/SLAM-Hive/slam_hive_results/mapping_results/1356/999_ndt-loam+kitti_2011_09_30_drive_0028_synced_full.yamlbash: /opt/ros/kinetic/setup.bash: No such file or directory
... logging to /root/.ros/log/042c3938-2f07-11ef-b944-0242ac110003/roslaunch-e207e05b8bce-82.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/slamhive/dlo_lfa_ggo_kitti.launch
[1mstarted roslaunch server http://e207e05b8bce:44179/[0m

SUMMARY
========

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

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

auto-starting new master
[1mprocess[master]: started with pid [106][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/dlo_lfa_ggo_kitti.launch http://localhost:11311
[1msetting /run_id to 042c3938-2f07-11ef-b944-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [117][0m
started core service [/rosout]
[1mprocess[lidar2base_publisher-2]: started with pid [120][0m
[1mprocess[camera_init2odom_publisher-3]: started with pid [125][0m
[1mprocess[velodyne_nodelet_manager-4]: started with pid [131][0m
[0m[ INFO] [1718889269.624075659]: Initializing nodelet with 8 worker threads.[0m
[1mprocess[prefiltering_nodelet-5]: started with pid [137][0m
[1mprocess[scan_matching_odom_nodelet-6]: started with pid [153][0m
[1mprocess[ascanRegistration-7]: started with pid [164][0m
[1mprocess[alaserOdometry-8]: started with pid [165][0m
Mapping 10 Hz 
[1mprocess[alaserMapping-9]: started with pid [166][0m
[1mprocess[kittiHelper-10]: started with pid [172][0m
[1mprocess[global_graph_nodelet-11]: started with pid [173][0m
line resolution 0.400000 plane resolution 0.800000 
downsample: VOXELGRID 0.1
outlier_removal: RADIUS 0.5 - 2
bash: /opt/ros/kinetic/setup.bash: No such file or directory
/opt/ros/melodic/lib/python2.7/dist-packages/roslib/packages.py:470: UnicodeWarning: Unicode equal comparison failed to convert both arguments to Unicode - interpreting them as being unequal
  if resource_name in files:
bash: /opt/ros/kinetic/setup.bash: No such file or directory
scan line number 64 
rosbag play /slamhive/dataset/kitti_2011_09_30_drive_0028_synced_full.bag  --clock 
calib_file= home/chenshoubin/slam_ws/src/lv_slam/config/kitti_calib/calib04-12.txt
odom_file= /root/kitti_traj_ggo.txt
--- reg_s2s,reg_s2k=pcl::NDT_OMP ---
--- initialize_params end! ---
[0m[ INFO] [1718889274.722708976]: Saving as ASCII PCD[0m
[0m[ INFO] [1718889274.729669044]: Listening for incoming data on topic /laser_cloud_surround[0m
calib_file= home/chenshoubin/slam_ws/src/lv_slam/config/kitti_calib/calib04-12.txt
eulerAngle= 0
-0
 01 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
construct solver: lm_var_cholmod
# Using CHOLMOD poseDim -1 landMarkDim -1 blockordering 1
done
registration: NDT_OMP DIRECT7 1 (8 threads)
[1mprocess[map2odom_publisher-12]: started with pid [224][0m
[0m[ INFO] [1718889275.053294255]: Opening /slamhive/dataset/kitti_2011_09_30_drive_0028_synced_full.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1317357761.829826   Duration: 0.000000 / 538.070410   Delay: 0.00 
--------------------stamp1317357761.831731081
points size 81868 
prepare time 16.110644 
sort q time 4.491751 
seperate points time 13.250400 
scan registration time 34.272972 ms *************
Initialization finished 
1317357761.831731081 WriteOdom laser_odom_to_init
1317357761.831731081 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.551078 ms
map corner num 0  surf num 0 
[33m[ WARN] [1718889275.723283719, 1317357761.900879021]: time Map corner and surf num are not enough[0m
add points time 0.273715 ms
filter time 0.231100 ms 
[0m[ INFO] [1718889275.725357982]: Received 4982 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889275.725395176]: Data saved to 1317357761831731.pcd[0m
mapping pub time 2.232651 ms 
whole mapping time 5.352095 ms +++++
mappingCount 1 & avg mapping time 5.356317 ms ++++++++++++++++++++++
1317357761.831731081 WriteOdom aft_mapped_to_init
--------------------stamp1317357761.935647964
### global_graph init done! 
points size 82933 
prepare time 11.254667 
sort q time 4.416726 
seperate points time 9.033701 
scan registration time 24.220230 ms *************
publication time 7.388912 ms 
whole laserOdometry time 7.471459 ms 
 
--------------------stamp1317357762.039568901
points size 84323 
prepare time 17.964262 
sort q time 5.070937 
seperate points time 11.427913 
scan registration time 33.225308 ms *************
publication time 6.049944 ms 
whole laserOdometry time 6.062374 ms 
 
--------------------stamp1317357762.143488883
points size 86053 
prepare time 18.163749 
sort q time 5.399469 
seperate points time 12.328285 
-----t: 0.223239
OdomCount 1 & avg odom time 0.223239 ms ++++++++++++++++++++++
1317357761.935647964 WriteOdom laser_odom_to_init
1317357761.935647964 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
scan registration time 41.588603 ms *************
map prepare time 1.931266 ms
map corner num 2457  surf num 2525 
build tree time 0.709736 ms 
-----t: 0.0315777
OdomCount 2 & avg odom time 0.127408 ms ++++++++++++++++++++++
1317357762.039568901 WriteOdom laser_odom_to_init
1317357762.039568901 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.679475 ms 
--------------------stamp1317357762.247406959
points size 87075 
prepare time 12.682986 
mapping data assosiation time 15.983798 ms 
sort q time 4.689926 
seperate points time 11.072276 
scan registration time 31.173941 ms *************
mapping solver time 14.705192 ms 
mapping optimization time 95.361279 
add points time 0.390264 ms
filter time 0.815271 ms 
mapping pub time 1.951824 ms 
whole mapping time 100.491546 ms +++++
mappingCount 2 & avg mapping time 52.926119 ms ++++++++++++++++++++++
1317357761.935647964 WriteOdom aft_mapped_to_init
map prepare time 2.295191 ms
map corner num 3401  surf num 2881 
1317357762.247406959 WriteOdom laser_odom_to_init
1317357762.247406959 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.306209 ms 
mapping solver time 15.416832 ms 
mapping data assosiation time 14.329963 ms 
--------------------stamp1317357762.351346969
mapping pub time 2.022065 ms 
whole mapping time 66.471665 ms +++++
mappingCount 3 & avg mapping time 57.442626 ms ++++++++++++++++++++++
points size 89649 
1317357762.143488884 WriteOdom aft_mapped_to_init
map prepare time 2.055930 ms
map corner num 4321  surf num 3224 
build tree time 1.197933 ms 
prepare time 12.575750 
mapping data assosiation time 16.951007 ms 
sort q time 8.850125 
seperate points time 16.928775 
scan registration time 44.304735 ms *************
mapping solver time 19.754619 ms 
-----t: 0.0344443
OdomCount 5 & avg odom time 0.071364 ms ++++++++++++++++++++++
1317357762.351346969 WriteOdom laser_odom_to_init
1317357762.351346969 WriteOdom aft_mapped_to_init_high_frec
publication time 6.437170 ms 
whole laserOdometry time 6.450474 ms 
 
mapping data assosiation time 16.889533 ms 
mapping solver time 13.327794 ms 
mapping optimization time 69.156713 
add points time 0.409145 ms
filter time 0.749439 ms 
mapping pub time 2.029493 ms 
whole mapping time 74.470100 ms +++++
mappingCount 4 & avg mapping time 61.701222 ms ++++++++++++++++++++++
1317357762.247406960 WriteOdom aft_mapped_to_init
map prepare time 2.016089 ms
map corner num 5020  surf num 3409 
build tree time 1.069617 ms 
--------------------stamp1317357762.455291032
points size 90579 
prepare time 12.979778 
mapping solver time 21.647179 ms 
sort q time 5.183083 
seperate points time 12.197341 
scan registration time 30.532232 ms *************
mapping data assosiation time 17.644984 ms 
OdomCount 6 & avg odom time 0.064391 ms ++++++++++++++++++++++
1317357762.455291032 WriteOdom laser_odom_to_init
publication time 9.509117 ms 
whole laserOdometry time 9.519293 ms 
 
1317357762.455291032 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 13.678041 ms 
mapping optimization time 71.299504 
add points time 0.364271 ms
filter time 0.761070 ms 
mapping pub time 2.031789 ms 
whole mapping time 76.521023 ms +++++
mappingCount 5 & avg mapping time 64.666024 ms ++++++++++++++++++++++
1317357762.351346970 WriteOdom aft_mapped_to_init
map prepare time 1.822749 ms
map corner num 5652  surf num 3621 
build tree time 1.533407 ms 
mapping data assosiation time 15.978192 ms 
mapping solver time 16.779681 ms 
--------------------stamp1317357762.559210062
points size 90579 
prepare time 11.163505 
mapping data assosiation time 17.660870 ms 
sort q time 4.692717 
seperate points time 10.496707 
mapping solver time 13.354040 ms 
mapping optimization time 66.248336 
add points time 0.486234 ms
filter time 1.074108 ms 
scan registration time 27.218169 ms *************
[0m[ INFO] [1718889276.401845131, 1317357762.578346340]: Received 10072 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889276.402656178, 1317357762.578346340]: Data saved to 1317357762455291.pcd[0m
mapping pub time 2.576711 ms 
whole mapping time 72.272651 ms +++++
mappingCount 6 & avg mapping time 65.934767 ms ++++++++++++++++++++++
1317357762.455291033 WriteOdom aft_mapped_to_init
publication time 6.426310 ms 
whole laserOdometry time 6.511673 ms 
 
-----t: 0.0390208
OdomCount 7 & avg odom time 0.060767 ms ++++++++++++++++++++++
1317357762.559210062 WriteOdom laser_odom_to_init
1317357762.559210062 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.625543 ms
map corner num 6247  surf num 3825 
build tree time 1.811282 ms 
mapping data assosiation time 18.038877 ms 
mapping solver time 20.584790 ms 
--------------------stamp1317357762.663129091
points size 90849 
prepare time 15.452307 
mapping data assosiation time 21.494002 ms 
sort q time 5.212902 
seperate points time 12.341241 
scan registration time 32.533715 ms *************
mapping solver time 19.552524 ms 
mapping optimization time 82.708769 
add points time 0.370747 ms
-----t: 0.0280653
OdomCount 8 & avg odom time 0.056679 ms ++++++++++++++++++++++
1317357762.663129091 WriteOdom laser_odom_to_init
1317357762.663129091 WriteOdom aft_mapped_to_init_high_frec
filter time 3.170809 ms 
mapping pub time 2.001464 ms 
whole mapping time 89.929532 ms +++++
mappingCount 7 & avg mapping time 69.363934 ms ++++++++++++++++++++++
1317357762.559210062 WriteOdom aft_mapped_to_init
publication time 6.596792 ms 
whole laserOdometry time 6.611035 ms 
 
map prepare time 1.682506 ms
map corner num 6839  surf num 4077 
build tree time 1.561462 ms 
mapping data assosiation time 16.135788 ms 
mapping solver time 15.776922 ms 
--------------------stamp1317357762.767049074
mapping data assosiation time 17.140084 ms 
points size 90931 
prepare time 12.761616 
mapping solver time 14.956902 ms 
mapping optimization time 66.419060 
add points time 0.413305 ms
filter time 1.087316 ms 
sort q time 6.131835 
seperate points time 11.867631 
mapping pub time 2.302022 ms 
whole mapping time 71.969546 ms +++++
mappingCount 8 & avg mapping time 69.690254 ms ++++++++++++++++++++++
1317357762.663129091 WriteOdom aft_mapped_to_init
scan registration time 29.308684 ms *************
-----t: 0.0279938
OdomCount 9 & avg odom time 0.053492 ms ++++++++++++++++++++++
1317357762.767049074 WriteOdom laser_odom_to_init
1317357762.767049074 WriteOdom aft_mapped_to_init_high_frec
publication time 7.823856 ms 
whole laserOdometry time 7.838533 ms 
 
map prepare time 1.927558 ms
map corner num 7420  surf num 4320 
build tree time 2.229407 ms 
mapping data assosiation time 17.080896 ms 
mapping solver time 17.168052 ms 
--------------------stamp1317357762.870966911
mapping data assosiation time 19.667473 ms 
points size 90805 
prepare time 14.791372 
sort q time 4.935918 
seperate points time 11.772005 
filter time 1.480785 ms 
scan registration time 31.377748 ms *************
mapping pub time 2.267361 ms 
whole mapping time 80.517675 ms +++++
mappingCount 9 & avg mapping time 70.894089 ms ++++++++++++++++++++++
1317357762.767049074 WriteOdom aft_mapped_to_init
-----t: 0.0339288
OdomCount 10 & avg odom time 0.051535 ms ++++++++++++++++++++++
publication time 8.203573 ms 
whole laserOdometry time 8.215340 ms 
 
1317357762.870966911 WriteOdom laser_odom_to_init
1317357762.870966911 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.795407 ms
map corner num 7997  surf num 4528 
build tree time 2.302528 ms 
mapping data assosiation time 17.664270 ms 
mapping solver time 16.439108 ms 
--------------------stamp1317357762.974884986
mapping data assosiation time 21.665384 ms 
points size 90460 
prepare time 15.949398 
mapping solver time 16.482996 ms 
mapping optimization time 75.525665 
add points time 0.421739 ms
filter time 1.352845 ms 
sort q time 4.868969 
seperate points time 11.718934 
mapping pub time 2.260020 ms 
whole mapping time 81.407664 ms +++++
mappingCount 10 & avg mapping time 71.945885 ms ++++++++++++++++++++++
1317357762.870966911 WriteOdom aft_mapped_to_init
scan registration time 32.554114 ms *************
publication time 7.578245 ms 
whole laserOdometry time 7.590605 ms 
 
-----t: 0.0417464
OdomCount 11 & avg odom time 0.050645 ms ++++++++++++++++++++++
1317357762.974884986 WriteOdom laser_odom_to_init
1317357762.974884986 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.742477 ms
map corner num 8523  surf num 4718 
build tree time 2.484636 ms 
mapping data assosiation time 18.471989 ms 
mapping solver time 20.949897 ms 
points size 87818 
prepare time 11.147461 
mapping data assosiation time 20.259365 ms 
sort q time 4.878356 
seperate points time 11.101798 
scan registration time 27.065417 ms *************
publication time 7.385157 ms 
whole laserOdometry time 7.401380 ms 
 
mapping solver time 21.802235 ms 
mapping optimization time 85.176763 
add points time 0.520859 ms
filter time 1.351570 ms 
[0m[ INFO] [1718889276.937836924, 1317357763.122230529]: Received 13971 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889276.937868526, 1317357763.122230529]: Data saved to 1317357762974884.pcd[0m
mapping pub time 2.416235 ms 
whole mapping time 91.276757 ms +++++
mappingCount 11 & avg mapping time 73.703771 ms ++++++++++++++++++++++
1317357762.974884987 WriteOdom aft_mapped_to_init
-----t: 0.034686
OdomCount 12 & avg odom time 0.049316 ms ++++++++++++++++++++++
1317357763.078830003 WriteOdom laser_odom_to_init
1317357763.078830003 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.249429 ms
map corner num 9066  surf num 4905 
build tree time 2.271920 ms 
mapping data assosiation time 18.190487 ms 
mapping solver time 19.097027 ms 
--------------------stamp1317357763.182771921
points size 84809 
mapping data assosiation time 22.969765 ms 
sort q time 4.530973 
seperate points time 11.403629 
scan registration time 33.678156 ms *************
mapping solver time 18.247275 ms 
mapping optimization time 81.895875 
add points time 0.476751 ms
filter time 1.258742 ms 
mapping pub time 2.628404 ms 
whole mapping time 88.591586 ms +++++
mappingCount 12 & avg mapping time 74.945336 ms ++++++++++++++++++++++
1317357763.078830004 WriteOdom aft_mapped_to_init
publication time 10.316953 ms 
whole laserOdometry time 10.333640 ms 
 
-----t: 0.0388685
OdomCount 13 & avg odom time 0.048512 ms ++++++++++++++++++++++
1317357763.182771921 WriteOdom laser_odom_to_init
1317357763.182771921 WriteOdom aft_mapped_to_init_high_frec
map prepare time 4.115661 ms
map corner num 9616  surf num 5103 
build tree time 2.278279 ms 
mapping data assosiation time 20.115372 ms 
--------------------stamp1317357763.286695957
points size 83607 
sort q time 5.373122 
seperate points time 12.971789 
-----t: 0.0319379
OdomCount 14 & avg odom time 0.047328 ms ++++++++++++++++++++++
1317357763.286695957 WriteOdom laser_odom_to_init
1317357763.286695957 WriteOdom aft_mapped_to_init_high_frec
publication time 9.052583 ms 
whole laserOdometry time 9.067418 ms 
 
map prepare time 2.052310 ms
map corner num 10147  surf num 5260 
mapping data assosiation time 19.740376 ms 
--------------------stamp1317357763.390639066
points size 82328 
sort q time 4.820553 
seperate points time 10.841532 
mapping data assosiation time 21.306817 ms 
scan registration time 26.467205 ms *************
-----t: 0.0314301
OdomCount 15 & avg odom time 0.046268 ms ++++++++++++++++++++++
mapping solver time 22.237202 ms 
mapping optimization time 90.018441 
1317357763.390639066 WriteOdom laser_odom_to_init
add points time 0.437913 ms
map prepare time 2.051159 ms
map corner num 10664  surf num 5438 
mapping data assosiation time 17.626166 ms 
mapping solver time 19.985038 ms 
--------------------stamp1317357763.494574069
sort q time 5.053787 
seperate points time 14.816413 
-----t: 0.0438796
OdomCount 16 & avg odom time 0.046119 ms ++++++++++++++++++++++
1317357763.494574069 WriteOdom laser_odom_to_init
1317357763.494574069 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.481652 ms 
--------------------stamp1317357763.598541975
points size 81616 
mapping solver time 27.662519 ms 
prepare time 12.672823 
scan registration time 29.212252 ms *************
mapping data assosiation time 22.318725 ms 
publication time 10.038929 ms 
whole laserOdometry time 10.144978 ms 
 
[0m[ INFO] [1718889277.479962341, 1317357763.661791435]: Received 17338 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889277.480175081, 1317357763.661791435]: Data saved to 1317357763494574.pcd[0m
mapping pub time 2.742303 ms 
whole mapping time 106.950221 ms +++++
mappingCount 16 & avg mapping time 80.234959 ms ++++++++++++++++++++++
1317357763.494574070 WriteOdom aft_mapped_to_init
-----t: 0.0669401
OdomCount 17 & avg odom time 0.047344 ms ++++++++++++++++++++++
map prepare time 2.105625 ms
map corner num 11631  surf num 5707 
build tree time 2.435594 ms 
--------------------stamp1317357763.702558040
mapping data assosiation time 20.946398 ms 
sort q time 4.842983 
seperate points time 11.792171 
scan registration time 29.752377 ms *************
mapping solver time 20.770218 ms 
publication time 11.665196 ms 
whole laserOdometry time 11.683820 ms 
 
-----t: 0.0447989
OdomCount 18 & avg odom time 0.047202 ms ++++++++++++++++++++++
1317357763.702558040 WriteOdom laser_odom_to_init
mapping solver time 15.125780 ms 
mapping optimization time 81.618370 
mapping data assosiation time 18.212010 ms 
points size 80233 
scan registration time 32.079525 ms *************
mapping solver time 17.315220 ms 
-----t: 0.0489504
OdomCount 19 & avg odom time 0.047294 ms ++++++++++++++++++++++
publication time 19.378999 ms 
whole laserOdometry time 19.392690 ms 
 
1317357763.806549072 WriteOdom laser_odom_to_init
1317357763.806549072 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.918287 ms
map corner num 12559  surf num 5999 
build tree time 3.019115 ms 
--------------------stamp1317357763.910563945
points size 78502 
sort q time 4.786671 
seperate points time 10.124757 
scan registration time 24.855700 ms *************
mapping data assosiation time 21.376315 ms 
-----t: 0.0331256
OdomCount 20 & avg odom time 0.046586 ms ++++++++++++++++++++++
1317357763.910563945 WriteOdom laser_odom_to_init
1317357763.910563945 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.737916 ms 
mapping optimization time 82.288317 
add points time 0.456017 ms
filter time 1.902966 ms 
build tree time 2.789306 ms 
mapping data assosiation time 19.379354 ms 
--------------------stamp1317357764.014601945
points size 74971 
mapping data assosiation time 22.705009 ms 
sort q time 4.877233 
seperate points time 12.326135 
mapping pub time 1.748827 ms 
whole mapping time 89.735725 ms +++++
mappingCount 20 & avg mapping time 81.986184 ms ++++++++++++++++++++++
1317357763.910563946 WriteOdom aft_mapped_to_init
-----t: 0.0523058
OdomCount 21 & avg odom time 0.046858 ms ++++++++++++++++++++++
1317357764.014601945 WriteOdom laser_odom_to_init
1317357764.014601945 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.753387 ms 
points size 72440 
sort q time 4.420442 
seperate points time 10.972771 
scan registration time 28.371948 ms *************
mapping data assosiation time 22.372589 ms 
publication time 6.428680 ms 
whole laserOdometry time 6.445012 ms 
 
mapping solver time 13.883730 ms 
mapping pub time 13.357170 ms 
whole mapping time 95.463118 ms +++++
mappingCount 21 & avg mapping time 82.628181 ms ++++++++++++++++++++++
1317357764.014601946 WriteOdom aft_mapped_to_init
map prepare time 1.969244 ms
map corner num 13983  surf num 6383 
mapping data assosiation time 17.780723 ms 
--------------------stamp1317357764.222655057
points size 70906 
prepare time 10.559084 
sort q time 3.809847 
seperate points time 9.557358 
mapping data assosiation time 19.114553 ms 
scan registration time 24.979515 ms *************
mapping solver time 14.142614 ms 
mapping optimization time 73.669368 
add points time 0.451851 ms
filter time 1.869700 ms 
mapping pub time 1.996030 ms 
whole mapping time 80.038769 ms +++++
mappingCount 22 & avg mapping time 82.511281 ms ++++++++++++++++++++++
1317357764.118614912 WriteOdom aft_mapped_to_init
publication time 8.634722 ms 
whole laserOdometry time 8.644601 ms 
 
-----t: 0.0306903
OdomCount 23 & avg odom time 0.045585 ms ++++++++++++++++++++++
1317357764.222655057 WriteOdom laser_odom_to_init
1317357764.222655057 WriteOdom aft_mapped_to_init_high_frec
build tree time 3.922814 ms 
mapping data assosiation time 20.206315 ms 
--------------------stamp1317357764.326694965
sort q time 3.292116 
seperate points time 7.304780 
publication time 6.850577 ms 
whole laserOdometry time 6.868935 ms 
 
filter time 1.507720 ms 
map prepare time 1.664892 ms
map corner num 14885  surf num 6630 
mapping data assosiation time 20.050692 ms 
mapping solver time 22.646345 ms 
prepare time 8.147132 
sort q time 3.516683 
seperate points time 7.890582 
mapping solver time 13.373341 ms 
map prepare time 2.209874 ms
map corner num 15323  surf num 6730 
build tree time 3.032986 ms 
mapping data assosiation time 19.335627 ms 
mapping solver time 19.429024 ms 
mapping data assosiation time 19.995286 ms 
points size 71159 
sort q time 3.980903 
seperate points time 8.301904 
1317357764.430711031 WriteOdom aft_mapped_to_init
publication time 6.689534 ms 
whole laserOdometry time 6.707322 ms 
 
map prepare time 1.789560 ms
map corner num 15815  surf num 6840 
mapping data assosiation time 16.121977 ms 
mapping solver time 19.448072 ms 
--------------------stamp1317357764.638786077
mapping solver time 13.382763 ms 
-----t: 0.0255476
OdomCount 27 & avg odom time 0.042799 ms ++++++++++++++++++++++
map prepare time 1.595537 ms
map corner num 16278  surf num 6968 
mapping data assosiation time 16.987518 ms 
mapping solver time 17.330562 ms 
mapping data assosiation time 16.909649 ms 
--------------------stamp1317357764.742799997
points size 76004 
prepare time 9.004391 
mapping pub time 1.704752 ms 
whole mapping time 76.298723 ms +++++
mappingCount 27 & avg mapping time 82.942330 ms ++++++++++++++++++++++
1317357764.638786077 WriteOdom aft_mapped_to_init
sort q time 4.420176 
seperate points time 9.102584 
scan registration time 21.849349 ms *************
publication time 8.794556 ms 
whole laserOdometry time 8.923311 ms map prepare time 1.831438 ms
map corner num 16743  surf num 7089 
build tree time 3.595985 ms 
mapping data assosiation time 17.700152 ms 
mapping solver time 18.817314 ms 
--------------------stamp1317357764.846813917
points size 79318 
mapping solver time 18.256203 ms 
map prepare time 1.592905 ms
map corner num 17201  surf num 7203 
mapping data assosiation time 18.774397 ms 
mapping solver time 20.140473 ms 
--------------------stamp1317357764.950808048
points size 83489 
prepare time 14.696526 
scan registration time 29.849060 ms *************
publication time 6.372109 ms 
whole laserOdometry time 6.388627 ms 
 
-----t: 0.0430465
OdomCount 30 & avg odom time 0.041785 ms ++++++++++++++++++++++
1317357764.950808048 WriteOdom laser_odom_to_init
1317357764.950808048 WriteOdom aft_mapped_to_init_high_frec
map prepare time 4.208761 ms
map corner num 17584  surf num 7298 
build tree time 4.507596 ms 
mapping data assosiation time 16.919980 ms 
--------------------stamp1317357765.054774999
points size 84994 
scan registration time 26.665356 ms *************
mapping data assosiation time 19.331876 ms 
mapping solver time 18.097618 ms 
publication time 26.192055 ms 
whole laserOdometry time 26.216429 ms 
 
-----t: 0.066575
OdomCount 31 & avg odom time 0.042584 ms ++++++++++++++++++++++
build tree time 3.441487 ms 
mapping data assosiation time 21.446757 ms 
sort q time 4.836200 
seperate points time 11.400198 
publication time 7.249816 ms 
whole laserOdometry time 7.264253 ms 
 
-----t: 0.0330176
OdomCount 32 & avg odom time 0.042285 ms ++++++++++++++++++++++
mapping data assosiation time 25.230014 ms 
mapping solver time 15.867148 ms 
filter time 2.328548 ms 
[0m[ INFO] [1718889279.048879682, 1317357765.231001081]: Received 26021 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889279.048954846, 1317357765.231001081]: Data saved to 1317357765054775.pcd[0m
mapping pub time 2.698376 ms 
whole mapping time 95.628642 ms +++++
mappingCount 31 & avg mapping time 83.483992 ms ++++++++++++++++++++++
1317357765.054775000 WriteOdom aft_mapped_to_init
build tree time 4.720263 ms 
mapping data assosiation time 17.256594 ms 
points size 86958 
prepare time 12.515593 
mapping solver time 24.717094 ms 
scan registration time 29.426130 ms *************
publication time 7.517703 ms 
whole laserOdometry time 7.531680 ms 
 
mapping solver time 18.225521 ms 
mapping optimization time 100.309303 
add points time 0.427401 ms
filter time 1.636963 ms 
mapping pub time 2.160406 ms 
whole mapping time 106.767118 ms +++++
mappingCount 32 & avg mapping time 84.211695 ms ++++++++++++++++++++++
1317357765.158716917 WriteOdom aft_mapped_to_init
build tree time 4.961316 ms 
--------------------stamp1317357765.366508007
points size 87533 
sort q time 6.068714 
seperate points time 12.044281 
scan registration time 27.992660 ms *************
publication time 6.976490 ms 
whole laserOdometry time 6.992226 ms 
 
-----t: 0.0349482
OdomCount 34 & avg odom time 0.042041 ms ++++++++++++++++++++++
1317357765.366508007 WriteOdom laser_odom_to_init
1317357765.366508007 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.523357 ms 
mapping optimization time 96.445888 
add points time 0.440607 ms
filter time 1.721798 ms 
map prepare time 1.894613 ms
map corner num 19447  surf num 7727 
build tree time 4.873690 ms 
--------------------stamp1317357765.470330953
mapping data assosiation time 18.365985 ms 
prepare time 13.647772 
sort q time 5.119872 
seperate points time 12.632559 
scan registration time 34.312442 ms *************
mapping solver time 29.239664 ms 
-----t: 0.0740104
OdomCount 35 & avg odom time 0.042954 ms ++++++++++++++++++++++
1317357765.470330953 WriteOdom laser_odom_to_init
1317357765.470330953 WriteOdom aft_mapped_to_init_high_frec
points size 93142 
build tree time 19.073633 ms 
sort q time 6.048815 
seperate points time 17.695069 
scan registration time 40.520725 ms *************
mapping data assosiation time 26.029859 ms 
-----t: 0.0284626
OdomCount 36 & avg odom time 0.042552 ms ++++++++++++++++++++++
1317357765.574127912 WriteOdom laser_odom_to_init
1317357765.574127912 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.570839 ms 
publication time 10.617452 ms 
whole laserOdometry time 10.634298 ms 
 
mapping data assosiation time 19.587704 ms 
mapping solver time 16.594598 ms 
--------------------stamp1317357765.677880048
mapping pub time 2.527654 ms 
whole mapping time 109.820499 ms +++++
mappingCount 35 & avg mapping time 85.995651 ms ++++++++++++++++++++++
map prepare time 2.034646 ms
map corner num 20595  surf num 8271 
points size 92615 
sort q time 7.036097 
seperate points time 15.152836 
scan registration time 33.712474 ms *************
publication time 10.355541 ms 
whole laserOdometry time 10.369057 ms 
 
mapping solver time 26.258733 ms 
-----t: 0.0516165
OdomCount 37 & avg odom time 0.042797 ms ++++++++++++++++++++++
1317357765.677880048 WriteOdom laser_odom_to_init
1317357765.677880048 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.521501 ms 
mapping solver time 19.721349 ms 
[0m[ INFO] [1718889279.593633630, 1317357765.775967337]: Received 29786 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889279.593665678, 1317357765.775967337]: Data saved to 1317357765574127.pcd[0m
map prepare time 2.481937 ms
map corner num 21194  surf num 8592 
build tree time 4.905587 ms 
points size 93005 
sort q time 5.065148 
seperate points time 11.739109 
publication time 10.848703 ms 
whole laserOdometry time 10.865355 ms 
 
mapping solver time 26.049647 ms 
-----t: 0.0457562
OdomCount 38 & avg odom time 0.042875 ms ++++++++++++++++++++++
1317357765.781652927 WriteOdom laser_odom_to_init
1317357765.781652927 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.068456 ms 
mapping solver time 17.233278 ms 
mapping optimization time 89.397577 
add points time 0.501328 ms
filter time 1.860690 ms 
map prepare time 1.963465 ms
map corner num 21770  surf num 8834 
build tree time 5.654617 ms 
points size 93946 
prepare time 17.083977 
mapping data assosiation time 20.597938 ms 
sort q time 5.537333 
seperate points time 12.592455 
mapping solver time 25.799119 ms 
-----t: 0.0482579
OdomCount 39 & avg odom time 0.043013 ms ++++++++++++++++++++++
1317357765.885476112 WriteOdom laser_odom_to_init
1317357765.885476112 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.888070 ms 
mapping solver time 22.816919 ms 
mapping pub time 3.049289 ms 
whole mapping time 107.702835 ms +++++
mappingCount 38 & avg mapping time 87.124544 ms ++++++++++++++++++++++
1317357765.781652927 WriteOdom aft_mapped_to_init
map prepare time 2.339205 ms
map corner num 22378  surf num 9105 
build tree time 5.441438 ms 
points size 93968 
prepare time 17.708711 
mapping data assosiation time 22.856036 ms 
sort q time 6.300505 
seperate points time 30.874804 
scan registration time 61.492715 ms *************
mapping solver time 33.253272 ms 
publication time 11.884800 ms 
whole laserOdometry time 12.001291 ms 
 
--------------------stamp1317357766.093147039
points size 93522 
prepare time 11.494819 
mapping solver time 31.820181 ms 
mapping optimization time 117.722593 
add points time 0.950127 ms
scan registration time 27.729247 ms *************
map prepare time 2.761505 ms
map corner num 22964  surf num 9374 
build tree time 5.668557 ms 
publication time 10.447714 ms 
whole laserOdometry time 10.463586 ms 
 
mapping data assosiation time 23.973402 ms 
-----t: 0.0506697
OdomCount 41 & avg odom time 0.043423 ms ++++++++++++++++++++++
mapping solver time 23.425812 ms 
--------------------stamp1317357766.197015047
points size 93247 
mapping data assosiation time 22.999770 ms 
prepare time 10.302942 
scan registration time 27.835788 ms *************
mapping optimization time 99.144289 
add points time 0.575664 ms
filter time 2.818274 ms 
mapping pub time 2.196361 ms 
whole mapping time 107.584975 ms +++++
mappingCount 40 & avg mapping time 88.616800 ms ++++++++++++++++++++++
1317357765.989300966 WriteOdom aft_mapped_to_init
build tree time 4.908131 ms 
-----t: 0.0474968
OdomCount 42 & avg odom time 0.043520 ms ++++++++++++++++++++++
1317357766.197015047 WriteOdom laser_odom_to_init
1317357766.197015047 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.983807 ms 
--------------------stamp1317357766.300884008
points size 90624 
mapping data assosiation time 24.902345 ms 
prepare time 14.434975 
sort q time 4.887753 
seperate points time 11.816919 
mapping solver time 22.856332 ms 
filter time 2.987863 ms 
[0m[ INFO] [1718889280.158694790, 1317357766.335761723]: Received 33893 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889280.158742619, 1317357766.335761723]: Data saved to 1317357766093147.pcd[0m
mapping pub time 11.463962 ms 
whole mapping time 112.810401 ms +++++
mappingCount 41 & avg mapping time 89.206985 ms ++++++++++++++++++++++
1317357766.093147039 WriteOdom aft_mapped_to_init
publication time 18.738734 ms 
build tree time 6.207420 ms 
-----t: 0.0684968
OdomCount 43 & avg odom time 0.044101 ms ++++++++++++++++++++++
--------------------stamp1317357766.404755115
mapping data assosiation time 34.302553 ms 
points size 88517 
prepare time 11.942064 
sort q time 4.964900 
seperate points time 10.715899 
mapping solver time 28.071746 ms 
scan registration time 28.464831 ms *************
publication time 10.293086 ms 
whole laserOdometry time 10.302842 ms 
 
-----t: 0.0351963
OdomCount 44 & avg odom time 0.043899 ms ++++++++++++++++++++++
mapping solver time 21.762554 ms 
mapping optimization time 116.349647 
add points time 0.594872 ms
filter time 2.994235 ms 
mapping pub time 2.184439 ms 
whole mapping time 131.034313 ms +++++
mappingCount 42 & avg mapping time 90.202970 ms ++++++++++++++++++++++
1317357766.197015047 WriteOdom aft_mapped_to_init
map prepare time 1.806867 ms
map corner num 24601  surf num 10000 
build tree time 6.206387 ms 
--------------------stamp1317357766.508626937
points size 87391 
sort q time 4.873668 
seperate points time 10.157403 
scan registration time 26.851521 ms *************
mapping solver time 23.275398 ms 
publication time 8.471802 ms 
whole laserOdometry time 8.487344 ms 
 
mapping data assosiation time 22.396854 ms 
-----t: 0.0379736
OdomCount 45 & avg odom time 0.043767 ms ++++++++++++++++++++++
1317357766.508626937 WriteOdom laser_odom_to_init
1317357766.508626937 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.732053 ms 
mapping optimization time 91.676483 
add points time 0.575116 ms
filter time 2.092618 ms 
map prepare time 1.599573 ms
map corner num 25085  surf num 10164 
build tree time 4.841812 ms 
--------------------stamp1317357766.612523078
points size 85088 
prepare time 11.540258 
mapping solver time 18.288258 ms 
sort q time 6.209952 
seperate points time 11.836873 
-----t: 0.0265127
OdomCount 46 & avg odom time 0.043392 ms ++++++++++++++++++++++
1317357766.612523078 WriteOdom laser_odom_to_init
1317357766.612523078 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.451993 ms 
mapping solver time 12.277418 ms 
mapping optimization time 74.788599 
add points time 0.490827 ms
map prepare time 1.622506 ms
map corner num 25623  surf num 10355 
build tree time 5.715190 ms 
mapping data assosiation time 15.099248 ms 
mapping solver time 15.970824 ms 
points size 83274 
prepare time 9.125559 
sort q time 4.667540 
seperate points time 10.327245 
mapping solver time 12.339315 ms 
mapping optimization time 68.167393 
add points time 0.511796 ms
filter time 2.544697 ms 
-----t: 0.0240569
OdomCount 47 & avg odom time 0.042981 ms ++++++++++++++++++++++
1317357766.716417074 WriteOdom laser_odom_to_init
1317357766.716417074 WriteOdom aft_mapped_to_init_high_frec
publication time 4.873384 ms 
whole laserOdometry time 4.886746 ms 
 
map prepare time 1.728333 ms
map corner num 26075  surf num 10487 
build tree time 4.623468 ms 
mapping data assosiation time 15.581794 ms 
mapping solver time 13.909496 ms 
mapping data assosiation time 14.798404 ms 
--------------------stamp1317357766.820334911
points size 81076 
filter time 2.391838 ms 
[0m[ INFO] [1718889280.649301729, 1317357766.833137053]: Received 37091 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889280.649375167, 1317357766.833137053]: Data saved to 1317357766716417.pcd[0m
mapping pub time 2.999656 ms 
whole mapping time 73.341777 ms +++++
mappingCount 46 & avg mapping time 89.481308 ms ++++++++++++++++++++++
1317357766.716417074 WriteOdom aft_mapped_to_init
-----t: 0.0288029
OdomCount 48 & avg odom time 0.042685 ms ++++++++++++++++++++++
1317357766.820334911 WriteOdom laser_odom_to_init
publication time 6.403744 ms 
whole laserOdometry time 6.410997 ms 
 
1317357766.820334911 WriteOdom aft_mapped_to_init_high_frec
build tree time 5.927471 ms 
mapping data assosiation time 15.847726 ms 
mapping solver time 17.947806 ms 
--------------------stamp1317357766.924278020
mapping data assosiation time 16.468342 ms 
points size 78153 
prepare time 13.727155 
filter time 2.387324 ms 
mapping pub time 1.918739 ms 
whole mapping time 76.480221 ms +++++
mappingCount 47 & avg mapping time 89.204939 ms ++++++++++++++++++++++
1317357766.820334911 WriteOdom aft_mapped_to_init
scan registration time 27.451065 ms *************
publication time 7.469986 ms 
whole laserOdometry time 7.488068 ms 
 
-----t: 0.0305271
OdomCount 49 & avg odom time 0.042437 ms ++++++++++++++++++++++
map prepare time 2.228859 ms
map corner num 26879  surf num 10670 
build tree time 10.811303 ms 
mapping data assosiation time 16.776418 ms 
mapping solver time 20.277160 ms 
points size 77242 
mapping data assosiation time 16.975945 ms 
mapping pub time 1.808356 ms 
whole mapping time 87.249923 ms +++++
mappingCount 48 & avg mapping time 89.164332 ms ++++++++++++++++++++++
1317357766.924278021 WriteOdom aft_mapped_to_init
publication time 6.378684 ms 
whole laserOdometry time 6.399155 ms 
 
-----t: 0.0373473
OdomCount 50 & avg odom time 0.042335 ms ++++++++++++++++++++++
map prepare time 2.096762 ms
map corner num 27227  surf num 10771 
build tree time 5.998128 ms 
mapping data assosiation time 13.390386 ms 
mapping solver time 13.841420 ms 
mapping data assosiation time 13.799155 ms 
points size 77416 
mapping solver time 11.379671 ms 
prepare time 10.759859 
mapping optimization time 59.259736 
add points time 0.452827 ms
filter time 2.436870 ms 
sort q time 4.434435 
seperate points time 9.673609 
scan registration time 23.319193 ms *************
publication time 5.537779 ms 
whole laserOdometry time 5.556715 ms 
 
-----t: 0.0352555
OdomCount 51 & avg odom time 0.042197 ms ++++++++++++++++++++++
1317357767.132189989 WriteOdom laser_odom_to_init
map prepare time 1.510361 ms
map corner num 27602  surf num 10878 
build tree time 7.158853 ms 
mapping data assosiation time 15.833420 ms 
mapping solver time 13.983865 ms 
mapping data assosiation time 14.336771 ms 
--------------------stamp1317357767.236156940
points size 78864 
prepare time 11.538976 
filter time 2.200086 ms 
mapping pub time 1.817937 ms 
whole mapping time 72.911416 ms +++++
mappingCount 50 & avg mapping time 88.376848 ms ++++++++++++++++++++++
1317357767.132189989 WriteOdom aft_mapped_to_init
publication time 5.974678 ms 
whole laserOdometry time 5.988162 ms 
 
-----t: 0.0255286
OdomCount 52 & avg odom time 0.041876 ms ++++++++++++++++++++++
1317357767.236156940 WriteOdom laser_odom_to_init
1317357767.236156940 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.419117 ms
map corner num 27946  surf num 10979 
build tree time 7.048830 ms 
mapping data assosiation time 14.978247 ms 
mapping solver time 14.086429 ms 
mapping data assosiation time 13.908452 ms 
--------------------stamp1317357767.340122938
mapping solver time 11.322891 ms 
mapping optimization time 62.127543 
add points time 0.446464 ms
points size 79779 
filter time 2.513281 ms 
sort q time 4.369638 
seperate points time 8.836793 
scan registration time 22.164153 ms *************
publication time 5.739217 ms 
whole laserOdometry time 5.755009 ms 
 
-----t: 0.030542
OdomCount 53 & avg odom time 0.041662 ms ++++++++++++++++++++++
1317357767.340122938 WriteOdom laser_odom_to_init
1317357767.340122938 WriteOdom aft_mapped_to_init_high_frec
build tree time 6.189690 ms 
mapping data assosiation time 15.287574 ms 
mapping solver time 13.318359 ms 
--------------------stamp1317357767.444091081
mapping solver time 13.360851 ms 
mapping optimization time 63.035646 
add points time 0.490359 ms
points size 80882 
sort q time 4.434599 
seperate points time 8.883591 
publication time 5.102428 ms 
whole laserOdometry time 5.110979 ms 
 
-----t: 0.0246971
OdomCount 54 & avg odom time 0.041348 ms ++++++++++++++++++++++
1317357767.444091081 WriteOdom laser_odom_to_init
1317357767.444091081 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.748832 ms
map corner num 28659  surf num 11165 
build tree time 5.666534 ms 
mapping data assosiation time 12.512849 ms 
mapping solver time 15.891188 ms 
mapping data assosiation time 12.978419 ms 
mapping solver time 10.321692 ms 
filter time 2.697449 ms 
points size 80951 
sort q time 4.632807 
seperate points time 10.093617 
-----t: 0.0206302
OdomCount 55 & avg odom time 0.040971 ms ++++++++++++++++++++++
1317357767.548057079 WriteOdom laser_odom_to_init
1317357767.548057079 WriteOdom aft_mapped_to_init_high_frec
publication time 4.834792 ms 
whole laserOdometry time 4.848651 ms 
 
map prepare time 1.632303 ms
map corner num 28997  surf num 11252 
build tree time 7.587827 ms 
mapping data assosiation time 17.738767 ms 
mapping solver time 14.235653 ms 
mapping data assosiation time 16.122728 ms 
points size 81198 
prepare time 10.065991 
mapping solver time 14.356959 ms 
mapping optimization time 70.904305 
add points time 0.585986 ms
sort q time 4.670260 
seperate points time 21.435301 
-----t: 0.0229118
OdomCount 56 & avg odom time 0.040649 ms ++++++++++++++++++++++
1317357767.652046918 WriteOdom laser_odom_to_init
1317357767.652046918 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.627594 ms
map corner num 29343  surf num 11347 
build tree time 6.845255 ms 
mapping data assosiation time 14.633252 ms 
mapping solver time 15.284126 ms 
mapping data assosiation time 14.604323 ms 
points size 82302 
mapping solver time 15.780436 ms 
mapping optimization time 68.090547 
add points time 0.504638 ms
sort q time 4.959350 
seperate points time 10.552225 
scan registration time 28.109361 ms *************
-----t: 0.0223029
OdomCount 57 & avg odom time 0.040327 ms ++++++++++++++++++++++
1317357767.756036043 WriteOdom laser_odom_to_init
1317357767.756036043 WriteOdom aft_mapped_to_init_high_frec
publication time 5.821360 ms 
whole laserOdometry time 5.833959 ms 
 
map prepare time 1.745306 ms
map corner num 29707  surf num 11454 
build tree time 7.381711 ms 
mapping data assosiation time 14.896939 ms 
mapping solver time 14.369167 ms 
mapping data assosiation time 16.039120 ms 
points size 83565 
filter time 2.467889 ms 
mapping pub time 2.595343 ms 
whole mapping time 72.694175 ms +++++
mappingCount 56 & avg mapping time 86.616516 ms ++++++++++++++++++++++
[0m[ INFO] [1718889281.692222978, 1317357767.873903657]: Received 41626 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889281.692265491, 1317357767.873903657]: Data saved to 1317357767756036.pcd[0m
sort q time 4.443559 
seperate points time 10.546562 
scan registration time 25.465840 ms *************
-----t: 0.0235383
OdomCount 58 & avg odom time 0.040038 ms ++++++++++++++++++++++
publication time 5.356747 ms 
whole laserOdometry time 5.368217 ms 
 
map prepare time 1.559900 ms
map corner num 30065  surf num 11561 
build tree time 7.337567 ms 
mapping data assosiation time 15.907326 ms 
mapping solver time 15.117109 ms 
mapping data assosiation time 16.515620 ms 
points size 83024 
mapping solver time 12.718838 ms 
mapping optimization time 68.444083 
add points time 0.521653 ms
prepare time 14.738748 
sort q time 4.753689 
seperate points time 10.284825 
scan registration time 28.657462 ms *************
-----t: 0.0231125
OdomCount 59 & avg odom time 0.039751 ms ++++++++++++++++++++++
publication time 5.115456 ms 
whole laserOdometry time 5.128500 ms 
 
map prepare time 1.595530 ms
map corner num 30399  surf num 11682 
build tree time 7.752532 ms 
mapping data assosiation time 15.663022 ms 
mapping solver time 15.276896 ms 
mapping data assosiation time 15.920157 ms 
--------------------stamp1317357768.068082094
mapping solver time 13.901326 ms 
filter time 4.023770 ms 
prepare time 13.912007 
mapping pub time 2.270110 ms 
whole mapping time 77.916404 ms +++++
mappingCount 58 & avg mapping time 86.279470 ms ++++++++++++++++++++++
1317357767.964040995 WriteOdom aft_mapped_to_init
sort q time 4.171093 
seperate points time 8.548429 
publication time 7.182773 ms 
whole laserOdometry time 7.196554 ms 
 
-----t: 0.0534776
OdomCount 60 & avg odom time 0.039979 ms ++++++++++++++++++++++
build tree time 6.354002 ms 
mapping data assosiation time 14.313073 ms 
--------------------stamp1317357768.172146081
points size 81860 
prepare time 10.764205 
sort q time 4.765665 
seperate points time 10.316833 
publication time 8.179904 ms 
whole laserOdometry time 8.199078 ms 
 
filter time 3.167853 ms 
build tree time 6.846198 ms 
mapping data assosiation time 19.096147 ms 
--------------------stamp1317357768.276232004
mapping solver time 17.784194 ms 
points size 82633 
prepare time 9.812494 
sort q time 4.568145 
seperate points time 10.244800 
mapping solver time 15.910079 ms 
filter time 3.361298 ms 
mapping pub time 1.933926 ms 
whole mapping time 85.391165 ms +++++
mappingCount 60 & avg mapping time 86.317621 ms ++++++++++++++++++++++
1317357768.172146082 WriteOdom aft_mapped_to_init
map prepare time 1.551052 ms
map corner num 31545  surf num 12120 
build tree time 7.113484 ms 
mapping data assosiation time 15.510114 ms 
mapping solver time 14.341145 ms 
mapping data assosiation time 16.029266 ms 
points size 82080 
prepare time 10.092698 
mapping solver time 13.728838 ms 
mapping optimization time 67.742967 
add points time 0.564356 ms
filter time 3.392278 ms 
sort q time 5.137834 
seperate points time 11.426113 
scan registration time 25.307868 ms *************
publication time 5.655003 ms 
whole laserOdometry time 5.669509 ms 
 
-----t: 0.0398699
OdomCount 63 & avg odom time 0.039860 ms ++++++++++++++++++++++
map prepare time 1.765876 ms
map corner num 31954  surf num 12267 
build tree time 5.969860 ms 
mapping data assosiation time 16.330025 ms 
mapping solver time 16.807741 ms 
--------------------stamp1317357768.484381914
points size 81828 
prepare time 10.965799 
mapping data assosiation time 21.341983 ms 
sort q time 4.721071 
seperate points time 10.959002 
mapping solver time 15.309757 ms 
publication time 7.448304 ms 
whole laserOdometry time 7.464125 ms 
 
filter time 13.512119 ms 
mapping pub time 1.947617 ms 
whole mapping time 94.450224 ms +++++
mappingCount 62 & avg mapping time 86.294023 ms ++++++++++++++++++++++
1317357768.380319118 WriteOdom aft_mapped_to_init
-----t: 0.0293799
OdomCount 64 & avg odom time 0.039697 ms ++++++++++++++++++++++
1317357768.484381914 WriteOdom laser_odom_to_init
1317357768.484381914 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.155417 ms
map corner num 32327  surf num 12382 
build tree time 7.051700 ms 
mapping data assosiation time 15.732035 ms 
mapping solver time 18.507120 ms 
--------------------stamp1317357768.588468074
points size 82110 
mapping data assosiation time 19.848074 ms 
prepare time 13.863985 
sort q time 4.396435 
seperate points time 10.281547 
scan registration time 28.198999 ms *************
add points time 0.441294 ms
filter time 2.714982 ms 
publication time 5.945200 ms 
whole laserOdometry time 5.958101 ms 
 
map prepare time 1.575601 ms
map corner num 32696  surf num 12466 
build tree time 7.367549 ms 
mapping data assosiation time 15.752160 ms 
mapping solver time 15.370678 ms 
--------------------stamp1317357768.692553997
points size 82726 
prepare time 9.199845 
mapping solver time 13.335382 ms 
sort q time 4.685538 
seperate points time 9.360474 
filter time 3.414422 ms 
mapping pub time 1.935990 ms 
whole mapping time 76.770041 ms +++++
mappingCount 64 & avg mapping time 86.181522 ms ++++++++++++++++++++++
1317357768.588468075 WriteOdom aft_mapped_to_init
scan registration time 22.289770 ms *************
-----t: 0.0258256
OdomCount 66 & avg odom time 0.039289 ms ++++++++++++++++++++++
1317357768.692553997 WriteOdom laser_odom_to_init
1317357768.692553997 WriteOdom aft_mapped_to_init_high_frec
publication time 5.648702 ms 
whole laserOdometry time 5.664045 ms 
 
map prepare time 1.578993 ms
map corner num 33106  surf num 12578 
build tree time 6.114907 ms 
mapping data assosiation time 15.653414 ms 
mapping solver time 19.459613 ms 
--------------------stamp1317357768.796639919
points size 83729 
prepare time 8.719879 
mapping solver time 17.272381 ms 
mapping optimization time 75.724074 
add points time 0.526983 ms
-----t: 0.0251601
OdomCount 67 & avg odom time 0.039078 ms ++++++++++++++++++++++
publication time 6.715719 ms 
whole laserOdometry time 6.726845 ms 
 
1317357768.796639919 WriteOdom laser_odom_to_init
1317357768.796639919 WriteOdom aft_mapped_to_init_high_frec
build tree time 7.015243 ms 
mapping data assosiation time 15.142559 ms 
mapping solver time 18.684318 ms 
--------------------stamp1317357768.900774955
points size 84805 
prepare time 11.048365 
mapping solver time 15.475492 ms 
mapping optimization time 72.221217 
add points time 0.537926 ms
mapping pub time 3.038029 ms 
whole mapping time 81.585134 ms +++++
mappingCount 66 & avg mapping time 86.069875 ms ++++++++++++++++++++++
[0m[ INFO] [1718889282.736686327, 1317357768.917149695]: Received 46612 data points in frame camera_init with the following fields: x y z intensity[0m
1317357768.796639919 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889282.736847027, 1317357768.917149695]: Data saved to 1317357768796639.pcd[0m
sort q time 5.039694 
seperate points time 11.199841 
scan registration time 26.192983 ms *************
-----t: 0.0263551
OdomCount 68 & avg odom time 0.038891 ms ++++++++++++++++++++++
1317357768.900774955 WriteOdom laser_odom_to_init
1317357768.900774955 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.113133 ms
map corner num 33837  surf num 12775 
build tree time 6.998302 ms 
mapping data assosiation time 17.515297 ms 
mapping solver time 18.654107 ms 
--------------------stamp1317357769.004909992
mapping data assosiation time 18.822917 ms 
points size 85213 
prepare time 9.307752 
sort q time 4.397369 
seperate points time 9.676170 
mapping solver time 20.287891 ms 
mapping optimization time 83.218236 
add points time 0.518244 ms
-----t: 0.0280314
OdomCount 69 & avg odom time 0.038734 ms ++++++++++++++++++++++
1317357769.004909992 WriteOdom laser_odom_to_init
1317357769.004909992 WriteOdom aft_mapped_to_init_high_frec
publication time 11.511865 ms 
whole laserOdometry time 11.522920 ms 
 
build tree time 6.420035 ms 
mapping data assosiation time 15.541824 ms 
mapping solver time 15.034728 ms 
mapping data assosiation time 16.834651 ms 
points size 85002 
mapping solver time 15.438290 ms 
scan registration time 23.918564 ms *************
filter time 3.653414 ms 
mapping pub time 1.976986 ms 
whole mapping time 78.753470 ms +++++
mappingCount 68 & avg mapping time 86.040471 ms ++++++++++++++++++++++
1317357769.004909992 WriteOdom aft_mapped_to_init
publication time 6.654540 ms 
whole laserOdometry time 6.664175 ms 
 
-----t: 0.0299014
OdomCount 70 & avg odom time 0.038608 ms ++++++++++++++++++++++
map prepare time 2.078501 ms
map corner num 34577  surf num 12983 
build tree time 6.916826 ms 
mapping data assosiation time 17.491058 ms 
mapping solver time 16.048070 ms 
--------------------stamp1317357769.213151931
mapping data assosiation time 18.299286 ms 
points size 84945 
prepare time 11.930432 
mapping solver time 15.081915 ms 
filter time 3.960218 ms 
scan registration time 26.759800 ms *************
mapping pub time 1.960085 ms 
whole mapping time 83.283171 ms +++++
mappingCount 69 & avg mapping time 86.000567 ms ++++++++++++++++++++++
1317357769.109019995 WriteOdom aft_mapped_to_init
publication time 5.225655 ms 
whole laserOdometry time 5.238754 ms 
 
-----t: 0.0420437
OdomCount 71 & avg odom time 0.038656 ms ++++++++++++++++++++++
map prepare time 1.805571 ms
map corner num 34948  surf num 13090 
build tree time 9.699215 ms 
mapping data assosiation time 16.169964 ms 
--------------------stamp1317357769.317287921
points size 85578 
mapping data assosiation time 17.199102 ms 
scan registration time 26.206119 ms *************
mapping solver time 18.079862 ms 
mapping optimization time 81.785533 
add points time 0.538876 ms
-----t: 0.0300265
OdomCount 72 & avg odom time 0.038536 ms ++++++++++++++++++++++
1317357769.317287921 WriteOdom laser_odom_to_init
1317357769.317287921 WriteOdom aft_mapped_to_init_high_frec
build tree time 6.990444 ms 
mapping data assosiation time 17.145771 ms 
mapping solver time 15.214332 ms 
--------------------stamp1317357769.421423912
points size 87990 
prepare time 13.061536 
mapping solver time 15.650934 ms 
mapping optimization time 74.783229 
add points time 0.534930 ms
sort q time 4.782348 
seperate points time 11.156628 
-----t: 0.0301487
OdomCount 73 & avg odom time 0.038421 ms ++++++++++++++++++++++
1317357769.421423912 WriteOdom laser_odom_to_init
1317357769.421423912 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.224029 ms
map corner num 35761  surf num 13376 
build tree time 6.492848 ms 
mapping data assosiation time 15.943405 ms 
mapping solver time 18.202236 ms 
--------------------stamp1317357769.525608062
points size 90191 
mapping data assosiation time 20.637038 ms 
prepare time 10.176519 
sort q time 5.997806 
seperate points time 11.116893 
publication time 7.755983 ms 
whole laserOdometry time 7.768111 ms 
 
mapping solver time 31.187589 ms 
mapping optimization time 93.468470 
add points time 0.583435 ms
filter time 3.617436 ms 
mapping pub time 6.122599 ms 
whole mapping time 106.122364 ms +++++-----t: 0.0632749
OdomCount 74 & avg odom time 0.038757 ms ++++++++++++++++++++++
build tree time 7.715298 ms 
--------------------stamp1317357769.629813909
mapping data assosiation time 17.922118 ms 
sort q time 5.831590 
seperate points time 11.218364 
scan registration time 27.497402 ms *************
publication time 7.776668 ms 
whole laserOdometry time 7.791268 ms 
 
-----t: 0.0309027
OdomCount 75 & avg odom time 0.038653 ms ++++++++++++++++++++++
mapping data assosiation time 20.730352 ms 
mapping solver time 12.861802 ms 
mapping pub time 1.988551 ms 
whole mapping time 92.139365 ms +++++
mappingCount 73 & avg mapping time 86.404482 ms ++++++++++++++++++++++
1317357769.525608063 WriteOdom aft_mapped_to_init
map prepare time 1.846293 ms
map corner num 36539  surf num 13646 
build tree time 8.794326 ms 
mapping data assosiation time 16.208455 ms 
--------------------stamp1317357769.734045982
points size 93870 
mapping solver time 25.704228 ms 
sort q time 5.475308 
seperate points time 12.945248 
scan registration time 32.742183 ms *************
mapping data assosiation time 21.040854 ms 
publication time 8.385455 ms 
whole laserOdometry time 8.399353 ms 
 
mapping solver time 14.336387 ms 
mapping optimization time 87.088371 
add points time 0.504742 ms
filter time 2.700603 ms 
map prepare time 2.126783 ms
map corner num 36866  surf num 13730 
build tree time 9.082522 ms 
mapping data assosiation time 16.991576 ms 
--------------------stamp1317357769.838277101
points size 95666 
mapping solver time 20.717877 ms 
sort q time 6.025908 
seperate points time 11.539806 
scan registration time 26.362364 ms *************
mapping data assosiation time 21.467509 ms 
publication time 8.234492 ms 
whole laserOdometry time 8.252216 ms 
 
-----t: 0.034131
OdomCount 77 & avg odom time 0.038474 ms ++++++++++++++++++++++
mapping solver time 19.526404 ms 
mapping optimization time 88.624357 
add points time 0.557151 ms
filter time 3.257000 ms 
mapping pub time 2.096960 ms 
whole mapping time 96.707725 ms +++++
mappingCount 75 & avg mapping time 86.646856 ms ++++++++++++++++++++++
1317357769.734045982 WriteOdom aft_mapped_to_init
map prepare time 2.085054 ms
map corner num 37177  surf num 13835 
build tree time 6.782087 ms 
mapping data assosiation time 16.163329 ms 
--------------------stamp1317357769.942506074
mapping solver time 20.780768 ms 
points size 95520 
prepare time 13.198236 
sort q time 6.440644 
seperate points time 11.985099 
publication time 6.777422 ms 
whole laserOdometry time 6.803741 ms 
 
mapping optimization time 85.490713 
add points time 0.517856 ms
-----t: 0.0339522
OdomCount 78 & avg odom time 0.038416 ms ++++++++++++++++++++++
filter time 3.245584 ms 
1317357769.942506074 WriteOdom laser_odom_to_init
1317357769.942506074 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718889283.810476836, 1317357769.994635494]: Received 51399 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889283.810515762, 1317357769.994635494]: Data saved to 1317357769838277.pcd[0m
mapping pub time 2.879409 ms 
whole mapping time 94.259192 ms +++++
mappingCount 76 & avg mapping time 86.747089 ms ++++++++++++++++++++++
1317357769.838277102 WriteOdom aft_mapped_to_init
build tree time 6.888365 ms 
mapping data assosiation time 16.371507 ms 
mapping solver time 20.463968 ms 
prepare time 15.747480 
mapping data assosiation time 18.616483 ms 
sort q time 5.545181 
seperate points time 12.687344 
scan registration time 34.698375 ms *************
publication time 19.505339 ms 
whole laserOdometry time 19.517853 ms 
 
-----t: 0.0566621
OdomCount 79 & avg odom time 0.038647 ms ++++++++++++++++++++++
1317357770.046736001 WriteOdom laser_odom_to_init
1317357770.046736001 WriteOdom aft_mapped_to_init_high_frec
build tree time 8.257226 ms 
--------------------stamp1317357770.150990962
points size 94935 
sort q time 5.240820 
seperate points time 11.680284 
scan registration time 27.439234 ms *************
mapping solver time 23.276586 ms 
-----t: 0.0320356
OdomCount 80 & avg odom time 0.038564 ms ++++++++++++++++++++++
1317357770.150990962 WriteOdom laser_odom_to_init
1317357770.150990962 WriteOdom aft_mapped_to_init_high_frec
publication time 8.453104 ms 
whole laserOdometry time 8.468114 ms 
 
mapping data assosiation time 20.158493 ms 
mapping solver time 18.893615 ms 
mapping optimization time 93.917084 
add points time 0.603260 ms
mapping pub time 2.200426 ms 
whole mapping time 103.287713 ms +++++
mappingCount 78 & avg mapping time 87.019173 ms ++++++++++++++++++++++
1317357770.046736002 WriteOdom aft_mapped_to_init
map prepare time 2.662022 ms
map corner num 38106  surf num 14125 
build tree time 8.709667 ms 
--------------------stamp1317357770.255248069
mapping data assosiation time 19.739124 ms 
points size 94399 
sort q time 5.208578 
seperate points time 12.112357 
publication time 7.522665 ms 
whole laserOdometry time 7.535413 ms 
 
-----t: 0.0344211
OdomCount 81 & avg odom time 0.038513 ms ++++++++++++++++++++++
mapping data assosiation time 21.880132 ms 
mapping solver time 18.211567 ms 
mapping optimization time 95.087545 
add points time 0.528803 ms
filter time 2.785851 ms 
mapping pub time 2.113859 ms 
whole mapping time 103.230706 ms +++++
mappingCount 79 & avg mapping time 87.224429 ms ++++++++++++++++++++++
1317357770.150990963 WriteOdom aft_mapped_to_init
build tree time 7.794806 ms 
--------------------stamp1317357770.359503030
mapping data assosiation time 18.651394 ms 
prepare time 11.705393 
sort q time 5.699775 
seperate points time 11.428915 
mapping solver time 25.956292 ms 
publication time 8.156148 ms 
whole laserOdometry time 8.170940 ms 
 
-----t: 0.032277
OdomCount 82 & avg odom time 0.038437 ms ++++++++++++++++++++++
mapping data assosiation time 21.421750 ms 
mapping solver time 17.162371 ms 
mapping optimization time 92.157357 
add points time 0.648835 ms
map prepare time 1.893334 ms
map corner num 38875  surf num 14392 
build tree time 9.252147 ms 
--------------------stamp1317357770.463783025
points size 94153 
prepare time 12.670400 
mapping data assosiation time 23.709338 ms 
sort q time 4.665421 
seperate points time 10.021755 
mapping solver time 28.434784 ms 
publication time 8.287315 ms 
whole laserOdometry time 8.303097 ms 
 
-----t: 0.0308322
OdomCount 83 & avg odom time 0.038345 ms ++++++++++++++++++++++
1317357770.463783025 WriteOdom laser_odom_to_init
1317357770.463783025 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.783962 ms 
mapping solver time 18.052410 ms 
mapping optimization time 102.346964 
add points time 0.555802 ms
mapping pub time 5.096302 ms 
whole mapping time 112.798035 ms +++++
mappingCount 81 & avg mapping time 87.714789 ms ++++++++++++++++++++++
map prepare time 2.715841 ms
map corner num 39250  surf num 14531 
--------------------stamp1317357770.568058967
points size 92609 
publication time 9.324279 ms 
whole laserOdometry time 9.355274 ms 
 
mapping solver time 22.346064 ms 
-----t: 0.0411089
OdomCount 84 & avg odom time 0.038378 ms ++++++++++++++++++++++
mapping data assosiation time 21.701806 ms 
mapping solver time 18.014716 ms 
filter time 3.602719 ms 
mapping pub time 2.409112 ms 
whole mapping time 106.458098 ms +++++
mappingCount 82 & avg mapping time 87.943597 ms ++++++++++++++++++++++
1317357770.463783026 WriteOdom aft_mapped_to_init
--------------------stamp1317357770.672360897
build tree time 9.905217 ms 
points size 92097 
prepare time 13.402228 
sort q time 5.247211 
seperate points time 12.700660 
mapping data assosiation time 24.579710 ms 
scan registration time 31.314761 ms *************
publication time 7.514962 ms 
whole laserOdometry time 7.526820 ms 
 
mapping solver time 22.572693 ms 
mapping data assosiation time 22.422997 ms 
-----t: 0.0633315
OdomCount 85 & avg odom time 0.038672 ms ++++++++++++++++++++++
1317357770.672360897 WriteOdom laser_odom_to_init
1317357770.672360897 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.620998 ms 
mapping optimization time 95.972314 
add points time 0.566724 ms
map prepare time 2.205954 ms
map corner num 39954  surf num 14828 
build tree time 8.593896 ms 
points size 92222 
sort q time 4.943960 
seperate points time 10.349715 
scan registration time 27.291555 ms *************
-----t: 0.0382079
OdomCount 86 & avg odom time 0.038666 ms ++++++++++++++++++++++
1317357770.776640892 WriteOdom laser_odom_to_init
1317357770.776640892 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.215227 ms 
mapping data assosiation time 21.823419 ms 
mapping solver time 13.842524 ms 
mapping optimization time 96.707647 
add points time 1.209461 ms
mapping pub time 2.119049 ms 
whole mapping time 105.676632 ms +++++
mappingCount 84 & avg mapping time 88.349536 ms ++++++++++++++++++++++
map prepare time 3.014917 ms
map corner num 40262  surf num 14942 
points size 92330 
build tree time 9.337161 ms 
prepare time 13.278768 
sort q time 5.018375 
seperate points time 12.099165 
mapping data assosiation time 24.617161 ms 
publication time 9.595157 ms 
whole laserOdometry time 9.612826 ms 
 
-----t: 0.0377823
OdomCount 87 & avg odom time 0.038656 ms ++++++++++++++++++++++
1317357770.880894899 WriteOdom laser_odom_to_init
1317357770.880894899 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.647921 ms 
mapping solver time 15.067769 ms 
filter time 3.131581 ms 
--------------------stamp1317357770.985147953
points size 92304 
sort q time 5.921546 
seperate points time 12.513837 
scan registration time 31.201698 ms *************
publication time 9.411576 ms 
whole laserOdometry time 9.425492 ms 
 
mapping solver time 25.558009 ms 
-----t: 0.057083
OdomCount 88 & avg odom time 0.038865 ms ++++++++++++++++++++++
1317357770.985147953 WriteOdom laser_odom_to_init
1317357770.985147953 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.096702 ms 
mapping solver time 9.719931 ms 
filter time 3.899576 ms 
map prepare time 2.551067 ms
map corner num 40974  surf num 15219 
points size 92328 
prepare time 12.593573 
build tree time 10.263101 ms 
scan registration time 32.294813 ms *************
mapping solver time 23.607123 ms 
mapping data assosiation time 23.739117 ms 
mapping solver time 21.571796 ms 
points size 92366 
mapping optimization time 111.653357 
add points time 0.857604 ms
prepare time 20.565080 
filter time 4.277098 ms 
mapping pub time 2.205393 ms 
whole mapping time 121.612330 ms +++++
mappingCount 87 & avg mapping time 89.103989 ms ++++++++++++++++++++++
map prepare time 3.239576 ms
map corner num 41337  surf num 15382 
sort q time 6.104210 
seperate points time 18.738818 
build tree time 10.144636 ms 
scan registration time 48.992733 ms *************
mapping data assosiation time 25.041085 ms 
publication time 14.480627 ms 
whole laserOdometry time 14.506332 ms 
 
mapping solver time 36.372346 ms 
points size 92357 
mapping data assosiation time 24.529622 ms 
sort q time 5.427888 
seperate points time 11.955283 
publication time 11.804214 ms 
-----t: 0.0348891
whole laserOdometry time 14.983108 ms 
 
OdomCount 91 & avg odom time 0.039322 ms ++++++++++++++++++++++
mapping solver time 26.427194 ms 
1317357771.297842025 WriteOdom laser_odom_to_init
1317357771.297842025 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 124.247038 
filter time 3.063942 ms 
mapping pub time 2.024132 ms 
whole mapping time 133.253441 ms +++++
mappingCount 88 & avg mapping time 89.605742 ms ++++++++++++++++++++++
1317357771.089401960 WriteOdom aft_mapped_to_init
mapping data assosiation time 22.220500 ms 
--------------------stamp1317357771.402050018
points size 92237 
mapping solver time 20.302011 ms 
prepare time 13.371002 
sort q time 5.038756 
seperate points time 11.735550 
scan registration time 31.205514 ms *************
mapping data assosiation time 24.708551 ms 
-----t: 0.038376
OdomCount 92 & avg odom time 0.039311 ms ++++++++++++++++++++++
mapping solver time 17.590165 ms 
mapping optimization time 95.544723 
1317357771.402050018 WriteOdom laser_odom_to_init
1317357771.402050018 WriteOdom aft_mapped_to_init_high_frec
add points time 0.673840 ms
publication time 9.284561 ms 
whole laserOdometry time 9.299837 ms 
 
mapping pub time 2.045973 ms 
whole mapping time 104.994422 ms +++++
mappingCount 89 & avg mapping time 89.778702 ms ++++++++++++++++++++++
1317357771.193634033 WriteOdom aft_mapped_to_init
map prepare time 2.314525 ms
map corner num 42041  surf num 15631 
build tree time 8.770429 ms 
mapping data assosiation time 19.956717 ms 
--------------------stamp1317357771.506253957
points size 92168 
mapping solver time 27.749742 ms 
scan registration time 29.303491 ms *************
mapping data assosiation time 25.964484 ms 
publication time 11.308436 ms 
whole laserOdometry time 11.326076 ms 
 
-----t: 0.0471135
OdomCount 93 & avg odom time 0.039395 ms ++++++++++++++++++++++
1317357771.506253957 WriteOdom laser_odom_to_init
1317357771.506253957 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.762239 ms 
mapping optimization time 104.486877 
add points time 0.600205 ms
filter time 4.441578 ms 
map prepare time 2.262549 ms
map corner num 42513  surf num 15805 
build tree time 8.073360 ms 
--------------------stamp1317357771.610436916
points size 91819 
prepare time 15.824404 
mapping solver time 26.183146 ms 
sort q time 6.722545 
seperate points time 14.539144 
mapping data assosiation time 26.429922 ms 
-----t: 0.0521705
OdomCount 94 & avg odom time 0.039531 ms ++++++++++++++++++++++
mapping solver time 21.209549 ms 
filter time 4.069976 ms 
[0m[ INFO] [1718889285.510733922, 1317357771.696067859]: Received 58887 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889285.510807222, 1317357771.696067859]: Data saved to 1317357771506253.pcd[0m
mapping pub time 3.196997 ms 
whole mapping time 113.827684 ms +++++
mappingCount 91 & avg mapping time 90.311260 ms ++++++++++++++++++++++
1317357771.506253958 WriteOdom aft_mapped_to_init
build tree time 8.342584 ms 
--------------------stamp1317357771.714620113
points size 91620 
mapping data assosiation time 25.181182 ms 
sort q time 13.514368 -----t: 0.0438916
OdomCount 95 & avg odom time 0.039577 ms ++++++++++++++++++++++
mapping data assosiation time 21.398929 ms 
mapping solver time 15.588068 ms 
mapping optimization time 100.857876 
add points time 0.672911 ms
map prepare time 2.010587 ms
map corner num 43259  surf num 16127 
build tree time 10.798935 ms 
points size 91715 
prepare time 14.366823 
mapping data assosiation time 25.859620 ms 
scan registration time 33.673177 ms *************
-----t: 0.038129
OdomCount 96 & avg odom time 0.039562 ms ++++++++++++++++++++++
1317357771.818825960 WriteOdom laser_odom_to_init
1317357771.818825960 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.905004 ms 
publication time 10.350930 ms 
whole laserOdometry time 10.368926 ms 
 
mapping data assosiation time 21.612362 ms 
mapping solver time 14.419744 ms 
filter time 3.280134 ms 
mapping pub time 2.133248 ms 
whole mapping time 102.687697 ms +++++
mappingCount 93 & avg mapping time 90.653231 ms ++++++++++++++++++++++
1317357771.714620113 WriteOdom aft_mapped_to_init
map prepare time 2.060526 ms
map corner num 43623  surf num 16288 
--------------------stamp1317357771.923011064
build tree time 10.938983 ms 
points size 91906 
mapping data assosiation time 26.015576 ms 
sort q time 6.102757 
seperate points time 14.039655 
publication time 8.191873 ms 
whole laserOdometry time 8.205527 ms 
 
-----t: 0.0377375
OdomCount 97 & avg odom time 0.039543 ms ++++++++++++++++++++++
1317357771.923011064 WriteOdom laser_odom_to_init
1317357771.923011064 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.823048 ms 
mapping data assosiation time 20.211596 ms 
mapping solver time 14.911647 ms 
mapping optimization time 95.106490 
add points time 0.747283 ms
mapping pub time 2.292406 ms 
whole mapping time 104.354841 ms +++++
mappingCount 94 & avg mapping time 90.799049 ms ++++++++++++++++++++++
map prepare time 2.528237 ms
map corner num 43970  surf num 16433 
build tree time 11.521906 ms 
prepare time 16.358264 
sort q time 6.285597 
seperate points time 14.563681 
mapping data assosiation time 27.104971 ms 
scan registration time 36.400886 ms *************
publication time 7.669656 ms 
whole laserOdometry time 7.685643 ms 
 
-----t: 0.0437307
OdomCount 98 & avg odom time 0.039586 ms ++++++++++++++++++++++
mapping solver time 26.157801 ms 
1317357772.027169942 WriteOdom laser_odom_to_init
1317357772.027169942 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.277833 ms 
mapping solver time 16.231924 ms 
mapping pub time 2.183690 ms 
whole mapping time 113.672558 ms +++++
mappingCount 95 & avg mapping time 91.039953 ms ++++++++++++++++++++++
map prepare time 2.215714 ms
map corner num 44345  surf num 16565 
prepare time 10.339622 
build tree time 10.934304 ms 
sort q time 6.613575 
seperate points time 13.558752 
mapping data assosiation time 21.788268 ms 
publication time 11.945383 ms 
whole laserOdometry time 11.986753 ms 
 
-----t: 0.0430268
OdomCount 99 & avg odom time 0.039621 ms ++++++++++++++++++++++
1317357772.131328105 WriteOdom laser_odom_to_init
1317357772.131328105 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.568518 ms 
mapping data assosiation time 19.780920 ms 
mapping solver time 14.760169 ms 
filter time 3.459035 ms 
mapping pub time 3.521681 ms 
whole mapping time 104.693253 ms +++++
mappingCount 96 & avg mapping time 91.182239 ms ++++++++++++++++++++++
[0m[ INFO] [1718889286.058535513, 1317357772.237339995]: Received 61415 data points in frame camera_init with the following fields: x y z intensity[0m
1317357772.027169943 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889286.058779313, 1317357772.237339995]: Data saved to 1317357772027169.pcd[0m
points size 94730 
build tree time 10.844951 ms 
sort q time 5.370255 
seperate points time 12.643233 
scan registration time 34.466092 ms *************
mapping data assosiation time 22.738390 ms 
publication time 8.915596 ms 
whole laserOdometry time 8.927924 ms 
 
-----t: 0.0455111
OdomCount 100 & avg odom time 0.039679 ms ++++++++++++++++++++++
1317357772.235440015 WriteOdom laser_odom_to_init
1317357772.235440015 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357772.339500904
mapping solver time 19.599455 ms 
filter time 4.251904 ms 
mapping pub time 2.420104 ms 
whole mapping time 110.123062 ms +++++
mappingCount 97 & avg mapping time 91.377545 ms ++++++++++++++++++++++
1317357772.131328106 WriteOdom aft_mapped_to_init
sort q time 5.409971 
seperate points time 12.760764 
scan registration time 32.482619 ms *************
build tree time 10.496347 ms 
publication time 9.712497 ms 
whole laserOdometry time 9.728254 ms 
 
mapping data assosiation time 20.643891 ms 
mapping solver time 20.102817 ms 
-----t: 0.0667314
OdomCount 101 & avg odom time 0.039947 ms ++++++++++++++++++++++
1317357772.339500904 WriteOdom laser_odom_to_init
1317357772.339500904 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.691214 ms 
--------------------stamp1317357772.443519115
points size 93567 
prepare time 10.813186 
mapping solver time 21.363775 ms 
filter time 3.876795 ms 
mapping pub time 2.088604 ms 
whole mapping time 102.420726 ms +++++
mappingCount 98 & avg mapping time 91.490279 ms ++++++++++++++++++++++
1317357772.235440016 WriteOdom aft_mapped_to_init
map prepare time 2.192980 ms
map corner num 45392  surf num 16930 
sort q time 6.061485 
seperate points time 11.520998 
build tree time 11.039922 ms 
publication time 7.647027 ms 
whole laserOdometry time 7.662275 ms 
 
mapping data assosiation time 22.281097 ms 
-----t: 0.0459811
OdomCount 102 & avg odom time 0.040006 ms ++++++++++++++++++++++
1317357772.443519115 WriteOdom laser_odom_to_init
1317357772.443519115 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.040268 ms 
mapping data assosiation time 18.015647 ms 
--------------------stamp1317357772.547439098
mapping solver time 15.977249 ms 
mapping pub time 2.432945 ms 
whole mapping time 97.422556 ms +++++
mappingCount 99 & avg mapping time 91.550238 ms ++++++++++++++++++++++
1317357772.339500904 WriteOdom aft_mapped_to_init
sort q time 5.429497 
seperate points time 11.901127 
scan registration time 29.144214 ms *************
publication time 7.389547 ms 
whole laserOdometry time 7.418700 ms 
 
-----t: 0.0334278
OdomCount 103 & avg odom time 0.039943 ms ++++++++++++++++++++++
1317357772.547439098 WriteOdom laser_odom_to_init
mapping solver time 18.155547 ms 
mapping data assosiation time 20.517281 ms 
--------------------stamp1317357772.651329994
filter time 4.373489 ms 
map prepare time 2.012979 ms
map corner num 45978  surf num 17046 
prepare time 13.739258 
build tree time 10.947275 ms 
scan registration time 29.841609 ms *************
mapping data assosiation time 19.333145 ms 
publication time 8.763738 ms 
whole laserOdometry time 8.972222 ms 
 
mapping solver time 17.372609 ms 
mapping data assosiation time 17.906478 ms 
mapping solver time 13.243029 ms 
mapping optimization time 79.745128 
add points time 0.668949 ms
mapping pub time 5.412149 ms 
whole mapping time 92.393535 ms +++++
mappingCount 101 & avg mapping time 91.598135 ms ++++++++++++++++++++++
--------------------stamp1317357772.755202054
1317357772.547439098 WriteOdom aft_mapped_to_init
points size 91305 
sort q time 5.195831 
seperate points time 11.865028 
scan registration time 28.540562 ms *************
publication time 7.800455 ms 
whole laserOdometry time 7.812385 ms 
 
-----t: 0.034353
OdomCount 105 & avg odom time 0.039813 ms ++++++++++++++++++++++
1317357772.755202054 WriteOdom laser_odom_to_init
1317357772.755202054 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.107945 ms 
mapping solver time 11.693097 ms 
filter time 3.317676 ms 
mapping pub time 2.102407 ms 
whole mapping time 85.617263 ms +++++
mappingCount 102 & avg mapping time 91.539543 ms ++++++++++++++++++++++
1317357772.651329994 WriteOdom aft_mapped_to_init
map prepare time 1.842050 ms
map corner num 46600  surf num 17163 
build tree time 10.401174 ms 
prepare time 11.801856 
mapping data assosiation time 17.905617 ms 
sort q time 4.899030 
seperate points time 11.492188 
scan registration time 28.728042 ms *************
mapping solver time 20.226586 ms 
publication time 8.169713 ms 
mapping data assosiation time 19.332077 ms 
-----t: 0.0451529
OdomCount 106 & avg odom time 0.039864 ms ++++++++++++++++++++++
1317357772.859025001 WriteOdom laser_odom_to_init
1317357772.859025001 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 13.062876 ms 
mapping optimization time 81.786669 
add points time 0.549670 ms
filter time 3.325881 ms 
mapping pub time 2.063121 ms 
whole mapping time 89.630773 ms +++++
mappingCount 103 & avg mapping time 91.521043 ms ++++++++++++++++++++++
1317357772.755202055 WriteOdom aft_mapped_to_init
map prepare time 1.839102 ms
map corner num 46940  surf num 17229 
build tree time 9.862571 ms 
--------------------stamp1317357772.962822914
points size 86877 
prepare time 10.389482 
mapping solver time 16.953693 ms 
sort q time 5.094682 
seperate points time 10.168504 
scan registration time 24.139465 ms *************
publication time 6.546322 ms 
whole laserOdometry time 6.559208 ms 
 
mapping data assosiation time 19.182152 ms 
-----t: 0.0395264
OdomCount 107 & avg odom time 0.039860 ms ++++++++++++++++++++++
1317357772.962822914 WriteOdom laser_odom_to_init
mapping solver time 16.616118 ms 
1317357772.962822914 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 80.768936 
add points time 0.565473 ms
filter time 4.127063 ms 
map prepare time 1.934107 ms
map corner num 47248  surf num 17290 
build tree time 10.091774 ms 
mapping data assosiation time 16.533576 ms 
--------------------stamp1317357773.066574096
points size 84399 
mapping solver time 17.660091 ms 
prepare time 9.502349 
sort q time 4.504720 
seperate points time 9.920719 
mapping data assosiation time 18.488901 ms 
publication time 7.729851 ms 
whole laserOdometry time 7.748789 ms 
 
-----t: 0.0292147
OdomCount 108 & avg odom time 0.039762 ms ++++++++++++++++++++++
mapping solver time 19.011307 ms 
mapping optimization time 82.719979 
add points time 0.516387 ms
1317357772.962822914 WriteOdom aft_mapped_to_init
map prepare time 2.354319 ms
map corner num 47577  surf num 17348 
build tree time 10.471498 ms 
mapping data assosiation time 18.196081 ms 
--------------------stamp1317357773.170277118
points size 82554 
prepare time 12.587679 
mapping data assosiation time 20.562992 ms 
sort q time 5.099233 
seperate points time 11.887914 
scan registration time 29.230125 ms *************
mapping solver time 15.632419 ms 
mapping pub time 2.904752 ms 
whole mapping time 94.239149 ms +++++
mappingCount 106 & avg mapping time 91.519417 ms ++++++++++++++++++++++
1317357773.066574097 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889287.032067032, 1317357773.214062580]: Received 65285 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889287.032120656, 1317357773.214062580]: Data saved to 1317357773066574.pcd[0m
-----t: 0.0353702
OdomCount 109 & avg odom time 0.039721 ms ++++++++++++++++++++++
1317357773.170277118 WriteOdom laser_odom_to_init
1317357773.170277118 WriteOdom aft_mapped_to_init_high_frec
publication time 16.587614 ms 
whole laserOdometry time 16.601671 ms 
 
map prepare time 3.129532 ms
map corner num 47881  surf num 17404 
build tree time 12.377244 ms 
mapping data assosiation time 15.597086 ms 
--------------------stamp1317357773.273956060
mapping solver time 19.079467 ms 
points size 81384 
mapping data assosiation time 19.519961 ms 
sort q time 5.134638 
seperate points time 11.757976 
mapping solver time 19.107245 ms 
mapping optimization time 86.734174 
add points time 0.559568 ms
publication time 6.223337 ms 
whole laserOdometry time 6.237609 ms 
 
filter time 4.173938 ms 
-----t: 0.0347468
OdomCount 110 & avg odom time 0.039676 ms ++++++++++++++++++++++
mapping pub time 1.809054 ms 
whole mapping time 96.527966 ms +++++
mappingCount 107 & avg mapping time 91.566380 ms ++++++++++++++++++++++
build tree time 9.783915 ms 
mapping data assosiation time 15.871043 ms 
mapping solver time 18.720823 ms 
points size 80171 
mapping data assosiation time 20.066047 ms 
sort q time 4.933966 
seperate points time 11.258551 
scan registration time 28.133852 ms *************
mapping solver time 17.561863 ms 
filter time 4.208064 ms 
mapping pub time 1.902175 ms 
whole mapping time 92.037596 ms +++++
mappingCount 108 & avg mapping time 91.570845 ms ++++++++++++++++++++++
1317357773.273956060 WriteOdom aft_mapped_to_init
-----t: 0.0362629
OdomCount 111 & avg odom time 0.039646 ms ++++++++++++++++++++++
publication time 8.873040 ms 
whole laserOdometry time 15.765718 ms 
 
1317357773.377633094 WriteOdom laser_odom_to_init
1317357773.377633094 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.690460 ms
map corner num 48492  surf num 17501 
build tree time 11.144375 ms 
mapping data assosiation time 15.612574 ms 
mapping solver time 14.293701 ms 
--------------------stamp1317357773.481311082
points size 78684 
prepare time 12.516347 
sort q time 4.175214 
seperate points time 10.101095 
mapping solver time 14.584344 ms 
mapping optimization time 75.841713 
add points time 0.439497 ms
-----t: 0.0307651
OdomCount 112 & avg odom time 0.039566 ms ++++++++++++++++++++++
publication time 11.469975 ms 
whole laserOdometry time 11.483238 ms 
 
map prepare time 1.599890 ms
map corner num 48735  surf num 17550 
build tree time 10.354363 ms 
mapping data assosiation time 14.810061 ms 
mapping solver time 13.598634 ms 
--------------------stamp1317357773.585012912
points size 77733 
prepare time 9.341078 
mapping solver time 11.787872 ms 
mapping optimization time 66.532939 
add points time 0.475014 ms
sort q time 4.555545 
seperate points time 9.682807 
publication time 5.992380 ms 
whole laserOdometry time 6.008703 ms 
 
map prepare time 1.638048 ms
map corner num 48974  surf num 17595 
build tree time 10.801458 ms 
mapping data assosiation time 14.851481 ms 
mapping solver time 14.666453 ms 
mapping data assosiation time 15.172932 ms 
points size 78178 
prepare time 8.284690 
mapping solver time 15.000693 ms 
mapping optimization time 71.394768 
add points time 0.478379 ms
sort q time 4.125885 
seperate points time 8.861143 
[0m[ INFO] [1718889287.527597569, 1317357773.709948178]: Received 66865 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889287.527630836, 1317357773.709948178]: Data saved to 1317357773585012.pcd[0m
publication time 4.678985 ms 
whole laserOdometry time 4.691996 ms 
 
1317357773.688739061 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.025077 ms
map corner num 49223  surf num 17642 
build tree time 11.818331 ms 
mapping data assosiation time 14.951636 ms 
mapping solver time 14.726941 ms 
--------------------stamp1317357773.792490959
points size 78545 
prepare time 10.593623 
mapping solver time 16.969774 ms 
mapping optimization time 75.815767 
add points time 0.439028 ms
sort q time 4.382626 
seperate points time 10.357301 
filter time 3.716041 ms 
mapping pub time 1.806728 ms 
whole mapping time 83.856207 ms +++++
mappingCount 112 & avg mapping time 91.183594 ms ++++++++++++++++++++++
publication time 5.848070 ms 
whole laserOdometry time 5.859131 ms 
 
-----t: 0.0352963
OdomCount 115 & avg odom time 0.039299 ms ++++++++++++++++++++++
1317357773.792490959 WriteOdom laser_odom_to_init
1317357773.792490959 WriteOdom aft_mapped_to_init_high_frec
map prepare time 4.282270 ms
map corner num 49474  surf num 17686 
build tree time 11.797942 ms 
mapping data assosiation time 14.446099 ms 
mapping solver time 13.958238 ms 
points size 79795 
prepare time 9.226998 
sort q time 4.702007 
seperate points time 9.939289 
scan registration time 22.919994 ms *************
mapping solver time 11.291870 ms 
mapping optimization time 68.614569 
filter time 4.725005 ms 
mapping pub time 1.803883 ms 
whole mapping time 79.958710 ms +++++
mappingCount 113 & avg mapping time 91.084289 ms ++++++++++++++++++++++
1317357773.792490959 WriteOdom aft_mapped_to_init
publication time 6.050436 ms 
whole laserOdometry time 6.068530 ms 
 
-----t: 0.0373633
OdomCount 116 & avg odom time 0.039282 ms ++++++++++++++++++++++
map prepare time 1.884883 ms
map corner num 49735  surf num 17748 
build tree time 11.588354 ms 
mapping data assosiation time 13.665114 ms 
mapping solver time 13.717891 ms 
--------------------stamp1317357773.999944925
mapping data assosiation time 15.436336 ms 
sort q time 4.545967 
seperate points time 9.754971 
mapping solver time 16.113318 ms 
scan registration time 23.661704 ms *************
mapping optimization time 71.604972 
add points time 0.688150 ms
1317357773.896241903 WriteOdom aft_mapped_to_init
publication time 5.857830 ms 
whole laserOdometry time 5.871503 ms 
 
-----t: 0.0270097
OdomCount 117 & avg odom time 0.039177 ms ++++++++++++++++++++++
1317357773.999944925 WriteOdom laser_odom_to_init
1317357773.999944925 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.601654 ms
map corner num 50013  surf num 17821 
build tree time 11.532758 ms 
mapping data assosiation time 15.356477 ms 
mapping solver time 14.262972 ms 
mapping data assosiation time 15.353545 ms 
points size 83495 
prepare time 10.457463 
filter time 3.591293 ms 
mapping pub time 1.845805 ms 
whole mapping time 80.914134 ms +++++
mappingCount 115 & avg mapping time 90.919086 ms ++++++++++++++++++++++
1317357773.999944925 WriteOdom aft_mapped_to_init
sort q time 4.817896 
seperate points time 10.498070 
publication time 5.800202 ms 
whole laserOdometry time 5.812031 ms 
 
-----t: 0.0261718
OdomCount 118 & avg odom time 0.039067 ms ++++++++++++++++++++++
1317357774.103625059 WriteOdom laser_odom_to_init
1317357774.103625059 WriteOdom aft_mapped_to_init_high_frec
build tree time 13.099550 ms 
mapping data assosiation time 14.934490 ms 
mapping solver time 15.752001 ms 
--------------------stamp1317357774.207304000
points size 83179 
mapping solver time 15.517799 ms 
mapping optimization time 77.101517 
sort q time 4.853322 
seperate points time 9.310792 
add points time 0.466221 ms
mapping pub time 2.989028 ms 
whole mapping time 87.282158 ms +++++
mappingCount 116 & avg mapping time 90.887772 ms ++++++++++++++++++++++
1317357774.103625059 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889288.051751860, 1317357774.232973039]: Received 68676 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889288.051789304, 1317357774.232973039]: Data saved to 1317357774103625.pcd[0m
publication time 5.817246 ms 
whole laserOdometry time 5.830728 ms 
 
-----t: 0.0329559
OdomCount 119 & avg odom time 0.039016 ms ++++++++++++++++++++++
1317357774.207304000 WriteOdom laser_odom_to_init
1317357774.207304000 WriteOdom aft_mapped_to_init_high_frec
build tree time 10.002315 ms 
mapping data assosiation time 18.059632 ms 
mapping solver time 18.219147 ms 
--------------------stamp1317357774.311007976
points size 83092 
mapping data assosiation time 16.344967 ms 
prepare time 11.266934 
sort q time 4.560287 
seperate points time 10.570157 
scan registration time 26.818790 ms *************
filter time 4.974522 ms 
mapping pub time 1.858884 ms 
whole mapping time 90.353306 ms +++++
mappingCount 117 & avg mapping time 90.883228 ms ++++++++++++++++++++++
1317357774.207304001 WriteOdom aft_mapped_to_init
-----t: 0.0295152
OdomCount 120 & avg odom time 0.038937 ms ++++++++++++++++++++++
map prepare time 1.792871 ms
map corner num 51022  surf num 18100 
build tree time 11.313864 ms 
mapping data assosiation time 15.843640 ms 
mapping solver time 14.507577 ms 
--------------------stamp1317357774.414736032
mapping data assosiation time 18.065713 ms 
points size 83306 
prepare time 10.254269 
sort q time 5.160926 
seperate points time 10.388605 
mapping optimization time 79.621687 
add points time 0.498521 ms
-----t: 0.0250201
OdomCount 121 & avg odom time 0.038822 ms ++++++++++++++++++++++
map prepare time 1.532448 ms
map corner num 51343  surf num 18166 
build tree time 10.357986 ms 
mapping data assosiation time 14.136160 ms 
mapping solver time 17.668305 ms 
--------------------stamp1317357774.518460988
points size 84252 
mapping optimization time 77.992270 
add points time 0.485549 ms
sort q time 4.510618 
seperate points time 10.468665 
-----t: 0.0256008
OdomCount 122 & avg odom time 0.038713 ms ++++++++++++++++++++++
1317357774.518460988 WriteOdom laser_odom_to_init
1317357774.518460988 WriteOdom aft_mapped_to_init_high_frec
publication time 6.009364 ms 
whole laserOdometry time 6.023488 ms 
 
map prepare time 1.588199 ms
map corner num 51600  surf num 18240 
build tree time 11.547098 ms 
mapping data assosiation time 13.379790 ms 
mapping solver time 13.264121 ms 
--------------------stamp1317357774.622211933
points size 85745 
prepare time 10.164611 
mapping solver time 11.517371 ms 
mapping optimization time 65.340684 
add points time 0.472704 ms
mapping pub time 1.994582 ms 
whole mapping time 74.272508 ms +++++
mappingCount 120 & avg mapping time 90.699533 ms ++++++++++++++++++++++
1317357774.518460989 WriteOdom aft_mapped_to_init
sort q time 5.810470 
seperate points time 11.772815 
scan registration time 25.674319 ms *************
1317357774.622211933 WriteOdom laser_odom_to_init
1317357774.622211933 WriteOdom aft_mapped_to_init_high_frec
publication time 5.973271 ms 
whole laserOdometry time 5.986687 ms 
 
map prepare time 1.924261 ms
map corner num 51878  surf num 18311 
build tree time 10.391211 ms 
mapping data assosiation time 14.687990 ms 
mapping solver time 15.814127 ms 
mapping data assosiation time 12.975650 ms 
--------------------stamp1317357774.725963115
mapping solver time 15.087137 ms 
filter time 3.806328 ms 
[0m[ INFO] [1718889288.559203461, 1317357774.733834211]: Received 70549 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889288.559539906, 1317357774.743899342]: Data saved to 1317357774622211.pcd[0m
1317357774.622211933 WriteOdom aft_mapped_to_init
scan registration time 27.276745 ms *************
publication time 7.185473 ms 
whole laserOdometry time 7.195563 ms 
 
-----t: 0.0373059
OdomCount 124 & avg odom time 0.038581 ms ++++++++++++++++++++++
1317357774.725963115 WriteOdom laser_odom_to_init
1317357774.725963115 WriteOdom aft_mapped_to_init_high_frec
build tree time 11.599383 ms 
mapping data assosiation time 14.907540 ms 
mapping solver time 14.899521 ms 
points size 88570 
prepare time 12.000131 
mapping data assosiation time 16.102063 ms 
mapping solver time 13.301444 ms 
filter time 4.900524 ms 
mapping pub time 2.187643 ms 
whole mapping time 81.888576 ms +++++
mappingCount 122 & avg mapping time 90.559434 ms ++++++++++++++++++++++
1317357774.725963116 WriteOdom aft_mapped_to_init
scan registration time 35.387673 ms *************
publication time 5.315265 ms 
whole laserOdometry time 5.328676 ms 
 
map prepare time 1.800393 ms
map corner num 52449  surf num 18447 
build tree time 10.633046 ms 
mapping data assosiation time 15.468562 ms 
mapping solver time 14.670570 ms 
--------------------stamp1317357774.933489084
mapping data assosiation time 15.982497 ms 
prepare time 11.112453 
mapping solver time 11.723993 ms 
mapping optimization time 69.268549 
add points time 0.459552 ms
publication time 5.277719 ms 
whole laserOdometry time 5.290159 ms 
 
-----t: 0.0357481
OdomCount 126 & avg odom time 0.038477 ms ++++++++++++++++++++++
1317357774.933489084 WriteOdom laser_odom_to_init
1317357774.933489084 WriteOdom aft_mapped_to_init_high_frec
build tree time 11.066358 ms 
mapping data assosiation time 14.281090 ms 
mapping solver time 13.978512 ms 
--------------------stamp1317357775.037261962
mapping data assosiation time 16.094234 ms 
points size 90760 
mapping solver time 14.211165 ms 
sort q time 4.981354 
seperate points time 11.511859 
filter time 5.204190 ms 
mapping pub time 2.720084 ms 
whole mapping time 81.360132 ms +++++
mappingCount 124 & avg mapping time 90.383295 ms ++++++++++++++++++++++
scan registration time 28.600310 ms *************
1317357774.933489084 WriteOdom aft_mapped_to_init
-----t: 0.0265332
OdomCount 127 & avg odom time 0.038383 ms ++++++++++++++++++++++
map prepare time 2.012456 ms
map corner num 53063  surf num 18614 
build tree time 10.430889 ms 
mapping data assosiation time 13.626705 ms 
mapping solver time 16.189476 ms 
mapping data assosiation time 13.971006 ms 
points size 91610 
filter time 4.020476 ms 
mapping pub time 2.146750 ms 
whole mapping time 75.006234 ms +++++
mappingCount 125 & avg mapping time 90.260327 ms ++++++++++++++++++++++
1317357775.037261963 WriteOdom aft_mapped_to_initsort q time 6.053275 
seperate points time 11.721530 
publication time 5.953935 ms 
whole laserOdometry time 5.961674 ms 
 
-----t: 0.0268422
OdomCount 128 & avg odom time 0.038293 ms ++++++++++++++++++++++
1317357775.141060113 WriteOdom laser_odom_to_init
1317357775.141060113 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.032983 ms
map corner num 53378  surf num 18726 
build tree time 10.539563 ms 
mapping data assosiation time 14.629831 ms 
mapping solver time 17.756737 ms 
mapping data assosiation time 14.464524 ms 
mapping solver time 11.362999 ms 
mapping optimization time 69.609633 
points size 91249 
add points time 0.465438 ms
[0m[ INFO] [1718889289.077993094, 1317357775.260083827]: Received 72561 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889289.078036857, 1317357775.260083827]: Data saved to 1317357775141060.pcd[0m
sort q time 4.978589 
seperate points time 11.737765 
scan registration time 30.723772 ms *************
publication time 6.572714 ms 
whole laserOdometry time 6.583864 ms 
 
-----t: 0.0287241
OdomCount 129 & avg odom time 0.038218 ms ++++++++++++++++++++++
1317357775.244883060 WriteOdom laser_odom_to_init
1317357775.244883060 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.070109 ms
map corner num 53715  surf num 18846 
build tree time 10.355715 ms 
mapping data assosiation time 15.543115 ms 
mapping solver time 14.381386 ms 
--------------------stamp1317357775.348706960
mapping data assosiation time 17.609759 ms 
points size 91127 
mapping optimization time 67.120012 
add points time 0.649837 ms
sort q time 5.097729 
seperate points time 11.918226 
publication time 6.934979 ms 
whole laserOdometry time 6.949970 ms 
 
map prepare time 2.118512 ms
map corner num 54099  surf num 18971 
build tree time 11.450587 ms 
mapping data assosiation time 16.158733 ms 
mapping solver time 18.896142 ms 
points size 91596 
prepare time 14.196011 
sort q time 5.081309 
seperate points time 18.914197 
add points time 0.694200 ms
-----t: 0.0286742
OdomCount 131 & avg odom time 0.038116 ms ++++++++++++++++++++++
publication time 5.889401 ms 
whole laserOdometry time 5.903264 ms 
 
map prepare time 2.049918 ms
map corner num 54493  surf num 19088 
build tree time 12.623782 ms 
mapping data assosiation time 17.258437 ms 
--------------------stamp1317357775.556399106
mapping solver time 21.220361 ms 
points size 92384 
sort q time 5.057166 
seperate points time 11.725119 
scan registration time 28.603024 ms *************
mapping data assosiation time 18.735225 ms 
-----t: 0.026535
OdomCount 132 & avg odom time 0.038029 ms ++++++++++++++++++++++
1317357775.556399106 WriteOdom laser_odom_to_init
1317357775.556399106 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.857134 ms 
mapping optimization time 88.664217 
add points time 0.518047 ms
publication time 7.287149 ms 
whole laserOdometry time 7.303445 ms 
 
mapping pub time 2.174184 ms 
whole mapping time 98.074296 ms +++++
mappingCount 129 & avg mapping time 90.309809 ms ++++++++++++++++++++++
1317357775.452555895 WriteOdom aft_mapped_to_init
map prepare time 2.656750 ms
map corner num 54991  surf num 19252 
build tree time 12.052360 ms 
mapping data assosiation time 20.282766 ms 
--------------------stamp1317357775.660221099
points size 92071 
sort q time 5.144964 
seperate points time 11.314029 
scan registration time 26.240894 ms *************
-----t: 0.0277839
OdomCount 133 & avg odom time 0.037951 ms ++++++++++++++++++++++
1317357775.660221099 WriteOdom laser_odom_to_init
1317357775.660221099 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 12.720607 ms 
mapping optimization time 87.212485 
add points time 0.701918 ms
filter time 4.854463 ms 
mapping pub time 2.023025 ms 
whole mapping time 97.509964 ms +++++
mappingCount 130 & avg mapping time 90.365231 ms ++++++++++++++++++++++
1317357775.556399107 WriteOdom aft_mapped_to_init
map prepare time 2.337373 ms
map corner num 55545  surf num 19487 
build tree time 11.390155 ms 
mapping data assosiation time 19.125623 ms 
mapping solver time 17.414228 ms 
points size 91699 
prepare time 13.460451 
mapping data assosiation time 20.985520 ms 
sort q time 4.906853 
seperate points time 11.550327 
scan registration time 28.965564 ms *************
mapping solver time 15.864965 ms 
mapping optimization time 86.294898 
add points time 0.641410 ms
1317357775.660221100 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889289.628323145, 1317357775.806612013]: Received 75813 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889289.628353335, 1317357775.806612013]: Data saved to 1317357775660221.pcd[0m
-----t: 0.0473685
OdomCount 134 & avg odom time 0.038022 ms ++++++++++++++++++++++
map prepare time 2.388439 ms
map corner num 56087  surf num 19726 
build tree time 12.461973 ms 
--------------------stamp1317357775.867938041
mapping data assosiation time 19.829006 ms 
points size 91599 
mapping solver time 21.925447 ms 
sort q time 5.140292 
seperate points time 11.856420 
publication time 7.897263 ms 
whole laserOdometry time 7.914313 ms 
 
mapping data assosiation time 21.581402 ms 
-----t: 0.0393895
OdomCount 135 & avg odom time 0.038032 ms ++++++++++++++++++++++
1317357775.867938041 WriteOdom laser_odom_to_init
1317357775.867938041 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.163967 ms 
mapping optimization time 95.959583 
add points time 0.641439 ms
filter time 4.190815 ms 
map prepare time 2.102960 ms
map corner num 56602  surf num 19993 
build tree time 12.385682 ms 
--------------------stamp1317357775.971812009
points size 90706 
prepare time 9.610250 
sort q time 5.770774 
seperate points time 10.960686 
scan registration time 24.657177 ms *************
publication time 10.107134 ms 
whole laserOdometry time 10.122452 ms 
 
mapping solver time 20.016199 ms 
filter time 4.712347 ms 
mapping pub time 2.107617 ms 
whole mapping time 115.048757 ms +++++
mappingCount 133 & avg mapping time 90.723590 ms ++++++++++++++++++++++
1317357775.867938042 WriteOdom aft_mapped_to_init
build tree time 10.504191 ms 
points size 87335 
prepare time 9.027843 
sort q time 5.499121 
seperate points time 11.132092 
mapping solver time 21.085376 ms 
-----t: 0.0307425
OdomCount 137 & avg odom time 0.038028 ms ++++++++++++++++++++++
1317357776.075683116 WriteOdom laser_odom_to_init
1317357776.075683116 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.759164 ms 
mapping solver time 14.027360 ms 
mapping optimization time 91.970799 
add points time 0.670564 ms
mapping pub time 2.037937 ms 
whole mapping time 101.844869 ms +++++
mappingCount 134 & avg mapping time 90.806605 ms ++++++++++++++++++++++
1317357775.971812010 WriteOdom aft_mapped_to_init
map prepare time 2.047520 ms
map corner num 57702  surf num 20417 
build tree time 14.423727 ms 
points size 84998 
prepare time 13.145996 
mapping data assosiation time 24.301166 ms 
sort q time 5.150867 
seperate points time 12.224622 
mapping solver time 19.589076 ms 
publication time 8.916766 ms 
whole laserOdometry time 8.930039 ms 
 
-----t: 0.039141
OdomCount 138 & avg odom time 0.038036 ms ++++++++++++++++++++++
1317357776.179550886 WriteOdom laser_odom_to_init
1317357776.179550886 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.890457 ms 
mapping solver time 12.906876 ms 
filter time 4.004979 ms 
mapping pub time 2.222673 ms 
whole mapping time 103.247662 ms +++++
mappingCount 135 & avg mapping time 90.898794 ms ++++++++++++++++++++++
1317357776.075683117 WriteOdom aft_mapped_to_init
build tree time 12.112343 ms 
points size 83511 
prepare time 12.998704 
mapping data assosiation time 24.191143 ms 
mapping solver time 20.249866 ms 
-----t: 0.0342634
OdomCount 139 & avg odom time 0.038009 ms ++++++++++++++++++++++
mapping solver time 13.935511 ms 
mapping optimization time 93.553183 
add points time 0.707528 ms
mapping pub time 2.972598 ms 
whole mapping time 103.713492 ms +++++
mappingCount 136 & avg mapping time 90.993057 ms ++++++++++++++++++++++
1317357776.179550886 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889290.186930639, 1317357776.364523019]: Received 79396 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889290.186977021, 1317357776.364523019]: Data saved to 1317357776179550.pcd[0m
map prepare time 2.066944 ms
map corner num 58629  surf num 20767 
--------------------stamp1317357776.387341022
points size 81929 
sort q time 4.615071 
seperate points time 10.925969 
mapping data assosiation time 21.633223 ms 
scan registration time 25.483543 ms *************
publication time 9.208160 ms 
whole laserOdometry time 9.220910 ms 
 
-----t: 0.0368088
OdomCount 140 & avg odom time 0.038000 ms ++++++++++++++++++++++
mapping data assosiation time 19.913642 ms 
mapping solver time 14.110105 ms 
mapping optimization time 89.574345 
add points time 0.665120 ms
mapping pub time 1.902756 ms 
whole mapping time 98.801555 ms +++++
mappingCount 137 & avg mapping time 91.050072 ms ++++++++++++++++++++++
1317357776.283446074 WriteOdom aft_mapped_to_init
map prepare time 2.009784 ms
map corner num 59035  surf num 20932 
--------------------stamp1317357776.491235017
points size 80703 
prepare time 10.614803 
sort q time 4.514353 
seperate points time 10.647237 
mapping data assosiation time 22.925688 ms 
mapping solver time 24.798473 ms 
publication time 9.347703 ms 
whole laserOdometry time 9.377215 ms 
 
mapping solver time 16.810120 ms 
filter time 4.960791 ms 
mapping pub time 2.003356 ms 
whole mapping time 109.196865 ms +++++
mappingCount 138 & avg mapping time 91.181599 ms ++++++++++++++++++++++
1317357776.387341022 WriteOdom aft_mapped_to_init
--------------------stamp1317357776.595177888
points size 80930 
prepare time 9.367456 
build tree time 15.770465 ms 
sort q time 5.183306 
seperate points time 9.859621 
mapping data assosiation time 21.465132 ms 
-----t: 0.0251517
OdomCount 142 & avg odom time 0.037924 ms ++++++++++++++++++++++
mapping solver time 22.710553 ms 
mapping data assosiation time 18.495175 ms 
mapping solver time 17.103877 ms 
mapping optimization time 96.584060 
add points time 0.658308 ms
mapping pub time 1.776780 ms 
whole mapping time 106.317687 ms +++++
mappingCount 139 & avg mapping time 91.290513 ms ++++++++++++++++++++++
map prepare time 2.096354 ms
map corner num 59895  surf num 21218 
points size 81046 
build tree time 16.191612 ms 
sort q time 4.662189 
seperate points time 9.477087 
publication time 7.513771 ms 
whole laserOdometry time 7.530254 ms 
 
mapping data assosiation time 20.971538 ms 
-----t: 0.0265014
OdomCount 143 & avg odom time 0.037845 ms ++++++++++++++++++++++
1317357776.699121952 WriteOdom laser_odom_to_init
1317357776.699121952 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.646727 ms 
mapping data assosiation time 17.246293 ms 
mapping solver time 15.765972 ms 
mapping optimization time 92.797986 
add points time 0.593420 ms
filter time 4.227676 ms 
map prepare time 2.234033 ms
map corner num 60277  surf num 21342 
points size 80468 
prepare time 8.829924 
build tree time 13.257410 ms 
sort q time 5.530463 
seperate points time 10.856166 
mapping data assosiation time 20.978958 ms 
publication time 6.091772 ms 
whole laserOdometry time 6.347519 ms 
 
-----t: 0.0360193
OdomCount 144 & avg odom time 0.037832 ms ++++++++++++++++++++++
1317357776.803040027 WriteOdom laser_odom_to_init
1317357776.803040027 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.009139 ms 
mapping data assosiation time 18.651987 ms 
mapping solver time 11.548822 ms 
filter time 4.266239 ms 
[0m[ INFO] [1718889290.712683954, 1317357776.892613713]: Received 82143 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889290.712726264, 1317357776.892613713]: Data saved to 1317357776699121.pcd[0m
--------------------stamp1317357776.906960010
points size 80724 
prepare time 9.880857 
sort q time 4.860826 
seperate points time 9.297915 
mapping data assosiation time 19.675269 ms 
-----t: 0.030139
OdomCount 145 & avg odom time 0.037779 ms ++++++++++++++++++++++
mapping data assosiation time 15.221835 ms 
mapping solver time 11.794199 ms 
mapping optimization time 86.269737 
add points time 0.641729 ms
filter time 4.337994 ms 
map prepare time 1.808679 ms
map corner num 61067  surf num 21590 
--------------------stamp1317357777.010853052
points size 83256 
prepare time 12.350143 
mapping data assosiation time 16.862152 ms 
sort q time 4.424682 
seperate points time 9.008555 
scan registration time 25.481352 ms *************
mapping solver time 23.170419 ms 
-----t: 0.0380292
OdomCount 146 & avg odom time 0.037781 ms ++++++++++++++++++++++
1317357777.010853052 WriteOdom laser_odom_to_init
1317357777.010853052 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.287714 ms 
mapping solver time 14.655720 ms 
filter time 4.291738 ms 
mapping pub time 1.882600 ms 
whole mapping time 96.659719 ms +++++
mappingCount 143 & avg mapping time 91.492980 ms ++++++++++++++++++++++
1317357776.906960011 WriteOdom aft_mapped_to_init
build tree time 11.596661 ms 
points size 84880 
prepare time 9.301899 
sort q time 4.918082 
seperate points time 10.283270 
scan registration time 23.685723 ms *************
mapping solver time 18.921531 ms 
publication time 6.009927 ms 
whole laserOdometry time 6.023189 ms 
 
mapping data assosiation time 17.257444 ms 
mapping solver time 11.736095 ms 
filter time 4.256124 ms 
mapping pub time 1.863340 ms 
whole mapping time 86.537506 ms +++++
mappingCount 144 & avg mapping time 91.458594 ms ++++++++++++++++++++++
1317357777.010853052 WriteOdom aft_mapped_to_init
map prepare time 1.872718 ms
map corner num 61748  surf num 21791 
build tree time 14.141774 ms 
mapping data assosiation time 15.637071 ms 
points size 84314 
sort q time 5.101787 
seperate points time 11.564694 
-----t: 0.0237593
OdomCount 148 & avg odom time 0.037612 ms ++++++++++++++++++++++
mapping data assosiation time 18.514279 ms 
mapping solver time 11.398254 ms 
filter time 4.415785 ms 
mapping pub time 1.913112 ms 
whole mapping time 89.099981 ms +++++
mappingCount 145 & avg mapping time 91.442362 ms ++++++++++++++++++++++
1317357777.114747047 WriteOdom aft_mapped_to_init
build tree time 13.284727 ms 
mapping data assosiation time 15.502560 ms 
--------------------stamp1317357777.322609901
points size 85736 
prepare time 11.162528 
mapping data assosiation time 17.572326 ms 
sort q time 4.458498 
seperate points time 10.083674 
mapping solver time 14.497049 ms 
publication time 8.811748 ms 
whole laserOdometry time 8.825322 ms 
 
filter time 6.433383 ms 
mapping pub time 2.909124 ms 
whole mapping time 89.594212 ms +++++
mappingCount 146 & avg mapping time 91.429738 ms ++++++++++++++++++++++
1317357777.218667984 WriteOdom aft_mapped_to_init
build tree time 16.907752 ms 
mapping data assosiation time 18.965508 ms 
mapping solver time 17.256217 ms 
points size 87705 
mapping data assosiation time 19.876524 ms 
sort q time 5.016309 
seperate points time 11.451690 
filter time 4.190801 ms 
-----t: 0.0321062
OdomCount 150 & avg odom time 0.037485 ms ++++++++++++++++++++++
publication time 7.525413 ms 
whole laserOdometry time 7.741515 ms 
 
1317357777.426552057 WriteOdom laser_odom_to_init
1317357777.426552057 WriteOdom aft_mapped_to_init_high_frec
build tree time 13.348977 ms 
mapping data assosiation time 16.541644 ms 
mapping solver time 16.982896 ms 
--------------------stamp1317357777.530471086
points size 87706 
prepare time 13.390675 
mapping data assosiation time 20.109164 ms 
sort q time 4.766846 
seperate points time 10.825470 
filter time 4.240138 ms 
publication time 5.999010 ms 
whole laserOdometry time 6.011689 ms 
 
map prepare time 2.368916 ms
map corner num 63192  surf num 22209 
build tree time 14.189728 ms 
mapping data assosiation time 17.326540 ms 
mapping solver time 15.749976 ms 
--------------------stamp1317357777.634365081
points size 88865 
mapping data assosiation time 17.170779 ms 
prepare time 11.826176 
sort q time 4.771951 
seperate points time 10.136152 
scan registration time 26.567030 ms *************
filter time 6.083859 ms 
-----t: 0.0231927
OdomCount 152 & avg odom time 0.037311 ms ++++++++++++++++++++++
1317357777.634365081 WriteOdom laser_odom_to_init
1317357777.634365081 WriteOdom aft_mapped_to_init_high_frec
publication time 5.579498 ms 
whole laserOdometry time 5.591468 ms 
 
map prepare time 1.827219 ms
map corner num 63576  surf num 22338 
build tree time 12.407789 ms 
mapping data assosiation time 14.497756 ms 
mapping solver time 14.513784 ms 
--------------------stamp1317357777.738261938
mapping data assosiation time 17.050577 ms 
points size 90479 
mapping solver time 12.596324 ms 
scan registration time 24.532530 ms *************
filter time 5.943427 ms 
-----t: 0.0228195
OdomCount 153 & avg odom time 0.037216 ms ++++++++++++++++++++++
1317357777.738261938 WriteOdom laser_odom_to_init
1317357777.738261938 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.034013 ms
map corner num 63947  surf num 22466 
build tree time 12.979357 ms 
mapping data assosiation time 14.800398 ms 
mapping solver time 22.870910 ms 
--------------------stamp1317357777.842186927
points size 92345 
prepare time 10.882549 
mapping data assosiation time 26.064855 ms 
sort q time 5.302424 
seperate points time 11.451666 
publication time 5.360262 ms 
whole laserOdometry time 5.434139 ms 
 
mapping solver time 18.563256 ms 
mapping optimization time 96.964132 
add points time 0.592219 ms
filter time 5.900256 ms 
mapping pub time 3.096672 ms 
whole mapping time 108.646903 ms +++++
mappingCount 151 & avg mapping time 91.520162 ms ++++++++++++++++++++++
-----t: 0.0385591
OdomCount 154 & avg odom time 0.037225 ms ++++++++++++++++++++++
1317357777.842186927 WriteOdom laser_odom_to_init
1317357777.738261938 WriteOdom aft_mapped_to_init
1317357777.842186927 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718889291.709816051, 1317357777.894031938]: Received 86910 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889291.709862734, 1317357777.894031938]: Data saved to 1317357777738261.pcd[0m
build tree time 14.284104 ms 
mapping data assosiation time 17.160727 ms 
--------------------stamp1317357777.946079969
mapping solver time 20.756227 ms 
points size 91895 
prepare time 11.692157 
sort q time 5.480118 
seperate points time 11.724770 
mapping data assosiation time 19.941787 ms 
publication time 6.969177 ms 
whole laserOdometry time 6.997990 ms 
 
mapping solver time 20.096972 ms 
mapping optimization time 93.256115 
add points time 0.576883 ms
filter time 5.867109 ms 
-----t: 0.0535474
OdomCount 155 & avg odom time 0.037330 ms ++++++++++++++++++++++
1317357777.946079969 WriteOdom laser_odom_to_init
1317357777.946079969 WriteOdom aft_mapped_to_init_high_frec
build tree time 12.993231 ms 
--------------------stamp1317357778.049945116
points size 90581 
sort q time 4.562968 
seperate points time 9.592241 
mapping solver time 21.961295 ms 
publication time 10.018264 ms 
whole laserOdometry time 10.033792 ms 
 
mapping data assosiation time 20.990883 ms 
-----t: 0.0422939
OdomCount 156 & avg odom time 0.037362 ms ++++++++++++++++++++++
mapping solver time 19.840583 ms 
mapping optimization time 94.189096 
add points time 0.550428 ms
map prepare time 1.955550 ms
map corner num 65184  surf num 22872 
build tree time 12.828401 ms 
--------------------stamp1317357778.153790950
points size 91104 
prepare time 10.725529 
sort q time 5.318614 
seperate points time 11.244706 
publication time 7.872855 ms 
whole laserOdometry time 7.889346 ms 
 
-----t: 0.0297333
OdomCount 157 & avg odom time 0.037313 ms ++++++++++++++++++++++
1317357778.153790950 WriteOdom laser_odom_to_init
1317357778.153790950 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 13.347742 ms 
mapping optimization time 86.296824 
add points time 0.600404 ms
mapping pub time 2.054141 ms 
whole mapping time 95.449235 ms +++++
mappingCount 154 & avg mapping time 91.713952 ms ++++++++++++++++++++++
1317357778.049945116 WriteOdom aft_mapped_to_init
map prepare time 2.152777 ms
map corner num 65608  surf num 23061 
build tree time 15.255736 ms 
--------------------stamp1317357778.257637977
points size 91648 
mapping solver time 20.556648 ms 
sort q time 5.375439 
seperate points time 11.899520 
scan registration time 28.728859 ms *************
publication time 9.018718 ms 
whole laserOdometry time 9.052442 ms 
 
-----t: 0.0349315
OdomCount 158 & avg odom time 0.037298 ms ++++++++++++++++++++++
1317357778.257637977 WriteOdom laser_odom_to_init
1317357778.257637977 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.145831 ms 
mapping optimization time 96.176357 
add points time 0.596602 ms
filter time 4.543491 ms 
mapping pub time 2.065409 ms 
whole mapping time 105.586470 ms +++++
mappingCount 155 & avg mapping time 91.803483 ms ++++++++++++++++++++++
1317357778.153790951 WriteOdom aft_mapped_to_init
build tree time 12.451988 ms 
--------------------stamp1317357778.361509084
points size 92362 
prepare time 10.823520 
mapping solver time 17.766135 ms 
sort q time 6.212453 
seperate points time 12.075753 
publication time 10.334707 ms 
whole laserOdometry time 10.352177 ms 
 
mapping data assosiation time 23.108378 ms 
mapping solver time 15.615909 ms 
mapping optimization time 89.657676 
add points time 0.621905 ms
1317357778.257637978 WriteOdom aft_mapped_to_init
1317357778.361509084 WriteOdom laser_odom_to_init
1317357778.361509084 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718889292.248371602, 1317357778.429970797]: Received 89920 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889292.248435725, 1317357778.429970797]: Data saved to 1317357778257637.pcd[0m
map prepare time 3.280217 ms
map corner num 66495  surf num 23425 
build tree time 15.442716 ms 
--------------------stamp1317357778.465378999
points size 92980 
mapping data assosiation time 23.457548 ms 
sort q time 4.978099 
seperate points time 10.584838 
scan registration time 30.133382 ms *************
mapping solver time 26.208132 ms 
publication time 11.872079 ms 
whole laserOdometry time 11.897717 ms 
 
-----t: 0.0367406
OdomCount 160 & avg odom time 0.037397 ms ++++++++++++++++++++++
1317357778.465378999 WriteOdom laser_odom_to_init
1317357778.465378999 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.907641 ms 
mapping solver time 16.752083 ms 
filter time 4.696000 ms 
mapping pub time 2.129961 ms 
whole mapping time 115.698375 ms +++++
mappingCount 157 & avg mapping time 92.021275 ms ++++++++++++++++++++++
1317357778.361509085 WriteOdom aft_mapped_to_init
--------------------stamp1317357778.569228887
points size 93896 
prepare time 13.754660 
sort q time 5.134178 
seperate points time 12.189820 
publication time 8.310241 ms 
whole laserOdometry time 8.320679 ms 
 
-----t: 0.0414665
OdomCount 161 & avg odom time 0.037422 ms ++++++++++++++++++++++
1317357778.569228887 WriteOdom laser_odom_to_init
1317357778.569228887 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 37.031370 ms 
mapping data assosiation time 20.879618 ms 
--------------------stamp1317357778.673074960
points size 92426 
filter time 6.878158 ms 
mapping pub time 2.162302 ms 
whole mapping time 128.658921 ms +++++
mappingCount 158 & avg mapping time 92.253187 ms ++++++++++++++++++++++
prepare time 12.012904 
1317357778.465379000 WriteOdom aft_mapped_to_init
map prepare time 2.900588 ms
map corner num 67455  surf num 23846 
sort q time 5.387512 
seperate points time 11.932549 
build tree time 15.538658 ms 
publication time 8.713172 ms 
whole laserOdometry time 8.733944 ms 
 
-----t: 0.0325301
OdomCount 162 & avg odom time 0.037392 ms ++++++++++++++++++++++
1317357778.673074960 WriteOdom laser_odom_to_init
1317357778.673074960 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.281234 ms 
mapping data assosiation time 18.042439 ms 
--------------------stamp1317357778.776943922
points size 91539 
filter time 5.672501 ms 
mapping pub time 2.197923 ms 
whole mapping time 109.544393 ms +++++
mappingCount 159 & avg mapping time 92.361977 ms ++++++++++++++++++++++
1317357778.569228888 WriteOdom aft_mapped_to_init
scan registration time 28.561918 ms *************
build tree time 16.843381 ms 
-----t: 0.0272126
OdomCount 163 & avg odom time 0.037329 ms ++++++++++++++++++++++
1317357778.776943922 WriteOdom laser_odom_to_init
1317357778.776943922 WriteOdom aft_mapped_to_init_high_frec
publication time 7.311443 ms 
whole laserOdometry time 7.326232 ms 
 
mapping data assosiation time 19.954251 ms 
mapping solver time 22.019920 ms 
--------------------stamp1317357778.880790948
points size 90775 
sort q time 5.780112 
seperate points time 10.645823 
mapping solver time 21.023183 ms 
mapping optimization time 101.405738 
add points time 0.678889 ms
scan registration time 24.519680 ms *************
mapping pub time 2.235153 ms 
whole mapping time 113.763215 ms +++++
mappingCount 160 & avg mapping time 92.495764 ms ++++++++++++++++++++++
1317357778.673074961 WriteOdom aft_mapped_to_init
publication time 8.309276 ms 
whole laserOdometry time 8.323226 ms 
 
build tree time 16.985224 ms 
1317357778.880790948 WriteOdom laser_odom_to_init
1317357778.880790948 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.895088 ms 
--------------------stamp1317357778.984637022
points size 89386 
prepare time 10.657190 
sort q time 5.133332 
seperate points time 10.871739 
scan registration time 26.660914 ms *************
publication time 7.699134 ms 
whole laserOdometry time 7.710872 ms 
 
mapping solver time 17.260526 ms 
mapping optimization time 101.721728 
add points time 0.689983 ms
[0m[ INFO] [1718889292.852829510, 1317357779.035871240]: Received 93415 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889292.852870088, 1317357779.035871240]: Data saved to 1317357778776943.pcd[0m
map prepare time 2.097686 ms
map corner num 68959  surf num 24456 
build tree time 15.114164 ms 
mapping data assosiation time 19.911283 ms 
--------------------stamp1317357779.088510036
points size 89558 
mapping solver time 24.224802 ms 
sort q time 5.681464 
seperate points time 10.700026 
scan registration time 25.555659 ms *************
mapping data assosiation time 22.623937 ms 
publication time 9.492370 ms 
whole laserOdometry time 9.515144 ms 
 
mapping solver time 14.819776 ms 
mapping optimization time 97.609230 
add points time 0.585277 ms
filter time 4.707379 ms 
-----t: 0.0505554
OdomCount 166 & avg odom time 0.037475 ms ++++++++++++++++++++++
map prepare time 2.215961 ms
map corner num 69395  surf num 24610 
build tree time 14.796422 ms 
--------------------stamp1317357779.192404985
mapping data assosiation time 18.148521 ms 
sort q time 4.842913 
seperate points time 10.771221 
mapping data assosiation time 22.049552 ms 
-----t: 0.0384527
OdomCount 167 & avg odom time 0.037481 ms ++++++++++++++++++++++
publication time 20.782021 ms 
whole laserOdometry time 20.807770 ms 
 
mapping solver time 23.373130 ms 
filter time 4.808132 ms 
mapping pub time 2.207657 ms 
whole mapping time 113.850688 ms +++++
mappingCount 163 & avg mapping time 92.902888 ms ++++++++++++++++++++++
1317357779.088510036 WriteOdom aft_mapped_to_init
map prepare time 2.802990 ms
map corner num 69923  surf num 24826 
points size 90428 
mapping data assosiation time 19.123961 ms 
sort q time 4.868702 
seperate points time 11.200634 
scan registration time 39.996670 ms *************
mapping solver time 25.175640 ms 
publication time 11.327229 ms 
whole laserOdometry time 11.358538 ms 
 
mapping data assosiation time 17.382771 ms 
mapping solver time 15.848908 ms 
filter time 4.774914 ms 
mapping pub time 2.077531 ms 
whole mapping time 108.024741 ms +++++
mappingCount 164 & avg mapping time 92.995127 ms ++++++++++++++++++++++
1317357779.192404985 WriteOdom aft_mapped_to_init
--------------------stamp1317357779.400243043
build tree time 16.031435 ms 
sort q time 4.918792 
seperate points time 9.767165 
mapping data assosiation time 18.233683 ms 
scan registration time 24.791085 ms *************
publication time 7.651285 ms 
whole laserOdometry time 7.664034 ms 
 
-----t: 0.0298544
OdomCount 169 & avg odom time 0.037386 ms ++++++++++++++++++++++
mapping solver time 20.313416 ms 
1317357779.400243043 WriteOdom laser_odom_to_init
1317357779.400243043 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.579847 ms 
mapping solver time 15.610283 ms 
filter time 5.009857 ms 
mapping pub time 2.154118 ms 
whole mapping time 97.635839 ms +++++
mappingCount 165 & avg mapping time 93.023360 ms ++++++++++++++++++++++
1317357779.296324015 WriteOdom aft_mapped_to_init
--------------------stamp1317357779.504158973
points size 90749 
prepare time 17.493615 
scan registration time 32.690144 ms *************
mapping solver time 18.705738 ms 
-----t: 0.043794
OdomCount 170 & avg odom time 0.037423 ms ++++++++++++++++++++++
1317357779.504158973 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.691143 ms 
1317357779.504158973 WriteOdom laser_odom_to_init
mapping solver time 11.469973 ms 
filter time 5.133082 ms 
mapping pub time 3.125171 ms 
whole mapping time 96.152450 ms +++++
mappingCount 166 & avg mapping time 93.042241 ms ++++++++++++++++++++++
1317357779.400243044 WriteOdom aft_mapped_to_init
build tree time 14.478093 ms 
points size 91262 
mapping data assosiation time 18.218805 ms 
sort q time 5.125886 
seperate points time 11.763132 
scan registration time 28.678296 ms *************
publication time 6.064989 ms 
whole laserOdometry time 6.077582 ms 
 
-----t: 0.0330236
OdomCount 171 & avg odom time 0.037398 ms ++++++++++++++++++++++
1317357779.608078002 WriteOdom laser_odom_to_init
1317357779.608078002 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 11.957730 ms 
mapping optimization time 82.173880 
add points time 0.626235 ms
filter time 4.962040 ms 
map prepare time 2.081507 ms
map corner num 71620  surf num 25377 
build tree time 14.439137 ms 
--------------------stamp1317357779.711996078
points size 92713 
prepare time 13.661404 
mapping solver time 21.039223 ms 
scan registration time 30.438058 ms *************
publication time 7.634500 ms 
whole laserOdometry time 7.651334 ms 
 
-----t: 0.0397148
OdomCount 172 & avg odom time 0.037411 ms ++++++++++++++++++++++
1317357779.711996078 WriteOdom laser_odom_to_init
1317357779.711996078 WriteOdom aft_mapped_to_init_high_frec
filter time 5.935995 ms 
mapping pub time 2.022800 ms 
whole mapping time 95.387002 ms +++++
mappingCount 168 & avg mapping time 93.049276 ms ++++++++++++++++++++++
1317357779.608078003 WriteOdom aft_mapped_to_init
build tree time 13.781206 ms 
mapping data assosiation time 15.467647 ms 
--------------------stamp1317357779.815890073
points size 94876 
prepare time 10.417283 
mapping solver time 17.185919 ms 
sort q time 5.005914 
seperate points time 10.687194 
mapping data assosiation time 18.619752 ms 
publication time 8.706308 ms 
whole laserOdometry time 8.720126 ms 
 
mapping solver time 15.176149 ms 
mapping optimization time 81.219677 
add points time 0.567442 ms
-----t: 0.0304473
OdomCount 173 & avg odom time 0.037371 ms ++++++++++++++++++++++
1317357779.815890073 WriteOdom laser_odom_to_init
1317357779.815890073 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.032266 ms 
whole mapping time 91.977875 ms +++++
mappingCount 169 & avg mapping time 93.042957 ms ++++++++++++++++++++++
1317357779.711996078 WriteOdom aft_mapped_to_init
map prepare time 2.242480 ms
map corner num 72412  surf num 25591 
build tree time 14.122606 ms 
mapping data assosiation time 16.254980 ms 
--------------------stamp1317357779.919786930
mapping solver time 21.800283 ms 
sort q time 5.637976 
seperate points time 11.970326 
-----t: 0.0238934
OdomCount 174 & avg odom time 0.037293 ms ++++++++++++++++++++++
1317357779.919786930 WriteOdom laser_odom_to_init
1317357779.919786930 WriteOdom aft_mapped_to_init_high_frec
filter time 5.714736 ms 
mapping pub time 2.280725 ms 
whole mapping time 101.914227 ms +++++
mappingCount 170 & avg mapping time 93.095173 ms ++++++++++++++++++++++
1317357779.815890074 WriteOdom aft_mapped_to_init
build tree time 15.385772 ms 
mapping data assosiation time 15.733780 ms 
--------------------stamp1317357780.023680925
mapping solver time 19.965893 ms 
points size 95917 
prepare time 12.514682 
sort q time 5.221321 
seperate points time 11.834406 
mapping data assosiation time 18.960610 ms 
scan registration time 28.905421 ms *************
-----t: 0.0288726
OdomCount 175 & avg odom time 0.037245 ms ++++++++++++++++++++++
add points time 0.612524 ms
publication time 8.165138 ms 
whole laserOdometry time 8.178461 ms 
 
mapping pub time 6.666939 ms 
whole mapping time 105.862612 ms +++++
mappingCount 171 & avg mapping time 93.169854 ms ++++++++++++++++++++++
build tree time 13.392592 ms 
mapping data assosiation time 16.750351 ms 
--------------------stamp1317357780.127527952
points size 96511 
sort q time 5.675934 
seperate points time 12.842342 
mapping data assosiation time 18.905237 ms 
mapping solver time 19.695948 ms 
mapping optimization time 92.459151 
publication time 9.451179 ms 
whole laserOdometry time 9.459737 ms 
 
add points time 0.678252 ms
mapping pub time 2.233930 ms 
whole mapping time 104.420629 ms +++++
mappingCount 172 & avg mapping time 93.235306 ms ++++++++++++++++++++++
1317357780.023680925 WriteOdom aft_mapped_to_init
map prepare time 2.302595 ms
map corner num 73601  surf num 26015 
build tree time 15.413327 ms 
mapping data assosiation time 15.711336 ms 
--------------------stamp1317357780.231328010
points size 95991 
prepare time 13.916118 
mapping solver time 22.129884 ms 
sort q time 5.573565 
seperate points time 12.432005 
scan registration time 30.811588 ms *************
publication time 7.935979 ms 
whole laserOdometry time 7.951593 ms 
 
mapping data assosiation time 19.603431 ms 
-----t: 0.045683
OdomCount 177 & avg odom time 0.037358 ms ++++++++++++++++++++++
1317357780.231328010 WriteOdom laser_odom_to_init
1317357780.231328010 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.580107 ms 
filter time 5.067691 ms 
mapping pub time 2.263208 ms 
whole mapping time 121.551119 ms +++++
mappingCount 173 & avg mapping time 93.399014 ms ++++++++++++++++++++++
1317357780.127527952 WriteOdom aft_mapped_to_init
--------------------stamp1317357780.335100889
points size 95729 
mapping data assosiation time 19.305601 ms 
scan registration time 27.285107 ms *************
mapping solver time 18.387240 ms 
publication time 8.285427 ms 
whole laserOdometry time 8.297277 ms 
 
-----t: 0.0314401
OdomCount 178 & avg odom time 0.037324 ms ++++++++++++++++++++++
mapping data assosiation time 16.748042 ms 
mapping solver time 14.167060 ms 
filter time 5.346734 ms 
mapping pub time 2.268330 ms 
whole mapping time 97.245360 ms +++++
mappingCount 174 & avg mapping time 93.421219 ms ++++++++++++++++++++++
1317357780.231328011 WriteOdom aft_mapped_to_init
map prepare time 2.166516 ms
map corner num 74383  surf num 26252 
build tree time 15.223461 ms 
--------------------stamp1317357780.438875913
points size 95914 
mapping data assosiation time 19.215963 ms 
sort q time 5.300312 
seperate points time 11.410245 
scan registration time 27.230463 ms *************
publication time 6.467413 ms 
whole laserOdometry time 6.481307 ms 
 
-----t: 0.0280776
OdomCount 179 & avg odom time 0.037273 ms ++++++++++++++++++++++
mapping solver time 14.001445 ms 
mapping optimization time 84.457478 
add points time 0.529203 ms
mapping pub time 2.165171 ms 
whole mapping time 94.763162 ms +++++
mappingCount 175 & avg mapping time 93.428903 ms ++++++++++++++++++++++
1317357780.335100889 WriteOdom aft_mapped_to_init
map prepare time 2.590678 ms
map corner num 71900  surf num 24897 
build tree time 14.781122 ms 
--------------------stamp1317357780.542627096
points size 95636 
prepare time 11.200932 
mapping solver time 18.294635 ms 
publication time 7.208113 ms 
whole laserOdometry time 7.222719 ms 
 
mapping data assosiation time 18.643703 ms 
-----t: 0.0288582
OdomCount 180 & avg odom time 0.037226 ms ++++++++++++++++++++++
1317357780.542627096 WriteOdom laser_odom_to_init
1317357780.542627096 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.627883 ms 
mapping optimization time 83.328822 
add points time 0.563274 ms
filter time 4.722752 ms 
map prepare time 1.953129 ms
map corner num 72266  surf num 25027 
build tree time 13.926834 ms 
mapping data assosiation time 15.102112 ms 
points size 95114 
sort q time 5.360761 
seperate points time 12.329030 
mapping data assosiation time 18.297660 ms 
scan registration time 28.998075 ms *************
mapping optimization time 76.179310 
add points time 0.636642 ms
-----t: 0.0310401
OdomCount 181 & avg odom time 0.037192 ms ++++++++++++++++++++++
1317357780.646378040 WriteOdom laser_odom_to_init
1317357780.646378040 WriteOdom aft_mapped_to_init_high_frec
filter time 7.243438 ms 
map prepare time 1.964885 ms
map corner num 72640  surf num 25201 
build tree time 15.036258 ms 
mapping data assosiation time 15.165658 ms 
--------------------stamp1317357780.750152111
points size 94331 
prepare time 12.720687 
mapping data assosiation time 18.410202 ms 
sort q time 5.372464 
seperate points time 12.381351 
scan registration time 31.152023 ms *************
mapping solver time 12.384559 ms 
mapping optimization time 76.313582 
filter time 7.040951 ms 
publication time 8.184041 ms 
whole laserOdometry time 8.201263 ms 
 
mapping pub time 2.364974 ms 
whole mapping time 88.527320 ms +++++
mappingCount 178 & avg mapping time 93.380145 ms ++++++++++++++++++++++
1317357780.646378040 WriteOdom aft_mapped_to_init
1317357780.750152111 WriteOdom laser_odom_to_init
1317357780.750152111 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.227738 ms
map corner num 73024  surf num 25391 
build tree time 15.603797 ms 
mapping data assosiation time 16.930663 ms 
--------------------stamp1317357780.853926897
mapping solver time 18.898905 ms 
points size 94363 
mapping data assosiation time 18.522097 ms 
scan registration time 30.828789 ms *************
mapping solver time 17.712933 ms 
filter time 6.916107 ms 
-----t: 0.0422733
OdomCount 183 & avg odom time 0.037211 ms ++++++++++++++++++++++
build tree time 14.425212 ms 
--------------------stamp1317357780.957726955
points size 94037 
sort q time 5.260349 
seperate points time 11.920595 
mapping solver time 23.901440 ms 
scan registration time 29.572432 ms *************
publication time 6.190782 ms 
whole laserOdometry time 6.206816 ms 
 
-----t: 0.0292837
OdomCount 184 & avg odom time 0.037168 ms ++++++++++++++++++++++
1317357780.957726955 WriteOdom laser_odom_to_init
1317357780.957726955 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.611181 ms 
mapping solver time 16.797511 ms 
mapping optimization time 103.124907 
add points time 0.670562 ms
mapping pub time 2.040594 ms 
whole mapping time 113.827382 ms +++++
mappingCount 180 & avg mapping time 93.534701 ms ++++++++++++++++++++++
1317357780.853926897 WriteOdom aft_mapped_to_init
map prepare time 2.201963 ms
map corner num 73950  surf num 25812 
build tree time 14.596901 ms 
--------------------stamp1317357781.061526060
mapping data assosiation time 18.147594 ms 
points size 94392 
sort q time 5.944718 
seperate points time 11.254549 
publication time 5.732110 ms 
whole laserOdometry time 5.748340 ms 
 
mapping data assosiation time 20.055236 ms 
mapping solver time 18.823287 ms 
-----t: 0.0563148
OdomCount 185 & avg odom time 0.037272 ms ++++++++++++++++++++++
1317357781.061526060 WriteOdom laser_odom_to_init
1317357781.061526060 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 95.810185 
add points time 0.619743 ms
[0m[ INFO] [1718889294.956824779, 1317357781.139268886]: Received 100295 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889294.956881328, 1317357781.139268886]: Data saved to 1317357780957726.pcd[0m
mapping pub time 6.005019 ms 
whole mapping time 110.693425 ms +++++
mappingCount 181 & avg mapping time 93.629526 ms ++++++++++++++++++++++
1317357780.957726955 WriteOdom aft_mapped_to_init
--------------------stamp1317357781.165297985
build tree time 16.332481 ms 
points size 95039 
mapping data assosiation time 19.907607 ms 
sort q time 5.577392 
seperate points time 12.850982 
scan registration time 33.283284 ms *************
mapping data assosiation time 19.679773 ms 
publication time 18.631674 ms 
whole laserOdometry time 18.645570 ms 
 
-----t: 0.0511182
OdomCount 186 & avg odom time 0.037346 ms ++++++++++++++++++++++
1317357781.165297985 WriteOdom laser_odom_to_init
1317357781.165297985 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.418995 ms 
mapping optimization time 89.695503 
add points time 0.622425 ms
mapping pub time 2.182942 ms 
whole mapping time 101.521089 ms +++++
mappingCount 182 & avg mapping time 93.672910 ms ++++++++++++++++++++++
--------------------stamp1317357781.269072055
points size 95103 
prepare time 14.103612 
sort q time 5.486248 
seperate points time 12.635584 
publication time 7.197474 ms 
whole laserOdometry time 7.226250 ms 
 
-----t: 0.0399862
OdomCount 187 & avg odom time 0.037360 ms ++++++++++++++++++++++
mapping data assosiation time 19.514757 ms 
mapping solver time 16.824244 ms 
filter time 4.829156 ms 
mapping pub time 2.229505 ms 
whole mapping time 105.371247 ms +++++
mappingCount 183 & avg mapping time 93.736859 ms ++++++++++++++++++++++
1317357781.165297985 WriteOdom aft_mapped_to_init
--------------------stamp1317357781.372848987
points size 95323 
prepare time 13.585413 
mapping data assosiation time 19.151478 ms 
scan registration time 29.302060 ms *************
mapping solver time 18.206631 ms 
publication time 8.071632 ms 
whole laserOdometry time 8.087067 ms 
 
-----t: 0.0433195
OdomCount 188 & avg odom time 0.037392 ms ++++++++++++++++++++++
1317357781.372848987 WriteOdom laser_odom_to_init
1317357781.372848987 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.225517 ms 
mapping solver time 12.740457 ms 
filter time 5.131001 ms 
mapping pub time 2.200141 ms 
whole mapping time 94.323755 ms +++++
mappingCount 184 & avg mapping time 93.740074 ms ++++++++++++++++++++++
1317357781.269072056 WriteOdom aft_mapped_to_init
build tree time 14.675829 ms 
--------------------stamp1317357781.476600885
points size 95586 
mapping data assosiation time 19.877591 ms 
sort q time 6.227802 
seperate points time 11.500877 
scan registration time 25.666472 ms *************
mapping solver time 22.593627 ms 
-----t: 0.0323826
OdomCount 189 & avg odom time 0.037365 ms ++++++++++++++++++++++
1317357781.476600885 WriteOdom laser_odom_to_init
1317357781.476600885 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.987924 ms 
mapping solver time 16.053249 ms 
mapping optimization time 97.199831 
add points time 0.595961 ms
mapping pub time 2.063057 ms 
whole mapping time 107.524171 ms +++++
mappingCount 185 & avg mapping time 93.814611 ms ++++++++++++++++++++++
1317357781.372848988 WriteOdom aft_mapped_to_init
--------------------stamp1317357781.580327033
points size 96185 
mapping data assosiation time 18.244116 ms 
mapping solver time 21.246454 ms 
-----t: 0.0389999
OdomCount 190 & avg odom time 0.037374 ms ++++++++++++++++++++++
1317357781.580327033 WriteOdom laser_odom_to_init
1317357781.580327033 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.573361 ms 
mapping solver time 16.834321 ms 
mapping optimization time 93.407576 
add points time 0.610628 ms
mapping pub time 3.478963 ms 
whole mapping time 105.143585 ms +++++
mappingCount 186 & avg mapping time 93.875549 ms ++++++++++++++++++++++
1317357781.476600885 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889295.486207720, 1317357781.668454947]: Received 102716 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889295.486255594, 1317357781.668454947]: Data saved to 1317357781476600.pcd[0m
--------------------stamp1317357781.684029102
build tree time 18.591777 ms 
points size 96109 
sort q time 5.470623 
seperate points time 16.037133 
scan registration time 36.364059 ms *************
mapping solver time 23.206637 ms 
mapping data assosiation time 18.097542 ms 
mapping solver time 15.124747 ms 
filter time 5.132255 ms 
map prepare time 1.922889 ms
map corner num 76506  surf num 26638 
--------------------stamp1317357781.787755966
points size 94539 
sort q time 5.364502 
seperate points time 12.262306 
mapping data assosiation time 15.563076 ms 
scan registration time 30.813375 ms *************
mapping solver time 15.380061 ms 
publication time 8.107155 ms 
whole laserOdometry time 8.120973 ms 
 
mapping data assosiation time 16.041463 ms 
mapping solver time 10.623444 ms 
filter time 4.976384 ms 
mapping pub time 2.340448 ms 
whole mapping time 85.280123 ms +++++
mappingCount 188 & avg mapping time 93.883434 ms ++++++++++++++++++++++
1317357781.684029102 WriteOdom aft_mapped_to_init
build tree time 15.383295 ms 
--------------------stamp1317357781.891530990
mapping data assosiation time 15.129503 ms 
points size 94909 
mapping solver time 15.582468 ms 
mapping data assosiation time 16.174917 ms 
publication time 7.737742 ms 
whole laserOdometry time 7.749653 ms 
 
mapping solver time 16.361319 ms 
filter time 5.289410 ms 
-----t: 0.0563027
OdomCount 193 & avg odom time 0.037416 ms ++++++++++++++++++++++
1317357781.891530990 WriteOdom laser_odom_to_init
1317357781.891530990 WriteOdom aft_mapped_to_init_high_frec
build tree time 14.977704 ms 
--------------------stamp1317357781.995304107
points size 95076 
mapping solver time 21.922528 ms 
sort q time 5.596282 
seperate points time 12.783741 
mapping data assosiation time 17.357142 ms 
publication time 6.613644 ms 
whole laserOdometry time 6.628167 ms 
 
mapping solver time 16.273262 ms 
mapping optimization time 85.297199 
add points time 0.540634 ms
-----t: 0.0536884
OdomCount 194 & avg odom time 0.037500 ms ++++++++++++++++++++++
1317357781.995304107 WriteOdom laser_odom_to_init
1317357781.995304107 WriteOdom aft_mapped_to_init_high_frec
build tree time 15.747495 ms 
mapping data assosiation time 14.480732 ms 
points size 96756 
prepare time 16.000279 
sort q time 6.211877 
seperate points time 14.132533 
scan registration time 35.115203 ms *************
mapping data assosiation time 17.965993 ms 
filter time 5.897152 ms 
map prepare time 2.099636 ms
map corner num 78000  surf num 27088 
build tree time 17.503552 ms 
mapping data assosiation time 14.250129 ms 
--------------------stamp1317357782.202903985
points size 97190 
mapping solver time 22.368106 ms 
sort q time 6.399486 
seperate points time 14.596447 
mapping solver time 17.206072 ms 

map prepare time 2.269743 ms
map corner num 78434  surf num 27368 
build tree time 17.148596 ms 
mapping data assosiation time 15.467811 ms 
points size 97604 
mapping solver time 19.780205 ms 
sort q time 5.684513 
seperate points time 12.185806 
mapping data assosiation time 19.436639 ms 
-----t: 0.0339298
OdomCount 197 & avg odom time 0.037461 ms ++++++++++++++++++++++
1317357782.306704044 WriteOdom laser_odom_to_init
1317357782.306704044 WriteOdom aft_mapped_to_init_high_frec
filter time 6.177339 ms 
map prepare time 1.966286 ms
map corner num 78850  surf num 27571 
build tree time 15.190057 ms 
mapping data assosiation time 15.002054 ms 
--------------------stamp1317357782.410526990
points size 97690 
prepare time 12.446140 
mapping solver time 19.982549 ms 
sort q time 5.663520 
seperate points time 12.640242 
mapping data assosiation time 17.969902 ms 
mapping solver time 13.815394 ms 
filter time 7.144641 ms 
publication time 13.790944 ms 
whole laserOdometry time 13.812047 ms 
 
mapping pub time 2.617137 ms 
whole mapping time 95.423819 ms +++++
mappingCount 194 & avg mapping time 93.956821 ms ++++++++++++++++++++++
1317357782.306704044 WriteOdom aft_mapped_to_init
-----t: 0.0466608
OdomCount 198 & avg odom time 0.037508 ms ++++++++++++++++++++++
map prepare time 2.212034 ms
map corner num 79296  surf num 27696 
build tree time 15.664681 ms 
mapping data assosiation time 14.064542 ms 
--------------------stamp1317357782.514348983
points size 98497 
sort q time 5.513059 
seperate points time 12.627164 
scan registration time 32.142174 ms *************
mapping data assosiation time 18.112816 ms 
-----t: 0.0292957
OdomCount 199 & avg odom time 0.037466 ms ++++++++++++++++++++++
1317357782.514348983 WriteOdom laser_odom_to_init
1317357782.514348983 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.278863 ms 
mapping optimization time 84.996147 
add points time 0.608711 ms
publication time 15.027374 ms 
whole laserOdometry time 15.035399 ms 
 
map prepare time 2.148573 ms
map corner num 79702  surf num 27822 
build tree time 16.278485 ms 
mapping data assosiation time 13.755507 ms 
--------------------stamp1317357782.618171930
points size 99055 
sort q time 5.445052 
seperate points time 12.527366 
-----t: 0.0271749
OdomCount 200 & avg odom time 0.037415 ms ++++++++++++++++++++++
publication time 7.073493 ms 
whole laserOdometry time 7.090954 ms 
 
filter time 5.731817 ms 
map prepare time 2.041764 ms
map corner num 80071  surf num 27943 
build tree time 15.239317 ms 
mapping data assosiation time 15.142142 ms 
--------------------stamp1317357782.721992969
mapping solver time 15.979847 ms 
points size 100000 
prepare time 10.913227 
sort q time 5.898939 
seperate points time 12.816107 
mapping data assosiation time 17.439671 ms 
mapping solver time 12.918054 ms 
mapping optimization time 77.725679 
add points time 0.828528 ms
publication time 8.595948 ms 
whole laserOdometry time 8.607591 ms 
 
map prepare time 2.013828 ms
map corner num 80447  surf num 28045 
build tree time 17.976612 ms 
mapping data assosiation time 16.016717 ms 
--------------------stamp1317357782.825815916
points size 100715 
sort q time 6.328873 
seperate points time 12.373703 
scan registration time 29.786102 ms *************
mapping optimization time 91.786378 
filter time 7.649196 ms 
-----t: 0.0556215
OdomCount 202 & avg odom time 0.037528 ms ++++++++++++++++++++++
map prepare time 2.882572 ms
map corner num 80815  surf num 28136 
build tree time 16.261100 ms 
--------------------stamp1317357782.929615020
mapping data assosiation time 18.593217 ms 
points size 101376 
sort q time 5.731632 
seperate points time 12.799984 
mapping solver time 19.898298 ms 
mapping data assosiation time 20.150656 ms 
publication time 8.581140 ms 
whole laserOdometry time 8.600278 ms 
 
-----t: 0.0386392
OdomCount 203 & avg odom time 0.037533 ms ++++++++++++++++++++++
1317357782.929615020 WriteOdom laser_odom_to_init
1317357782.929615020 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.238867 ms 
filter time 4.988922 ms 
mapping pub time 2.411809 ms 
whole mapping time 104.113852 ms +++++
mappingCount 199 & avg mapping time 94.083871 ms ++++++++++++++++++++++
1317357782.825815916 WriteOdom aft_mapped_to_init
build tree time 15.975134 ms 
--------------------stamp1317357783.033412933
points size 101320 
mapping data assosiation time 18.583545 ms 
prepare time 12.138845 
sort q time 6.890940 
seperate points time 12.630865 
mapping solver time 17.466072 ms 
scan registration time 30.303766 ms *************
-----t: 0.0265891
OdomCount 204 & avg odom time 0.037480 ms ++++++++++++++++++++++
1317357783.033412933 WriteOdom laser_odom_to_init
1317357783.033412933 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.251325 ms 
filter time 5.349156 ms 
mapping pub time 2.440195 ms 
whole mapping time 98.498309 ms +++++
mappingCount 200 & avg mapping time 94.105971 ms ++++++++++++++++++++++
build tree time 15.418706 ms 
--------------------stamp1317357783.137208938
mapping data assosiation time 18.392080 ms 
prepare time 14.249726 
sort q time 5.567413 
seperate points time 12.779579 
publication time 7.527100 ms 
whole laserOdometry time 7.538559 ms 
 
mapping data assosiation time 17.035719 ms 
mapping solver time 17.116575 ms 
filter time 5.467756 ms 
[0m[ INFO] [1718889297.036025550, 1317357783.209921044]: Received 110634 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889297.036462216, 1317357783.219991372]: Data saved to 1317357783033412.pcd[0m
mapping pub time 8.173728 ms 
whole mapping time 113.429107 ms +++++
mappingCount 201 & avg mapping time 94.202132 ms ++++++++++++++++++++++
1317357783.033412933 WriteOdom aft_mapped_to_init
-----t: 0.0674427
OdomCount 205 & avg odom time 0.037626 ms ++++++++++++++++++++++
1317357783.137208938 WriteOdom laser_odom_to_init
1317357783.137208938 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357783.240984916
points size 100272 
build tree time 23.010763 ms 
prepare time 13.409799 
sort q time 6.525280 
seperate points time 12.436559 
publication time 8.057365 ms 
whole laserOdometry time 8.083860 ms 
 
mapping solver time 22.430275 ms 
-----t: 0.0516978
OdomCount 206 & avg odom time 0.037694 ms ++++++++++++++++++++++
1317357783.240984916 WriteOdom laser_odom_to_init
1317357783.240984916 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.125860 ms 
mapping solver time 22.098299 ms 
--------------------stamp1317357783.344784975
mapping pub time 2.426474 ms 
whole mapping time 124.209026 ms +++++
mappingCount 202 & avg mapping time 94.350697 ms ++++++++++++++++++++++
1317357783.137208939 WriteOdom aft_mapped_to_init
points size 99571 
sort q time 5.593046 
seperate points time 12.512757 
scan registration time 29.580494 ms *************
-----t: 0.0313756
OdomCount 207 & avg odom time 0.037664 ms ++++++++++++++++++++++
1317357783.344784975 WriteOdom laser_odom_to_init
1317357783.344784975 WriteOdom aft_mapped_to_init_high_frec
publication time 8.193294 ms 
whole laserOdometry time 8.207743 ms 
 
mapping data assosiation time 26.042209 ms 
mapping solver time 21.017812 ms 
mapping data assosiation time 16.764310 ms 
points size 96943 
mapping solver time 21.876987 ms 
sort q time 5.404419 
seperate points time 12.727506 
filter time 7.763460 ms 
mapping pub time 2.899322 ms 
whole mapping time 124.830623 ms +++++
mappingCount 203 & avg mapping time 94.500881 ms ++++++++++++++++++++++
1317357783.240984917 WriteOdom aft_mapped_to_init
scan registration time 31.651292 ms *************
-----t: 0.0300568
OdomCount 208 & avg odom time 0.037627 ms ++++++++++++++++++++++
build tree time 22.961872 ms 
mapping data assosiation time 18.346197 ms 
mapping solver time 21.444631 ms 
points size 93555 
prepare time 10.921390 
mapping data assosiation time 22.387691 ms 
sort q time 6.478554 
seperate points time 11.993457 
mapping solver time 16.608082 ms 
filter time 7.696100 ms 
1317357783.552406072 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.545317 ms
map corner num 83438  surf num 28939 
build tree time 16.476431 ms 
mapping data assosiation time 18.237011 ms 
--------------------stamp1317357783.656204938
mapping solver time 23.828311 ms 
points size 90873 
prepare time 9.926793 
sort q time 4.527791 
seperate points time 10.196995 
mapping data assosiation time 22.285521 ms 
-----t: 0.0280267
OdomCount 210 & avg odom time 0.037548 ms ++++++++++++++++++++++
1317357783.656204938 WriteOdom laser_odom_to_init
publication time 8.863722 ms 
whole laserOdometry time 9.054159 ms 
 
1317357783.656204938 WriteOdom aft_mapped_to_init_high_frec
filter time 5.930429 ms 
map prepare time 2.296381 ms
map corner num 84050  surf num 29262 
build tree time 16.554385 ms 
mapping data assosiation time 18.004215 ms 
points size 88576 
mapping solver time 26.881037 ms 
sort q time 5.106789 
seperate points time 11.520954 
publication time 6.442736 ms 
whole laserOdometry time 6.466105 ms 
 
mapping data assosiation time 22.009426 ms 
mapping solver time 21.768843 ms 
filter time 6.598131 ms 
map prepare time 1.992481 ms
map corner num 84656  surf num 29588 
build tree time 16.009527 ms 
points size 86808 
sort q time 4.655631 
seperate points time 10.773601 
mapping solver time 24.973292 ms 
publication time 8.284512 ms 
whole laserOdometry time 8.302536 ms 
 
-----t: 0.0364209
OdomCount 212 & avg odom time 0.037502 ms ++++++++++++++++++++++
1317357783.863779067 WriteOdom laser_odom_to_init
1317357783.863779067 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.978719 ms 
mapping solver time 17.230931 ms 
mapping optimization time 98.873174 
add points time 0.586174 ms
1317357783.760004997 WriteOdom aft_mapped_to_init
map prepare time 1.944196 ms
map corner num 85304  surf num 29890 
--------------------stamp1317357783.967555999
build tree time 19.550163 ms 
points size 84052 
prepare time 11.171996 
sort q time 4.650866 
seperate points time 10.625811 
scan registration time 25.793138 ms *************
mapping data assosiation time 18.816374 ms 
publication time 6.866166 ms 
whole laserOdometry time 6.895316 ms 
 
mapping solver time 22.981512 ms 
mapping data assosiation time 16.663306 ms 
mapping solver time 16.774710 ms 
mapping optimization time 95.890405 
add points time 0.577365 ms
-----t: 0.0737032
OdomCount 213 & avg odom time 0.037672 ms ++++++++++++++++++++++
1317357783.967555999 WriteOdom laser_odom_to_init
1317357783.967555999 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357784.071332931
points size 83088 
prepare time 10.245174 
build tree time 20.854689 ms 
sort q time 4.794723 
seperate points time 10.798404 
mapping data assosiation time 19.055475 ms 
publication time 7.705716 ms 
whole laserOdometry time 7.719026 ms 
 
-----t: 0.0286022
OdomCount 214 & avg odom time 0.037630 ms ++++++++++++++++++++++
1317357784.071332931 WriteOdom laser_odom_to_init
1317357784.071332931 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.759836 ms 
mapping data assosiation time 16.647686 ms 
mapping solver time 18.258637 ms 
mapping optimization time 98.348797 
add points time 0.726620 ms
mapping pub time 1.858566 ms 
whole mapping time 108.354997 ms +++++
mappingCount 209 & avg mapping time 95.020335 ms ++++++++++++++++++++++
points size 81544 
prepare time 10.230019 
build tree time 20.666501 ms 
publication time 6.073153 ms 
whole laserOdometry time 6.090947 ms 
 
mapping data assosiation time 17.016875 ms 
-----t: 0.0315595
OdomCount 215 & avg odom time 0.037602 ms ++++++++++++++++++++++
mapping solver time 18.763214 ms 
mapping data assosiation time 13.806832 ms 
mapping solver time 13.737552 ms 
filter time 5.486085 ms 
map prepare time 2.506207 ms
map corner num 86583  surf num 30243 
--------------------stamp1317357784.278902053
points size 81174 
build tree time 23.598919 ms 
mapping data assosiation time 18.917756 ms 
publication time 6.200766 ms 
whole laserOdometry time 6.216601 ms 
 
mapping solver time 19.609103 ms 
-----t: 0.0537836
OdomCount 216 & avg odom time 0.037677 ms ++++++++++++++++++++++
mapping solver time 11.625092 ms 
mapping optimization time 92.483216 
add points time 0.526253 ms
mapping pub time 3.177563 ms 
whole mapping time 104.218636 ms +++++
mappingCount 211 & avg mapping time 95.063807 ms ++++++++++++++++++++++
1317357784.175105095 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889298.190051678, 1317357784.368469171]: Received 117247 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889298.190091279, 1317357784.368469171]: Data saved to 1317357784175105.pcd[0m
map prepare time 2.062842 ms
map corner num 86920  surf num 30327 
--------------------stamp1317357784.382725000
points size 81361 
prepare time 10.946753 
build tree time 24.620859 ms 
sort q time 4.817923 
seperate points time 11.099941 
mapping data assosiation time 17.229907 ms 
publication time 5.962129 ms 
whole laserOdometry time 5.971210 ms 
 
-----t: 0.0345528
OdomCount 217 & avg odom time 0.037662 ms ++++++++++++++++++++++
1317357784.382725000 WriteOdom laser_odom_to_init
1317357784.382725000 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.469250 ms 
mapping data assosiation time 14.414736 ms 
mapping solver time 18.557042 ms 
mapping optimization time 96.201144 
add points time 0.530797 ms
map prepare time 1.856483 ms
map corner num 87247  surf num 30407 
points size 81905 
prepare time 9.987740 
build tree time 19.997095 ms 
mapping data assosiation time 16.245196 ms 
publication time 8.250664 ms 
whole laserOdometry time 8.264879 ms 
 
-----t: 0.0344856
OdomCount 218 & avg odom time 0.037648 ms ++++++++++++++++++++++
1317357784.486524105 WriteOdom laser_odom_to_init
1317357784.486524105 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.213899 ms 
mapping data assosiation time 14.943596 ms 
mapping solver time 18.376150 ms 
filter time 5.532014 ms 
--------------------stamp1317357784.590323925
points size 82832 
prepare time 12.593501 
build tree time 19.787071 ms 
sort q time 4.862137 
seperate points time 10.487814 
mapping data assosiation time 17.163324 ms 
publication time 10.615734 ms 
whole laserOdometry time 10.634205 ms 
 
-----t: 0.0381532
OdomCount 219 & avg odom time 0.037650 ms ++++++++++++++++++++++
1317357784.590323925 WriteOdom laser_odom_to_init
1317357784.590323925 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 14.082998 ms 
mapping optimization time 88.438115 
add points time 0.577366 ms
filter time 5.575474 ms 
mapping pub time 1.840553 ms 
whole mapping time 98.989351 ms +++++
mappingCount 214 & avg mapping time 95.169363 ms ++++++++++++++++++++++
--------------------stamp1317357784.694147109
points size 84068 
prepare time 9.026273 
sort q time 5.413236 
seperate points time 10.061824 
scan registration time 23.237051 ms *************
mapping data assosiation time 18.454770 ms 
publication time 6.769111 ms 
whole laserOdometry time 6.782287 ms 
 
-----t: 0.0402739
OdomCount 220 & avg odom time 0.037662 ms ++++++++++++++++++++++
mapping data assosiation time 15.922889 ms 
mapping solver time 18.420153 ms 
filter time 5.672848 ms 
map prepare time 2.690447 ms
map corner num 88356  surf num 30718 
prepare time 9.627557 
sort q time 5.307594 
seperate points time 10.391595 
build tree time 19.235234 ms 
scan registration time 23.834972 ms *************
publication time 5.793991 ms 
whole laserOdometry time 5.822191 ms 
 
mapping solver time 18.368894 ms 
mapping data assosiation time 13.638122 ms 
mapping solver time 14.356456 ms 
mapping optimization time 84.211807 
add points time 0.520991 ms
mapping pub time 3.285123 ms 
whole mapping time 96.545008 ms +++++
mappingCount 216 & avg mapping time 95.228308 ms ++++++++++++++++++++++
--------------------stamp1317357784.901865959
points size 84756 
prepare time 11.769836 
sort q time 4.687539 
seperate points time 10.628794 
mapping data assosiation time 17.562984 ms 
publication time 6.443540 ms 
whole laserOdometry time 6.458083 ms 
 
mapping solver time 18.564305 ms 
-----t: 0.0551735
OdomCount 222 & avg odom time 0.037675 ms ++++++++++++++++++++++
1317357784.901865959 WriteOdom laser_odom_to_init
1317357784.901865959 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.497058 ms 
mapping solver time 11.615903 ms 
filter time 5.826740 ms 
mapping pub time 1.881355 ms 
whole mapping time 98.455669 ms +++++
mappingCount 217 & avg mapping time 95.243198 ms ++++++++++++++++++++++
1317357784.797993898 WriteOdom aft_mapped_to_init
--------------------stamp1317357785.005759954
points size 85410 
build tree time 22.647003 ms 
sort q time 4.743562 
seperate points time 13.635597 
scan registration time 29.296865 ms *************
publication time 4.890823 ms 
whole laserOdometry time 4.904966 ms 
 
-----t: 0.0278704
OdomCount 223 & avg odom time 0.037631 ms ++++++++++++++++++++++
mapping data assosiation time 29.820899 ms 
1317357785.005759954 WriteOdom laser_odom_to_init
1317357785.005759954 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.848392 ms 
mapping data assosiation time 15.369786 ms 
mapping solver time 14.937365 ms 
filter time 6.190437 ms 
map prepare time 2.764347 ms
map corner num 89457  surf num 31176 
sort q time 5.204921 
seperate points time 10.424894 
scan registration time 25.972506 ms *************
publication time 5.335651 ms 
whole laserOdometry time 5.348327 ms 
 
mapping data assosiation time 18.009652 ms 
1317357785.109654903 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.958705 ms 
mapping data assosiation time 14.313938 ms 
mapping solver time 14.579441 ms 
--------------------stamp1317357785.213526010
filter time 7.083145 ms 
mapping pub time 2.215355 ms 
whole mapping time 102.801948 ms +++++
mappingCount 219 & avg mapping time 95.363178 ms ++++++++++++++++++++++
1317357785.005759954 WriteOdom aft_mapped_to_init
prepare time 9.697697 
sort q time 5.176913 
seperate points time 9.821841 
scan registration time 23.007723 ms *************
build tree time 22.725144 ms 
-----t: 0.03003
OdomCount 225 & avg odom time 0.037587 ms ++++++++++++++++++++++
1317357785.213526010 WriteOdom laser_odom_to_init
1317357785.213526010 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.049846 ms 
mapping solver time 17.116005 ms 
mapping data assosiation time 14.758328 ms 
mapping solver time 11.748070 ms 
filter time 5.796178 ms 
--------------------stamp1317357785.317420959
points size 82874 
build tree time 20.844655 ms 
scan registration time 33.686613 ms *************
mapping data assosiation time 18.100421 ms 
-----t: 0.0346982
OdomCount 226 & avg odom time 0.037574 ms ++++++++++++++++++++++
mapping solver time 19.394845 ms 
mapping data assosiation time 14.799609 ms 
mapping solver time 15.848038 ms 
mapping optimization time 89.873510 
add points time 0.611528 ms
--------------------stamp1317357785.421313047
points size 82685 
map prepare time 2.025433 ms
map corner num 90552  surf num 31515 
prepare time 10.483141 
sort q time 4.635453 
seperate points time 10.786319 
scan registration time 25.255194 ms *************
publication time 6.201504 ms 
whole laserOdometry time 6.214896 ms 
 
-----t: 0.0339534
OdomCount 227 & avg odom time 0.037558 ms ++++++++++++++++++++++
mapping solver time 19.760607 ms 
mapping data assosiation time 15.607010 ms 
mapping solver time 11.510231 ms 
filter time 6.294063 ms 
map prepare time 2.204308 ms
map corner num 46928  surf num 17083 
points size 83395 
build tree time 11.920432 ms 
sort q time 4.852985 
seperate points time 10.628801 
scan registration time 26.396986 ms *************
-----t: 0.0311304
OdomCount 228 & avg odom time 0.037530 ms ++++++++++++++++++++++
mapping solver time 23.233169 ms 
mapping data assosiation time 17.812111 ms 
mapping solver time 16.723948 ms 
filter time 4.656068 ms 
map prepare time 2.571377 ms
map corner num 47368  surf num 17265 
points size 82988 
prepare time 14.871707 
build tree time 12.272243 ms 
sort q time 4.960857 
seperate points time 10.772421 
mapping data assosiation time 19.075078 ms 
-----t: 0.028566
OdomCount 229 & avg odom time 0.037491 ms ++++++++++++++++++++++
mapping solver time 23.286391 ms 
mapping data assosiation time 17.368647 ms 
mapping solver time 12.656175 ms 
filter time 3.437528 ms 
mapping pub time 1.943823 ms 
whole mapping time 94.371351 ms +++++
mappingCount 224 & avg mapping time 95.449466 ms ++++++++++++++++++++++
1317357785.525182962 WriteOdom aft_mapped_to_init
--------------------stamp1317357785.732949018
points size 82142 
build tree time 11.649458 ms 
prepare time 10.510136 
sort q time 4.546868 
seperate points time 10.476841 
publication time 7.311258 ms 
whole laserOdometry time 7.329088 ms 
 
mapping solver time 24.488358 ms 
-----t: 0.0441989
OdomCount 230 & avg odom time 0.037520 ms ++++++++++++++++++++++
1317357785.732949018 WriteOdom laser_odom_to_init
1317357785.732949018 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.690943 ms 
mapping solver time 19.581961 ms 
mapping optimization time 93.524187 
add points time 0.556375 ms
map prepare time 1.749056 ms
map corner num 48341  surf num 17710 
build tree time 10.059691 ms 
points size 84500 
prepare time 10.105308 
sort q time 5.187346 
seperate points time 10.461510 
mapping data assosiation time 20.812648 ms 
publication time 5.256058 ms 
whole laserOdometry time 5.271267 ms 
 
mapping solver time 19.779780 ms 
mapping data assosiation time 17.632372 ms 
mapping solver time 16.143591 ms 
filter time 4.160651 ms 
[0m[ INFO] [1718889299.738704431, 1317357785.916081285]: Received 66841 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889299.738742786, 1317357785.916081285]: Data saved to 1317357785732949.pcd[0m
mapping pub time 2.637572 ms 
whole mapping time 94.561801 ms +++++
mappingCount 226 & avg mapping time 95.472533 ms ++++++++++++++++++++++
1317357785.732949018 WriteOdom aft_mapped_to_init
build tree time 10.698179 ms 
points size 87218 
mapping data assosiation time 20.921216 ms 
sort q time 6.173167 
seperate points time 11.285562 
scan registration time 24.418347 ms *************
publication time 5.689514 ms 
whole laserOdometry time 5.700117 ms 
 
mapping solver time 25.844893 ms 
-----t: 0.045803
OdomCount 232 & avg odom time 0.037506 ms ++++++++++++++++++++++
1317357785.940813064 WriteOdom laser_odom_to_init
1317357785.940813064 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.029048 ms 
mapping solver time 17.402354 ms 
mapping optimization time 96.145860 
add points time 0.608988 ms
map prepare time 1.779332 ms
map corner num 49427  surf num 18201 
--------------------stamp1317357786.044755935
points size 88310 
prepare time 9.407785 
sort q time 5.044652 
seperate points time 10.006151 
mapping data assosiation time 19.196418 ms 
publication time 7.188054 ms 
whole laserOdometry time 7.202852 ms 
 
mapping solver time 25.413362 ms 
mapping data assosiation time 20.914986 ms 
-----t: 0.0701989
OdomCount 233 & avg odom time 0.037646 ms ++++++++++++++++++++++
1317357786.044755935 WriteOdom laser_odom_to_init
1317357786.044755935 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.433549 ms 
mapping optimization time 100.531302 
add points time 0.673758 ms
mapping pub time 1.995323 ms 
whole mapping time 109.483800 ms +++++
mappingCount 228 & avg mapping time 95.573753 ms ++++++++++++++++++++++
points size 87602 
sort q time 4.970001 
seperate points time 10.960297 
mapping data assosiation time 20.197082 ms 
-----t: 0.0226018
OdomCount 234 & avg odom time 0.037582 ms ++++++++++++++++++++++
1317357786.148653984 WriteOdom laser_odom_to_init
1317357786.148653984 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.641892 ms 
mapping data assosiation time 16.831890 ms 
mapping solver time 13.494951 ms 
mapping pub time 1.898808 ms 
whole mapping time 98.043445 ms +++++
mappingCount 229 & avg mapping time 95.584549 ms ++++++++++++++++++++++
1317357786.044755936 WriteOdom aft_mapped_to_init
--------------------stamp1317357786.252547979
points size 84394 
build tree time 12.545369 ms 
prepare time 8.991892 
sort q time 7.825749 
seperate points time 13.111282 
-----t: 0.0274398
OdomCount 235 & avg odom time 0.037539 ms ++++++++++++++++++++++
1317357786.252547979 WriteOdom laser_odom_to_init
1317357786.252547979 WriteOdom aft_mapped_to_init_high_frec
publication time 5.340970 ms 
whole laserOdometry time 5.354219 ms 
 
mapping solver time 24.498160 ms 
mapping data assosiation time 16.553526 ms 
mapping solver time 15.680961 ms 
filter time 3.823608 ms 
mapping pub time 1.976820 ms 
whole mapping time 99.258108 ms +++++
mappingCount 230 & avg mapping time 95.600539 ms ++++++++++++++++++++++
1317357786.148653984 WriteOdom aft_mapped_to_init
--------------------stamp1317357786.356437921
points size 81532 
sort q time 4.853356 
seperate points time 9.453365 
publication time 6.167798 ms 
whole laserOdometry time 6.183750 ms 
 
-----t: 0.0330735
OdomCount 236 & avg odom time 0.037520 ms ++++++++++++++++++++++
mapping solver time 22.670719 ms 
1317357786.356437921 WriteOdom laser_odom_to_init
1317357786.356437921 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.239492 ms 
mapping solver time 13.397157 ms 
mapping optimization time 84.940251 
add points time 0.603988 ms
map prepare time 1.673188 ms
map corner num 51299  surf num 18785 
build tree time 9.688610 ms 
points size 79352 
mapping data assosiation time 17.990337 ms 
sort q time 5.057253 
seperate points time 10.216602 
scan registration time 23.784724 ms *************
mapping solver time 20.751254 ms 
publication time 6.289996 ms 
whole laserOdometry time 6.302826 ms 
 
-----t: 0.0358783
OdomCount 237 & avg odom time 0.037513 ms ++++++++++++++++++++++
1317357786.460309982 WriteOdom laser_odom_to_init
mapping data assosiation time 19.282712 ms 
1317357786.460309982 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.588750 ms 
filter time 3.880565 ms 
mapping pub time 1.862229 ms 
whole mapping time 91.391552 ms +++++
mappingCount 232 & avg mapping time 95.576776 ms ++++++++++++++++++++++
1317357786.356437922 WriteOdom aft_mapped_to_init
build tree time 9.668958 ms 
--------------------stamp1317357786.564181089
points size 78510 
prepare time 12.162461 
mapping solver time 19.307107 ms 
scan registration time 26.968015 ms *************
publication time 5.705296 ms 
whole laserOdometry time 5.716072 ms 
 
mapping data assosiation time 19.764977 ms 
mapping solver time 15.866043 ms 
1317357786.460309982 WriteOdom aft_mapped_to_init
build tree time 10.576328 ms 
mapping data assosiation time 15.414164 ms 
--------------------stamp1317357786.668050050
points size 76394 
sort q time 4.329009 
seperate points time 9.382862 
scan registration time 24.752517 ms *************
publication time 7.717407 ms 
whole laserOdometry time 7.742009 ms 
 mapping solver time 19.517122 ms 
mapping optimization time 88.973378 
add points time 0.591874 ms
filter time 3.960273 ms 
mapping pub time 1.789804 ms 
whole mapping time 96.965203 ms +++++
mappingCount 234 & avg mapping time 95.563731 ms ++++++++++++++++++++++
1317357786.564181089 WriteOdom aft_mapped_to_init
build tree time 10.747608 ms 
mapping data assosiation time 15.831382 ms 
--------------------stamp1317357786.771943092
mapping solver time 23.311363 ms 
prepare time 9.404040 
scan registration time 21.444096 ms *************
mapping data assosiation time 18.883607 ms 
publication time 6.934933 ms 
whole laserOdometry time 6.949606 ms mapping solver time 19.753280 ms 
mapping optimization time 89.540534 
add points time 0.612998 ms
map prepare time 1.460563 ms
map corner num 52848  surf num 19131 
build tree time 10.809740 ms 
mapping data assosiation time 14.291655 ms 
mapping solver time 14.887926 ms 
points size 63713 
prepare time 12.132260 
mapping data assosiation time 18.002038 ms 
sort q time 3.355531 
seperate points time 7.905616 
-----t: 0.0186758
OdomCount 241 & avg odom time 0.037368 ms ++++++++++++++++++++++
mapping solver time 14.104502 ms 
mapping optimization time 72.943453 
add points time 0.560255 ms
1317357786.875859975 WriteOdom laser_odom_to_init
1317357786.875859975 WriteOdom aft_mapped_to_init_high_frec
publication time 4.495512 ms 
whole laserOdometry time 4.504942 ms 
 
map prepare time 1.298568 ms
map corner num 53117  surf num 19175 
build tree time 10.875519 ms 
mapping data assosiation time 13.325989 ms 
mapping solver time 17.246537 ms 
mapping data assosiation time 13.558166 ms 
points size 60096 
mapping solver time 18.839292 ms 
filter time 4.690895 ms 
mapping pub time 1.497671 ms 
whole mapping time 82.834865 ms +++++
mappingCount 237 & avg mapping time 95.465104 ms ++++++++++++++++++++++
1317357786.875859976 WriteOdom aft_mapped_to_init
-----t: 0.0347887
OdomCount 242 & avg odom time 0.037358 ms ++++++++++++++++++++++
build tree time 10.367858 ms 
mapping data assosiation time 12.363435 ms 
mapping solver time 16.294972 ms 
--------------------stamp1317357787.083724975
points size 58399 
prepare time 7.819136 
sort q time 3.679414 
seperate points time 6.865838 
mapping solver time 18.118391 ms 
mapping optimization time 72.308687 
add points time 0.512769 ms
mapping pub time 1.425757 ms 
whole mapping time 80.770883 ms +++++
mappingCount 238 & avg mapping time 95.403415 ms ++++++++++++++++++++++
1317357786.979782104 WriteOdom aft_mapped_to_init
-----t: 0.0180402
OdomCount 243 & avg odom time 0.037278 ms ++++++++++++++++++++++
1317357787.083724975 WriteOdom laser_odom_to_init
1317357787.083724975 WriteOdom aft_mapped_to_init_high_frec
publication time 3.466114 ms 
whole laserOdometry time 3.489525 ms 
 
map prepare time 1.297610 ms
map corner num 53703  surf num 19293 
build tree time 11.278738 ms 
mapping data assosiation time 12.372824 ms 
mapping data assosiation time 11.874055 ms 
--------------------stamp1317357787.187691926
filter time 3.955012 ms 
-----t: 0.0153266
OdomCount 244 & avg odom time 0.037188 ms ++++++++++++++++++++++
1317357787.187691926 WriteOdom laser_odom_to_init
1317357787.187691926 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.457323 ms
map corner num 54012  surf num 19351 
build tree time 10.232221 ms 
mapping data assosiation time 12.423455 ms 
mapping solver time 16.512844 ms 
mapping data assosiation time 15.026907 ms 
--------------------stamp1317357787.291682958
points size 59046 
sort q time 3.486462 
seperate points time 7.614531 
publication time 4.225616 ms 
whole laserOdometry time 4.238626 ms 
 
-----t: 0.0237176
OdomCount 245 & avg odom time 0.037133 ms ++++++++++++++++++++++
build tree time 13.064984 ms 
mapping data assosiation time 15.270936 ms 
mapping solver time 17.978976 ms 
mapping data assosiation time 14.398726 ms 
points size 61761 
prepare time 8.022216 
scan registration time 17.073425 ms *************
mapping pub time 8.228385 ms 
whole mapping time 91.277539 ms +++++
mappingCount 241 & avg mapping time 95.211729 ms ++++++++++++++++++++++
1317357787.291682959 WriteOdom aft_mapped_to_init
publication time 4.501278 ms 
whole laserOdometry time 4.513373 ms 
 
-----t: 0.0303998
OdomCount 246 & avg odom time 0.037106 ms ++++++++++++++++++++++
1317357787.395697116 WriteOdom laser_odom_to_init
1317357787.395697116 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.910776 ms
map corner num 54639  surf num 19564 
build tree time 11.339092 ms 
mapping data assosiation time 14.340895 ms 
mapping solver time 19.274767 ms 
--------------------stamp1317357787.499711036
points size 64580 
sort q time 3.997483 
seperate points time 8.526541 
add points time 0.623262 ms
filter time 5.467496 ms 
mapping pub time 1.505810 ms 
whole mapping time 92.992589 ms +++++
mappingCount 242 & avg mapping time 95.202592 ms ++++++++++++++++++++++
1317357787.395697117 WriteOdom aft_mapped_to_init
-----t: 0.0528047
OdomCount 247 & avg odom time 0.037169 ms ++++++++++++++++++++++
build tree time 11.345064 ms 
mapping data assosiation time 17.156132 ms 
--------------------stamp1317357787.603750944
points size 66265 
prepare time 8.731438 
mapping solver time 24.546654 ms 
scan registration time 19.223415 ms *************
-----t: 0.0225299
OdomCount 248 & avg odom time 0.037110 ms ++++++++++++++++++++++
1317357787.603750944 WriteOdom laser_odom_to_init
1317357787.603750944 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.138233 ms 
mapping solver time 12.978046 ms 
mapping optimization time 87.189127 
add points time 0.585202 ms
map prepare time 1.501519 ms
map corner num 55530  surf num 19957 
build tree time 10.711076 ms 
mapping data assosiation time 18.010696 ms 
--------------------stamp1317357787.707838058
points size 67554 
sort q time 3.632956 
seperate points time 7.374106 
mapping data assosiation time 19.563207 ms 
-----t: 0.0190133
OdomCount 249 & avg odom time 0.037038 ms ++++++++++++++++++++++
1317357787.707838058 WriteOdom laser_odom_to_init
1317357787.707838058 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 86.783659 
add points time 0.645873 ms
map prepare time 1.736347 ms
map corner num 56036  surf num 20164 
build tree time 10.401758 ms 
mapping solver time 19.325084 ms 
points size 69497 
prepare time 13.221292 
sort q time 4.031974 
seperate points time 9.467468 
scan registration time 26.256383 ms *************
add points time 0.604572 ms
mapping pub time 1.526238 ms 
whole mapping time 92.835468 ms +++++
mappingCount 245 & avg mapping time 95.189958 ms ++++++++++++++++++++++
1317357787.707838058 WriteOdom aft_mapped_to_init
publication time 5.473289 ms 
whole laserOdometry time 5.493566 ms 
 
map prepare time 2.029670 ms
map corner num 56554  surf num 20327 
build tree time 12.226317 ms 
mapping data assosiation time 17.294058 ms 
--------------------stamp1317357787.916058063
points size 71566 
sort q time 3.821228 
seperate points time 7.814436 
publication time 4.925321 ms 
whole laserOdometry time 5.017226 ms 
 
mapping solver time 19.319426 ms 
filter time 4.452884 ms 
[0m[ INFO] [1718889301.780248392, 1317357787.960216753]: Received 77548 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889301.780281454, 1317357787.960216753]: Data saved to 1317357787811949.pcd[0m
mapping pub time 3.363333 ms 
whole mapping time 104.262049 ms +++++
mappingCount 246 & avg mapping time 95.226852 ms ++++++++++++++++++++++
1317357787.811949015 WriteOdom aft_mapped_to_init
build tree time 12.182118 ms 
mapping data assosiation time 19.137963 ms 
--------------------stamp1317357788.020168066
points size 73202 
sort q time 4.118025 
seperate points time 8.594821 
scan registration time 22.663760 ms *************
publication time 7.443538 ms 
whole laserOdometry time 7.452266 ms 
 
-----t: 0.0254469
OdomCount 252 & avg odom time 0.036865 ms ++++++++++++++++++++++
1317357788.020168066 WriteOdom laser_odom_to_init
1317357788.020168066 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.955348 ms 
mapping optimization time 100.086847 
add points time 0.665996 ms
filter time 4.577068 ms 
mapping pub time 1.616565 ms 
whole mapping time 109.018170 ms +++++
mappingCount 247 & avg mapping time 95.282703 ms ++++++++++++++++++++++
1317357787.916058064 WriteOdom aft_mapped_to_init
build tree time 11.172567 ms 
mapping data assosiation time 18.395017 ms 
--------------------stamp1317357788.124279022
points size 73810 
prepare time 10.713172 
mapping solver time 24.990430 ms 
sort q time 4.077832 
seperate points time 9.073524 
scan registration time 23.149909 ms *************
mapping data assosiation time 23.397932 ms 
publication time 5.051077 ms 
whole laserOdometry time 5.062059 ms 
 
mapping solver time 17.138615 ms 
filter time 5.408991 ms 
map prepare time 2.375246 ms
map corner num 58031  surf num 20838 
build tree time 12.723855 ms 
mapping data assosiation time 18.583560 ms 
--------------------stamp1317357788.228389978
points size 75142 
sort q time 3.825840 
seperate points time 7.863796 
-----t: 0.0210253
OdomCount 254 & avg odom time 0.036776 ms ++++++++++++++++++++++
1317357788.228389978 WriteOdom laser_odom_to_init
publication time 5.612635 ms 
whole laserOdometry time 5.625490 ms 
 
1317357788.228389978 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.446304 ms 
mapping solver time 19.956379 ms 
mapping optimization time 101.666008 
add points time 0.668777 ms
map prepare time 1.959212 ms
map corner num 58480  surf num 20989 
build tree time 11.349158 ms 
mapping data assosiation time 18.422806 ms 
points size 75372 
prepare time 9.123536 
sort q time 4.737316 
seperate points time 10.033580 
scan registration time 23.530451 ms *************
-----t: 0.0353631
OdomCount 255 & avg odom time 0.036771 ms ++++++++++++++++++++++
1317357788.332499980 WriteOdom laser_odom_to_init
1317357788.332499980 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.308826 ms 
mapping solver time 15.024144 ms 
mapping optimization time 98.245847 
add points time 0.655136 ms
filter time 4.205552 ms 
mapping pub time 1.777099 ms 
whole mapping time 106.886023 ms +++++
mappingCount 250 & avg mapping time 95.434774 ms ++++++++++++++++++++++
1317357788.228389978 WriteOdom aft_mapped_to_init
build tree time 10.908835 ms 
--------------------stamp1317357788.436585903
mapping data assosiation time 21.302308 ms 
points size 75720 
prepare time 8.851026 
sort q time 4.361046 
seperate points time 8.732943 
mapping solver time 22.691496 ms 
publication time 6.346885 ms 
whole laserOdometry time 6.363694 ms 
 
-----t: 0.0612971
OdomCount 256 & avg odom time 0.036867 ms ++++++++++++++++++++++
1317357788.436585903 WriteOdom laser_odom_to_init
mapping solver time 23.246204 ms 
mapping optimization time 103.162842 
1317357788.436585903 WriteOdom aft_mapped_to_init_high_frec
add points time 0.770584 ms
mapping pub time 2.542743 ms 
whole mapping time 113.449673 ms +++++
mappingCount 251 & avg mapping time 95.506562 ms ++++++++++++++++++++++
1317357788.332499981 WriteOdom aft_mapped_to_init
map prepare time 2.117430 ms
map corner num 59458  surf num 21324 
build tree time 11.906875 ms 
points size 77297 
prepare time 11.761535 
mapping data assosiation time 25.442580 ms 
sort q time 4.325398 
seperate points time 10.152991 
scan registration time 26.500505 ms *************
1317357788.540652036 WriteOdom laser_odom_to_init
1317357788.540652036 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.491992 ms 
mapping solver time 20.365435 ms 
filter time 5.417160 ms 
map prepare time 2.446564 ms
map corner num 59893  surf num 21474 
points size 77626 
scan registration time 29.194483 ms *************
publication time 7.557231 ms 
whole laserOdometry time 7.569463 ms 
 
-----t: 0.037377
OdomCount 258 & avg odom time 0.036873 ms ++++++++++++++++++++++
1317357788.644714117 WriteOdom laser_odom_to_init
1317357788.644714117 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.827860 ms 
mapping data assosiation time 19.889466 ms 
mapping solver time 15.993838 ms 
filter time 4.457772 ms 
mapping pub time 1.845103 ms 
whole mapping time 111.109447 ms +++++
mappingCount 253 & avg mapping time 95.684761 ms ++++++++++++++++++++++
1317357788.540652037 WriteOdom aft_mapped_to_init
map prepare time 2.472524 ms
map corner num 60315  surf num 21627 
build tree time 13.888844 ms 
publication time 10.507135 ms 
whole laserOdometry time 10.518420 ms 
 
-----t: 0.0302395
OdomCount 259 & avg odom time 0.036848 ms ++++++++++++++++++++++
1317357788.748776912 WriteOdom laser_odom_to_init
mapping data assosiation time 24.709563 ms 
mapping solver time 25.660994 ms 
mapping data assosiation time 19.222908 ms 
points size 78573 
prepare time 9.909143 
sort q time 4.566089 
seperate points time 9.879876 
filter time 5.146740 ms 
publication time 5.307368 ms 
whole laserOdometry time 5.324510 ms 
 
-----t: 0.0262339
OdomCount 260 & avg odom time 0.036807 ms ++++++++++++++++++++++
1317357788.852840900 WriteOdom laser_odom_to_init
1317357788.852840900 WriteOdom aft_mapped_to_init_high_frec
build tree time 12.900704 ms 
mapping data assosiation time 20.816032 ms 
mapping solver time 20.602336 ms 
--------------------stamp1317357788.956902027
points size 79560 
mapping solver time 16.660407 ms 
mapping optimization time 93.526776 
add points time 0.750478 ms
map prepare time 2.631360 ms
map corner num 61140  surf num 21899 
publication time 8.515978 ms 
whole laserOdometry time 8.530672 ms 
 
build tree time 13.975891 ms 
mapping data assosiation time 19.066513 ms 
mapping solver time 23.497975 ms 
--------------------stamp1317357789.060966014
mapping data assosiation time 20.628745 ms 
sort q time 5.245034 
seperate points time 9.799163 
scan registration time 23.735254 ms *************
mapping solver time 24.121551 ms 
mapping optimization time 102.486356 
add points time 1.048432 ms
filter time 6.035526 ms 
publication time 7.931519 ms 
whole laserOdometry time 7.949850 ms 
 
mapping pub time 4.140233 ms 
whole mapping time 116.412765 ms +++++
mappingCount 256 & avg mapping time 95.867038 ms ++++++++++++++++++++++
[0m[ INFO] [1718889302.917408420, 1317357789.096378256]: Received 83595 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889302.917464903, 1317357789.096378256]: Data saved to 1317357788852840.pcd[0m
drop lidar frame in mapping for real time performance 
mapping data assosiation time 19.081160 ms 
mapping solver time 20.603319 ms 
--------------------stamp1317357789.165007114
points size 81719 
prepare time 10.175802 
mapping data assosiation time 25.366926 ms 
mapping solver time 19.348495 ms 
1317357789.165007114 WriteOdom laser_odom_to_init
filter time 5.731183 ms 
1317357789.165007114 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 1.771123 ms 
whole mapping time 108.138864 ms +++++
mappingCount 257 & avg mapping time 95.914809 ms ++++++++++++++++++++++
1317357788.956902027 WriteOdom aft_mapped_to_init
map prepare time 2.250050 ms
map corner num 62009  surf num 22218 
build tree time 12.266824 ms 
mapping data assosiation time 19.862487 ms 
mapping solver time 25.744717 ms 
prepare time 11.464976 
sort q time 4.759750 
seperate points time 10.939830 
publication time 9.572241 ms 
whole laserOdometry time 9.584100 ms 
 
1317357789.269021034 WriteOdom laser_odom_to_init
1317357789.269021034 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.569773 ms 
mapping pub time 1.810386 ms 
whole mapping time 118.491410 ms +++++
mappingCount 258 & avg mapping time 96.002325 ms ++++++++++++++++++++++
1317357789.165007114 WriteOdom aft_mapped_to_init
map prepare time 2.109592 ms
map corner num 62612  surf num 22531 
build tree time 12.140888 ms 
mapping data assosiation time 21.096110 ms 
points size 82838 
prepare time 10.239057 
sort q time 4.418304 
seperate points time 10.513079 
mapping solver time 27.177388 ms 
scan registration time 24.856762 ms *************
publication time 6.387553 ms 
whole laserOdometry time 6.401053 ms 
 
-----t: 0.0341782
OdomCount 265 & avg odom time 0.036677 ms ++++++++++++++++++++++
1317357789.373033046 WriteOdom laser_odom_to_init
1317357789.373033046 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.945338 ms 
mapping solver time 16.051588 ms 
mapping optimization time 103.976613 
add points time 0.717702 ms
map prepare time 1.931132 ms
map corner num 63168  surf num 22816 
build tree time 11.891571 ms 
--------------------stamp1317357789.477024078
mapping data assosiation time 22.666707 ms 
sort q time 4.870398 
seperate points time 11.429418 
scan registration time 28.753286 ms *************
publication time 7.831798 ms 
whole laserOdometry time 7.865482 ms 
 
-----t: 0.0437119
OdomCount 266 & avg odom time 0.036704 ms ++++++++++++++++++++++
1317357789.477024078 WriteOdom laser_odom_to_init
1317357789.477024078 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.017801 ms 
mapping optimization time 102.576792 
add points time 0.820811 ms
1317357789.373033047 WriteOdom aft_mapped_to_init
map prepare time 2.181235 ms
map corner num 63707  surf num 23062 
build tree time 13.463514 ms 
points size 85585 
prepare time 11.236024 
sort q time 5.460152 
seperate points time 10.417237 
publication time 6.206917 ms 
whole laserOdometry time 6.224907 ms 
 
-----t: 0.0365026
OdomCount 267 & avg odom time 0.036703 ms ++++++++++++++++++++++
1317357789.580991029 WriteOdom laser_odom_to_init
1317357789.580991029 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.576900 ms 
mapping data assosiation time 23.257665 ms 
mapping solver time 17.972238 ms 
filter time 5.361215 ms 
mapping pub time 9.073250 ms 
whole mapping time 125.702795 ms +++++
mappingCount 261 & avg mapping time 96.241633 ms ++++++++++++++++++++++
1317357789.477024078 WriteOdom aft_mapped_to_init
points size 87543 
map prepare time 2.280438 ms
map corner num 64204  surf num 23238 
sort q time 5.100864 
seperate points time 10.477356 
publication time 8.751959 ms 
whole laserOdometry time 8.767085 ms -----t: 0.0333603
OdomCount 268 & avg odom time 0.036691 ms ++++++++++++++++++++++
1317357789.684909105 WriteOdom laser_odom_to_init
1317357789.684909105 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.811096 ms 
mapping solver time 29.160973 ms 
mapping data assosiation time 23.300678 ms 
points size 88625 
sort q time 5.114831 
seperate points time 10.836832 
scan registration time 26.614036 ms *************
filter time 5.320542 ms 
mapping pub time 2.067591 ms 
whole mapping time 134.536893 ms +++++
mappingCount 262 & avg mapping time 96.387813 ms ++++++++++++++++++++++
1317357789.580991030 WriteOdom aft_mapped_to_init
-----t: 0.0360136
OdomCount 269 & avg odom time 0.036688 ms ++++++++++++++++++++++
1317357789.788779973 WriteOdom laser_odom_to_init
1317357789.788779973 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.136184 ms 
--------------------stamp1317357789.892626047
points size 89075 
prepare time 12.033337 
sort q time 4.756874 
seperate points time 17.646864 
mapping data assosiation time 25.514513 ms 
scan registration time 35.364511 ms *************
-----t: 0.0320896
OdomCount 270 & avg odom time 0.036671 ms ++++++++++++++++++++++
1317357789.892626047 WriteOdom laser_odom_to_init
1317357789.892626047 WriteOdom aft_mapped_to_init_high_frec
publication time 9.614139 ms 
whole laserOdometry time 9.630906 ms 
 
filter time 5.719262 ms 
mapping pub time 2.077226 ms 
whole mapping time 124.801193 ms +++++
mappingCount 263 & avg mapping time 96.495859 ms ++++++++++++++++++++++
1317357789.684909105 WriteOdom aft_mapped_to_init
build tree time 12.061685 ms 
mapping data assosiation time 20.663549 ms 
points size 89606 
sort q time 4.813817 
seperate points time 11.102680 
mapping solver time 29.413783 ms 
scan registration time 27.077667 ms *************
publication time 7.542994 ms 
whole laserOdometry time 7.552209 ms 
 
-----t: 0.0314951
OdomCount 271 & avg odom time 0.036652 ms ++++++++++++++++++++++
1317357789.996402025 WriteOdom laser_odom_to_init
1317357789.996402025 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.857107 ms 
mapping solver time 26.100650 ms 
mapping optimization time 115.378850 
add points time 0.821299 ms
map prepare time 2.073276 ms
map corner num 65846  surf num 23922 
build tree time 13.167917 ms 
points size 90398 
sort q time 4.961263 
seperate points time 11.589994 
-----t: 0.0288994
OdomCount 272 & avg odom time 0.036623 ms ++++++++++++++++++++++
1317357790.100080966 WriteOdom laser_odom_to_init
publication time 9.806618 ms 
whole laserOdometry time 9.818266 ms 
 
1317357790.100080966 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.126631 ms 
mapping data assosiation time 20.534292 ms 
mapping solver time 16.882603 ms 
mapping optimization time 108.684063 
add points time 0.819438 ms
mapping pub time 2.427276 ms 
whole mapping time 119.292157 ms +++++
mappingCount 265 & avg mapping time 96.689750 ms ++++++++++++++++++++++
points size 91578 
prepare time 11.651988 
build tree time 15.594586 ms 
mapping data assosiation time 26.737341 ms 
publication time 14.655800 ms 
whole laserOdometry time 14.672561 ms 
 
-----t: 0.060407
OdomCount 273 & avg odom time 0.036711 ms ++++++++++++++++++++++
1317357790.203687906 WriteOdom laser_odom_to_init
1317357790.203687906 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 33.567141 ms 
--------------------stamp1317357790.307270050
points size 93736 
sort q time 5.038333 
seperate points time 11.744957 
mapping optimization time 134.734372 
filter time 6.433533 ms 
publication time 8.235581 ms 
whole laserOdometry time 8.253844 ms 
 
[0m[ INFO] [1718889304.170642109, 1317357790.352544568]: Received 91445 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889304.170806356, 1317357790.352544568]: Data saved to 1317357790100080.pcd[0m
mapping pub time 5.943458 ms 
whole mapping time 151.398731 ms +++++
mappingCount 266 & avg mapping time 96.895483 ms ++++++++++++++++++++++
1317357790.100080967 WriteOdom aft_mapped_to_init
build tree time 15.221873 ms 
mapping data assosiation time 24.711979 ms 
--------------------stamp1317357790.410876989
prepare time 10.924024 
sort q time 5.031061 
seperate points time 11.454833 
mapping solver time 32.373071 ms 
publication time 10.176744 ms 
whole laserOdometry time 10.193598 ms 
 
mapping solver time 23.250050 ms 
filter time 5.019538 ms 
map prepare time 2.301871 ms
map corner num 67632  surf num 24696 
--------------------stamp1317357790.514530897
points size 94397 
sort q time 6.021711 
seperate points time 11.471473 
mapping data assosiation time 26.134776 ms 
publication time 9.653317 ms 
whole laserOdometry time 9.666404 ms 
 
mapping solver time 30.619731 ms 
mapping data assosiation time 25.884166 ms 
--------------------stamp1317357790.618207931
points size 94537 
mapping solver time 32.379961 ms 
filter time 5.132729 ms 
mapping pub time 2.138742 ms 
whole mapping time 142.576212 ms +++++
mappingCount 268 & avg mapping time 97.214742 ms ++++++++++++++++++++++
1317357790.410876989 WriteOdom aft_mapped_to_init
sort q time 5.806119 
seperate points time 12.574778 
publication time 8.480276 ms 
whole laserOdometry time 8.509209 ms 
 
build tree time 18.561328 ms 
-----t: 0.043468
OdomCount 277 & avg odom time 0.036778 ms ++++++++++++++++++++++
mapping data assosiation time 29.484592 ms 
--------------------stamp1317357790.721911907
points size 94609 
prepare time 13.411779 
mapping data assosiation time 28.257578 ms 
publication time 8.134653 ms 
whole laserOdometry time 8.148196 ms 
 
filter time 4.846937 ms 
map prepare time 2.283252 ms
map corner num 68841  surf num 25294 
build tree time 14.343647 ms 
mapping data assosiation time 24.720616 ms 
points size 94868 
mapping solver time 25.296622 ms 
sort q time 5.338933 
seperate points time 12.017589 
publication time 8.915321 ms 
whole laserOdometry time 8.932027 ms 
 
mapping data assosiation time 27.477174 ms 
-----t: 0.0409254
OdomCount 279 & avg odom time 0.036787 ms ++++++++++++++++++++++
1317357790.825639009 WriteOdom laser_odom_to_init
1317357790.825639009 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.355588 ms 
mapping optimization time 117.589302 
add points time 0.730483 ms
filter time 4.997133 ms 
map prepare time 2.578699 ms
map corner num 69316  surf num 25545 
build tree time 14.529969 ms 
points size 95420 
sort q time 5.183316 
seperate points time 10.582231 
scan registration time 26.446683 ms *************
mapping data assosiation time 28.545978 ms 
publication time 9.721837 ms 
whole laserOdometry time 9.739386 ms 
 
mapping solver time 29.438186 ms 
mapping data assosiation time 24.102300 ms 
--------------------stamp1317357791.033166885
filter time 5.257550 ms 
[0m[ INFO] [1718889304.858358041, 1317357791.039316570]: Received 95654 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889304.858399851, 1317357791.039316570]: Data saved to 1317357790825639.pcd[0m
points size 95726 
mapping pub time 3.367558 ms 
whole mapping time 133.296210 ms +++++
mappingCount 271 & avg mapping time 97.596658 ms ++++++++++++++++++++++
1317357790.825639009 WriteOdom aft_mapped_to_init
build tree time 17.319641 ms 
sort q time 20.442396 
seperate points time 30.845492 
-----t: 0.0353903
OdomCount 281 & avg odom time 0.036812 ms ++++++++++++++++++++++
mapping data assosiation time 27.724415 ms 
publication time 9.307190 ms 
whole laserOdometry time 9.319798 ms 
 
mapping solver time 24.284227 ms 
--------------------stamp1317357791.136941909
mapping data assosiation time 26.657444 ms 
sort q time 5.685913 
seperate points time 12.896993 
mapping optimization time 119.458268 
scan registration time 32.851612 ms *************
add points time 1.020244 ms
filter time 5.933331 ms 
-----t: 0.0398403
OdomCount 282 & avg odom time 0.036823 ms ++++++++++++++++++++++
1317357791.136941909 WriteOdom laser_odom_to_init
1317357791.136941909 WriteOdom aft_mapped_to_init_high_frec
build tree time 18.220564 ms 
--------------------stamp1317357791.240741014
points size 95590 
prepare time 15.185526 
sort q time 6.991918 
seperate points time 14.509516 
mapping data assosiation time 29.785758 ms 
mapping solver time 22.068394 ms 
mapping pub time 2.197535 ms 
whole mapping time 140.618075 ms +++++
mappingCount 273 & avg mapping time 97.879584 ms ++++++++++++++++++++++
1317357791.033166885 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.522237 ms
map corner num 70784  surf num 26135 
build tree time 14.012169 ms 
points size 95675 
prepare time 11.942602 
sort q time 5.216378 
seperate points time 11.785975 
mapping data assosiation time 30.726745 ms 
scan registration time 29.074073 ms *************
publication time 8.100423 ms 
whole laserOdometry time 8.114526 ms 
 
-----t: 0.0498108
OdomCount 284 & avg odom time 0.036930 ms ++++++++++++++++++++++
1317357791.344538927 WriteOdom laser_odom_to_init
1317357791.344538927 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.252745 ms 
mapping solver time 17.389692 ms 
filter time 6.207025 ms 
map prepare time 2.613223 ms
map corner num 71245  surf num 26287 
prepare time 12.433067 
sort q time 5.438924 
seperate points time 12.468693 
publication time 8.824937 ms 
whole laserOdometry time 8.838934 ms 
 
-----t: 0.0392798
OdomCount 285 & avg odom time 0.036938 ms ++++++++++++++++++++++
1317357791.448312044 WriteOdom laser_odom_to_init
1317357791.448312044 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.676468 ms 
--------------------stamp1317357791.552110910
points size 95868 
prepare time 11.963144 
mapping solver time 19.463511 ms 
filter time 7.064199 ms 
1317357791.344538927 WriteOdom aft_mapped_to_init
-----t: 0.0384778
OdomCount 286 & avg odom time 0.036943 ms ++++++++++++++++++++++
mapping data assosiation time 24.006591 ms 
--------------------stamp1317357791.655934095
points size 95964 
sort q time 5.302797 
seperate points time 10.862050 
scan registration time 26.922102 ms *************
mapping data assosiation time 27.279417 ms 
publication time 8.601386 ms 
whole laserOdometry time 8.617748 ms 
 
mapping solver time 22.433087 ms 
filter time 6.209075 ms 
build tree time 13.509372 ms 
--------------------stamp1317357791.759782075
points size 95905 
prepare time 12.745156 
sort q time 6.483171 
seperate points time 13.364682 
publication time 9.187073 ms 
whole laserOdometry time 9.198602 ms 
 
mapping data assosiation time 28.857174 ms 
-----t: 0.0611895
OdomCount 288 & avg odom time 0.037052 ms ++++++++++++++++++++++
filter time 5.053431 ms 
mapping pub time 2.086795 ms 
whole mapping time 131.291536 ms +++++
mappingCount 277 & avg mapping time 98.342708 ms ++++++++++++++++++++++
1317357791.552110910 WriteOdom aft_mapped_to_init
--------------------stamp1317357791.863651990
points size 96264 
build tree time 17.710198 ms 
prepare time 12.466677 
sort q time 5.564077 
seperate points time 12.115191 
scan registration time 28.692450 ms *************
publication time 9.901390 ms 
whole laserOdometry time 9.915760 ms 
 
1317357791.863651990 WriteOdom laser_odom_to_init
1317357791.863651990 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 33.558556 ms 
mapping data assosiation time 22.548035 ms 
--------------------stamp1317357791.967559099
points size 94781 
mapping solver time 23.542414 ms 
mapping optimization time 126.881309 
filter time 7.167859 ms 
sort q time 5.797346 
seperate points time 12.443084 
mapping pub time 2.257561 ms 
whole mapping time 140.313762 ms +++++
mappingCount 278 & avg mapping time 98.493739 ms ++++++++++++++++++++++
1317357791.759782076 WriteOdom aft_mapped_to_init
publication time 9.847528 ms 
whole laserOdometry time 9.862749 ms 
 
build tree time 17.138111 ms 
-----t: 0.0427977
OdomCount 290 & avg odom time 0.037077 ms ++++++++++++++++++++++
mapping data assosiation time 25.709747 ms 
mapping solver time 23.310009 ms 
points size 93729 
prepare time 11.129035 
mapping data assosiation time 27.403964 ms 
sort q time 5.227207 
seperate points time 11.832296 
scan registration time 28.167197 ms *************
mapping solver time 22.454302 ms 
filter time 6.321754 ms 
publication time 15.176503 ms 
whole laserOdometry time 15.184189 ms 
 
1317357791.863651991 WriteOdom aft_mapped_to_init
1317357792.071502923 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.645676 ms
map corner num 73264  surf num 26965 
build tree time 16.320949 ms 
mapping data assosiation time 23.517398 ms 
points size 92677 
mapping solver time 24.505810 ms 
sort q time 5.164880 
seperate points time 11.993458 
publication time 9.948599 ms 
whole laserOdometry time 9.963804 ms 
 
-----t: 0.0389766
OdomCount 292 & avg odom time 0.037079 ms ++++++++++++++++++++++
1317357792.175479888 WriteOdom laser_odom_to_init
1317357792.175479888 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.819045 ms 
filter time 5.381351 ms 
map prepare time 2.446951 ms
map corner num 73613  surf num 27072 
build tree time 15.415461 ms 
points size 92199 
prepare time 13.104162 
mapping data assosiation time 26.078089 ms 
sort q time 5.102590 
seperate points time 12.210826 
publication time 8.381987 ms 
whole laserOdometry time 8.399552 ms 
 
mapping solver time 34.866023 ms 
-----t: 0.0464175
OdomCount 293 & avg odom time 0.037111 ms ++++++++++++++++++++++
1317357792.279493093 WriteOdom laser_odom_to_init
1317357792.279493093 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.652226 ms 
mapping solver time 17.036327 ms 
filter time 8.075523 ms 
points size 91975 
mapping pub time 13.806205 ms 
whole mapping time 144.703804 ms +++++
mappingCount 281 & avg mapping time 98.873759 ms ++++++++++++++++++++++
scan registration time 37.817416 ms *************
-----t: 0.0510777
OdomCount 294 & avg odom time 0.037158 ms ++++++++++++++++++++++
1317357792.383557081 WriteOdom laser_odom_to_init
1317357792.383557081 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.461840 ms 
mapping solver time 27.950518 ms 
points size 91507 
sort q time 5.201593 
seperate points time 11.186500 
mapping data assosiation time 26.702216 ms 
publication time 8.957528 ms 
whole laserOdometry time 8.969572 ms 
 
mapping solver time 38.284688 ms 
mapping optimization time 141.430934 
add points time 0.746267 ms
drop lidar frame in mapping for real time performance 
map prepare time 2.680795 ms
map corner num 74434  surf num 27325 
build tree time 16.068369 ms 
--------------------stamp1317357792.591800928
points size 90987 
prepare time 11.021481 
sort q time 4.880810 
seperate points time 11.377476 
prepare time 10.630088 
sort q time 5.081336 
seperate points time 11.136204 
build tree time 17.523756 ms 
-----t: 0.0315589
OdomCount 297 & avg odom time 0.037193 ms ++++++++++++++++++++++
1317357792.695983886 WriteOdom laser_odom_to_init
1317357792.695983886 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.542882 ms 
mapping data assosiation time 21.261219 ms 
points size 87961 
sort q time 4.584471 
seperate points time 10.474845 
scan registration time 25.357933 ms *************
mapping solver time 30.361778 ms 
filter time 5.568674 ms 
map prepare time 2.590583 ms
map corner num 75387  surf num 27618 
-----t: 0.0319855
OdomCount 298 & avg odom time 0.037176 ms ++++++++++++++++++++++
1317357792.800190925 WriteOdom laser_odom_to_init
1317357792.800190925 WriteOdom aft_mapped_to_init_high_frec
build tree time 16.967502 ms 
mapping data assosiation time 22.398849 ms 
--------------------stamp1317357792.904373884
mapping solver time 30.205133 ms 
points size 86909 
sort q time 4.855881 
seperate points time 10.714039 
mapping data assosiation time 27.977847 ms 
publication time 7.267406 ms 
whole laserOdometry time 7.283411 ms 
 
1317357792.904373884 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.537412 ms 
filter time 5.430629 ms 
mapping pub time 2.220050 ms 
whole mapping time 135.830813 ms +++++
mappingCount 285 & avg mapping time 99.457198 ms ++++++++++++++++++++++
1317357792.695983887 WriteOdom aft_mapped_to_init
build tree time 14.974776 ms 
--------------------stamp1317357793.008517026
points size 85637 
sort q time 4.482182 
seperate points time 10.750415 
scan registration time 29.291323 ms *************
publication time 6.801045 ms 
whole laserOdometry time 6.818946 ms 
 
-----t: 0.0309021
OdomCount 300 & avg odom time 0.037140 ms ++++++++++++++++++++++
1317357793.008517026 WriteOdom laser_odom_to_init
1317357793.008517026 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.198085 ms 
mapping solver time 21.879660 ms 
filter time 6.306842 ms 
prepare time 10.898365 
sort q time 5.068060 
seperate points time 9.989649 
build tree time 20.375835 ms 
publication time 7.514893 ms 
whole laserOdometry time 7.532455 ms 
 
mapping data assosiation time 28.634603 ms 
-----t: 0.0555221
OdomCount 301 & avg odom time 0.037201 ms ++++++++++++++++++++++
1317357793.112627983 WriteOdom laser_odom_to_init
1317357793.112627983 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 34.717174 ms 
--------------------stamp1317357793.216732025
points size 84566 
mapping data assosiation time 29.179232 ms 
sort q time 4.823020 
seperate points time 10.973137 
scan registration time 26.079644 ms *************
publication time 8.942913 ms 
whole laserOdometry time 8.955497 ms 
 
mapping solver time 28.650845 ms 
-----t: 0.0393555
OdomCount 302 & avg odom time 0.037208 ms ++++++++++++++++++++++
mapping optimization time 143.144696 
add points time 0.817593 ms
filter time 7.878578 ms 
map prepare time 3.376251 ms
map corner num 76913  surf num 28116 
build tree time 20.338394 ms 
--------------------stamp1317357793.320872068
points size 84650 
prepare time 12.612297 
mapping data assosiation time 29.307919 ms 
sort q time 4.820781 
seperate points time 10.724188 
publication time 7.564474 ms 
whole laserOdometry time 7.577435 ms 
 
mapping solver time 34.823441 ms 
-----t: 0.0619689
OdomCount 303 & avg odom time 0.037290 ms ++++++++++++++++++++++
mapping solver time 24.174942 ms 
filter time 5.865796 ms 
points size 85564 
mapping pub time 1.906202 ms 
whole mapping time 152.025386 ms +++++
mappingCount 288 & avg mapping time 99.986322 ms ++++++++++++++++++++++
1317357793.112627983 WriteOdom aft_mapped_to_init
sort q time 4.716074 
seperate points time 12.008607 
scan registration time 30.138392 ms *************
build tree time 19.314316 ms 
publication time 7.299879 ms 
whole laserOdometry time 7.314750 ms 
 
mapping data assosiation time 40.714992 ms 
-----t: 0.058463
OdomCount 304 & avg odom time 0.037360 ms ++++++++++++++++++++++
1317357793.425004959 WriteOdom laser_odom_to_init
--------------------stamp1317357793.529159069
points size 85517 
1317357793.529159069 WriteOdom laser_odom_to_init
1317357793.529159069 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.997971 ms 
mapping optimization time 142.900955 
add points time 0.713837 ms
drop lidar frame in mapping for real time performance 
map prepare time 2.331890 ms
map corner num 77975  surf num 28483 
build tree time 15.531786 ms 
--------------------stamp1317357793.633389949
points size 85668 
prepare time 13.109472 
scan registration time 28.085821 ms *************
mapping solver time 31.500035 ms 
publication time 7.806038 ms 
whole laserOdometry time 7.821802 ms 
 
mapping data assosiation time 25.011705 ms 
mapping solver time 20.898451 ms 
mapping optimization time 117.877523 
add points time 0.766316 ms
map prepare time 2.219542 ms
map corner num 78473  surf num 28632 
--------------------stamp1317357793.737646102
build tree time 17.980718 ms 
sort q time 5.305379 
seperate points time 10.100141 
scan registration time 25.056798 ms *************
mapping data assosiation time 26.844835 ms 
publication time 7.835628 ms 
whole laserOdometry time 7.849241 ms 
 
-----t: 0.0294484
OdomCount 307 & avg odom time 0.037281 ms ++++++++++++++++++++++
1317357793.737646102 WriteOdom laser_odom_to_init
mapping solver time 29.496588 ms 
mapping data assosiation time 21.132542 ms 
--------------------stamp1317357793.841881036
mapping solver time 27.422451 ms 
points size 84654 
mapping optimization time 124.312285 
add points time 0.915559 ms
prepare time 11.268775 
[0m[ INFO] [1718889307.677303694, 1317357793.859237632]: Received 107932 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889307.677342229, 1317357793.859237632]: Data saved to 1317357793633389.pcd[0m
mapping pub time 3.297786 ms 
whole mapping time 139.083499 ms +++++
mappingCount 291 & avg mapping time 100.405338 ms ++++++++++++++++++++++
1317357793.633389950 WriteOdom aft_mapped_to_init
sort q time 4.957472 
seperate points time 10.747286 
map prepare time 3.069473 ms
map corner num 79081  surf num 28851 
build tree time 18.341301 ms 
-----t: 0.0360842
OdomCount 308 & avg odom time 0.037277 ms ++++++++++++++++++++++
1317357793.841881036 WriteOdom laser_odom_to_init
1317357793.841881036 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.764165 ms 
mapping solver time 25.152814 ms 
--------------------stamp1317357793.946086883
points size 84764 
mapping data assosiation time 24.276934 ms 
sort q time 4.722578 
seperate points time 11.126919 
scan registration time 28.737761 ms *************
publication time 6.724012 ms 
whole laserOdometry time 6.734588 ms 
 
mapping solver time 31.730215 ms 
mapping optimization time 125.989296 
-----t: 0.0349943
OdomCount 309 & avg odom time 0.037270 ms ++++++++++++++++++++++
1317357793.946086883 WriteOdom laser_odom_to_init
1317357793.946086883 WriteOdom aft_mapped_to_init_high_frec
add points time 0.589229 ms
mapping pub time 1.864374 ms 
whole mapping time 138.046699 ms +++++
mappingCount 292 & avg mapping time 100.534260 ms ++++++++++++++++++++++
build tree time 16.373031 ms 
mapping data assosiation time 19.676525 ms 
--------------------stamp1317357794.050302982
points size 84530 
prepare time 11.918283 
mapping solver time 29.020341 ms 
publication time 7.152259 ms 
whole laserOdometry time 7.165554 ms 
 
mapping solver time 21.373398 ms 
mapping optimization time 113.448144 
add points time 0.697594 ms
map prepare time 2.158767 ms
map corner num 80037  surf num 29170 
build tree time 16.533621 ms 
points size 84188 
mapping data assosiation time 23.590871 ms 
scan registration time 27.062052 ms *************
publication time 6.999646 ms 
whole laserOdometry time 7.015913 ms 
 
mapping solver time 29.698115 ms 
-----t: 0.0377831
OdomCount 311 & avg odom time 0.037260 ms ++++++++++++++++++++++
1317357794.154485940 WriteOdom laser_odom_to_init
mapping data assosiation time 20.643501 ms 
mapping solver time 18.872050 ms 
mapping optimization time 110.560053 
add points time 0.777335 ms
1317357794.050302982 WriteOdom aft_mapped_to_init
--------------------stamp1317357794.258655071
points size 83999 
build tree time 18.883532 ms 
scan registration time 27.748232 ms *************
mapping data assosiation time 24.215884 ms 
mapping solver time 29.946593 ms 
-----t: 0.0576491
OdomCount 312 & avg odom time 0.037325 ms ++++++++++++++++++++++
1317357794.258655071 WriteOdom laser_odom_to_init
1317357794.258655071 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.393854 ms 
--------------------stamp1317357794.362814903
add points time 0.584511 ms
points size 84057 
prepare time 11.328384 
filter time 5.613993 ms 
sort q time 4.372839 
seperate points time 10.132216 
scan registration time 25.934208 ms *************
publication time 6.816307 ms 
whole laserOdometry time 6.828901 ms 
 
build tree time 20.513168 ms 
-----t: 0.0424271
OdomCount 313 & avg odom time 0.037341 ms ++++++++++++++++++++++
mapping data assosiation time 24.922719 ms 
mapping solver time 24.825572 ms 
--------------------stamp1317357794.466927051
mapping data assosiation time 21.302653 ms 
prepare time 13.839290 
sort q time 4.528789 
seperate points time 10.856264 
filter time 5.814010 ms 
mapping pub time 3.500997 ms 
whole mapping time 128.838703 ms +++++
mappingCount 296 & avg mapping time 100.851012 ms ++++++++++++++++++++++
1317357794.258655071 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889308.323020182, 1317357794.499599778]: Received 111472 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889308.323089463, 1317357794.499599778]: Data saved to 1317357794258655.pcd[0m
publication time 8.427154 ms 
whole laserOdometry time 8.441884 ms 
 
-----t: 0.034273
OdomCount 314 & avg odom time 0.037332 ms ++++++++++++++++++++++
1317357794.466927051 WriteOdom laser_odom_to_init
1317357794.466927051 WriteOdom aft_mapped_to_init_high_frec
build tree time 20.416659 ms 
mapping data assosiation time 24.745733 ms 
--------------------stamp1317357794.571038007
points size 86653 
sort q time 5.110749 
seperate points time 11.078190 
mapping data assosiation time 24.489315 ms 
publication time 11.448734 ms 
whole laserOdometry time 11.459550 ms 
 
-----t: 0.0331933
OdomCount 315 & avg odom time 0.037318 ms ++++++++++++++++++++++
1317357794.571038007 WriteOdom laser_odom_to_init
1317357794.571038007 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.630630 ms 
filter time 6.041944 ms 
mapping pub time 1.976371 ms 
whole mapping time 130.109435 ms +++++
mappingCount 297 & avg mapping time 100.949541 ms ++++++++++++++++++++++
1317357794.362814903 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 18.638942 ms 
--------------------stamp1317357794.675122976
points size 87273 
sort q time 5.061805 
seperate points time 11.542226 
mapping solver time 27.753492 ms 
publication time 8.755029 ms 
whole laserOdometry time 8.765921 ms 
 
mapping data assosiation time 22.937463 ms 
mapping solver time 16.191298 ms 
mapping optimization time 112.614637 
add points time 0.814370 ms
map prepare time 2.349447 ms
map corner num 82808  surf num 30159 
points size 89137 
prepare time 13.467593 
build tree time 18.986039 ms 
sort q time 5.130748 
seperate points time 11.656783 
mapping data assosiation time 26.029117 ms 
publication time 9.648614 ms 
whole laserOdometry time 9.665110 ms 
 
-----t: 0.0454861
OdomCount 317 & avg odom time 0.037338 ms ++++++++++++++++++++++
mapping data assosiation time 20.129221 ms 
mapping solver time 15.156863 ms 
filter time 6.602861 ms 
points size 90440 
sort q time 4.823340 
seperate points time 11.711716 
scan registration time 31.455064 ms *************
build tree time 21.137302 ms 
publication time 8.062323 ms 
whole laserOdometry time 8.077630 ms 
 
1317357794.883249044 WriteOdom laser_odom_to_init
mapping data assosiation time 25.686265 ms 
1317357794.883249044 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.693521 ms 
--------------------stamp1317357794.987287044
points size 91741 
mapping solver time 20.178426 ms 
filter time 7.702609 ms 
map prepare time 3.305482 ms
map corner num 84071  surf num 30679 
publication time 9.455813 ms 
whole laserOdometry time 9.475988 ms 
 
-----t: 0.0418947
OdomCount 319 & avg odom time 0.037352 ms ++++++++++++++++++++++
mapping data assosiation time 19.824735 ms 
mapping solver time 23.279536 ms 
points size 93343 
prepare time 13.502875 
mapping data assosiation time 24.174783 ms 
scan registration time 30.011654 ms *************
publication time 9.088908 ms 
whole laserOdometry time 9.102755 ms 
 
filter time 7.718800 ms 
mapping pub time 10.175692 ms 
whole mapping time 142.707163 ms +++++
mappingCount 301 & avg mapping time 101.315862 ms ++++++++++++++++++++++
1317357794.883249044 WriteOdom aft_mapped_to_init
-----t: 0.071336
OdomCount 320 & avg odom time 0.037458 ms ++++++++++++++++++++++
1317357795.091326951 WriteOdom laser_odom_to_init
1317357795.091326951 WriteOdom aft_mapped_to_init_high_frec
build tree time 18.958694 ms 
points size 93189 
mapping data assosiation time 23.867272 ms 
scan registration time 26.334076 ms *************
publication time 9.094057 ms 
whole laserOdometry time 9.106923 ms 
 
-----t: 0.0574929
OdomCount 321 & avg odom time 0.037520 ms ++++++++++++++++++++++
mapping solver time 21.496552 ms 
--------------------stamp1317357795.299416065
map prepare time 2.634451 ms
map corner num 85198  surf num 31174 
prepare time 10.907667 
sort q time 4.975727 
seperate points time 11.519131 
build tree time 22.665247 ms 
publication time 7.754590 ms 
whole laserOdometry time 7.769804 ms 
 
mapping solver time 24.255890 ms 
--------------------stamp1317357795.403453111
points size 95355 
sort q time 4.765331 
seperate points time 10.291869 
scan registration time 28.743119 ms *************
mapping solver time 28.177064 ms 
mapping optimization time 125.335689 
filter time 8.160280 ms 
mapping pub time 2.400110 ms 
whole mapping time 140.063370 ms +++++
mappingCount 303 & avg mapping time 101.558621 ms ++++++++++++++++++++++
publication time 8.457654 ms 
whole laserOdometry time 8.468999 ms 
 
1317357795.195365906 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0517671
OdomCount 323 & avg odom time 0.037584 ms ++++++++++++++++++++++
1317357795.403453111 WriteOdom laser_odom_to_init
1317357795.403453111 WriteOdom aft_mapped_to_init_high_frec
build tree time 21.291721 ms 
mapping data assosiation time 22.908120 ms 
--------------------stamp1317357795.507457017
points size 96104 
mapping solver time 26.558066 ms 
sort q time 5.694891 
seperate points time 12.559025 
scan registration time 28.931804 ms *************
mapping data assosiation time 24.450180 ms 
publication time 9.138115 ms 
whole laserOdometry time 9.153078 ms 
 
mapping solver time 21.819310 ms 
mapping optimization time 118.491811 
add points time 0.607243 ms
mapping pub time 2.053665 ms 
whole mapping time 130.364102 ms +++++
mappingCount 304 & avg mapping time 101.653394 ms ++++++++++++++++++++++
1317357795.299416065 WriteOdom aft_mapped_to_init
map prepare time 2.285917 ms
map corner num 86263  surf num 31579 
build tree time 19.060992 ms 
--------------------stamp1317357795.611473083
points size 96582 
prepare time 9.919847 
sort q time 6.614952 
seperate points time 12.627479 
publication time 6.733317 ms 
whole laserOdometry time 6.749166 ms 
 
mapping solver time 35.035404 ms 
-----t: 0.0353399
OdomCount 325 & avg odom time 0.037581 ms ++++++++++++++++++++++
1317357795.611473083 WriteOdom laser_odom_to_init
1317357795.611473083 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.543529 ms 
mapping solver time 23.665400 ms 
filter time 6.846454 ms 
map prepare time 2.828332 ms
map corner num 61081  surf num 22815 
build tree time 14.822306 ms 
publication time 8.331971 ms 
whole laserOdometry time 8.347959 ms 
 
-----t: 0.0431516
OdomCount 326 & avg odom time 0.037598 ms ++++++++++++++++++++++
mapping solver time 27.632777 ms 
mapping data assosiation time 19.955581 ms 
--------------------stamp1317357795.819428920
points size 96931 
mapping solver time 24.382739 ms 
mapping optimization time 110.717039 
add points time 0.867976 ms
scan registration time 27.801758 ms *************
map prepare time 2.932592 ms
map corner num 61567  surf num 22973 
publication time 8.667008 ms 
whole laserOdometry time 8.680456 ms 
 
-----t: 0.0347697
OdomCount 327 & avg odom time 0.037589 ms ++++++++++++++++++++++
1317357795.819428920 WriteOdom laser_odom_to_init
build tree time 16.822340 ms 
1317357795.819428920 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.529981 ms 
mapping solver time 24.246306 ms 
points size 95790 
prepare time 12.300934 
mapping data assosiation time 26.106855 ms 
scan registration time 29.717276 ms *************
mapping solver time 24.530577 ms 
mapping optimization time 114.499785 
add points time 0.666740 ms
filter time 6.277452 ms 
build tree time 12.387993 ms 
mapping data assosiation time 19.939543 ms 
--------------------stamp1317357796.027363061
points size 94080 
sort q time 5.381623 
seperate points time 11.969381 
scan registration time 26.617358 ms *************
publication time 10.108212 ms 
whole laserOdometry time 10.120658 ms 
 
mapping solver time 15.233745 ms 
mapping optimization time 92.466023 
add points time 0.663343 ms
map prepare time 2.132131 ms
map corner num 62554  surf num 23252 
build tree time 13.078999 ms 
mapping data assosiation time 18.848922 ms 
--------------------stamp1317357796.131330966
points size 93535 
prepare time 9.972407 
mapping solver time 23.547887 ms 
sort q time 6.318174 
seperate points time 11.581104 
mapping data assosiation time 23.013923 ms 
publication time 6.797907 ms 
whole laserOdometry time 6.819031 ms 
 
-----t: 0.0425572
OdomCount 330 & avg odom time 0.037612 ms ++++++++++++++++++++++
1317357796.131330966 WriteOdom laser_odom_to_init
1317357796.131330966 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.611387 ms 
mapping optimization time 103.238008 
add points time 0.643279 ms
map prepare time 2.298999 ms
map corner num 63130  surf num 23432 
build tree time 15.196940 ms 
--------------------stamp1317357796.235272884
mapping data assosiation time 23.200076 ms 
sort q time 5.042649 
seperate points time 10.338211 
scan registration time 27.709042 ms *************
mapping solver time 27.640772 ms 
publication time 8.475346 ms 
whole laserOdometry time 8.491619 ms 
 
-----t: 0.0348908
OdomCount 331 & avg odom time 0.037603 ms ++++++++++++++++++++++
1317357796.235272884 WriteOdom laser_odom_to_init
1317357796.235272884 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.135070 ms 
mapping optimization time 103.829616 
add points time 0.693633 ms
filter time 4.566271 ms 
mapping pub time 2.162350 ms 
whole mapping time 113.615368 ms +++++
mappingCount 310 & avg mapping time 102.007282 ms ++++++++++++++++++++++
1317357796.131330967 WriteOdom aft_mapped_to_init
build tree time 12.432481 ms 
--------------------stamp1317357796.339225053
points size 95440 
mapping data assosiation time 21.855924 ms 
sort q time 5.166948 
seperate points time 12.109335 
scan registration time 28.060816 ms *************
mapping solver time 28.092458 ms 
mapping data assosiation time 23.454470 ms 
mapping solver time 20.201176 ms 
filter time 4.920814 ms 
map prepare time 2.596179 ms
map corner num 64107  surf num 23735 
points size 96047 
sort q time 6.667287 
seperate points time 14.694137 
mapping data assosiation time 24.987568 ms 
-----t: 0.0535137
OdomCount 333 & avg odom time 0.037756 ms ++++++++++++++++++++++
mapping data assosiation time 25.348494 ms 
points size 96503 
mapping solver time 26.474718 ms 
mapping optimization time 127.778114 
add points time 0.696682 ms
sort q time 5.399212 
seperate points time 12.330906 
scan registration time 29.739313 ms *************
mapping pub time 3.624215 ms 
whole mapping time 149.877799 ms +++++
mappingCount 312 & avg mapping time 102.213476 ms ++++++++++++++++++++++
1317357796.339225054 WriteOdom aft_mapped_to_init
publication time 8.410307 ms 
whole laserOdometry time 8.419195 ms 
 
drop lidar frame in mapping for real time performance 
map prepare time 3.774200 ms
map corner num 64570  surf num 23922 
build tree time 14.638466 ms 
-----t: 0.0587022
OdomCount 334 & avg odom time 0.037819 ms ++++++++++++++++++++++
1317357796.547154903 WriteOdom laser_odom_to_init
1317357796.547154903 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.072248 ms 
--------------------stamp1317357796.651119947
points size 96458 
prepare time 12.643896 
sort q time 5.095955 
seperate points time 18.708906 
publication time 7.100321 ms 
whole laserOdometry time 7.113699 ms 
 
-----t: 0.0381403
OdomCount 335 & avg odom time 0.037820 ms ++++++++++++++++++++++
1317357796.651119947 WriteOdom laser_odom_to_init
1317357796.651119947 WriteOdom aft_mapped_to_init_high_frec
filter time 5.179290 ms 
map prepare time 2.405831 ms
map corner num 65052  surf num 24113 
build tree time 13.778462 ms 
--------------------stamp1317357796.755091905
points size 95172 
sort q time 5.260879 
seperate points time 11.685553 
scan registration time 28.508385 ms *************
publication time 9.758366 ms 
whole laserOdometry time 9.775278 ms 
 
mapping data assosiation time 23.859117 ms 
-----t: 0.0506743
OdomCount 336 & avg odom time 0.037858 ms ++++++++++++++++++++++
1317357796.755091905 WriteOdom laser_odom_to_init
1317357796.755091905 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.216103 ms 
filter time 4.952619 ms 
mapping pub time 2.331996 ms 
whole mapping time 121.175478 ms +++++
mappingCount 314 & avg mapping time 102.351501 ms ++++++++++++++++++++++
1317357796.651119947 WriteOdom aft_mapped_to_init
--------------------stamp1317357796.859072923
points size 93763 
sort q time 5.062924 
seperate points time 11.637538 
scan registration time 27.833204 ms *************
mapping data assosiation time 22.515828 ms 
-----t: 0.02889
OdomCount 337 & avg odom time 0.037831 ms ++++++++++++++++++++++
1317357796.859072923 WriteOdom laser_odom_to_init
1317357796.859072923 WriteOdom aft_mapped_to_init_high_frec
publication time 9.372055 ms 
whole laserOdometry time 9.390849 ms 
 
mapping solver time 27.897076 ms 
mapping data assosiation time 19.329112 ms 
mapping solver time 18.356984 ms 
filter time 5.122444 ms 
map prepare time 2.765807 ms
map corner num 66080  surf num 24609 
points size 93495 
build tree time 15.568442 ms 
scan registration time 29.574749 ms *************
publication time 7.021279 ms 
whole laserOdometry time 7.091966 ms 
 
-----t: 0.0409681
OdomCount 338 & avg odom time 0.037841 ms ++++++++++++++++++++++
1317357796.963066101 WriteOdom laser_odom_to_init
1317357796.963066101 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.414376 ms 
mapping data assosiation time 19.596544 ms 
--------------------stamp1317357797.067063093
mapping solver time 20.762281 ms 
prepare time 12.785279 
filter time 6.790529 ms 
[0m[ INFO] [1718889310.899462019, 1317357797.077005187]: Received 91311 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889310.899510433, 1317357797.077005187]: Data saved to 1317357796859072.pcd[0m
mapping pub time 3.576056 ms 
whole mapping time 118.727409 ms +++++
mappingCount 316 & avg mapping time 102.453961 ms ++++++++++++++++++++++
sort q time 5.132690 
seperate points time 12.375733 
build tree time 17.571758 ms 
publication time 6.359833 ms 
whole laserOdometry time 6.371118 ms 
 
mapping data assosiation time 23.702576 ms 
-----t: 0.0644891
OdomCount 339 & avg odom time 0.037919 ms ++++++++++++++++++++++
1317357797.067063093 WriteOdom laser_odom_to_init
1317357797.067063093 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.948548 ms 
--------------------stamp1317357797.171072006
points size 95554 
prepare time 13.216817 
mapping data assosiation time 24.732748 ms 
sort q time 5.269964 
seperate points time 11.676867 
mapping solver time 25.423710 ms publication time 8.874657 ms 
whole laserOdometry time 13.994329 ms 
 
map prepare time 2.703946 ms
map corner num 66961  surf num 24921 
-----t: 0.0593569
OdomCount 340 & avg odom time 0.037982 ms ++++++++++++++++++++++
build tree time 17.094825 ms 
mapping data assosiation time 20.098657 ms 
points size 96182 
sort q time 5.625543 
seperate points time 12.206330 
publication time 8.182578 ms 
whole laserOdometry time 8.210257 ms 
 
-----t: 0.0327587
OdomCount 341 & avg odom time 0.037967 ms ++++++++++++++++++++++
mapping data assosiation time 22.595086 ms 
1317357797.275054931 WriteOdom laser_odom_to_init
1317357797.275054931 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.301306 ms 
mapping optimization time 109.164862 
add points time 0.679381 ms
map prepare time 1.967320 ms
map corner num 67356  surf num 25064 
build tree time 14.660239 ms 
--------------------stamp1317357797.379026889
points size 96075 
mapping data assosiation time 24.186067 ms 
sort q time 5.896837 
seperate points time 12.042833 
scan registration time 27.594423 ms *************
publication time 7.085998 ms 
whole laserOdometry time 7.099944 ms 
 
mapping solver time 28.772024 ms 
mapping data assosiation time 22.793158 ms 
-----t: 0.0557072
OdomCount 342 & avg odom time 0.038019 ms ++++++++++++++++++++++
mapping solver time 23.119429 ms 
mapping optimization time 114.609105 
add points time 0.765140 ms
--------------------stamp1317357797.482997894
points size 95286 
prepare time 10.535323 
build tree time 18.226740 ms 
scan registration time 26.656106 ms *************
mapping solver time 21.377612 ms 
-----t: 0.0661776
OdomCount 343 & avg odom time 0.038101 ms ++++++++++++++++++++++
mapping solver time 15.517885 ms 
points size 94992 
map prepare time 2.946013 ms
map corner num 68387  surf num 25553 
sort q time 5.317776 
seperate points time 11.451607 
build tree time 16.842205 ms 
publication time 6.458859 ms 
whole laserOdometry time 6.472270 ms 
 
mapping data assosiation time 23.714374 ms 
mapping solver time 23.811715 ms 
--------------------stamp1317357797.690960884
points size 95405 
prepare time 12.206778 
filter time 5.035839 ms 
scan registration time 30.381842 ms *************
mapping pub time 9.519432 ms 
whole mapping time 120.801026 ms +++++
mappingCount 321 & avg mapping time 102.807190 ms ++++++++++++++++++++++
1317357797.482997894 WriteOdom aft_mapped_to_init
map prepare time 2.062080 ms
map corner num 68939  surf num 25836 
-----t: 0.0387389
OdomCount 345 & avg odom time 0.038116 ms ++++++++++++++++++++++
mapping data assosiation time 25.765253 ms 
--------------------stamp1317357797.794898033
points size 96167 
sort q time 6.302700 
seperate points time 11.697092 
scan registration time 28.967727 ms *************
mapping data assosiation time 25.732159 ms 
publication time 8.068490 ms 
whole laserOdometry time 8.080663 ms 
 
mapping solver time 19.567494 ms 
-----t: 0.0344812
OdomCount 346 & avg odom time 0.038105 ms ++++++++++++++++++++++
1317357797.794898033 WriteOdom laser_odom_to_init
1317357797.794898033 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 117.242023 
add points time 0.829672 ms
filter time 7.269973 ms 
mapping pub time 2.222450 ms 
whole mapping time 129.676885 ms +++++
mappingCount 322 & avg mapping time 102.890687 ms ++++++++++++++++++++++
1317357797.586985111 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 18.708901 ms 
--------------------stamp1317357797.898840904
mapping data assosiation time 26.081923 ms 
prepare time 12.610277 
sort q time 5.230997 
seperate points time 12.106805 
mapping solver time 31.230999 ms 
publication time 8.751363 ms 
whole laserOdometry time 8.763104 ms 
 
1317357797.898840904 WriteOdom laser_odom_to_init
1317357797.898840904 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.568350 ms 
mapping solver time 25.474908 ms 
mapping optimization time 128.457693 
add points time 0.843118 ms
filter time 7.631646 ms 
map prepare time 3.850839 ms
map corner num 69960  surf num 26299 
prepare time 12.046170 
build tree time 18.815015 ms 
publication time 7.908824 ms 
whole laserOdometry time 7.924879 ms 
 
-----t: 0.0496902
OdomCount 348 & avg odom time 0.038129 ms ++++++++++++++++++++++
1317357798.002780914 WriteOdom laser_odom_to_init
1317357798.002780914 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.476222 ms 
--------------------stamp1317357798.106720924
points size 95380 
mapping solver time 23.369403 ms 
mapping optimization time 115.560162 
add points time 1.197261 ms
map prepare time 2.833527 ms
map corner num 70500  surf num 26550 
publication time 7.961712 ms 
whole laserOdometry time 7.978206 ms 
 
-----t: 0.0328709
OdomCount 349 & avg odom time 0.038114 ms ++++++++++++++++++++++
mapping data assosiation time 22.526354 ms 
mapping solver time 21.445357 ms 
--------------------stamp1317357798.210640907
points size 95541 
prepare time 10.223270 
mapping data assosiation time 23.991408 ms 
scan registration time 26.723826 ms *************
mapping solver time 23.075743 ms 
mapping optimization time 110.333045 
add points time 0.783613 ms
map prepare time 2.294028 ms
map corner num 71011  surf num 26748 
build tree time 18.612755 ms 
mapping data assosiation time 21.400404 ms 
--------------------stamp1317357798.314558982
points size 95702 
mapping solver time 29.184394 ms 
sort q time 5.172369 
seperate points time 12.139873 
scan registration time 29.866622 ms *************
mapping data assosiation time 25.791298 ms 
-----t: 0.0307978
OdomCount 351 & avg odom time 0.038079 ms ++++++++++++++++++++++
1317357798.314558982 WriteOdom laser_odom_to_init
1317357798.314558982 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.172373 ms 
filter time 5.723084 ms 
map prepare time 2.267689 ms
map corner num 71473  surf num 26936 
build tree time 15.996314 ms 
--------------------stamp1317357798.418453931
points size 95716 
sort q time 5.139753 
seperate points time 11.842266 
scan registration time 30.040025 ms *************
mapping solver time 26.691009 ms 
publication time 15.449864 ms 
whole laserOdometry time 15.466048 ms 
 
-----t: 0.0506151
OdomCount 352 & avg odom time 0.038114 ms ++++++++++++++++++++++
1317357798.418453931 WriteOdom laser_odom_to_init
1317357798.418453931 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.412275 ms 
mapping solver time 21.747770 ms 
filter time 6.746519 ms 
--------------------stamp1317357798.522350072
1317357798.314558983 WriteOdom aft_mapped_to_init
points size 95632 
sort q time 21.213758 
seperate points time 28.464169 
scan registration time 56.600215 ms *************
-----t: 0.0540323
OdomCount 353 & avg odom time 0.038159 ms ++++++++++++++++++++++
publication time 8.802211 ms 
whole laserOdometry time 8.814040 ms 
 
mapping data assosiation time 22.672701 ms 
--------------------stamp1317357798.626267910
points size 95666 
filter time 7.075341 ms 
map prepare time 3.061788 ms
map corner num 72614  surf num 27482 
build tree time 19.104767 ms 
publication time 20.624828 ms 
whole laserOdometry time 20.641958 ms 
 
mapping data assosiation time 26.393990 ms 
mapping solver time 24.524865 ms 
--------------------stamp1317357798.730187892
points size 95651 
sort q time 5.412074 
seperate points time 11.583298 
scan registration time 31.632801 ms *************
mapping solver time 22.106987 ms 
mapping optimization time 119.734849 
publication time 9.488064 ms 
whole laserOdometry time 9.502116 ms 
 
mapping pub time 2.476589 ms 
whole mapping time 142.461493 ms +++++
mappingCount 329 & avg mapping time 103.496457 ms ++++++++++++++++++++++
1317357798.522350073 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 20.378495 ms 
--------------------stamp1317357798.834106922
points size 95905 
prepare time 12.772235 
mapping data assosiation time 28.833304 ms 
sort q time 6.335796 
seperate points time 14.006194 
mapping solver time 27.239524 ms 
publication time 10.138871 ms 
whole laserOdometry time 10.155051 ms 
 
mapping data assosiation time 27.068869 ms 
mapping solver time 18.622442 ms 
filter time 6.427066 ms 
--------------------stamp1317357798.938024997
points size 96420 
build tree time 17.259720 ms 
scan registration time 29.167736 ms *************
-----t: 0.0363023
OdomCount 357 & avg odom time 0.038212 ms ++++++++++++++++++++++
1317357798.938024997 WriteOdom laser_odom_to_init
1317357798.938024997 WriteOdom aft_mapped_to_init_high_frec
publication time 9.911456 ms 
whole laserOdometry time 9.926295 ms 
 
mapping solver time 29.701151 ms 
--------------------stamp1317357799.041944026
mapping data assosiation time 25.822180 ms 
points size 97460 
prepare time 12.094485 
sort q time 5.382833 
seperate points time 12.146203 
filter time 7.640482 ms 
[0m[ INFO] [1718889312.898372494, 1317357799.078582161]: Received 102018 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889312.898417578, 1317357799.078582161]: Data saved to 1317357798834106.pcd[0m
publication time 19.353128 ms 
whole laserOdometry time 19.362594 ms 
 
mapping data assosiation time 22.714074 ms 
--------------------stamp1317357799.145862102
points size 98626 
sort q time 5.627356 
seperate points time 12.273195 
scan registration time 29.772896 ms *************
publication time 10.329894 ms 
whole laserOdometry time 10.348140 ms 
 
