 5.853053 
seperate points time 14.207391 
scan registration time 33.881268 ms *************
solver time 17.098974 ms 
optimization twice time 90.203749 
publication time 9.444547 ms 
whole laserOdometry time 99.663799 ms 
 
filter time 14.840291 ms 
data association time 17.022550 ms 
solver time 16.403073 ms 
data association time 20.798099 ms 
points size 102713 
build tree time 49.199300 ms 
mapping data assosiation time 28.356241 ms 
mapping solver time 18.521918 ms 
data association time 16.685537 ms 
mapping data assosiation time 27.529540 ms 
publication time 10.064282 ms 
whole laserOdometry time 72.611015 ms 
 
sort q time 5.200567 
seperate points time 12.828214 
map prepare time 3.893095 ms
map corner num 173794  surf num 56585 
data association time 15.996539 ms 
solver time 11.234594 ms 
data association time 16.061874 ms 
build tree time 48.808776 ms 
solver time 8.135664 ms 
optimization twice time 52.249995 
points size 102568 
mapping solver time 17.477944 ms 
mapping data assosiation time 26.732652 ms 
data association time 25.732850 ms 
mapping solver time 17.905931 ms 
filter time 14.345955 ms 
solver time 10.801064 ms 
points size 102235 
sort q time 5.602151 
seperate points time 13.457372 
build tree time 49.568918 ms 
data association time 22.621836 ms 
mapping data assosiation time 25.781421 ms 
solver time 13.470555 ms 
data association time 14.290589 ms 
solver time 9.884675 ms 
mapping data assosiation time 27.264465 ms 
mapping solver time 15.916070 ms 
filter time 16.362311 ms 
data association time 16.077380 ms 
solver time 10.347996 ms 
data association time 15.084020 ms 
solver time 9.023791 ms 
publication time 10.194237 ms 
whole laserOdometry time 61.645198 ms 
 
points size 101855 
mapping data assosiation time 27.799532 ms 
sort q time 6.543720 
seperate points time 15.305127 
data association time 14.081219 ms 
mapping data assosiation time 25.784126 ms 
mapping solver time 10.971966 ms 
data association time 14.108889 ms 
solver time 10.957049 ms 
points size 101461 
sort q time 5.309906 
seperate points time 13.096836 
build tree time 46.544755 ms 
data association time 14.160786 ms 
mapping data assosiation time 25.749236 ms 
mapping solver time 21.736345 ms 
solver time 10.306248 ms 
publication time 11.129925 ms 
whole laserOdometry time 68.591238 ms 
 
mapping solver time 10.741078 ms 
filter time 14.983201 ms 
mapping pub time 3.662793 ms 
whole mapping time 158.027309 ms +++++
drop lidar frame in mapping for real time performance 
data association time 15.014364 ms 
solver time 10.932856 ms 
data association time 14.139261 ms 
build tree time 43.771958 ms 
points size 98601 
sort q time 4.417561 
seperate points time 11.141576 
data association time 14.613982 ms 
solver time 10.368281 ms 
mapping solver time 11.172447 ms 
solver time 7.748368 ms 
publication time 9.691512 ms 
whole laserOdometry time 57.657562 ms 
 
points size 97099 
sort q time 5.351262 
seperate points time 12.985994 
data association time 13.409824 ms 
mapping data assosiation time 24.237434 ms 
mapping solver time 17.604197 ms 
solver time 7.951401 ms 
publication time 7.656703 ms 
whole laserOdometry time 56.268158 ms 
 
mapping data assosiation time 27.845653 ms 
prepare time 13.600995 
sort q time 4.975777 
seperate points time 12.001543 
mapping pub time 2.140279 ms 
whole mapping time 152.528929 ms +++++
data association time 22.206236 ms 
solver time 14.672803 ms 
build tree time 52.878770 ms 
solver time 13.153190 ms 
optimization twice time 72.877614 
prepare time 17.238312 
publication time 12.212217 ms 
whole laserOdometry time 85.104846 ms 
 
sort q time 5.585567 
seperate points time 13.578471 
data association time 24.520679 ms 
mapping data assosiation time 31.912015 ms 
solver time 16.970064 ms 
mapping solver time 15.891269 ms 
data association time 21.747331 ms 
map prepare time 4.196928 ms
map corner num 156050  surf num 52533 
publication time 10.716075 ms 
whole laserOdometry time 90.981350 ms 
 
data association time 14.090494 ms 
build tree time 45.124124 ms 
data association time 14.519701 ms 
publication time 8.450188 ms 
whole laserOdometry time 56.739212 ms 
 
points size 92223 
mapping data assosiation time 28.110193 ms 
scan registration time 32.639085 ms *************
filter time 13.625777 ms 
solver time 10.789534 ms 
data association time 15.822205 ms 
publication time 9.240509 ms 
whole laserOdometry time 61.592068 ms 
 
points size 90777 
mapping data assosiation time 28.748958 ms 
scan registration time 32.070953 ms *************
data association time 13.959236 ms 
solver time 12.215652 ms 
data association time 14.132061 ms 
filter time 15.259755 ms 
publication time 9.416128 ms 
whole laserOdometry time 59.080183 ms 
 
points size 88925 
prepare time 17.159136 
sort q time 5.069518 
seperate points time 12.597997 
scan registration time 34.846817 ms *************
build tree time 44.333563 ms 
data association time 27.602256 ms 
solver time 16.475743 ms 
mapping solver time 23.628124 ms 
data association time 26.228256 ms 
points size 87505 
mapping data assosiation time 30.942405 ms 
sort q time 5.046783 
seperate points time 12.583910 
mapping solver time 17.589402 ms 
filter time 14.668643 ms 
solver time 10.975641 ms 
data association time 14.810962 ms 
solver time 8.684799 ms 
build tree time 42.858321 ms 
points size 86476 
prepare time 14.669517 
mapping data assosiation time 25.647866 ms 
mapping solver time 16.737564 ms 
data association time 17.373658 ms 
solver time 14.701135 ms 
data association time 15.680296 ms 
publication time 8.695265 ms 
whole laserOdometry time 66.536321 ms 
 
points size 87378 
sort q time 4.079464 
seperate points time 9.760693 
data association time 21.375247 ms 
build tree time 66.574117 ms 
data association time 21.290146 ms 
solver time 11.641820 ms 
prepare time 16.598737 
sort q time 4.892308 
seperate points time 11.830769 
mapping data assosiation time 28.055039 ms 
mapping solver time 13.088271 ms 
[0m[ INFO] [1718887272.411379000]: Received 1570149 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887272.411407415]: Data saved to 1317358013985096.pcd[0m
mapping pub time 1.039927 ms 
whole mapping time 181.646078 ms +++++
data association time 16.516174 ms 
solver time 10.269010 ms 
publication time 9.800687 ms 
whole laserOdometry time 64.168341 ms 
 
prepare time 13.864355 
sort q time 5.090608 
seperate points time 11.841063 
build tree time 62.730014 ms 
data association time 16.871806 ms 
mapping data assosiation time 25.915477 ms 
mapping solver time 15.300753 ms 
data association time 16.975221 ms 
publication time 9.015462 ms 
whole laserOdometry time 63.859906 ms 
 
points size 90590 
sort q time 4.136312 
seperate points time 9.934123 
filter time 22.078289 ms 
data association time 16.446535 ms 
solver time 10.883255 ms 
data association time 19.491273 ms 
publication time 8.166806 ms 
whole laserOdometry time 64.553963 ms 
 
build tree time 67.297038 ms 
sort q time 4.805414 
seperate points time 11.484892 
mapping data assosiation time 27.683543 ms 
mapping solver time 14.968671 ms 
solver time 10.780821 ms 
data association time 14.200985 ms 
publication time 8.608612 ms 
whole laserOdometry time 57.165850 ms 
 
points size 93710 
sort q time 5.024937 
seperate points time 12.222260 
data association time 13.883753 ms 
solver time 15.230781 ms 
data association time 16.812062 ms 
solver time 13.282598 ms 
points size 95909 
mapping pub time 111.729296 ms 
whole mapping time 294.470270 ms +++++
data association time 14.452095 ms 
solver time 15.070910 ms 
data association time 16.875312 ms 
build tree time 63.269674 ms 
publication time 10.010185 ms 
whole laserOdometry time 68.997745 ms 
 
points size 96420 
sort q time 5.750605 
seperate points time 13.919877 
mapping data assosiation time 30.477211 ms 
mapping solver time 19.673234 ms 
data association time 22.247239 ms 
publication time 13.229762 ms 
whole laserOdometry time 91.200669 ms 
 
sort q time 7.081865 
seperate points time 20.437505 
scan registration time 41.757977 ms *************
data association time 14.461501 ms 
solver time 12.831120 ms 
data association time 13.955821 ms 
publication time 10.302927 ms 
whole laserOdometry time 60.747775 ms 
 
prepare time 14.667910 
sort q time 4.441458 
seperate points time 10.965807 
data association time 21.919802 ms 
solver time 12.284579 ms 
data association time 14.574152 ms 
solver time 10.063690 ms 
points size 92016 
sort q time 5.216147 
seperate points time 13.430951 
build tree time 66.891179 ms 
data association time 14.411592 ms 
mapping data assosiation time 24.115456 ms 
publication time 9.767107 ms 
whole laserOdometry time 66.875544 ms 
 
points size 92400 
prepare time 17.235643 
sort q time 5.351199 
seperate points time 13.595987 
filter time 18.141431 ms 
solver time 10.667552 ms 
data association time 17.390683 ms 
solver time 10.316297 ms 
publication time 8.957168 ms 
whole laserOdometry time 63.574509 ms 
 
points size 93404 
build tree time 67.663295 ms 
mapping data assosiation time 26.564264 ms 
data association time 25.144261 ms 
solver time 12.512796 ms 
mapping data assosiation time 29.458339 ms 
points size 94645 
solver time 12.446428 ms 
publication time 10.686488 ms 
whole laserOdometry time 88.543261 ms 
 
filter time 23.018495 ms 
data association time 24.774640 ms 
solver time 11.495023 ms 
data association time 20.156616 ms 
points size 95065 
build tree time 74.072934 ms 
mapping data assosiation time 23.749840 ms 
solver time 11.298580 ms 
data association time 15.645351 ms 
solver time 14.255586 ms 
publication time 9.334285 ms 
whole laserOdometry time 65.566041 ms 
 
points size 96183 
filter time 21.241291 ms 
map prepare time 5.250478 ms
map corner num 241136  surf num 80847 
data association time 24.387747 ms 
solver time 15.129085 ms 
build tree time 61.957676 ms 
data association time 24.201375 ms 
mapping data assosiation time 27.378301 ms 
publication time 11.161049 ms 
whole laserOdometry time 91.680581 ms 
 
mapping data assosiation time 23.293432 ms 
mapping solver time 10.822980 ms 
solver time 15.540953 ms 
filter time 22.257624 ms 
data association time 24.515349 ms 
solver time 11.983499 ms 
publication time 11.179228 ms 
whole laserOdometry time 88.569696 ms 
 
scan registration time 36.465019 ms *************
build tree time 70.449678 ms 
data association time 24.290191 ms 
solver time 13.277179 ms 
mapping data assosiation time 27.995258 ms 
data association time 17.238231 ms 
points size 99761 
sort q time 5.055069 
seperate points time 12.191379 
mapping solver time 14.285043 ms 
data association time 14.513624 ms 
solver time 13.048859 ms 
data association time 14.438283 ms 
solver time 10.919021 ms 
prepare time 14.132730 
sort q time 5.255152 
seperate points time 12.295821 
build tree time 68.641498 ms 
data association time 13.808925 ms 
mapping data assosiation time 23.214531 ms 
mapping solver time 11.016205 ms 
data association time 19.025535 ms 
solver time 10.097470 ms 
publication time 10.515161 ms 
whole laserOdometry time 65.744008 ms 
 
points size 97771 
scan registration time 31.542416 ms *************
data association time 14.893059 ms 
solver time 11.005829 ms 
data association time 14.032060 ms 
publication time 8.721989 ms 
whole laserOdometry time 57.529664 ms 
 
build tree time 65.819953 ms 
points size 96274 
mapping data assosiation time 23.299957 ms 
mapping solver time 14.050563 ms 
data association time 13.607600 ms 
solver time 11.034612 ms 
data association time 14.005267 ms 
mapping solver time 13.785889 ms 
mapping optimization time 142.339374 
add points time 0.822081 ms
publication time 8.954176 ms 
whole laserOdometry time 58.671886 ms 
 
drop lidar frame in mapping for real time performance 
points size 96043 
sort q time 4.750526 
seperate points time 11.528704 
data association time 13.799958 ms 
solver time 11.511811 ms 
build tree time 64.519340 ms 
solver time 8.764957 ms 
publication time 10.459263 ms 
whole laserOdometry time 65.347809 ms 
 
mapping solver time 14.056717 ms 
sort q time 5.174692 
seperate points time 12.087592 
mapping solver time 15.479985 ms 
data association time 21.036141 ms 
solver time 14.750612 ms 
map prepare time 4.489093 ms
map corner num 243896  surf num 81674 
data association time 22.194854 ms 
solver time 15.135364 ms 
publication time 10.426780 ms 
whole laserOdometry time 84.543386 ms 
 
sort q time 4.728305 
seperate points time 11.593937 
data association time 20.807519 ms 
solver time 16.557415 ms 
mapping data assosiation time 28.663414 ms 
data association time 22.576902 ms 
mapping solver time 20.382312 ms 
prepare time 14.941613 
sort q time 6.911296 
seperate points time 15.997529 
mapping solver time 16.174716 ms 
mapping optimization time 173.018724 
add points time 0.843616 ms
filter time 23.983392 ms 
data association time 21.635464 ms 
solver time 11.443716 ms 
publication time 10.403411 ms 
whole laserOdometry time 81.607686 ms 
 
sort q time 5.332717 
seperate points time 13.017912 
build tree time 78.982311 ms 
solver time 17.360755 ms 
data association time 22.535024 ms 
points size 94815 
publication time 10.312809 ms 
whole laserOdometry time 86.625505 ms 
 
scan registration time 34.263655 ms *************
mapping solver time 14.385145 ms 
data association time 20.495002 ms 
filter time 24.665684 ms 
solver time 15.159826 ms 
mapping pub time 1.297239 ms 
whole mapping time 201.500461 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.091775 ms
map corner num 244672  surf num 81837 
data association time 16.455490 ms 
solver time 10.272316 ms 
publication time 10.813438 ms 
whole laserOdometry time 74.101003 ms 
 
points size 95072 
sort q time 5.518069 
seperate points time 13.384465 
build tree time 78.090369 ms 
data association time 14.279917 ms 
solver time 8.396518 ms 
data association time 15.116432 ms 
mapping solver time 12.761616 ms 
publication time 9.326758 ms 
whole laserOdometry time 56.584137 ms 
 
mapping data assosiation time 24.966022 ms 
mapping solver time 12.091556 ms 
mapping optimization time 153.903416 
add points time 0.816240 ms
filter time 22.468326 ms 
map prepare time 4.846078 ms
map corner num 245049  surf num 81924 
data association time 21.518715 ms 
solver time 11.594199 ms 
data association time 21.779886 ms 
solver time 11.777839 ms 
publication time 10.581535 ms 
whole laserOdometry time 78.309693 ms 
 
sort q time 5.703115 
seperate points time 13.255832 
mapping data assosiation time 26.125104 ms 
data association time 21.410422 ms 
solver time 18.164547 ms 
mapping data assosiation time 25.047475 ms 
mapping solver time 13.737946 ms 
solver time 15.950962 ms 
publication time 10.518775 ms 
whole laserOdometry time 88.535578 ms 
 
scan registration time 32.179822 ms *************
data association time 14.211129 ms 
solver time 12.624481 ms 
data association time 14.265273 ms 
solver time 10.817619 ms 
optimization twice time 52.726139 
prepare time 13.949503 
sort q time 5.520153 
seperate points time 13.003173 
mapping solver time 15.760637 ms 
solver time 10.999915 ms 
mapping solver time 10.607416 ms 
solver time 7.909317 ms 
filter time 20.642381 ms 
points size 96682 
sort q time 5.152447 
seperate points time 12.066556 
build tree time 62.632704 ms 
solver time 15.451269 ms 
mapping solver time 13.411241 ms 
points size 97313 
publication time 10.642770 ms 
whole laserOdometry time 87.176145 ms 
 
mapping solver time 14.461366 ms 
solver time 10.218090 ms 
data association time 16.051122 ms 
solver time 10.340276 ms 
publication time 10.496736 ms 
whole laserOdometry time 63.910218 ms 
 
points size 98105 
sort q time 5.826956 
seperate points time 13.421665 
data association time 15.001428 ms 
solver time 12.613397 ms 
mapping solver time 14.509629 ms 
data association time 20.789326 ms 
solver time 10.274123 ms 
mapping solver time 13.431443 ms 
sort q time 4.528520 
seperate points time 10.863711 
map prepare time 5.316278 ms
map corner num 246812  surf num 82381 
solver time 10.409962 ms 
data association time 16.166581 ms 
publication time 8.373184 ms 
whole laserOdometry time 61.761709 ms 
 
build tree time 70.564758 ms 
sort q time 4.906971 
seperate points time 11.486358 
mapping solver time 18.908542 ms 
data association time 14.443823 ms 
mapping data assosiation time 40.694728 ms 
mapping solver time 9.816061 ms 
points size 100414 
filter time 24.351339 ms 
data association time 16.112309 ms 
solver time 12.973160 ms 
data association time 18.059433 ms 
solver time 10.131566 ms 
publication time 10.350497 ms 
whole laserOdometry time 68.455625 ms 
 
prepare time 15.953853 
sort q time 6.001562 
seperate points time 14.191983 
data association time 15.775286 ms 
mapping data assosiation time 25.117300 ms 
mapping optimization time 153.296555 
add points time 0.942608 ms
filter time 24.396191 ms 
points size 101007 
sort q time 5.877667 
seperate points time 14.690819 
data association time 15.317487 ms 
solver time 8.356970 ms 
data association time 18.383780 ms 
mapping data assosiation time 27.670739 ms 
points size 100869 
sort q time 5.130057 
seperate points time 12.390493 
mapping data assosiation time 26.964550 ms 
data association time 16.495259 ms 
add points time 1.046224 ms
data association time 16.528125 ms 
solver time 9.385415 ms 
publication time 10.016304 ms 
whole laserOdometry time 62.856578 ms 
 
points size 100718 
sort q time 5.922905 
seperate points time 14.120423 
data association time 25.149983 ms 
solver time 15.048927 ms 
mapping pub time 112.653938 ms 
whole mapping time 292.635589 ms +++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 5.420810 ms
map corner num 248072  surf num 82708 
solver time 12.335229 ms 
publication time 11.520902 ms 
whole laserOdometry time 91.423976 ms 
 
data association time 15.825555 ms 
solver time 11.546431 ms 
data association time 16.563156 ms 
solver time 9.407097 ms 
mapping solver time 14.038270 ms 
prepare time 14.234399 
sort q time 5.414161 
seperate points time 12.982427 
mapping solver time 12.427783 ms 
data association time 17.181528 ms 
solver time 11.289552 ms 
map prepare time 5.542146 ms
map corner num 248406  surf num 82798 
solver time 8.955746 ms 
points size 101162 
scan registration time 30.085935 ms *************
build tree time 69.587605 ms 
data association time 25.372567 ms 
mapping data assosiation time 29.493640 ms 
mapping solver time 18.363775 ms 
solver time 11.246736 ms 
mapping data assosiation time 30.505051 ms 
sort q time 6.558689 
seperate points time 15.860795 
data association time 16.987921 ms 
solver time 13.778716 ms 
data association time 16.780266 ms 
publication time 16.572733 ms 
whole laserOdometry time 74.695133 ms 
 
sort q time 6.576090 
seperate points time 15.258849 
data association time 27.745870 ms 
solver time 15.808628 ms 
data association time 27.216850 ms 
solver time 12.097171 ms 
publication time 12.348052 ms 
whole laserOdometry time 96.283410 ms 
 
sort q time 6.553602 
seperate points time 16.590091 
filter time 27.215262 ms 
solver time 15.703110 ms 
points size 101901 
solver time 11.954189 ms 
publication time 12.425504 ms 
whole laserOdometry time 95.644386 ms 
 
build tree time 77.250204 ms 
data association time 23.027089 ms 
solver time 10.847593 ms 
mapping data assosiation time 33.478728 ms 
solver time 8.505067 ms 
points size 102107 
sort q time 5.148300 
seperate points time 12.642605 
mapping data assosiation time 32.810272 ms 
mapping solver time 16.235386 ms 
filter time 23.953322 ms 
solver time 8.287500 ms 
publication time 11.104115 ms 
whole laserOdometry time 64.848136 ms 
 
prepare time 15.662815 
sort q time 5.360208 
seperate points time 13.299872 
build tree time 71.596610 ms 
solver time 10.333576 ms 
data association time 16.784993 ms 
publication time 10.550606 ms 
whole laserOdometry time 64.342569 ms 
 
prepare time 16.734302 
sort q time 5.179006 
seperate points time 12.620889 
mapping data assosiation time 34.881770 ms 
mapping solver time 11.750519 ms 
data association time 32.169994 ms 
filter time 25.998906 ms 
solver time 20.084775 ms 
mapping pub time 4.958610 ms 
whole mapping time 213.139603 ms +++++
drop lidar frame in mapping for real time performance 
data association time 18.850592 ms 
points size 102781 
publication time 17.298322 ms 
whole laserOdometry time 100.628929 ms 
 
[33m[ WARN] [1718887277.783971099]: odometry process over 100ms[0m
scan registration time 43.528292 ms *************
data association time 15.232008 ms 
build tree time 85.493124 ms 
data association time 16.762275 ms 
solver time 11.092068 ms 
points size 102837 
mapping solver time 26.932046 ms 
sort q time 6.337933 
seperate points time 16.087224 
data association time 15.873091 ms 
mapping data assosiation time 33.559439 ms 
solver time 16.901020 ms 
data association time 19.051913 ms 
solver time 11.268371 ms 
map prepare time 6.100639 ms
map corner num 251025  surf num 83856 
sort q time 6.451738 
seperate points time 16.412056 
data association time 14.879405 ms 
solver time 10.973690 ms 
data association time 18.002058 ms 
solver time 10.961756 ms 
publication time 10.467662 ms 
whole laserOdometry time 65.995798 ms 
 
points size 103106 
mapping data assosiation time 40.910324 ms 
mapping solver time 21.347074 ms 
solver time 10.363787 ms 
mapping data assosiation time 30.628457 ms 
solver time 9.330486 ms 
publication time 11.560379 ms 
whole laserOdometry time 64.051965 ms 
 
filter time 21.603484 ms 
data association time 16.861811 ms 
solver time 11.234351 ms 
data association time 17.011841 ms 
publication time 11.785947 ms 
whole laserOdometry time 65.865412 ms 
 
prepare time 15.988985 
sort q time 6.273231 
seperate points time 14.599208 
mapping solver time 14.226873 ms 
data association time 19.810215 ms 
solver time 12.729879 ms 
mapping data assosiation time 32.986065 ms 
mapping solver time 11.921551 ms 
solver time 9.233171 ms 
points size 103030 
drop lidar frame in mapping for real time performance 
sort q time 6.372032 
seperate points time 15.632359 
data association time 16.496278 ms 
solver time 13.292689 ms 
build tree time 70.755978 ms 
points size 102994 
mapping data assosiation time 34.343934 ms 
sort q time 6.289273 
seperate points time 15.169102 
mapping solver time 19.266672 ms 
data association time 17.463015 ms 
solver time 10.618739 ms 
data association time 17.652973 ms 
solver time 9.613905 ms 
points size 102938 
mapping pub time 1.379208 ms 
whole mapping time 204.052362 ms +++++
sort q time 5.762002 
seperate points time 13.431520 
data association time 18.122175 ms 
sort q time 6.186358 
seperate points time 14.857659 
data association time 16.205148 ms 
solver time 11.816594 ms 
add points time 1.149347 ms
data association time 21.198441 ms 
filter time 24.124381 ms 
solver time 11.437253 ms 
optimization twice time 61.618186 
mapping pub time 4.923215 ms 
whole mapping time 196.152969 ms +++++
sort q time 6.272451 
seperate points time 15.050518 
scan registration time 41.002709 ms *************
data association time 16.784640 ms 
solver time 13.601328 ms 
data association time 19.259827 ms 
solver time 9.811501 ms 
mapping data assosiation time 32.202709 ms 
mapping solver time 19.536946 ms 
data association time 29.128818 ms 
mapping solver time 15.440655 ms 
solver time 15.816522 ms 
filter time 25.988318 ms 
data association time 27.743837 ms 
map prepare time 5.712938 ms
map corner num 253610  surf num 84881 
sort q time 6.243777 
seperate points time 14.976276 
publication time 13.021033 ms 
whole laserOdometry time 98.513275 ms 
 
data association time 26.933629 ms 
solver time 14.585754 ms 
build tree time 91.362156 ms 
solver time 13.609631 ms 
scan registration time 35.552602 ms *************
mapping data assosiation time 41.337554 ms 
mapping solver time 21.479627 ms 
solver time 16.853806 ms 
mapping data assosiation time 38.274545 ms 
prepare time 15.417270 
solver time 12.888157 ms 
publication time 13.256588 ms 
whole laserOdometry time 102.510229 ms 
 
[33m[ WARN] [1718887279.250955420]: odometry process over 100ms[0m
mapping pub time 1.832810 ms 
whole mapping time 249.692071 ms +++++
data association time 29.314514 ms 
solver time 15.473731 ms 
points size 99325 
solver time 12.164440 ms 
publication time 12.651596 ms 
whole laserOdometry time 97.838709 ms 
 
build tree time 94.020623 ms 
data association time 23.500241 ms 
solver time 13.613582 ms 
data association time 16.494460 ms 
solver time 11.669545 ms 
optimization twice time 66.068164 
prepare time 21.639736 
sort q time 6.792902 
seperate points time 16.554759 
mapping solver time 16.150527 ms 
solver time 10.852581 ms 
map prepare time 4.022562 ms
map corner num 254487  surf num 85140 
solver time 7.921450 ms 
publication time 11.759653 ms 
whole laserOdometry time 65.003581 ms 
 
points size 97811 
sort q time 5.576428 
seperate points time 13.031555 
build tree time 71.359093 ms 
solver time 14.351178 ms 
mapping data assosiation time 32.559786 ms 
publication time 10.206605 ms 
whole laserOdometry time 68.128092 ms 
 
prepare time 15.553158 
sort q time 5.309052 
seperate points time 12.384587 
mapping data assosiation time 31.502821 ms 
mapping solver time 19.838070 ms 
solver time 12.683534 ms 
mapping pub time 1.520210 ms 
whole mapping time 207.926168 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.375159 ms
map corner num 254963  surf num 85331 
data association time 16.408569 ms 
publication time 10.277614 ms 
whole laserOdometry time 75.873068 ms 
 
prepare time 19.032265 
sort q time 5.689907 
seperate points time 13.771483 
data association time 16.136592 ms 
solver time 11.513926 ms 
data association time 17.724177 ms 
solver time 8.873004 ms 
publication time 10.008982 ms 
whole laserOdometry time 65.086909 ms 
 
points size 96375 
sort q time 5.423678 
seperate points time 13.106089 
mapping solver time 16.530384 ms 
solver time 10.381845 ms 
mapping pub time 4.256841 ms 
whole mapping time 206.000291 ms +++++
solver time 7.748080 ms 
publication time 10.590542 ms 
whole laserOdometry time 66.168337 ms 
 
prepare time 18.125790 
sort q time 5.768308 
seperate points time 13.455186 
build tree time 74.499582 ms 
solver time 11.072627 ms 
data association time 15.341151 ms 
solver time 10.105343 ms 
publication time 10.528214 ms 
whole laserOdometry time 62.904548 ms 
 
sort q time 4.985768 
seperate points time 11.832251 
mapping data assosiation time 33.464288 ms 
data association time 20.157304 ms 
solver time 14.298499 ms 
filter time 22.516316 ms 
data association time 22.710221 ms 
solver time 10.435655 ms 
publication time 10.857980 ms 
whole laserOdometry time 79.591210 ms 
 
sort q time 4.721793 
seperate points time 11.210483 
data association time 15.583273 ms 
solver time 11.259838 ms 
data association time 15.831421 ms 
publication time 9.028448 ms 
whole laserOdometry time 61.018847 ms 
 
prepare time 15.291313 
sort q time 5.186207 
seperate points time 12.065020 
mapping solver time 12.919846 ms 
data association time 16.263811 ms 
mapping pub time 1.252996 ms 
whole mapping time 192.155429 ms +++++
data association time 15.378369 ms 
solver time 11.171833 ms 
publication time 10.507202 ms 
whole laserOdometry time 71.006625 ms 
 
prepare time 18.858718 
sort q time 5.614184 
seperate points time 13.697116 
build tree time 76.446123 ms 
data association time 16.616539 ms 
solver time 14.026677 ms 
data association time 16.315328 ms 
mapping solver time 16.255967 ms 
publication time 9.361407 ms 
whole laserOdometry time 69.087535 ms 
 
mapping data assosiation time 31.840700 ms 
scan registration time 32.541004 ms *************
data association time 16.159237 ms 
filter time 21.107112 ms 
mapping pub time 1.156381 ms 
whole mapping time 198.823479 ms +++++
data association time 15.603383 ms 
solver time 8.775305 ms 
points size 93369 
sort q time 4.727198 
seperate points time 11.369999 
data association time 14.620563 ms 
mapping data assosiation time 27.923783 ms 
mapping solver time 13.262729 ms 
data association time 16.798886 ms 
solver time 12.255773 ms 
publication time 9.845865 ms 
whole laserOdometry time 65.914307 ms 
 
points size 94208 
mapping solver time 14.010755 ms 
sort q time 5.293083 
seperate points time 12.609148 
filter time 23.512052 ms 
data association time 24.242957 ms 
solver time 18.482514 ms 
data association time 23.781878 ms 
build tree time 69.180271 ms 
sort q time 5.820082 
seperate points time 13.875140 
mapping data assosiation time 31.358976 ms 
mapping solver time 15.568991 ms 
solver time 14.167736 ms 
mapping data assosiation time 28.852315 ms 
mapping solver time 13.347176 ms 
prepare time 15.786148 
sort q time 6.057778 
seperate points time 14.137354 
data association time 15.377276 ms 
solver time 13.645319 ms 
data association time 19.315068 ms 
solver time 14.514426 ms 
points size 96966 
sort q time 6.334771 
seperate points time 15.575871 
scan registration time 43.481981 ms *************
data association time 19.593731 ms 
solver time 13.281473 ms 
data association time 19.861086 ms 
optimization twice time 63.136189 
publication time 12.619748 ms 
whole laserOdometry time 75.785869 ms 
 
sort q time 6.158624 
seperate points time 14.460837 
data association time 16.344045 ms 
mapping data assosiation time 28.952672 ms 
mapping solver time 19.921466 ms 
solver time 9.586771 ms 
mapping data assosiation time 32.278958 ms 
scan registration time 36.517263 ms *************
data association time 17.590523 ms 
map prepare time 4.639332 ms
map corner num 258092  surf num 86309 
data association time 15.794810 ms 
publication time 11.623702 ms 
whole laserOdometry time 69.477338 ms 
 
sort q time 5.406401 
seperate points time 12.560709 
build tree time 76.684513 ms 
data association time 17.804275 ms 
solver time 11.507069 ms 
data association time 16.193748 ms 
publication time 8.974005 ms 
whole laserOdometry time 64.321341 ms 
 
mapping data assosiation time 31.244469 ms 
points size 101565 
prepare time 21.209417 
mapping solver time 17.421686 ms 
filter time 21.663137 ms 
solver time 10.484947 ms 
data association time 15.627450 ms 
solver time 9.310746 ms 
publication time 9.378720 ms 
whole laserOdometry time 62.411366 ms 
 
prepare time 19.648867 
sort q time 6.197498 
seperate points time 14.859322 
build tree time 82.135606 ms 
data association time 14.804964 ms 
solver time 11.044206 ms 
mapping solver time 17.395847 ms 
solver time 8.868295 ms 
publication time 11.637025 ms 
whole laserOdometry time 63.182482 ms 
 
mapping solver time 11.841183 ms 
scan registration time 36.289546 ms *************
filter time 28.968195 ms 
solver time 12.077614 ms 
data association time 15.732597 ms 
optimization twice time 54.556654 
publication time 12.021178 ms 
whole laserOdometry time 66.598609 ms 
 
prepare time 15.727636 
sort q time 5.625034 
seperate points time 12.986264 
data association time 15.598039 ms 
solver time 13.249626 ms 
data association time 18.134094 ms 
solver time 7.826045 ms 
publication time 9.548784 ms 
whole laserOdometry time 65.249263 ms 
 
points size 103262 
mapping data assosiation time 27.975612 ms 
mapping solver time 13.771128 ms 
mapping optimization time 186.123070 
add points time 1.489678 ms
solver time 11.488310 ms 
filter time 29.917604 ms 
solver time 7.982770 ms 
publication time 11.893974 ms 
whole laserOdometry time 63.704840 ms 
 
points size 103149 
sort q time 5.869800 
seperate points time 13.275216 
scan registration time 33.990188 ms *************
data association time 16.001926 ms 
solver time 13.188106 ms 
build tree time 109.591319 ms 
data association time 16.377918 ms 
publication time 10.727042 ms 
whole laserOdometry time 66.156982 ms 
 
points size 102874 
mapping data assosiation time 30.785849 ms 
prepare time 17.188261 
mapping solver time 14.899909 ms 
mapping data assosiation time 27.894512 ms 
mapping solver time 12.651853 ms 
data association time 16.933432 ms 
solver time 11.373446 ms 
publication time 11.407912 ms 
whole laserOdometry time 67.367443 ms 
 
map prepare time 4.855151 ms
map corner num 303044  surf num 110230 
sort q time 4.862157 
seperate points time 11.522832 
scan registration time 34.470787 ms *************
data association time 13.608574 ms 
solver time 10.563080 ms 
data association time 13.983403 ms 
solver time 7.832359 ms 
optimization twice time 46.847304 
build tree time 85.575593 ms 
prepare time 14.648112 
mapping data assosiation time 26.856011 ms 
mapping solver time 14.125185 ms 
data association time 14.166362 ms 
mapping data assosiation time 26.980296 ms 
data association time 14.707597 ms 
solver time 11.692152 ms 
points size 102594 
map prepare time 6.343430 ms
map corner num 303589  surf num 110429 
data association time 22.270204 ms 
solver time 15.027113 ms 
data association time 14.155605 ms 
solver time 7.808457 ms 
publication time 10.978485 ms 
whole laserOdometry time 71.095617 ms 
 
prepare time 15.116675 
sort q time 4.828414 
seperate points time 11.636765 
mapping data assosiation time 25.392057 ms 
data association time 13.719941 ms 
mapping solver time 14.850568 ms 
data association time 15.836592 ms 
publication time 8.574819 ms 
whole laserOdometry time 58.358978 ms 
 
points size 102877 
filter time 26.879415 ms 
data association time 14.750558 ms 
solver time 11.058065 ms 
data association time 14.140426 ms 
solver time 10.695967 ms 
publication time 10.328424 ms 
whole laserOdometry time 61.869370 ms 
 
build tree time 84.038086 ms 
sort q time 6.013994 
seperate points time 15.064865 
mapping solver time 13.908966 ms 
solver time 10.657551 ms 
mapping data assosiation time 27.981640 ms 
solver time 7.984001 ms 
publication time 10.577383 ms 
whole laserOdometry time 59.820608 ms 
 
points size 102891 
filter time 31.051727 ms 
map prepare time 5.197342 ms
map corner num 304794  surf num 110794 
data association time 14.550460 ms 
solver time 11.068594 ms 
data association time 14.608898 ms 
publication time 9.487138 ms 
whole laserOdometry time 59.887226 ms 
 
prepare time 19.008927 
sort q time 6.098275 
seperate points time 15.046581 
mapping data assosiation time 28.500879 ms 
mapping solver time 17.141464 ms 
data association time 14.390399 ms 
mapping data assosiation time 25.907196 ms 
mapping solver time 13.996472 ms 
points size 103209 
sort q time 5.064864 
seperate points time 12.565722 
data association time 19.496900 ms 
solver time 11.479888 ms 
data association time 14.316986 ms 
publication time 9.795222 ms 
whole laserOdometry time 64.202575 ms 
 
prepare time 18.863787 
build tree time 91.227001 ms 
mapping data assosiation time 30.845698 ms 
mapping solver time 15.824915 ms 
solver time 13.153345 ms 
data association time 14.291742 ms 
mapping data assosiation time 24.363484 ms 
publication time 11.661678 ms 
whole laserOdometry time 68.701015 ms 
 
sort q time 6.187360 
seperate points time 14.538932 
mapping pub time 6.874814 ms 
whole mapping time 218.292996 ms +++++
data association time 15.478777 ms 
solver time 10.212944 ms 
data association time 15.470449 ms 
solver time 8.387754 ms 
publication time 9.610268 ms 
whole laserOdometry time 60.029677 ms 
 
prepare time 13.659890 
sort q time 5.074156 
seperate points time 12.342393 
build tree time 90.477277 ms 
solver time 10.358226 ms 
data association time 17.704664 ms 
publication time 8.903278 ms 
whole laserOdometry time 62.976906 ms 
 
mapping data assosiation time 27.759946 ms 
mapping solver time 14.455716 ms 
sort q time 5.383875 
seperate points time 12.993468 
filter time 33.907616 ms 
data association time 22.539260 ms 
solver time 15.495471 ms 
data association time 15.362025 ms 
points size 102973 
sort q time 5.116851 
seperate points time 12.564775 
data association time 13.872709 ms 
solver time 11.062645 ms 
data association time 13.930195 ms 
solver time 10.078345 ms 
publication time 9.987114 ms 
whole laserOdometry time 59.779828 ms 
 
points size 102802 
sort q time 5.337933 
seperate points time 12.907937 
mapping solver time 12.661962 ms 
mapping optimization time 172.197099 
add points time 1.061059 ms
scan registration time 31.167555 ms *************
data association time 14.062459 ms 
filter time 29.058859 ms 
mapping pub time 1.283894 ms 
whole mapping time 209.146250 ms +++++
drop lidar frame in mapping for real time performance 
data association time 14.482441 ms 
solver time 8.040744 ms 
publication time 9.858569 ms 
whole laserOdometry time 59.286023 ms 
 
points size 102902 
prepare time 14.562393 
sort q time 5.845770 
seperate points time 13.799849 
data association time 13.751481 ms 
solver time 11.498415 ms 
data association time 14.367627 ms 
publication time 7.844368 ms 
whole laserOdometry time 56.891803 ms 
 
points size 103238 
mapping data assosiation time 29.109990 ms 
scan registration time 32.331095 ms *************
filter time 23.725717 ms 
data association time 14.366302 ms 
points size 103472 
sort q time 5.848379 
seperate points time 14.179986 
build tree time 86.592080 ms 
solver time 10.414320 ms 
mapping data assosiation time 26.025028 ms 
mapping solver time 12.462147 ms 
publication time 9.281149 ms 
whole laserOdometry time 60.030105 ms 
 
mapping data assosiation time 26.780322 ms 
mapping solver time 11.684002 ms 
sort q time 6.134715 
seperate points time 15.315443 
filter time 27.609400 ms 
map prepare time 4.790541 ms
map corner num 307812  surf num 111656 
data association time 15.969895 ms 
solver time 10.510808 ms 
data association time 16.765342 ms 
solver time 9.115313 ms 
publication time 11.220519 ms 
whole laserOdometry time 64.520898 ms 
 
sort q time 5.838241 
seperate points time 13.700604 
build tree time 88.027695 ms 
data association time 16.837761 ms 
solver time 12.868641 ms 
mapping solver time 15.060187 ms 
data association time 17.816683 ms 
publication time 9.654902 ms 
whole laserOdometry time 69.087030 ms 
 
mapping data assosiation time 31.429728 ms 
points size 103638 
mapping solver time 18.297300 ms 
mapping optimization time 180.376469 
add points time 1.118448 ms
sort q time 6.049991 
seperate points time 15.283951 
filter time 28.266025 ms 
mapping pub time 5.397634 ms 
whole mapping time 219.988922 ms +++++
drop lidar frame in mapping for real time performance 
data association time 13.868673 ms 
solver time 11.136524 ms 
publication time 10.852988 ms 
whole laserOdometry time 62.714334 ms 
 
points size 103725 
sort q time 6.097765 
seperate points time 15.022779 
data association time 14.259610 ms 
solver time 12.719370 ms 
data association time 14.085691 ms 
mapping data assosiation time 25.867055 ms 
mapping solver time 17.239065 ms 
points size 103803 
prepare time 20.706837 
mapping data assosiation time 33.694330 ms 
mapping optimization time 187.881360 
add points time 1.071071 ms
data association time 16.370464 ms 
solver time 12.657552 ms 
filter time 29.439754 ms 
solver time 11.634200 ms 
points size 103949 
sort q time 5.277839 
seperate points time 12.691430 
data association time 15.543120 ms 
build tree time 85.096088 ms 
data association time 15.238405 ms 
mapping data assosiation time 27.788084 ms 
mapping solver time 16.155256 ms 
sort q time 5.682748 
seperate points time 13.290676 
mapping solver time 13.321710 ms 
solver time 10.010293 ms 
filter time 25.421146 ms 
data association time 16.485787 ms 
publication time 9.628650 ms 
whole laserOdometry time 60.880678 ms 
 
sort q time 5.353415 
seperate points time 12.832353 
data association time 14.931645 ms 
solver time 11.710768 ms 
build tree time 91.576737 ms 
solver time 8.170531 ms 
publication time 11.061619 ms 
whole laserOdometry time 67.677957 ms 
 
points size 104039 
sort q time 5.133752 
seperate points time 12.513312 
mapping data assosiation time 29.558657 ms 
mapping solver time 18.265642 ms 
solver time 11.611173 ms 
filter time 25.706478 ms 
solver time 10.339927 ms 
prepare time 15.962342 
sort q time 5.227705 
seperate points time 12.652010 
data association time 15.492325 ms 
data association time 15.832113 ms 
build tree time 85.041115 ms 
publication time 8.982001 ms 
whole laserOdometry time 62.974710 ms 
 
points size 104231 
sort q time 5.879384 
seperate points time 13.798172 
data association time 15.896468 ms 
solver time 12.050954 ms 
mapping solver time 12.892724 ms 
data association time 16.787542 ms 
solver time 8.958683 ms 
filter time 27.433695 ms 
points size 104305 
sort q time 6.083121 
seperate points time 14.324812 
data association time 15.758020 ms 
solver time 12.933974 ms 
data association time 20.059861 ms 
solver time 10.758920 ms 
publication time 11.143876 ms 
whole laserOdometry time 71.608024 ms 
 
prepare time 16.167034 
mapping data assosiation time 27.791272 ms 
scan registration time 34.308951 ms *************
data association time 17.700026 ms 
solver time 13.220348 ms 
mapping solver time 15.584232 ms 
solver time 10.453693 ms 
publication time 10.617977 ms 
whole laserOdometry time 71.498990 ms 
 
prepare time 16.762948 
sort q time 5.109406 
seperate points time 12.438395 
data association time 16.834082 ms 
solver time 11.170874 ms 
data association time 16.040083 ms 
solver time 9.334225 ms 
publication time 11.466228 ms 
whole laserOdometry time 65.750972 ms 
 
points size 104452 
mapping pub time 122.088999 ms 
whole mapping time 342.966541 ms +++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
sort q time 6.827519 
seperate points time 16.589350 
data association time 15.976853 ms 
solver time 11.644811 ms 
data association time 15.742060 ms 
publication time 8.915777 ms 
whole laserOdometry time 62.624236 ms 
 
build tree time 86.683312 ms 
mapping data assosiation time 27.995093 ms 
solver time 11.879450 ms 
data association time 15.201391 ms 
solver time 8.409030 ms 
optimization twice time 51.871944 
mapping solver time 14.772616 ms 
sort q time 4.686762 
seperate points time 11.260242 
scan registration time 31.260174 ms *************
mapping pub time 1.260672 ms 
whole mapping time 215.897323 ms +++++
data association time 16.483842 ms 
solver time 9.470323 ms 
data association time 16.385903 ms 
solver time 8.646674 ms 
publication time 9.681432 ms 
whole laserOdometry time 61.576313 ms 
 
points size 104410 
sort q time 5.372585 
seperate points time 12.537093 
data association time 15.808602 ms 
solver time 10.309684 ms 
mapping solver time 17.113418 ms 
solver time 7.621924 ms 
publication time 10.235157 ms 
whole laserOdometry time 60.757674 ms 
 
mapping data assosiation time 33.913786 ms 
mapping solver time 11.582954 ms 
sort q time 6.129931 
seperate points time 13.845953 
filter time 33.914656 ms 
data association time 25.751133 ms 
solver time 9.821014 ms 
data association time 15.916620 ms 
solver time 8.458338 ms 
publication time 10.564327 ms 
whole laserOdometry time 71.388501 ms 
 
points size 104456 
prepare time 19.022610 
sort q time 6.330248 
seperate points time 15.160760 
build tree time 99.152474 ms 
data association time 19.306689 ms 
solver time 12.317587 ms 
data association time 16.981441 ms 
solver time 10.394377 ms 
sort q time 7.042091 
seperate points time 17.080830 
mapping solver time 14.239260 ms 
solver time 10.754433 ms 
filter time 26.016611 ms 
solver time 8.612738 ms 
publication time 10.617122 ms 
whole laserOdometry time 61.438378 ms 
 
solver time 8.029674 ms 
publication time 10.051373 ms 
whole laserOdometry time 57.534883 ms 
 
points size 104050 
sort q time 5.118598 
seperate points time 12.044570 
data association time 26.325256 ms 
solver time 15.923408 ms 
add points time 1.303260 ms
data association time 23.289420 ms 
prepare time 14.658111 
filter time 32.142721 ms 
sort q time 6.871571 
seperate points time 15.953476 
data association time 23.326564 ms 
solver time 17.551976 ms 
data association time 23.335127 ms 
points size 103899 
publication time 11.371559 ms 
whole laserOdometry time 87.537254 ms 
 
build tree time 108.422424 ms 
data association time 25.825757 ms 
mapping data assosiation time 37.672313 ms 
solver time 20.389868 ms 
mapping solver time 26.181432 ms 
points size 103960 
prepare time 14.762059 
solver time 12.784611 ms 
optimization twice time 83.823162 
sort q time 5.127816 
seperate points time 11.993815 
mapping solver time 20.091131 ms 
data association time 23.149951 ms 
solver time 14.769386 ms 
filter time 32.074933 ms 
data association time 24.906157 ms 
solver time 10.949712 ms 
publication time 11.574057 ms 
whole laserOdometry time 86.404635 ms 
 
scan registration time 33.976844 ms *************
[0m[ INFO] [1718887286.758298411]: Received 1625167 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887286.758327665]: Data saved to 1317358029885725.pcd[0m
data association time 23.166502 ms 
solver time 14.232751 ms 
data association time 23.347407 ms 
points size 104138 
solver time 12.414417 ms 
optimization twice time 74.187332 
prepare time 16.800199 
sort q time 6.452686 
seperate points time 14.962697 
data association time 23.115221 ms 
mapping solver time 25.598787 ms 
mapping data assosiation time 38.430399 ms 
points size 104026 
mapping solver time 22.498945 ms 
scan registration time 36.909765 ms *************
data association time 15.107044 ms 
map prepare time 4.713612 ms
map corner num 313946  surf num 114081 
data association time 14.513403 ms 
publication time 10.164447 ms 
whole laserOdometry time 61.051418 ms 
 
points size 104003 
sort q time 5.809492 
seperate points time 14.181962 
build tree time 91.614502 ms 
solver time 10.542375 ms 
data association time 15.626041 ms 
solver time 10.686910 ms 
publication time 10.495270 ms 
whole laserOdometry time 65.414946 ms 
 
points size 104039 
prepare time 15.303916 
sort q time 6.274601 
seperate points time 15.163657 
mapping solver time 17.835144 ms 
solver time 9.945179 ms 
filter time 28.425512 ms 
solver time 8.390146 ms 
publication time 12.263613 ms 
whole laserOdometry time 63.189620 ms 
 
points size 103974 
sort q time 6.131708 
seperate points time 15.031350 
data association time 15.717537 ms 
solver time 11.289657 ms 
data association time 16.101437 ms 
solver time 11.343604 ms 
sort q time 6.244483 
seperate points time 14.715416 
data association time 26.354529 ms 
solver time 15.212648 ms 
data association time 26.588102 ms 
filter time 29.889944 ms 
map prepare time 7.548015 ms
map corner num 315220  surf num 114654 
data association time 26.199727 ms 
solver time 15.316087 ms 
points size 104036 
build tree time 96.473525 ms 
publication time 12.252359 ms 
whole laserOdometry time 92.595072 ms 
 
mapping data assosiation time 34.246351 ms 
solver time 10.474888 ms 
data association time 16.988529 ms 
publication time 10.757212 ms 
whole laserOdometry time 69.276004 ms 
 
prepare time 17.096274 
mapping optimization time 205.301992 
filter time 33.341690 ms 
data association time 16.428442 ms 
solver time 8.586376 ms 
publication time 11.587557 ms 
whole laserOdometry time 62.096258 ms 
 
points size 103850 
sort q time 4.928159 
seperate points time 11.932133 
build tree time 88.095287 ms 
solver time 10.169758 ms 
mapping data assosiation time 30.823398 ms 
solver time 8.110323 ms 
publication time 10.861444 ms 
whole laserOdometry time 64.232686 ms 
 
sort q time 5.614303 
seperate points time 13.472312 
mapping solver time 16.282906 ms 
solver time 10.057322 ms 
filter time 27.614954 ms 
optimization twice time 52.838316 
publication time 10.243160 ms 
whole laserOdometry time 63.096594 ms 
 
points size 103622 
sort q time 5.982149 
seperate points time 13.676610 
data association time 15.786629 ms 
solver time 12.015252 ms 
build tree time 91.360710 ms 
data association time 16.536806 ms 
solver time 10.307281 ms 
publication time 11.377599 ms 
whole laserOdometry time 66.769641 ms 
 
mapping data assosiation time 34.620476 ms 
prepare time 19.238544 
mapping solver time 21.796854 ms 
scan registration time 39.529284 ms *************
data association time 20.339211 ms 
solver time 11.756003 ms 
mapping solver time 15.782777 ms 
data association time 18.333524 ms 
solver time 8.499264 ms 
publication time 10.518242 ms 
whole laserOdometry time 70.488660 ms 
 
map prepare time 5.696941 ms
map corner num 317095  surf num 115333 
sort q time 6.072913 
seperate points time 14.641130 
data association time 16.320749 ms 
solver time 10.675136 ms 
data association time 16.469196 ms 
build tree time 90.065674 ms 
publication time 9.136824 ms 
whole laserOdometry time 63.064593 ms 
 
points size 103069 
mapping data assosiation time 33.481533 ms 
mapping solver time 26.560137 ms 
data association time 38.414998 ms 
mapping optimization time 214.820393 
add points time 1.545611 ms
solver time 12.960883 ms 
publication time 15.848096 ms data association time 29.485809 ms 
solver time 22.911683 ms 
sort q time 9.036134 
seperate points time 23.105816 
optimization twice time 101.940102 
publication time 15.152286 ms 
whole laserOdometry time 117.121796 ms 
 
[33m[ WARN] [1718887288.554111670]: odometry process over 100ms[0m
points size 100976 
mapping data assosiation time 42.459505 ms 
scan registration time 53.555895 ms *************
mapping solver time 35.165811 ms 
data association time 21.609805 ms 
optimization twice time 94.886310 
mapping data assosiation time 37.776237 ms sort q time 6.146642 
seperate points time 15.122177 
data association time 27.520679 ms 
solver time 10.264302 ms 
filter time 27.515337 ms 
map prepare time 5.112629 ms
map corner num 318379  surf num 115817 
solver time 15.861370 ms 
publication time 10.379144 ms 
whole laserOdometry time 82.106606 ms 
 
points size 95455 
data association time 22.123997 ms 
solver time 15.612279 ms 
data association time 18.681297 ms 
build tree time 94.982686 ms 
publication time 10.474142 ms 
whole laserOdometry time 80.621595 ms 
 
mapping data assosiation time 31.106822 ms 
points size 92920 
sort q time 4.128101 
seperate points time 9.734226 
solver time 8.135950 ms 
mapping solver time 16.938247 ms 
solver time 11.146756 ms 
filter time 26.721607 ms 
data association time 19.842902 ms 
points size 90936 
sort q time 4.272687 
seperate points time 10.270295 
data association time 15.546219 ms 
solver time 11.048666 ms 
data association time 16.759013 ms 
solver time 8.416953 ms 
points size 88823 
mapping data assosiation time 40.226854 ms 
mapping solver time 22.903402 ms 
solver time 10.221329 ms 
mapping data assosiation time 33.049731 ms 
data association time 15.772453 ms 
publication time 8.085442 ms 
whole laserOdometry time 59.190284 ms 
 
points size 86669 
prepare time 17.223742 
sort q time 4.934706 
seperate points time 12.277057 
mapping pub time 6.212506 ms 
whole mapping time 262.258763 ms +++++
data association time 16.243687 ms 
solver time 13.450195 ms 
data association time 17.355807 ms 
solver time 10.817697 ms 
publication time 9.154277 ms 
whole laserOdometry time 67.988965 ms 
 
prepare time 16.314028 
sort q time 4.849528 
seperate points time 11.902830 
scan registration time 33.081528 ms *************
build tree time 101.126096 ms 
data association time 23.498350 ms 
solver time 15.013883 ms 
mapping solver time 18.736238 ms 
solver time 11.371154 ms 
publication time 9.505158 ms 
whole laserOdometry time 83.718878 ms 
 
scan registration time 29.136383 ms *************
mapping solver time 16.047755 ms 
data association time 23.321730 ms 
filter time 28.082082 ms 
data association time 13.858186 ms 
solver time 10.201183 ms 
points size 79925 
prepare time 13.131884 
sort q time 4.310599 
seperate points time 10.304081 
data association time 14.176091 ms 
solver time 12.795358 ms 
data association time 16.902999 ms 
solver time 10.157608 ms 
mapping solver time 17.392930 ms 
sort q time 3.693884 
seperate points time 9.286481 
mapping data assosiation time 28.786214 ms 
data association time 15.435384 ms 
solver time 10.983333 ms 
data association time 14.527097 ms 
filter time 28.293365 ms 
publication time 7.424322 ms 
whole laserOdometry time 57.996344 ms 
 
points size 81917 
sort q time 4.614483 
seperate points time 11.604402 
data association time 14.401619 ms 
solver time 10.973353 ms 
data association time 13.968377 ms 
build tree time 96.417102 ms 
points size 83871 
sort q time 4.702644 
seperate points time 11.764459 
data association time 14.372575 ms 
solver time 11.167063 ms 
data association time 15.085687 ms 
mapping solver time 13.490268 ms 
mapping optimization time 192.925363 
add points time 0.950988 ms
publication time 8.101186 ms 
whole laserOdometry time 58.215615 ms 
 
filter time 26.944362 ms 
sort q time 5.158844 
seperate points time 11.917440 
data association time 14.018054 ms 
solver time 14.574510 ms 
data association time 17.259552 ms 
solver time 11.499555 ms 
build tree time 90.867847 ms 
points size 86946 
sort q time 4.230915 
seperate points time 9.806207 
mapping solver time 19.121389 ms 
data association time 23.022578 ms 
mapping data assosiation time 27.767345 ms 
mapping solver time 20.605097 ms 
points size 87454 
publication time 8.201823 ms 
whole laserOdometry time 87.437976 ms 
 
mapping pub time 1.367420 ms 
whole mapping time 229.475953 ms +++++
data association time 14.215673 ms 
solver time 15.161682 ms 
data association time 17.122664 ms 
solver time 9.951257 ms 
publication time 10.067605 ms 
whole laserOdometry time 67.417347 ms 
 
prepare time 16.933272 
sort q time 4.510322 
seperate points time 11.068933 
build tree time 114.863195 ms 
solver time 13.414088 ms 
mapping data assosiation time 32.363148 ms 
solver time 10.869653 ms 
publication time 8.121328 ms 
whole laserOdometry time 61.847866 ms 
 
points size 90979 
sort q time 4.602437 
seperate points time 11.132937 
data association time 14.286983 ms 
solver time 15.678468 ms 
data association time 16.480564 ms 
solver time 11.497104 ms 
points size 92840 
sort q time 4.778827 
seperate points time 11.172986 
data association time 14.621801 ms 
solver time 13.463457 ms 
data association time 15.199924 ms 
solver time 12.562938 ms 
publication time 12.703769 ms 
whole laserOdometry time 69.663152 ms 
 
prepare time 19.281985 
sort q time 5.599782 
seperate points time 13.409493 
data association time 14.458685 ms 
solver time 11.733613 ms 
data association time 15.151909 ms 
build tree time 97.048946 ms 
points size 95693 
mapping data assosiation time 25.724419 ms 
sort q time 5.426051 
seperate points time 13.221493 
mapping solver time 16.691824 ms 
data association time 13.728449 ms 
solver time 13.566825 ms 
add points time 1.182309 ms
solver time 11.271187 ms 
publication time 9.062740 ms 
whole laserOdometry time 62.522844 ms 
 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
points size 95703 
map prepare time 4.788195 ms
map corner num 323963  surf num 117226 
prepare time 18.496658 
sort q time 5.597991 
seperate points time 13.666232 
scan registration time 37.387605 ms *************
data association time 13.189567 ms 
data association time 13.652283 ms 
publication time 8.480520 ms 
whole laserOdometry time 56.452714 ms 
 
points size 95866 
mapping data assosiation time 24.573074 ms 
sort q time 5.478640 
seperate points time 13.336667 
mapping solver time 15.815712 ms 
data association time 13.599950 ms 
solver time 10.787165 ms 
data association time 13.864776 ms 
solver time 12.881527 ms 
filter time 26.998565 ms 
sort q time 5.481544 
seperate points time 13.481644 
solver time 11.100667 ms 
data association time 14.294995 ms 
publication time 9.001627 ms 
whole laserOdometry time 57.547024 ms 
 
build tree time 95.274497 ms 
sort q time 5.701035 
seperate points time 13.668550 
mapping solver time 16.277364 ms 
solver time 11.518297 ms 
mapping data assosiation time 27.838536 ms 
solver time 10.234561 ms 
publication time 10.142093 ms 
whole laserOdometry time 62.549524 ms 
 
points size 95933 
filter time 27.221914 ms 
map prepare time 5.169974 ms
map corner num 353446  surf num 131596 
data association time 14.281579 ms 
solver time 10.163570 ms 
data association time 14.903412 ms 
solver time 8.884933 ms 
publication time 8.989510 ms 
whole laserOdometry time 58.124604 ms 
 
points size 96611 
sort q time 4.804842 
seperate points time 11.641525 
mapping data assosiation time 24.323624 ms 
mapping solver time 15.630624 ms 
data association time 17.074500 ms 
mapping solver time 16.639905 ms 
sort q time 4.512219 
seperate points time 10.710117 
filter time 31.392225 ms 
data association time 15.345227 ms 
solver time 10.918536 ms 
data association time 15.016234 ms 
publication time 9.030634 ms 
whole laserOdometry time 59.100206 ms 
 
points size 98050 
sort q time 5.136869 
seperate points time 12.097826 
scan registration time 30.387140 ms *************
data association time 14.368694 ms 
build tree time 106.997625 ms 
solver time 12.160216 ms 
data association time 14.816804 ms 
mapping solver time 13.781256 ms 
points size 99616 
sort q time 5.914608 
seperate points time 14.279891 
add points time 1.848632 ms
data association time 21.560065 ms 
solver time 15.087019 ms 
filter time 36.782752 ms 
mapping pub time 7.218522 ms 
whole mapping time 253.116039 ms +++++
drop lidar frame in mapping for real time performance 
points size 100862 
publication time 11.653462 ms 
whole laserOdometry time 84.941569 ms 
 
data association time 22.242929 ms 
solver time 14.544123 ms 
data association time 22.077394 ms 
solver time 11.351401 ms 
publication time 10.977279 ms 
whole laserOdometry time 82.310573 ms 
 
sort q time 6.146376 
seperate points time 14.489088 
mapping data assosiation time 26.063301 ms 
data association time 23.241033 ms 
solver time 16.743643 ms 
mapping data assosiation time 29.535854 ms 
points size 99624 
solver time 12.091553 ms 
optimization twice time 77.491701 
mapping solver time 20.532662 ms 
prepare time 14.327209 
mapping optimization time 229.581635 
add points time 1.239450 ms
scan registration time 30.956880 ms *************
filter time 33.959707 ms 
map prepare time 5.934654 ms
map corner num 355640  surf num 132038 
solver time 15.048966 ms 
data association time 18.398795 ms 
publication time 11.253443 ms 
whole laserOdometry time 76.407811 ms 
 
sort q time 4.743713 
seperate points time 11.735392 
data association time 13.985342 ms 
solver time 11.326341 ms 
data association time 13.985201 ms 
mapping data assosiation time 23.185792 ms 
mapping solver time 15.203733 ms 
points size 101824 
prepare time 16.327177 
sort q time 6.322981 
seperate points time 15.760640 
scan registration time 36.585444 ms *************
data association time 14.351728 ms 
filter time 28.683226 ms 
mapping pub time 1.260713 ms 
whole mapping time 228.881864 ms +++++
solver time 11.781927 ms 
drop lidar frame in mapping for real time performance 
data association time 15.796583 ms 
solver time 8.145548 ms 
publication time 12.183846 ms 
whole laserOdometry time 63.163086 ms 
 
prepare time 16.759083 
sort q time 4.693081 
seperate points time 11.476821 
data association time 14.974987 ms 
solver time 10.915094 ms 
build tree time 100.420374 ms 
solver time 7.498670 ms 
mapping data assosiation time 27.115016 ms 
points size 103224 
sort q time 5.946976 
seperate points time 13.943061 
mapping data assosiation time 24.908569 ms 
mapping solver time 11.679196 ms 
solver time 12.507760 ms 
filter time 28.944353 ms 
solver time 9.324622 ms 
publication time 10.064938 ms 
whole laserOdometry time 69.900290 ms 
 
prepare time 15.512241 
sort q time 5.872242 
seperate points time 13.825655 
data association time 15.120652 ms 
solver time 10.657659 ms 
data association time 15.057214 ms 
build tree time 107.895476 ms 
points size 103052 
sort q time 5.311145 
seperate points time 13.088703 
data association time 14.449923 ms 
solver time 10.955529 ms 
data association time 15.403711 ms 
solver time 8.409849 ms 
publication time 9.277207 ms 
whole laserOdometry time 59.316686 ms 
 
map prepare time 5.122894 ms
map corner num 358227  surf num 132927 
sort q time 5.380135 
seperate points time 12.801296 
data association time 23.615021 ms 
solver time 15.585648 ms 
data association time 23.811375 ms 
solver time 11.713199 ms 
optimization twice time 75.711253 
mapping data assosiation time 28.778560 ms 
mapping solver time 16.650962 ms 
data association time 23.606991 ms 
solver time 15.227650 ms 
mapping optimization time 196.488525 
points size 102467 
publication time 11.631947 ms 
whole laserOdometry time 86.881993 ms 
 
sort q time 5.476870 
seperate points time 13.679889 
scan registration time 32.911747 ms *************
drop lidar frame in mapping for real time performance 
data association time 23.889326 ms 
solver time 15.277060 ms 
data association time 23.383167 ms 
points size 102153 
publication time 11.493607 ms 
whole laserOdometry time 87.389342 ms 
 
build tree time 110.646903 ms 
solver time 15.177268 ms 
mapping data assosiation time 30.330693 ms 
data association time 23.797862 ms 
solver time 11.690800 ms 
prepare time 14.411004 
scan registration time 31.194611 ms *************
mapping solver time 15.581656 ms 
data association time 24.218105 ms 
solver time 15.503356 ms 
map prepare time 6.121672 ms
map corner num 360140  surf num 133706 
data association time 24.157185 ms 
points size 102045 
scan registration time 36.279058 ms *************
data association time 23.782433 ms 
solver time 15.979220 ms 
data association time 23.966410 ms 
points size 102042 
publication time 11.373799 ms 
whole laserOdometry time 88.010954 ms 
 
mapping solver time 16.772940 ms 
solver time 15.105717 ms 
mapping solver time 16.718614 ms 
solver time 11.898204 ms 
optimization twice time 75.594723 
filter time 39.035515 ms 
map prepare time 6.536770 ms
map corner num 361016  surf num 134041 
data association time 23.625511 ms 
solver time 15.863376 ms 
data association time 23.752209 ms 
prepare time 18.540693 
publication time 11.190649 ms 
whole laserOdometry time 87.706011 ms 
 
sort q time 5.995984 
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build tree time 113.318191 ms 
data association time 22.772404 ms 
mapping data assosiation time 25.351917 ms 
solver time 18.391834 ms 
data association time 23.059123 ms 
points size 101449 
publication time 11.146700 ms 
whole laserOdometry time 91.843715 ms 
 
add points time 1.357316 ms
data association time 23.330592 ms 
filter time 31.245022 ms 
map prepare time 5.849217 ms
map corner num 309463  surf num 126738 
data association time 23.077828 ms 
points size 101211 
prepare time 18.214503 
sort q time 5.963747 
seperate points time 14.236464 
publication time 11.396111 ms 
whole laserOdometry time 93.700951 ms 
 
scan registration time 38.563403 ms *************
data association time 22.462625 ms 
build tree time 97.742559 ms 
solver time 15.297864 ms 
mapping data assosiation time 26.165898 ms 
points size 100239 
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mapping solver time 11.700715 ms 
data association time 23.402260 ms 
filter time 25.068590 ms 
solver time 18.451104 ms 
mapping pub time 1.382065 ms 
whole mapping time 221.707332 ms +++++
drop lidar frame in mapping for real time performance 
data association time 23.539655 ms 
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points size 97909 
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data association time 21.970668 ms 
points size 99099 
publication time 10.608178 ms 
whole laserOdometry time 82.086672 ms 
 
scan registration time 32.381832 ms *************
mapping data assosiation time 29.602923 ms 
data association time 22.323840 ms 
solver time 15.199494 ms 
mapping data assosiation time 25.788125 ms 
data association time 22.432850 ms 
add points time 1.862114 ms
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data association time 13.788225 ms 
solver time 11.003552 ms 
publication time 9.668459 ms 
whole laserOdometry time 71.506899 ms 
 
prepare time 14.587253 
build tree time 92.690502 ms 
scan registration time 32.237417 ms *************
mapping data assosiation time 28.455976 ms 
mapping solver time 17.613245 ms 
data association time 22.387914 ms 
mapping data assosiation time 26.934821 ms 
add points time 1.051519 ms
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map corner num 312703  surf num 128301 
data association time 22.516002 ms 
solver time 15.125544 ms 
data association time 22.360189 ms 
solver time 15.460904 ms 
publication time 10.870576 ms 
whole laserOdometry time 87.359885 ms 
 
scan registration time 35.135811 ms *************
data association time 22.262724 ms 
solver time 14.956211 ms 
data association time 22.103774 ms 
mapping solver time 15.876539 ms 
publication time 11.043684 ms 
whole laserOdometry time 86.787714 ms 
 
scan registration time 36.002256 ms *************
filter time 31.454943 ms 
mapping pub time 1.328610 ms 
whole mapping time 215.540239 ms +++++
drop lidar frame in mapping for real time performance 
data association time 14.950562 ms 
solver time 11.833055 ms 
data association time 15.324383 ms 
publication time 10.984813 ms 
whole laserOdometry time 62.541695 ms 
 
sort q time 5.080563 
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scan registration time 34.832394 ms *************
data association time 22.411407 ms 
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points size 94804 
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solver time 10.646640 ms 
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whole laserOdometry time 76.355278 ms 
 
prepare time 19.182288 
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data association time 16.851946 ms 
solver time 10.428665 ms 
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whole laserOdometry time 66.479835 ms 
 
map prepare time 7.952396 ms
map corner num 315000  surf num 129897 
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data association time 13.650773 ms 
build tree time 95.681590 ms 
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mapping solver time 16.328434 ms 
points size 89381 
sort q time 4.736973 
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data association time 13.248575 ms 
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data association time 13.084298 ms 
solver time 11.065599 ms 
points size 89363 
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mapping solver time 20.094412 ms 
solver time 7.784807 ms 
optimization twice time 48.952748 
mapping data assosiation time 33.274117 ms 
mapping solver time 17.875268 ms 
data association time 14.681606 ms 
solver time 11.395788 ms 
data association time 14.386203 ms 
solver time 10.017445 ms 
optimization twice time 51.290990 
points size 89708 
sort q time 4.590423 
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build tree time 95.689109 ms 
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mapping data assosiation time 30.760851 ms 
data association time 22.754465 ms 
solver time 15.066834 ms 
points size 90034 
sort q time 4.725698 
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mapping optimization time 196.004504 
add points time 1.119140 ms
solver time 11.135197 ms 
filter time 24.815050 ms 
data association time 20.550215 ms 
solver time 10.831773 ms 
publication time 10.097206 ms 
whole laserOdometry time 73.810838 ms 
 
prepare time 13.383189 
sort q time 4.542655 
seperate points time 11.229820 
scan registration time 28.077604 ms *************
data association time 14.301802 ms 
solver time 9.879138 ms 
build tree time 90.014472 ms 
solver time 7.180105 ms 
mapping data assosiation time 35.661005 ms 
prepare time 13.077353 
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solver time 10.629057 ms 
mapping solver time 14.269026 ms 
solver time 7.669519 ms 
publication time 8.596102 ms 
whole laserOdometry time 59.967341 ms 
 
filter time 28.621427 ms 
points size 92718 
sort q time 5.179208 
seperate points time 12.516867 
data association time 23.368845 ms 
solver time 14.002692 ms 
data association time 23.540337 ms 
solver time 11.139448 ms 
prepare time 14.386463 
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solver time 9.966414 ms 
data association time 15.256817 ms 
publication time 8.815084 ms 
whole laserOdometry time 57.698856 ms 
 
points size 95364 
sort q time 4.677526 
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map prepare time 5.036286 ms
map corner num 319056  surf num 132570 
data association time 13.968845 ms 
optimization twice time 52.003196 
points size 96940 
sort q time 4.462677 
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solver time 9.430367 ms 
publication time 10.096289 ms 
whole laserOdometry time 65.678018 ms 
 
points size 98592 
prepare time 13.880540 
sort q time 5.303983 
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mapping solver time 14.676093 ms 
data association time 15.974935 ms 
solver time 9.641163 ms 
filter time 28.266981 ms 
solver time 8.681575 ms 
publication time 9.220746 ms 
whole laserOdometry time 60.046209 ms 
 
points size 99732 
sort q time 5.215818 
seperate points time 12.689976 
data association time 15.669232 ms 
solver time 14.029295 ms 
data association time 18.586098 ms 
solver time 13.083622 ms 
publication time 10.540195 ms 
whole laserOdometry time 72.821462 ms 
 
points size 100774 
sort q time 5.859434 
seperate points time 15.106328 
data association time 15.560402 ms 
solver time 11.675540 ms 
mapping data assosiation time 34.723395 ms 
data association time 16.653648 ms 
solver time 10.709344 ms 
publication time 12.555951 ms 
whole laserOdometry time 68.129182 ms 
 
prepare time 18.543929 
filter time 34.096284 ms 
map prepare time 6.037575 ms
map corner num 320849  surf num 133715 
data association time 15.635613 ms 
solver time 9.770257 ms 
data association time 15.596605 ms 
solver time 7.919173 ms 
publication time 8.680669 ms 
whole laserOdometry time 58.168067 ms 
 
points size 101814 
prepare time 18.310713 
sort q time 6.318891 
seperate points time 15.941712 
scan registration time 39.032168 ms *************
data association time 13.670203 ms 
solver time 13.033439 ms 
mapping solver time 22.255187 ms 
solver time 10.835655 ms 
publication time 10.202380 ms 
whole laserOdometry time 64.715455 ms 
 
mapping data assosiation time 41.011809 ms 
mapping solver time 21.651842 ms 
solver time 12.645432 ms 
filter time 28.589201 ms 
solver time 10.246670 ms 
publication time 9.750304 ms 
whole laserOdometry time 63.256953 ms 
 
prepare time 18.410255 
data association time 20.306428 ms 
solver time 15.078607 ms 
build tree time 105.460973 ms 
data association time 14.980953 ms 
solver time 10.452727 ms 
publication time 9.721406 ms 
whole laserOdometry time 71.427660 ms 
 
points size 102187 
mapping data assosiation time 46.666879 ms 
sort q time 6.502473 
seperate points time 16.624215 
mapping solver time 22.928120 ms 
data association time 15.185463 ms 
solver time 12.793548 ms 
data association time 14.132284 ms 
solver time 10.886051 ms 
publication time 10.180199 ms 
whole laserOdometry time 64.030486 ms 
 
mapping optimization time 244.041587 
add points time 1.496738 ms
sort q time 5.888632 
seperate points time 15.120265 
filter time 30.748437 ms 
data association time 23.349644 ms 
solver time 14.778315 ms 
data association time 23.578011 ms 
solver time 11.222653 ms 
publication time 12.093730 ms 
whole laserOdometry time 86.018465 ms 
 
sort q time 5.856827 
seperate points time 15.026416 
scan registration time 37.477843 ms *************
build tree time 104.593961 ms 
solver time 11.913459 ms 
data association time 15.142263 ms 
solver time 10.293115 ms 
publication time 13.224044 ms 
whole laserOdometry time 66.661366 ms 
 
mapping solver time 29.355156 ms 
scan registration time 39.998704 ms *************
data association time 14.619093 ms 
solver time 12.216844 ms 
mapping data assosiation time 41.307946 ms 
mapping solver time 17.889308 ms 
publication time 9.389915 ms 
whole laserOdometry time 64.302820 ms 
 
prepare time 14.628542 
filter time 30.656245 ms 
scan registration time 32.535700 ms *************
data association time 14.572983 ms 
solver time 11.288111 ms 
data association time 14.474604 ms 
solver time 8.610876 ms 
publication time 9.232449 ms 
whole laserOdometry time 59.002363 ms 
 
points size 102120 
build tree time 96.062406 ms 
data association time 17.016863 ms 
solver time 13.187573 ms 
mapping data assosiation time 42.345620 ms 
data association time 21.936748 ms 
solver time 8.097372 ms 
publication time 10.627797 ms 
whole laserOdometry time 71.710950 ms 
 
points size 102127 
mapping data assosiation time 42.539209 ms 
sort q time 6.106855 
seperate points time 14.937662 
scan registration time 34.039303 ms *************
mapping solver time 20.787666 ms 
mapping optimization time 224.669038 
add points time 1.365586 ms
solver time 15.438666 ms 
filter time 35.993618 ms 
solver time 10.497923 ms 
publication time 12.230944 ms 
whole laserOdometry time 78.533061 ms 
 
sort q time 6.184147 
seperate points time 15.525416 
data association time 15.196460 ms 
solver time 12.172795 ms 
data association time 16.852684 ms 
solver time 10.118333 ms 
publication time 12.015319 ms 
whole laserOdometry time 67.229354 ms 
 
sort q time 6.251089 
seperate points time 14.810709 
data association time 16.226246 ms 
solver time 11.758979 ms 
data association time 16.061203 ms 
solver time 10.697597 ms 
mapping data assosiation time 45.815002 ms 
points size 102383 
sort q time 5.879512 
seperate points time 14.175646 
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solver time 12.213830 ms 
data association time 14.717544 ms 
solver time 10.112968 ms 
publication time 10.241585 ms 
whole laserOdometry time 63.424413 ms 
 
points size 102466 
sort q time 4.800112 
seperate points time 11.890898 
scan registration time 28.938080 ms *************
build tree time 93.862696 ms 
data association time 14.720446 ms 
solver time 12.692731 ms 
data association time 15.294477 ms 
optimization twice time 52.926123 
publication time 10.568478 ms 
whole laserOdometry time 63.513349 ms 
 
points size 102504 
sort q time 5.998715 
seperate points time 14.240231 
mapping data assosiation time 43.223461 ms 
solver time 11.914323 ms 
mapping solver time 16.521523 ms 
mapping optimization time 227.353540 
add points time 1.278321 ms
data association time 17.685278 ms 
solver time 10.629138 ms 
publication time 12.206693 ms 
whole laserOdometry time 70.448102 ms 
 
sort q time 5.129584 
seperate points time 12.736842 
data association time 14.931924 ms 
solver time 12.690605 ms 
data association time 17.864976 ms 
solver time 10.130302 ms 
publication time 12.498267 ms 
build tree time 99.111201 ms 
whole laserOdometry time 68.983441 ms 
 
sort q time 5.476896 
seperate points time 13.186674 
mapping data assosiation time 42.298727 ms 
data association time 22.077952 ms 
solver time 10.304325 ms 
data association time 14.736125 ms 
solver time 9.826260 ms 
publication time 11.481139 ms 
whole laserOdometry time 69.245643 ms 
 
prepare time 13.917649 
sort q time 5.814677 
seperate points time 14.438212 
mapping optimization time 235.022540 
data association time 14.821798 ms 
solver time 11.519142 ms 
data association time 15.457758 ms 
solver time 10.869652 ms 
publication time 11.176114 ms 
whole laserOdometry time 64.760681 ms 
 
prepare time 15.404407 
sort q time 5.347985 
seperate points time 12.623864 
data association time 14.607563 ms 
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build tree time 106.994361 ms 
solver time 10.537641 ms 
publication time 10.528765 ms 
whole laserOdometry time 64.788765 ms 
 
prepare time 14.825425 
mapping data assosiation time 50.254249 ms 
scan registration time 34.714404 ms *************
mapping solver time 25.191582 ms 
data association time 23.624457 ms 
solver time 14.506254 ms 
mapping data assosiation time 43.284407 ms 
solver time 10.956531 ms 
publication time 13.184810 ms 
whole laserOdometry time 86.896486 ms 
 
sort q time 6.534909 
seperate points time 15.759096 
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map prepare time 5.595539 ms
map corner num 327973  surf num 138264 
data association time 24.581961 ms 
solver time 14.558726 ms 
data association time 24.168301 ms 
points size 102611 
publication time 12.816806 ms 
whole laserOdometry time 88.229449 ms 
 
build tree time 103.261813 ms 
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data association time 23.257760 ms 
points size 102606 
prepare time 14.505853 
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optimization twice time 79.737971 
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solver time 12.493931 ms 
data association time 14.866370 ms 
publication time 13.251986 ms 
whole laserOdometry time 72.896665 ms 
 
add points time 1.576253 ms
sort q time 6.884092 
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map prepare time 5.672108 ms
map corner num 328920  surf num 138803 
data association time 20.168064 ms 
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data association time 17.505326 ms 
points size 102601 
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data association time 16.419085 ms 
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mapping solver time 23.855540 ms 
solver time 10.835114 ms 
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whole laserOdometry time 73.307543 ms 
 
filter time 35.068275 ms 
data association time 17.182256 ms 
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data association time 17.934911 ms 
solver time 10.722478 ms 
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whole laserOdometry time 71.157689 ms 
 
sort q time 6.019524 
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mapping data assosiation time 44.377182 ms 
data association time 15.859707 ms 
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points size 102899 
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data association time 15.215797 ms 
optimization twice time 58.319111 
publication time 12.769884 ms 
whole laserOdometry time 71.107758 ms 
 
sort q time 5.822666 
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data association time 15.344813 ms 
solver time 11.144175 ms 
publication time 11.660243 ms 
whole laserOdometry time 69.091673 ms 
 
prepare time 18.801573 
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data association time 17.161175 ms 
solver time 12.278449 ms 
publication time 12.172541 ms 
whole laserOdometry time 73.377040 ms 
 
sort q time 6.198884 
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solver time 10.615089 ms 
publication time 12.089189 ms 
whole laserOdometry time 69.450084 ms 
 
prepare time 16.535870 
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solver time 11.121046 ms 
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whole laserOdometry time 68.671712 ms 
 
mapping data assosiation time 48.700881 ms 
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data association time 19.252512 ms 
solver time 13.237482 ms 
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solver time 10.038113 ms 
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whole laserOdometry time 71.742615 ms 
 
prepare time 18.962290 
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map corner num 332717  surf num 140820 
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solver time 12.941556 ms 
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whole laserOdometry time 76.503596 ms 
 
sort q time 6.214939 
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solver time 11.591804 ms 
publication time 10.359941 ms 
whole laserOdometry time 66.944989 ms 
 
sort q time 5.926956 
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data association time 17.756778 ms 
solver time 10.108962 ms 
points size 98809 
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map prepare time 6.788810 ms
map corner num 333791  surf num 141346 
solver time 15.726929 ms 
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solver time 10.970078 ms 
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data association time 23.833682 ms 
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whole laserOdometry time 75.028654 ms 
 
mapping data assosiation time 43.695390 ms 
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data association time 14.993432 ms 
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points size 94355 
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publication time 10.464204 ms 
whole laserOdometry time 66.206969 ms 
 
points size 93510 
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data association time 15.154709 ms 
solver time 9.951242 ms 
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whole laserOdometry time 60.665405 ms 
 
mapping data assosiation time 44.765101 ms 
points size 93112 
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solver time 10.199005 ms 
mapping data assosiation time 40.106840 ms 
solver time 10.612251 ms 
publication time 10.787528 ms 
whole laserOdometry time 62.574001 ms 
 
points size 92472 
mapping pub time 1.508083 ms 
whole mapping time 274.741435 ms +++++
scan registration time 32.913151 ms *************
data association time 15.257855 ms 
solver time 13.320805 ms 
data association time 15.432997 ms 
solver time 10.827293 ms 
publication time 12.328407 ms 
whole laserOdometry time 67.968837 ms 
 
build tree time 98.598107 ms 
scan registration time 31.518622 ms *************
data association time 15.583686 ms 
solver time 12.773871 ms 
data association time 15.943766 ms 
solver time 10.818769 ms 
publication time 11.823440 ms 
whole laserOdometry time 67.839401 ms 
 
prepare time 14.119184 
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mapping data assosiation time 45.218722 ms 
scan registration time 29.854738 ms *************
mapping solver time 19.756861 ms 
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map corner num 337162  surf num 143007 
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whole laserOdometry time 68.475122 ms 
 
prepare time 14.820837 
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seperate points time 13.886851 
mapping solver time 26.385521 ms 
data association time 15.911665 ms 
solver time 9.805983 ms 
data association time 15.452201 ms 
solver time 10.022014 ms 
publication time 11.864292 ms 
whole laserOdometry time 63.970786 ms 
 
prepare time 14.824829 
sort q time 5.156830 
seperate points time 12.300572 
filter time 31.152233 ms 
data association time 16.258343 ms 
solver time 10.986702 ms 
data association time 15.143179 ms 
solver time 8.144393 ms 
publication time 11.046057 ms 
whole laserOdometry time 62.408201 ms 
 
points size 90598 
sort q time 6.387058 
seperate points time 14.726942 
scan registration time 32.203992 ms *************
build tree time 105.509671 ms 
data association time 26.008446 ms 
solver time 13.482927 ms 
mapping data assosiation time 49.812068 ms 
points size 92157 
mapping solver time 23.276457 ms 
sort q time 5.546726 
seperate points time 13.543257 
data association time 23.976991 ms 
solver time 11.237498 ms 
mapping solver time 26.302738 ms 
data association time 24.230848 ms 
points size 91833 
filter time 35.434418 ms 
data association time 17.062445 ms 
solver time 10.362206 ms 
data association time 15.094988 ms 
publication time 9.402610 ms 
whole laserOdometry time 60.758885 ms 
 
points size 91723 
sort q time 5.272509 
seperate points time 13.216379 
scan registration time 32.614020 ms *************
data association time 15.349209 ms 
solver time 12.448693 ms 
mapping data assosiation time 38.324442 ms 
data association time 15.425638 ms 
solver time 8.118830 ms 
publication time 9.476191 ms 
whole laserOdometry time 61.710597 ms 
 
points size 92011 
sort q time 4.466970 
seperate points time 10.744499 
mapping data assosiation time 41.449915 ms 
data association time 14.992001 ms 
mapping solver time 23.462846 ms 
mapping optimization time 237.231790 
add points time 1.274813 ms
solver time 12.658411 ms 
data association time 15.192562 ms 
solver time 8.563730 ms 
mapping pub time 1.344318 ms 
whole mapping time 280.623497 ms +++++
points size 92323 
sort q time 4.387051 
seperate points time 10.445913 
data association time 16.823223 ms 
solver time 12.251973 ms 
data association time 16.773134 ms 
build tree time 99.356511 ms 
prepare time 14.430793 
sort q time 5.009928 
seperate points time 12.207955 
mapping data assosiation time 43.583069 ms 
data association time 16.298416 ms 
solver time 13.312428 ms 
data association time 17.570838 ms 
publication time 10.953657 ms 
whole laserOdometry time 67.017474 ms 
 
prepare time 14.824713 
mapping solver time 19.138499 ms 
filter time 28.742150 ms 
solver time 10.667855 ms 
data association time 18.212723 ms 
publication time 10.790422 ms 
whole laserOdometry time 65.883701 ms 
 
sort q time 4.811294 
seperate points time 11.489853 
data association time 15.689398 ms 
solver time 11.322177 ms 
data association time 15.726292 ms 
solver time 11.101865 ms 
publication time 11.471977 ms 
whole laserOdometry time 66.243712 ms 
 
points size 95982 
mapping data assosiation time 46.608581 ms 
prepare time 14.732427 
sort q time 5.675302 
seperate points time 13.534158 
mapping solver time 26.278362 ms 
data association time 15.411948 ms 
data association time 18.015390 ms 
publication time 10.187553 ms 
whole laserOdometry time 61.426442 ms 
 
points size 97201 
sort q time 4.830440 
seperate points time 12.161921 
filter time 34.552305 ms 
map prepare time 6.207246 ms
map corner num 342602  surf num 144956 
data association time 25.418899 ms 
solver time 14.765815 ms 
data association time 24.425727 ms 
solver time 10.925632 ms 
publication time 12.395615 ms 
whole laserOdometry time 88.944263 ms 
 
data association time 15.365605 ms 
build tree time 120.515102 ms 
data association time 18.571283 ms 
optimization twice time 53.253820 
publication time 19.474917 ms 
whole laserOdometry time 72.751156 ms 
 
points size 99189 
prepare time 14.742732 
sort q time 4.964792 
seperate points time 12.197846 
data association time 27.444846 ms 
solver time 13.009523 ms 
mapping data assosiation time 51.190364 ms 
data association time 27.577451 ms 
points size 99857 
mapping solver time 28.440852 ms 
publication time 12.130597 ms 
whole laserOdometry time 93.099747 ms 
 
sort q time 6.064592 
seperate points time 14.284193 
scan registration time 34.304807 ms *************
filter time 34.163829 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 5.737601 ms
map corner num 343560  surf num 145260 
solver time 9.386186 ms 
data association time 16.109063 ms 
solver time 8.357268 ms 
publication time 9.862833 ms 
whole laserOdometry time 60.847202 ms 
 
points size 99095 
sort q time 4.773942 
seperate points time 11.487071 
data association time 15.635890 ms 
build tree time 103.399618 ms 
data association time 16.495472 ms 
publication time 10.531260 ms 
whole laserOdometry time 62.200498 ms 
 
mapping data assosiation time 46.740152 ms 
points size 99270 
sort q time 5.778107 
seperate points time 14.964921 
scan registration time 38.755783 ms *************
mapping solver time 35.937393 ms 
data association time 15.862382 ms 
solver time 11.115980 ms 
mapping data assosiation time 40.307626 ms 
data association time 15.743253 ms 
solver time 10.718786 ms 
mapping optimization time 255.315937 
prepare time 15.262750 
sort q time 5.728251 
seperate points time 14.919517 
filter time 36.607227 ms 
data association time 20.514967 ms 
solver time 10.537321 ms 
data association time 16.230016 ms 
publication time 11.757980 ms 
whole laserOdometry time 68.804668 ms 
 
points size 99624 
sort q time 5.740315 
seperate points time 14.994592 
build tree time 111.706422 ms 
data association time 18.433834 ms 
solver time 10.548254 ms 
data association time 16.672946 ms 
mapping data assosiation time 43.476831 ms 
prepare time 12.106333 
sort q time 5.904320 
seperate points time 14.249744 
data association time 14.894582 ms 
solver time 10.852157 ms 
data association time 14.498793 ms 
solver time 7.816020 ms 
publication time 12.416354 ms 
whole laserOdometry time 61.255017 ms 
 
points size 99919 
filter time 32.550874 ms 
map prepare time 7.485291 ms
map corner num 345678  surf num 146010 
data association time 15.243768 ms 
solver time 14.629174 ms 
data association time 15.342634 ms 
solver time 10.857186 ms 
optimization twice time 56.782683 
points size 99850 
sort q time 5.905978 
seperate points time 14.484293 
data association time 14.143333 ms 
mapping data assosiation time 39.016511 ms 
data association time 14.722022 ms 
solver time 8.442689 ms 
mapping solver time 25.615778 ms 
points size 100102 
sort q time 4.854012 
seperate points time 12.053751 
scan registration time 27.483785 ms *************
mapping data assosiation time 42.976662 ms 
data association time 15.478398 ms 
mapping solver time 22.885220 ms 
data association time 13.804305 ms 
solver time 10.362900 ms 
filter time 26.543597 ms 
map prepare time 5.565532 ms
map corner num 346866  surf num 146446 
points size 100300 
prepare time 15.044050 
scan registration time 35.414944 ms *************
data association time 15.266747 ms 
solver time 12.439898 ms 
data association time 14.800146 ms 
solver time 10.487943 ms 
publication time 10.286892 ms 
whole laserOdometry time 64.165556 ms 
 
points size 101879 
sort q time 6.794126 
seperate points time 17.351790 
scan registration time 40.421320 ms *************
mapping data assosiation time 48.046877 ms 
data association time 15.909578 ms 
solver time 10.005613 ms 
data association time 14.648910 ms 
solver time 11.104281 ms 
publication time 10.729649 ms 
whole laserOdometry time 63.205128 ms 
 
prepare time 13.391138 
mapping data assosiation time 43.396102 ms 
scan registration time 33.132506 ms *************
mapping solver time 24.351430 ms 
data association time 14.365881 ms 
solver time 10.165730 ms 
mapping pub time 1.277647 ms 
whole mapping time 294.153433 ms +++++
map prepare time 6.429121 ms
map corner num 347988  surf num 146860 
data association time 15.680976 ms 
publication time 11.857234 ms 
whole laserOdometry time 60.574829 ms 
 
points size 100409 
sort q time 4.880317 
seperate points time 11.998744 
data association time 14.905251 ms 
solver time 13.097172 ms 
data association time 14.435704 ms 
solver time 10.006987 ms 
publication time 10.382464 ms 
whole laserOdometry time 63.685643 ms 
 
points size 100514 
mapping data assosiation time 43.064783 ms 
sort q time 6.113161 
seperate points time 14.817168 
mapping solver time 25.953467 ms 
data association time 23.052116 ms 
solver time 14.829726 ms 
mapping data assosiation time 40.677458 ms 
data association time 23.272093 ms 
solver time 11.153861 ms 
publication time 11.964180 ms 
whole laserOdometry time 85.147177 ms 
 
data association time 14.025155 ms 
mapping pub time 6.537716 ms 
whole mapping time 295.614568 ms +++++
solver time 11.714712 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 5.343972 ms
map corner num 349071  surf num 147321 
data association time 15.044219 ms 
solver time 7.688465 ms 
publication time 10.574436 ms 
whole laserOdometry time 59.835804 ms 
 
points size 100701 
sort q time 5.217018 
seperate points time 12.851917 
data association time 15.927304 ms 
solver time 13.523198 ms 
data association time 16.738875 ms 
solver time 10.536103 ms 
publication time 9.663731 ms 
whole laserOdometry time 67.293779 ms 
 
points size 101147 
prepare time 14.854169 
sort q time 5.882844 
seperate points time 15.036565 
data association time 16.206680 ms 
solver time 13.774611 ms 
data association time 16.516111 ms 
solver time 12.462407 ms 
points size 101605 
filter time 35.207867 ms 
data association time 15.738645 ms 
solver time 10.752558 ms 
data association time 16.008125 ms 
solver time 10.772497 ms 
publication time 10.911993 ms 
whole laserOdometry time 65.074957 ms 
 
sort q time 6.062554 
seperate points time 15.106713 
build tree time 106.064012 ms 
data association time 16.412015 ms 
solver time 9.488032 ms 
mapping data assosiation time 38.537372 ms 
data association time 22.563301 ms 
solver time 13.743823 ms 
publication time 13.542216 ms 
whole laserOdometry time 76.649177 ms 
 
sort q time 6.159438 
seperate points time 15.479072 
mapping data assosiation time 42.037920 ms 
mapping solver time 20.131380 ms 
data association time 15.816636 ms 
map prepare time 5.289740 ms
map corner num 298352  surf num 141070 
points size 103788 
sort q time 5.055806 
seperate points time 12.582199 
data association time 15.686327 ms 
solver time 9.763993 ms 
data association time 15.976991 ms 
build tree time 91.404098 ms 
points size 103618 
sort q time 5.233059 
seperate points time 13.000116 
mapping data assosiation time 40.769123 ms 
mapping solver time 23.548387 ms 
solver time 12.572926 ms 
data association time 16.927440 ms 
mapping data assosiation time 37.750579 ms 
publication time 11.817243 ms 
whole laserOdometry time 67.157610 ms 
 
mapping solver time 25.287693 ms 
sort q time 4.883193 
seperate points time 12.011872 
scan registration time 30.678645 ms *************
filter time 30.702360 ms 
map prepare time 5.464893 ms
map corner num 299548  surf num 141617 
solver time 11.570147 ms 
data association time 16.609209 ms 
solver time 10.012383 ms 
publication time 11.182411 ms 
whole laserOdometry time 68.094278 ms 
 
sort q time 4.934103 
seperate points time 12.328217 
build tree time 89.909750 ms 
data association time 15.886716 ms 
solver time 14.914381 ms 
mapping data assosiation time 41.171414 ms 
data association time 22.533748 ms 
solver time 9.807932 ms 
publication time 12.357858 ms 
whole laserOdometry time 76.445630 ms 
 
sort q time 5.207816 
seperate points time 12.919220 
mapping data assosiation time 44.499404 ms 
data association time 16.739475 ms 
solver time 12.637883 ms 
data association time 17.441666 ms 
filter time 27.838432 ms 
points size 101913 
sort q time 4.651594 
seperate points time 11.965139 
data association time 16.604112 ms 
solver time 13.362685 ms 
solver time 7.792856 ms 
publication time 14.911229 ms 
whole laserOdometry time 70.798164 ms 
 
prepare time 16.472014 
sort q time 5.200948 
seperate points time 12.823635 
data association time 16.060150 ms 
solver time 13.162706 ms 
mapping solver time 23.738916 ms 
solver time 9.906597 ms 
publication time 11.528350 ms 
whole laserOdometry time 68.301298 ms 
 
points size 101850 
sort q time 5.362684 
seperate points time 13.124233 
scan registration time 31.475864 ms *************
mapping solver time 25.532857 ms 
data association time 26.766336 ms 
filter time 23.991816 ms 
solver time 18.581371 ms 
data association time 27.044016 ms 
solver time 15.389125 ms 
publication time 12.647728 ms 
whole laserOdometry time 101.506127 ms 
 