1317357799.145862102 WriteOdom laser_odom_to_init
1317357799.145862102 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.772352 ms
map corner num 74447  surf num 28321 
build tree time 14.917651 ms 
--------------------stamp1317357799.249754905
points size 100021 
prepare time 15.330736 
mapping data assosiation time 27.578175 ms 
sort q time 6.966723 
seperate points time 15.296642 
scan registration time 36.476468 ms *************
publication time 9.845745 ms 
whole laserOdometry time 9.878502 ms 
 
mapping data assosiation time 26.758606 ms 
-----t: 0.079178
OdomCount 360 & avg odom time 0.038347 ms ++++++++++++++++++++++
--------------------stamp1317357799.353626012
points size 101216 
build tree time 16.441341 ms 
scan registration time 36.074997 ms *************
mapping data assosiation time 28.481814 ms 
-----t: 0.0378973
OdomCount 361 & avg odom time 0.038345 ms ++++++++++++++++++++++
1317357799.353626012 WriteOdom laser_odom_to_init
1317357799.353626012 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.557335 ms 
mapping data assosiation time 24.034251 ms 
points size 102108 
sort q time 6.083605 
seperate points time 12.203645 
filter time 7.707376 ms 
map prepare time 3.105411 ms
map corner num 75389  surf num 28740 
publication time 10.842940 ms 
whole laserOdometry time 10.859449 ms 
 
build tree time 19.138137 ms 
mapping data assosiation time 23.745484 ms 
--------------------stamp1317357799.561346054
mapping solver time 27.536220 ms 
prepare time 19.635953 
sort q time 7.505329 
seperate points time 16.952792 
mapping data assosiation time 29.118809 ms 
scan registration time 41.730785 ms *************
mapping solver time 21.973214 ms 
-----t: 0.056877
OdomCount 363 & avg odom time 0.038410 ms ++++++++++++++++++++++
map prepare time 2.744101 ms
map corner num 75792  surf num 28875 
build tree time 16.988428 ms 
--------------------stamp1317357799.665175914
points size 103030 
mapping data assosiation time 32.415871 ms 
sort q time 5.815628 
seperate points time 13.723113 
publication time 7.252133 ms 
whole laserOdometry time 7.266080 ms 
 
mapping solver time 31.730379 ms 
mapping data assosiation time 23.485360 ms 
--------------------stamp1317357799.768974065
points size 103071 
map prepare time 3.261098 ms
map corner num 76220  surf num 29076 
sort q time 5.579903 
seperate points time 13.325107 
build tree time 18.684099 ms 
publication time 8.827906 ms 
whole laserOdometry time 8.843247 ms 
 
mapping data assosiation time 27.781586 ms 
mapping solver time 25.088697 ms 
--------------------stamp1317357799.872764110
points size 103151 
sort q time 5.741790 
seperate points time 13.704472 
mapping solver time 23.815853 ms 
filter time 8.094562 ms 
1317357799.872764110 WriteOdom laser_odom_to_init
1317357799.872764110 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.319992 ms
map corner num 76697  surf num 29331 
build tree time 18.214173 ms 
mapping data assosiation time 25.224635 ms 
points size 103062 
sort q time 5.686276 
seperate points time 13.645519 
publication time 14.476415 ms 
whole laserOdometry time 14.490664 ms 
 
-----t: 0.0395977
OdomCount 367 & avg odom time 0.038441 ms ++++++++++++++++++++++
1317357799.976543903 WriteOdom laser_odom_to_init
1317357799.976543903 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.431328 ms 
mapping optimization time 130.590810 
add points time 0.945831 ms
mapping pub time 2.303461 ms 
whole mapping time 142.657123 ms +++++
mappingCount 338 & avg mapping time 104.445726 ms ++++++++++++++++++++++
1317357799.768974066 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357800.080296039
points size 103099 
build tree time 19.628880 ms 
prepare time 14.861499 
sort q time 6.954254 
seperate points time 13.525336 
scan registration time 32.334690 ms *************
-----t: 0.0374509
OdomCount 368 & avg odom time 0.038438 ms ++++++++++++++++++++++
publication time 10.775359 ms 
whole laserOdometry time 10.794756 ms 
 
mapping solver time 33.661451 ms 
mapping data assosiation time 23.872527 ms 
points size 102996 
prepare time 11.680055 
mapping optimization time 129.900577 
add points time 0.895765 ms
sort q time 5.901277 
seperate points time 13.774306 
map prepare time 2.794309 ms
map corner num 77385  surf num 29609 
publication time 11.885690 ms 
whole laserOdometry time 11.899304 ms 
 
build tree time 19.550122 ms 
mapping data assosiation time 24.629458 ms 
--------------------stamp1317357800.287847042
points size 102934 
sort q time 5.493137 
seperate points time 12.857254 
mapping data assosiation time 29.027395 ms 
publication time 10.178153 ms 
whole laserOdometry time 10.188501 ms 
 
-----t: 0.0403543
OdomCount 370 & avg odom time 0.038444 ms ++++++++++++++++++++++
1317357800.287847042 WriteOdom laser_odom_to_init
1317357800.287847042 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.653182 ms 
filter time 5.482623 ms 
drop lidar frame in mapping for real time performance 
map prepare time 2.728756 ms
map corner num 77817  surf num 29813 
--------------------stamp1317357800.391616106
points size 103001 
prepare time 12.695155 
mapping data assosiation time 28.592952 ms 
scan registration time 34.037790 ms *************
publication time 9.166674 ms 
whole laserOdometry time 9.192813 ms 
 
mapping solver time 28.322302 ms 
mapping data assosiation time 24.363065 ms 
mapping optimization time 119.989030 
filter time 7.892159 ms 
mapping pub time 12.055483 ms 
whole mapping time 143.716810 ms +++++
mappingCount 341 & avg mapping time 104.801973 ms ++++++++++++++++++++++
1317357800.184072018 WriteOdom aft_mapped_to_init
map prepare time 3.144373 ms
map corner num 78215  surf num 29998 
build tree time 23.839358 ms 
publication time 10.634582 ms 
whole laserOdometry time 10.651392 ms 
 
-----t: 0.0641285
OdomCount 372 & avg odom time 0.038515 ms ++++++++++++++++++++++
--------------------stamp1317357800.599143981
points size 103110 
mapping solver time 34.628580 ms 
prepare time 14.642564 
sort q time 6.256057 
seperate points time 14.755740 
scan registration time 34.113630 ms *************
publication time 17.118528 ms 
whole laserOdometry time 17.129831 ms 
 
mapping solver time 30.534508 ms 
mapping optimization time 153.924607 
add points time 0.825007 ms
mapping pub time 2.269385 ms 
whole mapping time 166.691808 ms +++++
mappingCount 342 & avg mapping time 104.982976 ms ++++++++++++++++++++++
1317357800.391616106 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0846274
OdomCount 373 & avg odom time 0.038638 ms ++++++++++++++++++++++
build tree time 25.797892 ms 
prepare time 17.004137 
sort q time 6.195552 
seperate points time 14.635338 
publication time 10.000154 ms 
whole laserOdometry time 10.010222 ms 
 
-----t: 0.0408492
OdomCount 374 & avg odom time 0.038644 ms ++++++++++++++++++++++
1317357800.702893018 WriteOdom laser_odom_to_init
1317357800.702893018 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.180869 ms 
mapping data assosiation time 23.199226 ms 
--------------------stamp1317357800.806643009
points size 103192 
add points time 1.280789 ms
filter time 7.137813 ms 
mapping pub time 2.357411 ms 
whole mapping time 147.231144 ms +++++
mappingCount 343 & avg mapping time 105.106168 ms ++++++++++++++++++++++
1317357800.495394945 WriteOdom aft_mapped_to_init
sort q time 6.115458 
seperate points time 14.285214 
scan registration time 31.282540 ms *************
build tree time 16.947306 ms 
-----t: 0.0491347
OdomCount 375 & avg odom time 0.038672 ms ++++++++++++++++++++++
mapping data assosiation time 28.565916 ms 
--------------------stamp1317357800.910392045
points size 103273 
mapping solver time 34.140476 ms 
prepare time 11.484539 
sort q time 5.638324 
seperate points time 12.723675 
mapping data assosiation time 29.962405 ms 
publication time 10.680441 ms 
whole laserOdometry time 10.698244 ms 
 
-----t: 0.038587
OdomCount 376 & avg odom time 0.038672 ms ++++++++++++++++++++++
mapping optimization time 139.876988 
add points time 0.854574 ms
filter time 6.102702 ms 
map prepare time 2.484994 ms
map corner num 79432  surf num 30520 
build tree time 16.182608 ms 
points size 103225 
sort q time 6.270928 
seperate points time 12.604899 
mapping data assosiation time 31.280616 ms 
scan registration time 28.753466 ms *************
publication time 9.033648 ms 
whole laserOdometry time 9.048091 ms 
 
-----t: 0.0389638
OdomCount 377 & avg odom time 0.038673 ms ++++++++++++++++++++++
mapping data assosiation time 26.468859 ms 
mapping solver time 13.234436 ms 
filter time 5.629324 ms 
map prepare time 4.083076 ms
map corner num 79794  surf num 30649 
prepare time 13.757240 
build tree time 21.259828 ms 
publication time 11.185537 ms 
whole laserOdometry time 11.201974 ms 
 
-----t: 0.0425666
OdomCount 378 & avg odom time 0.038683 ms ++++++++++++++++++++++
1317357801.117892026 WriteOdom laser_odom_to_init
1317357801.117892026 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 32.071668 ms 
--------------------stamp1317357801.221666097
points size 103110 
prepare time 11.912872 
sort q time 6.054080 
seperate points time 12.397720 
publication time 7.824283 ms 
whole laserOdometry time 7.836681 ms 
 
mapping solver time 31.789879 ms 
mapping optimization time 143.616539 
add points time 0.892446 ms
[0m[ INFO] [1718889315.094264329, 1317357801.273798136]: Received 111048 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889315.094400863, 1317357801.273798136]: Data saved to 1317357801014142.pcd[0m
mapping pub time 3.728118 ms 
whole mapping time 160.164597 ms +++++
mappingCount 346 & avg mapping time 105.461125 ms ++++++++++++++++++++++
1317357801.014142036 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.843025 ms
map corner num 80191  surf num 30857 
build tree time 17.123229 ms 
--------------------stamp1317357801.325465917
points size 103130 
sort q time 7.499698 
seperate points time 15.858186 
mapping solver time 29.380544 ms 
mapping data assosiation time 33.775924 ms 
mapping solver time 22.882420 ms 
filter time 5.840227 ms 
points size 103065 
build tree time 19.307940 ms 
sort q time 5.807501 
seperate points time 14.086796 
mapping data assosiation time 29.843563 ms -----t: 0.0416702
OdomCount 381 & avg odom time 0.038759 ms ++++++++++++++++++++++
1317357801.429313898 WriteOdom laser_odom_to_init
1317357801.429313898 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.891704 ms 
--------------------stamp1317357801.533207893
points size 102973 
sort q time 7.695010 
seperate points time 14.274754 
scan registration time 31.084586 ms *************
mapping solver time 23.956981 ms 
mapping optimization time 140.500243 
add points time 0.977240 ms
mappingCount 348 & avg mapping time 105.715191 ms ++++++++++++++++++++++map prepare time 3.815154 ms
map corner num 80967  surf num 31189 
-----t: 0.070243
OdomCount 382 & avg odom time 0.038842 ms ++++++++++++++++++++++
1317357801.533207893 WriteOdom laser_odom_to_init
1317357801.533207893 WriteOdom aft_mapped_to_init_high_frec
build tree time 27.864615 ms 
--------------------stamp1317357801.637125968
points size 102865 
mapping data assosiation time 26.429989 ms 
sort q time 6.178010 
seperate points time 14.590220 
publication time 10.836801 ms 
whole laserOdometry time 10.854548 ms 
 
-----t: 0.0503165
OdomCount 383 & avg odom time 0.038872 ms ++++++++++++++++++++++
1317357801.637125968 WriteOdom laser_odom_to_init
1317357801.637125968 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.420318 ms 
mapping optimization time 137.844229 
add points time 0.850736 ms
--------------------stamp1317357801.741045951
map prepare time 3.862963 ms
map corner num 81414  surf num 31372 
points size 102771 
build tree time 22.388419 ms 
-----t: 0.0362595
OdomCount 384 & avg odom time 0.038865 ms ++++++++++++++++++++++
1317357801.741045951 WriteOdom laser_odom_to_init
mapping solver time 27.614743 ms 
--------------------stamp1317357801.844964981
points size 100562 
mapping data assosiation time 25.959241 ms 
sort q time 5.697950 
seperate points time 13.153948 
filter time 6.105045 ms 
map prepare time 2.985156 ms
map corner num 81835  surf num 31504 
-----t: 0.0373851
OdomCount 385 & avg odom time 0.038861 ms ++++++++++++++++++++++
1317357801.844964981 WriteOdom laser_odom_to_init
1317357801.844964981 WriteOdom aft_mapped_to_init_high_frec
build tree time 18.952903 ms 
mapping data assosiation time 23.918399 ms 
--------------------stamp1317357801.948882102
points size 99219 
mapping solver time 33.785987 ms 
scan registration time 27.963585 ms *************
publication time 7.640149 ms 
whole laserOdometry time 7.670157 ms 
 
mapping solver time 20.676078 ms 
filter time 6.980002 ms 
map prepare time 2.950410 ms
map corner num 82334  surf num 31669 
--------------------stamp1317357802.052824974
points size 98308 
prepare time 12.089063 
sort q time 6.173260 
seperate points time 13.496727 
mapping data assosiation time 26.881805 ms 
scan registration time 29.818107 ms *************
publication time 10.223846 ms mapping solver time 28.957312 ms 
mapping data assosiation time 25.192479 ms 
--------------------stamp1317357802.156769037
filter time 10.676993 ms 
prepare time 14.464042 
mapping pub time 2.329640 ms 
whole mapping time 139.526875 ms +++++
mappingCount 352 & avg mapping time 106.144789 ms ++++++++++++++++++++++
1317357801.844964981 WriteOdom aft_mapped_to_init
sort q time 5.800741 
seperate points time 13.210323 
build tree time 22.323063 ms 
publication time 6.860927 ms 
whole laserOdometry time 6.876169 ms 
 
-----t: 0.0419427
OdomCount 388 & avg odom time 0.038858 ms ++++++++++++++++++++++
1317357802.156769037 WriteOdom laser_odom_to_init
1317357802.156769037 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357802.260688066
mapping solver time 31.757927 ms 
points size 98019 
mapping data assosiation time 28.751442 ms 
sort q time 5.560490 
seperate points time 13.699909 
scan registration time 33.973816 ms *************
publication time 7.566943 ms 
whole laserOdometry time 7.744993 ms 
 
-----t: 0.0479083
OdomCount 389 & avg odom time 0.038881 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
map prepare time 2.818583 ms
map corner num 83324  surf num 32025 
build tree time 17.773858 ms 
--------------------stamp1317357802.364604949
points size 97644 
prepare time 12.149752 
sort q time 5.513137 
seperate points time 11.564886 
scan registration time 29.001447 ms *************
publication time 7.539687 ms 
whole laserOdometry time 7.557910 ms 
 
mapping solver time 37.474872 ms 
-----t: 0.0349545
OdomCount 390 & avg odom time 0.038871 ms ++++++++++++++++++++++
1317357802.364604949 WriteOdom laser_odom_to_init
1317357802.364604949 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.340358 ms 
mapping solver time 18.131386 ms 
--------------------stamp1317357802.468549013
mapping pub time 2.419023 ms 
whole mapping time 142.356379 ms +++++
mappingCount 354 & avg mapping time 106.382759 ms ++++++++++++++++++++++
prepare time 11.937986 
map prepare time 3.395719 ms
map corner num 83821  surf num 32167 
sort q time 6.212270 
seperate points time 12.417760 
build tree time 20.740571 ms 
publication time 12.919611 ms 
whole laserOdometry time 12.938201 ms 
 
-----t: 0.0550106
OdomCount 391 & avg odom time 0.038912 ms ++++++++++++++++++++++
1317357802.468549013 WriteOdom laser_odom_to_init
1317357802.468549013 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.304921 ms 
--------------------stamp1317357802.572515964
points size 93492 
prepare time 12.092321 
sort q time 6.142914 
seperate points time 12.089263 
mapping solver time 29.014283 ms 
filter time 7.477874 ms 
1317357802.364604950 WriteOdom aft_mapped_to_init
map prepare time 3.269448 ms
map corner num 84379  surf num 32362 
publication time 18.976211 ms 
whole laserOdometry time 18.985694 ms 
 
build tree time 17.267787 ms 
--------------------stamp1317357802.676481962
points size 90617 
sort q time 4.850258 
seperate points time 9.756228 
publication time 7.439769 ms 
whole laserOdometry time 7.455116 ms 
 
mapping data assosiation time 27.379312 ms 
-----t: 0.0454806
OdomCount 393 & avg odom time 0.038938 ms ++++++++++++++++++++++
mapping solver time 19.461662 ms 
filter time 6.099167 ms 
map prepare time 2.794932 ms
map corner num 84944  surf num 32557 
--------------------stamp1317357802.780472993
points size 88906 
sort q time 5.182507 
seperate points time 10.646122 
scan registration time 24.451735 ms *************
publication time 12.577231 ms 
whole laserOdometry time 12.593786 ms 
 
-----t: 0.0362562
OdomCount 394 & avg odom time 0.038931 ms ++++++++++++++++++++++
1317357802.780472993 WriteOdom laser_odom_to_init
1317357802.780472993 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.950106 ms 
mapping data assosiation time 22.652287 ms 
mapping solver time 17.219834 ms 
filter time 8.259771 ms 
map prepare time 3.084914 ms
map corner num 85430  surf num 32687 
sort q time 5.418701 
seperate points time 10.339426 
build tree time 21.437457 ms 
publication time 18.102922 ms 
whole laserOdometry time 18.116108 ms 
 
mapping solver time 25.147506 ms 
mapping data assosiation time 19.416061 ms 
points size 83489 
sort q time 5.044318 
seperate points time 10.357468 
mapping solver time 27.216521 ms 
mapping optimization time 118.079626 
add points time 0.995977 ms
scan registration time 26.824582 ms *************
mapping pub time 2.069126 ms whole mapping time 138.582267 ms +++++
mappingCount 358 & avg mapping time 106.722847 ms ++++++++++++++++++++++
1317357802.780472994 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 18.167653 ms 
mapping data assosiation time 20.086484 ms 
--------------------stamp1317357803.092396020
points size 82821 
prepare time 10.325133 
mapping solver time 25.028531 ms 
sort q time 5.283692 
seperate points time 10.123187 
publication time 6.557986 ms 
whole laserOdometry time 6.572675 ms 
 
mapping data assosiation time 23.916844 ms 
-----t: 0.028475
OdomCount 397 & avg odom time 0.038893 ms ++++++++++++++++++++++
1317357803.092396020 WriteOdom laser_odom_to_init
mapping solver time 16.169343 ms 
mapping optimization time 104.584344 
add points time 0.751854 ms
map prepare time 2.110657 ms
map corner num 86327  surf num 32928 
build tree time 17.890216 ms 
--------------------stamp1317357803.196362972
mapping data assosiation time 21.163501 ms 
sort q time 4.578123 
seperate points time 10.216146 
mapping solver time 22.740980 ms 
-----t: 0.0262907
OdomCount 398 & avg odom time 0.038861 ms ++++++++++++++++++++++
mapping data assosiation time 22.516632 ms 
mapping solver time 15.437449 ms 
filter time 6.183866 ms 
build tree time 16.297166 ms 
points size 83083 
prepare time 10.971450 
scan registration time 24.840895 ms *************
mapping solver time 21.495984 ms 
mapping data assosiation time 19.981625 ms 
mapping solver time 14.849991 ms 
filter time 7.219614 ms 
mapping pub time 7.868666 ms 
whole mapping time 113.233190 ms +++++
mappingCount 361 & avg mapping time 106.780459 ms ++++++++++++++++++++++
1317357803.196362972 WriteOdom aft_mapped_to_init
map prepare time 2.561772 ms
map corner num 87139  surf num 33160 
--------------------stamp1317357803.404223918
points size 82166 
sort q time 4.934016 
seperate points time 10.438356 
mapping data assosiation time 21.746679 ms 
publication time 7.977034 ms 
whole laserOdometry time 7.986648 ms 
 
mapping solver time 22.705463 ms 
mapping data assosiation time 19.912608 ms 
mapping solver time 16.062327 ms 
filter time 5.863971 ms 
map prepare time 3.001818 ms
map corner num 87518  surf num 33254 
build tree time 23.571002 ms 
sort q time 4.683800 
seperate points time 17.883948 
scan registration time 47.249068 ms *************
-----t: 0.030228
OdomCount 401 & avg odom time 0.038840 ms ++++++++++++++++++++++
1317357803.508145093 WriteOdom laser_odom_to_init
1317357803.508145093 WriteOdom aft_mapped_to_init_high_frec
publication time 6.127005 ms 
whole laserOdometry time 6.139353 ms 
 
mapping solver time 24.630003 ms 
mapping data assosiation time 19.254994 ms 
points size 79683 
prepare time 12.115624 
sort q time 4.426828 
seperate points time 10.219127 
filter time 6.605249 ms 
publication time 8.229289 ms 
whole laserOdometry time 8.250216 ms 
 
-----t: 0.0419125
OdomCount 402 & avg odom time 0.038847 ms ++++++++++++++++++++++
1317357803.612063884 WriteOdom laser_odom_to_init
1317357803.612063884 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.980800 ms 
mapping solver time 21.682326 ms 
points size 80368 
mapping data assosiation time 22.065693 ms 
scan registration time 32.518600 ms *************
mapping solver time 17.297740 ms 
mapping optimization time 101.413783 
add points time 0.731712 ms
filter time 7.902541 ms 
build tree time 18.742686 ms 
mapping data assosiation time 17.458509 ms 
--------------------stamp1317357803.819924116
points size 83284 
prepare time 12.674350 
sort q time 4.457297 
seperate points time 10.052215 
mapping solver time 15.871097 ms 
mapping optimization time 93.075886 
publication time 9.040915 ms 
add points time 1.031155 ms
whole laserOdometry time 9.268077 ms 
 
-----t: 0.0272372
OdomCount 404 & avg odom time 0.038821 ms ++++++++++++++++++++++
1317357803.819924116 WriteOdom laser_odom_to_init
1317357803.819924116 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.107695 ms
map corner num 88548  surf num 33623 
build tree time 18.412208 ms 
mapping data assosiation time 16.894984 ms 
--------------------stamp1317357803.923866987
points size 88038 
sort q time 4.989803 
seperate points time 10.871229 
-----t: 0.0268097
OdomCount 405 & avg odom time 0.038792 ms ++++++++++++++++++++++
filter time 5.887745 ms 
map prepare time 2.007801 ms
map corner num 88919  surf num 33743 
build tree time 19.795985 ms 
mapping data assosiation time 15.455594 ms 
--------------------stamp1317357804.027786970
points size 91575 
mapping data assosiation time 17.854824 ms 
sort q time 5.310335 
seperate points time 22.188056 
mapping solver time 16.512866 ms 
mapping optimization time 90.848016 
add points time 0.779887 ms
-----t: 0.0319324
OdomCount 406 & avg odom time 0.038775 ms ++++++++++++++++++++++
1317357804.027786970 WriteOdom laser_odom_to_init
1317357804.027786970 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.405286 ms
map corner num 89300  surf num 33862 
build tree time 18.643815 ms 
mapping data assosiation time 18.372186 ms 
--------------------stamp1317357804.131681919
points size 92422 
prepare time 12.086579 
mapping solver time 18.825213 ms 
sort q time 5.605392 
seperate points time 11.911639 
mapping data assosiation time 20.673094 ms 
publication time 6.892129 ms 
whole laserOdometry time 6.920919 ms 
 
filter time 6.646924 ms 
mapping pub time 2.106798 ms 
whole mapping time 105.579850 ms +++++
mappingCount 368 & avg mapping time 106.882789 ms ++++++++++++++++++++++
1317357804.027786970 WriteOdom aft_mapped_to_init
build tree time 19.879394 ms 
--------------------stamp1317357804.235552072
points size 93041 
mapping solver time 18.561393 ms 
sort q time 8.717982 
seperate points time 19.673905 
scan registration time 45.739515 ms *************
mapping solver time 18.899710 ms 
filter time 9.603702 ms 
mapping pub time 2.119690 ms 
whole mapping time 116.598443 ms +++++
mappingCount 369 & avg mapping time 106.909146 ms ++++++++++++++++++++++
1317357804.131681919 WriteOdom aft_mapped_to_init
-----t: 0.0718401
OdomCount 408 & avg odom time 0.038851 ms ++++++++++++++++++++++
--------------------stamp1317357804.339421033
points size 92566 
sort q time 5.632454 
seperate points time 10.674242 
publication time 6.239016 ms 
whole laserOdometry time 6.258087 ms 
 
-----t: 0.0284592
OdomCount 409 & avg odom time 0.038826 ms ++++++++++++++++++++++
1317357804.339421033 WriteOdom laser_odom_to_init
1317357804.339421033 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.477685 ms 
mapping solver time 14.127804 ms 
mapping optimization time 93.004404 
add points time 0.663015 ms
map prepare time 2.058023 ms
map corner num 90485  surf num 34228 
--------------------stamp1317357804.443291902
points size 93026 
prepare time 11.952243 
build tree time 22.108885 ms 
sort q time 5.219470 
seperate points time 11.534754 
mapping data assosiation time 22.459790 ms 
publication time 12.954030 ms 
whole laserOdometry time 12.968514 ms 
 
mapping solver time 25.901317 ms 
mapping data assosiation time 18.679911 ms 
--------------------stamp1317357804.547175884
mapping solver time 25.797851 ms 
mapping optimization time 116.205479 
add points time 0.878376 ms
mapping pub time 4.365566 ms 
whole mapping time 131.613024 ms +++++
mappingCount 371 & avg mapping time 106.969152 ms ++++++++++++++++++++++
scan registration time 30.294097 ms *************
build tree time 21.300938 ms 
-----t: 0.0373469
OdomCount 411 & avg odom time 0.038860 ms ++++++++++++++++++++++
1317357804.547175884 WriteOdom laser_odom_to_init
1317357804.547175884 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.385585 ms 
mapping solver time 24.756438 ms 
--------------------stamp1317357804.651024103
points size 94201 
prepare time 11.107847 
mapping solver time 16.301185 ms 
sort q time 5.378801 
seperate points time 11.614376 
mapping optimization time 103.882713 
add points time 0.752429 ms
scan registration time 28.629301 ms *************
map prepare time 2.977214 ms
map corner num 91418  surf num 34465 
publication time 9.191654 ms 
whole laserOdometry time 9.211870 ms 
 
build tree time 24.798487 ms 
mapping data assosiation time 22.153975 ms 
-----t: 0.0763074
OdomCount 412 & avg odom time 0.038950 ms ++++++++++++++++++++++
1317357804.651024103 WriteOdom laser_odom_to_init
1317357804.651024103 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357804.754833936
mapping solver time 24.204049 ms 
sort q time 5.073607 
seperate points time 10.670669 
scan registration time 28.754805 ms *************
mapping data assosiation time 21.383654 ms 
mapping solver time 15.442400 ms 
filter time 8.829177 ms 
mapping pub time 2.186432 ms 
whole mapping time 124.289415 ms +++++
mappingCount 373 & avg mapping time 107.046778 ms ++++++++++++++++++++++
1317357804.547175884 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0487705
OdomCount 413 & avg odom time 0.038974 ms ++++++++++++++++++++++
mapping data assosiation time 17.650929 ms 
points size 92347 
prepare time 15.026499 
sort q time 5.385073 
seperate points time 12.473042 
mapping data assosiation time 23.655116 ms 
-----t: 0.0392995
OdomCount 414 & avg odom time 0.038975 ms ++++++++++++++++++++++
1317357804.858656883 WriteOdom laser_odom_to_init
1317357804.858656883 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.826300 ms 
filter time 6.781337 ms 
map prepare time 2.595240 ms
map corner num 92436  surf num 34726 
build tree time 19.692639 ms 
points size 93856 
mapping data assosiation time 25.317966 ms 
publication time 8.575452 ms 
whole laserOdometry time 8.591374 ms 
 
mapping solver time 32.946265 ms 
-----t: 0.0407576
OdomCount 415 & avg odom time 0.038979 ms ++++++++++++++++++++++
1317357804.962480068 WriteOdom laser_odom_to_init
1317357804.962480068 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.039532 ms 
mapping solver time 19.747927 ms 
--------------------stamp1317357805.066301107
points size 95317 
sort q time 5.090714 
seperate points time 11.889955 
publication time 8.279938 ms 
whole laserOdometry time 8.292627 ms 
 
1317357805.066301107 WriteOdom laser_odom_to_init
1317357805.066301107 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.002906 ms 
mapping data assosiation time 20.384502 ms 
points size 94439 
prepare time 13.136012 
mapping solver time 17.505869 ms 
filter time 7.023123 ms 
publication time 9.581378 ms 
whole laserOdometry time 9.595980 ms 
 
-----t: 0.0434191
OdomCount 417 & avg odom time 0.038985 ms ++++++++++++++++++++++
1317357805.170099020 WriteOdom laser_odom_to_init
1317357805.170099020 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.016302 ms 
--------------------stamp1317357805.273850917
points size 93802 
sort q time 5.064071 
seperate points time 12.177399 
publication time 9.586744 ms 
1317357805.273850917 WriteOdom laser_odom_to_init
1317357805.273850917 WriteOdom aft_mapped_to_init_high_frecdrop lidar frame in mapping for real time performance 
map prepare time 2.647740 ms
map corner num 94347  surf num 35342 
build tree time 21.547178 ms 
--------------------stamp1317357805.377603054
points size 92101 
sort q time 4.953849 
seperate points time 11.689344 
mapping solver time 24.365481 ms 
publication time 8.500412 ms 
whole laserOdometry time 8.511572 ms 
 
mapping data assosiation time 24.268496 ms 
mapping solver time 19.205182 ms 
-----t: 0.0716025
OdomCount 419 & avg odom time 0.039054 ms ++++++++++++++++++++++
map prepare time 2.484343 ms
map corner num 84571  surf num 29967 
--------------------stamp1317357805.481379032
points size 89476 
build tree time 19.459480 ms 
prepare time 14.011998 
scan registration time 33.431992 ms *************
publication time 7.444886 ms 
whole laserOdometry time 7.460188 ms 
 
-----t: 0.038408
OdomCount 420 & avg odom time 0.039052 ms ++++++++++++++++++++++
mapping solver time 32.647570 ms 
mapping data assosiation time 19.316322 ms 
--------------------stamp1317357805.585175991
mapping solver time 22.532896 ms 
filter time 8.612863 ms 
mapping pub time 2.156549 ms 
whole mapping time 134.450554 ms +++++
mappingCount 379 & avg mapping time 107.396908 ms ++++++++++++++++++++++
1317357805.377603054 WriteOdom aft_mapped_to_init
-----t: 0.0418565
OdomCount 421 & avg odom time 0.039059 ms ++++++++++++++++++++++
1317357805.585175991 WriteOdom laser_odom_to_init
1317357805.585175991 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.576323 ms 
--------------------stamp1317357805.688973903
mapping data assosiation time 24.347439 ms 
points size 84083 
prepare time 15.097367 
sort q time 4.595525 
seperate points time 11.010636 
filter time 6.377818 ms 
-----t: 0.0475688
OdomCount 422 & avg odom time 0.039079 ms ++++++++++++++++++++++
1317357805.688973903 WriteOdom laser_odom_to_init
1317357805.688973903 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.172796 ms 
--------------------stamp1317357805.792748928
points size 84259 
sort q time 5.723889 
seperate points time 10.984960 
publication time 8.830209 ms 
whole laserOdometry time 8.854044 ms 
 
mapping solver time 19.631768 ms 
mapping optimization time 106.115543 
add points time 0.788808 ms
[0m[ INFO] [1718889319.670443651, 1317357805.848850916]: Received 116693 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889319.670484630, 1317357805.848850916]: Data saved to 1317357805585175.pcd[0m
drop lidar frame in mapping for real time performance 
map prepare time 2.506536 ms
map corner num 86298  surf num 30395 
build tree time 19.690411 ms 
--------------------stamp1317357805.896548986
points size 87869 
sort q time 5.160445 
seperate points time 11.309181 
scan registration time 28.436075 ms *************
mapping solver time 25.147349 ms 
publication time 9.566978 ms 
whole laserOdometry time 9.586781 ms 
 
-----t: 0.0412272
OdomCount 424 & avg odom time 0.039092 ms ++++++++++++++++++++++
mapping data assosiation time 25.968095 ms 
mapping solver time 16.844030 ms 
mapping optimization time 113.696511 
add points time 0.777520 ms
map prepare time 2.214081 ms
map corner num 86812  surf num 30531 
--------------------stamp1317357806.000346899
points size 88474 
prepare time 10.748161 
build tree time 22.253315 ms 
sort q time 5.743482 
seperate points time 12.395784 
mapping data assosiation time 24.244639 ms 
publication time 6.303560 ms 
whole laserOdometry time 6.318973 ms 
 
mapping solver time 23.466223 ms 
mapping data assosiation time 21.540833 ms 
mapping solver time 15.536625 ms 
filter time 7.229375 ms 
mapping pub time 1.994925 ms 
whole mapping time 120.581110 ms +++++
mappingCount 383 & avg mapping time 107.574210 ms ++++++++++++++++++++++
1317357805.896548986 WriteOdom aft_mapped_to_init
points size 90207 
prepare time 11.236617 
sort q time 5.177468 
seperate points time 11.542663 
scan registration time 27.821322 ms *************
build tree time 18.721573 ms 
mapping data assosiation time 24.879619 ms 
mapping solver time 24.988156 ms 
mapping data assosiation time 20.733207 ms 
points size 89555 
mapping optimization time 113.138474 
add points time 0.618680 ms
sort q time 4.702878 
seperate points time 10.575982 
scan registration time 26.597639 ms *************
map prepare time 2.984369 ms
map corner num 87656  surf num 30770 
-----t: 0.0319953
OdomCount 427 & avg odom time 0.039106 ms ++++++++++++++++++++++
build tree time 19.651685 ms 
mapping data assosiation time 19.545013 ms 
mapping solver time 19.728971 ms 
--------------------stamp1317357806.311671972
points size 89385 
prepare time 12.739279 
mapping data assosiation time 21.970837 ms 
scan registration time 28.953326 ms *************
mapping solver time 18.184025 ms 
mapping optimization time 100.253034 
add points time 0.795109 ms
-----t: 0.0303382
OdomCount 428 & avg odom time 0.039086 ms ++++++++++++++++++++++
1317357806.311671972 WriteOdom laser_odom_to_init
filter time 8.481099 ms 
1317357806.311671972 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 1.992640 ms 
whole mapping time 114.554125 ms +++++
mappingCount 385 & avg mapping time 107.641685 ms ++++++++++++++++++++++
1317357806.104120970 WriteOdom aft_mapped_to_init
build tree time 16.538693 ms 
mapping data assosiation time 17.818482 ms 
--------------------stamp1317357806.415471076
points size 89021 
sort q time 4.980036 
seperate points time 11.355095 
mapping data assosiation time 21.870374 ms 
mapping solver time 17.598781 ms 
mapping optimization time 98.584996 
publication time 8.741396 ms 
whole laserOdometry time 8.754912 ms 
 
add points time 0.795489 ms
-----t: 0.0300194
OdomCount 429 & avg odom time 0.039065 ms ++++++++++++++++++++++
1317357806.415471076 WriteOdom laser_odom_to_init
1317357806.415471076 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
build tree time 19.974046 ms 
--------------------stamp1317357806.519269943
points size 89947 
prepare time 13.859266 
sort q time 5.459610 
seperate points time 12.606268 
scan registration time 39.306393 ms *************
mapping data assosiation time 25.112591 ms 
-----t: 0.0315613
OdomCount 430 & avg odom time 0.039047 ms ++++++++++++++++++++++
1317357806.519269943 WriteOdom laser_odom_to_init
1317357806.519269943 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.935580 ms 
publication time 8.219153 ms 
whole laserOdometry time 8.741264 ms 
 
mapping optimization time 105.975114 
add points time 0.982276 ms
map prepare time 2.297441 ms
map corner num 88762  surf num 31021 
build tree time 18.413533 ms 
--------------------stamp1317357806.623066902
points size 91399 
sort q time 4.603141 
seperate points time 10.666780 
scan registration time 37.364398 ms *************
mapping solver time 22.484724 ms 
-----t: 0.0390853
OdomCount 431 & avg odom time 0.039047 ms ++++++++++++++++++++++
mapping data assosiation time 27.427305 ms 
mapping solver time 13.653577 ms 
filter time 8.366648 ms 
map prepare time 2.870502 ms
map corner num 89196  surf num 31132 
points size 93136 
build tree time 23.390041 ms 
scan registration time 27.636518 ms *************
mapping data assosiation time 24.054533 ms 
mapping solver time 23.951755 ms 
1317357806.726866960 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.119774 ms 
mapping solver time 14.724603 ms 
filter time 6.744479 ms 
points size 95661 
map prepare time 2.397583 ms
map corner num 89569  surf num 31238 
sort q time 5.549990 
seperate points time 12.949811 
build tree time 20.679737 ms 
scan registration time 33.771848 ms *************
publication time 7.450943 ms 
whole laserOdometry time 7.464150 ms 
 
-----t: 0.0476359
OdomCount 433 & avg odom time 0.039112 ms ++++++++++++++++++++++
mapping solver time 19.579551 ms 
mapping data assosiation time 19.024233 ms 
--------------------stamp1317357806.934416055
add points time 0.802271 ms
points size 97339 
map prepare time 2.903077 ms
map corner num 89965  surf num 31339 
sort q time 5.174723 
seperate points time 12.305893 
build tree time 21.935850 ms 
-----t: 0.0334616
OdomCount 434 & avg odom time 0.039099 ms ++++++++++++++++++++++
mapping data assosiation time 20.320512 ms 
mapping solver time 18.783880 ms 
mapping data assosiation time 17.606822 ms 
points size 98142 
filter time 8.514393 ms 
sort q time 6.150859 
seperate points time 12.171874 
[0m[ INFO] [1718889320.879222612, 1317357807.060323151]: Received 121752 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889320.879482241, 1317357807.060323151]: Data saved to 1317357806830641.pcd[0m
mapping pub time 3.953661 ms 
whole mapping time 111.998051 ms +++++
mappingCount 391 & avg mapping time 107.763880 ms ++++++++++++++++++++++
1317357806.830641031 WriteOdom aft_mapped_to_init
-----t: 0.03339
OdomCount 435 & avg odom time 0.039086 ms ++++++++++++++++++++++
1317357807.038191080 WriteOdom laser_odom_to_init
mapping data assosiation time 19.528246 ms 
mapping solver time 19.161487 ms 
--------------------stamp1317357807.141988992
points size 99459 
sort q time 5.558293 
seperate points time 11.089758 
mapping pub time 2.250412 ms 
whole mapping time 113.175378 ms +++++
mappingCount 392 & avg mapping time 107.777748 ms ++++++++++++++++++++++
build tree time 20.430117 ms 
1317357807.141988992 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.672446 ms 
--------------------stamp1317357807.245786905
points size 100054 
mapping data assosiation time 20.766254 ms 
scan registration time 37.719960 ms *************
filter time 6.772765 ms 
map prepare time 2.991526 ms
map corner num 91061  surf num 31653 
build tree time 20.723676 ms 
mapping data assosiation time 18.313119 ms 
--------------------stamp1317357807.349586963
points size 100140 
prepare time 12.947148 
mapping solver time 21.468229 ms 
sort q time 6.224147 
seperate points time 13.101489 
mapping data assosiation time 24.638979 ms 
mapping solver time 18.326789 ms 
mapping pub time 2.375875 ms 
whole mapping time 117.856377 ms +++++
mappingCount 394 & avg mapping time 107.821147 ms ++++++++++++++++++++++
1317357807.141988993 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.108653 ms
map corner num 91406  surf num 31779 
build tree time 20.416506 ms 
--------------------stamp1317357807.453385114
mapping data assosiation time 19.648999 ms 
sort q time 5.503197 
seperate points time 12.840999 
-----t: 0.0309332
OdomCount 439 & avg odom time 0.039124 ms ++++++++++++++++++++++
1317357807.453385114 WriteOdom laser_odom_to_init
1317357807.453385114 WriteOdom aft_mapped_to_init_high_frec
publication time 10.026793 ms 
whole laserOdometry time 10.046523 ms 
 
mapping solver time 16.552685 ms 
filter time 7.338323 ms 
map prepare time 2.979528 ms
map corner num 91763  surf num 31905 
--------------------stamp1317357807.557183980
points size 100122 
sort q time 5.494384 
seperate points time 12.409530 
-----t: 0.0302429
OdomCount 440 & avg odom time 0.039103 ms ++++++++++++++++++++++
publication time 7.559072 ms 
whole laserOdometry time 7.568664 ms 
 
1317357807.557183980 WriteOdom laser_odom_to_init
1317357807.557183980 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.412703 ms 
mapping solver time 19.752493 ms 
mapping optimization time 108.957258 
add points time 0.731916 ms
1317357807.453385115 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889321.478584582, 1317357807.650486738]: Received 124240 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889321.478634988, 1317357807.650486738]: Data saved to 1317357807453385.pcd[0m
points size 96496 
sort q time 5.556329 
seperate points time 12.801148 
mapping data assosiation time 19.903456 ms 
publication time 8.024632 ms 
whole laserOdometry time 8.037421 ms 
 
-----t: 0.0430325
OdomCount 441 & avg odom time 0.039112 ms ++++++++++++++++++++++
mapping data assosiation time 19.356444 ms 
--------------------stamp1317357807.764781951
filter time 6.371461 ms 
map prepare time 2.739604 ms
map corner num 92625  surf num 32187 
sort q time 5.018152 
seperate points time 11.744534 
build tree time 22.514488 ms 
publication time 8.059752 ms 
whole laserOdometry time 8.086010 ms 
 
mapping data assosiation time 22.447600 ms 
mapping solver time 20.061015 ms 
--------------------stamp1317357807.868580102
points size 85537 
add points time 0.684757 ms
mapping pub time 2.195922 ms 
whole mapping time 113.875627 ms +++++
mappingCount 398 & avg mapping time 107.901296 ms ++++++++++++++++++++++
publication time 7.456297 ms 
whole laserOdometry time 7.466812 ms 
 
build tree time 23.853833 ms 
mapping data assosiation time 21.398873 ms 
mapping solver time 19.377689 ms 
--------------------stamp1317357807.972403049
points size 81798 
mapping data assosiation time 19.726456 ms 
prepare time 10.772720 
sort q time 4.956217 
seperate points time 10.620451 
filter time 6.042603 ms 
build tree time 18.531156 ms 
-----t: 0.049204
OdomCount 444 & avg odom time 0.039192 ms ++++++++++++++++++++++
1317357807.972403049 WriteOdom laser_odom_to_init
1317357807.972403049 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.179078 ms 
mapping solver time 19.306369 ms 
points size 79149 
mapping data assosiation time 20.559512 ms 
scan registration time 25.495997 ms *************
mapping solver time 16.871230 ms 
mapping optimization time 96.610158 
add points time 0.639762 ms
map prepare time 2.380076 ms
map corner num 93846  surf num 32609 
build tree time 20.907437 ms 
mapping data assosiation time 19.370949 ms 
--------------------stamp1317357808.180145025
points size 75057 
sort q time 4.021610 
seperate points time 8.923767 
scan registration time 23.359641 ms *************
publication time 6.957112 ms 
whole laserOdometry time 7.017961 ms 
 
-----t: 0.0287484
OdomCount 446 & avg odom time 0.039145 ms ++++++++++++++++++++++
1317357808.180145025 WriteOdom laser_odom_to_init
1317357808.180145025 WriteOdom aft_mapped_to_init_high_frec
add points time 0.596754 ms
filter time 6.565782 ms 
mapping pub time 7.832950 ms 
whole mapping time 122.911987 ms +++++
mappingCount 401 & avg mapping time 107.954779 ms ++++++++++++++++++++++
build tree time 18.311132 ms 
--------------------stamp1317357808.284015893
prepare time 9.462915 
sort q time 4.295043 
seperate points time 8.671514 
scan registration time 21.298907 ms *************
publication time 8.587957 ms 
whole laserOdometry time 8.597756 ms 
 
-----t: 0.0295774
OdomCount 447 & avg odom time 0.039124 ms ++++++++++++++++++++++
1317357808.284015893 WriteOdom laser_odom_to_init
1317357808.284015893 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.160104 ms 
mapping solver time 14.730880 ms 
mapping optimization time 98.917869 
add points time 0.642040 ms
map prepare time 1.947724 ms
map corner num 75607  surf num 26364 
build tree time 15.188930 ms 
--------------------stamp1317357808.387861967
points size 71793 
sort q time 4.068730 
seperate points time 8.612698 
mapping solver time 24.187336 ms 
mapping data assosiation time 20.083910 ms 
mapping solver time 17.823348 ms 
mapping optimization time 97.656138 
add points time 0.638094 ms
map prepare time 1.968406 ms
map corner num 76216  surf num 26615 
build tree time 15.224053 ms 
points size 71717 
prepare time 10.515086 
mapping data assosiation time 19.425852 ms 
scan registration time 23.181459 ms *************
mapping solver time 24.966814 ms 
-----t: 0.0368845
OdomCount 449 & avg odom time 0.039132 ms ++++++++++++++++++++++
1317357808.491708040 WriteOdom laser_odom_to_init
1317357808.491708040 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.578499 ms 
mapping solver time 17.165350 ms 
mapping optimization time 97.518939 
add points time 0.626715 ms
map prepare time 1.910755 ms
map corner num 76769  surf num 26831 
--------------------stamp1317357808.595555067
points size 77140 
mapping data assosiation time 20.337454 ms 
scan registration time 25.510161 ms *************
-----t: 0.0281482
OdomCount 450 & avg odom time 0.039108 ms ++++++++++++++++++++++
mapping solver time 25.438666 ms 
mapping data assosiation time 18.000107 ms 
mapping solver time 13.530967 ms 
mapping pub time 1.702117 ms 
whole mapping time 105.855924 ms +++++
mappingCount 405 & avg mapping time 107.954808 ms ++++++++++++++++++++++
--------------------stamp1317357808.699377059
points size 82983 
sort q time 5.366159 
seperate points time 10.037742 
-----t: 0.0226156
OdomCount 451 & avg odom time 0.039071 ms ++++++++++++++++++++++
mapping solver time 19.120247 ms 
mapping data assosiation time 16.768653 ms 
mapping solver time 13.463175 ms 
filter time 6.681661 ms 
--------------------stamp1317357808.803177118
points size 86486 
sort q time 4.766798 
seperate points time 10.643140 
publication time 7.032496 ms 
whole laserOdometry time 7.043806 ms 
 
mapping solver time 23.747678 ms 
mapping data assosiation time 17.789029 ms 
mapping solver time 13.788672 ms 
filter time 5.068095 ms 
map prepare time 2.135841 ms
map corner num 78221  surf num 27311 
points size 91919 
sort q time 5.230336 
seperate points time 10.849607 
mapping data assosiation time 22.127771 ms 
publication time 10.769102 ms 
whole laserOdometry time 10.779133 ms 
 
mapping solver time 29.254025 ms 
-----t: 0.0635295
OdomCount 453 & avg odom time 0.039138 ms ++++++++++++++++++++++
mapping data assosiation time 21.961555 ms 
--------------------stamp1317357809.010776042
points size 94674 
map prepare time 2.829107 ms
map corner num 78701  surf num 27467 
sort q time 5.905678 
seperate points time 12.321432 
build tree time 20.609194 ms 
publication time 7.095623 ms 
whole laserOdometry time 7.108776 ms 
 
mapping data assosiation time 21.914155 ms 
-----t: 0.0623451
OdomCount 454 & avg odom time 0.039189 ms ++++++++++++++++++++++
mapping solver time 28.610709 ms 
--------------------stamp1317357809.114550113
points size 95532 
filter time 7.671210 ms 
build tree time 16.485557 ms 
mapping data assosiation time 17.763587 ms 
mapping solver time 19.362195 ms 
points size 96908 
mapping data assosiation time 21.550631 ms 
scan registration time 31.443734 ms *************
mapping solver time 16.767978 ms 
mapping optimization time 93.162721 
add points time 0.629662 ms
1317357809.010776043 WriteOdom aft_mapped_to_init
publication time 10.751450 ms 
whole laserOdometry time 10.765083 ms 
 
build tree time 18.901121 ms 
mapping data assosiation time 20.716877 ms 
--------------------stamp1317357809.322146892
points size 97001 
prepare time 10.401197 
mapping solver time 24.174388 ms 
sort q time 5.657305 
seperate points time 11.927537 
mapping data assosiation time 22.127640 ms 
publication time 9.572494 ms 
whole laserOdometry time 9.589991 ms 
 
1317357809.322146892 WriteOdom laser_odom_to_init
1317357809.322146892 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.799507 ms 
mapping optimization time 105.020937 
mapping pub time 3.349993 ms 
whole mapping time 117.006535 ms +++++
mappingCount 411 & avg mapping time 108.043206 ms ++++++++++++++++++++++
build tree time 18.125189 ms 
mapping data assosiation time 19.890497 ms 
--------------------stamp1317357809.425921916
points size 95984 
sort q time 5.717756 
seperate points time 11.911142 
publication time 7.732210 ms 
whole laserOdometry time 7.746735 ms 
 
-----t: 0.0295003
OdomCount 458 & avg odom time 0.039111 ms ++++++++++++++++++++++
1317357809.425921916 WriteOdom laser_odom_to_init
1317357809.425921916 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.557085 ms 
mapping optimization time 111.618641 
add points time 0.652233 ms
filter time 5.176875 ms 
build tree time 16.758321 ms 
points size 94474 
mapping data assosiation time 21.926262 ms 
sort q time 6.382627 
seperate points time 12.064133 
publication time 7.935727 ms 
whole laserOdometry time 7.949371 ms 
 
mapping data assosiation time 17.331132 ms 
mapping solver time 14.601338 ms 
mapping pub time 2.182399 ms 
whole mapping time 110.539665 ms +++++
mappingCount 413 & avg mapping time 108.083056 ms ++++++++++++++++++++++
1317357809.425921917 WriteOdom aft_mapped_to_init
map prepare time 2.667312 ms
map corner num 81112  surf num 28304 
points size 93121 
sort q time 5.669457 
seperate points time 11.164227 
-----t: 0.0299824
OdomCount 460 & avg odom time 0.039074 ms ++++++++++++++++++++++
mapping data assosiation time 17.445319 ms 
mapping solver time 13.492995 ms 
filter time 5.697390 ms 
mapping pub time 2.134531 ms 
whole mapping time 101.594080 ms +++++
mappingCount 414 & avg mapping time 108.067426 ms ++++++++++++++++++++++
1317357809.529700041 WriteOdom aft_mapped_to_init
--------------------stamp1317357809.737340927
build tree time 17.052638 ms 
sort q time 4.957757 
seperate points time 11.515452 
mapping data assosiation time 19.081591 ms 
scan registration time 29.630696 ms *************
publication time 8.158370 ms 
whole laserOdometry time 8.173342 ms 
 
-----t: 0.0287005
OdomCount 461 & avg odom time 0.039051 ms ++++++++++++++++++++++
1317357809.737340927 WriteOdom laser_odom_to_init
1317357809.737340927 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.289605 ms 
mapping solver time 13.101959 ms 
filter time 5.378172 ms 
map prepare time 2.643759 ms
map corner num 81849  surf num 28471 
--------------------stamp1317357809.841188907
points size 90459 
build tree time 19.571685 ms 
prepare time 9.949369 
scan registration time 24.587240 ms *************
publication time 5.936291 ms 
whole laserOdometry time 5.950492 ms 
 
-----t: 0.0335955
OdomCount 462 & avg odom time 0.039040 ms ++++++++++++++++++++++
1317357809.841188907 WriteOdom laser_odom_to_init
1317357809.841188907 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.553576 ms 
mapping data assosiation time 16.533137 ms 
mapping solver time 16.986748 ms 
filter time 6.923687 ms 
map prepare time 2.762685 ms
map corner num 82223  surf num 28578 
points size 88573 
build tree time 20.144866 ms 
publication time 7.377500 ms 
whole laserOdometry time 8.826807 ms 
 
mapping data assosiation time 19.814835 ms 
-----t: 0.0414382
OdomCount 463 & avg odom time 0.039045 ms ++++++++++++++++++++++
1317357809.945010900 WriteOdom laser_odom_to_init
1317357809.945010900 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.028270 ms 
mapping pub time 2.191286 ms 
whole mapping time 112.233137 ms +++++
mappingCount 417 & avg mapping time 108.057757 ms ++++++++++++++++++++++
points size 87428 
prepare time 12.071414 
build tree time 19.433580 ms 
sort q time 16.917871 
seperate points time 23.247609 
scan registration time 39.553390 ms *************
-----t: 0.0385662
OdomCount 464 & avg odom time 0.039044 ms ++++++++++++++++++++++
mapping solver time 25.696759 ms 
mapping data assosiation time 16.962272 ms 
--------------------stamp1317357810.152682065
mapping optimization time 103.169573 
add points time 0.598589 ms
points size 86277 
prepare time 11.587694 
filter time 5.571666 ms 
sort q time 4.993622 
seperate points time 11.602622 
publication time 5.858032 ms 
whole laserOdometry time 5.869655 ms 
 
build tree time 20.470792 ms 
-----t: 0.0412539
OdomCount 465 & avg odom time 0.039048 ms ++++++++++++++++++++++
1317357810.152682065 WriteOdom laser_odom_to_init
1317357810.152682065 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.288477 ms 
mapping solver time 19.012020 ms 
mapping data assosiation time 18.149010 ms 
points size 85282 
filter time 7.313938 ms 
sort q time 12.915065 
seperate points time 18.716347 
build tree time 18.470958 ms 
publication time 7.665114 ms 
whole laserOdometry time 7.676820 ms 
 
1317357810.256529092 WriteOdom laser_odom_to_init
mapping data assosiation time 19.652942 ms 
mapping solver time 19.539259 ms 
mapping data assosiation time 16.108902 ms 
points size 86126 
prepare time 9.897085 
sort q time 5.654270 
seperate points time 10.422064 
filter time 7.668855 ms 
publication time 8.176906 ms 
whole laserOdometry time 8.192096 ms 
 
build tree time 18.262787 ms 
mapping data assosiation time 17.605712 ms 
mapping solver time 17.649417 ms 
--------------------stamp1317357810.464173078
points size 87933 
sort q time 5.086973 
seperate points time 11.408067 
filter time 7.632493 ms 
mapping pub time 8.693840 ms 
whole mapping time 111.417365 ms +++++
mappingCount 421 & avg mapping time 108.098062 ms ++++++++++++++++++++++
1317357810.256529093 WriteOdom aft_mapped_to_init
publication time 14.069225 ms 
whole laserOdometry time 14.160884 ms 
 
drop lidar frame in mapping for real time performance 
map prepare time 2.567617 ms
map corner num 84226  surf num 29161 
build tree time 18.087000 ms 
mapping data assosiation time 16.281814 ms 
--------------------stamp1317357810.567994117
points size 88373 
sort q time 4.896587 
seperate points time 9.620143 
mapping data assosiation time 22.550476 ms 
scan registration time 24.016698 ms *************
mapping pub time 8.107410 ms 
whole mapping time 112.733694 ms +++++
mappingCount 422 & avg mapping time 108.109083 ms ++++++++++++++++++++++
build tree time 15.298846 ms 
--------------------stamp1317357810.671817064
points size 90003 
sort q time 4.813332 
seperate points time 11.038753 
publication time 8.737858 ms 
whole laserOdometry time 8.750220 ms 
 
-----t: 0.0389989
OdomCount 470 & avg odom time 0.039055 ms ++++++++++++++++++++++
1317357810.671817064 WriteOdom laser_odom_to_init
1317357810.671817064 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.546022 ms 
mapping optimization time 88.933916 
add points time 0.622769 ms
mapping pub time 2.161267 ms 
whole mapping time 101.636640 ms +++++
mappingCount 423 & avg mapping time 108.093788 ms ++++++++++++++++++++++
build tree time 16.468503 ms 
--------------------stamp1317357810.775671005mapping data assosiation time 19.374594 ms 
sort q time 5.468261 
seperate points time 10.578664 
scan registration time 28.002884 ms *************
publication time 13.652830 ms 
whole laserOdometry time 13.666413 ms 
 
mapping solver time 21.597165 ms 
filter time 5.980498 ms 
mapping pub time 1.932031 ms 
whole mapping time 116.401458 ms +++++
mappingCount 424 & avg mapping time 108.113416 ms ++++++++++++++++++++++
1317357810.671817064 WriteOdom aft_mapped_to_init
--------------------stamp1317357810.879517078
prepare time 10.646967 
sort q time 5.233582 
seperate points time 10.930922 
publication time 8.753204 ms 
whole laserOdometry time 8.779644 ms 
 
mapping solver time 26.478482 ms 
mapping data assosiation time 18.098534 ms 
mapping solver time 17.971825 ms 
filter time 6.849010 ms 
map prepare time 2.689669 ms
map corner num 86105  surf num 29844 
points size 86391 
build tree time 20.321042 ms 
sort q time 5.118160 
seperate points time 11.500223 
scan registration time 39.643597 ms *************
publication time 7.532655 ms 
whole laserOdometry time 7.547224 ms 
 
-----t: 0.0649701
OdomCount 473 & avg odom time 0.039147 ms ++++++++++++++++++++++
1317357810.983335018 WriteOdom laser_odom_to_init
1317357810.983335018 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357811.087157011
filter time 5.678761 ms 
map prepare time 2.818185 ms
map corner num 86490  surf num 29979 
sort q time 4.460155 
seperate points time 10.454326 
publication time 9.770245 ms 
whole laserOdometry time 9.784370 ms 
 
-----t: 0.0340009
OdomCount 474 & avg odom time 0.039137 ms ++++++++++++++++++++++
1317357811.087157011 WriteOdom laser_odom_to_init
1317357811.087157011 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.686636 ms 
--------------------stamp1317357811.190979003
points size 79421 
prepare time 10.531921 
add points time 0.749779 ms
mapping pub time 2.049755 ms 
whole mapping time 122.920266 ms +++++
mappingCount 427 & avg mapping time 108.185062 ms ++++++++++++++++++++++
1317357810.983335018 WriteOdom aft_mapped_to_init
map prepare time 2.666174 ms
map corner num 86911  surf num 30100 
publication time 6.226678 ms 
whole laserOdometry time 6.239469 ms 
 
build tree time 23.606444 ms 
mapping data assosiation time 22.659480 ms 
--------------------stamp1317357811.294826030
prepare time 10.422223 
sort q time 5.300788 
seperate points time 10.035698 
publication time 7.108364 ms 
whole laserOdometry time 7.123115 ms 
 
add points time 0.648623 ms
filter time 8.540999 ms 
mapping pub time 1.936098 ms 
whole mapping time 127.099078 ms +++++
mappingCount 428 & avg mapping time 108.229265 ms ++++++++++++++++++++++
1317357811.087157011 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 23.247607 ms 
--------------------stamp1317357811.398672103
points size 76584 
sort q time 4.515811 
seperate points time 10.313775 
publication time 10.893163 ms 
whole laserOdometry time 10.906550 ms 
 
mapping data assosiation time 23.411722 ms 
-----t: 0.0360216
OdomCount 477 & avg odom time 0.039093 ms ++++++++++++++++++++++
1317357811.398672103 WriteOdom laser_odom_to_init
1317357811.398672103 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.562072 ms 
filter time 5.568369 ms 
map prepare time 1.954457 ms
map corner num 87747  surf num 30328 
build tree time 18.824092 ms 
points size 75730 
mapping data assosiation time 22.676478 ms 
publication time 7.267796 ms 
whole laserOdometry time 7.290314 ms 
 
1317357811.502473115 WriteOdom laser_odom_to_initmapping data assosiation time 18.208647 ms 
mapping solver time 18.314534 ms 
filter time 7.109366 ms 
--------------------stamp1317357811.606247901
points size 75859 
sort q time 4.338410 
seperate points time 9.668107 
scan registration time 25.864315 ms *************
-----t: 0.0271391
OdomCount 479 & avg odom time 0.039054 ms ++++++++++++++++++++++
1317357811.606247901 WriteOdom laser_odom_to_init
1317357811.606247901 WriteOdom aft_mapped_to_init_high_frec
publication time 6.068900 ms 
whole laserOdometry time 6.083030 ms 
 
mapping data assosiation time 16.252941 ms 
mapping solver time 13.961974 ms 
mapping optimization time 92.268223 
add points time 0.686496 ms
map prepare time 2.072524 ms
map corner num 88688  surf num 30607 
build tree time 18.261252 ms 
publication time 6.804017 ms 
whole laserOdometry time 6.814145 ms 
 
mapping solver time 27.043084 ms 
mapping data assosiation time 19.419252 ms 
mapping solver time 15.460127 ms 
--------------------stamp1317357811.813819885
map prepare time 2.634355 ms
map corner num 89092  surf num 30722 
sort q time 5.261141 
seperate points time 9.955568 
scan registration time 25.389489 ms *************
publication time 7.024080 ms 
whole laserOdometry time 7.036598 ms 
 
-----t: 0.0346828
OdomCount 481 & avg odom time 0.039075 ms ++++++++++++++++++++++
mapping solver time 23.177776 ms 
mapping data assosiation time 18.004927 ms 
--------------------stamp1317357811.917619943
points size 74481 
add points time 0.710501 ms
filter time 7.863741 ms 
mapping pub time 1.786665 ms 
whole mapping time 121.830800 ms +++++
mappingCount 433 & avg mapping time 108.313895 ms ++++++++++++++++++++++
1317357811.710020065 WriteOdom aft_mapped_to_init
map prepare time 2.495289 ms
map corner num 89530  surf num 30826 
publication time 5.901066 ms 
whole laserOdometry time 5.918697 ms 
 
build tree time 21.614257 ms 
mapping data assosiation time 19.043728 ms 
mapping solver time 22.824157 ms 
--------------------stamp1317357812.021419048
prepare time 9.673539 
mapping solver time 17.441729 ms 
mapping optimization time 103.304596 
add points time 0.674531 ms
filter time 6.026028 ms 
mapping pub time 9.063429 ms 
whole mapping time 121.630475 ms +++++
mappingCount 434 & avg mapping time 108.344594 ms ++++++++++++++++++++++
1317357811.813819885 WriteOdom aft_mapped_to_init
-----t: 0.0394061
OdomCount 483 & avg odom time 0.039101 ms ++++++++++++++++++++++
build tree time 22.459711 ms 
mapping data assosiation time 18.174430 ms 
--------------------stamp1317357812.125289916
mapping solver time 20.716931 ms 
sort q time 4.241333 
seperate points time 9.191209 
mapping data assosiation time 21.384333 ms 
publication time 7.263435 ms 
whole laserOdometry time 7.285757 ms 
 
mapping solver time 18.264643 ms 
1317357812.125289916 WriteOdom laser_odom_to_init
1317357812.125289916 WriteOdom aft_mapped_to_init_high_frec
filter time 6.994367 ms 
mapping pub time 1.675476 ms 
whole mapping time 114.294912 ms +++++
mappingCount 435 & avg mapping time 108.358286 ms ++++++++++++++++++++++
1317357811.917619944 WriteOdom aft_mapped_to_init
build tree time 10.840436 ms 
mapping data assosiation time 18.265472 ms 
--------------------stamp1317357812.229232072
mapping solver time 21.683700 ms 
points size 79498 
prepare time 13.464247 
sort q time 4.534907 
seperate points time 10.180584 
mapping data assosiation time 22.844984 ms 
-----t: 0.0311766
OdomCount 485 & avg odom time 0.039080 ms ++++++++++++++++++++++
filter time 4.979055 ms 
map prepare time 1.845744 ms
map corner num 59288  surf num 20586 
build tree time 11.346954 ms 
mapping data assosiation time 19.195017 ms 
--------------------stamp1317357812.333245038
points size 81542 
sort q time 4.311194 
seperate points time 10.173916 
mapping data assosiation time 23.145880 ms 
-----t: 0.0309695
OdomCount 486 & avg odom time 0.039063 ms ++++++++++++++++++++++
mapping solver time 27.069588 ms 
mapping optimization time 107.829268 
add points time 0.651690 ms
filter time 4.054871 ms 
mapping pub time 1.885435 ms 
whole mapping time 116.322993 ms +++++
mappingCount 437 & avg mapping time 108.365083 ms ++++++++++++++++++++++
1317357812.229232073 WriteOdom aft_mapped_to_init
build tree time 11.760642 ms 
--------------------stamp1317357812.437356948
sort q time 4.963333 
seperate points time 9.603915 
scan registration time 23.441502 ms *************
mapping solver time 28.334668 ms 
publication time 8.647339 ms 
whole laserOdometry time 8.670517 ms 
 
mapping data assosiation time 21.167535 ms 
mapping solver time 24.047496 ms 
filter time 4.381522 ms 
map prepare time 2.329433 ms
map corner num 60146  surf num 20891 
--------------------stamp1317357812.541516065
prepare time 11.511656 
sort q time 4.237813 
seperate points time 9.941069 
publication time 6.919542 ms 
whole laserOdometry time 6.934722 ms 
 
mapping solver time 27.428512 ms 
mapping data assosiation time 19.628089 ms 
mapping solver time 24.100998 ms 
mapping pub time 1.826164 ms 
whole mapping time 116.726480 ms +++++
mappingCount 439 & avg mapping time 108.401435 ms ++++++++++++++++++++++
points size 85149 
prepare time 15.992208 
build tree time 14.433813 ms 
sort q time 4.395783 
seperate points time 10.273182 
mapping data assosiation time 22.668148 ms 
publication time 7.115122 ms 
whole laserOdometry time 7.129235 ms 
 
mapping solver time 29.372144 ms 
-----t: 0.0618737
OdomCount 489 & avg odom time 0.039080 ms ++++++++++++++++++++++
mapping data assosiation time 21.275036 ms 
--------------------stamp1317357812.749932050
points size 86295 
filter time 4.351308 ms 
mapping pub time 2.016504 ms 
whole mapping time 119.219726 ms +++++
mappingCount 440 & avg mapping time 108.426039 ms ++++++++++++++++++++++
1317357812.541516066 WriteOdom aft_mapped_to_init
sort q time 4.531392 
seperate points time 9.974122 
map prepare time 2.539008 ms
map corner num 61039  surf num 21241 
build tree time 14.662366 ms 
-----t: 0.0301493
OdomCount 490 & avg odom time 0.039062 ms ++++++++++++++++++++++
mapping data assosiation time 22.075793 ms 
mapping solver time 23.368846 ms 
mapping data assosiation time 18.572239 ms 
points size 89241 
mapping solver time 22.310915 ms 
mapping optimization time 102.163480 
add points time 0.739488 ms
mapping pub time 12.210142 ms 
whole mapping time 123.888389 ms +++++
mappingCount 441 & avg mapping time 108.461111 ms ++++++++++++++++++++++
map prepare time 2.559895 ms
map corner num 61525  surf num 21416 
build tree time 13.291288 ms 
mapping data assosiation time 18.642108 ms 
mapping solver time 23.957852 ms 
points size 89702 
mapping data assosiation time 22.365360 ms 
scan registration time 26.036541 ms *************
publication time 6.744744 ms 
whole laserOdometry time 6.760502 ms 
 
filter time 6.183042 ms 
build tree time 14.597857 ms 
-----t: 0.0703893
OdomCount 492 & avg odom time 0.039109 ms ++++++++++++++++++++++
mapping data assosiation time 22.266811 ms 
points size 89866 
sort q time 4.469933 
seperate points time 9.382451 
publication time 9.676298 ms 
whole laserOdometry time 9.689935 ms 
 
-----t: 0.0577101
OdomCount 493 & avg odom time 0.039147 ms ++++++++++++++++++++++
1317357812.854211092 WriteOdom aft_mapped_to_init
--------------------stamp1317357813.167021036
points size 89772 
mapping data assosiation time 24.736245 ms 
sort q time 4.996800 
seperate points time 9.901367 
scan registration time 24.062902 ms *************
publication time 8.163659 ms 
whole laserOdometry time 8.173829 ms 
 
-----t: 0.0336516
OdomCount 494 & avg odom time 0.039136 ms ++++++++++++++++++++++
mapping solver time 31.391266 ms 
1317357813.167021036 WriteOdom laser_odom_to_init
1317357813.167021036 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.602528 ms 
mapping solver time 20.856924 ms 
mapping pub time 2.476859 ms 
whole mapping time 123.998906 ms +++++
mappingCount 444 & avg mapping time 108.571597 ms ++++++++++++++++++++++
prepare time 16.029301 
build tree time 16.574038 ms 
mapping data assosiation time 22.740926 ms 
publication time 7.523214 ms 
whole laserOdometry time 7.537853 ms 
 
-----t: 0.0339106
OdomCount 495 & avg odom time 0.039125 ms ++++++++++++++++++++++
1317357813.271224975 WriteOdom laser_odom_to_init
1317357813.271224975 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.477830 ms 
mapping data assosiation time 21.222441 ms 
--------------------stamp1317357813.375407934
points size 91804 
mapping solver time 24.085584 ms 
scan registration time 26.468771 ms *************
mapping pub time 2.235691 ms 
whole mapping time 126.147400 ms +++++
mappingCount 445 & avg mapping time 108.611102 ms ++++++++++++++++++++++
1317357813.167021036 WriteOdom aft_mapped_to_init
publication time 6.530714 ms 
whole laserOdometry time 6.548712 ms 
 
build tree time 15.282079 ms 
mapping data assosiation time 21.300066 ms 
mapping solver time 25.140426 ms 
--------------------stamp1317357813.479496002
points size 93757 
prepare time 13.015126 
mapping data assosiation time 24.039036 ms 
sort q time 6.438334 
seperate points time 12.065435 
[0m[ INFO] [1718889327.347249001, 1317357813.533358290]: Received 86548 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889327.347292249, 1317357813.533358290]: Data saved to 1317357813271224.pcd[0m
mapping pub time 5.555517 ms 
whole mapping time 129.758991 ms +++++
mappingCount 446 & avg mapping time 108.658663 ms ++++++++++++++++++++++
build tree time 18.244358 ms 
-----t: 0.070469
OdomCount 497 & avg odom time 0.039186 ms ++++++++++++++++++++++
1317357813.479496002 WriteOdom laser_odom_to_init
--------------------stamp1317357813.583488941
mapping data assosiation time 34.113087 ms 
sort q time 5.340549 
seperate points time 13.033220 
scan registration time 33.582031 ms *************
publication time 6.011802 ms 
whole laserOdometry time 6.026454 ms 
 
-----t: 0.043934
OdomCount 498 & avg odom time 0.039196 ms ++++++++++++++++++++++
mapping solver time 21.297736 ms 
mapping optimization time 128.278741 
add points time 0.784579 ms
map prepare time 2.862703 ms
map corner num 64646  surf num 22577 
points size 96031 
build tree time 16.848501 ms 
prepare time 16.299092 
sort q time 5.631361 
seperate points time 11.041116 
scan registration time 32.776566 ms *************
publication time 13.441226 ms 
whole laserOdometry time 13.450164 ms 
 
-----t: 0.0502328
OdomCount 499 & avg odom time 0.039218 ms ++++++++++++++++++++++
1317357813.687383890 WriteOdom laser_odom_to_init
1317357813.687383890 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.353096 ms 
points size 98024 
prepare time 11.176152 
sort q time 6.212942 
seperate points time 12.272411 
filter time 6.490509 ms 
publication time 6.900791 ms 
whole laserOdometry time 6.915448 ms 
 
mapping pub time 2.667403 ms 
whole mapping time 150.117585 ms +++++
mappingCount 448 & avg mapping time 108.826289 ms ++++++++++++++++++++++
1317357813.583488941 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.144436 ms
map corner num 65132  surf num 22726 
build tree time 16.996701 ms 
-----t: 0.0533527
OdomCount 500 & avg odom time 0.039246 ms ++++++++++++++++++++++
1317357813.791182994 WriteOdom laser_odom_to_init
1317357813.791182994 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.423628 ms 
--------------------stamp1317357813.894910097
points size 100753 
sort q time 5.629633 
seperate points time 13.021782 
mapping data assosiation time 22.444449 ms 
publication time 8.600013 ms 
whole laserOdometry time 8.616535 ms 
 
mapping solver time 24.328623 ms 
filter time 4.558324 ms 
mapping pub time 2.335837 ms 
whole mapping time 130.232190 ms +++++
mappingCount 449 & avg mapping time 108.873971 ms ++++++++++++++++++++++
1317357813.687383890 WriteOdom aft_mapped_to_init
build tree time 12.293379 ms 
--------------------stamp1317357813.998589038
points size 103192 
sort q time 5.882753 
seperate points time 13.485840 
mapping solver time 28.334848 ms 
publication time 7.856895 ms 
whole laserOdometry time 7.871719 ms 
 
mapping data assosiation time 24.248218 ms 
mapping solver time 22.030857 ms 
mapping optimization time 111.393097 
add points time 0.784638 ms
map prepare time 2.280598 ms
map corner num 66008  surf num 23001 
--------------------stamp1317357814.102243900
points size 103735 
sort q time 5.786050 
seperate points time 13.269594 
scan registration time 30.201397 ms *************
mapping data assosiation time 25.532789 ms 
publication time 8.111573 ms 
whole laserOdometry time 8.128314 ms 
 
-----t: 0.0391063
OdomCount 503 & avg odom time 0.039231 ms ++++++++++++++++++++++
1317357814.102243900 WriteOdom laser_odom_to_init
1317357814.102243900 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357814.205898046
points size 103967 
map prepare time 2.349941 ms
map corner num 66396  surf num 23117 
sort q time 6.666330 
seperate points time 13.802870 
build tree time 17.343152 ms 
publication time 10.867098 ms 
whole laserOdometry time 10.881177 ms 
 
-----t: 0.0402649
OdomCount 504 & avg odom time 0.039233 ms ++++++++++++++++++++++
mapping solver time 28.367453 ms 
--------------------stamp1317357814.309600114
mapping data assosiation time 23.644620 ms 
--------------------stamp1317357814.413326978
points size 104206 
sort q time 5.978988 
seperate points time 13.396576 
mapping data assosiation time 25.573892 ms 
-----t: 0.0416359
OdomCount 506 & avg odom time 0.039274 ms ++++++++++++++++++++++
filter time 5.546092 ms 
map prepare time 2.265953 ms
map corner num 67165  surf num 23348 
build tree time 15.938454 ms 
--------------------stamp1317357814.517076969
points size 104286 
mapping data assosiation time 24.071791 ms 
prepare time 16.166074 
sort q time 5.596924 
seperate points time 11.232131 
mapping solver time 33.503782 ms 
-----t: 0.0394982
OdomCount 507 & avg odom time 0.039274 ms ++++++++++++++++++++++
1317357814.517076969 WriteOdom laser_odom_to_init
mapping data assosiation time 23.777657 ms 
mapping solver time 15.684546 ms 
filter time 4.597708 ms 
map prepare time 2.502230 ms
map corner num 67533  surf num 23456 
points size 104297 
sort q time 6.765029 
seperate points time 13.025543 
scan registration time 32.975487 ms *************
mapping data assosiation time 26.219937 ms 
-----t: 0.0438202
OdomCount 508 & avg odom time 0.039283 ms ++++++++++++++++++++++
1317357814.620826959 WriteOdom laser_odom_to_init
1317357814.620826959 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.445813 ms 
mapping data assosiation time 21.764650 ms 
--------------------stamp1317357814.724554061
points size 104344 
map prepare time 2.404912 ms
map corner num 67951  surf num 23598 
scan registration time 31.101464 ms *************
publication time 10.008529 ms 
whole laserOdometry time 10.026038 ms 
 
mapping data assosiation time 25.906250 ms 
mapping solver time 17.126997 ms 
mapping data assosiation time 22.052699 ms 
points size 104287 
mapping solver time 19.879798 ms 
[0m[ INFO] [1718889328.670408130, 1317357814.852403243]: Received 92017 data points in frame camera_init with the following fields: x y z intensity[0m
-----t: 0.0380348
OdomCount 510 & avg odom time 0.039305 ms ++++++++++++++++++++++
build tree time 17.812445 ms 
1317357814.828279972 WriteOdom laser_odom_to_init
1317357814.828279972 WriteOdom aft_mapped_to_init_high_frec
publication time 17.585619 ms 
whole laserOdometry time 17.600635 ms 
 
mapping data assosiation time 25.204866 ms 
mapping solver time 22.964048 ms 
points size 104428 
mapping data assosiation time 25.632645 ms 
sort q time 5.756889 
seperate points time 13.341389 
scan registration time 35.308861 ms *************
filter time 6.524456 ms 
mapping pub time 2.411775 ms 
whole mapping time 128.075964 ms +++++
mappingCount 457 & avg mapping time 109.159769 ms ++++++++++++++++++++++
1317357814.724554062 WriteOdom aft_mapped_to_init
-----t: 0.0412509
OdomCount 511 & avg odom time 0.039309 ms ++++++++++++++++++++++
1317357814.932008028 WriteOdom laser_odom_to_init
publication time 10.099476 ms 
whole laserOdometry time 10.109107 ms 
 
build tree time 13.607867 ms 
mapping data assosiation time 20.730051 ms 
points size 104387 
prepare time 14.543430 
sort q time 5.813840 
seperate points time 13.391407 
publication time 8.029242 ms 
whole laserOdometry time 8.038996 ms 
 
mapping data assosiation time 26.676345 ms 
-----t: 0.0530192
OdomCount 512 & avg odom time 0.039335 ms ++++++++++++++++++++++
filter time 6.885163 ms 
map prepare time 3.118536 ms
map corner num 69101  surf num 23933 
--------------------stamp1317357815.139436006
points size 104449 
build tree time 18.549211 ms 
prepare time 13.293266 
sort q time 6.007050 
seperate points time 13.563374 
mapping data assosiation time 27.366756 ms 
publication time 10.526782 ms 
whole laserOdometry time 10.548301 ms 
 
mapping data assosiation time 23.127650 ms 
--------------------stamp1317357815.243185997
filter time 5.078026 ms 
sort q time 5.905023 
seperate points time 12.318404 
publication time 7.832321 ms 
whole laserOdometry time 7.847214 ms 
 
mapping solver time 27.000954 ms 
--------------------stamp1317357815.346915006
mapping data assosiation time 25.854739 ms 
prepare time 17.595259 
sort q time 5.846946 
seperate points time 13.286558 
-----t: 0.0372334
OdomCount 515 & avg odom time 0.039350 ms ++++++++++++++++++++++
1317357815.346915006 WriteOdom laser_odom_to_init
publication time 10.720229 ms 
whole laserOdometry time 10.837296 ms 
 
build tree time 15.944590 ms 
mapping data assosiation time 23.691397 ms 
--------------------stamp1317357815.450640916
points size 104132 
prepare time 12.974214 
mapping solver time 29.768380 ms 
mapping data assosiation time 26.044083 ms 
mapping solver time 25.439030 ms 
filter time 5.512887 ms 
mapping pub time 8.886491 ms 
whole mapping time 140.019997 ms +++++
mappingCount 461 & avg mapping time 109.382421 ms ++++++++++++++++++++++
1317357815.243185997 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.166314 ms
map corner num 70351  surf num 24303 
points size 103995 
sort q time 6.733498 
seperate points time 12.546009 
mapping data assosiation time 26.352928 ms 
publication time 9.071890 ms 
whole laserOdometry time 9.088404 ms 
 
-----t: 0.0458539
OdomCount 517 & avg odom time 0.039361 ms ++++++++++++++++++++++
mapping solver time 28.187029 ms 
mapping data assosiation time 27.483832 ms 
points size 103735 
filter time 6.983625 ms 
scan registration time 33.088799 ms *************
publication time 6.954805 ms 
whole laserOdometry time 6.967221 ms 
 
-----t: 0.0555242
OdomCount 518 & avg odom time 0.039392 ms ++++++++++++++++++++++
--------------------stamp1317357815.761892080
points size 103584 
prepare time 12.473472 
sort q time 6.011014 
seperate points time 13.764629 
mapping data assosiation time 26.453663 ms 
scan registration time 45.110929 ms *************
mapping solver time 28.240661 ms 
mapping optimization time 134.772285 
add points time 0.811643 ms
map prepare time 4.164208 ms
map corner num 71213  surf num 24529 
-----t: 0.0669406
OdomCount 519 & avg odom time 0.039446 ms ++++++++++++++++++++++
1317357815.761892080 WriteOdom laser_odom_to_init
1317357815.761892080 WriteOdom aft_mapped_to_init_high_frec
build tree time 18.560028 ms 
--------------------stamp1317357815.865668058
points size 103356 
mapping data assosiation time 25.277181 ms 
sort q time 5.834687 
seperate points time 13.062553 
mapping solver time 26.802987 ms 
publication time 8.579272 ms 
whole laserOdometry time 8.598012 ms 
 
mapping data assosiation time 23.777676 ms 
mapping solver time 15.489778 ms 
mapping optimization time 111.114930 
add points time 0.772143 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357815.969440937
points size 103383 
build tree time 14.874303 ms 
prepare time 13.202638 
scan registration time 30.015606 ms *************
publication time 12.271990 ms 
whole laserOdometry time 12.286584 ms 
 
-----t: 0.0409697
OdomCount 521 & avg odom time 0.039453 ms ++++++++++++++++++++++
mapping data assosiation time 22.576093 ms 
mapping solver time 17.076360 ms 
filter time 5.104024 ms 
mapping pub time 2.337201 ms 
whole mapping time 120.168046 ms +++++
mappingCount 465 & avg mapping time 109.581339 ms ++++++++++++++++++++++
1317357815.761892080 WriteOdom aft_mapped_to_init
points size 101853 
prepare time 13.406688 
sort q time 5.867475 
seperate points time 13.390856 
publication time 6.379926 ms 
whole laserOdometry time 6.389360 ms 
 
-----t: 0.0383075
OdomCount 522 & avg odom time 0.039451 ms ++++++++++++++++++++++
1317357816.073237895 WriteOdom laser_odom_to_init
1317357816.073237895 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.503632 ms 
--------------------stamp1317357816.177038908
mapping data assosiation time 22.334452 ms 
prepare time 15.544921 
sort q time 5.547331 
seperate points time 12.392453 
filter time 6.965906 ms 
map prepare time 3.609143 ms
map corner num 72587  surf num 24908 
publication time 11.445835 ms 
whole laserOdometry time 11.458647 ms 
 
-----t: 0.0474837
OdomCount 523 & avg odom time 0.039466 ms ++++++++++++++++++++++
mapping data assosiation time 22.879239 ms 
--------------------stamp1317357816.280862092
points size 98287 
sort q time 5.478710 
seperate points time 11.303101 
mapping data assosiation time 26.352830 ms 
-----t: 0.0466011
OdomCount 524 & avg odom time 0.039480 ms ++++++++++++++++++++++
mapping solver time 25.287422 ms 
mapping pub time 2.583571 ms 
whole mapping time 133.330054 ms +++++
mappingCount 467 & avg mapping time 109.694791 ms ++++++++++++++++++++++
1317357816.073237896 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.338199 ms
map corner num 73057  surf num 25051 
build tree time 13.701999 ms 
points size 97431 
mapping data assosiation time 27.785430 ms 
sort q time 5.639019 
seperate points time 13.084255 
mapping solver time 20.326757 ms 
-----t: 0.04736
OdomCount 525 & avg odom time 0.039495 ms ++++++++++++++++++++++
1317357816.384708881 WriteOdom laser_odom_to_init
1317357816.384708881 WriteOdom aft_mapped_to_init_high_frec
publication time 12.372999 ms 
whole laserOdometry time 12.388269 ms 
 
mapping solver time 17.297947 ms 
mapping optimization time 106.924658 
add points time 0.739877 ms
map prepare time 2.466584 ms
map corner num 73495  surf num 25157 
points size 97630 
build tree time 18.822955 ms 
prepare time 15.035384 
sort q time 6.431582 
seperate points time 14.918834 
mapping data assosiation time 25.886075 ms 
publication time 9.429727 ms 
whole laserOdometry time 9.484889 ms 
 
mapping solver time 26.820131 ms 
mapping data assosiation time 20.039335 ms 
--------------------stamp1317357816.592305898
points size 97639 
scan registration time 29.526108 ms *************
publication time 10.756866 ms 
whole laserOdometry time 10.772776 ms 
 
-----t: 0.0420562
OdomCount 527 & avg odom time 0.039514 ms ++++++++++++++++++++++
1317357816.592305898 WriteOdom laser_odom_to_init
1317357816.592305898 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.820498 ms 
--------------------stamp1317357816.696105003
points size 97760 
prepare time 17.926735 
sort q time 5.506897 
seperate points time 12.962126 
filter time 7.347536 ms 
mapping pub time 2.792184 ms 
whole mapping time 125.814106 ms +++++
mappingCount 470 & avg mapping time 109.767840 ms ++++++++++++++++++++++
1317357816.488508940 WriteOdom aft_mapped_to_init
scan registration time 36.601975 ms *************
map prepare time 2.409677 ms
map corner num 74499  surf num 25561 
publication time 9.179038 ms 
whole laserOdometry time 9.187856 ms 
 
build tree time 14.354070 ms 
mapping data assosiation time 20.912697 ms 
mapping solver time 21.803012 ms 
points size 97882 
prepare time 12.610724 
mapping data assosiation time 27.419540 ms 
scan registration time 28.650931 ms *************
mapping solver time 20.544176 ms 
mapping optimization time 106.379380 
add points time 0.730254 ms
publication time 22.722069 ms 
whole laserOdometry time 22.747237 ms 
 
1317357816.592305899 WriteOdom aft_mapped_to_init
map prepare time 3.783777 ms
map corner num 74959  surf num 25722 
build tree time 16.436502 ms 
-----t: 0.0835366
OdomCount 529 & avg odom time 0.039616 ms ++++++++++++++++++++++
sort q time 5.793178 
seperate points time 11.534379 
publication time 8.246708 ms 
whole laserOdometry time 8.261077 ms 
 
mapping data assosiation time 29.347181 ms 
-----t: 0.0465443
OdomCount 530 & avg odom time 0.039630 ms ++++++++++++++++++++++
1317357816.903677940 WriteOdom laser_odom_to_init
1317357816.903677940 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.026150 ms 
filter time 7.551043 ms 
points size 94282 
build tree time 19.754251 ms 
sort q time 5.064722 mapping data assosiation time 26.550274 ms 
publication time 7.374395 ms 
whole laserOdometry time 7.388557 ms 
 
mapping solver time 26.064699 ms 
mapping data assosiation time 20.658874 ms 
--------------------stamp1317357817.111252069
prepare time 10.858881 
map prepare time 2.991799 ms
map corner num 75769  surf num 26029 
build tree time 18.802342 ms 
-----t: 0.0406912
OdomCount 532 & avg odom time 0.039644 ms ++++++++++++++++++++++
mapping data assosiation time 25.439301 ms 
mapping solver time 21.567044 ms 
--------------------stamp1317357817.215049982
prepare time 11.486205 
sort q time 5.887842 
seperate points time 11.230326 
scan registration time 27.395722 ms *************
mapping solver time 25.583704 ms 
filter time 7.055419 ms 
map prepare time 3.272919 ms
map corner num 76287  surf num 26182 
build tree time 16.047660 ms 
mapping data assosiation time 20.184889 ms 
--------------------stamp1317357817.318850040
points size 88273 
prepare time 12.852356 
sort q time 4.964142 
seperate points time 11.368512 
publication time 7.907095 ms 
whole laserOdometry time 7.921432 ms 
 
-----t: 0.0345718
OdomCount 534 & avg odom time 0.039628 ms ++++++++++++++++++++++
1317357817.318850040 WriteOdom laser_odom_to_init
1317357817.318850040 WriteOdom aft_mapped_to_init_high_frec
filter time 6.310584 ms 
build tree time 17.747244 ms 
mapping data assosiation time 20.312799 ms 
points size 86907 
sort q time 4.905074 
seperate points time 11.595645 
mapping solver time 26.519283 ms 
publication time 7.974932 ms 
whole laserOdometry time 7.990454 ms 
 
mapping data assosiation time 27.700979 ms 
1317357817.422648906 WriteOdom laser_odom_to_init
1317357817.422648906 WriteOdom aft_mapped_to_init_high_frec
filter time 5.877212 ms 
[0m[ INFO] [1718889331.315885933, 1317357817.502189013]: Received 103615 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889331.315923433, 1317357817.502189013]: Data saved to 1317357817215049.pcd[0m
mapping pub time 3.128425 ms 
whole mapping time 122.954622 ms +++++
mappingCount 476 & avg mapping time 109.967775 ms ++++++++++++++++++++++
1317357817.215049982 WriteOdom aft_mapped_to_init
build tree time 17.956443 ms 
points size 84560 
mapping data assosiation time 27.250738 ms 
publication time 9.470407 ms 
whole laserOdometry time 9.483201 ms 
 
-----t: 0.0568465
OdomCount 536 & avg odom time 0.039668 ms ++++++++++++++++++++++
mapping solver time 15.130123 ms 
mapping optimization time 114.388207 
add points time 0.694179 ms
map prepare time 3.563279 ms
map corner num 77743  surf num 26547 
sort q time 4.658933 
seperate points time 10.235803 
publication time 9.220259 ms 
whole laserOdometry time 9.237090 ms 
 
-----t: 0.0414892
OdomCount 537 & avg odom time 0.039671 ms ++++++++++++++++++++++
1317357817.630247116 WriteOdom laser_odom_to_init
1317357817.630247116 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.145475 ms 
mapping data assosiation time 21.104046 ms 
--------------------stamp1317357817.734093904
points size 77649 
mapping solver time 26.527920 ms 
filter time 7.447307 ms 
mapping pub time 2.147908 ms 
whole mapping time 131.926306 ms +++++
mappingCount 478 & avg mapping time 110.044391 ms ++++++++++++++++++++++
1317357817.526448011 WriteOdom aft_mapped_to_init
map prepare time 2.889834 ms
map corner num 78252  surf num 26662 
publication time 7.574758 ms 
whole laserOdometry time 7.586943 ms 
 
build tree time 19.831081 ms 
-----t: 0.0473953
OdomCount 538 & avg odom time 0.039686 ms ++++++++++++++++++++++
1317357817.734093904 WriteOdom laser_odom_to_init
1317357817.734093904 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.499370 ms 
--------------------stamp1317357817.837939023
points size 75819 
sort q time 4.123683 
seperate points time 9.375280 
scan registration time 23.440369 ms *************
mapping data assosiation time 27.319937 ms 
mapping solver time 20.626015 ms 
filter time 5.804659 ms 
map prepare time 2.185655 ms
map corner num 78734  surf num 26803 
build tree time 18.099420 ms 
mapping data assosiation time 21.111769 ms 
points size 75051 
sort q time 4.041739 
seperate points time 10.106162 
publication time 7.632238 ms 
whole laserOdometry time 7.649229 ms 
 
-----t: 0.0322036
OdomCount 540 & avg odom time 0.039660 ms ++++++++++++++++++++++
1317357817.941785097 WriteOdom laser_odom_to_init
1317357817.941785097 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.860001 ms 
mapping solver time 16.525965 ms 
mapping optimization time 110.097251 
add points time 0.759967 ms
map prepare time 1.909443 ms
map corner num 79245  surf num 26917 
build tree time 15.781439 ms 
--------------------stamp1317357818.045680999
points size 74882 
sort q time 4.007296 
seperate points time 8.914893 
mapping solver time 25.328624 ms 
1317357818.045680999 WriteOdom laser_odom_to_init
mapping data assosiation time 24.586179 ms 
mapping solver time 19.312323 ms 
filter time 7.042708 ms 
--------------------stamp1317357818.149600982
prepare time 10.451327 
sort q time 4.488694 
seperate points time 9.146182 
mapping data assosiation time 21.820476 ms 
-----t: 0.0480093
OdomCount 542 & avg odom time 0.039673 ms ++++++++++++++++++++++
mapping solver time 28.978838 ms 
mapping data assosiation time 22.687172 ms 
points size 72824 
mapping solver time 25.376588 ms 
mapping optimization time 120.348626 
sort q time 4.120402 
seperate points time 9.686590 
add points time 0.748890 ms
scan registration time 23.763928 ms *************
filter time 7.497876 ms 
build tree time 19.317254 ms 
-----t: 0.0390125
OdomCount 543 & avg odom time 0.039672 ms ++++++++++++++++++++++
1317357818.253519058 WriteOdom laser_odom_to_init
1317357818.253519058 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.550620 ms 
mapping solver time 17.996210 ms 
--------------------stamp1317357818.357438087
prepare time 9.943686 
sort q time 4.898831 
seperate points time 9.349115 
mapping solver time 17.830188 ms 
mapping pub time 1.705839 ms 
whole mapping time 112.508507 ms +++++
mappingCount 483 & avg mapping time 110.195856 ms ++++++++++++++++++++++
1317357818.149600983 WriteOdom aft_mapped_to_init
publication time 7.866701 ms 
whole laserOdometry time 7.879153 ms 
 
map prepare time 3.006077 ms
map corner num 80768  surf num 27355 
-----t: 0.0304126
OdomCount 544 & avg odom time 0.039655 ms ++++++++++++++++++++++
1317357818.357438087 WriteOdom laser_odom_to_init
1317357818.357438087 WriteOdom aft_mapped_to_init_high_frec
build tree time 15.470522 ms 
mapping data assosiation time 18.595217 ms 
mapping solver time 21.902295 ms 
points size 71148 
prepare time 10.736383 
scan registration time 24.373269 ms *************
publication time 4.985452 ms 
whole laserOdometry time 5.002958 ms 
 
mapping optimization time 104.957122 
1317357818.461380958 WriteOdom laser_odom_to_init
1317357818.461380958 WriteOdom aft_mapped_to_init_high_frec
add points time 0.798926 ms
filter time 5.447770 ms 
build tree time 16.290449 ms 
mapping data assosiation time 20.186706 ms 
--------------------stamp1317357818.565372943
points size 70662 
sort q time 3.307825 
seperate points time 7.314705 
scan registration time 22.078668 ms *************
mapping data assosiation time 23.157019 ms 
mapping solver time 16.739292 ms 
mapping optimization time 99.359872 
add points time 0.754903 ms
-----t: 0.0632899
OdomCount 546 & avg odom time 0.039676 ms ++++++++++++++++++++++
build tree time 16.390649 ms 
points size 67684 
sort q time 3.670444 
seperate points time 7.695781 
mapping data assosiation time 22.907449 ms 
scan registration time 21.094575 ms *************
publication time 5.157112 ms 
whole laserOdometry time 5.170643 ms 
 
mapping solver time 24.289600 ms 
-----t: 0.0405954
OdomCount 547 & avg odom time 0.039678 ms ++++++++++++++++++++++
1317357818.669388055 WriteOdom laser_odom_to_init
1317357818.669388055 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.629229 ms 
mapping solver time 16.205991 ms 
mapping optimization time 101.470068 
add points time 0.612003 ms
--------------------stamp1317357818.773423910
points size 64489 
sort q time 3.531033 
seperate points time 8.097441 
mapping data assosiation time 22.384303 ms 
mapping solver time 24.876869 ms 
mapping data assosiation time 18.211091 ms 
mapping optimization time 103.169174 
mapping pub time 1.625935 ms 
whole mapping time 113.163216 ms +++++
mappingCount 487 & avg mapping time 110.221631 ms ++++++++++++++++++++++
points size 65610 
sort q time 3.478334 
seperate points time 8.740681 
publication time 6.932292 ms 
whole laserOdometry time 6.945971 ms 
 
-----t: 0.0372968
OdomCount 549 & avg odom time 0.039685 ms ++++++++++++++++++++++
mapping solver time 21.506675 ms 
mapping data assosiation time 18.828469 ms 
--------------------stamp1317357818.981599092
prepare time 9.646205 
map prepare time 2.432046 ms
map corner num 83422  surf num 28188 
scan registration time 27.134693 ms *************
publication time 12.054291 ms 
whole laserOdometry time 12.074730 ms 
 
mapping data assosiation time 20.452882 ms 
mapping solver time 21.569965 ms 
mapping data assosiation time 18.108092 ms 
points size 72704 
mapping optimization time 100.723932 
add points time 0.642491 ms
map prepare time 2.773612 ms
map corner num 84026  surf num 28317 
-----t: 0.0330253
OdomCount 551 & avg odom time 0.039665 ms ++++++++++++++++++++++
1317357819.085635900 WriteOdom laser_odom_to_init
build tree time 20.568211 ms 
1317357819.085635900 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.294078 ms 
mapping solver time 19.575811 ms 
--------------------stamp1317357819.189625978
prepare time 9.664922 
sort q time 4.039205 
seperate points time 9.261065 
mapping solver time 19.519308 ms 
filter time 8.032003 ms 
mapping pub time 1.588917 ms 
whole mapping time 109.082725 ms +++++
mappingCount 490 & avg mapping time 110.238122 ms ++++++++++++++++++++++
1317357818.981599092 WriteOdom aft_mapped_to_init
-----t: 0.0573921
OdomCount 552 & avg odom time 0.039697 ms ++++++++++++++++++++++
1317357819.189625978 WriteOdom laser_odom_to_init
1317357819.189625978 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.824481 ms 
sort q time 4.342499 
seperate points time 9.040324 
mapping solver time 18.371696 ms 
mapping optimization time 104.568437 
add points time 0.645667 ms
publication time 6.357854 ms 
whole laserOdometry time 6.374720 ms 
 
map prepare time 2.868829 ms
map corner num 85157  surf num 28628 
-----t: 0.0403472
OdomCount 553 & avg odom time 0.039698 ms ++++++++++++++++++++++
1317357819.293595075 WriteOdom laser_odom_to_init
1317357819.293595075 WriteOdom aft_mapped_to_init_high_frec
build tree time 18.899389 ms 
mapping data assosiation time 18.628177 ms 
--------------------stamp1317357819.397537946
points size 78718 
sort q time 4.209340 
seperate points time 9.645540 
scan registration time 23.852272 ms *************
mapping data assosiation time 22.563124 ms 
-----t: 0.0311616
OdomCount 554 & avg odom time 0.039683 ms ++++++++++++++++++++++
filter time 5.616526 ms 
build tree time 17.033634 ms 
mapping data assosiation time 18.535896 ms 
points size 82036 
sort q time 18.649752 
seperate points time 23.911516 
publication time 7.517400 ms 
whole laserOdometry time 7.532190 ms 
 
-----t: 0.0389655
OdomCount 555 & avg odom time 0.039682 ms ++++++++++++++++++++++
filter time 6.568322 ms 
map prepare time 2.070110 ms
map corner num 86411  surf num 28951 
build tree time 15.949957 ms 
--------------------stamp1317357819.605400085
points size 83526 
sort q time 4.180400 
seperate points time 10.332720 
publication time 21.869355 ms 
whole laserOdometry time 21.938572 ms 
 
mapping data assosiation time 42.931071 ms 
mapping solver time 33.902921 ms 
add points time 8.664625 ms
map prepare time 3.052161 ms
prepare time 33.935535 
build tree time 46.240081 ms 
sort q time 7.978093 
seperate points time 48.480578 
scan registration time 92.332349 ms *************
publication time 21.829706 ms 
whole laserOdometry time 21.845417 ms 
 
mapping data assosiation time 70.225217 ms 
mapping solver time 40.778890 ms 1317357819.709342002 WriteOdom laser_odom_to_init
mapping data assosiation time 36.682920 ms 
points size 88974 prepare time 49.381792 
-----t: 0.0621729
OdomCount 558 & avg odom time 0.039987 ms ++++++++++++++++++++++
sort q time 14.729169 mapping solver time 69.433413 ms mapping optimization time 294.197580 mapping pub time 2.530975 ms 
whole mapping time 328.167923 ms +++++
mappingCount 495 & avg mapping time 110.798444 ms ++++++++++++++++++++++
scan registration time 65.769516 ms *************
--------------------stamp1317357820.125067949
prepare time 10.962875 
sort q time 5.316120 
seperate points time 11.587732 
scan registration time 27.709269 ms *************
publication time 8.848186 ms 
whole laserOdometry time 8.863660 ms 
 
filter time 7.774893 ms 
-----t: 0.0650603
OdomCount 561 & avg odom time 0.040092 ms ++++++++++++++++++++++
build tree time 18.739584 ms 
--------------------stamp1317357820.228960990
mapping data assosiation time 19.080995 ms 
points size 98105 
prepare time 14.402345 
mapping solver time 24.491936 ms 
scan registration time 45.194232 ms *************
1317357820.228960990 WriteOdom laser_odom_to_init
1317357820.228960990 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.038067 ms 
mapping optimization time 107.979834 
add points time 0.712789 ms
map prepare time 2.688998 ms
map corner num 88663  surf num 29595 
--------------------stamp1317357820.332854986
points size 97018 
mapping solver time 25.795748 ms 
-----t: 0.0565786
OdomCount 563 & avg odom time 0.040130 ms ++++++++++++++++++++++
mapping data assosiation time 19.887908 ms 
mapping solver time 16.714998 ms 
filter time 7.177606 ms 
prepare time 12.647242 
sort q time 6.032074 
seperate points time 12.228682 
-----t: 0.0405203
OdomCount 564 & avg odom time 0.040131 ms ++++++++++++++++++++++
mapping solver time 22.691038 ms 
mapping data assosiation time 18.640297 ms 
--------------------stamp1317357820.540666103
points size 97324 
mapping pub time 2.285635 ms 
whole mapping time 108.570340 ms +++++
mappingCount 499 & avg mapping time 110.869641 ms ++++++++++++++++++++++
1317357820.332854986 WriteOdom aft_mapped_to_init
prepare time 14.503113 
map prepare time 2.813618 ms
map corner num 58799  surf num 19316 
sort q time 5.401928 
seperate points time 12.449367 
build tree time 14.170981 ms 
scan registration time 32.424338 ms *************
1317357820.540666103 WriteOdom laser_odom_to_init
1317357820.540666103 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.398513 ms 
mapping solver time 18.774096 ms 
mapping data assosiation time 17.694995 ms 
--------------------stamp1317357820.644560098
mapping pub time 2.219926 ms 
whole mapping time 98.054798 ms +++++
mappingCount 500 & avg mapping time 110.844021 ms ++++++++++++++++++++++
1317357820.436774015 WriteOdom aft_mapped_to_init
points size 96421 
scan registration time 34.744151 ms *************
publication time 9.328417 ms 
whole laserOdometry time 9.343900 ms 
 
mapping solver time 18.332609 ms 
mapping data assosiation time 18.403413 ms 
--------------------stamp1317357820.748456954
mapping solver time 15.126174 ms 
points size 94295 
mapping pub time 12.525303 ms 
whole mapping time 111.838206 ms +++++
mappingCount 501 & avg mapping time 110.846015 ms ++++++++++++++++++++++
scan registration time 28.801427 ms *************
build tree time 13.783189 ms 
publication time 8.525180 ms 
whole laserOdometry time 8.540672 ms 
 
mapping data assosiation time 21.270281 ms 
mapping solver time 28.072697 ms 
1317357820.748456954 WriteOdom laser_odom_to_init
mapping data assosiation time 21.007134 ms 
prepare time 13.467652 
sort q time 5.200833 
seperate points time 11.279293 
mapping solver time 23.503238 ms 
mapping optimization time 108.725539 
add points time 0.766597 ms
scan registration time 29.746662 ms *************
build tree time 13.656968 ms 
-----t: 0.0550566
OdomCount 568 & avg odom time 0.040211 ms ++++++++++++++++++++++
1317357820.852303981 WriteOdom laser_odom_to_init
1317357820.852303981 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.617117 ms 
--------------------stamp1317357820.956149101
points size 88735 
sort q time 5.207898 
seperate points time 10.908158 
mapping data assosiation time 23.828745 ms 
scan registration time 26.920210 ms *************
mapping solver time 23.352792 ms 
-----t: 0.0368154
OdomCount 569 & avg odom time 0.040205 ms ++++++++++++++++++++++
1317357820.956149101 WriteOdom laser_odom_to_init
filter time 6.052206 ms 
1317357820.956149101 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.079298 ms 
whole mapping time 120.600925 ms +++++
mappingCount 503 & avg mapping time 110.884819 ms ++++++++++++++++++++++
1317357820.748456955 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 11.905330 ms 
mapping data assosiation time 19.893669 ms 
--------------------stamp1317357821.060020923
points size 85451 
prepare time 11.403959 
mapping solver time 27.013166 ms 
mapping data assosiation time 23.101932 ms 
mapping solver time 22.071953 ms 
-----t: 0.0546475
OdomCount 570 & avg odom time 0.040230 ms ++++++++++++++++++++++
build tree time 11.177931 ms 
--------------------stamp1317357821.163893938
points size 81306 
sort q time 4.296520 
seperate points time 9.298169 
scan registration time 24.804142 ms *************
publication time 9.472118 ms 
whole laserOdometry time 9.488586 ms 
 
-----t: 0.0335283
OdomCount 571 & avg odom time 0.040218 ms ++++++++++++++++++++++
1317357821.163893938 WriteOdom laser_odom_to_init
mapping solver time 21.015415 ms 
mapping optimization time 103.290439 
add points time 0.673314 ms
filter time 5.006026 ms 
map prepare time 2.045618 ms
map corner num 61474  surf num 20111 
build tree time 11.934135 ms 
points size 77194 
mapping data assosiation time 23.759491 ms 
publication time 9.456692 ms 
whole laserOdometry time 9.471322 ms 
 
mapping solver time 26.804130 ms 
mapping data assosiation time 21.651447 ms 
mapping solver time 21.435255 ms 
[0m[ INFO] [1718889335.179765064, 1317357821.357747277]: Received 82162 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889335.179800593, 1317357821.357747277]: Data saved to 1317357821163893.pcd[0m
--------------------stamp1317357821.371634960
prepare time 10.896129 
sort q time 3.790767 
seperate points time 9.245542 
publication time 7.130268 ms 
whole laserOdometry time 7.139419 ms 
 
-----t: 0.0433782
OdomCount 573 & avg odom time 0.040277 ms ++++++++++++++++++++++
mapping data assosiation time 23.012163 ms 
--------------------stamp1317357821.475506067
filter time 4.324523 ms 
sort q time 3.451058 
seperate points time 8.142724 
build tree time 14.387801 ms 
-----t: 0.0458889
OdomCount 574 & avg odom time 0.040287 ms ++++++++++++++++++++++
1317357821.475506067 WriteOdom laser_odom_to_init
1317357821.475506067 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.570804 ms 
points size 73639 
map prepare time 2.701810 ms
map corner num 62860  surf num 20577 
publication time 6.761388 ms 
whole laserOdometry time 6.777577 ms 
 
build tree time 16.759586 ms 
mapping data assosiation time 23.569423 ms 
-----t: 0.0665268
OdomCount 575 & avg odom time 0.040333 ms ++++++++++++++++++++++
1317357821.579377889 WriteOdom laser_odom_to_init
1317357821.579377889 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.594512 ms 
points size 74543 
sort q time 4.167352 
seperate points time 9.270831 
publication time 6.617537 ms 
whole laserOdometry time 6.632398 ms 
 
mapping solver time 24.206211 ms 
mapping optimization time 115.440485 
add points time 0.650242 ms
-----t: 0.0293754
OdomCount 576 & avg odom time 0.040314 ms ++++++++++++++++++++++
build tree time 12.240144 ms 
mapping data assosiation time 19.996341 ms 
mapping solver time 20.353272 ms 
--------------------stamp1317357821.787189006
prepare time 9.615102 
scan registration time 22.506740 ms *************
publication time 6.798834 ms 
whole laserOdometry time 6.812434 ms 
 
mapping pub time 1.708861 ms 
whole mapping time 110.013264 ms +++++
mappingCount 510 & avg mapping time 110.958135 ms ++++++++++++++++++++++
-----t: 0.069554
OdomCount 577 & avg odom time 0.040364 ms ++++++++++++++++++++++
1317357821.787189006 WriteOdom laser_odom_to_init
1317357821.787189006 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.234607 ms
map corner num 63813  surf num 20845 
build tree time 12.784535 ms 
points size 72184 
mapping data assosiation time 22.762409 ms 
publication time 6.244909 ms 
whole laserOdometry time 6.258281 ms 
 
-----t: 0.0415752
OdomCount 578 & avg odom time 0.040366 ms ++++++++++++++++++++++
1317357821.891083002 WriteOdom laser_odom_to_init
1317357821.891083002 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.200261 ms 
[0m[ INFO] [1718889335.804711474, 1317357821.986876560]: Received 85362 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889335.804743961, 1317357821.986876560]: Data saved to 1317357821787189.pcd[0m
points size 73067 
sort q time 4.168138 
seperate points time 9.229288 
mapping data assosiation time 21.933782 ms 

mapping solver time 20.241616 ms 
mapping data assosiation time 18.290850 ms 
mapping solver time 14.067000 ms 
mapping pub time 1.741961 ms 
whole mapping time 101.857841 ms +++++
mappingCount 512 & avg mapping time 110.950284 ms ++++++++++++++++++++++
points size 76205 
sort q time 3.820763 
seperate points time 8.548855 
scan registration time 23.302008 ms *************
-----t: 0.0371248
OdomCount 580 & avg odom time 0.040349 ms ++++++++++++++++++++++
mapping solver time 23.615135 ms 
mapping data assosiation time 18.658736 ms 
mapping solver time 16.453055 ms 
mapping pub time 1.737765 ms 
whole mapping time 107.929393 ms +++++
mappingCount 513 & avg mapping time 110.944430 ms ++++++++++++++++++++++
points size 79013 
build tree time 16.413918 ms 
mapping data assosiation time 21.367667 ms 
mapping solver time 26.449877 ms 
1317357822.202816009 WriteOdom laser_odom_to_init
1317357822.202816009 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.707960 ms 
--------------------stamp1317357822.306734085
prepare time 10.152482 
1317357822.098897934 WriteOdom aft_mapped_to_init
sort q time 4.331238 
seperate points time 10.083216 
map prepare time 2.554233 ms
map corner num 65696  surf num 21383 
scan registration time 24.609140 ms *************
-----t: 0.0294789
OdomCount 582 & avg odom time 0.040364 ms ++++++++++++++++++++++
1317357822.306734085 WriteOdom laser_odom_to_init
1317357822.306734085 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.088570 ms 
mapping solver time 16.597606 ms 
--------------------stamp1317357822.410650968
points size 83710 
sort q time 4.400532 
seperate points time 10.700285 
publication time 7.102830 ms 
whole laserOdometry time 7.117922 ms 
 
mapping data assosiation time 22.957644 ms 
mapping solver time 16.617768 ms 
-----t: 0.0694994
OdomCount 583 & avg odom time 0.040414 ms ++++++++++++++++++++++
--------------------stamp1317357822.514547109
mapping pub time 2.902977 ms 
whole mapping time 99.287690 ms +++++
mappingCount 516 & avg mapping time 110.908020 ms ++++++++++++++++++++++
map prepare time 2.895708 ms
map corner num 66481  surf num 21615 
scan registration time 28.198234 ms *************
-----t: 0.0366132
OdomCount 584 & avg odom time 0.040407 ms ++++++++++++++++++++++
mapping solver time 26.113581 ms 
mapping data assosiation time 21.741442 ms 
points size 91085 
mapping solver time 16.711342 ms 
sort q time 4.978157 
seperate points time 11.479529 
publication time 7.969870 ms 
whole laserOdometry time 7.985051 ms 
 
mapping data assosiation time 21.387896 ms 
mapping solver time 25.228758 ms 
--------------------stamp1317357822.722335100
points size 93309 
sort q time 5.337883 
seperate points time 11.944344 
add points time 0.716516 ms
filter time 6.689489 ms 
publication time 13.260519 ms 
whole laserOdometry time 13.280603 ms 
 
-----t: 0.0459077
OdomCount 586 & avg odom time 0.040412 ms ++++++++++++++++++++++
1317357822.722335100 WriteOdom laser_odom_to_init
1317357822.722335100 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.029666 ms 
--------------------stamp1317357822.826208114
points size 92856 
mapping solver time 27.277372 ms 
sort q time 5.279254 
seperate points time 11.855136 
scan registration time 29.087618 ms *************
publication time 9.288634 ms 
whole laserOdometry time 9.344749 ms 
 
-----t: 0.0474229
OdomCount 587 & avg odom time 0.040424 ms ++++++++++++++++++++++
filter time 5.454052 ms 
1317357822.826208114 WriteOdom laser_odom_to_init
1317357822.826208114 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.134612 ms 
whole mapping time 120.442024 ms +++++
mappingCount 519 & avg mapping time 110.958105 ms ++++++++++++++++++++++
1317357822.618443012 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 16.897690 ms 
--------------------stamp1317357822.930079936
points size 93923 
prepare time 12.314899 
sort q time 6.193048 
seperate points time 11.577735 
publication time 7.045141 ms 
whole laserOdometry time 7.057574 ms 
 
mapping data assosiation time 21.439360 ms 
mapping solver time 17.821942 ms 
mapping pub time 2.100200 ms 
whole mapping time 116.232486 ms +++++
mappingCount 520 & avg mapping time 110.968253 ms ++++++++++++++++++++++
1317357822.722335100 WriteOdom aft_mapped_to_init
map prepare time 2.392802 ms
map corner num 67999  surf num 22060 
build tree time 12.562284 ms 
--------------------stamp1317357823.033925056
points size 95421 
sort q time 5.453867 
seperate points time 11.657227 
scan registration time 29.060752 ms *************
mapping solver time 26.397008 ms 
-----t: 0.0327654
OdomCount 589 & avg odom time 0.040418 ms ++++++++++++++++++++++
mapping data assosiation time 18.386134 ms 
mapping solver time 17.648615 ms 
[0m[ INFO] [1718889336.935721356, 1317357823.118109276]: Received 90757 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889336.935764338, 1317357823.118109276]: Data saved to 1317357822930079.pcd[0m
mapping pub time 12.265993 ms 
whole mapping time 118.259610 ms +++++
mappingCount 521 & avg mapping time 110.982257 ms ++++++++++++++++++++++
points size 95562 
sort q time 5.067542 
seperate points time 11.356146 
mapping solver time 22.815861 ms 
mapping data assosiation time 21.965942 ms 
mapping solver time 17.527428 ms 
filter time 6.979814 ms 
map prepare time 2.987609 ms
map corner num 68926  surf num 22297 
sort q time 4.990241 
seperate points time 11.582089 
publication time 8.195960 ms 
whole laserOdometry time 8.210355 ms 
 
mapping data assosiation time 22.271779 ms 
points size 92808 
filter time 6.555503 ms 
publication time 8.053159 ms 
whole laserOdometry time 8.067402 ms 
 
-----t: 0.0345412
OdomCount 592 & avg odom time 0.040428 ms ++++++++++++++++++++++
1317357823.345441102 WriteOdom laser_odom_to_init
1317357823.345441102 WriteOdom aft_mapped_to_init_high_frec
build tree time 18.969845 ms 
mapping data assosiation time 22.287528 ms 
mapping solver time 23.504756 ms 
--------------------stamp1317357823.449261903
points size 90552 
sort q time 5.308917 
seperate points time 12.029058 
filter time 6.306724 ms 
build tree time 17.937408 ms 
--------------------stamp1317357823.553064107
points size 89817 
mapping data assosiation time 18.998142 ms 
mapping solver time 16.462549 ms 
-----t: 0.0349129
OdomCount 594 & avg odom time 0.040404 ms ++++++++++++++++++++++
build tree time 14.475058 ms 
mapping data assosiation time 17.361342 ms 
mapping solver time 18.223805 ms 
points size 89727 
mapping data assosiation time 20.016004 ms 
publication time 8.280180 ms 
whole laserOdometry time 8.314985 ms 
filter time 5.140685 ms 
map prepare time 2.713744 ms
map corner num 69557  surf num 21836 
build tree time 17.557815 ms 
mapping data assosiation time 20.634392 ms 
--------------------stamp1317357823.760660886
points size 89686 
prepare time 11.476117 
sort q time 5.057430 
seperate points time 11.560642 
mapping data assosiation time 20.723122 ms 
publication time 8.925776 ms 
whole laserOdometry time 8.937853 ms 
 
-----t: 0.0456868
OdomCount 596 & avg odom time 0.040394 ms ++++++++++++++++++++++
1317357823.760660886 WriteOdom laser_odom_to_init
1317357823.760660886 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.481124 ms 
mapping optimization time 108.324636 
add points time 0.575032 ms
1317357823.656863928 WriteOdom aft_mapped_to_init
build tree time 17.936153 ms 
--------------------stamp1317357823.864435911
points size 90258 
sort q time 5.249353 
seperate points time 11.366424 
scan registration time 27.130416 ms *************
mapping data assosiation time 20.511678 ms 
publication time 9.267725 ms 
whole laserOdometry time 9.283457 ms 
 
mapping solver time 19.430748 ms 
mapping pub time 1.966035 ms 
whole mapping time 111.309795 ms +++++
mappingCount 528 & avg mapping time 111.021237 ms ++++++++++++++++++++++
build tree time 13.174833 ms 
--------------------stamp1317357823.968235015
points size 90976 
sort q time 5.004971 
seperate points time 11.447087 
mapping data assosiation time 17.686488 ms 
mapping optimization time 88.895444 
add points time 0.575297 ms
filter time 6.000023 ms 
build tree time 16.282545 ms 
points size 92735 
prepare time 11.648164 
mapping data assosiation time 17.087780 ms 
sort q time 5.234584 
seperate points time 11.893628 
-----t: 0.0313071
OdomCount 599 & avg odom time 0.040393 ms ++++++++++++++++++++++
mapping data assosiation time 20.261807 ms 
mapping solver time 12.811816 ms 
mapping pub time 2.103612 ms 
whole mapping time 95.787337 ms +++++
mappingCount 530 & avg mapping time 110.971345 ms ++++++++++++++++++++++
build tree time 13.422328 ms 
--------------------stamp1317357824.175807952
points size 92385 
mapping solver time 16.795444 ms 
mapping data assosiation time 19.310292 ms 
-----t: 0.0413469
OdomCount 600 & avg odom time 0.040394 ms ++++++++++++++++++++++
1317357824.175807952 WriteOdom laser_odom_to_init
1317357824.175807952 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.915818 ms 
mapping optimization time 82.079013 
add points time 0.547407 ms
mapping pub time 7.156213 ms 
whole mapping time 97.999304 ms +++++
mappingCount 531 & avg mapping time 110.946922 ms ++++++++++++++++++++++
map prepare time 2.835778 ms
map corner num 71221  surf num 22186 
build tree time 14.662731 ms 
--------------------stamp1317357824.279583930
prepare time 12.199132 
sort q time 5.454691 
seperate points time 11.764190 
publication time 8.253959 ms 
whole laserOdometry time 8.287929 ms 
 
mapping solver time 16.979806 ms 
mapping pub time 2.037802 ms 
whole mapping time 103.554449 ms +++++
mappingCount 532 & avg mapping time 110.933033 ms ++++++++++++++++++++++
build tree time 12.938777 ms 
--------------------stamp1317357824.383359909
points size 88864 
mapping solver time 20.893307 ms 
mapping data assosiation time 20.232779 ms 
mapping solver time 17.613459 ms 
mapping optimization time 88.180465 
add points time 0.559196 ms
-----t: 0.0619466
OdomCount 602 & avg odom time 0.040421 ms ++++++++++++++++++++++
build tree time 14.016900 ms 
points size 88355 
mapping data assosiation time 20.251650 ms 
prepare time 14.801056 
sort q time 4.632085 
seperate points time 10.993142 
mapping solver time 41.291577 ms 
mapping data assosiation time 17.642050 ms 
mapping solver time 13.823975 ms 
mapping pub time 2.112282 ms 
whole mapping time 117.636699 ms +++++
mappingCount 534 & avg mapping time 110.921107 ms ++++++++++++++++++++++
--------------------stamp1317357824.590907096
points size 88032 
sort q time 5.479859 
seperate points time 10.531037 
publication time 6.988092 ms 
whole laserOdometry time 7.004894 ms 
 
mapping data assosiation time 16.194968 ms 
mapping solver time 11.503595 ms 
mapping optimization time 84.842289 
add points time 0.543790 ms
--------------------stamp1317357824.694680929
points size 89119 
mapping data assosiation time 18.730206 ms 
publication time 5.534448 ms 
whole laserOdometry time 5.553046 ms 
 
mapping data assosiation time 16.524324 ms 
mapping solver time 11.307854 ms 
filter time 4.710593 ms 
[0m[ INFO] [1718889338.585373113, 1317357824.765637237]: Received 95284 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889338.585420586, 1317357824.765637237]: Data saved to 1317357824590907.pcd[0m
mapping pub time 3.032364 ms 
whole mapping time 90.991858 ms +++++
mappingCount 536 & avg mapping time 110.852586 ms ++++++++++++++++++++++
1317357824.590907097 WriteOdom aft_mapped_to_init
build tree time 13.622351 ms 
mapping data assosiation time 17.612672 ms 
sort q time 5.396364 
seperate points time 10.504396 
publication time 6.684233 ms 
whole laserOdometry time 6.714031 ms 
 
mapping solver time 19.902173 ms 
-----t: 0.0625495
OdomCount 606 & avg odom time 0.040427 ms ++++++++++++++++++++++
build tree time 13.091620 ms 
points size 88386 
sort q time 4.844979 
seperate points time 11.113993 
mapping solver time 23.816881 ms 
mapping data assosiation time 19.911656 ms 
mapping solver time 17.464244 ms 
filter time 6.365556 ms 
build tree time 12.814337 ms 
points size 86851 
sort q time 4.415132 
seperate points time 9.225302 
mapping solver time 19.112553 ms 
publication time 8.526041 ms 
whole laserOdometry time 8.543056 ms 
 
-----t: 0.0489609
OdomCount 608 & avg odom time 0.040451 ms ++++++++++++++++++++++
1317357825.006078958 WriteOdom laser_odom_to_init
1317357825.006078958 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 12.205929 ms 
mapping optimization time 83.128776 
add points time 0.579546 ms
map prepare time 2.377300 ms
map corner num 73745  surf num 22819 
build tree time 16.086107 ms 
--------------------stamp1317357825.109875917
mapping data assosiation time 18.668896 ms 
prepare time 10.719994 
mapping solver time 17.908789 ms 
publication time 8.159345 ms 
whole laserOdometry time 8.174385 ms 
 
mapping data assosiation time 16.766285 ms 
-----t: 0.0393357
OdomCount 609 & avg odom time 0.040450 ms ++++++++++++++++++++++
mapping optimization time 85.956508 
add points time 0.598597 ms
filter time 5.291110 ms 
build tree time 15.352703 ms 
--------------------stamp1317357825.213674068
points size 81422 
mapping solver time 20.642392 ms 
mapping data assosiation time 17.351087 ms 
mapping optimization time 85.310499 
add points time 0.587001 ms
filter time 6.006375 ms 
mapping pub time 13.896873 ms 
whole mapping time 107.902138 ms +++++
mappingCount 541 & avg mapping time 110.765099 ms ++++++++++++++++++++++
1317357825.109875917 WriteOdom aft_mapped_to_init
map prepare time 2.311037 ms
map corner num 74390  surf num 23007 
build tree time 16.108448 ms 
points size 76220 
sort q time 4.410645 
seperate points time 10.211822 
publication time 8.770917 ms 
whole laserOdometry time 8.802727 ms 
 
mapping solver time 16.857164 ms 
mapping pub time 1.831689 ms 
whole mapping time 99.850667 ms +++++
mappingCount 542 & avg mapping time 110.744968 ms ++++++++++++++++++++++
build tree time 15.543483 ms 
--------------------stamp1317357825.421392917
prepare time 10.963307 
sort q time 3.715678 
seperate points time 9.094423 
mapping solver time 23.183777 ms 
publication time 8.838104 ms 
whole laserOdometry time 8.850975 ms 
 
-----t: 0.0391635
OdomCount 612 & avg odom time 0.040431 ms ++++++++++++++++++++++
mapping solver time 12.535620 ms 
mapping pub time 1.656377 ms 
whole mapping time 102.151077 ms +++++
mappingCount 543 & avg mapping time 110.729147 ms ++++++++++++++++++++++
build tree time 18.179290 ms 
--------------------stamp1317357825.525262117
mapping data assosiation time 19.095923 ms 
sort q time 3.958042 
seperate points time 8.511375 
mapping solver time 19.678806 ms 
publication time 9.597535 ms 
whole laserOdometry time 9.612304 ms 
 
mapping data assosiation time 19.823199 ms 
mapping solver time 11.828310 ms 
map prepare time 1.940716 ms
map corner num 75615  surf num 23320 
build tree time 14.485789 ms 
--------------------stamp1317357825.629111051
prepare time 9.233636 
scan registration time 21.283464 ms *************
publication time 6.068530 ms 
whole laserOdometry time 6.100549 ms 
 
mapping data assosiation time 18.510547 ms 
mapping solver time 16.198571 ms 
mapping pub time 1.541720 ms 
whole mapping time 100.802675 ms +++++
mappingCount 545 & avg mapping time 110.689434 ms ++++++++++++++++++++++
build tree time 9.184462 ms 
--------------------stamp1317357825.732959032
points size 63280 
sort q time 3.432436 
seperate points time 7.680940 
publication time 6.367506 ms 
whole laserOdometry time 6.380897 ms 
 
mapping solver time 16.001647 ms 
map prepare time 1.734073 ms
map corner num 48844  surf num 14940 
build tree time 10.399992 ms 
mapping data assosiation time 17.938178 ms 
points size 62018 
mapping solver time 25.271787 ms 
sort q time 8.772187 
seperate points time 13.708461 
scan registration time 39.814157 ms *************publication time 6.409346 ms 
whole laserOdometry time 6.421611 ms 
 
mapping solver time 25.598291 ms 
mapping optimization time 99.070942 
add points time 0.593461 ms
filter time 4.487994 ms 
mapping pub time 1.464591 ms 
whole mapping time 107.386293 ms +++++
mappingCount 547 & avg mapping time 110.657458 ms ++++++++++++++++++++++
1317357825.732959032 WriteOdom aft_mapped_to_init
map prepare time 2.134420 ms
map corner num 49306  surf num 15037 
build tree time 10.555995 ms 
--------------------stamp1317357825.940654039
sort q time 3.783149 
seperate points time 8.158888 
mapping solver time 24.201611 ms 
-----t: 0.0383433
OdomCount 617 & avg odom time 0.040436 ms ++++++++++++++++++++++
mapping solver time 19.715956 ms 
mapping optimization time 93.804171 
add points time 0.598947 ms
filter time 3.451460 ms 
build tree time 9.128358 ms 
--------------------stamp1317357826.044523954
prepare time 9.694669 
scan registration time 19.636948 ms *************
publication time 11.763112 ms 
whole laserOdometry time 11.784076 ms 
 
-----t: 0.0467855
OdomCount 618 & avg odom time 0.040447 ms ++++++++++++++++++++++
mapping pub time 1.377993 ms 
whole mapping time 91.697697 ms +++++
mappingCount 549 & avg mapping time 110.606280 ms ++++++++++++++++++++++
build tree time 10.275314 ms 
mapping data assosiation time 16.680824 ms 
points size 56924 
mapping solver time 22.054059 ms 
sort q time 3.243576 
seperate points time 6.910174 
scan registration time 18.021046 ms *************
publication time 6.709885 ms 
whole laserOdometry time 6.743842 ms 
 
-----t: 0.0364438
OdomCount 619 & avg odom time 0.040440 ms ++++++++++++++++++++++
1317357826.148391962 WriteOdom laser_odom_to_init
1317357826.148391962 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.212016 ms 
mapping optimization time 87.896091 
add points time 0.575696 ms
map prepare time 1.628787 ms
map corner num 50849  surf num 15442 
build tree time 10.723171 ms 
mapping data assosiation time 16.402275 ms 
--------------------stamp1317357826.252280950
sort q time 2.377239 
seperate points time 5.901685 
mapping data assosiation time 17.756140 ms 
mapping solver time 12.461571 ms 
mapping optimization time 78.631280 
add points time 0.578207 ms
-----t: 0.0264238
OdomCount 620 & avg odom time 0.040418 ms ++++++++++++++++++++++
1317357826.252280950 WriteOdom laser_odom_to_init
1317357826.252280950 WriteOdom aft_mapped_to_init_high_frec
filter time 3.783946 ms 
[0m[ INFO] [1718889340.110613689, 1317357826.294783752]: Received 66836 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889340.110645557, 1317357826.294783752]: Data saved to 1317357826148391.pcd[0m
mapping pub time 1.950467 ms 
whole mapping time 86.620692 ms +++++
mappingCount 551 & avg mapping time 110.534566 ms ++++++++++++++++++++++
1317357826.148391962 WriteOdom aft_mapped_to_init
build tree time 10.847090 ms 
mapping data assosiation time 16.722818 ms 
mapping solver time 15.617207 ms 
--------------------stamp1317357826.356200933
sort q time 3.170298 
seperate points time 6.414977 
scan registration time 13.940227 ms *************
publication time 8.045841 ms 
whole laserOdometry time 8.055510 ms 
 
filter time 5.021624 ms 
mapping pub time 1.294973 ms 
whole mapping time 91.788826 ms +++++
mappingCount 552 & avg mapping time 110.500616 ms ++++++++++++++++++++++
1317357826.252280951 WriteOdom aft_mapped_to_init
build tree time 10.136994 ms 
mapping data assosiation time 16.692047 ms 
mapping solver time 19.185655 ms 
--------------------stamp1317357826.460171937
prepare time 9.772383 
scan registration time 20.401652 ms *************
filter time 4.912725 ms 
map prepare time 1.536032 ms
map corner num 52046  surf num 15718 
build tree time 9.237848 ms 
mapping data assosiation time 17.367596 ms 
mapping solver time 18.650256 ms 
--------------------stamp1317357826.564187049
mapping data assosiation time 17.935083 ms 
filter time 4.937394 ms 
publication time 5.063911 ms 
whole laserOdometry time 5.078915 ms 
 
-----t: 0.0245367
OdomCount 623 & avg odom time 0.040346 ms ++++++++++++++++++++++
build tree time 10.787729 ms 
mapping data assosiation time 15.187876 ms 
mapping solver time 18.775648 ms 
--------------------stamp1317357826.668203115
points size 60737 
sort q time 3.061909 
seperate points time 7.696588 
add points time 0.707405 ms
-----t: 0.0237991
OdomCount 624 & avg odom time 0.040320 ms ++++++++++++++++++++++
build tree time 10.125481 ms 
mapping data assosiation time 16.142479 ms 
mapping solver time 18.968550 ms 
--------------------stamp1317357826.772239923
prepare time 8.329433 
filter time 4.299110 ms 
publication time 5.221567 ms 
whole laserOdometry time 5.243023 ms 
 
-----t: 0.0321505
OdomCount 625 & avg odom time 0.040307 ms ++++++++++++++++++++++
build tree time 9.768387 ms 
mapping data assosiation time 17.090989 ms 
mapping solver time 19.495706 ms 
points size 60878 
sort q time 2.952872 
seperate points time 6.893970 
scan registration time 19.842637 ms *************
filter time 3.648454 ms 
-----t: 0.0398168
OdomCount 626 & avg odom time 0.040306 ms ++++++++++++++++++++++
1317357826.876277923 WriteOdom laser_odom_to_init
1317357826.876277923 WriteOdom aft_mapped_to_init_high_frec
build tree time 12.292468 ms 
mapping data assosiation time 17.255278 ms 
--------------------stamp1317357826.980293035
points size 60363 
mapping solver time 20.884271 ms 
prepare time 10.161771 
mapping data assosiation time 18.717583 ms 
publication time 4.820601 ms 
whole laserOdometry time 4.858766 ms 
 
1317357826.980293035 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.579988 ms
map corner num 54033  surf num 16232 
build tree time 11.259449 ms 
mapping data assosiation time 15.531025 ms 
mapping solver time 13.920495 ms 
--------------------stamp1317357827.084307909
mapping data assosiation time 18.028041 ms 
mapping solver time 11.963505 ms 
-----t: 0.0313018
OdomCount 628 & avg odom time 0.040272 ms ++++++++++++++++++++++
1317357827.084307909 WriteOdom laser_odom_to_init
1317357827.084307909 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.801715 ms
map corner num 54412  surf num 16328 
build tree time 11.372266 ms 
mapping data assosiation time 16.030191 ms 
mapping solver time 14.337868 ms 
--------------------stamp1317357827.188301086
prepare time 10.143864 
sort q time 3.161719 
seperate points time 7.970453 
filter time 5.258334 ms 
-----t: 0.0249802
OdomCount 629 & avg odom time 0.040247 ms ++++++++++++++++++++++
1317357827.188301086 WriteOdom laser_odom_to_init
1317357827.188301086 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.901519 ms
map corner num 54781  surf num 16445 
build tree time 11.237398 ms 
mapping data assosiation time 15.055813 ms 
mapping solver time 18.207183 ms 
--------------------stamp1317357827.292243003
sort q time 3.790576 
seperate points time 8.193298 
[0m[ INFO] [1718889341.134636963, 1317357827.313566875]: Received 71710 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889341.134730397, 1317357827.313566875]: Data saved to 1317357827188301.pcd[0m
-----t: 0.0253413
OdomCount 630 & avg odom time 0.040224 ms ++++++++++++++++++++++
publication time 11.774551 ms 
whole laserOdometry time 11.786475 ms 
 
map prepare time 1.880259 ms
map corner num 55161  surf num 16549 
build tree time 10.292314 ms 
mapping data assosiation time 15.471954 ms 
mapping solver time 18.247639 ms 
--------------------stamp1317357827.396181106
sort q time 3.192224 
seperate points time 7.147299 
filter time 5.302908 ms 
publication time 5.658392 ms 
whole laserOdometry time 5.672624 ms 
 
map prepare time 1.960095 ms
map corner num 55546  surf num 16674 
build tree time 11.591408 ms 
mapping data assosiation time 14.940051 ms 
mapping solver time 17.502403 ms 
--------------------stamp1317357827.500124931
mapping solver time 22.278678 ms 
-----t: 0.0425401
OdomCount 632 & avg odom time 0.040207 ms ++++++++++++++++++++++
build tree time 14.058108 ms 
mapping data assosiation time 17.336367 ms 
points size 66678 
sort q time 3.247698 
seperate points time 8.118941 
publication time 6.427460 ms 
whole laserOdometry time 6.469212 ms 
 
filter time 3.750294 ms 
build tree time 10.781007 ms 
mapping data assosiation time 15.413939 ms 
mapping solver time 13.109467 ms 
--------------------stamp1317357827.707894086
mapping data assosiation time 16.356322 ms 
mapping solver time 11.287141 ms 
publication time 5.903976 ms 
whole laserOdometry time 5.916403 ms 
 
1317357827.707894086 WriteOdom laser_odom_to_init
1317357827.707894086 WriteOdom aft_mapped_to_init_high_frec
build tree time 11.517088 ms 
mapping data assosiation time 15.914218 ms 
mapping solver time 18.153469 ms 
--------------------stamp1317357827.811764001
prepare time 9.577736 
sort q time 3.670746 
seperate points time 8.760425 
publication time 6.550471 ms 
whole laserOdometry time 6.561516 ms 
 
-----t: 0.0262759
OdomCount 635 & avg odom time 0.040148 ms ++++++++++++++++++++++
1317357827.811764001 WriteOdom laser_odom_to_init
1317357827.811764001 WriteOdom aft_mapped_to_init_high_frec
build tree time 14.383193 ms 
mapping data assosiation time 18.848659 ms 
mapping solver time 17.542487 ms 
--------------------stamp1317357827.915610074
prepare time 11.365896 
sort q time 4.322179 
seperate points time 9.293904 
filter time 6.700801 ms 
mapping pub time 1.730783 ms 
whole mapping time 96.160384 ms +++++
mappingCount 567 & avg mapping time 109.954563 ms ++++++++++++++++++++++
1317357827.811764002 WriteOdom aft_mapped_to_init
1317357827.915610074 WriteOdom laser_odom_to_init
1317357827.915610074 WriteOdom aft_mapped_to_init_high_frec
build tree time 12.608555 ms 
mapping data assosiation time 15.927274 ms 
--------------------stamp1317357828.019412040
prepare time 9.565411 
sort q time 4.814315 
seperate points time 9.045854 
scan registration time 21.912296 ms *************
mapping data assosiation time 18.969754 ms 
publication time 5.970619 ms mapping pub time 1.703515 ms 
whole mapping time 90.494905 ms +++++
mappingCount 568 & avg mapping time 109.920311 ms ++++++++++++++++++++++
-----t: 0.0468856
OdomCount 637 & avg odom time 0.040165 ms ++++++++++++++++++++++
build tree time 11.153908 ms 
mapping data assosiation time 14.855055 ms 
points size 72914 
sort q time 4.197724 
seperate points time 8.445245 
mapping data assosiation time 18.245056 ms 
publication time 5.031675 ms 
whole laserOdometry time 5.046981 ms 
 
mapping solver time 16.967343 ms 
mapping optimization time 81.252580 
add points time 0.721011 ms
-----t: 0.0352087
OdomCount 638 & avg odom time 0.040157 ms ++++++++++++++++++++++
1317357828.123186111 WriteOdom laser_odom_to_init
1317357828.123186111 WriteOdom aft_mapped_to_init_high_frec
filter time 4.548780 ms 
build tree time 10.257950 ms 
mapping data assosiation time 14.387883 ms 
mapping solver time 13.596753 ms 
--------------------stamp1317357828.226934909
mapping data assosiation time 16.994968 ms 
sort q time 3.872972 
seperate points time 8.739885 
mapping pub time 1.724921 ms 
whole mapping time 78.752671 ms +++++
mappingCount 570 & avg mapping time 109.831418 ms ++++++++++++++++++++++
-----t: 0.0267611
OdomCount 639 & avg odom time 0.040136 ms ++++++++++++++++++++++
build tree time 10.915931 ms 
mapping data assosiation time 14.530677 ms 
mapping solver time 13.064923 ms 
mapping data assosiation time 16.225344 ms 
points size 72529 
prepare time 9.694223 
mapping solver time 13.620699 ms 
mapping optimization time 69.249391 
add points time 0.722543 ms
publication time 6.647387 ms 
whole laserOdometry time 6.658746 ms 
 
-----t: 0.0361363
OdomCount 640 & avg odom time 0.040130 ms ++++++++++++++++++++++
build tree time 11.077539 ms 
mapping data assosiation time 15.244480 ms 
mapping solver time 12.943318 ms 
points size 72775 
sort q time 9.671575 
seperate points time 14.434301 
scan registration time 29.085943 ms *************
add points time 0.675818 ms
filter time 6.087237 ms 
-----t: 0.0258115
OdomCount 641 & avg odom time 0.040108 ms ++++++++++++++++++++++
publication time 5.111955 ms 
whole laserOdometry time 5.125545 ms 
 
build tree time 11.042302 ms 
mapping data assosiation time 15.596834 ms 
mapping solver time 14.405236 ms 
--------------------stamp1317357828.538187980
prepare time 10.466013 
mapping data assosiation time 18.900271 ms 
mapping solver time 17.888436 ms 
-----t: 0.0349739
OdomCount 642 & avg odom time 0.040100 ms ++++++++++++++++++++++
1317357828.538187980 WriteOdom laser_odom_to_init
1317357828.538187980 WriteOdom aft_mapped_to_init_high_frec
publication time 21.604105 ms 
whole laserOdometry time 21.617427 ms 
 
build tree time 11.335590 ms 
mapping data assosiation time 16.311077 ms 
--------------------stamp1317357828.641961097
prepare time 10.372784 
sort q time 3.942153 
seperate points time 8.944373 
publication time 5.516660 ms 
whole laserOdometry time 5.533499 ms 
 
mapping solver time 18.265330 ms 
mapping optimization time 85.577258 
add points time 0.674130 ms
-----t: 0.0269411
OdomCount 643 & avg odom time 0.040079 ms ++++++++++++++++++++++
1317357828.641961097 WriteOdom laser_odom_to_init
1317357828.641961097 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.990668 ms
map corner num 59670  surf num 19004 
build tree time 13.704179 ms 
mapping data assosiation time 17.395888 ms 
mapping solver time 14.820257 ms 
points size 68594 
mapping data assosiation time 21.145136 ms 
mapping solver time 13.854644 ms 
-----t: 0.025803
OdomCount 644 & avg odom time 0.040057 ms ++++++++++++++++++++++
1317357828.745738029 WriteOdom laser_odom_to_init
1317357828.745738029 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.736978 ms
map corner num 60051  surf num 19309 
build tree time 12.420570 ms 
mapping data assosiation time 18.127206 ms 
mapping solver time 18.303803 ms 
points size 67479 
mapping data assosiation time 21.024224 ms 
publication time 5.660264 ms 
whole laserOdometry time 5.677058 ms 
 
mapping solver time 18.614828 ms 
mapping optimization time 89.446232 
add points time 0.673904 ms
-----t: 0.0371704
OdomCount 645 & avg odom time 0.040053 ms ++++++++++++++++++++++
build tree time 12.639938 ms 
mapping data assosiation time 18.501575 ms 
--------------------stamp1317357828.953284978
points size 66697 
sort q time 3.439826 
seperate points time 8.552982 
-----t: 0.0358541
OdomCount 646 & avg odom time 0.040046 ms ++++++++++++++++++++++
1317357828.953284978 WriteOdom laser_odom_to_init
mapping solver time 24.688168 ms 
mapping optimization time 97.698051 
map prepare time 1.959603 ms
map corner num 60850  surf num 19839 
build tree time 12.832012 ms 
mapping data assosiation time 19.213498 ms 
points size 65580 
sort q time 13.261840 
seperate points time 18.117619 
publication time 7.229143 ms 
whole laserOdometry time 7.240603 ms 
 
mapping solver time 19.144814 ms 
map prepare time 2.113876 ms
map corner num 61308  surf num 20178 
build tree time 12.128918 ms 
mapping data assosiation time 18.757435 ms 
points size 65080 
sort q time 3.473392 
seperate points time 8.699264 
mapping data assosiation time 21.484911 ms 
mapping solver time 14.958491 ms 
filter time 6.261637 ms 
mapping pub time 1.459667 ms 
whole mapping time 96.016539 ms +++++
mappingCount 579 & avg mapping time 109.604655 ms ++++++++++++++++++++++
1317357829.057086945 WriteOdom aft_mapped_to_init
map prepare time 2.060511 ms
map corner num 61796  surf num 20530 
build tree time 11.840126 ms 
mapping data assosiation time 17.502838 ms 
--------------------stamp1317357829.264683008
prepare time 10.294947 
mapping data assosiation time 23.353879 ms 
mapping solver time 13.169116 ms 
mapping pub time 1.505110 ms 
whole mapping time 93.266454 ms +++++
mappingCount 580 & avg mapping time 109.576498 ms ++++++++++++++++++++++
-----t: 0.0432618
OdomCount 649 & avg odom time 0.040057 ms ++++++++++++++++++++++
map prepare time 1.919612 ms
map corner num 62232  surf num 20798 
build tree time 14.764677 ms 
--------------------stamp1317357829.368480920
prepare time 9.288188 
sort q time 3.705728 
seperate points time 8.602449 
publication time 6.712157 ms 
whole laserOdometry time 6.740028 ms 
 
mapping data assosiation time 23.833173 ms 
-----t: 0.0312469
OdomCount 650 & avg odom time 0.040044 ms ++++++++++++++++++++++
1317357829.368480920 WriteOdom laser_odom_to_init
1317357829.368480920 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.898851 ms 
mapping optimization time 97.582747 
add points time 0.718830 ms
filter time 5.461826 ms 
build tree time 14.481348 ms 
--------------------stamp1317357829.472255945
points size 66468 
sort q time 7.853166 
seperate points time 13.835446 
mapping data assosiation time 33.665376 ms 
mapping solver time 12.450031 ms 
filter time 5.457766 ms 
mapping pub time 1.536453 ms 
whole mapping time 115.318297 ms +++++
mappingCount 582 & avg mapping time 109.595496 ms ++++++++++++++++++++++
1317357829.368480921 WriteOdom aft_mapped_to_init
map prepare time 2.013095 ms
map corner num 63216  surf num 21575 
--------------------stamp1317357829.576030969
points size 67356 
sort q time 3.780773 
seperate points time 9.773722 
mapping data assosiation time 25.602442 ms 
mapping solver time 25.141290 ms 
mapping data assosiation time 20.696444 ms 
mapping solver time 14.569175 ms 
mapping pub time 1.985599 ms 
whole mapping time 116.104552 ms +++++
mappingCount 583 & avg mapping time 109.606672 ms ++++++++++++++++++++++
points size 68091 
prepare time 9.601454 
publication time 7.791214 ms 
whole laserOdometry time 7.803945 ms 
 
mapping data assosiation time 25.328401 ms 
-----t: 0.0320833
OdomCount 653 & avg odom time 0.040053 ms ++++++++++++++++++++++
1317357829.679780960 WriteOdom laser_odom_to_init
1317357829.679780960 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.173180 ms 
mapping data assosiation time 21.673941 ms 
--------------------stamp1317357829.783531904
prepare time 9.197776 
1317357829.576030970 WriteOdom aft_mapped_to_init
build tree time 15.876729 ms 
-----t: 0.0284772
OdomCount 654 & avg odom time 0.040035 ms ++++++++++++++++++++++
1317357829.783531904 WriteOdom laser_odom_to_init
1317357829.783531904 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.266433 ms 
mapping solver time 19.392845 ms 
mapping data assosiation time 21.096935 ms 
points size 70041 
sort q time 4.184269 
seperate points time 9.126773 
publication time 6.864450 ms 
whole laserOdometry time 6.877709 ms 
 
-----t: 0.0298604
OdomCount 655 & avg odom time 0.040020 ms ++++++++++++++++++++++
1317357829.887283086 WriteOdom laser_odom_to_init
1317357829.887283086 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.244562 ms 
mapping solver time 19.862311 ms 
--------------------stamp1317357829.991008996
prepare time 9.483261 
sort q time 4.055309 
seperate points time 9.529012 
scan registration time 22.182625 ms *************
filter time 7.788300 ms 
mapping pub time 2.663964 ms 
whole mapping time 121.510449 ms +++++
mappingCount 586 & avg mapping time 109.637070 ms ++++++++++++++++++++++
1317357829.783531904 WriteOdom aft_mapped_to_init
build tree time 14.052661 ms 
mapping data assosiation time 25.208483 ms 
--------------------stamp1317357830.094734907
points size 72187 
scan registration time 25.280138 ms *************
mapping data assosiation time 27.397449 ms 
-----t: 0.0372887
OdomCount 657 & avg odom time 0.040002 ms ++++++++++++++++++++++
mapping solver time 23.848316 ms 
mapping optimization time 120.239488 
add points time 0.863394 ms
build tree time 12.948936 ms 
--------------------stamp1317357830.198462009
mapping data assosiation time 27.881709 ms 
publication time 9.696217 ms 
whole laserOdometry time 9.713713 ms 
 
mapping solver time 22.247424 ms 
-----t: 0.0412569
OdomCount 658 & avg odom time 0.040004 ms ++++++++++++++++++++++
mapping data assosiation time 23.985068 ms 
mapping solver time 22.114937 ms 
filter time 5.304136 ms 
mapping pub time 1.603187 ms 
whole mapping time 121.407387 ms +++++
mappingCount 588 & avg mapping time 109.696034 ms ++++++++++++++++++++++
1317357829.991008997 WriteOdom aft_mapped_to_init
map prepare time 2.156799 ms
map corner num 66521  surf num 23897 
points size 74205 
sort q time 4.134182 
seperate points time 9.819722 
mapping data assosiation time 29.317793 ms 
1317357830.302213907 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.120872 ms 
mapping data assosiation time 23.987109 ms 
--------------------stamp1317357830.405965089
mapping solver time 19.392123 ms 
filter time 7.310703 ms 
publication time 6.305468 ms 
whole laserOdometry time 6.324998 ms 
 
-----t: 0.0323721
OdomCount 660 & avg odom time 0.039977 ms ++++++++++++++++++++++
mapping data assosiation time 27.680542 ms 
mapping solver time 26.785435 ms 
--------------------stamp1317357830.509721994
prepare time 9.456918 
sort q time 4.485237 
seperate points time 9.297141 
publication time 7.683985 ms 
whole laserOdometry time 7.701079 ms 
 
mapping solver time 27.781835 ms 
mapping optimization time 130.127503 
add points time 0.924471 ms
-----t: 0.0325714
OdomCount 661 & avg odom time 0.039966 ms ++++++++++++++++++++++
1317357830.509721994 WriteOdom laser_odom_to_init
1317357830.509721994 WriteOdom aft_mapped_to_init_high_frec
build tree time 14.031736 ms 
mapping data assosiation time 24.214235 ms 
points size 77097 
mapping solver time 26.128657 ms 
publication time 11.642723 ms 
whole laserOdometry time 11.659285 ms 
 
-----t: 0.0520008
OdomCount 662 & avg odom time 0.039984 ms ++++++++++++++++++++++
mapping solver time 24.971212 ms 
filter time 6.321195 ms 
map prepare time 2.609249 ms
map corner num 68171  surf num 25027 
--------------------stamp1317357830.717237949
prepare time 15.157221 
scan registration time 29.171733 ms *************
mapping data assosiation time 32.480891 ms 
publication time 10.078976 ms 
whole laserOdometry time 10.341210 ms 
 
-----t: 0.0434281
OdomCount 663 & avg odom time 0.039990 ms ++++++++++++++++++++++
mapping solver time 31.066422 ms 
mapping data assosiation time 27.588836 ms 
points size 78938 
mapping optimization time 130.660999 
add points time 0.997223 ms
publication time 15.413454 ms 
whole laserOdometry time 15.425646 ms 
 
build tree time 17.771143 ms 
mapping data assosiation time 28.876705 ms 
--------------------stamp1317357830.924767017
prepare time 10.926461 
sort q time 4.108558 
seperate points time 10.099356 
publication time 8.146560 ms 
whole laserOdometry time 8.161913 ms 
 
-----t: 0.0381367
OdomCount 665 & avg odom time 0.040000 ms ++++++++++++++++++++++
1317357830.924767017 WriteOdom laser_odom_to_init
1317357830.924767017 WriteOdom aft_mapped_to_init_high_frec
filter time 5.395654 ms 
build tree time 14.270175 ms 
--------------------stamp1317357831.028541088
prepare time 10.601851 
mapping data assosiation time 31.821311 ms 
publication time 8.688583 ms 
whole laserOdometry time 8.706939 ms 
 
mapping data assosiation time 26.331275 ms 
mapping solver time 19.178826 ms 
mapping pub time 2.044699 ms 
whole mapping time 133.734391 ms +++++
mappingCount 594 & avg mapping time 109.988023 ms ++++++++++++++++++++++
sort q time 4.217135 
seperate points time 10.323491 
publication time 8.240168 ms 
whole laserOdometry time 8.254854 ms 
 
-----t: 0.0383723
OdomCount 667 & avg odom time 0.039986 ms ++++++++++++++++++++++
--------------------stamp1317357831.236088037
points size 81841 
sort q time 4.865529 
seperate points time 10.410940 
publication time 7.660532 ms 
whole laserOdometry time 7.675541 ms 
 
filter time 8.287406 ms 
map prepare time 3.097463 ms
map corner num 70219  surf num 26381 
build tree time 15.275705 ms 
mapping data assosiation time 24.634828 ms 
points size 82563 
prepare time 10.607810 
-----t: 0.0378455
OdomCount 669 & avg odom time 0.039993 ms ++++++++++++++++++++++
mapping solver time 19.582011 ms 
mapping optimization time 126.023237 
add points time 0.995652 ms
map prepare time 2.412604 ms
map corner num 70766  surf num 26744 
--------------------stamp1317357831.443639039
points size 83190 
sort q time 4.628852 
seperate points time 11.748176 
publication time 9.945603 ms 
whole laserOdometry time 9.981385 ms 
 
-----t: 0.0440411
OdomCount 670 & avg odom time 0.039999 ms ++++++++++++++++++++++
mapping solver time 50.347764 ms 
points size 83965 
mapping data assosiation time 38.504308 ms 
publication time 8.774034 ms 
whole laserOdometry time 8.806885 ms 
 
mapping solver time 35.629872 ms 
-----t: 0.05916
OdomCount 671 & avg odom time 0.040028 ms ++++++++++++++++++++++
build tree time 15.047161 ms 
--------------------stamp1317357831.651165008
points size 84519 
prepare time 10.843476 
scan registration time 25.049396 ms *************
publication time 7.222704 ms 
whole laserOdometry time 7.234104 ms 
 
mapping data assosiation time 52.653495 ms 
-----t: 0.0468125
OdomCount 672 & avg odom time 0.040038 ms ++++++++++++++++++++++
mapping solver time 35.587628 ms 
--------------------stamp1317357831.754890918
prepare time 11.675363 
sort q time 5.589581 
seperate points time 12.059994 
scan registration time 27.482186 ms *************
mapping solver time 27.760056 ms 
mapping optimization time 159.223389 
add points time 1.000390 ms
mapping pub time 1.942988 ms 
whole mapping time 173.327352 ms +++++
mappingCount 598 & avg mapping time 110.342284 ms ++++++++++++++++++++++
map prepare time 3.379483 ms
map corner num 71741  surf num 27334 
build tree time 15.706523 ms 
mapping data assosiation time 31.397510 ms 
points size 86847 
prepare time 12.831254 
scan registration time 30.113014 ms *************
-----t: 0.0409656mapping data assosiation time 30.699069 ms 
mapping solver time 25.531341 ms 
filter time 6.092701 ms 
points size 88454 
build tree time 15.118526 ms 
publication time 11.221715 ms 
whole laserOdometry time 11.239707 ms 
 
mapping solver time 35.438615 ms 
--------------------stamp1317357832.065953016
prepare time 11.497796 
sort q time 5.011314 
seperate points time 10.860212 
publication time 9.141046 ms 
whole laserOdometry time 9.157825 ms 
 
mapping solver time 24.760500 ms 
mapping optimization time 146.311703 
map prepare time 2.622226 ms
map corner num 72944  surf num 28075 
build tree time 16.204909 ms 
--------------------stamp1317357832.169631958
points size 91611 
prepare time 11.718241 
mapping data assosiation time 32.089782 ms 
-----t: 0.0401206
OdomCount 677 & avg odom time 0.040060 ms ++++++++++++++++++++++
publication time 19.013035 ms 
whole laserOdometry time 19.026370 ms 
 
1317357832.169631958 WriteOdom laser_odom_to_init
1317357832.169631958 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.537968 ms 
--------------------stamp1317357832.273336887
prepare time 11.351343 
mapping solver time 32.118203 ms 
filter time 7.328717 ms 
mapping pub time 13.510644 ms 
whole mapping time 188.380964 ms +++++
mappingCount 601 & avg mapping time 110.641214 ms ++++++++++++++++++++++
build tree time 15.709010 ms 
mapping data assosiation time 30.153931 ms 
points size 94996 
sort q time 5.877614 
seperate points time 12.194436 
publication time 15.545825 ms 
whole laserOdometry time 15.563790 ms 
 
mapping data assosiation time 37.602313 ms 
--------------------stamp1317357832.480714082
mapping optimization time 162.852111 
filter time 8.357244 ms 
mapping pub time 2.181759 ms 
whole mapping time 177.876860 ms +++++
mappingCount 602 & avg mapping time 110.752928 ms ++++++++++++++++++++++
1317357832.169631958 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 17.997613 ms 
mapping data assosiation time 33.657136 ms 
-----t: 0.0627393
OdomCount 680 & avg odom time 0.040103 ms ++++++++++++++++++++++
1317357832.480714082 WriteOdom laser_odom_to_init
1317357832.480714082 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357832.584368944
points size 96559 
sort q time 5.649407 
seperate points time 11.870200 
scan registration time 27.833482 ms *************
publication time 11.540376 ms 
whole laserOdometry time 11.578583 ms 
 
-----t: 0.05385
OdomCount 681 & avg odom time 0.040124 ms ++++++++++++++++++++++
filter time 5.227134 ms 
map prepare time 2.872644 ms
map corner num 74620  surf num 29037 
--------------------stamp1317357832.688024044
points size 96790 
sort q time 5.549925 
seperate points time 13.234444 
scan registration time 29.260478 ms *************
-----t: 0.040703
OdomCount 682 & avg odom time 0.040125 ms ++++++++++++++++++++++
mapping solver time 32.856994 ms 
mapping data assosiation time 28.925139 ms 
points size 97170 
mapping solver time 30.885824 ms 
mapping optimization time 145.278542 
add points time 0.720547 ms
sort q time 5.775845 
seperate points time 14.041947 
scan registration time 32.158147 ms *************
map prepare time 3.214810 ms
map corner num 75255  surf num 29384 
build tree time 17.509758 ms 
mapping data assosiation time 32.820239 ms 
points size 97382 
sort q time 6.237825 
seperate points time 13.301867 
publication time 10.307363 ms 
whole laserOdometry time 10.322482 ms 
 
mapping data assosiation time 35.967691 ms 
-----t: 0.0624537
OdomCount 684 & avg odom time 0.040182 ms ++++++++++++++++++++++
1317357832.895330905 WriteOdom laser_odom_to_init
1317357832.895330905 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357832.999010086
points size 97384 
prepare time 12.249248 
filter time 5.721877 ms 
mapping pub time 2.504566 ms 
whole mapping time 178.623041 ms +++++
mappingCount 605 & avg mapping time 111.033997 ms ++++++++++++++++++++++
1317357832.688024044 WriteOdom aft_mapped_to_init
sort q time 6.809125 
seperate points time 13.515628 
build tree time 16.803328 ms 
publication time 9.415038 ms 
whole laserOdometry time 9.431310 ms 
 
-----t: 0.0523009
OdomCount 685 & avg odom time 0.040200 ms ++++++++++++++++++++++
mapping solver time 29.583588 ms 
prepare time 10.842079 
sort q time 5.298333 
seperate points time 11.728995 
scan registration time 27.014226 ms *************
publication time 16.099625 ms 
whole laserOdometry time 16.115120 ms 
 
mapping optimization time 166.623264 
map prepare time 2.809859 ms
map corner num 76462  surf num 30164 
points size 97402 
build tree time 17.170876 ms 
prepare time 14.893783 
sort q time 20.603128 
seperate points time 32.732681 
scan registration time 61.663058 ms *************
-----t: 0.074022
OdomCount 687 & avg odom time 0.040284 ms ++++++++++++++++++++++
1317357833.206346988 WriteOdom laser_odom_to_init
1317357833.206346988 WriteOdom aft_mapped_to_init_high_frec
publication time 21.479140 ms 
whole laserOdometry time 21.518179 ms 
 
prepare time 13.610030 
sort q time 5.997519 
seperate points time 12.489965 
publication time 10.030609 ms 
whole laserOdometry time 10.064769 ms 
 
-----t: 0.0565965
OdomCount 688 & avg odom time 0.040308 ms ++++++++++++++++++++++
mapping solver time 46.560835 ms 
--------------------stamp1317357833.413703918
sort q time 6.077794 
seperate points time 12.388425 
build tree time 16.165005 ms 
publication time 11.954604 ms 
whole laserOdometry time 11.975851 ms 
 
mapping data assosiation time 36.555341 ms 
-----t: 0.0618586
OdomCount 689 & avg odom time 0.040339 ms ++++++++++++++++++++++
--------------------stamp1317357833.517457008
mapping solver time 45.875155 ms 
prepare time 12.352860 
scan registration time 30.578513 ms *************
mapping data assosiation time 39.109562 ms 
-----t: 0.0554767
OdomCount 690 & avg odom time 0.040361 ms ++++++++++++++++++++++
filter time 6.191379 ms 
mapping pub time 2.453465 ms 
whole mapping time 185.254352 ms +++++
mappingCount 608 & avg mapping time 111.454105 ms ++++++++++++++++++++++
1317357833.206346989 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 94236 
sort q time 5.182392 
seperate points time 13.133654 
mapping data assosiation time 34.140149 ms 
-----t: 0.0397186
OdomCount 691 & avg odom time 0.040360 ms ++++++++++++++++++++++
mapping solver time 37.978978 ms 
--------------------stamp1317357833.725028991
points size 93871 
sort q time 5.153857 
seperate points time 13.112758 
mapping solver time 26.436918 ms 
filter time 6.719920 ms 
map prepare time 3.790710 ms
map corner num 78538  surf num 31396 
-----t: 0.0537477
OdomCount 692 & avg odom time 0.040380 ms ++++++++++++++++++++++
--------------------stamp1317357833.828852891
prepare time 10.659480 
sort q time 5.284498 
seperate points time 11.500554 
publication time 10.454265 ms 
whole laserOdometry time 10.471845 ms 
 
-----t: 0.0495644
OdomCount 693 & avg odom time 0.040393 ms ++++++++++++++++++++++
mapping data assosiation time 34.594285 ms 
--------------------stamp1317357833.932698011
prepare time 11.816486 
drop lidar frame in mapping for real time performance 
scan registration time 29.071617 ms *************
build tree time 20.727672 ms 
publication time 16.830840 ms 
whole laserOdometry time 16.854431 ms 
 
mapping data assosiation time 37.007632 ms 
--------------------stamp1317357834.036569118
points size 95926 
prepare time 14.848974 
mapping solver time 37.690251 ms 
sort q time 5.553495 
seperate points time 13.303924 
publication time 9.974220 ms 
whole laserOdometry time 9.990198 ms 
 
mapping data assosiation time 38.739766 ms 
1317357834.036569118 WriteOdom laser_odom_to_init
mapping solver time 31.476821 ms 
filter time 6.456404 ms 
map prepare time 4.725322 ms
map corner num 79959  surf num 32260 
prepare time 15.288788 
build tree time 22.047269 ms 
publication time 11.116688 ms 
whole laserOdometry time 11.133227 ms 
 
-----t: 0.0551256
OdomCount 696 & avg odom time 0.040422 ms ++++++++++++++++++++++
1317357834.140465021 WriteOdom laser_odom_to_init
mapping solver time 36.974591 ms 
points size 95853 
sort q time 6.471987 
seperate points time 16.162534 
mapping data assosiation time 40.426174 ms 
scan registration time 58.473066 ms *************
mapping solver time 39.005830 ms 
mapping pub time 2.252516 ms 
whole mapping time 197.692250 ms +++++
mappingCount 612 & avg mapping time 111.894411 ms ++++++++++++++++++++++
--------------------stamp1317357834.348567008
points size 95866 
sort q time 6.673122 
seperate points time 13.089990 
publication time 11.096902 ms 
whole laserOdometry time 11.111579 ms 
 
mapping data assosiation time 37.073008 ms 
-----t: 0.0563245
OdomCount 698 & avg odom time 0.040507 ms ++++++++++++++++++++++
mapping solver time 41.362324 ms 
--------------------stamp1317357834.452725887
prepare time 11.725172 
mapping data assosiation time 37.840520 ms 
publication time 11.001554 ms 
whole laserOdometry time 11.045476 ms 
 
mapping solver time 40.532758 ms 
filter time 5.899275 ms 
mapping pub time 2.104385 ms 
whole mapping time 190.505084 ms +++++
mappingCount 613 & avg mapping time 112.022658 ms ++++++++++++++++++++++
1317357834.140465021 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 16.195219 ms 
points size 96516 
sort q time 5.433176 
seperate points time 12.590725 
publication time 11.477997 ms 
whole laserOdometry time 11.495627 ms 
 
-----t: 0.0378435
OdomCount 700 & avg odom time 0.040521 ms ++++++++++++++++++++++
mapping solver time 40.621364 ms 
--------------------stamp1317357834.661089897
points size 96496 
sort q time 6.694916 
seperate points time 12.842653 
mapping solver time 38.876218 ms 
filter time 8.717376 ms 
build tree time 19.105614 ms 
-----t: 0.0412748
OdomCount 702 & avg odom time 0.040521 ms ++++++++++++++++++++++
mapping data assosiation time 32.691113 ms 
--------------------stamp1317357834.869400024
points size 93509 
prepare time 12.151817 
mapping solver time 36.331861 ms 
mapping optimization time 164.182568 
add points time 0.893363 ms
scan registration time 29.674717 ms *************
map prepare time 4.574978 ms
map corner num 83268  surf num 33962 
build tree time 23.496596 ms 
-----t: 0.0571328
OdomCount 703 & avg odom time 0.040544 ms ++++++++++++++++++++++
mapping data assosiation time 31.531030 ms 
--------------------stamp1317357834.973558902
prepare time 11.474866 
sort q time 6.184423 
seperate points time 12.371342 
scan registration time 27.201511 ms *************
mapping data assosiation time 34.999842 ms 
-----t: 0.0524394
OdomCount 704 & avg odom time 0.040561 ms ++++++++++++++++++++++
mapping optimization time 166.494368 
--------------------stamp1317357835.077750921
prepare time 12.875262 
sort q time 5.393911 
seperate points time 12.551910 
publication time 10.649910 ms 
whole laserOdometry time 10.668175 ms 
 
mapping data assosiation time 37.117982 ms 
-----t: 0.0533393
OdomCount 705 & avg odom time 0.040579 ms ++++++++++++++++++++++
1317357835.077750921 WriteOdom laser_odom_to_init
1317357835.077750921 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357835.181931972
prepare time 11.832980 
scan registration time 29.675347 ms *************
mapping data assosiation time 36.670871 ms 
mapping solver time 37.377489 ms 
mapping optimization time 183.642208 
add points time 0.733415 ms
mapping pub time 2.266440 ms 
whole mapping time 199.620073 ms +++++
mappingCount 617 & avg mapping time 112.498599 ms ++++++++++++++++++++++
points size 93573 
sort q time 6.238242 
seperate points time 14.838639 
scan registration time 34.755747 ms *************
mapping data assosiation time 36.367530 ms 
-----t: 0.0620203
OdomCount 707 & avg odom time 0.040608 ms ++++++++++++++++++++++
--------------------stamp1317357835.390320062
prepare time 15.944272 
sort q time 5.420569 
seperate points time 13.013169 
mapping data assosiation time 36.553678 ms 
publication time 9.935080 ms 
whole laserOdometry time 9.952103 ms 
 
mapping solver time 44.478473 ms 
mapping optimization time 188.805298 
add points time 0.708550 ms
mapping pub time 2.274352 ms 
whole mapping time 204.963436 ms +++++
mappingCount 618 & avg mapping time 112.648226 ms ++++++++++++++++++++++
points size 95453 
mapping data assosiation time 40.215900 ms 
--------------------stamp1317357835.598733901
points size 97084 
prepare time 12.669117 
publication time 8.293060 ms 
whole laserOdometry time 8.308363 ms 
 
-----t: 0.0483117
OdomCount 710 & avg odom time 0.040646 ms ++++++++++++++++++++++
mapping solver time 33.969695 ms 
filter time 7.696676 ms 
map prepare time 3.681482 ms
map corner num 86326  surf num 34977 
points size 99436 
sort q time 5.535631 
seperate points time 13.279675 
mapping data assosiation time 35.042404 ms 
-----t: 0.0358453
OdomCount 711 & avg odom time 0.040639 ms ++++++++++++++++++++++
1317357835.702918052 WriteOdom laser_odom_to_init
1317357835.702918052 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.197505 ms 
--------------------stamp1317357835.807075977
mapping data assosiation time 29.942564 ms 
prepare time 11.904684 
scan registration time 30.366647 ms *************
publication time 8.245004 ms 
whole laserOdometry time 8.255530 ms 
 
-----t: 0.0454504
OdomCount 712 & avg odom time 0.040646 ms ++++++++++++++++++++++
1317357835.807075977 WriteOdom laser_odom_to_init
1317357835.807075977 WriteOdom aft_mapped_to_init_high_frec
filter time 6.216284 ms 
mapping pub time 2.099543 ms 
whole mapping time 184.748754 ms +++++
mappingCount 620 & avg mapping time 112.892313 ms ++++++++++++++++++++++
1317357835.494528055 WriteOdom aft_mapped_to_init
build tree time 19.002123 ms 
--------------------stamp1317357835.911211967
points size 100195 
mapping data assosiation time 32.414216 ms 
publication time 9.534449 ms 
whole laserOdometry time 9.555937 ms 
 
mapping solver time 42.475089 ms 
mapping data assosiation time 29.618137 ms 
--------------------stamp1317357836.015299081
points size 100084 
mapping solver time 35.013846 ms 
filter time 8.862370 ms 
[0m[ INFO] [1718889349.870918056, 1317357836.045120177]: Received 123452 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889349.870991174, 1317357836.045120177]: Data saved to 1317357835702918.pcd[0m
map prepare time 3.673073 ms
map corner num 88018  surf num 35434 
publication time 10.815099 ms 
whole laserOdometry time 10.826534 ms 
 
build tree time 19.302370 ms 
--------------------stamp1317357836.119335889
points size 99487 
sort q time 5.602489 
seperate points time 13.447568 
scan registration time 32.939384 ms *************
publication time 14.139071 ms 
whole laserOdometry time 14.158861 ms 
 
-----t: 0.0622484
OdomCount 715 & avg odom time 0.040696 ms ++++++++++++++++++++++
1317357836.119335889 WriteOdom laser_odom_to_init
1317357836.119335889 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357836.223352909
points size 99657 
map prepare time 3.413160 ms
map corner num 88830  surf num 35695 
scan registration time 35.834356 ms *************
publication time 10.319940 ms 
whole laserOdometry time 10.336606 ms 
 
-----t: 0.0624495
OdomCount 716 & avg odom time 0.040726 ms ++++++++++++++++++++++
--------------------stamp1317357836.327373981
prepare time 14.440809 
sort q time 5.754530 
seperate points time 11.420445 
mapping data assosiation time 33.655551 ms 
-----t: 0.0472489
OdomCount 717 & avg odom time 0.040736 ms ++++++++++++++++++++++
1317357836.327373981 WriteOdom laser_odom_to_init
1317357836.327373981 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.808747 ms 
mapping optimization time 148.604060 
filter time 7.382021 ms 
map prepare time 2.863807 ms
map corner num 89491  surf num 35919 
build tree time 19.671462 ms 
points size 101064 
sort q time 5.678204 
seperate points time 13.296228 
publication time 8.759561 ms 
whole laserOdometry time 8.772524 ms 
 
1317357836.431385993 WriteOdom laser_odom_to_init
1317357836.431385993 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 40.972117 ms 
--------------------stamp1317357836.535372972
points size 101204 
sort q time 5.898384 
seperate points time 12.925028 
filter time 9.062289 ms 
mapping pub time 2.355737 ms 
whole mapping time 173.360811 ms +++++
mappingCount 624 & avg mapping time 113.283778 ms ++++++++++++++++++++++
1317357836.223352909 WriteOdom aft_mapped_to_init
build tree time 19.560851 ms 
mapping data assosiation time 28.738923 ms 
points size 100894 
prepare time 13.271313 
sort q time 6.840848 
seperate points time 14.104717 
mapping solver time 30.731090 ms 
publication time 10.061291 ms 
whole laserOdometry time 10.077045 ms 
 
mapping data assosiation time 33.825486 ms 
mapping solver time 27.135124 ms 
mapping optimization time 142.515884 
add points time 0.690848 ms
map prepare time 3.725860 ms
map corner num 91215  surf num 36526 
points size 100244 
build tree time 21.475082 ms 
sort q time 6.157370 
seperate points time 13.113881 
scan registration time 32.489109 ms *************
publication time 9.610615 ms 
whole laserOdometry time 9.627005 ms 
 
mapping solver time 27.666992 ms 
--------------------stamp1317357836.847368955
points size 99629 
prepare time 14.701700 
mapping data assosiation time 31.848034 ms 
scan registration time 32.589068 ms *************
mapping solver time 26.786178 ms 
mapping optimization time 144.695674 
add points time 0.756448 ms
drop lidar frame in mapping for real time performance 
build tree time 18.480256 ms 
--------------------stamp1317357836.951337099
points size 98967 
sort q time 6.302837 
seperate points time 13.327604 
mapping solver time 34.622196 ms 
publication time 10.493651 ms 
whole laserOdometry time 10.510945 ms 
 
mapping data assosiation time 31.606015 ms 
--------------------stamp1317357837.055325984
points size 97602 
filter time 7.005921 ms 
prepare time 15.020020 
sort q time 5.578870 
seperate points time 14.004982 
scan registration time 33.598839 ms *************
-----t: 0.0532064
OdomCount 724 & avg odom time 0.040762 ms ++++++++++++++++++++++
mapping data assosiation time 34.138640 ms 
--------------------stamp1317357837.159317016
prepare time 11.492108 
sort q time 5.315586 
seperate points time 11.858784 
publication time 9.357076 ms 
whole laserOdometry time 9.371417 ms 
 
mapping data assosiation time 36.586442 ms 
-----t: 0.0586121
OdomCount 725 & avg odom time 0.040787 ms ++++++++++++++++++++++
mapping solver time 33.654359 ms 
filter time 7.098983 ms 
map prepare time 2.767080 ms
map corner num 93731  surf num 37347 
points size 94360 
sort q time 5.712311 
seperate points time 12.869539 
mapping data assosiation time 33.637665 ms 
mapping solver time 35.689334 ms 
--------------------stamp1317357837.367299079
mapping data assosiation time 31.261768 ms 
sort q time 4.924739 
seperate points time 11.760314 
publication time 8.843398 ms 
whole laserOdometry time 8.858004 ms 
 
filter time 6.906262 ms 
map prepare time 2.822614 ms
map corner num 94530  surf num 37606 
build tree time 21.126096 ms 
--------------------stamp1317357837.471266031
prepare time 13.595550 
sort q time 5.137638 
seperate points time 12.938762 
mapping solver time 33.724944 ms 
mapping data assosiation time 28.746532 ms 
mapping solver time 21.559799 ms 
mapping pub time 2.153062 ms 
whole mapping time 154.886446 ms +++++
mappingCount 630 & avg mapping time 113.771410 ms ++++++++++++++++++++++
sort q time 5.544640 
seperate points time 11.766310 
build tree time 24.051556 ms 
-----t: 0.0407293
OdomCount 729 & avg odom time 0.040781 ms ++++++++++++++++++++++
mapping data assosiation time 31.380734 ms 
--------------------stamp1317357837.679150104
prepare time 11.925525 
sort q time 5.471734 
seperate points time 12.692449 
publication time 12.420029 ms 
whole laserOdometry time 12.440745 ms 
 
mapping solver time 30.628781 ms 
filter time 8.741867 ms 
map prepare time 2.905397 ms
map corner num 96317  surf num 38249 
--------------------stamp1317357837.783140897
points size 94747 
sort q time 5.580245 
seperate points time 13.123381 
scan registration time 30.182095 ms *************
mapping data assosiation time 36.977647 ms 
1317357837.783140897 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.459062 ms 
--------------------stamp1317357837.887130975
points size 93921 
sort q time 5.644819 
seperate points time 11.772901 
mapping solver time 27.163455 ms 
publication time 11.824344 ms 
whole laserOdometry time 11.839089 ms 
 
map prepare time 3.826741 ms
map corner num 97084  surf num 38554 
build tree time 26.337523 ms 
--------------------stamp1317357837.991075992
points size 93269 
sort q time 5.203956 
seperate points time 12.911368 
-----t: 0.0372594
OdomCount 733 & avg odom time 0.040790 ms ++++++++++++++++++++++
mapping data assosiation time 31.045141 ms 
--------------------stamp1317357838.095020055
prepare time 10.625758 
filter time 10.218245 ms 
publication time 13.776701 ms 
whole laserOdometry time 13.790968 ms 
 
build tree time 25.492954 ms 
-----t: 0.0610048
OdomCount 734 & avg odom time 0.040817 ms ++++++++++++++++++++++
mapping data assosiation time 34.388338 ms 
--------------------stamp1317357838.198961973
prepare time 10.941001 
mapping solver time 33.792061 ms 
publication time 12.410834 ms 
whole laserOdometry time 12.427057 ms 
 
-----t: 0.0515449
OdomCount 735 & avg odom time 0.040832 ms ++++++++++++++++++++++
1317357838.198961973 WriteOdom laser_odom_to_init
1317357838.198961973 WriteOdom aft_mapped_to_init_high_frec
filter time 7.285430 ms 
mapping pub time 2.207363 ms 
whole mapping time 169.058863 ms +++++
mappingCount 634 & avg mapping time 114.148690 ms ++++++++++++++++++++++
1317357837.991075993 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 92482 
sort q time 5.156668 
seperate points time 12.943323 
mapping data assosiation time 37.576348 ms 
publication time 10.547001 ms 
whole laserOdometry time 10.563923 ms 
 
-----t: 0.0408463
OdomCount 736 & avg odom time 0.040832 ms ++++++++++++++++++++++
mapping solver time 30.920831 ms 
--------------------stamp1317357838.406795978
points size 93435 
prepare time 14.523650 
mapping data assosiation time 32.066778 ms 
sort q time 5.062197 
seperate points time 12.641790 
mapping solver time 27.100771 ms 
mapping optimization time 152.107938 
add points time 0.738142 ms
map prepare time 3.682567 ms
map corner num 99614  surf num 39791 
-----t: 0.0505649
OdomCount 737 & avg odom time 0.040845 ms ++++++++++++++++++++++
build tree time 23.606530 ms 
--------------------stamp1317357838.510714054
prepare time 10.721081 
sort q time 5.082785 
seperate points time 12.402368 
publication time 11.637307 ms 
whole laserOdometry time 11.655953 ms 
 
mapping data assosiation time 33.394890 ms 
--------------------stamp1317357838.614609003
points size 96535 
1317357838.302877903 WriteOdom aft_mapped_to_init
build tree time 26.876584 ms 
mapping data assosiation time 34.250454 ms 
--------------------stamp1317357838.718481063
prepare time 12.079136 
sort q time 6.086673 
seperate points time 13.791880 
mapping data assosiation time 35.422355 ms 
publication time 11.524657 ms 
whole laserOdometry time 11.540480 ms 
 
mapping solver time 25.533609 ms 
filter time 7.146087 ms 
--------------------stamp1317357838.822328090
points size 100107 
sort q time 5.895838 
seperate points time 14.368251 
mapping data assosiation time 40.727561 ms 
publication time 17.579212 ms 
mapping solver time 36.716823 ms 
--------------------stamp1317357838.926152944
points size 100467 
mapping data assosiation time 38.250982 ms 
publication time 11.029513 ms filter time 7.624587 ms 
map prepare time 3.213802 ms
map corner num 102391  surf num 40930 
--------------------stamp1317357839.029927015
points size 100640 
prepare time 11.813806 
scan registration time 29.842688 ms *************
publication time 9.849106 ms 
whole laserOdometry time 9.865394 ms 
 
-----t: 0.0474211
OdomCount 743 & avg odom time 0.040871 ms ++++++++++++++++++++++
mapping solver time 39.941419 ms 
--------------------stamp1317357839.133651971
mapping data assosiation time 32.768655 ms 
prepare time 15.482920 
sort q time 5.733713 
seperate points time 14.130975 
mapping solver time 33.525479 ms 
mapping pub time 2.396719 ms 
whole mapping time 183.035499 ms +++++
mappingCount 639 & avg mapping time 114.638619 ms ++++++++++++++++++++++
1317357838.822328091 WriteOdom aft_mapped_to_init
publication time 12.092334 ms 
whole laserOdometry time 12.107406 ms 
 
map prepare time 4.476417 ms
map corner num 103391  surf num 41420 
build tree time 26.822038 ms 
--------------------stamp1317357839.237330913
prepare time 12.599399 
-----t: 0.108056
OdomCount 744 & avg odom time 0.040962 ms ++++++++++++++++++++++
publication time 10.162948 ms 
whole laserOdometry time 10.181852 ms 
 
mapping solver time 42.937325 ms 
-----t: 0.0542246
OdomCount 745 & avg odom time 0.040979 ms ++++++++++++++++++++++
--------------------stamp1317357839.340961933
points size 98544 
prepare time 11.147228 
sort q time 6.264924 
seperate points time 13.249610 
mapping solver time 39.932868 ms 
publication time 11.141910 ms 
whole laserOdometry time 11.157573 ms 
 
-----t: 0.0430258
OdomCount 746 & avg odom time 0.040982 ms ++++++++++++++++++++++
build tree time 21.092280 ms 
--------------------stamp1317357839.444617986
prepare time 11.751125 
sort q time 5.408743 
seperate points time 12.789379 
mapping solver time 31.036048 ms 
-----t: 0.0525767
OdomCount 747 & avg odom time 0.040998 ms ++++++++++++++++++++++
mapping solver time 22.836227 ms 
filter time 8.470826 ms 
mapping pub time 19.029496 ms 
whole mapping time 173.833903 ms +++++
mappingCount 641 & avg mapping time 114.870420 ms ++++++++++++++++++++++
build tree time 25.654942 ms 

points size 90482 
sort q time 5.066847 
seperate points time 13.011908 
publication time 10.285335 ms 
whole laserOdometry time 10.300480 ms 
 
mapping data assosiation time 35.536366 ms 
-----t: 0.0586647
--------------------stamp1317357839.755558967
points size 87420 
sort q time 4.668470 
seperate points time 12.333507 
scan registration time 30.099610 ms *************
build tree time 31.645385 ms 
mapping data assosiation time 30.286880 ms 
--------------------stamp1317357839.859235048
points size 85328 
sort q time 5.913598 
seperate points time 11.340550 
publication time 18.723208 ms 
whole laserOdometry time 18.737276 ms 
 
mapping data assosiation time 35.026561 ms 
mapping solver time 26.489156 ms 
mapping optimization time 160.024741 
add points time 0.996550 ms
drop lidar frame in mapping for real time performance 
points size 83865 
sort q time 4.692321 
seperate points time 10.569002 
publication time 9.201249 ms 
whole laserOdometry time 9.213122 ms 
 
mapping data assosiation time 38.809634 ms 
--------------------stamp1317357840.066664934
points size 84390 
prepare time 15.076688 
sort q time 5.497383 
seperate points time 13.736079 
publication time 9.725390 ms 
whole laserOdometry time 9.771940 ms 
 
filter time 8.200129 ms 
map prepare time 2.606092 ms
map corner num 108338  surf num 43460 
build tree time 21.258452 ms 
points size 85911 
prepare time 11.236167 
publication time 8.270200 ms 
whole laserOdometry time 8.287986 ms 
 
1317357840.170368909 WriteOdom laser_odom_to_init
mapping data assosiation time 26.259114 ms 
--------------------stamp1317357840.274048089
prepare time 12.129643 
sort q time 4.707855 
seperate points time 11.871675 
map prepare time 3.023312 ms
map corner num 109333  surf num 43859 
scan registration time 27.963005 ms *************
build tree time 23.859648 ms 
-----t: 0.0349433
OdomCount 755 & avg odom time 0.041090 ms ++++++++++++++++++++++
mapping data assosiation time 26.714524 ms 
--------------------stamp1317357840.377751111
prepare time 11.747126 
sort q time 4.963181 
seperate points time 11.677170 
publication time 10.079293 ms 
whole laserOdometry time 10.112100 ms 
 
mapping solver time 22.436259 ms 
filter time 8.131886 ms 
map prepare time 2.786676 ms
map corner num 110356  surf num 44402 
build tree time 22.903490 ms 
points size 92059 
mapping data assosiation time 30.377025 ms 
publication time 11.334630 ms 
whole laserOdometry time 11.350919 ms 
 
mapping data assosiation time 25.015624 ms 
--------------------stamp1317357840.585206985
prepare time 12.073911 
filter time 8.407710 ms 
map prepare time 3.135657 ms
map corner num 108880  surf num 41839 
sort q time 5.898289 
seperate points time 12.909098 
scan registration time 29.199087 ms *************
build tree time 26.427596 ms 
mapping data assosiation time 30.415743 ms 
-----t: 0.0603891
OdomCount 758 & avg odom time 0.041103 ms ++++++++++++++++++++++
1317357840.585206985 WriteOdom laser_odom_to_init
1317357840.585206985 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357840.688958883
mapping solver time 27.415861 ms 
prepare time 11.867235 
sort q time 6.302872 
seperate points time 12.756954 
publication time 9.103266 ms 
whole laserOdometry time 9.114680 ms 
 
mapping solver time 31.246174 ms 
mapping optimization time 145.378846 
mapping pub time 2.052249 ms 
whole mapping time 162.220482 ms +++++
mappingCount 648 & avg mapping time 115.439801 ms ++++++++++++++++++++++
-----t: 0.0591549
OdomCount 759 & avg odom time 0.041127 ms ++++++++++++++++++++++
1317357840.481477976 WriteOdom aft_mapped_to_init
1317357840.688958883 WriteOdom laser_odom_to_init
--------------------stamp1317357840.792756080
prepare time 12.386929 
sort q time 5.644278 
seperate points time 13.359633 
publication time 11.854541 ms 
whole laserOdometry time 11.880197 ms 
 
1317357840.792756080 WriteOdom laser_odom_to_init
1317357840.792756080 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.827889 ms 
points size 100520 
sort q time 5.659366 
seperate points time 13.020108 
publication time 12.126113 ms 
whole laserOdometry time 12.143785 ms 
 
build tree time 26.043332 ms 
mapping data assosiation time 26.116772 ms 
--------------------stamp1317357841.000349998
points size 101522 
sort q time 6.387314 
seperate points time 13.466384 
scan registration time 35.214049 ms *************
mapping data assosiation time 32.940452 ms 
1317357841.000349998 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.767668 ms 
filter time 7.791868 ms 
map prepare time 3.026737 ms
map corner num 111732  surf num 43755 
--------------------stamp1317357841.104195117
points size 101534 
build tree time 28.671624 ms 
publication time 12.013684 ms 
whole laserOdometry time 12.034909 ms 
 
mapping data assosiation time 37.122682 ms 
-----t: 0.0436344
OdomCount 763 & avg odom time 0.041127 ms ++++++++++++++++++++++
1317357841.104195117 WriteOdom laser_odom_to_init
1317357841.104195117 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.051640 ms 
--------------------stamp1317357841.208066940
mapping data assosiation time 30.740120 ms 
sort q time 5.612185 
seperate points time 14.214244 
add points time 1.157918 ms
[0m[ INFO] [1718889355.078058458, 1317357841.257261502]: Received 157029 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889355.078094739, 1317357841.257261502]: Data saved to 1317357840896552.pcd[0m
publication time 25.308268 ms 
whole laserOdometry time 25.316664 ms 
 
build tree time 25.113536 ms 
--------------------stamp1317357841.311964035
points size 101614 
sort q time 5.962035 
seperate points time 14.797573 
scan registration time 33.823593 ms *************
publication time 13.873488 ms 
whole laserOdometry time 13.903745 ms 
 
-----t: 0.0520485
OdomCount 765 & avg odom time 0.041142 ms ++++++++++++++++++++++
mapping data assosiation time 33.558751 ms 
--------------------stamp1317357841.415884017
points size 101652 
map prepare time 3.563152 ms
map corner num 113671  surf num 45114 
scan registration time 31.266268 ms *************
build tree time 30.590520 ms 
publication time 10.975436 ms 
whole laserOdometry time 11.009800 ms 
 
-----t: 0.0464864
OdomCount 766 & avg odom time 0.041149 ms ++++++++++++++++++++++
1317357841.415884017 WriteOdom laser_odom_to_init
1317357841.415884017 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 32.349461 ms 
--------------------stamp1317357841.519850015
points size 101953 
sort q time 5.883366 
seperate points time 14.332476 
publication time 11.945504 ms 
whole laserOdometry time 11.959135 ms 
 
mapping solver time 21.524794 ms 
filter time 8.216808 ms 
prepare time 13.097309 
sort q time 6.712336 
seperate points time 13.995455 
build tree time 30.341424 ms 
mapping data assosiation time 35.185762 ms 
-----t: 0.0555534
OdomCount 768 & avg odom time 0.041181 ms ++++++++++++++++++++++
1317357841.623840093 WriteOdom laser_odom_to_init
1317357841.623840093 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357841.727828979
points size 101554 
publication time 9.369190 ms 
whole laserOdometry time 9.383057 ms 
 
mapping solver time 28.952982 ms 
filter time 9.338232 ms 
map prepare time 3.414218 ms
map corner num 115727  surf num 46435 
--------------------stamp1317357841.831867933
prepare time 11.621764 
sort q time 6.814083 
seperate points time 14.320345 
scan registration time 31.233542 ms *************
publication time 11.080544 ms 
whole laserOdometry time 11.099997 ms 
 
mapping solver time 33.415765 ms 
--------------------stamp1317357841.935930967
points size 101419 
sort q time 5.747781 
seperate points time 14.239363 
--------------------stamp1317357842.039968967
points size 101112 
mapping data assosiation time 32.269189 ms 
prepare time 12.736459 
sort q time 5.680986 
seperate points time 13.724424 
mapping solver time 37.211196 ms 
-----t: 0.0463946
OdomCount 772 & avg odom time 0.041192 ms ++++++++++++++++++++++
1317357842.039968967 WriteOdom laser_odom_to_init
mapping data assosiation time 33.412099 ms 
--------------------stamp1317357842.143984079
points size 100655 
mapping pub time 4.895208 ms 
whole mapping time 180.615069 ms +++++
mappingCount 656 & avg mapping time 116.134001 ms ++++++++++++++++++++++
publication time 12.794347 ms 
whole laserOdometry time 12.809093 ms 
 
-----t: 0.0523476
OdomCount 773 & avg odom time 0.041206 ms ++++++++++++++++++++++
mapping data assosiation time 32.324064 ms 
--------------------stamp1317357842.248020887
points size 100201 
prepare time 13.982101 
sort q time 24.649019 
seperate points time 33.333411 
mapping data assosiation time 36.979034 ms 
scan registration time 70.458405 ms *************
mapping solver time 23.640509 ms 
filter time 8.146427 ms 
--------------------stamp1317357842.352061033
build tree time 27.154505 ms 
publication time 12.896464 ms 
whole laserOdometry time 12.922436 ms 
 
-----t: 0.057306
OdomCount 775 & avg odom time 0.041246 ms ++++++++++++++++++++++
mapping solver time 32.311908 ms 
--------------------stamp1317357842.456108093
prepare time 12.251330 
sort q time 5.408531 
seperate points time 13.947113 
publication time 10.685062 ms 
whole laserOdometry time 10.698380 ms 
 
-----t: 0.0416854
OdomCount 776 & avg odom time 0.041246 ms ++++++++++++++++++++++
mapping pub time 2.222462 ms 
whole mapping time 180.408499 ms +++++
mappingCount 658 & avg mapping time 116.316148 ms ++++++++++++++++++++++
build tree time 23.302633 ms 
points size 98023 
sort q time 5.558102 
seperate points time 13.027008 
mapping data assosiation time 35.270223 ms 
scan registration time 32.237832 ms *************
publication time 11.090163 ms 
whole laserOdometry time 11.108209 ms 
 
mapping solver time 37.081454 ms 
mapping data assosiation time 31.531715 ms 
points size 97367 
mapping solver time 27.018202 ms 
filter time 9.736337 ms 
publication time 10.542669 ms 
whole laserOdometry time 10.555411 ms 
 
-----t: 0.0435236
OdomCount 778 & avg odom time 0.041261 ms ++++++++++++++++++++++
build tree time 26.699759 ms 
mapping data assosiation time 30.185069 ms 
points size 96673 
sort q time 5.306908 
seperate points time 12.774051 
-----t: 0.0335118
OdomCount 779 & avg odom time 0.041251 ms ++++++++++++++++++++++
publication time 9.184976 ms 
whole laserOdometry time 9.202643 ms 
 
mapping data assosiation time 33.403929 ms 
mapping solver time 26.143842 ms 
filter time 12.085712 ms 
mapping pub time 2.348420 ms 
whole mapping time 177.952773 ms +++++
mappingCount 660 & avg mapping time 116.495164 ms ++++++++++++++++++++++
1317357842.560169935 WriteOdom aft_mapped_to_init
points size 95727 
drop lidar frame in mapping for real time performance 
sort q time 5.420817 
seperate points time 12.754694 
build tree time 29.734620 ms 
publication time 9.262602 ms 
whole laserOdometry time 9.275576 ms 
 
mapping data assosiation time 33.718994 ms 
--------------------stamp1317357842.976246118
points size 94813 
sort q time 5.351146 
seperate points time 12.440565 
mapping data assosiation time 35.759967 ms 
mapping solver time 22.747114 ms 
mapping optimization time 149.584523 
add points time 1.225240 ms
filter time 9.631795 ms 
mapping pub time 17.786004 ms 
whole mapping time 183.274057 ms +++++
mappingCount 661 & avg mapping time 116.596194 ms ++++++++++++++++++++++
1317357842.664200068 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.912573 ms
map corner num 123827  surf num 50376 
points size 92931 
sort q time 5.015633 
seperate points time 11.864029 
sort q time 5.217532 
seperate points time 12.144262 
mapping data assosiation time 37.227666 ms 
-----t: 0.0489804
OdomCount 783 & avg odom time 0.041272 ms ++++++++++++++++++++++
mapping solver time 33.110781 ms 
mapping optimization time 184.005385 
add points time 1.281496 ms
1317357842.872231007 WriteOdom aft_mapped_to_init
--------------------stamp1317357843.288294076
build tree time 32.011304 ms 
publication time 9.379591 ms 
whole laserOdometry time 9.394347 ms 
 
mapping data assosiation time 35.700949 ms 
mapping solver time 30.442907 ms 
--------------------stamp1317357843.392308950
prepare time 12.086992 
sort q time 4.929073 
seperate points time 11.076181 
mapping solver time 20.869221 ms 
publication time 10.977749 ms 
whole laserOdometry time 11.011818 ms 
 
-----t: 0.0592393
OdomCount 785 & avg odom time 0.041296 ms ++++++++++++++++++++++
build tree time 27.964583 ms 
--------------------stamp1317357843.496321916
prepare time 11.426562 
sort q time 10.249160 
seperate points time 23.424266 
scan registration time 48.570345 ms *************
publication time 8.203874 ms 
whole laserOdometry time 8.217880 ms 
 
mapping solver time 18.796220 ms 
filter time 10.698973 ms 
build tree time 32.924955 ms 
mapping data assosiation time 26.601967 ms 
mapping solver time 21.095759 ms 
--------------------stamp1317357843.704278945
points size 87971 
mapping data assosiation time 31.213154 ms 
scan registration time 32.669880 ms *************
mapping solver time 20.942544 ms 
filter time 9.252185 ms 
build tree time 29.369185 ms 
--------------------stamp1317357843.808247089
points size 89090 
sort q time 4.756934 
seperate points time 11.164622 
-----t: 0.0296234
OdomCount 789 & avg odom time 0.041306 ms ++++++++++++++++++++++
mapping data assosiation time 25.643654 ms 
mapping solver time 20.346615 ms 
filter time 8.472997 ms 
points size 90846 
sort q time 5.009528 
seperate points time 11.508446 
build tree time 31.940899 ms 
mapping data assosiation time 26.816579 ms 
mapping solver time 25.998104 ms 
--------------------stamp1317357844.016150951
prepare time 11.876938 
sort q time 5.059082 
seperate points time 11.347443 
publication time 8.995025 ms 
whole laserOdometry time 9.010741 ms 
 
mapping solver time 26.607928 ms 
mapping optimization time 141.205141 
add points time 0.859598 ms
-----t: 0.0361305
OdomCount 791 & avg odom time 0.041289 ms ++++++++++++++++++++++
1317357844.016150951 WriteOdom laser_odom_to_init
1317357844.016150951 WriteOdom aft_mapped_to_init_high_frec
filter time 11.705352 ms 
map prepare time 2.816451 ms
map corner num 129881  surf num 52683 
build tree time 28.924647 ms 
points size 96805 
mapping data assosiation time 28.157214 ms 
publication time 10.062583 ms 
whole laserOdometry time 10.092893 ms 
 
mapping solver time 31.626933 ms 
-----t: 0.0391601
OdomCount 792 & avg odom time 0.041286 ms ++++++++++++++++++++++
mapping solver time 19.534605 ms 
filter time 10.798863 ms 
mapping pub time 2.126237 ms 
whole mapping time 149.666717 ms +++++
mappingCount 668 & avg mapping time 117.089005 ms ++++++++++++++++++++++
1317357843.912213087 WriteOdom aft_mapped_to_init
points size 100447 
sort q time 5.952772 
seperate points time 15.359668 
build tree time 32.682728 ms 
publication time 13.359723 ms 
whole laserOdometry time 13.372767 ms 
 
--------------------stamp1317357844.327887058
prepare time 11.231038 
mapping data assosiation time 26.853767 ms 
sort q time 13.992290 
seperate points time 27.875073 
filter time 9.356436 ms 
build tree time 26.765990 ms 
points size 100985 
mapping data assosiation time 25.390593 ms 
sort q time 5.821582 
seperate points time 13.695624 
publication time 10.066167 ms 
whole laserOdometry time 10.079243 ms 
 
mapping data assosiation time 27.373311 ms 
mapping solver time 15.798285 ms 
mapping pub time 2.238015 ms 
whole mapping time 145.190629 ms +++++
mappingCount 670 & avg mapping time 117.196062 ms ++++++++++++++++++++++
sort q time 6.558581 
seperate points time 12.449210 
build tree time 33.306236 ms 
mapping data assosiation time 24.152673 ms 
mapping solver time 24.583430 ms 
--------------------stamp1317357844.639596939
prepare time 12.209323 
sort q time 6.249476 
seperate points time 12.844075 
publication time 9.585277 ms 
whole laserOdometry time 9.602772 ms 
 
mapping solver time 27.641030 ms 
filter time 9.515184 ms 
[0m[ INFO] [1718889358.527529599, 1317357844.704990970]: Received 186811 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889358.527599902, 1317357844.704990970]: Data saved to 1317357844327887.pcd[0m
mapping pub time 4.775096 ms 
whole mapping time 168.075985 ms +++++
mappingCount 671 & avg mapping time 117.271903 ms ++++++++++++++++++++++
--------------------stamp1317357844.743464946
points size 98410 
sort q time 5.361011 
seperate points time 12.698330 
publication time 8.152246 ms 
whole laserOdometry time 8.162829 ms 
 
mapping solver time 30.343294 ms 
mapping data assosiation time 22.416947 ms 
mapping solver time 26.674272 ms 
filter time 9.892840 ms 
scan registration time 35.254558 ms *************
-----t: 0.041214
OdomCount 799 & avg odom time 0.041341 ms ++++++++++++++++++++++
build tree time 33.751260 ms 
mapping data assosiation time 23.342009 ms 
--------------------stamp1317357844.951210021
prepare time 11.588951 
sort q time 5.660819 
seperate points time 12.127891 
publication time 8.901466 ms 
whole laserOdometry time 8.914559 ms 
 
1317357844.951210021 WriteOdom laser_odom_to_init
1317357844.951210021 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
map prepare time 3.003079 ms
map corner num 134718  surf num 54515 
build tree time 27.960679 ms 
points size 93601 
mapping data assosiation time 27.662687 ms 
-----t: 0.0364188
OdomCount 801 & avg odom time 0.041328 ms ++++++++++++++++++++++
1317357845.055079936 WriteOdom laser_odom_to_init
1317357845.055079936 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.811913 ms 
mapping solver time 21.695802 ms 
filter time 9.580822 ms 
sort q time 5.577999 
seperate points time 12.143730 
publication time 7.206206 ms 
whole laserOdometry time 7.219620 ms 
 
-----t: 0.0442214
OdomCount 802 & avg odom time 0.041332 ms ++++++++++++++++++++++
mapping data assosiation time 26.337346 ms 
mapping solver time 26.383055 ms 
points size 91117 
sort q time 5.276724 
seperate points time 12.545255 
publication time 11.197538 ms mapping solver time 31.989959 ms 
filter time 8.960043 ms 
map prepare time 2.879943 ms
map corner num 136367  surf num 55140 
--------------------stamp1317357845.366686105
build tree time 32.258216 ms 
sort q time 5.333341 
seperate points time 10.646603 
scan registration time 26.648020 ms *************
publication time 8.626824 ms 
whole laserOdometry time 8.642724 ms 
 
-----t: 0.0468388
OdomCount 804 & avg odom time 0.041333 ms ++++++++++++++++++++++
mapping data assosiation time 22.354652 ms 
--------------------stamp1317357845.470551967
mapping solver time 22.574144 ms 
mapping optimization time 138.346006 
add points time 0.952508 ms
prepare time 11.988877 
sort q time 5.488196 
seperate points time 12.267529 
scan registration time 29.061191 ms *************
-----t: 0.0359023
OdomCount 805 & avg odom time 0.041326 ms ++++++++++++++++++++++
publication time 16.237892 ms 
whole laserOdometry time 16.252259 ms 
 
build tree time 32.081351 ms 
mapping data assosiation time 23.557531 ms 
--------------------stamp1317357845.574450016
points size 90801 
mapping solver time 31.030152 ms 
sort q time 4.813056 
seperate points time 11.280321 
scan registration time 27.233577 ms *************
publication time 7.605688 ms 
whole laserOdometry time 7.613065 ms 
 
-----t: 0.042472
OdomCount 806 & avg odom time 0.041328 ms ++++++++++++++++++++++
1317357845.574450016 WriteOdom laser_odom_to_init
1317357845.574450016 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.836033 ms 
filter time 9.257341 ms 
--------------------stamp1317357845.678375005
prepare time 12.126348 
mapping data assosiation time 26.920559 ms 
-----t: 0.0462614
OdomCount 807 & avg odom time 0.041334 ms ++++++++++++++++++++++
1317357845.678375005 WriteOdom laser_odom_to_init
publication time 17.191798 ms 
whole laserOdometry time 17.202911 ms 
 
mapping data assosiation time 25.001449 ms 
points size 95314 
filter time 10.879215 ms 
publication time 8.903211 ms 
whole laserOdometry time 8.918797 ms 
 
1317357845.782293081 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.934561 ms 
--------------------stamp1317357845.886209011
prepare time 11.595206 
mapping solver time 28.289678 ms 
scan registration time 29.300706 ms *************
mapping data assosiation time 28.955319 ms 
1317357845.886209011 WriteOdom laser_odom_to_init
mapping solver time 24.246634 ms 
filter time 9.153646 ms 
map prepare time 2.849059 ms
map corner num 139706  surf num 56266 
--------------------stamp1317357845.990129947
points size 99244 
prepare time 11.926762 
build tree time 33.751714 ms 
sort q time 6.600069 
seperate points time 12.852106 
scan registration time 29.944347 ms *************
publication time 10.324009 ms 
whole laserOdometry time 10.357593 ms 
 
mapping solver time 24.262197 ms 
-----t: 0.0609156
OdomCount 810 & avg odom time 0.041350 ms ++++++++++++++++++++++
mapping data assosiation time 26.069363 ms 
--------------------stamp1317357846.094026088
points size 98603 
filter time 9.616488 ms 
-----t: 0.0329017
OdomCount 811 & avg odom time 0.041340 ms ++++++++++++++++++++++
build tree time 35.064961 ms 
mapping data assosiation time 24.513008 ms 
--------------------stamp1317357846.197891950
points size 97070 
prepare time 12.826959 
mapping solver time 26.625559 ms 
mapping data assosiation time 26.959829 ms 
publication time 18.057831 ms 
whole laserOdometry time 18.073722 ms 
 
add points time 0.889623 ms
filter time 11.321081 ms 
--------------------stamp1317357846.301739931
points size 96018 
sort q time 5.456168 
seperate points time 13.243580 
build tree time 35.384261 ms 
publication time 13.140522 ms 
whole laserOdometry time 13.159754 ms 
 
mapping solver time 19.374689 ms 
--------------------stamp1317357846.405567884
prepare time 12.245227 
mapping data assosiation time 25.494672 ms 
mapping solver time 18.979806 ms 
publication time 8.949687 ms 
whole laserOdometry time 8.964971 ms 
 
filter time 11.741179 ms 
build tree time 24.590783 ms 
mapping data assosiation time 23.519921 ms 
points size 99477 
sort q time 5.467781 
seperate points time 12.258226 
publication time 8.972818 ms 
whole laserOdometry time 8.986949 ms 
 
mapping data assosiation time 25.625112 ms 
mapping solver time 20.043805 ms 
filter time 7.321862 ms 
--------------------stamp1317357846.613136053
points size 100345 
sort q time 5.721945 
seperate points time 12.900810 
-----t: 0.0408659
OdomCount 816 & avg odom time 0.041388 ms ++++++++++++++++++++++
mapping data assosiation time 22.075165 ms 
--------------------stamp1317357846.716891050
add points time 0.988067 ms
mapping pub time 2.256701 ms 
whole mapping time 137.818759 ms +++++
mappingCount 684 & avg mapping time 117.954835 ms ++++++++++++++++++++++
1317357846.509362936 WriteOdom aft_mapped_to_init
map prepare time 3.214034 ms
map corner num 105766  surf num 42509 
sort q time 6.132092 
seperate points time 13.551252 
publication time 11.687903 ms 
whole laserOdometry time 11.824883 ms 
 
mapping data assosiation time 22.498431 ms 
mapping solver time 23.708871 ms 
points size 101215 
mapping data assosiation time 26.370346 ms 
filter time 11.242602 ms 
build tree time 20.936031 ms 
--------------------stamp1317357846.924392938
points size 101939 
sort q time 5.815078 
seperate points time 13.685491 
scan registration time 32.541002 ms *************
publication time 11.381627 ms 
whole laserOdometry time 11.396437 ms 
 
mapping data assosiation time 24.835194 ms 
mapping solver time 15.038059 ms 
mapping optimization time 117.463489 
add points time 0.900622 ms
map prepare time 3.037044 ms
map corner num 107380  surf num 43365 
points size 102153 
prepare time 13.850019 
build tree time 29.450403 ms 
mapping data assosiation time 32.226920 ms 
mapping solver time 29.982713 ms 
-----t: 0.0722753
OdomCount 820 & avg odom time 0.041415 ms ++++++++++++++++++++++
1317357847.028119087 WriteOdom laser_odom_to_init
1317357847.028119087 WriteOdom aft_mapped_to_init_high_frec
points size 102186 
sort q time 5.932708 
seperate points time 14.448049 
mapping solver time 26.251025 ms 
filter time 11.031992 ms 
publication time 17.447980 ms 
whole laserOdometry time 17.463042 ms 
 
build tree time 27.224471 ms 
--------------------stamp1317357847.235620975
points size 101907 
sort q time 6.037251 
seperate points time 14.643950 
scan registration time 33.929419 ms *************
publication time 12.575983 ms 
whole laserOdometry time 12.588950 ms 
 
mapping data assosiation time 28.075603 ms 
mapping solver time 17.871330 ms 
filter time 9.010876 ms 
--------------------stamp1317357847.339348077
points size 101617 
build tree time 27.621052 ms 
scan registration time 39.097407 ms *************
-----t: 0.0422576
OdomCount 823 & avg odom time 0.041460 ms ++++++++++++++++++++++
1317357847.339348077 WriteOdom laser_odom_to_init
1317357847.339348077 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 36.847577 ms 
mapping solver time 23.728373 ms 
--------------------stamp1317357847.443074941
points size 101447 
sort q time 5.186012 
seperate points time 11.821638 
filter time 11.067700 ms 
publication time 12.064104 ms 
whole laserOdometry time 12.077463 ms 
 
-----t: 0.0549196
OdomCount 824 & avg odom time 0.041476 ms ++++++++++++++++++++++
build tree time 31.044692 ms 
--------------------stamp1317357847.546823978
points size 99714 
prepare time 15.983857 
mapping solver time 24.020549 ms 
publication time 10.989974 ms 
whole laserOdometry time 11.006362 ms 
 
mapping solver time 16.457108 ms 
filter time 7.829489 ms 
--------------------stamp1317357847.650572061
points size 98500 
build tree time 32.351316 ms 
publication time 8.742942 ms 
whole laserOdometry time 8.760321 ms 
 
mapping solver time 26.912979 ms 
mapping data assosiation time 23.664116 ms 
points size 97354 
mapping solver time 23.752049 ms 
sort q time 5.483390 
seperate points time 12.761500 
map prepare time 3.895792 ms
map corner num 111598  surf num 45248 
-----t: 0.0437364
OdomCount 827 & avg odom time 0.041469 ms ++++++++++++++++++++++
build tree time 25.782805 ms 
mapping data assosiation time 23.024303 ms 
--------------------stamp1317357847.858052968
prepare time 11.735879 
scan registration time 46.727115 ms *************
publication time 10.070020 ms 
whole laserOdometry time 10.082953 ms 
 
mapping solver time 27.297620 ms 
filter time 7.861022 ms 
--------------------stamp1317357847.961853027
prepare time 12.372582 
build tree time 28.713769 ms 
publication time 8.689402 ms 
whole laserOdometry time 8.711816 ms 
 
-----t: 0.0396033
OdomCount 829 & avg odom time 0.041480 ms ++++++++++++++++++++++
1317357847.961853027 WriteOdom laser_odom_to_init
1317357847.961853027 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.308232 ms 
mapping data assosiation time 23.509586 ms 
points size 96836 
mapping solver time 27.053448 ms 
mapping optimization time 137.013310 
add points time 0.947657 ms
map prepare time 3.438643 ms
map corner num 113249  surf num 45893 
publication time 8.668542 ms 
whole laserOdometry time 8.681690 ms 
 
build tree time 27.756545 ms 
mapping data assosiation time 28.043943 ms 
points size 95309 
sort q time 5.694201 
seperate points time 12.806815 
mapping data assosiation time 28.308421 ms 
publication time 11.931492 ms 
whole laserOdometry time 11.946626 ms 
 
mapping solver time 26.322342 ms 
filter time 10.537963 ms 
points size 95103 
sort q time 6.537977 
seperate points time 13.454735 
publication time 8.865781 ms 
whole laserOdometry time 8.901955 ms 
 
mapping solver time 24.267483 ms 
points size 96438 
sort q time 5.810527 
seperate points time 11.645865 
mapping solver time 25.570044 ms 
publication time 9.058351 ms 
whole laserOdometry time 9.079542 ms 
 
map prepare time 2.986634 ms
map corner num 114795  surf num 46487 
build tree time 22.680935 ms 
mapping data assosiation time 21.783937 ms 
points size 98899 
sort q time 5.223802 
seperate points time 12.113401 
-----t: 0.0325526
OdomCount 834 & avg odom time 0.041569 ms ++++++++++++++++++++++
1317357848.480967044 WriteOdom laser_odom_to_init
1317357848.480967044 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.344111 ms 
mapping optimization time 126.603615 
add points time 0.886897 ms
[0m[ INFO] [1718889362.386805542, 1317357848.569668510]: Received 162387 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889362.386847737, 1317357848.569668510]: Data saved to 1317357848273320.pcd[0m
--------------------stamp1317357848.584763050
points size 99850 
sort q time 7.191990 
seperate points time 13.577806 
-----t: 0.0358805
OdomCount 835 & avg odom time 0.041562 ms ++++++++++++++++++++++
publication time 7.573435 ms 
whole laserOdometry time 7.586574 ms 
 
mapping solver time 33.834845 ms 
--------------------stamp1317357848.688561916
points size 98598 
prepare time 14.851829 
sort q time 5.591398 
seperate points time 12.812966 
mapping solver time 27.312208 ms 
mapping pub time 2.383163 ms 
whole mapping time 161.466611 ms +++++
mappingCount 697 & avg mapping time 118.572203 ms ++++++++++++++++++++++
1317357848.480967045 WriteOdom aft_mapped_to_init
map prepare time 3.593541 ms
map corner num 116600  surf num 46957 
-----t: 0.0380744
OdomCount 836 & avg odom time 0.041558 ms ++++++++++++++++++++++
1317357848.688561916 WriteOdom laser_odom_to_init
1317357848.688561916 WriteOdom aft_mapped_to_init_high_frec
build tree time 33.851664 ms 
--------------------stamp1317357848.792361021
mapping data assosiation time 27.648096 ms 
sort q time 5.610660 
seperate points time 13.041843 
scan registration time 30.469144 ms *************
-----t: 0.0397299
OdomCount 837 & avg odom time 0.041556 ms ++++++++++++++++++++++
1317357848.792361021 WriteOdom laser_odom_to_init
1317357848.792361021 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.142217 ms 
filter time 8.227657 ms 
map prepare time 2.971400 ms
map corner num 117333  surf num 47172 
points size 97436 
build tree time 30.499946 ms 
mapping data assosiation time 28.197433 ms 
mapping solver time 23.072586 ms 
mapping data assosiation time 24.855022 ms 
points size 97485 
prepare time 14.755649 
mapping solver time 18.238142 ms 
mapping optimization time 126.124314 
sort q time 6.280644 
seperate points time 13.314827 
filter time 10.936223 ms 
publication time 10.031573 ms 
whole laserOdometry time 10.048414 ms 
 
build tree time 29.466088 ms 
mapping data assosiation time 22.902898 ms 
--------------------stamp1317357849.103682041
prepare time 11.997167 
sort q time 5.795191 
seperate points time 11.877117 
scan registration time 36.567702 ms *************
publication time 9.957722 ms 
whole laserOdometry time 9.986678 ms 
 
-----t: 0.0481173
OdomCount 840 & avg odom time 0.041606 ms ++++++++++++++++++++++
1317357849.103682041 WriteOdom laser_odom_to_init
1317357849.103682041 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.336715 ms 
mapping optimization time 132.555312 
add points time 0.749718 ms
mapping pub time 2.239518 ms 
whole mapping time 149.959688 ms +++++
mappingCount 700 & avg mapping time 118.693324 ms ++++++++++++++++++++++
--------------------stamp1317357849.207457065
points size 94727 
sort q time 5.203055 
seperate points time 12.256709 
mapping data assosiation time 24.975181 ms 
publication time 10.022612 ms 
whole laserOdometry time 10.040742 ms 
 
-----t: 0.0349509
OdomCount 841 & avg odom time 0.041598 ms ++++++++++++++++++++++
mapping solver time 21.820911 ms 
mapping data assosiation time 27.334946 ms 
--------------------stamp1317357849.311235904
map prepare time 4.399070 ms
map corner num 145001  surf num 54874 
sort q time 5.341320 
seperate points time 12.613225 
build tree time 36.969744 ms 
--------------------stamp1317357849.415011882
sort q time 5.707805 
seperate points time 12.317935 
publication time 9.946857 ms 
whole laserOdometry time 9.958131 ms 
 
1317357849.415011882 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.282923 ms 
filter time 9.130819 ms 
--------------------stamp1317357849.518784046
prepare time 13.734953 
sort q time 5.870975 
seperate points time 12.807298 
publication time 9.836653 ms 
whole laserOdometry time 9.849954 ms 
 
mapping solver time 25.055847 ms 
--------------------stamp1317357849.622558116
prepare time 11.420690 
sort q time 6.160512 
seperate points time 12.759784 
filter time 11.925410 ms 
publication time 9.245999 ms 
whole laserOdometry time 9.262292 ms 
 
build tree time 30.261935 ms 
-----t: 0.0774846
OdomCount 845 & avg odom time 0.041638 ms ++++++++++++++++++++++
--------------------stamp1317357849.726334095
points size 92926 
sort q time 8.604062 
seperate points time 16.476346 
1317357849.726334095 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 42.146651 ms 
mapping solver time 20.768719 ms 
filter time 9.110673 ms 
map prepare time 4.716083 ms
map corner num 147185  surf num 55525 
sort q time 5.381314 
seperate points time 12.737818 
build tree time 38.914765 ms 
publication time 8.719060 ms mapping data assosiation time 25.738645 ms 
-----t: 0.0699901
OdomCount 847 & avg odom time 0.041665 ms ++++++++++++++++++++++
1317357849.830106019 WriteOdom laser_odom_to_init
1317357849.830106019 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357849.933881998
points size 94319 
mapping data assosiation time 27.457050 ms 
mapping solver time 24.536505 ms 
-----t: 0.0381195
OdomCount 848 & avg odom time 0.041661 ms ++++++++++++++++++++++
map prepare time 3.044238 ms
map corner num 147927  surf num 55707 
build tree time 29.950252 ms 
points size 95987 
mapping data assosiation time 26.744778 ms 
sort q time 4.929735 
seperate points time 10.483571 
scan registration time 26.188930 ms *************
publication time 8.221732 ms 
whole laserOdometry time 8.238940 ms 
 
-----t: 0.04841
OdomCount 849 & avg odom time 0.041669 ms ++++++++++++++++++++++
mapping data assosiation time 25.023373 ms 
mapping solver time 20.942986 ms 
filter time 12.027380 ms 
map prepare time 3.056500 ms
map corner num 148798  surf num 55961 
scan registration time 34.387755 ms *************
publication time 10.614374 ms 
whole laserOdometry time 10.984194 ms 
 
-----t: 0.0386778
OdomCount 850 & avg odom time 0.041665 ms ++++++++++++++++++++++
1317357850.141433000 WriteOdom laser_odom_to_init
1317357850.141433000 WriteOdom aft_mapped_to_init_high_frec
build tree time 39.292148 ms 
mapping data assosiation time 22.403122 ms 
--------------------stamp1317357850.245208978
prepare time 12.703628 
mapping data assosiation time 24.354136 ms 
-----t: 0.0428255
OdomCount 851 & avg odom time 0.041666 ms ++++++++++++++++++++++
filter time 10.735509 ms 
--------------------stamp1317357850.348980903
prepare time 13.212302 
sort q time 5.625019 
seperate points time 13.237223 
publication time 7.849683 ms 
whole laserOdometry time 7.881905 ms 
 
mapping solver time 27.701711 ms 
mapping data assosiation time 25.178213 ms 
-----t: 0.0859167
OdomCount 852 & avg odom time 0.041718 ms ++++++++++++++++++++++
points size 99524 
map prepare time 3.648320 ms
map corner num 150438  surf num 56386 
scan registration time 36.057346 ms *************
-----t: 0.0437452
OdomCount 853 & avg odom time 0.041721 ms ++++++++++++++++++++++
mapping data assosiation time 21.175854 ms 
--------------------stamp1317357850.556555986
mapping solver time 24.957064 ms 
sort q time 5.679294 
seperate points time 11.506060 
mapping data assosiation time 25.420340 ms 
publication time 7.302867 ms 
whole laserOdometry time 7.317140 ms 
 
mapping solver time 30.499549 ms 
filter time 13.522038 ms 
-----t: 0.0705164
OdomCount 854 & avg odom time 0.041754 ms ++++++++++++++++++++++
--------------------stamp1317357850.660353899
points size 100333 
sort q time 5.754974 
seperate points time 12.930422 
mapping data assosiation time 26.396520 ms 
mapping solver time 24.551501 ms 
-----t: 0.0672725
OdomCount 855 & avg odom time 0.041784 ms ++++++++++++++++++++++--------------------stamp1317357850.764153957
points size 100618 
sort q time 6.162825 
seperate points time 12.457703 
publication time 9.410431 ms 
whole laserOdometry time 9.424276 ms 
 
build tree time 36.302634 ms 
mapping data assosiation time 22.062994 ms 
--------------------stamp1317357850.867974042
prepare time 12.164361 
sort q time 5.869649 
seperate points time 13.409804 
mapping data assosiation time 25.615266 ms 
-----t: 0.0441385
OdomCount 857 & avg odom time 0.041784 ms ++++++++++++++++++++++
1317357850.867974042 WriteOdom laser_odom_to_init
1317357850.867974042 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.545620 ms 
mapping optimization time 135.026115 
filter time 10.339854 ms 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357850.971795082
prepare time 11.653143 
sort q time 5.261151 
seperate points time 11.331151 
scan registration time 27.931676 ms *************
publication time 12.291454 ms 
whole laserOdometry time 12.330417 ms 
 
mapping data assosiation time 27.633881 ms 
mapping solver time 25.816595 ms 
mapping data assosiation time 20.133555 ms 
points size 100187 
filter time 13.009367 ms 
publication time 11.268117 ms 
whole laserOdometry time 11.281526 ms 
 
build tree time 38.188140 ms 
mapping data assosiation time 20.135590 ms 
--------------------stamp1317357851.179397106
points size 100313 
prepare time 14.653332 
mapping solver time 25.913530 ms 
sort q time 5.769132 
seperate points time 13.638006 
mapping data assosiation time 25.537593 ms 
-----t: 0.0400383
OdomCount 860 & avg odom time 0.041793 ms ++++++++++++++++++++++
mapping solver time 22.883573 ms 
filter time 9.391654 ms 
map prepare time 3.351751 ms
map corner num 154305  surf num 57527 
--------------------stamp1317357851.283220052
points size 100206 
build tree time 38.605480 ms 
sort q time 6.445043 
seperate points time 28.098269 
-----t: 0.0360211
OdomCount 861 & avg odom time 0.041787 ms ++++++++++++++++++++++
1317357851.283220052 WriteOdom laser_odom_to_init
1317357851.283220052 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.448470 ms 
add points time 0.710047 ms
filter time 14.397462 ms 
scan registration time 31.601084 ms *************
publication time 10.373793 ms 
whole laserOdometry time 10.387618 ms 
 
build tree time 38.346908 ms 
mapping data assosiation time 20.738592 ms 
--------------------stamp1317357851.490888118
points size 100800 
mapping data assosiation time 25.754871 ms 
sort q time 26.794613 
seperate points time 33.656850 
-----t: 0.0510468
OdomCount 863 & avg odom time 0.041807 ms ++++++++++++++++++++++
filter time 20.835906 ms 
map prepare time 3.001846 ms
map corner num 155762  surf num 58003 
--------------------stamp1317357851.594757080
points size 101530 
sort q time 5.756312 
seperate points time 14.624925 
build tree time 60.214371 ms 
publication time 8.683067 ms 
whole laserOdometry time 8.698838 ms 
 
mapping data assosiation time 24.806557 ms 
mapping solver time 22.860861 ms 
--------------------stamp1317357851.698628902
points size 101730 
sort q time 5.826614 
seperate points time 13.326445 
-----t: 0.0324062
OdomCount 865 & avg odom time 0.041801 ms ++++++++++++++++++++++
mapping pub time 6.443329 ms 
whole mapping time 179.559193 ms +++++
mappingCount 716 & avg mapping time 119.573244 ms ++++++++++++++++++++++
1317357851.387042046 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889365.574357007, 1317357851.758039032]: Received 214609 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889365.574417477, 1317357851.758039032]: Data saved to 1317357851387042.pcd[0m
drop lidar frame in mapping for real time performance 
map prepare time 2.954090 ms
map corner num 156428  surf num 58181 
build tree time 34.579291 ms 
points size 101630 
mapping data assosiation time 26.139721 ms 
scan registration time 33.763688 ms *************
publication time 10.538560 ms 
whole laserOdometry time 10.553440 ms 
 
mapping data assosiation time 24.495519 ms 
mapping solver time 15.363244 ms 
filter time 13.483200 ms 
points size 101035 
build tree time 16.931406 ms 
publication time 8.592420 ms 
whole laserOdometry time 8.605925 ms 
 
mapping data assosiation time 25.622951 ms 
points size 100420 
mapping solver time 24.917867 ms 
mapping pub time 2.365782 ms 
whole mapping time 137.453697 ms +++++
mappingCount 718 & avg mapping time 119.632321 ms ++++++++++++++++++++++
scan registration time 53.976290 ms *************
publication time 8.976049 ms 
whole laserOdometry time 8.985761 ms 
 
mapping data assosiation time 23.547077 ms 
--------------------stamp1317357852.113945007
prepare time 12.042720 
sort q time 6.006140 
seperate points time 13.243326 
mapping solver time 18.612121 ms 
1317357851.906300068 WriteOdom aft_mapped_to_init
build tree time 15.463552 ms 
--------------------stamp1317357852.217768907
prepare time 12.317914 
scan registration time 29.802131 ms *************
publication time 9.541811 ms 
whole laserOdometry time 9.557640 ms 
-----t: 0.0418886
OdomCount 870 & avg odom time 0.041849 ms ++++++++++++++++++++++
mapping solver time 16.727488 ms 
filter time 5.528752 ms 
build tree time 16.232010 ms 
--------------------stamp1317357852.321589946
points size 88820 
sort q time 4.912354 
seperate points time 11.703994 
mapping solver time 25.319965 ms mapping data assosiation time 23.575786 ms 
mapping solver time 25.411210 ms 
[0m[ INFO] [1718889366.239579554, 1317357852.424445785]: Received 111540 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889366.239649744, 1317357852.424445785]: Data saved to 1317357852217768.pcd[0m
points size 84896 
map prepare time 2.795218 ms
map corner num 77997  surf num 33543 
scan registration time 42.837124 ms *************
publication time 10.557325 ms 
whole laserOdometry time 10.572040 ms 
 
-----t: 0.0524469
OdomCount 872 & avg odom time 0.041855 ms ++++++++++++++++++++++
1317357852.425386905 WriteOdom laser_odom_to_init
1317357852.425386905 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.452830 ms 
points size 81113 
sort q time 5.346366 
seperate points time 10.817316 
publication time 7.858715 ms 
whole laserOdometry time 7.870344 ms 
 
filter time 6.715323 ms 
build tree time 16.905184 ms 
mapping data assosiation time 21.516743 ms 
points size 77576 
sort q time 4.151604 
seperate points time 9.847695 
publication time 8.430097 ms 
whole laserOdometry time 8.444177 ms 
 
mapping solver time 18.841286 ms 
mapping optimization time 108.508873 
add points time 0.715285 ms
--------------------stamp1317357852.736810922
points size 74031 
sort q time 3.920853 
seperate points time 9.562896 
scan registration time 25.186397 ms *************
mapping solver time 28.915675 ms 
publication time 14.158687 ms 
whole laserOdometry time 14.198142 ms 
 
mapping data assosiation time 21.639898 ms 
mapping solver time 18.691328 ms 
mapping optimization time 108.085892 
add points time 0.711146 ms
filter time 5.417456 ms 
--------------------stamp1317357852.840585947
prepare time 8.731180 
build tree time 18.008937 ms 
mapping data assosiation time 23.142732 ms 
-----t: 0.0401275
OdomCount 876 & avg odom time 0.041831 ms ++++++++++++++++++++++
1317357852.840585947 WriteOdom laser_odom_to_init
1317357852.840585947 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.090379 ms 
mapping data assosiation time 19.159897 ms 
mapping solver time 14.135506 ms 
mapping optimization time 98.579468 
add points time 0.849549 ms
--------------------stamp1317357852.944381952
points size 77710 
build tree time 23.349483 ms 
scan registration time 27.338794 ms *************
publication time 6.403381 ms 
whole laserOdometry time 6.416922 ms 
 
mapping data assosiation time 24.122292 ms 
-----t: 0.0440731
OdomCount 877 & avg odom time 0.041833 ms ++++++++++++++++++++++
mapping solver time 26.065867 ms 
mapping data assosiation time 19.888833 ms 
--------------------stamp1317357853.048204898
mapping solver time 19.871033 ms 
filter time 7.427430 ms 
sort q time 4.501681 
seperate points time 10.456669 
1317357852.840585947 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889366.885931268, 1317357853.063434212]: Received 115616 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889366.886001013, 1317357853.063434212]: Data saved to 1317357852840585.pcd[0m
scan registration time 25.422261 ms *************
map prepare time 3.314898 ms
map corner num 81339  surf num 34277 
publication time 9.500319 ms 
whole laserOdometry time 9.512400 ms 
 
mapping data assosiation time 20.336574 ms 
mapping solver time 24.419055 ms 
--------------------stamp1317357853.152028083
points size 85962 
mapping solver time 21.783738 ms 
map prepare time 2.469174 ms
map corner num 82051  surf num 34432 
-----t: 0.0497819
OdomCount 879 & avg odom time 0.041831 ms ++++++++++++++++++++++
mapping data assosiation time 22.803670 ms 
--------------------stamp1317357853.255851984
prepare time 11.509364 
seperate points time 19.607514 
-----t: 0.0367885
OdomCount 880 & avg odom time 0.041825 ms ++++++++++++++++++++++
mapping solver time 22.941688 ms 
filter time 5.803118 ms 
mapping pub time 1.823489 ms 
whole mapping time 132.103673 ms +++++
mappingCount 728 & avg mapping time 119.722774 ms ++++++++++++++++++++++
1317357853.048204899 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.279168 ms
map corner num 82814  surf num 34673 
build tree time 16.796466 ms 
points size 95392 
prepare time 13.889272 
mapping data assosiation time 23.404014 ms 
sort q time 5.596959 
seperate points time 13.039538 
scan registration time 32.792054 ms *************
publication time 9.172274 ms 
whole laserOdometry time 9.186127 ms 
 
-----t: 0.0429447
OdomCount 881 & avg odom time 0.041826 ms ++++++++++++++++++++++
1317357853.359674930 WriteOdom laser_odom_to_init
1317357853.359674930 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.545657 ms 
filter time 5.786286 ms 
--------------------stamp1317357853.463470935
points size 96553 
build tree time 20.497069 ms 
scan registration time 28.197962 ms *************
mapping data assosiation time 24.868188 ms 
publication time 14.083740 ms 
whole laserOdometry time 14.108140 ms 
 
mapping solver time 28.654733 ms 
mapping data assosiation time 22.540909 ms 
points size 96726 
add points time 0.999366 ms
filter time 8.327068 ms 
sort q time 5.615201 
seperate points time 11.786613 
mapping pub time 2.272668 ms 
whole mapping time 135.761134 ms +++++
mappingCount 730 & avg mapping time 119.748220 ms ++++++++++++++++++++++
1317357853.359674931 WriteOdom aft_mapped_to_init
scan registration time 29.353507 ms *************
map prepare time 2.952136 ms
map corner num 84363  surf num 35073 
publication time 8.627511 ms 
whole laserOdometry time 8.638506 ms 
 
build tree time 21.205098 ms 
-----t: 0.0359879
OdomCount 883 & avg odom time 0.041846 ms ++++++++++++++++++++++
1317357853.567246913 WriteOdom laser_odom_to_init
1317357853.567246913 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.878154 ms 
mapping solver time 18.629655 ms 
--------------------stamp1317357853.671045064
points size 95743 
sort q time 5.465917 
seperate points time 11.412543 
mapping solver time 18.890610 ms 
filter time 8.555841 ms 
drop lidar frame in mapping for real time performance 
map prepare time 2.784581 ms
map corner num 85105  surf num 35280 
-----t: 0.0441708
OdomCount 884 & avg odom time 0.041848 ms ++++++++++++++++++++++
1317357853.671045064 WriteOdom laser_odom_to_init
1317357853.671045064 WriteOdom aft_mapped_to_init_high_frec
build tree time 18.415849 ms 
mapping data assosiation time 22.347094 ms 
points size 94485 
sort q time 5.147594 
seperate points time 11.364524 
scan registration time 28.096185 ms *************
mapping data assosiation time 26.277510 ms 
publication time 8.847290 ms 
whole laserOdometry time 8.862641 ms 
 
mapping solver time 18.810979 ms 
mapping optimization time 112.536703 
add points time 0.760330 ms
map prepare time 2.451277 ms
map corner num 85838  surf num 35570 
build tree time 18.441693 ms 
points size 93711 
mapping data assosiation time 26.466125 ms 
sort q time 5.666892 
seperate points time 26.932303 
scan registration time 43.970207 ms *************
mapping data assosiation time 27.453765 ms 
mapping solver time 19.956148 ms 
mapping pub time 2.490116 ms 
whole mapping time 133.994534 ms +++++
mappingCount 733 & avg mapping time 119.782591 ms ++++++++++++++++++++++
prepare time 15.464724 
sort q time 4.795215 
seperate points time 11.422975 
publication time 7.977768 ms 
whole laserOdometry time 7.990019 ms 
 
mapping data assosiation time 28.976792 ms 
mapping solver time 25.441278 ms 
--------------------stamp1317357854.086287975
points size 91333 
prepare time 16.321607 
mapping data assosiation time 27.024077 ms 
mapping solver time 24.030138 ms 
mapping optimization time 136.511676 
-----t: 0.0423241
OdomCount 888 & avg odom time 0.041867 ms ++++++++++++++++++++++
1317357854.086287975 WriteOdom laser_odom_to_init
build tree time 18.963687 ms 
mapping data assosiation time 20.655938 ms 
points size 90131 
prepare time 10.951181 
mapping solver time 20.454543 ms 
sort q time 5.033223 
seperate points time 11.540948 
mapping data assosiation time 25.870845 ms 
publication time 9.364437 ms 
whole laserOdometry time 9.378200 ms 
 
mapping solver time 21.989217 ms 
filter time 6.067226 ms 
mapping pub time 2.119026 ms 
whole mapping time 120.911345 ms +++++
mappingCount 735 & avg mapping time 119.823234 ms ++++++++++++++++++++++
1317357853.982467890 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.928165 ms
map corner num 87964  surf num 36423 
build tree time 20.151752 ms 
points size 89575 
mapping data assosiation time 25.296863 ms 
sort q time 5.188879 
seperate points time 12.018858 
publication time 9.878112 ms 
whole laserOdometry time 9.896913 ms 
 
mapping data assosiation time 22.666680 ms 
mapping solver time 18.955566 ms 
mapping optimization time 117.922002 
filter time 6.050013 ms 
points size 88442 
build tree time 20.846644 ms 
sort q time 4.808608 
seperate points time 11.717850 
mapping data assosiation time 27.076319 ms 
publication time 11.179094 ms 
whole laserOdometry time 11.195540 ms 
 
mapping data assosiation time 21.580917 ms 
points size 88524 
filter time 8.343159 ms 
scan registration time 31.249031 ms *************
map prepare time 3.450425 ms
map corner num 89399  surf num 37055 
build tree time 21.716339 ms 
mapping solver time 19.247161 ms 
--------------------stamp1317357854.605282068
sort q time 4.819417 
seperate points time 11.166415 
mapping optimization time 109.158609 
publication time 9.915230 ms 
whole laserOdometry time 9.928574 ms 
 
build tree time 18.846481 ms 
mapping data assosiation time 22.712593 ms 
points size 90100 
sort q time 5.010099 
seperate points time 11.568460 
mapping data assosiation time 25.734536 ms 
publication time 10.528672 ms 
whole laserOdometry time 10.543616 ms 
 
mapping solver time 16.913387 ms 
mapping pub time 1.988379 ms 
whole mapping time 118.761765 ms +++++
mappingCount 739 & avg mapping time 119.858912 ms ++++++++++++++++++++++
build tree time 17.578183 ms 
--------------------stamp1317357854.812927007
prepare time 13.146777 
sort q time 4.615463 
seperate points time 10.081678 
mapping solver time 25.131289 ms 
-----t: 0.0446654
OdomCount 895 & avg odom time 0.041872 ms ++++++++++++++++++++++
mapping solver time 18.834816 ms 
mapping optimization time 109.554848 
add points time 0.862039 ms
map prepare time 2.376019 ms
map corner num 91655  surf num 37856 
--------------------stamp1317357854.916771888
build tree time 22.690188 ms 
sort q time 5.980038 
seperate points time 14.168657 
scan registration time 35.896317 ms *************
mapping data assosiation time 27.566438 ms 
-----t: 0.033753
OdomCount 896 & avg odom time 0.041863 ms ++++++++++++++++++++++
mapping solver time 20.091724 ms 
mapping data assosiation time 22.885518 ms 
mapping solver time 14.577048 ms 
filter time 6.955928 ms 
points size 91628 
sort q time 6.210145 
seperate points time 14.279000 
publication time 9.304821 ms 
whole laserOdometry time 9.319671 ms 
 
build tree time 24.618219 ms 
mapping data assosiation time 21.734212 ms 
--------------------stamp1317357855.124346971
points size 91585 
sort q time 4.878206 
seperate points time 11.864620 
mapping solver time 17.895472 ms 
mapping pub time 2.108799 ms 
whole mapping time 125.047937 ms +++++
mappingCount 742 & avg mapping time 119.913276 ms ++++++++++++++++++++++
build tree time 22.354960 ms 
--------------------stamp1317357855.228122949
points size 92470 
sort q time 5.825645 
seperate points time 12.089334 
publication time 9.421072 ms 
whole laserOdometry time 9.436097 ms 
 
mapping solver time 19.598492 ms 
filter time 6.257596 ms 
mapping pub time 2.159376 ms 
whole mapping time 126.110086 ms +++++
mappingCount 743 & avg mapping time 119.921620 ms ++++++++++++++++++++++
1317357855.020572901 WriteOdom aft_mapped_to_init
--------------------stamp1317357855.331896066
build tree time 22.382952 ms 
sort q time 4.925154 
seperate points time 11.833387 
scan registration time 31.025277 ms *************
publication time 7.631322 ms 
whole laserOdometry time 7.645013 ms 
 
mapping data assosiation time 22.006164 ms 
mapping solver time 15.812056 ms 
filter time 8.815690 ms 
map prepare time 3.664661 ms
map corner num 94546  surf num 38819 
scan registration time 36.135740 ms *************
build tree time 24.831142 ms 
-----t: 0.0405546
OdomCount 901 & avg odom time 0.041850 ms ++++++++++++++++++++++
mapping solver time 22.902654 ms 
--------------------stamp1317357855.539400100
prepare time 10.760581 
sort q time 4.394715 
seperate points time 10.212930 
mapping solver time 23.682123 ms 
mapping pub time 2.097347 ms 
whole mapping time 137.717800 ms +++++
mappingCount 745 & avg mapping time 119.956474 ms ++++++++++++++++++++++
-----t: 0.055665
OdomCount 902 & avg odom time 0.041865 ms ++++++++++++++++++++++
1317357855.539400100 WriteOdom laser_odom_to_init
1317357855.539400100 WriteOdom aft_mapped_to_init_high_frec
build tree time 24.340184 ms 
mapping data assosiation time 22.850573 ms 
points size 84180 
sort q time 4.670229 
seperate points time 10.795543 
mapping data assosiation time 27.067099 ms 
mapping solver time 22.987054 ms 
mapping optimization time 118.731710 
-----t: 0.051019
OdomCount 903 & avg odom time 0.041875 ms ++++++++++++++++++++++
1317357855.643173933 WriteOdom laser_odom_to_init
1317357855.643173933 WriteOdom aft_mapped_to_init_high_frec
add points time 0.836142 ms
map prepare time 2.464517 ms
map corner num 96010  surf num 39334 
--------------------stamp1317357855.746949911
prepare time 12.246498 
sort q time 4.607832 
seperate points time 11.038702 
publication time 10.585694 ms 
whole laserOdometry time 10.614118 ms 
 
-----t: 0.0397813
OdomCount 904 & avg odom time 0.041873 ms ++++++++++++++++++++++
mapping data assosiation time 20.442104 ms 
mapping solver time 17.703287 ms 
filter time 7.284018 ms 
points size 78580 
sort q time 4.744771 
seperate points time 9.497863 
publication time 7.099819 ms 
whole laserOdometry time 7.112898 ms 
 
mapping data assosiation time 22.969707 ms 
-----t: 0.0508347
OdomCount 905 & avg odom time 0.041883 ms ++++++++++++++++++++++
1317357855.850723981 WriteOdom laser_odom_to_init
1317357855.850723981 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.128486 ms 
points size 74195 
mapping solver time 14.734764 ms 
mapping optimization time 107.717260 
add points time 1.005434 ms
prepare time 11.755468 
1317357855.746949911 WriteOdom aft_mapped_to_init
publication time 7.794343 ms 
whole laserOdometry time 7.806861 ms 
 
build tree time 26.605554 ms 
mapping data assosiation time 20.333346 ms 
mapping solver time 21.265453 ms 
--------------------stamp1317357856.058345079
mapping data assosiation time 22.126137 ms 
sort q time 3.928017 
seperate points time 9.260908 
mapping solver time 19.665061 ms 
filter time 10.190548 ms 
build tree time 22.044969 ms 
mapping data assosiation time 19.380294 ms 
--------------------stamp1317357856.162168025
mapping solver time 21.212241 ms 
scan registration time 21.155592 ms *************
mapping data assosiation time 23.292085 ms 
mapping solver time 15.702847 ms 
filter time 7.231025 ms 
mapping pub time 1.694674 ms 
whole mapping time 114.633190 ms +++++
mappingCount 750 & avg mapping time 119.989962 ms ++++++++++++++++++++++
1317357855.954521894 WriteOdom aft_mapped_to_init
map prepare time 2.159019 ms
map corner num 98657  surf num 40030 
build tree time 21.591556 ms 
--------------------stamp1317357856.265969038
points size 77379 
sort q time 5.089048 
seperate points time 9.558066 
publication time 8.174057 ms 
whole laserOdometry time 8.192397 ms 
 
-----t: 0.0439117
OdomCount 909 & avg odom time 0.041883 ms ++++++++++++++++++++++
mapping solver time 22.993146 ms 
filter time 8.541992 ms 
--------------------stamp1317357856.369769096
prepare time 10.011997 
scan registration time 24.681408 ms *************
publication time 8.039091 ms 
whole laserOdometry time 8.054176 ms 
 
mapping data assosiation time 19.611856 ms 
filter time 6.466502 ms 
points size 79833 
sort q time 4.928470 
seperate points time 9.835484 
publication time 7.101886 ms 
whole laserOdometry time 7.114541 ms 
 
mapping solver time 16.542616 ms 
1317357856.473566055 WriteOdom laser_odom_to_init
1317357856.473566055 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.317616 ms 
mapping solver time 16.375428 ms 
mapping pub time 1.676589 ms 
whole mapping time 114.750723 ms +++++
mappingCount 753 & avg mapping time 119.988392 ms ++++++++++++++++++++++
publication time 8.411905 ms 
whole laserOdometry time 8.448743 ms 
 
-----t: 0.0388249
OdomCount 912 & avg odom time 0.041894 ms ++++++++++++++++++++++
1317357856.577366113 WriteOdom laser_odom_to_init
1317357856.577366113 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.683673 ms 
mapping solver time 20.537740 ms 
--------------------stamp1317357856.681164979
prepare time 12.090617 
sort q time 4.344710 
seperate points time 10.428762 
publication time 6.899199 ms 
whole laserOdometry time 6.912204 ms 
 
-----t: 0.036614
OdomCount 913 & avg odom time 0.041888 ms ++++++++++++++++++++++
build tree time 22.128768 ms 
mapping data assosiation time 20.002143 ms 
--------------------stamp1317357856.784939050
prepare time 10.322928 
sort q time 4.179439 
seperate points time 9.935117 
mapping data assosiation time 22.979047 ms 
publication time 10.260207 ms 
whole laserOdometry time 10.277872 ms 
 
-----t: 0.0517659
OdomCount 914 & avg odom time 0.041899 ms ++++++++++++++++++++++
filter time 7.675567 ms 
1317357856.784939050 WriteOdom laser_odom_to_init
1317357856.784939050 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 1.834213 ms 
whole mapping time 124.598450 ms +++++
mappingCount 755 & avg mapping time 120.015363 ms ++++++++++++++++++++++
1317357856.577366114 WriteOdom aft_mapped_to_init
map prepare time 2.239443 ms
map corner num 101939  surf num 40872 
build tree time 21.619066 ms 
mapping solver time 17.736618 ms 
mapping optimization time 105.230756 
add points time 0.690567 ms
1317357856.784939051 WriteOdom aft_mapped_to_init
--------------------stamp1317357856.992464065
points size 77676 
sort q time 4.125910 
seperate points time 9.936700 
publication time 7.805974 ms 
whole laserOdometry time 7.818131 ms 
 
mapping solver time 22.172834 ms 
mapping data assosiation time 21.143384 ms 
mapping solver time 18.387935 ms 
filter time 9.118579 ms 
sort q time 4.685660 
seperate points time 10.202148 
build tree time 25.485408 ms 
mapping data assosiation time 20.494352 ms 
mapping solver time 18.220039 ms 
mapping data assosiation time 18.986719 ms 
--------------------stamp1317357857.199991941
prepare time 10.415355 
filter time 9.014621 ms 
publication time 6.497342 ms 
whole laserOdometry time 6.508334 ms 
 
build tree time 23.758731 ms 
-----t: 0.0511368
OdomCount 918 & avg odom time 0.041893 ms ++++++++++++++++++++++
mapping solver time 21.340255 ms 
--------------------stamp1317357857.303766012
filter time 7.134439 ms 
-----t: 0.0336938
OdomCount 919 & avg odom time 0.041884 ms ++++++++++++++++++++++
build tree time 24.100349 ms 
mapping data assosiation time 19.151889 ms 
mapping solver time 16.708341 ms 
points size 77662 
mapping data assosiation time 21.828315 ms 
mapping solver time 15.499473 ms 
filter time 7.338390 ms 
build tree time 27.571366 ms 
mapping data assosiation time 18.114474 ms 
--------------------stamp1317357857.511312007
prepare time 11.169550 
mapping solver time 24.642461 ms 
mapping data assosiation time 22.762011 ms 
mapping solver time 17.998354 ms 
mapping optimization time 112.223740 
add points time 0.667453 ms
[0m[ INFO] [1718889371.398497041, 1317357857.584578667]: Received 173235 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889371.398534480, 1317357857.584578667]: Data saved to 1317357857303766.pcd[0m
mapping pub time 25.452635 ms 
whole mapping time 148.620315 ms +++++
mappingCount 761 & avg mapping time 120.041714 ms ++++++++++++++++++++++
--------------------stamp1317357857.615112066
build tree time 17.765267 ms 
-----t: 0.034305
OdomCount 922 & avg odom time 0.041845 ms ++++++++++++++++++++++
mapping solver time 24.257055 ms 
mapping data assosiation time 20.473782 ms 
mapping optimization time 110.699326 
prepare time 12.242518 
sort q time 4.839289 
seperate points time 11.040925 
publication time 7.323866 ms 
whole laserOdometry time 7.336658 ms 
 
mapping data assosiation time 23.173590 ms 
mapping solver time 22.774646 ms 
--------------------stamp1317357857.822686910
points size 91787 
mapping solver time 17.101674 ms 
filter time 7.603388 ms 
scan registration time 28.062571 ms *************
mapping pub time 2.148149 ms 
whole mapping time 122.185378 ms +++++
mappingCount 763 & avg mapping time 120.046319 ms ++++++++++++++++++++++
1317357857.615112066 WriteOdom aft_mapped_to_init
build tree time 21.369859 ms 
-----t: 0.0516873
OdomCount 924 & avg odom time 0.041846 ms ++++++++++++++++++++++
1317357857.822686910 WriteOdom laser_odom_to_init
1317357857.822686910 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.152306 ms 
--------------------stamp1317357857.926459074
points size 94664 
sort q time 6.967404 
seperate points time 12.200062 
mapping data assosiation time 23.884558 ms 
mapping solver time 23.223565 ms 
-----t: 0.0527763
OdomCount 925 & avg odom time 0.041858 ms ++++++++++++++++++++++
build tree time 20.851732 ms 
--------------------stamp1317357858.030210018
prepare time 12.664409 
sort q time 5.294341 
seperate points time 12.068283 
-----t: 0.0319428
OdomCount 926 & avg odom time 0.041847 ms ++++++++++++++++++++++
mapping data assosiation time 25.681998 ms 
mapping solver time 22.721847 ms 
mapping optimization time 117.277355 
add points time 0.724036 ms
map prepare time 2.806908 ms
map corner num 77564  surf num 29462 
points size 97259 
sort q time 5.793443 
seperate points time 11.191294 
scan registration time 28.390361 ms *************
publication time 7.541750 ms 
whole laserOdometry time 7.555382 ms 
 