[33m[ WARN] [1718887306.583787694]: odometry process over 100ms[0m
data association time 26.500239 ms 
solver time 17.861688 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
data association time 27.502277 ms 
points size 101433 
sort q time 5.199281 
seperate points time 13.280802 
data association time 29.286064 ms 
build tree time 95.046363 ms 
data association time 18.598375 ms 
optimization twice time 77.924458 
mapping data assosiation time 45.144401 ms 
mapping solver time 24.605117 ms 
solver time 10.366657 ms 
data association time 16.543194 ms 
mapping data assosiation time 43.325716 ms 
points size 100643 
mapping solver time 27.358343 ms 
sort q time 5.916605 
seperate points time 15.151968 
filter time 29.463175 ms 
map prepare time 5.164783 ms
map corner num 303457  surf num 143572 
data association time 17.329789 ms 
solver time 8.939578 ms 
publication time 10.706041 ms 
whole laserOdometry time 65.779768 ms 
 
points size 100086 
sort q time 5.811276 
seperate points time 14.935362 
build tree time 94.440668 ms 
data association time 15.523713 ms 
solver time 12.590655 ms 
publication time 12.524993 ms 
whole laserOdometry time 71.906517 ms 
 
points size 99798 
prepare time 18.215760 
mapping solver time 26.566291 ms 
sort q time 5.776248 
seperate points time 14.910916 
scan registration time 38.184871 ms *************
mapping data assosiation time 44.079150 ms 
mapping solver time 23.215166 ms 
solver time 8.478515 ms 
publication time 11.998712 ms 
whole laserOdometry time 65.348222 ms 
 
filter time 29.946746 ms 
data association time 22.290109 ms 
prepare time 14.304307 
publication time 10.910885 ms 
whole laserOdometry time 91.954030 ms 
 
mapping data assosiation time 41.344803 ms 
solver time 15.753861 ms 
data association time 19.355748 ms 
optimization twice time 64.028341 
points size 97655 
prepare time 14.366180 
sort q time 5.290580 
seperate points time 13.078958 
mapping solver time 20.158365 ms 
data association time 17.829464 ms 
solver time 10.539300 ms 
map prepare time 5.235947 ms
map corner num 306185  surf num 144794 
data association time 17.619308 ms 
publication time 10.272530 ms 
whole laserOdometry time 64.887223 ms 
 
sort q time 4.305621 
seperate points time 10.853263 
data association time 25.864788 ms 
build tree time 90.374354 ms 
solver time 18.124409 ms 
data association time 20.459104 ms 
optimization twice time 75.953247 
publication time 11.388164 ms 
whole laserOdometry time 87.359678 ms 
 
sort q time 5.501811 
seperate points time 14.390564 
data association time 15.930744 ms 
solver time 12.370761 ms 
data association time 16.401595 ms 
solver time 8.123544 ms 
optimization twice time 53.696385 
publication time 11.216287 ms 
whole laserOdometry time 64.929911 ms 
 
points size 93193 
sort q time 4.895334 
seperate points time 12.263822 
map prepare time 6.914765 ms
map corner num 297554  surf num 138027 
data association time 17.062865 ms 
data association time 15.448209 ms 
solver time 8.821739 ms 
publication time 11.064899 ms 
whole laserOdometry time 64.524886 ms 
 
points size 92605 
sort q time 5.430039 
seperate points time 14.009400 
scan registration time 32.381730 ms *************
data association time 28.762671 ms 
solver time 17.023311 ms 
data association time 26.643966 ms 
points size 92124 
publication time 13.062695 ms 
whole laserOdometry time 98.532701 ms 
 
sort q time 6.076887 
seperate points time 14.685285 
mapping data assosiation time 48.865662 ms 
data association time 29.198502 ms 
solver time 16.346826 ms 
mapping solver time 33.058339 ms 
data association time 26.215550 ms 
points size 92128 
filter time 31.805415 ms 
sort q time 4.907389 
seperate points time 12.428404 
data association time 23.841926 ms 
solver time 14.743475 ms 
data association time 23.553652 ms 
solver time 10.995144 ms 
optimization twice time 74.102195 
scan registration time 33.957544 ms *************
build tree time 110.948712 ms 
data association time 27.746912 ms 
solver time 11.181838 ms 
mapping data assosiation time 43.221393 ms 
solver time 9.857715 ms 
optimization twice time 67.814144 
mapping solver time 30.351872 ms 
sort q time 5.835585 
seperate points time 15.268270 
scan registration time 34.450117 ms *************
data association time 15.590755 ms 
mapping data assosiation time 40.557107 ms 
mapping solver time 22.191635 ms 
solver time 5.765301 ms 
publication time 10.112755 ms 
whole laserOdometry time 58.599875 ms 
 
points size 96038 
map prepare time 6.177658 ms
map corner num 300136  surf num 139046 
sort q time 5.598464 
seperate points time 14.740615 
data association time 17.515083 ms 
solver time 11.421155 ms 
data association time 16.065345 ms 
solver time 10.631200 ms 
publication time 11.258133 ms 
whole laserOdometry time 67.759111 ms 
 
points size 96279 
prepare time 18.574825 
build tree time 99.229957 ms 
sort q time 6.284046 
seperate points time 16.214523 
scan registration time 39.336497 ms *************
mapping data assosiation time 41.947753 ms 
solver time 11.761119 ms 
data association time 19.107542 ms 
solver time 10.584009 ms 
publication time 11.381277 ms 
whole laserOdometry time 71.400877 ms 
 
mapping data assosiation time 46.356380 ms 
sort q time 5.885877 
seperate points time 15.356010 
mapping solver time 22.184215 ms 
data association time 18.919109 ms 
solver time 12.864875 ms 
data association time 17.990634 ms 
solver time 10.287431 ms 
points size 96031 
sort q time 5.659774 
seperate points time 14.362396 
data association time 22.953700 ms 
build tree time 98.208395 ms 
solver time 18.423591 ms 
data association time 22.872261 ms 
prepare time 20.673108 
sort q time 5.615994 
seperate points time 14.927914 
mapping solver time 26.509997 ms 
data association time 15.016115 ms 
solver time 10.050232 ms 
data association time 14.263728 ms 
solver time 7.894064 ms 
publication time 10.327298 ms 
whole laserOdometry time 58.323249 ms 
 
points size 94876 
sort q time 5.244755 
seperate points time 12.887876 
filter time 25.967415 ms 
data association time 14.845821 ms 
solver time 10.266981 ms 
data association time 14.808368 ms 
solver time 7.849518 ms 
publication time 9.194391 ms 
whole laserOdometry time 57.859830 ms 
 
points size 95089 
sort q time 5.202948 
seperate points time 13.104455 
scan registration time 30.238688 ms *************
build tree time 91.102201 ms 
data association time 15.276406 ms 
mapping data assosiation time 39.275353 ms 
data association time 20.399224 ms 
solver time 10.409066 ms 
publication time 12.518135 ms 
whole laserOdometry time 69.985261 ms 
 
sort q time 4.525805 
seperate points time 11.409796 
mapping solver time 15.574771 ms 
solver time 10.226739 ms 
filter time 30.979999 ms 
solver time 9.182906 ms 
publication time 10.936255 ms 
whole laserOdometry time 66.398288 ms 
 
points size 94818 
sort q time 4.515589 
seperate points time 11.578876 
data association time 16.806118 ms 
solver time 10.570806 ms 
data association time 16.623239 ms 
build tree time 95.460692 ms 
publication time 9.658703 ms 
whole laserOdometry time 62.788808 ms 
 
points size 92060 
sort q time 4.600805 
seperate points time 11.800253 
scan registration time 29.065644 ms *************
mapping solver time 23.246614 ms 
data association time 15.988763 ms 
solver time 10.482656 ms 
data association time 16.638007 ms 
solver time 10.672006 ms 
publication time 10.008363 ms 
whole laserOdometry time 64.605799 ms 
 
points size 90606 
sort q time 4.326697 
seperate points time 11.000729 
filter time 29.365322 ms 
map prepare time 5.067142 ms
map corner num 305715  surf num 141254 
data association time 16.330908 ms 
solver time 11.275166 ms 
data association time 17.288499 ms 
solver time 10.195549 ms 
publication time 11.535324 ms 
whole laserOdometry time 67.686374 ms 
 
points size 90516 
sort q time 4.791586 
seperate points time 12.209874 
data association time 15.625788 ms 
solver time 11.097640 ms 
data association time 16.267046 ms 
mapping solver time 23.994132 ms 
points size 90807 
sort q time 4.360175 
seperate points time 10.898782 
mapping data assosiation time 37.718143 ms 
mapping solver time 18.020477 ms 
data association time 16.089818 ms 
filter time 32.952917 ms 
points size 91181 
sort q time 4.420061 
seperate points time 11.167151 
data association time 14.137348 ms 
solver time 13.361779 ms 
data association time 16.656749 ms 
publication time 9.203204 ms 
whole laserOdometry time 62.660859 ms 
 
points size 90172 
prepare time 19.581995 
sort q time 5.471569 
seperate points time 14.308541 
scan registration time 38.048946 ms *************
mapping solver time 27.045345 ms 
data association time 16.122552 ms 
solver time 10.326771 ms 
mapping data assosiation time 36.095393 ms 
solver time 8.909951 ms 
publication time 9.297233 ms 
whole laserOdometry time 62.629537 ms 
 
mapping optimization time 228.144313 
sort q time 5.110747 
seperate points time 13.465410 
filter time 32.612766 ms 
solver time 12.170626 ms 
data association time 18.530411 ms 
solver time 10.127437 ms 
publication time 9.257799 ms 
whole laserOdometry time 69.341668 ms 
 
points size 90705 
sort q time 5.143962 
seperate points time 13.460615 
build tree time 100.623886 ms 
data association time 22.360558 ms 
solver time 10.410883 ms 
mapping data assosiation time 36.477096 ms 
optimization twice time 57.217737 
publication time 9.070319 ms 
whole laserOdometry time 66.306453 ms 
 
prepare time 17.344707 
sort q time 5.713227 
seperate points time 14.936193 
scan registration time 36.525523 ms *************
data association time 14.016344 ms 
mapping data assosiation time 40.299696 ms 
data association time 13.964379 ms 
solver time 10.687258 ms 
publication time 10.987544 ms 
whole laserOdometry time 60.946227 ms 
 
filter time 30.267776 ms 
prepare time 17.619913 
sort q time 5.452985 
seperate points time 13.971934 
data association time 14.093559 ms 
solver time 13.484150 ms 
data association time 17.408775 ms 
solver time 8.660959 ms 
publication time 11.518045 ms 
whole laserOdometry time 66.024923 ms 
 
sort q time 4.044442 
seperate points time 10.183624 
scan registration time 29.142402 ms *************
mapping data assosiation time 39.002061 ms 
data association time 15.403399 ms 
solver time 10.013991 ms 
mapping solver time 23.992046 ms 
data association time 14.841705 ms 
optimization twice time 50.355517 
mapping data assosiation time 39.256700 ms 
prepare time 14.275412 
sort q time 4.328696 
seperate points time 10.993419 
data association time 23.054916 ms 
map prepare time 6.074512 ms
map corner num 310856  surf num 143326 
solver time 15.850875 ms 
data association time 23.068199 ms 
solver time 11.218598 ms 
publication time 11.934433 ms 
whole laserOdometry time 86.200456 ms 
 
sort q time 5.390655 
seperate points time 14.169864 
data association time 25.353389 ms 
solver time 10.679634 ms 
data association time 15.219535 ms 
publication time 9.140672 ms 
whole laserOdometry time 69.393242 ms 
 
sort q time 4.436766 
seperate points time 11.304749 
data association time 15.849636 ms 
solver time 12.955315 ms 
data association time 18.808110 ms 
solver time 10.055926 ms 
publication time 9.728467 ms 
whole laserOdometry time 68.230889 ms 
 
points size 95558 
mapping pub time 6.058912 ms 
whole mapping time 265.775584 ms +++++
sort q time 5.691732 
seperate points time 15.164346 
data association time 14.835349 ms 
solver time 10.520655 ms 
data association time 14.722709 ms 
solver time 8.221921 ms 
optimization twice time 48.990175 
points size 95448 
sort q time 4.543643 
seperate points time 11.299837 
data association time 15.224797 ms 
solver time 10.690187 ms 
data association time 14.803814 ms 
publication time 9.535318 ms 
whole laserOdometry time 59.456635 ms 
 
points size 95449 
sort q time 4.505946 
seperate points time 11.590671 
data association time 14.599670 ms 
solver time 11.344138 ms 
data association time 15.332104 ms 
publication time 9.928907 ms 
whole laserOdometry time 59.853411 ms 
 
points size 95065 
sort q time 5.447841 
seperate points time 14.162175 
data association time 15.761447 ms 
solver time 10.076144 ms 
data association time 16.903133 ms 
publication time 10.530112 ms 
whole laserOdometry time 63.080329 ms 
 
mapping solver time 23.196159 ms 
data association time 15.267021 ms 
solver time 10.981615 ms 
mapping solver time 20.213718 ms 
data association time 15.128288 ms 
publication time 9.433750 ms 
whole laserOdometry time 60.043526 ms 
 
filter time 30.034352 ms 
sort q time 4.971539 
seperate points time 12.356120 
data association time 27.150062 ms 
solver time 15.325081 ms 
data association time 26.942850 ms 
solver time 11.451486 ms 
publication time 12.849985 ms 
whole laserOdometry time 94.716122 ms 
 
mapping data assosiation time 40.617034 ms 
data association time 23.258538 ms 
mapping solver time 22.847143 ms 
data association time 23.473256 ms 
solver time 11.773713 ms 
publication time 12.106496 ms 
whole laserOdometry time 86.743262 ms 
 
scan registration time 30.948646 ms *************
data association time 17.088929 ms 
solver time 10.111092 ms 
map prepare time 5.070959 ms
map corner num 301258  surf num 149076 
data association time 17.316754 ms 
publication time 10.035350 ms 
whole laserOdometry time 63.140525 ms 
 
points size 91819 
prepare time 13.517080 
sort q time 4.669189 
seperate points time 11.887626 
data association time 15.760232 ms 
build tree time 91.813102 ms 
data association time 15.901806 ms 
solver time 8.898387 ms 
publication time 9.909800 ms 
whole laserOdometry time 62.583546 ms 
 
points size 92545 
mapping solver time 23.263991 ms 
data association time 13.855930 ms 
mapping data assosiation time 39.774983 ms 
data association time 14.772101 ms 
solver time 8.168889 ms 
publication time 9.459655 ms 
whole laserOdometry time 58.318321 ms 
 
filter time 28.773099 ms 
map prepare time 5.305875 ms
map corner num 302756  surf num 149996 
sort q time 5.302945 
seperate points time 13.055888 
data association time 22.729593 ms 
solver time 11.401620 ms 
data association time 14.544253 ms 
solver time 7.979233 ms 
publication time 10.229936 ms 
whole laserOdometry time 67.648661 ms 
 
prepare time 13.783005 
sort q time 5.271230 
seperate points time 12.967854 
mapping data assosiation time 38.091735 ms 
data association time 13.584614 ms 
mapping solver time 21.701190 ms 
data association time 14.261214 ms 
solver time 8.988656 ms 
publication time 8.750059 ms 
whole laserOdometry time 57.079349 ms 
 
mapping data assosiation time 40.562334 ms 
sort q time 4.581273 
seperate points time 11.378204 
mapping solver time 18.232056 ms 
mapping optimization time 221.857893 
scan registration time 28.812135 ms *************
add points time 2.174809 ms
data association time 14.395587 ms 
solver time 10.657713 ms 
data association time 15.366848 ms 
solver time 8.255970 ms 
publication time 9.973740 ms 
whole laserOdometry time 59.539455 ms 
 
prepare time 13.661398 
sort q time 4.942292 
seperate points time 13.319626 
data association time 15.661576 ms 
solver time 10.406015 ms 
mapping pub time 122.683066 ms 
whole mapping time 379.498436 ms +++++
solver time 6.264932 ms 
publication time 9.451978 ms 
whole laserOdometry time 59.706321 ms 
 
points size 94441 
[0m[ INFO] [1718887312.169384777]: Received 1764687 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887312.169430530]: Data saved to 1317358056490340.pcd[0m
scan registration time 31.246729 ms *************
data association time 23.961370 ms 
solver time 14.956021 ms 
solver time 11.483125 ms 
publication time 12.285061 ms 
whole laserOdometry time 87.235451 ms 
 
data association time 14.991401 ms 
solver time 9.721181 ms 
data association time 15.457802 ms 
solver time 7.843050 ms 
publication time 10.548927 ms 
whole laserOdometry time 59.382073 ms 
 
prepare time 11.641322 
filter time 27.126327 ms 
map prepare time 5.047411 ms
map corner num 305646  surf num 151690 
data association time 23.512240 ms 
solver time 15.016246 ms 
data association time 24.235040 ms 
points size 96168 
publication time 11.888590 ms 
whole laserOdometry time 87.061646 ms 
 
data association time 15.848968 ms 
solver time 9.942021 ms 
data association time 15.631703 ms 
publication time 8.989671 ms 
whole laserOdometry time 59.360123 ms 
 
points size 97660 
sort q time 5.246141 
seperate points time 12.811720 
mapping solver time 20.295530 ms 
data association time 24.040014 ms 
map prepare time 5.104970 ms
map corner num 307206  surf num 152506 
data association time 23.845213 ms 
solver time 11.210270 ms 
publication time 12.264493 ms 
whole laserOdometry time 88.307998 ms 
 
scan registration time 34.310056 ms *************
data association time 15.243233 ms 
solver time 10.978685 ms 
data association time 15.571993 ms 
publication time 10.432464 ms 
whole laserOdometry time 61.198069 ms 
 
points size 100990 
mapping solver time 21.736172 ms 
data association time 15.407667 ms 
solver time 10.271240 ms 
data association time 16.005886 ms 
publication time 11.341860 ms 
whole laserOdometry time 62.479758 ms 
 
points size 101897 
map prepare time 6.065304 ms
map corner num 308725  surf num 153454 
data association time 15.227773 ms 
solver time 10.457682 ms 
data association time 15.757708 ms 
publication time 10.689747 ms 
whole laserOdometry time 60.973030 ms 
 
points size 101118 
sort q time 5.956073 
seperate points time 15.049648 
mapping data assosiation time 37.538555 ms 
data association time 16.074838 ms 
solver time 10.845460 ms 
data association time 15.130050 ms 
solver time 7.369083 ms 
publication time 11.450462 ms 
whole laserOdometry time 61.735838 ms 
 
prepare time 16.920876 
mapping data assosiation time 44.929130 ms 
sort q time 5.773828 
seperate points time 15.027291 
data association time 18.267450 ms 
solver time 10.005352 ms 
map prepare time 5.612022 ms
map corner num 310141  surf num 154165 
solver time 7.540740 ms 
publication time 11.450049 ms 
whole laserOdometry time 64.177276 ms 
 
prepare time 15.801275 
sort q time 5.716174 
seperate points time 14.772620 
data association time 15.215826 ms 
solver time 11.536272 ms 
build tree time 97.715830 ms 
data association time 15.624493 ms 
points size 95516 
mapping data assosiation time 42.984852 ms 
mapping solver time 27.446293 ms 
data association time 21.142934 ms 
solver time 12.322781 ms 
data association time 16.124651 ms 
publication time 12.883624 ms 
whole laserOdometry time 72.190236 ms 
 
mapping solver time 24.706845 ms 
sort q time 5.798442 
seperate points time 14.411328 
filter time 35.053517 ms 
map prepare time 5.666857 ms
map corner num 311741  surf num 155195 
solver time 18.211827 ms 
data association time 24.021250 ms 
points size 93599 
publication time 12.316954 ms 
whole laserOdometry time 91.084694 ms 
 
build tree time 92.536973 ms 
solver time 15.124110 ms 
mapping data assosiation time 38.798693 ms 
solver time 5.669643 ms 
publication time 10.551951 ms 
whole laserOdometry time 79.280492 ms 
 
sort q time 5.083138 
seperate points time 12.893557 
data association time 16.041841 ms 
mapping data assosiation time 41.219803 ms 
solver time 10.002910 ms 
data association time 16.535672 ms 
publication time 10.089316 ms 
whole laserOdometry time 61.940606 ms 
 
filter time 30.877867 ms 
sort q time 4.932681 
seperate points time 12.642405 
data association time 16.255805 ms 
data association time 16.582098 ms 
publication time 10.064558 ms 
whole laserOdometry time 60.881437 ms 
 
points size 91812 
sort q time 4.654937 
seperate points time 11.425149 
mapping data assosiation time 45.491913 ms 
solver time 10.274534 ms 
data association time 17.192399 ms 
solver time 8.062003 ms 
publication time 9.452788 ms 
whole laserOdometry time 70.501758 ms 
 
points size 92856 
sort q time 5.770786 
seperate points time 14.245069 
add points time 1.587909 ms
data association time 15.262989 ms 
filter time 27.610848 ms 
solver time 10.252332 ms 
mapping pub time 1.164818 ms 
whole mapping time 263.823000 ms +++++
drop lidar frame in mapping for real time performance 
data association time 15.416151 ms 
solver time 7.944358 ms 
publication time 10.793231 ms 
whole laserOdometry time 60.584500 ms 
 
points size 92411 
sort q time 4.682705 
seperate points time 11.164710 
data association time 14.673645 ms 
solver time 10.021105 ms 
data association time 16.466661 ms 
publication time 9.475314 ms 
whole laserOdometry time 59.400741 ms 
 
mapping data assosiation time 43.426529 ms 
prepare time 13.973607 
sort q time 4.969405 
seperate points time 11.815066 
data association time 14.702663 ms 
solver time 13.233119 ms 
data association time 16.615746 ms 
mapping solver time 20.270058 ms 
publication time 9.592044 ms 
whole laserOdometry time 67.205159 ms 
 
points size 89425 
map prepare time 5.603398 ms
map corner num 316119  surf num 157464 
data association time 14.540922 ms 
solver time 12.729088 ms 
data association time 15.080339 ms 
solver time 8.159125 ms 
optimization twice time 51.313135 
points size 89652 
sort q time 4.935098 
seperate points time 12.202375 
data association time 14.630267 ms 
solver time 10.385808 ms 
data association time 15.444603 ms 
points size 91655 
mapping data assosiation time 39.886834 ms 
sort q time 4.872534 
seperate points time 11.869765 
scan registration time 30.427669 ms *************
mapping solver time 23.787593 ms 
solver time 11.696933 ms 
filter time 31.080649 ms 
solver time 10.512923 ms 
publication time 10.869741 ms 
whole laserOdometry time 70.156362 ms 
 
points size 92938 
sort q time 4.683213 
seperate points time 11.186679 
data association time 14.527174 ms 
solver time 10.425557 ms 
build tree time 86.664404 ms 
solver time 7.865231 ms 
optimization twice time 48.357558 
mapping data assosiation time 40.665430 ms 
points size 93003 
prepare time 13.709484 
sort q time 4.164327 
seperate points time 10.058998 
data association time 14.097374 ms 
solver time 10.483058 ms 
mapping data assosiation time 37.484479 ms 
data association time 15.540678 ms 
solver time 8.035859 ms 
optimization twice time 48.925830 
points size 94353 
filter time 24.613102 ms 
scan registration time 31.304157 ms *************
data association time 15.806866 ms 
solver time 10.682803 ms 
data association time 16.563749 ms 
publication time 11.046449 ms 
whole laserOdometry time 62.981296 ms 
 
points size 96292 
build tree time 85.903846 ms 
prepare time 14.425246 
sort q time 5.209318 
seperate points time 12.223663 
data association time 14.928055 ms 
solver time 12.428263 ms 
data association time 15.569986 ms 
publication time 9.971643 ms 
whole laserOdometry time 63.375902 ms 
 
points size 98307 
sort q time 4.808071 
seperate points time 11.966338 
mapping solver time 23.542827 ms 
data association time 14.828982 ms 
solver time 13.309835 ms 
data association time 16.758751 ms 
solver time 13.668170 ms 
publication time 10.772114 ms 
whole laserOdometry time 70.211893 ms 
 
prepare time 12.346526 
sort q time 5.862843 
seperate points time 13.949181 
scan registration time 30.774552 ms *************
data association time 15.501645 ms 
solver time 12.438981 ms 
build tree time 87.946491 ms 
solver time 7.689681 ms 
publication time 11.065043 ms 
whole laserOdometry time 62.797780 ms 
 
points size 101330 
prepare time 11.606924 
mapping data assosiation time 40.144829 ms 
sort q time 5.666706 
seperate points time 13.573311 
mapping solver time 27.476814 ms 
data association time 16.358582 ms 
solver time 10.558104 ms 
data association time 16.044406 ms 
publication time 10.143693 ms 
whole laserOdometry time 61.807210 ms 
 
mapping solver time 24.445843 ms 
sort q time 4.720004 
seperate points time 11.860973 
mapping pub time 1.122370 ms 
whole mapping time 261.791963 ms +++++
data association time 19.973944 ms 
solver time 13.560705 ms 
data association time 19.075279 ms 
solver time 10.275555 ms 
publication time 12.853415 ms 
whole laserOdometry time 76.750527 ms 
 
points size 102345 
build tree time 83.758002 ms 
scan registration time 34.955900 ms *************
data association time 15.316755 ms 
solver time 9.801545 ms 
data association time 15.366238 ms 
solver time 9.193211 ms 
mapping solver time 24.402363 ms 
publication time 11.595238 ms 
whole laserOdometry time 61.972264 ms 
 
points size 102337 
mapping data assosiation time 44.437682 ms 
mapping solver time 19.767675 ms 
solver time 10.251778 ms 
filter time 25.933390 ms 
map prepare time 5.711241 ms
map corner num 284862  surf num 133308 
publication time 9.759333 ms 
whole laserOdometry time 62.940630 ms 
 
points size 102455 
sort q time 5.780630 
seperate points time 14.183024 
data association time 17.195551 ms 
build tree time 84.441063 ms 
data association time 19.909116 ms 
publication time 10.282414 ms 
whole laserOdometry time 63.231762 ms 
 
points size 102544 
sort q time 5.035767 
seperate points time 11.640294 
scan registration time 32.621156 ms *************
mapping solver time 25.303375 ms 
data association time 16.803136 ms 
solver time 10.671312 ms 
data association time 16.697499 ms 
solver time 8.154311 ms 
publication time 12.069174 ms 
whole laserOdometry time 65.256350 ms 
 
points size 102766 
filter time 28.626458 ms 
map prepare time 6.051333 ms
map corner num 286232  surf num 134149 
data association time 16.816922 ms 
solver time 10.562325 ms 
data association time 16.468659 ms 
solver time 8.366430 ms 
publication time 11.654851 ms 
whole laserOdometry time 64.607087 ms 
 
points size 103392 
build tree time 89.678543 ms 
sort q time 6.742476 
seperate points time 16.656045 
data association time 16.274825 ms 
solver time 13.934327 ms 
mapping solver time 23.922335 ms 
solver time 8.133792 ms 
optimization twice time 62.112121 
prepare time 21.453479 
mapping data assosiation time 51.333712 ms 
mapping solver time 22.245105 ms 
solver time 10.512850 ms 
filter time 25.129205 ms 
map prepare time 7.184865 ms
map corner num 287477  surf num 134896 
points size 103337 
prepare time 18.654001 
sort q time 6.224537 
seperate points time 15.992987 
data association time 17.142046 ms 
data association time 16.534602 ms 
publication time 10.398372 ms 
whole laserOdometry time 65.588612 ms 
 
points size 102763 
sort q time 7.017372 
seperate points time 17.288272 
mapping solver time 23.883801 ms 
solver time 9.835084 ms 
data association time 17.864932 ms 
mapping data assosiation time 45.042999 ms 
sort q time 6.208983 
seperate points time 15.990179 
data association time 18.253155 ms 
mapping pub time 1.307034 ms 
whole mapping time 287.263071 ms +++++
map prepare time 6.603226 ms
map corner num 288896  surf num 135905 
data association time 17.991596 ms 
solver time 9.746118 ms 
publication time 10.308758 ms 
whole laserOdometry time 68.779688 ms 
 
sort q time 6.050693 
seperate points time 15.569898 
data association time 17.718700 ms 
solver time 12.128236 ms 
build tree time 94.092892 ms 
data association time 17.838744 ms 
publication time 10.359946 ms 
whole laserOdometry time 67.358036 ms 
 
sort q time 5.181612 
seperate points time 12.715948 
scan registration time 31.384848 ms *************
data association time 19.562468 ms 
solver time 12.803722 ms 
mapping data assosiation time 42.236600 ms 
data association time 22.865589 ms 
solver time 10.552974 ms 
points size 102505 
sort q time 5.692919 
seperate points time 13.140705 
map prepare time 5.421620 ms
map corner num 290220  surf num 136827 
data association time 17.006242 ms 
solver time 10.395794 ms 
data association time 17.444916 ms 
solver time 8.880065 ms 
publication time 11.410714 ms 
whole laserOdometry time 65.949585 ms 
 
prepare time 16.787260 
sort q time 5.914650 
seperate points time 14.944846 
mapping data assosiation time 43.462255 ms 
solver time 9.752030 ms 
mapping solver time 24.272833 ms 
solver time 7.567774 ms 
publication time 13.469836 ms 
whole laserOdometry time 65.754188 ms 
 
sort q time 5.304615 
seperate points time 12.416637 
mapping solver time 24.839768 ms 
solver time 10.768416 ms 
filter time 26.908570 ms 
solver time 8.344575 ms 
publication time 13.875645 ms 
whole laserOdometry time 71.284920 ms 
 
sort q time 6.232698 
seperate points time 15.230579 
scan registration time 35.865008 ms *************
data association time 17.913600 ms 
solver time 13.174426 ms 
build tree time 85.201207 ms 
data association time 18.286577 ms 
solver time 8.469288 ms 
publication time 11.017747 ms 
whole laserOdometry time 69.699081 ms 
 
points size 103947 
mapping data assosiation time 54.182830 ms 
sort q time 6.449934 
seperate points time 16.537350 
scan registration time 42.845561 ms *************
mapping solver time 32.488339 ms 
solver time 12.913739 ms 
data association time 18.621145 ms 
solver time 11.500396 ms 
publication time 12.194072 ms 
whole laserOdometry time 75.304703 ms 
 
sort q time 6.087081 
seperate points time 15.938648 
data association time 17.272333 ms 
map prepare time 6.199958 ms
map corner num 283793  surf num 136335 
data association time 17.620378 ms 
solver time 12.078396 ms 
publication time 10.309586 ms 
whole laserOdometry time 71.868700 ms 
 
sort q time 5.502218 
seperate points time 13.797965 
data association time 16.914624 ms 
build tree time 90.670344 ms 
data association time 17.442916 ms 
solver time 11.918308 ms 
publication time 13.284413 ms 
whole laserOdometry time 72.891308 ms 
 
mapping data assosiation time 48.095266 ms 
points size 103798 
sort q time 5.074137 
seperate points time 12.776130 
mapping solver time 28.361744 ms 
data association time 16.749087 ms 
solver time 14.426407 ms 
mapping data assosiation time 43.312148 ms 
data association time 23.473568 ms 
solver time 10.056747 ms 
points size 103679 
publication time 12.457648 ms 
whole laserOdometry time 78.139584 ms 
 
prepare time 17.356908 
filter time 26.545206 ms 
data association time 17.554039 ms 
solver time 14.629516 ms 
data association time 17.513005 ms 
solver time 12.213580 ms 
publication time 11.640090 ms 
whole laserOdometry time 74.253248 ms 
 
sort q time 4.690240 
seperate points time 12.155701 
data association time 16.217871 ms 
map prepare time 7.271175 ms
map corner num 285262  surf num 137186 
data association time 16.547053 ms 
solver time 10.732417 ms 
publication time 11.738646 ms 
whole laserOdometry time 74.550838 ms 
 
prepare time 19.393185 
sort q time 6.173608 
seperate points time 15.760139 
build tree time 97.222196 ms 
solver time 11.754244 ms 
data association time 15.609990 ms 
solver time 11.241170 ms 
points size 103572 
mapping solver time 28.632008 ms 
data association time 15.276248 ms 
solver time 13.096020 ms 
mapping data assosiation time 51.354238 ms 
optimization twice time 54.196163 
publication time 10.674322 ms 
whole laserOdometry time 64.885483 ms 
 
mapping solver time 34.686300 ms 
sort q time 6.045521 
seperate points time 15.622222 
filter time 29.722557 ms 
data association time 16.472715 ms 
solver time 13.198382 ms 
data association time 15.881224 ms 
solver time 10.188161 ms 
publication time 11.774620 ms 
whole laserOdometry time 68.190966 ms 
 
points size 103333 
sort q time 7.126804 
seperate points time 18.079579 
data association time 15.853806 ms 
mapping data assosiation time 47.209407 ms 
prepare time 14.343069 
mapping solver time 33.838154 ms 
data association time 15.929268 ms 
mapping data assosiation time 47.968390 ms 
data association time 15.694024 ms 
solver time 11.504334 ms 
points size 102883 
filter time 27.541337 ms 
data association time 15.427722 ms 
data association time 16.422004 ms 
points size 102310 
sort q time 5.093871 
seperate points time 12.807186 
data association time 15.552051 ms 
solver time 10.519571 ms 
data association time 15.250898 ms 
solver time 8.468630 ms 
publication time 10.799208 ms 
whole laserOdometry time 61.422204 ms 
 
points size 101879 
sort q time 4.638677 
seperate points time 11.186911 
data association time 15.143563 ms 
mapping solver time 24.378980 ms 
data association time 16.247930 ms 
drop lidar frame in mapping for real time performance 
points size 101589 
sort q time 6.220533 
seperate points time 14.804990 
data association time 15.207342 ms 
solver time 11.361986 ms 
data association time 15.910760 ms 
solver time 8.620077 ms 
publication time 9.708337 ms 
whole laserOdometry time 61.610941 ms 
 
points size 101404 
mapping data assosiation time 44.335393 ms 
scan registration time 35.632559 ms *************
mapping solver time 28.699247 ms 
data association time 16.662196 ms 
solver time 11.322412 ms 
data association time 15.894597 ms 
solver time 8.416251 ms 
publication time 11.921860 ms 
whole laserOdometry time 65.197183 ms 
 
mapping solver time 24.742877 ms 
filter time 25.729636 ms 
solver time 11.355050 ms 
data association time 17.835554 ms 
solver time 10.142157 ms 
points size 101706 
sort q time 5.695375 
seperate points time 13.785165 
build tree time 90.953678 ms 
data association time 16.988416 ms 
solver time 11.056430 ms 
data association time 15.001868 ms 
mapping data assosiation time 46.569980 ms 
publication time 10.149604 ms 
whole laserOdometry time 62.458511 ms 
 
points size 101903 
mapping solver time 39.602748 ms 
data association time 15.134842 ms 
solver time 10.836987 ms 
data association time 18.541853 ms 
solver time 8.099622 ms 
publication time 10.565488 ms 
whole laserOdometry time 64.097882 ms 
 
points size 101852 
prepare time 19.908107 
filter time 33.202881 ms 
map prepare time 5.148662 ms
map corner num 292722  surf num 141050 
data association time 15.320335 ms 
solver time 11.443554 ms 
data association time 16.630975 ms 
solver time 8.566666 ms 
publication time 12.594124 ms 
whole laserOdometry time 65.464362 ms 
 
points size 101663 
sort q time 6.023910 
seperate points time 14.752503 
data association time 15.737330 ms 
solver time 13.378595 ms 
data association time 15.715438 ms 
solver time 11.072747 ms 
points size 101427 
prepare time 20.931445 
sort q time 6.749826 
seperate points time 16.667270 
mapping data assosiation time 48.380826 ms 
data association time 21.635539 ms 
mapping solver time 23.403064 ms 
data association time 15.031001 ms 
mapping pub time 1.634630 ms 
whole mapping time 282.075320 ms +++++
sort q time 7.114978 
seperate points time 16.758537 
data association time 14.856652 ms 
solver time 10.856661 ms 
data association time 15.453458 ms 
solver time 8.170555 ms 
publication time 10.718566 ms 
whole laserOdometry time 60.908370 ms 
 
build tree time 94.701745 ms 
sort q time 5.198349 
seperate points time 12.399080 
mapping data assosiation time 43.072016 ms 
solver time 10.291435 ms 
data association time 15.272760 ms 
points size 101217 
mapping data assosiation time 46.028330 ms 
mapping solver time 24.007029 ms 
mapping optimization time 240.121178 
add points time 1.206709 ms
data association time 24.110979 ms 
filter time 26.565175 ms 
data association time 24.142884 ms 
prepare time 16.635697 
publication time 12.128471 ms 
whole laserOdometry time 87.904970 ms 
 
data association time 23.124677 ms 
build tree time 87.233897 ms 
data association time 14.456996 ms 
solver time 7.261093 ms 
publication time 10.221959 ms 
whole laserOdometry time 70.861799 ms 
 
points size 101444 
sort q time 5.846434 
seperate points time 14.394207 
mapping solver time 34.288480 ms 
data association time 14.773303 ms 
solver time 10.159913 ms 
data association time 15.331292 ms 
solver time 8.099546 ms 
publication time 10.839971 ms 
whole laserOdometry time 60.074159 ms 
 
points size 101587 
add points time 1.566608 ms
sort q time 5.905656 
seperate points time 15.433526 
filter time 30.064834 ms 
data association time 17.891704 ms 
solver time 12.374309 ms 
data association time 15.870853 ms 
solver time 8.211578 ms 
publication time 10.670578 ms 
whole laserOdometry time 65.857589 ms 
 
points size 101618 
prepare time 15.612438 
sort q time 5.920998 
seperate points time 14.916379 
build tree time 96.255640 ms 
data association time 23.744303 ms 
solver time 14.880483 ms 
mapping data assosiation time 41.238716 ms 
data association time 24.107825 ms 
solver time 11.316809 ms 
publication time 11.731757 ms 
whole laserOdometry time 86.834029 ms 
 
scan registration time 36.514143 ms *************
data association time 14.842652 ms 
solver time 10.260993 ms 
data association time 15.257499 ms 
solver time 7.855760 ms 
publication time 11.243843 ms 
whole laserOdometry time 60.279095 ms 
 
points size 101617 
filter time 32.928999 ms 
map prepare time 6.908627 ms
map corner num 297651  surf num 143101 
data association time 14.828786 ms 
solver time 13.124713 ms 
data association time 15.619399 ms 
publication time 9.820564 ms 
whole laserOdometry time 62.655599 ms 
 
prepare time 16.024853 
build tree time 92.851799 ms 
sort q time 6.140757 
seperate points time 15.850316 
data association time 14.486296 ms 
mapping data assosiation time 43.139737 ms 
solver time 12.555161 ms 
data association time 15.464211 ms 
mapping solver time 26.046336 ms 
publication time 10.638849 ms 
whole laserOdometry time 64.337024 ms 
 
points size 101598 
prepare time 17.563941 
sort q time 6.811424 
seperate points time 17.262792 
mapping data assosiation time 51.832460 ms 
mapping solver time 22.862650 ms 
data association time 14.595994 ms 
filter time 25.622936 ms 
map prepare time 6.587966 ms
map corner num 298794  surf num 143664 
sort q time 5.989655 
seperate points time 15.145824 
sort q time 4.838118 
seperate points time 11.653466 
mapping data assosiation time 44.235824 ms 
data association time 15.095457 ms 
solver time 14.201838 ms 
data association time 15.329472 ms 
optimization twice time 56.584523 
publication time 11.059998 ms 
whole laserOdometry time 67.665002 ms 
 
points size 101527 
sort q time 6.149079 
seperate points time 15.602472 
scan registration time 38.423907 ms *************
mapping solver time 33.039593 ms 
solver time 12.847986 ms 
filter time 25.595398 ms 
solver time 10.079931 ms 
publication time 10.451412 ms 
whole laserOdometry time 66.245747 ms 
 
sort q time 5.322693 
seperate points time 13.205291 
data association time 15.422942 ms 
solver time 10.881027 ms 
data association time 14.868468 ms 
publication time 9.460582 ms 
whole laserOdometry time 60.149428 ms 
 
points size 101250 
sort q time 5.029327 
seperate points time 12.404497 
scan registration time 29.305361 ms *************
mapping solver time 29.490793 ms 
data association time 14.841232 ms 
solver time 13.137024 ms 
data association time 15.489098 ms 
publication time 9.162367 ms 
whole laserOdometry time 61.568328 ms 
 
points size 101244 
add points time 1.393317 ms
scan registration time 29.589585 ms *************
filter time 31.435629 ms 
solver time 14.673165 ms 
data association time 14.856975 ms 
solver time 16.230046 ms 
publication time 14.477516 ms 
whole laserOdometry time 77.364873 ms 
 
sort q time 5.709974 
seperate points time 14.179684 
build tree time 98.106063 ms 
data association time 18.714120 ms 
solver time 11.576857 ms 
data association time 16.863937 ms 
solver time 8.092595 ms 
publication time 11.623841 ms 
whole laserOdometry time 67.785715 ms 
 
mapping solver time 31.806760 ms 
scan registration time 31.977316 ms *************
data association time 30.382681 ms 
solver time 12.595723 ms 
data association time 26.902318 ms 
points size 101238 
sort q time 6.063923 
seperate points time 15.485141 
filter time 35.333844 ms 
mapping pub time 1.778359 ms 
whole mapping time 311.615575 ms +++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
data association time 27.668494 ms 
solver time 16.950639 ms 
points size 101352 
solver time 10.724514 ms 
scan registration time 35.712083 ms *************
build tree time 113.067307 ms 
solver time 19.990501 ms 
points size 101350 
data association time 30.151720 ms 
solver time 12.926392 ms 
publication time 11.928261 ms 
whole laserOdometry time 103.582298 ms 
 
[33m[ WARN] [1718887321.542491603]: odometry process over 100ms[0m
mapping solver time 42.071002 ms 
data association time 29.832686 ms 
solver time 16.523998 ms 
mapping data assosiation time 51.000245 ms 
sort q time 5.871095 
seperate points time 13.713002 
publication time 12.249663 ms 
whole laserOdometry time 92.942261 ms 
 
data association time 19.284326 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
data association time 18.124345 ms 
solver time 13.287548 ms 
prepare time 19.425347 
sort q time 5.977240 
seperate points time 15.267128 
data association time 16.430648 ms 
solver time 10.656605 ms 
data association time 16.326972 ms 
publication time 10.394293 ms 
whole laserOdometry time 62.015594 ms 
 
points size 101297 
mapping data assosiation time 46.505775 ms 
prepare time 17.847011 
sort q time 5.935100 
seperate points time 15.097412 
scan registration time 37.993912 ms *************
mapping solver time 34.843342 ms 
data association time 17.018233 ms 
solver time 13.016969 ms 
mapping data assosiation time 40.496079 ms 
solver time 10.077490 ms 
prepare time 15.548522 
mapping solver time 36.553297 ms 
scan registration time 36.029931 ms *************
filter time 30.673881 ms 
map prepare time 5.024781 ms
map corner num 304691  surf num 146387 
solver time 16.674322 ms 
data association time 19.965569 ms 
solver time 11.026486 ms 
publication time 10.449920 ms 
whole laserOdometry time 76.825318 ms 
 
sort q time 6.188739 
seperate points time 15.819287 
data association time 15.414861 ms 
build tree time 100.576708 ms 
data association time 18.341051 ms 
optimization twice time 58.520983 
publication time 10.930694 ms 
whole laserOdometry time 69.474987 ms 
 
sort q time 5.901480 
seperate points time 15.064731 
mapping solver time 36.395313 ms 
data association time 17.027055 ms 
solver time 12.056749 ms 
mapping data assosiation time 41.916949 ms 
solver time 11.431875 ms 
points size 101117 
mapping optimization time 262.175678 
sort q time 6.003932 
seperate points time 15.517033 
filter time 28.408581 ms 
mapping pub time 1.353085 ms 
whole mapping time 298.572569 ms +++++
data association time 18.189121 ms 
solver time 12.337439 ms 
data association time 18.992084 ms 
solver time 10.565801 ms 
publication time 12.435329 ms 
whole laserOdometry time 73.471071 ms 
 
sort q time 6.455328 
seperate points time 15.570293 
build tree time 94.790838 ms 
solver time 12.260035 ms 
data association time 16.054967 ms 
optimization twice time 59.236139 
publication time 11.789125 ms 
whole laserOdometry time 71.043439 ms 
 
sort q time 4.922822 
seperate points time 12.164529 
data association time 15.646298 ms 
solver time 10.202093 ms 
data association time 16.873761 ms 
mapping solver time 25.951725 ms 
points size 101006 
filter time 30.687592 ms 
map prepare time 7.021130 ms
map corner num 306978  surf num 147560 
data association time 18.113525 ms 
solver time 13.339755 ms 
data association time 17.276585 ms 
solver time 12.667366 ms 
publication time 11.788934 ms 
whole laserOdometry time 74.101022 ms 
 
sort q time 5.146238 
seperate points time 12.583141 
solver time 13.682030 ms 
mapping data assosiation time 56.051276 ms 
data association time 18.093042 ms 
solver time 12.530767 ms 
publication time 10.223824 ms 
whole laserOdometry time 87.525997 ms 
 
sort q time 6.892430 
seperate points time 17.701204 
data association time 16.033412 ms 
solver time 13.726057 ms 
data association time 17.494174 ms 
solver time 12.090629 ms 
publication time 10.592024 ms 
whole laserOdometry time 70.891699 ms 
 
filter time 33.511034 ms 
scan registration time 36.504957 ms *************
data association time 16.555601 ms 
solver time 13.267857 ms 
data association time 16.118543 ms 
solver time 12.110038 ms 
publication time 10.418322 ms 
whole laserOdometry time 69.319413 ms 
 
prepare time 17.358401 
build tree time 97.636812 ms 
sort q time 6.155930 
seperate points time 15.079728 
data association time 15.899969 ms 
mapping data assosiation time 41.226562 ms 
data association time 16.128423 ms 
solver time 12.320622 ms 
publication time 9.736369 ms 
whole laserOdometry time 68.189717 ms 
 
prepare time 23.214384 
sort q time 6.963852 
seperate points time 17.089978 
mapping data assosiation time 54.410744 ms 
data association time 16.784594 ms 
mapping solver time 21.293119 ms 
solver time 10.910683 ms 
data association time 16.153324 ms 
solver time 12.107010 ms 
points size 100925 
sort q time 5.374370 
seperate points time 12.977526 
data association time 15.077769 ms 
solver time 12.227700 ms 
data association time 16.178684 ms 
build tree time 93.727331 ms 
publication time 10.232465 ms 
whole laserOdometry time 66.415615 ms 
 
sort q time 4.934566 
seperate points time 12.110768 
mapping data assosiation time 42.978976 ms 
data association time 23.259048 ms 
mapping solver time 38.754170 ms 
data association time 26.772022 ms 
solver time 13.247080 ms 
optimization twice time 83.920426 
data association time 18.764636 ms 
solver time 12.022436 ms 
data association time 16.257611 ms 
publication time 9.389194 ms 
whole laserOdometry time 67.425248 ms 
 
points size 100691 
prepare time 12.895738 
sort q time 5.136779 
seperate points time 12.682656 
data association time 13.932086 ms 
solver time 12.043999 ms 
data association time 14.975519 ms 
publication time 8.690316 ms 
whole laserOdometry time 60.741237 ms 
 
points size 100763 
map prepare time 7.542751 ms
map corner num 310413  surf num 149335 
sort q time 9.162219 
seperate points time 22.610132 
data association time 14.928778 ms 
[0m[ INFO] [1718887323.644895357]: Received 1846993 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887323.644928427]: Data saved to 1317358067910723.pcd[0m
solver time 13.659839 ms 
data association time 17.465816 ms 
solver time 11.961710 ms 
publication time 10.942049 ms 
whole laserOdometry time 69.981360 ms 
 
sort q time 6.387437 
seperate points time 15.046605 
build tree time 122.804045 ms 
data association time 15.182831 ms 
solver time 13.550858 ms 
data association time 14.826948 ms 
solver time 7.927994 ms 
optimization twice time 52.426306 
mapping data assosiation time 53.380018 ms 
points size 101142 
sort q time 5.623115 
seperate points time 13.730213 
data association time 14.616213 ms 
solver time 12.794960 ms 
data association time 14.765392 ms 
solver time 10.888284 ms 
publication time 8.937955 ms 
whole laserOdometry time 62.759252 ms 
 
points size 100804 
add points time 1.593557 ms
sort q time 4.926152 
seperate points time 12.366492 
filter time 33.285973 ms 
solver time 15.072604 ms 
data association time 17.252908 ms 
publication time 8.635675 ms 
whole laserOdometry time 65.288484 ms 
 
points size 100698 
sort q time 5.969821 
seperate points time 15.472251 
data association time 14.216721 ms 
solver time 12.821221 ms 
data association time 14.885543 ms 
solver time 11.657276 ms 
publication time 11.141393 ms 
whole laserOdometry time 65.553875 ms 
 
prepare time 18.125215 
mapping solver time 29.192812 ms 
data association time 14.550749 ms 
mapping data assosiation time 38.890508 ms 
data association time 14.931541 ms 
mapping optimization time 245.949009 
points size 99490 
filter time 36.270316 ms 
data association time 14.423811 ms 
solver time 13.510419 ms 
data association time 17.634216 ms 
solver time 12.146489 ms 
publication time 11.298580 ms 
whole laserOdometry time 69.935847 ms 
 
sort q time 5.212429 
seperate points time 13.015292 
data association time 13.220924 ms 
solver time 14.529527 ms 
data association time 16.498445 ms 
solver time 12.221728 ms 
publication time 10.715878 ms 
whole laserOdometry time 68.082058 ms 
 
prepare time 16.153435 
sort q time 5.830919 
seperate points time 13.933368 
mapping data assosiation time 45.533721 ms 
data association time 14.459196 ms 
solver time 16.546368 ms 
mapping solver time 26.336560 ms 
data association time 14.932928 ms 
solver time 10.507720 ms 
drop lidar frame in mapping for real time performance 
prepare time 16.774634 
sort q time 4.882711 
seperate points time 11.856241 
data association time 14.419417 ms 
solver time 13.396701 ms 
build tree time 69.090979 ms 
solver time 11.142420 ms 
points size 100037 
sort q time 5.340452 
seperate points time 12.859948 
mapping solver time 24.851801 ms 
solver time 12.121562 ms 
data association time 13.665075 ms 
solver time 10.612926 ms 
publication time 9.569141 ms 
whole laserOdometry time 61.728887 ms 
 
add points time 1.501557 ms
prepare time 17.705216 
filter time 22.371254 ms 
data association time 14.160052 ms 
solver time 12.666510 ms 
data association time 14.472225 ms 
solver time 13.497576 ms 
publication time 9.609433 ms 
whole laserOdometry time 65.160244 ms 
 
points size 101284 
sort q time 5.533741 
seperate points time 13.108209 
data association time 13.985632 ms 
mapping solver time 24.226054 ms 
data association time 14.324895 ms 
optimization twice time 53.356634 
points size 101718 
sort q time 5.707867 
seperate points time 13.444362 
filter time 20.955290 ms 
data association time 15.303650 ms 
solver time 12.617616 ms 
data association time 15.139675 ms 
solver time 10.937099 ms 
publication time 9.612245 ms 
whole laserOdometry time 64.513624 ms 
 
build tree time 63.361336 ms 
sort q time 6.034768 
seperate points time 14.799083 
mapping data assosiation time 35.107089 ms 
data association time 15.502073 ms 
mapping solver time 26.284449 ms 
data association time 15.612726 ms 
solver time 10.172470 ms 
mapping data assosiation time 38.237745 ms 
sort q time 4.782165 
seperate points time 11.594868 
add points time 1.519918 ms
data association time 17.808538 ms 
solver time 14.639075 ms 
data association time 15.295510 ms 
solver time 11.023991 ms 
points size 101353 
build tree time 64.891909 ms 
data association time 14.938929 ms 
mapping data assosiation time 36.790123 ms 
data association time 15.597299 ms 
mapping solver time 23.948694 ms 
points size 101038 
mapping data assosiation time 39.313748 ms 
scan registration time 33.284146 ms *************
mapping optimization time 187.384636 
data association time 15.748163 ms 
filter time 21.734500 ms 
data association time 15.851443 ms 
solver time 11.652461 ms 
points size 100933 
scan registration time 32.170195 ms *************
data association time 14.956212 ms 
solver time 11.108409 ms 
mapping data assosiation time 36.969157 ms 
solver time 8.526506 ms 
publication time 9.301254 ms 
whole laserOdometry time 65.623407 ms 
 
points size 100619 
sort q time 4.784597 
seperate points time 11.345139 
mapping data assosiation time 35.401093 ms 
data association time 21.102460 ms 
solver time 14.243105 ms 
filter time 21.684488 ms 
optimization twice time 61.564547 
points size 100328 
sort q time 5.859702 
seperate points time 14.542760 
data association time 15.286873 ms 
solver time 11.128572 ms 
data association time 16.043096 ms 
publication time 8.181251 ms 
whole laserOdometry time 60.437837 ms 
 
points size 98539 
sort q time 5.454807 
seperate points time 12.870148 
scan registration time 31.749126 ms *************
mapping data assosiation time 34.729107 ms 
solver time 13.166068 ms 
data association time 18.508900 ms 
drop lidar frame in mapping for real time performance 
publication time 8.707687 ms 
whole laserOdometry time 66.122469 ms 
 
points size 97182 
prepare time 18.488112 
sort q time 5.656031 
seperate points time 14.197064 
scan registration time 37.013477 ms *************
data association time 15.454509 ms 
solver time 10.663656 ms 
solver time 7.309529 ms 
publication time 13.242843 ms 
whole laserOdometry time 62.817628 ms 
 
mapping solver time 25.788401 ms 
sort q time 5.522273 
seperate points time 13.750465 
mapping data assosiation time 31.724446 ms 
data association time 14.767273 ms 
mapping solver time 20.304477 ms 
data association time 15.388725 ms 
solver time 8.623113 ms 
publication time 8.913926 ms 
whole laserOdometry time 59.887081 ms 
 
points size 95586 
sort q time 5.638576 
seperate points time 13.337416 
data association time 14.557121 ms 
build tree time 70.031662 ms 
data association time 16.669506 ms 
solver time 10.006022 ms 
publication time 10.385485 ms 
whole laserOdometry time 66.223115 ms 
 
points size 94823 
prepare time 16.701477 
mapping solver time 24.926799 ms 
sort q time 5.185203 
seperate points time 12.522240 
mapping data assosiation time 33.327084 ms 
solver time 7.995340 ms 
mapping solver time 23.282356 ms 
data association time 16.703938 ms 
solver time 5.465061 ms 
optimization twice time 47.494085 
publication time 9.032936 ms 
whole laserOdometry time 56.542411 ms 
 
points size 94506 
sort q time 4.892462 
seperate points time 11.834966 
scan registration time 30.607583 ms *************
data association time 15.262429 ms 
solver time 10.472233 ms 
build tree time 69.589539 ms 
solver time 8.045602 ms 
optimization twice time 51.053749 
mapping data assosiation time 33.354739 ms 
points size 94801 
mapping solver time 22.052187 ms 
sort q time 4.844902 
seperate points time 11.724777 
scan registration time 29.683942 ms *************
data association time 15.355686 ms 
mapping data assosiation time 33.145885 ms 
mapping solver time 17.765522 ms 
publication time 7.741405 ms 
whole laserOdometry time 58.293261 ms 
 
map prepare time 4.482239 ms
map corner num 223155  surf num 104832 
points size 93570 
sort q time 5.180697 
seperate points time 12.864533 
data association time 13.927517 ms 
solver time 11.160156 ms 
data association time 14.079797 ms 
solver time 8.282618 ms 
points size 92804 
data association time 14.492440 ms 
solver time 11.074428 ms 
data association time 14.209616 ms 
mapping solver time 19.553646 ms 
filter time 21.410177 ms 
points size 92853 
prepare time 17.863173 
sort q time 5.400595 
seperate points time 13.516367 
scan registration time 35.039242 ms *************
data association time 21.106977 ms 
solver time 10.724052 ms 
build tree time 69.106923 ms 
data association time 14.787640 ms 
solver time 8.605813 ms 
publication time 8.848283 ms 
whole laserOdometry time 64.932725 ms 
 
points size 93551 
sort q time 5.533712 
seperate points time 13.247421 
scan registration time 32.201478 ms *************
mapping solver time 22.510997 ms 
data association time 13.315748 ms 
mapping data assosiation time 31.960326 ms 
data association time 14.993778 ms 
publication time 7.932692 ms 
whole laserOdometry time 56.539415 ms 
 
points size 93940 
map prepare time 4.778234 ms
map corner num 225013  surf num 105496 
data association time 14.239327 ms 
solver time 11.085179 ms 
data association time 14.059563 ms 
solver time 10.267773 ms 
points size 94275 
sort q time 4.957296 
seperate points time 11.931162 
mapping solver time 18.631352 ms 
data association time 17.055357 ms 
solver time 12.435925 ms 
data association time 17.076445 ms 
add points time 1.104235 ms
publication time 9.840922 ms 
whole laserOdometry time 68.379156 ms 
 
points size 94668 
map prepare time 3.844453 ms
map corner num 219683  surf num 103550 
sort q time 5.156327 
seperate points time 13.170849 
scan registration time 32.959247 ms *************
data association time 21.497812 ms 
solver time 14.905235 ms 
data association time 14.485373 ms 
optimization twice time 61.682214 
points size 95005 
sort q time 5.882400 
seperate points time 13.662992 
scan registration time 34.905917 ms *************
mapping data assosiation time 35.916942 ms 
data association time 15.232469 ms 
solver time 11.205895 ms 
data association time 14.847674 ms 
mapping data assosiation time 33.231631 ms 
points size 96992 
sort q time 4.676009 
seperate points time 11.476087 
filter time 23.089693 ms 
data association time 18.375565 ms 
solver time 13.125752 ms 
data association time 17.465181 ms 
solver time 10.059132 ms 
build tree time 66.469920 ms 
sort q time 5.121245 
seperate points time 12.011744 
mapping data assosiation time 35.360993 ms 
solver time 9.728629 ms 
mapping solver time 23.885993 ms 
solver time 7.941807 ms 
publication time 8.410978 ms 
whole laserOdometry time 55.721666 ms 
 
mapping data assosiation time 34.571099 ms 
prepare time 15.926120 
sort q time 5.794471 
seperate points time 13.941986 
filter time 21.488024 ms 
map prepare time 4.884121 ms
map corner num 221387  surf num 104138 
data association time 22.659596 ms 
solver time 14.249732 ms 
data association time 22.032457 ms 
solver time 11.397506 ms 
prepare time 16.161401 
publication time 11.224131 ms 
whole laserOdometry time 82.633434 ms 
 
scan registration time 34.871083 ms *************
data association time 24.874039 ms 
solver time 16.347080 ms 
mapping solver time 22.068548 ms 
solver time 8.289878 ms 
points size 101572 
prepare time 16.911420 
sort q time 5.186058 
seperate points time 12.340896 
mapping solver time 19.225248 ms 
data association time 17.896337 ms 
map prepare time 5.293331 ms
map corner num 222223  surf num 104474 
data association time 14.666491 ms 
solver time 9.361112 ms 
points size 101758 
sort q time 5.582753 
seperate points time 13.421764 
data association time 14.395803 ms 
solver time 10.390136 ms 
mapping data assosiation time 31.093288 ms 
data association time 16.364720 ms 
mapping solver time 22.666004 ms 
publication time 9.016120 ms 
whole laserOdometry time 59.702049 ms 
 
points size 101749 
mapping data assosiation time 35.201910 ms 
mapping solver time 17.428154 ms 
data association time 15.400065 ms 
solver time 11.166649 ms 
data association time 15.296326 ms 
publication time 7.524056 ms 
whole laserOdometry time 58.804925 ms 
 
points size 101464 
prepare time 14.311791 
sort q time 5.949555 
seperate points time 14.036921 
data association time 18.270906 ms 
solver time 13.891912 ms 
data association time 19.171566 ms 
optimization twice time 63.684418 
solver time 19.093338 ms 
points size 101441 
solver time 10.957765 ms 
publication time 11.460564 ms 
whole laserOdometry time 89.538673 ms 
 
data association time 13.689019 ms 
solver time 12.773425 ms 
data association time 14.763824 ms 
map prepare time 6.312373 ms
map corner num 223831  surf num 105107 
prepare time 21.112215 
sort q time 6.195817 
seperate points time 15.305285 
data association time 15.312010 ms 
solver time 13.864557 ms 
build tree time 73.077895 ms 
solver time 7.899974 ms 
mapping data assosiation time 35.080619 ms 
sort q time 5.918983 
seperate points time 14.721951 
data association time 21.741944 ms 
mapping data assosiation time 29.418615 ms 
mapping solver time 13.606915 ms 
mapping optimization time 179.043558 
add points time 0.918354 ms
data association time 21.808713 ms 
solver time 11.827315 ms 
prepare time 18.586888 
sort q time 5.983871 
seperate points time 14.890069 
data association time 13.818393 ms 
solver time 18.685604 ms 
data association time 14.332016 ms 
publication time 8.861659 ms 
whole laserOdometry time 66.165491 ms 
 
points size 100171 
sort q time 5.979830 
seperate points time 14.903118 
mapping solver time 22.608472 ms 
data association time 13.422922 ms 
solver time 10.952747 ms 
mapping data assosiation time 30.337628 ms 
mapping solver time 12.544823 ms 
filter time 20.402096 ms 
sort q time 4.620872 
seperate points time 11.250394 
data association time 12.637530 ms 
solver time 11.522063 ms 
data association time 14.493508 ms 
solver time 9.010476 ms 
publication time 8.441620 ms 
whole laserOdometry time 57.050553 ms 
 
points size 99220 
sort q time 5.865049 
seperate points time 14.125213 
solver time 9.852221 ms 
data association time 14.033381 ms 
publication time 8.275437 ms 
whole laserOdometry time 54.806443 ms 
 
mapping pub time 1.250133 ms 
whole mapping time 201.715417 ms +++++
sort q time 5.639894 
seperate points time 13.304791 
data association time 13.347935 ms 
solver time 12.918631 ms 
build tree time 64.106636 ms 
solver time 10.085833 ms 
mapping data assosiation time 33.096916 ms 
sort q time 4.824977 
seperate points time 11.209101 
data association time 13.682062 ms 
mapping solver time 16.716140 ms 
[0m[ INFO] [1718887329.175811309]: Received 1873645 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887329.175838419]: Data saved to 1317358072801244.pcd[0m
publication time 8.755166 ms 
whole laserOdometry time 60.405458 ms 
 
map prepare time 4.989637 ms
map corner num 227191  surf num 106526 
points size 98066 
sort q time 5.571490 
seperate points time 12.744214 
data association time 14.402787 ms 
solver time 13.358961 ms 
build tree time 72.270265 ms 
solver time 10.028387 ms 
mapping data assosiation time 31.564702 ms 
prepare time 13.951126 
sort q time 6.004788 
seperate points time 13.567960 
data association time 21.683571 ms 
solver time 18.324110 ms 
data association time 21.580496 ms 
points size 98669 
publication time 10.247615 ms 
whole laserOdometry time 88.694923 ms 
 
data association time 13.659498 ms 
solver time 13.880307 ms 
build tree time 70.412745 ms 
solver time 10.049530 ms 
points size 98911 
mapping data assosiation time 33.331197 ms 
sort q time 4.893148 
seperate points time 11.122833 
mapping solver time 27.092808 ms 
data association time 18.903475 ms 
solver time 14.684824 ms 
data association time 13.638723 ms 
solver time 10.729761 ms 
points size 99346 
map prepare time 4.376875 ms
map corner num 229114  surf num 107241 
scan registration time 34.030863 ms *************
data association time 17.058280 ms 
solver time 15.876819 ms 
data association time 17.965899 ms 
solver time 12.883453 ms 
points size 99705 
sort q time 5.974157 
seperate points time 13.815098 
mapping solver time 23.822844 ms 
data association time 16.175051 ms 
solver time 13.693517 ms 
data association time 16.276082 ms 
mapping optimization time 182.049416 
publication time 11.718961 ms 
whole laserOdometry time 73.624036 ms 
 
filter time 26.834624 ms 
scan registration time 35.400925 ms *************
data association time 25.029884 ms 
solver time 18.516879 ms 
build tree time 67.153561 ms 
data association time 25.238939 ms 
solver time 15.363146 ms 
mapping solver time 23.168575 ms 
data association time 24.668727 ms 
mapping data assosiation time 30.866722 ms 
solver time 18.167059 ms 
mapping solver time 20.831596 ms 
points size 99985 
prepare time 16.805095 
filter time 24.880057 ms 
solver time 14.775833 ms 
build tree time 68.630323 ms 
points size 100488 
solver time 11.660932 ms 
sort q time 6.072017 
seperate points time 14.328532 
mapping data assosiation time 35.402641 ms 
mapping solver time 21.732156 ms 
data association time 25.211149 ms 
solver time 15.351911 ms 
mapping data assosiation time 30.676540 ms 
data association time 25.099393 ms 
prepare time 15.085411 
solver time 12.046095 ms 
optimization twice time 78.779160 
scan registration time 33.472818 ms *************
map prepare time 5.646825 ms
map corner num 232019  surf num 108303 
data association time 25.338705 ms 
solver time 19.100457 ms 
data association time 25.254109 ms 
solver time 15.678330 ms 
scan registration time 32.730096 ms *************
mapping data assosiation time 34.632318 ms 
data association time 26.498945 ms 
mapping solver time 26.598469 ms 
data association time 25.791491 ms 
points size 100783 
publication time 11.310948 ms 
whole laserOdometry time 92.615936 ms 
 
scan registration time 38.656739 ms *************
filter time 25.450393 ms 
mapping pub time 4.580228 ms 
whole mapping time 228.298656 ms +++++
drop lidar frame in mapping for real time performance 
data association time 26.137826 ms 
solver time 11.290482 ms 
data association time 25.219198 ms 
publication time 11.049868 ms 
whole laserOdometry time 82.697589 ms 
 
data association time 25.051821 ms 
mapping data assosiation time 29.074250 ms 
solver time 15.035102 ms 
mapping solver time 23.155677 ms 
data association time 19.503210 ms 
points size 101384 
sort q time 6.468436 
seperate points time 15.033361 
mapping solver time 26.485675 ms 
data association time 16.163567 ms 
mapping pub time 1.260584 ms 
whole mapping time 216.992091 ms +++++
data association time 16.550259 ms 
publication time 9.055589 ms 
whole laserOdometry time 62.734188 ms 
 
points size 101332 
sort q time 5.405849 
seperate points time 12.413966 
build tree time 68.903746 ms 
data association time 16.302170 ms 
solver time 10.590457 ms 
data association time 15.773108 ms 
mapping solver time 24.484105 ms 
points size 101252 
mapping data assosiation time 37.041270 ms 
mapping solver time 23.233372 ms 
solver time 10.467903 ms 
mapping pub time 1.512505 ms 
whole mapping time 216.718127 ms +++++
solver time 8.184146 ms 
publication time 10.865662 ms 
whole laserOdometry time 65.567612 ms 
 
points size 101311 
sort q time 5.281861 
seperate points time 12.783074 
build tree time 68.682542 ms 
solver time 10.900886 ms 
data association time 16.147196 ms 
solver time 8.554215 ms 
publication time 9.824373 ms 
whole laserOdometry time 62.018896 ms 
 
points size 101291 
sort q time 6.321012 
seperate points time 14.619543 
mapping solver time 19.270131 ms 
solver time 10.151954 ms 
mapping pub time 1.396333 ms 
whole mapping time 208.469304 ms +++++
solver time 8.004780 ms 
publication time 11.245584 ms 
whole laserOdometry time 63.791951 ms 
 
prepare time 15.703210 
sort q time 5.242551 
seperate points time 12.466182 
data association time 15.696430 ms 
solver time 13.321808 ms 
data association time 16.845751 ms 
solver time 11.213623 ms 
publication time 10.679406 ms 
whole laserOdometry time 68.649048 ms 
 
points size 101401 
sort q time 4.986144 
seperate points time 11.753424 
mapping data assosiation time 35.547744 ms 
data association time 17.052202 ms 
mapping optimization time 195.886943 
data association time 18.550331 ms 
map prepare time 5.001931 ms
map corner num 236219  surf num 109768 
prepare time 15.274664 
sort q time 5.366698 
seperate points time 12.774040 
data association time 16.031467 ms 
solver time 13.207554 ms 
build tree time 71.873672 ms 
data association time 17.519453 ms 
solver time 11.123131 ms 
mapping data assosiation time 33.348997 ms 
points size 101092 
mapping solver time 23.023925 ms 
scan registration time 36.583624 ms *************
mapping data assosiation time 33.283499 ms 
solver time 13.135795 ms 
data association time 16.002529 ms 
filter time 22.611836 ms 
map prepare time 4.704878 ms
map corner num 236955  surf num 110028 
prepare time 19.012618 
sort q time 5.825879 
seperate points time 14.093039 
data association time 15.787264 ms 
solver time 16.619369 ms 
data association time 19.174060 ms 
solver time 10.331783 ms 
prepare time 16.976310 
sort q time 6.447759 
seperate points time 15.078268 
mapping solver time 28.162117 ms 
data association time 16.621063 ms 
mapping data assosiation time 31.499747 ms 
mapping solver time 17.899943 ms 
solver time 8.632621 ms 
filter time 23.309015 ms 
sort q time 6.051818 
seperate points time 13.583423 
data association time 15.970394 ms 
solver time 10.911724 ms 
data association time 19.149809 ms 
solver time 10.251854 ms 
publication time 10.828679 ms 
whole laserOdometry time 68.060770 ms 
 
prepare time 15.097394 
sort q time 5.746839 
seperate points time 13.580302 
mapping solver time 26.006989 ms 
data association time 30.673232 ms 
solver time 16.318708 ms 
data association time 16.909522 ms 
points size 100848 
sort q time 5.117852 
seperate points time 12.211152 
data association time 16.800881 ms 
solver time 13.089767 ms 
data association time 19.859352 ms 
solver time 8.977330 ms 
build tree time 68.435627 ms 
points size 100946 
sort q time 5.797009 
seperate points time 14.169881 
mapping solver time 22.560925 ms 
solver time 10.864577 ms 
mapping data assosiation time 30.507311 ms 
data association time 18.281486 ms 
mapping solver time 21.109701 ms 
sort q time 5.236129 
seperate points time 12.306440 
map prepare time 4.628749 ms
map corner num 239210  surf num 111057 
data association time 18.398273 ms 
solver time 10.299907 ms 
data association time 18.195619 ms 
solver time 10.275812 ms 
publication time 10.265994 ms 
whole laserOdometry time 68.357423 ms 
 
points size 101105 
sort q time 6.774477 
seperate points time 16.290434 
mapping data assosiation time 39.233271 ms 
data association time 15.827485 ms 
solver time 11.171312 ms 
data association time 16.206574 ms 
publication time 8.766873 ms 
whole laserOdometry time 60.937269 ms 
 
points size 101151 
mapping solver time 27.371238 ms 
filter time 18.992706 ms 
solver time 10.069757 ms 
data association time 15.603938 ms 
solver time 10.568975 ms 
publication time 11.604537 ms 
whole laserOdometry time 64.987231 ms 
 
prepare time 18.472776 
sort q time 5.915899 
seperate points time 14.289086 
build tree time 77.428096 ms 
scan registration time 38.746225 ms *************
data association time 15.157892 ms 
solver time 11.002432 ms 
mapping solver time 22.493433 ms 
solver time 5.829265 ms 
publication time 10.001313 ms 
whole laserOdometry time 59.650940 ms 
 
points size 101055 
mapping data assosiation time 39.971863 ms 
sort q time 5.910928 
seperate points time 14.394741 
mapping solver time 21.906533 ms 
mapping optimization time 195.257931 
add points time 0.860200 ms
solver time 10.747514 ms 
data association time 16.832338 ms 
solver time 10.302816 ms 
publication time 12.376300 ms 
whole laserOdometry time 67.801684 ms 
 
prepare time 17.281777 
sort q time 4.662929 
seperate points time 11.024827 
data association time 15.457967 ms 
solver time 12.384676 ms 
data association time 15.834949 ms 
solver time 7.874474 ms 
map prepare time 8.904537 ms
map corner num 240521  surf num 111495 
prepare time 19.621775 
scan registration time 38.700489 ms *************
data association time 15.122432 ms 
solver time 13.354773 ms 
data association time 16.066153 ms 
solver time 13.119799 ms 
publication time 10.449869 ms 
whole laserOdometry time 68.987829 ms 
 
scan registration time 32.518478 ms *************
mapping solver time 25.982333 ms 
data association time 18.799877 ms 
solver time 12.629986 ms 
mapping solver time 14.570760 ms 
solver time 9.727332 ms 
publication time 11.772410 ms 
whole laserOdometry time 72.859437 ms 
 
map prepare time 4.675180 ms
map corner num 241093  surf num 111658 
sort q time 6.525275 
seperate points time 15.114107 
data association time 18.533955 ms 
solver time 11.329959 ms 
data association time 16.269528 ms 
solver time 8.773024 ms 
publication time 10.974993 ms 
whole laserOdometry time 66.802220 ms 
 
mapping data assosiation time 32.451170 ms 
mapping solver time 23.969188 ms 
solver time 12.323245 ms 
data association time 15.742904 ms 
publication time 8.980801 ms 
whole laserOdometry time 62.164877 ms 
 
points size 99528 
filter time 19.876835 ms 
sort q time 5.574032 
seperate points time 13.532967 
data association time 15.360468 ms 
solver time 15.388261 ms 
data association time 20.055373 ms 
solver time 8.180443 ms 
points size 98893 
sort q time 6.505039 
seperate points time 16.503598 
mapping solver time 24.284872 ms 
data association time 25.341862 ms 
solver time 12.849951 ms 
mapping data assosiation time 33.037344 ms 
solver time 11.446071 ms 
publication time 11.361102 ms 
whole laserOdometry time 82.264227 ms 
 
scan registration time 34.908523 ms *************
filter time 29.002195 ms 
map prepare time 5.951104 ms
map corner num 242323  surf num 112057 
data association time 16.589799 ms 
solver time 11.858084 ms 
data association time 16.083711 ms 
publication time 9.943719 ms 
whole laserOdometry time 60.811739 ms 
 
points size 98049 
prepare time 17.983215 
build tree time 78.242506 ms 
data association time 15.521639 ms 
solver time 15.530068 ms 
mapping solver time 23.204099 ms 
data association time 18.943635 ms 
solver time 13.520679 ms 
prepare time 15.901343 
sort q time 4.920801 
seperate points time 12.539041 
mapping solver time 25.758748 ms 
solver time 13.441591 ms 
data association time 17.030376 ms 
solver time 10.868597 ms 
publication time 10.560611 ms 
whole laserOdometry time 68.591370 ms 
 
points size 96418 
sort q time 5.609582 
seperate points time 14.106029 
build tree time 71.236156 ms 
data association time 16.225302 ms 
solver time 10.468354 ms 
data association time 15.388347 ms 
mapping solver time 22.488674 ms 
points size 95463 
prepare time 18.282950 
mapping data assosiation time 32.368512 ms 
scan registration time 36.144535 ms *************
mapping solver time 23.301164 ms 
data association time 25.147936 ms 
filter time 26.652678 ms 
map prepare time 5.348091 ms
map corner num 243371  surf num 112398 
data association time 20.773238 ms 
solver time 10.959309 ms 
publication time 10.910592 ms 
whole laserOdometry time 85.421326 ms 
 
sort q time 5.519236 
seperate points time 13.974476 
scan registration time 35.780782 ms *************
data association time 15.113717 ms 
solver time 12.689230 ms 
data association time 14.846260 ms 
mapping data assosiation time 38.652284 ms 
points size 93426 
mapping solver time 33.482632 ms 
data association time 15.405022 ms 
solver time 12.622326 ms 
mapping solver time 22.370911 ms 
solver time 11.642449 ms 
publication time 9.668476 ms 
whole laserOdometry time 65.644553 ms 
 
sort q time 4.176779 
seperate points time 10.817537 
data association time 20.759089 ms 
solver time 10.968862 ms 
data association time 15.184312 ms 
optimization twice time 56.080170 
points size 92102 
sort q time 4.220535 
seperate points time 9.999789 
data association time 16.054716 ms 
mapping solver time 25.512966 ms 
solver time 14.543666 ms 
data association time 14.933040 ms 
solver time 9.651521 ms 
optimization twice time 56.074270 
mapping data assosiation time 33.268022 ms 
mapping solver time 22.573069 ms 
prepare time 17.491686 
sort q time 5.289281 
seperate points time 12.912970 
drop lidar frame in mapping for real time performance 
data association time 17.298284 ms 
solver time 10.637342 ms 
data association time 15.615659 ms 
solver time 8.395316 ms 
publication time 8.707494 ms 
whole laserOdometry time 61.448207 ms 
 
points size 91046 
build tree time 75.394225 ms 
prepare time 17.800595 
sort q time 5.900686 
seperate points time 14.272222 
mapping data assosiation time 35.729628 ms 
data association time 18.172682 ms 
mapping solver time 22.642929 ms 
data association time 17.088187 ms 
solver time 10.180853 ms 
publication time 10.061244 ms 
whole laserOdometry time 71.493381 ms 
 
prepare time 18.273923 
sort q time 5.126154 
seperate points time 12.618192 
data association time 13.043001 ms 
map prepare time 4.061589 ms
map corner num 245032  surf num 112967 
data association time 14.300960 ms 
solver time 7.892975 ms 
publication time 7.591139 ms 
whole laserOdometry time 58.876343 ms 
 
points size 90634 
prepare time 17.481560 
sort q time 5.233482 
seperate points time 12.678050 
build tree time 80.485091 ms 
data association time 15.604218 ms 
solver time 7.689265 ms 
mapping data assosiation time 31.423891 ms 
data association time 13.797190 ms 
publication time 8.325125 ms 
whole laserOdometry time 54.875630 ms 
 
points size 90322 
mapping data assosiation time 39.071890 ms 
mapping solver time 19.910251 ms 
solver time 14.751793 ms 
filter time 23.777520 ms 
solver time 10.828727 ms 
publication time 9.614650 ms 
whole laserOdometry time 63.815353 ms 
 
points size 90224 
sort q time 4.596014 
seperate points time 10.669476 
scan registration time 29.281228 ms *************
data association time 23.944791 ms 
build tree time 83.237726 ms 
solver time 19.468530 ms 
data association time 26.667604 ms 
prepare time 13.682563 
solver time 16.792935 ms 
optimization twice time 87.988884 
data association time 26.288697 ms 
solver time 20.030599 ms 
mapping solver time 27.201414 ms 
points size 89859 
mapping pub time 5.413367 ms 
whole mapping time 259.479256 ms +++++
data association time 14.360051 ms 
solver time 12.551448 ms 
data association time 14.556378 ms 
solver time 10.459982 ms 
publication time 8.448649 ms 
whole laserOdometry time 61.318579 ms 
 
points size 89172 
prepare time 19.896469 
sort q time 5.764733 
seperate points time 14.171126 
mapping data assosiation time 40.492748 ms 
scan registration time 39.819596 ms *************
data association time 16.611010 ms 
solver time 14.589552 ms 
data association time 17.510636 ms 
solver time 10.659329 ms 
points size 88588 
sort q time 4.803215 
seperate points time 11.556742 
map prepare time 4.359666 ms
map corner num 246520  surf num 113408 
data association time 14.059583 ms 
solver time 13.140499 ms 
data association time 14.860977 ms 
build tree time 70.937141 ms 
points size 86811 
prepare time 13.709444 
sort q time 4.009485 
seperate points time 9.469951 
mapping data assosiation time 30.280631 ms 
data association time 14.212883 ms 
mapping solver time 21.785656 ms 
data association time 13.527320 ms 
solver time 5.284775 ms 
optimization twice time 45.141505 
mapping solver time 17.600884 ms 
mapping optimization time 173.033199 
add points time 0.896874 ms
points size 85320 
sort q time 3.835620 
seperate points time 9.326428 
scan registration time 26.877404 ms *************
filter time 23.815915 ms 
data association time 13.526847 ms 
solver time 11.025801 ms 
data association time 15.216363 ms 
solver time 10.802694 ms 
publication time 8.145914 ms 
whole laserOdometry time 59.468397 ms 
 
build tree time 74.835010 ms 
points size 84286 
sort q time 5.325340 
seperate points time 13.187978 
mapping data assosiation time 36.305742 ms 
data association time 16.903606 ms 
solver time 12.882093 ms 
data association time 16.712270 ms 
publication time 7.728424 ms 
whole laserOdometry time 62.950000 ms 
 
points size 83837 
mapping optimization time 189.541698 
add points time 1.094393 ms
sort q time 4.549692 
seperate points time 15.388578 
filter time 23.962997 ms 
data association time 14.446657 ms 
solver time 10.401449 ms 
data association time 14.070048 ms 
points size 83438 
prepare time 16.402735 
build tree time 78.956713 ms 
data association time 13.902350 ms 
mapping data assosiation time 30.142342 ms 
mapping solver time 19.188195 ms 
optimization twice time 47.299620 
mapping data assosiation time 29.253428 ms 
points size 82838 
mapping solver time 24.518245 ms 
filter time 22.646104 ms 
solver time 10.645442 ms 
data association time 14.128560 ms 
build tree time 35.167745 ms 
points size 82331 
sort q time 3.466952 
seperate points time 8.400453 
mapping solver time 22.206494 ms 
data association time 14.515229 ms 
solver time 10.967309 ms 
mapping data assosiation time 28.664874 ms 
solver time 7.925043 ms 
mapping solver time 24.636429 ms 
filter time 13.511749 ms 
sort q time 3.758051 
seperate points time 8.922847 
data association time 13.650820 ms 
build tree time 38.449952 ms 
solver time 11.407819 ms 
data association time 13.654075 ms 
solver time 9.114068 ms 
mapping solver time 19.310092 ms 
points size 81801 
sort q time 3.756353 
seperate points time 8.771631 
mapping solver time 19.512075 ms 
filter time 11.951674 ms 
data association time 16.264808 ms 
solver time 10.935888 ms 
build tree time 37.919327 ms 
points size 81180 
sort q time 3.654162 
seperate points time 8.816689 
mapping solver time 19.816411 ms 
data association time 14.088510 ms 
mapping data assosiation time 27.567058 ms 
solver time 8.163086 ms 
mapping solver time 15.693734 ms 
mapping pub time 1.311030 ms 
whole mapping time 146.715263 ms +++++
points size 80875 
sort q time 4.182089 
seperate points time 9.961504 
build tree time 35.531970 ms 
data association time 16.814410 ms 
mapping data assosiation time 25.851123 ms 
data association time 15.836097 ms 
solver time 10.228404 ms 
mapping data assosiation time 27.104577 ms 
sort q time 3.356782 
seperate points time 7.994162 
filter time 13.755100 ms 
data association time 22.004879 ms 
solver time 11.344147 ms 
data association time 15.361123 ms 
solver time 10.522088 ms 
mapping data assosiation time 29.578656 ms 
points size 81793 
prepare time 17.470997 
sort q time 4.521514 
seperate points time 11.172550 
data association time 13.836277 ms 
solver time 10.860901 ms 
data association time 14.215028 ms 
optimization twice time 48.324255 
filter time 11.160218 ms 
points size 81996 
sort q time 4.744489 
seperate points time 11.395307 
build tree time 40.432514 ms 
solver time 10.945104 ms 
data association time 13.707384 ms 
solver time 10.569753 ms 
mapping data assosiation time 27.302754 ms 
mapping solver time 11.888970 ms 
scan registration time 31.149086 ms *************
data association time 13.422011 ms 
solver time 11.554719 ms 
data association time 13.929464 ms 
solver time 8.809889 ms 
optimization twice time 48.648650 
publication time 7.059062 ms 
whole laserOdometry time 55.726028 ms 
 
points size 82966 
prepare time 12.667398 
scan registration time 26.617164 ms *************
data association time 11.947315 ms 
mapping pub time 124.504059 ms 
whole mapping time 263.890028 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.728277 ms
map corner num 120807  surf num 58147 
data association time 16.544354 ms 
solver time 10.563394 ms 
points size 83284 
mapping data assosiation time 25.428768 ms 
scan registration time 27.380919 ms *************
mapping solver time 20.529047 ms 
data association time 15.454162 ms 
solver time 10.294258 ms 
data association time 15.124396 ms 
solver time 10.892063 ms 
map prepare time 3.416178 ms
map corner num 121247  surf num 58257 
points size 82705 
sort q time 3.647273 
seperate points time 8.759704 
scan registration time 25.576433 ms *************
data association time 20.736157 ms 
mapping data assosiation time 30.813510 ms 
solver time 17.127853 ms 
mapping solver time 24.810098 ms 
solver time 13.088745 ms 
prepare time 14.604238 
sort q time 4.369205 
seperate points time 10.393182 
filter time 12.581334 ms 
solver time 11.464651 ms 
data association time 12.162736 ms 
solver time 8.720118 ms 
optimization twice time 46.194071 
mapping data assosiation time 21.433806 ms 
sort q time 3.714629 
seperate points time 8.941852 
data association time 12.787640 ms 
solver time 11.100774 ms 
mapping optimization time 112.874871 
add points time 0.768835 ms
mapping pub time 0.980128 ms 
whole mapping time 129.024024 ms +++++
publication time 6.972797 ms 
whole laserOdometry time 55.234017 ms 
 
points size 81944 
prepare time 12.260500 
build tree time 35.197539 ms 
scan registration time 24.341959 ms *************
mapping data assosiation time 23.035727 ms 
mapping solver time 13.766953 ms 
data association time 12.009835 ms 
mapping data assosiation time 26.060677 ms 
mapping solver time 12.134543 ms 
filter time 12.265073 ms 
points size 80590 
sort q time 4.107968 
seperate points time 9.456684 
build tree time 36.614332 ms 
solver time 11.119235 ms 
mapping data assosiation time 22.560916 ms 
solver time 11.361515 ms 
mapping data assosiation time 22.892674 ms 
points size 78926 
prepare time 15.363061 
mapping solver time 17.024448 ms 
mapping optimization time 116.723266 
add points time 0.744561 ms
sort q time 4.418642 
seperate points time 10.924864 
map prepare time 2.711872 ms
map corner num 122793  surf num 58615 
data association time 17.015337 ms 
solver time 12.723148 ms 
data association time 15.843299 ms 
solver time 10.563308 ms 
publication time 7.433186 ms 
whole laserOdometry time 64.494280 ms 
 
mapping solver time 16.802705 ms 
scan registration time 29.994962 ms *************
data association time 13.161800 ms 
solver time 13.370439 ms 
data association time 13.116636 ms 
solver time 10.779502 ms 
points size 76932 
mapping data assosiation time 22.536480 ms 
mapping solver time 14.493412 ms 
data association time 12.360724 ms 
mapping data assosiation time 22.890435 ms 
solver time 11.209301 ms 
mapping solver time 13.665872 ms 
solver time 8.621177 ms 
map prepare time 3.829397 ms
map corner num 123459  surf num 58737 
points size 77353 
sort q time 4.164485 
seperate points time 10.569135 
mapping data assosiation time 21.278677 ms 
solver time 12.503822 ms 
data association time 14.322432 ms 
mapping data assosiation time 24.468567 ms 
mapping solver time 12.974631 ms 
filter time 15.350446 ms 
data association time 12.634694 ms 
solver time 11.198304 ms 
data association time 16.402154 ms 
solver time 8.339268 ms 
publication time 6.907301 ms 
whole laserOdometry time 56.321879 ms 
 
mapping solver time 17.821403 ms 
points size 77688 
mapping data assosiation time 21.609461 ms 
scan registration time 24.352615 ms *************
mapping optimization time 115.134351 
data association time 20.225586 ms 
map prepare time 3.518972 ms
map corner num 124043  surf num 58832 
data association time 20.370465 ms 
solver time 14.616455 ms 
points size 77955 
prepare time 13.736412 
mapping data assosiation time 23.877018 ms 
sort q time 4.218715 
seperate points time 10.648609 
mapping solver time 18.568083 ms 
solver time 12.287108 ms 
data association time 12.672483 ms 
solver time 11.178486 ms 
points size 79895 
sort q time 4.820973 
seperate points time 11.348198 
data association time 12.819015 ms 
mapping data assosiation time 22.106360 ms 
solver time 14.094676 ms 
mapping solver time 16.581781 ms 
solver time 10.414960 ms 
mapping solver time 13.913359 ms 
points size 81807 
map prepare time 2.695439 ms
map corner num 124744  surf num 59014 
data association time 12.580313 ms 
solver time 12.590558 ms 
data association time 12.549872 ms 
mapping data assosiation time 20.776243 ms 
publication time 7.619944 ms 
whole laserOdometry time 56.292805 ms 
 
mapping solver time 16.133724 ms 
points size 82103 
sort q time 3.705569 
seperate points time 9.018195 
filter time 13.874843 ms 
solver time 12.173493 ms 
data association time 12.641170 ms 
build tree time 35.646494 ms 
publication time 7.291683 ms 
whole laserOdometry time 57.545520 ms 
 
mapping data assosiation time 23.354998 ms 
points size 82271 
mapping solver time 16.821294 ms 
data association time 13.011792 ms 
solver time 13.816211 ms 
data association time 14.367310 ms 
map prepare time 3.124747 ms
map corner num 125502  surf num 59213 
points size 83620 
sort q time 3.667659 
seperate points time 9.019679 
mapping data assosiation time 23.551595 ms 
data association time 14.407640 ms 
solver time 14.220101 ms 
mapping data assosiation time 23.737254 ms 
solver time 9.623385 ms 
filter time 14.695811 ms 
mapping pub time 1.352222 ms 
whole mapping time 136.932880 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.718167 ms
map corner num 125901  surf num 59314 
sort q time 4.721106 
seperate points time 11.835467 
build tree time 41.089340 ms 
solver time 13.314226 ms 
mapping data assosiation time 20.817992 ms 
data association time 14.350214 ms 
mapping solver time 15.838991 ms 
publication time 8.298174 ms 
whole laserOdometry time 62.498624 ms 
 
mapping data assosiation time 25.289413 ms 
points size 82929 
prepare time 15.596713 
add points time 0.799334 ms
filter time 16.029455 ms 
data association time 14.696577 ms 
solver time 14.001533 ms 
data association time 14.436254 ms 
build tree time 35.448211 ms 
publication time 7.207393 ms 
whole laserOdometry time 63.320246 ms 
 
mapping data assosiation time 24.706366 ms 
points size 83266 
mapping solver time 19.766862 ms 
sort q time 4.712564 
seperate points time 11.703930 
scan registration time 31.869348 ms *************
mapping data assosiation time 22.591338 ms 
data association time 14.409987 ms 
solver time 13.219700 ms 
mapping solver time 16.370175 ms 
mapping optimization time 120.019362 
add points time 0.811991 ms
filter time 12.624147 ms 
solver time 11.116995 ms 
points size 84330 
sort q time 4.713576 
seperate points time 11.748544 
mapping data assosiation time 21.864080 ms 
data association time 16.266250 ms 
solver time 15.049963 ms 
mapping data assosiation time 24.299411 ms 
mapping solver time 15.225756 ms 
publication time 8.505834 ms 
whole laserOdometry time 68.063605 ms 
 
points size 87531 
sort q time 4.927025 
seperate points time 12.184615 
scan registration time 33.564304 ms *************
build tree time 35.673463 ms 
data association time 13.301049 ms 
solver time 13.294030 ms 
data association time 14.486850 ms 
solver time 10.599511 ms 
publication time 9.814914 ms 
whole laserOdometry time 62.381533 ms 
 
prepare time 13.875634 
sort q time 4.815895 
seperate points time 11.643258 
filter time 15.448957 ms 
mapping pub time 1.092918 ms 
whole mapping time 130.297212 ms +++++
map prepare time 3.488051 ms
map corner num 129120  surf num 61225 
data association time 14.539638 ms 
solver time 13.416611 ms 
data association time 14.501498 ms 
solver time 13.245932 ms 
publication time 10.029380 ms 
whole laserOdometry time 66.652721 ms 
 
points size 90578 
sort q time 4.457808 
seperate points time 11.111305 
mapping data assosiation time 22.952886 ms 
mapping solver time 15.368137 ms 
mapping optimization time 116.032206 
data association time 14.629662 ms 
add points time 0.762362 ms
solver time 13.348558 ms 
data association time 14.347581 ms 
solver time 10.322805 ms 
optimization twice time 53.613417 
build tree time 35.988369 ms 
sort q time 4.346680 
seperate points time 10.422004 
mapping solver time 16.666881 ms 
solver time 12.258233 ms 
data association time 14.546806 ms 
mapping solver time 13.501941 ms 
publication time 8.795763 ms 
whole laserOdometry time 62.240058 ms 
 
points size 92327 
sort q time 5.222542 
seperate points time 13.010698 
scan registration time 35.960223 ms *************
data association time 14.842913 ms 
solver time 13.373100 ms 
data association time 14.976821 ms 
publication time 7.701865 ms 
whole laserOdometry time 60.251440 ms 
 
points size 93073 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
data association time 18.298414 ms 
solver time 11.223601 ms 
data association time 15.936252 ms 
publication time 9.165570 ms 
whole laserOdometry time 63.998755 ms 
 
points size 94314 
sort q time 4.706411 
seperate points time 11.234591 
mapping data assosiation time 25.599714 ms 
mapping solver time 15.400872 ms 
filter time 13.908867 ms 
data association time 16.290334 ms 
solver time 9.084931 ms 
publication time 8.821194 ms 
whole laserOdometry time 62.654809 ms 
 
points size 94890 
sort q time 5.285937 
seperate points time 12.484250 
mapping solver time 14.715781 ms 
data association time 14.829380 ms 
mapping data assosiation time 21.481492 ms 
mapping solver time 14.440059 ms 
solver time 10.822229 ms 
points size 95069 
sort q time 4.696202 
seperate points time 11.410291 
build tree time 39.504929 ms 
[0m[ INFO] [1718887340.272631223]: Received 1918496 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887340.272662985]: Data saved to 1317358084547614.pcd[0m
data association time 28.027628 ms 
solver time 12.781584 ms 
mapping data assosiation time 20.271122 ms 
mapping solver time 12.500239 ms 
prepare time 17.272235 
drop lidar frame in mapping for real time performance 
scan registration time 36.460351 ms *************
data association time 16.372999 ms 
solver time 11.093462 ms 
data association time 17.033336 ms 
publication time 9.559569 ms 
whole laserOdometry time 63.269181 ms 
 
points size 91697 
sort q time 6.036887 
seperate points time 15.075785 
mapping solver time 15.044612 ms 
filter time 14.589011 ms 
data association time 15.481681 ms 
solver time 13.294045 ms 
build tree time 42.707454 ms 
sort q time 5.147537 
seperate points time 13.051124 
mapping solver time 14.446830 ms 
mapping data assosiation time 19.277860 ms 
mapping solver time 14.480108 ms 
filter time 11.104193 ms 
publication time 8.345005 ms 
whole laserOdometry time 74.941388 ms 
 
sort q time 3.925450 
seperate points time 9.703535 
build tree time 38.975239 ms 
data association time 17.862429 ms 
solver time 10.105469 ms 
mapping solver time 11.741402 ms 
data association time 15.191771 ms 
publication time 8.034821 ms 
whole laserOdometry time 60.686460 ms 
 
mapping data assosiation time 22.447893 ms 
points size 92451 
map prepare time 3.679454 ms
map corner num 132206  surf num 62091 
sort q time 5.374015 
seperate points time 13.236031 
data association time 15.116281 ms 
solver time 13.882054 ms 
data association time 15.113785 ms 
publication time 9.075510 ms 
whole laserOdometry time 62.627848 ms 
 
points size 92963 
mapping solver time 11.906340 ms 
filter time 14.207396 ms 
solver time 10.530795 ms 
data association time 14.466122 ms 
build tree time 39.403498 ms 
points size 93979 
sort q time 5.067017 
seperate points time 12.250888 
data association time 15.198940 ms 
mapping solver time 8.751831 ms 
filter time 12.715701 ms 
solver time 10.910369 ms 
points size 93030 
solver time 8.150310 ms 
map prepare time 3.824981 ms
map corner num 133373  surf num 62391 
points size 91616 
prepare time 17.091119 
sort q time 5.121283 
seperate points time 12.737556 
scan registration time 34.966086 ms *************
build tree time 36.610526 ms 
mapping data assosiation time 21.646951 ms 
solver time 10.772618 ms 
mapping solver time 14.684087 ms 
mapping data assosiation time 21.193496 ms 
mapping solver time 13.518487 ms 
prepare time 17.126928 
map prepare time 3.473272 ms
map corner num 133747  surf num 62476 
data association time 15.108237 ms 
solver time 13.820150 ms 
data association time 19.130869 ms 
solver time 10.368100 ms 
publication time 10.488124 ms 
whole laserOdometry time 69.727341 ms 
 
sort q time 3.970568 
seperate points time 9.908327 
mapping solver time 12.843689 ms 
filter time 19.520404 ms 
solver time 18.429793 ms 
data association time 23.799113 ms 
prepare time 13.461419 
publication time 11.888656 ms 
whole laserOdometry time 99.740824 ms 
 
mapping data assosiation time 29.171386 ms 
data association time 25.279617 ms 
solver time 20.793882 ms 
mapping data assosiation time 26.685169 ms 
data association time 25.560628 ms 
solver time 16.131226 ms 
scan registration time 30.732914 ms *************
map prepare time 4.040980 ms
map corner num 134502  surf num 62688 
data association time 22.964945 ms 
solver time 11.808169 ms 
data association time 14.555487 ms 
solver time 8.779111 ms 
mapping data assosiation time 20.539215 ms 
optimization twice time 59.008198 
mapping solver time 13.140575 ms 
prepare time 14.377457 
sort q time 5.261620 
seperate points time 12.208379 
mapping data assosiation time 22.842471 ms 
mapping solver time 13.278966 ms 
data association time 14.876713 ms 
filter time 14.908994 ms 
data association time 14.302922 ms 
solver time 8.006760 ms 
publication time 10.471253 ms 
whole laserOdometry time 61.137885 ms 
 
build tree time 41.986562 ms 
prepare time 14.037020 
mapping data assosiation time 24.675236 ms 
mapping solver time 15.581704 ms 
data association time 18.471099 ms 
mapping data assosiation time 20.909296 ms 
mapping solver time 12.591549 ms 
data association time 20.909552 ms 
map prepare time 3.174036 ms
map corner num 135197  surf num 62881 
publication time 10.119120 ms 
whole laserOdometry time 75.727790 ms 
 
prepare time 15.613435 
sort q time 5.447374 
seperate points time 13.221617 
mapping data assosiation time 23.588604 ms 
data association time 25.683572 ms 
mapping solver time 20.612884 ms 
solver time 17.418249 ms 
mapping data assosiation time 26.393817 ms 
points size 90134 
data association time 25.982606 ms 
prepare time 13.393517 
sort q time 5.302459 
seperate points time 12.726947 
mapping pub time 4.801470 ms 
whole mapping time 153.333877 ms +++++
data association time 24.756928 ms 
solver time 11.336600 ms 
build tree time 49.939818 ms 
solver time 13.553857 ms 
optimization twice time 74.663199 
points size 90326 
prepare time 14.984449 
sort q time 5.578381 
seperate points time 13.193063 
mapping data assosiation time 25.520618 ms 
mapping solver time 17.420987 ms 
filter time 15.263017 ms 
data association time 24.689809 ms 
points size 91252 
publication time 10.588518 ms 
whole laserOdometry time 90.024446 ms 
 
build tree time 49.783093 ms 
data association time 26.640770 ms 
solver time 14.475123 ms 
data association time 15.322532 ms 
mapping data assosiation time 22.824046 ms 
mapping solver time 11.388493 ms 
scan registration time 29.395397 ms *************
data association time 14.809616 ms 
solver time 11.546846 ms 
data association time 15.148237 ms 
mapping data assosiation time 22.326511 ms 
mapping solver time 15.281325 ms 
mapping data assosiation time 21.307807 ms 
mapping solver time 15.813837 ms 
mapping optimization time 111.976547 
add points time 0.677031 ms
filter time 15.064746 ms 
map prepare time 4.178774 ms
map corner num 136654  surf num 63378 
solver time 15.698667 ms 
data association time 24.257027 ms 
points size 92540 
publication time 11.343354 ms 
whole laserOdometry time 88.451354 ms 
 
mapping data assosiation time 24.361970 ms 
mapping solver time 19.010833 ms 
solver time 20.671708 ms 
mapping data assosiation time 25.616034 ms 
mapping solver time 16.107405 ms 
points size 92258 
sort q time 5.412748 
seperate points time 12.880343 
data association time 15.285464 ms 
build tree time 40.440130 ms 
mapping data assosiation time 19.023947 ms 
mapping solver time 10.870353 ms 
mapping data assosiation time 20.237371 ms 
mapping solver time 8.167761 ms 
mapping optimization time 99.703338 
add points time 0.624770 ms
data association time 15.792575 ms 
solver time 12.102835 ms 
data association time 15.801051 ms 
solver time 8.384591 ms 
publication time 9.623954 ms 
whole laserOdometry time 62.580257 ms 
 