-----t: 0.0414269
OdomCount 927 & avg odom time 0.041847 ms ++++++++++++++++++++++
1317357858.133963108 WriteOdom laser_odom_to_init
1317357858.133963108 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.887161 ms 
mapping data assosiation time 19.080906 ms 
mapping solver time 13.132067 ms 
[0m[ INFO] [1718889372.048757351, 1317357858.230524827]: Received 107956 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889372.048789761, 1317357858.230524827]: Data saved to 1317357858030210.pcd[0m
prepare time 11.895588 
build tree time 21.095020 ms 
sort q time 5.862602 
seperate points time 11.758034 
scan registration time 29.156858 ms *************
mapping data assosiation time 24.728730 ms 
publication time 9.651397 ms 
whole laserOdometry time 9.666408 ms 
 
mapping solver time 22.137973 ms 
mapping data assosiation time 20.653308 ms 
--------------------stamp1317357858.341414928
prepare time 12.238173 
map prepare time 2.751816 ms
map corner num 78827  surf num 29917 
build tree time 20.503389 ms 
-----t: 0.0433523
OdomCount 929 & avg odom time 0.041838 ms ++++++++++++++++++++++
1317357858.341414928 WriteOdom laser_odom_to_init
1317357858.341414928 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.214932 ms 
mapping data assosiation time 20.184319 ms 
points size 94342 
scan registration time 29.938168 ms *************
build tree time 20.613317 ms 
-----t: 0.0394747
OdomCount 930 & avg odom time 0.041836 ms ++++++++++++++++++++++
mapping data assosiation time 20.927962 ms 
mapping solver time 17.153421 ms 
--------------------stamp1317357858.548914909
prepare time 11.439661 
filter time 7.284157 ms 
publication time 6.148789 ms 
whole laserOdometry time 6.162850 ms 
 
build tree time 18.529867 ms 
mapping data assosiation time 18.728726 ms 
mapping solver time 20.321793 ms 
--------------------stamp1317357858.652692079
points size 91774 
mapping data assosiation time 21.131610 ms 
prepare time 13.198356 
scan registration time 29.547017 ms *************
filter time 7.612276 ms 
publication time 6.309372 ms 
whole laserOdometry time 6.322105 ms 
 
build tree time 17.649713 ms 
mapping data assosiation time 18.276832 ms 
mapping solver time 16.397691 ms 
points size 91160 
mapping data assosiation time 21.538252 ms 
publication time 7.615968 ms 
whole laserOdometry time 7.629520 ms 
 
filter time 6.725392 ms 
build tree time 15.719970 ms 
mapping data assosiation time 19.130991 ms 
--------------------stamp1317357858.860240936
points size 91101 
sort q time 5.022792 
seperate points time 11.717315 
mapping data assosiation time 38.332136 ms 
mapping solver time 20.349886 ms 
mapping pub time 2.108948 ms 
whole mapping time 124.145669 ms +++++
mappingCount 772 & avg mapping time 120.017659 ms ++++++++++++++++++++++
build tree time 18.973211 ms 
points size 89678 
mapping data assosiation time 22.683683 ms 
scan registration time 26.521373 ms *************
publication time 7.104917 ms 
whole laserOdometry time 7.117635 ms 
 
mapping data assosiation time 20.998534 ms 
mapping solver time 17.901864 ms 
mapping pub time 2.044148 ms 
whole mapping time 128.361157 ms +++++
mappingCount 773 & avg mapping time 120.028457 ms ++++++++++++++++++++++
points size 89463 
build tree time 22.558051 ms 
mapping data assosiation time 22.263379 ms 
-----t: 0.042279
OdomCount 936 & avg odom time 0.041803 ms ++++++++++++++++++++++
1317357859.067838907 WriteOdom laser_odom_to_init
1317357859.067838907 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.263117 ms 
mapping data assosiation time 21.691128 ms 
--------------------stamp1317357859.171636104
points size 89989 
mapping pub time 2.172945 ms 
whole mapping time 124.220532 ms +++++
mappingCount 774 & avg mapping time 120.033896 ms ++++++++++++++++++++++
1317357858.964040995 WriteOdom aft_mapped_to_init
build tree time 19.748616 ms 
mapping data assosiation time 22.430079 ms 
mapping solver time 19.484620 ms 
--------------------stamp1317357859.275461912
mapping solver time 18.120902 ms 
map prepare time 2.996253 ms
map corner num 83432  surf num 32235 
build tree time 18.256792 ms 
mapping data assosiation time 21.972853 ms 
--------------------stamp1317357859.379260063
prepare time 10.713234 
sort q time 5.338382 
seperate points time 11.347920 
publication time 8.490579 ms 
whole laserOdometry time 8.506370 ms 
 
filter time 6.993252 ms 
build tree time 17.003613 ms 
mapping data assosiation time 21.031891 ms 
points size 91794 
mapping data assosiation time 29.425100 ms 
mapping solver time 17.951859 ms 
map prepare time 2.267982 ms
map corner num 84596  surf num 32867 
build tree time 16.842310 ms 
points size 90650 
mapping solver time 24.109894 ms 
-----t: 0.0301418
OdomCount 941 & avg odom time 0.041766 ms ++++++++++++++++++++++
mapping data assosiation time 22.460778 ms 
mapping solver time 14.272271 ms 
filter time 6.362723 ms 
map prepare time 2.203750 ms
map corner num 85302  surf num 33313 
--------------------stamp1317357859.690700054
points size 90534 
mapping data assosiation time 25.238225 ms 
sort q time 5.822357 
seperate points time 22.995494 
publication time 5.866631 ms 
whole laserOdometry time 5.878865 ms 
 
mapping solver time 26.709936 ms 
mapping data assosiation time 27.197951 ms 
--------------------stamp1317357859.794501066
prepare time 10.725493 
sort q time 4.824481 
seperate points time 11.340759 
map prepare time 2.464382 ms
map corner num 85956  surf num 33713 
scan registration time 27.100620 ms *************
build tree time 19.462981 ms 
publication time 7.848816 ms 
whole laserOdometry time 7.863654 ms 
 
-----t: 0.0297994
OdomCount 943 & avg odom time 0.041740 ms ++++++++++++++++++++++
1317357859.794501066 WriteOdom laser_odom_to_init
1317357859.794501066 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.609345 ms 
mapping solver time 19.577910 ms 
--------------------stamp1317357859.898277997
prepare time 12.211698 
sort q time 5.334356 
seperate points time 11.672049 
mapping solver time 16.984518 ms 
mapping optimization time 107.433657 
add points time 0.779465 ms
scan registration time 28.348003 ms *************
map prepare time 2.845180 ms
map corner num 86570  surf num 34132 
build tree time 21.945684 ms 
mapping data assosiation time 29.060546 ms 
--------------------stamp1317357860.002051115
points size 91405 
scan registration time 29.568417 ms *************
publication time 8.808627 ms 
whole laserOdometry time 8.820642 ms 
 
mapping data assosiation time 29.104092 ms 
mapping solver time 19.209540 ms 
filter time 8.659822 ms 
points size 92825 
map prepare time 2.977023 ms
map corner num 87184  surf num 34569 
prepare time 14.000888 
scan registration time 32.705214 ms *************
publication time 8.252226 ms 
whole laserOdometry time 8.267420 ms 
 
-----t: 0.0581367
OdomCount 946 & avg odom time 0.041760 ms ++++++++++++++++++++++
--------------------stamp1317357860.209645986
points size 93109 
mapping data assosiation time 26.268359 ms 
mapping optimization time 139.891274 
filter time 10.114980 ms 
publication time 10.232280 ms 
whole laserOdometry time 10.244606 ms 
 
mapping pub time 3.733658 ms 
whole mapping time 157.906278 ms +++++
mappingCount 782 & avg mapping time 120.166485 ms ++++++++++++++++++++++
1317357859.898277998 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.189505 ms
map corner num 87808  surf num 34972 
build tree time 20.048463 ms 
--------------------stamp1317357860.313395023
points size 93394 
sort q time 5.091494 
seperate points time 11.807571 
scan registration time 32.185703 ms *************
-----t: 0.0374611
OdomCount 948 & avg odom time 0.041774 ms ++++++++++++++++++++++
mapping data assosiation time 26.322745 ms 
mapping solver time 20.734063 ms 
mapping pub time 2.289696 ms 
whole mapping time 139.893516 ms +++++
mappingCount 783 & avg mapping time 120.191701 ms ++++++++++++++++++++++
prepare time 11.112353 
sort q time 5.138220 
seperate points time 12.034183 
publication time 10.984490 ms 
whole laserOdometry time 10.994794 ms 
 
mapping data assosiation time 25.965000 ms 
-----t: 0.0395435
OdomCount 949 & avg odom time 0.041772 ms ++++++++++++++++++++++
1317357860.417099952 WriteOdom laser_odom_to_init
1317357860.417099952 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.011087 ms 
mapping data assosiation time 25.943802 ms 
points size 94664 
mapping solver time 23.483203 ms 
mapping pub time 2.250895 ms 
whole mapping time 135.419646 ms +++++
mappingCount 784 & avg mapping time 120.211131 ms ++++++++++++++++++++++
publication time 9.044957 ms 
whole laserOdometry time 9.065248 ms 
 
-----t: 0.0356173
OdomCount 950 & avg odom time 0.041765 ms ++++++++++++++++++++++
1317357860.520806074 WriteOdom laser_odom_to_init
1317357860.520806074 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.403992 ms 
--------------------stamp1317357860.624531030
points size 95353 
sort q time 5.677762 
seperate points time 12.044087 
mapping data assosiation time 30.302521 ms 
-----t: 0.0325095
OdomCount 951 & avg odom time 0.041756 ms ++++++++++++++++++++++
add points time 0.830126 ms
filter time 6.622835 ms 
mapping pub time 2.170110 ms 
whole mapping time 134.544110 ms +++++
mappingCount 785 & avg mapping time 120.229394 ms ++++++++++++++++++++++
1317357860.417099953 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 20.701839 ms 
--------------------stamp1317357860.728281021
points size 96746 
prepare time 12.553675 
sort q time 5.361618 
seperate points time 11.643688 
publication time 8.144827 ms 
whole laserOdometry time 8.159423 ms 
 
mapping data assosiation time 23.914229 ms 
mapping solver time 17.130142 ms 
mapping optimization time 123.140397 
add points time 0.806047 ms
map prepare time 4.125896 ms
map corner num 90809  surf num 36652 
sort q time 6.436511 
seperate points time 12.323110 
build tree time 24.541859 ms 
scan registration time 32.323035 ms *************
publication time 9.107743 ms 
whole laserOdometry time 9.143587 ms 
 
-----t: 0.0474137
OdomCount 953 & avg odom time 0.041751 ms ++++++++++++++++++++++
1317357860.832057952 WriteOdom laser_odom_to_init
1317357860.832057952 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.993410 ms 
--------------------stamp1317357860.935858964
points size 98699 
sort q time 6.081515 
seperate points time 13.168397 
mapping solver time 21.546173 ms 
mapping optimization time 132.305916 
add points time 0.854289 ms
scan registration time 38.502604 ms *************
publication time 9.961418 ms 
whole laserOdometry time 9.975432 ms 
 
-----t: 0.0615283
OdomCount 954 & avg odom time 0.041772 ms ++++++++++++++++++++++
1317357860.935858964 WriteOdom laser_odom_to_init
1317357860.935858964 WriteOdom aft_mapped_to_init_high_frec
build tree time 23.031226 ms 
--------------------stamp1317357861.039701938
points size 99228 
sort q time 5.597352 
seperate points time 12.967828 
publication time 7.744805 ms 
whole laserOdometry time 7.761286 ms 
 
-----t: 0.058923
OdomCount 955 & avg odom time 0.041790 ms ++++++++++++++++++++++
mapping solver time 25.053157 ms 
mapping pub time 2.279837 ms 
whole mapping time 162.836644 ms +++++
mappingCount 788 & avg mapping time 120.340729 ms ++++++++++++++++++++++
sort q time 5.757883 
seperate points time 12.635236 
publication time 9.271194 ms 
whole laserOdometry time 9.281993 ms 
 
-----t: 0.0389647
OdomCount 956 & avg odom time 0.041787 ms ++++++++++++++++++++++
1317357861.143572092 WriteOdom laser_odom_to_init
1317357861.143572092 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.167631 ms 
--------------------stamp1317357861.247467994
prepare time 11.672276 
mapping data assosiation time 30.700805 ms 
mapping solver time 21.919039 ms 
publication time 9.700173 ms 
whole laserOdometry time 9.715924 ms 
 
map prepare time 3.250166 ms
map corner num 93347  surf num 37963 
-----t: 0.0602599
OdomCount 957 & avg odom time 0.041806 ms ++++++++++++++++++++++
build tree time 22.466128 ms 
--------------------stamp1317357861.351382970
points size 100745 
prepare time 15.088489 
mapping data assosiation time 32.447246 ms 
mapping solver time 30.994278 ms 
mapping data assosiation time 29.701256 ms 
mapping solver time 18.711692 ms 
--------------------stamp1317357861.455327987
map prepare time 3.065396 ms
map corner num 94260  surf num 38440 
sort q time 5.507931 
seperate points time 12.997333 
publication time 8.520906 ms 
whole laserOdometry time 8.535397 ms 
 
-----t: 0.0373712
OdomCount 959 & avg odom time 0.041802 ms ++++++++++++++++++++++
1317357861.455327987 WriteOdom laser_odom_to_init
1317357861.455327987 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.587137 ms 
points size 101668 
mapping data assosiation time 31.879887 ms 
mapping solver time 23.614423 ms 
mapping optimization time 145.308959 
filter time 8.618666 ms 
map prepare time 3.072497 ms
map corner num 95302  surf num 38965 
build tree time 21.666687 ms 
--------------------stamp1317357861.663311004
prepare time 16.091189 
scan registration time 35.964160 ms *************
mapping solver time 39.488138 ms 
-----t: 0.0828419
OdomCount 961 & avg odom time 0.041843 ms ++++++++++++++++++++++
points size 102212 
add points time 1.039749 ms
mapping pub time 2.330598 ms 
whole mapping time 178.204171 ms +++++
mappingCount 792 & avg mapping time 120.546687 ms ++++++++++++++++++++++
sort q time 15.025558 
seperate points time 25.175349 
-----t: 0.0440945
OdomCount 962 & avg odom time 0.041845 ms ++++++++++++++++++++++
1317357861.767373085 WriteOdom laser_odom_to_init
1317357861.767373085 WriteOdom aft_mapped_to_init_high_frec
build tree time 22.857794 ms 
mapping data assosiation time 28.975374 ms 
--------------------stamp1317357861.871459007
points size 102482 
mapping solver time 37.042872 ms 
publication time 11.123882 ms 
whole laserOdometry time 11.137888 ms 
 
mapping data assosiation time 35.792883 ms 
mapping solver time 21.524171 ms 
mapping optimization time 148.610042 
add points time 0.706833 ms
filter time 6.644795 ms 
points size 102773 
prepare time 15.896627 
publication time 10.123700 ms 
whole laserOdometry time 10.144078 ms 
 
mapping solver time 32.731066 ms 
--------------------stamp1317357862.079849958
points size 102800 
sort q time 6.280254 
seperate points time 12.514920 
publication time 10.970382 ms 
whole laserOdometry time 10.985498 ms 
 
mapping solver time 31.354041 ms 
-----t: 0.051147
OdomCount 965 & avg odom time 0.041856 ms ++++++++++++++++++++++
1317357862.079849958 WriteOdom laser_odom_to_init
1317357862.079849958 WriteOdom aft_mapped_to_init_high_frec
filter time 8.596372 ms 
mapping pub time 2.306544 ms 
whole mapping time 179.382180 ms +++++
mappingCount 794 & avg mapping time 120.672166 ms ++++++++++++++++++++++
1317357861.767373085 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 22.315534 ms 
points size 103105 
sort q time 5.539072 
seperate points time 12.827919 
publication time 8.901611 ms 
whole laserOdometry time 8.917746 ms 
 
mapping solver time 36.451436 ms 
mapping data assosiation time 31.655988 ms 
points size 103220 
prepare time 13.316834 
scan registration time 32.496449 ms *************
filter time 8.967581 ms 
build tree time 20.785644 ms 
--------------------stamp1317357862.392828941
points size 103260 
sort q time 5.762825 
seperate points time 13.471989 
mapping solver time 39.239414 ms 
-----t: 0.0390628
OdomCount 968 & avg odom time 0.041846 ms ++++++++++++++++++++++
mapping data assosiation time 36.336235 ms 
--------------------stamp1317357862.497252941
points size 103325 
filter time 7.201644 ms 
publication time 10.040338 ms 
whole laserOdometry time 10.050896 ms 
 
-----t: 0.0474111
OdomCount 969 & avg odom time 0.041851 ms ++++++++++++++++++++++
1317357862.497252941 WriteOdom laser_odom_to_init
1317357862.497252941 WriteOdom aft_mapped_to_init_high_frec
build tree time 27.742729 ms 
mapping data assosiation time 34.014226 ms 
--------------------stamp1317357862.601675987
prepare time 12.668286 
sort q time 5.838299 
seperate points time 13.590232 
-----t: 0.049677
OdomCount 970 & avg odom time 0.041859 ms ++++++++++++++++++++++
mapping solver time 27.819893 ms 
filter time 7.888993 ms 
prepare time 12.080076 
map prepare time 3.067838 ms
map corner num 101600  surf num 41914 
build tree time 25.689869 ms 
mapping data assosiation time 38.277487 ms 
-----t: 0.060499
OdomCount 971 & avg odom time 0.041879 ms ++++++++++++++++++++++
1317357862.706049919 WriteOdom laser_odom_to_init
1317357862.706049919 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357862.810400962
points size 102904 
sort q time 7.030049 
seperate points time 16.127313 
mapping data assosiation time 36.781036 ms 
-----t: 0.0448697
OdomCount 972 & avg odom time 0.041882 ms ++++++++++++++++++++++
1317357862.810400962 WriteOdom laser_odom_to_init
1317357862.810400962 WriteOdom aft_mapped_to_init_high_frec
publication time 11.117680 ms 
whole laserOdometry time 11.127734 ms 
 
mapping solver time 37.535191 ms 
mapping optimization time 183.431956 
add points time 0.780465 ms
--------------------stamp1317357862.914705038
points size 102834 
sort q time 6.108275 
seperate points time 13.518946 
publication time 9.212620 ms 
whole laserOdometry time 9.227809 ms 
 
-----t: 0.0457922
OdomCount 973 & avg odom time 0.041886 ms ++++++++++++++++++++++
1317357862.914705038 WriteOdom aft_mapped_to_init_high_frec
1317357862.914705038 WriteOdom laser_odom_to_init
mapping data assosiation time 36.877632 ms 
--------------------stamp1317357863.018935918
points size 102628 
sort q time 6.862259 
seperate points time 15.896660 
mapping data assosiation time 40.317808 ms 
publication time 7.789096 ms 
whole laserOdometry time 7.803050 ms 
 
-----t: 0.0442341
OdomCount 974 & avg odom time 0.041888 ms ++++++++++++++++++++++
1317357863.018935918 WriteOdom laser_odom_to_init
1317357863.018935918 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.612308 ms 
mapping optimization time 181.265597 
add points time 0.904400 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357863.123166084
points size 102876 
build tree time 30.605913 ms 
scan registration time 37.414227 ms *************
publication time 9.018090 ms 
whole laserOdometry time 9.030672 ms 
 
mapping data assosiation time 39.468938 ms 
-----t: 0.0614126
OdomCount 975 & avg odom time 0.041908 ms ++++++++++++++++++++++
mapping solver time 36.153090 ms 
points size 102849 
sort q time 6.656669 
seperate points time 14.804490 
-----t: 0.049269
OdomCount 976 & avg odom time 0.041916 ms ++++++++++++++++++++++
mapping solver time 38.623812 ms 
filter time 7.960618 ms 
map prepare time 3.059105 ms
map corner num 105100  surf num 43691 
--------------------stamp1317357863.331506013
points size 103486 
build tree time 29.572962 ms 
scan registration time 31.701568 ms *************
publication time 8.916626 ms 
whole laserOdometry time 8.933541 ms 
 
mapping solver time 37.593524 ms 
points size 103752 
sort q time 7.003596 
seperate points time 13.682894 
scan registration time 31.596840 ms *************
mapping data assosiation time 41.556689 ms 
publication time 7.754965 ms 
whole laserOdometry time 7.766875 ms 
 
-----t: 0.0462223
OdomCount 978 & avg odom time 0.041919 ms ++++++++++++++++++++++
filter time 7.799762 ms 
mapping pub time 25.686907 ms 
whole mapping time 217.992906 ms +++++
mappingCount 801 & avg mapping time 121.319672 ms ++++++++++++++++++++++
points size 103722 
sort q time 6.583093 
seperate points time 12.579575 
publication time 9.772370 ms 
whole laserOdometry time 9.789576 ms 
 
mapping data assosiation time 40.337970 ms 
-----t: 0.0666696
OdomCount 979 & avg odom time 0.041944 ms ++++++++++++++++++++++
--------------------stamp1317357863.643598079
prepare time 12.609909 
sort q time 17.503588 
seperate points time 25.181783 
-----t: 0.0456998
OdomCount 980 & avg odom time 0.041948 ms ++++++++++++++++++++++
mapping solver time 36.608661 ms 
filter time 7.350106 ms 
map prepare time 3.126553 ms
map corner num 107440  surf num 44899 
points size 103058 
build tree time 28.566434 ms 
sort q time 16.147955 
seperate points time 27.774380 
scan registration time 47.799439 ms *************
publication time 10.551284 ms 
whole laserOdometry time 10.564697 ms 
 
mapping solver time 41.302012 ms 
points size 102710 
prepare time 25.382017 
sort q time 7.207329 
seperate points time 15.107261 
-----t: 0.0393605
OdomCount 982 & avg odom time 0.041948 ms ++++++++++++++++++++++
publication time 10.753048 ms 
whole laserOdometry time 10.764070 ms 
 
mapping solver time 35.034422 ms 
mapping optimization time 188.459907 
add points time 0.849696 ms
mapping pub time 2.299162 ms 
whole mapping time 202.406122 ms +++++
mappingCount 803 & avg mapping time 121.511868 ms ++++++++++++++++++++++
points size 102441 
prepare time 14.799312 
build tree time 26.918387 ms 
sort q time 6.066261 
seperate points time 13.955055 
scan registration time 35.602604 ms *************
publication time 12.948980 ms 
whole laserOdometry time 12.971200 ms 
 
-----t: 0.0599939
OdomCount 983 & avg odom time 0.041966 ms ++++++++++++++++++++++
1317357863.955212116 WriteOdom laser_odom_to_init
1317357863.955212116 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 39.277605 ms 
points size 102365 
prepare time 11.648223 
sort q time 5.899078 
seperate points time 11.937173 
mapping data assosiation time 44.154389 ms 
-----t: 0.0545166
OdomCount 984 & avg odom time 0.041979 ms ++++++++++++++++++++++
mapping solver time 44.824663 ms 
mapping optimization time 202.196530 
add points time 0.939420 ms
drop lidar frame in mapping for real time performance 
prepare time 12.622580 
scan registration time 30.509348 ms *************
publication time 10.218278 ms 
whole laserOdometry time 10.233599 ms 
 
-----t: 0.0407113
OdomCount 985 & avg odom time 0.041977 ms ++++++++++++++++++++++
mapping data assosiation time 40.035374 ms 
--------------------stamp1317357864.266727924
points size 102463 
prepare time 14.502320 
mapping solver time 41.075570 ms 
scan registration time 34.189658 ms *************
publication time 10.186029 ms 
whole laserOdometry time 10.202043 ms 
 
mapping solver time 37.128594 ms 
filter time 9.242963 ms 
map prepare time 3.367272 ms
map corner num 110920  surf num 47022 
sort q time 5.843513 
seperate points time 13.970345 
build tree time 29.086804 ms 
publication time 10.622043 ms 
whole laserOdometry time 10.636372 ms 
 
mapping data assosiation time 38.998079 ms 
--------------------stamp1317357864.474517107
points size 102598 
sort q time 5.652684 
seperate points time 13.100499 
scan registration time 31.063539 ms *************
mapping data assosiation time 41.744152 ms 
mapping solver time 27.386763 ms 
filter time 8.387214 ms 
map prepare time 3.836911 ms
map corner num 112142  surf num 47744 
points size 102952 
sort q time 5.960723 
seperate points time 13.570677 
publication time 10.341043 ms 
whole laserOdometry time 10.354826 ms 
 
-----t: 0.0563208
OdomCount 989 & avg odom time 0.041996 ms ++++++++++++++++++++++
--------------------stamp1317357864.682425975
points size 103132 
sort q time 6.134617 
seperate points time 12.072803 
scan registration time 29.378511 ms *************
publication time 13.208808 ms 
whole laserOdometry time 13.221632 ms 
 
mapping data assosiation time 44.250043 ms 
-----t: 0.0645995
OdomCount 990 & avg odom time 0.042019 ms ++++++++++++++++++++++
mapping solver time 29.978337 ms 
filter time 7.865410 ms 
map prepare time 3.180370 ms
map corner num 113410  surf num 48561 
prepare time 14.071738 
sort q time 6.283932 
seperate points time 13.594209 
mapping data assosiation time 42.926912 ms 
-----t: 0.0677018
OdomCount 991 & avg odom time 0.042045 ms ++++++++++++++++++++++
--------------------stamp1317357864.890383005
points size 102762 
sort q time 6.281449 
seperate points time 13.002020 
mapping data assosiation time 44.161717 ms 
publication time 13.525712 ms 
whole laserOdometry time 13.550424 ms 
 
mapping solver time 32.923627 ms 
--------------------stamp1317357865.098366022
mapping solver time 39.719673 ms 
prepare time 11.459202 
publication time 8.959546 ms 
whole laserOdometry time 8.983265 ms 
 
-----t: 0.0470791
OdomCount 994 & avg odom time 0.042061 ms ++++++++++++++++++++++
mapping solver time 24.686391 ms 
mapping optimization time 173.779193 
add points time 0.922086 ms
map prepare time 3.047475 ms
map corner num 78677  surf num 36492 
--------------------stamp1317357865.202357053
build tree time 20.385409 ms 
points size 101573 
sort q time 5.549078 
seperate points time 11.803644 
mapping data assosiation time 39.921757 ms 
publication time 13.096887 ms 
whole laserOdometry time 13.122938 ms 
 
-----t: 0.0612296
OdomCount 995 & avg odom time 0.042081 ms ++++++++++++++++++++++
mapping solver time 39.301347 ms 
--------------------stamp1317357865.306324005
points size 100710 
prepare time 15.563194 
sort q time 5.606824 
seperate points time 13.823115 
publication time 11.198154 ms 
whole laserOdometry time 11.265332 ms 
 
filter time 6.698096 ms 
map prepare time 3.172532 ms
map corner num 79840  surf num 37160 
build tree time 18.644647 ms 
--------------------stamp1317357865.410290002
prepare time 11.229417 
sort q time 6.334009 
seperate points time 13.898720 
publication time 9.416885 ms 
whole laserOdometry time 9.435680 ms 
 
-----t: 0.0408388
OdomCount 997 & avg odom time 0.042079 ms ++++++++++++++++++++++
1317357865.410290002 WriteOdom laser_odom_to_init
1317357865.410290002 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 43.638983 ms 
--------------------stamp1317357865.514256000
points size 98076 
sort q time 5.754486 
seperate points time 13.669922 
filter time 7.463619 ms 
1317357865.202357054 WriteOdom aft_mapped_to_init
-----t: 0.0495998
OdomCount 998 & avg odom time 0.042087 ms ++++++++++++++++++++++
1317357865.514256000 WriteOdom laser_odom_to_init
1317357865.514256000 WriteOdom aft_mapped_to_init_high_frec
build tree time 29.832450 ms 
--------------------stamp1317357865.618206024
points size 97429 
mapping data assosiation time 38.278783 ms 
scan registration time 33.631449 ms *************
publication time 11.302810 ms 
whole laserOdometry time 11.319308 ms 
 
mapping solver time 44.495129 ms 
-----t: 0.0512859
OdomCount 999 & avg odom time 0.042096 ms ++++++++++++++++++++++
mapping data assosiation time 35.976103 ms 
points size 96849 
sort q time 5.803551 
seperate points time 13.440434 
filter time 9.190716 ms 
publication time 12.128097 ms 
whole laserOdometry time 12.143805 ms 
 
-----t: 0.0526674
OdomCount 1000 & avg odom time 0.042106 ms ++++++++++++++++++++++
1317357865.722075939 WriteOdom laser_odom_to_init
1317357865.722075939 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357865.825870990
prepare time 13.895658 
sort q time 5.651975 
seperate points time 13.226020 
scan registration time 32.552475 ms *************
mapping solver time 39.256016 ms 
publication time 8.548855 ms 
whole laserOdometry time 8.562719 ms 
 
-----t: 0.0576708
OdomCount 1001 & avg odom time 0.042122 ms ++++++++++++++++++++++
1317357865.825870990 WriteOdom laser_odom_to_init
1317357865.825870990 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357865.929621934
points size 95884 
prepare time 11.951948 
mapping solver time 32.108126 ms 
mapping optimization time 171.412210 
add points time 0.810156 ms
map prepare time 3.610621 ms
map corner num 83378  surf num 39080 
publication time 9.778388 ms 
whole laserOdometry time 9.792509 ms 
 
-----t: 0.0675101
OdomCount 1002 & avg odom time 0.042147 ms ++++++++++++++++++++++
mapping data assosiation time 35.829792 ms 
--------------------stamp1317357866.033371925
prepare time 10.517671 
sort q time 5.543813 
seperate points time 12.536304 
scan registration time 28.155874 ms *************
mapping solver time 42.839031 ms 
-----t: 0.0360596
OdomCount 1003 & avg odom time 0.042141 ms ++++++++++++++++++++++
1317357866.033371925 WriteOdom laser_odom_to_init
1317357866.033371925 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 39.120237 ms 
--------------------stamp1317357866.137124061
points size 96217 
map prepare time 2.998974 ms
map corner num 84586  surf num 39661 
build tree time 21.398728 ms 
1317357866.137124061 WriteOdom laser_odom_to_init
1317357866.137124061 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 38.556713 ms 
--------------------stamp1317357866.240845918
points size 95403 
prepare time 11.909004 
sort q time 5.649628 
seperate points time 13.335946 
mapping data assosiation time 34.962039 ms 
1317357866.240845918 WriteOdom laser_odom_to_init
1317357866.240845918 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.922295 ms 
filter time 8.547860 ms 
map prepare time 3.966828 ms
map corner num 85819  surf num 40222 
points size 95018 
build tree time 21.916597 ms 
-----t: 0.035327
OdomCount 1006 & avg odom time 0.042131 ms ++++++++++++++++++++++
mapping solver time 35.031660 ms 
points size 94524 
sort q time 5.415646 
seperate points time 11.807297 
publication time 9.945102 ms 
whole laserOdometry time 9.958558 ms 
 
mapping solver time 42.711431 ms 
filter time 9.291814 ms 
--------------------stamp1317357866.551909923
-----t: 0.0976817
OdomCount 1007 & avg odom time 0.042186 ms ++++++++++++++++++++++
points size 94022 
prepare time 38.214414 
sort q time 4.630414 
seperate points time 11.338223 
publication time 8.114758 ms 
whole laserOdometry time 8.127340 ms 
 
--------------------stamp1317357866.655612945
points size 93727 
mapping data assosiation time 37.335381 ms 
publication time 10.093566 ms 
whole laserOdometry time 10.108991 ms 
 
mapping solver time 36.422859 ms 

1317357866.655612945 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.772873 ms
map corner num 88148  surf num 41415 
--------------------stamp1317357866.759315013
points size 93354 
sort q time 6.392172 
seperate points time 12.269681 
mapping data assosiation time 36.591587 ms 
-----t: 0.0417282
OdomCount 1010 & avg odom time 0.042209 ms ++++++++++++++++++++++
mapping solver time 42.163669 ms 
--------------------stamp1317357866.863018989
prepare time 10.897678 
mapping data assosiation time 41.409906 ms 
publication time 10.648341 ms 
whole laserOdometry time 13.276402 ms 
 
filter time 9.952849 ms 
mapping pub time 2.195479 ms 
whole mapping time 194.701899 ms +++++
mappingCount 818 & avg mapping time 122.882731 ms ++++++++++++++++++++++
1317357866.551909924 WriteOdom aft_mapped_to_init
-----t: 0.0536742
OdomCount 1011 & avg odom time 0.042220 ms ++++++++++++++++++++++
1317357866.863018989 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
1317357866.863018989 WriteOdom aft_mapped_to_init_high_frec
build tree time 25.917327 ms 
points size 92036 
sort q time 6.064590 
seperate points time 12.170786 
mapping data assosiation time 40.416082 ms 
publication time 12.022270 ms 
whole laserOdometry time 12.043661 ms 
 
-----t: 0.0529846
OdomCount 1012 & avg odom time 0.042231 ms ++++++++++++++++++++++
--------------------stamp1317357867.070445060
prepare time 12.061669 
sort q time 4.801637 
seperate points time 11.405358 
mapping solver time 39.160885 ms 
-----t: 0.0394856
OdomCount 1013 & avg odom time 0.042228 ms ++++++++++++++++++++++
map prepare time 3.316970 ms
map corner num 90605  surf num 42664 
build tree time 18.743189 ms 
--------------------stamp1317357867.174123048
prepare time 11.220120 
sort q time 5.231777 
seperate points time 12.689936 
scan registration time 27.521125 ms *************
mapping solver time 39.900465 ms 
mapping data assosiation time 30.610630 ms 
--------------------stamp1317357867.277801990
mapping optimization time 152.820224 
add points time 1.104314 ms
prepare time 11.456845 
scan registration time 27.608404 ms *************
-----t: 0.0369645
OdomCount 1015 & avg odom time 0.042219 ms ++++++++++++++++++++++
build tree time 24.159313 ms 
mapping data assosiation time 30.277007 ms 
--------------------stamp1317357867.381481885
mapping solver time 31.394328 ms 
scan registration time 28.382492 ms *************
publication time 12.069225 ms 
whole laserOdometry time 12.104895 ms 
 
mapping data assosiation time 37.600390 ms 
-----t: 0.0369922
OdomCount 1016 & avg odom time 0.042214 ms ++++++++++++++++++++++
1317357867.381481885 WriteOdom laser_odom_to_init
1317357867.381481885 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.267744 ms 
filter time 6.911430 ms 
--------------------stamp1317357867.485184907
points size 91312 
sort q time 4.953278 
seperate points time 11.954275 
publication time 21.901402 ms 
whole laserOdometry time 21.915478 ms 
 
mapping data assosiation time 33.866462 ms 
--------------------stamp1317357867.588936090
mapping solver time 30.941153 ms 
sort q time 5.067302 
seperate points time 12.784919 
mapping data assosiation time 37.182927 ms 
mapping solver time 31.451245 ms 
filter time 9.861615 ms 
mapping pub time 2.040280 ms 
whole mapping time 180.828249 ms +++++
mappingCount 822 & avg mapping time 123.183702 ms ++++++++++++++++++++++
1317357867.277801991 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.683249 ms
map corner num 94275  surf num 44094 
build tree time 25.718871 ms 
-----t: 0.116213
OdomCount 1018 & avg odom time 0.042296 ms ++++++++++++++++++++++
prepare time 39.759814 
sort q time 5.481526 
seperate points time 13.665611 
publication time 11.606177 ms 
whole laserOdometry time 11.620286 ms 
 
--------------------stamp1317357867.796462059
prepare time 12.320248 
sort q time 5.241457 
seperate points time 12.835722 
publication time 9.684614 ms 
whole laserOdometry time 9.697150 ms 
 
mapping solver time 36.670424 ms 
mapping optimization time 164.256203 
add points time 1.038752 ms
map prepare time 3.554232 ms
map corner num 95500  surf num 44508 
build tree time 20.065039 ms 
--------------------stamp1317357867.900238990
prepare time 12.256203 
mapping data assosiation time 32.588382 ms 
publication time 10.837241 ms 
whole laserOdometry time 10.879322 ms 
 
-----t: 0.0539836
OdomCount 1021 & avg odom time 0.042324 ms ++++++++++++++++++++++
mapping data assosiation time 32.022033 ms 
--------------------stamp1317357868.003989934
mapping solver time 27.991306 ms 
filter time 9.273279 ms 
publication time 10.759920 ms 
whole laserOdometry time 10.777245 ms 
 
mapping data assosiation time 28.040982 ms 
--------------------stamp1317357868.107789039
mapping solver time 29.686974 ms 
sort q time 5.411437 
seperate points time 13.043029 
publication time 11.272393 ms 
whole laserOdometry time 11.595002 ms 
 
mapping solver time 23.575950 ms 
filter time 7.425481 ms 
map prepare time 2.936811 ms
map corner num 97842  surf num 45225 
--------------------stamp1317357868.211586952
points size 92919 
sort q time 5.076964 
seperate points time 12.702086 
mapping data assosiation time 31.645846 ms 
publication time 12.048063 ms 
whole laserOdometry time 12.067501 ms 
 
-----t: 0.0370174
OdomCount 1024 & avg odom time 0.042311 ms ++++++++++++++++++++++
mapping solver time 30.465255 ms 
mapping data assosiation time 28.955799 ms 
prepare time 11.104478 
sort q time 6.661952 
seperate points time 13.251037 
filter time 9.668130 ms 
build tree time 22.389852 ms 
mapping data assosiation time 27.495503 ms 
prepare time 10.795474 
sort q time 5.235602 
seperate points time 12.868032 
publication time 13.513924 ms 
whole laserOdometry time 13.532734 ms 
 
-----t: 0.048477
OdomCount 1026 & avg odom time 0.042311 ms ++++++++++++++++++++++
1317357868.419161081 WriteOdom laser_odom_to_init
1317357868.419161081 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.337045 ms 
mapping optimization time 142.166713 
add points time 1.049425 ms
map prepare time 3.933776 ms
map corner num 100117  surf num 45908 
build tree time 25.799558 ms 
sort q time 5.820356 
seperate points time 22.352345 
scan registration time 39.330519 ms *************
-----t: 0.0384063
OdomCount 1027 & avg odom time 0.042307 ms ++++++++++++++++++++++
1317357868.522957086 WriteOdom laser_odom_to_init
1317357868.522957086 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.203006 ms 
points size 93021 
sort q time 5.777966 
seperate points time 12.379576 
publication time 12.852772 ms 
whole laserOdometry time 12.873574 ms 
 
mapping solver time 28.199298 ms 
mapping optimization time 154.085091 
filter time 10.225538 ms 
build tree time 25.387533 ms 
-----t: 0.0875415
OdomCount 1028 & avg odom time 0.042351 ms ++++++++++++++++++++++
points size 93013 
prepare time 16.428895 
mapping data assosiation time 37.652170 ms 
publication time 12.476074 ms 
whole laserOdometry time 12.488254 ms 
 
-----t: 0.0645304
OdomCount 1029 & avg odom time 0.042372 ms ++++++++++++++++++++++
mapping data assosiation time 31.579508 ms 
points size 93323 
sort q time 5.040593 
seperate points time 12.889323 
filter time 7.174629 ms 
publication time 13.719877 ms 
whole laserOdometry time 13.734419 ms 
 
build tree time 20.912507 ms 
mapping data assosiation time 29.233251 ms 
points size 92925 
mapping solver time 29.162938 ms 
-----t: 0.0361953
OdomCount 1031 & avg odom time 0.042363 ms ++++++++++++++++++++++
mapping solver time 27.558720 ms 
filter time 7.395278 ms 
map prepare time 3.678918 ms
map corner num 99177  surf num 43783 
points size 91928 
sort q time 5.633451 
seperate points time 11.644969 
publication time 12.299111 ms 
whole laserOdometry time 12.310706 ms 
 
mapping solver time 27.318389 ms 
--------------------stamp1317357869.145989894
points size 91470 
mapping data assosiation time 37.597544 ms 
sort q time 5.502444 
seperate points time 11.727446 
scan registration time 26.885120 ms *************
publication time 10.120710 ms 
whole laserOdometry time 10.136991 ms 
 
mapping solver time 29.480961 ms 
mapping optimization time 157.114876 
add points time 1.073041 ms
[0m[ INFO] [1718889383.030557468, 1317357869.211099551]: Received 144627 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889383.030611255, 1317357869.211099551]: Data saved to 1317357868834424.pcd[0m
mapping pub time 5.007844 ms 
whole mapping time 177.404597 ms +++++
mappingCount 831 & avg mapping time 123.669657 ms ++++++++++++++++++++++
-----t: 0.0645724
OdomCount 1033 & avg odom time 0.042385 ms ++++++++++++++++++++++
build tree time 27.892571 ms 
points size 92179 
mapping data assosiation time 36.109636 ms 
scan registration time 54.023931 ms *************
publication time 8.899689 ms 
whole laserOdometry time 8.913675 ms 
 
--------------------stamp1317357869.353658914
prepare time 11.828988 
sort q time 5.544031 
seperate points time 13.087869 
filter time 9.633541 ms 
-----t: 0.0461643
OdomCount 1035 & avg odom time 0.042388 ms ++++++++++++++++++++++
build tree time 23.810828 ms 
mapping data assosiation time 25.570254 ms 
points size 92277 
sort q time 5.594150 
seperate points time 12.592167 
publication time 10.729122 ms 
whole laserOdometry time 10.743910 ms 
 
mapping data assosiation time 32.039583 ms 
mapping solver time 26.893675 ms 
--------------------stamp1317357869.561327934
map prepare time 3.370878 ms
map corner num 102967  surf num 45149 
scan registration time 27.219646 ms *************
build tree time 27.016045 ms 
mapping data assosiation time 33.515982 ms 
-----t: 0.0699525
OdomCount 1037 & avg odom time 0.042443 ms ++++++++++++++++++++++
--------------------stamp1317357869.665122985
points size 90533 
sort q time 3.951448 
seperate points time 9.630187 
publication time 9.520758 ms 
whole laserOdometry time 9.537893 ms 
 
mapping pub time 2.188623 ms 
whole mapping time 156.327196 ms +++++
mappingCount 834 & avg mapping time 123.829464 ms ++++++++++++++++++++++
build tree time 23.445632 ms 
--------------------stamp1317357869.768898010
points size 89129 
prepare time 11.215725 
publication time 10.743923 ms 
whole laserOdometry time 10.780785 ms 
 
-----t: 0.0483168
OdomCount 1039 & avg odom time 0.042449 ms ++++++++++++++++++++++
mapping data assosiation time 26.208079 ms 
mapping solver time 21.387216 ms 
mapping pub time 2.063849 ms 
whole mapping time 148.059340 ms +++++
mappingCount 835 & avg mapping time 123.858492 ms ++++++++++++++++++++++
sort q time 4.960252 
seperate points time 11.141170 
publication time 8.428800 ms 
whole laserOdometry time 8.446172 ms 
 
build tree time 27.468061 ms 
-----t: 0.045665
OdomCount 1040 & avg odom time 0.042452 ms ++++++++++++++++++++++
mapping data assosiation time 30.603755 ms 
mapping solver time 24.432776 ms 
--------------------stamp1317357869.976524114
prepare time 13.446863 
mapping data assosiation time 31.674862 ms 
publication time 7.213262 ms 
whole laserOdometry time 7.227215 ms 
 
-----t: 0.0362046
OdomCount 1041 & avg odom time 0.042446 ms ++++++++++++++++++++++
filter time 7.047271 ms 
map prepare time 2.907930 ms
map corner num 106490  surf num 46492 
build tree time 24.130209 ms 
points size 85696 
sort q time 5.040774 
seperate points time 12.059480 
publication time 9.984124 ms 
whole laserOdometry time 9.999857 ms 
 
mapping data assosiation time 26.127501 ms 
--------------------stamp1317357870.184113979
prepare time 12.588097 
map prepare time 3.910430 ms
map corner num 107619  surf num 47004 
sort q time 4.802481 
seperate points time 12.480481 
scan registration time 29.478021 ms *************
build tree time 26.791883 ms 
mapping data assosiation time 33.069138 ms 
sort q time 5.481737 
seperate points time 13.595749 
mapping data assosiation time 38.551583 ms 
1317357870.287938117 WriteOdom laser_odom_to_init
1317357870.287938117 WriteOdom aft_mapped_to_init_high_frec
publication time 16.370831 ms 
whole laserOdometry time 16.381839 ms 
 
add points time 1.001394 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357870.391766071
points size 89938 
build tree time 42.294684 ms 
-----t: 0.044405
OdomCount 1045 & avg odom time 0.042491 ms ++++++++++++++++++++++
mapping data assosiation time 41.895875 ms 
--------------------stamp1317357870.495589017
points size 91057 
sort q time 5.127835 
seperate points time 12.943359 
scan registration time 30.199536 ms *************
mapping data assosiation time 31.493050 ms 
publication time 17.985488 ms 
whole laserOdometry time 17.999809 ms 
 
filter time 8.217167 ms 
map prepare time 3.046310 ms
map corner num 109905  surf num 48579 
--------------------stamp1317357870.599437952
points size 91240 
sort q time 4.865105 
seperate points time 12.363729 
publication time 9.326618 ms 
whole laserOdometry time 9.337059 ms 
 
-----t: 0.0637708
OdomCount 1047 & avg odom time 0.042507 ms ++++++++++++++++++++++
1317357870.599437952 WriteOdom laser_odom_to_init
1317357870.599437952 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357870.703272104
mapping solver time 21.513095 ms 
filter time 11.267780 ms 
publication time 7.691824 ms 
whole laserOdometry time 7.708505 ms 
 
1317357870.703272104 WriteOdom laser_odom_to_init
1317357870.703272104 WriteOdom aft_mapped_to_init_high_frec
build tree time 29.378823 ms 
mapping data assosiation time 26.452503 ms 
mapping solver time 25.122643 ms 
sort q time 4.482889 
seperate points time 10.916629 
mapping data assosiation time 35.342417 ms 
publication time 9.783440 ms 
whole laserOdometry time 9.799528 ms 
 
mapping solver time 24.394143 ms 
filter time 8.919319 ms 
[0m[ INFO] [1718889384.708991062, 1317357870.895010714]: Received 163060 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889384.709031390, 1317357870.895010714]: Data saved to 1317357870599437.pcd[0m
--------------------stamp1317357870.910973072
mapping pub time 28.707534 ms 
whole mapping time 184.919620 ms +++++
mappingCount 841 & avg mapping time 124.187024 ms ++++++++++++++++++++++
1317357870.599437952 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 4.301116 ms
map corner num 112374  surf num 50686 
sort q time 5.473981 
seperate points time 12.305597 
build tree time 31.728429 ms 
-----t: 0.0413979
OdomCount 1050 & avg odom time 0.042514 ms ++++++++++++++++++++++
mapping data assosiation time 32.782620 ms 
mapping solver time 24.920071 ms 
points size 87837 
prepare time 11.616998 
mapping data assosiation time 36.215550 ms 
mapping solver time 25.405403 ms 
map prepare time 3.646037 ms
map corner num 113579  surf num 51503 
--------------------stamp1317357871.118741989
prepare time 11.076289 
sort q time 4.885178 
seperate points time 12.447826 
mapping data assosiation time 36.224742 ms 
-----t: 0.0404371
OdomCount 1052 & avg odom time 0.042518 ms ++++++++++++++++++++++
mapping solver time 28.228773 ms 
mapping data assosiation time 32.007467 ms 
points size 87877 
mapping solver time 26.028043 ms 
filter time 12.683974 ms 
-----t: 0.0450936
OdomCount 1053 & avg odom time 0.042521 ms ++++++++++++++++++++++
build tree time 28.489905 ms 
--------------------stamp1317357871.326577901
prepare time 13.778737 
sort q time 4.683319 
seperate points time 12.088009 
mapping solver time 41.251283 ms 
publication time 12.767642 ms 
whole laserOdometry time 12.780402 ms 
 
mapping data assosiation time 33.811750 ms 
--------------------stamp1317357871.430495977
points size 87393 
map prepare time 3.964202 ms
map corner num 116140  surf num 53020 
publication time 11.067660 ms 
whole laserOdometry time 11.219365 ms 
 
mapping data assosiation time 31.213845 ms 
--------------------stamp1317357871.534415006
points size 88034 
sort q time 4.673274 
seperate points time 11.845921 
mapping data assosiation time 35.043247 ms 
-----t: 0.0342911
OdomCount 1056 & avg odom time 0.042501 ms ++++++++++++++++++++++
mapping solver time 20.073987 ms 
filter time 8.541059 ms 
map prepare time 3.031060 ms
map corner num 117237  surf num 53563 
--------------------stamp1317357871.638335943
prepare time 11.217713 
sort q time 5.321720 
seperate points time 12.496661 
publication time 10.339114 ms 
whole laserOdometry time 10.355846 ms 
 
mapping solver time 26.483758 ms 
mapping data assosiation time 29.487899 ms 
--------------------stamp1317357871.742232084
points size 90812 
filter time 9.961357 ms 
map prepare time 2.971430 ms
map corner num 118429  surf num 54100 
-----t: 0.0477981
OdomCount 1058 & avg odom time 0.042499 ms ++++++++++++++++++++++
--------------------stamp1317357871.846126079
points size 90961 
sort q time 5.239218 
seperate points time 13.090019 
mapping solver time 34.996710 ms 
publication time 18.433903 ms 
whole laserOdometry time 18.451419 ms 
 
mapping data assosiation time 32.952129 ms 
mapping solver time 22.624565 ms 
filter time 10.891995 ms 
prepare time 16.015086 
sort q time 4.899879 
seperate points time 12.721778 
scan registration time 33.823623 ms *************
publication time 11.781104 ms 
whole laserOdometry time 11.802228 ms 
 
mapping data assosiation time 31.000968 ms 
--------------------stamp1317357872.053961992
points size 92525 
sort q time 5.217413 
seperate points time 13.095818 
publication time 10.595126 ms 
whole laserOdometry time 10.608587 ms 
 
--------------------stamp1317357872.157882928
sort q time 4.972285 
seperate points time 12.136979 
publication time 13.575542 ms 
whole laserOdometry time 13.702704 ms 
 
-----t: 0.040158
OdomCount 1062 & avg odom time 0.042509 ms ++++++++++++++++++++++
1317357872.157882928 WriteOdom laser_odom_to_init
1317357872.157882928 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.640667 ms 
mapping data assosiation time 28.904954 ms 
points size 94357 
filter time 9.526609 ms 
publication time 10.678175 ms 
whole laserOdometry time 10.707680 ms 
 
build tree time 28.349229 ms 
mapping data assosiation time 30.172249 ms 
--------------------stamp1317357872.365719079
prepare time 12.283349 
sort q time 5.551215 
seperate points time 12.647408 
publication time 8.636488 ms 
whole laserOdometry time 8.656683 ms 
 
mapping solver time 21.987100 ms 
filter time 9.195716 ms 
mapping pub time 2.269450 ms 
whole mapping time 157.945124 ms +++++
mappingCount 850 & avg mapping time 124.648344 ms ++++++++++++++++++++++
1317357872.157882929 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357872.469638109
points size 94222 
prepare time 11.855748 
build tree time 28.936750 ms 
sort q time 5.273450 
seperate points time 13.065851 
publication time 10.203287 ms 
whole laserOdometry time 10.220640 ms 
 
mapping data assosiation time 34.090456 ms 
--------------------stamp1317357872.573580026
prepare time 10.885500 
sort q time 5.240418 
seperate points time 13.106915 
drop lidar frame in mapping for real time performance 
build tree time 26.407270 ms 
--------------------stamp1317357872.677522897
prepare time 10.843358 
sort q time 13.779868 
seperate points time 21.484299 
mapping solver time 34.303478 ms 
mapping data assosiation time 35.111379 ms 
-----t: 0.0709324
OdomCount 1067 & avg odom time 0.042548 ms ++++++++++++++++++++++
1317357872.677522897 WriteOdom laser_odom_to_init
1317357872.677522897 WriteOdom aft_mapped_to_init_high_frec
points size 93907 
sort q time 5.028080 
seperate points time 12.219676 
map prepare time 4.126594 ms
map corner num 126011  surf num 57259 
publication time 11.738927 ms 
whole laserOdometry time 18.108253 ms 
 
build tree time 47.225063 ms 
-----t: 0.090266
OdomCount 1068 & avg odom time 0.042593 ms ++++++++++++++++++++++
sort q time 5.479417 
seperate points time 12.215427 
publication time 10.159689 ms 
whole laserOdometry time 10.174996 ms 
 
mapping data assosiation time 31.326374 ms 
mapping solver time 19.727067 ms 
prepare time 11.567386 
sort q time 6.455313 
seperate points time 13.563681 
publication time 10.989942 ms 
whole laserOdometry time 11.007529 ms 
 
-----t: 0.060574
OdomCount 1070 & avg odom time 0.042627 ms ++++++++++++++++++++++
mapping data assosiation time 37.243993 ms 
--------------------stamp1317357873.093364000
points size 92735 
mapping solver time 40.289680 ms 
publication time 13.660675 ms 
whole laserOdometry time 13.677089 ms 
 
-----t: 0.0543177
OdomCount 1071 & avg odom time 0.042638 ms ++++++++++++++++++++++
mapping solver time 27.125786 ms 
points size 90854 
map prepare time 3.552304 ms
map corner num 128697  surf num 58269 
publication time 13.455348 ms 
whole laserOdometry time 13.468389 ms build tree time 42.940329 ms 
1317357873.197308063 WriteOdom laser_odom_to_init
mapping data assosiation time 33.225743 ms 
points size 88999 
sort q time 5.598948 
seperate points time 12.035149 
publication time 9.055663 ms 
whole laserOdometry time 9.080725 ms 
 
-----t: 0.0470257
OdomCount 1073 & avg odom time 0.042656 ms ++++++++++++++++++++++
1317357873.301249980 WriteOdom laser_odom_to_init
1317357873.301249980 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 37.848417 ms 
mapping solver time 18.366034 ms 
filter time 10.019700 ms 
points size 88550 
sort q time 5.153989 
seperate points time 11.043051 
scan registration time 26.401643 ms *************
-----t: 0.0437427
OdomCount 1074 & avg odom time 0.042657 ms ++++++++++++++++++++++
1317357873.405215978 WriteOdom laser_odom_to_init
1317357873.405215978 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.778472 ms 
points size 88395 
mapping data assosiation time 36.791465 ms 
sort q time 4.618697 
seperate points time 15.489689 
publication time 10.255706 ms 
whole laserOdometry time 10.269474 ms 
 
map prepare time 3.369569 ms
map corner num 131243  surf num 59238 
--------------------stamp1317357873.613126993
prepare time 12.015111 
scan registration time 31.843029 ms *************
-----t: 0.0528514
OdomCount 1076 & avg odom time 0.042667 ms ++++++++++++++++++++++
mapping solver time 32.282379 ms 
--------------------stamp1317357873.717068910
mapping data assosiation time 32.174313 ms 
prepare time 22.761890 
sort q time 5.314341 
seperate points time 12.929263 
filter time 15.111488 ms 
1317357873.717068910 WriteOdom laser_odom_to_init
1317357873.717068910 WriteOdom aft_mapped_to_init_high_frec
build tree time 30.055611 ms 
points size 85279 
sort q time 5.046423 
seperate points time 11.726905 
publication time 11.533288 ms 
whole laserOdometry time 11.546609 ms 
 
-----t: 0.0491973
OdomCount 1078 & avg odom time 0.042685 ms ++++++++++++++++++++++
1317357873.821008920 WriteOdom laser_odom_to_init
mapping solver time 36.286860 ms 
1317357873.821008920 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.554794 ms 
points size 86792 
sort q time 4.980397 
seperate points time 12.504173 
filter time 12.401110 ms 
map prepare time 6.630781 ms
map corner num 133671  surf num 60257 
-----t: 0.0715655
OdomCount 1079 & avg odom time 0.042712 ms ++++++++++++++++++++++
--------------------stamp1317357874.028898954
points size 86864 
mapping data assosiation time 41.744466 ms 
scan registration time 44.651390 ms *************
publication time 10.487992 ms 
whole laserOdometry time 10.505144 ms 
 
-----t: 0.0622282
OdomCount 1080 & avg odom time 0.042730 ms ++++++++++++++++++++++
--------------------stamp1317357874.132841110
sort q time 6.014088 
seperate points time 32.976500 
mapping optimization time 216.925594 
add points time 1.504448 ms
filter time 25.004872 ms 
map prepare time 5.973466 ms
map corner num 134838  surf num 60873 
publication time 33.498042 ms 
whole laserOdometry time 33.511623 ms 
 
prepare time 19.849240 
sort q time 6.512229 build tree time 50.377858 ms 
mapping data assosiation time 35.602621 ms 
-----t: 0.064168
OdomCount 1082 & avg odom time 0.042777 ms ++++++++++++++++++++++
1317357874.236784934 WriteOdom laser_odom_to_init
1317357874.236784934 WriteOdom aft_mapped_to_init_high_frec
points size 93883 
sort q time 5.843732 
seperate points time 14.835053 
publication time 12.144725 ms 
whole laserOdometry time 12.163869 ms 
 
-----t: 0.0483432
OdomCount 1083 & avg odom time 0.042782 ms ++++++++++++++++++++++
1317357874.340703964 WriteOdom laser_odom_to_init
1317357874.340703964 WriteOdom aft_mapped_to_init_high_frec
filter time 12.496009 ms 
--------------------stamp1317357874.444622993
prepare time 12.550373 
sort q time 5.262921 
seperate points time 12.390904 
publication time 10.078175 ms 
whole laserOdometry time 10.093511 ms 
 
-----t: 0.0462666
OdomCount 1084 & avg odom time 0.042785 ms ++++++++++++++++++++++
1317357874.444622993 WriteOdom laser_odom_to_init
1317357874.444622993 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 36.349805 ms 
mapping solver time 24.716349 ms 
--------------------stamp1317357874.548566102
points size 96914 
prepare time 12.251172 
scan registration time 27.519815 ms *************
publication time 9.121524 ms 
whole laserOdometry time 9.141132 ms 
 
mapping solver time 28.944860 ms 
mapping optimization time 160.163440 
add points time 1.283117 ms
-----t: 0.05687
OdomCount 1085 & avg odom time 0.042798 ms ++++++++++++++++++++++
--------------------stamp1317357874.652512073
points size 95332 
sort q time 5.194643 
seperate points time 12.545095 
publication time 12.368249 ms 
whole laserOdometry time 12.407494 ms 
 
1317357874.652512073 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 35.647347 ms 
--------------------stamp1317357874.756428003
points size 94723 
mapping solver time 37.156747 ms 
sort q time 5.920775 
seperate points time 13.164506 
publication time 8.031081 ms 
whole laserOdometry time 8.046752 ms 
 
-----t: 0.0531373
OdomCount 1087 & avg odom time 0.042818 ms ++++++++++++++++++++++
1317357874.756428003 WriteOdom laser_odom_to_init
1317357874.756428003 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.835063 ms 
filter time 9.989593 ms 
points size 95671 
sort q time 6.145846 
seperate points time 18.142123 
build tree time 40.040926 ms 
publication time 13.735949 ms 
whole laserOdometry time 13.750164 ms 
 
-----t: 0.0688923
OdomCount 1088 & avg odom time 0.042842 ms ++++++++++++++++++++++
1317357874.860343933 WriteOdom laser_odom_to_init
1317357874.860343933 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 42.750256 ms 
--------------------stamp1317357874.964297056
prepare time 13.726495 
sort q time 7.066732 
seperate points time 14.180178 
publication time 15.604224 ms 
whole laserOdometry time 15.617961 ms 
 
-----t: 0.0533452
OdomCount 1089 & avg odom time 0.042852 ms ++++++++++++++++++++++
1317357874.964297056 WriteOdom laser_odom_to_init
1317357874.964297056 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.564506 ms 
mapping optimization time 190.715675 
add points time 1.105452 ms
drop lidar frame in mapping for real time performance 
sort q time 5.893240 
seperate points time 13.915112 
publication time 11.321498 ms 
whole laserOdometry time 11.335725 ms 
 
-----t: 0.0502964
OdomCount 1090 & avg odom time 0.042859 ms ++++++++++++++++++++++
mapping data assosiation time 38.947472 ms 
--------------------stamp1317357875.172173023
points size 99856 
sort q time 6.158628 
seperate points time 15.416233 
publication time 13.508322 ms 
whole laserOdometry time 13.520277 ms 
 
mapping solver time 20.567335 ms 
filter time 10.396628 ms 
map prepare time 4.003439 ms
map corner num 109841  surf num 53953 
points size 100902 
prepare time 14.509737 
sort q time 5.492900 
seperate points time 14.035015 
publication time 9.871805 ms 
whole laserOdometry time 9.885778 ms 
 
-----t: 0.0414857
OdomCount 1092 & avg odom time 0.042859 ms ++++++++++++++++++++++
mapping data assosiation time 39.547717 ms 
mapping solver time 33.359952 ms 
points size 101149 
sort q time 5.948840 
seperate points time 14.934510 
scan registration time 34.144079 ms *************
-----t: 0.0401586
OdomCount 1093 & avg odom time 0.042856 ms ++++++++++++++++++++++
mapping solver time 31.287238 ms 
filter time 8.478026 ms 
map prepare time 5.388590 ms
map corner num 111029  surf num 54780 
points size 101112 
build tree time 37.189697 ms 
mapping data assosiation time 46.110306 ms 
-----t: 0.0709957
OdomCount 1094 & avg odom time 0.042882 ms ++++++++++++++++++++++
--------------------stamp1317357875.587991952
points size 101106 
mapping solver time 95.419051 ms 
publication time 10.247546 ms 
whole laserOdometry time 10.270762 ms 
 
points size 101300 
sort q time 23.369188 
seperate points time 35.550341 
publication time 13.911195 ms 
whole laserOdometry time 13.927630 ms 
 
points size 101553 
sort q time 14.461541 
seperate points time 23.341246 
build tree time 36.776559 ms 
scan registration time 56.472714 ms *************
-----t: 0.0474131
OdomCount 1097 & avg odom time 0.042968 ms ++++++++++++++++++++++
--------------------stamp1317357875.899820089
points size 101467 
prepare time 12.455083 
sort q time 6.553453 
seperate points time 13.781242 
scan registration time 30.884928 ms *************
publication time 18.080760 ms 
whole laserOdometry time 18.093527 ms 
 
-----t: 0.0695674
OdomCount 1098 & avg odom time 0.042993 ms ++++++++++++++++++++++mapping data assosiation time 55.366168 ms 
--------------------stamp1317357876.003765106
points size 101385 
sort q time 6.574395 
seperate points time 17.709596 
mapping solver time 64.646146 ms 
publication time 17.295978 ms 
whole laserOdometry time 17.313429 ms 
 
map prepare time 4.743465 ms
map corner num 113494  surf num 56467 
points size 101302 
sort q time 7.195751 
seperate points time 15.964746 
publication time 19.472527 ms 
whole laserOdometry time 19.488045 ms 
 
--------------------stamp1317357876.211648941
prepare time 12.308681 
sort q time 6.346735 
seperate points time 15.631320 
mapping data assosiation time 46.564103 ms 
mapping solver time 23.997726 ms filter time 10.989865 ms 
map prepare time 3.444627 ms
map corner num 106924  surf num 49937 
prepare time 14.734061 
build tree time 28.310875 ms scan registration time 38.584092 ms *************
publication time 10.423606 ms 
whole laserOdometry time 10.437282 ms 
 
-----t: 0.0594046
OdomCount 1102 & avg odom time 0.043055 ms ++++++++++++++++++++++
--------------------stamp1317357876.419533967
prepare time 14.805999 
sort q time 6.411225 
seperate points time 13.714834 
-----t: 0.0421478
OdomCount 1103 & avg odom time 0.043054 ms ++++++++++++++++++++++
mapping data assosiation time 43.275875 ms 
mapping solver time 25.119650 ms 
points size 101398 
map prepare time 4.416878 ms
map corner num 108319  surf num 50857 
build tree time 26.439739 ms 
-----t: 0.0407284
OdomCount 1104 & avg odom time 0.043052 ms ++++++++++++++++++++++
mapping data assosiation time 41.025940 ms 
--------------------stamp1317357876.627418994
prepare time 12.291842 
mapping solver time 35.971390 ms 
scan registration time 32.561968 ms *************
publication time 9.225593 ms 
whole laserOdometry time 9.239200 ms 
 
mapping data assosiation time 45.956906 ms 
mapping solver time 26.018700 ms 
--------------------stamp1317357876.731420040
prepare time 12.370403 
sort q time 5.704668 
seperate points time 13.128356 
scan registration time 30.361270 ms *************
publication time 10.135968 ms 
whole laserOdometry time 10.151004 ms 
 
mapping data assosiation time 41.313670 ms 
--------------------stamp1317357876.835386991
prepare time 10.400643 
sort q time 5.826608 
seperate points time 13.247985 
publication time 7.876440 ms 
whole laserOdometry time 7.890019 ms 
 
-----t: 0.0391664
OdomCount 1107 & avg odom time 0.043042 ms ++++++++++++++++++++++
1317357876.835386991 WriteOdom laser_odom_to_init
1317357876.835386991 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.259209 ms 
filter time 8.421100 ms 
map prepare time 3.907082 ms
map corner num 111003  surf num 52458 
sort q time 5.385317 
seperate points time 12.376590 
build tree time 27.469537 ms 
publication time 11.290845 ms 
whole laserOdometry time 11.308081 ms 
 
1317357876.939321041 WriteOdom laser_odom_to_init
1317357876.939321041 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357877.043289899
prepare time 11.366889 
sort q time 6.030670 
seperate points time 13.309799 
scan registration time 29.463569 ms *************
publication time 10.203153 ms 
whole laserOdometry time 10.217979 ms 
 
-----t: 0.0624475
OdomCount 1109 & avg odom time 0.043070 ms ++++++++++++++++++++++
1317357877.043289899 WriteOdom laser_odom_to_init
1317357877.043289899 WriteOdom aft_mapped_to_init_high_frec
filter time 11.464051 ms 
map prepare time 4.239878 ms
map corner num 112209  surf num 53194 
build tree time 29.139548 ms 
mapping data assosiation time 43.339510 ms 
--------------------stamp1317357877.251220941
points size 101115 
prepare time 14.317792 
mapping solver time 44.177289 ms 
publication time 13.269832 ms 
whole laserOdometry time 13.283000 ms 
 
mapping data assosiation time 47.588578 ms 
-----t: 0.0821406
OdomCount 1111 & avg odom time 0.043123 ms ++++++++++++++++++++++
1317357877.251220941 WriteOdom laser_odom_to_init
--------------------stamp1317357877.355187892
sort q time 7.061804 
seperate points time 15.168111 filter time 14.597037 ms 
map prepare time 4.475091 ms
map corner num 113406  surf num 53989 
-----t: 0.0668458
OdomCount 1112 & avg odom time 0.043144 ms ++++++++++++++++++++++
build tree time 33.265208 ms 
points size 101236 
sort q time 6.179778 
seperate points time 13.095191 
mapping data assosiation time 45.940735 ms 
publication time 13.502996 ms 
whole laserOdometry time 13.519377 ms 
 
-----t: 0.0544219
OdomCount 1113 & avg odom time 0.043155 ms ++++++++++++++++++++++
mapping solver time 41.327527 ms 
--------------------stamp1317357877.563147068
sort q time 5.942946 
seperate points time 11.850620 
publication time 9.884487 ms 
whole laserOdometry time 9.900307 ms 
 
mapping solver time 33.983060 ms 
-----t: 0.0530261
OdomCount 1114 & avg odom time 0.043163 ms ++++++++++++++++++++++
mapping pub time 2.313839 ms 
whole mapping time 222.006402 ms +++++
mappingCount 874 & avg mapping time 127.049685 ms ++++++++++++++++++++++
1317357877.147255898 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 3.505572 ms
map corner num 114611  surf num 54729 
--------------------stamp1317357877.667135953
points size 101385 
sort q time 6.711586 
seperate points time 15.842207 
mapping data assosiation time 48.942933 ms 
-----t: 0.0359245
OdomCount 1115 & avg odom time 0.043157 ms ++++++++++++++++++++++
1317357877.667135953 WriteOdom laser_odom_to_init
1317357877.667135953 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 37.700740 ms 
--------------------stamp1317357877.771125078
points size 101353 
prepare time 11.494766 
scan registration time 30.765919 ms *************
publication time 10.132930 ms 
whole laserOdometry time 10.150413 ms 
 
mapping solver time 33.199679 ms 
filter time 8.856576 ms 
map prepare time 3.315698 ms
map corner num 115723  surf num 55381 
--------------------stamp1317357877.875117063
prepare time 12.505334 
build tree time 28.154563 ms 
scan registration time 31.190257 ms *************
publication time 9.735870 ms 
whole laserOdometry time 9.753824 ms 
 
mapping data assosiation time 47.179026 ms 
mapping solver time 36.855643 ms 
points size 102591 
sort q time 6.902735 
seperate points time 12.902961 
mapping data assosiation time 46.793444 ms 
publication time 9.862189 ms 
whole laserOdometry time 9.880773 ms 
 
-----t: 0.0620228
OdomCount 1118 & avg odom time 0.043174 ms ++++++++++++++++++++++
filter time 9.204904 ms 
[0m[ INFO] [1718889391.886016544, 1317357878.062472116]: Received 173003 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889391.886067295, 1317357878.072538446]: Data saved to 1317357877667135.pcd[0m
mapping pub time 4.571402 ms 
whole mapping time 214.410827 ms +++++
mappingCount 876 & avg mapping time 127.247325 ms ++++++++++++++++++++++
1317357877.667135954 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357878.083122968
prepare time 12.887272 
build tree time 31.126773 ms 
sort q time 6.066243 
seperate points time 12.723236 
scan registration time 31.510550 ms *************
publication time 10.266872 ms 
whole laserOdometry time 10.279563 ms 
 
mapping data assosiation time 47.607254 ms 
--------------------stamp1317357878.187115907
points size 102732 
scan registration time 34.822093 ms *************
publication time 11.487856 ms 
whole laserOdometry time 11.503556 ms 
 
-----t: 0.059813
OdomCount 1120 & avg odom time 0.043205 ms ++++++++++++++++++++++
1317357878.187115907 WriteOdom laser_odom_to_init
1317357878.187115907 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.963934 ms 
prepare time 11.627650 
mapping pub time 2.305113 ms 
whole mapping time 229.389112 ms +++++
mappingCount 877 & avg mapping time 127.363797 ms ++++++++++++++++++++++
map prepare time 8.330463 ms
map corner num 117991  surf num 56743 
publication time 9.657527 ms 
whole laserOdometry time 9.671778 ms 
 
build tree time 39.720399 ms 
--------------------stamp1317357878.395071983
mapping data assosiation time 50.815861 ms 
sort q time 6.280111 
seperate points time 13.690234 
publication time 11.755190 ms 
whole laserOdometry time 11.768182 ms 
 
-----t: 0.0410242
OdomCount 1122 & avg odom time 0.043208 ms ++++++++++++++++++++++
1317357878.395071983 WriteOdom laser_odom_to_init
1317357878.395071983 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357878.499062061
prepare time 11.844627 
sort q time 6.765295 
seperate points time 14.565985 
mapping solver time 43.884092 ms 
filter time 14.352981 ms 
map prepare time 4.493830 ms
map corner num 118999  surf num 57286 
--------------------stamp1317357878.603029966
points size 102694 
sort q time 6.996611 
seperate points time 14.867904 
publication time 9.234743 ms 
whole laserOdometry time 9.249302 ms 
 
mapping data assosiation time 49.295975 ms 
-----t: 0.0533439
OdomCount 1124 & avg odom time 0.043239 ms ++++++++++++++++++++++
1317357878.603029966 WriteOdom laser_odom_to_init
1317357878.603029966 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 42.481802 ms 
points size 102570 
sort q time 6.908505 
seperate points time 16.112630 
mapping data assosiation time 50.620695 ms 
mapping solver time 31.189478 ms 
filter time 10.619072 ms 
map prepare time 5.001652 ms
map corner num 119968  surf num 57790 
sort q time 5.991705 
seperate points time 13.799568 
build tree time 35.392640 ms 
-----t: 0.0405756
OdomCount 1126 & avg odom time 0.043233 ms ++++++++++++++++++++++
mapping data assosiation time 45.927302 ms 
--------------------stamp1317357878.914978027
points size 102329 
sort q time 5.706439 
seperate points time 13.418104 
mapping solver time 63.964078 ms 
mapping data assosiation time 41.771116 ms 
points size 102240 
sort q time 5.658021 
seperate points time 13.238654 
mapping optimization time 244.135382 
publication time 13.063572 ms 
whole laserOdometry time 13.091812 ms 
 
-----t: 0.0518883
OdomCount 1128 & avg odom time 0.043238 ms ++++++++++++++++++++++
build tree time 28.757691 ms 
--------------------stamp1317357879.122934103
prepare time 12.559054 
sort q time 5.844378 
seperate points time 12.190489 
scan registration time 29.715997 ms *************
mapping data assosiation time 49.688052 ms 
publication time 8.675306 ms 
whole laserOdometry time 8.690691 ms 
 
-----t: 0.0575803
OdomCount 1129 & avg odom time 0.043251 ms ++++++++++++++++++++++
1317357879.122934103 WriteOdom laser_odom_to_init
1317357879.122934103 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357879.226923942
points size 102115 
sort q time 6.195296 
seperate points time 12.700936 
publication time 8.871747 ms 
whole laserOdometry time 8.889258 ms 
 
-----t: 0.0626997
OdomCount 1130 & avg odom time 0.043268 ms ++++++++++++++++++++++
filter time 10.654881 ms 
--------------------stamp1317357879.330890893
points size 102135 
sort q time 6.075188 
seperate points time 14.044347 
drop lidar frame in mapping for real time performance 
publication time 11.274482 ms 
whole laserOdometry time 11.287398 ms 
 
build tree time 31.192142 ms 
--------------------stamp1317357879.434883117
mapping data assosiation time 40.768485 ms 
publication time 10.329060 ms 
whole laserOdometry time 10.352684 ms 
 
--------------------stamp1317357879.538875102
points size 101931 
prepare time 11.722356 
scan registration time 29.159744 ms *************
publication time 10.963608 ms 
whole laserOdometry time 10.973034 ms 
 
-----t: 0.0509027
OdomCount 1133 & avg odom time 0.043295 ms ++++++++++++++++++++++
1317357879.538875102 WriteOdom laser_odom_to_init
1317357879.538875102 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 50.021204 ms 
filter time 10.355844 ms 
mapping pub time 3.626150 ms 
whole mapping time 252.552149 ms +++++
mappingCount 882 & avg mapping time 128.122357 ms ++++++++++++++++++++++
1317357879.122934103 WriteOdom aft_mapped_to_init
--------------------stamp1317357879.642842054
points size 101907 
sort q time 5.892981 
seperate points time 13.083132 
build tree time 33.537552 ms 
scan registration time 31.395272 ms *************
publication time 11.064642 ms 
whole laserOdometry time 11.078664 ms 
 
mapping data assosiation time 47.068641 ms 
points size 101860 
mapping solver time 51.850389 ms 
sort q time 6.517591 
seperate points time 12.570343 
publication time 10.990700 ms 
whole laserOdometry time 11.006608 ms 
 
mapping data assosiation time 49.412715 ms 
--------------------stamp1317357879.850824117
prepare time 12.800647 
mapping solver time 60.469135 ms 
scan registration time 42.985611 ms *************
filter time 22.370663 ms 
build tree time 28.790656 ms 
--------------------stamp1317357879.954765081
points size 101505 
sort q time 6.205330 
seperate points time 13.336528 
mapping data assosiation time 46.761424 ms 
publication time 9.869605 ms 
whole laserOdometry time 9.885032 ms 
 
mapping solver time 45.417769 ms 
--------------------stamp1317357880.058706998
points size 101461 
prepare time 12.327673 
sort q time 5.905648 
seperate points time 13.381068 
publication time 9.444008 ms 
whole laserOdometry time 9.457206 ms 
 
-----t: 0.0470854
OdomCount 1138 & avg odom time 0.043324 ms ++++++++++++++++++++++
filter time 10.067783 ms 
map prepare time 3.477032 ms
map corner num 124261  surf num 59695 
--------------------stamp1317357880.162650108
points size 101216 
sort q time 5.057853 
seperate points time 10.770018 
scan registration time 29.374793 ms *************
sort q time 5.992206 
seperate points time 11.951291 
publication time 7.982701 ms 
whole laserOdometry time 8.000035 ms 
 
-----t: 0.0520911
OdomCount 1140 & avg odom time 0.043343 ms ++++++++++++++++++++++
mapping solver time 33.167082 ms 
filter time 9.901498 ms 
map prepare time 4.061127 ms
map corner num 125016  surf num 60016 
prepare time 14.833649 
sort q time 5.516576 
seperate points time 12.900891 
publication time 10.028437 ms 
whole laserOdometry time 10.041514 ms 
 
-----t: 0.0404537
OdomCount 1141 & avg odom time 0.043341 ms ++++++++++++++++++++++
1317357880.370485067 WriteOdom laser_odom_to_init
1317357880.370485067 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 52.483833 ms 
--------------------stamp1317357880.474406003
points size 97627 
prepare time 13.084776 
scan registration time 32.594344 ms *************
publication time 9.601918 ms 
whole laserOdometry time 9.749274 ms 
 
mapping solver time 59.384884 ms 
-----t: 0.0484063
OdomCount 1142 & avg odom time 0.043345 ms ++++++++++++++++++++++
--------------------stamp1317357880.578325033
points size 96300 
sort q time 5.713544 
seperate points time 13.519971 
mapping solver time 46.261907 ms 
publication time 12.933011 ms 
whole laserOdometry time 12.949879 ms 
 
mapping pub time 9.033752 ms 
whole mapping time 277.034717 ms +++++
mappingCount 886 & avg mapping time 128.678297 ms ++++++++++++++++++++++
[0m[ INFO] [1718889394.463735364, 1317357880.648437602]: Received 186127 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889394.463779556, 1317357880.648437602]: Data saved to 1317357880162650.pcd[0m
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
-----t: 0.0585943
OdomCount 1143 & avg odom time 0.043358 ms ++++++++++++++++++++++
map prepare time 3.988991 ms
map corner num 125797  surf num 60330 
1317357880.162650108 WriteOdom aft_mapped_to_init
1317357880.578325033 WriteOdom laser_odom_to_init
1317357880.578325033 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357880.682218074
points size 95343 
sort q time 5.443669 
seperate points time 13.101368 
mapping data assosiation time 49.566464 ms 
--------------------stamp1317357880.786067962
points size 95197 
prepare time 32.600376 
sort q time 13.187924 
seperate points time 25.426816 
mapping data assosiation time 66.450862 ms 
publication time 10.084845 ms 
whole laserOdometry time 10.098121 ms 
 
--------------------stamp1317357880.889894962
prepare time 10.611212 
sort q time 5.700668 
seperate points time 12.342340 
scan registration time 29.001890 ms *************
filter time 13.400556 ms 
mapping pub time 2.369461 ms 
whole mapping time 270.390155 ms +++++
mappingCount 887 & avg mapping time 128.838073 ms ++++++++++++++++++++++
1317357880.370485067 WriteOdom aft_mapped_to_init
publication time 10.246129 ms 
whole laserOdometry time 10.260191 ms 
 
-----t: 0.0451559
OdomCount 1146 & avg odom time 0.043363 ms ++++++++++++++++++++++
1317357880.889894962 WriteOdom laser_odom_to_init
1317357880.889894962 WriteOdom aft_mapped_to_init_high_frec
build tree time 32.480348 ms 
--------------------stamp1317357880.993665933
prepare time 10.765763 
sort q time 5.756238 
seperate points time 20.124152 
publication time 9.611949 ms 
whole laserOdometry time 9.625690 ms 
 
mapping solver time 58.835405 ms 
--------------------stamp1317357881.097392082
points size 95021 
prepare time 14.338093 
sort q time 5.145049 
seperate points time 12.641662 
publication time 11.040112 ms 
whole laserOdometry time 11.068958 ms 
 
mapping solver time 62.206443 ms 
mapping optimization time 236.830254 
add points time 1.134234 ms
mapping pub time 2.127764 ms 
whole mapping time 258.184279 ms +++++
mappingCount 888 & avg mapping time 128.983739 ms ++++++++++++++++++++++
--------------------stamp1317357881.201128005
points size 95623 
sort q time 5.074081 
seperate points time 11.532412 
publication time 9.910824 ms 
whole laserOdometry time 9.926849 ms 
 
-----t: 0.0535249
OdomCount 1149 & avg odom time 0.043393 ms ++++++++++++++++++++++
1317357881.201128005 WriteOdom laser_odom_to_init
1317357881.201128005 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357881.304828882
prepare time 11.539120 
sort q time 5.270021 
seperate points time 11.692800 
publication time 11.593949 ms 
whole laserOdometry time 11.619378 ms 
 
-----t: 0.0468106
OdomCount 1150 & avg odom time 0.043396 ms ++++++++++++++++++++++
--------------------stamp1317357881.408498048
mapping optimization time 230.327199 
filter time 11.138579 ms 
-----t: 0.0359608
OdomCount 1151 & avg odom time 0.043389 ms ++++++++++++++++++++++
build tree time 33.983988 ms 
--------------------stamp1317357881.512152910
points size 99716 
sort q time 5.541171 
seperate points time 12.699495 
publication time 9.312695 ms 
whole laserOdometry time 9.357496 ms 
 
mapping solver time 57.897053 ms 
--------------------stamp1317357881.615783929
points size 99952 
sort q time 5.586364 
seperate points time 12.673079 
mapping solver time 42.529737 ms 
publication time 10.245870 ms 
whole laserOdometry time 10.332496 ms 
 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357881.719414949
prepare time 14.098940 
sort q time 5.774160 
seperate points time 12.720366 
publication time 8.950185 ms 
whole laserOdometry time 8.963983 ms 
 
-----t: 0.0572161
OdomCount 1154 & avg odom time 0.043398 ms ++++++++++++++++++++++
mapping solver time 53.634986 ms 
points size 100197 
sort q time 6.503313 
seperate points time 12.598585 
mapping data assosiation time 46.477939 ms 
-----t: 0.052861
OdomCount 1155 & avg odom time 0.043406 ms ++++++++++++++++++++++
mapping solver time 52.633610 ms 
points size 100309 
mapping pub time 7.833447 ms 
whole mapping time 262.393938 ms +++++
mappingCount 891 & avg mapping time 129.398523 ms ++++++++++++++++++++++
[0m[ INFO] [1718889395.763227172, 1317357881.944405235]: Received 191967 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889395.763400092, 1317357881.944405235]: Data saved to 1317357881408498.pcd[0m
1317357881.408498049 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
sort q time 5.703300 
seperate points time 13.994605 
map prepare time 4.494014 ms
map corner num 129949  surf num 62018 
scan registration time 31.425061 ms *************
-----t: 0.0479976
OdomCount 1156 & avg odom time 0.043410 ms ++++++++++++++++++++++
1317357881.926676034 WriteOdom laser_odom_to_init
1317357881.926676034 WriteOdom aft_mapped_to_init_high_frec
publication time 17.230465 ms 
whole laserOdometry time 17.238175 ms 
 
build tree time 39.142971 ms 
--------------------stamp1317357882.030329942
mapping data assosiation time 48.418066 ms 
sort q time 7.337612 
seperate points time 14.750848 
publication time 9.806998 ms 
whole laserOdometry time 9.918985 ms 
 
mapping solver time 56.659491 ms 
-----t: 0.0633298
OdomCount 1157 & avg odom time 0.043428 ms ++++++++++++++++++++++
--------------------stamp1317357882.134010076
mapping data assosiation time 43.239526 ms 
sort q time 5.623185 
seperate points time 11.936380 
scan registration time 28.557314 ms *************
publication time 9.208502 ms 
whole laserOdometry time 9.222909 ms 
 
add points time 1.231762 msfilter time 13.001120 ms --------------------stamp1317357882.237714052
points size 100901 
build tree time 36.040280 ms 
publication time 9.994723 ms 
whole laserOdometry time 10.009795 ms 
 
mapping data assosiation time 45.501227 ms 
--------------------stamp1317357882.341464996
prepare time 11.358185 
sort q time 5.764775 
seperate points time 13.399822 
scan registration time 29.629379 ms *************
publication time 10.873399 ms 
whole laserOdometry time 10.890411 ms 
 
mapping data assosiation time 49.836302 ms 
--------------------stamp1317357882.445240974
mapping optimization time 225.342334 
filter time 15.142379 ms 
1317357881.926676035 WriteOdom aft_mapped_to_init
publication time 11.976566 ms 
whole laserOdometry time 11.987261 ms 
 
1317357882.445240974 WriteOdom laser_odom_to_init
build tree time 32.257222 ms 
--------------------stamp1317357882.549038887
mapping data assosiation time 42.219467 ms 
sort q time 5.764234 
seperate points time 17.988736 
publication time 8.288924 ms 
whole laserOdometry time 8.304863 ms 
 
mapping solver time 54.010505 ms 
--------------------stamp1317357882.652834892
prepare time 9.853751 
sort q time 5.795907 
seperate points time 12.051522 
mapping solver time 41.475788 ms 
filter time 15.017438 ms 
map prepare time 3.733103 ms
map corner num 133215  surf num 63672 
build tree time 29.303984 ms 
points size 101083 
sort q time 6.295985 
seperate points time 13.094651 
mapping data assosiation time 49.833304 ms 
publication time 9.711537 ms 
whole laserOdometry time 9.725777 ms 
 
-----t: 0.0657187
OdomCount 1164 & avg odom time 0.043507 ms ++++++++++++++++++++++
--------------------stamp1317357882.860410928
points size 101074 
sort q time 5.960772 
seperate points time 13.866767 
publication time 9.331905 ms 
whole laserOdometry time 9.351948 ms 
 
mapping solver time 47.274888 ms 
filter time 12.118547 ms 
map prepare time 4.500206 ms
map corner num 134415  surf num 64412 
sort q time 5.440403 
seperate points time 11.710004 
build tree time 34.890326 ms 
publication time 12.832333 ms 
whole laserOdometry time 12.843940 ms 
 
mapping data assosiation time 42.611481 ms 
--------------------stamp1317357883.068006992
points size 100962 
mapping solver time 45.522161 ms 
publication time 9.136974 ms 
whole laserOdometry time 9.153159 ms 
 
mapping data assosiation time 44.350702 ms 
--------------------stamp1317357883.171828031
points size 100906 
mapping pub time 6.116695 ms 
whole mapping time 231.800091 ms +++++
mappingCount 896 & avg mapping time 130.052444 ms ++++++++++++++++++++++
publication time 10.461286 ms 
whole laserOdometry time 10.475776 ms 
 
build tree time 36.262133 ms 
mapping data assosiation time 40.576327 ms 
sort q time 5.368263 
seperate points time 12.571436 
publication time 8.527040 ms 
whole laserOdometry time 8.552703 ms 
 
mapping solver time 52.563318 ms 
mapping data assosiation time 41.371626 ms 
points size 99390 
sort q time 5.599188 
seperate points time 13.589406 
mapping solver time 47.264003 ms 
filter time 10.813594 ms 
-----t: 0.0661499
OdomCount 1170 & avg odom time 0.043535 ms ++++++++++++++++++++++
build tree time 31.434086 ms 
points size 98996 
scan registration time 27.267869 ms *************
publication time 13.756110 ms 
whole laserOdometry time 13.769017 ms 
 
-----t: 0.0827772
OdomCount 1171 & avg odom time 0.043568 ms ++++++++++++++++++++++
--------------------stamp1317357883.587121009
sort q time 5.227682 
seperate points time 13.195956 
publication time 9.989730 ms 
whole laserOdometry time 10.001836 ms 
 
-----t: 0.0485506
OdomCount 1172 & avg odom time 0.043573 ms ++++++++++++++++++++++
mapping solver time 39.586552 ms 
--------------------stamp1317357883.690968990
points size 98517 
map prepare time 5.038625 ms
map corner num 137628  surf num 66081 
publication time 9.067390 ms 
whole laserOdometry time 9.080774 ms 
 
-----t: 0.0524324
OdomCount 1173 & avg odom time 0.043580 ms ++++++++++++++++++++++
mapping data assosiation time 39.207026 ms 
points size 98180 
sort q time 5.483641 
seperate points time 11.289525 
mapping solver time 39.990164 ms 
publication time 9.389500 ms 
whole laserOdometry time 9.405753 ms 
 
-----t: 0.0531499
OdomCount 1174 & avg odom time 0.043588 ms ++++++++++++++++++++++
mapping data assosiation time 44.689367 ms 
--------------------stamp1317357883.898807048
points size 96679 
prepare time 11.953474 
mapping solver time 37.447175 ms 
scan registration time 30.238788 ms *************
map prepare time 4.257854 ms
map corner num 138700  surf num 66660 
-----t: 0.0398988
OdomCount 1175 & avg odom time 0.043585 ms ++++++++++++++++++++++
build tree time 33.963691 ms 
--------------------stamp1317357884.002820968
mapping data assosiation time 40.907482 ms 
sort q time 5.501431 
seperate points time 12.308734 
publication time 7.816509 ms 
whole laserOdometry time 7.829943 ms 
 
-----t: 0.050237
OdomCount 1176 & avg odom time 0.043591 ms ++++++++++++++++++++++
1317357884.002820968 WriteOdom laser_odom_to_init
1317357884.002820968 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 54.020353 ms 
mapping data assosiation time 39.763575 ms 
prepare time 13.998386 
sort q time 6.185849 
seperate points time 12.713611 
mapping solver time 42.087243 ms 
-----t: 0.0460016
OdomCount 1177 & avg odom time 0.043593 ms ++++++++++++++++++++++
filter time 13.225195 ms 
1317357884.106883049 WriteOdom laser_odom_to_init
1317357884.106883049 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.322020 ms 
whole mapping time 236.267472 ms +++++
mappingCount 900 & avg mapping time 130.543063 ms ++++++++++++++++++++++
1317357883.690968990 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
build tree time 31.164561 ms 
points size 96444 
sort q time 5.281082 
seperate points time 10.722697 
mapping data assosiation time 45.434315 ms 
mapping solver time 47.665204 ms 
--------------------stamp1317357884.315202951
points size 96701 
sort q time 5.331894 
seperate points time 12.263603 
publication time 9.998281 ms 
whole laserOdometry time 10.014642 ms 
 
-----t: 0.0500164
OdomCount 1179 & avg odom time 0.043625 ms ++++++++++++++++++++++
1317357884.315202951 WriteOdom laser_odom_to_init
1317357884.315202951 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 49.060189 ms 
mapping optimization time 222.457084 
add points time 1.152145 ms
--------------------stamp1317357884.419482946
sort q time 5.420588 
seperate points time 12.259270 
mapping pub time 41.432163 ms 
whole mapping time 283.042119 ms +++++
mappingCount 901 & avg mapping time 130.712324 ms ++++++++++++++++++++++
1317357884.419482946 WriteOdom aft_mapped_to_init_high_frec
publication time 18.089452 ms 
whole laserOdometry time 18.151287 ms 
 
build tree time 34.292739 ms 
--------------------stamp1317357884.523833036
prepare time 12.045899 
sort q time 5.902313 
seperate points time 12.649975 
publication time 10.004680 ms 
whole laserOdometry time 10.017605 ms 
 
mapping solver time 49.957681 ms 
--------------------stamp1317357884.628228902
mapping data assosiation time 52.029380 ms 
sort q time 5.841623 
seperate points time 12.881796 
-----t: 0.0343623
OdomCount 1182 & avg odom time 0.043657 ms ++++++++++++++++++++++
1317357884.628228902 WriteOdom laser_odom_to_init
1317357884.628228902 WriteOdom aft_mapped_to_init_high_frec
add points time 1.066907 ms
filter time 10.791215 ms 
map prepare time 3.451734 ms
map corner num 141880  surf num 68411 
--------------------stamp1317357884.732650995
points size 91573 
build tree time 38.723574 ms 
sort q time 5.846387 
seperate points time 11.765444 
scan registration time 27.312661 ms *************
publication time 8.310446 ms 
whole laserOdometry time 8.323733 ms 
 
mapping data assosiation time 44.513800 ms 
--------------------stamp1317357884.837099075
mapping solver time 51.820492 ms 
sort q time 5.676817 
seperate points time 12.919689 
publication time 9.769862 ms 
whole laserOdometry time 9.785498 ms 
 
-----t: 0.141319
OdomCount 1183 & avg odom time 0.043739 ms ++++++++++++++++++++++
1317357884.732650995 WriteOdom laser_odom_to_init
1317357884.732650995 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357884.941544055
mapping solver time 45.736169 ms 
points size 88269 
filter time 17.795204 ms 
scan registration time 37.211548 ms *************
-----t: 0.0452882
OdomCount 1185 & avg odom time 0.043758 ms ++++++++++++++++++++++
--------------------stamp1317357885.045989990
points size 85798 
sort q time 4.587795 
seperate points time 11.144810 
scan registration time 29.617774 ms *************
mapping solver time 51.252845 ms 
publication time 11.142029 ms 
whole laserOdometry time 11.168431 ms 
 
-----t: 0.0593025
OdomCount 1186 & avg odom time 0.043771 ms ++++++++++++++++++++++
mapping data assosiation time 41.229223 ms 
points size 86256 
publication time 7.851684 ms 
whole laserOdometry time 7.866422 ms 
 
filter time 17.340385 ms 
mapping pub time 2.095658 ms 
whole mapping time 248.876295 ms +++++
mappingCount 904 & avg mapping time 131.112194 ms ++++++++++++++++++++++
1317357884.732650995 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
-----t: 0.0711957
OdomCount 1187 & avg odom time 0.043794 ms ++++++++++++++++++++++
1317357885.150413990 WriteOdom laser_odom_to_init
1317357885.150413990 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357885.254765033
sort q time 4.663910 
seperate points time 11.281559 
publication time 8.210516 ms 
whole laserOdometry time 8.232883 ms 
 
-----t: 0.059615
OdomCount 1188 & avg odom time 0.043808 ms ++++++++++++++++++++++
1317357885.254765033 WriteOdom aft_mapped_to_init_high_frec
1317357885.254765033 WriteOdom laser_odom_to_init
mapping solver time 46.297047 ms 
--------------------stamp1317357885.359042882
prepare time 10.799453 
sort q time 5.118098 
seperate points time 11.044572 
mapping data assosiation time 43.372672 ms 
-----t: 0.0349508
OdomCount 1189 & avg odom time 0.043800 ms ++++++++++++++++++++++
mapping solver time 44.059217 ms 
mapping optimization time 214.694052 
add points time 1.065729 ms
filter time 10.789831 ms 
map prepare time 3.425716 ms
map corner num 145300  surf num 69901 
points size 88612 
sort q time 4.892122 
seperate points time 11.822602 
build tree time 43.589400 ms 
-----t: 0.0349734
OdomCount 1190 & avg odom time 0.043793 ms ++++++++++++++++++++++
publication time 24.219397 ms 
whole laserOdometry time 24.238811 ms 
 
mapping data assosiation time 45.613376 ms 
--------------------stamp1317357885.567503929
prepare time 13.250693 
sort q time 5.086558 
seperate points time 12.592735 
publication time 10.278210 ms 
whole laserOdometry time 10.297287 ms 
 
mapping data assosiation time 44.483655 ms 
--------------------stamp1317357885.671641111
points size 94593 
sort q time 5.171133 
seperate points time 12.234980 
filter time 13.089357 ms 
map prepare time 4.650496 ms
map corner num 146554  surf num 70395 
build tree time 43.012712 ms 
points size 98742 
prepare time 14.385733 
sort q time 5.402626 
seperate points time 12.516613 
publication time 10.552245 ms 
whole laserOdometry time 10.568644 ms 
 
-----t: 0.083271
OdomCount 1193 & avg odom time 0.043813 ms ++++++++++++++++++++++
--------------------stamp1317357885.879837989
prepare time 12.238243 
sort q time 5.491319 
seperate points time 12.516767 
publication time 8.566009 ms 
whole laserOdometry time 8.579334 ms 
 
mapping data assosiation time 52.701448 ms 
mapping solver time 37.717404 ms 
--------------------stamp1317357885.983899116
points size 100104 
sort q time 4.973206 
seperate points time 11.497886 
build tree time 39.842008 ms 
-----t: 0.0459667
OdomCount 1195 & avg odom time 0.043819 ms ++++++++++++++++++++++
mapping data assosiation time 42.239711 ms 
--------------------stamp1317357886.087964057
points size 101321 
sort q time 5.808474 
seperate points time 14.202130 
scan registration time 33.382532 ms *************
publication time 14.085451 ms 
whole laserOdometry time 14.099973 ms 
 
mapping data assosiation time 45.977446 ms 
--------------------stamp1317357886.192003965
points size 102492 
sort q time 5.696100 
seperate points time 14.249149 
mapping solver time 54.259206 ms 
publication time 10.949222 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
-----t: 0.0564083
OdomCount 1197 & avg odom time 0.043829 ms ++++++++++++++++++++++
1317357886.192003965 WriteOdom laser_odom_to_init
1317357886.192003965 WriteOdom aft_mapped_to_init_high_frec
build tree time 35.319648 ms 
points size 102662 
sort q time 6.997008 
seperate points time 16.843621 
scan registration time 40.565216 ms *************
mapping data assosiation time 54.152219 ms 
-----t: 0.0712234
OdomCount 1198 & avg odom time 0.043852 ms ++++++++++++++++++++++
1317357886.296015977 WriteOdom laser_odom_to_init
1317357886.296015977 WriteOdom aft_mapped_to_init_high_frec
points size 103813 
sort q time 6.004577 
seperate points time 12.012444 
publication time 8.951533 ms 
whole laserOdometry time 8.975895 ms 
 
-----t: 0.0686681
OdomCount 1199 & avg odom time 0.043873 ms ++++++++++++++++++++++
mapping solver time 43.398090 ms 
points size 103646 
1317357885.983899117 WriteOdom aft_mapped_to_init
sort q time 6.512414 
seperate points time 14.639812 
publication time 8.401347 ms 
whole laserOdometry time 8.416816 ms 
 
-----t: 0.0434635
OdomCount 1200 & avg odom time 0.043873 ms ++++++++++++++++++++++
1317357886.503998994 WriteOdom laser_odom_to_init
1317357886.503998994 WriteOdom aft_mapped_to_init_high_frec
build tree time 41.423296 ms 
--------------------stamp1317357886.607916116
mapping data assosiation time 44.907822 ms 
sort q time 6.368920 
seperate points time 13.945409 
publication time 11.621541 ms 
whole laserOdometry time 11.637905 ms 
 
--------------------stamp1317357886.711836099
prepare time 11.751802 
scan registration time 29.154669 ms *************
publication time 9.292162 ms 
whole laserOdometry time 9.302205 ms 
 
-----t: 0.0403985
OdomCount 1202 & avg odom time 0.043871 ms ++++++++++++++++++++++
filter time 13.001611 ms 
map prepare time 3.479777 ms
map corner num 151591  surf num 73141 
--------------------stamp1317357886.815754890
points size 104190 
build tree time 41.329620 ms 
publication time 8.849896 ms 
whole laserOdometry time 8.861310 ms 
 
-----t: 0.0418513
OdomCount 1203 & avg odom time 0.043870 ms ++++++++++++++++++++++
mapping data assosiation time 47.391755 ms 
--------------------stamp1317357886.919671058
mapping solver time 41.233153 ms 
sort q time 6.265225 
seperate points time 13.804524 
scan registration time 33.143820 ms *************
publication time 10.104337 ms 
whole laserOdometry time 10.119040 ms 
 
mapping data assosiation time 51.076974 ms 
-----t: 0.0667149
OdomCount 1204 & avg odom time 0.043889 ms ++++++++++++++++++++++
--------------------stamp1317357887.023565053
points size 103841 
filter time 12.148822 ms 
drop lidar frame in mapping for real time performance 
publication time 10.954989 ms 
whole laserOdometry time 10.968759 ms 
 
-----t: 0.0577503
OdomCount 1205 & avg odom time 0.043900 ms ++++++++++++++++++++++
--------------------stamp1317357887.127460956
points size 103728 
mapping data assosiation time 44.981230 ms 
sort q time 6.224300 
seperate points time 13.736432 
scan registration time 31.286327 ms *************
publication time 10.274644 ms 
whole laserOdometry time 10.285920 ms 
 
mapping solver time 52.735018 ms 
--------------------stamp1317357887.231406927
points size 103681 
sort q time 6.189069 
seperate points time 13.365579 
publication time 12.133662 ms 
whole laserOdometry time 12.144275 ms 
 
mapping solver time 46.427718 ms 
mapping optimization time 233.659292 
add points time 1.317070 ms
-----t: 0.0573109
OdomCount 1207 & avg odom time 0.043920 ms ++++++++++++++++++++++
1317357887.231406927 WriteOdom laser_odom_to_init
1317357887.231406927 WriteOdom aft_mapped_to_init_high_frec
filter time 14.945516 ms 
map prepare time 3.838737 ms
map corner num 153977  surf num 74389 
--------------------stamp1317357887.335375070
points size 103831 
build tree time 38.235208 ms 
publication time 9.966706 ms 
whole laserOdometry time 9.988417 ms 
 
--------------------stamp1317357887.439341068
points size 104096 
mapping solver time 51.992066 ms 
scan registration time 33.808825 ms *************
publication time 10.841382 ms 
whole laserOdometry time 10.855914 ms 
 
mapping data assosiation time 50.466659 ms 
--------------------stamp1317357887.543282985
mapping solver time 50.788132 ms 
scan registration time 32.606221 ms *************
mapping pub time 3.551884 ms 
whole mapping time 268.460950 ms +++++
mappingCount 913 & avg mapping time 132.382306 ms ++++++++++++++++++++++
-----t: 0.0526215
OdomCount 1210 & avg odom time 0.043948 ms ++++++++++++++++++++++
build tree time 48.106672 ms 
points size 104407 
sort q time 6.104954 
seperate points time 14.972603 
mapping data assosiation time 50.902214 ms 
1317357887.647226095 WriteOdom aft_mapped_to_init_high_frec
publication time 12.103739 ms 
whole laserOdometry time 12.115639 ms 
 
mapping solver time 47.969966 ms 
--------------------stamp1317357887.751193046
points size 104526 
sort q time 6.456712 
seperate points time 14.184283 
mapping data assosiation time 51.249224 ms 
-----t: 0.0385212
OdomCount 1212 & avg odom time 0.043941 ms ++++++++++++++++++++++
1317357887.751193046 WriteOdom laser_odom_to_init
1317357887.751193046 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 47.300438 ms 
--------------------stamp1317357887.855159997
points size 104718 
sort q time 6.915614 
seperate points time 13.640970 
publication time 9.761769 ms 
whole laserOdometry time 9.777870 ms 
 
-----t: 0.0370884
OdomCount 1213 & avg odom time 0.043935 ms ++++++++++++++++++++++
1317357887.855159997 WriteOdom laser_odom_to_init
1317357887.855159997 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357887.959101915
points size 103885 
prepare time 12.794028 
sort q time 6.100529 
seperate points time 14.163261 
mapping solver time 44.793706 ms 
1317357887.959101915 WriteOdom laser_odom_to_init
1317357887.959101915 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 40.980138 ms 
--------------------stamp1317357888.063044071
prepare time 11.546377 
mapping optimization time 208.732014 
add points time 1.374147 ms
scan registration time 30.573876 ms *************
drop lidar frame in mapping for real time performance 
1317357887.543282986 WriteOdom aft_mapped_to_init
build tree time 33.468409 ms 
--------------------stamp1317357888.167035102
points size 103420 
mapping data assosiation time 41.936007 ms 
sort q time 7.047782 
seperate points time 15.910081 
-----t: 0.0434359
OdomCount 1216 & avg odom time 0.043924 ms ++++++++++++++++++++++
--------------------stamp1317357888.271050930
prepare time 12.088175 
scan registration time 29.200281 ms *************
mapping solver time 42.142383 ms 
filter time 14.837425 ms 
mapping pub time 10.691652 ms 
whole mapping time 244.831573 ms +++++
mappingCount 916 & avg mapping time 132.774394 ms ++++++++++++++++++++++
-----t: 0.0813939
OdomCount 1217 & avg odom time 0.043955 ms ++++++++++++++++++++++
points size 103282 
sort q time 6.189146 
seperate points time 13.632577 
publication time 10.178861 ms 
whole laserOdometry time 10.193772 ms 
 
mapping data assosiation time 46.470457 ms 
-----t: 0.0610778
OdomCount 1218 & avg odom time 0.043969 ms ++++++++++++++++++++++
1317357888.375065088 WriteOdom laser_odom_to_init
1317357888.375065088 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357888.479054927
points size 103496 
sort q time 6.627871 
seperate points time 12.703530 
mapping data assosiation time 45.040141 ms 
-----t: 0.0496605
OdomCount 1219 & avg odom time 0.043974 ms ++++++++++++++++++++++
1317357888.479054927 WriteOdom laser_odom_to_init
1317357888.479054927 WriteOdom aft_mapped_to_init_high_frec
filter time 11.438165 ms 
--------------------stamp1317357888.583043098
points size 103017 
prepare time 12.494706 
build tree time 36.680883 ms 
-----t: 0.0518577
OdomCount 1220 & avg odom time 0.043980 ms ++++++++++++++++++++++
--------------------stamp1317357888.687035083
prepare time 11.542125 
mapping solver time 42.159250 ms 
scan registration time 31.424469 ms *************
publication time 10.564683 ms 
whole laserOdometry time 10.578980 ms 
 
mapping solver time 33.035155 ms 
--------------------stamp1317357888.791027069
drop lidar frame in mapping for real time performance 
sort q time 6.349466 
seperate points time 14.364210 
build tree time 34.612584 ms 
-----t: 0.0485117
OdomCount 1222 & avg odom time 0.043981 ms ++++++++++++++++++++++
1317357888.791027069 WriteOdom laser_odom_to_init
1317357888.791027069 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 41.568407 ms 
--------------------stamp1317357888.895018100
points size 101655 
sort q time 6.045557 
seperate points time 14.756163 
publication time 10.742004 ms 
whole laserOdometry time 10.756281 ms 
 
mapping data assosiation time 41.395187 ms 
--------------------stamp1317357888.998984098
prepare time 11.927850 
mapping pub time 2.429155 ms 
whole mapping time 219.448396 ms +++++
mappingCount 919 & avg mapping time 133.062109 ms ++++++++++++++++++++++
publication time 10.219691 ms 
whole laserOdometry time 10.230170 ms 
 
1317357888.998984098 WriteOdom laser_odom_to_init
mapping data assosiation time 33.676378 ms 
points size 100957 
sort q time 5.667911 
seperate points time 14.086570 
mapping solver time 47.011615 ms 
-----t: 0.0374916
OdomCount 1225 & avg odom time 0.043971 ms ++++++++++++++++++++++
1317357889.102927923 WriteOdom laser_odom_to_init
1317357889.102927923 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 37.318068 ms 
-----t: 0.0480214
OdomCount 1226 & avg odom time 0.043975 ms ++++++++++++++++++++++
1317357889.206868886 WriteOdom laser_odom_to_init
1317357889.206868886 WriteOdom aft_mapped_to_init_high_frec
build tree time 34.901450 ms 
--------------------stamp1317357889.310811042
mapping data assosiation time 37.296445 ms 
sort q time 5.826210 
seperate points time 12.021356 
scan registration time 28.624786 ms *************
publication time 8.661684 ms 
whole laserOdometry time 8.675688 ms 
 
-----t: 0.0542788
OdomCount 1227 & avg odom time 0.043983 ms ++++++++++++++++++++++
1317357889.310811042 WriteOdom laser_odom_to_init
1317357889.310811042 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 36.389218 ms 
--------------------stamp1317357889.414753913
points size 98010 
sort q time 6.719427 
seperate points time 13.069036 
filter time 16.344551 ms 
mapping pub time 35.022851 ms 
whole mapping time 255.173833 ms +++++
mappingCount 921 & avg mapping time 133.283339 ms ++++++++++++++++++++++
1317357888.998984098 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 3.401737 ms
map corner num 133598  surf num 69862 
--------------------stamp1317357889.518697977
points size 96936 
build tree time 37.970225 ms 
publication time 8.033635 ms 
whole laserOdometry time 8.052389 ms 
 
mapping data assosiation time 41.566613 ms 
-----t: 0.068582
OdomCount 1229 & avg odom time 0.043996 ms ++++++++++++++++++++++
--------------------stamp1317357889.622591972
points size 96039 
sort q time 5.530833 
seperate points time 11.750726 
mapping data assosiation time 42.094540 ms 
-----t: 0.0420915
OdomCount 1230 & avg odom time 0.043995 ms ++++++++++++++++++++++
mapping solver time 36.202001 ms 
mapping optimization time 204.155890 
add points time 1.225562 ms
filter time 12.569493 ms 
map prepare time 3.911622 ms
map corner num 134618  surf num 70341 
sort q time 5.324964 
seperate points time 12.464817 
scan registration time 30.738865 ms *************
publication time 9.578743 ms 
whole laserOdometry time 9.592327 ms 
 
-----t: 0.0585761
OdomCount 1231 & avg odom time 0.044006 ms ++++++++++++++++++++++
mapping data assosiation time 42.575648 ms 
points size 94045 
mapping solver time 40.932697 ms 
publication time 11.838447 ms 
whole laserOdometry time 11.864069 ms 
 
mapping data assosiation time 41.112754 ms 
mapping solver time 30.368571 ms 
--------------------stamp1317357889.934252977
filter time 16.216412 ms 
map prepare time 5.010620 ms
map corner num 135859  surf num 70872 
sort q time 16.541439 
seperate points time 23.896431 
scan registration time 42.189391 ms *************
-----t: 0.041075
OdomCount 1233 & avg odom time 0.044008 ms ++++++++++++++++++++++
mapping data assosiation time 32.387172 ms 
--------------------stamp1317357890.038099050
points size 92284 
prepare time 13.354171 
sort q time 5.254769 
seperate points time 12.880889 
publication time 10.461716 ms mapping data assosiation time 41.017904 ms 
-----t: 0.0792532
OdomCount 1234 & avg odom time 0.044036 ms ++++++++++++++++++++++
--------------------stamp1317357890.141896963
mapping solver time 37.543333 ms 
sort q time 4.916022 
seperate points time 10.708125 
map prepare time 4.675929 ms
map corner num 137034  surf num 71379 
-----t: 0.0443573
OdomCount 1235 & avg odom time 0.044037 ms ++++++++++++++++++++++
build tree time 37.251298 ms 
--------------------stamp1317357890.245675086
prepare time 11.718148 
sort q time 6.380640 
seperate points time 12.280189 
publication time 9.715957 ms 
whole laserOdometry time 9.725020 ms 
 
mapping solver time 47.043009 ms 
mapping data assosiation time 36.241448 ms 
--------------------stamp1317357890.349450111
points size 94763 
prepare time 11.934241 
sort q time 5.612989 
seperate points time 13.252203 
add points time 2.094180 ms
mapping pub time 2.142085 ms 
whole mapping time 222.733762 ms +++++
mappingCount 925 & avg mapping time 133.668032 ms ++++++++++++++++++++++
publication time 11.160374 ms 
whole laserOdometry time 11.179528 ms 
 
build tree time 33.593036 ms 
--------------------stamp1317357890.453223943
sort q time 5.275490 
seperate points time 11.425026 
publication time 9.886185 ms 
whole laserOdometry time 9.905995 ms 
 
mapping solver time 39.992657 ms 
mapping data assosiation time 36.356878 ms 
points size 96742 
mapping solver time 34.590916 ms 
sort q time 5.304617 
seperate points time 13.314464 
mapping optimization time 185.566491 
add points time 1.409483 ms
[0m[ INFO] [1718889404.426981614, 1317357890.606976245]: Received 211865 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889404.427030404, 1317357890.606976245]: Data saved to 1317357890141896.pcd[0m
mapping pub time 5.212674 ms 
whole mapping time 211.051470 ms +++++
mappingCount 926 & avg mapping time 133.751613 ms ++++++++++++++++++++++
1317357890.141896963 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0386148
OdomCount 1239 & avg odom time 0.044029 ms ++++++++++++++++++++++
1317357890.556973934 WriteOdom laser_odom_to_init
1317357890.556973934 WriteOdom aft_mapped_to_init_high_frec
map prepare time 4.636470 ms
map corner num 139442  surf num 72423 
--------------------stamp1317357890.660722970
prepare time 11.555906 
sort q time 7.058310 
seperate points time 14.244768 
mapping data assosiation time 43.106698 ms 
publication time 11.265939 ms 
whole laserOdometry time 11.282827 ms 
 
-----t: 0.0571986
OdomCount 1240 & avg odom time 0.044040 ms ++++++++++++++++++++++mapping solver time 46.423822 ms 
--------------------stamp1317357890.764472007
prepare time 11.481672 
sort q time 6.767312 
seperate points time 14.056240 
scan registration time 30.424211 ms *************
publication time 8.147965 ms 
whole laserOdometry time 8.171236 ms 
 
-----t: 0.0590688
OdomCount 1241 & avg odom time 0.044052 ms ++++++++++++++++++++++
mapping solver time 37.830719 ms 
mapping optimization time 218.404789 
add points time 1.212267 ms
filter time 16.390519 ms 
map prepare time 5.389449 ms
map corner num 140535  surf num 72928 
points size 101109 
prepare time 12.887534 
sort q time 6.470836 
seperate points time 14.310464 
build tree time 43.375630 ms 
publication time 11.438309 ms 
whole laserOdometry time 11.449941 ms 
 
-----t: 0.0447772
OdomCount 1242 & avg odom time 0.044052 ms ++++++++++++++++++++++
mapping data assosiation time 42.578189 ms 
--------------------stamp1317357890.971927881
points size 102137 
mapping solver time 39.123483 ms 
scan registration time 34.817072 ms *************
publication time 11.941194 ms 
whole laserOdometry time 11.960899 ms 
 
mapping data assosiation time 42.616926 ms 
-----t: 0.0607616
OdomCount 1243 & avg odom time 0.044066 ms ++++++++++++++++++++++
1317357890.971927881 WriteOdom laser_odom_to_init
1317357890.971927881 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.543851 ms 
--------------------stamp1317357891.075654029
prepare time 11.849728 
drop lidar frame in mapping for real time performance 
scan registration time 32.810885 ms *************
build tree time 42.747475 ms 
-----t: 0.0796569
OdomCount 1244 & avg odom time 0.044094 ms ++++++++++++++++++++++
--------------------stamp1317357891.179404973
prepare time 11.271881 
sort q time 6.089930 
seperate points time 12.530198 
mapping solver time 46.921127 ms 
-----t: 0.0605078
OdomCount 1245 & avg odom time 0.044108 ms ++++++++++++++++++++++
mapping data assosiation time 43.656541 ms 
--------------------stamp1317357891.283157110
prepare time 11.473741 
sort q time 5.966709 
seperate points time 13.829749 
filter time 16.256663 ms 
map prepare time 4.766181 ms
map corner num 143147  surf num 74279 
publication time 22.833710 ms 
whole laserOdometry time 22.852142 ms 
 
-----t: 0.0649575
OdomCount 1246 & avg odom time 0.044124 ms ++++++++++++++++++++++
--------------------stamp1317357891.386909961
prepare time 12.180085 
mapping data assosiation time 43.029073 ms 
publication time 9.157750 ms 
whole laserOdometry time 9.178358 ms 
 
-----t: 0.0385398
OdomCount 1247 & avg odom time 0.044120 ms ++++++++++++++++++++++
mapping solver time 46.218447 ms 
--------------------stamp1317357891.490660905
points size 95283 
sort q time 5.368309 
seperate points time 13.097245 
scan registration time 30.389977 ms *************
mapping solver time 39.336744 ms 
-----t: 0.0403672
OdomCount 1248 & avg odom time 0.044117 ms ++++++++++++++++++++++
mapping pub time 2.304192 ms 
whole mapping time 230.170816 ms +++++
mappingCount 930 & avg mapping time 134.179672 ms ++++++++++++++++++++++
1317357891.075654030 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 3.590507 ms
map corner num 144453  surf num 74984 
--------------------stamp1317357891.594388961
prepare time 11.573314 
sort q time 6.954892 
seperate points time 14.727627 
-----t: 0.0381844
OdomCount 1249 & avg odom time 0.044112 ms ++++++++++++++++++++++
mapping solver time 41.587775 ms 
--------------------stamp1317357891.698137044
prepare time 10.222705 
mapping data assosiation time 39.088010 ms 
publication time 9.553708 ms 
whole laserOdometry time 9.589470 ms 
 
add points time 0.899574 ms
filter time 12.005650 ms 
map prepare time 3.377164 ms
map corner num 145821  surf num 75597 
--------------------stamp1317357891.801909923
points size 92682 
build tree time 38.956330 ms 
publication time 10.623267 ms 
whole laserOdometry time 10.636714 ms 
 
mapping data assosiation time 41.226289 ms 
mapping solver time 39.476624 ms 
points size 92578 
sort q time 5.218662 
seperate points time 13.136607 
mapping data assosiation time 41.844234 ms 
-----t: 0.0394024
OdomCount 1252 & avg odom time 0.044100 ms ++++++++++++++++++++++
mapping solver time 27.199995 ms 
filter time 10.762924 ms 
map prepare time 3.431415 ms
map corner num 147213  surf num 76200 
--------------------stamp1317357892.009462118
prepare time 10.742368 
sort q time 5.195797 
seperate points time 12.759520 
mapping data assosiation time 40.324225 ms 
--------------------stamp1317357892.113236904
mapping solver time 42.656231 ms 
sort q time 5.430891 
seperate points time 13.608833 
mapping data assosiation time 42.009294 ms 
-----t: 0.0544732
OdomCount 1254 & avg odom time 0.044118 ms ++++++++++++++++++++++
mapping solver time 29.584542 ms 
filter time 13.285540 ms 
map prepare time 5.082436 ms
map corner num 148510  surf num 76809 
prepare time 14.714381 
sort q time 5.089876 
seperate points time 12.965899 
scan registration time 32.613971 ms *************
publication time 10.642569 ms 
whole laserOdometry time 10.657875 ms 
 
--------------------stamp1317357892.320858001
points size 93032 
sort q time 5.363765 
seperate points time 13.191686 
-----t: 0.0401246
OdomCount 1256 & avg odom time 0.044128 ms ++++++++++++++++++++++
mapping data assosiation time 38.153246 ms 
--------------------stamp1317357892.424679040
points size 92947 
filter time 11.326256 ms 
publication time 10.059184 ms 
whole laserOdometry time 10.078860 ms 
 
build tree time 43.227435 ms 
--------------------stamp1317357892.528505086
points size 94292 
sort q time 5.263708 
seperate points time 12.634430 
publication time 9.319033 ms 
whole laserOdometry time 9.332476 ms 
 
mapping solver time 44.984044 ms 
mapping data assosiation time 31.825211 ms 
--------------------stamp1317357892.632328033
mapping solver time 35.729291 ms 
filter time 11.810038 ms 
mapping pub time 2.134031 ms 
whole mapping time 215.448995 ms +++++
mappingCount 935 & avg mapping time 134.640269 ms ++++++++++++++++++++++
1317357892.217036009 WriteOdom aft_mapped_to_init
build tree time 34.700931 ms 
--------------------stamp1317357892.736149072
points size 96538 
sort q time 5.442051 
seperate points time 13.367626 
scan registration time 30.782237 ms *************
1317357892.736149072 WriteOdom laser_odom_to_init
1317357892.736149072 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 46.686440 ms 
--------------------stamp1317357892.839976072
mapping data assosiation time 42.567228 ms 
points size 96304 
prepare time 13.505589 
sort q time 5.222841 
seperate points time 13.571822 
scan registration time 32.015820 ms *************
add points time 1.064273 ms
filter time 13.712717 ms 
mapping pub time 11.877390 ms 
whole mapping time 238.897306 ms +++++
mappingCount 936 & avg mapping time 134.751661 ms ++++++++++++++++++++++
-----t: 0.0818461
OdomCount 1261 & avg odom time 0.044136 ms ++++++++++++++++++++++
--------------------stamp1317357892.943797111
points size 95874 
sort q time 5.290285 
seperate points time 13.391389 
mapping data assosiation time 42.797465 ms 
publication time 34.466357 ms 
whole laserOdometry time 34.479975 ms 
 
--------------------stamp1317357893.047616958
prepare time 11.248960 
sort q time 4.557064 
seperate points time 11.703101 
publication time 10.003291 ms 
whole laserOdometry time 10.016884 ms 
 
mapping data assosiation time 40.288889 ms 
1317357893.047616958 WriteOdom laser_odom_to_init
points size 95630 
map prepare time 5.689613 ms
map corner num 153480  surf num 79002 
sort q time 5.752473 
seperate points time 14.300907 
publication time 10.810165 ms 
whole laserOdometry time 10.826972 ms 
 
build tree time 51.155553 ms 
--------------------stamp1317357893.255213022
points size 96144 
sort q time 5.321681 
seperate points time 13.389003 
publication time 8.566566 ms 
whole laserOdometry time 8.581476 ms 
 
mapping solver time 50.713570 ms 
-----t: 0.0713764
OdomCount 1265 & avg odom time 0.044220 ms ++++++++++++++++++++++
--------------------stamp1317357893.359010934
mapping data assosiation time 43.923271 ms 
prepare time 18.458198 
sort q time 5.215151 
seperate points time 14.592804 
scan registration time 37.334711 ms *************
-----t: 0.0461409
OdomCount 1266 & avg odom time 0.044221 ms ++++++++++++++++++++++
1317357893.359010934 WriteOdom laser_odom_to_init
1317357893.359010934 WriteOdom aft_mapped_to_init_high_frec
publication time 14.205403 ms 
whole laserOdometry time 14.226780 ms 
 
map prepare time 4.632665 ms
map corner num 154868  surf num 79707 
--------------------stamp1317357893.462810039
points size 93449 
build tree time 48.889701 ms 
publication time 10.269429 ms 
whole laserOdometry time 10.279720 ms 
 
mapping data assosiation time 42.665632 ms 
--------------------stamp1317357893.566656112
mapping solver time 44.560717 ms 
sort q time 6.081694 
seperate points time 15.225084 
mapping data assosiation time 37.941861 ms 
-----t: 0.0427026
OdomCount 1268 & avg odom time 0.044226 ms ++++++++++++++++++++++
1317357893.566656112 WriteOdom laser_odom_to_init
1317357893.566656112 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 33.156961 ms 
mapping optimization time 210.739395 
add points time 0.932655 ms
filter time 11.554233 ms 
map prepare time 3.586238 ms
map corner num 84011  surf num 47260 
points size 92531 
build tree time 26.625330 ms 
publication time 8.479200 ms 
whole laserOdometry time 8.493823 ms 
 
mapping data assosiation time 37.028538 ms 
mapping solver time 30.767712 ms 
--------------------stamp1317357893.774324893
points size 92406 
sort q time 6.059652 
seperate points time 12.677069 
publication time 9.029840 ms 
whole laserOdometry time 9.045606 ms 
 
1317357893.774324893 WriteOdom laser_odom_to_init
1317357893.774324893 WriteOdom aft_mapped_to_init_high_frec
filter time 6.886730 ms 
map prepare time 2.796095 ms
map corner num 85299  surf num 47878 
build tree time 21.080459 ms 
points size 92264 
sort q time 6.448989 
seperate points time 12.928840 
publication time 13.441904 ms 
whole laserOdometry time 13.455580 ms 
 
-----t: 0.0536949
OdomCount 1271 & avg odom time 0.044221 ms ++++++++++++++++++++++
--------------------stamp1317357893.981972932
points size 90966 
sort q time 4.822716 
seperate points time 10.700992 
add points time 0.946356 ms
-----t: 0.0551548
OdomCount 1272 & avg odom time 0.044229 ms ++++++++++++++++++++++
mapping pub time 41.227533 ms 
whole mapping time 213.622792 ms +++++
mappingCount 941 & avg mapping time 135.239795 ms ++++++++++++++++++++++
map prepare time 3.957500 ms
map corner num 86468  surf num 48348 
--------------------stamp1317357894.085793972
prepare time 12.530321 
sort q time 5.098745 
seperate points time 12.097292 
mapping data assosiation time 37.077026 ms 
mapping solver time 43.695256 ms 
--------------------stamp1317357894.189618110
points size 92554 
prepare time 11.741480 
scan registration time 28.899470 ms *************
publication time 10.728647 ms 
whole laserOdometry time 10.742474 ms 
 
-----t: 0.0447934
OdomCount 1274 & avg odom time 0.044231 ms ++++++++++++++++++++++
1317357894.189618110 WriteOdom laser_odom_to_init
filter time 10.863503 ms 
map prepare time 3.799782 ms
map corner num 87569  surf num 48856 
--------------------stamp1317357894.293417930
prepare time 11.786167 
sort q time 5.411437 
seperate points time 12.439087 
mapping data assosiation time 37.514630 ms 
publication time 12.374728 ms 
whole laserOdometry time 12.388690 ms 
 
-----t: 0.0465757
OdomCount 1275 & avg odom time 0.044233 ms ++++++++++++++++++++++
1317357894.293417930 WriteOdom laser_odom_to_init
1317357894.293417930 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 35.903626 ms 
--------------------stamp1317357894.397214889
prepare time 11.708714 
sort q time 6.404747 
seperate points time 12.323594 
publication time 10.190590 ms 
whole laserOdometry time 10.202858 ms 
 
filter time 11.071486 ms 
map prepare time 3.782378 ms
map corner num 88700  surf num 49480 
build tree time 27.510145 ms 
prepare time 11.641588 
sort q time 5.647737 
seperate points time 12.537196 
publication time 8.728704 ms 
whole laserOdometry time 8.743082 ms 
 
mapping solver time 38.311741 ms 
mapping data assosiation time 29.511823 ms 
points size 94199 
mapping solver time 25.343664 ms 
mapping optimization time 156.928647 
add points time 0.890725 ms
sort q time 5.084831 
seperate points time 12.874720 
scan registration time 31.517578 ms *************
map prepare time 3.868762 ms
map corner num 89837  surf num 50022 
build tree time 22.705132 ms 
mapping data assosiation time 27.993879 ms 
points size 95826 
mapping solver time 31.710789 ms 
-----t: 0.037144
OdomCount 1279 & avg odom time 0.044229 ms ++++++++++++++++++++++
mapping solver time 21.056002 ms 
mapping optimization time 140.023497 
add points time 1.116018 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357894.812375068
points size 97034 
sort q time 6.186435 
seperate points time 14.049652 
publication time 8.691014 ms 
whole laserOdometry time 8.707714 ms -----t: 0.0615424
OdomCount 1280 & avg odom time 0.044242 ms ++++++++++++++++++++++
--------------------stamp1317357894.916138887
points size 99920 
sort q time 5.006412 
seperate points time 12.330553 
mapping solver time 28.507016 ms 
filter time 11.048064 ms 
map prepare time 3.192804 ms
map corner num 89602  surf num 48842 
-----t: 0.0623518
OdomCount 1281 & avg odom time 0.044256 ms ++++++++++++++++++++++
1317357894.916138887 WriteOdom laser_odom_to_init
1317357894.916138887 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357895.019936084
prepare time 11.740567 
mapping data assosiation time 35.277466 ms 
scan registration time 55.476779 ms *************
publication time 10.723282 ms 
whole laserOdometry time 10.737424 ms 
 
--------------------stamp1317357895.123711109
mapping data assosiation time 36.034780 ms 
points size 98392 
prepare time 10.160641 
scan registration time 28.466489 ms *************
add points time 1.048778 ms
publication time 11.354599 ms 
whole laserOdometry time 11.371255 ms 
 
-----t: 0.0583994
OdomCount 1283 & avg odom time 0.044274 ms ++++++++++++++++++++++
build tree time 24.306705 ms 
--------------------stamp1317357895.227483987
mapping data assosiation time 35.097771 ms 
sort q time 6.038442 
seperate points time 14.023342 
publication time 10.777632 ms 
whole laserOdometry time 10.792760 ms 
 
-----t: 0.0506579
OdomCount 1284 & avg odom time 0.044279 ms ++++++++++++++++++++++
mapping data assosiation time 41.640262 ms 
points size 98717 
mapping solver time 27.869419 ms 
map prepare time 4.303888 ms
map corner num 91887  surf num 50095 
publication time 28.683127 ms 
whole laserOdometry time 28.698787 ms 
 
build tree time 29.665984 ms 
-----t: 0.0761614
OdomCount 1285 & avg odom time 0.044304 ms ++++++++++++++++++++++
--------------------stamp1317357895.434986114
points size 98907 
mapping data assosiation time 40.589548 ms 
sort q time 10.569302 
seperate points time 18.665836 
mapping solver time 38.422204 ms 
mapping data assosiation time 33.481591 ms 
--------------------stamp1317357895.538737058
points size 99250 
mapping optimization time 168.236095 
add points time 0.894049 ms
prepare time 11.806181 
mapping pub time 2.405988 ms 
whole mapping time 186.817725 ms +++++
mappingCount 949 & avg mapping time 135.656990 ms ++++++++++++++++++++++
1317357895.227483988 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
publication time 9.997077 ms 
whole laserOdometry time 10.011010 ms 
 
mapping data assosiation time 29.823779 ms 
--------------------stamp1317357895.642465114
prepare time 9.830983 
sort q time 5.585410 
seperate points time 12.736140 
publication time 10.639820 ms 
whole laserOdometry time 10.674126 ms 
 
-----t: 0.0476592
OdomCount 1288 & avg odom time 0.044306 ms ++++++++++++++++++++++
1317357895.642465114 WriteOdom laser_odom_to_init
1317357895.642465114 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.904742 ms 
mapping optimization time 158.487183 
add points time 0.794185 ms
drop lidar frame in mapping for real time performance 
points size 95026 
sort q time 4.777383 
seperate points time 10.868630 
publication time 9.255079 ms 
whole laserOdometry time 9.272034 ms 
 
mapping data assosiation time 38.951415 ms 
mapping solver time 30.064064 ms 
points size 94134 
sort q time 5.077070 
seperate points time 12.333721 
publication time 11.886300 ms 
whole laserOdometry time 12.119609 ms 
 
add points time 0.743948 ms
filter time 8.844324 ms 
map prepare time 2.958770 ms
map corner num 95363  surf num 51877 
--------------------stamp1317357895.953716039
prepare time 11.467895 
mapping data assosiation time 41.724409 ms 
publication time 24.533764 ms 
whole laserOdometry time 24.548194 ms 
 
-----t: 0.0601302
OdomCount 1291 & avg odom time 0.044327 ms ++++++++++++++++++++++
mapping solver time 49.937235 ms 
--------------------stamp1317357896.057490110
prepare time 12.534167 
sort q time 6.017425 
seperate points time 14.213079 
publication time 9.593498 ms 
whole laserOdometry time 9.606374 ms 
 
-----t: 0.0559149
OdomCount 1292 & avg odom time 0.044336 ms ++++++++++++++++++++++
1317357896.057490110 WriteOdom laser_odom_to_init
1317357896.057490110 WriteOdom aft_mapped_to_init_high_frec
points size 94890 
sort q time 5.844726 
seperate points time 20.924258 
mapping data assosiation time 37.718762 ms 
-----t: 0.0409777
OdomCount 1293 & avg odom time 0.044334 ms ++++++++++++++++++++++
publication time 15.864877 ms 
whole laserOdometry time 15.875546 ms 
 
--------------------stamp1317357896.265089035
prepare time 12.297642 
sort q time 6.195447 
seperate points time 14.223483 
mapping solver time 38.635688 ms 
mapping pub time 2.490641 ms 
whole mapping time 191.091669 ms +++++
mappingCount 953 & avg mapping time 135.880599 ms ++++++++++++++++++++++
build tree time 22.195784 ms 
--------------------stamp1317357896.368865013
prepare time 12.544688 
mapping data assosiation time 35.420080 ms 
mapping solver time 37.116361 ms 
-----t: 0.0483417
OdomCount 1295 & avg odom time 0.044341 ms ++++++++++++++++++++++
1317357896.368865013 WriteOdom laser_odom_to_init
1317357896.368865013 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.456075 ms 
--------------------stamp1317357896.472666025
points size 99806 
add points time 0.796967 ms
sort q time 5.501596 
seperate points time 14.028800 
mapping pub time 2.316190 ms 
whole mapping time 171.414629 ms +++++
mappingCount 954 & avg mapping time 135.917855 ms ++++++++++++++++++++++
1317357896.161289930 WriteOdom aft_mapped_to_init
build tree time 25.338738 ms 
-----t: 0.0565483
OdomCount 1296 & avg odom time 0.044351 ms ++++++++++++++++++++++
1317357896.472666025 WriteOdom laser_odom_to_init
1317357896.472666025 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.380010 ms 
--------------------stamp1317357896.576463937
points size 99985 
prepare time 13.709162 
scan registration time 32.535555 ms *************
publication time 12.790129 ms 
whole laserOdometry time 12.809300 ms 
 
mapping data assosiation time 37.668239 ms 
-----t: 0.0580273
OdomCount 1297 & avg odom time 0.044361 ms ++++++++++++++++++++++
mapping solver time 24.093160 ms 
filter time 7.677192 ms 
map prepare time 4.350735 ms
map corner num 100153  surf num 54110 
prepare time 13.043648 
sort q time 7.672316 
seperate points time 14.823407 
build tree time 30.086437 ms 
scan registration time 32.918321 ms *************
publication time 14.156823 ms 
whole laserOdometry time 14.174614 ms 
 
--------------------stamp1317357896.784012079
points size 99443 
sort q time 6.679759 
seperate points time 13.333351 
mapping data assosiation time 38.232447 ms 
-----t: 0.0440344
OdomCount 1299 & avg odom time 0.044369 ms ++++++++++++++++++++++
mapping solver time 27.497788 ms 
filter time 7.530623 ms 
map prepare time 3.103908 ms
map corner num 101169  surf num 54600 
--------------------stamp1317357896.887763977
build tree time 25.559771 ms 
sort q time 5.761178 
seperate points time 13.107647 
publication time 8.689405 ms 
whole laserOdometry time 8.704003 ms 
 
-----t: 0.0571401
OdomCount 1300 & avg odom time 0.044379 ms ++++++++++++++++++++++
mapping solver time 42.235036 ms 
--------------------stamp1317357896.991489887
prepare time 10.423947 
sort q time 6.893786 
seperate points time 14.112523 
scan registration time 28.606899 ms *************
mapping data assosiation time 40.703614 ms 
publication time 10.573999 ms 
whole laserOdometry time 10.592102 ms 
 
-----t: 0.0483374
OdomCount 1301 & avg odom time 0.044382 ms ++++++++++++++++++++++
filter time 7.915810 ms 
map prepare time 3.039823 ms
map corner num 102337  surf num 55117 
--------------------stamp1317357897.095187902
points size 100282 
prepare time 14.593524 
scan registration time 34.458152 ms *************
publication time 12.586011 ms 
whole laserOdometry time 12.599878 ms 
 
-----t: 0.0542716
OdomCount 1302 & avg odom time 0.044390 ms ++++++++++++++++++++++
1317357897.095187902 WriteOdom laser_odom_to_init
1317357897.095187902 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357897.198892116
prepare time 11.554138 
sort q time 6.158840 
seperate points time 15.482548 
mapping data assosiation time 40.955738 ms 
-----t: 0.0487691
OdomCount 1303 & avg odom time 0.044393 ms ++++++++++++++++++++++
mapping optimization time 187.967236 
add points time 0.805973 ms
mapping pub time 2.298042 ms 
whole mapping time 204.529387 ms +++++
mappingCount 958 & avg mapping time 136.153816 ms ++++++++++++++++++++++
--------------------stamp1317357897.302623033
prepare time 12.311133 
sort q time 6.282702 
seperate points time 15.513727 
publication time 12.607566 ms 
whole laserOdometry time 12.628096 ms 
 
-----t: 0.0569901
OdomCount 1304 & avg odom time 0.044403 ms ++++++++++++++++++++++
mapping solver time 34.015676 ms 
--------------------stamp1317357897.406375885
points size 101010 
sort q time 6.067719 
seperate points time 14.406501 
publication time 9.420274 ms 
whole laserOdometry time 9.434315 ms 
 
mapping solver time 33.317919 ms 
filter time 8.509563 ms 
map prepare time 3.229187 ms
map corner num 104535  surf num 56266 
--------------------stamp1317357897.510148048
points size 100967 
sort q time 6.122549 
seperate points time 13.469208 
mapping data assosiation time 42.223650 ms 
-----t: 0.062302
OdomCount 1306 & avg odom time 0.044421 ms ++++++++++++++++++++++
1317357897.510148048 WriteOdom laser_odom_to_init
1317357897.510148048 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357897.613919973
points size 101074 
sort q time 5.948466 
seperate points time 12.688299 
publication time 10.947961 ms 
whole laserOdometry time 10.958721 ms 
 
filter time 9.475844 ms 
map prepare time 3.155200 ms
map corner num 105614  surf num 56986 
build tree time 23.459086 ms 
points size 101431 
prepare time 11.882591 
scan registration time 32.032509 ms *************
publication time 10.444589 ms 
whole laserOdometry time 10.461836 ms 
 
mapping solver time 40.548179 ms 
--------------------stamp1317357897.821471929
prepare time 10.509753 
mapping data assosiation time 39.485513 ms 
scan registration time 28.252541 ms *************
publication time 8.834055 ms 
whole laserOdometry time 8.851954 ms 
 
mapping solver time 39.029274 ms 
filter time 8.833019 ms 
--------------------stamp1317357897.925245046
mapping pub time 48.492919 ms 
whole mapping time 249.723708 ms +++++
mappingCount 961 & avg mapping time 136.401924 ms ++++++++++++++++++++++
publication time 10.306165 ms 
whole laserOdometry time 10.326266 ms 
 
-----t: 0.0486647
OdomCount 1310 & avg odom time 0.044418 ms ++++++++++++++++++++++
mapping data assosiation time 37.866084 ms 
--------------------stamp1317357898.029020071
points size 100280 
sort q time 6.264272 
seperate points time 13.813694 
publication time 9.016870 ms 
whole laserOdometry time 9.027849 ms 
 
-----t: 0.0594022
OdomCount 1311 & avg odom time 0.044429 ms ++++++++++++++++++++++
--------------------stamp1317357898.132795095
mapping solver time 33.716095 ms 
sort q time 5.949327 
seperate points time 14.587048 
map prepare time 8.498263 ms
map corner num 107977  surf num 58504 
publication time 12.837824 ms 
whole laserOdometry time 12.855120 ms 
 
build tree time 41.336766 ms 
--------------------stamp1317357898.236596107
prepare time 13.256080 
sort q time 6.436829 
seperate points time 14.429690 
publication time 8.913313 ms 
whole laserOdometry time 8.929595 ms 
 
-----t: 0.0482931
OdomCount 1313 & avg odom time 0.044477 ms ++++++++++++++++++++++
mapping solver time 54.313055 ms 
points size 97981 
prepare time 13.427622 
sort q time 6.215935 
seperate points time 15.068990 
publication time 9.870469 ms 
whole laserOdometry time 9.884680 ms 
 
1317357898.340394973 WriteOdom laser_odom_to_init
1317357898.340394973 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 45.452945 ms 
mapping optimization time 240.414865 
add points time 0.804361 ms
filter time 12.365556 ms 
map prepare time 4.847445 ms
map corner num 109190  surf num 59300 
prepare time 11.342162 
sort q time 6.819826 
seperate points time 13.129964 
scan registration time 36.843702 ms *************
publication time 12.057740 ms 
whole laserOdometry time 12.078121 ms 
 
--------------------stamp1317357898.547940969
points size 97203 
sort q time 6.470986 
seperate points time 16.078219 
-----t: 0.038379
OdomCount 1316 & avg odom time 0.044493 ms ++++++++++++++++++++++
mapping solver time 33.659357 ms 
mapping optimization time 186.218254 
add points time 0.835609 ms
mapping pub time 2.280609 ms 
whole mapping time 202.763510 ms +++++
mappingCount 964 & avg mapping time 136.699023 ms ++++++++++++++++++++++
--------------------stamp1317357898.651741027
points size 97538 
sort q time 5.562208 
seperate points time 13.670786 
-----t: 0.0383081
OdomCount 1317 & avg odom time 0.044488 ms ++++++++++++++++++++++
mapping data assosiation time 34.866220 ms 
--------------------stamp1317357898.755538940
points size 97993 
sort q time 6.487617 
seperate points time 16.031693 
mapping data assosiation time 41.069603 ms 
publication time 8.849690 ms 
whole laserOdometry time 8.863708 ms 
 
mapping solver time 27.409729 ms 
mapping optimization time 181.888483 
add points time 0.782598 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357898.859339952
points size 97702 
sort q time 5.966798 
seperate points time 13.142689 
mapping data assosiation time 36.589858 ms 
mapping solver time 32.770210 ms 
1317357898.859339952 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357898.963160991
prepare time 12.265777 
sort q time 5.711852 
seperate points time 13.626670 
scan registration time 30.367737 ms *************
mapping pub time 3.483691 ms 
whole mapping time 176.093630 ms +++++
mappingCount 966 & avg mapping time 136.802423 ms ++++++++++++++++++++++
build tree time 14.656805 ms 
--------------------stamp1317357899.066958904
mapping data assosiation time 37.580750 ms 
sort q time 6.066306 
seperate points time 13.409262 
publication time 12.450904 ms 
whole laserOdometry time 12.468301 ms 
 
--------------------stamp1317357899.170757055
points size 96687 
-----t: 0.114612
OdomCount 1321 & avg odom time 0.044563 ms ++++++++++++++++++++++
sort q time 6.153798 
seperate points time 15.056567 
scan registration time 36.261124 ms *************
publication time 13.954933 ms 
whole laserOdometry time 13.971305 ms 
 
filter time 8.964710 ms 
mapping pub time 2.294222 ms 
whole mapping time 234.898238 ms +++++
mappingCount 967 & avg mapping time 136.903872 ms ++++++++++++++++++++++
1317357898.859339952 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357899.274557113
points size 96455 
sort q time 5.748558 
seperate points time 14.688990 
mapping data assosiation time 44.565284 ms 
-----t: 0.0537828
OdomCount 1323 & avg odom time 0.044569 ms ++++++++++++++++++++++
mapping solver time 39.017049 ms 
--------------------stamp1317357899.378356933
prepare time 11.187372 
sort q time 5.292634 
seperate points time 11.112914 
mapping data assosiation time 42.933127 ms 
publication time 18.289918 ms 
whole laserOdometry time 18.306033 ms 
 
add points time 0.886341 ms
mapping pub time 2.278566 ms 
whole mapping time 191.899441 ms +++++
mappingCount 968 & avg mapping time 136.960690 ms ++++++++++++++++++++++
build tree time 13.108592 ms 
--------------------stamp1317357899.482177972
points size 96947 
sort q time 5.363489 
seperate points time 12.540409 
-----t: 0.0638738
OdomCount 1325 & avg odom time 0.044590 ms ++++++++++++++++++++++
1317357899.482177972 WriteOdom laser_odom_to_init
1317357899.482177972 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 49.841934 ms 
--------------------stamp1317357899.586023092
points size 95582 
sort q time 5.466659 
seperate points time 12.027049 
mapping solver time 30.140322 ms 
filter time 7.707251 ms build tree time 13.750514 ms 
--------------------stamp1317357899.689870119
prepare time 13.201697 
scan registration time 30.384069 ms *************
publication time 7.680450 ms 
whole laserOdometry time 7.693039 ms 
 
mapping solver time 47.437697 ms 
-----t: 0.0742638
OdomCount 1327 & avg odom time 0.044609 ms ++++++++++++++++++++++
1317357899.689870119 WriteOdom laser_odom_to_init
1317357899.689870119 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357899.793694019
points size 92442 
sort q time 5.374795 
seperate points time 11.953615 
mapping solver time 39.797787 ms 
mapping pub time 2.235094 ms 
whole mapping time 193.606208 ms +++++
mappingCount 970 & avg mapping time 137.070829 ms ++++++++++++++++++++++
1317357899.482177973 WriteOdom aft_mapped_to_init
-----t: 0.0434421
OdomCount 1328 & avg odom time 0.044608 ms ++++++++++++++++++++++
1317357899.793694019 WriteOdom laser_odom_to_init
build tree time 15.610617 ms 
--------------------stamp1317357899.897492885
points size 91653 
sort q time 9.153351 
seperate points time 21.887837 
publication time 7.431125 ms 
whole laserOdometry time 7.444805 ms 
 
mapping data assosiation time 36.114748 ms 
mapping solver time 23.255332 ms 
[0m[ INFO] [1718889413.823873927, 1317357900.005283853]: Received 105867 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889413.823912763, 1317357900.005283853]: Data saved to 1317357899586023.pcd[0m
scan registration time 29.325267 ms *************
publication time 9.711141 ms 
whole laserOdometry time 9.726008 ms 
 
-----t: 0.0448393
OdomCount 1330 & avg odom time 0.044601 ms ++++++++++++++++++++++
1317357900.001292943 WriteOdom laser_odom_to_init
1317357900.001292943 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357900.105114936
sort q time 5.721325 
seperate points time 11.413199 
scan registration time 27.489523 ms *************
mapping solver time 36.257654 ms 
mapping optimization time 178.667553 
add points time 0.836491 ms
-----t: 0.0744297
OdomCount 1331 & avg odom time 0.044623 ms ++++++++++++++++++++++
1317357900.105114936 WriteOdom laser_odom_to_init
1317357900.105114936 WriteOdom aft_mapped_to_init_high_frec
points size 91486 
sort q time 5.097081 
seperate points time 12.213644 
publication time 11.222657 ms 
whole laserOdometry time 11.236881 ms 
 
-----t: 0.06475
OdomCount 1332 & avg odom time 0.044638 ms ++++++++++++++++++++++
mapping solver time 45.116608 ms 
points size 92297 
sort q time 5.445283 
seperate points time 11.811823 
scan registration time 29.123064 ms *************
mapping data assosiation time 41.910725 ms 
-----t: 0.0450802
OdomCount 1333 & avg odom time 0.044638 ms ++++++++++++++++++++++
mapping solver time 35.753420 ms 
filter time 6.100762 ms 
map prepare time 2.881635 ms
map corner num 70334  surf num 38841 
--------------------stamp1317357900.416632890
points size 94153 
build tree time 19.870798 ms 
prepare time 14.426702 
sort q time 6.289320 
seperate points time 14.942314 
publication time 9.585359 ms 
whole laserOdometry time 9.599134 ms 
 
-----t: 0.0494044
OdomCount 1334 & avg odom time 0.044642 ms ++++++++++++++++++++++
mapping solver time 39.309288 ms 
--------------------stamp1317357900.520454883
points size 94711 
sort q time 6.231743 
seperate points time 14.861518 
-----t: 0.0364985
OdomCount 1335 & avg odom time 0.044636 ms ++++++++++++++++++++++
mapping solver time 34.591788 ms 
mapping optimization time 182.303601 
add points time 0.816773 ms
1317357900.208961964 WriteOdom aft_mapped_to_init
build tree time 15.879184 ms 
points size 95920 
sort q time 5.268795 
seperate points time 12.752949 
scan registration time 28.432122 ms *************
-----t: 0.0412603
OdomCount 1336 & avg odom time 0.044633 ms ++++++++++++++++++++++
publication time 10.273942 ms 
whole laserOdometry time 10.291173 ms 
 
mapping solver time 48.170597 ms 
--------------------stamp1317357900.728053092
points size 97558 
mapping data assosiation time 38.736842 ms 
publication time 8.712461 ms 
whole laserOdometry time 8.721350 ms 
 
-----t: 0.0403022
OdomCount 1337 & avg odom time 0.044630 ms ++++++++++++++++++++++
1317357900.728053092 WriteOdom laser_odom_to_init
1317357900.728053092 WriteOdom aft_mapped_to_init_high_frec
filter time 6.633163 ms 
mapping pub time 2.129086 ms 
whole mapping time 196.507468 ms +++++
mappingCount 975 & avg mapping time 137.338817 ms ++++++++++++++++++++++
1317357900.416632891 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 16.038517 ms 
--------------------stamp1317357900.831851959
prepare time 11.085280 
mapping data assosiation time 38.916052 ms 
scan registration time 39.550743 ms *************
-----t: 0.0362457
OdomCount 1338 & avg odom time 0.044624 ms ++++++++++++++++++++++
1317357900.831851959 WriteOdom laser_odom_to_init
1317357900.831851959 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 46.316169 ms 
--------------------stamp1317357900.935676097
points size 98959 
sort q time 9.104005 
seperate points time 20.942493 
scan registration time 38.038561 ms *************
filter time 6.918361 ms 
[0m[ INFO] [1718889414.808718394, 1317357900.989875706]: Received 114131 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889414.808758473, 1317357900.989875706]: Data saved to 1317357900624253.pcd[0m
mapping pub time 3.637864 ms 
whole mapping time 192.015867 ms +++++
mappingCount 976 & avg mapping time 137.394851 ms ++++++++++++++++++++++
1317357900.624253988 WriteOdom aft_mapped_to_init
build tree time 21.916841 ms 
-----t: 0.0687595
OdomCount 1339 & avg odom time 0.044642 ms ++++++++++++++++++++++
points size 99641 
sort q time 5.525437 
seperate points time 13.942027 
publication time 11.056943 ms 
whole laserOdometry time 11.075170 ms 
 
-----t: 0.0445063
OdomCount 1340 & avg odom time 0.044642 ms ++++++++++++++++++++++
mapping solver time 55.531300 ms 
--------------------stamp1317357901.143343925
points size 100054 
prepare time 10.273266 
sort q time 6.168114 
seperate points time 14.197431 
publication time 10.944592 ms 
whole laserOdometry time 10.958891 ms 
 
-----t: 0.0442954
OdomCount 1341 & avg odom time 0.044642 ms ++++++++++++++++++++++
1317357901.143343925 WriteOdom laser_odom_to_init
mapping solver time 48.418395 ms 
mapping pub time 2.294156 ms 
whole mapping time 233.552062 ms +++++
mappingCount 977 & avg mapping time 137.493276 ms ++++++++++++++++++++++
--------------------stamp1317357901.247191905
build tree time 20.393600 ms 
scan registration time 33.218398 ms *************
mapping data assosiation time 44.585054 ms 
-----t: 0.0509104
OdomCount 1342 & avg odom time 0.044646 ms ++++++++++++++++++++++
mapping solver time 35.390435 ms 
--------------------stamp1317357901.351037025
points size 101906 
mapping data assosiation time 39.284109 ms 
mapping solver time 30.391732 ms 
publication time 13.224197 ms 
whole laserOdometry time 13.240238 ms 
 
mapping optimization time 173.745727 
add points time 0.865046 ms
drop lidar frame in mapping for real time performance 
build tree time 16.250377 ms 
--------------------stamp1317357901.454883098
points size 101727 
mapping data assosiation time 39.973189 ms 
publication time 11.721277 ms 
whole laserOdometry time 11.738384 ms 
 
mapping solver time 48.852307 ms 
--------------------stamp1317357901.558779001
prepare time 10.401457 
sort q time 6.049355 
seperate points time 13.841717 
publication time 11.028716 ms 
whole laserOdometry time 11.042889 ms 
 
1317357901.558779001 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
build tree time 16.266529 ms 
--------------------stamp1317357901.662673950
points size 100127 
mapping data assosiation time 39.495208 ms 
publication time 10.509524 ms 
whole laserOdometry time 10.561687 ms 
 
mapping solver time 40.211248 ms 
points size 99699 
sort q time 6.054790 
seperate points time 14.367785 
filter time 7.340124 ms 
-----t: 0.0456995
OdomCount 1347 & avg odom time 0.044663 ms ++++++++++++++++++++++
build tree time 21.688798 ms 
--------------------stamp1317357901.870460987
mapping data assosiation time 41.901228 ms 
sort q time 5.843158 
seperate points time 13.306993 
mapping solver time 37.342507 ms 
mapping data assosiation time 41.026982 ms 
--------------------stamp1317357901.974354982
points size 99271 
mapping solver time 39.015893 ms 
filter time 9.304281 ms 
publication time 11.367517 ms 
whole laserOdometry time 11.381389 ms 
 
-----t: 0.042174
OdomCount 1349 & avg odom time 0.044658 ms ++++++++++++++++++++++
1317357901.974354982 WriteOdom laser_odom_to_init
1317357901.974354982 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 45.082593 ms 
whole mapping time 243.093636 ms +++++
mappingCount 981 & avg mapping time 137.764358 ms ++++++++++++++++++++++
--------------------stamp1317357902.078274011
points size 99406 
publication time 11.743433 ms 
whole laserOdometry time 11.773934 ms 
 
-----t: 0.0569519
OdomCount 1350 & avg odom time 0.044667 ms ++++++++++++++++++++++
mapping solver time 37.407600 ms 
--------------------stamp1317357902.182169914
points size 99590 
sort q time 5.548054 
seperate points time 14.477767 
publication time 14.208775 ms 
whole laserOdometry time 14.229532 ms 
 
add points time 0.832676 ms
filter time 7.637384 ms 
map prepare time 3.915204 ms
map corner num 80343  surf num 43959 
--------------------stamp1317357902.286065101
points size 99836 
build tree time 25.577493 ms 
prepare time 12.655365 
scan registration time 31.933092 ms *************
mapping data assosiation time 44.052312 ms 
publication time 10.403395 ms 
whole laserOdometry time 10.417386 ms 
 
--------------------stamp1317357902.389983892
prepare time 11.958041 
sort q time 5.462907 
seperate points time 19.669535 
publication time 11.676200 ms 
whole laserOdometry time 11.692750 ms 
 
-----t: 0.0547069
OdomCount 1353 & avg odom time 0.044721 ms ++++++++++++++++++++++
filter time 6.817377 ms 
points size 101014 
build tree time 20.802398 ms 
publication time 8.989285 ms 
whole laserOdometry time 9.013035 ms 
 
mapping data assosiation time 42.885656 ms 
--------------------stamp1317357902.597820997
points size 101276 
prepare time 12.511429 
sort q time 5.949341 
seperate points time 13.441863 
publication time 11.171528 ms 
whole laserOdometry time 11.200152 ms 
 
mapping data assosiation time 47.741742 ms 
mapping solver time 28.543744 ms 
filter time 6.420694 ms 
map prepare time 3.368219 ms
map corner num 82847  surf num 45336 
points size 101555 
build tree time 25.211731 ms 
scan registration time 34.304599 ms *************
publication time 9.505543 ms 
whole laserOdometry time 9.519271 ms 
 
mapping data assosiation time 46.095509 ms 
--------------------stamp1317357902.805706024
points size 101453 
sort q time 6.895908 
seperate points time 16.899486 
scan registration time 35.953196 ms *************
-----t: 0.0401735
OdomCount 1357 & avg odom time 0.044720 ms ++++++++++++++++++++++
1317357902.805706024 WriteOdom laser_odom_to_init
1317357902.805706024 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 35.143086 ms 
filter time 9.878236 ms 
mapping pub time 2.516009 ms 
whole mapping time 223.930738 ms +++++
mappingCount 985 & avg mapping time 138.067941 ms ++++++++++++++++++++++
1317357902.493902922 WriteOdom aft_mapped_to_init
points size 101272 
drop lidar frame in mapping for real time performance 
sort q time 5.825038 
seperate points time 13.838747 
-----t: 0.03776
OdomCount 1358 & avg odom time 0.044715 ms ++++++++++++++++++++++
publication time 12.373274 ms 
whole laserOdometry time 12.389705 ms 
 
mapping data assosiation time 42.884972 ms 
--------------------stamp1317357903.013546943
points size 101603 
mapping solver time 50.394687 ms 
-----t: 0.0405069
OdomCount 1359 & avg odom time 0.044712 ms ++++++++++++++++++++++
mapping data assosiation time 45.826114 ms 
mapping solver time 26.056469 ms 
points size 101571 
drop lidar frame in mapping for real time performance 
scan registration time 35.086832 ms *************
build tree time 23.726656 ms 
-----t: 0.0477983
OdomCount 1360 & avg odom time 0.044714 ms ++++++++++++++++++++++
mapping data assosiation time 47.110533 ms 
points size 100798 
sort q time 5.740591 
seperate points time 14.151737 
-----t: 0.0432344
OdomCount 1361 & avg odom time 0.044713 ms ++++++++++++++++++++++
mapping data assosiation time 46.651956 ms 
--------------------stamp1317357903.325300931
prepare time 10.482496 
sort q time 6.188705 
seperate points time 14.867643 
mapping optimization time 219.427493 
mapping pub time 2.342923 ms 
whole mapping time 236.577919 ms +++++
mappingCount 987 & avg mapping time 138.243492 ms ++++++++++++++++++++++
publication time 19.773534 ms 
whole laserOdometry time 19.788086 ms 
 
-----t: 0.0532594
OdomCount 1362 & avg odom time 0.044720 ms ++++++++++++++++++++++
1317357903.325300931 WriteOdom laser_odom_to_init
1317357903.325300931 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357903.429219007
points size 100334 
prepare time 10.260333 
scan registration time 29.418447 ms *************
publication time 10.929353 ms 
whole laserOdometry time 10.944097 ms 
 
-----t: 0.0484958
OdomCount 1363 & avg odom time 0.044722 ms ++++++++++++++++++++++
1317357903.429219007 WriteOdom laser_odom_to_init
1317357903.429219007 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357903.533138036
points size 100143 
sort q time 5.955699 
seperate points time 14.796480 
mapping solver time 41.665697 ms 
publication time 9.839339 ms 
whole laserOdometry time 9.857807 ms 
 
mapping optimization time 206.869702 
add points time 0.867266 ms
map prepare time 4.080298 ms
map corner num 82602  surf num 44052 
build tree time 20.323113 ms 
--------------------stamp1317357903.637032032
prepare time 12.324296 
sort q time 6.609809 
seperate points time 13.612643 
publication time 8.966661 ms 
whole laserOdometry time 8.975698 ms 
 
-----t: 0.0418614
OdomCount 1365 & avg odom time 0.044734 ms ++++++++++++++++++++++
mapping solver time 45.201619 ms 
--------------------stamp1317357903.740904092
points size 100395 
sort q time 5.473617 
seperate points time 14.224156 
add points time 0.944664 ms
map prepare time 3.156329 ms
map corner num 83803  surf num 44544 
-----t: 0.0635298
OdomCount 1366 & avg odom time 0.044747 ms ++++++++++++++++++++++
--------------------stamp1317357903.844774961
points size 100595 
mapping data assosiation time 43.164947 ms 
publication time 10.083099 ms 
whole laserOdometry time 10.099383 ms 
 
scan registration time 37.952554 ms *************
mapping solver time 35.541443 ms 
-----t: 0.0482521
OdomCount 1368 & avg odom time 0.044753 ms ++++++++++++++++++++++
1317357903.948621034 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
1317357903.948621034 WriteOdom aft_mapped_to_init_high_frec
build tree time 20.227463 ms 
points size 99810 
sort q time 5.703862 
seperate points time 14.520789 
mapping data assosiation time 39.679802 ms 
publication time 12.906459 ms 
whole laserOdometry time 12.923957 ms 
 
-----t: 0.0404217
OdomCount 1369 & avg odom time 0.044749 ms ++++++++++++++++++++++
1317357904.052443981 WriteOdom laser_odom_to_init
1317357904.052443981 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357904.156266927
points size 99456 
scan registration time 34.026093 ms *************
mapping solver time 36.705575 ms 
publication time 14.954923 ms 
whole laserOdometry time 14.964075 ms 
 
build tree time 24.040543 ms points size 99288 
sort q time 6.115433 
seperate points time 15.662284 
publication time 11.852106 ms 
mapping solver time 40.399782 ms 
--------------------stamp1317357904.363941907
points size 99617 
mapping data assosiation time 44.248266 ms 
sort q time 6.154264 
seperate points time 15.495035 
mapping solver time 27.629657 ms 
filter time 10.027435 ms 
-----t: 0.0717167
OdomCount 1372 & avg odom time 0.044800 ms ++++++++++++++++++++++
build tree time 26.502441 ms 
points size 99759 
sort q time 5.941218 
seperate points time 14.580280 
mapping solver time 35.194640 ms 
--------------------stamp1317357904.571604013
mapping data assosiation time 35.715154 ms 
sort q time 6.861032 
seperate points time 14.651086 
filter time 10.697349 ms 
build tree time 25.842866 ms 
-----t: 0.0721887
OdomCount 1374 & avg odom time 0.044836 ms ++++++++++++++++++++++
1317357904.571604013 WriteOdom laser_odom_to_init
1317357904.571604013 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357904.675427913
points size 100370 
mapping data assosiation time 36.992145 ms 
publication time 15.200699 ms 
whole laserOdometry time 15.233786 ms 
 
mapping data assosiation time 32.909625 ms 
--------------------stamp1317357904.779249906
points size 101131 
filter time 9.714121 ms 
publication time 9.780275 ms 
whole laserOdometry time 9.795739 ms 
 
mapping data assosiation time 29.557292 ms 
--------------------stamp1317357904.883050918
points size 101165 
prepare time 19.417084 
sort q time 5.480910 
seperate points time 13.485501 
scan registration time 37.509463 ms *************
-----t: 0.0418524
OdomCount 1377 & avg odom time 0.044833 ms ++++++++++++++++++++++
mapping solver time 22.826884 ms 
mapping optimization time 143.964898 
add points time 0.811027 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357904.986824989
prepare time 12.647464 
sort q time 6.357760 
seperate points time 13.422490 
publication time 8.689718 ms 
whole laserOdometry time 8.711146 ms 
 
1317357904.986824989 WriteOdom laser_odom_to_init
1317357904.986824989 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 37.353031 ms 
mapping data assosiation time 29.565264 ms 
points size 99498 
sort q time 6.673235 
seperate points time 13.541000 
mapping solver time 34.737654 ms 
scan registration time 31.932812 ms *************
mapping optimization time 149.107417 
-----t: 0.0458312
OdomCount 1379 & avg odom time 0.044828 ms ++++++++++++++++++++++
mapping data assosiation time 29.024216 ms 
points size 99217 
mapping solver time 30.319888 ms 
sort q time 6.188414 
seperate points time 13.592397 
scan registration time 29.254322 ms *************
publication time 9.649546 ms 
whole laserOdometry time 9.658425 ms 
 
-----t: 0.0563614
OdomCount 1380 & avg odom time 0.044837 ms ++++++++++++++++++++++
1317357905.194374084 WriteOdom laser_odom_to_init
1317357905.194374084 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.431903 ms 
points size 99141 
prepare time 19.184310 
map prepare time 6.139174 ms
map corner num 65978  surf num 34367 
sort q time 10.901470 
seperate points time 30.902435 
scan registration time 54.523102 ms *************
publication time 9.249977 ms 
whole laserOdometry time 9.261841 ms 
 
-----t: 0.0845392
OdomCount 1381 & avg odom time 0.044866 ms ++++++++++++++++++++++
points size 99398 
sort q time 5.599521 
seperate points time 14.030591 
publication time 8.979517 ms 
whole laserOdometry time 8.995805 ms 
 
mapping data assosiation time 33.526081 ms 
mapping solver time 27.551714 ms 
sort q time 6.279315 
seperate points time 13.685801 
scan registration time 35.471885 ms *************
build tree time 19.542565 ms 
mapping data assosiation time 31.742829 ms 
-----t: 0.0641176
OdomCount 1383 & avg odom time 0.044879 ms ++++++++++++++++++++++
mapping solver time 30.701530 ms 
points size 100996 
sort q time 6.981064 
seperate points time 13.420712 
mapping solver time 30.599508 ms 
mapping optimization time 150.148539 
add points time 1.045177 ms
map prepare time 2.697739 ms
map corner num 67705  surf num 35281 
build tree time 15.624156 ms 
--------------------stamp1317357905.713129997
points size 101895 
mapping data assosiation time 34.427843 ms 
publication time 7.826079 ms 
whole laserOdometry time 7.839360 ms 
 
mapping solver time 30.131274 ms 
-----t: 0.0541505
OdomCount 1385 & avg odom time 0.044889 ms ++++++++++++++++++++++
1317357905.713129997 WriteOdom laser_odom_to_init
1317357905.713129997 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357905.816854000
points size 101934 
mapping solver time 28.123730 ms 
mapping optimization time 141.599440 
prepare time 12.950412 
add points time 1.344125 ms
publication time 9.870434 ms 
whole laserOdometry time 9.883769 ms 
 
build tree time 25.628462 ms 
mapping data assosiation time 29.577106 ms 
--------------------stamp1317357905.920603036
points size 102529 
sort q time 5.602463 
seperate points time 13.961885 
publication time 9.399181 ms 
whole laserOdometry time 9.413643 ms 
 
-----t: 0.0493085
OdomCount 1387 & avg odom time 0.044889 ms ++++++++++++++++++++++
1317357905.920603036 WriteOdom laser_odom_to_init
1317357905.920603036 WriteOdom aft_mapped_to_init_high_frec
filter time 5.703236 ms 
--------------------stamp1317357906.024357080
points size 102711 
scan registration time 34.821860 ms *************
publication time 10.644270 ms 
whole laserOdometry time 10.658496 ms 
 
mapping data assosiation time 33.375220 ms 
--------------------stamp1317357906.128108978
points size 103200 
sort q time 6.204284 
seperate points time 14.205127 
mapping data assosiation time 35.208883 ms 
-----t: 0.0579503
OdomCount 1389 & avg odom time 0.044899 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317357906.231883049
sort q time 7.938159 
seperate points time 17.931896 
mapping data assosiation time 37.982894 ms 
-----t: 0.045564
OdomCount 1390 & avg odom time 0.044900 ms ++++++++++++++++++++++
mapping solver time 36.141016 ms 
--------------------stamp1317357906.335658073
mapping data assosiation time 33.200115 ms 
sort q time 5.746401 
seperate points time 13.769702 
add points time 1.387195 ms
drop lidar frame in mapping for real time performance 
build tree time 16.007218 ms 
mapping data assosiation time 28.560614 ms 
points size 103457 
sort q time 6.224722 
seperate points time 15.145428 
publication time 11.687717 ms 
whole laserOdometry time 11.703917 ms 
 
mapping data assosiation time 35.673944 ms 
1317357906.439434051 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.221762 ms 
filter time 7.210456 ms 
points size 103309 
sort q time 6.372359 
seperate points time 37.528908 
mapping data assosiation time 40.405549 ms 
publication time 12.654770 ms 
whole laserOdometry time 12.667159 ms 
 
--------------------stamp1317357906.646981000
mapping solver time 40.604605 ms 
points size 103152 
prepare time 14.207482 
sort q time 5.936989 
seperate points time 13.916382 mapping data assosiation time 42.402871 ms 
-----t: 0.0617017
OdomCount 1394 & avg odom time 0.044931 ms ++++++++++++++++++++++
1317357906.646981000 WriteOdom laser_odom_to_init
1317357906.646981000 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 33.918816 ms 
mapping optimization time 180.711457 
filter time 7.420830 ms 
points size 103026 
prepare time 12.942163 
sort q time 6.068210 
seperate points time 14.297343 
publication time 10.053325 ms 
whole laserOdometry time 10.071600 ms 
 
-----t: 0.0769346
OdomCount 1395 & avg odom time 0.044954 ms ++++++++++++++++++++++
points size 103008 
mapping data assosiation time 51.895320 ms 
mapping solver time 28.565570 ms 
[0m[ INFO] [1718889420.789801666, 1317357906.969238993]: Received 114732 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889420.789853378, 1317357906.969238993]: Data saved to 1317357906543206.pcd[0m
prepare time 27.661369 
sort q time 5.976866 
seperate points time 14.925883 
publication time 12.591835 ms 
whole laserOdometry time 12.605522 ms 
 
-----t: 0.069397
OdomCount 1397 & avg odom time 0.044983 ms ++++++++++++++++++++++
points size 101160 
mapping solver time 45.115297 ms 
-----t: 0.0508612
OdomCount 1398 & avg odom time 0.044988 ms ++++++++++++++++++++++
mapping solver time 22.454234 ms 
mapping pub time 2.764697 ms 
whole mapping time 193.430251 ms +++++
mappingCount 1007 & avg mapping time 139.205348 ms ++++++++++++++++++++++
sort q time 5.682991 
seperate points time 12.678507 
build tree time 37.444061 ms 
mapping data assosiation time 41.216740 ms 
mapping solver time 37.957224 ms 
1317357907.165997028 WriteOdom laser_odom_to_init
scan registration time 61.529520 ms *************
mapping data assosiation time 42.653507 ms 
publication time 11.273663 ms 
whole laserOdometry time 11.285555 ms 
 
mapping optimization time 205.478536 
points size 98788 
-----t: 0.106384
OdomCount 1400 & avg odom time 0.045090 ms ++++++++++++++++++++++
publication time 13.932253 ms 
whole laserOdometry time 13.946266 ms 
 
mapping data assosiation time 37.726260 ms 
points size 98693 
-----t: 0.0943667
OdomCount 1401 & avg odom time 0.045126 ms ++++++++++++++++++++++
1317357907.373621940 WriteOdom laser_odom_to_initmapping data assosiation time 44.932437 ms 
scan registration time 90.040695 ms *************
--------------------stamp1317357907.581268072
-----t: 0.0969281
OdomCount 1402 & avg odom time 0.045162 ms ++++++++++++++++++++++
1317357907.477444887 WriteOdom laser_odom_to_init
1317357907.477444887 WriteOdom aft_mapped_to_init_high_frec
sort q time 8.381841 
seperate points time 19.305015 
scan registration time 41.624649 ms *************
build tree time 23.460594 ms 
publication time 11.682192 ms 
whole laserOdometry time 11.705565 ms 
 
-----t: 0.0542917
OdomCount 1403 & avg odom time 0.045169 ms ++++++++++++++++++++++
points size 99112 
sort q time 6.992504 
seperate points time 15.114907 
publication time 16.161507 ms 
whole laserOdometry time 16.177016 ms 
 
-----t: 0.0547961
OdomCount 1404 & avg odom time 0.045176 ms ++++++++++++++++++++++
mapping data assosiation time 43.914383 ms 
--------------------stamp1317357907.788957118
prepare time 12.894542 
sort q time 6.957934 
seperate points time 15.306639 
filter time 9.513565 ms 
publication time 14.208661 ms 
whole laserOdometry time 14.223576 ms 
 
mapping data assosiation time 34.200586 ms 
points size 100492 
prepare time 20.776472 
mapping solver time 37.534944 ms 
-----t: 0.0462064
OdomCount 1406 & avg odom time 0.045178 ms ++++++++++++++++++++++
mapping data assosiation time 40.536846 ms 
publication time 11.107854 ms 
whole laserOdometry time 11.120102 ms 
 
mapping solver time 38.053193 ms 
mapping optimization time 178.287989 
points size 102231 
add points time 1.053945 ms
prepare time 16.842228 
sort q time 6.051558 
seperate points time 15.924182 
build tree time 23.544996 ms 
-----t: 0.0696508
OdomCount 1407 & avg odom time 0.045195 ms ++++++++++++++++++++++
--------------------stamp1317357908.100357055
prepare time 13.625148 
sort q time 5.603395 
seperate points time 13.053957 
mapping solver time 37.994047 ms 
publication time 10.616088 ms 
whole laserOdometry time 10.628761 ms 
 
-----t: 0.065495
OdomCount 1408 & avg odom time 0.045209 ms ++++++++++++++++++++++
1317357908.100357055 WriteOdom laser_odom_to_init
1317357908.100357055 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357908.204130887
points size 102620 
filter time 9.700984 ms 
map prepare time 4.611487 ms
map corner num 82516  surf num 43578 
sort q time 15.036444 
seperate points time 37.057801 
scan registration time 59.539721 ms *************
publication time 10.649033 ms 
whole laserOdometry time 10.660412 ms 
 
--------------------stamp1317357908.307907104
points size 102289 
mapping solver time 39.251026 ms 
publication time 12.154852 ms 
whole laserOdometry time 12.168295 ms 
 
-----t: 0.050157
OdomCount 1410 & avg odom time 0.045228 ms ++++++++++++++++++++++
1317357908.307907104 WriteOdom laser_odom_to_init
1317357908.307907104 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 43.796638 ms 
--------------------stamp1317357908.411680936
points size 101644 
filter time 9.934819 ms 
publication time 13.636399 ms 
whole laserOdometry time 13.653897 ms 
 
-----t: 0.0604687
OdomCount 1411 & avg odom time 0.045239 ms ++++++++++++++++++++++
1317357908.411680936 WriteOdom laser_odom_to_init
1317357908.411680936 WriteOdom aft_mapped_to_init_high_frec
build tree time 42.293143 ms 
--------------------stamp1317357908.515431880
mapping data assosiation time 38.480239 ms 
sort q time 5.661936 
seperate points time 13.617740 
publication time 10.770437 ms 
whole laserOdometry time 10.800887 ms 
 
mapping data assosiation time 36.383054 ms 
--------------------stamp1317357908.619184970
prepare time 11.430463 
sort q time 5.408157 
seperate points time 11.991886 
map prepare time 3.999869 ms
map corner num 85255  surf num 45444 
publication time 16.220848 ms 
whole laserOdometry time 16.241802 ms 
 
-----t: 0.0726801
OdomCount 1413 & avg odom time 0.045254 ms ++++++++++++++++++++++
1317357908.619184970 WriteOdom laser_odom_to_init
1317357908.619184970 WriteOdom aft_mapped_to_init_high_frec
points size 94852 
sort q time 5.180905 
seperate points time 12.383781 
mapping solver time 46.905939 ms 
-----t: 0.0424785
OdomCount 1414 & avg odom time 0.045252 ms ++++++++++++++++++++++
1317357908.722935914 WriteOdom laser_odom_to_init
1317357908.722935914 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357908.826661109
prepare time 10.653034 
filter time 9.191742 ms 
map prepare time 3.530334 ms
map corner num 86610  surf num 46210 
publication time 9.036808 ms 
whole laserOdometry time 9.074430 ms 
 
mapping data assosiation time 40.642695 ms 
--------------------stamp1317357908.930386066
prepare time 10.513980 
sort q time 5.596932 
seperate points time 11.605992 
publication time 9.239136 ms 
whole laserOdometry time 9.254354 ms 
 
mapping data assosiation time 40.289657 ms 
-----t: 0.0425418
OdomCount 1416 & avg odom time 0.045301 ms ++++++++++++++++++++++
1317357908.930386066 WriteOdom laser_odom_to_init
mapping solver time 22.843740 ms 
filter time 6.705523 ms 
points size 90801 
map prepare time 4.409912 ms
map corner num 87953  surf num 46950 
sort q time 5.807734 
seperate points time 11.477439 
build tree time 26.762225 ms 
mapping data assosiation time 39.076607 ms 
--------------------stamp1317357909.137890100
points size 91495 
prepare time 11.780128 
mapping solver time 40.384020 ms 
publication time 9.437324 ms 
whole laserOdometry time 9.453896 ms 
 
mapping data assosiation time 40.472663 ms 
-----t: 0.0508901
OdomCount 1418 & avg odom time 0.045316 ms ++++++++++++++++++++++
mapping solver time 30.972228 ms 
filter time 6.987666 ms 
map prepare time 3.558472 ms
map corner num 89259  surf num 47607 
points size 94876 
build tree time 26.673818 ms 
sort q time 6.592660 
seperate points time 33.982788 -----t: 0.0492129
OdomCount 1419 & avg odom time 0.045319 ms ++++++++++++++++++++++
1317357909.241640090 WriteOdom laser_odom_to_init
1317357909.241640090 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 47.679290 ms 
publication time 10.237671 ms 
whole laserOdometry time 10.249383 ms 
 
--------------------stamp1317357909.345416069
prepare time 12.681969 
sort q time 5.748061 
seperate points time 13.064491 
publication time 8.982087 ms 
whole laserOdometry time 8.994997 ms 
 
-----t: 0.052513
OdomCount 1420 & avg odom time 0.045324 ms ++++++++++++++++++++++
mapping solver time 33.194343 ms 
filter time 6.956806 ms 
--------------------stamp1317357909.449191093
points size 94447 
sort q time 5.492331 
seperate points time 13.699328 
scan registration time 34.195412 ms *************
-----t: 0.0353516
OdomCount 1421 & avg odom time 0.045317 ms ++++++++++++++++++++++
publication time 17.481064 ms 
whole laserOdometry time 17.513291 ms 
 
--------------------stamp1317357909.552941083
prepare time 11.222923 
sort q time 5.438229 
seperate points time 12.788791 
publication time 12.569311 ms 
whole laserOdometry time 12.598406 ms 
 
1317357909.552941083 WriteOdom laser_odom_to_init
mapping solver time 32.255192 ms 
filter time 7.136995 ms 
map prepare time 2.881020 ms
map corner num 91907  surf num 48921 
points size 96852 
build tree time 24.348453 ms 
scan registration time 29.131451 ms *************
-----t: 0.0350526
OdomCount 1423 & avg odom time 0.045306 ms ++++++++++++++++++++++
mapping solver time 28.819632 ms 
--------------------stamp1317357909.760392904
points size 98483 
mapping data assosiation time 38.431621 ms 
publication time 9.954537 ms 
whole laserOdometry time 9.969488 ms 
 
mapping solver time 26.068615 ms 
mapping optimization time 162.135547 
add points time 0.897555 ms
drop lidar frame in mapping for real time performance 
map prepare time 3.192625 ms
map corner num 93215  surf num 49624 
build tree time 21.903177 ms 
--------------------stamp1317357909.864098072
sort q time 6.064066 
seperate points time 12.663570 
mapping data assosiation time 40.036114 ms 
publication time 9.953691 ms 
whole laserOdometry time 9.969120 ms 
 
mapping solver time 33.219141 ms 
mapping data assosiation time 39.841527 ms 
points size 100015 
prepare time 14.430238 
sort q time 6.743459 
seperate points time 14.300881 
[0m[ INFO] [1718889423.839876029, 1317357910.020754562]: Received 144634 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889423.839931819, 1317357910.020754562]: Data saved to 1317357909656666.pcd[0m
publication time 10.905933 ms 
whole laserOdometry time 10.919473 ms 
 
mapping pub time 36.516407 ms 
whole mapping time 225.149949 ms +++++
mappingCount 1021 & avg mapping time 140.074098 ms ++++++++++++++++++++++
--------------------stamp1317357910.071527004
points size 101208 
sort q time 7.393239 
seperate points time 17.159313 
mapping data assosiation time 47.323780 ms 
-----t: 0.0567651
OdomCount 1427 & avg odom time 0.045346 ms ++++++++++++++++++++++
mapping solver time 40.299704 ms 
points size 102966 
sort q time 7.453028 
seperate points time 15.981120 
mapping data assosiation time 46.133590 ms 
publication time 13.205655 ms 
whole laserOdometry time 13.217773 ms 
 
mapping solver time 29.817148 ms 
mapping optimization time 192.799120 
add points time 0.837466 ms
-----t: 0.0637721
OdomCount 1428 & avg odom time 0.045359 ms ++++++++++++++++++++++
1317357910.175254106 WriteOdom laser_odom_to_init
1317357910.175254106 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
--------------------stamp1317357910.278978109
prepare time 11.280102 
build tree time 20.246401 ms 
scan registration time 31.538327 ms *************
publication time 11.234288 ms 
whole laserOdometry time 11.255356 ms 
 
-----t: 0.0645193
OdomCount 1429 & avg odom time 0.045372 ms ++++++++++++++++++++++
mapping solver time 41.141782 ms 
prepare time 16.064285 
sort q time 10.337599 
seperate points time 23.142241 
mapping data assosiation time 53.234182 ms 
publication time 12.752525 ms 
whole laserOdometry time 12.768719 ms 
 
-----t: 0.0543277
OdomCount 1430 & avg odom time 0.045379 ms ++++++++++++++++++++++
mapping solver time 37.919395 ms 
--------------------stamp1317357910.486442089
points size 103684 
sort q time 6.096180 
seperate points time 15.630734 
mapping data assosiation time 54.283678 ms 
points size 104198 
sort q time 10.423061 
seperate points time 19.151739 
mapping solver time 76.549612 ms 
publication time 16.942177 ms 
whole laserOdometry time 16.953172 ms 
 
--------------------stamp1317357910.693928003
points size 104221 
-----t: 0.0865619
OdomCount 1432 & avg odom time 0.045420 ms ++++++++++++++++++++++
sort q time 10.989851 
seperate points time 20.350942 
mapping data assosiation time 90.533620 ms 
publication time 12.845462 ms 
whole laserOdometry time 12.872289 ms 
 
--------------------stamp1317357910.798357009
prepare time 16.475538 
sort q time 6.707042 
seperate points time 16.159814 
publication time 10.591813 ms 
whole laserOdometry time 10.626347 ms 
 
-----t: 0.0586261
OdomCount 1434 & avg odom time 0.045434 ms ++++++++++++++++++++++
1317357910.798357009 WriteOdom laser_odom_to_init
1317357910.798357009 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357910.902136087
points size 102998 
scan registration time 38.140988 ms *************
publication time 9.796239 ms 
whole laserOdometry time 9.809496 ms 
 
-----t: 0.0620533
OdomCount 1435 & avg odom time 0.045445 ms ++++++++++++++++++++++
1317357910.902136087 WriteOdom laser_odom_to_init
1317357910.902136087 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.931081 ms 
filter time 9.137346 ms 
map prepare time 4.366489 ms
map corner num 67650  surf num 36042 
sort q time 5.780915 
seperate points time 14.959347 
publication time 10.145696 ms 
whole laserOdometry time 10.160810 ms 
 
-----t: 0.0451587
OdomCount 1436 & avg odom time 0.045445 ms ++++++++++++++++++++++
1317357911.005229949 WriteOdom laser_odom_to_init
1317357911.005229949 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 39.817287 ms 
--------------------stamp1317357911.108983039
points size 102957 
mapping solver time 43.481073 ms 
scan registration time 36.257544 ms *************
publication time 10.084292 ms 
whole laserOdometry time 10.100941 ms 
 
--------------------stamp1317357911.212730884
points size 102708 
map prepare time 3.798667 ms
map corner num 69017  surf num 36656 
publication time 18.854645 ms 
whole laserOdometry time 18.873274 ms 
 
mapping data assosiation time 54.683207 ms 
points size 102699 
prepare time 16.476209 
scan registration time 36.276177 ms *************
publication time 8.937323 ms 
whole laserOdometry time 8.948862 ms 
 
-----t: 0.070621
OdomCount 1439 & avg odom time 0.045479 ms ++++++++++++++++++++++
1317357911.316478013 WriteOdom laser_odom_to_init
1317357911.316478013 WriteOdom aft_mapped_to_init_high_frec
points size 103013 
sort q time 5.706517 
seperate points time 14.157615 
-----t: 0.0491326
OdomCount 1440 & avg odom time 0.045482 ms ++++++++++++++++++++++
mapping data assosiation time 41.491668 ms 
--------------------stamp1317357911.523998975
prepare time 14.086003 
-----t: 0.0649009
OdomCount 1441 & avg odom time 0.045495 ms ++++++++++++++++++++++
1317357911.523998975 WriteOdom laser_odom_to_init
1317357911.523998975 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.797413 ms 
whole mapping time 188.349907 ms +++++
mappingCount 1028 & avg mapping time 140.628637 ms ++++++++++++++++++++++
prepare time 17.595473 
build tree time 19.839880 ms 
-----t: 0.0445354
OdomCount 1442 & avg odom time 0.045495 ms ++++++++++++++++++++++
--------------------stamp1317357911.731520891
points size 102659 
sort q time 5.841547 
seperate points time 14.431542 
publication time 9.903569 ms 
whole laserOdometry time 9.919402 ms 
 
1317357911.731520891 WriteOdom laser_odom_to_initfilter time 8.479108 ms 
map prepare time 4.328725 ms
map corner num 72571  surf num 38272 
prepare time 16.092153 
build tree time 18.493643 ms 
scan registration time 37.810821 ms *************
publication time 10.008035 ms 
whole laserOdometry time 10.031733 ms 
 
-----t: 0.0626028
OdomCount 1444 & avg odom time 0.045519 ms ++++++++++++++++++++++
1317357911.835330009 WriteOdom laser_odom_to_init
1317357911.835330009 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357911.939114093
prepare time 12.389906 
sort q time 5.834009 
seperate points time 13.107111 
publication time 9.503734 ms 
whole laserOdometry time 9.520522 ms 
 
-----t: 0.0518491
OdomCount 1445 & avg odom time 0.045524 ms ++++++++++++++++++++++
mapping solver time 26.655930 ms 
filter time 6.345957 ms 
map prepare time 3.059914 ms
map corner num 73757  surf num 38893 
points size 101904 
sort q time 6.007592 
seperate points time 13.475534 
mapping data assosiation time 35.153795 ms 
mapping solver time 31.896416 ms 
--------------------stamp1317357912.146648883
prepare time 11.676986 
mapping data assosiation time 41.205531 ms 
publication time 9.610030 ms 
whole laserOdometry time 9.643008 ms 
 
-----t: 0.0431299
OdomCount 1447 & avg odom time 0.045519 ms ++++++++++++++++++++++
build tree time 18.288221 ms 
--------------------stamp1317357912.250401020
points size 101819 
mapping data assosiation time 39.363823 ms 
publication time 9.658165 ms 
whole laserOdometry time 9.685904 ms 
 
-----t: 0.0571963
OdomCount 1448 & avg odom time 0.045527 ms ++++++++++++++++++++++
mapping data assosiation time 34.816901 ms 
--------------------stamp1317357912.354126930
points size 102714 
filter time 10.173750 ms 
mapping pub time 10.113237 ms 
whole mapping time 188.675168 ms +++++
mappingCount 1032 & avg mapping time 140.817252 ms ++++++++++++++++++++++
1317357912.042882919 WriteOdom aft_mapped_to_init
build tree time 21.383810 ms 
--------------------stamp1317357912.457859039
mapping data assosiation time 37.926988 ms 
prepare time 12.123140 
publication time 12.305257 ms 
whole laserOdometry time 12.316227 ms 
 
1317357912.457859039 WriteOdom laser_odom_to_init
1317357912.457859039 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 60.252833 ms 
--------------------stamp1317357912.561614990
prepare time 11.146523 
sort q time 5.531176 
seperate points time 13.073470 
publication time 13.219419 ms 
whole laserOdometry time 13.354368 ms 
 
filter time 8.830209 ms 
mapping pub time 2.293776 ms 
whole mapping time 210.822527 ms +++++
mappingCount 1033 & avg mapping time 140.885024 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
1317357912.250401020 WriteOdom aft_mapped_to_init
build tree time 17.731955 ms 
--------------------stamp1317357912.665380001
points size 98096 
sort q time 5.905788 
seperate points time 12.441677 
mapping solver time 37.120101 ms 
-----t: 0.0578541
OdomCount 1452 & avg odom time 0.045547 ms ++++++++++++++++++++++
1317357912.665380001 WriteOdom laser_odom_to_init
1317357912.665380001 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 38.258598 ms 
--------------------stamp1317357912.769134044
points size 96973 
filter time 8.359366 ms 
publication time 9.478127 ms 
whole laserOdometry time 9.492466 ms 
 
1317357912.769134044 WriteOdom laser_odom_to_init
1317357912.769134044 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 35.858035 ms 
--------------------stamp1317357912.872888088
points size 96691 
sort q time 5.284229 
seperate points time 11.485899 
-----t: 0.0400091
OdomCount 1454 & avg odom time 0.045540 ms ++++++++++++++++++++++
1317357912.872888088 WriteOdom laser_odom_to_init
1317357912.872888088 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 40.197826 ms 
mapping solver time 29.880157 ms 
filter time 7.330251 ms 
sort q time 5.779656 
seperate points time 11.677280 
publication time 8.091406 ms 
whole laserOdometry time 8.108068 ms 
 
1317357912.976654052 WriteOdom laser_odom_to_init
1317357912.976654052 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 38.574987 ms 
--------------------stamp1317357913.080424070
points size 93596 
sort q time 5.950275 
seperate points time 12.003006 
mapping data assosiation time 43.549008 ms 
publication time 9.752512 ms 
whole laserOdometry time 9.770323 ms 
 
-----t: 0.0457698
OdomCount 1456 & avg odom time 0.045538 ms ++++++++++++++++++++++
filter time 6.625363 ms 
mapping solver time 39.899251 ms 
points size 96894 
mapping data assosiation time 41.397477 ms 
-----t: 0.045182
OdomCount 1458 & avg odom time 0.045543 ms ++++++++++++++++++++++
mapping solver time 35.147992 ms 
filter time 6.714333 ms 
--------------------stamp1317357913.391645908
points size 97446 
sort q time 9.579576 
seperate points time 16.879004 
mapping data assosiation time 38.611559 ms 
-----t: 0.0491649
OdomCount 1459 & avg odom time 0.045545 ms ++++++++++++++++++++++
mapping solver time 38.856742 ms 
--------------------stamp1317357913.495374917
points size 92380 
prepare time 15.091016 
mapping data assosiation time 63.424804 ms 
mapping solver time 37.386884 ms 
filter time 8.036739 ms 
points size 86510 
sort q time 4.981771 
seperate points time 15.319001 
-----t: 0.0382165
OdomCount 1461 & avg odom time 0.045547 ms ++++++++++++++++++++++
mapping data assosiation time 33.923504 ms 
mapping solver time 35.127574 ms 
points size 82766 
sort q time 4.132253 
seperate points time 9.591476 
mapping data assosiation time 40.198096 ms 
-----t: 0.0352937
OdomCount 1462 & avg odom time 0.045540 ms ++++++++++++++++++++++
1317357913.702852010 WriteOdom laser_odom_to_init
1317357913.702852010 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 32.455945 ms 
filter time 6.385592 ms 
map prepare time 2.689430 ms
map corner num 84326  surf num 44719 
--------------------stamp1317357913.806579113
prepare time 12.069036 
sort q time 4.263949 
seperate points time 10.304166 
mapping data assosiation time 35.064354 ms 
publication time 7.766864 ms 
whole laserOdometry time 7.781689 ms 
 
mapping solver time 37.045157 ms 
--------------------stamp1317357913.910379886
prepare time 10.607437 
sort q time 3.991754 
seperate points time 9.663343 
publication time 8.286203 ms 
whole laserOdometry time 8.299289 ms 
 
filter time 8.124539 ms 
build tree time 18.410521 ms 
--------------------stamp1317357914.014189958
points size 74901 
sort q time 3.949348 
seperate points time 10.127366 
mapping solver time 32.644520 ms 
mapping data assosiation time 30.341784 ms 
mapping solver time 20.215137 ms 
filter time 6.769774 ms 
points size 79645 
sort q time 4.797756 
seperate points time 11.250057 
publication time 7.284285 ms 
whole laserOdometry time 7.295410 ms 
 
-----t: 0.0393841
OdomCount 1466 & avg odom time 0.045508 ms ++++++++++++++++++++++
1317357914.117963075 WriteOdom laser_odom_to_init
1317357914.117963075 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.877316 ms 
--------------------stamp1317357914.221703052
prepare time 8.639437 
sort q time 4.607992 
seperate points time 9.826895 
mapping solver time 38.960913 ms 
publication time 9.305218 ms 
whole laserOdometry time 9.315497 ms 
 
-----t: 0.0439388
OdomCount 1467 & avg odom time 0.045507 ms ++++++++++++++++++++++
mapping solver time 28.054221 ms 
filter time 6.971746 ms 
points size 90524 
build tree time 21.500373 ms 
publication time 9.806562 ms 
whole laserOdometry time 9.820823 ms 
 
-----t: 0.048389
OdomCount 1468 & avg odom time 0.045509 ms ++++++++++++++++++++++
1317357914.325433969 WriteOdom laser_odom_to_init
1317357914.325433969 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.017960 ms 
--------------------stamp1317357914.429179906
points size 93381 
sort q time 5.513060 
seperate points time 12.916732 
add points time 1.032435 ms
filter time 9.181960 ms 
publication time 11.327793 ms 
whole laserOdometry time 11.341544 ms 
 
-----t: 0.0539999
OdomCount 1469 & avg odom time 0.045514 ms ++++++++++++++++++++++
build tree time 22.372519 ms 
--------------------stamp1317357914.532905101
points size 97359 
sort q time 5.566118 
seperate points time 12.716098 
mapping solver time 37.251733 ms 
mapping data assosiation time 30.622767 ms 
mapping solver time 26.339344 ms 
filter time 8.143327 ms 
sort q time 5.312847 
seperate points time 13.013512 
scan registration time 29.959213 ms *************
build tree time 24.116722 ms 
publication time 10.507333 ms 
whole laserOdometry time 10.534140 ms 
 
mapping data assosiation time 46.603187 ms 
--------------------stamp1317357914.740406990
mapping solver time 30.213986 ms 
sort q time 21.008598 
seperate points time 28.049584 
-----t: 0.0440266
OdomCount 1472 & avg odom time 0.045504 ms ++++++++++++++++++++++
filter time 6.916591 ms 
map prepare time 2.912846 ms
map corner num 91013  surf num 47291 
--------------------stamp1317357914.844156980
prepare time 12.596244 
sort q time 6.391963 
seperate points time 12.289558 
mapping data assosiation time 34.410490 ms 
publication time 8.190609 ms 
whole laserOdometry time 8.202501 ms 
 
1317357914.844156980 WriteOdom laser_odom_to_init
1317357914.844156980 WriteOdom aft_mapped_to_init_high_frecmapping solver time 39.702708 ms 
--------------------stamp1317357914.947882890
points size 100281 
sort q time 5.630612 
seperate points time 12.232073 
scan registration time 30.705458 ms *************
filter time 9.703944 ms 
mapping pub time 4.227032 ms 
whole mapping time 183.147304 ms +++++
mappingCount 1046 & avg mapping time 141.384076 ms ++++++++++++++++++++++
1317357914.636643887 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889428.819509274, 1317357914.996093583]: Received 139971 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889428.819566723, 1317357914.996093583]: Data saved to 1317357914636643.pcd[0m
build tree time 24.089083 ms 
--------------------stamp1317357915.051634073
points size 101931 
mapping data assosiation time 35.356533 ms 
scan registration time 31.015440 ms *************
mapping solver time 34.442293 ms 
-----t: 0.0460658
OdomCount 1475 & avg odom time 0.045518 ms ++++++++++++++++++++++
mapping data assosiation time 30.508876 ms 
--------------------stamp1317357915.155407905
points size 102609 
mapping pub time 2.415656 ms 
whole mapping time 170.290379 ms +++++
mappingCount 1047 & avg mapping time 141.411698 ms ++++++++++++++++++++++
1317357914.844156981 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.788244 ms
map corner num 93376  surf num 48292 
publication time 9.754427 ms 
whole laserOdometry time 9.765592 ms 
 
-----t: 0.0574688
OdomCount 1476 & avg odom time 0.045526 ms ++++++++++++++++++++++
1317357915.155407905 WriteOdom laser_odom_to_init
mapping data assosiation time 36.794070 ms 
--------------------stamp1317357915.259181976
points size 101507 
prepare time 15.216722 
sort q time 5.993178 
seperate points time 14.129762 
publication time 12.861591 ms 
whole laserOdometry time 12.892686 ms 
 
mapping data assosiation time 36.081711 ms 
--------------------stamp1317357915.362957954
points size 101679 
mapping pub time 2.395247 ms 
whole mapping time 203.108514 ms +++++
mappingCount 1048 & avg mapping time 141.470578 ms ++++++++++++++++++++++
scan registration time 33.346485 ms *************
build tree time 18.923790 ms 
-----t: 0.0469061
OdomCount 1478 & avg odom time 0.045534 ms ++++++++++++++++++++++
1317357915.362957954 WriteOdom laser_odom_to_init
1317357915.362957954 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357915.466732025
points size 101378 
prepare time 15.467459 
sort q time 5.679878 
seperate points time 12.928639 
scan registration time 34.944239 ms *************
publication time 12.070764 ms 
whole laserOdometry time 12.087590 ms 
 
mapping solver time 30.355543 ms 
mapping optimization time 151.122465 
add points time 1.046053 ms
drop lidar frame in mapping for real time performance 
build tree time 15.713307 ms 
points size 101178 
prepare time 11.895982 
sort q time 5.701770 
seperate points time 13.013893 
publication time 10.081906 ms 
whole laserOdometry time 10.097530 ms 
 
mapping solver time 29.290669 ms 
-----t: 0.0684498
OdomCount 1480 & avg odom time 0.045549 ms ++++++++++++++++++++++
mapping data assosiation time 31.503172 ms 
points size 101025 
filter time 5.279195 ms 
publication time 9.243611 ms 
whole laserOdometry time 9.260443 ms 
 
build tree time 14.829789 ms 
mapping data assosiation time 29.086375 ms 
--------------------stamp1317357915.777986049
prepare time 14.207988 
sort q time 5.592762 
seperate points time 13.954553 
1317357915.777986049 WriteOdom laser_odom_to_init
1317357915.777986049 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 32.137993 ms 
[0m[ INFO] [1718889429.675787671, 1317357915.860121356]: Received 100909 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889429.675842089, 1317357915.860121356]: Data saved to 1317357915570483.pcd[0m
--------------------stamp1317357915.881712913
points size 101454 
sort q time 5.770428 
seperate points time 14.204914 
mapping data assosiation time 34.635899 ms 
publication time 11.617427 ms 
whole laserOdometry time 11.645088 ms 
 
mapping solver time 34.125145 ms 
-----t: 0.074689
OdomCount 1483 & avg odom time 0.045559 ms ++++++++++++++++++++++
mapping data assosiation time 29.493352 ms 
points size 101968 
mapping solver time 22.859258 ms sort q time 5.961924 
seperate points time 17.180753 
add points time 6.461270 mspublication time 11.701138 ms 
whole laserOdometry time 11.715454 ms 
 
-----t: 0.0563102
OdomCount 1484 & avg odom time 0.045566 ms ++++++++++++++++++++++
1317357915.985461950 WriteOdom laser_odom_to_init
1317357915.985461950 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357916.089211940
mapping data assosiation time 29.845971 ms 
sort q time 6.599890 
seperate points time 17.652255 
mapping solver time 40.146976 ms 
-----t: 0.0400626
OdomCount 1485 & avg odom time 0.045562 ms ++++++++++++++++++++++
mapping data assosiation time 35.540271 ms 
--------------------stamp1317357916.192961931
mapping solver time 30.830851 ms 
filter time 8.680496 ms 
build tree time 16.813419 ms 
publication time 16.400213 ms 
whole laserOdometry time 16.418787 ms 
 
mapping data assosiation time 34.537073 ms 
--------------------stamp1317357916.296737909
points size 101639 
sort q time 6.723275 
seperate points time 15.821096 
mapping data assosiation time 36.878427 ms 
mapping solver time 23.603458 ms 
mapping optimization time 154.986860 
add points time 0.867406 ms
map prepare time 2.692062 ms
map corner num 68677  surf num 36249 
--------------------stamp1317357916.400511980
build tree time 18.283527 ms 
points size 101458 
sort q time 5.968606 
seperate points time 13.454337 
mapping data assosiation time 37.142489 ms 
publication time 13.252428 ms 
whole laserOdometry time 13.268238 ms 
 
mapping solver time 31.989786 ms 
--------------------stamp1317357916.504287958
points size 101172 
sort q time 6.846456 
seperate points time 13.791179 
mapping solver time 36.044404 ms 
filter time 9.689068 ms 
map prepare time 2.767076 ms
map corner num 69605  surf num 36601 
build tree time 18.052780 ms 
--------------------stamp1317357916.608110904
points size 101054 
sort q time 6.796528 
seperate points time 13.141054 
scan registration time 32.992299 ms *************
publication time 8.812295 ms 
whole laserOdometry time 8.826355 ms 
 
-----t: 0.0518567
OdomCount 1490 & avg odom time 0.045567 ms ++++++++++++++++++++++
mapping data assosiation time 33.685621 ms 
--------------------stamp1317357916.711982011
points size 101070 
filter time 7.585016 ms 
publication time 12.547199 ms 
whole laserOdometry time 12.559911 ms 
 
mapping data assosiation time 30.894194 ms 
points size 101188 
sort q time 5.571080 
seperate points time 11.515082 
mapping data assosiation time 35.778246 ms 
publication time 14.399877 ms 
whole laserOdometry time 14.413822 ms 
 
mapping solver time 24.481213 ms 
filter time 8.121041 ms 
--------------------stamp1317357916.919820070
build tree time 20.495817 ms 
sort q time 5.699597 
seperate points time 13.471748 
publication time 10.357333 ms 
whole laserOdometry time 10.375074 ms 
 
-----t: 0.0533032
OdomCount 1493 & avg odom time 0.045573 ms ++++++++++++++++++++++
1317357916.919820070 WriteOdom laser_odom_to_init
1317357916.919820070 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357917.023833990
prepare time 12.083837 
sort q time 6.298028 
seperate points time 13.774931 
filter time 8.685728 ms 
build tree time 16.949812 ms 
-----t: 0.0694729
OdomCount 1494 & avg odom time 0.045589 ms ++++++++++++++++++++++
mapping data assosiation time 33.458028 ms 
--------------------stamp1317357917.127921104
prepare time 12.592057 
sort q time 5.937664 
seperate points time 13.398845 
mapping solver time 42.291739 ms 
-----t: 0.0601254
OdomCount 1495 & avg odom time 0.045599 ms ++++++++++++++++++++++
--------------------stamp1317357917.232080936
points size 101508 
drop lidar frame in mapping for real time performance 
scan registration time 30.800828 ms *************
publication time 10.630535 ms 
whole laserOdometry time 10.652841 ms 
 
-----t: 0.0465097
OdomCount 1496 & avg odom time 0.045599 ms ++++++++++++++++++++++
mapping data assosiation time 34.010892 ms 
--------------------stamp1317357917.336281061
mapping solver time 38.042249 ms 
sort q time 6.766306 
seperate points time 12.780301 
publication time 9.762056 ms 
whole laserOdometry time 9.777434 ms 
 
-----t: 0.0513709
OdomCount 1497 & avg odom time 0.045603 ms ++++++++++++++++++++++
mapping solver time 35.015677 ms 
filter time 6.548128 ms 
map prepare time 3.290462 ms
map corner num 74782  surf num 38726 
points size 100194 
prepare time 14.384134 
sort q time 9.758610 
seperate points time 17.664559 
publication time 11.751113 ms 
whole laserOdometry time 11.765926 ms 
 
mapping data assosiation time 40.594011 ms 
-----t: 0.059897
OdomCount 1498 & avg odom time 0.045613 ms ++++++++++++++++++++++
1317357917.440489053 WriteOdom laser_odom_to_init
1317357917.440489053 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 41.924426 ms 
points size 99540 
prepare time 15.572459 
sort q time 5.528474 
seperate points time 13.264762 
mapping data assosiation time 38.358505 ms 
publication time 9.798533 ms 
whole laserOdometry time 9.813790 ms 
 
mapping solver time 41.857693 ms 
mapping optimization time 188.910607 
add points time 0.835845 ms
--------------------stamp1317357917.649003028
prepare time 12.285901 
scan registration time 31.732265 ms *************
publication time 9.746204 ms 
whole laserOdometry time 9.773563 ms 
 
build tree time 23.570111 ms 
-----t: 0.0494212
OdomCount 1500 & avg odom time 0.045613 ms ++++++++++++++++++++++
mapping data assosiation time 38.630323 ms 
--------------------stamp1317357917.753283977
points size 97576 
mapping solver time 39.174344 ms 
mapping data assosiation time 37.712276 ms 
-----t: 0.0624493
OdomCount 1501 & avg odom time 0.045625 ms ++++++++++++++++++++++
mapping solver time 40.180845 ms 
mapping pub time 2.251953 ms 
whole mapping time 197.106044 ms +++++
mappingCount 1062 & avg mapping time 141.907485 ms ++++++++++++++++++++++
sort q time 5.886930 
seperate points time 13.822918 
build tree time 22.556862 ms 
publication time 20.496377 ms 
whole laserOdometry time 20.508967 ms 
 
mapping data assosiation time 39.735115 ms 
--------------------stamp1317357917.961884975
points size 97288 
sort q time 5.650485 
seperate points time 14.160565 
-----t: 0.0735805
OdomCount 1503 & avg odom time 0.045647 ms ++++++++++++++++++++++
--------------------stamp1317357918.066212892
map prepare time 3.125009 ms
map corner num 78363  surf num 40591 
build tree time 19.241080 ms 
-----t: 0.0405009
OdomCount 1504 & avg odom time 0.045644 ms ++++++++++++++++++++++
mapping data assosiation time 42.931374 ms 
--------------------stamp1317357918.170540094
prepare time 12.322354 
scan registration time 29.434586 ms *************
mapping data assosiation time 41.043134 ms 
publication time 11.715878 ms 
whole laserOdometry time 11.730177 ms 
 
-----t: 0.0475053
OdomCount 1505 & avg odom time 0.045645 ms ++++++++++++++++++++++
mapping solver time 32.702539 ms 
filter time 6.686228 ms 
mapping pub time 2.188154 ms 
whole mapping time 187.522432 ms +++++
mappingCount 1064 & avg mapping time 142.001270 ms ++++++++++++++++++++++
1317357917.857559919 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357918.274889945
build tree time 21.749892 ms 
prepare time 12.436986 
sort q time 6.587547 
seperate points time 12.937328 
scan registration time 28.951835 ms *************
publication time 9.699377 ms 
whole laserOdometry time 9.714649 ms 
 
-----t: 0.0520287
OdomCount 1506 & avg odom time 0.045650 ms ++++++++++++++++++++++
mapping solver time 38.363308 ms 
--------------------stamp1317357918.379199028
points size 98686 
sort q time 5.746966 
seperate points time 12.770727 
publication time 8.546550 ms 
whole laserOdometry time 8.560413 ms 
 
mapping solver time 39.246973 ms 
filter time 6.492068 ms 
map prepare time 2.952769 ms
map corner num 80687  surf num 42226 
--------------------stamp1317357918.483431100
prepare time 13.029749 
sort q time 5.450574 
seperate points time 13.594483 
mapping data assosiation time 43.344525 ms 
mapping solver time 36.107001 ms 
--------------------stamp1317357918.587654113
prepare time 11.837687 
sort q time 5.446548 
seperate points time 13.290293 
publication time 9.878460 ms 
whole laserOdometry time 9.892998 ms 
 
mapping optimization time 179.353588 
add points time 0.810888 ms
map prepare time 2.938033 ms
map corner num 81765  surf num 43006 
build tree time 18.161408 ms 
--------------------stamp1317357918.691860914
sort q time 5.969784 
seperate points time 13.383290 
publication time 10.136820 ms 
whole laserOdometry time 10.151548 ms 
 
mapping solver time 36.306104 ms 
-----t: 0.0521434
OdomCount 1510 & avg odom time 0.045656 ms ++++++++++++++++++++++
1317357918.691860914 WriteOdom laser_odom_to_init
1317357918.691860914 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.907445 ms 
prepare time 10.265953 
sort q time 5.967205 
seperate points time 12.215152 
filter time 8.960333 ms 
build tree time 20.623331 ms 
-----t: 0.0693212
OdomCount 1511 & avg odom time 0.045671 ms ++++++++++++++++++++++
1317357918.796020984 WriteOdom laser_odom_to_init
1317357918.796020984 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357918.900182962
sort q time 13.985520 
seperate points time 21.874951 
mapping solver time 47.383031 ms 
publication time 20.227375 ms 
whole laserOdometry time 20.242312 ms 
 
-----t: 0.0518685
OdomCount 1512 & avg odom time 0.045675 ms ++++++++++++++++++++++
1317357918.900182962 WriteOdom laser_odom_to_init
1317357918.900182962 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 38.186374 ms 
--------------------stamp1317357919.004309892
points size 100464 
mapping solver time 36.167285 ms 
filter time 9.487778 ms 
map prepare time 4.271402 ms
map corner num 83834  surf num 44561 
publication time 11.617767 ms 
whole laserOdometry time 11.633466 ms 
 
-----t: 0.0474237
OdomCount 1513 & avg odom time 0.045676 ms ++++++++++++++++++++++
1317357919.004309892 WriteOdom laser_odom_to_init
1317357919.004309892 WriteOdom aft_mapped_to_init_high_frec
build tree time 24.438616 ms 
--------------------stamp1317357919.108396053
points size 100926 
sort q time 5.693978 
seperate points time 13.460355 
mapping solver time 46.027057 ms 
-----t: 0.0507046
OdomCount 1514 & avg odom time 0.045680 ms ++++++++++++++++++++++
1317357919.108396053 WriteOdom laser_odom_to_init
1317357919.108396053 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 38.865533 ms 
--------------------stamp1317357919.212460041
points size 102323 
filter time 7.071798 ms 
sort q time 7.208184 
seperate points time 13.322748 
build tree time 24.405581 ms 
-----t: 0.05558
OdomCount 1515 & avg odom time 0.045686 ms ++++++++++++++++++++++
mapping data assosiation time 42.926435 ms 
--------------------stamp1317357919.316521883
points size 102701 
prepare time 13.065086 
sort q time 5.886935 
seperate points time 13.339253 
publication time 10.281210 ms 
whole laserOdometry time 10.297402 ms 
 
mapping data assosiation time 42.774186 ms 
mapping solver time 25.599792 ms 
points size 102466 
map prepare time 3.245718 ms
map corner num 85835  surf num 46077 
scan registration time 32.172284 ms *************
build tree time 25.491139 ms 
-----t: 0.0439727
OdomCount 1517 & avg odom time 0.045696 ms ++++++++++++++++++++++
mapping data assosiation time 39.282114 ms 
--------------------stamp1317357919.524571895
points size 102532 
sort q time 6.184629 
seperate points time 12.720087 
publication time 8.657995 ms 
whole laserOdometry time 8.670967 ms 
 
-----t: 0.0552287
OdomCount 1518 & avg odom time 0.045703 ms ++++++++++++++++++++++
1317357919.524571895 WriteOdom laser_odom_to_init
1317357919.524571895 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 44.540367 ms 
--------------------stamp1317357919.628571033
add points time 0.964735 ms
points size 102605 
prepare time 12.824508 
mapping pub time 4.428967 ms 
whole mapping time 213.131322 ms +++++
mappingCount 1071 & avg mapping time 142.353681 ms ++++++++++++++++++++++
publication time 12.668525 ms 
whole laserOdometry time 12.681850 ms 
 
-----t: 0.0577275
OdomCount 1519 & avg odom time 0.045711 ms ++++++++++++++++++++++
mapping data assosiation time 38.802732 ms 
--------------------stamp1317357919.732542037
sort q time 6.129653 
seperate points time 14.458408 
publication time 11.163805 ms 
whole laserOdometry time 11.176843 ms 
 
-----t: 0.0505471
OdomCount 1520 & avg odom time 0.045714 ms ++++++++++++++++++++++
mapping data assosiation time 43.254848 ms 
--------------------stamp1317357919.836477994
points size 102704 
filter time 8.270087 ms 
scan registration time 31.728370 ms *************
build tree time 23.999132 ms 
-----t: 0.0533623
OdomCount 1521 & avg odom time 0.045719 ms ++++++++++++++++++++++
1317357919.836477994 WriteOdom laser_odom_to_init
1317357919.836477994 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 40.633488 ms 
--------------------stamp1317357919.940383911
points size 103072 
sort q time 6.220684 
seperate points time 12.848398 
mapping solver time 46.154107 ms 
publication time 10.319143 ms 
whole laserOdometry time 10.336204 ms 
 
-----t: 0.044992
OdomCount 1522 & avg odom time 0.045718 ms ++++++++++++++++++++++
mapping data assosiation time 41.887675 ms 
--------------------stamp1317357920.044308900
mapping optimization time 189.963992 
filter time 10.776192 ms 
publication time 12.991595 ms 
whole laserOdometry time 13.005181 ms 
 
-----t: 0.058674
OdomCount 1523 & avg odom time 0.045727 ms ++++++++++++++++++++++
mapping data assosiation time 35.770082 ms 
--------------------stamp1317357920.148180007
points size 103669 
sort q time 7.456850 
seperate points time 15.013598 
publication time 10.266117 ms 
whole laserOdometry time 10.288665 ms 
 
mapping data assosiation time 44.821036 ms 
mapping solver time 23.576332 ms 
filter time 10.356082 ms 
sort q time 6.654009 
seperate points time 13.645080 
build tree time 24.620023 ms 
-----t: 0.0393378
OdomCount 1525 & avg odom time 0.045731 ms ++++++++++++++++++++++
mapping data assosiation time 40.707546 ms 
--------------------stamp1317357920.355820894
prepare time 10.540332 
mapping solver time 43.599756 ms 
publication time 10.703991 ms 
whole laserOdometry time 10.717822 ms 
 
mapping data assosiation time 39.661739 ms 
mapping solver time 32.411231 ms 
filter time 9.757052 ms 
map prepare time 4.372584 ms
map corner num 91310  surf num 49822 
sort q time 6.114158 
seperate points time 14.260088 
scan registration time 32.852932 ms *************
-----t: 0.0423967
OdomCount 1527 & avg odom time 0.045725 ms ++++++++++++++++++++++mapping data assosiation time 40.639920 ms 
--------------------stamp1317357920.563275098
points size 103904 
sort q time 5.605196 
seperate points time 13.277122 
-----t: 0.0393582
OdomCount 1528 & avg odom time 0.045721 ms ++++++++++++++++++++++
publication time 9.676080 ms 
whole laserOdometry time 9.685176 ms 
 
1317357920.563275098 WriteOdom laser_odom_to_init
1317357920.563275098 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 51.731344 ms 
mapping solver time 22.492252 ms 
filter time 7.288430 ms 
map prepare time 4.676469 ms
map corner num 92366  surf num 50449 
sort q time 5.793551 
seperate points time 13.030196 
publication time 12.589799 ms 
whole laserOdometry time 12.606799 ms 
 
mapping data assosiation time 40.798687 ms 
--------------------stamp1317357920.770612955
points size 103570 
sort q time 5.744839 
seperate points time 12.645876 
mapping data assosiation time 41.243070 ms 
-----t: 0.0696666
OdomCount 1530 & avg odom time 0.045765 ms ++++++++++++++++++++++
filter time 7.970761 ms 
points size 103008 
prepare time 18.322968 
sort q time 19.788158 
seperate points time 30.292442 
publication time 8.788894 ms 
whole laserOdometry time 8.881184 ms 
 
-----t: 0.0719154
OdomCount 1531 & avg odom time 0.045782 ms ++++++++++++++++++++++
1317357920.874319076 WriteOdom laser_odom_to_init
1317357920.874319076 WriteOdom aft_mapped_to_init_high_frec
points size 102575 
mapping solver time 47.326527 ms 
scan registration time 38.261565 ms *************
publication time 10.876115 ms 
whole laserOdometry time 10.941301 ms 
 
mapping data assosiation time 40.853796 ms 
mapping solver time 28.338112 ms 
--------------------stamp1317357921.081715106
points size 101616 
sort q time 6.765680 
seperate points time 13.553916 
build tree time 30.275737 ms 
publication time 16.915917 ms 
whole laserOdometry time 16.926110 ms 
 
-----t: 0.0546167
OdomCount 1533 & avg odom time 0.045792 ms ++++++++++++++++++++++
1317357921.081715106 WriteOdom laser_odom_to_init
1317357921.081715106 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 37.185887 ms 
--------------------stamp1317357921.185442924
points size 99862 
sort q time 5.924824 
seperate points time 13.227534 
mapping data assosiation time 37.296081 ms 
publication time 12.005959 ms 
whole laserOdometry time 12.024350 ms mapping solver time 30.194712 ms 
mapping optimization time 166.814501 
add points time 0.840676 ms
map prepare time 3.144093 ms
map corner num 95834  surf num 52211 
--------------------stamp1317357921.289122104
points size 98603 
sort q time 5.673118 
seperate points time 13.012254 
scan registration time 32.867898 ms *************
publication time 11.962933 ms 
whole laserOdometry time 11.981540 ms 
 
1317357921.289122104 WriteOdom laser_odom_to_init
1317357921.289122104 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.498946 ms 
--------------------stamp1317357921.392775058
prepare time 12.580156 
sort q time 11.177914 
seperate points time 18.394715 
mapping solver time 25.624691 ms 
filter time 10.300500 ms 
build tree time 28.737132 ms 
--------------------stamp1317357921.496453046
points size 96515 
mapping data assosiation time 39.070916 ms 
-----t: 0.115173
OdomCount 1536 & avg odom time 0.045837 ms ++++++++++++++++++++++
prepare time 29.016460 
1317357921.392775058 WriteOdom laser_odom_to_init
sort q time 4.933772 
seperate points time 14.690677 
publication time 10.229147 ms 
whole laserOdometry time 10.249196 ms 
 
--------------------stamp1317357921.600142002
prepare time 11.396448 
sort q time 5.714304 
seperate points time 11.403097 
publication time 9.442833 ms 
whole laserOdometry time 9.458886 ms 
 
mapping solver time 44.899865 ms 
mapping optimization time 197.057938 
add points time 0.844673 ms
-----t: 0.0392238
OdomCount 1538 & avg odom time 0.045828 ms ++++++++++++++++++++++
1317357921.600142002 WriteOdom laser_odom_to_init
1317357921.600142002 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357921.703849077
map prepare time 4.439188 ms
map corner num 98090  surf num 53073 
sort q time 5.396991 
seperate points time 13.114927 
publication time 11.363794 ms 
whole laserOdometry time 11.375853 ms 
 
-----t: 0.0515743
OdomCount 1539 & avg odom time 0.045832 ms ++++++++++++++++++++++
1317357921.703849077 WriteOdom laser_odom_to_init
1317357921.703849077 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357921.807575941
prepare time 11.785362 
mapping solver time 44.920948 ms 
publication time 10.570328 ms 
whole laserOdometry time 10.584992 ms 
 
mapping data assosiation time 40.643160 ms 
-----t: 0.0670335
OdomCount 1540 & avg odom time 0.045846 ms ++++++++++++++++++++++
mapping solver time 35.641565 ms 
filter time 13.081568 ms 
map prepare time 4.424334 ms
map corner num 99210  surf num 53460 
sort q time 5.499727 
seperate points time 12.496133 
publication time 11.861512 ms 
whole laserOdometry time 11.885103 ms 
 
-----t: 0.0457674
OdomCount 1541 & avg odom time 0.045846 ms ++++++++++++++++++++++
1317357921.911298036 WriteOdom laser_odom_to_init
1317357921.911298036 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 38.293066 ms 
--------------------stamp1317357922.015014886
prepare time 11.280882 
scan registration time 37.027446 ms *************
publication time 11.441027 ms 
whole laserOdometry time 11.458417 ms 
 
mapping data assosiation time 39.599457 ms 
--------------------stamp1317357922.118742942
prepare time 12.570342 
1317357921.703849077 WriteOdom aft_mapped_to_init
publication time 10.426280 ms 
whole laserOdometry time 10.450316 ms 
 
mapping data assosiation time 37.852201 ms 
points size 92563 
sort q time 5.020025 
seperate points time 12.173282 
mapping solver time 44.831453 ms 
-----t: 0.0409923
OdomCount 1544 & avg odom time 0.045858 ms ++++++++++++++++++++++
1317357922.222523927 WriteOdom laser_odom_to_init
1317357922.222523927 WriteOdom aft_mapped_to_init_high_frec
publication time 11.910249 ms 
whole laserOdometry time 11.926452 ms 
 
mapping data assosiation time 33.942419 ms 
mapping solver time 27.654194 ms 
filter time 8.728312 ms 
map prepare time 3.744646 ms
map corner num 101435  surf num 54096 
scan registration time 29.732905 ms *************
build tree time 28.935335 ms 
mapping data assosiation time 33.526571 ms 
--------------------stamp1317357922.430128097
points size 90258 
sort q time 4.829221 
seperate points time 11.567252 
publication time 10.244666 ms -----t: 0.0560991
OdomCount 1546 & avg odom time 0.045860 ms ++++++++++++++++++++++
mapping solver time 30.060477 ms 
filter time 8.224824 ms 
--------------------stamp1317357922.533946037
prepare time 11.023238 
sort q time 5.372631 
seperate points time 11.990777 
publication time 8.115892 ms 
whole laserOdometry time 8.133463 ms 
 
mapping data assosiation time 35.481085 ms 
--------------------stamp1317357922.637768030
points size 88574 
prepare time 11.331486 
sort q time 4.932422 
seperate points time 10.756074 
mapping data assosiation time 37.739702 ms 
1317357922.637768030 WriteOdom laser_odom_to_init
1317357922.637768030 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.123825 ms 
mapping optimization time 168.179429 
add points time 1.023645 ms
filter time 8.185267 ms 
map prepare time 2.910388 ms
map corner num 103683  surf num 54801 
--------------------stamp1317357922.741590023
points size 87860 
sort q time 5.030173 
seperate points time 12.244183 
mapping data assosiation time 35.742395 ms 
-----t: 0.0521581
OdomCount 1549 & avg odom time 0.045863 ms ++++++++++++++++++++++
--------------------stamp1317357922.845412015
points size 87543 
sort q time 5.585138 
seperate points time 11.000012 
mapping solver time 36.184237 ms 
filter time 12.621475 ms 
mapping pub time 2.269436 ms 
whole mapping time 179.969743 ms +++++
mappingCount 1087 & avg mapping time 143.199491 ms ++++++++++++++++++++++
1317357922.533946037 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0656079
OdomCount 1550 & avg odom time 0.045876 ms ++++++++++++++++++++++build tree time 31.705491 ms 
--------------------stamp1317357922.949234962
points size 87988 
mapping data assosiation time 36.229771 ms 
scan registration time 35.898588 ms *************
publication time 9.891018 ms 
whole laserOdometry time 9.903021 ms 
 
-----t: 0.0667576
OdomCount 1551 & avg odom time 0.045889 ms ++++++++++++++++++++++
mapping data assosiation time 34.816786 ms 
--------------------stamp1317357923.053059101
points size 88494 
mapping optimization time 170.867378 
add points time 1.246636 ms
map prepare time 3.259746 ms
map corner num 105796  surf num 55453 
-----t: 0.0470775
OdomCount 1552 & avg odom time 0.045890 ms ++++++++++++++++++++++
build tree time 35.541229 ms 
--------------------stamp1317357923.156883001
mapping data assosiation time 33.244733 ms 
scan registration time 32.914066 ms *************
publication time 11.049390 ms 
whole laserOdometry time 11.064906 ms 
 
-----t: 0.052623
OdomCount 1553 & avg odom time 0.045894 ms ++++++++++++++++++++++
mapping data assosiation time 34.737296 ms 
--------------------stamp1317357923.260704994
filter time 12.305726 ms 
sort q time 5.155430 
seperate points time 24.568753 
-----t: 0.0370628
OdomCount 1554 & avg odom time 0.045889 ms ++++++++++++++++++++++
mapping data assosiation time 27.920307 ms 
--------------------stamp1317357923.364506006
points size 78011 
sort q time 4.782009 
seperate points time 12.111610 
scan registration time 28.456408 ms *************
mapping data assosiation time 32.409007 ms 
-----t: 0.0498344
OdomCount 1555 & avg odom time 0.045891 ms ++++++++++++++++++++++
1317357923.364506006 WriteOdom laser_odom_to_init
1317357923.364506006 WriteOdom aft_mapped_to_init_high_frec
filter time 9.787585 ms 
--------------------stamp1317357923.468303918
points size 74473 
build tree time 21.590568 ms 
prepare time 12.033587 
scan registration time 28.051320 ms *************
publication time 9.034905 ms 
whole laserOdometry time 9.051382 ms 
 
-----t: 0.0513673
OdomCount 1556 & avg odom time 0.045895 ms ++++++++++++++++++++++
--------------------stamp1317357923.572129964
points size 70181 
sort q time 3.623306 
seperate points time 8.162710 
mapping solver time 25.107519 ms 
filter time 9.904386 ms 
build tree time 18.779565 ms 
mapping data assosiation time 29.219048 ms 
points size 66137 
sort q time 3.653747 
seperate points time 8.633448 
publication time 7.109757 ms 
whole laserOdometry time 7.121822 ms 
 
-----t: 0.0336799
OdomCount 1558 & avg odom time 0.045878 ms ++++++++++++++++++++++
1317357923.675930023 WriteOdom laser_odom_to_init
1317357923.675930023 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 45.122551 ms 
mapping solver time 25.035562 ms 
points size 65334 
sort q time 3.763838 
seperate points time 8.991627 
publication time 5.855701 ms 
whole laserOdometry time 5.867261 ms 
 
build tree time 22.720071 ms 
mapping data assosiation time 31.331440 ms 
-----t: 0.0670564
OdomCount 1559 & avg odom time 0.045891 ms ++++++++++++++++++++++
mapping solver time 31.324856 ms 
points size 67372 
sort q time 4.039413 
seperate points time 8.927212 
mapping data assosiation time 32.950100 ms 
publication time 6.989354 ms 
whole laserOdometry time 7.002995 ms 
 
-----t: 0.0496835
OdomCount 1560 & avg odom time 0.045894 ms ++++++++++++++++++++++
1317357923.675930023 WriteOdom aft_mapped_to_init
build tree time 22.768691 ms 
points size 70646 
prepare time 11.494883 
publication time 10.047837 ms 
whole laserOdometry time 10.064178 ms 
 
mapping solver time 32.275023 ms 
1317357923.987302064 WriteOdom laser_odom_to_init
1317357923.987302064 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.731390 ms 
filter time 9.966577 ms 
scan registration time 26.838386 ms *************
build tree time 22.130357 ms 
mapping data assosiation time 29.745035 ms 
mapping solver time 23.627059 ms 
--------------------stamp1317357924.194849967
points size 78489 
mapping data assosiation time 28.857446 ms 
mapping solver time 30.272998 ms 
filter time 7.042837 ms 
--------------------stamp1317357924.298649072
prepare time 11.064550 
sort q time 5.464065 
seperate points time 10.455186 
mapping solver time 31.724244 ms 
-----t: 0.0368243
OdomCount 1564 & avg odom time 0.045874 ms ++++++++++++++++++++++
mapping data assosiation time 29.001309 ms 
mapping solver time 18.625701 ms 
[0m[ INFO] [1718889438.211443558, 1317357924.397524796]: Received 120083 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889438.211490509, 1317357924.397524796]: Data saved to 1317357924091075.pcd[0m
points size 84784 
build tree time 24.087431 ms 
sort q time 5.218086 
seperate points time 11.726384 
scan registration time 28.340014 ms *************
publication time 9.497072 ms 
whole laserOdometry time 9.509681 ms 
 
mapping data assosiation time 40.572357 ms 
-----t: 0.0486203
OdomCount 1565 & avg odom time 0.045876 ms ++++++++++++++++++++++
1317357924.402472019 WriteOdom laser_odom_to_init
1317357924.402472019 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.552889 ms 
--------------------stamp1317357924.506295919
prepare time 13.106128 
mapping data assosiation time 29.291388 ms 
mapping solver time 25.760201 ms 
filter time 9.552522 ms 
-----t: 0.051851
OdomCount 1566 & avg odom time 0.045880 ms ++++++++++++++++++++++
build tree time 21.650687 ms 
--------------------stamp1317357924.610117912
prepare time 12.293598 
sort q time 6.908995 
seperate points time 13.918947 
scan registration time 32.228095 ms *************
mapping solver time 31.883144 ms 
-----t: 0.0440091
OdomCount 1567 & avg odom time 0.045879 ms ++++++++++++++++++++++
publication time 18.017453 ms 
whole laserOdometry time 18.029402 ms 
 
mapping solver time 18.544638 ms 
filter time 6.336559 ms 
points size 88092 
sort q time 5.713743 
seperate points time 12.379038 
scan registration time 30.050720 ms *************
build tree time 24.350013 ms 
-----t: 0.03917
OdomCount 1568 & avg odom time 0.045874 ms ++++++++++++++++++++++
1317357924.713964939 WriteOdom laser_odom_to_init
1317357924.713964939 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 32.534897 ms 
mapping solver time 25.471633 ms 
--------------------stamp1317357924.817812919
points size 88834 
prepare time 11.489517 
sort q time 4.564869 
seperate points time 10.691834 
publication time 9.247924 ms 
whole laserOdometry time 9.262040 ms 
 
filter time 9.380595 ms 
1317357924.817812919 WriteOdom laser_odom_to_init
build tree time 18.396364 ms 
--------------------stamp1317357924.921658039
prepare time 11.724017 
sort q time 4.813265 
seperate points time 10.159616 
mapping solver time 31.942890 ms 
-----t: 0.0509259
OdomCount 1570 & avg odom time 0.045875 ms ++++++++++++++++++++++
mapping solver time 20.264276 ms 
filter time 6.701178 ms 
map prepare time 4.299009 ms
map corner num 83250  surf num 40908 
prepare time 11.826442 
sort q time 5.221836 
seperate points time 10.759747 
publication time 8.354074 ms 
whole laserOdometry time 8.376570 ms 
 
-----t: 0.0408789
OdomCount 1571 & avg odom time 0.045872 ms ++++++++++++++++++++++
1317357925.025552034 WriteOdom laser_odom_to_init
1317357925.025552034 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.022603 ms 
mapping solver time 26.645741 ms 
--------------------stamp1317357925.129471063
prepare time 10.993345 
mapping data assosiation time 32.940435 ms 
mapping solver time 25.007756 ms 
mapping pub time 32.151444 ms 
whole mapping time 192.334624 ms +++++
mappingCount 1101 & avg mapping time 143.453810 ms ++++++++++++++++++++++
--------------------stamp1317357925.233412981
prepare time 10.943163 
sort q time 5.494564 
seperate points time 12.872501 
mapping data assosiation time 36.354678 ms 
-----t: 0.0486851
OdomCount 1573 & avg odom time 0.045869 ms ++++++++++++++++++++++
mapping solver time 31.927594 ms 
--------------------stamp1317357925.337378978
points size 88950 
sort q time 5.677590 
seperate points time 12.025448 
scan registration time 28.240982 ms *************
mapping solver time 27.168337 ms 
filter time 10.423000 ms 
-----t: 0.0436719
OdomCount 1574 & avg odom time 0.045867 ms ++++++++++++++++++++++
1317357925.337378978 WriteOdom laser_odom_to_init
1317357925.337378978 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357925.441370964
prepare time 11.802791 
sort q time 5.504512 
seperate points time 12.867986 
mapping solver time 41.261264 ms publication time 13.115717 ms 
whole laserOdometry time 13.209337 ms 
 
-----t: 0.0534678
OdomCount 1575 & avg odom time 0.045872 ms ++++++++++++++++++++++
1317357925.441370964 WriteOdom laser_odom_to_init
1317357925.441370964 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357925.545409917
mapping solver time 33.755417 ms 
mapping optimization time 168.200336 
points size 91001 
add points time 1.053807 ms
sort q time 14.453445 
seperate points time 22.630654 
-----t: 0.071435
OdomCount 1576 & avg odom time 0.045888 ms ++++++++++++++++++++++
points size 92516 
sort q time 5.664751 
seperate points time 12.224178 
mapping solver time 33.002680 ms 
-----t: 0.0399245
OdomCount 1577 & avg odom time 0.045885 ms ++++++++++++++++++++++
mapping data assosiation time 31.427193 ms 
mapping solver time 19.980815 ms 
filter time 6.792989 ms 
map prepare time 3.147848 ms
map corner num 86471  surf num 41757 
sort q time 5.800717 
seperate points time 11.184638 
publication time 8.861727 ms 
whole laserOdometry time 8.878724 ms 
 
mapping data assosiation time 34.425817 ms 
mapping solver time 24.708167 ms 
--------------------stamp1317357925.857623100
points size 98073 
mapping data assosiation time 27.881822 ms 
prepare time 12.055276 
scan registration time 32.241659 ms *************
filter time 9.749500 ms 
-----t: 0.0469286
OdomCount 1579 & avg odom time 0.045881 ms ++++++++++++++++++++++
1317357925.857623100 WriteOdom laser_odom_to_init
1317357925.857623100 WriteOdom aft_mapped_to_init_high_frec
build tree time 20.782428 ms 
mapping data assosiation time 26.285347 ms 
points size 101361 
sort q time 5.625721 
seperate points time 11.408983 
mapping solver time 36.130334 ms 
publication time 9.476425 ms 
whole laserOdometry time 9.491486 ms 
 
mapping data assosiation time 34.956652 ms 
-----t: 0.0555457
OdomCount 1580 & avg odom time 0.045888 ms ++++++++++++++++++++++
1317357925.961733102 WriteOdom laser_odom_to_init
mapping solver time 25.770255 ms 
--------------------stamp1317357926.065865039
map prepare time 3.282645 ms
map corner num 88189  surf num 42293 
points size 103879 
build tree time 24.633922 ms 
scan registration time 45.885373 ms *************
mapping data assosiation time 33.693193 ms 
mapping solver time 29.430349 ms 
-----t: 0.0852859
OdomCount 1581 & avg odom time 0.045913 ms ++++++++++++++++++++++
1317357926.065865039 WriteOdom laser_odom_to_init
1317357926.065865039 WriteOdom aft_mapped_to_init_high_frec
points size 104126 
sort q time 7.249853 
seperate points time 14.365507 
mapping solver time 37.350334 ms 
filter time 11.317350 ms 
--------------------stamp1317357926.274138927
points size 104030 
sort q time 6.905604 
seperate points time 14.473155 
mapping data assosiation time 36.297600 ms 
-----t: 0.050384
OdomCount 1583 & avg odom time 0.045917 ms ++++++++++++++++++++++
mapping solver time 40.788038 ms 
--------------------stamp1317357926.378297090
prepare time 13.000619 
sort q time 6.635797 
seperate points time 14.170718 
publication time 9.931359 ms 
whole laserOdometry time 9.946389 ms 
 
filter time 8.741787 ms 
--------------------stamp1317357926.482455968
points size 104048 
mapping data assosiation time 37.433931 ms 
sort q time 7.785151 
seperate points time 17.780558 
publication time 10.273738 ms 
whole laserOdometry time 10.306233 ms 
 
mapping solver time 44.772121 ms 
--------------------stamp1317357926.586615085
points size 104003 
prepare time 15.223546 
sort q time 6.219018 
seperate points time 14.775085 
filter time 11.093222 ms 
map prepare time 3.578154 ms
map corner num 90677  surf num 43059 
-----t: 0.0612012
OdomCount 1586 & avg odom time 0.045951 ms ++++++++++++++++++++++
--------------------stamp1317357926.690773010
points size 103851 
sort q time 5.784163 
seperate points time 13.486950 
mapping solver time 36.082234 ms 
publication time 10.173427 ms 
whole laserOdometry time 10.192258 ms 
 
mapping data assosiation time 33.049346 ms 
--------------------stamp1317357926.794929981
points size 103863 
drop lidar frame in mapping for real time performance 
map prepare time 3.058494 ms
map corner num 91512  surf num 43385 
sort q time 5.737971 
seperate points time 13.510483 
build tree time 24.561116 ms 
publication time 14.378048 ms 
whole laserOdometry time 14.397733 ms 
 
mapping data assosiation time 32.344522 ms 
--------------------stamp1317357926.899090051
points size 103901 
sort q time 5.844776 
seperate points time 13.660537 
publication time 11.066035 ms 
whole laserOdometry time 11.175099 ms 
 
mapping solver time 29.968736 ms 
filter time 7.040081 ms 
map prepare time 2.762149 ms
map corner num 91009  surf num 42172 
--------------------stamp1317357927.003249883
build tree time 22.181583 ms 
prepare time 17.510329 
sort q time 7.568226 
seperate points time 17.910472 
mapping data assosiation time 39.043055 ms 
publication time 12.332332 ms 
whole laserOdometry time 12.347007 ms 
 
mapping solver time 41.459437 ms 
--------------------stamp1317357927.107431888
points size 104056 
sort q time 6.110930 
seperate points time 14.306094 
mapping solver time 35.878885 ms 
mapping optimization time 171.803196 
add points time 1.129048 ms
map prepare time 4.371830 ms
map corner num 91803  surf num 42524 
--------------------stamp1317357927.211663007
sort q time 7.037980 
seperate points time 13.642908 
publication time 10.157918 ms 
whole laserOdometry time 10.172994 ms 
 
mapping data assosiation time 28.807192 ms 
points size 103808 
prepare time 16.171492 
mapping solver time 25.281469 ms 
mapping optimization time 154.292620 
add points time 1.122684 ms
map prepare time 3.619187 ms
map corner num 92608  surf num 42889 
-----t: 0.05235
OdomCount 1593 & avg odom time 0.045996 ms ++++++++++++++++++++++
--------------------stamp1317357927.420147895
points size 103366 
sort q time 6.692477 
seperate points time 14.372782 
publication time 10.875444 ms 
whole laserOdometry time 10.889731 ms 
 
mapping data assosiation time 37.389425 ms 
--------------------stamp1317357927.524332046
points size 103226 
mapping solver time 38.131391 ms 
sort q time 5.820553 
seperate points time 11.873451 
map prepare time 3.721719 ms
map corner num 93396  surf num 43311 
publication time 10.976222 ms 
whole laserOdometry time 11.048388 ms 
 
-----t: 0.0555785
OdomCount 1595 & avg odom time 0.046008 ms ++++++++++++++++++++++
mapping data assosiation time 29.728757 ms 
--------------------stamp1317357927.628490924
sort q time 5.829870 
seperate points time 13.547073 
publication time 9.689586 ms 
whole laserOdometry time 9.731809 ms 
 
mapping solver time 26.245694 ms 
mapping optimization time 158.443382 
add points time 1.061956 ms
--------------------stamp1317357927.732626914
drop lidar frame in mapping for real time performance 
points size 102716 
build tree time 21.918132 ms 
publication time 9.540603 ms 
whole laserOdometry time 9.554990 ms 
 
sort q time 5.570171 
seperate points time 13.105825 
scan registration time 35.121782 ms *************
mapping solver time 25.768352 ms 
filter time 10.729873 ms 
map prepare time 3.298349 ms
map corner num 94754  surf num 43888 
build tree time 20.944794 ms 
--------------------stamp1317357927.940754890
prepare time 12.212286 
sort q time 7.242637 
seperate points time 13.645657 
publication time 9.025879 ms 
whole laserOdometry time 9.060085 ms 
 
-----t: 0.0617219
OdomCount 1599 & avg odom time 0.046019 ms ++++++++++++++++++++++
mapping data assosiation time 33.649050 ms 
--------------------stamp1317357928.044807910
points size 102170 
mapping pub time 2.593109 ms 
whole mapping time 158.348159 ms +++++
mappingCount 1117 & avg mapping time 143.900498 ms ++++++++++++++++++++++
scan registration time 32.919949 ms *************
build tree time 29.539195 ms 
publication time 13.875301 ms 
whole laserOdometry time 13.883692 ms 
 
-----t: 0.0573178
OdomCount 1600 & avg odom time 0.046026 ms ++++++++++++++++++++++
mapping data assosiation time 31.749371 ms 
--------------------stamp1317357928.148776054
points size 100761 
mapping solver time 38.315557 ms 
publication time 9.249952 ms 
whole laserOdometry time 9.263433 ms 
 
1317357928.148776054 WriteOdom laser_odom_to_init
1317357928.148776054 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 42.394974 ms 
filter time 10.086570 ms 
map prepare time 4.453417 ms
map corner num 96195  surf num 44508 
sort q time 6.239054 
seperate points time 14.447616 
build tree time 28.214522 ms 
mapping data assosiation time 31.515104 ms 
-----t: 0.0717084
OdomCount 1602 & avg odom time 0.046051 ms ++++++++++++++++++++++
1317357928.252701044 WriteOdom laser_odom_to_init
1317357928.252701044 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357928.356591939
sort q time 6.820278 
seperate points time 15.977035 
mapping data assosiation time 45.105520 ms 
publication time 24.530741 ms 
whole laserOdometry time 24.549730 ms 
 
mapping pub time 2.202146 ms 
whole mapping time 181.018910 ms +++++
mappingCount 1119 & avg mapping time 143.980246 ms ++++++++++++++++++++++
1317357928.044807911 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.121749 ms
map corner num 96762  surf num 44744 
points size 96224 
sort q time 6.210598 
seperate points time 12.596014 
publication time 8.612108 ms 
whole laserOdometry time 8.628475 ms 
 
mapping data assosiation time 36.022884 ms 
mapping solver time 32.673263 ms 
--------------------stamp1317357928.564266920
mapping data assosiation time 28.194861 ms 
prepare time 12.018152 
mapping solver time 30.275134 ms 
mapping optimization time 153.475893 
add points time 1.183227 ms
publication time 19.402949 ms 
whole laserOdometry time 19.498815 ms 
 
build tree time 21.995742 ms 
--------------------stamp1317357928.668061971
points size 93212 
sort q time 5.227800 
seperate points time 12.155336 
mapping solver time 37.015915 ms 
-----t: 0.0500461
OdomCount 1606 & avg odom time 0.046053 ms ++++++++++++++++++++++
1317357928.668061971 WriteOdom laser_odom_to_init
1317357928.668061971 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.422320 ms 
--------------------stamp1317357928.771835088
mapping solver time 28.812321 ms 
filter time 11.150021 ms 
sort q time 13.793931 
seperate points time 21.510342 
publication time 9.873333 ms 
whole laserOdometry time 9.887329 ms 
 
mapping pub time 44.950440 ms 
whole mapping time 212.649112 ms +++++
mappingCount 1121 & avg mapping time 144.066463 ms ++++++++++++++++++++++
1317357928.460442066 WriteOdom aft_mapped_to_init
-----t: 0.0533728
OdomCount 1607 & avg odom time 0.046058 ms ++++++++++++++++++++++
1317357928.771835088 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
1317357928.771835088 WriteOdom aft_mapped_to_init_high_frec
build tree time 25.320163 ms 
points size 91349 
mapping data assosiation time 27.436529 ms 
publication time 10.495183 ms 
whole laserOdometry time 10.525449 ms 
 
mapping solver time 41.845209 ms 
-----t: 0.0631471
OdomCount 1608 & avg odom time 0.046069 ms ++++++++++++++++++++++
mapping data assosiation time 30.244840 ms 
points size 90668 
sort q time 5.742308 
seperate points time 12.913442 
map prepare time 3.612689 ms
map corner num 98809  surf num 45487 
publication time 12.968801 ms 
whole laserOdometry time 12.984187 ms 
 
-----t: 0.057231
OdomCount 1609 & avg odom time 0.046075 ms ++++++++++++++++++++++
1317357928.979337930 WriteOdom laser_odom_to_init
1317357928.979337930 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.454170 ms 
--------------------stamp1317357929.083065986
prepare time 11.776958 
mapping solver time 34.566948 ms 
sort q time 5.892555 
seperate points time 11.941771 
mapping data assosiation time 32.185182 ms 
-----t: 0.0568875
OdomCount 1610 & avg odom time 0.046082 ms ++++++++++++++++++++++
mapping solver time 31.207344 ms 
filter time 7.706584 ms 
points size 90848 
sort q time 5.514438 
seperate points time 12.398703 
publication time 10.629244 ms 
whole laserOdometry time 10.664321 ms 
 
mapping data assosiation time 32.744347 ms 
-----t: 0.0488276
OdomCount 1611 & avg odom time 0.046084 ms ++++++++++++++++++++++
1317357929.186768054 WriteOdom laser_odom_to_init
1317357929.186768054 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 35.002659 ms 
points size 91917 
sort q time 4.991856 
seperate points time 11.746928 
scan registration time 30.402138 ms *************
-----t: 0.0371884
OdomCount 1612 & avg odom time 0.046078 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
build tree time 20.216879 ms 
--------------------stamp1317357929.394124984
prepare time 11.508631 
sort q time 5.768532 
seperate points time 13.240030 
mapping solver time 34.237597 ms 
-----t: 0.036879
OdomCount 1613 & avg odom time 0.046073 ms ++++++++++++++++++++++
mapping data assosiation time 27.675254 ms 
mapping solver time 22.851857 ms 
filter time 7.906224 ms 
map prepare time 4.204404 ms
map corner num 101382  surf num 46404 
prepare time 14.119151 
sort q time 5.269523 
seperate points time 12.408750 
publication time 6.817032 ms 
whole laserOdometry time 6.832078 ms 
 
mapping data assosiation time 26.986162 ms 
mapping solver time 27.497548 ms 
--------------------stamp1317357929.601408004
points size 96371 
sort q time 6.668323 
seperate points time 12.372123 
scan registration time 30.931963 ms *************
publication time 10.913428 ms 
whole laserOdometry time 10.930348 ms 
 
filter time 11.690076 ms 
map prepare time 2.607267 ms
map corner num 102318  surf num 46726 
--------------------stamp1317357929.705064058
points size 98280 
sort q time 6.403197 
seperate points time 12.025521 
publication time 9.273545 ms 
whole laserOdometry time 9.289797 ms 
 
mapping solver time 35.776518 ms 
mapping data assosiation time 24.011763 ms 
--------------------stamp1317357929.808721065
points size 99483 
mapping solver time 34.933140 ms 
filter time 9.785724 ms 
publication time 8.642287 ms 
whole laserOdometry time 8.655426 ms 
 
build tree time 26.236942 ms 
mapping data assosiation time 22.775308 ms 
--------------------stamp1317357929.912424087
points size 100330 
prepare time 21.696946 
mapping solver time 35.212619 ms 
sort q time 5.696908 
seperate points time 13.262285 
scan registration time 42.901115 ms *************
-----t: 0.0402546
OdomCount 1618 & avg odom time 0.046109 ms ++++++++++++++++++++++
publication time 11.044468 ms 
whole laserOdometry time 11.058514 ms 
 
mapping solver time 26.673582 ms 
filter time 7.800748 ms 
map prepare time 2.669209 ms
map corner num 103814  surf num 47137 
points size 97466 
sort q time 5.604039 
seperate points time 12.990722 
mapping data assosiation time 25.715531 ms 
publication time 7.387895 ms 
whole laserOdometry time 7.400324 ms 
 