points size 92422 
sort q time 5.609019 
seperate points time 13.173340 
mapping pub time 132.051639 ms 
whole mapping time 248.548965 ms +++++
map prepare time 4.344192 ms
map corner num 137530  surf num 63758 
data association time 16.907908 ms 
optimization twice time 61.943336 
points size 91144 
mapping data assosiation time 21.068139 ms 
scan registration time 30.333033 ms *************
data association time 15.145232 ms 
solver time 10.605506 ms 
mapping solver time 12.164160 ms 
data association time 16.288483 ms 
solver time 10.307992 ms 
publication time 7.644370 ms 
whole laserOdometry time 60.793776 ms 
 
points size 89953 
prepare time 14.493232 
build tree time 42.490377 ms 
data association time 15.329684 ms 
solver time 8.874647 ms 
mapping solver time 14.178248 ms 
solver time 6.553323 ms 
publication time 10.013802 ms 
whole laserOdometry time 60.546851 ms 
 
mapping solver time 14.324489 ms 
mapping optimization time 120.261356 
add points time 0.671485 ms
points size 88258 
prepare time 13.451080 
filter time 12.822429 ms 
map prepare time 4.551255 ms
map corner num 138580  surf num 64372 
data association time 14.821331 ms 
solver time 10.619778 ms 
build tree time 37.535745 ms 
data association time 15.054952 ms 
mapping data assosiation time 19.661361 ms 
solver time 10.960650 ms 
publication time 8.992050 ms 
whole laserOdometry time 61.306139 ms 
 
points size 86611 
sort q time 4.094741 
seperate points time 9.999099 
mapping solver time 11.374784 ms 
mapping optimization time 102.392893 
scan registration time 26.701089 ms *************
add points time 1.011261 ms
filter time 14.277421 ms 
solver time 12.944594 ms 
data association time 16.717672 ms 
build tree time 37.729966 ms 
solver time 10.240383 ms 
optimization twice time 55.931183 
mapping data assosiation time 24.409427 ms 
prepare time 14.238761 
sort q time 4.452378 
seperate points time 10.585093 
mapping data assosiation time 23.514523 ms 
mapping solver time 11.307146 ms 
solver time 15.728212 ms 
data association time 16.142218 ms 
solver time 13.398013 ms 
points size 82951 
sort q time 4.189928 
seperate points time 10.016912 
mapping data assosiation time 23.906754 ms 
data association time 14.607408 ms 
solver time 11.069464 ms 
mapping data assosiation time 25.480820 ms 
solver time 9.154948 ms 
filter time 13.149939 ms 
points size 78579 
sort q time 3.594039 
seperate points time 8.964788 
build tree time 38.532565 ms 
solver time 10.727312 ms 
mapping data assosiation time 22.638891 ms 
solver time 7.707048 ms 
publication time 7.423333 ms 
whole laserOdometry time 55.186774 ms 
 
mapping data assosiation time 22.463359 ms 
prepare time 11.624114 
sort q time 3.875685 
seperate points time 9.511754 
map prepare time 2.897757 ms
map corner num 140861  surf num 65654 
data association time 16.534455 ms 
solver time 13.215832 ms 
data association time 16.556106 ms 
solver time 10.065963 ms 
mapping solver time 16.683350 ms 
sort q time 3.196343 
seperate points time 7.717760 
data association time 14.486366 ms 
solver time 12.381813 ms 
filter time 14.371012 ms 
solver time 8.201413 ms 
build tree time 40.669341 ms 
sort q time 3.331632 
seperate points time 8.112395 
mapping data assosiation time 26.200613 ms 
data association time 14.594377 ms 
solver time 10.842480 ms 
mapping data assosiation time 20.800424 ms 
mapping solver time 12.723163 ms 
filter time 12.666809 ms 
points size 71482 
sort q time 3.605032 
seperate points time 9.053422 
build tree time 40.297923 ms 
data association time 13.536233 ms 
mapping data assosiation time 21.251540 ms 
mapping solver time 11.776144 ms 
solver time 10.648262 ms 
mapping data assosiation time 21.722102 ms 
mapping solver time 10.629726 ms 
points size 70873 
filter time 15.413516 ms 
data association time 13.785970 ms 
solver time 8.167679 ms 
build tree time 40.657888 ms 
data association time 12.956119 ms 
publication time 7.169655 ms 
whole laserOdometry time 51.110099 ms 
 
mapping solver time 12.640259 ms 
points size 70417 
prepare time 11.940872 
mapping data assosiation time 20.626269 ms 
mapping solver time 13.258529 ms 
data association time 12.418499 ms 
solver time 10.892262 ms 
data association time 12.507731 ms 
solver time 7.883416 ms 
publication time 6.975389 ms 
whole laserOdometry time 51.497637 ms 
 
build tree time 41.918658 ms 
mapping data assosiation time 19.020114 ms 
points size 69185 
prepare time 11.384482 
sort q time 2.976356 
seperate points time 7.463141 
mapping data assosiation time 18.196024 ms 
data association time 11.923792 ms 
filter time 11.827939 ms 
solver time 8.023472 ms 
build tree time 40.704774 ms 
prepare time 14.452645 
scan registration time 26.835785 ms *************
mapping data assosiation time 22.571215 ms 
mapping solver time 11.762406 ms 
filter time 15.609070 ms 
solver time 10.564487 ms 
points size 65253 
sort q time 3.433986 
seperate points time 8.794608 
build tree time 50.047132 ms 
data association time 14.356048 ms 
solver time 13.101827 ms 
data association time 12.256989 ms 
solver time 8.498739 ms 
mapping solver time 9.140318 ms 
filter time 16.123369 ms 
sort q time 3.569782 
seperate points time 8.907728 
data association time 13.073787 ms 
solver time 12.787033 ms 
data association time 14.698385 ms 
solver time 13.578626 ms 
optimization twice time 55.005023 
mapping solver time 10.637396 ms 
publication time 6.368305 ms 
whole laserOdometry time 61.387920 ms 
 
mapping data assosiation time 17.192734 ms 
points size 62228 
sort q time 3.216676 
seperate points time 8.370894 
data association time 11.304496 ms 
solver time 13.264208 ms 
build tree time 38.984151 ms 
solver time 9.971002 ms 
mapping solver time 11.854242 ms 
points size 61784 
mapping data assosiation time 20.040055 ms 
sort q time 3.306207 
seperate points time 8.439802 
filter time 12.911955 ms 
data association time 11.994170 ms 
publication time 5.711985 ms 
whole laserOdometry time 47.865645 ms 
 
build tree time 39.869109 ms 
mapping data assosiation time 17.753170 ms 
points size 60873 
prepare time 13.164254 
mapping solver time 14.567976 ms 
scan registration time 25.963645 ms *************
mapping data assosiation time 21.783592 ms 
mapping solver time 12.718224 ms 
mapping optimization time 107.548832 
add points time 0.631045 ms
solver time 11.296967 ms 
filter time 15.031339 ms 
solver time 7.925426 ms 
points size 61687 
sort q time 3.895820 
seperate points time 9.648037 
mapping data assosiation time 20.640658 ms 
data association time 11.855247 ms 
mapping data assosiation time 17.151475 ms 
mapping solver time 10.279733 ms 
filter time 14.790984 ms 
mapping pub time 0.739749 ms 
whole mapping time 125.833612 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.150869 ms
map corner num 144655  surf num 66870 
points size 61105 
sort q time 3.561559 
seperate points time 8.817703 
build tree time 44.024826 ms 
data association time 19.579500 ms 
solver time 16.558621 ms 
mapping solver time 17.488090 ms 
data association time 13.550485 ms 
solver time 8.354563 ms 
mapping optimization time 111.192473 
points size 60476 
sort q time 3.387607 
seperate points time 8.395622 
data association time 11.756953 ms 
solver time 10.813825 ms 
data association time 11.594848 ms 
solver time 10.674231 ms 
mapping solver time 12.577616 ms 
mapping data assosiation time 16.935615 ms 
add points time 0.655300 ms
sort q time 3.449220 
seperate points time 8.759364 
scan registration time 22.423625 ms *************
filter time 16.773569 ms 
mapping pub time 0.783486 ms 
whole mapping time 123.164665 ms +++++
data association time 14.592218 ms 
data association time 11.643457 ms 
publication time 4.956672 ms 
whole laserOdometry time 49.419980 ms 
 
mapping data assosiation time 15.519396 ms 
mapping solver time 12.495500 ms 
sort q time 2.459826 
seperate points time 6.440081 
mapping solver time 9.493262 ms 
mapping optimization time 100.919840 
add points time 0.602385 ms
data association time 12.250593 ms 
filter time 14.780348 ms 
data association time 12.183742 ms 
solver time 8.186217 ms 
points size 62702 
prepare time 10.352071 
data association time 11.200662 ms 
solver time 11.161142 ms 
data association time 11.497146 ms 
mapping pub time 123.831836 ms 
whole mapping time 243.123122 ms +++++
points size 64038 
sort q time 3.543479 
seperate points time 8.448956 
mapping data assosiation time 16.806512 ms 
mapping solver time 10.123790 ms 
solver time 9.780370 ms 
mapping data assosiation time 15.907495 ms 
mapping solver time 10.412006 ms 
solver time 8.079362 ms 
mapping pub time 0.808192 ms 
whole mapping time 118.775117 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.341774 ms
map corner num 145817  surf num 67181 
points size 66230 
sort q time 3.956748 
seperate points time 9.719845 
data association time 11.592474 ms 
solver time 12.592662 ms 
data association time 12.158554 ms 
solver time 11.990003 ms 
[0m[ INFO] [1718887345.806284779]: Received 1939864 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887345.806330335]: Data saved to 1317358090264755.pcd[0m
map prepare time 2.638942 ms
map corner num 146187  surf num 67284 
points size 68788 
sort q time 3.463474 
seperate points time 8.309187 
build tree time 42.766658 ms 
solver time 10.664918 ms 
data association time 12.357011 ms 
mapping solver time 11.451345 ms 
prepare time 12.456414 
scan registration time 24.644272 ms *************
data association time 11.862119 ms 
solver time 12.765136 ms 
data association time 12.077201 ms 
mapping data assosiation time 14.792957 ms 
publication time 5.503420 ms 
whole laserOdometry time 54.529157 ms 
 
mapping data assosiation time 15.473311 ms 
mapping solver time 10.145508 ms 
sort q time 4.019843 
seperate points time 9.918883 
data association time 18.575698 ms 
solver time 15.444827 ms 
build tree time 42.111550 ms 
data association time 18.230755 ms 
solver time 11.743858 ms 
points size 75535 
mapping optimization time 95.855151 
add points time 0.614664 ms
sort q time 3.888996 
seperate points time 9.519237 
scan registration time 25.774168 ms *************
filter time 15.546236 ms 
data association time 19.014098 ms 
solver time 15.275816 ms 
data association time 18.873302 ms 
solver time 11.476851 ms 
points size 78421 
sort q time 3.518695 
seperate points time 8.414957 
mapping data assosiation time 19.662819 ms 
mapping solver time 12.092467 ms 
filter time 14.343355 ms 
solver time 18.664101 ms 
data association time 19.284728 ms 
build tree time 40.803994 ms 
publication time 7.791307 ms 
whole laserOdometry time 81.875601 ms 
 
mapping data assosiation time 18.169264 ms 
mapping solver time 14.012061 ms 
data association time 19.577620 ms 
mapping solver time 8.321309 ms 
filter time 13.233595 ms 
mapping pub time 0.947277 ms 
whole mapping time 118.002181 ms +++++
map prepare time 2.566139 ms
map corner num 147774  surf num 67721 
optimization twice time 67.655407 
points size 75273 
prepare time 15.257396 
sort q time 4.344539 
seperate points time 10.608692 
mapping data assosiation time 16.472729 ms 
mapping solver time 12.901762 ms 
data association time 12.488956 ms 
mapping solver time 10.243910 ms 
filter time 12.128444 ms 
points size 73053 
sort q time 3.982966 
seperate points time 9.852094 
build tree time 47.827962 ms 
solver time 12.377407 ms 
data association time 15.149017 ms 
solver time 10.659018 ms 
mapping data assosiation time 18.777404 ms 
mapping solver time 12.601291 ms 
mapping optimization time 108.405658 
add points time 0.733429 ms
filter time 16.052572 ms 
sort q time 3.973168 
seperate points time 10.074626 
data association time 12.179555 ms 
solver time 10.785612 ms 
data association time 12.519270 ms 
solver time 8.134343 ms 
optimization twice time 44.385613 
mapping data assosiation time 18.202518 ms 
publication time 6.207138 ms 
whole laserOdometry time 50.608568 ms 
 
points size 71109 
sort q time 3.948788 
seperate points time 9.807484 
filter time 12.840615 ms 
solver time 10.749706 ms 
data association time 12.483012 ms 
publication time 6.450108 ms 
whole laserOdometry time 50.692301 ms 
 
mapping data assosiation time 16.076808 ms 
mapping solver time 15.126909 ms 
mapping data assosiation time 16.745113 ms 
data association time 13.370303 ms 
solver time 12.661934 ms 
data association time 16.213143 ms 
solver time 8.255318 ms 
optimization twice time 51.379379 
build tree time 43.646908 ms 
sort q time 3.111816 
seperate points time 7.575272 
mapping solver time 12.024949 ms 
mapping data assosiation time 15.229264 ms 
mapping solver time 10.958337 ms 
mapping optimization time 100.805372 
add points time 0.557549 ms
filter time 14.817273 ms 
points size 71825 
sort q time 4.155103 
seperate points time 10.045333 
mapping data assosiation time 16.212895 ms 
mapping solver time 12.291524 ms 
data association time 11.502216 ms 
mapping data assosiation time 17.110580 ms 
mapping solver time 11.349876 ms 
filter time 15.721436 ms 
points size 71986 
sort q time 4.248302 
seperate points time 10.280792 
scan registration time 25.903157 ms *************
build tree time 48.904567 ms 
solver time 14.663729 ms 
mapping solver time 11.636708 ms 
solver time 9.904185 ms 
mapping solver time 11.736701 ms 
filter time 14.505847 ms 
data association time 11.971652 ms 
solver time 13.643128 ms 
data association time 14.312488 ms 
solver time 10.792817 ms 
mapping data assosiation time 15.893138 ms 
mapping solver time 12.290692 ms 
points size 68630 
mapping solver time 10.647614 ms 
filter time 16.030119 ms 
data association time 17.140927 ms 
map prepare time 3.616790 ms
map corner num 150239  surf num 68345 
data association time 12.807437 ms 
publication time 6.312563 ms 
whole laserOdometry time 62.884062 ms 
 
build tree time 54.695923 ms 
points size 64417 
sort q time 3.552125 
seperate points time 9.001795 
scan registration time 26.389005 ms *************
mapping solver time 13.110844 ms 
data association time 12.034545 ms 
mapping data assosiation time 16.049636 ms 
data association time 11.568430 ms 
publication time 5.472820 ms 
whole laserOdometry time 50.219303 ms 
 
points size 59323 
build tree time 43.230816 ms 
prepare time 13.270650 
mapping data assosiation time 17.058977 ms 
mapping solver time 12.191085 ms 
solver time 15.471559 ms 
data association time 11.921531 ms 
mapping solver time 11.945363 ms 
mapping optimization time 101.335745 
add points time 0.605874 ms
solver time 7.951188 ms 
optimization twice time 49.330423 
filter time 16.548748 ms 
points size 56043 
scan registration time 19.399779 ms *************
build tree time 45.990814 ms 
data association time 17.966849 ms 
mapping data assosiation time 20.460016 ms 
solver time 17.368924 ms 
mapping solver time 13.899334 ms 
solver time 13.139171 ms 
mapping solver time 7.889626 ms 
points size 54330 
sort q time 2.909670 
seperate points time 7.328228 
data association time 11.290633 ms 
solver time 12.751556 ms 
data association time 15.249723 ms 
solver time 10.363703 ms 
mapping solver time 12.660823 ms 
mapping data assosiation time 14.871828 ms 
points size 54706 
scan registration time 20.167298 ms *************
map prepare time 2.649644 ms
map corner num 151373  surf num 68630 
solver time 10.453127 ms 
data association time 11.451081 ms 
publication time 4.761095 ms 
whole laserOdometry time 50.460512 ms 
 
mapping data assosiation time 15.190363 ms 
mapping solver time 12.541963 ms 
points size 54991 
sort q time 2.320620 
seperate points time 5.926610 
mapping solver time 11.038811 ms 
filter time 12.205103 ms 
solver time 10.471203 ms 
data association time 11.470836 ms 
solver time 7.762317 ms 
points size 57205 
scan registration time 22.833089 ms *************
data association time 11.315347 ms 
solver time 11.108325 ms 
mapping data assosiation time 15.998788 ms 
mapping solver time 10.046152 ms 
data association time 11.903371 ms 
mapping solver time 7.358160 ms 
solver time 10.301279 ms 
filter time 15.117042 ms 
points size 62995 
sort q time 3.476614 
seperate points time 8.364731 
mapping data assosiation time 14.866258 ms 
mapping solver time 11.442948 ms 
data association time 11.130370 ms 
mapping solver time 9.126133 ms 
filter time 15.976421 ms 
points size 64012 
sort q time 3.282005 
seperate points time 8.192753 
data association time 11.776703 ms 
build tree time 43.509327 ms 
mapping data assosiation time 18.280397 ms 
data association time 14.476461 ms 
solver time 8.789579 ms 
mapping data assosiation time 18.060840 ms 
mapping solver time 9.864959 ms 
filter time 16.738622 ms 
sort q time 3.451818 
seperate points time 8.876861 
scan registration time 25.890677 ms *************
data association time 13.210629 ms 
build tree time 45.203878 ms 
data association time 14.345439 ms 
mapping data assosiation time 23.767224 ms 
publication time 6.061975 ms 
whole laserOdometry time 60.630141 ms 
 
points size 67696 
sort q time 3.578788 
seperate points time 8.717136 
add points time 0.668051 ms
filter time 15.245902 ms 
solver time 12.297834 ms 
data association time 12.197599 ms 
solver time 8.971886 ms 
build tree time 40.858518 ms 
mapping data assosiation time 16.487925 ms 
points size 69733 
prepare time 11.394879 
sort q time 3.311299 
seperate points time 8.274940 
mapping data assosiation time 18.139538 ms 
mapping solver time 10.532377 ms 
filter time 14.886355 ms 
solver time 9.706265 ms 
build tree time 40.781888 ms 
sort q time 3.439635 
seperate points time 8.477862 
mapping data assosiation time 16.530118 ms 
scan registration time 23.595159 ms *************
data association time 12.631409 ms 
solver time 12.701659 ms 
mapping solver time 12.064266 ms 
solver time 10.224297 ms 
points size 73783 
sort q time 4.497953 
seperate points time 10.991120 
mapping data assosiation time 16.906937 ms 
mapping solver time 11.981332 ms 
data association time 12.429653 ms 
mapping solver time 9.583911 ms 
filter time 15.539139 ms 
points size 73504 
sort q time 3.113862 
seperate points time 7.842888 
data association time 13.646140 ms 
solver time 11.556700 ms 
data association time 13.635067 ms 
mapping data assosiation time 17.741174 ms 
publication time 7.131258 ms 
whole laserOdometry time 55.648886 ms 
 
mapping data assosiation time 17.635176 ms 
points size 72758 
mapping solver time 10.477883 ms 
mapping optimization time 109.900376 
add points time 0.722974 ms
prepare time 11.946255 
filter time 15.318049 ms 
data association time 16.118122 ms 
build tree time 22.844797 ms 
mapping data assosiation time 16.849024 ms 
data association time 15.354141 ms 
mapping solver time 12.702858 ms 
mapping data assosiation time 18.208311 ms 
points size 73416 
mapping solver time 12.966354 ms 
map prepare time 2.126507 ms
map corner num 75843  surf num 29526 
build tree time 19.957827 ms 
solver time 11.611210 ms 
data association time 12.932748 ms 
solver time 9.289812 ms 
mapping data assosiation time 21.371631 ms 
mapping solver time 11.313749 ms 
map prepare time 2.057020 ms
map corner num 76288  surf num 29665 
build tree time 21.347557 ms 
solver time 11.117682 ms 
mapping data assosiation time 17.762107 ms 
data association time 13.547065 ms 
solver time 10.739584 ms 
mapping data assosiation time 17.823066 ms 
mapping solver time 9.756928 ms 
filter time 8.575019 ms 
prepare time 13.320886 
scan registration time 24.349064 ms *************
mapping data assosiation time 16.324759 ms 
mapping solver time 12.495621 ms 
solver time 13.381414 ms 
data association time 13.652768 ms 
solver time 11.320478 ms 
publication time 6.852674 ms 
whole laserOdometry time 58.903227 ms 
 
map prepare time 2.763469 ms
map corner num 77138  surf num 29971 
points size 74158 
sort q time 4.130568 
seperate points time 10.326828 
mapping data assosiation time 19.540365 ms 
mapping solver time 12.768309 ms 
data association time 12.787800 ms 
solver time 10.835314 ms 
publication time 7.374534 ms 
whole laserOdometry time 57.544350 ms 
 
filter time 9.976051 ms 
mapping pub time 0.852091 ms 
whole mapping time 96.976399 ms +++++
points size 73808 
build tree time 19.722372 ms 
prepare time 11.629672 
mapping data assosiation time 18.807607 ms 
mapping solver time 10.207931 ms 
data association time 15.274271 ms 
mapping data assosiation time 18.379641 ms 
mapping solver time 10.377279 ms 
mapping optimization time 78.247360 
add points time 0.623574 ms
solver time 7.557116 ms 
publication time 6.441954 ms 
whole laserOdometry time 58.362398 ms 
 
points size 72062 
sort q time 4.264892 
seperate points time 10.884552 
mapping data assosiation time 20.156024 ms 
data association time 13.063728 ms 
solver time 12.914766 ms 
data association time 13.007851 ms 
solver time 11.012932 ms 
points size 71404 
build tree time 23.183445 ms 
mapping data assosiation time 18.971026 ms 
data association time 12.537529 ms 
solver time 13.806088 ms 
mapping data assosiation time 15.671833 ms 
mapping solver time 8.387897 ms 
filter time 6.938220 ms 
publication time 6.967996 ms 
whole laserOdometry time 58.365483 ms 
 
map prepare time 2.470328 ms
map corner num 78613  surf num 30424 
points size 71325 
sort q time 4.739938 
seperate points time 11.329200 
mapping data assosiation time 17.995448 ms 
mapping solver time 12.394445 ms 
mapping data assosiation time 16.178167 ms 
filter time 6.378673 ms 
map prepare time 2.013356 ms
map corner num 78970  surf num 30510 
points size 71973 
sort q time 4.506620 
seperate points time 11.231367 
mapping solver time 11.694718 ms 
data association time 19.259475 ms 
mapping data assosiation time 16.979491 ms 
solver time 15.335661 ms 
filter time 6.787449 ms 
data association time 19.670430 ms 
solver time 11.658123 ms 
publication time 7.643436 ms 
whole laserOdometry time 74.721502 ms 
 
sort q time 3.952288 
seperate points time 9.830501 
build tree time 23.314371 ms 
data association time 12.338077 ms 
mapping data assosiation time 15.735764 ms 
solver time 14.063602 ms 
data association time 13.216096 ms 
solver time 11.106965 ms 
filter time 7.159450 ms 
points size 72347 
build tree time 27.033855 ms 
mapping data assosiation time 16.706311 ms 
mapping solver time 11.263158 ms 
data association time 12.057699 ms 
solver time 11.078540 ms 
filter time 7.555538 ms 
points size 69675 
sort q time 4.347591 
seperate points time 10.974263 
data association time 11.920371 ms 
solver time 10.741771 ms 
data association time 12.676930 ms 
solver time 8.273676 ms 
points size 69337 
sort q time 3.736900 
seperate points time 9.709462 
data association time 13.421905 ms 
solver time 16.274708 ms 
data association time 12.376109 ms 
optimization twice time 54.431687 
points size 68272 
filter time 10.275439 ms 
data association time 12.212897 ms 
solver time 11.917298 ms 
mapping data assosiation time 16.366318 ms 
solver time 8.229342 ms 
optimization twice time 45.265323 
mapping solver time 12.950714 ms 
publication time 6.067549 ms 
whole laserOdometry time 51.349051 ms 
 
mapping data assosiation time 16.307512 ms 
mapping solver time 10.785012 ms 
points size 67698 
sort q time 4.072746 
seperate points time 9.895646 
mapping data assosiation time 16.204691 ms 
solver time 11.058633 ms 
data association time 14.262687 ms 
solver time 10.214487 ms 
filter time 8.488997 ms 
points size 67358 
build tree time 23.241577 ms 
mapping data assosiation time 18.381458 ms 
data association time 12.375630 ms 
solver time 11.536325 ms 
data association time 12.029743 ms 
mapping data assosiation time 17.065638 ms 
publication time 6.022909 ms 
whole laserOdometry time 50.998084 ms 
 
map prepare time 2.916416 ms
map corner num 81274  surf num 31166 
build tree time 21.370355 ms 
sort q time 2.927560 
seperate points time 7.435182 
mapping solver time 10.121104 ms 
solver time 10.823810 ms 
data association time 11.950340 ms 
publication time 6.525785 ms 
whole laserOdometry time 50.327376 ms 
 
build tree time 23.944650 ms 
sort q time 4.131365 
seperate points time 10.301401 
mapping solver time 10.946982 ms 
mapping data assosiation time 17.485361 ms 
data association time 12.547178 ms 
publication time 5.773573 ms 
whole laserOdometry time 52.787008 ms 
 
points size 63998 
sort q time 3.817195 
seperate points time 9.765201 
scan registration time 26.251122 ms *************
data association time 13.363220 ms 
solver time 12.600258 ms 
data association time 12.940001 ms 
mapping solver time 7.750630 ms 
mapping optimization time 85.358926 
add points time 0.491361 ms
publication time 6.230608 ms 
whole laserOdometry time 54.861799 ms 
 
points size 62769 
prepare time 12.719441 
build tree time 26.470761 ms 
scan registration time 25.683646 ms *************
mapping data assosiation time 18.697617 ms 
mapping solver time 10.418409 ms 
solver time 9.872405 ms 
mapping data assosiation time 16.831074 ms 
filter time 8.012474 ms 
map prepare time 1.867704 ms
map corner num 82488  surf num 31481 
points size 61869 
sort q time 3.699445 
seperate points time 9.714570 
mapping data assosiation time 21.391604 ms 
data association time 12.552731 ms 
solver time 11.036809 ms 
data association time 12.097131 ms 
publication time 5.955583 ms 
whole laserOdometry time 51.467145 ms 
 
filter time 8.166110 ms 
mapping pub time 0.757646 ms 
whole mapping time 101.473006 ms +++++
map prepare time 2.286549 ms
map corner num 82837  surf num 31579 
points size 60901 
sort q time 3.733502 
seperate points time 9.554981 
mapping solver time 9.491393 ms 
data association time 11.770089 ms 
solver time 10.545157 ms 
data association time 14.329681 ms 
optimization twice time 48.384918 
mapping pub time 1.966407 ms 
whole mapping time 98.208706 ms +++++
publication time 6.169904 ms 
whole laserOdometry time 54.579173 ms 
 
[0m[ INFO] [1718887351.536303279]: Received 1957751 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887351.536336059]: Data saved to 1317358095253503.pcd[0m
points size 58370 
sort q time 3.408884 
seperate points time 8.800096 
mapping data assosiation time 19.826411 ms 
mapping solver time 10.946917 ms 
solver time 10.232271 ms 
mapping data assosiation time 18.170034 ms 
mapping solver time 8.469959 ms 
filter time 8.447811 ms 
build tree time 23.078809 ms 
sort q time 3.481600 
seperate points time 9.088363 
mapping data assosiation time 22.626105 ms 
mapping solver time 12.884032 ms 
mapping data assosiation time 17.495874 ms 
mapping solver time 11.039245 ms 
filter time 8.347447 ms 
solver time 11.406471 ms 
publication time 6.926183 ms 
whole laserOdometry time 70.465942 ms 
 
points size 59751 
sort q time 3.196267 
seperate points time 7.817155 
data association time 11.271229 ms 
mapping data assosiation time 18.343622 ms 
mapping solver time 10.391764 ms 
data association time 11.897959 ms 
solver time 8.277763 ms 
optimization twice time 42.716660 
mapping data assosiation time 18.131817 ms 
publication time 6.193433 ms 
whole laserOdometry time 48.926392 ms 
 
filter time 7.083916 ms 
points size 62593 
sort q time 3.178761 
seperate points time 7.752927 
data association time 17.964141 ms 
mapping solver time 17.488733 ms 
mapping data assosiation time 17.642222 ms 
mapping solver time 8.352491 ms 
filter time 7.478119 ms 
solver time 11.660053 ms 
mapping pub time 0.791955 ms 
whole mapping time 100.770273 ms +++++
optimization twice time 63.818847 
points size 65504 
sort q time 3.039637 
seperate points time 7.398400 
data association time 11.938023 ms 
solver time 12.247613 ms 
data association time 12.918675 ms 
solver time 10.666011 ms 
optimization twice time 48.705787 
mapping data assosiation time 19.259210 ms 
publication time 7.404854 ms 
whole laserOdometry time 56.129452 ms 
 
filter time 7.649292 ms 
mapping pub time 1.865413 ms 
whole mapping time 100.972539 ms +++++
map prepare time 2.745083 ms
map corner num 84791  surf num 32157 
points size 69258 
prepare time 10.731393 
scan registration time 21.839609 ms *************
data association time 13.146873 ms 
mapping data assosiation time 21.111654 ms 
data association time 12.129403 ms 
mapping data assosiation time 19.023205 ms 
mapping solver time 8.962495 ms 
filter time 8.906564 ms 
points size 73876 
sort q time 3.314117 
seperate points time 8.148806 
mapping data assosiation time 20.915495 ms 
mapping solver time 11.717361 ms 
mapping data assosiation time 18.991518 ms 
solver time 8.286232 ms 
filter time 8.704422 ms 
points size 77999 
prepare time 14.767132 
build tree time 26.655411 ms 
sort q time 4.813308 
seperate points time 12.067383 
mapping data assosiation time 21.992523 ms 
mapping solver time 16.477446 ms 
data association time 20.791143 ms 
mapping data assosiation time 24.007999 ms 
solver time 17.719781 ms 
data association time 19.849187 ms 
solver time 8.704536 ms 
map prepare time 2.759602 ms
map corner num 85763  surf num 32445 
sort q time 4.609369 
seperate points time 11.476985 
build tree time 23.961080 ms 
solver time 13.162251 ms 
mapping solver time 11.765176 ms 
solver time 10.081949 ms 
publication time 8.000125 ms 
whole laserOdometry time 63.646121 ms 
 
mapping solver time 9.439420 ms 
mapping optimization time 88.470289 
add points time 0.524505 ms
sort q time 4.637726 
seperate points time 11.216005 
build tree time 23.393359 ms 
data association time 14.062076 ms 
mapping data assosiation time 20.102536 ms 
mapping solver time 11.375164 ms 
solver time 7.718595 ms 
optimization twice time 46.520990 
mapping solver time 8.791166 ms 
filter time 9.012683 ms 
points size 82140 
sort q time 4.577013 
seperate points time 11.229493 
scan registration time 31.485265 ms *************
data association time 15.576235 ms 
solver time 13.407980 ms 
data association time 16.379595 ms 
solver time 9.225677 ms 
points size 82752 
mapping pub time 128.223722 ms 
whole mapping time 224.582281 ms +++++
sort q time 4.801657 
seperate points time 11.970005 
data association time 14.247921 ms 
solver time 10.849103 ms 
mapping data assosiation time 19.252021 ms 
mapping solver time 11.852096 ms 
publication time 8.167837 ms 
whole laserOdometry time 60.913652 ms 
 
mapping data assosiation time 20.545988 ms 
prepare time 12.160742 
mapping solver time 9.344639 ms 
mapping optimization time 84.886057 
add points time 0.539455 ms
scan registration time 27.029535 ms *************
data association time 13.004946 ms 
solver time 11.119832 ms 
data association time 13.775019 ms 
mapping solver time 14.394813 ms 
mapping data assosiation time 21.435261 ms 
points size 83984 
prepare time 12.678194 
scan registration time 25.334973 ms *************
data association time 20.776353 ms 
build tree time 29.763459 ms 
mapping data assosiation time 24.188377 ms 
data association time 23.267943 ms 
solver time 12.749314 ms 
publication time 9.609368 ms 
whole laserOdometry time 83.413834 ms 
 
mapping data assosiation time 21.902835 ms 
sort q time 4.724751 
seperate points time 11.089935 
scan registration time 27.769525 ms *************
filter time 7.230301 ms 
solver time 10.650063 ms 
build tree time 21.072203 ms 
solver time 7.956814 ms 
points size 85714 
mapping solver time 8.314513 ms 
filter time 8.470567 ms 
data association time 13.285025 ms 
solver time 10.859796 ms 
data association time 13.603623 ms 
solver time 10.397328 ms 
mapping solver time 14.369581 ms 
points size 86313 
mapping solver time 8.534403 ms 
filter time 8.806841 ms 
data association time 14.448749 ms 
solver time 11.050191 ms 
data association time 13.341442 ms 
mapping data assosiation time 19.099206 ms 
solver time 8.632465 ms 
optimization twice time 48.377306 
mapping data assosiation time 18.320760 ms 
points size 86869 
prepare time 16.294707 
mapping optimization time 86.799974 
filter time 9.633897 ms 
data association time 15.333617 ms 
build tree time 24.761369 ms 
data association time 15.702332 ms 
solver time 10.552286 ms 
points size 86949 
mapping data assosiation time 20.571107 ms 
sort q time 5.043253 
seperate points time 12.100379 
filter time 9.770978 ms 
solver time 10.684776 ms 
build tree time 26.616995 ms 
solver time 8.218089 ms 
mapping solver time 12.020405 ms 
points size 86866 
mapping data assosiation time 23.651636 ms 
mapping solver time 10.258067 ms 
filter time 10.041312 ms 
solver time 10.905732 ms 
build tree time 24.343972 ms 
publication time 7.131407 ms 
whole laserOdometry time 55.751483 ms 
 
points size 86802 
sort q time 4.376274 
seperate points time 10.086834 
mapping solver time 9.337762 ms 
filter time 10.106873 ms 
data association time 13.882203 ms 
build tree time 24.950039 ms 
mapping data assosiation time 23.197672 ms 
points size 86675 
mapping solver time 21.595949 ms 
sort q time 5.092514 
seperate points time 12.445460 
mapping data assosiation time 21.818440 ms 
mapping solver time 9.159194 ms 
filter time 9.776594 ms 
solver time 14.523180 ms 
data association time 13.464109 ms 
solver time 10.925903 ms 
points size 86742 
sort q time 4.886415 
seperate points time 11.973810 
scan registration time 35.168545 ms *************
mapping solver time 18.695519 ms 
mapping data assosiation time 22.565328 ms 
mapping solver time 9.913458 ms 
map prepare time 2.797564 ms
map corner num 89488  surf num 33641 
data association time 17.305660 ms 
solver time 12.744798 ms 
publication time 7.543334 ms 
whole laserOdometry time 69.106032 ms 
 
mapping data assosiation time 25.599632 ms 
mapping solver time 14.888296 ms 
data association time 13.874631 ms 
mapping data assosiation time 19.029602 ms 
mapping solver time 9.455180 ms 
filter time 7.895581 ms 
solver time 12.501431 ms 
build tree time 26.339485 ms 
sort q time 4.254397 
seperate points time 10.145410 
mapping solver time 15.224862 ms 
mapping data assosiation time 20.683800 ms 
mapping solver time 16.867451 ms 
mapping optimization time 101.333310 
add points time 0.561113 ms
map prepare time 2.763486 ms
map corner num 90010  surf num 33794 
points size 87224 
build tree time 25.024954 ms 
sort q time 4.266166 
seperate points time 10.052456 
mapping data assosiation time 18.875656 ms 
data association time 13.790480 ms 
solver time 10.862209 ms 
data association time 14.084905 ms 
mapping solver time 13.962859 ms 
filter time 8.965745 ms 
points size 87544 
sort q time 3.855605 
seperate points time 9.374543 
mapping data assosiation time 21.760334 ms 
data association time 21.799733 ms 
mapping solver time 16.704008 ms 
solver time 18.512659 ms 
mapping data assosiation time 20.280085 ms 
mapping solver time 12.884210 ms 
filter time 11.270418 ms 
prepare time 13.194547 
map prepare time 2.726216 ms
map corner num 90537  surf num 33999 
sort q time 5.212592 
seperate points time 12.459307 
scan registration time 29.844029 ms *************
build tree time 24.875649 ms 
solver time 12.585472 ms 
data association time 14.350978 ms 
publication time 8.216389 ms 
whole laserOdometry time 58.633656 ms 
 
mapping data assosiation time 23.452992 ms 
sort q time 4.187182 
seperate points time 9.870408 
filter time 8.948672 ms 
data association time 14.444630 ms 
solver time 11.588162 ms 
data association time 14.277576 ms 
solver time 8.001337 ms 
publication time 8.168576 ms 
whole laserOdometry time 57.330366 ms 
 
mapping solver time 17.478841 ms 
points size 88278 
mapping data assosiation time 20.815322 ms 
mapping solver time 14.794611 ms 
filter time 9.346609 ms 
solver time 18.784437 ms 
data association time 19.596979 ms 
solver time 15.662187 ms 
points size 88556 
sort q time 4.297754 
seperate points time 10.093684 
mapping solver time 10.187440 ms 
mapping pub time 1.266222 ms 
whole mapping time 104.387680 ms +++++
solver time 14.429614 ms 
data association time 12.598169 ms 
publication time 7.206956 ms 
whole laserOdometry time 57.602324 ms 
 
mapping data assosiation time 21.472522 ms 
mapping solver time 14.065340 ms 
sort q time 4.221189 
seperate points time 10.189804 
mapping solver time 12.294218 ms 
filter time 8.163604 ms 
solver time 15.144524 ms 
build tree time 25.380873 ms 
data association time 19.432525 ms 
solver time 7.850338 ms 
points size 88994 
prepare time 16.586688 
mapping solver time 13.512554 ms 
sort q time 4.983596 
seperate points time 12.813898 
mapping data assosiation time 22.922988 ms 
mapping solver time 10.466229 ms 
solver time 12.722350 ms 
data association time 13.979374 ms 
solver time 10.715373 ms 
points size 89023 
sort q time 4.970292 
seperate points time 12.809884 
scan registration time 32.876616 ms *************
data association time 13.366801 ms 
solver time 10.647338 ms 
data association time 15.057610 ms 
map prepare time 4.129596 ms
map corner num 92268  surf num 34732 
publication time 9.494748 ms 
whole laserOdometry time 59.575066 ms 
 
points size 89108 
prepare time 17.328003 
build tree time 32.807737 ms 
sort q time 5.178799 
seperate points time 13.239193 
mapping data assosiation time 21.572783 ms 
data association time 15.400004 ms 
solver time 13.907890 ms 
mapping data assosiation time 24.657351 ms 
mapping solver time 9.788396 ms 
filter time 10.172027 ms 
publication time 9.389322 ms 
whole laserOdometry time 63.509981 ms 
 
points size 89381 
sort q time 5.014451 
seperate points time 11.988034 
data association time 14.534332 ms 
solver time 8.332814 ms 
data association time 15.645370 ms 
mapping solver time 17.187707 ms 
publication time 8.268891 ms 
whole laserOdometry time 56.184110 ms 
 
mapping data assosiation time 23.158763 ms 
mapping solver time 13.006965 ms 
mapping optimization time 105.642745 
add points time 0.611163 ms
points size 89434 
sort q time 5.180041 
seperate points time 13.315257 
build tree time 26.661187 ms 
data association time 17.865191 ms 
solver time 10.577783 ms 
points size 89320 
prepare time 17.671809 
mapping data assosiation time 31.301683 ms 
mapping solver time 13.897414 ms 
map prepare time 2.533911 ms
map corner num 93329  surf num 35242 
solver time 14.494496 ms 
data association time 17.578344 ms 
mapping data assosiation time 25.284306 ms 
publication time 9.615099 ms 
whole laserOdometry time 75.652302 ms 
 
scan registration time 35.552100 ms *************
mapping data assosiation time 29.978816 ms 
solver time 13.403746 ms 
mapping pub time 1.472162 ms 
whole mapping time 143.014903 ms +++++
mapping data assosiation time 26.121020 ms 
mapping solver time 16.287445 ms 
data association time 15.237742 ms 
publication time 7.921299 ms 
whole laserOdometry time 66.506183 ms 
 
filter time 10.718471 ms 
mapping pub time 2.364438 ms 
whole mapping time 135.322039 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 2.805268 ms
map corner num 94064  surf num 35558 
data association time 15.656098 ms 
solver time 11.578856 ms 
mapping data assosiation time 27.561260 ms 
mapping solver time 17.467386 ms 
points size 86990 
sort q time 4.414816 
seperate points time 10.558777 
mapping solver time 14.239705 ms 
map prepare time 2.935796 ms
map corner num 94371  surf num 35682 
data association time 25.638988 ms 
solver time 16.521867 ms 
data association time 24.598563 ms 
points size 86375 
mapping solver time 21.476632 ms 
scan registration time 39.857301 ms *************
mapping data assosiation time 27.312248 ms 
mapping solver time 15.265855 ms 
mapping pub time 1.200861 ms 
whole mapping time 134.185286 ms +++++
data association time 19.947716 ms 
solver time 13.077736 ms 
publication time 28.032052 ms 
whole laserOdometry time 98.797462 ms 
 
sort q time 16.831976 
seperate points time 66.613483 
data association time 16.990671 ms 
sort q time 5.850576 
seperate points time 20.651849 
mapping solver time 18.238622 ms 
data association time 23.444616 ms 
map prepare time 3.407812 ms
map corner num 95035  surf num 35942 
publication time 10.488470 ms 
whole laserOdometry time 83.608671 ms 
 
build tree time 33.556247 ms 
prepare time 12.879302 
sort q time 4.359828 
seperate points time 10.610750 
solver time 17.791801 ms 
scan registration time 26.886431 ms *************
mapping data assosiation time 27.707559 ms 
data association time 23.419611 ms 
solver time 12.875083 ms 
publication time 10.891582 ms 
whole laserOdometry time 89.731993 ms 
 
data association time 24.037344 ms 
filter time 10.051653 ms 
sort q time 4.562989 
seperate points time 11.096377 
data association time 22.833753 ms 
solver time 11.155589 ms 
publication time 10.618332 ms 
whole laserOdometry time 85.928499 ms 
 
mapping data assosiation time 27.937307 ms 
data association time 24.631015 ms 
mapping solver time 23.829703 ms 
points size 83093 
mapping data assosiation time 27.685231 ms 
scan registration time 35.474326 ms *************
solver time 12.445347 ms 
optimization twice time 81.187030 
mapping solver time 16.112831 ms 
mapping optimization time 129.135709 
map prepare time 3.251010 ms
map corner num 95649  surf num 36153 
data association time 23.200867 ms 
solver time 17.526556 ms 
points size 82623 
sort q time 4.653513 
seperate points time 11.175663 
solver time 12.563697 ms 
publication time 9.233981 ms 
whole laserOdometry time 88.827709 ms 
 
data association time 21.860566 ms 
mapping data assosiation time 26.658378 ms 
solver time 17.411427 ms 
mapping solver time 19.124096 ms 
data association time 19.775995 ms 
solver time 12.290661 ms 
points size 82287 
build tree time 28.830722 ms 
data association time 14.541081 ms 
mapping data assosiation time 22.100320 ms 
data association time 13.995837 ms 
solver time 5.869891 ms 
optimization twice time 43.733185 
mapping data assosiation time 20.502218 ms 
mapping solver time 10.359871 ms 
filter time 9.300163 ms 
points size 81928 
sort q time 4.541819 
seperate points time 11.208286 
data association time 14.700432 ms 
solver time 11.589083 ms 
data association time 16.837464 ms 
publication time 7.956089 ms 
whole laserOdometry time 60.313374 ms 
 
filter time 8.598991 ms 
prepare time 15.555203 
sort q time 4.612849 
seperate points time 11.437566 
build tree time 30.314723 ms 
solver time 8.937793 ms 
mapping solver time 10.909790 ms 
publication time 7.210710 ms 
whole laserOdometry time 51.459707 ms 
 
mapping solver time 9.719924 ms 
points size 81640 
sort q time 3.758383 
seperate points time 9.000219 
build tree time 27.684927 ms 
solver time 11.456132 ms 
data association time 13.296159 ms 
publication time 7.824688 ms 
whole laserOdometry time 55.023160 ms 
 
mapping data assosiation time 18.376614 ms 
mapping solver time 8.039843 ms 
points size 81586 
sort q time 3.859239 
seperate points time 9.252621 
build tree time 25.750291 ms 
solver time 11.254980 ms 
mapping solver time 12.264609 ms 
publication time 8.259514 ms 
whole laserOdometry time 58.895796 ms 
 
mapping solver time 14.660719 ms 
filter time 10.726511 ms 
scan registration time 32.611257 ms *************
data association time 14.786349 ms 
solver time 11.330678 ms 
data association time 13.744281 ms 
mapping solver time 14.489304 ms 
mapping data assosiation time 18.535444 ms 
points size 81628 
prepare time 11.864996 
sort q time 4.162671 
seperate points time 9.934571 
map prepare time 2.465116 ms
map corner num 97666  surf num 36797 
data association time 12.673651 ms 
solver time 10.545976 ms 
build tree time 27.254731 ms 
mapping data assosiation time 19.490300 ms 
mapping solver time 13.276904 ms 
mapping data assosiation time 18.346109 ms 
sort q time 3.633473 
seperate points time 8.618133 
filter time 11.207500 ms 
data association time 12.802384 ms 
solver time 11.240981 ms 
data association time 13.595730 ms 
publication time 8.213990 ms 
whole laserOdometry time 55.596155 ms 
 
mapping solver time 15.271856 ms 
points size 80881 
mapping data assosiation time 21.940230 ms 
mapping solver time 11.162897 ms 
mapping pub time 1.014868 ms 
whole mapping time 109.585830 ms +++++
solver time 11.819755 ms 
data association time 15.462196 ms 
mapping data assosiation time 20.868181 ms 
mapping solver time 13.506936 ms 
prepare time 13.770929 
sort q time 4.538085 
seperate points time 11.138448 
add points time 0.644061 ms
filter time 11.309672 ms 
solver time 10.871261 ms 
data association time 13.479606 ms 
solver time 9.580458 ms 
publication time 7.790259 ms 
whole laserOdometry time 55.934766 ms 
 
points size 78496 
prepare time 12.207150 
scan registration time 25.106336 ms *************
data association time 11.741185 ms 
solver time 12.119794 ms 
mapping pub time 127.746258 ms 
whole mapping time 234.403690 ms +++++
solver time 17.157871 ms 
build tree time 28.817326 ms 
prepare time 11.447287 
scan registration time 23.388235 ms *************
data association time 12.446586 ms 
mapping data assosiation time 19.148591 ms 
mapping solver time 9.055643 ms 
data association time 12.958603 ms 
solver time 11.261270 ms 
optimization twice time 50.677513 
build tree time 25.759797 ms 
points size 77102 
sort q time 3.599598 
seperate points time 8.582750 
scan registration time 23.465473 ms *************
data association time 14.903000 ms 
mapping data assosiation time 19.472337 ms 
mapping solver time 11.315574 ms 
mapping pub time 0.948530 ms 
whole mapping time 104.255214 ms +++++
solver time 10.116161 ms 
build tree time 29.723648 ms 
mapping data assosiation time 19.269977 ms 
mapping solver time 15.496596 ms 
data association time 16.863789 ms 
solver time 14.680916 ms 
filter time 8.125870 ms 
solver time 11.275106 ms 
build tree time 26.533908 ms 
prepare time 14.899242 
scan registration time 27.953903 ms *************
mapping solver time 15.189430 ms 
data association time 13.766059 ms 
solver time 11.135026 ms 
data association time 16.500223 ms 
optimization twice time 52.578290 
points size 75422 
sort q time 3.201503 
seperate points time 7.868683 
mapping data assosiation time 18.804608 ms 
mapping solver time 12.316210 ms 
data association time 13.012765 ms 
solver time 13.603061 ms 
filter time 10.041415 ms 
points size 76197 
build tree time 32.685729 ms 
sort q time 4.364964 
seperate points time 10.767899 
scan registration time 29.392834 ms *************
mapping data assosiation time 22.464379 ms 
data association time 22.435478 ms 
mapping solver time 14.731169 ms 
solver time 16.963786 ms 
mapping data assosiation time 21.806222 ms 
mapping solver time 10.402753 ms 
filter time 10.910489 ms 
prepare time 13.866547 
sort q time 3.863558 
seperate points time 9.651353 
build tree time 29.890846 ms 
mapping data assosiation time 20.408015 ms 
mapping solver time 16.294120 ms 
data association time 21.339290 ms 
mapping data assosiation time 20.887149 ms 
points size 77342 
mapping solver time 13.141545 ms 
mapping pub time 1.173859 ms 
whole mapping time 114.975224 ms +++++
build tree time 23.966310 ms 
mapping data assosiation time 15.222895 ms 
solver time 12.805039 ms 
mapping solver time 11.460602 ms 
solver time 8.465380 ms 
mapping solver time 11.442456 ms 
filter time 9.842337 ms 
sort q time 3.959337 
seperate points time 9.647962 
build tree time 26.724642 ms 
mapping data assosiation time 17.158704 ms 
mapping solver time 14.504356 ms 
data association time 12.917039 ms 
publication time 6.683402 ms 
whole laserOdometry time 54.624452 ms 
 
mapping optimization time 92.449366 
filter time 8.965863 ms 
sort q time 4.135379 
seperate points time 9.726868 
data association time 13.259922 ms 
solver time 10.771518 ms 
mapping data assosiation time 18.236730 ms 
solver time 8.455098 ms 
mapping data assosiation time 16.006697 ms 
mapping solver time 10.012816 ms 
mapping pub time 2.311233 ms 
whole mapping time 99.986512 ms +++++
sort q time 5.816865 
seperate points time 13.308908 
build tree time 28.828044 ms 
data association time 17.854752 ms 
mapping solver time 10.730629 ms 
mapping data assosiation time 15.103870 ms 
mapping solver time 10.278237 ms 
solver time 15.720981 ms 
points size 79921 
sort q time 3.779670 
seperate points time 8.695719 
build tree time 28.555972 ms 
mapping data assosiation time 15.718378 ms 
mapping solver time 11.955004 ms 
data association time 17.557180 ms 
solver time 11.516898 ms 
publication time 8.218405 ms 
whole laserOdometry time 71.374395 ms 
 
mapping pub time 0.961624 ms 
whole mapping time 98.787923 ms +++++
sort q time 3.388885 
seperate points time 7.895222 
build tree time 26.452926 ms 
data association time 19.426852 ms 
solver time 12.491152 ms 
data association time 14.087788 ms 
publication time 6.341153 ms 
whole laserOdometry time 62.416838 ms 
 
filter time 10.086860 ms 
prepare time 12.228053 
scan registration time 24.126101 ms *************
build tree time 30.315525 ms 
mapping data assosiation time 15.673065 ms 
solver time 12.143166 ms 
data association time 14.440507 ms 
mapping data assosiation time 15.800710 ms 
filter time 7.597909 ms 
points size 75808 
build tree time 27.660282 ms 
mapping data assosiation time 15.106582 ms 
mapping solver time 12.909218 ms 
data association time 12.759884 ms 
solver time 10.326839 ms 
filter time 10.458775 ms 
points size 76384 
prepare time 15.232483 
sort q time 4.316050 
seperate points time 10.527174 
mapping data assosiation time 16.556657 ms 
data association time 12.573124 ms 
solver time 11.465004 ms 
data association time 12.542196 ms 
solver time 8.425424 ms 
map prepare time 2.067136 ms
map corner num 102598  surf num 38086 
points size 75521 
sort q time 4.259978 
seperate points time 10.328665 
mapping solver time 11.832992 ms 
data association time 15.228173 ms 
solver time 12.774206 ms 
filter time 9.098404 ms 
solver time 10.432161 ms 
map prepare time 2.113561 ms
map corner num 102830  surf num 38152 
points size 74810 
sort q time 4.140571 
seperate points time 10.196805 
mapping solver time 8.935637 ms 
data association time 18.672880 ms 
mapping solver time 9.173886 ms 
filter time 9.970872 ms 
data association time 18.829730 ms 
solver time 11.320893 ms 
publication time 6.955190 ms 
whole laserOdometry time 72.296294 ms 
 
sort q time 3.230067 
seperate points time 7.651117 
scan registration time 22.808134 ms *************
build tree time 27.072573 ms 
data association time 19.026587 ms 
mapping data assosiation time 15.992026 ms 
solver time 15.593285 ms 
mapping solver time 12.372766 ms 
mapping data assosiation time 15.173308 ms 
mapping solver time 9.804958 ms 
publication time 7.065859 ms 
whole laserOdometry time 73.450893 ms 
 
filter time 8.593394 ms 
points size 73144 
sort q time 3.743581 
seperate points time 9.216337 
mapping data assosiation time 13.953965 ms 
mapping solver time 13.728195 ms 
data association time 18.979200 ms 
solver time 15.570422 ms 
mapping data assosiation time 25.008976 ms 
data association time 18.894782 ms 
mapping solver time 18.448369 ms 
filter time 10.482669 ms 
sort q time 3.209451 
seperate points time 7.764814 
scan registration time 23.612894 ms *************
data association time 18.868364 ms 
solver time 15.570373 ms 
data association time 18.681391 ms 
publication time 6.954094 ms 
whole laserOdometry time 73.070373 ms 
 
prepare time 12.011095 
scan registration time 24.629756 ms *************
drop lidar frame in mapping for real time performance 
map prepare time 2.743791 ms
map corner num 103568  surf num 38349 
solver time 16.221842 ms 
data association time 16.200985 ms 
publication time 6.096072 ms 
whole laserOdometry time 67.354368 ms 
 
points size 71605 
sort q time 3.897939 
seperate points time 9.023812 
filter time 9.879211 ms 
mapping pub time 1.171112 ms 
whole mapping time 103.214219 ms +++++
map prepare time 2.043076 ms
map corner num 103823  surf num 38397 
solver time 12.016913 ms 
build tree time 28.443037 ms 
solver time 7.823308 ms 
solver time 11.193463 ms 
build tree time 35.595808 ms 
data association time 19.684447 ms 
mapping data assosiation time 19.440546 ms 
publication time 7.070725 ms 
whole laserOdometry time 70.652532 ms 
 
points size 71319 
mapping data assosiation time 15.532997 ms 
mapping solver time 11.801164 ms 
mapping pub time 1.311199 ms 
whole mapping time 116.054492 ms +++++
map prepare time 2.806358 ms
map corner num 104401  surf num 38578 
data association time 18.593636 ms 
solver time 15.595120 ms 
data association time 18.417480 ms 
build tree time 35.825841 ms 
solver time 13.446399 ms 
points size 71171 
sort q time 4.324629 
seperate points time 10.245366 
mapping solver time 9.799144 ms 
filter time 8.095653 ms 
solver time 12.446426 ms 
build tree time 25.761438 ms 
publication time 6.150651 ms 
whole laserOdometry time 52.629872 ms 
 
mapping solver time 13.067616 ms 
points size 70715 
mapping data assosiation time 19.861787 ms 
mapping solver time 11.881509 ms 
filter time 10.079572 ms 
mapping pub time 2.293086 ms 
whole mapping time 103.721326 ms +++++
data association time 18.519318 ms 
map prepare time 2.091442 ms
map corner num 104844  surf num 38715 
solver time 15.694480 ms 
build tree time 30.113909 ms 
mapping data assosiation time 16.527493 ms 
publication time 6.659077 ms 
whole laserOdometry time 76.495934 ms 
 
sort q time 3.384690 
seperate points time 7.956932 
mapping solver time 11.174541 ms 
filter time 10.525221 ms 
data association time 17.897105 ms 
solver time 11.739570 ms 
mapping data assosiation time 18.092018 ms 
points size 69594 
sort q time 3.158768 
seperate points time 7.499089 
mapping data assosiation time 14.789098 ms 
scan registration time 21.438905 ms *************
mapping solver time 7.715841 ms 
mapping pub time 0.953908 ms 
whole mapping time 93.400095 ms +++++
solver time 11.176049 ms 
data association time 11.849152 ms 
publication time 5.347241 ms 
whole laserOdometry time 49.281506 ms 
 
mapping solver time 12.556137 ms 
points size 71713 
sort q time 3.173343 
seperate points time 7.724174 
filter time 8.988194 ms 
data association time 18.176361 ms 
solver time 15.378250 ms 
data association time 17.882297 ms 
solver time 11.423010 ms 
points size 72587 
mapping solver time 9.764191 ms 
filter time 10.896377 ms 
data association time 13.719681 ms 
solver time 13.601834 ms 
data association time 14.232127 ms 
solver time 10.406451 ms 
mapping data assosiation time 14.942477 ms 
prepare time 12.094239 
sort q time 3.613054 
seperate points time 8.536534 
data association time 10.957263 ms 
solver time 8.255168 ms 
data association time 11.269740 ms 
solver time 7.621630 ms 
mapping solver time 12.129262 ms 
mapping data assosiation time 16.001678 ms 
mapping solver time 10.073091 ms 
filter time 10.708491 ms 
sort q time 4.003385 
seperate points time 9.788211 
scan registration time 26.227801 ms *************
data association time 18.043962 ms 
solver time 17.533109 ms 
mapping solver time 16.375644 ms 
solver time 13.392650 ms 
points size 73808 
sort q time 3.308550 
seperate points time 7.824231 
data association time 18.046650 ms 
solver time 14.788304 ms 
build tree time 36.961239 ms 
data association time 19.757428 ms 
solver time 12.626639 ms 
points size 74231 
mapping solver time 10.296502 ms 
filter time 11.720051 ms 
data association time 18.442504 ms 
solver time 14.649988 ms 
build tree time 36.979988 ms 
data association time 18.779553 ms 
mapping data assosiation time 17.520025 ms 
publication time 6.617775 ms 
whole laserOdometry time 72.718130 ms 
 
points size 73276 
mapping data assosiation time 14.155638 ms 
mapping solver time 10.206949 ms 
filter time 11.233693 ms 
data association time 18.428923 ms 
solver time 14.971775 ms 
data association time 18.036510 ms 
solver time 12.899984 ms 
publication time 7.485282 ms 
whole laserOdometry time 72.924170 ms 
 
points size 69084 
mapping data assosiation time 13.250970 ms 
mapping solver time 11.762303 ms 
filter time 11.439701 ms 
solver time 11.864057 ms 
data association time 17.805662 ms 
solver time 11.000579 ms 
build tree time 36.849028 ms 
optimization twice time 60.065437 
mapping data assosiation time 16.261227 ms 
points size 67350 
sort q time 3.360685 
seperate points time 8.587620 
mapping solver time 6.539813 ms 
filter time 11.692185 ms 
solver time 15.027314 ms 
data association time 12.145346 ms 
publication time 5.375806 ms 
whole laserOdometry time 59.945434 ms 
 
mapping solver time 10.844459 ms 
sort q time 3.597225 
seperate points time 8.685888 
mapping optimization time 86.173208 
filter time 9.885869 ms 
solver time 8.221191 ms 
data association time 11.560900 ms 
optimization twice time 41.671516 
mapping data assosiation time 15.008383 ms 
mapping solver time 11.821333 ms 
points size 65421 
sort q time 3.675191 
seperate points time 8.700453 
filter time 12.052435 ms 
solver time 14.716943 ms 
data association time 16.476419 ms 
optimization twice time 60.384131 
publication time 6.375651 ms 
whole laserOdometry time 66.778004 ms 
 
mapping solver time 12.116397 ms 
sort q time 3.883987 
seperate points time 9.096013 
mapping solver time 10.228653 ms 
mapping optimization time 93.045104 
add points time 0.473562 ms
data association time 11.860318 ms 
solver time 11.551935 ms 
data association time 11.998354 ms 
optimization twice time 45.075922 
build tree time 35.325762 ms 
mapping data assosiation time 14.147615 ms 
mapping solver time 11.756555 ms 
sort q time 3.089075 
seperate points time 7.342625 
mapping data assosiation time 13.153163 ms 
scan registration time 20.667000 ms *************
data association time 11.409783 ms 
filter time 9.008853 ms 
data association time 14.190876 ms 
optimization twice time 44.094897 
points size 65423 
sort q time 3.926740 
seperate points time 9.235330 
data association time 11.438044 ms 
solver time 10.427898 ms 
map prepare time 2.628986 ms
map corner num 114082  surf num 43278 
data association time 20.035299 ms 
solver time 14.194129 ms 
mapping data assosiation time 13.234686 ms 
sort q time 2.775308 
seperate points time 6.672930 
mapping data assosiation time 17.689237 ms 
data association time 18.445473 ms 
mapping optimization time 88.493856 
add points time 0.507778 ms
solver time 11.886074 ms 
map prepare time 2.574660 ms
map corner num 114378  surf num 43364 
solver time 11.139306 ms 
build tree time 36.143107 ms 
points size 58914 
sort q time 3.085705 
seperate points time 7.524776 
mapping solver time 12.104790 ms 
data association time 10.518196 ms 
mapping solver time 9.183118 ms 
filter time 10.563386 ms 
solver time 8.691773 ms 
build tree time 31.349798 ms 
mapping data assosiation time 13.854988 ms 
sort q time 3.002001 
seperate points time 7.218900 
mapping data assosiation time 15.732608 ms 
mapping solver time 10.989518 ms 
filter time 10.754296 ms 
solver time 11.342972 ms 
mapping data assosiation time 13.719352 ms 
mapping solver time 11.403958 ms 
mapping data assosiation time 13.245459 ms 
filter time 6.181689 ms 
data association time 16.284745 ms 
solver time 11.360261 ms 
data association time 16.094881 ms 
optimization twice time 55.969753 
mapping solver time 13.512518 ms 
publication time 5.366078 ms 
whole laserOdometry time 61.349311 ms 
 
mapping data assosiation time 13.964607 ms 
add points time 0.555400 ms
points size 57559 
sort q time 2.491633 
seperate points time 6.121680 
build tree time 20.274415 ms 
mapping data assosiation time 14.634863 ms 
mapping solver time 12.308108 ms 
solver time 8.661683 ms 
mapping solver time 12.449718 ms 
filter time 8.166919 ms 
points size 58868 
sort q time 3.294058 
seperate points time 7.837205 
mapping data assosiation time 15.052585 ms 
mapping solver time 13.257924 ms 
mapping data assosiation time 12.318739 ms 
add points time 0.493825 ms
solver time 14.325327 ms 
map prepare time 2.309078 ms
map corner num 75310  surf num 25685 
build tree time 20.158507 ms 
mapping data assosiation time 13.620767 ms 
sort q time 3.223930 
seperate points time 7.838274 
scan registration time 21.976910 ms *************
mapping data assosiation time 17.215377 ms 
mapping solver time 13.333557 ms 
mapping pub time 1.018587 ms 
whole mapping time 89.495710 ms +++++
data association time 13.072604 ms 
solver time 8.532784 ms 
points size 61929 
sort q time 2.933761 
seperate points time 7.139524 
mapping solver time 10.229832 ms 
mapping data assosiation time 13.008421 ms 
add points time 0.472545 ms
solver time 8.622302 ms 
build tree time 18.447973 ms 
points size 62447 
prepare time 10.765047 
mapping data assosiation time 15.884619 ms 
data association time 15.235865 ms 
mapping solver time 8.282615 ms 
mapping pub time 1.589712 ms 
whole mapping time 85.099811 ms +++++
solver time 10.115625 ms 
map prepare time 1.601135 ms
map corner num 76131  surf num 26041 
build tree time 18.167486 ms 
points size 62182 
sort q time 3.363917 
seperate points time 8.429247 
scan registration time 26.162035 ms *************
mapping solver time 12.692552 ms 
mapping data assosiation time 14.246620 ms 
data association time 11.493612 ms 
solver time 11.946610 ms 
data association time 11.292185 ms 
solver time 9.843086 ms 
map prepare time 2.394148 ms
map corner num 76387  surf num 26150 
points size 63389 
sort q time 2.608606 
seperate points time 6.311365 
mapping data assosiation time 14.263996 ms 
data association time 17.009875 ms 
mapping data assosiation time 16.615430 ms 
solver time 20.320515 ms 
mapping solver time 15.622262 ms 
filter time 8.239814 ms 
solver time 13.282616 ms 
optimization twice time 68.150168 
publication time 4.782980 ms 
whole laserOdometry time 72.947649 ms 
 
points size 64311 
build tree time 21.068292 ms 
mapping data assosiation time 16.230455 ms 
[0m[ INFO] [1718887363.429714589]: Received 1995664 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887363.429763194]: Data saved to 1317358106897347.pcd[0m
mapping data assosiation time 13.752247 ms 
mapping solver time 11.201390 ms 
solver time 14.699870 ms 
map prepare time 1.729952 ms
map corner num 76957  surf num 26316 
sort q time 3.894681 
seperate points time 9.344851 
mapping data assosiation time 14.508611 ms 
mapping solver time 14.193151 ms 
solver time 15.385513 ms 
mapping solver time 9.083535 ms 
filter time 7.516224 ms 
solver time 15.558792 ms 
map prepare time 1.808213 ms
map corner num 77259  surf num 26407 
sort q time 3.054138 
seperate points time 7.403046 
mapping data assosiation time 13.609264 ms 
data association time 17.092739 ms 
mapping solver time 12.113654 ms 
solver time 15.219638 ms 
mapping solver time 8.830737 ms 
filter time 8.580141 ms 
solver time 11.949279 ms 
map prepare time 2.092859 ms
map corner num 77613  surf num 26513 
prepare time 12.217092 
scan registration time 23.184495 ms *************
mapping data assosiation time 17.808780 ms 
mapping solver time 13.299132 ms 
mapping data assosiation time 16.388517 ms 
data association time 16.907982 ms 
filter time 6.366527 ms 
publication time 5.897389 ms 
whole laserOdometry time 72.406580 ms 
 
points size 64241 
sort q time 2.832446 
seperate points time 6.757626 
data association time 18.668558 ms 
mapping solver time 17.799320 ms 
mapping data assosiation time 19.157925 ms 
mapping solver time 14.660640 ms 
mapping optimization time 92.602218 
add points time 0.488047 ms
solver time 11.935346 ms 
optimization twice time 67.383882 
points size 64210 
sort q time 3.179049 
seperate points time 7.771930 
mapping data assosiation time 16.202218 ms 
solver time 11.194632 ms 
data association time 11.623783 ms 
solver time 9.221737 ms 
mapping optimization time 80.062952 
map prepare time 1.756073 ms
map corner num 78679  surf num 26873 
build tree time 19.767469 ms 
sort q time 3.099906 
seperate points time 7.812941 
mapping solver time 11.963963 ms 
solver time 10.605510 ms 
data association time 11.394304 ms 
filter time 7.086234 ms 
map prepare time 2.007809 ms
map corner num 79039  surf num 26970 
build tree time 21.861236 ms 
points size 64068 
sort q time 3.287845 
seperate points time 7.893320 
mapping data assosiation time 18.642052 ms 
data association time 19.228172 ms 
mapping solver time 15.551082 ms 
filter time 8.906477 ms 
data association time 19.365727 ms 
solver time 19.304994 ms 
sort q time 3.682384 
seperate points time 9.005250 
data association time 20.564371 ms 
solver time 19.498012 ms 
data association time 21.763538 ms 
solver time 15.069272 ms 
map prepare time 2.941371 ms
map corner num 79385  surf num 27079 
build tree time 24.349483 ms 
solver time 12.358526 ms 
mapping data assosiation time 17.112409 ms 
mapping solver time 13.379943 ms 
solver time 13.402679 ms 
mapping solver time 12.952928 ms 
filter time 7.173823 ms 
sort q time 4.290638 
seperate points time 10.531799 
build tree time 23.196513 ms 
mapping data assosiation time 18.221491 ms 
solver time 12.520250 ms 
solver time 8.163337 ms 
mapping solver time 8.244820 ms 
filter time 7.622081 ms 
points size 65151 
sort q time 3.960577 
seperate points time 9.454942 
build tree time 20.771072 ms 
scan registration time 24.562856 ms *************
data association time 15.058610 ms 
solver time 13.639255 ms 
mapping data assosiation time 15.971617 ms 
mapping solver time 10.316380 ms 
mapping pub time 0.780035 ms 
whole mapping time 87.755142 ms +++++
points size 65668 
sort q time 3.681558 
seperate points time 9.128881 
data association time 11.840849 ms 
solver time 10.857431 ms 
data association time 11.951909 ms 
mapping solver time 11.926895 ms 
filter time 8.264733 ms 
build tree time 20.940636 ms 
sort q time 2.933615 
seperate points time 7.314032 
data association time 11.950293 ms 
mapping solver time 11.806239 ms 
mapping data assosiation time 14.675831 ms 
mapping solver time 7.677335 ms 
filter time 6.908338 ms 
mapping pub time 1.724603 ms 
whole mapping time 86.676223 ms +++++
solver time 9.062114 ms 
optimization twice time 45.893231 
map prepare time 2.031208 ms
map corner num 81183  surf num 27587 
points size 67454 
sort q time 2.836753 
seperate points time 6.963993 
mapping data assosiation time 14.977855 ms 
mapping solver time 12.586830 ms 
data association time 11.569334 ms 
solver time 7.732490 ms 
map prepare time 2.044386 ms
map corner num 81487  surf num 27677 
build tree time 22.908588 ms 
sort q time 3.697048 
seperate points time 8.921912 
mapping solver time 14.301576 ms 
solver time 11.214522 ms 
mapping solver time 10.947582 ms 
data association time 12.676387 ms 
publication time 5.954312 ms 
whole laserOdometry time 52.335559 ms 
 
build tree time 26.357256 ms 
sort q time 4.403971 
seperate points time 10.974512 
mapping solver time 10.793349 ms 
data association time 11.587862 ms 
mapping data assosiation time 16.608261 ms 
mapping solver time 7.782031 ms 
filter time 7.655455 ms 
publication time 5.841448 ms 
whole laserOdometry time 51.328451 ms 
 
points size 70987 
sort q time 4.318575 
seperate points time 10.853005 
mapping data assosiation time 18.976613 ms 
mapping solver time 10.992011 ms 
mapping data assosiation time 15.882756 ms 
mapping solver time 8.452116 ms 
data association time 12.143152 ms 
filter time 7.095468 ms 
mapping pub time 0.966172 ms 
whole mapping time 91.656643 ms +++++
publication time 6.288893 ms 
whole laserOdometry time 56.676391 ms 
 
points size 73032 
sort q time 4.218450 
seperate points time 10.426536 
scan registration time 27.374515 ms *************
data association time 12.234940 ms 
mapping solver time 15.043659 ms 
data association time 11.774787 ms 
optimization twice time 45.715416 
filter time 8.683459 ms 
points size 75077 
sort q time 4.192100 
seperate points time 10.170843 
mapping data assosiation time 19.069456 ms 
mapping solver time 11.508366 ms 
solver time 10.096519 ms 
data association time 15.803969 ms 
mapping solver time 9.767916 ms 
mapping optimization time 79.887071 
add points time 0.475624 ms
map prepare time 2.356500 ms
map corner num 82945  surf num 28089 
build tree time 21.754982 ms 
sort q time 4.170053 
seperate points time 10.185883 
mapping solver time 11.515727 ms 
solver time 9.744965 ms 
mapping data assosiation time 17.613772 ms 
data association time 13.467901 ms 
mapping pub time 0.982140 ms 
whole mapping time 93.480732 ms +++++
map prepare time 2.063255 ms
map corner num 83250  surf num 28181 
points size 78575 
build tree time 26.671796 ms 
prepare time 14.966567 
sort q time 5.030201 
seperate points time 12.441014 
mapping solver time 10.465965 ms 
mapping data assosiation time 18.253458 ms 
filter time 7.400464 ms 
data association time 15.673938 ms 
mapping pub time 1.324678 ms 
whole mapping time 97.933397 ms +++++
publication time 6.366163 ms 
whole laserOdometry time 55.089073 ms 
 
points size 80031 
prepare time 12.114837 
scan registration time 25.004535 ms *************
mapping data assosiation time 18.999448 ms 
mapping solver time 11.386244 ms 
data association time 12.590121 ms 
solver time 10.398944 ms 
publication time 7.871579 ms 
whole laserOdometry time 54.653588 ms 
 
filter time 9.512987 ms 
mapping pub time 0.894664 ms 
whole mapping time 98.156440 ms +++++
points size 81162 
sort q time 4.277044 
seperate points time 10.412363 
scan registration time 26.287842 ms *************
mapping solver time 12.041083 ms 
solver time 8.355190 ms 
mapping data assosiation time 18.684408 ms 
data association time 13.769241 ms 
solver time 8.094274 ms 
publication time 7.893163 ms 
whole laserOdometry time 51.852572 ms 
 
points size 82332 
sort q time 4.070985 
seperate points time 10.085035 
mapping solver time 12.330546 ms 
data association time 13.365587 ms 
solver time 8.661474 ms 
mapping solver time 8.349738 ms 
filter time 7.767374 ms 
publication time 6.372463 ms 
whole laserOdometry time 51.012689 ms 
 
points size 83264 
sort q time 5.302820 
seperate points time 13.023022 
mapping solver time 11.764677 ms 
data association time 15.051194 ms 
mapping data assosiation time 18.994565 ms 
mapping optimization time 92.036889 
solver time 8.014985 ms 
map prepare time 3.346168 ms
map corner num 84692  surf num 28623 
prepare time 16.129471 
sort q time 4.763989 
seperate points time 11.668129 
mapping data assosiation time 17.736281 ms 
data association time 13.396862 ms 
solver time 7.937020 ms 
data association time 14.336452 ms 
publication time 6.801713 ms 
whole laserOdometry time 51.622816 ms 
 
filter time 9.322649 ms 
points size 85345 
sort q time 4.898548 
seperate points time 12.026987 
data association time 13.697947 ms 
mapping solver time 14.797318 ms 
solver time 6.294609 ms 
publication time 8.428078 ms 
whole laserOdometry time 52.497331 ms 
 
mapping solver time 9.811139 ms 
filter time 9.691121 ms 
prepare time 16.225481 
sort q time 4.971892 
seperate points time 12.118743 
build tree time 27.357673 ms 
data association time 13.842448 ms 
solver time 8.349970 ms 
mapping solver time 11.554658 ms 
solver time 7.247420 ms 
mapping data assosiation time 19.045307 ms 
mapping solver time 9.365731 ms 
filter time 9.670234 ms 
prepare time 17.040384 
sort q time 5.737743 
seperate points time 14.225403 
data association time 13.784653 ms 
solver time 11.362264 ms 
data association time 18.110820 ms 
publication time 8.076468 ms 
whole laserOdometry time 60.915067 ms 
 
points size 88663 
sort q time 5.601705 
seperate points time 14.101192 
mapping pub time 146.245240 ms 
whole mapping time 246.627935 ms +++++
data association time 16.433049 ms 
solver time 11.532247 ms 
build tree time 26.229431 ms 
data association time 13.736621 ms 
mapping data assosiation time 21.194484 ms 
mapping solver time 15.289367 ms 
sort q time 5.219038 
seperate points time 12.564869 
mapping solver time 9.866189 ms 
mapping optimization time 92.849624 
add points time 0.532088 ms
data association time 15.158615 ms 
solver time 8.620116 ms 
build tree time 20.655709 ms 
solver time 5.466012 ms 
mapping data assosiation time 21.168475 ms 
mapping solver time 12.831768 ms 
prepare time 16.440042 
mapping data assosiation time 21.264182 ms 
sort q time 5.296532 
seperate points time 12.700239 
scan registration time 33.957049 ms *************
filter time 7.700214 ms 
mapping pub time 1.046193 ms 
whole mapping time 99.385634 ms +++++
map prepare time 2.627361 ms
map corner num 85905  surf num 29005 
solver time 10.551559 ms 
build tree time 21.213400 ms 
data association time 14.635319 ms 
solver time 10.700745 ms 
mapping solver time 14.254661 ms 
points size 90483 
sort q time 4.123312 
seperate points time 9.855281 
mapping solver time 10.815676 ms 
filter time 6.937300 ms 
solver time 11.957130 ms 
build tree time 22.640280 ms 
data association time 13.993458 ms 
solver time 8.041859 ms 
data association time 15.562453 ms 
publication time 8.885213 ms 
whole laserOdometry time 52.959642 ms 
 
points size 91770 
mapping data assosiation time 20.866259 ms 
mapping solver time 12.048196 ms 
mapping optimization time 92.227908 
add points time 0.658984 ms
map prepare time 3.253967 ms
map corner num 86551  surf num 29213 
solver time 14.510733 ms 
build tree time 28.837094 ms 
data association time 24.832432 ms 
mapping data assosiation time 25.341818 ms 
prepare time 14.022115 
sort q time 4.844682 
seperate points time 12.086189 
mapping data assosiation time 20.942556 ms 
mapping solver time 9.569622 ms 
mapping optimization time 103.362369 
add points time 0.553345 ms
data association time 15.359845 ms 
data association time 13.912512 ms 
solver time 8.827340 ms 
publication time 8.394735 ms 
whole laserOdometry time 58.446426 ms 
 
mapping data assosiation time 21.393215 ms 
mapping solver time 14.312056 ms 
mapping data assosiation time 20.802915 ms 
mapping solver time 11.991438 ms 
filter time 9.179928 ms 
data association time 15.481638 ms 
solver time 10.572866 ms 
publication time 10.479416 ms 
whole laserOdometry time 63.853577 ms 
 
points size 95091 
mapping solver time 12.280958 ms 
mapping data assosiation time 19.700475 ms 
mapping solver time 10.497578 ms 
filter time 8.690029 ms 
data association time 15.419621 ms 
solver time 7.770006 ms 
publication time 8.235256 ms 
whole laserOdometry time 59.144197 ms 
 
points size 96243 
mapping data assosiation time 21.371669 ms 
prepare time 14.073883 
mapping solver time 12.783464 ms 
mapping data assosiation time 20.622332 ms 
mapping solver time 10.502568 ms 
filter time 7.939448 ms 
data association time 14.666417 ms 
solver time 8.159214 ms 
optimization twice time 49.659507 
publication time 13.480458 ms 
whole laserOdometry time 63.159638 ms 
 
points size 96631 
sort q time 4.434587 
seperate points time 10.647750 
scan registration time 30.264886 ms *************
mapping solver time 14.782138 ms 
solver time 10.259923 ms 
mapping data assosiation time 21.938627 ms 
mapping solver time 10.227814 ms 
filter time 8.315167 ms 
points size 97010 
build tree time 24.687390 ms 
mapping data assosiation time 22.070325 ms 
mapping solver time 15.056727 ms 
data association time 15.279934 ms 
publication time 9.053493 ms 
whole laserOdometry time 59.502815 ms 
 
mapping solver time 10.831335 ms 
filter time 8.568453 ms 
points size 96454 
sort q time 4.382940 
seperate points time 10.699481 
mapping data assosiation time 20.058384 ms 
solver time 8.420085 ms 
data association time 15.424675 ms 
mapping data assosiation time 25.150628 ms 
mapping solver time 12.477123 ms 
points size 95576 
sort q time 5.107546 
seperate points time 12.114232 
build tree time 24.525960 ms 
data association time 16.193653 ms 
solver time 10.756601 ms 
mapping data assosiation time 20.817323 ms 
data association time 16.223011 ms 
solver time 7.725467 ms 
publication time 9.371431 ms 
whole laserOdometry time 61.128790 ms 
 
points size 94777 
filter time 7.777799 ms 
data association time 14.462560 ms 
build tree time 27.779551 ms 
data association time 13.556803 ms 
mapping solver time 15.498524 ms 
points size 94854 
mapping solver time 12.695005 ms 
mapping optimization time 101.221026 
add points time 0.591059 ms
sort q time 5.885563 
seperate points time 14.306009 
scan registration time 33.779072 ms *************
map prepare time 3.013044 ms
map corner num 89318  surf num 30559 
data association time 21.414257 ms 
build tree time 29.774706 ms 
solver time 16.405266 ms 
mapping data assosiation time 28.232344 ms 
points size 93243 
publication time 11.731140 ms 
whole laserOdometry time 87.131353 ms 
 
mapping data assosiation time 27.107690 ms 
mapping solver time 14.076291 ms 
filter time 9.413902 ms 
solver time 16.170984 ms 
data association time 21.416430 ms 
solver time 11.736832 ms 
publication time 12.220308 ms 
whole laserOdometry time 84.832720 ms 
 
sort q time 5.191017 
seperate points time 13.190100 
scan registration time 29.396148 ms *************
mapping data assosiation time 25.903884 ms 
data association time 17.329202 ms 
solver time 14.360114 ms 
mapping data assosiation time 23.407875 ms 
mapping solver time 10.120172 ms 
publication time 10.045712 ms 
whole laserOdometry time 65.314370 ms 
 
points size 89833 
sort q time 4.505495 
seperate points time 11.305273 
mapping data assosiation time 27.239914 ms 
data association time 22.792194 ms 
solver time 12.561698 ms 
mapping data assosiation time 22.229083 ms 
mapping solver time 10.866930 ms 
filter time 9.404037 ms 
prepare time 13.741841 
sort q time 5.131833 
seperate points time 12.733166 
build tree time 29.366630 ms 
data association time 15.047880 ms 
solver time 10.900278 ms 
data association time 15.306140 ms 
solver time 11.292216 ms 
publication time 9.117427 ms 
whole laserOdometry time 62.467279 ms 
 
points size 87214 
sort q time 4.229221 
seperate points time 10.534732 
data association time 15.109976 ms 
solver time 10.265262 ms 
data association time 14.824134 ms 
publication time 8.161172 ms 
whole laserOdometry time 57.842570 ms 
 
points size 86398 
sort q time 4.411998 
seperate points time 10.921137 
mapping optimization time 107.386844 
add points time 0.714705 ms
map prepare time 3.509813 ms
map corner num 91246  surf num 31396 
solver time 14.634746 ms 
build tree time 30.672902 ms 
data association time 25.417776 ms 
solver time 13.702620 ms 
publication time 10.642303 ms 
whole laserOdometry time 89.986778 ms 
 
sort q time 5.153104 
seperate points time 12.726144 
mapping data assosiation time 23.932178 ms 
mapping solver time 10.102320 ms 
filter time 10.405110 ms 
data association time 17.611462 ms 
solver time 9.010243 ms 
optimization twice time 53.849571 
points size 84504 
sort q time 5.362756 
seperate points time 14.257697 
data association time 15.004188 ms 
data association time 15.278523 ms 
mapping pub time 140.614942 ms 
whole mapping time 266.886314 ms +++++
sort q time 4.741529 
seperate points time 12.024166 
build tree time 34.669133 ms 
solver time 10.562109 ms 
data association time 15.419991 ms 
publication time 8.231476 ms 
whole laserOdometry time 60.715138 ms 
 
points size 80730 
sort q time 3.867209 
seperate points time 9.909194 
filter time 9.447195 ms 
data association time 14.157361 ms 
solver time 11.141185 ms 
data association time 14.342680 ms 
publication time 8.192456 ms 
whole laserOdometry time 57.121442 ms 
 
points size 78950 
sort q time 4.172352 
seperate points time 10.831159 
scan registration time 26.199473 ms *************
[0m[ INFO] [1718887369.240272160]: Received 2020350 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887369.240306101]: Data saved to 1317358113655283.pcd[0m
filter time 8.075200 ms 
data association time 14.903326 ms 
solver time 8.724189 ms 
data association time 14.086565 ms 
solver time 8.161888 ms 
publication time 7.430557 ms 
whole laserOdometry time 54.086394 ms 
 
mapping solver time 13.389253 ms 
prepare time 13.354015 
sort q time 4.153760 
seperate points time 10.417983 
mapping solver time 15.278222 ms 
filter time 9.451529 ms 
data association time 13.950457 ms 
solver time 8.262907 ms 
publication time 7.847210 ms 
whole laserOdometry time 56.995809 ms 
 
mapping data assosiation time 20.393456 ms 
points size 74806 
sort q time 4.610899 
seperate points time 11.483950 
scan registration time 32.005731 ms *************
mapping data assosiation time 22.944129 ms 
mapping solver time 8.555795 ms 
filter time 8.726386 ms 
data association time 13.902122 ms 
build tree time 23.171908 ms 
mapping data assosiation time 22.620808 ms 
mapping solver time 18.458747 ms 
mapping data assosiation time 20.861306 ms 
data association time 13.668150 ms 
solver time 10.734815 ms 
map prepare time 2.398100 ms
map corner num 93594  surf num 32186 
solver time 8.134667 ms 
build tree time 23.971034 ms 
points size 73420 
sort q time 3.782780 
seperate points time 9.458178 
mapping solver time 15.453420 ms 
data association time 12.917566 ms 
mapping data assosiation time 19.528670 ms 
mapping solver time 12.243969 ms 
mapping optimization time 97.383688 
add points time 0.560561 ms
data association time 13.780380 ms 
publication time 6.776935 ms 
whole laserOdometry time 54.859770 ms 
 
build tree time 27.793776 ms 
sort q time 3.201512 
seperate points time 7.581648 
data association time 12.157693 ms 
solver time 9.901607 ms 
mapping data assosiation time 17.280137 ms 
data association time 12.149193 ms 
filter time 11.098720 ms 
build tree time 23.349410 ms 
prepare time 10.932748 
mapping data assosiation time 18.667266 ms 
mapping solver time 12.421558 ms 
data association time 12.420737 ms 
solver time 10.318718 ms 
filter time 7.958004 ms 
publication time 5.977369 ms 
whole laserOdometry time 50.091476 ms 
 
build tree time 23.462974 ms 
sort q time 3.878132 
seperate points time 9.479234 
mapping solver time 12.192172 ms 
data association time 12.249352 ms 
solver time 11.406456 ms 
mapping solver time 7.582490 ms 
filter time 7.583520 ms 
publication time 6.120493 ms 
whole laserOdometry time 52.012909 ms 
 
build tree time 25.512467 ms 
scan registration time 23.983067 ms *************
mapping solver time 10.295650 ms 
mapping data assosiation time 16.719226 ms 
data association time 14.379771 ms 
filter time 8.491368 ms 
mapping pub time 2.233180 ms 
whole mapping time 94.778543 ms +++++
publication time 6.218249 ms 
whole laserOdometry time 58.614803 ms 
 
points size 70150 
sort q time 3.239288 
seperate points time 7.797975 
mapping data assosiation time 19.365666 ms 
mapping solver time 9.596189 ms 
data association time 12.162479 ms 
mapping solver time 12.597199 ms 
filter time 10.130557 ms 
points size 70028 
sort q time 3.127530 
seperate points time 7.640643 
mapping solver time 11.540620 ms 
mapping data assosiation time 15.090601 ms 
data association time 12.644921 ms 
solver time 8.751166 ms 
optimization twice time 45.342565 
points size 69731 
scan registration time 22.371291 ms *************
mapping solver time 9.959141 ms 
mapping data assosiation time 15.469593 ms 
mapping solver time 10.173085 ms 
mapping optimization time 78.106165 
add points time 0.520407 ms
data association time 13.145330 ms 
solver time 8.620685 ms 
publication time 6.247665 ms 
whole laserOdometry time 52.224116 ms 
 
map prepare time 2.552304 ms
map corner num 95818  surf num 32699 
points size 68640 
sort q time 3.622150 
seperate points time 8.785682 
mapping solver time 10.628875 ms 
solver time 12.900368 ms 
mapping optimization time 80.756468 
filter time 8.194549 ms 
map prepare time 2.060283 ms
map corner num 96039  surf num 32753 
points size 67594 
sort q time 3.469696 
seperate points time 8.256280 
mapping solver time 11.817146 ms 
mapping data assosiation time 16.221219 ms 
solver time 11.603044 ms 
data association time 12.094540 ms 
solver time 10.679079 ms 
map prepare time 2.012567 ms
map corner num 96257  surf num 32818 
points size 67488 
sort q time 4.123412 
seperate points time 10.360053 
mapping solver time 9.149860 ms 
solver time 10.770789 ms 
mapping solver time 7.866709 ms 
solver time 8.883102 ms 
map prepare time 2.100852 ms
map corner num 96486  surf num 32877 
build tree time 26.192718 ms 
sort q time 4.404975 
seperate points time 10.697482 
mapping data assosiation time 18.633134 ms 
scan registration time 29.301484 ms *************
data association time 13.384044 ms 
solver time 10.985947 ms 
data association time 12.385469 ms 
mapping pub time 0.875676 ms 
whole mapping time 95.307364 ms +++++
publication time 4.782939 ms 
whole laserOdometry time 51.671894 ms 
 
points size 69924 
scan registration time 22.675485 ms *************
data association time 11.530640 ms 
mapping data assosiation time 13.681976 ms 
filter time 7.487654 ms 
map prepare time 1.841550 ms
map corner num 96926  surf num 33002 
build tree time 29.684122 ms 
points size 70763 
mapping data assosiation time 18.246683 ms 
sort q time 4.354105 
seperate points time 10.868305 
scan registration time 30.058991 ms *************
data association time 11.125255 ms 
mapping data assosiation time 14.441674 ms 
add points time 0.508047 ms
mapping pub time 0.891875 ms 
whole mapping time 93.158293 ms +++++
publication time 4.934219 ms 
whole laserOdometry time 51.111523 ms 
 
build tree time 27.387890 ms 
sort q time 4.600482 
seperate points time 11.127342 
mapping solver time 9.948777 ms 
mapping data assosiation time 14.737687 ms 
solver time 13.755755 ms 
data association time 13.824137 ms 
solver time 10.617904 ms 
points size 71561 
scan registration time 22.343009 ms *************
data association time 11.378215 ms 
solver time 11.481262 ms 
data association time 11.753824 ms 
publication time 5.428010 ms 
whole laserOdometry time 50.294476 ms 
 
mapping pub time 137.170055 ms 
whole mapping time 227.049718 ms +++++
points size 71684 
sort q time 3.988587 
seperate points time 9.739081 
solver time 13.354236 ms 
mapping solver time 13.089540 ms 
mapping solver time 7.576354 ms 
filter time 9.568203 ms 
sort q time 3.213354 
seperate points time 7.581200 
build tree time 27.203952 ms 
mapping data assosiation time 14.573724 ms 
mapping solver time 12.339946 ms 
publication time 5.705384 ms 
whole laserOdometry time 50.330900 ms 
 
mapping data assosiation time 16.363163 ms 
filter time 8.267650 ms 
mapping pub time 0.845419 ms 
whole mapping time 94.541239 ms +++++
points size 73581 
sort q time 14.972548 
seperate points time 21.514983 
mapping data assosiation time 17.612375 ms 
mapping solver time 12.957814 ms 
mapping optimization time 98.489365 
add points time 0.646387 ms
solver time 11.725234 ms 
optimization twice time 56.048802 
map prepare time 2.508351 ms
map corner num 98050  surf num 33323 
sort q time 4.116569 
seperate points time 9.669033 
scan registration time 25.531486 ms *************
build tree time 33.701680 ms 
data association time 14.224043 ms 
data association time 12.461356 ms 
publication time 6.821382 ms 
whole laserOdometry time 49.893982 ms 
 
mapping solver time 7.053019 ms 
filter time 9.912771 ms 
prepare time 12.636881 
sort q time 5.127645 
seperate points time 11.591594 
mapping data assosiation time 14.354290 ms 
mapping solver time 9.428791 ms 
solver time 11.406860 ms 
mapping solver time 6.615231 ms 
solver time 8.159025 ms 
map prepare time 2.766882 ms
map corner num 98501  surf num 33428 
points size 82350 
build tree time 33.414274 ms 
mapping data assosiation time 15.222344 ms 
mapping solver time 9.304558 ms 
mapping data assosiation time 13.947964 ms 
solver time 11.703792 ms 
mapping solver time 7.626781 ms 
mapping optimization time 80.322484 
filter time 10.250052 ms 
mapping pub time 0.961507 ms 
whole mapping time 94.880093 ms +++++
data association time 17.542723 ms 
publication time 7.128114 ms 
whole laserOdometry time 66.864571 ms 
 
points size 85530 
prepare time 15.735282 
sort q time 30.578510 
seperate points time 41.644586 scan registration time 82.069113 ms *************
build tree time 93.469328 ms 
data association time 15.313575 ms 
solver time 11.584664 ms 
mapping data assosiation time 25.090158 ms 
sort q time 5.271495 
seperate points time 16.857414 
scan registration time 45.350636 ms *************
mapping solver time 9.864378 ms 
filter time 9.960747 ms 
data association time 11.678163 ms 
optimization twice time 45.574624 
sort q time 6.103707 
seperate points time 14.453332 
mapping solver time 9.713498 ms 
mapping data assosiation time 15.818537 ms 
mapping solver time 10.659800 ms 
filter time 11.650702 ms 
publication time 7.004859 ms 
whole laserOdometry time 56.115925 ms 
 
points size 94339 
sort q time 6.867223 
seperate points time 15.388693 
mapping solver time 10.322975 ms 
data association time 15.561070 ms 
solver time 13.299797 ms 
data association time 16.151162 ms 
solver time 11.522835 ms 
points size 95819 
mapping data assosiation time 17.031045 ms 
sort q time 6.525550 
seperate points time 14.237982 
scan registration time 38.057172 ms *************
mapping solver time 15.900401 ms 
mapping data assosiation time 16.887000 ms 
mapping solver time 13.352488 ms 
filter time 9.851782 ms 
mapping pub time 2.774167 ms 
whole mapping time 111.457325 ms +++++
data association time 13.478628 ms 
map prepare time 2.734723 ms
map corner num 99613  surf num 33780 
points size 94552 
prepare time 14.414689 
sort q time 5.143336 
seperate points time 11.531054 
mapping data assosiation time 17.242139 ms 
data association time 12.522568 ms 
mapping solver time 15.953732 ms 
solver time 11.371811 ms 
data association time 12.225587 ms 
mapping data assosiation time 17.270182 ms 
publication time 6.614604 ms 
whole laserOdometry time 52.738651 ms 
 
map prepare time 2.773916 ms
map corner num 99854  surf num 33855 
points size 94520 
sort q time 4.431201 
seperate points time 9.951897 
mapping data assosiation time 17.150094 ms 
mapping solver time 12.602950 ms 
solver time 11.158856 ms 
data association time 13.073951 ms 
solver time 8.514786 ms 
publication time 7.431920 ms 
whole laserOdometry time 53.037562 ms 
 
filter time 10.008531 ms 
points size 92963 
sort q time 5.964774 
seperate points time 13.289011 
mapping data assosiation time 16.875387 ms 
mapping solver time 12.459471 ms 
mapping data assosiation time 13.612717 ms 
solver time 9.937424 ms 
map prepare time 1.977518 ms
map corner num 100479  surf num 34071 
points size 91663 
build tree time 33.708206 ms 
sort q time 5.373753 
seperate points time 12.471459 
scan registration time 35.251739 ms *************
mapping data assosiation time 15.094917 ms 
data association time 12.001636 ms 
solver time 10.861785 ms 
data association time 11.515880 ms 
solver time 8.289154 ms 
map prepare time 2.075074 ms
map corner num 100804  surf num 34151 
points size 87683 
build tree time 34.482832 ms 
mapping data assosiation time 16.182572 ms 
data association time 12.618162 ms 
solver time 12.606966 ms 
mapping optimization time 82.110948 
add points time 0.599976 ms
data association time 14.896504 ms 
publication time 5.162064 ms 
whole laserOdometry time 55.364657 ms 
 
points size 84566 
build tree time 27.094133 ms 
sort q time 4.002372 
seperate points time 9.055260 
scan registration time 25.586485 ms *************
data association time 12.577631 ms 
mapping solver time 7.984458 ms 
mapping data assosiation time 13.601632 ms 
add points time 0.525971 ms
solver time 8.075785 ms 
map prepare time 1.971916 ms
map corner num 101363  surf num 34316 
build tree time 26.165757 ms 
sort q time 4.200529 
seperate points time 9.697718 
mapping solver time 11.751998 ms 
data association time 18.548135 ms 
add points time 0.525358 ms
filter time 9.365152 ms 
data association time 18.349362 ms 
solver time 11.591705 ms 
publication time 7.218127 ms 
whole laserOdometry time 75.373641 ms 
 