-----t: 0.0546695
OdomCount 1619 & avg odom time 0.046115 ms ++++++++++++++++++++++
mapping solver time 38.728655 ms 
--------------------stamp1317357930.119853019
points size 94472 
sort q time 5.342178 
seperate points time 12.516804 
-----t: 0.0350734
OdomCount 1620 & avg odom time 0.046108 ms ++++++++++++++++++++++
build tree time 22.513846 ms 
mapping data assosiation time 22.006843 ms 
prepare time 11.780686 
mapping solver time 31.584970 ms 
scan registration time 38.814457 ms *************
-----t: 0.040796
OdomCount 1621 & avg odom time 0.046104 ms ++++++++++++++++++++++
mapping solver time 23.187695 ms 
filter time 7.519310 ms 
--------------------stamp1317357930.327281951
points size 90643 
prepare time 14.496969 
publication time 8.142198 ms 
whole laserOdometry time 8.157536 ms 
 
mapping solver time 22.184568 ms 
mapping data assosiation time 21.285746 ms 
--------------------stamp1317357930.431009054
prepare time 13.815591 
[0m[ INFO] [1718889444.271759049, 1317357930.455056176]: Received 153112 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889444.271798628, 1317357930.455056176]: Data saved to 1317357930119853.pcd[0m
publication time 9.246297 ms 
whole laserOdometry time 9.259873 ms 
 
-----t: 0.0347637
OdomCount 1623 & avg odom time 0.046090 ms ++++++++++++++++++++++
1317357930.431009054 WriteOdom laser_odom_to_init
1317357930.431009054 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.887503 ms 
mapping solver time 19.673404 ms 
--------------------stamp1317357930.534737110
points size 90863 
sort q time 4.911335 
seperate points time 11.502603 filter time 9.325775 ms 
mapping pub time 2.153326 ms 
whole mapping time 129.723300 ms +++++
mappingCount 1132 & avg mapping time 144.181131 ms ++++++++++++++++++++++
1317357930.327281952 WriteOdom aft_mapped_to_init
-----t: 0.0360618
OdomCount 1624 & avg odom time 0.046084 ms ++++++++++++++++++++++
1317357930.534737110 WriteOdom laser_odom_to_init
publication time 8.162598 ms 
whole laserOdometry time 8.174782 ms 
 
1317357930.534737110 WriteOdom aft_mapped_to_init_high_frec
build tree time 27.293168 ms 
--------------------stamp1317357930.638438940
points size 91263 
mapping solver time 22.290977 ms 
scan registration time 30.404867 ms *************
-----t: 0.0408201
OdomCount 1625 & avg odom time 0.046081 ms ++++++++++++++++++++++
mapping solver time 16.912030 ms 
filter time 7.283222 ms 
build tree time 22.496429 ms 
points size 88844 
mapping data assosiation time 19.946202 ms 
sort q time 4.919242 
seperate points time 11.613004 
mapping solver time 22.755525 ms 
publication time 10.636438 ms 
whole laserOdometry time 10.655345 ms 
 
-----t: 0.0620137
OdomCount 1626 & avg odom time 0.046090 ms ++++++++++++++++++++++
mapping solver time 16.538848 ms 
mapping optimization time 110.853266 
add points time 0.748433 ms
map prepare time 2.518122 ms
map corner num 106972  surf num 47849 
points size 85321 
build tree time 34.958606 ms mapping data assosiation time 20.673144 ms 
-----t: 0.0493141
OdomCount 1627 & avg odom time 0.046092 ms ++++++++++++++++++++++
mapping solver time 26.864273 ms 
--------------------stamp1317357930.949594974
prepare time 10.141601 
sort q time 5.187961 map prepare time 3.368101 ms
map corner num 140695  surf num 65724 
-----t: 0.0312629
OdomCount 1628 & avg odom time 0.046083 ms ++++++++++++++++++++++
build tree time 34.006170 ms 
mapping data assosiation time 18.846207 ms 
--------------------stamp1317357931.053297996
points size 81584 
sort q time 4.702895 
seperate points time 9.419602 
publication time 5.694768 ms 
whole laserOdometry time 5.710230 ms 
 
filter time 9.219008 ms 
map prepare time 2.577167 ms
map corner num 141144  surf num 65824 
build tree time 32.174323 ms 
--------------------stamp1317357931.157000064
mapping data assosiation time 21.337837 ms 
sort q time 4.374474 
seperate points time 10.301758 
publication time 8.308570 ms 
whole laserOdometry time 8.322272 ms 
 
mapping solver time 14.079307 ms 
mapping optimization time 113.331304 
add points time 0.623131 ms
map prepare time 2.544777 ms
map corner num 141550  surf num 65913 
--------------------stamp1317357931.260699987
prepare time 10.689775 
build tree time 39.267144 ms 
sort q time 4.958106 
seperate points time 10.737221 
mapping solver time 23.339539 ms 
mapping data assosiation time 17.830618 ms 
mapping solver time 18.640945 ms 
points size 83378 
map prepare time 2.906737 ms
map corner num 142073  surf num 66046 
publication time 6.923606 ms 
whole laserOdometry time 6.937347 ms 
 
-----t: 0.0339065
OdomCount 1632 & avg odom time 0.046050 ms ++++++++++++++++++++++
1317357931.364403963 WriteOdom laser_odom_to_init
1317357931.364403963 WriteOdom aft_mapped_to_init_high_frec
build tree time 40.481353 ms 
mapping data assosiation time 19.229705 ms 
mapping solver time 19.183977 ms 
points size 86073 
sort q time 4.905000 
seperate points time 10.026753 
mapping solver time 17.170718 ms 
filter time 13.906802 ms 
build tree time 29.964677 ms 
--------------------stamp1317357931.571835994
points size 88025 
mapping solver time 22.194869 ms 
add points time 0.867232 ms
-----t: 0.0555116
OdomCount 1634 & avg odom time 0.046050 ms ++++++++++++++++++++++
1317357931.571835994 WriteOdom laser_odom_to_init
1317357931.571835994 WriteOdom aft_mapped_to_init_high_frec
filter time 18.207987 ms 
map prepare time 3.560968 ms
map corner num 142861  surf num 66240 --------------------stamp1317357931.675539016
prepare time 11.879464 
publication time 9.482659 ms 
whole laserOdometry time 9.494619 ms 
 
build tree time 66.103909 ms 
-----t: 0.057252
OdomCount 1635 & avg odom time 0.046057 ms ++++++++++++++++++++++
1317357931.675539016 WriteOdom aft_mapped_to_init_high_frec
1317357931.675539016 WriteOdom laser_odom_to_init
mapping solver time 24.835079 ms 
--------------------stamp1317357931.779241085
points size 90801 
sort q time 6.041536 
seperate points time 14.978846 
publication time 6.986468 ms 
whole laserOdometry time 6.997878 ms 
 
mapping optimization time 176.308861 
filter time 14.039331 ms 
-----t: 0.0705065
OdomCount 1636 & avg odom time 0.046072 ms ++++++++++++++++++++++
--------------------stamp1317357931.882942914
sort q time 5.725633 
seperate points time 12.063811 
publication time 9.930501 ms 
whole laserOdometry time 9.944447 ms 
 
mapping data assosiation time 22.700479 ms 
--------------------stamp1317357931.986673116
prepare time 12.279194 
sort q time 4.944446 
seperate points time 11.125663 
publication time 6.909016 ms 
whole laserOdometry time 6.933521 ms 
 
mapping solver time 29.285693 ms 
filter time 11.656606 ms 
--------------------stamp1317357932.090399026
points size 92163 
sort q time 4.998028 
seperate points time 11.205969 
publication time 8.719906 ms 
whole laserOdometry time 8.732813 ms 
 
mapping data assosiation time 18.043508 ms 
mapping solver time 15.969168 ms 
--------------------stamp1317357932.194098949
map prepare time 3.224626 ms
map corner num 144252  surf num 66596 
sort q time 5.713721 
seperate points time 17.858886 
build tree time 41.174047 ms 
publication time 17.282807 ms 1317357932.194098949 WriteOdom laser_odom_to_init
1317357932.194098949 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.616463 ms 
points size 91576 
sort q time 5.294308 
seperate points time 11.469119 
mapping solver time 23.004302 ms 
-----t: 0.0333207
OdomCount 1641 & avg odom time 0.046068 ms ++++++++++++++++++++++
1317357932.297801971 WriteOdom laser_odom_to_init
1317357932.297801971 WriteOdom aft_mapped_to_init_high_frec
build tree time 30.366432 ms 
--------------------stamp1317357932.401505947
points size 92142 
sort q time 5.298313 
seperate points time 12.233155 
mapping solver time 22.155821 ms 
scan registration time 31.247389 ms *************
mapping data assosiation time 20.787649 ms 
publication time 10.853902 ms 
whole laserOdometry time 10.866073 ms 
 
filter time 9.716383 ms 
--------------------stamp1317357932.505207061
prepare time 13.239005 
sort q time 5.140906 
seperate points time 12.134335 
mapping data assosiation time 31.239349 ms 
publication time 22.453016 ms 
whole laserOdometry time 22.713621 ms 
 
mapping solver time 29.414680 ms 
mapping data assosiation time 18.632949 ms 
--------------------stamp1317357932.608957052
points size 88809 
filter time 11.801876 ms 
-----t: 0.0310322
OdomCount 1644 & avg odom time 0.046050 ms ++++++++++++++++++++++
1317357932.608957052 WriteOdom laser_odom_to_init
1317357932.608957052 WriteOdom aft_mapped_to_init_high_frec
publication time 8.741093 ms 
whole laserOdometry time 8.855735 ms 
 
build tree time 35.806944 ms 
mapping data assosiation time 19.247898 ms 
--------------------stamp1317357932.712735891
points size 86544 
sort q time 5.151237 
seperate points time 11.218974 
mapping solver time 16.958981 ms 
1317357932.712735891 WriteOdom laser_odom_to_init
1317357932.712735891 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.848156 ms
map corner num 146185  surf num 67143 
build tree time 33.864075 ms 
points size 84449 
sort q time 5.029351 
seperate points time 10.897869 
scan registration time 26.710876 ms *************
publication time 7.929395 ms 
whole laserOdometry time 7.942020 ms 
 
mapping solver time 12.652262 ms 
filter time 10.356490 ms 
points size 83511 
sort q time 5.455070 
seperate points time 10.403727 
build tree time 38.382707 ms 
publication time 8.020215 ms 
whole laserOdometry time 8.033407 ms 
 
mapping solver time 17.358125 ms 
mapping data assosiation time 18.457611 ms 
--------------------stamp1317357933.024058103
points size 85030 
filter time 11.098091 ms 
publication time 8.676729 ms 
whole laserOdometry time 8.683641 ms 
 
-----t: 0.040685
OdomCount 1648 & avg odom time 0.046041 ms ++++++++++++++++++++++
1317357933.024058103 WriteOdom laser_odom_to_init
1317357933.024058103 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.663682 ms 
--------------------stamp1317357933.127856016
points size 85574 
prepare time 11.098938 
scan registration time 26.634877 ms *************
publication time 7.778882 ms 
whole laserOdometry time 7.912310 ms -----t: 0.0437605
OdomCount 1649 & avg odom time 0.046040 ms ++++++++++++++++++++++
1317357933.127856016 WriteOdom laser_odom_to_init
1317357933.127856016 WriteOdom aft_mapped_to_init_high_frec
filter time 14.113591 ms 
mapping pub time 1.822551 ms 
whole mapping time 143.615182 ms +++++
mappingCount 1150 & avg mapping time 144.151498 ms ++++++++++++++++++++++
1317357932.920283079 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357933.231678962
prepare time 11.203725 
sort q time 4.625633 
seperate points time 10.652601 
publication time 9.326450 ms 
whole laserOdometry time 9.339289 ms 
 
mapping data assosiation time 17.908196 ms 
mapping solver time 18.613458 ms 
filter time 11.839294 ms 
points size 88945 
build tree time 41.211205 ms 
mapping data assosiation time 21.979635 ms 
publication time 7.665338 ms 
whole laserOdometry time 7.676724 ms 
 
points size 88205 
mapping data assosiation time 23.743735 ms 
sort q time 5.714047 
seperate points time 11.192547 
mapping solver time 23.031841 ms 
-----t: 0.0353502
OdomCount 1652 & avg odom time 0.046023 ms ++++++++++++++++++++++
map prepare time 3.009733 ms
map corner num 148540  surf num 67679 
build tree time 35.533658 ms 
points size 84781 
sort q time 4.866957 
seperate points time 11.458106 
-----t: 0.0329851
OdomCount 1653 & avg odom time 0.046015 ms ++++++++++++++++++++++
mapping solver time 27.502982 ms 
1317357933.543100118 WriteOdom laser_odom_to_init
publication time 9.984678 ms 
whole laserOdometry time 9.994919 ms 
 
1317357933.543100118 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.181938 ms 
mapping solver time 15.540924 ms 
mapping optimization time 123.366886 
add points time 0.673003 ms
map prepare time 2.823376 ms
map corner num 148939  surf num 67792 
prepare time 12.305387 
sort q time 4.714908 
seperate points time 10.934966 
scan registration time 28.284386 ms *************
build tree time 43.242123 ms 
publication time 7.406215 ms 
whole laserOdometry time 7.421393 ms 
 
-----t: 0.0314009
OdomCount 1654 & avg odom time 0.046006 ms ++++++++++++++++++++++
1317357933.646922111 WriteOdom laser_odom_to_init
1317357933.646922111 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.246608 ms 
mapping solver time 20.817995 ms 
--------------------stamp1317357933.750745058
points size 84236 
sort q time 4.466123 
seperate points time 10.698872 
filter time 10.274237 ms 
-----t: 0.0411171
OdomCount 1655 & avg odom time 0.046003 ms ++++++++++++++++++++++
1317357933.750745058 WriteOdom laser_odom_to_init
1317357933.750745058 WriteOdom aft_mapped_to_init_high_frec
build tree time 36.748675 ms 
mapping data assosiation time 18.864619 ms 
points size 85939 
sort q time 4.819228 
seperate points time 11.484297 
mapping data assosiation time 21.872655 ms 
mapping solver time 16.223704 ms 
mapping optimization time 113.642778 
add points time 0.672948 ms
filter time 24.249785 ms 
map prepare time 3.787901 ms
map corner num 149808  surf num 68031 
--------------------stamp1317357933.958417892
prepare time 11.035902 
sort q time 5.029277 
seperate points time 11.292679 
publication time 5.883867 ms 
whole laserOdometry time 5.895031 ms 
 
-----t: 0.043304
OdomCount 1657 & avg odom time 0.046002 ms ++++++++++++++++++++++
mapping solver time 19.231160 ms 
mapping data assosiation time 18.815524 ms 
--------------------stamp1317357934.062288045
points size 86405 
filter time 15.302385 ms 
[0m[ INFO] [1718889447.908158483, 1317357934.087439487]: Received 218321 data points in frame camera_init with the following fields: x y z intensity[0m
publication time 8.149121 ms 
whole laserOdometry time 8.161883 ms 
 
build tree time 40.335190 ms 
mapping data assosiation time 19.406305 ms 
--------------------stamp1317357934.166157960
mapping solver time 23.883673 ms 
sort q time 5.471860 
seperate points time 12.957920 
-----t: 0.0342327
OdomCount 1659 & avg odom time 0.045990 ms ++++++++++++++++++++++
filter time 10.572702 ms 
--------------------stamp1317357934.270028114
prepare time 12.401064 
mapping data assosiation time 23.313939 ms 
mapping solver time 19.318525 ms 
1317357934.270028114 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.129415 ms 
filter time 10.781205 ms 
points size 82938 
sort q time 4.591298 
seperate points time 10.783122 
-----t: 0.0306957
OdomCount 1661 & avg odom time 0.045983 ms ++++++++++++++++++++++
1317357934.373872995 WriteOdom laser_odom_to_init
1317357934.373872995 WriteOdom aft_mapped_to_init_high_frec
build tree time 45.961194 ms 
publication time 10.925833 ms 
whole laserOdometry time 10.938186 ms 
 
mapping solver time 21.315544 ms 
--------------------stamp1317357934.477720022
mapping data assosiation time 22.901285 ms 
mapping solver time 16.073692 ms 
mapping optimization time 129.780627 
add points time 0.711082 ms
1317357934.477720022 WriteOdom aft_mapped_to_init_high_frec
publication time 6.712921 ms 
whole laserOdometry time 6.725984 ms 
 
build tree time 46.406095 ms 
points size 81351 
mapping data assosiation time 23.077369 ms 
mapping solver time 21.648578 ms 
mapping data assosiation time 22.323853 ms 
mapping solver time 16.461918 ms 
filter time 15.141456 ms 
map prepare time 3.749976 ms
map corner num 151951  surf num 68569 
points size 81894 
sort q time 4.760342 
seperate points time 10.910776 
-----t: 0.0292102
OdomCount 1664 & avg odom time 0.045965 ms ++++++++++++++++++++++
1317357934.685440063 WriteOdom laser_odom_to_init
1317357934.685440063 WriteOdom aft_mapped_to_init_high_frec
build tree time 44.510781 ms 
publication time 7.799031 ms 
whole laserOdometry time 7.805649 ms 
 
mapping data assosiation time 22.521627 ms 
mapping solver time 22.565840 ms 
--------------------stamp1317357934.789263963
points size 83964 
sort q time 4.394285 filter time 14.883075 ms 
-----t: 0.0494059
OdomCount 1665 & avg odom time 0.045967 ms ++++++++++++++++++++++
[0m[ INFO] [1718889448.685960990, 1317357934.866044363]: Received 221044 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889448.685993879, 1317357934.866044363]: Data saved to 1317357934477720.pcd[0m
--------------------stamp1317357934.893085002
sort q time 5.127158 
seperate points time 10.407234 
publication time 7.286692 ms 
whole laserOdometry time 7.296706 ms 
 
-----t: 0.0549741
OdomCount 1666 & avg odom time 0.045973 ms ++++++++++++++++++++++
mapping data assosiation time 19.774008 ms 
--------------------stamp1317357934.996906995
points size 88050 
prepare time 13.317779 
-----t: 0.0344145
OdomCount 1667 & avg odom time 0.045966 ms ++++++++++++++++++++++
build tree time 40.213069 ms 
mapping data assosiation time 18.032640 ms 
--------------------stamp1317357935.100707054
prepare time 11.908926 
sort q time 5.007547 
seperate points time 11.639866 
mapping solver time 21.690421 ms 
filter time 10.446755 ms 
--------------------stamp1317357935.204482078
prepare time 10.942271 
mapping data assosiation time 21.094304 ms 
publication time 8.261839 ms mapping data assosiation time 20.972405 ms 
mapping solver time 13.819449 ms 
filter time 10.760617 ms 
points size 91280 
sort q time 4.917937 
seperate points time 13.234660 
build tree time 36.929787 ms 
publication time 10.933162 ms 
whole laserOdometry time 10.947722 ms 
 
mapping solver time 18.819773 ms 
--------------------stamp1317357935.412005901
prepare time 13.397041 
mapping solver time 21.673915 ms 
filter time 12.624183 ms 
publication time 8.478623 ms 
whole laserOdometry time 8.495925 ms 
 
build tree time 38.320149 ms 
--------------------stamp1317357935.515758991
points size 92786 
prepare time 13.831008 
mapping solver time 27.265560 ms 
publication time 8.686965 ms 
whole laserOdometry time 8.700585 ms 
 
-----t: 0.0403317
OdomCount 1672 & avg odom time 0.045943 ms ++++++++++++++++++++++
mapping solver time 14.989233 ms 
filter time 9.844379 ms 
[0m[ INFO] [1718889449.424042578, 1317357935.607748880]: Received 225083 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889449.424080593, 1317357935.607748880]: Data saved to 1317357935308254.pcd[0m
--------------------stamp1317357935.619509935
prepare time 10.747532 
sort q time 5.243719 
seperate points time 11.995159 
publication time 8.527947 ms 
whole laserOdometry time 8.543710 ms 
 
-----t: 0.036588
OdomCount 1673 & avg odom time 0.045937 ms ++++++++++++++++++++++
1317357935.619509935 WriteOdom laser_odom_to_init
1317357935.619509935 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.065693 ms 
mapping solver time 22.910145 ms 
mapping data assosiation time 19.975721 ms 
--------------------stamp1317357935.723258972
prepare time 11.946488 
filter time 12.878967 ms 
publication time 8.809845 ms 
whole laserOdometry time 8.822449 ms 
 
build tree time 43.947284 ms 
mapping data assosiation time 20.077151 ms 
points size 92648 
mapping solver time 25.414574 ms 
publication time 8.329748 ms 
whole laserOdometry time 8.361845 ms 
 
-----t: 0.0410947
OdomCount 1675 & avg odom time 0.045934 ms ++++++++++++++++++++++
mapping solver time 19.611924 ms 
filter time 10.008419 ms 
--------------------stamp1317357935.930809020
points size 90911 
build tree time 41.360746 ms 
mapping data assosiation time 25.612478 ms 
-----t: 0.0494564
OdomCount 1676 & avg odom time 0.045936 ms ++++++++++++++++++++++
mapping solver time 24.869901 ms 
mapping data assosiation time 20.022605 ms 
--------------------stamp1317357936.034581899
mapping data assosiation time 20.877845 ms 
--------------------stamp1317357936.138356924
prepare time 11.292232 
sort q time 5.304854 
seperate points time 11.403623 
mapping data assosiation time 26.285825 ms 
-----t: 0.0355436
OdomCount 1678 & avg odom time 0.045927 ms ++++++++++++++++++++++
filter time 10.236279 ms 
--------------------stamp1317357936.242157936
prepare time 10.490140 
sort q time 4.703077 
seperate points time 9.826635 
scan registration time 25.437842 ms *************
publication time 8.110771 ms 
whole laserOdometry time 8.127196 ms 
 
mapping solver time 21.865988 ms 
mapping data assosiation time 20.310919 ms 
mapping solver time 13.897255 ms 
--------------------stamp1317357936.345978975
mapping pub time 5.372603 ms 
whole mapping time 144.629888 ms +++++
mappingCount 1171 & avg mapping time 144.226866 ms ++++++++++++++++++++++
1317357936.034581900 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889450.172186624, 1317357936.357809949]: Received 229102 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889450.172280574, 1317357936.357809949]: Data saved to 1317357936034581.pcd[0m
prepare time 11.750553 
map prepare time 3.744178 ms
map corner num 158406  surf num 70696 
publication time 6.841860 ms 
whole laserOdometry time 6.856897 ms 
 
build tree time 42.645993 ms 
mapping data assosiation time 19.049715 ms 
mapping solver time 19.676229 ms 
points size 81105 
prepare time 9.827625 
mapping solver time 17.412214 ms 
mapping optimization time 123.615750 
add points time 0.949918 ms
1317357936.242157936 WriteOdom aft_mapped_to_init
map prepare time 2.941775 ms
map corner num 159044  surf num 70888 
publication time 8.265548 ms 
whole laserOdometry time 8.280991 ms 
 
-----t: 0.0768411
OdomCount 1681 & avg odom time 0.045933 ms ++++++++++++++++++++++
1317357936.449826002 WriteOdom laser_odom_to_init
1317357936.449826002 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357936.553672075
prepare time 9.888436 
sort q time 4.401875 
seperate points time 9.472343 
mapping solver time 21.871401 ms 
mapping data assosiation time 21.719309 ms 
mapping solver time 18.258654 ms 
filter time 11.726834 ms 
mapping pub time 1.841918 ms 
whole mapping time 141.834780 ms +++++
mappingCount 1173 & avg mapping time 144.225648 ms ++++++++++++++++++++++
1317357936.345978975 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.478212 ms
map corner num 138007  surf num 54707 
points size 80619 
sort q time 4.990875 
seperate points time 10.539015 
publication time 6.371101 ms 
whole laserOdometry time 6.441201 ms 
 
-----t: 0.0310353
OdomCount 1683 & avg odom time 0.045914 ms ++++++++++++++++++++++
mapping solver time 20.993423 ms 
mapping data assosiation time 18.542794 ms 
--------------------stamp1317357936.761270999
filter time 12.454679 ms 
publication time 5.714560 ms 
whole laserOdometry time 5.728953 ms 
 
-----t: 0.0442511
OdomCount 1684 & avg odom time 0.045913 ms ++++++++++++++++++++++
1317357936.761270999 WriteOdom laser_odom_to_init
1317357936.761270999 WriteOdom aft_mapped_to_init_high_frec
build tree time 35.421754 ms 
mapping data assosiation time 17.478911 ms 
mapping solver time 16.525909 ms 
points size 80405 
sort q time 4.198644 
seperate points time 8.914920 
mapping solver time 19.877453 ms 
mapping optimization time 109.236821 
add points time 0.660117 ms
map prepare time 3.373535 ms
map corner num 138966  surf num 54956 
build tree time 29.087354 ms 
mapping data assosiation time 17.664290 ms 
points size 79603 
prepare time 11.996570 
mapping solver time 17.071338 ms 
scan registration time 26.212548 ms *************
publication time 6.211486 ms 
whole laserOdometry time 6.223237 ms 
 
mapping solver time 14.575382 ms 
mapping optimization time 98.733615 
add points time 0.679744 ms
mapping pub time 4.298523 ms 
whole mapping time 119.051970 ms +++++
mappingCount 1176 & avg mapping time 144.180780 ms ++++++++++++++++++++++
build tree time 27.577177 ms 
points size 74890 
sort q time 4.477834 
seperate points time 9.798732 
mapping solver time 20.591340 ms 
mapping data assosiation time 19.265725 ms 
mapping solver time 15.291339 ms 
filter time 9.076733 ms 
--------------------stamp1317357937.176537036
build tree time 34.369915 ms 
publication time 6.096999 ms 
whole laserOdometry time 6.109335 ms 
 
mapping solver time 21.997287 ms 
mapping data assosiation time 16.586917 ms 
mapping solver time 17.344769 ms 
--------------------stamp1317357937.280383110
sort q time 3.851882 
seperate points time 8.064151 
publication time 6.670157 ms 
whole laserOdometry time 6.699223 ms 
 
build tree time 35.705050 ms 
mapping data assosiation time 16.167026 ms 
mapping solver time 16.376428 ms 
mapping data assosiation time 17.140725 ms 
--------------------stamp1317357937.384229898
mapping solver time 19.502444 ms 
filter time 10.600637 ms 
-----t: 0.0454858
OdomCount 1690 & avg odom time 0.045872 ms ++++++++++++++++++++++
mapping data assosiation time 16.503196 ms 
mapping solver time 17.109124 ms 
--------------------stamp1317357937.488076925
points size 63985 
sort q time 3.386489 
seperate points time 8.474839 
scan registration time 19.868782 ms *************
mapping solver time 14.092215 ms 
mapping optimization time 99.832519 
filter time 15.966446 ms 
-----t: 0.0439921
OdomCount 1691 & avg odom time 0.045870 ms ++++++++++++++++++++++
build tree time 32.629264 ms 
mapping data assosiation time 15.786336 ms 
points size 66771 
mapping solver time 24.991463 ms 
publication time 7.590400 ms 
whole laserOdometry time 7.600509 ms 
 
mapping solver time 15.506388 ms 
filter time 9.416500 ms 
--------------------stamp1317357937.695795059
[0m[ INFO] [1718889451.521381942, 1317357937.699793375]: Received 197073 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889451.521418729, 1317357937.699793375]: Data saved to 1317357937384229.pcd[0m
publication time 7.295996 ms 
whole laserOdometry time 7.309764 ms 
 
build tree time 36.562734 ms 
-----t: 0.0445142
OdomCount 1693 & avg odom time 0.045855 ms ++++++++++++++++++++++
mapping solver time 17.126517 ms 
mapping data assosiation time 16.618326 ms 
--------------------stamp1317357937.799665927
sort q time 4.279953 
seperate points time 8.506388 
scan registration time 18.351425 ms *************
-----t: 0.0260753
OdomCount 1694 & avg odom time 0.045844 ms ++++++++++++++++++++++
1317357937.799665927 WriteOdom laser_odom_to_init
1317357937.799665927 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 15.582660 ms 
mapping solver time 16.537079 ms 
points size 72690 
mapping data assosiation time 19.362658 ms 
sort q time 3.691197 
seperate points time 18.190212 
-----t: 0.0278979
OdomCount 1695 & avg odom time 0.045833 ms ++++++++++++++++++++++
publication time 5.485324 ms 
whole laserOdometry time 5.510643 ms 
 
build tree time 29.985445 ms 
mapping data assosiation time 16.948649 ms 
points size 74827 
sort q time 4.152930 
seperate points time 10.046897 
scan registration time 26.304726 ms *************
mapping data assosiation time 19.477559 ms 
mapping solver time 15.474038 ms 
mapping optimization time 102.201322 
add points time 0.799948 ms
map prepare time 2.482682 ms
map corner num 142859  surf num 56003 
--------------------stamp1317357938.111279010
sort q time 4.847204 
seperate points time 9.528365 
mapping data assosiation time 21.074379 ms 
scan registration time 24.367364 ms *************
-----t: 0.0391473
OdomCount 1697 & avg odom time 0.045831 ms ++++++++++++++++++++++
mapping solver time 12.294814 ms 
filter time 9.760370 ms 
--------------------stamp1317357938.215173006
points size 81320 
sort q time 4.337261 
seperate points time 10.536777 
mapping data assosiation time 20.993395 ms 
-----t: 0.0394653
OdomCount 1698 & avg odom time 0.045827 ms ++++++++++++++++++++++
1317357938.215173006 WriteOdom laser_odom_to_init
1317357938.215173006 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.314201 ms 
--------------------stamp1317357938.319068908
prepare time 12.771358 
scan registration time 28.297629 ms *************
map prepare time 3.592195 ms
map corner num 174708  surf num 70502 
-----t: 0.0320157
OdomCount 1699 & avg odom time 0.045819 ms ++++++++++++++++++++++
1317357938.319068908 WriteOdom laser_odom_to_init
1317357938.319068908 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718889452.197992000, 1317357938.378070353]: Received 200223 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889452.198042476, 1317357938.378070353]: Data saved to 1317357938111279.pcd[0m
build tree time 43.264404 ms 
mapping data assosiation time 19.055599 ms 
--------------------stamp1317357938.422962903
points size 86330 
sort q time 4.773292 
seperate points time 11.380892 
publication time 9.123742 ms 
whole laserOdometry time 9.143060 ms 
 
filter time 12.999564 ms 
--------------------stamp1317357938.526881933
points size 89171 
sort q time 4.732680 
seperate points time 11.369534 
publication time 6.575564 ms 
whole laserOdometry time 6.585952 ms 
 
mapping data assosiation time 17.605169 ms 
mapping solver time 17.291388 ms 
mapping optimization time 120.807849 
add points time 0.670093 ms
mapping pub time 2.429801 ms 
whole mapping time 139.435237 ms +++++
mappingCount 1188 & avg mapping time 144.049307 ms ++++++++++++++++++++++
sort q time 5.295804 
seperate points time 11.800609 
-----t: 0.0308172
OdomCount 1702 & avg odom time 0.045798 ms ++++++++++++++++++++++
mapping data assosiation time 17.855303 ms 
mapping solver time 17.098461 ms 
--------------------stamp1317357938.734765052
mapping data assosiation time 19.421596 ms 
mapping solver time 20.749288 ms 
scan registration time 32.731096 ms *************
filter time 15.939584 ms 
mapping pub time 2.098788 ms 
whole mapping time 146.177599 ms +++++
mappingCount 1189 & avg mapping time 144.051099 ms ++++++++++++++++++++++
map prepare time 3.547905 ms
map corner num 176149  surf num 70916 
publication time 7.921015 ms 
whole laserOdometry time 7.929511 ms 
 
build tree time 39.551351 ms 
--------------------stamp1317357938.838710069
points size 98117 
sort q time 5.612270 
seperate points time 12.909552 
publication time 7.570881 ms 
whole laserOdometry time 7.590246 ms 
 
-----t: 0.0469176
OdomCount 1704 & avg odom time 0.045791 ms ++++++++++++++++++++++
mapping solver time 18.910644 ms 
filter time 12.034944 ms 
mapping pub time 2.162275 ms 
whole mapping time 143.022424 ms +++++
mappingCount 1190 & avg mapping time 144.050243 ms ++++++++++++++++++++++
1317357938.630822897 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 4.143099 ms
map corner num 176551  surf num 71049 
points size 97584 
sort q time 15.372698 
seperate points time 22.400692 
build tree time 47.266673 ms 
-----t: 0.0459872
OdomCount 1705 & avg odom time 0.045791 ms ++++++++++++++++++++++
mapping solver time 20.554311 ms 
mapping data assosiation time 21.011991 ms 
points size 96873 
mapping solver time 20.227917 ms 
filter time 12.895584 ms 
1317357938.734765053 WriteOdom aft_mapped_to_init
-----t: 0.0614398
OdomCount 1706 & avg odom time 0.045800 ms ++++++++++++++++++++++
build tree time 43.345829 ms 
--------------------stamp1317357939.150585889
points size 95539 
sort q time 5.219864 
seperate points time 11.402086 
publication time 5.975857 ms 
whole laserOdometry time 5.993920 ms 
 
mapping data assosiation time 22.212571 ms 
-----t: 0.0454159
OdomCount 1707 & avg odom time 0.045800 ms ++++++++++++++++++++++
mapping solver time 16.200160 ms 
filter time 11.126465 ms 
map prepare time 3.049142 ms
map corner num 177360  surf num 71274 
--------------------stamp1317357939.254580020
points size 95230 
prepare time 12.544386 
scan registration time 30.463739 ms *************
publication time 8.443422 ms 
whole laserOdometry time 8.456259 ms 
 
build tree time 69.886330 ms 
mapping data assosiation time 25.957562 ms 
--------------------stamp1317357939.358568906
prepare time 12.522636 
scan registration time 30.087105 ms *************
-----t: 0.0360614
OdomCount 1709 & avg odom time 0.045801 ms ++++++++++++++++++++++
filter time 17.534207 ms 
mapping pub time 2.628473 ms 
whole mapping time 192.748744 ms +++++
mappingCount 1193 & avg mapping time 144.101468 ms ++++++++++++++++++++++
1317357939.046617985 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357939.462579965
prepare time 11.768907 
sort q time 5.747647 
seperate points time 12.317693 
mapping data assosiation time 22.220633 ms 
-----t: 0.0495908
OdomCount 1710 & avg odom time 0.045803 ms ++++++++++++++++++++++
mapping data assosiation time 17.914566 ms 
--------------------stamp1317357939.566570997
points size 94032 
filter time 17.384893 ms 
-----t: 0.0524468
OdomCount 1711 & avg odom time 0.045807 ms ++++++++++++++++++++++
build tree time 62.139261 ms 
--------------------stamp1317357939.670538902
points size 93500 
sort q time 5.332540 
seperate points time 12.551852 
scan registration time 31.320659 ms *************
publication time 10.840582 ms 
whole laserOdometry time 10.855482 ms 
 
-----t: 0.0362615
OdomCount 1712 & avg odom time 0.045801 ms ++++++++++++++++++++++
1317357939.670538902 WriteOdom laser_odom_to_init
1317357939.670538902 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.851213 ms 
mapping optimization time 148.493865 
add points time 0.660791 ms
mapping pub time 2.190414 ms 
whole mapping time 167.165987 ms +++++
mappingCount 1195 & avg mapping time 144.133304 ms ++++++++++++++++++++++
--------------------stamp1317357939.774482011
points size 92013 
sort q time 5.152438 
seperate points time 12.341560 
build tree time 44.279693 ms 
1317357939.774482011 WriteOdom laser_odom_to_init
mapping data assosiation time 23.447671 ms 
mapping solver time 17.368201 ms 
mapping data assosiation time 20.235013 ms 
points size 90932 
filter time 15.665315 ms 
sort q time 6.534370 
seperate points time 25.072920 
mapping pub time 13.609713 ms 
whole mapping time 154.240979 ms +++++
mappingCount 1196 & avg mapping time 144.141759 ms ++++++++++++++++++++++
[0m[ INFO] [1718889453.734388130, 1317357939.914593817]: Received 250776 data points in frame camera_init with the following fields: x y z intensity[0m
1317357939.566570997 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889453.734629161, 1317357939.914593817]: Data saved to 1317357939566570.pcd[0m
scan registration time 43.871598 ms *************
map prepare time 4.071934 ms
map corner num 179025  surf num 71751 
publication time 7.940602 ms 
whole laserOdometry time 7.953359 ms 
 
build tree time 45.241139 ms 
--------------------stamp1317357939.982299089
mapping data assosiation time 20.718756 ms 
sort q time 4.696375 
seperate points time 10.306610 
mapping solver time 27.578410 ms 
mapping data assosiation time 20.935006 ms 
mapping solver time 14.161169 ms 
mapping optimization time 129.768158 
add points time 0.656312 ms
filter time 11.605477 ms 
mapping pub time 2.149073 ms 
whole mapping time 148.304954 ms +++++
mappingCount 1197 & avg mapping time 144.145251 ms ++++++++++++++++++++++
1317357939.774482012 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357940.086170911
points size 88255 
prepare time 22.441391 
sort q time 8.715516 
seperate points time 33.156989 
publication time 27.473874 ms 
whole laserOdometry time 27.494922 ms 
 
mapping solver time 72.804466 ms 
sort q time 12.472784 
seperate points time 18.584886 
mapping data assosiation time 22.122970 ms 
publication time 10.082744 ms 
whole laserOdometry time 10.101840 ms 
 
filter time 20.668346 ms 
sort q time 8.767694 
seperate points time 25.064308 
publication time 13.292692 ms 
whole laserOdometry time 13.305823 ms 
 
mapping data assosiation time 22.746856 ms 
mapping solver time 26.967438 ms 
-----t: 0.062145
OdomCount 1718 & avg odom time 0.045909 ms ++++++++++++++++++++++
1317357940.293910980 WriteOdom laser_odom_to_init
1317357940.293910980 WriteOdom aft_mapped_to_init_high_frec
publication time 8.395120 ms 
whole laserOdometry time 8.413304 ms 
 
--------------------stamp1317357940.501604080
-----t: 0.0701162
OdomCount 1719 & avg odom time 0.045923 ms ++++++++++++++++++++++
prepare time 36.748080 
build tree time 48.744360 ms 
scan registration time 78.249686 ms *************
mapping data assosiation time 35.758995 ms 
points size 96033 
-----t: 0.0857052
OdomCount 1720 & avg odom time 0.045946 ms ++++++++++++++++++++++
mapping data assosiation time 20.710942 ms 
mapping solver time 21.800207 ms 
mapping pub time 2.026000 ms 
whole mapping time 175.776857 ms +++++
mappingCount 1200 & avg mapping time 144.282634 ms ++++++++++++++++++++++
1317357940.293910980 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.160805 ms
map corner num 180994  surf num 72188 
--------------------stamp1317357940.709343910
points size 92395 
build tree time 41.017361 ms 
mapping data assosiation time 20.234752 ms 
mapping solver time 22.536757 ms 
mapping data assosiation time 17.470575 ms 
mapping solver time 12.489801 ms 
points size 88120 
sort q time 5.375518 
seperate points time 12.420160 
scan registration time 27.800326 ms *************
publication time 8.544249 ms 
whole laserOdometry time 8.560664 ms 
 
mapping pub time 48.819671 ms 
whole mapping time 181.416672 ms +++++
mappingCount 1201 & avg mapping time 144.313567 ms ++++++++++++++++++++++
build tree time 38.271479 ms 
points size 84302 
prepare time 15.547844 
sort q time 9.374242 
seperate points time 15.304328 
scan registration time 35.342358 ms *************
mapping solver time 19.198056 ms 
publication time 6.931828 ms 
whole laserOdometry time 6.943657 ms 
 
mapping data assosiation time 20.388339 ms 
mapping solver time 17.960612 ms 
mapping optimization time 119.897601 
add points time 0.653367 ms
mapping pub time 1.972180 ms 
whole mapping time 136.705242 ms +++++
mappingCount 1202 & avg mapping time 144.307252 ms ++++++++++++++++++++++
--------------------stamp1317357941.020977973
prepare time 12.283243 
sort q time 4.850364 
seperate points time 10.482023 
publication time 7.267222 ms 
whole laserOdometry time 7.277842 ms 
 
mapping data assosiation time 17.580153 ms 
mapping solver time 18.958036 ms 
mapping data assosiation time 17.368410 ms 
--------------------stamp1317357941.124874114
add points time 0.783039 ms
prepare time 12.036395 
map prepare time 3.864441 ms
map corner num 182429  surf num 72625 
publication time 7.449887 ms 
whole laserOdometry time 7.462109 ms 
 
-----t: 0.0533119
OdomCount 1726 & avg odom time 0.045930 ms ++++++++++++++++++++++
build tree time 54.574717 ms 
mapping data assosiation time 16.683592 ms 
--------------------stamp1317357941.228744983
mapping solver time 16.667630 ms 
mapping data assosiation time 19.089490 ms 
mapping solver time 15.288890 ms 
filter time 12.876858 ms 
--------------------stamp1317357941.332638025
build tree time 42.120590 ms 
mapping data assosiation time 19.546797 ms 
-----t: 0.0292053
OdomCount 1728 & avg odom time 0.045919 ms ++++++++++++++++++++++
mapping data assosiation time 16.086872 ms 
mapping solver time 12.081977 ms 
filter time 11.818671 ms 
--------------------stamp1317357941.436533927
prepare time 12.074401 
sort q time 4.429680 
seperate points time 10.326481 
build tree time 49.718763 ms 
mapping data assosiation time 18.156908 ms 
mapping solver time 16.535113 ms 
mapping solver time 13.399732 ms 
mapping optimization time 119.391579 
points size 75773 
add points time 0.680050 ms
mapping pub time 7.292361 ms 
whole mapping time 144.038587 ms +++++
mappingCount 1206 & avg mapping time 144.286492 ms ++++++++++++++++++++++
-----t: 0.0258721
OdomCount 1730 & avg odom time 0.045901 ms ++++++++++++++++++++++
publication time 7.437967 ms 
whole laserOdometry time 7.449545 ms 
 
build tree time 45.416565 ms 
mapping data assosiation time 16.111240 ms 
points size 76465 
sort q time 4.408833 
seperate points time 9.264812 
mapping data assosiation time 19.618847 ms 
publication time 9.537054 ms 
whole laserOdometry time 9.551313 ms 
 
filter time 11.360671 ms 
mapping pub time 1.687482 ms 
whole mapping time 136.641881 ms +++++
mappingCount 1207 & avg mapping time 144.280162 ms ++++++++++++++++++++++
1317357941.436533928 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357941.748073101
points size 74099 
sort q time 3.965343 
seperate points time 9.171035 
publication time 8.174667 ms 
whole laserOdometry time 8.190625 ms 
 
-----t: 0.0287588
OdomCount 1732 & avg odom time 0.045885 ms ++++++++++++++++++++++
1317357941.748073101 WriteOdom laser_odom_to_init
1317357941.748073101 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.821486 ms 
mapping optimization time 111.373100 
filter time 11.602751 ms 
--------------------stamp1317357941.851870059
sort q time 4.289501 
seperate points time 21.054450 
publication time 6.118533 ms 
whole laserOdometry time 6.147925 ms 
 
mapping data assosiation time 18.478632 ms 
mapping solver time 20.478382 ms 
mapping data assosiation time 18.533055 ms 
[0m[ INFO] [1718889455.781385185, 1317357941.966472321]: Received 256704 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889455.781420935, 1317357941.966472321]: Data saved to 1317357941332638.pcd[0m
prepare time 10.844823 
scan registration time 24.978000 ms *************
publication time 6.168312 ms 
whole laserOdometry time 6.184362 ms 
 
-----t: 0.0583753
OdomCount 1734 & avg odom time 0.045882 ms ++++++++++++++++++++++
1317357941.955646991 WriteOdom laser_odom_to_init
1317357941.955646991 WriteOdom aft_mapped_to_init_high_frec
build tree time 47.155497 ms 
--------------------stamp1317357942.059421062
prepare time 10.063566 
mapping solver time 17.428556 ms 
mapping data assosiation time 19.853259 ms 
-----t: 0.03291
OdomCount 1735 & avg odom time 0.045874 ms ++++++++++++++++++++++
filter time 11.683483 ms 
mapping pub time 1.652357 ms 
whole mapping time 135.489655 ms +++++
mappingCount 1210 & avg mapping time 144.263244 ms ++++++++++++++++++++++
1317357941.851870060 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.814593 ms
map corner num 185332  surf num 73367 
--------------------stamp1317357942.163175106
prepare time 9.850331 
sort q time 4.170949 
seperate points time 9.934252 
publication time 7.417676 ms 
whole laserOdometry time 7.434235 ms 
 
mapping solver time 24.855436 ms 
mapping data assosiation time 18.181620 ms 
mapping solver time 16.333018 ms 
--------------------stamp1317357942.266926050
prepare time 14.434717 
scan registration time 29.729127 ms *************
-----t: 0.0292514
OdomCount 1737 & avg odom time 0.045865 ms ++++++++++++++++++++++
build tree time 47.004603 ms 
mapping data assosiation time 16.621008 ms 
mapping solver time 20.967856 ms 
prepare time 9.875940 
scan registration time 23.639723 ms *************
mapping solver time 20.260459 ms 
-----t: 0.0406272
OdomCount 1738 & avg odom time 0.045862 ms ++++++++++++++++++++++
1317357942.370721101 WriteOdom laser_odom_to_init
1317357942.370721101 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.237940 ms
map corner num 186195  surf num 73593 
--------------------stamp1317357942.474541902
sort q time 4.478882 
seperate points time 10.089496 
publication time 8.038308 ms 
whole laserOdometry time 8.051228 ms 
 
mapping data assosiation time 15.954836 ms 
mapping solver time 15.705194 ms 
filter time 11.516991 ms 
points size 85514 
prepare time 10.714903 
publication time 5.405784 ms 
build tree time 53.061173 ms 
mapping data assosiation time 18.669521 ms 
mapping solver time 21.153759 ms 
points size 85407 
publication time 7.613785 ms 
whole laserOdometry time 7.626228 ms 
 
mapping pub time 1.918734 ms 
whole mapping time 179.926701 ms +++++
mappingCount 1214 & avg mapping time 144.298855 ms ++++++++++++++++++++++
--------------------stamp1317357942.785965919
prepare time 13.425991 
[0m[ INFO] [1718889456.624705953, 1317357942.809519458]: Received 259132 data points in frame camera_init with the following fields: x y z intensity[0m
mapping data assosiation time 22.505581 ms 
-----t: 0.0398592
OdomCount 1742 & avg odom time 0.045857 ms ++++++++++++++++++++++
mapping solver time 19.957526 ms 
mapping data assosiation time 18.708809 ms 
mapping solver time 14.177692 ms 
points size 84475 
sort q time 4.730721 
seperate points time 10.675944 
publication time 7.490856 ms 
whole laserOdometry time 7.505160 ms 
 
-----t: 0.042156
OdomCount 1743 & avg odom time 0.045854 ms ++++++++++++++++++++++
1317357942.889765024 WriteOdom laser_odom_to_init
1317357942.889765024 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.829014 ms 
mapping solver time 16.865594 ms 
points size 84994 
mapping data assosiation time 18.858556 ms 
filter time 12.923009 ms 
map prepare time 3.672101 ms
map corner num 188155  surf num 74242 
--------------------stamp1317357943.097340106
points size 85634 
prepare time 12.668340 
scan registration time 28.077566 ms *************
mapping solver time 25.728476 ms 
mapping data assosiation time 19.438358 ms 
mapping solver time 17.416618 ms 
filter time 12.113877 ms 
points size 86980 
sort q time 4.808066 
seperate points time 11.178945 
-----t: 0.0419903
OdomCount 1746 & avg odom time 0.045849 ms ++++++++++++++++++++++
1317357943.201138019 WriteOdom laser_odom_to_init
1317357943.201138019 WriteOdom aft_mapped_to_init_high_frec
build tree time 53.202430 ms 
publication time 5.952226 ms 
whole laserOdometry time 5.968439 ms 
 
mapping data assosiation time 19.421273 ms 
mapping solver time 16.791828 ms 
--------------------stamp1317357943.304936885
mapping data assosiation time 19.150872 ms 
mapping solver time 14.895016 ms 
filter time 15.128996 ms 
publication time 8.436325 ms 
whole laserOdometry time 8.446955 ms 
 
build tree time 44.300359 ms 
--------------------stamp1317357943.408760070
mapping data assosiation time 20.857581 ms 
points size 88917 
sort q time 4.832026 
seperate points time 11.268266 
publication time 5.889515 ms 
whole laserOdometry time 5.901168 ms 
 
-----t: 0.0429069
OdomCount 1748 & avg odom time 0.045840 ms ++++++++++++++++++++++
filter time 11.262110 ms 
--------------------stamp1317357943.512607097
points size 90051 
scan registration time 28.218675 ms *************
-----t: 0.0446937
OdomCount 1749 & avg odom time 0.045840 ms ++++++++++++++++++++++
mapping data assosiation time 17.562873 ms 
mapping solver time 12.085584 ms 
--------------------stamp1317357943.616477012
filter time 15.041865 ms 
points size 91103 
map prepare time 4.064605 ms
map corner num 190067  surf num 74787 
[0m[ INFO] [1718889457.473136314, 1317357943.658553672]: Received 262397 data points in frame camera_init with the following fields: x y z intensity[0m
-----t: 0.0416806
OdomCount 1750 & avg odom time 0.045837 ms ++++++++++++++++++++++
mapping data assosiation time 16.982987 ms 
mapping solver time 20.668616 ms 
points size 91699 
prepare time 11.262430 
sort q time 4.775527 
seperate points time 10.864551 
mapping data assosiation time 22.523296 ms 
scan registration time 26.132211 ms *************
publication time 7.518607 ms 
whole laserOdometry time 7.534648 ms 
 
-----t: 0.0492162
OdomCount 1751 & avg odom time 0.045839 ms ++++++++++++++++++++++
1317357943.720347881 WriteOdom laser_odom_to_init
1317357943.720347881 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 38.166100 ms 
whole mapping time 179.908475 ms +++++
mappingCount 1221 & avg mapping time 144.320596 ms ++++++++++++++++++++++
--------------------stamp1317357943.824219942
prepare time 12.145313 
sort q time 5.250943 
seperate points time 20.847828 
mapping data assosiation time 19.117292 ms 
publication time 9.069826 ms 
whole laserOdometry time 9.080148 ms 
 
1317357943.824219942 WriteOdom laser_odom_to_init
1317357943.824219942 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.582617 ms 
points size 91974 
prepare time 11.459719 
mapping solver time 17.234120 ms 
mapping optimization time 127.645548 
add points time 0.814824 ms
filter time 13.121998 ms 
publication time 7.874987 ms 
whole laserOdometry time 7.887969 ms 
 
build tree time 42.687409 ms 
mapping data assosiation time 21.236298 ms 
points size 94033 
mapping solver time 22.581567 ms 
sort q time 5.262493 
seperate points time 12.527479 
mapping data assosiation time 25.374184 ms 
publication time 9.365584 ms 
whole laserOdometry time 9.378632 ms 
 
filter time 12.948254 ms 
map prepare time 3.241079 ms
map corner num 191897  surf num 75447 
--------------------stamp1317357944.135904073
points size 94126 
build tree time 44.845826 ms 
-----t: 0.0350238
OdomCount 1755 & avg odom time 0.045838 ms ++++++++++++++++++++++
publication time 16.796622 ms 
whole laserOdometry time 16.806920 ms 
 
mapping solver time 25.543582 ms 
mapping data assosiation time 19.970304 ms 
points size 93688 
sort q time 5.681458 
seperate points time 11.135598 
mapping pub time 2.535746 ms 
whole mapping time 161.194057 ms +++++
mappingCount 1224 & avg mapping time 144.341852 ms ++++++++++++++++++++++
1317357943.928088903 WriteOdom aft_mapped_to_init
scan registration time 61.646373 ms *************
1317357944.239845037 WriteOdom laser_odom_to_init
build tree time 57.613147 ms 
points size 93193 
mapping data assosiation time 25.077446 ms 
mapping solver time 27.596352 ms 
1317357944.343787908 WriteOdom laser_odom_to_init
1317357944.343787908 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.120546 ms 
mapping solver time 23.874663 ms 
points size 93447 
prepare time 11.779184 
scan registration time 30.237041 ms *************
publication time 8.585939 ms 
whole laserOdometry time 8.600123 ms 
 
1317357944.447731018 WriteOdom laser_odom_to_init
1317357944.447731018 WriteOdom aft_mapped_to_init_high_frec
build tree time 54.296757 ms 
--------------------stamp1317357944.551721096
points size 92810 
sort q time 5.119849 
seperate points time 11.791165 
publication time 8.826271 ms 
whole laserOdometry time 8.840440 ms 
 
-----t: 0.0333643
OdomCount 1759 & avg odom time 0.045834 ms ++++++++++++++++++++++
mapping solver time 20.605766 ms 
filter time 17.949018 ms 
drop lidar frame in mapping for real time performance 
points size 92341 
prepare time 13.822674 
scan registration time 30.819349 ms *************
publication time 8.978943 ms 
whole laserOdometry time 8.995113 ms 
 
-----t: 0.0457241
OdomCount 1760 & avg odom time 0.045834 ms ++++++++++++++++++++++
mapping data assosiation time 24.148684 ms 
mapping solver time 22.589477 ms 
points size 92484 
mapping data assosiation time 26.242035 ms 
scan registration time 35.589019 ms *************
mapping solver time 22.885199 ms 
publication time 10.255886 ms 
whole laserOdometry time 10.272202 ms 
 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357944.863598108
points size 92597 
prepare time 15.732864 
build tree time 48.599040 ms 
sort q time 5.993059 
seperate points time 13.997641 
mapping data assosiation time 23.957412 ms 
publication time 8.422835 ms 
whole laserOdometry time 8.438120 ms 
 
-----t: 0.0619883
OdomCount 1762 & avg odom time 0.045838 ms ++++++++++++++++++++++
mapping solver time 17.916724 ms 
points size 91965 
prepare time 12.368120 
filter time 14.833228 ms 
mapping pub time 2.326848 ms 
whole mapping time 156.117253 ms +++++
mappingCount 1228 & avg mapping time 144.439684 ms ++++++++++++++++++++++
publication time 8.591745 ms 
whole laserOdometry time 8.602694 ms 
 
-----t: 0.0342353
OdomCount 1763 & avg odom time 0.045831 ms ++++++++++++++++++++++
1317357944.967564105 WriteOdom laser_odom_to_init
1317357944.967564105 WriteOdom aft_mapped_to_init_high_frec
build tree time 50.991397 ms 
mapping data assosiation time 18.635480 ms 
--------------------stamp1317357945.071530103
prepare time 11.820387 
sort q time 5.692049 
seperate points time 14.102504 
mapping data assosiation time 24.076270 ms 
mapping optimization time 136.920149 
-----t: 0.0443043
OdomCount 1764 & avg odom time 0.045830 ms ++++++++++++++++++++++
filter time 12.287619 ms 
map prepare time 3.237724 ms
map corner num 196591  surf num 77124 
--------------------stamp1317357945.175497055
points size 90909 
build tree time 46.695112 ms 
mapping data assosiation time 22.002413 ms 
mapping solver time 20.960765 ms 
mapping data assosiation time 19.664988 ms 
mapping solver time 18.805771 ms 
points size 90065 
mapping pub time 2.169813 ms 
whole mapping time 154.613014 ms +++++
mappingCount 1230 & avg mapping time 144.457326 ms ++++++++++++++++++++++
publication time 9.969721 ms 
whole laserOdometry time 9.984922 ms 
 
-----t: 0.0452406
OdomCount 1766 & avg odom time 0.045831 ms ++++++++++++++++++++++
mapping data assosiation time 17.955529 ms 
--------------------stamp1317357945.383407115
points size 88609 
sort q time 5.543480 
seperate points time 13.493329 
-----t: 0.0367104
OdomCount 1767 & avg odom time 0.045826 ms ++++++++++++++++++++++
mapping solver time 17.867804 ms 
filter time 12.363180 ms 
map prepare time 3.238294 ms
map corner num 197698  surf num 77509 
[0m[ INFO] [1718889459.285976126, 1317357945.466166333]: Received 275207 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889459.286003923, 1317357945.466166333]: Data saved to 1317357945175497.pcd[0m
--------------------stamp1317357945.487349987
points size 87489 
scan registration time 29.689790 ms *************
publication time 6.480610 ms 
whole laserOdometry time 6.493557 ms 
 
-----t: 0.0487861
OdomCount 1768 & avg odom time 0.045827 ms ++++++++++++++++++++++
mapping solver time 19.715516 ms 
mapping data assosiation time 17.932634 ms 
mapping solver time 13.631825 ms 
points size 87463 
map prepare time 3.936917 ms
map corner num 200297  surf num 82591 
-----t: 0.0358052
OdomCount 1769 & avg odom time 0.045822 ms ++++++++++++++++++++++
1317357945.591291904 WriteOdom laser_odom_to_init
1317357945.591291904 WriteOdom aft_mapped_to_init_high_frec
build tree time 52.262419 ms 
mapping data assosiation time 19.974295 ms 
prepare time 13.812871 
sort q time 5.401333 
seperate points time 12.659996 
mapping data assosiation time 23.946823 ms 
publication time 9.574461 ms 
whole laserOdometry time 9.588521 ms 
 
mapping solver time 24.108841 ms 
filter time 12.667267 ms 
--------------------stamp1317357945.799127101
prepare time 11.165425 
scan registration time 28.127978 ms *************
build tree time 53.746171 ms 
-----t: 0.0510802
OdomCount 1771 & avg odom time 0.045817 ms ++++++++++++++++++++++
mapping solver time 20.507553 ms 
--------------------stamp1317357945.902998924
points size 94329 
mapping solver time 16.169575 ms 
mapping optimization time 140.706837 
add points time 0.758269 ms
drop lidar frame in mapping for real time performance -----t: 0.041675
OdomCount 1772 & avg odom time 0.045814 ms ++++++++++++++++++++++
--------------------stamp1317357946.006820917
prepare time 13.951747 
mapping data assosiation time 22.211562 ms 
-----t: 0.031077
OdomCount 1773 & avg odom time 0.045806 ms ++++++++++++++++++++++
mapping data assosiation time 19.791516 ms 
mapping solver time 16.792673 ms 
filter time 12.597566 ms 
points size 98611 
sort q time 5.577952 
seperate points time 12.989710 
build tree time 36.859029 ms 
publication time 9.333239 ms 
whole laserOdometry time 9.342844 ms 
 
mapping solver time 20.589478 ms 
--------------------stamp1317357946.214467048
add points time 0.673041 ms
sort q time 5.946413 
seperate points time 12.804767 
map prepare time 3.790950 ms
map corner num 144100  surf num 58674 
-----t: 0.0432464
OdomCount 1775 & avg odom time 0.045798 ms ++++++++++++++++++++++
1317357946.214467048 WriteOdom laser_odom_to_init
1317357946.214467048 WriteOdom aft_mapped_to_init_high_frec
build tree time 36.363935 ms 
--------------------stamp1317357946.318289995
points size 98869 
[0m[ INFO] [1718889460.158089353, 1317357946.336922182]: Received 202774 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889460.158142333, 1317357946.336922182]: Data saved to 1317357946006820.pcd[0m
scan registration time 50.093576 ms *************
-----t: 0.0461844
OdomCount 1776 & avg odom time 0.045799 ms ++++++++++++++++++++++
filter time 10.024720 ms 
map prepare time 2.897966 ms
map corner num 144499  surf num 58850 
--------------------stamp1317357946.422091007
points size 98092 
build tree time 39.952379 ms 
mapping data assosiation time 23.451285 ms 
publication time 8.701532 ms 
whole laserOdometry time 8.712924 ms 
 
mapping solver time 24.277121 ms 
mapping data assosiation time 20.175041 ms 
--------------------stamp1317357946.525866031
points size 98414 
mapping solver time 22.874056 ms 
mapping optimization time 131.824316 
add points time 0.826073 ms
mapping pub time 2.309917 ms 
whole mapping time 151.108039 ms +++++
mappingCount 1238 & avg mapping time 144.521898 ms ++++++++++++++++++++++
1317357946.214467049 WriteOdom aft_mapped_to_init
sort q time 5.740460 
seperate points time 13.159680 
publication time 9.493444 ms 
whole laserOdometry time 9.510949 ms 
 
-----t: 0.0612727
OdomCount 1778 & avg odom time 0.045804 ms ++++++++++++++++++++++
1317357946.525866031 WriteOdom laser_odom_to_init
1317357946.525866031 WriteOdom aft_mapped_to_init_high_frec
build tree time 38.990891 ms 
mapping data assosiation time 19.415020 ms 
--------------------stamp1317357946.629642009
points size 98460 
sort q time 5.188952 
seperate points time 10.665891 
mapping data assosiation time 24.392550 ms 
-----t: 0.0355934
OdomCount 1779 & avg odom time 0.045798 ms ++++++++++++++++++++++
1317357946.629642009 WriteOdom laser_odom_to_init
1317357946.629642009 WriteOdom aft_mapped_to_init_high_frec
filter time 9.711896 ms 
--------------------stamp1317357946.733417034
points size 98903 
sort q time 6.492125 
seperate points time 15.354083 
-----t: 0.0327896
OdomCount 1780 & avg odom time 0.045791 ms ++++++++++++++++++++++
mapping solver time 22.194979 ms 
mapping data assosiation time 22.028769 ms 
mapping solver time 13.768137 ms 
filter time 10.399216 ms 
sort q time 7.069360 
seperate points time 12.976944 
publication time 7.966746 ms 
whole laserOdometry time 7.980158 ms 
 
1317357946.837188959 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.371247 ms 
mapping solver time 17.867412 ms 
points size 99159 
mapping data assosiation time 24.263048 ms 
mapping solver time 16.656391 ms 
-----t: 0.0351997
OdomCount 1782 & avg odom time 0.045783 ms ++++++++++++++++++++++
mapping pub time 35.211834 ms 
whole mapping time 181.917628 ms +++++
mappingCount 1241 & avg mapping time 144.545653 ms ++++++++++++++++++++++
--------------------stamp1317357947.044761896
prepare time 12.467353 
sort q time 6.175415 
seperate points time 13.255649 
publication time 10.706304 ms 
whole laserOdometry time 10.735465 ms 
 
-----t: 0.0436553
OdomCount 1783 & avg odom time 0.045782 ms ++++++++++++++++++++++
1317357947.044761896 WriteOdom laser_odom_to_init
1317357947.044761896 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.400318 ms 
mapping data assosiation time 21.088536 ms 
--------------------stamp1317357947.148560047
points size 95672 
mapping pub time 2.340637 ms 
whole mapping time 137.395181 ms +++++
mappingCount 1242 & avg mapping time 144.539898 ms ++++++++++++++++++++++
sort q time 5.256994 
seperate points time 12.854440 
publication time 7.049132 ms 
whole laserOdometry time 7.063402 ms 
 
mapping data assosiation time 20.096090 ms 
--------------------stamp1317357947.252335071
points size 94096 
mapping data assosiation time 27.212505 ms 
mapping solver time 17.696024 ms 
publication time 9.586028 ms 
whole laserOdometry time 9.596487 ms 
 
map prepare time 3.604653 ms
map corner num 147423  surf num 60063 
-----t: 0.0760544
OdomCount 1785 & avg odom time 0.045799 ms ++++++++++++++++++++++
1317357947.252335071 WriteOdom laser_odom_to_init
1317357947.252335071 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357947.356108903
points size 92463 
sort q time 6.365722 
seperate points time 12.863015 
publication time 7.101578 ms 
whole laserOdometry time 7.116435 ms 
 
mapping solver time 33.412175 ms 
-----t: 0.0705419
OdomCount 1786 & avg odom time 0.045812 ms ++++++++++++++++++++++
1317357947.356108903 WriteOdom laser_odom_to_init
1317357947.356108903 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.345618 ms 
mapping solver time 17.305603 ms 
filter time 13.877310 ms 
publication time 7.289014 ms 
whole laserOdometry time 7.300741 ms 
 
1317357947.459884881 WriteOdom laser_odom_to_init
1317357947.459884881 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.248694 ms 
points size 89651 
sort q time 5.185124 
seperate points time 12.635090 
publication time 7.660952 ms 
whole laserOdometry time 7.673453 ms 
 
-----t: 0.0462674
OdomCount 1788 & avg odom time 0.045815 ms ++++++++++++++++++++++
1317357947.563637018 WriteOdom laser_odom_to_init
1317357947.563637018 WriteOdom aft_mapped_to_init_high_frec
filter time 9.563039 ms 
--------------------stamp1317357947.667365074
prepare time 11.299670 
sort q time 5.689106 
seperate points time 12.433203 
publication time 7.632769 ms 
whole laserOdometry time 7.650522 ms 
 
mapping solver time 21.690613 ms 
mapping data assosiation time 22.142554 ms 
--------------------stamp1317357947.771090030
mapping solver time 17.493947 ms 
filter time 10.037407 ms 
map prepare time 3.637955 ms
map corner num 149372  surf num 60793 
publication time 8.605579 ms 
whole laserOdometry time 8.617582 ms 
 
-----t: 0.0491622
OdomCount 1790 & avg odom time 0.045811 ms ++++++++++++++++++++++
build tree time 36.625289 ms 
mapping data assosiation time 24.541691 ms 
--------------------stamp1317357947.874814033
points size 89963 
prepare time 14.187323 
scan registration time 35.861010 ms *************
-----t: 0.0389401
OdomCount 1791 & avg odom time 0.045807 ms ++++++++++++++++++++++
mapping solver time 18.408336 ms 
filter time 9.556468 ms 
mapping pub time 1.958696 ms 
whole mapping time 156.854822 ms +++++
mappingCount 1247 & avg mapping time 144.583159 ms ++++++++++++++++++++++
1317357947.667365074 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357947.978518009
prepare time 12.318290 
sort q time 5.472327 
seperate points time 12.258625 
publication time 9.173374 ms 
whole laserOdometry time 9.188448 ms 
 
mapping data assosiation time 27.149714 ms 
-----t: 0.0405093
OdomCount 1792 & avg odom time 0.045804 ms ++++++++++++++++++++++
1317357947.978518009 WriteOdom laser_odom_to_init
1317357947.978518009 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.445656 ms 
--------------------stamp1317357948.082196950
prepare time 11.378765 
mapping solver time 20.989296 ms 
mapping optimization time 140.805851 
add points time 0.794369 ms
publication time 12.192063 ms 
whole laserOdometry time 12.210239 ms 
 
map prepare time 4.758451 ms
map corner num 150792  surf num 61538 
build tree time 34.840347 ms 
mapping data assosiation time 21.879898 ms 
points size 93914 
sort q time 5.318305 
seperate points time 12.303563 
mapping solver time 36.623808 ms 
-----t: 0.0441959
OdomCount 1794 & avg odom time 0.045801 ms ++++++++++++++++++++++
1317357948.185852050 WriteOdom laser_odom_to_init
1317357948.185852050 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.986736 ms 
mapping solver time 23.843812 ms 
mapping pub time 2.234538 ms 
whole mapping time 164.864868 ms +++++
mappingCount 1249 & avg mapping time 144.611989 ms ++++++++++++++++++++++
points size 95898 
sort q time 6.244397 
seperate points time 12.832493 
build tree time 39.707082 ms 
publication time 7.870875 ms 
whole laserOdometry time 7.883920 ms 
 
mapping data assosiation time 25.588293 ms 
mapping solver time 26.706064 ms 
points size 98191 
mapping data assosiation time 27.189658 ms 
sort q time 5.861829 
seperate points time 11.545183 
mapping solver time 37.470061 ms 
filter time 11.350454 ms 
--------------------stamp1317357948.496696949
points size 100873 
sort q time 6.758293 
seperate points time 16.196259 
mapping data assosiation time 27.949253 ms 
publication time 9.272811 ms 
whole laserOdometry time 9.286015 ms 
 
mapping solver time 26.912864 ms 
mapping data assosiation time 23.239611 ms 
points size 101670 
sort q time 6.036289 
seperate points time 13.956391 
mapping pub time 5.212976 ms 
whole mapping time 165.830792 ms +++++
mappingCount 1251 & avg mapping time 144.654996 ms ++++++++++++++++++++++
1317357948.289484024 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889462.454045359, 1317357948.634212971]: Received 215263 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889462.454098534, 1317357948.634212971]: Data saved to 1317357948289484.pcd[0m
publication time 11.040095 ms 
whole laserOdometry time 11.054410 ms 
 
build tree time 34.557251 ms 
--------------------stamp1317357948.704004049
points size 101961 
prepare time 15.814743 
scan registration time 34.580899 ms *************
publication time 8.035744 ms 
-----t: 0.0514158
OdomCount 1799 & avg odom time 0.045817 ms ++++++++++++++++++++++
mapping solver time 24.381787 ms 
filter time 12.263432 ms 
points size 102440 
sort q time 6.024117 
seperate points time 13.071716 
build tree time 41.232875 ms 
publication time 13.775872 ms 
whole laserOdometry time 13.793871 ms 
 
mapping data assosiation time 28.840716 ms 
-----t: 0.0613338
OdomCount 1800 & avg odom time 0.045825 ms ++++++++++++++++++++++
1317357948.807660102 WriteOdom laser_odom_to_init
1317357948.807660102 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357948.911365985
points size 103029 
sort q time 6.017018 
seperate points time 11.818529 
scan registration time 29.536983 ms *************
publication time 12.328517 ms 
whole laserOdometry time 12.343889 ms 
 
filter time 12.779769 ms 
map prepare time 5.628332 ms
map corner num 154176  surf num 62984 
points size 103615 
sort q time 6.498698 
seperate points time 15.886989 
publication time 11.286318 ms 
whole laserOdometry time 11.295765 ms 
 
mapping solver time 34.580542 ms 
--------------------stamp1317357949.118771076
points size 103865 
mapping solver time 27.943960 ms 
filter time 12.792792 ms 
-----t: 0.0455108
OdomCount 1803 & avg odom time 0.045852 ms ++++++++++++++++++++++
1317357949.118771076 WriteOdom laser_odom_to_init
1317357949.118771076 WriteOdom aft_mapped_to_init_high_frec
build tree time 35.545113 ms 
--------------------stamp1317357949.222520112
points size 103833 
sort q time 5.839128 
seperate points time 13.254877 
mapping solver time 35.820264 ms 
-----t: 0.0591599
OdomCount 1804 & avg odom time 0.045860 ms ++++++++++++++++++++++
--------------------stamp1317357949.326270103
points size 103636 
filter time 15.626837 ms 
scan registration time 35.541900 ms *************
publication time 9.562753 ms 
whole laserOdometry time 9.577469 ms 
 
-----t: 0.0497551
OdomCount 1805 & avg odom time 0.045862 ms ++++++++++++++++++++++
mapping data assosiation time 25.482779 ms 
--------------------stamp1317357949.430011034
points size 103614 
mapping solver time 31.573054 ms 
sort q time 6.692791 
seperate points time 15.911935 
mapping data assosiation time 33.050855 ms 
publication time 12.077178 ms 
whole laserOdometry time 12.102461 ms 
 
mapping solver time 20.245033 ms 
filter time 12.242200 ms 
map prepare time 3.141938 ms
map corner num 156306  surf num 63946 
points size 103639 
sort q time 5.961519 
seperate points time 14.300775 
scan registration time 34.220590 ms *************
-----t: 0.0489487
OdomCount 1807 & avg odom time 0.045867 ms ++++++++++++++++++++++
mapping solver time 30.591690 ms 
points size 103729 
mapping data assosiation time 31.914323 ms 
publication time 12.607062 ms 
whole laserOdometry time 12.618674 ms 
 
1317357949.637475013 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.223170 ms
map corner num 157000  surf num 64270 
--------------------stamp1317357949.741225957
points size 103731 
sort q time 5.779263 
seperate points time 14.023959 
mapping data assosiation time 32.621094 ms 
publication time 12.111475 ms 
whole laserOdometry time 12.206436 ms 
 
mapping data assosiation time 26.444963 ms 
points size 103831 
mapping optimization time 149.700829 
scan registration time 30.635203 ms *************
map prepare time 3.737602 ms
map corner num 157609  surf num 64528 
build tree time 36.250414 ms 
--------------------stamp1317357949.948753118
prepare time 13.171092 
sort q time 5.820530 
seperate points time 13.993869 
scan registration time 32.250997 ms *************
mapping solver time 28.020325 ms 
-----t: 0.047746
OdomCount 1811 & avg odom time 0.045883 ms ++++++++++++++++++++++
1317357949.948753118 WriteOdom laser_odom_to_init
1317357949.948753118 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.198877 ms 
filter time 11.409754 ms 
sort q time 5.696404 
seperate points time 13.098110 
publication time 11.598942 ms 
whole laserOdometry time 11.667000 ms 
 
build tree time 45.107547 ms 
mapping data assosiation time 29.765880 ms 
--------------------stamp1317357950.156229019
points size 103992 
sort q time 5.860240 
seperate points time 13.089887 
mapping data assosiation time 33.880400 ms 
-----t: 0.0557798
OdomCount 1813 & avg odom time 0.045889 ms ++++++++++++++++++++++
filter time 12.575886 ms 
map prepare time 3.210601 ms
map corner num 158859  surf num 65105 
points size 103976 
prepare time 15.328671 
sort q time 6.140304 
seperate points time 14.439492 
publication time 9.893233 ms 
whole laserOdometry time 9.908250 ms 
 
-----t: 0.0632587
OdomCount 1814 & avg odom time 0.045898 ms ++++++++++++++++++++++
mapping solver time 34.870467 ms 
points size 104020 
mapping data assosiation time 31.258803 ms 
publication time 11.019070 ms 
whole laserOdometry time 11.036709 ms 
 
filter time 10.711170 ms 
--------------------stamp1317357950.467458009
--------------------stamp1317357950.571186065
points size 103991 
sort q time 7.332114 
seperate points time 17.387068 
publication time 11.677849 ms -----t: 0.0609196
OdomCount 1817 & avg odom time 0.045912 ms ++++++++++++++++++++++mapping solver time 19.577119 ms 
mapping optimization time 179.912069 
add points time 1.050092 ms
mapping pub time 2.243172 ms 
whole mapping time 197.986543 ms +++++
mappingCount 1262 & avg mapping time 144.978500 ms ++++++++++++++++++++++
points size 104049 
sort q time 5.719969 
seperate points time 12.367310 
build tree time 38.478707 ms 
-----t: 0.0580957
OdomCount 1818 & avg odom time 0.045918 ms ++++++++++++++++++++++
mapping solver time 28.705503 ms 
prepare time 16.038918 
mapping data assosiation time 34.496798 ms 
sort q time 9.428193 
seperate points time 17.134570 
mapping solver time 33.382673 ms 
mapping optimization time 169.437257 
add points time 0.879582 ms
mapping pub time 2.330640 ms 
whole mapping time 191.295568 ms +++++
mappingCount 1263 & avg mapping time 145.015175 ms ++++++++++++++++++++++
--------------------stamp1317357950.882580041
prepare time 12.504714 
sort q time 6.194046 
seperate points time 13.128906 
publication time 10.118118 ms 
whole laserOdometry time 10.126748 ms 
 
-----t: 0.0512692
OdomCount 1820 & avg odom time 0.045923 ms ++++++++++++++++++++++
mapping solver time 34.211038 ms 
points size 104223 
mapping data assosiation time 35.543409 ms 
sort q time 6.653125 
seperate points time 15.452365 
mapping solver time 25.410285 ms 
1317357950.674936056 WriteOdom aft_mapped_to_init
--------------------stamp1317357951.090418100
points size 104328 
build tree time 40.662332 ms 
sort q time 7.017612 
seperate points time 14.738478 
publication time 9.981246 ms 
whole laserOdometry time 9.995793 ms 
 
-----t: 0.0600919
OdomCount 1822 & avg odom time 0.045941 ms ++++++++++++++++++++++
1317357951.090418100 WriteOdom laser_odom_to_init
1317357951.090418100 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357951.194360971
points size 104253 
sort q time 6.331483 
seperate points time 13.542640 
mapping solver time 26.045277 ms 
publication time 9.875046 ms 
whole laserOdometry time 9.891035 ms 
 
-----t: 0.0559219
OdomCount 1823 & avg odom time 0.045946 ms ++++++++++++++++++++++
--------------------stamp1317357951.298304080
points size 104303 
sort q time 5.593801 
seperate points time 11.440716 
mapping data assosiation time 35.173204 ms 
publication time 11.401112 ms 
whole laserOdometry time 11.417059 ms 
 
-----t: 0.0421306
OdomCount 1824 & avg odom time 0.045944 ms ++++++++++++++++++++++
1317357951.298304080 WriteOdom laser_odom_to_init
1317357951.298304080 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.770251 ms 
points size 104371 
sort q time 5.930528 
seperate points time 14.138599 
map prepare time 3.477256 ms
map corner num 162527  surf num 66663 
-----t: 0.0548503
OdomCount 1825 & avg odom time 0.045949 ms ++++++++++++++++++++++
1317357951.402296066 WriteOdom laser_odom_to_init
1317357951.402296066 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357951.506283998
points size 102713 
sort q time 6.071482 
seperate points time 14.369086 
mapping solver time 36.031545 ms 
-----t: 0.0560215
OdomCount 1826 & avg odom time 0.045955 ms ++++++++++++++++++++++
mapping data assosiation time 31.882237 ms 
--------------------stamp1317357951.610253095
points size 101383 
filter time 10.446929 ms 
sort q time 14.656763 publication time 9.331705 ms 
whole laserOdometry time 9.344625 ms 
 
-----t: 0.0554169
OdomCount 1827 & avg odom time 0.045960 ms ++++++++++++++++++++++
mapping data assosiation time 26.107168 ms 
points size 100837 
mapping solver time 29.048718 ms 
sort q time 19.369856 
seperate points time 26.247893 
publication time 10.815235 ms 
whole laserOdometry time 10.828832 ms 
 
mapping data assosiation time 44.591585 ms 
mapping solver time 19.186178 ms 
mapping optimization time 162.579282 
add points time 0.963796 ms
mapping pub time 2.838699 ms 
whole mapping time 183.134052 ms +++++
mappingCount 1268 & avg mapping time 145.187665 ms ++++++++++++++++++++++
1317357951.402296066 WriteOdom aft_mapped_to_init
sort q time 6.587085 
seperate points time 12.812873 
publication time 8.422603 ms 
whole laserOdometry time 8.437710 ms 
 
build tree time 44.059233 ms 
-----t: 0.0430348
OdomCount 1829 & avg odom time 0.045958 ms ++++++++++++++++++++++
1317357951.818305969 WriteOdom laser_odom_to_init
1317357951.818305969 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.234151 ms 
--------------------stamp1317357951.922367095
points size 100308 
sort q time 6.201263 
seperate points time 13.354451 
mapping data assosiation time 32.561096 ms 
-----t: 0.0601831
OdomCount 1830 & avg odom time 0.045965 ms ++++++++++++++++++++++
filter time 10.296608 ms 
map prepare time 3.242939 ms
map corner num 164476  surf num 67421 
publication time 25.907341 ms 
whole laserOdometry time 25.921499 ms 
 
--------------------stamp1317357952.130589008
points size 101096 
sort q time 5.827338 
seperate points time 14.207994 
publication time 9.079651 ms 
whole laserOdometry time 9.096728 ms 
 
mapping solver time 28.922869 ms 
mapping optimization time 184.815546 
add points time 0.935765 ms
filter time 19.056212 ms 
--------------------stamp1317357952.234724044
points size 101116 
scan registration time 38.842814 ms *************
mapping data assosiation time 32.485504 ms 
--------------------stamp1317357952.338882923
points size 100875 
sort q time 5.610841 
seperate points time 13.230741 
publication time 8.098318 ms 
whole laserOdometry time 8.128485 ms 
 
-----t: 0.0366152
OdomCount 1834 & avg odom time 0.045995 ms ++++++++++++++++++++++
mapping solver time 34.137841 ms 
filter time 11.472284 ms 
map prepare time 3.290760 ms
map corner num 165827  surf num 67812 
--------------------stamp1317357952.443017959
points size 100972 
build tree time 39.648149 ms 
publication time 9.878036 ms 
whole laserOdometry time 9.891300 ms 
 
mapping solver time 29.513779 ms 
--------------------stamp1317357952.547152996
points size 100596 
mapping data assosiation time 28.890426 ms 
prepare time 12.326410 
sort q time 6.085509 
seperate points time 12.959685 
mapping solver time 32.185062 ms 
mapping optimization time 159.790868 
add points time 1.387357 ms
1317357952.547152996 WriteOdom laser_odom_to_init
--------------------stamp1317357952.651335954
points size 99741 
mapping data assosiation time 30.804904 ms 
publication time 9.090898 ms 
whole laserOdometry time 9.103815 ms 
 
-----t: 0.074748
OdomCount 1837 & avg odom time 0.046007 ms ++++++++++++++++++++++
--------------------stamp1317357952.755542039
points size 98964 
sort q time 5.544039 
seperate points time 12.643483 
mapping pub time 2.362787 ms 
whole mapping time 181.187171 ms +++++
mappingCount 1273 & avg mapping time 145.368180 ms ++++++++++++++++++++++
1317357952.443017960 WriteOdom aft_mapped_to_init
build tree time 39.092843 ms 
--------------------stamp1317357952.859747886
sort q time 5.724760 
seperate points time 12.724841 
mapping solver time 35.626820 ms 
mapping data assosiation time 28.258708 ms 
mapping solver time 23.253489 ms 
filter time 14.458097 ms 
sort q time 5.723608 
seperate points time 13.679907 
publication time 12.564833 ms 
whole laserOdometry time 12.578634 ms 
 
mapping data assosiation time 28.639016 ms 
1317357952.964001893 WriteOdom aft_mapped_to_init_high_frec
points size 99969 
sort q time 5.996511 
seperate points time 16.974217 
scan registration time 47.786850 ms *************
mapping solver time 27.756158 ms 
mapping optimization time 161.008971 
add points time 1.402525 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357953.172537088
-----t: 0.0989833
OdomCount 1841 & avg odom time 0.046066 ms ++++++++++++++++++++++
sort q time 5.556243 
seperate points time 13.320315 
publication time 10.197694 ms 
whole laserOdometry time 10.211205 ms 
 
mapping data assosiation time 30.370323 ms 
-----t: 0.0468416
OdomCount 1842 & avg odom time 0.046067 ms ++++++++++++++++++++++
1317357953.172537088 WriteOdom laser_odom_to_init
1317357953.172537088 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.227718 ms 
points size 100134 
mapping data assosiation time 28.310905 ms 
scan registration time 28.971305 ms *************
mapping solver time 29.473570 ms 
map prepare time 3.192828 ms
map corner num 169248  surf num 68831 
--------------------stamp1317357953.380975961
points size 100252 
sort q time 6.714453 
seperate points time 15.344285 
mapping data assosiation time 29.265454 ms 
publication time 13.275978 ms 
whole laserOdometry time 13.310376 ms 
 
-----t: 0.0602496
OdomCount 1844 & avg odom time 0.046077 ms ++++++++++++++++++++++
1317357953.380975961 WriteOdom laser_odom_to_init
1317357953.380975961 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.832350 ms 
mapping data assosiation time 22.923757 ms 
points size 100311 
mapping solver time 23.724915 ms 
filter time 15.701916 ms 
publication time 11.084332 ms 
whole laserOdometry time 11.101962 ms 
 
build tree time 43.145332 ms 
--------------------stamp1317357953.589361906
points size 100317 
sort q time 5.394033 
seperate points time 12.603698 
publication time 10.338415 ms 
whole laserOdometry time 10.370479 ms 
 
mapping solver time 15.755300 ms 
mapping optimization time 144.133852 
add points time 0.870211 ms
filter time 10.700690 ms 
map prepare time 4.751014 ms
map corner num 170761  surf num 69279 
prepare time 14.624398 
sort q time 6.243829 
seperate points time 13.249697 
publication time 9.479352 ms 
whole laserOdometry time 9.490275 ms 
 
-----t: 0.0468952
OdomCount 1847 & avg odom time 0.046083 ms ++++++++++++++++++++++
mapping data assosiation time 25.220601 ms 
mapping solver time 21.688497 ms 
points size 101289 
mapping data assosiation time 29.756876 ms 
scan registration time 35.379801 ms *************mapping solver time 20.438651 ms filter time 11.734143 ms 
--------------------stamp1317357953.901695966
points size 102070 
mapping data assosiation time 27.917607 ms 
publication time 9.996106 ms 
whole laserOdometry time 10.066322 ms 
 
mapping data assosiation time 23.579115 ms 
-----t: 0.0782786
OdomCount 1849 & avg odom time 0.046101 ms ++++++++++++++++++++++
filter time 13.138898 ms 
points size 102662 
mapping pub time 2.325566 ms 
whole mapping time 156.045001 ms +++++
mappingCount 1280 & avg mapping time 145.514427 ms ++++++++++++++++++++++
1317357953.693496943 WriteOdom aft_mapped_to_init
prepare time 14.431226 
sort q time 5.890404 
seperate points time 13.922086 
publication time 11.991766 ms 
whole laserOdometry time 12.014722 ms 
 
build tree time 43.449840 ms 
mapping data assosiation time 26.991691 ms 
--------------------stamp1317357954.109750986
points size 103382 
sort q time 5.771392 
seperate points time 14.313064 
scan registration time 33.724588 ms *************
publication time 9.322529 ms 
whole laserOdometry time 9.336947 ms 
 
mapping solver time 25.922576 ms 
mapping optimization time 152.847829 
add points time 0.838544 ms
-----t: 0.0702431
OdomCount 1851 & avg odom time 0.046115 ms ++++++++++++++++++++++
--------------------stamp1317357954.213768959
points size 103331 
map prepare time 4.005173 ms
map corner num 172887  surf num 70109 
build tree time 49.758732 ms 
mapping data assosiation time 25.829602 ms 
points size 103509 
mapping solver time 26.230458 ms 
publication time 13.904920 ms 
whole laserOdometry time 13.924896 ms 
 
-----t: 0.0556368
OdomCount 1853 & avg odom time 0.046133 ms ++++++++++++++++++++++
mapping optimization time 154.796826 
add points time 0.837337 ms
filter time 11.244677 ms 
map prepare time 3.881957 ms
map corner num 173552  surf num 70362 
points size 103968 
sort q time 6.617910 
seperate points time 14.633446 
build tree time 47.681178 ms 
-----t: 0.0475518
OdomCount 1854 & avg odom time 0.046134 ms ++++++++++++++++++++++
mapping solver time 25.175639 ms 
--------------------stamp1317357954.525690078
prepare time 14.869954 
sort q time 6.017786 
seperate points time 16.647175 
mapping solver time 23.987597 ms 
filter time 11.520263 ms 
--------------------stamp1317357954.629631042
prepare time 11.991774 
sort q time 5.897475 
seperate points time 22.165993 
-----t: 0.0449856
OdomCount 1856 & avg odom time 0.046142 ms ++++++++++++++++++++++
1317357954.629631042 WriteOdom laser_odom_to_init
1317357954.629631042 WriteOdom aft_mapped_to_init_high_frec
publication time 10.664900 ms 
whole laserOdometry time 10.681744 ms 
 
mapping solver time 29.178307 ms 
mapping data assosiation time 22.725401 ms 
--------------------stamp1317357954.733550071
points size 104264 
filter time 16.863289 ms 
map prepare time 4.383547 ms
map corner num 175011  surf num 71067 
sort q time 6.045050 
seperate points time 13.997560 
scan registration time 50.225429 ms *************
-----t: 0.0515513
OdomCount 1857 & avg odom time 0.046145 ms ++++++++++++++++++++++
publication time 11.051476 ms 
whole laserOdometry time 11.081888 ms 
 
--------------------stamp1317357954.837445974
prepare time 12.234412 
mapping solver time 28.172688 ms 
sort q time 18.489313 
seperate points time 40.901821 
-----t: 0.0505723
OdomCount 1858 & avg odom time 0.046147 ms ++++++++++++++++++++++
publication time 10.487261 ms 
whole laserOdometry time 10.499528 ms 
 
filter time 11.553922 ms 
map prepare time 3.376844 ms
map corner num 175744  surf num 71394 
points size 103051 
sort q time 5.913026 
seperate points time 13.666287 
build tree time 44.806549 ms 
publication time 9.141113 ms 
whole laserOdometry time 9.148757 ms 
 
mapping data assosiation time 28.311951 ms 
mapping solver time 24.366817 ms 
points size 102350 
mapping data assosiation time 27.085323 ms 
scan registration time 30.937075 ms *************
mapping solver time 26.600049 ms 
mapping optimization time 152.452635 
add points time 0.980860 ms
filter time 14.124051 ms 
map prepare time 3.152508 ms
map corner num 176422  surf num 71628 
--------------------stamp1317357955.149055957
prepare time 12.051949 
sort q time 6.639680 
seperate points time 13.833216 
mapping data assosiation time 28.082836 ms 
publication time 14.391045 ms 
whole laserOdometry time 14.411414 ms 
 
mapping data assosiation time 23.131128 ms 
--------------------stamp1317357955.252928018
mapping solver time 22.677595 ms 
filter time 13.373505 ms 
publication time 9.394298 ms 
whole laserOdometry time 9.423186 ms 
 
-----t: 0.0695069
OdomCount 1862 & avg odom time 0.046168 ms ++++++++++++++++++++++
1317357955.252928018 WriteOdom laser_odom_to_init
1317357955.252928018 WriteOdom aft_mapped_to_init_high_frec
build tree time 46.399002 ms 
--------------------stamp1317357955.356797933
points size 100157 
mapping solver time 33.110969 ms 
scan registration time 57.815275 ms *************
publication time 9.887120 ms 
whole laserOdometry time 9.904760 ms 
 
mapping data assosiation time 43.100826 ms 
--------------------stamp1317357955.460669040
prepare time 12.356565 
drop lidar frame in mapping for real time performance 
publication time 9.147934 ms 
whole laserOdometry time 9.157522 ms 
 
-----t: 0.0467639
OdomCount 1864 & avg odom time 0.046176 ms ++++++++++++++++++++++
1317357955.460669040 WriteOdom laser_odom_to_init
mapping data assosiation time 23.220340 ms 
points size 99485 
mapping solver time 24.026502 ms 
sort q time 6.767109 
seperate points time 13.731574 
publication time 9.038422 ms 
whole laserOdometry time 9.048485 ms 
 
-----t: 0.0487097
OdomCount 1865 & avg odom time 0.046177 ms ++++++++++++++++++++++
filter time 12.347403 ms 
mapping pub time 2.240288 ms 
whole mapping time 165.369968 ms +++++
mappingCount 1289 & avg mapping time 145.742208 ms ++++++++++++++++++++++
1317357955.252928019 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.991336 ms
map corner num 161878  surf num 62036 
--------------------stamp1317357955.668461084
prepare time 11.770154 
build tree time 39.762612 ms 
publication time 13.353967 ms 
whole laserOdometry time 13.381982 ms 
 
mapping data assosiation time 30.500541 ms 
-----t: 0.0403106
OdomCount 1866 & avg odom time 0.046174 ms ++++++++++++++++++++++
mapping solver time 26.021534 ms 
--------------------stamp1317357955.772332906
points size 99769 
sort q time 5.598639 
seperate points time 12.267619 
mapping solver time 24.761375 ms 
mapping optimization time 147.618351 
add points time 1.194387 ms
scan registration time 30.820287 ms *************
mapping pub time 2.330761 ms 
whole mapping time 167.936578 ms +++++
mappingCount 1290 & avg mapping time 145.759427 ms ++++++++++++++++++++++
1317357955.460669041 WriteOdom aft_mapped_to_init
build tree time 24.142399 ms 
mapping data assosiation time 25.059303 ms 
points size 99769 
prepare time 16.513354 
scan registration time 36.522516 ms *************
mapping data assosiation time 28.636984 ms 
publication time 8.669348 ms 
whole laserOdometry time 8.685772 ms 
 
mapping solver time 24.580422 ms 
filter time 8.187068 ms 
[0m[ INFO] [1718889469.778438772, 1317357955.964264257]: Received 124965 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889469.778484458, 1317357955.964264257]: Data saved to 1317357955668461.pcd[0m
mapping pub time 3.741917 ms 
whole mapping time 142.414681 ms +++++
mappingCount 1291 & avg mapping time 145.756840 ms ++++++++++++++++++++++
1317357955.668461084 WriteOdom aft_mapped_to_init
--------------------stamp1317357955.980026006
points size 98722 
sort q time 5.829797 
seperate points time 12.028800 
scan registration time 29.580786 ms *************
-----t: 0.0419945
OdomCount 1869 & avg odom time 0.046190 ms ++++++++++++++++++++++
mapping data assosiation time 22.900231 ms 
--------------------stamp1317357956.083873033
points size 98183 
map prepare time 3.253706 ms
map corner num 90904  surf num 34853 
publication time 7.059470 ms 
whole laserOdometry time 7.071231 ms 
 
mapping data assosiation time 27.780022 ms 
-----t: 0.0790747
OdomCount 1870 & avg odom time 0.046208 ms ++++++++++++++++++++++
points size 98154 
prepare time 12.631490 
sort q time 6.133358 
seperate points time 11.925633 
publication time 7.645327 ms 
whole laserOdometry time 7.655914 ms 
 
filter time 8.857937 ms 
build tree time 22.092403 ms 
--------------------stamp1317357956.291539907
prepare time 12.351643 
sort q time 6.463652 
seperate points time 12.270256 
mapping solver time 27.845181 ms 
mapping data assosiation time 27.212017 ms 
mapping solver time 17.410044 ms 
filter time 8.353817 ms 
points size 97333 
sort q time 6.885814 
seperate points time 13.104097 
build tree time 24.318427 ms 
scan registration time 30.274062 ms *************
publication time 13.039783 ms 
whole laserOdometry time 13.058149 ms 
 
1317357956.395339012 WriteOdom laser_odom_to_init
mapping solver time 27.976223 ms 
--------------------stamp1317357956.499161005
sort q time 5.314746 
seperate points time 12.206933 
filter time 7.629109 ms 
build tree time 20.004902 ms 
mapping data assosiation time 24.505606 ms 
points size 96660 
mapping solver time 25.716006 ms 
scan registration time 28.877870 ms *************
mapping data assosiation time 27.036516 ms 
-----t: 0.0616402
OdomCount 1875 & avg odom time 0.046215 ms ++++++++++++++++++++++
filter time 7.572377 ms 
[0m[ INFO] [1718889470.505370615, 1317357956.682202641]: Received 129105 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889470.505412875, 1317357956.682202641]: Data saved to 1317357956395339.pcd[0m
mapping pub time 3.813695 ms 
whole mapping time 142.546398 ms +++++
mappingCount 1296 & avg mapping time 145.745311 ms ++++++++++++++++++++++
1317357956.395339012 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357956.706758975
build tree time 20.285003 ms 
prepare time 12.174324 
scan registration time 31.245032 ms *************
publication time 8.949728 ms 
whole laserOdometry time 8.967922 ms 
 
-----t: 0.0424473
OdomCount 1876 & avg odom time 0.046213 ms ++++++++++++++++++++++
mapping solver time 27.563576 ms 
mapping data assosiation time 24.387485 ms 
--------------------stamp1317357956.810555934
prepare time 11.825541 
map prepare time 2.817947 ms
map corner num 94024  surf num 35828 
build tree time 23.306033 ms 
-----t: 0.0521409
OdomCount 1877 & avg odom time 0.046216 ms ++++++++++++++++++++++
mapping solver time 27.837811 ms 
--------------------stamp1317357956.914330005
points size 96829 
sort q time 5.602989 
seperate points time 12.794601 
publication time 9.046065 ms -----t: 0.0438936
OdomCount 1878 & avg odom time 0.046215 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
build tree time 21.759145 ms 
--------------------stamp1317357957.018059015
prepare time 12.779623 
sort q time 6.474302 
seperate points time 12.892202 
mapping solver time 27.528663 ms 
mapping data assosiation time 29.071639 ms 
mapping solver time 17.487906 ms 
filter time 6.524976 ms 
points size 97200 
sort q time 5.238271 
seperate points time 11.829827 
publication time 8.425125 ms 
whole laserOdometry time 8.445146 ms 
 
-----t: 0.0379345
OdomCount 1880 & avg odom time 0.046218 ms ++++++++++++++++++++++
1317357957.121762037 WriteOdom laser_odom_to_init
1317357957.121762037 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.631209 ms 
mapping solver time 27.579939 ms 
--------------------stamp1317357957.225486040
points size 97736 
sort q time 5.176252 
seperate points time 11.956412 
mapping solver time 27.831159 ms 
-----t: 0.038398
OdomCount 1881 & avg odom time 0.046214 ms ++++++++++++++++++++++
mapping pub time 2.497300 ms 
whole mapping time 154.084491 ms +++++
mappingCount 1300 & avg mapping time 145.739574 ms ++++++++++++++++++++++
1317357957.018059015 WriteOdom aft_mapped_to_init
build tree time 19.846263 ms 
--------------------stamp1317357957.329190015
points size 98284 
sort q time 5.352641 
seperate points time 12.190698 
publication time 8.507491 ms 
whole laserOdometry time 8.523561 ms 
 
mapping solver time 17.386388 ms 
filter time 8.260332 ms 
--------------------stamp1317357957.432893991
prepare time 13.228866 
sort q time 5.532464 
seperate points time 11.718965 
mapping pub time 66.042751 ms 
whole mapping time 199.426450 ms +++++
mappingCount 1301 & avg mapping time 145.780844 ms ++++++++++++++++++++++
publication time 17.983132 ms 
whole laserOdometry time 17.997666 ms 
 
-----t: 0.0579295
OdomCount 1883 & avg odom time 0.046217 ms ++++++++++++++++++++++
mapping data assosiation time 24.702479 ms 
points size 98852 
sort q time 5.353469 
seperate points time 12.783076 
publication time 10.661589 ms 
whole laserOdometry time 10.675170 ms 
 
-----t: 0.0510812
OdomCount 1884 & avg odom time 0.046220 ms ++++++++++++++++++++++
1317357957.536597967 WriteOdom laser_odom_to_init
1317357957.536597967 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 35.209671 ms 
mapping solver time 24.059667 ms 
--------------------stamp1317357957.640280961
prepare time 14.851334 
sort q time 5.676840 
seperate points time 13.406597 
publication time 11.234617 ms 
whole laserOdometry time 11.252283 ms 
 
mapping solver time 23.183045 ms 
--------------------stamp1317357957.743958950
prepare time 11.875045 
sort q time 6.236628 
seperate points time 13.498040 
filter time 9.586581 ms 
mapping pub time 2.319349 ms 
whole mapping time 146.460723 ms +++++
mappingCount 1303 & avg mapping time 145.791003 ms ++++++++++++++++++++++
1317357957.432893991 WriteOdom aft_mapped_to_init
-----t: 0.0505855
OdomCount 1886 & avg odom time 0.046220 ms ++++++++++++++++++++++
1317357957.743958950 WriteOdom laser_odom_to_init
1317357957.743958950 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357957.847608089
prepare time 13.218394 
sort q time 5.723763 
seperate points time 13.565236 
scan registration time 32.345886 ms *************
mapping solver time 34.452498 ms 
publication time 9.804112 ms 
whole laserOdometry time 9.822752 ms 
 
mapping data assosiation time 31.780344 ms 
mapping solver time 24.614534 ms 
filter time 6.967463 ms 
map prepare time 3.077606 ms
map corner num 98856  surf num 37734 
sort q time 7.176425 
seperate points time 12.916560 
publication time 7.875087 ms 
whole laserOdometry time 7.887294 ms 
 
-----t: 0.0439499
OdomCount 1888 & avg odom time 0.046218 ms ++++++++++++++++++++++
mapping solver time 28.717202 ms 
points size 102575 
sort q time 6.196169 
seperate points time 11.941132 
mapping solver time 28.049244 ms 
mapping optimization time 139.188872 
add points time 0.935523 ms
-----t: 0.050452
OdomCount 1889 & avg odom time 0.046220 ms ++++++++++++++++++++++
build tree time 21.816755 ms 
--------------------stamp1317357958.158623933
points size 102459 
sort q time 5.594033 
seperate points time 13.029944 
mapping solver time 32.526612 ms 
publication time 9.910423 ms 
whole laserOdometry time 9.940047 ms 
 
mapping data assosiation time 30.859321 ms 
--------------------stamp1317357958.262301921
points size 102471 
map prepare time 3.884881 ms
map corner num 100311  surf num 38345 
build tree time 28.962728 ms 
publication time 12.078872 ms 
whole laserOdometry time 12.105328 ms 
 
--------------------stamp1317357958.366003036
prepare time 12.351512 
mapping solver time 39.254441 ms 
publication time 11.033186 ms 
whole laserOdometry time 11.059401 ms 
 
mapping solver time 31.361885 ms 
mapping optimization time 169.211260 
add points time 1.038627 ms
drop lidar frame in mapping for real time performance 
sort q time 5.689114 
seperate points time 11.701015 
build tree time 28.458193 ms 
mapping data assosiation time 33.118485 ms 
mapping solver time 30.677357 ms 
points size 102689 
sort q time 5.753842 
seperate points time 13.332772 
publication time 9.874685 ms 
whole laserOdometry time 9.893992 ms 
 
-----t: 0.0568463
OdomCount 1894 & avg odom time 0.046243 ms ++++++++++++++++++++++
map prepare time 3.871263 ms
map corner num 101782  surf num 38950 
--------------------stamp1317357958.677182912
points size 102727 
prepare time 11.831336 
sort q time 5.934164 
seperate points time 13.541767 
mapping data assosiation time 33.608230 ms 
publication time 11.205232 ms 
whole laserOdometry time 11.220659 ms 
 
-----t: 0.0530553
OdomCount 1895 & avg odom time 0.046247 ms ++++++++++++++++++++++
--------------------stamp1317357958.780909061
points size 102703 
sort q time 5.849264 
seperate points time 13.622738 
filter time 10.088817 ms 
mapping pub time 2.403234 ms 
whole mapping time 182.454913 ms +++++
mappingCount 1309 & avg mapping time 145.902720 ms ++++++++++++++++++++++
1317357958.469728947 WriteOdom aft_mapped_to_init
-----t: 0.0543771
OdomCount 1896 & avg odom time 0.046251 ms ++++++++++++++++++++++
--------------------stamp1317357958.884634971
points size 102788 
prepare time 15.773796 
sort q time 5.822525 
seperate points time 13.946041 
publication time 12.241630 ms 
whole laserOdometry time 12.259667 ms 
 
-----t: 0.0604291
OdomCount 1897 & avg odom time 0.046258 ms ++++++++++++++++++++++
mapping solver time 18.466678 ms 
filter time 9.712961 ms 
prepare time 13.450826 
sort q time 5.818091 
seperate points time 13.453909 
build tree time 27.113787 ms 
-----t: 0.0559423
OdomCount 1898 & avg odom time 0.046264 ms ++++++++++++++++++++++
mapping solver time 25.006136 ms 
points size 102739 
mapping data assosiation time 33.932586 ms 
scan registration time 37.539790 ms *************
mapping solver time 22.952154 ms 
[0m[ INFO] [1718889472.971140920, 1317357959.147426170]: Received 143735 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889472.971179297, 1317357959.147426170]: Data saved to 1317357958780909.pcd[0m
mapping pub time 4.189594 ms 
whole mapping time 160.180818 ms +++++
mappingCount 1311 & avg mapping time 145.922622 ms ++++++++++++++++++++++
1317357958.780909061 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 23.983592 ms 
points size 102737 
mapping data assosiation time 30.429067 ms 
mapping solver time 30.164008 ms 
publication time 10.340141 ms 
whole laserOdometry time 10.371472 ms 
 
-----t: 0.0576475
OdomCount 1901 & avg odom time 0.046274 ms ++++++++++++++++++++++
--------------------stamp1317357959.403103113
points size 102829 
sort q time 5.868768 
seperate points time 13.763842 
scan registration time 36.442211 ms *************
publication time 9.684838 ms 
whole laserOdometry time 9.709605 ms 
 
mapping solver time 27.867378 ms 
filter time 9.687077 ms 
--------------------stamp1317357959.506782054
prepare time 15.184120 
sort q time 9.504101 
seperate points time 16.873974 
mapping data assosiation time 33.550674 ms 
publication time 12.282535 ms 
whole laserOdometry time 12.301315 ms 
 
mapping solver time 29.477961 ms 
--------------------stamp1317357959.610510110
points size 102709 
sort q time 6.572228 
seperate points time 12.486526 
filter time 9.602033 ms 
publication time 8.666198 ms 
whole laserOdometry time 8.681626 ms 
 
-----t: 0.0462268
OdomCount 1904 & avg odom time 0.046289 ms ++++++++++++++++++++++
build tree time 26.652925 ms 
--------------------stamp1317357959.714282989
points size 102395 
mapping solver time 26.108673 ms 
mapping data assosiation time 34.988517 ms 
-----t: 0.068665
OdomCount 1905 & avg odom time 0.046301 ms ++++++++++++++++++++++
1317357959.714282989 WriteOdom aft_mapped_to_init_high_frec
1317357959.714282989 WriteOdom laser_odom_to_init
mapping solver time 30.033551 ms 
mapping optimization time 143.452001 
add points time 0.886486 ms
filter time 8.120892 ms 
map prepare time 3.981687 ms
map corner num 106433  surf num 40917 
prepare time 13.033426 
sort q time 6.538037 
seperate points time 13.136029 
build tree time 28.070970 ms 
scan registration time 32.446918 ms *************
publication time 12.306119 ms 
whole laserOdometry time 12.324585 ms 
 
-----t: 0.0543411
OdomCount 1906 & avg odom time 0.046305 ms ++++++++++++++++++++++
1317357959.818056106 WriteOdom laser_odom_to_init
1317357959.818056106 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.049823 ms 
--------------------stamp1317357959.921855926
prepare time 13.764846 
sort q time 5.789219 
seperate points time 13.250233 
mapping solver time 22.321562 ms 
mapping pub time 4.113249 ms 
whole mapping time 158.880661 ms +++++
mappingCount 1316 & avg mapping time 145.979204 ms ++++++++++++++++++++++
1317357959.610510111 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0418803
OdomCount 1907 & avg odom time 0.046303 ms ++++++++++++++++++++++
build tree time 25.225647 ms 
--------------------stamp1317357960.025726079
points size 102110 
sort q time 5.732847 
seperate points time 13.546578 
scan registration time 31.542981 ms *************
-----t: 0.0473582
mapping data assosiation time 32.635228 ms 
mapping solver time 23.480836 ms 
filter time 8.560667 ms 
sort q time 6.401444 
seperate points time 12.905470 
build tree time 26.351653 ms 
publication time 10.322318 ms 
whole laserOdometry time 10.335638 ms 
 
-----t: 0.0651106
OdomCount 1909 & avg odom time 0.046313 ms ++++++++++++++++++++++
1317357960.129668951 WriteOdom laser_odom_to_init
mapping solver time 28.704194 ms 
points size 101759 
mapping data assosiation time 27.993829 ms 
mapping solver time 30.171607 ms 
mapping pub time 2.406608 ms --------------------stamp1317357960.337702989
points size 101442 
mapping data assosiation time 26.806878 ms 
publication time 10.967692 ms 
whole laserOdometry time 10.982623 ms 
 
1317357960.337702989 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.769619 ms 
--------------------stamp1317357960.441787958
mapping solver time 26.945113 ms 
publication time 9.766998 ms 
whole laserOdometry time 9.782173 ms 
 
-----t: 0.0379587
OdomCount 1912 & avg odom time 0.046313 ms ++++++++++++++++++++++
1317357960.441787958 WriteOdom laser_odom_to_init
mapping data assosiation time 22.637834 ms 
--------------------stamp1317357960.545945882
points size 100677 
sort q time 5.412310 
seperate points time 12.881691 
publication time 9.816125 ms 
whole laserOdometry time 9.827270 ms 
 
mapping solver time 32.117318 ms 
filter time 7.369406 ms 
map prepare time 2.694447 ms
map corner num 109642  surf num 42161 
--------------------stamp1317357960.650177001
prepare time 13.012473 
sort q time 6.589756 
seperate points time 12.320474 
publication time 7.974984 ms 
whole laserOdometry time 7.986494 ms 
 
mapping solver time 32.328529 ms 
mapping data assosiation time 23.035737 ms 
--------------------stamp1317357960.754456043
points size 95183 
filter time 9.816830 ms 
publication time 8.186804 ms 
whole laserOdometry time 8.200716 ms 
 
mapping pub time 57.094192 ms 
whole mapping time 206.654635 ms +++++
mappingCount 1321 & avg mapping time 146.065944 ms ++++++++++++++++++++++
--------------------stamp1317357960.858758926
prepare time 11.624028 
sort q time 5.436775 
seperate points time 11.505770 
mapping data assosiation time 26.825606 ms 
publication time 16.589909 ms 
whole laserOdometry time 16.602079 ms 
 
-----t: 0.0452069
OdomCount 1916 & avg odom time 0.046320 ms ++++++++++++++++++++++
1317357960.858758926 WriteOdom laser_odom_to_init
1317357960.858758926 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.949346 ms 
mapping data assosiation time 28.184324 ms 
prepare time 10.984860 
sort q time 6.513921 
seperate points time 11.918399 
mapping optimization time 156.568789 
publication time 11.162256 ms 
whole laserOdometry time 11.189302 ms 
 
1317357960.963094949 WriteOdom laser_odom_to_init
1317357960.963094949 WriteOdom aft_mapped_to_init_high_frec
build tree time 30.552796 ms 
--------------------stamp1317357961.067445993
prepare time 10.587798 
sort q time 5.311531 
seperate points time 12.048749 
publication time 8.335988 ms 
whole laserOdometry time 8.353488 ms 
 
mapping solver time 33.217475 ms 
-----t: 0.0383905
OdomCount 1918 & avg odom time 0.046316 ms ++++++++++++++++++++++
mapping data assosiation time 27.691082 ms 
mapping solver time 33.207869 ms 
points size 89714 
map prepare time 3.557182 ms
map corner num 111868  surf num 42836 
publication time 8.237044 ms 
whole laserOdometry time 8.254445 ms 
 
mapping data assosiation time 26.651536 ms 
--------------------stamp1317357961.276066064
prepare time 13.699050 
mapping data assosiation time 25.837036 ms 
sort q time 17.471315 
seperate points time 24.931092 
scan registration time 45.764156 ms *************
mapping solver time 29.560922 ms 
filter time 9.535529 ms 
build tree time 22.310623 ms 
points size 90049 
mapping data assosiation time 27.289913 ms 
-----t: 0.0292477
OdomCount 1921 & avg odom time 0.046298 ms ++++++++++++++++++++++
1317357961.380369901 WriteOdom laser_odom_to_init
1317357961.380369901 WriteOdom aft_mapped_to_init_high_frec
scan registration time 53.428781 ms *************
publication time 6.089612 ms 
whole laserOdometry time 6.101592 ms 
 
mapping data assosiation time 30.428821 ms 
--------------------stamp1317357961.484622955
filter time 8.381576 ms 
sort q time 4.755396 
seperate points time 11.622029 
scan registration time 29.756612 ms *************
-----t: 0.0331254
OdomCount 1922 & avg odom time 0.046291 ms ++++++++++++++++++++++
1317357961.484622955 WriteOdom laser_odom_to_init
1317357961.484622955 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.435227 ms 
mapping solver time 22.147504 ms 
--------------------stamp1317357961.588829040
points size 89036 
sort q time 4.871636 
seperate points time 11.207721 
mapping solver time 27.385994 ms 
filter time 9.468798 ms 
map prepare time 2.514194 ms
map corner num 114068  surf num 43454 
build tree time 24.777682 ms 
--------------------stamp1317357961.693037033
prepare time 11.460446 
sort q time 5.751557 
seperate points time 11.210933 
mapping solver time 20.251794 ms 
scan registration time 27.112786 ms *************
mapping data assosiation time 23.683080 ms 
1317357961.693037033 WriteOdom laser_odom_to_init
1317357961.693037033 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.724941 ms 
filter time 9.786425 ms 
--------------------stamp1317357961.797219038
points size 89680 
sort q time 5.518938 
seperate points time 12.869313 
scan registration time 32.722043 ms *************
1317357961.797219038 WriteOdom laser_odom_to_init
1317357961.797219038 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.344956 ms 
mapping data assosiation time 18.854297 ms 
mapping optimization time 114.120595 
filter time 11.850928 ms 
sort q time 4.651096 
seperate points time 11.081319 
publication time 8.928560 ms -----t: 0.0369123
OdomCount 1926 & avg odom time 0.046275 ms ++++++++++++++++++++++
1317357961.901352882 WriteOdom laser_odom_to_init
1317357961.901352882 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.748707 ms 
mapping solver time 16.557114 ms 
--------------------stamp1317357962.005464076
prepare time 13.579994 
sort q time 4.479993 
seperate points time 14.424044 
publication time 7.561083 ms 
whole laserOdometry time 7.586496 ms 
 
build tree time 27.543434 ms 
mapping data assosiation time 18.881293 ms 
--------------------stamp1317357962.109575986
prepare time 10.863561 
sort q time 4.946513 
seperate points time 10.785901 
publication time 6.056711 ms 
whole laserOdometry time 6.070343 ms 
 
mapping solver time 21.996455 ms 
filter time 8.591289 ms 
map prepare time 2.628540 ms
map corner num 115870  surf num 43842 
build tree time 26.245684 ms 
--------------------stamp1317357962.213660001
mapping data assosiation time 20.030779 ms 
sort q time 4.738668 
seperate points time 10.918640 
scan registration time 26.286538 ms *************
-----t: 0.0277987
OdomCount 1929 & avg odom time 0.046253 ms ++++++++++++++++++++++
mapping data assosiation time 20.097736 ms 
mapping solver time 14.176251 ms 
filter time 9.925480 ms 
map prepare time 3.157081 ms
map corner num 116229  surf num 43899 
--------------------stamp1317357962.317723989
prepare time 12.008587 
sort q time 5.010489 
seperate points time 10.954911 
publication time 8.055756 ms 
whole laserOdometry time 8.075571 ms 
 
mapping data assosiation time 39.626313 ms 
-----t: 0.0589741
OdomCount 1930 & avg odom time 0.046260 ms ++++++++++++++++++++++
mapping data assosiation time 22.775642 ms 
mapping solver time 16.592275 ms 
filter time 11.405531 ms 
sort q time 5.515940 
seperate points time 20.662167 
-----t: 0.0318451
OdomCount 1931 & avg odom time 0.046252 ms ++++++++++++++++++++++
1317357962.421761989 WriteOdom laser_odom_to_init
1317357962.421761989 WriteOdom aft_mapped_to_init_high_frec
build tree time 33.088547 ms 
mapping data assosiation time 22.388329 ms 
--------------------stamp1317357962.525778055
points size 88808 
sort q time 15.552645 
seperate points time 21.259095 
mapping data assosiation time 20.955391 ms 
scan registration time 38.517548 ms *************
mapping solver time 20.799709 ms 
filter time 11.676030 ms 
map prepare time 3.311522 ms
map corner num 117027  surf num 44065 
--------------------stamp1317357962.629769086
prepare time 11.285732 
mapping data assosiation time 19.602817 ms 
mapping solver time 19.978824 ms 
mapping data assosiation time 19.996000 ms 
mapping solver time 13.835382 ms 
filter time 9.800380 ms 
--------------------stamp1317357962.733736038
prepare time 11.212160 
publication time 6.696723 ms 
whole laserOdometry time 6.709878 ms 
 
-----t: 0.0491037
OdomCount 1934 & avg odom time 0.046254 ms ++++++++++++++++++++++
mapping solver time 24.697151 ms 
mapping data assosiation time 16.127289 ms 
mapping solver time 16.211284 ms 
points size 89065 
filter time 11.725935 ms 
mapping pub time 2.260578 ms 
whole mapping time 127.129059 ms +++++
mappingCount 1335 & avg mapping time 146.017075 ms ++++++++++++++++++++++
1317357962.629769087 WriteOdom aft_mapped_to_init
prepare time 11.530531 
scan registration time 28.422341 ms *************
-----t: 0.0322181
OdomCount 1935 & avg odom time 0.046246 ms ++++++++++++++++++++++
1317357962.837680101 WriteOdom laser_odom_to_init
1317357962.837680101 WriteOdom aft_mapped_to_init_high_frec
publication time 9.145090 ms 
whole laserOdometry time 9.159755 ms 
 
mapping data assosiation time 19.144932 ms 
mapping solver time 17.989941 ms 
mapping data assosiation time 17.582707 ms 
points size 89256 
filter time 9.257591 ms 
sort q time 5.013424 
seperate points time 11.531591 
mapping pub time 5.193023 ms 
whole mapping time 119.304835 ms +++++
mappingCount 1336 & avg mapping time 145.997085 ms ++++++++++++++++++++++
1317357962.733736038 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889476.787184292, 1317357962.964451143]: Received 162609 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889476.787539732, 1317357962.964451143]: Data saved to 1317357962733736.pcd[0m
scan registration time 31.207756 ms *************
map prepare time 3.059567 ms
map corner num 118283  surf num 44326 
publication time 7.772405 ms 
whole laserOdometry time 7.788627 ms 
 
build tree time 29.687182 ms 
-----t: 0.0599955
OdomCount 1936 & avg odom time 0.046254 ms ++++++++++++++++++++++
1317357962.941597938 WriteOdom laser_odom_to_init
1317357962.941597938 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357963.045492887
prepare time 13.428660 
sort q time 5.160889 
seperate points time 12.111234 
mapping solver time 20.863751 ms 
1317357963.045492887 WriteOdom laser_odom_to_init
1317357963.045492887 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.871290 ms
map corner num 191661  surf num 72315 
--------------------stamp1317357963.149363040
points size 94196 
prepare time 13.992474 
mapping solver time 25.066881 ms 
mapping solver time 13.939095 ms 
filter time 12.569145 ms 
points size 95708 
sort q time 8.171394 
seperate points time 16.036417 
build tree time 48.463572 ms 
-----t: 0.0494003
OdomCount 1939 & avg odom time 0.046254 ms ++++++++++++++++++++++
1317357963.253210067 WriteOdom laser_odom_to_init
1317357963.253210067 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.483606 ms 
--------------------stamp1317357963.357057094
points size 97028 
mapping solver time 19.004757 ms 
filter time 17.228089 ms 
publication time 15.078711 ms 
whole laserOdometry time 15.095757 ms 
 
build tree time 40.906788 ms 
--------------------stamp1317357963.460926055
mapping data assosiation time 19.478427 ms 
sort q time 5.898293 
seperate points time 13.578041 
publication time 9.339047 ms 
whole laserOdometry time 9.354998 ms 
 
mapping solver time 17.024872 ms 
filter time 12.132437 ms 
mapping pub time 2.241249 ms 
whole mapping time 143.581867 ms +++++
mappingCount 1340 & avg mapping time 145.985311 ms ++++++++++++++++++++++
1317357963.253210068 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357963.564798116
points size 95890 
sort q time 5.377161 
seperate points time 12.339555 
scan registration time 28.798184 ms *************
1317357963.564798116 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.847172 ms 
mapping solver time 20.647938 ms 
mapping data assosiation time 17.666234 ms 
mapping solver time 12.947385 ms 
mapping optimization time 120.604383 
add points time 0.722356 ms
points size 94072 
prepare time 11.784555 
scan registration time 31.174999 ms *************
[0m[ INFO] [1718889477.516294544, 1317357963.693525564]: Received 266626 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889477.516406432, 1317357963.693525564]: Data saved to 1317357963357057.pcd[0m
1317357963.668669939 WriteOdom laser_odom_to_init
mapping pub time 47.633767 ms 
whole mapping time 187.061810 ms +++++
mappingCount 1341 & avg mapping time 146.015944 ms ++++++++++++++++++++++
--------------------stamp1317357963.772515058
prepare time 12.544100 
sort q time 5.531340 
seperate points time 11.217757 
mapping data assosiation time 23.796864 ms 
publication time 9.001870 ms 
whole laserOdometry time 9.019129 ms 
 
mapping solver time 25.478972 ms 
mapping data assosiation time 20.242741 ms 
--------------------stamp1317357963.876362085
prepare time 11.774691 
mapping pub time 2.238894 ms 
whole mapping time 157.019076 ms +++++
mappingCount 1342 & avg mapping time 146.024147 ms ++++++++++++++++++++++
1317357963.564798117 WriteOdom aft_mapped_to_init
publication time 8.131838 ms 
whole laserOdometry time 8.141232 ms 
 
-----t: 0.0467416
OdomCount 1945 & avg odom time 0.046239 ms ++++++++++++++++++++++
build tree time 49.609591 ms 
mapping data assosiation time 19.218321 ms 
points size 89319 
sort q time 5.167312 
seperate points time 11.706057 
mapping data assosiation time 21.191997 ms 
-----t: 0.0399016
OdomCount 1946 & avg odom time 0.046235 ms ++++++++++++++++++++++
publication time 9.836107 ms 
whole laserOdometry time 9.849018 ms 
 
filter time 13.656278 ms 
mapping pub time 2.060571 ms 
whole mapping time 157.794616 ms +++++
mappingCount 1343 & avg mapping time 146.032915 ms ++++++++++++++++++++++
1317357963.772515059 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357964.084104061
prepare time 12.502050 
sort q time 4.782190 
seperate points time 10.784151 
mapping data assosiation time 22.817685 ms 
mapping solver time 19.353290 ms 
mapping data assosiation time 18.203214 ms 
mapping solver time 17.266730 ms 
filter time 13.609745 ms 
points size 90710 
mapping pub time 2.120317 ms 
whole mapping time 136.212793 ms +++++
mappingCount 1344 & avg mapping time 146.025612 ms ++++++++++++++++++++++
publication time 7.838926 ms 
whole laserOdometry time 7.857159 ms 
 
mapping data assosiation time 19.240584 ms 
--------------------stamp1317357964.291845083
mapping data assosiation time 21.613431 ms 
sort q time 5.136516 
seperate points time 12.674379 
filter time 12.435056 ms 
-----t: 0.0474066
OdomCount 1949 & avg odom time 0.046225 ms ++++++++++++++++++++++
build tree time 39.099993 ms 
--------------------stamp1317357964.395716905
points size 93327 
sort q time 5.793788 
seperate points time 13.307073 
publication time 6.310371 ms 
whole laserOdometry time 6.323033 ms 
 
-----t: 0.0388569
OdomCount 1950 & avg odom time 0.046221 ms ++++++++++++++++++++++
1317357964.395716905 WriteOdom laser_odom_to_init
mapping data assosiation time 21.294678 ms 
mapping solver time 21.881253 ms 
--------------------stamp1317357964.499587059
points size 94383 
sort q time 6.422363 
seperate points time 14.336483 
[0m[ INFO] [1718889478.356689128, 1317357964.541235488]: Received 224917 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889478.356767803, 1317357964.541235488]: Data saved to 1317357964187973.pcd[0m
build tree time 44.237328 ms 
mapping data assosiation time 19.597525 ms 
mapping solver time 21.564198 ms 
points size 97182 
sort q time 5.709776 
seperate points time 12.693323 
publication time 7.582354 ms 
whole laserOdometry time 7.614025 ms 
 
filter time 14.816726 ms 
mapping pub time 2.231264 ms 
whole mapping time 144.492006 ms +++++
mappingCount 1347 & avg mapping time 146.033958 ms ++++++++++++++++++++++
1317357964.395716906 WriteOdom aft_mapped_to_init
build tree time 35.151322 ms 
--------------------stamp1317357964.707329034
prepare time 13.015275 
sort q time 6.098253 
seperate points time 12.740050 
publication time 10.482877 ms 
whole laserOdometry time 10.501303 ms -----t: 0.0474325
OdomCount 1953 & avg odom time 0.046222 ms ++++++++++++++++++++++
mapping solver time 18.844480 ms 
filter time 10.980466 ms 
mapping pub time 2.036224 ms 
whole mapping time 141.890294 ms +++++
mappingCount 1348 & avg mapping time 146.030887 ms ++++++++++++++++++++++
1317357964.499587059 WriteOdom aft_mapped_to_init
map prepare time 2.742828 ms
map corner num 166615  surf num 59726 
points size 95695 
sort q time 6.044666 
seperate points time 11.894946 
build tree time 44.711057 ms 
publication time 9.814704 ms 
whole laserOdometry time 9.830743 ms 
 
mapping data assosiation time 27.543362 ms 
mapping solver time 23.256967 ms 
points size 94681 
sort q time 5.622513 
seperate points time 12.757334 
mapping solver time 16.114798 ms 
mapping optimization time 141.298583 
add points time 0.724454 ms
filter time 16.098503 ms 
mapping pub time 2.920388 ms 
whole mapping time 163.909728 ms +++++
mappingCount 1349 & avg mapping time 146.044148 ms ++++++++++++++++++++++
build tree time 38.391910 ms 
--------------------stamp1317357965.019181966
sort q time 5.699367 
seperate points time 13.271375 
mapping solver time 17.932317 ms 
scan registration time 31.942412 ms *************
publication time 8.512082 ms 
whole laserOdometry time 8.544890 ms 
 
mapping solver time 18.422878 ms 
filter time 12.197571 ms 
mapping pub time 2.173832 ms 
whole mapping time 139.894037 ms +++++
mappingCount 1350 & avg mapping time 146.039596 ms ++++++++++++++++++++++
1317357964.811249018 WriteOdom aft_mapped_to_init
map prepare time 3.444859 ms
map corner num 167644  surf num 59960 
points size 92690 
sort q time 5.296947 
seperate points time 12.468902 
build tree time 46.176360 ms 
-----t: 0.0366017
OdomCount 1957 & avg odom time 0.046222 ms ++++++++++++++++++++++mapping solver time 25.228298 ms 
--------------------stamp1317357965.227113962
points size 89187 
mapping solver time 20.529426 ms 
filter time 13.283881 ms 
mapping pub time 5.573316 ms 
whole mapping time 161.026295 ms +++++
mappingCount 1351 & avg mapping time 146.050692 ms ++++++++++++++++++++++
build tree time 43.471224 ms 
--------------------stamp1317357965.331083059
prepare time 11.962239 
sort q time 4.863535 
seperate points time 11.097122 
mapping solver time 26.929750 ms 
-----t: 0.0347243
mapping data assosiation time 24.180238 ms 
mapping solver time 17.007025 ms 
filter time 11.139523 ms 
--------------------stamp1317357965.435048103
prepare time 10.376931 
scan registration time 26.353494 ms *************
build tree time 47.339067 ms 
publication time 9.626944 ms 
whole laserOdometry time 9.641219 ms 
 
mapping data assosiation time 22.714640 ms 
-----t: 0.0643521
OdomCount 1960 & avg odom time 0.046228 ms ++++++++++++++++++++++
--------------------stamp1317357965.539015054
points size 78028 
sort q time 4.743011 
seperate points time 9.609825 
publication time 7.815344 ms 
whole laserOdometry time 7.840441 ms 
 
build tree time 35.921101 ms 
--------------------stamp1317357965.643007040
sort q time 4.442657 
seperate points time 9.584598 
mapping solver time 24.254488 ms 
-----t: 0.0325849
OdomCount 1962 & avg odom time 0.046215 ms ++++++++++++++++++++++
mapping solver time 16.821932 ms 
filter time 10.706621 ms 
--------------------stamp1317357965.747021913
build tree time 40.698845 ms 
publication time 6.617169 ms 
whole laserOdometry time 6.628362 ms 
 
mapping solver time 23.814531 ms 
mapping data assosiation time 19.708577 ms 
--------------------stamp1317357965.851036071
prepare time 10.456649 
sort q time 4.527215 
seperate points time 9.147726 
map prepare time 3.735813 ms
map corner num 170060  surf num 60543 
build tree time 44.106731 ms 
1317357965.851036071 WriteOdom laser_odom_to_init
mapping data assosiation time 20.419408 ms 
points size 74519 
sort q time 4.471844 
seperate points time 10.193156 
mapping data assosiation time 22.923245 ms 
mapping solver time 21.376864 ms 
mapping optimization time 133.649941 
add points time 0.751463 ms
mapping pub time 4.589908 ms 
whole mapping time 153.984360 ms +++++
mappingCount 1356 & avg mapping time 146.065529 ms ++++++++++++++++++++++
--------------------stamp1317357966.059063911
scan registration time 19.963694 ms *************
publication time 8.587544 ms 
whole laserOdometry time 8.623342 ms 
 
mapping solver time 21.214672 ms 
mapping data assosiation time 20.695907 ms 
--------------------stamp1317357966.163079977
sort q time 4.399580 
seperate points time 8.631933 
scan registration time 20.727486 ms *************
map prepare time 3.619548 ms
map corner num 170901  surf num 60743 
publication time 7.247822 ms 
whole laserOdometry time 7.258512 ms 
 
-----t: 0.0468953
OdomCount 1967 & avg odom time 0.046221 ms ++++++++++++++++++++++
1317357966.163079977 WriteOdom laser_odom_to_init
build tree time 49.544722 ms 
--------------------stamp1317357966.267095088
mapping solver time 19.514809 ms 
publication time 5.344648 ms 
whole laserOdometry time 5.359079 ms 
 
mapping solver time 14.601429 ms 
filter time 17.223887 ms 
--------------------stamp1317357966.371085882
prepare time 7.728282 
build tree time 48.929597 ms 
publication time 7.695251 ms 
whole laserOdometry time 7.709281 ms 
 
mapping solver time 18.977359 ms 
mapping data assosiation time 19.010223 ms 
mapping solver time 13.743658 ms 
sort q time 2.999002 
seperate points time 6.569528 
publication time 6.381020 ms 
whole laserOdometry time 6.392771 ms 
 
-----t: 0.0223556
OdomCount 1970 & avg odom time 0.046204 ms ++++++++++++++++++++++
1317357966.475075960 WriteOdom laser_odom_to_init
1317357966.475075960 WriteOdom aft_mapped_to_init_high_frec
build tree time 48.907119 ms 
mapping data assosiation time 19.831869 ms 
--------------------stamp1317357966.579067945
sort q time 3.931051 
seperate points time 7.619517 
-----t: 0.0246315
OdomCount 1971 & avg odom time 0.046194 ms ++++++++++++++++++++++
mapping solver time 18.751972 ms 
mapping optimization time 131.737441 
add points time 0.658820 ms
filter time 16.279844 ms 
--------------------stamp1317357966.683058023
build tree time 48.459587 ms 
sort q time 3.912342 
seperate points time 8.461472 
scan registration time 18.491528 ms *************
-----t: 0.0296911
OdomCount 1972 & avg odom time 0.046185 ms ++++++++++++++++++++++
mapping solver time 29.471577 ms 
mapping data assosiation time 19.551269 ms 
--------------------stamp1317357966.787096023
sort q time 3.819081 
seperate points time 8.126306 
-----t: 0.0298927
OdomCount 1973 & avg odom time 0.046177 ms ++++++++++++++++++++++
mapping pub time 48.906916 ms 
whole mapping time 208.744388 ms +++++
mappingCount 1361 & avg mapping time 146.125734 ms ++++++++++++++++++++++
--------------------stamp1317357966.891134977
build tree time 41.014642 ms 
mapping data assosiation time 20.426209 ms 
mapping solver time 21.663059 ms 
-----t: 0.042756
OdomCount 1974 & avg odom time 0.046175 ms ++++++++++++++++++++++
1317357966.891134977 WriteOdom laser_odom_to_init
1317357966.891134977 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.441955 ms 
mapping solver time 15.630289 ms 
mapping optimization time 118.058687 
add points time 0.603296 ms
map prepare time 3.684975 ms
map corner num 173294  surf num 61446 
prepare time 11.109882 
scan registration time 25.049603 ms *************
publication time 8.074669 ms 
whole laserOdometry time 8.088176 ms 
 
build tree time 54.541702 ms 
mapping data assosiation time 16.328704 ms 
mapping solver time 19.907849 ms 
--------------------stamp1317357967.099210977
mapping data assosiation time 19.750808 ms 
sort q time 3.906413 
seperate points time 9.396569 
mapping solver time 29.277650 ms 
filter time 13.879235 ms 
build tree time 36.890348 ms 
points size 71753 
sort q time 3.802205 
seperate points time 9.119924 
mapping solver time 22.090047 ms 
-----t: 0.0344979
OdomCount 1977 & avg odom time 0.046156 ms ++++++++++++++++++++++
mapping solver time 17.047688 ms 
filter time 11.574138 ms 
--------------------stamp1317357967.307265996
sort q time 4.286610 
seperate points time 10.242283 
-----t: 0.0289041
OdomCount 1978 & avg odom time 0.046147 ms ++++++++++++++++++++++
mapping solver time 18.686325 ms 
mapping data assosiation time 16.193622 ms 
--------------------stamp1317357967.411303997
prepare time 12.310700 
filter time 14.496311 ms 
mapping pub time 1.817996 ms 
whole mapping time 141.956556 ms +++++
mappingCount 1365 & avg mapping time 146.113593 ms ++++++++++++++++++++++
1317357967.203226089 WriteOdom aft_mapped_to_init
publication time 7.787205 ms 
whole laserOdometry time 7.802121 ms 
 
1317357967.411303997 WriteOdom aft_mapped_to_init_high_frec
build tree time 45.380798 ms 
mapping data assosiation time 15.422993 ms 
mapping solver time 15.936131 ms 
points size 80442 
mapping data assosiation time 22.816936 ms 
mapping solver time 20.006621 ms 
-----t: 0.039453
OdomCount 1980 & avg odom time 0.046140 ms ++++++++++++++++++++++
build tree time 37.420591 ms 
mapping data assosiation time 19.438213 ms 
sort q time 5.733305 
seperate points time 11.365293 
publication time 9.406236 ms 
whole laserOdometry time 9.428986 ms 
 
mapping data assosiation time 20.940203 ms 
-----t: 0.0552204
OdomCount 1981 & avg odom time 0.046145 ms ++++++++++++++++++++++
filter time 12.690692 ms 
mapping pub time 1.741108 ms 
whole mapping time 131.638680 ms +++++
mappingCount 1367 & avg mapping time 146.100851 ms ++++++++++++++++++++++
1317357967.411303997 WriteOdom aft_mapped_to_init
map prepare time 2.616395 ms
map corner num 175779  surf num 62211 
--------------------stamp1317357967.723248958
prepare time 11.831202 
sort q time 4.607486 
seperate points time 10.926314 
scan registration time 28.263610 ms *************
publication time 10.448101 ms 
whole laserOdometry time 10.464324 ms 
 
mapping data assosiation time 20.427959 ms 
mapping solver time 16.888037 ms 
mapping data assosiation time 17.027351 ms 
points size 79379 
sort q time 5.269185 
seperate points time 12.292125 
mapping pub time 1.985868 ms 
whole mapping time 159.119808 ms +++++
mappingCount 1368 & avg mapping time 146.110373 ms ++++++++++++++++++++++
-----t: 0.0409217
OdomCount 1983 & avg odom time 0.046133 ms ++++++++++++++++++++++
build tree time 42.515653 ms 
--------------------stamp1317357967.931137084
points size 79675 
sort q time 4.537172 
seperate points time 10.932023 
publication time 10.623386 ms 
whole laserOdometry time 10.638551 ms 
 
mapping data assosiation time 18.913209 ms 
-----t: 0.0595596
OdomCount 1984 & avg odom time 0.046140 ms ++++++++++++++++++++++
1317357967.723248959 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.737977 ms
map corner num 176585  surf num 62468 
--------------------stamp1317357968.035080909prepare time 8.653781 
sort q time 5.573140 
seperate points time 11.707142 
scan registration time 23.171020 ms *************
build tree time 45.287324 ms 
publication time 8.402847 ms 
whole laserOdometry time 8.419747 ms 
 
mapping solver time 16.788916 ms 
mapping data assosiation time 14.501921 ms 
mapping solver time 12.128788 ms 
--------------------stamp1317357968.139023065
prepare time 11.155136 
sort q time 5.304224 
seperate points time 11.461556 
publication time 6.897694 ms 
whole laserOdometry time 6.912663 ms 
 
1317357968.139023065 WriteOdom laser_odom_to_initbuild tree time 50.642192 ms 
mapping data assosiation time 15.995579 ms 
mapping solver time 14.664888 ms 
--------------------stamp1317357968.242940902
prepare time 11.004834 
mapping solver time 14.572889 ms 
mapping optimization time 115.449918 
add points time 0.802048 ms
sort q time 5.383279 
seperate points time 12.797162 
drop lidar frame in mapping for real time performance 
build tree time 43.900562 ms 
points size 84386 
sort q time 4.441910 
seperate points time 9.205680 
mapping solver time 19.130784 ms 
-----t: 0.031809
OdomCount 1988 & avg odom time 0.046121 ms ++++++++++++++++++++++
mapping solver time 12.531796 ms 
filter time 11.417978 ms 
--------------------stamp1317357968.450824975
prepare time 9.923649 
sort q time 4.237093 
seperate points time 10.079958 
build tree time 53.801543 ms 
-----t: 0.0301707
OdomCount 1989 & avg odom time 0.046113 ms ++++++++++++++++++++++
1317357968.450824975 WriteOdom laser_odom_to_init
1317357968.450824975 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.273323 ms 
mapping data assosiation time 18.436947 ms 
--------------------stamp1317357968.554769039
prepare time 9.916459 
filter time 16.099592 ms 
-----t: 0.0280008
OdomCount 1990 & avg odom time 0.046104 ms ++++++++++++++++++++++
1317357968.554769039 WriteOdom laser_odom_to_init
1317357968.554769039 WriteOdom aft_mapped_to_init_high_frec
publication time 13.737595 ms 
whole laserOdometry time 13.781828 ms 
 
build tree time 42.564999 ms 
mapping data assosiation time 17.329617 ms 
--------------------stamp1317357968.658710956
prepare time 10.486127 
sort q time 4.897424 
seperate points time 10.728231 
mapping solver time 16.099650 ms 
filter time 12.369289 ms 
build tree time 38.375183 ms 
points size 81142 
sort q time 4.791858 
seperate points time 10.033791 
mapping solver time 22.415549 ms 
mapping data assosiation time 18.001925 ms 
mapping solver time 13.351339 ms 
filter time 10.837610 ms 
--------------------stamp1317357968.866642951
prepare time 10.604332 
sort q time 4.473979 
seperate points time 10.635506 
mapping data assosiation time 16.648163 ms 
mapping solver time 18.739254 ms 
mapping data assosiation time 19.655089 ms 
mapping solver time 13.156473 ms 
--------------------stamp1317357968.970633983
prepare time 11.201222 
sort q time 4.762770 
seperate points time 9.795089 
publication time 9.905276 ms 
whole laserOdometry time 9.918466 ms 
 
-----t: 0.0532389
OdomCount 1994 & avg odom time 0.046096 ms ++++++++++++++++++++++
mapping data assosiation time 18.151558 ms 
mapping solver time 17.981613 ms 
points size 85214 
sort q time 4.703466 
seperate points time 10.946430 
publication time 11.236816 ms 
whole laserOdometry time 11.253389 ms 
 
mapping pub time 1.813915 ms 
whole mapping time 143.906332 ms +++++
mappingCount 1377 & avg mapping time 146.053645 ms ++++++++++++++++++++++
build tree time 36.488461 ms 
points size 88857 
sort q time 5.242461 
seperate points time 11.555833 
publication time 6.890449 ms 
whole laserOdometry time 6.903301 ms 
 
mapping solver time 13.389015 ms 
filter time 11.913194 ms 
mapping pub time 1.941097 ms 
whole mapping time 129.093195 ms +++++
mappingCount 1378 & avg mapping time 146.041340 ms ++++++++++++++++++++++
1317357968.970633984 WriteOdom aft_mapped_to_init
map prepare time 2.830056 ms
map corner num 180264  surf num 63509 
--------------------stamp1317357969.282632112
prepare time 12.750998 
build tree time 47.903034 ms 
sort q time 7.568165 
seperate points time 33.262029 
mapping solver time 18.678749 ms 
mapping data assosiation time 18.934399 ms 
--------------------stamp1317357969.386624097
prepare time 13.050453 
scan registration time 29.692317 ms *************
publication time 6.642784 ms 
whole laserOdometry time 6.661226 ms 
 
-----t: 0.0410948
OdomCount 1998 & avg odom time 0.046080 ms ++++++++++++++++++++++
build tree time 46.747057 ms 
mapping data assosiation time 16.819385 ms 
--------------------stamp1317357969.490612983
points size 90477 
sort q time 5.483238 
seperate points time 12.434408 
mapping data assosiation time 22.608684 ms 
mapping solver time 22.136567 ms 
mapping optimization time 132.000290 
add points time 0.726039 ms
publication time 11.222822 ms 
whole laserOdometry time 11.235937 ms 
 
-----t: 0.046633
OdomCount 1999 & avg odom time 0.046080 ms ++++++++++++++++++++++
1317357969.490612983 WriteOdom laser_odom_to_init
1317357969.490612983 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357969.594580888
prepare time 14.805918 
sort q time 5.098300 
seperate points time 11.923643 
-----t: 0.0308031
OdomCount 2000 & avg odom time 0.046073 ms ++++++++++++++++++++++
mapping data assosiation time 19.344334 ms 
mapping solver time 18.590525 ms 
filter time 12.855005 ms 
points size 90653 
sort q time 5.142771 
seperate points time 10.505359 
publication time 8.758104 ms 
whole laserOdometry time 8.776207 ms 
 
-----t: 0.0442561
OdomCount 2001 & avg odom time 0.046072 ms ++++++++++++++++++++++
mapping pub time 84.708786 ms 
whole mapping time 221.762965 ms +++++
mappingCount 1381 & avg mapping time 146.096164 ms ++++++++++++++++++++++
--------------------stamp1317357969.802515029
prepare time 11.963289 
sort q time 5.152851 
seperate points time 11.929126 
publication time 8.224894 ms 
whole laserOdometry time 8.237009 ms 
 
-----t: 0.0474411
OdomCount 2002 & avg odom time 0.046073 ms ++++++++++++++++++++++
mapping data assosiation time 17.520834 ms 
--------------------stamp1317357969.906481981
points size 91808 
filter time 17.472171 ms 
publication time 7.251645 ms 
whole laserOdometry time 7.305639 ms 
 
-----t: 0.049433
OdomCount 2003 & avg odom time 0.046074 ms ++++++++++++++++++++++
mapping data assosiation time 18.503566 ms 
--------------------stamp1317357970.010425090
points size 92824 
[0m[ INFO] [1718889483.853346390, 1317357970.029957433]: Received 245282 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889483.853401500, 1317357970.029957433]: Data saved to 1317357969386624.pcd[0m
mapping data assosiation time 23.160289 ms 
mapping solver time 16.921494 ms 
filter time 12.064770 ms 
--------------------stamp1317357970.114368915
build tree time 39.400986 ms 
sort q time 5.165697 
seperate points time 12.191516 
mapping data assosiation time 26.506839 ms 
-----t: 0.0376746
OdomCount 2005 & avg odom time 0.046070 ms ++++++++++++++++++++++
1317357970.114368915 WriteOdom laser_odom_to_init
1317357970.114368915 WriteOdom aft_mapped_to_init_high_frec
publication time 7.959003 ms 
whole laserOdometry time 7.972417 ms 
 
mapping data assosiation time 18.757418 ms 
mapping solver time 13.232933 ms 
--------------------stamp1317357970.218337059
mapping pub time 2.139308 ms 
whole mapping time 143.159079 ms +++++
mappingCount 1384 & avg mapping time 146.098843 ms ++++++++++++++++++++++
sort q time 5.377723 
seperate points time 12.717261 
publication time 8.829673 ms 
whole laserOdometry time 8.857546 ms 
 
mapping data assosiation time 17.637774 ms 
mapping solver time 16.953052 ms 
points size 95639 
mapping data assosiation time 23.130503 ms 
scan registration time 31.824392 ms *************
filter time 16.246930 ms 
build tree time 42.000953 ms 
points size 96339 
mapping data assosiation time 23.184703 ms 
scan registration time 33.298187 ms *************
publication time 7.262291 ms 
whole laserOdometry time 7.273625 ms 
 
mapping data assosiation time 20.571982 ms 
mapping solver time 13.454273 ms 
mapping optimization time 123.520039 
add points time 0.704047 ms
mapping pub time 5.270931 ms 
whole mapping time 143.416051 ms +++++
mappingCount 1386 & avg mapping time 146.097511 ms ++++++++++++++++++++++
points size 97747 
sort q time 6.130181 
seperate points time 11.990032 
publication time 8.112337 ms 
whole laserOdometry time 8.130273 ms 
 
-----t: 0.0502959
OdomCount 2009 & avg odom time 0.046065 ms ++++++++++++++++++++++
1317357970.530257940 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.060816 ms 
--------------------stamp1317357970.634202003
points size 98705 
sort q time 5.563179 
seperate points time 11.747608 
filter time 15.991477 ms 
mapping pub time 2.152782 ms 
whole mapping time 154.603326 ms +++++
mappingCount 1387 & avg mapping time 146.103645 ms ++++++++++++++++++++++
1317357970.322326899 WriteOdom aft_mapped_to_init
-----t: 0.0513481
OdomCount 2010 & avg odom time 0.046067 ms ++++++++++++++++++++++
build tree time 41.942302 ms 
--------------------stamp1317357970.738168001
prepare time 11.841207 
sort q time 6.335223 
seperate points time 13.038900 
publication time 9.968277 ms 
whole laserOdometry time 9.994697 ms 
 
-----t: 0.0567808
OdomCount 2011 & avg odom time 0.046073 ms ++++++++++++++++++++++
add points time 0.749551 ms
filter time 12.030722 ms 
--------------------stamp1317357970.842112064
[0m[ INFO] [1718889484.667249591, 1317357970.846584501]: Received 248103 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889484.667296789, 1317357970.846584501]: Data saved to 1317357970218337.pcd[0m
sort q time 5.794765 
seperate points time 13.684463 
build tree time 51.431132 ms 
mapping data assosiation time 21.682725 ms 
mapping solver time 19.408636 ms 
--------------------stamp1317357970.946028947
prepare time 12.550075 
sort q time 5.956510 
seperate points time 12.698681 
filter time 15.842185 ms 

build tree time 40.476460 ms 
points size 98511 
mapping data assosiation time 21.343996 ms 
scan registration time 28.425571 ms *************
mapping solver time 21.304287 ms 
publication time 10.702702 ms 
whole laserOdometry time 10.717287 ms 
 
mapping data assosiation time 23.340482 ms 
mapping solver time 15.534870 ms 
filter time 12.605154 ms 
map prepare time 3.168918 ms
map corner num 185763  surf num 64917 
points size 97218 
sort q time 5.966045 
seperate points time 12.187280 
build tree time 48.600580 ms 
mapping data assosiation time 21.037649 ms 
mapping solver time 19.884985 ms 
--------------------stamp1317357971.257786989
prepare time 13.434666 
mapping solver time 23.596918 ms 
sort q time 5.771550 
seperate points time 12.985326 
filter time 15.154073 ms 
map prepare time 3.288938 ms
map corner num 186216  surf num 65016 
build tree time 42.112135 ms 
points size 95542 
sort q time 11.485790 
seperate points time 18.764088 
-----t: 0.0364721
OdomCount 2017 & avg odom time 0.046066 ms ++++++++++++++++++++++
mapping solver time 14.457830 ms 
mapping optimization time 123.523177 
add points time 0.754820 ms
filter time 12.120062 ms 
map prepare time 2.757304 ms
map corner num 127591  surf num 42434 
points size 95286 
sort q time 5.537486 
seperate points time 12.738485 
mapping data assosiation time 22.412181 ms 
-----t: 0.049062
OdomCount 2018 & avg odom time 0.046068 ms ++++++++++++++++++++++
mapping solver time 30.221325 ms 
mapping data assosiation time 17.904666 ms 
points size 93165 
mapping pub time 2.352450 ms 
whole mapping time 146.082789 ms +++++
mappingCount 1393 & avg mapping time 146.122753 ms ++++++++++++++++++++++
1317357971.257786989 WriteOdom aft_mapped_to_init
-----t: 0.0359748
OdomCount 2019 & avg odom time 0.046063 ms ++++++++++++++++++++++
1317357971.569494009 WriteOdom laser_odom_to_init
build tree time 28.615996 ms 
[0m[ INFO] [1718889485.461911859, 1317357971.641623793]: Received 251232 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889485.461941210, 1317357971.641623793]: Data saved to 1317357970946028.pcd[0m
--------------------stamp1317357971.673388957
sort q time 5.125914 
seperate points time 11.504233 
publication time 8.129663 ms 
whole laserOdometry time 10.918703 ms 
 
filter time 10.600916 ms 
build tree time 25.645958 ms 
points size 90064 
sort q time 5.561213 
seperate points time 11.813977 
mapping solver time 21.959223 ms 
publication time 10.013093 ms 
whole laserOdometry time 11.711394 ms 
 
-----t: 0.0354515
OdomCount 2021 & avg odom time 0.046051 ms ++++++++++++++++++++++
1317357971.777283906 WriteOdom laser_odom_to_init
1317357971.777283906 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.335355 ms 
mapping pub time 2.068912 ms 
whole mapping time 125.250135 ms +++++
mappingCount 1395 & avg mapping time 146.099981 ms ++++++++++++++++++++++
1317357971.569494009 WriteOdom aft_mapped_to_init
map prepare time 2.399448 ms
map corner num 129031  surf num 42781 
points size 90332 
sort q time 5.087585 
seperate points time 11.535115 
scan registration time 30.096006 ms *************
mapping data assosiation time 21.954320 ms 
mapping solver time 22.048242 ms 
mapping data assosiation time 18.073118 ms 
mapping solver time 20.597163 ms 
points size 89512 
filter time 9.014917 ms 
prepare time 13.858730 
mapping pub time 6.124711 ms 
whole mapping time 132.073547 ms +++++
mappingCount 1396 & avg mapping time 146.089936 ms ++++++++++++++++++++++
1317357971.777283907 WriteOdom aft_mapped_to_init
build tree time 34.442860 ms 
mapping data assosiation time 24.233165 ms 
mapping solver time 19.080459 ms 
points size 91182 
mapping data assosiation time 23.750578 ms 
sort q time 5.443091 
seperate points time 12.576027 
publication time 7.946106 ms 
whole laserOdometry time 7.961014 ms 
 
mapping pub time 10.165176 ms 
whole mapping time 144.959751 ms +++++
mappingCount 1397 & avg mapping time 146.089130 ms ++++++++++++++++++++++
--------------------stamp1317357972.193006038
prepare time 10.856537 
sort q time 6.045615 
seperate points time 12.737170 
publication time 10.413858 ms 
whole laserOdometry time 10.431572 ms 
 
mapping solver time 22.464104 ms 
mapping data assosiation time 24.427798 ms 
mapping solver time 17.514508 ms 
points size 94088 
sort q time 5.801994 
seperate points time 14.271521 
publication time 11.812004 ms 
whole laserOdometry time 11.826503 ms 
 
-----t: 0.0560602
OdomCount 2026 & avg odom time 0.046052 ms ++++++++++++++++++++++
mapping data assosiation time 19.738188 ms 
points size 94366 
sort q time 5.899104 
seperate points time 12.353847 

publication time 11.292226 ms 
whole laserOdometry time 11.308792 ms 
 
mapping solver time 21.790647 ms 
[0m[ INFO] [1718889486.288229246, 1317357972.474713077]: Received 172474 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889486.288304422, 1317357972.474713077]: Data saved to 1317357971777283.pcd[0m
drop lidar frame in mapping for real time performance 
--------------------stamp1317357972.504786968
prepare time 12.407890 
build tree time 45.554318 ms 
publication time 7.239304 ms 
whole laserOdometry time 7.255385 ms 
 
mapping data assosiation time 17.479464 ms 
mapping solver time 12.581030 ms 
filter time 15.160220 ms 
sort q time 4.975453 
seperate points time 20.478641 
-----t: 0.0406944
OdomCount 2029 & avg odom time 0.046049 ms ++++++++++++++++++++++
scan registration time 68.608625 ms *************
1317357972.608728885 WriteOdom laser_odom_to_init
1317357972.608728885 WriteOdom aft_mapped_to_init_high_frec
publication time 8.017941 ms 
whole laserOdometry time 8.030742 ms 
 
build tree time 70.052940 ms 
--------------------stamp1317357972.712647914
prepare time 11.686716 
sort q time 5.298393 
seperate points time 11.823964 
publication time 6.036885 ms 
whole laserOdometry time 6.048843 ms 
 
-----t: 0.0379244
OdomCount 2030 & avg odom time 0.046045 ms ++++++++++++++++++++++
1317357972.712647914 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.974830 ms 
1317357972.712647914 WriteOdom laser_odom_to_init
mapping solver time 14.205767 ms 
filter time 11.493778 ms 
--------------------stamp1317357972.816589117
prepare time 13.599625 
sort q time 5.116179 
seperate points time 12.526796 
-----t: 0.0318109
OdomCount 2031 & avg odom time 0.046038 ms ++++++++++++++++++++++
map prepare time 2.940002 ms
map corner num 192752  surf num 64153 
build tree time 36.862482 ms 
--------------------stamp1317357972.920531988
mapping data assosiation time 20.419217 ms 
sort q time 4.464312 
seperate points time 10.501597 
scan registration time 28.147600 ms *************
publication time 10.598592 ms 
whole laserOdometry time 10.610726 ms 
 
-----t: 0.0357415
OdomCount 2032 & avg odom time 0.046033 ms ++++++++++++++++++++++
1317357972.920531988 WriteOdom laser_odom_to_init
1317357972.920531988 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 12.699383 ms 
filter time 12.013001 ms 
--------------------stamp1317357973.024476051
points size 82122 
sort q time 4.509932 
seperate points time 10.781776 
-----t: 0.03478
OdomCount 2033 & avg odom time 0.046027 ms ++++++++++++++++++++++
mapping solver time 19.931579 ms 
mapping data assosiation time 17.863011 ms 
--------------------stamp1317357973.128443956
points size 81139 
sort q time 4.602499 
seperate points time 10.823458 
publication time 11.681805 ms 
whole laserOdometry time 11.694652 ms 
 
build tree time 45.237733 ms 
mapping data assosiation time 18.067113 ms 
points size 78964 
scan registration time 25.333033 ms *************
publication time 10.126921 ms 
whole laserOdometry time 10.141172 ms 
 
filter time 13.972463 ms 
--------------------stamp1317357973.336376905
build tree time 46.670227 ms 
mapping data assosiation time 21.039106 ms 
mapping solver time 23.617598 ms 
mapping data assosiation time 19.989047 ms 
mapping solver time 13.539235 ms 
filter time 15.261513 ms 
sort q time 4.690588 
seperate points time 10.675441 
-----t: 0.0306044
OdomCount 2037 & avg odom time 0.046006 ms ++++++++++++++++++++++
build tree time 46.415365 ms 
mapping data assosiation time 19.427295 ms 
--------------------stamp1317357973.544308900
points size 78870 
mapping data assosiation time 22.375686 ms 
sort q time 5.086777 
seperate points time 11.972478 
scan registration time 29.547167 ms *************
mapping solver time 22.058056 ms 
filter time 12.935770 ms 
map prepare time 3.024368 ms
map corner num 194841  surf num 64925 
--------------------stamp1317357973.648277044
points size 79651 
prepare time 11.851674 
build tree time 46.277608 ms 
scan registration time 28.112659 ms *************
-----t: 0.0382692
OdomCount 2039 & avg odom time 0.045994 ms ++++++++++++++++++++++
mapping data assosiation time 19.381404 ms 
mapping solver time 13.594985 ms 
mapping optimization time 119.552836 
add points time 0.603338 ms
filter time 12.565004 ms 
map prepare time 4.460460 ms
map corner num 195279  surf num 65076 
sort q time 4.679155 
seperate points time 10.930679 
-----t: 0.0269352
prepare time 34.689374 
mapping solver time 18.303595 ms 
mapping pub time 1.794335 ms 
whole mapping time 167.019523 ms +++++
mappingCount 1408 & avg mapping time 146.186570 ms ++++++++++++++++++++++
1317357973.648277044 WriteOdom aft_mapped_to_init
--------------------stamp1317357973.960175991
build tree time 43.686647 ms 
sort q time 5.257240 
seperate points time 12.371317 
publication time 8.015248 ms 
whole laserOdometry time 8.051466 ms 
 
mapping data assosiation time 16.662145 ms 
mapping solver time 13.442332 ms 
mapping optimization time 119.977248 
add points time 0.660492 ms
filter time 11.751023 ms 
points size 82589 
sort q time 4.749824 
seperate points time 10.349585 
-----t: 0.0358735
OdomCount 2043 & avg odom time 0.045976 ms ++++++++++++++++++++++
mapping data assosiation time 16.775783 ms 
mapping solver time 18.265737 ms 
--------------------stamp1317357974.168112039
prepare time 11.103172 
mapping solver time 17.262616 ms 
map prepare time 2.816130 ms
map corner num 196643  surf num 65542 
-----t: 0.0571745
OdomCount 2044 & avg odom time 0.045981 ms ++++++++++++++++++++++
1317357974.168112039 WriteOdom laser_odom_to_init
1317357974.168112039 WriteOdom aft_mapped_to_init_high_frec
build tree time 45.773677 ms 
--------------------stamp1317357974.272078990
prepare time 11.810870 
sort q time 4.979516 
seperate points time 10.798608 
mapping solver time 27.273391 ms 
publication time 12.550060 ms 
whole laserOdometry time 12.587453 ms 
 
mapping data assosiation time 20.901988 ms 
-----t: 0.0571022
OdomCount 2045 & avg odom time 0.045986 ms ++++++++++++++++++++++
1317357974.272078990 WriteOdom laser_odom_to_init
1317357974.272078990 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.453398 ms 
mapping optimization time 136.722367 
add points time 0.609454 ms
mapping pub time 5.301683 ms 
whole mapping time 156.857674 ms +++++
mappingCount 1411 & avg mapping time 146.184662 ms ++++++++++++++++++++++
--------------------stamp1317357974.376023054
prepare time 13.706978 
sort q time 4.569686 
seperate points time 10.114621 
publication time 6.731587 ms 
whole laserOdometry time 6.743049 ms 
 
mapping data assosiation time 26.176816 ms 
--------------------stamp1317357974.479963064
sort q time 4.434861 
seperate points time 10.621513 
publication time 6.962678 ms 
whole laserOdometry time 6.988298 ms 
 
mapping solver time 23.270455 ms 
-----t: 0.0572428
OdomCount 2047 & avg odom time 0.045990 ms ++++++++++++++++++++++
map prepare time 3.602680 ms
map corner num 197577  surf num 65848 
--------------------stamp1317357974.583928108
points size 86170 
sort q time 4.478655 
seperate points time 10.607268 
scan registration time 25.954743 ms *************
build tree time 54.342315 ms 
mapping data assosiation time 22.290531 ms 
mapping solver time 27.577534 ms 
mapping data assosiation time 22.419992 ms 
points size 87643 
mapping solver time 22.761030 ms 
filter time 16.944555 ms 
-----t: 0.0459556
OdomCount 2049 & avg odom time 0.045994 ms ++++++++++++++++++++++
1317357974.687870979 WriteOdom laser_odom_to_init
1317357974.687870979 WriteOdom aft_mapped_to_init_high_frec
build tree time 53.989166 ms 
points size 89797 
mapping data assosiation time 23.080366 ms 
[0m[ INFO] [1718889488.638949795, 1317357974.822566029]: Received 262867 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889488.638999055, 1317357974.822566029]: Data saved to 1317357974064143.pcd[0m
mapping solver time 28.211265 ms 
mapping data assosiation time 24.756237 ms 
mapping solver time 20.416464 ms 
--------------------stamp1317357974.895781993
drop lidar frame in mapping for real time performance 
sort q time 5.493767 
seperate points time 13.192447 
-----t: 0.0309482
OdomCount 2051 & avg odom time 0.045986 ms ++++++++++++++++++++++
publication time 10.639416 ms 
whole laserOdometry time 10.678403 ms 
 
build tree time 49.731731 ms 
mapping data assosiation time 17.727028 ms 
mapping solver time 18.118945 ms 
points size 92403 
sort q time 5.336960 
seperate points time 12.531691 
-----t: 0.0337655
OdomCount 2052 & avg odom time 0.045980 ms ++++++++++++++++++++++
1317357974.999749898 WriteOdom laser_odom_to_init
1317357974.999749898 WriteOdom aft_mapped_to_init_high_frec
filter time 15.937490 ms 
publication time 12.240080 ms 
whole laserOdometry time 12.258437 ms 
 
--------------------stamp1317357975.103717088
mapping data assosiation time 22.924188 ms 
sort q time 4.998957 
seperate points time 11.948537 
mapping solver time 28.529077 ms 
publication time 7.759817 ms 
whole laserOdometry time 7.775986 ms 
 
-----t: 0.0409497
OdomCount 2053 & avg odom time 0.045978 ms ++++++++++++++++++++++
1317357975.103717088 WriteOdom laser_odom_to_init
1317357975.103717088 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.666019 ms 
mapping solver time 18.124891 ms 
mapping optimization time 136.302238 
add points time 0.720473 ms
filter time 14.489753 ms 
map prepare time 3.778253 ms
map corner num 199555  surf num 66443 
scan registration time 30.243194 ms *************
publication time 9.805481 ms 
whole laserOdometry time 9.835681 ms 
 
build tree time 49.131828 ms 
mapping data assosiation time 19.750281 ms 
--------------------stamp1317357975.311650037
mapping data assosiation time 21.416194 ms 
-----t: 0.034108
OdomCount 2055 & avg odom time 0.045970 ms ++++++++++++++++++++++
publication time 13.573362 ms 
whole laserOdometry time 13.636127 ms 
 
filter time 13.697967 ms 
map prepare time 3.064319 ms
map corner num 200054  surf num 66589 
--------------------stamp1317357975.415616989
prepare time 12.018291 
scan registration time 28.885011 ms *************
mapping data assosiation time 22.809321 ms 
mapping solver time 23.004070 ms publication time 11.911799 ms 
whole laserOdometry time 11.928210 ms 
 
mapping data assosiation time 23.617716 ms 
mapping solver time 20.370710 ms 
filter time 14.820577 ms 
publication time 9.325918 ms 
whole laserOdometry time 9.338935 ms 
 
build tree time 49.523717 ms 
mapping data assosiation time 19.783562 ms 
--------------------stamp1317357975.623599052
prepare time 11.500568 
sort q time 5.585201 
seperate points time 12.573980 
publication time 7.867775 ms 
whole laserOdometry time 7.881303 ms 
 
filter time 11.587450 ms 
--------------------stamp1317357975.727564096
prepare time 12.513685 
sort q time 6.035662 
seperate points time 12.708497 
mapping data assosiation time 23.820015 ms 
-----t: 0.0364299
OdomCount 2059 & avg odom time 0.045961 ms ++++++++++++++++++++++
mapping solver time 22.006867 ms 
mapping data assosiation time 19.242440 ms 
mapping solver time 15.138959 ms 
filter time 13.121481 ms 
map prepare time 3.912935 ms
map corner num 201327  surf num 66933 
sort q time 7.853313 
seperate points time 31.828676 
1317357975.831506967 WriteOdom aft_mapped_to_init_high_frec
build tree time 56.282218 ms 
mapping data assosiation time 21.090946 ms 
--------------------stamp1317357975.935426950
points size 99122 
sort q time 5.752594 
seperate points time 12.082332 
mapping data assosiation time 23.961825 ms 
publication time 8.972377 ms 
whole laserOdometry time 8.986236 ms 
 
-----t: 0.0467522
OdomCount 2061 & avg odom time 0.045960 ms ++++++++++++++++++++++
1317357975.935426950 WriteOdom laser_odom_to_init
1317357975.935426950 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.964890 ms 
mapping optimization time 151.142079 
add points time 0.673056 ms
filter time 13.112913 ms 
--------------------stamp1317357976.039370059
points size 100056 
sort q time 5.798300 
seperate points time 13.427873 
-----t: 0.0369949
OdomCount 2062 & avg odom time 0.045955 ms ++++++++++++++++++++++
map prepare time 3.143717 ms
map corner num 201683  surf num 67069 
--------------------stamp1317357976.143312931
points size 100882 
prepare time 15.936689 
sort q time 5.929459 
seperate points time 13.759386 
mapping solver time 22.166560 ms 
-----t: 0.0491934
OdomCount 2063 & avg odom time 0.045957 ms ++++++++++++++++++++++
1317357976.143312931 WriteOdom laser_odom_to_init
mapping solver time 14.011222 ms 
filter time 11.871624 ms 
map prepare time 4.202876 ms
map corner num 202016  surf num 67175 
prepare time 16.250471 
sort q time 9.060996 
seperate points time 16.734425 
build tree time 50.580450 ms 
1317357976.247231006 WriteOdom laser_odom_to_init
1317357976.247231006 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.199537 ms 
--------------------stamp1317357976.351147890
points size 100112 
mapping data assosiation time 25.619232 ms 
mapping solver time 20.384096 ms 
filter time 15.868484 ms 
points size 97307 
sort q time 5.400099 
seperate points time 12.503344 
publication time 10.117535 ms 
whole laserOdometry time 10.134133 ms 
 
mapping data assosiation time 20.864490 ms 
mapping solver time 14.327435 ms 
points size 95416 
sort q time 5.300730 
seperate points time 12.098111 
publication time 9.437532 ms 
whole laserOdometry time 9.457771 ms 
 
-----t: 0.0509508
OdomCount 2067 & avg odom time 0.045958 ms ++++++++++++++++++++++
mapping data assosiation time 21.276367 ms 
[0m[ INFO] [1718889490.475498490, 1317357976.652503660]: Received 268752 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889490.475550173, 1317357976.652503660]: Data saved to 1317357975727564.pcd[0m
points size 93854 
sort q time 5.998168 
seperate points time 12.372862 
publication time 7.033412 ms 
whole laserOdometry time 7.048165 ms 
 
mapping solver time 21.371378 ms 
filter time 15.701564 ms 
--------------------stamp1317357976.766824960
prepare time 12.110123 
sort q time 4.976971 
seperate points time 10.512803 
scan registration time 28.472538 ms *************
publication time 8.400404 ms 
whole laserOdometry time 8.428165 ms 
 
mapping solver time 26.966156 ms 
mapping data assosiation time 19.332311 ms 
--------------------stamp1317357976.870742082
prepare time 11.841034 
sort q time 5.407225 
seperate points time 14.552231 
filter time 26.444223 ms 
mapping pub time 19.870279 ms 
whole mapping time 192.537583 ms +++++
mappingCount 1426 & avg mapping time 146.420456 ms ++++++++++++++++++++++
-----t: 0.0605506
OdomCount 2070 & avg odom time 0.045966 ms ++++++++++++++++++++++
1317357976.870742082 WriteOdom laser_odom_to_init
1317357976.870742082 WriteOdom aft_mapped_to_init_high_frec
points size 92534 
sort q time 5.235546 
seperate points time 12.075909 
scan registration time 32.584388 ms *************
mapping data assosiation time 23.464590 ms 
publication time 9.300398 ms 
whole laserOdometry time 9.311855 ms 
 
mapping data assosiation time 20.860898 ms 
points size 92975 
sort q time 5.432370 
seperate points time 12.604333 
publication time 8.836351 ms 
whole laserOdometry time 8.850819 ms 
 
-----t: 0.0557005
OdomCount 2072 & avg odom time 0.045968 ms ++++++++++++++++++++++
build tree time 51.166467 ms 
--------------------stamp1317357977.182667970
points size 93837 
sort q time 5.289297 
seperate points time 12.164419 
scan registration time 32.683561 ms *************
mapping solver time 26.884740 ms 
publication time 8.869478 ms 
whole laserOdometry time 8.883892 ms 
 
mapping solver time 14.157703 ms 
mapping optimization time 138.569076 
add points time 0.666010 ms
mapping pub time 2.150136 ms 
whole mapping time 158.279354 ms +++++
mappingCount 1428 & avg mapping time 146.449613 ms ++++++++++++++++++++++
--------------------stamp1317357977.286634922
points size 94849 
sort q time 5.430900 
seperate points time 12.432913 
build tree time 53.726077 ms 
-----t: 0.0486767
OdomCount 2074 & avg odom time 0.045967 ms ++++++++++++++++++++++
1317357977.286634922 WriteOdom laser_odom_to_init
1317357977.286634922 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.088698 ms 
--------------------stamp1317357977.390602111
mapping data assosiation time 23.402797 ms 
mapping solver time 19.382322 ms 
mapping optimization time 141.557356 
add points time 0.934835 ms
filter time 16.943503 ms 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357977.494568109
prepare time 12.236515 
sort q time 5.538745 
seperate points time 12.145674 
publication time 8.518537 ms 
whole laserOdometry time 8.531732 ms 
 
-----t: 0.0620567
OdomCount 2076 & avg odom time 0.045972 ms ++++++++++++++++++++++
mapping data assosiation time 23.137990 ms 
--------------------stamp1317357977.598510026
prepare time 13.055824 
filter time 16.470759 ms 
scan registration time 46.485193 ms *************
build tree time 49.028611 ms 
mapping data assosiation time 18.405039 ms 
points size 98182 
mapping solver time 24.765841 ms 
sort q time 11.153300 
seperate points time 18.074971 
mapping data assosiation time 26.202904 ms 
-----t: 0.0382683
OdomCount 2078 & avg odom time 0.045964 ms ++++++++++++++++++++++
1317357977.702452898 WriteOdom laser_odom_to_init
1317357977.702452898 WriteOdom aft_mapped_to_init_high_frec
publication time 8.472426 ms 
whole laserOdometry time 8.486886 ms 
 
mapping solver time 24.851062 ms 
filter time 14.238114 ms 
map prepare time 3.758276 ms
map corner num 206064  surf num 68966 
points size 99060 
sort q time 5.736166 
seperate points time 13.635416 
scan registration time 34.328883 ms *************
publication time 9.527793 ms 
whole laserOdometry time 9.538772 ms 
 
mapping data assosiation time 23.378559 ms 
-----t: 0.0647326
OdomCount 2079 & avg odom time 0.045973 ms ++++++++++++++++++++++
--------------------stamp1317357977.910341024
points size 100085 
prepare time 18.906157 
mapping solver time 17.037263 ms 
mapping optimization time 127.624499 
add points time 0.888885 ms
scan registration time 37.929116 ms *************
map prepare time 4.037961 ms
map corner num 206517  surf num 69230 
publication time 7.662671 ms 
whole laserOdometry time 7.678466 ms 
 
build tree time 50.268226 ms 
points size 100740 
mapping data assosiation time 25.533120 ms 
publication time 8.840480 ms 
whole laserOdometry time 8.874265 ms 
 
-----t: 0.039624
OdomCount 2081 & avg odom time 0.045970 ms ++++++++++++++++++++++
mapping data assosiation time 21.985357 ms 
mapping solver time 18.992115 ms 
mapping pub time 2.220885 ms 
whole mapping time 169.911679 ms +++++
mappingCount 1433 & avg mapping time 146.525396 ms ++++++++++++++++++++++
sort q time 5.930687 
seperate points time 11.978670 
publication time 11.639640 ms -----t: 0.0588959
OdomCount 2082 & avg odom time 0.045976 ms ++++++++++++++++++++++
mapping data assosiation time 25.702637 ms 
mapping solver time 21.688532 ms 
sort q time 5.601197 
seperate points time 12.588983 
publication time 8.759572 ms 
whole laserOdometry time 8.770013 ms 
 
filter time 12.412352 ms 
map prepare time 8.256400 ms
map corner num 207504  surf num 69905 
--------------------stamp1317357978.326350927
prepare time 11.397873 
sort q time 5.908298 
seperate points time 11.416168 
publication time 12.717402 ms 
whole laserOdometry time 12.731968 ms 
 
mapping data assosiation time 27.772334 ms 
mapping solver time 26.825223 ms 
[0m[ INFO] [1718889492.238700620, 1317357978.423272823]: Received 275030 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889492.238735129, 1317357978.423272823]: Data saved to 1317357977494568.pcd[0m
mapping data assosiation time 26.999132 ms 
sort q time 5.648422 
seperate points time 12.722474 
filter time 18.722607 ms 
build tree time 44.385131 ms 
prepare time 14.078537 
mapping data assosiation time 27.032506 ms 
publication time 10.589743 ms 
whole laserOdometry time 10.605886 ms 
 
mapping data assosiation time 24.310238 ms 
--------------------stamp1317357978.638705015
points size 98879 
filter time 16.241085 ms 
map prepare time 4.883261 ms
map corner num 208667  surf num 70677 
publication time 8.858259 ms 
whole laserOdometry time 8.871370 ms 
 
build tree time 48.048060 ms 
--------------------stamp1317357978.742816925
prepare time 13.748253 
sort q time 5.645609 
seperate points time 13.154646 
mapping solver time 30.186773 ms 
publication time 9.077228 ms 
whole laserOdometry time 9.086367 ms 
 
-----t: 0.041925
OdomCount 2088 & avg odom time 0.045996 ms ++++++++++++++++++++++
1317357978.742816925 WriteOdom laser_odom_to_init
1317357978.742816925 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.839761 ms 
--------------------stamp1317357978.846926927
points size 98628 
sort q time 5.676871 
seperate points time 13.100181 
publication time 10.455225 ms 
whole laserOdometry time 10.473718 ms 
 
build tree time 54.081237 ms 
mapping data assosiation time 23.703722 ms 
--------------------stamp1317357978.951014041
points size 99227 
sort q time 5.547379 
seperate points time 13.307671 
mapping data assosiation time 32.578372 ms 
publication time 10.432076 ms 
whole laserOdometry time 10.445550 ms -----t: 0.0456665
OdomCount 2090 & avg odom time 0.045995 ms ++++++++++++++++++++++
1317357978.951014041 WriteOdom laser_odom_to_init
1317357978.951014041 WriteOdom aft_mapped_to_init_high_frec
filter time 14.890668 ms 
map prepare time 3.168800 ms
map corner num 127759  surf num 43016 
--------------------stamp1317357979.055104970
points size 100550 
prepare time 14.283627 
sort q time 6.724121 
seperate points time 13.491943 
build tree time 48.983468 ms 
-----t: 0.056041
OdomCount 2091 & avg odom time 0.045999 ms ++++++++++++++++++++++
1317357979.055104970 WriteOdom laser_odom_to_init
1317357979.055104970 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357979.159224033
mapping solver time 28.759112 ms 
prepare time 16.621501 
sort q time 6.888224 
seperate points time 15.842251 
publication time 8.650309 ms 
whole laserOdometry time 8.663747 ms 
 
mapping solver time 27.464835 ms 
filter time 9.545791 ms 
--------------------stamp1317357979.263354063
prepare time 15.072770 
sort q time 6.036490 
seperate points time 13.039452 
publication time 10.167750 ms 
whole laserOdometry time 10.181524 ms 
 
-----t: 0.0569694
OdomCount 2093 & avg odom time 0.046009 ms ++++++++++++++++++++++
mapping data assosiation time 27.476662 ms 
--------------------stamp1317357979.367505073
mapping solver time 18.055242 ms 
filter time 9.621220 ms 
scan registration time 34.123197 ms *************
publication time 10.854934 ms 
whole laserOdometry time 10.873154 ms 
 
-----t: 0.062832
OdomCount 2094 & avg odom time 0.046017 ms ++++++++++++++++++++++
1317357979.367505073 WriteOdom laser_odom_to_init
1317357979.367505073 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.187151 ms 
--------------------stamp1317357979.471664905
points size 103408 
sort q time 7.002339 
seperate points time 13.744994 
publication time 17.478861 ms 
whole laserOdometry time 17.493475 ms 
 
-----t: 0.0710235
OdomCount 2095 & avg odom time 0.046029 ms ++++++++++++++++++++++
--------------------stamp1317357979.575870990
prepare time 14.356035 
-----t: 0.0610833
OdomCount 2096 & avg odom time 0.046036 ms ++++++++++++++++++++++
mapping pub time 85.360570 ms 
whole mapping time 270.203264 ms +++++
mappingCount 1441 & avg mapping time 146.764273 ms ++++++++++++++++++++++
1317357979.263354063 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 3.041257 ms
map corner num 130243  surf num 44777 
points size 103335 
build tree time 29.050782 ms 
scan registration time 32.426131 ms *************
mapping data assosiation time 31.057418 ms 
mapping solver time 31.229920 ms 
--------------------stamp1317357979.784379005
mapping data assosiation time 32.562483 ms 
points size 103237 
prepare time 15.852036 
scan registration time 36.241607 ms *************
mapping solver time 37.294631 ms 
mapping pub time 2.482940 ms 
whole mapping time 179.282143 ms +++++
mappingCount 1442 & avg mapping time 146.786826 ms ++++++++++++++++++++++
1317357979.367505074 WriteOdom aft_mapped_to_init
publication time 16.299191 ms 
whole laserOdometry time 16.312827 ms 
 
drop lidar frame in mapping for real time performance 
build tree time 27.330676 ms 
points size 103158 
sort q time 5.710978 
seperate points time 14.635673 
publication time 8.216816 ms 
whole laserOdometry time 8.231594 ms 
 
mapping solver time 38.446177 ms 
-----t: 0.0503405
OdomCount 2099 & avg odom time 0.046042 ms ++++++++++++++++++++++
1317357979.888609886 WriteOdom laser_odom_to_init
1317357979.888609886 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.452061 ms 
points size 103150 
sort q time 6.983687 
seperate points time 13.000565 
add points time 1.226996 ms
filter time 12.564094 ms 
-----t: 0.056467
OdomCount 2100 & avg odom time 0.046047 ms ++++++++++++++++++++++
1317357979.992818117 WriteOdom laser_odom_to_init
1317357979.992818117 WriteOdom aft_mapped_to_init_high_frec
build tree time 30.036570 ms 
--------------------stamp1317357980.097047090
points size 103237 
sort q time 6.624042 
seperate points time 13.204586 
publication time 11.815480 ms 
whole laserOdometry time 11.830396 ms 
 
mapping solver time 34.943808 ms 
-----t: 0.0725786
OdomCount 2101 & avg odom time 0.046059 ms ++++++++++++++++++++++
--------------------stamp1317357980.201253890
points size 103141 
filter time 13.162633 ms 
sort q time 6.743312 
seperate points time 14.838993 
-----t: 0.0443481
OdomCount 2102 & avg odom time 0.046058 ms ++++++++++++++++++++++
[0m[ INFO] [1718889494.092045251, 1317357980.277821467]: Received 175020 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889494.092085880, 1317357980.277821467]: Data saved to 1317357979263354.pcd[0m
build tree time 38.503017 ms 
--------------------stamp1317357980.305389881
points size 102853 
prepare time 12.955433 
mapping data assosiation time 39.763595 ms 
scan registration time 34.509655 ms *************
publication time 10.366208 ms 
whole laserOdometry time 10.379894 ms 
 
-----t: 0.0550113
OdomCount 2103 & avg odom time 0.046063 ms ++++++++++++++++++++++
1317357980.305389881 WriteOdom laser_odom_to_init
1317357980.305389881 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357980.409499883
sort q time 6.525389 
seperate points time 13.881007 
filter time 13.400522 ms 
-----t: 0.0561084
OdomCount 2104 & avg odom time 0.046068 ms ++++++++++++++++++++++
build tree time 30.476553 ms 
--------------------stamp1317357980.513607978
prepare time 14.369780 
sort q time 5.964010 
seperate points time 14.128631 
mapping solver time 37.565700 ms 
-----t: 0.0484005
OdomCount 2105 & avg odom time 0.046069 ms ++++++++++++++++++++++
1317357980.513607978 WriteOdom laser_odom_to_init
1317357980.513607978 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 37.706057 ms 
points size 103038 
mapping solver time 26.897599 ms 
filter time 11.832120 ms 
map prepare time 4.851497 ms
map corner num 134839  surf num 47860 
publication time 10.956246 ms 
whole laserOdometry time 10.967713 ms 
 
build tree time 35.404750 ms 
-----t: 0.0744353
OdomCount 2106 & avg odom time 0.046082 ms ++++++++++++++++++++++
--------------------stamp1317357980.721736907
points size 103147 
sort q time 5.943110 
seperate points time 14.249477 
publication time 10.489406 ms 
whole laserOdometry time 10.552863 ms 
 
mapping data assosiation time 32.411214 ms 
points size 102932 
sort q time 5.761143 
seperate points time 14.196200 
filter time 12.542994 ms 
-----t: 0.0673997
OdomCount 2108 & avg odom time 0.046094 ms ++++++++++++++++++++++
1317357980.825774908 WriteOdom laser_odom_to_init
1317357980.825774908 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357980.929837942
points size 102510 
sort q time 6.267414 
seperate points time 15.322770 
scan registration time 52.565217 ms *************
publication time 11.619328 ms 
whole laserOdometry time 11.633396 ms 
 
mapping data assosiation time 36.503557 ms 
points size 102307 
mapping solver time 33.448365 ms 
filter time 10.671170 ms 
publication time 10.686614 ms 
whole laserOdometry time 10.704931 ms 
 
-----t: 0.0529687
OdomCount 2110 & avg odom time 0.046106 ms ++++++++++++++++++++++
build tree time 35.117610 ms 
--------------------stamp1317357981.137989044
prepare time 11.822958 
sort q time 6.026259 
seperate points time 14.871171 
publication time 9.370100 ms 
whole laserOdometry time 9.401659 ms 
 
mapping solver time 45.203052 ms 
mapping data assosiation time 31.282765 ms 
points size 103473 
sort q time 5.984051 
seperate points time 13.931789 
filter time 12.068935 ms 
-----t: 0.0538825
OdomCount 2112 & avg odom time 0.046108 ms ++++++++++++++++++++++
build tree time 29.257350 ms 
--------------------stamp1317357981.346260070
prepare time 11.846480 
sort q time 6.242227 
seperate points time 14.231278 
publication time 12.134937 ms 
whole laserOdometry time 12.147519 ms 
 
-----t: 0.0600551
OdomCount 2113 & avg odom time 0.046114 ms ++++++++++++++++++++++
--------------------stamp1317357981.450345993
prepare time 13.051097 
sort q time 6.625290 
seperate points time 14.313433 
mapping solver time 39.719262 ms 
filter time 14.766269 ms 
--------------------stamp1317357981.554430961
points size 103642 
sort q time 6.019341 
seperate points time 12.734133 
publication time 9.620368 ms 
whole laserOdometry time 9.637909 ms 
 
-----t: 0.0430818
OdomCount 2115 & avg odom time 0.046118 ms ++++++++++++++++++++++
mapping solver time 43.342238 ms 
--------------------stamp1317357981.658516883
points size 103748 
sort q time 5.916289 
seperate points time 13.686098 
mapping solver time 37.888543 ms 
filter time 13.127705 ms 
map prepare time 3.759508 ms
map corner num 139384  surf num 49976 
--------------------stamp1317357981.762557029
points size 103789 
sort q time 5.789631 
seperate points time 11.767760 
mapping data assosiation time 41.290491 ms 
publication time 12.030838 ms 
whole laserOdometry time 12.046184 ms 
 
1317357981.762557029 WriteOdom laser_odom_to_init
1317357981.762557029 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357981.866547107
prepare time 13.480412 
sort q time 7.068296 
seperate points time 14.979324 
scan registration time 36.288263 ms *************
publication time 14.387446 ms 
whole laserOdometry time 14.398845 ms 
 
-----t: 0.0591333
OdomCount 2118 & avg odom time 0.046135 ms ++++++++++++++++++++++
filter time 14.496942 ms 
map prepare time 4.920839 ms
map corner num 140301  surf num 50328 
prepare time 11.961658 
build tree time 35.818520 ms 
sort q time 29.846014 
seperate points time 37.159607 
1317357981.970489025 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 41.427770 ms 
points size 103721 
mapping solver time 51.479413 ms 
publication time 11.881602 ms 
whole laserOdometry time 11.894869 ms 
 
-----t: 0.0627567
OdomCount 2120 & avg odom time 0.046144 ms ++++++++++++++++++++++
--------------------stamp1317357982.178138017
points size 103706 
map prepare time 4.062111 ms
map corner num 141329  surf num 50741 
sort q time 6.328007 
seperate points time 25.800182 
build tree time 36.894885 ms 
publication time 15.595831 ms 
whole laserOdometry time 15.609924 ms 
 
mapping data assosiation time 38.887630 ms 
points size 103853 
sort q time 5.718141 
seperate points time 11.824026 
mapping solver time 43.333480 ms 
publication time 18.172621 ms 
whole laserOdometry time 18.187274 ms 
 
-----t: 0.0541178
OdomCount 2122 & avg odom time 0.046154 ms ++++++++++++++++++++++
mapping data assosiation time 41.235019 ms 
--------------------stamp1317357982.385565042
points size 103942 
prepare time 12.736658 
sort q time 6.043147 
seperate points time 13.943977 
filter time 25.772764 ms 
-----t: 0.0586314
OdomCount 2123 & avg odom time 0.046160 ms ++++++++++++++++++++++
1317357982.385565042 WriteOdom laser_odom_to_init
1317357982.385565042 WriteOdom aft_mapped_to_init_high_frec
build tree time 33.968782 ms 
points size 104167 
sort q time 7.534633 
seperate points time 15.636902 
publication time 9.025368 ms 
whole laserOdometry time 9.038125 ms 
 
scan registration time 32.859282 ms *************
mapping solver time 37.070206 ms 
publication time 9.670572 ms 
whole laserOdometry time 9.678368 ms 
 
-----t: 0.0440688
OdomCount 2125 & avg odom time 0.046159 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
build tree time 29.496139 ms 
points size 104008 
prepare time 13.340541 
scan registration time 31.403603 ms *************
publication time 10.219042 ms 
whole laserOdometry time 10.236685 ms 
 
-----t: 0.054999
OdomCount 2126 & avg odom time 0.046163 ms ++++++++++++++++++++++
1317357982.696602106 WriteOdom laser_odom_to_init
1317357982.696602106 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 40.855865 ms 
--------------------stamp1317357982.800256967
mapping data assosiation time 41.309155 ms 
prepare time 15.608699 
-----t: 0.0637303
OdomCount 2127 & avg odom time 0.046172 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317357982.903912067
build tree time 40.994259 ms 
mapping data assosiation time 36.521144 ms 
1317357982.903912067 WriteOdom laser_odom_to_init
1317357982.903912067 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 48.748472 ms 
sort q time 7.095637 
seperate points time 16.542128 
mapping data assosiation time 40.185464 ms 
-----t: 0.0465544
OdomCount 2129 & avg odom time 0.046188 ms ++++++++++++++++++++++
mapping solver time 25.736650 ms 
filter time 9.845310 ms 
--------------------stamp1317357983.111242055
points size 103884 
scan registration time 35.901521 ms *************
publication time 11.706727 ms 
whole laserOdometry time 11.721198 ms 
 
mapping data assosiation time 37.041966 ms 
-----t: 0.0789524
OdomCount 2130 & avg odom time 0.046203 ms ++++++++++++++++++++++
--------------------stamp1317357983.214898109
points size 104096 
prepare time 19.225279 
sort q time 10.257858 
seperate points time 20.148193 
publication time 8.161176 ms 
whole laserOdometry time 8.174298 ms 
 
filter time 12.013508 ms 
map prepare time 5.597933 ms
map corner num 146452  surf num 52666 
points size 104521 
sort q time 6.066421 
seperate points time 14.286562 
scan registration time 37.862839 ms *************
build tree time 39.071909 ms 
-----t: 0.0502521
OdomCount 2132 & avg odom time 0.046214 ms ++++++++++++++++++++++
mapping data assosiation time 33.703839 ms 
--------------------stamp1317357983.422183990
points size 104803 
sort q time 6.126784 
seperate points time 14.189696 
publication time 14.320418 ms 
whole laserOdometry time 14.331921 ms 
 
mapping solver time 27.684835 ms 
mapping optimization time 170.893921 
add points time 0.772854 ms
mapping pub time 2.418791 ms 
whole mapping time 190.450058 ms +++++
mappingCount 1459 & avg mapping time 147.550558 ms ++++++++++++++++++++++
--------------------stamp1317357983.525863885
points size 105023 
sort q time 10.467092 
seperate points time 19.280808 
build tree time 53.849604 ms 
-----t: 0.0468724
OdomCount 2134 & avg odom time 0.046216 ms ++++++++++++++++++++++
publication time 26.087578 ms 
whole laserOdometry time 26.100353 ms 
 
mapping data assosiation time 47.556902 ms 
--------------------stamp1317357983.629589080
prepare time 12.049240 
mapping solver time 35.548788 ms 
publication time 9.960642 ms 
whole laserOdometry time 9.973000 ms 
 
-----t: 0.0460066
OdomCount 2135 & avg odom time 0.046216 ms ++++++++++++++++++++++
mapping solver time 23.065783 ms 
filter time 11.722831 ms 
map prepare time 5.238829 ms
map corner num 148482  surf num 53291 
sort q time 6.621160 
seperate points time 12.639581 
build tree time 36.983447 ms 
publication time 12.324680 ms 
whole laserOdometry time 12.343923 ms 
 
mapping data assosiation time 36.168596 ms 
--------------------stamp1317357983.837042093
points size 104486 
sort q time 6.782042 
seperate points time 13.171354 
scan registration time 33.704310 ms *************
publication time 10.202069 ms 
whole laserOdometry time 10.218762 ms 
 
-----t: 0.0517101
OdomCount 2137 & avg odom time 0.046218 ms ++++++++++++++++++++++
1317357983.837042093 WriteOdom laser_odom_to_init
1317357983.837042093 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 35.181033 ms 
filter time 9.737989 ms 
--------------------stamp1317357983.940769910
points size 104427 
sort q time 7.029937 
seperate points time 13.554826 
publication time 11.235591 ms 
whole laserOdometry time 11.249845 ms 
 
mapping pub time 90.219466 ms 
whole mapping time 286.722764 ms +++++
mappingCount 1461 & avg mapping time 147.693620 ms ++++++++++++++++++++++
-----t: 0.0742643
OdomCount 2138 & avg odom time 0.046231 ms ++++++++++++++++++++++
points size 104443 
build tree time 38.343511 ms 
scan registration time 36.970086 ms *************
publication time 12.567295 ms 
whole laserOdometry time 12.581098 ms --------------------stamp1317357984.148271083
prepare time 13.006642 
publication time 10.858286 ms 
whole laserOdometry time 10.996930 ms 
 
1317357984.148271083 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 52.634944 ms 
filter time 11.008199 ms 
sort q time 8.891829 
seperate points time 19.828004 
build tree time 53.322662 ms 
--------------------stamp1317357984.355798959
points size 104323 
sort q time 6.456553 
seperate points time 14.996018 
mapping solver time 49.826116 ms 
publication time 16.133005 ms 
whole laserOdometry time 16.148742 ms 
 
--------------------stamp1317357984.459597110
prepare time 12.735924 
mapping solver time 37.241865 ms 
filter time 16.218205 ms 
-----t: 0.0559784
OdomCount 2143 & avg odom time 0.046258 ms ++++++++++++++++++++++
build tree time 36.357269 ms 
points size 104435 
sort q time 6.666941 
seperate points time 15.579024 
publication time 13.521888 ms 
whole laserOdometry time 13.553103 ms 
 
mapping solver time 46.684887 ms 
--------------------stamp1317357984.667242050
prepare time 12.992079 
sort q time 6.490976 
seperate points time 14.874083 
mapping solver time 37.903976 ms 
filter time 12.681802 ms 
--------------------stamp1317357984.771065950
prepare time 12.097080 
sort q time 5.899704 
seperate points time 13.543473 
scan registration time 41.985458 ms *************
-----t: 0.0522747
OdomCount 2146 & avg odom time 0.046268 ms ++++++++++++++++++++++
mapping solver time 44.324397 ms 
points size 104086 
sort q time 7.284852 
seperate points time 13.630157 
publication time 10.605148 ms 
whole laserOdometry time 10.621555 ms 
 
mapping solver time 39.773112 ms 
filter time 11.252410 ms 
mapping pub time 2.298140 ms 
whole mapping time 215.878197 ms +++++
mappingCount 1465 & avg mapping time 147.921271 ms ++++++++++++++++++++++
1317357984.459597111 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357984.978712081
points size 103461 
build tree time 40.443452 ms 
sort q time 6.419928 
seperate points time 14.904194 
publication time 12.647781 ms 
whole laserOdometry time 12.665428 ms 
 
-----t: 0.0600374
OdomCount 2148 & avg odom time 0.046279 ms ++++++++++++++++++++++
1317357984.978712081 WriteOdom laser_odom_to_init
1317357984.978712081 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357985.082535982
points size 102927 
prepare time 16.758533 
sort q time 7.255113 
seperate points time 16.878775 
mapping data assosiation time 43.971779 ms 
publication time 12.092508 ms 
whole laserOdometry time 12.101498 ms 
 
mapping solver time 36.259479 ms 
mapping optimization time 205.078263 
add points time 0.766452 ms
filter time 10.829425 ms 
map prepare time 4.404642 ms
map corner num 155079  surf num 55630 
sort q time 6.073239 
seperate points time 13.794434 
build tree time 44.233059 ms 
-----t: 0.0535695
OdomCount 2150 & avg odom time 0.046282 ms ++++++++++++++++++++++
mapping data assosiation time 41.080656 ms 
--------------------stamp1317357985.290182113
prepare time 13.143506 
sort q time 6.386969 
seperate points time 14.518176 
publication time 9.945575 ms 
whole laserOdometry time 9.958355 ms 
 
mapping data assosiation time 42.491012 ms 
--------------------stamp1317357985.394005060
prepare time 15.521042 
sort q time 6.660888 
seperate points time 15.630723 
map prepare time 5.659306 ms
map corner num 156154  surf num 55943 
publication time 12.601380 ms 
whole laserOdometry time 12.614381 ms 
 
1317357985.394005060 WriteOdom laser_odom_to_initbuild tree time 46.061328 ms 
--------------------stamp1317357985.497826099
prepare time 13.276095 
mapping solver time 39.598534 ms 
publication time 14.368275 ms 
whole laserOdometry time 14.384350 ms 
 
-----t: 0.0801059
OdomCount 2153 & avg odom time 0.046308 ms ++++++++++++++++++++++
--------------------stamp1317357985.601624011
points size 100647 
map prepare time 4.990501 ms
map corner num 157208  surf num 56334 
scan registration time 44.809078 ms *************
publication time 11.326509 ms 
whole laserOdometry time 11.361683 ms 
 
--------------------stamp1317357985.705423116
points size 99949 
sort q time 6.413070 
seperate points time 14.911680 
publication time 12.307246 ms 
whole laserOdometry time 12.321422 ms 
 
-----t: 0.0610336
OdomCount 2155 & avg odom time 0.046321 ms ++++++++++++++++++++++
mapping data assosiation time 37.653672 ms 
points size 99129 
mapping solver time 27.259513 ms 
mapping optimization time 188.844054 
publication time 12.711139 ms 
whole laserOdometry time 12.725675 ms 
 
build tree time 38.212762 ms 
--------------------stamp1317357985.913042068
points size 98238 
prepare time 15.478439 
mapping data assosiation time 35.085456 ms 
scan registration time 38.093606 ms *************
mapping solver time 39.324296 ms 
-----t: 0.0591667
OdomCount 2157 & avg odom time 0.046328 ms ++++++++++++++++++++++
mapping data assosiation time 34.191274 ms 
--------------------stamp1317357986.016844987
prepare time 11.527145 
sort q time 5.760657 
seperate points time 12.265944 
mapping pub time 2.504096 ms 
whole mapping time 199.482200 ms +++++
mappingCount 1470 & avg mapping time 148.151327 ms ++++++++++++++++++++++
1317357985.601624012 WriteOdom aft_mapped_to_init
map prepare time 4.731081 ms
map corner num 159250  surf num 57071 
-----t: 0.0611349
OdomCount 2158 & avg odom time 0.046335 ms ++++++++++++++++++++++
--------------------stamp1317357986.120692014
points size 98255 
sort q time 6.199178 
seperate points time 12.190067 
scan registration time 30.054748 ms *************
publication time 8.831750 ms 
whole laserOdometry time 8.844886 ms 
 
mapping data assosiation time 28.962349 ms 
--------------------stamp1317357986.224560022
points size 97857 
filter time 17.012915 ms 
1317357985.809245110 WriteOdom aft_mapped_to_init
-----t: 0.0587371
OdomCount 2160 & avg odom time 0.046338 ms ++++++++++++++++++++++
build tree time 39.417837 ms 
--------------------stamp1317357986.328429937
prepare time 13.966178 
sort q time 5.989447 
seperate points time 13.925567 
mapping solver time 39.949025 ms 
-----t: 0.0796809
OdomCount 2161 & avg odom time 0.046353 ms ++++++++++++++++++++++mapping data assosiation time 48.588648 ms 
mapping solver time 30.213215 ms 
filter time 14.031714 ms 
map prepare time 3.794236 ms
map corner num 161253  surf num 57783 
-----t: 0.067388
OdomCount 2162 & avg odom time 0.046363 ms ++++++++++++++++++++++
1317357986.432301044 WriteOdom laser_odom_to_init
1317357986.432301044 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357986.536195993
prepare time 12.808786 
sort q time 5.976362 
seperate points time 13.892566 
mapping data assosiation time 39.830846 ms 
publication time 10.803729 ms 
whole laserOdometry time 10.818250 ms 
 
mapping solver time 47.155320 ms 
--------------------stamp1317357986.640090942
prepare time 13.295356 
sort q time 6.316927 
seperate points time 12.291978 
mapping solver time 37.823385 ms 
filter time 16.121426 ms 
-----t: 0.0794176
OdomCount 2164 & avg odom time 0.046396 ms ++++++++++++++++++++++
points size 96895 
sort q time 6.190290 
seperate points time 13.002820 
publication time 9.207816 ms 
whole laserOdometry time 9.223173 ms 
 
-----t: 0.0511579
OdomCount 2165 & avg odom time 0.046398 ms ++++++++++++++++++++++
mapping solver time 27.573527 ms 
points size 96962 
sort q time 7.192649 
seperate points time 13.177703 
publication time 10.557295 ms 
whole laserOdometry time 10.573880 ms 
 
mapping solver time 39.036605 ms 
mapping optimization time 192.577504 
add points time 1.278443 ms
1317357986.432301044 WriteOdom aft_mapped_to_init
--------------------stamp1317357986.952086925
points size 96891 
sort q time 6.118879 
seperate points time 14.397979 
publication time 12.307986 ms 
whole laserOdometry time 12.326567 ms 
 
--------------------stamp1317357987.056197881
points size 97260 
mapping solver time 36.705342 ms 
publication time 9.851988 ms 
whole laserOdometry time 9.883379 ms 
 
-----t: 0.0608861
OdomCount 2168 & avg odom time 0.046428 ms ++++++++++++++++++++++
mapping solver time 31.464369 ms 
--------------------stamp1317357987.160353899
points size 97860 
sort q time 6.189272 
seperate points time 12.771601 
build tree time 32.913949 ms 
-----t: 0.045103
OdomCount 2169 & avg odom time 0.046427 ms ++++++++++++++++++++++
mapping data assosiation time 34.160878 ms 
mapping solver time 34.548595 ms 
sort q time 6.487060 
seperate points time 15.081796 
scan registration time 36.637836 ms *************
-----t: 0.0388528
OdomCount 2170 & avg odom time 0.046424 ms ++++++++++++++++++++++
mapping solver time 34.673336 ms 
mapping optimization time 174.424191 
add points time 1.159512 ms
drop lidar frame in mapping for real time performance 
points size 98085 
sort q time 6.121083 
seperate points time 13.172112 
publication time 14.988552 ms 
whole laserOdometry time 15.005433 ms 
 
--------------------stamp1317357987.473071098
points size 98386 
sort q time 7.076327 
seperate points time 16.381463 
publication time 11.617003 ms 
whole laserOdometry time 11.628197 ms 
 
mapping solver time 58.710175 ms 
filter time 9.795903 ms 
sort q time 6.343146 
seperate points time 13.197953 
build tree time 34.309461 ms 
-----t: 0.0532327
OdomCount 2173 & avg odom time 0.046430 ms ++++++++++++++++++++++
--------------------stamp1317357987.681797981
points size 100554 
sort q time 5.614738 
seperate points time 12.909257 
publication time 9.715036 ms 
whole laserOdometry time 9.729559 ms 
 
mapping solver time 36.956065 ms 
filter time 13.471390 ms 
--------------------stamp1317357987.786171913
prepare time 15.094513 
sort q time 5.824007 
seperate points time 12.406761 
scan registration time 33.133769 ms *************
publication time 12.174869 ms 
whole laserOdometry time 12.244763 ms 
 
-----t: 0.0646227
OdomCount 2175 & avg odom time 0.046462 ms ++++++++++++++++++++++
--------------------stamp1317357987.890497922
points size 101713 
sort q time 6.169456 
seperate points time 14.097873 
mapping data assosiation time 37.387802 ms 
publication time 13.554343 ms 
whole laserOdometry time 13.563923 ms 
 
-----t: 0.0665423
OdomCount 2176 & avg odom time 0.046471 ms ++++++++++++++++++++++
mapping solver time 35.996377 ms 
mapping optimization time 183.742900 
filter time 9.878243 ms 
map prepare time 4.230191 ms
map corner num 127456  surf num 46569 
prepare time 16.606138 
sort q time 6.848781 
seperate points time 15.080791 
build tree time 36.060032 ms 
-----t: 0.0442178
OdomCount 2177 & avg odom time 0.046470 ms ++++++++++++++++++++++
mapping data assosiation time 31.120695 ms 
--------------------stamp1317357988.099037885
points size 101713 
sort q time 6.842505 
seperate points time 15.781191 
-----t: 0.0453636
OdomCount 2178 & avg odom time 0.046469 ms ++++++++++++++++++++++
mapping solver time 34.855888 ms 
filter time 9.537982 ms 
map prepare time 2.982108 ms
map corner num 128431  surf num 46912 
points size 101881 
build tree time 28.727306 ms 
publication time 11.088327 ms 
whole laserOdometry time 11.107038 ms 
 
mapping data assosiation time 36.327832 ms 
-----t: 0.0540225
OdomCount 2179 & avg odom time 0.046473 ms ++++++++++++++++++++++
mapping solver time 35.807262 ms 
--------------------stamp1317357988.307446002
prepare time 12.731948 
mapping data assosiation time 35.595399 ms 
publication time 10.289011 ms 
whole laserOdometry time 10.308001 ms 
 
-----t: 0.0486551
OdomCount 2180 & avg odom time 0.046474 ms ++++++++++++++++++++++
filter time 9.558760 ms 
--------------------stamp1317357988.411603927
prepare time 14.468658 
sort q time 6.352302 
seperate points time 13.697398 
publication time 11.601309 ms 
whole laserOdometry time 11.616653 ms 
 
map prepare time 4.444130 ms
map corner num 129363  surf num 47263 
--------------------stamp1317357988.515769958
prepare time 13.189918 
scan registration time 32.908195 ms *************
mapping data assosiation time 42.810273 ms 
publication time 16.246375 ms mapping solver time 40.256783 ms 
--------------------stamp1317357988.619927883
prepare time 13.041429 
sort q time 6.350161 
seperate points time 14.514196 
mapping solver time 25.389322 ms 
publication time 11.107078 ms 
whole laserOdometry time 11.131836 ms 
 
map prepare time 3.579556 ms
map corner num 130270  surf num 47603 
-----t: 0.0708375
OdomCount 2183 & avg odom time 0.046497 ms ++++++++++++++++++++++
points size 101618 
mapping data assosiation time 29.826477 ms 
scan registration time 36.413791 ms *************
publication time 11.735310 ms 
whole laserOdometry time 11.748117 ms 
 
-----t: 0.0483155
OdomCount 2184 & avg odom time 0.046498 ms ++++++++++++++++++++++
mapping data assosiation time 29.328990 ms 
points size 100996 
prepare time 11.601819 
sort q time 6.087935 
seperate points time 13.453541 
mapping solver time 42.021949 ms 
publication time 11.535451 ms 
whole laserOdometry time 11.548582 ms 
 
drop lidar frame in mapping for real time performance 
-----t: 0.0692385
OdomCount 2185 & avg odom time 0.046508 ms ++++++++++++++++++++++
build tree time 31.734815 ms 
--------------------stamp1317357988.932326078
prepare time 13.430129 
mapping data assosiation time 35.810993 ms 
sort q time 6.508221 
seperate points time 13.658632 
publication time 10.994600 ms 
whole laserOdometry time 11.007604 ms 
 
mapping solver time 41.931546 ms 
-----t: 0.0618705
OdomCount 2186 & avg odom time 0.046515 ms ++++++++++++++++++++++
1317357988.932326078 WriteOdom laser_odom_to_init
1317357988.932326078 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357989.036412954
points size 99903 
sort q time 5.942471 
seperate points time 13.822445 
filter time 14.037193 ms 
map prepare time 3.998824 ms
map corner num 132110  surf num 48321 
-----t: 0.0581722
OdomCount 2187 & avg odom time 0.046521 ms ++++++++++++++++++++++
build tree time 32.414766 ms 
--------------------stamp1317357989.140474081
prepare time 12.168963 
sort q time 6.630107 
seperate points time 12.720462 
publication time 9.525831 ms 
whole laserOdometry time 9.539190 ms 
 
mapping data assosiation time 26.519091 ms 
points size 97412 
prepare time 14.604872 
mapping solver time 32.409266 ms 
mapping optimization time 166.244525 
sort q time 5.909836 
seperate points time 13.899220 
-----t: 0.0446264
OdomCount 2189 & avg odom time 0.046517 ms ++++++++++++++++++++++
build tree time 32.518755 ms 
--------------------stamp1317357989.348434925
mapping data assosiation time 32.742282 ms 
sort q time 5.360888 
seperate points time 12.954585 
publication time 7.505272 ms 
whole laserOdometry time 7.524233 ms 
 
1317357989.348434925 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.499085 ms 
--------------------stamp1317357989.452353954
prepare time 10.933592 
[0m[ INFO] [1718889503.289496875, 1317357989.475847340]: Received 182645 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889503.289549450, 1317357989.475847340]: Data saved to 1317357989140474.pcd[0m
publication time 15.703220 ms 
whole laserOdometry time 15.719463 ms 
 
build tree time 38.736493 ms 
-----t: 0.0847847
OdomCount 2191 & avg odom time 0.046533 ms ++++++++++++++++++++++
1317357989.452353954 WriteOdom laser_odom_to_init
1317357989.452353954 WriteOdom aft_mapped_to_init_high_frec
prepare time 14.510668 
sort q time 5.988763 
seperate points time 25.553737 
publication time 13.009728 ms 
whole laserOdometry time 13.028571 ms 
 
mapping data assosiation time 38.369677 ms 
--------------------stamp1317357989.660047054
mapping solver time 30.755583 ms 
filter time 10.881663 ms 
scan registration time 33.479936 ms *************
publication time 10.503018 ms 
whole laserOdometry time 10.512707 ms mapping data assosiation time 31.473438 ms 
--------------------stamp1317357989.763869047
points size 96261 
sort q time 5.590230 
seperate points time 13.204691 
publication time 8.742884 ms 
whole laserOdometry time 8.770244 ms 
 
-----t: 0.0479043
OdomCount 2194 & avg odom time 0.046545 ms ++++++++++++++++++++++
1317357989.763869047 WriteOdom laser_odom_to_init
1317357989.763869047 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 33.887880 ms 
mapping solver time 33.127527 ms 
points size 97943 
map prepare time 3.730637 ms
map corner num 135231  surf num 49434 
build tree time 37.489495 ms 
-----t: 0.0716887
OdomCount 2195 & avg odom time 0.046557 ms ++++++++++++++++++++++
--------------------stamp1317357989.971442937
points size 98629 
mapping solver time 38.024172 ms 
publication time 9.848005 ms 
whole laserOdometry time 9.862015 ms 
 
-----t: 0.0596474
OdomCount 2196 & avg odom time 0.046563 ms ++++++++++++++++++++++
1317357989.971442937 WriteOdom laser_odom_to_init
1317357989.971442937 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357990.075193881
map prepare time 3.063943 ms
map corner num 136039  surf num 49749 
points size 99440 
sort q time 5.781740 
seperate points time 25.195880 
-----t: 0.047726
OdomCount 2197 & avg odom time 0.046563 ms ++++++++++++++++++++++
1317357990.075193881 WriteOdom laser_odom_to_init
1317357990.075193881 WriteOdom aft_mapped_to_init_high_frec
publication time 13.324564 ms 
whole laserOdometry time 13.344886 ms 
 
mapping data assosiation time 34.941666 ms 
--------------------stamp1317357990.178919076
points size 100867 
sort q time 5.799186 
seperate points time 13.380852 
scan registration time 30.689935 ms *************
-----t: 0.0389058
OdomCount 2198 & avg odom time 0.046560 ms ++++++++++++++++++++++
mapping solver time 29.214946 ms 
filter time 9.273253 ms 
--------------------stamp1317357990.282622098
points size 101359 
sort q time 6.742349 
seperate points time 12.706399 
publication time 9.654981 ms 
whole laserOdometry time 9.664403 ms 
 
mapping data assosiation time 29.742477 ms 
-----t: 0.0387865
OdomCount 2199 & avg odom time 0.046556 ms ++++++++++++++++++++++
1317357990.282622098 WriteOdom laser_odom_to_init
1317357990.282622098 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.330413 ms 
--------------------stamp1317357990.386327028
prepare time 12.871573 
mapping solver time 20.627344 ms 
filter time 13.780487 ms 
map prepare time 4.658020 ms
map corner num 137571  surf num 50447 
build tree time 30.025786 ms 
--------------------stamp1317357990.490052938
points size 102067 
mapping solver time 32.848910 ms 
publication time 12.705813 ms 
whole laserOdometry time 12.725596 ms 
 
-----t: 0.0632978
OdomCount 2201 & avg odom time 0.046562 ms ++++++++++++++++++++++
1317357990.490052938 WriteOdom laser_odom_to_init
1317357990.490052938 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.867993 ms 
--------------------stamp1317357990.593779087
prepare time 12.592577 
sort q time 6.084209 
seperate points time 14.002134 
mapping data assosiation time 26.222656 ms 
--------------------stamp1317357990.697482109
points size 100562 
sort q time 5.879956 
seperate points time 13.738432 
publication time 9.384320 ms 
whole laserOdometry time 9.410232 ms 
 
-----t: 0.0451945
OdomCount 2203 & avg odom time 0.046561 ms ++++++++++++++++++++++
filter time 9.727251 ms 
map prepare time 2.944178 ms
map corner num 138911  surf num 51053 
--------------------stamp1317357990.801183938
prepare time 11.719919 
sort q time 6.456861 
seperate points time 13.737856 
mapping data assosiation time 29.462617 ms 
publication time 11.816406 ms 
whole laserOdometry time 11.842303 ms 
 
mapping solver time 32.017958 ms 
-----t: 0.0622827
OdomCount 2204 & avg odom time 0.046568 ms ++++++++++++++++++++++
1317357990.801183938 WriteOdom laser_odom_to_init
1317357990.801183938 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.857017 ms 
points size 96989 
mapping solver time 31.390696 ms 
filter time 13.032047 ms 
publication time 14.040127 ms 
whole laserOdometry time 14.055977 ms 
 
-----t: 0.0482884
OdomCount 2205 & avg odom time 0.046569 ms ++++++++++++++++++++++
build tree time 37.118396 ms 
--------------------stamp1317357991.008563041
mapping data assosiation time 27.372337 ms 
scan registration time 28.176406 ms *************
publication time 9.549810 ms 
whole laserOdometry time 9.564675 ms 
 
mapping solver time 53.151973 ms 
--------------------stamp1317357991.112243890
prepare time 14.417072 
sort q time 6.127775 
seperate points time 13.229274 
filter time 12.125561 ms 
build tree time 29.312466 ms 
--------------------stamp1317357991.215946912
prepare time 12.931564 
sort q time 5.423254 
seperate points time 11.573442 
-----t: 0.0286788
OdomCount 2208 & avg odom time 0.046562 ms ++++++++++++++++++++++
mapping data assosiation time 28.313453 ms 
mapping solver time 17.346222 ms 
filter time 9.667434 ms 
map prepare time 2.659242 ms
map corner num 141009  surf num 51788 
--------------------stamp1317357991.319672107
points size 90179 
build tree time 33.233373 ms 
sort q time 5.219410 
seperate points time 11.002709 
publication time 7.662344 ms 
whole laserOdometry time 7.676388 ms 
 
mapping data assosiation time 30.757921 ms 
mapping solver time 27.739992 ms 
--------------------stamp1317357991.423424959
points size 89032 
sort q time 5.395812 
seperate points time 12.186514 
mapping solver time 28.023291 ms 
mapping optimization time 143.845475 
filter time 16.795354 ms 
publication time 9.987119 ms 
whole laserOdometry time 10.001251 ms 
 
build tree time 32.017980 ms 
--------------------stamp1317357991.527224063
prepare time 10.822470 
scan registration time 30.110277 ms *************
publication time 12.844457 ms 
whole laserOdometry time 12.858457 ms 
 
-----t: 0.050908
OdomCount 2211 & avg odom time 0.046567 ms ++++++++++++++++++++++
1317357991.527224063 WriteOdom laser_odom_to_init
1317357991.527224063 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.165175 ms 
mapping optimization time 126.530325 
add points time 0.776142 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357991.631021976
prepare time 13.806750 
sort q time 5.352525 
seperate points time 12.459060 
publication time 10.382522 ms 
whole laserOdometry time 10.399385 ms 
 
mapping data assosiation time 27.728246 ms 
mapping solver time 29.630938 ms 
--------------------stamp1317357991.734795093
mapping data assosiation time 23.926248 ms 
sort q time 5.370958 
seperate points time 12.859720 
filter time 15.382743 ms 
build tree time 29.742866 ms 
mapping data assosiation time 18.601699 ms 
prepare time 11.587242 
sort q time 5.570430 
seperate points time 10.551928 
publication time 8.493128 ms 
whole laserOdometry time 8.505931 ms 
 
mapping solver time 20.727904 ms 
-----t: 0.0668875
OdomCount 2214 & avg odom time 0.046575 ms ++++++++++++++++++++++
1317357991.838594913 WriteOdom laser_odom_to_init
1317357991.838594913 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
--------------------stamp1317357991.942395925
points size 87026 
sort q time 5.312830 
seperate points time 11.525352 
publication time 7.812449 ms 
whole laserOdometry time 7.822446 ms 
 
-----t: 0.0566115
OdomCount 2215 & avg odom time 0.046580 ms ++++++++++++++++++++++
mapping data assosiation time 17.611668 ms 
--------------------stamp1317357992.046195983
points size 87366 
mapping solver time 22.142218 ms 
prepare time 13.132531 
mapping optimization time 126.060501 
add points time 0.876793 ms
scan registration time 29.140054 ms *************
-----t: 0.038526
OdomCount 2216 & avg odom time 0.046576 ms ++++++++++++++++++++++
--------------------stamp1317357992.149995088
points size 87939 
scan registration time 33.940415 ms *************
mapping data assosiation time 23.050443 ms 
mapping solver time 20.488981 ms 
points size 89643 
scan registration time 33.847918 ms *************
mapping solver time 22.501497 ms 
-----t: 0.0461607
OdomCount 2218 & avg odom time 0.046574 ms ++++++++++++++++++++++
map prepare time 3.077844 ms
map corner num 144700  surf num 52960 
build tree time 29.667436 ms 
points size 89996 
prepare time 16.172949 
mapping data assosiation time 23.633028 ms 
mapping solver time 25.245266 ms 
1317357992.357614994 WriteOdom laser_odom_to_init
1317357992.357614994 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.548288 ms 
mapping solver time 18.563201 ms 
filter time 10.442126 ms 
points size 90756 
sort q time 5.023040 
seperate points time 11.531282 
publication time 7.856143 ms 
whole laserOdometry time 7.868384 ms 
 
mapping data assosiation time 22.942841 ms 
mapping solver time 19.180885 ms 
mapping data assosiation time 19.117276 ms 
points size 92108 
sort q time 5.091629 
seperate points time 11.311719 -----t: 0.0334974
OdomCount 2221 & avg odom time 0.046568 ms ++++++++++++++++++++++
publication time 10.535405 ms 
whole laserOdometry time 10.550022 ms 
 
build tree time 46.717678 ms 
points size 94127 
mapping solver time 27.183011 ms 
sort q time 6.505686 
seperate points time 13.723076 
scan registration time 34.496815 ms *************
mapping data assosiation time 23.545489 ms 
mapping solver time 15.361364 ms 
mapping optimization time 135.287791 
add points time 0.809594 ms
mapping pub time 2.013886 ms 
whole mapping time 151.939599 ms +++++
mappingCount 1505 & avg mapping time 149.091245 ms ++++++++++++++++++++++
--------------------stamp1317357992.772880077
points size 94000 
sort q time 5.155556 
seperate points time 11.709180 
scan registration time 31.214684 ms *************
publication time 9.082054 ms 
whole laserOdometry time 9.104869 ms 
 
mapping solver time 21.450521 ms 
mapping data assosiation time 20.319366 ms 
mapping solver time 15.521608 ms 
filter time 15.011773 ms 
[0m[ INFO] [1718889506.712958180, 1317357992.894853531]: Received 201223 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889506.713026226, 1317357992.894853531]: Data saved to 1317357992565258.pcd[0m
sort q time 5.152453 
seperate points time 12.798439 
mapping data assosiation time 20.917221 ms 
--------------------stamp1317357992.980478048
points size 89649 
mapping data assosiation time 23.336627 ms 
publication time 9.189880 ms 
whole laserOdometry time 9.205599 ms 
 
--------------------stamp1317357993.084252119
build tree time 42.549255 ms 
mapping data assosiation time 34.523359 ms 
scan registration time 49.549099 ms *************
mapping solver time 26.182446 ms 
mapping data assosiation time 27.259444 ms 
mapping solver time 16.708985 ms 
mapping optimization time 148.513835 
add points time 1.022516 ms
prepare time 26.552380 
sort q time 5.339136 
seperate points time 12.994122 
publication time 8.843859 ms 
whole laserOdometry time 8.858113 ms 
 
mapping data assosiation time 22.848051 ms 
--------------------stamp1317357993.291851997
mapping solver time 24.695450 ms 
sort q time 4.745887 
seperate points time 19.079189 
mapping data assosiation time 20.417638 ms 
scan registration time 47.047024 ms *************
mapping solver time 23.663935 ms 
filter time 10.259843 ms 
--------------------stamp1317357993.395652055
prepare time 10.657759 
mapping data assosiation time 21.926815 ms 
mapping solver time 24.484884 ms 
publication time 8.321647 ms 
whole laserOdometry time 8.332771 ms 
 
-----t: 0.0419009
OdomCount 2229 & avg odom time 0.046567 ms ++++++++++++++++++++++
1317357993.395652055 WriteOdom laser_odom_to_init
1317357993.395652055 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.644141 ms 
mapping solver time 15.489227 ms 
filter time 9.271551 ms 
points size 93679 
sort q time 5.030282 
seperate points time 11.717762 
publication time 7.790843 ms 
whole laserOdometry time 7.805051 ms 
 
-----t: 0.0461765
OdomCount 2230 & avg odom time 0.046567 ms ++++++++++++++++++++++
mapping data assosiation time 23.085763 ms 
mapping solver time 25.983324 ms 
prepare time 15.606787 
sort q time 5.429925 
seperate points time 12.382262 
mapping solver time 26.165083 ms 
-----t: 0.0497396
OdomCount 2231 & avg odom time 0.046569 ms ++++++++++++++++++++++
map prepare time 3.282762 ms
map corner num 151079  surf num 55326 
--------------------stamp1317357993.707142114
prepare time 12.917631 
scan registration time 30.354097 ms *************publication time 8.572878 ms 
whole laserOdometry time 8.585445 ms 
 
mapping data assosiation time 19.757625 ms 
mapping solver time 15.021626 ms 
filter time 9.491400 ms 
points size 94586 
sort q time 6.040664 
seperate points time 11.969001 
build tree time 37.947249 ms 
mapping data assosiation time 20.426802 ms 
mapping solver time 21.360708 ms 
mapping data assosiation time 21.278779 ms 
sort q time 6.262531 
seperate points time 11.726529 
filter time 13.826623 ms 
mapping pub time 2.226643 ms 
whole mapping time 143.653680 ms +++++
mappingCount 1513 & avg mapping time 149.085844 ms ++++++++++++++++++++++
1317357993.707142115 WriteOdom aft_mapped_to_init
publication time 8.595858 ms 
whole laserOdometry time 8.609258 ms 
 
-----t: 0.0542877
OdomCount 2234 & avg odom time 0.046574 ms ++++++++++++++++++++++
1317357993.914833068 WriteOdom laser_odom_to_init
1317357993.914833068 WriteOdom aft_mapped_to_init_high_frec
build tree time 36.271411 ms 
--------------------stamp1317357994.018703937
points size 92739 
scan registration time 30.575384 ms *************
mapping solver time 28.228394 ms 
-----t: 0.0363544
OdomCount 2235 & avg odom time 0.046570 ms ++++++++++++++++++++++
publication time 6.508480 ms 
whole laserOdometry time 6.520053 ms 
 
mapping solver time 23.728495 ms 
filter time 11.238229 ms 
--------------------stamp1317357994.122575998
prepare time 11.163758 
build tree time 40.769848 ms 
-----t: 0.0407394
OdomCount 2236 & avg odom time 0.046567 ms ++++++++++++++++++++++
mapping solver time 23.062577 ms 
mapping data assosiation time 20.293169 ms 
points size 91101 
mapping solver time 23.515186 ms filter time 13.754668 ms 
-----t: 0.0366168
OdomCount 2237 & avg odom time 0.046563 ms ++++++++++++++++++++++
1317357994.226423025 WriteOdom laser_odom_to_init
1317357994.226423025 WriteOdom aft_mapped_to_init_high_frec
build tree time 41.394492 ms 
--------------------stamp1317357994.330271959
prepare time 10.869833 
sort q time 5.661408 
seperate points time 12.202881 mapping solver time 28.831141 ms 
publication time 12.328293 ms 
whole laserOdometry time 12.346821 ms 
 
mapping data assosiation time 23.761675 ms 
mapping solver time 19.884013 ms 
filter time 10.416156 ms 
map prepare time 2.976005 ms
map corner num 154084  surf num 56264 
points size 94398 
sort q time 5.170537 
seperate points time 12.158809 
scan registration time 30.788392 ms *************
publication time 9.482381 ms 
whole laserOdometry time 9.496420 ms 
 
mapping data assosiation time 28.758776 ms 
mapping solver time 21.414522 ms 
--------------------stamp1317357994.537964105
prepare time 12.531265 
sort q time 5.322232 
seperate points time 11.452176 
filter time 12.965180 ms 
build tree time 34.291507 ms 
--------------------stamp1317357994.641810894
points size 94522 
sort q time 5.208472 
seperate points time 11.781614 
publication time 8.538171 ms 
whole laserOdometry time 8.552300 ms 
 
mapping solver time 20.776135 ms 
mapping optimization time 129.868004 
add points time 0.959103 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357994.745659112
points size 93910 
sort q time 5.288937 
seperate points time 12.060839 
publication time 7.272491 ms 
whole laserOdometry time 7.284111 ms 
 
mapping solver time 22.457830 ms 
mapping data assosiation time 22.217957 ms 
mapping solver time 15.045991 ms 
filter time 11.846521 ms 
publication time 7.960827 ms 
whole laserOdometry time 7.975137 ms 
 
build tree time 47.898744 ms 
--------------------stamp1317357994.953255891
points size 90849 
mapping solver time 30.641061 ms 
publication time 7.661000 ms 
whole laserOdometry time 7.674384 ms 
 
-----t: 0.0454448
OdomCount 2244 & avg odom time 0.046580 ms ++++++++++++++++++++++
mapping solver time 21.251816 ms 
mapping optimization time 147.599108 
add points time 0.795852 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357995.057028055
prepare time 13.494098 
sort q time 5.135706 
seperate points time 11.983220 
publication time 9.581234 ms 
whole laserOdometry time 9.593330 ms 
 
mapping solver time 23.743685 ms 
mapping data assosiation time 18.721591 ms 
--------------------stamp1317357995.160826921
prepare time 12.026464 
sort q time 5.631715 
seperate points time 12.572342 
publication time 8.544628 ms 
whole laserOdometry time 8.558897 ms 
 
--------------------stamp1317357995.264625072
mapping pub time 89.405966 ms 
whole mapping time 237.332555 ms +++++
mappingCount 1521 & avg mapping time 149.156559 ms ++++++++++++++++++++++
sort q time 6.565778 
seperate points time 12.231646 
mapping data assosiation time 18.719472 ms 
--------------------stamp1317357995.368424892
points size 93481 
publication time 8.675921 ms 
whole laserOdometry time 8.708220 ms 
 
filter time 14.068743 ms 
map prepare time 2.988655 ms
map corner num 114178  surf num 39876 
build tree time 23.239510 ms 
points size 93078 
mapping data assosiation time 31.814093 ms 
sort q time 6.119093 
seperate points time 14.237055 
mapping solver time 29.903899 ms 
mapping data assosiation time 18.935623 ms 
mapping solver time 22.226142 ms 
filter time 8.805173 ms 
scan registration time 30.408257 ms *************
publication time 11.094293 ms 
whole laserOdometry time 11.122513 ms 
 
-----t: 0.0547113
OdomCount 2250 & avg odom time 0.046573 ms ++++++++++++++++++++++
1317357995.575949907 WriteOdom aft_mapped_to_init_high_frec
1317357995.575949907 WriteOdom laser_odom_to_init
mapping solver time 22.472533 ms 
--------------------stamp1317357995.679749011
points size 91004 
mapping solver time 22.660599 ms 
publication time 7.219595 ms 
whole laserOdometry time 7.235404 ms 
 
1317357995.679749011 WriteOdom aft_mapped_to_init_high_frec
map prepare time 4.176197 ms
map corner num 170703  surf num 58455 
--------------------stamp1317357995.783548116
prepare time 15.038258 
mapping data assosiation time 24.400075 ms 
-----t: 0.0322893
OdomCount 2252 & avg odom time 0.046564 ms ++++++++++++++++++++++
mapping solver time 30.251747 ms 
mapping data assosiation time 18.215537 ms 
mapping solver time 13.036645 ms 
filter time 10.477561 ms 
points size 88613 
sort q time 4.276690 
seperate points time 9.303061 
publication time 6.817462 ms 
whole laserOdometry time 6.829952 ms 
 
build tree time 45.585013 ms 
-----t: 0.0551921
OdomCount 2253 & avg odom time 0.046568 ms ++++++++++++++++++++++
mapping solver time 21.360030 ms 
points size 90446 
mapping data assosiation time 23.294439 ms 
scan registration time 26.447141 ms *************
mapping solver time 23.481232 ms 
filter time 14.667994 ms 
1317357995.991146087 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.980681 ms
map corner num 171805  surf num 58751 
[0m[ INFO] [1718889509.872625436, 1317357996.053523542]: Received 230556 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889509.872655041, 1317357996.053523542]: Data saved to 1317357995783548.pcd[0m
--------------------stamp1317357996.094919919
prepare time 12.402140 
sort q time 6.159637 
seperate points time 11.973386 
publication time 12.241255 ms 
whole laserOdometry time 12.259760 ms 
 
-----t: 0.0438767
OdomCount 2255 & avg odom time 0.046566 ms ++++++++++++++++++++++
1317357996.094919919 WriteOdom laser_odom_to_init
1317357996.094919919 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.236660 ms 
mapping solver time 13.549425 ms 
filter time 10.496130 ms 
map prepare time 9.280817 ms
map corner num 172286  surf num 58866 
sort q time 5.727607 
seperate points time 13.553301 
publication time 7.834344 ms 
whole laserOdometry time 7.927847 ms 
 
build tree time 44.754824 ms 
mapping data assosiation time 18.758371 ms 
mapping solver time 22.885617 ms 
--------------------stamp1317357996.302470922
prepare time 11.194403 
sort q time 5.415618 
seperate points time 11.903616 
mapping solver time 22.951528 ms 
-----t: 0.0377062
OdomCount 2257 & avg odom time 0.046556 ms ++++++++++++++++++++++
1317357996.302470922 WriteOdom laser_odom_to_init
1317357996.302470922 WriteOdom aft_mapped_to_init_high_frec
filter time 14.837670 ms 
mapping pub time 2.025074 ms 
whole mapping time 161.281568 ms +++++
mappingCount 1528 & avg mapping time 149.168010 ms ++++++++++++++++++++++
1317357996.094919920 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.706467 ms
map corner num 172893  surf num 59021 
build tree time 38.712288 ms 
points size 93401 
mapping data assosiation time 24.022385 ms 
scan registration time 33.628140 ms *************
mapping solver time 28.801281 ms 
-----t: 0.0437701
OdomCount 2258 & avg odom time 0.046555 ms ++++++++++++++++++++++
mapping data assosiation time 23.076938 ms 
mapping solver time 14.748951 ms 
mapping optimization time 130.549664 
add points time 0.679362 ms
map prepare time 3.360264 ms
map corner num 173376  surf num 59148 
sort q time 5.185343 
seperate points time 12.103505 
publication time 7.020775 ms 
whole laserOdometry time 7.033039 ms 
 
mapping data assosiation time 19.848899 ms 
mapping solver time 18.614580 ms 
--------------------stamp1317357996.613914966
prepare time 11.223154 
sort q time 5.722016 
seperate points time 11.884410 
filter time 14.804753 ms 
mapping pub time 2.158716 ms 
whole mapping time 143.641049 ms +++++
mappingCount 1530 & avg mapping time 149.163664 ms ++++++++++++++++++++++
1317357996.406269073 WriteOdom aft_mapped_to_init
map prepare time 3.593014 ms
map corner num 173907  surf num 59290 
publication time 9.867141 ms 
whole laserOdometry time 9.877241 ms 
 
-----t: 0.0335946
OdomCount 2260 & avg odom time 0.046544 ms ++++++++++++++++++++++
build tree time 36.869381 ms 
--------------------stamp1317357996.717761993
points size 90752 
mapping solver time 23.875908 ms 
-----t: 0.0380249
OdomCount 2261 & avg odom time 0.046541 ms ++++++++++++++++++++++
mapping data assosiation time 22.881925 ms 
mapping solver time 17.150034 ms 
filter time 10.470626 ms 
map prepare time 3.104902 ms
map corner num 174361  surf num 59397 
--------------------stamp1317357996.821629047
points size 90739 
sort q time 4.980261 
seperate points time 11.698773 
publication time 8.848618 ms mapping solver time 18.267517 ms 
mapping data assosiation time 19.360357 ms 
--------------------stamp1317357996.925498962
prepare time 11.931593 
mapping pub time 2.200333 ms 
whole mapping time 144.392079 ms +++++
mappingCount 1532 & avg mapping time 149.156484 ms ++++++++++++++++++++++
publication time 7.219103 ms 
whole laserOdometry time 7.234273 ms 
 
build tree time 40.840538 ms 
mapping data assosiation time 19.893999 ms 
--------------------stamp1317357997.029397964
prepare time 11.424302 
sort q time 5.067435 
seperate points time 11.244491 
mapping data assosiation time 23.307688 ms 
mapping solver time 20.778512 ms 
filter time 15.087959 ms 
--------------------stamp1317357997.133316993
points size 92672 
build tree time 44.011120 ms 
mapping data assosiation time 22.079936 ms 
publication time 19.308873 ms 
whole laserOdometry time 19.319642 ms 
 
mapping solver time 22.302270 ms 
mapping data assosiation time 19.754376 ms 
--------------------stamp1317357997.237236976
points size 94218 
mapping pub time 2.100283 ms 
whole mapping time 147.251491 ms +++++
mappingCount 1534 & avg mapping time 149.159988 ms ++++++++++++++++++++++
scan registration time 31.283276 ms *************
-----t: 0.0457197
OdomCount 2266 & avg odom time 0.046541 ms ++++++++++++++++++++++
build tree time 45.488811 ms 
mapping data assosiation time 18.794705 ms 
--------------------stamp1317357997.341156005
points size 97326 
mapping data assosiation time 22.292353 ms 
sort q time 18.683987 
seperate points time 27.589097 
scan registration time 48.329985 ms *************
add points time 0.801350 ms
filter time 12.536151 ms 
map prepare time 4.203088 ms
map corner num 176361  surf num 59917 
--------------------stamp1317357997.445097923
prepare time 12.602659 
sort q time 5.496361 
seperate points time 12.870725 
mapping data assosiation time 23.234205 ms 
publication time 10.094065 ms 
whole laserOdometry time 10.112399 ms 
 
-----t: 0.0401289
OdomCount 2268 & avg odom time 0.046533 ms ++++++++++++++++++++++
1317357997.445097923 WriteOdom laser_odom_to_init
1317357997.445097923 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.293339 ms 
mapping solver time 13.802162 ms 
filter time 11.356257 ms 
map prepare time 3.877398 ms
map corner num 176886  surf num 60030 
sort q time 5.666229 
seperate points time 15.154135 
-----t: 0.0358967
OdomCount 2269 & avg odom time 0.046528 ms ++++++++++++++++++++++
1317357997.549038887 WriteOdom laser_odom_to_init
1317357997.549038887 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718889511.435903130, 1317357997.620759302]: Received 236916 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889511.435936082, 1317357997.620759302]: Data saved to 1317357997237236.pcd[0m
mapping data assosiation time 19.664174 ms 
--------------------stamp1317357997.652982950
mapping solver time 24.569017 ms 
sort q time 5.431715 
seperate points time 13.243138 
scan registration time 35.825556 ms *************
-----t: 0.0355746
OdomCount 2270 & avg odom time 0.046523 ms ++++++++++++++++++++++
1317357997.652982950 WriteOdom laser_odom_to_init
1317357997.652982950 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.069013 ms 
mapping optimization time 137.907422 
add points time 0.710879 ms
publication time 13.765351 ms 
whole laserOdometry time 13.781587 ms 
 
filter time 12.155665 ms 
map prepare time 2.985805 ms
map corner num 177534  surf num 60269 
--------------------stamp1317357997.756926059
points size 101202 
build tree time 40.856880 ms 
prepare time 15.086191 
sort q time 5.726523 
seperate points time 12.959796 
scan registration time 34.073914 ms *************
mapping data assosiation time 23.162892 ms 
publication time 10.997621 ms 
whole laserOdometry time 11.013932 ms 
 
-----t: 0.0549571
OdomCount 2271 & avg odom time 0.046527 ms ++++++++++++++++++++++
1317357997.756926059 WriteOdom laser_odom_to_init
1317357997.756926059 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.552933 ms 
--------------------stamp1317357997.860843896
--------------------stamp1317357997.964762926
points size 100912 
sort q time 5.877571 
seperate points time 14.928640 
mapping data assosiation time 22.938205 ms 
scan registration time 38.364715 ms *************
publication time 10.749066 ms 
whole laserOdometry time 10.766387 ms 
 
-----t: 0.0584364
OdomCount 2273 & avg odom time 0.046530 ms ++++++++++++++++++++++
1317357997.964762926 WriteOdom laser_odom_to_init
1317357997.964762926 WriteOdom aft_mapped_to_init_high_frec
filter time 19.780052 ms 
map prepare time 3.990156 ms
map corner num 178731  surf num 60619 
--------------------stamp1317357998.068682909
points size 100498 
sort q time 5.962962 
seperate points time 14.013869 
-----t: 0.0550806
OdomCount 2274 & avg odom time 0.046534 ms ++++++++++++++++++++++
mapping solver time 27.111938 ms 
--------------------stamp1317357998.172627925
points size 100000 
sort q time 5.641868 
seperate points time 13.217264 
publication time 10.247681 ms 
whole laserOdometry time 10.268296 ms 
 
map prepare time 3.796797 ms
map corner num 179195  surf num 60717 
--------------------stamp1317357998.276596069
points size 99787 
prepare time 12.238850 
scan registration time 29.979739 ms *************
publication time 7.968738 ms 
whole laserOdometry time 7.981837 ms 
 
mapping solver time 30.784112 ms 
mapping data assosiation time 24.363688 ms 
--------------------stamp1317357998.380541086
mapping optimization time 156.462659 
filter time 16.147189 ms 
sort q time 5.409598 
seperate points time 12.868230 
publication time 9.681645 ms 
whole laserOdometry time 9.700006 ms 
 
--------------------stamp1317357998.484469890
points size 100003 
mapping pub time 102.517539 ms 
whole mapping time 279.726118 ms +++++
mappingCount 1541 & avg mapping time 149.280097 ms ++++++++++++++++++++++
1317357998.068682909 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
scan registration time 64.123982 ms *************
-----t: 0.0609351
OdomCount 2278 & avg odom time 0.046540 ms ++++++++++++++++++++++
--------------------stamp1317357998.588387966
points size 100836 
mapping solver time 25.025685 ms 
sort q time 6.213208 
seperate points time 11.951225 
publication time 7.872116 ms 
whole laserOdometry time 7.887009 ms 
 
-----t: 0.0455702
OdomCount 2279 & avg odom time 0.046539 ms ++++++++++++++++++++++
mapping solver time 18.383855 ms 
filter time 16.010889 ms 
mapping pub time 2.441820 ms 
whole mapping time 164.863119 ms +++++
mappingCount 1542 & avg mapping time 149.290205 ms ++++++++++++++++++++++
1317357998.276596069 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.950723 ms
map corner num 180304  surf num 60955 
points size 101384 
sort q time 6.091377 
seperate points time 13.138461 
scan registration time 31.042646 ms *************
-----t: 0.0424736
OdomCount 2280 & avg odom time 0.046538 ms ++++++++++++++++++++++
mapping solver time 23.439765 ms 
--------------------stamp1317357998.796173095
prepare time 12.325214 
mapping solver time 18.146816 ms 
scan registration time 32.553228 ms *************
map prepare time 3.967857 ms
map corner num 180843  surf num 61087 
-----t: 0.0613286
OdomCount 2281 & avg odom time 0.046544 ms ++++++++++++++++++++++
--------------------stamp1317357998.900072097
prepare time 14.000276 
sort q time 6.464786 mapping solver time 23.197716 ms 
-----t: 0.0463816
OdomCount 2282 & avg odom time 0.046544 ms ++++++++++++++++++++++
publication time 7.784327 ms 
whole laserOdometry time 7.797925 ms 
 
mapping solver time 23.842690 ms 
points size 97521 
prepare time 12.467775 
mapping pub time 2.724077 ms 
whole mapping time 171.092954 ms +++++
mappingCount 1544 & avg mapping time 149.313503 ms ++++++++++++++++++++++
1317357998.692279100 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
publication time 9.189572 ms 
whole laserOdometry time 9.203097 ms 
 
-----t: 0.0506342
OdomCount 2283 & avg odom time 0.046546 ms ++++++++++++++++++++++
mapping data assosiation time 23.516392 ms 
--------------------stamp1317357999.107862949
points size 96265 
sort q time 5.931592 
seperate points time 12.290010 
scan registration time 31.450049 ms *************
publication time 8.693257 ms 
whole laserOdometry time 8.712360 ms 
 
-----t: 0.0514524
OdomCount 2284 & avg odom time 0.046548 ms ++++++++++++++++++++++
mapping pub time 2.383126 ms 
whole mapping time 163.082771 ms +++++
mappingCount 1545 & avg mapping time 149.322422 ms ++++++++++++++++++++++
--------------------stamp1317357999.211775064
points size 94804 
build tree time 49.635355 ms 
mapping data assosiation time 26.624802 ms 
1317357999.211775064 WriteOdom laser_odom_to_init
1317357999.211775064 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 42.394676 ms 
points size 91119 
mapping data assosiation time 24.285483 ms 
mapping solver time 24.463690 ms 
-----t: 0.0409834
OdomCount 2286 & avg odom time 0.046546 ms ++++++++++++++++++++++
mapping pub time 5.151273 ms 
whole mapping time 194.659385 ms +++++
mappingCount 1546 & avg mapping time 149.351757 ms ++++++++++++++++++++++
1317357999.003982067 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889513.215785084, 1317357999.393348471]: Received 243878 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889513.215820429, 1317357999.393348471]: Data saved to 1317357999003982.pcd[0m
--------------------stamp1317357999.419641971
points size 88522 
build tree time 52.203840 ms 
sort q time 4.788411 
seperate points time 11.512894 
mapping data assosiation time 22.928203 ms -----t: 0.0389764
OdomCount 2287 & avg odom time 0.046542 ms ++++++++++++++++++++++
mapping solver time 25.363150 ms 
mapping data assosiation time 18.959301 ms 
--------------------stamp1317357999.523581981
points size 86859 
map prepare time 3.547139 ms
map corner num 182996  surf num 61588 
sort q time 4.958304 
seperate points time 12.107743 
scan registration time 31.642919 ms *************
publication time 9.518623 ms 
whole laserOdometry time 9.531527 ms 
 
build tree time 51.350792 ms 
mapping data assosiation time 20.823696 ms 
points size 86087 
sort q time 4.843134 
seperate points time 11.694163 
publication time 7.618388 ms 
whole laserOdometry time 7.633684 ms 
 
mapping solver time 17.243212 ms 
filter time 10.618451 ms 
--------------------stamp1317357999.731446027
prepare time 10.874432 
sort q time 4.446362 
seperate points time 10.653830 
publication time 7.473672 ms 
whole laserOdometry time 7.487312 ms 
 
1317357999.731446027 WriteOdom laser_odom_to_init
1317357999.731446027 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.766177 ms 
mapping solver time 19.822368 ms 
--------------------stamp1317357999.835388898
prepare time 11.065069 
sort q time 5.168384 
seperate points time 11.470383 
publication time 9.418502 ms 
whole laserOdometry time 9.430594 ms 
 
1317357999.835388898 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.539586 ms 
mapping solver time 23.014208 ms 
points size 86090 
mapping data assosiation time 22.252664 ms 
scan registration time 30.339900 ms *************
publication time 8.332792 ms 
whole laserOdometry time 8.347237 ms 
 
filter time 15.195399 ms map prepare time 3.144951 msbuild tree time 37.925422 ms 
points size 85175 
sort q time 4.815731 
seperate points time 11.702810 
mapping solver time 26.561421 ms 
-----t: 0.0365869
OdomCount 2293 & avg odom time 0.046525 ms ++++++++++++++++++++++
mapping data assosiation time 21.345658 ms 
mapping solver time 18.791090 ms 
filter time 13.153803 ms 
map prepare time 4.381177 ms
map corner num 185083  surf num 62083 
sort q time 4.797305 
seperate points time 9.833562 
publication time 8.713017 ms 
whole laserOdometry time 8.721782 ms 
 
build tree time 42.931359 ms 
1317358000.147166967 WriteOdom laser_odom_to_init
1317358000.147166967 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.140650 ms 
--------------------stamp1317358000.251087903
sort q time 4.424838 
seperate points time 10.673984 
filter time 15.966599 ms 
build tree time 38.101130 ms 
--------------------stamp1317358000.355017900
mapping data assosiation time 21.862011 ms 
prepare time 12.515955 
publication time 7.966666 ms 
whole laserOdometry time 7.981677 ms 
 
mapping solver time 64.113721 ms 
mapping data assosiation time 22.449172 ms 
mapping solver time 14.884488 ms 
filter time 13.853667 ms 
publication time 8.621681 ms 
whole laserOdometry time 8.656929 ms 
 
1317358000.458959102 WriteOdom laser_odom_to_init
1317358000.458959102 WriteOdom aft_mapped_to_init_high_frec
build tree time 49.719240 ms 
mapping data assosiation time 21.635981 ms 
prepare time 10.447564 
sort q time 5.744703 
seperate points time 11.852596 
-----t: 0.0321023
OdomCount 2298 & avg odom time 0.046508 ms ++++++++++++++++++++++
mapping optimization time 143.728609 
add points time 0.681909 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317358000.666807889
prepare time 10.480981 
sort q time 5.021679 
seperate points time 11.297484 
publication time 7.980939 ms 
whole laserOdometry time 7.992839 ms 
 
mapping data assosiation time 20.776433 ms 
-----t: 0.0509316
OdomCount 2299 & avg odom time 0.046510 ms ++++++++++++++++++++++
mapping solver time 12.452926 ms 
points size 88924 
map prepare time 3.609626 ms
map corner num 187284  surf num 62635 
scan registration time 28.267032 ms *************
publication time 8.339718 ms 
whole laserOdometry time 8.351621 ms 
 
build tree time 46.294599 ms 
mapping data assosiation time 19.193956 ms 
--------------------stamp1317358000.874670028
prepare time 12.611187 
sort q time 5.710373 
seperate points time 12.126323 
mapping optimization time 138.225139 
filter time 14.307560 ms 
map prepare time 3.080630 ms
map corner num 187926  surf num 62795 
--------------------stamp1317358000.978564977
prepare time 11.098817 
sort q time 4.562471 
seperate points time 10.866529 
mapping data assosiation time 21.100480 ms 
-----t: 0.0472272
OdomCount 2302 & avg odom time 0.046504 ms ++++++++++++++++++++++
mapping data assosiation time 19.034313 ms 
mapping solver time 12.776658 ms 
--------------------stamp1317358001.082484960
prepare time 13.682598 
sort q time 4.973752 
seperate points time 11.917701 
publication time 8.154584 ms 
whole laserOdometry time 8.167960 ms 
 
build tree time 49.476571 ms 
mapping data assosiation time 19.288971 ms 
mapping solver time 17.036919 ms 
points size 85328 
prepare time 12.775659 
mapping solver time 23.717638 ms 
filter time 17.162996 ms 
-----t: 0.0584852
OdomCount 2304 & avg odom time 0.046514 ms ++++++++++++++++++++++
--------------------stamp1317358001.290321111
points size 83268 
sort q time 5.246393 
seperate points time 12.761275 
-----t: 0.0311424
OdomCount 2305 & avg odom time 0.046507 ms ++++++++++++++++++++++
publication time 6.860942 ms 
whole laserOdometry time 6.888396 ms 
 
mapping data assosiation time 17.533485 ms 
mapping solver time 17.242381 ms 
points size 81938 
sort q time 12.330318 
seperate points time 19.135007 
-----t: 0.0423455
OdomCount 2306 & avg odom time 0.046506 ms ++++++++++++++++++++++
1317358001.394217967 WriteOdom laser_odom_to_init
1317358001.394217967 WriteOdom aft_mapped_to_init_high_frec
build tree time 43.703626 ms 
mapping data assosiation time 18.026065 ms 
--------------------stamp1317358001.498106002
prepare time 10.091132 
sort q time 23.122059 
seperate points time 28.456902 
filter time 15.103733 ms 
--------------------stamp1317358001.602036952
prepare time 10.569053 
sort q time 5.095384 
seperate points time 11.123083 
publication time 7.547369 ms 
whole laserOdometry time 7.562392 ms 
 
mapping data assosiation time 19.125419 ms 
mapping solver time 17.420017 ms 
filter time 11.081604 ms 
points size 82595 
sort q time 4.651615 
seperate points time 11.333457 
publication time 12.854790 ms 
whole laserOdometry time 12.865459 ms 
 