points size 79878 
sort q time 4.538046 
seperate points time 10.927022 
build tree time 31.593799 ms 
mapping data assosiation time 12.731878 ms 
mapping solver time 10.554790 ms 
mapping data assosiation time 12.988295 ms 
solver time 9.697686 ms 
points size 76389 
sort q time 3.776193 
seperate points time 8.779374 
mapping solver time 11.410540 ms 
data association time 12.598012 ms 
mapping data assosiation time 14.525068 ms 
mapping solver time 9.025788 ms 
mapping optimization time 65.766198 
add points time 0.523419 ms
solver time 9.536957 ms 
optimization twice time 49.745158 
build tree time 15.042371 ms 
mapping data assosiation time 14.093779 ms 
mapping solver time 15.074998 ms 
mapping data assosiation time 15.431018 ms 
mapping solver time 11.649914 ms 
filter time 8.739153 ms 
solver time 11.548937 ms 
points size 68253 
sort q time 3.408995 
seperate points time 8.574521 
solver time 15.143856 ms 
data association time 17.558360 ms 
solver time 12.138498 ms 
points size 66604 
build tree time 17.108423 ms 
prepare time 15.268636 
mapping data assosiation time 16.915088 ms 
mapping solver time 9.918589 ms 
mapping data assosiation time 13.874385 ms 
mapping solver time 7.595598 ms 
filter time 6.479720 ms 
data association time 17.493771 ms 
optimization twice time 69.568037 
points size 66345 
sort q time 3.187110 
seperate points time 7.612411 
mapping data assosiation time 14.833722 ms 
mapping solver time 10.022537 ms 
filter time 6.300023 ms 
build tree time 14.766726 ms 
mapping data assosiation time 15.459474 ms 
mapping solver time 12.443085 ms 
mapping data assosiation time 15.823010 ms 
mapping solver time 9.282041 ms 
scan registration time 21.619690 ms *************
build tree time 15.120757 ms 
mapping data assosiation time 14.979724 ms 
mapping solver time 10.825481 ms 
data association time 17.772047 ms 
solver time 11.523488 ms 
optimization twice time 63.028106 
mapping solver time 8.248909 ms 
mapping optimization time 65.862396 
add points time 0.539155 ms
map prepare time 2.126065 ms
map corner num 61680  surf num 19843 
points size 63840 
prepare time 10.192409 
mapping data assosiation time 14.684353 ms 
data association time 17.577834 ms 
solver time 15.292055 ms 
mapping data assosiation time 14.826715 ms 
filter time 5.932461 ms 
solver time 11.189402 ms 
optimization twice time 62.865963 
points size 62935 
sort q time 3.291031 
seperate points time 8.202093 
mapping solver time 11.262978 ms 
mapping data assosiation time 17.048371 ms 
mapping solver time 12.828610 ms 
filter time 6.293107 ms 
solver time 11.943984 ms 
map prepare time 2.494063 ms
map corner num 62338  surf num 20036 
points size 63151 
build tree time 20.212878 ms 
mapping data assosiation time 15.661643 ms 
mapping solver time 10.993474 ms 
data association time 11.075293 ms 
mapping solver time 8.362006 ms 
build tree time 14.559415 ms 
points size 61645 
sort q time 3.236607 
seperate points time 7.844357 
mapping data assosiation time 15.114510 ms 
mapping solver time 10.634255 ms 
data association time 11.027133 ms 
solver time 8.529084 ms 
map prepare time 1.977033 ms
map corner num 62929  surf num 20203 
build tree time 14.488004 ms 
points size 61838 
sort q time 3.487051 
seperate points time 8.301633 
data association time 11.636934 ms 
mapping data assosiation time 14.621462 ms 
filter time 5.942970 ms 
solver time 9.977647 ms 
map prepare time 1.938471 ms
map corner num 63188  surf num 20282 
build tree time 14.903977 ms 
points size 62499 
mapping data assosiation time 14.846328 ms 
prepare time 10.423598 
mapping data assosiation time 15.366323 ms 
mapping solver time 8.862707 ms 
data association time 13.519280 ms 
solver time 10.195940 ms 
build tree time 16.272713 ms 
points size 63533 
sort q time 3.519117 
seperate points time 8.680644 
data association time 11.681725 ms 
solver time 11.574497 ms 
data association time 12.203632 ms 
publication time 5.149248 ms 
whole laserOdometry time 49.836648 ms 
 
build tree time 14.544400 ms 
points size 64555 
mapping data assosiation time 16.235684 ms 
prepare time 11.127189 
data association time 11.514940 ms 
solver time 11.425377 ms 
filter time 6.676910 ms 
solver time 7.379456 ms 
map prepare time 2.539647 ms
map corner num 62431  surf num 19802 
build tree time 14.064068 ms 
mapping data assosiation time 15.605800 ms 
prepare time 10.380491 
sort q time 3.091522 
seperate points time 7.418162 
mapping data assosiation time 14.655333 ms 
mapping solver time 9.024371 ms 
solver time 13.178515 ms 
data association time 13.921764 ms 
solver time 8.071923 ms 
map prepare time 1.860158 ms
map corner num 62679  surf num 19872 
build tree time 16.710283 ms 
points size 66541 
sort q time 3.772413 
seperate points time 9.397717 
mapping solver time 15.270260 ms 
mapping data assosiation time 16.318873 ms 
mapping solver time 9.923550 ms 
mapping optimization time 79.113474 
add points time 0.443114 ms
solver time 7.605899 ms 
map prepare time 2.418582 ms
map corner num 62913  surf num 19935 
build tree time 15.796192 ms 
prepare time 11.789019 
sort q time 3.559301 
seperate points time 8.784656 
mapping solver time 13.693799 ms 
data association time 19.689093 ms 
solver time 12.452533 ms 
filter time 6.945199 ms 
solver time 5.845516 ms 
optimization twice time 55.439632 
publication time 6.695445 ms 
whole laserOdometry time 62.154311 ms 
 
points size 65430 
sort q time 3.165545 
seperate points time 7.749756 
mapping data assosiation time 15.803597 ms 
mapping solver time 13.753208 ms 
solver time 8.964017 ms 
data association time 12.329941 ms 
mapping solver time 10.266254 ms 
mapping optimization time 73.322122 
add points time 0.449123 ms
publication time 5.393320 ms 
whole laserOdometry time 48.685064 ms 
 
build tree time 14.483643 ms 
points size 65157 
sort q time 3.259433 
seperate points time 7.664684 
mapping data assosiation time 14.507893 ms 
mapping solver time 10.110341 ms 
data association time 12.593004 ms 
publication time 5.072292 ms 
whole laserOdometry time 44.072571 ms 
 
build tree time 14.440466 ms 
mapping data assosiation time 14.681331 ms 
prepare time 9.585019 
sort q time 3.951008 
seperate points time 13.924493 
mapping solver time 6.914644 ms 
data association time 15.762441 ms 
solver time 18.654333 ms 
data association time 14.373566 ms 
optimization twice time 59.581364 
map prepare time 2.436822 ms
map corner num 63773  surf num 20174 
sort q time 3.395840 
seperate points time 8.177093 
data association time 11.126095 ms 
mapping data assosiation time 18.535645 ms 
mapping solver time 13.555561 ms 
optimization twice time 41.060221 
publication time 4.918183 ms 
whole laserOdometry time 46.000213 ms 
 
mapping solver time 12.465007 ms 
mapping optimization time 90.226067 
add points time 0.628541 ms
map prepare time 3.276532 ms
map corner num 64007  surf num 20257 
sort q time 2.608225 
seperate points time 6.506128 
scan registration time 14.797016 ms *************
data association time 11.983729 ms 
mapping data assosiation time 17.708207 ms 
mapping solver time 12.875933 ms 
data association time 11.281186 ms 
publication time 4.799603 ms 
whole laserOdometry time 51.273821 ms 
 
mapping solver time 9.399339 ms 
filter time 6.838192 ms 
points size 62778 
sort q time 2.856709 
seperate points time 6.939354 
data association time 16.837298 ms 
solver time 15.989341 ms 
data association time 17.036455 ms 
solver time 11.782085 ms 
optimization twice time 62.629798 
points size 63295 
scan registration time 22.090992 ms *************
build tree time 17.829165 ms 
solver time 10.729584 ms 
mapping data assosiation time 13.447491 ms 
mapping solver time 12.133095 ms 
solver time 7.815310 ms 
optimization twice time 43.079870 
publication time 4.758827 ms 
whole laserOdometry time 47.854740 ms 
 
mapping solver time 10.233498 ms 
mapping optimization time 69.730727 
add points time 0.473365 ms
filter time 4.965721 ms 
mapping pub time 0.772329 ms 
whole mapping time 78.756136 ms +++++
points size 63567 
sort q time 3.065041 
seperate points time 7.302550 
mapping solver time 10.608472 ms 
solver time 7.530208 ms 
mapping optimization time 66.228964 
solver time 8.818273 ms 
map prepare time 1.623550 ms
map corner num 64716  surf num 20476 
build tree time 14.927317 ms 
mapping data assosiation time 13.936948 ms 
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mapping solver time 9.302429 ms 
mapping data assosiation time 14.708235 ms 
mapping solver time 9.566516 ms 
mapping optimization time 63.360029 
add points time 0.583533 ms
solver time 7.634033 ms 
data association time 10.488132 ms 
solver time 8.098749 ms 
map prepare time 1.551233 ms
map corner num 64961  surf num 20549 
build tree time 15.747142 ms 
points size 65222 
sort q time 3.124247 
seperate points time 7.408992 
mapping data assosiation time 16.699185 ms 
data association time 18.555218 ms 
mapping solver time 10.519728 ms 
mapping optimization time 68.162850 
add points time 0.453793 ms
solver time 14.204170 ms 
data association time 10.443767 ms 
solver time 10.079186 ms 
map prepare time 1.594918 ms
map corner num 65196  surf num 20612 
build tree time 17.210871 ms 
sort q time 3.534419 
seperate points time 8.614741 
mapping solver time 14.403897 ms 
data association time 17.699590 ms 
mapping data assosiation time 18.490430 ms 
mapping solver time 11.016346 ms 
filter time 7.131077 ms 
solver time 7.826837 ms 
map prepare time 1.755169 ms
map corner num 65460  surf num 20688 
build tree time 15.519111 ms 
sort q time 3.115493 
seperate points time 7.429569 
scan registration time 21.382687 ms *************
mapping data assosiation time 16.505275 ms 
data association time 11.595088 ms 
mapping data assosiation time 15.117908 ms 
data association time 12.790371 ms 
publication time 5.489668 ms 
whole laserOdometry time 44.570807 ms 
 
build tree time 16.217676 ms 
mapping data assosiation time 17.289484 ms 
mapping solver time 12.019864 ms 
mapping data assosiation time 15.040078 ms 
data association time 11.871130 ms 
filter time 6.976224 ms 
data association time 11.028144 ms 
solver time 8.977918 ms 
optimization twice time 44.402611 
publication time 6.092648 ms 
whole laserOdometry time 50.516917 ms 
 
build tree time 16.590962 ms 
points size 76825 
sort q time 4.402357 
seperate points time 10.582039 
scan registration time 31.880975 ms *************
mapping solver time 17.012754 ms 
data association time 11.856070 ms 
mapping data assosiation time 15.724737 ms 
filter time 5.344023 ms 
data association time 12.579669 ms 
solver time 10.530387 ms 
map prepare time 1.816034 ms
map corner num 66297  surf num 20961 
points size 79667 
prepare time 20.184598 
mapping data assosiation time 20.320252 ms 
mapping solver time 13.611341 ms 
solver time 9.359369 ms 
mapping solver time 7.702663 ms 
mapping pub time 0.870528 ms 
whole mapping time 88.151460 ms +++++
publication time 5.565426 ms 
whole laserOdometry time 49.606959 ms 
 
build tree time 16.556671 ms 
sort q time 3.812060 
seperate points time 8.844410 
mapping data assosiation time 17.408532 ms 
scan registration time 25.015815 ms *************
mapping solver time 13.477804 ms 
data association time 12.600986 ms 
solver time 8.583729 ms 
add points time 0.462622 ms
filter time 6.464280 ms 
mapping pub time 1.898115 ms 
whole mapping time 85.316336 ms +++++
publication time 6.784687 ms 
whole laserOdometry time 50.629577 ms 
 
build tree time 19.341593 ms 
sort q time 3.774504 
seperate points time 8.925511 
mapping solver time 13.633343 ms 
solver time 11.811072 ms 
data association time 12.154708 ms 
mapping pub time 0.958878 ms 
whole mapping time 94.547176 ms +++++
map prepare time 2.932366 ms
map corner num 67296  surf num 21365 
points size 83971 
mapping data assosiation time 17.090735 ms 
mapping solver time 13.376244 ms 
mapping data assosiation time 17.654540 ms 
mapping solver time 8.527519 ms 
mapping pub time 1.136218 ms 
whole mapping time 84.730838 ms +++++
data association time 17.035094 ms 
solver time 7.968988 ms 
map prepare time 1.910926 ms
map corner num 67626  surf num 21511 
build tree time 18.782715 ms 
data association time 12.001913 ms 
mapping solver time 13.022294 ms 
data association time 11.990815 ms 
mapping data assosiation time 16.803841 ms 
mapping solver time 9.112683 ms 
filter time 6.522624 ms 
build tree time 17.062221 ms 
sort q time 3.906249 
seperate points time 9.155133 
mapping solver time 13.757636 ms 
solver time 8.455500 ms 
data association time 12.475846 ms 
publication time 7.610950 ms 
whole laserOdometry time 50.405496 ms 
 
build tree time 17.441563 ms 
mapping data assosiation time 20.614460 ms 
mapping solver time 14.079614 ms 
solver time 7.764516 ms 
mapping data assosiation time 19.485441 ms 
mapping optimization time 81.106100 
publication time 6.763930 ms 
whole laserOdometry time 46.870758 ms 
 
build tree time 16.655423 ms 
points size 85988 
mapping data assosiation time 21.449404 ms 
mapping solver time 17.073428 ms 
mapping data assosiation time 18.166186 ms 
mapping solver time 11.951182 ms 
mapping optimization time 86.469488 
add points time 0.550825 ms
solver time 15.489474 ms 
data association time 20.596740 ms 
solver time 12.094610 ms 
prepare time 14.992693 
sort q time 5.032753 
seperate points time 11.539090 
build tree time 19.354011 ms 
data association time 21.097551 ms 
mapping solver time 12.275720 ms 
mapping data assosiation time 22.071504 ms 
mapping optimization time 83.665993 
publication time 9.352545 ms 
whole laserOdometry time 77.645601 ms 
 
prepare time 14.983166 
sort q time 4.932475 
seperate points time 11.352806 
build tree time 17.864506 ms 
scan registration time 30.089101 ms *************
mapping data assosiation time 24.300235 ms 
data association time 23.555032 ms 
mapping solver time 22.444266 ms 
data association time 24.728964 ms 
points size 87663 
mapping solver time 18.467633 ms 
filter time 7.653460 ms 
data association time 21.750146 ms 
solver time 16.747391 ms 
data association time 23.570014 ms 
solver time 12.737573 ms 
publication time 10.802331 ms 
whole laserOdometry time 86.777311 ms 
 
sort q time 4.655581 
seperate points time 11.353733 
filter time 5.901048 ms 
data association time 14.501121 ms 
solver time 10.680981 ms 
data association time 13.355959 ms 
publication time 7.998249 ms 
whole laserOdometry time 53.101581 ms 
 
mapping solver time 13.369287 ms 
points size 89721 
mapping solver time 9.180329 ms 
filter time 8.226680 ms 
data association time 20.265665 ms 
solver time 11.806931 ms 
data association time 20.768497 ms 
solver time 7.835427 ms 
publication time 9.831757 ms 
whole laserOdometry time 71.629281 ms 
 
prepare time 14.604867 
sort q time 4.909127 
seperate points time 11.382647 
mapping pub time 131.288740 ms 
whole mapping time 226.719397 ms +++++
solver time 16.030970 ms 
build tree time 22.333667 ms 
data association time 22.336892 ms 
mapping data assosiation time 21.726133 ms 
prepare time 14.599491 
sort q time 4.901343 
seperate points time 11.948102 
mapping data assosiation time 21.588423 ms 
mapping solver time 11.526816 ms 
data association time 22.681556 ms 
solver time 15.252568 ms 
build tree time 17.631644 ms 
data association time 22.400610 ms 
solver time 11.608569 ms 
publication time 9.893186 ms 
whole laserOdometry time 83.019417 ms 
 
sort q time 5.505157 
seperate points time 13.365421 
mapping data assosiation time 23.267102 ms 
mapping solver time 11.110861 ms 
map prepare time 2.431539 ms
map corner num 71764  surf num 23479 
solver time 15.369936 ms 
build tree time 17.123108 ms 
data association time 22.719750 ms 
solver time 11.538711 ms 
sort q time 5.901233 
seperate points time 13.771161 
scan registration time 32.822196 ms *************
mapping solver time 9.183901 ms 
mapping optimization time 86.919775 
add points time 0.548642 ms
solver time 15.388657 ms 
mapping data assosiation time 21.082690 ms 
mapping solver time 13.701618 ms 
publication time 10.142450 ms 
whole laserOdometry time 84.477930 ms 
 
scan registration time 32.199096 ms *************
mapping solver time 10.072902 ms 
filter time 7.258926 ms 
data association time 23.357474 ms 
build tree time 19.572783 ms 
solver time 15.902921 ms 
data association time 23.322411 ms 
mapping solver time 14.613024 ms 
publication time 10.406179 ms 
whole laserOdometry time 85.778250 ms 
 
mapping data assosiation time 24.694332 ms 
mapping solver time 15.389640 ms 
mapping optimization time 97.842777 
add points time 0.624884 ms
mapping pub time 2.401341 ms 
whole mapping time 111.341051 ms +++++
solver time 15.522428 ms 
build tree time 24.021324 ms 
data association time 25.379032 ms 
points size 95525 
publication time 10.804716 ms 
whole laserOdometry time 90.016095 ms 
 
mapping solver time 19.047714 ms 
data association time 21.743660 ms 
solver time 12.167902 ms 
filter time 7.809017 ms 
solver time 10.242039 ms 
publication time 10.652113 ms 
whole laserOdometry time 75.919496 ms 
 
prepare time 13.752649 
sort q time 4.721185 
seperate points time 11.155095 
mapping solver time 17.256371 ms 
solver time 11.000879 ms 
mapping data assosiation time 22.949547 ms 
data association time 15.193653 ms 
solver time 8.264104 ms 
publication time 8.476675 ms 
whole laserOdometry time 59.280124 ms 
 
build tree time 22.527297 ms 
sort q time 6.135948 
seperate points time 14.705536 
mapping solver time 10.454843 ms 
data association time 18.356057 ms 
solver time 10.957997 ms 
mapping solver time 14.068414 ms 
solver time 12.701394 ms 
mapping data assosiation time 24.261822 ms 
data association time 17.406953 ms 
filter time 8.866307 ms 
prepare time 17.163252 
scan registration time 34.398095 ms *************
data association time 14.796495 ms 
solver time 10.975299 ms 
data association time 17.625965 ms 
solver time 10.311782 ms 
optimization twice time 54.638443 
mapping data assosiation time 22.959680 ms 
mapping solver time 13.472631 ms 
points size 90196 
map prepare time 3.373604 ms
map corner num 74554  surf num 24673 
sort q time 5.281147 
seperate points time 13.037674 
build tree time 21.551220 ms 
data association time 15.444876 ms 
solver time 12.427159 ms 
mapping solver time 13.864182 ms 
optimization twice time 52.776602 
mapping data assosiation time 26.430333 ms 
mapping solver time 11.788928 ms 
mapping pub time 1.204669 ms 
whole mapping time 110.413234 ms +++++
build tree time 20.255621 ms 
solver time 11.650745 ms 
data association time 15.881819 ms 
solver time 9.088828 ms 
mapping data assosiation time 26.640089 ms 
mapping solver time 15.511125 ms 
filter time 8.851048 ms 
data association time 18.777164 ms 
build tree time 19.686289 ms 
data association time 13.370941 ms 
solver time 8.093118 ms 
mapping solver time 18.178429 ms 
points size 82617 
mapping data assosiation time 27.841354 ms 
mapping solver time 12.926804 ms 
mapping pub time 1.068372 ms 
whole mapping time 115.650698 ms +++++
build tree time 17.944516 ms 
solver time 8.319768 ms 
mapping data assosiation time 23.286984 ms 
points size 81060 
mapping solver time 17.126985 ms 
prepare time 15.274929 
scan registration time 30.567395 ms *************
data association time 17.352510 ms 
filter time 9.408936 ms 
data association time 13.491809 ms 
build tree time 21.302832 ms 
mapping data assosiation time 21.724224 ms 
prepare time 15.947415 
mapping solver time 16.902887 ms 
mapping data assosiation time 23.610631 ms 
data association time 16.089859 ms 
filter time 6.771489 ms 
data association time 14.028506 ms 
solver time 8.225425 ms 
mapping data assosiation time 20.515770 ms 
points size 79971 
mapping solver time 13.441910 ms 
sort q time 4.571299 
seperate points time 11.160029 
mapping data assosiation time 19.993663 ms 
mapping solver time 9.881543 ms 
map prepare time 2.224524 ms
map corner num 76464  surf num 25333 
data association time 13.137259 ms 
build tree time 21.978907 ms 
mapping data assosiation time 22.051397 ms 
points size 80591 
prepare time 16.146751 
mapping solver time 14.955266 ms 
mapping data assosiation time 20.087430 ms 
mapping solver time 9.278241 ms 
filter time 6.705974 ms 
solver time 13.651997 ms 
build tree time 18.239248 ms 
solver time 7.654132 ms 
mapping solver time 13.239503 ms 
points size 81353 
sort q time 4.620937 
seperate points time 11.401970 
mapping solver time 10.777519 ms 
map prepare time 2.270537 ms
map corner num 77040  surf num 25487 
solver time 10.151189 ms 
data association time 13.666985 ms 
solver time 8.229480 ms 
mapping solver time 17.014808 ms 
prepare time 16.241960 
sort q time 4.741258 
seperate points time 11.504609 
filter time 6.527647 ms 
data association time 14.118412 ms 
solver time 11.074662 ms 
data association time 13.945979 ms 
mapping data assosiation time 20.686278 ms 
publication time 7.176769 ms 
whole laserOdometry time 56.007077 ms 
 
points size 82498 
mapping data assosiation time 20.620968 ms 
mapping solver time 13.327427 ms 
filter time 7.224767 ms 
solver time 14.472235 ms 
data association time 13.939816 ms 
solver time 8.076990 ms 
points size 79799 
sort q time 4.152875 
seperate points time 10.181520 
data association time 13.412569 ms 
solver time 10.649379 ms 
data association time 14.869193 ms 
map prepare time 3.605227 ms
map corner num 77724  surf num 25701 
build tree time 26.219540 ms 
mapping data assosiation time 18.589255 ms 
mapping solver time 13.676572 ms 
solver time 10.210560 ms 
mapping data assosiation time 18.606406 ms 
mapping solver time 9.579851 ms 
filter time 6.786927 ms 
build tree time 18.493893 ms 
points size 74172 
sort q time 3.808874 
seperate points time 9.303196 
data association time 12.023216 ms 
mapping data assosiation time 16.831207 ms 
mapping solver time 13.001225 ms 
filter time 7.514099 ms 
solver time 11.144984 ms 
optimization twice time 50.231415 
publication time 6.367502 ms 
whole laserOdometry time 56.614089 ms 
 
mapping data assosiation time 16.185463 ms 
points size 72557 
sort q time 3.266446 
seperate points time 7.896038 
mapping data assosiation time 16.324686 ms 
mapping solver time 12.200294 ms 
mapping pub time 0.901405 ms 
whole mapping time 91.383306 ms +++++
build tree time 19.077264 ms 
data association time 12.272688 ms 
publication time 5.187986 ms 
whole laserOdometry time 58.599042 ms 
 
mapping solver time 12.126799 ms 
prepare time 14.228165 
scan registration time 27.110230 ms *************
mapping solver time 13.073445 ms 
filter time 6.364738 ms 
data association time 13.062087 ms 
solver time 13.768919 ms 
mapping data assosiation time 19.148757 ms 
publication time 5.436126 ms 
whole laserOdometry time 58.795052 ms 
 
points size 67855 
sort q time 3.455945 
seperate points time 8.202852 
filter time 7.016939 ms 
data association time 12.345431 ms 
build tree time 18.477406 ms 
data association time 12.226640 ms 
mapping data assosiation time 14.891720 ms 
mapping data assosiation time 15.441965 ms 
mapping solver time 10.574030 ms 
map prepare time 1.868768 ms
map corner num 79823  surf num 26408 
build tree time 20.680422 ms 
solver time 10.134947 ms 
mapping data assosiation time 15.701401 ms 
solver time 8.324924 ms 
mapping solver time 9.015683 ms 
map prepare time 2.788035 ms
map corner num 80123  surf num 26496 
prepare time 12.543070 
scan registration time 22.807012 ms *************
mapping data assosiation time 14.351765 ms 
mapping solver time 9.034643 ms 
mapping data assosiation time 15.179339 ms 
mapping solver time 9.543737 ms 
filter time 7.391302 ms 
mapping pub time 0.797398 ms 
whole mapping time 81.535078 ms +++++
publication time 5.779023 ms 
whole laserOdometry time 54.478359 ms 
 
build tree time 21.195357 ms 
mapping data assosiation time 16.192100 ms 
mapping solver time 11.917390 ms 
mapping data assosiation time 15.932782 ms 
add points time 0.489790 ms
filter time 6.701344 ms 
optimization twice time 45.709446 
publication time 4.451529 ms 
whole laserOdometry time 50.191769 ms 
 
build tree time 19.859027 ms 
points size 61240 
prepare time 14.808008 
mapping data assosiation time 19.354580 ms 
scan registration time 25.889668 ms *************
mapping data assosiation time 13.153610 ms 
data association time 17.057050 ms 
filter time 6.106205 ms 
mapping pub time 1.752060 ms 
whole mapping time 86.300289 ms +++++
data association time 16.422422 ms 
solver time 11.387436 ms 
map prepare time 2.019700 ms
map corner num 81001  surf num 26738 
points size 61062 
sort q time 2.904204 
seperate points time 7.002462 
mapping data assosiation time 12.894650 ms 
data association time 16.369818 ms 
mapping solver time 10.623615 ms 
mapping data assosiation time 13.712503 ms 
add points time 0.500256 ms
filter time 8.817692 ms 
mapping pub time 0.763198 ms 
whole mapping time 77.365951 ms +++++
data association time 16.783728 ms 
solver time 11.570903 ms 
map prepare time 1.592574 ms
map corner num 81261  surf num 26813 
points size 59496 
sort q time 3.329220 
seperate points time 8.280384 
scan registration time 21.636701 ms *************
mapping solver time 9.941663 ms 
mapping data assosiation time 14.912411 ms 
mapping solver time 11.216579 ms 
filter time 8.230101 ms 
publication time 4.123441 ms 
whole laserOdometry time 54.033883 ms 
 
build tree time 22.107682 ms 
points size 57076 
prepare time 12.551067 
sort q time 3.366873 
seperate points time 8.545006 
mapping solver time 10.250036 ms 
data association time 10.334916 ms 
solver time 8.780299 ms 
mapping solver time 10.856491 ms 
solver time 7.500588 ms 
build tree time 19.631247 ms 
points size 53290 
sort q time 2.333082 
seperate points time 5.915765 
data association time 11.072107 ms 
mapping solver time 18.142257 ms 
mapping data assosiation time 15.965756 ms 
data association time 10.641128 ms 
solver time 11.294360 ms 
map prepare time 1.699065 ms
map corner num 82037  surf num 27021 
[0m[ INFO] [1718887381.578234759]: Received 2060118 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887381.578266509]: Data saved to 1317358124885946.pcd[0m
points size 50926 
sort q time 2.080479 
seperate points time 5.266331 
mapping solver time 12.870523 ms 
data association time 17.667931 ms 
mapping data assosiation time 17.328355 ms 
mapping solver time 12.908915 ms 
filter time 8.773005 ms 
solver time 8.319824 ms 
map prepare time 1.505180 ms
map corner num 82298  surf num 27080 
build tree time 21.613161 ms 
points size 48056 
prepare time 6.082517 
mapping solver time 10.538849 ms 
mapping data assosiation time 14.541749 ms 
solver time 15.150363 ms 
filter time 6.364718 ms 
solver time 9.296744 ms 
optimization twice time 57.243904 
publication time 5.011882 ms 
whole laserOdometry time 62.271673 ms 
 
build tree time 20.583050 ms 
prepare time 12.030692 
mapping solver time 11.397238 ms 
mapping data assosiation time 13.380710 ms 
mapping solver time 11.603552 ms 
solver time 8.164638 ms 
build tree time 20.655034 ms 
sort q time 1.975180 
seperate points time 5.299874 
mapping solver time 9.917895 ms 
data association time 10.650674 ms 
mapping data assosiation time 15.341863 ms 
add points time 0.488236 ms
solver time 8.693294 ms 
map prepare time 1.621420 ms
map corner num 83255  surf num 27340 
build tree time 21.920863 ms 
mapping data assosiation time 15.745556 ms 
mapping solver time 13.611212 ms 
mapping data assosiation time 16.619995 ms 
data association time 13.057917 ms 
solver time 8.160394 ms 
build tree time 20.537515 ms 
mapping data assosiation time 13.043342 ms 
points size 47684 
scan registration time 12.850541 ms *************
mapping data assosiation time 14.040278 ms 
data association time 10.910536 ms 
mapping solver time 9.728503 ms 
mapping optimization time 69.033964 
add points time 0.464392 ms
data association time 11.200748 ms 
solver time 11.304094 ms 
points size 46254 
data association time 10.004098 ms 
solver time 10.639826 ms 
data association time 9.880623 ms 
map prepare time 2.513254 ms
map corner num 83963  surf num 27536 
build tree time 21.822844 ms 
mapping data assosiation time 13.965114 ms 
mapping solver time 11.140056 ms 
mapping data assosiation time 16.408450 ms 
mapping solver time 12.482896 ms 
mapping optimization time 76.543893 
add points time 0.495908 ms
data association time 15.317051 ms 
solver time 11.030574 ms 
mapping data assosiation time 12.576866 ms 
mapping solver time 9.924380 ms 
mapping data assosiation time 15.446729 ms 
mapping solver time 10.948336 ms 
map prepare time 1.505614 ms
map corner num 84575  surf num 27712 
data association time 9.660796 ms 
publication time 3.850370 ms 
whole laserOdometry time 45.505452 ms 
 
mapping data assosiation time 13.302642 ms 
mapping solver time 10.563149 ms 
mapping data assosiation time 12.017922 ms 
sort q time 1.682200 
seperate points time 4.393767 
data association time 14.851947 ms 
build tree time 27.953173 ms 
mapping data assosiation time 17.227196 ms 
solver time 12.332395 ms 
optimization twice time 60.469532 
mapping solver time 15.951834 ms 
publication time 5.143433 ms 
whole laserOdometry time 65.628850 ms 
 
mapping data assosiation time 13.079587 ms 
filter time 7.749986 ms 
sort q time 2.569597 
seperate points time 6.442655 
data association time 16.524412 ms 
mapping solver time 15.715258 ms 
data association time 16.881043 ms 
mapping solver time 13.293220 ms 
mapping pub time 1.463519 ms 
whole mapping time 97.860602 ms +++++
points size 52733 
sort q time 2.847300 
seperate points time 7.315388 
mapping data assosiation time 16.581047 ms 
mapping solver time 12.720742 ms 
solver time 16.743280 ms 
data association time 17.670071 ms 
solver time 15.688264 ms 
points size 56679 
sort q time 2.953005 
seperate points time 7.264293 
mapping data assosiation time 15.322206 ms 
data association time 17.399788 ms 
mapping solver time 13.922510 ms 
solver time 16.438379 ms 
mapping solver time 11.117092 ms 
filter time 8.498914 ms 
map prepare time 1.875778 ms
map corner num 85980  surf num 28109 
points size 58925 
sort q time 2.804151 
seperate points time 6.982867 
data association time 10.186630 ms 
mapping solver time 9.026069 ms 
solver time 11.444155 ms 
mapping solver time 8.489740 ms 
solver time 12.112173 ms 
map prepare time 1.633317 ms
map corner num 86259  surf num 28242 
build tree time 22.972267 ms 
mapping data assosiation time 15.031720 ms 
mapping solver time 13.795416 ms 
mapping data assosiation time 15.911787 ms 
filter time 10.311845 ms 
solver time 14.368017 ms 
map prepare time 2.381740 ms
map corner num 86550  surf num 28353 
points size 63839 
sort q time 2.792622 
seperate points time 6.897622 
mapping data assosiation time 13.108093 ms 
mapping solver time 11.462472 ms 
data association time 10.947381 ms 
add points time 0.495923 ms
map prepare time 1.853356 ms
map corner num 86840  surf num 28439 
build tree time 23.463189 ms 
mapping data assosiation time 14.996861 ms 
mapping solver time 10.900757 ms 
mapping data assosiation time 13.659062 ms 
filter time 6.881375 ms 
solver time 7.971370 ms 
map prepare time 2.260511 ms
map corner num 87126  surf num 28542 
build tree time 25.419146 ms 
prepare time 11.437454 
sort q time 3.499727 
seperate points time 8.387728 
mapping solver time 11.051028 ms 
mapping data assosiation time 13.529197 ms 
filter time 7.440826 ms 
data association time 14.183999 ms 
solver time 10.346198 ms 
map prepare time 2.075760 ms
map corner num 87454  surf num 28677 
points size 69053 
sort q time 3.329496 
seperate points time 8.033999 
mapping solver time 9.855694 ms 
mapping data assosiation time 13.888572 ms 
mapping solver time 8.979026 ms 
mapping pub time 0.773373 ms 
whole mapping time 82.672738 ms +++++
map prepare time 2.898052 ms
map corner num 87769  surf num 28809 
build tree time 21.813248 ms 
mapping data assosiation time 14.409389 ms 
mapping solver time 10.920022 ms 
data association time 12.628415 ms 
solver time 11.367375 ms 
data association time 11.367619 ms 
solver time 8.320683 ms 
publication time 6.132690 ms 
whole laserOdometry time 50.600554 ms 
 
build tree time 22.193490 ms 
prepare time 11.512280 
scan registration time 23.116201 ms *************
data association time 16.721108 ms 
mapping solver time 10.264183 ms 
mapping pub time 1.839884 ms 
whole mapping time 87.906649 ms +++++
data association time 18.930781 ms 
solver time 11.574786 ms 
publication time 7.286832 ms 
whole laserOdometry time 70.939235 ms 
 
points size 66254 
build tree time 22.698501 ms 
mapping data assosiation time 16.733237 ms 
mapping solver time 13.522939 ms 
mapping data assosiation time 14.513913 ms 
mapping solver time 9.563107 ms 
filter time 8.954798 ms 
build tree time 21.427170 ms 
sort q time 3.159945 
seperate points time 7.925082 
mapping solver time 11.070718 ms 
data association time 12.500972 ms 
mapping data assosiation time 15.825327 ms 
mapping solver time 11.807591 ms 
filter time 7.625771 ms 
solver time 11.526320 ms 
map prepare time 1.893936 ms
map corner num 89311  surf num 29432 
points size 62628 
sort q time 3.534167 
seperate points time 8.845649 
scan registration time 21.973483 ms *************
mapping data assosiation time 15.953451 ms 
mapping solver time 9.165619 ms 
solver time 11.471131 ms 
mapping solver time 9.345736 ms 
data association time 12.127456 ms 
mapping optimization time 73.071943 
add points time 0.517556 ms
publication time 6.266720 ms 
whole laserOdometry time 51.680989 ms 
 
build tree time 15.313711 ms 
points size 61693 
sort q time 3.291796 
seperate points time 8.398212 
data association time 12.093604 ms 
solver time 12.452905 ms 
data association time 15.181483 ms 
solver time 10.284815 ms 
map prepare time 1.923583 ms
map corner num 61871  surf num 21351 
build tree time 17.779052 ms 
mapping data assosiation time 16.696550 ms 
mapping solver time 12.787488 ms 
data association time 12.376039 ms 
mapping data assosiation time 16.047024 ms 
mapping solver time 10.100713 ms 
solver time 8.201479 ms 
points size 58792 
scan registration time 20.627235 ms *************
data association time 12.240607 ms 
solver time 8.965967 ms 
data association time 12.097872 ms 
publication time 6.126067 ms 
whole laserOdometry time 48.328845 ms 
 
mapping pub time 133.248056 ms 
whole mapping time 217.011522 ms +++++
points size 58799 
sort q time 2.417031 
seperate points time 6.197483 
mapping data assosiation time 18.466793 ms 
mapping solver time 11.762200 ms 
data association time 12.045634 ms 
solver time 8.254501 ms 
filter time 5.313878 ms 
build tree time 14.874672 ms 
points size 58016 
scan registration time 19.381337 ms *************
data association time 12.426979 ms 
solver time 10.902260 ms 
data association time 13.485738 ms 
filter time 5.748849 ms 
mapping pub time 0.815172 ms 
whole mapping time 82.575736 ms +++++
publication time 5.727723 ms 
whole laserOdometry time 52.183827 ms 
 
build tree time 20.345367 ms 
points size 56342 
sort q time 3.388295 
seperate points time 8.356366 
mapping solver time 17.739134 ms 
data association time 12.332868 ms 
mapping data assosiation time 19.768336 ms 
data association time 12.256785 ms 
mapping solver time 17.980638 ms 
mapping optimization time 97.211905 
add points time 0.589345 ms
mapping pub time 0.868389 ms 
whole mapping time 107.939844 ms +++++
map prepare time 2.369042 ms
map corner num 63463  surf num 21851 
points size 56631 
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solver time 10.082650 ms 
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solver time 8.079138 ms 
filter time 6.703280 ms 
build tree time 16.604053 ms 
points size 57007 
sort q time 3.036669 
seperate points time 7.889241 
mapping data assosiation time 14.237882 ms 
filter time 5.989913 ms 
data association time 11.326691 ms 
solver time 10.097524 ms 
map prepare time 1.730314 ms
map corner num 64152  surf num 22092 
build tree time 16.896043 ms 
points size 58233 
mapping data assosiation time 16.981051 ms 
mapping solver time 13.371183 ms 
data association time 11.541061 ms 
mapping data assosiation time 16.386626 ms 
mapping solver time 10.617996 ms 
data association time 11.900477 ms 
filter time 6.586966 ms 
solver time 10.065012 ms 
map prepare time 2.026298 ms
map corner num 64515  surf num 22203 
build tree time 18.641697 ms 
sort q time 3.670456 
seperate points time 9.457232 
mapping solver time 12.361472 ms 
mapping data assosiation time 15.733560 ms 
add points time 0.562614 ms
solver time 9.368938 ms 
map prepare time 2.013903 ms
map corner num 64876  surf num 22304 
build tree time 18.169433 ms 
sort q time 3.432335 
seperate points time 8.449372 
mapping solver time 12.564908 ms 
solver time 10.279130 ms 
mapping solver time 9.564257 ms 
filter time 5.227033 ms 
mapping pub time 0.705669 ms 
whole mapping time 81.303176 ms +++++
solver time 8.459278 ms 
optimization twice time 44.252689 
build tree time 14.826536 ms 
points size 61935 
mapping solver time 11.614259 ms 
data association time 11.307307 ms 
solver time 10.722462 ms 
filter time 5.397315 ms 
solver time 8.761102 ms 
map prepare time 2.527873 ms
map corner num 65610  surf num 22559 
build tree time 17.358491 ms 
mapping data assosiation time 19.107640 ms 
points size 62349 
mapping solver time 14.087874 ms 
data association time 11.642359 ms 
solver time 10.804991 ms 
filter time 6.901146 ms 
solver time 8.516299 ms 
map prepare time 1.699851 ms
map corner num 65963  surf num 22678 
build tree time 21.644258 ms 
sort q time 2.835938 
seperate points time 7.052649 
mapping solver time 12.031706 ms 
solver time 10.281835 ms 
data association time 11.307813 ms 
solver time 10.579572 ms 
map prepare time 1.735486 ms
map corner num 66304  surf num 22834 
build tree time 15.208329 ms 
points size 61970 
prepare time 14.999864 
mapping data assosiation time 20.006795 ms 
sort q time 3.317297 
seperate points time 8.546345 
points size 63373 
sort q time 3.144704 
seperate points time 7.684622 
mapping data assosiation time 17.704344 ms 
solver time 11.574296 ms 
data association time 11.818386 ms 
mapping data assosiation time 17.838136 ms 
mapping solver time 13.862982 ms 
mapping pub time 0.916258 ms 
whole mapping time 94.550616 ms +++++
points size 64353 
build tree time 18.664769 ms 
mapping data assosiation time 16.047304 ms 
mapping solver time 12.457849 ms 
solver time 12.153943 ms 
data association time 11.553824 ms 
solver time 10.466844 ms 
map prepare time 1.989390 ms
map corner num 67427  surf num 23301 
build tree time 17.778242 ms 
sort q time 3.193111 
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mapping solver time 12.249567 ms 
solver time 11.253773 ms 
mapping data assosiation time 16.361340 ms 
solver time 7.719302 ms 
map prepare time 2.779637 ms
map corner num 67856  surf num 23482 
build tree time 17.793728 ms 
points size 67499 
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seperate points time 8.926062 
mapping data assosiation time 17.291414 ms 
mapping solver time 10.284306 ms 
filter time 7.888209 ms 
solver time 7.486945 ms 
map prepare time 1.765368 ms
map corner num 68309  surf num 23715 
build tree time 16.386979 ms 
prepare time 11.109960 
scan registration time 21.714655 ms *************
data association time 13.254697 ms 
mapping solver time 10.342567 ms 
solver time 8.508895 ms 
map prepare time 2.422744 ms
map corner num 68771  surf num 23972 
build tree time 22.844928 ms 
points size 67734 
mapping data assosiation time 22.307553 ms 
mapping solver time 12.678993 ms 
data association time 12.534561 ms 
solver time 11.395336 ms 
filter time 5.963459 ms 
solver time 11.143762 ms 
map prepare time 1.844549 ms
map corner num 69254  surf num 24199 
build tree time 17.447158 ms 
sort q time 3.402257 
seperate points time 8.462893 
mapping solver time 10.791230 ms 
solver time 10.008253 ms 
data association time 15.181058 ms 
filter time 7.231416 ms 
map prepare time 1.905187 ms
map corner num 69746  surf num 24410 
build tree time 16.913735 ms 
points size 70287 
prepare time 14.426634 
sort q time 3.910203 
seperate points time 9.674656 
mapping solver time 13.838464 ms 
data association time 12.084768 ms 
mapping data assosiation time 18.797497 ms 
mapping solver time 11.372290 ms 
solver time 8.642294 ms 
points size 72450 
sort q time 4.033241 
seperate points time 10.120172 
data association time 12.875053 ms 
solver time 11.130252 ms 
data association time 15.962131 ms 
publication time 7.405764 ms 
whole laserOdometry time 56.313487 ms 
 
points size 73868 
mapping data assosiation time 18.483304 ms 
solver time 8.322596 ms 
data association time 13.500722 ms 
solver time 9.420717 ms 
mapping solver time 9.227588 ms 
filter time 7.492504 ms 
points size 75345 
sort q time 3.150082 
seperate points time 7.699815 
mapping data assosiation time 19.904595 ms 
mapping solver time 13.173756 ms 
data association time 13.500151 ms 
publication time 6.331620 ms 
whole laserOdometry time 51.735960 ms 
 
mapping pub time 1.106086 ms 
whole mapping time 96.598264 ms +++++
build tree time 17.226672 ms 
sort q time 4.617995 
seperate points time 10.742759 
scan registration time 26.843590 ms *************
mapping data assosiation time 20.093459 ms 
mapping solver time 13.176617 ms 
data association time 13.473259 ms 
solver time 11.192518 ms 
mapping data assosiation time 21.043032 ms 
mapping solver time 8.920188 ms 
mapping optimization time 81.485516 
solver time 8.513937 ms 
map prepare time 2.243535 ms
map corner num 65924  surf num 22818 
points size 78243 
mapping data assosiation time 24.985346 ms 
mapping solver time 15.099094 ms 
data association time 14.040304 ms 
solver time 10.289136 ms 
mapping solver time 13.014089 ms 
solver time 9.213687 ms 
points size 79570 
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data association time 14.172439 ms 
mapping data assosiation time 22.673302 ms 
mapping solver time 16.216289 ms 
filter time 6.910913 ms 
sort q time 4.279027 
seperate points time 10.203231 
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solver time 11.487123 ms 
mapping solver time 13.687442 ms 
solver time 8.526308 ms 
mapping data assosiation time 24.330065 ms 
mapping solver time 10.220704 ms 
filter time 8.155865 ms 
sort q time 4.620128 
seperate points time 11.389517 
data association time 15.383063 ms 
solver time 10.890826 ms 
data association time 14.410664 ms 
solver time 10.656726 ms 
mapping data assosiation time 22.146753 ms 
mapping solver time 11.863977 ms 
filter time 6.671011 ms 
prepare time 16.152836 
sort q time 4.690753 
seperate points time 11.734695 
build tree time 20.219345 ms 
data association time 14.539334 ms 
solver time 10.823532 ms 
mapping solver time 16.266291 ms 
solver time 8.441219 ms 
publication time 9.622056 ms 
whole laserOdometry time 58.931832 ms 
 
mapping solver time 11.946093 ms 
map prepare time 2.368192 ms
map corner num 68351  surf num 23934 
build tree time 17.571962 ms 
data association time 14.906571 ms 
mapping data assosiation time 22.953635 ms 
data association time 14.178668 ms 
mapping solver time 17.616537 ms 
publication time 7.698852 ms 
whole laserOdometry time 56.547979 ms 
 
mapping data assosiation time 24.579673 ms 
prepare time 12.739102 
mapping solver time 12.216400 ms 
mapping optimization time 96.311231 
add points time 0.570183 ms
build tree time 18.133084 ms 
data association time 14.942491 ms 
solver time 10.859527 ms 
mapping data assosiation time 24.451470 ms 
solver time 7.612817 ms 
publication time 7.765493 ms 
whole laserOdometry time 56.598152 ms 
 
mapping data assosiation time 22.779794 ms 
prepare time 14.794806 
mapping pub time 1.824174 ms 
whole mapping time 105.785419 ms +++++
build tree time 19.776170 ms 
solver time 12.308948 ms 
data association time 14.869018 ms 
solver time 13.941205 ms 
mapping solver time 27.202608 ms 
sort q time 4.747166 
seperate points time 11.871584 
mapping solver time 11.136096 ms 
mapping pub time 1.101652 ms 
whole mapping time 136.325413 ms +++++
data association time 15.115116 ms 
publication time 8.209038 ms 
whole laserOdometry time 58.327233 ms 
 
mapping data assosiation time 25.731120 ms 
prepare time 13.797496 
sort q time 4.039641 
seperate points time 9.632541 
data association time 14.404500 ms 
mapping data assosiation time 24.786286 ms 
mapping solver time 12.212674 ms 
filter time 6.689648 ms 
solver time 8.114476 ms 
publication time 8.249494 ms 
whole laserOdometry time 57.859732 ms 
 
points size 87332 
mapping data assosiation time 26.227780 ms 
scan registration time 30.975238 ms *************
mapping solver time 20.173611 ms 
mapping data assosiation time 23.512177 ms 
mapping solver time 15.147078 ms 
filter time 7.395759 ms 
mapping pub time 1.158277 ms 
whole mapping time 117.604431 ms +++++
map prepare time 2.840316 ms
map corner num 70614  surf num 24820 
data association time 24.402013 ms 
points size 88261 
solver time 11.458571 ms 
optimization twice time 75.763771 
prepare time 15.830724 
scan registration time 30.082837 ms *************
data association time 16.779228 ms 
solver time 16.433625 ms 
data association time 15.677209 ms 
mapping data assosiation time 27.489155 ms 
mapping solver time 14.167149 ms 
mapping pub time 1.336489 ms 
whole mapping time 123.567095 ms +++++
sort q time 5.003601 
seperate points time 11.617754 
data association time 14.545632 ms 
solver time 10.900953 ms 
mapping solver time 22.487863 ms 
solver time 8.683586 ms 
mapping data assosiation time 28.694569 ms 
points size 89967 
filter time 6.909504 ms 
mapping pub time 1.867909 ms 
whole mapping time 123.262457 ms +++++
sort q time 4.793413 
seperate points time 11.270924 
scan registration time 29.158199 ms *************
map prepare time 3.337413 ms
map corner num 71541  surf num 25126 
build tree time 17.739343 ms 
data association time 14.951621 ms 
solver time 7.817452 ms 
mapping data assosiation time 25.844137 ms 
solver time 8.504465 ms 
mapping solver time 23.189825 ms 
points size 90678 
mapping data assosiation time 29.417049 ms 
mapping solver time 18.179411 ms 
mapping pub time 1.379161 ms 
whole mapping time 128.940540 ms +++++
build tree time 18.115615 ms 
optimization twice time 50.507691 
mapping data assosiation time 29.066570 ms 
points size 91669 
mapping solver time 18.472967 ms 
sort q time 4.597109 
seperate points time 10.788855 
mapping data assosiation time 27.223885 ms 
mapping solver time 11.937904 ms 
map prepare time 2.808010 ms
map corner num 72586  surf num 25553 
data association time 19.647349 ms 
solver time 9.881941 ms 
points size 92603 
sort q time 5.537987 
seperate points time 12.968520 
data association time 18.748247 ms 
solver time 10.335069 ms 
filter time 9.078624 ms 
publication time 10.381132 ms 
whole laserOdometry time 64.786514 ms 
 
points size 93501 
sort q time 5.703185 
seperate points time 13.621846 
mapping solver time 15.851044 ms 
solver time 9.774014 ms 
mapping data assosiation time 25.423532 ms 
data association time 16.193768 ms 
solver time 8.834533 ms 
map prepare time 4.051932 ms
map corner num 73508  surf num 25974 
publication time 10.075393 ms 
whole laserOdometry time 62.072172 ms 
 
points size 94661 
prepare time 16.742595 
build tree time 19.762346 ms 
sort q time 4.417937 
seperate points time 10.597502 
mapping data assosiation time 26.336914 ms 
data association time 16.376253 ms 
solver time 11.378398 ms 
data association time 15.853080 ms 
solver time 8.237265 ms 
mapping solver time 10.429576 ms 
points size 96309 
sort q time 5.038231 
seperate points time 12.184157 
data association time 15.785713 ms 
solver time 12.994868 ms 
data association time 16.399155 ms 
solver time 8.681736 ms 
publication time 10.208991 ms 
whole laserOdometry time 64.839885 ms 
 
points size 98684 
prepare time 17.443752 
sort q time 4.597808 
seperate points time 11.019173 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
build tree time 20.393594 ms 
solver time 9.998699 ms 
data association time 15.183029 ms 
publication time 12.254907 ms 
whole laserOdometry time 70.630979 ms 
 
sort q time 6.004203 
seperate points time 13.762422 
mapping data assosiation time 30.722601 ms 
mapping solver time 14.901579 ms 
filter time 7.301988 ms 
data association time 15.977431 ms 
solver time 9.211109 ms 
publication time 9.984642 ms 
whole laserOdometry time 62.890619 ms 
 
mapping data assosiation time 29.739463 ms 
mapping solver time 22.270045 ms 
data association time 16.940285 ms 
solver time 11.338518 ms 
data association time 16.176911 ms 
mapping data assosiation time 43.427263 ms 
mapping solver time 21.402630 ms 
prepare time 18.137818 
sort q time 5.778294 
seperate points time 14.327650 
build tree time 25.346327 ms 
data association time 19.770867 ms 
solver time 13.163435 ms 
mapping data assosiation time 34.979119 ms 
data association time 22.937449 ms 
mapping solver time 24.797145 ms 
sort q time 5.762842 
seperate points time 13.392312 
mapping data assosiation time 35.809873 ms 
data association time 15.098265 ms 
mapping solver time 18.632226 ms 
mapping optimization time 141.344139 
add points time 0.751693 ms
filter time 8.339521 ms 
mapping pub time 1.647529 ms 
whole mapping time 155.289399 ms +++++
data association time 17.254217 ms 
solver time 10.400586 ms 
build tree time 19.521685 ms 
publication time 10.966310 ms 
whole laserOdometry time 65.451943 ms 
 
points size 100139 
mapping data assosiation time 35.849554 ms 
scan registration time 42.378514 ms *************
mapping solver time 25.733395 ms 
data association time 15.554909 ms 
solver time 10.822994 ms 
mapping data assosiation time 24.350715 ms 
data association time 15.296870 ms 
solver time 7.929632 ms 
publication time 10.588900 ms 
whole laserOdometry time 61.096199 ms 
 
points size 100011 
sort q time 5.874640 
seperate points time 14.108127 
data association time 14.147127 ms 
mapping data assosiation time 26.178023 ms 
mapping solver time 20.371937 ms 
solver time 9.140939 ms 
publication time 11.016642 ms 
whole laserOdometry time 62.419134 ms 
 
points size 99842 
mapping data assosiation time 35.036184 ms 
prepare time 21.157815 
sort q time 5.780130 
seperate points time 14.072409 
mapping solver time 19.310523 ms 
mapping optimization time 127.715932 
add points time 1.022808 ms
scan registration time 40.901341 ms *************
map prepare time 4.068464 ms
map corner num 76481  surf num 27206 
data association time 20.321391 ms 
build tree time 22.421877 ms 
solver time 7.824764 ms 
publication time 10.350685 ms 
whole laserOdometry time 66.857831 ms 
 
mapping solver time 31.570642 ms 
mapping data assosiation time 27.399711 ms 
mapping solver time 12.763570 ms 
map prepare time 2.826198 ms
map corner num 77011  surf num 27476 
data association time 19.898246 ms 
optimization twice time 60.607704 
build tree time 25.014328 ms 
points size 99342 
sort q time 6.547974 
seperate points time 15.912311 
mapping data assosiation time 35.180779 ms 
mapping solver time 19.447208 ms 
solver time 12.950084 ms 
data association time 15.846847 ms 
solver time 13.448372 ms 
points size 99113 
drop lidar frame in mapping for real time performance 
scan registration time 36.456453 ms *************
build tree time 19.793179 ms 
data association time 14.591525 ms 
solver time 14.275913 ms 
mapping data assosiation time 28.041091 ms 
data association time 14.991565 ms 
mapping solver time 25.938508 ms 
points size 99187 
mapping data assosiation time 30.653872 ms 
mapping solver time 15.714373 ms 
data association time 15.417674 ms 
solver time 13.584901 ms 
build tree time 19.951038 ms 
solver time 10.374638 ms 
mapping data assosiation time 29.885839 ms 
sort q time 6.144587 
seperate points time 14.000860 
mapping data assosiation time 29.660031 ms 
solver time 14.530293 ms 
mapping solver time 21.858672 ms 
mapping optimization time 128.122127 
add points time 0.821266 ms
points size 100072 
build tree time 23.371252 ms 
mapping data assosiation time 29.143658 ms 
data association time 22.876983 ms 
mapping solver time 25.460637 ms 
data association time 22.883559 ms 
points size 100230 
solver time 15.038151 ms 
mapping solver time 18.147886 ms 
filter time 9.121882 ms 
build tree time 18.452377 ms 
data association time 22.492150 ms 
solver time 13.030007 ms 
data association time 15.062760 ms 
solver time 11.891607 ms 
sort q time 5.366171 
seperate points time 12.592170 
mapping data assosiation time 31.586164 ms 
data association time 17.794598 ms 
filter time 6.806884 ms 
data association time 15.074791 ms 
optimization twice time 57.854427 
publication time 11.031724 ms 
whole laserOdometry time 68.906133 ms 
 
points size 101064 
mapping data assosiation time 37.767267 ms 
scan registration time 42.115834 ms *************
mapping solver time 26.212281 ms 
solver time 12.911706 ms 
mapping data assosiation time 29.990285 ms 
publication time 9.411583 ms 
whole laserOdometry time 60.952320 ms 
 
mapping solver time 29.821156 ms 
points size 101220 
filter time 9.543854 ms 
scan registration time 39.033738 ms *************
build tree time 20.892679 ms 
solver time 12.070010 ms 
data association time 15.457360 ms 
solver time 11.246535 ms 
points size 101841 
prepare time 20.512407 
sort q time 6.783472 
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mapping solver time 13.392801 ms 
mapping optimization time 127.738942 
add points time 0.726466 ms
solver time 11.781008 ms 
build tree time 21.074448 ms 
solver time 7.907324 ms 
points size 102431 
prepare time 15.592439 
sort q time 5.062432 
seperate points time 11.801238 
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data association time 15.167497 ms 
solver time 14.307073 ms 
data association time 17.560206 ms 
solver time 10.697403 ms 
points size 102744 
build tree time 20.443036 ms 
data association time 15.408019 ms 
solver time 12.943813 ms 
data association time 14.869095 ms 
solver time 10.660302 ms 
publication time 10.227270 ms 
whole laserOdometry time 65.021353 ms 
 
points size 102816 
add points time 0.755627 ms
mapping pub time 2.344414 ms 
whole mapping time 136.458235 ms +++++
data association time 16.069994 ms 
solver time 12.367708 ms 
data association time 16.782984 ms 
publication time 9.523464 ms 
whole laserOdometry time 63.566527 ms 
 
prepare time 13.859781 
sort q time 5.650531 
seperate points time 13.137599 
mapping data assosiation time 33.303607 ms 
data association time 17.210263 ms 
mapping optimization time 131.325531 
filter time 9.494837 ms 
data association time 20.780740 ms 
build tree time 24.259462 ms 
sort q time 5.009961 
seperate points time 11.944863 
mapping solver time 21.742079 ms 
data association time 22.891697 ms 
solver time 14.785266 ms 
mapping solver time 18.397775 ms 
optimization twice time 72.892417 
publication time 11.737699 ms 
whole laserOdometry time 84.647792 ms 
 
build tree time 23.194115 ms 
data association time 22.911462 ms 
solver time 14.797450 ms 
mapping solver time 21.368676 ms 
solver time 9.728239 ms 
mapping data assosiation time 32.036477 ms 
mapping solver time 13.166515 ms 
mapping optimization time 122.643093 
add points time 0.794663 ms
map prepare time 2.889102 ms
map corner num 83092  surf num 30225 
solver time 13.374401 ms 
build tree time 23.154381 ms 
data association time 17.175042 ms 
solver time 8.149591 ms 
mapping data assosiation time 28.785421 ms 
points size 103031 
mapping solver time 22.040819 ms 
scan registration time 33.988839 ms *************
mapping data assosiation time 32.675381 ms 
mapping solver time 14.216956 ms 
filter time 9.734336 ms 
data association time 18.838008 ms 
solver time 10.717633 ms 
publication time 11.562941 ms 
whole laserOdometry time 73.047517 ms 
 
points size 103085 
prepare time 19.065196 
sort q time 6.098418 
seperate points time 14.706437 
mapping solver time 28.596501 ms 
solver time 16.833811 ms 
mapping data assosiation time 35.917220 ms 
points size 103125 
solver time 11.952675 ms 
publication time 12.982332 ms 
whole laserOdometry time 97.772404 ms 
 
data association time 29.834262 ms 
solver time 18.852969 ms 
points size 103106 
solver time 9.226642 ms 
publication time 14.501174 ms 
whole laserOdometry time 104.103958 ms 
 
[33m[ WARN] [1718887392.023072854]: odometry process over 100ms[0m
data association time 32.530872 ms 
mapping pub time 168.201346 ms 
whole mapping time 321.341957 ms +++++
points size 103150 
build tree time 28.372801 ms 
publication time 13.294659 ms 
whole laserOdometry time 104.631046 ms 
 
[33m[ WARN] [1718887392.131417170]: odometry process over 100ms[0m
mapping data assosiation time 37.173915 ms 
data association time 27.987171 ms 
mapping solver time 23.508674 ms 
points size 103054 
solver time 8.562971 ms 
mapping solver time 18.930757 ms 
filter time 9.581408 ms 
data association time 26.779173 ms 
solver time 12.741965 ms 
data association time 16.343954 ms 
solver time 8.737932 ms 
mapping data assosiation time 30.430730 ms 
prepare time 17.280231 
sort q time 4.729203 
mapping solver time 21.675497 ms 
seperate points time 11.214075 
mapping data assosiation time 28.101338 ms 
solver time 12.694109 ms 
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solver time 13.754731 ms 
points size 102992 
sort q time 4.685963 
seperate points time 11.118206 
mapping data assosiation time 30.922571 ms 
data association time 15.798943 ms 
solver time 10.605702 ms 
data association time 15.860910 ms 
solver time 8.331830 ms 
publication time 10.162740 ms 
whole laserOdometry time 61.568703 ms 
 
filter time 8.385625 ms 
sort q time 4.952690 
seperate points time 11.798165 
build tree time 24.812820 ms 
data association time 16.217296 ms 
solver time 10.642078 ms 
data association time 18.905084 ms 
solver time 10.341656 ms 
points size 102787 
prepare time 15.570789 
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sort q time 6.404097 
seperate points time 15.200831 
mapping solver time 15.183113 ms 
mapping optimization time 121.934932 
add points time 0.772122 ms
scan registration time 35.829556 ms *************
map prepare time 2.842600 ms
map corner num 85828  surf num 31295 
data association time 16.175909 ms 
solver time 10.742987 ms 
build tree time 23.589235 ms 
solver time 8.504375 ms 
publication time 10.911143 ms 
whole laserOdometry time 63.948665 ms 
 
prepare time 15.264534 
sort q time 6.209584 
seperate points time 14.521398 
mapping data assosiation time 27.708827 ms 
data association time 16.673428 ms 
filter time 7.159769 ms 
data association time 17.039660 ms 
solver time 8.973137 ms 
points size 102493 
sort q time 5.250125 
seperate points time 12.153471 
mapping solver time 24.469666 ms 
solver time 12.862556 ms 
mapping data assosiation time 28.309085 ms 
solver time 10.181590 ms 
publication time 10.260762 ms 
whole laserOdometry time 71.868642 ms 
 
sort q time 4.853575 
seperate points time 11.356234 
data association time 16.296018 ms 
mapping solver time 20.428326 ms 
data association time 16.725256 ms 
solver time 11.072999 ms 
prepare time 16.377892 
sort q time 5.758953 
seperate points time 13.637800 
filter time 7.473207 ms 
data association time 19.366698 ms 
build tree time 23.681678 ms 
data association time 16.732360 ms 
points size 101196 
sort q time 4.981221 
seperate points time 12.400123 
mapping data assosiation time 28.643075 ms 
data association time 16.017285 ms 
mapping solver time 24.641353 ms 
filter time 8.026448 ms 
publication time 8.672128 ms 
whole laserOdometry time 64.035882 ms 
 
build tree time 23.069129 ms 
sort q time 4.988058 
seperate points time 12.369398 
scan registration time 29.829520 ms *************
data association time 15.777299 ms 
solver time 13.330442 ms 
data association time 16.330061 ms 
solver time 9.839794 ms 
publication time 12.055483 ms 
whole laserOdometry time 68.281215 ms 
 
points size 100565 
map prepare time 2.912650 ms
map corner num 88045  surf num 32110 
sort q time 6.032279 
seperate points time 14.485571 
build tree time 21.932920 ms 
data association time 18.810892 ms 
mapping data assosiation time 28.568114 ms 
data association time 16.613455 ms 
solver time 13.139637 ms 
publication time 11.456815 ms 
whole laserOdometry time 75.655911 ms 
 
sort q time 5.322047 
seperate points time 12.887468 
mapping solver time 20.078929 ms 
filter time 8.870494 ms 
solver time 17.900165 ms 
build tree time 21.910027 ms 
mapping data assosiation time 29.861306 ms 
solver time 15.010349 ms 
sort q time 5.066605 
seperate points time 11.955562 
data association time 15.464094 ms 
solver time 16.112000 ms 
mapping solver time 21.076859 ms 
filter time 9.832431 ms 
publication time 9.433110 ms 
whole laserOdometry time 68.907471 ms 
 
prepare time 13.977456 
build tree time 25.391315 ms 
scan registration time 31.047328 ms *************
mapping data assosiation time 29.964037 ms 
solver time 12.174048 ms 
mapping solver time 20.631608 ms 
data association time 17.142313 ms 
solver time 9.780514 ms 
publication time 11.725324 ms 
whole laserOdometry time 67.841867 ms 
 
points size 99698 
sort q time 5.033203 
seperate points time 12.031227 
map prepare time 2.862791 ms
map corner num 89183  surf num 32449 
data association time 25.667750 ms 
solver time 20.167476 ms 
mapping data assosiation time 35.820343 ms 
data association time 28.274494 ms 
sort q time 4.905463 
seperate points time 11.449798 
publication time 11.945841 ms 
whole laserOdometry time 103.060607 ms 
 
[33m[ WARN] [1718887393.895431540]: odometry process over 100ms[0m
mapping data assosiation time 36.844795 ms 
solver time 19.964093 ms 
mapping solver time 25.675472 ms 
mapping optimization time 159.647363 
add points time 0.940747 ms
filter time 10.333869 ms 
points size 98678 
sort q time 5.580102 
seperate points time 12.800129 
build tree time 30.470933 ms 
data association time 20.817680 ms 
solver time 13.363652 ms 
mapping data assosiation time 38.711674 ms 
data association time 16.740266 ms 
solver time 12.130574 ms 
publication time 10.520832 ms 
whole laserOdometry time 74.463897 ms 
 
mapping data assosiation time 31.673945 ms 
scan registration time 37.618085 ms *************
mapping solver time 24.730258 ms 
filter time 10.209575 ms 
solver time 17.896173 ms 
data association time 26.952607 ms 
mapping data assosiation time 36.158476 ms 
sort q time 5.784401 
seperate points time 13.821492 
publication time 10.627839 ms 
whole laserOdometry time 104.044751 ms 
 
[33m[ WARN] [1718887394.213447122]: odometry process over 100ms[0m
mapping solver time 29.915669 ms 
data association time 24.707419 ms 
solver time 13.226463 ms 
data association time 16.446709 ms 
points size 97041 
publication time 9.373321 ms 
whole laserOdometry time 81.244216 ms 
 
sort q time 5.224181 
seperate points time 12.620358 
build tree time 25.186506 ms 
solver time 12.784730 ms 
mapping data assosiation time 30.864252 ms 
solver time 10.637199 ms 
publication time 10.292249 ms 
whole laserOdometry time 65.273902 ms 
 
sort q time 4.331357 
seperate points time 10.211730 
mapping data assosiation time 30.000799 ms 
data association time 15.760117 ms 
add points time 0.737687 ms
solver time 13.511142 ms 
map prepare time 3.970688 ms
map corner num 90700  surf num 32926 
solver time 10.271567 ms 
build tree time 25.042349 ms 
points size 95104 
mapping data assosiation time 26.831411 ms 
mapping solver time 19.761642 ms 
solver time 13.133733 ms 
mapping data assosiation time 25.809719 ms 
solver time 10.466584 ms 
optimization twice time 55.016927 
mapping solver time 17.930942 ms 
mapping optimization time 116.877238 
add points time 0.751748 ms
mapping pub time 1.301563 ms 
whole mapping time 133.368633 ms +++++
points size 94110 
sort q time 4.740155 
seperate points time 10.965349 
data association time 15.631557 ms 
solver time 14.740828 ms 
mapping solver time 16.913139 ms 
data association time 15.441892 ms 
solver time 10.835778 ms 
optimization twice time 57.553398 
mapping solver time 12.328275 ms 
filter time 10.648386 ms 
scan registration time 31.352801 ms *************
build tree time 28.423447 ms 
solver time 20.986173 ms 
data association time 24.284954 ms 
points size 90885 
solver time 16.776217 ms 
scan registration time 28.767825 ms *************
data association time 24.795600 ms 
solver time 15.586194 ms 
map prepare time 3.580275 ms
map corner num 92085  surf num 33430 
data association time 24.607977 ms 
solver time 11.536144 ms 
prepare time 17.815784 
sort q time 4.321987 
seperate points time 10.395099 
mapping solver time 24.485553 ms 
solver time 20.730238 ms 
data association time 16.584108 ms 
points size 87913 
sort q time 5.014636 
seperate points time 12.268738 
data association time 15.123004 ms 
solver time 13.505978 ms 
data association time 14.860877 ms 
solver time 13.139074 ms 
publication time 8.959756 ms 
whole laserOdometry time 66.442560 ms 
 
points size 86421 
prepare time 13.846952 
scan registration time 31.780615 ms *************
mapping pub time 139.506142 ms 
whole mapping time 283.963335 ms +++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 3.743019 ms
map corner num 92515  surf num 33548 
solver time 15.504464 ms 
data association time 22.966584 ms 
mapping data assosiation time 26.294655 ms 
solver time 15.297195 ms 
publication time 9.618442 ms 
whole laserOdometry time 88.629624 ms 
 
sort q time 4.798868 
seperate points time 11.908941 
mapping data assosiation time 24.611194 ms 
mapping solver time 15.096741 ms 
solver time 15.303880 ms 
data association time 22.870956 ms 
points size 84107 
sort q time 4.789734 
seperate points time 11.578430 
mapping data assosiation time 30.735297 ms 
mapping solver time 16.079317 ms 
data association time 22.206446 ms 
solver time 15.167143 ms 
mapping data assosiation time 24.105758 ms 
data association time 22.140271 ms 
solver time 11.790405 ms 
points size 83528 
sort q time 4.708046 
seperate points time 11.503427 
build tree time 30.068366 ms 
mapping data assosiation time 23.160255 ms 
solver time 15.574026 ms 
mapping solver time 17.360482 ms 
data association time 24.012749 ms 
solver time 11.581468 ms 
publication time 9.034719 ms 
whole laserOdometry time 83.665225 ms 
 
scan registration time 33.207934 ms *************
map prepare time 2.728184 ms
map corner num 93668  surf num 33882 
data association time 21.510670 ms 
build tree time 22.461603 ms 
solver time 15.427524 ms 
mapping data assosiation time 24.701291 ms 
data association time 21.990468 ms 
solver time 11.833284 ms 
optimization twice time 71.868504 
points size 80945 
sort q time 5.200986 
seperate points time 12.894839 
mapping solver time 13.923864 ms 
mapping optimization time 113.493018 
add points time 0.705744 ms
map prepare time 2.720479 ms
map corner num 94002  surf num 33973 
solver time 18.689214 ms 
build tree time 23.236996 ms 
data association time 21.946221 ms 
mapping data assosiation time 26.953329 ms 
publication time 8.827652 ms 
whole laserOdometry time 88.055121 ms 
 
sort q time 4.383475 
seperate points time 11.074654 
data association time 21.624049 ms 
solver time 15.505385 ms 
filter time 9.395011 ms 
data association time 22.007371 ms 
solver time 11.882934 ms 
build tree time 28.149540 ms 
mapping data assosiation time 23.446237 ms 
data association time 21.073334 ms 
solver time 18.587822 ms 
mapping data assosiation time 25.764318 ms 
data association time 21.028866 ms 
filter time 10.269300 ms 
mapping pub time 1.423145 ms 
whole mapping time 125.391500 ms +++++
solver time 15.957330 ms 
optimization twice time 77.643808 
points size 78079 
map prepare time 3.221759 ms
map corner num 94767  surf num 34140 
prepare time 15.862005 
scan registration time 30.802118 ms *************
build tree time 30.504915 ms 
data association time 20.633587 ms 
mapping data assosiation time 22.891277 ms 
solver time 18.407470 ms 
mapping solver time 16.476392 ms 
mapping data assosiation time 25.078621 ms 
prepare time 16.639750 
add points time 0.806269 ms
sort q time 4.349641 
seperate points time 10.946965 
scan registration time 31.471450 ms *************
map prepare time 2.897928 ms
map corner num 95078  surf num 34228 
data association time 14.035851 ms 
solver time 11.070622 ms 
data association time 13.588115 ms 
publication time 6.257547 ms 
whole laserOdometry time 53.608184 ms 
 
mapping solver time 13.600622 ms 
points size 79078 
mapping data assosiation time 29.049817 ms 
mapping solver time 14.749526 ms 
filter time 8.348549 ms 
data association time 12.457124 ms 
mapping pub time 0.999047 ms 
whole mapping time 119.720414 ms +++++
map prepare time 2.193513 ms
map corner num 95401  surf num 34307 
data association time 12.767187 ms 
solver time 11.635469 ms 
optimization twice time 51.098597 
publication time 6.668984 ms 
whole laserOdometry time 57.786850 ms 
 
points size 79623 
sort q time 3.962090 
seperate points time 9.663084 
mapping data assosiation time 20.206060 ms 
mapping solver time 13.881419 ms 
data association time 22.393230 ms 
filter time 8.752586 ms 
mapping pub time 0.927803 ms 
whole mapping time 109.065171 ms +++++
map prepare time 2.620008 ms
map corner num 95748  surf num 34391 
solver time 15.796216 ms 
build tree time 25.199467 ms 
solver time 9.838847 ms 
points size 79964 
prepare time 17.173051 
sort q time 4.617679 
seperate points time 11.375122 
mapping data assosiation time 20.977391 ms 
filter time 9.243403 ms 
data association time 15.810586 ms 
optimization twice time 52.406027 
points size 78483 
sort q time 4.371588 
seperate points time 10.700204 
scan registration time 32.880790 ms *************
mapping solver time 16.746493 ms 
data association time 15.914177 ms 
solver time 12.709664 ms 
filter time 9.067372 ms 
solver time 8.426511 ms 
optimization twice time 51.298370 
publication time 6.736964 ms 
whole laserOdometry time 58.050130 ms 
 
build tree time 26.210935 ms 
points size 75470 
sort q time 4.788133 
seperate points time 11.696260 
mapping solver time 14.833653 ms 
data association time 13.243496 ms 
mapping data assosiation time 19.446592 ms 
solver time 11.489214 ms 
data association time 12.915028 ms 
solver time 10.192691 ms 
points size 73943 
sort q time 4.388388 
seperate points time 10.746751 
mapping data assosiation time 21.052374 ms 
data association time 12.462316 ms 
mapping solver time 14.874637 ms 
data association time 11.591828 ms 
solver time 8.526224 ms 
filter time 8.089960 ms 
points size 74276 
sort q time 4.084454 
seperate points time 9.953695 
mapping data assosiation time 18.220130 ms 
mapping solver time 12.726891 ms 
data association time 12.432180 ms 
mapping solver time 10.918011 ms 
publication time 5.962325 ms 
whole laserOdometry time 51.645476 ms 
 
filter time 9.410812 ms 
points size 71790 
sort q time 4.003426 
seperate points time 9.998585 
data association time 13.272883 ms 
mapping solver time 13.412503 ms 
data association time 14.534326 ms 
solver time 10.711040 ms 
filter time 12.001560 ms 
points size 68587 
prepare time 14.646682 
scan registration time 27.706933 ms *************
build tree time 30.483959 ms 
solver time 11.268380 ms 
data association time 12.430344 ms 
solver time 7.956484 ms 
mapping data assosiation time 18.684188 ms 
mapping solver time 10.038652 ms 
filter time 11.718689 ms 
sort q time 3.044920 
seperate points time 7.281963 
build tree time 26.021366 ms 
solver time 12.404418 ms 
data association time 15.152020 ms 
solver time 10.657578 ms 
mapping data assosiation time 19.831516 ms 
mapping solver time 11.374640 ms 
prepare time 11.134745 
filter time 10.214115 ms 
mapping pub time 0.862341 ms 
whole mapping time 106.843498 ms +++++
map prepare time 2.332282 ms
map corner num 98163  surf num 34954 
data association time 13.288503 ms 
solver time 15.258019 ms 
data association time 14.336655 ms 
solver time 10.224082 ms 
mapping data assosiation time 19.113350 ms 
mapping solver time 11.653731 ms 
prepare time 11.202818 
sort q time 3.509640 
seperate points time 8.575827 
scan registration time 22.614819 ms *************
build tree time 28.338161 ms 
data association time 19.436858 ms 
mapping data assosiation time 23.570337 ms 
solver time 17.412485 ms 
data association time 18.894635 ms 
solver time 18.205757 ms 
optimization twice time 75.006040 
mapping data assosiation time 23.840882 ms 
points size 68163 
mapping solver time 12.321374 ms 
filter time 8.739005 ms 
data association time 18.780955 ms 
build tree time 32.996391 ms 
mapping data assosiation time 23.695207 ms 
solver time 16.437713 ms 
sort q time 3.489536 
seperate points time 8.438532 
scan registration time 22.972654 ms *************
mapping data assosiation time 19.545673 ms 
mapping solver time 11.270504 ms 
data association time 13.149338 ms 
solver time 13.243646 ms 
data association time 14.865759 ms 
optimization twice time 50.175317 
points size 72833 
sort q time 3.684466 
seperate points time 8.850757 
data association time 14.575599 ms 
solver time 10.797124 ms 
data association time 12.982239 ms 
optimization twice time 50.231167 
build tree time 25.016465 ms 
prepare time 11.979917 
sort q time 3.308406 
seperate points time 8.024620 
mapping solver time 16.585668 ms 
data association time 21.664301 ms 
mapping data assosiation time 23.913883 ms 
mapping solver time 12.726188 ms 
filter time 10.886053 ms 
solver time 13.316234 ms 
prepare time 13.172088 
sort q time 4.279970 
seperate points time 10.024029 
mapping data assosiation time 22.548322 ms 
solver time 10.122090 ms 
data association time 15.889145 ms 
solver time 10.599488 ms 
filter time 9.140155 ms 
points size 83927 
scan registration time 27.534009 ms *************
mapping data assosiation time 22.696513 ms 
mapping solver time 11.732164 ms 
solver time 15.234344 ms 
mapping data assosiation time 20.441522 ms 
data association time 20.508723 ms 
mapping solver time 8.993432 ms 
mapping optimization time 97.056726 
add points time 0.674556 ms
solver time 16.198140 ms 
mapping solver time 16.935135 ms 
data association time 20.781948 ms 
mapping data assosiation time 21.168047 ms 
prepare time 15.257452 
mapping optimization time 97.653687 
add points time 0.794016 ms
scan registration time 29.721920 ms *************
data association time 20.840480 ms 
solver time 15.522225 ms 
mapping solver time 10.543296 ms 
data association time 20.809913 ms 
optimization twice time 70.159376 
points size 93998 
mapping solver time 9.525596 ms 
mapping pub time 2.333526 ms 
whole mapping time 100.531092 ms +++++
build tree time 25.717889 ms 
mapping data assosiation time 18.132752 ms 
solver time 15.266271 ms 
data association time 21.093631 ms 
solver time 11.856605 ms 
prepare time 15.907327 
filter time 8.497962 ms 
build tree time 25.160514 ms 
data association time 18.637299 ms 
mapping data assosiation time 18.663374 ms 
mapping solver time 16.090432 ms 
mapping data assosiation time 17.893620 ms 
publication time 8.285154 ms 
whole laserOdometry time 78.049049 ms 
 
sort q time 5.558729 
seperate points time 12.941270 
map prepare time 2.881623 ms
map corner num 103420  surf num 36682 
data association time 20.856486 ms 
solver time 15.168732 ms 
mapping solver time 11.101216 ms 
solver time 11.536966 ms 
mapping solver time 9.731568 ms 
filter time 8.749304 ms 
build tree time 19.822757 ms 
mapping data assosiation time 16.044628 ms 
solver time 15.420509 ms 
data association time 20.844706 ms 
mapping data assosiation time 16.961563 ms 
mapping solver time 11.950062 ms 
filter time 9.620990 ms 
scan registration time 31.120106 ms *************
build tree time 21.020824 ms 
data association time 20.516552 ms 
mapping solver time 10.800578 ms 
mapping data assosiation time 16.676990 ms 
mapping optimization time 75.785570 
filter time 8.815025 ms 
prepare time 14.178129 
sort q time 5.043736 
seperate points time 11.621569 
build tree time 21.009946 ms 
data association time 20.606972 ms 
mapping solver time 13.215737 ms 
mapping data assosiation time 20.122877 ms 
data association time 20.617607 ms 
filter time 7.705894 ms 
sort q time 5.116700 
seperate points time 11.688110 
build tree time 20.865425 ms 
mapping data assosiation time 17.543347 ms 
mapping solver time 12.974525 ms 
solver time 9.436269 ms 
mapping solver time 11.789772 ms 
mapping pub time 1.263805 ms 
whole mapping time 93.632293 ms +++++
prepare time 16.521247 
build tree time 19.892765 ms 
mapping data assosiation time 17.245810 ms 
data association time 13.785763 ms 
solver time 13.661966 ms 
data association time 13.515796 ms 
solver time 9.248467 ms 
points size 93160 
sort q time 5.315388 
seperate points time 12.774856 
scan registration time 34.404044 ms *************
mapping data assosiation time 18.125766 ms 
mapping solver time 12.828387 ms 
data association time 17.188112 ms 
mapping solver time 10.680010 ms 
solver time 8.410480 ms 
publication time 7.250175 ms 
whole laserOdometry time 55.918221 ms 
 
points size 94204 
build tree time 20.063434 ms 
mapping data assosiation time 18.118275 ms 
mapping solver time 15.856678 ms 
mapping data assosiation time 16.341532 ms 
mapping solver time 11.158398 ms 
publication time 6.630142 ms 
whole laserOdometry time 55.504088 ms 
 
points size 96001 
sort q time 4.847058 
seperate points time 11.124417 
mapping data assosiation time 17.003103 ms 
mapping solver time 10.591342 ms 
solver time 15.399063 ms 
mapping solver time 12.153044 ms 
mapping pub time 1.500020 ms 
whole mapping time 93.368330 ms +++++
publication time 6.873056 ms 
whole laserOdometry time 65.950144 ms 
 
points size 96411 
build tree time 19.569403 ms 
mapping data assosiation time 17.126724 ms 
mapping solver time 10.988093 ms 
solver time 10.116046 ms 
mapping data assosiation time 18.390962 ms 
data association time 13.886514 ms 
filter time 7.568372 ms 
solver time 8.804255 ms 
map prepare time 3.013737 ms
map corner num 81985  surf num 29629 
points size 97055 
sort q time 4.654006 
seperate points time 10.563040 
mapping solver time 13.497339 ms 
mapping data assosiation time 17.895034 ms 
solver time 15.674887 ms 
filter time 8.835706 ms 
data association time 21.064635 ms 
solver time 12.181741 ms 
prepare time 16.329144 
sort q time 6.434650 
seperate points time 14.763217 
mapping data assosiation time 17.438018 ms 
data association time 21.690429 ms 
solver time 15.368671 ms 
mapping solver time 10.828859 ms 
points size 97790 
solver time 12.476523 ms 
optimization twice time 72.179953 
map prepare time 2.372538 ms
map corner num 82583  surf num 29728 
sort q time 5.867726 
seperate points time 13.797686 
scan registration time 32.760300 ms *************
build tree time 26.131311 ms 
data association time 22.402644 ms 
mapping data assosiation time 22.038160 ms 
mapping solver time 18.509935 ms 
data association time 22.387138 ms 
points size 98786 
publication time 8.299881 ms 
whole laserOdometry time 84.810713 ms 
 
mapping solver time 13.907290 ms 
mapping optimization time 103.603215 
add points time 0.638960 ms
sort q time 6.415605 
seperate points time 14.612624 
data association time 14.681103 ms 
solver time 11.572994 ms 
data association time 13.797159 ms 
publication time 7.192001 ms 
whole laserOdometry time 56.774990 ms 
 
points size 100351 
sort q time 4.724150 
seperate points time 11.327931 
data association time 15.440750 ms 
solver time 12.307619 ms 
map prepare time 3.007654 ms
map corner num 82895  surf num 29782 
data association time 23.866526 ms 
solver time 12.638112 ms 
mapping data assosiation time 19.196944 ms 
scan registration time 33.289001 ms *************
data association time 12.854565 ms 
mapping solver time 9.925453 ms 
map prepare time 3.291515 ms
map corner num 83185  surf num 29848 
solver time 9.013168 ms 
points size 95455 
sort q time 5.365504 
seperate points time 12.063759 
mapping data assosiation time 19.927524 ms 
mapping solver time 11.098616 ms 
map prepare time 2.268525 ms
map corner num 83578  surf num 29968 
data association time 17.200764 ms 
solver time 10.583233 ms 
mapping data assosiation time 18.664069 ms 
mapping solver time 12.861297 ms 
scan registration time 30.860759 ms *************
mapping data assosiation time 20.568220 ms 
mapping solver time 10.997991 ms 
mapping pub time 1.211236 ms 
whole mapping time 98.573910 ms +++++
solver time 14.360100 ms 
build tree time 20.058709 ms 
solver time 8.803159 ms 
points size 93531 
mapping solver time 11.465807 ms 
prepare time 17.029375 
sort q time 5.291141 
seperate points time 12.611982 
mapping solver time 11.273640 ms 
filter time 8.894702 ms 
data association time 12.689621 ms 
solver time 8.406053 ms 
optimization twice time 46.534148 
mapping solver time 11.743187 ms 
prepare time 16.373104 
mapping data assosiation time 21.027160 ms 
mapping solver time 14.440955 ms 
filter time 9.386651 ms 
data association time 21.833903 ms 
build tree time 24.806130 ms 
mapping data assosiation time 20.968300 ms 
prepare time 13.588249 
sort q time 5.567813 
seperate points time 12.900017 
mapping data assosiation time 21.297177 ms 
mapping solver time 9.499864 ms 
filter time 8.782353 ms 
solver time 18.736838 ms 
data association time 21.871439 ms 
points size 91640 
publication time 9.056194 ms 
whole laserOdometry time 88.454829 ms 
 
mapping data assosiation time 22.145838 ms 
mapping pub time 1.193941 ms 
whole mapping time 105.825104 ms +++++
solver time 16.392328 ms 
build tree time 25.129072 ms 
solver time 9.162948 ms 
publication time 7.780212 ms 
whole laserOdometry time 75.165390 ms 
 
prepare time 16.931153 
sort q time 5.334355 
seperate points time 12.845639 
mapping data assosiation time 21.925672 ms 
mapping solver time 11.784362 ms 
mapping pub time 1.104270 ms 
whole mapping time 109.887410 ms +++++
data association time 14.740975 ms 
solver time 10.290430 ms 
optimization twice time 50.945811 
points size 93493 
mapping data assosiation time 20.977400 ms 
prepare time 17.248106 
mapping solver time 16.702343 ms 
mapping data assosiation time 22.814112 ms 
data association time 23.734891 ms 
filter time 9.425001 ms 
data association time 22.771249 ms 
build tree time 29.703676 ms 
publication time 10.521265 ms 
whole laserOdometry time 86.486763 ms 
 
scan registration time 35.532697 ms *************
mapping solver time 12.258587 ms 
data association time 24.079030 ms 
mapping data assosiation time 25.393801 ms 
mapping solver time 13.207376 ms 
filter time 9.271940 ms 
solver time 11.358229 ms 
optimization twice time 77.202089 
points size 93930 
sort q time 5.451341 
seperate points time 13.367325 
mapping data assosiation time 22.297441 ms 
data association time 23.451754 ms 
mapping solver time 20.511498 ms 
solver time 16.840618 ms 
mapping data assosiation time 25.267201 ms 
data association time 24.302686 ms 
mapping solver time 17.546106 ms 
mapping optimization time 114.720640 
add points time 0.746108 ms
points size 93667 
solver time 12.089840 ms 
prepare time 17.606580 
optimization twice time 77.819865 
sort q time 5.459234 
seperate points time 13.175682 
build tree time 27.273978 ms 
solver time 17.305023 ms 
mapping solver time 18.881063 ms 
points size 93570 
sort q time 4.802281 
seperate points time 11.122764 
filter time 7.984422 ms 
mapping pub time 1.261114 ms 
whole mapping time 120.634578 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.026213 ms
map corner num 88681  surf num 31793 
solver time 10.859031 ms 
build tree time 22.935058 ms 
data association time 14.343233 ms 
mapping data assosiation time 20.439507 ms 
mapping solver time 13.889953 ms 
points size 94093 
mapping data assosiation time 20.968877 ms 
filter time 7.483416 ms 
data association time 14.723349 ms 
solver time 10.215777 ms 
build tree time 24.860032 ms 
solver time 7.943908 ms 
mapping solver time 14.373895 ms 
points size 92919 
prepare time 14.356808 
mapping data assosiation time 19.494054 ms 
scan registration time 30.278074 ms *************
filter time 7.893355 ms 
solver time 11.008367 ms 
data association time 16.987339 ms 
solver time 8.360635 ms 
mapping solver time 11.987381 ms 
points size 91362 
mapping solver time 8.918540 ms 
filter time 10.045469 ms 
data association time 20.531376 ms 
solver time 19.802533 ms 
mapping solver time 11.561762 ms 
solver time 10.072952 ms 
mapping solver time 10.974734 ms 
mapping optimization time 89.085191 
add points time 0.658073 ms
data association time 13.499835 ms 
solver time 12.367081 ms 
data association time 13.653962 ms 
mapping solver time 12.930573 ms 
mapping data assosiation time 20.492565 ms 
points size 89073 
filter time 10.704678 ms 
data association time 13.256095 ms 
solver time 12.847425 ms 
mapping data assosiation time 17.540492 ms 
solver time 10.662995 ms 
points size 88362 
mapping solver time 11.569089 ms 
filter time 9.650311 ms 
data association time 16.587610 ms 
build tree time 22.257367 ms 
data association time 15.172647 ms 
solver time 10.717846 ms 
points size 87835 
sort q time 3.954467 
seperate points time 9.232515 
mapping solver time 11.315912 ms 
mapping optimization time 86.978511 
add points time 0.636884 ms
scan registration time 25.890037 ms *************
map prepare time 2.361461 ms
map corner num 92151  surf num 32942 
data association time 21.440845 ms 
build tree time 25.555963 ms 
solver time 15.996976 ms 
mapping data assosiation time 19.528210 ms 
data association time 21.354476 ms 
solver time 11.939408 ms 
mapping data assosiation time 19.647416 ms 
mapping optimization time 86.616464 
scan registration time 32.933516 ms *************
data association time 14.424569 ms 
solver time 13.413767 ms 
data association time 16.900348 ms 
solver time 10.603049 ms 
points size 86995 
sort q time 4.425253 
seperate points time 10.506074 
scan registration time 27.717220 ms *************
data association time 13.341324 ms 
solver time 11.174905 ms 
data association time 17.669363 ms 
solver time 9.371409 ms 
publication time 7.822831 ms 
whole laserOdometry time 60.354909 ms 
 
points size 87033 
sort q time 4.300959 
seperate points time 10.422756 
mapping data assosiation time 19.449512 ms 
solver time 12.917175 ms 
data association time 17.777340 ms 
solver time 10.798614 ms 
points size 86413 
sort q time 4.055688 
seperate points time 9.536148 
data association time 13.873066 ms 
solver time 15.462308 ms 
filter time 8.473684 ms 
solver time 8.654917 ms 
publication time 6.415494 ms 
whole laserOdometry time 62.313491 ms 
 
build tree time 22.932639 ms 
points size 86096 
sort q time 4.211658 
seperate points time 10.081142 
data association time 12.966977 ms 
solver time 10.745407 ms 
mapping solver time 12.464193 ms 
mapping optimization time 93.876258 
add points time 0.543061 ms
filter time 7.762714 ms 
solver time 8.740725 ms 
build tree time 21.757849 ms 
points size 86119 
mapping data assosiation time 20.044932 ms 
sort q time 4.876631 
seperate points time 11.310990 
data association time 13.777787 ms 
solver time 10.906696 ms 
mapping solver time 11.562913 ms 
solver time 7.934217 ms 
publication time 7.442676 ms 
whole laserOdometry time 54.558345 ms 
 
build tree time 25.119093 ms 
prepare time 15.296133 
sort q time 4.403911 
seperate points time 10.810909 
mapping solver time 15.183026 ms 
data association time 16.960500 ms 
mapping data assosiation time 21.103538 ms 
mapping solver time 12.164699 ms 
filter time 10.026017 ms 
publication time 7.939119 ms 
whole laserOdometry time 63.757592 ms 
 
build tree time 23.630043 ms 
sort q time 4.082742 
seperate points time 9.767097 
mapping solver time 14.858787 ms 
solver time 11.273635 ms 
mapping solver time 13.401779 ms 
mapping optimization time 94.824056 
add points time 0.623272 ms
data association time 18.070491 ms 
publication time 6.812902 ms 
whole laserOdometry time 60.293621 ms 
 
points size 86847 
sort q time 5.335043 
seperate points time 12.499433 
mapping data assosiation time 25.070332 ms 
data association time 22.665506 ms 
solver time 20.776069 ms 
mapping data assosiation time 26.963846 ms 
mapping solver time 14.063598 ms 
mapping pub time 1.342929 ms 
whole mapping time 128.608096 ms +++++
sort q time 4.383823 
seperate points time 10.728713 
build tree time 25.580785 ms 
solver time 10.230600 ms 
mapping solver time 15.924914 ms 
publication time 8.858163 ms 
whole laserOdometry time 57.389452 ms 
 
mapping data assosiation time 25.346523 ms 
points size 89536 
filter time 9.569575 ms 
data association time 14.532024 ms 
solver time 13.401701 ms 
data association time 14.433310 ms 
solver time 11.931652 ms 
points size 90159 
sort q time 4.473892 
seperate points time 10.412943 
scan registration time 28.148123 ms *************
filter time 8.811736 ms 
data association time 17.989882 ms 
solver time 14.628118 ms 
data association time 14.288554 ms 
mapping data assosiation time 23.890331 ms 
mapping solver time 17.684703 ms 
sort q time 5.175008 
seperate points time 12.209621 
mapping solver time 15.540452 ms 
map prepare time 2.451018 ms
map corner num 91151  surf num 31958 
data association time 14.731841 ms 
solver time 11.259354 ms 
mapping data assosiation time 24.112007 ms 
sort q time 4.492337 
seperate points time 10.346425 
mapping solver time 16.374129 ms 
scan registration time 27.406004 ms *************
mapping data assosiation time 23.793006 ms 
mapping solver time 13.446098 ms 
filter time 9.853165 ms 
solver time 8.397444 ms 
points size 92504 
mapping data assosiation time 23.450626 ms 
sort q time 5.747988 
seperate points time 13.151758 
scan registration time 34.353680 ms *************
data association time 15.350230 ms 
solver time 13.191898 ms 
filter time 8.349556 ms 
solver time 5.062251 ms 
build tree time 25.170034 ms 
sort q time 4.763005 
seperate points time 11.342109 
mapping solver time 17.089766 ms 
solver time 10.444155 ms 
data association time 17.333498 ms 
filter time 7.355357 ms 
points size 93611 
build tree time 23.231944 ms 
mapping data assosiation time 23.841729 ms 
mapping solver time 16.956596 ms 
data association time 17.254280 ms 
solver time 10.981188 ms 
publication time 9.419066 ms 
whole laserOdometry time 67.284950 ms 
 
points size 94450 
filter time 8.324884 ms 
mapping pub time 1.171992 ms 
whole mapping time 122.368663 ms +++++
prepare time 17.399232 
map prepare time 2.632287 ms
map corner num 92862  surf num 32508 
sort q time 5.334482 
seperate points time 12.998280 
build tree time 27.007960 ms 
data association time 16.655258 ms 
mapping data assosiation time 23.117588 ms 
mapping solver time 16.275410 ms 
solver time 8.503349 ms 
points size 94539 
prepare time 17.603771 
mapping solver time 18.131698 ms 
filter time 10.063437 ms 
data association time 15.042017 ms 
build tree time 22.869972 ms 
data association time 14.173649 ms 
solver time 11.402130 ms 
publication time 10.014374 ms 
whole laserOdometry time 65.584064 ms 
 
sort q time 4.518742 
seperate points time 10.736592 
mapping solver time 15.313256 ms 
mapping pub time 1.248451 ms 
whole mapping time 119.496710 ms +++++
data association time 14.320131 ms 
solver time 10.739082 ms 
mapping data assosiation time 25.054104 ms 
sort q time 4.948500 
seperate points time 11.633265 
mapping data assosiation time 25.291774 ms 
solver time 13.000868 ms 
data association time 14.773325 ms 
solver time 11.808820 ms 
publication time 9.210408 ms 
whole laserOdometry time 63.954805 ms 
 
build tree time 27.849725 ms 
sort q time 5.506765 
seperate points time 15.035068 
data association time 14.335542 ms 
solver time 10.697964 ms 
mapping data assosiation time 23.679093 ms 
mapping solver time 14.822483 ms 
filter time 10.970758 ms 
prepare time 15.614057 
sort q time 4.802256 
seperate points time 11.548152 
data association time 15.349368 ms 
solver time 13.789156 ms 
mapping solver time 17.646596 ms 
solver time 10.398354 ms 
publication time 8.679322 ms 
whole laserOdometry time 66.954500 ms 
 
points size 97135 
mapping solver time 15.659808 ms 
mapping optimization time 106.608456 
prepare time 14.305346 
add points time 0.798516 ms
sort q time 4.406011 
seperate points time 10.475180 
data association time 15.861622 ms 
solver time 13.020999 ms 
mapping data assosiation time 22.528947 ms 
solver time 10.823897 ms 
publication time 8.066001 ms 
whole laserOdometry time 64.206366 ms 
 
points size 97933 
mapping solver time 13.578733 ms 
mapping optimization time 102.787375 
add points time 0.672940 ms
sort q time 5.729184 
seperate points time 13.994534 
data association time 16.074683 ms 
solver time 13.822915 ms 
data association time 15.530508 ms 
solver time 12.299392 ms 
publication time 8.946667 ms 
whole laserOdometry time 67.692872 ms 
 
sort q time 5.689971 
seperate points time 14.013112 
scan registration time 37.460856 ms *************
data association time 17.850551 ms 
solver time 15.928222 ms 
map prepare time 4.896124 ms
map corner num 95420  surf num 33595 
solver time 12.672687 ms 
optimization twice time 67.650572 
prepare time 18.030809 
sort q time 5.684772 
seperate points time 13.775238 
mapping solver time 17.074103 ms 
solver time 12.606539 ms 
mapping data assosiation time 23.485257 ms 
data association time 15.443388 ms 
mapping solver time 13.570018 ms 
mapping optimization time 110.175256 
add points time 0.754476 ms
map prepare time 2.748866 ms
map corner num 95820  surf num 33733 
sort q time 6.453265 
seperate points time 14.994280 
data association time 15.378858 ms 
solver time 13.250678 ms 
data association time 15.201101 ms 
solver time 11.296572 ms 
publication time 10.832348 ms 
whole laserOdometry time 66.833121 ms 
 
mapping solver time 16.270086 ms 
mapping optimization time 109.323410 
add points time 0.628339 ms
points size 97779 
map prepare time 2.932264 ms
map corner num 96277  surf num 33936 
scan registration time 37.724860 ms *************
build tree time 24.519064 ms 
solver time 10.877607 ms 
data association time 18.061676 ms 
solver time 10.277210 ms 
points size 97880 
mapping solver time 10.521786 ms 
filter time 10.285319 ms 
mapping pub time 1.724976 ms 
whole mapping time 118.244604 ms +++++
map prepare time 2.577459 ms
map corner num 96667  surf num 34110 
data association time 15.178126 ms 
build tree time 24.864715 ms 
data association time 16.001225 ms 
mapping data assosiation time 24.119636 ms 
publication time 10.067741 ms 
whole laserOdometry time 67.714395 ms 
 
points size 98367 
mapping data assosiation time 22.910084 ms 
mapping solver time 17.365791 ms 
filter time 9.410703 ms 
solver time 13.717341 ms 
mapping data assosiation time 27.560309 ms 
mapping solver time 14.542717 ms 
mapping pub time 2.323927 ms 
whole mapping time 122.818658 ms +++++
solver time 10.134920 ms 
publication time 9.087141 ms 
whole laserOdometry time 62.581289 ms 
 
points size 98956 
mapping data assosiation time 22.792487 ms 
mapping solver time 17.403156 ms 
data association time 15.374260 ms 
solver time 11.408273 ms 
mapping solver time 13.309056 ms 
filter time 9.835422 ms 
publication time 8.191508 ms 
whole laserOdometry time 63.725031 ms 
 
points size 99365 
build tree time 24.812482 ms 
scan registration time 34.005198 ms *************
mapping data assosiation time 27.094906 ms 
mapping solver time 19.677506 ms 
data association time 15.533123 ms 
publication time 10.355050 ms 
whole laserOdometry time 67.438998 ms 
 