-----t: 0.0341581
OdomCount 2309 & avg odom time 0.046497 ms ++++++++++++++++++++++
mapping pub time 90.427721 ms 
whole mapping time 231.287655 ms +++++
mappingCount 1561 & avg mapping time 149.435917 ms ++++++++++++++++++++++
--------------------stamp1317358001.809894084
prepare time 12.160558 
sort q time 4.511294 
seperate points time 11.005498 
-----t: 0.0398165
OdomCount 2310 & avg odom time 0.046494 ms ++++++++++++++++++++++
mapping solver time 21.793149 ms 
mapping data assosiation time 19.230945 ms 
[0m[ INFO] [1718889515.734028117, 1317358001.914496425]: Received 254039 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889515.734071893, 1317358001.914496425]: Data saved to 1317358001394217.pcd[0m
add points time 0.940369 ms
sort q time 5.026767 
seperate points time 11.070590 
publication time 6.971405 ms 
whole laserOdometry time 6.985862 ms 
 
filter time 46.804459 ms 
mapping pub time 2.215721 ms 
whole mapping time 186.032861 ms +++++
mappingCount 1562 & avg mapping time 149.459351 ms ++++++++++++++++++++++
1317358001.498106003 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358002.017776012
prepare time 10.044338 
sort q time 4.270557 
seperate points time 9.575853 
mapping data assosiation time 21.938311 ms 
mapping solver time 23.840729 ms 
mapping data assosiation time 22.795286 ms 
--------------------stamp1317358002.121731996
prepare time 9.679874 
filter time 16.921042 ms 
publication time 5.744046 ms 
whole laserOdometry time 5.754810 ms 
 
-----t: 0.0504819
OdomCount 2313 & avg odom time 0.046495 ms ++++++++++++++++++++++
1317358002.121731996 WriteOdom laser_odom_to_init
1317358002.121731996 WriteOdom aft_mapped_to_init_high_frec
build tree time 51.572408 ms 
--------------------stamp1317358002.225687980
sort q time 3.864873 
seperate points time 8.246835 
publication time 5.920641 ms 
whole laserOdometry time 5.932963 ms 
 
mapping data assosiation time 21.953173 ms 
-----t: 0.0387522
OdomCount 2314 & avg odom time 0.046492 ms ++++++++++++++++++++++
1317358002.225687980 WriteOdom laser_odom_to_init
1317358002.225687980 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.208847 ms 
mapping optimization time 144.241038 
add points time 0.716044 ms
mapping pub time 1.859628 ms 
whole mapping time 167.791370 ms +++++
mappingCount 1564 & avg mapping time 149.481063 ms ++++++++++++++++++++++
--------------------stamp1317358002.329629898
sort q time 4.000613 
seperate points time 9.150041 
publication time 7.177044 ms 
whole laserOdometry time 7.245885 ms 
 
-----t: 0.0312112
OdomCount 2315 & avg odom time 0.046485 ms ++++++++++++++++++++++
1317358002.329629898 WriteOdom laser_odom_to_init
1317358002.329629898 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.550767 ms 
mapping solver time 21.958994 ms 
--------------------stamp1317358002.433593034
prepare time 11.561088 
scan registration time 22.851827 ms *************
publication time 5.678127 ms 
whole laserOdometry time 5.687449 ms 
 
filter time 16.675425 ms 
mapping pub time 1.762736 ms 
whole mapping time 158.475822 ms +++++
mappingCount 1565 & avg mapping time 149.486815 ms ++++++++++++++++++++++
1317358002.121731997 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.450096 ms
map corner num 192543  surf num 64139 
-----t: 0.0576372
OdomCount 2316 & avg odom time 0.046490 ms ++++++++++++++++++++++
build tree time 52.535030 ms 
points size 75659 
prepare time 12.350027 
mapping solver time 21.392704 ms 

1317358002.537585020 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.685377 ms 
mapping optimization time 133.075016 
add points time 0.825980 ms
filter time 17.071582 ms 
map prepare time 4.481206 ms
map corner num 193055  surf num 64281 
scan registration time 25.851010 ms *************
publication time 9.191684 ms 
whole laserOdometry time 9.205663 ms 
 
mapping data assosiation time 17.598304 ms 
mapping solver time 15.948120 ms 
--------------------stamp1317358002.745573043
prepare time 10.168188 
sort q time 4.333259 
seperate points time 9.595193 
publication time 5.982477 ms 
whole laserOdometry time 5.999787 ms 
 
filter time 13.872073 ms 
1317358002.745573043 WriteOdom laser_odom_to_init
1317358002.745573043 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718889516.647384514, 1317358002.832309662]: Received 257336 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889516.647411055, 1317358002.832309662]: Data saved to 1317358002329629.pcd[0m
--------------------stamp1317358002.849554061
points size 76093 
sort q time 3.942166 
seperate points time 9.604072 
mapping data assosiation time 20.356795 ms 
publication time 6.047896 ms 
whole laserOdometry time 6.060688 ms 
 
-----t: 0.0457565
OdomCount 2320 & avg odom time 0.046481 ms ++++++++++++++++++++++
mapping solver time 13.613402 ms 
filter time 12.098126 ms 
--------------------stamp1317358002.953556060
prepare time 11.651934 
sort q time 4.243218 
seperate points time 10.092372 
scan registration time 26.928000 ms *************
1317358002.953556060 WriteOdom laser_odom_to_init
1317358002.953556060 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.842543 ms 
mapping solver time 25.764309 ms 
--------------------stamp1317358003.057569026
prepare time 11.657812 
sort q time 4.023679 
seperate points time 9.833302 
publication time 7.606626 ms 
whole laserOdometry time 7.619451 ms 
 
map prepare time 2.970388 ms
map corner num 219558  surf num 72160 
build tree time 46.406370 ms 
points size 76466 
sort q time 3.948678 
seperate points time 9.761542 
scan registration time 25.426566 ms *************
mapping data assosiation time 18.102200 ms 
mapping solver time 12.709574 ms 
filter time 12.950168 ms 
--------------------stamp1317358003.265603065
prepare time 14.715306 
sort q time 5.819609 
seperate points time 12.566206 
build tree time 57.690507 ms 
mapping data assosiation time 18.809012 ms 
-----t: 0.0709361
OdomCount 2324 & avg odom time 0.046483 ms ++++++++++++++++++++++
mapping data assosiation time 16.160735 ms 
prepare time 12.805464 
sort q time 12.139854 
seperate points time 18.168887 
publication time 10.329505 ms 
whole laserOdometry time 10.344094 ms 
 
build tree time 53.680584 ms 
points size 78782 
sort q time 4.650845 
seperate points time 10.659697 
mapping solver time 21.141586 ms 
mapping data assosiation time 19.868251 ms 
-----t: 0.0510065
OdomCount 2326 & avg odom time 0.046491 ms ++++++++++++++++++++++
filter time 16.417530 ms 
--------------------stamp1317358003.577652931
prepare time 12.428283 
sort q time 4.388351 
seperate points time 10.233541 
publication time 8.902906 ms 
whole laserOdometry time 8.920966 ms 
 
1317358003.577652931 WriteOdom laser_odom_to_init
1317358003.577652931 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.640594 ms 
mapping solver time 16.288164 ms 
--------------------stamp1317358003.681715011
prepare time 11.850989 
mapping optimization time 128.846184 
publication time 7.907070 ms 
whole laserOdometry time 7.918059 ms 
 
map prepare time 3.257771 ms
map corner num 221221  surf num 72544 
[0m[ INFO] [1718889517.557209147, 1317358003.739909973]: Received 292857 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889517.557245229, 1317358003.739909973]: Data saved to 1317358003161576.pcd[0m
build tree time 50.403541 ms 
points size 80064 
prepare time 14.383068 
sort q time 5.845187 
seperate points time 12.453889 
mapping solver time 19.878321 ms 
publication time 7.932607 ms 
whole laserOdometry time 7.946551 ms 
 
mapping data assosiation time 20.620579 ms 
mapping solver time 18.049137 ms 
filter time 13.762349 ms 
points size 80960 
sort q time 4.733776 
seperate points time 10.462166 
publication time 7.804799 ms 
whole laserOdometry time 7.821747 ms 
 
-----t: 0.0433904
OdomCount 2330 & avg odom time 0.046486 ms ++++++++++++++++++++++
1317358003.889826059 WriteOdom laser_odom_to_init
1317358003.889826059 WriteOdom aft_mapped_to_init_high_frec
build tree time 56.637530 ms 
mapping data assosiation time 16.326600 ms 
mapping solver time 16.991946 ms 
--------------------stamp1317358003.993868112
points size 81855 
sort q time 4.354522 
seperate points time 10.329102 
publication time 6.990921 ms 
whole laserOdometry time 7.001269 ms 
 
--------------------stamp1317358004.097943067
points size 82685 
mapping data assosiation time 21.387375 ms 
scan registration time 37.671858 ms *************
1317358004.097943067 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.769773 ms 
mapping solver time 12.907893 ms 
mapping optimization time 125.520700 
add points time 0.742509 ms
mapping pub time 5.326293 ms 
whole mapping time 148.634712 ms +++++
mappingCount 1576 & avg mapping time 149.519314 ms ++++++++++++++++++++++
points size 83162 
sort q time 4.907059 
seperate points time 10.847986 
publication time 8.138640 ms 
whole laserOdometry time 8.170850 ms 
 
build tree time 63.039240 ms 
mapping data assosiation time 19.776970 ms 
mapping solver time 17.996917 ms 
points size 83695 
scan registration time 31.408753 ms *************
publication time 8.637255 ms 
whole laserOdometry time 8.684620 ms 
 
--------------------stamp1317358004.410068988
points size 85275 
sort q time 5.458202 
seperate points time 12.777253 
publication time 7.266683 ms 
whole laserOdometry time 7.279321 ms 
 
-----t: 0.0473449
OdomCount 2335 & avg odom time 0.046474 ms ++++++++++++++++++++++
mapping data assosiation time 20.765114 ms 
mapping solver time 16.437092 ms 
--------------------stamp1317358004.514096021
filter time 20.638069 ms 
sort q time 5.174814 
seperate points time 11.414196 
publication time 5.835591 ms 
whole laserOdometry time 5.849286 ms 
 
-----t: 0.0503946
OdomCount 2336 & avg odom time 0.046476 ms ++++++++++++++++++++++
build tree time 61.014569 ms 
mapping data assosiation time 22.031496 ms 
points size 88488 
mapping solver time 27.050805 ms 1317358004.618113040 WriteOdom aft_mapped_to_init_high_frec
publication time 18.790499 ms 
whole laserOdometry time 18.799574 ms 
 
filter time 17.101232 ms 
[0m[ INFO] [1718889518.534878231, 1317358004.719690607]: Received 295336 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889518.534913268, 1317358004.719690607]: Data saved to 1317358003889826.pcd[0m
points size 91494 
scan registration time 34.704360 ms *************
-----t: 0.0451163
OdomCount 2338 & avg odom time 0.046471 ms ++++++++++++++++++++++
mapping solver time 20.142154 ms 
--------------------stamp1317358004.826211929
prepare time 13.355800 
sort q time 5.160466 
seperate points time 12.515468 
scan registration time 31.316035 ms *************
filter time 14.055155 ms 
mapping pub time 2.021486 ms 
whole mapping time 151.355697 ms +++++
mappingCount 1580 & avg mapping time 149.556928 ms ++++++++++++++++++++++
1317358004.514096022 WriteOdom aft_mapped_to_init
-----t: 0.0454596
OdomCount 2339 & avg odom time 0.046471 ms ++++++++++++++++++++++
1317358004.826211929 WriteOdom laser_odom_to_init
1317358004.826211929 WriteOdom aft_mapped_to_init_high_frec
build tree time 54.018388 ms 
points size 91792 
sort q time 5.638408 
seperate points time 10.948926 
mapping solver time 21.598385 ms 
-----t: 0.0332369
OdomCount 2340 & avg odom time 0.046465 ms ++++++++++++++++++++++
mapping solver time 17.317222 ms 
filter time 13.107491 ms 
points size 90419 
sort q time 4.847335 
seperate points time 10.224347 
publication time 8.701868 ms 
whole laserOdometry time 8.721793 ms 
 
mapping pub time 109.169545 ms 
whole mapping time 262.058375 ms +++++
mappingCount 1581 & avg mapping time 149.628089 ms ++++++++++++++++++++++
--------------------stamp1317358005.138340950
prepare time 12.782071 
sort q time 5.272686 
seperate points time 20.678964 
build tree time 53.191998 ms 
mapping data assosiation time 21.742009 ms 
mapping solver time 22.064095 ms 
--------------------stamp1317358005.242356061
prepare time 11.456736 
sort q time 5.152252 
seperate points time 11.532841 
mapping solver time 16.229568 ms 
mapping optimization time 136.733062 
add points time 0.707972 ms
scan registration time 29.112541 ms *************
filter time 19.860503 ms 
mapping pub time 2.160929 ms 
whole mapping time 162.897521 ms +++++
mappingCount 1582 & avg mapping time 149.636480 ms ++++++++++++++++++++++
1317358004.826211929 WriteOdom aft_mapped_to_init
publication time 8.881664 ms 
whole laserOdometry time 8.894561 ms 
 
drop lidar frame in mapping for real time performance 
map prepare time 3.426650 ms
map corner num 142437  surf num 45875 
build tree time 38.931509 ms 
--------------------stamp1317358005.346379995
prepare time 10.775500 
sort q time 4.893760 
seperate points time 10.884770 
mapping solver time 27.027537 ms 
publication time 7.142802 ms 
whole laserOdometry time 7.158039 ms 
 
mapping data assosiation time 21.327212 ms 
mapping solver time 16.943386 ms 
mapping optimization time 127.359436 
add points time 0.635166 ms
-----t: 0.0695295
OdomCount 2344 & avg odom time 0.046476 ms ++++++++++++++++++++++
1317358005.346379995 WriteOdom laser_odom_to_init
1317358005.346379995 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.132124 ms 
whole mapping time 146.256262 ms +++++
mappingCount 1583 & avg mapping time 149.634347 ms ++++++++++++++++++++++
--------------------stamp1317358005.450383901
prepare time 14.003170 
sort q time 5.111693 
seperate points time 11.236866 
build tree time 39.137965 ms 
publication time 6.375916 ms 
whole laserOdometry time 6.397797 ms 
 
-----t: 0.0418046
OdomCount 2345 & avg odom time 0.046474 ms ++++++++++++++++++++++
1317358005.450383901 WriteOdom laser_odom_to_init
1317358005.450383901 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.530323 ms 
mapping solver time 27.032118 ms 
--------------------stamp1317358005.554400920
points size 87711 
mapping optimization time 127.082084 
filter time 12.617683 ms 
publication time 7.026893 ms 
build tree time 32.848022 ms 
mapping data assosiation time 17.060347 ms 
--------------------stamp1317358005.658401012
prepare time 10.754625 
sort q time 4.848299 
seperate points time 10.578168 
mapping solver time 16.755453 ms 
mapping optimization time 105.362911 
add points time 0.669255 ms
publication time 9.911762 ms 
whole laserOdometry time 9.927135 ms 
 
-----t: 0.0364006
OdomCount 2347 & avg odom time 0.046467 ms ++++++++++++++++++++++
map prepare time 3.049952 ms
map corner num 143688  surf num 46243 
build tree time 31.002539 ms 
--------------------stamp1317358005.762392044
scan registration time 24.994921 ms *************
-----t: 0.0290798
OdomCount 2348 & avg odom time 0.046460 ms ++++++++++++++++++++++
1317358005.762392044 WriteOdom laser_odom_to_init
1317358005.762392044 WriteOdom aft_mapped_to_init_high_frec
publication time 7.858143 ms 
whole laserOdometry time 7.868876 ms 
 
mapping solver time 13.168033 ms 
filter time 9.002861 ms 
map prepare time 2.545788 ms
map corner num 143989  surf num 46350 
--------------------stamp1317358005.866394996
prepare time 10.767112 
sort q time 4.465226 
seperate points time 10.112298 
mapping data assosiation time 20.705207 ms 
-----t: 0.0322581
OdomCount 2349 & avg odom time 0.046454 ms ++++++++++++++++++++++
1317358005.866394996 WriteOdom laser_odom_to_init
1317358005.866394996 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.486648 ms 
mapping solver time 12.496459 ms 
filter time 8.970112 ms 
points size 78240 
sort q time 5.074071 
seperate points time 9.994534 
build tree time 35.196123 ms 
-----t: 0.0387687
OdomCount 2350 & avg odom time 0.046450 ms ++++++++++++++++++++++
mapping solver time 16.537630 ms 
mapping data assosiation time 17.714278 ms 
--------------------stamp1317358006.074424982
filter time 9.549307 ms 
scan registration time 22.956575 ms *************
publication time 5.036911 ms 
whole laserOdometry time 5.054665 ms 
 
-----t: 0.0343559
OdomCount 2351 & avg odom time 0.046445 ms ++++++++++++++++++++++
1317358006.074424982 WriteOdom laser_odom_to_init
1317358006.074424982 WriteOdom aft_mapped_to_init_high_frec
build tree time 36.283412 ms 
mapping data assosiation time 16.893682 ms 
mapping solver time 17.049365 ms 
--------------------stamp1317358006.178427934
sort q time 3.935195 
seperate points time 8.189144 
filter time 11.243361 ms 
publication time 6.496763 ms 
whole laserOdometry time 6.509901 ms 
 
mapping pub time 1.852897 ms 
whole mapping time 122.649476 ms +++++
mappingCount 1589 & avg mapping time 149.546585 ms ++++++++++++++++++++++
1317358005.970410109 WriteOdom aft_mapped_to_init
build tree time 30.561303 ms 
mapping data assosiation time 15.473092 ms 
--------------------stamp1317358006.282453060
mapping data assosiation time 19.263789 ms 
mapping solver time 15.701711 ms 
mapping optimization time 100.799806 
add points time 0.645008 ms
filter time 12.144408 ms 
build tree time 28.036838 ms 
--------------------stamp1317358006.386475086
prepare time 9.998755 
sort q time 4.476989 
seperate points time 8.477295 
mapping solver time 21.550151 ms 
mapping data assosiation time 19.788854 ms 
mapping data assosiation time 19.121236 ms 
publication time 11.303869 ms 
whole laserOdometry time 11.317498 ms 
 
mapping data assosiation time 16.751531 ms 
mapping solver time 13.414567 ms 
filter time 11.577526 ms 
--------------------stamp1317358006.594558954
sort q time 4.888524 
seperate points time 10.584460 
build tree time 37.866787 ms 
mapping data assosiation time 18.733626 ms 
mapping solver time 16.221549 ms 
mapping data assosiation time 16.859712 ms 
mapping solver time 13.277535 ms 
points size 73813 
filter time 9.863204 ms 
prepare time 7.372765 
mapping pub time 1.710468 ms 
whole mapping time 118.476591 ms +++++
mappingCount 1593 & avg mapping time 149.471593 ms ++++++++++++++++++++++
1317358006.490519047 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889520.524557614, 1317358006.709217395]: Received 192598 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889520.524597552, 1317358006.709217395]: Data saved to 1317358006282453.pcd[0m
map prepare time 2.305756 ms
map corner num 146304  surf num 47183 
publication time 6.142847 ms 
whole laserOdometry time 6.176566 ms 
 
-----t: 0.0272701
OdomCount 2357 & avg odom time 0.046420 ms ++++++++++++++++++++++
1317358006.698599100 WriteOdom laser_odom_to_init
1317358006.698599100 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.089793 ms 
mapping solver time 16.235659 ms 
mapping data assosiation time 16.725800 ms 
points size 74332 
add points time 0.697613 ms
sort q time 4.083436 
seperate points time 9.764138 
scan registration time 25.176070 ms *************
publication time 7.000452 ms 
whole laserOdometry time 7.011330 ms 
 
-----t: 0.0343171
OdomCount 2358 & avg odom time 0.046415 ms ++++++++++++++++++++++
build tree time 35.026894 ms 
mapping data assosiation time 17.479740 ms 
--------------------stamp1317358006.906636953
prepare time 13.145619 
sort q time 4.587133 
seperate points time 10.794851 
mapping solver time 14.943363 ms 
filter time 10.818343 ms 
build tree time 29.558606 ms 
--------------------stamp1317358007.010673999
sort q time 3.837307 
seperate points time 9.191873 
mapping solver time 24.302291 ms 
-----t: 0.0362077
OdomCount 2360 & avg odom time 0.046413 ms ++++++++++++++++++++++
mapping solver time 13.892820 ms 
mapping optimization time 106.766725 
add points time 0.589991 ms
mapping pub time 3.968981 ms 
whole mapping time 124.456315 ms +++++
mappingCount 1596 & avg mapping time 149.426467 ms ++++++++++++++++++++++
--------------------stamp1317358007.114715099
build tree time 32.574201 ms 
sort q time 4.524710 
seperate points time 8.901762 
scan registration time 18.232539 ms *************
mapping data assosiation time 19.813905 ms 
-----t: 0.0297216
OdomCount 2361 & avg odom time 0.046406 ms ++++++++++++++++++++++
mapping solver time 19.996883 ms 
mapping data assosiation time 15.120957 ms 
mapping solver time 12.588834 ms 
mapping optimization time 100.974298 
add points time 0.586787 ms
map prepare time 2.263886 ms
map corner num 147559  surf num 47664 
--------------------stamp1317358007.218741893
prepare time 9.585446 
scan registration time 21.136756 ms *************
publication time 5.345798 ms 
whole laserOdometry time 5.359613 ms 
 
mapping data assosiation time 18.521472 ms 
mapping solver time 21.902107 ms 
mapping solver time 11.808898 ms 
filter time 11.374786 ms 
sort q time 4.280116 
seperate points time 10.019408 
scan registration time 26.487300 ms *************
publication time 6.532530 ms 
whole laserOdometry time 6.559941 ms 
 
build tree time 34.914671 ms 
-----t: 0.034953
OdomCount 2363 & avg odom time 0.046398 ms ++++++++++++++++++++++
1317358007.322768926 WriteOdom laser_odom_to_init
1317358007.322768926 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.712828 ms 
mapping solver time 20.186285 ms 
--------------------stamp1317358007.426805973
prepare time 10.787947 
sort q time 5.145503 
seperate points time 9.879132 
map prepare time 2.835956 ms
map corner num 148244  surf num 47942 
publication time 9.609725 ms 
whole laserOdometry time 9.625584 ms 
 
build tree time 34.438454 ms 
mapping data assosiation time 18.822367 ms 
--------------------stamp1317358007.530855894
prepare time 11.914473 
sort q time 4.707255 
seperate points time 10.612674 
mapping data assosiation time 42.796344 ms 
-----t: 0.0629936
OdomCount 2365 & avg odom time 0.046403 ms ++++++++++++++++++++++
--------------------stamp1317358007.634869098
points size 75903 
build tree time 34.688038 ms 
mapping data assosiation time 20.064610 ms 
mapping solver time 18.295421 ms 
mapping data assosiation time 18.595759 ms 
mapping solver time 18.094840 ms 
--------------------stamp1317358007.738847970
prepare time 12.426499 
sort q time 4.473334 
seperate points time 9.821484 
publication time 17.516008 ms 
whole laserOdometry time 17.528671 ms 
 
-----t: 0.04275
OdomCount 2367 & avg odom time 0.046394 ms ++++++++++++++++++++++
mapping pub time 88.958418 ms 
whole mapping time 213.995593 ms +++++
mappingCount 1601 & avg mapping time 149.414981 ms ++++++++++++++++++++++
--------------------stamp1317358007.842839002
prepare time 10.789106 
sort q time 6.104355 
seperate points time 11.300163 
publication time 7.117409 ms 
whole laserOdometry time 7.131781 ms 
 
-----t: 0.0304891
OdomCount 2368 & avg odom time 0.046387 ms ++++++++++++++++++++++
1317358007.842839002 WriteOdom laser_odom_to_init
1317358007.842839002 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.501017 ms 
mapping solver time 17.773069 ms 
mapping data assosiation time 19.176616 ms 
mapping solver time 13.582495 ms 
filter time 9.975007 ms 
[0m[ INFO] [1718889521.782590474, 1317358007.961787293]: Received 197118 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889521.782657159, 1317358007.961787293]: Data saved to 1317358007426805.pcd[0m
publication time 7.196620 ms 
whole laserOdometry time 7.209429 ms 
 
-----t: 0.0447859
OdomCount 2369 & avg odom time 0.046387 ms ++++++++++++++++++++++
1317358007.946839094 WriteOdom laser_odom_to_init
1317358007.946839094 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.298961 ms 
mapping solver time 17.418853 ms 
points size 76635 
sort q time 4.699390 
seperate points time 9.981815 
mapping solver time 15.967815 ms 
mapping optimization time 127.503046 
add points time 0.654718 ms
publication time 6.617256 ms 
whole laserOdometry time 6.631243 ms 
 
-----t: 0.0427829
OdomCount 2370 & avg odom time 0.046385 ms ++++++++++++++++++++++
build tree time 31.482588 ms 
--------------------stamp1317358008.154845952
prepare time 9.876674 
scan registration time 24.399402 ms *************
publication time 7.746028 ms 
whole laserOdometry time 7.777668 ms 
 
1317358008.154845952 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.202065 ms 
filter time 9.372750 ms 
--------------------stamp1317358008.258860111
prepare time 11.764964 
sort q time 4.851480 
seperate points time 11.013645 
publication time 6.437632 ms 
whole laserOdometry time 6.449572 ms 
 
mapping solver time 20.163454 ms 
mapping data assosiation time 20.425253 ms 
mapping solver time 13.077633 ms 
--------------------stamp1317358008.362863063
prepare time 11.786323 
sort q time 4.914239 
seperate points time 10.465842 
scan registration time 26.090293 ms *************
publication time 6.784429 ms 
whole laserOdometry time 6.798583 ms 
 
-----t: 0.0394913
OdomCount 2373 & avg odom time 0.046380 ms ++++++++++++++++++++++
mapping data assosiation time 19.887385 ms 
mapping solver time 22.048804 ms 
points size 78609 
sort q time 4.299864 
seperate points time 10.415888 
publication time 7.918210 ms 
whole laserOdometry time 7.930823 ms 
 
1317358008.258860111 WriteOdom aft_mapped_to_init
build tree time 31.040607 ms 
points size 81151 
sort q time 10.613064 
seperate points time 16.677827 
publication time 12.813845 ms 
whole laserOdometry time 12.827173 ms 
 
1317358008.570892095 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.727686 ms 
mapping solver time 14.636200 ms 
filter time 9.310164 ms 
--------------------stamp1317358008.674916028
prepare time 11.024683 
scan registration time 26.488886 ms *************
mapping data assosiation time 23.951320 ms 
publication time 8.591047 ms 
whole laserOdometry time 8.602110 ms 
 
mapping solver time 20.101186 ms 
mapping data assosiation time 19.165295 ms 
mapping solver time 14.992465 ms 
filter time 11.662850 ms 
sort q time 4.418885 
seperate points time 10.424356 
publication time 7.356784 ms 
whole laserOdometry time 7.368307 ms 
 
-----t: 0.0349772
OdomCount 2377 & avg odom time 0.046371 ms ++++++++++++++++++++++
1317358008.778930902 WriteOdom laser_odom_to_init
1317358008.778930902 WriteOdom aft_mapped_to_init_high_frec
build tree time 38.423260 ms 
mapping data assosiation time 19.696507 ms 
mapping solver time 17.448641 ms 
--------------------stamp1317358008.882946014
prepare time 12.357744 
sort q time 5.017964 
seperate points time 11.185125 
scan registration time 27.408921 ms *************
publication time 8.162866 ms 
whole laserOdometry time 8.176057 ms 
 
filter time 13.769672 ms 
-----t: 0.0482049
OdomCount 2378 & avg odom time 0.046371 ms ++++++++++++++++++++++
build tree time 33.398740 ms 
--------------------stamp1317358008.986937999
prepare time 13.434267 
mapping solver time 21.739390 ms 
publication time 7.909101 ms 
whole laserOdometry time 7.921881 ms 
 
-----t: 0.0429827
OdomCount 2379 & avg odom time 0.046370 ms ++++++++++++++++++++++
1317358008.986937999 WriteOdom laser_odom_to_init
1317358008.986937999 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.257967 ms 
mapping optimization time 114.971666 
mapping pub time 1.876179 ms 
whole mapping time 131.277411 ms +++++
mappingCount 1610 & avg mapping time 149.335429 ms ++++++++++++++++++++++
1317358008.778930902 WriteOdom aft_mapped_to_init
map prepare time 2.587042 ms
map corner num 152794  surf num 49563 
--------------------stamp1317358009.090923070
prepare time 12.754884 
mapping data assosiation time 23.280976 ms 
sort q time 19.679312 
seperate points time 27.614349 
1317358009.090923070 WriteOdom aft_mapped_to_init_high_frec
publication time 7.946559 ms 
whole laserOdometry time 7.958898 ms 
 
mapping data assosiation time 20.572841 ms 
mapping solver time 12.894036 ms 
filter time 10.615083 ms 
sort q time 5.147518 
seperate points time 12.092829 
-----t: 0.0319415
OdomCount 2381 & avg odom time 0.046361 ms ++++++++++++++++++++++
1317358009.194937944 WriteOdom laser_odom_to_init
1317358009.194937944 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.701028 ms 
mapping solver time 20.761416 ms 
[0m[ INFO] [1718889523.119800962, 1317358009.303914421]: Received 203205 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889523.119834821, 1317358009.303914421]: Data saved to 1317358008986938.pcd[0m
points size 90481 
prepare time 11.287943 
mapping data assosiation time 22.798931 ms 
scan registration time 27.590638 ms *************
publication time 8.491098 ms 
whole laserOdometry time 8.507465 ms 
 
-----t: 0.0391278
OdomCount 2382 & avg odom time 0.046358 ms ++++++++++++++++++++++
map prepare time 3.376088 ms
map corner num 153923  surf num 49962 
build tree time 31.926751 ms 
points size 92363 
prepare time 12.865728 
sort q time 5.218153 
seperate points time 12.191861 
mapping solver time 25.900357 ms 
-----t: 0.0451843
OdomCount 2383 & avg odom time 0.046357 ms ++++++++++++++++++++++
1317358009.403002023 WriteOdom laser_odom_to_init
1317358009.403002023 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 9.998179 ms 
mapping optimization time 119.139940 
add points time 0.788691 ms
map prepare time 2.812140 ms
map corner num 154416  surf num 50117 
points size 93684 
sort q time 5.264766 
seperate points time 12.351025 
build tree time 42.157398 ms 
publication time 7.412284 ms 
whole laserOdometry time 7.425070 ms 
 
-----t: 0.0578969
OdomCount 2384 & avg odom time 0.046362 ms ++++++++++++++++++++++
mapping solver time 27.448356 ms 
--------------------stamp1317358009.611102104
mapping data assosiation time 22.568174 ms 
sort q time 5.803519 
seperate points time 12.940528 
filter time 13.799141 ms 
drop lidar frame in mapping for real time performance 
build tree time 30.472443 ms 
--------------------stamp1317358009.715213060
prepare time 12.199347 
sort q time 6.906730 
seperate points time 13.247978 
scan registration time 31.407924 ms *************
mapping solver time 25.288493 ms 
publication time 13.337035 ms 
whole laserOdometry time 13.351189 ms 
 
mapping data assosiation time 27.618388 ms 
mapping solver time 20.390606 ms 
mapping optimization time 129.139788 
filter time 10.344739 ms 
points size 97602 
prepare time 14.433414 
build tree time 43.489745 ms 
-----t: 0.0483741
OdomCount 2387 & avg odom time 0.046364 ms ++++++++++++++++++++++
mapping solver time 22.298608 ms 
points size 98881 
sort q time 6.308390 
seperate points time 14.141815 
mapping solver time 29.169757 ms 
publication time 13.456205 ms 
whole laserOdometry time 13.470916 ms 
 
mapping pub time 5.334530 ms 
whole mapping time 179.591153 ms +++++
mappingCount 1616 & avg mapping time 149.344101 ms ++++++++++++++++++++++
--------------------stamp1317358010.027523040
points size 100788 
sort q time 6.437659 
seperate points time 14.527867 
publication time 11.808668 ms 
whole laserOdometry time 11.823618 ms 
 
mapping data assosiation time 28.535924 ms 
points size 101686 
add points time 0.993027 ms
1317358009.819299936 WriteOdom aft_mapped_to_init
publication time 17.404835 ms 
whole laserOdometry time 17.415041 ms 
 
build tree time 43.125936 ms 
--------------------stamp1317358010.235814094
points size 101927 
sort q time 5.775277 
seperate points time 22.422542 
scan registration time 53.678169 ms *************
-----t: 0.0568466
OdomCount 2391 & avg odom time 0.046372 ms ++++++++++++++++++++++
mapping data assosiation time 33.426161 ms 
--------------------stamp1317358010.339999914
points size 102086 
mapping pub time 2.295426 ms 
whole mapping time 185.755831 ms +++++
mappingCount 1618 & avg mapping time 149.382210 ms ++++++++++++++++++++++
sort q time 5.508603 
seperate points time 20.571856 
scan registration time 41.126826 ms *************
build tree time 39.027860 ms 
mapping data assosiation time 32.374525 ms 
points size 102332 
mapping solver time 34.212051 ms 
publication time 10.619581 ms 
whole laserOdometry time 10.635868 ms 
 
mapping solver time 25.742866 ms 
mapping optimization time 166.834687 
add points time 0.939147 ms
drop lidar frame in mapping for real time performance 
points size 102499 
prepare time 19.166731 
scan registration time 38.425188 ms *************
build tree time 48.267172 ms 
-----t: 0.0707224
OdomCount 2394 & avg odom time 0.046396 ms ++++++++++++++++++++++
--------------------stamp1317358010.652596950
points size 102757 
scan registration time 41.096561 ms *************
publication time 12.347806 ms 
whole laserOdometry time 12.361621 ms 
 
-----t: 0.0747418
OdomCount 2395 & avg odom time 0.046407 ms ++++++++++++++++++++++
1317358010.652596950 WriteOdom laser_odom_to_init
1317358010.652596950 WriteOdom aft_mapped_to_init_high_frec
add points time 1.724188 ms
sort q time 6.032947 
seperate points time 13.876690 
mapping solver time 36.091151 ms 
-----t: 0.0639397
OdomCount 2397 & avg odom time 0.046421 ms ++++++++++++++++++++++
mapping data assosiation time 37.416559 ms 
points size 102942 
filter time 10.913013 ms 
-----t: 0.0564705
OdomCount 2398 & avg odom time 0.046425 ms ++++++++++++++++++++++
--------------------stamp1317358011.069158077
points size 103108 
sort q time 7.320103 
seperate points time 16.827670 
mapping pub time 139.294691 ms 
whole mapping time 334.474058 ms +++++map prepare time 5.577132 ms
map corner num 159803  surf num 52323 
--------------------stamp1317358011.173223018
points size 103167 
build tree time 51.321675 ms 
sort q time 6.483066 
seperate points time 26.981659 
mapping data assosiation time 37.809795 ms 
publication time 14.265764 ms 
whole laserOdometry time 14.296675 ms 
 
-----t: 0.0748861
OdomCount 2400 & avg odom time 0.046444 ms ++++++++++++++++++++++
1317358011.173223018 WriteOdom laser_odom_to_init
1317358011.173223018 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358011.277309894
points size 103259 
prepare time 53.560058 
sort q time 8.403982 
seperate points time 42.658202 
publication time 15.491901 ms 
whole laserOdometry time 15.504052 ms 
 
mapping solver time 75.225806 ms 
publication time 12.774541 ms 
whole laserOdometry time 12.784467 ms 
 
mapping optimization time 297.320470 
add points time 1.122454 ms
filter time 19.600194 ms 
mapping pub time 6.589471 ms 
whole mapping time 332.829400 ms +++++
mappingCount 1622 & avg mapping time 149.690755 ms ++++++++++++++++++++++
1317358010.756778002 WriteOdom aft_mapped_to_init
points size 103290 
sort q time 25.418314 
seperate points time 37.823584 
--------------------stamp1317358011.589543104
prepare time 17.461293 -----t: 0.104196
OdomCount 2403 & avg odom time 0.046510 ms ++++++++++++++++++++++
sort q time 7.062038 
seperate points time 37.715391 
scan registration time 81.702722 ms *************
--------------------stamp1317358011.693679094
prepare time 17.783186 
mapping solver time 34.800206 ms 
sort q time 9.193033 
seperate points time 25.495750 
publication time 11.512823 ms 
whole laserOdometry time 11.524137 ms 
 
-----t: 0.0724309
OdomCount 2405 & avg odom time 0.046533 ms ++++++++++++++++++++++
build tree time 41.066600 ms 
prepare time 21.912819 mapping solver time 32.685647 ms 
--------------------stamp1317358011.901949882
sort q time 6.600829 
seperate points time 14.514440 
mapping pub time 3.254485 ms 
whole mapping time 213.593713 ms +++++
mappingCount 1624 & avg mapping time 149.802988 ms ++++++++++++++++++++++
1317358011.485456944 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358012.006105899
points size 104103 
prepare time 12.225355 
build tree time 43.211708 ms 
scan registration time 30.660035 ms *************
mapping data assosiation time 32.967388 ms 
-----t: 0.0556851
OdomCount 2408 & avg odom time 0.046552 ms ++++++++++++++++++++++
mapping solver time 37.352705 ms 
--------------------stamp1317358012.110264062
prepare time 12.623975 
mapping solver time 23.288708 ms 
publication time 10.242012 ms 
whole laserOdometry time 10.261325 ms 
 
filter time 15.880307 ms 
-----t: 0.0516593
OdomCount 2409 & avg odom time 0.046554 ms ++++++++++++++++++++++
1317358012.110264062 WriteOdom laser_odom_to_init
1317358012.110264062 WriteOdom aft_mapped_to_init_high_frec
build tree time 33.879213 ms 
--------------------stamp1317358012.214422941
points size 104084 
sort q time 6.064291 
seperate points time 14.001978 
mapping solver time 36.238643 ms 
1317358012.214422941 WriteOdom laser_odom_to_init
1317358012.214422941 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 32.841736 ms 
--------------------stamp1317358012.318583011
points size 103793 
mapping solver time 36.758422 ms 
[0m[ INFO] [1718889526.178661759, 1317358012.364395358]: Received 217004 data points in frame camera_init with the following fields: x y z intensity[0m
-----t: 0.0464411
OdomCount 2411 & avg odom time 0.046558 ms ++++++++++++++++++++++
build tree time 40.025423 ms 
--------------------stamp1317358012.422740936
points size 103792 
mapping data assosiation time 36.480622 ms 
publication time 12.823374 ms 
mapping data assosiation time 30.469630 ms 
points size 103763 
sort q time 6.367609 
seperate points time 14.919444 
filter time 16.571420 ms 
scan registration time 37.460547 ms *************
mapping pub time 2.760736 ms 
whole mapping time 199.168944 ms +++++
mappingCount 1627 & avg mapping time 149.887873 ms ++++++++++++++++++++++
1317358012.214422941 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
publication time 12.833443 ms build tree time 45.902912 ms 
--------------------stamp1317358012.631130933
points size 103706 
prepare time 17.795111 
mapping data assosiation time 35.223067 ms 
sort q time 6.903326 
seperate points time 15.800774 
mapping solver time 33.840452 ms 
publication time 13.591116 ms 
whole laserOdometry time 13.626207 ms 
 
-----t: 0.0654326
OdomCount 2414 & avg odom time 0.046577 ms ++++++++++++++++++++++
--------------------stamp1317358012.735336065
prepare time 13.351713 
drop lidar frame in mapping for real time performance 
publication time 10.082192 ms 
whole laserOdometry time 10.094589 ms 
 
build tree time 43.956399 ms 
1317358012.735336065 WriteOdom laser_odom_to_init
1317358012.735336065 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.712432 ms 
points size 103790 
sort q time 6.425402 
seperate points time 14.930133 
mapping solver time 44.760825 ms 
1317358012.839565992 WriteOdom laser_odom_to_init
1317358012.839565992 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 48.049426 ms 
--------------------stamp1317358012.943797111
mapping solver time 21.977592 ms 
filter time 12.223867 ms 
publication time 11.354538 ms 
whole laserOdometry time 11.465614 ms 
 
-----t: 0.0579158
OdomCount 2417 & avg odom time 0.046594 ms ++++++++++++++++++++++
1317358012.943797111 WriteOdom laser_odom_to_init
1317358012.943797111 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358013.048003911
prepare time 12.323002 
mapping solver time 38.790993 ms 
--------------------stamp1317358013.152211904
mapping solver time 40.016644 ms 
scan registration time 37.446317 ms *************
publication time 12.740629 ms 
whole laserOdometry time 12.757823 ms 
 
-----t: 0.0581541
OdomCount 2419 & avg odom time 0.046618 ms ++++++++++++++++++++++
build tree time 45.368218 ms 
--------------------stamp1317358013.256417036
prepare time 12.146945 
sort q time 26.159327 
seperate points time 34.406224 
publication time 9.489434 ms 
whole laserOdometry time 9.503265 ms 
 
mapping data assosiation time 31.806045 ms 
--------------------stamp1317358013.360625028
mapping solver time 22.870675 ms 
prepare time 16.173084 
filter time 16.180576 ms 
1317358012.943797112 WriteOdom aft_mapped_to_init
publication time 10.572082 ms 
whole laserOdometry time 10.607870 ms 
 
-----t: 0.061567
build tree time 43.751837 ms 
--------------------stamp1317358013.464807987
points size 104062 
prepare time 27.812953 
sort q time 11.042157 
seperate points time 19.550843 
publication time 12.175022 ms 
whole laserOdometry time 12.202613 ms 
 
--------------------stamp1317358013.568967103
points size 104010 
sort q time 6.672012 
seperate points time 15.543027 
add points time 1.412732 ms
publication time 13.659520 ms 
whole laserOdometry time 13.676707 ms 
 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358013.673074960
points size 104102 
publication time 10.370394 ms 
whole laserOdometry time 10.383679 ms 
 
mapping data assosiation time 51.844401 ms 
--------------------stamp1317358013.777113914
1317358013.673074960 WriteOdom laser_odom_to_init
sort q time 6.122865 
seperate points time 13.384692 
mapping data assosiation time 36.380621 ms 
-----t: 0.0553364
OdomCount 2425 & avg odom time 0.046674 ms ++++++++++++++++++++++
1317358013.777113914 WriteOdom laser_odom_to_init
1317358013.777113914 WriteOdom aft_mapped_to_init_high_frec
add points time 1.086044 ms
--------------------stamp1317358013.881130933
points size 104389 
sort q time 6.082845 
seperate points time 14.404154 
publication time 10.905743 ms 
whole laserOdometry time 10.921249 ms 
 
-----t: 0.0613732
OdomCount 2426 & avg odom time 0.046680 ms ++++++++++++++++++++++
mapping data assosiation time 34.527127 ms 
points size 104181 
prepare time 13.473187 
publication time 12.720157 ms 
whole laserOdometry time 12.740113 ms 
 
-----t: 0.0635585
OdomCount 2427 & avg odom time 0.046687 ms ++++++++++++++++++++++
--------------------stamp1317358014.089015960
prepare time 11.830179 
filter time 16.480362 ms 
map prepare time 4.522537 ms
map corner num 167988  surf num 55398 
publication time 11.747668 ms 
whole laserOdometry time 11.774901 ms 
 
-----t: 0.0590931
OdomCount 2428 & avg odom time 0.046692 ms ++++++++++++++++++++++
build tree time 51.264789 ms 
--------------------stamp1317358014.192910909
points size 103798 
sort q time 6.350182 
seperate points time 15.444991 
publication time 9.960400 ms 
whole laserOdometry time 10.107413 ms 
 
mapping data assosiation time 31.432154 ms 
--------------------stamp1317358014.296760082
prepare time 12.019528 
sort q time 6.176362 
seperate points time 14.131010 
drop lidar frame in mapping for real time performance 
publication time 10.979371 ms 
whole laserOdometry time 10.999432 ms 
 
build tree time 38.799773 ms 
--------------------stamp1317358014.400583028
points size 104088 
sort q time 5.843709 
seperate points time 13.605535 
mapping solver time 36.458240 ms 
publication time 8.238845 ms 
whole laserOdometry time 8.255448 ms 
 
mapping data assosiation time 31.443014 ms 
-----t: 0.0776474
OdomCount 2431 & avg odom time 0.046706 ms ++++++++++++++++++++++
mapping optimization time 165.595419 
[0m[ INFO] [1718889528.345059033, 1317358014.527580616]: Received 225002 data points in frame camera_init with the following fields: x y z intensity[0m
mapping pub time 6.074122 ms 
whole mapping time 194.584778 ms +++++
mappingCount 1636 & avg mapping time 150.243910 ms ++++++++++++++++++++++
[0m[ INFO] [1718889528.345213240, 1317358014.527580616]: Data saved to 1317358014089015.pcd[0m
1317358014.089015961 WriteOdom aft_mapped_to_init
publication time 11.119757 ms 
whole laserOdometry time 11.130895 ms 
 
build tree time 49.306118 ms 
--------------------stamp1317358014.608228921
mapping data assosiation time 34.925499 ms 
sort q time 6.746038 
seperate points time 15.402094 
mapping solver time 37.670970 ms 
mapping data assosiation time 36.484068 ms 
--------------------stamp1317358014.712050914
prepare time 14.261687 
filter time 16.686132 ms 
build tree time 52.756522 ms points size 103590 
sort q time 6.085071 
seperate points time 13.223008 
mapping solver time 25.420732 ms 
-----t: 0.0581996
OdomCount 2436 & avg odom time 0.046756 ms ++++++++++++++++++++++
filter time 17.583500 ms 
--------------------stamp1317358015.023324966
points size 103401 
build tree time 43.939309 ms 
sort q time 6.570230 
seperate points time 15.487768 
scan registration time 40.190926 ms *************
publication time 10.567700 ms 
whole laserOdometry time 10.584749 ms 
 
mapping solver time 41.687303 ms 
prepare time 23.822966 
-----t: 0.12301
OdomCount 2437 & avg odom time 0.046787 ms ++++++++++++++++++++++
1317358015.023324966 WriteOdom laser_odom_to_init
1317358015.023324966 WriteOdom aft_mapped_to_init_high_frec
sort q time 16.416046 
seperate points time 38.764849 
1317358014.712050915 WriteOdom aft_mapped_to_init
prepare time 17.299939 
sort q time 6.638059 
seperate points time 16.160092 
build tree time 48.525237 ms 
publication time 30.712464 ms 
whole laserOdometry time 30.731638 ms 
 
--------------------stamp1317358015.334362030
sort q time 6.268718 mapping data assosiation time 31.484317 ms 
--------------------stamp1317358015.438015937
mapping solver time 49.777999 ms 
mapping optimization time 208.174750 
add points time 1.426509 ms
1317358015.023324966 WriteOdom aft_mapped_to_init-----t: 0.138885
OdomCount 2440 & avg odom time 0.046865 ms ++++++++++++++++++++++
publication time 10.796225 ms 
whole laserOdometry time 10.810387 ms 
 
prepare time 23.673988 
sort q time 6.419697 
seperate points time 15.193381 
scan registration time 51.727449 ms *************
-----t: 0.0401299
OdomCount 2442 & avg odom time 0.046873 ms ++++++++++++++++++++++
mapping data assosiation time 29.274206 ms 
--------------------stamp1317358015.645375967
mapping solver time 27.197329 ms 
points size 102568 
filter time 13.721155 ms 
publication time 13.568016 ms --------------------stamp1317358015.749077081
points size 102235 
map prepare time 4.580695 ms
map corner num 172552  surf num 56759 
scan registration time 47.769266 ms *************
publication time 7.845866 ms 
whole laserOdometry time 7.864639 ms 
 
-----t: 0.0564208
OdomCount 2444 & avg odom time 0.046878 ms ++++++++++++++++++++++
--------------------stamp1317358015.852828979
mapping data assosiation time 29.938330 ms 
sort q time 6.407043 
seperate points time 14.208561 
publication time 8.959808 ms 
whole laserOdometry time 8.974608 ms 
 
mapping data assosiation time 30.564240 ms 
mapping solver time 22.133117 ms 
--------------------stamp1317358015.956579923
map prepare time 4.091223 ms
map corner num 151239  surf num 51797 
sort q time 6.092297 
seperate points time 13.878909 
publication time 8.193372 ms mapping data assosiation time 28.665437 ms 
-----t: 0.0719188
OdomCount 2446 & avg odom time 0.046887 ms ++++++++++++++++++++++
1317358015.956579923 WriteOdom laser_odom_to_init
1317358015.956579923 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358016.060305118
mapping solver time 30.390053 ms 
sort q time 6.219913 
seperate points time 13.691487 
publication time 9.781773 ms 
whole laserOdometry time 9.793596 ms 
 
filter time 9.984805 ms 
points size 100177 
sort q time 5.722217 
seperate points time 13.395851 
publication time 8.583635 ms 
whole laserOdometry time 8.599728 ms 
 
-----t: 0.0561071
OdomCount 2448 & avg odom time 0.046890 ms ++++++++++++++++++++++
1317358016.164058923 WriteOdom laser_odom_to_init
1317358016.164058923 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.896466 ms 
mapping data assosiation time 24.175417 ms 
points size 98600 
mapping solver time 26.945176 ms 
filter time 11.035188 ms 
publication time 9.081328 ms 
whole laserOdometry time 9.100079 ms 
 
-----t: 0.0499543
OdomCount 2449 & avg odom time 0.046892 ms ++++++++++++++++++++++
build tree time 39.006072 ms 
--------------------stamp1317358016.371654987
points size 97099 
sort q time 5.281181 
seperate points time 12.639268 
publication time 8.581181 ms 
whole laserOdometry time 8.591454 ms 
 
-----t: 0.0424684
OdomCount 2450 & avg odom time 0.046890 ms ++++++++++++++++++++++
1317358016.371654987 WriteOdom laser_odom_to_init
1317358016.371654987 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.016428 ms 
filter time 9.926169 ms 
points size 95880 
sort q time 5.800721 
seperate points time 12.279164 
build tree time 40.362136 ms 
mapping data assosiation time 25.873829 ms 
mapping solver time 19.182443 ms 
--------------------stamp1317358016.579231023
points size 94775 
mapping solver time 17.827407 ms 
filter time 11.359371 ms 
map prepare time 3.810835 ms
map corner num 153914  surf num 52474 
build tree time 32.818122 ms 
--------------------stamp1317358016.683075904
prepare time 11.681832 
sort q time 6.909605 
seperate points time 12.616265 
publication time 8.271847 ms 
whole laserOdometry time 8.281182 ms 
 
mapping data assosiation time 26.411307 ms 
mapping solver time 20.673667 ms 
filter time 15.258972 ms 
--------------------stamp1317358016.786946058
prepare time 12.521452 
sort q time 5.835964 
seperate points time 12.467285 
publication time 8.977517 ms 
whole laserOdometry time 11.584502 ms 
 
mapping solver time 23.827478 ms 
--------------------stamp1317358016.890815019
prepare time 11.968368 
sort q time 5.262247 
seperate points time 11.987450 
filter time 16.013773 ms 
publication time 10.478610 ms 
whole laserOdometry time 10.529158 ms 
build tree time 31.949328 ms 
--------------------stamp1317358016.994683980
prepare time 12.737584 
sort q time 5.020474 
seperate points time 11.838434 
-----t: 0.0446258
OdomCount 2456 & avg odom time 0.046875 ms ++++++++++++++++++++++
publication time 15.030574 ms 
whole laserOdometry time 15.039169 ms 
 
mapping data assosiation time 31.062848 ms 
mapping solver time 17.632070 ms 
filter time 11.536220 ms 
prepare time 13.098458 
sort q time 5.173419 
seperate points time 11.285803 
build tree time 38.963835 ms 
publication time 10.252388 ms 
whole laserOdometry time 10.282499 ms 
 
-----t: 0.0340433
OdomCount 2457 & avg odom time 0.046870 ms ++++++++++++++++++++++
1317358017.098602056 WriteOdom laser_odom_to_init
1317358017.098602056 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.644048 ms 
mapping solver time 23.139910 ms 
points size 86475 
mapping data assosiation time 28.707126 ms 
publication time 8.076384 ms 
whole laserOdometry time 8.090164 ms 
 
filter time 15.171508 ms 
--------------------stamp1317358017.306489944
points size 87378 
sort q time 4.954763 
seperate points time 11.717027 
publication time 7.640740 ms 
whole laserOdometry time 7.654790 ms 
 
-----t: 0.0531085
OdomCount 2459 & avg odom time 0.046871 ms ++++++++++++++++++++++
1317358017.306489944 WriteOdom laser_odom_to_init
1317358017.306489944 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.074827 ms 
mapping data assosiation time 23.257526 ms 
--------------------stamp1317358017.410432100
prepare time 13.756044 
mapping solver time 23.449112 ms 
mapping optimization time 154.722116 
add points time 1.355300 ms
filter time 21.079215 ms 
map prepare time 3.847707 ms
map corner num 232786  surf num 78883 
--------------------stamp1317358017.514373064
prepare time 14.200890 
sort q time 5.287672 
seperate points time 12.226683 
publication time 9.107461 ms 
whole laserOdometry time 9.139301 ms 
 
-----t: 0.0491565
OdomCount 2461 & avg odom time 0.046872 ms ++++++++++++++++++++++
mapping data assosiation time 25.785750 ms 
--------------------stamp1317358017.618315935
mapping solver time 19.847593 ms 
points size 90590 
filter time 22.752345 ms 
mapping pub time 2.038435 ms 
whole mapping time 187.044157 ms +++++
mappingCount 1652 & avg mapping time 150.647091 ms ++++++++++++++++++++++
sort q time 5.214183 
seperate points time 12.427166 
1317358017.306489944 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
scan registration time 32.860702 ms *************
publication time 8.990286 ms 
whole laserOdometry time 9.009790 ms 
 
-----t: 0.0430598
OdomCount 2462 & avg odom time 0.046870 ms ++++++++++++++++++++++
build tree time 54.014516 ms 
--------------------stamp1317358017.722260951
mapping data assosiation time 26.452621 ms 
sort q time 5.485484 
seperate points time 12.148704 
mapping solver time 27.058981 ms 
-----t: 0.0426547
OdomCount 2463 & avg odom time 0.046869 ms ++++++++++++++++++++++
mapping data assosiation time 25.399395 ms 
mapping solver time 18.932387 ms 
mapping optimization time 153.052165 
add points time 1.293110 ms
--------------------stamp1317358017.826205968
map prepare time 4.431002 ms
map corner num 234174  surf num 79443 
sort q time 5.116221 
seperate points time 12.047755 
publication time 8.347857 ms 
whole laserOdometry time 8.359546 ms 
 
-----t: 0.038953
OdomCount 2464 & avg odom time 0.046865 ms ++++++++++++++++++++++
1317358017.826205968 WriteOdom laser_odom_to_init
1317358017.826205968 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.153145 ms 
--------------------stamp1317358017.930149078
prepare time 13.081531 
sort q time 5.478158 
seperate points time 12.048900 
mapping data assosiation time 27.184720 ms 
publication time 14.471428 ms 
whole laserOdometry time 14.484459 ms 
 
mapping solver time 17.632838 ms 
mapping optimization time 158.245527 
add points time 1.109213 ms
-----t: 0.0686143
OdomCount 2465 & avg odom time 0.046874 ms ++++++++++++++++++++++
1317358017.930149078 WriteOdom laser_odom_to_init
1317358017.930149078 WriteOdom aft_mapped_to_init_high_frec
filter time 20.418735 ms 
mapping pub time 2.003914 ms 
whole mapping time 186.266965 ms +++++
mappingCount 1654 & avg mapping time 150.686962 ms ++++++++++++++++++++++
1317358017.618315935 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 96420 
prepare time 14.163937 
scan registration time 33.498397 ms *************
publication time 8.062841 ms 
whole laserOdometry time 8.076917 ms 
 
mapping data assosiation time 24.063811 ms 
mapping solver time 22.898873 ms 
points size 94858 
sort q time 6.192585 
seperate points time 12.698218 
publication time 7.794513 ms 
whole laserOdometry time 7.809869 ms 
 
-----t: 0.0382304
OdomCount 2467 & avg odom time 0.046867 ms ++++++++++++++++++++++
1317358018.138081073 WriteOdom laser_odom_to_init
1317358018.138081073 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.053038 ms 
whole mapping time 188.603948 ms +++++
mappingCount 1655 & avg mapping time 150.709874 ms ++++++++++++++++++++++
--------------------stamp1317358018.242048978
sort q time 5.685517 
seperate points time 12.742384 
publication time 7.054047 ms 
whole laserOdometry time 7.070763 ms 
 
mapping solver time 28.001867 ms 
--------------------stamp1317358018.346040964
mapping data assosiation time 25.514750 ms 
prepare time 11.784606 
scan registration time 27.212021 ms *************
filter time 20.928155 ms 
publication time 22.674560 ms 
whole laserOdometry time 22.698639 ms 
 
mapping pub time 10.153172 ms 
whole mapping time 198.725813 ms +++++
mappingCount 1656 & avg mapping time 150.738877 ms ++++++++++++++++++++++
1317358018.034116030 WriteOdom aft_mapped_to_init
--------------------stamp1317358018.450030088
points size 92400 
build tree time 54.180961 ms 
publication time 8.182762 ms 
whole laserOdometry time 8.194736 ms 
 
-----t: 0.0404356
OdomCount 2470 & avg odom time 0.046883 ms ++++++++++++++++++++++
1317358018.450030088 WriteOdom laser_odom_to_init
1317358018.450030088 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.186516 ms 
mapping data assosiation time 20.792715 ms 
--------------------stamp1317358018.553997039
points size 93404 
sort q time 5.069803 
seperate points time 11.761802 
filter time 20.408923 ms 
build tree time 54.881840 ms 
points size 94645 
mapping data assosiation time 26.919903 ms 
scan registration time 34.652279 ms *************
mapping solver time 25.658684 ms 
-----t: 0.0450694
OdomCount 2472 & avg odom time 0.046880 ms ++++++++++++++++++++++
mapping data assosiation time 23.911691 ms 
mapping solver time 17.228458 ms 
--------------------stamp1317358018.761905908
prepare time 12.768568 
sort q time 5.325058 
seperate points time 21.126825 
-----t: 0.0366549
OdomCount 2473 & avg odom time 0.046876 ms ++++++++++++++++++++++
publication time 10.952037 ms 
whole laserOdometry time 10.967189 ms 
 
build tree time 59.756940 ms 
mapping data assosiation time 21.914971 ms 
--------------------stamp1317358018.865848064
points size 96183 
sort q time 6.377208 
seperate points time 15.070142 
scan registration time 37.551656 ms *************
mapping data assosiation time 29.373038 ms 
publication time 9.248392 ms 
whole laserOdometry time 9.263365 ms 
 
filter time 20.285998 ms 
map prepare time 3.731721 ms
map corner num 238211  surf num 80520 
--------------------stamp1317358018.969840049
prepare time 11.528104 
sort q time 5.557092 
seperate points time 12.792290 
publication time 8.949857 ms 
whole laserOdometry time 8.961113 ms 
 
mapping data assosiation time 20.897882 ms 
mapping solver time 20.994307 ms 
--------------------stamp1317358019.073831081
points size 98988 
prepare time 17.947461 
mapping data assosiation time 27.343951 ms 
mapping solver time 23.378948 ms 
filter time 24.167759 ms 
-----t: 0.0700166
OdomCount 2476 & avg odom time 0.046894 ms ++++++++++++++++++++++
--------------------stamp1317358019.177820920
prepare time 13.482515 
sort q time 6.278097 
seperate points time 13.227111 
publication time 8.634036 ms 
whole laserOdometry time 8.648049 ms 
 
-----t: 0.0683521
mapping solver time 26.067357 ms 
OdomCount 2477 & avg odom time 0.046902 ms ++++++++++++++++++++++
1317358019.177820920 WriteOdom laser_odom_to_init
1317358019.177820920 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358019.281836032
points size 99098 
sort q time 5.925406 
seperate points time 18.621552 
publication time 7.351119 ms 
whole laserOdometry time 7.361146 ms 
 
--------------------stamp1317358019.385848999
points size 97771 
sort q time 5.717369 
seperate points time 13.648957 
publication time 10.339811 ms 
whole laserOdometry time 10.357912 ms 
 
-----t: 0.054988
OdomCount 2479 & avg odom time 0.046903 ms ++++++++++++++++++++++
1317358019.385848999 WriteOdom laser_odom_to_init
1317358019.385848999 WriteOdom aft_mapped_to_init_high_frec
build tree time 54.546208 ms 
--------------------stamp1317358019.489837884
points size 96274 
mapping data assosiation time 26.680017 ms 
sort q time 11.831675 
seperate points time 18.390892 
mapping solver time 38.437525 ms 
publication time 21.714417 ms 
whole laserOdometry time 21.728650 ms 
 
mapping data assosiation time 25.066353 ms 
mapping solver time 17.570883 ms 
points size 96043 
map prepare time 3.972546 ms
map corner num 240012  surf num 81098 
publication time 10.180747 ms 
whole laserOdometry time 10.191148 ms 
 
-----t: 0.0544279
OdomCount 2481 & avg odom time 0.046912 ms ++++++++++++++++++++++
--------------------stamp1317358019.697822093
points size 95753 
prepare time 22.360644 
sort q time 5.946272 
seperate points time 14.571268 
publication time 7.991720 ms 
whole laserOdometry time 8.002166 ms 
 
filter time 14.799485 ms 
mapping pub time 2.277347 ms 
whole mapping time 172.641560 ms +++++
mappingCount 1663 & avg mapping time 150.920124 ms ++++++++++++++++++++++
1317358019.385848999 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358019.801814079
points size 94856 
sort q time 5.417264 
seperate points time 12.693937 
scan registration time 33.263256 ms *************
build tree time 58.774929 ms 
mapping data assosiation time 23.205516 ms 
mapping solver time 17.136672 ms 
--------------------stamp1317358019.905805110
points size 94595 
mapping data assosiation time 24.272645 ms 
scan registration time 34.412307 ms *************
filter time 21.147335 ms 
map prepare time 5.847665 ms
map corner num 240929  surf num 81277 
--------------------stamp1317358020.009793996
prepare time 12.188307 
sort q time 5.643018 
seperate points time 12.782920 
mapping data assosiation time 26.774168 ms 
publication time 8.995815 ms 
whole laserOdometry time 9.008788 ms 
 
-----t: 0.0460274
OdomCount 2485 & avg odom time 0.046908 ms ++++++++++++++++++++++
mapping data assosiation time 20.522025 ms 
mapping solver time 17.727176 ms 
points size 94815 
filter time 22.097714 ms 
mapping pub time 2.219666 ms 
whole mapping time 176.040684 ms +++++
mappingCount 1665 & avg mapping time 150.946296 ms ++++++++++++++++++++++
publication time 9.169426 ms 
whole laserOdometry time 9.185964 ms 
 
-----t: 0.0406775
OdomCount 2486 & avg odom time 0.046905 ms ++++++++++++++++++++++
build tree time 56.384137 ms 
--------------------stamp1317358020.217775106
points size 95072 
mapping solver time 21.049291 ms 
scan registration time 43.658967 ms *************
-----t: 0.0383134
OdomCount 2487 & avg odom time 0.046902 ms ++++++++++++++++++++++
mapping solver time 18.923967 ms 
mapping optimization time 149.753329 
add points time 0.889325 ms
filter time 15.057403 ms 
--------------------stamp1317358020.321767091
points size 95261 
sort q time 5.417271 
seperate points time 12.819401 
publication time 9.515700 ms 
whole laserOdometry time 9.529247 ms 
 
-----t: 0.0450631
OdomCount 2488 & avg odom time 0.046901 ms ++++++++++++++++++++++
mapping data assosiation time 21.059480 ms 
--------------------stamp1317358020.425757884
points size 95351 
prepare time 13.871911 
sort q time 5.088973 
seperate points time 11.621218 
publication time 8.791425 ms 
whole laserOdometry time 8.806386 ms 
 
filter time 16.534773 ms 
-----t: 0.0524698
OdomCount 2489 & avg odom time 0.046903 ms ++++++++++++++++++++++
1317358020.425757884 WriteOdom laser_odom_to_init
1317358020.425757884 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.191576 ms 
whole mapping time 176.125117 ms +++++
mappingCount 1667 & avg mapping time 150.976919 ms ++++++++++++++++++++++
1317358020.113782883 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.551746 ms
map corner num 242077  surf num 81524 
--------------------stamp1317358020.529795885
prepare time 12.476559 
publication time 8.675632 ms 
whole laserOdometry time 8.689835 ms 
 
mapping solver time 18.673073 ms 
1317358020.529795885 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.783868 ms 
mapping solver time 13.902025 ms 
filter time 17.424562 ms 
map prepare time 5.653339 ms
map corner num 242460  surf num 81645 
publication time 9.767441 ms 
whole laserOdometry time 9.782901 ms 
 
-----t: 0.058962
OdomCount 2491 & avg odom time 0.046914 ms ++++++++++++++++++++++
build tree time 59.006676 ms 
points size 96682 
prepare time 11.899719 
mapping data assosiation time 26.057766 ms 
scan registration time 29.353590 ms *************
mapping solver time 24.279791 ms 
-----t: 0.0477883
OdomCount 2492 & avg odom time 0.046914 ms ++++++++++++++++++++++
mapping solver time 17.047312 ms 
--------------------stamp1317358020.841959953
map prepare time 3.743206 ms
map corner num 242930  surf num 81758 
sort q time 5.682996 
seperate points time 13.001614 
publication time 9.375020 ms 
whole laserOdometry time 9.389408 ms 
 
build tree time 56.879700 ms 
1317358020.841959953 WriteOdom laser_odom_to_init
1317358020.841959953 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.498243 ms 
--------------------stamp1317358020.945998907
points size 98105 
sort q time 5.598550 
seperate points time 13.250133 
publication time 11.200257 ms 
whole laserOdometry time 11.215792 ms 
 
-----t: 0.0510927
OdomCount 2494 & avg odom time 0.046922 ms ++++++++++++++++++++++
filter time 17.806563 ms 
map prepare time 3.605167 ms
map corner num 243330  surf num 81862 
--------------------stamp1317358021.050040006
points size 98743 
sort q time 5.716766 
seperate points time 13.249369 
build tree time 61.331966 ms 
publication time 8.960397 ms 
whole laserOdometry time 8.971391 ms 
 
[0m[ INFO] [1718889534.936951362, 1317358021.118130306]: Received 323096 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889534.936989879, 1317358021.118130306]: Data saved to 1317358019905805.pcd[0m
mapping solver time 24.429590 ms 
--------------------stamp1317358021.154079914
points size 99540 
sort q time 5.614587 
seperate points time 13.155954 
filter time 15.190747 ms 
map prepare time 3.571901 ms
map corner num 243773  surf num 82000 
--------------------stamp1317358021.258093118
points size 100414 
build tree time 57.568024 ms 
mapping data assosiation time 29.740710 ms 
publication time 11.654913 ms 
whole laserOdometry time 11.665006 ms 
 
mapping solver time 18.987766 ms 
mapping data assosiation time 24.326005 ms 
points size 101226 
sort q time 5.754554 
seperate points time 14.076663 
map prepare time 5.179194 ms
map corner num 244200  surf num 82124 
-----t: 0.0528265
OdomCount 2498 & avg odom time 0.046924 ms ++++++++++++++++++++++
build tree time 53.441644 ms 
prepare time 11.427000 
sort q time 5.991803 
seperate points time 12.251424 
mapping solver time 23.201277 ms 
-----t: 0.0603533
OdomCount 2499 & avg odom time 0.046929 ms ++++++++++++++++++++++
mapping data assosiation time 33.471782 ms 
mapping solver time 20.291689 ms 
prepare time 13.204039 
map prepare time 4.597401 ms
map corner num 244645  surf num 82236 
publication time 8.868237 ms 
whole laserOdometry time 8.883194 ms 
 
-----t: 0.051802
OdomCount 2500 & avg odom time 0.046931 ms ++++++++++++++++++++++
build tree time 59.903465 ms 
--------------------stamp1317358021.673981904
points size 100718 
mapping data assosiation time 26.265922 ms 
prepare time 15.751952 
scan registration time 34.475125 ms *************
publication time 9.347942 ms 
whole laserOdometry time 9.360957 ms 
 
mapping solver time 14.971582 ms 
mapping optimization time 155.970855 
add points time 1.273426 ms
filter time 15.293122 ms 
map prepare time 6.051974 ms
map corner num 244977  surf num 82302 
points size 100755 
sort q time 5.770710 
seperate points time 14.038648 
publication time 11.348113 ms 
whole laserOdometry time 11.368807 ms 
 
build tree time 58.416645 ms 
mapping data assosiation time 24.900560 ms 
--------------------stamp1317358021.881827116
mapping solver time 25.053763 ms 
sort q time 5.762858 
seperate points time 13.532200 
scan registration time 29.918682 ms *************
publication time 10.275851 ms 
whole laserOdometry time 10.289131 ms 
 
-----t: 0.0503939
OdomCount 2503 & avg odom time 0.046936 ms ++++++++++++++++++++++
filter time 19.718238 ms 
mapping pub time 2.279596 ms 
whole mapping time 188.268418 ms +++++
mappingCount 1675 & avg mapping time 151.119816 ms ++++++++++++++++++++++
1317358021.570039034 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358021.985744953
prepare time 11.736077 
sort q time 6.360603 
seperate points time 12.840190 
publication time 9.584930 ms 
whole laserOdometry time 9.598608 ms 
 
-----t: 0.0504226
OdomCount 2504 & avg odom time 0.046937 ms ++++++++++++++++++++++
1317358021.985744953 WriteOdom laser_odom_to_init
mapping data assosiation time 26.819148 ms 
mapping solver time 20.815590 ms 
[0m[ INFO] [1718889536.013361216, 1317358022.197861294]: Received 328408 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889536.013400831, 1317358022.197861294]: Data saved to 1317358021777899.pcd[0m
sort q time 6.671509 
seperate points time 14.708738 
publication time 10.244119 ms 
whole laserOdometry time 10.262205 ms 
 
mapping data assosiation time 31.547021 ms 
mapping solver time 29.629704 ms 
points size 101756 
mapping data assosiation time 34.783142 ms 
publication time 12.757020 ms 
whole laserOdometry time 12.780070 ms 
 
-----t: 0.0475523
OdomCount 2507 & avg odom time 0.046947 ms ++++++++++++++++++++++
1317358022.297564983 WriteOdom laser_odom_to_init
1317358022.297564983 WriteOdom aft_mapped_to_init_high_frec
filter time 23.730684 ms 
map prepare time 4.741072 ms
map corner num 246376  surf num 82862 
--------------------stamp1317358022.401506900
prepare time 12.679977 
sort q time 5.947097 
seperate points time 13.712713 
publication time 10.601563 ms 
whole laserOdometry time 10.617545 ms 
 
-----t: 0.0532955
OdomCount 2508 & avg odom time 0.046949 ms ++++++++++++++++++++++
--------------------stamp1317358022.505428075
points size 102107 
sort q time 6.692249 
seperate points time 13.073815 
publication time 10.188105 ms 
whole laserOdometry time 10.200477 ms 
 
mapping data assosiation time 33.370776 ms 
-----t: 0.0614739
OdomCount 2509 & avg odom time 0.046955 ms ++++++++++++++++++++++
mapping solver time 26.587746 ms 
--------------------stamp1317358022.609348058
points size 102258 
map prepare time 4.900850 ms
map corner num 246884  surf num 83093 
publication time 9.772954 ms 
whole laserOdometry time 9.801286 ms 
 
-----t: 0.0460741
OdomCount 2510 & avg odom time 0.046955 ms ++++++++++++++++++++++
build tree time 70.137461 ms 
points size 102588 
mapping data assosiation time 34.385977 ms 
mapping solver time 33.407166 ms 
-----t: 0.0505685
OdomCount 2511 & avg odom time 0.046956 ms ++++++++++++++++++++++
mapping data assosiation time 33.521810 ms 
--------------------stamp1317358022.817234992
points size 102781 
mapping solver time 21.171605 ms 
mapping optimization time 194.109171 
prepare time 12.406326 
add points time 1.919968 ms
sort q time 5.990271 
seperate points time 14.149888 
mapping pub time 2.377431 ms 
whole mapping time 226.905067 ms +++++
mappingCount 1679 & avg mapping time 151.283224 ms ++++++++++++++++++++++
publication time 14.241352 ms 
whole laserOdometry time 14.252943 ms 
 
-----t: 0.0475595
OdomCount 2512 & avg odom time 0.046957 ms ++++++++++++++++++++++
--------------------stamp1317358022.921178102
points size 102837 
build tree time 71.150984 ms 
prepare time 16.611893 
sort q time 5.691838 
seperate points time 13.904570 
mapping data assosiation time 34.166268 ms 
-----t: 0.0486401
OdomCount 2513 & avg odom time 0.046957 ms ++++++++++++++++++++++
mapping solver time 35.078615 ms 
--------------------stamp1317358023.025144100
points size 102946 
scan registration time 32.987934 ms *************
publication time 9.756601 ms 
whole laserOdometry time 9.769021 ms 
 
filter time 23.165218 ms 
--------------------stamp1317358023.129111051
prepare time 16.100231 
sort q time 5.708801 
seperate points time 13.620214 
-----t: 0.0501255
OdomCount 2515 & avg odom time 0.046962 ms ++++++++++++++++++++++
mapping solver time 28.302905 ms 
points size 103167 
sort q time 5.580988 
seperate points time 12.641368 
mapping solver time 21.791582 ms 
filter time 21.079860 ms 
--------------------stamp1317358023.337091922
prepare time 13.128847 
sort q time 5.921243 
seperate points time 13.688342 
publication time 10.118352 ms 
whole laserOdometry time 10.132797 ms 
 
[0m[ INFO] [1718889537.219284129, 1317358023.402294443]: Received 332199 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889537.219330193, 1317358023.402294443]: Data saved to 1317358022817234.pcd[0m
mapping pub time 97.846105 ms 
whole mapping time 315.950300 ms +++++
mappingCount 1681 & avg mapping time 151.428850 ms ++++++++++++++++++++++
1317358022.817234993 WriteOdom aft_mapped_to_init
--------------------stamp1317358023.441059112
points size 103030 
sort q time 5.794553 
seperate points time 13.315225 
scan registration time 34.456347 ms *************
build tree time 58.638191 ms 
-----t: 0.0462589
OdomCount 2518 & avg odom time 0.046959 ms ++++++++++++++++++++++
publication time 14.132246 ms 
whole laserOdometry time 14.147116 ms 
 
mapping solver time 24.427635 ms 
points size 102994 
mapping data assosiation time 31.737643 ms 
filter time 15.739111 ms 
map prepare time 3.746413 ms
map corner num 248944  surf num 83980 
--------------------stamp1317358023.649085998
points size 102938 
sort q time 5.713616 
seperate points time 13.749243 
scan registration time 33.874892 ms *************
build tree time 57.014409 ms 
publication time 13.005751 ms 
whole laserOdometry time 13.019012 ms 
 
mapping solver time 29.563836 ms 
points size 102801 
mapping data assosiation time 32.454942 ms 
mapping solver time 26.757623 ms 
filter time 21.989080 ms 
--------------------stamp1317358023.857141017
points size 102563 
sort q time 5.996309 
seperate points time 13.659194 
build tree time 68.327941 ms 
publication time 15.382519 ms 
whole laserOdometry time 15.398491 ms 
 
-----t: 0.0644297
OdomCount 2522 & avg odom time 0.046991 ms ++++++++++++++++++++++
mapping data assosiation time 38.732824 ms 
--------------------stamp1317358023.961183071
points size 102514 
sort q time 6.831049 
seperate points time 13.483355 
mapping data assosiation time 32.116971 ms 
publication time 19.350667 ms 
whole laserOdometry time 19.364477 ms 
 
mapping solver time 25.461856 ms 
filter time 16.099750 ms 
--------------------stamp1317358024.065244913
points size 102377 
sort q time 5.623646 
seperate points time 13.140077 
publication time 9.916444 ms 
whole laserOdometry time 9.943890 ms 
build tree time 76.196301 ms 
--------------------stamp1317358024.169305086
prepare time 13.795886 
sort q time 5.701332 
seperate points time 13.160040 
publication time 9.566648 ms 
whole laserOdometry time 9.580593 ms 
 
mapping data assosiation time 32.652359 ms 
mapping solver time 16.296742 ms 
mapping optimization time 194.650547 
add points time 1.144744 ms
--------------------stamp1317358024.273367881
points size 100102 
map prepare time 5.375592 ms
map corner num 250383  surf num 84557 
prepare time 16.036673 
scan registration time 45.613462 ms *************
-----t: 0.0588563
OdomCount 2526 & avg odom time 0.046992 ms ++++++++++++++++++++++
--------------------stamp1317358024.377454042
prepare time 12.499050 
sort q time 5.872475 
seperate points time 13.249483 
publication time 10.599332 ms 
whole laserOdometry time 10.612022 ms 
 
mapping data assosiation time 33.557477 ms 
-----t: 0.0519709
OdomCount 2527 & avg odom time 0.046994 ms ++++++++++++++++++++++
1317358024.377454042 WriteOdom laser_odom_to_init
1317358024.377454042 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.808432 ms 
--------------------stamp1317358024.481565952
prepare time 12.673164 
sort q time 5.718458 
seperate points time 13.357167 
[0m[ INFO] [1718889538.346633268, 1317358024.529147881]: Received 335575 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889538.346683153, 1317358024.529147881]: Data saved to 1317358024065244.pcd[0m
-----t: 0.0602222
OdomCount 2528 & avg odom time 0.046999 ms ++++++++++++++++++++++
--------------------stamp1317358024.585675001
points size 97811 
sort q time 5.829339 
seperate points time 12.717409 
mapping solver time 32.564851 ms 
-----t: 0.0559212
OdomCount 2529 & avg odom time 0.047003 ms ++++++++++++++++++++++
1317358024.585675001 WriteOdom laser_odom_to_init
1317358024.585675001 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.695212 ms 
points size 97135 
filter time 23.617197 ms 
publication time 9.810462 ms 
whole laserOdometry time 9.823523 ms 
 
build tree time 58.156490 ms 
--------------------stamp1317358024.793919086
points size 96186 
scan registration time 34.134298 ms *************
mapping solver time 32.328747 ms 
1317358024.793919086 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.591319 ms 
mapping solver time 15.553574 ms 
--------------------stamp1317358024.898006916
filter time 20.121650 ms 
mapping pub time 3.265468 ms 
whole mapping time 195.817008 ms +++++
mappingCount 1688 & avg mapping time 151.678076 ms ++++++++++++++++++++++
1317358024.481565952 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
prepare time 19.152100 
sort q time 6.520533 
seperate points time 17.693056 
scan registration time 46.276919 ms *************
publication time 7.507249 ms 
whole laserOdometry time 7.517790 ms 
 
build tree time 60.474289 ms 
--------------------stamp1317358025.002070903
prepare time 12.540982 
sort q time 5.224828 
seperate points time 11.453539 
-----t: 0.0410381
OdomCount 2533 & avg odom time 0.046993 ms ++++++++++++++++++++++
mapping solver time 20.090274 ms 
--------------------stamp1317358025.106107950
points size 93658 
sort q time 5.463456 
seperate points time 12.210652 
publication time 7.463363 ms 
whole laserOdometry time 7.474867 ms 
 
-----t: 0.0573347
OdomCount 2534 & avg odom time 0.046998 ms ++++++++++++++++++++++
--------------------stamp1317358025.210123062
points size 93199 
sort q time 5.206989 
seperate points time 12.252401 
publication time 10.122898 ms 
whole laserOdometry time 10.137333 ms 
 
mapping data assosiation time 30.789345 ms 
mapping solver time 19.964451 ms 
mapping optimization time 178.535021 
add points time 1.261778 ms
filter time 17.005247 ms 
map prepare time 5.748051 ms
map corner num 252647  surf num 85310 
points size 93036 
prepare time 18.470726 
sort q time 5.274386 
seperate points time 12.507053 
scan registration time 35.596087 ms *************
publication time 8.511274 ms 
whole laserOdometry time 8.521941 ms 
 
-----t: 0.060726
OdomCount 2536 & avg odom time 0.046999 ms ++++++++++++++++++++++
build tree time 79.194006 ms 
--------------------stamp1317358025.417983055
prepare time 12.033421 
sort q time 5.905063 
seperate points time 11.282123 
publication time 8.034022 ms 
whole laserOdometry time 8.046480 ms 
 
-----t: 0.061099
OdomCount 2537 & avg odom time 0.047004 ms ++++++++++++++++++++++
mapping solver time 19.510859 ms 
prepare time 13.104646 
filter time 25.162138 ms 
publication time 8.501039 ms 
whole laserOdometry time 8.515534 ms 
 
-----t: 0.0474704
OdomCount 2538 & avg odom time 0.047005 ms ++++++++++++++++++++++
[0m[ INFO] [1718889539.420541186, 1317358025.606730556]: Received 338467 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889539.420592375, 1317358025.606730556]: Data saved to 1317358025106107.pcd[0m
build tree time 62.700317 ms 
points size 93369 
mapping data assosiation time 29.167669 ms 
mapping solver time 20.938957 ms 
-----t: 0.050155
OdomCount 2539 & avg odom time 0.047006 ms ++++++++++++++++++++++
mapping data assosiation time 29.202649 ms 
mapping solver time 19.660360 ms 
points size 94208 
mapping pub time 2.191946 ms 
whole mapping time 192.107415 ms +++++
mappingCount 1692 & avg mapping time 151.806800 ms ++++++++++++++++++++++
-----t: 0.0461418
OdomCount 2540 & avg odom time 0.047005 ms ++++++++++++++++++++++
build tree time 57.619694 ms 
--------------------stamp1317358025.833444118
points size 95987 
prepare time 14.679078 
scan registration time 32.163226 ms *************
publication time 8.519970 ms 
whole laserOdometry time 8.534037 ms 
 
mapping data assosiation time 28.932008 ms 
-----t: 0.0438731
OdomCount 2541 & avg odom time 0.047004 ms ++++++++++++++++++++++
mapping solver time 16.137401 ms 
filter time 18.766082 ms 
--------------------stamp1317358025.937315940
prepare time 13.969463 
sort q time 5.610022 
seperate points time 12.688223 
publication time 8.886503 ms 
whole laserOdometry time 8.900647 ms 
 
build tree time 64.639669 ms 
mapping data assosiation time 25.514066 ms 
--------------------stamp1317358026.041208028
points size 96966 
sort q time 5.758989 
seperate points time 14.224682 
publication time 8.464248 ms 
whole laserOdometry time 8.478984 ms 
 
-----t: 0.0541588
OdomCount 2543 & avg odom time 0.047004 ms ++++++++++++++++++++++
mapping pub time 2.120046 ms 
whole mapping time 186.823756 ms +++++
mappingCount 1694 & avg mapping time 151.842686 ms ++++++++++++++++++++++
--------------------stamp1317358026.145103931
points size 98042 
prepare time 12.419996 
sort q time 5.642584 
seperate points time 12.465929 
build tree time 60.450083 ms 
-----t: 0.0440215
OdomCount 2544 & avg odom time 0.047003 ms ++++++++++++++++++++++
1317358026.145103931 WriteOdom laser_odom_to_init
1317358026.145103931 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.534191 ms 
--------------------stamp1317358026.248975992
prepare time 12.405028 
sort q time 11.991193 
seperate points time 18.069320 
publication time 14.817378 ms 
whole laserOdometry time 14.858283 ms 
 
filter time 22.761016 ms 
mapping pub time 2.239550 ms 
whole mapping time 194.539515 ms +++++
mappingCount 1695 & avg mapping time 151.867882 ms ++++++++++++++++++++++
1317358025.937315941 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.072632
OdomCount 2545 & avg odom time 0.047013 ms ++++++++++++++++++++++
--------------------stamp1317358026.352847099
points size 100240 
sort q time 5.729784 
seperate points time 12.127980 
publication time 9.298019 ms 
whole laserOdometry time 9.310672 ms 
 
1317358026.352847099 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.244196 ms 
--------------------stamp1317358026.456718921
points size 101565 
prepare time 12.939342 
scan registration time 30.962538 ms *************
filter time 23.693984 ms 
map prepare time 4.474248 ms
map corner num 255161  surf num 86112 
--------------------stamp1317358026.560589075
points size 102355 
sort q time 5.694025 
seperate points time 13.115457 
publication time 8.815219 ms 
whole laserOdometry time 8.829233 ms 
 
mapping solver time 24.899594 ms 
mapping data assosiation time 23.762944 ms 
points size 102822 
sort q time 6.880097 
seperate points time 13.239565 
map prepare time 6.763477 ms
map corner num 328160  surf num 113655 
-----t: 0.0521668
OdomCount 2549 & avg odom time 0.047013 ms ++++++++++++++++++++++
[0m[ INFO] [1718889540.561832330, 1317358026.742959777]: Received 341273 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889540.561873183, 1317358026.742959777]: Data saved to 1317358026145103.pcd[0m
--------------------stamp1317358026.768377065
prepare time 12.883021 
build tree time 80.985921 ms 
publication time 12.318989 ms 
-----t: 0.0439431
OdomCount 2550 & avg odom time 0.047011 ms ++++++++++++++++++++++
mapping solver time 24.132911 ms 
--------------------stamp1317358026.872247934
points size 103262 
mapping solver time 23.855857 ms 
filter time 24.200357 ms 
map prepare time 6.101581 ms
map corner num 328545  surf num 113807 
-----t: 0.063824
OdomCount 2551 & avg odom time 0.047018 ms ++++++++++++++++++++++
--------------------stamp1317358026.976119995
points size 103149 
sort q time 5.805143 
seperate points time 13.620903 
build tree time 89.241378 ms 
mapping data assosiation time 26.218292 ms 
mapping solver time 19.512911 ms 
points size 102874 
mapping data assosiation time 30.768634 ms 
scan registration time 37.585543 ms *************
-----t: 0.0438325
OdomCount 2553 & avg odom time 0.047015 ms ++++++++++++++++++++++
mapping pub time 2.369074 ms 
whole mapping time 221.468696 ms +++++
mappingCount 1699 & avg mapping time 151.996424 ms ++++++++++++++++++++++
points size 102919 
sort q time 5.851885 
seperate points time 13.461217 
-----t: 0.0399035
OdomCount 2554 & avg odom time 0.047012 ms ++++++++++++++++++++++
mapping data assosiation time 25.290023 ms 
--------------------stamp1317358027.287658929
prepare time 13.060656 
sort q time 5.591674 
seperate points time 12.986751 
publication time 8.657174 ms 
whole laserOdometry time 8.671211 ms 
 
filter time 20.238360 ms 
map prepare time 4.127285 ms
map corner num 297128  surf num 109496 
--------------------stamp1317358027.391482114
prepare time 13.205810 
sort q time 5.900351 
seperate points time 13.522065 
publication time 9.818939 ms 
whole laserOdometry time 9.830734 ms 
 
build tree time 81.666591 ms 
-----t: 0.0586107
OdomCount 2556 & avg odom time 0.047014 ms ++++++++++++++++++++++
1317358027.391482114 WriteOdom laser_odom_to_init
1317358027.391482114 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358027.495304107
points size 102614 
sort q time 5.763351 
seperate points time 14.059890 
publication time 9.844662 ms 
whole laserOdometry time 9.859518 ms 
 
mapping solver time 20.964098 ms 
mapping optimization time 180.571380 
filter time 21.444900 ms 
--------------------stamp1317358027.599126100
points size 102877 
sort q time 7.261916 
seperate points time 14.759539 
scan registration time 39.504420 ms *************
publication time 9.174625 ms 
whole laserOdometry time 9.186384 ms 
 
-----t: 0.0726106
OdomCount 2558 & avg odom time 0.047025 ms ++++++++++++++++++++++
map prepare time 4.265472 ms
map corner num 297773  surf num 109754 
points size 102854 
sort q time 6.055235 
seperate points time 12.371930 
publication time 10.759251 ms 
whole laserOdometry time 10.774862 ms 
 
-----t: 0.0538799
OdomCount 2559 & avg odom time 0.047028 ms ++++++++++++++++++++++
mapping data assosiation time 23.644334 ms 
mapping solver time 15.283985 ms 
sort q time 5.851661 
seperate points time 13.408832 
scan registration time 32.093202 ms *************
publication time 7.456834 ms 
whole laserOdometry time 7.469743 ms 
 
mapping solver time 17.408024 ms 
mapping optimization time 162.799507 
filter time 21.486694 ms 
map prepare time 4.307194 ms
map corner num 298315  surf num 109867 
--------------------stamp1317358027.910621881
prepare time 14.390392 
sort q time 5.632510 
seperate points time 13.366572 
publication time 10.134411 ms 
whole laserOdometry time 10.148249 ms 
 
-----t: 0.0475265
OdomCount 2561 & avg odom time 0.047029 ms ++++++++++++++++++++++
mapping data assosiation time 24.754590 ms 
mapping solver time 24.651238 ms 
sort q time 5.868004 
seperate points time 12.180703 
scan registration time 30.561132 ms *************
publication time 8.147842 ms 
whole laserOdometry time 8.162011 ms 
 
add points time 1.201767 ms
filter time 20.715040 ms 
map prepare time 4.205330 ms
map corner num 298860  surf num 110026 
points size 103445 
sort q time 6.023710 
seperate points time 14.649977 -----t: 0.0767704
OdomCount 2563 & avg odom time 0.047041 ms ++++++++++++++++++++++
1317358028.118386983 WriteOdom laser_odom_to_init
1317358028.118386983 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.859069 ms 
mapping solver time 25.000148 ms publication time 10.881334 ms 
whole laserOdometry time 10.896474 ms 
 
mapping solver time 26.042396 ms 
--------------------stamp1317358028.326247930
points size 103499 
mapping pub time 2.411805 ms 
whole mapping time 240.733852 ms +++++
mappingCount 1704 & avg mapping time 152.243715 ms ++++++++++++++++++++++
1317358027.910621881 WriteOdom aft_mapped_to_init
sort q time 6.289733 
seperate points time 16.073509 
publication time 11.127421 ms 
whole laserOdometry time 11.156253 ms 
 
1317358028.326247930 WriteOdom laser_odom_to_init
1317358028.326247930 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358028.430188894
points size 103086 
sort q time 5.442680 
seperate points time 11.502340 
publication time 11.338038 ms 
whole laserOdometry time 11.356013 ms 
 
mapping solver time 31.757788 ms 
-----t: 0.068614
OdomCount 2566 & avg odom time 0.047057 ms ++++++++++++++++++++++
1317358028.430188894 WriteOdom laser_odom_to_init
1317358028.430188894 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358028.534131050
add points time 1.402925 ms
scan registration time 31.942657 ms *************
mapping pub time 2.524924 ms 
whole mapping time 227.608061 ms +++++
mappingCount 1705 & avg mapping time 152.287919 ms ++++++++++++++++++++++
-----t: 0.0553692
OdomCount 2567 & avg odom time 0.047060 ms ++++++++++++++++++++++
--------------------stamp1317358028.638073921
points size 102802 
build tree time 79.609971 ms 
publication time 8.678969 ms 
whole laserOdometry time 8.691229 ms 
 
-----t: 0.0491269
OdomCount 2568 & avg odom time 0.047061 ms ++++++++++++++++++++++
1317358028.638073921 WriteOdom laser_odom_to_init
1317358028.638073921 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.015823 ms 
points size 102902 
sort q time 7.261231 
seperate points time 13.492074 
filter time 24.595539 ms 
publication time 10.423551 ms 
whole laserOdometry time 10.438486 ms 
 
map prepare time 4.037682 ms
map corner num 300404  surf num 110502 
--------------------stamp1317358028.845959901
prepare time 12.509668 
sort q time 6.043084 
seperate points time 14.302978 
build tree time 74.724105 ms 
publication time 9.987376 ms 
whole laserOdometry time 10.016328 ms 
 
1317358028.845959901 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.155640 ms 
--------------------stamp1317358028.949904918
points size 103472 
mapping solver time 16.836514 ms 
mapping optimization time 169.505105 
sort q time 6.029655 
seperate points time 14.492336 
filter time 26.363363 ms 
map prepare time 5.083760 ms
map corner num 300895  surf num 110638 
1317358028.949904918 WriteOdom laser_odom_to_init
points size 103590 
sort q time 5.843146 
seperate points time 13.954904 
build tree time 81.245771 ms 
mapping data assosiation time 25.146075 ms 
mapping solver time 22.949475 ms 
points size 103586 
sort q time 6.411339 
seperate points time 14.862719 
mapping solver time 22.108341 ms 
publication time 9.652423 ms 
whole laserOdometry time 9.665543 ms 
 
filter time 23.746511 ms 
--------------------stamp1317358029.261877059
points size 103638 
sort q time 6.192397 
seperate points time 14.489726 
publication time 9.348135 ms 
whole laserOdometry time 9.378926 ms 
 
-----t: 0.0466907
OdomCount 2574 & avg odom time 0.047068 ms ++++++++++++++++++++++
mapping data assosiation time 23.691581 ms 
mapping solver time 18.729544 ms 
points size 103725 
mapping data assosiation time 28.346192 ms 
mapping solver time 17.413649 ms 
mapping optimization time 169.094646 
add points time 1.185401 ms
filter time 29.820638 ms 
-----t: 0.0750275
OdomCount 2575 & avg odom time 0.047079 ms ++++++++++++++++++++++
--------------------stamp1317358029.469856977
prepare time 21.202978 
sort q time 6.045477 
seperate points time 14.437948 
publication time 8.129763 ms 
whole laserOdometry time 8.143166 ms 
 
mapping data assosiation time 24.849399 ms 
--------------------stamp1317358029.573847055
points size 103949 
prepare time 13.625643 
scan registration time 33.088847 ms *************
publication time 9.058423 ms 
whole laserOdometry time 9.073367 ms 
 
-----t: 0.0474748
OdomCount 2577 & avg odom time 0.047083 ms ++++++++++++++++++++++
filter time 21.547987 ms 
map prepare time 4.850264 ms
map corner num 302289  surf num 111191 
points size 104001 
sort q time 6.035162 
seperate points time 14.031434 
publication time 8.923571 ms 
whole laserOdometry time 8.952472 ms 
 
-----t: 0.0557484
OdomCount 2578 & avg odom time 0.047086 ms ++++++++++++++++++++++
mapping data assosiation time 24.802261 ms 
points size 104052 
prepare time 16.810547 
sort q time 5.919538 
seperate points time 14.276123 
publication time 8.620296 ms 
whole laserOdometry time 8.634339 ms 
 
-----t: 0.0567031
OdomCount 2579 & avg odom time 0.047090 ms ++++++++++++++++++++++
1317358029.781783103 WriteOdom laser_odom_to_init
1317358029.781783103 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.223826 ms 
mapping optimization time 185.315775 
add points time 1.001741 ms
filter time 19.184903 ms 
1317358029.469856977 WriteOdom aft_mapped_to_init
points size 104039 
sort q time 5.868433 
seperate points time 14.481160 
publication time 10.232344 ms 
whole laserOdometry time 10.259762 ms 
 
-----t: 0.0596685
OdomCount 2580 & avg odom time 0.047095 ms ++++++++++++++++++++++
build tree time 84.753602 ms 
--------------------stamp1317358029.989665985
points size 104204 
mapping data assosiation time 32.521375 ms 
mapping solver time 31.643098 ms 
-----t: 0.0530567
OdomCount 2581 & avg odom time 0.047097 ms ++++++++++++++++++++++
mapping data assosiation time 32.131138 ms 
--------------------stamp1317358030.093631982
points size 104231 
sort q time 5.924402 
seperate points time 13.880956 
map prepare time 5.991195 ms
map corner num 303199  surf num 111530 
-----t: 0.046348
OdomCount 2582 & avg odom time 0.047097 ms ++++++++++++++++++++++
1317358030.093631982 WriteOdom laser_odom_to_init
1317358030.093631982 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358030.197576045
prepare time 12.684958 
scan registration time 30.611556 ms *************
mapping data assosiation time 29.244048 ms 
-----t: 0.0579287
OdomCount 2583 & avg odom time 0.047101 ms ++++++++++++++++++++++
--------------------stamp1317358030.301496028
points size 104379 
mapping solver time 23.526640 ms 
mapping optimization time 188.732551 
filter time 26.708920 ms 
publication time 9.167682 ms 
whole laserOdometry time 9.187245 ms 
 
--------------------stamp1317358030.405438899
points size 104475 
scan registration time 35.176760 ms *************
publication time 9.087423 ms 
whole laserOdometry time 9.101671 ms 
 
mapping data assosiation time 30.726046 ms 
-----t: 0.0554055
OdomCount 2585 & avg odom time 0.047104 ms ++++++++++++++++++++++
1317358030.405438899 WriteOdom laser_odom_to_init
1317358030.405438899 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.658634 ms 
points size 104452 
prepare time 18.699992 
sort q time 6.449632 
seperate points time 14.492671 
mapping solver time 20.615059 ms 
publication time 9.604609 ms 
whole laserOdometry time 9.624047 ms 
 
mapping pub time 2.633174 ms 
whole mapping time 217.482304 ms +++++
mappingCount 1714 & avg mapping time 152.640514 ms ++++++++++++++++++++++
[0m[ INFO] [1718889544.430184811, 1317358030.615865805]: Received 414085 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889544.430219610, 1317358030.615865805]: Data saved to 1317358029469856.pcd[0m
prepare time 14.481108 
sort q time 5.730383 
seperate points time 13.013689 
publication time 9.310446 ms 
whole laserOdometry time 9.324055 ms 
 
-----t: 0.0434778
OdomCount 2587 & avg odom time 0.047103 ms ++++++++++++++++++++++
1317358030.613327980 WriteOdom laser_odom_to_init
1317358030.613327980 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.536563 ms 
--------------------stamp1317358030.717266082
prepare time 14.050476 
sort q time 5.867182 
seperate points time 13.495984 
publication time 10.402190 ms 
whole laserOdometry time 10.428654 ms 
 
filter time 19.715975 ms 
map prepare time 5.012925 ms
map corner num 304727  surf num 112147 
--------------------stamp1317358030.821208000
prepare time 12.032360 
sort q time 6.764950 
seperate points time 12.694437 
publication time 9.303626 ms 
whole laserOdometry time 9.318460 ms 
 
-----t: 0.0574044
OdomCount 2589 & avg odom time 0.047108 ms ++++++++++++++++++++++
1317358030.821208000 WriteOdom laser_odom_to_init
1317358030.821208000 WriteOdom aft_mapped_to_init_high_frec
build tree time 87.162542 ms 
--------------------stamp1317358030.925158023
points size 104408 
mapping solver time 27.749178 ms 
mapping data assosiation time 32.125206 ms 
mapping solver time 16.918694 ms 
mapping optimization time 197.121201 
add points time 1.188090 ms
--------------------stamp1317358031.029126882
mapping pub time 8.529217 ms 
whole mapping time 239.603528 ms +++++
mappingCount 1716 & avg mapping time 152.730115 ms ++++++++++++++++++++++
sort q time 5.717493 
seperate points time 13.564425 
publication time 9.554971 ms 
whole laserOdometry time 9.566522 ms 
 
-----t: 0.0498924
OdomCount 2591 & avg odom time 0.047111 ms ++++++++++++++++++++++
--------------------stamp1317358031.133112907
prepare time 13.184150 
sort q time 6.024487 
seperate points time 12.886683 
-----t: 0.0475637
OdomCount 2592 & avg odom time 0.047111 ms ++++++++++++++++++++++
mapping data assosiation time 26.621319 ms 
points size 104147 
add points time 1.337581 ms
sort q time 8.479777 
seperate points time 15.888860 
filter time 27.926503 ms 
build tree time 80.159349 ms 
publication time 9.852540 ms 
whole laserOdometry time 9.871589 ms 
 
mapping data assosiation time 31.858669 ms 
mapping solver time 29.128620 ms 
points size 103948 
mapping data assosiation time 33.188607 ms 
scan registration time 39.582560 ms *************
mapping solver time 23.191185 ms 
publication time 9.969389 ms 
whole laserOdometry time 9.984307 ms 
 
mapping pub time 2.416036 ms 
whole mapping time 232.129628 ms +++++
mappingCount 1718 & avg mapping time 152.825761 ms ++++++++++++++++++++++
--------------------stamp1317358031.548857927
prepare time 12.071026 
sort q time 6.351117 
seperate points time 14.465713 
publication time 12.925341 ms 
whole laserOdometry time 12.936968 ms 
 
-----t: 0.0548337
OdomCount 2596 & avg odom time 0.047116 ms ++++++++++++++++++++++
build tree time 104.524185 ms 
--------------------stamp1317358031.652776002
mapping data assosiation time 30.413331 ms 
sort q time 6.529067 
seperate points time 16.938882 
mapping solver time 37.549316 ms 
-----t: 0.0566348
OdomCount 2597 & avg odom time 0.047120 ms ++++++++++++++++++++++
1317358031.652776002 WriteOdom laser_odom_to_init
1317358031.652776002 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.092688 ms 
points size 104095 
filter time 23.336167 ms 
map prepare time 4.758910 ms
map corner num 306948  surf num 113094 
publication time 10.552796 ms 
whole laserOdometry time 10.561335 ms 
 
-----t: 0.0676981
OdomCount 2598 & avg odom time 0.047128 ms ++++++++++++++++++++++
--------------------stamp1317358031.860615015
points size 104138 
build tree time 89.764452 ms 
sort q time 6.539573 
seperate points time 28.849601 
mapping data assosiation time 37.674762 ms 
publication time 13.145548 ms 
whole laserOdometry time 13.160373 ms 
 
-----t: 0.0776
OdomCount 2599 & avg odom time 0.047140 ms ++++++++++++++++++++++
mapping solver time 38.383679 ms 
points size 104026 
sort q time 6.453011 
seperate points time 14.574922 
publication time 12.472197 ms 
whole laserOdometry time 12.492707 ms 
 
mapping solver time 32.299374 ms 
-----t: 0.0627631
OdomCount 2600 & avg odom time 0.047146 ms ++++++++++++++++++++++
filter time 22.155224 ms 
map prepare time 4.481226 ms
map corner num 307535  surf num 113393 
points size 104003 
sort q time 6.503234 
seperate points time 15.210179 
scan registration time 36.370771 ms *************
publication time 9.434477 ms 
whole laserOdometry time 9.450864 ms 
 
build tree time 90.993035 ms 
--------------------stamp1317358032.172394037
prepare time 13.488403 
publication time 11.928091 ms 
whole laserOdometry time 11.950044 ms 
 
-----t: 0.0528802
OdomCount 2602 & avg odom time 0.047154 ms ++++++++++++++++++++++
mapping data assosiation time 30.738484 ms 
--------------------stamp1317358032.276360988
prepare time 15.667646 scan registration time 38.402173 ms *************
publication time 12.766109 ms 
whole laserOdometry time 12.780985 ms 
 
-----t: 0.0569714
OdomCount 2603 & avg odom time 0.047158 ms ++++++++++++++++++++++
--------------------stamp1317358032.380326986
prepare time 13.535770 
sort q time 6.144192 
seperate points time 14.182791 
map prepare time 7.123353 ms
map corner num 308124  surf num 113604 
-----t: 0.0544659
OdomCount 2604 & avg odom time 0.047160 ms ++++++++++++++++++++++
1317358032.380326986 WriteOdom laser_odom_to_init
1317358032.380326986 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358032.484268903
points size 104022 
build tree time 84.097195 ms 
publication time 13.190611 ms 
whole laserOdometry time 13.202128 ms 
 
-----t: 0.0626576
OdomCount 2605 & avg odom time 0.047166 ms ++++++++++++++++++++++
--------------------stamp1317358032.588212966
scan registration time 35.940973 ms *************
publication time 15.126330 ms 
whole laserOdometry time 15.137387 ms 
 
-----t: 0.0563204
OdomCount 2606 & avg odom time 0.047170 ms ++++++++++++++++++++++
filter time 23.985522 ms 
map prepare time 5.055569 ms
map corner num 308752  surf num 113880 
points size 103968 
sort q time 6.734063 
seperate points time 15.178033 
-----t: 0.0515392
OdomCount 2607 & avg odom time 0.047172 ms ++++++++++++++++++++++
build tree time 90.204138 ms 
--------------------stamp1317358032.796147108
prepare time 12.476376 
sort q time 6.810445 
seperate points time 14.999865 
-----t: 0.0575148
OdomCount 2608 & avg odom time 0.047176 ms ++++++++++++++++++++++
mapping data assosiation time 33.476308 ms 
--------------------stamp1317358032.900114059
points size 103797 
sort q time 6.375199 
seperate points time 13.368884 
mapping pub time 2.562115 ms 
whole mapping time 260.472058 ms +++++
mappingCount 1723 & avg mapping time 153.197924 ms ++++++++++++++++++++++
map prepare time 8.192716 ms
map corner num 309387  surf num 114115 
-----t: 0.0762927
OdomCount 2609 & avg odom time 0.047187 ms ++++++++++++++++++++++
--------------------stamp1317358033.004080057
prepare time 12.985848 
sort q time 6.455346 
seperate points time 17.153041 
scan registration time 39.507999 ms *************
publication time 10.069844 ms 
whole laserOdometry time 10.083001 ms 
 
mapping data assosiation time 36.710640 ms 
--------------------stamp1317358033.108046054
points size 103459 
sort q time 8.076879 
seperate points time 17.805288 
publication time 21.974692 ms 
whole laserOdometry time 21.989316 ms 
 
-----t: 0.0762731
OdomCount 2611 & avg odom time 0.047201 ms ++++++++++++++++++++++
1317358033.108046054 WriteOdom laser_odom_to_init
1317358033.108046054 WriteOdom aft_mapped_to_init_high_frec
filter time 25.524381 ms 
sort q time 6.388442 
seperate points time 29.084602 
--------------------stamp1317358033.315983057
prepare time 12.612988 
scan registration time 31.296306 ms *************
publication time 11.756113 ms 
whole laserOdometry time 11.770907 ms 
 
1317358033.315983057 WriteOdom laser_odom_to_init
1317358033.315983057 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 32.352958 ms 
--------------------stamp1317358033.419972896
prepare time 13.866313 
scan registration time 33.302775 ms *************
publication time 21.820624 ms 
whole laserOdometry time 21.833953 ms 
 
[0m[ INFO] [1718889547.323930428, 1317358033.508197939]: Received 421728 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889547.323964567, 1317358033.508197939]: Data saved to 1317358031756692.pcd[0m
points size 101689 
sort q time 9.611814 
seperate points time 17.718198 
publication time 13.608736 ms 
whole laserOdometry time 13.627383 ms 
 
mapping data assosiation time 39.642622 ms 
--------------------stamp1317358033.627926111
points size 100976 
mapping solver time 38.874434 ms 
publication time 10.155138 ms 
whole laserOdometry time 10.165283 ms 
 
mapping solver time 25.459718 ms 
--------------------stamp1317358033.731918096
prepare time 13.139179 
mapping pub time 8.503702 ms 
whole mapping time 277.949589 ms +++++
mappingCount 1726 & avg mapping time 153.397467 ms ++++++++++++++++++++++
publication time 12.551545 ms 
whole laserOdometry time 12.593414 ms 
 
--------------------stamp1317358033.835933923
prepare time 14.345195 
sort q time 6.084897 
seperate points time 13.775269 
publication time 13.881491 ms 
whole laserOdometry time 13.897146 ms 
 
mapping solver time 37.361309 ms 
--------------------stamp1317358033.939949035
points size 92920 
mapping data assosiation time 36.952067 ms 
publication time 10.595907 ms 
whole laserOdometry time 10.612279 ms 
 
filter time 28.456472 ms 
map prepare time 4.365362 ms
map corner num 312012  surf num 115030 
points size 90936 
prepare time 25.957774 
publication time 17.159023 ms 
whole laserOdometry time 17.171261 ms 
 
-----t: 0.0662721
OdomCount 2620 & avg odom time 0.047253 ms ++++++++++++++++++++++
1317358034.043986082 WriteOdom laser_odom_to_init
1317358034.043986082 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358034.148072004
sort q time 6.121984 
seperate points time 13.202286 
publication time 9.250087 ms 
whole laserOdometry time 9.268830 ms 
 
-----t: 0.0596133
OdomCount 2621 & avg odom time 0.047257 ms ++++++++++++++++++++++
1317358034.148072004 WriteOdom laser_odom_to_init
--------------------stamp1317358034.252182960
prepare time 10.849922 
sort q time 5.682889 
seperate points time 12.360573 
mapping solver time 40.391128 ms 
-----t: 0.0554978
OdomCount 2622 & avg odom time 0.047261 ms ++++++++++++++++++++++
1317358034.252182960 WriteOdom laser_odom_to_init
1317358034.252182960 WriteOdom aft_mapped_to_init_high_frec
map prepare time 5.494585 ms
map corner num 312734  surf num 115321 
--------------------stamp1317358034.356295108
prepare time 11.169626 
sort q time 6.916762 
seperate points time 12.247559 
publication time 9.934224 ms 
whole laserOdometry time 9.946513 ms 
 
-----t: 0.0420075
OdomCount 2623 & avg odom time 0.047259 ms ++++++++++++++++++++++
build tree time 90.052393 ms 
mapping data assosiation time 27.311952 ms 
points size 81956 
sort q time 4.824734 
seperate points time 11.533410 
mapping solver time 38.923475 ms 
-----t: 0.0493111
OdomCount 2624 & avg odom time 0.047259 ms ++++++++++++++++++++++
1317358034.460406064 WriteOdom laser_odom_to_init
1317358034.460406064 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.936205 ms 
points size 79925 
filter time 24.071895 ms 
publication time 7.545694 ms 
whole laserOdometry time 7.586930 ms 
 
--------------------stamp1317358034.668648958
points size 80145 
build tree time 84.071786 ms 
sort q time 6.374443 
seperate points time 14.104918 
scan registration time 39.707076 ms *************
mapping data assosiation time 38.620049 ms 
-----t: 0.0509128
OdomCount 2626 & avg odom time 0.047258 ms ++++++++++++++++++++++
mapping solver time 30.572342 ms 
--------------------stamp1317358034.772785902
points size 81917 
sort q time 5.053446 
seperate points time 12.071839 
-----t: 0.0370782
publication time 7.907809 ms 
OdomCount 2627 & avg odom time 0.047255 ms ++++++++++++++++++++++
whole laserOdometry time 7.916841 ms 
 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358034.876897096
prepare time 10.494306 
sort q time 5.109540 
seperate points time 10.947236 
build tree time 80.657343 ms 
-----t: 0.048689
OdomCount 2628 & avg odom time 0.047255 ms ++++++++++++++++++++++
mapping solver time 20.244442 ms 
--------------------stamp1317358034.980982065
prepare time 13.160983 
sort q time 4.899944 
seperate points time 11.558889 
publication time 9.162377 ms 
whole laserOdometry time 9.197878 ms 
 
mapping solver time 27.347701 ms 
mapping optimization time 190.085523 
[0m[ INFO] [1718889548.856483351, 1317358035.040604349]: Received 426157 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889548.856521765, 1317358035.040604349]: Data saved to 1317358033212017.pcd[0m
filter time 28.143498 ms 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358035.084997892
prepare time 13.716019 
sort q time 5.194813 
seperate points time 12.166321 
publication time 8.474957 ms 
whole laserOdometry time 8.487440 ms 
 
build tree time 89.856005 ms 
mapping data assosiation time 26.337440 ms 
points size 87454 
mapping solver time 23.063473 ms 
publication time 8.605699 ms 
whole laserOdometry time 8.618668 ms 
 
mapping solver time 16.341088 ms 
filter time 21.103909 ms 
map prepare time 3.932330 ms
map corner num 315660  surf num 116010 
points size 89007 
sort q time 4.860268 
seperate points time 11.174032 
publication time 7.576549 ms 
whole laserOdometry time 7.591057 ms 
 
-----t: 0.0411529
OdomCount 2632 & avg odom time 0.047249 ms ++++++++++++++++++++++
build tree time 86.363080 ms 
--------------------stamp1317358035.396657943
prepare time 10.890640 
scan registration time 27.918205 ms *************
mapping solver time 33.308504 ms 
mapping data assosiation time 31.516658 ms 
mapping solver time 27.142777 ms 
points size 92840 
sort q time 5.892126 
seperate points time 13.349027 
filter time 28.741707 ms 
-----t: 0.0510448
OdomCount 2634 & avg odom time 0.047257 ms ++++++++++++++++++++++
--------------------stamp1317358035.604134082
points size 95395 
build tree time 88.321034 ms 
-----t: 0.03618
OdomCount 2635 & avg odom time 0.047252 ms ++++++++++++++++++++++
mapping solver time 22.469282 ms 
mapping data assosiation time 23.345502 ms 
points size 95693 
mapping solver time 30.969132 ms 
publication time 7.620435 ms 
whole laserOdometry time 7.633934 ms 
 
map prepare time 4.170718 ms
map corner num 317088  surf num 116293 
--------------------stamp1317358035.811567068
points size 95703 
sort q time 5.561014 
seperate points time 13.026954 
scan registration time 33.706542 ms *************
-----t: 0.0369714
OdomCount 2637 & avg odom time 0.047247 ms ++++++++++++++++++++++
mapping data assosiation time 26.504018 ms 
mapping solver time 24.450497 ms 
prepare time 12.254308 
sort q time 6.033931 
seperate points time 12.981565 
publication time 9.513205 ms 
whole laserOdometry time 9.550013 ms 
 
-----t: 0.0621705
OdomCount 2638 & avg odom time 0.047252 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317358036.018945932
points size 95782 
sort q time 5.925037 
seperate points time 11.886034 
publication time 8.988283 ms 
whole laserOdometry time 9.004840 ms 
 
-----t: 0.0526484
OdomCount 2639 & avg odom time 0.047254 ms ++++++++++++++++++++++
build tree time 93.130024 ms 
--------------------stamp1317358036.122672080
prepare time 12.673536 
sort q time 6.828118 
seperate points time 14.414666 
mapping solver time 29.139488 ms 
scan registration time 35.986796 ms *************
publication time 8.729495 ms 
whole laserOdometry time 8.744085 ms 
 
mapping data assosiation time 31.775108 ms 
mapping solver time 19.304844 ms 
--------------------stamp1317358036.226422071
sort q time 7.520622 
seperate points time 17.022644 
publication time 10.001149 ms 
whole laserOdometry time 10.014266 ms 
 
-----t: 0.062929
OdomCount 2641 & avg odom time 0.047260 ms ++++++++++++++++++++++
--------------------stamp1317358036.330199003
prepare time 11.907591 
sort q time 6.365177 
seperate points time 13.043960 
mapping data assosiation time 28.726353 ms 
publication time 9.721054 ms 
whole laserOdometry time 9.734855 ms 
 
mapping solver time 28.840540 ms 
mapping data assosiation time 23.419990 ms 
--------------------stamp1317358036.433991909
add points time 1.230368 ms
sort q time 6.285931 
seperate points time 14.236128 
mapping pub time 2.562164 ms 
whole mapping time 231.435966 ms +++++
mappingCount 1737 & avg mapping time 153.972975 ms ++++++++++++++++++++++
-----t: 0.0473591
OdomCount 2643 & avg odom time 0.047259 ms ++++++++++++++++++++++
--------------------stamp1317358036.537817001
points size 98050 
sort q time 5.753451 
seperate points time 13.795333 
build tree time 95.523078 ms 
publication time 8.913279 ms 
whole laserOdometry time 8.926544 ms 
 
mapping data assosiation time 29.978418 ms 
--------------------stamp1317358036.641647100
points size 99616 
sort q time 6.113122 
seperate points time 14.305087 
publication time 9.335950 ms 
whole laserOdometry time 9.350473 ms 
 
mapping pub time 2.186866 ms 
whole mapping time 236.312831 ms +++++
mappingCount 1738 & avg mapping time 154.020353 ms ++++++++++++++++++++++
--------------------stamp1317358036.745467901
prepare time 13.403460 
sort q time 6.464326 
seperate points time 13.223639 
publication time 9.448702 ms 
whole laserOdometry time 9.462946 ms 
 
1317358036.745467901 WriteOdom laser_odom_to_init
1317358036.745467901 WriteOdom aft_mapped_to_init_high_frec
build tree time 93.595604 ms 
mapping data assosiation time 22.277432 ms 
--------------------stamp1317358036.849288940
prepare time 12.530017 
sort q time 6.042171 
seperate points time 13.594555 
mapping data assosiation time 30.536171 ms 
-----t: 0.0458114
OdomCount 2647 & avg odom time 0.047260 ms ++++++++++++++++++++++
add points time 1.215630 ms
filter time 25.225782 ms 
map prepare time 7.120961 ms
map corner num 345619  surf num 130150 
prepare time 15.133512 
sort q time 5.975427 
seperate points time 14.729377 
publication time 20.932946 ms 
whole laserOdometry time 20.946351 ms 
 
build tree time 90.958920 ms 
points size 100347 
sort q time 6.349147 
seperate points time 12.689215 
mapping solver time 27.480756 ms 
mapping data assosiation time 28.777865 ms 
mapping solver time 17.855251 ms 
--------------------stamp1317358037.160847902
prepare time 12.608193 
mapping pub time 2.492085 ms 
whole mapping time 233.463331 ms +++++
mappingCount 1740 & avg mapping time 154.110277 ms ++++++++++++++++++++++
publication time 10.834290 ms 
whole laserOdometry time 10.849316 ms 
 
-----t: 0.062451
OdomCount 2650 & avg odom time 0.047274 ms ++++++++++++++++++++++
--------------------stamp1317358037.264693021
prepare time 14.456279 
publication time 10.578361 ms 
whole laserOdometry time 10.592016 ms 
 
mapping solver time 21.186776 ms 
--------------------stamp1317358037.368570089
prepare time 13.479845 
sort q time 6.373575 
seperate points time 15.205039 
publication time 11.978625 ms 
whole laserOdometry time 12.441181 ms 
 
--------------------stamp1317358037.472466945
points size 103086 
prepare time 14.902001 
scan registration time 35.651135 ms *************
publication time 12.857524 ms 
whole laserOdometry time 12.872258 ms 
 
--------------------stamp1317358037.576384067
points size 103052 
sort q time 6.216679 
seperate points time 15.162797 
publication time 11.307780 ms 
whole laserOdometry time 11.321916 ms 
 
build tree time 105.614382 ms 
--------------------stamp1317358037.680326938
points size 103111 
sort q time 5.735950 
seperate points time 14.032401 
mapping data assosiation time 30.472030 ms 
-----t: 0.0443578
OdomCount 2655 & avg odom time 0.047281 ms ++++++++++++++++++++++
mapping solver time 22.996824 ms 
mapping optimization time 203.608419 
add points time 1.364483 ms
filter time 22.579433 ms 
map prepare time 6.155529 ms
map corner num 348311  surf num 131024 
sort q time 6.468223 
seperate points time 16.018534 
publication time 13.111085 ms 
whole laserOdometry time 13.125015 ms 
 
-----t: 0.0572052
OdomCount 2656 & avg odom time 0.047285 ms ++++++++++++++++++++++
--------------------stamp1317358037.888187885
prepare time 12.779299 
build tree time 118.101078 ms 
publication time 9.505664 ms 
whole laserOdometry time 9.522162 ms 
 
[0m[ INFO] [1718889551.790135854, 1317358037.969239540]: Received 478018 data points in frame camera_init with the following fields: x y z intensity[0m
--------------------stamp1317358037.992084026
points size 102153 
sort q time 6.101860 
seperate points time 14.397291 
mapping solver time 26.153671 ms 
-----t: 0.0514792
OdomCount 2658 & avg odom time 0.047296 ms ++++++++++++++++++++++
filter time 35.286434 ms 
map prepare time 5.870177 ms
map corner num 349364  surf num 131507 
--------------------stamp1317358038.095978975
prepare time 12.250897 
sort q time 7.102539 
seperate points time 13.633197 
publication time 17.756102 ms 
whole laserOdometry time 17.769126 ms 
 
-----t: 0.0673724
OdomCount 2659 & avg odom time 0.047304 ms ++++++++++++++++++++++
build tree time 110.545419 ms 
points size 102045 
mapping data assosiation time 31.790518 ms 
publication time 9.973066 ms 
whole laserOdometry time 9.987225 ms 
 
mapping data assosiation time 31.145941 ms 
--------------------stamp1317358038.303838014
points size 102042 
sort q time 6.710804 
seperate points time 13.488908 
publication time 8.273991 ms 
whole laserOdometry time 8.288210 ms 
 
-----t: 0.0501114
OdomCount 2661 & avg odom time 0.047305 ms ++++++++++++++++++++++
points size 101955 
sort q time 6.843742 
seperate points time 14.006379 
publication time 11.101052 ms 
whole laserOdometry time 11.122262 ms 
 
build tree time 110.835541 ms 
mapping data assosiation time 26.328412 ms 
points size 101850 
mapping solver time 31.372770 ms 
publication time 8.963934 ms 
whole laserOdometry time 8.979536 ms 
 
add points time 1.121978 ms
--------------------stamp1317358038.615739107
mapping pub time 2.450561 ms 
whole mapping time 266.615367 ms +++++
mappingCount 1745 & avg mapping time 154.487088 ms ++++++++++++++++++++++
sort q time 6.755802 
seperate points time 14.814378 
publication time 9.867451 ms 
whole laserOdometry time 9.885249 ms 
 
-----t: 0.0703875
OdomCount 2664 & avg odom time 0.047323 ms ++++++++++++++++++++++
1317358038.615739107 WriteOdom laser_odom_to_init
1317358038.615739107 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358038.719708919
points size 101211 
scan registration time 34.832992 ms *************
mapping data assosiation time 29.601523 ms 
publication time 12.329509 ms 
whole laserOdometry time 12.361204 ms 
 
mapping data assosiation time 25.221770 ms 
--------------------stamp1317358038.823652029
mapping solver time 20.709119 ms 
sort q time 6.292586 
seperate points time 14.070742 
mapping pub time 11.507711 ms 
whole mapping time 240.280092 ms +++++
mappingCount 1746 & avg mapping time 154.536232 ms ++++++++++++++++++++++
-----t: 0.0482275
OdomCount 2666 & avg odom time 0.047325 ms ++++++++++++++++++++++
--------------------stamp1317358038.927593946
prepare time 13.211477 
sort q time 6.166914 
seperate points time 14.391079 
build tree time 86.402234 ms 
publication time 11.757049 ms 
whole laserOdometry time 11.772920 ms 
 
mapping data assosiation time 31.939652 ms 
-----t: 0.0713191
OdomCount 2667 & avg odom time 0.047334 ms ++++++++++++++++++++++
mapping solver time 24.198232 ms 
--------------------stamp1317358039.031534910
points size 97909 
sort q time 5.752312 
seperate points time 13.448680 
mapping solver time 24.719558 ms 
publication time 11.698446 ms 
whole laserOdometry time 11.712831 ms 
 
filter time 25.451761 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358039.135454893
points size 98264 
sort q time 6.498721 
seperate points time 12.715068 
publication time 10.537137 ms 
whole laserOdometry time 10.552546 ms 
 
build tree time 84.801223 ms 
mapping data assosiation time 27.700091 ms 
points size 99099 
sort q time 6.796776 
seperate points time 13.808350 
mapping data assosiation time 33.144296 ms 
-----t: 0.0606034
OdomCount 2670 & avg odom time 0.047344 ms ++++++++++++++++++++++
filter time 19.731710 ms 
points size 99551 
sort q time 6.488847 
seperate points time 14.314363 
publication time 11.697500 ms 
whole laserOdometry time 11.750182 ms 
 
-----t: 0.0554733
OdomCount 2671 & avg odom time 0.047347 ms ++++++++++++++++++++++
--------------------stamp1317358039.447211027
prepare time 12.917643 
sort q time 6.007192 
seperate points time 13.698968 
publication time 8.549407 ms 
whole laserOdometry time 8.565356 ms 
 
mapping solver time 33.350425 ms 
-----t: 0.0634941
OdomCount 2672 & avg odom time 0.047353 ms ++++++++++++++++++++++
mapping data assosiation time 29.213277 ms 
points size 99609 
sort q time 6.453463 
seperate points time 14.980706 
map prepare time 5.523996 ms
map corner num 302631  surf num 126390 
[0m[ INFO] [1718889553.469424798, 1317358039.646591659]: Received 425215 data points in frame camera_init with the following fields: x y z intensity[0m
points size 99554 
sort q time 5.875319 
seperate points time 13.595289 
publication time 9.608186 ms 
whole laserOdometry time 9.622026 ms 
 
mapping data assosiation time 34.064767 ms 
-----t: 0.0724382
OdomCount 2674 & avg odom time 0.047364 ms ++++++++++++++++++++++
1317358039.655049085 WriteOdom laser_odom_to_init
1317358039.655049085 WriteOdom aft_mapped_to_init_high_frec
points size 99601 
mapping data assosiation time 32.961086 ms 
mapping solver time 26.581731 ms 
filter time 24.081570 ms 
map prepare time 4.143733 ms
map corner num 303454  surf num 126950 
--------------------stamp1317358039.862956047
points size 98778 
sort q time 6.011001 
seperate points time 12.711821 
publication time 17.328796 ms 
whole laserOdometry time 17.343108 ms 
 
1317358039.862956047 WriteOdom laser_odom_to_init
1317358039.862956047 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.198123 ms 
points size 96870 
mapping solver time 27.062904 ms 
scan registration time 35.636589 ms *************
publication time 11.098633 ms 
whole laserOdometry time 11.111696 ms 
 
-----t: 0.0680113
OdomCount 2677 & avg odom time 0.047373 ms ++++++++++++++++++++++
--------------------stamp1317358040.070867061
mapping pub time 8.764767 ms 
whole mapping time 241.385012 ms +++++
mappingCount 1751 & avg mapping time 154.780292 ms ++++++++++++++++++++++
sort q time 15.833188 
seperate points time 22.784365 
publication time 10.403913 ms 
whole laserOdometry time 10.416008 ms 
 
-----t: 0.0553876
OdomCount 2678 & avg odom time 0.047376 ms ++++++++++++++++++++++
1317358040.070867061 WriteOdom laser_odom_to_init
--------------------stamp1317358040.174808025
prepare time 13.434523 
mapping data assosiation time 33.728516 ms 
publication time 9.950769 ms 
whole laserOdometry time 9.960180 ms 
 
-----t: 0.0549538
OdomCount 2679 & avg odom time 0.047378 ms ++++++++++++++++++++++
mapping data assosiation time 28.923647 ms 
points size 90866 
mapping solver time 22.867640 ms 
filter time 25.804368 ms 
--------------------stamp1317358040.382671117
points size 90063 
sort q time 5.400015 
seperate points time 12.780158 
build tree time 83.530984 ms 
publication time 12.298664 ms 
whole laserOdometry time 12.314260 ms 
 
mapping data assosiation time 37.614589 ms 
mapping solver time 25.432413 ms 
points size 89486 
sort q time 5.983559 
seperate points time 14.153214 
publication time 8.842248 ms 
whole laserOdometry time 8.855237 ms 
 
mapping solver time 25.408625 ms 
filter time 22.028576 ms 
--------------------stamp1317358040.590579032
points size 89381 
sort q time 5.603537 
seperate points time 13.224982 
publication time 9.775687 ms 
whole laserOdometry time 9.787852 ms 
 
-----t: 0.0636165
OdomCount 2683 & avg odom time 0.047390 ms ++++++++++++++++++++++
--------------------stamp1317358040.694545984
mapping data assosiation time 30.221309 ms 
sort q time 5.156120 
seperate points time 12.387999 
mapping solver time 35.531046 ms -----t: 0.0650788
OdomCount 2684 & avg odom time 0.047397 ms ++++++++++++++++++++++
1317358040.694545984 WriteOdom laser_odom_to_init
1317358040.694545984 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358040.798511981
prepare time 11.366514 
sort q time 5.168375 
seperate points time 11.904557 
publication time 9.986134 ms 
whole laserOdometry time 10.002024 ms 
 
map prepare time 4.518843 ms
map corner num 306541  surf num 129135 
--------------------stamp1317358040.902503013
prepare time 11.278058 
sort q time 6.363235 
seperate points time 13.776976 
build tree time 86.553336 ms 
mapping data assosiation time 39.872943 ms 
--------------------stamp1317358041.006493091
prepare time 11.706191 
sort q time 5.319364 
seperate points time 12.419707 
publication time 9.587770 ms 
whole laserOdometry time 9.603191 ms 
 
-----t: 0.045645
OdomCount 2687 & avg odom time 0.047399 ms ++++++++++++++++++++++
mapping solver time 25.243545 ms 
filter time 19.749313 ms 
points size 90639 
sort q time 5.362005 
seperate points time 12.172905 
publication time 10.482238 ms 
whole laserOdometry time 10.495125 ms 
 
-----t: 0.0498546
OdomCount 2688 & avg odom time 0.047400 ms ++++++++++++++++++++++
build tree time 88.231014 ms 
--------------------stamp1317358041.214476108
prepare time 12.211832 
mapping data assosiation time 35.464275 ms 
publication time 8.649466 ms 
whole laserOdometry time 8.662615 ms 
 
mapping solver time 35.048086 ms 
-----t: 0.0617134
OdomCount 2689 & avg odom time 0.047406 ms ++++++++++++++++++++++
--------------------stamp1317358041.318466901
points size 92718 
sort q time 5.804475 
seperate points time 22.747049 
mapping pub time 12.367508 ms 
whole mapping time 268.102737 ms +++++
mappingCount 1756 & avg mapping time 155.064594 ms ++++++++++++++++++++++
--------------------stamp1317358041.422458887
points size 93842 
sort q time 5.816067 
seperate points time 14.359329 
build tree time 88.311638 ms 
-----t: 0.0578365
OdomCount 2691 & avg odom time 0.047408 ms ++++++++++++++++++++++
1317358041.422458887 WriteOdom laser_odom_to_init
1317358041.422458887 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358041.526426076
prepare time 13.978558 
sort q time 5.939052 
seperate points time 14.491262 
mapping data assosiation time 39.123946 ms 
-----t: 0.0496975
OdomCount 2692 & avg odom time 0.047409 ms ++++++++++++++++++++++
mapping solver time 26.654495 ms 
filter time 20.612931 ms 
map prepare time 5.711615 ms
map corner num 309097  surf num 130799 
points size 96940 
sort q time 6.327055 
seperate points time 15.235929 publication time 11.996828 ms 
whole laserOdometry time 12.008122 ms 
 
build tree time 85.849240 ms 
--------------------stamp1317358041.734309911
points size 98592 
prepare time 13.015995 
mapping data assosiation time 33.694443 ms 
points size 99732 
mapping solver time 32.492679 ms 
sort q time 16.035118 
seperate points time 24.566370 
filter time 27.143169 ms 
map prepare time 6.167281 ms
map corner num 309912  surf num 131353 
--------------------stamp1317358041.942174911
points size 100774 
prepare time 14.977608 
sort q time 6.165033 
seperate points time 14.566195 
build tree time 86.961179 ms 
-----t: 0.0585725
OdomCount 2696 & avg odom time 0.047411 ms ++++++++++++++++++++++
mapping data assosiation time 45.228929 ms 
--------------------stamp1317358042.046070098
prepare time 12.833220 
mapping solver time 35.570811 ms 
publication time 13.172659 ms 
whole laserOdometry time 13.186031 ms 
 
-----t: 0.0469736
OdomCount 2697 & avg odom time 0.047411 ms ++++++++++++++++++++++
mapping optimization time 231.352790 
--------------------stamp1317358042.149920940
filter time 26.415175 ms 
map prepare time 5.918013 ms
map corner num 310895  surf num 131997 
publication time 10.851456 ms 
whole laserOdometry time 10.868282 ms 
 
-----t: 0.0602862
OdomCount 2698 & avg odom time 0.047416 ms ++++++++++++++++++++++
--------------------stamp1317358042.253742933
points size 101981 
sort q time 6.819290 
seperate points time 14.513095 
mapping data assosiation time 43.746180 ms 
mapping solver time 39.791424 ms 
prepare time 17.199244 
mapping data assosiation time 47.687203 ms 
sort q time 7.413281 
seperate points time 20.232642 
publication time 10.759372 ms 
whole laserOdometry time 10.773362 ms 
 
mapping solver time 37.058931 ms 
filter time 20.609308 ms 
map prepare time 6.448101 ms
map corner num 311826  surf num 132621 
sort q time 7.634744 
seperate points time 14.867471 
publication time 10.351940 ms 
whole laserOdometry time 10.368275 ms 
 
-----t: 0.0670857
OdomCount 2701 & avg odom time 0.047446 ms ++++++++++++++++++++++
--------------------stamp1317358042.565135002
prepare time 12.775298 
sort q time 6.555688 
seperate points time 14.024360 
scan registration time 31.039588 ms *************
[0m[ INFO] [1718889556.414006012, 1317358042.593444711]: Received 438550 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889556.414046327, 1317358042.593444711]: Data saved to 1317358040902503.pcd[0m
mapping data assosiation time 48.418639 ms 
-----t: 0.0509084
OdomCount 2702 & avg odom time 0.047447 ms ++++++++++++++++++++++
mapping solver time 41.611400 ms 
--------------------stamp1317358042.668932914
points size 102083 
mapping data assosiation time 46.096897 ms 
publication time 11.409599 ms 
whole laserOdometry time 11.477389 ms 
 
mapping solver time 39.352520 ms 
filter time 20.295019 ms 
points size 102063 
sort q time 6.296833 
seperate points time 15.801188 
publication time 10.235084 ms 
whole laserOdometry time 10.247272 ms 
 
-----t: 0.0686858
OdomCount 2704 & avg odom time 0.047455 ms ++++++++++++++++++++++
map prepare time 4.945252 ms
map corner num 312730  surf num 133233 
points size 102122 
sort q time 6.505468 
seperate points time 15.840433 
publication time 14.344998 ms 
whole laserOdometry time 14.354754 ms 
 
-----t: 0.0582243
OdomCount 2705 & avg odom time 0.047459 ms ++++++++++++++++++++++
1317358042.876550912 WriteOdom laser_odom_to_init
1317358042.876550912 WriteOdom aft_mapped_to_init_high_frec
build tree time 93.060808 ms 
--------------------stamp1317358042.980328083
points size 102120 
mapping data assosiation time 45.888137 ms 
publication time 12.810494 ms 
whole laserOdometry time 12.834612 ms mapping solver time 43.879976 ms 
--------------------stamp1317358043.084103107
prepare time 11.602362 
sort q time 6.669905 
seperate points time 15.842021 
publication time 10.345988 ms 
whole laserOdometry time 10.358558 ms 
 
mapping solver time 44.110995 ms 
mapping optimization time 266.319042 
-----t: 0.0560511
OdomCount 2707 & avg odom time 0.047467 ms ++++++++++++++++++++++
filter time 26.154562 ms 
map prepare time 4.585098 ms
map corner num 313694  surf num 133789 
points size 102126 
sort q time 6.733718 
seperate points time 15.317972 
publication time 11.657545 ms 
whole laserOdometry time 11.669212 ms 
 
-----t: 0.0521997
OdomCount 2708 & avg odom time 0.047469 ms ++++++++++++++++++++++
build tree time 97.937411 ms 
--------------------stamp1317358043.291579008
prepare time 15.094088 
sort q time 6.653071 
seperate points time 16.142861 
publication time 12.341348 ms 
whole laserOdometry time 12.354843 ms 
 
mapping solver time 43.503698 ms 
--------------------stamp1317358043.395304918
mapping data assosiation time 43.170650 ms 
publication time 11.020536 ms 
whole laserOdometry time 11.034948 ms 
 
mapping solver time 44.618570 ms 
filter time 23.949717 ms 
map prepare time 4.652237 ms
map corner num 314693  surf num 134454 
points size 102466 
sort q time 6.504671 
seperate points time 15.660810 
publication time 11.053284 ms 
whole laserOdometry time 11.080394 ms 
 
-----t: 0.0596841
OdomCount 2711 & avg odom time 0.047484 ms ++++++++++++++++++++++
1317358043.499054908 WriteOdom laser_odom_to_init
1317358043.499054908 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358043.602804899
points size 102504 
sort q time 7.357128 
seperate points time 14.426491 
publication time 10.895052 ms 
whole laserOdometry time 10.936107 ms 
 
-----t: 0.0711491
OdomCount 2712 & avg odom time 0.047493 ms ++++++++++++++++++++++
--------------------stamp1317358043.706510066
prepare time 11.272401 
sort q time 6.583126 
seperate points time 15.000316 
publication time 12.495272 ms 
whole laserOdometry time 12.509376 ms 
 
-----t: 0.0541039
OdomCount 2713 & avg odom time 0.047495 ms ++++++++++++++++++++++
filter time 24.097042 ms 
map prepare time 4.720681 ms
map corner num 315603  surf num 135011 
points size 102482 
sort q time 6.692584 
seperate points time 15.904006 
publication time 10.177254 ms 
whole laserOdometry time 10.194500 ms 
 
-----t: 0.077203
OdomCount 2714 & avg odom time 0.047506 ms ++++++++++++++++++++++
points size 102620 
sort q time 7.632939 
seperate points time 15.189604 
mapping data assosiation time 51.229383 ms 
-----t: 0.0558023
OdomCount 2715 & avg odom time 0.047509 ms ++++++++++++++++++++++
mapping solver time 35.256281 ms 
--------------------stamp1317358044.017669916
points size 102612 
mapping data assosiation time 46.567368 ms 
publication time 12.993045 ms 
whole laserOdometry time 13.085446 ms -----t: 0.0808128
OdomCount 2716 & avg odom time 0.047521 ms ++++++++++++++++++++++
points size 102708 
sort q time 6.886573 
seperate points time 13.530352 
publication time 11.739937 ms 
whole laserOdometry time 11.819179 ms 
 
-----t: 0.0635215
OdomCount 2717 & avg odom time 0.047527 ms ++++++++++++++++++++++
--------------------stamp1317358044.225120067
points size 102617 
sort q time 7.507487 
seperate points time 14.936234 
mapping data assosiation time 54.405005 ms 
publication time 25.424256 ms 
whole laserOdometry time 25.438798 ms 
 
--------------------stamp1317358044.328846931
prepare time 15.883821 
sort q time 6.421525 
seperate points time 14.998134 
publication time 12.960457 ms 
whole laserOdometry time 12.976687 ms 
 
-----t: 0.0613892
OdomCount 2719 & avg odom time 0.047549 ms ++++++++++++++++++++++
mapping optimization time 287.717534 
--------------------stamp1317358044.432573080
filter time 22.683543 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
publication time 12.475367 ms 
whole laserOdometry time 12.503605 ms 
 
-----t: 0.0550908
OdomCount 2720 & avg odom time 0.047552 ms ++++++++++++++++++++++
--------------------stamp1317358044.536324977
points size 102526 
sort q time 5.662159 
seperate points time 22.381819 
mapping data assosiation time 49.714088 ms 
mapping solver time 39.638649 ms 
points size 102601 
sort q time 5.763998 
seperate points time 12.285274 
mapping data assosiation time 51.508652 ms 
publication time 19.326517 ms 
whole laserOdometry time 19.340510 ms 
 
1317358044.640125036 WriteOdom laser_odom_to_init
1317358044.640125036 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 40.056133 ms 
mapping optimization time 269.511295 
add points time 1.456691 ms
points size 102567 
prepare time 11.460413 
filter time 23.736989 ms 
mapping pub time 2.408134 ms 
whole mapping time 303.538829 ms +++++
mappingCount 1767 & avg mapping time 155.997795 ms ++++++++++++++++++++++
1317358044.121395111 WriteOdom aft_mapped_to_init
scan registration time 35.309104 ms *************
publication time 10.579768 ms 
whole laserOdometry time 10.596458 ms 
 
--------------------stamp1317358044.847820043
prepare time 11.948764 
sort q time 6.327213 
seperate points time 13.795062 
mapping data assosiation time 49.528596 ms 
publication time 11.984619 ms 
whole laserOdometry time 11.998311 ms 
 
-----t: 0.0504909
OdomCount 2724 & avg odom time 0.047560 ms ++++++++++++++++++++++
1317358044.847820043 WriteOdom laser_odom_to_init
mapping solver time 40.398161 ms 
--------------------stamp1317358044.951785087
points size 102853 
sort q time 6.123726 
seperate points time 14.011671 
mapping data assosiation time 49.142865 ms 
-----t: 0.049535
OdomCount 2725 & avg odom time 0.047561 ms ++++++++++++++++++++++
mapping solver time 40.414631 ms 
--------------------stamp1317358045.055799007
mapping pub time 2.510680 ms 
whole mapping time 300.745472 ms +++++
mappingCount 1768 & avg mapping time 156.079676 ms ++++++++++++++++++++++
publication time 10.936130 ms -----t: 0.0642172
OdomCount 2726 & avg odom time 0.047567 ms ++++++++++++++++++++++
--------------------stamp1317358045.159862995
points size 103129 
sort q time 7.103427 
seperate points time 16.557911 
mapping data assosiation time 54.394347 ms 
-----t: 0.0579786
OdomCount 2727 & avg odom time 0.047571 ms ++++++++++++++++++++++
mapping solver time 43.921259 ms 
points size 103092 
prepare time 13.301078 
publication time 10.622216 ms 
whole laserOdometry time 10.638232 ms 
 
-----t: 0.0701623
OdomCount 2728 & avg odom time 0.047579 ms ++++++++++++++++++++++
mapping solver time 45.484760 ms 
points size 103194 
filter time 32.168506 ms 
map prepare time 11.211290 ms
map corner num 320544  surf num 138043 
-----t: 0.0517187
OdomCount 2729 & avg odom time 0.047580 ms ++++++++++++++++++++++
--------------------stamp1317358045.472218036
points size 102989 
sort q time 6.157243 
seperate points time 13.585113 
publication time 10.541456 ms 
whole laserOdometry time 10.556778 ms 
 
-----t: 0.056398
OdomCount 2730 & avg odom time 0.047584 ms ++++++++++++++++++++++
1317358045.472218036 WriteOdom laser_odom_to_init
1317358045.472218036 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358045.576256990
[0m[ INFO] [1718889559.412834350, 1317358045.593850188]: Received 453851 data points in frame camera_init with the following fields: x y z intensity[0m
publication time 10.054308 ms 
whole laserOdometry time 10.072716 ms 
 
-----t: 0.0619259
--------------------stamp1317358045.680273056
prepare time 11.793084 
mapping optimization time 289.140020 
publication time 15.674277 ms 
whole laserOdometry time 15.692350 ms 
 
filter time 31.029629 ms 
mapping pub time 2.404067 ms 
whole mapping time 335.564573 ms +++++
mappingCount 1770 & avg mapping time 156.279931 ms ++++++++++++++++++++++
1317358045.055799007 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
-----t: 0.0794627
OdomCount 2732 & avg odom time 0.047601 ms ++++++++++++++++++++++
points size 101880 
scan registration time 32.210879 ms *************
publication time 11.806254 ms 
whole laserOdometry time 11.821028 ms 
 
build tree time 90.463689 ms 
mapping data assosiation time 44.132407 ms 
points size 100323 
sort q time 5.626931 
seperate points time 13.122211 
publication time 10.006284 ms 
whole laserOdometry time 10.020821 ms 
 
-----t: 0.0606685
OdomCount 2734 & avg odom time 0.047606 ms ++++++++++++++++++++++
mapping data assosiation time 43.964949 ms 
--------------------stamp1317358045.992147922
points size 99450 
mapping solver time 40.888325 ms 
sort q time 6.385820 
seperate points time 15.017551 
filter time 30.166104 ms 
mapping pub time 12.057731 ms 
whole mapping time 314.528977 ms +++++
mappingCount 1771 & avg mapping time 156.369294 ms ++++++++++++++++++++++
-----t: 0.0685425
OdomCount 2735 & avg odom time 0.047614 ms ++++++++++++++++++++++
--------------------stamp1317358046.096115112
points size 98809 
sort q time 5.659561 
seperate points time 14.056718 
build tree time 86.629159 ms 
mapping data assosiation time 42.121691 ms 
points size 96932 
scan registration time 27.904861 ms *************
publication time 9.446013 ms 
whole laserOdometry time 9.460964 ms 
 
-----t: 0.0494596
OdomCount 2737 & avg odom time 0.047613 ms ++++++++++++++++++++++
mapping data assosiation time 45.752277 ms 
--------------------stamp1317358046.304047107
prepare time 10.299326 
mapping solver time 38.701366 ms 
mapping optimization time 256.842480 
add points time 1.698422 ms
publication time 8.536266 ms 
whole laserOdometry time 8.561168 ms 
 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
-----t: 0.0506271
OdomCount 2738 & avg odom time 0.047614 ms ++++++++++++++++++++++
--------------------stamp1317358046.408037900
prepare time 13.690400 
sort q time 5.412637 
seperate points time 13.347636 
build tree time 89.244897 ms 
-----t: 0.0537844
OdomCount 2739 & avg odom time 0.047616 ms ++++++++++++++++++++++
mapping data assosiation time 40.529403 ms 
--------------------stamp1317358046.512053012
prepare time 12.085438 
mapping solver time 37.389661 ms 
publication time 9.963909 ms 
whole laserOdometry time 10.050082 ms 
 
-----t: 0.044289
OdomCount 2740 & avg odom time 0.047615 ms ++++++++++++++++++++++
mapping solver time 26.659105 ms 
--------------------stamp1317358046.616092920
points size 93112 
prepare time 11.255351 
1317358046.096115112 WriteOdom aft_mapped_to_init
publication time 9.684150 ms 
whole laserOdometry time 9.703183 ms 
 
-----t: 0.0530136
OdomCount 2741 & avg odom time 0.047617 ms ++++++++++++++++++++++
1317358046.616092920 WriteOdom laser_odom_to_init
1317358046.616092920 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358046.720202922
points size 92472 
build tree time 93.565527 ms 
publication time 8.022070 ms 
whole laserOdometry time 8.037140 ms 
 
mapping data assosiation time 45.313920 ms 
mapping solver time 35.536176 ms 
points size 91237 
sort q time 5.306284 
seperate points time 11.561299 
mapping data assosiation time 45.448952 ms 
-----t: 0.0487984
OdomCount 2743 & avg odom time 0.047621 ms ++++++++++++++++++++++
mapping solver time 32.251312 ms 
--------------------stamp1317358046.928544044
prepare time 11.499335 
sort q time 5.810086 
seperate points time 11.507996 
publication time 10.287246 ms 
whole laserOdometry time 10.300155 ms 
 
-----t: 0.0455169
OdomCount 2744 & avg odom time 0.047621 ms ++++++++++++++++++++++
[0m[ INFO] [1718889560.830664867, 1317358047.013173414]: Received 461772 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889560.830705140, 1317358047.013173414]: Data saved to 1317358045368108.pcd[0m
--------------------stamp1317358047.032752037
points size 89397 
prepare time 14.695724 
sort q time 5.787282 
seperate points time 14.053475 
mapping data assosiation time 48.943134 ms 
mapping solver time 35.053354 ms 
--------------------stamp1317358047.136910915
points size 89706 
mapping data assosiation time 45.767587 ms 
publication time 11.416045 ms 
whole laserOdometry time 11.429746 ms 
 
-----t: 0.0489483
OdomCount 2746 & avg odom time 0.047619 ms ++++++++++++++++++++++
filter time 22.176145 ms 
points size 90481 
sort q time 5.197658 
seperate points time 12.275836 
publication time 12.161163 ms 
whole laserOdometry time 12.194971 ms 
 
build tree time 90.455499 ms 
--------------------stamp1317358047.345156908
points size 90598 
prepare time 16.466943 
scan registration time 36.023927 ms *************
-----t: 0.0384496
OdomCount 2748 & avg odom time 0.047616 ms ++++++++++++++++++++++
mapping solver time 41.255557 ms 
--------------------stamp1317358047.449245929
prepare time 10.937181 
sort q time 5.196360 
seperate points time 11.615583 
publication time 8.385855 ms 
whole laserOdometry time 8.401722 ms 
 
-----t: 0.0377975
OdomCount 2749 & avg odom time 0.047613 ms ++++++++++++++++++++++
1317358047.449245929 WriteOdom laser_odom_to_init
1317358047.449245929 WriteOdom aft_mapped_to_init_high_frec
filter time 21.889154 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358047.553353071
points size 91833 
sort q time 5.108157 
seperate points time 12.756631 
publication time 9.478606 ms 
whole laserOdometry time 9.507842 ms 
 
build tree time 93.482107 ms 
--------------------stamp1317358047.657464027
sort q time 5.036443 
seperate points time 10.788342 
publication time 8.872102 ms 
whole laserOdometry time 8.889781 ms 
 
mapping solver time 39.833629 ms 
--------------------stamp1317358047.761574983
prepare time 12.345150 
sort q time 4.858178 
seperate points time 11.403042 
mapping solver time 37.814980 ms 
publication time 13.305634 ms 
whole laserOdometry time 13.320656 ms 
 
filter time 28.070396 ms 
map prepare time 4.904380 ms
map corner num 329394  surf num 142104 
--------------------stamp1317358047.865663051
points size 92323 
sort q time 5.204211 
seperate points time 12.497213 
publication time 12.791780 ms 
whole laserOdometry time 12.804349 ms 
 
build tree time 95.540330 ms 
--------------------stamp1317358047.969748973
points size 92707 
sort q time 5.734248 
seperate points time 13.248968 
mapping solver time 40.434755 ms 
publication time 18.451849 ms 
whole laserOdometry time 18.460301 ms 
 
mapping data assosiation time 41.024489 ms 
--------------------stamp1317358048.073832988
prepare time 10.882006 
mapping solver time 35.286300 ms 
publication time 10.942334 ms 
whole laserOdometry time 10.970864 ms 
 
map prepare time 6.035368 ms
map corner num 330504  surf num 142510 
--------------------stamp1317358048.177896022
prepare time 12.185027 
sort q time 5.609828 
seperate points time 12.833867 
build tree time 89.977951 ms 
-----t: 0.0415178
OdomCount 2756 & avg odom time 0.047613 ms ++++++++++++++++++++++
1317358048.177896022 WriteOdom laser_odom_to_init
1317358048.177896022 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 39.852982 ms 
--------------------stamp1317358048.281938076
points size 95982 
mapping solver time 42.919045 ms 
prepare time 13.851164 
filter time 25.250109 ms 
map prepare time 5.879446 ms
map corner num 331640  surf num 142890 
-----t: 0.0448203
OdomCount 2758 & avg odom time 0.047610 ms ++++++++++++++++++++++
[0m[ INFO] [1718889562.295125424, 1317358048.472100419]: Received 469987 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889562.295164583, 1317358048.472100419]: Data saved to 1317358046928544.pcd[0m
--------------------stamp1317358048.489964962
points size 97963 
sort q time 5.611482 
seperate points time 12.365996 
publication time 10.220426 ms 
whole laserOdometry time 10.237425 ms 
 
mapping data assosiation time 41.751591 ms 
--------------------stamp1317358048.593981027
prepare time 13.063066 
sort q time 5.521992 
seperate points time 12.183265 
publication time 10.487720 ms 
whole laserOdometry time 10.516168 ms 
 
mapping optimization time 265.477777 
points size 99857 
filter time 33.345499 ms 
map prepare time 13.454813 ms
map corner num 332723  surf num 143270 
publication time 11.059680 ms 
whole laserOdometry time 11.071883 ms 
 
-----t: 0.0650732
OdomCount 2761 & avg odom time 0.047614 ms ++++++++++++++++++++++
--------------------stamp1317358048.802010059
prepare time 13.237603 
sort q time 5.582261 
seperate points time 11.646124 
scan registration time 36.471327 ms *************build tree time 107.899154 ms 
publication time 9.034704 ms 
whole laserOdometry time 9.050247 ms 
 
mapping data assosiation time 43.020374 ms 
points size 99270 
sort q time 6.200039 
seperate points time 12.931177 
mapping solver time 43.459519 ms 
publication time 13.484072 ms 
whole laserOdometry time 13.498318 ms 
 
-----t: 0.0615831
OdomCount 2763 & avg odom time 0.047623 ms ++++++++++++++++++++++
--------------------stamp1317358049.010087013
mapping optimization time 271.722050 
sort q time 5.745259 
seperate points time 14.307901 
filter time 31.809659 ms 
-----t: 0.0526522
OdomCount 2764 & avg odom time 0.047625 ms ++++++++++++++++++++++
--------------------stamp1317358049.114125967
sort q time 6.098140 
seperate points time 13.322738 
scan registration time 30.059680 ms *************
map prepare time 6.164712 ms
map corner num 333721  surf num 143591 
-----t: 0.045918
OdomCount 2765 & avg odom time 0.047624 ms ++++++++++++++++++++++
--------------------stamp1317358049.218163967
points size 99738 
sort q time 5.578109 
seperate points time 13.826496 
publication time 9.824432 ms 
whole laserOdometry time 9.836459 ms 
 
-----t: 0.0608277
OdomCount 2766 & avg odom time 0.047629 ms ++++++++++++++++++++++
--------------------stamp1317358049.322155952
points size 99919 
sort q time 5.747262 
seperate points time 14.200379 
publication time 9.775790 ms 
whole laserOdometry time 9.788651 ms 
 
mapping solver time 30.456243 ms 
--------------------stamp1317358049.426121950
points size 99850 
sort q time 5.549974 
seperate points time 13.959314 
map prepare time 5.246842 ms
map corner num 334720  surf num 143979 
-----t: 0.0472711
OdomCount 2768 & avg odom time 0.047628 ms ++++++++++++++++++++++
--------------------stamp1317358049.530090093
prepare time 10.670074 
sort q time 5.849306 
seperate points time 13.264381 
publication time 10.540889 ms 
whole laserOdometry time 10.555678 ms 
 
-----t: 0.060899
OdomCount 2769 & avg odom time 0.047633 ms ++++++++++++++++++++++
--------------------stamp1317358049.634057044
points size 100300 
mapping solver time 39.329022 ms 
prepare time 13.975194 
sort q time 19.162008 
seperate points time 28.725514 
scan registration time 48.428043 ms *************
mapping data assosiation time 47.234917 ms 
-----t: 0.0758451
OdomCount 2770 & avg odom time 0.047643 ms ++++++++++++++++++++++
--------------------stamp1317358049.738023042
points size 101879 
sort q time 5.842542 
seperate points time 14.400453 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
publication time 12.261843 ms 
whole laserOdometry time 12.276644 ms 
 
-----t: 0.0561751
OdomCount 2771 & avg odom time 0.047646 ms ++++++++++++++++++++++
--------------------stamp1317358049.841967105
prepare time 13.326100 
sort q time 7.322702 
seperate points time 13.827600 
build tree time 98.435141 ms 
-----t: 0.0635109
OdomCount 2772 & avg odom time 0.047652 ms ++++++++++++++++++++++
--------------------stamp1317358049.945884943
points size 100409 
mapping solver time 40.176986 ms 
scan registration time 34.842382 ms *************
publication time 10.244777 ms 
whole laserOdometry time 10.263656 ms 
 
mapping data assosiation time 43.933921 ms 
--------------------stamp1317358050.049802064
points size 100514 
sort q time 12.353975 
seperate points time 18.888055 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358050.153744935
points size 100556 
sort q time 5.864818 
seperate points time 14.369013 
build tree time 89.389936 ms 
publication time 9.964989 ms 
whole laserOdometry time 9.979289 ms 
 
mapping data assosiation time 38.320444 ms 
--------------------stamp1317358050.257711887
points size 100701 
prepare time 10.913310 
sort q time 14.160408 
seperate points time 23.059560 
mapping data assosiation time 44.988701 ms 
-----t: 0.0554563
OdomCount 2776 & avg odom time 0.047655 ms ++++++++++++++++++++++
mapping solver time 31.077508 ms 
--------------------stamp1317358050.361702919
prepare time 10.890565 
map prepare time 5.108035 ms
map corner num 338260  surf num 145456 
publication time 8.387061 ms 
whole laserOdometry time 8.405080 ms 
 
-----t: 0.051541
OdomCount 2777 & avg odom time 0.047657 ms ++++++++++++++++++++++
--------------------stamp1317358050.465694904
points size 101605 
sort q time 5.925724 
seperate points time 13.921422 
mapping data assosiation time 43.977731 ms 
-----t: 0.0457209
OdomCount 2778 & avg odom time 0.047656 ms ++++++++++++++++++++++
mapping solver time 38.630104 ms 
points size 102041 
sort q time 5.700827 
seperate points time 14.200866 
-----t: 0.041907
OdomCount 2779 & avg odom time 0.047654 ms ++++++++++++++++++++++
mapping solver time 34.421699 ms 
filter time 24.324703 ms 
1317358050.049802065 WriteOdom aft_mapped_to_init
sort q time 6.049402 
seperate points time 14.180178 
scan registration time 33.471710 ms *************
-----t: 0.0374088
OdomCount 2780 & avg odom time 0.047650 ms ++++++++++++++++++++++
build tree time 77.884869 ms 
--------------------stamp1317358050.777714014
points size 103788 
mapping data assosiation time 44.677934 ms 
publication time 11.606238 ms 
whole laserOdometry time 11.621569 ms 
 
-----t: 0.0514783
OdomCount 2781 & avg odom time 0.047652 ms ++++++++++++++++++++++
--------------------stamp1317358050.881728887
mapping data assosiation time 37.775220 ms 
sort q time 6.109425 
seperate points time 14.947192 
mapping solver time 38.810907 ms 
filter time 21.324994 ms 
map prepare time 4.843209 ms
map corner num 286647  surf num 138683 
--------------------stamp1317358050.985765933
points size 103133 
sort q time 5.999245 
seperate points time 14.511261 
publication time 10.302416 ms 
whole laserOdometry time 10.314336 ms 
 
build tree time 87.297126 ms 
mapping data assosiation time 39.235159 ms 
points size 102005 
sort q time 5.874590 
seperate points time 14.441410 
publication time 11.004407 ms 
whole laserOdometry time 11.017850 ms 
 
mapping data assosiation time 41.358374 ms 
--------------------stamp1317358051.193845987
points size 101719 
mapping solver time 32.759899 ms 
mapping optimization time 243.791391 
prepare time 14.555839 
add points time 2.273488 ms
sort q time 6.102141 
seperate points time 15.003073 
filter time 27.991197 ms 
publication time 11.874327 ms 
whole laserOdometry time 11.886499 ms 
 
-----t: 0.0472344
OdomCount 2785 & avg odom time 0.047661 ms ++++++++++++++++++++++
--------------------stamp1317358051.297908067
points size 101913 
sort q time 5.971202 
seperate points time 14.599453 
publication time 11.069144 ms 
whole laserOdometry time 11.096589 ms 
 
mapping data assosiation time 41.833156 ms 
--------------------stamp1317358051.401993989
prepare time 14.501360 
mapping solver time 42.575736 ms 
publication time 11.376520 ms 
whole laserOdometry time 11.404745 ms 
 
mapping data assosiation time 44.582539 ms 
[0m[ INFO] [1718889565.310728849, 1317358051.495593709]: Received 485245 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889565.310778434, 1317358051.495593709]: Data saved to 1317358050049802.pcd[0m
--------------------stamp1317358051.506104946
prepare time 15.079010 
mapping pub time 2.447340 ms publication time 9.801619 ms 
whole laserOdometry time 9.816250 ms 
 
1317358051.506104946 WriteOdom laser_odom_to_init
--------------------stamp1317358051.610215902
points size 101428 
sort q time 5.908686 
seperate points time 14.471237 
publication time 12.525997 ms 
whole laserOdometry time 12.542505 ms 
 
-----t: 0.0738833
OdomCount 2789 & avg odom time 0.047665 ms ++++++++++++++++++++++
1317358051.610215902 WriteOdom laser_odom_to_init
1317358051.610215902 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.508486 ms 
points size 101433 
sort q time 5.840146 
seperate points time 14.573015 
mapping data assosiation time 49.015791 ms 
-----t: 0.0507008
OdomCount 2790 & avg odom time 0.047667 ms ++++++++++++++++++++++
1317358051.714303016 WriteOdom laser_odom_to_init
1317358051.714303016 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358051.818366050
publication time 10.485127 ms 
whole laserOdometry time 10.546987 ms 
-----t: 0.0576588
OdomCount 2791 & avg odom time 0.047670 ms ++++++++++++++++++++++
1317358051.818366050 WriteOdom laser_odom_to_init
1317358051.818366050 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358051.922415971
points size 100643 
scan registration time 34.416621 ms *************
publication time 11.505259 ms 
whole laserOdometry time 11.518281 ms 
 
-----t: 0.0556626
OdomCount 2792 & avg odom time 0.047673 ms ++++++++++++++++++++++
1317358051.922415971 WriteOdom laser_odom_to_init
1317358051.922415971 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358052.026407957
prepare time 12.014736 
sort q time 5.548563 
seperate points time 13.384905 
publication time 9.863500 ms 
whole laserOdometry time 9.882827 ms 
 
-----t: 0.0461664
OdomCount 2793 & avg odom time 0.047672 ms ++++++++++++++++++++++
mapping solver time 45.981004 ms 
filter time 21.901115 ms 
1317358051.506104946 WriteOdom aft_mapped_to_init
scan registration time 38.627962 ms *************
publication time 8.238679 ms 
whole laserOdometry time 8.253384 ms 
 
build tree time 78.793348 ms 
points size 99303 
sort q time 5.833867 
seperate points time 13.142740 
mapping data assosiation time 47.631619 ms 
-----t: 0.057443
OdomCount 2795 & avg odom time 0.047677 ms ++++++++++++++++++++++
--------------------stamp1317358052.338151931
points size 99389 
mapping data assosiation time 43.666008 ms 
publication time 14.001575 ms 
whole laserOdometry time 14.015192 ms 
 
mapping solver time 42.613739 ms 
filter time 25.052659 ms 
map prepare time 6.428595 ms
map corner num 293555  surf num 142038 
prepare time 15.323221 
scan registration time 34.207157 ms *************
publication time 10.131382 ms 
whole laserOdometry time 10.146694 ms 
 
build tree time 83.000690 ms 
--------------------stamp1317358052.545821905
points size 96578 
mapping data assosiation time 41.862445 ms 
publication time 13.417663 ms 
whole laserOdometry time 13.426722 ms 
 
-----t: 0.0475501
OdomCount 2798 & avg odom time 0.047682 ms ++++++++++++++++++++++
1317358052.545821905 WriteOdom laser_odom_to_init
1317358052.545821905 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358052.649620056
prepare time 10.255872 
sort q time 6.135025 
seperate points time 13.019896 
mapping solver time 34.958840 ms 
mapping optimization time 244.505221 
add points time 1.371008 ms
-----t: 0.0398591
OdomCount 2799 & avg odom time 0.047679 ms ++++++++++++++++++++++
filter time 27.137681 ms 
map prepare time 5.360705 ms
map corner num 286415  surf num 136209 
points size 93192 
sort q time 5.102386 
seperate points time 12.329459 
publication time 19.397095 ms 
whole laserOdometry time 19.409612 ms 
 
-----t: 0.0428946
OdomCount 2800 & avg odom time 0.047677 ms ++++++++++++++++++++++
mapping data assosiation time 37.185961 ms 
--------------------stamp1317358052.857218027
prepare time 11.107992 
sort q time 5.394209 
seperate points time 13.094692 
publication time 10.512001 ms 
whole laserOdometry time 10.527579 ms 
 
-----t: 0.055215
OdomCount 2801 & avg odom time 0.047680 ms ++++++++++++++++++++++
--------------------stamp1317358052.960993051
mapping optimization time 243.091405 
sort q time 6.681934 
seperate points time 12.860574 
drop lidar frame in mapping for real time performance 
-----t: 0.0608594
OdomCount 2802 & avg odom time 0.047684 ms ++++++++++++++++++++++
1317358052.960993051 WriteOdom laser_odom_to_init
1317358052.960993051 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358053.064769983
prepare time 11.408841 
sort q time 5.021787 
seperate points time 12.789318 
publication time 12.519358 ms 
whole laserOdometry time 12.534819 ms 
 
mapping solver time 37.328254 ms 
points size 92349 
sort q time 6.624163 
seperate points time 13.349649 
mapping data assosiation time 43.294944 ms 
publication time 11.947247 ms 
whole laserOdometry time 11.967991 ms 
 
-----t: 0.0566305
OdomCount 2804 & avg odom time 0.047688 ms ++++++++++++++++++++++
filter time 20.757612 ms 
points size 94526 
sort q time 8.737908 
seperate points time 16.237189 
publication time 9.976651 ms 
whole laserOdometry time 9.992876 ms 
 
-----t: 0.0450808
OdomCount 2805 & avg odom time 0.047687 ms ++++++++++++++++++++++
1317358053.272291898 WriteOdom laser_odom_to_init
1317358053.272291898 WriteOdom aft_mapped_to_init_high_frec
build tree time 81.710570 ms 
--------------------stamp1317358053.376066923
prepare time 15.086266 
sort q time 5.682370 
seperate points time 18.845891 
publication time 11.040305 ms -----t: 0.0524704
OdomCount 2806 & avg odom time 0.047688 ms ++++++++++++++++++++++
--------------------stamp1317358053.479866027
prepare time 11.878175 
sort q time 5.555851 
seperate points time 13.535020 
publication time 11.364384 ms 
whole laserOdometry time 11.378170 ms 
 
-----t: 0.0513943
OdomCount 2807 & avg odom time 0.047690 ms ++++++++++++++++++++++
--------------------stamp1317358053.583666086
map prepare time 7.750968 ms
publication time 10.246374 ms 
whole laserOdometry time 10.260620 ms 
 
-----t: 0.0531217
OdomCount 2808 & avg odom time 0.047692 ms ++++++++++++++++++++++
1317358053.583666086 WriteOdom laser_odom_to_init
1317358053.583666086 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358053.687465906
points size 96031 
sort q time 5.378545 
seperate points time 13.014782 
mapping data assosiation time 37.606873 ms 
-----t: 0.044742
OdomCount 2809 & avg odom time 0.047691 ms ++++++++++++++++++++++
mapping solver time 37.582678 ms 
--------------------stamp1317358053.791239976
points size 95321 
sort q time 5.039864 
seperate points time 12.722324 
publication time 7.922193 ms 
whole laserOdometry time 7.935228 ms 
 
filter time 20.757127 ms 
-----t: 0.085727
OdomCount 2810 & avg odom time 0.047704 ms ++++++++++++++++++++++
prepare time 11.254885 
sort q time 6.452486 
seperate points time 13.232618 
publication time 16.145043 ms 
whole laserOdometry time 16.156865 ms 
 
-----t: 0.064758
OdomCount 2811 & avg odom time 0.047710 ms ++++++++++++++++++++++
mapping data assosiation time 35.830815 ms 
points size 95089 
prepare time 11.052175 
publication time 8.949414 ms 
whole laserOdometry time 8.964104 ms 
 
1317358053.998861074 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 47.460170 ms 
--------------------stamp1317358054.102663993
points size 96085 
sort q time 5.902198 
seperate points time 13.420616 
map prepare time 4.533638 ms
map corner num 293240  surf num 139025 
publication time 10.583904 ms 
whole laserOdometry time 10.601722 ms 
 
--------------------stamp1317358054.206461906
build tree time 73.931570 ms 
sort q time 4.804734 
seperate points time 11.859462 
publication time 14.006076 ms 1317358054.206461906 WriteOdom laser_odom_to_init
1317358054.206461906 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 42.105429 ms 
--------------------stamp1317358054.310254096
points size 92060 
sort q time 5.212564 
seperate points time 12.970013 
publication time 8.801058 ms 
whole laserOdometry time 8.815956 ms 
 
mapping solver time 32.596063 ms 
mapping optimization time 232.903869 
add points time 1.882961 ms
filter time 20.599345 ms 
map prepare time 4.524030 ms
map corner num 294706  surf num 139566 
--------------------stamp1317358054.414052963
prepare time 12.788699 
sort q time 5.127254 
seperate points time 13.110341 
publication time 10.520292 ms 
whole laserOdometry time 10.537149 ms 
 
-----t: 0.0425959
OdomCount 2816 & avg odom time 0.047702 ms ++++++++++++++++++++++
1317358054.414052963 WriteOdom laser_odom_to_init
1317358054.414052963 WriteOdom aft_mapped_to_init_high_frec
build tree time 85.274083 ms 
--------------------stamp1317358054.517875909
prepare time 13.615420 
sort q time 5.888776 
seperate points time 13.824904 
mapping solver time 41.667555 ms 
-----t: 0.0493134
OdomCount 2817 & avg odom time 0.047703 ms ++++++++++++++++++++++
--------------------stamp1317358054.621675968
mapping solver time 36.196636 ms 
scan registration time 36.922921 ms *************
filter time 29.664469 ms 
mapping pub time 2.137690 ms 
whole mapping time 277.941772 ms +++++
mappingCount 1800 & avg mapping time 158.584920 ms ++++++++++++++++++++++
1317358054.102663994 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358054.725450038
points size 91181 
sort q time 5.149936 
seperate points time 12.706988 
publication time 10.012513 ms 
whole laserOdometry time 10.028070 ms 
 
1317358054.725450038 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.991333 ms 
--------------------stamp1317358054.829251050
prepare time 13.600758 
sort q time 5.187680 
seperate points time 13.083773 
publication time 9.054693 ms 
whole laserOdometry time 9.068728 ms 
 
mapping data assosiation time 38.773917 ms 
mapping solver time 29.100411 ms 
points size 90450 
prepare time 14.192583 
sort q time 5.506645 
seperate points time 13.868669 
publication time 8.799212 ms 
whole laserOdometry time 8.808542 ms 
 
-----t: 0.0558065
OdomCount 2821 & avg odom time 0.047708 ms ++++++++++++++++++++++
--------------------stamp1317358055.036895990
prepare time 11.772728 
sort q time 5.186822 
seperate points time 12.871017 
publication time 8.945723 ms 
whole laserOdometry time 8.994198 ms 
 
-----t: 0.0436844
OdomCount 2822 & avg odom time 0.047707 ms ++++++++++++++++++++++
build tree time 74.562916 ms 
points size 90249 
sort q time 4.792897 
seperate points time 11.460060 
scan registration time 26.954993 ms *************
-----t: 0.0408237
OdomCount 2823 & avg odom time 0.047704 ms ++++++++++++++++++++++
mapping solver time 38.150003 ms 
--------------------stamp1317358055.244539022
points size 92693 
mapping solver time 22.497194 ms 
filter time 28.401820 ms 
publication time 9.148869 ms 
whole laserOdometry time 9.155414 ms 
 
-----t: 0.0434928
OdomCount 2824 & avg odom time 0.047703 ms ++++++++++++++++++++++
1317358055.244539022 WriteOdom laser_odom_to_init
1317358055.244539022 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.181472 ms 
whole mapping time 248.307746 ms +++++
mappingCount 1802 & avg mapping time 158.753416 ms ++++++++++++++++++++++
1317358054.621675968 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358055.348362922
prepare time 11.509839 
sort q time 4.955795 
seperate points time 27.424004 
-----t: 0.0426895
OdomCount 2825 & avg odom time 0.047701 ms ++++++++++++++++++++++
mapping data assosiation time 35.937525 ms 
--------------------stamp1317358055.452187061
points size 92813 
sort q time 5.278083 
seperate points time 13.160290 
publication time 8.868039 ms 
whole laserOdometry time 8.881618 ms 
 
-----t: 0.0448534
OdomCount 2826 & avg odom time 0.047700 ms ++++++++++++++++++++++
mapping solver time 31.021460 ms 
filter time 20.133668 ms 
map prepare time 6.056681 ms
map corner num 299977  surf num 141824 
sort q time 5.170118 
seperate points time 12.455619 
-----t: 0.0346499
OdomCount 2827 & avg odom time 0.047695 ms ++++++++++++++++++++++
build tree time 81.492456 ms 
--------------------stamp1317358055.659833908
points size 94726 
mapping data assosiation time 36.476970 ms 
scan registration time 32.986616 ms *************
publication time 9.387484 ms 
whole laserOdometry time 9.419385 ms 
 
-----t: 0.0468926
OdomCount 2828 & avg odom time 0.047695 ms ++++++++++++++++++++++
mapping data assosiation time 32.778756 ms 
--------------------stamp1317358055.763655900
points size 95558 
mapping optimization time 221.111375 
scan registration time 32.702619 ms *************
filter time 23.688845 ms 
map prepare time 6.022723 ms
map corner num 301358  surf num 142689 
-----t: 0.0610223
OdomCount 2829 & avg odom time 0.047700 ms ++++++++++++++++++++++
--------------------stamp1317358055.867477893
points size 95448 
sort q time 5.116462 
seperate points time 13.026815 
publication time 13.055950 ms 
whole laserOdometry time 13.083118 ms 
 
mapping data assosiation time 40.107440 ms 
mapping solver time 25.946300 ms 
points size 95449 
sort q time 6.339067 
seperate points time 15.685716 
publication time 9.414898 ms 
whole laserOdometry time 9.424983 ms 
 
filter time 20.121509 ms 
map prepare time 6.539776 ms
map corner num 302738  surf num 143482 
sort q time 4.941615 
seperate points time 11.260052 
publication time 12.194598 ms 
whole laserOdometry time 12.206813 ms 
 
build tree time 80.770391 ms 
--------------------stamp1317358056.178899049
points size 95546 
mapping data assosiation time 39.864216 ms 
publication time 9.442546 ms 
whole laserOdometry time 9.455964 ms 
 
mapping solver time 38.675877 ms 
-----t: 0.0455224
OdomCount 2833 & avg odom time 0.047698 ms ++++++++++++++++++++++
1317358056.178899049 WriteOdom laser_odom_to_init
1317358056.178899049 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 39.539785 ms 
points size 95588 
sort q time 5.446895 
seperate points time 13.680887 
scan registration time 33.344055 ms *************
add points time 2.310595 ms
-----t: 0.0526486
OdomCount 2834 & avg odom time 0.047700 ms ++++++++++++++++++++++
--------------------stamp1317358056.386542081
prepare time 11.203345 
sort q time 5.305778 
seperate points time 13.172131 
publication time 9.024484 ms 
whole laserOdometry time 9.036263 ms 
 
mapping data assosiation time 36.967497 ms 
--------------------stamp1317358056.490340948
points size 92978 
sort q time 5.420177 
seperate points time 12.794393 
publication time 10.121011 ms 
whole laserOdometry time 10.133444 ms 
 
mapping data assosiation time 41.852288 ms 
-----t: 0.057228
OdomCount 2836 & avg odom time 0.047701 ms ++++++++++++++++++++++
1317358056.490340948 WriteOdom laser_odom_to_init
1317358056.490340948 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 226.822790 
--------------------stamp1317358056.594139099
points size 91819 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 5.909084 ms
map corner num 289265  surf num 146829 
publication time 10.552937 ms 
whole laserOdometry time 10.568953 ms 
 
--------------------stamp1317358056.697915077
sort q time 5.298124 
seperate points time 12.706651 
mapping data assosiation time 44.707719 ms 
mapping solver time 35.561857 ms 
--------------------stamp1317358056.801666021
prepare time 13.322557 
sort q time 5.154742 
seperate points time 13.046802 
mapping solver time 33.321381 ms 
-----t: 0.0501367
OdomCount 2839 & avg odom time 0.047703 ms ++++++++++++++++++++++
filter time 24.178480 ms 
map prepare time 4.727203 ms
map corner num 290677  surf num 147664 
--------------------stamp1317358056.905415058
prepare time 13.987112 
sort q time 6.048518 
seperate points time 13.392192 
publication time 9.074208 ms 
whole laserOdometry time 9.090962 ms 
 
-----t: 0.0444572
OdomCount 2840 & avg odom time 0.047702 ms ++++++++++++++++++++++
build tree time 84.354259 ms 
--------------------stamp1317358057.009169101
points size 91862 
sort q time 5.002977 
seperate points time 12.820902 
mapping solver time 39.349739 ms 
-----t: 0.0546477
OdomCount 2841 & avg odom time 0.047704 ms ++++++++++++++++++++++
mapping data assosiation time 42.939460 ms 
--------------------stamp1317358057.112921953
mapping optimization time 232.466316 
sort q time 5.606551 
seperate points time 12.431710 
1317358056.594139099 WriteOdom aft_mapped_to_init
-----t: 0.0459323
OdomCount 2842 & avg odom time 0.047704 ms ++++++++++++++++++++++
1317358057.112921953 WriteOdom laser_odom_to_init
1317358057.112921953 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358057.216670036
points size 94441 
sort q time 5.334509 
seperate points time 13.114256 
publication time 9.530468 ms 
whole laserOdometry time 9.547011 ms 
 
1317358057.216670036 WriteOdom laser_odom_to_init
mapping data assosiation time 43.313690 ms 
--------------------stamp1317358057.320417881
points size 94977 
sort q time 5.373026 
seperate points time 13.435295 
mapping data assosiation time 43.817043 ms 
-----t: 0.0493078
OdomCount 2844 & avg odom time 0.047703 ms ++++++++++++++++++++++
1317358057.320417881 WriteOdom laser_odom_to_init
1317358057.320417881 WriteOdom aft_mapped_to_init_high_frec
add points time 1.798931 ms
filter time 21.526102 ms 
map prepare time 7.360551 ms
map corner num 293773  surf num 149509 
points size 95576 
prepare time 14.847259 
sort q time 5.405604 
seperate points time 13.816512 
scan registration time 34.993017 ms *************
publication time 11.051401 ms build tree time 86.116418 ms 
points size 96168 
sort q time 6.313001 
seperate points time 15.788124 
publication time 9.818962 ms 
whole laserOdometry time 9.830696 ms 
 
-----t: 0.0418284
OdomCount 2846 & avg odom time 0.047706 ms ++++++++++++++++++++++
1317358057.527921915 WriteOdom laser_odom_to_init
1317358057.527921915 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.219118 ms 
--------------------stamp1317358057.631648063
mapping data assosiation time 41.255563 ms 
publication time 11.203506 ms 
whole laserOdometry time 11.220477 ms 
 
filter time 22.466458 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358057.735421895
points size 100083 
sort q time 5.761125 
seperate points time 14.435738 
-----t: 0.0397456
OdomCount 2848 & avg odom time 0.047702 ms ++++++++++++++++++++++
build tree time 87.519161 ms 
--------------------stamp1317358057.839220046
mapping data assosiation time 38.267248 ms 
sort q time 5.676964 
seperate points time 13.912590 
mapping solver time 45.208929 ms 
publication time 11.534473 ms 
whole laserOdometry time 11.548711 ms 
 
mapping data assosiation time 39.707804 ms 
points size 101897 
prepare time 14.361008 
sort q time 5.768260 
seperate points time 14.698068 
scan registration time 34.444708 ms *************
filter time 28.937362 ms 
mapping pub time 2.222641 ms 
whole mapping time 279.857681 ms +++++
mappingCount 1812 & avg mapping time 159.344517 ms ++++++++++++++++++++++
1317358057.424170971 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
publication time 10.779895 ms 
whole laserOdometry time 10.796880 ms 
 
--------------------stamp1317358058.046891927
points size 101118 
sort q time 16.332031 
seperate points time 25.431196 
publication time 14.253577 ms 
whole laserOdometry time 14.265197 ms 
 
mapping data assosiation time 44.087802 ms 
mapping solver time 20.707741 ms 
--------------------stamp1317358058.254535913
filter time 24.233082 ms 
points size 97131 
mapping pub time 2.631010 ms 
whole mapping time 265.831208 ms +++++
mappingCount 1813 & avg mapping time 159.403256 ms ++++++++++++++++++++++
1317358057.735421896 WriteOdom aft_mapped_to_init
prepare time 13.664020 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
sort q time 5.724013 
seperate points time 14.979148 
publication time 20.959337 ms 
whole laserOdometry time 20.973899 ms 
 
-----t: 0.073486
OdomCount 2853 & avg odom time 0.047721 ms ++++++++++++++++++++++
1317358058.254535913 WriteOdom laser_odom_to_init
1317358058.254535913 WriteOdom aft_mapped_to_init_high_frec
build tree time 85.751477 ms 
sort q time 6.286201 
seperate points time 14.340015 
publication time 13.409360 ms 
whole laserOdometry time 13.424534 ms 
 
-----t: 0.0500033
OdomCount 2854 & avg odom time 0.047722 ms ++++++++++++++++++++++
mapping solver time 39.185058 ms 
prepare time 16.494790 
sort q time 6.270011 
seperate points time 15.895664 
publication time 12.933927 ms 
whole laserOdometry time 12.946237 ms 
 
mapping solver time 34.120445 ms 
filter time 20.478274 ms 
map prepare time 6.185613 ms
map corner num 299828  surf num 153066 
sort q time 5.248690 
seperate points time 13.451586 
publication time 8.572960 ms 
whole laserOdometry time 8.587792 ms 
 
[0m[ INFO] [1718889572.444526087, 1317358058.621137368]: Received 445845 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889572.444693233, 1317358058.631200537]: Data saved to 1317358057216670.pcd[0m
build tree time 79.757688 ms 
--------------------stamp1317358058.669756889
points size 93263 
mapping data assosiation time 42.135296 ms 
publication time 9.344943 ms 
whole laserOdometry time 9.361733 ms 
 
mapping solver time 41.432871 ms 
--------------------stamp1317358058.773554086
prepare time 13.105162 
sort q time 5.143035 
seperate points time 13.564821 
scan registration time 33.445071 ms *************
mapping solver time 42.899806 ms 
-----t: 0.0511973
OdomCount 2858 & avg odom time 0.047723 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358058.877352952
points size 91812 
sort q time 4.981627 
seperate points time 12.897981 
publication time 10.189403 ms 
whole laserOdometry time 10.203820 ms 
 
build tree time 83.164130 ms 
mapping data assosiation time 36.974297 ms 
points size 92856 
sort q time 5.024351 
seperate points time 12.703584 
mapping solver time 45.544407 ms 
scan registration time 45.654030 ms *************
publication time 8.171359 ms 
whole laserOdometry time 8.183515 ms 
 
mapping data assosiation time 42.226787 ms 
--------------------stamp1317358059.084902048
prepare time 13.441572 
sort q time 5.621306 
seperate points time 12.708252 
publication time 16.097228 ms 
whole laserOdometry time 16.130103 ms 
 
-----t: 0.050294
OdomCount 2861 & avg odom time 0.047721 ms ++++++++++++++++++++++
--------------------stamp1317358059.188677072
prepare time 11.388541 
sort q time 5.623235 
seperate points time 12.062830 
build tree time 80.973139 ms 
-----t: 0.0576087
OdomCount 2862 & avg odom time 0.047724 ms ++++++++++++++++++++++
mapping data assosiation time 41.916771 ms 
--------------------stamp1317358059.292475938
mapping solver time 31.615197 ms 
sort q time 5.015701 
seperate points time 11.898946 
-----t: 0.0386097
OdomCount 2863 & avg odom time 0.047721 ms ++++++++++++++++++++++
mapping solver time 27.989949 ms 
--------------------stamp1317358059.396297931
filter time 25.462009 ms 
map prepare time 8.479986 ms
map corner num 269674  surf num 128678 
publication time 11.222674 ms 
whole laserOdometry time 11.237657 ms 
 
-----t: 0.0420285
OdomCount 2864 & avg odom time 0.047719 ms ++++++++++++++++++++++
1317358059.396297931 WriteOdom laser_odom_to_init
1317358059.396297931 WriteOdom aft_mapped_to_init_high_frec
build tree time 69.872354 ms 
--------------------stamp1317358059.500097036
prepare time 13.524479 
sort q time 5.165979 
seperate points time 12.425764 
1317358059.500097036 WriteOdom laser_odom_to_init
1317358059.500097036 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358059.603897094
prepare time 15.885786 
sort q time 5.309745 
seperate points time 12.477339 
mapping solver time 35.973108 ms 
-----t: 0.0517317
OdomCount 2866 & avg odom time 0.047721 ms ++++++++++++++++++++++
filter time 22.778955 ms 
map prepare time 4.773603 ms
map corner num 271135  surf num 129413 
--------------------stamp1317358059.707695007
points size 93003 
sort q time 5.349659 
seperate points time 12.559952 
publication time 9.060505 ms 
whole laserOdometry time 9.073347 ms 
 
mapping data assosiation time 38.022962 ms 
--------------------stamp1317358059.811492919
prepare time 13.076623 
mapping solver time 39.077987 ms 
publication time 10.387224 ms 
whole laserOdometry time 10.401170 ms 
 
-----t: 0.047679
OdomCount 2868 & avg odom time 0.047718 ms ++++++++++++++++++++++
mapping solver time 29.672876 ms 
points size 96292 
filter time 23.579249 ms 
-----t: 0.0367491
OdomCount 2869 & avg odom time 0.047714 ms ++++++++++++++++++++++
build tree time 68.020177 ms 
points size 98307 
prepare time 15.239407 
sort q time 5.654968 
seperate points time 14.166554 
mapping data assosiation time 46.400879 ms 
-----t: 0.0455259
OdomCount 2870 & avg odom time 0.047713 ms ++++++++++++++++++++++
mapping solver time 38.054059 ms 
points size 101006 
sort q time 5.910813 
seperate points time 14.460304 
publication time 9.752439 ms 
whole laserOdometry time 9.763785 ms 
 
mapping solver time 35.457432 ms 
-----t: 0.0526073
OdomCount 2871 & avg odom time 0.047715 ms ++++++++++++++++++++++
filter time 19.663166 ms 
mapping pub time 2.189696 ms 
whole mapping time 262.854942 ms +++++
mappingCount 1820 & avg mapping time 159.845380 ms ++++++++++++++++++++++
1317358059.707695007 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358060.226736068
sort q time 5.493426 
seperate points time 12.516425 
publication time 9.881902 ms 
whole laserOdometry time 9.897600 ms 
 
build tree time 75.184308 ms 
mapping data assosiation time 36.049535 ms 
points size 102110 
sort q time 5.778777 
seperate points time 13.992837 
-----t: 0.0419833
OdomCount 2873 & avg odom time 0.047713 ms ++++++++++++++++++++++
mapping data assosiation time 42.580648 ms 
--------------------stamp1317358060.434335947
prepare time 12.758895 
sort q time 6.103789 
seperate points time 13.588599 
filter time 23.963699 ms 
publication time 12.112732 ms 
whole laserOdometry time 12.130832 ms 
 
1317358060.434335947 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358060.538134098
points size 102337 
prepare time 19.380185 
sort q time 6.622362 
seperate points time 16.160269 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 7.254639 ms
map corner num 275112  surf num 131396 
-----t: 0.0554171
OdomCount 2875 & avg odom time 0.047718 ms ++++++++++++++++++++++
--------------------stamp1317358060.641907930
points size 102455 
prepare time 32.247870 
sort q time 15.122526 
seperate points time 33.465561 
scan registration time 79.870776 ms *************
-----t: 0.0718055
OdomCount 2876 & avg odom time 0.047727 ms ++++++++++++++++++++++
publication time 20.122408 ms 
whole laserOdometry time 20.198971 ms 
 
sort q time 6.249019 
seperate points time 14.892264 
mapping solver time 44.544345 ms 
publication time 21.936996 ms 
whole laserOdometry time 21.966374 ms 
 
mapping data assosiation time 48.488471 ms 
points size 102766 
sort q time 13.357162 
seperate points time 31.772319 
mapping solver time 90.033269 ms 
points size 103392 
publication time 46.910317 ms 
whole laserOdometry time 46.924074 ms 
 
sort q time 12.222762 -----t: 0.152866
OdomCount 2878 & avg odom time 0.047790 ms ++++++++++++++++++++++mapping pub time 8.930684 ms 
whole mapping time 486.522026 ms +++++
mappingCount 1822 & avg mapping time 160.142146 ms ++++++++++++++++++++++
map prepare time 10.356752 ms
map corner num 276445  surf num 132248 
publication time 8.011730 ms 
whole laserOdometry time 8.024221 ms 
 
-----t: 0.0622846
OdomCount 2879 & avg odom time 0.047795 ms ++++++++++++++++++++++
1317358060.953305959 WriteOdom laser_odom_to_init
1317358060.953305959 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358061.160902023
points size 103337 
sort q time 6.894088 
seperate points time 19.322498 
scan registration time 50.410176 ms *************
publication time 11.503289 ms 
whole laserOdometry time 11.516275 ms 
 
mapping solver time 42.904013 ms 
points size 102763 
sort q time 6.951299 
seperate points time 16.497593 
mapping data assosiation time 46.365367 ms 
publication time 10.167062 ms 
whole laserOdometry time 10.183493 ms 
 
mapping solver time 31.532033 ms 
--------------------stamp1317358061.368545055
mapping pub time 2.453685 ms 
whole mapping time 297.816152 ms +++++
mappingCount 1823 & avg mapping time 160.217668 ms ++++++++++++++++++++++
map prepare time 7.156784 ms
map corner num 277833  surf num 133169 
sort q time 6.816749 
seperate points time 19.191537 
publication time 12.606771 ms 
whole laserOdometry time 12.622124 ms 
 
build tree time 74.475605 ms 
--------------------stamp1317358061.472371101
prepare time 11.363832 
sort q time 6.069511 
seperate points time 17.451715 
publication time 12.344156 ms 
whole laserOdometry time 12.389567 ms 
 
mapping solver time 36.051694 ms 
--------------------stamp1317358061.576193094
points size 102358 
sort q time 5.866746 
seperate points time 13.258986 
mapping solver time 40.157292 ms 
filter time 19.920519 ms 
map prepare time 4.486680 ms
map corner num 279369  surf num 134384 
--------------------stamp1317358061.680015087
sort q time 5.934358 
seperate points time 13.594804 
build tree time 68.692441 ms 
mapping data assosiation time 40.448629 ms 
--------------------stamp1317358061.783838033
points size 102608 
sort q time 5.866552 
seperate points time 13.933466 
publication time 12.964344 ms 
whole laserOdometry time 12.974137 ms 
 
1317358061.783838033 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 46.307024 ms 
--------------------stamp1317358061.887659072
prepare time 13.904881 
sort q time 6.021809 
seperate points time 13.987161 
map prepare time 6.784177 ms
map corner num 270928  surf num 132165 
publication time 15.802665 ms 
whole laserOdometry time 15.813301 ms 
 
-----t: 0.0698673
OdomCount 2888 & avg odom time 0.047803 ms ++++++++++++++++++++++
--------------------stamp1317358061.991485118
points size 103678 
sort q time 7.558359 
seperate points time 17.238370 
publication time 16.502446 ms 
whole laserOdometry time 16.516186 ms 
 
mapping data assosiation time 55.933494 ms 
-----t: 0.066161
OdomCount 2889 & avg odom time 0.047809 ms ++++++++++++++++++++++
1317358061.991485118 WriteOdom laser_odom_to_init
1317358061.991485118 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358062.095308065
points size 103947 
sort q time 6.263812 
seperate points time 13.127192 
publication time 11.122423 ms 
whole laserOdometry time 11.135528 ms 
 
mapping data assosiation time 51.824008 ms 
-----t: 0.0667375
OdomCount 2890 & avg odom time 0.047816 ms ++++++++++++++++++++++
--------------------stamp1317358062.199131011
add points time 1.860009 ms
sort q time 6.773549 
seperate points time 13.902782 
mapping pub time 9.136349 ms map prepare time 6.908389 ms
map corner num 272584  surf num 133331 
-----t: 0.0597914
OdomCount 2891 & avg odom time 0.047820 ms ++++++++++++++++++++++
--------------------stamp1317358062.302978992
points size 103886 
build tree time 75.787148 ms 
publication time 12.146407 ms 
whole laserOdometry time 12.169311 ms 
 
mapping data assosiation time 48.360736 ms 
--------------------stamp1317358062.406850099
points size 103798 
mapping solver time 51.813326 ms 
sort q time 6.641966 
seperate points time 17.886903 
publication time 11.352476 ms 
whole laserOdometry time 11.366273 ms 
 
mapping data assosiation time 51.086815 ms 
1317358062.406850099 WriteOdom laser_odom_to_init
1317358062.406850099 WriteOdom aft_mapped_to_init_high_frec
prepare time 14.887782 
sort q time 6.314847 
seperate points time 13.722261 
publication time 10.919765 ms 
whole laserOdometry time 10.935752 ms 
 
--------------------stamp1317358062.614662885
points size 103776 
sort q time 6.616565 
seperate points time 16.199368 
publication time 16.134778 ms 
whole laserOdometry time 16.151131 ms 
 
--------------------stamp1317358062.718580007
prepare time 12.093203 
sort q time 7.420814 
seperate points time 17.216574 
publication time 10.842410 ms 
whole laserOdometry time 10.858866 ms 
 
mapping data assosiation time 56.812655 ms 
--------------------stamp1317358062.822521924
points size 103572 
prepare time 14.534248 
scan registration time 34.860039 ms *************
add points time 1.964997 ms
-----t: 0.0505176
OdomCount 2897 & avg odom time 0.047844 ms ++++++++++++++++++++++
1317358062.822521924 WriteOdom laser_odom_to_init
1317358062.822521924 WriteOdom aft_mapped_to_init_high_frec
filter time 27.665042 ms 
[0m[ INFO] [1718889576.715681844, 1317358062.893567568]: Received 405915 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889576.715749109, 1317358062.893567568]: Data saved to 1317358061680015.pcd[0m
mapping pub time 2.511395 ms 
whole mapping time 345.109587 ms +++++
mappingCount 1828 & avg mapping time 160.603973 ms ++++++++++++++++++++++
1317358062.199131012 WriteOdom aft_mapped_to_init
--------------------stamp1317358062.926487922
points size 103486 
sort q time 7.961391 
seperate points time 15.509954 
publication time 12.532426 ms 
whole laserOdometry time 12.547791 ms 
 
--------------------stamp1317358063.030431032
prepare time 12.991532 
sort q time 6.388368 
seperate points time 14.885732 
publication time 16.324953 ms 
whole laserOdometry time 16.338166 ms 
 
1317358063.030431032 WriteOdom laser_odom_to_init
--------------------stamp1317358063.134351015
points size 103066 
sort q time 6.449180 
publication time 11.055070 ms filter time 27.984580 ms 
map prepare time 5.574798 ms
map corner num 277294  surf num 136114 
sort q time 6.384561 
seperate points time 13.934930 
publication time 12.840289 ms 
whole laserOdometry time 12.856184 ms 
 
-----t: 0.0476396
OdomCount 2901 & avg odom time 0.047862 ms ++++++++++++++++++++++
build tree time 82.448536 ms 
--------------------stamp1317358063.342236042
points size 102310 
sort q time 6.401834 
seperate points time 15.574782 
publication time 12.684873 ms 
whole laserOdometry time 12.700760 ms 
 
mapping solver time 51.115717 ms 
--------------------stamp1317358063.446192979
sort q time 6.502868 
seperate points time 14.741190 
mapping solver time 34.688435 ms 
filter time 22.935411 ms 
map prepare time 5.368022 ms
map corner num 278857  surf num 137028 
sort q time 6.500599 
seperate points time 16.200470 
publication time 14.337810 ms 
whole laserOdometry time 14.351627 ms 
 
build tree time 76.821577 ms 
--------------------stamp1317358063.654109954
points size 101404 
sort q time 6.675036 
seperate points time 14.675233 
publication time 11.485756 ms 
whole laserOdometry time 11.498596 ms 
 
-----t: 0.0524186
OdomCount 2905 & avg odom time 0.047871 ms ++++++++++++++++++++++
1317358063.654109954 WriteOdom laser_odom_to_init
1317358063.654109954 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358063.758076906
prepare time 12.458131 
sort q time 6.392260 
seperate points time 14.403563 
publication time 11.526614 ms 
whole laserOdometry time 11.541485 ms 
 
-----t: 0.0473525
OdomCount 2906 & avg odom time 0.047871 ms ++++++++++++++++++++++
1317358063.758076906 WriteOdom laser_odom_to_init
1317358063.758076906 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 44.304808 ms 
filter time 19.289069 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
points size 101706 
sort q time 6.222066 
seperate points time 15.292876 
scan registration time 38.003713 ms *************
publication time 11.032188 ms 
whole laserOdometry time 11.112160 ms 
 
build tree time 82.708727 ms 
points size 101903 
sort q time 8.819174 
seperate points time 17.979819 
publication time 12.291788 ms 
whole laserOdometry time 12.310305 ms 
 
-----t: 0.0614666
OdomCount 2908 & avg odom time 0.047878 ms ++++++++++++++++++++++
mapping solver time 51.691420 ms 
--------------------stamp1317358064.070003032
points size 101852 
sort q time 6.032183 
seperate points time 16.002696 
publication time 10.903630 ms 
whole laserOdometry time 10.917551 ms 
 
-----t: 0.0590311
OdomCount 2909 & avg odom time 0.047881 ms ++++++++++++++++++++++
mapping solver time 45.318176 ms 
--------------------stamp1317358064.173991918
points size 101663 
sort q time 6.143853 
seperate points time 13.330112 
publication time 10.915123 ms 
whole laserOdometry time 10.933780 ms 
 
-----t: 0.0561852
OdomCount 2910 & avg odom time 0.047884 ms ++++++++++++++++++++++
points size 101427 
sort q time 7.092329 
seperate points time 15.715329 
scan registration time 45.425820 ms *************
[0m[ INFO] [1718889578.140743683, 1317358064.318025347]: Received 418127 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889578.140906142, 1317358064.318025347]: Data saved to 1317358063238292.pcd[0m
-----t: 0.0583113
OdomCount 2911 & avg odom time 0.047888 ms ++++++++++++++++++++++
mapping solver time 42.054935 ms 
points size 101142 
scan registration time 37.406779 ms *************
publication time 12.124496 ms 
whole laserOdometry time 12.140073 ms 
 
mapping solver time 38.085621 ms 
filter time 18.980686 ms 
prepare time 16.441239 
sort q time 6.227333 
seperate points time 14.708267 
publication time 10.724061 ms 
whole laserOdometry time 10.753184 ms -----t: 0.0470449
OdomCount 2913 & avg odom time 0.047889 ms ++++++++++++++++++++++
build tree time 89.628010 ms 
points size 101217 
sort q time 5.993550 
seperate points time 15.312751 
mapping data assosiation time 50.105049 ms 
publication time 13.104502 ms 
whole laserOdometry time 13.119907 ms 
 
1317358064.589834928 WriteOdom laser_odom_to_init
mapping solver time 45.625728 ms 
--------------------stamp1317358064.693732023
prepare time 12.776606 
sort q time 6.512516 
seperate points time 13.753089 
publication time 11.570636 ms 
whole laserOdometry time 11.585118 ms 
 
-----t: 0.0595318
OdomCount 2915 & avg odom time 0.047894 ms ++++++++++++++++++++++
mapping optimization time 285.946800 
--------------------stamp1317358064.797626972
points size 101444 
sort q time 6.813542 
seperate points time 15.977352 
scan registration time 38.996648 ms *************
-----t: 0.0615696
OdomCount 2916 & avg odom time 0.047899 ms ++++++++++++++++++++++
1317358064.797626972 WriteOdom laser_odom_to_init
1317358064.797626972 WriteOdom aft_mapped_to_init_high_frec
points size 101587 
prepare time 16.333936 
build tree time 98.457452 ms 
scan registration time 37.403724 ms *************
publication time 11.361113 ms 
whole laserOdometry time 11.379454 ms 
 
-----t: 0.0517083
OdomCount 2917 & avg odom time 0.047900 ms ++++++++++++++++++++++
--------------------stamp1317358065.005414962
prepare time 12.337208 
sort q time 5.784793 
seperate points time 13.395951 
publication time 9.539659 ms 
whole laserOdometry time 9.550772 ms 
 
-----t: 0.0477629
OdomCount 2918 & avg odom time 0.047900 ms ++++++++++++++++++++++
mapping data assosiation time 50.950918 ms 
--------------------stamp1317358065.109308958
prepare time 11.282649 
add points time 1.716613 ms
publication time 10.651348 ms 
whole laserOdometry time 10.672263 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 
--------------------stamp1317358065.213156938
points size 101617 
prepare time 13.980859 
sort q time 6.482500 
seperate points time 16.006231 
build tree time 85.235656 ms 
publication time 10.101773 ms 
whole laserOdometry time 10.117484 ms 
 
-----t: 0.0855355
OdomCount 2920 & avg odom time 0.047916 ms ++++++++++++++++++++++
sort q time 6.174634 
seperate points time 12.999954 
publication time 10.452742 ms 
whole laserOdometry time 10.505518 ms 
 
mapping solver time 55.702949 ms 
-----t: 0.0635086
OdomCount 2921 & avg odom time 0.047921 ms ++++++++++++++++++++++
--------------------stamp1317358065.420706987
prepare time 11.452228 
sort q time 6.033560 
seperate points time 14.025616 
publication time 10.488849 ms 
-----t: 0.0522346
OdomCount 2922 & avg odom time 0.047922 ms ++++++++++++++++++++++
1317358064.797626972 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 4.757876 ms
map corner num 286799  surf num 140683 
--------------------stamp1317358065.524408102
prepare time 11.648157 
sort q time 6.244338 
seperate points time 13.640128 
publication time 11.503019 ms 
whole laserOdometry time 11.517922 ms 
 
-----t: 0.0410582
OdomCount 2923 & avg odom time 0.047920 ms ++++++++++++++++++++++
build tree time 92.856046 ms 
--------------------stamp1317358065.628062963
prepare time 13.080874 
sort q time 5.591958 
seperate points time 13.859526 
publication time 11.357541 ms 
whole laserOdometry time 11.376655 ms 
 
mapping solver time 49.448004 ms 
--------------------stamp1317358065.731717109
mapping data assosiation time 39.142754 ms 
points size 101527 
prepare time 12.431174 
sort q time 8.277946 
seperate points time 17.842140 
[0m[ INFO] [1718889579.591527514, 1317358065.768973644]: Received 427482 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889579.591575431, 1317358065.768973644]: Data saved to 1317358064797626.pcd[0m
publication time 8.080179 ms 
whole laserOdometry time 8.092931 ms 
 
-----t: 0.0492484filter time 23.414069 ms 
map prepare time 6.686011 ms
map corner num 288007  surf num 141303 
--------------------stamp1317358065.835421085
points size 101416 
sort q time 5.947559 
seperate points time 12.920588 
publication time 11.819922 ms 
whole laserOdometry time 11.831253 ms 
 
-----t: 0.0537932
OdomCount 2926 & avg odom time 0.047923 ms ++++++++++++++++++++++
--------------------stamp1317358065.939126014
prepare time 12.235993 
sort q time 6.070358 
seperate points time 13.731876 
publication time 10.288921 ms 
whole laserOdometry time 10.303992 ms 
 
mapping solver time 54.266559 ms 
-----t: 0.0517546
OdomCount 2927 & avg odom time 0.047924 ms ++++++++++++++++++++++
1317358065.939126014 WriteOdom laser_odom_to_init
1317358065.939126014 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358066.042804002
prepare time 11.757430 
sort q time 7.134074 
seperate points time 13.527580 
-----t: 0.0624823
OdomCount 2928 & avg odom time 0.047929 ms ++++++++++++++++++++++
map prepare time 4.650243 ms
map corner num 289252  surf num 141908 
--------------------stamp1317358066.146482944
points size 101194 
sort q time 6.332511 
seperate points time 14.142831 
publication time 11.051972 ms 
whole laserOdometry time 11.067131 ms 
 
build tree time 81.550688 ms 
--------------------stamp1317358066.250185012
prepare time 12.119291 
sort q time 6.076496 
seperate points time 14.667885 
publication time 11.564398 ms 
whole laserOdometry time 11.578539 ms 
 
-----t: 0.0607169
OdomCount 2930 & avg odom time 0.047932 ms ++++++++++++++++++++++
--------------------stamp1317358066.353887081
prepare time 11.038180 
sort q time 5.580698 
seperate points time 13.664457 
publication time 9.663626 ms 
whole laserOdometry time 9.676558 ms 
 
mapping solver time 52.802597 ms 
mapping optimization time 274.318642 
-----t: 0.0521599
OdomCount 2931 & avg odom time 0.047933 ms ++++++++++++++++++++++
filter time 22.985611 ms 
mapping pub time 2.421009 ms 
whole mapping time 306.125820 ms +++++
mappingCount 1839 & avg mapping time 161.543218 ms ++++++++++++++++++++++
1317358065.835421085 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358066.457591056
points size 101352 
sort q time 6.001193 
seperate points time 25.462324 
publication time 10.012190 ms 
whole laserOdometry time 10.025575 ms --------------------stamp1317358066.561305046
prepare time 11.928636 
sort q time 6.480749 
seperate points time 12.991619 
publication time 9.740574 ms 
whole laserOdometry time 9.754528 ms 
 
-----t: 0.0615241
OdomCount 2933 & avg odom time 0.047940 ms ++++++++++++++++++++++
mapping data assosiation time 42.974605 ms 
points size 101467 
sort q time 6.017581 
seperate points time 12.263850 
mapping solver time 41.885114 ms 
publication time 10.689936 ms 
whole laserOdometry time 10.708348 ms 
 
filter time 28.383734 ms 
--------------------stamp1317358066.768719911
prepare time 11.705340 
sort q time 6.041445 
seperate points time 13.792354 
build tree time 76.452833 ms 
-----t: 0.0453285
OdomCount 2935 & avg odom time 0.047943 ms ++++++++++++++++++++++
mapping data assosiation time 42.719743 ms 
points size 101297 
sort q time 15.175318 
seperate points time 22.049844 
publication time 13.676387 ms 
whole laserOdometry time 13.692859 ms 
 
-----t: 0.0564118
OdomCount 2936 & avg odom time 0.047946 ms ++++++++++++++++++++++
mapping data assosiation time 45.394053 ms 
--------------------stamp1317358066.976129055
points size 101298 
prepare time 11.352080 
sort q time 6.473814 
seperate points time 12.846382 
publication time 9.962635 ms 
whole laserOdometry time 9.974447 ms 
 
[0m[ INFO] [1718889580.864082610, 1317358067.044484386]: Received 437094 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889580.864126670, 1317358067.044484386]: Data saved to 1317358066457591.pcd[0m
-----t: 0.0746425
OdomCount 2937 & avg odom time 0.047955 ms ++++++++++++++++++++++
--------------------stamp1317358067.079855918
prepare time 13.043369 
sort q time 5.829428 
seperate points time 14.266991 
publication time 11.457098 ms 
whole laserOdometry time 11.474350 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 
-----t: 0.0779274
OdomCount 2938 & avg odom time 0.047965 ms ++++++++++++++++++++++
--------------------stamp1317358067.183581113
points size 101179 
sort q time 5.887796 
seperate points time 14.597950 
build tree time 80.710552 ms 
mapping data assosiation time 42.131021 ms 
--------------------stamp1317358067.287333011
prepare time 11.855306 
sort q time 5.709989 
seperate points time 14.120233 
publication time 7.863250 ms 
whole laserOdometry time 7.878344 ms 
 
-----t: 0.0569914
OdomCount 2940 & avg odom time 0.047967 ms ++++++++++++++++++++++
mapping data assosiation time 44.627104 ms 
--------------------stamp1317358067.391134023
prepare time 11.196297 
sort q time 5.793920 
seperate points time 13.549088 
filter time 25.105993 ms 
-----t: 0.0668192
OdomCount 2941 & avg odom time 0.047974 ms ++++++++++++++++++++++
--------------------stamp1317358067.494982004
prepare time 12.412002 
sort q time 8.839778 
seperate points time 16.844065 
publication time 12.172902 ms 
whole laserOdometry time 12.192224 ms 
 
-----t: 0.0715564
OdomCount 2942 & avg odom time 0.047982 ms ++++++++++++++++++++++
--------------------stamp1317358067.598850965
points size 101006 
sort q time 5.342163 
seperate points time 11.695705 
scan registration time 27.144991 ms *************
publication time 11.154148 ms 
whole laserOdometry time 11.165523 ms 
 
-----t: 0.0528473
OdomCount 2943 & avg odom time 0.047983 ms ++++++++++++++++++++++
--------------------stamp1317358067.702765941
points size 101104 
sort q time 5.544269 
seperate points time 14.003931 
filter time 23.733017 ms 
publication time 10.312336 ms 
whole laserOdometry time 10.325049 ms 
 
-----t: 0.0562847
OdomCount 2944 & avg odom time 0.047986 ms ++++++++++++++++++++++
--------------------stamp1317358067.806734085
prepare time 10.906569 
sort q time 5.959531 
seperate points time 12.811976 
publication time 10.331702 ms 
whole laserOdometry time 10.346392 ms 
 
mapping data assosiation time 42.771573 ms 
--------------------stamp1317358067.910723924
points size 101247 
mapping solver time 49.533764 ms 
publication time 8.841237 ms 
whole laserOdometry time 8.855656 ms 
 
-----t: 0.0455858
OdomCount 2946 & avg odom time 0.047993 ms ++++++++++++++++++++++
1317358067.910723924 WriteOdom laser_odom_to_init
1317358067.910723924 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358068.014763116
prepare time 14.385864 
sort q time 6.174998 
seperate points time 13.569740 
scan registration time 33.987561 ms *************
filter time 28.736705 ms 
mapping pub time 2.381269 ms 
whole mapping time 300.352527 ms +++++
mappingCount 1844 & avg mapping time 161.973563 ms ++++++++++++++++++++++
1317358067.391134024 WriteOdom aft_mapped_to_init
publication time 9.054129 ms 
whole laserOdometry time 9.065867 ms 
 
1317358068.014763116 WriteOdom laser_odom_to_init
1317358068.014763116 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358068.118803024
prepare time 13.638795 
sort q time 6.023343 
seperate points time 13.640970 
build tree time 95.120887 ms 
mapping data assosiation time 46.461316 ms 
1317358068.118803024 WriteOdom aft_mapped_to_init_high_frec
points size 100925 
mapping solver time 47.935739 ms 
scan registration time 36.169365 ms *************
publication time 9.526940 ms 
whole laserOdometry time 9.542780 ms 
 
-----t: 0.0558245
OdomCount 2949 & avg odom time 0.048005 ms ++++++++++++++++++++++
1317358068.222794055 WriteOdom laser_odom_to_init
1317358068.222794055 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 46.807000 ms 
--------------------stamp1317358068.326785087
sort q time 6.999137 
seperate points time 13.813003 
scan registration time 31.527925 ms *************
map prepare time 6.347674 ms
map corner num 297933  surf num 146523 
-----t: 0.068131
OdomCount 2950 & avg odom time 0.048012 ms ++++++++++++++++++++++
--------------------stamp1317358068.430824041
points size 100608 
sort q time 6.219132 
seperate points time 14.856915 
publication time 11.274874 ms 
whole laserOdometry time 11.294050 ms 
 
mapping data assosiation time 44.595975 ms 
--------------------stamp1317358068.534887075
points size 100691 
mapping solver time 49.892816 ms 
scan registration time 34.652266 ms *************
-----t: 0.0364993
OdomCount 2952 & avg odom time 0.048005 ms ++++++++++++++++++++++
mapping data assosiation time 45.921701 ms 
--------------------stamp1317358068.638950109
points size 100763 
sort q time 5.657312 
seperate points time 14.208879 
filter time 27.059451 ms 
[0m[ INFO] [1718889582.511431601, 1317358068.691300242]: Received 446030 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889582.511469284, 1317358068.691300242]: Data saved to 1317358068014763.pcd[0m-----t: 0.0687997
OdomCount 2953 & avg odom time 0.048012 ms ++++++++++++++++++++++
--------------------stamp1317358068.743036985
points size 101066 
prepare time 14.291101 
sort q time 5.800041 
seperate points time 14.260271 
scan registration time 34.723305 ms *************
build tree time 79.267142 ms 
publication time 8.852032 ms 
whole laserOdometry time 8.866932 ms 
 
-----t: 0.049236
OdomCount 2954 & avg odom time 0.048013 ms ++++++++++++++++++++++
1317358068.743036985 WriteOdom laser_odom_to_init
1317358068.743036985 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 49.105165 ms 
--------------------stamp1317358068.847172975
prepare time 10.929363 
sort q time 5.508296 
seperate points time 13.458986 
mapping solver time 52.779354 ms 
publication time 9.191624 ms 
whole laserOdometry time 9.220890 ms 
 
-----t: 0.0672325
OdomCount 2955 & avg odom time 0.048019 ms ++++++++++++++++++++++
--------------------stamp1317358068.951281070
sort q time 6.426787 
seperate points time 24.017545 
mapping solver time 53.360391 ms 
mapping optimization time 286.714630 
scan registration time 41.082416 ms *************
add points time 2.046647 ms
publication time 10.617973 ms 
whole laserOdometry time 10.632690 ms 
 
mapping pub time 2.480880 ms 
whole mapping time 329.346158 ms +++++
mappingCount 1847 & avg mapping time 162.231663 ms ++++++++++++++++++++++
map prepare time 5.744593 ms
map corner num 300179  surf num 147519 
--------------------stamp1317358069.055344104
points size 100698 
prepare time 14.131714 
sort q time 6.334617 
seperate points time 22.513450 
publication time 11.117242 ms 
whole laserOdometry time 11.146973 ms 
 
--------------------stamp1317358069.159404993
points size 100379 
sort q time 5.802464 
seperate points time 14.385978 
publication time 10.418758 ms 
whole laserOdometry time 10.437539 ms 
 
mapping data assosiation time 37.028764 ms 
points size 99490 
mapping solver time 42.635639 ms 
publication time 9.593106 ms 
whole laserOdometry time 9.606431 ms 
 
map prepare time 6.322716 ms
map corner num 301336  surf num 148014 
--------------------stamp1317358069.367508888
points size 99016 
sort q time 5.630247 
seperate points time 13.759287 
publication time 10.695586 ms 
whole laserOdometry time 10.708281 ms 
 
mapping data assosiation time 35.944407 ms 
--------------------stamp1317358069.471616029
points size 99021 
prepare time 15.118551 
mapping solver time 43.911939 ms 
publication time 11.652186 ms 
whole laserOdometry time 11.673655 ms 
 
mapping data assosiation time 46.593938 ms 
--------------------stamp1317358069.575705051
mapping optimization time 254.104198 
scan registration time 33.330531 ms *************
mapping pub time 2.190047 ms 
whole mapping time 289.658642 ms +++++
mappingCount 1849 & avg mapping time 162.375127 ms ++++++++++++++++++++++
publication time 20.265523 ms 
whole laserOdometry time 20.281691 ms 
 
-----t: 0.0681012
OdomCount 2962 & avg odom time 0.048040 ms ++++++++++++++++++++++
1317358069.575705051 WriteOdom laser_odom_to_init
1317358069.575705051 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358069.679817914
points size 100037 
sort q time 5.847828 
seperate points time 14.123159 
mapping data assosiation time 41.305030 ms 
-----t: 0.0495139
OdomCount 2963 & avg odom time 0.048041 ms ++++++++++++++++++++++
mapping solver time 42.445209 ms 
--------------------stamp1317358069.783977031
points size 100706 
prepare time 14.141938 
scan registration time 32.810190 ms *************
publication time 7.513531 ms 
whole laserOdometry time 7.525269 ms 
 
-----t: 0.0542966
OdomCount 2964 & avg odom time 0.048043 ms ++++++++++++++++++++++
mapping optimization time 232.735284 
filter time 14.557285 ms 
--------------------stamp1317358069.888135910
points size 101284 
sort q time 6.923015 
seperate points time 16.108502 
scan registration time 39.413275 ms *************
publication time 8.446567 ms 
whole laserOdometry time 8.458194 ms 
 
-----t: 0.0674245
OdomCount 2965 & avg odom time 0.048049 ms ++++++++++++++++++++++
mapping data assosiation time 39.716558 ms 
points size 101718 
sort q time 6.629550 
seperate points time 12.899113 
publication time 10.492294 ms mapping data assosiation time 38.087548 ms 
mapping optimization time 197.387146 
--------------------stamp1317358070.096448898
mapping pub time 7.359555 ms 
whole mapping time 228.343806 ms +++++
mappingCount 1851 & avg mapping time 162.461095 ms ++++++++++++++++++++++
sort q time 5.912439 
seperate points time 14.362032 
publication time 7.307139 ms 
whole laserOdometry time 7.321714 ms 
 
-----t: 0.0465302
OdomCount 2967 & avg odom time 0.048047 ms ++++++++++++++++++++++
build tree time 59.077945 ms 
--------------------stamp1317358070.200609922
mapping data assosiation time 36.442230 ms 
sort q time 6.426966 
seperate points time 15.181874 
publication time 9.669766 ms 
whole laserOdometry time 9.698564 ms 
 
mapping data assosiation time 36.052149 ms 
points size 101353 
prepare time 12.250979 
scan registration time 30.897347 ms *************
publication time 9.117223 ms 
whole laserOdometry time 9.133562 ms 
 
mapping pub time 2.362957 ms 
whole mapping time 253.209810 ms +++++
mappingCount 1852 & avg mapping time 162.510098 ms ++++++++++++++++++++++
1317358069.888135910 WriteOdom aft_mapped_to_init
1317358070.304790973 WriteOdom laser_odom_to_init
1317358070.304790973 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358070.408973932
prepare time 15.280008 
build tree time 61.033726 ms 
sort q time 6.041452 
seperate points time 14.036704 
scan registration time 36.579151 ms *************
publication time 10.159713 ms 
whole laserOdometry time 10.187182 ms 
 
mapping solver time 34.772152 ms 
points size 100933 
sort q time 5.907818 
seperate points time 13.500308 
publication time 7.638275 ms 
whole laserOdometry time 7.650932 ms 
 
mapping solver time 38.829040 ms 
filter time 14.529120 ms 
mapping pub time 2.417477 ms 
whole mapping time 235.735961 ms +++++
mappingCount 1853 & avg mapping time 162.549618 ms ++++++++++++++++++++++
1317358070.096448898 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 100619 
sort q time 5.547649 
seperate points time 13.049706 
publication time 19.620448 ms 
whole laserOdometry time 19.652386 ms 
 
mapping data assosiation time 35.657150 ms 
--------------------stamp1317358070.721546888
points size 100328 
prepare time 15.732148 
mapping data assosiation time 37.194570 ms 
-----t: 0.0592796
OdomCount 2973 & avg odom time 0.048059 ms ++++++++++++++++++++++
mapping solver time 36.728549 ms 
points size 98539 
sort q time 5.420737 
seperate points time 12.889794 
publication time 8.711474 ms 
whole laserOdometry time 8.726228 ms 
 
-----t: 0.049297
OdomCount 2974 & avg odom time 0.048059 ms ++++++++++++++++++++++
build tree time 58.447374 ms 
--------------------stamp1317358070.929816961
prepare time 14.245958 
sort q time 5.298954 
seperate points time 12.688136 
mapping solver time 37.992010 ms 
publication time 9.441531 ms 
whole laserOdometry time 9.453252 ms 
 
mapping data assosiation time 32.581417 ms 
--------------------stamp1317358071.033927917
points size 96375 
prepare time 14.462966 
filter time 18.564505 ms 
sort q time 5.232164 
seperate points time 12.207699 
mapping pub time 2.325193 ms 
whole mapping time 218.490561 ms +++++
mappingCount 1855 & avg mapping time 162.617199 ms ++++++++++++++++++++++
1317358070.617358923 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
scan registration time 31.775888 ms *************
publication time 10.281038 ms 
whole laserOdometry time 10.295220 ms 
 
build tree time 55.163884 ms 
--------------------stamp1317358071.137990951
prepare time 14.925409 
sort q time 5.409970 
seperate points time 12.566269 
publication time 8.463372 ms 
whole laserOdometry time 8.473919 ms 
 
-----t: 0.0351074
OdomCount 2977 & avg odom time 0.048051 ms ++++++++++++++++++++++
1317358071.137990951 WriteOdom laser_odom_to_init
1317358071.137990951 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 40.244766 ms 
mapping data assosiation time 28.944132 ms 
--------------------stamp1317358071.242026090
points size 94823 
mapping solver time 30.193851 ms 
filter time 20.885013 ms 
map prepare time 3.554094 ms
map corner num 214278  surf num 103299 
--------------------stamp1317358071.346040964
points size 94506 
prepare time 12.334458 
scan registration time 28.770222 ms *************
publication time 7.622494 ms 
whole laserOdometry time 7.641141 ms 
 
mapping solver time 30.323280 ms 
mapping data assosiation time 32.363865 ms 
points size 94801 
sort q time 5.468462 
seperate points time 13.285867 
publication time 8.900663 ms 
whole laserOdometry time 8.915076 ms 
 
map prepare time 4.361256 ms
map corner num 215158  surf num 103609 
--------------------stamp1317358071.554003000
prepare time 13.542964 
publication time 7.424586 ms 
whole laserOdometry time 7.484972 ms 
 
-----t: 0.0388301
OdomCount 2981 & avg odom time 0.048043 ms ++++++++++++++++++++++
mapping solver time 33.504526 ms 
--------------------stamp1317358071.657969951
prepare time 14.117334 
sort q time 5.280126 
seperate points time 12.802415 
publication time 8.603882 ms 
whole laserOdometry time 8.616395 ms 
 
filter time 14.558596 ms 
--------------------stamp1317358071.761934995
points size 92853 
sort q time 5.458120 
seperate points time 13.173292 
scan registration time 31.216529 ms *************
build tree time 59.367038 ms 
publication time 8.535565 ms 
whole laserOdometry time 8.551157 ms 
 
-----t: 0.0525964
OdomCount 2983 & avg odom time 0.048042 ms ++++++++++++++++++++++
mapping solver time 25.340527 ms 
points size 93551 
prepare time 11.648988 
scan registration time 30.007077 ms *************
mapping data assosiation time 36.610028 ms 
publication time 7.739648 ms 
whole laserOdometry time 7.753841 ms 
 
-----t: 0.042846
OdomCount 2984 & avg odom time 0.048040 ms ++++++++++++++++++++++
filter time 17.430642 ms 
--------------------stamp1317358071.969846010
prepare time 13.861854 
sort q time 5.110021 
seperate points time 12.490963 
build tree time 58.991674 ms 
-----t: 0.0466465
OdomCount 2985 & avg odom time 0.048040 ms ++++++++++++++++++++++
mapping data assosiation time 33.257998 ms 
--------------------stamp1317358072.073787927
mapping solver time 36.050420 ms 
points size 94275 
prepare time 14.849607 
scan registration time 32.089367 ms *************
mapping data assosiation time 36.167458 ms 
mapping solver time 37.704594 ms 
filter time 15.106130 ms 
points size 94668 
sort q time 5.766392 
seperate points time 13.194768 
publication time 9.482347 ms 
whole laserOdometry time 9.495393 ms 
 
build tree time 59.339650 ms 
mapping data assosiation time 30.429164 ms 
points size 95005 
sort q time 5.459734 
seperate points time 12.586341 
publication time 8.663744 ms 
whole laserOdometry time 8.682648 ms 
 
-----t: 0.0335118
OdomCount 2988 & avg odom time 0.048030 ms ++++++++++++++++++++++
1317358072.281673908 WriteOdom laser_odom_to_init
1317358072.281673908 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 33.682747 ms 
mapping solver time 25.553128 ms 
--------------------stamp1317358072.385617971
prepare time 13.053479 
sort q time 6.503654 
seperate points time 15.057986 
publication time 10.601519 ms 
whole laserOdometry time 10.617892 ms 
 
-----t: 0.0729923
OdomCount 2989 & avg odom time 0.048038 ms ++++++++++++++++++++++
points size 98168 
map prepare time 4.641630 ms
map corner num 213251  surf num 102895 
sort q time 8.188125 
seperate points time 18.756940 
publication time 9.476244 ms 
whole laserOdometry time 9.489362 ms 
 
build tree time 56.846716 ms 
--------------------stamp1317358072.593430995
points size 99860 
prepare time 15.649652 
scan registration time 33.507816 ms *************
publication time 8.432454 ms 
whole laserOdometry time 8.442819 ms 
 
mapping data assosiation time 29.676047 ms 
--------------------stamp1317358072.697324991
add points time 1.617178 ms
sort q time 5.805702 
seperate points time 14.021572 
map prepare time 5.482006 ms
map corner num 214117  surf num 103156 
-----t: 0.0768394
OdomCount 2992 & avg odom time 0.048043 ms ++++++++++++++++++++++
--------------------stamp1317358072.801244020
prepare time 12.884708 
mapping data assosiation time 33.192305 ms 
sort q time 7.012901 
seperate points time 13.355257 
publication time 7.547495 ms 
whole laserOdometry time 7.560397 ms 
 
-----t: 0.056872
OdomCount 2993 & avg odom time 0.048046 ms ++++++++++++++++++++++
1317358072.801244020 WriteOdom laser_odom_to_init
1317358072.801244020 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358072.905163049
points size 101758 
filter time 22.736186 ms 
publication time 9.795617 ms 
whole laserOdometry time 9.815582 ms 
 
build tree time 52.998668 ms 
--------------------stamp1317358073.009082078
points size 101749 
mapping data assosiation time 35.939504 ms 
scan registration time 36.426481 ms *************
-----t: 0.04561
OdomCount 2995 & avg odom time 0.048044 ms ++++++++++++++++++++++
mapping data assosiation time 29.834592 ms 
--------------------stamp1317358073.112999916
points size 101464 
sort q time 5.830276 
seperate points time 13.900454 
filter time 19.926222 ms 
publication time 14.096881 ms 
whole laserOdometry time 14.111086 ms 
 
--------------------stamp1317358073.216943025
points size 101374 
sort q time 6.831013 
seperate points time 16.193280 
-----t: 0.0379851
OdomCount 2997 & avg odom time 0.048041 ms ++++++++++++++++++++++
mapping solver time 30.836057 ms 
mapping data assosiation time 28.102696 ms 
points size 101441 
mapping solver time 31.227341 ms 
filter time 19.051838 ms 
map prepare time 5.494107 ms
map corner num 216718  surf num 104160 
--------------------stamp1317358073.424803972
points size 101298 
sort q time 7.193424 
seperate points time 16.656586 
mapping data assosiation time 36.798663 ms 
publication time 9.105633 ms 
whole laserOdometry time 9.121177 ms 
 
-----t: 0.0557958
OdomCount 2999 & avg odom time 0.048043 ms ++++++++++++++++++++++
--------------------stamp1317358073.528723001
points size 101102 
sort q time 5.782216 
seperate points time 13.950319 
-----t: 0.039868
OdomCount 3000 & avg odom time 0.048041 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
points size 100809 
prepare time 15.104615 
scan registration time 34.723395 ms *************
-----t: 0.0348924
OdomCount 3001 & avg odom time 0.048036 ms ++++++++++++++++++++++
mapping data assosiation time 34.663902 ms 
mapping solver time 33.982220 ms 
points size 100171 
sort q time 6.088395 
seperate points time 13.520313 
publication time 8.669546 ms 
whole laserOdometry time 8.685990 ms 
 
filter time 14.789016 ms 
-----t: 0.0748131
OdomCount 3002 & avg odom time 0.048045 ms ++++++++++++++++++++++
--------------------stamp1317358073.840553045
points size 99498 
sort q time 5.868217 
seperate points time 13.997948 
build tree time 64.663378 ms 
-----t: 0.0505313
OdomCount 3003 & avg odom time 0.048046 ms ++++++++++++++++++++++
mapping data assosiation time 32.167208 ms 
--------------------stamp1317358073.944519042
points size 99219 
sort q time 6.770113 
seperate points time 15.428374 
publication time 7.799918 ms 
whole laserOdometry time 7.811506 ms 
 
mapping solver time 24.735906 ms 
-----t: 0.0538208
OdomCount 3004 & avg odom time 0.048048 ms ++++++++++++++++++++++
1317358073.944519042 WriteOdom laser_odom_to_init
1317358073.944519042 WriteOdom aft_mapped_to_init_high_frec
filter time 16.955894 ms 
map prepare time 3.616387 ms
map corner num 219100  surf num 105217 
--------------------stamp1317358074.048484086
points size 98516 
sort q time 5.623736 
seperate points time 13.360391 
publication time 9.935769 ms 
whole laserOdometry time 9.949873 ms 
 
-----t: 0.0493178
OdomCount 3005 & avg odom time 0.048048 ms ++++++++++++++++++++++
1317358074.048484086 WriteOdom laser_odom_to_init
1317358074.048484086 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 33.086359 ms 
--------------------stamp1317358074.152499914
prepare time 13.603782 
sort q time 5.968637 
seperate points time 13.738590 
mapping data assosiation time 33.668104 ms 
mapping solver time 30.928206 ms 
mapping optimization time 201.773685 
add points time 0.826597 ms
--------------------stamp1317358074.256587028
prepare time 12.495405 
sort q time 5.667457 
seperate points time 16.482956 
publication time 7.922294 ms 
whole laserOdometry time 7.941994 ms 
 
build tree time 61.677918 ms 
--------------------stamp1317358074.360743045
prepare time 12.828838 
sort q time 5.443219 
seperate points time 12.437631 
publication time 9.334037 ms 
whole laserOdometry time 9.350655 ms 
 
-----t: 0.0522997
OdomCount 3008 & avg odom time 0.048050 ms ++++++++++++++++++++++
mapping solver time 21.512376 ms 
--------------------stamp1317358074.464951038
prepare time 14.760030 
sort q time 6.145370 
seperate points time 14.173313 
publication time 8.769533 ms 
whole laserOdometry time 8.781405 ms 
 
1317358074.464951038 WriteOdom aft_mapped_to_init_high_frec
build tree time 63.944828 ms 
--------------------stamp1317358074.569206953
points size 98911 
sort q time 5.684129 
seperate points time 13.143915 
publication time 6.809075 ms 
whole laserOdometry time 6.825078 ms 
 
-----t: 0.0623668
OdomCount 3010 & avg odom time 0.048054 ms ++++++++++++++++++++++
1317358074.569206953 WriteOdom laser_odom_to_init
1317358074.569206953 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358074.673507928
points size 99346 
add points time 1.202919 ms
filter time 21.129260 ms 
--------------------stamp1317358074.777858018
prepare time 12.860184 
--------------------stamp1317358074.882258892
mapping data assosiation time 32.597474 ms 
sort q time 5.724530 
seperate points time 11.269242 
mapping solver time 38.190909 ms 
filter time 20.748176 ms 
mapping pub time 2.365633 ms 
whole mapping time 234.984936 ms +++++
mappingCount 1872 & avg mapping time 163.196547 ms ++++++++++++++++++++++
1317358074.464951038 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358074.986659049
points size 99785 
sort q time 6.612411 
seperate points time 14.887893 
publication time 10.390590 ms 
whole laserOdometry time 10.406915 ms 
 
-----t: 0.0656789
OdomCount 3014 & avg odom time 0.048077 ms ++++++++++++++++++++++--------------------stamp1317358075.091058015
prepare time 14.551502 
sort q time 6.621215 
seperate points time 26.891080 
publication time 8.367332 ms 
whole laserOdometry time 8.385478 ms 
 
1317358075.091058015 WriteOdom aft_mapped_to_init_high_frec
filter time 20.195988 ms 
map prepare time 6.497391 ms
map corner num 224125  surf num 107102 
publication time 8.947820 ms build tree time 62.686109 ms 
--------------------stamp1317358075.299782991
prepare time 12.007855 
sort q time 7.334154 
seperate points time 13.553745 
mapping solver time 42.844234 ms 
-----t: 0.0482581
OdomCount 3017 & avg odom time 0.048084 ms ++++++++++++++++++++++
mapping data assosiation time 29.365739 ms 
--------------------stamp1317358075.404131889
prepare time 16.143845 
filter time 19.268568 ms 
mapping pub time 2.329529 ms 
whole mapping time 221.225266 ms +++++
mappingCount 1874 & avg mapping time 163.271446 ms ++++++++++++++++++++++
1317358074.986659050 WriteOdom aft_mapped_to_init
publication time 14.530011 ms 
whole laserOdometry time 14.542119 ms 
 
-----t: 0.0593165
OdomCount 3018 & avg odom time 0.048088 ms ++++++++++++++++++++++
build tree time 60.467462 ms 
points size 100783 
sort q time 5.645942 
seperate points time 13.421419 
publication time 9.553507 ms 
whole laserOdometry time 9.566682 ms 
 
mapping data assosiation time 29.567450 ms 
--------------------stamp1317358075.612760066
points size 101032 
prepare time 14.211894 
sort q time 5.616720 
seperate points time 13.256719 
filter time 17.184107 ms 
drop lidar frame in mapping for real time performance 
publication time 11.436905 ms 
whole laserOdometry time 11.446907 ms 
 
map prepare time 4.904928 ms
map corner num 226030  surf num 107776 
--------------------stamp1317358075.717036962
build tree time 57.896694 ms 
sort q time 6.822030 
seperate points time 15.780217 
mapping data assosiation time 36.755421 ms 
publication time 9.474528 ms 
whole laserOdometry time 9.514157 ms 
 
--------------------stamp1317358075.821269035
prepare time 12.723064 
sort q time 5.715305 
seperate points time 11.612649 
mapping solver time 24.012726 ms 
filter time 17.823518 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358075.925452947
points size 101252 
sort q time 5.719214 
seperate points time 13.494638 
publication time 10.078668 ms 
whole laserOdometry time 10.096278 ms 
 
-----t: 0.047917
OdomCount 3023 & avg odom time 0.048088 ms ++++++++++++++++++++++
mapping solver time 36.018226 ms 
points size 101311 
prepare time 18.013416 
sort q time 6.862810 publication time 7.200638 ms 
whole laserOdometry time 7.212706 ms 
 
mapping solver time 27.095938 ms 
-----t: 0.0585097
OdomCount 3024 & avg odom time 0.048091 ms ++++++++++++++++++++++
1317358076.029637098 WriteOdom laser_odom_to_init
1317358076.029637098 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.368945 ms 
whole mapping time 227.878720 ms +++++
mappingCount 1877 & avg mapping time 163.372721 ms ++++++++++++++++++++++
--------------------stamp1317358076.133796930
points size 101291 
prepare time 12.852251 
scan registration time 31.515038 ms *************
publication time 11.653091 ms 
whole laserOdometry time 11.667358 ms 
 
-----t: 0.0559027
OdomCount 3025 & avg odom time 0.048094 ms ++++++++++++++++++++++
1317358076.133796930 WriteOdom laser_odom_to_init
1317358076.133796930 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.764209 ms 
--------------------stamp1317358076.237883090
points size 101368 
sort q time 6.687497 
seperate points time 12.701113 
scan registration time 39.804389 ms *************
publication time 7.466370 ms 
whole laserOdometry time 7.477552 ms 
 
-----t: 0.0642984
OdomCount 3026 & avg odom time 0.048099 ms ++++++++++++++++++++++
mapping solver time 32.976156 ms 
points size 101401 
filter time 22.573318 ms 
publication time 10.881056 ms 
whole laserOdometry time 10.895555 ms 
 
-----t: 0.0550631
OdomCount 3027 & avg odom time 0.048101 ms ++++++++++++++++++++++
1317358076.341922044 WriteOdom laser_odom_to_init
1317358076.341922044 WriteOdom aft_mapped_to_init_high_frec
build tree time 59.353400 ms 
--------------------stamp1317358076.445913076
prepare time 12.689587 
mapping data assosiation time 34.954284 ms 
publication time 8.929383 ms 
whole laserOdometry time 8.940618 ms 
 
mapping solver time 32.420826 ms 
1317358076.445913076 WriteOdom laser_odom_to_init
1317358076.445913076 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.793638 ms 
--------------------stamp1317358076.549853086
mapping optimization time 184.368888 
sort q time 5.596234 
seperate points time 13.046018 
1317358076.133796930 WriteOdom aft_mapped_to_init
publication time 17.903207 ms 
whole laserOdometry time 17.917718 ms 
 
build tree time 53.450554 ms 
points size 101086 
prepare time 12.372865 
scan registration time 31.324541 ms *************
publication time 8.237065 ms 
whole laserOdometry time 8.252024 ms 
 
mapping solver time 50.065888 ms 
-----t: 0.0737397
OdomCount 3030 & avg odom time 0.048110 ms ++++++++++++++++++++++
1317358076.653749942 WriteOdom laser_odom_to_init
1317358076.653749942 WriteOdom aft_mapped_to_init_high_frec
points size 101192 
sort q time 6.441948 
seperate points time 12.310377 
scan registration time 31.404793 ms *************
mapping solver time 34.817271 ms 
mapping optimization time 210.510428 
add points time 0.973146 ms
publication time 12.546201 ms 
whole laserOdometry time 12.563769 ms 
 
-----t: 0.0527258
OdomCount 3031 & avg odom time 0.048111 ms ++++++++++++++++++++++
map prepare time 3.992353 ms
map corner num 230227  surf num 109236 
--------------------stamp1317358076.861563920
prepare time 13.109968 
sort q time 5.679578 
seperate points time 13.051207 
publication time 9.638787 ms 
whole laserOdometry time 9.668755 ms 
 
-----t: 0.0512523
OdomCount 3032 & avg odom time 0.048112 ms ++++++++++++++++++++++
--------------------stamp1317358076.965481996
points size 101230 
prepare time 11.734204 
scan registration time 28.690932 ms *************
publication time 9.749728 ms 
whole laserOdometry time 9.762649 ms 
 
-----t: 0.0391012
OdomCount 3033 & avg odom time 0.048109 ms ++++++++++++++++++++++
1317358076.965481996 WriteOdom laser_odom_to_init
1317358076.965481996 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 35.845891 ms 
filter time 17.323131 ms 
points size 100848 
sort q time 6.225831 
seperate points time 13.416568 
publication time 9.586915 ms 
whole laserOdometry time 9.600865 ms 
 
1317358077.069400072 WriteOdom laser_odom_to_init
1317358077.069400072 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 106.943160 ms 
whole mapping time 331.932023 ms +++++
mappingCount 1881 & avg mapping time 163.574933 ms ++++++++++++++++++++++
--------------------stamp1317358077.173321008
prepare time 12.458981 
sort q time 5.599599 
seperate points time 13.123485 
publication time 8.560358 ms 
whole laserOdometry time 8.572603 ms 
 
1317358077.173321008 WriteOdom laser_odom_to_init
1317358077.173321008 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.203038 ms 
--------------------stamp1317358077.277264118
points size 100985 
mapping solver time 37.058178 ms 
publication time 15.486785 ms 
whole laserOdometry time 15.504205 ms 
 
mapping data assosiation time 37.944118 ms 
mapping solver time 21.029654 ms 
filter time 15.730500 ms 
map prepare time 4.838136 ms
map corner num 231728  surf num 109905 
sort q time 6.423689 
seperate points time 12.383970 
publication time 7.632497 ms 
whole laserOdometry time 7.648826 ms 
 
build tree time 61.523235 ms 
mapping data assosiation time 32.554007 ms 
prepare time 12.247154 
scan registration time 31.085068 ms *************
mapping solver time 43.091050 ms 
-----t: 0.0462657
OdomCount 3038 & avg odom time 0.048110 ms ++++++++++++++++++++++
mapping data assosiation time 32.013122 ms 
--------------------stamp1317358077.589184045
points size 101191 
filter time 21.934471 ms 
publication time 9.891093 ms 
whole laserOdometry time 9.905127 ms 
 
build tree time 58.008171 ms 
points size 101055 
sort q time 6.021962 
seperate points time 11.558181 
mapping data assosiation time 34.077377 ms 
publication time 9.013706 ms 
whole laserOdometry time 9.028418 ms 
 
-----t: 0.0547932
OdomCount 3040 & avg odom time 0.048111 ms ++++++++++++++++++++++
mapping data assosiation time 29.277117 ms 
points size 100951 
sort q time 5.796761 
seperate points time 13.498229 
publication time 8.480369 ms 
whole laserOdometry time 8.494142 ms 
 
map prepare time 3.993427 ms
map corner num 233028  surf num 110360 
--------------------stamp1317358077.901036977
points size 101026 
sort q time 5.903053 
seperate points time 14.209974 
publication time 9.335990 ms 
whole laserOdometry time 9.347856 ms 
 
mapping solver time 36.578752 ms 
--------------------stamp1317358078.004956007
points size 100989 
mapping data assosiation time 33.834807 ms 
mapping solver time 28.360090 ms 
-----t: 0.0476498
OdomCount 3043 & avg odom time 0.048108 ms ++++++++++++++++++++++
mapping pub time 2.254995 ms 
whole mapping time 220.220758 ms +++++
mappingCount 1885 & avg mapping time 163.707726 ms ++++++++++++++++++++++
--------------------stamp1317358078.108875036
points size 100746 
sort q time 5.504247 
seperate points time 12.302273 
publication time 8.388606 ms 
whole laserOdometry time 8.404991 ms 
 
1317358078.108875036 WriteOdom laser_odom_to_init
1317358078.108875036 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.280809 ms 
mapping solver time 35.757076 ms 
prepare time 12.206036 
sort q time 5.683482 
seperate points time 13.655861 
-----t: 0.0404735
OdomCount 3045 & avg odom time 0.048106 ms ++++++++++++++++++++++
1317358078.212769985 WriteOdom laser_odom_to_init
mapping data assosiation time 77.940451 ms 
mapping solver time 22.343986 ms 
points size 99528 
filter time 18.791092 ms 
map prepare time 5.004622 ms
map corner num 234230  surf num 110776 
publication time 16.825548 ms 
whole laserOdometry time 16.838445 ms 
 
-----t: 0.049549
OdomCount 3046 & avg odom time 0.048107 ms ++++++++++++++++++++++
build tree time 58.440742 ms 
points size 98893 
mapping data assosiation time 33.485822 ms 
publication time 9.691160 ms 
whole laserOdometry time 9.705058 ms 
 
-----t: 0.0463958
OdomCount 3047 & avg odom time 0.048106 ms ++++++++++++++++++++++
1317358078.420535087 WriteOdom laser_odom_to_init
1317358078.420535087 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.246226 ms 
--------------------stamp1317358078.524430036
prepare time 12.562296 
add points time 1.041974 ms
filter time 20.777290 ms 
-----t: 0.0438122
OdomCount 3048 & avg odom time 0.048105 ms ++++++++++++++++++++++
--------------------stamp1317358078.628303050
points size 98049 
sort q time 5.259482 
seperate points time 12.686627 
scan registration time 29.637726 ms *************
publication time 11.394298 ms 
whole laserOdometry time 11.412353 ms 
 
-----t: 0.0430372
OdomCount 3049 & avg odom time 0.048103 ms ++++++++++++++++++++++
--------------------stamp1317358078.732171058
points size 97329 
prepare time 14.626577 
mapping data assosiation time 33.028561 ms 
scan registration time 32.234838 ms *************
mapping solver time 28.987031 ms 
publication time 12.368139 ms 
whole laserOdometry time 12.379711 ms 
 
filter time 20.440022 ms 
-----t: 0.056037
OdomCount 3050 & avg odom time 0.048106 ms ++++++++++++++++++++++
1317358078.732171058 WriteOdom laser_odom_to_init
1317358078.732171058 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.336959 ms 
whole mapping time 229.803727 ms +++++
mappingCount 1888 & avg mapping time 163.827008 ms ++++++++++++++++++++++
1317358078.316641092 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358078.836016893
prepare time 12.835077 
sort q time 5.673770 
seperate points time 12.769744 
build tree time 61.561548 ms 
-----t: 0.0437091
OdomCount 3051 & avg odom time 0.048104 ms ++++++++++++++++++++++
mapping data assosiation time 42.312317 ms 
--------------------stamp1317358078.939819097
points size 95463 
sort q time 5.842529 
seperate points time 14.328927 
scan registration time 34.356654 ms *************
mapping data assosiation time 36.929407 ms 
-----t: 0.051629
OdomCount 3052 & avg odom time 0.048105 ms ++++++++++++++++++++++
mapping solver time 24.050984 ms 
filter time 15.694489 ms 
points size 94506 
map prepare time 4.398194 ms
map corner num 235883  surf num 111337 
prepare time 12.037239 
publication time 8.480216 ms 
whole laserOdometry time 8.493634 ms 
 
-----t: 0.0545295
OdomCount 3053 & avg odom time 0.048108 ms ++++++++++++++++++++++
build tree time 72.243106 ms 
--------------------stamp1317358079.147396087
prepare time 13.047161 
sort q time 5.691218 
seperate points time 12.512204 
mapping data assosiation time 32.267085 ms 
--------------------stamp1317358079.251192092
prepare time 14.002839 
mapping pub time 2.545949 ms 
whole mapping time 233.474493 ms +++++
mappingCount 1890 & avg mapping time 163.900499 ms ++++++++++++++++++++++
publication time 7.275941 ms 
whole laserOdometry time 7.291066 ms 
 