mapping solver time 16.048568 ms 
mapping optimization time 116.613094 
add points time 0.636339 ms
points size 100159 
map prepare time 2.708581 ms
map corner num 98082  surf num 34840 
scan registration time 34.065393 ms *************
build tree time 29.027333 ms 
solver time 12.951710 ms 
mapping data assosiation time 25.306106 ms 
data association time 15.065560 ms 
mapping solver time 16.592155 ms 
publication time 9.455431 ms 
whole laserOdometry time 64.752565 ms 
 
points size 99987 
mapping data assosiation time 25.033557 ms 
prepare time 18.144027 
mapping solver time 14.148240 ms 
scan registration time 37.640098 ms *************
map prepare time 2.784518 ms
map corner num 98413  surf num 34974 
data association time 15.499702 ms 
solver time 13.181313 ms 
data association time 14.920630 ms 
mapping data assosiation time 24.837963 ms 
points size 94610 
sort q time 5.584579 
seperate points time 13.548921 
mapping solver time 16.662774 ms 
filter time 9.606829 ms 
solver time 18.638567 ms 
data association time 17.217369 ms 
points size 93545 
publication time 10.092634 ms 
whole laserOdometry time 86.395529 ms 
 
mapping data assosiation time 27.206530 ms 
sort q time 5.815243 
seperate points time 13.749035 
data association time 14.715200 ms 
solver time 10.885267 ms 
data association time 14.111280 ms 
solver time 10.738486 ms 
publication time 9.455267 ms 
whole laserOdometry time 60.745278 ms 
 
points size 93239 
build tree time 25.007155 ms 
sort q time 5.150307 
seperate points time 11.823973 
scan registration time 29.252673 ms *************
mapping data assosiation time 26.959662 ms 
solver time 13.656519 ms 
data association time 16.769412 ms 
solver time 13.824208 ms 
mapping solver time 16.429665 ms 
filter time 10.067451 ms 
sort q time 5.274884 
seperate points time 12.872499 
build tree time 26.420242 ms 
solver time 13.115501 ms 
data association time 14.250022 ms 
mapping solver time 16.950707 ms 
points size 92429 
mapping solver time 16.664595 ms 
filter time 9.842199 ms 
data association time 16.513059 ms 
build tree time 24.865155 ms 
solver time 13.868521 ms 
data association time 20.013354 ms 
publication time 8.262413 ms 
whole laserOdometry time 68.391092 ms 
 
sort q time 5.175517 
seperate points time 12.534406 
mapping data assosiation time 25.582566 ms 
mapping solver time 16.040332 ms 
filter time 11.044311 ms 
data association time 14.599729 ms 
solver time 10.520772 ms 
publication time 10.572604 ms 
whole laserOdometry time 62.840464 ms 
 
points size 92934 
mapping data assosiation time 26.318684 ms 
scan registration time 29.804353 ms *************
mapping solver time 18.132528 ms 
data association time 16.038279 ms 
solver time 12.320032 ms 
data association time 15.322667 ms 
mapping solver time 14.765632 ms 
mapping optimization time 112.977239 
add points time 0.657255 ms
publication time 8.614660 ms 
whole laserOdometry time 63.860556 ms 
 
points size 93923 
build tree time 26.201246 ms 
sort q time 5.094612 
seperate points time 12.129517 
mapping data assosiation time 24.708266 ms 
solver time 10.601924 ms 
data association time 17.220227 ms 
mapping data assosiation time 25.567843 ms 
mapping solver time 16.554911 ms 
points size 95195 
map prepare time 3.007628 ms
map corner num 101383  surf num 36119 
sort q time 5.368587 
seperate points time 12.681798 
build tree time 25.347056 ms 
data association time 16.475890 ms 
mapping data assosiation time 26.117355 ms 
solver time 11.672305 ms 
data association time 15.894540 ms 
solver time 11.114835 ms 
publication time 9.509144 ms 
whole laserOdometry time 65.539466 ms 
 
prepare time 14.671388 
sort q time 4.312849 
seperate points time 10.455452 
map prepare time 3.804927 ms
map corner num 108662  surf num 39461 
data association time 15.573123 ms 
solver time 10.723001 ms 
data association time 15.269049 ms 
solver time 13.816356 ms 
publication time 10.044289 ms 
whole laserOdometry time 66.310237 ms 
 
prepare time 14.996122 
sort q time 5.822376 
seperate points time 13.419012 
data association time 14.475214 ms 
solver time 13.020093 ms 
data association time 18.531150 ms 
publication time 10.243306 ms 
whole laserOdometry time 65.538322 ms 
 
points size 97995 
sort q time 4.882904 
seperate points time 11.501613 
mapping solver time 17.683319 ms 
data association time 15.090592 ms 
mapping data assosiation time 22.968950 ms 
mapping solver time 15.355683 ms 
data association time 14.873932 ms 
optimization twice time 50.706324 
points size 98006 
sort q time 5.753595 
seperate points time 13.592516 
data association time 15.429188 ms 
solver time 13.820258 ms 
data association time 16.046704 ms 
mapping data assosiation time 25.368669 ms 
publication time 9.781651 ms 
whole laserOdometry time 71.579825 ms 
 
prepare time 14.918673 
map prepare time 2.990380 ms
map corner num 109986  surf num 39989 
build tree time 29.031492 ms 
solver time 12.112348 ms 
data association time 17.723694 ms 
publication time 10.123046 ms 
whole laserOdometry time 64.430597 ms 
 
mapping data assosiation time 28.958058 ms 
scan registration time 32.796942 ms *************
mapping solver time 17.321627 ms 
mapping optimization time 119.776787 
add points time 0.571643 ms
filter time 9.774604 ms 
data association time 24.248513 ms 
solver time 19.456603 ms 
data association time 24.279499 ms 
points size 99067 
prepare time 14.702392 
solver time 15.565056 ms 
optimization twice time 84.472005 
sort q time 5.499415 
seperate points time 13.098153 
data association time 15.194743 ms 
solver time 15.214352 ms 
mapping pub time 143.452270 ms 
whole mapping time 276.623277 ms +++++
solver time 16.904092 ms 
build tree time 33.099716 ms 
mapping data assosiation time 24.360610 ms 
solver time 13.172473 ms 
data association time 15.025351 ms 
optimization twice time 54.831246 
points size 98298 
mapping pub time 1.163868 ms 
whole mapping time 136.855101 ms +++++
data association time 15.167389 ms 
mapping data assosiation time 25.016629 ms 
mapping solver time 15.945285 ms 
publication time 10.686557 ms 
whole laserOdometry time 73.097775 ms 
 
mapping data assosiation time 26.695001 ms 
scan registration time 32.712751 ms *************
filter time 9.870832 ms 
mapping pub time 1.306601 ms 
whole mapping time 131.076450 ms +++++
map prepare time 3.189796 ms
map corner num 111568  surf num 40964 
solver time 13.444560 ms 
build tree time 31.968850 ms 
publication time 8.827582 ms 
whole laserOdometry time 64.938557 ms 
 
sort q time 4.521733 
seperate points time 11.142199 
mapping solver time 17.598148 ms 
scan registration time 29.906631 ms *************
data association time 16.112442 ms 
solver time 14.407204 ms 
mapping solver time 14.743017 ms 
mapping optimization time 116.820143 
add points time 0.621342 ms
map prepare time 3.001863 ms
map corner num 112172  surf num 41277 
solver time 11.067310 ms 
build tree time 29.791900 ms 
sort q time 5.531614 
seperate points time 13.239577 
mapping solver time 20.481235 ms 
data association time 26.007140 ms 
mapping data assosiation time 30.115500 ms 
mapping solver time 18.867652 ms 
data association time 24.630133 ms 
solver time 20.754387 ms 
optimization twice time 90.195142 
sort q time 5.557168 
seperate points time 13.457389 
scan registration time 37.373093 ms *************
build tree time 40.028673 ms 
data association time 24.506758 ms 
solver time 17.296455 ms 
data association time 24.534651 ms 
mapping solver time 23.155570 ms 
points size 94934 
prepare time 14.649153 
sort q time 5.698373 
seperate points time 13.331849 
mapping data assosiation time 28.546711 ms 
mapping solver time 17.956194 ms 
data association time 24.146747 ms 
map prepare time 3.782104 ms
map corner num 113101  surf num 41771 
data association time 24.247002 ms 
solver time 12.151194 ms 
scan registration time 30.250775 ms *************
mapping data assosiation time 31.197914 ms 
data association time 25.601131 ms 
mapping solver time 23.435956 ms 
solver time 17.544209 ms 
mapping data assosiation time 30.257995 ms 
points size 84797 
mapping solver time 23.872755 ms 
filter time 10.943211 ms 
data association time 23.855870 ms 
solver time 14.278456 ms 
data association time 25.572484 ms 
mapping data assosiation time 29.774911 ms 
solver time 13.393276 ms 
optimization twice time 78.187819 
points size 83004 
mapping solver time 20.301151 ms 
mapping data assosiation time 24.453605 ms 
solver time 9.624442 ms 
mapping solver time 14.946318 ms 
mapping optimization time 130.173493 
add points time 0.608445 ms
data association time 14.549029 ms 
solver time 8.367550 ms 
build tree time 22.294506 ms 
points size 81814 
mapping data assosiation time 23.309075 ms 
mapping solver time 17.048521 ms 
solver time 9.877650 ms 
mapping data assosiation time 28.510923 ms 
optimization twice time 47.035923 
filter time 8.708968 ms 
points size 81732 
build tree time 24.272291 ms 
scan registration time 32.172786 ms *************
mapping data assosiation time 23.317816 ms 
mapping solver time 15.623984 ms 
data association time 14.102162 ms 
mapping data assosiation time 22.514752 ms 
mapping optimization time 103.281785 
mapping pub time 1.067232 ms 
whole mapping time 114.716700 ms +++++
map prepare time 2.570258 ms
map corner num 84487  surf num 31994 
build tree time 24.650859 ms 
scan registration time 56.273830 ms *************
mapping data assosiation time 41.173043 ms 
data association time 33.526745 ms 
points size 85300 
mapping data assosiation time 47.067664 ms scan registration time 69.471731 ms *************filter time 9.557237 ms optimization twice time 146.542043 
prepare time 17.275722 
sort q time 4.816753 
seperate points time 12.489993 
data association time 25.026405 ms 
solver time 14.622727 ms 
data association time 21.790224 ms 
solver time 12.146945 ms 
publication time 11.514667 ms 
whole laserOdometry time 86.116961 ms 
 
points size 89124 
prepare time 17.755646 
mapping solver time 25.220646 ms 
mapping data assosiation time 31.365599 ms 
solver time 12.196603 ms 
publication time 9.994803 ms 
whole laserOdometry time 94.966445 ms 
 
map prepare time 3.325083 ms
map corner num 85978  surf num 32554 
scan registration time 32.774985 ms *************
solver time 14.738790 ms 
build tree time 29.433835 ms 
data association time 26.185607 ms 
optimization twice time 78.633157 
publication time 10.317533 ms 
whole laserOdometry time 88.964588 ms 
 
points size 95592 
data association time 26.255687 ms 
solver time 16.967835 ms 
mapping optimization time 134.030779 
filter time 9.644984 ms 
solver time 11.178276 ms 
optimization twice time 79.401594 
build tree time 31.133784 ms 
data association time 25.862259 ms 
points size 97204 
prepare time 15.440840 
sort q time 6.220104 
seperate points time 14.788790 
scan registration time 35.056760 ms *************
data association time 24.756995 ms 
solver time 13.190489 ms 
data association time 16.063418 ms 
solver time 11.569191 ms 
prepare time 14.988404 
sort q time 4.988328 
seperate points time 12.062006 
publication time 9.526886 ms 
whole laserOdometry time 62.805394 ms 
 
data association time 15.553507 ms 
solver time 11.132744 ms 
data association time 15.852306 ms 
publication time 8.616220 ms 
whole laserOdometry time 59.816304 ms 
 
add points time 0.621374 ms
filter time 8.981944 ms 
sort q time 5.441979 
seperate points time 12.658087 
build tree time 24.028961 ms 
solver time 10.281227 ms 
data association time 15.106120 ms 
solver time 10.465047 ms 
mapping data assosiation time 24.012398 ms 
mapping solver time 16.761514 ms 
filter time 10.039717 ms 
data association time 15.095890 ms 
build tree time 21.611966 ms 
data association time 18.548815 ms 
optimization twice time 54.591436 
mapping solver time 16.731350 ms 
points size 86948 
mapping data assosiation time 22.863282 ms 
sort q time 5.174905 
seperate points time 12.799393 
add points time 0.673594 ms
filter time 10.548748 ms 
data association time 25.125108 ms 
solver time 16.446936 ms 
data association time 24.747827 ms 
points size 84139 
publication time 10.964840 ms 
whole laserOdometry time 91.092761 ms 
 
mapping data assosiation time 30.494526 ms 
data association time 26.964559 ms 
add points time 0.623763 ms
filter time 10.037355 ms 
data association time 23.633993 ms 
prepare time 15.716436 
sort q time 6.629684 
seperate points time 16.100509 
mapping data assosiation time 25.233795 ms 
mapping solver time 16.403975 ms 
data association time 23.359303 ms 
solver time 12.630940 ms 
mapping data assosiation time 27.923843 ms 
mapping solver time 16.482661 ms 
solver time 11.740746 ms 
sort q time 5.003544 
seperate points time 12.477900 
build tree time 24.523416 ms 
data association time 15.377444 ms 
mapping data assosiation time 23.217607 ms 
data association time 15.578016 ms 
optimization twice time 51.054527 
mapping data assosiation time 26.035969 ms 
mapping solver time 12.677793 ms 
filter time 10.067695 ms 
data association time 13.929340 ms 
solver time 10.492138 ms 
data association time 13.939300 ms 
mapping data assosiation time 22.136459 ms 
mapping solver time 15.134494 ms 
points size 73149 
sort q time 3.771794 
seperate points time 9.430889 
filter time 7.563787 ms 
data association time 14.530845 ms 
solver time 11.115535 ms 
data association time 14.226336 ms 
publication time 7.187390 ms 
whole laserOdometry time 56.258039 ms 
 
points size 71847 
sort q time 3.676483 
seperate points time 8.902552 
data association time 13.978425 ms 
solver time 9.727113 ms 
data association time 19.777822 ms 
publication time 10.230117 ms 
whole laserOdometry time 64.618126 ms 
 
build tree time 31.139792 ms 
sort q time 4.398183 
seperate points time 10.465914 
mapping solver time 12.379540 ms 
solver time 10.436229 ms 
data association time 12.492943 ms 
solver time 10.420367 ms 
filter time 8.754770 ms 
mapping pub time 0.879472 ms 
whole mapping time 119.977794 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 2.293427 ms
map corner num 93119  surf num 35211 
points size 74891 
sort q time 4.081403 
seperate points time 10.177982 
mapping data assosiation time 24.374817 ms 
mapping solver time 14.615877 ms 
data association time 13.387020 ms 
publication time 6.949511 ms 
whole laserOdometry time 54.868717 ms 
 
filter time 9.606405 ms 
points size 77599 
prepare time 15.231272 
build tree time 29.620850 ms 
scan registration time 33.406694 ms *************
mapping data assosiation time 28.734299 ms 
data association time 23.394510 ms 
mapping solver time 19.658495 ms 
solver time 16.096650 ms 
data association time 24.821923 ms 
solver time 12.710642 ms 
filter time 11.032288 ms 
data association time 21.629285 ms 
solver time 11.146690 ms 
build tree time 26.064208 ms 
solver time 8.732875 ms 
mapping solver time 16.891624 ms 
sort q time 4.594983 
seperate points time 10.946028 
mapping data assosiation time 26.558942 ms 
mapping solver time 13.517936 ms 
filter time 10.711561 ms 
solver time 11.605089 ms 
data association time 21.726017 ms 
optimization twice time 67.988714 
publication time 9.416040 ms 
whole laserOdometry time 77.421289 ms 
 
sort q time 4.307013 
seperate points time 10.216122 
data association time 14.204316 ms 
solver time 10.010338 ms 
data association time 13.980764 ms 
filter time 11.598945 ms 
points size 84578 
sort q time 3.992554 
seperate points time 9.500569 
mapping data assosiation time 26.078903 ms 
data association time 14.114729 ms 
solver time 11.664028 ms 
data association time 14.712418 ms 
mapping data assosiation time 24.162503 ms 
mapping solver time 14.678805 ms 
filter time 11.332012 ms 
prepare time 13.420980 
sort q time 4.649658 
seperate points time 11.060544 
build tree time 29.128179 ms 
data association time 15.514995 ms 
solver time 10.837568 ms 
data association time 14.058570 ms 
solver time 8.401652 ms 
optimization twice time 49.715473 
mapping solver time 18.664906 ms 
points size 88110 
sort q time 4.672141 
seperate points time 11.297673 
filter time 10.806098 ms 
data association time 23.342012 ms 
solver time 14.386769 ms 
data association time 15.590900 ms 
solver time 8.514179 ms 
points size 88806 
mapping solver time 19.710479 ms 
data association time 14.007171 ms 
mapping solver time 12.009379 ms 
mapping optimization time 120.742572 
add points time 0.750411 ms
map prepare time 3.667954 ms
map corner num 99833  surf num 38966 
publication time 8.025562 ms 
whole laserOdometry time 58.583006 ms 
 
build tree time 28.082235 ms 
prepare time 14.222381 
sort q time 4.861234 
seperate points time 11.344925 
mapping solver time 17.609905 ms 
data association time 22.836359 ms 
solver time 13.887036 ms 
mapping data assosiation time 28.150017 ms 
solver time 7.821980 ms 
publication time 8.433438 ms 
whole laserOdometry time 68.471659 ms 
 
map prepare time 3.679238 ms
map corner num 100657  surf num 39300 
sort q time 5.135569 
seperate points time 12.729156 
data association time 13.999556 ms 
mapping data assosiation time 29.177311 ms 
data association time 15.644455 ms 
solver time 10.375053 ms 
mapping data assosiation time 26.655358 ms 
mapping solver time 15.362218 ms 
scan registration time 35.042487 ms *************
data association time 14.944717 ms 
solver time 12.031265 ms 
build tree time 32.774383 ms 
solver time 8.741860 ms 
optimization twice time 52.617564 
mapping data assosiation time 30.360115 ms 
points size 94028 
mapping solver time 20.112598 ms 
sort q time 5.441167 
seperate points time 13.242546 
data association time 15.180352 ms 
solver time 11.252690 ms 
data association time 16.450441 ms 
solver time 10.526256 ms 
publication time 8.751580 ms 
whole laserOdometry time 63.042827 ms 
 
points size 96045 
sort q time 5.691512 
seperate points time 13.321642 
mapping data assosiation time 28.492893 ms 
data association time 19.974872 ms 
solver time 13.455741 ms 
data association time 18.168212 ms 
solver time 10.710132 ms 
prepare time 17.891536 
filter time 8.782663 ms 
data association time 15.719918 ms 
solver time 13.854734 ms 
mapping data assosiation time 28.275726 ms 
solver time 10.539800 ms 
points size 94132 
prepare time 19.904649 
sort q time 6.134565 
seperate points time 15.006017 
mapping data assosiation time 38.131032 ms 
mapping solver time 12.321101 ms 
filter time 9.454831 ms 
data association time 14.688047 ms 
build tree time 28.865414 ms 
points size 93550 
sort q time 6.144261 
seperate points time 14.979773 
mapping solver time 20.878641 ms 
solver time 10.688847 ms 
mapping data assosiation time 27.591481 ms 
data association time 21.095109 ms 
solver time 10.591797 ms 
mapping solver time 22.003635 ms 
publication time 10.567396 ms 
whole laserOdometry time 70.397641 ms 
 
sort q time 5.435456 
seperate points time 13.255048 
build tree time 27.275691 ms 
data association time 18.186401 ms 
mapping data assosiation time 31.113031 ms 
data association time 18.924271 ms 
solver time 11.192470 ms 
publication time 12.216158 ms 
whole laserOdometry time 72.042623 ms 
 
sort q time 6.231794 
seperate points time 14.325813 
mapping data assosiation time 40.967322 ms 
mapping solver time 16.277845 ms 
filter time 9.721825 ms 
solver time 8.440760 ms 
publication time 11.068616 ms 
whole laserOdometry time 61.715136 ms 
 
prepare time 15.717636 
sort q time 4.789806 
seperate points time 11.258173 
mapping data assosiation time 29.203344 ms 
solver time 10.376103 ms 
data association time 14.967502 ms 
publication time 9.027357 ms 
whole laserOdometry time 59.414082 ms 
 
points size 89660 
add points time 0.822576 ms
filter time 10.703236 ms 
data association time 15.517479 ms 
solver time 12.448218 ms 
data association time 16.196433 ms 
publication time 7.873519 ms 
whole laserOdometry time 61.503464 ms 
 
points size 89160 
sort q time 4.366603 
seperate points time 10.347268 
mapping data assosiation time 29.694624 ms 
mapping solver time 12.645705 ms 
filter time 10.270434 ms 
solver time 7.639514 ms 
build tree time 29.543665 ms 
points size 91285 
sort q time 4.362299 
seperate points time 10.196435 
mapping solver time 19.714784 ms 
data association time 15.048860 ms 
data association time 14.475248 ms 
solver time 10.453337 ms 
filter time 10.446835 ms 
sort q time 4.784590 
seperate points time 11.202150 
scan registration time 30.670945 ms *************
data association time 17.207422 ms 
solver time 11.571481 ms 
data association time 15.242602 ms 
solver time 7.674729 ms 
points size 92860 
sort q time 5.757416 
seperate points time 13.457742 
scan registration time 35.632072 ms *************
filter time 10.450997 ms 
mapping pub time 1.067103 ms 
whole mapping time 147.738416 ms +++++
map prepare time 3.015508 ms
map corner num 109058  surf num 42744 
solver time 11.508838 ms 
data association time 17.410951 ms 
solver time 8.673580 ms 
points size 95147 
sort q time 4.768169 
seperate points time 11.021326 
scan registration time 30.664323 ms *************
mapping solver time 18.169801 ms 
data association time 17.062005 ms 
solver time 12.892063 ms 
mapping solver time 15.114152 ms 
filter time 9.194126 ms 
solver time 10.935481 ms 
publication time 10.712254 ms 
whole laserOdometry time 74.207673 ms 
 
sort q time 4.888872 
seperate points time 11.494766 
data association time 15.643106 ms 
solver time 12.901488 ms 
data association time 15.798836 ms 
optimization twice time 54.370783 
publication time 10.839830 ms 
whole laserOdometry time 65.228887 ms 
 
points size 98739 
mapping pub time 150.136348 ms 
whole mapping time 286.434143 ms +++++
scan registration time 41.642737 ms *************
build tree time 32.322848 ms 
solver time 12.852210 ms 
mapping data assosiation time 30.034045 ms 
optimization twice time 55.059980 
prepare time 17.879945 
sort q time 5.488994 
seperate points time 13.262880 
mapping data assosiation time 28.129982 ms 
mapping solver time 21.727941 ms 
mapping optimization time 135.262794 
add points time 0.910834 ms
data association time 23.450439 ms 
filter time 11.670781 ms 
map prepare time 3.835448 ms
map corner num 110181  surf num 43029 
data association time 23.476366 ms 
prepare time 16.168810 
publication time 11.794899 ms 
whole laserOdometry time 86.630563 ms 
 
mapping data assosiation time 29.464397 ms 
data association time 23.853049 ms 
mapping solver time 27.719725 ms 
solver time 12.890206 ms 
mapping data assosiation time 33.937236 ms 
solver time 8.567604 ms 
optimization twice time 72.887978 
mapping solver time 27.056403 ms 
filter time 12.046651 ms 
data association time 24.371954 ms 
solver time 14.228902 ms 
build tree time 38.266244 ms 
data association time 24.942574 ms 
prepare time 14.740146 
mapping data assosiation time 34.726570 ms 
mapping solver time 23.257321 ms 
data association time 25.100528 ms 
solver time 13.398039 ms 
data association time 24.121394 ms 
points size 94461 
sort q time 5.397241 
seperate points time 13.029765 
scan registration time 35.928824 ms *************
build tree time 36.562117 ms 
solver time 12.701209 ms 
mapping data assosiation time 33.284514 ms 
data association time 25.100974 ms 
publication time 11.964094 ms 
whole laserOdometry time 88.133438 ms 
 
mapping data assosiation time 32.544571 ms 
mapping solver time 20.232260 ms 
solver time 11.548490 ms 
map prepare time 3.754139 ms
map corner num 112726  surf num 44133 
data association time 24.095918 ms 
points size 88881 
publication time 10.273011 ms 
whole laserOdometry time 81.755494 ms 
 
data association time 14.459730 ms 
solver time 11.449452 ms 
data association time 18.237781 ms 
solver time 8.716372 ms 
publication time 8.341149 ms 
whole laserOdometry time 62.106420 ms 
 
points size 87691 
filter time 10.194520 ms 
data association time 14.024681 ms 
build tree time 29.048875 ms 
data association time 15.179918 ms 
solver time 8.773559 ms 
mapping solver time 18.090757 ms 
sort q time 4.086322 
seperate points time 9.869696 
mapping data assosiation time 28.849277 ms 
data association time 23.843411 ms 
filter time 12.408509 ms 
solver time 15.217164 ms 
data association time 24.392963 ms 
solver time 11.379775 ms 
publication time 10.260989 ms 
whole laserOdometry time 86.172629 ms 
 
sort q time 5.174340 
seperate points time 12.273658 
mapping data assosiation time 32.750924 ms 
data association time 25.179546 ms 
mapping solver time 24.835979 ms 
data association time 26.251496 ms 
solver time 13.389767 ms 
optimization twice time 78.003439 
points size 82300 
sort q time 4.625666 
seperate points time 11.795210 
scan registration time 32.541174 ms *************
filter time 11.281067 ms 
mapping pub time 1.063743 ms 
whole mapping time 170.794062 ms +++++
drop lidar frame in mapping for real time performance 
data association time 22.912125 ms 
solver time 11.006634 ms 
data association time 25.456099 ms 
points size 83327 
publication time 9.596450 ms 
whole laserOdometry time 83.683273 ms 
 
mapping solver time 23.763076 ms 
data association time 18.005195 ms 
mapping data assosiation time 27.891024 ms 
mapping solver time 14.962064 ms 
filter time 10.355961 ms 
publication time 10.462952 ms 
whole laserOdometry time 71.552335 ms 
 
points size 87019 
prepare time 13.698512 
sort q time 5.017371 
seperate points time 11.904542 
mapping data assosiation time 26.213549 ms 
solver time 10.452459 ms 
data association time 16.878012 ms 
solver time 10.373967 ms 
points size 87043 
filter time 9.579617 ms 
data association time 14.973285 ms 
solver time 10.554750 ms 
data association time 17.209787 ms 
solver time 10.571160 ms 
mapping solver time 23.062816 ms 
sort q time 4.328578 
seperate points time 10.196783 
mapping data assosiation time 29.557568 ms 
mapping solver time 15.992692 ms 
filter time 11.069532 ms 
solver time 7.950291 ms 
build tree time 34.161474 ms 
sort q time 4.271892 
seperate points time 10.273973 
mapping data assosiation time 30.541819 ms 
data association time 17.065909 ms 
solver time 8.530088 ms 
data association time 14.548200 ms 
publication time 9.140549 ms 
whole laserOdometry time 55.532744 ms 
 
filter time 10.302054 ms 
sort q time 5.302867 
seperate points time 12.595171 
build tree time 34.195371 ms 
data association time 15.888683 ms 
solver time 11.531381 ms 
data association time 14.893577 ms 
solver time 8.691698 ms 
publication time 8.524179 ms 
whole laserOdometry time 60.150944 ms 
 
points size 94191 
sort q time 5.073402 
seperate points time 12.281077 
filter time 10.189866 ms 
solver time 11.783842 ms 
data association time 19.073646 ms 
publication time 9.203009 ms 
whole laserOdometry time 65.000515 ms 
 
points size 92457 
sort q time 4.549781 
seperate points time 10.753600 
mapping solver time 23.729803 ms 
data association time 16.082452 ms 
solver time 10.945235 ms 
data association time 16.080044 ms 
publication time 8.647167 ms 
whole laserOdometry time 61.030298 ms 
 
points size 93731 
sort q time 4.649327 
seperate points time 11.352383 
build tree time 31.833260 ms 
data association time 16.255866 ms 
solver time 10.440249 ms 
mapping data assosiation time 28.291823 ms 
mapping solver time 20.953885 ms 
points size 94054 
sort q time 5.308460 
seperate points time 13.358900 
filter time 10.670257 ms 
solver time 10.621682 ms 
build tree time 22.969815 ms 
solver time 7.777190 ms 
mapping data assosiation time 31.586396 ms 
sort q time 5.085150 
seperate points time 12.307471 
data association time 23.837030 ms 
solver time 10.643362 ms 
data association time 16.026776 ms 
solver time 10.959899 ms 
prepare time 14.886818 
sort q time 4.425790 
seperate points time 11.171881 
mapping data assosiation time 33.975277 ms 
data association time 26.168731 ms 
solver time 14.326725 ms 
data association time 15.461424 ms 
mapping data assosiation time 29.270352 ms 
prepare time 17.034432 
sort q time 4.853171 
seperate points time 12.023562 
build tree time 21.369261 ms 
solver time 15.084423 ms 
mapping data assosiation time 30.103243 ms 
data association time 24.838903 ms 
mapping solver time 22.666356 ms 
points size 94080 
sort q time 5.271302 
seperate points time 12.903368 
mapping data assosiation time 32.162639 ms 
mapping solver time 16.639034 ms 
filter time 11.455935 ms 
build tree time 22.896252 ms 
points size 95280 
publication time 11.123579 ms 
whole laserOdometry time 87.453138 ms 
 
data association time 15.680065 ms 
mapping solver time 21.955542 ms 
data association time 16.244021 ms 
solver time 10.379449 ms 
publication time 10.456673 ms 
whole laserOdometry time 67.542590 ms 
 
filter time 10.652653 ms 
sort q time 5.615476 
seperate points time 14.180010 
build tree time 26.258449 ms 
data association time 15.682462 ms 
solver time 10.771465 ms 
mapping data assosiation time 33.090250 ms 
solver time 8.373342 ms 
publication time 10.836064 ms 
whole laserOdometry time 66.194737 ms 
 
points size 96760 
mapping data assosiation time 31.866421 ms 
mapping solver time 17.947614 ms 
filter time 9.199732 ms 
solver time 10.789486 ms 
build tree time 24.352551 ms 
solver time 9.738047 ms 
publication time 10.352097 ms 
whole laserOdometry time 66.227381 ms 
 
points size 98768 
sort q time 5.644546 
seperate points time 14.400254 
mapping solver time 26.600806 ms 
data association time 16.065559 ms 
solver time 12.377467 ms 
mapping solver time 14.905599 ms 
solver time 9.463505 ms 
points size 99113 
sort q time 6.540558 
seperate points time 16.750588 
data association time 15.591286 ms 
solver time 10.328812 ms 
data association time 15.722416 ms 
publication time 9.837442 ms 
whole laserOdometry time 61.008070 ms 
 
prepare time 20.966023 
sort q time 6.342363 
seperate points time 16.553439 
mapping pub time 159.843101 ms 
whole mapping time 307.492930 ms +++++
data association time 18.834367 ms 
build tree time 29.315473 ms 
solver time 11.780523 ms 
publication time 12.068209 ms 
whole laserOdometry time 73.384693 ms 
 
sort q time 6.644011 
seperate points time 16.722213 
data association time 15.854581 ms 
mapping data assosiation time 27.552995 ms 
data association time 16.608542 ms 
filter time 8.683733 ms 
points size 97853 
build tree time 23.918625 ms 
data association time 19.387671 ms 
solver time 11.338386 ms 
data association time 16.671450 ms 
publication time 10.403942 ms 
whole laserOdometry time 67.095048 ms 
 
points size 97517 
mapping data assosiation time 35.671744 ms 
sort q time 5.713060 
seperate points time 14.529665 
mapping solver time 20.867339 ms 
filter time 9.185768 ms 
solver time 7.839223 ms 
data association time 15.932830 ms 
build tree time 24.838207 ms 
publication time 9.016301 ms 
whole laserOdometry time 57.574000 ms 
 
points size 96412 
sort q time 5.479884 
seperate points time 13.471781 
data association time 16.981491 ms 
solver time 10.001431 ms 
data association time 16.119260 ms 
publication time 11.413466 ms 
whole laserOdometry time 65.430595 ms 
 
points size 96173 
sort q time 5.668584 
seperate points time 13.698966 
data association time 16.407529 ms 
mapping data assosiation time 33.016440 ms 
data association time 18.894841 ms 
optimization twice time 56.995589 
publication time 10.966302 ms 
whole laserOdometry time 67.986934 ms 
 
mapping data assosiation time 36.821560 ms 
mapping solver time 18.292142 ms 
mapping optimization time 139.623382 
add points time 0.819260 ms
data association time 14.807483 ms 
map prepare time 3.149518 ms
map corner num 89483  surf num 38755 
data association time 13.791074 ms 
points size 95115 
mapping data assosiation time 34.533673 ms 
mapping solver time 23.548555 ms 
solver time 10.073576 ms 
data association time 14.373930 ms 
publication time 9.066010 ms 
whole laserOdometry time 57.102970 ms 
 
mapping solver time 24.567485 ms 
mapping pub time 2.224943 ms 
whole mapping time 156.593418 ms +++++
sort q time 4.650365 
seperate points time 11.622818 
build tree time 25.930056 ms 
data association time 14.878373 ms 
mapping data assosiation time 35.157617 ms 
solver time 8.743678 ms 
mapping solver time 26.789836 ms 
sort q time 5.296034 
seperate points time 12.797345 
mapping solver time 18.439808 ms 
filter time 9.967732 ms 
data association time 17.136329 ms 
publication time 8.170854 ms 
whole laserOdometry time 64.085684 ms 
 
prepare time 14.012150 
sort q time 4.913229 
seperate points time 11.645240 
mapping solver time 27.428810 ms 
solver time 17.171406 ms 
mapping data assosiation time 37.509568 ms 
data association time 25.901651 ms 
solver time 12.154191 ms 
publication time 10.370717 ms 
whole laserOdometry time 91.774568 ms 
 
map prepare time 3.211450 ms
map corner num 92543  surf num 40110 
data association time 14.501740 ms 
solver time 10.870034 ms 
data association time 14.612691 ms 
publication time 7.990329 ms 
whole laserOdometry time 57.544256 ms 
 
points size 88843 
sort q time 4.859427 
seperate points time 11.469472 
mapping solver time 17.301832 ms 
filter time 10.870776 ms 
data association time 23.326658 ms 
solver time 12.183283 ms 
points size 89440 
publication time 11.674196 ms 
whole laserOdometry time 83.415825 ms 
 
prepare time 17.516377 
mapping data assosiation time 30.528682 ms 
sort q time 5.077427 
seperate points time 12.440628 
mapping solver time 24.700300 ms 
data association time 24.125551 ms 
solver time 17.077604 ms 
mapping data assosiation time 33.836733 ms 
data association time 24.751983 ms 
optimization twice time 75.006346 
mapping optimization time 146.740987 
add points time 0.907651 ms
points size 90053 
prepare time 17.160885 
sort q time 5.094041 
seperate points time 13.229948 
data association time 14.115357 ms 
solver time 13.061185 ms 
mapping data assosiation time 25.345427 ms 
solver time 7.467137 ms 
publication time 9.240419 ms 
whole laserOdometry time 62.252890 ms 
 
points size 88380 
sort q time 4.653944 
seperate points time 11.351212 
mapping solver time 12.864923 ms 
mapping pub time 2.349412 ms 
whole mapping time 134.405954 ms +++++
solver time 9.215895 ms 
build tree time 25.920473 ms 
solver time 7.273863 ms 
mapping data assosiation time 29.215617 ms 
mapping solver time 19.448629 ms 
mapping data assosiation time 31.969135 ms 
data association time 25.729776 ms 
solver time 12.195053 ms 
mapping solver time 24.175114 ms 
mapping optimization time 132.190816 
add points time 0.838343 ms
filter time 10.655131 ms 
points size 89315 
publication time 9.768832 ms 
whole laserOdometry time 83.311033 ms 
 
build tree time 32.604464 ms 
data association time 14.450166 ms 
solver time 11.848418 ms 
data association time 14.589899 ms 
solver time 8.926441 ms 
publication time 7.965950 ms 
whole laserOdometry time 58.653196 ms 
 
mapping data assosiation time 26.081705 ms 
prepare time 14.142453 
mapping solver time 19.275401 ms 
prepare time 17.165108 
sort q time 4.911196 
seperate points time 11.769604 
mapping solver time 15.689385 ms 
mapping optimization time 116.255175 
add points time 0.717138 ms
data association time 14.836597 ms 
solver time 8.765255 ms 
data association time 26.198607 ms 
build tree time 26.554399 ms 
points size 88082 
sort q time 5.177802 
seperate points time 12.502739 
data association time 13.739364 ms 
solver time 8.066854 ms 
mapping data assosiation time 25.604962 ms 
mapping solver time 18.249117 ms 
points size 83131 
build tree time 25.820042 ms 
scan registration time 27.331823 ms *************
mapping data assosiation time 26.601339 ms 
solver time 8.295225 ms 
data association time 15.290355 ms 
solver time 8.551175 ms 
publication time 7.516008 ms 
whole laserOdometry time 54.277002 ms 
 
mapping data assosiation time 24.929385 ms 
mapping solver time 16.546308 ms 
mapping pub time 2.508456 ms 
whole mapping time 133.449099 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.978340 ms
map corner num 99071  surf num 42302 
sort q time 4.142196 
seperate points time 10.382496 
build tree time 26.586432 ms 
solver time 11.092857 ms 
mapping data assosiation time 23.506450 ms 
solver time 7.954813 ms 
points size 81571 
mapping optimization time 103.096315 
filter time 11.005702 ms 
solver time 10.233128 ms 
data association time 13.997201 ms 
publication time 7.582288 ms 
whole laserOdometry time 55.852222 ms 
 
mapping data assosiation time 29.524151 ms 
points size 81233 
mapping solver time 18.073003 ms 
scan registration time 26.802614 ms *************
mapping data assosiation time 26.828141 ms 
data association time 23.445684 ms 
mapping solver time 23.658893 ms 
filter time 11.143320 ms 
mapping pub time 1.441421 ms 
whole mapping time 148.801021 ms +++++
map prepare time 3.172440 ms
map corner num 83421  surf num 34931 
solver time 10.220654 ms 
prepare time 13.172575 
sort q time 4.060179 
seperate points time 9.673022 
mapping data assosiation time 27.058158 ms 
data association time 19.363659 ms 
solver time 10.758858 ms 
data association time 13.096995 ms 
solver time 8.597832 ms 
mapping solver time 14.146524 ms 
mapping pub time 1.082438 ms 
whole mapping time 123.573102 ms +++++
points size 80489 
sort q time 5.308557 
seperate points time 12.426426 
mapping data assosiation time 24.350448 ms 
mapping solver time 18.051753 ms 
mapping data assosiation time 23.633405 ms 
solver time 11.773289 ms 
publication time 9.024263 ms 
whole laserOdometry time 80.994567 ms 
 
scan registration time 25.393868 ms *************
build tree time 22.930570 ms 
solver time 11.352782 ms 
[0m[ INFO] [1718887419.492692812]: Received 2252869 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887419.492721902]: Data saved to 1317358161265094.pcd[0m
mapping solver time 17.004119 ms 
publication time 7.157402 ms 
whole laserOdometry time 58.739396 ms 
 
mapping data assosiation time 24.264469 ms 
points size 81661 
prepare time 12.273717 
mapping solver time 13.324527 ms 
filter time 10.566263 ms 
data association time 14.663997 ms 
solver time 10.961157 ms 
data association time 13.418475 ms 
solver time 8.160231 ms 
points size 82273 
sort q time 3.843514 
seperate points time 9.590664 
data association time 21.508344 ms 
solver time 11.906187 ms 
data association time 22.779128 ms 
build tree time 25.271756 ms 
publication time 9.242058 ms 
whole laserOdometry time 78.078811 ms 
 
mapping data assosiation time 25.053563 ms 
mapping solver time 15.927902 ms 
data association time 21.730290 ms 
mapping data assosiation time 22.481798 ms 
mapping solver time 13.157724 ms 
map prepare time 2.360154 ms
map corner num 86487  surf num 36152 
build tree time 23.221568 ms 
sort q time 4.123868 
seperate points time 9.885359 
mapping solver time 14.865456 ms 
data association time 21.930581 ms 
solver time 11.414040 ms 
mapping optimization time 97.912896 
add points time 0.709053 ms
map prepare time 2.794538 ms
map corner num 87327  surf num 36489 
publication time 10.220942 ms 
whole laserOdometry time 75.259964 ms 
 
prepare time 18.461807 
sort q time 4.986418 
seperate points time 11.826147 
scan registration time 34.135933 ms *************
mapping data assosiation time 26.520813 ms 
mapping solver time 19.108961 ms 
data association time 15.914001 ms 
publication time 8.168470 ms 
whole laserOdometry time 66.667049 ms 
 
points size 87742 
sort q time 5.051601 
seperate points time 12.623502 
build tree time 26.662932 ms 
data association time 15.522620 ms 
mapping data assosiation time 27.860029 ms 
data association time 20.669334 ms 
solver time 10.121058 ms 
publication time 8.424954 ms 
whole laserOdometry time 65.015577 ms 
 
points size 88547 
sort q time 5.212964 
seperate points time 12.938166 
filter time 9.063679 ms 
data association time 16.676501 ms 
solver time 14.357838 ms 
data association time 26.565783 ms 
solver time 13.621331 ms 
sort q time 4.494584 
seperate points time 11.174538 
mapping data assosiation time 23.932409 ms 
solver time 11.521210 ms 
mapping solver time 16.683458 ms 
mapping optimization time 110.452254 
add points time 0.729126 ms
data association time 15.996362 ms 
solver time 8.744788 ms 
publication time 7.882161 ms 
whole laserOdometry time 59.527554 ms 
 
build tree time 24.251868 ms 
points size 88325 
sort q time 4.704557 
seperate points time 11.256594 
mapping solver time 16.102790 ms 
data association time 16.329347 ms 
solver time 11.575073 ms 
data association time 14.797001 ms 
mapping solver time 13.177947 ms 
mapping optimization time 100.993618 
add points time 0.706098 ms
publication time 8.618389 ms 
whole laserOdometry time 60.680600 ms 
 
points size 88907 
sort q time 5.152754 
seperate points time 12.539825 
mapping data assosiation time 24.983435 ms 
data association time 14.561768 ms 
solver time 11.951730 ms 
data association time 19.011075 ms 
mapping solver time 15.570112 ms 
filter time 10.791556 ms 
sort q time 4.273133 
seperate points time 10.367060 
scan registration time 31.159829 ms *************
build tree time 25.848745 ms 
data association time 22.573098 ms 
solver time 11.848277 ms 
mapping solver time 16.310231 ms 
data association time 22.555485 ms 
mapping data assosiation time 27.479510 ms 
solver time 11.902583 ms 
publication time 10.518215 ms 
whole laserOdometry time 80.525142 ms 
 
mapping solver time 21.208540 ms 
scan registration time 37.263190 ms *************
map prepare time 2.714246 ms
map corner num 91830  surf num 38480 
data association time 23.296217 ms 
solver time 11.485774 ms 
data association time 23.022908 ms 
solver time 11.803544 ms 
sort q time 4.101968 
seperate points time 10.093761 
mapping data assosiation time 27.533930 ms 
data association time 23.340751 ms 
solver time 10.161518 ms 
map prepare time 3.776878 ms
map corner num 92657  surf num 38824 
data association time 15.682951 ms 
solver time 8.550238 ms 
build tree time 25.732083 ms 
points size 93325 
mapping data assosiation time 24.843504 ms 
mapping solver time 19.249314 ms 
data association time 23.848338 ms 
solver time 15.108590 ms 
filter time 7.892991 ms 
solver time 7.606712 ms 
build tree time 25.943089 ms 
mapping data assosiation time 24.342504 ms 
solver time 8.086425 ms 
data association time 18.297072 ms 
mapping data assosiation time 24.597362 ms 
mapping solver time 11.169421 ms 
filter time 11.845498 ms 
sort q time 4.740942 
seperate points time 11.202189 
build tree time 25.685275 ms 
data association time 16.581313 ms 
mapping data assosiation time 28.714234 ms 
data association time 15.545090 ms 
mapping solver time 16.730105 ms 
publication time 9.284167 ms 
whole laserOdometry time 64.377622 ms 
 
sort q time 4.610482 
seperate points time 10.968318 
filter time 9.718513 ms 
data association time 16.373660 ms 
build tree time 25.698561 ms 
solver time 8.634783 ms 
mapping data assosiation time 27.596673 ms 
points size 90672 
prepare time 13.236041 
mapping solver time 19.636535 ms 
scan registration time 28.743324 ms *************
mapping data assosiation time 26.264835 ms 
data association time 17.948809 ms 
filter time 8.673956 ms 
data association time 16.119507 ms 
solver time 10.888730 ms 
publication time 10.579913 ms 
whole laserOdometry time 67.586331 ms 
 
prepare time 13.347438 
sort q time 4.099025 
seperate points time 10.295302 
mapping solver time 18.187151 ms 
solver time 7.925564 ms 
mapping data assosiation time 27.602764 ms 
solver time 7.471973 ms 
filter time 9.716088 ms 
points size 92202 
sort q time 4.708194 
seperate points time 11.491816 
data association time 14.587170 ms 
solver time 10.995146 ms 
mapping solver time 15.721073 ms 
optimization twice time 49.251812 
mapping data assosiation time 27.470819 ms 
mapping solver time 11.843599 ms 
filter time 9.000266 ms 
scan registration time 27.594967 ms *************
data association time 14.749067 ms 
solver time 10.460674 ms 
data association time 17.976100 ms 
solver time 8.488189 ms 
publication time 8.105994 ms 
whole laserOdometry time 60.737569 ms 
 
mapping solver time 19.152932 ms 
points size 92998 
sort q time 4.536543 
seperate points time 11.649197 
mapping optimization time 116.410688 
add points time 0.667724 ms
data association time 24.121361 ms 
build tree time 25.158755 ms 
data association time 24.363764 ms 
solver time 11.638447 ms 
optimization twice time 76.396307 
points size 93645 
prepare time 18.030947 
mapping solver time 28.432290 ms 
scan registration time 37.936489 ms *************
mapping data assosiation time 30.250788 ms 
mapping solver time 11.686074 ms 
filter time 8.974105 ms 
solver time 8.223730 ms 
build tree time 29.425406 ms 
sort q time 5.750556 
seperate points time 13.957689 
data association time 15.003346 ms 
solver time 8.416006 ms 
data association time 15.654599 ms 
publication time 8.291588 ms 
whole laserOdometry time 55.796297 ms 
 
points size 96178 
sort q time 5.554550 
seperate points time 13.122449 
build tree time 29.834460 ms 
solver time 10.149551 ms 
mapping data assosiation time 26.094784 ms 
solver time 8.655294 ms 
points size 96747 
prepare time 13.874402 
sort q time 5.492773 
seperate points time 12.947001 
mapping optimization time 121.907840 
filter time 9.931141 ms 
solver time 10.693186 ms 
data association time 14.477266 ms 
build tree time 31.914338 ms 
mapping data assosiation time 25.989738 ms 
sort q time 4.364553 
seperate points time 10.767647 
data association time 14.871744 ms 
mapping data assosiation time 31.286212 ms 
data association time 14.745971 ms 
filter time 8.416672 ms 
points size 92543 
sort q time 5.496640 
seperate points time 13.219276 
data association time 14.439506 ms 
solver time 7.590103 ms 
points size 92617 
sort q time 4.563208 
seperate points time 10.880306 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 4.955479 ms
map corner num 100803  surf num 42285 
data association time 19.803734 ms 
build tree time 31.457243 ms 
data association time 15.415748 ms 
solver time 8.771875 ms 
mapping data assosiation time 25.178537 ms 
points size 90181 
sort q time 5.030858 
seperate points time 11.884563 
mapping data assosiation time 27.294866 ms 
mapping solver time 16.598369 ms 
solver time 7.945744 ms 
filter time 8.305849 ms 
solver time 7.823241 ms 
optimization twice time 46.936910 
build tree time 27.165058 ms 
prepare time 13.402910 
sort q time 4.399930 
seperate points time 10.898312 
data association time 14.467429 ms 
data association time 14.410006 ms 
publication time 7.477147 ms 
whole laserOdometry time 53.771680 ms 
 
mapping solver time 20.449388 ms 
filter time 9.749689 ms 
sort q time 3.973810 
seperate points time 9.803899 
build tree time 24.851227 ms 
data association time 15.887308 ms 
solver time 11.680996 ms 
data association time 14.275299 ms 
solver time 8.085176 ms 
publication time 7.282409 ms 
whole laserOdometry time 58.014291 ms 
 
mapping data assosiation time 25.882067 ms 
points size 87049 
sort q time 4.514954 
seperate points time 10.932964 
filter time 7.501316 ms 
mapping pub time 1.262559 ms 
whole mapping time 122.579175 ms +++++
scan registration time 28.140398 ms *************
map prepare time 2.532345 ms
map corner num 80092  surf num 34690 
build tree time 19.159644 ms 
solver time 10.254173 ms 
mapping data assosiation time 24.742286 ms 
solver time 7.565610 ms 
optimization twice time 48.002730 
points size 87548 
sort q time 4.613728 
seperate points time 10.950956 
filter time 6.742195 ms 
solver time 10.220203 ms 
data association time 17.102987 ms 
optimization twice time 56.421067 
mapping solver time 17.587892 ms 
points size 85529 
prepare time 12.747648 
sort q time 4.579707 
seperate points time 10.963574 
mapping solver time 18.714395 ms 
filter time 9.428507 ms 
data association time 14.585185 ms 
solver time 10.672503 ms 
publication time 7.956071 ms 
whole laserOdometry time 61.772627 ms 
 
points size 83142 
sort q time 4.433262 
seperate points time 11.050566 
mapping solver time 18.237057 ms 
data association time 16.812224 ms 
mapping data assosiation time 27.353819 ms 
data association time 14.009045 ms 
solver time 10.079665 ms 
points size 82613 
sort q time 4.105975 
seperate points time 10.136640 
mapping data assosiation time 26.623617 ms 
data association time 14.498056 ms 
solver time 11.259551 ms 
data association time 16.555039 ms 
publication time 7.852413 ms 
whole laserOdometry time 60.912270 ms 
 
filter time 8.605679 ms 
sort q time 5.723690 
seperate points time 12.841675 
build tree time 25.456078 ms 
data association time 17.614005 ms 
solver time 13.686139 ms 
data association time 14.315977 ms 
publication time 7.333998 ms 
whole laserOdometry time 62.439516 ms 
 
points size 74060 
sort q time 3.807331 
seperate points time 9.594697 
filter time 8.223506 ms 
data association time 13.572562 ms 
solver time 10.667218 ms 
data association time 14.095123 ms 
solver time 7.841121 ms 
mapping data assosiation time 27.980492 ms 
mapping solver time 18.337744 ms 
points size 70978 
prepare time 11.540580 
scan registration time 22.855037 ms *************
mapping data assosiation time 27.526051 ms 
data association time 16.034865 ms 
solver time 13.083474 ms 
data association time 16.747144 ms 
solver time 10.141870 ms 
points size 72515 
scan registration time 24.608544 ms *************
mapping solver time 20.216591 ms 
solver time 10.097839 ms 
data association time 12.997549 ms 
solver time 10.592352 ms 
filter time 8.091724 ms 
points size 78644 
prepare time 11.993485 
build tree time 21.911364 ms 
scan registration time 24.939441 ms *************
mapping data assosiation time 26.909143 ms 
solver time 11.886933 ms 
data association time 16.093993 ms 
mapping data assosiation time 29.819372 ms 
mapping solver time 17.012645 ms 
filter time 11.074449 ms 
scan registration time 28.244979 ms *************
build tree time 23.212092 ms 
solver time 7.682114 ms 
mapping data assosiation time 30.700048 ms 
publication time 7.886516 ms 
whole laserOdometry time 51.910784 ms 
 
points size 86321 
sort q time 4.324848 
seperate points time 10.648467 
mapping solver time 21.682110 ms 
mapping optimization time 125.000279 
add points time 0.697422 ms
data association time 15.726323 ms 
map prepare time 2.727353 ms
map corner num 87730  surf num 37705 
data association time 13.855760 ms 
solver time 7.806320 ms 
publication time 8.287305 ms 
whole laserOdometry time 54.289735 ms 
 
mapping data assosiation time 29.015384 ms 
mapping solver time 17.966759 ms 
mapping data assosiation time 27.231265 ms 
solver time 8.369279 ms 
filter time 8.230477 ms 
mapping pub time 1.296112 ms 
whole mapping time 127.381475 ms +++++
data association time 15.532248 ms 
map prepare time 3.224967 ms
map corner num 88529  surf num 37997 
publication time 9.709517 ms 
whole laserOdometry time 57.782597 ms 
 
build tree time 28.209464 ms 
sort q time 4.393341 
seperate points time 10.850812 
mapping data assosiation time 26.244701 ms 
mapping solver time 19.617237 ms 
solver time 12.759040 ms 
mapping data assosiation time 28.508786 ms 
solver time 9.628171 ms 
publication time 10.556918 ms 
whole laserOdometry time 69.217930 ms 
 
prepare time 15.144425 
sort q time 4.878716 
seperate points time 11.961964 
data association time 23.807288 ms 
mapping solver time 18.347836 ms 
data association time 23.739703 ms 
solver time 8.984063 ms 
publication time 11.472515 ms 
whole laserOdometry time 80.341769 ms 
 
mapping solver time 17.968494 ms 
filter time 9.877573 ms 
data association time 16.535254 ms 
build tree time 24.788955 ms 
data association time 17.905721 ms 
publication time 9.880058 ms 
whole laserOdometry time 66.777363 ms 
 
prepare time 16.587707 
sort q time 5.764423 
seperate points time 14.067661 
mapping data assosiation time 28.772998 ms 
mapping solver time 16.700236 ms 
filter time 10.646461 ms 
data association time 15.527561 ms 
build tree time 24.784890 ms 
points size 96000 
sort q time 5.683763 
seperate points time 13.454629 
mapping solver time 16.688082 ms 
data association time 16.800275 ms 
solver time 11.581031 ms 
mapping solver time 11.372916 ms 
mapping optimization time 112.229022 
add points time 0.752908 ms
data association time 16.358151 ms 
map prepare time 3.666240 ms
map corner num 91207  surf num 39123 
points size 94685 
build tree time 24.838149 ms 
sort q time 5.055035 
seperate points time 12.367143 
scan registration time 30.624026 ms *************
data association time 14.756096 ms 
solver time 8.328189 ms 
mapping solver time 19.391347 ms 
solver time 8.661734 ms 
optimization twice time 48.306890 
mapping data assosiation time 30.612354 ms 
points size 93967 
prepare time 14.683289 
filter time 8.692914 ms 
data association time 14.244016 ms 
data association time 14.228035 ms 
publication time 8.224586 ms 
whole laserOdometry time 50.510076 ms 
 
mapping solver time 25.090439 ms 
sort q time 4.321441 
seperate points time 10.889205 
mapping data assosiation time 32.362485 ms 
solver time 9.983468 ms 
filter time 10.190512 ms 
publication time 8.437126 ms 
whole laserOdometry time 56.845542 ms 
 
build tree time 23.886760 ms 
points size 89922 
sort q time 4.211011 
seperate points time 10.075407 
mapping solver time 19.332031 ms 
data association time 14.929749 ms 
solver time 10.301107 ms 
mapping data assosiation time 30.008266 ms 
solver time 8.120814 ms 
filter time 11.190073 ms 
points size 87254 
sort q time 4.325058 
seperate points time 10.673054 
data association time 15.432356 ms 
solver time 12.075737 ms 
solver time 9.471589 ms 
publication time 9.192936 ms 
whole laserOdometry time 65.104834 ms 
 
points size 85457 
sort q time 4.525687 
seperate points time 10.775082 
mapping pub time 147.823194 ms 
whole mapping time 281.779405 ms +++++
solver time 11.432731 ms 
build tree time 28.331091 ms 
solver time 11.005320 ms 
publication time 10.008990 ms 
whole laserOdometry time 70.691141 ms 
 
points size 85749 
mapping solver time 24.119601 ms 
data association time 14.900609 ms 
mapping solver time 12.696658 ms 
filter time 8.910771 ms 
data association time 21.235531 ms 
solver time 10.602385 ms 
publication time 9.608610 ms 
whole laserOdometry time 70.949041 ms 
 
sort q time 5.158869 
seperate points time 12.756342 
mapping solver time 17.424758 ms 
data association time 18.040885 ms 
solver time 13.213706 ms 
data association time 17.836923 ms 
mapping solver time 12.293578 ms 
map prepare time 3.189571 ms
map corner num 62888  surf num 27249 
prepare time 14.033116 
build tree time 18.727250 ms 
mapping data assosiation time 32.360876 ms 
data association time 26.760639 ms 
solver time 16.260105 ms 
data association time 27.631930 ms 
prepare time 13.298222 
sort q time 5.216370 
seperate points time 12.787197 
mapping solver time 21.312147 ms 
filter time 7.391506 ms 
data association time 24.964900 ms 
solver time 11.764742 ms 
data association time 27.945228 ms 
points size 90037 
sort q time 4.510295 
seperate points time 11.143727 
data association time 22.019831 ms 
solver time 11.171830 ms 
mapping solver time 13.163384 ms 
filter time 7.639339 ms 
solver time 8.602446 ms 
build tree time 18.395802 ms 
sort q time 3.931741 
seperate points time 9.627703 
mapping data assosiation time 29.104730 ms 
data association time 18.242394 ms 
data association time 14.588656 ms 
solver time 8.985352 ms 
mapping solver time 19.478632 ms 
data association time 15.551369 ms 
mapping data assosiation time 31.785053 ms 
points size 89378 
mapping solver time 20.290773 ms 
filter time 8.344642 ms 
data association time 15.187990 ms 
data association time 14.766550 ms 
mapping data assosiation time 30.656763 ms 
publication time 10.765291 ms 
whole laserOdometry time 63.196785 ms 
 
mapping solver time 24.967568 ms 
sort q time 4.760530 
seperate points time 11.395179 
mapping data assosiation time 35.338546 ms 
data association time 20.694986 ms 
filter time 7.682176 ms 
build tree time 17.562627 ms 
data association time 21.310463 ms 
solver time 11.456222 ms 
prepare time 13.968572 
scan registration time 29.260898 ms *************
mapping solver time 20.097131 ms 
data association time 20.510067 ms 
solver time 11.597391 ms 
mapping data assosiation time 30.493036 ms 
data association time 20.722878 ms 
solver time 11.469900 ms 
publication time 10.820225 ms 
whole laserOdometry time 76.007109 ms 
 
build tree time 18.771097 ms 
data association time 21.142338 ms 
solver time 15.240294 ms 
data association time 20.787832 ms 
solver time 8.974237 ms 
publication time 11.307332 ms 
whole laserOdometry time 78.294822 ms 
 
mapping solver time 21.628812 ms 
mapping pub time 1.588084 ms 
whole mapping time 135.171214 ms +++++
data association time 12.880675 ms 
solver time 11.273603 ms 
data association time 13.352345 ms 
mapping data assosiation time 30.763232 ms 
mapping solver time 19.631049 ms 
points size 82262 
sort q time 3.466073 
seperate points time 8.970106 
mapping solver time 12.242411 ms 
mapping optimization time 114.316378 
add points time 0.806846 ms
solver time 13.176080 ms 
build tree time 17.800759 ms 
solver time 8.656720 ms 
mapping data assosiation time 28.873348 ms 
sort q time 3.591925 
seperate points time 8.877556 
data association time 13.915183 ms 
mapping data assosiation time 28.957923 ms 
data association time 14.641501 ms 
map prepare time 2.482354 ms
map corner num 69530  surf num 30796 
build tree time 17.230479 ms 
points size 81886 
sort q time 4.418271 
seperate points time 10.622417 
mapping solver time 27.254764 ms 
solver time 20.658044 ms 
mapping data assosiation time 35.184466 ms 
points size 81816 
publication time 9.791622 ms 
whole laserOdometry time 88.592047 ms 
 
data association time 13.782496 ms 
solver time 13.428339 ms 
data association time 13.735680 ms 
solver time 10.735854 ms 
optimization twice time 52.613723 
mapping solver time 21.949887 ms 
prepare time 12.916256 
sort q time 4.363395 
seperate points time 10.509678 
mapping solver time 16.136531 ms 
mapping optimization time 116.346565 
add points time 0.919205 ms
map prepare time 3.322227 ms
map corner num 70956  surf num 31455 
solver time 18.368764 ms 
build tree time 24.813411 ms 
data association time 22.542842 ms 
solver time 17.654254 ms 
publication time 10.758523 ms 
whole laserOdometry time 91.486313 ms 
 
data association time 23.772101 ms 
solver time 16.733908 ms 
mapping solver time 20.914815 ms 
filter time 8.974217 ms 
points size 89073 
build tree time 22.665315 ms 
mapping data assosiation time 33.614848 ms 
solver time 12.063301 ms 
data association time 13.681725 ms 
solver time 10.421676 ms 
points size 89941 
prepare time 13.913876 
filter time 8.292034 ms 
data association time 14.126194 ms 
solver time 10.478832 ms 
build tree time 18.908941 ms 
data association time 13.207272 ms 
solver time 7.864472 ms 
mapping data assosiation time 28.879294 ms 
mapping solver time 17.268926 ms 
sort q time 4.514836 
seperate points time 11.488659 
scan registration time 28.208367 ms *************
data association time 15.188454 ms 
mapping solver time 12.516479 ms 
mapping optimization time 110.353771 
add points time 0.764234 ms
map prepare time 3.004805 ms
map corner num 73206  surf num 32658 
data association time 15.068774 ms 
solver time 8.289055 ms 
points size 92991 
sort q time 4.170880 
seperate points time 10.543983 
data association time 27.163110 ms 
solver time 16.933364 ms 
mapping solver time 23.630366 ms 
filter time 9.104002 ms 
optimization twice time 76.043930 
publication time 10.894971 ms 
whole laserOdometry time 86.959004 ms 
 
scan registration time 31.120862 ms *************
data association time 16.886776 ms 
mapping data assosiation time 30.064845 ms 
solver time 10.954376 ms 
data association time 14.744288 ms 
solver time 8.266492 ms 
publication time 10.478491 ms 
whole laserOdometry time 62.345795 ms 
 
mapping data assosiation time 31.913811 ms 
mapping optimization time 121.455321 
mapping pub time 1.608955 ms 
whole mapping time 136.813564 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.687947 ms
map corner num 74841  surf num 33533 
data association time 24.410380 ms 
build tree time 25.803638 ms 
solver time 15.558323 ms 
data association time 27.794353 ms 
points size 95550 
publication time 10.604179 ms 
whole laserOdometry time 91.802351 ms 
 
data association time 27.852844 ms 
solver time 16.276216 ms 
filter time 7.636915 ms 
mapping pub time 1.183872 ms 
whole mapping time 160.704483 ms +++++
data association time 16.096969 ms 
map prepare time 3.592041 ms
map corner num 75563  surf num 33865 
publication time 10.669039 ms 
whole laserOdometry time 83.056347 ms 
 
sort q time 6.066874 
seperate points time 14.493526 
mapping data assosiation time 32.725176 ms 
solver time 10.459793 ms 
data association time 16.374943 ms 
solver time 10.781788 ms 
publication time 9.955988 ms 
whole laserOdometry time 63.372939 ms 
 
points size 98270 
prepare time 19.206354 
sort q time 5.711930 
seperate points time 14.614777 
filter time 9.601379 ms 
scan registration time 38.050978 ms *************
data association time 19.320442 ms 
solver time 13.051166 ms 
data association time 18.282227 ms 
solver time 10.809368 ms 
sort q time 5.259785 
seperate points time 13.235137 
scan registration time 32.815914 ms *************
data association time 15.287178 ms 
solver time 11.499677 ms 
data association time 15.687177 ms 
solver time 10.638070 ms 
map prepare time 3.658120 ms
map corner num 76435  surf num 34259 
optimization twice time 54.039985 
build tree time 28.021701 ms 
sort q time 6.686147 
seperate points time 16.726146 
mapping data assosiation time 35.916656 ms 
data association time 14.806657 ms 
mapping solver time 20.439162 ms 
data association time 14.968156 ms 
solver time 8.688862 ms 
points size 99576 
sort q time 4.649215 
seperate points time 11.584358 
build tree time 20.376756 ms 
solver time 11.182881 ms 
data association time 15.305619 ms 
publication time 8.764326 ms 
whole laserOdometry time 60.223307 ms 
 
points size 99698 
sort q time 5.575230 
seperate points time 13.135417 
mapping data assosiation time 34.213455 ms 
data association time 24.572826 ms 
filter time 7.385325 ms 
build tree time 23.093676 ms 
points size 99969 
publication time 11.326827 ms 
whole laserOdometry time 91.512392 ms 
 
mapping data assosiation time 37.165299 ms 
solver time 11.014683 ms 
data association time 17.711554 ms 
solver time 11.115354 ms 
publication time 11.589212 ms 
whole laserOdometry time 67.844373 ms 
 
points size 99837 
filter time 7.762336 ms 
build tree time 23.784872 ms 
solver time 12.346651 ms 
data association time 15.666005 ms 
solver time 8.596227 ms 
publication time 10.412741 ms 
whole laserOdometry time 64.135080 ms 
 
prepare time 15.372112 
sort q time 4.848374 
seperate points time 11.818082 
scan registration time 30.731382 ms *************
mapping data assosiation time 34.019704 ms 
data association time 18.267088 ms 
solver time 12.242044 ms 
filter time 7.392653 ms 
data association time 22.387193 ms 
solver time 10.777217 ms 
publication time 9.520737 ms 
whole laserOdometry time 74.111594 ms 
 
points size 97022 
sort q time 5.605205 
seperate points time 14.315823 
mapping solver time 31.382727 ms 
solver time 20.262327 ms 
mapping data assosiation time 41.567895 ms 
sort q time 5.696769 
seperate points time 14.544201 
mapping optimization time 165.847106 
filter time 10.945927 ms 
map prepare time 3.729074 ms
map corner num 80624  surf num 36364 
solver time 14.387167 ms 
data association time 17.422693 ms 
points size 96121 
sort q time 5.642518 
seperate points time 14.569650 
mapping solver time 22.881058 ms 
solver time 11.137369 ms 
data association time 15.439742 ms 
solver time 10.106187 ms 
filter time 9.553291 ms 
prepare time 18.348834 
sort q time 5.707059 
seperate points time 14.382809 
data association time 15.578564 ms 
solver time 12.433902 ms 
data association time 16.440459 ms 
solver time 7.849321 ms 
publication time 10.807257 ms 
whole laserOdometry time 63.983751 ms 
 
prepare time 15.108513 
sort q time 4.640397 
seperate points time 11.403413 
scan registration time 29.693018 ms *************
mapping data assosiation time 35.032692 ms 
mapping solver time 21.634934 ms 
data association time 17.500865 ms 
mapping optimization time 143.436694 
filter time 10.406313 ms 
data association time 16.590090 ms 
build tree time 27.172136 ms 
points size 96374 
sort q time 4.577297 
seperate points time 11.356989 
data association time 15.817287 ms 
solver time 15.300560 ms 
data association time 18.354291 ms 
mapping data assosiation time 33.981254 ms 
publication time 8.854805 ms 
whole laserOdometry time 67.062847 ms 
 
mapping solver time 24.806068 ms 
filter time 10.242406 ms 
scan registration time 36.579681 ms *************
build tree time 23.902403 ms 
solver time 13.259180 ms 
data association time 16.012569 ms 
solver time 10.826639 ms 
mapping solver time 29.971333 ms 
sort q time 6.636770 
seperate points time 16.720177 
scan registration time 40.712529 ms *************
data association time 25.208941 ms 
filter time 7.799123 ms 
build tree time 22.094661 ms 
points size 99211 
prepare time 14.281670 
solver time 11.104473 ms 
optimization twice time 77.453432 
publication time 11.059936 ms 
whole laserOdometry time 88.533885 ms 
 
mapping data assosiation time 35.698377 ms 
mapping solver time 24.968478 ms 
data association time 25.229404 ms 
solver time 14.743123 ms 
mapping data assosiation time 33.763308 ms 
points size 100401 
mapping solver time 26.520849 ms 
sort q time 5.833214 
seperate points time 14.276226 
map prepare time 3.290447 ms
map corner num 85099  surf num 38340 
build tree time 22.592537 ms 
data association time 25.418985 ms 
solver time 14.751983 ms 
mapping data assosiation time 34.049719 ms 
data association time 18.228116 ms 
points size 101103 
sort q time 5.954826 
seperate points time 15.062907 
data association time 15.933599 ms 
solver time 12.734929 ms 
mapping solver time 20.611937 ms 
mapping pub time 1.215561 ms 
whole mapping time 157.331410 ms +++++
publication time 10.269490 ms 
whole laserOdometry time 65.167762 ms 
 
prepare time 15.462200 
sort q time 6.782706 
seperate points time 16.989182 
mapping data assosiation time 39.603689 ms 
solver time 14.538010 ms 
data association time 18.904018 ms 
solver time 12.770233 ms 
mapping data assosiation time 38.050077 ms 
scan registration time 29.277976 ms *************
mapping solver time 23.518168 ms 
filter time 9.229617 ms 
solver time 13.705053 ms 
data association time 18.056455 ms 
publication time 10.514281 ms 
whole laserOdometry time 70.123964 ms 
 
points size 98121 
sort q time 6.000246 
seperate points time 14.415212 
scan registration time 37.389587 ms *************
mapping solver time 39.998797 ms 
solver time 14.148944 ms 
data association time 19.184149 ms 
solver time 13.813296 ms 
prepare time 19.190206 
mapping solver time 32.959982 ms 
scan registration time 38.722707 ms *************
map prepare time 4.159412 ms
map corner num 77992  surf num 35636 
data association time 19.738644 ms 
build tree time 23.507075 ms 
data association time 17.034407 ms 
solver time 12.058200 ms 
points size 95213 
sort q time 5.322797 
seperate points time 12.493838 
data association time 15.413807 ms 
solver time 12.600132 ms 
data association time 16.176061 ms 
mapping solver time 24.980313 ms 
filter time 9.566090 ms 
sort q time 4.478674 
seperate points time 10.737319 
data association time 15.128273 ms 
mapping data assosiation time 37.219194 ms 
solver time 7.985230 ms 
publication time 11.599497 ms 
whole laserOdometry time 62.540044 ms 
 
points size 93439 
sort q time 4.371665 
seperate points time 10.348508 
mapping data assosiation time 40.408350 ms 
data association time 16.073655 ms 
solver time 11.352115 ms 
filter time 7.887221 ms 
solver time 8.409030 ms 
publication time 9.002000 ms 
whole laserOdometry time 63.075312 ms 
 
points size 92743 
prepare time 13.312328 
scan registration time 28.267905 ms *************
data association time 22.492427 ms 
solver time 12.856822 ms 
solver time 9.322244 ms 
publication time 9.929783 ms 
whole laserOdometry time 71.545045 ms 
 
mapping solver time 25.873721 ms 
filter time 9.420609 ms 
data association time 21.095205 ms 
solver time 11.693495 ms 
data association time 15.621377 ms 
mapping data assosiation time 35.972137 ms 
prepare time 11.926555 
sort q time 3.973569 
seperate points time 10.130281 
scan registration time 26.214527 ms *************
mapping solver time 27.491580 ms 
data association time 14.977831 ms 
solver time 11.542047 ms 
data association time 15.691232 ms 
solver time 10.236200 ms 
mapping pub time 1.219538 ms 
whole mapping time 165.122626 ms +++++
points size 89964 
build tree time 28.618465 ms 
sort q time 5.420630 
seperate points time 13.287188 
data association time 24.668006 ms 
mapping data assosiation time 41.262682 ms 
solver time 18.326192 ms 
mapping solver time 25.897273 ms 
data association time 24.693898 ms 
points size 90326 
publication time 10.743762 ms 
whole laserOdometry time 90.982422 ms 
 
mapping data assosiation time 45.550847 ms 
mapping solver time 20.859200 ms 
data association time 18.208429 ms 
solver time 15.088182 ms 
build tree time 21.000389 ms 
solver time 14.887331 ms 
sort q time 5.548099 
seperate points time 13.799679 
mapping data assosiation time 40.092130 ms 
mapping solver time 27.767107 ms 
data association time 16.408433 ms 
publication time 9.251808 ms 
whole laserOdometry time 60.629590 ms 
 
mapping solver time 29.273784 ms 
filter time 10.227322 ms 
data association time 15.969760 ms 
solver time 13.053359 ms 
data association time 15.635005 ms 
solver time 10.645370 ms 
publication time 11.302798 ms 
whole laserOdometry time 67.443216 ms 
 
mapping solver time 27.697180 ms 
data association time 16.077056 ms 
solver time 15.003718 ms 
mapping solver time 22.035598 ms 
mapping optimization time 142.293573 
add points time 0.687256 ms
solver time 14.010085 ms 
prepare time 15.919034 
sort q time 4.927273 
seperate points time 12.300502 
data association time 25.039741 ms 
solver time 14.922106 ms 
data association time 25.248968 ms 
solver time 11.285798 ms 
publication time 10.798288 ms 
whole laserOdometry time 88.338441 ms 
 
mapping pub time 147.779293 ms 
whole mapping time 303.315446 ms +++++
build tree time 27.334084 ms 
solver time 14.701156 ms 
mapping data assosiation time 36.482780 ms 
points size 92375 
mapping solver time 27.597884 ms 
data association time 15.377347 ms 
mapping data assosiation time 39.452838 ms 
data association time 15.359467 ms 
filter time 8.471254 ms 
points size 92871 
build tree time 23.694738 ms 
data association time 29.060186 ms 
solver time 16.029044 ms 
mapping solver time 38.269745 ms 
prepare time 13.720235 
sort q time 4.919482 
seperate points time 12.003711 
mapping data assosiation time 38.274209 ms 
data association time 15.763451 ms 
solver time 12.620193 ms 
data association time 15.529355 ms 
solver time 8.736713 ms 
points size 95012 
sort q time 4.321783 
seperate points time 10.780051 
mapping data assosiation time 38.365941 ms 
solver time 14.161038 ms 
data association time 16.227298 ms 
solver time 12.480675 ms 
publication time 11.349619 ms 
whole laserOdometry time 71.798713 ms 
 
mapping data assosiation time 38.816897 ms 
sort q time 4.611211 
seperate points time 11.578856 
mapping solver time 23.556416 ms 
filter time 8.675727 ms 
solver time 10.279408 ms 
build tree time 21.935041 ms 
solver time 10.882990 ms 
publication time 11.288544 ms 
whole laserOdometry time 64.936680 ms 
 
prepare time 16.138028 
sort q time 5.291186 
seperate points time 12.310578 
scan registration time 32.454852 ms *************
mapping solver time 30.938792 ms 
data association time 19.649979 ms 
solver time 14.356568 ms 
data association time 18.058361 ms 
mapping solver time 23.804272 ms 
filter time 11.710720 ms 
scan registration time 29.213021 ms *************
data association time 15.443895 ms 
data association time 15.480103 ms 
solver time 8.257157 ms 
publication time 10.149893 ms 
whole laserOdometry time 60.576964 ms 
 
points size 98770 
prepare time 14.934384 
mapping solver time 34.050987 ms 
sort q time 6.459934 
seperate points time 16.436493 
data association time 17.705064 ms 
solver time 12.840505 ms 
mapping solver time 22.161199 ms 
data association time 21.349392 ms 
publication time 10.125800 ms 
whole laserOdometry time 71.549453 ms 
 
points size 98655 
build tree time 31.318391 ms 
sort q time 6.123244 
seperate points time 15.622440 
mapping data assosiation time 38.686672 ms 
solver time 10.702578 ms 
mapping solver time 25.845871 ms 
solver time 9.677262 ms 
publication time 11.478502 ms 
whole laserOdometry time 64.181094 ms 
 
prepare time 21.110854 
mapping data assosiation time 44.487242 ms 
sort q time 6.208499 
seperate points time 15.852351 
mapping solver time 24.795658 ms 
data association time 16.298879 ms 
map prepare time 4.774347 ms
map corner num 90347  surf num 42175 
data association time 14.754282 ms 
solver time 8.973108 ms 
publication time 9.541190 ms 
whole laserOdometry time 61.040293 ms 
 
points size 93546 
[0m[ INFO] [1718887432.846205552]: Received 2366246 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887432.846237183]: Data saved to 1317358176218354.pcd[0m
scan registration time 39.654724 ms *************
data association time 15.536260 ms 
solver time 10.506546 ms 
data association time 15.374984 ms 
solver time 11.375831 ms 
points size 86796 
sort q time 4.459302 
seperate points time 11.068386 
filter time 11.092507 ms 
data association time 15.324826 ms 
solver time 12.380384 ms 
data association time 14.727200 ms 
solver time 9.607160 ms 
mapping data assosiation time 36.689305 ms 
sort q time 5.264625 
seperate points time 12.702113 
data association time 22.272030 ms 
solver time 15.159139 ms 
data association time 22.098836 ms 
solver time 11.145277 ms 
sort q time 3.997320 
seperate points time 10.254697 
build tree time 27.279097 ms 
data association time 21.883332 ms 
solver time 13.345815 ms 
data association time 14.343321 ms 
optimization twice time 57.903304 
points size 78098 
sort q time 3.913684 
seperate points time 9.881214 
mapping data assosiation time 34.474827 ms 
data association time 13.718014 ms 
mapping solver time 23.569143 ms 
mapping pub time 1.074610 ms 
whole mapping time 160.628941 ms +++++
solver time 8.650266 ms 
publication time 7.972940 ms 
whole laserOdometry time 57.132449 ms 
 
build tree time 31.515865 ms 
prepare time 12.574194 
sort q time 3.880774 
seperate points time 9.853490 
mapping data assosiation time 36.061723 ms 
solver time 10.389615 ms 
mapping solver time 28.139116 ms 
publication time 7.237702 ms 
whole laserOdometry time 54.553694 ms 
 
mapping data assosiation time 32.998530 ms 
points size 76531 
mapping solver time 28.583160 ms 
filter time 8.990147 ms 
mapping pub time 2.353971 ms 
whole mapping time 175.767751 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.021043 ms
map corner num 93611  surf num 43680 
data association time 13.868904 ms 
solver time 10.877227 ms 
build tree time 25.582570 ms 
data association time 14.321776 ms 
solver time 8.677298 ms 
publication time 7.978786 ms 
whole laserOdometry time 56.640708 ms 
 
points size 75960 
mapping solver time 22.468447 ms 
data association time 13.368463 ms 
solver time 11.168393 ms 
mapping solver time 18.258245 ms 
filter time 9.378490 ms 
build tree time 27.280672 ms 
sort q time 3.785579 
seperate points time 9.070574 
mapping data assosiation time 28.338695 ms 
data association time 13.386857 ms 
solver time 11.079609 ms 
data association time 13.599455 ms 
mapping data assosiation time 30.211945 ms 
mapping solver time 22.028057 ms 
filter time 9.387936 ms 
build tree time 25.089730 ms 
solver time 9.908999 ms 
mapping data assosiation time 28.221477 ms 
data association time 13.566001 ms 
solver time 8.195072 ms 
publication time 8.860317 ms 
whole laserOdometry time 55.688244 ms 
 
points size 83396 
sort q time 3.537759 
seperate points time 9.156941 
data association time 13.548007 ms 
mapping solver time 22.687131 ms 
mapping optimization time 129.727659 
add points time 0.782141 ms
filter time 11.293728 ms 
data association time 14.517006 ms 
solver time 8.928432 ms 
points size 83678 
sort q time 5.320255 
seperate points time 13.045307 
data association time 14.234054 ms 
mapping data assosiation time 30.723443 ms 
data association time 14.499663 ms 
mapping solver time 21.637074 ms 
filter time 8.970060 ms 
points size 85855 
build tree time 26.412329 ms 
mapping data assosiation time 33.906543 ms 
mapping solver time 19.976802 ms 
data association time 23.000191 ms 
mapping data assosiation time 35.757088 ms 
publication time 9.835223 ms 
whole laserOdometry time 90.565192 ms 
 
mapping solver time 24.274217 ms 
filter time 9.203396 ms 
data association time 23.011183 ms 
build tree time 21.036826 ms 
data association time 22.446974 ms 
solver time 11.608697 ms 
publication time 9.389956 ms 
whole laserOdometry time 83.038791 ms 
 
mapping data assosiation time 28.222676 ms 
solver time 14.888144 ms 
mapping solver time 18.213601 ms 
mapping optimization time 120.331570 
add points time 0.870138 ms
map prepare time 3.140693 ms
map corner num 75782  surf num 35937 
solver time 11.502552 ms 
publication time 9.185768 ms 
whole laserOdometry time 81.560880 ms 
 
sort q time 3.916885 
seperate points time 9.831363 
scan registration time 25.946630 ms *************
mapping data assosiation time 28.560137 ms 
data association time 15.115525 ms 
solver time 12.851885 ms 
data association time 16.533155 ms 
solver time 9.514687 ms 
mapping solver time 17.830679 ms 
filter time 9.382413 ms 
prepare time 16.105160 
sort q time 4.601971 
seperate points time 11.718840 
data association time 13.906742 ms 
solver time 13.560061 ms 
mapping solver time 19.710267 ms 
solver time 9.631218 ms 
mapping data assosiation time 29.331711 ms 
mapping solver time 15.409527 ms 
filter time 10.948783 ms 
mapping pub time 1.520876 ms 
whole mapping time 135.950728 ms +++++
map prepare time 3.310551 ms
map corner num 77188  surf num 36812 
data association time 23.317855 ms 
solver time 14.741553 ms 
data association time 25.838134 ms 
mapping data assosiation time 34.050977 ms 
points size 85828 
publication time 9.696980 ms 
whole laserOdometry time 88.009404 ms 
 
prepare time 16.353000 
sort q time 4.817794 
seperate points time 12.376884 
mapping data assosiation time 32.127665 ms 
solver time 14.878535 ms 
filter time 8.969777 ms 
solver time 8.165676 ms 
points size 83503 
sort q time 4.691937 
seperate points time 11.968211 
scan registration time 31.004007 ms *************
data association time 13.653001 ms 
solver time 10.355292 ms 
data association time 17.276729 ms 
solver time 8.679488 ms 
optimization twice time 50.857331 
mapping data assosiation time 30.799896 ms 
publication time 7.221330 ms 
whole laserOdometry time 58.095572 ms 
 
add points time 0.856778 ms
sort q time 4.773703 
seperate points time 11.723744 
data association time 14.709056 ms 
data association time 14.191453 ms 
publication time 8.373975 ms 
whole laserOdometry time 57.349620 ms 
 
points size 84373 
sort q time 4.087710 
seperate points time 10.524231 
data association time 14.566624 ms 
solver time 11.639264 ms 
mapping pub time 158.888766 ms 
whole mapping time 288.506854 ms +++++
data association time 24.214818 ms 
solver time 13.218875 ms 
points size 86113 
mapping data assosiation time 27.018456 ms 
mapping solver time 16.420310 ms 
data association time 14.847710 ms 
mapping data assosiation time 26.269694 ms 
mapping optimization time 105.572638 
map prepare time 2.658531 ms
map corner num 79249  surf num 38305 
build tree time 22.399043 ms 
sort q time 4.192752 
seperate points time 10.696899 
mapping data assosiation time 30.155360 ms 
data association time 15.180332 ms 
solver time 13.198607 ms 
data association time 14.091844 ms 
solver time 10.936148 ms 
mapping solver time 20.877622 ms 
prepare time 13.441443 
sort q time 5.672501 
seperate points time 14.126206 
scan registration time 31.262854 ms *************
build tree time 26.032448 ms 
data association time 17.292975 ms 
solver time 11.924827 ms 
mapping data assosiation time 30.973267 ms 
data association time 15.245367 ms 
mapping solver time 20.114401 ms 
points size 91694 
mapping data assosiation time 33.007170 ms 
mapping solver time 15.672983 ms 
data association time 15.537335 ms 
solver time 13.379571 ms 
build tree time 22.512759 ms 
solver time 10.598420 ms 
mapping data assosiation time 29.765119 ms 
sort q time 5.023088 
seperate points time 12.167471 
data association time 14.817483 ms 
solver time 12.941252 ms 
mapping solver time 16.954378 ms 
filter time 10.186122 ms 
publication time 8.902083 ms 
whole laserOdometry time 64.511949 ms 
 
prepare time 14.241460 
sort q time 4.844221 
seperate points time 11.867142 
mapping data assosiation time 35.347479 ms 
solver time 19.414148 ms 
data association time 27.789546 ms 
prepare time 14.404979 
sort q time 5.375266 
seperate points time 12.746466 
mapping solver time 25.729354 ms 
mapping optimization time 157.010883 
add points time 1.038335 ms
data association time 25.696261 ms 
solver time 17.499387 ms 
build tree time 29.876977 ms 
data association time 27.938562 ms 
points size 97080 
solver time 17.460275 ms 
optimization twice time 89.594188 
mapping solver time 28.467411 ms 
data association time 26.296886 ms 
solver time 21.141725 ms 
points size 97808 
mapping solver time 31.885550 ms 
mapping optimization time 170.719489 
add points time 0.749977 ms
solver time 15.824745 ms 
sort q time 5.809924 
seperate points time 14.344959 
optimization twice time 90.243189 
scan registration time 33.170087 ms *************
map prepare time 4.680339 ms
map corner num 83695  surf num 41809 
data association time 25.232929 ms 
solver time 19.570279 ms 
points size 98712 
sort q time 4.669056 
seperate points time 11.510285 
publication time 10.909807 ms 
whole laserOdometry time 102.103206 ms 
 
[33m[ WARN] [1718887436.076913657]: odometry process over 100ms[0m
data association time 28.280334 ms 
mapping data assosiation time 40.200603 ms 
points size 99795 
filter time 10.391494 ms 
publication time 11.004300 ms 
whole laserOdometry time 103.174202 ms 
 
[33m[ WARN] [1718887436.182814512]: odometry process over 100ms[0m
build tree time 32.671704 ms 
solver time 21.000190 ms 
mapping data assosiation time 40.820501 ms 
prepare time 16.404563 
sort q time 5.414359 
seperate points time 13.382899 
solver time 16.117388 ms 
optimization twice time 91.503729 
scan registration time 33.894216 ms *************
mapping solver time 33.409601 ms 
data association time 29.061834 ms 
solver time 16.752948 ms 
mapping solver time 33.396964 ms 
filter time 10.605743 ms 
optimization twice time 88.339900 
publication time 11.349997 ms 
whole laserOdometry time 99.705790 ms 
 
build tree time 32.530193 ms 
data association time 26.692276 ms 
solver time 17.338850 ms 
mapping data assosiation time 41.722324 ms 
points size 100992 
solver time 15.965234 ms 
publication time 11.743891 ms 
whole laserOdometry time 100.198295 ms 
 