-----t: 0.0505308
OdomCount 3055 & avg odom time 0.048107 ms ++++++++++++++++++++++
build tree time 56.631337 ms 
points size 92102 
mapping data assosiation time 34.010469 ms 
publication time 8.406040 ms 
whole laserOdometry time 8.422004 ms 
 
mapping solver time 42.435856 ms 
mapping data assosiation time 28.674437 ms 
points size 91622 
mapping solver time 25.136433 ms 
publication time 7.073269 ms 
whole laserOdometry time 7.091126 ms 
 
mapping pub time 6.651799 ms 
whole mapping time 226.034066 ms +++++
mappingCount 1891 & avg mapping time 163.933360 ms ++++++++++++++++++++++
points size 91046 
prepare time 14.184374 
sort q time 5.083225 
seperate points time 12.105550 
publication time 8.757754 ms 
whole laserOdometry time 8.768218 ms 
 
-----t: 0.0467563
OdomCount 3058 & avg odom time 0.048100 ms ++++++++++++++++++++++
mapping solver time 35.559777 ms 
--------------------stamp1317358079.666460037
prepare time 11.623008 
sort q time 5.775857 
seperate points time 11.813170 
publication time 8.270862 ms 
whole laserOdometry time 8.280924 ms 
 
filter time 15.513846 ms 
--------------------stamp1317358079.770282030
points size 90634 
sort q time 4.885350 
seperate points time 11.635791 
scan registration time 30.480720 ms *************
publication time 10.538758 ms 
whole laserOdometry time 10.598305 ms 
 
mapping data assosiation time 46.534958 ms 
--------------------stamp1317358079.874080896
points size 90322 
prepare time 12.749253 
sort q time 5.054573 
seperate points time 11.834367 
scan registration time 29.637671 ms *************
publication time 11.035635 ms 
whole laserOdometry time 11.052444 ms 
 
mapping solver time 29.327894 ms 
filter time 15.670655 ms 
--------------------stamp1317358079.977854013
prepare time 14.169048 
sort q time 5.398861 
seperate points time 12.682486 
-----t: 0.0478333
OdomCount 3062 & avg odom time 0.048095 ms ++++++++++++++++++++++
build tree time 66.873201 ms 
--------------------stamp1317358080.081603050
prepare time 11.622253 
sort q time 5.583396 
seperate points time 11.863099 
scan registration time 28.605166 ms *************
publication time 8.996962 ms 
whole laserOdometry time 9.010935 ms 
 
-----t: 0.0605063
OdomCount 3063 & avg odom time 0.048099 ms ++++++++++++++++++++++
mapping data assosiation time 37.223310 ms 
--------------------stamp1317358080.185355901
points size 89859 
sort q time 5.172346 
seperate points time 12.266237 
filter time 32.230576 ms 
publication time 7.748939 ms 
whole laserOdometry time 7.776084 ms 
 
mapping pub time 2.502810 ms 
whole mapping time 252.902568 ms +++++
mappingCount 1894 & avg mapping time 164.051919 ms ++++++++++++++++++++++
1317358079.770282030 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358080.289083003
points size 89172 
build tree time 69.974196 ms 
publication time 8.183026 ms 
whole laserOdometry time 8.196652 ms 
 
-----t: 0.0478259
OdomCount 3065 & avg odom time 0.048098 ms ++++++++++++++++++++++
1317358080.289083003 WriteOdom laser_odom_to_init
1317358080.289083003 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 35.633938 ms 
points size 88588 
mapping data assosiation time 33.675826 ms 
publication time 8.561205 ms 
whole laserOdometry time 8.573883 ms 
 
mapping pub time 1.981447 ms 
whole mapping time 235.489191 ms +++++
mappingCount 1895 & avg mapping time 164.089618 ms ++++++++++++++++++++++
1317358079.977854013 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.754824 ms
map corner num 239310  surf num 112365 
--------------------stamp1317358080.496583938
prepare time 11.357478 
sort q time 5.438362 
seperate points time 12.187779 
publication time 8.217458 ms 
whole laserOdometry time 8.250366 ms 
 
mapping data assosiation time 27.511618 ms 
--------------------stamp1317358080.600359916
prepare time 11.909277 
sort q time 5.519600 
seperate points time 10.552977 
scan registration time 26.855176 ms *************
mapping data assosiation time 34.295807 ms 
publication time 8.465600 ms 
whole laserOdometry time 8.484100 ms 
 
-----t: 0.0515623
OdomCount 3068 & avg odom time 0.048097 ms ++++++++++++++++++++++
filter time 15.665296 ms 
map prepare time 3.705419 ms
map corner num 239870  surf num 112499 
points size 84286 
prepare time 13.304230 
scan registration time 29.605567 ms *************
publication time 10.420683 ms 
whole laserOdometry time 10.434248 ms 
 
build tree time 72.397910 ms 
mapping data assosiation time 27.898103 ms 
points size 83837 
sort q time 4.586799 
seperate points time 10.479226 
publication time 8.703704 ms 
whole laserOdometry time 8.717029 ms 
 
-----t: 0.0402607
OdomCount 3070 & avg odom time 0.048093 ms ++++++++++++++++++++++
mapping data assosiation time 34.296735 ms 
mapping solver time 26.337284 ms 
--------------------stamp1317358080.911756038
mapping pub time 2.045064 ms 
whole mapping time 228.350134 ms +++++
mappingCount 1897 & avg mapping time 164.151783 ms ++++++++++++++++++++++
sort q time 5.453007 
seperate points time 11.824073 
publication time 8.188048 ms 
whole laserOdometry time 8.197409 ms 
 
build tree time 66.175248 ms 
--------------------stamp1317358081.015553951
points size 82838 
mapping data assosiation time 29.599524 ms 
prepare time 13.950166 
mapping solver time 44.252063 ms 
-----t: 0.0437705
OdomCount 3072 & avg odom time 0.048088 ms ++++++++++++++++++++++
1317358081.015553951 WriteOdom laser_odom_to_init
1317358081.015553951 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.751212 ms 
--------------------stamp1317358081.119353055
add points time 1.213117 ms
sort q time 4.431632 
seperate points time 9.572574 
scan registration time 27.232464 ms *************
-----t: 0.0544849
OdomCount 3073 & avg odom time 0.048090 ms ++++++++++++++++++++++
mapping data assosiation time 24.708936 ms 
points size 82039 
sort q time 4.966084 
seperate points time 10.987068 
publication time 7.432104 ms 
whole laserOdometry time 7.446744 ms 
 
-----t: 0.0502173
OdomCount 3074 & avg odom time 0.048091 ms ++++++++++++++++++++++
1317358081.223202943 WriteOdom laser_odom_to_init
1317358081.223202943 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.286262 ms 
mapping optimization time 151.442738 
add points time 1.216363 ms
1317358080.911756039 WriteOdom aft_mapped_to_init
prepare time 10.977400 
sort q time 5.066034 
seperate points time 10.696061 
build tree time 36.350682 ms 
-----t: 0.043444
OdomCount 3075 & avg odom time 0.048090 ms ++++++++++++++++++++++
mapping data assosiation time 30.291090 ms 
mapping solver time 28.655388 ms 
points size 81180 
scan registration time 25.809746 ms *************
publication time 8.130680 ms 
whole laserOdometry time 8.165496 ms 
 
filter time 8.923166 ms 
mapping pub time 1.970239 ms 
whole mapping time 167.325338 ms +++++
mappingCount 1900 & avg mapping time 164.188375 ms ++++++++++++++++++++++
1317358081.119353056 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.602695 ms
map corner num 116196  surf num 57351 
build tree time 28.448998 ms 
points size 80875 
mapping data assosiation time 28.297806 ms 
-----t: 0.0320194
OdomCount 3077 & avg odom time 0.048081 ms ++++++++++++++++++++++
mapping data assosiation time 23.413312 ms 
mapping solver time 17.984656 ms 
--------------------stamp1317358081.638714075
sort q time 4.659019 
seperate points time 10.370107 
-----t: 0.0364962
OdomCount 3078 & avg odom time 0.048077 ms ++++++++++++++++++++++
1317358081.638714075 WriteOdom laser_odom_to_init
--------------------stamp1317358081.742647886
points size 81793 
sort q time 4.593949 
seperate points time 10.821796 
publication time 8.061934 ms 
whole laserOdometry time 8.078010 ms 
 
mapping data assosiation time 25.716005 ms 
[0m[ INFO] [1718889595.636601782, 1317358081.819179390]: Received 174093 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889595.636640361, 1317358081.819179390]: Data saved to 1317358081327075.pcd[0m
mapping solver time 25.911747 ms 
--------------------stamp1317358081.846590042
prepare time 12.779005 
sort q time 4.615686 
seperate points time 10.722903 
mapping solver time 22.317770 ms 
filter time 9.934695 ms 
build tree time 26.523668 ms 
--------------------stamp1317358081.950532913
mapping data assosiation time 26.607746 ms 
sort q time 4.322979 
seperate points time 10.237596 
scan registration time 27.648003 ms *************
mapping solver time 33.427604 ms 
mapping data assosiation time 24.724894 ms 
mapping solver time 23.421147 ms 
mapping pub time 2.187910 ms 
whole mapping time 150.904940 ms +++++
mappingCount 1903 & avg mapping time 164.218910 ms ++++++++++++++++++++++
points size 82966 
sort q time 4.807956 
seperate points time 10.656525 
build tree time 34.934712 ms 
-----t: 0.0431995
OdomCount 3082 & avg odom time 0.048056 ms ++++++++++++++++++++++
mapping data assosiation time 28.404887 ms 
mapping solver time 27.201356 ms 
points size 83284 
sort q time 4.748960 
seperate points time 11.065112 
mapping solver time 20.207514 ms 
filter time 12.139781 ms 
build tree time 25.917337 ms 
--------------------stamp1317358082.262481927
prepare time 11.043163 
mapping solver time 36.729461 ms 
-----t: 0.0420521
OdomCount 3084 & avg odom time 0.048052 ms ++++++++++++++++++++++
mapping data assosiation time 25.859910 ms 
mapping solver time 22.709824 ms 
filter time 9.162957 ms 
map prepare time 3.898527 ms
map corner num 118322  surf num 57883 
sort q time 4.554887 
seperate points time 10.653097 
publication time 17.891371 ms 
whole laserOdometry time 17.903429 ms 
 
mapping data assosiation time 24.702353 ms 
mapping solver time 24.753309 ms 
--------------------stamp1317358082.470415115
mapping data assosiation time 24.815062 ms 
scan registration time 24.436424 ms *************
-----t: 0.0279902
OdomCount 3086 & avg odom time 0.048039 ms ++++++++++++++++++++++
filter time 9.389412 ms 
map prepare time 2.500819 ms
map corner num 118719  surf num 57981 
build tree time 26.068473 ms 
--------------------stamp1317358082.574407100
mapping data assosiation time 23.702429 ms 
scan registration time 24.640186 ms *************
publication time 6.441053 ms 
whole laserOdometry time 6.455804 ms 
 
mapping data assosiation time 22.669316 ms 
mapping solver time 20.622699 ms 
filter time 8.591084 ms 
points size 80590 
build tree time 29.652584 ms 
-----t: 0.0322597
OdomCount 3088 & avg odom time 0.048031 ms ++++++++++++++++++++++
mapping solver time 20.073880 ms 
mapping data assosiation time 21.576421 ms 
--------------------stamp1317358082.782339096
prepare time 10.076270 
sort q time 5.209748 
seperate points time 10.540963 
map prepare time 2.669308 ms
map corner num 119463  surf num 58125 
build tree time 31.529898 ms 
mapping data assosiation time 21.633867 ms 
--------------------stamp1317358082.886281013
prepare time 9.809257 
scan registration time 23.151084 ms *************
mapping data assosiation time 26.573312 ms 
-----t: 0.0396712
OdomCount 3090 & avg odom time 0.048022 ms ++++++++++++++++++++++
mapping solver time 31.358577 ms 
mapping pub time 1.778165 ms 
whole mapping time 149.094543 ms +++++
mappingCount 1909 & avg mapping time 164.171911 ms ++++++++++++++++++++++
1317358082.678397894 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.442565 ms
map corner num 119791  surf num 58202 
--------------------stamp1317358082.990226984
publication time 4.993476 ms 
whole laserOdometry time 5.007895 ms 
 
mapping data assosiation time 25.457035 ms 
mapping solver time 21.881277 ms 
mapping data assosiation time 22.127644 ms 
mapping solver time 15.043043 ms 
--------------------stamp1317358083.094145059
prepare time 9.972975 
sort q time 4.462477 
seperate points time 9.944008 
publication time 5.856161 ms 
whole laserOdometry time 5.872464 ms 
 
mapping data assosiation time 20.286817 ms 
mapping solver time 23.736355 ms 
--------------------stamp1317358083.198039054
points size 77777 
sort q time 4.248248 
seperate points time 10.558406 
filter time 9.498996 ms 
publication time 6.625608 ms 
whole laserOdometry time 6.644594 ms 
 
mapping pub time 6.201981 ms 
whole mapping time 145.592063 ms +++++
mappingCount 1911 & avg mapping time 164.145171 ms ++++++++++++++++++++++
[0m[ INFO] [1718889597.062045974, 1317358083.232783214]: Received 178755 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889597.062096658, 1317358083.232783214]: Data saved to 1317358082990226.pcd[0m
drop lidar frame in mapping for real time performance 
1317358082.990226984 WriteOdom aft_mapped_to_init
map prepare time 3.022956 ms
map corner num 120439  surf num 58316 
build tree time 29.791179 ms 
--------------------stamp1317358083.301911115
prepare time 13.025238 
sort q time 4.359468 
seperate points time 10.357385 
scan registration time 27.627910 ms *************
publication time 10.063867 ms 
whole laserOdometry time 10.077050 ms 
 
mapping data assosiation time 24.685344 ms 
mapping solver time 20.247459 ms 
filter time 9.577874 ms 
mapping pub time 1.770559 ms 
whole mapping time 146.306244 ms +++++
mappingCount 1912 & avg mapping time 164.135843 ms ++++++++++++++++++++++
1317358083.094145060 WriteOdom aft_mapped_to_init
map prepare time 2.448137 ms
map corner num 120730  surf num 58366 
points size 77955 
sort q time 4.710242 
seperate points time 10.092008 
publication time 6.405383 ms 
whole laserOdometry time 6.417551 ms 
 
1317358083.405731916 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.720880 ms 
mapping data assosiation time 22.437788 ms 
--------------------stamp1317358083.509484052
mapping solver time 24.588531 ms 
filter time 12.971597 ms 
publication time 9.956943 ms 
whole laserOdometry time 9.969654 ms 
 
build tree time 34.205636 ms 
mapping data assosiation time 21.915824 ms 
points size 81807 
mapping solver time 30.664466 ms 
scan registration time 26.579963 ms *************
publication time 7.960479 ms 
whole laserOdometry time 7.973123 ms 
 
mapping solver time 20.296791 ms 
filter time 9.049958 ms 
--------------------stamp1317358083.716840028
prepare time 12.261191 
scan registration time 27.064597 ms *************
-----t: 0.0333136
OdomCount 3098 & avg odom time 0.047995 ms ++++++++++++++++++++++
1317358083.716840028 WriteOdom laser_odom_to_init
1317358083.716840028 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.733889 ms 
mapping data assosiation time 20.614528 ms 
--------------------stamp1317358083.820473909
points size 82271 
map prepare time 3.405657 ms
map corner num 121863  surf num 58665 
publication time 7.843920 ms 
whole laserOdometry time 7.859373 ms 
 
scan registration time 25.501446 ms *************
publication time 8.704075 ms 
whole laserOdometry time 8.721849 ms 
 
mapping solver time 25.976578 ms 
filter time 9.873409 ms 
map prepare time 3.376602 ms
map corner num 122368  surf num 58840 
--------------------stamp1317358084.027900934
prepare time 12.172628 
sort q time 4.435410 
seperate points time 10.328452 
publication time 8.995536 ms 
whole laserOdometry time 9.009117 ms 
 
mapping data assosiation time 21.489386 ms 
mapping solver time 24.043999 ms 
points size 82929 
map prepare time 4.555857 ms
map corner num 122771  surf num 58963 
publication time 8.972607 ms 
whole laserOdometry time 8.989493 ms 
 
-----t: 0.052389
OdomCount 3102 & avg odom time 0.047993 ms ++++++++++++++++++++++
mapping solver time 23.761484 ms 
points size 83266 
sort q time 4.781112 
seperate points time 9.642260 
publication time 10.512870 ms 
whole laserOdometry time 10.527633 ms 
 
filter time 10.671039 ms 
mapping pub time 1.937499 ms 
whole mapping time 151.858712 ms +++++
mappingCount 1918 & avg mapping time 164.085796 ms ++++++++++++++++++++++
1317358084.027900934 WriteOdom aft_mapped_to_init
--------------------stamp1317358084.339512109
build tree time 37.395409 ms 
sort q time 4.376722 
seperate points time 10.241477 
publication time 8.101013 ms 
whole laserOdometry time 8.114099 ms 
 
mapping solver time 29.544352 ms 
mapping data assosiation time 22.027279 ms 
mapping solver time 20.517616 ms 
filter time 12.318614 ms 
sort q time 4.426383 
seperate points time 9.668561 
publication time 8.993369 ms 
whole laserOdometry time 9.012776 ms 
 
build tree time 38.842036 ms 
-----t: 0.053697
OdomCount 3105 & avg odom time 0.047994 ms ++++++++++++++++++++++
mapping solver time 23.853471 ms 
points size 89275 
mapping data assosiation time 24.320284 ms 
publication time 8.329761 ms 
whole laserOdometry time 8.337213 ms 
 
filter time 11.194142 ms 
build tree time 29.601811 ms 
--------------------stamp1317358084.651724100
mapping data assosiation time 20.926938 ms 
mapping solver time 27.723648 ms 
scan registration time 41.073355 ms *************
-----t: 0.0326453
OdomCount 3107 & avg odom time 0.047986 ms ++++++++++++++++++++++
1317358084.651724100 WriteOdom laser_odom_to_init
1317358084.651724100 WriteOdom aft_mapped_to_init_high_frec
publication time 9.457639 ms 
whole laserOdometry time 9.497008 ms 
 
mapping data assosiation time 24.753805 ms 
mapping solver time 18.641460 ms 
filter time 9.129969 ms 
points size 91445 
sort q time 5.308132 
seperate points time 12.247592 
publication time 8.304754 ms 
whole laserOdometry time 8.320348 ms 
 
mapping pub time 109.075978 ms 
whole mapping time 245.808958 ms +++++
mappingCount 1921 & avg mapping time 164.117135 ms ++++++++++++++++++++++
points size 92327 
sort q time 5.139875 
seperate points time 12.297251 
publication time 8.645681 ms 
whole laserOdometry time 8.660293 ms 
 
mapping solver time 23.024345 ms 
--------------------stamp1317358084.964104890
points size 93073 
mapping solver time 26.073259 ms 
filter time 12.924703 ms 
-----t: 0.0423241
OdomCount 3110 & avg odom time 0.047994 ms ++++++++++++++++++++++
build tree time 30.164163 ms 
mapping data assosiation time 20.885327 ms 
points size 94314 
mapping solver time 28.847529 ms 
publication time 8.647896 ms 
whole laserOdometry time 8.659204 ms 
 
mapping solver time 27.028724 ms 
filter time 9.529244 ms 
points size 94890 
build tree time 35.212949 ms 
mapping data assosiation time 21.962916 ms 
publication time 9.841052 ms 
whole laserOdometry time 9.856114 ms 
 
mapping solver time 32.497570 ms 
--------------------stamp1317358085.276292085
points size 95069 
sort q time 5.395317 
seperate points time 13.143279 
filter time 13.745319 ms 
-----t: 0.0631958
OdomCount 3113 & avg odom time 0.048004 ms ++++++++++++++++++++++
--------------------stamp1317358085.380306005
points size 94017 
sort q time 6.105708 
seperate points time 13.570547 
mapping solver time 24.658297 ms 
mapping data assosiation time 26.437945 ms 
publication time 13.256904 ms 
whole laserOdometry time 13.273445 ms 
 
add points time 0.939064 ms
filter time 9.475119 ms 
mapping pub time 2.112208 ms 
whole mapping time 140.001955 ms +++++
mappingCount 1925 & avg mapping time 164.087830 ms ++++++++++++++++++++++
1317358085.172255039 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358085.484297990
points size 91697 
prepare time 12.350885 
scan registration time 29.760110 ms *************
mapping data assosiation time 23.863217 ms 
-----t: 0.0496839
OdomCount 3115 & avg odom time 0.048005 ms ++++++++++++++++++++++
mapping data assosiation time 18.499452 ms 
--------------------stamp1317358085.588239908
prepare time 13.753002 
map prepare time 3.743422 ms
map corner num 127879  surf num 61409 
sort q time 5.315468 
seperate points time 12.562483 
-----t: 0.0375571
OdomCount 3116 & avg odom time 0.048001 ms ++++++++++++++++++++++
build tree time 36.312457 ms 
mapping data assosiation time 18.622207 ms 
--------------------stamp1317358085.692158937
sort q time 4.913567 
seperate points time 11.404972 
mapping solver time 22.009032 ms 
filter time 11.093937 ms 
build tree time 27.211772 ms 
points size 92451 
prepare time 13.345498 
mapping data assosiation time 23.748427 ms 
sort q time 5.253389 
seperate points time 12.526175 
publication time 10.475809 ms 
whole laserOdometry time 10.513479 ms 
 
mapping data assosiation time 22.830707 ms 
mapping solver time 18.992266 ms 
filter time 11.178407 ms 
points size 92963 
sort q time 5.520168 
seperate points time 12.948652 
publication time 6.843825 ms 
whole laserOdometry time 6.855635 ms 
 
mapping solver time 21.631512 ms 
--------------------stamp1317358086.003844976
points size 93979 
add points time 0.855758 ms
filter time 15.363422 ms publication time 8.936848 ms 
whole laserOdometry time 8.947351 ms 
 
-----t: 0.0562319
OdomCount 3120 & avg odom time 0.048001 ms ++++++++++++++++++++++
build tree time 38.131171 ms 
--------------------stamp1317358086.107716083
points size 93030 
sort q time 4.994820 
seperate points time 11.971554 
mapping data assosiation time 23.653608 ms 
-----t: 0.0428961
OdomCount 3121 & avg odom time 0.047999 ms ++++++++++++++++++++++
1317358086.107716083 WriteOdom laser_odom_to_init
1317358086.107716083 WriteOdom aft_mapped_to_init_high_frec
filter time 9.073249 ms 
map prepare time 2.997559 ms
map corner num 129571  surf num 61813 
--------------------stamp1317358086.211611032
points size 91615 
sort q time 5.242355 
seperate points time 10.822624 
mapping data assosiation time 24.168724 ms 
publication time 8.190232 ms 
whole laserOdometry time 8.204335 ms 
 
-----t: 0.0432235
OdomCount 3122 & avg odom time 0.047997 ms ++++++++++++++++++++++
mapping solver time 27.810195 ms 
mapping data assosiation time 19.864542 ms 
--------------------stamp1317358086.315506935
prepare time 13.477591 
scan registration time 30.098784 ms *************
map prepare time 3.833045 ms
map corner num 129934  surf num 61932 
build tree time 41.009578 ms 
mapping data assosiation time 20.508651 ms 
--------------------stamp1317358086.419378042
mapping solver time 21.021220 ms 
sort q time 5.597270 
seperate points time 12.112100 
mapping data assosiation time 25.260200 ms 
mapping solver time 16.439675 ms 
mapping optimization time 125.374167 
add points time 0.781923 ms
mapping pub time 2.034048 ms 
whole mapping time 145.864613 ms +++++
mappingCount 1932 & avg mapping time 164.012753 ms ++++++++++++++++++++++
--------------------stamp1317358086.523247003
prepare time 11.455902 
sort q time 5.056498 
seperate points time 11.371047 
publication time 9.880049 ms 
whole laserOdometry time 9.894785 ms 
 
mapping data assosiation time 20.065314 ms 
mapping optimization time 117.732757 
add points time 0.790117 ms
points size 93142 
sort q time 5.462516 
seperate points time 18.281355 
scan registration time 39.280575 ms *************
build tree time 34.772528 ms 
publication time 10.403108 ms 
whole laserOdometry time 10.416871 ms 
 
mapping solver time 23.118773 ms 
--------------------stamp1317358086.731039047
prepare time 11.012170 
sort q time 5.444684 
seperate points time 12.249502 
filter time 12.246617 ms 
-----t: 0.0424957
OdomCount 3127 & avg odom time 0.047994 ms ++++++++++++++++++++++
build tree time 29.903251 ms 
mapping data assosiation time 20.452226 ms 
points size 91032 
prepare time 11.902292 
scan registration time 28.300186 ms *************
mapping data assosiation time 24.288368 ms 
mapping solver time 15.440534 ms 
mapping optimization time 114.446176 
add points time 0.777626 ms
-----t: 0.0446336
OdomCount 3128 & avg odom time 0.047992 ms ++++++++++++++++++++++
1317358086.834882974 WriteOdom laser_odom_to_init
1317358086.834882974 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
--------------------stamp1317358086.938728094
sort q time 4.875908 
seperate points time 10.052206 
-----t: 0.0331717
OdomCount 3129 & avg odom time 0.047988 ms ++++++++++++++++++++++
mapping data assosiation time 18.845330 ms 
mapping solver time 15.041645 ms 
filter time 11.816712 ms 
map prepare time 4.696908 ms
map corner num 131759  surf num 62490 
points size 90134 
prepare time 14.914936 
sort q time 5.138024 
seperate points time 12.197897 
scan registration time 33.292109 ms *************
publication time 7.898224 ms 
whole laserOdometry time 7.910725 ms 
 
-----t: 0.047911
OdomCount 3130 & avg odom time 0.047988 ms ++++++++++++++++++++++
mapping solver time 18.425310 ms 
--------------------stamp1317358087.146471977
prepare time 11.305337 
sort q time 5.633411 
seperate points time 11.782525 
mapping solver time 22.887567 ms 
filter time 14.148860 ms 
build tree time 27.677460 ms 
--------------------stamp1317358087.250366926
prepare time 13.608233 
sort q time 4.941562 
seperate points time 12.833626 
publication time 8.104501 ms 
whole laserOdometry time 8.119018 ms 
 
-----t: 0.0449075
OdomCount 3132 & avg odom time 0.047984 ms ++++++++++++++++++++++
mapping solver time 18.642867 ms 
filter time 9.583902 ms 
--------------------stamp1317358087.354283094
points size 92343 
prepare time 12.193538 
scan registration time 36.772201 ms *************
mapping data assosiation time 28.250166 ms 
-----t: 0.0527747
OdomCount 3133 & avg odom time 0.047985 ms ++++++++++++++++++++++
1317358087.354283094 WriteOdom laser_odom_to_init
1317358087.354283094 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.341098 ms 
mapping data assosiation time 22.258311 ms 
points size 92859 
mapping solver time 23.981789 ms 
scan registration time 32.470620 ms *************
map prepare time 3.684876 ms
map corner num 132966  surf num 62899 

build tree time 39.030555 ms 
mapping data assosiation time 20.633537 ms 
points size 92540 
prepare time 14.639098 
mapping data assosiation time 23.961120 ms 
mapping solver time 22.313327 ms 
filter time 11.536740 ms 
mapping pub time 2.198001 ms 
whole mapping time 147.502321 ms +++++
mappingCount 1940 & avg mapping time 163.920692 ms ++++++++++++++++++++++
1317358087.354283094 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358087.665967941
prepare time 13.698192 
sort q time 5.339236 
seperate points time 11.783090 
mapping data assosiation time 22.892031 ms 
mapping solver time 18.239181 ms 
mapping data assosiation time 18.427490 ms 
mapping solver time 12.840071 ms 
filter time 10.411795 ms 
sort q time 5.663791 
seperate points time 11.219648 
publication time 9.008771 ms 
whole laserOdometry time 9.022588 ms 
 
--------------------stamp1317358087.873734951
points size 92422 
mapping pub time 116.525593 ms 
whole mapping time 241.535347 ms +++++
mappingCount 1941 & avg mapping time 163.960682 ms ++++++++++++++++++++++
1317358087.458178043 WriteOdom aft_mapped_to_init
prepare time 16.745942 
drop lidar frame in mapping for real time performance 
map prepare time 3.656537 ms
map corner num 133769  surf num 63246 
scan registration time 34.264966 ms *************
publication time 11.376194 ms 
whole laserOdometry time 11.399701 ms 
 
build tree time 40.401112 ms 
mapping data assosiation time 23.278189 ms 
--------------------stamp1317358087.977629899
prepare time 10.940679 
mapping data assosiation time 23.894930 ms 
scan registration time 28.541819 ms *************
mapping solver time 21.376866 ms 
filter time 11.967900 ms 
build tree time 30.920114 ms 
points size 89953 
sort q time 15.646006 
seperate points time 22.801496 
publication time 7.795433 ms 
whole laserOdometry time 7.810937 ms 
 
mapping solver time 16.676886 ms 
filter time 9.383783 ms 
map prepare time 3.602439 ms
map corner num 134901  surf num 63910 
points size 88258 
sort q time 5.766718 
seperate points time 11.595441 
publication time 9.526543 ms 
whole laserOdometry time 9.541365 ms 
 
mapping data assosiation time 25.213416 ms 
mapping solver time 16.446460 ms 
mapping data assosiation time 21.908549 ms 
--------------------stamp1317358088.289408922
points size 86611 
mapping pub time 2.004293 ms 
whole mapping time 135.004068 ms +++++
mappingCount 1944 & avg mapping time 163.920830 ms ++++++++++++++++++++++
-----t: 0.0414452
OdomCount 3142 & avg odom time 0.047961 ms ++++++++++++++++++++++
mapping data assosiation time 20.339863 ms 
--------------------stamp1317358088.393352031
sort q time 5.578833 
seperate points time 11.869983 
publication time 8.613033 ms 
whole laserOdometry time 8.629715 ms 
 
-----t: 0.0493677
OdomCount 3143 & avg odom time 0.047961 ms ++++++++++++++++++++++
map prepare time 2.903236 ms
map corner num 136088  surf num 64658 
build tree time 28.516996 ms 
points size 82951 
mapping data assosiation time 24.681631 ms 
publication time 8.167374 ms 
whole laserOdometry time 8.183166 ms 
 
-----t: 0.0369474
OdomCount 3144 & avg odom time 0.047958 ms ++++++++++++++++++++++
mapping data assosiation time 26.184889 ms 
mapping solver time 24.357095 ms 
points size 78579 
mapping pub time 5.016726 ms 
whole mapping time 159.040175 ms +++++
mappingCount 1946 & avg mapping time 163.909988 ms ++++++++++++++++++++++
[0m[ INFO] [1718889602.438631698, 1317358088.620965682]: Received 201587 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889602.438678208, 1317358088.620965682]: Data saved to 1317358088289408.pcd[0m
publication time 7.865276 ms 
whole laserOdometry time 7.881225 ms 
 
-----t: 0.0476942
OdomCount 3145 & avg odom time 0.047957 ms ++++++++++++++++++++++
1317358088.601309061 WriteOdom laser_odom_to_init
1317358088.601309061 WriteOdom aft_mapped_to_init_high_frec
build tree time 39.631444 ms 
mapping data assosiation time 20.042218 ms 
--------------------stamp1317358088.705300092
prepare time 11.376832 
sort q time 4.104435 
seperate points time 9.915706 
publication time 7.677878 ms 
whole laserOdometry time 7.690654 ms 
 
-----t: 0.037601
OdomCount 3146 & avg odom time 0.047954 ms ++++++++++++++++++++++
mapping pub time 1.825831 ms 
whole mapping time 140.038603 ms +++++
mappingCount 1947 & avg mapping time 163.897729 ms ++++++++++++++++++++++
build tree time 29.766645 ms 
--------------------stamp1317358088.809288978
prepare time 10.071450 
sort q time 4.845810 
seperate points time 9.499634 
publication time 7.242588 ms 
whole laserOdometry time 7.256709 ms 
 
mapping data assosiation time 20.583068 ms 
mapping solver time 14.759876 ms 
filter time 11.561609 ms 
--------------------stamp1317358088.913280010
sort q time 5.146617 
seperate points time 9.707080 
build tree time 38.042562 ms 
-----t: 0.0338351
OdomCount 3148 & avg odom time 0.047945 ms ++++++++++++++++++++++
mapping solver time 17.010014 ms 
mapping data assosiation time 19.598855 ms 
--------------------stamp1317358089.017247915
filter time 9.623070 ms 
publication time 6.351066 ms 
whole laserOdometry time 6.364826 ms 
 
-----t: 0.0338606
OdomCount 3149 & avg odom time 0.047940 ms ++++++++++++++++++++++
build tree time 36.632283 ms 
mapping data assosiation time 18.621532 ms 
mapping solver time 18.808507 ms 
--------------------stamp1317358089.121216058
mapping optimization time 113.965567 
filter time 13.924925 ms 
scan registration time 56.253949 ms *************
publication time 4.961404 ms 
whole laserOdometry time 4.972671 ms 
 
build tree time 34.200502 ms 
--------------------stamp1317358089.225183963
sort q time 3.974894 
seperate points time 8.864244 
publication time 5.901961 ms 
whole laserOdometry time 5.914875 ms 
 
-----t: 0.0398306
OdomCount 3151 & avg odom time 0.047939 ms ++++++++++++++++++++++
mapping solver time 23.105108 ms 
filter time 9.213603 ms 
--------------------stamp1317358089.329123973
sort q time 4.254198 
seperate points time 8.452022 
build tree time 38.124295 ms 
-----t: 0.033826
OdomCount 3152 & avg odom time 0.047935 ms ++++++++++++++++++++++
mapping solver time 19.579491 ms 
mapping data assosiation time 19.633335 ms 
mapping solver time 12.668973 ms 
prepare time 9.914834 
sort q time 4.652189 
seperate points time 8.683387 
scan registration time 21.553051 ms *************
build tree time 36.710731 ms 
mapping data assosiation time 16.966640 ms 
mapping solver time 22.871965 ms 
--------------------stamp1317358089.537009000
points size 65253 
sort q time 3.309959 
seperate points time 8.036892 
publication time 5.184061 ms 
whole laserOdometry time 5.198653 ms 
 
map prepare time 2.372993 ms
map corner num 139660  surf num 66116 
build tree time 34.649165 ms 
mapping data assosiation time 16.447966 ms 
points size 63686 
sort q time 3.300760 
seperate points time 8.091191 
publication time 5.135088 ms 
whole laserOdometry time 5.147882 ms 
 
-----t: 0.0323642
OdomCount 3155 & avg odom time 0.047923 ms ++++++++++++++++++++++
mapping solver time 16.449726 ms 
filter time 10.387898 ms 
--------------------stamp1317358089.744920015
sort q time 4.001246 
seperate points time 9.709230 
publication time 4.536483 ms 
whole laserOdometry time 4.549142 ms 
 
-----t: 0.0319705
OdomCount 3156 & avg odom time 0.047918 ms ++++++++++++++++++++++
1317358089.744920015 WriteOdom laser_odom_to_init
1317358089.744920015 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 11.965193 ms 
mapping optimization time 99.635612 
add points time 0.776651 ms
map prepare time 2.326348 ms
map corner num 140261  surf num 66275 
--------------------stamp1317358089.848886013
sort q time 3.309273 
seperate points time 6.991692 
scan registration time 15.038095 ms *************
build tree time 35.729675 ms 
mapping data assosiation time 18.261859 ms 
mapping solver time 16.604917 ms 
mapping data assosiation time 17.055509 ms 
mapping solver time 12.183939 ms 
filter time 9.768004 ms 
points size 60873 
sort q time 3.250336 
seperate points time 8.014913 
publication time 5.178439 ms 
whole laserOdometry time 5.192065 ms 
 
-----t: 0.0312247
OdomCount 3158 & avg odom time 0.047907 ms ++++++++++++++++++++++
mapping data assosiation time 16.751965 ms 
mapping solver time 20.719862 ms 
mapping data assosiation time 15.790942 ms 
--------------------stamp1317358090.056869029
filter time 10.092975 ms 
publication time 5.830295 ms 
whole laserOdometry time 5.845257 ms 
 
-----t: 0.0286598
OdomCount 3159 & avg odom time 0.047900 ms ++++++++++++++++++++++
build tree time 38.957641 ms 
mapping data assosiation time 16.716475 ms 
mapping solver time 15.356829 ms 
--------------------stamp1317358090.160811901
sort q time 3.258376 
seperate points time 6.670204 
publication time 4.540025 ms 
whole laserOdometry time 4.572536 ms 
map prepare time 2.932749 ms
map corner num 141096  surf num 66501 
build tree time 32.192291 ms 
mapping data assosiation time 15.282112 ms 
--------------------stamp1317358090.264755010
sort q time 3.203026 
seperate points time 8.058235 
publication time 8.057541 ms 
whole laserOdometry time 8.076034 ms 
 
-----t: 0.0267914
OdomCount 3161 & avg odom time 0.047888 ms ++++++++++++++++++++++
map prepare time 2.176898 ms
map corner num 141376  surf num 66569 
build tree time 28.787312 ms 
mapping data assosiation time 16.350374 ms 
points size 60698 
prepare time 8.174152 
mapping solver time 20.811951 ms 
mapping data assosiation time 18.176345 ms 
publication time 5.140641 ms 
whole laserOdometry time 5.155529 ms 
 
filter time 12.797884 ms 
build tree time 32.840736 ms 
points size 61734 
sort q time 3.317748 
seperate points time 8.160072 
publication time 5.993428 ms 
whole laserOdometry time 6.011625 ms 
 
mapping solver time 19.794472 ms 
-----t: 0.0393982
OdomCount 3163 & avg odom time 0.047883 ms ++++++++++++++++++++++
mapping optimization time 106.611853 
add points time 0.720418 ms
--------------------stamp1317358090.576591968
sort q time 3.320543 
seperate points time 8.511470 
publication time 7.757264 ms 
whole laserOdometry time 7.771195 ms 
 
mapping pub time 100.724069 ms 
whole mapping time 221.082253 ms +++++
mappingCount 1961 & avg mapping time 163.677209 ms ++++++++++++++++++++++
--------------------stamp1317358090.680509090
build tree time 35.104277 ms 
mapping data assosiation time 17.978993 ms 
mapping solver time 18.202594 ms 
mapping data assosiation time 15.321173 ms 
mapping solver time 12.321111 ms 
filter time 10.025316 ms 
--------------------stamp1317358090.784420013
sort q time 4.131361 
seperate points time 7.903761 
scan registration time 16.713756 ms *************
publication time 5.523466 ms 
whole laserOdometry time 5.550651 ms 
 
mapping data assosiation time 17.603763 ms 
mapping solver time 18.589506 ms 
mapping data assosiation time 16.886338 ms 
mapping solver time 15.232391 ms 
filter time 10.514642 ms 
sort q time 3.869221 
seperate points time 8.767571 
publication time 6.022704 ms 
whole laserOdometry time 6.035805 ms 
 
-----t: 0.0343072
OdomCount 3167 & avg odom time 0.047864 ms ++++++++++++++++++++++
mapping data assosiation time 16.823724 ms 
mapping solver time 15.956063 ms 
mapping data assosiation time 15.869689 ms 
points size 70933 
sort q time 4.652414 
seperate points time 9.528797 
publication time 5.703557 ms build tree time 33.031978 ms 
mapping data assosiation time 14.661386 ms 
mapping solver time 14.843685 ms 
--------------------stamp1317358091.096101999
sort q time 3.935693 
seperate points time 8.042053 
mapping optimization time 101.134411 
filter time 12.521539 ms 
-----t: 0.035521
OdomCount 3169 & avg odom time 0.047855 ms ++++++++++++++++++++++
1317358091.096101999 WriteOdom laser_odom_to_init
1317358091.096101999 WriteOdom aft_mapped_to_init_high_frec
build tree time 31.466996 ms 
mapping data assosiation time 17.209028 ms 
--------------------stamp1317358091.199997901
points size 75535 
sort q time 4.398461 
seperate points time 10.387286 
mapping data assosiation time 18.830133 ms 
mapping solver time 16.389943 ms 
filter time 9.547029 ms 
map prepare time 3.167826 ms
map corner num 143615  surf num 67148 
--------------------stamp1317358091.303917884
points size 78421 
sort q time 4.190656 
seperate points time 9.923299 
publication time 5.331785 ms 
whole laserOdometry time 5.346197 ms 
 
-----t: 0.0487143
OdomCount 3171 & avg odom time 0.047848 ms ++++++++++++++++++++++
mapping data assosiation time 19.581640 ms 
mapping solver time 20.238563 ms 
--------------------stamp1317358091.407835960
prepare time 12.610585 
sort q time 4.417666 
seperate points time 9.868851 
publication time 6.162598 ms 
whole laserOdometry time 6.174847 ms 
 
mapping data assosiation time 19.525466 ms 
mapping solver time 24.628619 ms 
points size 75273 
mapping data assosiation time 20.251538 ms 
mapping solver time 20.758305 ms 
filter time 21.683151 ms 
-----t: 0.0464536
OdomCount 3173 & avg odom time 0.047846 ms ++++++++++++++++++++++
1317358091.511754989 WriteOdom laser_odom_to_init
1317358091.511754989 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 1.729867 ms 
whole mapping time 155.971909 ms +++++
mappingCount 1968 & avg mapping time 163.556415 ms ++++++++++++++++++++++
1317358091.303917885 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.449508 ms
map corner num 144342  surf num 67324 
build tree time 30.930080 ms 
--------------------stamp1317358091.615674972
sort q time 4.729796 
seperate points time 8.856653 
scan registration time 24.458886 ms *************
-----t: 0.0323842
OdomCount 3174 & avg odom time 0.047841 ms ++++++++++++++++++++++
mapping solver time 11.244586 ms 
filter time 9.789862 ms 
--------------------stamp1317358091.719593048
sort q time 3.838345 
seperate points time 8.658071 
mapping data assosiation time 18.744207 ms 
mapping solver time 22.219129 ms 
mapping data assosiation time 17.446066 ms 
mapping solver time 17.843522 ms 
points size 71109 
scan registration time 19.468505 ms *************
publication time 6.236008 ms 
whole laserOdometry time 6.267316 ms 
 
-----t: 0.0320776
OdomCount 3176 & avg odom time 0.047832 ms ++++++++++++++++++++++
1317358091.823513031 WriteOdom laser_odom_to_init
1317358091.823513031 WriteOdom aft_mapped_to_init_high_frec
build tree time 38.955562 ms 
mapping data assosiation time 15.597647 ms 
mapping solver time 19.008928 ms 
--------------------stamp1317358091.927432060
prepare time 10.271308 
add points time 0.743151 ms
sort q time 4.384892 
seperate points time 9.040867 
mapping pub time 6.221924 ms 
whole mapping time 131.102121 ms +++++
mappingCount 1971 & avg mapping time 163.502419 ms ++++++++++++++++++++++
1317358091.719593048 WriteOdom aft_mapped_to_init
publication time 5.371508 ms 
whole laserOdometry time 5.396641 ms 
 
mapping data assosiation time 14.819058 ms 
--------------------stamp1317358092.031374931
points size 71216 
sort q time 3.795398 
seperate points time 9.371623 
scan registration time 24.616183 ms *************
mapping data assosiation time 18.124377 ms 
publication time 5.713340 ms 
whole laserOdometry time 5.725000 ms 
 
mapping solver time 19.793339 ms 
mapping optimization time 105.682154 
add points time 0.734399 ms
-----t: 0.0334361
OdomCount 3178 & avg odom time 0.047821 ms ++++++++++++++++++++++
1317358092.031374931 WriteOdom laser_odom_to_init
1317358092.031374931 WriteOdom aft_mapped_to_init_high_frec
filter time 11.258141 ms 
mapping pub time 1.674585 ms 
whole mapping time 121.961755 ms +++++
mappingCount 1972 & avg mapping time 163.481356 ms ++++++++++++++++++++++
1317358091.823513031 WriteOdom aft_mapped_to_init
build tree time 34.564967 ms 
points size 71825 
sort q time 4.171146 
seperate points time 9.140893 
mapping solver time 24.299702 ms 
-----t: 0.0280975
OdomCount 3179 & avg odom time 0.047815 ms ++++++++++++++++++++++
1317358092.135340929 WriteOdom laser_odom_to_init
1317358092.135340929 WriteOdom aft_mapped_to_init_high_frec
publication time 9.184472 ms 
whole laserOdometry time 9.191818 ms 
 
mapping data assosiation time 19.102002 ms 
mapping solver time 17.059856 ms 
filter time 12.053347 ms 
--------------------stamp1317358092.239284038
sort q time 3.676712 
seperate points time 8.935424 
publication time 7.125501 ms 
whole laserOdometry time 7.138884 ms 
 
-----t: 0.0472835
OdomCount 3180 & avg odom time 0.047815 ms ++++++++++++++++++++++
mapping data assosiation time 15.480828 ms 
mapping solver time 18.490808 ms 
prepare time 11.768707 
scan registration time 24.803036 ms *************
publication time 6.393861 ms 
whole laserOdometry time 6.419601 ms 
 
build tree time 39.208178 ms 
mapping data assosiation time 19.471180 ms 
--------------------stamp1317358092.447192907
prepare time 11.404373 
scan registration time 24.112806 ms *************
mapping solver time 19.522664 ms 
publication time 10.859077 ms 
whole laserOdometry time 10.872733 ms 
 
-----t: 0.0497068
OdomCount 3182 & avg odom time 0.047811 ms ++++++++++++++++++++++
build tree time 33.411700 ms 
--------------------stamp1317358092.551160097
sort q time 3.502406 
seperate points time 8.790749 
mapping data assosiation time 18.507974 ms 
publication time 7.239284 ms 
whole laserOdometry time 7.252341 ms 
 
-----t: 0.0538032
OdomCount 3183 & avg odom time 0.047813 ms ++++++++++++++++++++++
mapping pub time 4.270605 ms 
whole mapping time 130.785515 ms +++++
mappingCount 1976 & avg mapping time 163.420264 ms ++++++++++++++++++++++
--------------------stamp1317358092.655102968
prepare time 10.970618 
scan registration time 22.350256 ms *************
mapping data assosiation time 18.431557 ms 
1317358092.655102968 WriteOdom laser_odom_to_init
1317358092.655102968 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.002167 ms 
mapping solver time 11.766063 ms 
filter time 10.030170 ms 
--------------------stamp1317358092.759049892
points size 56043 
prepare time 7.767157 
publication time 6.037252 ms 
whole laserOdometry time 6.054330 ms 
 
build tree time 41.388676 ms 
mapping data assosiation time 14.892258 ms 
mapping solver time 20.251216 ms 
mapping data assosiation time 16.243725 ms 
--------------------stamp1317358092.863017082
sort q time 2.764736 
seperate points time 6.031498 
publication time 5.350838 ms 
whole laserOdometry time 5.363433 ms 
 
-----t: 0.0286824
OdomCount 3186 & avg odom time 0.047795 ms ++++++++++++++++++++++
build tree time 38.509945 ms 
mapping data assosiation time 17.037020 ms 
mapping solver time 19.097666 ms 
--------------------stamp1317358092.966955900
sort q time 2.856665 
seperate points time 7.095486 
mapping solver time 17.304655 ms 
-----t: 0.0253683
OdomCount 3187 & avg odom time 0.047788 ms ++++++++++++++++++++++
map prepare time 2.166849 ms
map corner num 147805  surf num 68265 
build tree time 35.626705 ms 
mapping data assosiation time 14.467655 ms 
points size 54991 
sort q time 2.793259 
seperate points time 7.025940 
publication time 4.523749 ms 
whole laserOdometry time 4.542976 ms 
 
mapping data assosiation time 18.628823 ms 
mapping solver time 14.345819 ms 
filter time 10.192955 ms 
build tree time 32.249376 ms 
points size 57205 
scan registration time 17.369058 ms *************
mapping solver time 23.647835 ms 
publication time 5.626004 ms 
whole laserOdometry time 5.634658 ms 
 
mapping data assosiation time 17.413178 ms 
mapping solver time 11.566144 ms 
filter time 10.030466 ms 
--------------------stamp1317358093.278783082
[0m[ INFO] [1718889607.107254179, 1317358093.286099647]: Received 216910 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889607.107291644, 1317358093.286099647]: Data saved to 1317358093070898.pcd[0m
publication time 6.827004 ms 
whole laserOdometry time 6.857199 ms 
 
mapping pub time 97.802175 ms 
whole mapping time 214.665333 ms +++++
mappingCount 1981 & avg mapping time 163.365019 ms ++++++++++++++++++++++
--------------------stamp1317358093.382725954
sort q time 3.237979 
seperate points time 6.808512 
publication time 6.660990 ms 
whole laserOdometry time 6.677333 ms 
 
-----t: 0.0301078
OdomCount 3191 & avg odom time 0.047765 ms ++++++++++++++++++++++
mapping data assosiation time 15.691443 ms 
mapping solver time 14.637833 ms 
filter time 12.491887 ms 
--------------------stamp1317358093.486668109
sort q time 2.917783 
seperate points time 6.953526 
publication time 5.704606 ms 
whole laserOdometry time 5.720732 ms 
 
mapping solver time 17.710710 ms 
mapping data assosiation time 15.662275 ms 
mapping solver time 12.952290 ms 
--------------------stamp1317358093.590610980
prepare time 11.843770 
sort q time 3.376758 
seperate points time 8.481114 
build tree time 35.699020 ms 
1317358093.590610980 WriteOdom laser_odom_to_init
1317358093.590610980 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.073308 ms 
mapping data assosiation time 17.710676 ms 
points size 67696 
scan registration time 18.558563 ms *************
filter time 15.025764 ms 
build tree time 40.376180 ms 
mapping data assosiation time 15.779893 ms 
--------------------stamp1317358093.798496007
sort q time 4.726309 
seperate points time 8.897117 
mapping data assosiation time 19.104668 ms 
mapping solver time 22.529043 ms 
filter time 11.099784 ms 
mapping pub time 1.455264 ms 
whole mapping time 136.987315 ms +++++
mappingCount 1985 & avg mapping time 163.293140 ms ++++++++++++++++++++++
1317358093.590610981 WriteOdom aft_mapped_to_init
map prepare time 2.642757 ms
map corner num 149933  surf num 68854 
build tree time 33.849061 ms 
prepare time 12.271417 
sort q time 3.666582 
seperate points time 8.980844 
publication time 5.562342 ms 
whole laserOdometry time 5.575865 ms 
 
-----t: 0.0337438
OdomCount 3196 & avg odom time 0.047752 ms ++++++++++++++++++++++
1317358093.902439117 WriteOdom laser_odom_to_init
1317358093.902439117 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.650878 ms 
mapping solver time 11.099424 ms 
filter time 10.178086 ms 
map prepare time 2.515940 ms
map corner num 150469  surf num 69103 
points size 73783 
sort q time 3.850235 
seperate points time 9.416776 
build tree time 40.219984 ms 
-----t: 0.0332171
OdomCount 3197 & avg odom time 0.047748 ms ++++++++++++++++++++++
mapping solver time 18.765000 ms 
mapping data assosiation time 16.768508 ms 
--------------------stamp1317358094.110301971
points size 73504 
filter time 15.830228 ms 
mapping pub time 1.654710 ms 
whole mapping time 134.500461 ms +++++
mappingCount 1987 & avg mapping time 163.261257 ms ++++++++++++++++++++++
1317358093.902439117 WriteOdom aft_mapped_to_init
sort q time 3.983761 
seperate points time 9.583511 
publication time 7.768569 ms 
whole laserOdometry time 7.780747 ms 
 
-----t: 0.0378632
OdomCount 3198 & avg odom time 0.047745 ms ++++++++++++++++++++++
mapping data assosiation time 17.299822 ms 
mapping solver time 18.942050 ms 
mapping data assosiation time 17.330681 ms 
points size 72758 
mapping solver time 20.282136 ms 
mapping pub time 1.794964 ms 
whole mapping time 108.238505 ms +++++
mappingCount 1988 & avg mapping time 163.233581 ms ++++++++++++++++++++++
-----t: 0.0348525
OdomCount 3199 & avg odom time 0.047741 ms ++++++++++++++++++++++
mapping data assosiation time 18.339101 ms 
mapping solver time 19.124268 ms 
--------------------stamp1317358094.318186044
sort q time 4.574449 
seperate points time 8.989029 
filter time 7.615301 ms 
build tree time 20.020520 ms 
mapping solver time 21.028810 ms 
points size 74191 
sort q time 4.279110 
seperate points time 12.085351 
filter time 6.626446 ms 
build tree time 17.978009 ms 
mapping data assosiation time 19.083177 ms 
--------------------stamp1317358094.526022911
prepare time 10.491204 
sort q time 4.142400 
seperate points time 9.231055 
publication time 9.117754 ms 
whole laserOdometry time 9.144487 ms 
 
filter time 7.279623 ms 
build tree time 15.672404 ms 
mapping data assosiation time 17.779240 ms 
points size 74158 
sort q time 4.036252 
seperate points time 9.876151 
mapping data assosiation time 19.494062 ms 
mapping solver time 24.940813 ms 
map prepare time 2.139596 ms
map corner num 76760  surf num 30190 
build tree time 19.880232 ms 
mapping data assosiation time 20.070467 ms 
sort q time 3.907549 
seperate points time 9.188375 
-----t: 0.0289758
OdomCount 3204 & avg odom time 0.047734 ms ++++++++++++++++++++++
mapping data assosiation time 15.972739 ms 
mapping solver time 19.398616 ms 
filter time 5.777415 ms 
--------------------stamp1317358094.837779998
build tree time 17.743700 ms 
mapping data assosiation time 18.265744 ms 
publication time 7.328143 ms 
whole laserOdometry time 7.344398 ms 
 
mapping data assosiation time 16.062111 ms 
mapping solver time 12.561440 ms 
mapping pub time 1.593651 ms 
whole mapping time 94.699506 ms +++++
mappingCount 1994 & avg mapping time 163.077408 ms ++++++++++++++++++++++
--------------------stamp1317358094.941699028
sort q time 4.190095 
seperate points time 8.225832 
publication time 6.263204 ms 
whole laserOdometry time 6.274025 ms 
 
mapping solver time 22.034812 ms 
mapping data assosiation time 19.232659 ms 
1317358094.941699028 WriteOdom laser_odom_to_init
1317358094.941699028 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.935657 ms 
mapping pub time 1.573764 ms 
whole mapping time 105.939998 ms +++++
mappingCount 1995 & avg mapping time 163.048769 ms ++++++++++++++++++++++
--------------------stamp1317358095.045639991
sort q time 3.550728 
seperate points time 7.968332 
publication time 6.454673 ms 
whole laserOdometry time 6.467504 ms 
 
-----t: 0.0281465
OdomCount 3207 & avg odom time 0.047729 ms ++++++++++++++++++++++
1317358095.045639991 WriteOdom laser_odom_to_init
1317358095.045639991 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 15.252797 ms 
mapping solver time 16.242933 ms 
[0m[ INFO] [1718889608.951269502, 1317358095.134501880]: Received 108829 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889608.951312297, 1317358095.134501880]: Data saved to 1317358094941699.pcd[0m
--------------------stamp1317358095.149584054
sort q time 3.766545 
seperate points time 8.748406 
mapping data assosiation time 18.791594 ms 
-----t: 0.0338602
OdomCount 3208 & avg odom time 0.047724 ms ++++++++++++++++++++++
mapping data assosiation time 15.287604 ms 
mapping solver time 17.141227 ms 
1317358095.045639992 WriteOdom aft_mapped_to_init
--------------------stamp1317358095.253503084prepare time 11.531134 
sort q time 4.176593 
seperate points time 10.174728 
mapping data assosiation time 17.894850 ms 
mapping solver time 23.140107 ms 
-----t: 0.054396
OdomCount 3209 & avg odom time 0.047726 ms ++++++++++++++++++++++
1317358095.253503084 WriteOdom laser_odom_to_init
1317358095.253503084 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.974309 ms 
mapping solver time 11.169282 ms 
map prepare time 1.864149 ms
map corner num 78891  surf num 30725 
points size 72347 
sort q time 4.285013 
seperate points time 9.163771 
publication time 7.319260 ms 
whole laserOdometry time 7.344423 ms 
 
mapping solver time 17.698363 ms 
-----t: 0.0483619
OdomCount 3210 & avg odom time 0.047727 ms ++++++++++++++++++++++
mapping solver time 10.784830 ms 
mapping optimization time 85.734446 
add points time 0.637961 ms
filter time 5.113825 ms 
--------------------stamp1317358095.461338996
sort q time 3.928557 
seperate points time 8.099758 
publication time 6.858119 ms 
whole laserOdometry time 6.877239 ms 
 
mapping data assosiation time 17.890909 ms 
mapping solver time 14.827877 ms 
map prepare time 2.294684 ms
map corner num 79475  surf num 30908 
--------------------stamp1317358095.565282106
sort q time 3.333149 
seperate points time 7.476209 
mapping data assosiation time 17.135570 ms 
mapping solver time 20.700255 ms 
-----t: 0.0642094
OdomCount 3212 & avg odom time 0.047732 ms ++++++++++++++++++++++
filter time 5.459251 ms 
--------------------stamp1317358095.669250965
sort q time 3.501464 
seperate points time 7.543113 
publication time 6.144158 ms 
whole laserOdometry time 6.160844 ms 
 
-----t: 0.0372527
OdomCount 3213 & avg odom time 0.047728 ms ++++++++++++++++++++++
mapping pub time 112.060828 ms 
whole mapping time 219.203579 ms +++++
mappingCount 2001 & avg mapping time 162.921138 ms ++++++++++++++++++++++
points size 67698 
build tree time 21.903829 ms 
publication time 6.113174 ms 
whole laserOdometry time 6.128248 ms 
 
mapping solver time 24.233245 ms 
mapping data assosiation time 17.342622 ms 
mapping solver time 11.385247 ms 
map prepare time 2.599870 ms
map corner num 80103  surf num 31046 
sort q time 3.584838 
seperate points time 8.940145 
publication time 8.114178 ms 
whole laserOdometry time 8.135610 ms 
 
-----t: 0.0343279
OdomCount 3215 & avg odom time 0.047720 ms ++++++++++++++++++++++
mapping solver time 20.740761 ms 
mapping data assosiation time 16.280910 ms 
mapping solver time 16.172799 ms 
map prepare time 2.323660 ms
map corner num 80481  surf num 31187 
sort q time 3.544523 
seperate points time 8.764261 
publication time 8.324544 ms 
whole laserOdometry time 8.351403 ms 
 
-----t: 0.034921
OdomCount 3216 & avg odom time 0.047716 ms ++++++++++++++++++++++
1317358095.981126070 WriteOdom laser_odom_to_init
1317358095.981126070 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.114675 ms 
mapping data assosiation time 15.357189 ms 
mapping solver time 14.501808 ms 
points size 65991 
sort q time 3.739391 
seperate points time 8.715301 
publication time 6.634433 ms 
whole laserOdometry time 6.651307 ms 
 
-----t: 0.0274761
OdomCount 3217 & avg odom time 0.047710 ms ++++++++++++++++++++++
mapping data assosiation time 17.199218 ms 
mapping solver time 15.129770 ms 
mapping data assosiation time 16.002393 ms 
mapping solver time 14.824466 ms 
points size 63998 
publication time 6.490590 ms 
whole laserOdometry time 6.504351 ms 
 
-----t: 0.029007
OdomCount 3218 & avg odom time 0.047704 ms ++++++++++++++++++++++
mapping solver time 14.889483 ms 
mapping data assosiation time 14.896736 ms 
mapping solver time 15.686186 ms 
mapping optimization time 87.377573 
add points time 0.598218 ms
filter time 5.390630 ms 
points size 62769 
build tree time 22.482929 ms 
-----t: 0.0283422
OdomCount 3219 & avg odom time 0.047698 ms ++++++++++++++++++++++
mapping solver time 18.846056 ms 
mapping data assosiation time 16.848507 ms 
mapping solver time 16.304040 ms 
mapping pub time 1.535951 ms 
whole mapping time 107.031868 ms +++++
mappingCount 2007 & avg mapping time 162.742463 ms ++++++++++++++++++++++
sort q time 3.520827 
seperate points time 7.355186 
scan registration time 16.341177 ms *************
publication time 6.713116 ms 1317358096.396992921 WriteOdom laser_odom_to_init
1317358096.396992921 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.421308 ms 
mapping data assosiation time 16.210137 ms 
mapping solver time 12.451128 ms 
sort q time 4.083031 
seperate points time 8.004906 
scan registration time 16.315650 ms *************
-----t: 0.0307689
OdomCount 3221 & avg odom time 0.047688 ms ++++++++++++++++++++++
mapping solver time 15.273274 ms 
mapping data assosiation time 16.628412 ms 
mapping solver time 12.013868 ms 
map prepare time 2.015427 ms
map corner num 82418  surf num 31757 
publication time 5.502129 ms 
whole laserOdometry time 5.513096 ms 
 
mapping data assosiation time 18.097326 ms 
mapping solver time 18.208986 ms 
mapping data assosiation time 17.768506 ms 
mapping solver time 11.900569 ms 
filter time 5.599182 ms 
scan registration time 13.479326 ms *************
build tree time 18.692599 ms 
mapping data assosiation time 19.527945 ms 
-----t: 0.0360992
OdomCount 3223 & avg odom time 0.047681 ms ++++++++++++++++++++++
mapping solver time 20.027376 ms 
mapping data assosiation time 17.346354 ms 
mapping solver time 16.025220 ms 
mapping pub time 4.715526 ms 
whole mapping time 106.525538 ms +++++
mappingCount 2011 & avg mapping time 162.621135 ms ++++++++++++++++++++++
sort q time 3.453011 
seperate points time 7.079899 
mapping data assosiation time 19.466702 ms 
-----t: 0.0431431
OdomCount 3224 & avg odom time 0.047679 ms ++++++++++++++++++++++
mapping solver time 22.363361 ms 
mapping data assosiation time 16.171310 ms 
--------------------stamp1317358096.916920900
filter time 8.339673 ms 
publication time 5.965798 ms 
whole laserOdometry time 5.991010 ms 
 
build tree time 21.423827 ms 
-----t: 0.0411867
OdomCount 3225 & avg odom time 0.047677 ms ++++++++++++++++++++++
mapping solver time 17.044145 ms 
mapping data assosiation time 16.611773 ms 
points size 65504 
scan registration time 18.544581 ms *************
mapping pub time 1.411373 ms 
whole mapping time 108.471913 ms +++++
mappingCount 2013 & avg mapping time 162.570551 ms ++++++++++++++++++++++
1317358096.812906981 WriteOdom aft_mapped_to_init
map prepare time 2.474976 ms
map corner num 83703  surf num 32152 
build tree time 18.796297 ms 
mapping data assosiation time 22.204019 ms 
mapping solver time 17.525110 ms 
--------------------stamp1317358097.124877929
sort q time 4.024466 
seperate points time 7.909962 
publication time 8.753158 ms 
whole laserOdometry time 8.765667 ms 
 
filter time 7.481428 ms 
mapping pub time 1.480353 ms 
whole mapping time 112.202408 ms +++++
mappingCount 2014 & avg mapping time 162.545547 ms ++++++++++++++++++++++
1317358096.916920900 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
mapping data assosiation time 15.924600 ms 
mapping solver time 16.333026 ms 
--------------------stamp1317358097.228873014
prepare time 9.764395 
sort q time 4.006948 
seperate points time 9.448505 
filter time 7.825860 ms 
map prepare time 2.270146 ms
map corner num 84353  surf num 32375 
build tree time 16.396406 ms 
mapping data assosiation time 16.664024 ms 
mapping solver time 22.294444 ms 
prepare time 10.500421 
mapping data assosiation time 19.358466 ms 
mapping solver time 16.163131 ms 
[0m[ INFO] [1718889611.195153033, 1317358097.379580118]: Received 117250 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889611.195190601, 1317358097.379580118]: Data saved to 1317358097228873.pcd[0m
map prepare time 2.761464 ms
map corner num 84719  surf num 32531 
build tree time 23.778500 ms 
mapping data assosiation time 18.253886 ms 
points size 80735 
sort q time 4.176261 
seperate points time 9.902481 
publication time 7.190709 ms 
whole laserOdometry time 7.206733 ms 
 
mapping solver time 15.017561 ms 
mapping pub time 1.696740 ms 
whole mapping time 109.795303 ms +++++
mappingCount 2017 & avg mapping time 162.462252 ms ++++++++++++++++++++++
build tree time 19.920497 ms 
--------------------stamp1317358097.540868043
prepare time 12.492497 
scan registration time 27.613000 ms *************
publication time 7.834882 ms 
whole laserOdometry time 7.859409 ms 
 
-----t: 0.0414568
OdomCount 3231 & avg odom time 0.047657 ms ++++++++++++++++++++++
mapping solver time 14.659367 ms 
filter time 5.726185 ms 
mapping pub time 1.947490 ms 
whole mapping time 115.397874 ms +++++
mappingCount 2018 & avg mapping time 162.438932 ms ++++++++++++++++++++++
1317358097.436853886 WriteOdom aft_mapped_to_init
map prepare time 1.994914 ms
map corner num 85343  surf num 32727 
build tree time 17.138539 ms 
points size 82140 
sort q time 4.473890 
seperate points time 10.187067 
mapping solver time 21.424919 ms 
-----t: 0.0398959
OdomCount 3232 & avg odom time 0.047654 ms ++++++++++++++++++++++
mapping solver time 14.632722 ms 
mapping pub time 1.931949 ms 
whole mapping time 108.505539 ms +++++
mappingCount 2019 & avg mapping time 162.412221 ms ++++++++++++++++++++++
--------------------stamp1317358097.748895883
points size 82752 
mapping data assosiation time 19.412823 ms 
mapping solver time 21.676483 ms 
-----t: 0.0399378
OdomCount 3233 & avg odom time 0.047652 ms ++++++++++++++++++++++
mapping data assosiation time 21.963011 ms 
mapping solver time 13.130349 ms 
mapping pub time 1.814345 ms 
whole mapping time 107.319367 ms +++++
mappingCount 2020 & avg mapping time 162.384950 ms ++++++++++++++++++++++
--------------------stamp1317358097.852910041
points size 83460 
sort q time 4.439610 
seperate points time 9.973514 
publication time 6.903284 ms 
whole laserOdometry time 6.917579 ms 
 
mapping solver time 25.884870 ms 
mapping data assosiation time 19.199959 ms 
mapping solver time 16.404890 ms 
[0m[ INFO] [1718889611.766780568, 1317358097.944912132]: Received 119346 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889611.766823677, 1317358097.944912132]: Data saved to 1317358097748895.pcd[0m
points size 83984 
sort q time 4.825891 
seperate points time 11.358187 
publication time 7.212775 ms 
whole laserOdometry time 7.226160 ms 
 
-----t: 0.0452652
OdomCount 3235 & avg odom time 0.047650 ms ++++++++++++++++++++++
mapping pub time 102.539745 ms 
whole mapping time 213.249805 ms +++++
mappingCount 2021 & avg mapping time 162.410120 ms ++++++++++++++++++++++
points size 84561 
sort q time 4.779074 
seperate points time 10.575846 
mapping data assosiation time 20.230674 ms 
publication time 8.182375 ms 
whole laserOdometry time 8.194598 ms 
 
mapping solver time 19.488494 ms 
mapping data assosiation time 18.763166 ms 
mapping solver time 15.076890 ms 
mapping pub time 1.937279 ms 
whole mapping time 106.467103 ms +++++
mappingCount 2022 & avg mapping time 162.382455 ms ++++++++++++++++++++++
points size 85714 
build tree time 21.477691 ms 
mapping data assosiation time 22.031915 ms 
-----t: 0.039416
OdomCount 3237 & avg odom time 0.047645 ms ++++++++++++++++++++++
mapping solver time 20.151650 ms 
mapping data assosiation time 19.484025 ms 
mapping solver time 18.284073 ms 
mapping data assosiation time 18.502193 ms 
--------------------stamp1317358098.372817993
points size 86869 
map prepare time 2.736382 ms
map corner num 87263  surf num 33312 
publication time 6.804282 ms 
whole laserOdometry time 6.830674 ms 
 
-----t: 0.041294
OdomCount 3239 & avg odom time 0.047641 ms ++++++++++++++++++++++
mapping solver time 22.608162 ms 
--------------------stamp1317358098.476783990
points size 86949 
mapping solver time 21.799928 ms 
map prepare time 2.315379 ms
map corner num 87552  surf num 33396 
build tree time 20.001799 ms 
mapping data assosiation time 20.507841 ms 
mapping solver time 18.912703 ms 
mapping data assosiation time 20.430610 ms 
mapping solver time 16.643186 ms 
[0m[ INFO] [1718889612.443560610, 1317358098.626167067]: Received 121325 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889612.443598891, 1317358098.626167067]: Data saved to 1317358098372817.pcd[0m
build tree time 18.936661 ms 
mapping data assosiation time 18.876201 ms 
--------------------stamp1317358098.684643983
prepare time 12.397918 
sort q time 5.885855 
seperate points time 11.572449 
mapping data assosiation time 21.361174 ms 
scan registration time 31.138558 ms *************
mapping solver time 17.804642 ms 
filter time 7.273871 ms 
build tree time 18.768603 ms 
mapping data assosiation time 18.898497 ms 
prepare time 10.264350 
mapping solver time 22.512617 ms 
publication time 8.343022 ms 
whole laserOdometry time 8.358705 ms 
 
-----t: 0.0446031
OdomCount 3243 & avg odom time 0.047629 ms ++++++++++++++++++++++
mapping solver time 22.544671 ms 
mapping optimization time 106.748967 
add points time 0.708501 ms
build tree time 17.966148 ms 
points size 86742 
sort q time 4.725010 
seperate points time 11.232347 
publication time 6.399822 ms 
whole laserOdometry time 6.410411 ms 
 
-----t: 0.0456349
OdomCount 3244 & avg odom time 0.047628 ms ++++++++++++++++++++++
mapping solver time 19.152263 ms 
mapping pub time 2.001826 ms 
whole mapping time 123.335938 ms +++++
mappingCount 2029 & avg mapping time 162.222261 ms ++++++++++++++++++++++
points size 86853 
prepare time 12.021306 
publication time 6.918502 ms 
whole laserOdometry time 6.933781 ms 
 
mapping solver time 24.058567 ms 
mapping data assosiation time 17.227855 ms 
mapping solver time 18.525878 ms 
prepare time 10.387670 
sort q time 5.432035 
seperate points time 11.542971 
scan registration time 25.907027 ms *************
-----t: 0.0356309
OdomCount 3246 & avg odom time 0.047620 ms ++++++++++++++++++++++
mapping solver time 22.394993 ms 
mapping data assosiation time 20.354926 ms 
prepare time 10.993446 
add points time 0.703259 ms
sort q time 5.069819 
seperate points time 11.149943 
scan registration time 26.827007 ms *************
filter time 7.855432 ms 
[0m[ INFO] [1718889613.050582471, 1317358099.220354347]: Received 123127 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889613.050664695, 1317358099.220354347]: Data saved to 1317358098996088.pcd[0m-----t: 0.0339057
OdomCount 3247 & avg odom time 0.047616 ms ++++++++++++++++++++++
1317358099.203617095 WriteOdom laser_odom_to_init
1317358099.203617095 WriteOdom aft_mapped_to_init_high_frec
publication time 7.785979 ms 
whole laserOdometry time 7.796671 ms 
 
mapping data assosiation time 21.714111 ms 
--------------------stamp1317358099.307318925
prepare time 13.104524 
sort q time 4.904518 
seperate points time 10.898334 
publication time 7.664282 ms 
whole laserOdometry time 7.678902 ms 
 
filter time 8.097789 ms 
build tree time 19.511267 ms 
--------------------stamp1317358099.411021947
prepare time 12.534145 
sort q time 5.965610 
seperate points time 11.439805 
publication time 6.329135 ms 
whole laserOdometry time 6.340982 ms 
 
mapping data assosiation time 23.396731 ms 
mapping solver time 20.010860 ms 
mapping pub time 1.954180 ms 
whole mapping time 125.233492 ms +++++
mappingCount 2033 & avg mapping time 162.148639 ms ++++++++++++++++++++++
--------------------stamp1317358099.514746904
sort q time 5.782207 
seperate points time 13.285088 
scan registration time 37.250102 ms *************
mapping data assosiation time 25.922835 ms 
mapping solver time 29.800571 ms 
mapping data assosiation time 21.385606 ms 
--------------------stamp1317358099.618423938
filter time 9.203782 ms 
sort q time 4.925384 
seperate points time 11.801841 
build tree time 22.783474 ms 
-----t: 0.0430098
OdomCount 3251 & avg odom time 0.047614 ms ++++++++++++++++++++++
1317358099.618423938 WriteOdom laser_odom_to_init
1317358099.618423938 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.959305 ms 
mapping data assosiation time 23.439044 ms 
points size 88556 
prepare time 15.479325 
scan registration time 31.430709 ms *************
filter time 5.995818 ms 
publication time 6.609699 ms 
whole laserOdometry time 6.625442 ms 
 
build tree time 18.810292 ms 
mapping data assosiation time 18.887900 ms 
--------------------stamp1317358099.825855016
prepare time 11.154060 
sort q time 5.039781 
seperate points time 10.536909 
publication time 7.642399 ms 
whole laserOdometry time 7.658949 ms 
 
mapping solver time 16.444493 ms 
mapping optimization time 99.876097 
map prepare time 2.323574 ms
map corner num 90882  surf num 34587 
build tree time 19.681241 ms 
mapping data assosiation time 21.731986 ms 
points size 88994 
mapping solver time 24.095537 ms 
publication time 7.718881 ms 
whole laserOdometry time 7.731923 ms 
 
-----t: 0.0380333
OdomCount 3254 & avg odom time 0.047603 ms ++++++++++++++++++++++
1317358099.929630994 WriteOdom laser_odom_to_init
1317358099.929630994 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.853638 ms 
mapping pub time 1.992181 ms 
whole mapping time 124.160945 ms +++++
mappingCount 2037 & avg mapping time 162.075762 ms ++++++++++++++++++++++
build tree time 20.861831 ms 
--------------------stamp1317358100.033381938
points size 89023 
mapping data assosiation time 23.436130 ms 
sort q time 4.979402 
seperate points time 12.288737 
scan registration time 30.556770 ms *************
publication time 9.151813 ms 
whole laserOdometry time 9.433348 ms 
 
mapping solver time 30.802351 ms 
mapping data assosiation time 20.522199 ms 
mapping solver time 19.516546 ms 
mapping pub time 2.402373 ms 
whole mapping time 129.452572 ms +++++
mappingCount 2038 & avg mapping time 162.059757 ms ++++++++++++++++++++++
prepare time 14.154054 
sort q time 5.180012 
seperate points time 12.775964 
publication time 9.843647 ms 
whole laserOdometry time 9.855452 ms 
 
-----t: 0.0503836
OdomCount 3256 & avg odom time 0.047603 ms ++++++++++++++++++++++
mapping solver time 26.401939 ms 
--------------------stamp1317358100.240787029
points size 89381 
sort q time 5.075677 
seperate points time 12.875278 
publication time 8.203183 ms 
whole laserOdometry time 8.226821 ms 
 
-----t: 0.0464732
OdomCount 3257 & avg odom time 0.047603 ms ++++++++++++++++++++++
build tree time 21.393875 ms 
mapping data assosiation time 20.767735 ms 
--------------------stamp1317358100.344515085
points size 89434 
sort q time 4.830883 
seperate points time 11.890584 
mapping data assosiation time 24.960905 ms 
mapping solver time 12.985761 ms 
filter time 6.986676 ms 
build tree time 18.958005 ms 
--------------------stamp1317358100.448241949
prepare time 11.468806 
sort q time 5.002348 
seperate points time 12.076615 
publication time 9.602527 ms 
whole laserOdometry time 9.616864 ms 
 
mapping solver time 20.726229 ms 
[0m[ INFO] [1718889614.359258847, 1317358100.544156427]: Received 128156 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889614.359304129, 1317358100.544156427]: Data saved to 1317358100344515.pcd[0m
points size 89122 
prepare time 14.301594 
scan registration time 31.717790 ms *************
publication time 9.702712 ms 
whole laserOdometry time 9.714052 ms 
 
-----t: 0.0621121
OdomCount 3260 & avg odom time 0.047602 ms ++++++++++++++++++++++
--------------------stamp1317358100.655694961
prepare time 12.179090 
sort q time 4.914215 
seperate points time 18.081859 
-----t: 0.0402763
OdomCount 3261 & avg odom time 0.047599 ms ++++++++++++++++++++++
mapping solver time 25.174946 ms 
--------------------stamp1317358100.759422063
points size 87752 
mapping solver time 19.317448 ms 
mapping pub time 2.170681 ms 
whole mapping time 139.210520 ms +++++
mappingCount 2042 & avg mapping time 162.059855 ms ++++++++++++++++++++++
-----t: 0.037119
OdomCount 3262 & avg odom time 0.047596 ms ++++++++++++++++++++++
build tree time 22.884214 ms 
mapping data assosiation time 22.137240 ms 
--------------------stamp1317358100.863195896
points size 86990 
mapping solver time 24.796449 ms 
prepare time 13.287833 
sort q time 5.558477 
seperate points time 13.050201 
mapping data assosiation time 26.355918 ms 
publication time 11.617804 ms 
whole laserOdometry time 11.630259 ms 
 
mapping pub time 1.958551 ms 
whole mapping time 130.504548 ms +++++
mappingCount 2043 & avg mapping time 162.044412 ms ++++++++++++++++++++++
build tree time 19.623977 ms 
--------------------stamp1317358100.967015981
prepare time 12.636014 
sort q time 4.875601 
seperate points time 10.767646 
mapping solver time 27.500225 ms 
mapping data assosiation time 25.296033 ms 
-----t: 0.0539996
OdomCount 3264 & avg odom time 0.047600 ms ++++++++++++++++++++++
1317358100.967015981 WriteOdom laser_odom_to_init
1317358100.967015981 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 113.970741 
mapping pub time 2.074652 ms 
whole mapping time 125.697937 ms +++++
mappingCount 2044 & avg mapping time 162.026631 ms ++++++++++++++++++++++
--------------------stamp1317358101.070888042
prepare time 12.509960 
sort q time 4.453948 
seperate points time 10.438980 
publication time 7.955703 ms 
whole laserOdometry time 7.970737 ms 
 
-----t: 0.0382257
OdomCount 3265 & avg odom time 0.047597 ms ++++++++++++++++++++++
1317358101.070888042 WriteOdom laser_odom_to_init
1317358101.070888042 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.136028 ms 
mapping data assosiation time 20.567289 ms 
--------------------stamp1317358101.174808025
mapping solver time 22.880781 ms 
filter time 8.866069 ms 
publication time 7.291549 ms 
whole laserOdometry time 7.305295 ms 
 
mapping data assosiation time 18.774896 ms 
mapping solver time 18.962302 ms 
--------------------stamp1317358101.278727054
points size 83984 
sort q time 5.209035 
seperate points time 10.137385 
filter time 8.772378 ms 
map prepare time 3.654040 ms
map corner num 94490  surf num 36176 
-----t: 0.0437937
OdomCount 3267 & avg odom time 0.047592 ms ++++++++++++++++++++++
build tree time 19.787350 ms 
mapping data assosiation time 21.598750 ms 
mapping solver time 21.756621 ms 
sort q time 4.419088 
seperate points time 9.754298 
publication time 7.422035 ms 
whole laserOdometry time 7.431991 ms 
 
filter time 7.021614 ms 
build tree time 20.470205 ms 
--------------------stamp1317358101.486635923
prepare time 10.466872 
sort q time 5.112569 
seperate points time 11.430573 
publication time 14.242016 ms 
whole laserOdometry time 14.258690 ms 
 
-----t: 0.0505649
OdomCount 3269 & avg odom time 0.047595 ms ++++++++++++++++++++++
1317358101.486635923 WriteOdom laser_odom_to_init
1317358101.486635923 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.707742 ms 
mapping optimization time 109.323033 
1317358101.278727055 WriteOdom aft_mapped_to_init
--------------------stamp1317358101.590603113
prepare time 12.466540 
scan registration time 27.227120 ms *************
publication time 8.047364 ms 
whole laserOdometry time 8.059051 ms 
 
-----t: 0.0506561
OdomCount 3270 & avg odom time 0.047596 ms ++++++++++++++++++++++
mapping solver time 18.719380 ms 
map prepare time 3.126284 ms
map corner num 95439  surf num 36470 
sort q time 4.494592 
seperate points time 10.191761 
mapping data assosiation time 22.365105 ms 
mapping solver time 19.304963 ms 
mapping data assosiation time 17.997028 ms 
--------------------stamp1317358101.798537015
prepare time 10.996727 
filter time 8.844589 ms 
publication time 6.844432 ms 
whole laserOdometry time 6.863232 ms 
 
-----t: 0.0383768
OdomCount 3272 & avg odom time 0.047592 ms ++++++++++++++++++++++
build tree time 24.755655 ms 
1317358101.798537015 WriteOdom laser_odom_to_init
1317358101.798537015 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.699786 ms 
mapping solver time 17.466782 ms 
--------------------stamp1317358101.902504920
prepare time 11.388911 
mapping solver time 18.242169 ms 
[0m[ INFO] [1718889615.752454359, 1317358101.931264524]: Received 132570 data points in frame camera_init with the following fields: x y z intensity[0m
1317358101.902504920 WriteOdom laser_odom_to_init
1317358101.902504920 WriteOdom aft_mapped_to_init_high_frec
build tree time 25.918481 ms 
mapping data assosiation time 22.084943 ms 
--------------------stamp1317358102.006445884
prepare time 12.766646 
publication time 8.126270 ms 
whole laserOdometry time 8.146255 ms 
 
-----t: 0.0405509
OdomCount 3274 & avg odom time 0.047590 ms ++++++++++++++++++++++
mapping pub time 1.952339 ms 
whole mapping time 127.146841 ms +++++
mappingCount 2052 & avg mapping time 161.876202 ms ++++++++++++++++++++++
build tree time 26.573265 ms 
--------------------stamp1317358102.110363960
prepare time 12.518293 
sort q time 4.196075 
seperate points time 10.390943 
-----t: 0.0397057
OdomCount 3275 & avg odom time 0.047588 ms ++++++++++++++++++++++
1317358102.110363960 WriteOdom laser_odom_to_init
1317358102.110363960 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.453515 ms 
mapping solver time 16.569518 ms 
filter time 9.575712 ms 
mapping pub time 1.975476 ms 
whole mapping time 125.555598 ms +++++
mappingCount 2053 & avg mapping time 161.858513 ms ++++++++++++++++++++++
1317358101.902504921 WriteOdom aft_mapped_to_init
map prepare time 2.966989 ms
map corner num 96418  surf num 36736 
--------------------stamp1317358102.214283943
prepare time 10.727075 
scan registration time 24.193803 ms *************
publication time 8.112069 ms 
whole laserOdometry time 8.126294 ms 
 
-----t: 0.0399169
OdomCount 3276 & avg odom time 0.047585 ms ++++++++++++++++++++++
mapping data assosiation time 21.973763 ms 
mapping solver time 21.446582 ms 
filter time 10.306760 ms 
sort q time 4.804896 
seperate points time 10.496344 
build tree time 26.235502 ms 
1317358102.318178892 WriteOdom laser_odom_to_init
1317358102.318178892 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.675028 ms 
mapping data assosiation time 17.875608 ms 
points size 81560 
filter time 8.424771 ms 
publication time 7.241934 ms 
whole laserOdometry time 7.254795 ms 
 
build tree time 23.375487 ms 
mapping data assosiation time 17.145295 ms 
mapping solver time 15.992760 ms 
--------------------stamp1317358102.525968074
prepare time 10.931858 
sort q time 4.815798 
seperate points time 10.358073 
mapping pub time 3.935897 ms 
whole mapping time 110.544134 ms +++++
mappingCount 2056 & avg mapping time 161.795606 ms ++++++++++++++++++++++
[0m[ INFO] [1718889616.373489018, 1317358102.552634394]: Received 134175 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889616.373554009, 1317358102.552634394]: Data saved to 1317358102318178.pcd[0m
1317358102.318178892 WriteOdom aft_mapped_to_init
1317358102.525968074 WriteOdom laser_odom_to_init
1317358102.525968074 WriteOdom aft_mapped_to_init_high_frec
build tree time 27.167162 ms 
--------------------stamp1317358102.629909992
prepare time 10.921968 
sort q time 4.667050 
seperate points time 10.253860 
mapping solver time 15.864667 ms 
-----t: 0.0379454
OdomCount 3280 & avg odom time 0.047574 ms ++++++++++++++++++++++
build tree time 24.235911 ms 
mapping data assosiation time 17.491682 ms 
prepare time 11.423943 
sort q time 4.448719 
seperate points time 10.344560 
publication time 9.949237 ms 
whole laserOdometry time 9.963691 ms 
 
-----t: 0.0360367
OdomCount 3281 & avg odom time 0.047571 ms ++++++++++++++++++++++
1317358102.733875989 WriteOdom laser_odom_to_init
1317358102.733875989 WriteOdom aft_mapped_to_init_high_frec
build tree time 19.624467 ms 
--------------------stamp1317358102.837892055
sort q time 4.563516 
seperate points time 9.741376 
mapping solver time 23.139304 ms 
mapping data assosiation time 20.373568 ms 
mapping solver time 15.676025 ms 
filter time 7.967812 ms 
mapping pub time 1.827844 ms 
whole mapping time 111.776563 ms +++++
mappingCount 2059 & avg mapping time 161.730275 ms ++++++++++++++++++++++
1317358102.733875990 WriteOdom aft_mapped_to_init
map prepare time 2.131361 ms
map corner num 98079  surf num 37278 
--------------------stamp1317358102.942027091
points size 77102 
mapping data assosiation time 18.366655 ms 
mapping solver time 22.193001 ms 
publication time 6.703936 ms 
whole laserOdometry time 6.716489 ms 
 
mapping data assosiation time 19.021811 ms 
mapping solver time 16.000645 ms 
filter time 7.343175 ms 
--------------------stamp1317358103.046281099
sort q time 4.525826 
seperate points time 8.858810 
publication time 7.514885 ms 
whole laserOdometry time 7.529662 ms 
 
-----t: 0.0401463
OdomCount 3284 & avg odom time 0.047563 ms ++++++++++++++++++++++
mapping data assosiation time 25.947406 ms 
--------------------stamp1317358103.150558948
filter time 7.198758 ms 
-----t: 0.0355766
OdomCount 3285 & avg odom time 0.047560 ms ++++++++++++++++++++++
1317358103.150558948 WriteOdom laser_odom_to_init
1317358103.150558948 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358103.254837036
drop lidar frame in mapping for real time performance 
scan registration time 26.120526 ms *************
build tree time 30.488796 ms 
mapping data assosiation time 17.252309 ms 
mapping solver time 17.901454 ms 
mapping data assosiation time 17.085211 ms 
--------------------stamp1317358103.359091997
points size 76197 
mapping pub time 1.769254 ms 
whole mapping time 113.436903 ms +++++
mappingCount 2062 & avg mapping time 161.716247 ms ++++++++++++++++++++++
publication time 6.416180 ms 
whole laserOdometry time 6.429111 ms 
 
build tree time 27.453135 ms 
mapping data assosiation time 17.788374 ms 
mapping solver time 17.730109 ms 
--------------------stamp1317358103.463325023
sort q time 4.314233 
seperate points time 8.761012 
mapping pub time 1.748277 ms 
whole mapping time 113.829246 ms +++++
mappingCount 2063 & avg mapping time 161.693040 ms ++++++++++++++++++++++
-----t: 0.0296827
OdomCount 3288 & avg odom time 0.047545 ms ++++++++++++++++++++++
build tree time 25.057753 ms 
mapping data assosiation time 20.408896 ms 
mapping solver time 18.862956 ms 
prepare time 10.497093 
sort q time 4.782122 
seperate points time 9.371229 
mapping solver time 18.381965 ms 
drop lidar frame in mapping for real time performance 
build tree time 21.633104 ms 
mapping data assosiation time 15.674645 ms 
mapping solver time 14.011584 ms 
points size 80652 
add points time 0.865120 ms
build tree time 21.136456 ms 
mapping data assosiation time 14.646175 ms 
mapping solver time 16.879640 ms 
points size 82305 
sort q time 4.386766 
seperate points time 9.784667 
filter time 6.771660 ms 
map prepare time 2.312944 ms
map corner num 100077  surf num 37740 
build tree time 20.842001 ms 
mapping data assosiation time 13.667527 ms 
mapping solver time 17.288363 ms 
mapping data assosiation time 16.027934 ms 
mapping solver time 17.580001 ms 
-----t: 0.0466593
OdomCount 3292 & avg odom time 0.047530 ms ++++++++++++++++++++++
build tree time 22.612096 ms 
mapping data assosiation time 14.845583 ms 
points size 79921 
prepare time 12.389451 
mapping solver time 19.382236 ms 
mapping data assosiation time 17.607700 ms 
mapping solver time 17.996722 ms 
-----t: 0.038039
OdomCount 3293 & avg odom time 0.047527 ms ++++++++++++++++++++++
filter time 6.443126 ms 
build tree time 21.127682 ms 
mapping data assosiation time 15.601754 ms 
points size 77701 
sort q time 4.277144 
seperate points time 10.245478 
publication time 5.879606 ms 
whole laserOdometry time 5.893979 ms 
 
filter time 6.659844 ms 
mapping pub time 1.844609 ms 
whole mapping time 95.354858 ms +++++
mappingCount 2069 & avg mapping time 161.521058 ms ++++++++++++++++++++++
1317358103.984406948 WriteOdom aft_mapped_to_init
-----t: 0.0456153
OdomCount 3294 & avg odom time 0.047527 ms ++++++++++++++++++++++
build tree time 21.235536 ms 
points size 76600 
sort q time 4.231479 
seperate points time 9.874371 
scan registration time 26.799282 ms *************
mapping solver time 17.632706 ms 
-----t: 0.0310339
OdomCount 3295 & avg odom time 0.047522 ms ++++++++++++++++++++++
mapping solver time 11.822533 ms 
filter time 6.575039 ms 
build tree time 25.670476 ms 
--------------------stamp1317358104.296955108
sort q time 4.169923 
seperate points time 9.040980 
publication time 5.496351 ms 
whole laserOdometry time 5.509692 ms 
 
mapping solver time 10.029924 ms 
filter time 6.331388 ms 
build tree time 21.732792 ms 
--------------------stamp1317358104.401089906
points size 76384 
sort q time 4.276007 
seperate points time 10.309221 
scan registration time 26.871446 ms *************
publication time 5.956755 ms 
whole laserOdometry time 5.972527 ms 
 
mapping solver time 15.854488 ms 
mapping optimization time 90.925609 
add points time 0.527867 ms
build tree time 22.400234 ms 
--------------------stamp1317358104.505198955
prepare time 12.761463 
sort q time 4.160775 
seperate points time 9.697211 
mapping data assosiation time 17.793202 ms 
-----t: 0.0358513
OdomCount 3298 & avg odom time 0.047507 ms ++++++++++++++++++++++
filter time 6.159931 ms 
build tree time 19.755013 ms 
mapping data assosiation time 13.755588 ms 
prepare time 10.374133 
sort q time 5.283801 
seperate points time 9.673627 
scan registration time 25.023568 ms *************
publication time 6.404117 ms 
whole laserOdometry time 6.415499 ms 
 
mapping solver time 13.175443 ms 
filter time 8.476804 ms 
map prepare time 1.903893 ms
map corner num 101939  surf num 38232 
build tree time 23.962524 ms 
--------------------stamp1317358104.713350057
prepare time 10.757975 
scan registration time 24.953516 ms *************
mapping data assosiation time 17.312339 ms 
mapping solver time 12.159981 ms 
map prepare time 1.958971 ms
map corner num 102191  surf num 38293 
build tree time 23.829385 ms 
mapping data assosiation time 14.539293 ms 
prepare time 9.577877 
mapping solver time 20.479889 ms 
mapping data assosiation time 17.607046 ms 
mapping solver time 12.581467 ms 
filter time 6.689926 ms 
build tree time 21.711734 ms 
mapping data assosiation time 15.785976 ms 
points size 71660 
mapping solver time 20.289052 ms 
sort q time 3.927156 
seperate points time 8.182398 
publication time 5.216677 ms 
whole laserOdometry time 5.227261 ms 
 
filter time 8.642291 ms 
build tree time 20.674475 ms 
--------------------stamp1317358105.025490045
prepare time 12.280280 
sort q time 3.932891 
seperate points time 9.345843 
mapping solver time 21.931686 ms 
scan registration time 25.476642 ms *************
-----t: 0.0350889
OdomCount 3303 & avg odom time 0.047491 ms ++++++++++++++++++++++
mapping solver time 17.262117 ms 
mapping optimization time 94.055168 
add points time 0.556626 ms
build tree time 21.048192 ms 
--------------------stamp1317358105.129529953
sort q time 4.671120 
seperate points time 8.988667 
publication time 6.349965 ms 
whole laserOdometry time 6.365162 ms 
 
mapping solver time 11.450174 ms 
mapping pub time 1.619505 ms 
whole mapping time 101.188458 ms +++++
mappingCount 2079 & avg mapping time 161.231251 ms ++++++++++++++++++++++
build tree time 19.498835 ms 
--------------------stamp1317358105.233519077
prepare time 12.290943 
scan registration time 24.312787 ms *************
-----t: 0.0273365
OdomCount 3305 & avg odom time 0.047480 ms ++++++++++++++++++++++
mapping solver time 16.671672 ms 
mapping pub time 1.646882 ms 
whole mapping time 96.132252 ms +++++
mappingCount 2080 & avg mapping time 161.199955 ms ++++++++++++++++++++++
1317358105.129529953 WriteOdom aft_mapped_to_init
map prepare time 2.102652 ms
map corner num 103408  surf num 38643 
build tree time 21.162747 ms 
mapping data assosiation time 14.975463 ms 
points size 71319 
mapping solver time 21.808855 ms 
mapping data assosiation time 16.205419 ms 
-----t: 0.0232057
OdomCount 3306 & avg odom time 0.047473 ms ++++++++++++++++++++++
1317358105.337507963 WriteOdom laser_odom_to_init
1317358105.337507963 WriteOdom aft_mapped_to_init_high_frec
publication time 5.500075 ms 
whole laserOdometry time 5.513206 ms 
 
add points time 0.571253 ms
filter time 6.672199 ms 
--------------------stamp1317358105.441499948
points size 71171 
sort q time 3.717958 
seperate points time 8.990810 
-----t: 0.0272859
OdomCount 3307 & avg odom time 0.047467 ms ++++++++++++++++++++++
map prepare time 1.871338 ms
map corner num 103635  surf num 38712 
build tree time 24.860669 ms 
mapping data assosiation time 14.263720 ms 
--------------------stamp1317358105.545466899
sort q time 3.725346 
seperate points time 8.797322 
scan registration time 21.219431 ms *************
mapping data assosiation time 16.094661 ms 
filter time 6.687584 ms 
build tree time 22.162822 ms 
mapping data assosiation time 13.870444 ms 
--------------------stamp1317358105.649409055
mapping data assosiation time 16.785711 ms 
mapping solver time 12.989423 ms 
1317358105.545466900 WriteOdom aft_mapped_to_init
build tree time 22.758832 ms 
mapping data assosiation time 13.675089 ms 
--------------------stamp1317358105.753350973
prepare time 11.865822 
scan registration time 24.351010 ms *************
-----t: 0.0284841
OdomCount 3310 & avg odom time 0.047453 ms ++++++++++++++++++++++
filter time 10.277954 ms 
build tree time 29.127973 ms 
--------------------stamp1317358105.857319116
prepare time 9.556627 
scan registration time 21.441526 ms *************
publication time 4.782438 ms 
whole laserOdometry time 4.848894 ms 
 
mapping solver time 13.120976 ms 
filter time 10.141559 ms 
mapping pub time 1.720220 ms 
whole mapping time 110.245979 ms +++++
mappingCount 2085 & avg mapping time 161.107155 ms ++++++++++++++++++++++
1317358105.753350973 WriteOdom aft_mapped_to_init
map prepare time 2.422412 ms
map corner num 104616  surf num 38995 
build tree time 25.770835 ms 
points size 72587 
sort q time 4.619870 
seperate points time 8.630227 
publication time 5.013754 ms 
whole laserOdometry time 5.030366 ms 
 
mapping solver time 14.282951 ms 
filter time 6.855900 ms 
build tree time 22.012803 ms 
mapping data assosiation time 15.586232 ms 
sort q time 4.122520 
seperate points time 8.267691 
publication time 4.729984 ms 
whole laserOdometry time 4.741696 ms 
 
-----t: 0.0356382
OdomCount 3313 & avg odom time 0.047438 ms ++++++++++++++++++++++
filter time 6.929117 ms 
build tree time 21.484271 ms 
--------------------stamp1317358106.169337987
prepare time 11.813377 
scan registration time 24.321526 ms *************
mapping data assosiation time 15.996549 ms 
-----t: 0.0267062
OdomCount 3314 & avg odom time 0.047432 ms ++++++++++++++++++++++
filter time 6.702003 ms 
map prepare time 1.990069 ms
map corner num 105367  surf num 39242 
build tree time 24.147837 ms 
--------------------stamp1317358106.273330926
sort q time 4.515110 
seperate points time 10.066745 
-----t: 0.0255789
OdomCount 3315 & avg odom time 0.047425 ms ++++++++++++++++++++++
mapping solver time 14.465780 ms 
filter time 6.962788 ms 
build tree time 21.234386 ms 
points size 74231 
sort q time 3.945591 
seperate points time 9.271555 
mapping solver time 22.080931 ms 
sort q time 4.222352 
seperate points time 8.121547 
publication time 5.553367 ms 
whole laserOdometry time 5.568077 ms 
 
-----t: 0.0221969
OdomCount 3317 & avg odom time 0.047411 ms ++++++++++++++++++++++
1317358106.481337070 WriteOdom laser_odom_to_init
1317358106.481337070 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 10.347678 ms 
mapping optimization time 79.302399 
add points time 0.589998 ms
map prepare time 1.846906 ms
map corner num 106165  surf num 39493 
build tree time 23.776859 ms 
--------------------stamp1317358106.585352897
mapping solver time 15.554497 ms 
sort q time 3.734640 
seperate points time 8.804686 
scan registration time 19.428086 ms *************
publication time 5.084699 ms 
whole laserOdometry time 5.096279 ms 
 
-----t: 0.0314236
OdomCount 3318 & avg odom time 0.047406 ms ++++++++++++++++++++++
1317358106.585352897 WriteOdom laser_odom_to_init
1317358106.585352897 WriteOdom aft_mapped_to_init_high_frec
filter time 9.174357 ms 
build tree time 22.212554 ms 
mapping data assosiation time 12.480802 ms 
mapping solver time 16.068243 ms 
sort q time 3.757824 
seperate points time 15.865686 
mapping solver time 11.764022 ms 
filter time 8.897221 ms 
build tree time 22.863737 ms 
mapping data assosiation time 15.689419 ms 
points size 66135 
sort q time 3.804940 
seperate points time 14.202083 
-----t: 0.0223768
OdomCount 3320 & avg odom time 0.047391 ms ++++++++++++++++++++++
filter time 6.620218 ms 
build tree time 24.227861 ms 
mapping data assosiation time 12.865080 ms 
mapping solver time 13.483705 ms 
sort q time 3.689038 
seperate points time 7.642503 
publication time 4.920332 ms 
whole laserOdometry time 4.933011 ms 
 
mapping pub time 1.458678 ms 
whole mapping time 93.559908 ms +++++
mappingCount 2095 & avg mapping time 160.808181 ms ++++++++++++++++++++++
build tree time 25.484545 ms 
mapping data assosiation time 13.820407 ms 
mapping solver time 16.996056 ms 
points size 65662 
sort q time 3.583862 
seperate points time 7.402514 
mapping solver time 16.979120 ms 
1317358107.001360893 WriteOdom laser_odom_to_init
1317358107.001360893 WriteOdom aft_mapped_to_init_high_frec
build tree time 24.805401 ms 
mapping data assosiation time 15.434138 ms 
mapping solver time 16.855101 ms 
mapping data assosiation time 14.964321 ms 
mapping solver time 13.478433 ms 
filter time 10.449622 ms 
build tree time 22.788364 ms 
mapping data assosiation time 12.524992 ms 
mapping solver time 13.681233 ms 
points size 65423 
scan registration time 17.204771 ms *************
-----t: 0.0281852
OdomCount 3324 & avg odom time 0.047368 ms ++++++++++++++++++++++
build tree time 25.321896 ms 
mapping data assosiation time 13.645645 ms 
mapping solver time 16.824180 ms 
prepare time 6.578142 
sort q time 3.502228 
seperate points time 16.175918 
filter time 10.340565 ms 
build tree time 23.471283 ms 
mapping data assosiation time 12.759472 ms 
mapping solver time 16.440977 ms 
mapping data assosiation time 14.981532 ms 
mapping solver time 16.017187 ms 
mapping pub time 1.531860 ms 
whole mapping time 98.699240 ms +++++
mappingCount 2100 & avg mapping time 160.659958 ms ++++++++++++++++++++++
1317358107.313409090 WriteOdom aft_mapped_to_init
-----t: 0.0239508
OdomCount 3326 & avg odom time 0.047354 ms ++++++++++++++++++++++
1317358107.417398929 WriteOdom laser_odom_to_init
1317358107.417398929 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.867647 ms
map corner num 73753  surf num 25274 
build tree time 15.589255 ms 
mapping data assosiation time 11.912401 ms 
mapping solver time 16.197994 ms 
mapping data assosiation time 14.090963 ms 
mapping solver time 12.807944 ms 
[0m[ INFO] [1718889621.358161027, 1317358107.542122434]: Received 99274 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889621.358212179, 1317358107.542122434]: Data saved to 1317358107417398.pcd[0m
-----t: 0.0228661
OdomCount 3327 & avg odom time 0.047347 ms ++++++++++++++++++++++
--------------------stamp1317358107.625401973
mapping pub time 99.965365 ms 
whole mapping time 180.513158 ms +++++
mappingCount 2101 & avg mapping time 160.669410 ms ++++++++++++++++++++++
publication time 4.077363 ms 
whole laserOdometry time 4.090163 ms 
 
mapping data assosiation time 12.550042 ms 
mapping solver time 13.873693 ms 
mapping data assosiation time 12.301822 ms 
mapping solver time 13.748730 ms 
map prepare time 1.392948 ms
map corner num 74214  surf num 25443 
points size 57559 
mapping data assosiation time 15.370432 ms 
publication time 4.238973 ms 
whole laserOdometry time 4.251494 ms 
 
mapping data assosiation time 14.366909 ms 
mapping solver time 13.849406 ms 
mapping optimization time 79.489920 
add points time 0.531700 ms
filter time 4.953326 ms 
build tree time 16.887493 ms 
prepare time 7.656112 
publication time 4.337520 ms 
whole laserOdometry time 4.352027 ms 
 
mapping data assosiation time 10.919715 ms 
mapping solver time 9.503829 ms 
mapping optimization time 70.028434 
add points time 0.527778 ms
filter time 4.922707 ms 
mapping pub time 1.341986 ms 
whole mapping time 78.554204 ms +++++
mappingCount 2104 & avg mapping time 160.557522 ms ++++++++++++++++++++++
1317358107.729393959 WriteOdom aft_mapped_to_init
build tree time 14.805790 ms 
mapping data assosiation time 12.724749 ms 
--------------------stamp1317358107.937350988
mapping data assosiation time 13.102610 ms 
publication time 4.998901 ms 
whole laserOdometry time 5.026734 ms 
 
mapping solver time 11.540283 ms 
mapping optimization time 70.475357 
add points time 0.632706 ms
filter time 6.840530 ms 
map prepare time 1.563875 ms
map corner num 75074  surf num 25718 
build tree time 16.734954 ms 
mapping data assosiation time 13.437981 ms 
mapping solver time 15.700594 ms 
--------------------stamp1317358108.041341066
sort q time 3.134822 
seperate points time 8.500322 
filter time 5.211243 ms 
map prepare time 1.948321 ms
map corner num 75351  surf num 25857 
build tree time 16.963418 ms 
mapping data assosiation time 12.290096 ms 
mapping solver time 18.477502 ms 
mapping data assosiation time 15.149800 ms 
mapping solver time 17.020647 ms 
mapping pub time 1.433728 ms 
whole mapping time 92.260339 ms +++++
mappingCount 2107 & avg mapping time 160.454174 ms ++++++++++++++++++++++
-----t: 0.0281169
OdomCount 3333 & avg odom time 0.047303 ms ++++++++++++++++++++++
build tree time 16.540097 ms 
mapping data assosiation time 13.489702 ms 
mapping solver time 13.463451 ms 
mapping data assosiation time 14.030785 ms 
points size 62182 
mapping pub time 1.466643 ms 
whole mapping time 78.145535 ms +++++
mappingCount 2108 & avg mapping time 160.415131 ms ++++++++++++++++++++++
sort q time 3.317417 
1317358108.145306110 WriteOdom aft_mapped_to_init
seperate points time 8.048131 
scan registration time 17.132155 ms *************
map prepare time 1.519484 ms
map corner num 75849  surf num 26080 
build tree time 17.171919 ms 
mapping data assosiation time 12.641408 ms 
mapping solver time 13.837189 ms 
mapping data assosiation time 13.411864 ms 
mapping solver time 11.709166 ms 
sort q time 3.301027 
seperate points time 7.558082 
publication time 4.408277 ms 
whole laserOdometry time 4.419001 ms 
 
-----t: 0.0267192
OdomCount 3335 & avg odom time 0.047289 ms ++++++++++++++++++++++
1317358108.353266954 WriteOdom laser_odom_to_init
1317358108.353266954 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.831276 ms
map corner num 76122  surf num 26146 
build tree time 15.275706 ms 
mapping data assosiation time 13.320045 ms 
mapping solver time 13.714046 ms 
--------------------stamp1317358108.457257032
mapping solver time 15.372594 ms 
mapping optimization time 71.822175 
add points time 0.599626 ms
map prepare time 1.675153 ms
map corner num 76422  surf num 26232 
build tree time 16.563689 ms 
mapping data assosiation time 14.429426 ms 
mapping solver time 17.421891 ms 
mapping data assosiation time 12.521407 ms 
points size 64192 
sort q time 3.984874 
seperate points time 7.920902 
-----t: 0.0346321
OdomCount 3337 & avg odom time 0.047277 ms ++++++++++++++++++++++
build tree time 17.280773 ms 
mapping data assosiation time 12.928353 ms 
mapping solver time 19.416408 ms 
points size 64270 
scan registration time 19.716446 ms *************
mapping solver time 17.687539 ms 
map prepare time 1.603316 ms
map corner num 77086  surf num 26409 
build tree time 18.896654 ms 
mapping data assosiation time 13.715715 ms 
mapping solver time 18.001621 ms 
points size 64273 
sort q time 3.678226 
seperate points time 8.606358 
publication time 7.437298 ms 
whole laserOdometry time 7.451286 ms 
 
-----t: 0.0284602
OdomCount 3339 & avg odom time 0.047264 ms ++++++++++++++++++++++
build tree time 17.021766 ms 
mapping data assosiation time 14.154866 ms 
mapping solver time 18.797527 ms 
points size 64241 
scan registration time 17.694022 ms *************
filter time 8.198668 ms 
-----t: 0.0403987
OdomCount 3340 & avg odom time 0.047262 ms ++++++++++++++++++++++
build tree time 16.440782 ms 
mapping data assosiation time 14.081915 ms 
mapping solver time 14.184649 ms 
prepare time 6.503231 
mapping data assosiation time 16.671941 ms 
sort q time 4.092278 
seperate points time 7.893175 
scan registration time 15.764581 ms *************
filter time 5.542101 ms 
build tree time 15.740983 ms 
mapping solver time 17.275031 ms 
--------------------stamp1317358109.081147909
sort q time 3.707588 
seperate points time 8.527189 
publication time 4.939826 ms 
whole laserOdometry time 4.955216 ms 
 
map prepare time 1.874931 ms
map corner num 78514  surf num 26874 
build tree time 15.252452 ms 
mapping data assosiation time 13.872535 ms 
mapping solver time 18.018081 ms 
--------------------stamp1317358109.185120105
sort q time 3.904647 
seperate points time 7.522638 
mapping solver time 20.250532 ms 
mapping pub time 1.489180 ms 
whole mapping time 96.120533 ms +++++
mappingCount 2117 & avg mapping time 160.121843 ms ++++++++++++++++++++++
-----t: 0.039377
OdomCount 3343 & avg odom time 0.047246 ms ++++++++++++++++++++++
build tree time 17.334950 ms 
mapping data assosiation time 16.486676 ms 
--------------------stamp1317358109.289114952
mapping solver time 23.480885 ms 
sort q time 4.233328 
seperate points time 11.513557 
publication time 4.938522 ms 
whole laserOdometry time 4.948705 ms 
 
mapping pub time 1.612357 ms 
whole mapping time 105.833614 ms +++++
mappingCount 2118 & avg mapping time 160.096213 ms ++++++++++++++++++++++
build tree time 15.733150 ms 
mapping data assosiation time 14.662445 ms 
--------------------stamp1317358109.393105983
prepare time 8.093809 
sort q time 3.755783 
seperate points time 15.667460 
publication time 6.542644 ms 
whole laserOdometry time 6.571701 ms 
 
build tree time 15.989135 ms 
mapping data assosiation time 14.560377 ms 
--------------------stamp1317358109.497092962
sort q time 3.599155 
seperate points time 8.772710 
publication time 5.347589 ms 
whole laserOdometry time 5.361425 ms 
 
-----t: 0.0306585
OdomCount 3346 & avg odom time 0.047237 ms ++++++++++++++++++++++
1317358109.497092962 WriteOdom laser_odom_to_init
1317358109.497092962 WriteOdom aft_mapped_to_init_high_frec
filter time 6.352183 ms 
mapping pub time 1.470249 ms 
whole mapping time 95.450207 ms +++++
mappingCount 2120 & avg mapping time 160.036055 ms ++++++++++++++++++++++
1317358109.393105984 WriteOdom aft_mapped_to_init
build tree time 16.487427 ms 
mapping data assosiation time 15.333186 ms 
mapping solver time 11.516817 ms 
points size 65151 
sort q time 3.480219 
seperate points time 16.417449 
1317358109.601109981 WriteOdom laser_odom_to_init
--------------------stamp1317358109.705123901
sort q time 3.467926 
seperate points time 8.142749 
mapping pub time 99.661655 ms 
whole mapping time 186.470420 ms +++++
mappingCount 2121 & avg mapping time 160.048521 ms ++++++++++++++++++++++
1317358109.497092962 WriteOdom aft_mapped_to_init
-----t: 0.0400113
OdomCount 3348 & avg odom time 0.047228 ms ++++++++++++++++++++++
mapping data assosiation time 14.422676 ms 
mapping solver time 19.480059 ms 
points size 66411 
scan registration time 20.870983 ms *************
mapping solver time 21.204099 ms 
map prepare time 2.575177 ms
map corner num 80509  surf num 27426 
-----t: 0.0483258
OdomCount 3349 & avg odom time 0.047228 ms ++++++++++++++++++++++
mapping data assosiation time 15.136228 ms 
--------------------stamp1317358109.913103103
mapping data assosiation time 20.610794 ms 
mapping solver time 15.225323 ms 
-----t: 0.030363
OdomCount 3350 & avg odom time 0.047223 ms ++++++++++++++++++++++
build tree time 17.181628 ms 
mapping data assosiation time 17.120024 ms 
mapping solver time 15.446286 ms 
points size 68603 
mapping solver time 14.987646 ms 
filter time 7.601120 ms 
-----t: 0.0235654
OdomCount 3351 & avg odom time 0.047216 ms ++++++++++++++++++++++
1317358110.017117023 WriteOdom laser_odom_to_init
1317358110.017117023 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 1.641857 ms 
whole mapping time 95.795415 ms +++++
mappingCount 2124 & avg mapping time 159.969372 ms ++++++++++++++++++++++
1317358109.913103104 WriteOdom aft_mapped_to_init
map prepare time 2.045712 ms
map corner num 81206  surf num 27641 
build tree time 18.087537 ms 
mapping data assosiation time 15.252668 ms 
mapping solver time 15.101486 ms 
--------------------stamp1317358110.121130943
prepare time 9.300264 
sort q time 3.612070 
seperate points time 8.863110 
filter time 7.239122 ms 
-----t: 0.0365875
OdomCount 3352 & avg odom time 0.047213 ms ++++++++++++++++++++++
build tree time 15.189693 ms 
mapping data assosiation time 14.415176 ms 
mapping solver time 16.137861 ms 
points size 70987 
sort q time 3.987073 
seperate points time 9.666843 
scan registration time 21.622883 ms *************
filter time 6.288815 ms 
map prepare time 2.409995 ms
map corner num 81838  surf num 27812 
build tree time 18.806428 ms 
mapping data assosiation time 17.854414 ms 
--------------------stamp1317358110.329210042
sort q time 3.856223 
seperate points time 8.999921 
mapping solver time 14.011166 ms 
map prepare time 1.907658 ms
map corner num 82134  surf num 27897 
build tree time 16.938335 ms 
mapping data assosiation time 16.281619 ms 
--------------------stamp1317358110.433227062
sort q time 4.259745 
seperate points time 9.888190 
scan registration time 23.655525 ms *************
mapping solver time 25.236888 ms 
mapping pub time 1.851682 ms 
whole mapping time 108.722035 ms +++++
mappingCount 2128 & avg mapping time 159.857128 ms ++++++++++++++++++++++
build tree time 19.293427 ms 
mapping data assosiation time 16.995983 ms 
points size 76779 
sort q time 4.443473 
seperate points time 10.547604 
1317358110.537240028 WriteOdom laser_odom_to_init
1317358110.537240028 WriteOdom aft_mapped_to_init_high_frec
publication time 7.508629 ms 
whole laserOdometry time 7.527019 ms 
 
mapping solver time 17.290957 ms 
mapping optimization time 94.904706 
add points time 0.705662 ms
map prepare time 2.112551 ms
map corner num 82728  surf num 28074 
build tree time 19.825459 ms 
mapping data assosiation time 16.437206 ms 
points size 78575 
sort q time 4.195255 
seperate points time 10.186207 
scan registration time 27.025990 ms *************
-----t: 0.0326634
OdomCount 3357 & avg odom time 0.047193 ms ++++++++++++++++++++++
filter time 6.277713 ms 
build tree time 16.628408 ms 
mapping data assosiation time 16.482886 ms 
--------------------stamp1317358110.745245933
points size 80031 
mapping solver time 18.786032 ms 
prepare time 12.473934 
mapping data assosiation time 19.947648 ms 
mapping solver time 15.515233 ms 
[0m[ INFO] [1718889624.616231931, 1317358110.801597377]: Received 111534 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889624.616269593, 1317358110.801597377]: Data saved to 1317358110641253.pcd[0m
build tree time 16.467643 ms 
mapping data assosiation time 17.361979 ms 
points size 81162 
sort q time 4.499974 
seperate points time 11.089199 
filter time 6.006832 ms 
-----t: 0.0576166
OdomCount 3359 & avg odom time 0.047192 ms ++++++++++++++++++++++
1317358110.849235057 WriteOdom laser_odom_to_init
1317358110.849235057 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.200337 ms
map corner num 83557  surf num 28354 
build tree time 21.103286 ms 
points size 82332 
prepare time 14.097733 
mapping data assosiation time 20.143331 ms 
scan registration time 31.734077 ms *************
publication time 10.082991 ms 
whole laserOdometry time 10.097385 ms 
 
mapping data assosiation time 21.627885 ms 
mapping solver time 13.559078 ms 
map prepare time 2.048143 ms
map corner num 83873  surf num 28456 
--------------------stamp1317358111.057240962
points size 83264 
sort q time 4.899975 
seperate points time 11.438794 
publication time 8.051855 ms 
whole laserOdometry time 8.081993 ms 
 
mapping solver time 27.130127 ms 
mapping data assosiation time 19.809092 ms 
mapping solver time 13.783466 ms 
map prepare time 2.045995 ms
map corner num 84177  surf num 28547 
points size 84403 
build tree time 23.099705 ms 
mapping data assosiation time 22.196439 ms 
-----t: 0.0381261
OdomCount 3362 & avg odom time 0.047186 ms ++++++++++++++++++++++
mapping solver time 21.477897 ms 
mapping data assosiation time 17.208985 ms 
mapping solver time 13.564510 ms 
filter time 7.908761 ms 
prepare time 11.671819 
sort q time 5.395530 
seperate points time 10.875198 
build tree time 23.058488 ms 
publication time 7.263453 ms 
whole laserOdometry time 7.279993 ms 
 
-----t: 0.0456884
OdomCount 3363 & avg odom time 0.047185 ms ++++++++++++++++++++++
mapping solver time 20.097847 ms 
mapping data assosiation time 16.140780 ms 
--------------------stamp1317358111.369190931
points size 85996 
map prepare time 2.745073 ms
map corner num 84702  surf num 28701 
publication time 7.558814 ms 
whole laserOdometry time 7.572244 ms 
 
-----t: 0.0424104
OdomCount 3364 & avg odom time 0.047184 ms ++++++++++++++++++++++
mapping solver time 17.983967 ms 
--------------------stamp1317358111.473133087
mapping data assosiation time 18.912102 ms 
points size 87211 
prepare time 13.210745 
mapping solver time 15.506368 ms 
mapping optimization time 97.488618 
add points time 0.768456 ms
scan registration time 31.302757 ms *************
build tree time 22.579942 ms 
mapping data assosiation time 21.706415 ms 
mapping solver time 18.058388 ms 
--------------------stamp1317358111.577049970
prepare time 11.711889 
sort q time 6.259469 
seperate points time 13.545765 
mapping solver time 17.762698 ms 
mapping optimization time 101.328701 
add points time 0.862546 ms
scan registration time 31.000731 ms *************
-----t: 0.0424088
OdomCount 3366 & avg odom time 0.047184 ms ++++++++++++++++++++++
build tree time 21.767141 ms 
mapping data assosiation time 17.911663 ms 
--------------------stamp1317358111.680974960
points size 89245 
sort q time 5.720810 
seperate points time 12.186182 
publication time 7.892090 ms 
whole laserOdometry time 7.906883 ms 
 
filter time 8.611963 ms 
build tree time 17.657797 ms 
--------------------stamp1317358111.784919023
prepare time 11.320765 
sort q time 4.993237 
seperate points time 11.263312 
publication time 7.147789 ms 
whole laserOdometry time 7.162224 ms 
 
mapping solver time 13.800445 ms 
mapping pub time 1.956043 ms 
whole mapping time 110.537545 ms +++++
mappingCount 2140 & avg mapping time 159.580131 ms ++++++++++++++++++++++
build tree time 16.291353 ms 
--------------------stamp1317358111.888854980
prepare time 13.607726 
sort q time 4.790871 
seperate points time 11.720410 
publication time 7.511342 ms 
whole laserOdometry time 7.527133 ms 
 
-----t: 0.0429306
OdomCount 3369 & avg odom time 0.047179 ms ++++++++++++++++++++++
mapping solver time 17.385128 ms 
[0m[ INFO] [1718889625.787897596, 1317358111.964320365]: Received 114892 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889625.787962896, 1317358111.964320365]: Data saved to 1317358111784919.pcd[0m
--------------------stamp1317358111.992796897
prepare time 14.304938 
scan registration time 31.496940 ms *************
-----t: 0.049939
OdomCount 3370 & avg odom time 0.047180 ms ++++++++++++++++++++++
mapping pub time 104.892155 ms 
whole mapping time 216.483471 ms +++++
mappingCount 2141 & avg mapping time 159.606710 ms ++++++++++++++++++++++
1317358111.784919024 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.329154 ms
map corner num 85859  surf num 29033 
--------------------stamp1317358112.096740961
sort q time 6.189986 
seperate points time 12.239558 
mapping data assosiation time 27.919659 ms 
mapping solver time 26.363869 ms 
-----t: 0.041401
OdomCount 3371 & avg odom time 0.047178 ms ++++++++++++++++++++++
mapping solver time 14.362021 ms 
map prepare time 3.467369 ms
map corner num 86087  surf num 29091 
sort q time 6.175961 
seperate points time 11.790412 
scan registration time 30.260264 ms *************
build tree time 23.758550 ms 
publication time 11.978716 ms 
whole laserOdometry time 11.993740 ms 
 
--------------------stamp1317358112.304578065
prepare time 12.424433 
sort q time 6.179826 
seperate points time 13.255915 
publication time 10.260819 ms 
whole laserOdometry time 10.274588 ms 
 
-----t: 0.0536871
OdomCount 3373 & avg odom time 0.047180 ms ++++++++++++++++++++++
1317358112.304578065 WriteOdom laser_odom_to_init
1317358112.304578065 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.764048 ms 
mapping solver time 18.520545 ms 
points size 95091 
sort q time 7.289342 
seperate points time 16.099472 
map prepare time 3.223595 ms
map corner num 86707  surf num 29339 
build tree time 21.653062 ms 
mapping data assosiation time 19.179412 ms 
--------------------stamp1317358112.512423992
prepare time 11.229110 
sort q time 5.804799 
seperate points time 11.937653 
mapping data assosiation time 25.321165 ms 
-----t: 0.0388669
OdomCount 3375 & avg odom time 0.047177 ms ++++++++++++++++++++++
filter time 5.667706 ms 
build tree time 17.911016 ms 
--------------------stamp1317358112.616336107
points size 96631 
sort q time 4.880702 
seperate points time 11.368028 
-----t: 0.041565
OdomCount 3376 & avg odom time 0.047176 ms ++++++++++++++++++++++
mapping solver time 15.310371 ms 
[0m[ INFO] [1718889626.516029871, 1317358112.695950192]: Received 116855 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889626.516071571, 1317358112.695950192]: Data saved to 1317358112408504.pcd[0m
--------------------stamp1317358112.720231056
points size 97010 
sort q time 5.923381 
seperate points time 13.729483 
publication time 10.580049 ms 
whole laserOdometry time 10.592535 ms 
 
mapping solver time 28.538776 ms 
mapping data assosiation time 23.519553 ms 
mapping solver time 14.990833 ms 
mapping pub time 2.295963 ms 
whole mapping time 125.283625 ms +++++
mappingCount 2147 & avg mapping time 159.505104 ms ++++++++++++++++++++++
sort q time 5.515260 
seperate points time 13.141422 
publication time 13.840236 ms 
whole laserOdometry time 13.859918 ms 
 
mapping solver time 20.079632 ms 
--------------------stamp1317358112.927994012
mapping solver time 18.545750 ms 
sort q time 12.956087 
seperate points time 20.086851 
publication time 11.968155 ms 
whole laserOdometry time 12.000474 ms mapping data assosiation time 19.170712 ms 
--------------------stamp1317358113.031888961
prepare time 11.513658 
mapping data assosiation time 24.090299 ms 
scan registration time 40.681758 ms *************
-----t: 0.0424674
OdomCount 3380 & avg odom time 0.047173 ms ++++++++++++++++++++++
build tree time 16.850508 ms 
--------------------stamp1317358113.135785102
prepare time 12.554472 
mapping solver time 23.154071 ms 
publication time 9.080384 ms 
whole laserOdometry time 9.098523 ms 
 
mapping data assosiation time 24.741636 ms 
mapping solver time 18.221667 ms 
mapping pub time 2.183482 ms 
whole mapping time 118.973710 ms +++++
mappingCount 2150 & avg mapping time 159.457495 ms ++++++++++++++++++++++
1317358112.927994013 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.438406 ms
map corner num 88792  surf num 30430 
build tree time 18.882371 ms 
prepare time 12.012579 
mapping data assosiation time 26.248403 ms 
mapping solver time 24.067514 ms 
mapping data assosiation time 23.154621 ms 
mapping solver time 16.464636 ms 
[0m[ INFO] [1718889627.156851241, 1317358113.335842506]: Received 119714 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889627.156898390, 1317358113.335842506]: Data saved to 1317358113031888.pcd[0m
mapping pub time 5.159162 ms 
whole mapping time 126.443336 ms +++++
mappingCount 2151 & avg mapping time 159.442150 ms ++++++++++++++++++++++
points size 91365 
sort q time 4.392729 
seperate points time 10.003948 
publication time 9.557016 ms 
whole laserOdometry time 9.570917 ms 
 
-----t: 0.0530848
OdomCount 3383 & avg odom time 0.047171 ms ++++++++++++++++++++++
--------------------stamp1317358113.447494983
mapping data assosiation time 26.673768 ms 
sort q time 5.119779 
seperate points time 13.390278 
map prepare time 3.615842 ms
map corner num 89597  surf num 30790 
1317358113.447494983 WriteOdom laser_odom_to_init
1317358113.447494983 WriteOdom aft_mapped_to_init_high_frec
build tree time 26.431273 ms 
mapping data assosiation time 29.664090 ms 
sort q time 5.103107 
seperate points time 11.797659 
mapping solver time 34.499229 ms 
publication time 10.562385 ms 
whole laserOdometry time 10.574542 ms 
 
-----t: 0.0491865
OdomCount 3385 & avg odom time 0.047174 ms ++++++++++++++++++++++
mapping solver time 17.281536 ms 
mapping pub time 2.081928 ms 
whole mapping time 154.164087 ms +++++
mappingCount 2153 & avg mapping time 159.434672 ms ++++++++++++++++++++++
points size 87214 
sort q time 6.214738 
seperate points time 13.882354 
publication time 11.603135 ms 
whole laserOdometry time 11.620662 ms 
 
mapping solver time 24.021542 ms 
--------------------stamp1317358113.759200096
prepare time 12.491593 
mapping solver time 18.375718 ms 
-----t: 0.0467866
OdomCount 3387 & avg odom time 0.047173 ms ++++++++++++++++++++++
mapping data assosiation time 20.558162 ms 
--------------------stamp1317358113.863095998
points size 85622 
sort q time 5.780963 
seperate points time 11.154558 
mapping data assosiation time 26.120264 ms 
-----t: 0.0385408
OdomCount 3388 & avg odom time 0.047171 ms ++++++++++++++++++++++
mapping solver time 24.780933 ms 
mapping pub time 2.018947 ms 
whole mapping time 139.056385 ms +++++
mappingCount 2155 & avg mapping time 159.416350 ms ++++++++++++++++++++++
build tree time 18.742267 ms 
points size 84504 
mapping data assosiation time 26.484635 ms 
publication time 8.359698 ms 
whole laserOdometry time 8.376350 ms 
 
-----t: 0.0417854
OdomCount 3389 & avg odom time 0.047169 ms ++++++++++++++++++++++
mapping data assosiation time 26.616621 ms 
mapping solver time 17.688111 ms 
filter time 5.999444 ms 
points size 82516 
prepare time 13.514037 
publication time 9.739459 ms 
whole laserOdometry time 9.757627 ms 
 
mapping solver time 20.652312 ms 
mapping data assosiation time 20.829311 ms 
points size 80730 
filter time 8.578997 ms 
publication time 7.741803 ms 
whole laserOdometry time 7.754220 ms 
 
build tree time 24.112240 ms 
mapping data assosiation time 22.075366 ms 
mapping solver time 19.786714 ms 
points size 78950 
mapping solver time 24.714888 ms 
filter time 9.918130 ms 
publication time 9.494461 ms -----t: 0.0622618
OdomCount 3392 & avg odom time 0.047170 ms ++++++++++++++++++++++
build tree time 27.952937 ms 
--------------------stamp1317358114.382786035
sort q time 4.730343 
seperate points time 9.363764 
mapping solver time 25.214692 ms 
mapping data assosiation time 27.986481 ms 
filter time 6.224548 ms 
mapping pub time 1.861019 ms 
whole mapping time 137.279110 ms +++++
mappingCount 2159 & avg mapping time 159.364594 ms ++++++++++++++++++++++
1317358114.174876928 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.417715 ms
map corner num 92498  surf num 31897 
--------------------stamp1317358114.486752986
prepare time 9.792579 
scan registration time 24.075998 ms *************
mapping data assosiation time 23.128385 ms 
publication time 6.648740 ms 
whole laserOdometry time 6.665776 ms 
 
mapping solver time 21.693611 ms 
mapping data assosiation time 17.498068 ms 
mapping solver time 13.838021 ms 
filter time 6.199270 ms 
points size 74606 
sort q time 4.309890 
seperate points time 9.000514 
build tree time 24.757420 ms 
mapping data assosiation time 21.677473 ms 
mapping solver time 20.454884 ms 
mapping data assosiation time 18.886860 ms 
--------------------stamp1317358114.694641113
[0m[ INFO] [1718889628.523131250, 1317358114.704666173]: Received 125351 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889628.523199816, 1317358114.704666173]: Data saved to 1317358114486752.pcd[0m
sort q time 4.048313 
seperate points time 9.836583 
-----t: 0.0394967
OdomCount 3396 & avg odom time 0.047165 ms ++++++++++++++++++++++
--------------------stamp1317358114.798608064
sort q time 3.862722 
seperate points time 8.689749 
publication time 6.194588 ms 
whole laserOdometry time 6.210654 ms 
 
-----t: 0.0364502
OdomCount 3397 & avg odom time 0.047162 ms ++++++++++++++++++++++
mapping data assosiation time 21.985742 ms 
mapping solver time 28.151586 ms 
points size 71592 
sort q time 3.888438 
seperate points time 9.668974 
publication time 5.829926 ms 
whole laserOdometry time 5.843382 ms 
 
mapping optimization time 123.789602 
filter time 8.815690 ms 
build tree time 18.854400 ms 
mapping data assosiation time 15.114738 ms 
--------------------stamp1317358115.006539106
prepare time 10.172834 
sort q time 4.334192 
seperate points time 9.136813 
mapping data assosiation time 19.247336 ms 
-----t: 0.0345738
OdomCount 3399 & avg odom time 0.047154 ms ++++++++++++++++++++++
filter time 5.873192 ms 
build tree time 20.774025 ms 
mapping data assosiation time 14.667894 ms 
points size 70724 
mapping solver time 19.781635 ms 
mapping data assosiation time 18.542760 ms 
-----t: 0.0341568
OdomCount 3400 & avg odom time 0.047151 ms ++++++++++++++++++++++
filter time 6.078230 ms 
build tree time 17.269186 ms 
mapping data assosiation time 14.766792 ms 
--------------------stamp1317358115.214497089
points size 70150 
mapping solver time 16.487441 ms 
sort q time 4.389940 
seperate points time 8.523709 
publication time 5.363478 ms filter time 5.775091 ms 
build tree time 18.393746 ms 
mapping data assosiation time 14.612901 ms 
mapping solver time 14.897233 ms 
prepare time 9.662078 
scan registration time 21.229089 ms *************
mapping optimization time 83.282097 
[0m[ INFO] [1718889629.177813353, 1317358115.355411960]: Received 127278 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889629.177862760, 1317358115.355411960]: Data saved to 1317358115214497.pcd[0m
mapping pub time 3.137183 ms 
whole mapping time 97.824813 ms +++++
mappingCount 2166 & avg mapping time 159.253841 ms ++++++++++++++++++++++
1317358115.214497089 WriteOdom aft_mapped_to_init
map prepare time 2.269987 ms
map corner num 94824  surf num 32454 
build tree time 19.471614 ms 
mapping data assosiation time 15.424285 ms 
mapping solver time 15.954127 ms 
points size 69731 
sort q time 3.963969 
seperate points time 7.788345 
mapping solver time 14.864911 ms 
publication time 14.660165 ms 
whole laserOdometry time 14.668588 ms 
 
1317358115.318485975 WriteOdom aft_mapped_to_init
build tree time 19.564072 ms 
mapping data assosiation time 14.691073 ms 
--------------------stamp1317358115.526396989
sort q time 3.864022 
seperate points time 8.362813 
publication time 7.845897 ms 
filter time 6.775531 ms 
map prepare time 1.815772 ms
map corner num 95278  surf num 32576 
build tree time 20.343131 ms 
mapping data assosiation time 15.601851 ms 
points size 67594 
mapping data assosiation time 15.771438 ms 
publication time 4.750921 ms 
whole laserOdometry time 4.764968 ms 
 
filter time 7.521093 ms 
build tree time 23.970151 ms 
mapping data assosiation time 14.390041 ms 
--------------------stamp1317358115.734304904
sort q time 3.475898 
seperate points time 8.430383 
publication time 4.939112 ms 
whole laserOdometry time 4.953132 ms 
 
filter time 6.319942 ms 
build tree time 19.961009 ms 
mapping data assosiation time 13.156495 ms 
mapping solver time 14.812840 ms 
points size 68617 
scan registration time 16.618072 ms *************
publication time 4.865789 ms 
whole laserOdometry time 4.879926 ms 
 
map prepare time 2.355569 ms
map corner num 95974  surf num 32759 
build tree time 23.218385 ms 
mapping data assosiation time 14.872046 ms 
mapping solver time 14.826449 ms 
points size 69924 
sort q time 4.817526 
seperate points time 8.968640 
publication time 5.866865 ms 
whole laserOdometry time 5.879390 ms 
 
filter time 8.268167 ms 
build tree time 19.631407 ms 
mapping data assosiation time 18.194540 ms 
mapping solver time 14.726485 ms 
points size 70763 
sort q time 3.682554 
seperate points time 8.769132 
filter time 6.031885 ms 
mapping pub time 11.701323 ms 
whole mapping time 110.860735 ms +++++
mappingCount 2173 & avg mapping time 159.062723 ms ++++++++++++++++++++++
1317358115.942238092 WriteOdom aft_mapped_to_init
build tree time 22.667126 ms 
mapping data assosiation time 14.524263 ms 
prepare time 9.756177 
sort q time 4.172002 
seperate points time 12.863357 
scan registration time 27.168733 ms *************
mapping data assosiation time 15.456351 ms 
filter time 6.379208 ms 
build tree time 20.096205 ms 
mapping data assosiation time 13.226082 ms 
mapping solver time 14.705814 ms 
--------------------stamp1317358116.254188060
prepare time 11.621183 
sort q time 11.490321 
seperate points time 17.215584 
-----t: 0.0290556
OdomCount 3411 & avg odom time 0.047096 ms ++++++++++++++++++++++
map prepare time 1.798186 ms
map corner num 96908  surf num 33021 
build tree time 20.323453 ms 
mapping data assosiation time 13.327529 ms 
mapping solver time 13.383106 ms 
points size 71684 
sort q time 3.727355 
seperate points time 8.726347 
filter time 7.598418 ms 
map prepare time 1.685763 ms
map corner num 97114  surf num 33075 
build tree time 20.952458 ms 
mapping data assosiation time 12.867719 ms 
mapping solver time 10.300828 ms 
--------------------stamp1317358116.462193965
prepare time 9.967754 
mapping solver time 11.264872 ms 
mapping optimization time 70.329636 
add points time 0.659887 ms
publication time 4.932256 ms 
whole laserOdometry time 4.943080 ms 
 
-----t: 0.0339155
OdomCount 3413 & avg odom time 0.047087 ms ++++++++++++++++++++++
build tree time 18.664146 ms 
mapping data assosiation time 12.510137 ms 
mapping solver time 13.488531 ms 
mapping data assosiation time 16.341298 ms 
points size 73581 
scan registration time 27.032720 ms *************
1317358116.566184043 WriteOdom laser_odom_to_init
1317358116.566184043 WriteOdom aft_mapped_to_init_high_frec
build tree time 20.952468 ms 
mapping data assosiation time 14.186129 ms 
mapping solver time 15.027967 ms 
mapping data assosiation time 15.218151 ms 
sort q time 4.030463 
seperate points time 9.289270 
filter time 8.860950 ms 
publication time 5.324998 ms 
whole laserOdometry time 5.335068 ms 
 
build tree time 18.879557 ms 
mapping data assosiation time 13.240362 ms 
mapping solver time 12.716753 ms 
--------------------stamp1317358116.774116992
prepare time 10.739558 
mapping optimization time 73.643503 
filter time 8.793356 ms 
mapping pub time 13.825399 ms 
whole mapping time 98.796474 ms +++++
mappingCount 2180 & avg mapping time 158.848464 ms ++++++++++++++++++++++
map prepare time 1.913752 ms
map corner num 97946  surf num 33272 
build tree time 18.605578 ms 
mapping data assosiation time 13.282963 ms 
mapping solver time 12.547728 ms 
points size 82350 
sort q time 4.857453 
seperate points time 9.316533 
filter time 8.891248 ms 
points size 85530 
sort q time 5.837065 
seperate points time 10.609728 
mapping pub time 104.621788 ms 
whole mapping time 191.377780 ms +++++
mappingCount 2181 & avg mapping time 158.863381 ms ++++++++++++++++++++++
publication time 7.586221 ms 
whole laserOdometry time 7.602031 ms 
 
build tree time 22.669916 ms 
mapping data assosiation time 13.461462 ms 
mapping solver time 13.488933 ms 
--------------------stamp1317358117.086018085
points size 88501 
mapping solver time 15.624593 ms 
map prepare time 2.735905 ms
map corner num 98389  surf num 33389 
build tree time 23.748467 ms 
mapping data assosiation time 13.547836 ms 
mapping solver time 13.277153 ms 
--------------------stamp1317358117.189982891
prepare time 11.787856 
sort q time 5.437705 
seperate points time 11.423719 
-----t: 0.0296889
OdomCount 3420 & avg odom time 0.047057 ms ++++++++++++++++++++++
mapping data assosiation time 11.826325 ms 
mapping solver time 13.719468 ms 
mapping data assosiation time 13.868496 ms 
mapping solver time 11.256137 ms 
points size 94339 
sort q time 5.030895 
seperate points time 11.625566 
scan registration time 31.938374 ms *************
mapping data assosiation time 14.435452 ms 
mapping solver time 14.230731 ms 
mapping data assosiation time 13.649025 ms 
mapping solver time 10.574484 ms 
filter time 6.517007 ms 
points size 95819 
build tree time 22.324387 ms 
-----t: 0.0260542
OdomCount 3422 & avg odom time 0.047044 ms ++++++++++++++++++++++
publication time 5.442177 ms 
whole laserOdometry time 5.455015 ms 
 
mapping data assosiation time 11.751506 ms 
mapping solver time 10.325803 ms 
filter time 6.200880 ms 
map prepare time 2.185554 ms
map corner num 99296  surf num 33683 
points size 94552 
sort q time 6.006533 
seperate points time 11.382118 
scan registration time 29.065532 ms *************
publication time 6.105577 ms 
whole laserOdometry time 6.118708 ms 
 
-----t: 0.0408377
OdomCount 3423 & avg odom time 0.047042 ms ++++++++++++++++++++++
mapping data assosiation time 13.984030 ms 
mapping solver time 13.984253 ms 
mapping pub time 2.108668 ms 
whole mapping time 102.885134 ms +++++
mappingCount 2187 & avg mapping time 158.684046 ms ++++++++++++++++++++++
--------------------stamp1317358117.605777978
prepare time 12.834164 
scan registration time 29.795053 ms *************
publication time 7.424585 ms 
whole laserOdometry time 7.440786 ms 
 
mapping data assosiation time 13.682210 ms 
mapping solver time 12.503667 ms 
mapping pub time 2.202559 ms 
whole mapping time 100.291104 ms +++++
mappingCount 2188 & avg mapping time 158.657360 ms ++++++++++++++++++++++
--------------------stamp1317358117.709697008
points size 92963 
sort q time 5.827097 
seperate points time 13.216895 
-----t: 0.0273768
OdomCount 3425 & avg odom time 0.047035 ms ++++++++++++++++++++++
1317358117.709697008 WriteOdom laser_odom_to_init
1317358117.709697008 WriteOdom aft_mapped_to_init_high_frec
publication time 6.402305 ms 
whole laserOdometry time 6.412727 ms 
 
mapping solver time 15.303371 ms 
mapping data assosiation time 14.340963 ms 
mapping solver time 10.299854 ms 
mapping pub time 2.125507 ms 
whole mapping time 96.236930 ms +++++
mappingCount 2189 & avg mapping time 158.628847 ms ++++++++++++++++++++++
--------------------stamp1317358117.813620090
points size 91663 
prepare time 23.594512 
sort q time 5.443604 
seperate points time 12.081332 
publication time 5.478670 ms 
whole laserOdometry time 5.491133 ms 
 
mapping data assosiation time 14.188359 ms 
mapping solver time 9.562777 ms 
filter time 6.401673 ms 
mapping pub time 2.221640 ms 
whole mapping time 97.307779 ms +++++
mappingCount 2190 & avg mapping time 158.600849 ms ++++++++++++++++++++++
1317358117.709697008 WriteOdom aft_mapped_to_init
map prepare time 1.787653 ms
map corner num 100367  surf num 34013 
--------------------stamp1317358117.917515993
prepare time 13.901891 
mapping data assosiation time 14.287011 ms 
scan registration time 35.577499 ms *************
publication time 5.159930 ms 
whole laserOdometry time 5.172136 ms 
 
mapping solver time 10.214042 ms 
filter time 6.369623 ms 
build tree time 20.653485 ms 
points size 84566 
sort q time 4.659246 
seperate points time 9.672841 
publication time 5.325619 ms 
whole laserOdometry time 5.337992 ms 
 
-----t: 0.0298688
OdomCount 3428 & avg odom time 0.047020 ms ++++++++++++++++++++++
filter time 6.331663 ms 
build tree time 21.193237 ms 
mapping data assosiation time 14.026419 ms 
points size 82453 
prepare time 12.840065 
scan registration time 30.377504 ms *************
publication time 4.630635 ms 
whole laserOdometry time 4.641644 ms 
 
filter time 7.043305 ms 
build tree time 20.120037 ms 
mapping data assosiation time 12.561286 ms 
--------------------stamp1317358118.229193925
points size 79878 
sort q time 4.510173 
seperate points time 10.591747 
-----t: 0.024517
OdomCount 3430 & avg odom time 0.047007 ms ++++++++++++++++++++++
build tree time 11.880694 ms 
mapping data assosiation time 13.522777 ms 
mapping solver time 13.590998 ms 
mapping data assosiation time 14.132679 ms 
points size 76389 
filter time 6.715184 ms 
sort q time 4.090531 
seperate points time 9.649375 
scan registration time 21.140981 ms *************
mapping pub time 2.042714 ms 
whole mapping time 79.444266 ms +++++
mappingCount 2195 & avg mapping time 158.443958 ms ++++++++++++++++++++++
1317358118.229193926 WriteOdom aft_mapped_to_init
publication time 5.267554 ms 
whole laserOdometry time 5.277045 ms 
 
map prepare time 1.602456 ms
map corner num 59908  surf num 19163 
build tree time 11.398938 ms 
mapping data assosiation time 12.212992 ms 
mapping solver time 18.498495 ms 
mapping data assosiation time 13.013459 ms 
mapping solver time 12.341470 ms 
[0m[ INFO] [1718889632.274406717, 1317358118.456927499]: Received 79458 data points in frame camera_init with the following fields: x y z intensity[0m
publication time 5.218124 ms 
whole laserOdometry time 5.228961 ms 
 
build tree time 12.405424 ms 
mapping data assosiation time 12.979043 ms 
mapping solver time 13.326399 ms 
mapping data assosiation time 14.930042 ms 
mapping solver time 10.993565 ms 
sort q time 3.744134 
seperate points time 9.015213 
publication time 4.105696 ms 
whole laserOdometry time 4.117945 ms 
 
-----t: 0.0313053
OdomCount 3433 & avg odom time 0.046988 ms ++++++++++++++++++++++
1317358118.541116952 WriteOdom laser_odom_to_init
1317358118.541116952 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.651810 ms
map corner num 60476  surf num 19341 
build tree time 11.582093 ms 
mapping data assosiation time 13.014464 ms 
mapping solver time 14.469497 ms 
mapping data assosiation time 13.826102 ms 
mapping solver time 12.001320 ms 
sort q time 4.638730 
seperate points time 10.182877 
scan registration time 22.842636 ms *************
1317358118.645107030 WriteOdom aft_mapped_to_init_high_frec
publication time 5.392712 ms 
whole laserOdometry time 5.406282 ms 
 
build tree time 13.511356 ms 
mapping data assosiation time 14.005172 ms 
points size 66345 
sort q time 3.695638 
seperate points time 7.982135 
mapping data assosiation time 16.656668 ms 
-----t: 0.0253973
OdomCount 3435 & avg odom time 0.046977 ms ++++++++++++++++++++++
map prepare time 1.540935 ms
map corner num 61035  surf num 19499 
build tree time 12.969946 ms 
mapping data assosiation time 13.841991 ms 
mapping solver time 16.041231 ms 
--------------------stamp1317358118.853163003
sort q time 3.681735 
seperate points time 8.194447 
1317358118.749123096 WriteOdom aft_mapped_to_init
-----t: 0.0241949
OdomCount 3436 & avg odom time 0.046970 ms ++++++++++++++++++++++
build tree time 12.346227 ms 
mapping data assosiation time 15.806112 ms 
mapping solver time 18.403406 ms 
mapping data assosiation time 13.695258 ms 
mapping solver time 12.885306 ms 
publication time 5.827184 ms 
whole laserOdometry time 5.858544 ms 
 
--------------------stamp1317358119.061266899
sort q time 3.045589 
seperate points time 6.552872 
whole laserOdometry time 6.579625 ms -----t: 0.0297229
OdomCount 3438 & avg odom time 0.046961 ms ++++++++++++++++++++++
mapping data assosiation time 25.170064 ms 
mapping solver time 19.604515 ms 
mapping data assosiation time 15.819251 ms 
points size 63151 
filter time 4.660522 ms 
publication time 4.355193 ms 
whole laserOdometry time 4.367740 ms 
 
-----t: 0.028901
OdomCount 3439 & avg odom time 0.046955 ms ++++++++++++++++++++++
mapping solver time 14.520004 ms 
mapping data assosiation time 12.852463 ms 
mapping solver time 10.875626 ms 
mapping optimization time 68.347264 
add points time 0.747323 ms
--------------------stamp1317358119.269345998
build tree time 17.935902 ms 
mapping data assosiation time 17.036983 ms 
mapping solver time 20.549299 ms 
mapping data assosiation time 14.785985 ms 
mapping solver time 12.106150 ms 
filter time 5.584133 ms 
mapping pub time 1.437355 ms 
whole mapping time 92.795677 ms +++++
mappingCount 2204 & avg mapping time 158.185155 ms ++++++++++++++++++++++
1317358119.165306091 WriteOdom aft_mapped_to_init
map prepare time 1.519272 ms
map corner num 62620  surf num 19997 
build tree time 12.523782 ms 
sort q time 3.434387 
seperate points time 6.841426 
mapping data assosiation time 15.727257 ms 
-----t: 0.0204887
OdomCount 3441 & avg odom time 0.046943 ms ++++++++++++++++++++++
mapping data assosiation time 15.786048 ms 
mapping solver time 12.031092 ms 
mapping pub time 1.483483 ms 
whole mapping time 85.751354 ms +++++
mappingCount 2205 & avg mapping time 158.152307 ms ++++++++++++++++++++++
1317358119.269345999 WriteOdom aft_mapped_to_init
map prepare time 1.640364 ms
map corner num 62880  surf num 20068 
build tree time 13.290769 ms 
--------------------stamp1317358119.477446079
prepare time 8.067363 
scan registration time 17.355931 ms *************
-----t: 0.024602
OdomCount 3442 & avg odom time 0.046936 ms ++++++++++++++++++++++
mapping solver time 17.284091 ms 
mapping optimization time 82.373107 
map prepare time 1.471290 ms
map corner num 63121  surf num 20138 
build tree time 12.922092 ms 
mapping data assosiation time 14.564195 ms 
--------------------stamp1317358119.581510066
sort q time 4.085979 
seperate points time 9.971694 
publication time 5.702235 ms 
whole laserOdometry time 5.716466 ms 
 
-----t: 0.0361946
OdomCount 3443 & avg odom time 0.046933 ms ++++++++++++++++++++++
map prepare time 1.611464 ms
map corner num 63393  surf num 20208 
build tree time 14.013977 ms 
mapping data assosiation time 14.073069 ms 
mapping solver time 16.039387 ms 
points size 64555 
sort q time 3.524961 
seperate points time 8.568810 
1317358119.685570955 WriteOdom laser_odom_to_init
1317358119.685570955 WriteOdom aft_mapped_to_init_high_frec
build tree time 12.763828 ms 
mapping data assosiation time 15.143226 ms 
mapping solver time 15.356294 ms 
mapping data assosiation time 14.696357 ms 
points size 65340 
filter time 4.764807 ms 
publication time 5.151222 ms 
whole laserOdometry time 5.166302 ms 
 
map prepare time 1.678010 ms
map corner num 62360  surf num 19647 
build tree time 11.877257 ms 
mapping data assosiation time 13.903840 ms 
mapping solver time 14.399873 ms 
mapping data assosiation time 13.910557 ms 
--------------------stamp1317358119.893699884
sort q time 3.791614 
seperate points time 8.213019 
-----t: 0.0213943
OdomCount 3446 & avg odom time 0.046912 ms ++++++++++++++++++++++
build tree time 12.750819 ms 
mapping data assosiation time 14.805640 ms 
mapping solver time 15.007126 ms 
mapping data assosiation time 15.399862 ms 
--------------------stamp1317358119.997764110
filter time 5.987386 ms 
-----t: 0.0214224
OdomCount 3447 & avg odom time 0.046904 ms ++++++++++++++++++++++
build tree time 16.182853 ms 
mapping data assosiation time 17.525534 ms 
mapping solver time 18.554009 ms 
--------------------stamp1317358120.101824045
mapping solver time 17.771584 ms 
points size 65157 
mapping solver time 13.181423 ms 
-----t: 0.0301037
OdomCount 3449 & avg odom time 0.046892 ms ++++++++++++++++++++++
build tree time 12.397365 ms 
mapping data assosiation time 15.041963 ms 
mapping solver time 14.971345 ms 
--------------------stamp1317358120.309905052
sort q time 3.030780 
seperate points time 6.630219 
filter time 5.972887 ms 
-----t: 0.0217033
OdomCount 3450 & avg odom time 0.046884 ms ++++++++++++++++++++++
build tree time 13.479535 ms 
mapping data assosiation time 15.453516 ms 
mapping solver time 15.119577 ms 
mapping data assosiation time 15.396262 ms 
points size 64186 
publication time 4.459653 ms 
whole laserOdometry time 4.475624 ms 
 
build tree time 12.868693 ms 
mapping data assosiation time 13.270484 ms 
mapping solver time 13.587955 ms 
mapping data assosiation time 13.315795 ms 
mapping solver time 10.638598 ms 
mapping pub time 4.508245 ms 
whole mapping time 76.054828 ms +++++
mappingCount 2216 & avg mapping time 157.793770 ms ++++++++++++++++++++++
sort q time 3.705527 
seperate points time 7.634712 
-----t: 0.0256701
OdomCount 3452 & avg odom time 0.046870 ms ++++++++++++++++++++++
build tree time 12.324630 ms 
mapping data assosiation time 12.936606 ms 
mapping solver time 13.652330 ms 
mapping data assosiation time 12.810971 ms 
--------------------stamp1317358120.621990919
sort q time 3.772596 
seperate points time 7.228489 
publication time 4.388533 ms 
whole laserOdometry time 4.416444 ms 
 
map prepare time 1.494689 ms
map corner num 64138  surf num 20175 
build tree time 12.078486 ms 
mapping data assosiation time 13.600009 ms 
mapping solver time 10.852062 ms 
mapping data assosiation time 13.242736 ms 
--------------------stamp1317358120.725982904
filter time 6.401879 ms 
publication time 3.885769 ms 
whole laserOdometry time 3.900098 ms 
 
map prepare time 1.480907 ms
map corner num 64335  surf num 20250 
build tree time 12.133293 ms 
mapping data assosiation time 12.191403 ms 
mapping solver time 13.955337 ms 
mapping data assosiation time 12.846017 ms 
mapping solver time 11.387083 ms 
prepare time 6.803468 
publication time 4.417150 ms 
whole laserOdometry time 4.431416 ms 
 
map prepare time 1.406522 ms
map corner num 64568  surf num 20311 
build tree time 11.997415 ms 
mapping data assosiation time 12.340308 ms 
mapping solver time 14.658650 ms 
mapping data assosiation time 14.361821 ms 
mapping solver time 11.689180 ms 
mapping pub time 1.605972 ms 
whole mapping time 77.541124 ms +++++
mappingCount 2220 & avg mapping time 157.644849 ms ++++++++++++++++++++++
-----t: 0.0196621
OdomCount 3456 & avg odom time 0.046840 ms ++++++++++++++++++++++
build tree time 14.896417 ms 
mapping data assosiation time 13.155079 ms 
mapping data assosiation time 13.375926 ms 
--------------------stamp1317358121.037977933
[0m[ INFO] [1718889634.865999199, 1317358121.050368280]: Received 85472 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889634.866058131, 1317358121.050368280]: Data saved to 1317358120933986.pcd[0m
publication time 4.930548 ms 
whole laserOdometry time 4.946136 ms 
 
-----t: 0.0311477
OdomCount 3457 & avg odom time 0.046836 ms ++++++++++++++++++++++
--------------------stamp1317358121.141969919
sort q time 3.746130 
seperate points time 7.729067 
publication time 4.612076 ms 
whole laserOdometry time 4.625531 ms 
 
mapping data assosiation time 16.345643 ms 
mapping solver time 15.245241 ms 
mapping data assosiation time 13.902731 ms 
mapping solver time 11.209156 ms 
map prepare time 1.526258 ms
map corner num 65296  surf num 20499 
--------------------stamp1317358121.245938062
sort q time 3.552920 
seperate points time 7.396175 
publication time 4.961427 ms 
whole laserOdometry time 4.974756 ms 
 
mapping data assosiation time 14.281562 ms 
mapping solver time 10.890337 ms 
map prepare time 1.522748 ms
map corner num 65547  surf num 20589 
build tree time 12.835060 ms 
--------------------stamp1317358121.349931001
mapping solver time 16.336429 ms 
mapping data assosiation time 16.752607 ms 
mapping solver time 13.678139 ms 
mapping optimization time 75.315217 
add points time 0.600084 ms
filter time 4.376006 ms 
build tree time 13.543898 ms 
mapping data assosiation time 13.599955 ms 
mapping solver time 16.246531 ms 
points size 76825 
mapping solver time 12.890287 ms 
mapping optimization time 73.243859 
add points time 0.559278 ms
sort q time 10.486057 
seperate points time 15.756885 
publication time 5.412732 ms 
whole laserOdometry time 5.427789 ms 
 
build tree time 11.770822 ms 
mapping data assosiation time 15.206926 ms 
mapping solver time 15.217016 ms 
--------------------stamp1317358121.557907104
prepare time 9.384210 
filter time 6.406035 ms 
publication time 4.977202 ms 
whole laserOdometry time 5.002740 ms 
 
-----t: 0.0241922
OdomCount 3462 & avg odom time 0.046806 ms ++++++++++++++++++++++
1317358121.557907104 WriteOdom laser_odom_to_init
1317358121.557907104 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.304575 ms
map corner num 66427  surf num 20896 
build tree time 17.217581 ms 
mapping data assosiation time 18.820182 ms 
mapping solver time 19.718950 ms 
points size 82525 
sort q time 4.996170 
seperate points time 10.047988 
mapping pub time 1.857821 ms 
whole mapping time 103.385033 ms +++++
mappingCount 2227 & avg mapping time 157.462942 ms ++++++++++++++++++++++
-----t: 0.0401187
OdomCount 3463 & avg odom time 0.046804 ms ++++++++++++++++++++++
1317358121.661900043 WriteOdom laser_odom_to_init
1317358121.661900043 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.129971 ms
map corner num 66751  surf num 21044 
build tree time 12.745078 ms 
mapping data assosiation time 15.493894 ms 
mapping solver time 16.582578 ms 
points size 83131 
sort q time 4.844754 
seperate points time 10.984481 
publication time 5.736382 ms 
whole laserOdometry time 5.750916 ms 
 
map prepare time 1.774142 ms
map corner num 67092  surf num 21205 
build tree time 14.416705 ms 
mapping data assosiation time 17.008077 ms 
mapping solver time 16.926217 ms 
prepare time 11.005443 
sort q time 4.592711 
seperate points time 10.580432 
scan registration time 26.468421 ms *************
filter time 6.124282 ms 
build tree time 15.062361 ms 
mapping data assosiation time 16.664007 ms 
mapping solver time 16.786489 ms 
points size 84619 
mapping solver time 11.195159 ms 
-----t: 0.026427
OdomCount 3466 & avg odom time 0.046788 ms ++++++++++++++++++++++
map prepare time 1.765534 ms
map corner num 67799  surf num 21496 
build tree time 12.836716 ms 
mapping data assosiation time 17.301546 ms 
mapping solver time 16.489339 ms 
points size 85561 
sort q time 5.374759 
seperate points time 10.166359 
add points time 0.810428 ms
map prepare time 2.679220 ms
map corner num 68205  surf num 21669 
build tree time 17.893720 ms 
mapping data assosiation time 21.430483 ms 
points size 85566 
sort q time 4.770157 
seperate points time 10.656069 
publication time 6.576712 ms 
whole laserOdometry time 6.587204 ms 
 
mapping solver time 17.857148 ms 
filter time 6.645655 ms 
build tree time 16.972445 ms 
mapping data assosiation time 19.846614 ms 
points size 85988 
sort q time 4.884099 
seperate points time 11.391532 
scan registration time 30.686655 ms *************
publication time 7.619700 ms 
whole laserOdometry time 7.630743 ms 
 
filter time 4.671620 ms 
build tree time 14.098792 ms 
mapping data assosiation time 19.466075 ms 
points size 86242 
sort q time 4.666828 
seperate points time 11.146417 
publication time 7.591529 ms 
whole laserOdometry time 7.605131 ms 
 
-----t: 0.0307155
OdomCount 3470 & avg odom time 0.046771 ms ++++++++++++++++++++++
mapping solver time 14.397537 ms 
mapping pub time 1.940435 ms 
whole mapping time 112.804451 ms +++++
mappingCount 2234 & avg mapping time 157.290719 ms ++++++++++++++++++++++
1317358122.285940886 WriteOdom aft_mapped_to_init
map prepare time 1.978025 ms
map corner num 69476  surf num 22343 
build tree time 12.474435 ms 
--------------------stamp1317358122.494062900
prepare time 11.344658 
sort q time 4.669451 
seperate points time 10.670641 
mapping solver time 30.363872 ms 
mapping data assosiation time 19.113931 ms 
mapping solver time 13.334082 ms 
mapping optimization time 95.445917 
add points time 0.641523 ms
filter time 4.571865 ms 
build tree time 14.126688 ms 
--------------------stamp1317358122.598150968
prepare time 13.261856 
sort q time 5.227618 
seperate points time 16.409089 
mapping solver time 29.035008 ms 
mapping data assosiation time 22.621160 ms 
mapping solver time 18.668721 ms 
map prepare time 2.053108 ms
map corner num 70342  surf num 22689 
points size 88649 
scan registration time 32.579450 ms *************
publication time 8.267601 ms 
whole laserOdometry time 8.279142 ms 
 
mapping solver time 27.311044 ms 
mapping data assosiation time 20.090342 ms 
--------------------stamp1317358122.806325912
prepare time 14.628720 
sort q time 4.985218 
seperate points time 11.774197 
build tree time 17.655775 ms 
-----t: 0.045348
OdomCount 3474 & avg odom time 0.046768 ms ++++++++++++++++++++++
mapping solver time 24.369015 ms 
--------------------stamp1317358122.910413026
points size 90635 
mapping solver time 24.575704 ms 
scan registration time 43.292199 ms *************
build tree time 15.686100 ms 
mapping data assosiation time 21.400962 ms 
mapping solver time 19.931035 ms 
points size 91356 
sort q time 5.040465 
seperate points time 11.452191 
mapping solver time 16.830981 ms 
1317358123.014475107 WriteOdom laser_odom_to_init
1317358123.014475107 WriteOdom aft_mapped_to_init_high_frec
1317358122.806325912 WriteOdom aft_mapped_to_init
publication time 7.889012 ms 
whole laserOdometry time 7.901190 ms 
 
build tree time 16.743814 ms 
mapping data assosiation time 20.162432 ms 
--------------------stamp1317358123.118513107
points size 91962 
sort q time 4.824442 
seperate points time 11.199146 
mapping solver time 17.452636 ms 
mapping pub time 2.070985 ms 
whole mapping time 111.906373 ms +++++
mappingCount 2240 & avg mapping time 157.180388 ms ++++++++++++++++++++++
build tree time 15.184458 ms 
mapping data assosiation time 18.363853 ms 
--------------------stamp1317358123.222552061
prepare time 11.626813 
sort q time 5.010946 
seperate points time 11.561793 
mapping data assosiation time 26.506046 ms 
mapping solver time 18.253130 ms 
--------------------stamp1317358123.326615095
prepare time 15.116217 
sort q time 5.348137 
seperate points time 12.436360 
publication time 12.046310 ms 
whole laserOdometry time 12.062852 ms 
 
map prepare time 2.164464 ms
map corner num 72140  surf num 23521 
build tree time 14.665680 ms 
--------------------stamp1317358123.430653095
points size 94896 
sort q time 5.167262 
seperate points time 12.016056 
publication time 9.389045 ms 
whole laserOdometry time 9.415210 ms 
 
mapping solver time 21.662635 ms 
mapping optimization time 115.023108 
add points time 0.688980 ms
filter time 5.383401 ms 
--------------------stamp1317358123.534691095
build tree time 17.005148 ms 
sort q time 5.131133 
seperate points time 11.981182 
-----t: 0.0321264
OdomCount 3481 & avg odom time 0.046750 ms ++++++++++++++++++++++
mapping solver time 29.536312 ms 
mapping data assosiation time 21.080448 ms 
mapping solver time 17.066443 ms 
filter time 5.343876 ms 
sort q time 5.190557 
seperate points time 12.072296 
publication time 8.344474 ms 
whole laserOdometry time 8.362053 ms 
 
mapping solver time 21.390499 ms 
mapping data assosiation time 21.566240 ms 
points size 94168 
mapping pub time 2.099442 ms 
whole mapping time 112.636949 ms +++++
mappingCount 2244 & avg mapping time 157.157565 ms ++++++++++++++++++++++
build tree time 17.794893 ms 
-----t: 0.0439483
OdomCount 3483 & avg odom time 0.046747 ms ++++++++++++++++++++++
mapping data assosiation time 24.137948 ms 
mapping solver time 21.281206 ms 
--------------------stamp1317358123.846735954
mapping data assosiation time 25.581799 ms 
sort q time 5.147771 
seperate points time 11.726200 
publication time 8.398668 ms 
whole laserOdometry time 8.412725 ms 
 
build tree time 18.594115 ms 
-----t: 0.0627156
OdomCount 3484 & avg odom time 0.046751 ms ++++++++++++++++++++++
--------------------stamp1317358123.950701951
points size 91126 
mapping data assosiation time 27.238356 ms 
mapping optimization time 115.149268 
add points time 0.813361 ms
build tree time 14.834156 ms 
--------------------stamp1317358124.054668903
sort q time 6.026627 
seperate points time 12.292199 
publication time 9.627264 ms 
whole laserOdometry time 9.643263 ms 
 
mapping solver time 16.388462 ms 
1317358123.846735954 WriteOdom aft_mapped_to_init
--------------------stamp1317358124.158633947
sort q time 4.376188 
seperate points time 9.241030 
publication time 8.493481 ms 
whole laserOdometry time 8.503926 ms 
 
-----t: 0.0382119
OdomCount 3487 & avg odom time 0.046745 ms ++++++++++++++++++++++
mapping data assosiation time 19.367873 ms 
mapping solver time 15.852838 ms 
mapping pub time 2.085601 ms 
whole mapping time 120.729628 ms +++++
mappingCount 2248 & avg mapping time 157.094320 ms ++++++++++++++++++++++
points size 84305 
sort q time 5.410067 
seperate points time 11.548800 
mapping data assosiation time 26.585488 ms 
mapping solver time 27.365675 ms 
mapping data assosiation time 19.824869 ms 
points size 82617 
filter time 6.647961 ms 
publication time 7.752293 ms 
whole laserOdometry time 7.768964 ms 
 
mapping data assosiation time 22.004928 ms 
mapping solver time 19.642033 ms 
--------------------stamp1317358124.470513105
prepare time 10.467872 
mapping solver time 17.519940 ms 
publication time 7.055019 ms 
whole laserOdometry time 7.068819 ms 
 
map prepare time 2.819247 ms
map corner num 75509  surf num 24919 
-----t: 0.0326264
OdomCount 3490 & avg odom time 0.046735 ms ++++++++++++++++++++++
mapping data assosiation time 19.266567 ms 
mapping solver time 20.394592 ms 
--------------------stamp1317358124.574409008
sort q time 3.965846 
seperate points time 9.246220 
filter time 5.688092 ms 
-----t: 0.0404936
OdomCount 3491 & avg odom time 0.046733 ms ++++++++++++++++++++++
mapping data assosiation time 18.836221 ms 
mapping solver time 20.569830 ms 
points size 79971 
sort q time 4.586052 
seperate points time 12.552585 
publication time 6.695878 ms 
whole laserOdometry time 6.712161 ms 
 
-----t: 0.0457157
OdomCount 3492 & avg odom time 0.046733 ms ++++++++++++++++++++++
mapping data assosiation time 17.660491 ms 
mapping solver time 20.325208 ms 
sort q time 5.276637 
seperate points time 9.740255 
publication time 8.648757 ms 
whole laserOdometry time 8.671871 ms 
 
filter time 5.773621 ms 
map prepare time 2.255993 ms
map corner num 76374  surf num 25172 
build tree time 19.286826 ms 
mapping data assosiation time 19.608247 ms 
points size 81353 
mapping solver time 24.085830 ms 
publication time 7.364168 ms 
whole laserOdometry time 7.378328 ms 
 
-----t: 0.0402862
OdomCount 3494 & avg odom time 0.046730 ms ++++++++++++++++++++++
filter time 4.948073 ms 
build tree time 18.065859 ms 
--------------------stamp1317358124.989744901
mapping data assosiation time 20.655620 ms 
sort q time 4.572107 
seperate points time 10.447223 
mapping solver time 26.678515 ms 
publication time 6.525847 ms 
whole laserOdometry time 6.541452 ms 
 
mapping data assosiation time 23.562022 ms 
mapping solver time 18.156331 ms 
mapping pub time 1.937285 ms 
whole mapping time 120.786019 ms +++++
mappingCount 2255 & avg mapping time 156.959691 ms ++++++++++++++++++++++
--------------------stamp1317358125.093544960
sort q time 4.633260 
seperate points time 10.403488 
-----t: 0.026528
OdomCount 3496 & avg odom time 0.046720 ms ++++++++++++++++++++++
1317358125.093544960 WriteOdom laser_odom_to_init
1317358125.093544960 WriteOdom aft_mapped_to_init_high_frec
publication time 6.524151 ms 
whole laserOdometry time 6.540254 ms 
 
mapping data assosiation time 16.767761 ms 
mapping solver time 21.184093 ms 
mapping optimization time 101.259870 
add points time 0.704816 ms
points size 79799 
sort q time 4.622737 
seperate points time 10.075897 
mapping data assosiation time 20.106899 ms 
-----t: 0.0345327
OdomCount 3497 & avg odom time 0.046716 ms ++++++++++++++++++++++
mapping solver time 23.531600 ms 
mapping data assosiation time 19.582126 ms 
mapping solver time 16.738707 ms 
mapping pub time 2.119992 ms 
whole mapping time 109.312841 ms +++++
mappingCount 2257 & avg mapping time 156.918939 ms ++++++++++++++++++++++
prepare time 12.576570 
build tree time 16.812852 ms 
scan registration time 35.535084 ms *************
-----t: 0.0317244
OdomCount 3498 & avg odom time 0.046712 ms ++++++++++++++++++++++
mapping solver time 23.207881 ms 
mapping data assosiation time 15.873050 ms 
mapping solver time 12.872003 ms 
filter time 13.764583 ms 
sort q time 3.816250 
seperate points time 9.343728 
build tree time 18.904458 ms 
-----t: 0.0352897
OdomCount 3499 & avg odom time 0.046709 ms ++++++++++++++++++++++
mapping solver time 19.174811 ms 
mapping solver time 15.133892 ms 
1317358125.301168919 WriteOdom aft_mapped_to_init
sort q time 3.776102 
seperate points time 9.037275 
build tree time 20.071863 ms 
1317358125.509006023 WriteOdom laser_odom_to_init
1317358125.509006023 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.482066 ms 
mapping data assosiation time 16.135836 ms 
mapping solver time 14.940308 ms 
mapping pub time 1.846744 ms 
whole mapping time 100.127689 ms +++++
mappingCount 2260 & avg mapping time 156.846991 ms ++++++++++++++++++++++
sort q time 3.851629 
seperate points time 9.091652 
publication time 5.552301 ms 
whole laserOdometry time 5.567328 ms 
 
build tree time 20.358146 ms 
mapping data assosiation time 17.440361 ms 
mapping solver time 19.906485 ms 
mapping data assosiation time 16.255518 ms 
mapping solver time 12.827157 ms 
points size 67855 
scan registration time 21.809534 ms *************
-----t: 0.0299179
OdomCount 3502 & avg odom time 0.046692 ms ++++++++++++++++++++++
--------------------stamp1317358125.821072101
sort q time 3.529555 
seperate points time 7.000867 
publication time 5.962882 ms 
whole laserOdometry time 5.976179 ms 
 
mapping data assosiation time 17.995506 ms 
mapping solver time 15.319017 ms 
mapping data assosiation time 14.947953 ms 
mapping solver time 11.759674 ms 
map prepare time 1.595286 ms
map corner num 79461  surf num 26168 
--------------------stamp1317358125.925158977
sort q time 3.846106 
seperate points time 7.576431 
mapping data assosiation time 16.457491 ms 
publication time 5.238397 ms 
whole laserOdometry time 5.246352 ms 
 
mapping solver time 21.724937 ms 
mapping data assosiation time 16.308184 ms 
mapping solver time 13.806162 ms 
--------------------stamp1317358126.029269933
sort q time 3.620005 
seperate points time 7.183317 
publication time 4.328337 ms 
whole laserOdometry time 4.343651 ms 
 
mapping data assosiation time 14.243714 ms 
mapping solver time 13.994728 ms 
mapping optimization time 81.339662 
add points time 0.601848 ms
filter time 5.030949 ms 
build tree time 16.304624 ms 
--------------------stamp1317358126.133405923
mapping solver time 14.858564 ms 
-----t: 0.0194146
OdomCount 3506 & avg odom time 0.046666 ms ++++++++++++++++++++++
mapping solver time 10.552708 ms 
map prepare time 1.561365 ms
map corner num 80416  surf num 26488 
build tree time 17.351023 ms 
mapping data assosiation time 13.461581 ms 
mapping solver time 15.338298 ms 
points size 61062 
sort q time 3.413087 
seperate points time 8.176378 
add points time 0.641246 ms
1317358126.133405924 WriteOdom aft_mapped_to_init
build tree time 20.910893 ms 
mapping data assosiation time 13.696761 ms 
mapping solver time 16.289565 ms 
points size 59496 
mapping solver time 15.870810 ms 
1317358126.237562895 WriteOdom aft_mapped_to_init
1317358126.341744899 WriteOdom aft_mapped_to_init_high_frec
build tree time 17.309401 ms 
mapping data assosiation time 14.168646 ms 
mapping solver time 16.174239 ms 
mapping data assosiation time 13.447656 ms 
scan registration time 16.507317 ms *************
mapping solver time 17.722863 ms 
-----t: 0.0196724
OdomCount 3509 & avg odom time 0.046646 ms ++++++++++++++++++++++
publication time 4.540676 ms 
whole laserOdometry time 4.549501 ms 
 
build tree time 16.818469 ms 
mapping data assosiation time 13.402217 ms 
mapping solver time 15.299389 ms 
mapping data assosiation time 12.559838 ms 
--------------------stamp1317358126.550045967
filter time 6.952522 ms 
publication time 4.388251 ms 
whole laserOdometry time 4.397277 ms 
 
-----t: 0.0193842
OdomCount 3510 & avg odom time 0.046638 ms ++++++++++++++++++++++
1317358126.550045967 WriteOdom laser_odom_to_init
1317358126.550045967 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.662780 ms
map corner num 81481  surf num 26817 
build tree time 18.687598 ms 
mapping data assosiation time 12.829057 ms 
mapping solver time 15.116529 ms 
mapping data assosiation time 12.896706 ms 
mapping optimization time 74.880712 
add points time 0.635973 ms
points size 50926 
prepare time 7.197582 
filter time 5.992783 ms 
publication time 3.672137 ms 
whole laserOdometry time 3.681570 ms 
 
build tree time 16.726791 ms 
mapping data assosiation time 12.617613 ms 
mapping solver time 12.597357 ms 
mapping data assosiation time 12.332684 ms 
--------------------stamp1317358126.758235931
[0m[ INFO] [1718889640.583483605, 1317358126.768815394]: Received 109025 data points in frame camera_init with the following fields: x y z intensity[0m
mapping pub time 2.571807 ms 
whole mapping time 78.523438 ms +++++
mappingCount 2271 & avg mapping time 156.561687 ms ++++++++++++++++++++++
[0m[ INFO] [1718889640.583523377, 1317358126.768815394]: Data saved to 1317358126654150.pcd[0m
publication time 4.023803 ms 
whole laserOdometry time 4.034672 ms 
 
-----t: 0.0278923
OdomCount 3512 & avg odom time 0.046624 ms ++++++++++++++++++++++
build tree time 18.192923 ms 
mapping data assosiation time 12.856526 ms 
mapping solver time 16.601704 ms 
--------------------stamp1317358126.862299919
sort q time 2.322722 
seperate points time 5.704388 
scan registration time 12.640648 ms *************
mapping solver time 14.874617 ms 
mapping optimization time 78.301059 
add points time 0.652610 ms
publication time 4.195391 ms 
whole laserOdometry time 4.208577 ms 
 
-----t: 0.0257766
OdomCount 3513 & avg odom time 0.046618 ms ++++++++++++++++++++++
build tree time 18.681865 ms 
mapping data assosiation time 13.084677 ms 
mapping solver time 15.931817 ms 
--------------------stamp1317358126.966341018
sort q time 2.237435 
seperate points time 5.981404 
mapping solver time 12.591335 ms 
mapping pub time 1.117854 ms 
whole mapping time 86.608619 ms +++++
mappingCount 2273 & avg mapping time 156.501394 ms ++++++++++++++++++++++
1317358126.862299919 WriteOdom aft_mapped_to_init
publication time 4.124799 ms 
whole laserOdometry time 4.132159 ms 
 
map prepare time 1.487774 ms
map corner num 82745  surf num 27165 
build tree time 16.765463 ms 
mapping data assosiation time 13.888160 ms 
mapping solver time 16.289937 ms 
mapping data assosiation time 13.535929 ms 
mapping solver time 12.532974 ms 
sort q time 2.421124 
seperate points time 6.375273 
scan registration time 14.582132 ms *************
filter time 7.693085 ms 
mapping pub time 1.074868 ms 
whole mapping time 84.885872 ms +++++
mappingCount 2274 & avg mapping time 156.469902 ms ++++++++++++++++++++++
1317358126.966341019 WriteOdom aft_mapped_to_init
1317358127.070332050 WriteOdom laser_odom_to_init
1317358127.070332050 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.502544 ms
map corner num 83126  surf num 27283 
build tree time 16.470129 ms 
mapping data assosiation time 11.783762 ms 
mapping solver time 16.661806 ms 
mapping data assosiation time 13.963715 ms 
points size 47684 
filter time 7.882032 ms 
-----t: 0.0175166
OdomCount 3516 & avg odom time 0.046594 ms ++++++++++++++++++++++
1317358127.174298048 WriteOdom laser_odom_to_init
1317358127.174298048 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.471506 ms
map corner num 83463  surf num 27391 
build tree time 15.762130 ms 
mapping data assosiation time 12.194290 ms 
mapping solver time 12.116335 ms 
mapping data assosiation time 12.028904 ms 
mapping solver time 12.470878 ms 
[0m[ INFO] [1718889641.098485952, 1317358127.282328680]: Received 111280 data points in frame camera_init with the following fields: x y z intensity[0m
publication time 3.987553 ms 
whole laserOdometry time 3.997354 ms 
 
build tree time 17.021685 ms 
mapping data assosiation time 11.646178 ms 
mapping solver time 12.444764 ms 
mapping data assosiation time 12.617928 ms 
mapping solver time 9.850822 ms 
points size 42902 
-----t: 0.0157838
OdomCount 3518 & avg odom time 0.046577 ms ++++++++++++++++++++++
build tree time 17.420865 ms 
mapping data assosiation time 15.061081 ms 
mapping solver time 17.237202 ms 
mapping data assosiation time 12.656872 ms 
points size 41749 
mapping pub time 1.042935 ms 
whole mapping time 89.575182 ms +++++
mappingCount 2278 & avg mapping time 156.339440 ms ++++++++++++++++++++++
-----t: 0.0190249
OdomCount 3519 & avg odom time 0.046569 ms ++++++++++++++++++++++
build tree time 22.296175 ms 
mapping data assosiation time 15.138938 ms 
mapping solver time 17.046129 ms 
--------------------stamp1317358127.589850902
sort q time 2.247465 
seperate points time 5.649923 
scan registration time 13.236594 ms *************
mapping solver time 15.068934 ms 
mapping optimization time 84.608543 
add points time 0.649732 ms
-----t: 0.0202196
OdomCount 3520 & avg odom time 0.046562 ms ++++++++++++++++++++++
1317358127.589850902 WriteOdom laser_odom_to_init
1317358127.589850902 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.493888 ms
map corner num 84681  surf num 27735 
build tree time 17.273217 ms 
mapping data assosiation time 12.528937 ms 
mapping solver time 15.138226 ms 
mapping data assosiation time 12.577620 ms 
--------------------stamp1317358127.693696975
sort q time 2.347714 
seperate points time 5.871727 
filter time 5.690510 ms 
-----t: 0.0148314
OdomCount 3521 & avg odom time 0.046553 ms ++++++++++++++++++++++
build tree time 15.664524 ms 
mapping data assosiation time 12.060763 ms 
mapping solver time 15.570514 ms 
mapping data assosiation time 12.578343 ms 
mapping optimization time 69.625327 
points size 52733 
-----t: 0.0233392
OdomCount 3522 & avg odom time 0.046546 ms ++++++++++++++++++++++
--------------------stamp1317358127.901439905
sort q time 3.002669 
seperate points time 7.674435 
publication time 3.558004 ms 
whole laserOdometry time 3.573515 ms 
 
mapping data assosiation time 14.186174 ms 
mapping solver time 16.182249 ms 
mapping data assosiation time 12.916543 ms 
mapping solver time 14.687503 ms 
1317358127.797569036 WriteOdom aft_mapped_to_init
points size 58925 
build tree time 22.093900 ms 
publication time 9.007789 ms mapping solver time 15.193058 ms 
mapping data assosiation time 12.305591 ms 
mapping solver time 12.143684 ms 
map prepare time 1.816791 ms
map corner num 85742  surf num 28111 
--------------------stamp1317358128.109134912
sort q time 3.401254 
seperate points time 6.731233 
--------------------stamp1317358128.213002920
sort q time 3.354920 
seperate points time 8.250072 
mapping solver time 8.965924 ms 
mapping pub time 1.396541 ms 
whole mapping time 81.003767 ms +++++
mappingCount 2285 & avg mapping time 156.174027 ms ++++++++++++++++++++++
build tree time 16.720378 ms 
mapping solver time 11.869075 ms 
points size 68128 
sort q time 4.264779 
seperate points time 8.398032 
publication time 5.511800 ms 
whole laserOdometry time 5.529042 ms 
 
map prepare time 1.809344 ms
map corner num 86589  surf num 28388 
build tree time 16.482570 ms 
mapping data assosiation time 13.485116 ms 
mapping solver time 12.096394 ms 
mapping data assosiation time 13.536521 ms 
points size 69012 
mapping pub time 1.600737 ms 
whole mapping time 81.446652 ms +++++
mappingCount 2287 & avg mapping time 156.109380 ms ++++++++++++++++++++++
publication time 5.701684 ms 
whole laserOdometry time 5.711595 ms 
 
build tree time 16.673952 ms 
mapping data assosiation time 13.371350 ms 
mapping solver time 12.738040 ms 
mapping data assosiation time 13.266914 ms 
mapping solver time 10.973637 ms 
sort q time 4.068099 
seperate points time 8.724274 
publication time 5.522411 ms 
whole laserOdometry time 5.549622 ms 
 
-----t: 0.024682
OdomCount 3529 & avg odom time 0.046503 ms ++++++++++++++++++++++
build tree time 18.356953 ms 
mapping data assosiation time 13.772158 ms 
mapping solver time 16.388812 ms 
--------------------stamp1317358128.628485918
mapping data assosiation time 13.701121 ms 
mapping solver time 17.372981 ms 
publication time 5.776522 ms 
whole laserOdometry time 5.787461 ms 
 
map prepare time 2.465349 ms
map corner num 87568  surf num 28783 
mapping data assosiation time 12.876844 ms 
mapping solver time 12.428339 ms 
points size 69026 
sort q time 3.675089 
seperate points time 8.675934 
mapping solver time 10.899947 ms 
mapping optimization time 76.195901 
scan registration time 23.094536 ms *************
add points time 0.758465 ms
map prepare time 1.788887 ms
map corner num 87917  surf num 28929 
build tree time 18.296274 ms 
mapping data assosiation time 15.953462 ms 
mapping solver time 15.522434 ms 
--------------------stamp1317358128.836227893
sort q time 3.360803 
seperate points time 8.329448 
scan registration time 19.161394 ms *************
mapping solver time 16.670888 ms 
mapping optimization time 82.082858 
add points time 0.650886 ms
publication time 5.798093 ms 
whole laserOdometry time 5.808950 ms 
 
map prepare time 1.840014 ms
map corner num 88315  surf num 29090 
build tree time 18.053287 ms 
mapping data assosiation time 15.302334 ms 
mapping solver time 15.127833 ms 
--------------------stamp1317358128.940099000
prepare time 8.759350 
sort q time 3.213237 
seperate points time 8.085076 
publication time 5.536371 ms 
whole laserOdometry time 5.546979 ms 
 
map prepare time 1.987132 ms
map corner num 88742  surf num 29247 
build tree time 18.948052 ms 
mapping data assosiation time 16.411415 ms 
--------------------stamp1317358129.043968915
mapping data assosiation time 15.497904 ms 
mapping solver time 13.419489 ms 
mapping optimization time 84.481594 
add points time 0.677372 ms
build tree time 16.386734 ms 
mapping data assosiation time 17.825597 ms 
mapping solver time 18.446186 ms 
points size 61693 
scan registration time 16.543420 ms *************
publication time 5.788896 ms 
whole laserOdometry time 5.799776 ms 
 
mapping pub time 1.470648 ms 
whole mapping time 97.216689 ms +++++
mappingCount 2294 & avg mapping time 155.911337 ms ++++++++++++++++++++++
build tree time 12.370982 ms 
mapping data assosiation time 15.390657 ms 
mapping solver time 18.464211 ms 
--------------------stamp1317358129.251782894
sort q time 3.205945 
seperate points time 6.924240 
publication time 7.747676 ms 
whole laserOdometry time 7.764448 ms 
 
-----t: 0.0284397
OdomCount 3536 & avg odom time 0.046466 ms ++++++++++++++++++++++
mapping data assosiation time 13.109161 ms 
mapping solver time 17.790069 ms 
--------------------stamp1317358129.355704069
sort q time 2.997826 
seperate points time 6.700648 
filter time 4.772567 ms 
-----t: 0.026134
OdomCount 3537 & avg odom time 0.046460 ms ++++++++++++++++++++++
1317358129.355704069 WriteOdom laser_odom_to_init
1317358129.355704069 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.714519 ms
map corner num 62379  surf num 21527 
build tree time 12.371804 ms 
mapping data assosiation time 15.298017 ms 
mapping solver time 17.573968 ms 
mapping data assosiation time 13.609869 ms 
points size 58799 
mapping solver time 19.993351 ms 
mapping pub time 1.351609 ms 
whole mapping time 88.403496 ms +++++
mappingCount 2297 & avg mapping time 155.825804 ms ++++++++++++++++++++++
1317358129.355704069 WriteOdom aft_mapped_to_init
1317358129.459621906 WriteOdom laser_odom_to_init
build tree time 16.715193 ms 
mapping data assosiation time 18.068874 ms 
--------------------stamp1317358129.563564062
sort q time 2.852998 
seperate points time 7.116172 
publication time 5.349128 ms 
whole laserOdometry time 5.424076 ms mapping solver time 14.971371 ms 
mapping pub time 1.534227 ms 
whole mapping time 105.565611 ms +++++
mappingCount 2298 & avg mapping time 155.803934 ms ++++++++++++++++++++++
build tree time 16.349667 ms 
mapping data assosiation time 18.103456 ms 
mapping solver time 18.674093 ms 
--------------------stamp1317358129.667505979
sort q time 3.254630 
seperate points time 6.514151 
-----t: 0.0203708
OdomCount 3540 & avg odom time 0.046442 ms ++++++++++++++++++++++
filter time 5.284668 ms 
build tree time 13.084252 ms 
mapping data assosiation time 16.138813 ms 
mapping solver time 19.356199 ms 
points size 56631 
publication time 5.123205 ms 
whole laserOdometry time 5.136466 ms 
 
mapping optimization time 88.712561 
map prepare time 1.613092 ms
map corner num 63837  surf num 21979 
mapping data assosiation time 13.229928 ms 
mapping solver time 19.231776 ms 
--------------------stamp1317358129.875368118
sort q time 2.949982 
seperate points time 6.592655 
filter time 6.341684 ms 
--------------------stamp1317358129.979335069
sort q time 3.204961 
seperate points time 7.772981 
mapping pub time 100.811736 ms 
whole mapping time 188.828188 ms +++++
mappingCount 2301 & avg mapping time 155.770310 ms ++++++++++++++++++++++
1317358129.771425009 WriteOdom aft_mapped_to_init
map prepare time 2.083209 ms
map corner num 64169  surf num 22092 
-----t: 0.0330118
OdomCount 3543 & avg odom time 0.046425 ms ++++++++++++++++++++++
mapping data assosiation time 16.313928 ms 
mapping solver time 19.383320 ms 
mapping data assosiation time 14.894402 ms 
points size 59810 
build tree time 15.258231 ms 
-----t: 0.0281375
OdomCount 3544 & avg odom time 0.046420 ms ++++++++++++++++++++++
mapping solver time 19.785657 ms 
mapping data assosiation time 15.716250 ms 
mapping solver time 15.885592 ms 
map prepare time 2.067420 ms
map corner num 64876  surf num 22322 
points size 61784 
prepare time 8.620401 
publication time 4.848900 ms 
whole laserOdometry time 4.860190 ms 
 
mapping data assosiation time 17.740190 ms 
mapping solver time 17.750848 ms 
mapping data assosiation time 14.680953 ms 
mapping solver time 12.211795 ms 
map prepare time 1.680970 ms
map corner num 65238  surf num 22449 
--------------------stamp1317358130.291188955
sort q time 3.389691 
seperate points time 6.848005 
publication time 5.573547 ms 
whole laserOdometry time 5.596083 ms 
 
mapping data assosiation time 14.300774 ms 
mapping solver time 16.512983 ms 
mapping pub time 1.478221 ms 
whole mapping time 94.315215 ms +++++
mappingCount 2305 & avg mapping time 155.656791 ms ++++++++++++++++++++++
build tree time 14.091349 ms 
points size 62349 
scan registration time 18.724629 ms *************
publication time 5.451201 ms 
whole laserOdometry time 5.485825 ms 
mapping data assosiation time 15.216709 ms 
mapping solver time 14.854819 ms 
[0m[ INFO] [1718889644.282778809, 1317358130.467641402]: Received 88642 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889644.282834543, 1317358130.467641402]: Data saved to 1317358130291188.pcd[0m
build tree time 12.183299 ms 
mapping data assosiation time 14.523289 ms 
--------------------stamp1317358130.499047040
sort q time 3.203629 
seperate points time 7.888479 
publication time 5.134305 ms 
whole laserOdometry time 5.148684 ms 
 
-----t: 0.0235981
OdomCount 3548 & avg odom time 0.046395 ms ++++++++++++++++++++++
1317358130.499047040 WriteOdom laser_odom_to_init
1317358130.499047040 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.343052 ms 
mapping solver time 13.135183 ms 
build tree time 13.875659 ms 
mapping data assosiation time 14.417388 ms 
--------------------stamp1317358130.602988958
sort q time 3.276669 
seperate points time 8.084613 
publication time 5.120207 ms 
whole laserOdometry time 5.134050 ms 
 
mapping pub time 1.371667 ms 
whole mapping time 85.710419 ms +++++
mappingCount 2308 & avg mapping time 155.570636 ms ++++++++++++++++++++++
build tree time 14.320679 ms 
mapping data assosiation time 14.257480 ms 
mapping solver time 18.005863 ms 
--------------------stamp1317358130.706933975
sort q time 3.454568 
seperate points time 8.002032 
filter time 5.026617 ms 
-----t: 0.028322
OdomCount 3550 & avg odom time 0.046384 ms ++++++++++++++++++++++
build tree time 14.548394 ms 
mapping data assosiation time 15.857816 ms 
mapping solver time 15.413149 ms 
--------------------stamp1317358130.810877084
sort q time 3.345464 
seperate points time 8.185029 
scan registration time 18.561282 ms *************
mapping solver time 13.402559 ms 
mapping optimization time 77.909922 
map prepare time 1.733572 ms
map corner num 67432  surf num 23333 
build tree time 12.382269 ms 
mapping data assosiation time 14.783706 ms 
mapping solver time 18.070578 ms 
--------------------stamp1317358130.914819002
mapping data assosiation time 16.257172 ms 
sort q time 4.126125 
seperate points time 7.878445 
filter time 6.503350 ms 
map prepare time 1.631736 ms
map corner num 67864  surf num 23522 
build tree time 12.951632 ms 
mapping data assosiation time 15.902279 ms 
mapping solver time 16.141464 ms 
--------------------stamp1317358131.018785953
mapping solver time 14.189047 ms 
publication time 6.554698 ms 
whole laserOdometry time 6.569229 ms 
 
-----t: 0.0384281
OdomCount 3553 & avg odom time 0.046368 ms ++++++++++++++++++++++
1317358131.018785953 WriteOdom laser_odom_to_init
1317358131.018785953 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.606439 ms
map corner num 68309  surf num 23760 
build tree time 17.209616 ms 
mapping data assosiation time 15.689329 ms 
--------------------stamp1317358131.122776031
sort q time 3.692881 
seperate points time 8.748067 
mapping solver time 14.272818 ms 
map prepare time 1.779990 ms
map corner num 68764  surf num 24007 
build tree time 13.681376 ms 
mapping data assosiation time 17.340847 ms 
mapping solver time 20.783323 ms 
scan registration time 15.785957 ms *************
mapping data assosiation time 21.008477 ms 
publication time 5.677890 ms 
whole laserOdometry time 5.712208 ms 
 
mapping solver time 15.508686 ms 
map prepare time 1.881318 ms
map corner num 69243  surf num 24245 
build tree time 16.170405 ms 
mapping data assosiation time 17.596208 ms 
mapping solver time 16.022879 ms 
points size 68384 
sort q time 3.429626 
seperate points time 7.123122 
scan registration time 15.608867 ms *************
mapping data assosiation time 22.269067 ms 
mapping solver time 15.956673 ms 
1317358131.330755949 WriteOdom laser_odom_to_init
1317358131.330755949 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 1.524048 ms 
whole mapping time 99.817403 ms +++++
mappingCount 2315 & avg mapping time 155.383238 ms ++++++++++++++++++++++
1317358131.226766109 WriteOdom aft_mapped_to_init
map prepare time 1.882734 ms
map corner num 69733  surf num 24444 
mapping data assosiation time 16.099106 ms 
mapping solver time 20.333277 ms 
points size 70287 
sort q time 4.513870 
seperate points time 8.883230 
mapping solver time 14.158928 ms 
-----t: 0.03169
OdomCount 3557 & avg odom time 0.046347 ms ++++++++++++++++++++++
build tree time 16.494510 ms 
mapping data assosiation time 19.572921 ms 
--------------------stamp1317358131.538763999
prepare time 11.776989 
mapping data assosiation time 21.124749 ms 
mapping solver time 16.575323 ms 
filter time 15.861840 ms 
build tree time 15.272934 ms 
mapping data assosiation time 21.198261 ms 
points size 73868 
mapping solver time 26.458535 ms 
sort q time 4.097925 
seperate points time 9.642992 
mapping data assosiation time 22.141784 ms 
mapping solver time 14.474250 ms 
mapping pub time 1.614127 ms 
whole mapping time 110.496053 ms +++++
mappingCount 2318 & avg mapping time 155.320739 ms ++++++++++++++++++++++
build tree time 15.957434 ms 
--------------------stamp1317358131.746790885
sort q time 3.956255 
seperate points time 9.078800 
publication time 7.823242 ms 
whole laserOdometry time 7.852940 ms 
 
-----t: 0.0257134
OdomCount 3560 & avg odom time 0.046334 ms ++++++++++++++++++++++
1317358131.746790885 WriteOdom laser_odom_to_init
1317358131.746790885 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.978387 ms 
mapping solver time 13.900812 ms 
mapping pub time 1.855657 ms 
whole mapping time 102.769708 ms +++++
mappingCount 2319 & avg mapping time 155.298080 ms ++++++++++++++++++++++
build tree time 15.332433 ms 
--------------------stamp1317358131.850832939
sort q time 4.659317 
seperate points time 9.082034 
-----t: 0.0259367
OdomCount 3561 & avg odom time 0.046328 ms ++++++++++++++++++++++
mapping data assosiation time 22.172558 ms 
mapping solver time 15.172594 ms 
map prepare time 2.044199 ms
map corner num 72526  surf num 25727 
build tree time 15.636791 ms 
--------------------stamp1317358131.954896926
points size 78243 
sort q time 4.278860 
seperate points time 9.895310 
mapping solver time 23.581401 ms 
-----t: 0.0318566
OdomCount 3562 & avg odom time 0.046324 ms ++++++++++++++++++++++
1317358131.954896926 WriteOdom laser_odom_to_init
1317358131.954896926 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.822805 ms 
[0m[ INFO] [1718889645.852191278, 1317358132.036019182]: Received 99063 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889645.852236834, 1317358132.036019182]: Data saved to 1317358131850832.pcd[0m
--------------------stamp1317358132.058958053
prepare time 13.123340 
sort q time 4.548843 
seperate points time 10.784202 
publication time 7.934731 ms 
whole laserOdometry time 7.962029 ms 
 
mapping pub time 105.036497 ms 
whole mapping time 213.852574 ms +++++
mappingCount 2321 & avg mapping time 155.303206 ms ++++++++++++++++++++++
build tree time 15.440263 ms 
points size 80425 
publication time 7.532647 ms 
whole laserOdometry time 7.547886 ms 
 
mapping data assosiation time 20.130005 ms 
mapping solver time 16.259610 ms 
map prepare time 2.116144 ms
map corner num 66993  surf num 23326 
build tree time 14.647572 ms 
sort q time 4.553461 
seperate points time 10.868624 
1317358132.267230033 WriteOdom laser_odom_to_init
mapping data assosiation time 21.679961 ms 
mapping optimization time 112.527324 
map prepare time 2.388068 ms
map corner num 67571  surf num 23593 
scan registration time 24.308478 ms *************
publication time 8.742961 ms 
whole laserOdometry time 8.775240 ms 
 
1317358132.371388912 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.788755 ms 
mapping solver time 26.390070 ms 
mapping data assosiation time 21.968580 ms 
mapping solver time 19.830184 ms 
mapping optimization time 111.435243 
add points time 0.808774 ms
sort q time 4.557515 
seperate points time 10.743532 
scan registration time 25.525197 ms *************
filter time 6.625332 ms 
publication time 6.026099 ms 
whole laserOdometry time 6.040598 ms 
 
mapping data assosiation time 22.422125 ms 
mapping solver time 28.165436 ms 
points size 84245 
publication time 9.232246 ms 
whole laserOdometry time 9.246627 ms 
 
filter time 6.757729 ms 
build tree time 13.396086 ms 
mapping data assosiation time 24.735967 ms 
points size 85144 
prepare time 11.374412 
-----t: 0.0335225
OdomCount 3569 & avg odom time 0.046309 ms ++++++++++++++++++++++
mapping solver time 17.431296 ms 
[0m[ INFO] [1718889646.578368557, 1317358132.761728491]: Received 93171 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889646.578403779, 1317358132.761728491]: Data saved to 1317358132475544.pcd[0m
mapping pub time 2.905535 ms 
whole mapping time 123.303777 ms +++++
mappingCount 2326 & avg mapping time 155.233333 ms ++++++++++++++++++++++
1317358132.475544930 WriteOdom aft_mapped_to_init
map prepare time 2.205595 ms
map corner num 68981  surf num 24190 
build tree time 13.839909 ms 
points size 86062 
mapping data assosiation time 26.477062 ms 
sort q time 4.929370 
seperate points time 11.582652 
-----t: 0.0422741
OdomCount 3570 & avg odom time 0.046307 ms ++++++++++++++++++++++
1317358132.788094043 WriteOdom laser_odom_to_init
1317358132.788094043 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.779961 ms 
publication time 8.715172 ms 
whole laserOdometry time 8.722747 ms 
 
mapping data assosiation time 23.847376 ms 
mapping solver time 18.064418 ms 
filter time 5.955484 ms 
mapping pub time 1.912704 ms 
whole mapping time 131.903303 ms +++++
mappingCount 2327 & avg mapping time 155.223310 ms ++++++++++++++++++++++
1317358132.683887005 WriteOdom aft_mapped_to_init
sort q time 5.061449 
seperate points time 12.189733 
publication time 7.341250 ms 
whole laserOdometry time 7.352144 ms 
 
mapping data assosiation time 30.238133 ms 
-----t: 0.0587086
OdomCount 3571 & avg odom time 0.046311 ms ++++++++++++++++++++++
1317358132.892298936 WriteOdom laser_odom_to_init
1317358132.892298936 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 38.736801 ms 
points size 87332 
sort q time 4.935505 
seperate points time 11.716129 
publication time 11.582478 ms 
whole laserOdometry time 11.636986 ms 
 
filter time 7.302409 ms 
map prepare time 3.234459 ms
map corner num 70013  surf num 24589 
-----t: 0.0525487
OdomCount 3572 & avg odom time 0.046313 ms ++++++++++++++++++++++
1317358132.996506929 WriteOdom laser_odom_to_init
1317358132.996506929 WriteOdom aft_mapped_to_init_high_frec
build tree time 19.310583 ms 
--------------------stamp1317358133.100713014
sort q time 5.566209 
seperate points time 10.539723 
scan registration time 25.673203 ms *************
publication time 9.830063 ms 
whole laserOdometry time 9.860383 ms 
 
mapping data assosiation time 26.589491 ms 
mapping solver time 18.708418 ms 
mapping optimization time 117.530029 
add points time 0.907232 ms
filter time 5.629804 ms 
--------------------stamp1317358133.204919099
build tree time 17.507380 ms 
sort q time 5.203539 
seperate points time 11.261517 
mapping data assosiation time 28.657080 ms 
publication time 8.338728 ms 
whole laserOdometry time 8.354099 ms 
 
-----t: 0.045187
OdomCount 3574 & avg odom time 0.046312 ms ++++++++++++++++++++++
mapping solver time 35.409078 ms 
mapping data assosiation time 24.590058 ms 
points size 89967 
build tree time 17.526601 ms 
mapping data assosiation time 24.307953 ms 
mapping solver time 25.098153 ms 
points size 90678 
mapping data assosiation time 28.820010 ms 
mapping solver time 20.347585 ms 
[0m[ INFO] [1718889647.283166679, 1317358133.468777938]: Received 96827 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889647.283235706, 1317358133.468777938]: Data saved to 1317358133204919.pcd[0m
build tree time 13.722060 ms 
mapping data assosiation time 25.035282 ms 
points size 91669 
mapping solver time 28.605393 ms 
publication time 10.789325 ms 
whole laserOdometry time 10.805982 ms 
 
mapping solver time 18.752111 ms 
filter time 10.535874 ms 
--------------------stamp1317358133.621581077
prepare time 11.124162 
sort q time 5.346961 
seperate points time 11.878892 
publication time 8.907607 ms 
whole laserOdometry time 8.922206 ms 
 
-----t: 0.0417489
OdomCount 3578 & avg odom time 0.046308 ms ++++++++++++++++++++++
mapping data assosiation time 24.234742 ms 
--------------------stamp1317358133.725716114
points size 93501 
map prepare time 3.177756 ms
map corner num 72685  surf num 25679 
build tree time 18.259188 ms 
-----t: 0.0511254
OdomCount 3579 & avg odom time 0.046309 ms ++++++++++++++++++++++
1317358133.725716114 WriteOdom laser_odom_to_init
1317358133.725716114 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.295430 ms 
mapping solver time 25.159081 ms 
points size 94661 
sort q time 6.087070 
seperate points time 11.528956 
publication time 8.755983 ms 
whole laserOdometry time 8.771719 ms 
 
filter time 7.244631 ms 
1317358133.829849958 WriteOdom laser_odom_to_init
--------------------stamp1317358133.933984041
mapping data assosiation time 29.225107 ms 
scan registration time 29.362034 ms *************
mapping solver time 33.041784 ms 
-----t: 0.0406893
OdomCount 3581 & avg odom time 0.046309 ms ++++++++++++++++++++++
1317358133.933984041 WriteOdom laser_odom_to_init
1317358133.933984041 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.646245 ms 
mapping solver time 19.616930 ms 
mapping pub time 2.180756 ms 
whole mapping time 140.315996 ms +++++
mappingCount 2335 & avg mapping time 155.169986 ms ++++++++++++++++++++++
points size 98684 
build tree time 19.169416 ms 
sort q time 18.525772 
seperate points time 27.469912 
publication time 8.836633 ms 
whole laserOdometry time 8.848157 ms 
 
mapping solver time 27.615349 ms 
--------------------stamp1317358134.142205953
prepare time 12.636064 
sort q time 5.462001 
seperate points time 12.504946 
mapping solver time 21.579447 ms 
map prepare time 3.297427 ms
map corner num 74073  surf num 26183 
-----t: 0.0437026
OdomCount 3583 & avg odom time 0.046306 ms ++++++++++++++++++++++
mapping data assosiation time 25.575140 ms 
--------------------stamp1317358134.246290922
mapping solver time 41.272500 ms 
sort q time 5.619287 
seperate points time 13.224608 
scan registration time 34.927275 ms *************
mapping data assosiation time 32.113068 ms 
-----t: 0.064523
OdomCount 3584 & avg odom time 0.046311 ms ++++++++++++++++++++++
mapping solver time 30.290105 ms 
mapping pub time 2.249594 ms 
whole mapping time 161.595931 ms +++++
mappingCount 2337 & avg mapping time 155.167961 ms ++++++++++++++++++++++
points size 100282 
build tree time 20.287698 ms 
scan registration time 38.921984 ms *************
mapping data assosiation time 32.262808 ms 
-----t: 0.0555386
OdomCount 3585 & avg odom time 0.046314 ms ++++++++++++++++++++++
mapping solver time 35.784523 ms 
--------------------stamp1317358134.454392910
points size 100114 
mapping data assosiation time 33.316469 ms 
scan registration time 36.452262 ms *************
publication time 10.059022 ms 
whole laserOdometry time 10.073505 ms 
 
filter time 5.472582 ms 
-----t: 0.0661485
OdomCount 3586 & avg odom time 0.046320 ms ++++++++++++++++++++++
1317358134.454392910 WriteOdom laser_odom_to_init
1317358134.454392910 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358134.558407068
points size 100139 
sort q time 5.746305 
seperate points time 12.352189 
mapping solver time 32.926487 ms 
-----t: 0.0436757
OdomCount 3587 & avg odom time 0.046319 ms ++++++++++++++++++++++
mapping data assosiation time 29.414062 ms 
mapping solver time 19.572591 ms 
mapping pub time 2.700245 ms 
whole mapping time 143.362693 ms +++++
mappingCount 2339 & avg mapping time 155.169305 ms ++++++++++++++++++++++
prepare time 13.211172 
sort q time 5.741356 
seperate points time 12.879849 
publication time 9.857493 ms 
whole laserOdometry time 9.874985 ms 
 
mapping solver time 24.988671 ms 
--------------------stamp1317358134.766362905
points size 99842 
mapping solver time 22.619971 ms 
sort q time 5.635096 
seperate points time 13.083322 
mapping optimization time 124.851732 
add points time 1.132378 ms
scan registration time 35.364725 ms *************
-----t: 0.0400311
OdomCount 3589 & avg odom time 0.046316 ms ++++++++++++++++++++++
1317358134.766362905 WriteOdom laser_odom_to_init
1317358134.766362905 WriteOdom aft_mapped_to_init_high_frec
publication time 9.389589 ms 
whole laserOdometry time 9.402269 ms 
 
mapping data assosiation time 25.659331 ms 
--------------------stamp1317358134.870282888
prepare time 14.150291 
sort q time 5.662029 
seperate points time 12.920938 
mapping data assosiation time 32.117807 ms 
mapping solver time 21.889359 ms 
[0m[ INFO] [1718889648.769062038, 1317358134.951976596]: Received 103889 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889648.769097723, 1317358134.951976596]: Data saved to 1317358134662396.pcd[0m
--------------------stamp1317358134.974083900
prepare time 14.696627 
scan registration time 33.984361 ms *************
publication time 9.957392 ms 
whole laserOdometry time 9.972439 ms 
 
-----t: 0.0542112
OdomCount 3591 & avg odom time 0.046317 ms ++++++++++++++++++++++
1317358134.974083900 WriteOdom laser_odom_to_init
1317358134.974083900 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 108.125514 ms 
whole mapping time 248.366921 ms +++++
mappingCount 2341 & avg mapping time 155.202528 ms ++++++++++++++++++++++
--------------------stamp1317358135.077740907
points size 99113 
prepare time 27.114471 
scan registration time 47.615427 ms *************
-----t: 0.0513166
OdomCount 3592 & avg odom time 0.046319 ms ++++++++++++++++++++++
1317358135.077740907 WriteOdom laser_odom_to_init
1317358135.077740907 WriteOdom aft_mapped_to_init_high_frec
publication time 9.304817 ms 
whole laserOdometry time 9.314969 ms 
 
mapping solver time 35.237965 ms 
mapping data assosiation time 26.572100 ms 
points size 99187 
filter time 7.235594 ms 
publication time 9.156934 ms 
whole laserOdometry time 9.171100 ms 
 
mapping data assosiation time 24.998110 ms 
--------------------stamp1317358135.284976959
prepare time 12.832372 
mapping solver time 37.046393 ms 
mapping data assosiation time 30.514596 ms 
publication time 11.253714 ms 
whole laserOdometry time 11.278278 ms 
 
mapping optimization time 140.623310 
add points time 0.933760 ms
filter time 5.592236 ms 
map prepare time 2.791459 ms
map corner num 77642  surf num 27853 
--------------------stamp1317358135.388581991
prepare time 13.299125 
sort q time 5.657873 
seperate points time 13.306806 
mapping data assosiation time 32.822660 ms 
publication time 8.523481 ms 
whole laserOdometry time 8.533691 ms 
 
-----t: 0.0517038
OdomCount 3595 & avg odom time 0.046317 ms ++++++++++++++++++++++
mapping solver time 37.570527 ms 
--------------------stamp1317358135.492187976
prepare time 11.731988 
sort q time 6.404684 filter time 7.419334 ms 
publication time 9.994312 ms 
whole laserOdometry time 10.005639 ms 
 
-----t: 0.0613517
OdomCount 3596 & avg odom time 0.046322 ms ++++++++++++++++++++++
mapping data assosiation time 25.001569 ms 
points size 100615 
sort q time 5.523794 
seperate points time 12.830969 
mapping solver time 39.294199 ms 
publication time 12.012354 ms 
whole laserOdometry time 12.027845 ms 
 
mapping data assosiation time 29.486220 ms 
mapping solver time 31.774387 ms 
filter time 8.678247 ms 
map prepare time 3.827973 ms
map corner num 78826  surf num 28433 
publication time 8.954329 ms 
whole laserOdometry time 8.968277 ms 
 
-----t: 0.0446358
OdomCount 3598 & avg odom time 0.046320 ms ++++++++++++++++++++++
mapping solver time 30.451268 ms 
points size 101220 
mapping data assosiation time 34.556699 ms 
-----t: 0.0438727
OdomCount 3599 & avg odom time 0.046319 ms ++++++++++++++++++++++
mapping solver time 33.806716 ms 
[0m[ INFO] [1718889649.693614614, 1317358135.879441200]: Received 107937 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889649.693668657, 1317358135.879441200]: Data saved to 1317358135492187.pcd[0m
build tree time 15.719664 ms 
points size 101841 
mapping data assosiation time 34.525609 ms 
sort q time 6.241386 
seperate points time 14.752858 
scan registration time 39.529321 ms *************
publication time 9.720984 ms 
whole laserOdometry time 9.733516 ms 
 
mapping solver time 41.945830 ms 
mapping data assosiation time 27.421948 ms 
points size 102431 
add points time 0.970333 ms
scan registration time 41.418371 ms *************
build tree time 16.974419 ms 
mapping data assosiation time 28.674565 ms 
--------------------stamp1317358136.113975048
mapping solver time 35.072503 ms 
sort q time 5.691845 
seperate points time 13.822899 
publication time 8.326646 ms 
whole laserOdometry time 8.341105 ms 
 
mapping solver time 29.603958 ms 
mapping pub time 2.234227 ms 
whole mapping time 155.720866 ms +++++
mappingCount 2348 & avg mapping time 155.219301 ms ++++++++++++++++++++++
--------------------stamp1317358136.217603921
points size 102816 
sort q time 6.956787 
seperate points time 15.972816 
mapping data assosiation time 33.920575 ms 
publication time 11.203221 ms 
whole laserOdometry time 11.221575 ms 
 
mapping solver time 34.817408 ms 
--------------------stamp1317358136.321259021
points size 102860 
mapping data assosiation time 30.792884 ms 
prepare time 15.255737 
mapping solver time 38.932888 ms 
mapping optimization time 162.095958 
add points time 1.041411 ms
publication time 9.961453 ms 
whole laserOdometry time 9.986586 ms 
 
map prepare time 3.483091 ms
map corner num 80995  surf num 29470 
build tree time 18.199498 ms 
--------------------stamp1317358136.424961090
points size 102922 
sort q time 5.833376 
seperate points time 13.652961 
mapping solver time 41.529305 ms 
mapping data assosiation time 28.223473 ms 
--------------------stamp1317358136.528687953
points size 102873 
mapping solver time 36.168760 ms 
scan registration time 34.597371 ms *************
publication time 12.283153 ms 
whole laserOdometry time 12.300516 ms 
 
-----t: 0.0510839
OdomCount 3606 & avg odom time 0.046332 ms ++++++++++++++++++++++
mapping data assosiation time 28.725437 ms 
--------------------stamp1317358136.632440090
prepare time 12.521567 
sort q time 6.489909 
seperate points time 12.400526 
publication time 9.240113 ms 
whole laserOdometry time 9.257622 ms 
 
-----t: 0.0520959
OdomCount 3607 & avg odom time 0.046333 ms ++++++++++++++++++++++
mapping solver time 21.984326 ms 
filter time 6.149789 ms 
--------------------stamp1317358136.736212968
points size 103031 
sort q time 5.981122 
seperate points time 13.900131 
publication time 10.302716 ms 
whole laserOdometry time 10.315872 ms 
 
mapping solver time 38.061190 ms 
--------------------stamp1317358136.839987039
mapping data assosiation time 27.195776 ms 
points size 103085 
sort q time 5.740361 
seperate points time 13.523539 
filter time 10.536181 ms 
-----t: 0.0598852
OdomCount 3609 & avg odom time 0.046337 ms ++++++++++++++++++++++
mapping data assosiation time 27.712454 ms 
prepare time 15.231859 
sort q time 6.023527 
seperate points time 14.145373 
publication time 12.954562 ms 
whole laserOdometry time 12.977553 ms 
 
mapping solver time 19.239165 ms 
mapping optimization time 139.008224 
add points time 0.978605 ms
filter time 6.114844 ms 
points size 103106 
build tree time 19.015445 ms 
scan registration time 34.368952 ms *************
publication time 7.127040 ms 
whole laserOdometry time 7.143649 ms 
 
-----t: 0.0552641
OdomCount 3611 & avg odom time 0.046341 ms ++++++++++++++++++++++
mapping solver time 28.748733 ms 
--------------------stamp1317358137.151313066
mapping data assosiation time 29.813584 ms 
prepare time 13.178438 
scan registration time 32.075375 ms *************
mapping pub time 2.489593 ms 
whole mapping time 150.688512 ms +++++
mappingCount 2354 & avg mapping time 155.237313 ms ++++++++++++++++++++++
mapping data assosiation time 23.855177 ms 
--------------------stamp1317358137.255085945
prepare time 13.315131 
mapping solver time 36.276181 ms 
publication time 14.436963 ms 
whole laserOdometry time 14.503188 ms 
 
mapping solver time 19.114805 ms 
mapping pub time 2.280835 ms 
whole mapping time 146.771739 ms +++++
mappingCount 2355 & avg mapping time 155.233720 ms ++++++++++++++++++++++
--------------------stamp1317358137.358865976
build tree time 20.178838 ms 
prepare time 13.398779 
sort q time 5.803112 
seperate points time 13.321729 
scan registration time 32.028370 ms *************
publication time 10.039215 ms 
whole laserOdometry time 10.056005 ms 
 
-----t: 0.0499526
OdomCount 3614 & avg odom time 0.046341 ms ++++++++++++++++++++++
1317358137.358865976 WriteOdom laser_odom_to_init
1317358137.358865976 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.643503 ms 
points size 102992 
filter time 5.979180 ms 
map prepare time 3.422562 ms
map corner num 84360  surf num 30959 
build tree time 22.155167 ms 
publication time 33.051138 ms 
whole laserOdometry time 33.087502 ms 
 
mapping data assosiation time 28.579549 ms 
--------------------stamp1317358137.566411972
points size 102859 
mapping solver time 35.835025 ms 
publication time 9.490139 ms 
whole laserOdometry time 9.506026 ms 
 
-----t: 0.0512969
OdomCount 3616 & avg odom time 0.046351 ms ++++++++++++++++++++++
1317358137.566411972 WriteOdom laser_odom_to_init
1317358137.566411972 WriteOdom aft_mapped_to_init_high_frec
filter time 6.265852 ms 
--------------------stamp1317358137.670236110
points size 102787 
sort q time 6.700274 
seperate points time 15.626330 
mapping data assosiation time 33.402164 ms 
-----t: 0.0484703
OdomCount 3617 & avg odom time 0.046352 ms ++++++++++++++++++++++
mapping solver time 32.667234 ms 
--------------------stamp1317358137.774153947
points size 102761 
sort q time 5.927798 
seperate points time 13.907546 
filter time 8.501120 ms 
-----t: 0.0622857
OdomCount 3618 & avg odom time 0.046356 ms ++++++++++++++++++++++
--------------------stamp1317358137.878168106
points size 102493 
sort q time 5.960567 
seperate points time 14.120418 
publication time 9.099329 ms 
whole laserOdometry time 9.114847 ms 
 
mapping data assosiation time 32.897221 ms 
mapping solver time 25.711697 ms 
filter time 6.524615 ms 
points size 102365 
prepare time 15.513774 
mapping data assosiation time 30.813728 ms 
mapping solver time 31.873241 ms 
--------------------stamp1317358138.086438894
points size 101787 
sort q time 5.624745 
seperate points time 12.978698 
mapping solver time 32.055518 ms 
mapping pub time 2.415325 ms 
whole mapping time 162.275007 ms +++++
mappingCount 2360 & avg mapping time 155.238918 ms ++++++++++++++++++++++
build tree time 18.338666 ms 
--------------------stamp1317358138.190623044
points size 101196 
scan registration time 33.690352 ms *************
mapping solver time 35.678964 ms 
mapping data assosiation time 29.539278 ms 
--------------------stamp1317358138.294804096
prepare time 12.672296 
sort q time 6.289138 
seperate points time 14.957688 
publication time 12.511308 ms 
whole laserOdometry time 12.524152 ms 
 
--------------------stamp1317358138.399009943
prepare time 15.640147 
map prepare time 3.802593 ms
map corner num 86681  surf num 31828 
build tree time 22.735171 ms 
mapping data assosiation time 29.175261 ms 
1317358138.399009943 WriteOdom laser_odom_to_init
1317358138.399009943 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358138.503312110
prepare time 11.287337 
sort q time 6.032000 
seperate points time 13.281646 
mapping data assosiation time 32.392156 ms 
-----t: 0.0488159
OdomCount 3625 & avg odom time 0.046364 ms ++++++++++++++++++++++
mapping solver time 33.852474 ms 
mapping pub time 2.529395 ms 
whole mapping time 171.306525 ms +++++
mappingCount 2362 & avg mapping time 155.292940 ms ++++++++++++++++++++++
--------------------stamp1317358138.607640027
points size 100088 
sort q time 6.479655 
seperate points time 15.098680 
mapping data assosiation time 33.271798 ms 
publication time 17.434451 ms 
whole laserOdometry time 17.456339 ms 
 
-----t: 0.0684716
OdomCount 3626 & avg odom time 0.046370 ms ++++++++++++++++++++++
points size 99384 
sort q time 5.036001 
seperate points time 11.246890 
publication time 9.170359 ms 
whole laserOdometry time 9.189414 ms 
 
-----t: 0.0445262
OdomCount 3627 & avg odom time 0.046370 ms ++++++++++++++++++++++
map prepare time 2.661252 ms
map corner num 87657  surf num 32158 
build tree time 18.909918 ms 
--------------------stamp1317358138.816245079
points size 99698 
sort q time 5.518293 
seperate points time 12.718922 
publication time 8.493218 ms 
whole laserOdometry time 8.507539 ms 
 
-----t: 0.0530952
OdomCount 3628 & avg odom time 0.046372 ms ++++++++++++++++++++++
1317358138.816245079 WriteOdom laser_odom_to_init
1317358138.816245079 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.361012 ms 
--------------------stamp1317358138.920669078
points size 99016 
filter time 8.969075 ms 
publication time 7.886803 ms 
whole laserOdometry time 7.902310 ms 
 
-----t: 0.039883
OdomCount 3629 & avg odom time 0.046370 ms ++++++++++++++++++++++
1317358138.920669078 WriteOdom laser_odom_to_init
1317358138.920669078 WriteOdom aft_mapped_to_init_high_frec
build tree time 20.200575 ms 
mapping data assosiation time 25.373338 ms 
--------------------stamp1317358139.025139093
points size 98678 
sort q time 6.405741 
seperate points time 14.868116 
mapping data assosiation time 33.206164 ms 
publication time 16.719601 ms 
whole laserOdometry time 16.734364 ms 
 
mapping solver time 28.122489 ms 
filter time 6.098799 ms 
map prepare time 2.735670 ms
map corner num 88479  surf num 32416 
--------------------stamp1317358139.129635095
points size 98854 
sort q time 6.446662 
seperate points time 14.963675 
scan registration time 39.027935 ms *************
-----t: 0.0395041
OdomCount 3631 & avg odom time 0.046368 ms ++++++++++++++++++++++
mapping solver time 33.707535 ms 
--------------------stamp1317358139.234154939
points size 98044 
sort q time 5.380147 
seperate points time 12.444269 
mapping solver time 39.917960 ms 
[0m[ INFO] [1718889653.103621064, 1317358139.268057681]: Received 121455 data points in frame camera_init with the following fields: x y z intensity[0m
-----t: 0.0677617
OdomCount 3632 & avg odom time 0.046374 ms ++++++++++++++++++++++
--------------------stamp1317358139.338649034
prepare time 12.100896 
scan registration time 37.689041 ms *************
publication time 8.753376 ms 
whole laserOdometry time 8.779843 ms 
 
mapping data assosiation time 30.200782 ms 
mapping solver time 26.222804 ms 
mapping pub time 2.173074 ms 
whole mapping time 159.081159 ms +++++
mappingCount 2367 & avg mapping time 155.320845 ms ++++++++++++++++++++++
1317358139.129635096 WriteOdom aft_mapped_to_init
sort q time 5.202489 
seperate points time 12.207231 
build tree time 26.000673 ms 
publication time 9.604204 ms 
whole laserOdometry time 9.618836 ms 
 
-----t: 0.0471251
OdomCount 3634 & avg odom time 0.046376 ms ++++++++++++++++++++++
mapping solver time 31.134066 ms 
points size 95104 
mapping data assosiation time 28.459520 ms 
mapping solver time 26.738763 ms 
filter time 9.588184 ms 
build tree time 21.544022 ms 
--------------------stamp1317358139.651649951
mapping data assosiation time 27.037448 ms 
scan registration time 28.206129 ms *************
publication time 7.600868 ms 
whole laserOdometry time 7.612819 ms 
 
mapping solver time 33.701854 ms 
mapping data assosiation time 28.007457 ms 
mapping solver time 22.244084 ms 
filter time 8.388469 ms 
sort q time 5.247724 
seperate points time 11.351991 
build tree time 22.975924 ms 
mapping data assosiation time 26.906198 ms 
mapping solver time 28.167479 ms 
--------------------stamp1317358139.860064983
mapping data assosiation time 27.918755 ms 
sort q time 4.976123 
seperate points time 11.456186 
mapping solver time 28.293945 ms 
filter time 9.147580 ms 
build tree time 18.367166 ms 
mapping data assosiation time 23.663538 ms 
prepare time 10.856186 
sort q time 4.945959 
seperate points time 11.395888 
mapping solver time 33.333855 ms 
-----t: 0.0352144
OdomCount 3639 & avg odom time 0.046378 ms ++++++++++++++++++++++
1317358139.964198112 WriteOdom laser_odom_to_init
1317358139.964198112 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.697032 ms 
[0m[ INFO] [1718889653.878679649, 1317358140.058520920]: Received 124688 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889653.878733047, 1317358140.058520920]: Data saved to 1317358139755882.pcd[0m
points size 87913 
sort q time 4.854507 
seperate points time 11.338424 
-----t: 0.0357839
OdomCount 3640 & avg odom time 0.046375 ms ++++++++++++++++++++++
mapping data assosiation time 30.268142 ms 
mapping solver time 27.643347 ms 
--------------------stamp1317358140.172395944
points size 86421 
sort q time 4.652375 
seperate points time 10.984982 
mapping solver time 28.661935 ms 
filter time 9.008547 ms 
build tree time 20.847246 ms 
--------------------stamp1317358140.276459932
prepare time 10.616850 
sort q time 4.750360 
seperate points time 10.612226 
publication time 7.359183 ms 
whole laserOdometry time 7.373277 ms 
 
-----t: 0.0421131
OdomCount 3642 & avg odom time 0.046372 ms ++++++++++++++++++++++
mapping solver time 16.385759 ms 
filter time 6.523671 ms 
--------------------stamp1317358140.380497932
prepare time 11.239552 
sort q time 4.571091 
seperate points time 10.340257 
publication time 10.224725 ms 
whole laserOdometry time 10.239508 ms 
 
mapping solver time 28.342967 ms 
mapping data assosiation time 22.779585 ms 
--------------------stamp1317358140.484513998
prepare time 12.056789 
map prepare time 2.825004 ms
map corner num 92487  surf num 33699 
-----t: 0.0293122
OdomCount 3644 & avg odom time 0.046365 ms ++++++++++++++++++++++
mapping data assosiation time 23.131507 ms 
mapping solver time 26.159116 ms 
points size 82904 
sort q time 4.289372 
seperate points time 10.318954 
publication time 5.800975 ms 
whole laserOdometry time 5.815916 ms 
 
filter time 6.640773 ms 
mapping pub time 1.889147 ms 
whole mapping time 139.960109 ms +++++
mappingCount 2375 & avg mapping time 155.291684 ms ++++++++++++++++++++++
1317358140.380497932 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.242588 ms
map corner num 92826  surf num 33798 
build tree time 20.015435 ms 
mapping data assosiation time 21.352323 ms 
points size 80945 
sort q time 4.267638 
seperate points time 9.644619 
publication time 6.472983 ms 
whole laserOdometry time 6.487376 ms 
 
mapping data assosiation time 26.718623 ms 
-----t: 0.0558229
OdomCount 3646 & avg odom time 0.046362 ms ++++++++++++++++++++++
1317358140.692518949 WriteOdom laser_odom_to_init
1317358140.692518949 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.069066 ms 
filter time 6.387179 ms 
--------------------stamp1317358140.796462059
build tree time 22.107837 ms 
sort q time 4.445241 
seperate points time 10.504911 
publication time 6.913712 ms 
whole laserOdometry time 6.927005 ms 
 
mapping solver time 28.545789 ms 
mapping data assosiation time 23.130659 ms 
--------------------stamp1317358140.900381088
points size 78399 
mapping pub time 1.913547 ms 
whole mapping time 137.346252 ms +++++
mappingCount 2377 & avg mapping time 155.275211 ms ++++++++++++++++++++++
1317358140.692518950 WriteOdom aft_mapped_to_init
publication time 8.608104 ms 
whole laserOdometry time 8.620369 ms 
 
mapping data assosiation time 21.205141 ms 
mapping solver time 24.221748 ms 
points size 78079 
sort q time 5.185058 
seperate points time 11.278264 
mapping solver time 24.467457 ms 
map prepare time 2.172529 ms
map corner num 93935  surf num 34050 
mapping data assosiation time 20.275318 ms 
points size 78595 
sort q time 4.663933 
seperate points time 10.253163 
publication time 6.794885 ms 
whole laserOdometry time 6.808303 ms 
 
mapping solver time 14.175325 ms 
mapping pub time 1.841591 ms 
whole mapping time 118.812960 ms +++++
mappingCount 2379 & avg mapping time 155.251287 ms ++++++++++++++++++++++
build tree time 21.562100 ms 
points size 79078 
sort q time 4.283225 
seperate points time 9.786088 
publication time 5.428799 ms 
whole laserOdometry time 5.442234 ms 
 
mapping data assosiation time 21.346672 ms 
mapping solver time 17.854844 ms 
mapping optimization time 112.035978 
add points time 0.845732 ms
--------------------stamp1317358141.315864086
prepare time 13.308905 
sort q time 4.503852 
seperate points time 10.161604 
mapping data assosiation time 22.001603 ms 
mapping solver time 22.487164 ms 
mapping data assosiation time 17.957912 ms 
mapping solver time 18.262579 ms 
[0m[ INFO] [1718889655.242829493, 1317358141.420623300]: Received 129260 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889655.242888847, 1317358141.420623300]: Data saved to 1317358141211971.pcd[0m
sort q time 4.348000 
seperate points time 9.706011 
publication time 6.935658 ms 
whole laserOdometry time 6.948849 ms 
 
-----t: 0.0432689
OdomCount 3653 & avg odom time 0.046345 ms ++++++++++++++++++++++
--------------------stamp1317358141.523750066
drop lidar frame in mapping for real time performance 
sort q time 4.324318 
seperate points time 10.234201 
scan registration time 31.213903 ms *************
-----t: 0.0312847
OdomCount 3654 & avg odom time 0.046341 ms ++++++++++++++++++++++
mapping solver time 22.606342 ms 
--------------------stamp1317358141.627763986
points size 75470 
prepare time 11.908726 
sort q time 4.262405 
seperate points time 9.601759 
-----t: 0.0320901
OdomCount 3655 & avg odom time 0.046337 ms ++++++++++++++++++++++
build tree time 22.051389 ms 
mapping data assosiation time 17.744099 ms 
mapping solver time 20.213392 ms 
--------------------stamp1317358141.731777906
mapping data assosiation time 20.128176 ms 
sort q time 4.073305 
seperate points time 17.381259 
mapping pub time 1.871874 ms 
whole mapping time 114.300493 ms +++++
mappingCount 2383 & avg mapping time 155.237018 ms ++++++++++++++++++++++
build tree time 20.341384 ms 
mapping data assosiation time 19.008907 ms 
mapping solver time 17.210103 ms 
prepare time 9.586774 
sort q time 3.918366 
seperate points time 8.382842 
mapping solver time 15.926057 ms 
filter time 8.977991 ms 
mapping pub time 1.802731 ms 
whole mapping time 108.892118 ms +++++
mappingCount 2384 & avg mapping time 155.217580 ms ++++++++++++++++++++++
1317358141.627763987 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.031207 ms
map corner num 95884  surf num 34481 
-----t: 0.0406036
OdomCount 3657 & avg odom time 0.046332 ms ++++++++++++++++++++++
1317358141.835768938 WriteOdom laser_odom_to_init
1317358141.835768938 WriteOdom aft_mapped_to_init_high_frec
build tree time 20.543681 ms 
mapping data assosiation time 19.475352 ms 
--------------------stamp1317358141.939759969
prepare time 9.803599 
sort q time 3.994761 
seperate points time 8.943036 
publication time 5.164331 ms 
whole laserOdometry time 5.177310 ms 
 
mapping solver time 15.225191 ms 
mapping optimization time 96.209157 
add points time 0.774077 ms
build tree time 19.924266 ms 
mapping data assosiation time 18.785864 ms 
--------------------stamp1317358142.043751001
points size 68587 
sort q time 3.477805 
seperate points time 8.502418 
mapping data assosiation time 20.765325 ms 
mapping solver time 17.864479 ms 
[0m[ INFO] [1718889655.922823125, 1317358142.104664522]: Received 131273 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889655.922864964, 1317358142.104664522]: Data saved to 1317358141939759.pcd[0m
build tree time 21.961308 ms 
--------------------stamp1317358142.147717952
prepare time 10.903180 
scan registration time 23.345364 ms *************
publication time 6.901538 ms 
whole laserOdometry time 6.915780 ms 
 
-----t: 0.0314095
OdomCount 3660 & avg odom time 0.046317 ms ++++++++++++++++++++++
1317358142.147717952 WriteOdom laser_odom_to_init
1317358142.147717952 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.317431 ms 
mapping solver time 18.577557 ms 
mapping optimization time 102.691163 
add points time 0.819430 ms
map prepare time 2.009921 ms
map corner num 96994  surf num 34726 
build tree time 21.162488 ms 
sort q time 4.065700 
seperate points time 7.974785 
publication time 5.022741 ms 
whole laserOdometry time 5.034316 ms 
 
mapping data assosiation time 18.266835 ms 
mapping solver time 18.967005 ms 
mapping pub time 1.546802 ms 
whole mapping time 116.903907 ms +++++
mappingCount 2388 & avg mapping time 155.147039 ms ++++++++++++++++++++++
--------------------stamp1317358142.355581045
build tree time 22.166651 ms 
publication time 6.388797 ms 
whole laserOdometry time 6.403138 ms 
 
mapping data assosiation time 20.905589 ms 
mapping solver time 21.383033 ms 
mapping data assosiation time 18.904642 ms 
mapping solver time 17.679008 ms 
filter time 6.727526 ms 
points size 68163 
sort q time 3.495495 
seperate points time 8.534432 
publication time 7.007803 ms 
whole laserOdometry time 7.014638 ms 
 mapping data assosiation time 30.170666 ms 
-----t: 0.0546279
OdomCount 3663 & avg odom time 0.046309 ms ++++++++++++++++++++++
mapping solver time 22.558531 ms 
mapping data assosiation time 16.015272 ms 
prepare time 8.732386 
filter time 9.182194 ms 
map prepare time 2.009392 ms
map corner num 98152  surf num 34993 
-----t: 0.0406608
OdomCount 3664 & avg odom time 0.046307 ms ++++++++++++++++++++++
mapping data assosiation time 18.228385 ms 
mapping solver time 22.198702 ms 
points size 72833 
sort q time 4.232439 
seperate points time 9.114260 
mapping solver time 20.910699 ms 
mapping pub time 3.651984 ms 
whole mapping time 123.987582 ms +++++
mappingCount 2391 & avg mapping time 155.106964 ms ++++++++++++++++++++++
build tree time 20.256115 ms 
mapping data assosiation time 19.998319 ms 
points size 75972 
--------------------stamp1317358142.875005006
prepare time 10.526171 
scan registration time 22.760469 ms *************
publication time 11.991957 ms 
whole laserOdometry time 12.001214 ms 
 
mapping solver time 20.827491 ms 
mapping data assosiation time 19.829385 ms 
mapping solver time 12.734977 ms 
mapping pub time 1.674749 ms 
whole mapping time 118.222109 ms +++++
mappingCount 2393 & avg mapping time 155.079568 ms ++++++++++++++++++++++
--------------------stamp1317358142.978878021
points size 83927 
build tree time 24.519062 ms 
scan registration time 29.332273 ms *************
mapping data assosiation time 25.682841 ms 
-----t: 0.0384453
OdomCount 3668 & avg odom time 0.046297 ms ++++++++++++++++++++++
1317358142.978878021 WriteOdom laser_odom_to_init
1317358142.978878021 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 13.786036 ms 
mapping data assosiation time 18.402864 ms 
mapping solver time 13.518088 ms 
filter time 6.882603 ms 
points size 89610 
sort q time 4.992496 
seperate points time 11.516898 
-----t: 0.0296615
OdomCount 3669 & avg odom time 0.046292 ms ++++++++++++++++++++++
publication time 8.161137 ms 
whole laserOdometry time 8.173684 ms 
 
mapping solver time 21.567029 ms 
mapping data assosiation time 17.686077 ms 
--------------------stamp1317358143.186570882
points size 91308 
filter time 7.253974 ms 
sort q time 13.232459 
seperate points time 19.474002 
-----t: 0.0356934
OdomCount 3670 & avg odom time 0.046289 ms ++++++++++++++++++++++
mapping data assosiation time 18.886386 ms 
mapping solver time 21.931585 ms 
points size 93998 
sort q time 5.139156 
seperate points time 11.586416 
mapping solver time 20.580199 ms 
[0m[ INFO] [1718889657.153809714, 1317358143.333461352]: Received 137932 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889657.153855286, 1317358143.333461352]: Data saved to 1317358143082726.pcd[0m
build tree time 19.743937 ms 
mapping data assosiation time 17.002145 ms 
--------------------stamp1317358143.394310951
prepare time 11.910186 
mapping data assosiation time 19.917984 ms 
publication time 7.089528 ms 
whole laserOdometry time 7.106200 ms 
 
-----t: 0.0743247
OdomCount 3672 & avg odom time 0.046292 ms ++++++++++++++++++++++
1317358143.394310951 WriteOdom laser_odom_to_init
1317358143.394310951 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.342390 ms
map corner num 102148  surf num 36333 
points size 92553 
mapping data assosiation time 20.548100 ms 
-----t: 0.0375702
OdomCount 3673 & avg odom time 0.046290 ms ++++++++++++++++++++++
mapping data assosiation time 15.473413 ms 
mapping solver time 12.338067 ms 
filter time 7.521287 ms 
points size 92278 
build tree time 19.898474 ms 
mapping data assosiation time 20.478148 ms 
-----t: 0.035121
OdomCount 3674 & avg odom time 0.046287 ms ++++++++++++++++++++++
mapping solver time 21.809847 ms 
mapping data assosiation time 16.665110 ms 
mapping solver time 11.717208 ms 
mapping pub time 2.089719 ms 
whole mapping time 103.747169 ms +++++
mappingCount 2399 & avg mapping time 154.981449 ms ++++++++++++++++++++++
points size 92538 
build tree time 20.483620 ms 
publication time 9.106438 ms 
whole laserOdometry time 9.123521 ms 
 
mapping solver time 17.141015 ms 
mapping data assosiation time 17.884546 ms 
mapping solver time 17.327568 ms 
mapping pub time 2.340977 ms 
whole mapping time 108.154932 ms +++++
mappingCount 2400 & avg mapping time 154.961940 ms ++++++++++++++++++++++
sort q time 5.086224 
seperate points time 11.522596 
-----t: 0.0284822
OdomCount 3676 & avg odom time 0.046277 ms ++++++++++++++++++++++
1317358143.809864997 WriteOdom laser_odom_to_init
1317358143.809864997 WriteOdom aft_mapped_to_init_high_frec
publication time 5.572964 ms 
whole laserOdometry time 5.586418 ms 
 
mapping data assosiation time 18.453446 ms 
mapping solver time 18.394176 ms 
mapping data assosiation time 16.527294 ms 
mapping solver time 13.006817 ms 
--------------------stamp1317358143.913759946
scan registration time 29.024494 ms *************
publication time 7.542875 ms 
whole laserOdometry time 7.556008 ms 
 
-----t: 0.0500596
OdomCount 3677 & avg odom time 0.046278 ms ++++++++++++++++++++++
--------------------stamp1317358144.017654895
map prepare time 2.343562 ms
map corner num 79448  surf num 29127 
build tree time 21.450587 ms 
-----t: 0.035651
OdomCount 3678 & avg odom time 0.046276 ms ++++++++++++++++++++++
mapping solver time 20.345143 ms 
mapping data assosiation time 16.656876 ms 
--------------------stamp1317358144.121540069
prepare time 11.829911 
sort q time 5.284787 
seperate points time 11.966202 
publication time 6.126179 ms 
whole laserOdometry time 6.140529 ms 
 
mapping data assosiation time 16.740947 ms 
mapping solver time 18.009575 ms 
mapping data assosiation time 15.864333 ms 
--------------------stamp1317358144.225409030
mapping solver time 18.364851 ms 
1317358144.017654896 WriteOdom aft_mapped_to_initbuild tree time 20.294856 ms 
1317358144.225409030 WriteOdom laser_odom_to_init
mapping solver time 15.162733 ms 
mapping data assosiation time 16.141190 ms 
points size 96001 
filter time 8.292706 ms 
-----t: 0.0270111
OdomCount 3681 & avg odom time 0.046266 ms ++++++++++++++++++++++
publication time 7.145007 ms 
whole laserOdometry time 7.156329 ms 
 
mapping data assosiation time 15.722413 ms 
mapping solver time 16.116101 ms 
mapping data assosiation time 16.806087 ms 
points size 96411 
mapping pub time 2.201599 ms 
whole mapping time 100.204714 ms +++++
mappingCount 2405 & avg mapping time 154.901800 ms ++++++++++++++++++++++
scan registration time 34.992239 ms *************
publication time 6.400005 ms 
whole laserOdometry time 6.413749 ms 
 
mapping data assosiation time 15.902426 ms 
mapping solver time 18.798935 ms 
mapping data assosiation time 14.649130 ms 
points size 97055 
filter time 8.267240 ms 
[0m[ INFO] [1718889658.374803549, 1317358144.560031355]: Received 110523 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889658.374854611, 1317358144.560031355]: Data saved to 1317358144329314.pcd[0m
mapping pub time 3.557116 ms 
whole mapping time 101.421042 ms +++++
mappingCount 2406 & avg mapping time 154.879574 ms ++++++++++++++++++++++
1317358144.329314947 WriteOdom aft_mapped_to_init
sort q time 5.548942 
seperate points time 12.697185 
map prepare time 2.924198 ms
map corner num 81083  surf num 29440 
publication time 7.097179 ms 
whole laserOdometry time 7.125591 ms 
 
mapping data assosiation time 16.356701 ms 
mapping solver time 17.377013 ms 
mapping data assosiation time 17.073953 ms 
add points time 0.824646 ms
map prepare time 2.471251 ms
map corner num 81402  surf num 29497 
build tree time 22.808135 ms 
mapping data assosiation time 16.252738 ms 
mapping solver time 16.376088 ms 
mapping data assosiation time 16.554745 ms 
points size 97790 
mapping pub time 2.245061 ms 
whole mapping time 102.070385 ms +++++
mappingCount 2408 & avg mapping time 154.834098 ms ++++++++++++++++++++++
build tree time 20.406201 ms 
mapping data assosiation time 16.373629 ms 
mapping solver time 15.787398 ms 
mapping data assosiation time 16.648947 ms 
--------------------stamp1317358144.848716020
points size 98786 
filter time 8.503414 ms 
mapping pub time 2.270903 ms 
whole mapping time 99.991661 ms +++++
mappingCount 2409 & avg mapping time 154.811336 ms ++++++++++++++++++++++
1317358144.640976906 WriteOdom aft_mapped_to_init
scan registration time 31.331587 ms *************
build tree time 20.773214 ms 
-----t: 0.0415733
OdomCount 3686 & avg odom time 0.046249 ms ++++++++++++++++++++++
mapping solver time 20.274108 ms 
mapping data assosiation time 16.341502 ms 
points size 100351 
filter time 5.816909 ms 
publication time 8.165330 ms 
whole laserOdometry time 8.183461 ms 
 
mapping data assosiation time 17.179385 ms 
mapping solver time 15.738762 ms 
--------------------stamp1317358145.056480884
points size 99062 
sort q time 5.053132 
seperate points time 11.168183 
mapping solver time 19.066461 ms 
mapping optimization time 99.462101 
publication time 7.424032 ms 
whole laserOdometry time 7.436317 ms 
 
mapping data assosiation time 17.137655 ms 
mapping solver time 16.193782 ms 
points size 95455 
mapping solver time 14.538579 ms 
filter time 10.735122 ms 
-----t: 0.039573
OdomCount 3689 & avg odom time 0.046242 ms ++++++++++++++++++++++
1317358145.160353899 WriteOdom laser_odom_to_init
1317358145.160353899 WriteOdom aft_mapped_to_init_high_frec
build tree time 22.635936 ms 
mapping data assosiation time 19.980923 ms 
--------------------stamp1317358145.264223098
points size 93535 
sort q time 6.098103 
seperate points time 14.065407 
mapping solver time 12.356385 ms 
-----t: 0.0407499
OdomCount 3690 & avg odom time 0.046241 ms ++++++++++++++++++++++
build tree time 17.961318 ms 
mapping data assosiation time 17.059490 ms 
points size 93531 
mapping solver time 23.026160 ms 
scan registration time 36.870895 ms *************
-----t: 0.036374
OdomCount 3691 & avg odom time 0.046238 ms ++++++++++++++++++++++
publication time 6.410138 ms 
whole laserOdometry time 6.435281 ms 
 
map prepare time 2.268984 ms
map corner num 83756  surf num 30022 
--------------------stamp1317358145.472012042
prepare time 13.580871 
sort q time 5.299136 
seperate points time 11.369247 
publication time 6.859977 ms 
whole laserOdometry time 6.874828 ms 
 
mapping data assosiation time 20.620754 ms 
-----t: 0.043909
OdomCount 3692 & avg odom time 0.046238 ms ++++++++++++++++++++++
1317358145.472012042 WriteOdom laser_odom_to_init
mapping solver time 17.287039 ms 
mapping pub time 2.064419 ms 
whole mapping time 114.645168 ms +++++
mappingCount 2415 & avg mapping time 154.704751 ms ++++++++++++++++++++++
--------------------stamp1317358145.575882911
prepare time 14.001891 
sort q time 4.962944 
seperate points time 11.277988 
publication time 7.798910 ms 
whole laserOdometry time 7.811514 ms 
 
-----t: 0.0310397
OdomCount 3693 & avg odom time 0.046234 ms ++++++++++++++++++++++
1317358145.575882911 WriteOdom laser_odom_to_init
1317358145.575882911 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.973402 ms 
mapping data assosiation time 18.332160 ms 
mapping solver time 16.593589 ms 
[0m[ INFO] [1718889659.484926244, 1317358145.663082439]: Received 115484 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889659.484971738, 1317358145.663082439]: Data saved to 1317358145472012.pcd[0m
--------------------stamp1317358145.679754972
points size 91639 
sort q time 5.684393 
seperate points time 13.161885 
scan registration time 34.932840 ms *************
publication time 7.362098 ms 
whole laserOdometry time 7.387027 ms 
 
mapping data assosiation time 17.509476 ms 
mapping solver time 13.672033 ms 
filter time 6.152119 ms 
points size 91911 
prepare time 13.615600 
scan registration time 32.397813 ms *************
1317358145.783626079 WriteOdom laser_odom_to_init
1317358145.783626079 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.947790 ms 
mapping data assosiation time 18.571537 ms 
--------------------stamp1317358145.887521982
prepare time 11.133341 
map prepare time 2.941854 ms
map corner num 86137  surf num 31078 
-----t: 0.0376232
OdomCount 3696 & avg odom time 0.046224 ms ++++++++++++++++++++++
mapping data assosiation time 20.487336 ms 
mapping solver time 18.241569 ms 
mapping data assosiation time 18.393476 ms 
points size 94437 
sort q time 5.651049 
seperate points time 11.065711 
publication time 6.768495 ms 
whole laserOdometry time 6.783037 ms 
 
-----t: 0.0499997
OdomCount 3697 & avg odom time 0.046225 ms ++++++++++++++++++++++
mapping data assosiation time 22.162297 ms 
mapping solver time 19.407755 ms 
points size 93930 
mapping data assosiation time 23.968300 ms 
mapping solver time 17.498973 ms 
mapping pub time 2.164065 ms 
whole mapping time 119.954922 ms +++++
mappingCount 2420 & avg mapping time 154.623712 ms ++++++++++++++++++++++
1317358145.887521982 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0339565
OdomCount 3698 & avg odom time 0.046222 ms ++++++++++++++++++++++
1317358146.095285892 WriteOdom laser_odom_to_init
1317358146.095285892 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.379514 ms
map corner num 87310  surf num 31475 
build tree time 16.504631 ms 
mapping data assosiation time 17.600013 ms 
--------------------stamp1317358146.199157953
points size 93667 
sort q time 5.657133 
seperate points time 10.839209 
publication time 8.240218 ms 
whole laserOdometry time 8.258355 ms 
 
filter time 6.736776 ms 
--------------------stamp1317358146.303051948
prepare time 13.973530 
sort q time 5.506043 
seperate points time 11.791296 
publication time 9.523532 ms 
whole laserOdometry time 9.545256 ms 
 