[33m[ WARN] [1718887436.493328669]: odometry process over 100ms[0m
data association time 29.185203 ms 
mapping data assosiation time 41.823670 ms 
solver time 19.812333 ms 
mapping solver time 33.904253 ms 
filter time 10.568633 ms 
mapping pub time 1.572804 ms 
whole mapping time 203.230991 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.928890 ms
map corner num 86588  surf num 43585 
publication time 11.316941 ms 
whole laserOdometry time 99.055903 ms 
 
build tree time 32.532053 ms 
data association time 26.302554 ms 
solver time 20.799717 ms 
mapping data assosiation time 41.247391 ms 
data association time 21.799456 ms 
solver time 11.343420 ms 
scan registration time 35.660272 ms *************
mapping data assosiation time 33.131996 ms 
solver time 13.286712 ms 
data association time 16.280698 ms 
solver time 11.723278 ms 
points size 101626 
sort q time 5.831668 
seperate points time 13.992514 
data association time 15.536876 ms 
solver time 12.088769 ms 
data association time 16.240566 ms 
publication time 8.435156 ms 
whole laserOdometry time 61.569787 ms 
 
points size 101657 
sort q time 4.975288 
seperate points time 12.170499 
mapping solver time 25.640652 ms 
filter time 9.414034 ms 
data association time 16.529319 ms 
solver time 13.091663 ms 
publication time 10.484968 ms 
whole laserOdometry time 68.988367 ms 
 
points size 101572 
sort q time 6.592969 
seperate points time 15.552693 
scan registration time 33.736021 ms *************
data association time 15.938166 ms 
solver time 10.837731 ms 
data association time 16.385731 ms 
filter time 9.842046 ms 
points size 101367 
build tree time 25.535247 ms 
data association time 15.710495 ms 
solver time 14.063992 ms 
mapping solver time 23.482446 ms 
solver time 7.806071 ms 
publication time 8.562329 ms 
whole laserOdometry time 63.145139 ms 
 
points size 101518 
mapping data assosiation time 33.390532 ms 
prepare time 14.279675 
sort q time 5.862244 
seperate points time 14.160345 
mapping solver time 39.360487 ms 
mapping optimization time 158.038342 
add points time 0.769582 ms
data association time 16.163347 ms 
drop lidar frame in mapping for real time performance 
data association time 16.815129 ms 
build tree time 26.486798 ms 
points size 101508 
sort q time 5.338166 
seperate points time 12.614016 
data association time 16.282951 ms 
solver time 10.740927 ms 
data association time 16.493379 ms 
publication time 9.946665 ms 
whole laserOdometry time 62.825837 ms 
 
mapping solver time 14.848573 ms 
filter time 9.749526 ms 
sort q time 5.555361 
seperate points time 14.126596 
build tree time 26.281746 ms 
solver time 11.531228 ms 
mapping data assosiation time 31.752490 ms 
solver time 7.711972 ms 
publication time 10.047102 ms 
whole laserOdometry time 64.933144 ms 
 
sort q time 4.946294 
seperate points time 11.855016 
mapping data assosiation time 35.173125 ms 
mapping solver time 17.852598 ms 
mapping pub time 2.404791 ms 
whole mapping time 156.098144 ms +++++
data association time 19.403843 ms 
solver time 8.338642 ms 
build tree time 26.700586 ms 
sort q time 4.994977 
seperate points time 11.996182 
mapping data assosiation time 33.152717 ms 
data association time 15.182844 ms 
solver time 10.278003 ms 
data association time 16.025027 ms 
solver time 8.306936 ms 
publication time 8.334999 ms 
whole laserOdometry time 58.970111 ms 
 
mapping solver time 19.190730 ms 
filter time 10.510549 ms 
sort q time 6.044491 
seperate points time 14.386261 
data association time 14.707344 ms 
solver time 10.800694 ms 
data association time 15.732641 ms 
publication time 8.673994 ms 
whole laserOdometry time 58.084052 ms 
 
mapping solver time 24.897842 ms 
sort q time 5.025655 
seperate points time 11.473350 
mapping data assosiation time 34.882985 ms 
mapping solver time 13.980107 ms 
filter time 10.228350 ms 
data association time 15.829508 ms 
publication time 8.079038 ms 
whole laserOdometry time 60.361016 ms 
 
points size 100792 
sort q time 6.226143 
seperate points time 14.250485 
mapping solver time 22.332120 ms 
solver time 10.806877 ms 
data association time 15.437738 ms 
solver time 7.911156 ms 
publication time 8.219937 ms 
whole laserOdometry time 59.194755 ms 
 
filter time 10.790005 ms 
points size 100552 
mapping pub time 1.401318 ms 
whole mapping time 149.382646 ms +++++
drop lidar frame in mapping for real time performance 
prepare time 14.411643 
map prepare time 3.248177 ms
map corner num 94565  surf num 48394 
sort q time 5.885304 
seperate points time 14.656599 
scan registration time 34.071479 ms *************
data association time 15.637062 ms 
solver time 12.933921 ms 
data association time 17.309697 ms 
publication time 9.450343 ms 
whole laserOdometry time 65.063493 ms 
 
mapping data assosiation time 33.964945 ms 
scan registration time 38.268452 ms *************
mapping optimization time 133.206863 
add points time 0.753812 ms
data association time 24.317359 ms 
solver time 12.876722 ms 
data association time 17.001493 ms 
solver time 11.428836 ms 
prepare time 19.874421 
sort q time 5.876945 
seperate points time 14.323147 
data association time 15.357312 ms 
solver time 15.263690 ms 
data association time 18.049744 ms 
mapping solver time 19.785778 ms 
mapping optimization time 137.833875 
add points time 0.612778 ms
filter time 11.689132 ms 
prepare time 16.199970 
sort q time 5.904896 
seperate points time 14.098221 
data association time 15.389896 ms 
solver time 13.520667 ms 
data association time 15.283661 ms 
publication time 9.820668 ms 
whole laserOdometry time 65.793640 ms 
 
sort q time 6.993705 
seperate points time 15.485488 
data association time 17.768201 ms 
solver time 16.814830 ms 
data association time 16.109885 ms 
solver time 11.396418 ms 
points size 99423 
prepare time 14.137678 
mapping data assosiation time 37.333684 ms 
mapping solver time 23.609069 ms 
solver time 13.153819 ms 
data association time 15.105654 ms 
solver time 10.325873 ms 
mapping solver time 23.364856 ms 
filter time 9.987261 ms 
mapping pub time 1.650698 ms 
whole mapping time 167.387819 ms +++++
build tree time 28.083747 ms 
solver time 15.038128 ms 
data association time 14.593876 ms 
solver time 12.438000 ms 
publication time 9.339877 ms 
whole laserOdometry time 67.345852 ms 
 
points size 98751 
sort q time 4.299345 
seperate points time 10.541685 
mapping data assosiation time 33.702302 ms 
solver time 12.427815 ms 
filter time 10.699304 ms 
solver time 11.084277 ms 
build tree time 28.887148 ms 
sort q time 4.625185 
seperate points time 11.186063 
mapping data assosiation time 33.951669 ms 
data association time 17.809404 ms 
mapping solver time 23.108210 ms 
data association time 15.442430 ms 
solver time 11.725447 ms 
publication time 10.347067 ms 
whole laserOdometry time 69.660154 ms 
 
points size 97565 
filter time 10.670716 ms 
data association time 14.786335 ms 
build tree time 27.060300 ms 
data association time 15.006947 ms 
solver time 9.887399 ms 
publication time 8.191972 ms 
whole laserOdometry time 60.905823 ms 
 
points size 95688 
sort q time 5.680779 
seperate points time 13.743799 
mapping data assosiation time 37.036867 ms 
data association time 26.236657 ms 
solver time 15.794979 ms 
mapping solver time 33.364457 ms 
filter time 12.131576 ms 
points size 94450 
publication time 10.240268 ms 
whole laserOdometry time 89.507036 ms 
 
build tree time 35.468600 ms 
data association time 26.073612 ms 
solver time 17.608173 ms 
mapping data assosiation time 40.185873 ms 
data association time 21.080683 ms 
solver time 10.713807 ms 
sort q time 5.282676 
seperate points time 12.574208 
mapping data assosiation time 33.040614 ms 
mapping solver time 22.684479 ms 
filter time 13.429133 ms 
data association time 23.861766 ms 
solver time 11.368000 ms 
data association time 23.809608 ms 
solver time 11.564274 ms 
prepare time 14.337817 
mapping solver time 20.084379 ms 
filter time 11.329476 ms 
data association time 18.200742 ms 
solver time 14.936900 ms 
data association time 17.573331 ms 
solver time 12.629879 ms 
points size 92230 
sort q time 4.035911 
seperate points time 10.089521 
mapping solver time 26.060073 ms 
scan registration time 27.871803 ms *************
data association time 16.313625 ms 
solver time 13.478258 ms 
mapping solver time 22.869532 ms 
filter time 10.578165 ms 
publication time 9.343409 ms 
whole laserOdometry time 69.913239 ms 
 
prepare time 15.454524 
sort q time 4.667395 
seperate points time 11.531242 
data association time 14.807608 ms 
mapping data assosiation time 34.267291 ms 
data association time 15.173987 ms 
mapping solver time 28.076082 ms 
publication time 7.548429 ms 
whole laserOdometry time 58.370103 ms 
 
points size 91407 
sort q time 4.680616 
seperate points time 11.959571 
scan registration time 29.813390 ms *************
data association time 13.399864 ms 
filter time 9.285006 ms 
mapping pub time 1.181187 ms 
whole mapping time 167.556702 ms +++++
drop lidar frame in mapping for real time performance 
solver time 14.505929 ms 
map prepare time 3.628862 ms
map corner num 102949  surf num 52589 
data association time 13.619542 ms 
solver time 10.467916 ms 
publication time 10.394674 ms 
whole laserOdometry time 63.314982 ms 
 
points size 89685 
mapping data assosiation time 32.860477 ms 
scan registration time 30.082958 ms *************
mapping solver time 24.350949 ms 
data association time 12.897217 ms 
solver time 11.340299 ms 
data association time 13.927572 ms 
solver time 8.705486 ms 
publication time 9.882346 ms 
whole laserOdometry time 57.594227 ms 
 
mapping solver time 20.764239 ms 
filter time 11.066963 ms 
prepare time 16.890112 
sort q time 5.096521 
seperate points time 13.033083 
build tree time 30.035174 ms 
data association time 15.167572 ms 
solver time 10.415108 ms 
mapping data assosiation time 33.454060 ms 
solver time 7.732990 ms 
publication time 7.922513 ms 
whole laserOdometry time 57.288795 ms 
 
points size 88094 
sort q time 4.525074 
seperate points time 11.006487 
data association time 14.373135 ms 
solver time 12.568212 ms 
map prepare time 2.952327 ms
map corner num 104438  surf num 53283 
solver time 8.302305 ms 
optimization twice time 54.323076 
points size 87961 
prepare time 16.956225 
sort q time 5.035141 
seperate points time 12.284344 
data association time 12.748823 ms 
solver time 12.703921 ms 
data association time 15.897073 ms 
solver time 10.094310 ms 
mapping solver time 24.138941 ms 
filter time 11.997479 ms 
scan registration time 39.142998 ms *************
data association time 14.489480 ms 
solver time 11.596087 ms 
data association time 14.044104 ms 
publication time 7.567037 ms 
whole laserOdometry time 56.773619 ms 
 
mapping data assosiation time 40.718087 ms 
sort q time 5.433526 
seperate points time 12.769955 
mapping solver time 35.355265 ms 
data association time 15.072910 ms 
solver time 12.040559 ms 
data association time 15.252869 ms 
solver time 13.070546 ms 
optimization twice time 56.267722 
mapping solver time 29.451559 ms 
mapping optimization time 186.906531 
points size 88637 
add points time 0.754487 ms
prepare time 14.174853 
filter time 12.075149 ms 
data association time 16.097765 ms 
build tree time 38.520137 ms 
data association time 16.851224 ms 
solver time 10.164000 ms 
mapping data assosiation time 40.947784 ms 
points size 88751 
scan registration time 28.698851 ms *************
mapping solver time 36.119924 ms 
data association time 14.553119 ms 
solver time 10.598891 ms 
data association time 14.420289 ms 
mapping data assosiation time 40.102433 ms 
publication time 8.257780 ms 
whole laserOdometry time 57.010340 ms 
 
mapping solver time 29.516514 ms 
filter time 12.283609 ms 
data association time 12.817767 ms 
solver time 11.246413 ms 
build tree time 37.701176 ms 
publication time 7.132596 ms 
whole laserOdometry time 53.397480 ms 
 
points size 86164 
mapping solver time 25.941808 ms 
data association time 14.023112 ms 
mapping data assosiation time 30.187826 ms 
data association time 17.731506 ms 
filter time 9.200546 ms 
mapping pub time 1.091021 ms 
whole mapping time 166.800139 ms +++++
publication time 8.622237 ms 
whole laserOdometry time 60.902438 ms 
 
map prepare time 3.269335 ms
map corner num 107294  surf num 54474 
points size 86005 
build tree time 32.033536 ms 
data association time 12.544244 ms 
solver time 11.099772 ms 
mapping data assosiation time 33.094616 ms 
solver time 7.826809 ms 
publication time 7.370720 ms 
whole laserOdometry time 54.073532 ms 
 
mapping data assosiation time 31.310538 ms 
sort q time 3.759638 
seperate points time 9.058553 
mapping solver time 24.500178 ms 
data association time 12.871653 ms 
solver time 15.615406 ms 
data association time 13.771511 ms 
build tree time 30.775330 ms 
publication time 7.277331 ms 
whole laserOdometry time 59.724556 ms 
 
points size 82600 
sort q time 4.447107 
seperate points time 10.904436 
mapping solver time 25.715244 ms 
data association time 12.493275 ms 
publication time 7.839260 ms 
whole laserOdometry time 54.420409 ms 
 
filter time 9.453195 ms 
points size 81749 
sort q time 4.324996 
seperate points time 10.049200 
scan registration time 26.120206 ms *************
build tree time 36.439723 ms 
data association time 20.485770 ms 
solver time 15.285501 ms 
data association time 19.955322 ms 
optimization twice time 68.298531 
points size 81007 
sort q time 4.092137 
seperate points time 10.015871 
mapping solver time 19.251944 ms 
mapping optimization time 150.553152 
add points time 0.688898 ms
data association time 12.928759 ms 
map prepare time 3.466362 ms
map corner num 109549  surf num 55334 
solver time 8.094961 ms 
build tree time 34.163534 ms 
points size 80529 
sort q time 3.758405 
seperate points time 9.109430 
mapping data assosiation time 33.738321 ms 
data association time 12.711046 ms 
mapping solver time 25.078032 ms 
data association time 12.479086 ms 
optimization twice time 43.783342 
publication time 7.932684 ms 
whole laserOdometry time 51.732586 ms 
 
mapping solver time 19.609195 ms 
mapping pub time 1.037115 ms 
whole mapping time 163.642500 ms +++++
data association time 12.465531 ms 
build tree time 30.412799 ms 
data association time 12.901767 ms 
mapping data assosiation time 32.844613 ms 
publication time 9.259119 ms 
whole laserOdometry time 53.149264 ms 
 
points size 80000 
sort q time 3.780814 
seperate points time 9.258413 
mapping data assosiation time 36.026786 ms 
solver time 16.002776 ms 
filter time 12.885156 ms 
solver time 12.174238 ms 
prepare time 12.298665 
scan registration time 26.384505 ms *************
data association time 23.145035 ms 
mapping data assosiation time 40.621871 ms 
data association time 19.863117 ms 
mapping solver time 34.262480 ms 
sort q time 3.987752 
seperate points time 9.804129 
mapping data assosiation time 35.606984 ms 
data association time 15.357763 ms 
mapping solver time 21.349455 ms 
filter time 11.247655 ms 
optimization twice time 51.179580 
points size 82110 
sort q time 3.580364 
seperate points time 8.824397 
data association time 23.853934 ms 
solver time 18.673821 ms 
data association time 25.836190 ms 
points size 83072 
prepare time 13.343385 
solver time 15.279156 ms 
optimization twice time 84.813496 
scan registration time 30.482047 ms *************
map prepare time 4.308977 ms
map corner num 111757  surf num 56277 
data association time 22.090581 ms 
solver time 14.960116 ms 
build tree time 41.555013 ms 
data association time 22.296018 ms 
solver time 9.006927 ms 
prepare time 12.674625 
sort q time 5.269732 
seperate points time 12.718217 
scan registration time 29.382238 ms *************
mapping solver time 28.419893 ms 
data association time 22.020898 ms 
solver time 17.069601 ms 
mapping data assosiation time 39.990356 ms 
data association time 22.613417 ms 
solver time 12.740948 ms 
sort q time 4.246624 
seperate points time 10.568469 
data association time 13.482086 ms 
build tree time 30.376592 ms 
solver time 11.182461 ms 
data association time 13.073901 ms 
solver time 7.457297 ms 
publication time 7.319261 ms 
whole laserOdometry time 53.184969 ms 
 
mapping data assosiation time 35.301622 ms 
points size 86071 
prepare time 13.089472 
scan registration time 26.458427 ms *************
data association time 13.099938 ms 
mapping data assosiation time 32.517560 ms 
data association time 16.399902 ms 
solver time 10.721966 ms 
publication time 8.177357 ms 
whole laserOdometry time 62.688615 ms 
 
points size 87736 
sort q time 4.155312 
seperate points time 10.095538 
scan registration time 27.920657 ms *************
build tree time 34.722138 ms 
data association time 24.629884 ms 
mapping data assosiation time 40.639802 ms 
data association time 14.462732 ms 
solver time 9.038642 ms 
publication time 9.424712 ms 
whole laserOdometry time 75.865909 ms 
 
prepare time 13.908955 
mapping data assosiation time 32.059171 ms 
mapping solver time 23.453797 ms 
solver time 11.646289 ms 
data association time 14.130759 ms 
publication time 9.390596 ms 
whole laserOdometry time 58.859672 ms 
 
build tree time 34.172837 ms 
points size 90851 
sort q time 4.493045 
seperate points time 10.729082 
data association time 14.969635 ms 
solver time 12.214679 ms 
data association time 14.592726 ms 
publication time 9.558781 ms 
whole laserOdometry time 60.882970 ms 
 
mapping solver time 19.444623 ms 
filter time 11.677854 ms 
mapping pub time 1.176031 ms 
whole mapping time 166.072490 ms +++++
drop lidar frame in mapping for real time performance 
sort q time 5.582411 
seperate points time 13.165439 
map prepare time 3.956785 ms
map corner num 115383  surf num 57943 
data association time 13.903270 ms 
solver time 13.530950 ms 
data association time 16.585341 ms 
publication time 9.813632 ms 
whole laserOdometry time 61.308635 ms 
 
points size 93500 
sort q time 4.186776 
seperate points time 10.151497 
data association time 14.534324 ms 
solver time 10.784531 ms 
data association time 14.840388 ms 
map prepare time 4.059520 ms
map corner num 79161  surf num 40533 
points size 90933 
sort q time 4.303975 
seperate points time 10.301734 
mapping data assosiation time 33.651672 ms 
solver time 10.118482 ms 
data association time 14.300352 ms 
publication time 9.260549 ms 
whole laserOdometry time 56.919459 ms 
 
points size 89765 
sort q time 4.979515 
seperate points time 11.863521 
filter time 8.244905 ms 
solver time 10.771275 ms 
build tree time 23.403095 ms 
data association time 21.819491 ms 
solver time 11.108476 ms 
mapping data assosiation time 36.366052 ms 
sort q time 4.182095 
seperate points time 10.096656 
data association time 15.279011 ms 
solver time 13.370319 ms 
data association time 15.829468 ms 
solver time 9.019190 ms 
mapping pub time 1.150506 ms 
whole mapping time 154.964939 ms +++++
points size 86058 
prepare time 16.776244 
scan registration time 34.871050 ms *************
data association time 15.034130 ms 
solver time 12.784801 ms 
data association time 20.240406 ms 
solver time 14.583941 ms 
publication time 12.429296 ms 
whole laserOdometry time 76.120460 ms 
 
mapping data assosiation time 37.133178 ms 
mapping solver time 29.476396 ms 
filter time 9.028581 ms 
solver time 13.936066 ms 
data association time 17.232675 ms 
build tree time 23.681765 ms 
publication time 9.337557 ms 
whole laserOdometry time 67.503797 ms 
 
mapping data assosiation time 36.421650 ms 
mapping solver time 24.667589 ms 
solver time 12.559746 ms 
data association time 15.830248 ms 
solver time 10.487257 ms 
mapping solver time 26.560011 ms 
points size 86464 
map prepare time 3.626203 ms
map corner num 82199  surf num 41920 
scan registration time 33.951345 ms *************
build tree time 24.520876 ms 
solver time 10.480684 ms 
data association time 13.784390 ms 
solver time 8.344372 ms 
publication time 9.305102 ms 
whole laserOdometry time 56.974485 ms 
 
mapping solver time 27.019749 ms 
points size 87030 
sort q time 5.652428 
seperate points time 13.940889 
mapping data assosiation time 39.551264 ms 
data association time 15.703141 ms 
solver time 11.766150 ms 
map prepare time 2.893688 ms
map corner num 83034  surf num 42241 
solver time 7.787676 ms 
build tree time 24.467298 ms 
prepare time 14.164632 
sort q time 4.302232 
seperate points time 10.536232 
data association time 15.955798 ms 
mapping solver time 23.089769 ms 
data association time 15.987308 ms 
optimization twice time 51.799211 
mapping data assosiation time 33.344284 ms 
mapping solver time 21.173968 ms 
filter time 9.261490 ms 
build tree time 24.020980 ms 
solver time 10.062767 ms 
mapping data assosiation time 32.834864 ms 
publication time 8.297800 ms 
whole laserOdometry time 58.018208 ms 
 
mapping solver time 24.696798 ms 
points size 90290 
sort q time 4.649721 
seperate points time 11.023385 
data association time 18.299657 ms 
filter time 9.694237 ms 
solver time 14.024448 ms 
data association time 19.614036 ms 
solver time 8.366828 ms 
publication time 11.353277 ms 
whole laserOdometry time 72.593373 ms 
 
sort q time 4.387464 
seperate points time 10.476178 
data association time 15.562407 ms 
solver time 12.571368 ms 
data association time 15.372878 ms 
solver time 7.930180 ms 
publication time 8.595909 ms 
whole laserOdometry time 60.862456 ms 
 
mapping solver time 23.311975 ms 
prepare time 17.734093 
filter time 10.914750 ms 
mapping pub time 1.511643 ms 
whole mapping time 159.820240 ms +++++
sort q time 5.311885 
seperate points time 13.397557 
build tree time 25.369922 ms 
solver time 10.627542 ms 
mapping data assosiation time 30.372600 ms 
solver time 8.711919 ms 
publication time 11.144447 ms 
whole laserOdometry time 67.497517 ms 
 
sort q time 4.265127 
seperate points time 10.204121 
mapping data assosiation time 32.534843 ms 
mapping solver time 18.736511 ms 
filter time 8.911911 ms 
data association time 18.289723 ms 
build tree time 24.039940 ms 
points size 95831 
mapping data assosiation time 42.529313 ms 
sort q time 6.543415 
seperate points time 15.956758 
scan registration time 41.973119 ms *************
mapping solver time 24.618566 ms 
data association time 13.456242 ms 
publication time 9.958896 ms 
whole laserOdometry time 56.108268 ms 
 
mapping optimization time 147.405346 
filter time 11.072804 ms 
mapping pub time 2.700420 ms 
whole mapping time 166.257235 ms +++++
drop lidar frame in mapping for real time performance 
build tree time 23.382027 ms 
solver time 10.669757 ms 
data association time 15.010557 ms 
solver time 8.488899 ms 
publication time 9.650174 ms 
whole laserOdometry time 58.371378 ms 
 
points size 101346 
sort q time 6.796794 
seperate points time 16.357574 
mapping data assosiation time 40.780989 ms 
mapping solver time 12.888178 ms 
filter time 8.379968 ms 
data association time 15.763724 ms 
solver time 9.047455 ms 
publication time 9.113975 ms 
whole laserOdometry time 58.602433 ms 
 
points size 101366 
sort q time 6.777966 
seperate points time 16.982902 
data association time 14.246002 ms 
solver time 11.084629 ms 
data association time 14.456130 ms 
mapping data assosiation time 33.054837 ms 
points size 101316 
filter time 8.175080 ms 
data association time 15.635938 ms 
data association time 14.600672 ms 
solver time 8.894570 ms 
mapping data assosiation time 33.871080 ms 
mapping solver time 21.395008 ms 
sort q time 5.856243 
seperate points time 14.637120 
mapping data assosiation time 33.097808 ms 
data association time 15.466232 ms 
solver time 9.384390 ms 
filter time 8.643012 ms 
mapping pub time 1.210662 ms 
whole mapping time 146.796998 ms +++++
data association time 15.302673 ms 
optimization twice time 51.671890 
publication time 10.722606 ms 
whole laserOdometry time 62.422638 ms 
 
prepare time 15.533655 
sort q time 5.356945 
seperate points time 12.667579 
mapping data assosiation time 39.175582 ms 
data association time 14.253455 ms 
solver time 11.757542 ms 
data association time 14.443238 ms 
mapping data assosiation time 32.611532 ms 
points size 93949 
filter time 9.252250 ms 
data association time 13.299799 ms 
solver time 12.511039 ms 
data association time 17.044552 ms 
optimization twice time 54.302193 
mapping solver time 23.230009 ms 
prepare time 17.271180 
sort q time 5.927333 
seperate points time 15.027445 
mapping data assosiation time 40.830396 ms 
data association time 22.892513 ms 
solver time 15.352995 ms 
mapping solver time 26.895183 ms 
mapping optimization time 151.196894 
add points time 0.865527 ms
filter time 11.252839 ms 
solver time 13.897029 ms 
publication time 12.027592 ms 
whole laserOdometry time 87.030621 ms 
 
sort q time 5.173019 
seperate points time 12.918856 
data association time 13.743373 ms 
data association time 13.669933 ms 
solver time 11.393961 ms 
publication time 10.639935 ms 
whole laserOdometry time 63.916748 ms 
 
points size 85507 
sort q time 4.846667 
seperate points time 11.970592 
mapping pub time 160.441467 ms 
whole mapping time 328.237219 ms +++++
data association time 23.755304 ms 
build tree time 29.383693 ms 
solver time 8.699178 ms 
prepare time 15.314066 
sort q time 4.778166 
seperate points time 11.889215 
data association time 12.374299 ms 
solver time 11.182705 ms 
data association time 13.735095 ms 
filter time 9.881541 ms 
points size 78605 
build tree time 27.504802 ms 
data association time 12.706894 ms 
solver time 12.778797 ms 
data association time 13.172007 ms 
publication time 8.147394 ms 
whole laserOdometry time 55.955114 ms 
 
mapping data assosiation time 32.169974 ms 
mapping solver time 15.525133 ms 
filter time 10.103796 ms 
data association time 12.882642 ms 
solver time 13.823258 ms 
data association time 12.853681 ms 
solver time 10.954718 ms 
mapping data assosiation time 34.282730 ms 
points size 79204 
scan registration time 24.335236 ms *************
data association time 12.509275 ms 
solver time 10.793871 ms 
mapping solver time 17.086108 ms 
filter time 8.279468 ms 
publication time 8.109762 ms 
whole laserOdometry time 53.969589 ms 
 
build tree time 24.365439 ms 
points size 81827 
prepare time 12.154223 
data association time 13.059726 ms 
solver time 14.300289 ms 
data association time 16.916222 ms 
solver time 13.213375 ms 
mapping solver time 21.380449 ms 
points size 86283 
sort q time 4.096307 
seperate points time 10.329641 
scan registration time 26.643636 ms *************
build tree time 25.914158 ms 
data association time 18.237763 ms 
solver time 14.483368 ms 
data association time 12.927450 ms 
mapping solver time 18.112788 ms 
points size 90159 
sort q time 4.316551 
seperate points time 10.717328 
mapping solver time 17.954149 ms 
mapping optimization time 127.300628 
add points time 0.809213 ms
data association time 16.140211 ms 
map prepare time 2.954425 ms
map corner num 94832  surf num 47421 
data association time 14.441152 ms 
solver time 12.742191 ms 
points size 92716 
sort q time 5.263789 
seperate points time 12.374824 
scan registration time 30.018812 ms *************
data association time 17.724955 ms 
mapping data assosiation time 31.366488 ms 
data association time 17.743249 ms 
solver time 12.823411 ms 
publication time 9.760092 ms 
whole laserOdometry time 74.518477 ms 
 
prepare time 17.455530 
sort q time 5.452378 
seperate points time 13.950858 
data association time 17.017784 ms 
mapping data assosiation time 32.686620 ms 
data association time 18.322037 ms 
solver time 12.082362 ms 
publication time 12.037058 ms 
whole laserOdometry time 75.565984 ms 
 
sort q time 4.516430 
seperate points time 11.380075 
mapping solver time 17.851954 ms 
mapping optimization time 147.720051 
add points time 0.810453 ms
map prepare time 3.311257 ms
map corner num 97171  surf num 48623 
data association time 15.623556 ms 
solver time 11.256018 ms 
points size 96517 
mapping data assosiation time 41.510379 ms 
sort q time 5.856493 
seperate points time 15.052593 
mapping solver time 25.283892 ms 
data association time 24.540087 ms 
mapping data assosiation time 33.709789 ms 
solver time 7.957576 ms 
mapping solver time 24.221970 ms 
filter time 12.636609 ms 
sort q time 5.808960 
seperate points time 15.225012 
build tree time 27.816348 ms 
data association time 25.510889 ms 
solver time 14.784276 ms 
mapping data assosiation time 33.889098 ms 
data association time 26.534846 ms 
points size 96826 
prepare time 17.702291 
mapping solver time 29.925086 ms 
solver time 14.222761 ms 
optimization twice time 82.173918 
publication time 13.991721 ms 
whole laserOdometry time 96.189746 ms 
 
[0m[ INFO] [1718887446.901384617]: Received 2466737 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887446.901411010]: Data saved to 1317358190043200.pcd[0m
publication time 11.996281 ms 
whole laserOdometry time 95.363488 ms 
 
data association time 18.757660 ms 
mapping data assosiation time 36.759687 ms 
data association time 18.576419 ms 
solver time 8.544215 ms 
publication time 9.778976 ms 
whole laserOdometry time 68.272066 ms 
 
points size 98074 
prepare time 20.889350 
sort q time 9.060595 
seperate points time 20.338066 
mapping solver time 26.909736 ms 
data association time 16.899769 ms 
solver time 10.896186 ms 
data association time 15.353940 ms 
solver time 9.661644 ms 
publication time 9.943567 ms 
whole laserOdometry time 63.657128 ms 
 
sort q time 6.656728 
seperate points time 16.821480 
mapping data assosiation time 41.576562 ms 
data association time 18.594024 ms 
mapping solver time 27.190099 ms 
data association time 19.246148 ms 
solver time 12.931431 ms 
prepare time 21.110226 
sort q time 5.850123 
seperate points time 14.933374 
mapping optimization time 176.472554 
data association time 15.969610 ms 
filter time 11.891606 ms 
mapping pub time 1.234537 ms 
whole mapping time 193.784948 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.289358 ms
map corner num 101448  surf num 50686 
data association time 17.763940 ms 
publication time 8.914451 ms 
whole laserOdometry time 68.338520 ms 
 
prepare time 21.104474 
sort q time 6.749214 
seperate points time 17.067136 
data association time 14.637614 ms 
mapping solver time 23.047227 ms 
solver time 11.129156 ms 
data association time 15.242879 ms 
optimization twice time 53.432892 
publication time 10.845188 ms 
whole laserOdometry time 64.297598 ms 
 
prepare time 19.040772 
sort q time 5.855662 
seperate points time 14.855978 
map prepare time 4.307555 ms
map corner num 102475  surf num 51103 
data association time 16.843593 ms 
build tree time 31.460858 ms 
data association time 17.391957 ms 
solver time 12.976050 ms 
publication time 12.508135 ms 
whole laserOdometry time 74.281146 ms 
 
prepare time 20.858895 
sort q time 6.002454 
seperate points time 15.382590 
scan registration time 40.613330 ms *************
data association time 25.631733 ms 
solver time 18.508336 ms 
mapping data assosiation time 41.455827 ms 
data association time 17.379436 ms 
mapping solver time 24.826060 ms 
mapping optimization time 175.069273 
add points time 0.767898 ms
solver time 15.659419 ms 
points size 101422 
optimization twice time 78.070692 
publication time 13.017419 ms 
whole laserOdometry time 91.112912 ms 
 
sort q time 6.868311 
seperate points time 17.134267 
build tree time 29.863291 ms 
data association time 15.076761 ms 
solver time 13.427098 ms 
data association time 15.348436 ms 
solver time 11.232166 ms 
points size 101642 
mapping solver time 35.623312 ms 
sort q time 6.093695 
seperate points time 15.647543 
scan registration time 39.869701 ms *************
data association time 14.400225 ms 
solver time 14.280313 ms 
mapping solver time 23.342410 ms 
solver time 12.223888 ms 
publication time 11.641894 ms 
whole laserOdometry time 72.044395 ms 
 
sort q time 5.046844 
seperate points time 12.652827 
build tree time 32.586239 ms 
data association time 14.376367 ms 
solver time 12.270636 ms 
data association time 15.278232 ms 
mapping data assosiation time 36.856363 ms 
solver time 11.008461 ms 
mapping solver time 28.155321 ms 
sort q time 4.741749 
seperate points time 11.673726 
data association time 14.221338 ms 
solver time 18.427049 ms 
filter time 10.441874 ms 
mapping pub time 3.014426 ms 
whole mapping time 173.685811 ms +++++
drop lidar frame in mapping for real time performance 
solver time 12.862797 ms 
build tree time 42.886031 ms 
sort q time 7.100688 
seperate points time 17.628456 
scan registration time 43.596648 ms *************
mapping data assosiation time 39.939971 ms 
data association time 22.654589 ms 
mapping solver time 22.680998 ms 
solver time 14.643964 ms 
data association time 22.527549 ms 
mapping data assosiation time 39.371805 ms 
publication time 11.944582 ms 
whole laserOdometry time 83.971948 ms 
 
sort q time 6.088101 
seperate points time 15.186826 
scan registration time 42.137354 ms *************
add points time 0.789026 ms
filter time 9.870938 ms 
data association time 13.910026 ms 
solver time 8.214750 ms 
publication time 11.980443 ms 
whole laserOdometry time 61.310478 ms 
 
points size 102549 
mapping data assosiation time 42.652497 ms 
mapping solver time 21.994309 ms 
data association time 22.533527 ms 
solver time 14.214737 ms 
mapping data assosiation time 32.811370 ms 
data association time 22.588911 ms 
mapping solver time 24.864235 ms 
publication time 12.492172 ms 
whole laserOdometry time 84.048612 ms 
 
data association time 22.562932 ms 
solver time 14.675375 ms 
mapping data assosiation time 32.646307 ms 
solver time 11.619447 ms 
prepare time 14.320843 
sort q time 5.950934 
seperate points time 14.372065 
data association time 15.590344 ms 
solver time 13.236089 ms 
mapping optimization time 149.180724 
filter time 10.143357 ms 
solver time 11.008829 ms 
publication time 11.317732 ms 
whole laserOdometry time 73.336366 ms 
 
build tree time 32.691224 ms 
data association time 14.598404 ms 
solver time 10.778915 ms 
data association time 15.211795 ms 
solver time 7.978333 ms 
publication time 9.620849 ms 
whole laserOdometry time 59.046763 ms 
 
points size 101665 
sort q time 6.233927 
seperate points time 14.718112 
filter time 9.829536 ms 
data association time 25.870982 ms 
solver time 15.387080 ms 
build tree time 34.191514 ms 
data association time 25.697078 ms 
solver time 11.419155 ms 
sort q time 5.249158 
seperate points time 13.176714 
mapping solver time 25.537273 ms 
data association time 22.123995 ms 
mapping data assosiation time 31.999730 ms 
mapping solver time 18.186867 ms 
filter time 14.546091 ms 
publication time 12.815414 ms 
whole laserOdometry time 92.107099 ms 
 
data association time 15.916922 ms 
solver time 10.961442 ms 
data association time 18.200831 ms 
solver time 9.033640 ms 
publication time 11.222360 ms 
whole laserOdometry time 66.111047 ms 
 
prepare time 13.426948 
sort q time 5.439573 
seperate points time 13.400941 
data association time 14.695453 ms 
solver time 13.745727 ms 
data association time 16.969890 ms 
publication time 12.204728 ms 
whole laserOdometry time 70.753220 ms 
 
prepare time 12.228026 
sort q time 4.902929 
seperate points time 12.126376 
mapping data assosiation time 34.725754 ms 
data association time 15.909797 ms 
solver time 10.382127 ms 
data association time 18.054647 ms 
publication time 9.301479 ms 
whole laserOdometry time 63.244865 ms 
 
points size 100010 
mapping solver time 18.314906 ms 
scan registration time 31.299854 ms *************
data association time 16.666786 ms 
solver time 9.821609 ms 
build tree time 33.047050 ms 
solver time 7.550674 ms 
optimization twice time 53.435440 
mapping data assosiation time 43.821597 ms 
sort q time 4.801076 
seperate points time 11.592927 
data association time 16.608047 ms 
solver time 13.095009 ms 
data association time 16.643010 ms 
publication time 9.958236 ms 
whole laserOdometry time 65.072392 ms 
 
points size 97152 
sort q time 5.007187 
seperate points time 12.146924 
data association time 15.805420 ms 
solver time 12.752855 ms 
data association time 16.736905 ms 
solver time 10.681239 ms 
points size 96417 
sort q time 4.534040 
seperate points time 10.870720 
data association time 14.786335 ms 
solver time 16.673697 ms 
solver time 13.631826 ms 
sort q time 5.653603 
seperate points time 13.145221 
mapping data assosiation time 35.076802 ms 
data association time 15.111897 ms 
solver time 12.330420 ms 
data association time 14.822730 ms 
mapping data assosiation time 34.792458 ms 
points size 94717 
mapping solver time 22.516030 ms 
filter time 11.311944 ms 
data association time 15.328567 ms 
solver time 11.301491 ms 
build tree time 36.029208 ms 
publication time 9.059792 ms 
whole laserOdometry time 60.530743 ms 
 
points size 94479 
sort q time 4.395153 
seperate points time 10.462553 
scan registration time 29.797153 ms *************
data association time 16.038284 ms 
solver time 13.052657 ms 
data association time 16.920262 ms 
mapping solver time 21.025022 ms 
mapping optimization time 149.500232 
add points time 0.911937 ms
filter time 10.850974 ms 
points size 93589 
sort q time 4.882431 
seperate points time 11.512891 
scan registration time 31.918921 ms *************
data association time 16.705790 ms 
solver time 12.815735 ms 
data association time 17.990806 ms 
solver time 12.775185 ms 
points size 92756 
prepare time 15.229864 
mapping data assosiation time 36.662655 ms 
mapping solver time 21.862654 ms 
data association time 14.782100 ms 
filter time 14.114500 ms 
mapping pub time 1.223812 ms 
whole mapping time 162.489207 ms +++++
data association time 14.720074 ms 
solver time 8.892772 ms 
publication time 11.115370 ms 
whole laserOdometry time 62.811035 ms 
 
points size 92373 
sort q time 4.434735 
seperate points time 10.751381 
mapping solver time 20.286552 ms 
data association time 22.054126 ms 
solver time 14.527427 ms 
mapping data assosiation time 32.132147 ms 
solver time 10.791725 ms 
publication time 11.701854 ms 
whole laserOdometry time 81.830342 ms 
 
map prepare time 4.274137 ms
map corner num 117498  surf num 58999 
scan registration time 36.836473 ms *************
data association time 14.541671 ms 
solver time 10.722997 ms 
data association time 14.064437 ms 
solver time 7.787845 ms 
optimization twice time 47.995733 
mapping data assosiation time 31.953258 ms 
mapping solver time 21.502506 ms 
sort q time 5.259438 
seperate points time 12.442200 
mapping data assosiation time 31.578357 ms 
data association time 14.890752 ms 
solver time 10.809952 ms 
filter time 12.505061 ms 
solver time 7.370761 ms 
build tree time 32.589558 ms 
sort q time 4.241928 
seperate points time 10.175720 
mapping data assosiation time 33.036319 ms 
data association time 23.858694 ms 
mapping solver time 27.159574 ms 
data association time 26.153429 ms 
solver time 12.713144 ms 
publication time 11.687491 ms 
whole laserOdometry time 91.752880 ms 
 
mapping optimization time 159.982371 
filter time 12.877512 ms 
data association time 22.950615 ms 
solver time 14.747917 ms 
build tree time 44.947743 ms 
points size 95849 
publication time 13.973468 ms 
whole laserOdometry time 90.455480 ms 
 
mapping solver time 22.130860 ms 
solver time 12.967488 ms 
mapping data assosiation time 29.227610 ms 
solver time 9.855146 ms 
publication time 18.536510 ms 
whole laserOdometry time 74.824909 ms 
 
sort q time 6.222674 
seperate points time 14.764585 
build tree time 37.412848 ms 
solver time 17.240157 ms 
mapping data assosiation time 36.578945 ms 
data association time 24.652152 ms 
points size 96004 
prepare time 13.809966 
sort q time 5.350286 
seperate points time 12.757884 
mapping data assosiation time 38.413472 ms 
solver time 15.819186 ms 
add points time 0.983937 ms
filter time 13.438042 ms 
solver time 12.113516 ms 
publication time 12.241827 ms 
whole laserOdometry time 91.389838 ms 
 
build tree time 40.288218 ms 
data association time 27.820761 ms 
mapping data assosiation time 35.638421 ms 
mapping solver time 25.832935 ms 
points size 94009 
solver time 13.554488 ms 
publication time 13.809002 ms 
whole laserOdometry time 98.604406 ms 
 
data association time 23.883195 ms 
solver time 15.564517 ms 
data association time 24.087694 ms 
points size 94835 
publication time 11.022856 ms 
whole laserOdometry time 87.142082 ms 
 
data association time 14.178137 ms 
mapping data assosiation time 31.126513 ms 
data association time 14.024159 ms 
publication time 8.914561 ms 
whole laserOdometry time 57.516423 ms 
 
mapping data assosiation time 30.197158 ms 
mapping solver time 18.703045 ms 
filter time 16.441956 ms 
data association time 16.381129 ms 
solver time 12.018700 ms 
build tree time 34.943941 ms 
solver time 8.916836 ms 
publication time 11.809623 ms 
whole laserOdometry time 66.127651 ms 
 
mapping data assosiation time 31.575546 ms 
sort q time 4.943042 
seperate points time 11.739606 
data association time 14.240488 ms 
mapping data assosiation time 31.440781 ms 
solver time 11.433615 ms 
data association time 14.598775 ms 
mapping solver time 18.113419 ms 
mapping optimization time 133.321151 
add points time 0.905260 ms
solver time 8.686017 ms 
optimization twice time 49.802361 
drop lidar frame in mapping for real time performance 
points size 89850 
sort q time 4.599138 
seperate points time 11.138820 
build tree time 38.615133 ms 
data association time 15.581975 ms 
solver time 15.638360 ms 
data association time 14.984720 ms 
solver time 11.302662 ms 
points size 87918 
mapping solver time 14.961098 ms 
filter time 12.318866 ms 
data association time 14.823446 ms 
solver time 10.757640 ms 
data association time 14.942453 ms 
build tree time 35.839035 ms 
publication time 9.853345 ms 
whole laserOdometry time 59.591591 ms 
 
mapping data assosiation time 29.967458 ms 
mapping solver time 17.353768 ms 
mapping data assosiation time 27.137331 ms 
mapping solver time 14.049734 ms 
mapping optimization time 125.547224 
add points time 0.950549 ms
solver time 14.896023 ms 
filter time 12.981886 ms 
data association time 21.948523 ms 
solver time 11.457362 ms 
points size 88526 
sort q time 4.560926 
seperate points time 11.327653 
mapping data assosiation time 26.612834 ms 
solver time 10.479279 ms 
data association time 18.584125 ms 
solver time 8.476164 ms 
publication time 9.497710 ms 
whole laserOdometry time 63.786045 ms 
 
points size 89681 
sort q time 4.594028 
seperate points time 11.476507 
data association time 14.970215 ms 
build tree time 37.843623 ms 
data association time 15.317432 ms 
publication time 8.712803 ms 
whole laserOdometry time 58.646519 ms 
 
points size 89765 
sort q time 4.402514 
seperate points time 10.615016 
mapping solver time 14.149232 ms 
data association time 18.049821 ms 
map prepare time 3.361404 ms
map corner num 112841  surf num 48013 
data association time 16.376776 ms 
solver time 9.068633 ms 
publication time 9.698621 ms 
whole laserOdometry time 68.203846 ms 
 
points size 90833 
sort q time 4.653730 
seperate points time 11.633174 
data association time 15.980974 ms 
solver time 13.511734 ms 
mapping solver time 14.160545 ms 
filter time 9.616390 ms 
solver time 9.933096 ms 
publication time 12.433690 ms 
whole laserOdometry time 76.127061 ms 
 
build tree time 33.058986 ms 
scan registration time 30.695421 ms *************
mapping data assosiation time 27.132680 ms 
solver time 10.643863 ms 
data association time 14.845260 ms 
mapping data assosiation time 29.147799 ms 
mapping solver time 15.945214 ms 
points size 91114 
filter time 11.297250 ms 
data association time 16.102441 ms 
solver time 13.260103 ms 
data association time 16.541269 ms 
optimization twice time 54.800840 
points size 92072 
sort q time 5.307879 
seperate points time 13.445362 
data association time 16.504914 ms 
mapping pub time 162.486060 ms 
whole mapping time 303.128584 ms +++++
solver time 11.544801 ms 
points size 91765 
sort q time 5.934484 
seperate points time 14.114411 
scan registration time 35.754176 ms *************
mapping solver time 15.509044 ms 
data association time 22.739156 ms 
solver time 15.595260 ms 
mapping solver time 12.993968 ms 
points size 92497 
sort q time 4.704961 
seperate points time 11.406623 
build tree time 35.094988 ms 
solver time 10.917352 ms 
mapping data assosiation time 30.201392 ms 
mapping solver time 20.065536 ms 
points size 93975 
mapping data assosiation time 25.972948 ms 
mapping solver time 14.995263 ms 
data association time 16.966526 ms 
filter time 12.495008 ms 
solver time 12.275919 ms 
data association time 15.841732 ms 
build tree time 36.555273 ms 
points size 94782 
prepare time 14.137096 
sort q time 5.164720 
seperate points time 12.014592 
mapping data assosiation time 23.611199 ms 
data association time 25.909745 ms 
solver time 16.004782 ms 
map prepare time 3.483556 ms
map corner num 116632  surf num 48909 
data association time 26.427953 ms 
prepare time 14.515282 
sort q time 5.464211 
seperate points time 13.481678 
mapping data assosiation time 25.631101 ms 
mapping solver time 15.412810 ms 
solver time 15.224277 ms 
mapping solver time 12.300476 ms 
data association time 25.823952 ms 
solver time 12.921369 ms 
publication time 13.744902 ms 
whole laserOdometry time 94.160599 ms 
 
build tree time 37.158079 ms 
data association time 25.769564 ms 
solver time 13.949973 ms 
data association time 16.246035 ms 
solver time 11.994008 ms 
publication time 12.732051 ms 
whole laserOdometry time 81.611673 ms 
 
scan registration time 35.427617 ms *************
mapping solver time 16.539925 ms 
mapping optimization time 127.126496 
add points time 0.959078 ms
map prepare time 4.110723 ms
map corner num 118149  surf num 49341 
solver time 11.441957 ms 
data association time 15.953257 ms 
solver time 8.574299 ms 
publication time 11.707923 ms 
whole laserOdometry time 68.015761 ms 
 
prepare time 16.465318 
sort q time 5.188693 
seperate points time 13.011025 
mapping solver time 18.353344 ms 
data association time 16.174279 ms 
mapping data assosiation time 27.995922 ms 
data association time 15.192361 ms 
filter time 10.050433 ms 
points size 95914 
sort q time 5.325500 
seperate points time 12.972420 
mapping data assosiation time 23.711506 ms 
solver time 15.001716 ms 
data association time 16.764616 ms 
mapping data assosiation time 28.145953 ms 
prepare time 14.942583 
sort q time 5.978291 
seperate points time 14.896156 
data association time 22.853748 ms 
solver time 11.256827 ms 
data association time 16.512892 ms 
solver time 8.366175 ms 
publication time 12.062671 ms 
whole laserOdometry time 71.867821 ms 
 
prepare time 20.384912 
mapping data assosiation time 31.956823 ms 
mapping solver time 11.257579 ms 
filter time 10.595321 ms 
solver time 10.726808 ms 
data association time 16.257644 ms 
publication time 9.650808 ms 
whole laserOdometry time 64.273666 ms 
 
prepare time 20.787452 
sort q time 6.012857 
seperate points time 15.448444 
data association time 15.808392 ms 
mapping solver time 12.929309 ms 
filter time 10.965299 ms 
publication time 10.296326 ms 
whole laserOdometry time 59.305430 ms 
 
points size 97196 
sort q time 5.657808 
seperate points time 13.883325 
mapping data assosiation time 22.548372 ms 
mapping solver time 12.909544 ms 
data association time 16.458341 ms 
solver time 10.921421 ms 
mapping solver time 13.994590 ms 
prepare time 18.022387 
mapping pub time 3.337814 ms 
whole mapping time 140.380387 ms +++++
scan registration time 36.916292 ms *************
data association time 16.574907 ms 
solver time 13.696249 ms 
data association time 16.553592 ms 
points size 90768 
sort q time 5.970660 
seperate points time 14.940293 
mapping solver time 13.842635 ms 
filter time 12.670609 ms 
solver time 14.411006 ms 
data association time 16.256296 ms 
solver time 9.505033 ms 
points size 89032 
sort q time 5.795727 
seperate points time 14.489053 
mapping data assosiation time 31.450049 ms 
scan registration time 39.970374 ms *************
data association time 17.342505 ms 
mapping data assosiation time 26.663661 ms 
solver time 6.412726 ms 
publication time 12.374584 ms 
whole laserOdometry time 65.010056 ms 
 
sort q time 4.663185 
seperate points time 11.081794 
build tree time 35.067462 ms 
solver time 11.357044 ms 
mapping data assosiation time 25.520545 ms 
solver time 8.192208 ms 
publication time 11.821179 ms 
whole laserOdometry time 72.342830 ms 
 
points size 87043 
prepare time 20.028524 
sort q time 5.218537 
seperate points time 13.135607 
filter time 9.925252 ms 
data association time 16.591221 ms 
solver time 8.723991 ms 
[0m[ INFO] [1718887454.409298870]: Received 2522993 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887454.409329014]: Data saved to 1317358197108477.pcd[0m
build tree time 36.315457 ms 
points size 85273 
mapping data assosiation time 24.917769 ms 
prepare time 16.684154 
mapping solver time 12.936332 ms 
mapping data assosiation time 23.572717 ms 
mapping solver time 11.610407 ms 
filter time 12.223495 ms 
solver time 8.385233 ms 
publication time 9.720062 ms 
whole laserOdometry time 59.198962 ms 
 
points size 85896 
build tree time 41.479151 ms 
sort q time 5.316216 
seperate points time 13.314201 
scan registration time 35.268088 ms *************
mapping data assosiation time 25.789890 ms 
data association time 15.993896 ms 
solver time 11.391234 ms 
data association time 15.988859 ms 
mapping solver time 14.245123 ms 
filter time 13.233765 ms 
sort q time 4.098955 
seperate points time 9.878270 
data association time 15.108298 ms 
data association time 14.618892 ms 
publication time 7.988619 ms 
whole laserOdometry time 55.899988 ms 
 
mapping data assosiation time 26.672289 ms 
mapping solver time 13.548134 ms 
scan registration time 35.191615 ms *************
map prepare time 2.878485 ms
map corner num 125379  surf num 51518 
data association time 14.808801 ms 
solver time 11.001156 ms 
build tree time 32.934333 ms 
data association time 16.401357 ms 
solver time 9.943285 ms 
optimization twice time 53.011896 
publication time 11.850045 ms 
whole laserOdometry time 64.879341 ms 
 
mapping solver time 15.528628 ms 
sort q time 3.962253 
seperate points time 9.686510 
mapping data assosiation time 24.432355 ms 
mapping solver time 13.767958 ms 
solver time 11.487296 ms 
data association time 15.811704 ms 
solver time 13.108642 ms 
publication time 9.924334 ms 
whole laserOdometry time 67.095795 ms 
 
points size 84747 
sort q time 4.258272 
seperate points time 10.301712 
mapping solver time 10.864289 ms 
data association time 15.432440 ms 
mapping data assosiation time 23.418687 ms 
mapping solver time 11.651508 ms 
filter time 12.626756 ms 
publication time 9.028364 ms 
whole laserOdometry time 60.872814 ms 
 
points size 86993 
sort q time 4.673295 
seperate points time 11.367055 
mapping data assosiation time 22.155570 ms 
mapping solver time 13.548747 ms 
data association time 15.317801 ms 
mapping data assosiation time 23.488159 ms 
mapping solver time 12.681773 ms 
filter time 10.431228 ms 
sort q time 4.117739 
seperate points time 9.912362 
data association time 15.438415 ms 
solver time 12.764390 ms 
mapping data assosiation time 22.744107 ms 
publication time 8.806083 ms 
whole laserOdometry time 62.054765 ms 
 
mapping data assosiation time 24.652292 ms 
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data association time 28.455453 ms 
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mapping pub time 189.774107 ms 
whole mapping time 319.138353 ms +++++
sort q time 6.324469 
seperate points time 15.595200 
publication time 13.236229 ms 
whole laserOdometry time 105.358015 ms 
 
[33m[ WARN] [1718887455.518156866]: odometry process over 100ms[0m
data association time 20.730368 ms 
solver time 10.662295 ms 
mapping data assosiation time 22.641322 ms 
solver time 9.603638 ms 
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mapping pub time 1.393888 ms 
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data association time 16.054138 ms 
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mapping data assosiation time 21.915693 ms 
data association time 15.739997 ms 
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data association time 16.197643 ms 
optimization twice time 57.577191 
publication time 11.601631 ms 
whole laserOdometry time 69.197446 ms 
 
prepare time 13.714150 
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mapping solver time 12.282010 ms 
solver time 12.673678 ms 
mapping solver time 10.784240 ms 
filter time 10.982077 ms 
publication time 10.992220 ms 
whole laserOdometry time 72.173969 ms 
 
points size 89311 
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seperate points time 12.591031 
mapping data assosiation time 22.376940 ms 
mapping solver time 13.217930 ms 
data association time 14.787613 ms 
solver time 10.805210 ms 
publication time 10.237396 ms 
whole laserOdometry time 65.033482 ms 
 
prepare time 17.124949 
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mapping data assosiation time 24.988535 ms 
mapping solver time 10.518002 ms 
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data association time 17.772233 ms 
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data association time 15.955075 ms 
solver time 10.350868 ms 
mapping data assosiation time 24.248976 ms 
prepare time 17.469654 
mapping solver time 18.406349 ms 
scan registration time 35.219663 ms *************
mapping data assosiation time 22.786067 ms 
mapping solver time 12.862346 ms 
filter time 12.499456 ms 
data association time 20.586616 ms 
solver time 10.366129 ms 
publication time 10.800925 ms 
whole laserOdometry time 69.725882 ms 
 
prepare time 15.980079 
sort q time 4.741531 
seperate points time 11.783221 
scan registration time 31.876768 ms *************
data association time 15.123257 ms 
mapping data assosiation time 21.059525 ms 
mapping solver time 7.624496 ms 
filter time 11.435854 ms 
publication time 9.331323 ms 
whole laserOdometry time 57.414674 ms 
 
points size 83773 
sort q time 4.816762 
seperate points time 11.997893 
mapping data assosiation time 21.266714 ms 
solver time 10.341416 ms 
data association time 14.517058 ms 
mapping data assosiation time 19.778842 ms 
publication time 9.812821 ms 
whole laserOdometry time 58.259599 ms 
 
filter time 13.479661 ms 
mapping pub time 1.059159 ms 
whole mapping time 123.188829 ms +++++
points size 84355 
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map prepare time 3.166832 ms
map corner num 133664  surf num 54301 
sort q time 4.799499 
seperate points time 11.917892 
scan registration time 32.886136 ms *************
data association time 16.042525 ms 
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data association time 13.752225 ms 
mapping solver time 12.857625 ms 
mapping data assosiation time 19.571781 ms 
add points time 0.632654 ms
filter time 10.659174 ms 
data association time 14.355966 ms 
solver time 11.069335 ms 
data association time 14.976042 ms 
publication time 8.574615 ms 
whole laserOdometry time 57.608990 ms 
 
mapping solver time 11.961188 ms 
prepare time 13.094896 
sort q time 5.227053 
seperate points time 12.249977 
mapping solver time 11.076660 ms 
filter time 11.208611 ms 
solver time 11.635844 ms 
data association time 14.405350 ms 
solver time 8.535485 ms 
optimization twice time 52.627479 
build tree time 36.116446 ms 
points size 83274 
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mapping data assosiation time 22.845136 ms 
mapping solver time 10.346440 ms 
filter time 13.564453 ms 
data association time 22.759835 ms 
solver time 11.141385 ms 
publication time 9.999197 ms 
whole laserOdometry time 84.366455 ms 
 
mapping data assosiation time 20.201272 ms 
mapping solver time 17.610685 ms 
solver time 12.768036 ms 
mapping data assosiation time 24.137337 ms 
data association time 23.638597 ms 
solver time 11.618380 ms 
prepare time 16.848118 
sort q time 4.995228 
seperate points time 12.455411 
scan registration time 33.634851 ms *************
build tree time 42.273915 ms 
data association time 23.040695 ms 
solver time 12.327583 ms 
data association time 14.668142 ms 
mapping solver time 11.478900 ms 
publication time 9.207533 ms 
whole laserOdometry time 69.966647 ms 
 
mapping data assosiation time 20.790274 ms 
points size 86046 
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seperate points time 12.313075 
data association time 14.398471 ms 
build tree time 36.051583 ms 
solver time 10.792094 ms 
mapping solver time 14.408750 ms 
mapping data assosiation time 21.710554 ms 
filter time 15.343322 ms 
data association time 23.941560 ms 
solver time 14.421534 ms 
data association time 23.120739 ms 
solver time 12.154987 ms 
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mapping solver time 14.224546 ms 
data association time 24.562806 ms 
solver time 12.754022 ms 
data association time 15.109904 ms 
publication time 9.582993 ms 
whole laserOdometry time 72.481171 ms 
 
sort q time 4.646505 
seperate points time 11.199563 
mapping data assosiation time 17.544495 ms 
mapping solver time 11.980742 ms 
data association time 15.878863 ms 
mapping solver time 9.537202 ms 
filter time 14.544962 ms 
sort q time 4.889444 
seperate points time 12.036249 
data association time 14.156895 ms 
solver time 10.735643 ms 
data association time 14.292171 ms 
mapping solver time 13.274800 ms 
mapping data assosiation time 19.243809 ms 
add points time 0.697462 ms
sort q time 4.462145 
seperate points time 10.819263 
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solver time 10.468348 ms 
build tree time 35.197640 ms 
data association time 15.557990 ms 
solver time 8.829736 ms 
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points size 89069 
sort q time 4.760328 
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filter time 12.987253 ms 
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data association time 15.876742 ms 
solver time 8.648320 ms 
mapping data assosiation time 19.302121 ms 
mapping solver time 11.248750 ms 
sort q time 5.322156 
seperate points time 12.947629 
mapping solver time 9.869416 ms 
data association time 15.686658 ms 
solver time 11.572319 ms 
data association time 15.712213 ms 
solver time 9.029209 ms 
publication time 9.011498 ms 
whole laserOdometry time 61.717122 ms 
 
prepare time 17.236577 
sort q time 5.206816 
seperate points time 13.168044 
data association time 14.638299 ms 
solver time 11.180582 ms 
data association time 15.556766 ms 
solver time 8.839852 ms 
publication time 11.517566 ms 
whole laserOdometry time 62.599586 ms 
 
mapping pub time 165.194017 ms 
whole mapping time 280.647270 ms +++++
sort q time 5.477045 
seperate points time 13.967240 
data association time 14.223711 ms 
solver time 10.603007 ms 
mapping data assosiation time 19.594993 ms 
mapping solver time 9.994089 ms 
solver time 8.345965 ms 
publication time 11.018880 ms 
whole laserOdometry time 66.502317 ms 
 
mapping solver time 10.151144 ms 
scan registration time 32.372671 ms *************
filter time 15.676885 ms 
data association time 15.569160 ms 
solver time 11.044132 ms 
mapping data assosiation time 20.742963 ms 
mapping solver time 12.404297 ms 
points size 91196 
mapping data assosiation time 24.378485 ms 
mapping solver time 10.506909 ms 
filter time 9.644663 ms 
data association time 19.564760 ms 
solver time 8.370266 ms 
build tree time 26.386716 ms 
data association time 16.588947 ms 
solver time 10.922410 ms 
publication time 10.788753 ms 
whole laserOdometry time 67.137218 ms 
 
prepare time 14.838408 
sort q time 5.425952 
seperate points time 12.958389 
scan registration time 32.386576 ms *************
mapping data assosiation time 22.670944 ms 
add points time 0.614658 ms
filter time 7.560251 ms 
solver time 9.042032 ms 
data association time 15.474992 ms 
build tree time 24.972861 ms 
publication time 8.657938 ms 
whole laserOdometry time 59.312461 ms 
 
mapping data assosiation time 25.853001 ms 
points size 94413 
prepare time 18.944493 
sort q time 5.845112 
seperate points time 14.506811 
scan registration time 39.192430 ms *************
mapping solver time 10.703709 ms 
map prepare time 2.665038 ms
map corner num 88007  surf num 34078 
data association time 18.640899 ms 
solver time 10.959231 ms 
publication time 11.464714 ms 
whole laserOdometry time 73.874674 ms 
 
prepare time 21.659463 
mapping data assosiation time 29.090963 ms 
sort q time 5.767282 
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mapping solver time 18.491108 ms 
data association time 19.100050 ms 
solver time 11.129139 ms 
data association time 15.502633 ms 
solver time 10.726115 ms 
publication time 11.839698 ms 
whole laserOdometry time 69.222574 ms 
 
build tree time 27.417931 ms 
sort q time 5.079789 
seperate points time 12.180434 
mapping data assosiation time 23.316257 ms 
mapping solver time 12.752891 ms 
solver time 9.842370 ms 
data association time 19.522267 ms 
solver time 11.342902 ms 
publication time 12.394398 ms 
whole laserOdometry time 73.965031 ms 
 
prepare time 22.118645 
build tree time 27.815500 ms 
data association time 16.612891 ms 
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mapping data assosiation time 26.408667 ms 
mapping solver time 11.835225 ms 
filter time 11.903731 ms 
build tree time 25.037818 ms 
solver time 10.694192 ms 
mapping data assosiation time 22.816533 ms 
solver time 8.498940 ms 
publication time 11.893970 ms 
whole laserOdometry time 64.792368 ms 
 
points size 93679 
mapping solver time 10.836025 ms 
filter time 9.968767 ms 
data association time 17.009458 ms 
solver time 11.084624 ms 
data association time 16.194254 ms 
solver time 8.389821 ms 
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points size 93894 
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mapping data assosiation time 21.679623 ms 
mapping solver time 12.875151 ms 
filter time 7.910143 ms 
solver time 11.292082 ms 
build tree time 24.075148 ms 
solver time 7.621277 ms 
points size 94107 
sort q time 6.735448 
seperate points time 15.971179 
mapping solver time 11.289228 ms 
filter time 8.642962 ms 
data association time 24.855591 ms 
solver time 15.117422 ms 
build tree time 23.121262 ms 
data association time 24.620136 ms 
solver time 12.364067 ms 
scan registration time 31.454318 ms *************
mapping data assosiation time 23.409129 ms 
mapping solver time 8.158225 ms 
mapping optimization time 91.239472 
add points time 0.682000 ms
map prepare time 3.040556 ms
map corner num 92795  surf num 35770 
solver time 15.183816 ms 
build tree time 25.190817 ms 
data association time 24.266584 ms 
optimization twice time 77.041956 
publication time 11.374572 ms 
whole laserOdometry time 88.432238 ms 
 
mapping data assosiation time 22.322670 ms 
mapping solver time 8.425834 ms 
filter time 8.609495 ms 
build tree time 24.490491 ms 
points size 91073 
mapping data assosiation time 23.064490 ms 
scan registration time 31.553729 ms *************
mapping data assosiation time 21.174736 ms 
data association time 24.468155 ms 
solver time 15.681842 ms 
filter time 9.956600 ms 
mapping pub time 1.249674 ms 
whole mapping time 107.596131 ms +++++
map prepare time 2.876339 ms
map corner num 94065  surf num 36155 
data association time 24.444920 ms 
solver time 11.508017 ms 
publication time 10.805026 ms 
whole laserOdometry time 87.944153 ms 
 
scan registration time 30.303523 ms *************
mapping data assosiation time 27.383558 ms 
mapping solver time 16.589725 ms 
mapping optimization time 105.599123 
add points time 0.774412 ms
solver time 16.038207 ms 
map prepare time 3.428393 ms
map corner num 94693  surf num 36364 
data association time 24.923487 ms 
solver time 11.580812 ms 
optimization twice time 81.191665 
mapping data assosiation time 25.049459 ms 
data association time 26.168569 ms 
solver time 16.771274 ms 
mapping data assosiation time 26.863195 ms 
mapping solver time 11.907027 ms 
filter time 10.404359 ms 
publication time 11.006349 ms 
whole laserOdometry time 93.835162 ms 
 
build tree time 29.857861 ms 
data association time 24.970592 ms 
mapping data assosiation time 25.748657 ms 
data association time 23.832850 ms 
build tree time 25.921688 ms 
solver time 14.972801 ms 
mapping data assosiation time 21.098704 ms 
data association time 23.419591 ms 
mapping solver time 15.948001 ms 
publication time 10.561291 ms 
whole laserOdometry time 85.620009 ms 
 
sort q time 5.888420 
seperate points time 14.680923 
mapping solver time 7.874673 ms 
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data association time 23.586247 ms 
solver time 14.786950 ms 
build tree time 25.342281 ms 
data association time 23.512408 ms 
solver time 11.778151 ms 
sort q time 5.571664 
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data association time 23.832761 ms 
map prepare time 3.353582 ms
map corner num 97276  surf num 37216 
build tree time 25.189766 ms 
points size 90476 
publication time 16.349806 ms 
whole laserOdometry time 91.839705 ms 
 
mapping data assosiation time 20.929088 ms 
mapping solver time 10.050445 ms 
filter time 9.261662 ms 
data association time 23.254769 ms 
solver time 11.946254 ms 
mapping data assosiation time 26.429343 ms 
sort q time 6.401711 
seperate points time 15.731500 
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filter time 7.508149 ms 
data association time 24.204127 ms 
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solver time 15.472698 ms 
data association time 24.709907 ms 
solver time 11.661942 ms 
publication time 10.625394 ms 
whole laserOdometry time 88.146440 ms 
 
sort q time 4.926353 
seperate points time 11.881744 
mapping pub time 162.444930 ms 
whole mapping time 275.708965 ms +++++
data association time 20.661200 ms 
solver time 15.677195 ms 
mapping data assosiation time 23.058763 ms 
mapping solver time 13.245815 ms 
prepare time 19.539681 
publication time 11.883172 ms 
whole laserOdometry time 87.631030 ms 
 
sort q time 5.703247 
seperate points time 15.055505 
filter time 9.912952 ms 
data association time 25.569006 ms 
build tree time 27.667396 ms 
mapping data assosiation time 24.260856 ms 
mapping solver time 19.070454 ms 
publication time 13.327472 ms 
whole laserOdometry time 105.515375 ms 
 
[33m[ WARN] [1718887460.925873599]: odometry process over 100ms[0m
mapping data assosiation time 34.245108 ms 
data association time 18.967354 ms 
mapping solver time 17.792391 ms 
mapping optimization time 124.046739 
add points time 0.768222 ms
solver time 12.570065 ms 
map prepare time 3.585668 ms
map corner num 99958  surf num 39237 
solver time 10.896273 ms 
prepare time 18.061481 
build tree time 36.189592 ms 
scan registration time 37.568396 ms *************
mapping data assosiation time 26.553979 ms 
data association time 16.813009 ms 
data association time 15.400440 ms 
solver time 8.323673 ms 
publication time 10.248199 ms 
whole laserOdometry time 62.381845 ms 
 
points size 94415 
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build tree time 30.488741 ms 
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mapping data assosiation time 28.341777 ms 
solver time 7.833460 ms 
points size 94755 
mapping data assosiation time 25.088304 ms 
mapping solver time 11.211115 ms 
filter time 12.019414 ms 
data association time 16.615287 ms 
solver time 11.497958 ms 
build tree time 30.958451 ms 
data association time 15.912330 ms 
publication time 8.525706 ms 
whole laserOdometry time 62.997923 ms 
 
mapping solver time 13.088228 ms 
sort q time 5.304559 
seperate points time 12.794615 
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filter time 9.824152 ms 
solver time 12.935557 ms 
data association time 15.578867 ms 
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points size 92677 
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solver time 11.046373 ms 
mapping solver time 7.943177 ms 
mapping optimization time 106.279068 
add points time 0.680086 ms
publication time 9.339443 ms 
whole laserOdometry time 62.014858 ms 
 
points size 91118 
sort q time 5.383137 
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mapping data assosiation time 24.243384 ms 
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solver time 10.605469 ms 
data association time 14.642052 ms 
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points size 88947 
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data association time 25.880318 ms 
mapping solver time 16.099993 ms 
mapping data assosiation time 26.307674 ms 
points size 86696 
publication time 10.296261 ms 
whole laserOdometry time 92.501583 ms 
 
data association time 13.933659 ms 
build tree time 29.825135 ms 
solver time 8.026340 ms 
mapping solver time 14.190245 ms 
mapping data assosiation time 21.365198 ms 
mapping optimization time 101.183107 
add points time 0.613291 ms
solver time 10.904327 ms 
data association time 13.018329 ms 
build tree time 29.117244 ms 
publication time 8.074836 ms 
whole laserOdometry time 56.540295 ms 
 
mapping data assosiation time 21.779290 ms 
points size 85068 
sort q time 4.401328 
seperate points time 10.200526 
mapping solver time 9.780509 ms 
mapping optimization time 96.377913 
add points time 0.574764 ms
solver time 9.348302 ms 
map prepare time 3.741819 ms
map corner num 105125  surf num 42463 
solver time 5.672136 ms 
publication time 9.768796 ms 
whole laserOdometry time 53.388131 ms 
 
mapping data assosiation time 20.689920 ms 
mapping solver time 15.173207 ms 
mapping data assosiation time 23.321139 ms 
solver time 8.733652 ms 
data association time 19.878967 ms 
build tree time 31.939408 ms 
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mapping data assosiation time 24.634285 ms 
mapping solver time 11.470318 ms 
data association time 13.063806 ms 
mapping data assosiation time 22.474754 ms 
data association time 13.297504 ms 
filter time 9.774034 ms 
points size 82483 
build tree time 32.891299 ms 
mapping data assosiation time 20.273877 ms 
mapping solver time 12.856942 ms 
data association time 12.665335 ms 
solver time 11.474501 ms 
publication time 8.547565 ms 
whole laserOdometry time 58.434201 ms 
 
points size 84651 
sort q time 4.040111 
seperate points time 9.874663 
scan registration time 26.858689 ms *************
build tree time 29.986628 ms 
data association time 13.906036 ms 
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mapping solver time 12.301747 ms 
data association time 14.780196 ms 
solver time 8.558799 ms 
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points size 87948 
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data association time 14.778453 ms 
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solver time 11.650719 ms 
data association time 17.276266 ms 
mapping data assosiation time 20.708118 ms 
solver time 10.672522 ms 
mapping solver time 12.282508 ms 
filter time 10.016773 ms 
sort q time 6.554675 
seperate points time 15.124017 
build tree time 28.844894 ms 
data association time 13.578621 ms 
solver time 10.883803 ms 
mapping solver time 10.716848 ms 
solver time 10.142271 ms 
mapping data assosiation time 22.041922 ms 
mapping solver time 11.997640 ms 
filter time 10.600177 ms 
mapping pub time 1.064872 ms 
whole mapping time 111.154242 ms +++++
sort q time 4.441266 
seperate points time 10.918554 
map prepare time 3.087556 ms
map corner num 109131  surf num 43786 
data association time 13.756065 ms 
solver time 12.563302 ms 
mapping data assosiation time 20.186011 ms 
mapping solver time 14.937051 ms 
publication time 10.716507 ms 
whole laserOdometry time 68.863742 ms 
 
points size 94109 
mapping solver time 11.608224 ms 
scan registration time 32.387242 ms *************
map prepare time 3.767611 ms
map corner num 109793  surf num 43997 
data association time 21.751084 ms 
solver time 14.638939 ms 
data association time 21.093512 ms 
solver time 11.711280 ms 
points size 92437 
mapping data assosiation time 21.225668 ms 
add points time 0.614016 ms
mapping pub time 1.207152 ms 
whole mapping time 113.759329 ms +++++
solver time 9.847534 ms 
data association time 14.433814 ms 
publication time 10.626707 ms 
whole laserOdometry time 60.447498 ms 
 
points size 91407 
mapping solver time 14.351281 ms 
mapping data assosiation time 23.135340 ms 
mapping solver time 11.524626 ms 
solver time 10.206609 ms 
data association time 14.792108 ms 
publication time 8.163819 ms 
whole laserOdometry time 59.125801 ms 
 
points size 90835 
sort q time 5.226348 
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mapping solver time 18.155997 ms 
data association time 24.010833 ms 
solver time 11.400519 ms 
mapping optimization time 114.320779 
add points time 0.657260 ms
data association time 16.172523 ms 
publication time 9.739037 ms 
whole laserOdometry time 70.854773 ms 
 
prepare time 14.815803 
sort q time 4.629642 
seperate points time 11.226117 
data association time 14.616725 ms 
data association time 14.640461 ms 
publication time 8.699492 ms 
whole laserOdometry time 58.705356 ms 
 
points size 87660 
sort q time 4.311346 
seperate points time 10.235485 
data association time 13.433260 ms 
mapping pub time 172.066834 ms 
whole mapping time 302.051576 ms +++++
solver time 15.958665 ms 
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solver time 11.352314 ms 
points size 85997 
mapping data assosiation time 22.637889 ms 
sort q time 4.872125 
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mapping solver time 11.052183 ms 
mapping optimization time 103.821709 
add points time 0.600567 ms
map prepare time 2.823322 ms
map corner num 112511  surf num 44951 
publication time 8.603129 ms 
whole laserOdometry time 58.342441 ms 
 
points size 85978 
sort q time 4.979180 
seperate points time 12.172218 
mapping data assosiation time 24.258556 ms 
mapping solver time 18.197037 ms 
solver time 17.539371 ms 
data association time 21.798731 ms 
filter time 12.076360 ms 
sort q time 5.092585 
seperate points time 12.419965 
data association time 15.101166 ms 
mapping solver time 14.827133 ms 
solver time 7.453773 ms 
mapping solver time 11.350534 ms 
map prepare time 2.533488 ms
map corner num 61233  surf num 25345 
sort q time 5.423561 
seperate points time 12.746803 
mapping data assosiation time 26.252236 ms 
mapping solver time 20.382797 ms 
mapping data assosiation time 28.448360 ms 
prepare time 13.177579 
solver time 12.420484 ms 
optimization twice time 82.115538 
filter time 7.652856 ms 
build tree time 15.857578 ms 
solver time 10.698069 ms 
data association time 15.274969 ms 
mapping data assosiation time 22.265143 ms 
mapping solver time 11.782137 ms 
filter time 7.425254 ms 
scan registration time 28.502518 ms *************
mapping pub time 2.440831 ms 
whole mapping time 99.453644 ms +++++
map prepare time 3.742145 ms
map corner num 62984  surf num 26002 
build tree time 18.095032 ms 
solver time 8.122609 ms 
mapping data assosiation time 23.285711 ms 
solver time 7.860962 ms 
publication time 9.701450 ms 
whole laserOdometry time 56.429266 ms 
 
mapping data assosiation time 23.141905 ms 
mapping solver time 10.000415 ms 
filter time 8.055976 ms 
build tree time 20.271758 ms 
data association time 25.968223 ms 
mapping data assosiation time 28.701958 ms 
solver time 17.610920 ms 
mapping solver time 18.807560 ms 
data association time 25.186740 ms 
solver time 13.033257 ms 
scan registration time 32.968280 ms *************
mapping solver time 14.112928 ms 
map prepare time 2.574819 ms
map corner num 64654  surf num 26655 
data association time 21.918060 ms 
solver time 13.848209 ms 
mapping data assosiation time 20.993224 ms 
mapping solver time 14.569209 ms 
points size 97044 
publication time 11.318887 ms 
whole laserOdometry time 84.917065 ms 
 
mapping solver time 17.353157 ms 
solver time 11.878794 ms 
map prepare time 3.634728 ms
map corner num 65457  surf num 26988 
data association time 15.029938 ms 
build tree time 22.282169 ms 
publication time 9.157491 ms 
whole laserOdometry time 61.433965 ms 
 
mapping data assosiation time 25.982408 ms 
mapping solver time 14.337790 ms 
scan registration time 34.162958 ms *************
mapping data assosiation time 24.374670 ms 
solver time 7.869066 ms 
map prepare time 2.708091 ms
map corner num 66293  surf num 27343 
solver time 8.138612 ms 
publication time 10.972304 ms 
whole laserOdometry time 61.120591 ms 
 
points size 97519 
sort q time 4.706371 
seperate points time 11.236151 
scan registration time 30.891881 ms *************
data association time 15.277972 ms 
mapping solver time 9.009766 ms 
map prepare time 2.793711 ms
map corner num 67132  surf num 27700 
solver time 8.585073 ms 
optimization twice time 51.551722 
build tree time 18.130489 ms 
points size 97799 
sort q time 5.174872 
seperate points time 12.309510 
data association time 15.009172 ms 
mapping solver time 9.388756 ms 
mapping optimization time 94.527225 
add points time 0.691630 ms
optimization twice time 47.765464 
publication time 10.917981 ms 
whole laserOdometry time 58.700427 ms 
 
points size 96020 
prepare time 13.464334 
sort q time 4.730636 
seperate points time 11.199037 
mapping solver time 17.169381 ms 
data association time 15.405397 ms 
mapping data assosiation time 24.630127 ms 
data association time 15.280442 ms 
mapping solver time 12.818891 ms 
mapping optimization time 99.932857 
add points time 0.719877 ms
publication time 9.490904 ms 
whole laserOdometry time 57.749220 ms 
 
build tree time 17.905840 ms 
prepare time 13.443386 
sort q time 5.618732 
seperate points time 13.148928 
mapping solver time 16.854150 ms 
solver time 8.179603 ms 
mapping data assosiation time 25.943449 ms 
data association time 15.055765 ms 
optimization twice time 50.654866 
map prepare time 4.114995 ms
map corner num 69610  surf num 28582 
points size 89447 
sort q time 4.117379 
seperate points time 9.986039 
mapping data assosiation time 25.057243 ms 
data association time 15.773944 ms 
solver time 11.064398 ms 
data association time 15.672569 ms 
mapping solver time 13.018963 ms 
filter time 8.439730 ms 
prepare time 13.526893 
sort q time 4.514773 
seperate points time 11.015675 
mapping data assosiation time 31.353936 ms 
mapping solver time 19.286778 ms 
data association time 29.517992 ms 
points size 88021 
prepare time 13.454540 
sort q time 5.587785 
seperate points time 13.362934 
build tree time 23.336513 ms 
solver time 17.162288 ms 
data association time 23.600959 ms 
prepare time 14.011573 
sort q time 4.260391 
seperate points time 10.605174 
mapping data assosiation time 28.769151 ms 
mapping solver time 13.045789 ms 
mapping pub time 1.180869 ms 
whole mapping time 133.110687 ms +++++
data association time 15.057413 ms 
solver time 8.404386 ms 
publication time 10.348632 ms 
whole laserOdometry time 59.378143 ms 
 
mapping data assosiation time 24.627623 ms 
mapping solver time 15.651637 ms 
mapping data assosiation time 25.253287 ms 
mapping solver time 12.935285 ms 
filter time 8.625108 ms 
solver time 10.970446 ms 
publication time 10.950351 ms 
whole laserOdometry time 63.812564 ms 
 
points size 90592 
mapping data assosiation time 25.579830 ms 
mapping solver time 15.975702 ms 
data association time 15.682947 ms 
solver time 10.703036 ms 
mapping solver time 12.700602 ms 
solver time 8.246326 ms 
build tree time 19.432076 ms 
sort q time 4.627744 
seperate points time 11.172730 
mapping solver time 16.891193 ms 
solver time 10.474249 ms 
mapping data assosiation time 24.579061 ms 
mapping solver time 12.690652 ms 
map prepare time 3.984296 ms
map corner num 74345  surf num 30013 
points size 92226 
sort q time 5.437431 
seperate points time 12.400083 
mapping data assosiation time 23.936140 ms 
data association time 20.107126 ms 
solver time 13.662258 ms 
mapping data assosiation time 24.649104 ms 
mapping solver time 13.102362 ms 
publication time 11.487320 ms 
whole laserOdometry time 76.395926 ms 
 
sort q time 4.953013 
seperate points time 11.952266 
data association time 15.951975 ms 
solver time 12.310645 ms 
data association time 16.488634 ms 
publication time 10.544899 ms 
whole laserOdometry time 64.686056 ms 
 
prepare time 13.720762 
sort q time 5.458418 
seperate points time 13.201542 
data association time 15.611475 ms 
map prepare time 4.381416 ms
map corner num 75041  surf num 30179 
data association time 17.970577 ms 
solver time 10.765537 ms 
publication time 11.343507 ms 
whole laserOdometry time 70.669621 ms 
 
sort q time 4.655303 
seperate points time 11.631094 
data association time 15.622271 ms 
solver time 11.243469 ms 
filter time 7.964890 ms 
solver time 8.825315 ms 
publication time 11.536779 ms 
whole laserOdometry time 67.417688 ms 
 
prepare time 14.292441 
sort q time 4.450436 
seperate points time 11.057908 
mapping solver time 15.042335 ms 
solver time 10.204731 ms 
mapping data assosiation time 24.035773 ms 
mapping solver time 12.471383 ms 
map prepare time 3.673845 ms
map corner num 76659  surf num 30611 
points size 92818 
sort q time 5.457235 
seperate points time 13.942572 
mapping data assosiation time 25.259784 ms 
mapping solver time 13.773527 ms 
solver time 11.390837 ms 
mapping data assosiation time 24.467605 ms 
add points time 0.705960 ms
mapping pub time 1.156409 ms 
whole mapping time 111.838632 ms +++++
points size 91970 
build tree time 21.884177 ms 
data association time 15.582667 ms 
mapping data assosiation time 25.261961 ms 
solver time 15.786187 ms 
data association time 18.649628 ms 
publication time 9.431630 ms 
whole laserOdometry time 68.499395 ms 
 
filter time 7.266741 ms 
sort q time 5.137808 
seperate points time 13.301306 
data association time 16.163282 ms 
solver time 11.785157 ms 
data association time 15.694540 ms 
mapping data assosiation time 21.884416 ms 
points size 90158 
filter time 9.077587 ms 
data association time 15.389041 ms 
solver time 11.496981 ms 
mapping data assosiation time 25.199782 ms 
optimization twice time 51.451291 
mapping data assosiation time 22.727364 ms 
mapping solver time 15.441624 ms 
scan registration time 33.570183 ms *************
data association time 15.493439 ms 
solver time 15.005730 ms 
mapping data assosiation time 24.468199 ms 
mapping solver time 14.716932 ms 
points size 90999 
mapping data assosiation time 24.686422 ms 
sort q time 5.343690 
seperate points time 13.068205 
filter time 6.768983 ms 
solver time 11.741149 ms 
data association time 18.275880 ms 
solver time 13.266839 ms 
publication time 10.840929 ms 
whole laserOdometry time 72.275837 ms 
 
mapping data assosiation time 25.177615 ms 
mapping solver time 12.366986 ms 
filter time 7.902670 ms 
solver time 13.218732 ms 
data association time 18.234472 ms 
solver time 12.879618 ms 
publication time 11.054119 ms 
whole laserOdometry time 75.211970 ms 
 
sort q time 4.519213 
seperate points time 11.117126 
mapping data assosiation time 25.903597 ms 
mapping solver time 11.444879 ms 
data association time 16.795362 ms 
solver time 13.764898 ms 
build tree time 20.365585 ms 
solver time 10.168119 ms 
publication time 9.157821 ms 
whole laserOdometry time 68.254265 ms 
 
points size 88724 
sort q time 5.079077 
seperate points time 12.735721 
mapping data assosiation time 24.515183 ms 
data association time 15.257991 ms 
solver time 10.997320 ms 
data association time 15.452057 ms 
optimization twice time 51.178337 
publication time 8.859700 ms 
whole laserOdometry time 60.055294 ms 
 
points size 87763 
mapping solver time 13.199437 ms 
mapping data assosiation time 23.339778 ms 
mapping solver time 9.122792 ms 
filter time 6.760561 ms 
data association time 14.690753 ms 
solver time 9.124868 ms 
points size 86443 
sort q time 4.976086 
seperate points time 12.554063 
mapping data assosiation time 24.606619 ms 
mapping solver time 12.912858 ms 
solver time 12.725921 ms 
mapping pub time 1.081128 ms 
whole mapping time 116.313140 ms +++++
solver time 8.987909 ms 
build tree time 25.445469 ms 
sort q time 4.787524 
seperate points time 11.921732 
mapping solver time 15.544969 ms 
solver time 12.585250 ms 
mapping data assosiation time 24.466443 ms 
mapping solver time 13.983638 ms 
filter time 6.926995 ms 
points size 82873 
sort q time 4.103638 
seperate points time 10.058432 
mapping data assosiation time 21.555426 ms 
mapping solver time 11.409256 ms 
data association time 15.104744 ms 
mapping solver time 9.142218 ms 
filter time 9.875463 ms 
map prepare time 3.561437 ms
map corner num 85342  surf num 33667 
points size 80564 
prepare time 12.585789 
sort q time 4.621518 
seperate points time 11.619959 
data association time 15.918550 ms 
solver time 14.526154 ms 
data association time 16.998414 ms 
mapping data assosiation time 19.116808 ms 
add points time 0.593807 ms
mapping solver time 19.161785 ms 
solver time 16.175172 ms 
mapping data assosiation time 25.892077 ms 
mapping solver time 12.384705 ms 
filter time 9.386992 ms 
data association time 14.546828 ms 
solver time 11.033682 ms 
mapping data assosiation time 21.494803 ms 
solver time 8.030478 ms 
publication time 7.909286 ms 
whole laserOdometry time 57.128688 ms 
 
mapping data assosiation time 22.644119 ms 
mapping solver time 10.678425 ms 
filter time 8.063026 ms 
build tree time 21.499978 ms 
solver time 10.324563 ms 
mapping data assosiation time 21.285810 ms 
mapping solver time 13.489462 ms 
publication time 9.350805 ms 
whole laserOdometry time 60.283632 ms 
 
mapping data assosiation time 22.534889 ms 
prepare time 12.650453 
mapping solver time 11.734874 ms 
mapping optimization time 91.333595 
add points time 0.608821 ms
scan registration time 28.892362 ms *************
data association time 22.157682 ms 
solver time 16.412030 ms 
mapping data assosiation time 26.380193 ms 
data association time 23.833641 ms 
solver time 12.752541 ms 
publication time 10.714729 ms 
whole laserOdometry time 87.028375 ms 
 
sort q time 4.804810 
seperate points time 11.441753 
mapping solver time 8.411273 ms 
map prepare time 2.566993 ms
map corner num 88515  surf num 34636 
solver time 10.286050 ms 
data association time 13.991468 ms 
solver time 9.890337 ms 
mapping solver time 14.118947 ms 
prepare time 13.843316 
mapping data assosiation time 21.354312 ms 
sort q time 4.445045 
seperate points time 10.851631 
mapping solver time 12.254157 ms 
filter time 11.618208 ms 
data association time 19.412504 ms 
publication time 8.375603 ms 
whole laserOdometry time 67.553258 ms 
 
points size 88858 
prepare time 13.493545 
scan registration time 27.582311 ms *************
data association time 14.588131 ms 
solver time 14.048242 ms 
data association time 17.526647 ms 
optimization twice time 57.161463 
mapping pub time 168.539421 ms 
whole mapping time 277.302286 ms +++++
points size 88477 
sort q time 5.470555 
seperate points time 13.226560 
build tree time 27.016428 ms 
data association time 18.246133 ms 
solver time 8.084779 ms 
mapping solver time 13.469024 ms 
solver time 8.087805 ms 
publication time 8.964447 ms 
whole laserOdometry time 58.633244 ms 
 
mapping solver time 10.572433 ms 
filter time 8.291698 ms 
scan registration time 28.137880 ms *************
build tree time 22.701958 ms 
solver time 9.964583 ms 
mapping data assosiation time 20.922668 ms 
mapping solver time 11.985051 ms 
publication time 7.656397 ms 
whole laserOdometry time 55.734686 ms 
 
mapping data assosiation time 20.100682 ms 
mapping solver time 12.351662 ms 
mapping optimization time 88.869465 
add points time 0.582507 ms
points size 87594 
prepare time 12.444147 
scan registration time 26.297885 ms *************
build tree time 22.042844 ms 
solver time 9.943474 ms 
mapping solver time 9.074211 ms 
solver time 8.010441 ms 
mapping solver time 8.717027 ms 
points size 86630 
sort q time 5.127220 
seperate points time 12.197696 
build tree time 25.252786 ms 
data association time 18.783809 ms 
solver time 12.615151 ms 
data association time 16.855863 ms 
solver time 12.605588 ms 
filter time 9.527296 ms 
sort q time 4.041519 
seperate points time 9.854652 
build tree time 26.222302 ms 
data association time 14.756429 ms 
mapping data assosiation time 20.510548 ms 
mapping solver time 10.500016 ms 
data association time 14.964185 ms 
solver time 7.522073 ms 
publication time 8.418634 ms 
whole laserOdometry time 58.203547 ms 
 
mapping solver time 11.643243 ms 
filter time 9.597656 ms 
sort q time 4.751359 
seperate points time 11.393170 
mapping data assosiation time 23.473091 ms 
solver time 10.820398 ms 
mapping solver time 12.500869 ms 
mapping data assosiation time 20.100734 ms 
filter time 7.296337 ms 
points size 84934 
sort q time 3.661367 
seperate points time 9.045647 
mapping data assosiation time 19.576870 ms 
mapping solver time 10.579086 ms 
solver time 11.655360 ms 
mapping data assosiation time 20.375995 ms 
mapping solver time 10.918126 ms 
filter time 6.848158 ms 
points size 82220 
sort q time 4.789155 
seperate points time 11.804549 
mapping data assosiation time 24.743782 ms 
mapping solver time 13.527013 ms 
mapping data assosiation time 22.919145 ms 
mapping solver time 11.098119 ms 
map prepare time 3.979592 ms
map corner num 68473  surf num 26829 
points size 81585 
build tree time 20.046479 ms 
scan registration time 28.103411 ms *************
mapping data assosiation time 21.665651 ms 
data association time 15.449468 ms 
solver time 10.526700 ms 
data association time 14.780010 ms 
mapping data assosiation time 19.917539 ms 
publication time 7.727117 ms 
whole laserOdometry time 57.615076 ms 
 
map prepare time 2.456191 ms
map corner num 69049  surf num 27010 
points size 80671 
prepare time 12.609319 
build tree time 19.652844 ms 
scan registration time 25.805011 ms *************
mapping data assosiation time 23.505561 ms 
data association time 24.990910 ms 
solver time 12.960243 ms 
mapping data assosiation time 26.641471 ms 
data association time 25.489939 ms 
filter time 7.985009 ms 
points size 81239 
sort q time 4.406552 
seperate points time 10.595172 
build tree time 18.922186 ms 
data association time 16.709966 ms 
mapping solver time 11.792647 ms 
solver time 8.083836 ms 
mapping solver time 9.782393 ms 
map prepare time 2.418344 ms
map corner num 70292  surf num 27442 
scan registration time 26.269205 ms *************
data association time 15.073810 ms 
solver time 11.167192 ms 
data association time 14.919343 ms 
solver time 10.217635 ms 
mapping optimization time 84.688506 
filter time 8.800189 ms 
sort q time 4.636037 
seperate points time 11.778622 
data association time 15.577734 ms 
solver time 13.620060 ms 
data association time 14.490671 ms 
mapping data assosiation time 26.063554 ms 
mapping solver time 12.896715 ms 
map prepare time 3.770530 ms
map corner num 71519  surf num 27998 
build tree time 19.888139 ms 
[0m[ INFO] [1718887469.652112646]: Received 2635444 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887469.652152347]: Data saved to 1317358212899518.pcd[0m
mapping data assosiation time 27.920632 ms 
data association time 15.422591 ms 
publication time 8.552375 ms 
whole laserOdometry time 57.369501 ms 
 
mapping data assosiation time 24.705452 ms 
mapping solver time 14.907220 ms 
map prepare time 2.626202 ms
map corner num 72264  surf num 28378 
build tree time 21.106087 ms 
solver time 15.214867 ms 
data association time 14.924784 ms 
mapping solver time 19.874376 ms 
prepare time 14.333675 
sort q time 5.127451 
seperate points time 12.505135 
mapping solver time 13.229798 ms 
filter time 9.349936 ms 
solver time 10.372545 ms 
build tree time 19.504030 ms 
data association time 15.625234 ms 
solver time 8.253778 ms 
points size 84645 
sort q time 4.090805 
seperate points time 9.962448 
scan registration time 27.269203 ms *************
data association time 16.187475 ms 
solver time 10.850239 ms 
solver time 7.654107 ms 
mapping data assosiation time 24.576655 ms 
prepare time 13.371688 
scan registration time 26.869162 ms *************
mapping data assosiation time 27.371584 ms 
mapping solver time 11.779079 ms 
mapping pub time 1.307524 ms 
whole mapping time 112.411388 ms +++++
data association time 16.955439 ms 
solver time 8.480051 ms 
points size 85062 
sort q time 4.209292 
seperate points time 10.276477 
mapping data assosiation time 23.934563 ms 
solver time 11.236661 ms 
filter time 6.447779 ms 
solver time 7.859056 ms 
optimization twice time 48.977338 
points size 85392 
sort q time 4.271273 
seperate points time 10.654997 
data association time 15.334136 ms 
mapping solver time 9.475702 ms 
mapping pub time 1.259666 ms 
whole mapping time 105.237968 ms +++++
data association time 18.404084 ms 
publication time 8.415505 ms 
whole laserOdometry time 68.326122 ms 
 
points size 85814 
sort q time 4.959291 
seperate points time 11.925918 
mapping solver time 13.629766 ms 
data association time 14.895293 ms 
mapping data assosiation time 22.023008 ms 
mapping solver time 12.752053 ms 
filter time 9.371475 ms 
publication time 8.875196 ms 
whole laserOdometry time 59.166038 ms 
 
points size 84159 
sort q time 4.617977 
seperate points time 11.689226 
data association time 14.470242 ms 
solver time 11.706147 ms 
data association time 15.193752 ms 
solver time 8.255327 ms 
publication time 8.261967 ms 
whole laserOdometry time 58.751809 ms 
 
points size 83978 
sort q time 3.810538 
seperate points time 9.622130 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
data association time 24.816887 ms 
solver time 11.502450 ms 
data association time 14.164797 ms 
mapping solver time 12.489506 ms 
sort q time 4.434487 
seperate points time 10.529442 
mapping data assosiation time 22.027066 ms 
scan registration time 29.272734 ms *************
filter time 6.271349 ms 
mapping pub time 1.074235 ms 
whole mapping time 106.206149 ms +++++
map prepare time 3.721836 ms
map corner num 77288  surf num 30418 
solver time 8.109083 ms 
data association time 15.105909 ms 
solver time 8.237639 ms 
publication time 8.525916 ms 
whole laserOdometry time 56.583787 ms 
 
points size 82678 
sort q time 4.398997 
seperate points time 10.739234 
mapping solver time 12.158648 ms 
map prepare time 2.435399 ms
map corner num 78107  surf num 30741 
solver time 10.912150 ms 
data association time 16.022352 ms 
mapping data assosiation time 22.365915 ms 
mapping solver time 15.007099 ms 
prepare time 14.953833 
sort q time 4.419722 
seperate points time 10.993213 
mapping solver time 11.284365 ms 
mapping optimization time 93.323767 
add points time 0.668631 ms
data association time 22.744340 ms 
solver time 14.928401 ms 
data association time 22.429074 ms 
solver time 11.544211 ms 
publication time 9.396871 ms 
whole laserOdometry time 82.047246 ms 
 
sort q time 4.145939 
seperate points time 10.349770 
mapping data assosiation time 26.412295 ms 
data association time 15.761925 ms 
solver time 11.100574 ms 
data association time 15.543393 ms 
solver time 10.205011 ms 
points size 80684 
sort q time 4.493124 
seperate points time 14.507441 
mapping data assosiation time 20.349941 ms 
mapping solver time 10.950135 ms 
filter time 8.323611 ms 
data association time 15.743052 ms 
points size 82146 
publication time 7.410485 ms 
whole laserOdometry time 73.488643 ms 
 
mapping data assosiation time 24.133084 ms 
scan registration time 29.931505 ms *************
data association time 13.796588 ms 
mapping solver time 9.760297 ms 
map prepare time 2.404594 ms
map corner num 80652  surf num 31732 
publication time 7.958803 ms 
whole laserOdometry time 54.012888 ms 
 
build tree time 21.658866 ms 
points size 82828 
sort q time 3.512252 
seperate points time 8.633308 
mapping data assosiation time 20.263531 ms 
data association time 23.191340 ms 
solver time 12.034324 ms 
data association time 15.477728 ms 
solver time 9.656544 ms 
points size 83079 
sort q time 3.935353 
seperate points time 9.321464 
data association time 12.200230 ms 
solver time 11.398012 ms 
filter time 8.356901 ms 
solver time 8.217074 ms 
optimization twice time 46.452209 
build tree time 23.110963 ms 
mapping data assosiation time 18.369266 ms 
mapping solver time 10.210765 ms 
mapping data assosiation time 18.631660 ms 
mapping solver time 10.258709 ms 
filter time 8.834982 ms 
build tree time 21.882232 ms 
solver time 11.399201 ms 
points size 79716 
sort q time 4.398088 
seperate points time 11.022398 
mapping data assosiation time 20.020056 ms 
mapping solver time 9.907711 ms 
filter time 7.789060 ms 
data association time 13.647269 ms 
solver time 8.410781 ms 
publication time 7.813590 ms 
whole laserOdometry time 56.198717 ms 
 
mapping data assosiation time 19.954030 ms 
mapping solver time 12.664112 ms 
sort q time 4.423491 
seperate points time 10.905650 
mapping solver time 13.038539 ms 
filter time 7.667931 ms 
solver time 10.614779 ms 
data association time 13.170153 ms 
build tree time 22.618355 ms 
publication time 6.757760 ms 
whole laserOdometry time 53.836981 ms 
 
mapping solver time 10.927300 ms 
prepare time 16.259789 
mapping data assosiation time 19.410632 ms 
mapping solver time 10.584046 ms 
filter time 8.375842 ms 
data association time 14.104065 ms 
solver time 11.150037 ms 
data association time 16.128312 ms 
solver time 7.849147 ms 
publication time 7.709010 ms 
whole laserOdometry time 57.890761 ms 
 
points size 81215 
sort q time 4.635446 
seperate points time 11.358400 
mapping solver time 10.616119 ms 
mapping optimization time 85.836486 
add points time 0.581370 ms
scan registration time 31.134862 ms *************
data association time 13.922631 ms 
solver time 10.900809 ms 
build tree time 25.349427 ms 
solver time 7.782156 ms 
mapping solver time 10.933351 ms 
points size 81111 
mapping data assosiation time 17.521115 ms 
scan registration time 24.971975 ms *************
filter time 9.380135 ms 
solver time 9.751116 ms 
build tree time 21.604441 ms 
solver time 9.251212 ms 
publication time 6.456401 ms 
whole laserOdometry time 51.842546 ms 
 
mapping solver time 11.713515 ms 
mapping data assosiation time 19.149094 ms 
add points time 0.693580 ms
filter time 7.401642 ms 
data association time 13.517938 ms 
data association time 15.425037 ms 
mapping solver time 11.504036 ms 
mapping data assosiation time 19.175895 ms 
points size 81591 
sort q time 4.255914 
seperate points time 9.939054 
data association time 11.776411 ms 
solver time 10.401480 ms 
data association time 12.313194 ms 
publication time 7.500905 ms 
whole laserOdometry time 50.844832 ms 
 
mapping data assosiation time 19.611715 ms 
mapping solver time 10.901219 ms 
filter time 7.408466 ms 
scan registration time 26.248257 ms *************
build tree time 21.869674 ms 
solver time 7.726084 ms 
data association time 12.327121 ms 
publication time 7.087637 ms 
whole laserOdometry time 48.929484 ms 
 
mapping data assosiation time 19.426042 ms 
mapping solver time 10.914368 ms 
filter time 7.490170 ms 
sort q time 4.411545 
seperate points time 10.475731 
build tree time 23.454092 ms 
mapping data assosiation time 19.432049 ms 
data association time 12.168682 ms 
publication time 7.047065 ms 
whole laserOdometry time 52.526732 ms 
 
mapping data assosiation time 22.245570 ms 
mapping solver time 13.559423 ms 
filter time 9.620158 ms 
data association time 13.614482 ms 
data association time 17.050310 ms 
mapping solver time 14.840178 ms 
publication time 7.337728 ms 
whole laserOdometry time 55.293681 ms 
 
mapping data assosiation time 21.137281 ms 
add points time 0.659635 ms
sort q time 4.700270 
seperate points time 11.642424 
data association time 25.330521 ms 
solver time 19.064618 ms 
data association time 24.735687 ms 
points size 88789 
publication time 11.288599 ms 
whole laserOdometry time 95.434301 ms 
 
scan registration time 29.367108 ms *************
data association time 15.503160 ms 
solver time 13.251159 ms 
data association time 15.935426 ms 
solver time 11.100878 ms 
map prepare time 3.518373 ms
map corner num 88160  surf num 34540 
prepare time 17.925772 
build tree time 27.315981 ms 
sort q time 5.008313 
seperate points time 12.640528 
data association time 16.235505 ms 
mapping solver time 10.982405 ms 
data association time 14.422529 ms 
publication time 8.446640 ms 
whole laserOdometry time 61.944673 ms 
 
filter time 9.981031 ms 
sort q time 4.519832 
seperate points time 11.133902 
build tree time 24.480248 ms 
data association time 23.330884 ms 
mapping data assosiation time 21.054217 ms 
mapping solver time 12.128832 ms 
data association time 23.300103 ms 
solver time 11.772558 ms 
publication time 11.587420 ms 
whole laserOdometry time 86.540619 ms 
 
sort q time 6.510714 
seperate points time 14.331534 
build tree time 25.115589 ms 
data association time 22.890093 ms 
mapping data assosiation time 24.932801 ms 
mapping solver time 15.298908 ms 
mapping data assosiation time 23.211635 ms 
publication time 10.436955 ms 
whole laserOdometry time 88.444045 ms 
 
mapping solver time 11.683492 ms 
mapping optimization time 101.283719 
add points time 0.742774 ms
sort q time 4.801632 
seperate points time 11.523266 
scan registration time 29.451456 ms *************
data association time 23.562758 ms 
solver time 13.675868 ms 
mapping data assosiation time 22.460158 ms 
solver time 8.133367 ms 
points size 89000 
sort q time 3.874350 
seperate points time 9.709345 
filter time 9.512756 ms 
solver time 10.641487 ms 
build tree time 25.965727 ms 
solver time 8.021975 ms 
publication time 9.197681 ms 
whole laserOdometry time 60.005897 ms 
 
mapping solver time 15.241754 ms 
points size 88710 
sort q time 4.222368 
seperate points time 10.309738 
mapping data assosiation time 20.511416 ms 
scan registration time 27.325705 ms *************
filter time 7.714641 ms 
solver time 10.200330 ms 
build tree time 23.576015 ms 
optimization twice time 47.105365 
publication time 8.934994 ms 
whole laserOdometry time 56.056947 ms 
 
mapping solver time 15.149831 ms 
sort q time 4.488223 
seperate points time 10.603082 
mapping data assosiation time 26.847493 ms 
mapping solver time 13.395239 ms 
filter time 9.179095 ms 
data association time 15.522453 ms 
publication time 8.338002 ms 
whole laserOdometry time 58.268137 ms 
 
points size 88834 
sort q time 4.094865 
seperate points time 9.881883 
mapping data assosiation time 20.391566 ms 
mapping solver time 13.282208 ms 
solver time 5.566221 ms 
build tree time 25.303580 ms 
prepare time 14.068117 
sort q time 4.804728 
seperate points time 11.667356 
mapping solver time 16.896098 ms 
data association time 14.126677 ms 
solver time 11.284007 ms 
mapping solver time 9.271094 ms 
filter time 10.528048 ms 
publication time 8.527519 ms 
whole laserOdometry time 58.129376 ms 
 
points size 91211 
sort q time 4.574727 
seperate points time 10.833037 
mapping data assosiation time 22.538711 ms 
mapping solver time 12.851890 ms 
data association time 21.603747 ms 
solver time 15.119827 ms 
mapping solver time 8.990912 ms 
data association time 20.248614 ms 
optimization twice time 68.635457 
prepare time 14.575899 
sort q time 5.412617 
seperate points time 12.506821 
mapping data assosiation time 24.671207 ms 
mapping solver time 15.285228 ms 
data association time 13.510739 ms 
mapping solver time 9.413798 ms 
filter time 10.337653 ms 
map prepare time 3.530635 ms
map corner num 63580  surf num 24310 
points size 94412 
prepare time 18.037683 
sort q time 5.588420 
seperate points time 13.613453 
mapping data assosiation time 25.176707 ms 
solver time 10.815231 ms 
data association time 17.229023 ms 
solver time 8.543253 ms 
publication time 9.070270 ms 
whole laserOdometry time 60.201658 ms 
 
points size 93308 
sort q time 5.385549 
seperate points time 13.541417 
build tree time 19.500165 ms 
data association time 17.181090 ms 
solver time 13.394507 ms 
data association time 16.709104 ms 
solver time 7.810595 ms 
publication time 11.818335 ms 
whole laserOdometry time 67.858923 ms 
 
mapping solver time 13.856169 ms 
sort q time 4.227920 
seperate points time 10.579916 
build tree time 16.124842 ms 
solver time 10.589666 ms 
mapping data assosiation time 22.833519 ms 
data association time 16.021913 ms 
solver time 7.909053 ms 
publication time 8.810284 ms 
whole laserOdometry time 60.072871 ms 
 
mapping data assosiation time 28.271035 ms 
mapping solver time 14.342789 ms 
mapping pub time 1.778019 ms 
whole mapping time 109.793765 ms +++++
build tree time 15.664706 ms 
solver time 8.094457 ms 
mapping data assosiation time 24.352717 ms 
solver time 7.608111 ms 
points size 90197 
sort q time 5.328211 
seperate points time 13.301108 
filter time 6.966583 ms 
data association time 17.045917 ms 
solver time 11.509577 ms 
data association time 15.806335 ms 
publication time 9.534746 ms 
whole laserOdometry time 63.836901 ms 
 
sort q time 5.937537 
seperate points time 14.681478 
mapping solver time 9.165939 ms 
map prepare time 2.705211 ms
map corner num 67553  surf num 26188 
build tree time 15.929733 ms 
data association time 15.675281 ms 
publication time 9.873094 ms 
whole laserOdometry time 62.382292 ms 
 
points size 90373 
sort q time 5.654359 
seperate points time 13.950594 
mapping data assosiation time 26.741937 ms 
mapping solver time 13.304606 ms 
map prepare time 2.928323 ms
map corner num 68363  surf num 26464 
data association time 16.434173 ms 
publication time 14.795611 ms 
whole laserOdometry time 65.159357 ms 
 
mapping data assosiation time 26.340688 ms 
mapping solver time 14.280667 ms 
data association time 16.168801 ms 
solver time 11.672912 ms 
mapping solver time 13.866604 ms 
map prepare time 2.636375 ms
map corner num 69157  surf num 26756 
publication time 10.124031 ms 
whole laserOdometry time 70.087564 ms 
 
points size 91148 
sort q time 5.930861 
seperate points time 14.814968 
mapping solver time 14.721239 ms 
solver time 10.974719 ms 
data association time 15.520549 ms 
filter time 8.592946 ms 
points size 93969 
prepare time 17.890939 
sort q time 5.919541 
seperate points time 14.526774 
scan registration time 38.253352 ms *************
data association time 19.112752 ms 
solver time 10.389579 ms 
data association time 18.196395 ms 
optimization twice time 58.978354 
mapping optimization time 110.486985 
mapping pub time 1.487179 ms 
whole mapping time 125.930314 ms +++++
sort q time 5.644253 
seperate points time 14.182114 
build tree time 20.650179 ms 
data association time 17.660016 ms 
mapping data assosiation time 27.270875 ms 
data association time 16.032990 ms 
publication time 9.899703 ms 
whole laserOdometry time 62.573882 ms 
 