-----t: 0.0404585
OdomCount 3700 & avg odom time 0.046216 ms ++++++++++++++++++++++
mapping pub time 121.225315 ms 
whole mapping time 227.460542 ms +++++
mappingCount 2421 & avg mapping time 154.653799 ms ++++++++++++++++++++++
build tree time 23.364137 ms 
points size 94093 
sort q time 5.663763 
seperate points time 11.145986 
publication time 7.286430 ms 
whole laserOdometry time 7.300731 ms 
 
-----t: 0.038924
OdomCount 3701 & avg odom time 0.046214 ms ++++++++++++++++++++++
mapping data assosiation time 21.208844 ms 
mapping solver time 21.053253 ms 
filter time 8.890433 ms 
points size 92919 
mapping data assosiation time 21.206033 ms 
sort q time 18.495991 
seperate points time 45.833562 
mapping solver time 26.343801 ms 
-----t: 0.0674234
OdomCount 3702 & avg odom time 0.046220 ms ++++++++++++++++++++++
1317358146.510889053 WriteOdom laser_odom_to_init
1317358146.510889053 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.614234 ms 
mapping pub time 2.207825 ms 
whole mapping time 132.259720 ms +++++
mappingCount 2423 & avg mapping time 154.634598 ms ++++++++++++++++++++++
sort q time 5.667153 
seperate points time 12.437217 
publication time 10.872083 ms 
whole laserOdometry time 10.885837 ms 
 
mapping data assosiation time 21.866070 ms 
--------------------stamp1317358146.718750953
points size 89173 
sort q time 5.995786 
seperate points time 13.661668 
publication time 7.272885 ms 
whole laserOdometry time 7.291210 ms 
 
mapping pub time 2.082882 ms 
whole mapping time 133.798191 ms +++++
mappingCount 2424 & avg mapping time 154.626009 ms ++++++++++++++++++++++
build tree time 17.324653 ms 
mapping data assosiation time 17.461406 ms 
points size 89073 
sort q time 5.389040 
seperate points time 12.644970 
mapping data assosiation time 22.384084 ms 
mapping solver time 14.031528 ms 
filter time 6.384651 ms 
mapping pub time 2.166508 ms 
whole mapping time 105.835675 ms +++++
mappingCount 2425 & avg mapping time 154.605892 ms ++++++++++++++++++++++
1317358146.614806890 WriteOdom aft_mapped_to_init
map prepare time 2.130928 ms
map corner num 90090  surf num 32341 
build tree time 18.838163 ms 
--------------------stamp1317358146.926733016
prepare time 11.185960 
sort q time 4.681407 
seperate points time 9.931716 
publication time 7.073830 ms 
whole laserOdometry time 7.086837 ms 
 
-----t: 0.0343565
OdomCount 3706 & avg odom time 0.046215 ms ++++++++++++++++++++++
mapping solver time 14.446680 ms 
[0m[ INFO] [1718889660.812109691, 1317358146.997187739]: Received 123328 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889660.812145031, 1317358146.997187739]: Data saved to 1317358146822741.pcd[0m
build tree time 24.559863 ms 
points size 87835 
mapping data assosiation time 22.203538 ms 
mapping solver time 26.804330 ms 
-----t: 0.0443514
OdomCount 3707 & avg odom time 0.046215 ms ++++++++++++++++++++++
mapping data assosiation time 21.716538 ms 
mapping solver time 21.669643 ms 
filter time 7.985706 ms 
points size 87255 
sort q time 5.333038 
seperate points time 11.112259 
build tree time 22.352853 ms 
scan registration time 28.151648 ms *************
publication time 7.125673 ms 
whole laserOdometry time 7.133155 ms 
 
-----t: 0.0418357
OdomCount 3708 & avg odom time 0.046214 ms ++++++++++++++++++++++
1317358147.134738922 WriteOdom laser_odom_to_init
1317358147.134738922 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.836610 ms 
mapping solver time 13.058073 ms 
1317358147.030724049 WriteOdom aft_mapped_to_init
scan registration time 27.244330 ms *************
build tree time 24.155054 ms 
publication time 6.478794 ms 
whole laserOdometry time 6.488857 ms 
 
mapping solver time 17.176574 ms 
mapping data assosiation time 18.133794 ms 
--------------------stamp1317358147.342791080
mapping pub time 1.955987 ms 
whole mapping time 107.787864 ms +++++
mappingCount 2429 & avg mapping time 154.539293 ms ++++++++++++++++++++++
sort q time 4.601272 
seperate points time 10.836937 
build tree time 22.814750 ms 
-----t: 0.03698
OdomCount 3710 & avg odom time 0.046207 ms ++++++++++++++++++++++
mapping data assosiation time 21.965726 ms 
mapping solver time 19.506801 ms 
mapping data assosiation time 19.021251 ms 
points size 86413 
prepare time 11.260897 
mapping solver time 19.702875 ms 
mapping optimization time 104.062110 
add points time 0.812364 ms
map prepare time 3.063322 ms
map corner num 92749  surf num 33466 
build tree time 20.438908 ms 
mapping data assosiation time 18.120110 ms 
mapping solver time 20.264438 ms 
--------------------stamp1317358147.550940990
prepare time 11.252776 
sort q time 4.724064 
seperate points time 10.774518 
filter time 9.373090 ms 
1317358147.342791080 WriteOdom aft_mapped_to_init
build tree time 20.307798 ms 
mapping data assosiation time 17.968384 ms 
--------------------stamp1317358147.655075073
prepare time 13.248303 
mapping solver time 17.303872 ms 
-----t: 0.0373357
OdomCount 3713 & avg odom time 0.046198 ms ++++++++++++++++++++++
build tree time 20.816884 ms 
mapping data assosiation time 22.407181 ms 
points size 86099 
mapping solver time 27.982659 ms 
publication time 9.152216 ms 
whole laserOdometry time 9.169826 ms 
 
mapping solver time 19.184791 ms 
mapping pub time 2.009490 ms 
whole mapping time 125.877642 ms +++++
mappingCount 2433 & avg mapping time 154.480047 ms ++++++++++++++++++++++
build tree time 20.811944 ms 
points size 86477 
mapping data assosiation time 24.420704 ms 
publication time 9.600967 ms 
whole laserOdometry time 9.618425 ms 
 
mapping data assosiation time 19.994694 ms 
mapping solver time 19.073610 ms 
mapping optimization time 112.904538 
add points time 0.874801 ms
map prepare time 2.503153 ms
map corner num 87654  surf num 30945 
sort q time 4.515723 
seperate points time 10.600506 
publication time 6.710793 ms 
whole laserOdometry time 6.739794 ms 
 
-----t: 0.0345425
OdomCount 3716 & avg odom time 0.046188 ms ++++++++++++++++++++++
mapping solver time 20.658917 ms 
mapping data assosiation time 18.728573 ms 
mapping solver time 13.992985 ms 
mapping pub time 1.948236 ms 
whole mapping time 108.690016 ms +++++
mappingCount 2435 & avg mapping time 154.449936 ms ++++++++++++++++++++++
sort q time 5.237645 
seperate points time 10.276729 
publication time 7.150492 ms 
whole laserOdometry time 7.166118 ms 
 
mapping data assosiation time 24.012008 ms 
mapping solver time 21.435953 ms 
mapping data assosiation time 20.012015 ms 
points size 89536 
prepare time 13.968658 
[0m[ INFO] [1718889662.025666205, 1317358148.208794194]: Received 120049 data points in frame camera_init with the following fields: x y z intensity[0m
build tree time 19.403881 ms 
mapping data assosiation time 19.910562 ms 
--------------------stamp1317358148.280170917
prepare time 13.889555 
mapping data assosiation time 24.419176 ms 
publication time 7.801965 ms 
whole laserOdometry time 7.814476 ms 
 
add points time 0.903946 ms
mapping pub time 1.974991 ms 
whole mapping time 131.222698 ms +++++
mappingCount 2437 & avg mapping time 154.430829 ms ++++++++++++++++++++++
build tree time 16.639738 ms 
--------------------stamp1317358148.384428024
sort q time 4.986490 
seperate points time 12.812924 
publication time 6.482913 ms 
whole laserOdometry time 6.490637 ms 
 
-----t: 0.0404558
OdomCount 3720 & avg odom time 0.046183 ms ++++++++++++++++++++++
1317358148.384428024 WriteOdom laser_odom_to_init
1317358148.384428024 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.708640 ms 
mapping pub time 2.008801 ms 
whole mapping time 129.441755 ms +++++
mappingCount 2438 & avg mapping time 154.420581 ms ++++++++++++++++++++++
--------------------stamp1317358148.488657951
prepare time 13.036014 
sort q time 5.352011 
seperate points time 11.823419 
mapping data assosiation time 24.568855 ms 
-----t: 0.048522
OdomCount 3721 & avg odom time 0.046184 ms ++++++++++++++++++++++
1317358148.488657951 WriteOdom laser_odom_to_init
1317358148.488657951 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.991606 ms 
mapping data assosiation time 21.299548 ms 
points size 92504 
prepare time 11.774257 
mapping solver time 24.264450 ms 
mapping optimization time 123.777247 
add points time 0.994002 ms
scan registration time 28.279920 ms *************
publication time 7.657857 ms 
whole laserOdometry time 7.674206 ms 
 
build tree time 22.915456 ms 
mapping data assosiation time 20.551136 ms 
mapping solver time 19.621798 ms 
--------------------stamp1317358148.697118997
points size 93124 
sort q time 5.311713 
seperate points time 11.287963 
mapping solver time 19.546727 ms 
filter time 9.145087 ms 
mapping pub time 2.166138 ms 
whole mapping time 124.284802 ms +++++
mappingCount 2440 & avg mapping time 154.401554 ms ++++++++++++++++++++++
1317358148.488657951 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.062897 ms
map corner num 90615  surf num 31970 
build tree time 19.026982 ms 
mapping data assosiation time 20.365666 ms 
--------------------stamp1317358148.801347970
points size 93611 
mapping solver time 31.205456 ms 
publication time 8.238112 ms 
whole laserOdometry time 8.255080 ms 
 
-----t: 0.0494153
OdomCount 3724 & avg odom time 0.046181 ms ++++++++++++++++++++++
filter time 6.633704 ms 
--------------------stamp1317358148.905603885
prepare time 19.970857 
sort q time 6.402153 
seperate points time 14.479883 
publication time 8.843799 ms 
whole laserOdometry time 8.855276 ms 
 
-----t: 0.0612685
OdomCount 3725 & avg odom time 0.046185 ms ++++++++++++++++++++++
mapping pub time 116.790825 ms 
whole mapping time 249.922026 ms +++++
mappingCount 2441 & avg mapping time 154.440687 ms ++++++++++++++++++++++
1317358148.592889071 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 94539 
sort q time 5.807491 
seperate points time 12.378707 
mapping data assosiation time 33.299499 ms 
-----t: 0.0470461
OdomCount 3726 & avg odom time 0.046186 ms ++++++++++++++++++++++
1317358149.009856939 WriteOdom laser_odom_to_init
1317358149.009856939 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.589381 ms 
--------------------stamp1317358149.114089012
prepare time 11.308236 
sort q time 5.473835 
seperate points time 12.643617 
publication time 9.471061 ms 
whole laserOdometry time 9.486711 ms 
 
mapping data assosiation time 20.215813 ms 
mapping solver time 24.919806 ms 
points size 95246 
sort q time 5.707476 
seperate points time 11.256565 
mapping solver time 19.536707 ms 
mapping pub time 2.793432 ms 
whole mapping time 131.604248 ms +++++
mappingCount 2443 & avg mapping time 154.422846 ms ++++++++++++++++++++++
build tree time 31.395207 ms 
points size 95672 
mapping data assosiation time 26.991466 ms 
scan registration time 28.005563 ms *************
publication time 7.737085 ms 
whole laserOdometry time 7.754844 ms 
 
-----t: 0.0507646
OdomCount 3729 & avg odom time 0.046185 ms ++++++++++++++++++++++
1317358149.322478055 WriteOdom laser_odom_to_init
1317358149.322478055 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 140.508219 
filter time 9.376229 ms 
sort q time 6.919723 
seperate points time 12.529454 
publication time 7.689245 ms 
whole laserOdometry time 7.701752 ms 
 
mapping data assosiation time 24.117085 ms 
mapping solver time 24.531423 ms 
--------------------stamp1317358149.530675888
points size 97135 
sort q time 5.492227 
seperate points time 12.094228 
add points time 0.956785 ms
mapping pub time 2.262152 ms 
whole mapping time 140.803524 ms +++++
mappingCount 2445 & avg mapping time 154.418049 ms ++++++++++++++++++++++
build tree time 21.539485 ms 
mapping data assosiation time 21.856322 ms 
points size 97933 
prepare time 11.127602 
scan registration time 29.673845 ms *************
publication time 8.305085 ms 
whole laserOdometry time 8.320695 ms 
 
-----t: 0.0500556
OdomCount 3732 & avg odom time 0.046181 ms ++++++++++++++++++++++
filter time 7.148990 ms 
--------------------stamp1317358149.738826036
points size 98176 
sort q time 5.600553 
seperate points time 13.156619 
publication time 8.245333 ms 
whole laserOdometry time 8.259976 ms 
 
mapping solver time 26.131356 ms 
mapping data assosiation time 23.613732 ms 
mapping solver time 15.971755 ms 
mapping pub time 2.318359 ms 
whole mapping time 132.302137 ms +++++
mappingCount 2447 & avg mapping time 154.401364 ms ++++++++++++++++++++++
sort q time 4.890079 
seperate points time 10.677580 
publication time 10.564208 ms 
whole laserOdometry time 10.582324 ms 
 
-----t: 0.0544042
OdomCount 3734 & avg odom time 0.046184 ms ++++++++++++++++++++++
mapping solver time 26.907035 ms 
--------------------stamp1317358149.946930885
points size 97764 
sort q time 5.711664 
seperate points time 13.130777 
filter time 9.129566 ms 
publication time 8.634278 ms 
whole laserOdometry time 8.650289 ms 
 
map prepare time 3.428805 ms
map corner num 94300  surf num 33521 
-----t: 0.0510695
OdomCount 3735 & avg odom time 0.046185 ms ++++++++++++++++++++++
1317358149.946930885 WriteOdom laser_odom_to_init
1317358149.946930885 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.902295 ms 
--------------------stamp1317358150.050944089
prepare time 14.331236 
sort q time 5.553451 
seperate points time 13.082666 
publication time 9.291699 ms 
whole laserOdometry time 9.302972 ms 
 
mapping solver time 22.799696 ms 
filter time 6.465908 ms 
--------------------stamp1317358150.154910087
build tree time 23.649227 ms 
sort q time 6.277240 
seperate points time 12.017669 
mapping data assosiation time 27.179488 ms 
-----t: 0.0438658
OdomCount 3737 & avg odom time 0.046184 ms ++++++++++++++++++++++
mapping data assosiation time 20.998633 ms 
--------------------stamp1317358150.258827924
points size 98367 
map prepare time 2.688660 ms
map corner num 95060  surf num 33854 
scan registration time 35.050456 ms *************
publication time 9.771180 ms 
whole laserOdometry time 9.787696 ms 
 
mapping data assosiation time 23.675636 ms 
mapping solver time 25.556765 ms 
--------------------stamp1317358150.362747907
prepare time 11.972195 
sort q time 5.786037 
seperate points time 12.421565 
mapping solver time 26.734799 ms 
[0m[ INFO] [1718889664.237440654, 1317358150.413566891]: Data saved to 1317358150154910.pcd[0m
drop lidar frame in mapping for real time performance 
build tree time 22.102541 ms 
--------------------stamp1317358150.466640949
prepare time 13.451631 
sort q time 5.700213 
seperate points time 12.918205 
-----t: 0.0390211
OdomCount 3740 & avg odom time 0.046184 ms ++++++++++++++++++++++
publication time 11.080489 ms 
whole laserOdometry time 11.095811 ms 
 
mapping solver time 20.066160 ms 
filter time 6.582278 ms 
--------------------stamp1317358150.570511102
prepare time 11.986128 
sort q time 5.640690 
seperate points time 12.950331 
mapping data assosiation time 25.722771 ms 
mapping solver time 23.347105 ms 
mapping data assosiation time 22.238535 ms 
mapping solver time 18.226507 ms 
prepare time 15.589972 
sort q time 5.705822 
seperate points time 13.191518 
build tree time 21.021179 ms 
-----t: 0.0453208
OdomCount 3742 & avg odom time 0.046182 ms ++++++++++++++++++++++
mapping solver time 21.654605 ms 
--------------------stamp1317358150.778228044
points size 99987 
sort q time 5.740934 
seperate points time 12.851251 
filter time 9.628173 ms 
build tree time 23.050845 ms 
mapping data assosiation time 22.636910 ms 
points size 94610 
prepare time 12.348908 
sort q time 5.186563 
seperate points time 11.878527 
mapping solver time 28.946354 ms 
publication time 7.975101 ms 
whole laserOdometry time 7.987819 ms 
 
-----t: 0.0463022
OdomCount 3744 & avg odom time 0.046180 ms ++++++++++++++++++++++
1317358150.882050991 WriteOdom laser_odom_to_init
1317358150.882050991 WriteOdom aft_mapped_to_init_high_frec
filter time 6.826553 ms 
--------------------stamp1317358150.985898971
build tree time 22.310681 ms 
sort q time 5.673850 
seperate points time 11.448502 
mapping data assosiation time 25.539064 ms 
-----t: 0.0450999
OdomCount 3745 & avg odom time 0.046180 ms ++++++++++++++++++++++
mapping data assosiation time 24.054306 ms 
mapping data assosiation time 25.162260 ms 
mapping solver time 20.756683 ms 
points size 93145 
prepare time 10.982593 
mapping data assosiation time 26.925923 ms 
sort q time 16.560730 
seperate points time 22.410140 
filter time 10.082658 ms 
-----t: 0.0560783
OdomCount 3747 & avg odom time 0.046181 ms ++++++++++++++++++++++
build tree time 23.593276 ms 
--------------------stamp1317358151.297629117
prepare time 13.303307 
sort q time 5.358690 
seperate points time 11.731304 
publication time 9.333539 ms mapping solver time 20.277638 ms 
mapping pub time 2.230829 ms 
whole mapping time 139.376784 ms +++++
mappingCount 2458 & avg mapping time 154.322881 ms ++++++++++++++++++++++
--------------------stamp1317358151.401525974
prepare time 13.626980 
build tree time 25.172259 ms 
scan registration time 31.466726 ms *************
mapping data assosiation time 27.245583 ms 
-----t: 0.0437713
OdomCount 3749 & avg odom time 0.046180 ms ++++++++++++++++++++++
mapping solver time 27.934305 ms 
mapping data assosiation time 23.161040 ms 
points size 92934 
filter time 8.508979 ms 
build tree time 23.679034 ms 
mapping data assosiation time 22.525087 ms 
--------------------stamp1317358151.609292030
points size 93923 
sort q time 5.439715 
seperate points time 12.793128 
mapping solver time 22.305750 ms 
filter time 9.831830 ms 
--------------------stamp1317358151.713210105
mapping data assosiation time 23.096303 ms 
sort q time 5.074647 
seperate points time 12.036638 
mapping solver time 26.718620 ms 
-----t: 0.0364646
OdomCount 3752 & avg odom time 0.046178 ms ++++++++++++++++++++++
mapping data assosiation time 27.437536 ms 
mapping solver time 20.413128 ms 
[0m[ INFO] [1718889665.627752500, 1317358151.812579432]: Received 146166 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889665.627830685, 1317358151.812579432]: Data saved to 1317358151505397.pcd[0m
points size 97023 
sort q time 5.355478 
seperate points time 12.825568 
publication time 13.443170 ms 
whole laserOdometry time 13.457261 ms 
 
--------------------stamp1317358151.921024084
points size 98217 
prepare time 15.031543 
scan registration time 33.248657 ms *************
publication time 11.586505 ms 
whole laserOdometry time 11.604383 ms 
 
mapping solver time 22.497733 ms 
--------------------stamp1317358152.024893999
points size 97995 
mapping solver time 22.957464 ms 
filter time 10.563136 ms 
-----t: 0.0408603
OdomCount 3755 & avg odom time 0.046174 ms ++++++++++++++++++++++
build tree time 23.483968 ms 
mapping data assosiation time 23.260417 ms 
--------------------stamp1317358152.128740072
points size 98006 
sort q time 5.757670 
seperate points time 13.414534 
mapping data assosiation time 33.567663 ms 
filter time 7.129959 ms 
mapping pub time 2.345683 ms 
whole mapping time 136.420354 ms +++++
mappingCount 2463 & avg mapping time 154.335886 ms ++++++++++++++++++++++
1317358151.921024084 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358152.232563018
points size 97988 
mapping data assosiation time 24.688178 ms 
mapping solver time 25.327927 ms 
-----t: 0.0523566
OdomCount 3757 & avg odom time 0.046177 ms ++++++++++++++++++++++
mapping data assosiation time 22.993514 ms 
mapping solver time 14.879639 ms 
mapping optimization time 114.649688 
add points time 0.754413 ms
map prepare time 4.259706 ms
map corner num 108516  surf num 39858 
prepare time 15.131720 
sort q time 5.618764 
seperate points time 13.103129 
publication time 7.880845 ms 
whole laserOdometry time 7.893079 ms 
 
mapping data assosiation time 24.908707 ms 
mapping solver time 24.466147 ms 
--------------------stamp1317358152.440114974
points size 99067 
sort q time 5.433483 
seperate points time 12.780668 
filter time 6.949512 ms 
build tree time 22.903659 ms 
mapping data assosiation time 22.945057 ms 
points size 98910 
sort q time 5.415433 
seperate points time 13.329637 
mapping data assosiation time 26.370581 ms 
mapping solver time 15.967458 ms 
mapping optimization time 110.074415 
add points time 0.712592 ms
map prepare time 2.861403 ms
map corner num 109605  surf num 40569 
build tree time 23.728568 ms 
points size 98298 
mapping data assosiation time 26.825087 ms 
publication time 12.106882 ms 
whole laserOdometry time 12.123585 ms 
 
mapping data assosiation time 23.716689 ms 
mapping solver time 21.870136 ms 
filter time 8.834662 ms 
sort q time 5.576466 
seperate points time 13.323860 
publication time 8.908600 ms 
whole laserOdometry time 8.941731 ms mapping data assosiation time 23.915796 ms 
-----t: 0.0595241
OdomCount 3762 & avg odom time 0.046173 ms ++++++++++++++++++++++
mapping solver time 27.526743 ms 
points size 96801 
sort q time 6.532117 
seperate points time 14.703764 
-----t: 0.0414616
OdomCount 3763 & avg odom time 0.046172 ms ++++++++++++++++++++++
map prepare time 3.229711 ms
map corner num 110684  surf num 41155 
build tree time 23.168637 ms 
--------------------stamp1317358152.958482027
mapping data assosiation time 24.079820 ms 
sort q time 5.376253 
seperate points time 12.097684 
mapping solver time 30.514913 ms 
-----t: 0.0377383
OdomCount 3764 & avg odom time 0.046169 ms ++++++++++++++++++++++
mapping data assosiation time 24.746157 ms 
mapping solver time 19.596091 ms 
filter time 7.351765 ms 
--------------------stamp1317358153.062161922
points size 95376 
build tree time 28.941507 ms 
sort q time 16.275785 
seperate points time 23.343796 
scan registration time 43.670478 ms *************
-----t: 0.0442277
OdomCount 3765 & avg odom time 0.046169 ms ++++++++++++++++++++++
mapping solver time 23.081070 ms 
mapping data assosiation time 21.509041 ms 
points size 94934 
mapping solver time 26.537465 ms 
scan registration time 33.265011 ms *************
publication time 9.270977 ms 
whole laserOdometry time 9.290637 ms 
 
build tree time 26.037376 ms 
mapping data assosiation time 22.082642 ms 
--------------------stamp1317358153.269589900
mapping solver time 23.624598 ms 
sort q time 5.681543 
seperate points time 10.853843 
mapping data assosiation time 27.803342 ms 
publication time 8.695448 ms 
whole laserOdometry time 8.711075 ms 
 
mapping solver time 26.928334 ms 
[0m[ INFO] [1718889667.163424578, 1317358153.342826979]: Received 154127 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889667.163478713, 1317358153.342826979]: Data saved to 1317358153062161.pcd[0m
--------------------stamp1317358153.373342037
points size 84797 
prepare time 13.905448 
scan registration time 32.856321 ms *************
-----t: 0.0436899
OdomCount 3768 & avg odom time 0.046168 ms ++++++++++++++++++++++
1317358153.373342037 WriteOdom laser_odom_to_init
1317358153.373342037 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.807628 ms 
mapping data assosiation time 23.645642 ms 
--------------------stamp1317358153.477091073
points size 83004 
mapping pub time 2.225169 ms 
whole mapping time 144.260720 ms +++++
mappingCount 2472 & avg mapping time 154.285396 ms ++++++++++++++++++++++
publication time 13.845734 ms 
whole laserOdometry time 13.864772 ms 
 
build tree time 22.838271 ms 
-----t: 0.0538458
OdomCount 3769 & avg odom time 0.046170 ms ++++++++++++++++++++++
mapping solver time 24.280967 ms 
prepare time 10.604700 
mapping solver time 24.119842 ms 
publication time 9.340478 ms 
whole laserOdometry time 9.357071 ms 
 
build tree time 20.323318 ms 
mapping data assosiation time 20.253432 ms 
prepare time 11.864912 
sort q time 4.959915 
seperate points time 10.998116 
-----t: 0.0354874
OdomCount 3771 & avg odom time 0.046166 ms ++++++++++++++++++++++
mapping solver time 15.640695 ms 
mapping pub time 1.941547 ms 
whole mapping time 125.756734 ms +++++
mappingCount 2474 & avg mapping time 154.267435 ms ++++++++++++++++++++++
--------------------stamp1317358153.788342952
sort q time 4.298293 
seperate points time 9.057522 
publication time 8.931020 ms 
whole laserOdometry time 8.947370 ms 
 
mapping data assosiation time 20.135309 ms 
mapping solver time 14.557015 ms 
mapping optimization time 105.226088 
add points time 0.788037 ms
--------------------stamp1317358153.892132997
prepare time 13.333166 
build tree time 21.259380 ms 
sort q time 4.601726 
seperate points time 19.331778 
publication time 7.665477 ms 
whole laserOdometry time 7.680111 ms 
 
-----t: 0.0533048
OdomCount 3773 & avg odom time 0.046165 ms ++++++++++++++++++++++
1317358153.892132997 WriteOdom laser_odom_to_init
1317358153.892132997 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.730065 ms 
--------------------stamp1317358153.995944976
filter time 6.004115 ms 
sort q time 4.926570 
seperate points time 11.651786 
scan registration time 26.761926 ms *************
build tree time 21.560750 ms 
mapping data assosiation time 25.172625 ms 
publication time 7.273871 ms 
whole laserOdometry time 7.287252 ms 
 
mapping solver time 25.631428 ms 
--------------------stamp1317358154.099766969
prepare time 13.845498 
sort q time 5.227759 
seperate points time 12.125036 
filter time 8.648047 ms 
-----t: 0.0528389
OdomCount 3775 & avg odom time 0.046166 ms ++++++++++++++++++++++
mapping data assosiation time 21.486438 ms 
points size 91903 
sort q time 5.621831 
seperate points time 12.184138 
publication time 8.963220 ms 
whole laserOdometry time 8.977754 ms 
 
-----t: 0.0397717
OdomCount 3776 & avg odom time 0.046165 ms ++++++++++++++++++++++
mapping solver time 17.462473 ms 
map prepare time 2.849661 ms
map corner num 86386  surf num 32861 
--------------------stamp1317358154.307436943
prepare time 14.373266 
mapping data assosiation time 26.013165 ms 
scan registration time 46.641777 ms *************
publication time 11.537841 ms 
whole laserOdometry time 11.565392 ms 
 
mapping data assosiation time 25.244937 ms 
mapping solver time 15.865319 ms 
mapping pub time 2.730380 ms 
whole mapping time 128.119538 ms +++++
mappingCount 2479 & avg mapping time 154.214970 ms ++++++++++++++++++++++
sort q time 5.279340 
seperate points time 12.582227 
-----t: 0.0371255
OdomCount 3778 & avg odom time 0.046167 ms ++++++++++++++++++++++
1317358154.411283969 WriteOdom laser_odom_to_init
1317358154.411283969 WriteOdom aft_mapped_to_init_high_frec
publication time 11.954352 ms 
whole laserOdometry time 11.966668 ms 
 
mapping data assosiation time 25.967196 ms 
mapping solver time 19.398326 ms 
mapping data assosiation time 21.501161 ms 
points size 96132 
mapping optimization time 108.627965 
scan registration time 29.357110 ms *************
publication time 7.933812 ms 
whole laserOdometry time 7.949302 ms 
 
mapping data assosiation time 21.738095 ms 
mapping solver time 23.526949 ms 
points size 93956 
mapping data assosiation time 25.892634 ms 
mapping solver time 18.333993 ms 
[0m[ INFO] [1718889668.486179122, 1317358154.672256216]: Received 121875 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889668.486208992, 1317358154.672256216]: Data saved to 1317358154411283.pcd[0m
--------------------stamp1317358154.722728013
sort q time 5.072305 
seperate points time 11.619033 
publication time 9.667988 ms 
whole laserOdometry time 9.682144 ms 
 
build tree time 18.909879 ms 
mapping data assosiation time 23.540075 ms 
points size 86948 
mapping solver time 22.683795 ms 
publication time 8.168161 ms 
whole laserOdometry time 8.180452 ms 
 
mapping solver time 20.434253 ms 
mapping pub time 2.149805 ms 
whole mapping time 127.207615 ms +++++
mappingCount 2482 & avg mapping time 154.221273 ms ++++++++++++++++++++++
--------------------stamp1317358154.930418968
sort q time 4.401617 
seperate points time 10.534965 
scan registration time 25.401367 ms *************
mapping data assosiation time 29.628637 ms 
publication time 8.247817 ms 
whole laserOdometry time 8.262068 ms 
 
mapping solver time 26.485890 ms 
mapping data assosiation time 22.610809 ms 
mapping solver time 18.441628 ms 
mapping pub time 1.936473 ms 
whole mapping time 131.707456 ms +++++
mappingCount 2483 & avg mapping time 154.212207 ms ++++++++++++++++++++++
sort q time 4.290018 
seperate points time 10.480234 
-----t: 0.0289742
OdomCount 3784 & avg odom time 0.046152 ms ++++++++++++++++++++++
mapping data assosiation time 25.221420 ms 
mapping solver time 21.988420 ms 
mapping data assosiation time 21.586317 ms 
prepare time 10.068691 
sort q time 4.500190 
seperate points time 10.185618 
map prepare time 3.122361 ms
map corner num 90532  surf num 34314 
build tree time 20.272866 ms 
mapping data assosiation time 20.203774 ms 
mapping solver time 18.958840 ms 
--------------------stamp1317358155.242032051
prepare time 9.159552 
sort q time 4.254193 
seperate points time 8.595529 
mapping solver time 22.856968 ms 
filter time 8.968994 ms 
build tree time 19.151459 ms 
mapping data assosiation time 20.212921 ms 
--------------------stamp1317358155.345951080
mapping solver time 25.796358 ms 
sort q time 4.804787 
seperate points time 9.242744 
publication time 6.451988 ms 
whole laserOdometry time 6.465058 ms 
 
-----t: 0.0416813
OdomCount 3787 & avg odom time 0.046142 ms ++++++++++++++++++++++
1317358155.345951080 WriteOdom laser_odom_to_init
1317358155.345951080 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.179616 ms 
mapping optimization time 112.971023 
add points time 0.793008 ms
map prepare time 2.313924 ms
map corner num 91941  surf num 34944 
build tree time 21.940642 ms 
points size 71847 
sort q time 3.571102 
seperate points time 8.769121 
mapping solver time 22.838955 ms 
mapping data assosiation time 21.495990 ms 
mapping solver time 18.101520 ms 
mapping pub time 1.655676 ms 
whole mapping time 118.551993 ms +++++
mappingCount 2487 & avg mapping time 154.161957 ms ++++++++++++++++++++++
--------------------stamp1317358155.553739070
build tree time 20.678899 ms 
sort q time 4.565318 
seperate points time 9.409328 
scan registration time 22.566627 ms *************
publication time 8.159638 ms mapping data assosiation time 18.467005 ms 
mapping solver time 17.141231 ms 
mapping pub time 1.916047 ms 
whole mapping time 117.720480 ms +++++
mappingCount 2488 & avg mapping time 154.147311 ms ++++++++++++++++++++++
sort q time 4.132238 
seperate points time 9.491068 
publication time 7.453094 ms 
whole laserOdometry time 7.465448 ms 
 
-----t: 0.0366956
OdomCount 3790 & avg odom time 0.046133 ms ++++++++++++++++++++++
mapping solver time 17.600463 ms 
mapping data assosiation time 20.596302 ms 
mapping solver time 13.712912 ms 
map prepare time 2.819365 ms
map corner num 94544  surf num 36573 
sort q time 4.496009 
seperate points time 13.919259 
build tree time 24.329933 ms 
publication time 8.439798 ms 
whole laserOdometry time 8.453538 ms 
 
-----t: 0.0303581
OdomCount 3791 & avg odom time 0.046129 ms ++++++++++++++++++++++
1317358155.761528968 WriteOdom laser_odom_to_init
1317358155.761528968 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.815412 ms 
mapping solver time 18.689748 ms 
mapping data assosiation time 21.181815 ms 
prepare time 10.434468 
sort q time 4.455997 
seperate points time 9.912849 
filter time 9.142112 ms 
-----t: 0.0330794
OdomCount 3792 & avg odom time 0.046125 ms ++++++++++++++++++++++
build tree time 22.931028 ms 
mapping data assosiation time 23.946565 ms 
--------------------stamp1317358155.969414949
prepare time 13.023009 
sort q time 4.315470 
seperate points time 10.606499 
mapping data assosiation time 26.949039 ms 
publication time 6.435865 ms 
whole laserOdometry time 6.449079 ms 
 
mapping solver time 22.709652 ms 
filter time 8.862545 ms 
build tree time 21.211044 ms 
points size 82686 
mapping data assosiation time 29.055695 ms 
-----t: 0.0319826
OdomCount 3794 & avg odom time 0.046118 ms ++++++++++++++++++++++
mapping data assosiation time 24.239297 ms 
mapping solver time 15.708199 ms 
--------------------stamp1317358156.177252054
prepare time 13.992135 
sort q time 4.597507 
seperate points time 10.866279 
publication time 9.877138 ms 
whole laserOdometry time 9.891086 ms 
 
mapping data assosiation time 28.547353 ms 
mapping solver time 26.784976 ms 
mapping data assosiation time 28.061841 ms 
sort q time 4.419332 
seperate points time 10.457868 
mapping solver time 30.941835 ms 
mapping pub time 1.937789 ms 
whole mapping time 155.024166 ms +++++
mappingCount 2493 & avg mapping time 154.104530 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
1317358156.073334932 WriteOdom aft_mapped_to_init
-----t: 0.0628957
OdomCount 3796 & avg odom time 0.046120 ms ++++++++++++++++++++++
build tree time 24.579044 ms 
--------------------stamp1317358156.385114908
prepare time 12.370817 
publication time 12.185199 ms 
whole laserOdometry time 12.199666 ms 
 
mapping data assosiation time 29.739817 ms 
mapping solver time 22.017768 ms 
filter time 6.707345 ms 
points size 88806 
sort q time 5.710503 
seperate points time 10.877290 
scan registration time 26.061941 ms *************
build tree time 25.253862 ms 
mapping data assosiation time 29.934852 ms 
mapping solver time 26.632444 ms 
--------------------stamp1317358156.592978954
prepare time 11.012992 
sort q time 5.486758 
seperate points time 10.992488 
mapping solver time 28.586299 ms 
filter time 9.917199 ms 
build tree time 20.143147 ms 
mapping data assosiation time 26.661233 ms 
points size 91243 
mapping solver time 25.296262 ms 
sort q time 4.894986 
seperate points time 11.693778 
publication time 9.536008 ms 
whole laserOdometry time 9.553359 ms 
 
mapping solver time 23.729524 ms 
mapping optimization time 128.669818 
add points time 0.931077 ms
map prepare time 2.521483 ms
map corner num 100730  surf num 39469 
--------------------stamp1317358156.800765037
points size 92243 
sort q time 4.946349 
seperate points time 11.971475 
mapping data assosiation time 31.890334 ms 
-----t: 0.0418919
OdomCount 3801 & avg odom time 0.046113 ms ++++++++++++++++++++++
mapping solver time 32.574019 ms 
--------------------stamp1317358156.904685020
mapping data assosiation time 34.182335 ms 
sort q time 5.162931 
seperate points time 14.383220 
add points time 1.220273 ms
publication time 9.042983 ms 
whole laserOdometry time 9.058198 ms 
 
build tree time 21.776706 ms 
--------------------stamp1317358157.008578062
prepare time 11.596230 
sort q time 5.353798 
seperate points time 12.083022 
publication time 7.596807 ms 
whole laserOdometry time 7.608876 ms 
 
-----t: 0.0486673
OdomCount 3803 & avg odom time 0.046112 ms ++++++++++++++++++++++
mapping optimization time 128.179005 
mapping pub time 2.089728 ms 
whole mapping time 142.172092 ms +++++
mappingCount 2498 & avg mapping time 154.098653 ms ++++++++++++++++++++++
points size 96211 
prepare time 15.458042 
publication time 9.295799 ms 
whole laserOdometry time 9.308226 ms 
 
mapping data assosiation time 47.080905 ms 
-----t: 0.0792073
OdomCount 3804 & avg odom time 0.046121 ms ++++++++++++++++++++++
--------------------stamp1317358157.216298103
points size 94132 
sort q time 5.513342 
seperate points time 12.873679 
publication time 8.479233 ms 
whole laserOdometry time 8.495725 ms 
 
-----t: 0.0549847
OdomCount 3805 & avg odom time 0.046123 ms ++++++++++++++++++++++
--------------------stamp1317358157.320142984
prepare time 11.853251 
sort q time 5.564480 
seperate points time 11.640680 
publication time 7.923114 ms 
whole laserOdometry time 7.940864 ms 
 
mapping solver time 36.038714 ms 
mapping data assosiation time 27.899424 ms 
--------------------stamp1317358157.423990011
points size 93900 
sort q time 5.013329 
seperate points time 12.068295 
map prepare time 4.082452 ms
map corner num 104246  surf num 41066 
publication time 8.675159 ms 
whole laserOdometry time 8.690430 ms 
 
build tree time 28.347975 ms 
mapping data assosiation time 27.173071 ms 
points size 93772 
sort q time 4.932785 
seperate points time 11.589368 
publication time 8.280891 ms 
whole laserOdometry time 8.294680 ms 
 
mapping solver time 23.691633 ms 
filter time 9.453848 ms 
points size 92720 
sort q time 5.155813 
seperate points time 11.839618 
publication time 9.532590 ms 
whole laserOdometry time 9.549232 ms 
 
1317358157.320142984 WriteOdom aft_mapped_to_init
points size 89660 
sort q time 5.105950 
seperate points time 11.890220 
publication time 9.669808 ms 
whole laserOdometry time 9.697212 ms 
 
mapping data assosiation time 31.714555 ms 
-----t: 0.0558538
OdomCount 3810 & avg odom time 0.046117 ms ++++++++++++++++++++++
mapping solver time 28.096047 ms 
--------------------stamp1317358157.839306116
mapping data assosiation time 28.518686 ms 
scan registration time 27.471383 ms *************
mapping solver time 22.745484 ms 
mapping optimization time 138.601277 
add points time 1.040937 ms
map prepare time 2.698063 ms
map corner num 105907  surf num 41723 
build tree time 23.987954 ms 
--------------------stamp1317358157.943105936
points size 91285 
sort q time 4.984066 
seperate points time 11.757656 
publication time 9.394437 ms 
whole laserOdometry time 9.407993 ms 
 
mapping data assosiation time 27.747931 ms 
mapping solver time 25.194557 ms 
filter time 7.389033 ms 
points size 91961 
sort q time 5.307233 
seperate points time 11.472622 
publication time 7.619525 ms 
whole laserOdometry time 7.633372 ms 
 
mapping data assosiation time 27.441518 ms 
mapping solver time 29.266891 ms 
points size 92860 
mapping data assosiation time 28.276136 ms 
scan registration time 27.574189 ms *************
publication time 7.390362 ms 
whole laserOdometry time 7.403558 ms 
 
filter time 7.740682 ms 
build tree time 25.134615 ms 
--------------------stamp1317358158.254427909
points size 95147 
sort q time 5.410888 
seperate points time 13.167501 
-----t: 0.0328328
OdomCount 3815 & avg odom time 0.046109 ms ++++++++++++++++++++++
mapping data assosiation time 26.743781 ms 
mapping solver time 22.087283 ms 
filter time 7.162773 ms 
--------------------stamp1317358158.358177900
points size 96037 
build tree time 27.832411 ms 
publication time 7.883073 ms 
whole laserOdometry time 7.897653 ms 
 
mapping solver time 29.215843 ms 
--------------------stamp1317358158.461930036
mapping data assosiation time 29.182675 ms 
points size 98739 
sort q time 5.705132 
seperate points time 11.974809 
mapping solver time 29.540697 ms 
filter time 9.810607 ms 
build tree time 22.297129 ms 
--------------------stamp1317358158.565656900
points size 99932 
prepare time 16.940447 
scan registration time 36.191850 ms *************
mapping solver time 37.415041 ms 
mapping data assosiation time 28.595784 ms 
mapping solver time 25.361645 ms 
filter time 8.121210 ms 
sort q time 5.430985 
seperate points time 12.640968 
build tree time 28.222687 ms 
1317358158.669382095 WriteOdom laser_odom_to_init
mapping data assosiation time 28.229169 ms 
--------------------stamp1317358158.773133039
prepare time 11.335329 
sort q time 5.844413 
seperate points time 12.683630 
-----t: 0.0358276
OdomCount 3820 & avg odom time 0.046097 ms ++++++++++++++++++++++
mapping solver time 29.238911 ms 
filter time 9.503369 ms 
--------------------stamp1317358158.876909971
prepare time 12.408870 
sort q time 5.506098 
seperate points time 12.479445 
-----t: 0.0353318
OdomCount 3821 & avg odom time 0.046094 ms ++++++++++++++++++++++
mapping solver time 29.226157 ms 
mapping data assosiation time 25.623971 ms 
--------------------stamp1317358158.980685949
prepare time 10.936477 
filter time 9.994539 ms 
scan registration time 36.998254 ms *************
publication time 9.085367 ms 
whole laserOdometry time 9.100091 ms 
 
-----t: 0.0501681
OdomCount 3822 & avg odom time 0.046095 ms ++++++++++++++++++++++
mapping data assosiation time 25.061033 ms 
--------------------stamp1317358159.084484100
prepare time 11.291765 
sort q time 4.333198 
seperate points time 9.576930 
mapping data assosiation time 27.812081 ms 
mapping solver time 20.330495 ms 
filter time 7.881027 ms 
build tree time 23.428038 ms 
--------------------stamp1317358159.188282012
points size 88881 
sort q time 5.063114 
seperate points time 11.409583 
scan registration time 26.712957 ms *************
publication time 7.292337 ms 
whole laserOdometry time 7.307313 ms 
 
-----t: 0.0320481
OdomCount 3824 & avg odom time 0.046091 ms ++++++++++++++++++++++
1317358159.188282012 WriteOdom laser_odom_to_init
1317358159.188282012 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.099127 ms 
mapping data assosiation time 24.191956 ms 
mapping solver time 23.901350 ms 
filter time 8.699271 ms 
map prepare time 3.661306 ms
map corner num 113159  surf num 44552 
sort q time 14.782435 
seperate points time 20.950607 
scan registration time 39.227388 ms *************
build tree time 30.142447 ms 
publication time 6.813657 ms 
whole laserOdometry time 6.826024 ms 
 
mapping data assosiation time 29.146351 ms 
mapping solver time 22.118414 ms 
points size 86670 
sort q time 4.742210 
seperate points time 10.989805 
publication time 7.934450 ms 
whole laserOdometry time 7.947459 ms 
 
filter time 13.072575 ms 
build tree time 27.545285 ms 
points size 85566 
mapping data assosiation time 29.310478 ms 
publication time 7.008508 ms 
whole laserOdometry time 7.019618 ms 
 
-----t: 0.0487689
OdomCount 3827 & avg odom time 0.046087 ms ++++++++++++++++++++++
mapping data assosiation time 27.110040 ms 
mapping solver time 23.518743 ms 
filter time 8.953391 ms 
sort q time 4.729999 
seperate points time 10.423426 
publication time 7.650227 ms 
whole laserOdometry time 7.658859 ms 
 
-----t: 0.0368203
OdomCount 3828 & avg odom time 0.046085 ms ++++++++++++++++++++++
mapping data assosiation time 27.560974 ms 
mapping solver time 23.145326 ms 
--------------------stamp1317358159.707268953
mapping data assosiation time 28.051372 ms 
publication time 8.069045 ms 
whole laserOdometry time 8.081863 ms 
 
filter time 7.913323 ms 
build tree time 26.098850 ms 
points size 87019 
sort q time 4.894181 
seperate points time 10.742161 
publication time 7.601423 ms 
whole laserOdometry time 7.613109 ms 
 
-----t: 0.0268387
OdomCount 3830 & avg odom time 0.046076 ms ++++++++++++++++++++++
1317358159.811115026 WriteOdom laser_odom_to_init
1317358159.811115026 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.457061 ms 
mapping solver time 17.722732 ms 
--------------------stamp1317358159.914966106
prepare time 13.820053 
sort q time 4.871175 
seperate points time 11.279743 
build tree time 30.041896 ms 
mapping data assosiation time 25.014590 ms 
mapping solver time 22.304639 ms 
--------------------stamp1317358160.018812894
prepare time 10.758936 
mapping data assosiation time 26.686378 ms 
sort q time 5.340531 
seperate points time 10.507656 
mapping solver time 28.482794 ms 
publication time 8.813496 ms 
whole laserOdometry time 8.829007 ms 
 
map prepare time 2.718593 ms
map corner num 117685  surf num 46350 
build tree time 25.210422 ms 
--------------------stamp1317358160.122684955
prepare time 11.401344 
sort q time 5.879037 
seperate points time 11.963082 
mapping solver time 30.664555 ms 
-----t: 0.0438723
OdomCount 3833 & avg odom time 0.046072 ms ++++++++++++++++++++++
mapping data assosiation time 30.602765 ms 
mapping solver time 19.866675 ms 
filter time 8.431804 ms 
points size 92786 
prepare time 14.353283 
scan registration time 31.694500 ms *************
-----t: 0.0400312
OdomCount 3834 & avg odom time 0.046070 ms ++++++++++++++++++++++
1317358160.226577997 WriteOdom laser_odom_to_init
mapping data assosiation time 29.669516 ms 
mapping solver time 23.868322 ms 
--------------------stamp1317358160.330472946
points size 94191 
sort q time 5.205546 
seperate points time 11.833078 
publication time 9.962661 ms 
whole laserOdometry time 9.989874 ms 
 
filter time 8.120321 ms 
build tree time 26.030906 ms 
--------------------stamp1317358160.434349060
points size 92457 
mapping data assosiation time 33.617752 ms 
scan registration time 35.812896 ms *************
-----t: 0.0393489
OdomCount 3836 & avg odom time 0.046065 ms ++++++++++++++++++++++
mapping data assosiation time 27.743269 ms 
--------------------stamp1317358160.538219928
prepare time 13.510447 
mapping solver time 31.748945 ms 
mapping optimization time 159.072903 
add points time 1.072196 ms
map prepare time 3.321934 ms
map corner num 120223  surf num 47275 
publication time 9.724123 ms 
whole laserOdometry time 9.741686 ms 
 
build tree time 31.717062 ms 
--------------------stamp1317358160.642064094
prepare time 11.330836 
scan registration time 30.348331 ms *************
-----t: 0.0329147
OdomCount 3838 & avg odom time 0.046061 ms ++++++++++++++++++++++
mapping data assosiation time 30.670512 ms 
mapping solver time 19.006178 ms 
filter time 8.137612 ms 
map prepare time 2.789197 ms
map corner num 80501  surf num 34391 
--------------------stamp1317358160.745910882
points size 93853 
sort q time 6.244723 
seperate points time 12.476392 
-----t: 0.0304496
OdomCount 3839 & avg odom time 0.046057 ms ++++++++++++++++++++++
mapping solver time 32.582851 ms 
--------------------stamp1317358160.849757909
points size 93621 
mapping solver time 21.770132 ms 
[0m[ INFO] [1718889674.705198009, 1317358160.886142461]: Received 115957 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889674.705250706, 1317358160.886142461]: Data saved to 1317358160538219.pcd[0m
-----t: 0.04248
OdomCount 3840 & avg odom time 0.046056 ms ++++++++++++++++++++++
--------------------stamp1317358160.953582048
points size 94107 
sort q time 5.424190 
seperate points time 13.510626 
mapping pub time 110.340414 ms 
whole mapping time 261.013464 ms +++++
mappingCount 2521 & avg mapping time 154.213847 ms ++++++++++++++++++++++
1317358160.538219929 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 22.708800 ms 
mapping data assosiation time 27.985846 ms 
--------------------stamp1317358161.057427883
prepare time 13.290754 
sort q time 5.176343 
seperate points time 12.737984 
publication time 10.309288 ms mapping data assosiation time 32.297733 ms 
mapping solver time 27.950765 ms 
mapping pub time 2.318279 ms 
whole mapping time 174.045445 ms +++++
mappingCount 2522 & avg mapping time 154.221712 ms ++++++++++++++++++++++
sort q time 5.904691 
seperate points time 13.070819 
build tree time 21.560428 ms 
-----t: 0.0430891
OdomCount 3843 & avg odom time 0.046056 ms ++++++++++++++++++++++
1317358161.161271095 WriteOdom laser_odom_to_init
1317358161.161271095 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.292894 ms 
points size 96823 
mapping data assosiation time 31.926346 ms 
mapping solver time 22.483713 ms 
mapping pub time 2.150794 ms 
whole mapping time 149.730535 ms +++++
mappingCount 2523 & avg mapping time 154.219933 ms ++++++++++++++++++++++
build tree time 16.111553 ms 
--------------------stamp1317358161.368918895
prepare time 14.274155 
sort q time 6.034075 
seperate points time 13.061258 
-----t: 0.0349494
OdomCount 3845 & avg odom time 0.046050 ms ++++++++++++++++++++++
mapping data assosiation time 30.985606 ms 
mapping solver time 18.860514 ms 
filter time 7.003191 ms 
--------------------stamp1317358161.472740888
points size 98768 
prepare time 15.855088 
sort q time 6.811133 
seperate points time 15.705205 
publication time 9.706499 ms 
whole laserOdometry time 9.723443 ms 
 
mapping solver time 32.191799 ms 
--------------------stamp1317358161.576538085
points size 99113 
sort q time 5.590458 
seperate points time 13.852265 
mapping solver time 30.908778 ms 
filter time 5.943736 ms 
map prepare time 2.691706 ms
map corner num 85060  surf num 36447 
build tree time 16.985783 ms 
--------------------stamp1317358161.680335998
prepare time 11.397912 
sort q time 5.824064 
seperate points time 13.451782 
publication time 9.127865 ms 
whole laserOdometry time 9.144257 ms 
 
mapping data assosiation time 27.780932 ms 
mapping solver time 19.967783 ms 
[0m[ INFO] [1718889675.605554793, 1317358161.784681746]: Received 122785 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889675.605609007, 1317358161.784681746]: Data saved to 1317358161472740.pcd[0m
sort q time 5.817310 
seperate points time 14.003994 
publication time 9.267722 ms 
whole laserOdometry time 9.278931 ms 
 
-----t: 0.0476528
OdomCount 3849 & avg odom time 0.046045 ms ++++++++++++++++++++++
mapping solver time 24.844123 ms 
points size 97853 
mapping data assosiation time 36.524671 ms 
mapping solver time 25.924637 ms 
mapping optimization time 145.405809 
publication time 12.920873 ms 
whole laserOdometry time 12.946428 ms 
 
add points time 1.784022 ms
build tree time 16.899256 ms 
--------------------stamp1317358161.991733074
points size 97517 
sort q time 5.617267 
seperate points time 17.897472 
mapping solver time 30.328876 ms 
mapping data assosiation time 31.580483 ms 
--------------------stamp1317358162.095508098
points size 96412 
sort q time 7.093352 
seperate points time 16.327369 
publication time 10.911103 ms 
whole laserOdometry time 10.924312 ms 
 
mapping data assosiation time 32.662875 ms 
--------------------stamp1317358162.199284076
prepare time 11.873659 
sort q time 5.939347 
seperate points time 11.988184 
publication time 9.603930 ms 
whole laserOdometry time 9.619862 ms 
 
mapping data assosiation time 34.376563 ms 
mapping solver time 26.574354 ms 
mapping optimization time 163.396133 
add points time 1.082940 ms
map prepare time 2.717534 ms
map corner num 89077  surf num 38764 
points size 94827 
build tree time 23.979991 ms 
scan registration time 30.634402 ms *************
publication time 8.771173 ms 
whole laserOdometry time 8.799625 ms 
 mapping solver time 27.576292 ms 
--------------------stamp1317358162.406907081
prepare time 14.142285 
sort q time 5.599247 
seperate points time 12.529348 
publication time 7.255186 ms 
whole laserOdometry time 7.275332 ms 
 
mapping solver time 35.483499 ms 
filter time 7.576574 ms 
build tree time 18.797960 ms 
--------------------stamp1317358162.510730028
prepare time 13.767078 
sort q time 5.652419 
seperate points time 12.550035 
mapping solver time 32.037401 ms 
publication time 8.053064 ms 
whole laserOdometry time 8.064996 ms 
 
mapping data assosiation time 33.397428 ms 
mapping solver time 19.517674 ms 
filter time 7.216941 ms 
sort q time 5.519269 
seperate points time 12.132531 
build tree time 23.253485 ms 
1317358162.614552974 WriteOdom laser_odom_to_init
1317358162.614552974 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.022428 ms 
--------------------stamp1317358162.718400001
points size 90720 
mapping data assosiation time 29.784708 ms 
sort q time 14.275639 
seperate points time 20.991173 
add points time 1.056162 ms
map prepare time 2.795824 ms
map corner num 92076  surf num 40212 
build tree time 23.877607 ms 
--------------------stamp1317358162.822247028
sort q time 5.183560 
seperate points time 11.812023 
mapping solver time 34.463863 ms 
-----t: 0.0491761
OdomCount 3859 & avg odom time 0.046039 ms ++++++++++++++++++++++
mapping data assosiation time 30.303352 ms 
--------------------stamp1317358162.926069021
points size 88843 
map prepare time 3.572486 ms
map corner num 92980  surf num 40597 
publication time 8.156280 ms 
whole laserOdometry time 8.164369 ms 
 
mapping data assosiation time 25.417347 ms 
--------------------stamp1317358163.029891967
sort q time 5.125717 
seperate points time 11.387685 
publication time 7.806658 ms 
whole laserOdometry time 7.822120 ms 
 
mapping solver time 27.868411 ms 
filter time 8.872708 ms 
build tree time 17.984872 ms 
--------------------stamp1317358163.133713006
points size 90053 
sort q time 4.862881 
seperate points time 11.591726 
-----t: 0.0311505
OdomCount 3862 & avg odom time 0.046028 ms ++++++++++++++++++++++
mapping data assosiation time 28.282536 ms 
mapping solver time 17.557753 ms 
filter time 7.410201 ms 
sort q time 4.750405 
seperate points time 10.736075 
-----t: 0.0308673
OdomCount 3863 & avg odom time 0.046024 ms ++++++++++++++++++++++
1317358163.237559080 WriteOdom laser_odom_to_init
1317358163.237559080 WriteOdom aft_mapped_to_init_high_frec
publication time 7.214508 ms 
whole laserOdometry time 7.228037 ms 
 
mapping data assosiation time 26.967275 ms 
mapping solver time 28.248922 ms 
--------------------stamp1317358163.341407060
points size 88682 
mapping data assosiation time 27.113707 ms 
prepare time 13.878324 
mapping solver time 22.491956 ms 
filter time 10.010530 ms 
build tree time 20.579571 ms 
mapping data assosiation time 22.922089 ms 
points size 89315 
mapping solver time 27.491017 ms 
-----t: 0.0318735
OdomCount 3865 & avg odom time 0.046017 ms ++++++++++++++++++++++
1317358163.445252895 WriteOdom laser_odom_to_init
1317358163.445252895 WriteOdom aft_mapped_to_init_high_frec
publication time 9.785246 ms 
whole laserOdometry time 9.792311 ms 
 
mapping data assosiation time 30.285815 ms 
filter time 7.711158 ms 
--------------------stamp1317358163.549098968
prepare time 13.155707 
sort q time 4.518082 
seperate points time 10.456192 
mapping data assosiation time 27.742361 ms 
-----t: 0.0380889
OdomCount 3866 & avg odom time 0.046015 ms ++++++++++++++++++++++
mapping solver time 27.140344 ms 
mapping data assosiation time 23.985872 ms 
mapping solver time 12.756949 ms 
mapping pub time 1.972669 ms 
whole mapping time 129.018064 ms +++++
mappingCount 2538 & avg mapping time 154.213295 ms ++++++++++++++++++++++
sort q time 5.470359 
seperate points time 22.937089 
publication time 10.040480 ms 
whole laserOdometry time 10.054340 ms 
 
mapping solver time 22.385147 ms 
--------------------stamp1317358163.756746053
prepare time 11.145342 
sort q time 5.364141 
seperate points time 10.741345 
mapping optimization time 123.566776 
filter time 8.987720 ms 
-----t: 0.0530877
OdomCount 3868 & avg odom time 0.046019 ms ++++++++++++++++++++++
1317358163.756746053 WriteOdom laser_odom_to_init
1317358163.756746053 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.762468 ms 
points size 83131 
sort q time 4.402422 
seperate points time 10.549859 
mapping data assosiation time 28.261012 ms 
mapping solver time 18.603625 ms 
mapping pub time 2.054030 ms 
whole mapping time 130.134178 ms +++++
mappingCount 2540 & avg mapping time 154.197851 ms ++++++++++++++++++++++
build tree time 18.282736 ms 
points size 82094 
mapping data assosiation time 25.533404 ms 
-----t: 0.0309027
OdomCount 3870 & avg odom time 0.046013 ms ++++++++++++++++++++++
mapping data assosiation time 20.799493 ms 
mapping solver time 22.690360 ms 
[0m[ INFO] [1718889677.888203818, 1317358164.067786412]: Received 119356 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889677.888269494, 1317358164.067786412]: Data saved to 1317358163860543.pcd[0m
sort q time 4.456996 
seperate points time 9.780394 
publication time 9.769264 ms 
whole laserOdometry time 9.789356 ms 
 
--------------------stamp1317358164.171916007
prepare time 11.406643 
sort q time 4.578470 
seperate points time 10.288783 
build tree time 21.859121 ms 
-----t: 0.0349609
OdomCount 3872 & avg odom time 0.046009 ms ++++++++++++++++++++++
1317358164.171916007 WriteOdom laser_odom_to_init
1317358164.171916007 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.558563 ms 
mapping solver time 23.601265 ms 
--------------------stamp1317358164.275716066
prepare time 17.893602 
mapping solver time 25.541145 ms 
-----t: 0.0302361
OdomCount 3873 & avg odom time 0.046005 ms ++++++++++++++++++++++
build tree time 22.006526 ms 
--------------------stamp1317358164.379517078
prepare time 9.903993 
sort q time 4.449920 
seperate points time 10.192254 
publication time 7.646417 ms 
whole laserOdometry time 7.658586 ms 
 
mapping solver time 19.831774 ms 
mapping pub time 1.984686 ms 
whole mapping time 132.789198 ms +++++
mappingCount 2543 & avg mapping time 154.217813 ms ++++++++++++++++++++++
build tree time 18.144217 ms 
points size 79907 
mapping data assosiation time 23.905546 ms 
publication time 7.250498 ms 
whole laserOdometry time 7.264601 ms 
 
-----t: 0.0295881
OdomCount 3875 & avg odom time 0.045997 ms ++++++++++++++++++++++
1317358164.483289957 WriteOdom laser_odom_to_init
1317358164.483289957 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.327385 ms 
mapping data assosiation time 24.323351 ms 
mapping solver time 19.129584 ms 
mapping optimization time 113.023571 
add points time 0.875232 ms
points size 81661 
sort q time 4.525586 
seperate points time 10.510572 
publication time 7.284982 ms 
whole laserOdometry time 7.297063 ms 
 
mapping solver time 22.995972 ms 
mapping data assosiation time 19.653558 ms 
--------------------stamp1317358164.690862894
filter time 6.352926 ms 
publication time 6.713324 ms 
whole laserOdometry time 6.732491 ms 
 
-----t: 0.0397308
OdomCount 3877 & avg odom time 0.045992 ms ++++++++++++++++++++++
1317358164.690862894 WriteOdom laser_odom_to_init
1317358164.690862894 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.646273 ms 
mapping solver time 22.525504 ms 
--------------------stamp1317358164.794684886
mapping data assosiation time 23.403067 ms 
sort q time 5.437544 
seperate points time 10.455289 
mapping solver time 24.528076 ms 
filter time 8.490549 ms 
build tree time 17.113904 ms 
mapping data assosiation time 21.706836 ms 
--------------------stamp1317358164.898508071
points size 88457 
sort q time 4.693075 
seperate points time 11.629524 
publication time 8.817721 ms 
whole laserOdometry time 8.831356 ms 
 
mapping solver time 22.413741 ms 
mapping pub time 1.763158 ms 
whole mapping time 122.022723 ms +++++
mappingCount 2547 & avg mapping time 154.172477 ms ++++++++++++++++++++++
build tree time 20.787107 ms 
--------------------stamp1317358165.002305984
prepare time 13.515256 
sort q time 4.726255 
seperate points time 11.613168 
mapping solver time 26.711980 ms 
-----t: 0.0407413
OdomCount 3880 & avg odom time 0.045986 ms ++++++++++++++++++++++
mapping data assosiation time 23.893877 ms 
mapping solver time 19.090913 ms 
filter time 8.398704 ms 
points size 87742 
build tree time 21.724208 ms 
sort q time 4.762026 
seperate points time 20.333999 
mapping data assosiation time 25.794727 ms 
-----t: 0.0357727
OdomCount 3881 & avg odom time 0.045983 ms ++++++++++++++++++++++
1317358165.106105089 WriteOdom aft_mapped_to_init_high_frec
1317358165.106105089 WriteOdom laser_odom_to_init
mapping solver time 20.599159 ms 
mapping data assosiation time 21.912535 ms 
--------------------stamp1317358165.209902048
prepare time 13.952116 
map prepare time 3.167637 ms
map corner num 90309  surf num 38042 
build tree time 21.458561 ms 
mapping data assosiation time 24.080084 ms 
mapping solver time 20.733285 ms 
--------------------stamp1317358165.313678026
prepare time 12.789943 
scan registration time 27.015223 ms *************
filter time 6.938937 ms 
-----t: 0.0278834
OdomCount 3883 & avg odom time 0.045975 ms ++++++++++++++++++++++
build tree time 18.827348 ms 
mapping data assosiation time 22.260501 ms 
--------------------stamp1317358165.417476892
prepare time 11.562250 
sort q time 5.717880 
seperate points time 11.501684 
mapping data assosiation time 27.412131 ms 
mapping solver time 17.476944 ms 
filter time 6.268913 ms 
[0m[ INFO] [1718889679.302720764, 1317358165.488471029]: Received 130428 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889679.302812682, 1317358165.488471029]: Data saved to 1317358165209902.pcd[0m
mapping pub time 3.682214 ms 
whole mapping time 127.111319 ms +++++
mappingCount 2551 & avg mapping time 154.131209 ms ++++++++++++++++++++++
map prepare time 3.269351 ms
map corner num 91784  surf num 38644 
1317358165.209902048 WriteOdom aft_mapped_to_init
build tree time 22.642741 ms 
points size 88907 
sort q time 4.703855 
seperate points time 11.239874 
mapping solver time 22.952827 ms 
mapping data assosiation time 27.491711 ms 
mapping solver time 20.426360 ms 
mapping pub time 2.091948 ms 
whole mapping time 133.266516 ms +++++
mappingCount 2552 & avg mapping time 154.123035 ms ++++++++++++++++++++++
prepare time 11.517558 
sort q time 5.166375 
seperate points time 10.321021 
publication time 8.492083 ms 
whole laserOdometry time 8.506988 ms 
 
mapping data assosiation time 23.564945 ms 
mapping solver time 23.595995 ms 
mapping data assosiation time 23.370840 ms 
points size 89769 
add points time 1.021589 ms
1317358165.521275043 WriteOdom aft_mapped_to_init
-----t: 0.0372496
OdomCount 3887 & avg odom time 0.045969 ms ++++++++++++++++++++++
mapping data assosiation time 22.655159 ms 
mapping solver time 21.134580 ms 
prepare time 10.606942 
sort q time 4.808508 
seperate points time 11.456711 
mapping solver time 20.110846 ms 
filter time 7.347038 ms 
build tree time 20.061164 ms 
--------------------stamp1317358165.936326980
prepare time 13.024862 
sort q time 6.048861 
seperate points time 11.674259 
mapping solver time 32.715011 ms 
1317358165.936326980 WriteOdom laser_odom_to_init
1317358165.936326980 WriteOdom aft_mapped_to_init_high_frec
publication time 8.694740 ms 
whole laserOdometry time 8.711389 ms 
 
mapping data assosiation time 27.167350 ms 
mapping solver time 24.295898 ms 
filter time 6.623384 ms 
points size 93373 
prepare time 14.778820 
sort q time 5.014307 
seperate points time 12.086560 
publication time 8.131216 ms 
whole laserOdometry time 8.144623 ms 
 
mapping solver time 25.749978 ms 
mapping data assosiation time 22.900279 ms 
points size 94567 
mapping solver time 24.817935 ms 
mapping solver time 22.247592 ms 
sort q time 6.048396 
seperate points time 15.721641 
-----t: 0.0416476
OdomCount 3892 & avg odom time 0.045958 ms ++++++++++++++++++++++
filter time 6.361717 ms 
map prepare time 2.724910 ms
map corner num 96366  surf num 40525 
build tree time 21.406260 ms 
points size 90672 
mapping data assosiation time 31.025822 ms 
publication time 8.424350 ms 
whole laserOdometry time 8.437805 ms 
 
mapping data assosiation time 24.586462 ms 
mapping solver time 16.719747 ms 
filter time 8.804516 ms 
prepare time 14.345459 
scan registration time 31.587910 ms *************
publication time 10.392046 ms 
whole laserOdometry time 10.407548 ms 
 
-----t: 0.0470414
OdomCount 3894 & avg odom time 0.045957 ms ++++++++++++++++++++++
mapping solver time 26.519472 ms 
prepare time 12.070283 
sort q time 5.393162 
seperate points time 11.612225 
mapping solver time 24.067929 ms 
mapping optimization time 137.371653 
add points time 0.891278 ms
-----t: 0.0512669
OdomCount 3895 & avg odom time 0.045958 ms ++++++++++++++++++++++
1317358166.559073925 WriteOdom laser_odom_to_init
build tree time 21.860056 ms 
--------------------stamp1317358166.662873029
mapping data assosiation time 28.996166 ms 
sort q time 4.995676 
seperate points time 12.677733 
mapping solver time 34.749389 ms 
mapping data assosiation time 24.787837 ms 
mapping solver time 23.123927 ms 
--------------------stamp1317358166.766671895
points size 92998 
sort q time 6.420499 
seperate points time 14.499874 
-----t: 0.0438849
OdomCount 3897 & avg odom time 0.045955 ms ++++++++++++++++++++++
mapping solver time 24.366572 ms 
--------------------stamp1317358166.870493888
points size 93645 
sort q time 5.149590 
seperate points time 12.135331 
mapping solver time 29.656477 ms 
[0m[ INFO] [1718889680.744011135, 1317358166.923761435]: Received 141248 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889680.744089305, 1317358166.923761435]: Data saved to 1317358166662873.pcd[0m
--------------------stamp1317358166.974363088
points size 93963 
sort q time 17.113235 
seperate points time 23.885525 
mapping pub time 119.051195 ms 
whole mapping time 271.012136 ms +++++
mappingCount 2561 & avg mapping time 154.126456 ms ++++++++++++++++++++++
build tree time 22.388792 ms 
points size 96178 
mapping data assosiation time 27.785028 ms 
sort q time 5.030677 
seperate points time 24.450013 
scan registration time 46.235398 ms *************
mapping solver time 27.519341 ms 
mapping data assosiation time 29.897129 ms 
mapping solver time 19.573142 ms 
1317358166.766671896 WriteOdom aft_mapped_to_init
sort q time 5.638525 
seperate points time 12.586587 
build tree time 24.990719 ms 
publication time 13.705176 ms 
whole laserOdometry time 13.721869 ms 
 
mapping data assosiation time 30.829397 ms 
--------------------stamp1317358167.285856008
points size 93689 
sort q time 4.994367 
seperate points time 11.912384 
publication time 7.586865 ms 
whole laserOdometry time 7.599128 ms 
 
-----t: 0.0438629
OdomCount 3902 & avg odom time 0.045954 ms ++++++++++++++++++++++
filter time 10.348360 ms 
map prepare time 3.538745 ms
map corner num 101136  surf num 42537 
--------------------stamp1317358167.389703035
prepare time 13.892216 
mapping data assosiation time 30.127459 ms 
-----t: 0.0422376
OdomCount 3903 & avg odom time 0.045953 ms ++++++++++++++++++++++
mapping solver time 26.872735 ms 
mapping data assosiation time 22.332462 ms 
--------------------stamp1317358167.493549108
points size 92617 
map prepare time 3.550818 ms
map corner num 101851  surf num 42854 
sort q time 5.197821 
seperate points time 12.666219 
build tree time 27.923824 ms 
-----t: 0.055173
OdomCount 3904 & avg odom time 0.045955 ms ++++++++++++++++++++++
mapping solver time 25.931301 ms 
prepare time 11.907326 
sort q time 5.998048 
seperate points time 11.698038 
publication time 8.637657 ms 
whole laserOdometry time 8.655647 ms 
 
mapping solver time 26.412431 ms 
mapping optimization time 137.737993 
add points time 0.851644 ms
map prepare time 2.575902 ms
map corner num 102664  surf num 43223 
build tree time 23.836181 ms 
--------------------stamp1317358167.701220989
points size 88164 
sort q time 5.146826 
seperate points time 10.174428 
mapping solver time 23.821702 ms 
mapping data assosiation time 27.027653 ms 
mapping solver time 17.967580 ms 
filter time 9.233223 ms 
points size 87436 
build tree time 19.764883 ms 
publication time 7.679577 ms 
whole laserOdometry time 7.692866 ms 
 
-----t: 0.0437321
OdomCount 3907 & avg odom time 0.045949 ms ++++++++++++++++++++++
mapping solver time 27.603092 ms 
mapping data assosiation time 23.464995 ms 
points size 87049 
sort q time 4.784111 
seperate points time 12.097744 
-----t: 0.0348108
OdomCount 3908 & avg odom time 0.045946 ms ++++++++++++++++++++++
build tree time 20.345059 ms 
mapping data assosiation time 25.661334 ms 
--------------------stamp1317358168.012833118
prepare time 11.189034 
sort q time 5.020533 
seperate points time 11.666242 
mapping data assosiation time 28.718267 ms 
mapping solver time 22.726560 ms 
mapping pub time 2.115559 ms 
whole mapping time 141.650590 ms +++++
mappingCount 2568 & avg mapping time 154.105080 ms ++++++++++++++++++++++
build tree time 16.826775 ms 
points size 85529 
prepare time 10.357922 
publication time 9.689462 ms 
whole laserOdometry time 9.708063 ms 
 
mapping data assosiation time 25.609981 ms 
mapping solver time 16.927598 ms 
mapping pub time 2.083155 ms 
whole mapping time 129.654937 ms +++++
mappingCount 2569 & avg mapping time 154.095564 ms ++++++++++++++++++++++
prepare time 12.032633 
sort q time 4.654364 
seperate points time 10.284545 
publication time 7.057377 ms 
whole laserOdometry time 7.072194 ms 
 
mapping data assosiation time 29.154525 ms 
mapping solver time 28.410244 ms 
--------------------stamp1317358168.324443101
sort q time 5.876523 
seperate points time 12.494683 
scan registration time 28.850449 ms *************
mapping optimization time 135.060762 
add points time 1.086252 ms
-----t: 0.0275188
OdomCount 3912 & avg odom time 0.045930 ms ++++++++++++++++++++++
1317358168.324443101 WriteOdom laser_odom_to_init
1317358168.324443101 WriteOdom aft_mapped_to_init_high_frec
build tree time 18.029247 ms 
mapping data assosiation time 26.482007 ms 
points size 81216 
sort q time 4.365884 
seperate points time 10.392412 
publication time 6.953163 ms 
whole laserOdometry time 6.964638 ms 
 
mapping solver time 21.799864 ms 
mapping optimization time 127.659198 
add points time 0.911541 ms
--------------------stamp1317358168.532162904
sort q time 4.107880 
seperate points time 8.396182 
mapping data assosiation time 27.476413 ms 
-----t: 0.0416133
OdomCount 3914 & avg odom time 0.045927 ms ++++++++++++++++++++++
mapping data assosiation time 24.284106 ms 
--------------------stamp1317358168.635984897
mapping pub time 1.802713 ms 
whole mapping time 139.065671 ms +++++
mappingCount 2572 & avg mapping time 154.082069 ms ++++++++++++++++++++++
publication time 9.097773 ms 
whole laserOdometry time 9.128517 ms 
 
mapping data assosiation time 27.132657 ms 
mapping solver time 29.356197 ms 
points size 72515 
sort q time 4.006117 
seperate points time 9.989265 
publication time 6.836095 ms 
whole laserOdometry time 6.850928 ms 
 
mapping solver time 27.869828 ms 
filter time 6.118933 ms 
build tree time 18.714579 ms 
--------------------stamp1317358168.843661069
mapping data assosiation time 28.182051 ms 
sort q time 4.449299 
seperate points time 10.738799 
scan registration time 23.246741 ms *************
publication time 7.632449 ms 
whole laserOdometry time 7.643960 ms 
 
1317358168.843661069 WriteOdom laser_odom_to_init
1317358168.843661069 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.289621 ms 
mapping pub time 1.634766 ms 
whole mapping time 148.772529 ms +++++
mappingCount 2574 & avg mapping time 154.078175 ms ++++++++++++++++++++++
sort q time 5.026166 
seperate points time 11.375315 
scan registration time 25.525446 ms *************
mapping data assosiation time 24.674424 ms 
mapping solver time 28.833285 ms 
--------------------stamp1317358169.051392078
prepare time 10.396815 
sort q time 5.232322 
seperate points time 11.015757 
-----t: 0.0290392
OdomCount 3919 & avg odom time 0.045906 ms ++++++++++++++++++++++
filter time 6.462018 ms 
build tree time 17.358670 ms 
--------------------stamp1317358169.155262947
prepare time 10.717209 
mapping solver time 25.764024 ms 
-----t: 0.0289603
OdomCount 3920 & avg odom time 0.045902 ms ++++++++++++++++++++++
mapping data assosiation time 29.614895 ms 
mapping solver time 17.045271 ms 
[0m[ INFO] [1718889683.051215676, 1317358169.233728126]: Received 126670 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889683.051258931, 1317358169.233728126]: Data saved to 1317358168947520.pcd[0m
--------------------stamp1317358169.259135961
points size 93555 
sort q time 6.051685 
seperate points time 14.953222 
-----t: 0.0355873
OdomCount 3921 & avg odom time 0.045899 ms ++++++++++++++++++++++
mapping solver time 28.558631 ms 
mapping data assosiation time 25.515637 ms 
--------------------stamp1317358169.363006114
mapping optimization time 133.276169 
prepare time 12.549389 
add points time 1.406702 ms
-----t: 0.0346099
OdomCount 3922 & avg odom time 0.045897 ms ++++++++++++++++++++++
publication time 16.713574 ms 
whole laserOdometry time 16.728685 ms 
 
mapping data assosiation time 27.248163 ms 
--------------------stamp1317358169.466852903
mapping solver time 25.051603 ms 
prepare time 11.514420 
sort q time 5.521603 
seperate points time 13.335492 
mapping solver time 23.430725 ms 
mapping pub time 2.193619 ms 
whole mapping time 145.464701 ms +++++
mappingCount 2578 & avg mapping time 154.059495 ms ++++++++++++++++++++++
build tree time 21.077778 ms 
--------------------stamp1317358169.570702075
prepare time 13.013955 
sort q time 6.193025 
seperate points time 13.412666 
publication time 9.471888 ms 
whole laserOdometry time 9.502532 ms 
 
-----t: 0.059228
OdomCount 3924 & avg odom time 0.045900 ms ++++++++++++++++++++++
--------------------stamp1317358169.674576997
prepare time 11.859540 
map prepare time 3.439607 ms
map corner num 90499  surf num 39194 
sort q time 5.478618 
seperate points time 23.159979 
publication time 8.503864 ms 
whole laserOdometry time 8.515910 ms 
 
mapping data assosiation time 26.634589 ms 
mapping solver time 23.155556 ms 
points size 94685 
mapping data assosiation time 29.941406 ms 
mapping solver time 23.092265 ms 
filter time 7.734231 ms 
map prepare time 2.665740 ms
map corner num 91240  surf num 39517 
build tree time 19.944618 ms 
--------------------stamp1317358169.882241010
prepare time 11.632003 
sort q time 5.302207 
seperate points time 12.662766 
mapping solver time 31.734736 ms 
publication time 9.107282 ms 
whole laserOdometry time 9.122924 ms 
 
mapping data assosiation time 31.653274 ms 
mapping solver time 20.516196 ms 
filter time 9.160047 ms 
--------------------stamp1317358169.986062049
prepare time 16.642221 
sort q time 5.336576 
seperate points time 13.063104 
publication time 7.080893 ms 
whole laserOdometry time 7.092379 ms 
 
-----t: 0.0517743
OdomCount 3928 & avg odom time 0.045896 ms ++++++++++++++++++++++
--------------------stamp1317358170.089885950
prepare time 13.993178 
map prepare time 3.441202 ms
map corner num 60906  surf num 26630 
publication time 9.041742 ms 
whole laserOdometry time 9.055159 ms 
 
mapping data assosiation time 28.190271 ms 
mapping solver time 25.430318 ms 
points size 87254 
mapping data assosiation time 33.209635 ms 
publication time 10.713027 ms 
whole laserOdometry time 10.746183 ms 
 
filter time 5.990498 ms 
build tree time 12.912565 ms 
--------------------stamp1317358170.297530889
sort q time 7.346037 
seperate points time 14.028737 
publication time 14.257367 ms 
whole laserOdometry time 14.272615 ms 
 
mapping data assosiation time 29.277828 ms 
mapping solver time 19.417656 ms 
map prepare time 2.283335 ms
map corner num 62460  surf num 27349 
build tree time 13.823854 ms 
sort q time 5.188487 
seperate points time 11.188578 
mapping data assosiation time 31.984810 ms 
mapping solver time 28.096528 ms 
mapping data assosiation time 25.815049 ms 
--------------------stamp1317358170.505129098
points size 87560 
filter time 6.634539 ms 
build tree time 15.917390 ms 
mapping data assosiation time 27.505459 ms 
mapping solver time 24.240163 ms 
points size 88986 
sort q time 6.254125 
seperate points time 12.060418 
mapping data assosiation time 32.592630 ms 
scan registration time 26.617607 ms *************
publication time 7.986366 ms 
whole laserOdometry time 8.001118 ms 
 
mapping pub time 1.984956 ms 
whole mapping time 139.509561 ms +++++
mappingCount 2585 & avg mapping time 154.073830 ms ++++++++++++++++++++++
build tree time 13.153478 ms 
--------------------stamp1317358170.712774991
prepare time 13.568445 
sort q time 5.432659 
seperate points time 12.132373 
-----t: 0.0319904
OdomCount 3935 & avg odom time 0.045889 ms ++++++++++++++++++++++
mapping data assosiation time 29.195518 ms 
mapping solver time 20.976157 ms 
mapping pub time 3.162261 ms 
whole mapping time 136.322391 ms +++++
mappingCount 2586 & avg mapping time 154.066967 ms ++++++++++++++++++++++
points size 90037 
sort q time 5.107633 
seperate points time 12.233514 
mapping data assosiation time 31.524914 ms 
publication time 13.343531 ms 
whole laserOdometry time 13.354809 ms 
 
mapping solver time 30.351025 ms 
points size 89010 
prepare time 14.450924 
filter time 6.599496 ms 
-----t: 0.0362464
OdomCount 3937 & avg odom time 0.045886 ms ++++++++++++++++++++++
mapping data assosiation time 27.061030 ms 
--------------------stamp1317358171.024168968
mapping solver time 29.612119 ms 
prepare time 10.867786 
scan registration time 27.629003 ms *************
publication time 7.383435 ms 
whole laserOdometry time 7.396430 ms 
 
-----t: 0.0443921
OdomCount 3938 & avg odom time 0.045885 ms ++++++++++++++++++++++
mapping solver time 27.611774 ms 
mapping pub time 1.999684 ms 
whole mapping time 150.571675 ms +++++
mappingCount 2588 & avg mapping time 154.061315 ms ++++++++++++++++++++++
--------------------stamp1317358171.127943992
prepare time 11.428934 
sort q time 5.461645 
seperate points time 12.460169 
-----t: 0.0359032
OdomCount 3939 & avg odom time 0.045883 ms ++++++++++++++++++++++
1317358171.127943992 WriteOdom laser_odom_to_init
1317358171.127943992 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.430962 ms 
--------------------stamp1317358171.231720924
add points time 1.088266 ms
map prepare time 3.043635 ms
map corner num 66969  surf num 29483 
sort q time 5.427743 
seperate points time 12.168293 
scan registration time 29.235352 ms *************
-----t: 0.0322023
OdomCount 3940 & avg odom time 0.045879 ms ++++++++++++++++++++++
mapping data assosiation time 30.767686 ms 
mapping solver time 25.063806 ms 
points size 89452 
mapping data assosiation time 33.419014 ms 
-----t: 0.0340864
OdomCount 3941 & avg odom time 0.045876 ms ++++++++++++++++++++++
filter time 5.326613 ms 
build tree time 14.286624 ms 
--------------------stamp1317358171.439271926
prepare time 12.951313 
sort q time 5.068954 
seperate points time 11.380108 
mapping solver time 28.967258 ms 
publication time 9.800444 ms 
whole laserOdometry time 9.817424 ms 
 
mapping data assosiation time 30.465886 ms 
mapping solver time 20.098620 ms 
[0m[ INFO] [1718889685.350805840, 1317358171.532139138]: Received 98842 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889685.350834646, 1317358171.532139138]: Data saved to 1317358171231720.pcd[0m
points size 84326 
sort q time 4.948220 
seperate points time 10.779759 
publication time 7.850932 ms 
whole laserOdometry time 7.861510 ms 
 
-----t: 0.0487476
OdomCount 3943 & avg odom time 0.045875 ms ++++++++++++++++++++++
mapping solver time 27.747995 ms 
--------------------stamp1317358171.646750926
sort q time 4.777704 
seperate points time 9.911920 
mapping pub time 2.204433 ms 
whole mapping time 142.449774 ms +++++
mappingCount 2592 & avg mapping time 154.041695 ms ++++++++++++++++++++++
publication time 10.560908 ms 
whole laserOdometry time 10.573447 ms 
 
build tree time 22.034962 ms 
mapping data assosiation time 29.930535 ms 
--------------------stamp1317358171.750502109
prepare time 11.963001 
sort q time 4.348928 
seperate points time 10.419371 
publication time 7.452018 ms 
whole laserOdometry time 7.465010 ms 
 
mapping solver time 19.285464 ms 
mapping pub time 2.040521 ms 
whole mapping time 149.812351 ms +++++
mappingCount 2593 & avg mapping time 154.040071 ms ++++++++++++++++++++++
--------------------stamp1317358171.854249000
sort q time 4.402604 
seperate points time 10.291351 
publication time 7.924870 ms 
whole laserOdometry time 7.937962 ms 
 
mapping solver time 33.711108 ms 
mapping data assosiation time 24.713957 ms 
--------------------stamp1317358171.957974910
mapping optimization time 130.682962 
scan registration time 25.207328 ms *************
publication time 8.431952 ms 
whole laserOdometry time 8.446566 ms 
 
mapping data assosiation time 26.879829 ms 
mapping solver time 29.566935 ms 
points size 86682 
sort q time 4.508802 
seperate points time 10.743409 
-----t: 0.0341066
OdomCount 3948 & avg odom time 0.045864 ms ++++++++++++++++++++++
1317358172.061702966 WriteOdom laser_odom_to_init
publication time 8.434573 ms 
whole laserOdometry time 8.446721 ms 
 
1317358172.061702966 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 37.711127 ms 
filter time 5.349416 ms 
build tree time 15.381165 ms 
--------------------stamp1317358172.165406942
prepare time 11.088796 
sort q time 4.750967 
seperate points time 10.971193 
-----t: 0.0302616
OdomCount 3949 & avg odom time 0.045860 ms ++++++++++++++++++++++
mapping solver time 35.553256 ms 
mapping data assosiation time 29.872328 ms 
--------------------stamp1317358172.269084930
mapping optimization time 139.929928 
add points time 1.004778 ms
filter time 7.540583 ms 
build tree time 19.362149 ms 
mapping data assosiation time 28.248407 ms 
--------------------stamp1317358172.372765064
prepare time 11.453894 
sort q time 5.168181 
seperate points time 12.111799 
-----t: 0.0384282
OdomCount 3951 & avg odom time 0.045856 ms ++++++++++++++++++++++
mapping solver time 35.208094 ms 
mapping pub time 2.025141 ms 
whole mapping time 160.250413 ms +++++
mappingCount 2597 & avg mapping time 154.038905 ms ++++++++++++++++++++++
--------------------stamp1317358172.476466894
sort q time 5.140782 
seperate points time 12.484378 
publication time 10.487370 ms 
whole laserOdometry time 10.500636 ms 
 
mapping solver time 33.515585 ms 
mapping data assosiation time 27.375605 ms 
points size 92991 
mapping solver time 30.215257 ms 
mapping pub time 2.164240 ms 
whole mapping time 158.196715 ms +++++
mappingCount 2598 & avg mapping time 154.040507 ms ++++++++++++++++++++++
-----t: 0.0402033
OdomCount 3953 & avg odom time 0.045854 ms ++++++++++++++++++++++
mapping data assosiation time 29.970219 ms 
--------------------stamp1317358172.683871984
points size 93376 
mapping solver time 36.191005 ms 
publication time 8.190136 ms 
whole laserOdometry time 8.204369 ms 
 
-----t: 0.0486362
OdomCount 3954 & avg odom time 0.045855 ms ++++++++++++++++++++++
mapping solver time 32.313246 ms 
filter time 5.611735 ms 
points size 94117 
build tree time 20.500524 ms 
publication time 8.686107 ms 
whole laserOdometry time 8.751922 ms 
 
mapping solver time 31.330126 ms 
--------------------stamp1317358172.891302108
prepare time 11.846453 
sort q time 5.398236 
seperate points time 12.984884 
publication time 9.372486 ms 
whole laserOdometry time 9.388977 ms 
 
-----t: 0.0495016
OdomCount 3956 & avg odom time 0.045854 ms ++++++++++++++++++++++
build tree time 17.717011 ms 
--------------------stamp1317358172.994978904
points size 97105 
scan registration time 29.591656 ms *************
publication time 8.500279 ms 
whole laserOdometry time 8.518209 ms 
 
mapping solver time 39.159809 ms 
-----t: 0.0371098
OdomCount 3957 & avg odom time 0.045852 ms ++++++++++++++++++++++
mapping data assosiation time 27.485573 ms 
mapping solver time 19.219357 ms 
points size 98270 
sort q time 5.841304 
seperate points time 13.151964 
publication time 10.930972 ms 
whole laserOdometry time 10.946275 ms 
 
-----t: 0.0444258
OdomCount 3958 & avg odom time 0.045852 ms ++++++++++++++++++++++
--------------------stamp1317358173.202358961
prepare time 12.966922 
sort q time 6.319844 
seperate points time 13.824049 
publication time 10.051946 ms 
whole laserOdometry time 10.082525 ms 
 
build tree time 19.549355 ms 
1317358173.202358961 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.551932 ms 
--------------------stamp1317358173.306087017
mapping solver time 35.283137 ms 
mapping data assosiation time 38.862381 ms 
mapping solver time 27.116927 ms 
drop lidar frame in mapping for real time performance 
points size 99576 
sort q time 6.371974 
seperate points time 15.485443 
mapping data assosiation time 36.156317 ms 
mapping solver time 35.576352 ms 
--------------------stamp1317358173.513544082
points size 99698 
prepare time 12.315911 
mapping data assosiation time 33.993835 ms 
sort q time 12.416693 
seperate points time 26.066759 
mapping solver time 31.327680 ms 
-----t: 0.05056
OdomCount 3962 & avg odom time 0.045855 ms ++++++++++++++++++++++
1317358173.513544082 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
1317358173.513544082 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.215180 ms
map corner num 78438  surf num 35403 
build tree time 16.359714 ms 
--------------------stamp1317358173.617317914
points size 99969 
mapping data assosiation time 36.323142 ms 
scan registration time 34.219432 ms *************
publication time 9.028263 ms 
whole laserOdometry time 9.042119 ms 
 
mapping data assosiation time 30.402177 ms 
--------------------stamp1317358173.721138954
points size 99837 
mapping solver time 36.697837 ms 
scan registration time 33.134377 ms *************
filter time 6.858457 ms 
1317358173.409816027 WriteOdom aft_mapped_to_init
build tree time 18.192221 ms 
mapping data assosiation time 29.947085 ms 
--------------------stamp1317358173.824961900
points size 98382 
mapping solver time 36.339266 ms 
publication time 8.554178 ms 
whole laserOdometry time 8.571050 ms 
 
mapping data assosiation time 35.347967 ms 
mapping solver time 29.403239 ms 
filter time 6.626466 ms 
prepare time 13.624568 
build tree time 19.435358 ms 
publication time 6.906195 ms 
whole laserOdometry time 6.914165 ms 
 
1317358173.928786039 WriteOdom laser_odom_to_init
mapping solver time 33.753580 ms 
points size 96518 
sort q time 6.960429 
seperate points time 14.834746 
-----t: 0.0348855
OdomCount 3967 & avg odom time 0.045847 ms ++++++++++++++++++++++
mapping solver time 32.626047 ms 
filter time 6.074087 ms 
map prepare time 2.806519 ms
map corner num 81047  surf num 36759 
build tree time 19.041181 ms 
points size 96121 
sort q time 5.750981 
seperate points time 12.105406 
-----t: 0.0449983
OdomCount 3968 & avg odom time 0.045847 ms ++++++++++++++++++++++
mapping solver time 42.678485 ms 
--------------------stamp1317358174.240374088
sort q time 7.705471 
seperate points time 15.637070 
publication time 11.275920 ms 
whole laserOdometry time 11.290498 ms 
 
map prepare time 3.263990 ms
map corner num 81941  surf num 37230 
-----t: 0.0607818
OdomCount 3969 & avg odom time 0.045851 ms ++++++++++++++++++++++
build tree time 20.431990 ms 
--------------------stamp1317358174.344296932
prepare time 12.938097 
sort q time 5.826549 
seperate points time 12.862514 
scan registration time 29.943092 ms *************
-----t: 0.0571486
OdomCount 3970 & avg odom time 0.045854 ms ++++++++++++++++++++++
mapping data assosiation time 36.044792 ms 
--------------------stamp1317358174.448262929
points size 96374 
mapping optimization time 166.401347 
add points time 0.786208 ms
sort q time 5.394548 
seperate points time 13.465549 
filter time 9.010656 ms 
publication time 8.446568 ms 
whole laserOdometry time 8.462367 ms 
 
build tree time 21.895900 ms 
mapping data assosiation time 32.561457 ms 
--------------------stamp1317358174.552273988
prepare time 14.747933 
sort q time 5.368615 
seperate points time 13.072740 
mapping solver time 39.471685 ms 
scan registration time 32.178623 ms *************
-----t: 0.0390828
OdomCount 3972 & avg odom time 0.045852 ms ++++++++++++++++++++++
mapping data assosiation time 35.810882 ms 
mapping solver time 31.802862 ms 
mapping pub time 2.225214 ms 
whole mapping time 179.249785 ms +++++
mappingCount 2609 & avg mapping time 154.163336 ms ++++++++++++++++++++++
sort q time 5.780917 
seperate points time 13.095136 
publication time 8.023820 ms 
whole laserOdometry time 8.040271 ms 
 
-----t: 0.0445799
OdomCount 3973 & avg odom time 0.045852 ms ++++++++++++++++++++++
mapping data assosiation time 36.666835 ms 
--------------------stamp1317358174.760349988
prepare time 12.464571 
sort q time 5.884030 
seperate points time 12.336862 
publication time 8.663355 ms 
whole laserOdometry time 8.678142 ms 
 
-----t: 0.0435886
OdomCount 3974 & avg odom time 0.045851 ms ++++++++++++++++++++++
mapping solver time 33.657828 ms 
mapping optimization time 173.956439 
add points time 0.785891 ms
--------------------stamp1317358174.864413022
points size 100401 
sort q time 5.425734 
seperate points time 13.282058 
mapping data assosiation time 38.220271 ms 
mapping solver time 39.431197 ms 
--------------------stamp1317358174.968498945
points size 101103 
mapping data assosiation time 36.361730 ms 
-----t: 0.0379283
OdomCount 3976 & avg odom time 0.045848 ms ++++++++++++++++++++++
mapping solver time 45.163014 ms 
filter time 6.515865 ms 
map prepare time 3.124045 ms
map corner num 75085  surf num 34856 
--------------------stamp1317358175.072609901
points size 100489 
sort q time 6.788534 
seperate points time 18.879456 
mapping data assosiation time 41.379876 ms 
publication time 8.841560 ms 
whole laserOdometry time 8.854039 ms 
 
mapping solver time 50.502633 ms 
points size 99946 
sort q time 5.577553 
seperate points time 12.714735 
publication time 8.441708 ms 
whole laserOdometry time 8.458092 ms 
 
mapping solver time 50.094014 ms 
filter time 7.287190 ms 
--------------------stamp1317358175.280879020
build tree time 17.660197 ms 
prepare time 10.502747 
publication time 11.146428 ms 
whole laserOdometry time 11.161107 ms 
 
-----t: 0.0528076
OdomCount 3979 & avg odom time 0.045859 ms ++++++++++++++++++++++
-----t: 0.062602
OdomCount 3980 & avg odom time 0.045863 ms ++++++++++++++++++++++
mapping solver time 47.177563 ms 
filter time 6.152495 ms 
points size 95213 
build tree time 19.103958 ms 
publication time 9.208694 ms 
whole laserOdometry time 9.222700 ms 
 
--------------------stamp1317358175.593431949
prepare time 14.752709 
sort q time 13.287970 
seperate points time 20.511863 
-----t: 0.0402543
OdomCount 3982 & avg odom time 0.045861 ms ++++++++++++++++++++++
mapping solver time 42.100229 ms 
mapping pub time 2.305855 ms 
whole mapping time 197.486691 ms +++++
mappingCount 2614 & avg mapping time 154.256161 ms ++++++++++++++++++++++
--------------------stamp1317358175.697614908
build tree time 19.968029 ms 
sort q time 5.063125 
seperate points time 11.888917 
publication time 9.268480 ms 
whole laserOdometry time 9.284856 ms 
 
mapping solver time 36.540840 ms 
points size 92743 
sort q time 5.007850 
seperate points time 12.070677 
publication time 8.286311 ms 
whole laserOdometry time 8.300216 ms 
 
mapping solver time 33.902290 ms 
filter time 6.077977 ms 
build tree time 18.897961 ms 
points size 92435 
sort q time 5.041117 
seperate points time 11.837736 
publication time 9.181322 ms 
whole laserOdometry time 9.198580 ms 
 
mapping solver time 41.262213 ms 
--------------------stamp1317358176.010062932
prepare time 9.777393 
sort q time 5.093056 
seperate points time 12.097244 
mapping solver time 36.954321 ms 
[0m[ INFO] [1718889689.879798474, 1317358176.063884180]: Received 117174 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889689.879828336, 1317358176.063884180]: Data saved to 1317358175697614.pcd[0m
build tree time 17.602227 ms 
--------------------stamp1317358176.114223003
prepare time 11.894413 
sort q time 5.891833 
seperate points time 12.480948 
publication time 9.696600 ms 
whole laserOdometry time 9.713828 ms 
 
--------------------stamp1317358176.218354940
prepare time 12.907588 
sort q time 5.252597 
seperate points time 13.081421 
filter time 9.860872 ms 
build tree time 20.095789 ms 
mapping data assosiation time 42.676581 ms 
points size 90371 
sort q time 5.616260 
seperate points time 11.996596 
publication time 7.296492 ms 
whole laserOdometry time 7.308142 ms 
 
mapping solver time 48.856583 ms 
-----t: 0.0571329
OdomCount 3989 & avg odom time 0.045874 ms ++++++++++++++++++++++
points size 90556 
sort q time 5.108872 
seperate points time 19.165542 
filter time 9.362212 ms 
-----t: 0.0437074
OdomCount 3990 & avg odom time 0.045874 ms ++++++++++++++++++++++
build tree time 16.807789 ms 
--------------------stamp1317358176.530622005
points size 91654 
prepare time 13.904250 
scan registration time 31.552231 ms *************
mapping solver time 47.665428 ms 
-----t: 0.0488203
OdomCount 3991 & avg odom time 0.045874 ms ++++++++++++++++++++++
mapping data assosiation time 35.471483 ms 
--------------------stamp1317358176.634685039
points size 92492 
mapping solver time 35.099701 ms 
mapping pub time 2.042087 ms 
whole mapping time 187.037737 ms +++++
mappingCount 2619 & avg mapping time 154.330150 ms ++++++++++++++++++++++
-----t: 0.0351161
OdomCount 3992 & avg odom time 0.045872 ms ++++++++++++++++++++++
build tree time 22.919031 ms 
mapping data assosiation time 33.404206 ms 
--------------------stamp1317358176.738744020
points size 92067 
sort q time 5.018798 
seperate points time 12.220103 
mapping solver time 45.825715 ms 
-----t: 0.0410366
OdomCount 3993 & avg odom time 0.045871 ms ++++++++++++++++++++++
mapping data assosiation time 38.125064 ms 
--------------------stamp1317358176.842782974
prepare time 11.242366 
sort q time 4.995339 
seperate points time 11.958215 
map prepare time 2.805582 ms
map corner num 83952  surf num 39577 
build tree time 22.165704 ms 
mapping data assosiation time 37.756851 ms 
--------------------stamp1317358176.946798086
prepare time 11.648925 
sort q time 5.168240 
seperate points time 12.106788 
publication time 11.069435 ms 
whole laserOdometry time 11.086688 ms 
 
mapping data assosiation time 40.627687 ms 
mapping optimization time 181.181538 
points size 93895 
sort q time 5.100135 
seperate points time 10.635064 
publication time 9.279019 ms 
whole laserOdometry time 9.292950 ms 
 
-----t: 0.0542832
OdomCount 3996 & avg odom time 0.045869 ms ++++++++++++++++++++++
--------------------stamp1317358177.154752969
mapping pub time 121.551570 ms 
whole mapping time 313.898769 ms +++++
mappingCount 2621 & avg mapping time 154.404910 ms ++++++++++++++++++++++
publication time 9.809753 ms 
whole laserOdometry time 9.838184 ms 
 
-----t: 0.0603759
OdomCount 3997 & avg odom time 0.045872 ms ++++++++++++++++++++++
mapping data assosiation time 43.399453 ms 
points size 96448 
sort q time 6.068048 
seperate points time 15.209426 
-----t: 0.0587291
OdomCount 3998 & avg odom time 0.045876 ms ++++++++++++++++++++++
mapping data assosiation time 44.613658 ms 
points size 98468 
sort q time 6.166011 
seperate points time 14.667737 
filter time 9.110623 ms 
-----t: 0.0626713
OdomCount 3999 & avg odom time 0.045880 ms ++++++++++++++++++++++
--------------------stamp1317358177.466511011
prepare time 11.256640 
sort q time 6.151849 
seperate points time 14.977112 
publication time 13.199293 ms 
whole laserOdometry time 13.214057 ms 
 
-----t: 0.0557895
OdomCount 4000 & avg odom time 0.045882 ms ++++++++++++++++++++++
mapping data assosiation time 35.554045 ms 
points size 98770 
sort q time 5.510885 
seperate points time 12.962853 
mapping optimization time 182.117993 
filter time 9.557676 ms 
build tree time 18.706898 ms 
--------------------stamp1317358177.674278974
points size 98655 
prepare time 11.946094 
scan registration time 28.582856 ms *************
publication time 8.779182 ms 
whole laserOdometry time 8.795714 ms 
 
mapping data assosiation time 33.252885 ms 
--------------------stamp1317358177.778100013
prepare time 12.040882 
filter time 6.879134 ms 
publication time 10.903031 ms 
whole laserOdometry time 10.920217 ms 
 
build tree time 20.990255 ms 
-----t: 0.0388792
OdomCount 4003 & avg odom time 0.045879 ms ++++++++++++++++++++++
1317358177.778100013 WriteOdom laser_odom_to_init
1317358177.778100013 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 33.590293 ms 
--------------------stamp1317358177.881922960
prepare time 14.415043 
mapping solver time 41.676666 ms 
publication time 8.296982 ms 
whole laserOdometry time 8.311684 ms 
 
mapping data assosiation time 37.225926 ms 
mapping solver time 37.559955 ms 
points size 86796 
map prepare time 3.828909 ms
map corner num 88770  surf num 42002 
build tree time 23.418710 ms 
publication time 12.171520 ms 
whole laserOdometry time 12.187904 ms 
 
mapping data assosiation time 34.133350 ms 
--------------------stamp1317358178.089490890
prepare time 12.308503 
sort q time 5.435771 
seperate points time 13.421314 
publication time 6.932622 ms 
whole laserOdometry time 6.965334 ms 
 
-----t: 0.0448305
OdomCount 4006 & avg odom time 0.045877 ms ++++++++++++++++++++++
mapping solver time 25.573828 ms 
filter time 6.801642 ms 
map prepare time 3.488690 ms
map corner num 89549  surf num 42391 
prepare time 9.660701 
build tree time 26.167055 ms 
publication time 9.191406 ms 
whole laserOdometry time 11.341121 ms 
 
mapping solver time 38.792634 ms 
points size 78098 
sort q time 4.413355 
seperate points time 10.276001 
mapping data assosiation time 39.679627 ms 
-----t: 0.0470113
OdomCount 4008 & avg odom time 0.045876 ms ++++++++++++++++++++++
filter time 9.819605 ms 
map prepare time 3.419633 ms
map corner num 90485  surf num 42802 
--------------------stamp1317358178.400815963
sort q time 4.338155 
seperate points time 10.948732 
mapping data assosiation time 36.487978 ms 
-----t: 0.0378139
OdomCount 4009 & avg odom time 0.045874 ms ++++++++++++++++++++++
mapping solver time 39.086755 ms 
--------------------stamp1317358178.504569053
sort q time 5.360301 
seperate points time 10.055824 
publication time 9.635495 ms 
whole laserOdometry time 9.646990 ms 
 
mapping solver time 35.120101 ms 
mapping optimization time 165.275695 
add points time 0.898866 ms
build tree time 14.156060 ms 
mapping data assosiation time 26.001669 ms 
prepare time 10.022099 
sort q time 4.701357 
seperate points time 10.042465 
mapping solver time 42.106229 ms 
mapping data assosiation time 26.740163 ms 
mapping solver time 24.969539 ms 
mapping optimization time 135.693920 
add points time 0.986712 ms
map prepare time 3.399746 ms
map corner num 71143  surf num 33536 
sort q time 4.714346 
seperate points time 10.492020 
publication time 7.394146 ms 
whole laserOdometry time 7.409056 ms 
 
mapping data assosiation time 31.696705 ms 
mapping solver time 31.959113 ms 
--------------------stamp1317358178.815773010
points size 82946 
sort q time 4.522021 
seperate points time 11.237453 
mapping solver time 21.691751 ms 
filter time 8.102968 ms 
publication time 10.978104 ms 
whole laserOdometry time 10.992602 ms 
 
mapping pub time 2.048367 ms 
whole mapping time 150.097246 ms +++++
mappingCount 2630 & avg mapping time 154.507339 ms ++++++++++++++++++++++
1317358178.608294010 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.357320 ms
map corner num 72057  surf num 34071 
build tree time 14.858743 ms 
mapping data assosiation time 25.450770 ms 
--------------------stamp1317358178.919548034
mapping solver time 28.550356 ms 
publication time 9.346926 ms 
whole laserOdometry time 9.362458 ms 
 
mapping data assosiation time 34.553568 ms 
mapping solver time 18.585291 ms 
mapping optimization time 123.405610 
add points time 1.039178 ms
filter time 5.359057 ms 
build tree time 14.410528 ms 
points size 83678 
sort q time 5.592729 
seperate points time 10.997438 
publication time 9.304335 ms 
whole laserOdometry time 9.318578 ms 
 
mapping solver time 32.532247 ms 
mapping data assosiation time 29.496361 ms 
--------------------stamp1317358179.127094030
prepare time 11.344733 
add points time 1.105130 ms
map prepare time 3.293768 ms
map corner num 73738  surf num 35070 
build tree time 21.242525 ms 
-----t: 0.069079
OdomCount 4016 & avg odom time 0.045864 ms ++++++++++++++++++++++
--------------------stamp1317358179.230871915
points size 84827 
sort q time 6.071112 
seperate points time 12.300539 
mapping solver time 43.404041 ms 
-----t: 0.0491195
OdomCount 4017 & avg odom time 0.045864 ms ++++++++++++++++++++++
mapping data assosiation time 36.467566 ms 
--------------------stamp1317358179.334671020
prepare time 10.651579 
mapping solver time 33.252887 ms 
mapping optimization time 181.360879 
add points time 1.346701 ms
map prepare time 3.525196 ms
map corner num 74475  surf num 35545 
publication time 7.825748 ms 
whole laserOdometry time 7.839765 ms 
 
build tree time 25.515398 ms 
mapping data assosiation time 32.312666 ms 
--------------------stamp1317358179.438467979
prepare time 10.200793 
sort q time 4.566283 
seperate points time 11.098465 
-----t: 0.0285747
OdomCount 4019 & avg odom time 0.045859 ms ++++++++++++++++++++++
mapping solver time 18.441148 ms 
mapping optimization time 135.997252 
add points time 1.137770 ms
map prepare time 2.761013 ms
map corner num 75192  surf num 35991 
build tree time 19.356041 ms 
points size 84201 
mapping data assosiation time 27.623013 ms 
publication time 7.917315 ms 
whole laserOdometry time 7.932634 ms 
 
mapping solver time 33.380433 ms 
mapping data assosiation time 23.678893 ms 
--------------------stamp1317358179.646015882
prepare time 10.409593 
sort q time 5.022435 
seperate points time 10.669631 
build tree time 19.887955 ms 
mapping data assosiation time 25.394315 ms 
mapping solver time 22.172323 ms 
--------------------stamp1317358179.749815940
prepare time 11.638586 
sort q time 4.634658 
seperate points time 11.129459 
mapping optimization time 121.564339 
[0m[ INFO] [1718889693.610911428, 1317358179.790572216]: Received 113853 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889693.610990738, 1317358179.790572216]: Data saved to 1317358179542243.pcd[0m
mapping pub time 3.808985 ms 
whole mapping time 136.966423 ms +++++
mappingCount 2636 & avg mapping time 154.503633 ms ++++++++++++++++++++++
build tree time 18.818106 ms 
mapping data assosiation time 24.204979 ms 
points size 83503 
sort q time 4.606776 
seperate points time 11.144847 
publication time 7.563401 ms 
whole laserOdometry time 7.578099 ms 
 
mapping data assosiation time 30.659514 ms 
mapping solver time 19.204076 ms 
mapping pub time 1.987873 ms 
whole mapping time 142.736548 ms +++++
mappingCount 2637 & avg mapping time 154.499171 ms ++++++++++++++++++++++
1317358179.646015882 WriteOdom aft_mapped_to_init
map prepare time 2.371601 ms
map corner num 77422  surf num 37644 
--------------------stamp1317358179.957391023
sort q time 5.350207 
seperate points time 11.831276 
mapping data assosiation time 31.022788 ms 
mapping data assosiation time 23.921743 ms 
--------------------stamp1317358180.061192035
map prepare time 2.703039 ms
map corner num 78223  surf num 38267 
sort q time 4.845828 
seperate points time 13.089421 
build tree time 24.524903 ms 
mapping data assosiation time 31.067034 ms 
--------------------stamp1317358180.165014028
sort q time 4.905989 
seperate points time 12.120160 
publication time 7.991550 ms 
whole laserOdometry time 8.008157 ms 
 
mapping solver time 20.949224 ms 
mapping optimization time 135.199053 
add points time 1.046803 ms
map prepare time 3.189519 ms
map corner num 79001  surf num 38828 
build tree time 17.990332 ms 
points size 88528 
sort q time 4.745894 
seperate points time 11.578661 
publication time 9.946325 ms 
whole laserOdometry time 9.978637 ms 
 
mapping data assosiation time 25.793772 ms 
mapping solver time 23.453870 ms 
filter time 8.477042 ms 
map prepare time 3.843041 ms
map corner num 79753  surf num 39431 
prepare time 14.040097 
sort q time 5.265365 
seperate points time 12.648862 
publication time 8.025522 ms 
whole laserOdometry time 8.045088 ms 
 
mapping data assosiation time 31.987615 ms 
mapping solver time 30.835773 ms 
points size 91694 
prepare time 10.408405 
mapping data assosiation time 38.354848 ms 
publication time 8.993523 ms 
whole laserOdometry time 9.007619 ms 
 
mapping solver time 29.016116 ms 
filter time 6.395268 ms 
--------------------stamp1317358180.580836057
points size 93428 
sort q time 5.304888 
seperate points time 12.978883 
-----t: 0.0402009
OdomCount 4030 & avg odom time 0.045835 ms ++++++++++++++++++++++
publication time 9.444794 ms 
whole laserOdometry time 9.452952 ms 
 
mapping pub time 118.989013 ms 
whole mapping time 284.304225 ms +++++
mappingCount 2641 & avg mapping time 154.535867 ms ++++++++++++++++++++++
--------------------stamp1317358180.684945106
sort q time 6.505596 
seperate points time 14.941534 
publication time 12.926957 ms 
whole laserOdometry time 12.940766 ms 
 
mapping solver time 43.922569 ms 
points size 96120 
sort q time 6.076324 
seperate points time 13.832406 
mapping solver time 36.049229 ms 
mapping pub time 2.251923 ms 
whole mapping time 186.550397 ms +++++
mappingCount 2642 & avg mapping time 154.547987 ms ++++++++++++++++++++++
build tree time 17.052975 ms 
--------------------stamp1317358180.893357992
points size 97080 
sort q time 6.420266 
seperate points time 15.690830 
publication time 9.126217 ms 
whole laserOdometry time 9.140975 ms 
 
mapping solver time 48.062305 ms 
-----t: 0.0772965
OdomCount 4033 & avg odom time 0.045851 ms ++++++++++++++++++++++
1317358180.893357992 WriteOdom laser_odom_to_init
1317358180.893357992 WriteOdom aft_mapped_to_init_high_frec
points size 97808 
sort q time 6.174117 
seperate points time 13.128727 
filter time 8.383213 ms 
build tree time 20.458677 ms 
-----t: 0.07788
OdomCount 4034 & avg odom time 0.045859 ms ++++++++++++++++++++++
mapping data assosiation time 33.124335 ms 
prepare time 12.081602 
sort q time 5.919611 
seperate points time 13.635547 
publication time 10.464022 ms 
whole laserOdometry time 10.485803 ms 
 
--------------------stamp1317358181.206242084
points size 99795 
sort q time 6.425654 
seperate points time 16.120134 
publication time 12.471281 ms 
whole laserOdometry time 12.485848 ms 
 
--------------------stamp1317358181.310544967
mapping optimization time 279.776644 
add points time 1.660015 ms
-----t: 0.100703
OdomCount 4036 & avg odom time 0.045890 ms ++++++++++++++++++++++
scan registration time 61.673945 ms *************
publication time 12.462742 ms 
whole laserOdometry time 12.482003 ms 
 
--------------------stamp1317358181.414823055
sort q time 6.980229 
seperate points time 23.798129 
mapping solver time 48.859117 ms 
publication time 14.369669 ms 
whole laserOdometry time 14.389963 ms 
 
mapping data assosiation time 44.276581 ms 
--------------------stamp1317358181.519124031
points size 100992 
sort q time 6.240139 
seperate points time 13.058168 
filter time 14.073389 ms 
build tree time 18.008500 ms 
--------------------stamp1317358181.623429059
points size 101267 
scan registration time 31.833962 ms *************
publication time 8.727563 ms 
whole laserOdometry time 8.743742 ms 
 
mapping data assosiation time 28.233064 ms 
points size 101510 
sort q time 5.627536 
seperate points time 13.586388 
filter time 9.345191 ms 
map prepare time 3.083221 ms
map corner num 85591  surf num 43561 
build tree time 21.610599 ms 
--------------------stamp1317358181.832011938
prepare time 12.708507 
sort q time 6.178550 
seperate points time 14.036291 
mapping solver time 41.621102 ms 
-----t: 0.0471215
OdomCount 4042 & avg odom time 0.045926 ms ++++++++++++++++++++++
mapping data assosiation time 32.212290 ms 
--------------------stamp1317358181.936266899
points size 101657 
map prepare time 2.998905 ms
map corner num 86620  surf num 44246 
sort q time 6.261389 
seperate points time 14.291120 
scan registration time 35.507027 ms *************
build tree time 23.838372 ms 
-----t: 0.0572788
OdomCount 4043 & avg odom time 0.045929 ms ++++++++++++++++++++++
--------------------stamp1317358182.040518999
mapping solver time 35.431716 ms 
prepare time 11.366666 
scan registration time 29.595340 ms *************
publication time 9.259742 ms 
whole laserOdometry time 9.273869 ms 
 
-----t: 0.0491911
OdomCount 4044 & avg odom time 0.045930 ms ++++++++++++++++++++++
mapping solver time 31.558842 ms 
filter time 8.845070 ms 
--------------------stamp1317358182.144722938
prepare time 12.754157 
sort q time 7.301155 
seperate points time 15.994321 
scan registration time 32.881469 ms *************
-----t: 0.040848
OdomCount 4045 & avg odom time 0.045929 ms ++++++++++++++++++++++
1317358182.144722938 WriteOdom laser_odom_to_init
1317358182.144722938 WriteOdom aft_mapped_to_init_high_frec
publication time 10.709992 ms 
whole laserOdometry time 10.724286 ms 
 
mapping solver time 35.140829 ms 
--------------------stamp1317358182.248883008
mapping data assosiation time 34.865715 ms 
publication time 8.035728 ms 
whole laserOdometry time 8.051161 ms 
 
mapping solver time 39.161828 ms 
filter time 10.792428 ms 
map prepare time 4.046535 ms
map corner num 88565  surf num 45327 
--------------------stamp1317358182.353018999
prepare time 15.057036 
sort q time 7.113144 
seperate points time 13.777018 
publication time 8.157891 ms 
whole laserOdometry time 8.202782 ms 
 
-----t: 0.0533583
OdomCount 4047 & avg odom time 0.045931 ms ++++++++++++++++++++++
1317358182.353018999 WriteOdom laser_odom_to_init
1317358182.353018999 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358182.457130908
sort q time 5.430262 
seperate points time 12.607755 
mapping solver time 33.732093 ms 
filter time 9.235922 ms 
build tree time 18.645818 ms 
--------------------stamp1317358182.561242103
sort q time 6.182646 
seperate points time 12.451836 
mapping solver time 32.598916 ms 
-----t: 0.0388183
OdomCount 4049 & avg odom time 0.045928 ms ++++++++++++++++++++++
mapping data assosiation time 33.777832 ms 
mapping solver time 20.406127 ms 
mapping optimization time 137.131530 
add points time 1.071381 ms
map prepare time 4.175220 ms
map corner num 90418  surf num 46360 
sort q time 6.301611 
seperate points time 12.810924 
publication time 8.480826 ms 
whole laserOdometry time 8.497483 ms 
 
-----t: 0.0486918
OdomCount 4050 & avg odom time 0.045929 ms ++++++++++++++++++++++
mapping solver time 27.118115 ms 
points size 101024 
sort q time 5.733976 
seperate points time 11.728179 
scan registration time 28.250382 ms *************
publication time 8.252691 ms 
whole laserOdometry time 8.267165 ms 
 
filter time 8.119455 ms 
-----t: 0.0745114
OdomCount 4051 & avg odom time 0.045936 ms ++++++++++++++++++++++
--------------------stamp1317358182.873431921
points size 100844 
mapping data assosiation time 37.142287 ms 
publication time 9.285048 ms 
whole laserOdometry time 9.299791 ms 
 
mapping solver time 38.680772 ms 
--------------------stamp1317358182.977472066
points size 100792 
sort q time 7.056582 
seperate points time 17.600872 
mapping optimization time 167.768757 
filter time 9.725980 ms 
-----t: 0.0554447
OdomCount 4053 & avg odom time 0.045938 ms ++++++++++++++++++++++
build tree time 24.593660 ms 
--------------------stamp1317358183.081484079
mapping data assosiation time 31.737944 ms 
scan registration time 28.928149 ms *************
publication time 7.922194 ms 
whole laserOdometry time 7.939032 ms 
 
mapping solver time 44.034281 ms 
-----t: 0.0464696
OdomCount 4054 & avg odom time 0.045938 ms ++++++++++++++++++++++
1317358183.081484079 WriteOdom laser_odom_to_init
1317358183.081484079 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.577120 ms 
--------------------stamp1317358183.185451030
prepare time 12.779799 
sort q time 6.872430 
seperate points time 13.026160 
map prepare time 3.430569 ms
map corner num 93016  surf num 47850 
publication time 7.498349 ms 
whole laserOdometry time 7.532554 ms 
 
build tree time 24.885109 ms 
mapping data assosiation time 30.417436 ms 
--------------------stamp1317358183.289393901
prepare time 15.735405 
sort q time 5.446777 
seperate points time 12.723959 
-----t: 0.036403
OdomCount 4056 & avg odom time 0.045938 ms ++++++++++++++++++++++
mapping solver time 26.449512 ms 
mapping optimization time 149.158920 
add points time 0.721568 ms
map prepare time 2.664564 ms
map corner num 93919  surf num 48282 
points size 99930 
sort q time 5.990529 
seperate points time 12.894400 
publication time 8.231339 ms 
whole laserOdometry time 8.248689 ms 
 
1317358183.393285036 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 37.030132 ms 
points size 99768 
sort q time 5.589605 
seperate points time 12.845281 
publication time 8.058029 ms 
whole laserOdometry time 8.080612 ms 
 
filter time 7.187190 ms 
[0m[ INFO] [1718889697.379290242, 1317358183.559421675]: Received 143442 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889697.379330469, 1317358183.559421675]: Data saved to 1317358183185451.pcd[0m
mapping pub time 4.188525 ms 
whole mapping time 178.626682 ms +++++
mappingCount 2656 & avg mapping time 154.738521 ms ++++++++++++++++++++++
1317358183.185451031 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 22.365398 ms 
points size 99423 
mapping data assosiation time 33.970118 ms 
scan registration time 39.202895 ms *************
mapping solver time 33.501355 ms 
mapping data assosiation time 29.295352 ms 
--------------------stamp1317358183.704545974
prepare time 14.397179 
map prepare time 2.877418 ms
map corner num 95642  surf num 49179 
-----t: 0.0547425
OdomCount 4060 & avg odom time 0.045940 ms ++++++++++++++++++++++
mapping data assosiation time 28.566319 ms 
--------------------stamp1317358183.808178901
prepare time 12.984063 
sort q time 6.744414 
seperate points time 13.366523 
scan registration time 30.762798 ms *************
publication time 10.280220 ms 
whole laserOdometry time 10.296365 ms 
 
mapping data assosiation time 39.698413 ms 
-----t: 0.0542304
OdomCount 4061 & avg odom time 0.045942 ms ++++++++++++++++++++++
mapping solver time 45.125395 ms 
points size 98355 
map prepare time 3.555561 ms
map corner num 96582  surf num 49695 
scan registration time 36.240715 ms *************
build tree time 26.492537 ms 
-----t: 0.0569451
OdomCount 4062 & avg odom time 0.045945 ms ++++++++++++++++++++++
--------------------stamp1317358184.015501976
points size 97565 
mapping solver time 41.638903 ms 
scan registration time 34.573654 ms *************
-----t: 0.0340106
OdomCount 4063 & avg odom time 0.045942 ms ++++++++++++++++++++++
publication time 7.089859 ms 
whole laserOdometry time 7.103978 ms 
 
mapping solver time 34.489092 ms 
filter time 7.042336 ms 
map prepare time 3.648381 ms
map corner num 97443  surf num 50115 
sort q time 5.450363 
seperate points time 13.005745 
-----t: 0.0325988
OdomCount 4064 & avg odom time 0.045938 ms ++++++++++++++++++++++
mapping data assosiation time 30.995833 ms 
--------------------stamp1317358184.222862005
points size 94450 
sort q time 6.190244 
seperate points time 14.913250 
-----t: 0.0486715
OdomCount 4065 & avg odom time 0.045939 ms ++++++++++++++++++++++
mapping solver time 37.030640 ms 
filter time 9.425266 ms 
--------------------stamp1317358184.326540946
points size 93619 
build tree time 29.474832 ms 
-----t: 0.0327895
OdomCount 4066 & avg odom time 0.045936 ms ++++++++++++++++++++++
1317358184.326540946 WriteOdom laser_odom_to_init
1317358184.326540946 WriteOdom aft_mapped_to_init_high_frec
publication time 8.107382 ms 
whole laserOdometry time 8.134215 ms 
 
mapping solver time 34.279788 ms 
--------------------stamp1317358184.430242061
prepare time 11.112098 
sort q time 5.273785 
seperate points time 12.534032 
publication time 6.401640 ms 
whole laserOdometry time 6.419136 ms 
 
mapping solver time 33.866647 ms 
filter time 9.407816 ms 
--------------------stamp1317358184.533946037
points size 92546 
sort q time 5.846232 
seperate points time 14.213693 
scan registration time 35.395372 ms *************
1317358184.533946037 WriteOdom laser_odom_to_init
1317358184.533946037 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 120.819457 ms 
whole mapping time 299.578652 ms +++++
mappingCount 2661 & avg mapping time 154.837775 ms ++++++++++++++++++++++
--------------------stamp1317358184.637650012
prepare time 11.677273 
sort q time 5.361366 
seperate points time 12.391018 
scan registration time 27.506727 ms *************
publication time 8.910966 ms 
whole laserOdometry time 8.923829 ms 
 
mapping solver time 32.142504 ms 
--------------------stamp1317358184.741398096
sort q time 5.408192 
seperate points time 12.905245 
filter time 9.255714 ms 
-----t: 0.0586406
OdomCount 4070 & avg odom time 0.045934 ms ++++++++++++++++++++++
build tree time 23.770820 ms 
--------------------stamp1317358184.845171928
mapping data assosiation time 35.674909 ms 
points size 91407 
sort q time 5.109682 
seperate points time 12.532236 
scan registration time 33.051125 ms *************
publication time 8.521078 ms 
whole laserOdometry time 8.532030 ms 
 
mapping data assosiation time 29.961935 ms 
--------------------stamp1317358184.948949098prepare time 13.803305 
sort q time 4.956043 
seperate points time 12.279386 
map prepare time 3.730776 ms
map corner num 101057  surf num 51926 
build tree time 24.772494 ms 
mapping data assosiation time 30.272156 ms 
points size 88774 
sort q time 4.770098 
seperate points time 11.705996 
-----t: 0.034671
OdomCount 4073 & avg odom time 0.045926 ms ++++++++++++++++++++++
mapping data assosiation time 31.742305 ms 
mapping solver time 28.394066 ms 
filter time 11.098466 ms 
sort q time 4.936358 
seperate points time 11.881632 
scan registration time 31.032619 ms *************
publication time 7.328722 ms 
whole laserOdometry time 7.341540 ms 
 
mapping data assosiation time 32.594995 ms 
--------------------stamp1317358185.260416984
mapping solver time 39.397950 ms 
publication time 8.394484 ms 
whole laserOdometry time 8.409704 ms 
 
mapping solver time 30.186773 ms 
mapping optimization time 169.342222 
add points time 0.713229 ms
map prepare time 2.789583 ms
map corner num 102615  surf num 52619 
points size 87789 
prepare time 10.674848 
publication time 9.747318 ms 
whole laserOdometry time 9.757985 ms 
 
mapping solver time 31.482626 ms 
--------------------stamp1317358185.468182086
prepare time 11.918736 
sort q time 4.897448 
seperate points time 11.121894 
publication time 9.033469 ms 
whole laserOdometry time 9.053270 ms 
 
add points time 0.805128 ms
filter time 10.306891 ms 
--------------------stamp1317358185.572102069
points size 88637 
sort q time 4.796657 
seperate points time 11.276895 
publication time 11.011593 ms 
whole laserOdometry time 11.025599 ms 
 
mapping solver time 34.345137 ms 
mapping data assosiation time 30.140270 ms 
points size 88751 
mapping solver time 28.586260 ms 
filter time 9.148865 ms 
-----t: 0.0501859
OdomCount 4079 & avg odom time 0.045921 ms ++++++++++++++++++++++
mapping data assosiation time 28.606059 ms 
points size 87135 
sort q time 5.276094 
seperate points time 11.717369 
publication time 8.218048 ms 
whole laserOdometry time 8.233612 ms 
 
-----t: 0.0510718
OdomCount 4080 & avg odom time 0.045923 ms ++++++++++++++++++++++
1317358185.779959917 WriteOdom laser_odom_to_init
1317358185.779959917 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 36.145252 ms 
mapping solver time 22.861037 ms 
filter time 7.618348 ms 
points size 86164 
scan registration time 28.328382 ms *************
publication time 8.255875 ms 
whole laserOdometry time 8.269064 ms 
 
-----t: 0.0453837
OdomCount 4081 & avg odom time 0.045922 ms ++++++++++++++++++++++
mapping solver time 28.430076 ms 
--------------------stamp1317358185.987920999
sort q time 5.661315 
seperate points time 12.135301 
publication time 7.703458 ms 
whole laserOdometry time 7.721339 ms 
 
filter time 8.908950 ms 
build tree time 22.910147 ms 
--------------------stamp1317358186.091932058
points size 84045 
mapping data assosiation time 33.347899 ms 
publication time 7.871557 ms 
whole laserOdometry time 7.885743 ms 
 
mapping solver time 35.584921 ms 
mapping data assosiation time 31.760545 ms 
--------------------stamp1317358186.195924043
mapping optimization time 150.670804 
sort q time 4.357080 
seperate points time 10.270877 
publication time 7.939501 ms 
whole laserOdometry time 7.955390 ms 
 
build tree time 27.125822 ms 
mapping data assosiation time 31.950322 ms 
--------------------stamp1317358186.299913883
prepare time 11.949195 
sort q time 4.358840 
seperate points time 10.554819 
-----t: 0.031915
OdomCount 4085 & avg odom time 0.045911 ms ++++++++++++++++++++++
mapping data assosiation time 32.193680 ms 
mapping solver time 29.304795 ms 
filter time 7.625599 ms 
map prepare time 3.843733 ms
map corner num 107225  surf num 54621 
sort q time 4.645853 
seperate points time 11.174327 
build tree time 31.565867 ms 
publication time 7.959210 ms 
whole laserOdometry time 7.972576 ms 
 
mapping data assosiation time 33.269195 ms 
--------------------stamp1317358186.507946968
sort q time 4.277384 
seperate points time 8.880229 
mapping data assosiation time 34.849577 ms 
-----t: 0.0405571
OdomCount 4087 & avg odom time 0.045908 ms ++++++++++++++++++++++
1317358186.507946968 WriteOdom laser_odom_to_init
1317358186.507946968 WriteOdom aft_mapped_to_init_high_frec
filter time 7.861592 ms 
mapping pub time 1.864621 ms 
whole mapping time 173.916449 ms +++++
mappingCount 2672 & avg mapping time 154.924941 ms ++++++++++++++++++++++
1317358186.195924044 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.489238 ms
map corner num 107884  surf num 54913 
--------------------stamp1317358186.611963987
sort q time 4.191036 
seperate points time 9.633671 
mapping data assosiation time 35.118773 ms 
mapping solver time 32.860057 ms 
mapping data assosiation time 31.063861 ms 
prepare time 10.529332 
mapping solver time 29.246897 ms 
mapping pub time 1.907489 ms 
whole mapping time 174.044166 ms +++++
mappingCount 2673 & avg mapping time 154.932095 ms ++++++++++++++++++++++
-----t: 0.0436478
OdomCount 4089 & avg odom time 0.045904 ms ++++++++++++++++++++++
--------------------stamp1317358186.819967985
prepare time 10.333032 
sort q time 4.606777 
seperate points time 10.460117 
mapping solver time 33.031952 ms 
publication time 6.876220 ms 
whole laserOdometry time 6.889147 ms 
 
mapping data assosiation time 33.613324 ms 
mapping solver time 24.474611 ms 
--------------------stamp1317358186.923836946
sort q time 4.682658 
seperate points time 10.402996 
build tree time 26.135127 ms 
-----t: 0.0446315
OdomCount 4091 & avg odom time 0.045907 ms ++++++++++++++++++++++
mapping solver time 29.850984 ms 
points size 82110 
sort q time 4.263350 
seperate points time 10.061954 
publication time 7.825949 ms 
whole laserOdometry time 7.842950 ms 
 
mapping solver time 26.736799 ms 
filter time 8.073353 ms 
build tree time 24.553593 ms 
points size 83072 
sort q time 4.321592 
seperate points time 10.324653 
publication time 7.343551 ms 
whole laserOdometry time 7.356847 ms 
 
mapping data assosiation time 28.590617 ms 
--------------------stamp1317358187.235667943
prepare time 10.804238 
mapping solver time 36.108062 ms 
mapping optimization time 156.925090 
filter time 11.449129 ms 
-----t: 0.0347325
OdomCount 4094 & avg odom time 0.045900 ms ++++++++++++++++++++++
build tree time 26.866258 ms 
mapping data assosiation time 28.874155 ms 
prepare time 11.762331 
sort q time 4.750525 
seperate points time 9.774294 
scan registration time 25.577222 ms *************
publication time 9.205625 ms 
whole laserOdometry time 9.220835 ms 
 
-----t: 0.0413465
OdomCount 4095 & avg odom time 0.045899 ms ++++++++++++++++++++++
1317358187.339586019 WriteOdom laser_odom_to_init
mapping data assosiation time 36.019803 ms 
mapping solver time 24.596553 ms 
points size 86071 
sort q time 5.086046 
seperate points time 11.680100 
build tree time 29.735754 ms 
1317358187.443504095 WriteOdom laser_odom_to_init
1317358187.443504095 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358187.547446966
sort q time 5.704717 
seperate points time 14.646958 
publication time 8.716360 ms 
whole laserOdometry time 8.730682 ms 
 
mapping solver time 31.971757 ms 
filter time 8.198852 ms 
points size 89721 
sort q time 5.703854 
seperate points time 11.064859 
publication time 8.718714 ms 
whole laserOdometry time 8.752890 ms 
 
mapping solver time 30.605954 ms 
--------------------stamp1317358187.755309104
mapping data assosiation time 34.700070 ms 
mapping solver time 25.255475 ms 
filter time 7.938295 ms 
build tree time 18.230911 ms 
--------------------stamp1317358187.859225988
sort q time 5.263674 
seperate points time 12.486515 
mapping solver time 41.774544 ms 
publication time 8.490339 ms 
whole laserOdometry time 8.513588 ms 
 
mapping data assosiation time 34.778612 ms 
--------------------stamp1317358187.963144063
points size 93500 
mapping pub time 2.343755 ms 
whole mapping time 173.400175 ms +++++
mappingCount 2680 & avg mapping time 154.978656 ms ++++++++++++++++++++++
publication time 8.618216 ms 
whole laserOdometry time 8.627789 ms 
 
mapping data assosiation time 32.172299 ms 
--------------------stamp1317358188.067061901
points size 90932 
mapping solver time 39.848419 ms 
scan registration time 30.563800 ms *************
-----t: 0.0355678
OdomCount 4102 & avg odom time 0.045895 ms ++++++++++++++++++++++
mapping solver time 22.692258 ms 
filter time 6.111644 ms 
--------------------stamp1317358188.170980930
prepare time 11.753540 
sort q time 5.103021 
seperate points time 11.395756 
-----t: 0.0424427
OdomCount 4103 & avg odom time 0.045894 ms ++++++++++++++++++++++
1317358188.170980930 WriteOdom laser_odom_to_init
1317358188.170980930 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358188.274926900
sort q time 4.588595 
seperate points time 10.367181 
publication time 8.930255 ms 
whole laserOdometry time 8.943091 ms 
 
-----t: 0.0433444
OdomCount 4104 & avg odom time 0.045893 ms ++++++++++++++++++++++
mapping solver time 36.124565 ms 
points size 86058 
scan registration time 27.390407 ms *************
publication time 8.258051 ms 
whole laserOdometry time 8.269689 ms 
 
add points time 0.823637 ms
mapping pub time 2.105782 ms 
whole mapping time 180.435546 ms +++++
mappingCount 2682 & avg mapping time 155.037883 ms ++++++++++++++++++++++
--------------------stamp1317358188.482933044
sort q time 5.368162 
seperate points time 10.639870 
mapping data assosiation time 36.406048 ms 
-----t: 0.0531865
OdomCount 4106 & avg odom time 0.045899 ms ++++++++++++++++++++++
mapping solver time 40.006041 ms 
--------------------stamp1317358188.586971998
mapping data assosiation time 32.602796 ms 
sort q time 4.652082 
seperate points time 11.306909 
mapping pub time 1.964873 ms 
whole mapping time 169.141950 ms +++++
mappingCount 2683 & avg mapping time 155.043142 ms ++++++++++++++++++++++
1317358188.274926901 WriteOdom aft_mapped_to_init
build tree time 19.548691 ms 
mapping data assosiation time 30.639234 ms 
points size 86464 
sort q time 4.788607 
seperate points time 11.244630 
-----t: 0.030814
OdomCount 4108 & avg odom time 0.045892 ms ++++++++++++++++++++++
mapping data assosiation time 32.716156 ms 
mapping solver time 21.161534 ms 
filter time 6.714366 ms 
points size 87030 
sort q time 4.636887 
seperate points time 11.198344 
publication time 8.184299 ms 
whole laserOdometry time 8.200027 ms 
 
mapping solver time 30.266007 ms 
--------------------stamp1317358188.899179935
points size 88199 
sort q time 5.263924 
seperate points time 10.999990 
mapping solver time 30.482923 ms 
filter time 8.964629 ms 
mapping pub time 1.945030 ms 
whole mapping time 167.112827 ms +++++
mappingCount 2685 & avg mapping time 155.047051 ms ++++++++++++++++++++++
1317358188.586971998 WriteOdom aft_mapped_to_init
build tree time 18.865063 ms 
--------------------stamp1317358189.003266096
points size 89015 
sort q time 4.726981 
seperate points time 11.425693 
publication time 8.299923 ms 
whole laserOdometry time 8.314073 ms 
 
mapping solver time 43.313737 ms 
mapping data assosiation time 27.906192 ms 
--------------------stamp1317358189.107331037
prepare time 13.701359 
filter time 8.792882 ms 
mapping pub time 4.407207 ms 
whole mapping time 169.478947 ms +++++
mappingCount 2686 & avg mapping time 155.052425 ms ++++++++++++++++++++++
[0m[ INFO] [1718889702.944241236, 1317358189.128001343]: Received 126152 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889702.944434510, 1317358189.128001343]: Data saved to 1317358188795094.pcd[0m
publication time 7.902230 ms 
whole laserOdometry time 7.915079 ms 
 
-----t: 0.043152
OdomCount 4112 & avg odom time 0.045889 ms ++++++++++++++++++++++
mapping data assosiation time 31.537962 ms 
--------------------stamp1317358189.211393117
prepare time 13.586149 
sort q time 4.892158 
seperate points time 11.259907 
publication time 8.589579 ms 
whole laserOdometry time 8.604614 ms 
 
1317358189.211393117 WriteOdom laser_odom_to_init
mapping solver time 34.366161 ms 
mapping optimization time 158.040862 
add points time 0.772779 ms
map prepare time 2.551560 ms
map corner num 84298  surf num 43017 
points size 92461 
prepare time 14.255293 
build tree time 24.516363 ms 
scan registration time 34.771946 ms *************
mapping data assosiation time 33.825170 ms 
1317358189.315429925 WriteOdom laser_odom_to_init
1317358189.315429925 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 37.222200 ms 
--------------------stamp1317358189.419445037
prepare time 13.604940 
sort q time 5.710957 
seperate points time 12.361544 
publication time 8.414855 ms 
whole laserOdometry time 8.449474 ms 
 
mapping solver time 37.193424 ms 
filter time 6.577210 ms 
build tree time 19.558622 ms 
--------------------stamp1317358189.523437023
prepare time 14.316590 
sort q time 6.352824 
seperate points time 14.147386 
scan registration time 33.534686 ms *************
1317358189.523437023 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 40.050073 ms 
mapping data assosiation time 29.802796 ms 
points size 97587 
add points time 0.810075 ms
map prepare time 2.904977 ms
map corner num 85910  surf num 43604 
publication time 9.561032 ms 
whole laserOdometry time 9.579652 ms 
 
mapping data assosiation time 27.490276 ms 
--------------------stamp1317358189.731370925
points size 101346 
sort q time 5.473687 
seperate points time 12.716892 
-----t: 0.0335152
OdomCount 4118 & avg odom time 0.045879 ms ++++++++++++++++++++++
publication time 10.022956 ms 
whole laserOdometry time 10.065959 ms 
 
mapping solver time 22.452010 ms 
filter time 6.756704 ms 
--------------------stamp1317358189.835339069
prepare time 10.953907 
scan registration time 27.970852 ms *************
publication time 8.873821 ms 
whole laserOdometry time 8.943042 ms 
 
-----t: 0.0422245
OdomCount 4119 & avg odom time 0.045878 ms ++++++++++++++++++++++
1317358189.835339069 WriteOdom laser_odom_to_init
1317358189.835339069 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358189.939284086
points size 101316 
mapping solver time 22.983223 ms 
filter time 9.002857 ms 
publication time 9.259551 ms 
whole laserOdometry time 9.270680 ms 
 
-----t: 0.0552644
OdomCount 4120 & avg odom time 0.045880 ms ++++++++++++++++++++++
mapping data assosiation time 28.921019 ms 
points size 99634 
prepare time 14.069849 
scan registration time 33.574841 ms *************
publication time 11.023701 ms 
whole laserOdometry time 11.037581 ms 
 
mapping data assosiation time 36.909543 ms 
-----t: 0.0656301
OdomCount 4121 & avg odom time 0.045885 ms ++++++++++++++++++++++
mapping solver time 24.278535 ms 
--------------------stamp1317358190.147140979
prepare time 13.004094 
sort q time 5.737871 
seperate points time 13.341876 
scan registration time 29.903978 ms *************
publication time 11.821537 ms 
whole laserOdometry time 11.835537 ms 
 
-----t: 0.0467532
OdomCount 4122 & avg odom time 0.045885 ms ++++++++++++++++++++++
mapping solver time 34.380031 ms 
points size 93949 
sort q time 6.170337 
seperate points time 15.072180 
publication time 8.388658 ms 
whole laserOdometry time 8.402551 ms 
 
mapping solver time 31.942776 ms 
filter time 7.285663 ms 
--------------------stamp1317358190.355099916
points size 91565 
sort q time 4.863469 
seperate points time 12.111159 
mapping data assosiation time 33.615956 ms 
-----t: 0.0402475
OdomCount 4124 & avg odom time 0.045885 ms ++++++++++++++++++++++
mapping solver time 38.411113 ms 
--------------------stamp1317358190.459115028
points size 89032 
prepare time 14.945670 
mapping solver time 34.317172 ms 
filter time 9.087077 ms 
build tree time 18.091162 ms 
--------------------stamp1317358190.563127994
points size 85507 
sort q time 4.589330 
seperate points time 10.880084 
mapping solver time 39.288521 ms 
mapping data assosiation time 28.546790 ms 
mapping solver time 25.823618 ms 
filter time 10.613332 ms 
map prepare time 3.407697 ms
map corner num 90254  surf num 45720 
scan registration time 29.124928 ms *************
build tree time 25.763226 ms 
mapping data assosiation time 27.298756 ms 
mapping solver time 25.570240 ms 
points size 78605 
sort q time 3.995445 
seperate points time 9.415792 
publication time 8.164604 ms 
whole laserOdometry time 8.182101 ms 
 
mapping solver time 28.649695 ms 
filter time 6.842031 ms 
map prepare time 3.478336 ms
map corner num 91164  surf num 46201 
build tree time 26.606638 ms 
points size 78006 
sort q time 4.301530 
seperate points time 9.697688 
publication time 9.445986 ms 
whole laserOdometry time 9.463363 ms 
 
mapping solver time 32.510711 ms 
mapping data assosiation time 33.541005 ms 
points size 79204 
mapping solver time 25.252417 ms 
map prepare time 3.281154 ms
map corner num 92008  surf num 46574 
publication time 19.191173 ms 
whole laserOdometry time 19.207130 ms 
 
build tree time 26.405593 ms 
mapping data assosiation time 34.126713 ms 
points size 81827 
sort q time 5.256399 
seperate points time 10.314230 
publication time 8.091461 ms 
whole laserOdometry time 8.106927 ms 
 
-----t: 0.0440022
OdomCount 4131 & avg odom time 0.045873 ms ++++++++++++++++++++++
mapping solver time 24.250920 ms 
mapping optimization time 154.468818 
add points time 1.134025 ms
--------------------stamp1317358191.187433958
prepare time 13.059605 
sort q time 4.609604 
seperate points time 11.530917 
publication time 8.340604 ms 
whole laserOdometry time 8.395766 ms 
 
1317358191.187433958 WriteOdom laser_odom_to_init
mapping data assosiation time 35.324846 ms 
--------------------stamp1317358191.291591882
points size 90159 
sort q time 4.884687 
seperate points time 12.284419 
mapping data assosiation time 35.057556 ms 
publication time 9.161469 ms 
whole laserOdometry time 9.178283 ms 
 
mapping solver time 29.816835 ms 
mapping optimization time 170.677734 
add points time 1.006236 ms
-----t: 0.0568932
OdomCount 4133 & avg odom time 0.045873 ms ++++++++++++++++++++++
1317358191.291591882 WriteOdom laser_odom_to_init
1317358191.291591882 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358191.395751953
prepare time 11.638910 
scan registration time 28.586843 ms *************
mapping data assosiation time 35.230781 ms 
-----t: 0.043452
OdomCount 4134 & avg odom time 0.045873 ms ++++++++++++++++++++++
mapping solver time 35.810606 ms 
--------------------stamp1317358191.499910116
prepare time 12.084858 
sort q time 5.630682 
seperate points time 12.643418 
mapping solver time 38.256013 ms 
publication time 11.225770 ms 
whole laserOdometry time 11.243701 ms 
 
-----t: 0.060357
OdomCount 4135 & avg odom time 0.045876 ms ++++++++++++++++++++++
build tree time 24.285364 ms 
--------------------stamp1317358191.604046106
mapping data assosiation time 31.856352 ms 
--------------------stamp1317358191.708157062
points size 96517 
mapping solver time 38.369510 ms 
filter time 10.404014 ms 
publication time 9.757143 ms 
whole laserOdometry time 9.769377 ms 
 
-----t: 0.0746751
OdomCount 4137 & avg odom time 0.045883 ms ++++++++++++++++++++++
--------------------stamp1317358191.812242031
prepare time 15.525102 
sort q time 5.509437 
seperate points time 14.001366 
publication time 9.272657 ms 
whole laserOdometry time 9.287004 ms 
 
-----t: 0.0555364
OdomCount 4138 & avg odom time 0.045885 ms ++++++++++++++++++++++
build tree time 24.707424 ms 
--------------------stamp1317358191.916302919
points size 96826 
mapping data assosiation time 39.533362 ms 
publication time 9.934845 ms 
whole laserOdometry time 9.948251 ms 
 
mapping data assosiation time 29.384634 ms 
--------------------stamp1317358192.020368099
prepare time 11.869653 
sort q time 5.972591 
seperate points time 13.360247 
mapping solver time 36.952908 ms 
mapping optimization time 170.685725 
scan registration time 30.386729 ms *************
add points time 2.656192 ms
publication time 14.832523 ms 
whole laserOdometry time 14.848406 ms 
 
-----t: 0.0548284
OdomCount 4140 & avg odom time 0.045888 ms ++++++++++++++++++++++
1317358192.020368099 WriteOdom laser_odom_to_init
1317358192.020368099 WriteOdom aft_mapped_to_init_high_frec
build tree time 26.412753 ms 
--------------------stamp1317358192.124408006
mapping data assosiation time 34.170843 ms 
sort q time 5.824973 
seperate points time 14.007018 
mapping solver time 42.399440 ms 
mapping data assosiation time 30.120105 ms 
--------------------stamp1317358192.228420972
points size 98982 
prepare time 16.384076 
filter time 10.814408 ms 
mapping pub time 2.450329 ms 
whole mapping time 183.494935 ms +++++
mappingCount 2703 & avg mapping time 155.215326 ms ++++++++++++++++++++++
1317358191.916302919 WriteOdom aft_mapped_to_init
scan registration time 34.436683 ms *************
build tree time 27.790257 ms 
publication time 7.985928 ms 
whole laserOdometry time 7.994237 ms 
 
mapping data assosiation time 30.330012 ms 
--------------------stamp1317358192.332434892
prepare time 12.865385 
sort q time 6.671093 
seperate points time 13.733473 
scan registration time 32.148989 ms *************
mapping data assosiation time 36.261873 ms 
mapping solver time 24.081917 ms 
filter time 9.804689 ms 
--------------------stamp1317358192.436400890
prepare time 12.658034 
build tree time 26.348978 ms 
publication time 9.309385 ms 
whole laserOdometry time 9.326930 ms 
 
mapping data assosiation time 37.358523 ms 
mapping solver time 29.940108 ms 
--------------------stamp1317358192.540321111
prepare time 11.764585 
mapping data assosiation time 35.222770 ms 
publication time 7.623116 ms 
whole laserOdometry time 7.637710 ms 
 
mapping solver time 35.036692 ms 
filter time 7.901451 ms 
mapping pub time 2.290114 ms 
whole mapping time 183.314548 ms +++++
mappingCount 2705 & avg mapping time 155.232996 ms ++++++++++++++++++++++
1317358192.228420973 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 22.615059 ms 
points size 101595 
sort q time 5.760801 
seperate points time 13.805961 
-----t: 0.0365364
OdomCount 4146 & avg odom time 0.045881 ms ++++++++++++++++++++++
mapping solver time 32.649078 ms 
mapping data assosiation time 31.015243 ms 
points size 101422 
mapping optimization time 151.253104 
add points time 0.888054 ms
sort q time 5.562528 
seperate points time 14.143235 
filter time 8.831357 ms 
-----t: 0.0396587
OdomCount 4147 & avg odom time 0.045880 ms ++++++++++++++++++++++
build tree time 27.421458 ms 
--------------------stamp1317358192.851814031
points size 101642 
sort q time 5.603990 
seperate points time 14.908842 
mapping solver time 40.625316 ms 
publication time 11.032224 ms 
whole laserOdometry time 11.043923 ms 
 
mapping data assosiation time 36.905972 ms 
--------------------stamp1317358192.955563068
prepare time 12.115945 
drop lidar frame in mapping for real time performance 
build tree time 29.337010 ms 
-----t: 0.0765125
OdomCount 4149 & avg odom time 0.045891 ms ++++++++++++++++++++++
--------------------stamp1317358193.059290885
points size 102123 
prepare time 21.358208 
sort q time 6.285737 
seperate points time 15.099005 
publication time 11.338793 ms 
whole laserOdometry time 11.351170 ms 
 
mapping data assosiation time 36.417357 ms 
mapping solver time 28.871268 ms 
filter time 9.048423 ms 
sort q time 5.858052 
seperate points time 13.670037 
build tree time 29.659922 ms 
publication time 13.364685 ms 
whole laserOdometry time 13.379922 ms 
 
mapping data assosiation time 42.149700 ms 
--------------------stamp1317358193.266817092
prepare time 13.306810 
sort q time 5.883594 
seperate points time 13.514944 
-----t: 0.0400251
OdomCount 4152 & avg odom time 0.045899 ms ++++++++++++++++++++++
1317358193.266817092 WriteOdom laser_odom_to_init
1317358193.266817092 WriteOdom aft_mapped_to_init_high_frec
publication time 11.413667 ms 
whole laserOdometry time 11.433431 ms 
 
mapping data assosiation time 38.640832 ms 
mapping solver time 33.254346 ms 
--------------------stamp1317358193.370568990
prepare time 12.050012 
sort q time 6.115079 
seperate points time 13.515175 
build tree time 26.587979 ms 
publication time 10.682713 ms 
whole laserOdometry time 10.703005 ms 
 
-----t: 0.0542951
OdomCount 4153 & avg odom time 0.045901 ms ++++++++++++++++++++++
1317358193.370568990 WriteOdom laser_odom_to_init
1317358193.370568990 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 37.779663 ms 
--------------------stamp1317358193.474319934
points size 102518 
prepare time 25.590429 
mapping data assosiation time 36.595018 ms publication time 11.709361 ms 
whole laserOdometry time 11.726339 ms 
 
mapping solver time 35.009770 ms 
filter time 9.405673 ms 
--------------------stamp1317358193.578093051
points size 102220 
build tree time 28.780860 ms 
sort q time 6.730966 
seperate points time 16.108117 
publication time 10.053648 ms 
whole laserOdometry time 10.069395 ms 
 
-----t: 0.0593525
OdomCount 4155 & avg odom time 0.045914 ms ++++++++++++++++++++++
mapping solver time 38.510586 ms 
--------------------stamp1317358193.681893110
points size 101802 
sort q time 5.736539 
seperate points time 12.581686 
publication time 11.970471 ms 
whole laserOdometry time 11.989711 ms 
 
mapping solver time 35.410906 ms 
filter time 7.868450 ms 
--------------------stamp1317358193.785691976
points size 101665 
build tree time 31.988365 ms 
sort q time 21.272501 
seperate points time 39.541418 
-----t: 0.0561792
OdomCount 4157 & avg odom time 0.045920 ms ++++++++++++++++++++++
1317358193.785691976 WriteOdom laser_odom_to_init
1317358193.785691976 WriteOdom aft_mapped_to_init_high_frec
publication time 11.013015 ms 
whole laserOdometry time 11.025838 ms 
 
mapping solver time 37.801659 ms 
points size 101634 
prepare time 14.356931 
sort q time 13.491352 
seperate points time 21.404448 
mapping solver time 27.109415 ms 
filter time 9.495156 ms 
map prepare time 3.104863 ms
map corner num 108333  surf num 54598 
--------------------stamp1317358193.993266105
points size 101407 
build tree time 38.294020 ms 
sort q time 5.745201 
seperate points time 13.814351 
-----t: 0.0452065
OdomCount 4159 & avg odom time 0.045922 ms ++++++++++++++++++++++
mapping solver time 31.176405 ms 
points size 101131 
sort q time 5.846879 
seperate points time 13.493390 
publication time 12.229629 ms 
whole laserOdometry time 12.259346 ms 
 
mapping solver time 31.698357 ms 
mapping optimization time 178.043872 
add points time 1.187193 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317358194.200887918
points size 100608 
sort q time 5.482188 
seperate points time 13.621837 
mapping data assosiation time 35.883135 ms 
publication time 10.017467 ms 
whole laserOdometry time 10.032791 ms 
 
mapping solver time 38.981783 ms 
--------------------stamp1317358194.304661035
prepare time 10.409728 
sort q time 5.761822 
seperate points time 13.403057 
publication time 10.702031 ms 
whole laserOdometry time 10.719693 ms 
 
build tree time 27.568944 ms 
--------------------stamp1317358194.408437013
prepare time 15.170280 
sort q time 5.908141 
seperate points time 12.799122 
publication time 9.931959 ms 
whole laserOdometry time 9.946400 ms 
 
mapping solver time 39.203303 ms 
mapping data assosiation time 29.959138 ms 
--------------------stamp1317358194.512188911
points size 97152 
sort q time 6.280603 
seperate points time 11.994631 
publication time 11.155395 ms 
whole laserOdometry time 11.168010 ms 
 
-----t: 0.04529
OdomCount 4164 & avg odom time 0.045917 ms ++++++++++++++++++++++
build tree time 31.285790 ms 
--------------------stamp1317358194.615915060
prepare time 11.311137 
sort q time 5.390628 
seperate points time 10.911563 
publication time 9.139594 ms 
whole laserOdometry time 9.155825 ms 
 
-----t: 0.0568609
OdomCount 4165 & avg odom time 0.045920 ms ++++++++++++++++++++++
mapping data assosiation time 35.588236 ms 
--------------------stamp1317358194.719618082
add points time 0.923195 ms
prepare time 13.312265 
filter time 11.625684 ms 
sort q time 6.403071 
seperate points time 26.865689 
scan registration time 46.106439 ms *************
publication time 9.706326 ms 
whole laserOdometry time 9.734693 ms 
 
-----t: 0.0665505
OdomCount 4166 & avg odom time 0.045925 ms ++++++++++++++++++++++
mapping data assosiation time 33.275273 ms 
points size 94717 
sort q time 5.581255 
seperate points time 12.563518 
mapping solver time 45.047296 ms 
publication time 11.287620 ms 
whole laserOdometry time 11.305206 ms 
 
1317358194.823344945 WriteOdom laser_odom_to_init
1317358194.823344945 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358194.927093982
prepare time 11.891916 
sort q time 5.878906 
seperate points time 12.898642 
publication time 8.748858 ms 
whole laserOdometry time 8.763516 ms 
 
-----t: 0.0481424
OdomCount 4168 & avg odom time 0.045926 ms ++++++++++++++++++++++
mapping data assosiation time 28.108308 ms 
points size 93589 
sort q time 5.390544 
seperate points time 13.039793 
publication time 10.717067 ms 
whole laserOdometry time 10.730695 ms 
 
-----t: 0.0392632
OdomCount 4169 & avg odom time 0.045925 ms ++++++++++++++++++++++
1317358195.030821084 WriteOdom laser_odom_to_init
1317358195.030821084 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 35.144288 ms 
mapping solver time 27.371904 ms 
--------------------stamp1317358195.134572982
filter time 9.166057 ms 
prepare time 13.112445 
sort q time 5.525226 
seperate points time 12.362510 
build tree time 31.104145 ms 
-----t: 0.0523311
OdomCount 4170 & avg odom time 0.045926 ms ++++++++++++++++++++++
1317358195.134572982 WriteOdom laser_odom_to_init
1317358195.134572982 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358195.238347053
points size 92373 
sort q time 7.095552 
seperate points time 19.363661 
mapping data assosiation time 38.977121 ms 
mapping solver time 32.482674 ms 
filter time 8.523443 ms 
map prepare time 3.034739 ms
map corner num 115408  surf num 58481 
points size 91881 
sort q time 4.914386 
seperate points time 11.620554 
publication time 9.117352 ms 
whole laserOdometry time 9.132523 ms 
 
1317358195.342119932 WriteOdom laser_odom_to_init
1317358195.342119932 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.370810 ms 
--------------------stamp1317358195.445919036
points size 92162 
mapping data assosiation time 31.131535 ms 
scan registration time 31.108930 ms *************
mapping solver time 27.938391 ms 
-----t: 0.043622
OdomCount 4173 & avg odom time 0.045926 ms ++++++++++++++++++++++
build tree time 28.970463 ms 
points size 93006 
mapping data assosiation time 31.321556 ms 
publication time 9.294988 ms 
whole laserOdometry time 9.310642 ms 1317358195.549742937 WriteOdom laser_odom_to_init
1317358195.549742937 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.275979 ms 
--------------------stamp1317358195.653541088
points size 94083 
filter time 12.289925 ms 
publication time 9.503653 ms 
whole laserOdometry time 9.519189 ms 
 
--------------------stamp1317358195.757339954
points size 95849 
sort q time 6.215914 
seperate points time 14.573914 
scan registration time 39.832972 ms *************
-----t: 0.0461275
OdomCount 4176 & avg odom time 0.045927 ms ++++++++++++++++++++++
build tree time 30.819311 ms 
--------------------stamp1317358195.861186027
points size 96273 
sort q time 5.630373 
seperate points time 13.327678 
mapping solver time 30.064259 ms 
mapping data assosiation time 29.765469 ms 
mapping solver time 17.586436 ms 
filter time 11.472572 ms 
sort q time 5.483777 
seperate points time 13.597686 
-----t: 0.0487535
OdomCount 4178 & avg odom time 0.045927 ms ++++++++++++++++++++++
mapping data assosiation time 27.606372 ms 
--------------------stamp1317358196.068902015
points size 94734 
sort q time 6.232268 
seperate points time 15.130569 
-----t: 0.0369005
OdomCount 4179 & avg odom time 0.045925 ms ++++++++++++++++++++++
publication time 9.718062 ms 
whole laserOdometry time 9.730477 ms 
 
filter time 8.561520 ms 
--------------------stamp1317358196.172797918
points size 94009 
sort q time 6.235069 
seperate points time 14.658895 
-----t: 0.0397991
OdomCount 4180 & avg odom time 0.045923 ms ++++++++++++++++++++++
mapping solver time 30.579021 ms 
mapping data assosiation time 27.989151 ms 
points size 94835 
sort q time 5.121770 
seperate points time 12.241258 
mapping pub time 14.813663 ms 
whole mapping time 178.059929 ms +++++
mappingCount 2724 & avg mapping time 155.493293 ms ++++++++++++++++++++++
build tree time 32.016653 ms 
--------------------stamp1317358196.380660057
points size 94977 
sort q time 5.256222 
seperate points time 12.409477 
mapping solver time 29.256262 ms 
mapping data assosiation time 28.450324 ms 
mapping solver time 23.295205 ms 
filter time 11.845945 ms 
sort q time 4.909602 
seperate points time 11.592682 
build tree time 30.567895 ms 
mapping data assosiation time 27.215335 ms 
mapping solver time 23.158505 ms 
points size 89850 
mapping data assosiation time 30.365009 ms 
mapping solver time 18.670546 ms 
-----t: 0.0418844
OdomCount 4184 & avg odom time 0.045917 ms ++++++++++++++++++++++
build tree time 28.333905 ms 
points size 87918 
prepare time 13.378257 
sort q time 4.954418 
seperate points time 11.993338 
-----t: 0.0533146
OdomCount 4185 & avg odom time 0.045918 ms ++++++++++++++++++++++
mapping data assosiation time 29.451265 ms 
mapping solver time 17.809656 ms 
filter time 12.431852 ms 
sort q time 5.080989 
seperate points time 12.210819 
build tree time 29.552532 ms 
-----t: 0.0432618
OdomCount 4186 & avg odom time 0.045918 ms ++++++++++++++++++++++
mapping data assosiation time 26.673348 ms 
mapping solver time 26.634432 ms 
points size 88526 
prepare time 14.481578 
publication time 10.037555 ms 
whole laserOdometry time 10.053574 ms 
 
-----t: 0.0483056
OdomCount 4187 & avg odom time 0.045918 ms ++++++++++++++++++++++
1317358196.900518894 WriteOdom laser_odom_to_init
1317358196.900518894 WriteOdom aft_mapped_to_init_high_frec
filter time 8.875915 ms 
mapping pub time 1.971109 ms 
whole mapping time 156.957645 ms +++++
mappingCount 2728 & avg mapping time 155.496612 ms ++++++++++++++++++++++
1317358196.692536116 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 23.311951 ms 
points size 89681 
mapping data assosiation time 31.160870 ms 
scan registration time 34.672859 ms *************
mapping solver time 25.816282 ms 
mapping data assosiation time 30.111256 ms 
mapping solver time 24.054080 ms 
points size 89765 
map prepare time 3.544024 ms
map corner num 111454  surf num 48083 
publication time 9.963656 ms 
whole laserOdometry time 9.977564 ms 
 
-----t: 0.0443574
OdomCount 4189 & avg odom time 0.045917 ms ++++++++++++++++++++++
1317358197.108477115 WriteOdom laser_odom_to_init
1317358197.108477115 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.450833 ms 
--------------------stamp1317358197.212393045
sort q time 5.804312 
seperate points time 11.362423 
publication time 9.436140 ms 
whole laserOdometry time 9.451036 ms 
 
1317358197.212393045 WriteOdom laser_odom_to_init
1317358197.212393045 WriteOdom aft_mapped_to_init_high_frec
filter time 8.952747 ms 
--------------------stamp1317358197.316286087
build tree time 25.400679 ms 
points size 90158 
sort q time 5.383293 
seperate points time 10.780493 
publication time 8.818562 ms 
whole laserOdometry time 8.832850 ms 
 
mapping solver time 31.433672 ms 
mapping data assosiation time 24.235185 ms 
--------------------stamp1317358197.420160055
points size 91114 
[0m[ INFO] [1718889711.260010603, 1317358197.444430058]: Received 161516 data points in frame camera_init with the following fields: x y z intensity[0m
mapping pub time 4.432188 ms 
whole mapping time 157.088077 ms +++++
mappingCount 2731 & avg mapping time 155.497957 ms ++++++++++++++++++++++
publication time 10.860889 ms 
whole laserOdometry time 10.900157 ms 
 
-----t: 0.0413434
OdomCount 4192 & avg odom time 0.045911 ms ++++++++++++++++++++++
mapping data assosiation time 23.866740 ms 
--------------------stamp1317358197.524030923
prepare time 14.644429 
sort q time 5.177389 
seperate points time 12.562369 
mapping data assosiation time 26.297634 ms 
scan registration time 32.710502 ms *************
mapping solver time 18.829097 ms 
filter time 9.300801 ms 
build tree time 25.167984 ms 
prepare time 15.132589 
mapping data assosiation time 28.646478 ms 
sort q time 5.402606 
seperate points time 19.246311 
mapping solver time 35.695696 ms 
publication time 13.890481 ms 
whole laserOdometry time 13.904091 ms 
 
-----t: 0.0558206
OdomCount 4194 & avg odom time 0.045915 ms ++++++++++++++++++++++
--------------------stamp1317358197.731796979
prepare time 11.816940 
map prepare time 3.629322 ms
map corner num 114625  surf num 48852 
build tree time 27.536313 ms 
-----t: 0.0651099
OdomCount 4195 & avg odom time 0.045919 ms ++++++++++++++++++++++
--------------------stamp1317358197.835690975
sort q time 6.447081 
seperate points time 14.209829 
mapping solver time 18.393997 ms 
mapping optimization time 133.079875 
mapping pub time 2.605570 ms 
whole mapping time 152.158424 ms +++++
mappingCount 2734 & avg mapping time 155.492183 ms ++++++++++++++++++++++
1317358197.627902031 WriteOdom aft_mapped_to_init
--------------------stamp1317358197.939560890
points size 94782 
sort q time 5.807076 
seperate points time 12.380228 
publication time 10.598632 ms 
whole laserOdometry time 10.615600 ms 
 
mapping data assosiation time 23.406065 ms 
mapping solver time 23.538516 ms 
filter time 8.549146 ms 
sort q time 5.814549 
seperate points time 13.631465 
publication time 8.927162 ms 
whole laserOdometry time 8.943863 ms 
 
mapping data assosiation time 23.448571 ms 
mapping solver time 24.173340 ms 
points size 95575 
mapping data assosiation time 27.852783 ms 
publication time 9.408151 ms 
whole laserOdometry time 9.417088 ms 
 
mapping solver time 25.116727 ms 
mapping optimization time 132.578022 
add points time 0.907978 ms
-----t: 0.0489357
OdomCount 4199 & avg odom time 0.045920 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
1317358198.147373914 WriteOdom laser_odom_to_init
1317358198.147373914 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.499916 ms
map corner num 116862  surf num 49459 
build tree time 27.224792 ms 
--------------------stamp1317358198.251295089
points size 95934 
mapping data assosiation time 28.792812 ms 
mapping solver time 25.745933 ms 
-----t: 0.0460567
OdomCount 4200 & avg odom time 0.045920 ms ++++++++++++++++++++++
mapping solver time 15.759767 ms 
filter time 10.227827 ms 
points size 95678 
sort q time 5.421180 
seperate points time 12.803416 
publication time 13.383143 ms 
whole laserOdometry time 13.397627 ms 
 
mapping solver time 25.253829 ms 
--------------------stamp1317358198.459178924
mapping data assosiation time 27.704773 ms 
sort q time 5.601066 
seperate points time 13.856239 
scan registration time 32.090639 ms *************
mapping solver time 24.312525 ms 
mapping optimization time 135.165610 
add points time 0.924685 ms
mapping pub time 2.252844 ms 
whole mapping time 154.464048 ms +++++
mappingCount 2738 & avg mapping time 155.482564 ms ++++++++++++++++++++++
build tree time 26.588433 ms 
--------------------stamp1317358198.563122034
prepare time 13.901095 
mapping solver time 22.728470 ms 
sort q time 5.594831 
seperate points time 14.104708 
publication time 10.321363 ms 
whole laserOdometry time 10.335774 ms 
 
mapping solver time 16.912290 ms 
filter time 8.835550 ms 
map prepare time 3.024061 ms
map corner num 119169  surf num 50186 
--------------------stamp1317358198.667089939
points size 98099 
build tree time 30.850261 ms 
mapping data assosiation time 27.355699 ms 
mapping solver time 26.769017 ms 
-----t: 0.0743011
OdomCount 4204 & avg odom time 0.045925 ms ++++++++++++++++++++++
mapping data assosiation time 26.849503 ms 
points size 98247 
prepare time 12.387302 
mapping solver time 20.115087 ms 
mapping optimization time 133.244787 
scan registration time 29.829216 ms *************
publication time 8.960974 ms 
whole laserOdometry time 8.992766 ms 
 
-----t: 0.0525238
OdomCount 4205 & avg odom time 0.045927 ms ++++++++++++++++++++++
mapping data assosiation time 21.067589 ms 
--------------------stamp1317358198.874974966
points size 97196 
mapping solver time 29.222991 ms 
scan registration time 30.222178 ms *************
mapping data assosiation time 27.702813 ms 
-----t: 0.0484576
OdomCount 4206 & avg odom time 0.045927 ms ++++++++++++++++++++++
filter time 10.466377 ms 
--------------------stamp1317358198.978941917
prepare time 14.068436 
sort q time 4.971478 
seperate points time 12.472409 
publication time 11.797661 ms 
whole laserOdometry time 11.809394 ms 
 
-----t: 0.0432087
OdomCount 4207 & avg odom time 0.045927 ms ++++++++++++++++++++++
mapping pub time 126.313894 ms 
whole mapping time 271.189477 ms +++++
mappingCount 2741 & avg mapping time 155.516443 ms ++++++++++++++++++++++
points size 90768 
prepare time 14.623288 
scan registration time 31.970582 ms *************
publication time 9.628035 ms 
whole laserOdometry time 9.643032 ms 
 
mapping solver time 22.205825 ms 
--------------------stamp1317358199.186898946
points size 89032 
mapping solver time 22.468781 ms 
filter time 11.890615 ms 
map prepare time 3.917621 ms
map corner num 121145  surf num 50770 
publication time 9.655735 ms 
whole laserOdometry time 9.669388 ms 
 
build tree time 29.726438 ms 
mapping data assosiation time 23.714950 ms 
points size 88143 
sort q time 5.328798 
seperate points time 12.169267 
mapping solver time 49.351991 ms 
-----t: 0.0429174
OdomCount 4210 & avg odom time 0.045927 ms ++++++++++++++++++++++
1317358199.290939092 WriteOdom laser_odom_to_init
1317358199.290939092 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.558193 ms 
mapping solver time 18.261618 ms 
mapping optimization time 145.634508 
add points time 0.875437 ms
points size 87043 
prepare time 14.131480 
sort q time 4.938594 
seperate points time 12.284621 
scan registration time 32.464188 ms *************
publication time 7.312539 ms 
whole laserOdometry time 7.331982 ms 
 
mapping data assosiation time 25.699437 ms 
1317358199.394953966 WriteOdom laser_odom_to_init
1317358199.394953966 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.405310 ms 
--------------------stamp1317358199.498919963
prepare time 12.562962 
sort q time 5.309700 
seperate points time 11.441616 
publication time 8.507925 ms 
whole laserOdometry time 8.520416 ms 
 
-----t: 0.043655
OdomCount 4212 & avg odom time 0.045929 ms ++++++++++++++++++++++
build tree time 29.401986 ms 
mapping data assosiation time 20.136394 ms 
--------------------stamp1317358199.602907896
prepare time 11.310885 
publication time 7.858704 ms 
whole laserOdometry time 7.872121 ms 
 
mapping optimization time 116.548515 
mapping pub time 1.967951 ms 
whole mapping time 131.032436 ms +++++
mappingCount 2745 & avg mapping time 155.500396 ms ++++++++++++++++++++++
build tree time 25.736355 ms 
--------------------stamp1317358199.706923007
prepare time 12.554791 
sort q time 5.282272 
seperate points time 11.518665 
mapping solver time 21.887617 ms 
publication time 8.505897 ms 
whole laserOdometry time 8.519051 ms 
 
mapping data assosiation time 24.299849 ms 
mapping solver time 17.827335 ms 
filter time 8.329027 ms 
--------------------stamp1317358199.810940980
sort q time 4.553899 
seperate points time 9.539028 
build tree time 27.803971 ms 
mapping data assosiation time 25.273851 ms 
-----t: 0.0506545
OdomCount 4215 & avg odom time 0.045927 ms ++++++++++++++++++++++
mapping data assosiation time 21.166073 ms 
--------------------stamp1317358199.914932012
mapping solver time 15.243738 ms 
points size 83833 
sort q time 4.754705 
seperate points time 11.529099 
scan registration time 30.112574 ms *************
-----t: 0.0366439
OdomCount 4216 & avg odom time 0.045925 ms ++++++++++++++++++++++
mapping data assosiation time 22.218895 ms 
mapping solver time 18.260231 ms 
points size 84747 
sort q time 4.761610 
seperate points time 11.472439 
filter time 9.610493 ms 
1317358199.810940981 WriteOdom aft_mapped_to_init
1317358200.018922090 WriteOdom laser_odom_to_init
1317358200.018922090 WriteOdom aft_mapped_to_init_high_frec
build tree time 26.010023 ms 
--------------------stamp1317358200.122910976
prepare time 13.967587 
sort q time 4.927359 
seperate points time 11.806492 
publication time 9.834455 ms 
whole laserOdometry time 9.846104 ms 
 
-----t: 0.0369051
OdomCount 4218 & avg odom time 0.045923 ms ++++++++++++++++++++++
1317358200.122910976 WriteOdom laser_odom_to_init
1317358200.122910976 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.049623 ms 
mapping solver time 17.583261 ms 
filter time 8.088325 ms 
--------------------stamp1317358200.226877927
prepare time 11.546472 
sort q time 5.530218 
seperate points time 11.779485 
scan registration time 28.126927 ms *************
mapping data assosiation time 32.157618 ms 
mapping solver time 17.742781 ms 
mapping data assosiation time 21.432764 ms 
--------------------stamp1317358200.330846071
prepare time 11.570492 
filter time 8.664934 ms 
sort q time 5.255222 
seperate points time 12.082886 
mapping data assosiation time 21.667552 ms 
mapping solver time 21.395350 ms 
--------------------stamp1317358200.434813976
mapping data assosiation time 22.858419 ms 
mapping solver time 17.034830 ms 
filter time 10.904668 ms 
-----t: 0.0366408
OdomCount 4221 & avg odom time 0.045919 ms ++++++++++++++++++++++
build tree time 29.977980 ms 
mapping data assosiation time 20.629914 ms 
points size 90618 
mapping solver time 18.593268 ms 
mapping data assosiation time 22.603224 ms 
scan registration time 31.266189 ms *************
publication time 8.549690 ms 
whole laserOdometry time 8.563230 ms 
 
mapping data assosiation time 21.654326 ms 
mapping solver time 13.093318 ms 
--------------------stamp1317358200.746640920
scan registration time 37.977890 ms *************
-----t: 0.0387236
OdomCount 4224 & avg odom time 0.045914 ms ++++++++++++++++++++++
mapping data assosiation time 24.402071 ms 
mapping solver time 20.624325 ms 
--------------------stamp1317358200.850559949
prepare time 11.692099 
sort q time 4.696265 
seperate points time 10.256171 
scan registration time 33.741881 ms *************
publication time 8.439400 ms 
whole laserOdometry time 8.454485 ms 
 
-----t: 0.0619764
OdomCount 4225 & avg odom time 0.045918 ms ++++++++++++++++++++++
mapping data assosiation time 21.731426 ms 
points size 89311 
sort q time 6.095325 
seperate points time 13.924740 
mapping data assosiation time 23.265023 ms 
mapping solver time 19.858897 ms 
filter time 11.825398 ms 
--------------------stamp1317358201.058373928
prepare time 12.949954 
sort q time 4.727084 
seperate points time 11.485952 
scan registration time 29.330190 ms *************
mapping data assosiation time 23.981731 ms 
publication time 8.259556 ms 
whole laserOdometry time 8.277421 ms 
 
-----t: 0.0384302
OdomCount 4227 & avg odom time 0.045919 ms ++++++++++++++++++++++
mapping solver time 23.560328 ms 
1317358201.058373928 WriteOdom laser_odom_to_init
1317358201.058373928 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.631034 ms 
mapping solver time 17.097789 ms 
--------------------stamp1317358201.162267923
prepare time 12.361816 
sort q time 15.296496 
seperate points time 21.452125 
build tree time 34.131807 ms 
mapping solver time 18.452096 ms 
--------------------stamp1317358201.266185998
prepare time 13.566166 
sort q time 4.844598 
seperate points time 11.722080 
map prepare time 3.434127 ms
map corner num 131090  surf num 53832 
build tree time 30.261224 ms 
mapping data assosiation time 18.654355 ms 
--------------------stamp1317358201.370104074
points size 84954 
sort q time 4.892047 
seperate points time 11.922034 
scan registration time 29.492437 ms *************
mapping data assosiation time 23.989770 ms 
mapping solver time 15.292010 ms 
filter time 11.121969 ms 
--------------------stamp1317358201.474025011
mapping data assosiation time 20.742084 ms 
publication time 14.495240 ms 
whole laserOdometry time 14.514933 ms 
 
mapping data assosiation time 24.676383 ms 
mapping solver time 17.436625 ms 
filter time 10.829440 ms 
--------------------stamp1317358201.577969074
sort q time 4.508934 
seperate points time 10.637184 
-----t: 0.0322222
OdomCount 4232 & avg odom time 0.045908 ms ++++++++++++++++++++++
mapping data assosiation time 22.228661 ms 
mapping solver time 18.740019 ms 
mapping data assosiation time 18.353780 ms 
--------------------stamp1317358201.681931972
prepare time 13.207667 
filter time 11.570491 ms 
mapping pub time 1.951355 ms 
whole mapping time 133.045249 ms +++++
mappingCount 2760 & avg mapping time 155.378917 ms ++++++++++++++++++++++
1317358201.474025011 WriteOdom aft_mapped_to_init
publication time 8.315319 ms 
whole laserOdometry time 8.327636 ms 
 
build tree time 35.454779 ms 
mapping data assosiation time 18.736064 ms 
mapping solver time 17.042090 ms 
points size 85164 
prepare time 10.537380 
mapping solver time 15.959882 ms 
filter time 12.669044 ms 
1317358201.785923004 WriteOdom laser_odom_to_init
1317358201.785923004 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358201.889915943
sort q time 4.588071 
seperate points time 9.826433 
scan registration time 24.966207 ms *************
mapping pub time 128.354179 ms 
whole mapping time 254.848471 ms +++++
--------------------stamp1317358201.993902921
prepare time 10.801039 
sort q time 5.106215 
seperate points time 12.890685 
publication time 9.730074 ms 
whole laserOdometry time 9.744371 ms 
 
-----t: 0.048148
OdomCount 4236 & avg odom time 0.045909 ms ++++++++++++++++++++++
mapping solver time 14.541029 ms 
filter time 9.318245 ms 
points size 84269 
scan registration time 26.585053 ms *************
publication time 8.973305 ms 
whole laserOdometry time 8.987591 ms 
 
mapping solver time 17.670468 ms 
mapping data assosiation time 17.788935 ms 
--------------------stamp1317358202.201886892
filter time 11.914592 ms 
scan registration time 27.397134 ms *************
publication time 9.338354 ms 
whole laserOdometry time 9.354056 ms 
 
-----t: 0.0418741
OdomCount 4238 & avg odom time 0.045906 ms ++++++++++++++++++++++
mapping data assosiation time 19.151975 ms 
mapping solver time 17.668151 ms 
points size 86046 
sort q time 5.084643 
seperate points time 10.879192 
filter time 11.988405 ms 
build tree time 28.604859 ms 
mapping data assosiation time 18.947461 ms 
points size 86779 
sort q time 5.174335 
seperate points time 11.368996 
mapping data assosiation time 21.090794 ms 
-----t: 0.0342758
OdomCount 4240 & avg odom time 0.045900 ms ++++++++++++++++++++++
1317358202.409869909 WriteOdom laser_odom_to_init
1317358202.409869909 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.156043 ms 
mapping optimization time 109.691640 
add points time 0.712238 ms
mapping pub time 1.898203 ms 
whole mapping time 125.398567 ms +++++
mappingCount 2765 & avg mapping time 155.373295 ms ++++++++++++++++++++++
build tree time 28.240599 ms 
points size 87057 
sort q time 6.099616 
seperate points time 13.695238 
publication time 7.257836 ms 
whole laserOdometry time 7.274351 ms 
 
mapping data assosiation time 20.413799 ms 
mapping solver time 14.028420 ms 
filter time 8.699670 ms 
--------------------stamp1317358202.617877006
points size 87779 
build tree time 34.689370 ms 
mapping data assosiation time 19.889836 ms 
mapping solver time 19.622852 ms 
mapping data assosiation time 17.330861 ms 
mapping solver time 17.613774 ms 
points size 87939 
filter time 11.593368 ms 
mapping pub time 1.962622 ms 
whole mapping time 127.046904 ms +++++
mappingCount 2767 & avg mapping time 155.352141 ms ++++++++++++++++++++++
prepare time 11.691207 
1317358202.513885021 WriteOdom aft_mapped_to_init
map prepare time 3.366508 ms
map corner num 136595  surf num 55466 
sort q time 6.216251 
seperate points time 14.904922 
publication time 8.304918 ms 
whole laserOdometry time 8.316432 ms 
 
-----t: 0.0447873
OdomCount 4243 & avg odom time 0.045896 ms ++++++++++++++++++++++
1317358202.721817016 WriteOdom laser_odom_to_init
1317358202.721817016 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.294571 ms 
--------------------stamp1317358202.825758934
sort q time 4.622767 
seperate points time 10.838000 
filter time 11.487024 ms 
-----t: 0.0461089
OdomCount 4244 & avg odom time 0.045896 ms ++++++++++++++++++++++
build tree time 34.913008 ms 
--------------------stamp1317358202.929702043
mapping solver time 16.210886 ms 
publication time 10.468635 ms 
whole laserOdometry time 10.483042 ms 
 
mapping solver time 17.189112 ms 
map prepare time 3.173347 ms
map corner num 137736  surf num 55765 
--------------------stamp1317358203.033644914
sort q time 4.905017 
seperate points time 11.415577 
publication time 9.102911 ms 
whole laserOdometry time 9.115502 ms 
 
mapping data assosiation time 20.683204 ms 
mapping solver time 15.548130 ms 
filter time 9.738337 ms 
points size 89396 
sort q time 5.707028 
seperate points time 12.042665 
publication time 9.052869 ms 
whole laserOdometry time 9.066748 ms 
 
-----t: 0.0396248
OdomCount 4247 & avg odom time 0.045895 ms ++++++++++++++++++++++
mapping solver time 19.683667 ms 
mapping data assosiation time 19.297035 ms 
--------------------stamp1317358203.241579055
prepare time 11.623335 
filter time 6.297566 ms 
mapping pub time 3.927619 ms 
whole mapping time 116.466247 ms +++++
mappingCount 2771 & avg mapping time 155.313162 ms ++++++++++++++++++++++
1317358203.033644915 WriteOdom aft_mapped_to_init
map prepare time 2.349590 ms
map corner num 86790  surf num 33544 
build tree time 22.660053 ms 
1317358203.241579055 WriteOdom laser_odom_to_init
mapping data assosiation time 24.066355 ms 
mapping solver time 15.828769 ms 
--------------------stamp1317358203.345520973
prepare time 13.264850 
sort q time 5.077075 
seperate points time 12.272483 
-----t: 0.0340452
OdomCount 4249 & avg odom time 0.045891 ms ++++++++++++++++++++++
build tree time 21.314480 ms 
mapping data assosiation time 19.203545 ms 
mapping solver time 19.683239 ms 
points size 91196 
sort q time 4.897071 
seperate points time 11.960701 
filter time 7.606857 ms 
1317358203.449438095 WriteOdom aft_mapped_to_init_high_frec
publication time 12.658306 ms 
whole laserOdometry time 12.669058 ms 
 
mapping data assosiation time 20.170606 ms 
--------------------stamp1317358203.553335905
prepare time 11.499647 
sort q time 5.650296 
seperate points time 12.316119 
mapping solver time 13.121460 ms 
mapping pub time 2.097742 ms 
whole mapping time 113.265126 ms +++++
mappingCount 2774 & avg mapping time 155.269325 ms ++++++++++++++++++++++
1317358203.345520973 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.445549 ms
map corner num 88687  surf num 34099 
build tree time 18.375755 ms 
mapping data assosiation time 19.429013 ms 
points size 94413 
mapping solver time 26.845415 ms 
publication time 8.725265 ms 
whole laserOdometry time 8.742193 ms 
 
mapping solver time 13.548088 ms 
mapping pub time 2.108319 ms 
whole mapping time 113.772111 ms +++++
mappingCount 2775 & avg mapping time 155.254377 ms ++++++++++++++++++++++
build tree time 17.800774 ms 
--------------------stamp1317358203.761120080
points size 95540 
sort q time 5.426872 
seperate points time 12.748324 
-----t: 0.0285913
OdomCount 4253 & avg odom time 0.045880 ms ++++++++++++++++++++++
mapping data assosiation time 23.392102 ms 
mapping solver time 16.370860 ms 
[0m[ INFO] [1718889717.662355922, 1317358203.848366359]: Received 124874 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889717.662396973, 1317358203.848366359]: Data saved to 1317358203657229.pcd[0m
--------------------stamp1317358203.865015029
build tree time 22.474201 ms 
sort q time 5.556328 
seperate points time 12.358852 
scan registration time 29.779206 ms *************
publication time 10.768335 ms 
whole laserOdometry time 10.791374 ms 
 
mapping data assosiation time 20.677482 ms 
mapping solver time 17.210228 ms 
mapping pub time 2.142633 ms 
whole mapping time 125.389514 ms +++++
mappingCount 2777 & avg mapping time 155.230511 ms ++++++++++++++++++++++
sort q time 4.854007 
seperate points time 10.400349 
scan registration time 27.585456 ms *************
mapping data assosiation time 24.906715 ms 
mapping solver time 18.156853 ms 
mapping data assosiation time 21.544681 ms 
points size 93911 
mapping pub time 2.601536 ms 
whole mapping time 123.925686 ms +++++
mappingCount 2778 & avg mapping time 155.219244 ms ++++++++++++++++++++++
build tree time 25.031937 ms 
publication time 12.049587 ms 
whole laserOdometry time 12.063324 ms 
 
mapping data assosiation time 21.492299 ms 
--------------------stamp1317358204.176655054
prepare time 12.143409 
mapping data assosiation time 23.986243 ms 
mapping solver time 19.881516 ms 
mapping optimization time 112.452413 
add points time 0.848414 ms
build tree time 19.723795 ms 
--------------------stamp1317358204.280524015
points size 93894 
sort q time 5.383603 
seperate points time 11.471197 
publication time 7.878236 ms 
whole laserOdometry time 7.915172 ms 
 
mapping solver time 16.251490 ms 
mapping optimization time 111.981886 
add points time 0.834237 ms
--------------------stamp1317358204.384392976
points size 94107 
sort q time 5.637079 
seperate points time 13.595643 
mapping solver time 24.605809 ms 
mapping data assosiation time 21.435588 ms 
mapping solver time 15.648960 ms 
mapping optimization time 105.156215 
add points time 0.894741 ms
points size 94563 
sort q time 5.126270 
seperate points time 12.354552 
publication time 10.751182 ms 
whole laserOdometry time 10.778415 ms 
 
mapping pub time 111.008357 ms 
whole mapping time 226.143172 ms +++++
mappingCount 2781 & avg mapping time 155.224017 ms ++++++++++++++++++++++
points size 93104 
sort q time 5.555676 
seperate points time 12.172219 
mapping data assosiation time 23.657320 ms 
mapping solver time 17.386147 ms 
mapping data assosiation time 19.568338 ms 
mapping solver time 12.659287 ms 
points size 91073 
sort q time 5.165746 
seperate points time 12.927461 
scan registration time 29.858054 ms *************
build tree time 24.963657 ms 
-----t: 0.0348067
OdomCount 4262 & avg odom time 0.045874 ms ++++++++++++++++++++++
mapping data assosiation time 22.399900 ms 
mapping solver time 19.174175 ms 
mapping data assosiation time 21.409399 ms 
points size 89219 
filter time 6.574483 ms 
publication time 7.214640 ms 
whole laserOdometry time 7.227502 ms 
 
mapping data assosiation time 20.916084 ms 
mapping solver time 19.169713 ms 
points size 88803 
sort q time 4.637001 
seperate points time 11.319326 
scan registration time 30.784264 ms *************
mapping solver time 19.505741 ms 
mapping optimization time 108.495668 
mapping pub time 2.231621 ms 
whole mapping time 123.751785 ms +++++
mappingCount 2784 & avg mapping time 155.183825 ms ++++++++++++++++++++++
build tree time 20.981285 ms 
mapping data assosiation time 20.260720 ms 
points size 88690 
sort q time 5.094216 
seperate points time 12.253560 
mapping data assosiation time 22.591977 ms 
mapping solver time 20.369578 ms 
filter time 7.304410 ms 
build tree time 18.906528 ms 
points size 88575 
sort q time 5.526041 
seperate points time 11.755063 
mapping solver time 25.451076 ms 
-----t: 0.0358944
OdomCount 4266 & avg odom time 0.045869 ms ++++++++++++++++++++++
mapping solver time 15.065756 ms 
[0m[ INFO] [1718889719.015546716, 1317358205.201698496]: Received 134023 data points in frame camera_init with the following fields: x y z intensity[0m
--------------------stamp1317358205.215388059
points size 89621 
sort q time 5.073803 
seperate points time 11.976645 
publication time 8.849520 ms 
whole laserOdometry time 8.862404 ms 
 
mapping solver time 32.055744 ms 
mapping data assosiation time 20.513161 ms 
--------------------stamp1317358205.319307088
mapping optimization time 124.531938 
filter time 9.929675 ms 
mapping pub time 2.064985 ms 
whole mapping time 140.126375 ms +++++
mappingCount 2787 & avg mapping time 155.154348 ms ++++++++++++++++++++++
1317358205.111469030 WriteOdom aft_mapped_to_init
sort q time 5.165636 
seperate points time 12.407093 
map prepare time 3.243746 ms
map corner num 97791  surf num 37291 
publication time 9.770790 ms 
whole laserOdometry time 9.788502 ms 
 
mapping data assosiation time 19.661812 ms 
mapping solver time 19.371318 ms 
points size 90476 
sort q time 5.469601 
seperate points time 11.685291 
publication time 8.047362 ms 
whole laserOdometry time 8.059134 ms 
 
map prepare time 2.880337 ms
map corner num 98478  surf num 37630 
build tree time 19.855385 ms 
mapping data assosiation time 19.018126 ms 
--------------------stamp1317358205.527143001
prepare time 15.686705 
sort q time 5.967240 
seperate points time 14.054883 
-----t: 0.0352668
OdomCount 4270 & avg odom time 0.045863 ms ++++++++++++++++++++++
filter time 6.293396 ms 
build tree time 20.426977 ms 
--------------------stamp1317358205.631061077
mapping data assosiation time 23.325945 ms 
sort q time 5.242442 
seperate points time 10.781713 
publication time 6.986948 ms 
whole laserOdometry time 7.004328 ms 
 
mapping data assosiation time 24.048399 ms 
mapping solver time 14.842371 ms 
filter time 6.806049 ms 
--------------------stamp1317358205.734956026
prepare time 11.844725 
sort q time 5.310107 
seperate points time 11.736065 
publication time 8.775049 ms 
whole laserOdometry time 8.788753 ms 
 
mapping data assosiation time 19.776411 ms 
mapping solver time 11.679699 ms 
filter time 6.570711 ms 
--------------------stamp1317358205.838850975
points size 93297 
prepare time 15.693924 
sort q time 6.108446 
seperate points time 15.266856 
mapping data assosiation time 26.334115 ms 
mapping solver time 20.501859 ms 
mapping data assosiation time 22.217988 ms 
--------------------stamp1317358205.942770004
prepare time 14.271205 
map prepare time 3.501050 ms
map corner num 101141  surf num 39818 
publication time 9.023473 ms 
whole laserOdometry time 9.036901 ms 
 
1317358205.942770004 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.495645 ms 
mapping solver time 15.608999 ms 
--------------------stamp1317358206.046665906
points size 93873 
sort q time 5.379265 
seperate points time 10.968761 
filter time 9.650604 ms 
build tree time 26.833744 ms 
mapping data assosiation time 23.650016 ms 
prepare time 14.074549 
sort q time 5.033744 
seperate points time 11.517559 
-----t: 0.0398785
OdomCount 4276 & avg odom time 0.045859 ms ++++++++++++++++++++++
mapping solver time 18.132576 ms 
filter time 7.007534 ms 
--------------------stamp1317358206.254405975
points size 94755 
sort q time 5.418955 
seperate points time 12.299221 
mapping solver time 20.141160 ms 
publication time 7.385451 ms 
whole laserOdometry time 7.400939 ms 
 
-----t: 0.0347763
OdomCount 4277 & avg odom time 0.045857 ms ++++++++++++++++++++++
1317358206.254405975 WriteOdom laser_odom_to_init
1317358206.254405975 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.229598 ms 
mapping solver time 15.399915 ms 
filter time 8.448972 ms 
--------------------stamp1317358206.358278036
points size 93461 
build tree time 24.800886 ms 
publication time 7.406302 ms 
whole laserOdometry time 7.422757 ms 
 
mapping solver time 21.830434 ms 
mapping data assosiation time 20.455589 ms 
--------------------stamp1317358206.462148904
prepare time 14.839775 
[0m[ INFO] [1718889720.291895809, 1317358206.473832653]: Received 145543 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889720.292063524, 1317358206.473832653]: Data saved to 1317358206254405.pcd[0m
mapping data assosiation time 24.656515 ms 
mapping solver time 19.522983 ms 
--------------------stamp1317358206.565994977
points size 91118 
sort q time 4.988304 
seperate points time 11.726072 
filter time 7.002221 ms 
1317358206.565994977 WriteOdom aft_mapped_to_init_high_frec
publication time 9.262312 ms 
whole laserOdometry time 9.270361 ms 
 
build tree time 23.973404 ms 
mapping data assosiation time 19.841212 ms 
--------------------stamp1317358206.669816970
mapping solver time 19.232816 ms 
prepare time 12.441722 
mapping data assosiation time 23.419188 ms 
mapping solver time 15.239781 ms 
mapping pub time 2.173846 ms 
whole mapping time 118.854429 ms +++++
mappingCount 2798 & avg mapping time 155.031008 ms ++++++++++++++++++++++
build tree time 20.410392 ms 
--------------------stamp1317358206.773663997
sort q time 4.420889 
seperate points time 9.909052 
publication time 9.961883 ms 
whole laserOdometry time 9.976323 ms 
 
mapping data assosiation time 22.739312 ms 
mapping solver time 15.950418 ms 
mapping pub time 2.055372 ms 
whole mapping time 117.945974 ms +++++
mappingCount 2799 & avg mapping time 155.017760 ms ++++++++++++++++++++++
--------------------stamp1317358206.877510070
sort q time 4.752645 
seperate points time 9.782049 
publication time 7.572513 ms 
whole laserOdometry time 7.592965 ms 
 
-----t: 0.036338
OdomCount 4283 & avg odom time 0.045848 ms ++++++++++++++++++++++
1317358206.877510070 WriteOdom laser_odom_to_init
1317358206.877510070 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.875748 ms 
mapping optimization time 102.921144 
add points time 0.726919 ms
map prepare time 2.384935 ms
map corner num 106145  surf num 42885 
points size 85068 
build tree time 26.349389 ms 
publication time 6.812127 ms 
whole laserOdometry time 6.827006 ms 
 
mapping solver time 15.838920 ms 
mapping data assosiation time 18.393568 ms 
mapping solver time 15.459107 ms 
filter time 7.039116 ms 
points size 82789 
sort q time 4.561510 
seperate points time 11.053560 
publication time 8.279803 ms 
whole laserOdometry time 8.292632 ms 
 
-----t: 0.0495839
OdomCount 4285 & avg odom time 0.045847 ms ++++++++++++++++++++++
--------------------stamp1317358207.189027070
mapping pub time 128.985905 ms 
whole mapping time 238.543299 ms +++++
mappingCount 2801 & avg mapping time 155.033504 ms ++++++++++++++++++++++
publication time 10.231720 ms 
whole laserOdometry time 10.246381 ms 
 
-----t: 0.0448386
OdomCount 4286 & avg odom time 0.045846 ms ++++++++++++++++++++++
mapping data assosiation time 17.872801 ms 
mapping solver time 16.581573 ms 
--------------------stamp1317358207.292850017
sort q time 4.164826 
seperate points time 9.601805 
map prepare time 3.445787 ms
map corner num 107368  surf num 43279 
1317358207.292850017 WriteOdom aft_mapped_to_init_high_frec
build tree time 26.035352 ms 
mapping data assosiation time 17.698114 ms 
mapping solver time 18.814145 ms 
points size 84651 
mapping data assosiation time 22.275525 ms 
mapping solver time 19.214834 ms 
drop lidar frame in mapping for real time performance 
build tree time 24.289294 ms 
mapping data assosiation time 18.500775 ms 
points size 87948 
sort q time 5.518607 
seperate points time 12.317420 
publication time 8.082600 ms 
whole laserOdometry time 8.094696 ms 
 
mapping solver time 20.024568 ms 
filter time 7.207583 ms 
build tree time 22.880035 ms 
--------------------stamp1317358207.604391098
mapping data assosiation time 21.800599 ms 
sort q time 5.010085 
seperate points time 11.662380 
-----t: 0.0313959
OdomCount 4290 & avg odom time 0.045837 ms ++++++++++++++++++++++
mapping solver time 15.613095 ms 
filter time 7.002104 ms 
--------------------stamp1317358207.708236932
points size 95211 
mapping data assosiation time 22.553419 ms 
sort q time 5.188314 
seperate points time 12.286584 
publication time 8.179705 ms 
whole laserOdometry time 8.200216 ms 
 
mapping data assosiation time 19.137692 ms 
mapping solver time 16.313230 ms 
filter time 7.378479 ms 
points size 94109 
build tree time 26.665214 ms 
mapping data assosiation time 23.625355 ms 
-----t: 0.0444911
OdomCount 4292 & avg odom time 0.045834 ms ++++++++++++++++++++++
mapping data assosiation time 19.805206 ms 
--------------------stamp1317358207.915859937
points size 92437 
map prepare time 3.509263 ms
map corner num 111025  surf num 44503 
build tree time 29.467441 ms 
mapping data assosiation time 23.040089 ms 
mapping solver time 21.966224 ms 
-----t: 0.100943
OdomCount 4293 & avg odom time 0.045847 ms ++++++++++++++++++++++
mapping data assosiation time 25.470039 ms 
scan registration time 32.568684 ms *************
mapping solver time 22.881046 ms 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358208.123455047
prepare time 12.365755 
sort q time 5.358806 
seperate points time 11.158223 
mapping solver time 26.371542 ms 
publication time 26.406127 ms 
whole laserOdometry time 26.423113 ms 
 
-----t: 0.0572646
OdomCount 4295 & avg odom time 0.045851 ms ++++++++++++++++++++++
filter time 7.309176 ms 
mapping pub time 2.045553 ms 
whole mapping time 131.313737 ms +++++
mappingCount 2809 & avg mapping time 154.942500 ms ++++++++++++++++++++++
1317358207.915859938 WriteOdom aft_mapped_to_init
map prepare time 2.596546 ms
map corner num 112432  surf num 44989 
points size 88906 
build tree time 30.143550 ms 
mapping data assosiation time 26.795004 ms 
mapping solver time 22.257354 ms 
mapping data assosiation time 20.782845 ms 
--------------------stamp1317358208.331078052
prepare time 12.138992 
map prepare time 3.237886 ms
map corner num 113277  surf num 45398 
publication time 7.992235 ms 
whole laserOdometry time 8.025856 ms 
 
mapping data assosiation time 19.529626 ms 
mapping solver time 18.486295 ms 
--------------------stamp1317358208.434876918
mapping data assosiation time 26.355478 ms 
scan registration time 26.102652 ms *************
filter time 7.799342 ms 
build tree time 14.408665 ms 
mapping data assosiation time 22.747586 ms 
--------------------stamp1317358208.538698911
prepare time 13.312631 
sort q time 4.836661 
seperate points time 11.376384 
publication time 7.256384 ms 
whole laserOdometry time 7.271048 ms 
 
filter time 6.431110 ms 
map prepare time 2.990295 ms
map corner num 61389  surf num 25741 
build tree time 14.791126 ms 
mapping data assosiation time 20.742346 ms 
points size 87841 
prepare time 11.765283 
mapping solver time 22.924672 ms 
mapping data assosiation time 24.765255 ms 
-----t: 0.0414873
OdomCount 4300 & avg odom time 0.045843 ms ++++++++++++++++++++++
1317358208.642545938 WriteOdom laser_odom_to_init
1317358208.642545938 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.073772 ms 
mapping optimization time 101.549782 
add points time 0.845451 ms
filter time 4.740937 ms 
build tree time 13.134420 ms 
--------------------stamp1317358208.746391057
prepare time 13.495658 
scan registration time 27.798522 ms *************
mapping data assosiation time 25.011569 ms 
mapping solver time 15.149031 ms 
1317358208.642545938 WriteOdom aft_mapped_to_init
build tree time 15.238707 ms 
--------------------stamp1317358208.850261926
mapping data assosiation time 24.816841 ms 
sort q time 5.104824 
seperate points time 11.868379 
-----t: 0.0327777
OdomCount 4302 & avg odom time 0.045839 ms ++++++++++++++++++++++
1317358208.850261926 WriteOdom laser_odom_to_init
1317358208.850261926 WriteOdom aft_mapped_to_init_high_frec
publication time 11.041102 ms 
whole laserOdometry time 11.055045 ms 
 
mapping solver time 17.414373 ms 
mapping pub time 2.010673 ms 
whole mapping time 117.171930 ms +++++
mappingCount 2815 & avg mapping time 154.862516 ms ++++++++++++++++++++++
--------------------stamp1317358208.954109907
prepare time 11.532431 
mapping data assosiation time 23.528150 ms 
publication time 8.421577 ms 
whole laserOdometry time 8.438947 ms 
 
mapping solver time 29.888210 ms 
mapping data assosiation time 21.050201 ms 
mapping solver time 14.043885 ms 
mapping pub time 3.082715 ms 
whole mapping time 114.323758 ms +++++
mappingCount 2816 & avg mapping time 154.848126 ms ++++++++++++++++++++++
points size 94522 
build tree time 17.757498 ms 
publication time 9.221287 ms 
whole laserOdometry time 9.228593 ms 
 
mapping data assosiation time 26.125228 ms 
mapping solver time 18.587108 ms 
mapping data assosiation time 22.268922 ms 
--------------------stamp1317358209.161778926
mapping pub time 2.247120 ms 
whole mapping time 118.823379 ms +++++
mappingCount 2817 & avg mapping time 154.835344 ms ++++++++++++++++++++++
sort q time 7.067821 
seperate points time 13.101395 
scan registration time 42.483634 ms *************
publication time 9.411386 ms 
whole laserOdometry time 9.425898 ms 
 
1317358209.161778926 WriteOdom laser_odom_to_init
1317358209.161778926 WriteOdom aft_mapped_to_init_high_frec--------------------stamp1317358209.265625953
prepare time 16.885781 
sort q time 5.612037 
seperate points time 13.640286 
publication time 10.195657 ms 
whole laserOdometry time 10.212189 ms 
 
build tree time 19.895091 ms 
-----t: 0.0650399
OdomCount 4306 & avg odom time 0.045843 ms ++++++++++++++++++++++
mapping solver time 22.905275 ms 
sort q time 5.439860 
seperate points time 11.433434 
publication time 8.878463 ms 
whole laserOdometry time 8.892097 ms 
 
filter time 4.713104 ms 
build tree time 12.835357 ms 
--------------------stamp1317358209.473268985
points size 97519 
mapping solver time 21.145780 ms 
-----t: 0.0378807
OdomCount 4308 & avg odom time 0.045840 ms ++++++++++++++++++++++
mapping data assosiation time 27.061093 ms 
1317358209.473268985 WriteOdom laser_odom_to_init
1317358209.473268985 WriteOdom aft_mapped_to_init_high_frec
publication time 10.282597 ms 
whole laserOdometry time 10.296385 ms 
 
mapping solver time 16.967300 ms 
mapping pub time 2.353462 ms 
whole mapping time 113.433531 ms +++++
mappingCount 2820 & avg mapping time 154.800446 ms ++++++++++++++++++++++
build tree time 13.352762 ms 
points size 97799 
sort q time 5.739735 
seperate points time 11.719563 
mapping solver time 23.655295 ms 
1317358209.577091932 WriteOdom laser_odom_to_init
mapping solver time 17.881968 ms 
--------------------stamp1317358209.680917978
points size 96020 
prepare time 12.813575 
publication time 10.519830 ms 
whole laserOdometry time 10.549227 ms 
 
-----t: 0.0442793
OdomCount 4310 & avg odom time 0.045838 ms ++++++++++++++++++++++
--------------------stamp1317358209.784746885
drop lidar frame in mapping for real time performance 
sort q time 5.205396 
seperate points time 11.665669 
mapping data assosiation time 26.874988 ms 
mapping solver time 22.392351 ms 
--------------------stamp1317358209.888566970
prepare time 11.098998 
sort q time 5.586443 
seperate points time 12.040013 
mapping solver time 24.688932 ms 
-----t: 0.0437518
OdomCount 4312 & avg odom time 0.045837 ms ++++++++++++++++++++++
mapping data assosiation time 22.514501 ms 
--------------------stamp1317358209.992387056
sort q time 4.629413 
seperate points time 11.102152 
mapping solver time 15.312370 ms 
-----t: 0.0320993
OdomCount 4313 & avg odom time 0.045834 ms ++++++++++++++++++++++
1317358209.992387056 WriteOdom laser_odom_to_init
1317358209.992387056 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 103.459241 
mapping pub time 2.226211 ms 
whole mapping time 116.036607 ms +++++
mappingCount 2823 & avg mapping time 154.807897 ms ++++++++++++++++++++++
build tree time 14.247749 ms 
mapping data assosiation time 21.752661 ms 
points size 88021 
mapping solver time 25.820644 ms 
publication time 8.010784 ms 
whole laserOdometry time 8.024008 ms 
 
-----t: 0.0401064
OdomCount 4314 & avg odom time 0.045832 ms ++++++++++++++++++++++
mapping solver time 14.985354 ms 
mapping pub time 1.973637 ms 
whole mapping time 117.126558 ms +++++
mappingCount 2824 & avg mapping time 154.794555 ms ++++++++++++++++++++++
build tree time 14.298535 ms 
points size 88912 
sort q time 5.484371 
seperate points time 10.657641 
publication time 9.224340 ms 
whole laserOdometry time 9.238924 ms 
 
mapping data assosiation time 24.369012 ms 
mapping solver time 15.719088 ms 
mapping pub time 2.072727 ms 
whole mapping time 112.794176 ms +++++
mappingCount 2825 & avg mapping time 154.779689 ms ++++++++++++++++++++++
build tree time 16.242451 ms 
points size 89768 
mapping data assosiation time 25.060674 ms 
sort q time 5.073691 
seperate points time 19.595724 
-----t: 0.042061
OdomCount 4316 & avg odom time 0.045832 ms ++++++++++++++++++++++
1317358210.303803920 WriteOdom laser_odom_to_init
1317358210.303803920 WriteOdom aft_mapped_to_init_high_frec
publication time 9.193022 ms 
whole laserOdometry time 9.212651 ms 
 
mapping data assosiation time 25.823189 ms 
mapping solver time 14.692044 ms 
mapping optimization time 105.962725 
add points time 0.958889 ms
filter time 5.217290 ms 
points size 90592 
sort q time 5.494474 
seperate points time 13.253903 
mapping data assosiation time 28.391782 ms 
-----t: 0.0504211
OdomCount 4317 & avg odom time 0.045833 ms ++++++++++++++++++++++
mapping solver time 28.411467 ms 
mapping data assosiation time 22.853600 ms 
points size 91864 
sort q time 4.960251 
seperate points time 11.905939 
filter time 5.477466 ms 
-----t: 0.0365901
OdomCount 4318 & avg odom time 0.045831 ms ++++++++++++++++++++++
build tree time 19.002234 ms 
mapping data assosiation time 23.888976 ms 
--------------------stamp1317358210.615250110
prepare time 12.268197 
sort q time 5.170359 
seperate points time 11.928163 
mapping data assosiation time 27.884800 ms 
publication time 8.930018 ms 
whole laserOdometry time 8.944837 ms 
 
filter time 5.317062 ms 
build tree time 15.724704 ms 
--------------------stamp1317358210.719023942
points size 91686 
sort q time 5.086354 
seperate points time 12.008283 
-----t: 0.0348587
OdomCount 4320 & avg odom time 0.045826 ms ++++++++++++++++++++++
mapping solver time 13.642963 ms 
mapping pub time 1.975894 ms 
whole mapping time 119.460061 ms +++++
mappingCount 2829 & avg mapping time 154.741938 ms ++++++++++++++++++++++
--------------------stamp1317358210.822798013
prepare time 12.009413 
sort q time 5.371765 
seperate points time 11.907850 
publication time 8.890332 ms 
whole laserOdometry time 8.905049 ms 
 
mapping data assosiation time 21.261608 ms 
mapping solver time 20.423860 ms 
mapping pub time 2.378717 ms 
whole mapping time 125.608727 ms +++++
mappingCount 2830 & avg mapping time 154.731650 ms ++++++++++++++++++++++
sort q time 5.027731 
seperate points time 11.756587 
publication time 9.190162 ms 
whole laserOdometry time 9.207264 ms 
 
mapping data assosiation time 26.625274 ms 
mapping solver time 19.591795 ms 
mapping data assosiation time 22.341066 ms 
prepare time 13.339966 
add points time 0.822059 ms
mapping pub time 3.203370 ms 
whole mapping time 131.188712 ms +++++
mappingCount 2831 & avg mapping time 154.723336 ms ++++++++++++++++++++++
-----t: 0.0399032
OdomCount 4323 & avg odom time 0.045822 ms ++++++++++++++++++++++
publication time 9.673183 ms 
whole laserOdometry time 9.684682 ms 
 
mapping data assosiation time 23.781413 ms 
--------------------stamp1317358211.134123086
points size 92818 
mapping data assosiation time 26.103594 ms 
mapping solver time 19.178985 ms 
drop lidar frame in mapping for real time performance 
-----t: 0.055783
OdomCount 4324 & avg odom time 0.045825 ms ++++++++++++++++++++++
build tree time 19.606084 ms 
--------------------stamp1317358211.237898111
prepare time 13.567366 
sort q time 5.100983 
seperate points time 12.291805 
mapping data assosiation time 26.846372 ms 
-----t: 0.0603463
OdomCount 4325 & avg odom time 0.045828 ms ++++++++++++++++++++++
mapping pub time 2.124592 ms 
whole mapping time 130.748883 ms +++++
mappingCount 2833 & avg mapping time 154.703820 ms ++++++++++++++++++++++
--------------------stamp1317358211.341697931
prepare time 11.229966 
sort q time 5.278217 
seperate points time 12.239165 
publication time 10.715527 ms 
whole laserOdometry time 10.728614 ms 
 
mapping data assosiation time 22.750675 ms 
mapping solver time 18.144861 ms 
mapping pub time 2.570801 ms 
whole mapping time 118.960204 ms +++++
mappingCount 2834 & avg mapping time 154.691208 ms ++++++++++++++++++++++
build tree time 16.137886 ms 
publication time 10.895580 ms 
whole laserOdometry time 10.923585 ms 
 
-----t: 0.0475277
OdomCount 4327 & avg odom time 0.045827 ms ++++++++++++++++++++++
mapping data assosiation time 23.131466 ms 
--------------------stamp1317358211.549295902
prepare time 13.775445 
sort q time 5.429777 
seperate points time 12.671806 
publication time 9.026207 ms 
whole laserOdometry time 9.065919 ms 
 
mapping data assosiation time 22.103199 ms 
mapping solver time 17.932593 ms 
--------------------stamp1317358211.653119087
prepare time 11.721521 
sort q time 5.266558 
seperate points time 12.197487 
filter time 5.827908 ms 
build tree time 17.990613 ms 
-----t: 0.0660366
OdomCount 4329 & avg odom time 0.045828 ms ++++++++++++++++++++++
--------------------stamp1317358211.756942033
prepare time 12.995483 
sort q time 5.416675 
seperate points time 12.726009 
mapping solver time 19.408583 ms 
mapping pub time 2.161825 ms 
whole mapping time 122.460236 ms +++++
mappingCount 2837 & avg mapping time 154.655653 ms ++++++++++++++++++++++
build tree time 17.149291 ms 
--------------------stamp1317358211.860810041
points size 88992 
prepare time 12.812649 
scan registration time 30.135245 ms *************
mapping data assosiation time 25.802754 ms 
mapping solver time 22.258129 ms 
-----t: 0.0490054
OdomCount 4331 & avg odom time 0.045829 ms ++++++++++++++++++++++
mapping optimization time 108.887596 
1317358211.860810041 WriteOdom laser_odom_to_init
1317358211.860810041 WriteOdom aft_mapped_to_init_high_frec
add points time 0.827730 ms
filter time 5.611318 ms 
mapping pub time 1.981706 ms 
whole mapping time 119.784573 ms +++++
mappingCount 2838 & avg mapping time 154.643367 ms ++++++++++++++++++++++
build tree time 17.795451 ms 
points size 88724 
sort q time 5.091531 
seperate points time 10.868670 
publication time 8.809553 ms 
whole laserOdometry time 8.823462 ms 
 
-----t: 0.0391444
OdomCount 4332 & avg odom time 0.045827 ms ++++++++++++++++++++++
mapping data assosiation time 22.790342 ms 
mapping solver time 18.151868 ms 
mapping pub time 1.989872 ms 
whole mapping time 123.078479 ms +++++
mappingCount 2839 & avg mapping time 154.632250 ms ++++++++++++++++++++++
points size 87763 
sort q time 5.059669 
seperate points time 11.090880 
build tree time 22.912099 ms 
scan registration time 27.234134 ms *************
-----t: 0.035699
OdomCount 4333 & avg odom time 0.045825 ms ++++++++++++++++++++++
1317358212.068624973 WriteOdom laser_odom_to_init
1317358212.068624973 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.567822 ms 
mapping solver time 21.256436 ms 
mapping data assosiation time 20.393846 ms 
points size 86443 
prepare time 11.117017 
mapping solver time 22.265313 ms 
mapping optimization time 117.479742 
mapping pub time 2.321103 ms 
whole mapping time 133.006428 ms +++++
mappingCount 2840 & avg mapping time 154.624639 ms ++++++++++++++++++++++
1317358211.964704037 WriteOdom aft_mapped_to_init
publication time 8.560207 ms 
whole laserOdometry time 8.576032 ms 
 
mapping data assosiation time 20.969910 ms 
mapping solver time 20.495246 ms 
points size 84578 
sort q time 5.000977 
seperate points time 9.918933 
mapping solver time 19.923374 ms 
[0m[ INFO] [1718889726.143477864, 1317358212.323129233]: Received 118131 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889726.143527446, 1317358212.323129233]: Data saved to 1317358212068624.pcd[0m1317358212.276484012 WriteOdom laser_odom_to_init
1317358212.276484012 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358212.380403995
sort q time 4.127788 
seperate points time 9.933709 
publication time 8.017345 ms 
whole laserOdometry time 8.033067 ms 
 
mapping pub time 124.966184 ms 
whole mapping time 246.435461 ms +++++
mappingCount 2841 & avg mapping time 154.656956 ms ++++++++++++++++++++++
build tree time 18.969677 ms 
--------------------stamp1317358212.484273910
prepare time 12.849509 
sort q time 4.559458 
seperate points time 10.973595 
publication time 9.338644 ms 
whole laserOdometry time 9.353066 ms 
 
-----t: 0.04359
OdomCount 4337 & avg odom time 0.045821 ms ++++++++++++++++++++++
mapping solver time 13.437877 ms 
mapping pub time 1.945977 ms 
whole mapping time 112.722300 ms +++++
mappingCount 2842 & avg mapping time 154.642202 ms ++++++++++++++++++++++
--------------------stamp1317358212.588098049
sort q time 4.559351 
seperate points time 10.296076 
publication time 6.731827 ms 
whole laserOdometry time 6.755807 ms 
 
-----t: 0.0390173
OdomCount 4338 & avg odom time 0.045820 ms ++++++++++++++++++++++
mapping data assosiation time 19.155361 ms 
mapping solver time 16.275027 ms 
mapping optimization time 102.512901 
add points time 0.793187 ms
filter time 5.963275 ms 
--------------------stamp1317358212.691921949
sort q time 4.600336 
seperate points time 10.574200 
mapping data assosiation time 23.219663 ms 
mapping solver time 22.059802 ms 
mapping data assosiation time 22.502578 ms 
mapping solver time 16.362137 ms 
prepare time 10.520495 
sort q time 5.296805 
seperate points time 10.359396 
build tree time 22.814502 ms 
mapping data assosiation time 21.823543 ms 
mapping solver time 20.115364 ms 
mapping data assosiation time 19.148207 ms 
points size 81822 
sort q time 4.555523 
seperate points time 10.575583 
-----t: 0.0301896
OdomCount 4341 & avg odom time 0.045809 ms ++++++++++++++++++++++
build tree time 24.398251 ms 
mapping data assosiation time 19.019413 ms 
mapping solver time 18.800650 ms 
points size 83517 
prepare time 10.404108 
mapping data assosiation time 19.193562 ms 
mapping solver time 21.657031 ms 
publication time 10.135733 ms 
whole laserOdometry time 10.152397 ms 
 
-----t: 0.0290612
OdomCount 4342 & avg odom time 0.045805 ms ++++++++++++++++++++++
1317358213.003346920 WriteOdom laser_odom_to_init
1317358213.003346920 WriteOdom aft_mapped_to_init_high_frec
filter time 8.087993 ms 
build tree time 21.536219 ms 
mapping data assosiation time 20.154658 ms 
--------------------stamp1317358213.107193946
prepare time 13.430050 
sort q time 4.814361 
seperate points time 11.542474 
-----t: 0.0327399
publication time 8.401768 ms 
OdomCount 4343 & avg odom time 0.045802 ms ++++++++++++++++++++++
whole laserOdometry time 8.412016 ms 
 
mapping pub time 1.822161 ms 
whole mapping time 116.325833 ms +++++
mappingCount 2847 & avg mapping time 154.578332 ms ++++++++++++++++++++++
build tree time 18.750408 ms 
--------------------stamp1317358213.211083889
prepare time 11.430793 
sort q time 6.538501 
seperate points time 12.819456 
mapping solver time 24.831557 ms 
mapping data assosiation time 22.306356 ms 
-----t: 0.0469007
OdomCount 4344 & avg odom time 0.045802 ms ++++++++++++++++++++++
filter time 5.924174 ms 
build tree time 19.145463 ms 
points size 88477 
mapping data assosiation time 23.658262 ms 
mapping solver time 19.767031 ms 
publication time 11.627654 ms 
whole laserOdometry time 11.643081 ms 
 
mapping data assosiation time 22.174234 ms 
mapping solver time 13.454271 ms 
mapping optimization time 99.228349 
add points time 0.781410 ms
filter time 6.035477 ms 
--------------------stamp1317358213.418898105
prepare time 12.197335 
sort q time 4.407282 
seperate points time 9.946776 
publication time 7.310087 ms 
whole laserOdometry time 7.326703 ms 
 
-----t: 0.0382635
OdomCount 4346 & avg odom time 0.045802 ms ++++++++++++++++++++++
mapping data assosiation time 18.574313 ms 
mapping solver time 11.400372 ms 
mapping optimization time 95.926994 
add points time 0.730360 ms
filter time 5.885118 ms 
--------------------stamp1317358213.522861957
prepare time 12.419157 
scan registration time 26.626702 ms *************
mapping data assosiation time 22.758381 ms 
mapping solver time 20.582585 ms 
mapping data assosiation time 18.846483 ms 
mapping solver time 15.754037 ms 
[0m[ INFO] [1718889727.446633206, 1317358213.624120260]: Received 126808 data points in frame camera_init with the following fields: x y z intensity[0m
mapping pub time 5.667690 ms 
whole mapping time 118.764767 ms +++++
mappingCount 2851 & avg mapping time 154.521176 ms ++++++++++++++++++++++
[0m[ INFO] [1718889727.446703847, 1317358213.624120260]: Data saved to 1317358213418898.pcd[0m
sort q time 4.981081 
seperate points time 10.992333 
mapping data assosiation time 21.945755 ms 
mapping solver time 19.779984 ms 
mapping data assosiation time 18.648974 ms 
--------------------stamp1317358213.730793952
map prepare time 2.718050 ms
map corner num 66683  surf num 26550 
scan registration time 26.698164 ms *************
publication time 8.194390 ms 
whole laserOdometry time 8.206252 ms 
 
mapping data assosiation time 22.072047 ms 
mapping solver time 17.122977 ms 
mapping data assosiation time 20.552579 ms 
--------------------stamp1317358213.834763050
map prepare time 2.639302 ms
map corner num 67199  surf num 26719 
build tree time 16.307577 ms 
-----t: 0.0372632
OdomCount 4350 & avg odom time 0.045794 ms ++++++++++++++++++++++
mapping solver time 17.742923 ms 
mapping data assosiation time 20.902150 ms 
points size 84934 
filter time 5.280275 ms 
mapping pub time 1.999114 ms 
whole mapping time 107.917805 ms +++++
mappingCount 2854 & avg mapping time 154.470180 ms ++++++++++++++++++++++
publication time 7.058205 ms 
whole laserOdometry time 7.073963 ms 
 
build tree time 17.448065 ms 
-----t: 0.0398481
OdomCount 4351 & avg odom time 0.045792 ms ++++++++++++++++++++++
1317358213.938752889 WriteOdom laser_odom_to_init
1317358213.938752889 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.438890 ms 
mapping data assosiation time 17.268930 ms 
points size 82220 
filter time 6.522318 ms 
mapping pub time 2.064746 ms 
whole mapping time 106.327009 ms +++++
mappingCount 2855 & avg mapping time 154.453319 ms ++++++++++++++++++++++
1317358213.834763050 WriteOdom aft_mapped_to_init
publication time 7.914428 ms 
whole laserOdometry time 7.928430 ms 
 
mapping data assosiation time 19.240806 ms 
mapping solver time 16.383056 ms 
mapping data assosiation time 19.437009 ms 
points size 81585 
add points time 1.157603 ms
map prepare time 2.799829 ms
map corner num 68896  surf num 27225 
-----t: 0.0314525
OdomCount 4353 & avg odom time 0.045785 ms ++++++++++++++++++++++
mapping data assosiation time 19.423349 ms 
mapping solver time 16.692012 ms 
--------------------stamp1317358214.250677108
prepare time 12.822271 
mapping solver time 21.880490 ms 
1317358214.042742968 WriteOdom aft_mapped_to_init
publication time 8.421588 ms 
whole laserOdometry time 8.436373 ms 
 
-----t: 0.0662455
OdomCount 4354 & avg odom time 0.045790 ms ++++++++++++++++++++++
--------------------stamp1317358214.354619026
sort q time 4.219129 
seperate points time 8.919534 
mapping solver time 18.001960 ms 
mapping optimization time 109.995725 
add points time 0.821813 ms
build tree time 15.896047 ms 
mapping data assosiation time 19.805856 ms 
points size 82886 
sort q time 4.730123 
seperate points time 11.670895 
-----t: 0.0419224
OdomCount 4356 & avg odom time 0.045791 ms ++++++++++++++++++++++
filter time 6.922406 ms 
build tree time 15.397772 ms 
points size 85373 
sort q time 6.145766 
seperate points time 11.668955 
publication time 7.335403 ms 
whole laserOdometry time 7.348951 ms 
 
mapping data assosiation time 22.364817 ms 
mapping solver time 18.090004 ms 
mapping pub time 1.947017 ms 
whole mapping time 119.652063 ms +++++
mappingCount 2860 & avg mapping time 154.383985 ms ++++++++++++++++++++++
1317358214.458539963 WriteOdom aft_mapped_to_init
map prepare time 2.371523 ms
map corner num 71466  surf num 28299 
build tree time 15.428406 ms 
sort q time 5.185747 
seperate points time 10.426427 
publication time 8.103300 ms 
whole laserOdometry time 8.118867 ms 
 
1317358214.666425943 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.220280 ms 
mapping data assosiation time 23.312797 ms 
mapping solver time 18.189710 ms 
[0m[ INFO] [1718889728.592458960, 1317358214.773092646]: Received 100943 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889728.592498261, 1317358214.773092646]: Data saved to 1317358214562483.pcd[0m
sort q time 5.306866 
seperate points time 11.524987 
publication time 9.224462 ms 
whole laserOdometry time 9.238061 ms 
 
--------------------stamp1317358214.874263048
prepare time 13.573390 
sort q time 4.490027 
seperate points time 11.619829 
map prepare time 3.293387 ms
map corner num 72220  surf num 28723 
publication time 20.318306 ms 
whole laserOdometry time 20.333096 ms mapping data assosiation time 21.478457 ms 
mapping solver time 21.279357 ms 
prepare time 10.466149 
mapping data assosiation time 27.043233 ms 
publication time 9.928348 ms 
whole laserOdometry time 9.943255 ms 
 
filter time 6.613721 ms 
build tree time 14.980788 ms 
mapping data assosiation time 22.661547 ms 
points size 85404 
sort q time 4.815604 
seperate points time 11.080987 
mapping data assosiation time 26.054101 ms 
mapping solver time 21.155775 ms 
map prepare time 2.416069 ms
map corner num 73961  surf num 29534 
build tree time 14.450907 ms 
--------------------stamp1317358215.186067104
points size 85062 
sort q time 4.690853 
seperate points time 11.126951 
mapping solver time 25.961728 ms 
mapping data assosiation time 22.850143 ms 
mapping solver time 15.595751 ms 
1317358215.082146883 WriteOdom aft_mapped_to_init
build tree time 19.252187 ms 
points size 85392 
sort q time 5.525816 
seperate points time 13.293082 
publication time 8.462848 ms 
whole laserOdometry time 8.492569 ms 
 
mapping solver time 22.463469 ms 
mapping data assosiation time 22.688556 ms 
mapping optimization time 112.537089 
mapping pub time 2.178402 ms 
whole mapping time 126.236395 ms +++++
mappingCount 2865 & avg mapping time 154.371774 ms ++++++++++++++++++++++
sort q time 4.972936 
seperate points time 12.163268 
publication time 8.118281 ms 
whole laserOdometry time 8.135742 ms 
 
-----t: 0.046203
OdomCount 4365 & avg odom time 0.045771 ms ++++++++++++++++++++++
mapping solver time 19.231180 ms 
mapping data assosiation time 19.382599 ms 
points size 84159 
1317358215.290011883 WriteOdom aft_mapped_to_init
scan registration time 37.213099 ms *************
build tree time 20.786028 ms 
mapping data assosiation time 24.781295 ms 
mapping solver time 28.880667 ms 
prepare time 11.836067 
--------------------stamp1317358215.705806970
prepare time 12.689600 
sort q time 5.287395 
seperate points time 11.438044 
scan registration time 27.836384 ms *************
mapping solver time 26.178318 ms 
-----t: 0.0356982
OdomCount 4368 & avg odom time 0.045766 ms ++++++++++++++++++++++
mapping data assosiation time 24.055607 ms 
mapping solver time 17.233406 ms 
mapping optimization time 111.869603 
add points time 0.838235 ms
filter time 5.873499 ms 
--------------------stamp1317358215.809747934
prepare time 14.812063 
scan registration time 31.419408 ms *************
publication time 6.931186 ms 
whole laserOdometry time 6.943956 ms 
 
mapping data assosiation time 19.647117 ms 
mapping solver time 15.697786 ms 
mapping pub time 1.856102 ms 
whole mapping time 113.522914 ms +++++
mappingCount 2869 & avg mapping time 154.329091 ms ++++++++++++++++++++++
points size 80643 
sort q time 4.891921 
seperate points time 11.648626 
mapping data assosiation time 22.482865 ms 
mapping solver time 15.837432 ms 
mapping data assosiation time 19.318186 ms 
mapping solver time 11.197258 ms 
mapping pub time 1.899316 ms 
whole mapping time 104.020275 ms +++++
mappingCount 2870 & avg mapping time 154.311567 ms ++++++++++++++++++++++
points size 79953 
sort q time 4.454538 
seperate points time 10.057236 
mapping data assosiation time 22.331643 ms 
publication time 7.307060 ms 
whole laserOdometry time 7.319058 ms 
 
-----t: 0.0311047
OdomCount 4371 & avg odom time 0.045757 ms ++++++++++++++++++++++
1317358216.017563104 WriteOdom laser_odom_to_init
1317358216.017563104 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.004482 ms 
mapping data assosiation time 18.698717 ms 
mapping solver time 13.947362 ms 
[0m[ INFO] [1718889729.940289185, 1317358216.120145655]: Received 111244 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889729.940349845, 1317358216.120145655]: Data saved to 1317358215913666.pcd[0m
sort q time 4.524724 
seperate points time 10.842687 
-----t: 0.0283559
OdomCount 4372 & avg odom time 0.045753 ms ++++++++++++++++++++++
mapping solver time 15.209295 ms 
mapping data assosiation time 18.285563 ms 
mapping solver time 16.248887 ms 
filter time 8.414892 ms 
sort q time 4.556719 
seperate points time 11.041146 
-----t: 0.0280644
OdomCount 4373 & avg odom time 0.045749 ms ++++++++++++++++++++++
mapping data assosiation time 22.019867 ms 
mapping solver time 15.956324 ms 
mapping data assosiation time 18.837223 ms 
--------------------stamp1317358216.329366922
prepare time 13.330925 
filter time 6.400014 ms 
publication time 7.458601 ms 
whole laserOdometry time 7.470579 ms 
 
-----t: 0.0446131
OdomCount 4374 & avg odom time 0.045749 ms ++++++++++++++++++++++
mapping data assosiation time 19.632539 ms 
mapping solver time 20.744557 ms 
--------------------stamp1317358216.433285951
prepare time 10.705765 
sort q time 4.699870 
seperate points time 9.457326 
filter time 7.713763 ms 
-----t: 0.0473802
OdomCount 4375 & avg odom time 0.045750 ms ++++++++++++++++++++++
mapping data assosiation time 27.988035 ms 
--------------------stamp1317358216.537201881
prepare time 10.522309 
scan registration time 24.352195 ms *************
publication time 6.200194 ms 
whole laserOdometry time 6.213793 ms 
 
mapping data assosiation time 21.422459 ms 
mapping solver time 16.114339 ms 
mapping pub time 1.927825 ms 
whole mapping time 128.605498 ms +++++
mappingCount 2875 & avg mapping time 154.243551 ms ++++++++++++++++++++++
1317358216.329366922 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.191433 ms
map corner num 81957  surf num 32499 
build tree time 17.187082 ms 
mapping data assosiation time 18.288404 ms 
points size 79716 
sort q time 4.387571 
seperate points time 9.897006 
-----t: 0.0282436
OdomCount 4377 & avg odom time 0.045742 ms ++++++++++++++++++++++
mapping solver time 12.277420 ms 
filter time 5.911450 ms 
build tree time 15.872451 ms 
mapping data assosiation time 17.437899 ms 
points size 80318 
sort q time 4.966133 
seperate points time 10.077954 
mapping data assosiation time 20.199231 ms 
publication time 7.936705 ms 
whole laserOdometry time 7.952012 ms 
 
filter time 5.585410 ms 
build tree time 18.541419 ms 
--------------------stamp1317358216.848958015
prepare time 12.926851 
mapping solver time 18.891975 ms 
scan registration time 36.372548 ms *************
-----t: 0.0303623
OdomCount 4379 & avg odom time 0.045735 ms ++++++++++++++++++++++
mapping solver time 12.452311 ms 
map prepare time 2.583052 ms
map corner num 83566  surf num 33082 
build tree time 19.542739 ms 
--------------------stamp1317358216.952877998
points size 81215 
mapping solver time 16.774473 ms 
mapping data assosiation time 19.586460 ms 
mapping solver time 13.280518 ms 
mapping pub time 1.923771 ms 
whole mapping time 102.377171 ms +++++
mappingCount 2879 & avg mapping time 154.171287 ms ++++++++++++++++++++++
build tree time 18.242159 ms 
--------------------stamp1317358217.056796073
sort q time 4.204567 
seperate points time 8.647964 
-----t: 0.026113
OdomCount 4381 & avg odom time 0.045727 ms ++++++++++++++++++++++
mapping solver time 14.326207 ms 
mapping pub time 1.834598 ms 
whole mapping time 101.148655 ms +++++
mappingCount 2880 & avg mapping time 154.152878 ms ++++++++++++++++++++++
1317358216.952877998 WriteOdom aft_mapped_to_init
map prepare time 2.018140 ms
map corner num 84607  surf num 33437 
build tree time 17.376108 ms 
mapping data assosiation time 17.091238 ms 
--------------------stamp1317358217.160715103
prepare time 11.066528 
mapping solver time 19.138160 ms 
mapping data assosiation time 20.213829 ms 
publication time 6.453525 ms 
whole laserOdometry time 6.470536 ms 
 
-----t: 0.0285391
OdomCount 4382 & avg odom time 0.045724 ms ++++++++++++++++++++++
1317358217.160715103 WriteOdom laser_odom_to_init
1317358217.160715103 WriteOdom aft_mapped_to_init_high_frec
filter time 5.458867 ms 
--------------------stamp1317358217.264611959
points size 81591 
scan registration time 27.369215 ms *************
publication time 7.925103 ms 
whole laserOdometry time 7.938085 ms 
 
mapping pub time 130.354551 ms 
whole mapping time 228.361688 ms +++++
mappingCount 2881 & avg mapping time 154.178637 ms ++++++++++++++++++++++
--------------------stamp1317358217.368482112
sort q time 5.584547 
seperate points time 10.548252 
-----t: 0.0358807
OdomCount 4384 & avg odom time 0.045720 ms ++++++++++++++++++++++
mapping data assosiation time 17.597528 ms 
mapping solver time 11.343371 ms 
mapping pub time 1.802118 ms 
whole mapping time 103.556118 ms +++++
mappingCount 2882 & avg mapping time 154.161074 ms ++++++++++++++++++++++
--------------------stamp1317358217.472351074
build tree time 21.829482 ms 
sort q time 5.524653 
seperate points time 12.985481 
scan registration time 33.761552 ms *************
mapping data assosiation time 23.267813 ms 
mapping solver time 22.971141 ms 
mapping data assosiation time 20.292239 ms 
mapping solver time 12.970224 ms 
1317358217.368482113 WriteOdom aft_mapped_to_init
prepare time 11.238375 
sort q time 4.572552 
seperate points time 10.841579 
publication time 8.117093 ms 
whole laserOdometry time 8.146803 ms 
 
mapping solver time 15.186488 ms 
mapping data assosiation time 18.347930 ms 
mapping solver time 11.427998 ms 
mapping pub time 2.598022 ms 
whole mapping time 102.377653 ms +++++
mappingCount 2884 & avg mapping time 154.129534 ms ++++++++++++++++++++++
prepare time 13.076661 
sort q time 4.678058 
seperate points time 11.077584 
build tree time 19.918069 ms 
-----t: 0.0310012
OdomCount 4387 & avg odom time 0.045713 ms ++++++++++++++++++++++
mapping solver time 15.900168 ms 
mapping data assosiation time 17.104508 ms 
mapping solver time 11.396549 ms 
mapping optimization time 86.878292 
add points time 0.821107 ms
filter time 5.590262 ms 
points size 88789 
build tree time 20.235031 ms 
publication time 7.478003 ms 
whole laserOdometry time 7.493886 ms 
 
mapping solver time 15.838787 ms 
mapping data assosiation time 19.977767 ms 
mapping solver time 11.280235 ms 
[0m[ INFO] [1718889731.703167938, 1317358217.880495279]: Received 123432 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889731.703245964, 1317358217.880495279]: Data saved to 1317358217680144.pcd[0m
points size 89458 
build tree time 24.453005 ms 
publication time 8.143601 ms 
whole laserOdometry time 8.154994 ms 
 
mapping solver time 19.894241 ms 
mapping data assosiation time 23.134276 ms 
points size 89448 
prepare time 12.147250 
filter time 11.886991 ms 
-----t: 0.0329144
OdomCount 4390 & avg odom time 0.045707 ms ++++++++++++++++++++++
build tree time 24.739742 ms 
mapping data assosiation time 24.036682 ms 
--------------------stamp1317358218.095627069
sort q time 5.705917 
seperate points time 12.759515 
mapping solver time 16.592402 ms 
drop lidar frame in mapping for real time performance 
build tree time 25.118424 ms 
--------------------stamp1317358218.199474096
points size 89186 
sort q time 4.883192 
seperate points time 11.627235 
mapping solver time 31.876590 ms 
mapping data assosiation time 26.776187 ms 
mapping solver time 20.770567 ms 
--------------------stamp1317358218.303318977
points size 89000 
sort q time 4.770943 
seperate points time 11.488230 
publication time 8.282269 ms 
whole laserOdometry time 8.298663 ms 
 
-----t: 0.0553669
OdomCount 4393 & avg odom time 0.045711 ms ++++++++++++++++++++++
mapping data assosiation time 18.845442 ms 
points size 88710 
filter time 6.254545 ms 
publication time 7.662133 ms 
whole laserOdometry time 7.680819 ms 
 
build tree time 22.934098 ms 
-----t: 0.050716
OdomCount 4394 & avg odom time 0.045713 ms ++++++++++++++++++++++
mapping data assosiation time 24.456467 ms 
mapping solver time 21.860714 ms 
prepare time 11.455483 
sort q time 4.831577 
seperate points time 11.408910 
mapping solver time 15.852538 ms 
[0m[ INFO] [1718889732.376873978, 1317358218.559415877]: Received 128673 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889732.376919057, 1317358218.559415877]: Data saved to 1317358218303318.pcd[0m
build tree time 20.214238 ms 
mapping data assosiation time 19.977402 ms 
points size 88834 
sort q time 5.152638 
seperate points time 11.593895 
mapping data assosiation time 24.572736 ms 
publication time 10.610836 ms 
whole laserOdometry time 10.623559 ms 
 
filter time 6.347666 ms 
mapping pub time 1.952336 ms 
whole mapping time 117.563155 ms +++++
mappingCount 2892 & avg mapping time 154.042229 ms ++++++++++++++++++++++
1317358218.407162905 WriteOdom aft_mapped_to_init
map prepare time 2.214358 ms
map corner num 60742  surf num 23184 
build tree time 12.955567 ms 
--------------------stamp1317358218.718585968
prepare time 13.271111 
publication time 8.709490 ms 
whole laserOdometry time 8.723774 ms 
 
mapping solver time 17.181490 ms 
map prepare time 2.175107 ms
map corner num 61663  surf num 23655 
build tree time 12.220342 ms 
points size 91211 
mapping solver time 21.648388 ms 
-----t: 0.0400899
OdomCount 4398 & avg odom time 0.045707 ms ++++++++++++++++++++++
mapping solver time 14.193182 ms 
map prepare time 2.789842 ms
map corner num 62485  surf num 24026 
points size 93799 
sort q time 5.268333 
seperate points time 12.521239 
publication time 8.763285 ms 
whole laserOdometry time 8.777640 ms 
 
mapping data assosiation time 21.874961 ms 
mapping solver time 17.979970 ms 
mapping optimization time 106.496847 
add points time 0.835321 ms
points size 94412 
prepare time 14.282563 
scan registration time 31.877692 ms *************
publication time 9.250713 ms 
whole laserOdometry time 9.276275 ms 
 
mapping solver time 17.919515 ms 
mapping data assosiation time 20.870812 ms 
--------------------stamp1317358219.133805036
mapping pub time 3.233819 ms 
whole mapping time 111.547300 ms +++++
mappingCount 2896 & avg mapping time 153.985551 ms ++++++++++++++++++++++
sort q time 5.549809 
seperate points time 12.638208 
scan registration time 29.450829 ms *************
build tree time 16.421942 ms 
-----t: 0.0376758
OdomCount 4401 & avg odom time 0.045700 ms ++++++++++++++++++++++
mapping solver time 22.807400 ms 
--------------------stamp1317358219.237602949
points size 91504 
mapping solver time 15.901072 ms 
map prepare time 3.000718 ms
map corner num 64779  surf num 25099 
-----t: 0.0612954
OdomCount 4402 & avg odom time 0.045704 ms ++++++++++++++++++++++
mapping solver time 19.163022 ms 
points size 90587 
mapping data assosiation time 26.674564 ms 
mapping solver time 17.733021 ms 
drop lidar frame in mapping for real time performance 
build tree time 16.185021 ms 
mapping data assosiation time 24.558863 ms 
points size 90197 
sort q time 4.837554 
seperate points time 11.817694 
mapping data assosiation time 27.519545 ms 
mapping solver time 23.138303 ms 
map prepare time 2.637089 ms
map corner num 66387  surf num 25878 
build tree time 17.183101 ms 
points size 90322 
mapping data assosiation time 25.146349 ms 
publication time 9.071616 ms 
whole laserOdometry time 9.084764 ms 
 
mapping data assosiation time 24.406718 ms 
mapping solver time 20.589840 ms 
mapping pub time 2.412787 ms 
whole mapping time 130.861562 ms +++++
mappingCount 2900 & avg mapping time 153.945702 ms ++++++++++++++++++++++
build tree time 15.610224 ms 
publication time 8.924835 ms 
whole laserOdometry time 8.939065 ms 
 
mapping solver time 25.016656 ms 
mapping data assosiation time 23.989995 ms 
prepare time 11.529092 
sort q time 5.728439 
seperate points time 11.676721 
publication time 9.379103 ms 
whole laserOdometry time 9.395397 ms 
 
--------------------stamp1317358219.860263109
prepare time 12.914425 
sort q time 5.317568 
seperate points time 12.433871 
-----t: 0.0380002
OdomCount 4408 & avg odom time 0.045696 ms ++++++++++++++++++++++
--------------------stamp1317358219.964013099
mapping pub time 196.435004 ms 
whole mapping time 322.140664 ms +++++
mappingCount 2901 & avg mapping time 154.003682 ms ++++++++++++++++++++++
1317358219.549000978 WriteOdom aft_mapped_to_init
sort q time 5.607387 
seperate points time 12.879978 
build tree time 18.196706 ms 
publication time 10.889661 ms 
whole laserOdometry time 10.904710 ms 
 
mapping data assosiation time 29.353647 ms 
mapping solver time 25.048807 ms 
points size 96797 
mapping data assosiation time 29.463082 ms 
publication time 10.078398 ms 
whole laserOdometry time 10.108842 ms 
 
filter time 7.219409 ms 
build tree time 13.478086 ms 
--------------------stamp1317358220.171551942
prepare time 12.665680 
mapping solver time 24.317979 ms 
publication time 8.682903 ms 
whole laserOdometry time 8.695582 ms 
 
mapping solver time 14.781484 ms 
mapping pub time 2.269624 ms 
whole mapping time 114.090670 ms +++++
mappingCount 2903 & avg mapping time 153.987412 ms ++++++++++++++++++++++
build tree time 15.577395 ms 
points size 97205 
mapping data assosiation time 29.071594 ms 
publication time 9.402972 ms 
whole laserOdometry time 9.417333 ms 
 
-----t: 0.0503085
OdomCount 4412 & avg odom time 0.045694 ms ++++++++++++++++++++++
mapping data assosiation time 27.022764 ms 
mapping solver time 20.052625 ms 
points size 96494 
sort q time 5.693892 
seperate points time 13.265978 
publication time 10.066860 ms 
whole laserOdometry time 10.083963 ms 
 
mapping solver time 15.212575 ms 
mapping data assosiation time 22.981115 ms 
points size 97095 
filter time 7.143915 ms 
publication time 9.373394 ms 
whole laserOdometry time 9.390775 ms 
 
mapping data assosiation time 22.496780 ms 
mapping solver time 23.160712 ms 
--------------------stamp1317358220.586673974
prepare time 17.850300 
sort q time 5.322868 
seperate points time 12.810547 
mapping solver time 25.907958 ms 
publication time 9.817175 ms 
whole laserOdometry time 9.843589 ms 
 
build tree time 14.812076 ms 
mapping data assosiation time 23.231581 ms 
points size 95832 
prepare time 14.618820 
mapping solver time 23.658591 ms 
publication time 12.134812 ms 
whole laserOdometry time 12.155286 ms 
 
mapping solver time 16.457807 ms 
map prepare time 2.478587 ms
map corner num 73333  surf num 28369 
build tree time 14.622704 ms 
points size 91684 
mapping data assosiation time 28.516772 ms 
mapping solver time 24.590476 ms 
mapping data assosiation time 26.247342 ms 
mapping solver time 14.775332 ms 
mapping pub time 2.127809 ms 
whole mapping time 121.154650 ms +++++
mappingCount 2908 & avg mapping time 153.940894 ms ++++++++++++++++++++++
prepare time 10.890630 
build tree time 19.497856 ms 
mapping data assosiation time 24.620600 ms 
mapping solver time 23.868200 ms 
mapping data assosiation time 23.089849 ms 
points size 88590 
filter time 6.212873 ms 
build tree time 15.594505 ms 
mapping solver time 18.445206 ms 
--------------------stamp1317358221.105737924
mapping data assosiation time 26.041683 ms 
sort q time 4.712463 
seperate points time 11.331908 
-----t: 0.029514
OdomCount 4420 & avg odom time 0.045677 ms ++++++++++++++++++++++
build tree time 15.063210 ms 
mapping data assosiation time 23.226836 ms 
--------------------stamp1317358221.209537029
prepare time 12.607977 
sort q time 4.798452 
seperate points time 11.154359 
mapping data assosiation time 27.119059 ms 
-----t: 0.0390032
OdomCount 4421 & avg odom time 0.045675 ms ++++++++++++++++++++++
filter time 5.919038 ms 
build tree time 15.133105 ms 
--------------------stamp1317358221.313335895
prepare time 10.469611 
sort q time 5.297798 
seperate points time 10.379254 
publication time 8.129049 ms 
whole laserOdometry time 8.145660 ms 
 
mapping data assosiation time 25.032360 ms 
mapping solver time 16.506964 ms 
map prepare time 2.155998 ms
map corner num 77365  surf num 29769 
build tree time 15.661764 ms 
prepare time 10.872809 
scan registration time 24.964533 ms *************
publication time 8.447598 ms 
whole laserOdometry time 8.460764 ms 
 
mapping solver time 27.666335 ms 
mapping data assosiation time 22.123685 ms 
mapping solver time 19.881818 ms 
map prepare time 2.899650 ms
map corner num 78151  surf num 30028 
sort q time 4.283850 
seperate points time 9.866481 
publication time 8.794128 ms 
whole laserOdometry time 8.802614 ms 
 