prepare time 14.233769 
sort q time 5.839795 
seperate points time 13.599951 
filter time 8.224183 ms 
data association time 15.396031 ms 
solver time 8.895742 ms 
data association time 14.591067 ms 
publication time 9.510289 ms 
whole laserOdometry time 57.974678 ms 
 
points size 97205 
prepare time 20.524032 
sort q time 6.232214 
seperate points time 15.686566 
data association time 14.750399 ms 
data association time 14.001084 ms 
publication time 9.377363 ms 
whole laserOdometry time 54.061472 ms 
 
points size 96494 
sort q time 6.232152 
seperate points time 16.577279 
mapping pub time 224.330395 ms 
whole mapping time 346.772046 ms +++++
data association time 18.817031 ms 
solver time 11.147401 ms 
data association time 17.859907 ms 
mapping data assosiation time 29.715809 ms 
sort q time 5.568599 
seperate points time 13.848690 
data association time 14.643511 ms 
solver time 11.244363 ms 
filter time 6.225970 ms 
mapping pub time 1.139220 ms 
whole mapping time 132.075939 ms +++++
map prepare time 2.829694 ms
map corner num 72341  surf num 27808 
publication time 10.082302 ms 
whole laserOdometry time 60.952890 ms 
 
build tree time 21.851661 ms 
prepare time 18.977160 
sort q time 6.342207 
seperate points time 15.502350 
mapping solver time 15.739905 ms 
solver time 10.746346 ms 
mapping data assosiation time 23.392812 ms 
solver time 7.620852 ms 
optimization twice time 50.930122 
mapping solver time 13.792539 ms 
mapping optimization time 108.264716 
add points time 0.735387 ms
map prepare time 3.206186 ms
map corner num 73294  surf num 28200 
build tree time 19.844216 ms 
mapping data assosiation time 25.195304 ms 
solver time 8.430891 ms 
data association time 14.799554 ms 
publication time 9.514301 ms 
whole laserOdometry time 54.019674 ms 
 
filter time 7.877104 ms 
sort q time 5.238420 
seperate points time 17.579747 
mapping data assosiation time 23.172113 ms 
solver time 10.477716 ms 
data association time 14.238304 ms 
mapping data assosiation time 22.941644 ms 
mapping solver time 12.570409 ms 
filter time 8.740198 ms 
sort q time 5.246617 
seperate points time 12.948023 
build tree time 22.661598 ms 
data association time 18.725262 ms 
solver time 10.268197 ms 
mapping solver time 14.327007 ms 
solver time 14.232039 ms 
points size 88590 
mapping solver time 18.181824 ms 
filter time 8.523438 ms 
build tree time 18.783880 ms 
solver time 10.714038 ms 
mapping data assosiation time 23.502953 ms 
solver time 8.089613 ms 
points size 87045 
sort q time 4.467343 
seperate points time 10.812716 
filter time 7.884359 ms 
data association time 17.438052 ms 
build tree time 20.580193 ms 
solver time 13.829768 ms 
data association time 14.495650 ms 
optimization twice time 54.431406 
publication time 9.252349 ms 
whole laserOdometry time 63.702574 ms 
 
points size 82867 
sort q time 4.087762 
seperate points time 10.345336 
mapping solver time 13.120626 ms 
filter time 7.334870 ms 
solver time 9.702004 ms 
build tree time 20.258731 ms 
solver time 7.340027 ms 
publication time 9.546045 ms 
whole laserOdometry time 58.044908 ms 
 
mapping solver time 12.948208 ms 
points size 80882 
prepare time 12.473054 
sort q time 4.238751 
seperate points time 10.223570 
mapping data assosiation time 23.903452 ms 
mapping solver time 12.814912 ms 
filter time 9.038232 ms 
data association time 15.076385 ms 
build tree time 20.201319 ms 
publication time 8.563263 ms 
whole laserOdometry time 58.710843 ms 
 
mapping data assosiation time 23.810890 ms 
prepare time 13.658258 
scan registration time 25.401354 ms *************
mapping data assosiation time 25.813454 ms 
mapping solver time 11.562707 ms 
mapping pub time 1.216465 ms 
whole mapping time 110.479904 ms +++++
solver time 10.181625 ms 
build tree time 23.217119 ms 
points size 75112 
sort q time 3.773559 
seperate points time 9.708230 
data association time 13.776901 ms 
solver time 10.179298 ms 
mapping data assosiation time 22.105503 ms 
add points time 0.710803 ms
mapping pub time 1.818087 ms 
whole mapping time 111.557206 ms +++++
publication time 8.260876 ms 
whole laserOdometry time 55.891296 ms 
 
build tree time 22.188674 ms 
points size 75805 
sort q time 4.730708 
seperate points time 11.851723 
mapping solver time 14.625424 ms 
data association time 21.751665 ms 
solver time 11.249698 ms 
filter time 6.824327 ms 
mapping pub time 1.028121 ms 
whole mapping time 107.347046 ms +++++
map prepare time 2.794708 ms
map corner num 80322  surf num 30604 
solver time 11.254343 ms 
publication time 9.544950 ms 
whole laserOdometry time 76.917357 ms 
 
prepare time 14.591769 
mapping data assosiation time 25.235737 ms 
sort q time 3.978370 
seperate points time 10.133841 
mapping solver time 13.807751 ms 
data association time 21.951122 ms 
solver time 15.029187 ms 
filter time 6.708680 ms 
data association time 22.360330 ms 
solver time 11.641862 ms 
prepare time 13.275651 
scan registration time 26.383277 ms *************
mapping solver time 13.501608 ms 
solver time 15.150134 ms 
mapping solver time 11.381788 ms 
filter time 8.863620 ms 
publication time 9.763091 ms 
whole laserOdometry time 81.770379 ms 
 
build tree time 28.064381 ms 
mapping data assosiation time 23.202818 ms 
mapping solver time 11.469668 ms 
solver time 15.378778 ms 
mapping data assosiation time 25.560937 ms 
mapping solver time 11.360346 ms 
filter time 9.138954 ms 
prepare time 15.952107 
sort q time 4.502809 
seperate points time 11.270484 
build tree time 26.405160 ms 
data association time 13.587450 ms 
solver time 10.893699 ms 
data association time 14.055312 ms 
solver time 10.572414 ms 
optimization twice time 49.998565 
mapping data assosiation time 20.776975 ms 
filter time 10.450495 ms 
points size 81045 
prepare time 19.865604 
sort q time 4.646585 
seperate points time 12.024410 
mapping data assosiation time 25.076273 ms 
mapping solver time 14.693823 ms 
mapping data assosiation time 23.729163 ms 
points size 85444 
sort q time 3.933386 
seperate points time 9.615027 
mapping optimization time 106.578719 
add points time 0.624166 ms
scan registration time 26.057023 ms *************
solver time 15.198908 ms 
optimization twice time 75.404523 
map prepare time 2.477390 ms
map corner num 83908  surf num 31680 
data association time 20.234387 ms 
solver time 15.146560 ms 
mapping data assosiation time 25.717843 ms 
solver time 11.510608 ms 
prepare time 13.370165 
sort q time 4.408056 
seperate points time 10.783329 
mapping solver time 12.002642 ms 
filter time 9.473737 ms 
solver time 15.134253 ms 
data association time 20.604670 ms 
optimization twice time 68.954022 
publication time 10.216412 ms 
whole laserOdometry time 79.186117 ms 
 
points size 93855 
sort q time 4.958848 
seperate points time 11.896758 
mapping data assosiation time 22.912792 ms 
mapping solver time 11.605309 ms 
filter time 8.218620 ms 
data association time 26.066550 ms 
[0m[ INFO] [1718887477.474257404]: Received 2690881 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887477.474288405]: Data saved to 1317358219860263.pcd[0m
solver time 18.777475 ms 
build tree time 24.471819 ms 
data association time 20.988385 ms 
solver time 11.434193 ms 
publication time 10.621306 ms 
whole laserOdometry time 88.923281 ms 
 
data association time 14.475886 ms 
mapping optimization time 101.247924 
map prepare time 2.697859 ms
map corner num 85994  surf num 32310 
data association time 19.531004 ms 
solver time 10.329446 ms 
publication time 10.872622 ms 
whole laserOdometry time 69.870359 ms 
 
prepare time 14.041402 
sort q time 4.341296 
seperate points time 10.528151 
data association time 14.637238 ms 
solver time 12.811981 ms 
filter time 9.262566 ms 
solver time 7.815268 ms 
publication time 9.784827 ms 
whole laserOdometry time 68.707239 ms 
 
points size 90065 
sort q time 3.941929 
seperate points time 10.036845 
data association time 15.825980 ms 
solver time 14.103161 ms 
data association time 14.897681 ms 
solver time 8.789573 ms 
points size 85984 
sort q time 4.564311 
seperate points time 11.779783 
map prepare time 4.042473 ms
map corner num 86599  surf num 32475 
data association time 17.231589 ms 
build tree time 28.058233 ms 
solver time 7.844460 ms 
mapping solver time 15.737073 ms 
sort q time 4.284428 
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mapping solver time 12.021732 ms 
data association time 18.323535 ms 
solver time 13.557621 ms 
data association time 14.631087 ms 
solver time 10.526241 ms 
mapping data assosiation time 23.834059 ms 
points size 77965 
sort q time 4.308865 
seperate points time 10.898060 
mapping data assosiation time 21.815189 ms 
mapping solver time 11.676603 ms 
filter time 9.344669 ms 
solver time 12.833386 ms 
data association time 17.680745 ms 
publication time 8.433277 ms 
whole laserOdometry time 69.567843 ms 
 
points size 76957 
mapping solver time 14.475344 ms 
scan registration time 30.282696 ms *************
mapping data assosiation time 23.476984 ms 
mapping solver time 10.538786 ms 
filter time 8.488313 ms 
solver time 7.534045 ms 
build tree time 23.917475 ms 
points size 77091 
sort q time 4.320090 
seperate points time 10.893142 
mapping solver time 13.980806 ms 
scan registration time 29.691828 ms *************
mapping data assosiation time 21.248422 ms 
mapping solver time 8.724870 ms 
filter time 8.731131 ms 
solver time 7.852210 ms 
publication time 7.644948 ms 
whole laserOdometry time 52.269565 ms 
 
build tree time 30.868358 ms 
points size 77355 
prepare time 14.701732 
sort q time 4.379189 
seperate points time 10.982925 
mapping solver time 14.287903 ms 
data association time 13.272986 ms 
mapping data assosiation time 21.094580 ms 
solver time 7.678958 ms 
mapping solver time 8.659570 ms 
solver time 5.313539 ms 
build tree time 23.116507 ms 
points size 77734 
mapping data assosiation time 21.541361 ms 
mapping solver time 15.459918 ms 
data association time 12.922055 ms 
solver time 10.739004 ms 
data association time 13.885254 ms 
solver time 10.779248 ms 
publication time 8.068993 ms 
whole laserOdometry time 57.304468 ms 
 
build tree time 24.348804 ms 
sort q time 4.357685 
seperate points time 11.532897 
mapping solver time 15.223012 ms 
solver time 10.809692 ms 
mapping solver time 10.428873 ms 
mapping pub time 0.940303 ms 
whole mapping time 108.513906 ms +++++
points size 79120 
build tree time 31.333224 ms 
scan registration time 30.281723 ms *************
mapping data assosiation time 23.625333 ms 
data association time 20.935835 ms 
mapping data assosiation time 26.247159 ms 
solver time 11.884013 ms 
publication time 9.086557 ms 
whole laserOdometry time 77.664095 ms 
 
sort q time 4.678761 
seperate points time 11.639799 
build tree time 17.554944 ms 
data association time 21.824731 ms 
mapping data assosiation time 26.004323 ms 
solver time 16.690697 ms 
mapping solver time 18.776675 ms 
data association time 21.123705 ms 
solver time 13.341580 ms 
publication time 9.474293 ms 
whole laserOdometry time 83.576278 ms 
 
scan registration time 26.486183 ms *************
build tree time 22.125002 ms 
solver time 12.655912 ms 
mapping data assosiation time 26.347772 ms 
data association time 21.744440 ms 
solver time 8.086282 ms 
publication time 10.583767 ms 
whole laserOdometry time 74.476799 ms 
 
mapping data assosiation time 23.978308 ms 
mapping solver time 11.656430 ms 
filter time 7.947479 ms 
data association time 20.888011 ms 
build tree time 22.204864 ms 
mapping data assosiation time 26.200734 ms 
solver time 12.242750 ms 
publication time 10.158310 ms 
whole laserOdometry time 82.362875 ms 
 
sort q time 4.863445 
seperate points time 11.791432 
mapping solver time 10.177648 ms 
mapping optimization time 103.094077 
add points time 0.634035 ms
solver time 11.976486 ms 
data association time 13.787152 ms 
publication time 7.486396 ms 
whole laserOdometry time 57.622859 ms 
 
points size 83431 
sort q time 3.689222 
seperate points time 9.158037 
mapping data assosiation time 26.038462 ms 
data association time 13.496976 ms 
filter time 8.275965 ms 
solver time 7.798478 ms 
mapping data assosiation time 21.918752 ms 
mapping solver time 15.534548 ms 
data association time 20.745329 ms 
solver time 12.867967 ms 
mapping pub time 1.116103 ms 
whole mapping time 110.622433 ms +++++
solver time 9.213965 ms 
points size 84130 
sort q time 3.924385 
seperate points time 9.491745 
scan registration time 26.103060 ms *************
data association time 13.507630 ms 
solver time 10.347022 ms 
mapping optimization time 95.451203 
data association time 14.126135 ms 
solver time 8.877217 ms 
build tree time 18.101426 ms 
points size 83317 
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data association time 22.906036 ms 
solver time 16.680708 ms 
filter time 7.594659 ms 
solver time 11.180016 ms 
points size 82234 
sort q time 4.278909 
seperate points time 10.681197 
mapping data assosiation time 24.120895 ms 
data association time 21.312755 ms 
solver time 20.507897 ms 
mapping data assosiation time 28.085389 ms 
data association time 22.097708 ms 
filter time 7.892732 ms 
publication time 10.135173 ms 
whole laserOdometry time 91.924838 ms 
 
build tree time 21.849481 ms 
data association time 23.257969 ms 
solver time 16.869652 ms 
mapping solver time 20.621907 ms 
data association time 21.986467 ms 
solver time 17.658255 ms 
publication time 9.498861 ms 
whole laserOdometry time 90.344573 ms 
 
filter time 9.000622 ms 
data association time 25.777830 ms 
build tree time 24.151180 ms 
solver time 18.878993 ms 
mapping data assosiation time 28.361371 ms 
points size 82160 
publication time 10.619518 ms 
whole laserOdometry time 95.806560 ms 
 
mapping data assosiation time 27.550078 ms 
data association time 22.023063 ms 
filter time 7.771158 ms 
data association time 21.085840 ms 
build tree time 24.355443 ms 
solver time 17.227459 ms 
mapping data assosiation time 28.429207 ms 
publication time 11.435747 ms 
whole laserOdometry time 91.900208 ms 
 
sort q time 4.630939 
seperate points time 11.990071 
scan registration time 27.940136 ms *************
mapping data assosiation time 24.087241 ms 
mapping solver time 16.043256 ms 
data association time 16.367053 ms 
mapping data assosiation time 23.068902 ms 
mapping solver time 11.668702 ms 
data association time 18.272221 ms 
solver time 14.006271 ms 
points size 84259 
sort q time 4.800312 
seperate points time 11.845775 
data association time 13.348032 ms 
solver time 13.063498 ms 
data association time 16.566196 ms 
publication time 8.018542 ms 
whole laserOdometry time 59.749582 ms 
 
points size 87202 
sort q time 4.933596 
seperate points time 13.100552 
data association time 13.152675 ms 
solver time 14.075205 ms 
data association time 14.738964 ms 
solver time 12.129442 ms 
publication time 11.531528 ms 
whole laserOdometry time 66.564552 ms 
 
sort q time 5.208458 
seperate points time 12.183572 
mapping solver time 13.935641 ms 
data association time 21.652178 ms 
mapping data assosiation time 23.738458 ms 
solver time 18.688408 ms 
mapping solver time 15.389787 ms 
data association time 21.680697 ms 
solver time 12.327282 ms 
publication time 10.955121 ms 
whole laserOdometry time 86.447123 ms 
 
build tree time 22.081033 ms 
sort q time 4.917306 
seperate points time 11.879461 
mapping data assosiation time 24.783394 ms 
data association time 21.734419 ms 
solver time 18.392313 ms 
mapping data assosiation time 27.385722 ms 
data association time 21.945491 ms 
points size 98737 
map prepare time 4.194881 ms
map corner num 73345  surf num 29462 
scan registration time 33.809797 ms *************
build tree time 20.560182 ms 
data association time 22.251737 ms 
solver time 11.576936 ms 
mapping solver time 18.164591 ms 
data association time 22.225430 ms 
solver time 11.555193 ms 
publication time 11.811994 ms 
whole laserOdometry time 80.475676 ms 
 
mapping solver time 13.720969 ms 
filter time 10.269383 ms 
data association time 23.387470 ms 
solver time 16.428335 ms 
mapping data assosiation time 31.656216 ms 
points size 102395 
publication time 11.815377 ms 
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mapping data assosiation time 26.723686 ms 
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data association time 14.448890 ms 
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data association time 15.285560 ms 
solver time 8.399338 ms 
publication time 11.690849 ms 
whole laserOdometry time 60.953482 ms 
 
points size 102173 
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map prepare time 2.866035 ms
map corner num 78667  surf num 31177 
data association time 15.076908 ms 
publication time 8.665985 ms 
whole laserOdometry time 60.078270 ms 
 
mapping data assosiation time 29.682562 ms 
mapping solver time 17.670062 ms 
scan registration time 38.866212 ms *************
mapping data assosiation time 27.046377 ms 
mapping solver time 14.516296 ms 
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data association time 14.638397 ms 
solver time 10.586309 ms 
publication time 12.162156 ms 
whole laserOdometry time 65.446850 ms 
 
sort q time 4.678759 
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data association time 24.559396 ms 
solver time 18.513588 ms 
publication time 11.449844 ms 
whole laserOdometry time 100.974409 ms 
 
[33m[ WARN] [1718887481.785319443]: odometry process over 100ms[0m
mapping solver time 22.184093 ms 
filter time 9.426629 ms 
map prepare time 4.068725 ms
map corner num 81289  surf num 31925 
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mapping data assosiation time 34.368494 ms 
scan registration time 33.987209 ms *************
mapping solver time 22.651116 ms 
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mapping data assosiation time 27.838213 ms 
data association time 16.632812 ms 
solver time 11.021442 ms 
publication time 9.580751 ms 
whole laserOdometry time 66.725415 ms 
 
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data association time 14.206105 ms 
solver time 11.846903 ms 
publication time 9.056814 ms 
whole laserOdometry time 65.486430 ms 
 
points size 93323 
sort q time 6.268915 
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data association time 14.049528 ms 
filter time 7.348068 ms 
data association time 14.052051 ms 
build tree time 22.616475 ms 
publication time 9.116023 ms 
whole laserOdometry time 62.894509 ms 
 
points size 92544 
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data association time 15.563209 ms 
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solver time 12.985672 ms 
publication time 8.845673 ms 
whole laserOdometry time 68.786901 ms 
 
prepare time 16.659124 
sort q time 5.323547 
seperate points time 12.904975 
scan registration time 34.638493 ms *************
mapping solver time 15.309016 ms 
solver time 12.557026 ms 
mapping data assosiation time 26.129826 ms 
data association time 16.318374 ms 
solver time 10.983361 ms 
publication time 9.384772 ms 
whole laserOdometry time 66.305221 ms 
 
points size 88959 
sort q time 5.102124 
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mapping solver time 18.511556 ms 
solver time 10.556464 ms 
publication time 9.727467 ms 
whole laserOdometry time 63.705530 ms 
 
points size 88663 
mapping solver time 16.213337 ms 
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data association time 16.161183 ms 
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data association time 16.020584 ms 
solver time 14.160920 ms 
publication time 10.248796 ms 
whole laserOdometry time 72.183638 ms 
 
sort q time 4.085625 
seperate points time 9.698668 
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solver time 11.854989 ms 
mapping solver time 18.873880 ms 
mapping optimization time 124.284612 
add points time 0.751858 ms
data association time 15.365406 ms 
map prepare time 2.817208 ms
map corner num 87166  surf num 33759 
solver time 12.685015 ms 
publication time 10.728131 ms 
whole laserOdometry time 66.828371 ms 
 
points size 89841 
sort q time 4.472967 
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data association time 16.154436 ms 
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data association time 15.939245 ms 
filter time 6.974256 ms 
publication time 9.258731 ms 
whole laserOdometry time 69.027722 ms 
 
prepare time 13.175969 
sort q time 4.653931 
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mapping solver time 20.169689 ms 
data association time 17.024785 ms 
solver time 12.539950 ms 
publication time 10.622691 ms 
whole laserOdometry time 69.237506 ms 
 
points size 91649 
filter time 11.505072 ms 
solver time 12.089608 ms 
data association time 15.929158 ms 
solver time 13.521004 ms 
publication time 11.742557 ms 
whole laserOdometry time 69.702526 ms 
 
prepare time 17.412042 
sort q time 5.348695 
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solver time 13.324487 ms 
data association time 16.412743 ms 
publication time 9.791573 ms 
whole laserOdometry time 68.198693 ms 
 
sort q time 4.815042 
seperate points time 11.639675 
scan registration time 30.422668 ms *************
mapping pub time 225.480002 ms 
whole mapping time 367.169368 ms +++++
data association time 27.908940 ms 
build tree time 30.809701 ms 
points size 96329 
solver time 12.314830 ms 
publication time 11.881400 ms 
whole laserOdometry time 98.921898 ms 
 
data association time 29.789139 ms 
mapping data assosiation time 35.519868 ms 
solver time 20.544709 ms 
mapping solver time 27.562986 ms 
data association time 26.565806 ms 
solver time 16.097860 ms 
publication time 11.891561 ms 
whole laserOdometry time 105.928117 ms 
 
[33m[ WARN] [1718887483.456930294]: odometry process over 100ms[0m
build tree time 32.087512 ms 
data association time 29.703927 ms 
mapping data assosiation time 36.066003 ms 
solver time 20.866674 ms 
mapping solver time 26.315118 ms 
sort q time 5.295197 
seperate points time 12.970167 
mapping data assosiation time 36.730479 ms 
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filter time 9.833863 ms 
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points size 100167 
solver time 10.984316 ms 
mapping data assosiation time 34.175617 ms 
data association time 17.572407 ms 
mapping solver time 18.272007 ms 
solver time 12.723202 ms 
data association time 16.911492 ms 
solver time 7.643274 ms 
publication time 11.055354 ms 
whole laserOdometry time 66.759397 ms 
 
mapping solver time 21.837031 ms 
filter time 9.871166 ms 
build tree time 23.285440 ms 
solver time 12.816576 ms 
mapping data assosiation time 28.044186 ms 
data association time 17.625132 ms 
solver time 10.905550 ms 
prepare time 18.186321 
sort q time 6.073595 
seperate points time 15.332385 
mapping solver time 18.013502 ms 
filter time 9.656569 ms 
data association time 16.701765 ms 
solver time 11.995000 ms 
points size 103058 
mapping data assosiation time 33.946858 ms 
scan registration time 38.335434 ms *************
mapping solver time 23.112634 ms 
solver time 9.859768 ms 
mapping data assosiation time 30.335399 ms 
solver time 8.294031 ms 
publication time 11.562386 ms 
whole laserOdometry time 65.005276 ms 
 
points size 103244 
sort q time 6.024693 
seperate points time 15.462886 
data association time 18.319548 ms 
mapping data assosiation time 31.883177 ms 
data association time 17.234620 ms 
optimization twice time 61.664426 
prepare time 15.492327 
mapping data assosiation time 34.330289 ms 
sort q time 6.380478 
seperate points time 15.265822 
scan registration time 34.358744 ms *************
mapping solver time 19.573293 ms 
filter time 10.125477 ms 
data association time 16.566008 ms 
solver time 7.941078 ms 
publication time 9.941758 ms 
whole laserOdometry time 64.904762 ms 
 
points size 102969 
prepare time 16.828903 
mapping data assosiation time 32.516102 ms 
scan registration time 34.267276 ms *************
data association time 31.576274 ms 
mapping data assosiation time 36.264477 ms 
solver time 16.303665 ms 
mapping solver time 26.605203 ms 
filter time 10.446213 ms 
mapping pub time 1.811253 ms 
whole mapping time 157.033572 ms +++++
points size 103002 
data association time 27.982453 ms 
map prepare time 4.140440 ms
map corner num 94900  surf num 36788 
solver time 11.141626 ms 
sort q time 6.110874 
seperate points time 15.489481 
build tree time 30.217995 ms 
data association time 19.295613 ms 
mapping solver time 18.897540 ms 
publication time 10.467775 ms 
whole laserOdometry time 66.773449 ms 
 
mapping data assosiation time 32.658488 ms 
sort q time 6.205344 
seperate points time 15.732352 
filter time 9.321598 ms 
solver time 10.079926 ms 
build tree time 23.898882 ms 
solver time 8.041681 ms 
publication time 12.298334 ms 
whole laserOdometry time 65.640558 ms 
 
mapping solver time 19.160291 ms 
data association time 16.655526 ms 
solver time 10.912195 ms 
data association time 17.116833 ms 
publication time 9.812280 ms 
whole laserOdometry time 63.703981 ms 
 
build tree time 28.109125 ms 
sort q time 5.441152 
seperate points time 13.472101 
mapping data assosiation time 32.242428 ms 
data association time 28.210347 ms 
mapping solver time 25.286386 ms 
solver time 16.641410 ms 
data association time 19.288184 ms 
points size 102798 
mapping solver time 23.255313 ms 
filter time 10.660485 ms 
data association time 17.535158 ms 
solver time 11.007085 ms 
data association time 17.053506 ms 
publication time 10.031925 ms 
whole laserOdometry time 64.484364 ms 
 
points size 102656 
mapping solver time 20.845667 ms 
scan registration time 32.330953 ms *************
mapping data assosiation time 32.148544 ms 
mapping solver time 16.243437 ms 
filter time 11.064101 ms 
solver time 7.609072 ms 
points size 102589 
sort q time 5.160462 
seperate points time 12.393880 
mapping data assosiation time 32.606792 ms 
solver time 12.071366 ms 
data association time 18.267668 ms 
publication time 10.146357 ms 
whole laserOdometry time 68.133793 ms 
 
prepare time 15.376416 
mapping solver time 18.321912 ms 
sort q time 6.591538 
seperate points time 15.628430 
data association time 16.897112 ms 
solver time 12.475022 ms 
data association time 20.306186 ms 
publication time 11.247317 ms 
whole laserOdometry time 71.935818 ms 
 
scan registration time 37.981009 ms *************
mapping data assosiation time 31.054143 ms 
data association time 17.862108 ms 
solver time 11.722951 ms 
map prepare time 3.062941 ms
map corner num 99217  surf num 38273 
data association time 17.661291 ms 
solver time 7.442950 ms 
build tree time 24.196991 ms 
points size 102646 
mapping data assosiation time 32.028353 ms 
scan registration time 48.367842 ms *************
mapping solver time 24.693489 ms 
data association time 17.797157 ms 
solver time 14.272358 ms 
mapping solver time 19.744686 ms 
filter time 8.489501 ms 
sort q time 6.068004 
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data association time 20.257978 ms 
solver time 12.108708 ms 
publication time 10.382152 ms 
whole laserOdometry time 78.031901 ms 
 
mapping data assosiation time 29.755689 ms 
mapping solver time 17.248965 ms 
filter time 11.013251 ms 
solver time 11.645592 ms 
build tree time 24.266913 ms 
solver time 10.561294 ms 
publication time 10.723948 ms 
whole laserOdometry time 73.677512 ms 
 
sort q time 6.043962 
seperate points time 14.704999 
data association time 16.662778 ms 
solver time 11.794610 ms 
add points time 0.871059 ms
mapping pub time 1.329339 ms 
whole mapping time 134.849872 ms +++++
publication time 13.144964 ms 
whole laserOdometry time 68.205902 ms 
 
build tree time 27.248405 ms 
mapping data assosiation time 29.715422 ms 
solver time 10.203759 ms 
data association time 17.026978 ms 
mapping data assosiation time 29.800069 ms 
mapping solver time 13.437390 ms 
mapping pub time 1.275498 ms 
whole mapping time 132.791377 ms +++++
data association time 15.948460 ms 
solver time 10.507665 ms 
data association time 16.164828 ms 
solver time 10.938814 ms 
points size 102515 
mapping data assosiation time 30.986234 ms 
mapping solver time 13.209976 ms 
filter time 10.405373 ms 
solver time 9.134714 ms 
data association time 16.708350 ms 
publication time 9.849856 ms 
whole laserOdometry time 63.674660 ms 
 
points size 102434 
mapping solver time 15.459489 ms 
data association time 16.808429 ms 
solver time 11.058737 ms 
filter time 8.678536 ms 
publication time 10.567014 ms 
whole laserOdometry time 66.179503 ms 
 
points size 102391 
sort q time 5.484999 
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data association time 17.108311 ms 
optimization twice time 54.614651 
mapping solver time 11.445500 ms 
filter time 11.641153 ms 
sort q time 6.540486 
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scan registration time 41.875852 ms *************
data association time 17.821916 ms 
solver time 8.576720 ms 
data association time 16.726442 ms 
publication time 12.042146 ms 
whole laserOdometry time 64.304287 ms 
 
points size 102803 
sort q time 7.736021 
seperate points time 19.299356 
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solver time 11.353483 ms 
publication time 11.951556 ms 
whole laserOdometry time 66.935540 ms 
 
sort q time 6.422506 
seperate points time 16.610500 
data association time 25.375438 ms 
data association time 16.723890 ms 
publication time 9.486670 ms 
whole laserOdometry time 70.476535 ms 
 
sort q time 5.505297 
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mapping solver time 13.322207 ms 
filter time 16.114034 ms 
data association time 21.295586 ms 
solver time 13.215031 ms 
publication time 11.981138 ms 
whole laserOdometry time 77.921448 ms 
 
sort q time 6.107110 
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solver time 12.075895 ms 
mapping data assosiation time 32.314531 ms 
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add points time 0.852729 ms
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map prepare time 4.635252 ms
map corner num 103356  surf num 44398 
publication time 11.813064 ms 
whole laserOdometry time 90.126869 ms 
 
sort q time 6.077376 
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build tree time 29.797411 ms 
data association time 16.504049 ms 
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data association time 16.839453 ms 
solver time 9.818916 ms 
publication time 12.353916 ms 
whole laserOdometry time 69.081015 ms 
 
sort q time 5.687893 
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data association time 17.760993 ms 
solver time 8.620289 ms 
publication time 10.694323 ms 
whole laserOdometry time 65.949518 ms 
 
points size 103340 
mapping data assosiation time 33.184836 ms 
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data association time 20.447399 ms 
solver time 12.471913 ms 
data association time 20.503306 ms 
filter time 10.963680 ms 
prepare time 18.938599 
sort q time 6.044617 
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scan registration time 38.537582 ms *************
data association time 16.583661 ms 
mapping data assosiation time 32.265224 ms 
data association time 17.245354 ms 
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points size 103433 
mapping data assosiation time 35.113675 ms 
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data association time 20.300559 ms 
solver time 10.410999 ms 
publication time 11.882867 ms 
whole laserOdometry time 75.483667 ms 
 
mapping data assosiation time 35.508701 ms 
scan registration time 39.032069 ms *************
data association time 16.876721 ms 
solver time 10.571373 ms 
mapping data assosiation time 34.436968 ms 
solver time 8.523734 ms 
publication time 10.292476 ms 
whole laserOdometry time 63.901628 ms 
 
points size 103396 
sort q time 5.980509 
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data association time 17.625428 ms 
publication time 9.751645 ms 
whole laserOdometry time 67.326060 ms 
 
points size 103384 
mapping data assosiation time 32.966414 ms 
scan registration time 38.965287 ms *************
mapping solver time 17.567087 ms 
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data association time 17.449915 ms 
solver time 10.451872 ms 
data association time 16.318159 ms 
solver time 9.569281 ms 
publication time 12.441404 ms 
whole laserOdometry time 67.200868 ms 
 
points size 103463 
prepare time 17.894386 
sort q time 6.242637 
seperate points time 15.072310 
scan registration time 36.951648 ms *************
data association time 17.027506 ms 
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mapping solver time 12.682295 ms 
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points size 103431 
sort q time 5.388226 
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data association time 19.859489 ms 
optimization twice time 60.674893 
publication time 11.644548 ms 
whole laserOdometry time 72.345577 ms 
 
points size 103205 
prepare time 14.994457 
sort q time 5.304812 
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data association time 22.083929 ms 
solver time 13.335253 ms 
data association time 17.456433 ms 
publication time 10.079043 ms 
whole laserOdometry time 72.109539 ms 
 
prepare time 15.897049 
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points size 102911 
sort q time 5.790961 
seperate points time 14.935224 
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scan registration time 37.985846 ms *************
mapping solver time 17.804064 ms 
mapping optimization time 146.769255 
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map prepare time 3.170976 ms
map corner num 109402  surf num 46735 
data association time 16.980488 ms 
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points size 102912 
mapping data assosiation time 32.846951 ms 
sort q time 4.916795 
seperate points time 11.996376 
scan registration time 34.700460 ms *************
mapping solver time 21.259458 ms 
data association time 16.467603 ms 
solver time 10.688532 ms 
publication time 11.355875 ms 
whole laserOdometry time 68.907759 ms 
 
prepare time 17.559463 
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data association time 17.418753 ms 
solver time 12.340351 ms 
data association time 19.974357 ms 
mapping data assosiation time 31.616592 ms 
solver time 13.476529 ms 
publication time 11.917719 ms 
whole laserOdometry time 76.093004 ms 
 
sort q time 6.779755 
seperate points time 17.352527 
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data association time 17.546487 ms 
solver time 13.673421 ms 
map prepare time 4.202196 ms
map corner num 110563  surf num 47230 
solver time 10.569155 ms 
prepare time 18.500594 
publication time 11.535960 ms 
whole laserOdometry time 72.274710 ms 
 
sort q time 6.427520 
seperate points time 16.479670 
mapping data assosiation time 32.959304 ms 
mapping solver time 19.084063 ms 
data association time 18.997139 ms 
mapping data assosiation time 33.381798 ms 
prepare time 19.880400 
mapping solver time 25.058463 ms 
mapping optimization time 150.865288 
add points time 1.058898 ms
sort q time 6.081417 
seperate points time 15.756599 
scan registration time 39.754983 ms *************
mapping pub time 2.314045 ms 
whole mapping time 171.226911 ms +++++
data association time 28.450307 ms 
solver time 17.346230 ms 
points size 102339 
sort q time 5.733633 
seperate points time 14.194806 
publication time 12.338222 ms 
whole laserOdometry time 107.634890 ms 
 
[33m[ WARN] [1718887488.771843074]: odometry process over 100ms[0m
mapping solver time 29.626113 ms 
data association time 29.699170 ms 
solver time 20.703628 ms 
points size 101458 
mapping solver time 23.487036 ms 
sort q time 5.956177 
seperate points time 15.189310 
mapping pub time 3.540680 ms 
whole mapping time 197.382154 ms +++++
publication time 12.779867 ms 
whole laserOdometry time 108.567146 ms 
 
[33m[ WARN] [1718887488.882904530]: odometry process over 100ms[0m
data association time 28.131756 ms 
build tree time 40.574188 ms 
solver time 20.243318 ms 
points size 98736 
mapping data assosiation time 40.684901 ms 
scan registration time 32.185670 ms *************
solver time 16.705876 ms 
publication time 13.515462 ms 
whole laserOdometry time 110.570487 ms 
 
[33m[ WARN] [1718887488.996255285]: odometry process over 100ms[0m
mapping data assosiation time 41.940635 ms 
points size 97443 
add points time 1.068290 ms
scan registration time 33.775552 ms *************
data association time 28.318117 ms 
solver time 18.166350 ms 
publication time 12.141115 ms 
whole laserOdometry time 111.589863 ms 
 
[33m[ WARN] [1718887489.110469501]: odometry process over 100ms[0m
build tree time 41.224619 ms 
data association time 29.903416 ms 
mapping data assosiation time 40.807727 ms 
mapping solver time 28.035946 ms 
solver time 20.886390 ms 
optimization twice time 101.442381 
mapping data assosiation time 42.375116 ms 
points size 95146 
sort q time 4.462870 
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solver time 10.722990 ms 
data association time 17.111048 ms 
points size 91586 
mapping solver time 22.742458 ms 
solver time 11.012662 ms 
publication time 12.457732 ms 
whole laserOdometry time 75.525012 ms 
 
mapping data assosiation time 35.718054 ms 
solver time 12.805103 ms 
data association time 17.334027 ms 
solver time 14.179940 ms 
optimization twice time 61.628026 
points size 88105 
sort q time 4.989536 
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data association time 16.586602 ms 
solver time 13.065426 ms 
data association time 16.426997 ms 
solver time 13.489973 ms 
publication time 12.125309 ms 
whole laserOdometry time 72.558516 ms 
 
mapping data assosiation time 35.563773 ms 
sort q time 4.807690 
seperate points time 12.338944 
filter time 13.403200 ms 
mapping pub time 1.754705 ms 
whole mapping time 159.279270 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.276448 ms
map corner num 116439  surf num 45269 
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data association time 27.246670 ms 
sort q time 4.126432 
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solver time 20.610009 ms 
mapping data assosiation time 40.909170 ms 
prepare time 12.214292 
sort q time 3.602894 
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whole laserOdometry time 102.050390 ms 
 
[33m[ WARN] [1718887489.798044514]: odometry process over 100ms[0m
data association time 28.489443 ms 
solver time 22.931086 ms 
points size 79181 
data association time 28.510752 ms 
scan registration time 27.052903 ms *************
solver time 18.776497 ms 
publication time 12.391733 ms 
whole laserOdometry time 112.331457 ms 
 
[33m[ WARN] [1718887489.912576420]: odometry process over 100ms[0m
data association time 29.215395 ms 
solver time 18.263954 ms 
points size 78104 
sort q time 3.355392 
seperate points time 8.872314 
solver time 18.658483 ms 
publication time 12.048221 ms 
whole laserOdometry time 108.955514 ms 
 
[33m[ WARN] [1718887490.023795661]: odometry process over 100ms[0m
data association time 15.659770 ms 
solver time 10.896691 ms 
mapping pub time 262.953525 ms 
whole mapping time 459.304194 ms +++++
optimization twice time 53.819982 
sort q time 4.277431 
seperate points time 12.410861 
build tree time 41.784053 ms 
data association time 18.564501 ms 
solver time 15.628245 ms 
mapping solver time 18.256648 ms 
solver time 13.225344 ms 
publication time 10.530515 ms 
whole laserOdometry time 78.019666 ms 
 
sort q time 4.540177 
seperate points time 11.560686 
data association time 15.263458 ms 
mapping solver time 22.862830 ms 
mapping optimization time 155.656963 
add points time 1.079271 ms
filter time 13.450826 ms 
mapping pub time 1.350748 ms 
whole mapping time 177.190520 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.826972 ms
map corner num 117879  surf num 45927 
solver time 10.431947 ms 
publication time 9.156454 ms 
whole laserOdometry time 68.705098 ms 
 
prepare time 11.689369 
sort q time 3.430704 
seperate points time 9.102622 
data association time 14.742660 ms 
mapping data assosiation time 38.973646 ms 
data association time 15.578227 ms 
mapping solver time 27.176909 ms 
publication time 7.981696 ms 
whole laserOdometry time 62.985679 ms 
 
points size 73123 
sort q time 4.631149 
seperate points time 11.649436 
scan registration time 25.889937 ms *************
mapping solver time 27.381016 ms 
mapping optimization time 176.284021 
add points time 1.046167 ms
data association time 15.119891 ms 
solver time 11.234791 ms 
data association time 15.297282 ms 
solver time 8.468834 ms 
publication time 8.373878 ms 
whole laserOdometry time 59.506948 ms 
 
points size 73528 
prepare time 10.845167 
scan registration time 25.276182 ms *************
mapping data assosiation time 39.375155 ms 
solver time 12.303854 ms 
mapping solver time 26.152281 ms 
data association time 15.881607 ms 
solver time 10.555529 ms 
publication time 9.072657 ms 
whole laserOdometry time 63.319171 ms 
 
points size 73782 
mapping optimization time 159.570751 
add points time 0.904427 ms
sort q time 4.232121 
seperate points time 10.874955 
map prepare time 3.053520 ms
map corner num 119496  surf num 46575 
data association time 19.180052 ms 
solver time 13.655965 ms 
data association time 15.234365 ms 
publication time 7.876016 ms 
whole laserOdometry time 65.972084 ms 
 
points size 74762 
sort q time 3.634469 
seperate points time 9.553097 
mapping data assosiation time 31.642378 ms 
solver time 10.472455 ms 
data association time 15.663350 ms 
map prepare time 4.207301 ms
map corner num 120290  surf num 46776 
publication time 8.572364 ms 
whole laserOdometry time 61.491383 ms 
 
points size 75631 
prepare time 11.786812 
sort q time 3.818834 
seperate points time 9.939263 
data association time 15.433656 ms 
solver time 12.732272 ms 
data association time 18.350704 ms 
solver time 10.282468 ms 
points size 76133 
sort q time 3.277419 
seperate points time 8.862162 
map prepare time 3.852411 ms
map corner num 121121  surf num 47023 
data association time 18.575222 ms 
solver time 10.802956 ms 
data association time 15.421491 ms 
publication time 8.910118 ms 
whole laserOdometry time 63.014576 ms 
 
points size 75348 
sort q time 4.136828 
seperate points time 10.609527 
scan registration time 31.034697 ms *************
mapping data assosiation time 32.208512 ms 
data association time 15.203467 ms 
solver time 10.641824 ms 
map prepare time 3.185097 ms
map corner num 121869  surf num 47230 
data association time 16.832338 ms 
publication time 8.888215 ms 
whole laserOdometry time 60.900895 ms 
 
build tree time 35.137386 ms 
sort q time 5.113870 
seperate points time 12.780749 
mapping data assosiation time 35.896834 ms 
solver time 10.525463 ms 
data association time 18.426680 ms 
mapping data assosiation time 34.334633 ms 
prepare time 13.425924 
sort q time 5.407001 
seperate points time 13.399800 
map prepare time 4.633229 ms
map corner num 156898  surf num 58258 
data association time 25.532440 ms 
solver time 15.766003 ms 
build tree time 42.298454 ms 
data association time 24.800924 ms 
mapping data assosiation time 31.988447 ms 
sort q time 6.808244 
seperate points time 14.816811 
data association time 24.601686 ms 
solver time 15.295521 ms 
filter time 17.478477 ms 
solver time 11.920840 ms 
publication time 11.067142 ms 
whole laserOdometry time 88.913863 ms 
 
sort q time 4.223854 
seperate points time 11.175680 
scan registration time 29.886831 ms *************
data association time 22.129039 ms 
solver time 10.856582 ms 
data association time 15.845769 ms 
solver time 10.564955 ms 
mapping data assosiation time 39.743892 ms 
points size 79919 
sort q time 4.521559 
seperate points time 12.150212 
mapping solver time 28.300532 ms 
scan registration time 31.887854 ms *************
data association time 18.171795 ms 
mapping data assosiation time 36.051544 ms 
mapping solver time 16.567012 ms 
solver time 8.649910 ms 
publication time 9.233683 ms 
whole laserOdometry time 67.162981 ms 
 
points size 79435 
sort q time 4.657081 
seperate points time 12.333555 
data association time 15.911909 ms 
solver time 13.463888 ms 
data association time 15.418227 ms 
mapping data assosiation time 33.301062 ms 
publication time 9.751756 ms 
whole laserOdometry time 66.954888 ms 
 
mapping solver time 18.139420 ms 
sort q time 4.297131 
seperate points time 11.730078 
mapping data assosiation time 32.945008 ms 
mapping solver time 12.541791 ms 
solver time 11.670206 ms 
map prepare time 4.004817 ms
map corner num 159048  surf num 58917 
data association time 23.280938 ms 
solver time 12.719823 ms 
publication time 11.319277 ms 
whole laserOdometry time 75.899407 ms 
 
build tree time 44.725820 ms 
scan registration time 24.946364 ms *************
data association time 15.648834 ms 
solver time 13.921392 ms 
mapping solver time 19.863852 ms 
data association time 16.266598 ms 
solver time 10.921360 ms 
publication time 8.964258 ms 
whole laserOdometry time 66.646133 ms 
 
points size 77146 
mapping solver time 22.475687 ms 
filter time 15.344333 ms 
data association time 16.417096 ms 
solver time 10.733522 ms 
data association time 15.166133 ms 
optimization twice time 53.524808 
build tree time 44.659843 ms 
points size 77181 
mapping data assosiation time 38.411578 ms 
sort q time 4.533732 
seperate points time 12.348934 
scan registration time 33.198809 ms *************
data association time 16.145817 ms 
solver time 15.965983 ms 
data association time 16.861143 ms 
solver time 11.224008 ms 
optimization twice time 61.216938 
filter time 17.675307 ms 
sort q time 3.259948 
seperate points time 8.253221 
data association time 24.660612 ms 
solver time 15.242691 ms 
mapping data assosiation time 30.926687 ms 
solver time 11.638402 ms 
sort q time 3.787570 
seperate points time 9.533084 
mapping data assosiation time 33.811490 ms 
solver time 12.471727 ms 
data association time 15.583363 ms 
solver time 12.089354 ms 
points size 76474 
sort q time 4.270586 
seperate points time 10.656374 
build tree time 50.848238 ms 
data association time 15.044975 ms 
mapping data assosiation time 31.190212 ms 
data association time 14.895400 ms 
solver time 8.202035 ms 
points size 75988 
mapping data assosiation time 29.708353 ms 
mapping solver time 15.971997 ms 
data association time 15.016194 ms 
solver time 15.960777 ms 
data association time 15.077049 ms 
solver time 10.881952 ms 
points size 75375 
mapping data assosiation time 29.516442 ms 
sort q time 4.047142 
seperate points time 10.571477 
scan registration time 25.207174 ms *************
mapping solver time 20.225689 ms 
data association time 15.241742 ms 
mapping data assosiation time 29.378667 ms 
data association time 14.898730 ms 
mapping solver time 16.060282 ms 
filter time 15.169153 ms 
prepare time 13.716336 
sort q time 4.346095 
seperate points time 11.591475 
data association time 16.863933 ms 
solver time 14.737134 ms 
mapping data assosiation time 28.606606 ms 
solver time 10.256223 ms 
mapping solver time 18.090001 ms 
points size 70785 
sort q time 3.646124 
seperate points time 9.145346 
mapping solver time 14.024344 ms 
filter time 14.536976 ms 
data association time 15.141253 ms 
solver time 14.053606 ms 
build tree time 44.287004 ms 
sort q time 2.802320 
seperate points time 7.141636 
mapping solver time 21.909245 ms 
data association time 22.672454 ms 
solver time 20.796406 ms 
data association time 22.993235 ms 
points size 63758 
publication time 9.412123 ms 
whole laserOdometry time 93.003716 ms 
 
data association time 20.756121 ms 
solver time 17.559942 ms 
build tree time 57.480311 ms 
data association time 21.632879 ms 
solver time 13.364913 ms 
optimization twice time 74.421998 
sort q time 3.377097 
seperate points time 8.770871 
scan registration time 23.894777 ms *************
mapping solver time 24.920667 ms 
data association time 13.864451 ms 
solver time 13.878976 ms 
mapping data assosiation time 27.560245 ms 
mapping solver time 20.897265 ms 
publication time 7.189835 ms 
whole laserOdometry time 64.389305 ms 
 
map prepare time 3.253626 ms
map corner num 164917  surf num 60666 
points size 60040 
prepare time 10.937225 
data association time 11.436851 ms 
solver time 13.620274 ms 
data association time 13.289983 ms 
solver time 11.678474 ms 
mapping solver time 13.805450 ms 
points size 60189 
mapping data assosiation time 24.890695 ms 
mapping solver time 14.637904 ms 
solver time 17.776204 ms 
data association time 13.295903 ms 
solver time 11.518858 ms 
build tree time 44.633078 ms 
points size 61798 
mapping data assosiation time 21.922460 ms 
mapping solver time 13.913673 ms 
data association time 12.193439 ms 
solver time 13.119444 ms 
mapping solver time 10.647198 ms 
solver time 13.114796 ms 
points size 63209 
scan registration time 20.455959 ms *************
data association time 12.148279 ms 
solver time 15.449180 ms 
data association time 15.504878 ms 
publication time 5.825541 ms 
whole laserOdometry time 63.919132 ms 
 
points size 62678 
sort q time 2.793273 
seperate points time 7.157784 
data association time 11.717487 ms 
solver time 13.514363 ms 
data association time 12.087890 ms 
publication time 6.053826 ms 
whole laserOdometry time 55.680790 ms 
 
mapping pub time 229.558733 ms 
whole mapping time 361.629964 ms +++++
sort q time 3.302093 
seperate points time 8.422561 
data association time 13.220896 ms 
build tree time 50.334626 ms 
data association time 13.062790 ms 
mapping solver time 10.802793 ms 
mapping data assosiation time 18.872326 ms 
mapping solver time 13.520866 ms 
filter time 19.772247 ms 
solver time 12.723342 ms 
data association time 11.944999 ms 
solver time 11.576819 ms 
mapping data assosiation time 17.638168 ms 
mapping solver time 12.068450 ms 
mapping data assosiation time 18.398428 ms 
mapping solver time 12.663538 ms 
filter time 13.863103 ms 
data association time 18.078568 ms 
solver time 15.380523 ms 
build tree time 51.167711 ms 
mapping data assosiation time 19.925681 ms 
mapping solver time 14.233878 ms 
solver time 14.926418 ms 
mapping solver time 12.537290 ms 
solver time 11.150598 ms 
map prepare time 3.469563 ms
map corner num 167614  surf num 61552 
prepare time 11.324239 
data association time 12.391273 ms 
data association time 15.232931 ms 
publication time 6.410185 ms 
whole laserOdometry time 52.664548 ms 
 
mapping data assosiation time 18.939061 ms 
mapping solver time 14.280552 ms 
filter time 16.334549 ms 
solver time 11.310231 ms 
data association time 12.279117 ms 
publication time 5.768858 ms 
whole laserOdometry time 52.219868 ms 
 
mapping data assosiation time 17.152186 ms 
mapping solver time 12.623175 ms 
sort q time 3.329914 
seperate points time 8.053769 
data association time 13.208404 ms 
solver time 17.603987 ms 
map prepare time 3.258273 ms
map corner num 168510  surf num 61795 
solver time 10.436675 ms 
build tree time 46.838826 ms 
sort q time 4.042230 
seperate points time 10.082591 
mapping solver time 12.906289 ms 
solver time 14.678466 ms 
mapping solver time 11.560727 ms 
solver time 8.560785 ms 
map prepare time 3.670387 ms
map corner num 169049  surf num 61946 
points size 73561 
sort q time 4.452250 
seperate points time 10.325725 
build tree time 46.997550 ms 
solver time 12.966618 ms 
mapping solver time 10.777398 ms 
solver time 8.884602 ms 
mapping solver time 11.859669 ms 
points size 76873 
map prepare time 2.683368 ms
map corner num 169481  surf num 62088 
data association time 12.439139 ms 
solver time 15.302996 ms 
build tree time 45.467950 ms 
data association time 12.718664 ms 
solver time 11.025343 ms 
publication time 7.233943 ms 
whole laserOdometry time 59.548454 ms 
 
mapping data assosiation time 20.554008 ms 
points size 76353 
prepare time 16.438689 
sort q time 4.240642 
seperate points time 10.681853 
filter time 16.989576 ms 
map prepare time 3.527522 ms
map corner num 170024  surf num 62308 
data association time 13.327799 ms 
solver time 11.404071 ms 
build tree time 51.984808 ms 
points size 74102 
mapping data assosiation time 22.362396 ms 
scan registration time 31.385376 ms *************
data association time 19.462597 ms 
mapping solver time 11.768565 ms 
filter time 15.062678 ms 
solver time 11.815879 ms 
points size 76515 
sort q time 4.428689 
seperate points time 10.721216 
data association time 12.991465 ms 
solver time 13.692389 ms 
data association time 12.962558 ms 
solver time 11.048012 ms 
optimization twice time 51.460311 
publication time 7.171183 ms 
whole laserOdometry time 58.651689 ms 
 
filter time 14.329371 ms 
sort q time 3.300529 
seperate points time 7.938394 
data association time 13.956207 ms 
solver time 13.943900 ms 
data association time 13.196081 ms 
optimization twice time 52.227769 
mapping solver time 12.047429 ms 
mapping data assosiation time 17.668344 ms 
mapping solver time 11.744962 ms 
filter time 20.645596 ms 
solver time 10.340287 ms 
data association time 16.105359 ms 
optimization twice time 55.955546 
points size 79475 
mapping data assosiation time 19.746221 ms 
prepare time 12.304969 
scan registration time 25.987894 ms *************
mapping data assosiation time 18.182940 ms 
mapping solver time 10.156028 ms 
mapping pub time 1.032240 ms 
whole mapping time 132.760063 ms +++++
solver time 9.332496 ms 
points size 77913 
build tree time 48.680831 ms 
mapping data assosiation time 21.324839 ms 
mapping solver time 15.680392 ms 
data association time 13.746346 ms 
solver time 13.766653 ms 
filter time 15.922366 ms 
points size 76116 
sort q time 4.725361 
seperate points time 11.210493 
data association time 14.112559 ms 
build tree time 48.532326 ms 
data association time 14.115811 ms 
mapping data assosiation time 18.999168 ms 
publication time 7.333301 ms 
whole laserOdometry time 57.212935 ms 
 
mapping data assosiation time 19.398466 ms 
add points time 0.706940 ms
scan registration time 26.757415 ms *************
map prepare time 2.958113 ms
map corner num 173156  surf num 63426 
data association time 14.722131 ms 
solver time 11.528735 ms 
data association time 14.115474 ms 
build tree time 48.208447 ms 
publication time 8.039235 ms 
whole laserOdometry time 58.386290 ms 
 
mapping data assosiation time 20.510521 ms 
mapping solver time 13.839670 ms 
mapping data assosiation time 18.881541 ms 
data association time 13.659088 ms 
filter time 15.049296 ms 
publication time 7.640032 ms 
whole laserOdometry time 49.560263 ms 
 
points size 72664 
build tree time 46.700758 ms 
mapping data assosiation time 20.628461 ms 
solver time 10.538936 ms 
data association time 14.278412 ms 
optimization twice time 46.595548 
publication time 7.155978 ms 
whole laserOdometry time 53.768713 ms 
 
filter time 15.567559 ms 
prepare time 11.718644 
sort q time 3.117189 
seperate points time 7.747160 
data association time 14.020776 ms 
solver time 14.626371 ms 
data association time 17.538266 ms 
mapping data assosiation time 20.355545 ms 
publication time 7.475879 ms 
whole laserOdometry time 63.178660 ms 
 
points size 75811 
sort q time 4.395807 
seperate points time 10.578849 
filter time 13.968678 ms 
data association time 26.104579 ms 
solver time 16.888736 ms 
data association time 14.414807 ms 
build tree time 56.257899 ms 
sort q time 3.432407 
seperate points time 8.434058 
mapping solver time 13.710268 ms 
data association time 13.478011 ms 
mapping data assosiation time 21.118063 ms 
solver time 13.561499 ms 
mapping solver time 15.031455 ms 
solver time 11.879028 ms 
points size 79550 
sort q time 4.457398 
seperate points time 11.194917 
build tree time 52.700376 ms 
solver time 12.101708 ms 
mapping data assosiation time 19.926125 ms 
solver time 11.063618 ms 
publication time 8.243917 ms 
whole laserOdometry time 61.439180 ms 
 
points size 78919 
sort q time 4.306125 
seperate points time 10.442266 
filter time 16.403639 ms 
data association time 17.230795 ms 
solver time 14.113308 ms 
data association time 17.538091 ms 
solver time 10.497898 ms 
mapping data assosiation time 22.306799 ms 
mapping solver time 15.772466 ms 
mapping data assosiation time 22.085246 ms 
mapping solver time 14.437646 ms 
filter time 15.921003 ms 
solver time 11.602310 ms 
points size 77881 
sort q time 3.998544 
seperate points time 10.035421 
data association time 14.487566 ms 
solver time 13.380738 ms 
data association time 17.495553 ms 
optimization twice time 57.227185 
points size 79919 
prepare time 12.488416 
scan registration time 26.361488 ms *************
data association time 14.910740 ms 
solver time 12.116355 ms 
data association time 14.404222 ms 
mapping pub time 215.962956 ms 
whole mapping time 359.359974 ms +++++
points size 79958 
sort q time 3.553603 
seperate points time 8.716134 
build tree time 56.667962 ms 
data association time 13.877549 ms 
solver time 14.079715 ms 
mapping solver time 15.688493 ms 
solver time 10.762291 ms 
mapping data assosiation time 23.655091 ms 
points size 79593 
prepare time 16.850531 
mapping solver time 18.672256 ms 
mapping optimization time 137.315221 
sort q time 4.416288 
seperate points time 11.291134 
filter time 17.058313 ms 
data association time 16.582246 ms 
solver time 16.245722 ms 
data association time 14.663469 ms 
solver time 10.609303 ms 
publication time 9.120072 ms 
whole laserOdometry time 68.102053 ms 
 
prepare time 17.988397 
sort q time 4.308571 
seperate points time 10.917430 
scan registration time 32.792406 ms *************
mapping solver time 21.444525 ms 
mapping data assosiation time 18.174913 ms 
mapping solver time 14.466774 ms 
filter time 15.377172 ms 
solver time 12.797165 ms 
points size 74701 
sort q time 3.686294 
seperate points time 9.022017 
build tree time 50.499717 ms 
solver time 12.820955 ms 
data association time 16.596635 ms 
solver time 13.419200 ms 
optimization twice time 57.914964 
mapping solver time 12.365799 ms 
drop lidar frame in mapping for real time performance 
data association time 21.969493 ms 
solver time 18.465351 ms 
build tree time 54.101134 ms 
data association time 21.759913 ms 
mapping data assosiation time 19.378359 ms 
points size 68314 
sort q time 3.661383 
seperate points time 9.073074 
mapping data assosiation time 20.747830 ms 
mapping solver time 12.843117 ms 
filter time 16.034820 ms 
solver time 10.985530 ms 
points size 66526 
sort q time 3.091857 
seperate points time 7.853134 
data association time 12.405146 ms 
solver time 12.953944 ms 
data association time 13.816738 ms 
solver time 10.167725 ms 
mapping solver time 13.459260 ms 
filter time 17.422000 ms 
sort q time 3.221334 
seperate points time 8.063339 
data association time 12.886703 ms 
solver time 12.477622 ms 
data association time 14.292479 ms 
mapping data assosiation time 18.391902 ms 
mapping solver time 13.246158 ms 
points size 64276 
sort q time 3.186375 
seperate points time 7.887852 
data association time 14.142513 ms 
filter time 25.180453 ms 
data association time 13.852459 ms 
solver time 11.899120 ms 
points size 62636 
sort q time 3.152072 
seperate points time 8.297599 
mapping data assosiation time 18.947148 ms 
mapping solver time 15.645898 ms 
data association time 12.966296 ms 
solver time 13.927487 ms 
mapping pub time 0.963009 ms 
whole mapping time 155.024443 ms +++++
sort q time 2.571180 
seperate points time 6.508163 
data association time 12.108320 ms 
solver time 13.737786 ms 
build tree time 57.231022 ms 
solver time 7.898989 ms 
mapping solver time 13.522597 ms 
points size 60907 
sort q time 2.956281 
seperate points time 7.468467 
mapping solver time 17.416643 ms 
solver time 9.990823 ms 
data association time 12.563308 ms 
publication time 6.878875 ms 
whole laserOdometry time 51.336102 ms 
 
build tree time 57.172329 ms 
sort q time 2.646111 
seperate points time 6.635180 
mapping solver time 11.909516 ms 
data association time 13.669769 ms 
solver time 14.998554 ms 
mapping solver time 10.137817 ms 
solver time 13.616890 ms 
drop lidar frame in mapping for real time performance 
map prepare time 3.928738 ms
map corner num 205813  surf num 73057 
points size 65604 
sort q time 3.749082 
seperate points time 9.340741 
build tree time 63.549992 ms 
mapping data assosiation time 18.537095 ms 
mapping solver time 12.828601 ms 
optimization twice time 68.838848 
prepare time 11.227307 
sort q time 3.981319 
seperate points time 9.676449 
mapping pub time 3.451654 ms 
whole mapping time 150.194611 ms +++++
map prepare time 2.970826 ms
map corner num 206318  surf num 73201 
data association time 19.354614 ms 
solver time 15.926940 ms 
data association time 19.513849 ms 
solver time 11.359655 ms 
points size 63207 
sort q time 3.243834 
seperate points time 8.371580 
mapping data assosiation time 16.007959 ms 
data association time 12.363206 ms 
data association time 12.226453 ms 
publication time 6.183930 ms 
whole laserOdometry time 54.455696 ms 
 
points size 64328 
sort q time 3.231801 
seperate points time 8.264283 
mapping data assosiation time 14.960289 ms 
data association time 18.317809 ms 
solver time 17.732812 ms 
mapping solver time 11.397454 ms 
filter time 17.531482 ms 
points size 64741 
scan registration time 21.345138 ms *************
data association time 13.133535 ms 
solver time 11.555168 ms 
build tree time 61.171993 ms 
solver time 8.501743 ms 
mapping solver time 11.463145 ms 
mapping data assosiation time 15.969671 ms 
prepare time 10.539621 
sort q time 3.271698 
seperate points time 8.141147 
filter time 17.801620 ms 
data association time 19.012509 ms 
solver time 11.481123 ms 
data association time 18.760918 ms 
solver time 11.240804 ms 
mapping data assosiation time 17.528756 ms 
mapping solver time 12.908389 ms 
sort q time 2.996798 
seperate points time 7.463160 
data association time 12.689214 ms 
mapping solver time 9.547272 ms 
filter time 15.480932 ms 
solver time 12.285278 ms 
points size 60439 
prepare time 10.202508 
data association time 12.355015 ms 
mapping solver time 11.109027 ms 
mapping data assosiation time 15.906320 ms 
mapping solver time 10.480455 ms 
publication time 7.082431 ms 
whole laserOdometry time 64.294259 ms 
 
filter time 18.329325 ms 
points size 56785 
sort q time 3.246949 
seperate points time 8.562093 
data association time 14.450023 ms 
solver time 13.811369 ms 
build tree time 63.870717 ms 
solver time 10.702642 ms 
mapping solver time 11.850589 ms 
mapping data assosiation time 17.144541 ms 
mapping solver time 11.763903 ms 
data association time 11.558950 ms 
solver time 12.968499 ms 
data association time 12.798450 ms 
solver time 8.803793 ms 
build tree time 66.960875 ms 
sort q time 2.351327 
seperate points time 6.091721 
data association time 11.609488 ms 
solver time 13.679164 ms 
data association time 13.594689 ms 
add points time 0.662474 ms
filter time 25.047829 ms 
points size 53330 
data association time 17.709017 ms 
solver time 14.361952 ms 
build tree time 78.303750 ms 
solver time 13.013475 ms 
publication time 7.686679 ms 
whole laserOdometry time 71.498149 ms 
 
mapping solver time 12.428861 ms 
sort q time 2.763377 
seperate points time 7.044578 
mapping data assosiation time 22.844802 ms 
mapping solver time 14.202091 ms 
solver time 11.022876 ms 
filter time 23.329578 ms 
solver time 10.811235 ms 
points size 54043 
sort q time 2.701878 
seperate points time 6.877170 
build tree time 71.226431 ms 
mapping data assosiation time 20.980626 ms 
mapping solver time 16.714356 ms 
mapping data assosiation time 20.868753 ms 
publication time 7.005278 ms 
whole laserOdometry time 79.375128 ms 
 
sort q time 2.420118 
seperate points time 6.343247 
filter time 22.515651 ms 
data association time 18.881788 ms 
solver time 14.798174 ms 
data association time 17.831040 ms 
solver time 10.915948 ms 
optimization twice time 63.253024 
publication time 6.955056 ms 
whole laserOdometry time 70.223236 ms 
 
points size 59146 
sort q time 2.808301 
seperate points time 7.095842 
scan registration time 19.391433 ms *************
mapping data assosiation time 18.350267 ms 
mapping solver time 10.718193 ms 
data association time 11.662768 ms 
mapping solver time 8.099444 ms 
publication time 6.798634 ms 
whole laserOdometry time 53.428689 ms 
 
filter time 20.106181 ms 
points size 61872 
prepare time 14.721716 
scan registration time 28.287244 ms *************
data association time 19.045998 ms 
solver time 16.069716 ms 
data association time 19.296443 ms 
solver time 15.920417 ms 
points size 63724 
sort q time 3.977067 
seperate points time 10.129443 
data association time 19.095418 ms 
solver time 15.300892 ms 
data association time 18.956078 ms 
optimization twice time 66.721830 
sort q time 5.612538 
seperate points time 14.083265 
data association time 12.922399 ms 
solver time 11.340960 ms 
build tree time 71.404433 ms 
solver time 8.169494 ms 
mapping solver time 11.684898 ms 
scan registration time 21.300962 ms *************
mapping solver time 11.954571 ms 
solver time 15.681914 ms 
map prepare time 3.167005 ms
map corner num 243197  surf num 84734 
data association time 19.126991 ms 
solver time 11.182424 ms 
points size 68487 
prepare time 11.088060 
build tree time 71.541100 ms 
data association time 12.299792 ms 
mapping data assosiation time 18.739896 ms 
mapping solver time 11.672827 ms 
data association time 13.375920 ms 
mapping data assosiation time 18.210139 ms 
publication time 6.955266 ms 
whole laserOdometry time 59.301193 ms 
 
points size 69818 
mapping pub time 1.008346 ms 
whole mapping time 162.739061 ms +++++
scan registration time 27.809315 ms *************
data association time 12.643187 ms 
solver time 10.765594 ms 
data association time 13.768949 ms 
solver time 8.519495 ms 
build tree time 69.284795 ms 
mapping data assosiation time 15.459621 ms 
mapping solver time 14.025112 ms 
mapping data assosiation time 18.965493 ms 
data association time 13.838761 ms 
solver time 11.309849 ms 
data association time 15.140134 ms 
publication time 6.492767 ms 
whole laserOdometry time 57.005972 ms 
 
points size 73383 
sort q time 3.277138 
seperate points time 8.126263 
data association time 13.110758 ms 
mapping data assosiation time 18.931721 ms 
solver time 7.627683 ms 
mapping data assosiation time 18.329482 ms 
mapping solver time 15.759554 ms 
sort q time 3.886465 
seperate points time 9.438182 
data association time 12.563281 ms 
solver time 10.375385 ms 
data association time 13.649880 ms 
solver time 8.902722 ms 
build tree time 67.517693 ms 
points size 79029 
sort q time 4.234442 
seperate points time 10.015600 
data association time 13.968131 ms 
mapping solver time 11.057970 ms 
data association time 20.870855 ms 
solver time 8.371883 ms 
map prepare time 4.750611 ms
map corner num 246161  surf num 85727 
points size 81297 
sort q time 4.568444 
seperate points time 10.794026 
data association time 13.491316 ms 
build tree time 63.524244 ms 
solver time 11.726261 ms 
data association time 14.810429 ms 
solver time 8.983507 ms 
mapping data assosiation time 18.200475 ms 
mapping solver time 10.979700 ms 
sort q time 4.459586 
seperate points time 10.917606 
map prepare time 3.785084 ms
map corner num 246821  surf num 85944 
data association time 16.917701 ms 
solver time 15.047249 ms 
data association time 14.278937 ms 
publication time 8.209620 ms 
whole laserOdometry time 63.141571 ms 
 
build tree time 73.123938 ms 
sort q time 3.844633 
seperate points time 8.992111 
mapping solver time 11.960150 ms 
data association time 21.648465 ms 
mapping solver time 13.547497 ms 
filter time 18.583628 ms 
points size 76490 
sort q time 4.856344 
seperate points time 11.514979 
data association time 13.526124 ms 
solver time 13.011218 ms 
data association time 13.297291 ms 
solver time 11.870684 ms 
mapping data assosiation time 21.980443 ms 
mapping solver time 14.635954 ms 
sort q time 4.091233 
seperate points time 10.369403 
mapping solver time 12.635355 ms 
solver time 13.542668 ms 
data association time 14.450414 ms 
solver time 16.312065 ms 
solver time 10.286392 ms 
mapping solver time 17.798156 ms 
points size 77216 
sort q time 3.509258 
seperate points time 8.628373 
mapping solver time 17.710763 ms 
data association time 13.462684 ms 
filter time 21.443627 ms 
data association time 13.784061 ms 
solver time 10.848480 ms 
publication time 8.219609 ms 
whole laserOdometry time 60.016716 ms 
 
points size 78267 
sort q time 4.330112 
seperate points time 10.209345 
data association time 13.596159 ms 
solver time 14.329399 ms 
mapping solver time 15.257902 ms 
solver time 10.677767 ms 
mapping solver time 11.952443 ms 
prepare time 13.500592 
drop lidar frame in mapping for real time performance 
data association time 13.817926 ms 
solver time 13.697120 ms 
data association time 17.603337 ms 
solver time 15.907765 ms 
points size 80889 
sort q time 4.412877 
seperate points time 10.801635 
data association time 13.761890 ms 
mapping data assosiation time 20.293354 ms 
mapping solver time 13.224995 ms 
data association time 20.061693 ms 
map prepare time 4.915043 ms
map corner num 250320  surf num 87531 
points size 83481 
sort q time 5.875795 
seperate points time 13.543638 
data association time 14.590802 ms 
solver time 10.577818 ms 
data association time 14.676569 ms 
mapping data assosiation time 21.158732 ms 
mapping solver time 14.196822 ms 
prepare time 12.963026 
sort q time 4.334257 
seperate points time 10.468996 
mapping solver time 16.368101 ms 
solver time 10.475001 ms 
map prepare time 4.055966 ms
map corner num 251225  surf num 88015 
solver time 8.520855 ms 
points size 89093 
sort q time 4.004465 
seperate points time 9.559741 
build tree time 76.041265 ms 
solver time 11.504571 ms 
data association time 19.021412 ms 
solver time 10.782912 ms 
mapping data assosiation time 22.475703 ms 
mapping solver time 14.907712 ms 
sort q time 4.268825 
seperate points time 10.516970 
filter time 24.083875 ms 
data association time 15.853289 ms 
solver time 14.042758 ms 
data association time 17.975611 ms 
solver time 10.949203 ms 
build tree time 70.660821 ms 
sort q time 5.029655 
seperate points time 11.875439 
scan registration time 31.096913 ms *************
mapping data assosiation time 25.138352 ms 
mapping solver time 16.169868 ms 
solver time 12.748234 ms 
data association time 16.007279 ms 
publication time 9.251535 ms 
whole laserOdometry time 66.532599 ms 
 
prepare time 14.988237 
sort q time 4.729483 
seperate points time 11.479378 
data association time 15.826130 ms 
solver time 18.399682 ms 
data association time 16.541992 ms 
solver time 8.371841 ms 
mapping data assosiation time 23.631378 ms 
mapping solver time 16.217512 ms 
mapping data assosiation time 22.222771 ms 
solver time 11.666643 ms 
mapping solver time 13.699595 ms 
mapping optimization time 145.080050 
add points time 0.884769 ms
data association time 16.600621 ms 
solver time 8.287943 ms 
publication time 8.983105 ms 
whole laserOdometry time 62.248097 ms 
 
points size 85682 
sort q time 4.865839 
seperate points time 12.024176 
data association time 14.717070 ms 
build tree time 70.644017 ms 
mapping data assosiation time 21.666788 ms 
solver time 10.364307 ms 
points size 85387 
prepare time 17.452649 
mapping data assosiation time 22.666067 ms 
sort q time 4.793262 
seperate points time 11.939293 
filter time 19.128816 ms 
solver time 12.423330 ms 
data association time 18.417294 ms 
solver time 11.080128 ms 
publication time 10.783090 ms 
whole laserOdometry time 69.464284 ms 
 
points size 86705 
build tree time 70.693764 ms 
mapping data assosiation time 22.736012 ms 
solver time 10.941326 ms 
data association time 16.288516 ms 
mapping data assosiation time 24.601662 ms 
mapping solver time 16.288793 ms 
sort q time 4.976793 
seperate points time 12.390377 
data association time 15.322885 ms 
solver time 11.837114 ms 
data association time 16.448284 ms 
publication time 8.916985 ms 
whole laserOdometry time 61.622697 ms 
 
build tree time 71.916603 ms 
sort q time 3.726981 
seperate points time 9.263941 
mapping solver time 16.985345 ms 
solver time 13.299751 ms 
mapping data assosiation time 26.927828 ms 
solver time 7.663117 ms 
points size 84745 
filter time 25.446391 ms 
data association time 17.317497 ms 
solver time 12.950778 ms 
data association time 17.376804 ms 
optimization twice time 61.877416 
points size 83044 
prepare time 16.384743 
mapping data assosiation time 26.505867 ms 
mapping solver time 18.776762 ms 
solver time 11.429717 ms 
data association time 16.518178 ms 
solver time 13.264385 ms 
filter time 25.089651 ms 
sort q time 4.365795 
seperate points time 11.071697 
data association time 17.041787 ms 
solver time 16.211898 ms 
data association time 19.624373 ms 
solver time 11.615846 ms 
publication time 10.037972 ms 
whole laserOdometry time 75.629098 ms 
 
prepare time 18.651940 
mapping data assosiation time 33.776524 ms 
mapping solver time 19.738114 ms 
solver time 13.070084 ms 
mapping solver time 14.137574 ms 
solver time 11.514281 ms 
filter time 23.570417 ms 
sort q time 4.865789 
seperate points time 12.830212 
data association time 15.142036 ms 
solver time 13.837447 ms 
data association time 19.641421 ms 
optimization twice time 63.667250 
points size 80012 
publication time 8.790917 ms 
whole laserOdometry time 72.480383 ms 
 
prepare time 15.009470 
sort q time 5.005719 
seperate points time 12.665556 
data association time 16.727102 ms 
solver time 13.230574 ms 
data association time 15.237451 ms 
solver time 14.275021 ms 
prepare time 13.539663 
sort q time 4.295405 
seperate points time 11.159020 
map prepare time 5.734873 ms
map corner num 258554  surf num 91051 
data association time 28.248684 ms 
solver time 15.614437 ms 
data association time 18.513724 ms 
build tree time 73.608970 ms 
sort q time 4.512742 
seperate points time 11.611940 
scan registration time 32.342057 ms *************
data association time 16.307108 ms 
data association time 15.833730 ms 
publication time 9.266472 ms 
whole laserOdometry time 56.747367 ms 
 
mapping solver time 19.565460 ms 
mapping optimization time 176.354837 
add points time 0.885189 ms
points size 76299 
sort q time 4.197921 
seperate points time 10.776676 
data association time 15.105547 ms 
solver time 11.298446 ms 
data association time 15.755904 ms 
solver time 8.258606 ms 
optimization twice time 51.341726 
build tree time 74.995313 ms 
sort q time 3.794405 
seperate points time 9.483029 
data association time 15.204896 ms 
mapping data assosiation time 24.793279 ms 
solver time 8.622557 ms 
optimization twice time 47.255911 
publication time 8.883115 ms 
whole laserOdometry time 56.155401 ms 
 
points size 75516 
sort q time 4.426001 
seperate points time 11.357557 
data association time 15.289269 ms 
solver time 8.070468 ms 
data association time 18.484707 ms 
solver time 6.041372 ms 
optimization twice time 48.751344 
points size 74996 
sort q time 3.237257 
seperate points time 8.180605 
mapping solver time 21.730175 ms 
data association time 15.002605 ms 
solver time 14.141448 ms 
mapping solver time 14.909767 ms 
solver time 10.167107 ms 
filter time 22.125459 ms 
points size 74937 
prepare time 12.476857 
scan registration time 26.721627 ms *************
data association time 14.508257 ms 
solver time 10.752682 ms 
build tree time 69.636297 ms 
data association time 15.780148 ms 
solver time 8.952013 ms 
publication time 7.894369 ms 
whole laserOdometry time 58.650451 ms 
 
points size 74808 
sort q time 3.508594 
seperate points time 8.764603 
mapping data assosiation time 25.369112 ms 
mapping solver time 12.046256 ms 
data association time 13.437145 ms 
solver time 8.743763 ms 
points size 74975 
scan registration time 33.657492 ms *************
build tree time 75.675050 ms 
solver time 12.308024 ms 
mapping data assosiation time 25.643159 ms 
data association time 15.622932 ms 
solver time 8.542267 ms 
points size 75236 
sort q time 3.894971 
seperate points time 9.394699 
mapping solver time 16.484614 ms 
solver time 11.511008 ms 
drop lidar frame in mapping for real time performance 
map prepare time 4.375226 ms
map corner num 244054  surf num 87600 
data association time 16.260208 ms 
publication time 7.533763 ms 
whole laserOdometry time 60.240834 ms 
 
points size 72545 
sort q time 4.084534 
seperate points time 9.731270 
build tree time 71.074819 ms 
data association time 22.221992 ms 
mapping data assosiation time 22.625967 ms 
solver time 15.460300 ms 
mapping solver time 15.064463 ms 
data association time 22.741408 ms 
solver time 11.438007 ms 
publication time 8.669285 ms 
whole laserOdometry time 81.515805 ms 
 
sort q time 3.536473 
seperate points time 8.720678 
filter time 22.022945 ms 
data association time 21.639315 ms 
solver time 18.645678 ms 
data association time 21.669229 ms 
solver time 15.586326 ms 
sort q time 3.379786 
seperate points time 8.175090 
mapping data assosiation time 22.787018 ms 
mapping solver time 18.371931 ms 
solver time 15.211622 ms 
data association time 20.297461 ms 
solver time 11.593782 ms 
points size 66980 
sort q time 3.333067 
seperate points time 8.278638 
data association time 19.566482 ms 
solver time 18.767101 ms 
data association time 19.274004 ms 
solver time 11.284815 ms 
mapping data assosiation time 21.446376 ms 
prepare time 11.628321 
sort q time 3.574001 
seperate points time 8.598067 
mapping data assosiation time 21.345781 ms 
data association time 19.076269 ms 
solver time 15.201957 ms 
filter time 19.117694 ms 
data association time 19.341445 ms 
solver time 11.863604 ms 
points size 67126 
sort q time 3.515835 
seperate points time 8.459929 
build tree time 74.956941 ms 
solver time 15.085620 ms 
data association time 19.380431 ms 
mapping data assosiation time 21.679420 ms 
mapping solver time 15.529933 ms 
filter time 23.398667 ms 
solver time 18.510494 ms 
data association time 16.611794 ms 
solver time 12.820523 ms 
points size 65441 
sort q time 3.881111 
seperate points time 9.861222 
data association time 12.418342 ms 
solver time 13.256508 ms 
data association time 12.250562 ms 
mapping data assosiation time 23.259602 ms 
mapping solver time 11.450066 ms 
filter time 20.218414 ms 
map prepare time 3.388177 ms
map corner num 247184  surf num 88515 
data association time 13.236381 ms 
solver time 14.032737 ms 
data association time 13.374232 ms 
solver time 11.659616 ms 
mapping data assosiation time 18.359759 ms 
prepare time 11.196723 
sort q time 3.897198 
seperate points time 9.438844 
mapping data assosiation time 17.877400 ms 
solver time 13.191553 ms 
data association time 12.472690 ms 
publication time 5.452754 ms 
whole laserOdometry time 55.374838 ms 
 
points size 67123 
sort q time 3.398078 
seperate points time 8.706720 
build tree time 64.837312 ms 
solver time 12.347020 ms 
mapping solver time 11.813128 ms 
solver time 9.557664 ms 
mapping solver time 10.845668 ms 
points size 65536 
map prepare time 3.438045 ms
map corner num 248432  surf num 88943 
sort q time 3.725601 
seperate points time 9.571850 
scan registration time 24.550072 ms *************
data association time 13.149628 ms 
solver time 13.897121 ms 
data association time 12.767121 ms 
solver time 11.557265 ms 
build tree time 70.261205 ms 
mapping data assosiation time 17.958038 ms 
mapping solver time 13.549362 ms 
mapping data assosiation time 17.726932 ms 
data association time 12.951563 ms 
solver time 13.006421 ms 
filter time 21.537661 ms 
publication time 5.624853 ms 
whole laserOdometry time 53.151324 ms 
 
points size 64415 
sort q time 4.304900 
seperate points time 10.477873 
build tree time 70.160360 ms 
data association time 19.308161 ms 
mapping data assosiation time 18.075400 ms 
solver time 15.122213 ms 
data association time 19.413443 ms 
solver time 11.290859 ms 
points size 62466 
prepare time 10.807184 
filter time 23.392283 ms 
data association time 19.897621 ms 
solver time 15.240425 ms 
data association time 19.418364 ms 
solver time 11.222484 ms 
publication time 7.578803 ms 
whole laserOdometry time 74.394676 ms 
 
points size 61390 
sort q time 3.538639 
seperate points time 9.422982 
data association time 11.911760 ms 
mapping solver time 11.384056 ms 
solver time 10.044437 ms 
filter time 26.270950 ms 
points size 61676 
scan registration time 22.299420 ms *************
data association time 19.710658 ms 
solver time 15.278913 ms 
mapping data assosiation time 18.104314 ms 
data association time 19.692445 ms 
mapping solver time 12.923192 ms 
mapping data assosiation time 17.623533 ms 
mapping solver time 10.818587 ms 
sort q time 3.646325 
seperate points time 9.697917 
map prepare time 3.810337 ms
map corner num 250878  surf num 89862 
solver time 8.571899 ms 
data association time 12.973314 ms 
solver time 8.716962 ms 
build tree time 70.488956 ms 
prepare time 10.753026 
scan registration time 22.638000 ms *************
mapping solver time 13.230193 ms 
data association time 13.923881 ms 
solver time 11.686335 ms 
mapping solver time 10.874272 ms 
solver time 8.190890 ms 
filter time 20.236204 ms 
mapping pub time 0.784762 ms 
whole mapping time 156.495399 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.497442 ms
map corner num 251547  surf num 90071 
points size 63908 
scan registration time 20.108032 ms *************
data association time 13.292033 ms 
solver time 10.969973 ms 
data association time 13.673150 ms 
solver time 8.582442 ms 
mapping solver time 14.976529 ms 
mapping data assosiation time 15.947519 ms 
prepare time 10.702311 
sort q time 3.171270 
seperate points time 7.927050 
filter time 22.955588 ms 
mapping pub time 0.827830 ms 
whole mapping time 159.426859 ms +++++
map prepare time 3.567978 ms
map corner num 252084  surf num 90244 
data association time 21.317469 ms 
solver time 11.498121 ms 
data association time 20.397064 ms 
solver time 11.789931 ms 
build tree time 75.391006 ms 
sort q time 3.972452 
seperate points time 10.054179 
mapping solver time 17.154330 ms 
solver time 8.882774 ms 
data association time 17.564334 ms 
solver time 10.733189 ms 
filter time 20.337453 ms 
points size 65940 
sort q time 3.551413 
seperate points time 9.193365 
data association time 21.011670 ms 
solver time 17.798653 ms 
data association time 20.345645 ms 
solver time 11.570185 ms 
points size 64484 
sort q time 3.439348 
seperate points time 9.024938 
mapping data assosiation time 18.333316 ms 
solver time 10.759638 ms 
data association time 14.157231 ms 
filter time 22.073440 ms 
points size 59804 
scan registration time 24.237666 ms *************
data association time 16.059047 ms 
solver time 15.534382 ms 
data association time 14.203890 ms 
publication time 6.326294 ms 
whole laserOdometry time 64.094762 ms 
 
points size 55700 
scan registration time 22.105435 ms *************
data association time 13.206404 ms 
solver time 16.928550 ms 
data association time 18.145761 ms 
publication time 6.255282 ms 
whole laserOdometry time 64.675106 ms 
 
points size 52756 
scan registration time 22.882101 ms *************
data association time 19.736760 ms 
solver time 15.059832 ms 
build tree time 63.397416 ms 
data association time 18.323839 ms 
mapping data assosiation time 19.183356 ms 
points size 49072 
mapping data assosiation time 19.566643 ms 
data association time 11.432077 ms 
solver time 11.428870 ms 
filter time 17.727084 ms 
solver time 10.693713 ms 
points size 44934 
sort q time 2.272461 
seperate points time 6.519876 
data association time 10.638241 ms 
solver time 12.730614 ms 
data association time 11.863719 ms 
solver time 11.063995 ms 
mapping solver time 12.784112 ms 
filter time 18.036058 ms 
data association time 10.727550 ms 
solver time 10.544798 ms 
data association time 10.845236 ms 
publication time 4.262630 ms 
whole laserOdometry time 45.365228 ms 
 
build tree time 62.172752 ms 
mapping data assosiation time 16.238707 ms 
points size 37578 
prepare time 6.404669 
sort q time 1.851543 
seperate points time 5.162114 
scan registration time 12.344620 ms *************
mapping solver time 10.228674 ms 
solver time 9.458324 ms 
map prepare time 2.651688 ms
map corner num 227355  surf num 78728 
publication time 4.461532 ms 
whole laserOdometry time 45.309230 ms 
 
points size 37730 
mapping data assosiation time 16.568178 ms 
data association time 12.009538 ms 
solver time 14.333954 ms 
data association time 12.791185 ms 
solver time 10.436670 ms 
points size 39903 
data association time 8.786774 ms 
solver time 12.417126 ms 
data association time 11.539558 ms 
solver time 12.129166 ms 
mapping data assosiation time 18.896155 ms 
mapping solver time 9.025368 ms 
prepare time 7.006314 
filter time 21.536929 ms 
data association time 13.808516 ms 
solver time 14.100547 ms 
data association time 11.341860 ms 
optimization twice time 49.536678 
build tree time 67.000514 ms 
points size 46886 
mapping solver time 13.367499 ms 
solver time 10.069256 ms 
data association time 9.997630 ms 
publication time 4.233511 ms 
whole laserOdometry time 42.935499 ms 
 
filter time 20.412325 ms 
points size 50384 
scan registration time 20.618739 ms *************
build tree time 63.957465 ms 
solver time 10.915192 ms 
data association time 10.022699 ms 
publication time 4.699483 ms 
whole laserOdometry time 47.231521 ms 
 
mapping solver time 11.769021 ms 
points size 52902 
scan registration time 19.524101 ms *************
map prepare time 4.397830 ms
map corner num 229393  surf num 79261 
solver time 14.457930 ms 
data association time 15.880147 ms 
solver time 11.080374 ms 
optimization twice time 58.738689 
publication time 5.813875 ms 
whole laserOdometry time 64.568263 ms 
 
build tree time 77.751581 ms 
points size 55916 
sort q time 2.936367 
seperate points time 7.588162 
mapping data assosiation time 15.923445 ms 
solver time 11.163251 ms 
mapping solver time 10.134922 ms 
mapping optimization time 130.427242 
add points time 0.454311 ms
filter time 17.812807 ms 
points size 59961 
sort q time 3.151700 
seperate points time 8.143997 
build tree time 67.268149 ms 
data association time 11.148072 ms 
solver time 11.721320 ms 
mapping solver time 14.695526 ms 
publication time 5.167775 ms 
whole laserOdometry time 48.704772 ms 
 
mapping solver time 7.516305 ms 
points size 61697 
scan registration time 20.536662 ms *************
data association time 17.526633 ms 
solver time 14.575787 ms 
data association time 17.348610 ms 
solver time 10.844693 ms 
optimization twice time 61.203594 
build tree time 78.262055 ms 
publication time 7.228746 ms 
whole laserOdometry time 68.458993 ms 
 
mapping data assosiation time 16.640045 ms 
points size 61689 
prepare time 10.001274 
scan registration time 20.630504 ms *************
mapping data assosiation time 19.612819 ms 
data association time 19.540971 ms 
mapping solver time 14.438618 ms 
filter time 22.034502 ms 
solver time 12.505474 ms 
points size 62190 
data association time 11.136474 ms 
solver time 11.039497 ms 
build tree time 66.263378 ms 
data association time 12.218650 ms 
solver time 10.856067 ms 
mapping data assosiation time 15.802941 ms 
mapping solver time 10.372516 ms 
points size 63541 
sort q time 2.944598 
seperate points time 7.451619 
data association time 11.205435 ms 
solver time 11.173001 ms 
data association time 14.658157 ms 
publication time 5.356093 ms 
whole laserOdometry time 52.018291 ms 
 
mapping data assosiation time 16.073547 ms 
data association time 19.103696 ms 
solver time 11.218448 ms 
points size 66052 
prepare time 10.751337 
scan registration time 24.048361 ms *************
build tree time 76.094376 ms 
mapping data assosiation time 21.481005 ms 
mapping solver time 18.825577 ms 
solver time 13.495790 ms 
mapping solver time 15.535752 ms 
filter time 23.042359 ms 
solver time 18.176185 ms 
data association time 19.745203 ms 
solver time 14.811094 ms 
publication time 7.908351 ms 
whole laserOdometry time 81.682589 ms 
 
sort q time 3.942219 
seperate points time 9.998166 
scan registration time 25.450611 ms *************
build tree time 80.569935 ms 
mapping data assosiation time 22.427656 ms 
mapping solver time 20.465434 ms 
solver time 19.550769 ms 
mapping data assosiation time 22.805340 ms 
mapping solver time 16.987465 ms 
mapping optimization time 164.418751 
solver time 16.226886 ms 
add points time 0.563802 ms
optimization twice time 81.050366 
points size 68355 
prepare time 10.971072 
filter time 21.180124 ms 
data association time 20.520039 ms 
solver time 17.640853 ms 
data association time 19.654639 ms 
publication time 8.080792 ms 
whole laserOdometry time 81.485028 ms 
 
sort q time 3.163255 
seperate points time 7.825942 
mapping data assosiation time 20.145874 ms 
data association time 20.725535 ms 
solver time 20.526462 ms 
data association time 21.304067 ms 
solver time 15.637283 ms 
mapping pub time 4.432011 ms 
whole mapping time 190.826934 ms +++++
scan registration time 24.749778 ms *************
data association time 20.203614 ms 
data association time 19.945124 ms 
build tree time 81.863551 ms 
publication time 9.146599 ms 
whole laserOdometry time 83.028070 ms 
 
points size 67879 
sort q time 3.560548 
seperate points time 9.362981 
mapping solver time 15.917177 ms 
data association time 22.235734 ms 
solver time 13.376593 ms 
data association time 16.036710 ms 
solver time 11.455078 ms 
prepare time 11.743371 
sort q time 3.847667 
seperate points time 10.016535 
[0m[ INFO] [1718887510.059071232]: Received 2884179 data points in frame /camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718887510.059101726]: Data saved to 1317358251865907.pcd[0m
data association time 17.499402 ms 
solver time 13.800986 ms 
data association time 16.824833 ms 
mapping data assosiation time 19.525662 ms 
mapping solver time 14.144137 ms 
sort q time 3.047207 
seperate points time 7.952747 
mapping solver time 13.448420 ms 
solver time 14.672399 ms 
data association time 16.591326 ms 
solver time 11.367740 ms 
publication time 8.291666 ms 
whole laserOdometry time 66.697944 ms 
 
points size 71489 
sort q time 3.923038 
seperate points time 9.969196 
data association time 12.786934 ms 
solver time 13.081370 ms 
mapping solver time 18.287288 ms 
solver time 11.113034 ms 
mapping solver time 12.895017 ms 
prepare time 12.308670 
filter time 22.131363 ms 
data association time 21.150933 ms 
solver time 15.306960 ms 
data association time 17.071571 ms 
solver time 12.982510 ms 
points size 74607 
mapping data assosiation time 24.150991 ms 
mapping solver time 18.715352 ms 
data association time 24.139269 ms 
mapping data assosiation time 25.966245 ms 
solver time 20.904457 ms 
mapping solver time 19.430478 ms 
data association time 21.816032 ms 
prepare time 14.277120 
sort q time 4.128675 
seperate points time 10.803157 
data association time 22.310409 ms 
solver time 17.576783 ms 
build tree time 83.297753 ms 
points size 76026 
sort q time 3.619572 
seperate points time 8.799130 
mapping solver time 22.588712 ms 
solver time 21.018754 ms 
mapping data assosiation time 26.977971 ms 
mapping solver time 21.519613 ms 
solver time 15.854469 ms 
optimization twice time 84.388812 
points size 78112 
prepare time 12.167885 
filter time 22.520129 ms 
publication time 10.484444 ms 
whole laserOdometry time 94.894150 ms 
 
data association time 26.799586 ms 
solver time 23.008523 ms 
data association time 26.603820 ms 
optimization twice time 92.509747 
sort q time 3.777611 
seperate points time 9.327866 
data association time 25.770120 ms 
solver time 13.979852 ms 
data association time 27.489962 ms 
points size 80476 
publication time 11.357981 ms 
whole laserOdometry time 95.090657 ms 
 
data association time 28.326592 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 
data association time 24.036348 ms 
prepare time 14.042904 
sort q time 5.749179 
seperate points time 12.995622 
data association time 23.488605 ms 
solver time 16.706848 ms 
mapping data assosiation time 27.957503 ms 
data association time 25.468160 ms 
mapping solver time 24.019710 ms 
points size 82520 
publication time 11.223527 ms 
whole laserOdometry time 90.688514 ms 
 
mapping data assosiation time 27.105389 ms 
data association time 23.953872 ms 
mapping solver time 22.652598 ms 
mapping optimization time 186.630872 
add points time 0.649073 ms
filter time 23.232073 ms 
solver time 8.398950 ms 
prepare time 16.253073 
sort q time 4.812125 
seperate points time 11.973710 
data association time 14.268272 ms 
solver time 15.740186 ms 
mapping data assosiation time 25.697359 ms 
solver time 11.890454 ms 
points size 85358 
mapping data assosiation time 30.520595 ms 
scan registration time 36.889230 ms *************
data association time 16.820583 ms 
map prepare time 4.549540 ms
map corner num 239704  surf num 83902 
data association time 14.726329 ms 
solver time 12.327208 ms 
prepare time 13.603878 
sort q time 4.691487 
seperate points time 11.120967 
data association time 14.970410 ms 
mapping data assosiation time 22.904450 ms 
solver time 13.148973 ms 
data association time 17.612705 ms 
mapping solver time 25.669133 ms 
publication time 7.301795 ms 
whole laserOdometry time 65.343960 ms 
 
points size 82147 
sort q time 4.580501 
seperate points time 10.944272 
data association time 14.193290 ms 
solver time 10.838460 ms 
data association time 14.748664 ms 
publication time 7.767704 ms 
whole laserOdometry time 56.441626 ms 
 
points size 81470 
sort q time 3.753051 
seperate points time 9.017894 
mapping data assosiation time 20.640311 ms 
data association time 21.475739 ms 
solver time 18.329542 ms 
data association time 21.509696 ms 
solver time 14.776649 ms 
drop lidar frame in mapping for real time performance 
sort q time 4.559031 
seperate points time 11.248494 
data association time 17.712509 ms 
solver time 16.018475 ms 
build tree time 66.041701 ms 
data association time 14.544656 ms 
solver time 9.225923 ms 
points size 79334 
sort q time 4.120141 
seperate points time 9.686673 
mapping data assosiation time 22.647657 ms 
mapping solver time 12.052224 ms 
filter time 20.609468 ms 
publication time 7.840454 ms 
whole laserOdometry time 56.631513 ms 
 
points size 78626 
sort q time 4.457301 
seperate points time 10.564899 
build tree time 69.408706 ms 
solver time 11.412370 ms 
data association time 13.566435 ms 
mapping data assosiation time 20.337905 ms 
points size 78069 
add points time 0.611632 ms
filter time 19.103276 ms 
solver time 13.362347 ms 
data association time 13.969671 ms 
solver time 11.680477 ms 
publication time 7.867224 ms 
whole laserOdometry time 61.728039 ms 
 
build tree time 64.896801 ms 
mapping data assosiation time 18.484976 ms 
mapping solver time 14.804681 ms 
data association time 16.340086 ms 
mapping data assosiation time 19.316359 ms 
mapping solver time 12.546555 ms 
data association time 17.297010 ms 
mapping pub time 1.082272 ms 
whole mapping time 155.961701 ms +++++
publication time 7.696756 ms 
whole laserOdometry time 72.294442 ms 
 
points size 79157 
sort q time 3.472482 
seperate points time 8.390090 
data association time 13.769654 ms 
solver time 16.342872 ms 
data association time 16.625163 ms 
solver time 10.580638 ms 
points size 78427 
sort q time 4.195305 
seperate points time 10.006571 
data association time 14.690849 ms 
solver time 15.376921 ms 
data association time 13.768723 ms 
solver time 10.469013 ms 
points size 76725 
build tree time 67.558831 ms 
mapping data assosiation time 20.486759 ms 
data association time 21.247211 ms 
solver time 20.266584 ms 
data association time 21.680823 ms 
points size 75731 
filter time 24.621397 ms 
sort q time 3.944348 
seperate points time 9.176135 
data association time 15.644380 ms 
solver time 13.502576 ms 
data association time 13.907594 ms 
solver time 10.937049 ms 
build tree time 72.813469 ms 
prepare time 11.570610 
scan registration time 23.464512 ms *************
data association time 12.405090 ms 
solver time 11.099347 ms 
mapping solver time 17.267382 ms 
solver time 10.386125 ms 
filter time 23.199790 ms 
map prepare time 3.686486 ms
map corner num 254983  surf num 89905 
points size 73213 
sort q time 3.221160 
seperate points time 8.030227 
data association time 12.557125 ms 
solver time 13.883918 ms 
data association time 12.110940 ms 
solver time 11.190622 ms 
optimization twice time 50.502534 
publication time 5.681557 ms 
whole laserOdometry time 56.202696 ms 
 
mapping solver time 13.081998 ms 
points size 71965 
mapping data assosiation time 18.135656 ms 
mapping solver time 15.060691 ms 
mapping optimization time 139.315079 
add points time 0.656012 ms
data association time 19.181889 ms 
filter time 22.809981 ms 
data association time 12.124978 ms 
solver time 8.378905 ms 
points size 71646 
sort q time 3.397053 
seperate points time 8.178590 
build tree time 74.535494 ms 
solver time 11.245728 ms 
data association time 15.956067 ms 
mapping solver time 15.989570 ms 
solver time 14.932621 ms 
mapping solver time 11.285827 ms 
points size 71331 
filter time 24.688067 ms 
data association time 12.245627 ms 
solver time 11.785104 ms 
data association time 12.308025 ms 
solver time 11.637528 ms 
optimization twice time 48.814097 
publication time 5.439219 ms 
whole laserOdometry time 54.267603 ms 
 
build tree time 68.828111 ms 
points size 71263 
sort q time 3.415164 
seperate points time 8.325874 
mapping data assosiation time 19.104276 ms 
data association time 15.009640 ms 
solver time 14.017441 ms 
data association time 12.308870 ms 
filter time 21.984179 ms 
mapping pub time 0.863885 ms 
whole mapping time 157.213760 ms +++++
publication time 8.012100 ms 
whole laserOdometry time 63.675293 ms 
 
points size 71355 
prepare time 11.218455 
scan registration time 22.393836 ms *************
data association time 13.921804 ms 
solver time 14.999899 ms 
mapping data assosiation time 18.149745 ms 
mapping solver time 13.090111 ms 
publication time 7.494837 ms 
whole laserOdometry time 64.465593 ms 
 
mapping solver time 8.994136 ms 
sort q time 4.313779 
seperate points time 10.232532 
mapping pub time 0.963256 ms 
whole mapping time 164.813055 ms +++++
solver time 10.362401 ms 
data association time 13.244867 ms 
publication time 6.062349 ms 
whole laserOdometry time 51.924946 ms 
 
build tree time 67.926725 ms 
prepare time 13.035042 
sort q time 4.088404 
seperate points time 10.269287 
data association time 12.262586 ms 
mapping data assosiation time 17.020759 ms 
mapping solver time 11.134580 ms 
data association time 12.734484 ms 
solver time 8.396530 ms 
publication time 7.498816 ms 
whole laserOdometry time 55.199454 ms 
 
points size 70385 
sort q time 3.307731 
seperate points time 8.045091 
data association time 12.653581 ms 
build tree time 66.163836 ms 
solver time 13.543864 ms 
data association time 12.566311 ms 
solver time 10.877416 ms 
publication time 6.416017 ms 
whole laserOdometry time 56.899156 ms 
 
mapping data assosiation time 17.101510 ms 
points size 67573 
prepare time 13.767469 
mapping solver time 18.245271 ms 
mapping optimization time 131.596272 
add points time 0.451481 ms
scan registration time 26.573108 ms *************
filter time 22.138476 ms 
data association time 16.079763 ms 
solver time 15.191099 ms 
data association time 15.922486 ms 
solver time 13.787523 ms 
points size 66421 
sort q time 3.123754 
seperate points time 7.615776 
mapping data assosiation time 17.208192 ms 
mapping solver time 12.053064 ms 
solver time 11.667450 ms 
mapping solver time 11.662271 ms 
solver time 10.700232 ms 
filter time 21.861824 ms 
points size 64486 
scan registration time 20.369158 ms *************
data association time 12.263270 ms 
solver time 12.886673 ms 
data association time 13.224230 ms 
solver time 11.095165 ms 
mapping data assosiation time 19.329108 ms 
mapping solver time 15.609537 ms 
sort q time 3.084908 
seperate points time 7.841615 
mapping solver time 10.245854 ms 
data association time 19.244900 ms 
map prepare time 3.545933 ms
map corner num 259214  surf num 91163 
solver time 15.688737 ms 
data association time 19.207199 ms 
solver time 11.747140 ms 
points size 61420 
sort q time 2.436077 
seperate points time 6.256691 
data association time 18.845232 ms 
solver time 15.232232 ms 
mapping solver time 14.268663 ms 
data association time 18.855993 ms 
solver time 11.648352 ms 
points size 57843 
sort q time 3.198490 
seperate points time 8.236483 
data association time 11.832254 ms 
solver time 11.433349 ms 
data association time 12.632488 ms 
solver time 8.568178 ms 
build tree time 76.676775 ms 
mapping data assosiation time 17.955788 ms 
mapping solver time 12.526312 ms 
data association time 14.963265 ms 
mapping data assosiation time 19.833813 ms 
data association time 11.661794 ms 
solver time 7.759357 ms 
points size 55686 
sort q time 2.422173 
seperate points time 6.135042 
data association time 11.278185 ms 
data association time 12.021004 ms 
solver time 9.017896 ms 
optimization twice time 44.349882 
publication time 5.574051 ms 
whole laserOdometry time 49.946006 ms 
 
points size 57806 
sort q time 2.828311 
seperate points time 7.225097 
solver time 10.507483 ms 
data association time 11.911850 ms 
solver time 8.724695 ms 
mapping pub time 222.370825 ms 
whole mapping time 387.242227 ms +++++
points size 60246 
sort q time 3.179647 
seperate points time 8.821759 
scan registration time 26.537850 ms *************
data association time 14.646259 ms 
solver time 13.838077 ms 
data association time 15.019617 ms 
optimization twice time 54.970865 
mapping solver time 13.135388 ms 
mapping data assosiation time 16.321738 ms 
prepare time 13.203099 
filter time 23.077044 ms 
solver time 14.744912 ms 
data association time 19.079876 ms 
solver time 11.015446 ms 
publication time 8.308581 ms 
whole laserOdometry time 73.406942 ms 
 
points size 65946 
sort q time 3.704556 
seperate points time 9.560246 
build tree time 84.416720 ms 
data association time 12.961951 ms 
mapping data assosiation time 17.292024 ms 
mapping solver time 11.895861 ms 
data association time 12.769793 ms 
solver time 12.976363 ms 
filter time 20.742745 ms 
sort q time 3.734359 
seperate points time 9.380387 
solver time 10.131216 ms 
data association time 16.769041 ms 
publication time 6.759782 ms 
whole laserOdometry time 56.340707 ms 
 
mapping data assosiation time 18.210880 ms 
points size 68736 
sort q time 3.794129 
seperate points time 9.502914 
mapping data assosiation time 18.327717 ms 
mapping solver time 13.713558 ms 
solver time 15.062407 ms 
filter time 25.050123 ms 
mapping pub time 1.091938 ms 
whole mapping time 165.569830 ms +++++
data association time 20.724303 ms 
solver time 11.494388 ms 
publication time 8.103652 ms 
whole laserOdometry time 76.863459 ms 
 
points size 70369 
prepare time 11.797049 
scan registration time 23.055044 ms *************
data association time 20.652824 ms 
build tree time 87.597365 ms 
mapping data assosiation time 22.797589 ms 
data association time 23.716779 ms 
solver time 12.209523 ms 
publication time 9.240651 ms 
whole laserOdometry time 82.123276 ms 
 
mapping data assosiation time 21.425450 ms 
mapping solver time 9.579913 ms 
mapping optimization time 161.757091 
add points time 0.575222 ms
filter time 25.021264 ms 
map prepare time 4.595216 ms
map corner num 263522  surf num 92738 
solver time 16.219251 ms 
data association time 21.441429 ms 
solver time 11.692632 ms 
publication time 8.805980 ms 
whole laserOdometry time 80.613705 ms 
 
sort q time 3.855611 
seperate points time 9.850314 
build tree time 89.912636 ms 
mapping data assosiation time 19.705368 ms 
mapping solver time 14.360654 ms 
data association time 21.421511 ms 
mapping data assosiation time 19.040547 ms 
points size 71173 
sort q time 3.733805 
seperate points time 9.492115 
filter time 22.276551 ms 
data association time 21.482942 ms 
solver time 15.168211 ms 
data association time 21.078200 ms 
solver time 15.717902 ms 
build tree time 73.847583 ms 
mapping data assosiation time 21.318173 ms 
mapping solver time 12.894077 ms 
data association time 21.520083 ms 
mapping data assosiation time 18.367588 ms 
mapping solver time 12.960629 ms 
mapping optimization time 140.288515 
add points time 0.618579 ms
filter time 22.206114 ms 
publication time 9.186876 ms 
whole laserOdometry time 80.981918 ms 
 
sort q time 3.287050 
seperate points time 8.293434 
data association time 21.443362 ms 
build tree time 62.048655 ms 
mapping data assosiation time 18.665174 ms 
data association time 21.574372 ms 
solver time 15.478067 ms 
publication time 9.058510 ms 
whole laserOdometry time 87.609548 ms 
 
scan registration time 24.730004 ms *************
filter time 16.842127 ms 
data association time 21.420804 ms 
solver time 13.068122 ms 
data association time 16.450465 ms 
solver time 14.066450 ms 
points size 68009 
sort q time 3.093519 
seperate points time 7.764062 
mapping data assosiation time 20.742070 ms 
solver time 10.253089 ms 
data association time 13.585370 ms 
publication time 6.447657 ms 
whole laserOdometry time 52.716452 ms 
 
filter time 18.164478 ms 
points size 67010 
sort q time 3.731570 
seperate points time 9.429579 
data association time 20.661095 ms 
solver time 17.855130 ms 
build tree time 78.870637 ms 
data association time 22.552233 ms 
points size 66194 
publication time 8.074694 ms 
whole laserOdometry time 83.836188 ms 
 
mapping data assosiation time 21.842244 ms 
mapping solver time 20.936639 ms 
filter time 23.329740 ms 
solver time 11.131956 ms 
points size 66888 
sort q time 3.230730 
seperate points time 8.072933 
data association time 13.043051 ms 
solver time 10.780693 ms 
build tree time 67.732226 ms 
solver time 10.500573 ms 
mapping solver time 13.834897 ms 
mapping data assosiation time 19.507733 ms 
sort q time 3.031559 
seperate points time 7.521854 
mapping pub time 3.792236 ms 
whole mapping time 161.336706 ms +++++
solver time 12.035917 ms 
data association time 13.436155 ms 
publication time 6.687431 ms 
whole laserOdometry time 54.779112 ms 
 
points size 66425 
sort q time 3.729305 
seperate points time 8.885124 
mapping data assosiation time 22.144444 ms 
mapping solver time 16.064981 ms 
data association time 13.128262 ms 
solver time 14.235725 ms 
filter time 20.195814 ms 
sort q time 2.864284 
seperate points time 7.072740 
data association time 13.450490 ms 
solver time 10.963151 ms 
data association time 13.479579 ms 
build tree time 68.379270 ms 
mapping data assosiation time 19.546672 ms 
points size 65096 
scan registration time 21.158434 ms *************
mapping data assosiation time 21.246397 ms 
mapping solver time 13.795939 ms 
solver time 10.861300 ms 
map prepare time 3.155588 ms
map corner num 234070  surf num 86174 
solver time 11.046281 ms 
points size 64860 
sort q time 3.298487 
seperate points time 8.391572 
data association time 14.589340 ms 
solver time 13.483765 ms 
data association time 12.636316 ms 
solver time 10.364828 ms 
mapping solver time 13.763720 ms 
filter time 21.715949 ms 
sort q time 3.677455 
seperate points time 9.151177 
data association time 14.938525 ms 
solver time 12.874944 ms 
data association time 13.713157 ms 
solver time 10.985682 ms 
mapping data assosiation time 18.350311 ms 
points size 65893 
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seperate points time 8.083146 
mapping data assosiation time 19.558828 ms 
mapping solver time 13.795101 ms 
filter time 18.218215 ms 
solver time 10.711072 ms 
points size 67248 
sort q time 3.994245 
seperate points time 9.885805 
build tree time 65.922477 ms 
data association time 12.613148 ms 
mapping data assosiation time 17.856363 ms 
mapping solver time 14.544658 ms 
solver time 10.519134 ms 
mapping solver time 16.145257 ms 
points size 68650 
sort q time 3.336657 
seperate points time 8.195327 
data association time 12.350423 ms 
solver time 11.843958 ms 
data association time 13.119803 ms 
solver time 10.665964 ms 
build tree time 66.117608 ms 
points size 70202 
sort q time 3.559582 
seperate points time 9.054456 
data association time 13.701997 ms 
solver time 12.732230 ms 
mapping solver time 14.521463 ms 
mapping optimization time 137.018331 
add points time 0.621482 ms
solver time 10.264207 ms 
points size 72015 
sort q time 3.362760 
seperate points time 8.151812 
data association time 13.200966 ms 
solver time 10.986159 ms 
data association time 13.175694 ms 
solver time 8.634261 ms 
mapping solver time 17.840768 ms 
mapping data assosiation time 19.467133 ms 
mapping solver time 14.785987 ms 
filter time 21.103041 ms 
data association time 14.102124 ms 
solver time 12.963370 ms 
data association time 16.476553 ms 
solver time 10.707162 ms 
points size 73752 
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mapping solver time 13.762976 ms 
data association time 13.392403 ms 
solver time 11.034561 ms 
data association time 13.069870 ms 
mapping solver time 11.139085 ms 
mapping optimization time 132.124109 
add points time 0.562698 ms
publication time 6.710184 ms 
whole laserOdometry time 53.265974 ms 
 
filter time 22.220184 ms 
points size 75688 
sort q time 3.842554 
seperate points time 9.752475 
data association time 13.483595 ms 
solver time 10.955199 ms 
data association time 13.497654 ms 
solver time 8.542255 ms 
mapping data assosiation time 22.363750 ms 
mapping solver time 14.715570 ms 
prepare time 12.182873 
mapping data assosiation time 22.595034 ms 
mapping solver time 14.058168 ms 
data association time 17.463474 ms 
solver time 13.401977 ms 
data association time 16.363403 ms 
solver time 11.003356 ms 
points size 77074 
prepare time 11.818467 
scan registration time 24.377407 ms *************
mapping data assosiation time 21.897688 ms 
mapping solver time 16.556109 ms 
mapping data assosiation time 22.858736 ms 
mapping solver time 12.292050 ms 
points size 78738 
filter time 24.382630 ms 
data association time 15.119226 ms 
solver time 11.347155 ms 
data association time 16.665559 ms 
solver time 11.362312 ms 
points size 80387 
sort q time 3.776414 
seperate points time 9.222774 
scan registration time 24.864725 ms *************
data association time 18.890530 ms 
solver time 13.066285 ms 
data association time 17.863697 ms 
solver time 14.004806 ms 
points size 82383 
sort q time 4.157576 
seperate points time 9.981852 
mapping pub time 232.177282 ms 
whole mapping time 404.622931 ms +++++
solver time 16.303192 ms 
data association time 22.974249 ms 
solver time 15.286317 ms 
publication time 9.833843 ms 
whole laserOdometry time 89.601718 ms 
 
scan registration time 28.728349 ms *************
mapping solver time 14.926263 ms 
solver time 13.193823 ms 
data association time 14.828059 ms 
mapping solver time 14.904785 ms 
points size 84138 
filter time 25.244824 ms 
scan registration time 33.765508 ms *************
data association time 17.239191 ms 
solver time 15.362890 ms 
data association time 19.530718 ms 
solver time 13.395965 ms 
prepare time 13.172376 
mapping data assosiation time 25.503203 ms 
mapping solver time 17.066345 ms 
solver time 12.052261 ms 
data association time 14.435674 ms 
add points time 0.732878 ms
publication time 9.937929 ms 
whole laserOdometry time 63.113707 ms 
 
map prepare time 5.305888 ms
map corner num 241190  surf num 89655 
prepare time 13.073136 
sort q time 4.416959 
seperate points time 10.648288 
data association time 17.504266 ms 
solver time 12.362067 ms 
data association time 15.689184 ms 
publication time 8.031993 ms 
whole laserOdometry time 65.217884 ms 
 
points size 88880 
mapping solver time 19.612735 ms 
data association time 14.573031 ms 
mapping data assosiation time 24.679305 ms 
mapping solver time 13.838859 ms 
data association time 14.929491 ms 
filter time 19.463569 ms 
solver time 8.277201 ms 
publication time 9.371585 ms 
whole laserOdometry time 59.370506 ms 
 
points size 90988 
sort q time 4.814134 
seperate points time 12.064537 
data association time 15.415955 ms 
build tree time 70.895115 ms 
data association time 15.689121 ms 
mapping data assosiation time 24.469053 ms 
publication time 8.282852 ms 
whole laserOdometry time 63.178595 ms 
 
points size 92657 
mapping data assosiation time 26.451627 ms 
mapping solver time 15.790037 ms 
filter time 18.749821 ms 
data association time 25.460691 ms 
solver time 18.522106 ms 
data association time 25.145364 ms 
solver time 11.954988 ms 
publication time 11.238912 ms 
whole laserOdometry time 93.392172 ms 
 
mapping data assosiation time 26.236300 ms 
mapping solver time 17.424751 ms 
data association time 15.617724 ms 
publication time 10.091025 ms 
whole laserOdometry time 63.437336 ms 
 
sort q time 4.459592 
seperate points time 10.683603 
filter time 21.849079 ms 
map prepare time 4.182594 ms
map corner num 243448  surf num 90785 
data association time 25.736192 ms 
solver time 15.227873 ms 
data association time 21.825870 ms 
build tree time 66.850632 ms 
sort q time 5.857189 
seperate points time 13.863437 
mapping solver time 20.737465 ms 
data association time 31.942004 ms 
mapping data assosiation time 28.426249 ms 
mapping solver time 17.941556 ms 
prepare time 14.755252 
publication time 10.823927 ms 
whole laserOdometry time 86.703558 ms 
 
data association time 15.658779 ms 
solver time 13.400984 ms 
data association time 16.138399 ms 
optimization twice time 56.805817 
build tree time 69.744021 ms 
points size 99264 
mapping data assosiation time 28.278523 ms 
scan registration time 38.294247 ms *************
mapping solver time 21.336357 ms 
data association time 16.607272 ms 
mapping data assosiation time 29.969659 ms 
mapping solver time 13.934212 ms 
solver time 11.112403 ms 
map prepare time 5.502646 ms
map corner num 244869  surf num 91598 
scan registration time 32.586293 ms *************
data association time 16.147052 ms 
solver time 13.545960 ms 
data association time 16.638339 ms 
build tree time 72.846570 ms 
publication time 10.165550 ms 
whole laserOdometry time 68.351778 ms 
 
mapping data assosiation time 30.720157 ms 
scan registration time 33.036494 ms *************
mapping solver time 23.255783 ms 
data association time 16.429951 ms 
solver time 12.782648 ms 
data association time 16.910671 ms 
publication time 9.781162 ms 
whole laserOdometry time 65.891451 ms 
 
points size 100644 
sort q time 4.965144 
seperate points time 11.777455 
data association time 16.188052 ms 
solver time 13.350720 ms 
build tree time 67.317248 ms 
solver time 8.676383 ms 
publication time 10.734561 ms 
whole laserOdometry time 66.660234 ms 
 
mapping data assosiation time 25.904355 ms 
mapping solver time 19.074291 ms 
mapping data assosiation time 27.354503 ms 
solver time 11.590971 ms 
data association time 17.043655 ms 
mapping pub time 1.185975 ms 
whole mapping time 187.841159 ms +++++
points size 101161 
sort q time 5.967788 
seperate points time 13.678889 
data association time 16.739914 ms 
solver time 12.861607 ms 
data association time 20.818671 ms 
solver time 10.734003 ms 
publication time 11.321337 ms 
whole laserOdometry time 73.267579 ms 
 
sort q time 4.846488 
seperate points time 11.359333 
mapping data assosiation time 28.039016 ms 
mapping solver time 18.767719 ms 
solver time 11.299634 ms 
filter time 21.436882 ms 
solver time 8.236457 ms 
publication time 12.233011 ms 
whole laserOdometry time 67.358429 ms 
 
sort q time 4.963189 
seperate points time 11.525150 
data association time 16.465205 ms 
data association time 15.803579 ms 
solver time 10.770022 ms 
publication time 11.640494 ms 
whole laserOdometry time 68.327210 ms 
 
points size 102023 
mapping data assosiation time 30.082468 ms 
mapping solver time 16.379909 ms 
data association time 17.106907 ms 
mapping pub time 1.649821 ms 
whole mapping time 191.556188 ms +++++
data association time 16.656998 ms 
publication time 10.672043 ms 
whole laserOdometry time 66.329677 ms 
 
sort q time 5.427916 
seperate points time 13.005248 
build tree time 73.542934 ms 
solver time 11.308933 ms 
data association time 17.075436 ms 
mapping solver time 23.091591 ms 
points size 102634 
mapping data assosiation time 31.654988 ms 
mapping solver time 16.369224 ms 
mapping optimization time 176.705040 
add points time 1.192491 ms
filter time 21.028791 ms 
data association time 17.297980 ms 
solver time 8.094699 ms 
publication time 10.473508 ms 
whole laserOdometry time 65.599343 ms 
 
points size 101859 
sort q time 6.049623 
seperate points time 14.645013 
mapping data assosiation time 26.181040 ms 
mapping solver time 18.182830 ms 
solver time 8.045078 ms 
publication time 9.843844 ms 
whole laserOdometry time 61.241609 ms 
 
mapping data assosiation time 30.188157 ms 
mapping solver time 17.451088 ms 
scan registration time 38.883066 ms *************
filter time 22.855748 ms 
solver time 10.937414 ms 
data association time 15.179068 ms 
solver time 8.746069 ms 
publication time 12.116922 ms 
whole laserOdometry time 63.596767 ms 
 
points size 100346 
scan registration time 35.343847 ms *************
build tree time 76.281073 ms 
data association time 19.360849 ms 
mapping data assosiation time 29.945300 ms 
mapping solver time 20.506171 ms 
data association time 17.370707 ms 
publication time 9.254505 ms 
whole laserOdometry time 63.565525 ms 
 
sort q time 5.544530 
seperate points time 12.670541 
data association time 15.968287 ms 
solver time 13.357655 ms 
data association time 17.792873 ms 
points size 99374 
build tree time 68.246201 ms 
mapping data assosiation time 29.263089 ms 
solver time 12.263613 ms 
data association time 18.190606 ms 
optimization twice time 56.802328 
publication time 10.973234 ms 
whole laserOdometry time 67.793713 ms 
 
prepare time 17.846120 
sort q time 6.161322 
seperate points time 14.558153 
scan registration time 37.803819 ms *************
mapping pub time 5.075629 ms 
whole mapping time 202.113159 ms +++++
data association time 16.661694 ms 
solver time 11.079340 ms 
data association time 15.352855 ms 
publication time 9.407145 ms 
whole laserOdometry time 61.860791 ms 
 
build tree time 72.114566 ms 
data association time 13.927745 ms 
mapping solver time 19.423029 ms 
solver time 8.345365 ms 
publication time 10.330657 ms 
whole laserOdometry time 60.469405 ms 
 
points size 98190 
sort q time 5.319040 
seperate points time 12.567413 
filter time 25.332153 ms 
data association time 15.212809 ms 
solver time 11.321049 ms 
data association time 15.064966 ms 
solver time 8.598968 ms 
publication time 10.634940 ms 
whole laserOdometry time 61.724707 ms 
 
prepare time 15.389199 
sort q time 5.571166 
seperate points time 12.885389 
mapping data assosiation time 30.617080 ms 
data association time 16.048592 ms 
mapping solver time 23.342863 ms 
data association time 15.272201 ms 
mapping data assosiation time 31.182942 ms 
points size 97591 
sort q time 5.975661 
seperate points time 14.656540 
map prepare time 4.053852 ms
map corner num 251417  surf num 94754 
data association time 16.314067 ms 
solver time 11.158767 ms 
data association time 16.570751 ms 
solver time 10.930009 ms 
publication time 11.363600 ms 
whole laserOdometry time 67.328480 ms 
 
sort q time 4.920732 
seperate points time 11.769019 
mapping solver time 18.263253 ms 
data association time 14.381181 ms 
data association time 14.930401 ms 
solver time 8.396272 ms 
publication time 9.699652 ms 
whole laserOdometry time 59.971456 ms 
 
points size 97379 
map prepare time 4.208151 ms
map corner num 252051  surf num 95072 
data association time 17.295756 ms 
solver time 11.228074 ms 
data association time 16.858596 ms 
solver time 8.152730 ms 
optimization twice time 54.497345 
points size 97014 
sort q time 4.500716 
seperate points time 10.759566 
mapping solver time 16.681568 ms 
solver time 10.373079 ms 
mapping data assosiation time 28.513874 ms 
mapping solver time 11.473598 ms 
publication time 10.674699 ms 
whole laserOdometry time 63.023009 ms 
 
points size 96790 
filter time 25.045186 ms 
mapping pub time 1.617332 ms 
whole mapping time 200.486577 ms +++++
drop lidar frame in mapping for real time performance 
prepare time 14.880881 
sort q time 4.638956 
seperate points time 11.041872 
data association time 15.289038 ms 
solver time 15.589333 ms 
data association time 18.397162 ms 
publication time 10.589121 ms 
whole laserOdometry time 70.881211 ms 
 
prepare time 21.697036 
mapping data assosiation time 37.233233 ms 
scan registration time 42.005348 ms *************
mapping solver time 22.149702 ms 
data association time 17.183447 ms 
mapping data assosiation time 27.252634 ms 
data association time 20.205403 ms 
optimization twice time 60.144555 
prepare time 17.485821 
sort q time 5.220780 
seperate points time 14.093865 
data association time 16.833579 ms 
solver time 14.156559 ms 
data association time 16.252974 ms 
optimization twice time 57.296430 
publication time 9.731398 ms 
whole laserOdometry time 67.042808 ms 
 
points size 91519 
sort q time 5.971581 
seperate points time 14.792989 
data association time 15.784235 ms 
solver time 14.320133 ms 
data association time 16.355713 ms 
optimization twice time 58.183172 
prepare time 19.422030 
sort q time 5.755517 
seperate points time 14.591884 
mapping pub time 240.398654 ms 
whole mapping time 455.965176 ms +++++
solver time 13.421516 ms 
data association time 16.593296 ms 
publication time 10.677323 ms 
whole laserOdometry time 73.614355 ms 
 
sort q time 4.136546 
seperate points time 9.964205 
mapping data assosiation time 25.160369 ms 
solver time 15.181538 ms 
data association time 24.616142 ms 
optimization twice time 77.289274 
mapping optimization time 165.441928 
scan registration time 32.306278 ms *************
filter time 23.268059 ms 
map prepare time 4.962992 ms
map corner num 253910  surf num 96002 
data association time 22.336046 ms 
solver time 15.466288 ms 
data association time 22.126934 ms 
points size 86722 
publication time 10.357417 ms 
whole laserOdometry time 83.177393 ms 
 
mapping data assosiation time 26.501858 ms 
solver time 15.123721 ms 
data association time 21.549078 ms 
solver time 11.745383 ms 
points size 85618 
sort q time 4.386492 
seperate points time 10.752004 
filter time 21.520930 ms 
data association time 21.911505 ms 
solver time 15.547530 ms 
mapping solver time 19.155196 ms 
data association time 24.236539 ms 
solver time 15.335821 ms 
mapping solver time 17.916763 ms 
points size 82761 
filter time 23.675356 ms 
data association time 23.517906 ms 
solver time 15.383276 ms 
data association time 23.570504 ms 
solver time 11.967554 ms 
sort q time 4.133058 
seperate points time 10.160956 
mapping solver time 16.380878 ms 
solver time 15.179905 ms 
data association time 23.210231 ms 
solver time 11.776598 ms 
points size 82776 
map prepare time 4.171427 ms
map corner num 256176  surf num 96989 
data association time 13.484279 ms 
solver time 15.283290 ms 
data association time 16.248273 ms 
solver time 12.974048 ms 
points size 82443 
sort q time 4.639551 
seperate points time 11.608461 
mapping solver time 19.233478 ms 
data association time 18.784837 ms 
solver time 15.924540 ms 
data association time 18.407234 ms 
solver time 14.280597 ms 
points size 82199 
sort q time 4.702956 
seperate points time 11.678618 
scan registration time 31.840916 ms *************
data association time 14.159873 ms 
solver time 11.469555 ms 
data association time 13.156183 ms 
solver time 10.974027 ms 
optimization twice time 50.580152 
mapping data assosiation time 29.398284 ms 
sort q time 4.547464 
seperate points time 11.961839 
data association time 13.787762 ms 
solver time 13.094751 ms 
mapping solver time 18.359733 ms 
mapping optimization time 172.925915 
add points time 0.717805 ms
data association time 17.802274 ms 
solver time 11.743282 ms 
publication time 8.471892 ms 
whole laserOdometry time 65.852868 ms 
 
sort q time 4.789604 
seperate points time 11.741188 
data association time 13.363306 ms 
solver time 11.124795 ms 
data association time 13.341444 ms 
publication time 7.648276 ms 
whole laserOdometry time 54.952877 ms 
 
mapping data assosiation time 27.523310 ms 
prepare time 17.110696 
sort q time 4.802288 
seperate points time 11.672568 
data association time 12.255814 ms 
solver time 12.962487 ms 
data association time 13.324879 ms 
solver time 10.966150 ms 
map prepare time 4.745843 ms
map corner num 258234  surf num 97673 
points size 83945 
sort q time 4.791297 
seperate points time 11.889196 
scan registration time 34.659043 ms *************
data association time 13.697295 ms 
solver time 12.179656 ms 
data association time 13.008766 ms 
solver time 13.687153 ms 
mapping data assosiation time 24.798640 ms 
points size 83889 
sort q time 4.227757 
seperate points time 10.547655 
mapping data assosiation time 24.490681 ms 
data association time 14.814271 ms 
solver time 10.982753 ms 
data association time 13.378624 ms 
solver time 10.337202 ms 
optimization twice time 50.238970 
filter time 24.318589 ms 
mapping pub time 1.271832 ms 
whole mapping time 200.397872 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 4.082996 ms
map corner num 258929  surf num 97841 
publication time 7.921426 ms 
whole laserOdometry time 58.179048 ms 
 
points size 83849 
sort q time 4.674066 
seperate points time 11.305479 
data association time 22.316339 ms 
solver time 17.929613 ms 
data association time 25.836571 ms 
points size 83638 
mapping solver time 23.153003 ms 
mapping data assosiation time 25.082209 ms 
mapping solver time 23.065018 ms 
data association time 22.192302 ms 
solver time 12.502945 ms 
sort q time 3.757596 
seperate points time 9.211850 
data association time 21.603479 ms 
solver time 13.694816 ms 
data association time 13.846463 ms 
solver time 10.659284 ms 
publication time 8.355817 ms 
whole laserOdometry time 69.013696 ms 
 
points size 86738 
prepare time 13.175565 
sort q time 4.650332 
seperate points time 11.063489 
mapping data assosiation time 21.837268 ms 
mapping solver time 12.470933 ms 
data association time 13.929347 ms 
solver time 10.959175 ms 
points size 87922 
sort q time 4.051282 
seperate points time 9.757804 
data association time 14.198047 ms 
solver time 10.737827 ms 
data association time 13.959800 ms 
solver time 10.936523 ms 
publication time 8.828674 ms 
whole laserOdometry time 59.531196 ms 
 
points size 88166 
sort q time 4.632159 
seperate points time 10.937670 
filter time 19.285916 ms 
solver time 13.476462 ms 
data association time 14.495603 ms 
solver time 10.957184 ms 
points size 89652 
sort q time 4.685143 
seperate points time 11.020084 
data association time 13.577330 ms 
solver time 12.970717 ms 
data association time 17.371122 ms 
solver time 10.538664 ms 
mapping optimization time 152.354388 
points size 91037 
map prepare time 4.797595 ms
map corner num 261328  surf num 98394 
data association time 22.326667 ms 
solver time 15.463960 ms 
data association time 22.259004 ms 
solver time 15.520225 ms 
mapping data assosiation time 23.383897 ms 
mapping data assosiation time 20.407309 ms 
data association time 22.310152 ms 
mapping solver time 15.529572 ms 
filter time 21.319769 ms 
solver time 11.795326 ms 
publication time 9.280697 ms 
whole laserOdometry time 82.078333 ms 
 
sort q time 5.091868 
seperate points time 12.096251 
data association time 21.775415 ms 
solver time 15.409958 ms 
data association time 22.319050 ms 
solver time 12.012396 ms 
mapping solver time 21.048679 ms 
mapping data assosiation time 22.273682 ms 
data association time 14.458627 ms 
solver time 11.763805 ms 
data association time 13.944663 ms 
drop lidar frame in mapping for real time performance 
points size 88593 
sort q time 3.806320 
seperate points time 9.191157 
data association time 22.368485 ms 
build tree time 71.596707 ms 
data association time 13.838444 ms 
solver time 10.383523 ms 
points size 89274 
mapping data assosiation time 22.355956 ms 
sort q time 4.354352 
seperate points time 10.490799 
mapping solver time 15.046265 ms 
data association time 14.718750 ms 
filter time 23.265843 ms 
map prepare time 4.006978 ms
map corner num 262986  surf num 98710 
data association time 14.958785 ms 
solver time 8.368867 ms 
publication time 8.473550 ms 
whole laserOdometry time 57.489957 ms 
 
points size 90563 
sort q time 5.216902 
seperate points time 12.746237 
build tree time 82.686072 ms 
solver time 11.084131 ms 
data association time 15.781652 ms 
optimization twice time 57.888727 
mapping data assosiation time 25.186469 ms 
mapping solver time 13.551556 ms 
filter time 22.587661 ms 
solver time 8.899823 ms 
data association time 14.540433 ms 
publication time 7.305887 ms 
whole laserOdometry time 56.368615 ms 
 
points size 83637 
sort q time 4.035232 
seperate points time 9.969986 
data association time 13.945241 ms 
mapping solver time 15.486105 ms 
publication time 7.173605 ms 
whole laserOdometry time 53.395030 ms 
 
mapping solver time 12.168372 ms 
prepare time 13.537293 
sort q time 4.029294 
seperate points time 10.041031 
data association time 21.744334 ms 
solver time 14.561098 ms 
data association time 22.014943 ms 
solver time 11.321726 ms 
points size 77424 
publication time 8.442735 ms 
whole laserOdometry time 79.223355 ms 
 
sort q time 3.406582 
seperate points time 8.300135 
data association time 20.991592 ms 
solver time 8.605233 ms 
data association time 13.371129 ms 
solver time 9.268536 ms 
mapping solver time 14.402220 ms 
sort q time 3.151526 
seperate points time 7.820990 
map prepare time 3.720119 ms
map corner num 264877  surf num 99035 
data association time 14.603017 ms 
solver time 10.441272 ms 
data association time 16.422538 ms 
solver time 8.022129 ms 
publication time 7.743831 ms 
whole laserOdometry time 58.311960 ms 
 
build tree time 76.596587 ms 
sort q time 3.463304 
seperate points time 8.562648 
mapping solver time 16.150558 ms 
data association time 13.219834 ms 
mapping data assosiation time 23.023017 ms 
solver time 8.051567 ms 
publication time 7.482502 ms 
whole laserOdometry time 56.568832 ms 
 
filter time 24.726540 ms 
sort q time 3.971015 
seperate points time 9.515581 
data association time 13.458348 ms 
solver time 10.615373 ms 
data association time 13.495811 ms 
solver time 8.766761 ms 
points size 71482 
sort q time 3.420077 
seperate points time 8.381461 
data association time 13.507034 ms 
mapping solver time 14.876110 ms 
solver time 8.084653 ms 
filter time 24.419646 ms 
points size 73575 
sort q time 4.180663 
seperate points time 10.377582 
data association time 13.618467 ms 
data association time 13.762303 ms 
points size 76257 
scan registration time 24.406113 ms *************
data association time 13.375422 ms 
data association time 13.632550 ms 
publication time 7.087249 ms 
whole laserOdometry time 52.032284 ms 
 
points size 76353 
sort q time 6.687849 
seperate points time 16.483703 
data association time 16.023500 ms 
solver time 10.199385 ms 
data association time 13.843951 ms 
solver time 8.220243 ms 
points size 80205 
sort q time 4.161705 
seperate points time 10.047657 
mapping solver time 17.199860 ms 
solver time 11.071787 ms 
mapping solver time 12.524154 ms 
mapping optimization time 155.326632 
data association time 15.662727 ms 
add points time 0.770806 ms
publication time 8.060927 ms 
whole laserOdometry time 61.071844 ms 
 
map prepare time 4.231890 ms
map corner num 250206  surf num 94557 
prepare time 12.948882 
scan registration time 25.572129 ms *************
data association time 13.005851 ms 
solver time 11.065914 ms 
data association time 12.390592 ms 
publication time 7.951242 ms 
whole laserOdometry time 53.584370 ms 
 
mapping solver time 15.460999 ms 
sort q time 4.469424 
seperate points time 10.535357 
data association time 12.877839 ms 
solver time 11.591229 ms 
data association time 13.537891 ms 
mapping pub time 0.909087 ms 
whole mapping time 183.683317 ms +++++
publication time 8.076607 ms 
whole laserOdometry time 56.257155 ms 
 
points size 86811 
prepare time 13.490869 
scan registration time 27.062199 ms *************
build tree time 72.097404 ms 
solver time 12.365386 ms 
mapping solver time 14.454342 ms 
solver time 14.062518 ms 
publication time 11.096931 ms 
whole laserOdometry time 82.352044 ms 
 
add points time 1.083335 ms
filter time 21.329094 ms 
data association time 19.864025 ms 
solver time 15.586521 ms 
data association time 19.784239 ms 
solver time 12.050274 ms 
build tree time 75.420267 ms 
mapping data assosiation time 23.276173 ms 
data association time 22.209809 ms 
solver time 11.744973 ms 
mapping data assosiation time 23.870782 ms 
solver time 8.204121 ms 
points size 90143 
filter time 23.006046 ms 
data association time 22.220984 ms 
solver time 15.631434 ms 
data association time 22.376876 ms 
solver time 11.746138 ms 
publication time 8.954961 ms 
whole laserOdometry time 82.043691 ms 
 
mapping solver time 15.703227 ms 
mapping data assosiation time 19.955578 ms 
mapping solver time 13.425012 ms 
data association time 22.572630 ms 
filter time 22.605353 ms 
publication time 9.215587 ms 
whole laserOdometry time 79.252119 ms 
 
sort q time 3.636744 
seperate points time 8.927031 
data association time 19.622964 ms 
solver time 15.438786 ms 
data association time 19.824456 ms 
mapping data assosiation time 22.812252 ms 
mapping solver time 14.530262 ms 
sort q time 3.786654 
seperate points time 9.091960 
mapping data assosiation time 25.891803 ms 
mapping solver time 13.120715 ms 
mapping optimization time 147.473542 
add points time 1.103146 ms
data association time 20.234439 ms 
solver time 15.762911 ms 
mapping pub time 1.594431 ms 
whole mapping time 181.315253 ms +++++
data association time 21.108620 ms 
publication time 9.705356 ms 
whole laserOdometry time 79.550820 ms 
 
sort q time 5.529152 
seperate points time 13.308857 
build tree time 82.214077 ms 
solver time 12.896629 ms 
mapping data assosiation time 27.698793 ms 
data association time 23.910385 ms 
solver time 8.638566 ms 
prepare time 12.805290 
sort q time 4.098106 
seperate points time 10.023963 
mapping data assosiation time 23.266069 ms 
mapping solver time 17.454248 ms 
mapping optimization time 174.508387 
add points time 1.092139 ms
data association time 19.305189 ms 
solver time 15.421300 ms 
filter time 26.358364 ms 
data association time 20.058315 ms 
solver time 11.582845 ms 
points size 80646 
sort q time 3.422349 
seperate points time 8.420813 
data association time 21.693429 ms 
solver time 15.084886 ms 
build tree time 85.500352 ms 
data association time 24.734485 ms 
solver time 13.010105 ms 
prepare time 14.834823 
sort q time 4.135406 
seperate points time 10.248190 
mapping data assosiation time 24.527626 ms 
mapping solver time 13.940581 ms 
solver time 14.964711 ms 
filter time 26.470404 ms 
data association time 20.184412 ms 
solver time 11.650005 ms 
publication time 9.304914 ms 
whole laserOdometry time 77.312492 ms 
 
points size 81589 
sort q time 3.609127 
seperate points time 8.744942 
scan registration time 24.616831 ms *************
data association time 19.731399 ms 
build tree time 84.077193 ms 
mapping data assosiation time 28.117268 ms 
solver time 12.571423 ms 
publication time 8.749963 ms 
whole laserOdometry time 79.849573 ms 
 
sort q time 3.827803 
seperate points time 9.185542 
mapping data assosiation time 24.535534 ms 
mapping solver time 13.791507 ms 
solver time 11.441447 ms 
filter time 22.323717 ms 
solver time 7.667252 ms 
points size 81277 
sort q time 4.723743 
seperate points time 11.252196 
data association time 13.374339 ms 
solver time 10.114103 ms 
data association time 13.760165 ms 
solver time 8.492194 ms 
mapping solver time 18.075394 ms 
points size 81852 
sort q time 4.127408 
seperate points time 10.003880 
mapping pub time 4.173296 ms 
whole mapping time 182.264381 ms +++++
solver time 13.846305 ms 
data association time 12.025025 ms 
solver time 9.003969 ms 
optimization twice time 54.775165 
publication time 7.022368 ms 
whole laserOdometry time 61.813889 ms 
 
points size 81623 
build tree time 71.162914 ms 
sort q time 4.183548 
seperate points time 9.859280 
scan registration time 26.085574 ms *************
mapping data assosiation time 22.574262 ms 
mapping solver time 16.739696 ms 
mapping data assosiation time 23.457909 ms 
solver time 11.824184 ms 
points size 81780 
drop lidar frame in mapping for real time performance 
data association time 13.683509 ms 
solver time 12.721981 ms 
data association time 15.154665 ms 
solver time 9.065115 ms 
points size 77466 
mapping data assosiation time 22.435420 ms 
mapping solver time 18.135683 ms 
data association time 18.447116 ms 
mapping data assosiation time 23.870773 ms 
data association time 12.209740 ms 
publication time 6.493046 ms 
whole laserOdometry time 59.427269 ms 
 
filter time 24.039765 ms 
points size 77158 
prepare time 15.779190 
scan registration time 30.771890 ms *************
data association time 12.077414 ms 
solver time 11.892653 ms 
data association time 12.180125 ms 
publication time 6.057491 ms 
whole laserOdometry time 51.672211 ms 
 
mapping data assosiation time 23.212764 ms 
points size 73912 
sort q time 4.087698 
seperate points time 10.098332 
mapping data assosiation time 21.163153 ms 
data association time 12.640078 ms 
solver time 11.208658 ms 
data association time 12.699589 ms 
solver time 8.861291 ms 
points size 72440 
sort q time 3.970714 
seperate points time 9.892349 
scan registration time 27.992863 ms *************
build tree time 68.507220 ms 
solver time 11.259572 ms 
mapping data assosiation time 22.495020 ms 
data association time 14.021907 ms 
solver time 12.600987 ms 
points size 69991 
prepare time 18.692707 
data association time 21.960670 ms 
data association time 24.126392 ms 
map prepare time 4.656990 ms
map corner num 250785  surf num 90277 
points size 70094 
sort q time 6.900278 
seperate points time 12.598114 
build tree time 101.221396 ms 
mapping data assosiation time 33.931910 ms 
sort q time 17.634478 
seperate points time 32.073592 
publication time 9.117938 ms 
whole laserOdometry time 127.440289 ms 
 
[33m[ WARN] [1718887529.443110955]: odometry process over 100ms[0m
data association time 22.027923 ms 
points size 81443 
mapping data assosiation time 47.882768 ms 
scan registration time 36.463110 ms *************
mapping solver time 19.014555 ms 
publication time 7.893764 ms 
whole laserOdometry time 74.120235 ms 
 
filter time 26.203719 ms 
map prepare time 4.334359 ms
map corner num 251317  surf num 90434 
points size 83198 
solver time 11.195462 ms 
publication time 8.601808 ms 
whole laserOdometry time 70.614592 ms 
 
data association time 21.440264 ms 
solver time 14.839463 ms 
data association time 23.476371 ms 
mapping data assosiation time 27.671329 ms 
prepare time 13.013805 
mapping solver time 19.467025 ms 
mapping data assosiation time 25.306138 ms 
solver time 8.094023 ms 
data association time 13.726181 ms 
solver time 8.666965 ms 
map prepare time 4.579346 ms
map corner num 251988  surf num 90601 
points size 84358 
sort q time 3.812292 
seperate points time 9.082772 
data association time 14.280627 ms 
solver time 10.967002 ms 
data association time 14.171497 ms 
solver time 8.235551 ms 
mapping data assosiation time 23.478892 ms 
mapping solver time 15.673315 ms 
points size 86961 
sort q time 3.708358 
seperate points time 9.030866 
mapping solver time 15.314603 ms 
solver time 8.047568 ms 
map prepare time 4.373719 ms
map corner num 252725  surf num 90785 
solver time 5.116408 ms 
optimization twice time 42.433537 
publication time 6.889755 ms 
whole laserOdometry time 49.340181 ms 
 
points size 85722 
prepare time 13.241139 
scan registration time 25.719797 ms *************
data association time 16.555780 ms 
solver time 13.661966 ms 
data association time 16.571887 ms 
mapping data assosiation time 21.868568 ms 
mapping solver time 13.439209 ms 
points size 84546 
filter time 24.016480 ms 
data association time 14.327688 ms 
data association time 13.539727 ms 
solver time 8.974543 ms 
build tree time 70.373610 ms 
points size 84363 
mapping data assosiation time 22.872104 ms 
mapping solver time 15.580372 ms 
solver time 8.250393 ms 
mapping solver time 12.258808 ms 
solver time 8.080451 ms 
publication time 8.375545 ms 
whole laserOdometry time 56.440077 ms 
 
drop lidar frame in mapping for real time performance 
points size 85382 
sort q time 4.738114 
seperate points time 11.658905 
scan registration time 32.640366 ms *************
data association time 22.215378 ms 
solver time 11.170322 ms 
data association time 24.209936 ms 
solver time 13.259999 ms 
optimization twice time 71.848083 
mapping solver time 20.394979 ms 
sort q time 4.760880 
seperate points time 11.850560 
mapping data assosiation time 25.245704 ms 
data association time 21.640546 ms 
solver time 16.291781 ms 
filter time 26.478619 ms 
solver time 15.462550 ms 
publication time 10.900675 ms 
whole laserOdometry time 85.993236 ms 
 
sort q time 4.649606 
seperate points time 11.672294 
data association time 22.916126 ms 
solver time 19.494748 ms 
data association time 23.334046 ms 
points size 83568 
sort q time 4.732068 
seperate points time 11.669527 
data association time 26.167373 ms 
solver time 19.986770 ms 
data association time 27.597444 ms 
solver time 14.902220 ms 
mapping pub time 266.790179 ms 
whole mapping time 469.438222 ms +++++
data association time 24.705033 ms 
solver time 15.440763 ms 
solver time 11.304206 ms 
optimization twice time 74.544840 
points size 82858 
prepare time 16.524907 
sort q time 4.741897 
seperate points time 11.799472 
data association time 22.376277 ms 
solver time 13.078138 ms 
data association time 13.156202 ms 
mapping solver time 13.433533 ms 
sort q time 4.815683 
seperate points time 11.667840 
filter time 26.551350 ms 
data association time 13.585458 ms 
solver time 11.188570 ms 
data association time 13.011596 ms 
solver time 10.926042 ms 
publication time 7.253371 ms 
whole laserOdometry time 56.986780 ms 
 
points size 89109 
sort q time 3.959818 
seperate points time 9.339040 
mapping data assosiation time 26.695840 ms 
solver time 7.930582 ms 
data association time 14.144950 ms 
data association time 13.866262 ms 
solver time 8.317534 ms 
data association time 17.266720 ms 
publication time 7.452485 ms 
whole laserOdometry time 54.986270 ms 
 
points size 87893 
sort q time 4.997403 
seperate points time 11.918927 
data association time 13.899824 ms 
solver time 11.202028 ms 
mapping solver time 11.878245 ms 
mapping optimization time 147.517094 
add points time 0.922548 ms
solver time 8.034056 ms 
map prepare time 4.896857 ms
map corner num 256455  surf num 91936 
points size 89082 
sort q time 5.403604 
seperate points time 12.634684 
data association time 15.308263 ms 
solver time 10.655924 ms 
build tree time 76.899292 ms 
publication time 7.485606 ms 
whole laserOdometry time 57.334594 ms 
 
mapping data assosiation time 25.919477 ms 
points size 90527 
sort q time 5.796327 
seperate points time 13.999536 
mapping data assosiation time 27.042315 ms 
data association time 14.873265 ms 
add points time 0.928351 ms
data association time 14.811329 ms 
map prepare time 3.751894 ms
map corner num 257073  surf num 92114 
publication time 7.995442 ms 
whole laserOdometry time 58.828111 ms 
 
points size 93015 
sort q time 4.783166 
seperate points time 11.173903 
scan registration time 28.276302 ms *************
data association time 12.751349 ms 
build tree time 70.626817 ms 
data association time 12.950354 ms 
publication time 8.172926 ms 
whole laserOdometry time 56.426131 ms 
 
points size 95051 
mapping solver time 11.934220 ms 
scan registration time 34.730712 ms *************
filter time 27.593196 ms 
solver time 9.499981 ms 
data association time 13.685388 ms 
solver time 8.613205 ms 
points size 95392 
sort q time 4.432975 
seperate points time 10.461448 
scan registration time 29.470521 ms *************
data association time 12.742798 ms 
mapping data assosiation time 22.642115 ms 
mapping solver time 15.674145 ms 
solver time 8.378420 ms 
publication time 9.573238 ms 
whole laserOdometry time 58.026432 ms 
 
mapping solver time 13.069233 ms 
sort q time 4.523427 
seperate points time 10.737632 
data association time 16.019011 ms 
solver time 13.277303 ms 
data association time 18.056009 ms 
optimization twice time 58.781280 
build tree time 70.011448 ms 
sort q time 4.195009 
seperate points time 9.947853 
mapping solver time 16.419752 ms 
data association time 23.423036 ms 
mapping solver time 12.084997 ms 
data association time 23.845321 ms 
solver time 12.404938 ms 
sort q time 4.794511 
seperate points time 11.651855 
data association time 23.796181 ms 
solver time 18.706876 ms 
data association time 23.496069 ms 
points size 94910 
prepare time 14.231760 
solver time 15.509185 ms 
optimization twice time 82.659667 
sort q time 6.197079 
seperate points time 14.543310 
mapping data assosiation time 24.366730 ms 
solver time 10.448179 ms 
data association time 14.895659 ms 
mapping pub time 1.079089 ms 
whole mapping time 185.977619 ms +++++
points size 96530 
sort q time 5.594816 
seperate points time 12.547166 
data association time 16.986455 ms 
solver time 10.064880 ms 
data association time 15.129942 ms 
mapping data assosiation time 23.017857 ms 
mapping solver time 14.453415 ms 
points size 98961 
prepare time 15.047527 
scan registration time 32.086096 ms *************
mapping solver time 17.377349 ms 
mapping optimization time 158.002117 
add points time 0.968676 ms
data association time 24.249827 ms 
map prepare time 4.182781 ms
map corner num 259677  surf num 92905 
solver time 18.729350 ms 
data association time 24.381914 ms 
solver time 15.722650 ms 
optimization twice time 84.171406 
sort q time 5.445986 
seperate points time 12.858659 
scan registration time 32.367273 ms *************
build tree time 81.707921 ms 
data association time 24.996101 ms 
mapping data assosiation time 23.961020 ms 
solver time 14.878503 ms 
mapping solver time 16.469900 ms 
data association time 25.201416 ms 
points size 101659 
mapping solver time 9.709531 ms 
filter time 21.317550 ms 
map prepare time 4.329409 ms
map corner num 260339  surf num 93183 
solver time 15.138486 ms 
data association time 25.303236 ms 
prepare time 14.746560 
sort q time 5.264786 
seperate points time 12.535982 
data association time 15.722043 ms 
solver time 15.208655 ms 
mapping solver time 16.653871 ms 
data association time 15.727280 ms 
solver time 10.795863 ms 
publication time 11.155863 ms 
whole laserOdometry time 69.583292 ms 
 
prepare time 14.799408 
sort q time 4.947246 
seperate points time 11.824253 
scan registration time 31.220286 ms *************
filter time 25.747714 ms 
data association time 26.254494 ms 
solver time 14.858087 ms 
data association time 26.253149 ms 
optimization twice time 79.647151 
sort q time 6.225953 
seperate points time 14.562945 
mapping solver time 15.524767 ms 
data association time 26.441763 ms 
solver time 18.406447 ms 
mapping solver time 14.538523 ms 
mapping optimization time 150.354908 
add points time 1.375249 ms
points size 102277 
map prepare time 4.565662 ms
map corner num 222214  surf num 76938 
data association time 25.995632 ms 
build tree time 60.526761 ms 
data association time 26.392892 ms 
solver time 14.892689 ms 
scan registration time 41.076019 ms *************
mapping data assosiation time 31.215590 ms 
mapping solver time 15.340721 ms 
filter time 21.805734 ms 
data association time 26.454071 ms 
points size 101529 
sort q time 6.004471 
seperate points time 14.452668 
build tree time 64.911077 ms 
solver time 18.912016 ms 
mapping data assosiation time 32.158509 ms 
points size 98599 
mapping solver time 26.468316 ms 
mapping data assosiation time 33.606150 ms 
mapping solver time 15.657439 ms 
solver time 14.690066 ms 
drop lidar frame in mapping for real time performance 
points size 97400 
solver time 11.311390 ms 
publication time 11.473816 ms 
whole laserOdometry time 90.833935 ms 
 
data association time 25.872108 ms 
solver time 15.429670 ms 
mapping data assosiation time 28.933787 ms 
data association time 25.931566 ms 
prepare time 18.375105 
mapping solver time 26.234722 ms 
sort q time 5.906586 
seperate points time 14.494314 
mapping data assosiation time 31.729351 ms 
solver time 11.469079 ms 
mapping solver time 14.808189 ms 
mapping optimization time 170.531499 
add points time 1.179575 ms
data association time 16.487977 ms 
mapping pub time 4.143656 ms 
whole mapping time 202.775660 ms +++++
points size 96188 
sort q time 5.491370 
seperate points time 13.372929 
data association time 16.236548 ms 
solver time 10.468315 ms 
data association time 15.256812 ms 
points size 92810 
sort q time 5.946182 
seperate points time 14.369789 
mapping data assosiation time 32.417043 ms 
solver time 10.319519 ms 
data association time 15.714007 ms 
map prepare time 5.304303 ms
map corner num 225190  surf num 78187 
points size 90166 
sort q time 5.164602 
seperate points time 12.702384 
data association time 15.105289 ms 
solver time 11.078917 ms 
data association time 15.229438 ms 
solver time 8.672447 ms 
publication time 7.850617 ms 
whole laserOdometry time 58.855384 ms 
 
mapping solver time 20.536373 ms 
prepare time 17.893088 
sort q time 5.677855 
seperate points time 14.038542 
mapping data assosiation time 34.903314 ms 
mapping solver time 15.494108 ms 
solver time 8.511774 ms 
data association time 18.400817 ms 
publication time 8.974591 ms 
whole laserOdometry time 64.216908 ms 
 
prepare time 16.770968 
sort q time 5.049585 
seperate points time 12.263323 
scan registration time 33.738957 ms *************
build tree time 69.510546 ms 
solver time 10.833667 ms 
mapping data assosiation time 29.254919 ms 
optimization twice time 49.585045 
publication time 8.981823 ms 
whole laserOdometry time 58.583524 ms 
 
points size 87653 
mapping data assosiation time 35.375937 ms 
mapping solver time 20.228778 ms 
solver time 10.784016 ms 
data association time 16.108560 ms 
publication time 8.368027 ms 
whole laserOdometry time 60.079237 ms 
 
points size 87997 
sort q time 5.013532 
seperate points time 12.264916 
build tree time 70.548647 ms 
data association time 17.815907 ms 
mapping data assosiation time 26.528485 ms 
mapping solver time 16.322883 ms 
solver time 10.067026 ms 
points size 86246 
sort q time 4.849300 
seperate points time 12.036475 
data association time 14.266546 ms 
filter time 17.658846 ms 
mapping pub time 1.151079 ms 
whole mapping time 191.811360 ms +++++
drop lidar frame in mapping for real time performance 
map prepare time 3.695815 ms
map corner num 227705  surf num 79195 
data association time 14.427650 ms 
publication time 7.812911 ms 
whole laserOdometry time 57.684771 ms 
 
points size 84516 
build tree time 58.477685 ms 
mapping data assosiation time 26.052845 ms 
mapping solver time 16.037142 ms 
data association time 14.976274 ms 
solver time 8.671696 ms 
publication time 8.180531 ms 
whole laserOdometry time 57.410106 ms 
 
mapping solver time 15.136768 ms 
points size 81669 
prepare time 12.772083 
scan registration time 25.263461 ms *************
data association time 25.183000 ms 
solver time 19.135824 ms 
data association time 18.147995 ms 
publication time 7.971075 ms 
whole laserOdometry time 80.081176 ms 
 
sort q time 4.376338 
seperate points time 10.958162 
data association time 14.126479 ms 
solver time 11.636147 ms 
data association time 14.195056 ms 
solver time 8.755472 ms 
points size 76999 
sort q time 4.210211 
seperate points time 10.533193 
data association time 14.362747 ms 
solver time 13.710531 ms 
map prepare time 4.459318 ms
map corner num 228543  surf num 79456 
solver time 11.183336 ms 
points size 74853 
sort q time 4.220295 
seperate points time 9.984540 
build tree time 67.508639 ms 
solver time 7.984686 ms 
data association time 13.493964 ms 
publication time 6.527005 ms 
whole laserOdometry time 52.015603 ms 
 
mapping data assosiation time 24.185647 ms 
mapping solver time 14.030122 ms 
data association time 13.027652 ms 
solver time 11.713399 ms 
data association time 13.580819 ms 
build tree time 62.151245 ms 
sort q time 4.684382 
seperate points time 11.301266 
data association time 14.065982 ms 
solver time 13.219760 ms 
mapping data assosiation time 24.525519 ms 
solver time 9.963441 ms 
filter time 19.463038 ms 
mapping pub time 0.955681 ms 
whole mapping time 169.090779 ms +++++
drop lidar frame in mapping for real time performance 
points size 77464 
map prepare time 3.673912 ms
map corner num 230058  surf num 79860 
prepare time 12.132575 
scan registration time 23.755803 ms *************
data association time 12.903353 ms 
solver time 10.824088 ms 
data association time 13.674614 ms 
build tree time 68.781433 ms 
points size 76326 
sort q time 3.653374 
seperate points time 8.778639 
mapping data assosiation time 24.752880 ms 
mapping solver time 15.078630 ms 
data association time 14.113410 ms 
publication time 6.755330 ms 
whole laserOdometry time 57.967790 ms 
 
points size 72982 
prepare time 12.502217 
data association time 13.187641 ms 
solver time 8.290385 ms 
mapping data assosiation time 18.889204 ms 
solver time 8.090669 ms 
mapping data assosiation time 20.370476 ms 
mapping solver time 12.056069 ms 
mapping optimization time 131.055344 
add points time 0.887035 ms
points size 69160 
prepare time 11.148537 
scan registration time 23.646772 ms *************
data association time 15.394668 ms 
data association time 13.510674 ms 
solver time 5.058224 ms 
optimization twice time 44.360454 
build tree time 51.593858 ms 
mapping data assosiation time 18.545079 ms 
sort q time 3.549559 
seperate points time 8.731677 
scan registration time 24.865235 ms *************
mapping solver time 15.428733 ms 
solver time 15.038886 ms 
map prepare time 3.694530 ms
map corner num 191455  surf num 63957 
data association time 20.400807 ms 
solver time 11.215034 ms 
points size 64859 
sort q time 3.462675 
seperate points time 8.806740 
build tree time 56.817047 ms 
data association time 12.235385 ms 
solver time 10.503012 ms 
data association time 15.877636 ms 
publication time 5.145687 ms 
whole laserOdometry time 49.826465 ms 
 
mapping solver time 12.507273 ms 
points size 63168 
filter time 18.595506 ms 
data association time 18.612367 ms 
solver time 14.516801 ms 
build tree time 61.592604 ms 
solver time 12.899370 ms 
mapping data assosiation time 23.620387 ms 
mapping solver time 12.177656 ms 
mapping data assosiation time 23.286204 ms 
mapping solver time 16.132306 ms 
data association time 18.798457 ms 
solver time 12.082488 ms 
optimization twice time 64.866564 
publication time 6.960529 ms 
whole laserOdometry time 71.843553 ms 
 
points size 62090 
prepare time 10.785921 
build tree time 56.690831 ms 
data association time 19.776543 ms 
mapping data assosiation time 23.370620 ms 
mapping solver time 17.499226 ms 
data association time 19.474513 ms 
solver time 13.740817 ms 
mapping solver time 11.282798 ms 
sort q time 2.960401 
seperate points time 7.415317 
drop lidar frame in mapping for real time performance 
solver time 7.732340 ms 
data association time 12.086494 ms 
publication time 5.313831 ms 
whole laserOdometry time 47.453634 ms 
 
build tree time 58.403121 ms 
points size 66265 
prepare time 11.282127 
mapping data assosiation time 21.109146 ms 
mapping solver time 12.930417 ms 
data association time 15.890852 ms 
mapping solver time 10.161195 ms 
data association time 14.621627 ms 
solver time 10.719282 ms 
points size 69534 
sort q time 3.993514 
seperate points time 9.943479 
mapping data assosiation time 18.513395 ms 
data association time 19.581991 ms 
mapping solver time 12.230606 ms 
solver time 15.552516 ms 
mapping solver time 9.373120 ms 
mapping optimization time 114.332282 
add points time 0.839974 ms
data association time 19.124810 ms 
optimization twice time 67.078530 
points size 70738 
sort q time 3.911237 
seperate points time 9.404826 
data association time 19.936119 ms 
solver time 15.213649 ms 
mapping solver time 11.962649 ms 
solver time 11.675256 ms 
mapping data assosiation time 25.105056 ms 
mapping solver time 9.456007 ms 
filter time 16.808405 ms 
solver time 10.859247 ms 
data association time 13.381775 ms 
solver time 10.941657 ms 
build tree time 50.251289 ms 
mapping data assosiation time 18.657512 ms 
mapping solver time 13.650551 ms 
sort q time 3.912701 
seperate points time 9.859651 
scan registration time 27.768841 ms *************
mapping data assosiation time 19.634504 ms 
data association time 13.508176 ms 
solver time 13.766214 ms 
map prepare time 3.463517 ms
map corner num 195487  surf num 65066 
solver time 10.754450 ms 
points size 70699 
prepare time 14.614882 
sort q time 3.919140 
seperate points time 9.987035 
mapping data assosiation time 19.785568 ms 
mapping solver time 12.797087 ms 
mapping data assosiation time 20.605647 ms 
mapping solver time 16.185183 ms 
filter time 16.832686 ms 
sort q time 3.714264 
seperate points time 8.892715 
data association time 13.138345 ms 
solver time 12.795692 ms 
build tree time 57.922796 ms 
publication time 6.601412 ms 
whole laserOdometry time 55.599573 ms 
 
mapping solver time 14.384518 ms 
prepare time 15.292861 
mapping data assosiation time 23.567028 ms 
mapping solver time 12.223644 ms 
filter time 18.571604 ms 
data association time 12.641818 ms 
solver time 8.661784 ms 
points size 68653 
sort q time 4.094211 
seperate points time 10.343694 
mapping data assosiation time 20.009455 ms 
mapping solver time 12.220597 ms 
solver time 13.265731 ms 
mapping data assosiation time 20.837429 ms 
mapping solver time 12.046109 ms 
publication time 6.067817 ms 
whole laserOdometry time 55.020149 ms 
 
filter time 20.615877 ms 
map prepare time 3.645463 ms
map corner num 197350  surf num 65528 
sort q time 3.735661 
seperate points time 9.174413 
scan registration time 26.355380 ms *************
data association time 19.383318 ms 
build tree time 55.388777 ms 
solver time 8.216152 ms 
mapping solver time 13.757751 ms 
points size 65686 
sort q time 3.067723 
seperate points time 7.685248 
data association time 14.114389 ms 
mapping pub time 0.843066 ms 
whole mapping time 147.993567 ms +++++
data association time 13.013132 ms 
publication time 5.935712 ms 
whole laserOdometry time 53.713449 ms 
 
build tree time 56.179199 ms 
sort q time 3.376266 
seperate points time 8.483456 
data association time 12.241333 ms 
solver time 15.156412 ms 
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solver time 11.615173 ms 
publication time 7.229242 ms 
whole laserOdometry time 66.534629 ms 
 
points size 66965 
sort q time 3.850519 
seperate points time 9.741583 
scan registration time 23.957125 ms *************
data association time 18.882217 ms 
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data association time 19.593069 ms 
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data association time 19.196156 ms 
publication time 7.413948 ms 
whole laserOdometry time 70.442436 ms 
 
points size 73931 
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points size 76574 
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publication time 7.381162 ms 
whole laserOdometry time 49.323662 ms 
 
points size 79285 
sort q time 3.893913 
seperate points time 9.521960 
scan registration time 25.317763 ms *************
data association time 13.655833 ms 
solver time 11.439304 ms 
data association time 13.313780 ms 
publication time 7.075231 ms 
whole laserOdometry time 55.114302 ms 
 
points size 75891 
scan registration time 30.658795 ms *************
data association time 22.003669 ms 
solver time 15.438261 ms 
build tree time 58.682077 ms 
data association time 20.990830 ms 
mapping data assosiation time 20.022001 ms 
points size 75905 
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seperate points time 10.237586 
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points size 76508 
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solver time 7.979968 ms 
publication time 7.764758 ms 
whole laserOdometry time 55.182950 ms 
 
points size 75343 
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map corner num 202125  surf num 66828 
data association time 12.795615 ms 
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build tree time 52.733572 ms 
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seperate points time 10.044825 
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data association time 13.535524 ms 
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points size 72413 
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whole mapping time 148.517633 ms +++++
data association time 14.244358 ms 
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data association time 13.490785 ms 
publication time 6.670534 ms 
whole laserOdometry time 55.681059 ms 
 
mapping data assosiation time 18.830767 ms 
mapping solver time 13.981389 ms 
mapping data assosiation time 19.593604 ms 
mapping optimization time 123.960000 
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map prepare time 3.846554 ms
map corner num 204000  surf num 67293 
publication time 7.523399 ms 
whole laserOdometry time 57.304263 ms 
 
points size 73048 
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data association time 15.791990 ms 
publication time 7.005778 ms 
whole laserOdometry time 55.255672 ms 
 
mapping solver time 14.379863 ms 
points size 71531 
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data association time 13.238632 ms 
publication time 6.808252 ms 
whole laserOdometry time 52.967527 ms 
 
mapping solver time 11.310998 ms 
points size 73585 
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filter time 15.164331 ms 
solver time 15.212660 ms 
data association time 19.998893 ms 
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points size 72248 
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mapping data assosiation time 16.941858 ms 
mapping optimization time 102.157643 
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points size 72295 
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solver time 11.309767 ms 
build tree time 51.624719 ms 
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data association time 20.624642 ms 
solver time 16.860233 ms 
data association time 18.795638 ms 
solver time 11.948551 ms 
points size 68978 
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mapping solver time 17.684679 ms 
optimization twice time 63.374076 
mapping solver time 11.168429 ms 
mapping optimization time 118.384564 
add points time 0.661514 ms
points size 68126 
prepare time 11.619132 
drop lidar frame in mapping for real time performance 
data association time 15.311856 ms 
data association time 11.946122 ms 
publication time 6.646482 ms 
whole laserOdometry time 53.169332 ms 
 
mapping solver time 12.013827 ms 
mapping data assosiation time 16.829447 ms 
sort q time 3.074333 
seperate points time 7.646189 
filter time 11.739704 ms 
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data association time 11.916946 ms 
publication time 6.275066 ms 
whole laserOdometry time 53.626772 ms 
 
mapping data assosiation time 15.672617 ms 
mapping solver time 13.598780 ms 
points size 72455 
prepare time 11.535947 
scan registration time 22.442974 ms *************
mapping solver time 10.253373 ms 
mapping optimization time 98.152582 
add points time 0.534915 ms
data association time 15.332992 ms 
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data association time 12.413552 ms 
publication time 6.333063 ms 
whole laserOdometry time 51.851757 ms 
 
points size 71925 
mapping solver time 10.836268 ms 
mapping data assosiation time 17.528610 ms 
mapping solver time 8.217307 ms 
solver time 11.330647 ms 
data association time 12.574593 ms 
publication time 6.233654 ms 
whole laserOdometry time 51.930711 ms 
 
build tree time 40.709453 ms 
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mapping solver time 14.217332 ms 
data association time 22.955768 ms 
mapping solver time 16.281560 ms 
data association time 19.624485 ms 
filter time 15.072391 ms 
mapping pub time 1.149622 ms 
whole mapping time 133.615981 ms +++++
map prepare time 3.437081 ms
map corner num 154491  surf num 51748 
publication time 8.015144 ms 
whole laserOdometry time 76.625986 ms 
 
sort q time 3.323883 
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data association time 20.361050 ms 
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points size 66029 
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data association time 12.266262 ms 
publication time 5.576039 ms 
whole laserOdometry time 49.041457 ms 
 
mapping solver time 12.281040 ms 
points size 62497 
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add points time 0.783006 ms
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points size 59868 
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publication time 6.229274 ms 
whole laserOdometry time 78.654728 ms 
 
prepare time 10.658888 
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data association time 11.673788 ms 
optimization twice time 46.231344 
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map corner num 155513  surf num 52158 
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mapping data assosiation time 22.109684 ms 
points size 66692 
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mapping solver time 13.644162 ms 
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points size 71234 
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publication time 7.684029 ms 
whole laserOdometry time 54.013792 ms 
 
points size 72126 
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points size 73273 
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data association time 13.653334 ms 
publication time 6.737060 ms 
whole laserOdometry time 53.413740 ms 
 
mapping data assosiation time 20.698597 ms 
mapping solver time 11.175620 ms 
points size 76306 
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points size 78354 
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mapping optimization time 111.933445 
add points time 0.843240 ms
scan registration time 30.077692 ms *************
filter time 12.894659 ms 
data association time 16.397257 ms 
solver time 12.405032 ms 
data association time 13.591709 ms 
solver time 8.204257 ms 
publication time 7.960438 ms 
whole laserOdometry time 59.530388 ms 
 
mapping data assosiation time 21.861878 ms 
mapping solver time 14.455981 ms 
mapping data assosiation time 23.092215 ms 
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data association time 14.625587 ms 
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whole mapping time 134.155906 ms +++++
map prepare time 3.282229 ms
map corner num 160448  surf num 54354 
publication time 7.341115 ms 
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points size 79596 
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mapping solver time 10.606183 ms 
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whole laserOdometry time 64.568167 ms 
 
map prepare time 3.940221 ms
map corner num 161077  surf num 54782 
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solver time 10.783395 ms 
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whole laserOdometry time 64.317401 ms 
 
points size 77676 
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publication time 9.133296 ms 
whole laserOdometry time 72.431956 ms 
 
build tree time 45.653633 ms 
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points size 79411 
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publication time 7.475529 ms 
whole laserOdometry time 59.274724 ms 
 
points size 81954 
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build tree time 33.847910 ms 
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points size 83704 
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scan registration time 28.111825 ms *************
mapping data assosiation time 26.255032 ms 
mapping solver time 14.457895 ms 
mapping optimization time 119.058112 
data association time 23.462074 ms 
add points time 0.823072 ms
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mapping data assosiation time 25.544686 ms 
data association time 23.060932 ms 
solver time 11.662491 ms 
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whole laserOdometry time 84.626786 ms 
 
sort q time 4.723995 
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mapping solver time 18.063626 ms 
solver time 11.706351 ms 
publication time 9.779219 ms 
whole laserOdometry time 83.691424 ms 
 
sort q time 4.883684 
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solver time 15.045002 ms 
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add points time 0.759593 ms
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whole laserOdometry time 60.118832 ms 
 
points size 93965 
build tree time 35.849989 ms 
sort q time 4.869936 
seperate points time 11.552767 
scan registration time 29.971951 ms *************
mapping data assosiation time 25.027905 ms 
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mapping data assosiation time 25.995408 ms 
solver time 7.857764 ms 
publication time 10.239786 ms 
whole laserOdometry time 78.769666 ms 
 
map prepare time 3.679446 ms
map corner num 135799  surf num 49118 
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mapping solver time 20.570021 ms 
points size 97001 
publication time 10.197898 ms 
whole laserOdometry time 82.562167 ms 
 
scan registration time 31.858790 ms *************
mapping solver time 13.415600 ms 
filter time 12.373076 ms 
mapping pub time 1.134985 ms 
whole mapping time 141.011161 ms +++++
data association time 16.631927 ms 
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map corner num 136360  surf num 49440 
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prepare time 20.664794 
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sort q time 4.518020 
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whole laserOdometry time 65.037836 ms 
 
mapping data assosiation time 27.419360 ms 
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scan registration time 37.492429 ms *************
mapping data assosiation time 26.186168 ms 
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points size 98957 
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points size 99542 
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points size 99880 
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data association time 13.860868 ms 
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whole laserOdometry time 56.128852 ms 
 
map prepare time 3.896736 ms
map corner num 141134  surf num 52507 
points size 100122 
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scan registration time 39.170890 ms *************
data association time 14.458014 ms 
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data association time 16.771769 ms 
solver time 7.551336 ms 
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whole laserOdometry time 59.730231 ms 
 
points size 100331 
mapping data assosiation time 35.194265 ms 
scan registration time 38.686733 ms *************
filter time 11.424295 ms 
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whole laserOdometry time 57.692513 ms 
 
points size 100393 
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mapping data assosiation time 30.285825 ms 
scan registration time 30.521306 ms *************
mapping solver time 16.842167 ms 
solver time 10.005790 ms 
mapping data assosiation time 31.219131 ms 
mapping solver time 14.377716 ms 
publication time 10.251239 ms 
whole laserOdometry time 69.146074 ms 
 
prepare time 15.504061 
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whole laserOdometry time 60.380647 ms 
 
points size 100592 
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map corner num 143449  surf num 53914 
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whole laserOdometry time 59.886778 ms 
 
points size 100701 
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solver time 13.815069 ms 
publication time 12.109636 ms 
whole laserOdometry time 68.941573 ms 
 
points size 100959 
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map corner num 144252  surf num 54317 
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points size 101215 
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publication time 9.441559 ms 
whole laserOdometry time 74.870013 ms 
 
sort q time 6.354411 
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data association time 17.601065 ms 
publication time 8.809825 ms 
whole laserOdometry time 66.765668 ms 
 
sort q time 5.774734 
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map corner num 145792  surf num 55046 
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publication time 11.042687 ms 
whole laserOdometry time 64.738919 ms 
 
points size 101799 
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points size 102082 
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sort q time 5.837312 
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map corner num 146470  surf num 55402 
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solver time 14.687944 ms 
build tree time 40.758617 ms 
solver time 10.163328 ms 
publication time 11.011058 ms 
whole laserOdometry time 70.514918 ms 
 
prepare time 15.455320 
sort q time 5.752475 
seperate points time 13.299445 
data association time 13.875873 ms 
mapping data assosiation time 31.973924 ms 
mapping solver time 15.156731 ms 
filter time 14.334491 ms 
map prepare time 5.258553 ms
map corner num 147323  surf num 55796 
points size 102503 
sort q time 6.085411 
seperate points time 14.307760 
build tree time 39.916168 ms 
data association time 14.824599 ms 
solver time 10.523835 ms 
data association time 14.621445 ms 
mapping solver time 24.677720 ms 
points size 102487 
sort q time 6.089192 
seperate points time 14.328174 
mapping solver time 21.834501 ms 
solver time 9.233670 ms 
map prepare time 3.532226 ms
map corner num 148155  surf num 56166 
solver time 10.258936 ms 
publication time 10.571976 ms 
whole laserOdometry time 61.088884 ms 
 
build tree time 44.014190 ms 
data association time 13.894365 ms 
solver time 12.171761 ms 
data association time 14.100411 ms 
solver time 10.206445 ms 
publication time 9.804679 ms 
whole laserOdometry time 61.034729 ms 
 
mapping data assosiation time 33.250656 ms 
sort q time 5.383499 
seperate points time 12.505259 
filter time 12.621970 ms 
data association time 14.343888 ms 
solver time 12.014272 ms 
data association time 14.210611 ms 
solver time 13.550210 ms 
points size 102562 
prepare time 18.464315 
mapping data assosiation time 35.013105 ms 
sort q time 6.116308 
seperate points time 14.654057 
data association time 14.035460 ms 
solver time 12.974411 ms 
mapping data assosiation time 33.368775 ms 
data association time 15.461991 ms 
solver time 11.091300 ms 
publication time 10.310715 ms 
whole laserOdometry time 64.716360 ms 
 
points size 102524 
sort q time 5.976526 
seperate points time 14.299445 
build tree time 43.266377 ms 
data association time 15.862435 ms 
solver time 12.487224 ms 
mapping data assosiation time 32.951410 ms 
solver time 11.087772 ms 
publication time 11.202526 ms 
whole laserOdometry time 67.980344 ms 
 
sort q time 5.855352 
seperate points time 13.734755 
mapping data assosiation time 37.308326 ms 
data association time 27.323412 ms 
mapping solver time 29.897837 ms 
filter time 15.942743 ms 
data association time 25.915452 ms 
solver time 14.333817 ms 
scan registration time 33.960642 ms *************
build tree time 50.143883 ms 
solver time 12.532643 ms 
mapping data assosiation time 36.976853 ms 
solver time 10.348287 ms 
publication time 10.486441 ms 
whole laserOdometry time 66.765183 ms 
 
prepare time 15.592426 
sort q time 5.549110 
seperate points time 12.729174 
scan registration time 33.284001 ms *************
data association time 15.492316 ms 
solver time 12.544441 ms 
filter time 12.676228 ms 
mapping pub time 1.339477 ms 
whole mapping time 190.188965 ms +++++
data association time 15.879715 ms 
drop lidar frame in mapping for real time performance 
map prepare time 3.623029 ms
map corner num 150920  surf num 57377 
publication time 9.505689 ms 
whole laserOdometry time 65.367476 ms 
 
points size 102351 
sort q time 5.592599 
seperate points time 12.815642 
scan registration time 34.863993 ms *************
mapping data assosiation time 34.619951 ms 
data association time 24.946348 ms 
mapping solver time 25.118674 ms 
solver time 18.095284 ms 
points size 102379 
prepare time 14.458884 
data association time 25.308501 ms 
sort q time 5.426069 
seperate points time 12.576718 
publication time 11.153478 ms 
whole laserOdometry time 95.154746 ms 
 
filter time 12.312374 ms 
data association time 25.955887 ms 
solver time 15.317535 ms 
data association time 25.654845 ms 
solver time 11.304803 ms 
sort q time 5.787848 
seperate points time 13.424173 
data association time 16.730965 ms 
solver time 10.517621 ms 
data association time 15.370130 ms 
publication time 10.750712 ms 
whole laserOdometry time 62.650240 ms 
 
prepare time 15.681549 
sort q time 5.766836 
seperate points time 13.188253 
data association time 15.239070 ms 
solver time 12.641336 ms 
optimization twice time 59.753153 
points size 102289 
sort q time 5.042743 
seperate points time 11.823542 
data association time 15.222008 ms 
data association time 15.058914 ms 
mapping solver time 28.651720 ms 
points size 102199 
sort q time 5.593867 
seperate points time 12.817067 
data association time 15.114777 ms 
filter time 11.769435 ms 
data association time 16.025264 ms 
publication time 9.093546 ms 
whole laserOdometry time 55.199112 ms 
 
points size 102104 
sort q time 5.225273 
seperate points time 12.138605 
data association time 15.271663 ms 
data association time 15.197531 ms 
mapping solver time 27.793542 ms 
points size 101874 
scan registration time 30.855310 ms *************
mapping optimization time 173.335061 
filter time 15.800922 ms 
solver time 10.166993 ms 
data association time 15.514157 ms 
optimization twice time 59.911900 
prepare time 15.875822 
sort q time 5.903835 
seperate points time 13.800846 
mapping data assosiation time 34.576788 ms 
data association time 15.443595 ms 
solver time 11.268120 ms 
data association time 15.803555 ms 
optimization twice time 51.134140 
points size 101636 
filter time 12.718580 ms 
data association time 15.533690 ms 
solver time 8.414946 ms 
build tree time 42.487600 ms 
solver time 5.263022 ms 
optimization twice time 45.493283 
mapping data assosiation time 34.538619 ms 
mapping solver time 17.629600 ms 
data association time 15.846234 ms 
mapping data assosiation time 36.487331 ms 
mapping solver time 11.837323 ms 
publication time 8.770505 ms 
whole laserOdometry time 55.132232 ms 
 
points size 98811 
sort q time 4.961042 
seperate points time 11.549715 
build tree time 43.949569 ms 
data association time 15.043077 ms 
mapping data assosiation time 39.171428 ms 
publication time 8.197382 ms 
whole laserOdometry time 54.884874 ms 
 
mapping solver time 26.306585 ms 
points size 97115 
prepare time 14.926672 
sort q time 5.326907 
seperate points time 12.418221 
mapping data assosiation time 37.853959 ms 
data association time 15.220236 ms 
solver time 9.149640 ms 
filter time 13.467344 ms 
data association time 19.487325 ms 
publication time 9.953601 ms 
whole laserOdometry time 61.853526 ms 
 
points size 96025 
sort q time 6.716432 
seperate points time 16.192060 
mapping data assosiation time 36.461824 ms 
data association time 18.189426 ms 
mapping solver time 26.814102 ms 
solver time 5.367524 ms 
points size 96158 
mapping data assosiation time 39.680819 ms 
mapping solver time 19.825016 ms 
filter time 13.762998 ms 
solver time 11.052904 ms 
data association time 23.478337 ms 
publication time 8.505048 ms 
whole laserOdometry time 74.590962 ms 
 
sort q time 4.898974 
seperate points time 11.498204 
mapping data assosiation time 38.319386 ms 
data association time 18.796336 ms 
solver time 14.968125 ms 
data association time 26.129971 ms 
optimization twice time 71.560891 
sort q time 4.899721 
seperate points time 11.882109 
data association time 15.274358 ms 
build tree time 39.776520 ms 
solver time 4.855450 ms 
publication time 8.206693 ms 
whole laserOdometry time 55.729318 ms 
 
points size 101111 
sort q time 5.230541 
seperate points time 12.085304 
mapping solver time 25.846359 ms 
data association time 15.046411 ms 
solver time 9.744805 ms 
data association time 15.409403 ms 
mapping solver time 17.301142 ms 
filter time 15.546877 ms 
prepare time 16.569668 
sort q time 5.932664 
seperate points time 14.097564 
build tree time 44.000666 ms 
data association time 14.954518 ms 
solver time 10.157949 ms 
data association time 15.039688 ms 
optimization twice time 49.055021 
points size 101844 
sort q time 5.621583 
seperate points time 13.096709 
mapping data assosiation time 41.632785 ms 
data association time 27.493731 ms 
solver time 15.564677 ms 
mapping solver time 34.731811 ms 
data association time 25.324019 ms 
map prepare time 4.472332 ms
map corner num 154672  surf num 58706 
sort q time 5.955091 
seperate points time 13.579204 
data association time 25.100172 ms 
solver time 10.197180 ms 
data association time 15.357769 ms 
mapping data assosiation time 36.995858 ms 
sort q time 4.722718 
seperate points time 11.202854 
data association time 15.688468 ms 
mapping data assosiation time 32.807265 ms 
mapping solver time 17.801044 ms 
publication time 10.534796 ms 
whole laserOdometry time 63.501055 ms 
 
points size 102479 
sort q time 4.847683 
seperate points time 11.199858 
build tree time 42.474133 ms 
solver time 11.764507 ms 
mapping data assosiation time 34.976379 ms 
solver time 8.199748 ms 
publication time 9.362145 ms 
whole laserOdometry time 65.375218 ms 
 
points size 102592 
prepare time 17.098843 
sort q time 5.006890 
seperate points time 11.740311 
mapping data assosiation time 37.598460 ms 
data association time 19.045984 ms 
solver time 12.679213 ms 
map prepare time 3.469206 ms
map corner num 155140  surf num 58836 
solver time 10.878536 ms 
publication time 11.433326 ms 
whole laserOdometry time 77.326326 ms 
 
build tree time 43.970459 ms 
data association time 14.925282 ms 
mapping data assosiation time 36.838700 ms 
data association time 15.066067 ms 
solver time 10.185898 ms 
publication time 9.719985 ms 
whole laserOdometry time 66.010583 ms 
 
prepare time 16.383086 
sort q time 5.674222 
seperate points time 13.349071 
mapping solver time 19.208081 ms 
filter time 14.853291 ms 
solver time 14.544450 ms 
data association time 14.711822 ms 
optimization twice time 63.389636 
points size 102790 
sort q time 4.538941 
seperate points time 10.615018 
mapping data assosiation time 34.031294 ms 
data association time 25.150861 ms 
solver time 19.453177 ms 
points size 102878 
publication time 11.034417 ms 
whole laserOdometry time 97.687326 ms 
 
filter time 16.480371 ms 
map prepare time 4.639170 ms
map corner num 155848  surf num 59049 
data association time 25.877952 ms 
solver time 14.231785 ms 
data association time 25.345900 ms 
solver time 10.935015 ms 
sort q time 5.756094 
seperate points time 13.295748 
mapping data assosiation time 41.279535 ms 
data association time 27.290812 ms 
solver time 15.877495 ms 
mapping solver time 39.681205 ms 
points size 103028 
solver time 12.684556 ms 
mapping data assosiation time 44.347042 ms 
data association time 25.522062 ms 
mapping optimization time 215.362854 
solver time 18.268702 ms 
filter time 16.766025 ms 
data association time 24.830613 ms 
publication time 9.604663 ms 
whole laserOdometry time 88.472714 ms 
 
build tree time 44.553466 ms 
data association time 16.652822 ms 
solver time 11.038114 ms 
mapping data assosiation time 35.886880 ms 
solver time 8.197949 ms 
mapping solver time 29.124570 ms 
points size 102993 
sort q time 5.486914 
seperate points time 13.004838 
mapping data assosiation time 38.418823 ms 
data association time 15.576818 ms 
mapping solver time 22.820537 ms 
filter time 11.978801 ms 
solver time 7.811448 ms 
publication time 9.366801 ms 
whole laserOdometry time 60.253286 ms 
 
points size 102920 
build tree time 45.198905 ms 
data association time 15.665765 ms 
data association time 15.365107 ms 
publication time 10.555300 ms 
whole laserOdometry time 61.467040 ms 
 
prepare time 14.599121 
mapping data assosiation time 40.716736 ms 
mapping solver time 22.575126 ms 
filter time 14.701795 ms 
data association time 15.866052 ms 
publication time 10.382465 ms 
whole laserOdometry time 61.278678 ms 
 
build tree time 44.389967 ms 
sort q time 4.747678 
seperate points time 11.016669 
mapping data assosiation time 35.167025 ms 
solver time 12.685176 ms 
data association time 18.814810 ms 
publication time 12.156524 ms 
whole laserOdometry time 68.373181 ms 
 
sort q time 5.760629 
seperate points time 13.241613 
add points time 0.725594 ms
filter time 14.367859 ms 
data association time 20.986038 ms 
solver time 15.018279 ms 
build tree time 42.621372 ms 
prepare time 13.397891 
sort q time 5.992504 
seperate points time 14.486153 
mapping data assosiation time 39.604278 ms 
data association time 15.967344 ms 
solver time 10.826264 ms 
data association time 15.849352 ms 
publication time 9.923596 ms 
whole laserOdometry time 61.490235 ms 
 
points size 103050 
sort q time 6.946749 
seperate points time 15.833398 
filter time 13.832226 ms 
data association time 25.155473 ms 
solver time 17.846274 ms 
build tree time 44.354497 ms 
data association time 25.069596 ms 
solver time 14.538247 ms 
optimization twice time 83.381882 
sort q time 5.543356 
seperate points time 12.868570 
mapping solver time 29.369646 ms 
solver time 17.697181 ms 
mapping data assosiation time 33.476977 ms 
data association time 25.172202 ms 
mapping solver time 23.305762 ms 
mapping optimization time 170.507904 
add points time 0.734478 ms
solver time 14.780250 ms 
optimization twice time 83.847768 
filter time 19.738597 ms 
data association time 17.755079 ms 
solver time 15.498048 ms 
build tree time 43.677902 ms 
solver time 11.931740 ms 
mapping data assosiation time 37.833366 ms 
sort q time 6.133168 
seperate points time 14.556726 
mapping solver time 27.473030 ms 
solver time 14.584512 ms 
data association time 14.954435 ms 
solver time 7.875542 ms 
publication time 9.607706 ms 
whole laserOdometry time 64.124967 ms 
 
points size 103132 
sort q time 6.241129 
seperate points time 14.609582 
data association time 16.215111 ms 
data association time 15.410030 ms 
publication time 9.804018 ms 
whole laserOdometry time 62.634520 ms 
 
points size 103137 
sort q time 6.135816 
seperate points time 14.844882 
scan registration time 39.445139 ms *************
data association time 16.490991 ms 
solver time 10.610269 ms 
data association time 15.534811 ms 
publication time 10.794913 ms 
whole laserOdometry time 62.466445 ms 
 
points size 103206 
sort q time 5.808283 
seperate points time 13.661687 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
data association time 27.716807 ms 
solver time 15.654481 ms 
build tree time 49.589347 ms 
data association time 25.000830 ms 
solver time 11.071940 ms 
sort q time 6.518869 
seperate points time 15.097486 
mapping solver time 25.640295 ms 
solver time 14.926943 ms 
mapping data assosiation time 38.133825 ms 
points size 103051 
solver time 11.336514 ms 
optimization twice time 77.795232 
prepare time 16.429259 
mapping optimization time 188.065906 
filter time 16.145459 ms 
data association time 23.015573 ms 
solver time 11.550100 ms 
data association time 15.883299 ms 
solver time 10.561698 ms 
points size 102885 
sort q time 5.715274 
seperate points time 13.052645 
data association time 15.534897 ms 
solver time 13.515665 ms 
data association time 18.813771 ms 
publication time 8.607945 ms 
whole laserOdometry time 67.792385 ms 
 
mapping solver time 22.061823 ms 
points size 102870 
mapping optimization time 166.592926 
add points time 0.726800 ms
prepare time 18.902965 
filter time 14.721605 ms 
data association time 15.187374 ms 
solver time 10.887625 ms 
data association time 15.843624 ms 
solver time 8.677302 ms 
publication time 10.277113 ms 
whole laserOdometry time 61.838513 ms 
 
prepare time 14.793497 
sort q time 4.747613 
seperate points time 11.105219 
data association time 15.747425 ms 
mapping data assosiation time 33.879825 ms 
solver time 7.645334 ms 
publication time 8.413136 ms 
whole laserOdometry time 59.701725 ms 
 
filter time 16.127583 ms 
sort q time 5.347795 
seperate points time 12.278286 
build tree time 45.107550 ms 
solver time 18.230430 ms 
mapping data assosiation time 34.296683 ms 
data association time 25.791713 ms 
points size 102605 
publication time 10.825137 ms 
whole laserOdometry time 91.174132 ms 
 
sort q time 5.241733 
seperate points time 11.943607 
data association time 14.592619 ms 
solver time 13.522297 ms 
data association time 19.563160 ms 
publication time 8.492198 ms 
whole laserOdometry time 64.373426 ms 
 
prepare time 18.669093 
sort q time 6.090854 
seperate points time 14.559672 
mapping data assosiation time 38.352119 ms 
solver time 13.164107 ms 
data association time 17.009739 ms 
optimization twice time 59.411912 
publication time 9.772538 ms 
whole laserOdometry time 69.202971 ms 
 
points size 101956 
sort q time 5.967191 
seperate points time 14.439340 
build tree time 47.166464 ms 
solver time 10.325503 ms 
data association time 14.289573 ms 
publication time 8.580878 ms 
whole laserOdometry time 57.876997 ms 
 
points size 101804 
sort q time 4.997540 
seperate points time 11.353926 
mapping data assosiation time 33.299977 ms 
data association time 15.422957 ms 
solver time 11.096494 ms 
drop lidar frame in mapping for real time performance 
solver time 8.074321 ms 
points size 101832 
build tree time 48.441275 ms 
data association time 24.676890 ms 
solver time 15.100062 ms 
mapping solver time 25.276103 ms 
data association time 24.957766 ms 
solver time 11.491083 ms 
optimization twice time 77.314671 
points size 100459 
prepare time 14.736279 
sort q time 5.617405 
seperate points time 13.222613 
filter time 13.031067 ms 
data association time 22.999670 ms 
solver time 14.806116 ms 
build tree time 26.051984 ms 
data association time 23.053367 ms 
mapping data assosiation time 36.564019 ms 
sort q time 5.516936 
seperate points time 12.814572 
data association time 23.017471 ms 
solver time 15.073706 ms 
mapping solver time 15.943083 ms 
filter time 11.100586 ms 
prepare time 15.226332 
sort q time 5.195629 
seperate points time 11.997864 
build tree time 32.228096 ms 
data association time 22.840051 ms 
mapping data assosiation time 34.230327 ms 
mapping solver time 24.426187 ms 
points size 99624 
solver time 15.172261 ms 
optimization twice time 79.302390 
prepare time 14.732171 
mapping solver time 26.670433 ms 
data association time 23.254990 ms 
map prepare time 3.915065 ms
map corner num 101224  surf num 42069 
data association time 23.267861 ms 
solver time 16.249483 ms 
publication time 11.608637 ms 
whole laserOdometry time 94.178248 ms 
 
mapping data assosiation time 43.132897 ms 
solver time 19.142417 ms 
mapping solver time 36.907124 ms 
data association time 24.414259 ms 
prepare time 13.745457 
sort q time 5.571861 
seperate points time 13.207226 
data association time 22.393354 ms 
mapping optimization time 192.091620 
solver time 18.419118 ms 
map prepare time 3.771411 ms
map corner num 101951  surf num 42262 
data association time 23.476051 ms 
points size 98847 
publication time 11.043599 ms 
whole laserOdometry time 91.322550 ms 
 
mapping data assosiation time 40.147755 ms 
solver time 20.054991 ms 
data association time 22.850983 ms 
points size 98625 
publication time 11.756986 ms 
whole laserOdometry time 93.694405 ms 
 
scan registration time 38.015389 ms *************
mapping solver time 24.283624 ms 
data association time 21.846888 ms 
map prepare time 3.802645 ms
map corner num 102798  surf num 42504 
solver time 18.795566 ms 
data association time 22.058959 ms 
prepare time 15.732969 
sort q time 5.251662 
seperate points time 12.155436 
mapping data assosiation time 37.978030 ms 
data association time 23.472998 ms 
mapping solver time 34.931842 ms 
data association time 25.081921 ms 
points size 100613 
prepare time 16.186042 
sort q time 5.774548 
seperate points time 13.927550 
mapping solver time 32.763460 ms 
mapping optimization time 186.232086 
add points time 0.649164 ms
mapping pub time 1.558125 ms 
whole mapping time 204.358350 ms +++++
solver time 15.656465 ms 
data association time 22.269631 ms 
solver time 11.613037 ms 
publication time 11.872089 ms 
whole laserOdometry time 84.617081 ms 
 
mapping data assosiation time 40.488935 ms 
data association time 25.762573 ms 
solver time 11.803785 ms 
mapping solver time 34.756716 ms 
data association time 26.365678 ms 
points size 98782 
mapping data assosiation time 41.859294 ms 
mapping solver time 28.264269 ms 
filter time 12.048723 ms 
solver time 15.284228 ms 
data association time 22.377360 ms 
build tree time 37.227339 ms 
points size 98373 
publication time 11.942192 ms 
whole laserOdometry time 85.226940 ms 
 
mapping data assosiation time 38.683084 ms 
data association time 16.685920 ms 
solver time 11.014774 ms 
data association time 15.037736 ms 
solver time 7.767329 ms 
publication time 8.966867 ms 
whole laserOdometry time 60.357771 ms 
 
points size 98551 
mapping solver time 28.274033 ms 
mapping optimization time 165.106458 
add points time 0.652883 ms
sort q time 5.629196 
seperate points time 13.640522 
filter time 14.555275 ms 
data association time 16.957684 ms 
build tree time 35.761930 ms 
solver time 8.920874 ms 
points size 98243 
sort q time 5.574599 
seperate points time 13.536042 
mapping solver time 23.916210 ms 
data association time 14.223165 ms 
solver time 10.893122 ms 
data association time 13.848045 ms 
mapping solver time 19.972564 ms 
filter time 13.006442 ms 
build tree time 32.648257 ms 
mapping data assosiation time 32.864515 ms 
mapping solver time 23.484497 ms 

Done.
mapping data assosiation time 30.130392 ms 
mapping solver time 19.839805 ms 
mapping optimization time 140.994220 
add points time 0.652850 ms
filter time 11.399933 ms 
mapping pub time 1.154677 ms 
whole mapping time 157.494009 ms +++++
killing:
 * /alaserMapping
 * /alaserOdometry
 * /ascanRegistration
 * /pointcloud_to_pcd_1718887016166209366
 * /rosout
[33m[ WARN] [1718887555.432591536]: Shutdown request received.[0m
[33m[ WARN] [1718887555.432622037]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718887555.433089386]: Shutdown request received.[0m
[33m[ WARN] [1718887555.433112425]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718887555.433573452]: Shutdown request received.[0m
[33m[ WARN] [1718887555.433596654]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718887555.434015376]: Shutdown request received.[0m
[33m[ WARN] [1718887555.434042437]: Reason given for shutdown: [user request][0m
killed
terminate called without an active exception
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/c1c00b24-2f01-11ef-bb45-0242ac110003/rosout-1*.log[0m
[1m[ascanRegistration-2] process has finished cleanly
log file: /root/.ros/log/c1c00b24-2f01-11ef-bb45-0242ac110003/ascanRegistration-2*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [578][0m
[1m[alaserOdometry-3] process has finished cleanly
log file: /root/.ros/log/c1c00b24-2f01-11ef-bb45-0242ac110003/alaserOdometry-3*.log[0m
[31m[alaserMapping-4] process has died [pid 158, exit code -6, cmd /root/catkin_ws/devel/lib/aloam_velodyne/alaserMapping __name:=alaserMapping __log:=/root/.ros/log/c1c00b24-2f01-11ef-bb45-0242ac110003/alaserMapping-4.log].
log file: /root/.ros/log/c1c00b24-2f01-11ef-bb45-0242ac110003/alaserMapping-4*.log[0m