-----t: 0.0335038
OdomCount 4424 & avg odom time 0.045676 ms ++++++++++++++++++++++
mapping solver time 21.816313 ms 
mapping data assosiation time 21.453972 ms 
--------------------stamp1317358221.624707937
prepare time 12.211626 
map prepare time 2.405033 ms
map corner num 78942  surf num 30342 
publication time 7.314518 ms 
whole laserOdometry time 7.331680 ms 
 
mapping data assosiation time 22.135656 ms 
mapping solver time 17.431207 ms 
--------------------stamp1317358221.728533983
points size 76561 
mapping optimization time 99.295461 
sort q time 4.058024 
seperate points time 9.973169 
filter time 7.454153 ms 
scan registration time 27.358886 ms *************
mapping pub time 1.815683 ms 
whole mapping time 111.854922 ms +++++
mappingCount 2915 & avg mapping time 153.860879 ms ++++++++++++++++++++++
1317358221.520909071 WriteOdom aft_mapped_to_init
publication time 7.293487 ms 
whole laserOdometry time 7.313127 ms 
 
build tree time 20.697404 ms 
mapping data assosiation time 20.201071 ms 
mapping solver time 18.425950 ms 
--------------------stamp1317358221.832355976
prepare time 10.650611 
sort q time 4.224511 
seperate points time 9.876680 
publication time 8.279541 ms 
whole laserOdometry time 8.288908 ms 
 
mapping solver time 24.745374 ms 
mapping optimization time 109.388308 
add points time 0.819129 ms
-----t: 0.0302622
OdomCount 4427 & avg odom time 0.045667 ms ++++++++++++++++++++++
1317358221.832355976 WriteOdom laser_odom_to_init
1317358221.832355976 WriteOdom aft_mapped_to_init_high_frec
filter time 5.511001 ms 
build tree time 18.352789 ms 
mapping data assosiation time 22.362205 ms 
--------------------stamp1317358221.936188936
prepare time 12.102154 
scan registration time 25.874826 ms *************
publication time 8.053665 ms 
whole laserOdometry time 8.066898 ms 
 
filter time 7.241787 ms 
build tree time 17.105097 ms 
mapping data assosiation time 19.972410 ms 
prepare time 10.315995 
sort q time 4.381073 
seperate points time 10.474174 
publication time 8.578419 ms 
whole laserOdometry time 8.593692 ms 
 
mapping solver time 17.810868 ms 
mapping pub time 1.832304 ms 
whole mapping time 114.946709 ms +++++
mappingCount 2918 & avg mapping time 153.822862 ms ++++++++++++++++++++++
build tree time 17.306960 ms 
points size 81045 
sort q time 4.658082 
seperate points time 11.135000 
mapping solver time 19.970410 ms 
-----t: 0.0394427
OdomCount 4430 & avg odom time 0.045661 ms ++++++++++++++++++++++
mapping data assosiation time 25.502813 ms 
mapping solver time 13.060774 ms 
mapping pub time 1.775919 ms 
whole mapping time 111.860941 ms +++++
mappingCount 2919 & avg mapping time 153.808488 ms ++++++++++++++++++++++
--------------------stamp1317358222.247575044
prepare time 11.087956 
mapping data assosiation time 24.821548 ms 
publication time 7.663246 ms 
whole laserOdometry time 7.680470 ms 
 
mapping data assosiation time 22.265613 ms 
mapping solver time 17.036819 ms 
filter time 5.794939 ms 
points size 91581 
prepare time 12.407625 
build tree time 23.916279 ms 
publication time 10.327125 ms 
whole laserOdometry time 10.340606 ms 
 
-----t: 0.0539619
OdomCount 4432 & avg odom time 0.045661 ms ++++++++++++++++++++++
mapping solver time 25.939666 ms 
--------------------stamp1317358222.455178976
points size 93855 
mapping solver time 20.322170 ms 
[0m[ INFO] [1718889736.305728458, 1317358222.486611766]: Received 116018 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889736.305790339, 1317358222.486611766]: Data saved to 1317358222247575.pcd[0m
-----t: 0.0527998
OdomCount 4433 & avg odom time 0.045663 ms ++++++++++++++++++++++
--------------------stamp1317358222.558948993
prepare time 12.203513 
sort q time 5.395323 
seperate points time 12.217663 
publication time 9.825965 ms 
whole laserOdometry time 9.858633 ms 
 
-----t: 0.0396984
OdomCount 4434 & avg odom time 0.045661 ms ++++++++++++++++++++++
mapping pub time 155.602290 ms 
whole mapping time 286.904816 ms +++++
mappingCount 2921 & avg mapping time 153.843471 ms ++++++++++++++++++++++
--------------------stamp1317358222.662744998
points size 94514 
mapping data assosiation time 25.822717 ms 
sort q time 6.075603 
seperate points time 14.466096 
scan registration time 37.177772 ms *************
mapping solver time 22.750094 ms 
-----t: 0.0499846
OdomCount 4435 & avg odom time 0.045662 ms ++++++++++++++++++++++
mapping data assosiation time 22.283265 ms 
mapping solver time 13.916008 ms 
--------------------stamp1317358222.766545057
prepare time 13.243144 
build tree time 23.197826 ms 
publication time 10.013676 ms 
whole laserOdometry time 10.027251 ms 
 
-----t: 0.0434452
OdomCount 4436 & avg odom time 0.045662 ms ++++++++++++++++++++++
mapping data assosiation time 19.934180 ms 
--------------------stamp1317358222.870318889
filter time 6.089867 ms 
scan registration time 26.821195 ms *************
build tree time 21.800380 ms 
mapping data assosiation time 22.058824 ms 
mapping solver time 21.275936 ms 
--------------------stamp1317358222.974069118
points size 81443 
sort q time 4.461361 
seperate points time 11.083053 
publication time 7.750802 ms 
whole laserOdometry time 7.766722 ms 
 
build tree time 20.053319 ms 
mapping data assosiation time 18.847019 ms 
mapping solver time 16.300966 ms 
points size 77965 
sort q time 5.708913 
seperate points time 13.575582 
mapping solver time 20.624660 ms 
build tree time 17.007350 ms 
mapping data assosiation time 20.032856 ms 
--------------------stamp1317358223.181690931
points size 76957 
sort q time 4.864090 
seperate points time 10.312505 
mapping data assosiation time 24.830730 ms 
-----t: 0.0328411
OdomCount 4440 & avg odom time 0.045654 ms ++++++++++++++++++++++
filter time 5.814514 ms 
build tree time 17.323085 ms 
--------------------stamp1317358223.285562038
points size 77091 
sort q time 4.092617 
seperate points time 9.928428 
mapping solver time 26.379587 ms 
publication time 7.796404 ms 
whole laserOdometry time 7.811836 ms 
 
mapping data assosiation time 22.950581 ms 
mapping solver time 20.839443 ms 
mapping pub time 1.684597 ms 
whole mapping time 123.502813 ms +++++
mappingCount 2927 & avg mapping time 153.773227 ms ++++++++++++++++++++++
--------------------stamp1317358223.389432907
sort q time 4.805560 
seperate points time 11.862326 
mapping data assosiation time 25.540356 ms 
mapping solver time 24.457516 ms 
-----t: 0.0621097
OdomCount 4442 & avg odom time 0.045656 ms ++++++++++++++++++++++
add points time 0.798222 ms
mapping pub time 1.840501 ms 
whole mapping time 125.539378 ms +++++
mappingCount 2928 & avg mapping time 153.763586 ms ++++++++++++++++++++++
sort q time 4.332619 
seperate points time 11.115740 
publication time 7.139587 ms 
whole laserOdometry time 7.150849 ms 
 
mapping data assosiation time 20.527643 ms 
mapping solver time 16.762508 ms 
mapping data assosiation time 19.549849 ms 
--------------------stamp1317358223.597101926
mapping optimization time 101.701282 
mapping pub time 2.913864 ms 
whole mapping time 118.907663 ms +++++
mappingCount 2929 & avg mapping time 153.751687 ms ++++++++++++++++++++++
publication time 6.921695 ms 
whole laserOdometry time 6.936264 ms 
 
-----t: 0.0387343
OdomCount 4444 & avg odom time 0.045655 ms ++++++++++++++++++++++
mapping data assosiation time 19.454243 ms 
mapping solver time 15.403165 ms 
mapping data assosiation time 19.865595 ms 
prepare time 8.483182 
sort q time 4.999383 
seperate points time 10.074415 
map prepare time 3.262835 ms
map corner num 62568  surf num 25430 
build tree time 16.286584 ms 
mapping data assosiation time 18.236268 ms 
mapping solver time 19.380096 ms 
mapping data assosiation time 18.737988 ms 
mapping solver time 18.716391 ms 
map prepare time 2.617758 ms
map corner num 63178  surf num 25585 
build tree time 17.383575 ms 
mapping data assosiation time 19.835261 ms 
mapping solver time 16.001193 ms 
--------------------stamp1317358223.908643960
points size 82606 
sort q time 4.754425 
seperate points time 11.038425 
filter time 6.341550 ms 
-----t: 0.041156
OdomCount 4447 & avg odom time 0.045650 ms ++++++++++++++++++++++
mapping data assosiation time 19.435331 ms 
--------------------stamp1317358224.012515068
mapping data assosiation time 21.513707 ms 
sort q time 4.753337 
seperate points time 10.750822 
filter time 6.095751 ms 
publication time 10.734874 ms 
whole laserOdometry time 10.751177 ms 
 
map prepare time 2.719738 ms
map corner num 64296  surf num 25926 
-----t: 0.0396185
OdomCount 4448 & avg odom time 0.045649 ms ++++++++++++++++++++++
1317358224.012515068 WriteOdom laser_odom_to_init
1317358224.012515068 WriteOdom aft_mapped_to_init_high_frec
build tree time 16.795318 ms 
mapping data assosiation time 21.570861 ms 
--------------------stamp1317358224.116409063
sort q time 4.719504 
seperate points time 10.433664 
mapping data assosiation time 22.305429 ms 
publication time 14.102242 ms 
whole laserOdometry time 14.114688 ms 
 
mapping pub time 1.882258 ms 
whole mapping time 111.994854 ms +++++
mappingCount 2934 & avg mapping time 153.673193 ms ++++++++++++++++++++++
build tree time 14.003204 ms 
mapping data assosiation time 19.995582 ms 
build tree time 13.706029 ms 
points size 83924 
mapping data assosiation time 26.032974 ms 
publication time 8.056408 ms 
whole laserOdometry time 8.072878 ms 
 
mapping solver time 32.276622 ms 
mapping data assosiation time 18.833043 ms 
mapping solver time 16.050667 ms 
[0m[ INFO] [1718889738.235181928, 1317358224.414462079]: Data saved to 1317358224220304.pcd[0m
mapping pub time 3.209158 ms 
whole mapping time 119.933216 ms +++++
mappingCount 2936 & avg mapping time 153.647724 ms ++++++++++++++++++++++
1317358224.220304966 WriteOdom aft_mapped_to_init
points size 84130 
sort q time 4.493534 
seperate points time 9.450876 
publication time 7.420743 ms 
whole laserOdometry time 7.431136 ms 
 
mapping solver time 21.130506 ms 
mapping data assosiation time 23.420711 ms 
--------------------stamp1317358224.531821966
filter time 7.117359 ms 
build tree time 19.205799 ms 
-----t: 0.0447286
OdomCount 4453 & avg odom time 0.045647 ms ++++++++++++++++++++++
mapping solver time 20.750436 ms 
--------------------stamp1317358224.635597944
points size 82234 
mapping solver time 16.809585 ms 
mapping data assosiation time 22.672227 ms 
mapping solver time 20.135880 ms 
points size 81159 
sort q time 3.932958 
seperate points time 8.656835 
publication time 6.960769 ms 
whole laserOdometry time 6.973396 ms 
 
filter time 6.922149 ms 
build tree time 13.252195 ms 
mapping data assosiation time 19.760705 ms 
--------------------stamp1317358224.843023061
prepare time 12.806734 
sort q time 5.299241 
seperate points time 12.699358 
mapping data assosiation time 26.725305 ms 
-----t: 0.038748
OdomCount 4456 & avg odom time 0.045642 ms ++++++++++++++++++++++
filter time 5.150287 ms 
build tree time 16.328253 ms 
--------------------stamp1317358224.946727991
prepare time 10.988485 
sort q time 5.126795 
seperate points time 10.666811 
mapping solver time 26.594498 ms 
-----t: 0.0340114
OdomCount 4457 & avg odom time 0.045640 ms ++++++++++++++++++++++
mapping solver time 19.241678 ms 
[0m[ INFO] [1718889738.849422728, 1317358225.030578148]: Received 97801 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889738.849472781, 1317358225.030578148]: Data saved to 1317358224843023.pcd[0m
--------------------stamp1317358225.050407886
prepare time 10.940972 
sort q time 4.815954 
seperate points time 10.430817 
publication time 8.724205 ms 
whole laserOdometry time 8.737963 ms 
 
-----t: 0.0440325
OdomCount 4458 & avg odom time 0.045639 ms ++++++++++++++++++++++
--------------------stamp1317358225.154061079
prepare time 10.908994 
sort q time 4.562425 
seperate points time 10.687129 
scan registration time 25.605038 ms *************
publication time 7.806927 ms 
whole laserOdometry time 7.820281 ms 
 
mapping pub time 180.228283 ms 
whole mapping time 298.022011 ms +++++
mappingCount 2941 & avg mapping time 153.651260 ms ++++++++++++++++++++++
build tree time 17.026659 ms 
mapping data assosiation time 21.040137 ms 
points size 84259 
sort q time 4.937253 
seperate points time 11.540486 
mapping solver time 26.616066 ms 
publication time 9.085372 ms 
whole laserOdometry time 9.098776 ms 
 
mapping data assosiation time 26.900155 ms 
mapping solver time 19.069360 ms 
map prepare time 2.344850 ms
map corner num 70453  surf num 28465 
build tree time 14.036282 ms 
points size 87202 
mapping data assosiation time 28.380033 ms 
publication time 7.746395 ms 
whole laserOdometry time 7.760438 ms 
 
mapping solver time 27.025818 ms 
--------------------stamp1317358225.464926004
prepare time 14.137649 
sort q time 5.117996 
seperate points time 11.572361 
publication time 8.873363 ms 
whole laserOdometry time 8.889225 ms 
 
mapping data assosiation time 27.730994 ms 
-----t: 0.0538976
OdomCount 4462 & avg odom time 0.045648 ms ++++++++++++++++++++++
1317358225.464926004 WriteOdom laser_odom_to_init
1317358225.464926004 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.112609 ms 
--------------------stamp1317358225.568603992
points size 94573 
sort q time 5.090312 
seperate points time 10.529021 
mapping solver time 28.858819 ms 
mapping pub time 2.061296 ms 
whole mapping time 141.041177 ms +++++
mappingCount 2944 & avg mapping time 153.630762 ms ++++++++++++++++++++++
publication time 8.204112 ms 
whole laserOdometry time 8.235017 ms 
 
build tree time 18.203745 ms 
mapping data assosiation time 23.536930 ms 
points size 98737 
mapping solver time 27.582344 ms 
publication time 9.220921 ms 
whole laserOdometry time 9.235041 ms 
 
mapping solver time 17.905284 ms 
mapping pub time 2.040348 ms 
whole mapping time 128.591946 ms +++++
mappingCount 2945 & avg mapping time 153.622260 ms ++++++++++++++++++++++
1317358225.464926004 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.547108 ms
map corner num 73561  surf num 29884 
build tree time 15.246236 ms 
points size 101978 
mapping data assosiation time 29.598050 ms 
publication time 7.374003 ms 
whole laserOdometry time 7.386391 ms 
 
-----t: 0.0430283
OdomCount 4465 & avg odom time 0.045645 ms ++++++++++++++++++++++
mapping solver time 64.059661 ms 
--------------------stamp1317358225.879760980
mapping data assosiation time 25.597816 ms 
sort q time 5.775690 
seperate points time 13.281103 
filter time 8.060681 ms 
-----t: 0.0442744
OdomCount 4466 & avg odom time 0.045645 ms ++++++++++++++++++++++
build tree time 18.171629 ms 
mapping data assosiation time 23.340390 ms 
points size 102647 
prepare time 14.167616 
mapping data assosiation time 28.156152 ms 
-----t: 0.0523522
OdomCount 4467 & avg odom time 0.045646 ms ++++++++++++++++++++++
1317358225.983513116 WriteOdom laser_odom_to_init
1317358225.983513116 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.423920 ms 
mapping optimization time 120.025578 
add points time 0.909763 ms
drop lidar frame in mapping for real time performance 
build tree time 15.132178 ms 
points size 102569 
mapping data assosiation time 26.710163 ms 
sort q time 5.959531 
seperate points time 14.333821 
scan registration time 32.447642 ms *************
mapping solver time 28.598643 ms 
1317358226.087289094 WriteOdom laser_odom_to_init
1317358226.087289094 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.835112 ms 
mapping solver time 19.614163 ms 
mapping pub time 2.402731 ms 
whole mapping time 132.423642 ms +++++
mappingCount 2948 & avg mapping time 153.614841 ms ++++++++++++++++++++++
prepare time 16.462695 
sort q time 6.006176 
seperate points time 14.416412 
publication time 10.349053 ms 
whole laserOdometry time 10.363118 ms 
 
mapping solver time 20.596482 ms 
--------------------stamp1317358226.294884920
points size 102344 
sort q time 5.653860 
seperate points time 13.283729 
filter time 5.625716 ms 
-----t: 0.0421695
OdomCount 4470 & avg odom time 0.045648 ms ++++++++++++++++++++++
1317358226.294884920 WriteOdom laser_odom_to_init
1317358226.294884920 WriteOdom aft_mapped_to_init_high_frec
build tree time 19.128936 ms 
mapping data assosiation time 25.073892 ms 
points size 102173 
mapping solver time 31.828486 ms 
mapping data assosiation time 30.391565 ms 
mapping solver time 22.866482 ms 
mapping pub time 2.267099 ms 
whole mapping time 142.279276 ms +++++
mappingCount 2950 & avg mapping time 153.606726 ms ++++++++++++++++++++++
--------------------stamp1317358226.502532005
prepare time 13.541271 
scan registration time 32.458058 ms *************
publication time 9.304514 ms 
whole laserOdometry time 9.318684 ms 
 
mapping solver time 30.117793 ms 
mapping data assosiation time 23.878455 ms 
--------------------stamp1317358226.606451988
prepare time 13.053563 
filter time 8.113537 ms 
publication time 8.000810 ms 
whole laserOdometry time 8.012103 ms 
 
-----t: 0.0587082
OdomCount 4473 & avg odom time 0.045650 ms ++++++++++++++++++++++
mapping data assosiation time 25.591872 ms 
--------------------stamp1317358226.710417032
points size 99125 
sort q time 5.694005 
seperate points time 13.321304 
scan registration time 34.331471 ms *************
mapping data assosiation time 28.303472 ms 
publication time 10.848427 ms 
whole laserOdometry time 10.862900 ms 
 
filter time 8.005981 ms 
build tree time 17.750632 ms 
points size 96902 
mapping data assosiation time 28.718559 ms 
publication time 10.922399 ms 
whole laserOdometry time 10.931415 ms 
 
mapping solver time 29.907343 ms 
mapping data assosiation time 26.317439 ms 
mapping solver time 19.904002 ms 
map prepare time 2.593683 ms
map corner num 80754  surf num 32181 
sort q time 5.304900 
seperate points time 12.269837 
publication time 10.310744 ms 
whole laserOdometry time 10.328312 ms 
 
mapping data assosiation time 30.056240 ms 
-----t: 0.0499685
OdomCount 4476 & avg odom time 0.045653 ms ++++++++++++++++++++++
1317358226.918446063 WriteOdom laser_odom_to_init
1317358226.918446063 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.236681 ms 
--------------------stamp1317358227.022507905
prepare time 11.909257 
sort q time 5.547253 
seperate points time 12.335392 
mapping optimization time 140.873238 
drop lidar frame in mapping for real time performance 
build tree time 18.821444 ms 
--------------------stamp1317358227.126619100
prepare time 11.210345 
sort q time 5.155520 
seperate points time 11.765049 
publication time 8.628299 ms 
whole laserOdometry time 8.643876 ms 
 
1317358227.126619100 WriteOdom laser_odom_to_init
1317358227.126619100 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.258071 ms 
mapping pub time 2.210096 ms 
whole mapping time 137.673357 ms +++++
mappingCount 2955 & avg mapping time 153.590780 ms ++++++++++++++++++++++
--------------------stamp1317358227.230777978
prepare time 11.497624 
sort q time 5.431406 
seperate points time 12.109427 
mapping data assosiation time 27.501616 ms 
-----t: 0.0433158
OdomCount 4479 & avg odom time 0.045652 ms ++++++++++++++++++++++
mapping solver time 31.394789 ms 
mapping data assosiation time 26.400915 ms 
points size 92544 
mapping solver time 24.446435 ms 
[0m[ INFO] [1718889741.189994562, 1317358227.372149378]: Received 116528 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889741.190058536, 1317358227.372149378]: Data saved to 1317358227126619.pcd[0m
-----t: 0.0502839
OdomCount 4480 & avg odom time 0.045653 ms ++++++++++++++++++++++
build tree time 26.972323 ms 
mapping data assosiation time 25.771923 ms 
--------------------stamp1317358227.439120054
prepare time 13.781219 
mapping solver time 28.443912 ms 
sort q time 18.326998 
seperate points time 30.397290 
-----t: 0.0423501
OdomCount 4481 & avg odom time 0.045652 ms ++++++++++++++++++++++
publication time 9.289320 ms 
whole laserOdometry time 9.301824 ms 
 
mapping solver time 21.114222 ms 
mapping pub time 2.081338 ms 
whole mapping time 147.703461 ms +++++
mappingCount 2957 & avg mapping time 153.588025 ms ++++++++++++++++++++++
1317358227.230777979 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.780577 ms
map corner num 84274  surf num 33304 
--------------------stamp1317358227.543350934
sort q time 4.857646 
seperate points time 11.415437 
mapping data assosiation time 30.322499 ms 
publication time 10.312363 ms 
whole laserOdometry time 10.325745 ms 
 
mapping solver time 30.182995 ms 
-----t: 0.0840537
OdomCount 4482 & avg odom time 0.045661 ms ++++++++++++++++++++++
points size 88663 
sort q time 5.132750 
seperate points time 11.726636 
filter time 6.244852 ms 
publication time 9.866625 ms 
whole laserOdometry time 9.879511 ms 
 
build tree time 18.757975 ms 
mapping data assosiation time 25.535830 ms 
--------------------stamp1317358227.751955986
points size 89493 
prepare time 11.231250 
scan registration time 25.839019 ms *************
publication time 7.447107 ms 
whole laserOdometry time 7.460770 ms 
 
mapping data assosiation time 30.536270 ms 
mapping solver time 30.990446 ms 
mapping optimization time 138.685682 
add points time 0.914819 ms
map prepare time 2.597397 ms
map corner num 85972  surf num 33776 
--------------------stamp1317358227.856329917
build tree time 20.024288 ms 
scan registration time 28.034106 ms *************
mapping data assosiation time 30.099898 ms 
publication time 13.070961 ms 
whole laserOdometry time 13.087030 ms 
 
mapping solver time 32.896562 ms 
mapping data assosiation time 25.598403 ms 
points size 89925 
sort q time 4.877014 
seperate points time 11.849106 
filter time 7.022035 ms 
publication time 8.998789 ms 
whole laserOdometry time 9.016225 ms 
 
-----t: 0.0441305
OdomCount 4486 & avg odom time 0.045663 ms ++++++++++++++++++++++
mapping data assosiation time 25.661333 ms 
--------------------stamp1317358228.065128087
prepare time 14.846953 
mapping solver time 35.140246 ms 
publication time 11.270584 ms 
whole laserOdometry time 11.304171 ms 
 
mapping solver time 29.919391 ms 
filter time 5.925825 ms 
points size 93388 
sort q time 5.524513 
seperate points time 12.058602 
publication time 9.143282 ms 
whole laserOdometry time 9.157908 ms 
 
-----t: 0.0473236
OdomCount 4488 & avg odom time 0.045661 ms ++++++++++++++++++++++
--------------------stamp1317358228.273879051
sort q time 6.006428 
seperate points time 13.402710 
scan registration time 30.530442 ms *************
publication time 23.060182 ms 
whole laserOdometry time 23.070339 ms 
 
build tree time 24.869661 ms 
prepare time 15.648396 
scan registration time 35.254232 ms *************
publication time 8.060380 ms 
whole laserOdometry time 8.073583 ms 
 
-----t: 0.0679746
OdomCount 4490 & avg odom time 0.045668 ms ++++++++++++++++++++++
mapping data assosiation time 26.359771 ms 
points size 97846 
mapping solver time 32.968196 ms 
filter time 8.023076 ms 
scan registration time 33.464767 ms *************
publication time 14.300980 ms 
whole laserOdometry time 14.313845 ms 
 
-----t: 0.0726496
OdomCount 4491 & avg odom time 0.045674 ms ++++++++++++++++++++++
1317358228.482604980 WriteOdom laser_odom_to_init
1317358228.482604980 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.449475 ms 
--------------------stamp1317358228.586954116
prepare time 11.525992 
sort q time 6.061844 
seperate points time 13.644204 
publication time 9.976576 ms 
whole laserOdometry time 9.997676 ms 
 
1317358228.586954116 WriteOdom laser_odom_to_init
1317358228.586954116 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.772660 ms 
filter time 6.197302 ms 
map prepare time 2.825565 ms
map corner num 89594  surf num 35276 
--------------------stamp1317358228.691278934
points size 100167 
sort q time 6.135524 
seperate points time 12.545674 
mapping data assosiation time 32.514908 ms 
-----t: 0.0415596
OdomCount 4493 & avg odom time 0.045674 ms ++++++++++++++++++++++
mapping solver time 31.137572 ms 
mapping data assosiation time 25.431475 ms 
points size 101104 
filter time 9.008533 ms 
publication time 9.469340 ms 
whole laserOdometry time 9.486774 ms 
 
build tree time 20.317740 ms 
mapping data assosiation time 28.098799 ms 
--------------------stamp1317358228.899887084
points size 102424 
sort q time 5.692486 
seperate points time 14.129309 
publication time 11.543859 ms 
whole laserOdometry time 11.560870 ms 
 
-----t: 0.0549025
OdomCount 4495 & avg odom time 0.045675 ms ++++++++++++++++++++++
1317358228.899887084 WriteOdom laser_odom_to_init
1317358228.899887084 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.384617 ms 
mapping optimization time 155.072204 
add points time 1.013428 ms
points size 103058 
build tree time 26.895435 ms 
publication time 11.541214 ms 
whole laserOdometry time 11.560202 ms 
 
mapping solver time 22.805664 ms 
--------------------stamp1317358229.108395099
points size 103244 
sort q time 5.894970 
seperate points time 14.409194 
mapping optimization time 151.140370 
[0m[ INFO] [1718889742.986382604, 1317358229.169086542]: Received 128812 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889742.986410704, 1317358229.169086542]: Data saved to 1317358228795582.pcd[0m
build tree time 19.936976 ms 
--------------------stamp1317358229.212601900
prepare time 11.940871 
mapping data assosiation time 29.583604 ms 
sort q time 18.119431 
seperate points time 26.901166 
-----t: 0.0535167--------------------stamp1317358229.316785097
build tree time 23.484494 ms 
-----t: 0.0501902
OdomCount 4499 & avg odom time 0.045678 ms ++++++++++++++++++++++
mapping data assosiation time 30.000112 ms 
mapping solver time 23.676144 ms 
points size 103002 
mapping data assosiation time 35.915748 ms 
publication time 9.886641 ms 
whole laserOdometry time 9.900466 ms 
 
mapping solver time 28.915974 ms 
mapping optimization time 143.576878 
add points time 1.000556 ms
map prepare time 3.201555 ms
map corner num 93971  surf num 37107 
--------------------stamp1317358229.525032043
points size 102965 
sort q time 6.482275 
seperate points time 14.956375 
publication time 8.481962 ms 
whole laserOdometry time 8.504018 ms 
 
-----t: 0.0434356
OdomCount 4501 & avg odom time 0.045681 ms ++++++++++++++++++++++
mapping data assosiation time 26.636887 ms 
--------------------stamp1317358229.629139900
mapping solver time 19.848674 ms 
mapping pub time 2.289588 ms 
whole mapping time 150.528463 ms +++++
mappingCount 2969 & avg mapping time 153.670131 ms ++++++++++++++++++++++
scan registration time 34.434136 ms *************
publication time 10.086830 ms 
whole laserOdometry time 10.102430 ms 
 
mapping data assosiation time 27.981663 ms 
mapping solver time 22.131809 ms 
points size 102923 
prepare time 12.686797 
publication time 9.780352 ms 
whole laserOdometry time 9.795284 ms 
 
filter time 7.871058 ms 
map prepare time 3.126944 ms
map corner num 95430  surf num 37655 
build tree time 19.017396 ms 
--------------------stamp1317358229.837388038
points size 102798 
sort q time 6.429341 
seperate points time 12.963439 
mapping solver time 27.567569 ms 
publication time 18.120265 ms 
whole laserOdometry time 18.133524 ms 
 
-----t: 0.0569047
OdomCount 4504 & avg odom time 0.045683 ms ++++++++++++++++++++++
mapping solver time 19.116095 ms 
filter time 6.714115 ms 
map prepare time 3.053882 ms
map corner num 96119  surf num 37915 
prepare time 13.531183 
sort q time 6.420856 
seperate points time 13.586418 
build tree time 22.521718 ms 
publication time 11.713292 ms 
whole laserOdometry time 11.730952 ms 
 
mapping data assosiation time 36.455455 ms 
-----t: 0.0553482
OdomCount 4505 & avg odom time 0.045685 ms ++++++++++++++++++++++
1317358229.941524028 WriteOdom laser_odom_to_init
1317358229.941524028 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.809040 ms 
points size 102589 
sort q time 6.170622 
seperate points time 12.762562 
publication time 17.436153 ms 
whole laserOdometry time 17.448163 ms 
 
filter time 10.188273 ms 
mapping pub time 2.456629 ms 
whole mapping time 179.204362 ms +++++
mappingCount 2972 & avg mapping time 153.671299 ms ++++++++++++++++++++++
1317358229.837388039 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358230.149672985
points size 102501 
mapping data assosiation time 36.115129 ms 
publication time 10.543313 ms 
whole laserOdometry time 10.557241 ms 
 
-----t: 0.062878
OdomCount 4507 & avg odom time 0.045690 ms ++++++++++++++++++++++
1317358230.149672985 WriteOdom laser_odom_to_init
1317358230.149672985 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.305955 ms 
points size 102534 
add points time 1.051600 ms
map prepare time 3.899885 ms
map corner num 97565  surf num 38429 
build tree time 26.521856 ms 
mapping data assosiation time 27.394971 ms 
points size 102646 
mapping solver time 26.485141 ms 
publication time 10.142686 ms 
whole laserOdometry time 10.158183 ms 
 
-----t: 0.0629511
OdomCount 4509 & avg odom time 0.045697 ms ++++++++++++++++++++++
add points time 0.936282 ms
filter time 6.374781 ms 
--------------------stamp1317358230.461667060
points size 102702 
build tree time 25.468725 ms 
scan registration time 51.571101 ms *************
publication time 12.182774 ms mapping solver time 26.750672 ms 
--------------------stamp1317358230.565609931
points size 102544 
mapping data assosiation time 29.520758 ms 
sort q time 5.888604 
seperate points time 14.001997 
mapping solver time 19.685109 ms 
mapping optimization time 139.126501 
add points time 1.307811 ms
publication time 11.030341 ms 
whole laserOdometry time 11.045879 ms 
 
build tree time 27.651621 ms 
mapping data assosiation time 26.874622 ms 
points size 102599 
mapping solver time 29.440707 ms 
publication time 10.315826 ms 
whole laserOdometry time 10.326764 ms 
 
mapping data assosiation time 33.292969 ms 
mapping solver time 21.414546 ms 
filter time 9.357585 ms 
map prepare time 3.793748 ms
map corner num 99773  surf num 39126 
prepare time 15.700155 
build tree time 27.825668 ms 
publication time 12.552305 ms 
whole laserOdometry time 12.569245 ms 
 
-----t: 0.0523582
OdomCount 4513 & avg odom time 0.045711 ms ++++++++++++++++++++++
mapping solver time 22.910902 ms 
--------------------stamp1317358230.877389907
mapping data assosiation time 31.230739 ms 
mapping solver time 22.940290 ms 
mapping pub time 3.044067 ms 
whole mapping time 158.538618 ms +++++
mappingCount 2977 & avg mapping time 153.678833 ms ++++++++++++++++++++++
publication time 10.035235 ms 
whole laserOdometry time 10.050280 ms 
 
build tree time 25.493797 ms 
--------------------stamp1317358230.981286048
prepare time 14.991960 
sort q time 5.706059 
seperate points time 13.947063 
publication time 10.113977 ms mapping data assosiation time 30.696560 ms 
-----t: 0.0577064
OdomCount 4515 & avg odom time 0.045720 ms ++++++++++++++++++++++
1317358230.981286048 WriteOdom laser_odom_to_init
1317358230.981286048 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.297595 ms 
filter time 7.587005 ms 
points size 102434 
build tree time 25.290499 ms 
sort q time 5.987222 
seperate points time 14.836369 
scan registration time 34.764212 ms *************
publication time 15.492856 ms 
whole laserOdometry time 15.509255 ms 
 
-----t: 0.0633013
OdomCount 4516 & avg odom time 0.045724 ms ++++++++++++++++++++++
--------------------stamp1317358231.189171075
prepare time 14.330828 
mapping data assosiation time 31.851185 ms 
sort q time 6.024081 
seperate points time 14.809161 
mapping solver time 28.428292 ms 
publication time 10.257883 ms 
whole laserOdometry time 10.273950 ms 
 
-----t: 0.0597374
OdomCount 4517 & avg odom time 0.045727 ms ++++++++++++++++++++++
build tree time 22.279926 ms 
--------------------stamp1317358231.293088912
mapping data assosiation time 28.725855 ms 
sort q time 5.986216 
seperate points time 13.890197 
mapping solver time 27.286569 ms 
publication time 12.424675 ms 
whole laserOdometry time 12.441040 ms 
 
mapping data assosiation time 31.945611 ms 
mapping optimization time 135.299834 
mapping pub time 2.334086 ms 
whole mapping time 152.455912 ms +++++
mappingCount 2980 & avg mapping time 153.680259 ms ++++++++++++++++++++++
sort q time 5.805767 
seperate points time 14.353901 
publication time 9.569000 ms 
whole laserOdometry time 9.585566 ms 
 
mapping data assosiation time 32.437188 ms 
mapping solver time 24.420210 ms 
points size 103075 
mapping data assosiation time 32.677328 ms 
scan registration time 41.397770 ms *************
filter time 9.354711 ms 
-----t: 0.0695339
OdomCount 4520 & avg odom time 0.045732 ms ++++++++++++++++++++++
--------------------stamp1317358231.605037927
prepare time 13.327421 
sort q time 6.032739 
seperate points time 13.894126 
publication time 11.786759 ms 
whole laserOdometry time 11.801656 ms 
 
-----t: 0.0541375
OdomCount 4521 & avg odom time 0.045734 ms ++++++++++++++++++++++
--------------------stamp1317358231.709100961
points size 103177 
sort q time 6.096850 
seperate points time 15.358097 
map prepare time 3.642618 ms
map corner num 100432  surf num 44458 
publication time 13.138738 ms 
whole laserOdometry time 13.154091 ms 
 
-----t: 0.058082
OdomCount 4522 & avg odom time 0.045737 ms ++++++++++++++++++++++
mapping data assosiation time 30.517530 ms 
points size 103170 
sort q time 6.273348 
seperate points time 13.914676 
publication time 9.418582 ms 
whole laserOdometry time 9.453537 ms 
 
-----t: 0.0576347
OdomCount 4523 & avg odom time 0.045739 ms ++++++++++++++++++++++
mapping solver time 20.774695 ms 
filter time 8.047179 ms 
--------------------stamp1317358231.917346954
build tree time 29.675194 ms 
publication time 9.177736 ms 
whole laserOdometry time 9.189179 ms 
 
-----t: 0.0653096
OdomCount 4524 & avg odom time 0.045744 ms ++++++++++++++++++++++
1317358231.917346954 WriteOdom laser_odom_to_init
1317358231.917346954 WriteOdom aft_mapped_to_init_high_frec
points size 103340 
sort q time 7.590241 
seperate points time 23.668086 
mapping solver time 28.488667 ms 
publication time 12.946397 ms 
whole laserOdometry time 12.963110 ms 
 
build tree time 20.901730 ms 
points size 103403 
mapping data assosiation time 32.609083 ms 
publication time 10.532778 ms 
whole laserOdometry time 10.550668 ms 
 
mapping data assosiation time 28.042139 ms 
--------------------stamp1317358232.229800939
filter time 7.629177 ms 
sort q time 6.111005 
seperate points time 14.932693 
build tree time 26.174146 ms 
publication time 10.305066 ms 
whole laserOdometry time 10.323676 ms 
 
mapping data assosiation time 30.264667 ms 
--------------------stamp1317358232.333909988
points size 103451 
sort q time 6.925462 
seperate points time 13.406075 
publication time 10.155657 ms 
whole laserOdometry time 10.171322 ms 
 
mapping solver time 26.451963 ms 
filter time 7.834692 ms 
--------------------stamp1317358232.437994956
points size 103396 
prepare time 16.123656 
mapping data assosiation time 32.226490 ms 
scan registration time 35.229301 ms *************
publication time 9.665156 ms 
whole laserOdometry time 9.682227 ms 
 
-----t: 0.0639947
OdomCount 4529 & avg odom time 0.045754 ms ++++++++++++++++++++++
1317358232.437994956 WriteOdom laser_odom_to_init
1317358232.437994956 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358232.542057037
prepare time 12.703730 
sort q time 6.157113 
seperate points time 12.814710 
filter time 8.256272 ms 
map prepare time 4.333678 ms
map corner num 104129  surf num 45862 
-----t: 0.0575466
OdomCount 4530 & avg odom time 0.045756 ms ++++++++++++++++++++++
--------------------stamp1317358232.646121025
prepare time 15.085811 
sort q time 6.227168 
seperate points time 13.984984 
publication time 8.749475 ms 
whole laserOdometry time 8.760522 ms 
 
-----t: 0.0533656
OdomCount 4531 & avg odom time 0.045758 ms ++++++++++++++++++++++
mapping solver time 16.888716 ms 
mapping pub time 2.401754 ms 
whole mapping time 156.549449 ms +++++
mappingCount 2987 & avg mapping time 153.762451 ms ++++++++++++++++++++++
points size 103431 
build tree time 24.389257 ms 
publication time 9.959304 ms 
whole laserOdometry time 9.972914 ms 
 
-----t: 0.0644763
OdomCount 4532 & avg odom time 0.045762 ms ++++++++++++++++++++++
--------------------stamp1317358232.854247093
prepare time 12.090712 
sort q time 7.496449 
seperate points time 14.353188 
scan registration time 30.126269 ms *************
publication time 13.881067 ms 
whole laserOdometry time 13.898295 ms 
 
map prepare time 3.471923 ms
map corner num 105507  surf num 46397 
-----t: 0.0702485
OdomCount 4533 & avg odom time 0.045768 ms ++++++++++++++++++++++
--------------------stamp1317358232.958285093
points size 103205 
sort q time 6.035973 
seperate points time 14.816469 
scan registration time 38.313071 ms *************
publication time 8.826099 ms 
whole laserOdometry time 8.849011 ms 
 
-----t: 0.07332
OdomCount 4534 & avg odom time 0.045774 ms ++++++++++++++++++++++
--------------------stamp1317358233.062275886
prepare time 14.670462 
sort q time 5.902606 
seperate points time 14.591716 
filter time 11.342124 ms 
publication time 9.926871 ms 
whole laserOdometry time 9.943089 ms 
 
build tree time 24.690395 ms 
mapping data assosiation time 30.817144 ms 
points size 102911 
mapping solver time 31.721158 ms 
publication time 11.583869 ms 
whole laserOdometry time 11.600864 ms 
 
mapping data assosiation time 36.707706 ms 
mapping solver time 21.273993 ms 
filter time 8.263644 ms 
--------------------stamp1317358233.270139932
prepare time 14.297243 
build tree time 28.482843 ms 
publication time 9.530730 ms 
whole laserOdometry time 9.548843 ms 
 
mapping solver time 25.191315 ms 
--------------------stamp1317358233.374010086
prepare time 12.000955 
sort q time 5.312596 
seperate points time 11.988838 
mapping solver time 24.290963 ms 
filter time 11.211542 ms 
mapping pub time 5.744631 ms 
whole mapping time 169.590205 ms +++++
mappingCount 2991 & avg mapping time 153.782420 ms ++++++++++++++++++++++
1317358233.062275887 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889747.249098331, 1317358233.434957863]: Received 154576 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889747.249156213, 1317358233.434957863]: Data saved to 1317358233062275.pcd[0m
publication time 16.121940 ms 
whole laserOdometry time 16.133222 ms 
 
drop lidar frame in mapping for real time performance 
build tree time 24.305441 ms 
--------------------stamp1317358233.477807998
points size 102542 
sort q time 5.636904 
seperate points time 14.060305 
scan registration time 34.241516 ms *************
mapping solver time 39.307350 ms 
-----t: 0.0701529
OdomCount 4539 & avg odom time 0.045785 ms ++++++++++++++++++++++
mapping data assosiation time 37.786824 ms 
points size 102437 
mapping solver time 30.014178 ms 
scan registration time 38.481527 ms *************
publication time 13.484154 ms 
whole laserOdometry time 13.494830 ms 
 
-----t: 0.0759961
OdomCount 4540 & avg odom time 0.045791 ms ++++++++++++++++++++++
--------------------stamp1317358233.685286045
points size 102488 
prepare time 21.958045 
sort q time 5.679547 
seperate points time 16.477767 
publication time 9.999425 ms 
whole laserOdometry time 10.012527 ms 
 
mapping data assosiation time 35.050132 ms 
--------------------stamp1317358233.789014101
points size 102339 
map prepare time 4.122246 ms
map corner num 108649  surf num 47738 
build tree time 27.476491 ms 
-----t: 0.0579943
OdomCount 4542 & avg odom time 0.045795 ms ++++++++++++++++++++++
1317358233.789014101 WriteOdom laser_odom_to_init
1317358233.789014101 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358233.892751932
prepare time 12.357461 
scan registration time 32.866608 ms *************
publication time 12.234841 ms 
whole laserOdometry time 12.244446 ms 
 
mapping solver time 27.257809 ms 
filter time 8.128193 ms 
points size 98736 
build tree time 26.307387 ms 
publication time 11.021139 ms 
whole laserOdometry time 11.038245 ms 
 
mapping data assosiation time 39.758314 ms 
-----t: 0.0587061
OdomCount 4544 & avg odom time 0.045799 ms ++++++++++++++++++++++
mapping solver time 30.108365 ms 
points size 97443 
mapping data assosiation time 38.241109 ms 
publication time 10.262192 ms 
whole laserOdometry time 10.278081 ms 
 
filter time 8.611893 ms 
--------------------stamp1317358234.203800916
sort q time 5.691164 
seperate points time 11.829227 
mapping data assosiation time 36.939508 ms 
mapping solver time 28.892365 ms 
--------------------stamp1317358234.307455062
prepare time 14.219062 
sort q time 5.945136 
seperate points time 13.349534 
filter time 11.083722 ms 
map prepare time 4.176296 ms
map corner num 110644  surf num 48793 
build tree time 28.624516 ms 
--------------------stamp1317358234.411084890
mapping data assosiation time 34.951684 ms 
sort q time 5.607060 
seperate points time 13.501272 
publication time 9.616797 ms 
whole laserOdometry time 9.632062 ms 
 
-----t: 0.0522902
OdomCount 4548 & avg odom time 0.045801 ms ++++++++++++++++++++++
1317358234.411084890 WriteOdom laser_odom_to_init
1317358234.411084890 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.653660 ms 
--------------------stamp1317358234.514692068
prepare time 11.998029 
sort q time 5.489000 
seperate points time 13.454962 

build tree time 32.066919 ms 
-----t: 0.0754053
OdomCount 4549 & avg odom time 0.045808 ms ++++++++++++++++++++++
--------------------stamp1317358234.618300914
mapping data assosiation time 39.905853 ms 
publication time 10.027629 ms 
whole laserOdometry time 10.040440 ms 
 
-----t: 0.068928
OdomCount 4550 & avg odom time 0.045813 ms ++++++++++++++++++++++--------------------stamp1317358234.721955060
mapping solver time 28.693545 ms 
-----t: 0.050836
OdomCount 4551 & avg odom time 0.045814 ms ++++++++++++++++++++++
--------------------stamp1317358234.825633049
prepare time 9.822317 
scan registration time 24.995218 ms *************
mapping solver time 39.319437 ms 
-----t: 0.0436837
OdomCount 4552 & avg odom time 0.045814 ms ++++++++++++++++++++++
mapping data assosiation time 32.724380 ms 
mapping solver time 19.908910 ms 
filter time 9.265692 ms 
sort q time 4.808661 
seperate points time 10.248709 
publication time 8.752361 ms 
whole laserOdometry time 8.764127 ms 
 
-----t: 0.0472091
OdomCount 4553 & avg odom time 0.045814 ms ++++++++++++++++++++++
mapping data assosiation time 35.729993 ms 
--------------------stamp1317358235.033014059
sort q time 4.101311 
seperate points time 9.272900 
mapping data assosiation time 35.933284 ms 
-----t: 0.0471633
OdomCount 4554 & avg odom time 0.045814 ms ++++++++++++++++++++++
mapping solver time 31.095603 ms 
mapping optimization time 170.806687 
add points time 1.197414 ms
map prepare time 2.979573 ms
map corner num 116220  surf num 46021 
points size 76841 
build tree time 27.195549 ms 
mapping data assosiation time 36.954428 ms 
mapping solver time 29.669394 ms 
--------------------stamp1317358235.240468978
mapping data assosiation time 30.178758 ms 
publication time 7.802158 ms 
whole laserOdometry time 7.816521 ms 
 
filter time 10.322751 ms 
--------------------stamp1317358235.344196081
sort q time 3.929306 
seperate points time 9.577931 
publication time 10.169551 ms 
whole laserOdometry time 10.183723 ms 
 
-----t: 0.0465273
OdomCount 4557 & avg odom time 0.045812 ms ++++++++++++++++++++++
--------------------stamp1317358235.447922945
sort q time 4.360659 
seperate points time 10.205742 
publication time 8.837612 ms 
whole laserOdometry time 8.853095 ms 
 
-----t: 0.0420999
OdomCount 4558 & avg odom time 0.045811 ms ++++++++++++++++++++++
mapping data assosiation time 29.817548 ms 
--------------------stamp1317358235.551697015
mapping solver time 30.336077 ms 
publication time 16.516170 ms 
whole laserOdometry time 16.535757 ms 
 
mapping solver time 24.001945 ms 
filter time 8.672729 ms 
points size 73782 
scan registration time 26.287355 ms *************
publication time 13.110035 ms 
whole laserOdometry time 13.125938 ms 
 
mapping data assosiation time 36.781808 ms 
mapping solver time 26.790865 ms 
--------------------stamp1317358235.759293079
prepare time 12.011111 
sort q time 4.153870 
seperate points time 10.860647 
scan registration time 26.440436 ms *************
mapping solver time 29.541656 ms 
filter time 9.850369 ms 
build tree time 26.500159 ms 
points size 75631 
prepare time 9.716208 
mapping data assosiation time 33.310966 ms 
-----t: 0.0359017
OdomCount 4562 & avg odom time 0.045807 ms ++++++++++++++++++++++
mapping data assosiation time 28.274158 ms 
--------------------stamp1317358235.967010021
filter time 12.450111 ms 
scan registration time 25.958820 ms *************
map prepare time 3.850354 ms
map corner num 119475  surf num 47026 
publication time 8.971863 ms 
whole laserOdometry time 8.982338 ms 
 
build tree time 32.014562 ms 
-----t: 0.0529862
OdomCount 4563 & avg odom time 0.045808 ms ++++++++++++++++++++++
mapping data assosiation time 28.679789 ms 
--------------------stamp1317358236.070880889
mapping solver time 24.925229 ms 
sort q time 4.444381 
seperate points time 9.733069 
publication time 8.565428 ms 
whole laserOdometry time 8.580001 ms 
 
-----t: 0.0501478
OdomCount 4564 & avg odom time 0.045809 ms ++++++++++++++++++++++
mapping optimization time 146.982498 
filter time 9.258221 ms 
--------------------stamp1317358236.174777030
build tree time 28.254754 ms 
publication time 8.365628 ms 
whole laserOdometry time 8.382390 ms 
 
-----t: 0.0379664
OdomCount 4565 & avg odom time 0.045808 ms ++++++++++++++++++++++
mapping solver time 30.543248 ms 
--------------------stamp1317358236.278670072
sort q time 4.395340 
seperate points time 10.597759 
mapping solver time 27.327666 ms 
publication time 12.678112 ms 
whole laserOdometry time 12.696084 ms 
 
filter time 11.157629 ms 
map prepare time 3.154856 ms
map corner num 155842  surf num 58464 
build tree time 34.852022 ms 
--------------------stamp1317358236.382515907
points size 79954 
scan registration time 30.972101 ms *************
publication time 9.926723 ms 
whole laserOdometry time 9.943909 ms 
 
mapping data assosiation time 28.039731 ms 
--------------------stamp1317358236.486365079
points size 80380 
sort q time 4.812090 
seperate points time 12.566933 
publication time 9.233455 ms 
whole laserOdometry time 9.244887 ms 
 
1317358236.486365079 WriteOdom laser_odom_to_init
1317358236.486365079 WriteOdom aft_mapped_to_init_high_frec
build tree time 42.228690 ms 
mapping data assosiation time 30.918873 ms 
sort q time 5.127032 
seperate points time 12.806021 
mapping solver time 38.199475 ms 
mapping data assosiation time 32.494290 ms 
mapping solver time 24.842919 ms 
prepare time 12.816782 
filter time 11.408986 ms 
publication time 11.446425 ms 
whole laserOdometry time 11.461593 ms 
 
build tree time 45.292905 ms 
mapping data assosiation time 31.030730 ms 
points size 78120 
mapping solver time 30.648132 ms 
publication time 10.966741 ms 
whole laserOdometry time 10.983769 ms 
 
mapping data assosiation time 39.907925 ms 
-----t: 0.0687471
OdomCount 4571 & avg odom time 0.045813 ms ++++++++++++++++++++++
filter time 10.727525 ms 
prepare time 14.078374 
sort q time 4.902646 
seperate points time 12.124442 
publication time 9.344823 ms 
whole laserOdometry time 9.360575 ms 
 
-----t: 0.0440491
OdomCount 4572 & avg odom time 0.045812 ms ++++++++++++++++++++++
mapping data assosiation time 32.155752 ms 
--------------------stamp1317358237.005790948
prepare time 10.431031 
sort q time 4.615536 
seperate points time 10.653535 
publication time 10.899974 ms 
whole laserOdometry time 10.918642 ms 
 
mapping solver time 26.520120 ms 
mapping optimization time 182.284429 
add points time 1.129875 ms
filter time 11.708070 ms 
points size 77181 
sort q time 4.666734 
seperate points time 10.855078 
publication time 9.062197 ms 
whole laserOdometry time 9.076085 ms 
 
build tree time 50.724222 ms 
-----t: 0.0573628
OdomCount 4574 & avg odom time 0.045822 ms ++++++++++++++++++++++
mapping data assosiation time 37.607501 ms 
--------------------stamp1317358237.213606119
prepare time 10.307527 
sort q time 4.280304 
seperate points time 9.973703 
publication time 9.637663 ms 
whole laserOdometry time 9.670510 ms 
 
mapping data assosiation time 36.707986 ms 
mapping solver time 25.096901 ms 
filter time 13.375720 ms 
prepare time 12.849670 
scan registration time 27.340253 ms *************
publication time 13.398978 ms 
whole laserOdometry time 13.413728 ms 
 mapping data assosiation time 29.061279 ms 
--------------------stamp1317358237.421345949
prepare time 13.103724 
sort q time 4.647427 
seperate points time 11.516493 
publication time 8.828311 ms 
whole laserOdometry time 8.840273 ms 
 
mapping data assosiation time 38.596863 ms 
mapping solver time 25.507266 ms 
filter time 12.463117 ms 
points size 75988 
sort q time 4.438883 
seperate points time 10.928744 
publication time 9.750375 ms 
whole laserOdometry time 9.775632 ms 
 
-----t: 0.0460851
OdomCount 4578 & avg odom time 0.045820 ms ++++++++++++++++++++++
1317358237.525192975 WriteOdom laser_odom_to_init
1317358237.525192975 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 32.912136 ms 
--------------------stamp1317358237.629039049
mapping solver time 35.396955 ms 
prepare time 12.714949 
sort q time 4.947994 
seperate points time 12.911537 
publication time 8.540945 ms 
whole laserOdometry time 8.554899 ms 
 
-----t: 0.0530235
OdomCount 4579 & avg odom time 0.045822 ms ++++++++++++++++++++++
filter time 10.689812 ms 
points size 72737 
sort q time 4.128277 
seperate points time 10.621724 
publication time 9.631215 ms 
whole laserOdometry time 9.644978 ms 
 
mapping data assosiation time 27.358249 ms 
mapping solver time 29.021077 ms 
points size 70785 
sort q time 4.075227 
seperate points time 10.090067 
mapping data assosiation time 34.006397 ms 
mapping solver time 25.061704 ms 
filter time 13.126009 ms 
--------------------stamp1317358237.940485954
-----t: 0.103372
OdomCount 4581 & avg odom time 0.045833 ms ++++++++++++++++++++++
sort q time 4.668602 
seperate points time 10.907317 
scan registration time 32.238945 ms *************
mapping data assosiation time 34.196093 ms 
--------------------stamp1317358238.044307947
prepare time 11.098768 
sort q time 3.334809 
seperate points time 8.332341 
publication time 7.204794 ms 
whole laserOdometry time 7.221698 ms 
 
map prepare time 3.149034 ms
map corner num 162786  surf num 60563 
-----t: 0.0376836
OdomCount 4583 & avg odom time 0.045829 ms ++++++++++++++++++++++
build tree time 35.616300 ms 
--------------------stamp1317358238.148104906
mapping data assosiation time 27.105787 ms 
sort q time 3.569651 
seperate points time 7.281163 
scan registration time 19.165082 ms *************
mapping solver time 25.997054 ms 
-----t: 0.0374838
OdomCount 4584 & avg odom time 0.045827 ms ++++++++++++++++++++++
mapping data assosiation time 25.725255 ms 
mapping solver time 22.173679 ms 
filter time 10.950228 ms 
points size 60040 
build tree time 42.262580 ms 
mapping data assosiation time 22.716274 ms 
mapping solver time 19.162117 ms 
--------------------stamp1317358238.355751991
points size 60189 
sort q time 3.438164 
seperate points time 13.740148 
mapping optimization time 130.972706 
drop lidar frame in mapping for real time performance 
-----t: 0.0578358
OdomCount 4586 & avg odom time 0.045829 ms ++++++++++++++++++++++
build tree time 41.449492 ms 
sort q time 3.579220 
seperate points time 8.547055 
publication time 6.736074 ms 
whole laserOdometry time 6.751257 ms 
 
mapping data assosiation time 20.242986 ms 
mapping solver time 16.235800 ms 
filter time 11.602695 ms 
--------------------stamp1317358238.563442945
sort q time 3.731966 
seperate points time 16.221588 
build tree time 47.669326 ms 
publication time 7.002843 ms 
whole laserOdometry time 7.014379 ms 
 
mapping solver time 19.474571 ms 
--------------------stamp1317358238.667313098
filter time 17.240757 ms 
-----t: 0.0608665
OdomCount 4589 & avg odom time 0.045827 ms ++++++++++++++++++++++
build tree time 44.445120 ms 
--------------------stamp1317358238.771209001
sort q time 4.105251 
seperate points time 8.704548 
publication time 7.138077 ms 
whole laserOdometry time 7.150812 ms 
 
-----t: 0.0325884
OdomCount 4590 & avg odom time 0.045824 ms ++++++++++++++++++++++
mapping solver time 15.242592 ms 
mapping optimization time 124.859390 
add points time 0.967397 ms
--------------------stamp1317358238.875128984
sort q time 3.363114 
seperate points time 8.150376 
publication time 6.057657 ms 
whole laserOdometry time 6.073224 ms 
 
-----t: 0.0591754
OdomCount 4591 & avg odom time 0.045827 ms ++++++++++++++++++++++
mapping data assosiation time 18.476920 ms 
--------------------stamp1317358238.979022979
sort q time 3.660252 
seperate points time 7.435472 
scan registration time 15.587966 ms *************
filter time 15.239008 ms 
publication time 7.170087 ms 
whole laserOdometry time 7.184420 ms 
 
[0m[ INFO] [1718889752.857602033, 1317358239.037557253]: Received 227617 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889752.857645433, 1317358239.037557253]: Data saved to 1317358238771209.pcd[0m
--------------------stamp1317358239.082916975
sort q time 4.147570 
seperate points time 8.268313 
publication time 9.280078 ms 
whole laserOdometry time 9.292040 ms 
 
-----t: 0.0359089
OdomCount 4593 & avg odom time 0.045827 ms ++++++++++++++++++++++
--------------------stamp1317358239.186837911
sort q time 4.197189 
seperate points time 8.419783 
publication time 6.298944 ms 
whole laserOdometry time 6.313387 ms 
 
build tree time 49.773635 ms 
mapping data assosiation time 19.884728 ms 
mapping solver time 22.087928 ms 
points size 68216 
mapping data assosiation time 22.453745 ms 
publication time 7.313574 ms 
whole laserOdometry time 7.326950 ms 
 
-----t: 0.0283536
OdomCount 4595 & avg odom time 0.045823 ms ++++++++++++++++++++++
map prepare time 2.612856 ms
map corner num 166507  surf num 61720 
build tree time 35.855631 ms 
points size 68881 
sort q time 3.831757 
seperate points time 9.113648 
mapping solver time 26.839230 ms 
-----t: 0.0373398
OdomCount 4596 & avg odom time 0.045821 ms ++++++++++++++++++++++
mapping solver time 16.090640 ms 
filter time 11.448658 ms 
--------------------stamp1317358239.498543977
sort q time 4.666464 
seperate points time 11.056023 
publication time 8.314534 ms 
whole laserOdometry time 8.329436 ms 
 
build tree time 48.829393 ms 
mapping data assosiation time 24.328080 ms 
mapping solver time 22.291601 ms 
--------------------stamp1317358239.602438926
sort q time 4.119818 
seperate points time 9.481415 
filter time 12.004611 ms 
build tree time 40.801122 ms 
--------------------stamp1317358239.706335067
sort q time 3.859979 
seperate points time 8.910802 
publication time 9.137772 ms 
whole laserOdometry time 9.148838 ms 
 
mapping solver time 11.443369 ms 
filter time 11.202059 ms 
--------------------stamp1317358239.810276031
prepare time 10.916858 
sort q time 4.773380 
seperate points time 9.704337 
publication time 6.560445 ms 
whole laserOdometry time 6.575660 ms 
 
mapping data assosiation time 15.770211 ms 
-----t: 0.0583908
OdomCount 4600 & avg odom time 0.045817 ms ++++++++++++++++++++++
filter time 11.698579 ms 
[0m[ INFO] [1718889753.739125516, 1317358239.921348132]: Received 231018 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889753.739189225, 1317358239.921348132]: Data saved to 1317358239602438.pcd[0m
scan registration time 26.572790 ms *************
build tree time 47.733454 ms 
-----t: 0.0441352
OdomCount 4601 & avg odom time 0.045817 ms ++++++++++++++++++++++
mapping solver time 17.356005 ms 
--------------------stamp1317358240.018256902
sort q time 3.994086 
seperate points time 9.438456 
mapping solver time 20.968052 ms 
mapping optimization time 125.470568 
add points time 1.006097 ms
publication time 5.468802 ms 
whole laserOdometry time 5.481437 ms 
 
build tree time 39.417938 ms 
filter time 15.741693 ms 
--------------------stamp1317358240.226144075
sort q time 4.318602 
seperate points time 8.795103 
publication time 6.714222 ms 
whole laserOdometry time 6.728346 ms 
 
mapping data assosiation time 19.750421 ms 
-----t: 0.0470348
OdomCount 4604 & avg odom time 0.045819 ms ++++++++++++++++++++++
mapping data assosiation time 18.086457 ms 
--------------------stamp1317358240.330086946
prepare time 10.769018 
mapping pub time 1.773371 ms 
whole mapping time 145.115768 ms +++++
mappingCount 3029 & avg mapping time 154.105819 ms ++++++++++++++++++++++
publication time 7.046412 ms 
whole laserOdometry time 7.064479 ms 
 
build tree time 43.322433 ms 
mapping data assosiation time 18.608702 ms 
--------------------stamp1317358240.433981895
sort q time 4.690995 
seperate points time 10.123726 
publication time 9.034888 ms 
whole laserOdometry time 9.045392 ms 
 
-----t: 0.0372658
OdomCount 4606 & avg odom time 0.045814 ms ++++++++++++++++++++++
mapping pub time 1.809869 ms 
whole mapping time 142.136969 ms +++++
mappingCount 3030 & avg mapping time 154.101870 ms ++++++++++++++++++++++
build tree time 37.350019 ms 
prepare time 12.228772 
sort q time 4.221493 
seperate points time 17.417239 
-----t: 0.0300355
OdomCount 4607 & avg odom time 0.045810 ms ++++++++++++++++++++++
mapping data assosiation time 18.690226 ms 
mapping solver time 16.488687 ms 
filter time 11.361017 ms 
map prepare time 2.813518 ms
map corner num 171441  surf num 63444 
points size 75172 
sort q time 3.781419 
seperate points time 8.632000 
build tree time 47.847861 ms 
mapping data assosiation time 19.272180 ms 
mapping solver time 20.699627 ms 
--------------------stamp1317358240.745641946
sort q time 4.591308 
seperate points time 9.033872 
publication time 6.985618 ms 
whole laserOdometry time 7.001356 ms 
 
build tree time 38.865578 ms 
--------------------stamp1317358240.849514007
prepare time 9.690140 
sort q time 4.208951 
seperate points time 8.716435 
publication time 5.342416 ms 
whole laserOdometry time 5.353849 ms 
 
-----t: 0.0308642
OdomCount 4610 & avg odom time 0.045800 ms ++++++++++++++++++++++
mapping solver time 17.719779 ms 
filter time 13.501418 ms 
mapping pub time 1.672646 ms 
whole mapping time 142.266107 ms +++++
mappingCount 3033 & avg mapping time 154.091551 ms ++++++++++++++++++++++
1317358240.641746998 WriteOdom aft_mapped_to_init
map prepare time 2.788703 ms
map corner num 172821  surf num 63893 
--------------------stamp1317358240.953408956
prepare time 12.008984 
sort q time 4.005821 
seperate points time 9.829222 
publication time 8.001225 ms 
whole laserOdometry time 8.013193 ms 
 
mapping solver time 21.519260 ms 
mapping data assosiation time 18.327129 ms 
--------------------stamp1317358241.057303905
prepare time 11.975262 
scan registration time 25.897608 ms *************
map prepare time 3.217848 ms
map corner num 173584  surf num 64180 
build tree time 39.115493 ms 
mapping data assosiation time 19.366052 ms 
points size 77351 
mapping solver time 25.925334 ms 
publication time 7.621272 ms 
whole laserOdometry time 7.633390 ms 
 
-----t: 0.0399492
OdomCount 4613 & avg odom time 0.045799 ms ++++++++++++++++++++++
add points time 1.041838 ms
filter time 11.207445 ms 
--------------------stamp1317358241.265091896
prepare time 12.448883 
build tree time 42.254745 ms 
mapping data assosiation time 21.624560 ms 
-----t: 0.0476327
OdomCount 4614 & avg odom time 0.045799 ms ++++++++++++++++++++++
mapping data assosiation time 19.245374 ms 
--------------------stamp1317358241.368984937
filter time 15.628083 ms 
map prepare time 4.202753 ms
map corner num 174983  surf num 64531 
-----t: 0.048389
OdomCount 4615 & avg odom time 0.045800 ms ++++++++++++++++++++++
build tree time 46.934518 ms 
--------------------stamp1317358241.472929000
sort q time 4.892389 
seperate points time 9.619621 
mapping solver time 27.709106 ms 
-----t: 0.0442271
OdomCount 4616 & avg odom time 0.045800 ms ++++++++++++++++++++++
1317358241.472929000 WriteOdom laser_odom_to_init
1317358241.472929000 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.774717 ms 
mapping solver time 23.047876 ms 
filter time 11.478756 ms 
points size 77881 
sort q time 4.308464 
seperate points time 9.993656 
publication time 10.567989 ms 
whole laserOdometry time 10.581831 ms 
 
mapping data assosiation time 21.099651 ms 
mapping solver time 22.285191 ms 
--------------------stamp1317358241.680767059
mapping data assosiation time 21.925444 ms 
sort q time 4.128085 
seperate points time 9.871776 
mapping optimization time 137.587430 
publication time 7.844429 ms 
whole laserOdometry time 7.860279 ms 
 
map prepare time 3.145178 ms
map corner num 176676  surf num 65146 
build tree time 40.354164 ms 
points size 79958 
mapping data assosiation time 23.053906 ms 
sort q time 4.430287 
seperate points time 9.663152 
scan registration time 25.431047 ms *************
mapping solver time 28.622268 ms 
-----t: 0.0460375
OdomCount 4619 & avg odom time 0.045797 ms ++++++++++++++++++++++
mapping solver time 18.613685 ms 
filter time 13.885073 ms 
prepare time 10.942637 
sort q time 5.004133 
seperate points time 14.495450 
publication time 9.532156 ms 
whole laserOdometry time 9.543676 ms 
 
1317358241.888556957 WriteOdom laser_odom_to_init
1317358241.888556957 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.431192 ms 
mapping solver time 22.434451 ms 
points size 77053 
prepare time 10.229184 
mapping solver time 23.096916 ms 
mapping pub time 1.848628 ms 
whole mapping time 159.690075 ms +++++
mappingCount 3040 & avg mapping time 154.096244 ms ++++++++++++++++++++++
-----t: 0.0610765
OdomCount 4621 & avg odom time 0.045799 ms ++++++++++++++++++++++
--------------------stamp1317358242.096365928
prepare time 10.288756 
mapping data assosiation time 22.174079 ms 
mapping solver time 30.507549 ms 
mapping data assosiation time 18.476844 ms 
mapping solver time 21.422442 ms 
points size 70865 
sort q time 3.722994 
seperate points time 10.094369 
publication time 7.843703 ms 
whole laserOdometry time 7.860542 ms 
 
1317358242.200308084 WriteOdom laser_odom_to_init
sort q time 3.907304 
seperate points time 8.139540 
publication time 6.784418 ms 
whole laserOdometry time 6.800722 ms 
 
-----t: 0.0529366
OdomCount 4624 & avg odom time 0.045809 ms ++++++++++++++++++++++
mapping pub time 193.069228 ms 
whole mapping time 349.512740 ms +++++
mappingCount 3041 & avg mapping time 154.160505 ms ++++++++++++++++++++++
points size 66526 
scan registration time 24.160610 ms *************
-----t: 0.0332378
OdomCount 4625 & avg odom time 0.045806 ms ++++++++++++++++++++++
mapping data assosiation time 17.325954 ms 
mapping solver time 21.291401 ms 
--------------------stamp1317358242.512212991
sort q time 3.998980 
seperate points time 7.908769 
add points time 0.981098 ms
publication time 8.691824 ms 
whole laserOdometry time 8.707326 ms 
 
build tree time 40.850100 ms 
--------------------stamp1317358242.616180896
mapping solver time 24.743372 ms 
mapping data assosiation time 20.607110 ms 
mapping solver time 20.580455 ms 
mapping optimization time 127.266523 
-----t: 0.0588694
OdomCount 4627 & avg odom time 0.045807 ms ++++++++++++++++++++++
1317358242.616180896 WriteOdom laser_odom_to_init
1317358242.616180896 WriteOdom aft_mapped_to_init_high_frec
add points time 0.892735 ms
map prepare time 2.955268 ms
map corner num 201528  surf num 72207 
points size 62636 
scan registration time 17.323265 ms *************
publication time 6.879075 ms 
whole laserOdometry time 6.891385 ms 
 
-----t: 0.031876
OdomCount 4628 & avg odom time 0.045804 ms ++++++++++++++++++++++
mapping data assosiation time 19.232294 ms 
mapping solver time 21.536302 ms 
mapping data assosiation time 18.577220 ms 
sort q time 3.319351 
seperate points time 8.444545 
mapping solver time 18.706499 ms 
mapping optimization time 131.205254 
scan registration time 19.247559 ms *************
add points time 1.235515 ms
drop lidar frame in mapping for real time performance 
build tree time 42.839078 ms 
--------------------stamp1317358242.928056001
sort q time 3.223267 
seperate points time 8.154309 
publication time 6.555533 ms 
whole laserOdometry time 6.568200 ms 
 
mapping data assosiation time 18.785691 ms 
mapping solver time 17.542278 ms 
filter time 14.403758 ms 
--------------------stamp1317358243.031979084
-----t: 0.0222953
OdomCount 4631 & avg odom time 0.045797 ms ++++++++++++++++++++++
mapping data assosiation time 16.739773 ms 
mapping solver time 18.638815 ms 
mapping data assosiation time 16.117730 ms 
--------------------stamp1317358243.135899066
sort q time 3.480412 
seperate points time 8.745036 
map prepare time 3.866248 ms
map corner num 203334  surf num 72803 
publication time 8.064885 ms 
whole laserOdometry time 8.074568 ms 
 
build tree time 50.691510 ms 
--------------------stamp1317358243.239810943
sort q time 3.354908 
seperate points time 8.215046 
publication time 6.672807 ms 
whole laserOdometry time 6.689055 ms 
 
mapping solver time 17.762189 ms 
filter time 14.624438 ms 
--------------------stamp1317358243.343729019
sort q time 3.774969 
seperate points time 7.809225 
scan registration time 16.551946 ms *************
mapping data assosiation time 18.055994 ms 
mapping solver time 19.134372 ms 
mapping data assosiation time 17.069888 ms 
mapping solver time 14.706266 ms 
points size 64327 
scan registration time 19.819306 ms *************
publication time 7.858444 ms 
whole laserOdometry time 7.871950 ms 
 
build tree time 50.414455 ms 
mapping data assosiation time 15.362444 ms 
--------------------stamp1317358243.551615953
sort q time 3.957123 
seperate points time 9.755154 
publication time 5.791679 ms 
whole laserOdometry time 5.805440 ms 
 
mapping solver time 18.161602 ms 
-----t: 0.0283204
OdomCount 4636 & avg odom time 0.045785 ms ++++++++++++++++++++++
mapping optimization time 122.367833 
add points time 1.154784 ms
filter time 15.588709 ms 
--------------------stamp1317358243.655556917
sort q time 3.703338 
seperate points time 7.920623 
mapping solver time 18.026966 ms 
mapping data assosiation time 17.514196 ms 
mapping solver time 11.493440 ms 
filter time 13.533532 ms 
--------------------stamp1317358243.759500026
sort q time 3.283736 
seperate points time 8.110422 
publication time 5.896965 ms 
whole laserOdometry time 5.924755 ms 
 
build tree time 57.520991 ms 
mapping data assosiation time 14.742518 ms 
mapping solver time 17.505628 ms 
mapping data assosiation time 14.318094 ms 
--------------------stamp1317358243.863444089
sort q time 3.331976 
seperate points time 6.865498 
mapping pub time 5.100099 ms 
whole mapping time 149.235489 ms +++++
mappingCount 3051 & avg mapping time 154.136591 ms ++++++++++++++++++++++
-----t: 0.042723
OdomCount 4639 & avg odom time 0.045777 ms ++++++++++++++++++++++
build tree time 52.520958 ms 
mapping data assosiation time 15.593622 ms 
sort q time 3.009101 
seperate points time 7.413966 
publication time 7.901054 ms 
whole laserOdometry time 7.930287 ms 
 
mapping solver time 18.253109 ms 
[0m[ INFO] [1718889757.849220319, 1317358244.033749115]: Received 279960 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889757.849262204, 1317358244.033749115]: Data saved to 1317358243655556.pcd[0m
mapping pub time 1.446884 ms 
whole mapping time 148.943343 ms +++++
mappingCount 3052 & avg mapping time 154.134890 ms ++++++++++++++++++++++
1317358243.759500027 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.706640 ms
map corner num 206806  surf num 74002 
--------------------stamp1317358244.071377992
sort q time 2.811707 
seperate points time 7.275667 
build tree time 55.859167 ms 
mapping data assosiation time 17.865378 ms 
-----t: 0.0534844
OdomCount 4641 & avg odom time 0.045773 ms ++++++++++++++++++++++
mapping data assosiation time 18.026222 ms 
points size 52965 
publication time 4.205233 ms 
whole laserOdometry time 4.223670 ms 
 
mapping pub time 1.379864 ms 
whole mapping time 163.906908 ms +++++
mappingCount 3053 & avg mapping time 154.138097 ms ++++++++++++++++++++++
-----t: 0.0285608
OdomCount 4642 & avg odom time 0.045770 ms ++++++++++++++++++++++
build tree time 51.900684 ms 
--------------------stamp1317358244.279263973
sort q time 2.997859 
seperate points time 6.346509 
mapping solver time 23.057511 ms 
mapping data assosiation time 19.633369 ms 
mapping solver time 13.067327 ms 
filter time 14.686897 ms 
--------------------stamp1317358244.383207082
sort q time 2.792566 
seperate points time 7.126757 
publication time 5.324877 ms 
whole laserOdometry time 5.338866 ms 
 
build tree time 60.801635 ms 
-----t: 0.0422069
OdomCount 4644 & avg odom time 0.045769 ms ++++++++++++++++++++++
mapping solver time 19.172191 ms 
mapping data assosiation time 16.935258 ms 
--------------------stamp1317358244.487148046
sort q time 3.506184 
seperate points time 8.518125 
mapping pub time 1.237455 ms 
whole mapping time 159.963068 ms +++++
mappingCount 3055 & avg mapping time 154.138019 ms ++++++++++++++++++++++
-----t: 0.0349487
OdomCount 4645 & avg odom time 0.045767 ms ++++++++++++++++++++++
build tree time 53.517235 ms 
--------------------stamp1317358244.591089010
sort q time 2.855213 
seperate points time 6.235076 
scan registration time 14.800005 ms *************
mapping solver time 21.513705 ms 
mapping data assosiation time 18.415638 ms 
mapping solver time 11.606522 ms 
filter time 14.510443 ms 
map prepare time 3.066463 ms
map corner num 239692  surf num 84080 
--------------------stamp1317358244.694984912
sort q time 3.086431 
seperate points time 7.701361 
scan registration time 16.385037 ms *************
publication time 7.078609 ms 
whole laserOdometry time 7.089350 ms 
 
mapping data assosiation time 18.834687 ms 
mapping solver time 20.143886 ms 
mapping data assosiation time 15.275357 ms 
points size 61872 
filter time 19.836696 ms 
build tree time 52.352422 ms 
--------------------stamp1317358244.902798891
sort q time 3.981439 
seperate points time 7.985671 
publication time 5.810501 ms 
whole laserOdometry time 5.820532 ms 
 
mapping data assosiation time 19.335825 ms 
mapping solver time 17.514000 ms 
filter time 14.473046 ms 
--------------------stamp1317358245.006716966
sort q time 3.465771 
seperate points time 11.111829 
publication time 6.193745 ms 
whole laserOdometry time 6.208888 ms 
 
build tree time 64.884422 ms 
mapping data assosiation time 17.280395 ms 
mapping solver time 19.506895 ms 
mapping data assosiation time 18.875789 ms 
mapping solver time 17.284532 ms 
filter time 18.774999 ms 
-----t: 0.0408066
OdomCount 4651 & avg odom time 0.045749 ms ++++++++++++++++++++++
build tree time 54.218662 ms 
points size 68486 
sort q time 3.558192 
seperate points time 8.944646 
publication time 9.158678 ms 
whole laserOdometry time 9.166748 ms 
 
-----t: 0.0317551
OdomCount 4652 & avg odom time 0.045746 ms ++++++++++++++++++++++
mapping solver time 12.101985 ms 
mapping optimization time 127.367677 
add points time 0.791955 ms
filter time 14.522665 ms 
--------------------stamp1317358245.318571090
sort q time 3.779614 
seperate points time 9.205143 
publication time 7.178614 ms 
whole laserOdometry time 7.188796 ms 
 
build tree time 59.701737 ms 
mapping data assosiation time 17.445103 ms 
mapping solver time 18.491580 ms 
mapping data assosiation time 17.337965 ms 
points size 71210 
sort q time 3.884008 
seperate points time 9.553626 
publication time 7.959488 ms 
whole laserOdometry time 7.976550 ms 
 
-----t: 0.0423708
OdomCount 4654 & avg odom time 0.045743 ms ++++++++++++++++++++++
--------------------stamp1317358245.526408910
sort q time 3.922843 
seperate points time 9.368292 
publication time 7.442042 ms 
whole laserOdometry time 7.461232 ms 
 
1317358245.526408910 WriteOdom laser_odom_to_init
--------------------stamp1317358245.630327939
sort q time 4.011141 
seperate points time 9.148780 
scan registration time 24.287451 ms *************
-----t: 0.0300663
OdomCount 4656 & avg odom time 0.045738 ms ++++++++++++++++++++++
build tree time 63.767643 ms 
mapping data assosiation time 18.723059 ms 
--------------------stamp1317358245.734247922
mapping solver time 19.013722 ms 
points size 79029 
prepare time 10.198774 
mapping data assosiation time 20.964133 ms 
publication time 7.475819 ms 
whole laserOdometry time 7.489288 ms 
 
filter time 18.093940 ms 
--------------------stamp1317358245.838165998
prepare time 11.983330 
sort q time 4.737572 
seperate points time 11.174643 
-----t: 0.031892
OdomCount 4658 & avg odom time 0.045734 ms ++++++++++++++++++++++
mapping solver time 18.331211 ms 
mapping data assosiation time 17.777279 ms 
--------------------stamp1317358245.942061901
prepare time 12.847100 
sort q time 4.938697 
seperate points time 11.200048 
-----t: 0.029274
OdomCount 4659 & avg odom time 0.045730 ms ++++++++++++++++++++++
build tree time 59.626689 ms 
--------------------stamp1317358246.045932054
mapping data assosiation time 17.717802 ms 
scan registration time 25.625301 ms *************
publication time 9.123759 ms 
whole laserOdometry time 9.137026 ms 
 
mapping data assosiation time 22.184810 ms 
mapping solver time 19.902651 ms 
-----t: 0.0696962
OdomCount 4660 & avg odom time 0.045735 ms ++++++++++++++++++++++
filter time 15.558989 ms 
1317358246.045932054 WriteOdom laser_odom_to_init
1317358246.045932054 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.088059 ms 
whole mapping time 169.153072 ms +++++
mappingCount 3064 & avg mapping time 154.207246 ms ++++++++++++++++++++++
1317358245.838165998 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358246.149801015
prepare time 10.298468 
sort q time 4.215942 
seperate points time 9.221192 
publication time 7.205186 ms 
whole laserOdometry time 7.470927 ms 
 
build tree time 63.506737 ms 
mapping data assosiation time 20.463154 ms 
mapping solver time 20.194572 ms 
--------------------stamp1317358246.253673076
mapping data assosiation time 21.324349 ms 
sort q time 4.185767 
seperate points time 10.139749 
mapping solver time 24.908207 ms 
filter time 20.329090 ms 
-----t: 0.0788566
OdomCount 4662 & avg odom time 0.045746 ms ++++++++++++++++++++++
points size 75364 
sort q time 4.099628 
seperate points time 9.866336 
build tree time 61.337203 ms 
scan registration time 26.758288 ms *************
mapping data assosiation time 22.413662 ms 
mapping solver time 21.902860 ms 
mapping data assosiation time 17.747741 ms 
mapping solver time 11.967825 ms 
points size 77216 
sort q time 5.510966 
seperate points time 10.793160 
publication time 6.521705 ms -----t: 0.0552266
OdomCount 4664 & avg odom time 0.045745 ms ++++++++++++++++++++++
1317358246.461437940 WriteOdom laser_odom_to_init
1317358246.461437940 WriteOdom aft_mapped_to_init_high_frec
build tree time 63.325642 ms 
--------------------stamp1317358246.565357923
sort q time 4.059467 
seperate points time 8.373094 
publication time 8.431145 ms 
whole laserOdometry time 8.442893 ms 
 
-----t: 0.0404026
OdomCount 4665 & avg odom time 0.045744 ms ++++++++++++++++++++++
mapping solver time 20.806290 ms 
filter time 15.130503 ms 
--------------------stamp1317358246.669251918
points size 78836 
sort q time 4.530223 
seperate points time 10.608445 
-----t: 0.0320283
publication time 7.385397 ms 
whole laserOdometry time 7.393765 ms 
 
OdomCount 4666 & avg odom time 0.045741 ms ++++++++++++++++++++++
mapping data assosiation time 17.856569 ms 
mapping solver time 19.183556 ms 
--------------------stamp1317358246.773121118
points size 80889 
mapping solver time 23.852978 ms 
publication time 6.787396 ms 
whole laserOdometry time 6.798230 ms 
 
1317358246.461437941 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0706039
OdomCount 4667 & avg odom time 0.045747 ms ++++++++++++++++++++++
--------------------stamp1317358246.877019882
prepare time 13.067891 
sort q time 4.744510 
seperate points time 10.890083 
publication time 8.877317 ms 
whole laserOdometry time 8.893051 ms 
 
mapping solver time 29.917244 ms 
mapping data assosiation time 23.696371 ms 
points size 86053 
sort q time 4.643172 
seperate points time 11.247848 
publication time 7.988730 ms 
whole laserOdometry time 8.004802 ms 
 
drop lidar frame in mapping for real time performance 
-----t: 0.0683071
OdomCount 4669 & avg odom time 0.045750 ms ++++++++++++++++++++++
--------------------stamp1317358247.084784030
points size 89093 
sort q time 4.782197 
seperate points time 9.901170 
scan registration time 28.550522 ms *************
build tree time 72.639290 ms 
publication time 8.688387 ms 
whole laserOdometry time 8.698557 ms 
 
-----t: 0.0495277
OdomCount 4670 & avg odom time 0.045751 ms ++++++++++++++++++++++
mapping solver time 23.663415 ms 
mapping data assosiation time 19.879237 ms 
points size 87882 
mapping solver time 24.250058 ms 
filter time 21.293761 ms 
--------------------stamp1317358247.292573928
prepare time 11.524480 
sort q time 4.755405 
seperate points time 10.832336 
publication time 9.074261 ms 
whole laserOdometry time 9.376281 ms 
 
mapping solver time 27.296560 ms 
mapping data assosiation time 21.100024 ms 
mapping solver time 18.304456 ms 
filter time 16.067537 ms 
map prepare time 4.839366 ms
map corner num 250912  surf num 88589 
publication time 7.973002 ms 
whole laserOdometry time 8.002219 ms 
 
-----t: 0.0428993
OdomCount 4673 & avg odom time 0.045745 ms ++++++++++++++++++++++
build tree time 59.723287 ms 
--------------------stamp1317358247.500385046
sort q time 5.013261 
seperate points time 10.841408 
publication time 8.267218 ms 
whole laserOdometry time 8.300808 ms 
 
mapping solver time 15.394827 ms 
filter time 17.830355 ms 
--------------------stamp1317358247.604304075
prepare time 13.203021 
scan registration time 30.217246 ms *************
publication time 9.060193 ms 
whole laserOdometry time 9.100450 ms 
 
build tree time 70.501264 ms 
mapping data assosiation time 22.686896 ms 
--------------------stamp1317358247.708223104
sort q time 4.641686 
seperate points time 10.884397 
mapping data assosiation time 24.940262 ms 
mapping solver time 25.033784 ms 
filter time 15.215887 ms 
map prepare time 3.923523 ms
map corner num 252581  surf num 89156 
--------------------stamp1317358247.812139987
prepare time 13.641290 
scan registration time 29.770477 ms *************
build tree time 68.281489 ms 
mapping data assosiation time 24.021454 ms 
mapping solver time 28.641581 ms 
prepare time 15.145804 
sort q time 5.119559 
seperate points time 12.200078 
publication time 9.166399 ms 
whole laserOdometry time 9.182235 ms 
 
[0m[ INFO] [1718889761.796681142, 1317358247.974842026]: Received 339501 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889761.796727616, 1317358247.974842026]: Data saved to 1317358247084784.pcd[0m
map prepare time 3.865196 ms
map corner num 253497  surf num 89565 
--------------------stamp1317358248.020047903
points size 87263 
sort q time 4.830195 
seperate points time 11.694970 
publication time 8.940862 ms 
whole laserOdometry time 8.953950 ms 
 
mapping data assosiation time 23.961381 ms 
mapping solver time 25.446551 ms 
--------------------stamp1317358248.123990058
mapping data assosiation time 25.762729 ms 
sort q time 4.798834 
seperate points time 11.552985 
scan registration time 29.427565 ms *************
publication time 9.403407 ms 
whole laserOdometry time 9.423309 ms 
 
map prepare time 3.815237 ms
map corner num 254491  surf num 89984 
--------------------stamp1317358248.227910995
points size 83044 
build tree time 60.639957 ms 
sort q time 4.541863 
seperate points time 22.970608 
publication time 13.494132 ms 
whole laserOdometry time 13.507240 ms 
 
mapping solver time 29.965521 ms 
--------------------stamp1317358248.331784963
points size 82462 
sort q time 4.619128 
seperate points time 11.328777 
publication time 8.669973 ms 
whole laserOdometry time 8.684109 ms 
 
filter time 20.897214 ms 
map prepare time 3.946786 ms
map corner num 255459  surf num 90424 
--------------------stamp1317358248.435632944
-----t: 0.103092
OdomCount 4682 & avg odom time 0.045756 ms ++++++++++++++++++++++
scan registration time 27.403263 ms *************
publication time 11.073436 ms 
whole laserOdometry time 11.085667 ms 
 
-----t: 0.0399523
OdomCount 4683 & avg odom time 0.045755 ms ++++++++++++++++++++++
1317358248.435632944 WriteOdom laser_odom_to_init
1317358248.435632944 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 35.696704 ms 
points size 81187 
sort q time 5.405770 
seperate points time 10.565623 
scan registration time 25.809808 ms *************
mapping data assosiation time 30.575099 ms 
mapping solver time 35.161966 ms 
filter time 24.052091 ms 
map prepare time 4.923424 ms
map corner num 256423  surf num 90922 
points size 80012 
sort q time 4.959308 
seperate points time 9.960748 
publication time 9.273620 ms 
whole laserOdometry time 9.291712 ms 
 
build tree time 74.374197 ms 
mapping data assosiation time 30.983981 ms 
points size 78592 
mapping solver time 32.617935 ms 
sort q time 13.563149 
seperate points time 26.766053 
mapping data assosiation time 31.697700 ms 
-----t: 0.0583823
OdomCount 4686 & avg odom time 0.045756 ms ++++++++++++++++++++++
1317358248.747386932 WriteOdom laser_odom_to_init
1317358248.747386932 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 38.721814 ms 
points size 76373 
1317358248.435632944 WriteOdom aft_mapped_to_init
publication time 9.970720 ms 
whole laserOdometry time 9.988642 ms 
 
--------------------stamp1317358248.955275058
prepare time 12.355081 
sort q time 4.186303 
seperate points time 10.610342 
publication time 9.868908 ms 
whole laserOdometry time 9.886635 ms 
 
-----t: 0.0449897
OdomCount 4688 & avg odom time 0.045757 ms ++++++++++++++++++++++
mapping data assosiation time 23.189698 ms 
--------------------stamp1317358249.059215068
mapping solver time 25.618509 ms 
scan registration time 24.815233 ms *************
mapping pub time 1.811915 ms 
whole mapping time 218.825241 ms +++++
mappingCount 3079 & avg mapping time 154.405820 ms ++++++++++++++++++++++
[0m[ INFO] [1718889762.925354955, 1317358249.108611723]: Received 345883 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889762.925390521, 1317358249.108611723]: Data saved to 1317358248020047.pcd[0m
--------------------stamp1317358249.163156986
sort q time 4.469700 
seperate points time 9.485401 
mapping data assosiation time 27.763072 ms 
-----t: 0.0354798
OdomCount 4690 & avg odom time 0.045752 ms ++++++++++++++++++++++
mapping solver time 32.248838 ms 
mapping data assosiation time 24.194989 ms 
--------------------stamp1317358249.267124891
mapping solver time 32.387441 ms 
mapping optimization time 179.668577 
add points time 1.230024 ms
filter time 18.991301 ms 
publication time 8.655420 ms 
whole laserOdometry time 8.669030 ms 
 
-----t: 0.0520701
OdomCount 4691 & avg odom time 0.045753 ms ++++++++++++++++++++++
--------------------stamp1317358249.371068000
sort q time 4.068055 
seperate points time 9.580817 
publication time 11.508275 ms 
whole laserOdometry time 11.519502 ms 
 
mapping solver time 33.549845 ms 
mapping data assosiation time 24.827427 ms 
--------------------stamp1317358249.475011110
sort q time 4.703844 
seperate points time 9.451622 
-----t: 0.0471645
OdomCount 4693 & avg odom time 0.045752 ms ++++++++++++++++++++++
--------------------stamp1317358249.578970909
prepare time 14.245141 
sort q time 4.794541 
seperate points time 11.582024 
sort q time 4.060423 
seperate points time 10.051120 
publication time 7.395780 ms 
whole laserOdometry time 7.407757 ms 
 
-----t: 0.0415893
OdomCount 4695 & avg odom time 0.045753 ms ++++++++++++++++++++++
build tree time 63.816789 ms 
mapping data assosiation time 23.766031 ms 
points size 72545 
mapping solver time 26.859329 ms 
publication time 8.262929 ms 
whole laserOdometry time 8.275702 ms 
 
mapping solver time 16.704431 ms 
filter time 14.564730 ms 
--------------------stamp1317358249.890829086
sort q time 3.785983 
seperate points time 9.140543 
publication time 4.987604 ms 
whole laserOdometry time 5.001201 ms 
 
-----t: 0.0353415
OdomCount 4697 & avg odom time 0.045749 ms ++++++++++++++++++++++
mapping data assosiation time 21.702186 ms 
mapping solver time 24.155233 ms 
points size 67110 
sort q time 3.623118 
seperate points time 8.755814 
publication time 5.636927 ms 
whole laserOdometry time 5.647240 ms 
 
-----t: 0.0525982
OdomCount 4698 & avg odom time 0.045751 ms ++++++++++++++++++++++
1317358249.994796991 WriteOdom laser_odom_to_init
1317358249.994796991 WriteOdom aft_mapped_to_init_high_frec
filter time 20.244065 ms 
mapping pub time 1.641292 ms 
whole mapping time 189.482887 ms +++++
mappingCount 3083 & avg mapping time 154.515987 ms ++++++++++++++++++++++
1317358249.682913065 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.126252 ms
map corner num 241924  surf num 87667 
--------------------stamp1317358250.098763942
prepare time 11.239388 
scan registration time 24.564063 ms *************
publication time 5.644942 ms 
whole laserOdometry time 5.656233 ms 
 
mapping data assosiation time 21.266636 ms 
[0m[ INFO] [1718889763.976267072, 1317358250.154241192]: Received 352753 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889763.976311695, 1317358250.154241192]: Data saved to 1317358249059215.pcd[0m
mapping solver time 24.255883 ms 
mapping data assosiation time 18.505477 ms 
points size 67019 
scan registration time 20.978773 ms *************
publication time 8.212529 ms 
whole laserOdometry time 8.227557 ms 
 
mapping pub time 1.598498 ms 
whole mapping time 184.921294 ms +++++
mappingCount 3084 & avg mapping time 154.525847 ms ++++++++++++++++++++++
1317358249.890829086 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.629823 ms
map corner num 242690  surf num 87869 
-----t: 0.0596357
OdomCount 4700 & avg odom time 0.045750 ms ++++++++++++++++++++++
--------------------stamp1317358250.306674003
prepare time 10.978420 
scan registration time 24.305529 ms *************
-----t: 0.0295388
OdomCount 4701 & avg odom time 0.045747 ms ++++++++++++++++++++++
mapping data assosiation time 16.922576 ms 
mapping solver time 18.229455 ms 
--------------------stamp1317358250.410590887
sort q time 4.556721 
seperate points time 8.578464 
publication time 5.436721 ms 
whole laserOdometry time 5.451173 ms 
 
build tree time 60.525385 ms 
mapping data assosiation time 17.078382 ms 
--------------------stamp1317358250.514509916
sort q time 3.872770 
seperate points time 7.712221 
scan registration time 19.417475 ms *************
-----t: 0.0312678
OdomCount 4703 & avg odom time 0.045740 ms ++++++++++++++++++++++
filter time 16.036239 ms 
map prepare time 4.105290 ms
map corner num 243952  surf num 88251 
--------------------stamp1317358250.618452072
sort q time 3.591682 
seperate points time 8.759340 
build tree time 61.446893 ms 
-----t: 0.0390434
OdomCount 4704 & avg odom time 0.045739 ms ++++++++++++++++++++++
1317358250.618452072 WriteOdom laser_odom_to_init
1317358250.618452072 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.028951 ms 
mapping solver time 21.481736 ms 
mapping data assosiation time 18.241854 ms 
mapping solver time 15.912777 ms 
sort q time 3.936002 
seperate points time 8.717724 
publication time 6.730710 ms 
whole laserOdometry time 6.749731 ms 
 
-----t: 0.0316281
OdomCount 4705 & avg odom time 0.045736 ms ++++++++++++++++++++++
1317358250.722394943 WriteOdom laser_odom_to_init
1317358250.722394943 WriteOdom aft_mapped_to_init_high_frec
build tree time 57.131875 ms 
--------------------stamp1317358250.826338052
sort q time 3.639185 
seperate points time 8.607917 
mapping solver time 23.267121 ms 
mapping data assosiation time 19.177934 ms 
mapping solver time 20.263113 ms 
filter time 15.060922 ms 
--------------------stamp1317358250.930282115
sort q time 3.717523 
seperate points time 7.532693 
-----t: 0.0314145
OdomCount 4707 & avg odom time 0.045731 ms ++++++++++++++++++++++
build tree time 63.895425 ms 
mapping data assosiation time 16.224809 ms 
mapping solver time 15.587696 ms 
--------------------stamp1317358251.034224987
mapping solver time 13.534328 ms 
sort q time 3.819203 
seperate points time 7.988743 
mapping optimization time 128.778721 
add points time 1.109074 ms
scan registration time 17.495678 ms *************
mapping pub time 1.517428 ms 
whole mapping time 155.257353 ms +++++
mappingCount 3089 & avg mapping time 154.538903 ms ++++++++++++++++++++++
build tree time 56.371666 ms 
sort q time 3.845083 
seperate points time 7.656389 
publication time 6.013799 ms 
whole laserOdometry time 6.024315 ms 
 
mapping solver time 24.146009 ms 
mapping data assosiation time 17.221143 ms 
mapping solver time 18.770141 ms 
filter time 14.376947 ms 
--------------------stamp1317358251.242156982
sort q time 3.440950 
seperate points time 8.408506 
publication time 6.955069 ms 
whole laserOdometry time 6.969461 ms 
 
build tree time 67.738225 ms 
mapping data assosiation time 17.037571 ms 
mapping solver time 18.054541 ms 
points size 61390 
publication time 5.903602 ms 
whole laserOdometry time 5.915836 ms 
 
mapping solver time 23.513626 ms 
filter time 15.174573 ms 
--------------------stamp1317358251.450088977
sort q time 3.873775 
seperate points time 7.783783 
build tree time 64.332869 ms 
mapping data assosiation time 19.262548 ms 
mapping solver time 25.254667 ms 
mapping data assosiation time 15.778687 ms 
mapping solver time 16.433446 ms 
prepare time 7.747429 
map prepare time 3.110797 ms
map corner num 247622  surf num 89589 
publication time 8.703574 ms 
whole laserOdometry time 8.713313 ms 
 
-----t: 0.0352151
OdomCount 4713 & avg odom time 0.045713 ms ++++++++++++++++++++++
build tree time 59.757804 ms 
mapping data assosiation time 18.255427 ms 
sort q time 3.021749 
seperate points time 6.728230 
publication time 6.325935 ms 
whole laserOdometry time 6.358592 ms 
 
mapping data assosiation time 19.621175 ms 
-----t: 0.0419156
OdomCount 4714 & avg odom time 0.045712 ms ++++++++++++++++++++++
filter time 14.706023 ms 
--------------------stamp1317358251.761941909
sort q time 3.035981 
seperate points time 7.277479 
publication time 6.715451 ms 
whole laserOdometry time 6.726903 ms 
 
build tree time 67.059441 ms 
mapping data assosiation time 17.076199 ms 
mapping solver time 21.779098 ms 
--------------------stamp1317358251.865907907
sort q time 3.725916 
seperate points time 8.267662 
filter time 16.939902 ms 
--------------------stamp1317358251.969875097
sort q time 3.438935 
seperate points time 8.509277 
publication time 7.289636 ms mapping data assosiation time 17.297113 ms 
mapping solver time 18.455472 ms 
filter time 17.273343 ms 
prepare time 9.564582 
scan registration time 21.034456 ms *************
publication time 8.654561 ms 
whole laserOdometry time 8.694069 ms 
 
-----t: 0.0376228
OdomCount 4718 & avg odom time 0.045703 ms ++++++++++++++++++++++
build tree time 69.062524 ms 
mapping data assosiation time 18.839317 ms 
points size 64484 
mapping data assosiation time 20.782009 ms 
mapping solver time 20.158436 ms 
filter time 15.479862 ms 
map prepare time 3.476613 ms
map corner num 223797  surf num 78316 
--------------------stamp1317358252.281752109
sort q time 3.365207 
seperate points time 6.989528 
publication time 6.483882 ms 
whole laserOdometry time 6.499101 ms 
 
build tree time 60.208007 ms 
[0m[ INFO] [1718889766.140440889, 1317358252.323534676]: Received 340722 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889766.140470161, 1317358252.323534676]: Data saved to 1317358251969875.pcd[0m
mapping data assosiation time 19.720504 ms 
mapping solver time 22.217574 ms 
--------------------stamp1317358252.385746955
sort q time 2.864482 
seperate points time 7.439945 
scan registration time 17.206562 ms *************
mapping solver time 23.330686 ms 
publication time 5.297967 ms 
whole laserOdometry time 5.308376 ms 
 
mapping optimization time 145.787091 
filter time 15.518257 ms 
build tree time 51.515637 ms 
points size 52756 
scan registration time 15.447894 ms *************
publication time 6.878106 ms 
whole laserOdometry time 6.902800 ms 
 
-----t: 0.0446249
OdomCount 4722 & avg odom time 0.045695 ms ++++++++++++++++++++++
mapping solver time 17.971002 ms 
filter time 15.606996 ms 
points size 49072 
publication time 6.130767 ms 
whole laserOdometry time 6.143926 ms 
 
-----t: 0.0272976
OdomCount 4723 & avg odom time 0.045691 ms ++++++++++++++++++++++
build tree time 57.072534 ms 
mapping data assosiation time 18.106330 ms 
mapping solver time 19.575882 ms 
points size 44934 
publication time 5.087170 ms 
whole laserOdometry time 5.102832 ms 
 
mapping solver time 19.577603 ms 
mapping optimization time 135.493158 
add points time 0.716377 ms
-----t: 0.0297576
OdomCount 4724 & avg odom time 0.045688 ms ++++++++++++++++++++++
1317358252.697639942 WriteOdom laser_odom_to_init
map prepare time 2.902630 ms
map corner num 226160  surf num 79159 
--------------------stamp1317358252.801609992
sort q time 1.906777 
seperate points time 5.320084 
mapping data assosiation time 20.489290 ms 
mapping solver time 20.646206 ms 
mapping data assosiation time 18.211722 ms 
mapping solver time 19.218251 ms 
filter time 14.579305 ms 
sort q time 1.858121 
seperate points time 5.241998 
publication time 2.829565 ms 
whole laserOdometry time 2.839332 ms 
 
-----t: 0.0210335
OdomCount 4726 & avg odom time 0.045677 ms ++++++++++++++++++++++
build tree time 57.996047 ms 
mapping data assosiation time 14.958796 ms 
mapping solver time 13.807267 ms 
--------------------stamp1317358253.009593009
sort q time 1.834661 
seperate points time 4.924421 
scan registration time 11.814419 ms *************
mapping solver time 11.354500 ms 
mapping optimization time 114.255198 
add points time 0.661966 ms
-----t: 0.0188862
OdomCount 4727 & avg odom time 0.045671 ms ++++++++++++++++++++++
--------------------stamp1317358253.113560914
publication time 3.899520 ms 
whole laserOdometry time 3.913782 ms 
 
-----t: 0.0247996
OdomCount 4728 & avg odom time 0.045667 ms ++++++++++++++++++++++
mapping pub time 171.892900 ms 
whole mapping time 309.908189 ms +++++
mappingCount 3101 & avg mapping time 154.624581 ms ++++++++++++++++++++++
sort q time 1.920500 
seperate points time 4.244955 
-----t: 0.020434
OdomCount 4729 & avg odom time 0.045662 ms ++++++++++++++++++++++
build tree time 53.612591 ms 
mapping data assosiation time 14.741612 ms 
mapping solver time 14.483379 ms 
mapping data assosiation time 15.379008 ms 
mapping solver time 12.706356 ms 
publication time 3.286788 ms 
whole laserOdometry time 3.297650 ms 
 
-----t: 0.0402881
OdomCount 4730 & avg odom time 0.045661 ms ++++++++++++++++++++++
[0m[ INFO] [1718889767.207511117, 1317358253.392610802]: Received 306831 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889767.207550577, 1317358253.392610802]: Data saved to 1317358252801609.pcd[0m
build tree time 58.363296 ms 
--------------------stamp1317358253.425477981
sort q time 2.565162 
seperate points time 5.783580 
mapping solver time 21.709695 ms 
mapping data assosiation time 15.698125 ms 
mapping solver time 10.913286 ms 
filter time 13.445450 ms 
--------------------stamp1317358253.529423952
sort q time 2.499426 
seperate points time 5.446835 
build tree time 56.850879 ms 
-----t: 0.0199435
OdomCount 4732 & avg odom time 0.045650 ms ++++++++++++++++++++++
mapping solver time 19.853338 ms 
mapping data assosiation time 14.256229 ms 
mapping solver time 14.647664 ms 
mapping optimization time 122.548461 
add points time 0.648213 ms
points size 55916 
publication time 7.698898 ms 
whole laserOdometry time 7.726438 ms 
 
-----t: 0.0356423
OdomCount 4733 & avg odom time 0.045648 ms ++++++++++++++++++++++
build tree time 60.686783 ms 
mapping data assosiation time 15.626030 ms 
mapping solver time 15.524306 ms 
prepare time 7.846553 
publication time 4.057187 ms 
whole laserOdometry time 4.070998 ms 
 
filter time 19.035837 ms 
build tree time 48.839503 ms 
prepare time 8.344033 
publication time 5.914286 ms 
whole laserOdometry time 5.923100 ms 
 
mapping solver time 24.065913 ms 
-----t: 0.0267262
OdomCount 4735 & avg odom time 0.045641 ms ++++++++++++++++++++++
1317358253.841326951 WriteOdom laser_odom_to_init
1317358253.841326951 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.965370 ms 
filter time 14.799886 ms 
--------------------stamp1317358253.945295095
sort q time 3.290853 
seperate points time 6.764066 
publication time 8.533890 ms 
whole laserOdometry time 8.547518 ms 
 
build tree time 61.552645 ms 
mapping data assosiation time 14.790192 ms 
mapping solver time 19.590749 ms 
--------------------stamp1317358254.049283981
sort q time 3.704100 
seperate points time 7.489805 
publication time 6.028002 ms 
whole laserOdometry time 6.059115 ms 
 
filter time 17.500740 ms 
mapping pub time 1.361559 ms 
whole mapping time 153.805721 ms +++++
mappingCount 3107 & avg mapping time 154.604638 ms ++++++++++++++++++++++
1317358253.841326952 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 51.456794 ms 
points size 63541 
publication time 6.445008 ms 
whole laserOdometry time 6.457717 ms 
 
mapping data assosiation time 15.738614 ms 
mapping solver time 12.325181 ms 
filter time 13.744333 ms 
--------------------stamp1317358254.257199048
sort q time 3.559234 
seperate points time 8.678358 
scan registration time 18.623272 ms *************
build tree time 59.964239 ms 
mapping data assosiation time 19.315066 ms 
-----t: 0.0622281
OdomCount 4739 & avg odom time 0.045632 ms ++++++++++++++++++++++
mapping solver time 23.955979 ms 
1317358254.257199048 WriteOdom laser_odom_to_init
1317358254.257199048 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718889768.157212506, 1317358254.340355739]: Received 310042 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889768.157247038, 1317358254.340355739]: Data saved to 1317358253633392.pcd[0m
mapping data assosiation time 16.419122 ms 
prepare time 6.525690 
publication time 6.401719 ms 
whole laserOdometry time 6.418406 ms 
 
map prepare time 3.122331 ms
map corner num 231454  surf num 80936 
build tree time 53.877022 ms 
--------------------stamp1317358254.465125083
sort q time 3.121162 
seperate points time 6.781472 
publication time 7.231379 ms 
whole laserOdometry time 7.260287 ms 
 
mapping data assosiation time 20.195149 ms 
-----t: 0.0474716
OdomCount 4741 & avg odom time 0.045628 ms ++++++++++++++++++++++
filter time 13.282272 ms 
points size 67477 
sort q time 3.577411 
seperate points time 8.871952 
publication time 6.338381 ms 
whole laserOdometry time 6.350953 ms 
 
mapping data assosiation time 19.468014 ms 
mapping solver time 21.404618 ms 
mapping data assosiation time 18.673097 ms 
points size 68355 
scan registration time 18.589798 ms *************
mapping pub time 5.918679 ms 
whole mapping time 163.675323 ms +++++
mappingCount 3111 & avg mapping time 154.603711 ms ++++++++++++++++++++++
build tree time 51.012822 ms 
points size 67795 
publication time 7.502153 ms 
whole laserOdometry time 7.514183 ms 
 
mapping data assosiation time 21.290850 ms 
-----t: 0.0609844
OdomCount 4744 & avg odom time 0.045629 ms ++++++++++++++++++++++
filter time 13.460766 ms 
--------------------stamp1317358254.881016016
sort q time 3.571423 
seperate points time 8.498434 
publication time 12.911197 ms 
whole laserOdometry time 13.044249 ms 
 
build tree time 59.688240 ms 
mapping data assosiation time 19.290089 ms 
mapping solver time 17.851172 ms 
--------------------stamp1317358254.985008001
scan registration time 15.871029 ms *************
publication time 6.985606 ms 
whole laserOdometry time 7.001769 ms 
 
filter time 18.000228 ms 
mapping pub time 1.540945 ms 
whole mapping time 157.703819 ms +++++
mappingCount 3113 & avg mapping time 154.605568 ms ++++++++++++++++++++++
1317358254.777025938 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.231865 ms
map corner num 234523  surf num 82282 
build tree time 49.499379 ms 
points size 68113 
scan registration time 20.665617 ms *************
publication time 6.560426 ms 
whole laserOdometry time 6.598743 ms 
 
mapping data assosiation time 19.145272 ms 
mapping solver time 23.302037 ms 
--------------------stamp1317358255.192941904
map prepare time 3.586839 ms
map corner num 235194  surf num 82569 
publication time 7.482378 ms 
whole laserOdometry time 7.495490 ms 
 
-----t: 0.0557042
OdomCount 4748 & avg odom time 0.045624 ms ++++++++++++++++++++++
mapping data assosiation time 20.109221 ms 
[0m[ INFO] [1718889769.112010391, 1317358255.288882925]: Received 314457 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889769.112080963, 1317358255.288882925]: Data saved to 1317358254465125.pcd[0m
mapping solver time 28.226583 ms 
sort q time 4.011467 
seperate points time 10.608304 
scan registration time 25.745459 ms *************
mapping solver time 22.852817 ms 
filter time 16.539352 ms 
--------------------stamp1317358255.400875091
sort q time 4.254672 
seperate points time 10.085096 
publication time 7.084592 ms 
whole laserOdometry time 7.096027 ms 
 
build tree time 63.460606 ms 
mapping data assosiation time 19.023967 ms 
mapping solver time 22.739031 ms 
--------------------stamp1317358255.504817008
sort q time 4.466381 
seperate points time 10.213866 
publication time 7.496637 ms 
whole laserOdometry time 7.509973 ms 
 
mapping pub time 5.800721 ms 
whole mapping time 174.860173 ms +++++
mappingCount 3116 & avg mapping time 154.624413 ms ++++++++++++++++++++++
-----t: 0.0651309
OdomCount 4751 & avg odom time 0.045629 ms ++++++++++++++++++++++
--------------------stamp1317358255.608758926
build tree time 54.088515 ms 
sort q time 4.032978 
seperate points time 9.970589 
mapping data assosiation time 21.587983 ms 
publication time 16.431234 ms 
whole laserOdometry time 16.445097 ms 
 
mapping solver time 27.898534 ms 
mapping solver time 20.017099 ms 
prepare time 9.880421 
scan registration time 24.096338 ms *************
publication time 7.779940 ms 
whole laserOdometry time 7.794938 ms 
 
-----t: 0.050545
OdomCount 4753 & avg odom time 0.045627 ms ++++++++++++++++++++++
build tree time 60.623329 ms 
--------------------stamp1317358255.816668987
sort q time 4.676012 
seperate points time 9.253947 
mapping solver time 32.041076 ms 
-----t: 0.0448669
OdomCount 4754 & avg odom time 0.045627 ms ++++++++++++++++++++++
mapping solver time 23.832112 ms 
--------------------stamp1317358255.920613050
map prepare time 4.383527 ms
map corner num 238198  surf num 83992 
prepare time 12.259030 
scan registration time 28.455286 ms *************
-----t: 0.0365931
OdomCount 4755 & avg odom time 0.045625 ms ++++++++++++++++++++++
build tree time 62.280018 ms 
mapping data assosiation time 21.592605 ms 
points size 80476 
prepare time 10.959079 
publication time 9.091600 ms 
whole laserOdometry time 9.105250 ms 
 
mapping solver time 20.815349 ms 
filter time 14.302579 ms 
--------------------stamp1317358256.128427982
points size 80921 
sort q time 4.552995 
seperate points time 10.637736 
publication time 8.620730 ms 
whole laserOdometry time 8.647392 ms 
 
build tree time 63.166929 ms 
mapping data assosiation time 21.658060 ms 
mapping solver time 25.704031 ms 
points size 82520 
mapping data assosiation time 25.197196 ms 
sort q time 13.529135 
seperate points time 19.778585 
mapping solver time 28.134378 ms 
filter time 18.091110 ms 
--------------------stamp1317358256.336263895
sort q time 4.420240 
seperate points time 10.758854 
scan registration time 27.735741 ms *************
publication time 7.250958 ms 
whole laserOdometry time 7.268556 ms 
 
mapping solver time 25.352186 ms 
--------------------stamp1317358256.440182924
sort q time 4.987587 
seperate points time 10.588536 
scan registration time 26.241338 ms *************
publication time 8.601031 ms 
whole laserOdometry time 8.617922 ms 
 
filter time 16.709905 ms 
--------------------stamp1317358256.544102907
points size 84338 
sort q time 4.307021 
seperate points time 10.391520 
publication time 8.335611 ms 
whole laserOdometry time 8.349743 ms 
 
-----t: 0.075378
OdomCount 4761 & avg odom time 0.045622 ms ++++++++++++++++++++++
--------------------stamp1317358256.647973060
prepare time 13.282880 
sort q time 4.817697 
seperate points time 10.496165 
mapping pub time 188.392448 ms 
whole mapping time 378.533915 ms +++++
mappingCount 3121 & avg mapping time 154.734244 ms ++++++++++++++++++++++
-----t: 0.041576
OdomCount 4762 & avg odom time 0.045621 ms ++++++++++++++++++++++
1317358256.647973060 WriteOdom laser_odom_to_init
1317358256.647973060 WriteOdom aft_mapped_to_init_high_frec
build tree time 55.211762 ms 
points size 81470 
sort q time 4.507010 
seperate points time 10.731566 
mapping solver time 28.522820 ms 
mapping data assosiation time 22.909956 ms 
-----t: 0.0773513
OdomCount 4763 & avg odom time 0.045628 ms ++++++++++++++++++++++
add points time 0.823116 ms
points size 80645 
prepare time 10.272394 
filter time 16.916872 ms 
mapping pub time 1.817492 ms 
whole mapping time 181.655632 ms +++++
mappingCount 3122 & avg mapping time 154.742872 ms ++++++++++++++++++++++
1317358256.336263895 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
publication time 20.553216 ms 1317358256.855667114 WriteOdom laser_odom_to_init
1317358256.855667114 WriteOdom aft_mapped_to_init_high_frec
build tree time 64.121706 ms 
--------------------stamp1317358256.959511995
prepare time 12.330027 
sort q time 4.542424 
seperate points time 9.826560 
publication time 6.709952 ms 
whole laserOdometry time 6.724517 ms 
 
mapping data assosiation time 23.477637 ms 
mapping solver time 21.938530 ms 
filter time 14.545487 ms 
points size 78626 
sort q time 4.134682 
seperate points time 9.856449 
publication time 8.379661 ms 
whole laserOdometry time 8.392508 ms 
 
build tree time 60.655412 ms 
mapping data assosiation time 17.572019 ms 
mapping solver time 20.430184 ms 
points size 78069 
sort q time 4.388706 
seperate points time 10.135890 
publication time 10.393538 ms 
whole laserOdometry time 10.408109 ms 
 
filter time 19.936205 ms 
--------------------stamp1317358257.271148920
prepare time 13.256599 
publication time 6.735954 ms 
whole laserOdometry time 6.763356 ms 
 
mapping solver time 25.544593 ms 
mapping data assosiation time 20.219879 ms 
mapping solver time 18.449968 ms 
points size 79157 
mapping pub time 1.902135 ms 
whole mapping time 172.895851 ms +++++
mappingCount 3125 & avg mapping time 154.760200 ms ++++++++++++++++++++++
1317358257.063381910 WriteOdom aft_mapped_to_init
publication time 7.298184 ms 
whole laserOdometry time 7.311682 ms 
 
-----t: 0.0363232
OdomCount 4769 & avg odom time 0.045623 ms ++++++++++++++++++++++
build tree time 64.246226 ms 
--------------------stamp1317358257.478986978
sort q time 4.874682 
seperate points time 9.520225 publication time 8.144097 ms 
whole laserOdometry time 8.160578 ms 
 
mapping solver time 21.332284 ms 
mapping optimization time 149.610605 
add points time 0.751523 ms
filter time 15.496607 ms 
map prepare time 3.330708 ms
map corner num 253046  surf num 90302 
points size 76725 
sort q time 4.428061 
seperate points time 9.301989 
build tree time 66.617490 ms 
mapping data assosiation time 16.810970 ms 
--------------------stamp1317358257.686825037
mapping data assosiation time 21.778216 ms 
sort q time 4.317004 
seperate points time 8.769493 
publication time 6.296387 ms 
whole laserOdometry time 6.309852 ms 
 
mapping solver time 19.614627 ms 
-----t: 0.0325942
OdomCount 4772 & avg odom time 0.045622 ms ++++++++++++++++++++++
map prepare time 3.417559 ms
map corner num 253522  surf num 90431 
--------------------stamp1317358257.790741920
prepare time 10.706927 
sort q time 4.361082 
seperate points time 9.864764 
publication time 7.221281 ms 
whole laserOdometry time 7.235441 ms 
 
-----t: 0.0371876
OdomCount 4773 & avg odom time 0.045620 ms ++++++++++++++++++++++
mapping solver time 22.607276 ms 
mapping data assosiation time 17.880978 ms 
mapping solver time 20.021186 ms 
filter time 16.561402 ms 
publication time 6.941057 ms 
whole laserOdometry time 6.957847 ms 
 
-----t: 0.0407356
OdomCount 4774 & avg odom time 0.045619 ms ++++++++++++++++++++++
build tree time 61.801524 ms 
--------------------stamp1317358257.998507976
prepare time 10.274245 
sort q time 4.033715 
seperate points time 8.737771 
publication time 5.332139 ms 
whole laserOdometry time 5.343095 ms 
 
mapping data assosiation time 19.083718 ms 
mapping solver time 16.237046 ms 
filter time 15.468760 ms 
--------------------stamp1317358258.102379083
sort q time 3.691484 
seperate points time 8.772814 
scan registration time 23.150356 ms *************
publication time 6.074029 ms 
whole laserOdometry time 6.084914 ms 
 
mapping data assosiation time 15.373988 ms 
mapping solver time 16.389465 ms 
--------------------stamp1317358258.206250905
mapping solver time 14.123493 ms 
mapping optimization time 136.158736 
add points time 0.740967 ms
filter time 20.986071 ms 
[0m[ INFO] [1718889772.086416662, 1317358258.269031526]: Received 343348 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889772.086481763, 1317358258.269031526]: Data saved to 1317358257271148.pcd[0m
--------------------stamp1317358258.310120105
sort q time 4.424901 
seperate points time 8.677982 
publication time 7.149248 ms 
whole laserOdometry time 7.168783 ms 
 
mapping solver time 24.823452 ms 
mapping data assosiation time 15.684007 ms 
mapping solver time 15.388123 ms 
filter time 14.916214 ms 
map prepare time 7.754976 ms
map corner num 255461  surf num 91014 
sort q time 4.094861 
seperate points time 8.447701 
publication time 6.887271 ms 
whole laserOdometry time 6.900807 ms 
 
build tree time 64.375118 ms 
-----t: 0.0654512
OdomCount 4779 & avg odom time 0.045611 ms ++++++++++++++++++++++
1317358258.414015054 WriteOdom laser_odom_to_init
1317358258.414015054 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.584023 ms 
--------------------stamp1317358258.517935037
sort q time 3.854600 
seperate points time 9.000280 
scan registration time 24.829924 ms *************
mapping data assosiation time 18.199105 ms 
-----t: 0.0302876
OdomCount 4780 & avg odom time 0.045607 ms ++++++++++++++++++++++
filter time 16.017304 ms 
--------------------stamp1317358258.621851921
prepare time 11.940439 
scan registration time 25.430091 ms *************
publication time 6.967734 ms 
whole laserOdometry time 7.007731 ms 
 
mapping data assosiation time 19.029643 ms 
mapping solver time 22.225066 ms 
mapping data assosiation time 16.530408 ms 
points size 70385 
sort q time 3.961537 
seperate points time 9.568513 
filter time 22.989662 ms 
-----t: 0.0526851
OdomCount 4782 & avg odom time 0.045609 ms ++++++++++++++++++++++
--------------------stamp1317358258.829689979
sort q time 3.593375 
seperate points time 8.914104 
publication time 6.125461 ms 
whole laserOdometry time 6.139096 ms 
 
mapping data assosiation time 16.910420 ms 
mapping solver time 16.077503 ms 
filter time 16.625207 ms 
--------------------stamp1317358258.933609008
prepare time 11.648172 
sort q time 3.512509 
seperate points time 8.724789 
-----t: 0.0483488
OdomCount 4784 & avg odom time 0.045607 ms ++++++++++++++++++++++
1317358258.933609008 WriteOdom laser_odom_to_init
1317358258.933609008 WriteOdom aft_mapped_to_init_high_frec
build tree time 85.700124 ms 
--------------------stamp1317358259.037503957
sort q time 3.687663 
seperate points time 7.682539 
publication time 5.868320 ms 
whole laserOdometry time 5.883204 ms 
 
mapping data assosiation time 20.497266 ms 
1317358259.037503957 WriteOdom laser_odom_to_init
1317358259.037503957 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.561599 ms 
filter time 21.219301 ms 
--------------------stamp1317358259.141400098
sort q time 3.563406 
seperate points time 8.212288 
publication time 5.911300 ms 
whole laserOdometry time 5.922370 ms 
 
build tree time 66.318921 ms 
1317358259.141400098 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.934043 ms 
mapping solver time 20.032902 ms 
points size 61420 
scan registration time 18.993506 ms *************
publication time 7.755501 ms 
whole laserOdometry time 7.768757 ms 
 
-----t: 0.0359995
OdomCount 4787 & avg odom time 0.045605 ms ++++++++++++++++++++++
map prepare time 3.022424 ms
map corner num 258320  surf num 91909 
[0m[ INFO] [1718889773.153492501, 1317358259.339324357]: Received 350229 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889773.153542300, 1317358259.339324357]: Data saved to 1317358258933609.pcd[0m
--------------------stamp1317358259.349236011
sort q time 3.142497 
seperate points time 6.538711 
build tree time 64.922138 ms 
-----t: 0.0251505
OdomCount 4788 & avg odom time 0.045601 ms ++++++++++++++++++++++
mapping solver time 19.876706 ms 
mapping data assosiation time 17.149742 ms 
--------------------stamp1317358259.453155040
sort q time 2.864340 
seperate points time 7.258923 
publication time 5.472393 ms 
whole laserOdometry time 5.482999 ms 
 
-----t: 0.0338095
OdomCount 4789 & avg odom time 0.045598 ms ++++++++++++++++++++++
build tree time 62.379971 ms 
--------------------stamp1317358259.557074069
sort q time 2.990490 
seperate points time 6.263358 
publication time 6.418223 ms 
whole laserOdometry time 6.429967 ms 
 
mapping solver time 14.544357 ms 
filter time 16.169827 ms 
--------------------stamp1317358259.660991907
sort q time 2.677507 
seperate points time 6.305705 
publication time 6.894148 ms 
whole laserOdometry time 6.904934 ms 
 
-----t: 0.0278365
OdomCount 4791 & avg odom time 0.045590 ms ++++++++++++++++++++++
mapping data assosiation time 14.494896 ms 
mapping solver time 15.065932 ms 
mapping data assosiation time 14.509001 ms 
--------------------stamp1317358259.764935016
sort q time 3.086325 
seperate points time 6.926398 
publication time 9.310626 ms 
whole laserOdometry time 9.322962 ms 
 
map prepare time 4.116685 ms
map corner num 260100  surf num 92407 
-----t: 0.0305125
OdomCount 4792 & avg odom time 0.045586 ms ++++++++++++++++++++++
build tree time 67.109957 ms 
points size 64147 
sort q time 3.330416 
seperate points time 7.020457 
publication time 4.901731 ms 
whole laserOdometry time 4.911172 ms 
 
mapping solver time 23.308873 ms 
mapping data assosiation time 19.485007 ms 
mapping solver time 16.125786 ms 
mapping optimization time 146.579380 
add points time 0.619707 ms
filter time 15.276214 ms 
--------------------stamp1317358259.972868919
sort q time 3.853186 
seperate points time 8.511079 
scan registration time 21.441435 ms *************
build tree time 73.056086 ms 
mapping data assosiation time 18.567017 ms 
mapping solver time 19.630882 ms 
prepare time 9.658882 
mapping solver time 18.884588 ms 
mapping optimization time 149.981722 
add points time 0.734445 ms
1317358260.076836109 WriteOdom laser_odom_to_init
1317358260.076836109 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358260.180804014
sort q time 3.879296 
seperate points time 8.410085 
publication time 6.472484 ms 
whole laserOdometry time 6.490530 ms 
 
-----t: 0.0367865
OdomCount 4796 & avg odom time 0.045584 ms ++++++++++++++++++++++
--------------------stamp1317358260.284770011
sort q time 3.732240 
seperate points time 8.763970 
map prepare time 5.019227 ms
map corner num 261410  surf num 92869 
-----t: 0.032355
OdomCount 4797 & avg odom time 0.045581 ms ++++++++++++++++++++++
build tree time 62.453839 ms 
points size 70645 
scan registration time 24.721182 ms *************
mapping solver time 23.592560 ms 
publication time 8.665382 ms 
whole laserOdometry time 8.682397 ms 
 
mapping data assosiation time 20.769165 ms 
-----t: 0.0472082
OdomCount 4798 & avg odom time 0.045581 ms ++++++++++++++++++++++
1317358260.388712882 WriteOdom laser_odom_to_init
1317358260.388712882 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.051339 ms 
filter time 15.157792 ms 
mapping pub time 1.527065 ms 
whole mapping time 165.710760 ms +++++
mappingCount 3142 & avg mapping time 154.894872 ms ++++++++++++++++++++++
1317358259.972868919 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.252221 ms
map corner num 262235  surf num 93247 
points size 70254 
sort q time 3.780432 
seperate points time 9.345934 
publication time 5.961733 ms 
whole laserOdometry time 5.977291 ms 
 
-----t: 0.0355463
OdomCount 4799 & avg odom time 0.045579 ms ++++++++++++++++++++++
build tree time 67.721402 ms 
mapping data assosiation time 17.714423 ms 
mapping solver time 19.452693 ms 
points size 71173 
sort q time 3.949174 
seperate points time 9.138493 
publication time 7.497574 ms 
whole laserOdometry time 7.514836 ms 
 
filter time 16.046514 ms 
--------------------stamp1317358260.700579881
prepare time 12.288639 
scan registration time 25.185881 ms *************
publication time 13.100851 ms 
whole laserOdometry time 13.116970 ms 
 
-----t: 0.0486403
OdomCount 4801 & avg odom time 0.045577 ms ++++++++++++++++++++++
mapping solver time 23.054835 ms 
mapping data assosiation time 18.142112 ms 
--------------------stamp1317358260.804532051
sort q time 4.007232 
seperate points time 8.708709 
map prepare time 4.186795 ms
map corner num 263769  surf num 94073 
build tree time 59.562882 ms 
points size 68785 
sort q time 7.601370 
seperate points time 13.272143 
publication time 7.344469 ms 
whole laserOdometry time 7.359642 ms 
 
-----t: 0.0372881
OdomCount 4803 & avg odom time 0.045572 ms ++++++++++++++++++++++
mapping solver time 16.685528 ms 
filter time 14.884644 ms 
points size 68009 
sort q time 4.443419 
seperate points time 8.744577 
publication time 7.916814 ms 
whole laserOdometry time 7.944534 ms 
 
-----t: 0.0394404
OdomCount 4804 & avg odom time 0.045571 ms ++++++++++++++++++++++
--------------------stamp1317358261.116365909
mapping data assosiation time 19.702285 ms 
mapping solver time 28.080663 ms 
filter time 16.845911 ms 
--------------------stamp1317358261.220305919
prepare time 11.672089 
scan registration time 24.717295 ms *************
mapping data assosiation time 22.938269 ms 
mapping solver time 25.605292 ms 
mapping data assosiation time 18.503387 ms 
--------------------stamp1317358261.324265956
prepare time 11.517525 
scan registration time 25.055238 ms *************
map prepare time 3.370712 ms
map corner num 233373  surf num 86507 
-----t: 0.0481925
OdomCount 4807 & avg odom time 0.045568 ms ++++++++++++++++++++++
build tree time 58.546098 ms 
points size 66570 
sort q time 3.740361 
seperate points time 9.137608 
mapping solver time 27.757379 ms 
mapping data assosiation time 18.303929 ms 
[0m[ INFO] [1718889775.317411924, 1317358261.498574252]: Received 318970 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889775.317455284, 1317358261.498574252]: Data saved to 1317358260804532.pcd[0m
filter time 14.918917 ms 
points size 66425 
sort q time 3.779839 
seperate points time 9.324225 
publication time 9.108461 ms 
whole laserOdometry time 9.120860 ms 
 
-----t: 0.0514983
OdomCount 4809 & avg odom time 0.045566 ms ++++++++++++++++++++++
mapping data assosiation time 18.132786 ms 
--------------------stamp1317358261.636287927
mapping solver time 23.909654 ms 
mapping data assosiation time 21.387193 ms 
publication time 7.261430 ms 
whole laserOdometry time 7.275299 ms 
 
mapping solver time 20.437474 ms 
filter time 16.734267 ms 
--------------------stamp1317358261.740375041
sort q time 3.741578 
seperate points time 8.217908 
scan registration time 22.487143 ms *************
-----t: 0.0271786
OdomCount 4811 & avg odom time 0.045560 ms ++++++++++++++++++++++
mapping data assosiation time 16.728167 ms 
mapping solver time 19.436114 ms 
mapping data assosiation time 17.434592 ms 
points size 64860 
prepare time 6.843538 
mapping solver time 18.205778 ms 
mapping optimization time 137.947659 
filter time 19.945033 ms 
publication time 6.415710 ms 
whole laserOdometry time 6.423837 ms 
 
1317358261.844461917 WriteOdom laser_odom_to_init
1317358261.844461917 WriteOdom aft_mapped_to_init_high_frec
build tree time 55.342161 ms 
--------------------stamp1317358261.948525905
sort q time 3.857978 
seperate points time 8.119798 
mapping solver time 25.399972 ms 
-----t: 0.0364581
OdomCount 4813 & avg odom time 0.045555 ms ++++++++++++++++++++++
mapping solver time 21.158234 ms 
filter time 14.065574 ms 
mapping pub time 5.284246 ms 
whole mapping time 166.440765 ms +++++
mappingCount 3151 & avg mapping time 154.943117 ms ++++++++++++++++++++++
1317358261.740375042 WriteOdom aft_mapped_to_init
points size 65892 
prepare time 8.723195 
publication time 6.802793 ms 
whole laserOdometry time 6.818093 ms 
 
-----t: 0.041188
OdomCount 4814 & avg odom time 0.045554 ms ++++++++++++++++++++++
mapping data assosiation time 16.448172 ms 
mapping solver time 20.379939 ms 
points size 67248 
publication time 6.311936 ms 
whole laserOdometry time 6.337830 ms 
 
-----t: 0.0281323
OdomCount 4815 & avg odom time 0.045550 ms ++++++++++++++++++++++
1317358262.156773090 WriteOdom laser_odom_to_init
1317358262.156773090 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.979358 ms
map corner num 236449  surf num 87643 
--------------------stamp1317358262.260883092
sort q time 3.668139 
seperate points time 8.321493 
mapping data assosiation time 22.424300 ms 
-----t: 0.0325039
OdomCount 4816 & avg odom time 0.045547 ms ++++++++++++++++++++++
mapping solver time 24.942915 ms 
mapping data assosiation time 18.615808 ms 
mapping solver time 21.506295 ms 
points size 70202 
sort q time 13.060685 
seperate points time 18.505854 
-----t: 0.0446372
OdomCount 4817 & avg odom time 0.045547 ms ++++++++++++++++++++++
build tree time 66.084673 ms 
mapping data assosiation time 16.965628 ms 
sort q time 4.084786 
seperate points time 8.830502 
mapping data assosiation time 20.819771 ms 
[0m[ INFO] [1718889776.338325396, 1317358262.519296473]: Received 323074 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889776.338375463, 1317358262.519296473]: Data saved to 1317358261740375.pcd[0m
mapping pub time 1.520005 ms 
whole mapping time 170.704436 ms +++++
mappingCount 3154 & avg mapping time 154.954133 ms ++++++++++++++++++++++
1317358262.260883093 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.889338 ms
map corner num 237760  surf num 88207 
--------------------stamp1317358262.573236942
sort q time 3.875330 
seperate points time 8.827337 
publication time 8.616333 ms 
whole laserOdometry time 8.628088 ms 
 
mapping data assosiation time 17.515855 ms 
mapping solver time 20.721921 ms 
mapping data assosiation time 18.315344 ms 
points size 73752 
scan registration time 24.452976 ms *************
filter time 20.767389 ms 
build tree time 56.322433 ms 
sort q time 4.717743 
seperate points time 9.078196 
publication time 8.336013 ms 
whole laserOdometry time 8.371433 ms 
 
1317358262.781410932 WriteOdom laser_odom_to_init
1317358262.781410932 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.841988 ms 
mapping solver time 16.959852 ms 
filter time 16.986588 ms 
points size 75970 
sort q time 4.099421 
seperate points time 9.840758 
publication time 8.374819 ms 
whole laserOdometry time 8.389512 ms 
 
build tree time 64.685300 ms 
mapping data assosiation time 19.177410 ms 
points size 77074 
sort q time 3.865776 
seperate points time 9.341981 
publication time 6.937925 ms 
whole laserOdometry time 6.948388 ms 
 
-----t: 0.0392617
OdomCount 4823 & avg odom time 0.045537 ms ++++++++++++++++++++++
filter time 14.254312 ms 
--------------------stamp1317358263.093599081
points size 78738 
sort q time 15.212016 
seperate points time 21.553473 
build tree time 61.833527 ms 
publication time 15.199138 ms 
whole laserOdometry time 15.207853 ms 
 
mapping solver time 23.303928 ms 
--------------------stamp1317358263.197570085
prepare time 11.122831 
scan registration time 28.443822 ms *************
publication time 7.945785 ms 
whole laserOdometry time 7.959289 ms 
 
-----t: 0.0423182
OdomCount 4825 & avg odom time 0.045537 ms ++++++++++++++++++++++
1317358263.197570085 WriteOdom laser_odom_to_init
1317358263.197570085 WriteOdom aft_mapped_to_init_high_frec
filter time 16.557616 ms 
--------------------stamp1317358263.301513910
prepare time 11.403533 
sort q time 4.877162 
seperate points time 10.410035 
publication time 7.769794 ms 
whole laserOdometry time 7.783612 ms 
 
mapping data assosiation time 24.916943 ms 
mapping solver time 23.817941 ms 
--------------------stamp1317358263.405428886
prepare time 11.211169 
sort q time 4.776867 
seperate points time 11.305295 
filter time 19.741851 ms 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358263.509322881
prepare time 12.145658 
build tree time 57.669277 ms 
sort q time 4.596218 
seperate points time 11.985657 
mapping data assosiation time 28.028147 ms 
-----t: 0.0458155
OdomCount 4828 & avg odom time 0.045536 ms ++++++++++++++++++++++
1317358263.509322881 WriteOdom laser_odom_to_init
1317358263.509322881 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.822794 ms 
--------------------stamp1317358263.613181114
prepare time 10.540224 
sort q time 5.060691 
seperate points time 11.038796 
filter time 20.850538 ms 
-----t: 0.0418542
OdomCount 4829 & avg odom time 0.045536 ms ++++++++++++++++++++++
1317358263.613181114 WriteOdom laser_odom_to_init
1317358263.613181114 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358263.717004060
prepare time 13.630616 
sort q time 4.637293 
seperate points time 11.131777 
publication time 9.924194 ms 
whole laserOdometry time 9.938571 ms 
 
mapping solver time 30.791046 ms 
mapping data assosiation time 23.611595 ms 
--------------------stamp1317358263.820813894
mapping solver time 24.624371 ms 
sort q time 5.454462 
seperate points time 11.568079 
filter time 31.245796 ms 
1317358263.820813894 WriteOdom laser_odom_to_init
1317358263.820813894 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358263.924613952
prepare time 12.093921 
sort q time 5.210121 
seperate points time 12.851739 
publication time 11.361365 ms 
whole laserOdometry time 11.375051 ms 
 
points size 92657 
sort q time 9.387188 
seperate points time 29.143382 
-----t: 0.044629
OdomCount 4833 & avg odom time 0.045534 ms ++++++++++++++++++++++
build tree time 67.233528 ms 
--------------------stamp1317358264.132113933
prepare time 13.781993 
publication time 11.042986 ms 
whole laserOdometry time 11.058405 ms 
 
-----t: 0.0523704
OdomCount 4834 & avg odom time 0.045535 ms ++++++++++++++++++++++
mapping solver time 27.209117 ms 
prepare time 12.577755 
mapping pub time 2.058442 ms 
whole mapping time 210.745103 ms +++++
mappingCount 3162 & avg mapping time 155.094964 ms ++++++++++++++++++++++
1317358263.717004061 WriteOdom aft_mapped_to_init
-----t: 0.0490339
OdomCount 4835 & avg odom time 0.045536 ms ++++++++++++++++++++++
1317358264.235863924 WriteOdom laser_odom_to_init
1317358264.235863924 WriteOdom aft_mapped_to_init_high_frec
build tree time 61.044289 ms 
--------------------stamp1317358264.339590072
points size 96289 
sort q time 5.236023 
seperate points time 12.418699 
mapping solver time 30.196693 ms 
-----t: 0.0508857
OdomCount 4836 & avg odom time 0.045537 ms ++++++++++++++++++++++
--------------------stamp1317358264.443293094
points size 97811 
filter time 22.877631 ms 
mapping pub time 2.247964 ms 
whole mapping time 209.668766 ms +++++
mappingCount 3163 & avg mapping time 155.112220 ms ++++++++++++++++++++++
1317358264.028363943 WriteOdom aft_mapped_to_init
publication time 9.542317 ms 
whole laserOdometry time 9.556443 ms 
 
build tree time 59.343680 ms 
[0m[ INFO] [1718889778.371257058, 1317358264.552588163]: Received 333883 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889778.371298213, 1317358264.552588163]: Data saved to 1317358263509322.pcd[0m
mapping data assosiation time 29.486204 ms 
scan registration time 36.197627 ms *************
-----t: 0.0405541
OdomCount 4838 & avg odom time 0.045536 ms ++++++++++++++++++++++
mapping data assosiation time 23.707369 ms 
--------------------stamp1317358264.650625944
points size 99971 
filter time 17.149399 ms 
map prepare time 4.624037 ms
map corner num 245268  surf num 92157 
scan registration time 33.217522 ms *************
publication time 10.936335 ms 
whole laserOdometry time 10.948358 ms 
 
-----t: 0.0527425
OdomCount 4839 & avg odom time 0.045538 ms ++++++++++++++++++++++
build tree time 65.872347 ms 
points size 100430 
mapping data assosiation time 28.380779 ms 
publication time 11.601180 ms 
whole laserOdometry time 11.616549 ms 
 
mapping solver time 35.015026 ms 
-----t: 0.0413464
OdomCount 4840 & avg odom time 0.045537 ms ++++++++++++++++++++++
1317358264.754257917 WriteOdom laser_odom_to_init
1317358264.754257917 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.783979 ms 
--------------------stamp1317358264.857914924
prepare time 14.261927 
publication time 12.728777 ms 
whole laserOdometry time 12.742759 ms 
 
-----t: 0.0574113
OdomCount 4841 & avg odom time 0.045539 ms ++++++++++++++++++++++
build tree time 63.457154 ms 
--------------------stamp1317358264.961591958
prepare time 14.468953 
sort q time 6.511415 
seperate points time 13.971371 
mapping solver time 39.311903 ms 
-----t: 0.0556902
OdomCount 4842 & avg odom time 0.045541 ms ++++++++++++++++++++++
mapping data assosiation time 27.356279 ms 
--------------------stamp1317358265.065291881
points size 101161 
filter time 17.418768 ms 
map prepare time 4.880624 ms
map corner num 246734  surf num 93031 
publication time 10.187668 ms 
whole laserOdometry time 10.204170 ms 
 
-----t: 0.0617191
OdomCount 4843 & avg odom time 0.045545 ms ++++++++++++++++++++++
build tree time 64.114423 ms 
points size 101477 
sort q time 5.286497 
seperate points time 12.033637 
publication time 10.189026 ms 
whole laserOdometry time 10.203909 ms 
 
-----t: 0.0509274
OdomCount 4844 & avg odom time 0.045546 ms ++++++++++++++++++++++
mapping data assosiation time 24.439164 ms 
--------------------stamp1317358265.272748947
points size 101613 
sort q time 5.654264 
seperate points time 13.224229 
drop lidar frame in mapping for real time performance 
publication time 10.435855 ms 
whole laserOdometry time 10.452029 ms 
 
--------------------stamp1317358265.376499891
points size 102023 
sort q time 5.710122 
seperate points time 13.322545 
publication time 9.584187 ms 
whole laserOdometry time 9.596678 ms 
 
-----t: 0.0512706
OdomCount 4846 & avg odom time 0.045548 ms ++++++++++++++++++++++
mapping solver time 30.751618 ms 
mapping data assosiation time 25.698954 ms 
points size 102615 
mapping solver time 28.001526 ms 
filter time 20.207244 ms 
-----t: 0.056112
OdomCount 4847 & avg odom time 0.045550 ms ++++++++++++++++++++++
--------------------stamp1317358265.584049940
points size 102634 
sort q time 5.946429 
seperate points time 13.861823 
[0m[ INFO] [1718889779.445463802, 1317358265.626151985]: Received 339765 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889779.445512739, 1317358265.626151985]: Data saved to 1317358264650625.pcd[0m
-----t: 0.054194
OdomCount 4848 & avg odom time 0.045551 ms ++++++++++++++++++++++
mapping solver time 33.267360 ms 
--------------------stamp1317358265.687849044
prepare time 15.056144 
mapping solver time 21.847902 ms filter time 21.406268 ms 
--------------------stamp1317358265.791624069
prepare time 12.284923 
sort q time 6.738223 
seperate points time 13.497379 
mapping data assosiation time 31.904388 ms 
-----t: 0.0474101
OdomCount 4850 & avg odom time 0.045552 ms ++++++++++++++++++++++
mapping solver time 35.199231 ms 
--------------------stamp1317358265.895399093
prepare time 15.822277 
sort q time 5.616237 
seperate points time 13.658283 
publication time 11.265406 ms 
whole laserOdometry time 11.279866 ms 
 
map prepare time 4.136071 ms
map corner num 249554  surf num 94332 
points size 99834 
prepare time 14.344500 
sort q time 5.926037 
seperate points time 13.724654 
publication time 10.428160 ms 
whole laserOdometry time 10.445188 ms 
 
mapping data assosiation time 29.776039 ms 
mapping solver time 29.287541 ms 
--------------------stamp1317358266.102921962
points size 99374 
sort q time 5.404064 
seperate points time 12.773947 
scan registration time 33.987636 ms *************
mapping solver time 19.711553 ms 
mapping optimization time 176.661544 
add points time 1.224355 ms
filter time 18.849232 ms 
map prepare time 4.223411 ms
map corner num 250274  surf num 94645 
--------------------stamp1317358266.206697940
prepare time 12.837870 
sort q time 6.747108 
seperate points time 12.710603 
build tree time 68.566991 ms 
publication time 9.251386 ms 
whole laserOdometry time 9.316420 ms 
 
mapping data assosiation time 39.897360 ms 
--------------------stamp1317358266.310471057
points size 98693 
prepare time 12.496895 
points size 98190 
sort q time 6.135406 
seperate points time 14.163534 
publication time 9.657323 ms 
whole laserOdometry time 11.726255 ms 
 
build tree time 71.595410 ms 
mapping data assosiation time 26.038964 ms 
--------------------stamp1317358266.518023967
prepare time 14.131804 
sort q time 6.353977 
seperate points time 11.899389 
mapping data assosiation time 31.724928 ms 
-----t: 0.0473436
OdomCount 4857 & avg odom time 0.045562 ms ++++++++++++++++++++++
1317358266.518023967 WriteOdom laser_odom_to_init
1317358266.518023967 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.026319 ms 
filter time 15.945308 ms 
--------------------stamp1317358266.621773958
points size 97591 
sort q time 5.649120 
seperate points time 13.123373 
scan registration time 34.691281 ms *************
publication time 9.475639 ms 
whole laserOdometry time 9.489031 ms 
 
[0m[ INFO] [1718889780.512841986, 1317358266.694286316]: Received 344919 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889780.512872970, 1317358266.694286316]: Data saved to 1317358265791624.pcd[0m
mapping data assosiation time 25.956465 ms 
--------------------stamp1317358266.725500106
mapping solver time 25.668690 ms 
sort q time 6.241913 
seperate points time 12.756062 
mapping data assosiation time 31.471711 ms 
mapping solver time 27.058798 ms 
filter time 16.948008 ms 
--------------------stamp1317358266.829251050
points size 97379 
sort q time 5.610077 
seperate points time 12.805119 
publication time 9.419229 ms 
whole laserOdometry time 9.432121 ms 
 
-----t: 0.0421786
OdomCount 4860 & avg odom time 0.045564 ms ++++++++++++++++++++++
mapping data assosiation time 24.689733 ms 
--------------------stamp1317358266.933027029
prepare time 14.645878 
sort q time 5.462739 
seperate points time 12.642205 
mapping data assosiation time 32.075586 ms 
-----t: 0.0418493
OdomCount 4861 & avg odom time 0.045563 ms ++++++++++++++++++++++
mapping solver time 21.144748 ms 
filter time 17.169310 ms 
map prepare time 3.751539 ms
map corner num 252821  surf num 95918 
--------------------stamp1317358267.036801099
prepare time 12.815186 
sort q time 5.656699 
seperate points time 23.523928 
build tree time 63.740707 ms 
publication time 8.762535 ms 
whole laserOdometry time 8.773311 ms 
 
mapping data assosiation time 27.806160 ms 
--------------------stamp1317358267.140551090
sort q time 5.412935 
seperate points time 12.046134 
mapping data assosiation time 31.990751 ms 
publication time 7.727691 ms 
whole laserOdometry time 7.740704 ms 
 
mapping solver time 28.522849 ms 
mapping optimization time 183.625384 
-----t: 0.0570979
OdomCount 4863 & avg odom time 0.045565 ms ++++++++++++++++++++++
1317358267.140551090 WriteOdom laser_odom_to_init
1317358267.140551090 WriteOdom aft_mapped_to_init_high_frec
add points time 1.311510 ms
filter time 15.512485 ms 
map prepare time 3.903038 ms
map corner num 253460  surf num 96215 
points size 93507 
sort q time 5.215204 
seperate points time 10.700819 
publication time 8.776062 ms 
whole laserOdometry time 8.820456 ms 
 
build tree time 71.644243 ms 
mapping data assosiation time 24.249249 ms 
--------------------stamp1317358267.348052024
prepare time 12.597808 
sort q time 5.012242 
seperate points time 12.202052 
publication time 10.257311 ms 
whole laserOdometry time 10.272014 ms 
 
-----t: 0.0416781
OdomCount 4865 & avg odom time 0.045565 ms ++++++++++++++++++++++
mapping solver time 26.889153 ms 
filter time 17.648277 ms 
points size 90051 
sort q time 5.185150 
seperate points time 11.628813 
publication time 8.704869 ms 
whole laserOdometry time 8.719561 ms 
 
-----t: 0.0415408
OdomCount 4866 & avg odom time 0.045564 ms ++++++++++++++++++++++
build tree time 66.271155 ms 
mapping data assosiation time 25.376549 ms 
points size 89103 
mapping solver time 29.446068 ms 
sort q time 5.422679 
seperate points time 11.809258 
scan registration time 28.746028 ms *************
-----t: 0.0467394
OdomCount 4867 & avg odom time 0.045565 ms ++++++++++++++++++++++
mapping solver time 19.759075 ms 
filter time 16.438886 ms 
--------------------stamp1317358267.659256935
prepare time 14.296555 
sort q time 4.985256 
seperate points time 11.842503 
publication time 8.078881 ms -----t: 0.049079
OdomCount 4868 & avg odom time 0.045565 ms ++++++++++++++++++++++
mapping data assosiation time 25.841809 ms 
--------------------stamp1317358267.763031959
prepare time 10.973017 
sort q time 4.976715 
seperate points time 11.017305 
publication time 9.685850 ms 
whole laserOdometry time 9.703690 ms 
 
-----t: 0.0490462
OdomCount 4869 & avg odom time 0.045566 ms ++++++++++++++++++++++
mapping solver time 33.351094 ms 
mapping optimization time 196.589524 
add points time 1.212718 ms
filter time 18.499699 ms 
sort q time 4.817896 
seperate points time 11.588641 
publication time 9.451446 ms 
whole laserOdometry time 9.471265 ms 
 
-----t: 0.0409876
OdomCount 4870 & avg odom time 0.045565 ms ++++++++++++++++++++++
1317358267.866830110 WriteOdom laser_odom_to_init
1317358267.866830110 WriteOdom aft_mapped_to_init_high_frec
build tree time 69.410583 ms 
--------------------stamp1317358267.970702886
points size 84245 
sort q time 4.621292 
seperate points time 10.933356 
mapping solver time 34.757006 ms 
-----t: 0.0495596
OdomCount 4871 & avg odom time 0.045566 ms ++++++++++++++++++++++
mapping solver time 27.836614 ms 
points size 82761 
mapping pub time 2.150308 ms 
whole mapping time 219.912697 ms +++++
mappingCount 3180 & avg mapping time 155.407640 ms ++++++++++++++++++++++
-----t: 0.0525941
OdomCount 4872 & avg odom time 0.045567 ms ++++++++++++++++++++++
build tree time 67.801875 ms 
points size 81586 
mapping data assosiation time 29.125674 ms 
-----t: 0.0353484
OdomCount 4873 & avg odom time 0.045565 ms ++++++++++++++++++++++
--------------------stamp1317358268.282576084
points size 82776 
sort q time 4.518371 
seperate points time 10.906664 
publication time 7.632856 ms 
whole laserOdometry time 7.648449 ms 
 
-----t: 0.0402283
OdomCount 4874 & avg odom time 0.045564 ms ++++++++++++++++++++++
1317358268.282576084 WriteOdom laser_odom_to_init
1317358268.282576084 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358268.386663913
prepare time 14.492196 
sort q time 5.285386 
seperate points time 12.541751 
publication time 7.823051 ms 
whole laserOdometry time 7.837574 ms 
 
-----t: 0.0427839
OdomCount 4875 & avg odom time 0.045564 ms ++++++++++++++++++++++
--------------------stamp1317358268.490823030
1317358267.866830111 WriteOdom aft_mapped_to_init
publication time 8.334682 ms 
whole laserOdometry time 8.379840 ms 
 
-----t: 0.0674969
OdomCount 4876 & avg odom time 0.045568 ms ++++++++++++++++++++++
--------------------stamp1317358268.595056056
prepare time 13.411936 
sort q time 4.561833 
seperate points time 10.979409 
mapping solver time 31.686037 ms 
publication time 8.754765 ms 
whole laserOdometry time 8.766020 ms 
 
-----t: 0.0539173
OdomCount 4877 & avg odom time 0.045570 ms ++++++++++++++++++++++
mapping solver time 20.575117 ms 
--------------------stamp1317358268.699335098
drop lidar frame in mapping for real time performance 
sort q time 4.699402 
seperate points time 10.264257 
publication time 7.019346 ms 
whole laserOdometry time 7.031890 ms 
 
-----t: 0.0534133
OdomCount 4878 & avg odom time 0.045571 ms ++++++++++++++++++++++
1317358268.699335098 WriteOdom laser_odom_to_init
1317358268.699335098 WriteOdom aft_mapped_to_init_high_frec
build tree time 70.860083 ms 
--------------------stamp1317358268.803637027
prepare time 14.115407 
scan registration time 29.280373 ms *************
publication time 9.239262 ms 
whole laserOdometry time 9.250569 ms 
 
mapping data assosiation time 24.438724 ms 
mapping solver time 23.139125 ms 
filter time 16.267394 ms 
points size 83945 
sort q time 4.832019 
seperate points time 11.446557 
publication time 8.471975 ms -----t: 0.0576044
OdomCount 4880 & avg odom time 0.045572 ms ++++++++++++++++++++++
mapping data assosiation time 19.780848 ms 
points size 83889 
sort q time 4.293564 
seperate points time 9.993137 
mapping data assosiation time 25.346697 ms 
mapping solver time 19.004972 ms 
filter time 19.043146 ms 
--------------------stamp1317358269.116710901
prepare time 12.798827 
sort q time 10.779265 
seperate points time 23.565426 
publication time 7.780383 ms 
whole laserOdometry time 7.790969 ms 
 
mapping data assosiation time 23.210591 ms 
--------------------stamp1317358269.221038103
points size 83638 
sort q time 5.258992 
seperate points time 12.445228 
publication time 8.189094 ms 
whole laserOdometry time 8.202270 ms 
 
mapping solver time 23.170018 ms 
-----t: 0.0545739
OdomCount 4883 & avg odom time 0.045581 ms ++++++++++++++++++++++
filter time 18.165439 ms 
points size 84296 
sort q time 4.643614 
seperate points time 11.092888 
scan registration time 27.255700 ms *************
mapping data assosiation time 22.471239 ms 
--------------------stamp1317358269.429596900
points size 86738 
mapping data assosiation time 25.454824 ms 
sort q time 4.968800 
seperate points time 12.086678 
scan registration time 31.571342 ms *************
publication time 9.445530 ms 
whole laserOdometry time 9.462456 ms 
 
mapping pub time 6.239031 ms 
whole mapping time 193.399958 ms +++++
mappingCount 3186 & avg mapping time 155.551081 ms ++++++++++++++++++++++
1317358269.116710901 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.583806 ms
map corner num 260545  surf num 98742 
--------------------stamp1317358269.533802986
prepare time 11.700427 
sort q time 5.100754 
seperate points time 10.990327 
build tree time 70.216375 ms 
-----t: 0.0465211
OdomCount 4886 & avg odom time 0.045589 ms ++++++++++++++++++++++
mapping solver time 23.181395 ms 
--------------------stamp1317358269.638009071
prepare time 11.525457 
sort q time 5.348096 
seperate points time 10.598064 
publication time 8.371080 ms 
whole laserOdometry time 8.385025 ms 
 
filter time 22.276433 ms 
mapping pub time 2.002441 ms 
whole mapping time 191.061131 ms +++++
mappingCount 3187 & avg mapping time 155.562226 ms ++++++++++++++++++++++
1317358269.325341940 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0601781
OdomCount 4887 & avg odom time 0.045592 ms ++++++++++++++++++++++--------------------stamp1317358269.742166996
prepare time 14.116233 
sort q time 5.065402 
seperate points time 11.626679 
build tree time 70.549797 ms 
scan registration time 30.196261 ms *************
mapping data assosiation time 23.551228 ms 
publication time 7.875115 ms 
whole laserOdometry time 7.885965 ms 
 
-----t: 0.0551846
OdomCount 4888 & avg odom time 0.045594 ms ++++++++++++++++++++++
mapping data assosiation time 19.438122 ms 
points size 91037 
mapping solver time 27.061259 ms 
filter time 18.598714 ms 
-----t: 0.0467649
OdomCount 4889 & avg odom time 0.045595 ms ++++++++++++++++++++++
--------------------stamp1317358269.950436115
build tree time 67.708370 ms 
sort q time 5.162192 
seperate points time 11.958995 
publication time 7.269887 ms 
whole laserOdometry time 7.281890 ms 
 
mapping solver time 25.888308 ms 
mapping data assosiation time 20.581167 ms 
--------------------stamp1317358270.054522991
filter time 19.446856 ms 
publication time 7.421336 ms 
whole laserOdometry time 7.483405 ms 
 
build tree time 64.379711 ms 
points size 88870 
sort q time 5.095008 
seperate points time 12.042248 
mapping solver time 29.152209 ms 
-----t: 0.0467873
OdomCount 4892 & avg odom time 0.045592 ms ++++++++++++++++++++++
mapping solver time 18.317160 ms 
--------------------stamp1317358270.262602090
points size 88593 
scan registration time 30.940719 ms *************
publication time 7.231113 ms 
whole laserOdometry time 7.242194 ms 
 
build tree time 68.073419 ms 
mapping data assosiation time 20.091584 ms 
points size 89274 
scan registration time 27.291886 ms *************
mapping data assosiation time 22.669341 ms 
-----t: 0.041539
OdomCount 4894 & avg odom time 0.045590 ms ++++++++++++++++++++++
filter time 15.848333 ms 
map prepare time 3.699674 ms
map corner num 263434  surf num 99285 
--------------------stamp1317358270.470609903
prepare time 14.534435 
scan registration time 28.665286 ms *************
publication time 7.980313 ms 
whole laserOdometry time 7.995597 ms 
 
build tree time 78.967938 ms 
mapping data assosiation time 20.090217 ms 
--------------------stamp1317358270.574600934
prepare time 11.320188 
sort q time 5.405653 
seperate points time 11.164684 
mapping data assosiation time 24.499103 ms 
-----t: 0.0410234
OdomCount 4896 & avg odom time 0.045587 ms ++++++++++++++++++++++
filter time 16.522190 ms 
--------------------stamp1317358270.678566932
points size 83637 
sort q time 4.757401 
seperate points time 11.089140 
publication time 9.117925 ms 
whole laserOdometry time 9.131795 ms 
 
-----t: 0.0567952
OdomCount 4897 & avg odom time 0.045589 ms ++++++++++++++++++++++
mapping solver time 24.757446 ms 
points size 78498 
mapping data assosiation time 23.654937 ms 
publication time 6.353943 ms 
whole laserOdometry time 6.369320 ms 
 
filter time 16.184363 ms 
map prepare time 3.601237 ms
map corner num 264635  surf num 99486 
--------------------stamp1317358270.886497020
sort q time 4.311292 
seperate points time 10.283715 
scan registration time 43.424223 ms *************
-----t: 0.0491515
OdomCount 4899 & avg odom time 0.045589 ms ++++++++++++++++++++++
mapping solver time 21.909942 ms 
--------------------stamp1317358270.990466117
prepare time 11.796441 
add points time 1.209868 ms
publication time 6.473663 ms 
whole laserOdometry time 6.487139 ms 
 
map prepare time 4.077683 ms
map corner num 265345  surf num 99634 
-----t: 0.0551556
OdomCount 4900 & avg odom time 0.045590 ms ++++++++++++++++++++++
--------------------stamp1317358271.094433069
prepare time 12.016416 
mapping data assosiation time 26.785973 ms 
mapping solver time 20.224592 ms 
[0m[ INFO] [1718889784.988859353, 1317358271.167102669]: Received 362719 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889784.988911513, 1317358271.167102669]: Data saved to 1317358270054522.pcd[0m
mapping solver time 14.347376 ms 
points size 74860 
1317358270.886497021 WriteOdom aft_mapped_to_init
publication time 7.974752 ms 
whole laserOdometry time 7.988562 ms 
 
-----t: 0.0367917
OdomCount 4902 & avg odom time 0.045586 ms ++++++++++++++++++++++
build tree time 67.762388 ms 
--------------------stamp1317358271.302318096
mapping data assosiation time 24.263691 ms 
scan registration time 22.728757 ms *************
publication time 6.621450 ms 
whole laserOdometry time 6.633774 ms 
 
mapping data assosiation time 22.022102 ms 
mapping solver time 14.198504 ms 
filter time 17.013189 ms 
map prepare time 3.679830 ms
map corner num 266838  surf num 99897 
prepare time 12.826092 
scan registration time 26.530361 ms *************
-----t: 0.0338161
OdomCount 4904 & avg odom time 0.045581 ms ++++++++++++++++++++++
build tree time 70.482280 ms 
mapping data assosiation time 20.178960 ms 
--------------------stamp1317358271.510179042
prepare time 18.895703 
publication time 8.925424 ms 
whole laserOdometry time 8.951568 ms 
 
filter time 16.276481 ms 
--------------------stamp1317358271.614098072
sort q time 4.145978 
seperate points time 8.735945 
publication time 6.844416 ms 
whole laserOdometry time 6.859920 ms 
 
build tree time 73.334344 ms 
mapping data assosiation time 21.275815 ms 
mapping solver time 23.105655 ms 
points size 80205 
mapping data assosiation time 24.541388 ms 
publication time 7.129832 ms 
whole laserOdometry time 7.140053 ms 
 
-----t: 0.0389731
OdomCount 4907 & avg odom time 0.045578 ms ++++++++++++++++++++++
filter time 18.196342 ms 
--------------------stamp1317358271.821934938
prepare time 13.067655 
sort q time 4.579903 
seperate points time 10.749257 
publication time 7.670558 ms 
whole laserOdometry time 7.697413 ms 
 
mapping solver time 22.963444 ms 
--------------------stamp1317358271.925854921
mapping solver time 21.954333 ms 
filter time 22.138884 ms 
--------------------stamp1317358272.029772996
sort q time 4.733348 
seperate points time 10.783742 
-----t: 0.0315893
OdomCount 4910 & avg odom time 0.045572 ms ++++++++++++++++++++++
mapping solver time 25.295745 ms 
mapping data assosiation time 19.636762 ms 
mapping solver time 19.474688 ms 
points size 88688 
prepare time 11.129563 
filter time 19.631346 ms 
1317358272.133692026 WriteOdom laser_odom_to_init
publication time 12.845323 ms 
whole laserOdometry time 12.861291 ms 
 
1317358272.133692026 WriteOdom aft_mapped_to_init_high_frec
build tree time 65.511834 ms 
--------------------stamp1317358272.237587928
sort q time 4.949968 
seperate points time 10.965061 
publication time 10.091822 ms 
whole laserOdometry time 10.104454 ms 
 
-----t: 0.0399237
OdomCount 4912 & avg odom time 0.045571 ms ++++++++++++++++++++++
mapping solver time 14.538510 ms 
filter time 15.187942 ms 
--------------------stamp1317358272.341456890
sort q time 4.769118 
seperate points time 10.739854 
publication time 9.288250 ms 
whole laserOdometry time 9.302087 ms 
 
--------------------stamp1317358272.445327997
prepare time 13.873665 
publication time 8.148457 ms 
whole laserOdometry time 8.300185 ms 
 
mapping pub time 186.419594 ms -----t: 0.0623976
OdomCount 4914 & avg odom time 0.045571 ms ++++++++++++++++++++++
--------------------stamp1317358272.549175977
prepare time 13.684187 
sort q time 4.945449 
seperate points time 11.446713 
publication time 8.895350 ms 
whole laserOdometry time 8.910595 ms 
 
mapping solver time 23.015190 ms 
--------------------stamp1317358272.652997970
prepare time 12.200921 
sort q time 4.806212 
seperate points time 11.099595 
filter time 16.530414 ms 
--------------------stamp1317358272.756843090
points size 80461 
scan registration time 25.115260 ms *************
publication time 7.798006 ms 
whole laserOdometry time 7.811553 ms 
 
mapping solver time 27.884269 ms 
mapping data assosiation time 21.807423 ms 
--------------------stamp1317358272.860691070
sort q time 5.048858 
seperate points time 9.593822 
map prepare time 3.963444 ms
map corner num 252757  surf num 95327 
-----t: 0.0359053
OdomCount 4918 & avg odom time 0.045567 ms ++++++++++++++++++++++
build tree time 62.189646 ms 
points size 80646 
sort q time 4.322629 
seperate points time 10.438271 
publication time 7.392930 ms 
whole laserOdometry time 7.408935 ms 
 
mapping solver time 28.412732 ms 
mapping data assosiation time 23.277659 ms 
mapping solver time 22.892186 ms 
--------------------stamp1317358273.068288087
map prepare time 3.515032 ms
map corner num 253521  surf num 95555 
scan registration time 28.208751 ms *************
publication time 8.545242 ms 
whole laserOdometry time 8.559663 ms 
 
build tree time 62.870680 ms 
mapping data assosiation time 24.379292 ms 
prepare time 11.598365 
mapping data assosiation time 26.174998 ms 
mapping solver time 15.016248 ms 
filter time 15.553072 ms 
--------------------stamp1317358273.275886058
prepare time 12.979464 
scan registration time 27.233434 ms *************
-----t: 0.0293059
OdomCount 4922 & avg odom time 0.045558 ms ++++++++++++++++++++++
build tree time 74.655446 ms 
mapping data assosiation time 22.047448 ms 
mapping solver time 19.767030 ms 
points size 81277 
mapping data assosiation time 24.214453 ms 
publication time 8.151554 ms 
whole laserOdometry time 8.164674 ms 
 
filter time 15.735325 ms 
map prepare time 3.411564 ms
map corner num 254902  surf num 95902 
--------------------stamp1317358273.483505964
prepare time 13.038890 
sort q time 4.576996 
seperate points time 10.888698 
build tree time 69.371315 ms 
mapping data assosiation time 25.585372 ms 
mapping solver time 25.369172 ms 
--------------------stamp1317358273.587306022
points size 81623 
prepare time 15.570237 
mapping data assosiation time 50.269273 ms 
mapping solver time 21.724736 ms 
filter time 16.527044 ms 
--------------------stamp1317358273.691129922
sort q time 5.833687 
seperate points time 10.422976 
publication time 6.726758 ms 
whole laserOdometry time 6.737786 ms 
 
mapping data assosiation time 20.308279 ms 
mapping solver time 23.745145 ms 
--------------------stamp1317358273.794930934
prepare time 11.791007 
scan registration time 25.428952 ms *************
mapping solver time 24.052840 ms 
-----t: 0.037344
OdomCount 4927 & avg odom time 0.045555 ms ++++++++++++++++++++++
mapping pub time 1.838276 ms 
whole mapping time 183.721317 ms +++++
mappingCount 3208 & avg mapping time 155.825183 ms ++++++++++++++++++++++
--------------------stamp1317358273.898705005
prepare time 12.283504 
build tree time 61.646587 ms 
publication time 8.223772 ms 
whole laserOdometry time 8.237584 ms 
 
mapping solver time 25.250301 ms 
mapping data assosiation time 21.696978 ms 
points size 73912 
mapping solver time 28.760600 ms 
scan registration time 33.607122 ms *************
publication time 6.474058 ms 
whole laserOdometry time 6.490356 ms 
 
-----t: 0.0615608
OdomCount 4929 & avg odom time 0.045556 ms ++++++++++++++++++++++
--------------------stamp1317358274.106300115
sort q time 3.684399 
seperate points time 7.987182 
mapping data assosiation time 24.202272 ms 
-----t: 0.033666
OdomCount 4930 & avg odom time 0.045554 ms ++++++++++++++++++++++
mapping solver time 26.110005 ms 
mapping data assosiation time 20.906240 ms 
mapping solver time 19.251089 ms 
prepare time 9.458305 
mapping pub time 1.786179 ms 
whole mapping time 183.394677 ms +++++
mappingCount 3210 & avg mapping time 155.843634 ms ++++++++++++++++++++++
-----t: 0.0562659
OdomCount 4931 & avg odom time 0.045556 ms ++++++++++++++++++++++
build tree time 63.863725 ms 
--------------------stamp1317358274.313924074
sort q time 3.839751 
seperate points time 8.773112 
mapping solver time 27.216349 ms 
mapping data assosiation time 22.392284 ms 
mapping solver time 18.913759 ms 
filter time 15.768149 ms 
map prepare time 5.829298 ms
map corner num 249756  surf num 90232 
points size 74976 
sort q time 4.135649 
seperate points time 8.634097 
publication time 7.039710 ms 
whole laserOdometry time 7.051436 ms 
 
-----t: 0.0403535
OdomCount 4933 & avg odom time 0.045552 ms ++++++++++++++++++++++
build tree time 67.742130 ms 
mapping data assosiation time 22.224612 ms 
points size 81443 
sort q time 5.216062 
seperate points time 11.197649 
publication time 6.968309 ms 
whole laserOdometry time 6.981293 ms 
 
-----t: 0.0426796
OdomCount 4934 & avg odom time 0.045552 ms ++++++++++++++++++++++
mapping solver time 19.956270 ms 
filter time 14.805199 ms 
mapping pub time 1.595740 ms 
whole mapping time 189.630244 ms +++++
mappingCount 3212 & avg mapping time 155.863414 ms ++++++++++++++++++++++
1317358274.210100889 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.406015 ms
map corner num 250445  surf num 90441 
points size 83198 
sort q time 4.584602 
seperate points time 10.832082 
publication time 8.389728 ms 
whole laserOdometry time 8.398916 ms 
 
-----t: 0.0383402
OdomCount 4935 & avg odom time 0.045550 ms ++++++++++++++++++++++
mapping data assosiation time 19.882807 ms 
mapping solver time 24.126713 ms 
prepare time 10.267003 
sort q time 4.600344 
seperate points time 9.669157 
publication time 7.987536 ms 
whole laserOdometry time 8.000678 ms 
 
-----t: 0.0370677
OdomCount 4936 & avg odom time 0.045549 ms ++++++++++++++++++++++
mapping pub time 1.741003 ms 
whole mapping time 187.528299 ms +++++
mappingCount 3213 & avg mapping time 155.873271 ms ++++++++++++++++++++++
1317358274.417721987 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.261782 ms
map corner num 251155  surf num 90650 
--------------------stamp1317358274.832771062
sort q time 4.772605 
seperate points time 10.578933 
build tree time 61.160745 ms 
mapping data assosiation time 22.626893 ms 
-----t: 0.0441096
OdomCount 4937 & avg odom time 0.045548 ms ++++++++++++++++++++++
1317358274.832771062 WriteOdom laser_odom_to_init
1317358274.832771062 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.808856 ms 
--------------------stamp1317358274.936523914
mapping solver time 16.894754 ms 
publication time 9.827140 ms 
whole laserOdometry time 9.839725 ms 
 
--------------------stamp1317358275.040272951
prepare time 12.428258 
mapping data assosiation time 24.509720 ms 
publication time 8.426111 ms 
whole laserOdometry time 8.440251 ms 
 
mapping solver time 25.827244 ms 
mapping data assosiation time 23.059485 ms 
mapping solver time 21.072280 ms 
--------------------stamp1317358275.144027948
prepare time 12.211638 
drop lidar frame in mapping for real time performance 
publication time 7.893231 ms 
whole laserOdometry time 7.909207 ms 
 
build tree time 66.538841 ms 
points size 84363 
sort q time 7.146493 
seperate points time 14.126737 
mapping solver time 24.081068 ms 
-----t: 0.0388545
OdomCount 4941 & avg odom time 0.045541 ms ++++++++++++++++++++++
1317358275.247756958 WriteOdom laser_odom_to_init
1317358275.247756958 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.479709 ms 
filter time 15.508329 ms 
map prepare time 4.435432 ms
map corner num 253104  surf num 91244 
sort q time 4.854463 
seperate points time 11.480821 
publication time 7.882227 ms 
whole laserOdometry time 7.892322 ms 
 
-----t: 0.0530417
OdomCount 4942 & avg odom time 0.045543 ms ++++++++++++++++++++++
1317358275.351476907 WriteOdom laser_odom_to_init
1317358275.351476907 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.190863 ms 
--------------------stamp1317358275.455178976
scan registration time 26.909620 ms *************
publication time 8.121394 ms 
whole laserOdometry time 8.147917 ms 
 
mapping solver time 17.661541 ms 
mapping optimization time 150.902971 
add points time 1.116750 ms
mapping pub time 1.867368 ms 
whole mapping time 174.081440 ms +++++
mappingCount 3217 & avg mapping time 155.902494 ms ++++++++++++++++++++++
[0m[ INFO] [1718889789.367652848, 1317358275.545035399]: Received 344348 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889789.367682917, 1317358275.545035399]: Data saved to 1317358274936523.pcd[0m
points size 83315 
sort q time 4.472828 
seperate points time 10.125482 
build tree time 73.976139 ms 
mapping data assosiation time 25.378086 ms 
-----t: 0.0826638
OdomCount 4944 & avg odom time 0.045549 ms ++++++++++++++++++++++
points size 83567 
sort q time 4.337612 
seperate points time 10.185617 
publication time 6.367177 ms 
whole laserOdometry time 6.401063 ms 
 
filter time 15.422945 ms 
--------------------stamp1317358275.766288042
sort q time 5.066776 
seperate points time 9.702992 
build tree time 61.956488 ms 
-----t: 0.0366205
OdomCount 4946 & avg odom time 0.045544 ms ++++++++++++++++++++++
mapping solver time 24.173693 ms 
--------------------stamp1317358275.869988918
sort q time 4.946465 
seperate points time 9.650448 
publication time 8.336199 ms 
whole laserOdometry time 8.344325 ms 
 
filter time 19.437266 ms 
-----t: 0.0351196
OdomCount 4947 & avg odom time 0.045542 ms ++++++++++++++++++++++
1317358275.869988918 WriteOdom laser_odom_to_init
1317358275.869988918 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358275.973691940
prepare time 12.886672 
sort q time 4.487862 
seperate points time 10.425430 
mapping data assosiation time 26.140821 ms 
mapping solver time 24.833820 ms 
mapping data assosiation time 22.537196 ms 
build tree time 72.610415 ms 
prepare time 10.653204 
mapping data assosiation time 25.474516 ms 
publication time 7.695914 ms 
whole laserOdometry time 7.709942 ms 
 
mapping solver time 31.740575 ms 
mapping data assosiation time 24.502839 ms 
add points time 0.997591 ms
points size 87893 
filter time 24.401724 ms 
scan registration time 41.427050 ms *************
publication time 8.800244 ms 
whole laserOdometry time 8.813691 ms 
 
--------------------stamp1317358276.388504028
points size 89082 
sort q time 7.846138 
seperate points time 31.206597 
scan registration time 62.392094 ms *************
publication time 7.779474 ms 
whole laserOdometry time 7.791382 ms 
 
--------------------stamp1317358276.492208003
points size 90527 
sort q time 5.581454 
seperate points time 13.196370 
publication time 9.756064 ms 
whole laserOdometry time 9.776907 ms 
 
build tree time 68.047142 ms 
--------------------stamp1317358276.595911026
points size 93015 
sort q time 5.685664 
seperate points time 13.027522 
[0m[ INFO] [1718889790.458469199, 1317358276.638421578]: Received 348813 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889790.458520624, 1317358276.638421578]: Data saved to 1317358275973691.pcd[0m
mapping solver time 33.792468 ms 
mapping data assosiation time 22.813356 ms 
mapping solver time 19.608294 ms 
--------------------stamp1317358276.699635982
points size 95051 
mapping pub time 2.459052 ms 
whole mapping time 199.939265 ms +++++
mappingCount 3222 & avg mapping time 156.024116 ms ++++++++++++++++++++++
1317358276.077394962 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
sort q time 6.056050 
seperate points time 13.970642 
-----t: 0.0460269
OdomCount 4955 & avg odom time 0.045543 ms ++++++++++++++++++++++
build tree time 69.100036 ms 
--------------------stamp1317358276.803385972
mapping data assosiation time 26.782638 ms 
sort q time 5.743375 
seperate points time 13.305345 
publication time 8.920669 ms 
whole laserOdometry time 8.936324 ms 
 
mapping data assosiation time 25.893471 ms 
mapping solver time 19.547335 ms 
--------------------stamp1317358276.907186031
prepare time 16.430590 
scan registration time 34.630829 ms *************
-----t: 0.0382839
OdomCount 4957 & avg odom time 0.045541 ms ++++++++++++++++++++++
build tree time 71.315859 ms 
--------------------stamp1317358277.011032104
prepare time 12.720705 
sort q time 5.772336 
seperate points time 14.071996 
publication time 8.499489 ms 
whole laserOdometry time 8.510156 ms 
 
-----t: 0.0493222
OdomCount 4958 & avg odom time 0.045542 ms ++++++++++++++++++++++
mapping solver time 15.099379 ms 
filter time 18.141687 ms 
map prepare time 4.767630 ms
map corner num 258752  surf num 92935 
sort q time 21.862543 
seperate points time 41.617300 
scan registration time 71.654707 ms *************
publication time 12.525536 ms 
whole laserOdometry time 12.540911 ms 
 
mapping data assosiation time 31.015067 ms 
sort q time 6.365528 
seperate points time 13.084120 
mapping data assosiation time 29.063576 ms 
publication time 10.708977 ms 
whole laserOdometry time 10.724134 ms 
 
mapping solver time 23.283801 ms 
--------------------stamp1317358277.322715997
drop lidar frame in mapping for real time performance 
publication time 9.088596 ms 
whole laserOdometry time 9.103541 ms 
 
build tree time 72.989140 ms 
--------------------stamp1317358277.426635026
prepare time 13.271852 
sort q time 6.254189 
seperate points time 13.539930 
mapping solver time 33.833469 ms 
mapping data assosiation time 27.362837 ms 
--------------------stamp1317358277.530529975
points size 100615 
mapping pub time 7.296364 ms 
whole mapping time 222.360906 ms +++++
mappingCount 3226 & avg mapping time 156.089367 ms ++++++++++++++++++++++
publication time 11.832276 ms --------------------stamp1317358277.634427070
points size 101659 
scan registration time 38.384041 ms *************
-----t: 0.0396512
OdomCount 4964 & avg odom time 0.045570 ms ++++++++++++++++++++++
mapping data assosiation time 21.890817 ms 
mapping optimization time 167.182875 
points size 102919 
filter time 24.074581 ms 
scan registration time 34.912172 ms *************
publication time 9.009955 ms 
whole laserOdometry time 9.024646 ms 
 
[0m[ INFO] [1718889791.628741606, 1317358277.812446083]: Received 353822 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889791.628780200, 1317358277.812446083]: Data saved to 1317358277114928.pcd[0m
build tree time 71.263416 ms 
points size 102789 
mapping data assosiation time 33.637342 ms 
-----t: 0.0389522
OdomCount 4966 & avg odom time 0.045577 ms ++++++++++++++++++++++
1317358277.842263936 WriteOdom laser_odom_to_init
1317358277.842263936 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.587759 ms 
--------------------stamp1317358277.946206092
prepare time 14.592169 
sort q time 5.886971 
seperate points time 13.818565 
publication time 8.864510 ms 
whole laserOdometry time 8.878130 ms 
 
-----t: 0.0487385
OdomCount 4967 & avg odom time 0.045578 ms ++++++++++++++++++++++
1317358277.946206092 WriteOdom laser_odom_to_init
1317358277.946206092 WriteOdom aft_mapped_to_init_high_frec
build tree time 50.086305 ms 
--------------------stamp1317358278.050198078
points size 102277 
sort q time 5.958879 
seperate points time 13.984544 
mapping solver time 34.951073 ms 
mapping data assosiation time 30.065059 ms 
--------------------stamp1317358278.154189109
prepare time 12.279902 
drop lidar frame in mapping for real time performance 
publication time 9.371723 ms 
whole laserOdometry time 9.737643 ms 
 
-----t: 0.057566
OdomCount 4969 & avg odom time 0.045588 ms ++++++++++++++++++++++
build tree time 55.663120 ms 
--------------------stamp1317358278.258177995
mapping data assosiation time 36.200351 ms 
sort q time 18.733034 
seperate points time 26.524771 
scan registration time 59.043784 ms *************
-----t: 0.0607781
OdomCount 4970 & avg odom time 0.045591 ms ++++++++++++++++++++++
--------------------stamp1317358278.362190961
points size 98599 
filter time 20.002341 ms 
map prepare time 4.910486 ms
map corner num 223995  surf num 78157 
scan registration time 47.813431 ms *************
-----t: 0.0474981
OdomCount 4971 & avg odom time 0.045591 ms ++++++++++++++++++++++
build tree time 52.033550 ms 
points size 97400 
mapping data assosiation time 31.925909 ms 
publication time 10.572313 ms 
whole laserOdometry time 10.588025 ms 
 
mapping solver time 33.593921 ms 
mapping data assosiation time 28.551927 ms 
--------------------stamp1317358278.570147991
points size 96854 
sort q time 5.604572 
seperate points time 18.095064 
1317358278.154189110 WriteOdom aft_mapped_to_init
-----t: 0.053824
OdomCount 4973 & avg odom time 0.045592 ms ++++++++++++++++++++++
--------------------stamp1317358278.674113988
prepare time 14.755323 
mapping data assosiation time 32.739119 ms 
publication time 9.828975 ms 
whole laserOdometry time 9.845995 ms 
 
mapping solver time 31.849204 ms 
--------------------stamp1317358278.778081893
prepare time 14.444982 
mapping solver time 27.745157 ms 
mapping optimization time 176.737156 
add points time 1.594242 ms
sort q time 5.120030 
seperate points time 12.071615 
filter time 19.507500 ms 
-----t: 0.0451977
OdomCount 4975 & avg odom time 0.045592 ms ++++++++++++++++++++++
--------------------stamp1317358278.882050037
prepare time 11.343213 
sort q time 5.303103 
seperate points time 11.235802 
publication time 9.179416 ms 
whole laserOdometry time 9.195114 ms 
 
mapping solver time 30.756404 ms 
mapping data assosiation time 26.177989 ms 
points size 86649 
mapping solver time 26.234793 ms 
mapping optimization time 170.747516 
mapping pub time 2.371854 ms 
whole mapping time 200.951124 ms +++++
mappingCount 3233 & avg mapping time 156.200026 ms ++++++++++++++++++++++
1317358278.570147991 WriteOdom aft_mapped_to_init
--------------------stamp1317358279.089984893
sort q time 4.818352 
seperate points time 11.150825 
publication time 8.140253 ms 
whole laserOdometry time 8.153740 ms 
 
mapping solver time 31.614928 ms 
mapping data assosiation time 27.749760 ms 
--------------------stamp1317358279.193974971
mapping solver time 25.963483 ms 
sort q time 5.355319 
seperate points time 11.524724 
mapping pub time 2.084254 ms 
whole mapping time 198.633164 ms +++++
mappingCount 3234 & avg mapping time 156.213148 ms ++++++++++++++++++++++
publication time 7.162698 ms 
whole laserOdometry time 7.174226 ms 
 
-----t: 0.0528999
OdomCount 4979 & avg odom time 0.045591 ms ++++++++++++++++++++++
build tree time 54.705496 ms 
points size 87997 
sort q time 5.750952 
seperate points time 11.843323 
publication time 8.055540 ms 
whole laserOdometry time 8.068379 ms 
 
-----t: 0.0535168
OdomCount 4980 & avg odom time 0.045593 ms ++++++++++++++++++++++
mapping data assosiation time 28.637016 ms 
--------------------stamp1317358279.401910066
mapping optimization time 162.927457 
filter time 18.460355 ms 
publication time 7.869052 ms 
whole laserOdometry time 7.882750 ms 
 
build tree time 55.035759 ms 
--------------------stamp1317358279.505826950
points size 84516 
prepare time 19.229181 
scan registration time 34.240306 ms *************
-----t: 0.0538701
OdomCount 4982 & avg odom time 0.045593 ms ++++++++++++++++++++++
mapping solver time 26.177105 ms 
points size 81669 
prepare time 10.735839 
filter time 16.985030 ms 
map prepare time 4.027635 ms
map corner num 229815  surf num 80468 
publication time 9.557808 ms 
whole laserOdometry time 9.570336 ms 
 
-----t: 0.0562209
OdomCount 4983 & avg odom time 0.045595 ms ++++++++++++++++++++++
build tree time 56.542923 ms 
--------------------stamp1317358279.713568925
mapping data assosiation time 27.005651 ms 
sort q time 4.097409 
seperate points time 9.835820 
mapping solver time 27.984732 ms 
-----t: 0.035345
OdomCount 4984 & avg odom time 0.045593 ms ++++++++++++++++++++++
mapping data assosiation time 26.654232 ms 
mapping solver time 16.205942 ms 
filter time 14.964069 ms 
points size 76999 
sort q time 4.423940 
seperate points time 9.936077 
publication time 5.677513 ms 
whole laserOdometry time 5.692327 ms 
 
[0m[ INFO] [1718889793.686214609, 1317358279.865060468]: Received 310283 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889793.686257064, 1317358279.865060468]: Data saved to 1317358279193974.pcd[0m
build tree time 59.101161 ms 
mapping data assosiation time 23.022797 ms 
--------------------stamp1317358279.921262025
mapping solver time 30.529639 ms 
scan registration time 23.977904 ms *************
mapping data assosiation time 26.622683 ms 
1317358279.921262025 WriteOdom laser_odom_to_init
1317358279.921262025 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.877946 ms 
filter time 14.349091 ms 
--------------------stamp1317358280.025110960
prepare time 11.919697 
sort q time 3.857208 
seperate points time 9.330978 
publication time 7.147167 ms 
whole laserOdometry time 7.160223 ms 
 
mapping data assosiation time 22.738460 ms 
mapping solver time 26.523042 ms 
points size 75547 
sort q time 4.273510 
seperate points time 9.725754 
mapping solver time 26.126459 ms 
-----t: 0.0339413
OdomCount 4988 & avg odom time 0.045584 ms ++++++++++++++++++++++
1317358280.128982067 WriteOdom laser_odom_to_init
1317358280.128982067 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.100420 ms
map corner num 232111  surf num 81058 
--------------------stamp1317358280.232826948
prepare time 12.565955 
sort q time 4.225985 
seperate points time 10.156315 
mapping data assosiation time 23.020353 ms 
mapping solver time 26.726996 ms 
publication time 7.774827 ms 
whole laserOdometry time 7.783534 ms 
 
mapping data assosiation time 22.293810 ms 
--------------------stamp1317358280.336648941
prepare time 10.779417 
scan registration time 23.852954 ms *************
map prepare time 3.696001 ms
1317358280.336648941 WriteOdom aft_mapped_to_init_high_frec
build tree time 55.766843 ms 
points size 72982 
prepare time 13.780698 
mapping data assosiation time 25.158153 ms 
publication time 6.661889 ms 
whole laserOdometry time 6.674149 ms 
 
mapping data assosiation time 20.955313 ms 
mapping solver time 18.810685 ms 
filter time 15.580666 ms 
sort q time 3.970377 
seperate points time 9.263953 
-----t: 0.0279787
OdomCount 4992 & avg odom time 0.045579 ms ++++++++++++++++++++++
--------------------stamp1317358280.648164987
sort q time 3.388607 
seperate points time 7.301368 
publication time 11.168252 ms 
whole laserOdometry time 11.177021 ms 
 
-----t: 0.0342175
OdomCount 4993 & avg odom time 0.045576 ms ++++++++++++++++++++++
1317358280.648164987 WriteOdom laser_odom_to_init
1317358280.648164987 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 183.123832 ms 
whole mapping time 353.769516 ms +++++
mappingCount 3241 & avg mapping time 156.332298 ms ++++++++++++++++++++++
--------------------stamp1317358280.751987934
prepare time 11.030923 
scan registration time 22.498876 ms *************
build tree time 59.872150 ms 
mapping data assosiation time 19.484653 ms 
mapping solver time 17.770156 ms 
mapping data assosiation time 20.228909 ms 
points size 63168 
add points time 1.224872 ms
filter time 20.399370 ms 
build tree time 44.171945 ms 
--------------------stamp1317358280.959685087
sort q time 3.788330 
seperate points time 7.277542 
scan registration time 15.852826 ms *************
mapping solver time 24.823610 ms 
publication time 8.116743 ms 
whole laserOdometry time 8.129674 ms 
 
mapping solver time 15.236662 ms 
filter time 12.249462 ms 
--------------------stamp1317358281.063504934
sort q time 2.651064 
seperate points time 5.878342 
mapping data assosiation time 20.131136 ms 
mapping solver time 20.366613 ms 
mapping data assosiation time 18.589381 ms 
mapping solver time 16.608896 ms 
prepare time 7.006917 
mapping pub time 1.489444 ms 
whole mapping time 147.901016 ms +++++
mappingCount 3244 & avg mapping time 156.327623 ms ++++++++++++++++++++++
publication time 5.663051 ms 
whole laserOdometry time 5.695410 ms 
 
-----t: 0.0390826
OdomCount 4998 & avg odom time 0.045563 ms ++++++++++++++++++++++
build tree time 46.297128 ms 
mapping data assosiation time 16.465690 ms 
--------------------stamp1317358281.271199941
points size 66265 
sort q time 3.359846 
seperate points time 8.139689 
mapping solver time 23.594627 ms 
filter time 14.615502 ms 
--------------------stamp1317358281.375045061
sort q time 4.004017 
seperate points time 8.637651 
-----t: 0.0302396
OdomCount 5000 & avg odom time 0.045557 ms ++++++++++++++++++++++
mapping data assosiation time 17.762505 ms 
mapping solver time 15.535205 ms 
filter time 12.833179 ms 
points size 70738 
scan registration time 21.306871 ms *************
publication time 6.248164 ms 
whole laserOdometry time 6.280693 ms 
 
1317358281.478915929 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.820583 ms 
mapping solver time 19.896812 ms 
--------------------stamp1317358281.582787990
prepare time 11.628371 
mapping solver time 24.483345 ms 
-----t: 0.0351174
OdomCount 5002 & avg odom time 0.045554 ms ++++++++++++++++++++++
build tree time 44.104433 ms 
prepare time 9.720214 
mapping data assosiation time 20.706848 ms 
publication time 6.682932 ms 
whole laserOdometry time 6.695659 ms 
 
mapping data assosiation time 18.287850 ms 
mapping solver time 17.720560 ms 
filter time 14.497041 ms 
points size 70699 
scan registration time 18.527341 ms *************
[0m[ INFO] [1718889795.625651177, 1317358281.809932347]: Received 261484 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889795.625691009, 1317358281.809932347]: Data saved to 1317358281167352.pcd[0m
-----t: 0.0288721
OdomCount 5004 & avg odom time 0.045547 ms ++++++++++++++++++++++
publication time 6.461448 ms 
whole laserOdometry time 6.472802 ms 
 
mapping data assosiation time 19.725820 ms 
mapping solver time 20.196786 ms 
--------------------stamp1317358281.894398927
sort q time 3.860587 
seperate points time 8.747093 
publication time 6.349874 ms 
whole laserOdometry time 6.364478 ms 
 
-----t: 0.0302406
OdomCount 5005 & avg odom time 0.045544 ms ++++++++++++++++++++++
1317358281.894398927 WriteOdom laser_odom_to_init
1317358281.894398927 WriteOdom aft_mapped_to_init_high_frec
filter time 17.677871 ms 
mapping pub time 1.582157 ms 
whole mapping time 155.726941 ms +++++
mappingCount 3249 & avg mapping time 156.316364 ms ++++++++++++++++++++++
1317358281.686657906 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.723489 ms
map corner num 197572  surf num 66490 
build tree time 39.265298 ms 
--------------------stamp1317358281.998267889
sort q time 3.778705 
seperate points time 7.783772 
mapping solver time 25.021786 ms 
-----t: 0.0318363
OdomCount 5006 & avg odom time 0.045541 ms ++++++++++++++++++++++
mapping solver time 17.020813 ms 
filter time 14.025349 ms 
--------------------stamp1317358282.102140903
sort q time 4.091402 
seperate points time 8.109755 
build tree time 50.088185 ms 
mapping data assosiation time 19.983801 ms 
mapping solver time 20.703413 ms 
mapping data assosiation time 17.354177 ms 
points size 66210 
sort q time 3.828259 
seperate points time 8.142386 
filter time 17.805966 ms 
map prepare time 3.950187 ms
map corner num 198786  surf num 66777 
build tree time 42.261160 ms 
--------------------stamp1317358282.309931039
sort q time 3.738724 
seperate points time 7.773531 
-----t: 0.0286609
OdomCount 5009 & avg odom time 0.045534 ms ++++++++++++++++++++++
mapping solver time 16.888383 ms 
filter time 12.168648 ms 
--------------------stamp1317358282.413800954
sort q time 4.115239 
seperate points time 8.536505 
publication time 6.578339 ms 
whole laserOdometry time 6.592789 ms 
 
mapping data assosiation time 22.207808 ms 
mapping solver time 16.720313 ms 
mapping data assosiation time 17.374167 ms 
mapping solver time 14.234125 ms 
points size 66965 
mapping pub time 1.556045 ms 
whole mapping time 146.071343 ms +++++
mappingCount 3253 & avg mapping time 156.304974 ms ++++++++++++++++++++++
publication time 7.288812 ms 
-----t: 0.0270867
whole laserOdometry time 8.889645 ms 
 
OdomCount 5011 & avg odom time 0.045527 ms ++++++++++++++++++++++
1317358282.517672061 WriteOdom laser_odom_to_init
1317358282.517672061 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718889796.399816633, 1317358282.581139297]: Received 265563 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889796.399872334, 1317358282.581139297]: Data saved to 1317358281998267.pcd[0m
mapping data assosiation time 16.223256 ms 
--------------------stamp1317358282.621542930
prepare time 11.691651 
mapping data assosiation time 20.561433 ms 
publication time 5.980957 ms 
whole laserOdometry time 5.994571 ms 
 
-----t: 0.0371955
OdomCount 5012 & avg odom time 0.045525 ms ++++++++++++++++++++++
--------------------stamp1317358282.725413084
build tree time 45.898800 ms 
sort q time 4.856767 
seperate points time 9.156465 
mapping data assosiation time 20.754233 ms 
mapping solver time 20.749572 ms 
mapping data assosiation time 16.544935 ms 
mapping solver time 16.810259 ms 
mapping optimization time 121.807781 
add points time 0.779765 ms
--------------------stamp1317358282.829282999
sort q time 5.454445 
seperate points time 11.036411 
publication time 7.745537 ms 
whole laserOdometry time 7.779486 ms 
 
mapping data assosiation time 16.624278 ms 
mapping solver time 22.382875 ms 
points size 77703 
sort q time 4.326067 
seperate points time 9.715767 
scan registration time 23.720580 ms *************
publication time 5.892932 ms 
whole laserOdometry time 5.909783 ms 
 
map prepare time 2.991896 ms
map corner num 201508  surf num 67539 
build tree time 41.259805 ms 
points size 79285 
sort q time 9.939435 
seperate points time 15.673559 
publication time 7.000968 ms 
whole laserOdometry time 7.014284 ms 
 
1317358283.037050008 WriteOdom laser_odom_to_init
1317358283.037050008 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.539951 ms 
filter time 12.045092 ms 
--------------------stamp1317358283.140945911
prepare time 10.577716 
sort q time 4.355796 
seperate points time 8.830312 
build tree time 49.223018 ms 
mapping data assosiation time 21.988617 ms 
mapping solver time 21.512417 ms 
--------------------stamp1317358283.244839906
mapping solver time 19.050004 ms 
mapping optimization time 132.690501 
sort q time 4.161471 
seperate points time 9.419497 
add points time 0.955681 ms
publication time 8.345010 ms 
whole laserOdometry time 8.364896 ms 
 
-----t: 0.0429017
OdomCount 5018 & avg odom time 0.045518 ms ++++++++++++++++++++++
build tree time 48.327315 ms 
--------------------stamp1317358283.348758935
sort q time 4.504751 
seperate points time 10.013518 
scan registration time 24.556616 ms *************
publication time 8.116263 ms 
whole laserOdometry time 8.131817 ms 
 
-----t: 0.0454962
OdomCount 5019 & avg odom time 0.045518 ms ++++++++++++++++++++++
mapping solver time 19.417211 ms 
filter time 12.271630 ms 
points size 75613 
build tree time 51.829849 ms 
mapping data assosiation time 18.698914 ms 
mapping solver time 20.290759 ms 
mapping data assosiation time 17.786905 ms 
points size 75343 
sort q time 4.548547 
seperate points time 8.978895 
filter time 16.057882 ms 
publication time 10.677915 ms 
whole laserOdometry time 10.692705 ms 
 
build tree time 45.406102 ms 
mapping data assosiation time 17.296867 ms 
prepare time 12.191875 
sort q time 4.012506 
seperate points time 9.578068 
publication time 7.568767 ms 
whole laserOdometry time 7.598531 ms 
 
mapping data assosiation time 20.872841 ms 
mapping solver time 12.702865 ms 
filter time 12.456068 ms 
--------------------stamp1317358283.764384031
prepare time 12.059586 
sort q time 3.934858 
seperate points time 9.689904 
publication time 6.805690 ms 
whole laserOdometry time 6.819547 ms 
 
-----t: 0.0323716
OdomCount 5023 & avg odom time 0.045509 ms ++++++++++++++++++++++
--------------------stamp1317358283.868279933
sort q time 4.486763 
seperate points time 9.730453 
publication time 7.791069 ms 
whole laserOdometry time 7.808097 ms 
 
mapping pub time 199.224238 ms 
whole mapping time 343.446359 ms +++++
mappingCount 3261 & avg mapping time 156.345700 ms ++++++++++++++++++++++
map prepare time 3.651761 ms
map corner num 204355  surf num 68325 
--------------------stamp1317358283.972173929
sort q time 4.432817 
seperate points time 9.786992 
publication time 7.566274 ms 
whole laserOdometry time 7.576108 ms 
 
-----t: 0.035687
OdomCount 5025 & avg odom time 0.045512 ms ++++++++++++++++++++++
mapping solver time 22.327695 ms 
mapping data assosiation time 17.405152 ms 
mapping solver time 16.686651 ms 
points size 73048 
1317358283.556545973 WriteOdom aft_mapped_to_init
publication time 6.155093 ms 
whole laserOdometry time 6.171400 ms 
 
-----t: 0.0339167
OdomCount 5026 & avg odom time 0.045509 ms ++++++++++++++++++++++
build tree time 52.185938 ms 
mapping data assosiation time 16.160351 ms 
--------------------stamp1317358284.179939985
sort q time 3.084325 
seperate points time 7.084098 
scan registration time 21.673734 ms *************
mapping data assosiation time 19.259812 ms 
publication time 7.741105 ms 
whole laserOdometry time 7.770072 ms 
 -----t: 0.0418701
OdomCount 5027 & avg odom time 0.045509 ms ++++++++++++++++++++++
[0m[ INFO] [1718889798.064544509, 1317358284.241568855]: Received 272680 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889798.064571836, 1317358284.241568855]: Data saved to 1317358283452652.pcd[0m
filter time 12.238897 ms 
mapping pub time 1.652363 ms 
whole mapping time 159.723936 ms +++++
mappingCount 3263 & avg mapping time 156.346031 ms ++++++++++++++++++++++
1317358283.972173929 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358284.283834934
sort q time 4.194688 
seperate points time 9.785816 
-----t: 0.0444808
OdomCount 5028 & avg odom time 0.045509 ms ++++++++++++++++++++++
mapping solver time 24.628405 ms 
--------------------stamp1317358284.387729883
sort q time 3.717504 
seperate points time 8.851973 
publication time 5.639292 ms 
whole laserOdometry time 5.651559 ms 
 
filter time 18.297683 ms 
build tree time 41.583142 ms 
points size 72260 
sort q time 3.740065 
seperate points time 9.031386 
mapping solver time 24.723471 ms 
-----t: 0.0416782
OdomCount 5030 & avg odom time 0.045506 ms ++++++++++++++++++++++
1317358284.491624116 WriteOdom laser_odom_to_init
1317358284.491624116 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.798768 ms 
add points time 0.792794 ms
filter time 9.393134 ms 
--------------------stamp1317358284.595566034
build tree time 32.164774 ms 
sort q time 3.770562 
seperate points time 9.116876 
scan registration time 24.056356 ms *************
mapping solver time 16.760065 ms 
mapping data assosiation time 18.161835 ms 
mapping solver time 17.743321 ms 
filter time 11.890137 ms 
points size 70418 
prepare time 12.602004 
publication time 6.943805 ms 
whole laserOdometry time 6.961899 ms 
 
mapping data assosiation time 16.160228 ms 
mapping solver time 14.702748 ms 
mapping data assosiation time 16.163769 ms 
mapping solver time 12.797767 ms 
filter time 11.787547 ms 
mapping pub time 1.710234 ms 
whole mapping time 118.199220 ms +++++
mappingCount 3267 & avg mapping time 156.326613 ms ++++++++++++++++++++++
sort q time 3.733343 
seperate points time 8.924411 
1317358284.595566034 WriteOdom aft_mapped_to_init
publication time 6.119190 ms 
whole laserOdometry time 6.135035 ms build tree time 39.312056 ms 
mapping data assosiation time 16.927091 ms 
--------------------stamp1317358284.907372951
sort q time 3.818245 
seperate points time 8.345370 
mapping solver time 19.421635 ms 
map prepare time 2.558353 ms
map corner num 152743  surf num 52273 
build tree time 32.477017 ms 
points size 68978 
mapping solver time 20.932879 ms 
mapping data assosiation time 18.559329 ms 
mapping solver time 15.856615 ms 
filter time 10.129974 ms 
mapping pub time 1.616286 ms 
whole mapping time 123.831294 ms +++++
mappingCount 3269 & avg mapping time 156.311212 ms ++++++++++++++++++++++
1317358284.803430080 WriteOdom aft_mapped_to_init
map prepare time 2.344340 ms
map corner num 153203  surf num 52395 
--------------------stamp1317358285.115304946
points size 68126 
[0m[ INFO] [1718889798.938463991, 1317358285.111803266]: Received 203739 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889798.938493994, 1317358285.111803266]: Data saved to 1317358284491624.pcd[0m
prepare time 10.264891 
sort q time 4.706576 
seperate points time 10.062481 
mapping data assosiation time 18.453016 ms 
-----t: 0.0391905
OdomCount 5036 & avg odom time 0.045496 ms ++++++++++++++++++++++
1317358285.115304946 WriteOdom laser_odom_to_init
1317358285.115304946 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.649234 ms 
mapping data assosiation time 15.036966 ms 
mapping solver time 15.246393 ms 
--------------------stamp1317358285.219247102
prepare time 11.766899 
scan registration time 24.685677 ms *************
build tree time 41.062221 ms 
mapping data assosiation time 19.592132 ms 
mapping solver time 20.176976 ms 
--------------------stamp1317358285.323191881
prepare time 12.052199 
scan registration time 24.904259 ms *************
map prepare time 3.810385 ms
map corner num 154355  surf num 52767 
build tree time 35.340343 ms 
mapping data assosiation time 15.625980 ms 
--------------------stamp1317358285.427134037
prepare time 9.697926 
scan registration time 21.235358 ms *************
publication time 5.771649 ms 
whole laserOdometry time 5.788293 ms 
 
-----t: 0.0310268
OdomCount 5039 & avg odom time 0.045489 ms ++++++++++++++++++++++
1317358285.427134037 WriteOdom laser_odom_to_init
1317358285.427134037 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.419923 ms
map corner num 154935  surf num 52991 
build tree time 34.562720 ms 
--------------------stamp1317358285.531053066
sort q time 3.940365 
seperate points time 8.168974 
publication time 6.607300 ms 
whole laserOdometry time 6.621616 ms 
 
mapping data assosiation time 19.670483 ms 
mapping solver time 18.023100 ms 
mapping optimization time 114.784370 
add points time 0.782599 ms
map prepare time 2.486382 ms
map corner num 155477  surf num 53260 
--------------------stamp1317358285.634994983
sort q time 3.707250 
seperate points time 8.094649 
publication time 6.493836 ms 
whole laserOdometry time 6.505933 ms 
 
-----t: 0.0335268
OdomCount 5041 & avg odom time 0.045484 ms ++++++++++++++++++++++
mapping solver time 21.159816 ms 
mapping data assosiation time 17.142295 ms 
mapping solver time 11.876479 ms 
filter time 10.283619 ms 
prepare time 11.550327 
scan registration time 23.481161 ms *************
publication time 5.971635 ms 
whole laserOdometry time 5.983716 ms 
 
mapping data assosiation time 18.399291 ms 
mapping solver time 17.805983 ms 
mapping data assosiation time 18.346195 ms 
mapping solver time 13.710098 ms 
mapping optimization time 108.782732 
add points time 0.731682 ms
sort q time 3.385026 
seperate points time 7.235081 
scan registration time 15.837878 ms *************
publication time 6.878148 ms 
whole laserOdometry time 6.898716 ms 
 
-----t: 0.0305455
OdomCount 5043 & avg odom time 0.045478 ms ++++++++++++++++++++++
build tree time 40.588888 ms 
mapping data assosiation time 19.552246 ms 
--------------------stamp1317358285.946774959
sort q time 3.737041 
seperate points time 7.214065 
scan registration time 14.990672 ms *************
publication time 5.716004 ms 
whole laserOdometry time 5.732252 ms 
 
mapping optimization time 117.107393 
add points time 0.806136 ms
build tree time 35.249337 ms 
points size 60933 
publication time 5.384520 ms 
whole laserOdometry time 5.410887 ms 
 
mapping data assosiation time 17.902590 ms 
mapping solver time 13.544260 ms 
filter time 9.407676 ms 
--------------------stamp1317358286.154611110
build tree time 34.785780 ms 
publication time 5.683717 ms 
whole laserOdometry time 5.697634 ms 
 
1317358286.154611110 WriteOdom laser_odom_to_init
mapping solver time 21.184586 ms 
mapping data assosiation time 17.252692 ms 
mapping solver time 18.480652 ms 
filter time 9.703488 ms 
points size 66692 
publication time 6.466066 ms 
whole laserOdometry time 6.484386 ms 
 
-----t: 0.0412108
OdomCount 5047 & avg odom time 0.045465 ms ++++++++++++++++++++++
mapping data assosiation time 19.236948 ms 
mapping solver time 20.232730 ms 
--------------------stamp1317358286.362402915
sort q time 3.611066 
seperate points time 8.957781 
[0m[ INFO] [1718889800.210688122, 1317358286.388000073]: Received 211163 data points in frame camera_init with the following fields: x y z intensity[0m
-----t: 0.0438868
OdomCount 5048 & avg odom time 0.045465 ms ++++++++++++++++++++++
build tree time 40.170676 ms 
mapping data assosiation time 19.487897 ms 
points size 71234 
sort q time 3.607127 
seperate points time 8.945127 
publication time 8.251601 ms 
whole laserOdometry time 8.264879 ms 
 
1317358286.466346025 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.516795 ms 
filter time 9.968151 ms 
--------------------stamp1317358286.570264101
build tree time 37.283609 ms 
mapping data assosiation time 21.728543 ms 
mapping solver time 23.970536 ms 
mapping data assosiation time 19.327834 ms 
mapping solver time 13.354807 ms 
filter time 11.280297 ms 
scan registration time 28.483239 ms *************
publication time 6.626324 ms 
whole laserOdometry time 6.637720 ms 
 
-----t: 0.0393227
OdomCount 5051 & avg odom time 0.045460 ms ++++++++++++++++++++++
--------------------stamp1317358286.778100967
prepare time 15.139452 
publication time 7.903546 ms 
whole laserOdometry time 8.200646 ms 
 
mapping pub time 194.117624 ms 
whole mapping time 325.794458 ms +++++
mappingCount 3281 & avg mapping time 156.277106 ms ++++++++++++++++++++++
points size 78354 
sort q time 4.358683 
seperate points time 10.507968 
-----t: 0.0353723
OdomCount 5053 & avg odom time 0.045456 ms ++++++++++++++++++++++
mapping data assosiation time 19.989077 ms 
mapping solver time 23.307045 ms 
--------------------stamp1317358286.985985040
points size 78780 
sort q time 4.420604 
seperate points time 10.472422 
publication time 8.120936 ms 
whole laserOdometry time 8.135163 ms 
 
build tree time 35.479754 ms 
[0m[ INFO] [1718889800.892248633, 1317358287.075854601]: Received 215219 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889800.892303150, 1317358287.075854601]: Data saved to 1317358286466346.pcd[0m
--------------------stamp1317358287.089951992
prepare time 13.090585 
scan registration time 27.761788 ms *************
-----t: 0.0299577
OdomCount 5055 & avg odom time 0.045451 ms ++++++++++++++++++++++
mapping solver time 19.227917 ms 
filter time 11.921366 ms 
--------------------stamp1317358287.193896055
prepare time 12.583539 
scan registration time 26.951958 ms *************
build tree time 46.725216 ms 
-----t: 0.0431367
OdomCount 5056 & avg odom time 0.045451 ms ++++++++++++++++++++++
mapping solver time 22.636752 ms 
--------------------stamp1317358287.297863006
prepare time 12.823492 
sort q time 4.345284 
seperate points time 10.649159 
scan registration time 27.407351 ms *************
-----t: 0.0555023
OdomCount 5057 & avg odom time 0.045453 ms ++++++++++++++++++++++
build tree time 38.246243 ms 
--------------------stamp1317358287.401851892
prepare time 13.522608 
mapping solver time 35.205237 ms 
-----t: 0.0423705
OdomCount 5058 & avg odom time 0.045452 ms ++++++++++++++++++++++
1317358287.401851892 WriteOdom laser_odom_to_init
1317358287.401851892 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.026267 ms 
filter time 10.211135 ms 
points size 76067 
sort q time 4.395451 
seperate points time 10.362382 
publication time 8.228083 ms 
whole laserOdometry time 8.238039 ms 
 
-----t: 0.0411235
OdomCount 5059 & avg odom time 0.045451 ms ++++++++++++++++++++++
mapping data assosiation time 23.159127 ms 
mapping solver time 20.960782 ms 
--------------------stamp1317358287.609930992
points size 76068 
sort q time 4.239751 
seperate points time 9.853747 
add points time 1.007238 ms
filter time 14.178691 ms 
build tree time 35.329608 ms 
points size 76963 
sort q time 4.271251 
seperate points time 10.518144 
publication time 8.731596 ms 
whole laserOdometry time 8.743229 ms 
 
-----t: 0.0365974
OdomCount 5061 & avg odom time 0.045448 ms ++++++++++++++++++++++
1317358287.713993072 WriteOdom laser_odom_to_init
1317358287.713993072 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.906228 ms 
--------------------stamp1317358287.818080902
prepare time 12.210149 
map prepare time 3.642801 ms
map corner num 164679  surf num 57825 
publication time 8.742912 ms 
whole laserOdometry time 8.756060 ms 
 
build tree time 40.976910 ms 
mapping data assosiation time 22.828228 ms 
--------------------stamp1317358287.922168016
prepare time 12.403461 
sort q time 4.711609 
seperate points time 11.302017 
publication time 9.648034 ms 
whole laserOdometry time 9.663543 ms 
 
mapping data assosiation time 26.920351 ms 
mapping solver time 19.057600 ms 
filter time 10.563681 ms 
--------------------stamp1317358288.026256084
prepare time 13.220981 
mapping data assosiation time 26.970549 ms 
mapping solver time 28.997957 ms 
mapping data assosiation time 24.082817 ms 
points size 86656 
sort q time 4.943362 
seperate points time 11.331170 
map prepare time 3.885674 ms
map corner num 166192  surf num 58678 
build tree time 37.113258 ms 
--------------------stamp1317358288.234405040
points size 88292 
sort q time 4.661486 
seperate points time 20.304622 
mapping data assosiation time 27.597330 ms 
publication time 12.429807 ms 
whole laserOdometry time 12.443769 ms 
 
filter time 11.703176 ms 
--------------------stamp1317358288.338466882
prepare time 11.435536 
sort q time 4.975176 
seperate points time 10.319777 
mapping data assosiation time 27.253559 ms 
mapping solver time 23.934979 ms 
mapping data assosiation time 25.956057 ms 
--------------------stamp1317358288.442504882
mapping solver time 21.926782 ms 
filter time 12.374720 ms 
publication time 8.180211 ms 
whole laserOdometry time 8.193440 ms 
 
1317358288.442504882 WriteOdom laser_odom_to_init
mapping data assosiation time 22.388092 ms 
--------------------stamp1317358288.546518087
points size 93965 
sort q time 5.498444 
seperate points time 10.929726 
mapping data assosiation time 27.613482 ms 
publication time 12.536321 ms 
whole laserOdometry time 12.550032 ms 
 
mapping solver time 26.955439 ms 
filter time 10.930971 ms 
--------------------stamp1317358288.650507926
build tree time 35.291177 ms 
publication time 9.483971 ms 
whole laserOdometry time 9.500839 ms 
 
1317358288.650507926 WriteOdom laser_odom_to_init
mapping solver time 28.296455 ms 
--------------------stamp1317358288.754476070
prepare time 12.543248 
sort q time 5.273946 
seperate points time 12.211625 
add points time 0.959038 ms
publication time 9.275704 ms 
whole laserOdometry time 9.290826 ms 
 
build tree time 29.706904 ms 
points size 97093 
sort q time 5.422023 
seperate points time 12.616101 
mapping solver time 27.573212 ms 
-----t: 0.0418696
OdomCount 5072 & avg odom time 0.045440 ms ++++++++++++++++++++++
mapping data assosiation time 29.290752 ms 
mapping solver time 17.299313 ms 
filter time 10.843379 ms 
points size 97344 
sort q time 5.718029 
seperate points time 12.596745 
build tree time 35.902450 ms 
-----t: 0.0429071
OdomCount 5073 & avg odom time 0.045439 ms ++++++++++++++++++++++
1317358288.962312936 WriteOdom laser_odom_to_init
1317358288.962312936 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.538712 ms 
--------------------stamp1317358289.066205978
mapping data assosiation time 29.798815 ms 
scan registration time 30.230460 ms *************
-----t: 0.0311644
OdomCount 5074 & avg odom time 0.045436 ms ++++++++++++++++++++++
map prepare time 3.084039 ms
map corner num 138371  surf num 51368 
build tree time 30.727610 ms 
--------------------stamp1317358289.170125961
sort q time 5.418025 
seperate points time 12.327012 
-----t: 0.0337393
OdomCount 5075 & avg odom time 0.045434 ms ++++++++++++++++++++++
mapping data assosiation time 27.289783 ms 
mapping solver time 17.478977 ms 
mapping optimization time 127.900054 
add points time 1.035026 ms
map prepare time 2.932556 ms
map corner num 138957  surf num 51747 
sort q time 5.752685 
seperate points time 12.318492 
publication time 7.950524 ms 
whole laserOdometry time 7.978950 ms 
 
mapping data assosiation time 29.010161 ms 
mapping solver time 25.182317 ms 
--------------------stamp1317358289.377918004
prepare time 15.033421 
sort q time 5.813797 
seperate points time 13.490013 
filter time 11.631001 ms 
-----t: 0.0583491
OdomCount 5077 & avg odom time 0.045437 ms ++++++++++++++++++++++
build tree time 34.953739 ms 
points size 99542 
mapping data assosiation time 28.574608 ms 
publication time 12.729025 ms 
whole laserOdometry time 12.741097 ms 
 
-----t: 0.0581089
OdomCount 5078 & avg odom time 0.045439 ms ++++++++++++++++++++++mapping data assosiation time 27.935562 ms 
--------------------stamp1317358289.585777044
points size 99664 
map prepare time 3.868373 ms
map corner num 140321  surf num 52564 
publication time 10.554287 ms 
whole laserOdometry time 10.592660 ms 
 
build tree time 38.621154 ms 
-----t: 0.0655656
OdomCount 5079 & avg odom time 0.045443 ms ++++++++++++++++++++++
mapping data assosiation time 29.859389 ms 
--------------------stamp1317358289.689718961
prepare time 14.792646 
mapping data assosiation time 32.654183 ms 
-----t: 0.0519121
OdomCount 5080 & avg odom time 0.045445 ms ++++++++++++++++++++++filter time 13.998586 ms 
--------------------stamp1317358289.793663024
points size 99682 
sort q time 5.464433 
seperate points time 12.894362 
build tree time 41.964134 ms 
publication time 8.953622 ms 
whole laserOdometry time 8.965565 ms 
 
-----t: 0.0660294
OdomCount 5081 & avg odom time 0.045449 ms ++++++++++++++++++++++
mapping solver time 26.616725 ms 
--------------------stamp1317358289.897629022
points size 99764 
mapping data assosiation time 31.352634 ms 
scan registration time 34.963902 ms *************
mapping solver time 24.438897 ms 
mapping pub time 2.221150 ms 
whole mapping time 175.464156 ms +++++
mappingCount 3300 & avg mapping time 156.297048 ms ++++++++++++++++++++++
--------------------stamp1317358290.001596927
points size 99880 
mapping data assosiation time 32.989568 ms 
publication time 8.489234 ms 
whole laserOdometry time 8.501043 ms 
 
mapping solver time 30.972761 ms 
mapping data assosiation time 27.066043 ms 
--------------------stamp1317358290.105591058
prepare time 13.185118 
sort q time 6.748320 
seperate points time 14.734822 
-----t: 0.0349483
OdomCount 5084 & avg odom time 0.045443 ms ++++++++++++++++++++++
--------------------stamp1317358290.209606885
prepare time 14.105573 
sort q time 5.914452 
seperate points time 12.699360 
-----t: 0.0395307
OdomCount 5085 & avg odom time 0.045442 ms ++++++++++++++++++++++
--------------------stamp1317358290.313617944
map prepare time 2.992558 ms
map corner num 142477  surf num 53927 
sort q time 5.762107 
seperate points time 13.061825 
build tree time 36.616092 ms 
-----t: 0.0431538
OdomCount 5086 & avg odom time 0.045442 ms ++++++++++++++++++++++
mapping data assosiation time 32.486574 ms 
mapping solver time 26.349890 ms 
prepare time 12.826521 
sort q time 6.049057 
seperate points time 13.773032 
publication time 8.259439 ms 
whole laserOdometry time 8.274337 ms 
 
mapping solver time 24.322140 ms 
mapping optimization time 153.490929 
add points time 1.018129 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317358290.521670103
points size 100592 
sort q time 5.698473 
seperate points time 13.184838 
-----t: 0.0437226
OdomCount 5088 & avg odom time 0.045443 ms ++++++++++++++++++++++
mapping solver time 31.886411 ms 
--------------------stamp1317358290.625734090
sort q time 6.080998 
seperate points time 11.618285 
filter time 12.859248 ms 
-----t: 0.044579
OdomCount 5089 & avg odom time 0.045443 ms ++++++++++++++++++++++
build tree time 34.877491 ms 
--------------------stamp1317358290.729798078
prepare time 12.157356 
sort q time 6.291924 
seperate points time 22.577200 
mapping solver time 39.163714 ms publication time 7.446479 ms 
whole laserOdometry time 7.460630 ms 
 
mapping data assosiation time 32.484085 ms 
--------------------stamp1317358290.833884000
mapping solver time 29.855844 ms 
filter time 13.740588 ms 
publication time 11.321373 ms 
whole laserOdometry time 11.338277 ms 
 
build tree time 36.151317 ms 
mapping data assosiation time 29.899781 ms 
points size 101395 
sort q time 5.837796 
seperate points time 12.940257 
publication time 8.569137 ms 
whole laserOdometry time 8.584395 ms 
 
mapping data assosiation time 32.109619 ms 
mapping solver time 21.215937 ms 
filter time 9.996077 ms 
points size 101550 
sort q time 5.855936 
seperate points time 12.970098 
publication time 9.856025 ms 
whole laserOdometry time 9.889135 ms 
 
mapping data assosiation time 33.065821 ms 
--------------------stamp1317358291.146239995
points size 101799 
sort q time 6.089911 
seperate points time 13.273935 
publication time 9.310661 ms 
whole laserOdometry time 9.328499 ms 
 
-----t: 0.0474272
OdomCount 5094 & avg odom time 0.045439 ms ++++++++++++++++++++++
filter time 9.496862 ms 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358291.250421047
points size 102082 
build tree time 41.155049 ms 
publication time 8.406695 ms 
whole laserOdometry time 8.443236 ms 
 
-----t: 0.0484921
OdomCount 5095 & avg odom time 0.045440 ms ++++++++++++++++++++++
--------------------stamp1317358291.354626893
points size 102340 
sort q time 6.838859 publication time 8.094266 ms 
whole laserOdometry time 8.141332 ms 
mapping solver time 36.388138 ms 
filter time 9.871390 ms 
mapping pub time 2.388386 ms 
whole mapping time 209.035600 ms +++++
mappingCount 3307 & avg mapping time 156.408216 ms ++++++++++++++++++++++
1317358291.042104006 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358291.458811044
points size 102503 
prepare time 14.098016 
sort q time 5.932822 
seperate points time 13.466006 
publication time 13.122102 ms mapping data assosiation time 55.309077 ms 
--------------------stamp1317358291.562947988
prepare time 11.898447 
scan registration time 31.642890 ms *************
publication time 9.369531 ms 
whole laserOdometry time 9.379834 ms 
 
mapping data assosiation time 39.170810 ms 
-----t: 0.0636986
OdomCount 5098 & avg odom time 0.045452 ms ++++++++++++++++++++++
mapping solver time 33.677964 ms 
filter time 10.665542 ms 
sort q time 6.048471 
seperate points time 13.281916 
publication time 8.917373 ms 
whole laserOdometry time 8.931117 ms 
 
-----t: 0.0600089
OdomCount 5099 & avg odom time 0.045454 ms ++++++++++++++++++++++
mapping data assosiation time 34.383803 ms 
--------------------stamp1317358291.771073102
prepare time 14.410748 
sort q time 6.677455 
seperate points time 12.479784 
publication time 8.194829 ms 
whole laserOdometry time 8.208490 ms 
 
-----t: 0.0582262
OdomCount 5100 & avg odom time 0.045457 ms ++++++++++++++++++++++
mapping solver time 32.916959 ms 
--------------------stamp1317358291.875065088
prepare time 12.760734 
sort q time 5.643382 
seperate points time 13.060720 
publication time 8.590816 ms 
whole laserOdometry time 8.608893 ms 
 
-----t: 0.0515
OdomCount 5101 & avg odom time 0.045458 ms ++++++++++++++++++++++
1317358291.875065088 WriteOdom laser_odom_to_init
1317358291.875065088 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 33.390939 ms 
--------------------stamp1317358291.979007959
points size 102524 
prepare time 14.112903 
scan registration time 32.883446 ms *************
mapping data assosiation time 35.597894 ms 
mapping solver time 30.241585 ms 
--------------------stamp1317358292.082878112
points size 102315 
sort q time 5.600801 
seperate points time 13.011705 
publication time 8.798564 ms 
whole laserOdometry time 8.813493 ms 
 
-----t: 0.0521345
OdomCount 5103 & avg odom time 0.045461 ms ++++++++++++++++++++++
mapping data assosiation time 35.146547 ms 
--------------------stamp1317358292.186675071
sort q time 5.801722 
seperate points time 12.954382 
mapping solver time 42.425351 ms 
scan registration time 30.033159 ms *************
publication time 8.683618 ms 
whole laserOdometry time 8.700265 ms 
 
-----t: 0.0546981
OdomCount 5104 & avg odom time 0.045462 ms ++++++++++++++++++++++
mapping solver time 33.489381 ms 
prepare time 12.991749 
map prepare time 4.201086 ms
map corner num 150809  surf num 58365 
scan registration time 38.639548 ms *************
publication time 10.072493 ms 
whole laserOdometry time 10.086520 ms 
 
build tree time 42.002331 ms 
mapping data assosiation time 32.426635 ms 
points size 102351 
sort q time 6.317292 
seperate points time 13.759037 
mapping solver time 45.687844 ms 
-----t: 0.0542326
OdomCount 5106 & avg odom time 0.045466 ms ++++++++++++++++++++++
--------------------stamp1317358292.498096942
mapping optimization time 192.358885 
mapping data assosiation time 35.042268 ms 
sort q time 6.547605 
seperate points time 12.745737 
mapping solver time 44.347233 ms 
-----t: 0.0465731
OdomCount 5108 & avg odom time 0.045471 ms ++++++++++++++++++++++
publication time 20.434565 ms 
whole laserOdometry time 20.443753 ms 
 
mapping data assosiation time 32.936450 ms 
--------------------stamp1317358292.705789089
prepare time 14.621594 
sort q time 5.779736 
seperate points time 13.329848 
drop lidar frame in mapping for real time performance 
-----t: 0.0612
OdomCount 5109 & avg odom time 0.045474 ms ++++++++++++++++++++++
1317358292.705789089 WriteOdom laser_odom_to_init
1317358292.705789089 WriteOdom aft_mapped_to_init_high_frec
build tree time 40.442403 ms 
--------------------stamp1317358292.809659957
prepare time 12.186665 
sort q time 6.272716 
seperate points time 12.179782 
publication time 8.988751 ms 
whole laserOdometry time 9.002850 ms 
 
mapping solver time 40.249981 ms 
mapping data assosiation time 33.887343 ms 
points size 102199 
mapping solver time 32.703104 ms 
filter time 12.482012 ms 
publication time 10.446169 ms 
whole laserOdometry time 10.458398 ms 
 
build tree time 37.936703 ms 
--------------------stamp1317358293.017426013
points size 102104 
scan registration time 30.323962 ms *************
publication time 9.113449 ms 
whole laserOdometry time 9.130931 ms 
 
-----t: 0.0446898
OdomCount 5112 & avg odom time 0.045476 ms ++++++++++++++++++++++
mapping data assosiation time 31.233325 ms 
points size 101874 
mapping solver time 30.569905 ms 
filter time 14.113522 ms 
-----t: 0.0395981
OdomCount 5113 & avg odom time 0.045475 ms ++++++++++++++++++++++
build tree time 34.763319 ms 
--------------------stamp1317358293.225214004
prepare time 12.574187 
mapping data assosiation time 38.900677 ms 
publication time 8.602512 ms 
whole laserOdometry time 8.616861 ms 
 
-----t: 0.0440078
OdomCount 5114 & avg odom time 0.045475 ms ++++++++++++++++++++++
mapping data assosiation time 31.634545 ms 
points size 101636 
mapping solver time 29.034698 ms 
filter time 12.210595 ms 
map prepare time 4.879759 ms
map corner num 153722  surf num 59543 
build tree time 35.306282 ms 
--------------------stamp1317358293.433100938
mapping data assosiation time 36.883109 ms 
publication time 8.486953 ms 
whole laserOdometry time 8.499272 ms 
 
mapping solver time 42.516130 ms 
mapping data assosiation time 35.463564 ms 
points size 98811 
sort q time 5.464574 
seperate points time 13.020896 
filter time 10.310237 ms 
mapping pub time 2.358925 ms 
whole mapping time 208.609102 ms +++++
mappingCount 3317 & avg mapping time 156.574103 ms ++++++++++++++++++++++
1317358293.121320009 WriteOdom aft_mapped_to_init
-----t: 0.0607749
OdomCount 5117 & avg odom time 0.045478 ms ++++++++++++++++++++++
build tree time 39.095143 ms 
points size 97115 
prepare time 11.493697 
publication time 9.062331 ms 
whole laserOdometry time 9.075633 ms 
 
-----t: 0.0576746
OdomCount 5118 & avg odom time 0.045481 ms ++++++++++++++++++++++
mapping solver time 53.636197 ms 
--------------------stamp1317358293.744998931
mapping data assosiation time 38.348121 ms 
publication time 8.554971 ms 
whole laserOdometry time 8.570420 ms 
 
filter time 10.164080 ms 
--------------------stamp1317358293.848989009
prepare time 12.891612 
sort q time 5.467732 
seperate points time 11.988313 
mapping data assosiation time 40.159734 ms 
publication time 8.613379 ms 
whole laserOdometry time 8.628716 ms 
 
mapping solver time 39.388285 ms 
--------------------stamp1317358293.952980995
points size 97411 
sort q time 5.251787 
seperate points time 12.715453 
scan registration time 33.366725 ms *************
mapping optimization time 185.275707 
add points time 0.826550 ms
map prepare time 3.282530 ms
map corner num 154578  surf num 59809 
--------------------stamp1317358294.056997060
prepare time 14.590416 
sort q time 5.847969 
seperate points time 12.574937 
mapping data assosiation time 35.937867 ms 
1317358294.056997060 WriteOdom laser_odom_to_init
1317358294.056997060 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 38.709276 ms 
--------------------stamp1317358294.161010980
prepare time 14.801306 
sort q time 5.705443 
seperate points time 12.932192 
mapping solver time 33.624025 ms 
filter time 12.357215 ms 
mapping pub time 2.179689 ms 
whole mapping time 199.111254 ms +++++
mappingCount 3320 & avg mapping time 156.622164 ms ++++++++++++++++++++++
1317358293.848989010 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 32.218955 ms 
points size 101664 
sort q time 5.577612 
seperate points time 13.900776 
publication time 9.721494 ms 
whole laserOdometry time 9.736308 ms 
 
mapping solver time 38.655495 ms 
--------------------stamp1317358294.369113922
sort q time 6.193989 
seperate points time 11.959866 
publication time 9.673281 ms 
whole laserOdometry time 9.690884 ms 
 
mapping solver time 42.773513 ms 
filter time 10.143208 ms 
--------------------stamp1317358294.473177909
prepare time 12.003824 
sort q time 6.116482 
seperate points time 13.239999 
publication time 9.207489 ms 
whole laserOdometry time 9.219508 ms 
 
-----t: 0.0607044
OdomCount 5126 & avg odom time 0.045480 ms ++++++++++++++++++++++
--------------------stamp1317358294.577238082
sort q time 6.037109 
seperate points time 15.285542 
mapping pub time 196.962168 ms 
whole mapping time 418.736665 ms +++++
mappingCount 3321 & avg mapping time 156.701094 ms ++++++++++++++++++++++
1317358294.056997061 WriteOdom aft_mapped_to_init
-----t: 0.0706649
OdomCount 5127 & avg odom time 0.045484 ms ++++++++++++++++++++++
--------------------stamp1317358294.681324005
points size 102479 
sort q time 5.869347 
seperate points time 13.567440 
scan registration time 42.062421 ms *************
mapping data assosiation time 39.797171 ms 
1317358294.681324005 WriteOdom laser_odom_to_init
1317358294.681324005 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 42.120197 ms 
--------------------stamp1317358294.785459041
prepare time 14.049504 
sort q time 6.490413 
seperate points time 13.327410 
publication time 10.409561 ms 
whole laserOdometry time 10.424156 ms 
 
filter time 14.428471 ms 
--------------------stamp1317358294.889619112
points size 102673 
prepare time 13.962501 
scan registration time 34.748704 ms *************
publication time 9.083834 ms 
whole laserOdometry time 9.097081 ms 
 
mapping solver time 36.771960 ms 
--------------------stamp1317358294.993776082
points size 102701 
publication time 10.847627 ms 
whole laserOdometry time 10.858863 ms 
 
filter time 11.083606 ms 
points size 102790 
build tree time 42.967773 ms 
mapping data assosiation time 38.375029 ms 
--------------------stamp1317358295.202191114
points size 102878 
sort q time 5.930254 
seperate points time 13.067205 
mapping data assosiation time 40.392504 ms 
mapping optimization time 206.046785 
filter time 10.361229 ms 
points size 102986 
sort q time 5.518979 
seperate points time 12.287431 
build tree time 41.014207 ms 
mapping data assosiation time 34.230419 ms 
--------------------stamp1317358295.410605907
mapping solver time 39.009562 ms 
sort q time 6.621931 
seperate points time 13.623225 
-----t: 0.0401502
OdomCount 5135 & avg odom time 0.045490 ms ++++++++++++++++++++++
mapping solver time 26.473704 ms 
filter time 10.205356 ms 
points size 103011 
sort q time 6.968897 
seperate points time 12.957417 
build tree time 47.403855 ms 
publication time 13.532474 ms 
whole laserOdometry time 13.548117 ms 
 
mapping data assosiation time 39.012492 ms 
--------------------stamp1317358295.618972063
points size 102993 
sort q time 5.540402 
seperate points time 11.158189 
publication time 8.168635 ms 
whole laserOdometry time 8.184576 ms 
 
-----t: 0.0490222
OdomCount 5137 & avg odom time 0.045493 ms ++++++++++++++++++++++
--------------------stamp1317358295.723104953
prepare time 12.916725 
sort q time 7.237755 
seperate points time 13.814910 
publication time 9.242475 ms 
whole laserOdometry time 9.255159 ms 
 
-----t: 0.0470297
OdomCount 5138 & avg odom time 0.045493 ms ++++++++++++++++++++++
build tree time 45.988600 ms 
--------------------stamp1317358295.827191114
points size 102901 
sort q time 7.329766 scan registration time 50.604898 ms *************
mapping solver time 44.436809 ms 
-----t: 0.0742091
OdomCount 5139 & avg odom time 0.045498 ms ++++++++++++++++++++++
--------------------stamp1317358295.931231975
prepare time 13.368182 
sort q time 5.721619 
seperate points time 13.176913 
publication time 8.472191 ms 
whole laserOdometry time 8.482197 ms 
 
map prepare time 4.447580 ms
map corner num 157126  surf num 60511 
--------------------stamp1317358296.035223007
prepare time 14.433842 
sort q time 5.760644 
seperate points time 13.328159 
publication time 8.476605 ms 
whole laserOdometry time 8.491549 ms 
 
mapping solver time 47.009327 ms 
--------------------stamp1317358296.139236927
mapping data assosiation time 34.563880 ms 
scan registration time 30.587316 ms *************
mapping solver time 30.835373 ms 
filter time 12.398766 ms 
--------------------stamp1317358296.243321895
prepare time 12.925656 
sort q time 5.780982 
seperate points time 13.343069 
publication time 9.692402 ms 
whole laserOdometry time 9.705436 ms 
 
mapping solver time 42.019383 ms 
--------------------stamp1317358296.347433090
mapping data assosiation time 35.161587 ms 
sort q time 5.781241 
seperate points time 13.273037 
publication time 7.142113 ms 
whole laserOdometry time 7.155801 ms 
 
filter time 14.975333 ms 
-----t: 0.0754002
OdomCount 5144 & avg odom time 0.045505 ms ++++++++++++++++++++++
1317358296.347433090 WriteOdom laser_odom_to_init
1317358296.347433090 WriteOdom aft_mapped_to_init_high_frec
points size 102989 
sort q time 9.647645 
seperate points time 15.732868 
publication time 7.880302 ms 
whole laserOdometry time 7.895342 ms 
 
-----t: 0.0522602
OdomCount 5145 & avg odom time 0.045506 ms ++++++++++++++++++++++
1317358296.451543092 WriteOdom laser_odom_to_init
1317358296.451543092 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 42.461166 ms 
--------------------stamp1317358296.555676937
points size 103076 
sort q time 6.251483 
seperate points time 13.154468 
publication time 11.498655 ms 
whole laserOdometry time 11.516662 ms 
 
-----t: 0.0570264
OdomCount 5146 & avg odom time 0.045508 ms ++++++++++++++++++++++
filter time 10.428539 ms 
--------------------stamp1317358296.659858942
points size 103132 
sort q time 5.597725 
seperate points time 11.905651 
build tree time 44.746612 ms 
-----t: 0.0399948
OdomCount 5147 & avg odom time 0.045507 ms ++++++++++++++++++++++
mapping data assosiation time 33.848034 ms 
--------------------stamp1317358296.764044046
points size 103137 
sort q time 6.558990 
seperate points time 13.509570 
publication time 7.059857 ms 
whole laserOdometry time 7.072116 ms 
 
-----t: 0.0519212
OdomCount 5148 & avg odom time 0.045508 ms ++++++++++++++++++++++
1317358296.764044046 WriteOdom laser_odom_to_init
1317358296.764044046 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 35.855332 ms 
mapping pub time 8.371443 ms 
whole mapping time 220.315168 ms +++++
mappingCount 3331 & avg mapping time 156.891843 ms ++++++++++++++++++++++
sort q time 7.337935 
seperate points time 13.494225 
publication time 9.022783 ms 
whole laserOdometry time 9.033987 ms 
 
-----t: 0.0501673
OdomCount 5149 & avg odom time 0.045509 ms ++++++++++++++++++++++
mapping data assosiation time 31.756232 ms 
--------------------stamp1317358296.972409963
points size 103119 
sort q time 5.768320 
seperate points time 13.475520 
publication time 9.618857 ms 
whole laserOdometry time 9.634020 ms 
 
-----t: 0.0615171
OdomCount 5150 & avg odom time 0.045512 ms ++++++++++++++++++++++
--------------------stamp1317358297.076545953
mapping solver time 35.032044 ms 
filter time 13.639762 ms 
publication time 10.510850 ms 
whole laserOdometry time 10.539449 ms 
 
1317358297.076545953 WriteOdom laser_odom_to_init
build tree time 44.131651 ms 
--------------------stamp1317358297.180632114
points size 102885 
sort q time 5.654796 
seperate points time 13.169910 
publication time 8.088675 ms 
whole laserOdometry time 8.109162 ms 
 
-----t: 0.0563682
OdomCount 5152 & avg odom time 0.045517 ms ++++++++++++++++++++++
mapping data assosiation time 33.457716 ms 
points size 102870 
mapping solver time 36.361126 ms 
filter time 13.116778 ms 
publication time 17.508332 ms 
whole laserOdometry time 17.520931 ms 
 
-----t: 0.0519577
OdomCount 5153 & avg odom time 0.045518 ms ++++++++++++++++++++++
build tree time 39.880225 ms 
points size 102868 
mapping data assosiation time 43.343119 ms 
sort q time 8.519990 
seperate points time 38.083348 
publication time 8.000843 ms 
whole laserOdometry time 8.011693 ms 
 
--------------------stamp1317358297.492650985
prepare time 11.510571 
sort q time 6.629967 
seperate points time 13.862192 
publication time 9.103311 ms 
whole laserOdometry time 9.117954 ms 
 
mapping solver time 51.849587 ms 
filter time 11.914343 ms 
--------------------stamp1317358297.596546888
prepare time 13.304335 
sort q time 5.802780 
seperate points time 13.216987 
publication time 8.436602 ms 
whole laserOdometry time 8.450269 ms 
 
mapping solver time 36.750968 ms 
points size 102245 
mapping data assosiation time 32.357980 ms 
scan registration time 34.841382 ms *************
publication time 9.593094 ms 
whole laserOdometry time 9.622119 ms 
 
-----t: 0.050157
OdomCount 5157 & avg odom time 0.045520 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317358297.804287910
prepare time 12.618569 
sort q time 5.527437 
seperate points time 12.829243 
publication time 7.310287 ms 
whole laserOdometry time 7.328641 ms 
 
mapping solver time 37.395157 ms 
--------------------stamp1317358297.908158063
prepare time 15.508521 
sort q time 5.547985 
seperate points time 12.891754 
publication time 9.755024 ms 
whole laserOdometry time 9.771054 ms 
 
add points time 0.892106 ms
filter time 10.885241 ms 
map prepare time 3.302133 ms
map corner num 162627  surf num 62380 
--------------------stamp1317358298.012026071
prepare time 14.270914 
sort q time 5.877864 
seperate points time 15.341850 
scan registration time 44.457293 ms *************
publication time 6.269944 ms 
whole laserOdometry time 6.292604 ms 
 
mapping solver time 30.388632 ms 
--------------------stamp1317358298.115921020
prepare time 15.380066 
sort q time 5.702271 
seperate points time 13.024796 
mapping solver time 26.874816 ms 
mapping optimization time 170.522755 
add points time 0.985665 ms
publication time 8.274434 ms 
whole laserOdometry time 8.291141 ms 
 
drop lidar frame in mapping for real time performance 
build tree time 20.972911 ms 
--------------------stamp1317358298.219816923
prepare time 14.438403 
sort q time 5.644155 
seperate points time 13.013480 
publication time 8.733043 ms mapping solver time 51.340465 ms 
--------------------stamp1317358298.323713064
points size 99870 
sort q time 5.829790 
seperate points time 13.440122 
mapping optimization time 185.087927 
1317358298.012026072 WriteOdom aft_mapped_to_init
build tree time 22.819177 ms 
--------------------stamp1317358298.427582979
sort q time 6.234018 
seperate points time 12.984200 
publication time 9.173915 ms 
whole laserOdometry time 9.182616 ms 
 
mapping solver time 44.871814 ms 
mapping data assosiation time 33.432026 ms 
prepare time 12.716163 
mapping solver time 29.863044 ms 
filter time 10.167605 ms 
publication time 8.771777 ms 
whole laserOdometry time 8.786281 ms 
 
build tree time 24.593509 ms 
-----t: 0.0831164
OdomCount 5165 & avg odom time 0.045531 ms ++++++++++++++++++++++
mapping data assosiation time 36.419184 ms 
sort q time 5.335670 
seperate points time 10.729140 
mapping solver time 36.741158 ms 
-----t: 0.0485027
OdomCount 5166 & avg odom time 0.045532 ms ++++++++++++++++++++++
mapping data assosiation time 31.876940 ms 
--------------------stamp1317358298.738918066
mapping optimization time 166.013872 
filter time 7.798269 ms 
scan registration time 33.951846 ms *************
publication time 7.606308 ms 
whole laserOdometry time 7.625209 ms 
 
mapping data assosiation time 29.308707 ms 
--------------------stamp1317358298.842622041
points size 98847 
scan registration time 31.707602 ms *************
publication time 8.883961 ms 
whole laserOdometry time 8.899886 ms 
 
mapping solver time 24.560892 ms 
filter time 7.469709 ms 
points size 98625 
sort q time 6.751741 
seperate points time 15.175571 
publication time 8.783681 ms 
whole laserOdometry time 8.814274 ms 
 
--------------------stamp1317358299.050019025
points size 99085 
sort q time 5.820673 
seperate points time 12.826213 
publication time 7.942612 ms 
whole laserOdometry time 7.957681 ms 
 
-----t: 0.0498394
OdomCount 5170 & avg odom time 0.045531 ms ++++++++++++++++++++++
mapping pub time 197.238898 ms 
whole mapping time 371.026509 ms +++++
mappingCount 3341 & avg mapping time 157.089741 ms ++++++++++++++++++++++
--------------------stamp1317358299.153722047
prepare time 13.367258 
scan registration time 33.266249 ms *************
publication time 9.557871 ms 
whole laserOdometry time 9.572495 ms 
 
mapping solver time 38.362479 ms 
points size 100342 
sort q time 6.451583 
seperate points time 14.417158 
publication time 12.599935 ms 
whole laserOdometry time 12.615724 ms 
 
-----t: 0.0581276
OdomCount 5172 & avg odom time 0.045534 ms ++++++++++++++++++++++
mapping pub time 2.420152 ms 
whole mapping time 210.189682 ms +++++
mappingCount 3342 & avg mapping time 157.105631 ms ++++++++++++++++++++++
--------------------stamp1317358299.361196994
prepare time 15.080592 
build tree time 31.689575 ms 
publication time 9.015072 ms 
whole laserOdometry time 9.031386 ms 
 
-----t: 0.0546507
OdomCount 5173 & avg odom time 0.045535 ms ++++++++++++++++++++++
mapping solver time 39.865985 ms 
points size 98373 
sort q time 6.374109 
seperate points time 12.889565 
-----t: 0.0361107
OdomCount 5174 & avg odom time 0.045534 ms ++++++++++++++++++++++
mapping solver time 43.202834 ms 
mapping optimization time 189.588281 
add points time 0.724882 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317358299.568769931
points size 98551 
build tree time 34.501365 ms 
publication time 8.376048 ms 
whole laserOdometry time 8.390681 ms 
 
1317358299.568769931 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.097351 ms 
--------------------stamp1317358299.672569036
prepare time 11.854718 
sort q time 6.592056 
seperate points time 12.235376 
mapping solver time 27.920411 ms 
filter time 12.302876 ms 
-----t: 0.0517061
OdomCount 5176 & avg odom time 0.045535 ms ++++++++++++++++++++++
map prepare time 2.893485 ms
map corner num 131387  surf num 50825 
build tree time 30.403304 ms 
mapping solver time 38.156188 ms 
mapping data assosiation time 35.126508 ms 

Done.
mapping solver time 25.819714 ms 
mapping optimization time 164.181596 
add points time 0.828406 ms
filter time 9.212178 ms 
mapping pub time 2.449881 ms 
whole mapping time 179.638713 ms +++++
mappingCount 3345 & avg mapping time 157.135155 ms ++++++++++++++++++++++
1317358299.568769932 WriteOdom aft_mapped_to_init
killing:
 * /alaserMapping
 * /alaserOdometry
 * /ascanRegistration
 * /camera_init2odom_publisher
 * /global_graph_nodelet
 * /kittiHelper
 * /lidar2base_publisher
 * /map2odom_publisher
 * /pointcloud_to_pcd_1718889274695914961
 * /prefiltering_nodelet
 * /rosout
 * /scan_matching_odom_nodelet
 * /velodyne_nodelet_manager
[33m[ WARN] [1718889815.009438264, 1317358299.896675727]: Shutdown request received.[0m
[33m[ WARN] [1718889815.009504550, 1317358299.896675727]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718889815.026832023, 1317358299.896675727]: Shutdown request received.[0m
[33m[ WARN] [1718889815.027757016, 1317358299.896675727]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718889815.044661791, 1317358299.896675727]: Shutdown request received.[0m
[33m[ WARN] [1718889815.044696372, 1317358299.896675727]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718889815.064412025, 1317358299.896675727]: Shutdown request received.[0m
[33m[ WARN] [1718889815.065519811, 1317358299.896675727]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718889815.082134306, 1317358299.896675727]: Shutdown request received. Reason: [user request][0m
[33m[ WARN] [1718889815.099138284, 1317358299.896675727]: Shutdown request received.[0m
[33m[ WARN] [1718889815.100174928, 1317358299.896675727]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718889815.117304412, 1317358299.896675727]: Shutdown request received.[0m
terminate called without an active exception
[33m[ WARN] [1718889815.124509812, 1317358299.896675727]: Reason given for shutdown: [user request][0m
[1m[alaserOdometry-8] process has finished cleanly
log file: /root/.ros/log/042c3938-2f07-11ef-b944-0242ac110003/alaserOdometry-8*.log[0m
[1m[lidar2base_publisher-2] process has finished cleanly
log file: /root/.ros/log/042c3938-2f07-11ef-b944-0242ac110003/lidar2base_publisher-2*.log[0m
[1m[camera_init2odom_publisher-3] process has finished cleanly
log file: /root/.ros/log/042c3938-2f07-11ef-b944-0242ac110003/camera_init2odom_publisher-3*.log[0m
[33m[ WARN] [1718889815.273683377, 1317358299.896675727]: Shutdown request received.[0m
[33m[ WARN] [1718889815.273721958, 1317358299.896675727]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718889815.289726846, 1317358299.896675727]: Shutdown request received. Reason: [user request][0m
[33m[ WARN] [1718889815.307362214, 1317358299.896675727]: Shutdown request received.[0m
[33m[ WARN] [1718889815.307423770, 1317358299.896675727]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718889815.327494490, 1317358299.896675727]: Shutdown request received. Reason: [user request][0m
[1m[ascanRegistration-7] process has finished cleanly
log file: /root/.ros/log/042c3938-2f07-11ef-b944-0242ac110003/ascanRegistration-7*.log[0m
[1m[kittiHelper-10] process has finished cleanly
log file: /root/.ros/log/042c3938-2f07-11ef-b944-0242ac110003/kittiHelper-10*.log[0m
[1m[map2odom_publisher-12] process has finished cleanly
log file: /root/.ros/log/042c3938-2f07-11ef-b944-0242ac110003/map2odom_publisher-12*.log[0m
[33m[ WARN] [1718889815.346822909, 1317358299.896675727]: Shutdown request received.[0m
[33m[ WARN] [1718889815.346867515, 1317358299.896675727]: Reason given for shutdown: [user request][0m
killed
[31m[alaserMapping-9] process has died [pid 166, exit code -6, cmd /home/chenshoubin/slam_ws/devel/lib/aloam_velodyne/alaserMapping /velodyne_points:=/points_raw /gpsimu_driver/imu_data:=/gpsimu_driver/imu_data __name:=alaserMapping __log:=/root/.ros/log/042c3938-2f07-11ef-b944-0242ac110003/alaserMapping-9.log].
log file: /root/.ros/log/042c3938-2f07-11ef-b944-0242ac110003/alaserMapping-9*.log[0m
[1m[global_graph_nodelet-11] process has finished cleanly
log file: /root/.ros/log/042c3938-2f07-11ef-b944-0242ac110003/global_graph_nodelet-11*.log[0m
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/042c3938-2f07-11ef-b944-0242ac110003/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [347][0m
[1m[velodyne_nodelet_manager-4] process has finished cleanly
log file: /root/.ros/log/042c3938-2f07-11ef-b944-0242ac110003/velodyne_nodelet_manager-4*.log[0m
[1m[prefiltering_nodelet-5] process has finished cleanly
log file: /root/.ros/log/042c3938-2f07-11ef-b944-0242ac110003/prefiltering_nodelet-5*.log[0m
[1m[scan_matching_odom_nodelet-6] process has finished cleanly
log file: /root/.ros/log/042c3938-2f07-11ef-b944-0242ac110003/scan_matching_odom_nodelet-6*.log[0m
